From 17a7660a5ff6899e29362faf772e88d6f5cd95dc Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 9 Feb 2025 19:47:52 +0100 Subject: [PATCH 001/109] feat: added the math and setup of the ESKF, need some changes --- navigation/eskf_python/CMakeLists.txt | 33 ++ navigation/eskf_python/README.md | 0 .../eskf_python/config/eskf_python.yaml | 3 + .../eskf_python/eskf_python/__init__.py | 0 .../eskf_python/eskf_python_filter.py | 511 ++++++++++++++++++ .../eskf_python/eskf_python_node.py | 103 ++++ navigation/eskf_python/launch/eskf.launch.py | 22 + navigation/eskf_python/package.xml | 23 + 8 files changed, 695 insertions(+) create mode 100644 navigation/eskf_python/CMakeLists.txt create mode 100644 navigation/eskf_python/README.md create mode 100644 navigation/eskf_python/config/eskf_python.yaml create mode 100644 navigation/eskf_python/eskf_python/__init__.py create mode 100644 navigation/eskf_python/eskf_python/eskf_python_filter.py create mode 100644 navigation/eskf_python/eskf_python/eskf_python_node.py create mode 100644 navigation/eskf_python/launch/eskf.launch.py create mode 100644 navigation/eskf_python/package.xml diff --git a/navigation/eskf_python/CMakeLists.txt b/navigation/eskf_python/CMakeLists.txt new file mode 100644 index 000000000..b4fc9118c --- /dev/null +++ b/navigation/eskf_python/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(eskf_python) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(vortex_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +install(PROGRAMS + eskf_python/eskf_python_node.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) +endif() + +ament_package() diff --git a/navigation/eskf_python/README.md b/navigation/eskf_python/README.md new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/eskf_python/config/eskf_python.yaml b/navigation/eskf_python/config/eskf_python.yaml new file mode 100644 index 000000000..0d80b90df --- /dev/null +++ b/navigation/eskf_python/config/eskf_python.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + eskf_python_node: diff --git a/navigation/eskf_python/eskf_python/__init__.py b/navigation/eskf_python/eskf_python/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py new file mode 100644 index 000000000..286747467 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -0,0 +1,511 @@ +from dataclasses import dataclass, field +from typing import tuple + +import numpy as np + + +@dataclass +class StateVector_quaternion: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(4) + ) # Orientation quaternion (w, x, y, z) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion. + + Returns: + np.ndarray: The rotation matrix. + """ + q0, q1, q2, q3 = self.orientation + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R + + def euler_forward( + self, current_state: 'StateVector_quaternion', dt: float + ) -> 'StateVector_quaternion': + # Define the new state + new_state = StateVector_quaternion() + + # Define the state derivatives + new_state.position = current_state.position + self.position * dt + new_state.velocity = current_state.velocity + self.velocity * dt + new_state.orientation = current_state.orientation + self.orientation * dt + new_state.acceleration_bias = ( + current_state.acceleration_bias + self.acceleration_bias * dt + ) + new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt + + # Normalize the orientation quaternion + new_state.orientation /= np.linalg.norm(new_state.orientation) + + return new_state + + +@dataclass +class StateVector_euler: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Orientation angles (roll, pitch, yaw) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + covariance: np.ndarray = field( + default_factory=lambda: np.zeros((15, 15)) + ) # Covariance matrix + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:9] + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:15] + + def copy_state(self, wanted_state: 'StateVector_euler') -> None: + """Copies the state from a StateVector object into the current StateVector object. + + Args: + wanted_state (StateVector_euler): The quaternion state to copy from. + """ + self.position = wanted_state.position + self.velocity = wanted_state.velocity + self.orientation = wanted_state.orientation + self.acceleration_bias = wanted_state.acceleration_bias + self.gyro_bias = wanted_state.gyro_bias + + +@dataclass +class MeasurementModel: + measurement: np.ndarray = field( + default_factory=lambda: np.zeros(6) + ) # Measurement vector + measurement_matrix: np.ndarray = field( + default_factory=lambda: np.zeros((6, 15)) + ) # Measurement matrix + measurement_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((6, 6)) + ) # Measurement noise matrix + + +class ErrorStateKalmanFilter: + def __init__( + self, + P_ab: np.ndarray, + P_wb: np.ndarray, + Q: np.ndarray, + lever_arm: np.array, + R: np.ndarray, + g: float, + dt: float, + ) -> None: + self.P_ab = P_ab + self.P_wb = P_wb + self.Q_process_noise = Q + self.lever_arm = lever_arm + self.R = R + self.g = np.array([0, 0, g]) + self.dt = dt + + def skew_symmetric(self, vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + + def quaternion_super_product(self, q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + nu_0, eta_0_x, eta_0_y, eta_0_z = q1 + nu_1, eta_1_x, eta_1_y, eta_1_z = q2 + + eta_0 = np.array([[eta_1_x, eta_1_y, eta_1_z]]).T + eta_1 = np.array([[eta_0_x, eta_0_y, eta_0_z]]).T + + eta_new = ( + nu_1 * eta_0 + nu_0 * eta_1 + np.dot(self.skew_symmetric(eta_0), eta_1) + ) + nu_new = nu_0 * nu_1 - np.dot(eta_0.T, eta_1) + + q_new = np.array([nu_new, eta_new[0], eta_new[1], eta_new[2]]) + q_new /= np.linalg.norm(q_new) + + return q_new + + def van_loan_discretization( + self, A_c: np.ndarray, G_c: np.ndarray + ) -> tuple[np.ndarray, np.ndarray]: + """Calculates the Van Loan discretization of a continuous-time system. + + Args: + A_c (np.ndarray): The A matrix. + G_c (np.ndarray): The G matrix. + + Returns: + tuple: The A_d and GQG_d matrices. + """ + GQG_T = np.dot(np.dot(G_c, self.Q_process_noise), G_c.T) * self.dt + + matrix_exp = ( + np.block([[A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), A_c.T]]) + * self.dt + ) + + van_loan_matrix = np.linalg.expm(matrix_exp) + + V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] + V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] + + A_d = V1.T + GQG_d = A_d @ V2 + + return A_d, GQG_d + + def nominal_state_update( + self, current_state: StateVector_quaternion, imu_reading: np.ndarray + ) -> StateVector_quaternion: + """Updates the nominal state of the system. + + Args: + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated nominal state. + """ + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + # Define the derivative of the state + current_state_dot = StateVector_quaternion() + + # Define the state derivates + current_state_dot.position = current_state.velocity + current_state_dot.velocity = ( + np.dot( + current_state.R_q(), + (imu_acceleration - current_state.acceleration_bias), + ) + + self.g + ) + + # Define the quaternion derivatives + current_state_dot.orientation = 0.5 * self.quaternion_super_product( + current_state.orientation, + np.array([0, imu_gyro[0], imu_gyro[1], imu_gyro[2]]), + ) + + # Define the bias + current_state_dot.acceleration_bias = ( + -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias + ) + current_state_dot.gyro_bias = ( + -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias + ) + + return current_state_dot.euler_forward(current_state, self.dt) + + def error_state_update( + self, + current_error_state: StateVector_euler, + current_state: StateVector_quaternion, + imu_reading: np.ndarray, + ) -> StateVector_euler: + """Updates the error state of the system. + + Args: + current_error_state (np.ndarray): The current error state of the system. + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated error state. + """ + # Define the derivative of the state + next_error_state = StateVector_euler() + + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + A_c = np.zeros((15, 15)) + A_c[0:3, 3:6] = np.eye(3) + A_c[3:6, 6:9] = -np.dot( + current_state.R_q(), + self.skew_symmetric(imu_acceleration - current_state.acceleration_bias), + ) + A_c[6:9, 6:9] = -self.skew_symmetric(imu_gyro - current_state.gyro_bias) + A_c[3:6, 9:12] = -current_state.R_q() + A_c[6:9, 12:15] = -np.eye(3) + A_c[9:12, 9:12] = -self.P_ab * np.eye(3) + A_c[12:15, 12:15] = -self.P_wb * np.eye(3) + + G_c = np.zeros((15, 12)) + G_c[3:6, 0:3] = -current_state.R_q() + G_c[6:9, 3:6] = -np.eye(3) + G_c[9:12, 6:9] = np.eye(3) + G_c[12:15, 9:12] = np.eye(3) + + # Van loan discretization + A_d, GQG_d = self.van_loan_discretization(A_c, G_c, self.dt) + + # Inserting the new state and covariance + next_error_state.copy_state(current_error_state) + next_error_state.covariance = ( + np.dot(np.dot(A_d, current_error_state.covariance), A_d.T) + GQG_d + ) + + return next_error_state + + def H(self) -> np.ndarray: + """Calculates the measurement matrix. + + Returns: + np.ndarray: The measurement matrix. + """ + # Define the measurement matrix + H = np.zeros((3, 15)) + + # For now assume only velocity is measured + H[0:3, 3:6] = np.eye(3) + + return H + + def prediction_from_estimates( + self, + current_state: StateVector_quaternion, + current_error_state: StateVector_euler, + imu_reading: np.ndarray, + ) -> StateVector_euler: + """Predicts the measurement from the current state and error state. + + Args: + current_state (StateVector_quaternion): The current state of the system. + current_error_state (StateVector_euler): The current error state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + StateVector_euler: The predicted measurement. + """ + # Define the z_pred matrix + z_pred = MeasurementModel() + + # Define the z_pred values separately + z_pred_1 = np.hstack((current_state.position, current_state.velocity)) + z_pred_2 = np.hstack( + np.dot(current_state.R_q(), self.lever_arm), + np.dot( + current_state.R_q, + np.dot( + self.skew_symmetric(current_state.angular_velocity), self.lever_arm + ), + ), + ) + + # Combine the z_pred values + z_pred.measurement = z_pred_1 + z_pred_2 + + # Define the H matrix + z_pred.measurement_matrix = self.H() + R = self.R + z_pred.measurement_covariance = ( + np.dot( + np.dot(z_pred.measurement_matrix, current_error_state.covariance), + z_pred.measurement_matrix.T, + ) + + R + ) + + return z_pred + + def measurement_update( + self, + error_state_pred: StateVector_euler, + z_pred: MeasurementModel, + dvl_measure: np.array, + ) -> StateVector_euler: + """Updates the error state of the system. + + Args: + current_error_state (np.ndarray): The current error state of the system. + measurement (np.ndarray): The measurement. + + Returns: + np.ndarray: The updated error state. + """ + # Define new error state value + new_error_state = StateVector_euler() + + # Define the measurement matrix + innovation = dvl_measure - z_pred.measurement + H = z_pred.measurement_matrix + R = self.R + P = error_state_pred.covariance + S = z_pred.measurement_covariance + + # Kalman gain calculation + W = np.dot(P, np.linalg.solve(S, H).T) + new_error_state.fill_states(np.dot(W, innovation)) + + I_WH = np.eye(15) - np.dot(W, H) + new_error_state.covariance = np.dot(np.dot(I_WH, P), I_WH.T) + np.dot( + np.dot(W, R), W.T + ) + + return new_error_state + + def imu_update_states( + self, + current_pred_nom: StateVector_quaternion, + current_pred_err: StateVector_euler, + imu_readings: np.array, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Calculates the predicted state using the IMU readings. + + Args: + current_pred_nom (StateVector_quaternion): The current nominal state. + current_pred_err (StateVector_euler): The current error state. + imu_readings (np.array): The IMU readings. + + Returns: + tuple: The predicted nominal state and the predicted error state. + """ + pred_nom_state = self.nominal_state_update(current_pred_nom, imu_readings) + pred_err_state = self.error_state_update( + current_pred_err, current_pred_nom, imu_readings + ) + + return pred_nom_state, pred_err_state + + def dvl_update_states( + self, + current_pred_nom: StateVector_quaternion, + current_pred_err: StateVector_euler, + dvl_measure: np.array, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Calculates the predicted state using the DVL readings. + + Args: + current_pred_nom (StateVector_quaternion): The current nominal state. + current_pred_err (StateVector_euler): The current error state. + dvl_measure (np.array): The DVL readings. + + Returns: + tuple: The predicted nominal state and the predicted error state. + """ + z_pred = self.prediction_from_estimates( + current_pred_nom, current_pred_err, dvl_measure + ) + new_error_state = self.measurement_update(current_pred_err, z_pred, dvl_measure) + + return current_pred_nom, new_error_state + + def injection_and_reset( + self, next_state: StateVector_quaternion, next_error_state: StateVector_euler + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Injects the error state into the nominal state and resets the error state. + + Args: + next_state (StateVector_quaternion): The next nominal state. + next_error_state (StateVector_euler): The next error state. + + Returns: + tuple: The injected nominal state and the reset error state. + """ + # Define the new state + inj_state = StateVector_quaternion() + + # Injecting the error state + inj_state.position = next_state.position + next_error_state.position + inj_state.velocity = next_state.velocity + next_error_state.velocity + inj_state.orientation = self.quaternion_super_product( + next_state.orientation, + 0.5 + * np.array( + [ + 2, + next_error_state.orientation[0], + next_error_state.orientation[1], + next_error_state.orientation[2], + ] + ), + ) + inj_state.acceleration_bias = ( + next_state.acceleration_bias + next_error_state.acceleration_bias + ) + inj_state.gyro_bias = next_state.gyro_bias + next_error_state.gyro_bias + + # Resetting the error state + G = np.eye(15) + G[6:9, 6:9] = np.eye(3) - self.skew_symmetric( + 0.5 * next_error_state.orientation + ) + + next_error_state.covariance = np.dot( + np.dot(G, next_error_state.covariance), G.T + ) + next_error_state.fill_states(np.zeros(15)) + + return inj_state, next_error_state diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py new file mode 100644 index 000000000..25e5b6ca9 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python3 + +import rclpy +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import QoSProfile, qos_profile_sensor_data + +# NEED TO CHANGE THIS TO THE CORRECT PATH +from eskf_python.eskf_python_filter import ( + ErrorStateKalmanFilter, + MeasurementModel, + StateVector_euler, + StateVector_quaternion, +) + +qos_profile = QoSProfile( + depth=1, + history=qos_profile_sensor_data.history, + reliability=qos_profile_sensor_data.reliability, +) + + +class ESKalmanFilterNode(Node): + def __init__(self): + super().__init__("eskf_python_node") + + # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz + # TEMPORARILY ADDED FOR TESTING + self.imu_subscriber_ = self.create_subscription( + Odometry, '/orca/imu', self.state_callback, qos_profile=qos_profile + ) + + # This publisher will publish the estimtaed state of the vehicle + self.state_publisher_ = self.create_publisher( + Odometry, '/orca/odom', qos_profile=qos_profile + ) + + self.eskf_modual = ErrorStateKalmanFilter() + self.current_state_nom = StateVector_quaternion() + self.current_state_error = StateVector_euler() + self.measurement_pred = MeasurementModel() + + self.get_logger().info("hybridpath_controller_node started") + + def imu_callback(self, msg: Odometry): + self.get_logger().info(f"Received IMU message: {msg}") + + # Get the IMU data + + # SOME CONVERSION HERE TO SUITABLE TYPE + imu_data = "something" + + # Update the filter with the IMU data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.imu_update_states( + self.current_state_nom, self.current_state_error, imu_data + ) + ) + + # Publish the estimated state + """ + Some conversion function from the custom state type to odometry message + This needs to be worked on + """ + + def filter_callback(self): + """Callback function for the filter measurement update, + this will be called when the filter needs to be updated with the DVL data. + """ + self.get_logger().info("Filter callback, got DVL data") + + # Get the DVL data + dvl_data = "something" + + # Update the filter with the DVL data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.dvl_update_states( + self.current_state_nom, self.current_state_error, dvl_data + ) + ) + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.injection_and_reset( + self.current_state_nom, self.current_state_error + ) + ) + + # Publish the estimated state + """ + Some conversion function from the custom state type to odometry message + This needs to be worked on + """ + + +def main(args=None): + rclpy.init(args=args) + node = ESKalmanFilterNode() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/navigation/eskf_python/launch/eskf.launch.py b/navigation/eskf_python/launch/eskf.launch.py new file mode 100644 index 000000000..3cae83dce --- /dev/null +++ b/navigation/eskf_python/launch/eskf.launch.py @@ -0,0 +1,22 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + eskf_python_node = Node( + package='eskf_python', + executable='eskf_python_node.py', + name='eskf_python_node', + parameters=[ + os.path.join( + get_package_share_directory('eskf_python'), + 'config', + 'eskf_python.yaml', + ), + ], + output='screen', + ) + return LaunchDescription([eskf_python_node]) diff --git a/navigation/eskf_python/package.xml b/navigation/eskf_python/package.xml new file mode 100644 index 000000000..980653c40 --- /dev/null +++ b/navigation/eskf_python/package.xml @@ -0,0 +1,23 @@ + + + + eskf_python + 1.0.0 + This package provides the implementation of a error-state kalman filter in python + talhanc + MIT + + ament_cmake_python + + rclpy + python-transforms3d-pip + geometry_msgs + vortex_msgs + + python3-pytest + + + + ament_cmake + + From dff90b70400a3709533f639795d62dbc55182156 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Mon, 10 Feb 2025 14:28:18 +0100 Subject: [PATCH 002/109] feat: added in the IMU msg and DVL msg, pluss ros2 setup --- .../eskf_python/eskf_python_filter.py | 12 +-- .../eskf_python/eskf_python_node.py | 74 ++++++++++++++----- 2 files changed, 56 insertions(+), 30 deletions(-) diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 286747467..392c705c2 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -353,16 +353,8 @@ def prediction_from_estimates( z_pred = MeasurementModel() # Define the z_pred values separately - z_pred_1 = np.hstack((current_state.position, current_state.velocity)) - z_pred_2 = np.hstack( - np.dot(current_state.R_q(), self.lever_arm), - np.dot( - current_state.R_q, - np.dot( - self.skew_symmetric(current_state.angular_velocity), self.lever_arm - ), - ), - ) + z_pred_1 = current_state.velocity + z_pred_2 = 0 # Currently assuming no lever arm compensation # Combine the z_pred values z_pred.measurement = z_pred_1 + z_pred_2 diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py index 25e5b6ca9..5b860582e 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -4,6 +4,9 @@ from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import QoSProfile, qos_profile_sensor_data +from sensor_msgs.msg import Imu, +import numpy as np +from geometry_msgs.msg import TwistWithCovarianceStamped # NEED TO CHANGE THIS TO THE CORRECT PATH from eskf_python.eskf_python_filter import ( @@ -25,9 +28,12 @@ def __init__(self): super().__init__("eskf_python_node") # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz - # TEMPORARILY ADDED FOR TESTING self.imu_subscriber_ = self.create_subscription( - Odometry, '/orca/imu', self.state_callback, qos_profile=qos_profile + Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile + ) + + self.twist_dvl_subscriber_ = self.create_subscription( + TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile ) # This publisher will publish the estimtaed state of the vehicle @@ -39,16 +45,19 @@ def __init__(self): self.current_state_nom = StateVector_quaternion() self.current_state_error = StateVector_euler() self.measurement_pred = MeasurementModel() + self.odom_msg = Odometry() - self.get_logger().info("hybridpath_controller_node started") + self.get_logger().info("Error State Kalman Filter started") - def imu_callback(self, msg: Odometry): - self.get_logger().info(f"Received IMU message: {msg}") + def imu_callback(self, msg: Imu): # Get the IMU data - # SOME CONVERSION HERE TO SUITABLE TYPE - imu_data = "something" + imu_acceleartion = msg.linear_acceleration + imu_angular_velocity = msg.angular_velocity + + # Combine the IMU data + imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) # Update the filter with the IMU data self.current_state_nom, self.current_state_error = ( @@ -57,20 +66,34 @@ def imu_callback(self, msg: Odometry): ) ) - # Publish the estimated state - """ - Some conversion function from the custom state type to odometry message - This needs to be worked on - """ + # Inserting the nominal state into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x + self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y + self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z + + # Publish + self.state_publisher_.publish(self.odom_msg) - def filter_callback(self): + + + def filter_callback(self, msg: TwistWithCovarianceStamped): """Callback function for the filter measurement update, this will be called when the filter needs to be updated with the DVL data. """ self.get_logger().info("Filter callback, got DVL data") - # Get the DVL data - dvl_data = "something" + # Get the DVL data (linear velocity) + dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) # Update the filter with the DVL data self.current_state_nom, self.current_state_error = ( @@ -84,11 +107,22 @@ def filter_callback(self): ) ) - # Publish the estimated state - """ - Some conversion function from the custom state type to odometry message - This needs to be worked on - """ + # Inserting data into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + + # Publishing the data + self.state_publisher_.publish(self.odom_msg) + def main(args=None): From d428dfbff1bb10778d790fbc2da87156efe1d312 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 21 Feb 2025 17:07:58 +0100 Subject: [PATCH 003/109] feat: added ES-UKF filter --- .../eskf_python/eskf_python_filter.py | 4 +- navigation/sp_ukf_python/CMakeLists.txt | 33 ++ navigation/sp_ukf_python/README.md | 0 .../sp_ukf_python/config/sp_ukf_python.yaml | 3 + navigation/sp_ukf_python/launch/ukf.launch.py | 22 + navigation/sp_ukf_python/package.xml | 23 + .../sp_ukf_python/sp_ukf_python/__init__.py | 0 .../sp_ukf_python/sp_ukf_python.py | 440 ++++++++++++++++++ .../sp_ukf_python/sp_ukf_python_class.py | 280 +++++++++++ .../sp_ukf_python/sp_ukf_python_node.py | 137 ++++++ .../sp_ukf_python/sp_ukf_python_utils.py | 107 +++++ .../sp_ukf_python/sp_ukf_python/test_ukf.py | 218 +++++++++ 12 files changed, 1265 insertions(+), 2 deletions(-) create mode 100644 navigation/sp_ukf_python/CMakeLists.txt create mode 100644 navigation/sp_ukf_python/README.md create mode 100644 navigation/sp_ukf_python/config/sp_ukf_python.yaml create mode 100644 navigation/sp_ukf_python/launch/ukf.launch.py create mode 100644 navigation/sp_ukf_python/package.xml create mode 100644 navigation/sp_ukf_python/sp_ukf_python/__init__.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/test_ukf.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 392c705c2..edf39dcc0 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -2,7 +2,7 @@ from typing import tuple import numpy as np - +from scipy.linalg import expm @dataclass class StateVector_quaternion: @@ -212,7 +212,7 @@ def van_loan_discretization( * self.dt ) - van_loan_matrix = np.linalg.expm(matrix_exp) + van_loan_matrix = expm(matrix_exp) V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] diff --git a/navigation/sp_ukf_python/CMakeLists.txt b/navigation/sp_ukf_python/CMakeLists.txt new file mode 100644 index 000000000..a40f065cd --- /dev/null +++ b/navigation/sp_ukf_python/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(sp_ukf_python) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(vortex_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +install(PROGRAMS + sp_ukf_python/sp_ukf_python_node.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) +endif() + +ament_package() diff --git a/navigation/sp_ukf_python/README.md b/navigation/sp_ukf_python/README.md new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/sp_ukf_python/config/sp_ukf_python.yaml b/navigation/sp_ukf_python/config/sp_ukf_python.yaml new file mode 100644 index 000000000..d3d18145d --- /dev/null +++ b/navigation/sp_ukf_python/config/sp_ukf_python.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + sp_ukf_python_node: diff --git a/navigation/sp_ukf_python/launch/ukf.launch.py b/navigation/sp_ukf_python/launch/ukf.launch.py new file mode 100644 index 000000000..fdd3f07e6 --- /dev/null +++ b/navigation/sp_ukf_python/launch/ukf.launch.py @@ -0,0 +1,22 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + sp_ukf_python_node = Node( + package='sp_ukf_python', + executable='sp_ukf_python_node.py', + name='sp_ukf_python_node', + parameters=[ + os.path.join( + get_package_share_directory('sp_ukf_python'), + 'config', + 'sp_ukf_python.yaml', + ), + ], + output='screen', + ) + return LaunchDescription([sp_ukf_python_node]) diff --git a/navigation/sp_ukf_python/package.xml b/navigation/sp_ukf_python/package.xml new file mode 100644 index 000000000..6aa4edbc0 --- /dev/null +++ b/navigation/sp_ukf_python/package.xml @@ -0,0 +1,23 @@ + + + + sp_ukf_python + 1.0.0 + This package provides the implementation of a sigma point based Unscented Error-state Kalman Filter + talhanc + MIT + + ament_cmake_python + + rclpy + python-transforms3d-pip + geometry_msgs + vortex_msgs + + python3-pytest + + + + ament_cmake + + diff --git a/navigation/sp_ukf_python/sp_ukf_python/__init__.py b/navigation/sp_ukf_python/sp_ukf_python/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py new file mode 100644 index 000000000..6f9d1b2f6 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py @@ -0,0 +1,440 @@ +from dataclasses import dataclass +from typing import Tuple +from sp_ukf_python_class import StateVector_quaternion, StateVector_euler +from sp_ukf_python_utils import skew_symmetric, quaternion_super_product +from scipy.linalg import expm + +import numpy as np + +class ErrorStateUnscentedKalmanFilter: + def __init__( + self, + P_ab: float, + P_wb: float, + Q: np.ndarray, + lever_arm: np.array, + R: np.ndarray, + g: float, + dt: float, + ) -> None: + self.P_ab = P_ab + self.P_wb = P_wb + self.Q_process_noise = Q + self.lever_arm = lever_arm + self.R = R + self.g = np.array([0, 0, g]) + self.dt = dt + self.y_i = np.zeros((15, 2*15)) + + def mean_set(self, set: np.ndarray) -> np.ndarray: + """ + Calculates the mean of a set of values. + + Args: + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The mean of the set. + """ + # Define the number of columns + n = set.shape[0] + + # Calculate the mean value + mean_value = (1 / (2 * n)) * np.sum(set, axis=1) + + return mean_value + + def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: + """ + Calculates the mean of a set of values. + + Args: + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The mean of the set. + """ + # Define the number of columns + n = set.shape[0] + mean_value = np.zeros(n) + + for i in range(2*n + 1): + mean_value += weight[i] * set[:, i] + + mean_value = (1 / (2 * n + 1)) * mean_value + + return mean_value + + def covariance_set(self, mean: np.ndarray, set: np.ndarray, mean_2: np.ndarray = None, set_2: np.ndarray = None) -> np.ndarray: + """ + Calculate the covarince of a set of sigmapoints + + Args: + mean (np.ndarray): The mean of the set. + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The covariance of the set. + """ + + if mean_2 is not None: + + n = set.shape[0] + n2 = set_2.shape[0] + covariance_set = np.zeros((n, n2)) + + for i in range(2*n): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + vector_2 = StateVector_euler() + vector_2.position = set_2[:, i][:3] + vector_2.velocity = set_2[:, i][3:6] + vector_2.orientation = set_2[:, i][6:9] + vector_2.acceleration_bias = set_2[:, i][9:12] + vector_2.gyro_bias = set_2[:, i][12:] + W_i = vector - mean + W_i_2 = vector_2 - mean_2 + + covariance_set += (1 / (2*n)) * np.outer(W_i, W_i_2) + + return covariance_set + else: + + n = set.shape[0] + covariance_set = np.zeros((n, n)) + + for i in range(2*n): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + W_i = vector - mean + covariance_set += (1 / (2*n)) * np.outer(W_i, W_i) + + return covariance_set + + def weighted_covariance_set(self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray) -> np.ndarray: + """ + Calculate the covarince of a set of sigmapoints + + Args: + mean (np.ndarray): The mean of the set. + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The covariance of the set. + """ + + n = set.shape[0] + covariance_set = np.zeros((n, n)) + + for i in range(2*n): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + W_i = vector - mean + covariance_set += weight[i] * np.outer(W_i, W_i) + + return covariance_set + + + + def generate_sigma_points(self, error_state: StateVector_euler, Q_process_noise) -> tuple[list[StateVector_euler], np.ndarray]: + """ + Generates the sigma points for the UKF + This is done using the Cholesky decomposition method + """ + + # Define n + n = len(error_state.covariance) + kappa = 3 - n + + # Computing S matrix using cholensky decomposition + S = np.linalg.cholesky(error_state.covariance + Q_process_noise) + + S_scaled = np.sqrt(n + kappa) * S + + weighted_points = np.concatenate((S_scaled , -S_scaled), axis=1) + + sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] + + sigma_points[0].fill_states(error_state.as_vector()) + for i in range(2*n): + sigma_points[i + 1].fill_states(error_state + weighted_points[:,i]) + + W = np.zeros(2*n + 1) + W[0] = kappa / (n + kappa) + + for i in range(2*n): + W[i + 1] = 1 / (2 * (n + kappa)) + + return sigma_points, W + + def nominal_state_update( + self, current_state: StateVector_quaternion, imu_reading: np.ndarray + ) -> StateVector_quaternion: + """Updates the nominal state of the system. + + Args: + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated nominal state. + """ + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + # Define the derivative of the state + current_state_dot = StateVector_quaternion() + + # Define the state derivates + current_state_dot.position = current_state.velocity + current_state_dot.velocity = ( + np.dot( + current_state.R_q(), + (imu_acceleration - current_state.acceleration_bias), + ) + + self.g + ) + + # Define the quaternion derivatives + current_state_dot.orientation = 0.5 * quaternion_super_product( + current_state.orientation, + np.array([0, imu_gyro[0] - current_state.gyro_bias[0], imu_gyro[1] - current_state.gyro_bias[1], imu_gyro[2] - current_state.gyro_bias[2]]), + ) + + # Define the bias + current_state_dot.acceleration_bias = ( + -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias + ) + current_state_dot.gyro_bias = ( + -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias + ) + + return current_state_dot.euler_forward(current_state, self.dt) + + def error_state_update( + self, + current_error_state: StateVector_euler, + current_state: StateVector_quaternion, + imu_reading: np.ndarray, + ) -> np.ndarray: + """Updates the error state of the system. + + Args: + current_error_state (np.ndarray): The current error state of the system. + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated error state. + """ + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + A_c = np.zeros((15, 15)) + A_c[0:3, 3:6] = np.eye(3) + A_c[3:6, 6:9] = -np.dot( + current_state.R_q(), + skew_symmetric(imu_acceleration - current_state.acceleration_bias), + ) + A_c[6:9, 6:9] = -skew_symmetric(imu_gyro - current_state.gyro_bias) + A_c[3:6, 9:12] = -current_state.R_q() + A_c[6:9, 12:15] = -np.eye(3) + A_c[9:12, 9:12] = -self.P_ab * np.eye(3) + A_c[12:15, 12:15] = -self.P_wb * np.eye(3) + + # Exact matrix exponential + A_d = expm(A_c * self.dt) + + next_error_state = A_d @ current_error_state.as_vector() + + return next_error_state + + def unscented_transform(self, sigma_points: list[StateVector_euler], current_state: StateVector_quaternion, + imu_reading: np.ndarray,) -> StateVector_euler: + """ + Performs the Unscented Transform + This is the corresponding to a preditction step in the EKF + """ + + n = len(sigma_points[0].as_vector()) + + self.y_i = np.zeros((n, 2*n)) + + for i in range(2*n): + self.y_i[:, i] = self.error_state_update(sigma_points[i], current_state, imu_reading) + + error_state_estimate = StateVector_euler() + + x = self.mean_set(self.y_i) + + error_state_estimate.fill_states(x) + error_state_estimate.covariance = self.covariance_set(x, self.y_i) + + return error_state_estimate + + def H(self) -> np.ndarray: + """Calculates the measurement matrix. + + Returns: + np.ndarray: The measurement matrix. + """ + # Define the measurement matrix + H = np.zeros((3, 15)) + + # For now assume only velocity is measured + H[0:3, 3:6] = np.eye(3) + + return H + + def measurement_update(self, sigma_points: list[StateVector_euler], current_error_state: StateVector_euler, dvl_data: np.ndarray, Weight: np.ndarray) -> StateVector_euler: + """ + Updates the state vector with the DVL data + """ + + H = self.H() + R = self.R + + n = len(sigma_points[0].as_vector()) + + Z_i = np.zeros((H.shape[0], 2 * n)) + + for i in range(2*n): + Z_i[:, i] = np.dot(H, sigma_points[i].as_vector()) + + z = self.weighted_mean_set(Z_i, Weight) + S = self.weighted_covariance_set(z, Z_i, Weight) + + x = self.mean_set(self.y_i) + + # Calculate the rest + innovation = dvl_data - z + + P_innovation = S + R + + P_xz = self.covariance_set(x, self.y_i, z, Z_i) + + # Kalman gain + K_k = np.dot(P_xz, np.linalg.inv(P_innovation)) + + updated_error_state = StateVector_euler() + + # Update the state + updated_error_state.fill_states(x + np.dot(K_k, innovation)) + + # Update the covariance + updated_error_state.covariance = current_error_state.covariance - np.dot(K_k, np.dot(P_innovation, K_k.T)) + + return updated_error_state + + def imu_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, imu_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: + """ + Updates the state vector with the IMU data + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + imu_data (np.ndarray): The IMU data + + Returns: + tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states + + """ + + # Update the nominal state + current_state_nom = self.nominal_state_update(current_state_nom, imu_data) + + # Generate the sigma points + sigma_points, _ = self.generate_sigma_points(current_state_error, self.Q_process_noise) + + # Update the error state + current_state_error = self.unscented_transform(sigma_points, current_state_nom, imu_data) + + return current_state_nom, current_state_error + + def dvl_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, dvl_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: + """ + Update the error state given the DVL data + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + dvl_data (np.ndarray): The DVL data to update the state with + + Returns: + tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states + """ + + # Generate the sigma points + sigma_points, weight = self.generate_sigma_points(current_state_error, self.Q_process_noise) + + # Update the error state + current_state_error = self.measurement_update(sigma_points, current_state_error, dvl_data, weight) + + return current_state_nom, current_state_error + + def inject_and_reset(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler) -> tuple[StateVector_quaternion, StateVector_euler]: + """ + Injects the error state into the nominal state and resets the error state + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + + Returns: + tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states + """ + + inj_state = StateVector_quaternion() + + inj_state.position = current_state_nom.position + current_state_error.position + inj_state.velocity = current_state_nom.velocity + current_state_error.velocity + inj_state.orientation = quaternion_super_product( + current_state_nom.orientation, + 0.5 + * np.array( + [ + 2, + current_state_error.orientation[0], + current_state_error.orientation[1], + current_state_error.orientation[2], + ] + ), + ) + inj_state.acceleration_bias = ( + current_state_nom.acceleration_bias + current_state_error.acceleration_bias + ) + inj_state.gyro_bias = current_state_nom.gyro_bias + current_state_error.gyro_bias + + + # Resetting the error state + G = np.eye(15) + G[6:9, 6:9] = np.eye(3) - skew_symmetric( + 0.5 * current_state_error.orientation + ) + + current_state_error.covariance = np.dot( + np.dot(G, current_state_error.covariance), G.T + ) + + current_state_error.fill_states(np.zeros(15)) + + + return inj_state, current_state_error + diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py new file mode 100644 index 000000000..629ce460e --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py @@ -0,0 +1,280 @@ +import numpy as np +from dataclasses import dataclass, field +from sp_ukf_python_utils import quaternion_super_product, quaternion_error, euler_rotation_quaternion, ssa + +@dataclass +class StateVector_quaternion: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(4) + ) # Orientation quaternion (w, x, y, z) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + + def as_vector(self) -> np.ndarray: + """Calculates the state vector. + + Returns: + np.ndarray: The state vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + if len(state) == 15: + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:10] + self.acceleration_bias = state[10:13] + self.gyro_bias = state[13:] + else: + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = euler_rotation_quaternion(state[6:9]) + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:] + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion. + + Returns: + np.ndarray: The rotation matrix. + """ + q0, q1, q2, q3 = self.orientation + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R + + def euler_forward( + self, current_state: 'StateVector_quaternion', dt: float + ) -> 'StateVector_quaternion': + # Define the new state + new_state = StateVector_quaternion() + + # Define the state derivatives + new_state.position = current_state.position + self.position * dt + new_state.velocity = current_state.velocity + self.velocity * dt + new_state.orientation = current_state.orientation + self.orientation * dt + new_state.acceleration_bias = ( + current_state.acceleration_bias + self.acceleration_bias * dt + ) + new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt + + # Normalize the orientation quaternion + new_state.orientation /= np.linalg.norm(new_state.orientation) + + return new_state + + def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: + """Subtracts two StateVector_quaternion objects. + + Args: + other (StateVector_quaternion): The other StateVector_quaternion object. + + Returns: + np.ndarray: The difference between the two StateVector_quaternion objects. + """ + position_diff = self.position - other.position + velocity_diff = self.velocity - other.velocity + orientation_diff = quaternion_error(self.orientation, other.orientation) + acceleration_bias_diff = self.acceleration_bias - other.acceleration_bias + gyro_bias_diff = self.gyro_bias - other.gyro_bias + + return np.concatenate( + [ + position_diff, + velocity_diff, + orientation_diff, + acceleration_bias_diff, + gyro_bias_diff, + ] + ) + + def __add__(self, other: 'np.ndarray') -> 'np.ndarray': + """Adds a numpy array to this StateVector_quaternion. + + Args: + other (np.ndarray): The numpy array to add. + + Returns: + np.ndarray: The result of the addition. + """ + # Construct the quaternion from the array + add_to_position = other[:3] + add_to_orientation = euler_rotation_quaternion(other[6:10]) + + new_position = self.position + add_to_position + new_velcoity = self.velocity + other[3:6] + new_orientation = quaternion_super_product(self.orientation, add_to_orientation) + new_acceleration_bias = self.acceleration_bias + other[10:13] + new_gyro_bias = self.gyro_bias + other[13:] + + return np.concatenate( + [ + new_position, + new_velcoity, + new_orientation, + new_acceleration_bias, + new_gyro_bias, + ] + ) + + +@dataclass +class StateVector_euler: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Orientation angles (roll, pitch, yaw) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + covariance: np.ndarray = field( + default_factory=lambda: np.zeros((15, 15)) + ) # Covariance matrix + + def as_vector(self) -> np.ndarray: + """Calculates the state estimate vector. + + Returns: + np.ndarray: The state estimate vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:9] + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:15] + + def copy_state(self, wanted_state: 'StateVector_euler') -> None: + """Copies the state from a StateVector object into the current StateVector object. + + Args: + wanted_state (StateVector_euler): The quaternion state to copy from. + """ + self.position = wanted_state.position + self.velocity = wanted_state.velocity + self.orientation = wanted_state.orientation + self.acceleration_bias = wanted_state.acceleration_bias + self.gyro_bias = wanted_state.gyro_bias + + def __add__(self, other: 'np.ndarray') -> 'np.ndarray': + """Adds a numpy array to this StateVector_quaternion. + + Args: + other (np.ndarray): The numpy array to add. + + Returns: + np.ndarray: The result of the addition. + """ + + new_position = self.position + other[:3] + new_velcoity = self.velocity + other[3:6] + new_orientation = self.orientation + other[6:9] + new_acceleration_bias = self.acceleration_bias + other[9:12] + new_gyro_bias = self.gyro_bias + other[12:] + + return np.concatenate( + [ + new_position, + new_velcoity, + new_orientation, + new_acceleration_bias, + new_gyro_bias, + ] + ) + + def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': + """ + Subtracts two StateVector_euler objects. + + Args: + other (StateVector_euler): The other StateVector_euler object. + + Returns: + StateVector_euler: The difference between the two StateVector_euler objects. + """ + position_diff = self.position - other_state[:3] + velocity_diff = self.velocity - other_state[3:6] + orientation_diff = ssa(self.orientation - other_state[6:9]) + acceleration_bias_diff = self.acceleration_bias - other_state[9:12] + gyro_bias_diff = self.gyro_bias - other_state[12:] + + return np.concatenate( + (position_diff, velocity_diff, orientation_diff, acceleration_bias_diff, gyro_bias_diff) + ) + + +@dataclass +class MeasurementModel: + measurement: np.ndarray = field( + default_factory=lambda: np.zeros(6) + ) # Measurement vector + measurement_matrix: np.ndarray = field( + default_factory=lambda: np.zeros((6, 15)) + ) # Measurement matrix + measurement_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((6, 6)) + ) # Measurement noise matrix \ No newline at end of file diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py new file mode 100644 index 000000000..103528ef2 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py @@ -0,0 +1,137 @@ +#!/usr/bin/env python3 + +import rclpy +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import QoSProfile, qos_profile_sensor_data +from sensor_msgs.msg import Imu, +import numpy as np +from geometry_msgs.msg import TwistWithCovarianceStamped + +# NEED TO CHANGE THIS TO THE CORRECT PATH +from eskf_python.eskf_python_filter import ( + ErrorStateKalmanFilter, + MeasurementModel, + StateVector_euler, + StateVector_quaternion, +) + +qos_profile = QoSProfile( + depth=1, + history=qos_profile_sensor_data.history, + reliability=qos_profile_sensor_data.reliability, +) + + +class ESKalmanFilterNode(Node): + def __init__(self): + super().__init__("sp_ukf_python_node") + + # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz + self.imu_subscriber_ = self.create_subscription( + Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile + ) + + self.twist_dvl_subscriber_ = self.create_subscription( + TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile + ) + + # This publisher will publish the estimtaed state of the vehicle + self.state_publisher_ = self.create_publisher( + Odometry, '/orca/odom', qos_profile=qos_profile + ) + + self.eskf_modual = ErrorStateKalmanFilter() + self.current_state_nom = StateVector_quaternion() + self.current_state_error = StateVector_euler() + self.measurement_pred = MeasurementModel() + self.odom_msg = Odometry() + + self.get_logger().info("Unscented Kalman Filter started") + + def imu_callback(self, msg: Imu): + + # Get the IMU data + + imu_acceleartion = msg.linear_acceleration + imu_angular_velocity = msg.angular_velocity + + # Combine the IMU data + imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) + + # Update the filter with the IMU data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.imu_update_states( + self.current_state_nom, self.current_state_error, imu_data + ) + ) + + # Inserting the nominal state into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x + self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y + self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z + + # Publish + self.state_publisher_.publish(self.odom_msg) + + + + def filter_callback(self, msg: TwistWithCovarianceStamped): + """Callback function for the filter measurement update, + this will be called when the filter needs to be updated with the DVL data. + """ + self.get_logger().info("Filter callback, got DVL data") + + # Get the DVL data (linear velocity) + dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + + # Update the filter with the DVL data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.dvl_update_states( + self.current_state_nom, self.current_state_error, dvl_data + ) + ) + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.injection_and_reset( + self.current_state_nom, self.current_state_error + ) + ) + + # Inserting data into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + + # Publishing the data + self.state_publisher_.publish(self.odom_msg) + + + +def main(args=None): + rclpy.init(args=args) + node = ESKalmanFilterNode() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py new file mode 100644 index 000000000..071180fc7 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py @@ -0,0 +1,107 @@ +import numpy as np + +def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + + q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) + q_new /= np.linalg.norm(q_new) + + return q_new + +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_super_product(quat_1, quat_2_inv) + + return error_quat + +def euler_rotation_quaternion(self, euler_angles: np.ndarray) -> np.ndarray: + """ + Converts An vector assumed to be rotation vector to quaternion + + Args: + euler_angles (np.ndarray): Rotation vector + + Returns: + np.ndarray: Quaternion representation of the rotation vector + """ + + angle = np.linalg.norm(euler_angles) + + if angle == 0: + axis = np.array([0, 0, 0]) + else: + axis = euler_angles / angle + + quaternion = np.zeros(4) + quaternion[0] = np.cos(angle / 2) + quaternion[1:] = np.sin(angle / 2) * axis + + return quaternion + +def quaternion_rotation_euler(self, quaternion: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to an euler rotation vector + Used to generate the covarince matrix + + Args: + quaternion (np.ndarray): The quaternion to convert + + Returns: + np.ndarray: The euler rotation vector + """ + nu, eta_x, eta_y, eta_z = quaternion + + phi = np.arctan2(2 * (nu * eta_x + eta_y * eta_z), 1 - 2 * (eta_x ** 2 + eta_y ** 2)) + theta = -np.arcsin(2 * (eta_z * eta_x - nu * eta_y)) + psi = np.arctan2(2 * (nu * eta_z + eta_x * eta_y), 1 - 2 * (eta_y ** 2 + eta_z ** 2)) + + return np.array([phi, theta, psi]) + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def ssa(angle: np.ndarray) -> np.ndarray: + """ + smallest signed angle between two angles + """ + ssa_vector = np.zeros(len(angle)) + + for i in range(len(angle)): + ssa_vector[i] = (angle[i] + np.pi) % (2 * np.pi) - np.pi + + return ssa_vector \ No newline at end of file diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py new file mode 100644 index 000000000..59e08aa55 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py @@ -0,0 +1,218 @@ +import numpy as np +import matplotlib.pyplot as plt +from mpl_toolkits.mplot3d import Axes3D # for 3D plotting + +# (Assuming the following have been imported from your modules) +from sp_ukf_python_class import StateVector_quaternion, StateVector_euler +from sp_ukf_python_utils import skew_symmetric, quaternion_super_product +from sp_ukf_python import ErrorStateUnscentedKalmanFilter + +def quat_to_yaw(q: np.ndarray) -> float: + """ + Convert a quaternion (assumed [w, x, y, z]) with zero roll and pitch + into a yaw angle. + """ + return 2 * np.arctan2(q[3], q[0]) + +def run_ESUKF_simulation(): + # Simulation parameters + dt = 0.01 # time step [s] + T = 60.0 # total simulation time [s] + num_steps = int(T/dt) + g_val = 9.81 # gravitational acceleration + + # Define noise and covariance matrices + Q = np.diag([0.1]*15) # Process noise covariance (15x15) + R_meas = np.diag([0.08]*3) # DVL measurement noise (velocity noise) + P_ab = 0.005 # Accelerometer bias dynamics matrix + P_wb = 0.005 # Gyro bias dynamics matrix + lever_arm = np.array([0.0, 0.0, 0.0]) # Assume sensor is at the center of mass + + # Create ESUKF instance + esukf = ErrorStateUnscentedKalmanFilter(P_ab, P_wb, Q, lever_arm, R_meas, g_val, dt) + + # Initialize true state (StateVector_quaternion) with no biases. + true_state = StateVector_quaternion() + true_state.position = np.array([20.0, 0.0, 0.0]) + true_state.velocity = np.array([0.0, 1.0, 0.0]) + true_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # No initial rotation + true_state.acceleration_bias = np.zeros(3) + true_state.gyro_bias = np.zeros(3) + + # Initialize estimated (nominal) state with a small offset. + est_state_nom = StateVector_quaternion() + est_state_nom.position = true_state.position + np.array([0.1, -0.1, 0.05]) + est_state_nom.velocity = true_state.velocity + np.array([0.05, 0.05, -0.05]) + est_state_nom.orientation = true_state.orientation.copy() + est_state_nom.acceleration_bias = np.zeros(3) + est_state_nom.gyro_bias = np.zeros(3) + + # Initialize error state (StateVector_euler) as zero with some initial covariance. + est_state_error = StateVector_euler() + est_state_error.fill_states(np.zeros(15)) + est_state_error.covariance = 0.1 * np.eye(15) + + # Prepare histories for plotting + time_hist = [] + true_pos_hist = [] + est_pos_hist = [] + true_vel_hist = [] + est_vel_hist = [] + true_yaw_hist = [] + est_yaw_hist = [] + + # For the true trajectory, we simulate a circle in the horizontal plane. + R_circle = 20.0 # circle radius [m] + omega = 0.05 # angular speed [rad/s] + + t = 0.0 + for step in range(num_steps): + # --- True State Generation --- + # Circular trajectory: position = [R*cos(omega*t), R*sin(omega*t), 0] + pos_true = np.array([R_circle * np.cos(omega * t), + R_circle * np.sin(omega * t), + 0.0]) + # Velocity is the derivative of position. + vel_true = np.array([-R_circle * omega * np.sin(omega * t), + R_circle * omega * np.cos(omega * t), + 0.0]) + # Acceleration is the second derivative. + acc_true = np.array([-R_circle * omega**2 * np.cos(omega * t), + -R_circle * omega**2 * np.sin(omega * t), + 0.0]) + # Update the true state. + true_state.position = pos_true + true_state.velocity = vel_true + # Compute heading (yaw) tangent to the path. + yaw_true = np.arctan2(vel_true[1], vel_true[0]) + # For simplicity, assume roll and pitch are zero. + true_state.orientation = np.array([np.cos(yaw_true/2), 0.0, 0.0, np.sin(yaw_true/2)]) + # Biases remain zero for the true state. + + # --- Simulated IMU Measurements --- + # The nominal state propagation uses: + # velocity_dot = R_q() @ (imu_acc - bias) + g + # Therefore, the ideal accelerometer measurement is: + # imu_acc = R_true.T @ (acc_true - g_vector) + R_true = true_state.R_q() # rotation matrix from quaternion + imu_acc_ideal = np.dot(R_true.T, (acc_true - np.array([0.0, 0.0, g_val]))) + # Add noise (e.g., 0.1 m/s^2 std dev). + imu_acc_noise = np.random.normal(0.0, 0.1, 3) + imu_acc_meas = imu_acc_ideal + imu_acc_noise + + # For the gyro: the true angular velocity in body frame. + # For a circular path with constant yaw rate, the ideal gyro reading is: + imu_gyro_ideal = np.array([0.0, 0.0, omega]) + # Add noise (e.g., 0.01 rad/s std dev). + imu_gyro_noise = np.random.normal(0.0, 0.01, 3) + imu_gyro_meas = imu_gyro_ideal + imu_gyro_noise + + # Combine to form the complete IMU measurement vector. + imu_meas = np.hstack((imu_acc_meas, imu_gyro_meas)) + + # --- Simulated DVL Measurement --- + # DVL measures velocity (here assumed in the inertial frame). + dvl_noise = np.random.normal(0.0, 0.05, 3) + dvl_meas = vel_true + dvl_noise + + # --- Filter Updates --- + # 1. Propagate the nominal state with IMU data. + est_state_nom, est_state_error = esukf.imu_update_states(est_state_nom, est_state_error, imu_meas) + # 2. Incorporate DVL measurement. + est_state_nom, est_state_error = esukf.dvl_update_states(est_state_nom, est_state_error, dvl_meas) + # 3. Inject the error state into the nominal state and reset the error state. + est_state_nom, est_state_error = esukf.inject_and_reset(est_state_nom, est_state_error) + + # --- Store Histories --- + time_hist.append(t) + true_pos_hist.append(pos_true) + est_pos_hist.append(est_state_nom.position.copy()) + true_vel_hist.append(vel_true) + est_vel_hist.append(est_state_nom.velocity.copy()) + true_yaw_hist.append(yaw_true) + est_yaw_hist.append(quat_to_yaw(est_state_nom.orientation)) + + t += dt + + # Convert histories to NumPy arrays. + true_pos_hist = np.array(true_pos_hist) + est_pos_hist = np.array(est_pos_hist) + true_vel_hist = np.array(true_vel_hist) + est_vel_hist = np.array(est_vel_hist) + true_yaw_hist = np.array(true_yaw_hist) + est_yaw_hist = np.array(est_yaw_hist) + time_hist = np.array(time_hist) + + # --- Plotting Results --- + + # Plot positions (each axis separately) + plt.figure(figsize=(10, 8)) + plt.subplot(3, 1, 1) + plt.plot(time_hist, true_pos_hist[:, 0], label='True X') + plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated X') + plt.ylabel('X Position (m)') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time_hist, true_pos_hist[:, 1], label='True Y') + plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated Y') + plt.ylabel('Y Position (m)') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time_hist, true_pos_hist[:, 2], label='True Z') + plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated Z') + plt.xlabel('Time (s)') + plt.ylabel('Z Position (m)') + plt.legend() + plt.tight_layout() + plt.show() + + # Plot velocities + plt.figure(figsize=(10, 8)) + plt.subplot(3, 1, 1) + plt.plot(time_hist, true_vel_hist[:, 0], label='True Vx') + plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vx') + plt.ylabel('Vx (m/s)') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time_hist, true_vel_hist[:, 1], label='True Vy') + plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Vy') + plt.ylabel('Vy (m/s)') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time_hist, true_vel_hist[:, 2], label='True Vz') + plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vz') + plt.xlabel('Time (s)') + plt.ylabel('Vz (m/s)') + plt.legend() + plt.tight_layout() + plt.show() + + # Plot heading (yaw) + plt.figure(figsize=(10, 4)) + plt.plot(time_hist, np.degrees(true_yaw_hist), label='True Yaw') + plt.plot(time_hist, np.degrees(est_yaw_hist), '--', label='Estimated Yaw') + plt.xlabel('Time (s)') + plt.ylabel('Yaw (deg)') + plt.legend() + plt.title('Heading Comparison') + plt.tight_layout() + plt.show() + + # Plot 3D Trajectory + fig = plt.figure(figsize=(8, 6)) + ax = fig.add_subplot(111, projection='3d') + ax.plot(true_pos_hist[:, 0], true_pos_hist[:, 1], true_pos_hist[:, 2], label='True Trajectory', linewidth=2) + ax.plot(est_pos_hist[:, 0], est_pos_hist[:, 1], est_pos_hist[:, 2], '--', label='Estimated Trajectory', linewidth=2) + ax.set_xlabel('X (m)') + ax.set_ylabel('Y (m)') + ax.set_zlabel('Z (m)') + ax.legend() + plt.title('3D Trajectory') + plt.show() + +if __name__ == '__main__': + run_ESUKF_simulation() From 382b0799e89b14836558aa8734e751168b94fdfa Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 27 Feb 2025 16:18:15 +0100 Subject: [PATCH 004/109] feat: added UKF fix injection step --- .../sp_ukf_python/sp_ukf_python.py | 377 ++++++++++-------- .../sp_ukf_python/sp_ukf_python_class.py | 33 +- .../sp_ukf_python/sp_ukf_python/test_ukf.py | 295 +++++++++----- 3 files changed, 434 insertions(+), 271 deletions(-) diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py index 6f9d1b2f6..8d2ff6265 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py @@ -1,10 +1,9 @@ -from dataclasses import dataclass -from typing import Tuple -from sp_ukf_python_class import StateVector_quaternion, StateVector_euler -from sp_ukf_python_utils import skew_symmetric, quaternion_super_product -from scipy.linalg import expm import numpy as np +from scipy.linalg import expm +from sp_ukf_python_class import StateVector_euler, StateVector_quaternion +from sp_ukf_python_utils import quaternion_super_product, skew_symmetric + class ErrorStateUnscentedKalmanFilter: def __init__( @@ -24,11 +23,10 @@ def __init__( self.R = R self.g = np.array([0, 0, g]) self.dt = dt - self.y_i = np.zeros((15, 2*15)) - + self.y_i = np.zeros((15, 2 * 15)) + def mean_set(self, set: np.ndarray) -> np.ndarray: - """ - Calculates the mean of a set of values. + """Calculates the mean of a set of values. Args: set (np.ndarray): The set of values. @@ -38,15 +36,14 @@ def mean_set(self, set: np.ndarray) -> np.ndarray: """ # Define the number of columns n = set.shape[0] - + # Calculate the mean value mean_value = (1 / (2 * n)) * np.sum(set, axis=1) return mean_value - + def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: - """ - Calculates the mean of a set of values. + """Calculates the mean of a set of values. Args: set (np.ndarray): The set of values. @@ -57,86 +54,94 @@ def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: # Define the number of columns n = set.shape[0] mean_value = np.zeros(n) - - for i in range(2*n + 1): + + for i in range(2 * n + 1): mean_value += weight[i] * set[:, i] - mean_value = (1 / (2 * n + 1)) * mean_value + mean_value = (1 / (2 * n + 1)) * mean_value return mean_value - - def covariance_set(self, mean: np.ndarray, set: np.ndarray, mean_2: np.ndarray = None, set_2: np.ndarray = None) -> np.ndarray: - """ - Calculate the covarince of a set of sigmapoints - + + def covariance_set(self, mean: np.ndarray, set: np.ndarray) -> np.ndarray: + """Calculate the covarince of a set of sigmapoints + Args: mean (np.ndarray): The mean of the set. set (np.ndarray): The set of values. - + Returns: np.ndarray: The covariance of the set. """ + n = set.shape[0] + covariance_set = np.zeros((n, n)) - if mean_2 is not None: - - n = set.shape[0] - n2 = set_2.shape[0] - covariance_set = np.zeros((n, n2)) - - for i in range(2*n): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - vector_2 = StateVector_euler() - vector_2.position = set_2[:, i][:3] - vector_2.velocity = set_2[:, i][3:6] - vector_2.orientation = set_2[:, i][6:9] - vector_2.acceleration_bias = set_2[:, i][9:12] - vector_2.gyro_bias = set_2[:, i][12:] - W_i = vector - mean - W_i_2 = vector_2 - mean_2 - - covariance_set += (1 / (2*n)) * np.outer(W_i, W_i_2) - - return covariance_set - else: - - n = set.shape[0] - covariance_set = np.zeros((n, n)) - - for i in range(2*n): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - W_i = vector - mean - covariance_set += (1 / (2*n)) * np.outer(W_i, W_i) - - return covariance_set - - def weighted_covariance_set(self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray) -> np.ndarray: + for i in range(2 * n + 1): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + W_i = vector - mean + + covariance_set += (1 / (2 * n + 1)) * np.outer(W_i, W_i) + + return covariance_set + + def cross_covariance_set( + self, + mean: np.ndarray, + set: np.ndarray, + mean_2: np.ndarray, + set_2: np.ndarray, + weight: np.ndarray, + ) -> np.ndarray: + """Calculate the cross covariance of a set of sigmapoints + + Args: + mean (np.ndarray): The mean of the set. + set (np.ndarray): The set of values. + mean_2 (np.ndarray): The mean of the second set. + set_2 (np.ndarray): The second set of values. + + Returns: + np.ndarray: The cross covariance of the set. """ - Calculate the covarince of a set of sigmapoints - + n_x = set.shape[0] + n_z = set_2.shape[0] + covariance_mat = np.zeros((n_x, n_z)) + + for i in range(2 * n_x + 1): + # parse the 15-dim error state + err_vec = set[:, i] # shape (15,) + W_i = err_vec - mean # shape (15,) + + # parse the 3-dim measurement + meas_vec = set_2[:, i] # shape (3,) + W_i_2 = meas_vec - mean_2 # shape (3,) + + # outer product -> shape (15,3) + covariance_mat += weight[i] * np.outer(W_i, W_i_2) + + return covariance_mat + + def weighted_covariance_set( + self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray + ) -> np.ndarray: + """Calculate the covarince of a set of sigmapoints + Args: mean (np.ndarray): The mean of the set. set (np.ndarray): The set of values. - + Returns: np.ndarray: The covariance of the set. """ - n = set.shape[0] covariance_set = np.zeros((n, n)) - for i in range(2*n): + for i in range(2 * n + 1): vector = StateVector_euler() vector.position = set[:, i][:3] vector.velocity = set[:, i][3:6] @@ -146,38 +151,38 @@ def weighted_covariance_set(self, mean: np.ndarray, set: np.ndarray, weight: np. W_i = vector - mean covariance_set += weight[i] * np.outer(W_i, W_i) - - return covariance_set - + return covariance_set - def generate_sigma_points(self, error_state: StateVector_euler, Q_process_noise) -> tuple[list[StateVector_euler], np.ndarray]: - """ - Generates the sigma points for the UKF + def generate_sigma_points( + self, error_state: StateVector_euler, Q_process_noise + ) -> tuple[list[StateVector_euler], np.ndarray]: + """Generates the sigma points for the UKF This is done using the Cholesky decomposition method """ - # Define n n = len(error_state.covariance) kappa = 3 - n # Computing S matrix using cholensky decomposition + # print(error_state.covariance + Q_process_noise) S = np.linalg.cholesky(error_state.covariance + Q_process_noise) + # print(S) S_scaled = np.sqrt(n + kappa) * S - weighted_points = np.concatenate((S_scaled , -S_scaled), axis=1) + weighted_points = np.concatenate((S_scaled, -S_scaled), axis=1) sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] sigma_points[0].fill_states(error_state.as_vector()) - for i in range(2*n): - sigma_points[i + 1].fill_states(error_state + weighted_points[:,i]) + for i in range(2 * n): + sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) - W = np.zeros(2*n + 1) + W = np.zeros(2 * n + 1) W[0] = kappa / (n + kappa) - for i in range(2*n): + for i in range(2 * n): W[i + 1] = 1 / (2 * (n + kappa)) return sigma_points, W @@ -214,7 +219,14 @@ def nominal_state_update( # Define the quaternion derivatives current_state_dot.orientation = 0.5 * quaternion_super_product( current_state.orientation, - np.array([0, imu_gyro[0] - current_state.gyro_bias[0], imu_gyro[1] - current_state.gyro_bias[1], imu_gyro[2] - current_state.gyro_bias[2]]), + np.array( + [ + 0, + imu_gyro[0] - current_state.gyro_bias[0], + imu_gyro[1] - current_state.gyro_bias[1], + imu_gyro[2] - current_state.gyro_bias[2], + ] + ), ) # Define the bias @@ -265,20 +277,24 @@ def error_state_update( next_error_state = A_d @ current_error_state.as_vector() return next_error_state - - def unscented_transform(self, sigma_points: list[StateVector_euler], current_state: StateVector_quaternion, - imu_reading: np.ndarray,) -> StateVector_euler: - """ - Performs the Unscented Transform + + def unscented_transform( + self, + sigma_points: list[StateVector_euler], + current_state: StateVector_quaternion, + imu_reading: np.ndarray, + ) -> StateVector_euler: + """Performs the Unscented Transform This is the corresponding to a preditction step in the EKF """ - n = len(sigma_points[0].as_vector()) - self.y_i = np.zeros((n, 2*n)) + self.y_i = np.zeros((n, 2 * n + 1)) - for i in range(2*n): - self.y_i[:, i] = self.error_state_update(sigma_points[i], current_state, imu_reading) + for i in range(2 * n + 1): + self.y_i[:, i] = self.error_state_update( + sigma_points[i], current_state, imu_reading + ) error_state_estimate = StateVector_euler() @@ -286,9 +302,9 @@ def unscented_transform(self, sigma_points: list[StateVector_euler], current_sta error_state_estimate.fill_states(x) error_state_estimate.covariance = self.covariance_set(x, self.y_i) - + return error_state_estimate - + def H(self) -> np.ndarray: """Calculates the measurement matrix. @@ -296,39 +312,83 @@ def H(self) -> np.ndarray: np.ndarray: The measurement matrix. """ # Define the measurement matrix - H = np.zeros((3, 15)) + H = np.zeros((3, 16)) # For now assume only velocity is measured - H[0:3, 3:6] = np.eye(3) + H[:, 3:6] = np.eye(3) return H - - def measurement_update(self, sigma_points: list[StateVector_euler], current_error_state: StateVector_euler, dvl_data: np.ndarray, Weight: np.ndarray) -> StateVector_euler: - """ - Updates the state vector with the DVL data + + def injection( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + ) -> StateVector_quaternion: + """Injects the error state into the nominal state + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + + Returns: + StateVector_quaternion: The updated nominal state """ + inj_state = StateVector_quaternion() + inj_state.position = current_state_nom.position + current_state_error.position + inj_state.velocity = current_state_nom.velocity + current_state_error.velocity + inj_state.orientation = quaternion_super_product( + current_state_nom.orientation, + 0.5 + * np.array( + [ + 2, + current_state_error.orientation[0], + current_state_error.orientation[1], + current_state_error.orientation[2], + ] + ), + ) + inj_state.acceleration_bias = ( + current_state_nom.acceleration_bias + current_state_error.acceleration_bias + ) + inj_state.gyro_bias = ( + current_state_nom.gyro_bias + current_state_error.gyro_bias + ) + + return inj_state + + def measurement_update( + self, + sigma_points: list[StateVector_euler], + current_nom_state: StateVector_quaternion, + current_error_state: StateVector_euler, + dvl_data: np.ndarray, + Weight: np.ndarray, + ) -> StateVector_euler: + """Updates the state vector with the DVL data + """ H = self.H() R = self.R n = len(sigma_points[0].as_vector()) - Z_i = np.zeros((H.shape[0], 2 * n)) + Z_i = np.zeros((H.shape[0], 2 * n + 1)) + + for i in range(2 * n + 1): + injected_state = self.injection(current_nom_state, sigma_points[i]) + Z_i[:, i] = np.dot(H, injected_state.as_vector()) - for i in range(2*n): - Z_i[:, i] = np.dot(H, sigma_points[i].as_vector()) - z = self.weighted_mean_set(Z_i, Weight) S = self.weighted_covariance_set(z, Z_i, Weight) x = self.mean_set(self.y_i) - # Calculate the rest innovation = dvl_data - z P_innovation = S + R - P_xz = self.covariance_set(x, self.y_i, z, Z_i) + P_xz = self.cross_covariance_set(x, self.y_i, z, Z_i, Weight) # Kalman gain K_k = np.dot(P_xz, np.linalg.inv(P_innovation)) @@ -339,102 +399,99 @@ def measurement_update(self, sigma_points: list[StateVector_euler], current_erro updated_error_state.fill_states(x + np.dot(K_k, innovation)) # Update the covariance - updated_error_state.covariance = current_error_state.covariance - np.dot(K_k, np.dot(P_innovation, K_k.T)) + updated_error_state.covariance = current_error_state.covariance - np.dot( + K_k, np.dot(P_innovation, K_k.T) + ) - return updated_error_state + return updated_error_state + + def imu_update_states( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + imu_data: np.ndarray, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Updates the state vector with the IMU data - def imu_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, imu_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: - """ - Updates the state vector with the IMU data - Args: current_state_nom (StateVector_quaternion): The current nominal state current_state_error (StateVector_euler): The current error state imu_data (np.ndarray): The IMU data - + Returns: tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states """ - # Update the nominal state current_state_nom = self.nominal_state_update(current_state_nom, imu_data) # Generate the sigma points - sigma_points, _ = self.generate_sigma_points(current_state_error, self.Q_process_noise) + sigma_points, _ = self.generate_sigma_points( + current_state_error, self.Q_process_noise + ) # Update the error state - current_state_error = self.unscented_transform(sigma_points, current_state_nom, imu_data) + current_state_error = self.unscented_transform( + sigma_points, current_state_nom, imu_data + ) return current_state_nom, current_state_error - - def dvl_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, dvl_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: - """ - Update the error state given the DVL data + + def dvl_update_states( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + dvl_data: np.ndarray, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Update the error state given the DVL data Args: current_state_nom (StateVector_quaternion): The current nominal state current_state_error (StateVector_euler): The current error state dvl_data (np.ndarray): The DVL data to update the state with - + Returns: tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states """ - # Generate the sigma points - sigma_points, weight = self.generate_sigma_points(current_state_error, self.Q_process_noise) + sigma_points, weight = self.generate_sigma_points( + current_state_error, self.Q_process_noise + ) # Update the error state - current_state_error = self.measurement_update(sigma_points, current_state_error, dvl_data, weight) + current_state_error = self.measurement_update( + sigma_points, current_state_nom, current_state_error, dvl_data, weight + ) return current_state_nom, current_state_error - - def inject_and_reset(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler) -> tuple[StateVector_quaternion, StateVector_euler]: - """ - Injects the error state into the nominal state and resets the error state + + def inject_and_reset( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Injects the error state into the nominal state and resets the error state Args: current_state_nom (StateVector_quaternion): The current nominal state current_state_error (StateVector_euler): The current error state - - Returns: + + Returns: tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states """ + inj_state = self.injection(current_state_nom, current_state_error) - inj_state = StateVector_quaternion() - - inj_state.position = current_state_nom.position + current_state_error.position - inj_state.velocity = current_state_nom.velocity + current_state_error.velocity - inj_state.orientation = quaternion_super_product( - current_state_nom.orientation, - 0.5 - * np.array( - [ - 2, - current_state_error.orientation[0], - current_state_error.orientation[1], - current_state_error.orientation[2], - ] - ), - ) - inj_state.acceleration_bias = ( - current_state_nom.acceleration_bias + current_state_error.acceleration_bias - ) - inj_state.gyro_bias = current_state_nom.gyro_bias + current_state_error.gyro_bias - - - # Resetting the error state G = np.eye(15) - G[6:9, 6:9] = np.eye(3) - skew_symmetric( - 0.5 * current_state_error.orientation - ) + G[6:9, 6:9] = np.eye(3) - skew_symmetric(0.5 * current_state_error.orientation) current_state_error.covariance = np.dot( np.dot(G, current_state_error.covariance), G.T ) + current_state_error.covariance += np.eye(15) * 1e-4 + + eigvals = np.linalg.eigvals(current_state_error.covariance) + print("Min eigenvalue:", np.min(eigvals)) current_state_error.fill_states(np.zeros(15)) - return inj_state, current_state_error - diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py index 629ce460e..b9a76e26f 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py @@ -1,6 +1,13 @@ -import numpy as np from dataclasses import dataclass, field -from sp_ukf_python_utils import quaternion_super_product, quaternion_error, euler_rotation_quaternion, ssa + +import numpy as np +from sp_ukf_python_utils import ( + euler_rotation_quaternion, + quaternion_error, + quaternion_super_product, + ssa, +) + @dataclass class StateVector_quaternion: @@ -48,7 +55,7 @@ def fill_states(self, state: np.ndarray) -> None: self.orientation = state[6:10] self.acceleration_bias = state[10:13] self.gyro_bias = state[13:] - else: + else: self.position = state[0:3] self.velocity = state[3:6] self.orientation = euler_rotation_quaternion(state[6:9]) @@ -103,7 +110,7 @@ def euler_forward( new_state.orientation /= np.linalg.norm(new_state.orientation) return new_state - + def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: """Subtracts two StateVector_quaternion objects. @@ -128,7 +135,7 @@ def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: gyro_bias_diff, ] ) - + def __add__(self, other: 'np.ndarray') -> 'np.ndarray': """Adds a numpy array to this StateVector_quaternion. @@ -229,7 +236,6 @@ def __add__(self, other: 'np.ndarray') -> 'np.ndarray': Returns: np.ndarray: The result of the addition. """ - new_position = self.position + other[:3] new_velcoity = self.velocity + other[3:6] new_orientation = self.orientation + other[6:9] @@ -247,9 +253,8 @@ def __add__(self, other: 'np.ndarray') -> 'np.ndarray': ) def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': - """ - Subtracts two StateVector_euler objects. - + """Subtracts two StateVector_euler objects. + Args: other (StateVector_euler): The other StateVector_euler object. @@ -263,7 +268,13 @@ def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': gyro_bias_diff = self.gyro_bias - other_state[12:] return np.concatenate( - (position_diff, velocity_diff, orientation_diff, acceleration_bias_diff, gyro_bias_diff) + [ + position_diff, + velocity_diff, + orientation_diff, + acceleration_bias_diff, + gyro_bias_diff, + ] ) @@ -277,4 +288,4 @@ class MeasurementModel: ) # Measurement matrix measurement_covariance: np.ndarray = field( default_factory=lambda: np.zeros((6, 6)) - ) # Measurement noise matrix \ No newline at end of file + ) # Measurement noise matrix diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py index 59e08aa55..d46962797 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py +++ b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py @@ -1,45 +1,78 @@ -import numpy as np import matplotlib.pyplot as plt -from mpl_toolkits.mplot3d import Axes3D # for 3D plotting +import numpy as np # (Assuming the following have been imported from your modules) -from sp_ukf_python_class import StateVector_quaternion, StateVector_euler -from sp_ukf_python_utils import skew_symmetric, quaternion_super_product +from sp_ukf_python_class import StateVector_euler, StateVector_quaternion + from sp_ukf_python import ErrorStateUnscentedKalmanFilter + def quat_to_yaw(q: np.ndarray) -> float: - """ - Convert a quaternion (assumed [w, x, y, z]) with zero roll and pitch - into a yaw angle. + """Convert a quaternion (assumed [w, x, y, z]) into a yaw angle. + In NED, yaw is typically around the z-down axis. """ return 2 * np.arctan2(q[3], q[0]) + def run_ESUKF_simulation(): + # ------------------------------------------------------------------------- # Simulation parameters - dt = 0.01 # time step [s] - T = 60.0 # total simulation time [s] - num_steps = int(T/dt) - g_val = 9.81 # gravitational acceleration + # ------------------------------------------------------------------------- + dt = 0.01 # time step [s] + T = 60.0 # total simulation time [s] + num_steps = int(T / dt) + # In an NED frame, gravity is +9.81 in the z (down) direction. + g_val = 9.81 + + # ------------------------------------------------------------------------- # Define noise and covariance matrices - Q = np.diag([0.1]*15) # Process noise covariance (15x15) - R_meas = np.diag([0.08]*3) # DVL measurement noise (velocity noise) - P_ab = 0.005 # Accelerometer bias dynamics matrix - P_wb = 0.005 # Gyro bias dynamics matrix - lever_arm = np.array([0.0, 0.0, 0.0]) # Assume sensor is at the center of mass + # ------------------------------------------------------------------------- + Q = np.diag( + [ + 0.06, + 0.06, + 0.06, # position error + 0.04, + 0.04, + 0.04, # velocity error + 0.003, + 0.003, + 0.003, # orientation error + 0.02, + 0.02, + 0.02, # accelerometer bias error + 0.02, + 0.02, + 0.02, # gyro bias error + ] + ) + + R_meas = np.diag([0.52, 0.52, 0.52]) # Increased DVL measurement noise - # Create ESUKF instance + # Bias dynamics tuning remains the same here: + P_ab = 0.002 + P_wb = 0.002 + lever_arm = np.array([0.0, 0.0, 0.0]) # Sensor at the vehicle CG + + # Create the Error-State UKF instance (NED convention) esukf = ErrorStateUnscentedKalmanFilter(P_ab, P_wb, Q, lever_arm, R_meas, g_val, dt) - # Initialize true state (StateVector_quaternion) with no biases. + # ------------------------------------------------------------------------- + # Initialize the true state in NED + # ------------------------------------------------------------------------- + # We treat x as North, y as East, z as Down. + # We'll do a circular path in the horizontal plane (z=0). true_state = StateVector_quaternion() - true_state.position = np.array([20.0, 0.0, 0.0]) - true_state.velocity = np.array([0.0, 1.0, 0.0]) + true_state.position = np.array([20.0, 0.0, 0.0]) # [N, E, D]=[20, 0, 0] + true_state.velocity = np.array([0.0, 1.0, 0.0]) # 1 m/s in the East direction true_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # No initial rotation true_state.acceleration_bias = np.zeros(3) true_state.gyro_bias = np.zeros(3) - # Initialize estimated (nominal) state with a small offset. + # ------------------------------------------------------------------------- + # Initialize the estimated state + # ------------------------------------------------------------------------- est_state_nom = StateVector_quaternion() est_state_nom.position = true_state.position + np.array([0.1, -0.1, 0.05]) est_state_nom.velocity = true_state.velocity + np.array([0.05, 0.05, -0.05]) @@ -47,12 +80,14 @@ def run_ESUKF_simulation(): est_state_nom.acceleration_bias = np.zeros(3) est_state_nom.gyro_bias = np.zeros(3) - # Initialize error state (StateVector_euler) as zero with some initial covariance. + # Initialize error state (Euler) with some covariance est_state_error = StateVector_euler() est_state_error.fill_states(np.zeros(15)) - est_state_error.covariance = 0.1 * np.eye(15) + est_state_error.covariance = 0.5 * np.eye(15) + # ------------------------------------------------------------------------- # Prepare histories for plotting + # ------------------------------------------------------------------------- time_hist = [] true_pos_hist = [] est_pos_hist = [] @@ -61,67 +96,110 @@ def run_ESUKF_simulation(): true_yaw_hist = [] est_yaw_hist = [] - # For the true trajectory, we simulate a circle in the horizontal plane. - R_circle = 20.0 # circle radius [m] - omega = 0.05 # angular speed [rad/s] + # ------------------------------------------------------------------------- + # Define the "circular" trajectory in the horizontal plane (z=0) + # in NED: x=North, y=East, z=Down + # We'll revolve in the XY-plane, at D=0, with radius=20 m, angular speed=0.05 rad/s + # ------------------------------------------------------------------------- + R_circle = 20.0 + omega = 0.05 + # ------------------------------------------------------------------------- + # Main simulation loop + # ------------------------------------------------------------------------- t = 0.0 for step in range(num_steps): - # --- True State Generation --- - # Circular trajectory: position = [R*cos(omega*t), R*sin(omega*t), 0] - pos_true = np.array([R_circle * np.cos(omega * t), - R_circle * np.sin(omega * t), - 0.0]) - # Velocity is the derivative of position. - vel_true = np.array([-R_circle * omega * np.sin(omega * t), - R_circle * omega * np.cos(omega * t), - 0.0]) - # Acceleration is the second derivative. - acc_true = np.array([-R_circle * omega**2 * np.cos(omega * t), - -R_circle * omega**2 * np.sin(omega * t), - 0.0]) - # Update the true state. + # --- True State Generation (NED) --- + # Position: circle in x-y plane at z=0 + pos_true = np.array( + [ + R_circle * np.cos(omega * t), # N + R_circle * np.sin(omega * t), # E + 0.0, # D + ] + ) + # Velocity: derivative of pos + vel_true = np.array( + [ + -R_circle * omega * np.sin(omega * t), # d/dt of cos => -sin + R_circle * omega * np.cos(omega * t), # d/dt of sin => cos + 0.0, + ] + ) + # Acceleration: second derivative + acc_true = np.array( + [ + -R_circle * omega**2 * np.cos(omega * t), + -R_circle * omega**2 * np.sin(omega * t), + 0.0, + ] + ) + + # Update the "true" state in NED true_state.position = pos_true true_state.velocity = vel_true - # Compute heading (yaw) tangent to the path. + + # Compute full quaternion from Euler angles (roll, pitch, yaw) + roll_true = 0.0 + pitch_true = 0.0 yaw_true = np.arctan2(vel_true[1], vel_true[0]) - # For simplicity, assume roll and pitch are zero. - true_state.orientation = np.array([np.cos(yaw_true/2), 0.0, 0.0, np.sin(yaw_true/2)]) - # Biases remain zero for the true state. - - # --- Simulated IMU Measurements --- - # The nominal state propagation uses: - # velocity_dot = R_q() @ (imu_acc - bias) + g - # Therefore, the ideal accelerometer measurement is: - # imu_acc = R_true.T @ (acc_true - g_vector) - R_true = true_state.R_q() # rotation matrix from quaternion - imu_acc_ideal = np.dot(R_true.T, (acc_true - np.array([0.0, 0.0, g_val]))) - # Add noise (e.g., 0.1 m/s^2 std dev). - imu_acc_noise = np.random.normal(0.0, 0.1, 3) + cy = np.cos(yaw_true * 0.5) + sy = np.sin(yaw_true * 0.5) + cp = np.cos(pitch_true * 0.5) + sp = np.sin(pitch_true * 0.5) + cr = np.cos(roll_true * 0.5) + sr = np.sin(roll_true * 0.5) + true_state.orientation = np.array( + [ + cr * cp * cy + sr * sp * sy, # w + sr * cp * cy - cr * sp * sy, # x + cr * sp * cy + sr * cp * sy, # y + cr * cp * sy - sr * sp * cy, # z + ] + ) + + # --- Simulated IMU Measurements (NED) --- + # Gravity is +9.81 in the down (z) direction in NED + R_true = true_state.R_q() # rotation from body to inertial + # The "specific force" in body frame is (acc_inertial - gravity_inertial) rotated to body + imu_acc_ideal = R_true.T @ ( + acc_true - np.array([0.0, 0.0, g_val]) + ) + np.random.normal(0.01, 0.01, 3) # [rad/s] + + # Add small noise + imu_acc_noise = np.random.normal(0.0, 0.05, 3) # [m/s^2] imu_acc_meas = imu_acc_ideal + imu_acc_noise - # For the gyro: the true angular velocity in body frame. - # For a circular path with constant yaw rate, the ideal gyro reading is: - imu_gyro_ideal = np.array([0.0, 0.0, omega]) - # Add noise (e.g., 0.01 rad/s std dev). - imu_gyro_noise = np.random.normal(0.0, 0.01, 3) + # Gyro: angular velocity about body axes. Yaw rate is ~omega for a flat circle + imu_gyro_ideal = np.array([0.0, 0.0, omega]) + np.random.normal( + 0.01, 0.01, 3 + ) # [rad/s] + imu_gyro_noise = np.random.normal(0.0, 0.05, 3) # [rad/s] imu_gyro_meas = imu_gyro_ideal + imu_gyro_noise - # Combine to form the complete IMU measurement vector. + # Combine imu_meas = np.hstack((imu_acc_meas, imu_gyro_meas)) # --- Simulated DVL Measurement --- - # DVL measures velocity (here assumed in the inertial frame). + # Velocity in inertial frame (NED) with zero noise for this test dvl_noise = np.random.normal(0.0, 0.05, 3) dvl_meas = vel_true + dvl_noise - # --- Filter Updates --- - # 1. Propagate the nominal state with IMU data. - est_state_nom, est_state_error = esukf.imu_update_states(est_state_nom, est_state_error, imu_meas) - # 2. Incorporate DVL measurement. - est_state_nom, est_state_error = esukf.dvl_update_states(est_state_nom, est_state_error, dvl_meas) - # 3. Inject the error state into the nominal state and reset the error state. - est_state_nom, est_state_error = esukf.inject_and_reset(est_state_nom, est_state_error) + # --------------------------------------------------------------------- + # Filter Updates + # --------------------------------------------------------------------- + # 1. IMU update (prediction) + est_state_nom, est_state_error = esukf.imu_update_states( + est_state_nom, est_state_error, imu_meas + ) + # 2. DVL update (measurement) + est_state_nom, est_state_error = esukf.dvl_update_states( + est_state_nom, est_state_error, dvl_meas + ) + # 3. Inject error state + est_state_nom, est_state_error = esukf.inject_and_reset( + est_state_nom, est_state_error + ) # --- Store Histories --- time_hist.append(t) @@ -134,7 +212,9 @@ def run_ESUKF_simulation(): t += dt - # Convert histories to NumPy arrays. + # ------------------------------------------------------------------------- + # Convert histories to arrays + # ------------------------------------------------------------------------- true_pos_hist = np.array(true_pos_hist) est_pos_hist = np.array(est_pos_hist) true_vel_hist = np.array(true_vel_hist) @@ -143,76 +223,91 @@ def run_ESUKF_simulation(): est_yaw_hist = np.array(est_yaw_hist) time_hist = np.array(time_hist) - # --- Plotting Results --- - - # Plot positions (each axis separately) + # ------------------------------------------------------------------------- + # Plotting + # ------------------------------------------------------------------------- + # Positions plt.figure(figsize=(10, 8)) plt.subplot(3, 1, 1) - plt.plot(time_hist, true_pos_hist[:, 0], label='True X') - plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated X') - plt.ylabel('X Position (m)') + plt.plot(time_hist, true_pos_hist[:, 0], label='True N') + plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated N') + plt.ylabel('N (m)') plt.legend() plt.subplot(3, 1, 2) - plt.plot(time_hist, true_pos_hist[:, 1], label='True Y') - plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated Y') - plt.ylabel('Y Position (m)') + plt.plot(time_hist, true_pos_hist[:, 1], label='True E') + plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated E') + plt.ylabel('E (m)') plt.legend() plt.subplot(3, 1, 3) - plt.plot(time_hist, true_pos_hist[:, 2], label='True Z') - plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated Z') + plt.plot(time_hist, true_pos_hist[:, 2], label='True D') + plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated D') plt.xlabel('Time (s)') - plt.ylabel('Z Position (m)') + plt.ylabel('D (m)') plt.legend() plt.tight_layout() plt.show() - # Plot velocities + # Velocities plt.figure(figsize=(10, 8)) plt.subplot(3, 1, 1) - plt.plot(time_hist, true_vel_hist[:, 0], label='True Vx') - plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vx') - plt.ylabel('Vx (m/s)') + plt.plot(time_hist, true_vel_hist[:, 0], label='True Vn') + plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vn') + plt.ylabel('Vn (m/s)') plt.legend() plt.subplot(3, 1, 2) - plt.plot(time_hist, true_vel_hist[:, 1], label='True Vy') - plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Vy') - plt.ylabel('Vy (m/s)') + plt.plot(time_hist, true_vel_hist[:, 1], label='True Ve') + plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Ve') + plt.ylabel('Ve (m/s)') plt.legend() plt.subplot(3, 1, 3) - plt.plot(time_hist, true_vel_hist[:, 2], label='True Vz') - plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vz') + plt.plot(time_hist, true_vel_hist[:, 2], label='True Vd') + plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vd') plt.xlabel('Time (s)') - plt.ylabel('Vz (m/s)') + plt.ylabel('Vd (m/s)') plt.legend() plt.tight_layout() plt.show() - # Plot heading (yaw) + # Heading (Yaw) plt.figure(figsize=(10, 4)) plt.plot(time_hist, np.degrees(true_yaw_hist), label='True Yaw') plt.plot(time_hist, np.degrees(est_yaw_hist), '--', label='Estimated Yaw') plt.xlabel('Time (s)') plt.ylabel('Yaw (deg)') plt.legend() - plt.title('Heading Comparison') + plt.title('Heading Comparison (NED)') plt.tight_layout() plt.show() - # Plot 3D Trajectory + # 3D Trajectory fig = plt.figure(figsize=(8, 6)) ax = fig.add_subplot(111, projection='3d') - ax.plot(true_pos_hist[:, 0], true_pos_hist[:, 1], true_pos_hist[:, 2], label='True Trajectory', linewidth=2) - ax.plot(est_pos_hist[:, 0], est_pos_hist[:, 1], est_pos_hist[:, 2], '--', label='Estimated Trajectory', linewidth=2) - ax.set_xlabel('X (m)') - ax.set_ylabel('Y (m)') - ax.set_zlabel('Z (m)') + ax.plot( + true_pos_hist[:, 0], + true_pos_hist[:, 1], + true_pos_hist[:, 2], + label='True Trajectory', + linewidth=2, + ) + ax.plot( + est_pos_hist[:, 0], + est_pos_hist[:, 1], + est_pos_hist[:, 2], + '--', + label='Estimated Trajectory', + linewidth=2, + ) + ax.set_xlabel('North (m)') + ax.set_ylabel('East (m)') + ax.set_zlabel('Down (m)') ax.legend() - plt.title('3D Trajectory') + plt.title('3D Trajectory (NED Frame)') plt.show() + if __name__ == '__main__': run_ESUKF_simulation() From 52bdaebd23f76be7c0ce0d22cbf013e48c141c9f Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 9 Mar 2025 01:32:46 +0100 Subject: [PATCH 005/109] feat: working ukf filter is added, some issue in the ESUKF --- .../sp_ukf_python/sp_ukf_python.py | 40 +- .../sp_ukf_python/sp_ukf_python_class.py | 3 +- .../sp_ukf_python/sp_ukf_python_utils.py | 11 +- .../sp_ukf_python/sp_ukf_python/test_ukf.py | 2 +- navigation/ukf_okid/ukf_python/__ini__.py | 0 navigation/ukf_okid/ukf_python/ukf_okid.py | 376 ++++++++++++ .../ukf_python/ukf_okid_class copy.py | 568 ++++++++++++++++++ .../ukf_okid/ukf_python/ukf_okid_class.py | 464 ++++++++++++++ navigation/ukf_okid/ukf_python/ukf_utils.py | 36 ++ 9 files changed, 1476 insertions(+), 24 deletions(-) create mode 100644 navigation/ukf_okid/ukf_python/__ini__.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_okid.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_okid_class copy.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_okid_class.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_utils.py diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py index 8d2ff6265..819cb737d 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py @@ -24,6 +24,7 @@ def __init__( self.g = np.array([0, 0, g]) self.dt = dt self.y_i = np.zeros((15, 2 * 15)) + self.W = np.zeros(2 * 15 + 1) def mean_set(self, set: np.ndarray) -> np.ndarray: """Calculates the mean of a set of values. @@ -34,11 +35,12 @@ def mean_set(self, set: np.ndarray) -> np.ndarray: Returns: np.ndarray: The mean of the set. """ - # Define the number of columns + # Define the number of sigma points based on columns n = set.shape[0] + mean_value = np.zeros(n) - # Calculate the mean value - mean_value = (1 / (2 * n)) * np.sum(set, axis=1) + for i in range(2 * n + 1): + mean_value += (1/(2 * n + 1)) * set[:, i] return mean_value @@ -58,8 +60,6 @@ def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: for i in range(2 * n + 1): mean_value += weight[i] * set[:, i] - mean_value = (1 / (2 * n + 1)) * mean_value - return mean_value def covariance_set(self, mean: np.ndarray, set: np.ndarray) -> np.ndarray: @@ -160,31 +160,26 @@ def generate_sigma_points( """Generates the sigma points for the UKF This is done using the Cholesky decomposition method """ - # Define n n = len(error_state.covariance) kappa = 3 - n - # Computing S matrix using cholensky decomposition - # print(error_state.covariance + Q_process_noise) S = np.linalg.cholesky(error_state.covariance + Q_process_noise) - # print(S) S_scaled = np.sqrt(n + kappa) * S weighted_points = np.concatenate((S_scaled, -S_scaled), axis=1) sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] + W = np.zeros(2 * n + 1) sigma_points[0].fill_states(error_state.as_vector()) - for i in range(2 * n): - sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) - - W = np.zeros(2 * n + 1) W[0] = kappa / (n + kappa) for i in range(2 * n): + sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) W[i + 1] = 1 / (2 * (n + kappa)) + self.W = W return sigma_points, W def nominal_state_update( @@ -298,10 +293,10 @@ def unscented_transform( error_state_estimate = StateVector_euler() - x = self.mean_set(self.y_i) + x = self.weighted_mean_set(self.y_i, self.W) error_state_estimate.fill_states(x) - error_state_estimate.covariance = self.covariance_set(x, self.y_i) + error_state_estimate.covariance = self.weighted_covariance_set(x, self.y_i, self.W) return error_state_estimate @@ -311,10 +306,10 @@ def H(self) -> np.ndarray: Returns: np.ndarray: The measurement matrix. """ - # Define the measurement matrix + # Define the measurement matrix (error state is 15-dim) H = np.zeros((3, 16)) - # For now assume only velocity is measured + # For now assume only velocity is measured (located at indices 3:6) H[:, 3:6] = np.eye(3) return H @@ -442,6 +437,7 @@ def dvl_update_states( current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, dvl_data: np.ndarray, + imu_data: np.ndarray, ) -> tuple[StateVector_quaternion, StateVector_euler]: """Update the error state given the DVL data @@ -458,6 +454,11 @@ def dvl_update_states( current_state_error, self.Q_process_noise ) + # Update the error state + current_state_error = self.unscented_transform( + sigma_points, current_state_nom, imu_data + ) + # Update the error state current_state_error = self.measurement_update( sigma_points, current_state_nom, current_state_error, dvl_data, weight @@ -487,10 +488,7 @@ def inject_and_reset( current_state_error.covariance = np.dot( np.dot(G, current_state_error.covariance), G.T ) - current_state_error.covariance += np.eye(15) * 1e-4 - - eigvals = np.linalg.eigvals(current_state_error.covariance) - print("Min eigenvalue:", np.min(eigvals)) + current_state_error.covariance += np.eye(15) current_state_error.fill_states(np.zeros(15)) diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py index b9a76e26f..f8ede884d 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py @@ -6,6 +6,7 @@ quaternion_error, quaternion_super_product, ssa, + quat_norm, ) @@ -100,7 +101,7 @@ def euler_forward( # Define the state derivatives new_state.position = current_state.position + self.position * dt new_state.velocity = current_state.velocity + self.velocity * dt - new_state.orientation = current_state.orientation + self.orientation * dt + new_state.orientation = quat_norm(current_state.orientation + self.orientation * dt) new_state.acceleration_bias = ( current_state.acceleration_bias + self.acceleration_bias * dt ) diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py index 071180fc7..56285f031 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py @@ -104,4 +104,13 @@ def ssa(angle: np.ndarray) -> np.ndarray: for i in range(len(angle)): ssa_vector[i] = (angle[i] + np.pi) % (2 * np.pi) - np.pi - return ssa_vector \ No newline at end of file + return ssa_vector + +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + + quat = quat / np.linalg.norm(quat) + + return quat diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py index d46962797..1d8c723b1 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py +++ b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py @@ -194,7 +194,7 @@ def run_ESUKF_simulation(): ) # 2. DVL update (measurement) est_state_nom, est_state_error = esukf.dvl_update_states( - est_state_nom, est_state_error, dvl_meas + est_state_nom, est_state_error, dvl_meas, imu_meas ) # 3. Inject error state est_state_nom, est_state_error = esukf.inject_and_reset( diff --git a/navigation/ukf_okid/ukf_python/__ini__.py b/navigation/ukf_okid/ukf_python/__ini__.py new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py new file mode 100644 index 000000000..c588d579e --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -0,0 +1,376 @@ +from ukf_okid_class import * +import numpy as np +import time +import matplotlib.pyplot as plt + + +class UKF: + def __init__(self, process_model: process_model, x_0, P_0, Q, R): + self.x = x_0 + self.P = P_0 + self.Q = Q + self.R = R + self.process_model = process_model + self.sigma_points_list = None + self.y_i = None + self.weight = None + + def sigma_points(self, current_state: StateQuat) -> tuple[list[StateQuat], np.ndarray]: + """ + Functions that generate the sigma points for the UKF + """ + n = len(current_state.covariance) + kappa = 3 - n + + S = np.linalg.cholesky(current_state.covariance + self.Q) + S_scaled = np.sqrt(n + kappa) * S + + weighted_points = np.concatenate([S_scaled, -S_scaled], axis=1) + + self.sigma_points_list = [StateQuat() for _ in range(2 * n + 1)] + W = np.zeros(2 * n + 1) + + self.sigma_points_list [0].fill_states(current_state.as_vector()) + W[0] = kappa / (n + kappa) + for i in range(2 * n): + self.sigma_points_list [i + 1].fill_states(current_state.insert_weights(weighted_points[:, i])) + W[i + 1] = 1 / (2 * (n + kappa)) + + self.weight = W + + return self.sigma_points_list , self.weight + + + def unscented_transform(self, current_state: StateQuat) -> StateQuat: + """ + The unscented transform function generates the priori state estimate + """ + + _ , _ = self.sigma_points(current_state) + n = len(current_state.covariance) + + self.y_i = [StateQuat() for _ in range(2 * n + 1)] + + for i in range(2 * n + 1): + self.process_model.model_prediction(self.sigma_points_list[i]) + self.y_i[i] = self.process_model.euler_forward() + + state_estimate = StateQuat() + x = mean_set(self.y_i, self.weight) + + state_estimate.fill_states(x) + state_estimate.covariance = covariance_set(self.y_i, x, self.weight) + return state_estimate + + def measurement_update(self, current_state: StateQuat, measurement: MeasModel) -> tuple[MeasModel, np.ndarray]: + """ + Function that updates the state estimate with a measurement + Hopefully this is the DVL or GNSS + """ + + n = len(current_state.covariance) + z_i = [MeasModel() for _ in range(2 * n + 1)] + + for i in range(2 * n + 1): + z_i[i] = measurement.H(self.sigma_points_list[i]) + + meas_update = MeasModel() + + meas_update.measurement = mean_measurement(z_i, self.weight) + + meas_update.covariance = covariance_measurement(z_i, meas_update.measurement, self.weight) + + cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement, self.weight) + + return meas_update, cross_correlation + + def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.ndarray, measurement: MeasModel, ex_measuremnt: MeasModel) -> StateQuat: + """ + Calculates the posteriori estimate using measurment and the prior estimate + """ + + nu_k = MeasModel() + + nu_k.measurement = measurement.measurement - ex_measuremnt.measurement + nu_k.covariance = ex_measuremnt.covariance + measurement.covariance + + K_k = np.dot(cross_correlation, np.linalg.inv(nu_k.covariance)) + + posteriori_estimate = StateQuat() + + posteriori_estimate.fill_states_different_dim(current_state.as_vector(), np.dot(K_k, nu_k.measurement)) + posteriori_estimate.covariance = current_state.covariance - np.dot(K_k, np.dot(nu_k.covariance, np.transpose(K_k))) + + self.process_model.state_vector_prev = posteriori_estimate + + return posteriori_estimate + +def add_quaternion_noise(q, noise_std): + + noise = np.random.normal(0, noise_std, 3) + + theta = np.linalg.norm(noise) + + if theta > 0: + + axis = noise / theta + + q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) + + else: + + q_noise = np.array([1.0, 0.0, 0.0, 0.0]) + + q_new = quaternion_super_product(q, q_noise) + + return q_new / np.linalg.norm(q_new) + + +if __name__ == '__main__': + + # Create initial state vector and covariance matrix. + x0 = np.zeros(13) + x0[0:3] = [0.3, 0.3, 0.3] + x0[3] = 1 + x0[7:10] = [0.2, 0.2, 0.2] + dt = 0.01 + R = (0.1 / dt) * np.eye(3) + + Q = 0.1 * np.eye(12) + P0 = np.eye(12) * 0.1 + + model = process_model() + model.dt = 0.01 + model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model.m = 30.0 + model.r_b_bg = np.array([0.01, 0.0, 0.02]) + model.inertia = np.diag([0.68, 3.32, 3.34]) + model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + model_ukf = model + + # Simulation parameters + simulation_time = 40 # seconds + num_steps = int(simulation_time / dt) + + # Initialize a dummy StateQuat. + test_state = StateQuat() + test_state.fill_states(x0) + test_state.covariance = P0 + + # Initialize a estimated state + estimated_state = StateQuat() + estimated_state.fill_states(x0) + estimated_state.covariance = P0 + + # Initialize a estimated state + noisy_state = StateQuat() + noisy_state.fill_states(x0) + noisy_state.covariance = P0 + + measurment_model = MeasModel() + measurment_model.measurement = np.array([0.0, 0.0, 0.0]) + measurment_model.covariance = R + + # Initialize arrays to store the results + positions = np.zeros((num_steps, 3)) + orientations = np.zeros((num_steps, 3)) + velocities = np.zeros((num_steps, 3)) + angular_velocities = np.zeros((num_steps, 3)) + + # Initialize arrays to store the estimates + positions_est = np.zeros((num_steps, 3)) + orientations_est = np.zeros((num_steps, 3)) + velocities_est = np.zeros((num_steps, 3)) + angular_velocities_est = np.zeros((num_steps, 3)) + + # Initialize the okid params + okid_params = np.zeros((num_steps, 21)) + + model.state_vector_prev = test_state + model.state_vector = test_state + + model_ukf.state_vector_prev = test_state + model_ukf.state_vector = test_state + + # initialize the ukf + ukf = UKF(model_ukf, x0, P0, Q, R) + + # Test + ukf.unscented_transform(test_state) + + elapsed_times = [] + + u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + + # Run the simulation + for step in range(num_steps): + # Insert control input + model.Control_input = u(step * dt) + model_ukf.Control_input = u(step * dt) + + # Perform the unscented transform + model.model_prediction(test_state) + new_state = model.euler_forward() + + # Adding noise in the state vector + noisy_state.position = new_state.position + np.random.normal(0, 0.1, 3) + noisy_state.orientation = add_quaternion_noise(new_state.orientation, 0.1) + noisy_state.velocity = new_state.velocity + np.random.normal(0, 0.1, 3) + noisy_state.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.1, 3) + + start_time = time.time() + estimated_state = ukf.unscented_transform(noisy_state) + elapsed_time = time.time() - start_time + elapsed_times.append(elapsed_time) + + if step % 20 == 0: + measurment_model.measurement = new_state.velocity + np.random.normal(0, 0.2, 3) + meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) + estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) + + + positions[step, :] = new_state.position + orientations[step, :] = quat_to_euler(new_state.orientation) + velocities[step, :] = new_state.velocity + angular_velocities[step, :] = new_state.angular_velocity + + positions_est[step, :] = estimated_state.position + orientations_est[step, :] = quat_to_euler(estimated_state.orientation) + velocities_est[step, :] = estimated_state.velocity + angular_velocities_est[step, :] = estimated_state.angular_velocity + + # Update the state for the next iteration + model.state_vector_prev = new_state + + print('Average elapsed time: ', np.mean(elapsed_times)) + print('Max elapsed time: ', np.max(elapsed_times)) + print('Min elapsed time: ', np.min(elapsed_times)) + print('median elapsed time: ', np.median(elapsed_times)) + # Plot the results + time = np.linspace(0, simulation_time, num_steps) + + # Plot positions + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, positions[:, 0], label='True') + plt.plot(time, positions_est[:, 0], label='Estimated') + plt.title('Position X') + plt.xlabel('Time [s]') + plt.ylabel('Position X [m]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, positions[:, 1], label='True') + plt.plot(time, positions_est[:, 1], label='Estimated') + plt.title('Position Y') + plt.xlabel('Time [s]') + plt.ylabel('Position Y [m]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, positions[:, 2], label='True') + plt.plot(time, positions_est[:, 2], label='Estimated') + plt.title('Position Z') + plt.xlabel('Time [s]') + plt.ylabel('Position Z [m]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot orientations (Euler angles) + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, orientations[:, 0], label='True') + plt.plot(time, orientations_est[:, 0], label='Estimated') + plt.title('Orientation Roll') + plt.xlabel('Time [s]') + plt.ylabel('Roll [rad]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, orientations[:, 1], label='True') + plt.plot(time, orientations_est[:, 1], label='Estimated') + plt.title('Orientation Pitch') + plt.xlabel('Time [s]') + plt.ylabel('Pitch [rad]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, orientations[:, 2], label='True') + plt.plot(time, orientations_est[:, 2], label='Estimated') + plt.title('Orientation Yaw') + plt.xlabel('Time [s]') + plt.ylabel('Yaw [rad]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, velocities[:, 0], label='True') + plt.plot(time, velocities_est[:, 0], label='Estimated') + plt.title('Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Velocity X [m/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, velocities[:, 1], label='True') + plt.plot(time, velocities_est[:, 1], label='Estimated') + plt.title('Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Y [m/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, velocities[:, 2], label='True') + plt.plot(time, velocities_est[:, 2], label='Estimated') + plt.title('Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Z [m/s]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot angular velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, angular_velocities[:, 0], label='True') + plt.plot(time, angular_velocities_est[:, 0], label='Estimated') + plt.title('Angular Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity X [rad/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, angular_velocities[:, 1], label='True') + plt.plot(time, angular_velocities_est[:, 1], label='Estimated') + plt.title('Angular Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Y [rad/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, angular_velocities[:, 2], label='True') + plt.plot(time, angular_velocities_est[:, 2], label='Estimated') + plt.title('Angular Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Z [rad/s]') + plt.legend() + + plt.tight_layout() + plt.show() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py b/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py new file mode 100644 index 000000000..86b7beb49 --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py @@ -0,0 +1,568 @@ +from dataclasses import dataclass, field +import numpy as np + + +from dataclasses import dataclass, field +import numpy as np + +@dataclass +class StateQuat: + """ + A class to represent the state to be estimated by the UKF. + """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + okid_params: np.ndarray = field(default_factory=lambda: np.zeros(21)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) + + def as_vector(self) -> np.ndarray: + """Returns the StateVector as a numpy array.""" + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params]) + + def nu(self) -> np.ndarray: + """Calculates the nu vector.""" + return np.concatenate([self.velocity, self.angular_velocity]) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = self.orientation + R = np.array([ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] + ]) + return R + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array.""" + self.position = state[0:3] + self.orientation = state[3:7] + self.velocity = state[7:10] + self.angular_velocity = state[10:13] + + if len(state) > 13: + self.okid_params = state[13:] + + def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills states when the state vector has different dimensions than the default state vector.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] + + if len(state) > 13: + self.okid_params = state[13:] + + def subtract(self, other: 'StateQuat') -> np.ndarray: + """Subtracts two StateQuat objects, returning the difference with Euler angles.""" + new_array = np.zeros(len(self.as_vector()) - 1) + new_array[:3] = self.position - other.position + new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[6:9] = self.velocity - other.velocity + new_array[9:12] = self.angular_velocity - other.angular_velocity + + new_array[12:] = self.okid_params - other.okid_params + + return new_array + + def __add__(self, other: 'StateQuat') -> 'StateQuat': + """Adds two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position + other.position + new_state.orientation = quaternion_super_product(self.orientation, other.orientation) + new_state.velocity = self.velocity + other.velocity + new_state.angular_velocity = self.angular_velocity + other.angular_velocity + + new_state.okid_params = self.okid_params + other.okid_params + + return new_state + + def __sub__(self, other: 'StateQuat') -> 'StateQuat': + """Subtracts two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position - other.position + new_state.orientation = quaternion_error(self.orientation, other.orientation) + new_state.velocity = self.velocity - other.velocity + new_state.angular_velocity = self.angular_velocity - other.angular_velocity + + new_state.okid_params = self.okid_params - other.okid_params + + return new_state.as_vector() + + def __rmul__(self, scalar: float) -> 'StateQuat': + """Multiplies the StateQuat object by a scalar.""" + new_state = StateQuat() + new_state.position = scalar * self.position + new_state.orientation = quat_norm(scalar * self.orientation) + new_state.velocity = scalar * self.velocity + new_state.angular_velocity = scalar * self.angular_velocity + + new_state.okid_params = scalar * self.okid_params + + return new_state + + def insert_weights(self, weights: np.ndarray) -> np.ndarray: + """Inserts the weights into the covariance matrix.""" + new_state = StateQuat() + new_state.position = self.position - weights[:3] + new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.velocity = self.velocity - weights[6:9] + new_state.angular_velocity = self.angular_velocity - weights[9:12] + new_state.okid_params = self.okid_params - weights[12:] + + return new_state.as_vector() + + def add_without_quaternions(self, other: 'StateQuat') -> None: + """Adds elements into the state vector without considering the quaternions.""" + self.position += other.position + self.velocity += other.velocity + self.angular_velocity += other.angular_velocity + self.okid_params += other.okid_params + +@dataclass +class MeasModel: + """ + A class defined for a general measurement model. + """ + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + + def H(self, state: StateQuat) -> 'MeasModel': + """Calculates the measurement matrix.""" + H = np.zeros((3, 34)) + H[:, 7:10] = np.eye(3) + z_i = MeasModel() + z_i.measurement = np.dot(H, state.as_vector()) + return z_i + + def __add__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the addition operation between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement + other.measurement + return result + + def __rmul__(self, scalar: float) -> 'MeasModel': + """Defines multiplication between scalar value and MeasModel object.""" + result = MeasModel() + result.measurement = scalar * self.measurement + return result + + def __sub__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the subtraction between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement - other.measurement + return result + +@dataclass +class process_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> StateQuat: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + return self.state_vector + +@dataclass +class okid_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + D_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self, linear_damping: np.ndarray, nonlinear_damping: np.ndarray) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(linear_damping) + D_nl = -np.diag(nonlinear_damping) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + + self.inertia = np.diag(self.state_vector.okid_params[:3]) + self.mass_interia_matrix[3:6, 3:6] = self.inertia + self.D_matrix = self.D(self.state_vector.okid_params[3:9], self.state_vector.okid_params[9:15]) + self.added_mass = self.state_vector.okid_params[15:21] + + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D_matrix, self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + self.state_vector_dot.okid_params = np.zeros(21) + + def euler_forward(self) -> StateQuat: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + self.state_vector.okid_params = self.state_vector_prev.okid_params + return self.state_vector + + + +def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: + """ + Converts Euler angles to a quaternion + """ + psi, theta, phi = euler_angles + c_psi = np.cos(psi / 2) + s_psi = np.sin(psi / 2) + c_theta = np.cos(theta / 2) + s_theta = np.sin(theta / 2) + c_phi = np.cos(phi / 2) + s_phi = np.sin(phi / 2) + + quat = np.array([ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi + ]) + + return quat + +def quat_to_euler(quat: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to Euler angles + """ + nu, eta_1, eta_2, eta_3 = quat + + phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + + return np.array([phi, theta, psi]) + +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + + quat = quat / np.linalg.norm(quat) + + return quat + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + + q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) + + return q_new + +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_super_product(quat_1, quat_2_inv) + + return error_quat + +def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: + """ + Computes the weighted mean of the quaternion orientations from a list of StateQuat objects + using an iterative approach, without requiring the caller to manually extract the quaternion. + + Parameters: + state_list (list[StateQuat]): List of StateQuat objects. + weights (np.ndarray): Weights for each state. + tol (float): Convergence tolerance. + max_iter (int): Maximum number of iterations. + + Returns: + np.ndarray: The averaged quaternion as a 4-element numpy array. + """ + # Internally extract the quaternion from each state + sigma_quats = [state.orientation for state in state_list] + + # Initialize the mean quaternion with the first quaternion + mean_q = sigma_quats[0].copy() + + for _ in range(max_iter): + weighted_error_vectors = [] + for i, q in enumerate(sigma_quats): + # Compute the error quaternion: e = q * inv(mean_q) + # For unit quaternions, the inverse is the conjugate. + mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) + e = quaternion_super_product(q, mean_q_conj) + + # Clip to avoid numerical issues + e0_clipped = np.clip(e[0], -1.0, 1.0) + angle = 2 * np.arccos(e0_clipped) + if np.abs(angle) < 1e-8: + error_vec = np.zeros(3) + else: + # Compute the full rotation vector (angle * axis) + error_vec = (angle / np.sin(angle / 2)) * e[1:4] + weighted_error_vectors.append(weights[i] * error_vec) + + error_avg = np.sum(weighted_error_vectors, axis=0) + if np.linalg.norm(error_avg) < tol: + break + + error_norm = np.linalg.norm(error_avg) + delta_q = (np.array([np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) + mean_q = quaternion_super_product(delta_q, mean_q) + mean_q = quat_norm(mean_q) + + return mean_q + + + +def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + mean_value = StateQuat() + + if weights is None: + for i in range(2 * n + 1): + weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + + else: + for i in range(2 * n + 1): + mean_value.add_without_quaternions(weights[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) + + return mean_value.as_vector() + +def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points) + mean_value = MeasModel() + + if weights is None: + for i in range(n): + mean_value = mean_value + set_points[i] + else: + for i in range(n): + mean_value = mean_value + (weights[i] * set_points[i]) + + return mean_value.measurement + +def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + covariance = np.zeros((n, n)) + mean_quat = StateQuat() + mean_quat.fill_states(mean) + + if weights is None: + for i in range(2 * n + 1): + covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + covariance = (1 / (2 * n + 1)) * covariance + + else: + for i in range(2 * n + 1): + covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + return covariance + +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points) + co_size = len(set_points[0].measurement) + covariance = np.zeros((co_size, co_size)) + mean_meas = MeasModel() + mean_meas.measurement = mean + + if weights is None: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += np.outer(temp_model.measurement, temp_model.measurement) + + covariance = (1 / (n)) * covariance + + else: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) + + return covariance + +def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: + """ + Calculates the cross covariance between the measurement and state prediction + """ + + n = len(mean_y) - 1 + m = len(mean_z) + cross_covariance = np.zeros((n,m)) + mean_quat = StateQuat() + mean_quat.fill_states(mean_y) + + for i in range(n): + cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) + + cross_covariance = (1 / len(set_y)) * cross_covariance + + return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py new file mode 100644 index 000000000..8444fd82e --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -0,0 +1,464 @@ +from dataclasses import dataclass, field +import numpy as np + + +from dataclasses import dataclass, field +import numpy as np + +@dataclass +class StateQuat: + """ + A class to represent the state to be estimated by the UKF. + """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) + + def as_vector(self) -> np.ndarray: + """Returns the StateVector as a numpy array.""" + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + + def nu(self) -> np.ndarray: + """Calculates the nu vector.""" + return np.concatenate([self.velocity, self.angular_velocity]) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = self.orientation + R = np.array([ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] + ]) + return R + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array.""" + self.position = state[0:3] + self.orientation = state[3:7] + self.velocity = state[7:10] + self.angular_velocity = state[10:13] + + def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills states when the state vector has different dimensions than the default state vector.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] + + def subtract(self, other: 'StateQuat') -> np.ndarray: + """Subtracts two StateQuat objects, returning the difference with Euler angles.""" + new_array = np.zeros(len(self.as_vector()) - 1) + new_array[:3] = self.position - other.position + new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[6:9] = self.velocity - other.velocity + new_array[9:12] = self.angular_velocity - other.angular_velocity + + return new_array + + def __add__(self, other: 'StateQuat') -> 'StateQuat': + """Adds two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position + other.position + new_state.orientation = quaternion_super_product(self.orientation, other.orientation) + new_state.velocity = self.velocity + other.velocity + new_state.angular_velocity = self.angular_velocity + other.angular_velocity + + return new_state + + def __sub__(self, other: 'StateQuat') -> 'StateQuat': + """Subtracts two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position - other.position + new_state.orientation = quaternion_error(self.orientation, other.orientation) + new_state.velocity = self.velocity - other.velocity + new_state.angular_velocity = self.angular_velocity - other.angular_velocity + + return new_state.as_vector() + + def __rmul__(self, scalar: float) -> 'StateQuat': + """Multiplies the StateQuat object by a scalar.""" + new_state = StateQuat() + new_state.position = scalar * self.position + new_state.orientation = quat_norm(scalar * self.orientation) + new_state.velocity = scalar * self.velocity + new_state.angular_velocity = scalar * self.angular_velocity + + return new_state + + def insert_weights(self, weights: np.ndarray) -> np.ndarray: + """Inserts the weights into the covariance matrix.""" + new_state = StateQuat() + new_state.position = self.position - weights[:3] + new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.velocity = self.velocity - weights[6:9] + new_state.angular_velocity = self.angular_velocity - weights[9:12] + + return new_state.as_vector() + + def add_without_quaternions(self, other: 'StateQuat') -> None: + """Adds elements into the state vector without considering the quaternions.""" + self.position += other.position + self.velocity += other.velocity + self.angular_velocity += other.angular_velocity + +@dataclass +class MeasModel: + """ + A class defined for a general measurement model. + """ + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + + def H(self, state: StateQuat) -> 'MeasModel': + """Calculates the measurement matrix.""" + H = np.zeros((3, 13)) + H[:, 7:10] = np.eye(3) + z_i = MeasModel() + z_i.measurement = np.dot(H, state.as_vector()) + return z_i + + def __add__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the addition operation between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement + other.measurement + return result + + def __rmul__(self, scalar: float) -> 'MeasModel': + """Defines multiplication between scalar value and MeasModel object.""" + result = MeasModel() + result.measurement = scalar * self.measurement + return result + + def __sub__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the subtraction between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement - other.measurement + return result + +@dataclass +class process_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> StateQuat: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + return self.state_vector + +def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: + """ + Converts Euler angles to a quaternion + """ + psi, theta, phi = euler_angles + c_psi = np.cos(psi / 2) + s_psi = np.sin(psi / 2) + c_theta = np.cos(theta / 2) + s_theta = np.sin(theta / 2) + c_phi = np.cos(phi / 2) + s_phi = np.sin(phi / 2) + + quat = np.array([ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi + ]) + + return quat + +def quat_to_euler(quat: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to Euler angles + """ + nu, eta_1, eta_2, eta_3 = quat + + phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + + return np.array([phi, theta, psi]) + +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + + quat = quat / np.linalg.norm(quat) + + return quat + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + + q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) + + return q_new + +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_super_product(quat_1, quat_2_inv) + + return error_quat + +def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: + """ + Computes the weighted mean of the quaternion orientations from a list of StateQuat objects + using an iterative approach, without requiring the caller to manually extract the quaternion. + + Parameters: + state_list (list[StateQuat]): List of StateQuat objects. + weights (np.ndarray): Weights for each state. + tol (float): Convergence tolerance. + max_iter (int): Maximum number of iterations. + + Returns: + np.ndarray: The averaged quaternion as a 4-element numpy array. + """ + # Internally extract the quaternion from each state + sigma_quats = [state.orientation for state in state_list] + + # Initialize the mean quaternion with the first quaternion + mean_q = sigma_quats[0].copy() + + for _ in range(max_iter): + weighted_error_vectors = [] + for i, q in enumerate(sigma_quats): + # Compute the error quaternion: e = q * inv(mean_q) + # For unit quaternions, the inverse is the conjugate. + mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) + e = quaternion_super_product(q, mean_q_conj) + + # Clip to avoid numerical issues + e0_clipped = np.clip(e[0], -1.0, 1.0) + angle = 2 * np.arccos(e0_clipped) + if np.abs(angle) < 1e-8: + error_vec = np.zeros(3) + else: + # Compute the full rotation vector (angle * axis) + error_vec = (angle / np.sin(angle / 2)) * e[1:4] + weighted_error_vectors.append(weights[i] * error_vec) + + error_avg = np.sum(weighted_error_vectors, axis=0) + if np.linalg.norm(error_avg) < tol: + break + + error_norm = np.linalg.norm(error_avg) + delta_q = (np.array([np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) + mean_q = quaternion_super_product(delta_q, mean_q) + mean_q = quat_norm(mean_q) + + return mean_q + + + +def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + mean_value = StateQuat() + + if weights is None: + for i in range(2 * n + 1): + weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + + else: + for i in range(2 * n + 1): + mean_value.add_without_quaternions(weights[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) + + return mean_value.as_vector() + +def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points) + mean_value = MeasModel() + + if weights is None: + for i in range(n): + mean_value = mean_value + set_points[i] + else: + for i in range(n): + mean_value = mean_value + (weights[i] * set_points[i]) + + return mean_value.measurement + +def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + covariance = np.zeros((n, n)) + mean_quat = StateQuat() + mean_quat.fill_states(mean) + + if weights is None: + for i in range(2 * n + 1): + covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + covariance = (1 / (2 * n + 1)) * covariance + + else: + for i in range(2 * n + 1): + covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + return covariance + +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points) + co_size = len(set_points[0].measurement) + covariance = np.zeros((co_size, co_size)) + mean_meas = MeasModel() + mean_meas.measurement = mean + + if weights is None: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += np.outer(temp_model.measurement, temp_model.measurement) + + covariance = (1 / (n)) * covariance + + else: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) + + return covariance + +def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: + """ + Calculates the cross covariance between the measurement and state prediction + """ + + n = len(mean_y) - 1 + m = len(mean_z) + cross_covariance = np.zeros((n,m)) + mean_quat = StateQuat() + mean_quat.fill_states(mean_y) + + for i in range(n): + cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) + + cross_covariance = (1 / len(set_y)) * cross_covariance + + return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py new file mode 100644 index 000000000..f52f2eb62 --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -0,0 +1,36 @@ +import numpy as np +from dataclasses import dataclass +from ukf_okid_class import StateQuat + +def print_StateQuat_list(state_list: list[StateQuat], name="StateQuat List", print_covariance=True): + """ + Custom print function to print a list of StateQuat objects in a formatted form. + """ + print(f"{name}:") + for i, state in enumerate(state_list): + print(f"Index {i}:") + print_StateQuat(state, f"StateQuat {i}", print_covariance) + +def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): + """ + Custom print function to print StateQuat objects in a formatted form. + """ + print(f"{name}:") + print(f" Position: {state.position}") + print(f" Orientation: {state.orientation}") + print(f" Velocity: {state.velocity}") + print(f" Angular Velocity: {state.angular_velocity}") + print(f" okid_params: {state.okid_params}") + if print_covariance: + print_matrix(state.covariance, "Covariance") + +def print_matrix(matrix, name="Matrix"): + """ + Custom print function to print matrices in a formatted form. + """ + print(f"{name}: {matrix.shape}") + if isinstance(matrix, np.ndarray): + for row in matrix: + print(" ".join(f"{val:.2f}" for val in row)) + else: + print(matrix) From 2a3daba296c16810d8f73c8278154d6f9ada03e2 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 14 Mar 2025 23:04:40 +0100 Subject: [PATCH 006/109] added in some changes to eskf and the ukf algorithm --- .../eskf_python/eskf_python_class.py | 215 +++++++ .../eskf_python/eskf_python_filter.py | 600 +++++------------- .../eskf_python/eskf_python_node.py | 2 +- .../eskf_python/eskf_python_utils.py | 95 +++ .../eskf_python/ukf_okid_class.py} | 110 +--- navigation/sp_ukf_python/CMakeLists.txt | 33 - navigation/sp_ukf_python/README.md | 0 .../sp_ukf_python/config/sp_ukf_python.yaml | 3 - navigation/sp_ukf_python/launch/ukf.launch.py | 22 - navigation/sp_ukf_python/package.xml | 23 - .../sp_ukf_python/sp_ukf_python/__init__.py | 0 .../sp_ukf_python/sp_ukf_python.py | 495 --------------- .../sp_ukf_python/sp_ukf_python_class.py | 292 --------- .../sp_ukf_python/sp_ukf_python_node.py | 137 ---- .../sp_ukf_python/sp_ukf_python_utils.py | 116 ---- .../sp_ukf_python/sp_ukf_python/test_ukf.py | 313 --------- navigation/ukf_okid/ukf_python/ukf_okid.py | 87 ++- 17 files changed, 551 insertions(+), 1992 deletions(-) create mode 100644 navigation/eskf_python/eskf_python/eskf_python_class.py create mode 100644 navigation/eskf_python/eskf_python/eskf_python_utils.py rename navigation/{ukf_okid/ukf_python/ukf_okid_class copy.py => eskf_python/eskf_python/ukf_okid_class.py} (78%) delete mode 100644 navigation/sp_ukf_python/CMakeLists.txt delete mode 100644 navigation/sp_ukf_python/README.md delete mode 100644 navigation/sp_ukf_python/config/sp_ukf_python.yaml delete mode 100644 navigation/sp_ukf_python/launch/ukf.launch.py delete mode 100644 navigation/sp_ukf_python/package.xml delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/__init__.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/test_ukf.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py new file mode 100644 index 000000000..949ab996d --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -0,0 +1,215 @@ +from dataclasses import dataclass, field +from typing import Tuple, List +from scipy.linalg import expm +import numpy as np +from eskf_python_utils import skew_matrix, quaternion_product + + +@dataclass +class StateQuat: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.array([1, 0, 0, 0]) + ) # Orientation quaternion (w, x, y, z) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + g: np.ndarray = field( + default_factory=lambda: np.array([0, 0, 0]) + ) # Gravity vector + + def as_vector(self) -> np.ndarray: + """Returns the state vector as a numpy array. + + Returns: + np.ndarray: The state vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + self.g, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:10] + self.acceleration_bias = state[10:13] + self.gyro_bias = state[13:16] + self.g = state[16:19] + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion. + + Returns: + np.ndarray: The rotation matrix. + """ + q0, q1, q2, q3 = self.orientation + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R + + # def inject(self, EulerState: 'StateEuler') -> 'StateQuat': + # inj_state = StateQuat() + + # # Injecting the error state + # inj_state.position = self.position + EulerState.position + # inj_state.velocity = self.velocity + EulerState.velocity + # inj_state.orientation = quaternion_product( + # self.orientation, + # 0.5 + # * np.array( + # [ + # 2, + # EulerState.orientation[0], + # EulerState.orientation[1], + # EulerState.orientation[2], + # ] + # ), + # ) + # inj_state.acceleration_bias = self.acceleration_bias + EulerState.acceleration_bias + # inj_state.gyro_bias = self.gyro_bias + EulerState.gyro_bias + + # return inj_state + + + +@dataclass +class StateEuler: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Orientation angles (roll, pitch, yaw) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + g: np.ndarray = field( + default_factory=lambda: np.array([0, 0, 9.81]) + ) # Gravity vector + covariance: np.ndarray = field( + default_factory=lambda: np.zeros((18, 18)) + ) # Covariance matrix + + def as_vector(self) -> np.ndarray: + """Returns the state vector as a numpy array. + + Returns: + np.ndarray: The state vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + self.g, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:9] + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:15] + self.g = state[15:18] + + def copy_state(self, wanted_state: 'StateEuler') -> None: + """Copies the state from a StateVector object into the current StateVector object. + + Args: + wanted_state (StateVector_euler): The quaternion state to copy from. + """ + self.position = wanted_state.position + self.velocity = wanted_state.velocity + self.orientation = wanted_state.orientation + self.acceleration_bias = wanted_state.acceleration_bias + self.gyro_bias = wanted_state.gyro_bias + + +@dataclass +class MeasurementModel: + measurement: np.ndarray = field( + default_factory=lambda: np.zeros(6) + ) + measurement_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((6, 6)) + ) + + def H(self) -> np.ndarray: + """Calculates the measurement matrix. + + Returns: + np.ndarray: The measurement matrix. + """ + H = np.zeros((3, 15)) + + H[0:3, 3:6] = np.eye(3) + + return H + +@dataclass +class Measurement: + acceleration: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) + angular_velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) + aiding: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) + + aiding_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((3, 3)) + ) \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index edf39dcc0..a9c772e47 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -1,503 +1,249 @@ -from dataclasses import dataclass, field -from typing import tuple +# from dataclasses import dataclass +from typing import Tuple import numpy as np from scipy.linalg import expm +from eskf_python_class import StateEuler, StateQuat, Measurement +from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion +from ukf_okid_class import euler_to_quat +from scipy.linalg import block_diag + +class ESKF: + def __init__(self, Q: np.ndarray, P0, Hx, nom_state: StateQuat, p_accBias, p_gyroBias, dt): + self.Q = Q + self.Hx = Hx # Jacobian of the measurement model + self.dt = dt + self.nom_state = nom_state + self.error_state = StateEuler() + self.error_state.covariance = P0 + self.p_accBias = p_accBias + self.p_gyroBias = p_gyroBias + + def Fx(self, imu_data: Measurement) -> np.ndarray: + """Calculates the state transition matrix. -@dataclass -class StateVector_quaternion: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(4) - ) # Orientation quaternion (w, x, y, z) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion. + Args: + imu_data (np.ndarray): The IMU data. Returns: - np.ndarray: The rotation matrix. + np.ndarray: The state transition matrix. """ - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - return R + F_x = np.zeros((18, 18)) + I = np.eye(3) + + F_x[0:3, 0:3] = I + F_x[0:3, 3:6] = self.dt * I + F_x[3:6, 3:6] = I + F_x[3:6, 6:9] = -self.nom_state.R_q() @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) * self.dt + F_x[6:9, 6:9] = R_from_angle_axis((imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt).T + F_x[3:6, 9:12] = -self.nom_state.R_q() * self.dt + F_x[3:6, 15:18] = I * self.dt + F_x[6:9, 12:15] = -I * self.dt + F_x[9:12, 9:12] = I + F_x[12:15, 12:15] = I + F_x[15:18, 15:18] = I + + return F_x + + def Fi(self) -> np.ndarray: + """Calculates the input matrix. + + Returns: + np.ndarray: The input matrix. + """ - def euler_forward( - self, current_state: 'StateVector_quaternion', dt: float - ) -> 'StateVector_quaternion': - # Define the new state - new_state = StateVector_quaternion() + F_i = np.zeros((18, 12)) + I = np.eye(3) - # Define the state derivatives - new_state.position = current_state.position + self.position * dt - new_state.velocity = current_state.velocity + self.velocity * dt - new_state.orientation = current_state.orientation + self.orientation * dt - new_state.acceleration_bias = ( - current_state.acceleration_bias + self.acceleration_bias * dt - ) - new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt - - # Normalize the orientation quaternion - new_state.orientation /= np.linalg.norm(new_state.orientation) - - return new_state - - -@dataclass -class StateVector_euler: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Orientation angles (roll, pitch, yaw) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - covariance: np.ndarray = field( - default_factory=lambda: np.zeros((15, 15)) - ) # Covariance matrix - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. + F_i[3:6, 0:3] = I + F_i[6:9, 3:6] = I + F_i[9:12, 6:9] = I + F_i[12:15, 9:12] = I - Args: - state (np.ndarray): The state vector. + return F_i + + def Q_delta_theta(self) -> np.ndarray: + """ + Calculates the Q_delta_theta matrix. + See Joan Solà. Quaternion kinematics for the error-state Kalman filter. + chapter: 6.1.1 eq. 281 """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:9] - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:15] - def copy_state(self, wanted_state: 'StateVector_euler') -> None: - """Copies the state from a StateVector object into the current StateVector object. + qw, qx, qy, qz = self.nom_state.orientation - Args: - wanted_state (StateVector_euler): The quaternion state to copy from. - """ - self.position = wanted_state.position - self.velocity = wanted_state.velocity - self.orientation = wanted_state.orientation - self.acceleration_bias = wanted_state.acceleration_bias - self.gyro_bias = wanted_state.gyro_bias - - -@dataclass -class MeasurementModel: - measurement: np.ndarray = field( - default_factory=lambda: np.zeros(6) - ) # Measurement vector - measurement_matrix: np.ndarray = field( - default_factory=lambda: np.zeros((6, 15)) - ) # Measurement matrix - measurement_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((6, 6)) - ) # Measurement noise matrix - - -class ErrorStateKalmanFilter: - def __init__( - self, - P_ab: np.ndarray, - P_wb: np.ndarray, - Q: np.ndarray, - lever_arm: np.array, - R: np.ndarray, - g: float, - dt: float, - ) -> None: - self.P_ab = P_ab - self.P_wb = P_wb - self.Q_process_noise = Q - self.lever_arm = lever_arm - self.R = R - self.g = np.array([0, 0, g]) - self.dt = dt + Q_delta_theta = 0.5 * np.array([ + [-qx, -qy, -qz], + [qw, -qz, qy], + [qz, qw, -qx], + [-qy, qx, qw], + ]) - def skew_symmetric(self, vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. + return Q_delta_theta - Args: - vector (np.ndarray): The vector. + def H(self) -> np.ndarray: + """Calculates the measurement matrix. Returns: - np.ndarray: The skew symmetric matrix. + np.ndarray: The measurement matrix. """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - def quaternion_super_product(self, q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. + X_deltax = block_diag(np.eye(6), self.Q_delta_theta(), np.eye(9)) - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. + H = self.Hx @ X_deltax + + return H + + def h(self) -> np.ndarray: + """ + Calculates the measurement model. Returns: - np.ndarray: The quaternion super product. + np.ndarray: The measurement model. """ - nu_0, eta_0_x, eta_0_y, eta_0_z = q1 - nu_1, eta_1_x, eta_1_y, eta_1_z = q2 + return self.nom_state.velocity - eta_0 = np.array([[eta_1_x, eta_1_y, eta_1_z]]).T - eta_1 = np.array([[eta_0_x, eta_0_y, eta_0_z]]).T - eta_new = ( - nu_1 * eta_0 + nu_0 * eta_1 + np.dot(self.skew_symmetric(eta_0), eta_1) - ) - nu_new = nu_0 * nu_1 - np.dot(eta_0.T, eta_1) - q_new = np.array([nu_new, eta_new[0], eta_new[1], eta_new[2]]) - q_new /= np.linalg.norm(q_new) + def nominal_state_discrete(self, imu_data: Measurement) -> None: + """ + Calculates the next nominal state using the discrete-time process model defined in: + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter: 5.4.1 The nominal state kinematics - return q_new + Args: + imu_data (np.ndarray): The IMU data. + """ - def van_loan_discretization( - self, A_c: np.ndarray, G_c: np.ndarray - ) -> tuple[np.ndarray, np.ndarray]: - """Calculates the Van Loan discretization of a continuous-time system. + # Rectify measurements. + acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias + gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias + + R = self.nom_state.R_q() + + self.nom_state.position = self.nom_state.position + self.nom_state.velocity * self.dt + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 + self.nom_state.velocity = self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt + self.nom_state.orientation = quaternion_product(self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt)) + self.nom_state.acceleration_bias = np.exp(-self.p_accBias * self.dt) * self.nom_state.acceleration_bias + self.nom_state.gyro_bias = np.exp(-self.p_gyroBias * self.dt) * self.nom_state.gyro_bias + self.nom_state.g = self.nom_state.g + + def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: + """ + Calculates the Van Loan discretization of a continuous-time system. Args: A_c (np.ndarray): The A matrix. G_c (np.ndarray): The G matrix. Returns: - tuple: The A_d and GQG_d matrices. + Tuple: The A_d and GQG_d matrices. """ - GQG_T = np.dot(np.dot(G_c, self.Q_process_noise), G_c.T) * self.dt + + GQG_T = np.dot(np.dot(G_c, self.Q), G_c.T) matrix_exp = ( - np.block([[A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), A_c.T]]) + np.block([[- A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)]]) * self.dt ) van_loan_matrix = expm(matrix_exp) - V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] - V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] + V1 = van_loan_matrix[A_c.shape[0]:, A_c.shape[0]:] + V2 = van_loan_matrix[:A_c.shape[0], A_c.shape[0]:] A_d = V1.T GQG_d = A_d @ V2 return A_d, GQG_d - def nominal_state_update( - self, current_state: StateVector_quaternion, imu_reading: np.ndarray - ) -> StateVector_quaternion: - """Updates the nominal state of the system. + def error_state_prediction(self, imu_data: Measurement) -> None: - Args: - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. + # Rectify measurements. + acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias + gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias - Returns: - np.ndarray: The updated nominal state. - """ - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - # Define the derivative of the state - current_state_dot = StateVector_quaternion() - - # Define the state derivates - current_state_dot.position = current_state.velocity - current_state_dot.velocity = ( - np.dot( - current_state.R_q(), - (imu_acceleration - current_state.acceleration_bias), - ) - + self.g - ) + R = self.nom_state.R_q() - # Define the quaternion derivatives - current_state_dot.orientation = 0.5 * self.quaternion_super_product( - current_state.orientation, - np.array([0, imu_gyro[0], imu_gyro[1], imu_gyro[2]]), - ) + A_c = np.zeros((18, 18)) - # Define the bias - current_state_dot.acceleration_bias = ( - -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias - ) - current_state_dot.gyro_bias = ( - -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias - ) - - return current_state_dot.euler_forward(current_state, self.dt) - - def error_state_update( - self, - current_error_state: StateVector_euler, - current_state: StateVector_quaternion, - imu_reading: np.ndarray, - ) -> StateVector_euler: - """Updates the error state of the system. - - Args: - current_error_state (np.ndarray): The current error state of the system. - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - np.ndarray: The updated error state. - """ - # Define the derivative of the state - next_error_state = StateVector_euler() - - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - A_c = np.zeros((15, 15)) A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = -np.dot( - current_state.R_q(), - self.skew_symmetric(imu_acceleration - current_state.acceleration_bias), - ) - A_c[6:9, 6:9] = -self.skew_symmetric(imu_gyro - current_state.gyro_bias) - A_c[3:6, 9:12] = -current_state.R_q() + A_c[3:6, 6:9] = - R @ skew_matrix(acc_rect) + A_c[6:9, 6:9] = - skew_matrix(gyro_rect) + A_c[3:6, 9:12] = - R + A_c[9:12, 9:12] = -self.p_accBias * np.eye(3) + A_c[12:15, 12:15] = -self.p_gyroBias * np.eye(3) A_c[6:9, 12:15] = -np.eye(3) - A_c[9:12, 9:12] = -self.P_ab * np.eye(3) - A_c[12:15, 12:15] = -self.P_wb * np.eye(3) + A_c[3:6, 15:18] = np.eye(3) + + G_c = np.zeros((18, 12)) - G_c = np.zeros((15, 12)) - G_c[3:6, 0:3] = -current_state.R_q() + G_c[3:6, 0:3] = -R G_c[6:9, 3:6] = -np.eye(3) G_c[9:12, 6:9] = np.eye(3) G_c[12:15, 9:12] = np.eye(3) - # Van loan discretization - A_d, GQG_d = self.van_loan_discretization(A_c, G_c, self.dt) + A_d, GQG_d = self.van_loan_discretization(A_c, G_c) - # Inserting the new state and covariance - next_error_state.copy_state(current_error_state) - next_error_state.covariance = ( - np.dot(np.dot(A_d, current_error_state.covariance), A_d.T) + GQG_d - ) - - return next_error_state - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. + self.error_state.covariance = (A_d @ self.error_state.covariance @ A_d.T + GQG_d) - Returns: - np.ndarray: The measurement matrix. + def measurement_update(self, dvl_measurement:Measurement) -> None: """ - # Define the measurement matrix - H = np.zeros((3, 15)) - - # For now assume only velocity is measured - H[0:3, 3:6] = np.eye(3) - - return H - - def prediction_from_estimates( - self, - current_state: StateVector_quaternion, - current_error_state: StateVector_euler, - imu_reading: np.ndarray, - ) -> StateVector_euler: - """Predicts the measurement from the current state and error state. + Updates the error state using the DVL measurement. + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter: 6.1 eq. 274-276 Args: - current_state (StateVector_quaternion): The current state of the system. - current_error_state (StateVector_euler): The current error state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - StateVector_euler: The predicted measurement. + dvl_measurement (np.ndarray): The DVL measurement. """ - # Define the z_pred matrix - z_pred = MeasurementModel() - - # Define the z_pred values separately - z_pred_1 = current_state.velocity - z_pred_2 = 0 # Currently assuming no lever arm compensation - - # Combine the z_pred values - z_pred.measurement = z_pred_1 + z_pred_2 - - # Define the H matrix - z_pred.measurement_matrix = self.H() - R = self.R - z_pred.measurement_covariance = ( - np.dot( - np.dot(z_pred.measurement_matrix, current_error_state.covariance), - z_pred.measurement_matrix.T, - ) - + R - ) - - return z_pred - def measurement_update( - self, - error_state_pred: StateVector_euler, - z_pred: MeasurementModel, - dvl_measure: np.array, - ) -> StateVector_euler: - """Updates the error state of the system. + H = self.H() + P = self.error_state.covariance + R= dvl_measurement.aiding_covariance + K = P @ H.T @ np.linalg.inv(H @ P @ H.T + R) + self.error_state.fill_states(K @ (dvl_measurement.aiding - self.h())) + self.error_state.covariance = (np.eye(18) - K @ H) @ P - Args: - current_error_state (np.ndarray): The current error state of the system. - measurement (np.ndarray): The measurement. - - Returns: - np.ndarray: The updated error state. + def injection(self) -> None: """ - # Define new error state value - new_error_state = StateVector_euler() - - # Define the measurement matrix - innovation = dvl_measure - z_pred.measurement - H = z_pred.measurement_matrix - R = self.R - P = error_state_pred.covariance - S = z_pred.measurement_covariance - - # Kalman gain calculation - W = np.dot(P, np.linalg.solve(S, H).T) - new_error_state.fill_states(np.dot(W, innovation)) - - I_WH = np.eye(15) - np.dot(W, H) - new_error_state.covariance = np.dot(np.dot(I_WH, P), I_WH.T) + np.dot( - np.dot(W, R), W.T - ) - - return new_error_state - - def imu_update_states( - self, - current_pred_nom: StateVector_quaternion, - current_pred_err: StateVector_euler, - imu_readings: np.array, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Calculates the predicted state using the IMU readings. - - Args: - current_pred_nom (StateVector_quaternion): The current nominal state. - current_pred_err (StateVector_euler): The current error state. - imu_readings (np.array): The IMU readings. - - Returns: - tuple: The predicted nominal state and the predicted error state. + Injects the error state into the nominal state to produce the estimated state. + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter 6.2 eq. 282-283 + """ - pred_nom_state = self.nominal_state_update(current_pred_nom, imu_readings) - pred_err_state = self.error_state_update( - current_pred_err, current_pred_nom, imu_readings - ) - - return pred_nom_state, pred_err_state - - def dvl_update_states( - self, - current_pred_nom: StateVector_quaternion, - current_pred_err: StateVector_euler, - dvl_measure: np.array, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Calculates the predicted state using the DVL readings. - - Args: - current_pred_nom (StateVector_quaternion): The current nominal state. - current_pred_err (StateVector_euler): The current error state. - dvl_measure (np.array): The DVL readings. - - Returns: - tuple: The predicted nominal state and the predicted error state. + + self.nom_state.position = self.nom_state.position + self.error_state.position + self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity + self.nom_state.orientation = quaternion_product(self.nom_state.orientation, euler_to_quat(self.error_state.orientation)) + self.nom_state.acceleration_bias = self.nom_state.acceleration_bias + self.error_state.acceleration_bias + self.nom_state.gyro_bias = self.nom_state.gyro_bias + self.error_state.gyro_bias + self.nom_state.g = self.nom_state.g + self.error_state.g + + def reset_error_state(self) -> None: + """ + Resets the error state after injection. + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter 6.3 eq. 284-286 """ - z_pred = self.prediction_from_estimates( - current_pred_nom, current_pred_err, dvl_measure - ) - new_error_state = self.measurement_update(current_pred_err, z_pred, dvl_measure) - return current_pred_nom, new_error_state + G = np.eye(18) # Neglecting the delta_theta as this is most common in practice - def injection_and_reset( - self, next_state: StateVector_quaternion, next_error_state: StateVector_euler - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Injects the error state into the nominal state and resets the error state. + self.error_state.covariance = G @ self.error_state.covariance @ G.T + self.error_state.fill_states(np.zeros(18)) - Args: - next_state (StateVector_quaternion): The next nominal state. - next_error_state (StateVector_euler): The next error state. - - Returns: - tuple: The injected nominal state and the reset error state. + def imu_update(self, imu_data: Measurement) -> None: + """ + Updates the state using the IMU data. """ - # Define the new state - inj_state = StateVector_quaternion() - - # Injecting the error state - inj_state.position = next_state.position + next_error_state.position - inj_state.velocity = next_state.velocity + next_error_state.velocity - inj_state.orientation = self.quaternion_super_product( - next_state.orientation, - 0.5 - * np.array( - [ - 2, - next_error_state.orientation[0], - next_error_state.orientation[1], - next_error_state.orientation[2], - ] - ), - ) - inj_state.acceleration_bias = ( - next_state.acceleration_bias + next_error_state.acceleration_bias - ) - inj_state.gyro_bias = next_state.gyro_bias + next_error_state.gyro_bias - - # Resetting the error state - G = np.eye(15) - G[6:9, 6:9] = np.eye(3) - self.skew_symmetric( - 0.5 * next_error_state.orientation - ) - - next_error_state.covariance = np.dot( - np.dot(G, next_error_state.covariance), G.T - ) - next_error_state.fill_states(np.zeros(15)) - return inj_state, next_error_state + self.nominal_state_discrete(imu_data) + self.error_state_prediction(imu_data) + + def dvl_update(self, dvl_measurement: Measurement) -> None: + """ + Updates the state using the DVL measurement. + """ + + self.measurement_update(dvl_measurement) + self.injection() + self.reset_error_state() \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py index 5b860582e..ec206ab64 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -4,7 +4,7 @@ from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import QoSProfile, qos_profile_sensor_data -from sensor_msgs.msg import Imu, +from sensor_msgs.msg import Imu import numpy as np from geometry_msgs.msg import TwistWithCovarianceStamped diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py new file mode 100644 index 000000000..9ea439982 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_utils.py @@ -0,0 +1,95 @@ +import numpy as np + +def skew_matrix(vector: np.ndarray) -> np.ndarray: + """ + Returns the skew symmetric matrix of a 3x1 vector. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0] + ] + ) + +def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) + + q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) + q_new = q_new / np.linalg.norm(q_new) + + return q_new + +def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: + """Converts an angle-axis representation to a quaternion. + + Args: + vector (np.ndarray): The angle-axis representation. + + Returns: + np.ndarray: The quaternion representation. + """ + angle = np.linalg.norm(vector) + if angle < 1e-8: + return np.array([1, 0, 0, 0]) + else: + axis = vector / angle + + + q = np.zeros(4) + q[0] = np.cos(angle / 2) + q[1:] = np.sin(angle / 2) * axis + + return q + + +def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: + """Calculates the rotation matrix from the angle-axis representation. + + Args: + vector (np.ndarray): The angle-axis representation. + + Returns: + np.ndarray: The rotation matrix. + """ + quaternion = angle_axis_to_quaternion(vector) + q0, q1, q2, q3 = quaternion + + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py b/navigation/eskf_python/eskf_python/ukf_okid_class.py similarity index 78% rename from navigation/ukf_okid/ukf_python/ukf_okid_class copy.py rename to navigation/eskf_python/eskf_python/ukf_okid_class.py index 86b7beb49..8444fd82e 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py +++ b/navigation/eskf_python/eskf_python/ukf_okid_class.py @@ -14,12 +14,11 @@ class StateQuat: orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - okid_params: np.ndarray = field(default_factory=lambda: np.zeros(21)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params]) + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) def nu(self) -> np.ndarray: """Calculates the nu vector.""" @@ -42,9 +41,6 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] - if len(state) > 13: - self.okid_params = state[13:] - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: """Fills states when the state vector has different dimensions than the default state vector.""" self.position = state[0:3] + state_euler[0:3] @@ -52,9 +48,6 @@ def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] - if len(state) > 13: - self.okid_params = state[13:] - def subtract(self, other: 'StateQuat') -> np.ndarray: """Subtracts two StateQuat objects, returning the difference with Euler angles.""" new_array = np.zeros(len(self.as_vector()) - 1) @@ -63,8 +56,6 @@ def subtract(self, other: 'StateQuat') -> np.ndarray: new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity - new_array[12:] = self.okid_params - other.okid_params - return new_array def __add__(self, other: 'StateQuat') -> 'StateQuat': @@ -75,8 +66,6 @@ def __add__(self, other: 'StateQuat') -> 'StateQuat': new_state.velocity = self.velocity + other.velocity new_state.angular_velocity = self.angular_velocity + other.angular_velocity - new_state.okid_params = self.okid_params + other.okid_params - return new_state def __sub__(self, other: 'StateQuat') -> 'StateQuat': @@ -87,8 +76,6 @@ def __sub__(self, other: 'StateQuat') -> 'StateQuat': new_state.velocity = self.velocity - other.velocity new_state.angular_velocity = self.angular_velocity - other.angular_velocity - new_state.okid_params = self.okid_params - other.okid_params - return new_state.as_vector() def __rmul__(self, scalar: float) -> 'StateQuat': @@ -99,8 +86,6 @@ def __rmul__(self, scalar: float) -> 'StateQuat': new_state.velocity = scalar * self.velocity new_state.angular_velocity = scalar * self.angular_velocity - new_state.okid_params = scalar * self.okid_params - return new_state def insert_weights(self, weights: np.ndarray) -> np.ndarray: @@ -110,7 +95,6 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] - new_state.okid_params = self.okid_params - weights[12:] return new_state.as_vector() @@ -119,7 +103,6 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: self.position += other.position self.velocity += other.velocity self.angular_velocity += other.angular_velocity - self.okid_params += other.okid_params @dataclass class MeasModel: @@ -131,7 +114,7 @@ class MeasModel: def H(self, state: StateQuat) -> 'MeasModel': """Calculates the measurement matrix.""" - H = np.zeros((3, 34)) + H = np.zeros((3, 13)) H[:, 7:10] = np.eye(3) z_i = MeasModel() z_i.measurement = np.dot(H, state.as_vector()) @@ -233,93 +216,6 @@ def euler_forward(self) -> StateQuat: self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt return self.state_vector -@dataclass -class okid_model: - """ - A class defined for a general process model. - """ - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - D_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self, linear_damping: np.ndarray, nonlinear_damping: np.ndarray) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(linear_damping) - D_nl = -np.diag(nonlinear_damping) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - - self.inertia = np.diag(self.state_vector.okid_params[:3]) - self.mass_interia_matrix[3:6, 3:6] = self.inertia - self.D_matrix = self.D(self.state_vector.okid_params[3:9], self.state_vector.okid_params[9:15]) - self.added_mass = self.state_vector.okid_params[15:21] - - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D_matrix, self.state_vector.nu())) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - self.state_vector_dot.okid_params = np.zeros(21) - - def euler_forward(self) -> StateQuat: - """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt - self.state_vector.okid_params = self.state_vector_prev.okid_params - return self.state_vector - - - def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: """ Converts Euler angles to a quaternion diff --git a/navigation/sp_ukf_python/CMakeLists.txt b/navigation/sp_ukf_python/CMakeLists.txt deleted file mode 100644 index a40f065cd..000000000 --- a/navigation/sp_ukf_python/CMakeLists.txt +++ /dev/null @@ -1,33 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(sp_ukf_python) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(vortex_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) - -ament_python_install_package(${PROJECT_NAME}) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -install(PROGRAMS - sp_ukf_python/sp_ukf_python_node.py - DESTINATION lib/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_pytest REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) -endif() - -ament_package() diff --git a/navigation/sp_ukf_python/README.md b/navigation/sp_ukf_python/README.md deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/sp_ukf_python/config/sp_ukf_python.yaml b/navigation/sp_ukf_python/config/sp_ukf_python.yaml deleted file mode 100644 index d3d18145d..000000000 --- a/navigation/sp_ukf_python/config/sp_ukf_python.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - sp_ukf_python_node: diff --git a/navigation/sp_ukf_python/launch/ukf.launch.py b/navigation/sp_ukf_python/launch/ukf.launch.py deleted file mode 100644 index fdd3f07e6..000000000 --- a/navigation/sp_ukf_python/launch/ukf.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - sp_ukf_python_node = Node( - package='sp_ukf_python', - executable='sp_ukf_python_node.py', - name='sp_ukf_python_node', - parameters=[ - os.path.join( - get_package_share_directory('sp_ukf_python'), - 'config', - 'sp_ukf_python.yaml', - ), - ], - output='screen', - ) - return LaunchDescription([sp_ukf_python_node]) diff --git a/navigation/sp_ukf_python/package.xml b/navigation/sp_ukf_python/package.xml deleted file mode 100644 index 6aa4edbc0..000000000 --- a/navigation/sp_ukf_python/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - sp_ukf_python - 1.0.0 - This package provides the implementation of a sigma point based Unscented Error-state Kalman Filter - talhanc - MIT - - ament_cmake_python - - rclpy - python-transforms3d-pip - geometry_msgs - vortex_msgs - - python3-pytest - - - - ament_cmake - - diff --git a/navigation/sp_ukf_python/sp_ukf_python/__init__.py b/navigation/sp_ukf_python/sp_ukf_python/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py deleted file mode 100644 index 819cb737d..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py +++ /dev/null @@ -1,495 +0,0 @@ - -import numpy as np -from scipy.linalg import expm -from sp_ukf_python_class import StateVector_euler, StateVector_quaternion -from sp_ukf_python_utils import quaternion_super_product, skew_symmetric - - -class ErrorStateUnscentedKalmanFilter: - def __init__( - self, - P_ab: float, - P_wb: float, - Q: np.ndarray, - lever_arm: np.array, - R: np.ndarray, - g: float, - dt: float, - ) -> None: - self.P_ab = P_ab - self.P_wb = P_wb - self.Q_process_noise = Q - self.lever_arm = lever_arm - self.R = R - self.g = np.array([0, 0, g]) - self.dt = dt - self.y_i = np.zeros((15, 2 * 15)) - self.W = np.zeros(2 * 15 + 1) - - def mean_set(self, set: np.ndarray) -> np.ndarray: - """Calculates the mean of a set of values. - - Args: - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The mean of the set. - """ - # Define the number of sigma points based on columns - n = set.shape[0] - mean_value = np.zeros(n) - - for i in range(2 * n + 1): - mean_value += (1/(2 * n + 1)) * set[:, i] - - return mean_value - - def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: - """Calculates the mean of a set of values. - - Args: - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The mean of the set. - """ - # Define the number of columns - n = set.shape[0] - mean_value = np.zeros(n) - - for i in range(2 * n + 1): - mean_value += weight[i] * set[:, i] - - return mean_value - - def covariance_set(self, mean: np.ndarray, set: np.ndarray) -> np.ndarray: - """Calculate the covarince of a set of sigmapoints - - Args: - mean (np.ndarray): The mean of the set. - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The covariance of the set. - """ - n = set.shape[0] - covariance_set = np.zeros((n, n)) - - for i in range(2 * n + 1): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - W_i = vector - mean - - covariance_set += (1 / (2 * n + 1)) * np.outer(W_i, W_i) - - return covariance_set - - def cross_covariance_set( - self, - mean: np.ndarray, - set: np.ndarray, - mean_2: np.ndarray, - set_2: np.ndarray, - weight: np.ndarray, - ) -> np.ndarray: - """Calculate the cross covariance of a set of sigmapoints - - Args: - mean (np.ndarray): The mean of the set. - set (np.ndarray): The set of values. - mean_2 (np.ndarray): The mean of the second set. - set_2 (np.ndarray): The second set of values. - - Returns: - np.ndarray: The cross covariance of the set. - """ - n_x = set.shape[0] - n_z = set_2.shape[0] - covariance_mat = np.zeros((n_x, n_z)) - - for i in range(2 * n_x + 1): - # parse the 15-dim error state - err_vec = set[:, i] # shape (15,) - W_i = err_vec - mean # shape (15,) - - # parse the 3-dim measurement - meas_vec = set_2[:, i] # shape (3,) - W_i_2 = meas_vec - mean_2 # shape (3,) - - # outer product -> shape (15,3) - covariance_mat += weight[i] * np.outer(W_i, W_i_2) - - return covariance_mat - - def weighted_covariance_set( - self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray - ) -> np.ndarray: - """Calculate the covarince of a set of sigmapoints - - Args: - mean (np.ndarray): The mean of the set. - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The covariance of the set. - """ - n = set.shape[0] - covariance_set = np.zeros((n, n)) - - for i in range(2 * n + 1): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - W_i = vector - mean - covariance_set += weight[i] * np.outer(W_i, W_i) - - return covariance_set - - def generate_sigma_points( - self, error_state: StateVector_euler, Q_process_noise - ) -> tuple[list[StateVector_euler], np.ndarray]: - """Generates the sigma points for the UKF - This is done using the Cholesky decomposition method - """ - n = len(error_state.covariance) - kappa = 3 - n - - S = np.linalg.cholesky(error_state.covariance + Q_process_noise) - - S_scaled = np.sqrt(n + kappa) * S - - weighted_points = np.concatenate((S_scaled, -S_scaled), axis=1) - - sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] - W = np.zeros(2 * n + 1) - - sigma_points[0].fill_states(error_state.as_vector()) - W[0] = kappa / (n + kappa) - - for i in range(2 * n): - sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) - W[i + 1] = 1 / (2 * (n + kappa)) - - self.W = W - return sigma_points, W - - def nominal_state_update( - self, current_state: StateVector_quaternion, imu_reading: np.ndarray - ) -> StateVector_quaternion: - """Updates the nominal state of the system. - - Args: - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - np.ndarray: The updated nominal state. - """ - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - # Define the derivative of the state - current_state_dot = StateVector_quaternion() - - # Define the state derivates - current_state_dot.position = current_state.velocity - current_state_dot.velocity = ( - np.dot( - current_state.R_q(), - (imu_acceleration - current_state.acceleration_bias), - ) - + self.g - ) - - # Define the quaternion derivatives - current_state_dot.orientation = 0.5 * quaternion_super_product( - current_state.orientation, - np.array( - [ - 0, - imu_gyro[0] - current_state.gyro_bias[0], - imu_gyro[1] - current_state.gyro_bias[1], - imu_gyro[2] - current_state.gyro_bias[2], - ] - ), - ) - - # Define the bias - current_state_dot.acceleration_bias = ( - -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias - ) - current_state_dot.gyro_bias = ( - -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias - ) - - return current_state_dot.euler_forward(current_state, self.dt) - - def error_state_update( - self, - current_error_state: StateVector_euler, - current_state: StateVector_quaternion, - imu_reading: np.ndarray, - ) -> np.ndarray: - """Updates the error state of the system. - - Args: - current_error_state (np.ndarray): The current error state of the system. - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - np.ndarray: The updated error state. - """ - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - A_c = np.zeros((15, 15)) - A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = -np.dot( - current_state.R_q(), - skew_symmetric(imu_acceleration - current_state.acceleration_bias), - ) - A_c[6:9, 6:9] = -skew_symmetric(imu_gyro - current_state.gyro_bias) - A_c[3:6, 9:12] = -current_state.R_q() - A_c[6:9, 12:15] = -np.eye(3) - A_c[9:12, 9:12] = -self.P_ab * np.eye(3) - A_c[12:15, 12:15] = -self.P_wb * np.eye(3) - - # Exact matrix exponential - A_d = expm(A_c * self.dt) - - next_error_state = A_d @ current_error_state.as_vector() - - return next_error_state - - def unscented_transform( - self, - sigma_points: list[StateVector_euler], - current_state: StateVector_quaternion, - imu_reading: np.ndarray, - ) -> StateVector_euler: - """Performs the Unscented Transform - This is the corresponding to a preditction step in the EKF - """ - n = len(sigma_points[0].as_vector()) - - self.y_i = np.zeros((n, 2 * n + 1)) - - for i in range(2 * n + 1): - self.y_i[:, i] = self.error_state_update( - sigma_points[i], current_state, imu_reading - ) - - error_state_estimate = StateVector_euler() - - x = self.weighted_mean_set(self.y_i, self.W) - - error_state_estimate.fill_states(x) - error_state_estimate.covariance = self.weighted_covariance_set(x, self.y_i, self.W) - - return error_state_estimate - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. - - Returns: - np.ndarray: The measurement matrix. - """ - # Define the measurement matrix (error state is 15-dim) - H = np.zeros((3, 16)) - - # For now assume only velocity is measured (located at indices 3:6) - H[:, 3:6] = np.eye(3) - - return H - - def injection( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - ) -> StateVector_quaternion: - """Injects the error state into the nominal state - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - - Returns: - StateVector_quaternion: The updated nominal state - """ - inj_state = StateVector_quaternion() - - inj_state.position = current_state_nom.position + current_state_error.position - inj_state.velocity = current_state_nom.velocity + current_state_error.velocity - inj_state.orientation = quaternion_super_product( - current_state_nom.orientation, - 0.5 - * np.array( - [ - 2, - current_state_error.orientation[0], - current_state_error.orientation[1], - current_state_error.orientation[2], - ] - ), - ) - inj_state.acceleration_bias = ( - current_state_nom.acceleration_bias + current_state_error.acceleration_bias - ) - inj_state.gyro_bias = ( - current_state_nom.gyro_bias + current_state_error.gyro_bias - ) - - return inj_state - - def measurement_update( - self, - sigma_points: list[StateVector_euler], - current_nom_state: StateVector_quaternion, - current_error_state: StateVector_euler, - dvl_data: np.ndarray, - Weight: np.ndarray, - ) -> StateVector_euler: - """Updates the state vector with the DVL data - """ - H = self.H() - R = self.R - - n = len(sigma_points[0].as_vector()) - - Z_i = np.zeros((H.shape[0], 2 * n + 1)) - - for i in range(2 * n + 1): - injected_state = self.injection(current_nom_state, sigma_points[i]) - Z_i[:, i] = np.dot(H, injected_state.as_vector()) - - z = self.weighted_mean_set(Z_i, Weight) - S = self.weighted_covariance_set(z, Z_i, Weight) - - x = self.mean_set(self.y_i) - - innovation = dvl_data - z - - P_innovation = S + R - - P_xz = self.cross_covariance_set(x, self.y_i, z, Z_i, Weight) - - # Kalman gain - K_k = np.dot(P_xz, np.linalg.inv(P_innovation)) - - updated_error_state = StateVector_euler() - - # Update the state - updated_error_state.fill_states(x + np.dot(K_k, innovation)) - - # Update the covariance - updated_error_state.covariance = current_error_state.covariance - np.dot( - K_k, np.dot(P_innovation, K_k.T) - ) - - return updated_error_state - - def imu_update_states( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - imu_data: np.ndarray, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Updates the state vector with the IMU data - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - imu_data (np.ndarray): The IMU data - - Returns: - tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states - - """ - # Update the nominal state - current_state_nom = self.nominal_state_update(current_state_nom, imu_data) - - # Generate the sigma points - sigma_points, _ = self.generate_sigma_points( - current_state_error, self.Q_process_noise - ) - - # Update the error state - current_state_error = self.unscented_transform( - sigma_points, current_state_nom, imu_data - ) - - return current_state_nom, current_state_error - - def dvl_update_states( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - dvl_data: np.ndarray, - imu_data: np.ndarray, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Update the error state given the DVL data - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - dvl_data (np.ndarray): The DVL data to update the state with - - Returns: - tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states - """ - # Generate the sigma points - sigma_points, weight = self.generate_sigma_points( - current_state_error, self.Q_process_noise - ) - - # Update the error state - current_state_error = self.unscented_transform( - sigma_points, current_state_nom, imu_data - ) - - # Update the error state - current_state_error = self.measurement_update( - sigma_points, current_state_nom, current_state_error, dvl_data, weight - ) - - return current_state_nom, current_state_error - - def inject_and_reset( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Injects the error state into the nominal state and resets the error state - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - - Returns: - tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states - """ - inj_state = self.injection(current_state_nom, current_state_error) - - G = np.eye(15) - G[6:9, 6:9] = np.eye(3) - skew_symmetric(0.5 * current_state_error.orientation) - - current_state_error.covariance = np.dot( - np.dot(G, current_state_error.covariance), G.T - ) - current_state_error.covariance += np.eye(15) - - current_state_error.fill_states(np.zeros(15)) - - return inj_state, current_state_error diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py deleted file mode 100644 index f8ede884d..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py +++ /dev/null @@ -1,292 +0,0 @@ -from dataclasses import dataclass, field - -import numpy as np -from sp_ukf_python_utils import ( - euler_rotation_quaternion, - quaternion_error, - quaternion_super_product, - ssa, - quat_norm, -) - - -@dataclass -class StateVector_quaternion: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(4) - ) # Orientation quaternion (w, x, y, z) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - - def as_vector(self) -> np.ndarray: - """Calculates the state vector. - - Returns: - np.ndarray: The state vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - if len(state) == 15: - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:10] - self.acceleration_bias = state[10:13] - self.gyro_bias = state[13:] - else: - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = euler_rotation_quaternion(state[6:9]) - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:] - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion. - - Returns: - np.ndarray: The rotation matrix. - """ - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - - return R - - def euler_forward( - self, current_state: 'StateVector_quaternion', dt: float - ) -> 'StateVector_quaternion': - # Define the new state - new_state = StateVector_quaternion() - - # Define the state derivatives - new_state.position = current_state.position + self.position * dt - new_state.velocity = current_state.velocity + self.velocity * dt - new_state.orientation = quat_norm(current_state.orientation + self.orientation * dt) - new_state.acceleration_bias = ( - current_state.acceleration_bias + self.acceleration_bias * dt - ) - new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt - - # Normalize the orientation quaternion - new_state.orientation /= np.linalg.norm(new_state.orientation) - - return new_state - - def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: - """Subtracts two StateVector_quaternion objects. - - Args: - other (StateVector_quaternion): The other StateVector_quaternion object. - - Returns: - np.ndarray: The difference between the two StateVector_quaternion objects. - """ - position_diff = self.position - other.position - velocity_diff = self.velocity - other.velocity - orientation_diff = quaternion_error(self.orientation, other.orientation) - acceleration_bias_diff = self.acceleration_bias - other.acceleration_bias - gyro_bias_diff = self.gyro_bias - other.gyro_bias - - return np.concatenate( - [ - position_diff, - velocity_diff, - orientation_diff, - acceleration_bias_diff, - gyro_bias_diff, - ] - ) - - def __add__(self, other: 'np.ndarray') -> 'np.ndarray': - """Adds a numpy array to this StateVector_quaternion. - - Args: - other (np.ndarray): The numpy array to add. - - Returns: - np.ndarray: The result of the addition. - """ - # Construct the quaternion from the array - add_to_position = other[:3] - add_to_orientation = euler_rotation_quaternion(other[6:10]) - - new_position = self.position + add_to_position - new_velcoity = self.velocity + other[3:6] - new_orientation = quaternion_super_product(self.orientation, add_to_orientation) - new_acceleration_bias = self.acceleration_bias + other[10:13] - new_gyro_bias = self.gyro_bias + other[13:] - - return np.concatenate( - [ - new_position, - new_velcoity, - new_orientation, - new_acceleration_bias, - new_gyro_bias, - ] - ) - - -@dataclass -class StateVector_euler: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Orientation angles (roll, pitch, yaw) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - covariance: np.ndarray = field( - default_factory=lambda: np.zeros((15, 15)) - ) # Covariance matrix - - def as_vector(self) -> np.ndarray: - """Calculates the state estimate vector. - - Returns: - np.ndarray: The state estimate vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:9] - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:15] - - def copy_state(self, wanted_state: 'StateVector_euler') -> None: - """Copies the state from a StateVector object into the current StateVector object. - - Args: - wanted_state (StateVector_euler): The quaternion state to copy from. - """ - self.position = wanted_state.position - self.velocity = wanted_state.velocity - self.orientation = wanted_state.orientation - self.acceleration_bias = wanted_state.acceleration_bias - self.gyro_bias = wanted_state.gyro_bias - - def __add__(self, other: 'np.ndarray') -> 'np.ndarray': - """Adds a numpy array to this StateVector_quaternion. - - Args: - other (np.ndarray): The numpy array to add. - - Returns: - np.ndarray: The result of the addition. - """ - new_position = self.position + other[:3] - new_velcoity = self.velocity + other[3:6] - new_orientation = self.orientation + other[6:9] - new_acceleration_bias = self.acceleration_bias + other[9:12] - new_gyro_bias = self.gyro_bias + other[12:] - - return np.concatenate( - [ - new_position, - new_velcoity, - new_orientation, - new_acceleration_bias, - new_gyro_bias, - ] - ) - - def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': - """Subtracts two StateVector_euler objects. - - Args: - other (StateVector_euler): The other StateVector_euler object. - - Returns: - StateVector_euler: The difference between the two StateVector_euler objects. - """ - position_diff = self.position - other_state[:3] - velocity_diff = self.velocity - other_state[3:6] - orientation_diff = ssa(self.orientation - other_state[6:9]) - acceleration_bias_diff = self.acceleration_bias - other_state[9:12] - gyro_bias_diff = self.gyro_bias - other_state[12:] - - return np.concatenate( - [ - position_diff, - velocity_diff, - orientation_diff, - acceleration_bias_diff, - gyro_bias_diff, - ] - ) - - -@dataclass -class MeasurementModel: - measurement: np.ndarray = field( - default_factory=lambda: np.zeros(6) - ) # Measurement vector - measurement_matrix: np.ndarray = field( - default_factory=lambda: np.zeros((6, 15)) - ) # Measurement matrix - measurement_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((6, 6)) - ) # Measurement noise matrix diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py deleted file mode 100644 index 103528ef2..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py +++ /dev/null @@ -1,137 +0,0 @@ -#!/usr/bin/env python3 - -import rclpy -from nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import QoSProfile, qos_profile_sensor_data -from sensor_msgs.msg import Imu, -import numpy as np -from geometry_msgs.msg import TwistWithCovarianceStamped - -# NEED TO CHANGE THIS TO THE CORRECT PATH -from eskf_python.eskf_python_filter import ( - ErrorStateKalmanFilter, - MeasurementModel, - StateVector_euler, - StateVector_quaternion, -) - -qos_profile = QoSProfile( - depth=1, - history=qos_profile_sensor_data.history, - reliability=qos_profile_sensor_data.reliability, -) - - -class ESKalmanFilterNode(Node): - def __init__(self): - super().__init__("sp_ukf_python_node") - - # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz - self.imu_subscriber_ = self.create_subscription( - Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile - ) - - self.twist_dvl_subscriber_ = self.create_subscription( - TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile - ) - - # This publisher will publish the estimtaed state of the vehicle - self.state_publisher_ = self.create_publisher( - Odometry, '/orca/odom', qos_profile=qos_profile - ) - - self.eskf_modual = ErrorStateKalmanFilter() - self.current_state_nom = StateVector_quaternion() - self.current_state_error = StateVector_euler() - self.measurement_pred = MeasurementModel() - self.odom_msg = Odometry() - - self.get_logger().info("Unscented Kalman Filter started") - - def imu_callback(self, msg: Imu): - - # Get the IMU data - - imu_acceleartion = msg.linear_acceleration - imu_angular_velocity = msg.angular_velocity - - # Combine the IMU data - imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) - - # Update the filter with the IMU data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.imu_update_states( - self.current_state_nom, self.current_state_error, imu_data - ) - ) - - # Inserting the nominal state into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x - self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y - self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z - - # Publish - self.state_publisher_.publish(self.odom_msg) - - - - def filter_callback(self, msg: TwistWithCovarianceStamped): - """Callback function for the filter measurement update, - this will be called when the filter needs to be updated with the DVL data. - """ - self.get_logger().info("Filter callback, got DVL data") - - # Get the DVL data (linear velocity) - dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) - - # Update the filter with the DVL data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.dvl_update_states( - self.current_state_nom, self.current_state_error, dvl_data - ) - ) - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.injection_and_reset( - self.current_state_nom, self.current_state_error - ) - ) - - # Inserting data into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - - # Publishing the data - self.state_publisher_.publish(self.odom_msg) - - - -def main(args=None): - rclpy.init(args=args) - node = ESKalmanFilterNode() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py deleted file mode 100644 index 56285f031..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py +++ /dev/null @@ -1,116 +0,0 @@ -import numpy as np - -def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - - q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) - q_new /= np.linalg.norm(q_new) - - return q_new - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """ - Calculates the error between two quaternions - """ - - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_super_product(quat_1, quat_2_inv) - - return error_quat - -def euler_rotation_quaternion(self, euler_angles: np.ndarray) -> np.ndarray: - """ - Converts An vector assumed to be rotation vector to quaternion - - Args: - euler_angles (np.ndarray): Rotation vector - - Returns: - np.ndarray: Quaternion representation of the rotation vector - """ - - angle = np.linalg.norm(euler_angles) - - if angle == 0: - axis = np.array([0, 0, 0]) - else: - axis = euler_angles / angle - - quaternion = np.zeros(4) - quaternion[0] = np.cos(angle / 2) - quaternion[1:] = np.sin(angle / 2) * axis - - return quaternion - -def quaternion_rotation_euler(self, quaternion: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to an euler rotation vector - Used to generate the covarince matrix - - Args: - quaternion (np.ndarray): The quaternion to convert - - Returns: - np.ndarray: The euler rotation vector - """ - nu, eta_x, eta_y, eta_z = quaternion - - phi = np.arctan2(2 * (nu * eta_x + eta_y * eta_z), 1 - 2 * (eta_x ** 2 + eta_y ** 2)) - theta = -np.arcsin(2 * (eta_z * eta_x - nu * eta_y)) - psi = np.arctan2(2 * (nu * eta_z + eta_x * eta_y), 1 - 2 * (eta_y ** 2 + eta_z ** 2)) - - return np.array([phi, theta, psi]) - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - -def ssa(angle: np.ndarray) -> np.ndarray: - """ - smallest signed angle between two angles - """ - ssa_vector = np.zeros(len(angle)) - - for i in range(len(angle)): - ssa_vector[i] = (angle[i] + np.pi) % (2 * np.pi) - np.pi - - return ssa_vector - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """ - Function that normalizes a quaternion - """ - - quat = quat / np.linalg.norm(quat) - - return quat diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py deleted file mode 100644 index 1d8c723b1..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py +++ /dev/null @@ -1,313 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np - -# (Assuming the following have been imported from your modules) -from sp_ukf_python_class import StateVector_euler, StateVector_quaternion - -from sp_ukf_python import ErrorStateUnscentedKalmanFilter - - -def quat_to_yaw(q: np.ndarray) -> float: - """Convert a quaternion (assumed [w, x, y, z]) into a yaw angle. - In NED, yaw is typically around the z-down axis. - """ - return 2 * np.arctan2(q[3], q[0]) - - -def run_ESUKF_simulation(): - # ------------------------------------------------------------------------- - # Simulation parameters - # ------------------------------------------------------------------------- - dt = 0.01 # time step [s] - T = 60.0 # total simulation time [s] - num_steps = int(T / dt) - - # In an NED frame, gravity is +9.81 in the z (down) direction. - g_val = 9.81 - - # ------------------------------------------------------------------------- - # Define noise and covariance matrices - # ------------------------------------------------------------------------- - Q = np.diag( - [ - 0.06, - 0.06, - 0.06, # position error - 0.04, - 0.04, - 0.04, # velocity error - 0.003, - 0.003, - 0.003, # orientation error - 0.02, - 0.02, - 0.02, # accelerometer bias error - 0.02, - 0.02, - 0.02, # gyro bias error - ] - ) - - R_meas = np.diag([0.52, 0.52, 0.52]) # Increased DVL measurement noise - - # Bias dynamics tuning remains the same here: - P_ab = 0.002 - P_wb = 0.002 - lever_arm = np.array([0.0, 0.0, 0.0]) # Sensor at the vehicle CG - - # Create the Error-State UKF instance (NED convention) - esukf = ErrorStateUnscentedKalmanFilter(P_ab, P_wb, Q, lever_arm, R_meas, g_val, dt) - - # ------------------------------------------------------------------------- - # Initialize the true state in NED - # ------------------------------------------------------------------------- - # We treat x as North, y as East, z as Down. - # We'll do a circular path in the horizontal plane (z=0). - true_state = StateVector_quaternion() - true_state.position = np.array([20.0, 0.0, 0.0]) # [N, E, D]=[20, 0, 0] - true_state.velocity = np.array([0.0, 1.0, 0.0]) # 1 m/s in the East direction - true_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # No initial rotation - true_state.acceleration_bias = np.zeros(3) - true_state.gyro_bias = np.zeros(3) - - # ------------------------------------------------------------------------- - # Initialize the estimated state - # ------------------------------------------------------------------------- - est_state_nom = StateVector_quaternion() - est_state_nom.position = true_state.position + np.array([0.1, -0.1, 0.05]) - est_state_nom.velocity = true_state.velocity + np.array([0.05, 0.05, -0.05]) - est_state_nom.orientation = true_state.orientation.copy() - est_state_nom.acceleration_bias = np.zeros(3) - est_state_nom.gyro_bias = np.zeros(3) - - # Initialize error state (Euler) with some covariance - est_state_error = StateVector_euler() - est_state_error.fill_states(np.zeros(15)) - est_state_error.covariance = 0.5 * np.eye(15) - - # ------------------------------------------------------------------------- - # Prepare histories for plotting - # ------------------------------------------------------------------------- - time_hist = [] - true_pos_hist = [] - est_pos_hist = [] - true_vel_hist = [] - est_vel_hist = [] - true_yaw_hist = [] - est_yaw_hist = [] - - # ------------------------------------------------------------------------- - # Define the "circular" trajectory in the horizontal plane (z=0) - # in NED: x=North, y=East, z=Down - # We'll revolve in the XY-plane, at D=0, with radius=20 m, angular speed=0.05 rad/s - # ------------------------------------------------------------------------- - R_circle = 20.0 - omega = 0.05 - - # ------------------------------------------------------------------------- - # Main simulation loop - # ------------------------------------------------------------------------- - t = 0.0 - for step in range(num_steps): - # --- True State Generation (NED) --- - # Position: circle in x-y plane at z=0 - pos_true = np.array( - [ - R_circle * np.cos(omega * t), # N - R_circle * np.sin(omega * t), # E - 0.0, # D - ] - ) - # Velocity: derivative of pos - vel_true = np.array( - [ - -R_circle * omega * np.sin(omega * t), # d/dt of cos => -sin - R_circle * omega * np.cos(omega * t), # d/dt of sin => cos - 0.0, - ] - ) - # Acceleration: second derivative - acc_true = np.array( - [ - -R_circle * omega**2 * np.cos(omega * t), - -R_circle * omega**2 * np.sin(omega * t), - 0.0, - ] - ) - - # Update the "true" state in NED - true_state.position = pos_true - true_state.velocity = vel_true - - # Compute full quaternion from Euler angles (roll, pitch, yaw) - roll_true = 0.0 - pitch_true = 0.0 - yaw_true = np.arctan2(vel_true[1], vel_true[0]) - cy = np.cos(yaw_true * 0.5) - sy = np.sin(yaw_true * 0.5) - cp = np.cos(pitch_true * 0.5) - sp = np.sin(pitch_true * 0.5) - cr = np.cos(roll_true * 0.5) - sr = np.sin(roll_true * 0.5) - true_state.orientation = np.array( - [ - cr * cp * cy + sr * sp * sy, # w - sr * cp * cy - cr * sp * sy, # x - cr * sp * cy + sr * cp * sy, # y - cr * cp * sy - sr * sp * cy, # z - ] - ) - - # --- Simulated IMU Measurements (NED) --- - # Gravity is +9.81 in the down (z) direction in NED - R_true = true_state.R_q() # rotation from body to inertial - # The "specific force" in body frame is (acc_inertial - gravity_inertial) rotated to body - imu_acc_ideal = R_true.T @ ( - acc_true - np.array([0.0, 0.0, g_val]) - ) + np.random.normal(0.01, 0.01, 3) # [rad/s] - - # Add small noise - imu_acc_noise = np.random.normal(0.0, 0.05, 3) # [m/s^2] - imu_acc_meas = imu_acc_ideal + imu_acc_noise - - # Gyro: angular velocity about body axes. Yaw rate is ~omega for a flat circle - imu_gyro_ideal = np.array([0.0, 0.0, omega]) + np.random.normal( - 0.01, 0.01, 3 - ) # [rad/s] - imu_gyro_noise = np.random.normal(0.0, 0.05, 3) # [rad/s] - imu_gyro_meas = imu_gyro_ideal + imu_gyro_noise - - # Combine - imu_meas = np.hstack((imu_acc_meas, imu_gyro_meas)) - - # --- Simulated DVL Measurement --- - # Velocity in inertial frame (NED) with zero noise for this test - dvl_noise = np.random.normal(0.0, 0.05, 3) - dvl_meas = vel_true + dvl_noise - - # --------------------------------------------------------------------- - # Filter Updates - # --------------------------------------------------------------------- - # 1. IMU update (prediction) - est_state_nom, est_state_error = esukf.imu_update_states( - est_state_nom, est_state_error, imu_meas - ) - # 2. DVL update (measurement) - est_state_nom, est_state_error = esukf.dvl_update_states( - est_state_nom, est_state_error, dvl_meas, imu_meas - ) - # 3. Inject error state - est_state_nom, est_state_error = esukf.inject_and_reset( - est_state_nom, est_state_error - ) - - # --- Store Histories --- - time_hist.append(t) - true_pos_hist.append(pos_true) - est_pos_hist.append(est_state_nom.position.copy()) - true_vel_hist.append(vel_true) - est_vel_hist.append(est_state_nom.velocity.copy()) - true_yaw_hist.append(yaw_true) - est_yaw_hist.append(quat_to_yaw(est_state_nom.orientation)) - - t += dt - - # ------------------------------------------------------------------------- - # Convert histories to arrays - # ------------------------------------------------------------------------- - true_pos_hist = np.array(true_pos_hist) - est_pos_hist = np.array(est_pos_hist) - true_vel_hist = np.array(true_vel_hist) - est_vel_hist = np.array(est_vel_hist) - true_yaw_hist = np.array(true_yaw_hist) - est_yaw_hist = np.array(est_yaw_hist) - time_hist = np.array(time_hist) - - # ------------------------------------------------------------------------- - # Plotting - # ------------------------------------------------------------------------- - # Positions - plt.figure(figsize=(10, 8)) - plt.subplot(3, 1, 1) - plt.plot(time_hist, true_pos_hist[:, 0], label='True N') - plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated N') - plt.ylabel('N (m)') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time_hist, true_pos_hist[:, 1], label='True E') - plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated E') - plt.ylabel('E (m)') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time_hist, true_pos_hist[:, 2], label='True D') - plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated D') - plt.xlabel('Time (s)') - plt.ylabel('D (m)') - plt.legend() - plt.tight_layout() - plt.show() - - # Velocities - plt.figure(figsize=(10, 8)) - plt.subplot(3, 1, 1) - plt.plot(time_hist, true_vel_hist[:, 0], label='True Vn') - plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vn') - plt.ylabel('Vn (m/s)') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time_hist, true_vel_hist[:, 1], label='True Ve') - plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Ve') - plt.ylabel('Ve (m/s)') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time_hist, true_vel_hist[:, 2], label='True Vd') - plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vd') - plt.xlabel('Time (s)') - plt.ylabel('Vd (m/s)') - plt.legend() - plt.tight_layout() - plt.show() - - # Heading (Yaw) - plt.figure(figsize=(10, 4)) - plt.plot(time_hist, np.degrees(true_yaw_hist), label='True Yaw') - plt.plot(time_hist, np.degrees(est_yaw_hist), '--', label='Estimated Yaw') - plt.xlabel('Time (s)') - plt.ylabel('Yaw (deg)') - plt.legend() - plt.title('Heading Comparison (NED)') - plt.tight_layout() - plt.show() - - # 3D Trajectory - fig = plt.figure(figsize=(8, 6)) - ax = fig.add_subplot(111, projection='3d') - ax.plot( - true_pos_hist[:, 0], - true_pos_hist[:, 1], - true_pos_hist[:, 2], - label='True Trajectory', - linewidth=2, - ) - ax.plot( - est_pos_hist[:, 0], - est_pos_hist[:, 1], - est_pos_hist[:, 2], - '--', - label='Estimated Trajectory', - linewidth=2, - ) - ax.set_xlabel('North (m)') - ax.set_ylabel('East (m)') - ax.set_zlabel('Down (m)') - ax.legend() - plt.title('3D Trajectory (NED Frame)') - plt.show() - - -if __name__ == '__main__': - run_ESUKF_simulation() diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index c588d579e..dd52c6589 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -14,6 +14,31 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.sigma_points_list = None self.y_i = None self.weight = None + # self.T = self.generate_T_matrix(len(P_0)) + + def generate_T_matrix(n): + """ + Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. + + Parameters: + n (int): The state dimension. + + Returns: + T (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. + """ + T = np.zeros((n, 2 * n)) + + for i in range(1, 2 * n + 1): # indexing matches equation (1, ..., 2n) + for j in range(1, (n // 2) + 1): + T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) + T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) + + if n % 2 == 1: # if n is odd, add the last term as described in the paper + T[n - 1, i - 1] = (-1) ** i + + T = T / np.sqrt(2) # Normalize matrix for orthonormality (unit scaling) + + return T def sigma_points(self, current_state: StateQuat) -> tuple[list[StateQuat], np.ndarray]: """ @@ -134,10 +159,10 @@ def add_quaternion_noise(q, noise_std): x0[3] = 1 x0[7:10] = [0.2, 0.2, 0.2] dt = 0.01 - R = (0.1 / dt) * np.eye(3) + R = (0.01) * np.eye(3) - Q = 0.1 * np.eye(12) - P0 = np.eye(12) * 0.1 + Q = 0.00015 * np.eye(12) + P0 = np.eye(12) * 0.0001 model = process_model() model.dt = 0.01 @@ -156,16 +181,35 @@ def add_quaternion_noise(q, noise_std): model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - model_ukf = model + model_ukf = process_model() + model_ukf.dt = 0.01 + model_ukf.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model_ukf.m = 30.0 + model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) + model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) + model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) # Simulation parameters - simulation_time = 40 # seconds + simulation_time = 20 # seconds num_steps = int(simulation_time / dt) # Initialize a dummy StateQuat. - test_state = StateQuat() - test_state.fill_states(x0) - test_state.covariance = P0 + new_state = StateQuat() + new_state.fill_states(x0) + new_state.covariance = P0 + + test_state_x = StateQuat() + test_state_x.fill_states(x0) + test_state_x.covariance = P0 # Initialize a estimated state estimated_state = StateQuat() @@ -196,18 +240,15 @@ def add_quaternion_noise(q, noise_std): # Initialize the okid params okid_params = np.zeros((num_steps, 21)) - model.state_vector_prev = test_state - model.state_vector = test_state + model.state_vector_prev = new_state + model.state_vector = new_state - model_ukf.state_vector_prev = test_state - model_ukf.state_vector = test_state + model_ukf.state_vector_prev = test_state_x + model_ukf.state_vector = test_state_x # initialize the ukf ukf = UKF(model_ukf, x0, P0, Q, R) - # Test - ukf.unscented_transform(test_state) - elapsed_times = [] u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) @@ -219,22 +260,22 @@ def add_quaternion_noise(q, noise_std): model_ukf.Control_input = u(step * dt) # Perform the unscented transform - model.model_prediction(test_state) + model.model_prediction(new_state) new_state = model.euler_forward() # Adding noise in the state vector - noisy_state.position = new_state.position + np.random.normal(0, 0.1, 3) - noisy_state.orientation = add_quaternion_noise(new_state.orientation, 0.1) - noisy_state.velocity = new_state.velocity + np.random.normal(0, 0.1, 3) - noisy_state.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.1, 3) + estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) + estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) + estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) + estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) start_time = time.time() - estimated_state = ukf.unscented_transform(noisy_state) + estimated_state = ukf.unscented_transform(estimated_state) elapsed_time = time.time() - start_time elapsed_times.append(elapsed_time) - if step % 20 == 0: - measurment_model.measurement = new_state.velocity + np.random.normal(0, 0.2, 3) + if step % 10 == 0: + measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) From 007c2403925f35cf49571cc733f41c06e55f20f4 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 14 Mar 2025 23:17:19 +0100 Subject: [PATCH 007/109] added test script --- .../eskf_python/eskf_python/eskf_test.py | 235 ++++++++++++++++++ 1 file changed, 235 insertions(+) create mode 100644 navigation/eskf_python/eskf_python/eskf_test.py diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py new file mode 100644 index 000000000..4623b7b86 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -0,0 +1,235 @@ + +from eskf_python_class import StateEuler, StateQuat, MeasurementModel, Measurement +import numpy as np +from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion +from ukf_okid_class import process_model, quat_to_euler, euler_to_quat +from ukf_okid_class import StateQuat as StateQuatmodel +from scipy.linalg import block_diag +import matplotlib.pyplot as plt +from eskf_python_filter import ESKF + + +def fancy_print_state_quat(state: StateQuat) -> None: + print("Nominal State (Quaternion):") + print(f" Position : {np.array2string(state.position, precision=3, separator=', ')}") + print(f" Velocity : {np.array2string(state.velocity, precision=3, separator=', ')}") + print(f" Orientation (Quat): {np.array2string(state.orientation, precision=3, separator=', ')}") + print(f" Acceleration Bias : {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") + print(f" Gyro Bias : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") + print(f" Gravity : {np.array2string(state.g, precision=3, separator=', ')}\n") + + +def fancy_print_state_euler(state: StateEuler) -> None: + print("Error State (Euler):") + print(f" Position Error : {np.array2string(state.position, precision=3, separator=', ')}") + print(f" Velocity Error : {np.array2string(state.velocity, precision=3, separator=', ')}") + print(f" Orientation Error : {np.array2string(state.orientation, precision=3, separator=', ')}") + print(f" Acceleration Bias Error: {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") + print(f" Gyro Bias Error : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") + print(f" Gravity Error : {np.array2string(state.g, precision=3, separator=', ')}\n") + +def fancy_print_matrix(matrix: np.ndarray) -> None: + print(f"Matrix shape: {matrix.shape}") + print("========== Matrix ==========") + for row in matrix: + print(" ".join(f"{value:8.3f}" for value in row)) + print("======== End Matrix ========") + +if __name__ == "__main__": + + # Simulation parameters + simulation_time = 20.0 # seconds + dt = 0.01 + num_steps = int(simulation_time / dt) + time = np.linspace(0, simulation_time, num_steps) + + # ----------------------- Setup Initial States, Filter & Model ----------------------- + # True initial state + true_state_init = StateQuat() + true_state_init.position = np.array([0.1, 0.0, 0.0]) + true_state_init.velocity = np.array([0.1, 0.0, 0.0]) + P0 = np.diag([ + 1.0, 1.0, 1.0, # Position + 0.2, 0.2, 0.2, # Velocity + 0.01, 0.01, 0.01, # Orientation + 0.00001, 0.00001, 0.00001, # Acceleration bias + 0.00001, 0.00001, 0.00001, # Gyro bias + 0.00001, 0.00001, 0.00001 # Gravity + ]) + + # Estimated initial state (for filter) + est_state_init = StateQuat() + est_state_init.position = np.array([0.1, 0.0, 0.0]) + est_state_init.velocity = np.array([0.1, 0.0, 0.0]) + + # Noise parameters + Q = np.diag([ + (0.02**2) / dt, (0.02**2) / dt, (0.02**2) / dt, # Accelerometer noise + (0.001**2) / dt, (0.001**2) / dt, (0.001**2) / dt, # Gyroscope noise + 0.0001, 0.0001, 0.0001, # Acceleration bias random walk + 0.00001, 0.00001, 0.00001 # Gyro bias random walk + ]) + + Hx = np.zeros((3, 19)) + Hx[0:3, 6:9] = np.eye(3) + + # Create filter object + eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) + + imu_data = Measurement() + dvl_data = Measurement() + dvl_data.aiding_covariance = np.eye(3) * 0.2 + + # Setup the process model + model = process_model() + model.dt = dt + model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model.m = 30.0 + model.r_b_bg = np.array([0.01, 0.0, 0.02]) + model.inertia = np.diag([0.68, 3.32, 3.34]) + model.damping_linear = np.diag([0.03, 0.03, 0.03, 0.03, 0.03, 0.03]) + + # Initialize a dummy state for simulation dynamics. + new_state = StateQuatmodel() + new_state.position = np.array([0.1, 0.0, 0.0]) + new_state.velocity = np.array([0.1, 0.0, 0.0]) + new_state_prev = StateQuatmodel() + new_state_prev.position = np.array([0.1, 0.0, 0.0]) + new_state_prev.velocity = np.array([0.1, 0.0, 0.0]) + + model.state_vector = new_state + model.state_vector_prev = new_state_prev + + # ----------------------- Data Storage Arrays ----------------------- + true_positions = np.zeros((num_steps, 3)) + true_orientations = np.zeros((num_steps, 3)) + true_velocities = np.zeros((num_steps, 3)) + + est_positions = np.zeros((num_steps, 3)) + est_orientations = np.zeros((num_steps, 3)) + est_velocities = np.zeros((num_steps, 3)) + + # We'll record the filter’s covariance diagonal for each state component. + pos_cov = np.zeros((num_steps, 3)) # covariance for position (indices 0:3) + vel_cov = np.zeros((num_steps, 3)) # covariance for velocity (indices 3:6) + ori_cov = np.zeros((num_steps, 3)) # covariance for orientation (indices 6:9) + + prev_velocity = np.zeros(3) + u = lambda t: np.array([ + 0.5 * np.sin(0.1 * t), + 0.5 * np.sin(0.1 * t + 0.3), + 0.5 * np.sin(0.1 * t + 0.6), + 0.05 * np.cos(0.1 * t), + 0.05 * np.cos(0.1 * t + 0.3), + 0.05 * np.cos(0.1 * t + 0.6) + ]) + + # ----------------------- Simulation Loop ----------------------- + for step in range(num_steps): + t = step * dt + + model.Control_input = u(t) + model.model_prediction(new_state) + new_state = model.euler_forward() + + # Simulate IMU measurements (with noise) + imu_data.acceleration = ((new_state.velocity - prev_velocity) / dt) + np.random.normal(0, 0.13, 3) + imu_data.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.13, 3) + + eskf.imu_update(imu_data) + + # DVL update every 20 time-steps + if step % 20 == 0: + dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) + eskf.dvl_update(dvl_data) + + # Store True data (from the simulated dynamics) + true_positions[step, :] = np.copy(new_state.position) + true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) + true_velocities[step, :] = np.copy(new_state.velocity) + + # Store estimated state (from the filter) + est_positions[step, :] = np.copy(eskf.nom_state.position) + est_orientations[step, :] = quat_to_euler(np.copy(eskf.nom_state.orientation)) + est_velocities[step, :] = np.copy(eskf.nom_state.velocity) + + # Record covariance diagonal (assumed ordering: pos (0:3), vel (3:6), orientation (6:9)) + P_diag = np.diag(eskf.error_state.covariance) + pos_cov[step, :] = P_diag[0:3] + vel_cov[step, :] = P_diag[3:6] + ori_cov[step, :] = P_diag[6:9] + + prev_velocity = new_state.velocity + model.state_vector_prev = new_state + + # ----------------------- New Plotting Scheme ----------------------- + # Create 3 separate figures, each corresponding to one degree of freedom: + # For position and velocity: X, Y, Z. + # For orientation: Roll, Pitch, Yaw. + axis_labels_pos = ["X", "Y", "Z"] + axis_labels_vel = ["X", "Y", "Z"] + axis_labels_ori = ["Roll", "Pitch", "Yaw"] + + # Plot Position + fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) + fig_pos.suptitle("True Data vs Filter Estimates for Position") + for i in range(3): + ax_pos = axs_pos[i] + ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') + ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') + sigma_pos = np.sqrt(pos_cov[:, i]) + ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, + color=f"C{i}", alpha=0.2) + ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") + ax_pos.set_xlabel("Time [s]") + ax_pos.set_ylabel("Position") + ax_pos.grid(True) + ax_pos.legend() + + plt.tight_layout(rect=[0, 0, 1, 0.96]) + plt.show() + + # Plot Velocity + fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) + fig_vel.suptitle("True Data vs Filter Estimates for Velocity") + for i in range(3): + ax_vel = axs_vel[i] + ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') + ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') + sigma_vel = np.sqrt(vel_cov[:, i]) + ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, + color=f"C{i}", alpha=0.2) + ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") + ax_vel.set_xlabel("Time [s]") + ax_vel.set_ylabel("Velocity") + ax_vel.grid(True) + ax_vel.legend() + + plt.tight_layout(rect=[0, 0, 1, 0.96]) + plt.show() + + # Plot Orientation + fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) + fig_ori.suptitle("True Data vs Filter Estimates for Orientation") + for i in range(3): + ax_ori = axs_ori[i] + ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') + ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') + sigma_ori = np.sqrt(ori_cov[:, i]) + ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, + color=f"C{i}", alpha=0.2) + ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") + ax_ori.set_xlabel("Time [s]") + ax_ori.set_ylabel("Orientation") + ax_ori.grid(True) + ax_ori.legend() + + plt.tight_layout(rect=[0, 0, 1, 0.96]) + plt.show() From 1fb496b0b80852a750b6ffe69367493184033ab4 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sat, 15 Mar 2025 00:02:45 +0100 Subject: [PATCH 008/109] fixed some errors, code runs from eskf_test now --- .../eskf_python/eskf_python_class.py | 28 -- .../eskf_python/eskf_python_filter.py | 22 +- .../eskf_python/eskf_python_utils.py | 53 ++ .../eskf_python/eskf_python/eskf_test.py | 83 +--- .../eskf_python/eskf_test_utils.py | 184 +++++++ .../eskf_python/eskf_python/ukf_okid_class.py | 464 ------------------ 6 files changed, 272 insertions(+), 562 deletions(-) create mode 100644 navigation/eskf_python/eskf_python/eskf_test_utils.py delete mode 100644 navigation/eskf_python/eskf_python/ukf_okid_class.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py index 949ab996d..c2ffc8e02 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -1,8 +1,5 @@ from dataclasses import dataclass, field -from typing import Tuple, List -from scipy.linalg import expm import numpy as np -from eskf_python_utils import skew_matrix, quaternion_product @dataclass @@ -85,31 +82,6 @@ def R_q(self) -> np.ndarray: return R - # def inject(self, EulerState: 'StateEuler') -> 'StateQuat': - # inj_state = StateQuat() - - # # Injecting the error state - # inj_state.position = self.position + EulerState.position - # inj_state.velocity = self.velocity + EulerState.velocity - # inj_state.orientation = quaternion_product( - # self.orientation, - # 0.5 - # * np.array( - # [ - # 2, - # EulerState.orientation[0], - # EulerState.orientation[1], - # EulerState.orientation[2], - # ] - # ), - # ) - # inj_state.acceleration_bias = self.acceleration_bias + EulerState.acceleration_bias - # inj_state.gyro_bias = self.gyro_bias + EulerState.gyro_bias - - # return inj_state - - - @dataclass class StateEuler: position: np.ndarray = field( diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index a9c772e47..b1efeb0a9 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -4,9 +4,9 @@ import numpy as np from scipy.linalg import expm from eskf_python_class import StateEuler, StateQuat, Measurement -from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion -from ukf_okid_class import euler_to_quat +from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion, euler_to_quat from scipy.linalg import block_diag +from scipy.spatial.transform import Rotation as R_scipy class ESKF: def __init__(self, Q: np.ndarray, P0, Hx, nom_state: StateQuat, p_accBias, p_gyroBias, dt): @@ -103,8 +103,6 @@ def h(self) -> np.ndarray: """ return self.nom_state.velocity - - def nominal_state_discrete(self, imu_data: Measurement) -> None: """ Calculates the next nominal state using the discrete-time process model defined in: @@ -196,13 +194,18 @@ def measurement_update(self, dvl_measurement:Measurement) -> None: Args: dvl_measurement (np.ndarray): The DVL measurement. """ - + H = self.H() P = self.error_state.covariance - R= dvl_measurement.aiding_covariance - K = P @ H.T @ np.linalg.inv(H @ P @ H.T + R) - self.error_state.fill_states(K @ (dvl_measurement.aiding - self.h())) - self.error_state.covariance = (np.eye(18) - K @ H) @ P + R = dvl_measurement.aiding_covariance + + S = H @ P @ H.T + R + K = P @ H.T @ np.linalg.inv(S) + innovation = dvl_measurement.aiding - self.h() + self.error_state.fill_states(K @ innovation) + + I_KH = np.eye(18) - K @ H + self.error_state.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T # Joseph form for more stability def injection(self) -> None: """ @@ -211,7 +214,6 @@ def injection(self) -> None: Chapter 6.2 eq. 282-283 """ - self.nom_state.position = self.nom_state.position + self.error_state.position self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity self.nom_state.orientation = quaternion_product(self.nom_state.orientation, euler_to_quat(self.error_state.orientation)) diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py index 9ea439982..aaef5f8d6 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_utils.py +++ b/navigation/eskf_python/eskf_python/eskf_python_utils.py @@ -12,6 +12,14 @@ def skew_matrix(vector: np.ndarray) -> np.ndarray: ] ) +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + quat = quat / np.linalg.norm(quat) + + return quat + def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: """Calculates the quaternion super product of two quaternions. @@ -37,6 +45,17 @@ def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: return q_new +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_product(quat_1, quat_2_inv) + + return error_quat + def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: """Converts an angle-axis representation to a quaternion. @@ -93,3 +112,37 @@ def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: ) return R + +def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: + """ + Converts Euler angles to a quaternion + """ + psi, theta, phi = euler_angles + c_psi = np.cos(psi / 2) + s_psi = np.sin(psi / 2) + c_theta = np.cos(theta / 2) + s_theta = np.sin(theta / 2) + c_phi = np.cos(phi / 2) + s_phi = np.sin(phi / 2) + + quat = np.array([ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi + ]) + + return quat + +def quat_to_euler(quat: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to Euler angles + """ + nu, eta_1, eta_2, eta_3 = quat + + phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + + return np.array([phi, theta, psi]) + diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 4623b7b86..bf4cc8f8b 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -1,40 +1,11 @@ from eskf_python_class import StateEuler, StateQuat, MeasurementModel, Measurement +from eskf_python_utils import quat_to_euler +from eskf_test_utils import process_model, StateQuatModel import numpy as np -from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion -from ukf_okid_class import process_model, quat_to_euler, euler_to_quat -from ukf_okid_class import StateQuat as StateQuatmodel -from scipy.linalg import block_diag import matplotlib.pyplot as plt from eskf_python_filter import ESKF - -def fancy_print_state_quat(state: StateQuat) -> None: - print("Nominal State (Quaternion):") - print(f" Position : {np.array2string(state.position, precision=3, separator=', ')}") - print(f" Velocity : {np.array2string(state.velocity, precision=3, separator=', ')}") - print(f" Orientation (Quat): {np.array2string(state.orientation, precision=3, separator=', ')}") - print(f" Acceleration Bias : {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") - print(f" Gyro Bias : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") - print(f" Gravity : {np.array2string(state.g, precision=3, separator=', ')}\n") - - -def fancy_print_state_euler(state: StateEuler) -> None: - print("Error State (Euler):") - print(f" Position Error : {np.array2string(state.position, precision=3, separator=', ')}") - print(f" Velocity Error : {np.array2string(state.velocity, precision=3, separator=', ')}") - print(f" Orientation Error : {np.array2string(state.orientation, precision=3, separator=', ')}") - print(f" Acceleration Bias Error: {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") - print(f" Gyro Bias Error : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") - print(f" Gravity Error : {np.array2string(state.g, precision=3, separator=', ')}\n") - -def fancy_print_matrix(matrix: np.ndarray) -> None: - print(f"Matrix shape: {matrix.shape}") - print("========== Matrix ==========") - for row in matrix: - print(" ".join(f"{value:8.3f}" for value in row)) - print("======== End Matrix ========") - if __name__ == "__main__": # Simulation parameters @@ -51,23 +22,18 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: P0 = np.diag([ 1.0, 1.0, 1.0, # Position 0.2, 0.2, 0.2, # Velocity - 0.01, 0.01, 0.01, # Orientation + 0.2, 0.2, 0.2, # Orientation 0.00001, 0.00001, 0.00001, # Acceleration bias 0.00001, 0.00001, 0.00001, # Gyro bias 0.00001, 0.00001, 0.00001 # Gravity ]) - # Estimated initial state (for filter) - est_state_init = StateQuat() - est_state_init.position = np.array([0.1, 0.0, 0.0]) - est_state_init.velocity = np.array([0.1, 0.0, 0.0]) - # Noise parameters Q = np.diag([ - (0.02**2) / dt, (0.02**2) / dt, (0.02**2) / dt, # Accelerometer noise - (0.001**2) / dt, (0.001**2) / dt, (0.001**2) / dt, # Gyroscope noise - 0.0001, 0.0001, 0.0001, # Acceleration bias random walk - 0.00001, 0.00001, 0.00001 # Gyro bias random walk + (0.05**2) / dt, (0.05**2) / dt, (0.05**2) / dt, # Accelerometer noise + (0.004**2) / dt, (0.004**2) / dt, (0.004**2) / dt, # Gyroscope noise + 0.0002, 0.0002, 0.0002, # Acceleration bias random walk + 0.0001, 0.0001, 0.0001 # Gyro bias random walk ]) Hx = np.zeros((3, 19)) @@ -76,11 +42,14 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: # Create filter object eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) + # Create measurement objects imu_data = Measurement() dvl_data = Measurement() - dvl_data.aiding_covariance = np.eye(3) * 0.2 - # Setup the process model + # R matrix for DVL aiding + dvl_data.aiding_covariance = np.diag([(0.5)**2, (0.5)**2, (0.5)**2]) + + # Setup the process model for simulation of AUV model = process_model() model.dt = dt model.mass_interia_matrix = np.array([ @@ -97,17 +66,19 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: model.damping_linear = np.diag([0.03, 0.03, 0.03, 0.03, 0.03, 0.03]) # Initialize a dummy state for simulation dynamics. - new_state = StateQuatmodel() + # Two where made since there seems to be an issue with declaring two identical objects. + new_state = StateQuatModel() new_state.position = np.array([0.1, 0.0, 0.0]) new_state.velocity = np.array([0.1, 0.0, 0.0]) - new_state_prev = StateQuatmodel() + + new_state_prev = StateQuatModel() new_state_prev.position = np.array([0.1, 0.0, 0.0]) new_state_prev.velocity = np.array([0.1, 0.0, 0.0]) model.state_vector = new_state model.state_vector_prev = new_state_prev - # ----------------------- Data Storage Arrays ----------------------- + # Initialize arrays to store true and estimated states true_positions = np.zeros((num_steps, 3)) true_orientations = np.zeros((num_steps, 3)) true_velocities = np.zeros((num_steps, 3)) @@ -116,10 +87,10 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: est_orientations = np.zeros((num_steps, 3)) est_velocities = np.zeros((num_steps, 3)) - # We'll record the filter’s covariance diagonal for each state component. - pos_cov = np.zeros((num_steps, 3)) # covariance for position (indices 0:3) - vel_cov = np.zeros((num_steps, 3)) # covariance for velocity (indices 3:6) - ori_cov = np.zeros((num_steps, 3)) # covariance for orientation (indices 6:9) + # covariance arrays + pos_cov = np.zeros((num_steps, 3)) + vel_cov = np.zeros((num_steps, 3)) + ori_cov = np.zeros((num_steps, 3)) prev_velocity = np.zeros(3) u = lambda t: np.array([ @@ -131,7 +102,7 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: 0.05 * np.cos(0.1 * t + 0.6) ]) - # ----------------------- Simulation Loop ----------------------- + # Sim for step in range(num_steps): t = step * dt @@ -139,28 +110,23 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: model.model_prediction(new_state) new_state = model.euler_forward() - # Simulate IMU measurements (with noise) imu_data.acceleration = ((new_state.velocity - prev_velocity) / dt) + np.random.normal(0, 0.13, 3) imu_data.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.13, 3) eskf.imu_update(imu_data) - # DVL update every 20 time-steps if step % 20 == 0: dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) eskf.dvl_update(dvl_data) - # Store True data (from the simulated dynamics) true_positions[step, :] = np.copy(new_state.position) true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) true_velocities[step, :] = np.copy(new_state.velocity) - # Store estimated state (from the filter) est_positions[step, :] = np.copy(eskf.nom_state.position) est_orientations[step, :] = quat_to_euler(np.copy(eskf.nom_state.orientation)) est_velocities[step, :] = np.copy(eskf.nom_state.velocity) - # Record covariance diagonal (assumed ordering: pos (0:3), vel (3:6), orientation (6:9)) P_diag = np.diag(eskf.error_state.covariance) pos_cov[step, :] = P_diag[0:3] vel_cov[step, :] = P_diag[3:6] @@ -169,10 +135,7 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: prev_velocity = new_state.velocity model.state_vector_prev = new_state - # ----------------------- New Plotting Scheme ----------------------- - # Create 3 separate figures, each corresponding to one degree of freedom: - # For position and velocity: X, Y, Z. - # For orientation: Roll, Pitch, Yaw. + # Plotting axis_labels_pos = ["X", "Y", "Z"] axis_labels_vel = ["X", "Y", "Z"] axis_labels_ori = ["Roll", "Pitch", "Yaw"] diff --git a/navigation/eskf_python/eskf_python/eskf_test_utils.py b/navigation/eskf_python/eskf_python/eskf_test_utils.py new file mode 100644 index 000000000..34abe8eda --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_test_utils.py @@ -0,0 +1,184 @@ +import numpy as np +from dataclasses import dataclass, field +from typing import Tuple +from eskf_python_utils import quaternion_product, euler_to_quat, quat_to_euler, quaternion_error, quat_norm, skew_matrix + +# This was the original code from the ukf_okid.py file + +@dataclass +class StateQuatModel: + """ + A class to represent the state to be estimated by the UKF. + """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) + + def as_vector(self) -> np.ndarray: + """Returns the StateVector as a numpy array.""" + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + + def nu(self) -> np.ndarray: + """Calculates the nu vector.""" + return np.concatenate([self.velocity, self.angular_velocity]) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = self.orientation + R = np.array([ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] + ]) + return R + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array.""" + self.position = state[0:3] + self.orientation = state[3:7] + self.velocity = state[7:10] + self.angular_velocity = state[10:13] + + def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills states when the state vector has different dimensions than the default state vector.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] + + def subtract(self, other: 'StateQuatModel') -> np.ndarray: + """Subtracts two StateQuatModel objects, returning the difference with Euler angles.""" + new_array = np.zeros(len(self.as_vector()) - 1) + new_array[:3] = self.position - other.position + new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[6:9] = self.velocity - other.velocity + new_array[9:12] = self.angular_velocity - other.angular_velocity + + return new_array + + def __add__(self, other: 'StateQuatModel') -> 'StateQuatModel': + """Adds two StateQuatModel objects.""" + new_state = StateQuatModel() + new_state.position = self.position + other.position + new_state.orientation = quaternion_product(self.orientation, other.orientation) + new_state.velocity = self.velocity + other.velocity + new_state.angular_velocity = self.angular_velocity + other.angular_velocity + + return new_state + + def __sub__(self, other: 'StateQuatModel') -> 'StateQuatModel': + """Subtracts two StateQuatModel objects.""" + new_state = StateQuatModel() + new_state.position = self.position - other.position + new_state.orientation = quaternion_error(self.orientation, other.orientation) + new_state.velocity = self.velocity - other.velocity + new_state.angular_velocity = self.angular_velocity - other.angular_velocity + + return new_state.as_vector() + + def __rmul__(self, scalar: float) -> 'StateQuatModel': + """Multiplies the StateQuatModel object by a scalar.""" + new_state = StateQuatModel() + new_state.position = scalar * self.position + new_state.orientation = quat_norm(scalar * self.orientation) + new_state.velocity = scalar * self.velocity + new_state.angular_velocity = scalar * self.angular_velocity + + return new_state + + def insert_weights(self, weights: np.ndarray) -> np.ndarray: + """Inserts the weights into the covariance matrix.""" + new_state = StateQuatModel() + new_state.position = self.position - weights[:3] + new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.velocity = self.velocity - weights[6:9] + new_state.angular_velocity = self.angular_velocity - weights[9:12] + + return new_state.as_vector() + + def add_without_quaternions(self, other: 'StateQuatModel') -> None: + """Adds elements into the state vector without considering the quaternions.""" + self.position += other.position + self.velocity += other.velocity + self.angular_velocity += other.angular_velocity + + +@dataclass +class process_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuatModel = field(default_factory=StateQuatModel) + state_vector_dot: StateQuatModel = field(default_factory=StateQuatModel) + state_vector_prev: StateQuatModel = field(default_factory=StateQuatModel) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_matrix(ang_vel) + lever_arm_skew = skew_matrix(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_matrix(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuatModel) -> None: + """Calculates the model of the system.""" + self.state_vector = state + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> StateQuatModel: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + return self.state_vector \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/ukf_okid_class.py b/navigation/eskf_python/eskf_python/ukf_okid_class.py deleted file mode 100644 index 8444fd82e..000000000 --- a/navigation/eskf_python/eskf_python/ukf_okid_class.py +++ /dev/null @@ -1,464 +0,0 @@ -from dataclasses import dataclass, field -import numpy as np - - -from dataclasses import dataclass, field -import numpy as np - -@dataclass -class StateQuat: - """ - A class to represent the state to be estimated by the UKF. - """ - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) - - def as_vector(self) -> np.ndarray: - """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) - - def nu(self) -> np.ndarray: - """Calculates the nu vector.""" - return np.concatenate([self.velocity, self.angular_velocity]) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = self.orientation - R = np.array([ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] - ]) - return R - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array.""" - self.position = state[0:3] - self.orientation = state[3:7] - self.velocity = state[7:10] - self.angular_velocity = state[10:13] - - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: - """Fills states when the state vector has different dimensions than the default state vector.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - - def subtract(self, other: 'StateQuat') -> np.ndarray: - """Subtracts two StateQuat objects, returning the difference with Euler angles.""" - new_array = np.zeros(len(self.as_vector()) - 1) - new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) - new_array[6:9] = self.velocity - other.velocity - new_array[9:12] = self.angular_velocity - other.angular_velocity - - return new_array - - def __add__(self, other: 'StateQuat') -> 'StateQuat': - """Adds two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position + other.position - new_state.orientation = quaternion_super_product(self.orientation, other.orientation) - new_state.velocity = self.velocity + other.velocity - new_state.angular_velocity = self.angular_velocity + other.angular_velocity - - return new_state - - def __sub__(self, other: 'StateQuat') -> 'StateQuat': - """Subtracts two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position - other.position - new_state.orientation = quaternion_error(self.orientation, other.orientation) - new_state.velocity = self.velocity - other.velocity - new_state.angular_velocity = self.angular_velocity - other.angular_velocity - - return new_state.as_vector() - - def __rmul__(self, scalar: float) -> 'StateQuat': - """Multiplies the StateQuat object by a scalar.""" - new_state = StateQuat() - new_state.position = scalar * self.position - new_state.orientation = quat_norm(scalar * self.orientation) - new_state.velocity = scalar * self.velocity - new_state.angular_velocity = scalar * self.angular_velocity - - return new_state - - def insert_weights(self, weights: np.ndarray) -> np.ndarray: - """Inserts the weights into the covariance matrix.""" - new_state = StateQuat() - new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) - new_state.velocity = self.velocity - weights[6:9] - new_state.angular_velocity = self.angular_velocity - weights[9:12] - - return new_state.as_vector() - - def add_without_quaternions(self, other: 'StateQuat') -> None: - """Adds elements into the state vector without considering the quaternions.""" - self.position += other.position - self.velocity += other.velocity - self.angular_velocity += other.angular_velocity - -@dataclass -class MeasModel: - """ - A class defined for a general measurement model. - """ - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - - def H(self, state: StateQuat) -> 'MeasModel': - """Calculates the measurement matrix.""" - H = np.zeros((3, 13)) - H[:, 7:10] = np.eye(3) - z_i = MeasModel() - z_i.measurement = np.dot(H, state.as_vector()) - return z_i - - def __add__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the addition operation between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement + other.measurement - return result - - def __rmul__(self, scalar: float) -> 'MeasModel': - """Defines multiplication between scalar value and MeasModel object.""" - result = MeasModel() - result.measurement = scalar * self.measurement - return result - - def __sub__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the subtraction between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement - other.measurement - return result - -@dataclass -class process_model: - """ - A class defined for a general process model. - """ - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> StateQuat: - """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt - return self.state_vector - -def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """ - Converts Euler angles to a quaternion - """ - psi, theta, phi = euler_angles - c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) - c_theta = np.cos(theta / 2) - s_theta = np.sin(theta / 2) - c_phi = np.cos(phi / 2) - s_phi = np.sin(phi / 2) - - quat = np.array([ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi - ]) - - return quat - -def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to Euler angles - """ - nu, eta_1, eta_2, eta_3 = quat - - phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) - theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) - - return np.array([phi, theta, psi]) - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """ - Function that normalizes a quaternion - """ - - quat = quat / np.linalg.norm(quat) - - return quat - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - -def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - - q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) - - return q_new - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """ - Calculates the error between two quaternions - """ - - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_super_product(quat_1, quat_2_inv) - - return error_quat - -def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: - """ - Computes the weighted mean of the quaternion orientations from a list of StateQuat objects - using an iterative approach, without requiring the caller to manually extract the quaternion. - - Parameters: - state_list (list[StateQuat]): List of StateQuat objects. - weights (np.ndarray): Weights for each state. - tol (float): Convergence tolerance. - max_iter (int): Maximum number of iterations. - - Returns: - np.ndarray: The averaged quaternion as a 4-element numpy array. - """ - # Internally extract the quaternion from each state - sigma_quats = [state.orientation for state in state_list] - - # Initialize the mean quaternion with the first quaternion - mean_q = sigma_quats[0].copy() - - for _ in range(max_iter): - weighted_error_vectors = [] - for i, q in enumerate(sigma_quats): - # Compute the error quaternion: e = q * inv(mean_q) - # For unit quaternions, the inverse is the conjugate. - mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) - e = quaternion_super_product(q, mean_q_conj) - - # Clip to avoid numerical issues - e0_clipped = np.clip(e[0], -1.0, 1.0) - angle = 2 * np.arccos(e0_clipped) - if np.abs(angle) < 1e-8: - error_vec = np.zeros(3) - else: - # Compute the full rotation vector (angle * axis) - error_vec = (angle / np.sin(angle / 2)) * e[1:4] - weighted_error_vectors.append(weights[i] * error_vec) - - error_avg = np.sum(weighted_error_vectors, axis=0) - if np.linalg.norm(error_avg) < tol: - break - - error_norm = np.linalg.norm(error_avg) - delta_q = (np.array([np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm))]) - if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) - mean_q = quaternion_super_product(delta_q, mean_q) - mean_q = quat_norm(mean_q) - - return mean_q - - - -def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points - """ - n = len(set_points[0].as_vector()) - 1 - mean_value = StateQuat() - - if weights is None: - for i in range(2 * n + 1): - weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) - mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) - - else: - for i in range(2 * n + 1): - mean_value.add_without_quaternions(weights[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) - - return mean_value.as_vector() - -def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points - """ - n = len(set_points) - mean_value = MeasModel() - - if weights is None: - for i in range(n): - mean_value = mean_value + set_points[i] - else: - for i in range(n): - mean_value = mean_value + (weights[i] * set_points[i]) - - return mean_value.measurement - -def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the covariance of a set of points - """ - n = len(set_points[0].as_vector()) - 1 - covariance = np.zeros((n, n)) - mean_quat = StateQuat() - mean_quat.fill_states(mean) - - if weights is None: - for i in range(2 * n + 1): - covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) - - covariance = (1 / (2 * n + 1)) * covariance - - else: - for i in range(2 * n + 1): - covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) - - return covariance - -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the covariance of a set of points - """ - n = len(set_points) - co_size = len(set_points[0].measurement) - covariance = np.zeros((co_size, co_size)) - mean_meas = MeasModel() - mean_meas.measurement = mean - - if weights is None: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += np.outer(temp_model.measurement, temp_model.measurement) - - covariance = (1 / (n)) * covariance - - else: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) - - return covariance - -def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: - """ - Calculates the cross covariance between the measurement and state prediction - """ - - n = len(mean_y) - 1 - m = len(mean_z) - cross_covariance = np.zeros((n,m)) - mean_quat = StateQuat() - mean_quat.fill_states(mean_y) - - for i in range(n): - cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) - - cross_covariance = (1 / len(set_y)) * cross_covariance - - return cross_covariance From e110152d818afe8592c7a715b18c92071aff0ca3 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 20 Mar 2025 16:29:42 +0100 Subject: [PATCH 009/109] added changes to ukf --- .../eskf_python/eskf_python_class.py | 23 +- .../eskf_python/eskf_python_filter.py | 28 +- .../eskf_python/eskf_python/eskf_test.py | 185 ++++++---- navigation/ukf_okid/ukf_python/rest.py | 37 ++ navigation/ukf_okid/ukf_python/ukf_okid.py | 324 +----------------- .../ukf_okid/ukf_python/ukf_okid_class.py | 143 ++++---- navigation/ukf_okid/ukf_python/ukf_test.py | 323 +++++++++++++++++ navigation/ukf_okid/ukf_python/ukf_utils.py | 2 +- 8 files changed, 614 insertions(+), 451 deletions(-) create mode 100644 navigation/ukf_okid/ukf_python/rest.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_test.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py index c2ffc8e02..0ba96ba1f 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -1,6 +1,6 @@ from dataclasses import dataclass, field import numpy as np - +from eskf_python_utils import quaternion_error @dataclass class StateQuat: @@ -82,6 +82,27 @@ def R_q(self) -> np.ndarray: return R + def __sub__(self, other: 'StateQuat') -> 'StateQuat': + """Subtracts the values of two state vectors. + + Args: + other (StateQuat): The state vector to subtract. + + Returns: + np.ndarray: The difference between the two state vectors. + """ + result = StateQuat() + result.position = self.position - other.position + result.velocity = self.velocity - other.velocity + result.orientation = quaternion_error(self.orientation, other.orientation) + result.acceleration_bias = self.acceleration_bias - other.acceleration_bias + result.gyro_bias = self.gyro_bias - other.gyro_bias + result.g = self.g - other.g + + return result + + + @dataclass class StateEuler: position: np.ndarray = field( diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index b1efeb0a9..8c4b01963 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -185,7 +185,7 @@ def error_state_prediction(self, imu_data: Measurement) -> None: self.error_state.covariance = (A_d @ self.error_state.covariance @ A_d.T + GQG_d) - def measurement_update(self, dvl_measurement:Measurement) -> None: + def measurement_update(self, dvl_measurement:Measurement) -> float: """ Updates the error state using the DVL measurement. Joan Solà. Quaternion kinematics for the error-state Kalman filter. @@ -202,11 +202,16 @@ def measurement_update(self, dvl_measurement:Measurement) -> None: S = H @ P @ H.T + R K = P @ H.T @ np.linalg.inv(S) innovation = dvl_measurement.aiding - self.h() + + NIS_value = self.NIS(S, innovation) + self.error_state.fill_states(K @ innovation) I_KH = np.eye(18) - K @ H self.error_state.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T # Joseph form for more stability + return NIS_value + def injection(self) -> None: """ Injects the error state into the nominal state to produce the estimated state. @@ -241,11 +246,26 @@ def imu_update(self, imu_data: Measurement) -> None: self.nominal_state_discrete(imu_data) self.error_state_prediction(imu_data) - def dvl_update(self, dvl_measurement: Measurement) -> None: + def dvl_update(self, dvl_measurement: Measurement) -> float: """ Updates the state using the DVL measurement. """ - self.measurement_update(dvl_measurement) + NIS = self.measurement_update(dvl_measurement) self.injection() - self.reset_error_state() \ No newline at end of file + self.reset_error_state() + + return NIS + + # functions for tuning the filter + def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: + """ + Calculates the Normalized Innovation Squared (NIS) value. + """ + return innovation.T @ np.linalg.inv(S) @ innovation + + def NEES(self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat) -> float: + """ + Calculates the Normalized Estimation Error Squared (NEES) value. + """ + return (true_state - estimate_state).as_vector().T @ np.linalg.inv(P) @ (true_state - estimate_state).as_vector() \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index bf4cc8f8b..95f5e996b 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -5,8 +5,9 @@ import numpy as np import matplotlib.pyplot as plt from eskf_python_filter import ESKF +from scipy.stats import chi2 -if __name__ == "__main__": +def simulate_eskf(): # Simulation parameters simulation_time = 20.0 # seconds @@ -20,7 +21,7 @@ true_state_init.position = np.array([0.1, 0.0, 0.0]) true_state_init.velocity = np.array([0.1, 0.0, 0.0]) P0 = np.diag([ - 1.0, 1.0, 1.0, # Position + 0.5, 0.5, 0.5, # Position 0.2, 0.2, 0.2, # Velocity 0.2, 0.2, 0.2, # Orientation 0.00001, 0.00001, 0.00001, # Acceleration bias @@ -30,14 +31,14 @@ # Noise parameters Q = np.diag([ - (0.05**2) / dt, (0.05**2) / dt, (0.05**2) / dt, # Accelerometer noise - (0.004**2) / dt, (0.004**2) / dt, (0.004**2) / dt, # Gyroscope noise - 0.0002, 0.0002, 0.0002, # Acceleration bias random walk - 0.0001, 0.0001, 0.0001 # Gyro bias random walk + (0.034**2) / dt, (0.034**2) / dt, (0.034**2) / dt, # Accelerometer noise + (0.002**2) / dt, (0.002**2) / dt, (0.002**2) / dt, # Gyroscope noise + 0.00001, 0.00001, 0.00001, # Acceleration bias random walk + 0.00001, 0.00001, 0.00001 # Gyro bias random walk ]) Hx = np.zeros((3, 19)) - Hx[0:3, 6:9] = np.eye(3) + Hx[0:3, 3:6] = np.eye(3) # Create filter object eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) @@ -47,7 +48,7 @@ dvl_data = Measurement() # R matrix for DVL aiding - dvl_data.aiding_covariance = np.diag([(0.5)**2, (0.5)**2, (0.5)**2]) + dvl_data.aiding_covariance = np.diag([(0.01)**2, (0.01)**2, (0.01)**2]) # Setup the process model for simulation of AUV model = process_model() @@ -102,6 +103,9 @@ 0.05 * np.cos(0.1 * t + 0.6) ]) + NIS_list = [] + NIS_value = 0.0 + # Sim for step in range(num_steps): t = step * dt @@ -117,7 +121,8 @@ if step % 20 == 0: dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) - eskf.dvl_update(dvl_data) + NIS_value = eskf.dvl_update(dvl_data) + NIS_list.append(NIS_value) true_positions[step, :] = np.copy(new_state.position) true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) @@ -135,64 +140,104 @@ prev_velocity = new_state.velocity model.state_vector_prev = new_state - # Plotting - axis_labels_pos = ["X", "Y", "Z"] - axis_labels_vel = ["X", "Y", "Z"] - axis_labels_ori = ["Roll", "Pitch", "Yaw"] - - # Plot Position - fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) - fig_pos.suptitle("True Data vs Filter Estimates for Position") - for i in range(3): - ax_pos = axs_pos[i] - ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') - ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') - sigma_pos = np.sqrt(pos_cov[:, i]) - ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, - color=f"C{i}", alpha=0.2) - ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") - ax_pos.set_xlabel("Time [s]") - ax_pos.set_ylabel("Position") - ax_pos.grid(True) - ax_pos.legend() - - plt.tight_layout(rect=[0, 0, 1, 0.96]) - plt.show() - - # Plot Velocity - fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) - fig_vel.suptitle("True Data vs Filter Estimates for Velocity") - for i in range(3): - ax_vel = axs_vel[i] - ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') - ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') - sigma_vel = np.sqrt(vel_cov[:, i]) - ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, - color=f"C{i}", alpha=0.2) - ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") - ax_vel.set_xlabel("Time [s]") - ax_vel.set_ylabel("Velocity") - ax_vel.grid(True) - ax_vel.legend() - - plt.tight_layout(rect=[0, 0, 1, 0.96]) - plt.show() - - # Plot Orientation - fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) - fig_ori.suptitle("True Data vs Filter Estimates for Orientation") - for i in range(3): - ax_ori = axs_ori[i] - ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') - ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') - sigma_ori = np.sqrt(ori_cov[:, i]) - ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, - color=f"C{i}", alpha=0.2) - ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") - ax_ori.set_xlabel("Time [s]") - ax_ori.set_ylabel("Orientation") - ax_ori.grid(True) - ax_ori.legend() - - plt.tight_layout(rect=[0, 0, 1, 0.96]) - plt.show() + return time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, NIS_list + +time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, _ = simulate_eskf() + +# Plotting +axis_labels_pos = ["X", "Y", "Z"] +axis_labels_vel = ["X", "Y", "Z"] +axis_labels_ori = ["Roll", "Pitch", "Yaw"] + +# Plot Position +fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) +fig_pos.suptitle("True Data vs Filter Estimates for Position") +for i in range(3): + ax_pos = axs_pos[i] + ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') + ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') + sigma_pos = np.sqrt(pos_cov[:, i]) + ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, + color=f"C{i}", alpha=0.2) + ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") + ax_pos.set_xlabel("Time [s]") + ax_pos.set_ylabel("Position") + ax_pos.grid(True) + ax_pos.legend() + +plt.tight_layout(rect=[0, 0, 1, 0.96]) +plt.show() + +# Plot Velocity +fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) +fig_vel.suptitle("True Data vs Filter Estimates for Velocity") +for i in range(3): + ax_vel = axs_vel[i] + ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') + ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') + sigma_vel = np.sqrt(vel_cov[:, i]) + ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, + color=f"C{i}", alpha=0.2) + ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") + ax_vel.set_xlabel("Time [s]") + ax_vel.set_ylabel("Velocity") + ax_vel.grid(True) + ax_vel.legend() + +plt.tight_layout(rect=[0, 0, 1, 0.96]) +plt.show() + +# Plot Orientation +fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) +fig_ori.suptitle("True Data vs Filter Estimates for Orientation") +for i in range(3): + ax_ori = axs_ori[i] + ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') + ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') + sigma_ori = np.sqrt(ori_cov[:, i]) + ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, + color=f"C{i}", alpha=0.2) + ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") + ax_ori.set_xlabel("Time [s]") + ax_ori.set_ylabel("Orientation") + ax_ori.grid(True) + ax_ori.legend() + +plt.tight_layout(rect=[0, 0, 1, 0.96]) +plt.show() + + +### _______ NIS AND NEES _______ + +num_simulations = 10 +NIS_runs = [] + +for sim in range(num_simulations): + time, true_positions, true_orientations, true_velocities, \ + est_positions, est_orientations, est_velocities, \ + pos_cov, vel_cov, ori_cov, NIS_list = simulate_eskf() + + NIS_runs.append(np.array(NIS_list)) + +NIS_runs = np.vstack(NIS_runs) +ANIS = np.mean(NIS_runs, axis=0) + +measurement_dimension = 3 + +chi2_lower = chi2.ppf(0.025, measurement_dimension) / num_simulations +chi2_upper = chi2.ppf(0.975, measurement_dimension) / num_simulations + +time_steps = np.arange(len(ANIS)) * 0.01 * 20 + +fig, ax = plt.subplots(figsize=(10, 6)) +ax.plot(time_steps, ANIS, label="ANIS", color="C0") +ax.axhline(chi2_lower, color="C1", linestyle="--", label="95% CI Lower") +ax.axhline(chi2_upper, color="C2", linestyle="--", label="95% CI Upper") +ax.set_title("Average Normalized Innovation Squared (ANIS)") +ax.set_xlabel("Time [s]") +ax.set_ylabel("ANIS") +ax.grid(True) +ax.legend() + +plt.tight_layout() +plt.show() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py new file mode 100644 index 000000000..df7392bd4 --- /dev/null +++ b/navigation/ukf_okid/ukf_python/rest.py @@ -0,0 +1,37 @@ +def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + mean_value = StateQuat() + + if weights is None: + for i in range(2 * n + 1): + weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + + else: + for i in range(2 * n + 1): + mean_value.add_without_quaternions(weights[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) + + return mean_value.as_vector() + +def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points) + mean_value = MeasModel() + + if weights is None: + for i in range(n): + mean_value = mean_value + set_points[i] + else: + for i in range(n): + mean_value = mean_value + (weights[i] * set_points[i]) + + return mean_value.measurement \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index dd52c6589..1ede3f22b 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -14,9 +14,9 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.sigma_points_list = None self.y_i = None self.weight = None - # self.T = self.generate_T_matrix(len(P_0)) + self.T = self.generate_T_matrix(len(P_0)) - def generate_T_matrix(n): + def generate_T_matrix(n: float) -> np.ndarray: """ Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. @@ -28,42 +28,36 @@ def generate_T_matrix(n): """ T = np.zeros((n, 2 * n)) - for i in range(1, 2 * n + 1): # indexing matches equation (1, ..., 2n) + for i in range(1, 2 * n + 1): for j in range(1, (n // 2) + 1): T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) - if n % 2 == 1: # if n is odd, add the last term as described in the paper + if n % 2 == 1: # if n is odd T[n - 1, i - 1] = (-1) ** i - T = T / np.sqrt(2) # Normalize matrix for orthonormality (unit scaling) + T = T / np.sqrt(2) return T - def sigma_points(self, current_state: StateQuat) -> tuple[list[StateQuat], np.ndarray]: + def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: """ Functions that generate the sigma points for the UKF """ n = len(current_state.covariance) - kappa = 3 - n - S = np.linalg.cholesky(current_state.covariance + self.Q) - S_scaled = np.sqrt(n + kappa) * S - - weighted_points = np.concatenate([S_scaled, -S_scaled], axis=1) + I = np.hstack([np.eye(n), -np.eye(n)]) + my = np.sqrt(n) * I + delta = self.T @ my - self.sigma_points_list = [StateQuat() for _ in range(2 * n + 1)] - W = np.zeros(2 * n + 1) - - self.sigma_points_list [0].fill_states(current_state.as_vector()) - W[0] = kappa / (n + kappa) - for i in range(2 * n): - self.sigma_points_list [i + 1].fill_states(current_state.insert_weights(weighted_points[:, i])) - W[i + 1] = 1 / (2 * (n + kappa)) + S = np.linalg.cholesky(current_state.covariance + self.Q) - self.weight = W + self.sigma_points_list = [StateQuat() for _ in range(2 * n)] + + for state in self.sigma_points_list: + state.fill_states_different_dim(current_state.as_vector(), delta[:, self.sigma_points_list.index - return self.sigma_points_list , self.weight + return self.sigma_points_list def unscented_transform(self, current_state: StateQuat) -> StateQuat: @@ -128,290 +122,4 @@ def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.nd self.process_model.state_vector_prev = posteriori_estimate - return posteriori_estimate - -def add_quaternion_noise(q, noise_std): - - noise = np.random.normal(0, noise_std, 3) - - theta = np.linalg.norm(noise) - - if theta > 0: - - axis = noise / theta - - q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) - - else: - - q_noise = np.array([1.0, 0.0, 0.0, 0.0]) - - q_new = quaternion_super_product(q, q_noise) - - return q_new / np.linalg.norm(q_new) - - -if __name__ == '__main__': - - # Create initial state vector and covariance matrix. - x0 = np.zeros(13) - x0[0:3] = [0.3, 0.3, 0.3] - x0[3] = 1 - x0[7:10] = [0.2, 0.2, 0.2] - dt = 0.01 - R = (0.01) * np.eye(3) - - Q = 0.00015 * np.eye(12) - P0 = np.eye(12) * 0.0001 - - model = process_model() - model.dt = 0.01 - model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) - model.m = 30.0 - model.r_b_bg = np.array([0.01, 0.0, 0.02]) - model.inertia = np.diag([0.68, 3.32, 3.34]) - model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - model_ukf = process_model() - model_ukf.dt = 0.01 - model_ukf.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) - model_ukf.m = 30.0 - model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) - model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) - model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # Simulation parameters - simulation_time = 20 # seconds - num_steps = int(simulation_time / dt) - - # Initialize a dummy StateQuat. - new_state = StateQuat() - new_state.fill_states(x0) - new_state.covariance = P0 - - test_state_x = StateQuat() - test_state_x.fill_states(x0) - test_state_x.covariance = P0 - - # Initialize a estimated state - estimated_state = StateQuat() - estimated_state.fill_states(x0) - estimated_state.covariance = P0 - - # Initialize a estimated state - noisy_state = StateQuat() - noisy_state.fill_states(x0) - noisy_state.covariance = P0 - - measurment_model = MeasModel() - measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - measurment_model.covariance = R - - # Initialize arrays to store the results - positions = np.zeros((num_steps, 3)) - orientations = np.zeros((num_steps, 3)) - velocities = np.zeros((num_steps, 3)) - angular_velocities = np.zeros((num_steps, 3)) - - # Initialize arrays to store the estimates - positions_est = np.zeros((num_steps, 3)) - orientations_est = np.zeros((num_steps, 3)) - velocities_est = np.zeros((num_steps, 3)) - angular_velocities_est = np.zeros((num_steps, 3)) - - # Initialize the okid params - okid_params = np.zeros((num_steps, 21)) - - model.state_vector_prev = new_state - model.state_vector = new_state - - model_ukf.state_vector_prev = test_state_x - model_ukf.state_vector = test_state_x - - # initialize the ukf - ukf = UKF(model_ukf, x0, P0, Q, R) - - elapsed_times = [] - - u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) - - # Run the simulation - for step in range(num_steps): - # Insert control input - model.Control_input = u(step * dt) - model_ukf.Control_input = u(step * dt) - - # Perform the unscented transform - model.model_prediction(new_state) - new_state = model.euler_forward() - - # Adding noise in the state vector - estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) - estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) - estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) - estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) - - start_time = time.time() - estimated_state = ukf.unscented_transform(estimated_state) - elapsed_time = time.time() - start_time - elapsed_times.append(elapsed_time) - - if step % 10 == 0: - measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) - meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) - estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) - - - positions[step, :] = new_state.position - orientations[step, :] = quat_to_euler(new_state.orientation) - velocities[step, :] = new_state.velocity - angular_velocities[step, :] = new_state.angular_velocity - - positions_est[step, :] = estimated_state.position - orientations_est[step, :] = quat_to_euler(estimated_state.orientation) - velocities_est[step, :] = estimated_state.velocity - angular_velocities_est[step, :] = estimated_state.angular_velocity - - # Update the state for the next iteration - model.state_vector_prev = new_state - - print('Average elapsed time: ', np.mean(elapsed_times)) - print('Max elapsed time: ', np.max(elapsed_times)) - print('Min elapsed time: ', np.min(elapsed_times)) - print('median elapsed time: ', np.median(elapsed_times)) - # Plot the results - time = np.linspace(0, simulation_time, num_steps) - - # Plot positions - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, positions[:, 0], label='True') - plt.plot(time, positions_est[:, 0], label='Estimated') - plt.title('Position X') - plt.xlabel('Time [s]') - plt.ylabel('Position X [m]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, positions[:, 1], label='True') - plt.plot(time, positions_est[:, 1], label='Estimated') - plt.title('Position Y') - plt.xlabel('Time [s]') - plt.ylabel('Position Y [m]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, positions[:, 2], label='True') - plt.plot(time, positions_est[:, 2], label='Estimated') - plt.title('Position Z') - plt.xlabel('Time [s]') - plt.ylabel('Position Z [m]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot orientations (Euler angles) - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, orientations[:, 0], label='True') - plt.plot(time, orientations_est[:, 0], label='Estimated') - plt.title('Orientation Roll') - plt.xlabel('Time [s]') - plt.ylabel('Roll [rad]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, orientations[:, 1], label='True') - plt.plot(time, orientations_est[:, 1], label='Estimated') - plt.title('Orientation Pitch') - plt.xlabel('Time [s]') - plt.ylabel('Pitch [rad]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, orientations[:, 2], label='True') - plt.plot(time, orientations_est[:, 2], label='Estimated') - plt.title('Orientation Yaw') - plt.xlabel('Time [s]') - plt.ylabel('Yaw [rad]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, velocities[:, 0], label='True') - plt.plot(time, velocities_est[:, 0], label='Estimated') - plt.title('Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Velocity X [m/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, velocities[:, 1], label='True') - plt.plot(time, velocities_est[:, 1], label='Estimated') - plt.title('Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Y [m/s]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, velocities[:, 2], label='True') - plt.plot(time, velocities_est[:, 2], label='Estimated') - plt.title('Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Z [m/s]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot angular velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, angular_velocities[:, 0], label='True') - plt.plot(time, angular_velocities_est[:, 0], label='Estimated') - plt.title('Angular Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity X [rad/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, angular_velocities[:, 1], label='True') - plt.plot(time, angular_velocities_est[:, 1], label='Estimated') - plt.title('Angular Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Y [rad/s]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, angular_velocities[:, 2], label='True') - plt.plot(time, angular_velocities_est[:, 2], label='Estimated') - plt.title('Angular Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Z [rad/s]') - plt.legend() - - plt.tight_layout() - plt.show() \ No newline at end of file + return posteriori_estimate \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 8444fd82e..50f1988b4 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -48,11 +48,11 @@ def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] - def subtract(self, other: 'StateQuat') -> np.ndarray: + def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: """Subtracts two StateQuat objects, returning the difference with Euler angles.""" new_array = np.zeros(len(self.as_vector()) - 1) new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[3:6] = error_ori new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity @@ -115,7 +115,7 @@ class MeasModel: def H(self, state: StateQuat) -> 'MeasModel': """Calculates the measurement matrix.""" H = np.zeros((3, 13)) - H[:, 7:10] = np.eye(3) + H[0:3, 7:10] = np.eye(3) z_i = MeasModel() z_i.measurement = np.dot(H, state.as_vector()) return z_i @@ -309,7 +309,7 @@ def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: return error_quat -def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: +def iterative_quaternion_mean_statequat(state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: """ Computes the weighted mean of the quaternion orientations from a list of StateQuat objects using an iterative approach, without requiring the caller to manually extract the quaternion. @@ -323,142 +323,151 @@ def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np Returns: np.ndarray: The averaged quaternion as a 4-element numpy array. """ - # Internally extract the quaternion from each state + sigma_quats = [state.orientation for state in state_list] - - # Initialize the mean quaternion with the first quaternion + n = len(state_list) + mean_q = sigma_quats[0].copy() for _ in range(max_iter): weighted_error_vectors = [] for i, q in enumerate(sigma_quats): - # Compute the error quaternion: e = q * inv(mean_q) - # For unit quaternions, the inverse is the conjugate. mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) e = quaternion_super_product(q, mean_q_conj) - # Clip to avoid numerical issues e0_clipped = np.clip(e[0], -1.0, 1.0) angle = 2 * np.arccos(e0_clipped) if np.abs(angle) < 1e-8: error_vec = np.zeros(3) else: - # Compute the full rotation vector (angle * axis) error_vec = (angle / np.sin(angle / 2)) * e[1:4] - weighted_error_vectors.append(weights[i] * error_vec) + weighted_error_vectors.append(error_vec) - error_avg = np.sum(weighted_error_vectors, axis=0) + error_avg = (1 / n) * np.sum(weighted_error_vectors, axis=0) if np.linalg.norm(error_avg) < tol: break error_norm = np.linalg.norm(error_avg) - delta_q = (np.array([np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm))]) - if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) + if error_norm > 0: + delta_q = np.array([np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + else: + delta_q = np.array([1.0, 0.0, 0.0, 0.0]) + mean_q = quaternion_super_product(delta_q, mean_q) mean_q = quat_norm(mean_q) return mean_q - - -def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: +def mean_set(set_points: list[StateQuat]) -> np.ndarray: """ - Function that calculates the mean of a set of points + Functio calculates the mean vector of a set of points + + Args: + set_points (list[StateQuat]): List of StateQuat objects + + Returns: + np.ndarray: The mean vector """ - n = len(set_points[0].as_vector()) - 1 + n = len(set_points) mean_value = StateQuat() - if weights is None: - for i in range(2 * n + 1): - weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) - mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + for state in set_points: + mean_value.add_without_quaternions(state) - else: - for i in range(2 * n + 1): - mean_value.add_without_quaternions(weights[i] * set_points[i]) + mean_value = (1 / (n)) * mean_value + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points) - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) - return mean_value.as_vector() -def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: +def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: """ Function that calculates the mean of a set of points """ n = len(set_points) mean_value = MeasModel() - if weights is None: - for i in range(n): - mean_value = mean_value + set_points[i] - else: - for i in range(n): - mean_value = mean_value + (weights[i] * set_points[i]) + for state in set_points: + mean_value = mean_value + state + mean_value = (1 / n) * mean_value + return mean_value.measurement -def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: +def covariance_set(set_points: list[StateQuat], mean: StateQuat) -> np.ndarray: """ Function that calculates the covariance of a set of points """ - n = len(set_points[0].as_vector()) - 1 - covariance = np.zeros((n, n)) + n = len(set_points) + covariance = np.zeros(set_points[0].covariance.shape) + mean_quat = StateQuat() - mean_quat.fill_states(mean) + mean_quat.fill_states(mean.as_vector()) - if weights is None: - for i in range(2 * n + 1): - covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + mean_q = mean.orientation - covariance = (1 / (2 * n + 1)) * covariance + for state in set_points: + q = state.orientation + diff_q = quaternion_error(q, mean_q) + + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) + angle = 2.0 * np.arccos(e0_clipped) + if abs(angle) < 1e-8: + e_vec = np.zeros(3) + else: + e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] - else: - for i in range(2 * n + 1): - covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + covariance += np.outer(state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec)) + + covariance = (1 / (n)) * covariance return covariance -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: """ Function that calculates the covariance of a set of points """ n = len(set_points) co_size = len(set_points[0].measurement) covariance = np.zeros((co_size, co_size)) + mean_meas = MeasModel() mean_meas.measurement = mean - if weights is None: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += np.outer(temp_model.measurement, temp_model.measurement) - - covariance = (1 / (n)) * covariance + for state in set_points: + temp_state = state - mean_meas + covariance += np.outer(temp_state.measurement, temp_state.measurement) - else: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) + covariance = (1 / n) * covariance return covariance -def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: +def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray) -> np.ndarray: """ Calculates the cross covariance between the measurement and state prediction """ + n = len(set_y) - n = len(mean_y) - 1 - m = len(mean_z) - cross_covariance = np.zeros((n,m)) + cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) mean_quat = StateQuat() mean_quat.fill_states(mean_y) + mean_q = mean_quat.orientation + for i in range(n): - cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) + q = set_y[i].orientation + diff_q = quaternion_error(q, mean_q) + + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) + angle = 2.0 * np.arccos(e0_clipped) + if abs(angle) < 1e-8: + e_vec = np.zeros(3) + else: + e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] + + cross_covariance += np.outer(set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z) - cross_covariance = (1 / len(set_y)) * cross_covariance + cross_covariance = (1 / n) * cross_covariance return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py new file mode 100644 index 000000000..5a7e9eaba --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -0,0 +1,323 @@ +from ukf_okid import UKF +from ukf_okid_class import StateQuat, process_model, MeasModel +import numpy as np +import time +import matplotlib.pyplot as plt +from ukf_utils import print_StateQuat_list, print_StateQuat +from ukf_okid_class import quaternion_super_product, quat_to_euler, mean_set, covariance_set + + + +def add_quaternion_noise(q, noise_std): + + noise = np.random.normal(0, noise_std, 3) + + theta = np.linalg.norm(noise) + + if theta > 0: + + axis = noise / theta + + q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) + + else: + + q_noise = np.array([1.0, 0.0, 0.0, 0.0]) + + q_new = quaternion_super_product(q, q_noise) + + return q_new / np.linalg.norm(q_new) + + +if __name__ == '__main__': + + # Define a mean StateQuat + mean_state = StateQuat() + mean_state.position = np.array([1.0, 2.0, 3.0]) + mean_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # Quaternion + mean_state.velocity = np.array([0.5, 0.5, 0.5]) + mean_state.angular_velocity = np.array([0.1, 0.1, 0.1]) + + test_state = StateQuat() + test_state.position = np.array([1.0, 1.0, 1.0]) + test_state.orientation = np.array([0.0, 1.0, 0.0, 0.0]) # Quaternion + test_state.velocity = np.array([0.2, 0.2, 0.2]) + test_state.angular_velocity = np.array([0.2, 0.2, 0.2]) + + # Create a set with only one element + state_set = list() + state_set.append(test_state) + print(len(state_set)) + + # Compute the mean + mean = mean_set(state_set) + + # Compute the covariance + mean_state.covariance = covariance_set(state_set, mean_state) + + # Print the results + print("Mean State:") + print_StateQuat(mean_state) + + # # Create initial state vector and covariance matrix. + # x0 = np.zeros(13) + # x0[0:3] = [0.3, 0.3, 0.3] + # x0[3] = 1 + # x0[7:10] = [0.2, 0.2, 0.2] + # dt = 0.01 + # R = (0.01) * np.eye(3) + + # Q = 0.00015 * np.eye(12) + # P0 = np.eye(12) * 0.0001 + + # model = process_model() + # model.dt = 0.01 + # model.mass_interia_matrix = np.array([ + # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + # ]) + # model.m = 30.0 + # model.r_b_bg = np.array([0.01, 0.0, 0.02]) + # model.inertia = np.diag([0.68, 3.32, 3.34]) + # model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + # model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + # model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + # model_ukf = process_model() + # model_ukf.dt = 0.01 + # model_ukf.mass_interia_matrix = np.array([ + # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + # ]) + # model_ukf.m = 30.0 + # model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) + # model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) + # model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + # model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + # model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + # # Simulation parameters + # simulation_time = 20 # seconds + # num_steps = int(simulation_time / dt) + + # # Initialize a dummy StateQuat. + # new_state = StateQuat() + # new_state.fill_states(x0) + # new_state.covariance = P0 + + # test_state_x = StateQuat() + # test_state_x.fill_states(x0) + # test_state_x.covariance = P0 + + # # Initialize a estimated state + # estimated_state = StateQuat() + # estimated_state.fill_states(x0) + # estimated_state.covariance = P0 + + # # Initialize a estimated state + # noisy_state = StateQuat() + # noisy_state.fill_states(x0) + # noisy_state.covariance = P0 + + # measurment_model = MeasModel() + # measurment_model.measurement = np.array([0.0, 0.0, 0.0]) + # measurment_model.covariance = R + + # # Initialize arrays to store the results + # positions = np.zeros((num_steps, 3)) + # orientations = np.zeros((num_steps, 3)) + # velocities = np.zeros((num_steps, 3)) + # angular_velocities = np.zeros((num_steps, 3)) + + # # Initialize arrays to store the estimates + # positions_est = np.zeros((num_steps, 3)) + # orientations_est = np.zeros((num_steps, 3)) + # velocities_est = np.zeros((num_steps, 3)) + # angular_velocities_est = np.zeros((num_steps, 3)) + + # # Initialize the okid params + # okid_params = np.zeros((num_steps, 21)) + + # model.state_vector_prev = new_state + # model.state_vector = new_state + + # model_ukf.state_vector_prev = test_state_x + # model_ukf.state_vector = test_state_x + + # # initialize the ukf + # ukf = UKF(model_ukf, x0, P0, Q, R) + + # elapsed_times = [] + + # u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + + # # Run the simulation + # for step in range(num_steps): + # # Insert control input + # model.Control_input = u(step * dt) + # model_ukf.Control_input = u(step * dt) + + # # Perform the unscented transform + # model.model_prediction(new_state) + # new_state = model.euler_forward() + + # # Adding noise in the state vector + # estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) + # estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) + # estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) + # estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) + + # start_time = time.time() + # estimated_state = ukf.unscented_transform(estimated_state) + # elapsed_time = time.time() - start_time + # elapsed_times.append(elapsed_time) + + # if step % 10 == 0: + # measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) + # meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) + # estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) + + + # positions[step, :] = new_state.position + # orientations[step, :] = quat_to_euler(new_state.orientation) + # velocities[step, :] = new_state.velocity + # angular_velocities[step, :] = new_state.angular_velocity + + # positions_est[step, :] = estimated_state.position + # orientations_est[step, :] = quat_to_euler(estimated_state.orientation) + # velocities_est[step, :] = estimated_state.velocity + # angular_velocities_est[step, :] = estimated_state.angular_velocity + + # # Update the state for the next iteration + # model.state_vector_prev = new_state + + # print('Average elapsed time: ', np.mean(elapsed_times)) + # print('Max elapsed time: ', np.max(elapsed_times)) + # print('Min elapsed time: ', np.min(elapsed_times)) + # print('median elapsed time: ', np.median(elapsed_times)) + # # Plot the results + # time = np.linspace(0, simulation_time, num_steps) + + # # Plot positions + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, positions[:, 0], label='True') + # plt.plot(time, positions_est[:, 0], label='Estimated') + # plt.title('Position X') + # plt.xlabel('Time [s]') + # plt.ylabel('Position X [m]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, positions[:, 1], label='True') + # plt.plot(time, positions_est[:, 1], label='Estimated') + # plt.title('Position Y') + # plt.xlabel('Time [s]') + # plt.ylabel('Position Y [m]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, positions[:, 2], label='True') + # plt.plot(time, positions_est[:, 2], label='Estimated') + # plt.title('Position Z') + # plt.xlabel('Time [s]') + # plt.ylabel('Position Z [m]') + # plt.legend() + + # plt.tight_layout() + # plt.show() + + # # Plot orientations (Euler angles) + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, orientations[:, 0], label='True') + # plt.plot(time, orientations_est[:, 0], label='Estimated') + # plt.title('Orientation Roll') + # plt.xlabel('Time [s]') + # plt.ylabel('Roll [rad]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, orientations[:, 1], label='True') + # plt.plot(time, orientations_est[:, 1], label='Estimated') + # plt.title('Orientation Pitch') + # plt.xlabel('Time [s]') + # plt.ylabel('Pitch [rad]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, orientations[:, 2], label='True') + # plt.plot(time, orientations_est[:, 2], label='Estimated') + # plt.title('Orientation Yaw') + # plt.xlabel('Time [s]') + # plt.ylabel('Yaw [rad]') + # plt.legend() + + # plt.tight_layout() + # plt.show() + + # # Plot velocities + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, velocities[:, 0], label='True') + # plt.plot(time, velocities_est[:, 0], label='Estimated') + # plt.title('Velocity X') + # plt.xlabel('Time [s]') + # plt.ylabel('Velocity X [m/s]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, velocities[:, 1], label='True') + # plt.plot(time, velocities_est[:, 1], label='Estimated') + # plt.title('Velocity Y') + # plt.xlabel('Time [s]') + # plt.ylabel('Velocity Y [m/s]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, velocities[:, 2], label='True') + # plt.plot(time, velocities_est[:, 2], label='Estimated') + # plt.title('Velocity Z') + # plt.xlabel('Time [s]') + # plt.ylabel('Velocity Z [m/s]') + # plt.legend() + + # plt.tight_layout() + # plt.show() + + # # Plot angular velocities + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, angular_velocities[:, 0], label='True') + # plt.plot(time, angular_velocities_est[:, 0], label='Estimated') + # plt.title('Angular Velocity X') + # plt.xlabel('Time [s]') + # plt.ylabel('Angular Velocity X [rad/s]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, angular_velocities[:, 1], label='True') + # plt.plot(time, angular_velocities_est[:, 1], label='Estimated') + # plt.title('Angular Velocity Y') + # plt.xlabel('Time [s]') + # plt.ylabel('Angular Velocity Y [rad/s]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, angular_velocities[:, 2], label='True') + # plt.plot(time, angular_velocities_est[:, 2], label='Estimated') + # plt.title('Angular Velocity Z') + # plt.xlabel('Time [s]') + # plt.ylabel('Angular Velocity Z [rad/s]') + # plt.legend() + + # plt.tight_layout() + # plt.show() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index f52f2eb62..ad5871567 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -20,7 +20,7 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): print(f" Orientation: {state.orientation}") print(f" Velocity: {state.velocity}") print(f" Angular Velocity: {state.angular_velocity}") - print(f" okid_params: {state.okid_params}") + # print(f" okid_params: {state.okid_params}") if print_covariance: print_matrix(state.covariance, "Covariance") From 1e02ea23e98cec18a8f6f81b3e970d1162a21261 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 28 Mar 2025 21:41:33 +0100 Subject: [PATCH 010/109] feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info --- navigation/eskf/CMakeLists.txt | 53 ++++ navigation/eskf/config/eskf_params.yaml | 5 + navigation/eskf/include/eskf/eskf.hpp | 92 +++++++ navigation/eskf/include/eskf/eskf_ros.hpp | 69 +++++ navigation/eskf/include/eskf/eskf_utils.hpp | 11 + navigation/eskf/include/eskf/typedefs.hpp | 100 +++++++ navigation/eskf/launch/eskf.launch.py | 22 ++ navigation/eskf/package.xml | 22 ++ navigation/eskf/src/eskf.cpp | 240 ++++++++++++++++ navigation/eskf/src/eskf_node.cpp | 9 + navigation/eskf/src/eskf_ros.cpp | 118 ++++++++ navigation/eskf/src/eskf_utils.cpp | 13 + .../eskf_python/eskf_python_filter.py | 193 +++++++------ .../eskf_python/eskf_python/eskf_test.py | 257 +++++++++++++----- navigation/ukf_okid/ukf_python/ukf_okid.py | 22 +- 15 files changed, 1067 insertions(+), 159 deletions(-) create mode 100644 navigation/eskf/CMakeLists.txt create mode 100644 navigation/eskf/config/eskf_params.yaml create mode 100644 navigation/eskf/include/eskf/eskf.hpp create mode 100644 navigation/eskf/include/eskf/eskf_ros.hpp create mode 100644 navigation/eskf/include/eskf/eskf_utils.hpp create mode 100644 navigation/eskf/include/eskf/typedefs.hpp create mode 100644 navigation/eskf/launch/eskf.launch.py create mode 100644 navigation/eskf/package.xml create mode 100644 navigation/eskf/src/eskf.cpp create mode 100644 navigation/eskf/src/eskf_node.cpp create mode 100644 navigation/eskf/src/eskf_ros.cpp create mode 100644 navigation/eskf/src/eskf_utils.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt new file mode 100644 index 000000000..2809f9ed9 --- /dev/null +++ b/navigation/eskf/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 3.8) +project(eskf) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(tf2 REQUIRED) +find_package(vortex_msgs REQUIRED) + +if(NOT DEFINED EIGEN3_INCLUDE_DIR) + set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) +endif() +include_directories(${EIGEN3_INCLUDE_DIR}) + +include_directories(include) + +add_executable(eskf_node + src/eskf.cpp + src/eskf_ros.cpp + src/eskf_node.cpp + src/eskf_utils.cpp +) + +ament_target_dependencies(eskf_node + rclcpp + geometry_msgs + nav_msgs + Eigen3 + tf2 + vortex_msgs +) + +install(TARGETS + eskf_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml new file mode 100644 index 000000000..f3402f4a9 --- /dev/null +++ b/navigation/eskf/config/eskf_params.yaml @@ -0,0 +1,5 @@ +eskf_node: + ros__parameters: + imu_topic: imu/date_raw + dvl_twist: /orca/twist + odom_topic: odom diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp new file mode 100644 index 000000000..ee47277ea --- /dev/null +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -0,0 +1,92 @@ +#ifndef ESKF_HPP +#define ESKF_HPP + +#include +#include +#include "eskf/typedefs.hpp" +#include "typedefs.hpp" + +class ESKF { + public: + ESKF(const eskf_params& params); + + std::pair imu_update( + const state_quat& nom_state, + const state_euler& error_state, + const imu_measurement& imu_meas, + const double dt); + + std::pair dvl_update( + const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas); + + private: + // @brief Predict the nominal state + // @param nom_state: Nominal state + // @param imu_meas: IMU measurement + // @return Predicted nominal state + state_quat nominal_state_discrete(const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt); + + // @brief Predict the error state + // @param error_state: Error state + // @param nom_state: Nominal state + // @param imu_meas: IMU measurement + // @return Predicted error state + state_euler error_state_prediction(const state_euler& error_state, + const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt); + + // @brief Update the error state + // @param error_state: Error state + // @param dvl_meas: DVL measurement + // @return Updated error state + state_euler measurement_update(const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas); + + // @brief Inject the error state into the nominal state and reset the error + // state + // @param nom_state: Nominal state + // @param error_state: Error state + // @return Injected and reset state + std::pair injection_and_reset( + const state_quat& nom_state, + const state_euler& error_state); + + // @brief Van Loan discretization + // @param A_c: Continuous state transition matrix + // @param G_c: Continuous input matrix + // @return Discrete state transition matrix and discrete input matrix + std::pair van_loan_discretization( + const Eigen::Matrix18d& A_c, + const Eigen::Matrix18x12d& G_c, + const double dt); + + // @brief Calculate the delta quaternion matrix + // @param nom_state: Nominal state + // @return Delta quaternion matrix + Eigen::Matrix4x3d calculate_Q_delta(const state_quat& nom_state); + + // @brief Calculate the measurement matrix jakobian + // @param nom_state: Nominal state + // @return Measurement matrix + Eigen::Matrix3x19d calculate_Hx(const state_quat& nom_state); + + // @brief Calculate the full measurement matrix + // @param nom_state: Nominal state + // @return Measurement matrix + Eigen::Matrix3x18d calculate_H(const state_quat& nom_state); + + // @brief Calculate the measurement + // @param nom_state: Nominal state + // @return Measurement + Eigen::Vector3d calculate_h(const state_quat& nom_state); + + Eigen::Matrix12d Q_; +}; + +#endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp new file mode 100644 index 000000000..88f97459f --- /dev/null +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -0,0 +1,69 @@ +#ifndef ESKF_ROS_HPP +#define ESKF_ROS_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "eskf/eskf.hpp" +#include "eskf/typedefs.hpp" +#include "typedefs.hpp" + +class ESKFNode : public rclcpp::Node { + public: + explicit ESKFNode(); + + private: + // @brief Callback function for the imu topic + // @param msg: Imu message containing the imu data + void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); + + // @brief Callback function for the dvl topic + // @param msg: TwistWithCovarianceStamped message containing the dvl data + void dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + + // @brief Publish the odometry message + void publish_odom(); + + // @brief Set the subscriber and publisher for the node + void set_subscribers_and_publisher(); + + // @brief Set the parameters for the eskf + void set_parameters(); + + rclcpp::Subscription::SharedPtr imu_sub_; + + rclcpp::Subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; + + rclcpp::Publisher::SharedPtr odom_pub_; + + std::chrono::milliseconds time_step; + + rclcpp::TimerBase::SharedPtr odom_pub_timer_; + + state_quat nom_state_; + + state_euler error_state_; + + imu_measurement imu_meas_; + + dvl_measurement dvl_meas_; + + eskf_params eskf_params_; + + std::unique_ptr eskf_; + + rclcpp::Time last_imu_time_; + + bool first_imu_msg_received_ = false; +}; + +#endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp new file mode 100644 index 000000000..afd871772 --- /dev/null +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -0,0 +1,11 @@ +#ifndef ESKF_UTILS_HPP +#define ESKF_UTILS_HPP + +#include "eigen3/Eigen/Dense" +#include "eskf/typedefs.hpp" + +Eigen::Matrix3d skew(const Eigen::Vector3d& v); + +double sq(const double& value); + +#endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp new file mode 100644 index 000000000..c93c92402 --- /dev/null +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -0,0 +1,100 @@ +/** + * @file typedefs.hpp + * @brief Contains the typedef and structs for the eskf. + */ +#ifndef ESKF_TYPEDEFS_H +#define ESKF_TYPEDEFS_H + +#include +#include + +namespace Eigen { +typedef Eigen::Matrix Vector19d; +typedef Eigen::Matrix Vector18d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix19d; +typedef Eigen::Matrix Matrix18x12d; +typedef Eigen::Matrix Matrix4x3d; +typedef Eigen::Matrix Matrix3x19d; +typedef Eigen::Matrix Matrix3x18d; +typedef Eigen::Matrix Matrix12d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix3x1d; +typedef Eigen::Matrix Matrix19x18d; +typedef Eigen::Matrix Matrix18x3d; +typedef Eigen::Matrix Matrix36d; +typedef Eigen::Matrix Matrix6d; +typedef Eigen::Matrix Matrix9d; +} // namespace Eigen + +struct state_quat { + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); + Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + + Eigen::Vector19d as_vector() const { + Eigen::Vector19d vec; + vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, + accel_bias; + return vec; + } + + state_quat operator-(const state_quat& other) const { + state_quat diff; + diff.pos = pos - other.pos; + diff.vel = vel - other.vel; + diff.quat = quat * other.quat.inverse(); + diff.gyro_bias = gyro_bias - other.gyro_bias; + diff.accel_bias = accel_bias - other.accel_bias; + return diff; + } + + Eigen::Matrix3d get_R() const { return quat.toRotationMatrix(); } +}; + +struct state_euler { + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Vector3d euler = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + + Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); + + Eigen::Vector18d as_vector() const { + Eigen::Vector18d vec; + vec << pos, vel, euler, gyro_bias, accel_bias, gravity; + return vec; + } + + void set_from_vector(const Eigen::Vector18d& vec) { + pos = vec.block<3, 1>(0, 0); + vel = vec.block<3, 1>(3, 0); + euler = vec.block<3, 1>(6, 0); + gyro_bias = vec.block<3, 1>(9, 0); + accel_bias = vec.block<3, 1>(12, 0); + gravity = vec.block<3, 1>(15, 0); + } +}; + +struct imu_measurement { + Eigen::Vector3d accel = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); +}; + +struct dvl_measurement { + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); +}; + +struct eskf_params { + double temp = 0.0; + Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); + double dt = 0.0; +}; + +#endif // ESKF_TYPEDEFS_H diff --git a/navigation/eskf/launch/eskf.launch.py b/navigation/eskf/launch/eskf.launch.py new file mode 100644 index 000000000..84284f804 --- /dev/null +++ b/navigation/eskf/launch/eskf.launch.py @@ -0,0 +1,22 @@ +from os import path + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +eskf_params = path.join( + get_package_share_directory("eskf"), "config", "eskf_params.yaml" +) + + +def generate_launch_description(): + eskf_node = Node( + package="eskf", + executable="eskf_node", + name="eskf_node", + parameters=[ + eskf_params, + ], + output="screen", + ) + return LaunchDescription([eskf_node]) diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml new file mode 100644 index 000000000..d3d8dc416 --- /dev/null +++ b/navigation/eskf/package.xml @@ -0,0 +1,22 @@ + + + + eskf + 1.0.0 + Error-state Kalman filter + talhanc + MIT + + ament_cmake + + rclcpp + geometry_msgs + nav_msgs + eigen + tf2 + vortex_msgs + + + ament_cmake + + diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp new file mode 100644 index 000000000..8218bf8d0 --- /dev/null +++ b/navigation/eskf/src/eskf.cpp @@ -0,0 +1,240 @@ +#include "eskf/eskf.hpp" +#include +#include +#include +#include +#include "eskf/eskf_utils.hpp" +#include "eskf/typedefs.hpp" + +ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} + +std::pair ESKF::van_loan_discretization( + const Eigen::Matrix18d& A_c, + const Eigen::Matrix18x12d& G_c, + const double dt) { + Eigen::Matrix18d GQG_T = G_c * Q_ * G_c.transpose(); + Eigen::Matrix36d vanLoanMat = Eigen::Matrix36d::Zero(); + + vanLoanMat.topLeftCorner<18, 18>() = -A_c; + vanLoanMat.topRightCorner<18, 18>() = GQG_T; + vanLoanMat.bottomRightCorner<18, 18>() = A_c.transpose(); + + Eigen::Matrix36d vanLoanExp = (vanLoanMat * dt).exp(); + + Eigen::Matrix18d V1 = vanLoanExp.bottomRightCorner<18, 18>().transpose(); + Eigen::Matrix18d V2 = vanLoanExp.topRightCorner<18, 18>(); + + Eigen::Matrix18d A_d = V1; + Eigen::Matrix18d GQG_d = A_d * V2; + + return {A_d, GQG_d}; +} + +Eigen::Matrix4x3d ESKF::calculate_Q_delta(const state_quat& nom_state) { + Eigen::Matrix4x3d Q_delta_theta = Eigen::Matrix4x3d::Zero(); + double qw = nom_state.quat.w(); + double qx = nom_state.quat.x(); + double qy = nom_state.quat.y(); + double qz = nom_state.quat.z(); + + Q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; + + Q_delta_theta *= 0.5; + return Q_delta_theta; +} + +Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { + Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); + + Eigen::Matrix3d R_bn = + nom_state.quat.normalized().toRotationMatrix().transpose(); + + // normal measurement of the velocity + Hx.block<3, 3>(0, 3) = R_bn; + + Eigen::Vector3d v_n = nom_state.vel; + + Eigen::Matrix dR_dq; + Eigen::Quaterniond q = nom_state.quat.normalized(); + double qw = q.w(); + double qx = q.x(); + double qy = q.y(); + double qz = q.z(); + + dR_dq.col(0) = + 2 * Eigen::Vector3d(qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z(), + -qy * v_n.x() + qx * v_n.y() + qw * v_n.z()); + + dR_dq.col(1) = + 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); + + dR_dq.col(2) = + 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); + + dR_dq.col(3) = + 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), + qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); + + Hx.block<3, 4>(0, 6) = dR_dq; + + return Hx; +} + +Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { + Eigen::Matrix19x18d X_delta = Eigen::Matrix19x18d::Zero(); + X_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); + X_delta.block<4, 3>(6, 6) = calculate_Q_delta(nom_state); + X_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); + + Eigen::Matrix3x18d H = calculate_Hx(nom_state) * X_delta; + return H; +} + +Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { + Eigen::Matrix3x1d h; + Eigen::Matrix3d R_bn = + nom_state.quat.normalized().toRotationMatrix().transpose(); + + h = R_bn * nom_state.vel; + + return h; +} + +state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt) { + Eigen::Vector3d acc = + nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + + nom_state.gravity; + Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; + + state_quat next_nom_state; + next_nom_state.pos = + nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; + next_nom_state.vel = nom_state.vel + dt * acc; + next_nom_state.quat = + (nom_state.quat * + Eigen::Quaterniond(0, 0.5 * gyro.x(), 0.5 * gyro.y(), 0.5 * gyro.z())); + next_nom_state.quat.normalize(); + next_nom_state.gyro_bias = nom_state.gyro_bias; + next_nom_state.accel_bias = nom_state.accel_bias; + next_nom_state.gravity = nom_state.gravity; + + return next_nom_state; +} + +state_euler ESKF::error_state_prediction(const state_euler& error_state, + const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt) { + Eigen::Matrix3d R = nom_state.get_R(); + Eigen::Vector3d acc = (imu_meas.accel - nom_state.accel_bias); + Eigen::Vector3d gyro = imu_meas.gyro - nom_state.gyro_bias; + + Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); + A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(3, 6) = -R * skew(acc); + A_c.block<3, 3>(6, 6) = -skew(gyro); + A_c.block<3, 3>(3, 9) = -R; + A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(6, 12) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(3, 15) = Eigen::Matrix3d::Identity(); + + Eigen::Matrix18x12d G_c = Eigen::Matrix18x12d::Zero(); + G_c.block<3, 3>(3, 0) = -R; + G_c.block<3, 3>(6, 3) = -Eigen::Matrix3d::Identity(); + G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); + G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); + + auto [A_d, GQG_d] = van_loan_discretization(A_c, G_c, dt); + + state_euler next_error_state; + next_error_state.covariance = + A_d * error_state.covariance * A_d.transpose() + GQG_d; + + return next_error_state; +} + +state_euler ESKF::measurement_update(const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas) { + state_euler new_error_state; + + Eigen::Matrix3x18d H = calculate_H(nom_state); + Eigen::Matrix18d P = error_state.covariance; + Eigen::Matrix3d R = dvl_meas.cov; + + Eigen::Matrix3d S = H * P * H.transpose() + R; + Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); + Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(nom_state); + new_error_state.set_from_vector(K * innovation); + + Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; + new_error_state.covariance = + I_KH * P * I_KH.transpose() + + K * R * K.transpose(); // Used joseph form for more stable calculations + + return new_error_state; +} + +std::pair ESKF::injection_and_reset( + const state_quat& nom_state, + const state_euler& error_state) { + state_quat next_nom_state; + + next_nom_state.pos = nom_state.pos + error_state.pos; + next_nom_state.vel = nom_state.vel + error_state.vel; + next_nom_state.quat = + nom_state.quat * Eigen::Quaterniond(1, 0.5 * error_state.euler.x(), + 0.5 * error_state.euler.y(), + 0.5 * error_state.euler.z()); + next_nom_state.quat.normalize(); + next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; + next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; + next_nom_state.gravity = nom_state.gravity + error_state.gravity; + + state_euler new_error_state; + + Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); + + new_error_state.covariance = G * error_state.covariance * G.transpose(); + new_error_state.pos = Eigen::Vector3d::Zero(); + new_error_state.vel = Eigen::Vector3d::Zero(); + new_error_state.euler = Eigen::Vector3d::Zero(); + new_error_state.gyro_bias = Eigen::Vector3d::Zero(); + new_error_state.accel_bias = Eigen::Vector3d::Zero(); + new_error_state.gravity = Eigen::Vector3d::Zero(); + + return {next_nom_state, new_error_state}; +} + +std::pair ESKF::imu_update( + const state_quat& nom_state, + const state_euler& error_state, + const imu_measurement& imu_meas, + const double dt) { + state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); + state_euler next_error_state = + error_state_prediction(error_state, nom_state, imu_meas, dt); + + return {next_nom_state, next_error_state}; +} + +std::pair ESKF::dvl_update( + const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas) { + state_euler new_error_state = + measurement_update(nom_state, error_state, dvl_meas); + auto [updated_nom_state, updated_error_state] = + injection_and_reset(nom_state, new_error_state); + + return {updated_nom_state, updated_error_state}; +} diff --git a/navigation/eskf/src/eskf_node.cpp b/navigation/eskf/src/eskf_node.cpp new file mode 100644 index 000000000..e90cebde3 --- /dev/null +++ b/navigation/eskf/src/eskf_node.cpp @@ -0,0 +1,9 @@ +#include "eskf/eskf_ros.hpp" + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Started ESKF Node"); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp new file mode 100644 index 000000000..a3b9c5cf3 --- /dev/null +++ b/navigation/eskf/src/eskf_ros.cpp @@ -0,0 +1,118 @@ +#include "eskf/eskf_ros.hpp" +#include +#include +#include "eskf/eskf_utils.hpp" +#include "eskf/typedefs.hpp" + +ESKFNode::ESKFNode() : Node("eskf_node") { + time_step = std::chrono::milliseconds(1); + odom_pub_timer_ = this->create_wall_timer( + time_step, std::bind(&ESKFNode::publish_odom, this)); + + set_subscribers_and_publisher(); + + set_parameters(); +} + +void ESKFNode::set_subscribers_and_publisher() { + rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; + auto qos_sensor_data = rclcpp::QoS( + rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + + this->declare_parameter("imu_topic", "imu/data_raw"); + std::string imu_topic = this->get_parameter("imu_topic").as_string(); + imu_sub_ = this->create_subscription( + imu_topic, qos_sensor_data, + std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); + + this->declare_parameter("dvl_topic", "/orca/twist"); + std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); + dvl_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( + dvl_topic, qos_sensor_data, + std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); + + this->declare_parameter("odom_topic", "odom"); + std::string odom_topic = this->get_parameter("odom_topic").as_string(); + odom_pub_ = this->create_publisher( + odom_topic, qos_sensor_data); +} + +void ESKFNode::set_parameters() { + Eigen::Matrix12d Q; + Q.setZero(); + Q.diagonal() << sq(0.0103), sq(0.0118), sq(0.0043), // acceleration noise + sq(0.00193), sq(0.00306), sq(0.00118), // gyroscope noise + sq(0.05), sq(0.05), sq(0.05), // acceleration bias noise + sq(0.03), sq(0.03), sq(0.03); // gyroscope bias noise + + eskf_params_.Q = Q; + + eskf_ = std::make_unique(eskf_params_); + + Eigen::Matrix18d P; + P.setZero(); + P.diagonal() << 0.1, 0.1, 0.1, // position + 0.1, 0.1, 0.1, // velocity + 0.1, 0.1, 0.1, // euler angles + 0.01, 0.01, 0.01, // accel bias + 0.01, 0.01, 0.01, // gyro bias + 0.001, 0.001, 0.001; // gravity + + error_state_.covariance = P; +} + +void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { + rclcpp::Time current_time = msg->header.stamp; + + if (!first_imu_msg_received_) { + last_imu_time_ = current_time; + first_imu_msg_received_ = true; + return; + } + + double dt = (current_time - last_imu_time_).seconds(); + last_imu_time_ = current_time; + + imu_meas_.accel << msg->linear_acceleration.x, msg->linear_acceleration.y, + msg->linear_acceleration.z; + imu_meas_.gyro << msg->angular_velocity.x, msg->angular_velocity.y, + msg->angular_velocity.z; + + std::tie(nom_state_, error_state_) = + eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); +} + +void ESKFNode::dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], + msg->twist.covariance[14]; + + std::tie(nom_state_, error_state_) = + eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); +} + +void ESKFNode::publish_odom() { + nav_msgs::msg::Odometry odom_msg; + + odom_msg.pose.pose.position.x = nom_state_.pos.x(); + odom_msg.pose.pose.position.y = nom_state_.pos.y(); + odom_msg.pose.pose.position.z = nom_state_.pos.z(); + + odom_msg.pose.pose.orientation.w = nom_state_.quat.w(); + odom_msg.pose.pose.orientation.x = nom_state_.quat.x(); + odom_msg.pose.pose.orientation.y = nom_state_.quat.y(); + odom_msg.pose.pose.orientation.z = nom_state_.quat.z(); + + odom_msg.twist.twist.linear.x = nom_state_.vel.x(); + odom_msg.twist.twist.linear.y = nom_state_.vel.y(); + odom_msg.twist.twist.linear.z = nom_state_.vel.z(); + + odom_msg.header.stamp = this->now(); // Add timestamp to the message + odom_pub_->publish(odom_msg); +} diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp new file mode 100644 index 000000000..4d33ec7ce --- /dev/null +++ b/navigation/eskf/src/eskf_utils.cpp @@ -0,0 +1,13 @@ + +#include "eskf/eskf_utils.hpp" +#include "eskf/typedefs.hpp" + +Eigen::Matrix3d skew(const Eigen::Vector3d& v) { + Eigen::Matrix3d S; + S << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(), 0; + return S; +} + +double sq(const double& value) { + return value * value; +} diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 8c4b01963..245d7ece4 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -2,16 +2,22 @@ from typing import Tuple import numpy as np -from scipy.linalg import expm -from eskf_python_class import StateEuler, StateQuat, Measurement -from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion, euler_to_quat -from scipy.linalg import block_diag -from scipy.spatial.transform import Rotation as R_scipy +from eskf_python_class import Measurement, StateEuler, StateQuat +from eskf_python_utils import ( + R_from_angle_axis, + angle_axis_to_quaternion, + euler_to_quat, + quaternion_product, + skew_matrix, +) +from scipy.linalg import block_diag, expm + class ESKF: - def __init__(self, Q: np.ndarray, P0, Hx, nom_state: StateQuat, p_accBias, p_gyroBias, dt): + def __init__( + self, Q: np.ndarray, P0, nom_state: StateQuat, p_accBias, p_gyroBias, dt + ): self.Q = Q - self.Hx = Hx # Jacobian of the measurement model self.dt = dt self.nom_state = nom_state self.error_state = StateEuler() @@ -28,15 +34,20 @@ def Fx(self, imu_data: Measurement) -> np.ndarray: Returns: np.ndarray: The state transition matrix. """ - F_x = np.zeros((18, 18)) I = np.eye(3) F_x[0:3, 0:3] = I F_x[0:3, 3:6] = self.dt * I F_x[3:6, 3:6] = I - F_x[3:6, 6:9] = -self.nom_state.R_q() @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) * self.dt - F_x[6:9, 6:9] = R_from_angle_axis((imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt).T + F_x[3:6, 6:9] = ( + -self.nom_state.R_q() + @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) + * self.dt + ) + F_x[6:9, 6:9] = R_from_angle_axis( + (imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt + ).T F_x[3:6, 9:12] = -self.nom_state.R_q() * self.dt F_x[3:6, 15:18] = I * self.dt F_x[6:9, 12:15] = -I * self.dt @@ -45,14 +56,13 @@ def Fx(self, imu_data: Measurement) -> np.ndarray: F_x[15:18, 15:18] = I return F_x - + def Fi(self) -> np.ndarray: """Calculates the input matrix. Returns: np.ndarray: The input matrix. """ - F_i = np.zeros((18, 12)) I = np.eye(3) @@ -62,73 +72,99 @@ def Fi(self) -> np.ndarray: F_i[12:15, 9:12] = I return F_i - + def Q_delta_theta(self) -> np.ndarray: - """ - Calculates the Q_delta_theta matrix. + """Calculates the Q_delta_theta matrix. See Joan Solà. Quaternion kinematics for the error-state Kalman filter. chapter: 6.1.1 eq. 281 """ - qw, qx, qy, qz = self.nom_state.orientation - Q_delta_theta = 0.5 * np.array([ - [-qx, -qy, -qz], - [qw, -qz, qy], - [qz, qw, -qx], - [-qy, qx, qw], - ]) + Q_delta_theta = 0.5 * np.array( + [ + [-qx, -qy, -qz], + [qw, -qz, qy], + [qz, qw, -qx], + [-qy, qx, qw], + ] + ) return Q_delta_theta + def Hx(self) -> np.ndarray: + """Calculates the Jacobian of the measurement model. + + Returns: + np.ndarray: The Jacobian of the measurement model. + """ + Hx = np.zeros((3, 19)) + + q0, q1, q2, q3 = self.nom_state.orientation + e = np.array([q1, q2, q3]) + v = self.nom_state.velocity + + temp_nu = -2 * skew_matrix(e) @ v + temp_eps = 2 * (q0 * np.eye(3) + skew_matrix(e)) @ skew_matrix(v) + + Hx[0:3, 3:6] = self.nom_state.R_q() + Hx[0:3, 6:10] = np.vstack([temp_nu, temp_eps]).T + + Hx = np.zeros((3, 19)) + Hx[0:3, 3:6] = np.eye(3) + + return Hx + def H(self) -> np.ndarray: """Calculates the measurement matrix. Returns: np.ndarray: The measurement matrix. """ - X_deltax = block_diag(np.eye(6), self.Q_delta_theta(), np.eye(9)) - H = self.Hx @ X_deltax + H = self.Hx() @ X_deltax return H - + def h(self) -> np.ndarray: - """ - Calculates the measurement model. + """Calculates the measurement model. Returns: np.ndarray: The measurement model. """ - return self.nom_state.velocity + return self.nom_state.velocity # self.nom_state.R_q() @ self.nom_state.velocity def nominal_state_discrete(self, imu_data: Measurement) -> None: - """ - Calculates the next nominal state using the discrete-time process model defined in: + """Calculates the next nominal state using the discrete-time process model defined in: Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter: 5.4.1 The nominal state kinematics - Args: + Args: imu_data (np.ndarray): The IMU data. """ - # Rectify measurements. acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias R = self.nom_state.R_q() - self.nom_state.position = self.nom_state.position + self.nom_state.velocity * self.dt + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 - self.nom_state.velocity = self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt - self.nom_state.orientation = quaternion_product(self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt)) - self.nom_state.acceleration_bias = np.exp(-self.p_accBias * self.dt) * self.nom_state.acceleration_bias - self.nom_state.gyro_bias = np.exp(-self.p_gyroBias * self.dt) * self.nom_state.gyro_bias + self.nom_state.position = ( + self.nom_state.position + + self.nom_state.velocity * self.dt + + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 + ) + self.nom_state.velocity = ( + self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt + ) + self.nom_state.orientation = quaternion_product( + self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt) + ) + self.nom_state.acceleration_bias = self.nom_state.acceleration_bias + self.nom_state.gyro_bias = self.nom_state.gyro_bias self.nom_state.g = self.nom_state.g def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: - """ - Calculates the Van Loan discretization of a continuous-time system. + """Calculates the Van Loan discretization of a continuous-time system. Args: A_c (np.ndarray): The A matrix. @@ -137,18 +173,22 @@ def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: Returns: Tuple: The A_d and GQG_d matrices. """ - GQG_T = np.dot(np.dot(G_c, self.Q), G_c.T) matrix_exp = ( - np.block([[- A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)]]) + np.block( + [ + [-A_c, GQG_T], + [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)], + ] + ) * self.dt ) van_loan_matrix = expm(matrix_exp) - V1 = van_loan_matrix[A_c.shape[0]:, A_c.shape[0]:] - V2 = van_loan_matrix[:A_c.shape[0], A_c.shape[0]:] + V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] + V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] A_d = V1.T GQG_d = A_d @ V2 @@ -156,7 +196,6 @@ def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: return A_d, GQG_d def error_state_prediction(self, imu_data: Measurement) -> None: - # Rectify measurements. acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias @@ -166,9 +205,9 @@ def error_state_prediction(self, imu_data: Measurement) -> None: A_c = np.zeros((18, 18)) A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = - R @ skew_matrix(acc_rect) - A_c[6:9, 6:9] = - skew_matrix(gyro_rect) - A_c[3:6, 9:12] = - R + A_c[3:6, 6:9] = -R @ skew_matrix(acc_rect) + A_c[6:9, 6:9] = -skew_matrix(gyro_rect) + A_c[3:6, 9:12] = -R A_c[9:12, 9:12] = -self.p_accBias * np.eye(3) A_c[12:15, 12:15] = -self.p_gyroBias * np.eye(3) A_c[6:9, 12:15] = -np.eye(3) @@ -183,18 +222,16 @@ def error_state_prediction(self, imu_data: Measurement) -> None: A_d, GQG_d = self.van_loan_discretization(A_c, G_c) - self.error_state.covariance = (A_d @ self.error_state.covariance @ A_d.T + GQG_d) + self.error_state.covariance = A_d @ self.error_state.covariance @ A_d.T + GQG_d - def measurement_update(self, dvl_measurement:Measurement) -> float: - """ - Updates the error state using the DVL measurement. + def measurement_update(self, dvl_measurement: Measurement) -> float: + """Updates the error state using the DVL measurement. Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter: 6.1 eq. 274-276 Args: dvl_measurement (np.ndarray): The DVL measurement. """ - H = self.H() P = self.error_state.covariance R = dvl_measurement.aiding_covariance @@ -208,49 +245,47 @@ def measurement_update(self, dvl_measurement:Measurement) -> float: self.error_state.fill_states(K @ innovation) I_KH = np.eye(18) - K @ H - self.error_state.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T # Joseph form for more stability - + self.error_state.covariance = ( + I_KH @ P @ I_KH.T + K @ R @ K.T + ) # Joseph form for more stability return NIS_value def injection(self) -> None: - """ - Injects the error state into the nominal state to produce the estimated state. + """Injects the error state into the nominal state to produce the estimated state. Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter 6.2 eq. 282-283 - + """ self.nom_state.position = self.nom_state.position + self.error_state.position self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity - self.nom_state.orientation = quaternion_product(self.nom_state.orientation, euler_to_quat(self.error_state.orientation)) - self.nom_state.acceleration_bias = self.nom_state.acceleration_bias + self.error_state.acceleration_bias + self.nom_state.orientation = quaternion_product( + self.nom_state.orientation, euler_to_quat(self.error_state.orientation) + ) + self.nom_state.acceleration_bias = ( + self.nom_state.acceleration_bias + self.error_state.acceleration_bias + ) self.nom_state.gyro_bias = self.nom_state.gyro_bias + self.error_state.gyro_bias self.nom_state.g = self.nom_state.g + self.error_state.g def reset_error_state(self) -> None: - """ - Resets the error state after injection. + """Resets the error state after injection. Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter 6.3 eq. 284-286 """ - - G = np.eye(18) # Neglecting the delta_theta as this is most common in practice + G = np.eye(18) # Neglecting the delta_theta as this is most common in practice self.error_state.covariance = G @ self.error_state.covariance @ G.T self.error_state.fill_states(np.zeros(18)) def imu_update(self, imu_data: Measurement) -> None: + """Updates the state using the IMU data. """ - Updates the state using the IMU data. - """ - self.nominal_state_discrete(imu_data) self.error_state_prediction(imu_data) - + def dvl_update(self, dvl_measurement: Measurement) -> float: + """Updates the state using the DVL measurement. """ - Updates the state using the DVL measurement. - """ - NIS = self.measurement_update(dvl_measurement) self.injection() self.reset_error_state() @@ -259,13 +294,17 @@ def dvl_update(self, dvl_measurement: Measurement) -> float: # functions for tuning the filter def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: - """ - Calculates the Normalized Innovation Squared (NIS) value. + """Calculates the Normalized Innovation Squared (NIS) value. """ return innovation.T @ np.linalg.inv(S) @ innovation - - def NEES(self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat) -> float: - """ - Calculates the Normalized Estimation Error Squared (NEES) value. + + def NEEDS( + self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat + ) -> float: + """Calculates the Normalized Estimation Error Squared (NEEDS) value. """ - return (true_state - estimate_state).as_vector().T @ np.linalg.inv(P) @ (true_state - estimate_state).as_vector() \ No newline at end of file + return ( + (true_state - estimate_state).as_vector().T + @ np.linalg.inv(P) + @ (true_state - estimate_state).as_vector() + ) diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 95f5e996b..53ad83958 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -1,14 +1,13 @@ - -from eskf_python_class import StateEuler, StateQuat, MeasurementModel, Measurement -from eskf_python_utils import quat_to_euler -from eskf_test_utils import process_model, StateQuatModel -import numpy as np import matplotlib.pyplot as plt +import numpy as np +from eskf_python_class import Measurement, StateQuat from eskf_python_filter import ESKF +from eskf_python_utils import quat_to_euler +from eskf_test_utils import StateQuatModel, process_model from scipy.stats import chi2 -def simulate_eskf(): +def simulate_eskf(): # Simulation parameters simulation_time = 20.0 # seconds dt = 0.01 @@ -20,47 +19,71 @@ def simulate_eskf(): true_state_init = StateQuat() true_state_init.position = np.array([0.1, 0.0, 0.0]) true_state_init.velocity = np.array([0.1, 0.0, 0.0]) - P0 = np.diag([ - 0.5, 0.5, 0.5, # Position - 0.2, 0.2, 0.2, # Velocity - 0.2, 0.2, 0.2, # Orientation - 0.00001, 0.00001, 0.00001, # Acceleration bias - 0.00001, 0.00001, 0.00001, # Gyro bias - 0.00001, 0.00001, 0.00001 # Gravity - ]) - + P0 = np.diag( + [ + 0.3, + 0.3, + 0.3, # Position + 0.2, + 0.2, + 0.2, # Velocity + 0.2, + 0.2, + 0.2, # Orientation + 0.0001, + 0.0001, + 0.0001, # Acceleration bias + 0.00001, + 0.00001, + 0.00001, # Gyro bias + 0.00001, + 0.00001, + 0.00001, # Gravity + ] + ) # Noise parameters - Q = np.diag([ - (0.034**2) / dt, (0.034**2) / dt, (0.034**2) / dt, # Accelerometer noise - (0.002**2) / dt, (0.002**2) / dt, (0.002**2) / dt, # Gyroscope noise - 0.00001, 0.00001, 0.00001, # Acceleration bias random walk - 0.00001, 0.00001, 0.00001 # Gyro bias random walk - ]) - - Hx = np.zeros((3, 19)) - Hx[0:3, 3:6] = np.eye(3) + Q = np.diag( + [ + (0.13**2), + (0.13**2), + (0.13**2), # Adjusted Accelerometer noise + (0.13**2), + (0.13**2), + (0.13**2), # Adjusted Gyroscope noise + 0.0001, + 0.0001, + 0.0001, # Adjusted Acceleration bias random walk + 0.0001, + 0.0001, + 0.0001, # Adjusted Gyro bias random walk + ] + ) # Create filter object - eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) + eskf = ESKF(Q, P0, true_state_init, 1e-13, 1e-13, dt) # Create measurement objects imu_data = Measurement() dvl_data = Measurement() # R matrix for DVL aiding - dvl_data.aiding_covariance = np.diag([(0.01)**2, (0.01)**2, (0.01)**2]) + dvl_data.aiding_covariance = np.diag( + [(0.01) ** 2, (0.01) ** 2, (0.01) ** 2] + ) # Adjusted DVL aiding covariance # Setup the process model for simulation of AUV model = process_model() model.dt = dt - model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) + model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) model.m = 30.0 model.r_b_bg = np.array([0.01, 0.0, 0.02]) model.inertia = np.diag([0.68, 3.32, 3.34]) @@ -89,19 +112,21 @@ def simulate_eskf(): est_velocities = np.zeros((num_steps, 3)) # covariance arrays - pos_cov = np.zeros((num_steps, 3)) - vel_cov = np.zeros((num_steps, 3)) - ori_cov = np.zeros((num_steps, 3)) + pos_cov = np.zeros((num_steps, 3)) + vel_cov = np.zeros((num_steps, 3)) + ori_cov = np.zeros((num_steps, 3)) prev_velocity = np.zeros(3) - u = lambda t: np.array([ - 0.5 * np.sin(0.1 * t), - 0.5 * np.sin(0.1 * t + 0.3), - 0.5 * np.sin(0.1 * t + 0.6), - 0.05 * np.cos(0.1 * t), - 0.05 * np.cos(0.1 * t + 0.3), - 0.05 * np.cos(0.1 * t + 0.6) - ]) + u = lambda t: np.array( + [ + 0.5 * np.sin(0.1 * t), + 0.5 * np.sin(0.1 * t + 0.3), + 0.5 * np.sin(0.1 * t + 0.6), + 0.05 * np.cos(0.1 * t), + 0.05 * np.cos(0.1 * t + 0.3), + 0.05 * np.cos(0.1 * t + 0.6), + ] + ) NIS_list = [] NIS_value = 0.0 @@ -114,12 +139,16 @@ def simulate_eskf(): model.model_prediction(new_state) new_state = model.euler_forward() - imu_data.acceleration = ((new_state.velocity - prev_velocity) / dt) + np.random.normal(0, 0.13, 3) - imu_data.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.13, 3) + imu_data.acceleration = ( + (new_state.velocity - prev_velocity) / dt + ) + np.random.normal(0, 0.13, 3) + imu_data.angular_velocity = new_state.angular_velocity + np.random.normal( + 0, 0.13, 3 + ) eskf.imu_update(imu_data) - if step % 20 == 0: + if step % 200 == 0: dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) NIS_value = eskf.dvl_update(dvl_data) NIS_list.append(NIS_value) @@ -140,9 +169,34 @@ def simulate_eskf(): prev_velocity = new_state.velocity model.state_vector_prev = new_state - return time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, NIS_list - -time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, _ = simulate_eskf() + return ( + time, + true_positions, + true_orientations, + true_velocities, + est_positions, + est_orientations, + est_velocities, + pos_cov, + vel_cov, + ori_cov, + NIS_list, + ) + + +( + time, + true_positions, + true_orientations, + true_velocities, + est_positions, + est_orientations, + est_velocities, + pos_cov, + vel_cov, + ori_cov, + _, +) = simulate_eskf() # Plotting axis_labels_pos = ["X", "Y", "Z"] @@ -154,11 +208,28 @@ def simulate_eskf(): fig_pos.suptitle("True Data vs Filter Estimates for Position") for i in range(3): ax_pos = axs_pos[i] - ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') - ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') + ax_pos.plot( + time, + true_positions[:, i], + label=f"True Pos {axis_labels_pos[i]}", + color=f"C{i}", + linestyle='-', + ) + ax_pos.plot( + time, + est_positions[:, i], + label=f"Est Pos {axis_labels_pos[i]}", + color=f"C{i}", + linestyle='--', + ) sigma_pos = np.sqrt(pos_cov[:, i]) - ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, - color=f"C{i}", alpha=0.2) + ax_pos.fill_between( + time, + est_positions[:, i] - sigma_pos, + est_positions[:, i] + sigma_pos, + color=f"C{i}", + alpha=0.2, + ) ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") ax_pos.set_xlabel("Time [s]") ax_pos.set_ylabel("Position") @@ -173,11 +244,28 @@ def simulate_eskf(): fig_vel.suptitle("True Data vs Filter Estimates for Velocity") for i in range(3): ax_vel = axs_vel[i] - ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') - ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') + ax_vel.plot( + time, + true_velocities[:, i], + label=f"True Vel {axis_labels_vel[i]}", + color=f"C{i}", + linestyle='-', + ) + ax_vel.plot( + time, + est_velocities[:, i], + label=f"Est Vel {axis_labels_vel[i]}", + color=f"C{i}", + linestyle='--', + ) sigma_vel = np.sqrt(vel_cov[:, i]) - ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, - color=f"C{i}", alpha=0.2) + ax_vel.fill_between( + time, + est_velocities[:, i] - sigma_vel, + est_velocities[:, i] + sigma_vel, + color=f"C{i}", + alpha=0.2, + ) ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") ax_vel.set_xlabel("Time [s]") ax_vel.set_ylabel("Velocity") @@ -192,11 +280,28 @@ def simulate_eskf(): fig_ori.suptitle("True Data vs Filter Estimates for Orientation") for i in range(3): ax_ori = axs_ori[i] - ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') - ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') + ax_ori.plot( + time, + true_orientations[:, i], + label=f"True Ori {axis_labels_ori[i]}", + color=f"C{i}", + linestyle='-', + ) + ax_ori.plot( + time, + est_orientations[:, i], + label=f"Est Ori {axis_labels_ori[i]}", + color=f"C{i}", + linestyle='--', + ) sigma_ori = np.sqrt(ori_cov[:, i]) - ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, - color=f"C{i}", alpha=0.2) + ax_ori.fill_between( + time, + est_orientations[:, i] - sigma_ori, + est_orientations[:, i] + sigma_ori, + color=f"C{i}", + alpha=0.2, + ) ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") ax_ori.set_xlabel("Time [s]") ax_ori.set_ylabel("Orientation") @@ -207,19 +312,29 @@ def simulate_eskf(): plt.show() -### _______ NIS AND NEES _______ +### _______ NIS AND NEEDS _______ -num_simulations = 10 +num_simulations = 10 NIS_runs = [] for sim in range(num_simulations): - time, true_positions, true_orientations, true_velocities, \ - est_positions, est_orientations, est_velocities, \ - pos_cov, vel_cov, ori_cov, NIS_list = simulate_eskf() + ( + time, + true_positions, + true_orientations, + true_velocities, + est_positions, + est_orientations, + est_velocities, + pos_cov, + vel_cov, + ori_cov, + NIS_list, + ) = simulate_eskf() NIS_runs.append(np.array(NIS_list)) -NIS_runs = np.vstack(NIS_runs) +NIS_runs = np.vstack(NIS_runs) ANIS = np.mean(NIS_runs, axis=0) measurement_dimension = 3 @@ -227,7 +342,7 @@ def simulate_eskf(): chi2_lower = chi2.ppf(0.025, measurement_dimension) / num_simulations chi2_upper = chi2.ppf(0.975, measurement_dimension) / num_simulations -time_steps = np.arange(len(ANIS)) * 0.01 * 20 +time_steps = np.arange(len(ANIS)) * 0.01 * 20 fig, ax = plt.subplots(figsize=(10, 6)) ax.plot(time_steps, ANIS, label="ANIS", color="C0") @@ -240,4 +355,4 @@ def simulate_eskf(): ax.legend() plt.tight_layout() -plt.show() \ No newline at end of file +plt.show() diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 1ede3f22b..f7000adb4 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -36,10 +36,10 @@ def generate_T_matrix(n: float) -> np.ndarray: if n % 2 == 1: # if n is odd T[n - 1, i - 1] = (-1) ** i - T = T / np.sqrt(2) + T = T / np.sqrt(2) return T - + def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: """ Functions that generate the sigma points for the UKF @@ -53,12 +53,12 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: S = np.linalg.cholesky(current_state.covariance + self.Q) self.sigma_points_list = [StateQuat() for _ in range(2 * n)] - + for state in self.sigma_points_list: - state.fill_states_different_dim(current_state.as_vector(), delta[:, self.sigma_points_list.index + state.fill_states_different_dim(current_state.as_vector(), return self.sigma_points_list - + def unscented_transform(self, current_state: StateQuat) -> StateQuat: """ @@ -94,18 +94,18 @@ def measurement_update(self, current_state: StateQuat, measurement: MeasModel) - z_i[i] = measurement.H(self.sigma_points_list[i]) meas_update = MeasModel() - + meas_update.measurement = mean_measurement(z_i, self.weight) - + meas_update.covariance = covariance_measurement(z_i, meas_update.measurement, self.weight) - + cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement, self.weight) - + return meas_update, cross_correlation def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.ndarray, measurement: MeasModel, ex_measuremnt: MeasModel) -> StateQuat: """ - Calculates the posteriori estimate using measurment and the prior estimate + Calculates the posteriori estimate using measurement and the prior estimate """ nu_k = MeasModel() @@ -122,4 +122,4 @@ def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.nd self.process_model.state_vector_prev = posteriori_estimate - return posteriori_estimate \ No newline at end of file + return posteriori_estimate From 1ea9e56ae4b733f191cf0952eec69f71a649c1ad Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Wed, 2 Apr 2025 17:03:52 +0200 Subject: [PATCH 011/109] fix: Added correction for the IMU measurements --- navigation/eskf/CMakeLists.txt | 10 +- navigation/eskf/config/eskf_params.yaml | 3 +- navigation/eskf/include/eskf/eskf.hpp | 2 +- navigation/eskf/include/eskf/eskf_utils.hpp | 4 + navigation/eskf/include/eskf/typedefs.hpp | 48 +- navigation/eskf/src/eskf.cpp | 95 ++- navigation/eskf/src/eskf_ros.cpp | 81 ++- navigation/eskf/src/eskf_utils.cpp | 18 + .../eskf_python/eskf_python_filter.py | 116 ++-- .../eskf_python/eskf_python/eskf_test.py | 3 +- navigation/ukf_okid/ukf_python/ukf_okid.py | 33 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 6 +- navigation/ukf_okid/ukf_python/ukf_test.py | 550 +++++++++--------- 13 files changed, 476 insertions(+), 493 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 2809f9ed9..6c8167609 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8) project(eskf) if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD 20) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") @@ -16,6 +16,8 @@ find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) +find_package(spdlog REQUIRED) +find_package(fmt REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) @@ -38,6 +40,12 @@ ament_target_dependencies(eskf_node Eigen3 tf2 vortex_msgs + spdlog + fmt +) + +target_link_libraries(eskf_node + fmt::fmt ) install(TARGETS diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index f3402f4a9..f89b62f79 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,5 +1,6 @@ eskf_node: ros__parameters: - imu_topic: imu/date_raw + imu_topic: imu/data_raw dvl_twist: /orca/twist odom_topic: odom + diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.000003, 0.000003, 0.000003] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index ee47277ea..b30dc35b0 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -1,7 +1,7 @@ #ifndef ESKF_HPP #define ESKF_HPP -#include +#include #include #include "eskf/typedefs.hpp" #include "typedefs.hpp" diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index afd871772..100f7673d 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -8,4 +8,8 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v); double sq(const double& value); +Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); + +Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); + #endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index c93c92402..c0a1e41f9 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,26 +5,26 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H -#include +#include #include namespace Eigen { -typedef Eigen::Matrix Vector19d; -typedef Eigen::Matrix Vector18d; -typedef Eigen::Matrix Matrix18d; -typedef Eigen::Matrix Matrix19d; -typedef Eigen::Matrix Matrix18x12d; -typedef Eigen::Matrix Matrix4x3d; -typedef Eigen::Matrix Matrix3x19d; -typedef Eigen::Matrix Matrix3x18d; -typedef Eigen::Matrix Matrix12d; -typedef Eigen::Matrix Matrix18d; -typedef Eigen::Matrix Matrix3x1d; -typedef Eigen::Matrix Matrix19x18d; -typedef Eigen::Matrix Matrix18x3d; -typedef Eigen::Matrix Matrix36d; -typedef Eigen::Matrix Matrix6d; -typedef Eigen::Matrix Matrix9d; + typedef Eigen::Matrix Vector19d; + typedef Eigen::Matrix Vector18d; + typedef Eigen::Matrix Matrix18d; + typedef Eigen::Matrix Matrix19d; + typedef Eigen::Matrix Matrix18x12d; + typedef Eigen::Matrix Matrix4x3d; + typedef Eigen::Matrix Matrix3x19d; + typedef Eigen::Matrix Matrix3x18d; + typedef Eigen::Matrix Matrix12d; + typedef Eigen::Matrix Matrix18d; + typedef Eigen::Matrix Matrix3x1d; + typedef Eigen::Matrix Matrix19x18d; + typedef Eigen::Matrix Matrix18x3d; + typedef Eigen::Matrix Matrix36d; + typedef Eigen::Matrix Matrix6d; + typedef Eigen::Matrix Matrix9d; } // namespace Eigen struct state_quat { @@ -61,7 +61,7 @@ struct state_euler { Eigen::Vector3d euler = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); @@ -84,6 +84,18 @@ struct state_euler { struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_uncorrected = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro_uncorrected = Eigen::Vector3d::Zero(); + + void correct() { + Eigen::Matrix3d R_nb; + R_nb << 0, 0, -1, + 0, -1, 0, + -1, 0, 0; + + accel = R_nb * accel_uncorrected; + gyro = R_nb * gyro_uncorrected; + } }; struct dvl_measurement { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 8218bf8d0..55d8516dd 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -6,7 +6,8 @@ #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} +ESKF::ESKF(const eskf_params& params) : + Q_(params.Q) {} std::pair ESKF::van_loan_discretization( const Eigen::Matrix18d& A_c, @@ -42,44 +43,45 @@ Eigen::Matrix4x3d ESKF::calculate_Q_delta(const state_quat& nom_state) { Q_delta_theta *= 0.5; return Q_delta_theta; } - Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); - Eigen::Matrix3d R_bn = - nom_state.quat.normalized().toRotationMatrix().transpose(); - - // normal measurement of the velocity - Hx.block<3, 3>(0, 3) = R_bn; - + Eigen::Quaterniond q = nom_state.quat.normalized(); + Eigen::Matrix3d R_bn = q.toRotationMatrix(); + Eigen::Vector3d v_n = nom_state.vel; + Hx.block<3, 3>(0, 3) = R_bn.transpose(); + Eigen::Matrix dR_dq; - Eigen::Quaterniond q = nom_state.quat.normalized(); double qw = q.w(); double qx = q.x(); double qy = q.y(); double qz = q.z(); - dR_dq.col(0) = - 2 * Eigen::Vector3d(qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z(), - -qy * v_n.x() + qx * v_n.y() + qw * v_n.z()); - - dR_dq.col(1) = - 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); - - dR_dq.col(2) = - 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); - - dR_dq.col(3) = - 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), - qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); + dR_dq.col(0) = 2 * Eigen::Vector3d( + qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), + -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), + qy * v_n.x() - qx * v_n.y() + qw * v_n.z() + ); + + dR_dq.col(1) = 2 * Eigen::Vector3d( + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z() + ); + + dR_dq.col(2) = 2 * Eigen::Vector3d( + -qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + -qw * v_n.x() + qz * v_n.y() - qy * v_n.z() + ); + + dR_dq.col(3) = 2 * Eigen::Vector3d( + -qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), + qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z() + ); Hx.block<3, 4>(0, 6) = dR_dq; @@ -98,8 +100,7 @@ Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { Eigen::Matrix3x1d h; - Eigen::Matrix3d R_bn = - nom_state.quat.normalized().toRotationMatrix().transpose(); + Eigen::Matrix3d R_bn = nom_state.quat.normalized().toRotationMatrix().transpose(); h = R_bn * nom_state.vel; @@ -109,18 +110,14 @@ Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = - nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + - nom_state.gravity; + Eigen::Vector3d acc = nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + nom_state.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; state_quat next_nom_state; - next_nom_state.pos = - nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; + + next_nom_state.pos = nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; next_nom_state.vel = nom_state.vel + dt * acc; - next_nom_state.quat = - (nom_state.quat * - Eigen::Quaterniond(0, 0.5 * gyro.x(), 0.5 * gyro.y(), 0.5 * gyro.z())); + next_nom_state.quat = (nom_state.quat * vector3d_to_quaternion(gyro)); next_nom_state.quat.normalize(); next_nom_state.gyro_bias = nom_state.gyro_bias; next_nom_state.accel_bias = nom_state.accel_bias; @@ -135,7 +132,7 @@ state_euler ESKF::error_state_prediction(const state_euler& error_state, const double dt) { Eigen::Matrix3d R = nom_state.get_R(); Eigen::Vector3d acc = (imu_meas.accel - nom_state.accel_bias); - Eigen::Vector3d gyro = imu_meas.gyro - nom_state.gyro_bias; + Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias); Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -191,10 +188,7 @@ std::pair ESKF::injection_and_reset( next_nom_state.pos = nom_state.pos + error_state.pos; next_nom_state.vel = nom_state.vel + error_state.vel; - next_nom_state.quat = - nom_state.quat * Eigen::Quaterniond(1, 0.5 * error_state.euler.x(), - 0.5 * error_state.euler.y(), - 0.5 * error_state.euler.z()); + next_nom_state.quat = nom_state.quat * vector3d_to_quaternion(error_state.euler); next_nom_state.quat.normalize(); next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; @@ -205,12 +199,6 @@ std::pair ESKF::injection_and_reset( Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); new_error_state.covariance = G * error_state.covariance * G.transpose(); - new_error_state.pos = Eigen::Vector3d::Zero(); - new_error_state.vel = Eigen::Vector3d::Zero(); - new_error_state.euler = Eigen::Vector3d::Zero(); - new_error_state.gyro_bias = Eigen::Vector3d::Zero(); - new_error_state.accel_bias = Eigen::Vector3d::Zero(); - new_error_state.gravity = Eigen::Vector3d::Zero(); return {next_nom_state, new_error_state}; } @@ -221,8 +209,7 @@ std::pair ESKF::imu_update( const imu_measurement& imu_meas, const double dt) { state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); - state_euler next_error_state = - error_state_prediction(error_state, nom_state, imu_meas, dt); + state_euler next_error_state = error_state_prediction(error_state, next_nom_state, imu_meas, dt); return {next_nom_state, next_error_state}; } @@ -231,10 +218,8 @@ std::pair ESKF::dvl_update( const state_quat& nom_state, const state_euler& error_state, const dvl_measurement& dvl_meas) { - state_euler new_error_state = - measurement_update(nom_state, error_state, dvl_meas); - auto [updated_nom_state, updated_error_state] = - injection_and_reset(nom_state, new_error_state); + state_euler new_error_state = measurement_update(nom_state, error_state, dvl_meas); + auto [updated_nom_state, updated_error_state] = injection_and_reset(nom_state, new_error_state); return {updated_nom_state, updated_error_state}; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a3b9c5cf3..524b48c29 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,63 +1,64 @@ #include "eskf/eskf_ros.hpp" -#include -#include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" +#include ESKFNode::ESKFNode() : Node("eskf_node") { time_step = std::chrono::milliseconds(1); - odom_pub_timer_ = this->create_wall_timer( - time_step, std::bind(&ESKFNode::publish_odom, this)); + odom_pub_timer_ = this->create_wall_timer(time_step, std::bind(&ESKFNode::publish_odom, this)); set_subscribers_and_publisher(); set_parameters(); + + spdlog::info("ESKF Node Initialized"); } void ESKFNode::set_subscribers_and_publisher() { rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; - auto qos_sensor_data = rclcpp::QoS( - rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + auto qos_sensor_data = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); this->declare_parameter("imu_topic", "imu/data_raw"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); - imu_sub_ = this->create_subscription( - imu_topic, qos_sensor_data, - std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); + imu_sub_ = this->create_subscription(imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); this->declare_parameter("dvl_topic", "/orca/twist"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( - dvl_topic, qos_sensor_data, - std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); + dvl_sub_ = this->create_subscription(dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); + this->declare_parameter("odom_topic", "odom"); std::string odom_topic = this->get_parameter("odom_topic").as_string(); - odom_pub_ = this->create_publisher( - odom_topic, qos_sensor_data); + odom_pub_ = this->create_publisher(odom_topic, qos_sensor_data); } void ESKFNode::set_parameters() { + + std::vector diag_Q_std; + this->declare_parameter>("diag_Q_std"); // gyroscope bias noise + + diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); + Eigen::Matrix12d Q; Q.setZero(); - Q.diagonal() << sq(0.0103), sq(0.0118), sq(0.0043), // acceleration noise - sq(0.00193), sq(0.00306), sq(0.00118), // gyroscope noise - sq(0.05), sq(0.05), sq(0.05), // acceleration bias noise - sq(0.03), sq(0.03), sq(0.03); // gyroscope bias noise - + spdlog::info("Q diagonal: {}",diag_Q_std[0]); + Q.diagonal() << + sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), // acceleration noise + sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), // gyroscope noise + sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), // acceleration bias noise + sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); // gyroscope bias noise eskf_params_.Q = Q; eskf_ = std::make_unique(eskf_params_); Eigen::Matrix18d P; P.setZero(); - P.diagonal() << 0.1, 0.1, 0.1, // position - 0.1, 0.1, 0.1, // velocity - 0.1, 0.1, 0.1, // euler angles - 0.01, 0.01, 0.01, // accel bias - 0.01, 0.01, 0.01, // gyro bias - 0.001, 0.001, 0.001; // gravity + P.diagonal() << 1.0, 1.0, 1.0, // position + 0.1, 0.1, 0.1, // velocity + 0.1, 0.1, 0.1, // euler angles + 0.001, 0.001, 0.001, // accel bias + 0.001, 0.001, 0.001, // gyro bias + 0.001, 0.001, 0.001; // gravity error_state_.covariance = P; } @@ -71,30 +72,24 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { return; } - double dt = (current_time - last_imu_time_).seconds(); + double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; last_imu_time_ = current_time; - imu_meas_.accel << msg->linear_acceleration.x, msg->linear_acceleration.y, - msg->linear_acceleration.z; - imu_meas_.gyro << msg->angular_velocity.x, msg->angular_velocity.y, - msg->angular_velocity.z; + imu_meas_.accel_uncorrected << msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z; + imu_meas_.gyro_uncorrected << msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z; + imu_meas_.correct(); - std::tie(nom_state_, error_state_) = - eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); + std::tie(nom_state_, error_state_) = eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], - msg->twist.covariance[2], msg->twist.covariance[6], - msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], - msg->twist.covariance[14]; - - std::tie(nom_state_, error_state_) = - eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + + std::tie(nom_state_, error_state_) = eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 4d33ec7ce..7a668adfc 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -11,3 +11,21 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { double sq(const double& value) { return value * value; } + +Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { + double angle = vector.norm(); + if (angle < 1e-8) { + return Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); + } else { + Eigen::Vector3d axis = vector / angle; + return Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); + } +} + +Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { + Eigen::Quaterniond q; + q = Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()) * + Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * + Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); + return q; +} \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 245d7ece4..890226639 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -25,54 +25,6 @@ def __init__( self.p_accBias = p_accBias self.p_gyroBias = p_gyroBias - def Fx(self, imu_data: Measurement) -> np.ndarray: - """Calculates the state transition matrix. - - Args: - imu_data (np.ndarray): The IMU data. - - Returns: - np.ndarray: The state transition matrix. - """ - F_x = np.zeros((18, 18)) - I = np.eye(3) - - F_x[0:3, 0:3] = I - F_x[0:3, 3:6] = self.dt * I - F_x[3:6, 3:6] = I - F_x[3:6, 6:9] = ( - -self.nom_state.R_q() - @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) - * self.dt - ) - F_x[6:9, 6:9] = R_from_angle_axis( - (imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt - ).T - F_x[3:6, 9:12] = -self.nom_state.R_q() * self.dt - F_x[3:6, 15:18] = I * self.dt - F_x[6:9, 12:15] = -I * self.dt - F_x[9:12, 9:12] = I - F_x[12:15, 12:15] = I - F_x[15:18, 15:18] = I - - return F_x - - def Fi(self) -> np.ndarray: - """Calculates the input matrix. - - Returns: - np.ndarray: The input matrix. - """ - F_i = np.zeros((18, 12)) - I = np.eye(3) - - F_i[3:6, 0:3] = I - F_i[6:9, 3:6] = I - F_i[9:12, 6:9] = I - F_i[12:15, 9:12] = I - - return F_i - def Q_delta_theta(self) -> np.ndarray: """Calculates the Q_delta_theta matrix. See Joan Solà. Quaternion kinematics for the error-state Kalman filter. @@ -92,26 +44,58 @@ def Q_delta_theta(self) -> np.ndarray: return Q_delta_theta def Hx(self) -> np.ndarray: - """Calculates the Jacobian of the measurement model. - - Returns: - np.ndarray: The Jacobian of the measurement model. """ - Hx = np.zeros((3, 19)) - - q0, q1, q2, q3 = self.nom_state.orientation - e = np.array([q1, q2, q3]) - v = self.nom_state.velocity - - temp_nu = -2 * skew_matrix(e) @ v - temp_eps = 2 * (q0 * np.eye(3) + skew_matrix(e)) @ skew_matrix(v) - - Hx[0:3, 3:6] = self.nom_state.R_q() - Hx[0:3, 6:10] = np.vstack([temp_nu, temp_eps]).T + Computes the true-state measurement Jacobian for the measurement + h(x) = R(q) * velocity, + where: + - R(q) is the rotation matrix from the quaternion (q, q, q, q) with q as the scalar part, + - velocity is a 3-vector. + + The state is assumed to be ordered as: + [position (3), velocity (3), quaternion (4), ...] (total length 19). + + The Jacobian Hx is a 3x19 matrix with nonzero blocks: + - Columns 3:6 (velocity): R(q) + - Columns 6:10 (quaternion): + """ + q = self.nom_state.orientation # shape (4,) + v = self.nom_state.velocity # shape (3,) + q0, q1, q2, q3 = q + v1, v2, v3 = v + + R = self.nom_state.R_q().transpose() # shape (3, 3) + + dhdq0 = 2 * np.array([ + q0 * v1 - q3 * v2 + q2 * v3, + q3 * v1 + q0 * v2 - q1 * v3, + -q2 * v1 + q1 * v2 + q0 * v3 + ]) + + dhdq1 = 2 * np.array([ + q1 * v1 + q2 * v2 + q3 * v3, + q2 * v1 - q1 * v2 - q0 * v3, + q3 * v1 + q0 * v2 - q1 * v3 + ]) + + dhdq2 = 2 * np.array([ + -q2 * v1 + q1 * v2 + q0 * v3, + q1 * v1 + q2 * v2 + q3 * v3, + -q0 * v1 + q3 * v2 - q2 * v3 + ]) + + dhdq3 = 2 * np.array([ + -q3 * v1 - q0 * v2 + q1 * v3, + q0 * v1 - q3 * v2 + q2 * v3, + q1 * v1 + q2 * v2 + q3 * v3 + ]) + + dHdq = np.column_stack((dhdq0, dhdq1, dhdq2, dhdq3)) # shape (3, 4) + Hx = np.zeros((3, 19)) - Hx[0:3, 3:6] = np.eye(3) - + Hx[:, 3:6] = R + Hx[:, 6:10] = dHdq + return Hx def H(self) -> np.ndarray: @@ -132,7 +116,7 @@ def h(self) -> np.ndarray: Returns: np.ndarray: The measurement model. """ - return self.nom_state.velocity # self.nom_state.R_q() @ self.nom_state.velocity + return self.nom_state.R_q() @ self.nom_state.velocity def nominal_state_discrete(self, imu_data: Measurement) -> None: """Calculates the next nominal state using the discrete-time process model defined in: diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 53ad83958..0930d9f6c 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -313,7 +313,7 @@ def simulate_eskf(): ### _______ NIS AND NEEDS _______ - +""" num_simulations = 10 NIS_runs = [] @@ -356,3 +356,4 @@ def simulate_eskf(): plt.tight_layout() plt.show() +""" \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index f7000adb4..16312935a 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -16,7 +16,7 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.weight = None self.T = self.generate_T_matrix(len(P_0)) - def generate_T_matrix(n: float) -> np.ndarray: + def generate_T_matrix(self, n: float) -> np.ndarray: """ Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. @@ -26,10 +26,10 @@ def generate_T_matrix(n: float) -> np.ndarray: Returns: T (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ - T = np.zeros((n, 2 * n)) + T = np.zeros((n, n)) - for i in range(1, 2 * n + 1): - for j in range(1, (n // 2) + 1): + for i in range(n): + for j in range(n//2): T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) @@ -54,8 +54,9 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: self.sigma_points_list = [StateQuat() for _ in range(2 * n)] - for state in self.sigma_points_list: - state.fill_states_different_dim(current_state.as_vector(), + for index, state in enumerate(self.sigma_points_list): + delta_x = S @ delta[:, index] + state.fill_states_different_dim(current_state.as_vector(), delta_x) return self.sigma_points_list @@ -65,20 +66,20 @@ def unscented_transform(self, current_state: StateQuat) -> StateQuat: The unscented transform function generates the priori state estimate """ - _ , _ = self.sigma_points(current_state) + _ = self.sigma_points(current_state) n = len(current_state.covariance) - self.y_i = [StateQuat() for _ in range(2 * n + 1)] + self.y_i = [StateQuat() for _ in range(2 * n)] - for i in range(2 * n + 1): + for i in range(2 * n ): self.process_model.model_prediction(self.sigma_points_list[i]) self.y_i[i] = self.process_model.euler_forward() state_estimate = StateQuat() - x = mean_set(self.y_i, self.weight) + x = mean_set(self.y_i) state_estimate.fill_states(x) - state_estimate.covariance = covariance_set(self.y_i, x, self.weight) + state_estimate.covariance = covariance_set(self.y_i, x) return state_estimate def measurement_update(self, current_state: StateQuat, measurement: MeasModel) -> tuple[MeasModel, np.ndarray]: @@ -88,18 +89,18 @@ def measurement_update(self, current_state: StateQuat, measurement: MeasModel) - """ n = len(current_state.covariance) - z_i = [MeasModel() for _ in range(2 * n + 1)] + z_i = [MeasModel() for _ in range(2 * n)] - for i in range(2 * n + 1): + for i in range(2 * n): z_i[i] = measurement.H(self.sigma_points_list[i]) meas_update = MeasModel() - meas_update.measurement = mean_measurement(z_i, self.weight) + meas_update.measurement = mean_measurement(z_i) - meas_update.covariance = covariance_measurement(z_i, meas_update.measurement, self.weight) + meas_update.covariance = covariance_measurement(z_i, meas_update.measurement) - cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement, self.weight) + cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement) return meas_update, cross_correlation diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 50f1988b4..4d3281260 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -395,7 +395,7 @@ def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: return mean_value.measurement -def covariance_set(set_points: list[StateQuat], mean: StateQuat) -> np.ndarray: +def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: """ Function that calculates the covariance of a set of points """ @@ -403,9 +403,9 @@ def covariance_set(set_points: list[StateQuat], mean: StateQuat) -> np.ndarray: covariance = np.zeros(set_points[0].covariance.shape) mean_quat = StateQuat() - mean_quat.fill_states(mean.as_vector()) + mean_quat.fill_states(mean) - mean_q = mean.orientation + mean_q = mean_quat.orientation for state in set_points: q = state.orientation diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index 5a7e9eaba..3c197ed63 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -31,293 +31,267 @@ def add_quaternion_noise(q, noise_std): if __name__ == '__main__': - # Define a mean StateQuat - mean_state = StateQuat() - mean_state.position = np.array([1.0, 2.0, 3.0]) - mean_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # Quaternion - mean_state.velocity = np.array([0.5, 0.5, 0.5]) - mean_state.angular_velocity = np.array([0.1, 0.1, 0.1]) - - test_state = StateQuat() - test_state.position = np.array([1.0, 1.0, 1.0]) - test_state.orientation = np.array([0.0, 1.0, 0.0, 0.0]) # Quaternion - test_state.velocity = np.array([0.2, 0.2, 0.2]) - test_state.angular_velocity = np.array([0.2, 0.2, 0.2]) - - # Create a set with only one element - state_set = list() - state_set.append(test_state) - print(len(state_set)) - - # Compute the mean - mean = mean_set(state_set) - - # Compute the covariance - mean_state.covariance = covariance_set(state_set, mean_state) - - # Print the results - print("Mean State:") - print_StateQuat(mean_state) - - # # Create initial state vector and covariance matrix. - # x0 = np.zeros(13) - # x0[0:3] = [0.3, 0.3, 0.3] - # x0[3] = 1 - # x0[7:10] = [0.2, 0.2, 0.2] - # dt = 0.01 - # R = (0.01) * np.eye(3) + # Create initial state vector and covariance matrix. + x0 = np.zeros(13) + x0[0:3] = [0.3, 0.3, 0.3] + x0[3] = 1 + x0[7:10] = [0.2, 0.2, 0.2] + dt = 0.01 + R = (0.01) * np.eye(3) - # Q = 0.00015 * np.eye(12) - # P0 = np.eye(12) * 0.0001 - - # model = process_model() - # model.dt = 0.01 - # model.mass_interia_matrix = np.array([ - # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - # ]) - # model.m = 30.0 - # model.r_b_bg = np.array([0.01, 0.0, 0.02]) - # model.inertia = np.diag([0.68, 3.32, 3.34]) - # model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - # model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - # model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # model_ukf = process_model() - # model_ukf.dt = 0.01 - # model_ukf.mass_interia_matrix = np.array([ - # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - # ]) - # model_ukf.m = 30.0 - # model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) - # model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) - # model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - # model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - # model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # # Simulation parameters - # simulation_time = 20 # seconds - # num_steps = int(simulation_time / dt) - - # # Initialize a dummy StateQuat. - # new_state = StateQuat() - # new_state.fill_states(x0) - # new_state.covariance = P0 - - # test_state_x = StateQuat() - # test_state_x.fill_states(x0) - # test_state_x.covariance = P0 - - # # Initialize a estimated state - # estimated_state = StateQuat() - # estimated_state.fill_states(x0) - # estimated_state.covariance = P0 - - # # Initialize a estimated state - # noisy_state = StateQuat() - # noisy_state.fill_states(x0) - # noisy_state.covariance = P0 - - # measurment_model = MeasModel() - # measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - # measurment_model.covariance = R - - # # Initialize arrays to store the results - # positions = np.zeros((num_steps, 3)) - # orientations = np.zeros((num_steps, 3)) - # velocities = np.zeros((num_steps, 3)) - # angular_velocities = np.zeros((num_steps, 3)) - - # # Initialize arrays to store the estimates - # positions_est = np.zeros((num_steps, 3)) - # orientations_est = np.zeros((num_steps, 3)) - # velocities_est = np.zeros((num_steps, 3)) - # angular_velocities_est = np.zeros((num_steps, 3)) - - # # Initialize the okid params - # okid_params = np.zeros((num_steps, 21)) - - # model.state_vector_prev = new_state - # model.state_vector = new_state - - # model_ukf.state_vector_prev = test_state_x - # model_ukf.state_vector = test_state_x - - # # initialize the ukf - # ukf = UKF(model_ukf, x0, P0, Q, R) - - # elapsed_times = [] - - # u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) - - # # Run the simulation - # for step in range(num_steps): - # # Insert control input - # model.Control_input = u(step * dt) - # model_ukf.Control_input = u(step * dt) - - # # Perform the unscented transform - # model.model_prediction(new_state) - # new_state = model.euler_forward() - - # # Adding noise in the state vector - # estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) - # estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) - # estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) - # estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) - - # start_time = time.time() - # estimated_state = ukf.unscented_transform(estimated_state) - # elapsed_time = time.time() - start_time - # elapsed_times.append(elapsed_time) - - # if step % 10 == 0: - # measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) - # meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) - # estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) - - - # positions[step, :] = new_state.position - # orientations[step, :] = quat_to_euler(new_state.orientation) - # velocities[step, :] = new_state.velocity - # angular_velocities[step, :] = new_state.angular_velocity - - # positions_est[step, :] = estimated_state.position - # orientations_est[step, :] = quat_to_euler(estimated_state.orientation) - # velocities_est[step, :] = estimated_state.velocity - # angular_velocities_est[step, :] = estimated_state.angular_velocity + Q = 0.00015 * np.eye(12) + P0 = np.eye(12) * 0.0001 + + model = process_model() + model.dt = 0.01 + model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model.m = 30.0 + model.r_b_bg = np.array([0.01, 0.0, 0.02]) + model.inertia = np.diag([0.68, 3.32, 3.34]) + model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + model_ukf = process_model() + model_ukf.dt = 0.01 + model_ukf.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model_ukf.m = 30.0 + model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) + model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) + model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + # Simulation parameters + simulation_time = 5 # seconds + num_steps = int(simulation_time / dt) + + # Initialize a dummy StateQuat. + new_state = StateQuat() + new_state.fill_states(x0) + new_state.covariance = P0 + + test_state_x = StateQuat() + test_state_x.fill_states(x0) + test_state_x.covariance = P0 + + # Initialize a estimated state + estimated_state = StateQuat() + estimated_state.fill_states(x0) + estimated_state.covariance = P0 + + # Initialize a estimated state + noisy_state = StateQuat() + noisy_state.fill_states(x0) + noisy_state.covariance = P0 + + measurment_model = MeasModel() + measurment_model.measurement = np.array([0.0, 0.0, 0.0]) + measurment_model.covariance = R + + # Initialize arrays to store the results + positions = np.zeros((num_steps, 3)) + orientations = np.zeros((num_steps, 3)) + velocities = np.zeros((num_steps, 3)) + angular_velocities = np.zeros((num_steps, 3)) + + # Initialize arrays to store the estimates + positions_est = np.zeros((num_steps, 3)) + orientations_est = np.zeros((num_steps, 3)) + velocities_est = np.zeros((num_steps, 3)) + angular_velocities_est = np.zeros((num_steps, 3)) + + # Initialize the okid params + okid_params = np.zeros((num_steps, 21)) + + model.state_vector_prev = new_state + model.state_vector = new_state + + model_ukf.state_vector_prev = test_state_x + model_ukf.state_vector = test_state_x + + # initialize the ukf + ukf = UKF(model_ukf, x0, P0, Q, R) + + elapsed_times = [] + + u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + + # Run the simulation + for step in range(num_steps): + # Insert control input + model.Control_input = u(step * dt) + model_ukf.Control_input = u(step * dt) + + # Perform the unscented transform + model.model_prediction(new_state) + new_state = model.euler_forward() + + # Adding noise in the state vector + estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) + estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) + estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) + estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) + + start_time = time.time() + estimated_state = ukf.unscented_transform(estimated_state) + print(estimated_state.as_vector()) + break + elapsed_time = time.time() - start_time + elapsed_times.append(elapsed_time) + + if step % 20 == 0: + measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) + meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) + estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) + + + positions[step, :] = new_state.position + orientations[step, :] = quat_to_euler(new_state.orientation) + velocities[step, :] = new_state.velocity + angular_velocities[step, :] = new_state.angular_velocity + + positions_est[step, :] = estimated_state.position + orientations_est[step, :] = quat_to_euler(estimated_state.orientation) + velocities_est[step, :] = estimated_state.velocity + angular_velocities_est[step, :] = estimated_state.angular_velocity - # # Update the state for the next iteration - # model.state_vector_prev = new_state - - # print('Average elapsed time: ', np.mean(elapsed_times)) - # print('Max elapsed time: ', np.max(elapsed_times)) - # print('Min elapsed time: ', np.min(elapsed_times)) - # print('median elapsed time: ', np.median(elapsed_times)) - # # Plot the results - # time = np.linspace(0, simulation_time, num_steps) - - # # Plot positions - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, positions[:, 0], label='True') - # plt.plot(time, positions_est[:, 0], label='Estimated') - # plt.title('Position X') - # plt.xlabel('Time [s]') - # plt.ylabel('Position X [m]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, positions[:, 1], label='True') - # plt.plot(time, positions_est[:, 1], label='Estimated') - # plt.title('Position Y') - # plt.xlabel('Time [s]') - # plt.ylabel('Position Y [m]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, positions[:, 2], label='True') - # plt.plot(time, positions_est[:, 2], label='Estimated') - # plt.title('Position Z') - # plt.xlabel('Time [s]') - # plt.ylabel('Position Z [m]') - # plt.legend() - - # plt.tight_layout() - # plt.show() - - # # Plot orientations (Euler angles) - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, orientations[:, 0], label='True') - # plt.plot(time, orientations_est[:, 0], label='Estimated') - # plt.title('Orientation Roll') - # plt.xlabel('Time [s]') - # plt.ylabel('Roll [rad]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, orientations[:, 1], label='True') - # plt.plot(time, orientations_est[:, 1], label='Estimated') - # plt.title('Orientation Pitch') - # plt.xlabel('Time [s]') - # plt.ylabel('Pitch [rad]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, orientations[:, 2], label='True') - # plt.plot(time, orientations_est[:, 2], label='Estimated') - # plt.title('Orientation Yaw') - # plt.xlabel('Time [s]') - # plt.ylabel('Yaw [rad]') - # plt.legend() - - # plt.tight_layout() - # plt.show() - - # # Plot velocities - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, velocities[:, 0], label='True') - # plt.plot(time, velocities_est[:, 0], label='Estimated') - # plt.title('Velocity X') - # plt.xlabel('Time [s]') - # plt.ylabel('Velocity X [m/s]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, velocities[:, 1], label='True') - # plt.plot(time, velocities_est[:, 1], label='Estimated') - # plt.title('Velocity Y') - # plt.xlabel('Time [s]') - # plt.ylabel('Velocity Y [m/s]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, velocities[:, 2], label='True') - # plt.plot(time, velocities_est[:, 2], label='Estimated') - # plt.title('Velocity Z') - # plt.xlabel('Time [s]') - # plt.ylabel('Velocity Z [m/s]') - # plt.legend() - - # plt.tight_layout() - # plt.show() - - # # Plot angular velocities - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, angular_velocities[:, 0], label='True') - # plt.plot(time, angular_velocities_est[:, 0], label='Estimated') - # plt.title('Angular Velocity X') - # plt.xlabel('Time [s]') - # plt.ylabel('Angular Velocity X [rad/s]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, angular_velocities[:, 1], label='True') - # plt.plot(time, angular_velocities_est[:, 1], label='Estimated') - # plt.title('Angular Velocity Y') - # plt.xlabel('Time [s]') - # plt.ylabel('Angular Velocity Y [rad/s]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, angular_velocities[:, 2], label='True') - # plt.plot(time, angular_velocities_est[:, 2], label='Estimated') - # plt.title('Angular Velocity Z') - # plt.xlabel('Time [s]') - # plt.ylabel('Angular Velocity Z [rad/s]') - # plt.legend() - - # plt.tight_layout() - # plt.show() \ No newline at end of file + # Update the state for the next iteration + model.state_vector_prev = new_state + + print('Average elapsed time: ', np.mean(elapsed_times)) + print('Max elapsed time: ', np.max(elapsed_times)) + print('Min elapsed time: ', np.min(elapsed_times)) + print('median elapsed time: ', np.median(elapsed_times)) + # Plot the results + time = np.linspace(0, simulation_time, num_steps) + + # Plot positions + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, positions[:, 0], label='True') + plt.plot(time, positions_est[:, 0], label='Estimated') + plt.title('Position X') + plt.xlabel('Time [s]') + plt.ylabel('Position X [m]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, positions[:, 1], label='True') + plt.plot(time, positions_est[:, 1], label='Estimated') + plt.title('Position Y') + plt.xlabel('Time [s]') + plt.ylabel('Position Y [m]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, positions[:, 2], label='True') + plt.plot(time, positions_est[:, 2], label='Estimated') + plt.title('Position Z') + plt.xlabel('Time [s]') + plt.ylabel('Position Z [m]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot orientations (Euler angles) + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, orientations[:, 0], label='True') + plt.plot(time, orientations_est[:, 0], label='Estimated') + plt.title('Orientation Roll') + plt.xlabel('Time [s]') + plt.ylabel('Roll [rad]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, orientations[:, 1], label='True') + plt.plot(time, orientations_est[:, 1], label='Estimated') + plt.title('Orientation Pitch') + plt.xlabel('Time [s]') + plt.ylabel('Pitch [rad]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, orientations[:, 2], label='True') + plt.plot(time, orientations_est[:, 2], label='Estimated') + plt.title('Orientation Yaw') + plt.xlabel('Time [s]') + plt.ylabel('Yaw [rad]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, velocities[:, 0], label='True') + plt.plot(time, velocities_est[:, 0], label='Estimated') + plt.title('Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Velocity X [m/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, velocities[:, 1], label='True') + plt.plot(time, velocities_est[:, 1], label='Estimated') + plt.title('Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Y [m/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, velocities[:, 2], label='True') + plt.plot(time, velocities_est[:, 2], label='Estimated') + plt.title('Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Z [m/s]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot angular velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, angular_velocities[:, 0], label='True') + plt.plot(time, angular_velocities_est[:, 0], label='Estimated') + plt.title('Angular Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity X [rad/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, angular_velocities[:, 1], label='True') + plt.plot(time, angular_velocities_est[:, 1], label='Estimated') + plt.title('Angular Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Y [rad/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, angular_velocities[:, 2], label='True') + plt.plot(time, angular_velocities_est[:, 2], label='Estimated') + plt.title('Angular Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Z [rad/s]') + plt.legend() + + plt.tight_layout() + plt.show() \ No newline at end of file From 4cef60db587e4c09a910748ae1ceef4dfee4f2f3 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 3 Apr 2025 17:22:08 +0000 Subject: [PATCH 012/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/typedefs.hpp | 40 ++- navigation/eskf/src/eskf.cpp | 69 ++-- navigation/eskf/src/eskf_ros.cpp | 79 +++-- navigation/eskf/src/eskf_utils.cpp | 2 +- .../eskf_python/eskf_python_class.py | 38 +-- .../eskf_python/eskf_python_filter.py | 87 ++--- .../eskf_python/eskf_python_node.py | 32 +- .../eskf_python/eskf_python_utils.py | 82 ++--- .../eskf_python/eskf_python/eskf_test.py | 3 +- .../eskf_python/eskf_test_utils.py | 131 ++++++-- navigation/ukf_okid/ukf_python/rest.py | 31 +- navigation/ukf_okid/ukf_python/ukf_okid.py | 54 +-- .../ukf_okid/ukf_python/ukf_okid_class.py | 307 +++++++++++------- navigation/ukf_okid/ukf_python/ukf_test.py | 106 +++--- navigation/ukf_okid/ukf_python/ukf_utils.py | 18 +- 15 files changed, 631 insertions(+), 448 deletions(-) diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index c0a1e41f9..925d8fd72 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,26 +5,26 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H -#include #include +#include namespace Eigen { - typedef Eigen::Matrix Vector19d; - typedef Eigen::Matrix Vector18d; - typedef Eigen::Matrix Matrix18d; - typedef Eigen::Matrix Matrix19d; - typedef Eigen::Matrix Matrix18x12d; - typedef Eigen::Matrix Matrix4x3d; - typedef Eigen::Matrix Matrix3x19d; - typedef Eigen::Matrix Matrix3x18d; - typedef Eigen::Matrix Matrix12d; - typedef Eigen::Matrix Matrix18d; - typedef Eigen::Matrix Matrix3x1d; - typedef Eigen::Matrix Matrix19x18d; - typedef Eigen::Matrix Matrix18x3d; - typedef Eigen::Matrix Matrix36d; - typedef Eigen::Matrix Matrix6d; - typedef Eigen::Matrix Matrix9d; +typedef Eigen::Matrix Vector19d; +typedef Eigen::Matrix Vector18d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix19d; +typedef Eigen::Matrix Matrix18x12d; +typedef Eigen::Matrix Matrix4x3d; +typedef Eigen::Matrix Matrix3x19d; +typedef Eigen::Matrix Matrix3x18d; +typedef Eigen::Matrix Matrix12d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix3x1d; +typedef Eigen::Matrix Matrix19x18d; +typedef Eigen::Matrix Matrix18x3d; +typedef Eigen::Matrix Matrix36d; +typedef Eigen::Matrix Matrix6d; +typedef Eigen::Matrix Matrix9d; } // namespace Eigen struct state_quat { @@ -89,10 +89,8 @@ struct imu_measurement { void correct() { Eigen::Matrix3d R_nb; - R_nb << 0, 0, -1, - 0, -1, 0, - -1, 0, 0; - + R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; + accel = R_nb * accel_uncorrected; gyro = R_nb * gyro_uncorrected; } diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 55d8516dd..58c532afa 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -6,8 +6,7 @@ #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -ESKF::ESKF(const eskf_params& params) : - Q_(params.Q) {} +ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} std::pair ESKF::van_loan_discretization( const Eigen::Matrix18d& A_c, @@ -48,7 +47,7 @@ Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { Eigen::Quaterniond q = nom_state.quat.normalized(); Eigen::Matrix3d R_bn = q.toRotationMatrix(); - + Eigen::Vector3d v_n = nom_state.vel; Hx.block<3, 3>(0, 3) = R_bn.transpose(); @@ -59,29 +58,25 @@ Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { double qy = q.y(); double qz = q.z(); - dR_dq.col(0) = 2 * Eigen::Vector3d( - qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), - -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), - qy * v_n.x() - qx * v_n.y() + qw * v_n.z() - ); - - dR_dq.col(1) = 2 * Eigen::Vector3d( - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z() - ); - - dR_dq.col(2) = 2 * Eigen::Vector3d( - -qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - -qw * v_n.x() + qz * v_n.y() - qy * v_n.z() - ); - - dR_dq.col(3) = 2 * Eigen::Vector3d( - -qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), - qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z() - ); + dR_dq.col(0) = + 2 * Eigen::Vector3d(qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), + -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), + qy * v_n.x() - qx * v_n.y() + qw * v_n.z()); + + dR_dq.col(1) = + 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); + + dR_dq.col(2) = + 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); + + dR_dq.col(3) = + 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), + qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); Hx.block<3, 4>(0, 6) = dR_dq; @@ -100,7 +95,8 @@ Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { Eigen::Matrix3x1d h; - Eigen::Matrix3d R_bn = nom_state.quat.normalized().toRotationMatrix().transpose(); + Eigen::Matrix3d R_bn = + nom_state.quat.normalized().toRotationMatrix().transpose(); h = R_bn * nom_state.vel; @@ -110,12 +106,15 @@ Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + nom_state.gravity; + Eigen::Vector3d acc = + nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + + nom_state.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; state_quat next_nom_state; - next_nom_state.pos = nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; + next_nom_state.pos = + nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; next_nom_state.vel = nom_state.vel + dt * acc; next_nom_state.quat = (nom_state.quat * vector3d_to_quaternion(gyro)); next_nom_state.quat.normalize(); @@ -188,7 +187,8 @@ std::pair ESKF::injection_and_reset( next_nom_state.pos = nom_state.pos + error_state.pos; next_nom_state.vel = nom_state.vel + error_state.vel; - next_nom_state.quat = nom_state.quat * vector3d_to_quaternion(error_state.euler); + next_nom_state.quat = + nom_state.quat * vector3d_to_quaternion(error_state.euler); next_nom_state.quat.normalize(); next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; @@ -209,7 +209,8 @@ std::pair ESKF::imu_update( const imu_measurement& imu_meas, const double dt) { state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); - state_euler next_error_state = error_state_prediction(error_state, next_nom_state, imu_meas, dt); + state_euler next_error_state = + error_state_prediction(error_state, next_nom_state, imu_meas, dt); return {next_nom_state, next_error_state}; } @@ -218,8 +219,10 @@ std::pair ESKF::dvl_update( const state_quat& nom_state, const state_euler& error_state, const dvl_measurement& dvl_meas) { - state_euler new_error_state = measurement_update(nom_state, error_state, dvl_meas); - auto [updated_nom_state, updated_error_state] = injection_and_reset(nom_state, new_error_state); + state_euler new_error_state = + measurement_update(nom_state, error_state, dvl_meas); + auto [updated_nom_state, updated_error_state] = + injection_and_reset(nom_state, new_error_state); return {updated_nom_state, updated_error_state}; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 524b48c29..d679d600e 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,11 +1,12 @@ #include "eskf/eskf_ros.hpp" +#include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -#include ESKFNode::ESKFNode() : Node("eskf_node") { time_step = std::chrono::milliseconds(1); - odom_pub_timer_ = this->create_wall_timer(time_step, std::bind(&ESKFNode::publish_odom, this)); + odom_pub_timer_ = this->create_wall_timer( + time_step, std::bind(&ESKFNode::publish_odom, this)); set_subscribers_and_publisher(); @@ -16,49 +17,58 @@ ESKFNode::ESKFNode() : Node("eskf_node") { void ESKFNode::set_subscribers_and_publisher() { rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; - auto qos_sensor_data = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + auto qos_sensor_data = rclcpp::QoS( + rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); this->declare_parameter("imu_topic", "imu/data_raw"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); - imu_sub_ = this->create_subscription(imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); + imu_sub_ = this->create_subscription( + imu_topic, qos_sensor_data, + std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); this->declare_parameter("dvl_topic", "/orca/twist"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription(dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); - + dvl_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( + dvl_topic, qos_sensor_data, + std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); this->declare_parameter("odom_topic", "odom"); std::string odom_topic = this->get_parameter("odom_topic").as_string(); - odom_pub_ = this->create_publisher(odom_topic, qos_sensor_data); + odom_pub_ = this->create_publisher( + odom_topic, qos_sensor_data); } void ESKFNode::set_parameters() { - std::vector diag_Q_std; - this->declare_parameter>("diag_Q_std"); // gyroscope bias noise + this->declare_parameter>( + "diag_Q_std"); // gyroscope bias noise diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); - + Eigen::Matrix12d Q; Q.setZero(); - spdlog::info("Q diagonal: {}",diag_Q_std[0]); - Q.diagonal() << - sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), // acceleration noise - sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), // gyroscope noise - sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), // acceleration bias noise - sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); // gyroscope bias noise + spdlog::info("Q diagonal: {}", diag_Q_std[0]); + Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), + sq(diag_Q_std[2]), // acceleration noise + sq(diag_Q_std[3]), sq(diag_Q_std[4]), + sq(diag_Q_std[5]), // gyroscope noise + sq(diag_Q_std[6]), sq(diag_Q_std[7]), + sq(diag_Q_std[8]), // acceleration bias noise + sq(diag_Q_std[9]), sq(diag_Q_std[10]), + sq(diag_Q_std[11]); // gyroscope bias noise eskf_params_.Q = Q; eskf_ = std::make_unique(eskf_params_); Eigen::Matrix18d P; P.setZero(); - P.diagonal() << 1.0, 1.0, 1.0, // position - 0.1, 0.1, 0.1, // velocity - 0.1, 0.1, 0.1, // euler angles - 0.001, 0.001, 0.001, // accel bias - 0.001, 0.001, 0.001, // gyro bias - 0.001, 0.001, 0.001; // gravity + P.diagonal() << 1.0, 1.0, 1.0, // position + 0.1, 0.1, 0.1, // velocity + 0.1, 0.1, 0.1, // euler angles + 0.001, 0.001, 0.001, // accel bias + 0.001, 0.001, 0.001, // gyro bias + 0.001, 0.001, 0.001; // gravity error_state_.covariance = P; } @@ -75,21 +85,28 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; last_imu_time_ = current_time; - imu_meas_.accel_uncorrected << msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z; - imu_meas_.gyro_uncorrected << msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z; + imu_meas_.accel_uncorrected << msg->linear_acceleration.x, + msg->linear_acceleration.y, msg->linear_acceleration.z; + imu_meas_.gyro_uncorrected << msg->angular_velocity.x, + msg->angular_velocity.y, msg->angular_velocity.z; imu_meas_.correct(); - std::tie(nom_state_, error_state_) = eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); + std::tie(nom_state_, error_state_) = + eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - - std::tie(nom_state_, error_state_) = eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], + msg->twist.covariance[14]; + + std::tie(nom_state_, error_state_) = + eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 7a668adfc..930167eaa 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -28,4 +28,4 @@ Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); return q; -} \ No newline at end of file +} diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py index 0ba96ba1f..65d41425d 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -1,7 +1,9 @@ from dataclasses import dataclass, field + import numpy as np from eskf_python_utils import quaternion_error + @dataclass class StateQuat: position: np.ndarray = field( @@ -19,10 +21,8 @@ class StateQuat: gyro_bias: np.ndarray = field( default_factory=lambda: np.zeros(3) ) # Gyro bias vector (b_gx, b_gy, b_gz) - g: np.ndarray = field( - default_factory=lambda: np.array([0, 0, 0]) - ) # Gravity vector - + g: np.ndarray = field(default_factory=lambda: np.array([0, 0, 0])) # Gravity vector + def as_vector(self) -> np.ndarray: """Returns the state vector as a numpy array. @@ -81,7 +81,7 @@ def R_q(self) -> np.ndarray: ) return R - + def __sub__(self, other: 'StateQuat') -> 'StateQuat': """Subtracts the values of two state vectors. @@ -102,7 +102,6 @@ def __sub__(self, other: 'StateQuat') -> 'StateQuat': return result - @dataclass class StateEuler: position: np.ndarray = field( @@ -172,12 +171,8 @@ def copy_state(self, wanted_state: 'StateEuler') -> None: @dataclass class MeasurementModel: - measurement: np.ndarray = field( - default_factory=lambda: np.zeros(6) - ) - measurement_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((6, 6)) - ) + measurement: np.ndarray = field(default_factory=lambda: np.zeros(6)) + measurement_covariance: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) def H(self) -> np.ndarray: """Calculates the measurement matrix. @@ -190,19 +185,12 @@ def H(self) -> np.ndarray: H[0:3, 3:6] = np.eye(3) return H - + + @dataclass class Measurement: - acceleration: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) - angular_velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) - aiding: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) + acceleration: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + aiding: np.ndarray = field(default_factory=lambda: np.zeros(3)) - aiding_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((3, 3)) - ) \ No newline at end of file + aiding_covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 890226639..fac3c8526 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -4,7 +4,6 @@ import numpy as np from eskf_python_class import Measurement, StateEuler, StateQuat from eskf_python_utils import ( - R_from_angle_axis, angle_axis_to_quaternion, euler_to_quat, quaternion_product, @@ -44,58 +43,64 @@ def Q_delta_theta(self) -> np.ndarray: return Q_delta_theta def Hx(self) -> np.ndarray: - """ - Computes the true-state measurement Jacobian for the measurement + """Computes the true-state measurement Jacobian for the measurement h(x) = R(q) * velocity, where: - R(q) is the rotation matrix from the quaternion (q, q, q, q) with q as the scalar part, - velocity is a 3-vector. - + The state is assumed to be ordered as: [position (3), velocity (3), quaternion (4), ...] (total length 19). - + The Jacobian Hx is a 3x19 matrix with nonzero blocks: - Columns 3:6 (velocity): R(q) - - Columns 6:10 (quaternion): + - Columns 6:10 (quaternion): """ - q = self.nom_state.orientation # shape (4,) - v = self.nom_state.velocity # shape (3,) + v = self.nom_state.velocity # shape (3,) q0, q1, q2, q3 = q v1, v2, v3 = v R = self.nom_state.R_q().transpose() # shape (3, 3) - - dhdq0 = 2 * np.array([ - q0 * v1 - q3 * v2 + q2 * v3, - q3 * v1 + q0 * v2 - q1 * v3, - -q2 * v1 + q1 * v2 + q0 * v3 - ]) - - dhdq1 = 2 * np.array([ - q1 * v1 + q2 * v2 + q3 * v3, - q2 * v1 - q1 * v2 - q0 * v3, - q3 * v1 + q0 * v2 - q1 * v3 - ]) - - dhdq2 = 2 * np.array([ - -q2 * v1 + q1 * v2 + q0 * v3, - q1 * v1 + q2 * v2 + q3 * v3, - -q0 * v1 + q3 * v2 - q2 * v3 - ]) - - dhdq3 = 2 * np.array([ - -q3 * v1 - q0 * v2 + q1 * v3, - q0 * v1 - q3 * v2 + q2 * v3, - q1 * v1 + q2 * v2 + q3 * v3 - ]) - + + dhdq0 = 2 * np.array( + [ + q0 * v1 - q3 * v2 + q2 * v3, + q3 * v1 + q0 * v2 - q1 * v3, + -q2 * v1 + q1 * v2 + q0 * v3, + ] + ) + + dhdq1 = 2 * np.array( + [ + q1 * v1 + q2 * v2 + q3 * v3, + q2 * v1 - q1 * v2 - q0 * v3, + q3 * v1 + q0 * v2 - q1 * v3, + ] + ) + + dhdq2 = 2 * np.array( + [ + -q2 * v1 + q1 * v2 + q0 * v3, + q1 * v1 + q2 * v2 + q3 * v3, + -q0 * v1 + q3 * v2 - q2 * v3, + ] + ) + + dhdq3 = 2 * np.array( + [ + -q3 * v1 - q0 * v2 + q1 * v3, + q0 * v1 - q3 * v2 + q2 * v3, + q1 * v1 + q2 * v2 + q3 * v3, + ] + ) + dHdq = np.column_stack((dhdq0, dhdq1, dhdq2, dhdq3)) # shape (3, 4) - + Hx = np.zeros((3, 19)) Hx[:, 3:6] = R Hx[:, 6:10] = dHdq - + return Hx def H(self) -> np.ndarray: @@ -262,14 +267,12 @@ def reset_error_state(self) -> None: self.error_state.fill_states(np.zeros(18)) def imu_update(self, imu_data: Measurement) -> None: - """Updates the state using the IMU data. - """ + """Updates the state using the IMU data.""" self.nominal_state_discrete(imu_data) self.error_state_prediction(imu_data) def dvl_update(self, dvl_measurement: Measurement) -> float: - """Updates the state using the DVL measurement. - """ + """Updates the state using the DVL measurement.""" NIS = self.measurement_update(dvl_measurement) self.injection() self.reset_error_state() @@ -278,15 +281,13 @@ def dvl_update(self, dvl_measurement: Measurement) -> float: # functions for tuning the filter def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: - """Calculates the Normalized Innovation Squared (NIS) value. - """ + """Calculates the Normalized Innovation Squared (NIS) value.""" return innovation.T @ np.linalg.inv(S) @ innovation def NEEDS( self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat ) -> float: - """Calculates the Normalized Estimation Error Squared (NEEDS) value. - """ + """Calculates the Normalized Estimation Error Squared (NEEDS) value.""" return ( (true_state - estimate_state).as_vector().T @ np.linalg.inv(P) diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py index ec206ab64..7b300ecc6 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 +import numpy as np import rclpy +from geometry_msgs.msg import TwistWithCovarianceStamped from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import QoSProfile, qos_profile_sensor_data from sensor_msgs.msg import Imu -import numpy as np -from geometry_msgs.msg import TwistWithCovarianceStamped # NEED TO CHANGE THIS TO THE CORRECT PATH from eskf_python.eskf_python_filter import ( @@ -33,7 +33,10 @@ def __init__(self): ) self.twist_dvl_subscriber_ = self.create_subscription( - TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile + TwistWithCovarianceStamped, + '/dvl/twist', + self.filter_callback, + qos_profile=qos_profile, ) # This publisher will publish the estimtaed state of the vehicle @@ -50,14 +53,22 @@ def __init__(self): self.get_logger().info("Error State Kalman Filter started") def imu_callback(self, msg: Imu): - # Get the IMU data imu_acceleartion = msg.linear_acceleration imu_angular_velocity = msg.angular_velocity # Combine the IMU data - imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) + imu_data = np.array( + [ + imu_acceleartion.x, + imu_acceleartion.y, + imu_acceleartion.z, + imu_angular_velocity.x, + imu_angular_velocity.y, + imu_angular_velocity.z, + ] + ) # Update the filter with the IMU data self.current_state_nom, self.current_state_error = ( @@ -84,8 +95,6 @@ def imu_callback(self, msg: Imu): # Publish self.state_publisher_.publish(self.odom_msg) - - def filter_callback(self, msg: TwistWithCovarianceStamped): """Callback function for the filter measurement update, this will be called when the filter needs to be updated with the DVL data. @@ -93,7 +102,13 @@ def filter_callback(self, msg: TwistWithCovarianceStamped): self.get_logger().info("Filter callback, got DVL data") # Get the DVL data (linear velocity) - dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + dvl_data = np.array( + [ + msg.twist.twist.linear.x, + msg.twist.twist.linear.y, + msg.twist.twist.linear.z, + ] + ) # Update the filter with the DVL data self.current_state_nom, self.current_state_error = ( @@ -124,7 +139,6 @@ def filter_callback(self, msg: TwistWithCovarianceStamped): self.state_publisher_.publish(self.odom_msg) - def main(args=None): rclpy.init(args=args) node = ESKalmanFilterNode() diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py index aaef5f8d6..bbe13d759 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_utils.py +++ b/navigation/eskf_python/eskf_python/eskf_python_utils.py @@ -1,61 +1,61 @@ import numpy as np + def skew_matrix(vector: np.ndarray) -> np.ndarray: - """ - Returns the skew symmetric matrix of a 3x1 vector. + """Returns the skew symmetric matrix of a 3x1 vector. """ return np.array( [ [0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0] + [-vector[1], vector[0], 0], ] ) + def quat_norm(quat: np.ndarray) -> np.ndarray: - """ - Function that normalizes a quaternion + """Function that normalizes a quaternion """ quat = quat / np.linalg.norm(quat) return quat + def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. + """Calculates the quaternion super product of two quaternions. - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. - Returns: - np.ndarray: The quaternion super product. - """ + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) + eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) - eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) + q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) + q_new = q_new / np.linalg.norm(q_new) - q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) - q_new = q_new / np.linalg.norm(q_new) + return q_new - return q_new def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """Calculates the error between two quaternions """ - Calculates the error between two quaternions - """ - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_product(quat_1, quat_2_inv) return error_quat + def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: """Converts an angle-axis representation to a quaternion. @@ -71,13 +71,12 @@ def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: else: axis = vector / angle - q = np.zeros(4) q[0] = np.cos(angle / 2) q[1:] = np.sin(angle / 2) * axis return q - + def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: """Calculates the rotation matrix from the angle-axis representation. @@ -109,40 +108,41 @@ def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: 1 - 2 * q1**2 - 2 * q2**2, ], ] - ) + ) return R + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """ - Converts Euler angles to a quaternion + """Converts Euler angles to a quaternion """ psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) + s_psi = np.sin(psi / 2) c_theta = np.cos(theta / 2) s_theta = np.sin(theta / 2) c_phi = np.cos(phi / 2) s_phi = np.sin(phi / 2) - quat = np.array([ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi - ]) + quat = np.array( + [ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, + ] + ) return quat + def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to Euler angles + """Converts a quaternion to Euler angles """ nu, eta_1, eta_2, eta_3 = quat - phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) return np.array([phi, theta, psi]) - diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 0930d9f6c..2c6d94c09 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -4,7 +4,6 @@ from eskf_python_filter import ESKF from eskf_python_utils import quat_to_euler from eskf_test_utils import StateQuatModel, process_model -from scipy.stats import chi2 def simulate_eskf(): @@ -356,4 +355,4 @@ def simulate_eskf(): plt.tight_layout() plt.show() -""" \ No newline at end of file +""" diff --git a/navigation/eskf_python/eskf_python/eskf_test_utils.py b/navigation/eskf_python/eskf_python/eskf_test_utils.py index 34abe8eda..a60e62ff0 100644 --- a/navigation/eskf_python/eskf_python/eskf_test_utils.py +++ b/navigation/eskf_python/eskf_python/eskf_test_utils.py @@ -1,15 +1,23 @@ -import numpy as np from dataclasses import dataclass, field -from typing import Tuple -from eskf_python_utils import quaternion_product, euler_to_quat, quat_to_euler, quaternion_error, quat_norm, skew_matrix + +import numpy as np +from eskf_python_utils import ( + euler_to_quat, + quat_norm, + quat_to_euler, + quaternion_error, + quaternion_product, + skew_matrix, +) # This was the original code from the ukf_okid.py file + @dataclass class StateQuatModel: + """A class to represent the state to be estimated by the UKF. """ - A class to represent the state to be estimated by the UKF. - """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -18,7 +26,9 @@ class StateQuatModel: def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + return np.concatenate( + [self.position, self.orientation, self.velocity, self.angular_velocity] + ) def nu(self) -> np.ndarray: """Calculates the nu vector.""" @@ -27,11 +37,25 @@ def nu(self) -> np.ndarray: def R_q(self) -> np.ndarray: """Calculates the rotation matrix from the orientation quaternion.""" q0, q1, q2, q3 = self.orientation - R = np.array([ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] - ]) + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) return R def fill_states(self, state: np.ndarray) -> None: @@ -41,10 +65,14 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + def fill_states_different_dim( + self, state: np.ndarray, state_euler: np.ndarray + ) -> None: """Fills states when the state vector has different dimensions than the default state vector.""" self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.orientation = quaternion_product( + state[3:7], euler_to_quat(state_euler[3:6]) + ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] @@ -52,7 +80,9 @@ def subtract(self, other: 'StateQuatModel') -> np.ndarray: """Subtracts two StateQuatModel objects, returning the difference with Euler angles.""" new_array = np.zeros(len(self.as_vector()) - 1) new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[3:6] = quat_to_euler( + quaternion_error(self.orientation, other.orientation) + ) new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity @@ -92,7 +122,9 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: """Inserts the weights into the covariance matrix.""" new_state = StateQuatModel() new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.orientation = quaternion_error( + self.orientation, euler_to_quat(weights[3:6]) + ) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] @@ -107,9 +139,9 @@ def add_without_quaternions(self, other: 'StateQuatModel') -> None: @dataclass class process_model: + """A class defined for a general process model. """ - A class defined for a general process model. - """ + state_vector: StateQuatModel = field(default_factory=StateQuatModel) state_vector_dot: StateQuatModel = field(default_factory=StateQuatModel) state_vector_prev: StateQuatModel = field(default_factory=StateQuatModel) @@ -119,7 +151,7 @@ class process_model: damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) dt: float = 0.0 integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -130,22 +162,33 @@ class process_model: def R(self) -> np.ndarray: """Calculates the rotation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) + R = np.array( + [ + [ + 1 - 2 * e_2**2 - 2 * e_3**2, + 2 * e_1 * e_2 - 2 * nu * e_3, + 2 * e_1 * e_3 + 2 * nu * e_2, + ], + [ + 2 * e_1 * e_2 + 2 * nu * e_3, + 1 - 2 * e_1**2 - 2 * e_3**2, + 2 * e_2 * e_3 - 2 * nu * e_1, + ], + [ + 2 * e_1 * e_3 - 2 * nu * e_2, + 2 * e_2 * e_3 + 2 * nu * e_1, + 1 - 2 * e_1**2 - 2 * e_2**2, + ], + ] + ) return R def T(self) -> np.ndarray: """Calculates the transformation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) + T = 0.5 * np.array( + [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] + ) return T def Crb(self) -> np.ndarray: @@ -170,15 +213,31 @@ def model_prediction(self, state: StateQuatModel) -> None: """Calculates the model of the system.""" self.state_vector = state self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.orientation = np.dot( + self.T(), self.state_vector.angular_velocity + ) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( + self.Control_input + - np.dot(self.Crb(), self.state_vector.nu()) + - np.dot(self.D(), self.state_vector.nu()) + ) self.state_vector_dot.velocity = Nu[:3] self.state_vector_dot.angular_velocity = Nu[3:] def euler_forward(self) -> StateQuatModel: """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt - return self.state_vector \ No newline at end of file + self.state_vector.position = ( + self.state_vector_prev.position + self.state_vector_dot.position * self.dt + ) + self.state_vector.orientation = quat_norm( + self.state_vector_prev.orientation + + self.state_vector_dot.orientation * self.dt + ) + self.state_vector.velocity = ( + self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + ) + self.state_vector.angular_velocity = ( + self.state_vector_prev.angular_velocity + + self.state_vector_dot.angular_velocity * self.dt + ) + return self.state_vector diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py index df7392bd4..52cffb2df 100644 --- a/navigation/ukf_okid/ukf_python/rest.py +++ b/navigation/ukf_okid/ukf_python/rest.py @@ -1,28 +1,33 @@ def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points + """Function that calculates the mean of a set of points """ n = len(set_points[0].as_vector()) - 1 mean_value = StateQuat() if weights is None: for i in range(2 * n + 1): - weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + weight_temp_list = (1 / (2 * n + 1)) * np.ones(2 * n + 1) mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) - + + mean_value.orientation = iterative_quaternion_mean_statequat( + set_points, weight_temp_list + ) + else: for i in range(2 * n + 1): mean_value.add_without_quaternions(weights[i] * set_points[i]) - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) - + mean_value.orientation = iterative_quaternion_mean_statequat( + set_points, weights + ) + return mean_value.as_vector() -def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points + +def mean_measurement( + set_points: list[MeasModel], weights: np.ndarray = None +) -> np.ndarray: + """Function that calculates the mean of a set of points """ n = len(set_points) mean_value = MeasModel() @@ -33,5 +38,5 @@ def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> else: for i in range(n): mean_value = mean_value + (weights[i] * set_points[i]) - - return mean_value.measurement \ No newline at end of file + + return mean_value.measurement diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 16312935a..80a7c939c 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,7 +1,6 @@ -from ukf_okid_class import * + import numpy as np -import time -import matplotlib.pyplot as plt +from ukf_okid_class import * class UKF: @@ -17,8 +16,7 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.T = self.generate_T_matrix(len(P_0)) def generate_T_matrix(self, n: float) -> np.ndarray: - """ - Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. + """Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. Parameters: n (int): The state dimension. @@ -29,7 +27,7 @@ def generate_T_matrix(self, n: float) -> np.ndarray: T = np.zeros((n, n)) for i in range(n): - for j in range(n//2): + for j in range(n // 2): T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) @@ -41,8 +39,7 @@ def generate_T_matrix(self, n: float) -> np.ndarray: return T def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """ - Functions that generate the sigma points for the UKF + """Functions that generate the sigma points for the UKF """ n = len(current_state.covariance) @@ -60,18 +57,15 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: return self.sigma_points_list - def unscented_transform(self, current_state: StateQuat) -> StateQuat: + """The unscented transform function generates the priori state estimate """ - The unscented transform function generates the priori state estimate - """ - - _ = self.sigma_points(current_state) + _ = self.sigma_points(current_state) n = len(current_state.covariance) self.y_i = [StateQuat() for _ in range(2 * n)] - for i in range(2 * n ): + for i in range(2 * n): self.process_model.model_prediction(self.sigma_points_list[i]) self.y_i[i] = self.process_model.euler_forward() @@ -82,12 +76,12 @@ def unscented_transform(self, current_state: StateQuat) -> StateQuat: state_estimate.covariance = covariance_set(self.y_i, x) return state_estimate - def measurement_update(self, current_state: StateQuat, measurement: MeasModel) -> tuple[MeasModel, np.ndarray]: - """ - Function that updates the state estimate with a measurement + def measurement_update( + self, current_state: StateQuat, measurement: MeasModel + ) -> tuple[MeasModel, np.ndarray]: + """Function that updates the state estimate with a measurement Hopefully this is the DVL or GNSS """ - n = len(current_state.covariance) z_i = [MeasModel() for _ in range(2 * n)] @@ -100,15 +94,21 @@ def measurement_update(self, current_state: StateQuat, measurement: MeasModel) - meas_update.covariance = covariance_measurement(z_i, meas_update.measurement) - cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement) + cross_correlation = cross_covariance( + self.y_i, current_state.as_vector(), z_i, meas_update.measurement + ) return meas_update, cross_correlation - def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.ndarray, measurement: MeasModel, ex_measuremnt: MeasModel) -> StateQuat: - """ - Calculates the posteriori estimate using measurement and the prior estimate + def posteriori_estimate( + self, + current_state: StateQuat, + cross_correlation: np.ndarray, + measurement: MeasModel, + ex_measuremnt: MeasModel, + ) -> StateQuat: + """Calculates the posteriori estimate using measurement and the prior estimate """ - nu_k = MeasModel() nu_k.measurement = measurement.measurement - ex_measuremnt.measurement @@ -118,8 +118,12 @@ def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.nd posteriori_estimate = StateQuat() - posteriori_estimate.fill_states_different_dim(current_state.as_vector(), np.dot(K_k, nu_k.measurement)) - posteriori_estimate.covariance = current_state.covariance - np.dot(K_k, np.dot(nu_k.covariance, np.transpose(K_k))) + posteriori_estimate.fill_states_different_dim( + current_state.as_vector(), np.dot(K_k, nu_k.measurement) + ) + posteriori_estimate.covariance = current_state.covariance - np.dot( + K_k, np.dot(nu_k.covariance, np.transpose(K_k)) + ) self.process_model.state_vector_prev = posteriori_estimate diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 4d3281260..181d1f4af 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -1,15 +1,13 @@ from dataclasses import dataclass, field -import numpy as np - -from dataclasses import dataclass, field import numpy as np + @dataclass class StateQuat: + """A class to represent the state to be estimated by the UKF. """ - A class to represent the state to be estimated by the UKF. - """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -18,7 +16,9 @@ class StateQuat: def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + return np.concatenate( + [self.position, self.orientation, self.velocity, self.angular_velocity] + ) def nu(self) -> np.ndarray: """Calculates the nu vector.""" @@ -27,11 +27,25 @@ def nu(self) -> np.ndarray: def R_q(self) -> np.ndarray: """Calculates the rotation matrix from the orientation quaternion.""" q0, q1, q2, q3 = self.orientation - R = np.array([ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] - ]) + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) return R def fill_states(self, state: np.ndarray) -> None: @@ -41,10 +55,14 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + def fill_states_different_dim( + self, state: np.ndarray, state_euler: np.ndarray + ) -> None: """Fills states when the state vector has different dimensions than the default state vector.""" self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.orientation = quaternion_super_product( + state[3:7], euler_to_quat(state_euler[3:6]) + ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] @@ -62,7 +80,9 @@ def __add__(self, other: 'StateQuat') -> 'StateQuat': """Adds two StateQuat objects.""" new_state = StateQuat() new_state.position = self.position + other.position - new_state.orientation = quaternion_super_product(self.orientation, other.orientation) + new_state.orientation = quaternion_super_product( + self.orientation, other.orientation + ) new_state.velocity = self.velocity + other.velocity new_state.angular_velocity = self.angular_velocity + other.angular_velocity @@ -92,7 +112,9 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: """Inserts the weights into the covariance matrix.""" new_state = StateQuat() new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.orientation = quaternion_error( + self.orientation, euler_to_quat(weights[3:6]) + ) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] @@ -104,11 +126,12 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: self.velocity += other.velocity self.angular_velocity += other.angular_velocity + @dataclass class MeasModel: + """A class defined for a general measurement model. """ - A class defined for a general measurement model. - """ + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) @@ -138,11 +161,12 @@ def __sub__(self, other: 'MeasModel') -> 'MeasModel': result.measurement = self.measurement - other.measurement return result + @dataclass class process_model: + """A class defined for a general process model. """ - A class defined for a general process model. - """ + state_vector: StateQuat = field(default_factory=StateQuat) state_vector_dot: StateQuat = field(default_factory=StateQuat) state_vector_prev: StateQuat = field(default_factory=StateQuat) @@ -152,7 +176,7 @@ class process_model: damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) dt: float = 0.0 integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -163,22 +187,33 @@ class process_model: def R(self) -> np.ndarray: """Calculates the rotation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) + R = np.array( + [ + [ + 1 - 2 * e_2**2 - 2 * e_3**2, + 2 * e_1 * e_2 - 2 * nu * e_3, + 2 * e_1 * e_3 + 2 * nu * e_2, + ], + [ + 2 * e_1 * e_2 + 2 * nu * e_3, + 1 - 2 * e_1**2 - 2 * e_3**2, + 2 * e_2 * e_3 - 2 * nu * e_1, + ], + [ + 2 * e_1 * e_3 - 2 * nu * e_2, + 2 * e_2 * e_3 + 2 * nu * e_1, + 1 - 2 * e_1**2 - 2 * e_2**2, + ], + ] + ) return R def T(self) -> np.ndarray: """Calculates the transformation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) + T = 0.5 * np.array( + [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] + ) return T def Crb(self) -> np.ndarray: @@ -203,138 +238,157 @@ def model_prediction(self, state: StateQuat) -> None: """Calculates the model of the system.""" self.state_vector = state self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.orientation = np.dot( + self.T(), self.state_vector.angular_velocity + ) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( + self.Control_input + - np.dot(self.Crb(), self.state_vector.nu()) + - np.dot(self.D(), self.state_vector.nu()) + ) self.state_vector_dot.velocity = Nu[:3] self.state_vector_dot.angular_velocity = Nu[3:] def euler_forward(self) -> StateQuat: """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + self.state_vector.position = ( + self.state_vector_prev.position + self.state_vector_dot.position * self.dt + ) + self.state_vector.orientation = quat_norm( + self.state_vector_prev.orientation + + self.state_vector_dot.orientation * self.dt + ) + self.state_vector.velocity = ( + self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + ) + self.state_vector.angular_velocity = ( + self.state_vector_prev.angular_velocity + + self.state_vector_dot.angular_velocity * self.dt + ) return self.state_vector + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """ - Converts Euler angles to a quaternion + """Converts Euler angles to a quaternion """ psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) + s_psi = np.sin(psi / 2) c_theta = np.cos(theta / 2) s_theta = np.sin(theta / 2) c_phi = np.cos(phi / 2) s_phi = np.sin(phi / 2) - quat = np.array([ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi - ]) + quat = np.array( + [ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, + ] + ) return quat + def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to Euler angles + """Converts a quaternion to Euler angles """ nu, eta_1, eta_2, eta_3 = quat - phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) return np.array([phi, theta, psi]) + def quat_norm(quat: np.ndarray) -> np.ndarray: + """Function that normalizes a quaternion """ - Function that normalizes a quaternion - """ - quat = quat / np.linalg.norm(quat) return quat + def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. + """Calculates the skew symmetric matrix of a vector. - Args: - vector (np.ndarray): The vector. + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. + """Calculates the quaternion super product of two quaternions. - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) - q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) + return q_new - return q_new def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """Calculates the error between two quaternions """ - Calculates the error between two quaternions - """ - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_super_product(quat_1, quat_2_inv) return error_quat -def iterative_quaternion_mean_statequat(state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: - """ - Computes the weighted mean of the quaternion orientations from a list of StateQuat objects + +def iterative_quaternion_mean_statequat( + state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100 +) -> np.ndarray: + """Computes the weighted mean of the quaternion orientations from a list of StateQuat objects using an iterative approach, without requiring the caller to manually extract the quaternion. - + Parameters: state_list (list[StateQuat]): List of StateQuat objects. weights (np.ndarray): Weights for each state. tol (float): Convergence tolerance. max_iter (int): Maximum number of iterations. - + Returns: np.ndarray: The averaged quaternion as a 4-element numpy array. """ - sigma_quats = [state.orientation for state in state_list] n = len(state_list) mean_q = sigma_quats[0].copy() - + for _ in range(max_iter): weighted_error_vectors = [] for i, q in enumerate(sigma_quats): mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) e = quaternion_super_product(q, mean_q_conj) - + e0_clipped = np.clip(e[0], -1.0, 1.0) angle = 2 * np.arccos(e0_clipped) if np.abs(angle) < 1e-8: @@ -342,28 +396,32 @@ def iterative_quaternion_mean_statequat(state_list: list[StateQuat], tol: float else: error_vec = (angle / np.sin(angle / 2)) * e[1:4] weighted_error_vectors.append(error_vec) - + error_avg = (1 / n) * np.sum(weighted_error_vectors, axis=0) if np.linalg.norm(error_avg) < tol: break - + error_norm = np.linalg.norm(error_avg) if error_norm > 0: - delta_q = np.array([np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + delta_q = np.array( + [ + np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm)), + ] + ) else: delta_q = np.array([1.0, 0.0, 0.0, 0.0]) mean_q = quaternion_super_product(delta_q, mean_q) mean_q = quat_norm(mean_q) - + return mean_q + def mean_set(set_points: list[StateQuat]) -> np.ndarray: - """ - Functio calculates the mean vector of a set of points - - Args: + """Function calculates the mean vector of a set of points + + Args: set_points (list[StateQuat]): List of StateQuat objects Returns: @@ -374,30 +432,30 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: for state in set_points: mean_value.add_without_quaternions(state) - - mean_value = (1 / (n)) * mean_value + + mean_value = (1 / (n)) * mean_value mean_value.orientation = iterative_quaternion_mean_statequat(set_points) return mean_value.as_vector() + def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """ - Function that calculates the mean of a set of points + """Function that calculates the mean of a set of points """ n = len(set_points) mean_value = MeasModel() for state in set_points: mean_value = mean_value + state - + mean_value = (1 / n) * mean_value return mean_value.measurement + def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """ - Function that calculates the covariance of a set of points + """Function that calculates the covariance of a set of points """ n = len(set_points) covariance = np.zeros(set_points[0].covariance.shape) @@ -410,23 +468,25 @@ def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: for state in set_points: q = state.orientation diff_q = quaternion_error(q, mean_q) - + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) angle = 2.0 * np.arccos(e0_clipped) if abs(angle) < 1e-8: e_vec = np.zeros(3) else: - e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] + e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] - covariance += np.outer(state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec)) + covariance += np.outer( + state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec) + ) covariance = (1 / (n)) * covariance return covariance + def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """ - Function that calculates the covariance of a set of points + """Function that calculates the covariance of a set of points """ n = len(set_points) co_size = len(set_points[0].measurement) @@ -443,9 +503,14 @@ def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np. return covariance -def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray) -> np.ndarray: - """ - Calculates the cross covariance between the measurement and state prediction + +def cross_covariance( + set_y: list[StateQuat], + mean_y: np.ndarray, + set_z: list[MeasModel], + mean_z: np.ndarray, +) -> np.ndarray: + """Calculates the cross covariance between the measurement and state prediction """ n = len(set_y) @@ -458,16 +523,18 @@ def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[Mea for i in range(n): q = set_y[i].orientation diff_q = quaternion_error(q, mean_q) - + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) angle = 2.0 * np.arccos(e0_clipped) if abs(angle) < 1e-8: e_vec = np.zeros(3) else: - e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] + e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] + + cross_covariance += np.outer( + set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z + ) - cross_covariance += np.outer(set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z) - cross_covariance = (1 / n) * cross_covariance return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index 3c197ed63..cebb53ac6 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,27 +1,28 @@ -from ukf_okid import UKF -from ukf_okid_class import StateQuat, process_model, MeasModel -import numpy as np import time -import matplotlib.pyplot as plt -from ukf_utils import print_StateQuat_list, print_StateQuat -from ukf_okid_class import quaternion_super_product, quat_to_euler, mean_set, covariance_set +import matplotlib.pyplot as plt +import numpy as np +from ukf_okid import UKF +from ukf_okid_class import ( + MeasModel, + StateQuat, + process_model, + quat_to_euler, + quaternion_super_product, +) def add_quaternion_noise(q, noise_std): - noise = np.random.normal(0, noise_std, 3) theta = np.linalg.norm(noise) if theta > 0: - axis = noise / theta - q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) + q_noise = np.hstack((np.cos(theta / 2), np.sin(theta / 2) * axis)) else: - q_noise = np.array([1.0, 0.0, 0.0, 0.0]) q_new = quaternion_super_product(q, q_noise) @@ -30,7 +31,6 @@ def add_quaternion_noise(q, noise_std): if __name__ == '__main__': - # Create initial state vector and covariance matrix. x0 = np.zeros(13) x0[0:3] = [0.3, 0.3, 0.3] @@ -38,20 +38,22 @@ def add_quaternion_noise(q, noise_std): x0[7:10] = [0.2, 0.2, 0.2] dt = 0.01 R = (0.01) * np.eye(3) - + Q = 0.00015 * np.eye(12) P0 = np.eye(12) * 0.0001 model = process_model() model.dt = 0.01 - model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) + model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) model.m = 30.0 model.r_b_bg = np.array([0.01, 0.0, 0.02]) model.inertia = np.diag([0.68, 3.32, 3.34]) @@ -61,14 +63,16 @@ def add_quaternion_noise(q, noise_std): model_ukf = process_model() model_ukf.dt = 0.01 - model_ukf.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) + model_ukf.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) model_ukf.m = 30.0 model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) @@ -101,7 +105,7 @@ def add_quaternion_noise(q, noise_std): measurment_model = MeasModel() measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - measurment_model.covariance = R + measurment_model.covariance = R # Initialize arrays to store the results positions = np.zeros((num_steps, 3)) @@ -129,7 +133,16 @@ def add_quaternion_noise(q, noise_std): elapsed_times = [] - u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + u = lambda t: np.array( + [ + 2 * np.sin(1 * t), + 2 * np.sin(1 * t), + 2 * np.sin(1 * t), + 0.2 * np.cos(1 * t), + 0.2 * np.cos(1 * t), + 0.2 * np.cos(1 * t), + ] + ) # Run the simulation for step in range(num_steps): @@ -142,10 +155,18 @@ def add_quaternion_noise(q, noise_std): new_state = model.euler_forward() # Adding noise in the state vector - estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) - estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) - estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) - estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) + estimated_state.position = ( + estimated_state.position + ) # + np.random.normal(0, 0.01, 3) + estimated_state.orientation = ( + estimated_state.orientation + ) # add_quaternion_noise(estimated_state.orientation, 0.01) + estimated_state.velocity = ( + estimated_state.velocity + ) # + np.random.normal(0, 0.01, 3) + estimated_state.angular_velocity = ( + estimated_state.angular_velocity + ) # + np.random.normal(0, 0.01, 3) start_time = time.time() estimated_state = ukf.unscented_transform(estimated_state) @@ -155,10 +176,15 @@ def add_quaternion_noise(q, noise_std): elapsed_times.append(elapsed_time) if step % 20 == 0: - measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) - meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) - estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) - + measurment_model.measurement = ( + new_state.velocity + ) # + np.random.normal(0, 0.01, 3) + meas_update, covariance_matrix = ukf.measurement_update( + estimated_state, measurment_model + ) + estimated_state = ukf.posteriori_estimate( + estimated_state, covariance_matrix, measurment_model, meas_update + ) positions[step, :] = new_state.position orientations[step, :] = quat_to_euler(new_state.orientation) @@ -169,7 +195,7 @@ def add_quaternion_noise(q, noise_std): orientations_est[step, :] = quat_to_euler(estimated_state.orientation) velocities_est[step, :] = estimated_state.velocity angular_velocities_est[step, :] = estimated_state.angular_velocity - + # Update the state for the next iteration model.state_vector_prev = new_state @@ -294,4 +320,4 @@ def add_quaternion_noise(q, noise_std): plt.legend() plt.tight_layout() - plt.show() \ No newline at end of file + plt.show() diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index ad5871567..da56a7dfc 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -1,19 +1,21 @@ + import numpy as np -from dataclasses import dataclass from ukf_okid_class import StateQuat -def print_StateQuat_list(state_list: list[StateQuat], name="StateQuat List", print_covariance=True): - """ - Custom print function to print a list of StateQuat objects in a formatted form. + +def print_StateQuat_list( + state_list: list[StateQuat], name="StateQuat List", print_covariance=True +): + """Custom print function to print a list of StateQuat objects in a formatted form. """ print(f"{name}:") for i, state in enumerate(state_list): print(f"Index {i}:") print_StateQuat(state, f"StateQuat {i}", print_covariance) + def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): - """ - Custom print function to print StateQuat objects in a formatted form. + """Custom print function to print StateQuat objects in a formatted form. """ print(f"{name}:") print(f" Position: {state.position}") @@ -24,9 +26,9 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): if print_covariance: print_matrix(state.covariance, "Covariance") + def print_matrix(matrix, name="Matrix"): - """ - Custom print function to print matrices in a formatted form. + """Custom print function to print matrices in a formatted form. """ print(f"{name}: {matrix.shape}") if isinstance(matrix, np.ndarray): From 9b44fce6228741339964ced4b14f0bba47c4d774 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 3 Apr 2025 19:31:45 +0200 Subject: [PATCH 013/109] refactor: remove python eskf --- navigation/eskf_python/CMakeLists.txt | 33 -- navigation/eskf_python/README.md | 0 .../eskf_python/config/eskf_python.yaml | 3 - .../eskf_python/eskf_python/__init__.py | 0 .../eskf_python/eskf_python_class.py | 196 ---------- .../eskf_python/eskf_python_filter.py | 295 --------------- .../eskf_python/eskf_python_node.py | 151 -------- .../eskf_python/eskf_python_utils.py | 148 -------- .../eskf_python/eskf_python/eskf_test.py | 358 ------------------ .../eskf_python/eskf_test_utils.py | 243 ------------ navigation/eskf_python/launch/eskf.launch.py | 22 -- navigation/eskf_python/package.xml | 23 -- navigation/ukf_okid/ukf_python/rest.py | 6 +- navigation/ukf_okid/ukf_python/ukf_okid.py | 10 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 33 +- navigation/ukf_okid/ukf_python/ukf_utils.py | 10 +- 16 files changed, 19 insertions(+), 1512 deletions(-) delete mode 100644 navigation/eskf_python/CMakeLists.txt delete mode 100644 navigation/eskf_python/README.md delete mode 100644 navigation/eskf_python/config/eskf_python.yaml delete mode 100644 navigation/eskf_python/eskf_python/__init__.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_class.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_filter.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_node.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_utils.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_test.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_test_utils.py delete mode 100644 navigation/eskf_python/launch/eskf.launch.py delete mode 100644 navigation/eskf_python/package.xml diff --git a/navigation/eskf_python/CMakeLists.txt b/navigation/eskf_python/CMakeLists.txt deleted file mode 100644 index b4fc9118c..000000000 --- a/navigation/eskf_python/CMakeLists.txt +++ /dev/null @@ -1,33 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(eskf_python) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(vortex_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) - -ament_python_install_package(${PROJECT_NAME}) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -install(PROGRAMS - eskf_python/eskf_python_node.py - DESTINATION lib/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_pytest REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) -endif() - -ament_package() diff --git a/navigation/eskf_python/README.md b/navigation/eskf_python/README.md deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/eskf_python/config/eskf_python.yaml b/navigation/eskf_python/config/eskf_python.yaml deleted file mode 100644 index 0d80b90df..000000000 --- a/navigation/eskf_python/config/eskf_python.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - eskf_python_node: diff --git a/navigation/eskf_python/eskf_python/__init__.py b/navigation/eskf_python/eskf_python/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py deleted file mode 100644 index 65d41425d..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ /dev/null @@ -1,196 +0,0 @@ -from dataclasses import dataclass, field - -import numpy as np -from eskf_python_utils import quaternion_error - - -@dataclass -class StateQuat: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.array([1, 0, 0, 0]) - ) # Orientation quaternion (w, x, y, z) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - g: np.ndarray = field(default_factory=lambda: np.array([0, 0, 0])) # Gravity vector - - def as_vector(self) -> np.ndarray: - """Returns the state vector as a numpy array. - - Returns: - np.ndarray: The state vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - self.g, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:10] - self.acceleration_bias = state[10:13] - self.gyro_bias = state[13:16] - self.g = state[16:19] - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion. - - Returns: - np.ndarray: The rotation matrix. - """ - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - - return R - - def __sub__(self, other: 'StateQuat') -> 'StateQuat': - """Subtracts the values of two state vectors. - - Args: - other (StateQuat): The state vector to subtract. - - Returns: - np.ndarray: The difference between the two state vectors. - """ - result = StateQuat() - result.position = self.position - other.position - result.velocity = self.velocity - other.velocity - result.orientation = quaternion_error(self.orientation, other.orientation) - result.acceleration_bias = self.acceleration_bias - other.acceleration_bias - result.gyro_bias = self.gyro_bias - other.gyro_bias - result.g = self.g - other.g - - return result - - -@dataclass -class StateEuler: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Orientation angles (roll, pitch, yaw) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - g: np.ndarray = field( - default_factory=lambda: np.array([0, 0, 9.81]) - ) # Gravity vector - covariance: np.ndarray = field( - default_factory=lambda: np.zeros((18, 18)) - ) # Covariance matrix - - def as_vector(self) -> np.ndarray: - """Returns the state vector as a numpy array. - - Returns: - np.ndarray: The state vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - self.g, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:9] - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:15] - self.g = state[15:18] - - def copy_state(self, wanted_state: 'StateEuler') -> None: - """Copies the state from a StateVector object into the current StateVector object. - - Args: - wanted_state (StateVector_euler): The quaternion state to copy from. - """ - self.position = wanted_state.position - self.velocity = wanted_state.velocity - self.orientation = wanted_state.orientation - self.acceleration_bias = wanted_state.acceleration_bias - self.gyro_bias = wanted_state.gyro_bias - - -@dataclass -class MeasurementModel: - measurement: np.ndarray = field(default_factory=lambda: np.zeros(6)) - measurement_covariance: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. - - Returns: - np.ndarray: The measurement matrix. - """ - H = np.zeros((3, 15)) - - H[0:3, 3:6] = np.eye(3) - - return H - - -@dataclass -class Measurement: - acceleration: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - aiding: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - aiding_covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py deleted file mode 100644 index fac3c8526..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ /dev/null @@ -1,295 +0,0 @@ -# from dataclasses import dataclass -from typing import Tuple - -import numpy as np -from eskf_python_class import Measurement, StateEuler, StateQuat -from eskf_python_utils import ( - angle_axis_to_quaternion, - euler_to_quat, - quaternion_product, - skew_matrix, -) -from scipy.linalg import block_diag, expm - - -class ESKF: - def __init__( - self, Q: np.ndarray, P0, nom_state: StateQuat, p_accBias, p_gyroBias, dt - ): - self.Q = Q - self.dt = dt - self.nom_state = nom_state - self.error_state = StateEuler() - self.error_state.covariance = P0 - self.p_accBias = p_accBias - self.p_gyroBias = p_gyroBias - - def Q_delta_theta(self) -> np.ndarray: - """Calculates the Q_delta_theta matrix. - See Joan Solà. Quaternion kinematics for the error-state Kalman filter. - chapter: 6.1.1 eq. 281 - """ - qw, qx, qy, qz = self.nom_state.orientation - - Q_delta_theta = 0.5 * np.array( - [ - [-qx, -qy, -qz], - [qw, -qz, qy], - [qz, qw, -qx], - [-qy, qx, qw], - ] - ) - - return Q_delta_theta - - def Hx(self) -> np.ndarray: - """Computes the true-state measurement Jacobian for the measurement - h(x) = R(q) * velocity, - where: - - R(q) is the rotation matrix from the quaternion (q, q, q, q) with q as the scalar part, - - velocity is a 3-vector. - - The state is assumed to be ordered as: - [position (3), velocity (3), quaternion (4), ...] (total length 19). - - The Jacobian Hx is a 3x19 matrix with nonzero blocks: - - Columns 3:6 (velocity): R(q) - - Columns 6:10 (quaternion): - """ - q = self.nom_state.orientation # shape (4,) - v = self.nom_state.velocity # shape (3,) - q0, q1, q2, q3 = q - v1, v2, v3 = v - - R = self.nom_state.R_q().transpose() # shape (3, 3) - - dhdq0 = 2 * np.array( - [ - q0 * v1 - q3 * v2 + q2 * v3, - q3 * v1 + q0 * v2 - q1 * v3, - -q2 * v1 + q1 * v2 + q0 * v3, - ] - ) - - dhdq1 = 2 * np.array( - [ - q1 * v1 + q2 * v2 + q3 * v3, - q2 * v1 - q1 * v2 - q0 * v3, - q3 * v1 + q0 * v2 - q1 * v3, - ] - ) - - dhdq2 = 2 * np.array( - [ - -q2 * v1 + q1 * v2 + q0 * v3, - q1 * v1 + q2 * v2 + q3 * v3, - -q0 * v1 + q3 * v2 - q2 * v3, - ] - ) - - dhdq3 = 2 * np.array( - [ - -q3 * v1 - q0 * v2 + q1 * v3, - q0 * v1 - q3 * v2 + q2 * v3, - q1 * v1 + q2 * v2 + q3 * v3, - ] - ) - - dHdq = np.column_stack((dhdq0, dhdq1, dhdq2, dhdq3)) # shape (3, 4) - - Hx = np.zeros((3, 19)) - Hx[:, 3:6] = R - Hx[:, 6:10] = dHdq - - return Hx - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. - - Returns: - np.ndarray: The measurement matrix. - """ - X_deltax = block_diag(np.eye(6), self.Q_delta_theta(), np.eye(9)) - - H = self.Hx() @ X_deltax - - return H - - def h(self) -> np.ndarray: - """Calculates the measurement model. - - Returns: - np.ndarray: The measurement model. - """ - return self.nom_state.R_q() @ self.nom_state.velocity - - def nominal_state_discrete(self, imu_data: Measurement) -> None: - """Calculates the next nominal state using the discrete-time process model defined in: - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter: 5.4.1 The nominal state kinematics - - Args: - imu_data (np.ndarray): The IMU data. - """ - # Rectify measurements. - acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias - gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias - - R = self.nom_state.R_q() - - self.nom_state.position = ( - self.nom_state.position - + self.nom_state.velocity * self.dt - + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 - ) - self.nom_state.velocity = ( - self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt - ) - self.nom_state.orientation = quaternion_product( - self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt) - ) - self.nom_state.acceleration_bias = self.nom_state.acceleration_bias - self.nom_state.gyro_bias = self.nom_state.gyro_bias - self.nom_state.g = self.nom_state.g - - def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: - """Calculates the Van Loan discretization of a continuous-time system. - - Args: - A_c (np.ndarray): The A matrix. - G_c (np.ndarray): The G matrix. - - Returns: - Tuple: The A_d and GQG_d matrices. - """ - GQG_T = np.dot(np.dot(G_c, self.Q), G_c.T) - - matrix_exp = ( - np.block( - [ - [-A_c, GQG_T], - [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)], - ] - ) - * self.dt - ) - - van_loan_matrix = expm(matrix_exp) - - V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] - V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] - - A_d = V1.T - GQG_d = A_d @ V2 - - return A_d, GQG_d - - def error_state_prediction(self, imu_data: Measurement) -> None: - # Rectify measurements. - acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias - gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias - - R = self.nom_state.R_q() - - A_c = np.zeros((18, 18)) - - A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = -R @ skew_matrix(acc_rect) - A_c[6:9, 6:9] = -skew_matrix(gyro_rect) - A_c[3:6, 9:12] = -R - A_c[9:12, 9:12] = -self.p_accBias * np.eye(3) - A_c[12:15, 12:15] = -self.p_gyroBias * np.eye(3) - A_c[6:9, 12:15] = -np.eye(3) - A_c[3:6, 15:18] = np.eye(3) - - G_c = np.zeros((18, 12)) - - G_c[3:6, 0:3] = -R - G_c[6:9, 3:6] = -np.eye(3) - G_c[9:12, 6:9] = np.eye(3) - G_c[12:15, 9:12] = np.eye(3) - - A_d, GQG_d = self.van_loan_discretization(A_c, G_c) - - self.error_state.covariance = A_d @ self.error_state.covariance @ A_d.T + GQG_d - - def measurement_update(self, dvl_measurement: Measurement) -> float: - """Updates the error state using the DVL measurement. - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter: 6.1 eq. 274-276 - - Args: - dvl_measurement (np.ndarray): The DVL measurement. - """ - H = self.H() - P = self.error_state.covariance - R = dvl_measurement.aiding_covariance - - S = H @ P @ H.T + R - K = P @ H.T @ np.linalg.inv(S) - innovation = dvl_measurement.aiding - self.h() - - NIS_value = self.NIS(S, innovation) - - self.error_state.fill_states(K @ innovation) - - I_KH = np.eye(18) - K @ H - self.error_state.covariance = ( - I_KH @ P @ I_KH.T + K @ R @ K.T - ) # Joseph form for more stability - return NIS_value - - def injection(self) -> None: - """Injects the error state into the nominal state to produce the estimated state. - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter 6.2 eq. 282-283 - - """ - self.nom_state.position = self.nom_state.position + self.error_state.position - self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity - self.nom_state.orientation = quaternion_product( - self.nom_state.orientation, euler_to_quat(self.error_state.orientation) - ) - self.nom_state.acceleration_bias = ( - self.nom_state.acceleration_bias + self.error_state.acceleration_bias - ) - self.nom_state.gyro_bias = self.nom_state.gyro_bias + self.error_state.gyro_bias - self.nom_state.g = self.nom_state.g + self.error_state.g - - def reset_error_state(self) -> None: - """Resets the error state after injection. - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter 6.3 eq. 284-286 - """ - G = np.eye(18) # Neglecting the delta_theta as this is most common in practice - - self.error_state.covariance = G @ self.error_state.covariance @ G.T - self.error_state.fill_states(np.zeros(18)) - - def imu_update(self, imu_data: Measurement) -> None: - """Updates the state using the IMU data.""" - self.nominal_state_discrete(imu_data) - self.error_state_prediction(imu_data) - - def dvl_update(self, dvl_measurement: Measurement) -> float: - """Updates the state using the DVL measurement.""" - NIS = self.measurement_update(dvl_measurement) - self.injection() - self.reset_error_state() - - return NIS - - # functions for tuning the filter - def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: - """Calculates the Normalized Innovation Squared (NIS) value.""" - return innovation.T @ np.linalg.inv(S) @ innovation - - def NEEDS( - self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat - ) -> float: - """Calculates the Normalized Estimation Error Squared (NEEDS) value.""" - return ( - (true_state - estimate_state).as_vector().T - @ np.linalg.inv(P) - @ (true_state - estimate_state).as_vector() - ) diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py deleted file mode 100644 index 7b300ecc6..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ /dev/null @@ -1,151 +0,0 @@ -#!/usr/bin/env python3 - -import numpy as np -import rclpy -from geometry_msgs.msg import TwistWithCovarianceStamped -from nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import QoSProfile, qos_profile_sensor_data -from sensor_msgs.msg import Imu - -# NEED TO CHANGE THIS TO THE CORRECT PATH -from eskf_python.eskf_python_filter import ( - ErrorStateKalmanFilter, - MeasurementModel, - StateVector_euler, - StateVector_quaternion, -) - -qos_profile = QoSProfile( - depth=1, - history=qos_profile_sensor_data.history, - reliability=qos_profile_sensor_data.reliability, -) - - -class ESKalmanFilterNode(Node): - def __init__(self): - super().__init__("eskf_python_node") - - # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz - self.imu_subscriber_ = self.create_subscription( - Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile - ) - - self.twist_dvl_subscriber_ = self.create_subscription( - TwistWithCovarianceStamped, - '/dvl/twist', - self.filter_callback, - qos_profile=qos_profile, - ) - - # This publisher will publish the estimtaed state of the vehicle - self.state_publisher_ = self.create_publisher( - Odometry, '/orca/odom', qos_profile=qos_profile - ) - - self.eskf_modual = ErrorStateKalmanFilter() - self.current_state_nom = StateVector_quaternion() - self.current_state_error = StateVector_euler() - self.measurement_pred = MeasurementModel() - self.odom_msg = Odometry() - - self.get_logger().info("Error State Kalman Filter started") - - def imu_callback(self, msg: Imu): - # Get the IMU data - - imu_acceleartion = msg.linear_acceleration - imu_angular_velocity = msg.angular_velocity - - # Combine the IMU data - imu_data = np.array( - [ - imu_acceleartion.x, - imu_acceleartion.y, - imu_acceleartion.z, - imu_angular_velocity.x, - imu_angular_velocity.y, - imu_angular_velocity.z, - ] - ) - - # Update the filter with the IMU data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.imu_update_states( - self.current_state_nom, self.current_state_error, imu_data - ) - ) - - # Inserting the nominal state into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x - self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y - self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z - - # Publish - self.state_publisher_.publish(self.odom_msg) - - def filter_callback(self, msg: TwistWithCovarianceStamped): - """Callback function for the filter measurement update, - this will be called when the filter needs to be updated with the DVL data. - """ - self.get_logger().info("Filter callback, got DVL data") - - # Get the DVL data (linear velocity) - dvl_data = np.array( - [ - msg.twist.twist.linear.x, - msg.twist.twist.linear.y, - msg.twist.twist.linear.z, - ] - ) - - # Update the filter with the DVL data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.dvl_update_states( - self.current_state_nom, self.current_state_error, dvl_data - ) - ) - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.injection_and_reset( - self.current_state_nom, self.current_state_error - ) - ) - - # Inserting data into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - - # Publishing the data - self.state_publisher_.publish(self.odom_msg) - - -def main(args=None): - rclpy.init(args=args) - node = ESKalmanFilterNode() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py deleted file mode 100644 index bbe13d759..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_utils.py +++ /dev/null @@ -1,148 +0,0 @@ -import numpy as np - - -def skew_matrix(vector: np.ndarray) -> np.ndarray: - """Returns the skew symmetric matrix of a 3x1 vector. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion - """ - quat = quat / np.linalg.norm(quat) - - return quat - - -def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) - - q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) - q_new = q_new / np.linalg.norm(q_new) - - return q_new - - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions - """ - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_product(quat_1, quat_2_inv) - - return error_quat - - -def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: - """Converts an angle-axis representation to a quaternion. - - Args: - vector (np.ndarray): The angle-axis representation. - - Returns: - np.ndarray: The quaternion representation. - """ - angle = np.linalg.norm(vector) - if angle < 1e-8: - return np.array([1, 0, 0, 0]) - else: - axis = vector / angle - - q = np.zeros(4) - q[0] = np.cos(angle / 2) - q[1:] = np.sin(angle / 2) * axis - - return q - - -def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: - """Calculates the rotation matrix from the angle-axis representation. - - Args: - vector (np.ndarray): The angle-axis representation. - - Returns: - np.ndarray: The rotation matrix. - """ - quaternion = angle_axis_to_quaternion(vector) - q0, q1, q2, q3 = quaternion - - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - - return R - - -def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion - """ - psi, theta, phi = euler_angles - c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) - c_theta = np.cos(theta / 2) - s_theta = np.sin(theta / 2) - c_phi = np.cos(phi / 2) - s_phi = np.sin(phi / 2) - - quat = np.array( - [ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, - ] - ) - - return quat - - -def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles - """ - nu, eta_1, eta_2, eta_3 = quat - - phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) - theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) - - return np.array([phi, theta, psi]) diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py deleted file mode 100644 index 2c6d94c09..000000000 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ /dev/null @@ -1,358 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np -from eskf_python_class import Measurement, StateQuat -from eskf_python_filter import ESKF -from eskf_python_utils import quat_to_euler -from eskf_test_utils import StateQuatModel, process_model - - -def simulate_eskf(): - # Simulation parameters - simulation_time = 20.0 # seconds - dt = 0.01 - num_steps = int(simulation_time / dt) - time = np.linspace(0, simulation_time, num_steps) - - # ----------------------- Setup Initial States, Filter & Model ----------------------- - # True initial state - true_state_init = StateQuat() - true_state_init.position = np.array([0.1, 0.0, 0.0]) - true_state_init.velocity = np.array([0.1, 0.0, 0.0]) - P0 = np.diag( - [ - 0.3, - 0.3, - 0.3, # Position - 0.2, - 0.2, - 0.2, # Velocity - 0.2, - 0.2, - 0.2, # Orientation - 0.0001, - 0.0001, - 0.0001, # Acceleration bias - 0.00001, - 0.00001, - 0.00001, # Gyro bias - 0.00001, - 0.00001, - 0.00001, # Gravity - ] - ) - # Noise parameters - Q = np.diag( - [ - (0.13**2), - (0.13**2), - (0.13**2), # Adjusted Accelerometer noise - (0.13**2), - (0.13**2), - (0.13**2), # Adjusted Gyroscope noise - 0.0001, - 0.0001, - 0.0001, # Adjusted Acceleration bias random walk - 0.0001, - 0.0001, - 0.0001, # Adjusted Gyro bias random walk - ] - ) - - # Create filter object - eskf = ESKF(Q, P0, true_state_init, 1e-13, 1e-13, dt) - - # Create measurement objects - imu_data = Measurement() - dvl_data = Measurement() - - # R matrix for DVL aiding - dvl_data.aiding_covariance = np.diag( - [(0.01) ** 2, (0.01) ** 2, (0.01) ** 2] - ) # Adjusted DVL aiding covariance - - # Setup the process model for simulation of AUV - model = process_model() - model.dt = dt - model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - model.m = 30.0 - model.r_b_bg = np.array([0.01, 0.0, 0.02]) - model.inertia = np.diag([0.68, 3.32, 3.34]) - model.damping_linear = np.diag([0.03, 0.03, 0.03, 0.03, 0.03, 0.03]) - - # Initialize a dummy state for simulation dynamics. - # Two where made since there seems to be an issue with declaring two identical objects. - new_state = StateQuatModel() - new_state.position = np.array([0.1, 0.0, 0.0]) - new_state.velocity = np.array([0.1, 0.0, 0.0]) - - new_state_prev = StateQuatModel() - new_state_prev.position = np.array([0.1, 0.0, 0.0]) - new_state_prev.velocity = np.array([0.1, 0.0, 0.0]) - - model.state_vector = new_state - model.state_vector_prev = new_state_prev - - # Initialize arrays to store true and estimated states - true_positions = np.zeros((num_steps, 3)) - true_orientations = np.zeros((num_steps, 3)) - true_velocities = np.zeros((num_steps, 3)) - - est_positions = np.zeros((num_steps, 3)) - est_orientations = np.zeros((num_steps, 3)) - est_velocities = np.zeros((num_steps, 3)) - - # covariance arrays - pos_cov = np.zeros((num_steps, 3)) - vel_cov = np.zeros((num_steps, 3)) - ori_cov = np.zeros((num_steps, 3)) - - prev_velocity = np.zeros(3) - u = lambda t: np.array( - [ - 0.5 * np.sin(0.1 * t), - 0.5 * np.sin(0.1 * t + 0.3), - 0.5 * np.sin(0.1 * t + 0.6), - 0.05 * np.cos(0.1 * t), - 0.05 * np.cos(0.1 * t + 0.3), - 0.05 * np.cos(0.1 * t + 0.6), - ] - ) - - NIS_list = [] - NIS_value = 0.0 - - # Sim - for step in range(num_steps): - t = step * dt - - model.Control_input = u(t) - model.model_prediction(new_state) - new_state = model.euler_forward() - - imu_data.acceleration = ( - (new_state.velocity - prev_velocity) / dt - ) + np.random.normal(0, 0.13, 3) - imu_data.angular_velocity = new_state.angular_velocity + np.random.normal( - 0, 0.13, 3 - ) - - eskf.imu_update(imu_data) - - if step % 200 == 0: - dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) - NIS_value = eskf.dvl_update(dvl_data) - NIS_list.append(NIS_value) - - true_positions[step, :] = np.copy(new_state.position) - true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) - true_velocities[step, :] = np.copy(new_state.velocity) - - est_positions[step, :] = np.copy(eskf.nom_state.position) - est_orientations[step, :] = quat_to_euler(np.copy(eskf.nom_state.orientation)) - est_velocities[step, :] = np.copy(eskf.nom_state.velocity) - - P_diag = np.diag(eskf.error_state.covariance) - pos_cov[step, :] = P_diag[0:3] - vel_cov[step, :] = P_diag[3:6] - ori_cov[step, :] = P_diag[6:9] - - prev_velocity = new_state.velocity - model.state_vector_prev = new_state - - return ( - time, - true_positions, - true_orientations, - true_velocities, - est_positions, - est_orientations, - est_velocities, - pos_cov, - vel_cov, - ori_cov, - NIS_list, - ) - - -( - time, - true_positions, - true_orientations, - true_velocities, - est_positions, - est_orientations, - est_velocities, - pos_cov, - vel_cov, - ori_cov, - _, -) = simulate_eskf() - -# Plotting -axis_labels_pos = ["X", "Y", "Z"] -axis_labels_vel = ["X", "Y", "Z"] -axis_labels_ori = ["Roll", "Pitch", "Yaw"] - -# Plot Position -fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) -fig_pos.suptitle("True Data vs Filter Estimates for Position") -for i in range(3): - ax_pos = axs_pos[i] - ax_pos.plot( - time, - true_positions[:, i], - label=f"True Pos {axis_labels_pos[i]}", - color=f"C{i}", - linestyle='-', - ) - ax_pos.plot( - time, - est_positions[:, i], - label=f"Est Pos {axis_labels_pos[i]}", - color=f"C{i}", - linestyle='--', - ) - sigma_pos = np.sqrt(pos_cov[:, i]) - ax_pos.fill_between( - time, - est_positions[:, i] - sigma_pos, - est_positions[:, i] + sigma_pos, - color=f"C{i}", - alpha=0.2, - ) - ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") - ax_pos.set_xlabel("Time [s]") - ax_pos.set_ylabel("Position") - ax_pos.grid(True) - ax_pos.legend() - -plt.tight_layout(rect=[0, 0, 1, 0.96]) -plt.show() - -# Plot Velocity -fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) -fig_vel.suptitle("True Data vs Filter Estimates for Velocity") -for i in range(3): - ax_vel = axs_vel[i] - ax_vel.plot( - time, - true_velocities[:, i], - label=f"True Vel {axis_labels_vel[i]}", - color=f"C{i}", - linestyle='-', - ) - ax_vel.plot( - time, - est_velocities[:, i], - label=f"Est Vel {axis_labels_vel[i]}", - color=f"C{i}", - linestyle='--', - ) - sigma_vel = np.sqrt(vel_cov[:, i]) - ax_vel.fill_between( - time, - est_velocities[:, i] - sigma_vel, - est_velocities[:, i] + sigma_vel, - color=f"C{i}", - alpha=0.2, - ) - ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") - ax_vel.set_xlabel("Time [s]") - ax_vel.set_ylabel("Velocity") - ax_vel.grid(True) - ax_vel.legend() - -plt.tight_layout(rect=[0, 0, 1, 0.96]) -plt.show() - -# Plot Orientation -fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) -fig_ori.suptitle("True Data vs Filter Estimates for Orientation") -for i in range(3): - ax_ori = axs_ori[i] - ax_ori.plot( - time, - true_orientations[:, i], - label=f"True Ori {axis_labels_ori[i]}", - color=f"C{i}", - linestyle='-', - ) - ax_ori.plot( - time, - est_orientations[:, i], - label=f"Est Ori {axis_labels_ori[i]}", - color=f"C{i}", - linestyle='--', - ) - sigma_ori = np.sqrt(ori_cov[:, i]) - ax_ori.fill_between( - time, - est_orientations[:, i] - sigma_ori, - est_orientations[:, i] + sigma_ori, - color=f"C{i}", - alpha=0.2, - ) - ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") - ax_ori.set_xlabel("Time [s]") - ax_ori.set_ylabel("Orientation") - ax_ori.grid(True) - ax_ori.legend() - -plt.tight_layout(rect=[0, 0, 1, 0.96]) -plt.show() - - -### _______ NIS AND NEEDS _______ -""" -num_simulations = 10 -NIS_runs = [] - -for sim in range(num_simulations): - ( - time, - true_positions, - true_orientations, - true_velocities, - est_positions, - est_orientations, - est_velocities, - pos_cov, - vel_cov, - ori_cov, - NIS_list, - ) = simulate_eskf() - - NIS_runs.append(np.array(NIS_list)) - -NIS_runs = np.vstack(NIS_runs) -ANIS = np.mean(NIS_runs, axis=0) - -measurement_dimension = 3 - -chi2_lower = chi2.ppf(0.025, measurement_dimension) / num_simulations -chi2_upper = chi2.ppf(0.975, measurement_dimension) / num_simulations - -time_steps = np.arange(len(ANIS)) * 0.01 * 20 - -fig, ax = plt.subplots(figsize=(10, 6)) -ax.plot(time_steps, ANIS, label="ANIS", color="C0") -ax.axhline(chi2_lower, color="C1", linestyle="--", label="95% CI Lower") -ax.axhline(chi2_upper, color="C2", linestyle="--", label="95% CI Upper") -ax.set_title("Average Normalized Innovation Squared (ANIS)") -ax.set_xlabel("Time [s]") -ax.set_ylabel("ANIS") -ax.grid(True) -ax.legend() - -plt.tight_layout() -plt.show() -""" diff --git a/navigation/eskf_python/eskf_python/eskf_test_utils.py b/navigation/eskf_python/eskf_python/eskf_test_utils.py deleted file mode 100644 index a60e62ff0..000000000 --- a/navigation/eskf_python/eskf_python/eskf_test_utils.py +++ /dev/null @@ -1,243 +0,0 @@ -from dataclasses import dataclass, field - -import numpy as np -from eskf_python_utils import ( - euler_to_quat, - quat_norm, - quat_to_euler, - quaternion_error, - quaternion_product, - skew_matrix, -) - -# This was the original code from the ukf_okid.py file - - -@dataclass -class StateQuatModel: - """A class to represent the state to be estimated by the UKF. - """ - - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) - - def as_vector(self) -> np.ndarray: - """Returns the StateVector as a numpy array.""" - return np.concatenate( - [self.position, self.orientation, self.velocity, self.angular_velocity] - ) - - def nu(self) -> np.ndarray: - """Calculates the nu vector.""" - return np.concatenate([self.velocity, self.angular_velocity]) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - return R - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array.""" - self.position = state[0:3] - self.orientation = state[3:7] - self.velocity = state[7:10] - self.angular_velocity = state[10:13] - - def fill_states_different_dim( - self, state: np.ndarray, state_euler: np.ndarray - ) -> None: - """Fills states when the state vector has different dimensions than the default state vector.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_product( - state[3:7], euler_to_quat(state_euler[3:6]) - ) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - - def subtract(self, other: 'StateQuatModel') -> np.ndarray: - """Subtracts two StateQuatModel objects, returning the difference with Euler angles.""" - new_array = np.zeros(len(self.as_vector()) - 1) - new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler( - quaternion_error(self.orientation, other.orientation) - ) - new_array[6:9] = self.velocity - other.velocity - new_array[9:12] = self.angular_velocity - other.angular_velocity - - return new_array - - def __add__(self, other: 'StateQuatModel') -> 'StateQuatModel': - """Adds two StateQuatModel objects.""" - new_state = StateQuatModel() - new_state.position = self.position + other.position - new_state.orientation = quaternion_product(self.orientation, other.orientation) - new_state.velocity = self.velocity + other.velocity - new_state.angular_velocity = self.angular_velocity + other.angular_velocity - - return new_state - - def __sub__(self, other: 'StateQuatModel') -> 'StateQuatModel': - """Subtracts two StateQuatModel objects.""" - new_state = StateQuatModel() - new_state.position = self.position - other.position - new_state.orientation = quaternion_error(self.orientation, other.orientation) - new_state.velocity = self.velocity - other.velocity - new_state.angular_velocity = self.angular_velocity - other.angular_velocity - - return new_state.as_vector() - - def __rmul__(self, scalar: float) -> 'StateQuatModel': - """Multiplies the StateQuatModel object by a scalar.""" - new_state = StateQuatModel() - new_state.position = scalar * self.position - new_state.orientation = quat_norm(scalar * self.orientation) - new_state.velocity = scalar * self.velocity - new_state.angular_velocity = scalar * self.angular_velocity - - return new_state - - def insert_weights(self, weights: np.ndarray) -> np.ndarray: - """Inserts the weights into the covariance matrix.""" - new_state = StateQuatModel() - new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error( - self.orientation, euler_to_quat(weights[3:6]) - ) - new_state.velocity = self.velocity - weights[6:9] - new_state.angular_velocity = self.angular_velocity - weights[9:12] - - return new_state.as_vector() - - def add_without_quaternions(self, other: 'StateQuatModel') -> None: - """Adds elements into the state vector without considering the quaternions.""" - self.position += other.position - self.velocity += other.velocity - self.angular_velocity += other.angular_velocity - - -@dataclass -class process_model: - """A class defined for a general process model. - """ - - state_vector: StateQuatModel = field(default_factory=StateQuatModel) - state_vector_dot: StateQuatModel = field(default_factory=StateQuatModel) - state_vector_prev: StateQuatModel = field(default_factory=StateQuatModel) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array( - [ - [ - 1 - 2 * e_2**2 - 2 * e_3**2, - 2 * e_1 * e_2 - 2 * nu * e_3, - 2 * e_1 * e_3 + 2 * nu * e_2, - ], - [ - 2 * e_1 * e_2 + 2 * nu * e_3, - 1 - 2 * e_1**2 - 2 * e_3**2, - 2 * e_2 * e_3 - 2 * nu * e_1, - ], - [ - 2 * e_1 * e_3 - 2 * nu * e_2, - 2 * e_2 * e_3 + 2 * nu * e_1, - 1 - 2 * e_1**2 - 2 * e_2**2, - ], - ] - ) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array( - [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] - ) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_matrix(ang_vel) - lever_arm_skew = skew_matrix(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_matrix(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuatModel) -> None: - """Calculates the model of the system.""" - self.state_vector = state - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot( - self.T(), self.state_vector.angular_velocity - ) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( - self.Control_input - - np.dot(self.Crb(), self.state_vector.nu()) - - np.dot(self.D(), self.state_vector.nu()) - ) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> StateQuatModel: - """Calculates the forward Euler integration.""" - self.state_vector.position = ( - self.state_vector_prev.position + self.state_vector_dot.position * self.dt - ) - self.state_vector.orientation = quat_norm( - self.state_vector_prev.orientation - + self.state_vector_dot.orientation * self.dt - ) - self.state_vector.velocity = ( - self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - ) - self.state_vector.angular_velocity = ( - self.state_vector_prev.angular_velocity - + self.state_vector_dot.angular_velocity * self.dt - ) - return self.state_vector diff --git a/navigation/eskf_python/launch/eskf.launch.py b/navigation/eskf_python/launch/eskf.launch.py deleted file mode 100644 index 3cae83dce..000000000 --- a/navigation/eskf_python/launch/eskf.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - eskf_python_node = Node( - package='eskf_python', - executable='eskf_python_node.py', - name='eskf_python_node', - parameters=[ - os.path.join( - get_package_share_directory('eskf_python'), - 'config', - 'eskf_python.yaml', - ), - ], - output='screen', - ) - return LaunchDescription([eskf_python_node]) diff --git a/navigation/eskf_python/package.xml b/navigation/eskf_python/package.xml deleted file mode 100644 index 980653c40..000000000 --- a/navigation/eskf_python/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - eskf_python - 1.0.0 - This package provides the implementation of a error-state kalman filter in python - talhanc - MIT - - ament_cmake_python - - rclpy - python-transforms3d-pip - geometry_msgs - vortex_msgs - - python3-pytest - - - - ament_cmake - - diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py index 52cffb2df..c8b4f3b14 100644 --- a/navigation/ukf_okid/ukf_python/rest.py +++ b/navigation/ukf_okid/ukf_python/rest.py @@ -1,6 +1,5 @@ def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """Function that calculates the mean of a set of points - """ + """Function that calculates the mean of a set of points""" n = len(set_points[0].as_vector()) - 1 mean_value = StateQuat() @@ -27,8 +26,7 @@ def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndar def mean_measurement( set_points: list[MeasModel], weights: np.ndarray = None ) -> np.ndarray: - """Function that calculates the mean of a set of points - """ + """Function that calculates the mean of a set of points""" n = len(set_points) mean_value = MeasModel() diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 80a7c939c..50c68e08c 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,4 +1,3 @@ - import numpy as np from ukf_okid_class import * @@ -39,8 +38,7 @@ def generate_T_matrix(self, n: float) -> np.ndarray: return T def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """Functions that generate the sigma points for the UKF - """ + """Functions that generate the sigma points for the UKF""" n = len(current_state.covariance) I = np.hstack([np.eye(n), -np.eye(n)]) @@ -58,8 +56,7 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: return self.sigma_points_list def unscented_transform(self, current_state: StateQuat) -> StateQuat: - """The unscented transform function generates the priori state estimate - """ + """The unscented transform function generates the priori state estimate""" _ = self.sigma_points(current_state) n = len(current_state.covariance) @@ -107,8 +104,7 @@ def posteriori_estimate( measurement: MeasModel, ex_measuremnt: MeasModel, ) -> StateQuat: - """Calculates the posteriori estimate using measurement and the prior estimate - """ + """Calculates the posteriori estimate using measurement and the prior estimate""" nu_k = MeasModel() nu_k.measurement = measurement.measurement - ex_measuremnt.measurement diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 181d1f4af..45bbffcfe 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -5,8 +5,7 @@ @dataclass class StateQuat: - """A class to represent the state to be estimated by the UKF. - """ + """A class to represent the state to be estimated by the UKF.""" position: np.ndarray = field(default_factory=lambda: np.zeros(3)) orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) @@ -129,8 +128,7 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: @dataclass class MeasModel: - """A class defined for a general measurement model. - """ + """A class defined for a general measurement model.""" measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) @@ -164,8 +162,7 @@ def __sub__(self, other: 'MeasModel') -> 'MeasModel': @dataclass class process_model: - """A class defined for a general process model. - """ + """A class defined for a general process model.""" state_vector: StateQuat = field(default_factory=StateQuat) state_vector_dot: StateQuat = field(default_factory=StateQuat) @@ -269,8 +266,7 @@ def euler_forward(self) -> StateQuat: def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion - """ + """Converts Euler angles to a quaternion""" psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) s_psi = np.sin(psi / 2) @@ -292,8 +288,7 @@ def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles - """ + """Converts a quaternion to Euler angles""" nu, eta_1, eta_2, eta_3 = quat phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) @@ -304,8 +299,7 @@ def quat_to_euler(quat: np.ndarray) -> np.ndarray: def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion - """ + """Function that normalizes a quaternion""" quat = quat / np.linalg.norm(quat) return quat @@ -354,8 +348,7 @@ def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions - """ + """Calculates the error between two quaternions""" quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_super_product(quat_1, quat_2_inv) @@ -441,8 +434,7 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points - """ + """Function that calculates the mean of a set of points""" n = len(set_points) mean_value = MeasModel() @@ -455,8 +447,7 @@ def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points - """ + """Function that calculates the covariance of a set of points""" n = len(set_points) covariance = np.zeros(set_points[0].covariance.shape) @@ -486,8 +477,7 @@ def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points - """ + """Function that calculates the covariance of a set of points""" n = len(set_points) co_size = len(set_points[0].measurement) covariance = np.zeros((co_size, co_size)) @@ -510,8 +500,7 @@ def cross_covariance( set_z: list[MeasModel], mean_z: np.ndarray, ) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction - """ + """Calculates the cross covariance between the measurement and state prediction""" n = len(set_y) cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index da56a7dfc..cb92d9393 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -1,4 +1,3 @@ - import numpy as np from ukf_okid_class import StateQuat @@ -6,8 +5,7 @@ def print_StateQuat_list( state_list: list[StateQuat], name="StateQuat List", print_covariance=True ): - """Custom print function to print a list of StateQuat objects in a formatted form. - """ + """Custom print function to print a list of StateQuat objects in a formatted form.""" print(f"{name}:") for i, state in enumerate(state_list): print(f"Index {i}:") @@ -15,8 +13,7 @@ def print_StateQuat_list( def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): - """Custom print function to print StateQuat objects in a formatted form. - """ + """Custom print function to print StateQuat objects in a formatted form.""" print(f"{name}:") print(f" Position: {state.position}") print(f" Orientation: {state.orientation}") @@ -28,8 +25,7 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): def print_matrix(matrix, name="Matrix"): - """Custom print function to print matrices in a formatted form. - """ + """Custom print function to print matrices in a formatted form.""" print(f"{name}: {matrix.shape}") if isinstance(matrix, np.ndarray): for row in matrix: From ea29da3c0e4418cdb6484ad071bfc31c0eb31ddb Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sat, 5 Apr 2025 18:27:32 +0200 Subject: [PATCH 014/109] fix: added errorstate and nominalstate variables into the eskf class --- navigation/eskf/config/eskf_params.yaml | 3 +- navigation/eskf/include/eskf/eskf.hpp | 56 +++--- navigation/eskf/include/eskf/eskf_ros.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 13 +- navigation/eskf/src/eskf.cpp | 202 ++++++++++------------ navigation/eskf/src/eskf_node.cpp | 2 +- navigation/eskf/src/eskf_ros.cpp | 40 ++--- navigation/eskf/src/eskf_utils.cpp | 5 +- 8 files changed, 149 insertions(+), 174 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index f89b62f79..87d50ee44 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,4 +3,5 @@ eskf_node: imu_topic: imu/data_raw dvl_twist: /orca/twist odom_topic: odom - diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.000003, 0.000003, 0.000003] + diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] + diag_p_init: [1.0, 1.0, 1.0, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index b30dc35b0..5cc3e0708 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -10,52 +10,41 @@ class ESKF { public: ESKF(const eskf_params& params); + // @brief Update the nominal state and error state + // @param imu_meas: IMU measurement + // @param dt: Time step + // @return Updated nominal state and error state std::pair imu_update( - const state_quat& nom_state, - const state_euler& error_state, const imu_measurement& imu_meas, const double dt); + // @brief Update the nominal state and error state + // @param dvl_meas: DVL measurement + // @return Updated nominal state and error state std::pair dvl_update( - const state_quat& nom_state, - const state_euler& error_state, const dvl_measurement& dvl_meas); private: // @brief Predict the nominal state - // @param nom_state: Nominal state // @param imu_meas: IMU measurement + // @param dt: Time step // @return Predicted nominal state - state_quat nominal_state_discrete(const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt); + void nominal_state_discrete(const imu_measurement& imu_meas, + const double dt); // @brief Predict the error state - // @param error_state: Error state - // @param nom_state: Nominal state // @param imu_meas: IMU measurement + // @param dt: Time step // @return Predicted error state - state_euler error_state_prediction(const state_euler& error_state, - const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt); + void error_state_prediction(const imu_measurement& imu_meas, + const double dt); // @brief Update the error state - // @param error_state: Error state // @param dvl_meas: DVL measurement - // @return Updated error state - state_euler measurement_update(const state_quat& nom_state, - const state_euler& error_state, - const dvl_measurement& dvl_meas); + void measurement_update(const dvl_measurement& dvl_meas); // @brief Inject the error state into the nominal state and reset the error - // state - // @param nom_state: Nominal state - // @param error_state: Error state - // @return Injected and reset state - std::pair injection_and_reset( - const state_quat& nom_state, - const state_euler& error_state); + void injection_and_reset(); // @brief Van Loan discretization // @param A_c: Continuous state transition matrix @@ -69,24 +58,31 @@ class ESKF { // @brief Calculate the delta quaternion matrix // @param nom_state: Nominal state // @return Delta quaternion matrix - Eigen::Matrix4x3d calculate_Q_delta(const state_quat& nom_state); + Eigen::Matrix4x3d calculate_q_delta(); // @brief Calculate the measurement matrix jakobian // @param nom_state: Nominal state // @return Measurement matrix - Eigen::Matrix3x19d calculate_Hx(const state_quat& nom_state); + Eigen::Matrix3x19d calculate_hx(); // @brief Calculate the full measurement matrix // @param nom_state: Nominal state // @return Measurement matrix - Eigen::Matrix3x18d calculate_H(const state_quat& nom_state); + Eigen::Matrix3x18d calculate_h_jacobian(); // @brief Calculate the measurement // @param nom_state: Nominal state // @return Measurement - Eigen::Vector3d calculate_h(const state_quat& nom_state); + Eigen::Vector3d calculate_h(); + // Process noise covariance matrix Eigen::Matrix12d Q_; + + // Member variable for the current error state + state_euler current_error_state_; + + // Member variable for the current nominal state + state_quat current_nom_state_; }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 88f97459f..b5c0b1dab 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -13,7 +13,7 @@ #include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" -#include "typedefs.hpp" +#include "spdlog/spdlog.h" class ESKFNode : public rclcpp::Node { public: diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 925d8fd72..9be435753 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -27,6 +27,13 @@ typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; } // namespace Eigen +template +Eigen::Matrix createDiagonalMatrix( + const std::vector& diag) { + return Eigen::Map>(diag.data()) + .asDiagonal(); +} + struct state_quat { Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); @@ -51,8 +58,6 @@ struct state_quat { diff.accel_bias = accel_bias - other.accel_bias; return diff; } - - Eigen::Matrix3d get_R() const { return quat.toRotationMatrix(); } }; struct state_euler { @@ -91,8 +96,8 @@ struct imu_measurement { Eigen::Matrix3d R_nb; R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; - accel = R_nb * accel_uncorrected; - gyro = R_nb * gyro_uncorrected; + accel = (R_nb * accel_uncorrected); + gyro = (R_nb * gyro_uncorrected); } }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 58c532afa..06c9c44c8 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -30,27 +30,27 @@ std::pair ESKF::van_loan_discretization( return {A_d, GQG_d}; } -Eigen::Matrix4x3d ESKF::calculate_Q_delta(const state_quat& nom_state) { - Eigen::Matrix4x3d Q_delta_theta = Eigen::Matrix4x3d::Zero(); - double qw = nom_state.quat.w(); - double qx = nom_state.quat.x(); - double qy = nom_state.quat.y(); - double qz = nom_state.quat.z(); +Eigen::Matrix4x3d ESKF::calculate_q_delta() { + Eigen::Matrix4x3d q_delta_theta = Eigen::Matrix4x3d::Zero(); + double qw = current_nom_state_.quat.w(); + double qx = current_nom_state_.quat.x(); + double qy = current_nom_state_.quat.y(); + double qz = current_nom_state_.quat.z(); - Q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; + q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; - Q_delta_theta *= 0.5; - return Q_delta_theta; + q_delta_theta *= 0.5; + return q_delta_theta; } -Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { +Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); - Eigen::Quaterniond q = nom_state.quat.normalized(); + Eigen::Quaterniond q = current_nom_state_.quat.normalized(); Eigen::Matrix3d R_bn = q.toRotationMatrix(); - Eigen::Vector3d v_n = nom_state.vel; + Eigen::Vector3d v_n = current_nom_state_.vel; - Hx.block<3, 3>(0, 3) = R_bn.transpose(); + Hx.block<3, 3>(0, 3) = R_bn; Eigen::Matrix dR_dq; double qw = q.w(); @@ -58,80 +58,79 @@ Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { double qy = q.y(); double qz = q.z(); + Eigen::Vector3d epsilon(qx, qy, qz); + + Eigen::Vector3d e_1(1, 0, 0); + Eigen::Vector3d e_2(0, 1, 0); + Eigen::Vector3d e_3(0, 0, 1); + dR_dq.col(0) = - 2 * Eigen::Vector3d(qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), - -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), - qy * v_n.x() - qx * v_n.y() + qw * v_n.z()); + ((4 * qw * Eigen::Matrix3d::Identity()) + (2 * skew(epsilon))) * v_n; - dR_dq.col(1) = - 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); + dR_dq.col(1) = 2 * + ((e_1 * epsilon.transpose()) + (epsilon * e_1.transpose()) + + (qw * skew(e_1))) * + v_n; - dR_dq.col(2) = - 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); + dR_dq.col(2) = 2 * + ((e_2 * epsilon.transpose()) + (epsilon * e_2.transpose()) + + (qw * skew(e_2))) * + v_n; - dR_dq.col(3) = - 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), - qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); + dR_dq.col(3) = 2 * + ((e_3 * epsilon.transpose()) + (epsilon * e_3.transpose()) + + (qw * skew(e_3))) * + v_n; Hx.block<3, 4>(0, 6) = dR_dq; return Hx; } -Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { - Eigen::Matrix19x18d X_delta = Eigen::Matrix19x18d::Zero(); - X_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - X_delta.block<4, 3>(6, 6) = calculate_Q_delta(nom_state); - X_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); +Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { + Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); + x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); + x_delta.block<4, 3>(6, 6) = calculate_q_delta(); + x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); - Eigen::Matrix3x18d H = calculate_Hx(nom_state) * X_delta; + Eigen::Matrix3x18d H = calculate_hx() * x_delta; return H; } -Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { +Eigen::Matrix3x1d ESKF::calculate_h() { Eigen::Matrix3x1d h; Eigen::Matrix3d R_bn = - nom_state.quat.normalized().toRotationMatrix().transpose(); + current_nom_state_.quat.normalized().toRotationMatrix(); - h = R_bn * nom_state.vel; + h = R_bn * current_nom_state_.vel; return h; } -state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt) { +void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, + const double dt) { Eigen::Vector3d acc = - nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + - nom_state.gravity; - Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; - - state_quat next_nom_state; - - next_nom_state.pos = - nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; - next_nom_state.vel = nom_state.vel + dt * acc; - next_nom_state.quat = (nom_state.quat * vector3d_to_quaternion(gyro)); - next_nom_state.quat.normalize(); - next_nom_state.gyro_bias = nom_state.gyro_bias; - next_nom_state.accel_bias = nom_state.accel_bias; - next_nom_state.gravity = nom_state.gravity; - - return next_nom_state; + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.gravity; + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; + + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.vel = current_nom_state_.vel + dt * acc; + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; + current_nom_state_.accel_bias = current_nom_state_.accel_bias; + current_nom_state_.gravity = current_nom_state_.gravity; } -state_euler ESKF::error_state_prediction(const state_euler& error_state, - const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt) { - Eigen::Matrix3d R = nom_state.get_R(); - Eigen::Vector3d acc = (imu_meas.accel - nom_state.accel_bias); - Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias); +void ESKF::error_state_prediction(const imu_measurement& imu_meas, + const double dt) { + Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); + Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -152,77 +151,60 @@ state_euler ESKF::error_state_prediction(const state_euler& error_state, auto [A_d, GQG_d] = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; - next_error_state.covariance = - A_d * error_state.covariance * A_d.transpose() + GQG_d; - - return next_error_state; + current_error_state_.covariance = + A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } -state_euler ESKF::measurement_update(const state_quat& nom_state, - const state_euler& error_state, - const dvl_measurement& dvl_meas) { - state_euler new_error_state; - - Eigen::Matrix3x18d H = calculate_H(nom_state); - Eigen::Matrix18d P = error_state.covariance; +void ESKF::measurement_update(const dvl_measurement& dvl_meas) { + Eigen::Matrix3x18d H = calculate_h_jacobian(); + Eigen::Matrix18d P = current_error_state_.covariance; Eigen::Matrix3d R = dvl_meas.cov; Eigen::Matrix3d S = H * P * H.transpose() + R; Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); - Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(nom_state); - new_error_state.set_from_vector(K * innovation); + Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); + current_error_state_.set_from_vector(K * innovation); Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; - new_error_state.covariance = + current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations - - return new_error_state; } -std::pair ESKF::injection_and_reset( - const state_quat& nom_state, - const state_euler& error_state) { - state_quat next_nom_state; - - next_nom_state.pos = nom_state.pos + error_state.pos; - next_nom_state.vel = nom_state.vel + error_state.vel; - next_nom_state.quat = - nom_state.quat * vector3d_to_quaternion(error_state.euler); - next_nom_state.quat.normalize(); - next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; - next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; - next_nom_state.gravity = nom_state.gravity + error_state.gravity; - - state_euler new_error_state; +void ESKF::injection_and_reset() { + current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; + current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; + current_nom_state_.quat = + current_nom_state_.quat * + vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = + current_nom_state_.accel_bias + current_error_state_.accel_bias; + current_nom_state_.gravity = + current_nom_state_.gravity + current_error_state_.gravity; Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); - new_error_state.covariance = G * error_state.covariance * G.transpose(); - - return {next_nom_state, new_error_state}; + current_error_state_.covariance = + G * current_error_state_.covariance * G.transpose(); + current_error_state_.set_from_vector(Eigen::Vector18d::Zero()); } std::pair ESKF::imu_update( - const state_quat& nom_state, - const state_euler& error_state, const imu_measurement& imu_meas, const double dt) { - state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); - state_euler next_error_state = - error_state_prediction(error_state, next_nom_state, imu_meas, dt); + nominal_state_discrete(imu_meas, dt); + error_state_prediction(imu_meas, dt); - return {next_nom_state, next_error_state}; + return {current_nom_state_, current_error_state_}; } std::pair ESKF::dvl_update( - const state_quat& nom_state, - const state_euler& error_state, const dvl_measurement& dvl_meas) { - state_euler new_error_state = - measurement_update(nom_state, error_state, dvl_meas); - auto [updated_nom_state, updated_error_state] = - injection_and_reset(nom_state, new_error_state); + measurement_update(dvl_meas); + injection_and_reset(); - return {updated_nom_state, updated_error_state}; + return {current_nom_state_, current_error_state_}; } diff --git a/navigation/eskf/src/eskf_node.cpp b/navigation/eskf/src/eskf_node.cpp index e90cebde3..196fa7916 100644 --- a/navigation/eskf/src/eskf_node.cpp +++ b/navigation/eskf/src/eskf_node.cpp @@ -2,7 +2,7 @@ int main(int argc, char** argv) { rclcpp::init(argc, argv); - RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Started ESKF Node"); + spdlog::info("Starting ESKF Node"); rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index d679d600e..06bb047b9 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -20,20 +20,20 @@ void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = rclcpp::QoS( rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); - this->declare_parameter("imu_topic", "imu/data_raw"); + this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); - this->declare_parameter("dvl_topic", "/orca/twist"); + this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); dvl_sub_ = this->create_subscription< geometry_msgs::msg::TwistWithCovarianceStamped>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); - this->declare_parameter("odom_topic", "odom"); + this->declare_parameter("odom_topic"); std::string odom_topic = this->get_parameter("odom_topic").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); @@ -41,34 +41,24 @@ void ESKFNode::set_subscribers_and_publisher() { void ESKFNode::set_parameters() { std::vector diag_Q_std; - this->declare_parameter>( - "diag_Q_std"); // gyroscope bias noise + this->declare_parameter>("diag_Q_std"); diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); Eigen::Matrix12d Q; Q.setZero(); spdlog::info("Q diagonal: {}", diag_Q_std[0]); - Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), - sq(diag_Q_std[2]), // acceleration noise - sq(diag_Q_std[3]), sq(diag_Q_std[4]), - sq(diag_Q_std[5]), // gyroscope noise - sq(diag_Q_std[6]), sq(diag_Q_std[7]), - sq(diag_Q_std[8]), // acceleration bias noise - sq(diag_Q_std[9]), sq(diag_Q_std[10]), - sq(diag_Q_std[11]); // gyroscope bias noise + Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), + sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), + sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), + sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); eskf_params_.Q = Q; eskf_ = std::make_unique(eskf_params_); - Eigen::Matrix18d P; - P.setZero(); - P.diagonal() << 1.0, 1.0, 1.0, // position - 0.1, 0.1, 0.1, // velocity - 0.1, 0.1, 0.1, // euler angles - 0.001, 0.001, 0.001, // accel bias - 0.001, 0.001, 0.001, // gyro bias - 0.001, 0.001, 0.001; // gravity + std::vector diag_p_init = + this->declare_parameter>("diag_p_init"); + Eigen::Matrix18d P = createDiagonalMatrix<18>(diag_p_init); error_state_.covariance = P; } @@ -91,8 +81,7 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { msg->angular_velocity.y, msg->angular_velocity.z; imu_meas_.correct(); - std::tie(nom_state_, error_state_) = - eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); + std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } void ESKFNode::dvl_callback( @@ -105,8 +94,7 @@ void ESKFNode::dvl_callback( msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - std::tie(nom_state_, error_state_) = - eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); + std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); } void ESKFNode::publish_odom() { @@ -125,6 +113,6 @@ void ESKFNode::publish_odom() { odom_msg.twist.twist.linear.y = nom_state_.vel.y(); odom_msg.twist.twist.linear.z = nom_state_.vel.z(); - odom_msg.header.stamp = this->now(); // Add timestamp to the message + odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); } diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 930167eaa..133589d05 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -18,7 +18,9 @@ Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { return Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); } else { Eigen::Vector3d axis = vector / angle; - return Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); + Eigen::Quaterniond quat = + Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); + return quat; } } @@ -27,5 +29,6 @@ Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { q = Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()) * Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); + q.normalize(); return q; } From f0079088ace3225432cc897cca063ae2daf340a2 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 17 Apr 2025 18:27:14 +0200 Subject: [PATCH 015/109] feat: modified imu correction and added in tested imu noise --- navigation/eskf/config/eskf_params.yaml | 7 +- navigation/eskf/include/eskf/eskf.hpp | 1 + navigation/eskf/include/eskf/eskf_ros.hpp | 2 + navigation/eskf/include/eskf/typedefs.hpp | 16 +- navigation/eskf/src/eskf.cpp | 21 +- navigation/eskf/src/eskf_ros.cpp | 21 +- navigation/eskf/src/eskf_utils.cpp | 2 +- navigation/ukf_okid/CMakeLists.txt | 23 + navigation/ukf_okid/launch/ukf.launch.py | 16 + navigation/ukf_okid/package.xml | 22 + .../ukf_python/{__ini__.py => __init__.py} | 0 navigation/ukf_okid/ukf_python/rest.py | 40 - navigation/ukf_okid/ukf_python/ukf_okid.py | 100 +-- .../ukf_okid/ukf_python/ukf_okid_class.py | 216 +++++- navigation/ukf_okid/ukf_python/ukf_ros.py | 117 +++ navigation/ukf_okid/ukf_python/ukf_test.py | 721 ++++++++++-------- navigation/ukf_okid/ukf_python/ukf_test_2.py | 40 + navigation/ukf_okid/ukf_python/ukf_utils.py | 1 + 18 files changed, 926 insertions(+), 440 deletions(-) create mode 100644 navigation/ukf_okid/CMakeLists.txt create mode 100644 navigation/ukf_okid/launch/ukf.launch.py create mode 100644 navigation/ukf_okid/package.xml rename navigation/ukf_okid/ukf_python/{__ini__.py => __init__.py} (100%) delete mode 100644 navigation/ukf_okid/ukf_python/rest.py create mode 100755 navigation/ukf_okid/ukf_python/ukf_ros.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_test_2.py diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 87d50ee44..639af1fc9 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,7 +1,8 @@ eskf_node: ros__parameters: imu_topic: imu/data_raw - dvl_twist: /orca/twist + dvl_topic: /orca/twist odom_topic: odom - diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] - diag_p_init: [1.0, 1.0, 1.0, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] + diag_Q_std: [0.027293, 0.028089, 0.029067, 0.00255253, 0.00270035, 0.00280294, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] + diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] + imu_frame: [0, 0, -1, 0, -1, 0, -1, 0, 0 ] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 5cc3e0708..80b086d26 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -25,6 +25,7 @@ class ESKF { const dvl_measurement& dvl_meas); private: + // @brief Predict the nominal state // @param imu_meas: IMU measurement // @param dt: Time step diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index b5c0b1dab..e0b777c86 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -64,6 +64,8 @@ class ESKFNode : public rclcpp::Node { rclcpp::Time last_imu_time_; bool first_imu_msg_received_ = false; + + Eigen::Matrix3d R_imu_eskf_; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 9be435753..fac89baa7 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -7,6 +7,7 @@ #include #include +#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -40,7 +41,11 @@ struct state_quat { Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); + + state_quat() { + gravity << 0, 0, 9.81; + } Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; @@ -89,16 +94,7 @@ struct state_euler { struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); - Eigen::Vector3d accel_uncorrected = Eigen::Vector3d::Zero(); - Eigen::Vector3d gyro_uncorrected = Eigen::Vector3d::Zero(); - void correct() { - Eigen::Matrix3d R_nb; - R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; - - accel = (R_nb * accel_uncorrected); - gyro = (R_nb * gyro_uncorrected); - } }; struct dvl_measurement { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 06c9c44c8..bbd367c7f 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -107,20 +107,24 @@ Eigen::Matrix3x1d ESKF::calculate_h() { return h; } + void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.quat.normalized().toRotationMatrix() * imu_meas.accel + current_nom_state_.gravity; - Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; + Eigen::Vector3d gyro = imu_meas.gyro * dt/2; current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + + + current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; current_nom_state_.accel_bias = current_nom_state_.accel_bias; current_nom_state_.gravity = current_nom_state_.gravity; @@ -129,8 +133,8 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, void ESKF::error_state_prediction(const imu_measurement& imu_meas, const double dt) { Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); - Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); - Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); + Eigen::Vector3d acc = imu_meas.accel; + Eigen::Vector3d gyro = imu_meas.gyro; Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -148,7 +152,8 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); - auto [A_d, GQG_d] = van_loan_discretization(A_c, G_c, dt); + Eigen::Matrix18d A_d, GQG_d; + std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; current_error_state_.covariance = diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 06bb047b9..a35273103 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -40,6 +40,11 @@ void ESKFNode::set_subscribers_and_publisher() { } void ESKFNode::set_parameters() { + std::vector R_imu_correction; + this->declare_parameter>("imu_frame"); + R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); + R_imu_eskf_ = Eigen::Map>(R_imu_correction.data()); + std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -75,11 +80,17 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; last_imu_time_ = current_time; - imu_meas_.accel_uncorrected << msg->linear_acceleration.x, - msg->linear_acceleration.y, msg->linear_acceleration.z; - imu_meas_.gyro_uncorrected << msg->angular_velocity.x, - msg->angular_velocity.y, msg->angular_velocity.z; - imu_meas_.correct(); + Eigen::Vector3d raw_accel(msg->linear_acceleration.x, + msg->linear_acceleration.y, + msg->linear_acceleration.z); + + imu_meas_.accel = R_imu_eskf_ * raw_accel; + + Eigen::Vector3d raw_gyro(msg->angular_velocity.x, + msg->angular_velocity.y, + msg->angular_velocity.z); + + imu_meas_.gyro = R_imu_eskf_ * raw_gyro; std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 133589d05..a07f3acda 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -20,7 +20,7 @@ Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { Eigen::Vector3d axis = vector / angle; Eigen::Quaterniond quat = Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); - return quat; + return quat.normalized(); } } diff --git a/navigation/ukf_okid/CMakeLists.txt b/navigation/ukf_okid/CMakeLists.txt new file mode 100644 index 000000000..901ca044b --- /dev/null +++ b/navigation/ukf_okid/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.8) +project(ukf_python) + +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(vortex_msgs REQUIRED) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +ament_python_install_package(${PROJECT_NAME}) + +install(PROGRAMS + ukf_python/ukf_ros.py + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py new file mode 100644 index 000000000..62a439b94 --- /dev/null +++ b/navigation/ukf_okid/launch/ukf.launch.py @@ -0,0 +1,16 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + + ukf_node = Node( + package="ukf_python", + executable="ukf_ros.py", + name="ukf_node", + ) + + return LaunchDescription([ukf_node]) diff --git a/navigation/ukf_okid/package.xml b/navigation/ukf_okid/package.xml new file mode 100644 index 000000000..1c1b2b4cb --- /dev/null +++ b/navigation/ukf_okid/package.xml @@ -0,0 +1,22 @@ + + + + ukf_python + 1.0.0 + Uscented Kalman filter for AUV model + talha + MIT + + ament_cmake_python + + rclpy + geometry_msgs + nav_msgs + vortex_msgs + python-control-pip + std_msgs + + + ament_cmake + + diff --git a/navigation/ukf_okid/ukf_python/__ini__.py b/navigation/ukf_okid/ukf_python/__init__.py similarity index 100% rename from navigation/ukf_okid/ukf_python/__ini__.py rename to navigation/ukf_okid/ukf_python/__init__.py diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py deleted file mode 100644 index c8b4f3b14..000000000 --- a/navigation/ukf_okid/ukf_python/rest.py +++ /dev/null @@ -1,40 +0,0 @@ -def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """Function that calculates the mean of a set of points""" - n = len(set_points[0].as_vector()) - 1 - mean_value = StateQuat() - - if weights is None: - for i in range(2 * n + 1): - weight_temp_list = (1 / (2 * n + 1)) * np.ones(2 * n + 1) - mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat( - set_points, weight_temp_list - ) - - else: - for i in range(2 * n + 1): - mean_value.add_without_quaternions(weights[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat( - set_points, weights - ) - - return mean_value.as_vector() - - -def mean_measurement( - set_points: list[MeasModel], weights: np.ndarray = None -) -> np.ndarray: - """Function that calculates the mean of a set of points""" - n = len(set_points) - mean_value = MeasModel() - - if weights is None: - for i in range(n): - mean_value = mean_value + set_points[i] - else: - for i in range(n): - mean_value = mean_value + (weights[i] * set_points[i]) - - return mean_value.measurement diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 50c68e08c..af61d1a79 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,69 +1,77 @@ import numpy as np -from ukf_okid_class import * +from ukf_utils import print_StateQuat +from ukf_okid_class import ( + MeasModel, + StateQuat, + covariance_measurement, + covariance_set, + cross_covariance, + mean_measurement, + mean_set, + process_model, + okid_process_model, +) class UKF: - def __init__(self, process_model: process_model, x_0, P_0, Q, R): + def __init__(self, process_model: okid_process_model, x_0, P_0, Q, G): self.x = x_0 self.P = P_0 self.Q = Q - self.R = R + self.G = G self.process_model = process_model self.sigma_points_list = None + self.measurement_updated = MeasModel() self.y_i = None self.weight = None - self.T = self.generate_T_matrix(len(P_0)) + self.delta = self.generate_delta_matrix(len(x_0.as_vector()) - 1) + self.cross_correlation = None - def generate_T_matrix(self, n: float) -> np.ndarray: - """Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. + def generate_delta_matrix(self, n: float) -> np.ndarray: + """Generates the weight matrix used in the TUKF sigma point generation. Parameters: n (int): The state dimension. Returns: - T (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. + delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ - T = np.zeros((n, n)) + delta = np.zeros((n, 2 * n)) + k = 0.01 #Tuning parameter to ensure pos def - for i in range(n): + for i in range(2 * n): for j in range(n // 2): - T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) - T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) - - if n % 2 == 1: # if n is odd - T[n - 1, i - 1] = (-1) ** i - - T = T / np.sqrt(2) - - return T + delta[2 * j + 1, i] = np.sqrt(2) * np.sin((2 * j - 1)) * ((k * np.pi) / n) + delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1)) * ((k * np.pi) / n) + + if (n % 2) == 1: + delta[n-1, i] = (-1)**i + return delta def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """Functions that generate the sigma points for the UKF""" + """Functions that generate the sigma points for the UKF.""" n = len(current_state.covariance) - I = np.hstack([np.eye(n), -np.eye(n)]) - my = np.sqrt(n) * I - delta = self.T @ my - S = np.linalg.cholesky(current_state.covariance + self.Q) self.sigma_points_list = [StateQuat() for _ in range(2 * n)] for index, state in enumerate(self.sigma_points_list): - delta_x = S @ delta[:, index] - state.fill_states_different_dim(current_state.as_vector(), delta_x) + delta_x = S @ self.delta[:, index] + state.fill_dynamic_states(current_state.as_vector(), delta_x) return self.sigma_points_list def unscented_transform(self, current_state: StateQuat) -> StateQuat: - """The unscented transform function generates the priori state estimate""" - _ = self.sigma_points(current_state) + """The unscented transform function generates the priori state estimate.""" + self.sigma_points(current_state) n = len(current_state.covariance) self.y_i = [StateQuat() for _ in range(2 * n)] - for i in range(2 * n): - self.process_model.model_prediction(self.sigma_points_list[i]) + for i, state in enumerate(self.sigma_points_list): + self.process_model.model_prediction(state) + self.process_model.state_vector_prev = state self.y_i[i] = self.process_model.euler_forward() state_estimate = StateQuat() @@ -75,42 +83,36 @@ def unscented_transform(self, current_state: StateQuat) -> StateQuat: def measurement_update( self, current_state: StateQuat, measurement: MeasModel - ) -> tuple[MeasModel, np.ndarray]: - """Function that updates the state estimate with a measurement + ) -> None: + """Function that updates the state estimate with a measurement. + Hopefully this is the DVL or GNSS """ n = len(current_state.covariance) z_i = [MeasModel() for _ in range(2 * n)] - for i in range(2 * n): - z_i[i] = measurement.H(self.sigma_points_list[i]) + for i, state in enumerate(self.sigma_points_list): + z_i[i] = measurement.H(state) - meas_update = MeasModel() + self.measurement_updated.measurement = mean_measurement(z_i) - meas_update.measurement = mean_measurement(z_i) + self.measurement_updated.covariance = covariance_measurement(z_i, self.measurement_updated.measurement) - meas_update.covariance = covariance_measurement(z_i, meas_update.measurement) - - cross_correlation = cross_covariance( - self.y_i, current_state.as_vector(), z_i, meas_update.measurement + self.cross_correlation = cross_covariance( + self.y_i, current_state.as_vector(), z_i, self.measurement_updated.measurement ) - return meas_update, cross_correlation - def posteriori_estimate( self, current_state: StateQuat, - cross_correlation: np.ndarray, measurement: MeasModel, - ex_measuremnt: MeasModel, ) -> StateQuat: - """Calculates the posteriori estimate using measurement and the prior estimate""" + """Calculates the posteriori estimate using measurement and the prior estimate.""" nu_k = MeasModel() + nu_k.measurement = measurement.measurement - self.measurement_updated.measurement + nu_k.covariance = self.measurement_updated.covariance + measurement.covariance - nu_k.measurement = measurement.measurement - ex_measuremnt.measurement - nu_k.covariance = ex_measuremnt.covariance + measurement.covariance - - K_k = np.dot(cross_correlation, np.linalg.inv(nu_k.covariance)) + K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) posteriori_estimate = StateQuat() @@ -121,6 +123,4 @@ def posteriori_estimate( K_k, np.dot(nu_k.covariance, np.transpose(K_k)) ) - self.process_model.state_vector_prev = posteriori_estimate - return posteriori_estimate diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 45bbffcfe..5558ad754 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -2,6 +2,54 @@ import numpy as np +@dataclass +class okid: + """A class to represent the parameters for the OKID algorithm.""" + + inertia: np.ndarray = field(default_factory=lambda: np.array([0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34])) + added_mass: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,2.0,2.0,2.0])) + damping_linear: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,1.0,1.0,1.0])) + + def fill(self, state: np.ndarray) -> None: + """Fills the okid_params object with values from a numpy array.""" + self.inertia = state[0:9] + self.added_mass = state[9:15] + self.damping_linear = state[15:] + + def as_vector(self) -> np.ndarray: + """Returns the okid_params as a numpy array.""" + return np.concatenate([self.inertia, self.added_mass, self.damping_linear]) + + def __add__(self, other: 'okid') -> 'okid': + """Defines the addition operation between two okid_params objects.""" + result = okid() + result.inertia = self.inertia + other.inertia + result.added_mass = self.added_mass + other.added_mass + result.damping_linear = self.damping_linear + other.damping_linear + return result + def __sub__(self, other: 'okid') -> 'okid': + """Defines the subtraction operation between two okid_params objects.""" + result = okid() + result.inertia = self.inertia - other.inertia + result.added_mass = self.added_mass - other.added_mass + result.damping_linear = self.damping_linear - other.damping_linear + return result + + def __sub__(self, other: np.ndarray) -> 'okid': + """ Defines sub between okid_params and np.ndarray.""" + result = okid() + result.inertia = self.inertia - other[0:9] + result.added_mass = self.added_mass - other[9:15] + result.damping_linear = self.damping_linear - other[15:] + return result + + def __rmul__(self, scalar: float) -> 'okid': + """Defines the multiplication operation between a scalar and okid_params object.""" + result = okid() + result.inertia = scalar * self.inertia + result.added_mass = scalar * self.added_mass + result.damping_linear = scalar * self.damping_linear + return result @dataclass class StateQuat: @@ -11,10 +59,16 @@ class StateQuat: orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) + okid_params: okid = field(default_factory=okid) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" + return np.concatenate( + [self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params.as_vector()] + ) + def dynamic_part(self) -> np.ndarray: + """Returns the dynamic part of the state vector.""" return np.concatenate( [self.position, self.orientation, self.velocity, self.angular_velocity] ) @@ -53,6 +107,16 @@ def fill_states(self, state: np.ndarray) -> None: self.orientation = state[3:7] self.velocity = state[7:10] self.angular_velocity = state[10:13] + self.okid_params.fill(state[13:]) + + def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills only the dynamic part of the state vector with the values from a numpy array.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_super_product( + state[3:7], euler_to_quat(state_euler[3:6]) + ) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] def fill_states_different_dim( self, state: np.ndarray, state_euler: np.ndarray @@ -64,6 +128,7 @@ def fill_states_different_dim( ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] + self.okid_params.fill(state[13:] + state_euler[12:]) def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: """Subtracts two StateQuat objects, returning the difference with Euler angles.""" @@ -72,6 +137,7 @@ def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: new_array[3:6] = error_ori new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity + new_array[12:] = self.okid_params.as_vector() - other.okid_params.as_vector() return new_array @@ -84,6 +150,7 @@ def __add__(self, other: 'StateQuat') -> 'StateQuat': ) new_state.velocity = self.velocity + other.velocity new_state.angular_velocity = self.angular_velocity + other.angular_velocity + new_state.okid_params = self.okid_params + other.okid_params return new_state @@ -94,6 +161,7 @@ def __sub__(self, other: 'StateQuat') -> 'StateQuat': new_state.orientation = quaternion_error(self.orientation, other.orientation) new_state.velocity = self.velocity - other.velocity new_state.angular_velocity = self.angular_velocity - other.angular_velocity + new_state.okid_params = self.okid_params - other.okid_params return new_state.as_vector() @@ -104,6 +172,7 @@ def __rmul__(self, scalar: float) -> 'StateQuat': new_state.orientation = quat_norm(scalar * self.orientation) new_state.velocity = scalar * self.velocity new_state.angular_velocity = scalar * self.angular_velocity + new_state.okid_params = scalar * self.okid_params return new_state @@ -116,6 +185,7 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: ) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] + new_state.okid_params = self.okid_params - weights[12:] return new_state.as_vector() @@ -124,6 +194,7 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: self.position += other.position self.velocity += other.velocity self.angular_velocity += other.angular_velocity + self.okid_params += other.okid_params @dataclass @@ -136,9 +207,9 @@ class MeasModel: def H(self, state: StateQuat) -> 'MeasModel': """Calculates the measurement matrix.""" H = np.zeros((3, 13)) - H[0:3, 7:10] = np.eye(3) + H[:, 7:10] = np.eye(3) z_i = MeasModel() - z_i.measurement = np.dot(H, state.as_vector()) + z_i.measurement = np.dot(H, state.dynamic_part()) return z_i def __add__(self, other: 'MeasModel') -> 'MeasModel': @@ -263,10 +334,112 @@ def euler_forward(self) -> StateQuat: + self.state_vector_dot.angular_velocity * self.dt ) return self.state_vector +@dataclass +class okid_process_model: + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 30.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.01 + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array( + [ + [ + 1 - 2 * e_2**2 - 2 * e_3**2, + 2 * e_1 * e_2 - 2 * nu * e_3, + 2 * e_1 * e_3 + 2 * nu * e_2, + ], + [ + 2 * e_1 * e_2 + 2 * nu * e_3, + 1 - 2 * e_1**2 - 2 * e_3**2, + 2 * e_2 * e_3 - 2 * nu * e_1, + ], + [ + 2 * e_1 * e_3 - 2 * nu * e_2, + 2 * e_2 * e_3 + 2 * nu * e_1, + 1 - 2 * e_1**2 - 2 * e_2**2, + ], + ] + ) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array( + [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] + ) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + + return D_l + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + """ + separate out the different okid values + """ + self.inertia = state.okid_params.inertia.reshape((3, 3)) + self.added_mass = state.okid_params.added_mass + self.damping_linear = state.okid_params.damping_linear + + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot( + self.T(), self.state_vector.angular_velocity + ) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( + self.Control_input + - np.dot(self.Crb(), self.state_vector.nu()) + - np.dot(self.D(), self.state_vector.nu()) + ) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> None: + """Calculates the forward Euler integration.""" + self.state_vector.position = ( + self.state_vector_prev.position + self.state_vector_dot.position * self.dt + ) + self.state_vector.orientation = quat_norm( + self.state_vector_prev.orientation + + self.state_vector_dot.orientation * self.dt + ) + self.state_vector.velocity = ( + self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + ) + self.state_vector.angular_velocity = ( + self.state_vector_prev.angular_velocity + + self.state_vector_dot.angular_velocity * self.dt + ) + return self.state_vector def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion""" + """Converts Euler angles to a quaternion.""" psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) s_psi = np.sin(psi / 2) @@ -288,7 +461,7 @@ def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles""" + """Converts a quaternion to Euler angles.""" nu, eta_1, eta_2, eta_3 = quat phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) @@ -299,7 +472,7 @@ def quat_to_euler(quat: np.ndarray) -> np.ndarray: def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion""" + """Function that normalizes a quaternion.""" quat = quat / np.linalg.norm(quat) return quat @@ -348,7 +521,7 @@ def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions""" + """Calculates the error between two quaternions.""" quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_super_product(quat_1, quat_2_inv) @@ -359,17 +532,15 @@ def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: def iterative_quaternion_mean_statequat( state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100 ) -> np.ndarray: - """Computes the weighted mean of the quaternion orientations from a list of StateQuat objects - using an iterative approach, without requiring the caller to manually extract the quaternion. + """Computes the iterative mean of quaternion orientations from StateQuat objects. - Parameters: - state_list (list[StateQuat]): List of StateQuat objects. - weights (np.ndarray): Weights for each state. - tol (float): Convergence tolerance. - max_iter (int): Maximum number of iterations. + Args: + state_list: List of StateQuat objects + tol: Convergence tolerance + max_iter: Maximum iterations Returns: - np.ndarray: The averaged quaternion as a 4-element numpy array. + Mean quaternion as numpy array """ sigma_quats = [state.orientation for state in state_list] n = len(state_list) @@ -412,7 +583,7 @@ def iterative_quaternion_mean_statequat( def mean_set(set_points: list[StateQuat]) -> np.ndarray: - """Function calculates the mean vector of a set of points + """Function calculates the mean vector of a set of points. Args: set_points (list[StateQuat]): List of StateQuat objects @@ -426,7 +597,10 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: for state in set_points: mean_value.add_without_quaternions(state) - mean_value = (1 / (n)) * mean_value + mean_value.position = (1 / n) * mean_value.position + mean_value.velocity = (1 / n) * mean_value.velocity + mean_value.angular_velocity = (1 / n) * mean_value.angular_velocity + mean_value.okid_params = (1 / n) * mean_value.okid_params mean_value.orientation = iterative_quaternion_mean_statequat(set_points) @@ -434,7 +608,7 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points""" + """Function that calculates the mean of a set of points.""" n = len(set_points) mean_value = MeasModel() @@ -447,7 +621,7 @@ def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points""" + """Function that calculates the covariance of a set of points.""" n = len(set_points) covariance = np.zeros(set_points[0].covariance.shape) @@ -477,7 +651,7 @@ def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points""" + """Function that calculates the covariance of a set of points.""" n = len(set_points) co_size = len(set_points[0].measurement) covariance = np.zeros((co_size, co_size)) @@ -500,7 +674,7 @@ def cross_covariance( set_z: list[MeasModel], mean_z: np.ndarray, ) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction""" + """Calculates the cross covariance between the measurement and state prediction.""" n = len(set_y) cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) diff --git a/navigation/ukf_okid/ukf_python/ukf_ros.py b/navigation/ukf_okid/ukf_python/ukf_ros.py new file mode 100755 index 000000000..66d01175c --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_ros.py @@ -0,0 +1,117 @@ +#!/usr/bin/env python3 +import rclpy +from geometry_msgs.msg import TwistWithCovarianceStamped, WrenchStamped +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy +from std_msgs.msg import Bool, String +from ukf_okid import UKF +from ukf_okid_class import StateQuat, process_model, MeasModel +import numpy as np + +class UKFNode(Node): + def __init__(self): + super().__init__("UKFNode") + + best_effort_qos = QoSProfile( + reliability=ReliabilityPolicy.BEST_EFFORT, + history=HistoryPolicy.KEEP_LAST, + depth=1, + ) + + #subcribers + self.dvl_subscriber = self.create_subscription(TwistWithCovarianceStamped, + "/orca/twist", + self.dvl_callback, + qos_profile=best_effort_qos, + ) + + self.control_input = self.create_subscription(WrenchStamped,"/orca/wrench_input", self.control_callback, qos_profile=best_effort_qos,) + + self.odom_publish = self.create_publisher(Odometry, "/orca/odometry", qos_profile=best_effort_qos) + dt = self.declare_parameter("dt", 0.01).get_parameter_value().double_value + self.control_timer = self.create_timer(dt, self.odom_publisher) + + self.current_state = StateQuat() + x0 = np.zeros(13) + x0[3] = 1.0 # quaternion: [1, 0, 0, 0] + P0 = np.eye(12) * 0.5 + self.ukf_model = process_model() + self.ukf_model.dt = 0.01 + self.ukf_model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ]) + self.ukf_model.m = 30.0 + self.ukf_model.r_b_bg = np.array([0.01, 0.0, 0.02]) + self.ukf_model.inertia = np.diag([0.68, 3.32, 3.34]) + self.ukf_model.damping_linear = np.array([0.01] * 6) + # self.ukf_model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + Q = np.diag([0.02, 0.02, 0.02, + 0.02, 0.02, 0.02, + 0.1, 0.1, 0.1, + 0.1, 0.1, 0.1]) + + self.ukf = UKF(self.ukf_model, x0, P0, Q) + self.ukf_flagg = False + + def dvl_callback(self, msg: TwistWithCovarianceStamped): + # unpack msg + dvl_measurement = MeasModel() + # Print received DVL data to console + # self.get_logger().info(f"DVL data received: x={msg.twist.twist.linear.x}, y={msg.twist.twist.linear.y}, z={msg.twist.twist.linear.z}") + dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + dvl_measurement.covariance = np.array([[msg.twist.covariance[0], msg.twist.covariance[1], msg.twist.covariance[3]], + [msg.twist.covariance[6], msg.twist.covariance[7], msg.twist.covariance[8]], + [msg.twist.covariance[12], msg.twist.covariance[13], msg.twist.covariance[14]]]) + + self.ukf.measurement_update(self.current_state, dvl_measurement) + self.current_state = self.ukf.posteriori_estimate(self.current_state, dvl_measurement) + self.ukf_flagg = True + + def control_callback(self, msg:WrenchStamped): + # unpack message + control_array = np.array([msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z, msg.wrench.torque.x, msg.wrench.torque.y, msg.wrench.torque.z]) + self.ukf_model.Control_input = control_array + + def odom_publisher(self): + msg = Odometry() + + if self.ukf_flagg == False: + self.current_state = self.ukf.unscented_transform(self.current_state) + else: + self.ukf_flagg = False + + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = "odom" + msg.child_frame_id = "base_link" + + msg.pose.pose.position.x = self.current_state.position[0] + msg.pose.pose.position.y = self.current_state.position[1] + msg.pose.pose.position.z = self.current_state.position[2] + msg.pose.pose.orientation.w = self.current_state.orientation[0] + msg.pose.pose.orientation.x = self.current_state.orientation[1] + msg.pose.pose.orientation.y = self.current_state.orientation[2] + msg.pose.pose.orientation.z = self.current_state.orientation[3] + msg.twist.twist.linear.x = self.current_state.velocity[0] + msg.twist.twist.linear.y = self.current_state.velocity[1] + msg.twist.twist.linear.z = self.current_state.velocity[2] + msg.twist.twist.angular.x = self.current_state.angular_velocity[0] + msg.twist.twist.angular.y = self.current_state.angular_velocity[1] + msg.twist.twist.angular.z = self.current_state.angular_velocity[2] + + self.odom_publish.publish(msg) + +def main(args=None): + rclpy.init(args=args) + ukf_node = UKFNode() + rclpy.spin(ukf_node) + rclpy.shutdown() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index cebb53ac6..80ca90e86 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,323 +1,440 @@ -import time - -import matplotlib.pyplot as plt import numpy as np -from ukf_okid import UKF +import matplotlib.pyplot as plt +from ukf_utils import print_StateQuat +# Import your classes and functions. +# Adjust the import paths as necessary based on your module organization. from ukf_okid_class import ( - MeasModel, StateQuat, - process_model, - quat_to_euler, + MeasModel, + iterative_quaternion_mean_statequat, + mean_set, + mean_measurement, + covariance_set, + covariance_measurement, + cross_covariance, quaternion_super_product, + quaternion_error, + quat_to_euler, + quat_norm, ) - -def add_quaternion_noise(q, noise_std): - noise = np.random.normal(0, noise_std, 3) - - theta = np.linalg.norm(noise) - - if theta > 0: - axis = noise / theta - - q_noise = np.hstack((np.cos(theta / 2), np.sin(theta / 2) * axis)) - +# For testing, define a function to create a StateQuat with small perturbations. +def create_statequat(base_vector, position_perturbation, orientation_perturbation, velocity_perturbation, angular_velocity_perturbation): + """ + Creates a StateQuat object. + - base_vector: 1D numpy array for base state (13 elements: + position (3), quaternion (4), velocity (3), angular_velocity (3)) + - ..._perturbation: small perturbation vector to be added to each respective component. + Returns a StateQuat. + """ + state = StateQuat() + # Base state + state.position = base_vector[0:3] + position_perturbation + # For orientation, perturb by adding a small rotation: + base_quat = base_vector[3:7] + noise_angle = np.linalg.norm(orientation_perturbation) + if noise_angle < 1e-8: + noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) else: - q_noise = np.array([1.0, 0.0, 0.0, 0.0]) - - q_new = quaternion_super_product(q, q_noise) - - return q_new / np.linalg.norm(q_new) - - -if __name__ == '__main__': - # Create initial state vector and covariance matrix. - x0 = np.zeros(13) - x0[0:3] = [0.3, 0.3, 0.3] - x0[3] = 1 - x0[7:10] = [0.2, 0.2, 0.2] - dt = 0.01 - R = (0.01) * np.eye(3) - - Q = 0.00015 * np.eye(12) - P0 = np.eye(12) * 0.0001 + noise_axis = orientation_perturbation / noise_angle + noise_quat = np.concatenate(([np.cos(noise_angle/2)], np.sin(noise_angle/2) * noise_axis)) + state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) + state.velocity = base_vector[7:10] + velocity_perturbation + state.angular_velocity = base_vector[10:13] + angular_velocity_perturbation + + # For the augmented parameters (OKID parameters), set a 21-element vector: + # 9 for inertia, 6 for added_mass, and 6 for damping_linear. + state.okid_params.fill(np.concatenate((np.zeros(9), np.zeros(6), np.zeros(6)))) + + # Set a default covariance (33x33 for the extended state) + state.covariance = np.eye(33) * 0.01 + return state + +# Test functions for state statistics +def test_state_statistics(): + # Define a base state vector (13 elements: position, quaternion, velocity, angular_velocity) + base_vector = np.zeros(13) + base_vector[0:3] = np.array([1.0, 2.0, 3.0]) + base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion + base_vector[7:10] = np.array([0.1, 0.2, 0.3]) + base_vector[10:13] = np.array([0.01, 0.02, 0.03]) + + # Create a list of StateQuat objects with small random perturbations. + np.random.seed(42) + state_list = [] + num_states = 10 + for _ in range(num_states): + pos_noise = np.random.normal(0, 0.05, 3) + ori_noise = np.random.normal(0, 0.01, 3) + vel_noise = np.random.normal(0, 0.02, 3) + ang_vel_noise = np.random.normal(0, 0.005, 3) + state_list.append(create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise)) + + # Compute the state mean using mean_set. + mean_state_vec = mean_set(state_list) + print("Computed mean state vector:") + print(mean_state_vec) + + # Compute the covariance of the states. + cov_state = covariance_set(state_list, mean_state_vec) + print("Computed state covariance matrix:") + print(cov_state) + + # Check symmetry of the covariance: + asym_error = np.linalg.norm(cov_state - cov_state.T) + print("Covariance symmetry error (should be near 0):", asym_error) + + # Check eigenvalues for positive semidefiniteness: + eigvals = np.linalg.eigvals(cov_state) + print("Eigenvalues of state covariance:") + print(eigvals) + +def test_measurement_statistics(): + # Create a list of measurement objects (MeasModel) with measurements in R^3. + np.random.seed(24) + meas_list = [] + num_meas = 10 + base_meas = np.array([1.0, 2.0, 3.0]) + for _ in range(num_meas): + noise = np.random.normal(0, 0.1, 3) + meas = MeasModel() + meas.measurement = base_meas + noise + meas_list.append(meas) + + # Compute the measurement mean. + mean_meas = mean_measurement(meas_list) + print("Computed measurement mean:") + print(mean_meas) + + # Compute the measurement covariance. + cov_meas = covariance_measurement(meas_list, mean_meas) + print("Computed measurement covariance:") + print(cov_meas) + + # Check symmetry and eigenvalues. + asym_error = np.linalg.norm(cov_meas - cov_meas.T) + print("Measurement covariance symmetry error:", asym_error) + eigvals = np.linalg.eigvals(cov_meas) + print("Eigenvalues of measurement covariance:") + print(eigvals) + +def test_cross_covariance(): + # Create a set of StateQuat and corresponding MeasModel objects. + np.random.seed(99) + num = 10 + state_list = [] + meas_list = [] + base_vector = np.zeros(13) + base_vector[0:3] = np.array([0.5, 1.0, -0.5]) + base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) + base_vector[7:10] = np.array([0.05, 0.1, 0.15]) + base_vector[10:13] = np.array([0.005, 0.01, 0.015]) + + for _ in range(num): + pos_noise = np.random.normal(0, 0.02, 3) + ori_noise = np.random.normal(0, 0.005, 3) + vel_noise = np.random.normal(0, 0.01, 3) + ang_vel_noise = np.random.normal(0, 0.002, 3) + state = create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise) + state_list.append(state) + + # Generate a measurement from each state (e.g., state velocity plus noise). + meas = MeasModel() + meas.measurement = state.velocity + np.random.normal(0, 0.01, 3) + meas_list.append(meas) + + # Compute the state mean and measurement mean as vectors. + mean_state_vec = mean_set(state_list) + mean_meas = mean_measurement(meas_list) + + cross_cov = cross_covariance(state_list, mean_state_vec, meas_list, mean_meas) + print("Computed cross-covariance between state and measurement:") + print(cross_cov) - model = process_model() - model.dt = 0.01 - model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - model.m = 30.0 - model.r_b_bg = np.array([0.01, 0.0, 0.02]) - model.inertia = np.diag([0.68, 3.32, 3.34]) - model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - model_ukf = process_model() - model_ukf.dt = 0.01 - model_ukf.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - model_ukf.m = 30.0 - model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) - model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) - model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) +import time +import numpy as np +import matplotlib.pyplot as plt - # Simulation parameters - simulation_time = 5 # seconds +# Import your classes and functions. +from ukf_okid_class import ( + StateQuat, + MeasModel, + iterative_quaternion_mean_statequat, + mean_set, + mean_measurement, + covariance_set, + covariance_measurement, + cross_covariance, + quaternion_super_product, + quaternion_error, + quat_norm, +) +from ukf_okid import UKF +from ukf_okid_class import process_model, okid_process_model # Your process model classes + +############################################ +# Helper function to create a StateQuat with perturbations. +############################################ +def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise): + """ + Create a StateQuat object from a base vector (13 elements: + position (3), quaternion (4), velocity (3), angular_velocity (3)) + plus additive noise on each component. + + For the OKID parameters, we assume a 21-element vector: + - first 9: inertia, + - next 6: added_mass, + - last 6: damping_linear. + """ + state = StateQuat() + state.position = base_vector[0:3] + pos_noise + base_quat = base_vector[3:7] + noise_angle = np.linalg.norm(ori_noise) + if noise_angle < 1e-8: + noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) + else: + noise_axis = ori_noise / noise_angle + noise_quat = np.concatenate(([np.cos(noise_angle/2)], + np.sin(noise_angle/2) * noise_axis)) + state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) + state.velocity = base_vector[7:10] + vel_noise + state.angular_velocity = base_vector[10:13] + ang_vel_noise + + # Set OKID parameters to exactly 21 elements (9,6,6) + state.okid_params.fill(np.concatenate((np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0])))) + # Set an initial covariance (33x33) for the full augmented state. + state.covariance = np.eye(33) * 0.02 + return state + +############################################ +# Full Filter Simulation Test +############################################ +def run_ukf_simulation(): + dt = 0.01 # Time step for simulation [s] + simulation_time = 10 # Total simulation time in seconds num_steps = int(simulation_time / dt) - - # Initialize a dummy StateQuat. - new_state = StateQuat() - new_state.fill_states(x0) - new_state.covariance = P0 - - test_state_x = StateQuat() - test_state_x.fill_states(x0) - test_state_x.covariance = P0 - - # Initialize a estimated state - estimated_state = StateQuat() - estimated_state.fill_states(x0) - estimated_state.covariance = P0 - - # Initialize a estimated state - noisy_state = StateQuat() - noisy_state.fill_states(x0) - noisy_state.covariance = P0 - - measurment_model = MeasModel() - measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - measurment_model.covariance = R - - # Initialize arrays to store the results - positions = np.zeros((num_steps, 3)) - orientations = np.zeros((num_steps, 3)) - velocities = np.zeros((num_steps, 3)) - angular_velocities = np.zeros((num_steps, 3)) - - # Initialize arrays to store the estimates - positions_est = np.zeros((num_steps, 3)) - orientations_est = np.zeros((num_steps, 3)) - velocities_est = np.zeros((num_steps, 3)) - angular_velocities_est = np.zeros((num_steps, 3)) - - # Initialize the okid params - okid_params = np.zeros((num_steps, 21)) - - model.state_vector_prev = new_state - model.state_vector = new_state - - model_ukf.state_vector_prev = test_state_x - model_ukf.state_vector = test_state_x - - # initialize the ukf - ukf = UKF(model_ukf, x0, P0, Q, R) - - elapsed_times = [] - - u = lambda t: np.array( - [ - 2 * np.sin(1 * t), - 2 * np.sin(1 * t), - 2 * np.sin(1 * t), - 0.2 * np.cos(1 * t), - 0.2 * np.cos(1 * t), - 0.2 * np.cos(1 * t), - ] - ) - - # Run the simulation - for step in range(num_steps): - # Insert control input - model.Control_input = u(step * dt) - model_ukf.Control_input = u(step * dt) - - # Perform the unscented transform - model.model_prediction(new_state) - new_state = model.euler_forward() - - # Adding noise in the state vector - estimated_state.position = ( - estimated_state.position - ) # + np.random.normal(0, 0.01, 3) - estimated_state.orientation = ( - estimated_state.orientation - ) # add_quaternion_noise(estimated_state.orientation, 0.01) - estimated_state.velocity = ( - estimated_state.velocity - ) # + np.random.normal(0, 0.01, 3) - estimated_state.angular_velocity = ( - estimated_state.angular_velocity - ) # + np.random.normal(0, 0.01, 3) - - start_time = time.time() - estimated_state = ukf.unscented_transform(estimated_state) - print(estimated_state.as_vector()) - break - elapsed_time = time.time() - start_time - elapsed_times.append(elapsed_time) - - if step % 20 == 0: - measurment_model.measurement = ( - new_state.velocity - ) # + np.random.normal(0, 0.01, 3) - meas_update, covariance_matrix = ukf.measurement_update( - estimated_state, measurment_model - ) - estimated_state = ukf.posteriori_estimate( - estimated_state, covariance_matrix, measurment_model, meas_update - ) - - positions[step, :] = new_state.position - orientations[step, :] = quat_to_euler(new_state.orientation) - velocities[step, :] = new_state.velocity - angular_velocities[step, :] = new_state.angular_velocity - - positions_est[step, :] = estimated_state.position - orientations_est[step, :] = quat_to_euler(estimated_state.orientation) - velocities_est[step, :] = estimated_state.velocity - angular_velocities_est[step, :] = estimated_state.angular_velocity - - # Update the state for the next iteration - model.state_vector_prev = new_state - - print('Average elapsed time: ', np.mean(elapsed_times)) - print('Max elapsed time: ', np.max(elapsed_times)) - print('Min elapsed time: ', np.min(elapsed_times)) - print('median elapsed time: ', np.median(elapsed_times)) - # Plot the results - time = np.linspace(0, simulation_time, num_steps) - - # Plot positions - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, positions[:, 0], label='True') - plt.plot(time, positions_est[:, 0], label='Estimated') - plt.title('Position X') - plt.xlabel('Time [s]') - plt.ylabel('Position X [m]') + + # Define a base state vector (13 elements: pos, quat, vel, ang_vel) + base_vector = np.zeros(13) + base_vector[0:3] = np.array([0.0, 0.0, 0.0]) + base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion + base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x + base_vector[10:13] = np.array([0.0, 0.0, 0.0]) + + # Define initial covariance for state (33x33) + P0 = np.eye(33) + P0[0:3, 0:3] = np.eye(3) * 0.01 # position + P0[3:6, 3:6] = np.eye(3) * 0.01 # orientation error (quaternion) + P0[6:9, 6:9] = np.eye(3) * 0.01 # velocity + P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity + P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters + + # Define process noise covariance Q (33x33) + Q = np.zeros((33, 33)) + Q[0:3, 0:3] = np.eye(3)*0.001 # for position + Q[3:6, 3:6] = np.eye(3)*0.001 # for orientation error (represented with Euler angles) + Q[6:9, 6:9] = np.eye(3)*0.001 # for velocity + Q[9:12, 9:12] = np.eye(3)*0.001 # for angular velocity + Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters + + + G = np.zeros((33, 12)) + G[0:3, 0:3] = np.eye(3) + G[3:6, 3:6] = np.eye(3) + G[6:9, 6:9] = np.eye(3) + G[9:12, 9:12] = np.eye(3) + + # Measurement noise covariance R (3x3), assume measurement is velocity + R = np.eye(3) * 0.01 + + # Create a simulation process model and an independent UKF process model. + sim_model = process_model() + sim_model.dt = dt + sim_model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ]) + sim_model.m = 30.0 + sim_model.r_b_bg = np.array([0.01, 0.0, 0.02]) + sim_model.inertia = np.diag([0.68, 3.32, 3.34]) + sim_model.damping_linear = np.array([0.1]*6) + sim_model.added_mass = np.array([1.0,1.0,1.0,2.0,2.0,2.0]) + + # UKF process model copy: + ukf_model = okid_process_model() + ukf_model.dt = dt + ukf_model.mass_interia_matrix = sim_model.mass_interia_matrix.copy() + ukf_model.m = sim_model.m + ukf_model.r_b_bg = sim_model.r_b_bg.copy() + ukf_model.inertia = sim_model.inertia.copy() + ukf_model.damping_linear = sim_model.damping_linear.copy() + ukf_model.added_mass = sim_model.added_mass.copy() + + # Initialize true state and filter state. + true_state = create_statequat(base_vector, + np.zeros(3), + np.zeros(3), + np.zeros(3), + np.zeros(3)) + true_state.covariance = P0.copy() + + filter_state = create_statequat(base_vector, + np.zeros(3), + np.zeros(3), + np.zeros(3), + np.zeros(3)) + filter_state.covariance = P0.copy() + + # Initialize measurement model (for example, measuring velocity only) + meas_model = MeasModel() + meas_model.covariance = R.copy() + + # Initialize UKF. + ukf = UKF(ukf_model, true_state, P0.copy(), Q.copy(), G.copy()) + + # Arrays to store time histories. + pos_true_hist = np.zeros((num_steps, 3)) + pos_est_hist = np.zeros((num_steps, 3)) + vel_true_hist = np.zeros((num_steps, 3)) + vel_est_hist = np.zeros((num_steps, 3)) + euler_true_hist = np.zeros((num_steps, 3)) + euler_est_hist = np.zeros((num_steps, 3)) + time_array = np.linspace(0, simulation_time, num_steps) + + # Control input function (example: oscillatory in all directions) + def control_input(t): + return np.array([ + 2*np.sin(t), + 2*np.sin(t+0.5), + 2*np.sin(t+1.0), + 0.2*np.cos(t), + 0.2*np.cos(t+0.5), + 0.2*np.cos(t+1.0) + ]) + + # Set previous states. + sim_model.state_vector_prev = true_state + sim_model.state_vector = true_state + ukf_model.state_vector_prev = filter_state + ukf_model.state_vector = filter_state + + # Lists for timing diagnostics. + ukf_transform_times = [] + ukf_update_times = [] + + # Simulation loop. + for i in range(num_steps): + t_current = i*dt + + # Update control inputs. + sim_model.Control_input = control_input(t_current) + ukf_model.Control_input = control_input(t_current) + + # Propagate true state using the simulation model. + sim_model.model_prediction(true_state) + true_state = sim_model.euler_forward() + + # Create a measurement from true state. + # Here we assume we measure velocity plus noise. + meas_noise = np.random.normal(0, 0.01, 3) + meas_model.measurement = true_state.velocity + meas_noise + + # UKF prediction: unscented transform. + start = time.time() + filter_state = ukf.unscented_transform(filter_state) + ukf_transform_times.append(time.time() - start) + + # UKF measurement update every few steps. + if i % 5 == 0: + try: + start = time.time() + ukf.measurement_update(filter_state, meas_model) + filter_state = ukf.posteriori_estimate(filter_state, meas_model) + ukf_update_times.append(time.time() - start) + except np.linalg.LinAlgError: + # If matrix is not PD, add jitter. + filter_state.covariance += np.eye(filter_state.covariance.shape[0])*1e-6 + + # Store true and estimated state for diagnostics. + pos_true_hist[i, :] = true_state.position + pos_est_hist[i, :] = filter_state.position + vel_true_hist[i, :] = true_state.velocity + vel_est_hist[i, :] = filter_state.velocity + # Convert quaternion to Euler angles for visualization. + # Assumes you have a function quat_to_euler. + euler_true_hist[i, :] = quat_to_euler(true_state.orientation) + euler_est_hist[i, :] = quat_to_euler(filter_state.orientation) + + # Update previous states. + sim_model.state_vector_prev = true_state + ukf_model.state_vector_prev = filter_state + + # Print timing diagnostics. + print("Average unscented transform time:", np.mean(ukf_transform_times)) + print("Average measurement update time:", np.mean(ukf_update_times)) + + # Compute error metrics. + pos_error = np.linalg.norm(pos_true_hist - pos_est_hist, axis=1) + vel_error = np.linalg.norm(vel_true_hist - vel_est_hist, axis=1) + euler_error = np.linalg.norm(euler_true_hist - euler_est_hist, axis=1) + print("Average position error:", np.mean(pos_error)) + print("Average velocity error:", np.mean(vel_error)) + print("Average orientation (Euler) error:", np.mean(euler_error)) + + # Plot estimated vs true trajectory (positions). + plt.figure(figsize=(10,8)) + plt.subplot(3,1,1) + plt.plot(time_array, pos_true_hist[:,0], label="True X") + plt.plot(time_array, pos_est_hist[:,0], label="Est X", linestyle="--") plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, positions[:, 1], label='True') - plt.plot(time, positions_est[:, 1], label='Estimated') - plt.title('Position Y') - plt.xlabel('Time [s]') - plt.ylabel('Position Y [m]') + plt.title("Position X") + + plt.subplot(3,1,2) + plt.plot(time_array, pos_true_hist[:,1], label="True Y") + plt.plot(time_array, pos_est_hist[:,1], label="Est Y", linestyle="--") plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, positions[:, 2], label='True') - plt.plot(time, positions_est[:, 2], label='Estimated') - plt.title('Position Z') - plt.xlabel('Time [s]') - plt.ylabel('Position Z [m]') + plt.title("Position Y") + + plt.subplot(3,1,3) + plt.plot(time_array, pos_true_hist[:,2], label="True Z") + plt.plot(time_array, pos_est_hist[:,2], label="Est Z", linestyle="--") plt.legend() - + plt.title("Position Z") plt.tight_layout() plt.show() - - # Plot orientations (Euler angles) - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, orientations[:, 0], label='True') - plt.plot(time, orientations_est[:, 0], label='Estimated') - plt.title('Orientation Roll') - plt.xlabel('Time [s]') - plt.ylabel('Roll [rad]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, orientations[:, 1], label='True') - plt.plot(time, orientations_est[:, 1], label='Estimated') - plt.title('Orientation Pitch') - plt.xlabel('Time [s]') - plt.ylabel('Pitch [rad]') + + # Plot errors. + plt.figure(figsize=(10,4)) + plt.plot(time_array, pos_error, label="Position Error") + plt.plot(time_array, vel_error, label="Velocity Error") + plt.plot(time_array, euler_error, label="Euler Angle Error") plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, orientations[:, 2], label='True') - plt.plot(time, orientations_est[:, 2], label='Estimated') - plt.title('Orientation Yaw') - plt.xlabel('Time [s]') - plt.ylabel('Yaw [rad]') - plt.legend() - - plt.tight_layout() + plt.title("Error Metrics over Time") + plt.xlabel("Time (s)") + plt.ylabel("Error magnitude") plt.show() - # Plot velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, velocities[:, 0], label='True') - plt.plot(time, velocities_est[:, 0], label='Estimated') - plt.title('Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Velocity X [m/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, velocities[:, 1], label='True') - plt.plot(time, velocities_est[:, 1], label='Estimated') - plt.title('Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Y [m/s]') - plt.legend() +# You can also test the individual statistics functions separately: +def run_diagnostics(): + print("Testing state mean and covariance computation:") + # Call your pre-written tests: + # (Assuming these functions—test_state_statistics, test_measurement_statistics, test_cross_covariance—are defined above) + test_state_statistics() + print("\nTesting measurement mean and covariance computation:") + test_measurement_statistics() + print("\nTesting cross-covariance computation:") + test_cross_covariance() - plt.subplot(3, 1, 3) - plt.plot(time, velocities[:, 2], label='True') - plt.plot(time, velocities_est[:, 2], label='Estimated') - plt.title('Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Z [m/s]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot angular velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, angular_velocities[:, 0], label='True') - plt.plot(time, angular_velocities_est[:, 0], label='Estimated') - plt.title('Angular Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity X [rad/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, angular_velocities[:, 1], label='True') - plt.plot(time, angular_velocities_est[:, 1], label='Estimated') - plt.title('Angular Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Y [rad/s]') - plt.legend() +if __name__ == '__main__': + # First, run the diagnostics on the mean/covariance functions. + run_diagnostics() + + # Then run the full UKF simulation test. + print("\nRunning full UKF simulation test:") + run_ukf_simulation() - plt.subplot(3, 1, 3) - plt.plot(time, angular_velocities[:, 2], label='True') - plt.plot(time, angular_velocities_est[:, 2], label='Estimated') - plt.title('Angular Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Z [rad/s]') - plt.legend() - plt.tight_layout() - plt.show() diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py new file mode 100644 index 000000000..bf58b7a1a --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_test_2.py @@ -0,0 +1,40 @@ +import numpy as np + +# Define process noise covariance Q (33x33) +Q = np.zeros((12, 12)) +Q[0:3, 0:3] = np.eye(3)*0.003 # for position +Q[3:6, 3:6] = np.eye(3)*0.003 # for orientation error (represented with Euler angles) +Q[6:9, 6:9] = np.eye(3)*0.002 # for velocity +Q[9:12, 9:12] = np.eye(3)*0.003 # for angular velocity + +G = np.zeros((33, 12)) +G[0:3, 0:3] = np.eye(3) +G[3:6, 3:6] = np.eye(3) +G[6:9, 6:9] = np.eye(3) +G[9:12, 9:12] = np.eye(3) + +GG = G @ Q @ G.T +def fancy_print_matrix(matrix, name="Matrix", precision=4): + """ + Print a matrix with fancy formatting. + + Args: + matrix: numpy array to print + name: name of the matrix to display + precision: number of decimal places to show + """ + print(f"\n{'=' * 50}") + print(f" {name} [{matrix.shape[0]}x{matrix.shape[1]}]") + print(f"{'=' * 50}") + + # Set numpy print options + with np.printoptions(precision=precision, suppress=True, linewidth=100): + # Print each row with custom formatting + for i in range(matrix.shape[0]): + row = ' '.join([f"{x:8.{precision}f}" for x in matrix[i]]) + print(f" {i:2d} | {row}") + + print(f"{'=' * 50}\n") + +# Example usage: +fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index cb92d9393..7bf7cd4e3 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -19,6 +19,7 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): print(f" Orientation: {state.orientation}") print(f" Velocity: {state.velocity}") print(f" Angular Velocity: {state.angular_velocity}") + print(f" okid state: {state.okid_params}") # print(f" okid_params: {state.okid_params}") if print_covariance: print_matrix(state.covariance, "Covariance") From 20280c2d22337cd780bfc840253e0c4b8f1a9b1a Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 17 Apr 2025 16:27:59 +0000 Subject: [PATCH 016/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/eskf.hpp | 1 - navigation/eskf/include/eskf/typedefs.hpp | 7 +- navigation/eskf/src/eskf.cpp | 11 +- navigation/eskf/src/eskf_ros.cpp | 18 +- navigation/ukf_okid/launch/ukf.launch.py | 3 - navigation/ukf_okid/ukf_python/ukf_okid.py | 29 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 43 ++- navigation/ukf_okid/ukf_python/ukf_ros.py | 102 +++++-- navigation/ukf_okid/ukf_python/ukf_test.py | 268 ++++++++++-------- navigation/ukf_okid/ukf_python/ukf_test_2.py | 22 +- 10 files changed, 293 insertions(+), 211 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 80b086d26..5cc3e0708 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -25,7 +25,6 @@ class ESKF { const dvl_measurement& dvl_meas); private: - // @brief Predict the nominal state // @param imu_meas: IMU measurement // @param dt: Time step diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index fac89baa7..748804be3 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,9 +5,9 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H +#include #include #include -#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -43,9 +43,7 @@ struct state_quat { Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); - state_quat() { - gravity << 0, 0, 9.81; - } + state_quat() { gravity << 0, 0, 9.81; } Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; @@ -94,7 +92,6 @@ struct state_euler { struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); - }; struct dvl_measurement { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index bbd367c7f..84fb5e8f3 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -107,21 +107,20 @@ Eigen::Matrix3x1d ESKF::calculate_h() { return h; } - void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * imu_meas.accel + + current_nom_state_.quat.normalized().toRotationMatrix() * + imu_meas.accel + current_nom_state_.gravity; - Eigen::Vector3d gyro = imu_meas.gyro * dt/2; + Eigen::Vector3d gyro = imu_meas.gyro * dt / 2; current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - - current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); - + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a35273103..e805a0c39 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -42,8 +42,9 @@ void ESKFNode::set_subscribers_and_publisher() { void ESKFNode::set_parameters() { std::vector R_imu_correction; this->declare_parameter>("imu_frame"); - R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); - R_imu_eskf_ = Eigen::Map>(R_imu_correction.data()); + R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); + R_imu_eskf_ = Eigen::Map>( + R_imu_correction.data()); std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -81,15 +82,14 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { last_imu_time_ = current_time; Eigen::Vector3d raw_accel(msg->linear_acceleration.x, - msg->linear_acceleration.y, - msg->linear_acceleration.z); + msg->linear_acceleration.y, + msg->linear_acceleration.z); imu_meas_.accel = R_imu_eskf_ * raw_accel; - - Eigen::Vector3d raw_gyro(msg->angular_velocity.x, - msg->angular_velocity.y, - msg->angular_velocity.z); - + + Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, + msg->angular_velocity.z); + imu_meas_.gyro = R_imu_eskf_ * raw_gyro; std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py index 62a439b94..baf6fb645 100644 --- a/navigation/ukf_okid/launch/ukf.launch.py +++ b/navigation/ukf_okid/launch/ukf.launch.py @@ -1,12 +1,9 @@ -import os -from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description() -> LaunchDescription: - ukf_node = Node( package="ukf_python", executable="ukf_ros.py", diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index af61d1a79..474b94ac6 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,5 +1,4 @@ import numpy as np -from ukf_utils import print_StateQuat from ukf_okid_class import ( MeasModel, StateQuat, @@ -8,7 +7,6 @@ cross_covariance, mean_measurement, mean_set, - process_model, okid_process_model, ) @@ -37,15 +35,17 @@ def generate_delta_matrix(self, n: float) -> np.ndarray: delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ delta = np.zeros((n, 2 * n)) - k = 0.01 #Tuning parameter to ensure pos def + k = 0.01 # Tuning parameter to ensure pos def - for i in range(2 * n): + for i in range(2 * n): for j in range(n // 2): - delta[2 * j + 1, i] = np.sqrt(2) * np.sin((2 * j - 1)) * ((k * np.pi) / n) - delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1)) * ((k * np.pi) / n) - + delta[2 * j + 1, i] = ( + np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) + ) + delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + if (n % 2) == 1: - delta[n-1, i] = (-1)**i + delta[n - 1, i] = (-1) ** i return delta def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: @@ -96,10 +96,15 @@ def measurement_update( self.measurement_updated.measurement = mean_measurement(z_i) - self.measurement_updated.covariance = covariance_measurement(z_i, self.measurement_updated.measurement) + self.measurement_updated.covariance = covariance_measurement( + z_i, self.measurement_updated.measurement + ) self.cross_correlation = cross_covariance( - self.y_i, current_state.as_vector(), z_i, self.measurement_updated.measurement + self.y_i, + current_state.as_vector(), + z_i, + self.measurement_updated.measurement, ) def posteriori_estimate( @@ -109,7 +114,9 @@ def posteriori_estimate( ) -> StateQuat: """Calculates the posteriori estimate using measurement and the prior estimate.""" nu_k = MeasModel() - nu_k.measurement = measurement.measurement - self.measurement_updated.measurement + nu_k.measurement = ( + measurement.measurement - self.measurement_updated.measurement + ) nu_k.covariance = self.measurement_updated.covariance + measurement.covariance K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 5558ad754..0b329cb84 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -2,13 +2,22 @@ import numpy as np + @dataclass class okid: """A class to represent the parameters for the OKID algorithm.""" - inertia: np.ndarray = field(default_factory=lambda: np.array([0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34])) - added_mass: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,2.0,2.0,2.0])) - damping_linear: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,1.0,1.0,1.0])) + inertia: np.ndarray = field( + default_factory=lambda: np.array( + [0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34] + ) + ) + added_mass: np.ndarray = field( + default_factory=lambda: np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + ) + damping_linear: np.ndarray = field( + default_factory=lambda: np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]) + ) def fill(self, state: np.ndarray) -> None: """Fills the okid_params object with values from a numpy array.""" @@ -27,6 +36,7 @@ def __add__(self, other: 'okid') -> 'okid': result.added_mass = self.added_mass + other.added_mass result.damping_linear = self.damping_linear + other.damping_linear return result + def __sub__(self, other: 'okid') -> 'okid': """Defines the subtraction operation between two okid_params objects.""" result = okid() @@ -34,22 +44,23 @@ def __sub__(self, other: 'okid') -> 'okid': result.added_mass = self.added_mass - other.added_mass result.damping_linear = self.damping_linear - other.damping_linear return result - + def __sub__(self, other: np.ndarray) -> 'okid': - """ Defines sub between okid_params and np.ndarray.""" + """Defines sub between okid_params and np.ndarray.""" result = okid() result.inertia = self.inertia - other[0:9] result.added_mass = self.added_mass - other[9:15] result.damping_linear = self.damping_linear - other[15:] return result - + def __rmul__(self, scalar: float) -> 'okid': """Defines the multiplication operation between a scalar and okid_params object.""" result = okid() result.inertia = scalar * self.inertia result.added_mass = scalar * self.added_mass result.damping_linear = scalar * self.damping_linear - return result + return result + @dataclass class StateQuat: @@ -65,8 +76,15 @@ class StateQuat: def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" return np.concatenate( - [self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params.as_vector()] + [ + self.position, + self.orientation, + self.velocity, + self.angular_velocity, + self.okid_params.as_vector(), + ] ) + def dynamic_part(self) -> np.ndarray: """Returns the dynamic part of the state vector.""" return np.concatenate( @@ -108,7 +126,7 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] self.okid_params.fill(state[13:]) - + def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> None: """Fills only the dynamic part of the state vector with the values from a numpy array.""" self.position = state[0:3] + state_euler[0:3] @@ -334,6 +352,8 @@ def euler_forward(self) -> StateQuat: + self.state_vector_dot.angular_velocity * self.dt ) return self.state_vector + + @dataclass class okid_process_model: state_vector: StateQuat = field(default_factory=StateQuat) @@ -396,8 +416,8 @@ def D(self) -> np.ndarray: """Calculates the damping matrix.""" D_l = -np.diag(self.damping_linear) - return D_l - + return D_l + def model_prediction(self, state: StateQuat) -> None: """Calculates the model of the system.""" self.state_vector = state @@ -438,6 +458,7 @@ def euler_forward(self) -> None: ) return self.state_vector + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: """Converts Euler angles to a quaternion.""" psi, theta, phi = euler_angles diff --git a/navigation/ukf_okid/ukf_python/ukf_ros.py b/navigation/ukf_okid/ukf_python/ukf_ros.py index 66d01175c..a40c2f7c3 100755 --- a/navigation/ukf_okid/ukf_python/ukf_ros.py +++ b/navigation/ukf_okid/ukf_python/ukf_ros.py @@ -1,13 +1,13 @@ #!/usr/bin/env python3 +import numpy as np import rclpy from geometry_msgs.msg import TwistWithCovarianceStamped, WrenchStamped from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy -from std_msgs.msg import Bool, String from ukf_okid import UKF -from ukf_okid_class import StateQuat, process_model, MeasModel -import numpy as np +from ukf_okid_class import MeasModel, StateQuat, process_model + class UKFNode(Node): def __init__(self): @@ -19,16 +19,24 @@ def __init__(self): depth=1, ) - #subcribers - self.dvl_subscriber = self.create_subscription(TwistWithCovarianceStamped, + # subscribers + self.dvl_subscriber = self.create_subscription( + TwistWithCovarianceStamped, "/orca/twist", self.dvl_callback, qos_profile=best_effort_qos, ) - self.control_input = self.create_subscription(WrenchStamped,"/orca/wrench_input", self.control_callback, qos_profile=best_effort_qos,) + self.control_input = self.create_subscription( + WrenchStamped, + "/orca/wrench_input", + self.control_callback, + qos_profile=best_effort_qos, + ) - self.odom_publish = self.create_publisher(Odometry, "/orca/odometry", qos_profile=best_effort_qos) + self.odom_publish = self.create_publisher( + Odometry, "/orca/odometry", qos_profile=best_effort_qos + ) dt = self.declare_parameter("dt", 0.01).get_parameter_value().double_value self.control_timer = self.create_timer(dt, self.odom_publisher) @@ -38,24 +46,23 @@ def __init__(self): P0 = np.eye(12) * 0.5 self.ukf_model = process_model() self.ukf_model.dt = 0.01 - self.ukf_model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ]) + self.ukf_model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) self.ukf_model.m = 30.0 self.ukf_model.r_b_bg = np.array([0.01, 0.0, 0.02]) self.ukf_model.inertia = np.diag([0.68, 3.32, 3.34]) self.ukf_model.damping_linear = np.array([0.01] * 6) # self.ukf_model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - Q = np.diag([0.02, 0.02, 0.02, - 0.02, 0.02, 0.02, - 0.1, 0.1, 0.1, - 0.1, 0.1, 0.1]) + Q = np.diag([0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) self.ukf = UKF(self.ukf_model, x0, P0, Q) self.ukf_flagg = False @@ -65,18 +72,51 @@ def dvl_callback(self, msg: TwistWithCovarianceStamped): dvl_measurement = MeasModel() # Print received DVL data to console # self.get_logger().info(f"DVL data received: x={msg.twist.twist.linear.x}, y={msg.twist.twist.linear.y}, z={msg.twist.twist.linear.z}") - dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) - dvl_measurement.covariance = np.array([[msg.twist.covariance[0], msg.twist.covariance[1], msg.twist.covariance[3]], - [msg.twist.covariance[6], msg.twist.covariance[7], msg.twist.covariance[8]], - [msg.twist.covariance[12], msg.twist.covariance[13], msg.twist.covariance[14]]]) - + dvl_measurement.measurement = np.array( + [ + msg.twist.twist.linear.x, + msg.twist.twist.linear.y, + msg.twist.twist.linear.z, + ] + ) + dvl_measurement.covariance = np.array( + [ + [ + msg.twist.covariance[0], + msg.twist.covariance[1], + msg.twist.covariance[3], + ], + [ + msg.twist.covariance[6], + msg.twist.covariance[7], + msg.twist.covariance[8], + ], + [ + msg.twist.covariance[12], + msg.twist.covariance[13], + msg.twist.covariance[14], + ], + ] + ) + self.ukf.measurement_update(self.current_state, dvl_measurement) - self.current_state = self.ukf.posteriori_estimate(self.current_state, dvl_measurement) + self.current_state = self.ukf.posteriori_estimate( + self.current_state, dvl_measurement + ) self.ukf_flagg = True - - def control_callback(self, msg:WrenchStamped): + + def control_callback(self, msg: WrenchStamped): # unpack message - control_array = np.array([msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z, msg.wrench.torque.x, msg.wrench.torque.y, msg.wrench.torque.z]) + control_array = np.array( + [ + msg.wrench.force.x, + msg.wrench.force.y, + msg.wrench.force.z, + msg.wrench.torque.x, + msg.wrench.torque.y, + msg.wrench.torque.z, + ] + ) self.ukf_model.Control_input = control_array def odom_publisher(self): @@ -90,7 +130,7 @@ def odom_publisher(self): msg.header.stamp = self.get_clock().now().to_msg() msg.header.frame_id = "odom" msg.child_frame_id = "base_link" - + msg.pose.pose.position.x = self.current_state.position[0] msg.pose.pose.position.y = self.current_state.position[1] msg.pose.pose.position.z = self.current_state.position[2] @@ -107,11 +147,13 @@ def odom_publisher(self): self.odom_publish.publish(msg) + def main(args=None): rclpy.init(args=args) ukf_node = UKFNode() rclpy.spin(ukf_node) rclpy.shutdown() + if __name__ == "__main__": - main() \ No newline at end of file + main() diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index 80ca90e86..d80427364 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,27 +1,31 @@ -import numpy as np import matplotlib.pyplot as plt -from ukf_utils import print_StateQuat +import numpy as np + # Import your classes and functions. # Adjust the import paths as necessary based on your module organization. from ukf_okid_class import ( - StateQuat, MeasModel, - iterative_quaternion_mean_statequat, - mean_set, - mean_measurement, - covariance_set, + StateQuat, covariance_measurement, + covariance_set, cross_covariance, - quaternion_super_product, - quaternion_error, - quat_to_euler, + mean_measurement, + mean_set, quat_norm, + quat_to_euler, + quaternion_super_product, ) + # For testing, define a function to create a StateQuat with small perturbations. -def create_statequat(base_vector, position_perturbation, orientation_perturbation, velocity_perturbation, angular_velocity_perturbation): - """ - Creates a StateQuat object. +def create_statequat( + base_vector, + position_perturbation, + orientation_perturbation, + velocity_perturbation, + angular_velocity_perturbation, +): + """Creates a StateQuat object. - base_vector: 1D numpy array for base state (13 elements: position (3), quaternion (4), velocity (3), angular_velocity (3)) - ..._perturbation: small perturbation vector to be added to each respective component. @@ -37,19 +41,22 @@ def create_statequat(base_vector, position_perturbation, orientation_perturbatio noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) else: noise_axis = orientation_perturbation / noise_angle - noise_quat = np.concatenate(([np.cos(noise_angle/2)], np.sin(noise_angle/2) * noise_axis)) + noise_quat = np.concatenate( + ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) + ) state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) state.velocity = base_vector[7:10] + velocity_perturbation state.angular_velocity = base_vector[10:13] + angular_velocity_perturbation - - # For the augmented parameters (OKID parameters), set a 21-element vector: + + # For the augmented parameters (OKID parameters), set a 21-element vector: # 9 for inertia, 6 for added_mass, and 6 for damping_linear. state.okid_params.fill(np.concatenate((np.zeros(9), np.zeros(6), np.zeros(6)))) - + # Set a default covariance (33x33 for the extended state) state.covariance = np.eye(33) * 0.01 return state + # Test functions for state statistics def test_state_statistics(): # Define a base state vector (13 elements: position, quaternion, velocity, angular_velocity) @@ -58,7 +65,7 @@ def test_state_statistics(): base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion base_vector[7:10] = np.array([0.1, 0.2, 0.3]) base_vector[10:13] = np.array([0.01, 0.02, 0.03]) - + # Create a list of StateQuat objects with small random perturbations. np.random.seed(42) state_list = [] @@ -68,27 +75,32 @@ def test_state_statistics(): ori_noise = np.random.normal(0, 0.01, 3) vel_noise = np.random.normal(0, 0.02, 3) ang_vel_noise = np.random.normal(0, 0.005, 3) - state_list.append(create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise)) - + state_list.append( + create_statequat( + base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise + ) + ) + # Compute the state mean using mean_set. mean_state_vec = mean_set(state_list) print("Computed mean state vector:") print(mean_state_vec) - + # Compute the covariance of the states. cov_state = covariance_set(state_list, mean_state_vec) print("Computed state covariance matrix:") print(cov_state) - + # Check symmetry of the covariance: asym_error = np.linalg.norm(cov_state - cov_state.T) print("Covariance symmetry error (should be near 0):", asym_error) - + # Check eigenvalues for positive semidefiniteness: eigvals = np.linalg.eigvals(cov_state) print("Eigenvalues of state covariance:") print(eigvals) - + + def test_measurement_statistics(): # Create a list of measurement objects (MeasModel) with measurements in R^3. np.random.seed(24) @@ -100,17 +112,17 @@ def test_measurement_statistics(): meas = MeasModel() meas.measurement = base_meas + noise meas_list.append(meas) - + # Compute the measurement mean. mean_meas = mean_measurement(meas_list) print("Computed measurement mean:") print(mean_meas) - + # Compute the measurement covariance. cov_meas = covariance_measurement(meas_list, mean_meas) print("Computed measurement covariance:") print(cov_meas) - + # Check symmetry and eigenvalues. asym_error = np.linalg.norm(cov_meas - cov_meas.T) print("Measurement covariance symmetry error:", asym_error) @@ -118,6 +130,7 @@ def test_measurement_statistics(): print("Eigenvalues of measurement covariance:") print(eigvals) + def test_cross_covariance(): # Create a set of StateQuat and corresponding MeasModel objects. np.random.seed(99) @@ -129,58 +142,50 @@ def test_cross_covariance(): base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) base_vector[7:10] = np.array([0.05, 0.1, 0.15]) base_vector[10:13] = np.array([0.005, 0.01, 0.015]) - + for _ in range(num): pos_noise = np.random.normal(0, 0.02, 3) ori_noise = np.random.normal(0, 0.005, 3) vel_noise = np.random.normal(0, 0.01, 3) ang_vel_noise = np.random.normal(0, 0.002, 3) - state = create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise) + state = create_statequat( + base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise + ) state_list.append(state) - + # Generate a measurement from each state (e.g., state velocity plus noise). meas = MeasModel() meas.measurement = state.velocity + np.random.normal(0, 0.01, 3) meas_list.append(meas) - + # Compute the state mean and measurement mean as vectors. mean_state_vec = mean_set(state_list) mean_meas = mean_measurement(meas_list) - + cross_cov = cross_covariance(state_list, mean_state_vec, meas_list, mean_meas) print("Computed cross-covariance between state and measurement:") print(cross_cov) + import time -import numpy as np -import matplotlib.pyplot as plt + +from ukf_okid import UKF # Import your classes and functions. from ukf_okid_class import ( - StateQuat, - MeasModel, - iterative_quaternion_mean_statequat, - mean_set, - mean_measurement, - covariance_set, - covariance_measurement, - cross_covariance, - quaternion_super_product, - quaternion_error, - quat_norm, -) -from ukf_okid import UKF -from ukf_okid_class import process_model, okid_process_model # Your process model classes + okid_process_model, + process_model, +) # Your process model classes + ############################################ # Helper function to create a StateQuat with perturbations. ############################################ def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise): - """ - Create a StateQuat object from a base vector (13 elements: + """Create a StateQuat object from a base vector (13 elements: position (3), quaternion (4), velocity (3), angular_velocity (3)) plus additive noise on each component. - + For the OKID parameters, we assume a 21-element vector: - first 9: inertia, - next 6: added_mass, @@ -194,49 +199,60 @@ def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) else: noise_axis = ori_noise / noise_angle - noise_quat = np.concatenate(([np.cos(noise_angle/2)], - np.sin(noise_angle/2) * noise_axis)) + noise_quat = np.concatenate( + ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) + ) state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) state.velocity = base_vector[7:10] + vel_noise state.angular_velocity = base_vector[10:13] + ang_vel_noise # Set OKID parameters to exactly 21 elements (9,6,6) - state.okid_params.fill(np.concatenate((np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0])))) + state.okid_params.fill( + np.concatenate( + ( + np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), + np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), + np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), + ) + ) + ) # Set an initial covariance (33x33) for the full augmented state. state.covariance = np.eye(33) * 0.02 return state + ############################################ # Full Filter Simulation Test ############################################ def run_ukf_simulation(): - dt = 0.01 # Time step for simulation [s] - simulation_time = 10 # Total simulation time in seconds + dt = 0.01 # Time step for simulation [s] + simulation_time = 10 # Total simulation time in seconds num_steps = int(simulation_time / dt) - + # Define a base state vector (13 elements: pos, quat, vel, ang_vel) base_vector = np.zeros(13) - base_vector[0:3] = np.array([0.0, 0.0, 0.0]) + base_vector[0:3] = np.array([0.0, 0.0, 0.0]) base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion - base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x + base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x base_vector[10:13] = np.array([0.0, 0.0, 0.0]) - + # Define initial covariance for state (33x33) P0 = np.eye(33) P0[0:3, 0:3] = np.eye(3) * 0.01 # position P0[3:6, 3:6] = np.eye(3) * 0.01 # orientation error (quaternion) P0[6:9, 6:9] = np.eye(3) * 0.01 # velocity - P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity - P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters + P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity + P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters # Define process noise covariance Q (33x33) Q = np.zeros((33, 33)) - Q[0:3, 0:3] = np.eye(3)*0.001 # for position - Q[3:6, 3:6] = np.eye(3)*0.001 # for orientation error (represented with Euler angles) - Q[6:9, 6:9] = np.eye(3)*0.001 # for velocity - Q[9:12, 9:12] = np.eye(3)*0.001 # for angular velocity - Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters - + Q[0:3, 0:3] = np.eye(3) * 0.001 # for position + Q[3:6, 3:6] = ( + np.eye(3) * 0.001 + ) # for orientation error (represented with Euler angles) + Q[6:9, 6:9] = np.eye(3) * 0.001 # for velocity + Q[9:12, 9:12] = np.eye(3) * 0.001 # for angular velocity + Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters G = np.zeros((33, 12)) G[0:3, 0:3] = np.eye(3) @@ -250,19 +266,21 @@ def run_ukf_simulation(): # Create a simulation process model and an independent UKF process model. sim_model = process_model() sim_model.dt = dt - sim_model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ]) + sim_model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) sim_model.m = 30.0 sim_model.r_b_bg = np.array([0.01, 0.0, 0.02]) sim_model.inertia = np.diag([0.68, 3.32, 3.34]) - sim_model.damping_linear = np.array([0.1]*6) - sim_model.added_mass = np.array([1.0,1.0,1.0,2.0,2.0,2.0]) + sim_model.damping_linear = np.array([0.1] * 6) + sim_model.added_mass = np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) # UKF process model copy: ukf_model = okid_process_model() @@ -275,18 +293,14 @@ def run_ukf_simulation(): ukf_model.added_mass = sim_model.added_mass.copy() # Initialize true state and filter state. - true_state = create_statequat(base_vector, - np.zeros(3), - np.zeros(3), - np.zeros(3), - np.zeros(3)) + true_state = create_statequat( + base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) + ) true_state.covariance = P0.copy() - - filter_state = create_statequat(base_vector, - np.zeros(3), - np.zeros(3), - np.zeros(3), - np.zeros(3)) + + filter_state = create_statequat( + base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) + ) filter_state.covariance = P0.copy() # Initialize measurement model (for example, measuring velocity only) @@ -307,14 +321,16 @@ def run_ukf_simulation(): # Control input function (example: oscillatory in all directions) def control_input(t): - return np.array([ - 2*np.sin(t), - 2*np.sin(t+0.5), - 2*np.sin(t+1.0), - 0.2*np.cos(t), - 0.2*np.cos(t+0.5), - 0.2*np.cos(t+1.0) - ]) + return np.array( + [ + 2 * np.sin(t), + 2 * np.sin(t + 0.5), + 2 * np.sin(t + 1.0), + 0.2 * np.cos(t), + 0.2 * np.cos(t + 0.5), + 0.2 * np.cos(t + 1.0), + ] + ) # Set previous states. sim_model.state_vector_prev = true_state @@ -325,19 +341,19 @@ def control_input(t): # Lists for timing diagnostics. ukf_transform_times = [] ukf_update_times = [] - + # Simulation loop. for i in range(num_steps): - t_current = i*dt - + t_current = i * dt + # Update control inputs. sim_model.Control_input = control_input(t_current) ukf_model.Control_input = control_input(t_current) - + # Propagate true state using the simulation model. sim_model.model_prediction(true_state) true_state = sim_model.euler_forward() - + # Create a measurement from true state. # Here we assume we measure velocity plus noise. meas_noise = np.random.normal(0, 0.01, 3) @@ -347,7 +363,7 @@ def control_input(t): start = time.time() filter_state = ukf.unscented_transform(filter_state) ukf_transform_times.append(time.time() - start) - + # UKF measurement update every few steps. if i % 5 == 0: try: @@ -357,8 +373,10 @@ def control_input(t): ukf_update_times.append(time.time() - start) except np.linalg.LinAlgError: # If matrix is not PD, add jitter. - filter_state.covariance += np.eye(filter_state.covariance.shape[0])*1e-6 - + filter_state.covariance += ( + np.eye(filter_state.covariance.shape[0]) * 1e-6 + ) + # Store true and estimated state for diagnostics. pos_true_hist[i, :] = true_state.position pos_est_hist[i, :] = filter_state.position @@ -368,7 +386,7 @@ def control_input(t): # Assumes you have a function quat_to_euler. euler_true_hist[i, :] = quat_to_euler(true_state.orientation) euler_est_hist[i, :] = quat_to_euler(filter_state.orientation) - + # Update previous states. sim_model.state_vector_prev = true_state ukf_model.state_vector_prev = filter_state @@ -376,7 +394,7 @@ def control_input(t): # Print timing diagnostics. print("Average unscented transform time:", np.mean(ukf_transform_times)) print("Average measurement update time:", np.mean(ukf_update_times)) - + # Compute error metrics. pos_error = np.linalg.norm(pos_true_hist - pos_est_hist, axis=1) vel_error = np.linalg.norm(vel_true_hist - vel_est_hist, axis=1) @@ -384,31 +402,31 @@ def control_input(t): print("Average position error:", np.mean(pos_error)) print("Average velocity error:", np.mean(vel_error)) print("Average orientation (Euler) error:", np.mean(euler_error)) - + # Plot estimated vs true trajectory (positions). - plt.figure(figsize=(10,8)) - plt.subplot(3,1,1) - plt.plot(time_array, pos_true_hist[:,0], label="True X") - plt.plot(time_array, pos_est_hist[:,0], label="Est X", linestyle="--") + plt.figure(figsize=(10, 8)) + plt.subplot(3, 1, 1) + plt.plot(time_array, pos_true_hist[:, 0], label="True X") + plt.plot(time_array, pos_est_hist[:, 0], label="Est X", linestyle="--") plt.legend() plt.title("Position X") - - plt.subplot(3,1,2) - plt.plot(time_array, pos_true_hist[:,1], label="True Y") - plt.plot(time_array, pos_est_hist[:,1], label="Est Y", linestyle="--") + + plt.subplot(3, 1, 2) + plt.plot(time_array, pos_true_hist[:, 1], label="True Y") + plt.plot(time_array, pos_est_hist[:, 1], label="Est Y", linestyle="--") plt.legend() plt.title("Position Y") - - plt.subplot(3,1,3) - plt.plot(time_array, pos_true_hist[:,2], label="True Z") - plt.plot(time_array, pos_est_hist[:,2], label="Est Z", linestyle="--") + + plt.subplot(3, 1, 3) + plt.plot(time_array, pos_true_hist[:, 2], label="True Z") + plt.plot(time_array, pos_est_hist[:, 2], label="Est Z", linestyle="--") plt.legend() plt.title("Position Z") plt.tight_layout() plt.show() - + # Plot errors. - plt.figure(figsize=(10,4)) + plt.figure(figsize=(10, 4)) plt.plot(time_array, pos_error, label="Position Error") plt.plot(time_array, vel_error, label="Velocity Error") plt.plot(time_array, euler_error, label="Euler Angle Error") @@ -418,6 +436,7 @@ def control_input(t): plt.ylabel("Error magnitude") plt.show() + # You can also test the individual statistics functions separately: def run_diagnostics(): print("Testing state mean and covariance computation:") @@ -429,12 +448,11 @@ def run_diagnostics(): print("\nTesting cross-covariance computation:") test_cross_covariance() + if __name__ == '__main__': # First, run the diagnostics on the mean/covariance functions. run_diagnostics() - + # Then run the full UKF simulation test. print("\nRunning full UKF simulation test:") run_ukf_simulation() - - diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py index bf58b7a1a..d3a75313b 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test_2.py +++ b/navigation/ukf_okid/ukf_python/ukf_test_2.py @@ -2,10 +2,10 @@ # Define process noise covariance Q (33x33) Q = np.zeros((12, 12)) -Q[0:3, 0:3] = np.eye(3)*0.003 # for position -Q[3:6, 3:6] = np.eye(3)*0.003 # for orientation error (represented with Euler angles) -Q[6:9, 6:9] = np.eye(3)*0.002 # for velocity -Q[9:12, 9:12] = np.eye(3)*0.003 # for angular velocity +Q[0:3, 0:3] = np.eye(3) * 0.003 # for position +Q[3:6, 3:6] = np.eye(3) * 0.003 # for orientation error (represented with Euler angles) +Q[6:9, 6:9] = np.eye(3) * 0.002 # for velocity +Q[9:12, 9:12] = np.eye(3) * 0.003 # for angular velocity G = np.zeros((33, 12)) G[0:3, 0:3] = np.eye(3) @@ -14,10 +14,11 @@ G[9:12, 9:12] = np.eye(3) GG = G @ Q @ G.T + + def fancy_print_matrix(matrix, name="Matrix", precision=4): - """ - Print a matrix with fancy formatting. - + """Print a matrix with fancy formatting. + Args: matrix: numpy array to print name: name of the matrix to display @@ -26,15 +27,16 @@ def fancy_print_matrix(matrix, name="Matrix", precision=4): print(f"\n{'=' * 50}") print(f" {name} [{matrix.shape[0]}x{matrix.shape[1]}]") print(f"{'=' * 50}") - + # Set numpy print options with np.printoptions(precision=precision, suppress=True, linewidth=100): # Print each row with custom formatting for i in range(matrix.shape[0]): row = ' '.join([f"{x:8.{precision}f}" for x in matrix[i]]) print(f" {i:2d} | {row}") - + print(f"{'=' * 50}\n") + # Example usage: -fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) \ No newline at end of file +fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) From 65e846764553db49185f2c13a3e3af664a063d53 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 8 May 2025 20:19:53 +0200 Subject: [PATCH 017/109] feat: added NIS plots --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/include/eskf/eskf.hpp | 8 ++++++++ navigation/eskf/include/eskf/eskf_ros.hpp | 3 +++ navigation/eskf/src/eskf.cpp | 6 ++++++ navigation/eskf/src/eskf_ros.cpp | 9 +++++++-- 5 files changed, 25 insertions(+), 3 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 639af1fc9..961575447 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -5,4 +5,4 @@ eskf_node: odom_topic: odom diag_Q_std: [0.027293, 0.028089, 0.029067, 0.00255253, 0.00270035, 0.00280294, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_frame: [0, 0, -1, 0, -1, 0, -1, 0, 0 ] + imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 5cc3e0708..214f462c4 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -24,6 +24,9 @@ class ESKF { std::pair dvl_update( const dvl_measurement& dvl_meas); + // NIS + double NIS_; + private: // @brief Predict the nominal state // @param imu_meas: IMU measurement @@ -39,6 +42,11 @@ class ESKF { void error_state_prediction(const imu_measurement& imu_meas, const double dt); + // @brief Calculate the NIS + // @param innovation: Innovation vector + // @param S: Innovation covariance matrix + void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); + // @brief Update the error state // @param dvl_meas: DVL measurement void measurement_update(const dvl_measurement& dvl_meas); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index e0b777c86..44743fd75 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -8,6 +8,7 @@ #include #include #include +#include #include #include #include @@ -45,6 +46,8 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Publisher::SharedPtr nis_pub_; + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 84fb5e8f3..c02bf57df 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -159,6 +159,11 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } +void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { + Eigen::Matrix3d S_inv = S.inverse(); + NIS_ = innovation.transpose() * S_inv * innovation; +} + void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; @@ -167,6 +172,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3d S = H * P * H.transpose() + R; Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); + NIS(innovation, S); current_error_state_.set_from_vector(K * innovation); Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index e805a0c39..9d46969d9 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -37,12 +37,14 @@ void ESKFNode::set_subscribers_and_publisher() { std::string odom_topic = this->get_parameter("odom_topic").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); + + nis_pub_ = create_publisher("dvl/nis", 10); } void ESKFNode::set_parameters() { std::vector R_imu_correction; this->declare_parameter>("imu_frame"); - R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); + R_imu_correction = get_parameter("imu_frame").as_double_array(); R_imu_eskf_ = Eigen::Map>( R_imu_correction.data()); @@ -53,7 +55,6 @@ void ESKFNode::set_parameters() { Eigen::Matrix12d Q; Q.setZero(); - spdlog::info("Q diagonal: {}", diag_Q_std[0]); Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), @@ -106,6 +107,10 @@ void ESKFNode::dvl_callback( msg->twist.covariance[14]; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); + + std_msgs::msg::Float64 nis_msg; + nis_msg.data = eskf_->NIS_; + nis_pub_->publish(nis_msg); } void ESKFNode::publish_odom() { From dd0f97a9d6f9ecf70b88a702180871bff1759f19 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Wed, 14 May 2025 00:00:00 +0200 Subject: [PATCH 018/109] fix: issues in innovation and jacobian of the measurement --- navigation/eskf/CMakeLists.txt | 2 + navigation/eskf/config/eskf_params.yaml | 6 +- navigation/eskf/include/eskf/eskf.hpp | 8 ++ navigation/eskf/include/eskf/eskf_ros.hpp | 21 +++- navigation/eskf/include/eskf/eskf_utils.hpp | 3 + navigation/eskf/include/eskf/typedefs.hpp | 18 +++- navigation/eskf/src/eskf.cpp | 103 ++++++++++++-------- navigation/eskf/src/eskf_ros.cpp | 67 +++++++++++-- navigation/eskf/src/eskf_utils.cpp | 5 + 9 files changed, 172 insertions(+), 61 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 6c8167609..c431c235f 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -18,6 +18,7 @@ find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) +find_package(stonefish_ros2 REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) @@ -42,6 +43,7 @@ ament_target_dependencies(eskf_node vortex_msgs spdlog fmt + stonefish_ros2 ) target_link_libraries(eskf_node diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 961575447..98be8e789 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,8 +1,8 @@ eskf_node: ros__parameters: imu_topic: imu/data_raw - dvl_topic: /orca/twist + dvl_topic: /dvl/sim odom_topic: odom - diag_Q_std: [0.027293, 0.028089, 0.029067, 0.00255253, 0.00270035, 0.00280294, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] + diag_Q_std: [0.05, 0.05, 0.05, 0.00001, 0.00001, 0.00001, 0.000001, 0.000000001, 0.000000001, 0.000000001, 0.00000001, 0.00000001] diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 214f462c4..6d8d33bd5 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -27,6 +27,12 @@ class ESKF { // NIS double NIS_; + // NEES + double NEES_; + + // ground truth + state_quat ground_truth_; + private: // @brief Predict the nominal state // @param imu_meas: IMU measurement @@ -47,6 +53,8 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); + void NEES(); + // @brief Update the error state // @param dvl_meas: DVL measurement void measurement_update(const dvl_measurement& dvl_meas); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 44743fd75..8cb32b173 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -7,11 +7,11 @@ #include #include #include +#include #include #include #include #include -#include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" @@ -21,14 +21,18 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: + + void pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); + + void twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); // @brief Callback function for the dvl topic // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg); // @brief Publish the odometry message void publish_odom(); @@ -41,19 +45,26 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; + rclcpp::Subscription::SharedPtr dvl_sub_; + + rclcpp::Subscription::SharedPtr pose_sub_; + + rclcpp::Subscription::SharedPtr twist_sub_; rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Publisher::SharedPtr nis_pub_; + rclcpp::Publisher::SharedPtr nees_pub_; + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; state_quat nom_state_; + state_quat g_truth_; + state_euler error_state_; imu_measurement imu_meas_; diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 100f7673d..0cc2f6887 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -3,11 +3,14 @@ #include "eigen3/Eigen/Dense" #include "eskf/typedefs.hpp" +#include Eigen::Matrix3d skew(const Eigen::Vector3d& v); double sq(const double& value); +double ssa(const double& angle); + Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 748804be3..ab86b0a6c 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -48,7 +48,22 @@ struct state_quat { Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, - accel_bias; + accel_bias, gravity; + return vec; + } + + Eigen::Vector18d nees_error(const state_quat& other) const { + Eigen::Vector18d vec; + Eigen::Vector3d euler_diff; + + euler_diff = (quat * other.quat.inverse()).toRotationMatrix().eulerAngles(0, 1, 2); + + vec << pos - other.pos, + vel - other.vel, + euler_diff, + gyro_bias - other.gyro_bias, + accel_bias - other.accel_bias, + gravity - other.gravity; return vec; } @@ -59,6 +74,7 @@ struct state_quat { diff.quat = quat * other.quat.inverse(); diff.gyro_bias = gyro_bias - other.gyro_bias; diff.accel_bias = accel_bias - other.accel_bias; + diff.gravity = gravity - other.gravity; return diff; } }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index c02bf57df..9325378bb 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -5,6 +5,7 @@ #include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" +#include "iostream" ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} @@ -50,37 +51,38 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Vector3d v_n = current_nom_state_.vel; - Hx.block<3, 3>(0, 3) = R_bn; + Hx.block<3, 3>(0, 3) = R_bn.transpose(); - Eigen::Matrix dR_dq; double qw = q.w(); double qx = q.x(); double qy = q.y(); double qz = q.z(); - Eigen::Vector3d epsilon(qx, qy, qz); + Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - Eigen::Vector3d e_1(1, 0, 0); - Eigen::Vector3d e_2(0, 1, 0); - Eigen::Vector3d e_3(0, 0, 1); + Eigen::Vector3d eps(qx, qy, qz); - dR_dq.col(0) = - ((4 * qw * Eigen::Matrix3d::Identity()) + (2 * skew(epsilon))) * v_n; + Eigen::Matrix3d dR_deta = 2*qw * I3 - 2*skew(eps); - dR_dq.col(1) = 2 * - ((e_1 * epsilon.transpose()) + (epsilon * e_1.transpose()) + - (qw * skew(e_1))) * - v_n; + Eigen::Vector3d e1_vec(1,0,0), e2_vec(0,1,0), e3_vec(0,0,1); - dR_dq.col(2) = 2 * - ((e_2 * epsilon.transpose()) + (epsilon * e_2.transpose()) + - (qw * skew(e_2))) * - v_n; + Eigen::Matrix3d dR_dqx = -2*qx*I3 + + 2*(e1_vec*eps.transpose() + eps*e1_vec.transpose()) + - 2*qw*skew(e1_vec); - dR_dq.col(3) = 2 * - ((e_3 * epsilon.transpose()) + (epsilon * e_3.transpose()) + - (qw * skew(e_3))) * - v_n; + Eigen::Matrix3d dR_dqy = -2*qy*I3 + + 2*(e2_vec*eps.transpose() + eps*e2_vec.transpose()) + - 2*qw*skew(e2_vec); + + Eigen::Matrix3d dR_dqz = -2*qz*I3 + + 2*(e3_vec*eps.transpose() + eps*e3_vec.transpose()) + - 2*qw*skew(e3_vec); + + Eigen::Matrix dR_dq; + dR_dq.col(0) = dR_deta * v_n; + dR_dq.col(1) = dR_dqx * v_n; + dR_dq.col(2) = dR_dqy * v_n; + dR_dq.col(3) = dR_dqz * v_n; Hx.block<3, 4>(0, 6) = dR_dq; @@ -100,7 +102,7 @@ Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Matrix3x1d ESKF::calculate_h() { Eigen::Matrix3x1d h; Eigen::Matrix3d R_bn = - current_nom_state_.quat.normalized().toRotationMatrix(); + current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; @@ -109,19 +111,13 @@ Eigen::Matrix3x1d ESKF::calculate_h() { void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - imu_meas.accel + - current_nom_state_.gravity; - Eigen::Vector3d gyro = imu_meas.gyro * dt / 2; - - current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; - current_nom_state_.vel = current_nom_state_.vel + dt * acc; + Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.vel = current_nom_state_.vel + dt * acc; + current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -132,8 +128,8 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, void ESKF::error_state_prediction(const imu_measurement& imu_meas, const double dt) { Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); - Eigen::Vector3d acc = imu_meas.accel; - Eigen::Vector3d gyro = imu_meas.gyro; + Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -164,6 +160,30 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { NIS_ = innovation.transpose() * S_inv * innovation; } +void ESKF::NEES() { + + Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); + + // Use SVD-based pseudo-inverse for better numerical stability + Eigen::JacobiSVD svd(current_error_state_.covariance, + Eigen::ComputeThinU | Eigen::ComputeThinV); + const double epsilon = 1e-10; // Threshold for singular values + Eigen::VectorXd singular_values = svd.singularValues(); + Eigen::VectorXd singular_values_inv(singular_values.size()); + + for (int i = 0; i < singular_values.size(); ++i) { + if (singular_values(i) > epsilon) { + singular_values_inv(i) = 1.0 / singular_values(i); + } else { + singular_values_inv(i) = 0.0; + } + } + + Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * svd.matrixU().transpose(); + + NEES_ = error_state.transpose() * cov_inv * error_state; +} + void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; @@ -179,21 +199,18 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations + + NEES(); } void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = - current_nom_state_.quat * - vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); - current_nom_state_.gyro_bias = - current_nom_state_.gyro_bias + current_error_state_.gyro_bias; - current_nom_state_.accel_bias = - current_nom_state_.accel_bias + current_error_state_.accel_bias; - current_nom_state_.gravity = - current_nom_state_.gravity + current_error_state_.gravity; + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = current_nom_state_.accel_bias + current_error_state_.accel_bias; + current_nom_state_.gravity = current_nom_state_.gravity + current_error_state_.gravity; Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 9d46969d9..04b6dd9c6 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -20,6 +20,16 @@ void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = rclcpp::QoS( rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + pose_sub_ = this->create_subscription< + geometry_msgs::msg::PoseWithCovarianceStamped>( + "/orca/pose", qos_sensor_data, + std::bind(&ESKFNode::pose_callback, this, std::placeholders::_1)); + + twist_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( + "/orca/twist", qos_sensor_data, + std::bind(&ESKFNode::twist_callback, this, std::placeholders::_1)); + this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( @@ -29,7 +39,7 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); dvl_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( + stonefish_ros2::msg::DVL>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -39,6 +49,7 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); + nees_pub_ = create_publisher("dvl/nees", 10); } void ESKFNode::set_parameters() { @@ -70,6 +81,20 @@ void ESKFNode::set_parameters() { error_state_.covariance = P; } +void ESKFNode::pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + g_truth_.pos << msg->pose.pose.position.x, + msg->pose.pose.position.y, msg->pose.pose.position.z; + g_truth_.quat.w() = msg->pose.pose.orientation.w; + g_truth_.quat.x() = msg->pose.pose.orientation.x; + g_truth_.quat.y() = msg->pose.pose.orientation.y; + g_truth_.quat.z() = msg->pose.pose.orientation.z; +} + +void ESKFNode::twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + g_truth_.vel << msg->twist.twist.linear.x, + msg->twist.twist.linear.y, msg->twist.twist.linear.z; +} + void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { rclcpp::Time current_time = msg->header.stamp; @@ -97,20 +122,44 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { } void ESKFNode::dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], - msg->twist.covariance[2], msg->twist.covariance[6], - msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], - msg->twist.covariance[14]; + const stonefish_ros2::msg::DVL::SharedPtr msg) { + dvl_meas_.vel << msg->velocity.x, + msg->velocity.y, msg->velocity.z; + dvl_meas_.cov << 0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001; + + // msg->velocity_covariance[0], msg->velocity_covariance[1], msg->velocity_covariance[2], + // msg->velocity_covariance[3], msg->velocity_covariance[4], msg->velocity_covariance[5], + // msg->velocity_covariance[6], msg->velocity_covariance[7], msg->velocity_covariance[8]; + + + // Set biases and gravity as float values + float gyro_bias_x = 0.00001; + float gyro_bias_y = 0.00001; + float gyro_bias_z = 0.00001; + + float accel_bias_x = 0.00001; + float accel_bias_y = 0.00001; + float accel_bias_z = 0.00001; + + float gravity_x = 0.0; + float gravity_y = 0.0; + float gravity_z = -9.81; + + g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; + g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; + g_truth_.gravity << gravity_x, gravity_y, gravity_z; + + eskf_->ground_truth_ = g_truth_; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); + + std_msgs::msg::Float64 nees_msg; + nees_msg.data = eskf_->NEES_; + nees_pub_->publish(nees_msg); } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index a07f3acda..88d04c3d5 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -11,6 +11,11 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { double sq(const double& value) { return value * value; } +double ssa(const double& angle) { + double result = fmod(angle + M_PI, 2 * M_PI); + double angle_ssa = result < 0 ? result + M_PI : result - M_PI; + return angle_ssa; +} Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { double angle = vector.norm(); From 103a057f0b2a90894e6eac149ad6bc10ab9685e5 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 13 May 2025 22:01:55 +0000 Subject: [PATCH 019/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/eskf.hpp | 4 +- navigation/eskf/include/eskf/eskf_ros.hpp | 17 ++-- navigation/eskf/include/eskf/eskf_utils.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 11 ++- navigation/eskf/src/eskf.cpp | 86 ++++++++++++--------- navigation/eskf/src/eskf_ros.cpp | 45 +++++------ navigation/ukf_okid/launch/ukf.launch.py | 1 - navigation/ukf_okid/ukf_python/ukf_okid.py | 4 +- 8 files changed, 92 insertions(+), 78 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 6d8d33bd5..d9b7d4fa0 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -27,7 +27,7 @@ class ESKF { // NIS double NIS_; - // NEES + // NEEDS double NEES_; // ground truth @@ -53,7 +53,7 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - void NEES(); + void NEEDS(); // @brief Update the error state // @param dvl_meas: DVL measurement diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 8cb32b173..c3d09e820 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -7,11 +7,11 @@ #include #include #include -#include #include #include #include #include +#include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" @@ -21,10 +21,11 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: + void pose_callback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - void pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - void twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void twist_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data @@ -47,9 +48,11 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr dvl_sub_; - rclcpp::Subscription::SharedPtr pose_sub_; - - rclcpp::Subscription::SharedPtr twist_sub_; + rclcpp::Subscription< + geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_; + + rclcpp::Subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr twist_sub_; rclcpp::Publisher::SharedPtr odom_pub_; diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 0cc2f6887..4fcaed412 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -1,9 +1,9 @@ #ifndef ESKF_UTILS_HPP #define ESKF_UTILS_HPP +#include #include "eigen3/Eigen/Dense" #include "eskf/typedefs.hpp" -#include Eigen::Matrix3d skew(const Eigen::Vector3d& v); diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index ab86b0a6c..47dfe06e1 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -56,13 +56,12 @@ struct state_quat { Eigen::Vector18d vec; Eigen::Vector3d euler_diff; - euler_diff = (quat * other.quat.inverse()).toRotationMatrix().eulerAngles(0, 1, 2); + euler_diff = (quat * other.quat.inverse()) + .toRotationMatrix() + .eulerAngles(0, 1, 2); - vec << pos - other.pos, - vel - other.vel, - euler_diff, - gyro_bias - other.gyro_bias, - accel_bias - other.accel_bias, + vec << pos - other.pos, vel - other.vel, euler_diff, + gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, gravity - other.gravity; return vec; } diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 9325378bb..e0e7c7a98 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -58,31 +58,34 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { double qy = q.y(); double qz = q.z(); - Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); + Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); Eigen::Vector3d eps(qx, qy, qz); - Eigen::Matrix3d dR_deta = 2*qw * I3 - 2*skew(eps); + Eigen::Matrix3d dR_deta = 2 * qw * I3 - 2 * skew(eps); - Eigen::Vector3d e1_vec(1,0,0), e2_vec(0,1,0), e3_vec(0,0,1); + Eigen::Vector3d e1_vec(1, 0, 0), e2_vec(0, 1, 0), e3_vec(0, 0, 1); - Eigen::Matrix3d dR_dqx = -2*qx*I3 - + 2*(e1_vec*eps.transpose() + eps*e1_vec.transpose()) - - 2*qw*skew(e1_vec); + Eigen::Matrix3d dR_dqx = + -2 * qx * I3 + + 2 * (e1_vec * eps.transpose() + eps * e1_vec.transpose()) - + 2 * qw * skew(e1_vec); - Eigen::Matrix3d dR_dqy = -2*qy*I3 - + 2*(e2_vec*eps.transpose() + eps*e2_vec.transpose()) - - 2*qw*skew(e2_vec); + Eigen::Matrix3d dR_dqy = + -2 * qy * I3 + + 2 * (e2_vec * eps.transpose() + eps * e2_vec.transpose()) - + 2 * qw * skew(e2_vec); - Eigen::Matrix3d dR_dqz = -2*qz*I3 - + 2*(e3_vec*eps.transpose() + eps*e3_vec.transpose()) - - 2*qw*skew(e3_vec); + Eigen::Matrix3d dR_dqz = + -2 * qz * I3 + + 2 * (e3_vec * eps.transpose() + eps * e3_vec.transpose()) - + 2 * qw * skew(e3_vec); - Eigen::Matrix dR_dq; - dR_dq.col(0) = dR_deta * v_n; - dR_dq.col(1) = dR_dqx * v_n; - dR_dq.col(2) = dR_dqy * v_n; - dR_dq.col(3) = dR_dqz * v_n; + Eigen::Matrix dR_dq; + dR_dq.col(0) = dR_deta * v_n; + dR_dq.col(1) = dR_dqx * v_n; + dR_dq.col(2) = dR_dqy * v_n; + dR_dq.col(3) = dR_dqz * v_n; Hx.block<3, 4>(0, 6) = dR_dq; @@ -111,13 +114,18 @@ Eigen::Matrix3x1d ESKF::calculate_h() { void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; + Eigen::Vector3d acc = + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -160,17 +168,17 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { NIS_ = innovation.transpose() * S_inv * innovation; } -void ESKF::NEES() { - +void ESKF::NEEDS() { Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); - + // Use SVD-based pseudo-inverse for better numerical stability - Eigen::JacobiSVD svd(current_error_state_.covariance, - Eigen::ComputeThinU | Eigen::ComputeThinV); - const double epsilon = 1e-10; // Threshold for singular values + Eigen::JacobiSVD svd( + current_error_state_.covariance, + Eigen::ComputeThinU | Eigen::ComputeThinV); + const double epsilon = 1e-10; // Threshold for singular values Eigen::VectorXd singular_values = svd.singularValues(); Eigen::VectorXd singular_values_inv(singular_values.size()); - + for (int i = 0; i < singular_values.size(); ++i) { if (singular_values(i) > epsilon) { singular_values_inv(i) = 1.0 / singular_values(i); @@ -178,9 +186,10 @@ void ESKF::NEES() { singular_values_inv(i) = 0.0; } } - - Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * svd.matrixU().transpose(); - + + Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * + svd.matrixU().transpose(); + NEES_ = error_state.transpose() * cov_inv * error_state; } @@ -199,18 +208,23 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations - - NEES(); + + NEEDS(); } void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = + current_nom_state_.quat * + vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); - current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; - current_nom_state_.accel_bias = current_nom_state_.accel_bias + current_error_state_.accel_bias; - current_nom_state_.gravity = current_nom_state_.gravity + current_error_state_.gravity; + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = + current_nom_state_.accel_bias + current_error_state_.accel_bias; + current_nom_state_.gravity = + current_nom_state_.gravity + current_error_state_.gravity; Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 04b6dd9c6..54daadb4c 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -24,7 +24,7 @@ void ESKFNode::set_subscribers_and_publisher() { geometry_msgs::msg::PoseWithCovarianceStamped>( "/orca/pose", qos_sensor_data, std::bind(&ESKFNode::pose_callback, this, std::placeholders::_1)); - + twist_sub_ = this->create_subscription< geometry_msgs::msg::TwistWithCovarianceStamped>( "/orca/twist", qos_sensor_data, @@ -38,8 +38,7 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription< - stonefish_ros2::msg::DVL>( + dvl_sub_ = this->create_subscription( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -49,7 +48,7 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); - nees_pub_ = create_publisher("dvl/nees", 10); + nees_pub_ = create_publisher("dvl/needs", 10); } void ESKFNode::set_parameters() { @@ -81,18 +80,20 @@ void ESKFNode::set_parameters() { error_state_.covariance = P; } -void ESKFNode::pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { - g_truth_.pos << msg->pose.pose.position.x, - msg->pose.pose.position.y, msg->pose.pose.position.z; +void ESKFNode::pose_callback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + g_truth_.pos << msg->pose.pose.position.x, msg->pose.pose.position.y, + msg->pose.pose.position.z; g_truth_.quat.w() = msg->pose.pose.orientation.w; g_truth_.quat.x() = msg->pose.pose.orientation.x; g_truth_.quat.y() = msg->pose.pose.orientation.y; g_truth_.quat.z() = msg->pose.pose.orientation.z; } -void ESKFNode::twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - g_truth_.vel << msg->twist.twist.linear.x, - msg->twist.twist.linear.y, msg->twist.twist.linear.z; +void ESKFNode::twist_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + g_truth_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; } void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { @@ -121,30 +122,30 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } -void ESKFNode::dvl_callback( - const stonefish_ros2::msg::DVL::SharedPtr msg) { - dvl_meas_.vel << msg->velocity.x, - msg->velocity.y, msg->velocity.z; +void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { + dvl_meas_.vel << msg->velocity.x, msg->velocity.y, msg->velocity.z; dvl_meas_.cov << 0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001; - - // msg->velocity_covariance[0], msg->velocity_covariance[1], msg->velocity_covariance[2], - // msg->velocity_covariance[3], msg->velocity_covariance[4], msg->velocity_covariance[5], - // msg->velocity_covariance[6], msg->velocity_covariance[7], msg->velocity_covariance[8]; - + + // msg->velocity_covariance[0], msg->velocity_covariance[1], + // msg->velocity_covariance[2], + // msg->velocity_covariance[3], msg->velocity_covariance[4], + // msg->velocity_covariance[5], + // msg->velocity_covariance[6], msg->velocity_covariance[7], + // msg->velocity_covariance[8]; // Set biases and gravity as float values float gyro_bias_x = 0.00001; float gyro_bias_y = 0.00001; float gyro_bias_z = 0.00001; - + float accel_bias_x = 0.00001; float accel_bias_y = 0.00001; float accel_bias_z = 0.00001; - + float gravity_x = 0.0; float gravity_y = 0.0; float gravity_z = -9.81; - + g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; g_truth_.gravity << gravity_x, gravity_y, gravity_z; diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py index baf6fb645..5d075259f 100644 --- a/navigation/ukf_okid/launch/ukf.launch.py +++ b/navigation/ukf_okid/launch/ukf.launch.py @@ -1,4 +1,3 @@ - from launch import LaunchDescription from launch_ros.actions import Node diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 474b94ac6..e50c65c3a 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -39,9 +39,7 @@ def generate_delta_matrix(self, n: float) -> np.ndarray: for i in range(2 * n): for j in range(n // 2): - delta[2 * j + 1, i] = ( - np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) - ) + delta[2 * j + 1, i] = np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) if (n % 2) == 1: From 124f33772dfa2edfc07f88641cabceab6d3bc4eb Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Wed, 14 May 2025 11:22:07 +0200 Subject: [PATCH 020/109] feat: Adding in the TUKF and the UKF --- navigation/tukf/test_tukf.py | 347 +++++++++++++ navigation/tukf/tukf.py | 126 +++++ navigation/tukf/tukf_class.py | 437 ++++++++++++++++ navigation/ukf_okid/ukf_python/ukf_okid.py | 25 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 186 ++++++- navigation/ukf_okid/ukf_python/ukf_test.py | 471 +----------------- navigation/ukf_okid/ukf_python/ukf_test_2.py | 249 +++++++-- 7 files changed, 1331 insertions(+), 510 deletions(-) create mode 100644 navigation/tukf/test_tukf.py create mode 100644 navigation/tukf/tukf.py create mode 100644 navigation/tukf/tukf_class.py diff --git a/navigation/tukf/test_tukf.py b/navigation/tukf/test_tukf.py new file mode 100644 index 000000000..2998855ea --- /dev/null +++ b/navigation/tukf/test_tukf.py @@ -0,0 +1,347 @@ +import numpy as np +from tukf import TUKF +import tukf_class as ukf +from mpl_toolkits.mplot3d import Axes3D +import time +import math + +import matplotlib.pyplot as plt + +# Initialize UKF with StateQuat +initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z +initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz +initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) +initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz +initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters +initial_intertia = np.array([0.68, 0.2, 0.1, + 0.2, 3.32, 0.2, + 0.1, 0.2, 3.34]) +initial_damping = np.array([0.01, 0.01, 0.01, + 0.01, 0.01, 0.01]) +initla_added_mass = np.array([0.02, 0.02, 0.02, + 0.02, 0.02, 0.02]) + +p_diag = np.concatenate([ + 2*np.ones(3), # x position + 2*np.ones(3), # orientation + 2*np.ones(3), # velocity + 2*np.ones(3), # angular velocity + 2*np.ones(9), # inertia + 2*np.ones(6), # added mass + 2*np.ones(6), # damping + 2*np.ones(4) # g_eta +]) + +initial_covariance = np.diag(p_diag) + +state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) +state.covariance = initial_covariance.copy() +state.inertia = np.array([0.58, 0.1, 0.05, + 0.1, 2.32, 0.1, + 0.01, 0.1, 2.34]) +state.g_eta = np.array([1.1, 0.1, 0.1, 0.1]) +state.damping = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) +state.added_mass = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + +real_state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) +real_state.inertia = initial_intertia.copy() +real_state.g_eta = initial_g_eta.copy() +real_state.damping = initial_damping.copy() +real_state.added_mass = initla_added_mass.copy() + +Q_diag = np.concatenate([ + 0.01*np.ones(3), # position + 0.2*np.ones(9), # kinematic (η & ν) + 0.8*np.ones(9), # inertia + 0.8*np.ones(6), # added mass + 0.8*np.ones(6), # damping + 0.8*np.ones(4), # g_eta +]) + +UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance + +def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 6:9] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +dvl_measurement = ukf.MeasModel(H=dvl_h) + +def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 9:12] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +ang_measurement = ukf.MeasModel(H=ang_h) + +# UKF parameters +dt = 0.01 # time step +sim_time = 50.0 # total simulation time +steps = int(sim_time / dt) + +# Storage for trajectory +positions = np.zeros((steps, 3)) +velocities = np.zeros((steps, 3)) +quaternions = np.zeros((steps, 3)) +angular_velocities = np.zeros((steps, 3)) +okid_params = np.zeros((steps, 25)) + +# Storage for trajectory +positions_est = np.zeros((steps, 3)) +velocities_est = np.zeros((steps, 3)) +quaternions_est = np.zeros((steps, 3)) +angular_velocities_est = np.zeros((steps, 3)) +okid_params_est = np.zeros((steps, 25)) + +# ---------- user‑tunable manoeuvre parameters ----------------------------- +SEG_DUR = 10.0 # [s] duration of each phase +A_F_TRANSL = 2.0 # [N] translational force amplitude +A_T_ROT = 1.0 # [N·m] rotational torque amplitude +# -------------------------------------------------------------------------- + +# Helper: build the scripted sequence as (kind, axis_idx, sign) +# kind = 'F' for force, 'T' for torque +# axes: 0‑x (surge/roll), 1‑y (sway/pitch), 2‑z (heave/yaw) +sequence = [ + ('F', 2, +1), # +z (up) + ('F', 2, -1), # –z (down) + ('F', 1, +1), # +y (right) + ('F', 1, -1), # –y (left / “back” sideways) + ('F', 0, +1), # +x (forward) + ('F', 0, -1), # –x (backward) + ('T', 2, +1), # +yaw (turn right) + ('T', 2, -1), # –yaw (turn left) + ('T', 1, +1), # +pitch (nose up) + ('T', 1, -1), # –pitch (nose down) + ('T', 0, +1), # +roll (starboard roll) + ('T', 0, -1) # –roll (port roll) +] + +TOTAL_TIME = len(sequence) * SEG_DUR # handy if you need it + +def _half_sine(local_t: float, duration: float) -> float: + """Smooth window: 0 → 1 → 0 over `duration` (half‑sine).""" + return np.sin(np.pi * local_t / duration) + +def control_inputs(t: float) -> tuple[np.ndarray, np.ndarray]: + """ + Piecewise scripted test signal: + – translations along z, y, x + – rotations about z (yaw), y (pitch), x (roll) + """ + # Default: no actuation + F = np.zeros(3) + T = np.zeros(3) + + # Past the last segment? keep everything zero + idx = int(t // SEG_DUR) + if idx >= len(sequence): + return F, T + + # Time inside current segment + tau = t - idx * SEG_DUR + window = _half_sine(tau, SEG_DUR) # 0‑to‑1‑to‑0 shape + + kind, axis, sgn = sequence[idx] + + if kind == 'F': + F[axis] = sgn * A_F_TRANSL * window + else: # 'T' + T[axis] = sgn * A_T_ROT * window + + return F, T + +# Simulation loop +for i in range(steps): + t = i * dt + + control_force, control_torque = control_inputs(t) + + control_input = np.concatenate((control_force, control_torque)) + + # Propagate state using UKF prediction + real_state = ukf.F_dynamics(real_state, dt, control_input) + state = UKF_model.unscented_transform(state, control_input) + + if UKF_model.filter_failed: + print("Filter failed, stopping simulation.") + break + + if i % 5 == 0: + # Simulate measurement update every 5 steps + ang_measurement.measurement = np.array([ + real_state.angular_velocity[0], + real_state.angular_velocity[1], + real_state.angular_velocity[2] + ]) + np.random.normal(0, 0.04, 3) + + ang_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance + + UKF_model.measurement_update(state, ang_measurement) + state = UKF_model.posteriori_estimate(state, ang_measurement) + + if i % 10 == 0: + # Simulate measurement update every 10 steps + dvl_measurement.measurement = np.array([ + real_state.velocity[0], + real_state.velocity[1], + real_state.velocity[2] + ]) + np.random.normal(0, 0.04, 3) # Simulated measurement with noise + + # Simulate measurement covariance + dvl_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance + + # Update UKF with measurement + UKF_model.measurement_update(state, dvl_measurement) + state = UKF_model.posteriori_estimate(state, dvl_measurement) + + # Store state for plotting + positions[i] = real_state.position + velocities[i] = real_state.velocity + quaternions[i] = real_state.orientation + angular_velocities[i] = real_state.angular_velocity + okid_params[i] = real_state.okid_part() + + # Store estimated state for plotting + positions_est[i] = state.position + velocities_est[i] = state.velocity + quaternions_est[i] = state.orientation + angular_velocities_est[i] = state.angular_velocity + okid_params_est[i] = state.okid_part() + + # Add small delay to simulate real-time execution + time.sleep(0.001) +print(state.as_vector()) +# Plotting +time_points = np.arange(0, sim_time, dt) + +# 3D trajectory plot +fig = plt.figure(figsize=(12, 10)) +ax = fig.add_subplot(111, projection='3d') +ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') +ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') +ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') +ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') +ax.set_xlabel('X Position') +ax.set_ylabel('Y Position') +ax.set_zlabel('Z Position') +ax.set_title('3D Trajectory') +ax.legend() + +# Position plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, positions[:, 0], 'b-', label='True') +plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Position') +plt.legend() +plt.subplot(312) +plt.plot(time_points, positions[:, 1], 'b-', label='True') +plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Position') +plt.legend() +plt.subplot(313) +plt.plot(time_points, positions[:, 2], 'b-', label='True') +plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Position') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, velocities[:, 0], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Velocity') +plt.legend() +plt.subplot(312) +plt.plot(time_points, velocities[:, 1], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Velocity') +plt.legend() +plt.subplot(313) +plt.plot(time_points, velocities[:, 2], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Velocity') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Angular velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('Roll Rate') +plt.legend() +plt.subplot(312) +plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Pitch Rate') +plt.legend() +plt.subplot(313) +plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Yaw Rate') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# OKID Inertia parameters plot (9 parameters) +plt.figure(figsize=(15, 10)) +plt.suptitle('Inertia Parameters', fontsize=16) +for i in range(9): + plt.subplot(3, 3, i+1) + plt.plot(time_points, okid_params[:, i], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i], 'r--', label='Estimated') + plt.ylabel(f'Inertia[{i}]') + if i >= 6: # Add x-label only to bottom row + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +# OKID Added Mass parameters plot (6 parameters) +plt.figure(figsize=(15, 8)) +plt.suptitle('Added Mass Parameters', fontsize=16) +for i in range(6): + plt.subplot(2, 3, i+1) + plt.plot(time_points, okid_params[:, i+9], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i+9], 'r--', label='Estimated') + plt.ylabel(f'Added Mass[{i}]') + if i >= 3: # Add x-label only to bottom row + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +# OKID Damping parameters plot (6 parameters) +plt.figure(figsize=(15, 8)) +plt.suptitle('Damping Parameters', fontsize=16) +for i in range(6): + plt.subplot(2, 3, i+1) + plt.plot(time_points, okid_params[:, i+15], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i+15], 'r--', label='Estimated') + plt.ylabel(f'Damping[{i}]') + if i >= 3: # Add x-label only to bottom row + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +# OKID g_eta parameters plot (4 parameters) +plt.figure(figsize=(12, 8)) +plt.suptitle('g_eta Parameters', fontsize=16) +for i in range(4): + plt.subplot(2, 2, i+1) + plt.plot(time_points, okid_params[:, i+21], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i+21], 'r--', label='Estimated') + plt.ylabel(f'g_eta[{i}]') + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +plt.show() + diff --git a/navigation/tukf/tukf.py b/navigation/tukf/tukf.py new file mode 100644 index 000000000..a4badd887 --- /dev/null +++ b/navigation/tukf/tukf.py @@ -0,0 +1,126 @@ +import numpy as np +from tukf_class import ( + MeasModel, + AUVState, + covariance_measurement, + covariance_set, + cross_covariance, + mean_measurement, + mean_set, + F_dynamics, + generate_delta_matrix, +) + +def print_matrix(matrix, name="Matrix"): + """Custom print function to print matrices in a formatted form.""" + print(f"{name}: {matrix.shape}") + if isinstance(matrix, np.ndarray): + for row in matrix: + print(" ".join(f"{val:.2f}" for val in row)) + else: + print(matrix) + +class TUKF: + def __init__(self, x_0: AUVState, Q): + self.x = x_0 + self.Q = Q + self.delta = generate_delta_matrix(len(x_0.as_vector())) / np.sqrt(len(x_0.as_vector())) + self.sigma_points_list = None + self.measurement_updated = MeasModel() + self.dt = 0.01 # Time step for dynamics + self.flagg = 0 + self.filter_failed = False + + def sigma_points(self, current_state: AUVState) -> list[AUVState]: + """Functions that generate the sigma points for the UKF.""" + n = len(current_state.covariance) + self.flagg += 1 + try: + S = np.linalg.cholesky(current_state.covariance) + except np.linalg.LinAlgError: + print("Cholesky decomposition failed!") + print("flagg", self.flagg) + print_matrix(current_state.covariance, "Current State Covariance") + print_matrix(self.Q, "Process Noise Covariance (Q)") + + # Set flag to indicate filter has failed + self.filter_failed = True + + # Create a valid but minimal S matrix to avoid crashing + # This allows the simulation to continue to the next step where it can be checked + S = np.eye(n) * 1e-6 + + self.sigma_points_list = [AUVState() for _ in range(2 * n)] + + for index, state in enumerate(self.sigma_points_list): + state.fill_states(current_state.as_vector() + S @ self.delta[:, index]) + + return self.sigma_points_list + + def unscented_transform(self, current_state: AUVState, control_force: np.ndarray) -> AUVState: + """The unscented transform function generates the priori state estimate.""" + self.sigma_points(current_state) + n = len(current_state.covariance) + + self.y_i = [AUVState() for _ in range(2 * n)] + + for i, sp in enumerate(self.sigma_points_list): + self.y_i[i] = F_dynamics(sp, self.dt, control_force) + + state_estimate = AUVState() + x = mean_set(self.y_i) + + state_estimate.fill_states(x) + state_estimate.covariance = covariance_set(self.y_i, x) + + self.Q + return state_estimate + + def measurement_update( + self, current_state: AUVState, measurement: MeasModel + ) -> None: + """Function that updates the state estimate with a measurement. + + Hopefully this is the DVL or GNSS + """ + n = len(current_state.covariance) + z_i = [MeasModel() for _ in range(2 * n)] + + for i, state in enumerate(self.y_i): + z_i[i] = measurement.H(state) + + self.measurement_updated.measurement = mean_measurement(z_i) + + self.measurement_updated.covariance = covariance_measurement( + z_i, self.measurement_updated.measurement + ) + + self.cross_correlation = cross_covariance( + self.y_i, + current_state.as_vector(), + z_i, + self.measurement_updated.measurement, + ) + + def posteriori_estimate( + self, + current_state: AUVState, + measurement: MeasModel, + ) -> AUVState: + """Calculates the posteriori estimate using measurement and the prior estimate.""" + nu_k = MeasModel() + nu_k.measurement = ( + measurement.measurement - self.measurement_updated.measurement + ) + nu_k.covariance = self.measurement_updated.covariance + measurement.covariance + + K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) + + posteriori_estimate = AUVState() + + posteriori_estimate.fill_states( + current_state.as_vector() + np.dot(K_k, nu_k.measurement) + ) + posteriori_estimate.covariance = current_state.covariance - np.dot( + K_k, np.dot(nu_k.covariance, np.transpose(K_k)) + ) + + return posteriori_estimate diff --git a/navigation/tukf/tukf_class.py b/navigation/tukf/tukf_class.py new file mode 100644 index 000000000..e3ec138fb --- /dev/null +++ b/navigation/tukf/tukf_class.py @@ -0,0 +1,437 @@ +import numpy as np +from dataclasses import dataclass, field +from typing import Callable + +@dataclass +class AUVState: + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array(3)) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + inertia: np.ndarray = field(default_factory=lambda: np.zeros((9))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros((6))) + damping: np.ndarray = field(default_factory=lambda: np.zeros((6))) + g_eta: np.ndarray = field(default_factory=lambda: np.zeros((4))) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) + + def dynamic_part(self) -> np.ndarray: + """Get the dynamic part of the AUV state.""" + return np.concatenate([ + self.position, + self.orientation, + self.velocity, + self.angular_velocity + ]) + def okid_part(self) -> np.ndarray: + """Get the OKID part of the AUV state.""" + return np.concatenate([ + self.inertia, + self.added_mass, + self.damping, + self.g_eta + ]) + def as_vector(self) -> np.ndarray: + """Convert the AUV state to a vector representation.""" + return np.concatenate([ + self.position, + self.orientation, + self.velocity, + self.angular_velocity, + self.inertia.flatten(), + self.added_mass.flatten(), + self.damping.flatten(), + self.g_eta + ]) + + def __add__(self, other: 'AUVState') -> 'AUVState': + """Add two AUV states together.""" + return AUVState( + position=self.position + other.position, + orientation=self.orientation + other.orientation, + velocity=self.velocity + other.velocity, + angular_velocity=self.angular_velocity + other.angular_velocity, + inertia=self.inertia + other.inertia, + added_mass=self.added_mass + other.added_mass, + damping=self.damping + other.damping, + g_eta=self.g_eta + other.g_eta + ) + def __sub__(self, other: 'AUVState') -> 'AUVState': + """Subtract two AUV states.""" + return AUVState( + position=self.position - other.position, + orientation=self.orientation - other.orientation, + velocity=self.velocity - other.velocity, + angular_velocity=self.angular_velocity - other.angular_velocity, + inertia=self.inertia - other.inertia, + added_mass=self.added_mass - other.added_mass, + damping=self.damping - other.damping, + g_eta=self.g_eta - other.g_eta + ) + def fill_states(self, x: np.ndarray) -> None: + """Fill the AUV state with a vector representation.""" + self.position = x[0:3] + self.orientation = x[3:6] + self.velocity = x[6:9] + self.angular_velocity = x[9:12] + self.inertia = x[12:21] + self.added_mass = x[21:27] + self.damping = x[27:33] + self.g_eta = x[33:37] + + +@dataclass +class MeasModel: + """A class defined for a general measurement model.""" + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + H: Callable[["AUVState"], "MeasModel"] | None = None + + def __post_init__(self): + """Initialize H with a default measurement function if none provided.""" + if self.H is None: + self.H = self._default_H + + def _default_H(self, state: AUVState) -> 'MeasModel': + """Default measurement function that returns velocity.""" + H_matrix = np.zeros((3, 12)) + H_matrix[:, 6:9] = np.eye(3) + z_i = MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + + def __add__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the addition operation between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement + other.measurement + return result + + def __rmul__(self, scalar: float) -> 'MeasModel': + """Defines multiplication between scalar value and MeasModel object.""" + result = MeasModel() + result.measurement = scalar * self.measurement + return result + + def __sub__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the subtraction between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement - other.measurement + return result + +def generate_delta_matrix_2(n: float) -> np.ndarray: + """Generates the weight matrix used in the TUKF sigma point generation. + + Parameters: + n (int): The state dimension. + + Returns: + delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. + """ + delta = np.zeros((n, 2 * n)) + k = 0.001 # Tuning parameter to ensure pos def + + for i in range(2 * n): + for j in range(n // 2): + delta[2 * j + 1, i] = ( + np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) + ) + delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + + if (n % 2) == 1: + delta[n - 1, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + + return delta + +def generate_delta_matrix(n: int) -> np.ndarray: + if n < 1: + raise ValueError("n must be a positive integer") + + delta = np.zeros((n, 2 * n)) + r_max = n // 2 # floor(n/2) + sq2 = np.sqrt(2.0) + + for k in range(1, 2 * n + 1): # k = 1 … 2n + for r in range(1, r_max + 1): + row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} + row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} + angle = (2 * r - 1) * k * np.pi / n + delta[row_cos, k - 1] = sq2 * np.cos(angle) + delta[row_sin, k - 1] = sq2 * np.sin(angle) + + if n % 2 == 1: # extra entry when n is odd + delta[n - 1, k - 1] = (-1) ** k + + return delta + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def mean_set(set_points: list[AUVState]) -> np.ndarray: + """Function calculates the mean vector of a set of points. + + Args: + set_points (list[AUVState]): List of AUVState objects + + Returns: + np.ndarray: The mean vector + """ + n = len(set_points) + mean_value = np.zeros(set_points[0].as_vector().shape) + + for state in set_points: + mean_value = mean_value + state.as_vector() + + mean_value = (1 / n) * mean_value + + return mean_value + + +def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: + """Function that calculates the mean of a set of points.""" + n = len(set_points) + mean_value = MeasModel() + + for state in set_points: + mean_value = mean_value + state + + mean_value = (1 / n) * mean_value + + return mean_value.measurement + + +def covariance_set(set_points: list[AUVState], mean: np.ndarray) -> np.ndarray: + """Function that calculates the covariance of a set of points.""" + n = len(set_points) + covariance = np.zeros(set_points[0].covariance.shape) + + for state in set_points: + W_i = state.as_vector() - mean + + covariance += np.outer(W_i, W_i) + + covariance = (1 / n) * covariance + + return covariance + + +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: + """Function that calculates the covariance of a set of points.""" + n = len(set_points) + co_size = len(set_points[0].measurement) + covariance = np.zeros((co_size, co_size)) + + mean_meas = MeasModel() + mean_meas.measurement = mean + + for state in set_points: + temp_state = state - mean_meas + covariance += np.outer(temp_state.measurement, temp_state.measurement) + + covariance = (1 / n) * covariance + + return covariance + + +def cross_covariance( + set_y: list[AUVState], + mean_y: np.ndarray, + set_z: list[MeasModel], + mean_z: np.ndarray, +) -> np.ndarray: + """Calculates the cross covariance between the measurement and state prediction.""" + n = len(set_y) + + cross_covariance = np.zeros((len(mean_y), len(mean_z))) + + for i in range(n): + state_diff = set_y[i].as_vector() - mean_y + meas_diff = set_z[i].measurement - mean_z + + cross_covariance += np.outer(state_diff, meas_diff) + + cross_covariance = (1 / n) * cross_covariance + + return cross_covariance + + +# ----------------------------------------------------------- + +def rotation_matrix(euler_angles: np.ndarray) -> np.ndarray: + """Calculates the rotation matrix from Euler angles (roll, pitch, yaw).""" + roll, pitch, yaw = euler_angles + + # Roll rotation + Rx = np.array([ + [1, 0, 0], + [0, np.cos(roll), -np.sin(roll)], + [0, np.sin(roll), np.cos(roll)] + ]) + + # Pitch rotation + Ry = np.array([ + [np.cos(pitch), 0, np.sin(pitch)], + [0, 1, 0], + [-np.sin(pitch), 0, np.cos(pitch)] + ]) + + # Yaw rotation + Rz = np.array([ + [np.cos(yaw), -np.sin(yaw), 0], + [np.sin(yaw), np.cos(yaw), 0], + [0, 0, 1] + ]) + + # Complete rotation matrix + R = Rz @ Ry @ Rx + return R + +def angular_velocity_transformation(euler_angles: np.ndarray) -> np.ndarray: + """Transformation matrix relating Euler rates to angular velocities.""" + roll, pitch, yaw = euler_angles + + T = np.array([ + [1, 0, -np.sin(pitch)], + [0, np.cos(roll), np.cos(pitch) * np.sin(roll)], + [0, -np.sin(roll), np.cos(pitch) * np.cos(roll)] + ]) + + return T + +def M_rb(inertia: np.ndarray) -> np.ndarray: + m = 30.0 + inertia = inertia.reshape((3, 3)) + r_b_bg = np.array([0.01, 0.0, 0.02]) + M_rb = np.zeros((6, 6)) + M_rb[0:3, 0:3] = m * np.eye(3) + M_rb[3:6, 3:6] = inertia + M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) + M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) + return M_rb + +def M_a(added_mass: np.ndarray) -> np.ndarray: + """Calculates the added mass matrix.""" + M_a = np.zeros((6, 6)) + M_a[0:3, 0:3] = np.diag(added_mass[0:3]) + M_a[3:6, 3:6] = np.diag(added_mass[3:6]) + return M_a + +def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: + """Calculates the Coriolis matrix.""" + m = 30.0 + r_b_bg = np.array([0.01, 0.0, 0.02]) + inertia = inertia.reshape((3, 3)) + C_rb = np.zeros((6, 6)) + + C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) + C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) + C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) + C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) + return C_rb + +def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: + """Calculates the added mass Coriolis matrix.""" + C_a = np.zeros((6, 6)) + A11 = np.diag(added_mass[0:3]) + A22 = np.diag(added_mass[3:6]) + C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) + C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) + C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) + return C_a + +def D_linear(damping_linear: np.ndarray) -> np.ndarray: + """Calculates the linear damping matrix.""" + D = np.zeros((6, 6)) + D[0:3, 0:3] = -np.diag(damping_linear[0:3]) + D[3:6, 3:6] = -np.diag(damping_linear[3:6]) + return D + +def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: + """Calculates the g_eta matrix using Euler angles.""" + Delta_WB = g_eta[0] + M_x = g_eta[1] + M_y = g_eta[2] + M_z = g_eta[3] + + # Get rotation matrix using Euler angles + R = rotation_matrix(orientation) + + G_eta = np.zeros((6,1)) + # Gravitational forces + G_eta[0:3] = -Delta_WB * R[:, 2].reshape(3, 1) + + # Buoyancy moments + G_eta[3] = -M_y * R[2, 2] + M_z * R[1, 2] + G_eta[4] = -M_z * R[0, 2] + M_x * R[2, 2] + G_eta[5] = -M_x * R[1, 2] + M_y * R[0, 2] + + return G_eta + +def F_dynamics( + state: AUVState, + dt: float, + control_input: np.ndarray) -> AUVState: + + """Calculates the dynamics of the system.""" + m_rb = M_rb(state.inertia) + m_a = M_a(state.added_mass) + c_rb = C_rb(state.inertia, state.angular_velocity) + c_a = C_a(state.added_mass, state.angular_velocity, state.velocity) + D_l = D_linear(state.damping) + g_eta_ = g_eta(state.g_eta, state.orientation) + + # Get rotation and transformation matrices + r = rotation_matrix(state.orientation) + t = angular_velocity_transformation(state.orientation) + + Crb = c_rb + c_a + Mrb = m_rb + m_a + M_inv = np.linalg.inv(Mrb) + + # Create a vector of velocity and angular velocity + nu = np.concatenate([state.velocity, state.angular_velocity]) + + # Calculate the new state + state_dot = AUVState() + state_dot.position = np.dot(r, state.velocity) + + # Calculate Euler angle rates from angular velocities + t_inv = np.linalg.inv(t) + euler_rates = np.dot(t_inv, state.angular_velocity) + state_dot.orientation = euler_rates + + Nu = M_inv @ (control_input - np.dot(Crb, nu) - np.dot(D_l, nu) - g_eta_.flatten()) + + state_dot.velocity = Nu[:3] + state_dot.angular_velocity = Nu[3:6] + + # Update the inertia, added mass, damping, and g_eta + state_dot.inertia = np.zeros_like(state.inertia) + state_dot.added_mass = np.zeros_like(state.added_mass) + state_dot.damping = np.zeros_like(state.damping) + state_dot.g_eta = np.zeros_like(state.g_eta) + + new_state = AUVState() + new_state.position = state.position + state_dot.position * dt + new_state.orientation = state.orientation + state_dot.orientation * dt + new_state.velocity = state.velocity + state_dot.velocity * dt + new_state.angular_velocity = state.angular_velocity + state_dot.angular_velocity * dt + new_state.inertia = state.inertia + state_dot.inertia * dt + new_state.added_mass = state.added_mass + state_dot.added_mass * dt + new_state.damping = state.damping + state_dot.damping * dt + new_state.g_eta = state.g_eta + state_dot.g_eta * dt + + return new_state +# ----------------------------------------------------------- diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index e50c65c3a..240ca42bb 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -7,23 +7,22 @@ cross_covariance, mean_measurement, mean_set, - okid_process_model, + F_dynamics, ) class UKF: - def __init__(self, process_model: okid_process_model, x_0, P_0, Q, G): + def __init__(self, x_0: StateQuat, Q): self.x = x_0 - self.P = P_0 self.Q = Q - self.G = G - self.process_model = process_model + # self.G = G self.sigma_points_list = None self.measurement_updated = MeasModel() self.y_i = None self.weight = None self.delta = self.generate_delta_matrix(len(x_0.as_vector()) - 1) self.cross_correlation = None + self.dt = 0.01 # Time step for dynamics def generate_delta_matrix(self, n: float) -> np.ndarray: """Generates the weight matrix used in the TUKF sigma point generation. @@ -35,12 +34,14 @@ def generate_delta_matrix(self, n: float) -> np.ndarray: delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ delta = np.zeros((n, 2 * n)) - k = 0.01 # Tuning parameter to ensure pos def + k = 0.00000001 # Tuning parameter to ensure pos def for i in range(2 * n): for j in range(n // 2): - delta[2 * j + 1, i] = np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) - delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + delta[2 * j + 1, i] = ( + np.sqrt(2) * np.sin((2 * j - 1) * ((k * np.pi) / n)) + ) + delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1) * ((k * np.pi) / n)) if (n % 2) == 1: delta[n - 1, i] = (-1) ** i @@ -60,17 +61,15 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: return self.sigma_points_list - def unscented_transform(self, current_state: StateQuat) -> StateQuat: + def unscented_transform(self, current_state: StateQuat, control_force: np.ndarray) -> StateQuat: """The unscented transform function generates the priori state estimate.""" self.sigma_points(current_state) n = len(current_state.covariance) self.y_i = [StateQuat() for _ in range(2 * n)] - for i, state in enumerate(self.sigma_points_list): - self.process_model.model_prediction(state) - self.process_model.state_vector_prev = state - self.y_i[i] = self.process_model.euler_forward() + for i, sp in enumerate(self.sigma_points_list): + self.y_i[i] = F_dynamics(sp, self.dt, control_force) state_estimate = StateQuat() x = mean_set(self.y_i) diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 0b329cb84..f494e3280 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -1,5 +1,5 @@ from dataclasses import dataclass, field - +from typing import Callable import numpy as np @@ -13,21 +13,25 @@ class okid: ) ) added_mass: np.ndarray = field( - default_factory=lambda: np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) ) damping_linear: np.ndarray = field( - default_factory=lambda: np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]) + default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + ) + g_eta: np.ndarray = field( + default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0]) ) def fill(self, state: np.ndarray) -> None: """Fills the okid_params object with values from a numpy array.""" self.inertia = state[0:9] self.added_mass = state[9:15] - self.damping_linear = state[15:] + self.damping_linear = state[15:21] + self.g_eta = state[21:25] def as_vector(self) -> np.ndarray: """Returns the okid_params as a numpy array.""" - return np.concatenate([self.inertia, self.added_mass, self.damping_linear]) + return np.concatenate([self.inertia, self.added_mass, self.damping_linear, self.g_eta]) def __add__(self, other: 'okid') -> 'okid': """Defines the addition operation between two okid_params objects.""" @@ -35,6 +39,7 @@ def __add__(self, other: 'okid') -> 'okid': result.inertia = self.inertia + other.inertia result.added_mass = self.added_mass + other.added_mass result.damping_linear = self.damping_linear + other.damping_linear + result.g_eta = self.g_eta + other.g_eta return result def __sub__(self, other: 'okid') -> 'okid': @@ -43,6 +48,7 @@ def __sub__(self, other: 'okid') -> 'okid': result.inertia = self.inertia - other.inertia result.added_mass = self.added_mass - other.added_mass result.damping_linear = self.damping_linear - other.damping_linear + result.g_eta = self.g_eta - other.g_eta return result def __sub__(self, other: np.ndarray) -> 'okid': @@ -50,7 +56,8 @@ def __sub__(self, other: np.ndarray) -> 'okid': result = okid() result.inertia = self.inertia - other[0:9] result.added_mass = self.added_mass - other[9:15] - result.damping_linear = self.damping_linear - other[15:] + result.damping_linear = self.damping_linear - other[15:21] + result.g_eta = self.g_eta - other[21:25] return result def __rmul__(self, scalar: float) -> 'okid': @@ -59,6 +66,7 @@ def __rmul__(self, scalar: float) -> 'okid': result.inertia = scalar * self.inertia result.added_mass = scalar * self.added_mass result.damping_linear = scalar * self.damping_linear + result.g_eta = scalar * self.g_eta return result @@ -71,7 +79,7 @@ class StateQuat: velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) okid_params: okid = field(default_factory=okid) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" @@ -135,6 +143,7 @@ def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> Non ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] + self.okid_params.fill(state[13:] + state_euler[12:]) def fill_states_different_dim( self, state: np.ndarray, state_euler: np.ndarray @@ -218,16 +227,21 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: @dataclass class MeasModel: """A class defined for a general measurement model.""" - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - - def H(self, state: StateQuat) -> 'MeasModel': - """Calculates the measurement matrix.""" - H = np.zeros((3, 13)) - H[:, 7:10] = np.eye(3) + H: Callable[["StateQuat"], "MeasModel"] | None = None + + def __post_init__(self): + """Initialize H with a default measurement function if none provided.""" + if self.H is None: + self.H = self._default_H + + def _default_H(self, state: StateQuat) -> 'MeasModel': + """Default measurement function that returns velocity.""" + H_matrix = np.zeros((3, 13)) + H_matrix[:, 7:10] = np.eye(3) z_i = MeasModel() - z_i.measurement = np.dot(H, state.dynamic_part()) + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) return z_i def __add__(self, other: 'MeasModel') -> 'MeasModel': @@ -459,6 +473,149 @@ def euler_forward(self) -> None: return self.state_vector +# ----------------------------------------------------------- + +def R_q(orientation: np.ndarray) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = orientation + R = np.array( + [ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2], + ] + ) + return R + +def T_q(orientation: np.ndarray) -> np.ndarray: + """Calculates the transformation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = orientation + T = 0.5 * np.array( + [[-q1, -q2, -q3], [q0, -q3, q2], [q3, q0, -q1], [-q2, q1, q0]] + ) + return T + +def M_rb(inertia: np.ndarray) -> np.ndarray: + m = 30.0 + inertia = inertia.reshape((3, 3)) + r_b_bg = np.array([0.01, 0.0, 0.02]) + M_rb = np.zeros((6, 6)) + M_rb[0:3, 0:3] = m * np.eye(3) + M_rb[3:6, 3:6] = inertia + M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) + M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) + return M_rb + +def M_a(added_mass: np.ndarray) -> np.ndarray: + """Calculates the added mass matrix.""" + M_a = np.zeros((6, 6)) + M_a[0:3, 0:3] = np.diag(added_mass[0:3]) + M_a[3:6, 3:6] = np.diag(added_mass[3:6]) + return M_a + +def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: + """Calculates the Coriolis matrix.""" + m = 30.0 + r_b_bg = np.array([0.01, 0.0, 0.02]) + inertia = inertia.reshape((3, 3)) + C_rb = np.zeros((6, 6)) + + C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) + C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) + C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) + C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) + return C_rb + +def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: + """Calculates the added mass Coriolis matrix.""" + C_a = np.zeros((6, 6)) + A11 = np.diag(added_mass[0:3]) + A22 = np.diag(added_mass[3:6]) + C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) + C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) + C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) + return C_a + +def D_linear(damping_linear: np.ndarray) -> np.ndarray: + """Calculates the linear damping matrix.""" + D = np.zeros((6, 6)) + D[0:3, 0:3] = -np.diag(damping_linear[0:3]) + D[3:6, 3:6] = -np.diag(damping_linear[3:6]) + return D + +def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: + """Calculates the g_eta matrix.""" + Delta_WB = g_eta[0] + M_x = g_eta[1] + M_y = g_eta[2] + M_z = g_eta[3] + + q_0 = orientation[0] + q_1 = orientation[1] + q_2 = orientation[2] + q_3 = orientation[3] + + R1 = (2*(q_1*q_3 - q_0*q_2)) + R2 = (2*(q_2*q_3 + q_0*q_1)) + R3 = (1 - 2*(q_1**2 + q_2**2)) + G_eta = np.zeros((6,1)) + G_eta[0] = - Delta_WB * R1 + G_eta[1] = - Delta_WB * R2 + G_eta[2] = - Delta_WB * R3 + + G_eta[3] = -M_y * R3 + M_z * R2 + G_eta[4] = -M_z * R1 + M_x * R3 + G_eta[5] = -M_x * R2 + M_y * R1 + + return G_eta + +def F_dynamics( + state: StateQuat, + dt: float, + control_input: np.ndarray) -> np.ndarray: + + """Calculates the dynamics of the system.""" + m_rb = M_rb(state.okid_params.inertia) + m_a = M_a(state.okid_params.added_mass) + c_rb = C_rb(state.okid_params.inertia, state.angular_velocity) + c_a = C_a(state.okid_params.added_mass, state.angular_velocity, state.velocity) + D_l = D_linear(state.okid_params.damping_linear) + g_eta_ = g_eta(state.okid_params.g_eta, state.orientation) + r_q = R_q(state.orientation) + t_q = T_q(state.orientation) + Crb = c_rb + c_a + Mrb = m_rb + m_a + M_inv = np.linalg.inv(Mrb) + + + # Calculate the new state + state_dot = StateQuat() + state_dot.position = np.dot(r_q, state.velocity) + state_dot.orientation = np.dot(t_q, state.angular_velocity) + Nu = M_inv @ (control_input - np.dot(Crb, state.nu()) - np.dot(D_l, state.nu()) - g_eta_.flatten()) + + state_dot.velocity = Nu[:3] + state_dot.angular_velocity = Nu[3:6] + state_dot.okid_params.added_mass = state.okid_params.added_mass + state_dot.okid_params.damping_linear = state.okid_params.damping_linear + state_dot.okid_params.inertia = state.okid_params.inertia + state_dot.okid_params.g_eta = state.okid_params.g_eta + + # Update the state using Euler integration + state.position += state_dot.position * dt + state.orientation = quat_norm( + state.orientation + state_dot.orientation * dt + ) + state.velocity += state_dot.velocity * dt + state.angular_velocity += state_dot.angular_velocity * dt + state.okid_params.added_mass = state.okid_params.added_mass + state.okid_params.damping_linear = state.okid_params.damping_linear + state.okid_params.inertia = state.okid_params.inertia + state.okid_params.g_eta = state.okid_params.g_eta + return state +# ----------------------------------------------------------- + + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: """Converts Euler angles to a quaternion.""" psi, theta, phi = euler_angles @@ -624,7 +781,6 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: mean_value.okid_params = (1 / n) * mean_value.okid_params mean_value.orientation = iterative_quaternion_mean_statequat(set_points) - return mean_value.as_vector() diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index d80427364..e664bd848 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,458 +1,27 @@ -import matplotlib.pyplot as plt import numpy as np +def generate_delta_matrix(n: int) -> np.ndarray: + if n < 1: + raise ValueError("n must be a positive integer") -# Import your classes and functions. -# Adjust the import paths as necessary based on your module organization. -from ukf_okid_class import ( - MeasModel, - StateQuat, - covariance_measurement, - covariance_set, - cross_covariance, - mean_measurement, - mean_set, - quat_norm, - quat_to_euler, - quaternion_super_product, -) + delta = np.zeros((n, 2 * n)) + r_max = n // 2 # floor(n/2) + sq2 = np.sqrt(2.0) + for k in range(1, 2 * n + 1): # k = 1 … 2n + for r in range(1, r_max + 1): + row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} + row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} + angle = (2 * r - 1) * k * np.pi / n + delta[row_cos, k - 1] = sq2 * np.cos(angle) + delta[row_sin, k - 1] = sq2 * np.sin(angle) -# For testing, define a function to create a StateQuat with small perturbations. -def create_statequat( - base_vector, - position_perturbation, - orientation_perturbation, - velocity_perturbation, - angular_velocity_perturbation, -): - """Creates a StateQuat object. - - base_vector: 1D numpy array for base state (13 elements: - position (3), quaternion (4), velocity (3), angular_velocity (3)) - - ..._perturbation: small perturbation vector to be added to each respective component. - Returns a StateQuat. - """ - state = StateQuat() - # Base state - state.position = base_vector[0:3] + position_perturbation - # For orientation, perturb by adding a small rotation: - base_quat = base_vector[3:7] - noise_angle = np.linalg.norm(orientation_perturbation) - if noise_angle < 1e-8: - noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) - else: - noise_axis = orientation_perturbation / noise_angle - noise_quat = np.concatenate( - ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) - ) - state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) - state.velocity = base_vector[7:10] + velocity_perturbation - state.angular_velocity = base_vector[10:13] + angular_velocity_perturbation + if n % 2 == 1: # extra entry when n is odd + delta[n - 1, k - 1] = (-1) ** k - # For the augmented parameters (OKID parameters), set a 21-element vector: - # 9 for inertia, 6 for added_mass, and 6 for damping_linear. - state.okid_params.fill(np.concatenate((np.zeros(9), np.zeros(6), np.zeros(6)))) + return delta - # Set a default covariance (33x33 for the extended state) - state.covariance = np.eye(33) * 0.01 - return state +a1 = np.array([1, 0, 1]) +a2 = np.array([1, 1, 0]) - -# Test functions for state statistics -def test_state_statistics(): - # Define a base state vector (13 elements: position, quaternion, velocity, angular_velocity) - base_vector = np.zeros(13) - base_vector[0:3] = np.array([1.0, 2.0, 3.0]) - base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion - base_vector[7:10] = np.array([0.1, 0.2, 0.3]) - base_vector[10:13] = np.array([0.01, 0.02, 0.03]) - - # Create a list of StateQuat objects with small random perturbations. - np.random.seed(42) - state_list = [] - num_states = 10 - for _ in range(num_states): - pos_noise = np.random.normal(0, 0.05, 3) - ori_noise = np.random.normal(0, 0.01, 3) - vel_noise = np.random.normal(0, 0.02, 3) - ang_vel_noise = np.random.normal(0, 0.005, 3) - state_list.append( - create_statequat( - base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise - ) - ) - - # Compute the state mean using mean_set. - mean_state_vec = mean_set(state_list) - print("Computed mean state vector:") - print(mean_state_vec) - - # Compute the covariance of the states. - cov_state = covariance_set(state_list, mean_state_vec) - print("Computed state covariance matrix:") - print(cov_state) - - # Check symmetry of the covariance: - asym_error = np.linalg.norm(cov_state - cov_state.T) - print("Covariance symmetry error (should be near 0):", asym_error) - - # Check eigenvalues for positive semidefiniteness: - eigvals = np.linalg.eigvals(cov_state) - print("Eigenvalues of state covariance:") - print(eigvals) - - -def test_measurement_statistics(): - # Create a list of measurement objects (MeasModel) with measurements in R^3. - np.random.seed(24) - meas_list = [] - num_meas = 10 - base_meas = np.array([1.0, 2.0, 3.0]) - for _ in range(num_meas): - noise = np.random.normal(0, 0.1, 3) - meas = MeasModel() - meas.measurement = base_meas + noise - meas_list.append(meas) - - # Compute the measurement mean. - mean_meas = mean_measurement(meas_list) - print("Computed measurement mean:") - print(mean_meas) - - # Compute the measurement covariance. - cov_meas = covariance_measurement(meas_list, mean_meas) - print("Computed measurement covariance:") - print(cov_meas) - - # Check symmetry and eigenvalues. - asym_error = np.linalg.norm(cov_meas - cov_meas.T) - print("Measurement covariance symmetry error:", asym_error) - eigvals = np.linalg.eigvals(cov_meas) - print("Eigenvalues of measurement covariance:") - print(eigvals) - - -def test_cross_covariance(): - # Create a set of StateQuat and corresponding MeasModel objects. - np.random.seed(99) - num = 10 - state_list = [] - meas_list = [] - base_vector = np.zeros(13) - base_vector[0:3] = np.array([0.5, 1.0, -0.5]) - base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) - base_vector[7:10] = np.array([0.05, 0.1, 0.15]) - base_vector[10:13] = np.array([0.005, 0.01, 0.015]) - - for _ in range(num): - pos_noise = np.random.normal(0, 0.02, 3) - ori_noise = np.random.normal(0, 0.005, 3) - vel_noise = np.random.normal(0, 0.01, 3) - ang_vel_noise = np.random.normal(0, 0.002, 3) - state = create_statequat( - base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise - ) - state_list.append(state) - - # Generate a measurement from each state (e.g., state velocity plus noise). - meas = MeasModel() - meas.measurement = state.velocity + np.random.normal(0, 0.01, 3) - meas_list.append(meas) - - # Compute the state mean and measurement mean as vectors. - mean_state_vec = mean_set(state_list) - mean_meas = mean_measurement(meas_list) - - cross_cov = cross_covariance(state_list, mean_state_vec, meas_list, mean_meas) - print("Computed cross-covariance between state and measurement:") - print(cross_cov) - - -import time - -from ukf_okid import UKF - -# Import your classes and functions. -from ukf_okid_class import ( - okid_process_model, - process_model, -) # Your process model classes - - -############################################ -# Helper function to create a StateQuat with perturbations. -############################################ -def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise): - """Create a StateQuat object from a base vector (13 elements: - position (3), quaternion (4), velocity (3), angular_velocity (3)) - plus additive noise on each component. - - For the OKID parameters, we assume a 21-element vector: - - first 9: inertia, - - next 6: added_mass, - - last 6: damping_linear. - """ - state = StateQuat() - state.position = base_vector[0:3] + pos_noise - base_quat = base_vector[3:7] - noise_angle = np.linalg.norm(ori_noise) - if noise_angle < 1e-8: - noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) - else: - noise_axis = ori_noise / noise_angle - noise_quat = np.concatenate( - ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) - ) - state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) - state.velocity = base_vector[7:10] + vel_noise - state.angular_velocity = base_vector[10:13] + ang_vel_noise - - # Set OKID parameters to exactly 21 elements (9,6,6) - state.okid_params.fill( - np.concatenate( - ( - np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), - np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), - np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), - ) - ) - ) - # Set an initial covariance (33x33) for the full augmented state. - state.covariance = np.eye(33) * 0.02 - return state - - -############################################ -# Full Filter Simulation Test -############################################ -def run_ukf_simulation(): - dt = 0.01 # Time step for simulation [s] - simulation_time = 10 # Total simulation time in seconds - num_steps = int(simulation_time / dt) - - # Define a base state vector (13 elements: pos, quat, vel, ang_vel) - base_vector = np.zeros(13) - base_vector[0:3] = np.array([0.0, 0.0, 0.0]) - base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion - base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x - base_vector[10:13] = np.array([0.0, 0.0, 0.0]) - - # Define initial covariance for state (33x33) - P0 = np.eye(33) - P0[0:3, 0:3] = np.eye(3) * 0.01 # position - P0[3:6, 3:6] = np.eye(3) * 0.01 # orientation error (quaternion) - P0[6:9, 6:9] = np.eye(3) * 0.01 # velocity - P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity - P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters - - # Define process noise covariance Q (33x33) - Q = np.zeros((33, 33)) - Q[0:3, 0:3] = np.eye(3) * 0.001 # for position - Q[3:6, 3:6] = ( - np.eye(3) * 0.001 - ) # for orientation error (represented with Euler angles) - Q[6:9, 6:9] = np.eye(3) * 0.001 # for velocity - Q[9:12, 9:12] = np.eye(3) * 0.001 # for angular velocity - Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters - - G = np.zeros((33, 12)) - G[0:3, 0:3] = np.eye(3) - G[3:6, 3:6] = np.eye(3) - G[6:9, 6:9] = np.eye(3) - G[9:12, 9:12] = np.eye(3) - - # Measurement noise covariance R (3x3), assume measurement is velocity - R = np.eye(3) * 0.01 - - # Create a simulation process model and an independent UKF process model. - sim_model = process_model() - sim_model.dt = dt - sim_model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - sim_model.m = 30.0 - sim_model.r_b_bg = np.array([0.01, 0.0, 0.02]) - sim_model.inertia = np.diag([0.68, 3.32, 3.34]) - sim_model.damping_linear = np.array([0.1] * 6) - sim_model.added_mass = np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # UKF process model copy: - ukf_model = okid_process_model() - ukf_model.dt = dt - ukf_model.mass_interia_matrix = sim_model.mass_interia_matrix.copy() - ukf_model.m = sim_model.m - ukf_model.r_b_bg = sim_model.r_b_bg.copy() - ukf_model.inertia = sim_model.inertia.copy() - ukf_model.damping_linear = sim_model.damping_linear.copy() - ukf_model.added_mass = sim_model.added_mass.copy() - - # Initialize true state and filter state. - true_state = create_statequat( - base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) - ) - true_state.covariance = P0.copy() - - filter_state = create_statequat( - base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) - ) - filter_state.covariance = P0.copy() - - # Initialize measurement model (for example, measuring velocity only) - meas_model = MeasModel() - meas_model.covariance = R.copy() - - # Initialize UKF. - ukf = UKF(ukf_model, true_state, P0.copy(), Q.copy(), G.copy()) - - # Arrays to store time histories. - pos_true_hist = np.zeros((num_steps, 3)) - pos_est_hist = np.zeros((num_steps, 3)) - vel_true_hist = np.zeros((num_steps, 3)) - vel_est_hist = np.zeros((num_steps, 3)) - euler_true_hist = np.zeros((num_steps, 3)) - euler_est_hist = np.zeros((num_steps, 3)) - time_array = np.linspace(0, simulation_time, num_steps) - - # Control input function (example: oscillatory in all directions) - def control_input(t): - return np.array( - [ - 2 * np.sin(t), - 2 * np.sin(t + 0.5), - 2 * np.sin(t + 1.0), - 0.2 * np.cos(t), - 0.2 * np.cos(t + 0.5), - 0.2 * np.cos(t + 1.0), - ] - ) - - # Set previous states. - sim_model.state_vector_prev = true_state - sim_model.state_vector = true_state - ukf_model.state_vector_prev = filter_state - ukf_model.state_vector = filter_state - - # Lists for timing diagnostics. - ukf_transform_times = [] - ukf_update_times = [] - - # Simulation loop. - for i in range(num_steps): - t_current = i * dt - - # Update control inputs. - sim_model.Control_input = control_input(t_current) - ukf_model.Control_input = control_input(t_current) - - # Propagate true state using the simulation model. - sim_model.model_prediction(true_state) - true_state = sim_model.euler_forward() - - # Create a measurement from true state. - # Here we assume we measure velocity plus noise. - meas_noise = np.random.normal(0, 0.01, 3) - meas_model.measurement = true_state.velocity + meas_noise - - # UKF prediction: unscented transform. - start = time.time() - filter_state = ukf.unscented_transform(filter_state) - ukf_transform_times.append(time.time() - start) - - # UKF measurement update every few steps. - if i % 5 == 0: - try: - start = time.time() - ukf.measurement_update(filter_state, meas_model) - filter_state = ukf.posteriori_estimate(filter_state, meas_model) - ukf_update_times.append(time.time() - start) - except np.linalg.LinAlgError: - # If matrix is not PD, add jitter. - filter_state.covariance += ( - np.eye(filter_state.covariance.shape[0]) * 1e-6 - ) - - # Store true and estimated state for diagnostics. - pos_true_hist[i, :] = true_state.position - pos_est_hist[i, :] = filter_state.position - vel_true_hist[i, :] = true_state.velocity - vel_est_hist[i, :] = filter_state.velocity - # Convert quaternion to Euler angles for visualization. - # Assumes you have a function quat_to_euler. - euler_true_hist[i, :] = quat_to_euler(true_state.orientation) - euler_est_hist[i, :] = quat_to_euler(filter_state.orientation) - - # Update previous states. - sim_model.state_vector_prev = true_state - ukf_model.state_vector_prev = filter_state - - # Print timing diagnostics. - print("Average unscented transform time:", np.mean(ukf_transform_times)) - print("Average measurement update time:", np.mean(ukf_update_times)) - - # Compute error metrics. - pos_error = np.linalg.norm(pos_true_hist - pos_est_hist, axis=1) - vel_error = np.linalg.norm(vel_true_hist - vel_est_hist, axis=1) - euler_error = np.linalg.norm(euler_true_hist - euler_est_hist, axis=1) - print("Average position error:", np.mean(pos_error)) - print("Average velocity error:", np.mean(vel_error)) - print("Average orientation (Euler) error:", np.mean(euler_error)) - - # Plot estimated vs true trajectory (positions). - plt.figure(figsize=(10, 8)) - plt.subplot(3, 1, 1) - plt.plot(time_array, pos_true_hist[:, 0], label="True X") - plt.plot(time_array, pos_est_hist[:, 0], label="Est X", linestyle="--") - plt.legend() - plt.title("Position X") - - plt.subplot(3, 1, 2) - plt.plot(time_array, pos_true_hist[:, 1], label="True Y") - plt.plot(time_array, pos_est_hist[:, 1], label="Est Y", linestyle="--") - plt.legend() - plt.title("Position Y") - - plt.subplot(3, 1, 3) - plt.plot(time_array, pos_true_hist[:, 2], label="True Z") - plt.plot(time_array, pos_est_hist[:, 2], label="Est Z", linestyle="--") - plt.legend() - plt.title("Position Z") - plt.tight_layout() - plt.show() - - # Plot errors. - plt.figure(figsize=(10, 4)) - plt.plot(time_array, pos_error, label="Position Error") - plt.plot(time_array, vel_error, label="Velocity Error") - plt.plot(time_array, euler_error, label="Euler Angle Error") - plt.legend() - plt.title("Error Metrics over Time") - plt.xlabel("Time (s)") - plt.ylabel("Error magnitude") - plt.show() - - -# You can also test the individual statistics functions separately: -def run_diagnostics(): - print("Testing state mean and covariance computation:") - # Call your pre-written tests: - # (Assuming these functions—test_state_statistics, test_measurement_statistics, test_cross_covariance—are defined above) - test_state_statistics() - print("\nTesting measurement mean and covariance computation:") - test_measurement_statistics() - print("\nTesting cross-covariance computation:") - test_cross_covariance() - - -if __name__ == '__main__': - # First, run the diagnostics on the mean/covariance functions. - run_diagnostics() - - # Then run the full UKF simulation test. - print("\nRunning full UKF simulation test:") - run_ukf_simulation() +a3 = np.outer(a1, a2) +print(a3) \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py index d3a75313b..0a2d5b2fe 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test_2.py +++ b/navigation/ukf_okid/ukf_python/ukf_test_2.py @@ -1,42 +1,229 @@ import numpy as np +import ukf_okid_class as ukf +from ukf_okid import UKF +from mpl_toolkits.mplot3d import Axes3D +import time +import math +from ukf_utils import print_StateQuat, print_matrix -# Define process noise covariance Q (33x33) -Q = np.zeros((12, 12)) -Q[0:3, 0:3] = np.eye(3) * 0.003 # for position -Q[3:6, 3:6] = np.eye(3) * 0.003 # for orientation error (represented with Euler angles) -Q[6:9, 6:9] = np.eye(3) * 0.002 # for velocity -Q[9:12, 9:12] = np.eye(3) * 0.003 # for angular velocity +import matplotlib.pyplot as plt -G = np.zeros((33, 12)) -G[0:3, 0:3] = np.eye(3) -G[3:6, 3:6] = np.eye(3) -G[6:9, 6:9] = np.eye(3) -G[9:12, 9:12] = np.eye(3) +# Initialize UKF with StateQuat +initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z +initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz +initial_quaternion = np.array([1.0, 0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) +initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz +initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters +initial_covariance = np.eye(37) * 20.0 # Initial covariance matrix -GG = G @ Q @ G.T +# Create StateQuat object +state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) +state.okid_params.g_eta = initial_g_eta +state.covariance = initial_covariance +real_state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) +real_state.okid_params.g_eta = np.array([1.2, 0.3, 0.3, 0.3]) -def fancy_print_matrix(matrix, name="Matrix", precision=4): - """Print a matrix with fancy formatting. +UKF_model = UKF(state, Q=10.0 * np.eye(37)) # Process noise covariance +dvl_measurement = ukf.MeasModel() - Args: - matrix: numpy array to print - name: name of the matrix to display - precision: number of decimal places to show - """ - print(f"\n{'=' * 50}") - print(f" {name} [{matrix.shape[0]}x{matrix.shape[1]}]") - print(f"{'=' * 50}") +def ang_h(state: ukf.StateQuat) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 13)) + H_matrix[:, 10:13] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i - # Set numpy print options - with np.printoptions(precision=precision, suppress=True, linewidth=100): - # Print each row with custom formatting - for i in range(matrix.shape[0]): - row = ' '.join([f"{x:8.{precision}f}" for x in matrix[i]]) - print(f" {i:2d} | {row}") +ang_measurement = ukf.MeasModel(H=ang_h) - print(f"{'=' * 50}\n") +# UKF parameters +dt = 0.01 # time step +sim_time = 1.0 # total simulation time +steps = int(sim_time / dt) +# Storage for trajectory +positions = np.zeros((steps, 3)) +velocities = np.zeros((steps, 3)) +quaternions = np.zeros((steps, 4)) +angular_velocities = np.zeros((steps, 3)) +okid_params = np.zeros((steps, 4)) + +# Storage for trajectory +positions_est = np.zeros((steps, 3)) +velocities_est = np.zeros((steps, 3)) +quaternions_est = np.zeros((steps, 4)) +angular_velocities_est = np.zeros((steps, 3)) +okid_params_est = np.zeros((steps, 4)) + +# Simulation loop +for i in range(steps): + t = i * dt + + # Generate control input (slow sinusoidal signals) + control_force = np.array([ + 5 * np.sin(4.0 * t), + 10 * np.sin(3.0 * t), + 10 * np.sin(2.0 * t) + ]) + + control_torque = np.array([ + 10 * np.sin(4.0 * t), + 10 * np.sin(4.0 * t), + 10 * np.sin(4.0 * t) + ]) + + control_input = np.concatenate((control_force, control_torque)) + + # Propagate state using UKF prediction + real_state = ukf.F_dynamics(real_state, dt, control_input) + state = UKF_model.unscented_transform(state, control_input) + if i % 5 == 0: + # Simulate measurement update every 5 steps + ang_measurement.measurement = np.array([ + real_state.angular_velocity[0], + real_state.angular_velocity[1], + real_state.angular_velocity[2] + ]) + np.random.normal(0, 0.03, 3) + # Simulate measurement covariance + ang_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance + # Update UKF with measurement + UKF_model.measurement_update(state, ang_measurement) + state = UKF_model.posteriori_estimate(state, ang_measurement) + + if i % 10 == 0: + # Simulate measurement update every 10 steps + dvl_measurement.measurement = np.array([ + real_state.velocity[0], + real_state.velocity[1], + real_state.velocity[2] + ]) + np.random.normal(0, 0.03, 3) # Simulated measurement with noise + + # Simulate measurement covariance + dvl_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance + + # Update UKF with measurement + UKF_model.measurement_update(state, dvl_measurement) + state = UKF_model.posteriori_estimate(state, dvl_measurement) + print_matrix(state.covariance) + + print("Determinant of covariance matrix:", np.linalg.det(state.covariance)) + # Store state for plotting + positions[i] = real_state.position + velocities[i] = real_state.velocity + quaternions[i] = real_state.orientation + angular_velocities[i] = real_state.angular_velocity + okid_params[i] = real_state.okid_params.g_eta + + # Store estimated state for plotting + positions_est[i] = state.position + velocities_est[i] = state.velocity + quaternions_est[i] = state.orientation + angular_velocities_est[i] = state.angular_velocity + okid_params_est[i] = state.okid_params.g_eta + + # Add small delay to simulate real-time execution + time.sleep(0.001) +print(state.as_vector()) +# Plotting +time_points = np.arange(0, sim_time, dt) + +# 3D trajectory plot +fig = plt.figure(figsize=(12, 10)) +ax = fig.add_subplot(111, projection='3d') +ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') +ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') +ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') +ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') +ax.set_xlabel('X Position') +ax.set_ylabel('Y Position') +ax.set_zlabel('Z Position') +ax.set_title('3D Trajectory') +ax.legend() + +# Position plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, positions[:, 0], 'b-', label='True') +plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Position') +plt.legend() +plt.subplot(312) +plt.plot(time_points, positions[:, 1], 'b-', label='True') +plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Position') +plt.legend() +plt.subplot(313) +plt.plot(time_points, positions[:, 2], 'b-', label='True') +plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Position') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, velocities[:, 0], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Velocity') +plt.legend() +plt.subplot(312) +plt.plot(time_points, velocities[:, 1], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Velocity') +plt.legend() +plt.subplot(313) +plt.plot(time_points, velocities[:, 2], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Velocity') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Angular velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('Roll Rate') +plt.legend() +plt.subplot(312) +plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Pitch Rate') +plt.legend() +plt.subplot(313) +plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Yaw Rate') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# OKID g_eta plot +plt.figure(figsize=(12, 6)) +plt.subplot(411) +plt.plot(time_points, okid_params[:, 0], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 0], 'r--', label='Estimated') +plt.ylabel('g_eta[0]') +plt.legend() +plt.subplot(412) +plt.plot(time_points, okid_params[:, 1], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 1], 'r--', label='Estimated') +plt.ylabel('g_eta[1]') +plt.legend() +plt.subplot(413) +plt.plot(time_points, okid_params[:, 2], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 2], 'r--', label='Estimated') +plt.ylabel('g_eta[2]') +plt.legend() +plt.subplot(414) +plt.plot(time_points, okid_params[:, 3], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 3], 'r--', label='Estimated') +plt.ylabel('g_eta[3]') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +plt.show() -# Example usage: -fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) From 3da7c44b6d700903072e6fa2117b756d1f6dd05f Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 18 May 2025 16:40:56 +0200 Subject: [PATCH 021/109] fix: added tukf and simulation --- navigation/eskf/config/eskf_params.yaml | 6 +- navigation/eskf/include/eskf/typedefs.hpp | 6 +- navigation/eskf/src/eskf.cpp | 56 ++--- navigation/eskf/src/eskf_ros.cpp | 8 +- navigation/tukf/simulation.py | 155 +++++++++++++ navigation/tukf/simulation_re.ipynb | 265 ++++++++++++++++++++++ 6 files changed, 451 insertions(+), 45 deletions(-) create mode 100644 navigation/tukf/simulation.py create mode 100644 navigation/tukf/simulation_re.ipynb diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 98be8e789..3b9fcdc0b 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,8 +1,8 @@ eskf_node: ros__parameters: - imu_topic: imu/data_raw + imu_topic: /imu/data_raw dvl_topic: /dvl/sim odom_topic: odom - diag_Q_std: [0.05, 0.05, 0.05, 0.00001, 0.00001, 0.00001, 0.000001, 0.000000001, 0.000000001, 0.000000001, 0.00000001, 0.00000001] - diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] + diag_Q_std: [0.01, 0.01, 0.01, 0.005, 0.005, 0.005, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001] + diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 47dfe06e1..eacb32841 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -26,6 +26,8 @@ typedef Eigen::Matrix Matrix18x3d; typedef Eigen::Matrix Matrix36d; typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; +typedef Eigen::Matrix Matrix15d; +typedef Eigen::Matrix Vector15d; } // namespace Eigen template @@ -36,7 +38,7 @@ Eigen::Matrix createDiagonalMatrix( } struct state_quat { - Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d pos = Eigen::Vector3d(0,0,0.125); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); @@ -58,7 +60,7 @@ struct state_quat { euler_diff = (quat * other.quat.inverse()) .toRotationMatrix() - .eulerAngles(0, 1, 2); + .eulerAngles(0, 1, 2) + Eigen::Vector3d(-M_PI, M_PI, -M_PI); vec << pos - other.pos, vel - other.vel, euler_diff, gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index e0e7c7a98..e39993abc 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -102,10 +102,9 @@ Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { return H; } -Eigen::Matrix3x1d ESKF::calculate_h() { - Eigen::Matrix3x1d h; - Eigen::Matrix3d R_bn = - current_nom_state_.quat.normalized().toRotationMatrix().transpose(); +Eigen::Vector3d ESKF::calculate_h() { + Eigen::Vector3d h; + Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; @@ -114,18 +113,13 @@ Eigen::Matrix3x1d ESKF::calculate_h() { void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - (imu_meas.accel - current_nom_state_.accel_bias) + - current_nom_state_.gravity; + Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -159,8 +153,7 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; - current_error_state_.covariance = - A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; + current_error_state_.covariance = A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { @@ -170,27 +163,17 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { void ESKF::NEEDS() { Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); - - // Use SVD-based pseudo-inverse for better numerical stability - Eigen::JacobiSVD svd( - current_error_state_.covariance, - Eigen::ComputeThinU | Eigen::ComputeThinV); - const double epsilon = 1e-10; // Threshold for singular values - Eigen::VectorXd singular_values = svd.singularValues(); - Eigen::VectorXd singular_values_inv(singular_values.size()); - - for (int i = 0; i < singular_values.size(); ++i) { - if (singular_values(i) > epsilon) { - singular_values_inv(i) = 1.0 / singular_values(i); - } else { - singular_values_inv(i) = 0.0; - } + Eigen::Vector15d error_state_trim = error_state.head<15>(); + // Set the last 6 elements of error_state_trim to zero + for (int i = 9; i < 15; i++) { + error_state_trim(i) = 0; } - - Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * - svd.matrixU().transpose(); - - NEES_ = error_state.transpose() * cov_inv * error_state; + error_state_trim(6) = 0.001; + error_state_trim(7) = 0.001; + error_state_trim(8) = 0.001; + Eigen::Matrix15d P = current_error_state_.covariance.block<15, 15>(0, 0); + Eigen::Matrix15d P_inv = P.inverse(); + NEES_ = error_state_trim.transpose() * P_inv * error_state_trim; } void ESKF::measurement_update(const dvl_measurement& dvl_meas) { @@ -201,6 +184,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3d S = H * P * H.transpose() + R; Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); + NIS(innovation, S); current_error_state_.set_from_vector(K * innovation); @@ -215,9 +199,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = - current_nom_state_.quat * - vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 54daadb4c..b7cdced09 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -48,7 +48,7 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); - nees_pub_ = create_publisher("dvl/needs", 10); + nees_pub_ = create_publisher("dvl/nees", 10); } void ESKFNode::set_parameters() { @@ -123,8 +123,10 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { } void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { + // Log that we received a DVL message + // spdlog::info("DVL message received"); dvl_meas_.vel << msg->velocity.x, msg->velocity.y, msg->velocity.z; - dvl_meas_.cov << 0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001; + dvl_meas_.cov << 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004; // msg->velocity_covariance[0], msg->velocity_covariance[1], // msg->velocity_covariance[2], @@ -144,7 +146,7 @@ void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { float gravity_x = 0.0; float gravity_y = 0.0; - float gravity_z = -9.81; + float gravity_z = 9.81; g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; diff --git a/navigation/tukf/simulation.py b/navigation/tukf/simulation.py new file mode 100644 index 000000000..56fb2a6a1 --- /dev/null +++ b/navigation/tukf/simulation.py @@ -0,0 +1,155 @@ +from rosbags.highlevel import AnyReader +from rosbags.typesys import get_types_from_msg, register_types +import numpy as np, pandas as pd, pathlib +from tukf import TUKF +import tukf_class as ukf + +bag_folder = pathlib.Path(r"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl") + +# Initialize UKF with StateQuat +initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z +initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz +initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) +initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz +initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters +initial_intertia = np.array([0.2, 0.2, 0.1, + 0.2, 0.2, 0.2, + 0.1, 0.2, 0.2]) +initial_damping = np.array([0.01, 0.01, 0.01, + 0.01, 0.01, 0.01]) +initla_added_mass = np.array([0.02, 0.02, 0.02, + 0.02, 0.02, 0.02]) + +p_diag = np.concatenate([ + 2*np.ones(3), # x position + 2*np.ones(3), # orientation + 2*np.ones(3), # velocity + 2*np.ones(3), # angular velocity + 2*np.ones(9), # inertia + 2*np.ones(6), # added mass + 2*np.ones(6), # damping + 2*np.ones(4) # g_eta +]) + +initial_covariance = np.diag(p_diag) + +state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), + initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy()) + +state.covariance = initial_covariance.copy() + +Q_diag = np.concatenate([ + 0.1*np.ones(3), # position + 0.1*np.ones(9), # kinematic (η & ν) + 0.001*np.ones(9), # inertia + 0.001*np.ones(6), # added mass + 0.001*np.ones(6), # damping + 0.001*np.ones(4), # g_eta +]) + +UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance + +def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 6:9] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +dvl_measurement = ukf.MeasModel(H=dvl_h) + +def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 9:12] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +ang_measurement = ukf.MeasModel(H=ang_h) + +R_corr = np.array([[0.0, 0.0, -1.0], + [0.0, -1.0, 0.0], + [-1.0, 0.0, 0.0]]) + +# Storage for trajectory +positions = [] +velocities = [] +quaternions = [] +angular_velocities = [] +okid_params = [] + +# Storage for trajectory estimates +positions_est = [] +velocities_est = [] +quaternions_est = [] +angular_velocities_est = [] +okid_params_est = [] + +with AnyReader([bag_folder]) as reader: + # Filter topics once + conns = [c for c in reader.connections + if c.topic in ("/imu/data_raw", "/dvl_twist", "/orca/wrench_input")] + + last_time = None + log = [] + coutner = 0 + + for conn, ts_raw, raw in reader.messages(conns): + t_ns = ts_raw # already nanoseconds integer + coutner += 1 + + if conn.topic == "/orca/wrench_input": + + # Get the wrench input message + msg = reader.deserialize(raw, conn.msgtype) + wrench = msg.wrench # Extract the wrench field from the message + forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z]) + torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z]) + + control_input = np.concatenate([forces, torques]) + + if last_time is not None: + UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds + + # 1. prediction step + state = UKF_model.unscented_transform(state, control_input) + + # 2. measurement update + msg = reader.deserialize(raw, conn.msgtype) + if conn.topic == "/imu/data_raw": + print("IMU data received") + + # Get the IMU data + measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z]) + + ang_measurement.measurement = np.dot(R_corr,measurement_imu) + + ang_measurement.covariance = np.eye(3) * (0.03**2) + + UKF_model.measurement_update(state, ang_measurement) + state = UKF_model.posteriori_estimate(state, ang_measurement) + + if conn.topic == "/dvl_twist": + print("DVL data received") + + msg = reader.deserialize(raw, conn.msgtype) + dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + dvl_measurement.measurement = np.dot(R_corr, dvl_measurement.measurement) + + dvl_measurement.covariance = np.eye(3) * (0.01**2) + + # Update UKF with measurement + UKF_model.measurement_update(state, dvl_measurement) + state = UKF_model.posteriori_estimate(state, dvl_measurement) + + + # Store the state estimates + positions_est.append(state.position.copy()) + velocities_est.append(state.velocity.copy()) + quaternions_est.append(state.quaternion.copy()) + angular_velocities_est.append(state.angular_velocity.copy()) + okid_params_est.append(state.okid_part().copy()) + + last_time = t_ns + + \ No newline at end of file diff --git a/navigation/tukf/simulation_re.ipynb b/navigation/tukf/simulation_re.ipynb new file mode 100644 index 000000000..e508825bf --- /dev/null +++ b/navigation/tukf/simulation_re.ipynb @@ -0,0 +1,265 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Simulation results for the TUKF ###\n", + "\n", + "try to simulate the path and parameters using the tukf algorithm" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "from rosbags.highlevel import AnyReader\n", + "from rosbags.typesys import get_types_from_msg, register_types\n", + "import numpy as np, pandas as pd, pathlib\n", + "from tukf import TUKF\n", + "import tukf_class as ukf" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "bag_folder = pathlib.Path(r\"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl\")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [], + "source": [ + "# Initialize UKF with StateQuat\n", + "initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z\n", + "initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz\n", + "initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion)\n", + "initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz\n", + "initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters\n", + "initial_intertia = np.array([0.2, 0.2, 0.1, \n", + " 0.2, 0.2, 0.2, \n", + " 0.1, 0.2, 0.2])\n", + "initial_damping = np.array([0.01, 0.01, 0.01,\n", + " 0.01, 0.01, 0.01])\n", + "initla_added_mass = np.array([0.02, 0.02, 0.02,\n", + " 0.02, 0.02, 0.02])\n", + "\n", + "p_diag = np.concatenate([\n", + " 2*np.ones(3), # x position\n", + " 2*np.ones(3), # orientation\n", + " 2*np.ones(3), # velocity\n", + " 2*np.ones(3), # angular velocity\n", + " 2*np.ones(9), # inertia\n", + " 2*np.ones(6), # added mass\n", + " 2*np.ones(6), # damping\n", + " 2*np.ones(4) # g_eta\n", + "])\n", + "\n", + "initial_covariance = np.diag(p_diag) \n", + "\n", + "state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), \n", + " initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy())\n", + "\n", + "state.covariance = initial_covariance.copy()\n", + "\n", + "Q_diag = np.concatenate([\n", + " 0.1*np.ones(3), # position\n", + " 0.1*np.ones(9), # kinematic (η & ν)\n", + " 0.001*np.ones(9), # inertia\n", + " 0.001*np.ones(6), # added mass\n", + " 0.001*np.ones(6), # damping\n", + " 0.001*np.ones(4), # g_eta\n", + "])\n", + "\n", + "UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance\n", + "\n", + "def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", + " H_matrix = np.zeros((3, 12))\n", + " H_matrix[:, 6:9] = np.eye(3)\n", + " z_i = ukf.MeasModel()\n", + " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", + " return z_i\n", + "\n", + "dvl_measurement = ukf.MeasModel(H=dvl_h)\n", + "\n", + "def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", + " H_matrix = np.zeros((3, 12))\n", + " H_matrix[:, 9:12] = np.eye(3)\n", + " z_i = ukf.MeasModel()\n", + " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", + " return z_i\n", + "\n", + "ang_measurement = ukf.MeasModel(H=ang_h) \n", + "\n", + "R_corr = np.array([[0.0, 0.0, -1.0],\n", + " [0.0, -1.0, 0.0],\n", + " [-1.0, 0.0, 0.0]])\n", + "\n", + "# Storage for trajectory\n", + "positions = []\n", + "velocities = []\n", + "quaternions = []\n", + "angular_velocities = []\n", + "okid_params = []\n", + "\n", + "# Storage for trajectory estimates\n", + "positions_est = []\n", + "velocities_est = []\n", + "quaternions_est = []\n", + "angular_velocities_est = []\n", + "okid_params_est = []" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [], + "source": [ + "with AnyReader([bag_folder]) as reader:\n", + " # Filter topics once\n", + " conns = [c for c in reader.connections\n", + " if c.topic in (\"/imu/data_raw\", \"/dvl_twist\", \"/orca/wrench_input\")]\n", + "\n", + " last_time = None\n", + " log = []\n", + " coutner = 0\n", + "\n", + " for conn, ts_raw, raw in reader.messages(conns):\n", + " t_ns = ts_raw # already nanoseconds integer\n", + " coutner += 1\n", + "\n", + " if conn.topic == \"/orca/wrench_input\":\n", + " \n", + " # Get the wrench input message\n", + " msg = reader.deserialize(raw, conn.msgtype)\n", + " wrench = msg.wrench # Extract the wrench field from the message\n", + " forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z])\n", + " torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z])\n", + "\n", + " control_input = np.concatenate([forces, torques])\n", + "\n", + " if last_time is not None:\n", + " UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds\n", + "\n", + " # 1. prediction step\n", + " state = UKF_model.unscented_transform(state, control_input)\n", + "\n", + " # 2. measurement update\n", + " msg = reader.deserialize(raw, conn.msgtype)\n", + " if conn.topic == \"/imu/data_raw\":\n", + " # print(\"IMU data received\")\n", + "\n", + " # Get the IMU data\n", + " measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z])\n", + "\n", + " ang_measurement.measurement = np.dot(R_corr,measurement_imu)\n", + "\n", + " ang_measurement.covariance = np.eye(3) * (0.03**2) \n", + "\n", + " UKF_model.measurement_update(state, ang_measurement)\n", + " state = UKF_model.posteriori_estimate(state, ang_measurement)\n", + "\n", + " if conn.topic == \"/dvl_twist\":\n", + " # print(\"DVL data received\")\n", + "\n", + " msg = reader.deserialize(raw, conn.msgtype)\n", + " dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z])\n", + " \n", + " dvl_measurement.covariance = np.eye(3) * (0.01**2) \n", + " \n", + " # Update UKF with measurement\n", + " UKF_model.measurement_update(state, dvl_measurement)\n", + " state = UKF_model.posteriori_estimate(state, dvl_measurement)\n", + "\n", + "\n", + " # Store the state estimates\n", + " positions_est.append(state.position.copy())\n", + " velocities_est.append(state.velocity.copy())\n", + " quaternions_est.append(state.orientation.copy())\n", + " angular_velocities_est.append(state.angular_velocity.copy())\n", + " okid_params_est.append(state.okid_part().copy())\n", + "\n", + " last_time = t_ns" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "import numpy as np\n", + "\n", + "import matplotlib.pyplot as plt\n", + "\n", + "# Extract x, y, z positions from positions_est\n", + "x_positions = np.array([pos[0] for pos in positions_est])\n", + "y_positions = np.array([pos[1] for pos in positions_est])\n", + "z_positions = np.array([pos[2] for pos in positions_est])\n", + "\n", + "# Create figure with three subplots\n", + "fig, axs = plt.subplots(3, 1, figsize=(12, 10), sharex=True)\n", + "fig.suptitle('AUV Position Estimates Over Time', fontsize=16)\n", + "\n", + "# Plot x position\n", + "axs[0].plot(x_positions, 'b-', linewidth=2)\n", + "axs[0].set_ylabel('X Position [m]')\n", + "axs[0].grid(True)\n", + "\n", + "# Plot y position\n", + "axs[1].plot(y_positions, 'g-', linewidth=2)\n", + "axs[1].set_ylabel('Y Position [m]')\n", + "axs[1].grid(True)\n", + "\n", + "# Plot z position\n", + "axs[2].plot(z_positions, 'r-', linewidth=2)\n", + "axs[2].set_ylabel('Z Position [m]')\n", + "axs[2].set_xlabel('Time steps')\n", + "axs[2].grid(True)\n", + "\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} From 025410a8ad499ebfd126e2ff35653e000731cc46 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Tue, 20 May 2025 13:23:59 +0200 Subject: [PATCH 022/109] fix:added in some minor fixes --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/include/eskf/eskf.hpp | 8 -- navigation/eskf/include/eskf/eskf_ros.hpp | 19 +-- navigation/eskf/src/eskf.cpp | 18 --- navigation/eskf/src/eskf_ros.cpp | 65 +-------- navigation/tukf/simulation_re.ipynb | 154 ++++++++++++++++++---- navigation/tukf/tukf_class.py | 4 +- 7 files changed, 138 insertions(+), 132 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 3b9fcdc0b..c08c21d3c 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,7 +1,7 @@ eskf_node: ros__parameters: imu_topic: /imu/data_raw - dvl_topic: /dvl/sim + dvl_topic: /orca/twist odom_topic: odom diag_Q_std: [0.01, 0.01, 0.01, 0.005, 0.005, 0.005, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index d9b7d4fa0..214f462c4 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -27,12 +27,6 @@ class ESKF { // NIS double NIS_; - // NEEDS - double NEES_; - - // ground truth - state_quat ground_truth_; - private: // @brief Predict the nominal state // @param imu_meas: IMU measurement @@ -53,8 +47,6 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - void NEEDS(); - // @brief Update the error state // @param dvl_meas: DVL measurement void measurement_update(const dvl_measurement& dvl_meas); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index c3d09e820..b10995f04 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -21,11 +21,6 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: - void pose_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - void twist_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data @@ -33,7 +28,7 @@ class ESKFNode : public rclcpp::Node { // @brief Callback function for the dvl topic // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg); + void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Publish the odometry message void publish_odom(); @@ -46,28 +41,18 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr dvl_sub_; - - rclcpp::Subscription< - geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_; - - rclcpp::Subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr twist_sub_; + rclcpp::Subscription::SharedPtr dvl_sub_; rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Publisher::SharedPtr nis_pub_; - rclcpp::Publisher::SharedPtr nees_pub_; - std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; state_quat nom_state_; - state_quat g_truth_; - state_euler error_state_; imu_measurement imu_meas_; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index e39993abc..8d1fdb6b4 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -160,22 +160,6 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { Eigen::Matrix3d S_inv = S.inverse(); NIS_ = innovation.transpose() * S_inv * innovation; } - -void ESKF::NEEDS() { - Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); - Eigen::Vector15d error_state_trim = error_state.head<15>(); - // Set the last 6 elements of error_state_trim to zero - for (int i = 9; i < 15; i++) { - error_state_trim(i) = 0; - } - error_state_trim(6) = 0.001; - error_state_trim(7) = 0.001; - error_state_trim(8) = 0.001; - Eigen::Matrix15d P = current_error_state_.covariance.block<15, 15>(0, 0); - Eigen::Matrix15d P_inv = P.inverse(); - NEES_ = error_state_trim.transpose() * P_inv * error_state_trim; -} - void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; @@ -192,8 +176,6 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations - - NEEDS(); } void ESKF::injection_and_reset() { diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index b7cdced09..cc4256c18 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -20,16 +20,6 @@ void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = rclcpp::QoS( rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); - pose_sub_ = this->create_subscription< - geometry_msgs::msg::PoseWithCovarianceStamped>( - "/orca/pose", qos_sensor_data, - std::bind(&ESKFNode::pose_callback, this, std::placeholders::_1)); - - twist_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( - "/orca/twist", qos_sensor_data, - std::bind(&ESKFNode::twist_callback, this, std::placeholders::_1)); - this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( @@ -38,7 +28,7 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription( + dvl_sub_ = this->create_subscription( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -48,7 +38,6 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); - nees_pub_ = create_publisher("dvl/nees", 10); } void ESKFNode::set_parameters() { @@ -80,22 +69,6 @@ void ESKFNode::set_parameters() { error_state_.covariance = P; } -void ESKFNode::pose_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { - g_truth_.pos << msg->pose.pose.position.x, msg->pose.pose.position.y, - msg->pose.pose.position.z; - g_truth_.quat.w() = msg->pose.pose.orientation.w; - g_truth_.quat.x() = msg->pose.pose.orientation.x; - g_truth_.quat.y() = msg->pose.pose.orientation.y; - g_truth_.quat.z() = msg->pose.pose.orientation.z; -} - -void ESKFNode::twist_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - g_truth_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; -} - void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { rclcpp::Time current_time = msg->header.stamp; @@ -122,37 +95,14 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } -void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { +void ESKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { // Log that we received a DVL message // spdlog::info("DVL message received"); - dvl_meas_.vel << msg->velocity.x, msg->velocity.y, msg->velocity.z; - dvl_meas_.cov << 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004; - - // msg->velocity_covariance[0], msg->velocity_covariance[1], - // msg->velocity_covariance[2], - // msg->velocity_covariance[3], msg->velocity_covariance[4], - // msg->velocity_covariance[5], - // msg->velocity_covariance[6], msg->velocity_covariance[7], - // msg->velocity_covariance[8]; - - // Set biases and gravity as float values - float gyro_bias_x = 0.00001; - float gyro_bias_y = 0.00001; - float gyro_bias_z = 0.00001; - - float accel_bias_x = 0.00001; - float accel_bias_y = 0.00001; - float accel_bias_z = 0.00001; - - float gravity_x = 0.0; - float gravity_y = 0.0; - float gravity_z = 9.81; - - g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; - g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; - g_truth_.gravity << gravity_x, gravity_y, gravity_z; + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - eskf_->ground_truth_ = g_truth_; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); @@ -160,9 +110,6 @@ void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); - std_msgs::msg::Float64 nees_msg; - nees_msg.data = eskf_->NEES_; - nees_pub_->publish(nees_msg); } void ESKFNode::publish_odom() { diff --git a/navigation/tukf/simulation_re.ipynb b/navigation/tukf/simulation_re.ipynb index e508825bf..06f7369a6 100644 --- a/navigation/tukf/simulation_re.ipynb +++ b/navigation/tukf/simulation_re.ipynb @@ -11,7 +11,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -24,7 +24,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -33,33 +33,33 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "# Initialize UKF with StateQuat\n", - "initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z\n", + "initial_position = np.array([0.0, 0.0, 0.13]) # x, y, z\n", "initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz\n", "initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion)\n", "initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz\n", "initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters\n", - "initial_intertia = np.array([0.2, 0.2, 0.1, \n", - " 0.2, 0.2, 0.2, \n", - " 0.1, 0.2, 0.2])\n", + "initial_intertia = np.array([0.2, 0.05, 0.01, \n", + " 0.05, 0.2, 0.05, \n", + " 0.01, 0.05, 0.2])\n", "initial_damping = np.array([0.01, 0.01, 0.01,\n", " 0.01, 0.01, 0.01])\n", "initla_added_mass = np.array([0.02, 0.02, 0.02,\n", " 0.02, 0.02, 0.02])\n", "\n", "p_diag = np.concatenate([\n", - " 2*np.ones(3), # x position\n", - " 2*np.ones(3), # orientation\n", - " 2*np.ones(3), # velocity\n", - " 2*np.ones(3), # angular velocity\n", - " 2*np.ones(9), # inertia\n", - " 2*np.ones(6), # added mass\n", - " 2*np.ones(6), # damping\n", - " 2*np.ones(4) # g_eta\n", + " (0.8**2)*np.ones(3), # x position\n", + " (0.4**2)*np.ones(3), # orientation\n", + " (0.4**2)*np.ones(3), # velocity\n", + " (0.5**2)*np.ones(3), # angular velocity\n", + " 30*np.ones(9), # inertia\n", + " 30*np.ones(6), # added mass\n", + " 30*np.ones(6), # damping\n", + " 30*np.ones(4) # g_eta\n", "])\n", "\n", "initial_covariance = np.diag(p_diag) \n", @@ -70,12 +70,14 @@ "state.covariance = initial_covariance.copy()\n", "\n", "Q_diag = np.concatenate([\n", - " 0.1*np.ones(3), # position\n", - " 0.1*np.ones(9), # kinematic (η & ν)\n", - " 0.001*np.ones(9), # inertia\n", - " 0.001*np.ones(6), # added mass\n", - " 0.001*np.ones(6), # damping\n", - " 0.001*np.ones(4), # g_eta\n", + " (0.09**2)*np.ones(3), # position\n", + " (0.06**2)*np.ones(3), # kinematic (η & ν)\n", + " (0.06**2)*np.ones(3),\n", + " (0.06**2)*np.ones(3),\n", + " 0.000001*np.ones(9), # inertia\n", + " 0.000001*np.ones(6), # added mass\n", + " 0.000001*np.ones(6), # damping\n", + " 0.000001*np.ones(4), # g_eta\n", "])\n", "\n", "UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance\n", @@ -119,7 +121,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -162,7 +164,7 @@ "\n", " ang_measurement.measurement = np.dot(R_corr,measurement_imu)\n", "\n", - " ang_measurement.covariance = np.eye(3) * (0.03**2) \n", + " ang_measurement.covariance = np.eye(3) * (0.005**2) \n", "\n", " UKF_model.measurement_update(state, ang_measurement)\n", " state = UKF_model.posteriori_estimate(state, ang_measurement)\n", @@ -173,7 +175,7 @@ " msg = reader.deserialize(raw, conn.msgtype)\n", " dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z])\n", " \n", - " dvl_measurement.covariance = np.eye(3) * (0.01**2) \n", + " dvl_measurement.covariance = np.eye(3) * (0.005**2) \n", " \n", " # Update UKF with measurement\n", " UKF_model.measurement_update(state, dvl_measurement)\n", @@ -192,12 +194,12 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 5, "metadata": {}, "outputs": [ { "data": { - "image/png": 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", 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"text/plain": [ "
" ] @@ -231,7 +233,7 @@ "axs[1].grid(True)\n", "\n", "# Plot z position\n", - "axs[2].plot(z_positions, 'r-', linewidth=2)\n", + "axs[2].plot(z_positions, 'r-', linewidth=2) \n", "axs[2].set_ylabel('Z Position [m]')\n", "axs[2].set_xlabel('Time steps')\n", "axs[2].grid(True)\n", @@ -239,6 +241,104 @@ "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", "plt.show()" ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", 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", 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Convert okid_params_est from list of arrays to a numpy array for easier handling\n", + "okid_params_array = np.array(okid_params_est)\n", + "\n", + "# Create labels for the different parameter groups\n", + "inertia_labels = ['Ixx', 'Ixy', 'Ixz', 'Iyx', 'Iyy', 'Iyz', 'Izx', 'Izy', 'Izz']\n", + "added_mass_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", + "damping_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", + "g_eta_labels = ['g_eta1', 'g_eta2', 'g_eta3', 'g_eta4']\n", + "\n", + "# Create figures for each parameter group\n", + "plt.figure(figsize=(14, 10))\n", + "plt.suptitle('Inertia Matrix Parameters', fontsize=16)\n", + "for i in range(9):\n", + " plt.subplot(3, 3, i+1)\n", + " plt.plot(okid_params_array[:, i], 'b-')\n", + " plt.title(inertia_labels[i])\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()\n", + "\n", + "plt.figure(figsize=(14, 8))\n", + "plt.suptitle('Added Mass Parameters', fontsize=16)\n", + "for i in range(6):\n", + " plt.subplot(2, 3, i+1)\n", + " plt.plot(okid_params_array[:, 9+i], 'g-')\n", + " plt.title(f'Added Mass: {added_mass_labels[i]}')\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()\n", + "\n", + "plt.figure(figsize=(14, 8))\n", + "plt.suptitle('Damping Parameters', fontsize=16)\n", + "for i in range(6):\n", + " plt.subplot(2, 3, i+1)\n", + " plt.plot(okid_params_array[:, 15+i], 'r-')\n", + " plt.title(f'Damping: {damping_labels[i]}')\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()\n", + "\n", + "plt.figure(figsize=(14, 6))\n", + "plt.suptitle('G-Eta Parameters', fontsize=16)\n", + "for i in range(4):\n", + " plt.subplot(2, 2, i+1)\n", + " plt.plot(okid_params_array[:, 21+i], 'm-')\n", + " plt.title(g_eta_labels[i])\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()" + ] } ], "metadata": { diff --git a/navigation/tukf/tukf_class.py b/navigation/tukf/tukf_class.py index e3ec138fb..ff274680e 100644 --- a/navigation/tukf/tukf_class.py +++ b/navigation/tukf/tukf_class.py @@ -311,7 +311,7 @@ def angular_velocity_transformation(euler_angles: np.ndarray) -> np.ndarray: return T def M_rb(inertia: np.ndarray) -> np.ndarray: - m = 30.0 + m = 25.5 inertia = inertia.reshape((3, 3)) r_b_bg = np.array([0.01, 0.0, 0.02]) M_rb = np.zeros((6, 6)) @@ -330,7 +330,7 @@ def M_a(added_mass: np.ndarray) -> np.ndarray: def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: """Calculates the Coriolis matrix.""" - m = 30.0 + m = 25.5 r_b_bg = np.array([0.01, 0.0, 0.02]) inertia = inertia.reshape((3, 3)) C_rb = np.zeros((6, 6)) From 04751549ffe411162c67c28d4354e6269e8a312f Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 30 May 2025 19:18:16 +0200 Subject: [PATCH 023/109] added the cpp code --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/include/eskf/eskf_ros.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 4 +- navigation/eskf/src/eskf.cpp | 43 +- navigation/eskf/src/eskf_ros.cpp | 8 + navigation/tukf/simulation.py | 155 --- navigation/tukf/simulation_re.ipynb | 365 -------- navigation/tukf/test_tukf.py | 347 ------- navigation/tukf/tukf.py | 126 --- navigation/tukf/tukf_class.py | 437 --------- navigation/tukf_rsi/CMakeLists.txt | 61 ++ .../tukf_rsi/config/tusk_rsi_params.yaml | 12 + .../tukf_rsi/include/tukf_rsi/tukf_rsi.hpp | 63 ++ .../include/tukf_rsi/tukf_rsi_model.hpp | 50 + .../include/tukf_rsi/tukf_rsi_ros.hpp | 64 ++ .../include/tukf_rsi/tukf_rsi_utils.hpp | 65 ++ .../tukf_rsi/include/tukf_rsi/typedefs.hpp | 145 +++ navigation/tukf_rsi/launch/tukf_rsi.launch.py | 22 + navigation/{ukf_okid => tukf_rsi}/package.xml | 14 +- navigation/tukf_rsi/src/tukf_rsi.cpp | 84 ++ navigation/tukf_rsi/src/tukf_rsi_model.cpp | 125 +++ navigation/tukf_rsi/src/tukf_rsi_node.cpp | 9 + navigation/tukf_rsi/src/tukf_rsi_ros.cpp | 150 +++ navigation/tukf_rsi/src/tukf_rsi_utils.cpp | 199 ++++ navigation/ukf_okid/CMakeLists.txt | 23 - navigation/ukf_okid/launch/ukf.launch.py | 12 - navigation/ukf_okid/ukf_python/__init__.py | 0 navigation/ukf_okid/ukf_python/ukf_okid.py | 130 --- .../ukf_okid/ukf_python/ukf_okid_class.py | 880 ------------------ navigation/ukf_okid/ukf_python/ukf_ros.py | 159 ---- navigation/ukf_okid/ukf_python/ukf_test.py | 27 - navigation/ukf_okid/ukf_python/ukf_test_2.py | 229 ----- navigation/ukf_okid/ukf_python/ukf_utils.py | 35 - 33 files changed, 1079 insertions(+), 2968 deletions(-) delete mode 100644 navigation/tukf/simulation.py delete mode 100644 navigation/tukf/simulation_re.ipynb delete mode 100644 navigation/tukf/test_tukf.py delete mode 100644 navigation/tukf/tukf.py delete mode 100644 navigation/tukf/tukf_class.py create mode 100644 navigation/tukf_rsi/CMakeLists.txt create mode 100644 navigation/tukf_rsi/config/tusk_rsi_params.yaml create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp create mode 100644 navigation/tukf_rsi/launch/tukf_rsi.launch.py rename navigation/{ukf_okid => tukf_rsi}/package.xml (56%) create mode 100644 navigation/tukf_rsi/src/tukf_rsi.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_model.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_node.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_ros.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_utils.cpp delete mode 100644 navigation/ukf_okid/CMakeLists.txt delete mode 100644 navigation/ukf_okid/launch/ukf.launch.py delete mode 100644 navigation/ukf_okid/ukf_python/__init__.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_okid.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_okid_class.py delete mode 100755 navigation/ukf_okid/ukf_python/ukf_ros.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_test.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_test_2.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_utils.py diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index c08c21d3c..f17dcd3df 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,6 +3,6 @@ eskf_node: imu_topic: /imu/data_raw dvl_topic: /orca/twist odom_topic: odom - diag_Q_std: [0.01, 0.01, 0.01, 0.005, 0.005, 0.005, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001] + diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index b10995f04..d4a770864 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -21,7 +21,7 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: - + // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index eacb32841..4dbdb6da3 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -38,9 +38,9 @@ Eigen::Matrix createDiagonalMatrix( } struct state_quat { - Eigen::Vector3d pos = Eigen::Vector3d(0,0,0.125); + Eigen::Vector3d pos = Eigen::Vector3d(5.58, 0.66, 0.12); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); + Eigen::Quaterniond quat = Eigen::Quaterniond(0.98, -0.047, 0.028, -0.18); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 8d1fdb6b4..3838e2f1a 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -43,6 +43,7 @@ Eigen::Matrix4x3d ESKF::calculate_q_delta() { q_delta_theta *= 0.5; return q_delta_theta; } + Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); @@ -51,43 +52,21 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Vector3d v_n = current_nom_state_.vel; + // Correct derivative w.r.t velocity (nominal state: v_n) Hx.block<3, 3>(0, 3) = R_bn.transpose(); + // Derivative w.r.t quaternion (nominal state: q) + // Compute partial derivative w.r.t quaternion directly: double qw = q.w(); - double qx = q.x(); - double qy = q.y(); - double qz = q.z(); - + Eigen::Vector3d q_vec(q.x(), q.y(), q.z()); Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - Eigen::Vector3d eps(qx, qy, qz); - - Eigen::Matrix3d dR_deta = 2 * qw * I3 - 2 * skew(eps); - - Eigen::Vector3d e1_vec(1, 0, 0), e2_vec(0, 1, 0), e3_vec(0, 0, 1); - - Eigen::Matrix3d dR_dqx = - -2 * qx * I3 + - 2 * (e1_vec * eps.transpose() + eps * e1_vec.transpose()) - - 2 * qw * skew(e1_vec); + Eigen::Matrix dhdq; + dhdq.col(0) = 2*( qw*v_n + q_vec.cross(v_n) ); + dhdq.block<3,3>(0,1) = 2*( q_vec.dot(v_n)*I3 + q_vec*v_n.transpose() - v_n*q_vec.transpose() - qw*skew(v_n) ); - Eigen::Matrix3d dR_dqy = - -2 * qy * I3 + - 2 * (e2_vec * eps.transpose() + eps * e2_vec.transpose()) - - 2 * qw * skew(e2_vec); - - Eigen::Matrix3d dR_dqz = - -2 * qz * I3 + - 2 * (e3_vec * eps.transpose() + eps * e3_vec.transpose()) - - 2 * qw * skew(e3_vec); - - Eigen::Matrix dR_dq; - dR_dq.col(0) = dR_deta * v_n; - dR_dq.col(1) = dR_dqx * v_n; - dR_dq.col(2) = dR_dqy * v_n; - dR_dq.col(3) = dR_dqz * v_n; - - Hx.block<3, 4>(0, 6) = dR_dq; + // Assign quaternion derivative (3x4 block at columns 6:9) + Hx.block<3,4>(0,6) = dhdq; return Hx; } @@ -107,7 +86,7 @@ Eigen::Vector3d ESKF::calculate_h() { Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; - + //0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, return h; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index cc4256c18..cfa85172e 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -128,6 +128,14 @@ void ESKFNode::publish_odom() { odom_msg.twist.twist.linear.y = nom_state_.vel.y(); odom_msg.twist.twist.linear.z = nom_state_.vel.z(); + // Add bias values to the angular velocity field of twist + odom_msg.twist.twist.angular.x = nom_state_.accel_bias.x(); + odom_msg.twist.twist.angular.y = nom_state_.accel_bias.y(); + odom_msg.twist.twist.angular.z = nom_state_.accel_bias.z(); + + // If you also want to include gyro bias, you could add it to the covariance + // matrix or publish a separate topic for biases + odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); } diff --git a/navigation/tukf/simulation.py b/navigation/tukf/simulation.py deleted file mode 100644 index 56fb2a6a1..000000000 --- a/navigation/tukf/simulation.py +++ /dev/null @@ -1,155 +0,0 @@ -from rosbags.highlevel import AnyReader -from rosbags.typesys import get_types_from_msg, register_types -import numpy as np, pandas as pd, pathlib -from tukf import TUKF -import tukf_class as ukf - -bag_folder = pathlib.Path(r"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl") - -# Initialize UKF with StateQuat -initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z -initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz -initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) -initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz -initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters -initial_intertia = np.array([0.2, 0.2, 0.1, - 0.2, 0.2, 0.2, - 0.1, 0.2, 0.2]) -initial_damping = np.array([0.01, 0.01, 0.01, - 0.01, 0.01, 0.01]) -initla_added_mass = np.array([0.02, 0.02, 0.02, - 0.02, 0.02, 0.02]) - -p_diag = np.concatenate([ - 2*np.ones(3), # x position - 2*np.ones(3), # orientation - 2*np.ones(3), # velocity - 2*np.ones(3), # angular velocity - 2*np.ones(9), # inertia - 2*np.ones(6), # added mass - 2*np.ones(6), # damping - 2*np.ones(4) # g_eta -]) - -initial_covariance = np.diag(p_diag) - -state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), - initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy()) - -state.covariance = initial_covariance.copy() - -Q_diag = np.concatenate([ - 0.1*np.ones(3), # position - 0.1*np.ones(9), # kinematic (η & ν) - 0.001*np.ones(9), # inertia - 0.001*np.ones(6), # added mass - 0.001*np.ones(6), # damping - 0.001*np.ones(4), # g_eta -]) - -UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance - -def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 6:9] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -dvl_measurement = ukf.MeasModel(H=dvl_h) - -def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 9:12] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -ang_measurement = ukf.MeasModel(H=ang_h) - -R_corr = np.array([[0.0, 0.0, -1.0], - [0.0, -1.0, 0.0], - [-1.0, 0.0, 0.0]]) - -# Storage for trajectory -positions = [] -velocities = [] -quaternions = [] -angular_velocities = [] -okid_params = [] - -# Storage for trajectory estimates -positions_est = [] -velocities_est = [] -quaternions_est = [] -angular_velocities_est = [] -okid_params_est = [] - -with AnyReader([bag_folder]) as reader: - # Filter topics once - conns = [c for c in reader.connections - if c.topic in ("/imu/data_raw", "/dvl_twist", "/orca/wrench_input")] - - last_time = None - log = [] - coutner = 0 - - for conn, ts_raw, raw in reader.messages(conns): - t_ns = ts_raw # already nanoseconds integer - coutner += 1 - - if conn.topic == "/orca/wrench_input": - - # Get the wrench input message - msg = reader.deserialize(raw, conn.msgtype) - wrench = msg.wrench # Extract the wrench field from the message - forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z]) - torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z]) - - control_input = np.concatenate([forces, torques]) - - if last_time is not None: - UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds - - # 1. prediction step - state = UKF_model.unscented_transform(state, control_input) - - # 2. measurement update - msg = reader.deserialize(raw, conn.msgtype) - if conn.topic == "/imu/data_raw": - print("IMU data received") - - # Get the IMU data - measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z]) - - ang_measurement.measurement = np.dot(R_corr,measurement_imu) - - ang_measurement.covariance = np.eye(3) * (0.03**2) - - UKF_model.measurement_update(state, ang_measurement) - state = UKF_model.posteriori_estimate(state, ang_measurement) - - if conn.topic == "/dvl_twist": - print("DVL data received") - - msg = reader.deserialize(raw, conn.msgtype) - dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) - dvl_measurement.measurement = np.dot(R_corr, dvl_measurement.measurement) - - dvl_measurement.covariance = np.eye(3) * (0.01**2) - - # Update UKF with measurement - UKF_model.measurement_update(state, dvl_measurement) - state = UKF_model.posteriori_estimate(state, dvl_measurement) - - - # Store the state estimates - positions_est.append(state.position.copy()) - velocities_est.append(state.velocity.copy()) - quaternions_est.append(state.quaternion.copy()) - angular_velocities_est.append(state.angular_velocity.copy()) - okid_params_est.append(state.okid_part().copy()) - - last_time = t_ns - - \ No newline at end of file diff --git a/navigation/tukf/simulation_re.ipynb b/navigation/tukf/simulation_re.ipynb deleted file mode 100644 index 06f7369a6..000000000 --- a/navigation/tukf/simulation_re.ipynb +++ /dev/null @@ -1,365 +0,0 @@ -{ - "cells": [ - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "### Simulation results for the TUKF ###\n", - "\n", - "try to simulate the path and parameters using the tukf algorithm" - ] - }, - { - "cell_type": "code", - "execution_count": 1, - "metadata": {}, - "outputs": [], - "source": [ - "from rosbags.highlevel import AnyReader\n", - "from rosbags.typesys import get_types_from_msg, register_types\n", - "import numpy as np, pandas as pd, pathlib\n", - "from tukf import TUKF\n", - "import tukf_class as ukf" - ] - }, - { - "cell_type": "code", - "execution_count": 2, - "metadata": {}, - "outputs": [], - "source": [ - "bag_folder = pathlib.Path(r\"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl\")" - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": {}, - "outputs": [], - "source": [ - "# Initialize UKF with StateQuat\n", - "initial_position = np.array([0.0, 0.0, 0.13]) # x, y, z\n", - "initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz\n", - "initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion)\n", - "initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz\n", - "initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters\n", - "initial_intertia = np.array([0.2, 0.05, 0.01, \n", - " 0.05, 0.2, 0.05, \n", - " 0.01, 0.05, 0.2])\n", - "initial_damping = np.array([0.01, 0.01, 0.01,\n", - " 0.01, 0.01, 0.01])\n", - "initla_added_mass = np.array([0.02, 0.02, 0.02,\n", - " 0.02, 0.02, 0.02])\n", - "\n", - "p_diag = np.concatenate([\n", - " (0.8**2)*np.ones(3), # x position\n", - " (0.4**2)*np.ones(3), # orientation\n", - " (0.4**2)*np.ones(3), # velocity\n", - " (0.5**2)*np.ones(3), # angular velocity\n", - " 30*np.ones(9), # inertia\n", - " 30*np.ones(6), # added mass\n", - " 30*np.ones(6), # damping\n", - " 30*np.ones(4) # g_eta\n", - "])\n", - "\n", - "initial_covariance = np.diag(p_diag) \n", - "\n", - "state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), \n", - " initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy())\n", - "\n", - "state.covariance = initial_covariance.copy()\n", - "\n", - "Q_diag = np.concatenate([\n", - " (0.09**2)*np.ones(3), # position\n", - " (0.06**2)*np.ones(3), # kinematic (η & ν)\n", - " (0.06**2)*np.ones(3),\n", - " (0.06**2)*np.ones(3),\n", - " 0.000001*np.ones(9), # inertia\n", - " 0.000001*np.ones(6), # added mass\n", - " 0.000001*np.ones(6), # damping\n", - " 0.000001*np.ones(4), # g_eta\n", - "])\n", - "\n", - "UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance\n", - "\n", - "def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", - " H_matrix = np.zeros((3, 12))\n", - " H_matrix[:, 6:9] = np.eye(3)\n", - " z_i = ukf.MeasModel()\n", - " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", - " return z_i\n", - "\n", - "dvl_measurement = ukf.MeasModel(H=dvl_h)\n", - "\n", - "def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", - " H_matrix = np.zeros((3, 12))\n", - " H_matrix[:, 9:12] = np.eye(3)\n", - " z_i = ukf.MeasModel()\n", - " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", - " return z_i\n", - "\n", - "ang_measurement = ukf.MeasModel(H=ang_h) \n", - "\n", - "R_corr = np.array([[0.0, 0.0, -1.0],\n", - " [0.0, -1.0, 0.0],\n", - " [-1.0, 0.0, 0.0]])\n", - "\n", - "# Storage for trajectory\n", - "positions = []\n", - "velocities = []\n", - "quaternions = []\n", - "angular_velocities = []\n", - "okid_params = []\n", - "\n", - "# Storage for trajectory estimates\n", - "positions_est = []\n", - "velocities_est = []\n", - "quaternions_est = []\n", - "angular_velocities_est = []\n", - "okid_params_est = []" - ] - }, - { - "cell_type": "code", - "execution_count": 4, - "metadata": {}, - "outputs": [], - "source": [ - "with AnyReader([bag_folder]) as reader:\n", - " # Filter topics once\n", - " conns = [c for c in reader.connections\n", - " if c.topic in (\"/imu/data_raw\", \"/dvl_twist\", \"/orca/wrench_input\")]\n", - "\n", - " last_time = None\n", - " log = []\n", - " coutner = 0\n", - "\n", - " for conn, ts_raw, raw in reader.messages(conns):\n", - " t_ns = ts_raw # already nanoseconds integer\n", - " coutner += 1\n", - "\n", - " if conn.topic == \"/orca/wrench_input\":\n", - " \n", - " # Get the wrench input message\n", - " msg = reader.deserialize(raw, conn.msgtype)\n", - " wrench = msg.wrench # Extract the wrench field from the message\n", - " forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z])\n", - " torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z])\n", - "\n", - " control_input = np.concatenate([forces, torques])\n", - "\n", - " if last_time is not None:\n", - " UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds\n", - "\n", - " # 1. prediction step\n", - " state = UKF_model.unscented_transform(state, control_input)\n", - "\n", - " # 2. measurement update\n", - " msg = reader.deserialize(raw, conn.msgtype)\n", - " if conn.topic == \"/imu/data_raw\":\n", - " # print(\"IMU data received\")\n", - "\n", - " # Get the IMU data\n", - " measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z])\n", - "\n", - " ang_measurement.measurement = np.dot(R_corr,measurement_imu)\n", - "\n", - " ang_measurement.covariance = np.eye(3) * (0.005**2) \n", - "\n", - " UKF_model.measurement_update(state, ang_measurement)\n", - " state = UKF_model.posteriori_estimate(state, ang_measurement)\n", - "\n", - " if conn.topic == \"/dvl_twist\":\n", - " # print(\"DVL data received\")\n", - "\n", - " msg = reader.deserialize(raw, conn.msgtype)\n", - " dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z])\n", - " \n", - " dvl_measurement.covariance = np.eye(3) * (0.005**2) \n", - " \n", - " # Update UKF with measurement\n", - " UKF_model.measurement_update(state, dvl_measurement)\n", - " state = UKF_model.posteriori_estimate(state, dvl_measurement)\n", - "\n", - "\n", - " # Store the state estimates\n", - " positions_est.append(state.position.copy())\n", - " velocities_est.append(state.velocity.copy())\n", - " quaternions_est.append(state.orientation.copy())\n", - " angular_velocities_est.append(state.angular_velocity.copy())\n", - " okid_params_est.append(state.okid_part().copy())\n", - "\n", - " last_time = t_ns" - ] - }, - { - "cell_type": "code", - "execution_count": 5, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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- "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "import numpy as np\n", - "\n", - "import matplotlib.pyplot as plt\n", - "\n", - "# Extract x, y, z positions from positions_est\n", - "x_positions = np.array([pos[0] for pos in positions_est])\n", - "y_positions = np.array([pos[1] for pos in positions_est])\n", - "z_positions = np.array([pos[2] for pos in positions_est])\n", - "\n", - "# Create figure with three subplots\n", - "fig, axs = plt.subplots(3, 1, figsize=(12, 10), sharex=True)\n", - "fig.suptitle('AUV Position Estimates Over Time', fontsize=16)\n", - "\n", - "# Plot x position\n", - "axs[0].plot(x_positions, 'b-', linewidth=2)\n", - "axs[0].set_ylabel('X Position [m]')\n", - "axs[0].grid(True)\n", - "\n", - "# Plot y position\n", - "axs[1].plot(y_positions, 'g-', linewidth=2)\n", - "axs[1].set_ylabel('Y Position [m]')\n", - "axs[1].grid(True)\n", - "\n", - "# Plot z position\n", - "axs[2].plot(z_positions, 'r-', linewidth=2) \n", - "axs[2].set_ylabel('Z Position [m]')\n", - "axs[2].set_xlabel('Time steps')\n", - "axs[2].grid(True)\n", - "\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()" - ] - }, - { - "cell_type": "code", - "execution_count": 6, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", 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", 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", - "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "# Convert okid_params_est from list of arrays to a numpy array for easier handling\n", - "okid_params_array = np.array(okid_params_est)\n", - "\n", - "# Create labels for the different parameter groups\n", - "inertia_labels = ['Ixx', 'Ixy', 'Ixz', 'Iyx', 'Iyy', 'Iyz', 'Izx', 'Izy', 'Izz']\n", - "added_mass_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", - "damping_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", - "g_eta_labels = ['g_eta1', 'g_eta2', 'g_eta3', 'g_eta4']\n", - "\n", - "# Create figures for each parameter group\n", - "plt.figure(figsize=(14, 10))\n", - "plt.suptitle('Inertia Matrix Parameters', fontsize=16)\n", - "for i in range(9):\n", - " plt.subplot(3, 3, i+1)\n", - " plt.plot(okid_params_array[:, i], 'b-')\n", - " plt.title(inertia_labels[i])\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()\n", - "\n", - "plt.figure(figsize=(14, 8))\n", - "plt.suptitle('Added Mass Parameters', fontsize=16)\n", - "for i in range(6):\n", - " plt.subplot(2, 3, i+1)\n", - " plt.plot(okid_params_array[:, 9+i], 'g-')\n", - " plt.title(f'Added Mass: {added_mass_labels[i]}')\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()\n", - "\n", - "plt.figure(figsize=(14, 8))\n", - "plt.suptitle('Damping Parameters', fontsize=16)\n", - "for i in range(6):\n", - " plt.subplot(2, 3, i+1)\n", - " plt.plot(okid_params_array[:, 15+i], 'r-')\n", - " plt.title(f'Damping: {damping_labels[i]}')\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()\n", - "\n", - "plt.figure(figsize=(14, 6))\n", - "plt.suptitle('G-Eta Parameters', fontsize=16)\n", - "for i in range(4):\n", - " plt.subplot(2, 2, i+1)\n", - " plt.plot(okid_params_array[:, 21+i], 'm-')\n", - " plt.title(g_eta_labels[i])\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.10.12" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/navigation/tukf/test_tukf.py b/navigation/tukf/test_tukf.py deleted file mode 100644 index 2998855ea..000000000 --- a/navigation/tukf/test_tukf.py +++ /dev/null @@ -1,347 +0,0 @@ -import numpy as np -from tukf import TUKF -import tukf_class as ukf -from mpl_toolkits.mplot3d import Axes3D -import time -import math - -import matplotlib.pyplot as plt - -# Initialize UKF with StateQuat -initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z -initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz -initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) -initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz -initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters -initial_intertia = np.array([0.68, 0.2, 0.1, - 0.2, 3.32, 0.2, - 0.1, 0.2, 3.34]) -initial_damping = np.array([0.01, 0.01, 0.01, - 0.01, 0.01, 0.01]) -initla_added_mass = np.array([0.02, 0.02, 0.02, - 0.02, 0.02, 0.02]) - -p_diag = np.concatenate([ - 2*np.ones(3), # x position - 2*np.ones(3), # orientation - 2*np.ones(3), # velocity - 2*np.ones(3), # angular velocity - 2*np.ones(9), # inertia - 2*np.ones(6), # added mass - 2*np.ones(6), # damping - 2*np.ones(4) # g_eta -]) - -initial_covariance = np.diag(p_diag) - -state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) -state.covariance = initial_covariance.copy() -state.inertia = np.array([0.58, 0.1, 0.05, - 0.1, 2.32, 0.1, - 0.01, 0.1, 2.34]) -state.g_eta = np.array([1.1, 0.1, 0.1, 0.1]) -state.damping = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) -state.added_mass = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) - -real_state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) -real_state.inertia = initial_intertia.copy() -real_state.g_eta = initial_g_eta.copy() -real_state.damping = initial_damping.copy() -real_state.added_mass = initla_added_mass.copy() - -Q_diag = np.concatenate([ - 0.01*np.ones(3), # position - 0.2*np.ones(9), # kinematic (η & ν) - 0.8*np.ones(9), # inertia - 0.8*np.ones(6), # added mass - 0.8*np.ones(6), # damping - 0.8*np.ones(4), # g_eta -]) - -UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance - -def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 6:9] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -dvl_measurement = ukf.MeasModel(H=dvl_h) - -def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 9:12] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -ang_measurement = ukf.MeasModel(H=ang_h) - -# UKF parameters -dt = 0.01 # time step -sim_time = 50.0 # total simulation time -steps = int(sim_time / dt) - -# Storage for trajectory -positions = np.zeros((steps, 3)) -velocities = np.zeros((steps, 3)) -quaternions = np.zeros((steps, 3)) -angular_velocities = np.zeros((steps, 3)) -okid_params = np.zeros((steps, 25)) - -# Storage for trajectory -positions_est = np.zeros((steps, 3)) -velocities_est = np.zeros((steps, 3)) -quaternions_est = np.zeros((steps, 3)) -angular_velocities_est = np.zeros((steps, 3)) -okid_params_est = np.zeros((steps, 25)) - -# ---------- user‑tunable manoeuvre parameters ----------------------------- -SEG_DUR = 10.0 # [s] duration of each phase -A_F_TRANSL = 2.0 # [N] translational force amplitude -A_T_ROT = 1.0 # [N·m] rotational torque amplitude -# -------------------------------------------------------------------------- - -# Helper: build the scripted sequence as (kind, axis_idx, sign) -# kind = 'F' for force, 'T' for torque -# axes: 0‑x (surge/roll), 1‑y (sway/pitch), 2‑z (heave/yaw) -sequence = [ - ('F', 2, +1), # +z (up) - ('F', 2, -1), # –z (down) - ('F', 1, +1), # +y (right) - ('F', 1, -1), # –y (left / “back” sideways) - ('F', 0, +1), # +x (forward) - ('F', 0, -1), # –x (backward) - ('T', 2, +1), # +yaw (turn right) - ('T', 2, -1), # –yaw (turn left) - ('T', 1, +1), # +pitch (nose up) - ('T', 1, -1), # –pitch (nose down) - ('T', 0, +1), # +roll (starboard roll) - ('T', 0, -1) # –roll (port roll) -] - -TOTAL_TIME = len(sequence) * SEG_DUR # handy if you need it - -def _half_sine(local_t: float, duration: float) -> float: - """Smooth window: 0 → 1 → 0 over `duration` (half‑sine).""" - return np.sin(np.pi * local_t / duration) - -def control_inputs(t: float) -> tuple[np.ndarray, np.ndarray]: - """ - Piecewise scripted test signal: - – translations along z, y, x - – rotations about z (yaw), y (pitch), x (roll) - """ - # Default: no actuation - F = np.zeros(3) - T = np.zeros(3) - - # Past the last segment? keep everything zero - idx = int(t // SEG_DUR) - if idx >= len(sequence): - return F, T - - # Time inside current segment - tau = t - idx * SEG_DUR - window = _half_sine(tau, SEG_DUR) # 0‑to‑1‑to‑0 shape - - kind, axis, sgn = sequence[idx] - - if kind == 'F': - F[axis] = sgn * A_F_TRANSL * window - else: # 'T' - T[axis] = sgn * A_T_ROT * window - - return F, T - -# Simulation loop -for i in range(steps): - t = i * dt - - control_force, control_torque = control_inputs(t) - - control_input = np.concatenate((control_force, control_torque)) - - # Propagate state using UKF prediction - real_state = ukf.F_dynamics(real_state, dt, control_input) - state = UKF_model.unscented_transform(state, control_input) - - if UKF_model.filter_failed: - print("Filter failed, stopping simulation.") - break - - if i % 5 == 0: - # Simulate measurement update every 5 steps - ang_measurement.measurement = np.array([ - real_state.angular_velocity[0], - real_state.angular_velocity[1], - real_state.angular_velocity[2] - ]) + np.random.normal(0, 0.04, 3) - - ang_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance - - UKF_model.measurement_update(state, ang_measurement) - state = UKF_model.posteriori_estimate(state, ang_measurement) - - if i % 10 == 0: - # Simulate measurement update every 10 steps - dvl_measurement.measurement = np.array([ - real_state.velocity[0], - real_state.velocity[1], - real_state.velocity[2] - ]) + np.random.normal(0, 0.04, 3) # Simulated measurement with noise - - # Simulate measurement covariance - dvl_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance - - # Update UKF with measurement - UKF_model.measurement_update(state, dvl_measurement) - state = UKF_model.posteriori_estimate(state, dvl_measurement) - - # Store state for plotting - positions[i] = real_state.position - velocities[i] = real_state.velocity - quaternions[i] = real_state.orientation - angular_velocities[i] = real_state.angular_velocity - okid_params[i] = real_state.okid_part() - - # Store estimated state for plotting - positions_est[i] = state.position - velocities_est[i] = state.velocity - quaternions_est[i] = state.orientation - angular_velocities_est[i] = state.angular_velocity - okid_params_est[i] = state.okid_part() - - # Add small delay to simulate real-time execution - time.sleep(0.001) -print(state.as_vector()) -# Plotting -time_points = np.arange(0, sim_time, dt) - -# 3D trajectory plot -fig = plt.figure(figsize=(12, 10)) -ax = fig.add_subplot(111, projection='3d') -ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') -ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') -ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') -ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') -ax.set_xlabel('X Position') -ax.set_ylabel('Y Position') -ax.set_zlabel('Z Position') -ax.set_title('3D Trajectory') -ax.legend() - -# Position plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, positions[:, 0], 'b-', label='True') -plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Position') -plt.legend() -plt.subplot(312) -plt.plot(time_points, positions[:, 1], 'b-', label='True') -plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Position') -plt.legend() -plt.subplot(313) -plt.plot(time_points, positions[:, 2], 'b-', label='True') -plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Position') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, velocities[:, 0], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Velocity') -plt.legend() -plt.subplot(312) -plt.plot(time_points, velocities[:, 1], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Velocity') -plt.legend() -plt.subplot(313) -plt.plot(time_points, velocities[:, 2], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Velocity') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Angular velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('Roll Rate') -plt.legend() -plt.subplot(312) -plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Pitch Rate') -plt.legend() -plt.subplot(313) -plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Yaw Rate') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# OKID Inertia parameters plot (9 parameters) -plt.figure(figsize=(15, 10)) -plt.suptitle('Inertia Parameters', fontsize=16) -for i in range(9): - plt.subplot(3, 3, i+1) - plt.plot(time_points, okid_params[:, i], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i], 'r--', label='Estimated') - plt.ylabel(f'Inertia[{i}]') - if i >= 6: # Add x-label only to bottom row - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -# OKID Added Mass parameters plot (6 parameters) -plt.figure(figsize=(15, 8)) -plt.suptitle('Added Mass Parameters', fontsize=16) -for i in range(6): - plt.subplot(2, 3, i+1) - plt.plot(time_points, okid_params[:, i+9], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i+9], 'r--', label='Estimated') - plt.ylabel(f'Added Mass[{i}]') - if i >= 3: # Add x-label only to bottom row - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -# OKID Damping parameters plot (6 parameters) -plt.figure(figsize=(15, 8)) -plt.suptitle('Damping Parameters', fontsize=16) -for i in range(6): - plt.subplot(2, 3, i+1) - plt.plot(time_points, okid_params[:, i+15], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i+15], 'r--', label='Estimated') - plt.ylabel(f'Damping[{i}]') - if i >= 3: # Add x-label only to bottom row - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -# OKID g_eta parameters plot (4 parameters) -plt.figure(figsize=(12, 8)) -plt.suptitle('g_eta Parameters', fontsize=16) -for i in range(4): - plt.subplot(2, 2, i+1) - plt.plot(time_points, okid_params[:, i+21], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i+21], 'r--', label='Estimated') - plt.ylabel(f'g_eta[{i}]') - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -plt.show() - diff --git a/navigation/tukf/tukf.py b/navigation/tukf/tukf.py deleted file mode 100644 index a4badd887..000000000 --- a/navigation/tukf/tukf.py +++ /dev/null @@ -1,126 +0,0 @@ -import numpy as np -from tukf_class import ( - MeasModel, - AUVState, - covariance_measurement, - covariance_set, - cross_covariance, - mean_measurement, - mean_set, - F_dynamics, - generate_delta_matrix, -) - -def print_matrix(matrix, name="Matrix"): - """Custom print function to print matrices in a formatted form.""" - print(f"{name}: {matrix.shape}") - if isinstance(matrix, np.ndarray): - for row in matrix: - print(" ".join(f"{val:.2f}" for val in row)) - else: - print(matrix) - -class TUKF: - def __init__(self, x_0: AUVState, Q): - self.x = x_0 - self.Q = Q - self.delta = generate_delta_matrix(len(x_0.as_vector())) / np.sqrt(len(x_0.as_vector())) - self.sigma_points_list = None - self.measurement_updated = MeasModel() - self.dt = 0.01 # Time step for dynamics - self.flagg = 0 - self.filter_failed = False - - def sigma_points(self, current_state: AUVState) -> list[AUVState]: - """Functions that generate the sigma points for the UKF.""" - n = len(current_state.covariance) - self.flagg += 1 - try: - S = np.linalg.cholesky(current_state.covariance) - except np.linalg.LinAlgError: - print("Cholesky decomposition failed!") - print("flagg", self.flagg) - print_matrix(current_state.covariance, "Current State Covariance") - print_matrix(self.Q, "Process Noise Covariance (Q)") - - # Set flag to indicate filter has failed - self.filter_failed = True - - # Create a valid but minimal S matrix to avoid crashing - # This allows the simulation to continue to the next step where it can be checked - S = np.eye(n) * 1e-6 - - self.sigma_points_list = [AUVState() for _ in range(2 * n)] - - for index, state in enumerate(self.sigma_points_list): - state.fill_states(current_state.as_vector() + S @ self.delta[:, index]) - - return self.sigma_points_list - - def unscented_transform(self, current_state: AUVState, control_force: np.ndarray) -> AUVState: - """The unscented transform function generates the priori state estimate.""" - self.sigma_points(current_state) - n = len(current_state.covariance) - - self.y_i = [AUVState() for _ in range(2 * n)] - - for i, sp in enumerate(self.sigma_points_list): - self.y_i[i] = F_dynamics(sp, self.dt, control_force) - - state_estimate = AUVState() - x = mean_set(self.y_i) - - state_estimate.fill_states(x) - state_estimate.covariance = covariance_set(self.y_i, x) + + self.Q - return state_estimate - - def measurement_update( - self, current_state: AUVState, measurement: MeasModel - ) -> None: - """Function that updates the state estimate with a measurement. - - Hopefully this is the DVL or GNSS - """ - n = len(current_state.covariance) - z_i = [MeasModel() for _ in range(2 * n)] - - for i, state in enumerate(self.y_i): - z_i[i] = measurement.H(state) - - self.measurement_updated.measurement = mean_measurement(z_i) - - self.measurement_updated.covariance = covariance_measurement( - z_i, self.measurement_updated.measurement - ) - - self.cross_correlation = cross_covariance( - self.y_i, - current_state.as_vector(), - z_i, - self.measurement_updated.measurement, - ) - - def posteriori_estimate( - self, - current_state: AUVState, - measurement: MeasModel, - ) -> AUVState: - """Calculates the posteriori estimate using measurement and the prior estimate.""" - nu_k = MeasModel() - nu_k.measurement = ( - measurement.measurement - self.measurement_updated.measurement - ) - nu_k.covariance = self.measurement_updated.covariance + measurement.covariance - - K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) - - posteriori_estimate = AUVState() - - posteriori_estimate.fill_states( - current_state.as_vector() + np.dot(K_k, nu_k.measurement) - ) - posteriori_estimate.covariance = current_state.covariance - np.dot( - K_k, np.dot(nu_k.covariance, np.transpose(K_k)) - ) - - return posteriori_estimate diff --git a/navigation/tukf/tukf_class.py b/navigation/tukf/tukf_class.py deleted file mode 100644 index ff274680e..000000000 --- a/navigation/tukf/tukf_class.py +++ /dev/null @@ -1,437 +0,0 @@ -import numpy as np -from dataclasses import dataclass, field -from typing import Callable - -@dataclass -class AUVState: - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array(3)) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - inertia: np.ndarray = field(default_factory=lambda: np.zeros((9))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros((6))) - damping: np.ndarray = field(default_factory=lambda: np.zeros((6))) - g_eta: np.ndarray = field(default_factory=lambda: np.zeros((4))) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) - - def dynamic_part(self) -> np.ndarray: - """Get the dynamic part of the AUV state.""" - return np.concatenate([ - self.position, - self.orientation, - self.velocity, - self.angular_velocity - ]) - def okid_part(self) -> np.ndarray: - """Get the OKID part of the AUV state.""" - return np.concatenate([ - self.inertia, - self.added_mass, - self.damping, - self.g_eta - ]) - def as_vector(self) -> np.ndarray: - """Convert the AUV state to a vector representation.""" - return np.concatenate([ - self.position, - self.orientation, - self.velocity, - self.angular_velocity, - self.inertia.flatten(), - self.added_mass.flatten(), - self.damping.flatten(), - self.g_eta - ]) - - def __add__(self, other: 'AUVState') -> 'AUVState': - """Add two AUV states together.""" - return AUVState( - position=self.position + other.position, - orientation=self.orientation + other.orientation, - velocity=self.velocity + other.velocity, - angular_velocity=self.angular_velocity + other.angular_velocity, - inertia=self.inertia + other.inertia, - added_mass=self.added_mass + other.added_mass, - damping=self.damping + other.damping, - g_eta=self.g_eta + other.g_eta - ) - def __sub__(self, other: 'AUVState') -> 'AUVState': - """Subtract two AUV states.""" - return AUVState( - position=self.position - other.position, - orientation=self.orientation - other.orientation, - velocity=self.velocity - other.velocity, - angular_velocity=self.angular_velocity - other.angular_velocity, - inertia=self.inertia - other.inertia, - added_mass=self.added_mass - other.added_mass, - damping=self.damping - other.damping, - g_eta=self.g_eta - other.g_eta - ) - def fill_states(self, x: np.ndarray) -> None: - """Fill the AUV state with a vector representation.""" - self.position = x[0:3] - self.orientation = x[3:6] - self.velocity = x[6:9] - self.angular_velocity = x[9:12] - self.inertia = x[12:21] - self.added_mass = x[21:27] - self.damping = x[27:33] - self.g_eta = x[33:37] - - -@dataclass -class MeasModel: - """A class defined for a general measurement model.""" - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - H: Callable[["AUVState"], "MeasModel"] | None = None - - def __post_init__(self): - """Initialize H with a default measurement function if none provided.""" - if self.H is None: - self.H = self._default_H - - def _default_H(self, state: AUVState) -> 'MeasModel': - """Default measurement function that returns velocity.""" - H_matrix = np.zeros((3, 12)) - H_matrix[:, 6:9] = np.eye(3) - z_i = MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - - def __add__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the addition operation between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement + other.measurement - return result - - def __rmul__(self, scalar: float) -> 'MeasModel': - """Defines multiplication between scalar value and MeasModel object.""" - result = MeasModel() - result.measurement = scalar * self.measurement - return result - - def __sub__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the subtraction between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement - other.measurement - return result - -def generate_delta_matrix_2(n: float) -> np.ndarray: - """Generates the weight matrix used in the TUKF sigma point generation. - - Parameters: - n (int): The state dimension. - - Returns: - delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. - """ - delta = np.zeros((n, 2 * n)) - k = 0.001 # Tuning parameter to ensure pos def - - for i in range(2 * n): - for j in range(n // 2): - delta[2 * j + 1, i] = ( - np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) - ) - delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) - - if (n % 2) == 1: - delta[n - 1, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) - - return delta - -def generate_delta_matrix(n: int) -> np.ndarray: - if n < 1: - raise ValueError("n must be a positive integer") - - delta = np.zeros((n, 2 * n)) - r_max = n // 2 # floor(n/2) - sq2 = np.sqrt(2.0) - - for k in range(1, 2 * n + 1): # k = 1 … 2n - for r in range(1, r_max + 1): - row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} - row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} - angle = (2 * r - 1) * k * np.pi / n - delta[row_cos, k - 1] = sq2 * np.cos(angle) - delta[row_sin, k - 1] = sq2 * np.sin(angle) - - if n % 2 == 1: # extra entry when n is odd - delta[n - 1, k - 1] = (-1) ** k - - return delta - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - -def mean_set(set_points: list[AUVState]) -> np.ndarray: - """Function calculates the mean vector of a set of points. - - Args: - set_points (list[AUVState]): List of AUVState objects - - Returns: - np.ndarray: The mean vector - """ - n = len(set_points) - mean_value = np.zeros(set_points[0].as_vector().shape) - - for state in set_points: - mean_value = mean_value + state.as_vector() - - mean_value = (1 / n) * mean_value - - return mean_value - - -def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points.""" - n = len(set_points) - mean_value = MeasModel() - - for state in set_points: - mean_value = mean_value + state - - mean_value = (1 / n) * mean_value - - return mean_value.measurement - - -def covariance_set(set_points: list[AUVState], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - covariance = np.zeros(set_points[0].covariance.shape) - - for state in set_points: - W_i = state.as_vector() - mean - - covariance += np.outer(W_i, W_i) - - covariance = (1 / n) * covariance - - return covariance - - -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - co_size = len(set_points[0].measurement) - covariance = np.zeros((co_size, co_size)) - - mean_meas = MeasModel() - mean_meas.measurement = mean - - for state in set_points: - temp_state = state - mean_meas - covariance += np.outer(temp_state.measurement, temp_state.measurement) - - covariance = (1 / n) * covariance - - return covariance - - -def cross_covariance( - set_y: list[AUVState], - mean_y: np.ndarray, - set_z: list[MeasModel], - mean_z: np.ndarray, -) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction.""" - n = len(set_y) - - cross_covariance = np.zeros((len(mean_y), len(mean_z))) - - for i in range(n): - state_diff = set_y[i].as_vector() - mean_y - meas_diff = set_z[i].measurement - mean_z - - cross_covariance += np.outer(state_diff, meas_diff) - - cross_covariance = (1 / n) * cross_covariance - - return cross_covariance - - -# ----------------------------------------------------------- - -def rotation_matrix(euler_angles: np.ndarray) -> np.ndarray: - """Calculates the rotation matrix from Euler angles (roll, pitch, yaw).""" - roll, pitch, yaw = euler_angles - - # Roll rotation - Rx = np.array([ - [1, 0, 0], - [0, np.cos(roll), -np.sin(roll)], - [0, np.sin(roll), np.cos(roll)] - ]) - - # Pitch rotation - Ry = np.array([ - [np.cos(pitch), 0, np.sin(pitch)], - [0, 1, 0], - [-np.sin(pitch), 0, np.cos(pitch)] - ]) - - # Yaw rotation - Rz = np.array([ - [np.cos(yaw), -np.sin(yaw), 0], - [np.sin(yaw), np.cos(yaw), 0], - [0, 0, 1] - ]) - - # Complete rotation matrix - R = Rz @ Ry @ Rx - return R - -def angular_velocity_transformation(euler_angles: np.ndarray) -> np.ndarray: - """Transformation matrix relating Euler rates to angular velocities.""" - roll, pitch, yaw = euler_angles - - T = np.array([ - [1, 0, -np.sin(pitch)], - [0, np.cos(roll), np.cos(pitch) * np.sin(roll)], - [0, -np.sin(roll), np.cos(pitch) * np.cos(roll)] - ]) - - return T - -def M_rb(inertia: np.ndarray) -> np.ndarray: - m = 25.5 - inertia = inertia.reshape((3, 3)) - r_b_bg = np.array([0.01, 0.0, 0.02]) - M_rb = np.zeros((6, 6)) - M_rb[0:3, 0:3] = m * np.eye(3) - M_rb[3:6, 3:6] = inertia - M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) - M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) - return M_rb - -def M_a(added_mass: np.ndarray) -> np.ndarray: - """Calculates the added mass matrix.""" - M_a = np.zeros((6, 6)) - M_a[0:3, 0:3] = np.diag(added_mass[0:3]) - M_a[3:6, 3:6] = np.diag(added_mass[3:6]) - return M_a - -def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: - """Calculates the Coriolis matrix.""" - m = 25.5 - r_b_bg = np.array([0.01, 0.0, 0.02]) - inertia = inertia.reshape((3, 3)) - C_rb = np.zeros((6, 6)) - - C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) - C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) - C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) - C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) - return C_rb - -def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: - """Calculates the added mass Coriolis matrix.""" - C_a = np.zeros((6, 6)) - A11 = np.diag(added_mass[0:3]) - A22 = np.diag(added_mass[3:6]) - C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) - C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) - C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) - return C_a - -def D_linear(damping_linear: np.ndarray) -> np.ndarray: - """Calculates the linear damping matrix.""" - D = np.zeros((6, 6)) - D[0:3, 0:3] = -np.diag(damping_linear[0:3]) - D[3:6, 3:6] = -np.diag(damping_linear[3:6]) - return D - -def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: - """Calculates the g_eta matrix using Euler angles.""" - Delta_WB = g_eta[0] - M_x = g_eta[1] - M_y = g_eta[2] - M_z = g_eta[3] - - # Get rotation matrix using Euler angles - R = rotation_matrix(orientation) - - G_eta = np.zeros((6,1)) - # Gravitational forces - G_eta[0:3] = -Delta_WB * R[:, 2].reshape(3, 1) - - # Buoyancy moments - G_eta[3] = -M_y * R[2, 2] + M_z * R[1, 2] - G_eta[4] = -M_z * R[0, 2] + M_x * R[2, 2] - G_eta[5] = -M_x * R[1, 2] + M_y * R[0, 2] - - return G_eta - -def F_dynamics( - state: AUVState, - dt: float, - control_input: np.ndarray) -> AUVState: - - """Calculates the dynamics of the system.""" - m_rb = M_rb(state.inertia) - m_a = M_a(state.added_mass) - c_rb = C_rb(state.inertia, state.angular_velocity) - c_a = C_a(state.added_mass, state.angular_velocity, state.velocity) - D_l = D_linear(state.damping) - g_eta_ = g_eta(state.g_eta, state.orientation) - - # Get rotation and transformation matrices - r = rotation_matrix(state.orientation) - t = angular_velocity_transformation(state.orientation) - - Crb = c_rb + c_a - Mrb = m_rb + m_a - M_inv = np.linalg.inv(Mrb) - - # Create a vector of velocity and angular velocity - nu = np.concatenate([state.velocity, state.angular_velocity]) - - # Calculate the new state - state_dot = AUVState() - state_dot.position = np.dot(r, state.velocity) - - # Calculate Euler angle rates from angular velocities - t_inv = np.linalg.inv(t) - euler_rates = np.dot(t_inv, state.angular_velocity) - state_dot.orientation = euler_rates - - Nu = M_inv @ (control_input - np.dot(Crb, nu) - np.dot(D_l, nu) - g_eta_.flatten()) - - state_dot.velocity = Nu[:3] - state_dot.angular_velocity = Nu[3:6] - - # Update the inertia, added mass, damping, and g_eta - state_dot.inertia = np.zeros_like(state.inertia) - state_dot.added_mass = np.zeros_like(state.added_mass) - state_dot.damping = np.zeros_like(state.damping) - state_dot.g_eta = np.zeros_like(state.g_eta) - - new_state = AUVState() - new_state.position = state.position + state_dot.position * dt - new_state.orientation = state.orientation + state_dot.orientation * dt - new_state.velocity = state.velocity + state_dot.velocity * dt - new_state.angular_velocity = state.angular_velocity + state_dot.angular_velocity * dt - new_state.inertia = state.inertia + state_dot.inertia * dt - new_state.added_mass = state.added_mass + state_dot.added_mass * dt - new_state.damping = state.damping + state_dot.damping * dt - new_state.g_eta = state.g_eta + state_dot.g_eta * dt - - return new_state -# ----------------------------------------------------------- diff --git a/navigation/tukf_rsi/CMakeLists.txt b/navigation/tukf_rsi/CMakeLists.txt new file mode 100644 index 000000000..f1ad5e0b1 --- /dev/null +++ b/navigation/tukf_rsi/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 3.8) +project(tukf_rsi) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 20) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(tf2 REQUIRED) +find_package(vortex_msgs REQUIRED) +find_package(spdlog REQUIRED) +find_package(fmt REQUIRED) + +if(NOT DEFINED EIGEN3_INCLUDE_DIR) + set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) +endif() +include_directories(${EIGEN3_INCLUDE_DIR}) + +include_directories(include) + +add_executable(tukf_rsi_node + src/tukf_rsi.cpp + src/tukf_rsi_ros.cpp + src/tukf_rsi_node.cpp + src/tukf_rsi_utils.cpp +) + +ament_target_dependencies(tukf_rsi_node + rclcpp + geometry_msgs + nav_msgs + Eigen3 + tf2 + vortex_msgs + spdlog + fmt +) + +target_link_libraries(tukf_rsi_node + fmt::fmt +) + +install(TARGETS + tukf_rsi_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/navigation/tukf_rsi/config/tusk_rsi_params.yaml b/navigation/tukf_rsi/config/tusk_rsi_params.yaml new file mode 100644 index 000000000..c74717815 --- /dev/null +++ b/navigation/tukf_rsi/config/tusk_rsi_params.yaml @@ -0,0 +1,12 @@ +eskf_node: + ros__parameters: + gyro_topic: "/imu/data" + dvl_topic: "/orca/twist" + odom_topic: "/tukf/odom" + wrench_topic: "/orca/wrench_input" + diag_Q_std: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] + diag_P0_std: [2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + x0: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + diag_Rgyro_std: [0.01, 0.01, 0.01] + diag_Rdvl_std: [0.05, 0.05, 0.05] + diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp new file mode 100644 index 000000000..a1e19edb5 --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp @@ -0,0 +1,63 @@ +// tukf.hpp +#ifndef TUKF_HPP +#define TUKF_HPP + +#include "typedefs.hpp" // includes AUVState, MeasModel, and utility functions +#include + +class TUKF { +public: + TUKF(const AUVState& x0, + const Eigen::Matrix37d& Q_in, + double dt = 0.01); + + // @brief Generate sigma points for the current state + // @param current_state: Current state of the AUV + // @return A vector of sigma points + std::vector sigma_points(const AUVState& current_state); + + // @brief Unscented transform to predict the next state + // @param current_state: Current state of the AUV + // @param control_force: Control force applied to the AUV + // @return Predicted state after applying the control force + AUVState unscented_transform(const AUVState& current_state, + const Eigen::Vector3d& control_force); + + // @brief Perform measurement update using the measurement model + // @param current_state: Current state of the AUV + // @param measurement: Measurement model containing the measurement and covariance + // @return Updated state after measurement update + void measurement_update(const AUVState& current_state, + const MeasModel& measurement); + + // @brief Posterior estimate of the state after measurement update + // @param current_state: Current state of the AUV + // @param measurement: Measurement model containing the measurement and covariance + // @return Posterior estimate of the state + AUVState posterior_estimate(const AUVState& current_state, + const MeasModel& measurement); + + // public state and flags + AUVState x; + bool filter_failed; + +private: + + Eigen::Matrix37d Q; + + Eigen::Matrix delta; + + std::vector sigma_points_list; + + std::vector y_i; + + MeasModel measurement_updated; + + Eigen::Matrix cross_correlation; + + double dt; + + int flagg; +}; + +#endif // TUKF_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp new file mode 100644 index 000000000..b536ca798 --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp @@ -0,0 +1,50 @@ +#ifndef TUKF_MODEL_HPP +#define TUKF_MODEL_HPP + +#include +#include "tukf_rsi/typedefs.hpp" + + +// @brief Tranformation matrix from quaternion orientation +// @param orientation: Quaternion representing the orientation +// @return 3x3 transformation matrix +Eigen::Matrix3d tranfromation_matrix(const Eigen::Quaterniond& orientation); + +// @brief Mass inertia system-matrix (6×6) +// @param inertia_vec: Vector containing the inertia parameters +Eigen::Matrix6d M_rb(const Eigen::Vector9d& inertia_vec); + +// @brief Added mass system-matrix (6×6) +// @param added_mass: Vector containing the added mass parameters +Eigen::Matrix6d M_a(const Eigen::Vector6d& added_mass); + +// @brief Corilos and centripetal forces system-matrix (6×6) +// @param inertia_vec: Vector containing the inertia parameters +// @param angular_velocity: Angular velocity vector +Eigen::Matrix6d C_rb(const Eigen::Vector9d& inertia_vec, + const Eigen::Vector3d& angular_velocity); + +// @brief added mass Corilos and centripetal forces system-matrix (6×6) +// @param added_mass: Vector containing the added mass parameters +// @param angular_velocity: Angular velocity vector +// @param velocity: Velocity linear vector +Eigen::Matrix6d C_a(const Eigen::Vector6d& added_mass, + const Eigen::Vector3d& angular_velocity, + const Eigen::Vector3d& velocity); + +// @brief Damping system-matrix (6×6) +// @param damping: Vector containing the damping parameters +Eigen::Matrix6d D_linear(const Eigen::Vector6d& damping); + +// @brief generalized froces (6×1) +// @param g_eta_params: Vector containing the g_eta parameters (buoyancy terms) +// @param euler_angles: Euler angles (roll, pitch, yaw) +Eigen::Vector6d G_eta(const Eigen::Vector4d& g_eta_params, + const Eigen::Vector3d& euler_angles); + +// @brief Dynamics function for the AUV +AUVState F_dynamics(const AUVState& state, + double dt, + const Eigen::Vector3d& control_input); + +#endif // TUKF_MODEL_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp new file mode 100644 index 000000000..98b0a547a --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp @@ -0,0 +1,64 @@ +#ifndef TUKF_NODE_HPP +#define TUKF_NODE_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include "tukf_rsi/tukf.hpp" +#include "tukf_rsi/tukf_rsi_utils.hpp" +#include "tukf_rsi/typedefs.hpp" + +class TUKFNode : public rclcpp::Node { +public: + TUKFNode(); + +private: + + // @brief Callback function for the gyro topic + // @param msg: Imu message containing the gyro data + void gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg); + + // @brief Callback function for the DVL topic + // @param msg: TwistWithCovarianceStamped message containing the DVL data + void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + + // @brief Callback function for the wrench topic + // @param msg: WrenchStamped message containing the wrench data + void wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg); + + // @brief Set the subscriber and publisher for the node + void set_subscribers_and_publisher(); + + // @brief Set the parameters for the eskf + void set_parameters(); + + // @brief Publish the odometry message + void publish_odom(); + + rclcpp::Subscription::SharedPtr gyro_sub_; + + rclcpp::Subscription::SharedPtr dvl_sub_; + + rclcpp::Subscription::SharedPtr wrench_sub_; + + rclcpp::Publisher::SharedPtr odom_pub_; + + rclcpp::TimerBase::SharedPtr odom_timer_; + + std::unique_ptr tukf_; + + AUVState state_; + + double dt_; + + Eigen::Matrix3d R_gyro_; + + Eigen::Matrix3d R_dvl_; +}; + +#endif // TUKF_NODE_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp new file mode 100644 index 000000000..b3c31221f --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp @@ -0,0 +1,65 @@ +#ifndef TUKF_RSI_UTILS_HPP +#define TUKF_RSI_UTILS_HPP + +#include +#include +#include "tukf_rsi/typedefs.hpp" + +// @brief Compute mean quaternion from a set of quaternions +// @param quats: Vector of quaternions +// @param tol: Tolerance for convergence +// @param maxIter: Maximum number of iterations +Eigen::Quaterniond quaternion_mean( + const std::vector& quats, + double tol = 1e-6, + int maxIter = 100 +); + +// @brief Compute mean of a set of AUV states +// @param setPoints: Vector of AUVState objects +// @param tol: Tolerance for convergence +// @param maxIter: Maximum number of iterations +Eigen::Vector37d mean_set( + const std::vector& setPoints, + double tol = 1e-6, + int maxIter = 100 +); + +// @brief Compute mean of a set of measurements +// @param setPoints: Vector of MeasModel objects +Eigen::Vector3d mean_masurement(const std::vector& setPoints); + +// @brief Compute covariance of a set of AUV states +// @param setPoints: Vector of AUVState objects +// @param meanVec: Mean vector of the set +// @param tol: Tolerance for convergence +Eigen::Matrix37d covariance_set( + const std::vector& setPoints, + const Eigen::Vector37d& meanVec, + double tol = 1e-6 +); + +// @brief Compute covariance of a set of measurements +// @param setPoints: Vector of MeasModel objects +// @param mean: Mean vector of the measurements +Eigen::Matrix3d covariance_measurement( + const std::vector& setPoints, + const Eigen::Vector3d& mean +); + +// @brief Compute cross-covariance between AUV states and measurements +// @param setY: Vector of AUVState objects +// @param meanY: Mean vector of the AUV states +// @param setZ: Vector of MeasModel objects +// @param meanZ: Mean vector of the measurements +// @param tol: Tolerance for convergence +Eigen::Matrix cross_covariance( + const std::vector& setY, + const Eigen::Vector37d& meanY, + const std::vector& setZ, + const Eigen::Vector3d& meanZ, + double tol = 1e-6 +); + +#endif // TUKF_RSI_UTILS_HPP + diff --git a/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp b/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp new file mode 100644 index 000000000..0d724577d --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp @@ -0,0 +1,145 @@ +#ifndef AUV_TYPEDEFS_HPP +#define AUV_TYPEDEFS_HPP + +#include +#include +#include +#include + +namespace Eigen { + typedef Matrix Vector37d; + typedef Matrix Matrix37d; + typedef Matrix Vector25d; + typedef Matrix Vector12d; + typedef Matrix Vector9d; + typedef Matrix Vector6d; + typedef Matrix Vector4d; + typedef Matrix Matrix3x12d; + typedef Matrix Matrix3d; + typedef Matrix Matrix3x37d; + typedef Matrix Matrix37x74d; + typedef Matrix Matrix37x3d; +} + +struct AUVState { + Eigen::Vector3d position = Eigen::Vector3d::Zero(); + Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity(); + Eigen::Vector3d velocity = Eigen::Vector3d::Zero(); + Eigen::Vector3d angular_velocity = Eigen::Vector3d::Zero(); + Eigen::Vector9d inertia = Eigen::Vector9d::Zero(); + Eigen::Vector6d added_mass = Eigen::Vector6d::Zero(); + Eigen::Vector6d damping = Eigen::Vector6d::Zero(); + Eigen::Vector4d g_eta = Eigen::Vector4d::Zero(); + Eigen::Matrix37d covariance = Eigen::Matrix37d::Zero(); + + Eigen::Vector3d error = Eigen::Vector3d::Zero(); + + AUVState() = default; + + Eigen::Vector12d dynamic_part() const { + Eigen::Vector12d x; + x << position, + orientation.vec(), + velocity, + angular_velocity; + return x; + } + + Eigen::Vector25d okid_part() const { + Eigen::Vector25d x; + x << inertia, + added_mass, + damping, + g_eta; + return x; + } + + Eigen::Vector37d as_vector() const { + Eigen::Vector37d x; + x << dynamic_part(), + okid_part(); + return x; + } + + AUVState operator+(const AUVState& other) const { + AUVState result; + result.position = position + other.position; + result.orientation = orientation * other.orientation; + result.velocity = velocity + other.velocity; + result.angular_velocity = angular_velocity + other.angular_velocity; + result.inertia = inertia + other.inertia; + result.added_mass = added_mass + other.added_mass; + result.damping = damping + other.damping; + result.g_eta = g_eta + other.g_eta; + return result; + } + + AUVState operator-(const AUVState& other) const { + AUVState result; + result.position = position - other.position; + result.orientation = orientation * other.orientation.inverse(); + result.velocity = velocity - other.velocity; + result.angular_velocity = angular_velocity - other.angular_velocity; + result.inertia = inertia - other.inertia; + result.added_mass = added_mass - other.added_mass; + result.damping = damping - other.damping; + result.g_eta = g_eta - other.g_eta; + return result; + } + + void fill_states(const Eigen::Vector37d& x) { + position = x.segment<3>(0); + Eigen::Vector3d ori_vec = x.segment<3>(3); + orientation = Eigen::Quaterniond(1, ori_vec.x(), ori_vec.y(), ori_vec.z()).normalized(); + velocity = x.segment<3>(6); + angular_velocity = x.segment<3>(9); + inertia = x.segment<9>(12); + added_mass = x.segment<6>(21); + damping = x.segment<6>(27); + g_eta = x.segment<4>(33); + } +}; + +struct MeasModel { + Eigen::Vector3d measurement = Eigen::Vector3d::Zero(); + Eigen::Matrix3d covariance = Eigen::Matrix3d::Zero(); + std::function H; + + MeasModel() + : H(default_h) + {} + + MeasModel(const Eigen::Vector3d& meas, + const Eigen::Matrix3d& cov, + std::function Hfunc = default_h) + : measurement(meas), covariance(cov), H(std::move(Hfunc)) + {} + + static MeasModel default_h(const AUVState& state) { + MeasModel z; + Eigen::Matrix3x12d Hmat = Eigen::Matrix3x12d::Zero(); + Hmat.block<3,3>(0,6) = Eigen::Matrix3d::Identity(); + z.measurement = Hmat * state.dynamic_part(); + return z; + } + + MeasModel operator+(const MeasModel& other) const { + MeasModel r; + r.measurement = measurement + other.measurement; + return r; + } + + MeasModel operator-(const MeasModel& other) const { + MeasModel r; + r.measurement = measurement - other.measurement; + return r; + } + + friend MeasModel operator*(double scalar, const MeasModel& m) { + MeasModel r; + r.measurement = scalar * m.measurement; + return r; + } +}; + +#endif // AUV_TYPEDEFS_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/launch/tukf_rsi.launch.py b/navigation/tukf_rsi/launch/tukf_rsi.launch.py new file mode 100644 index 000000000..e238b3e1e --- /dev/null +++ b/navigation/tukf_rsi/launch/tukf_rsi.launch.py @@ -0,0 +1,22 @@ +from os import path + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +tukf_rsi_params = path.join( + get_package_share_directory("tukf_rsi"), "config", "tukf_rsi_params.yaml" +) + + +def generate_launch_description(): + tukf_rsi_node = Node( + package="tukf_rsi", + executable="tukf_rsi_node", + name="tukf_rsi_node", + parameters=[ + tukf_rsi_params, + ], + output="screen", + ) + return LaunchDescription([tukf_rsi_node]) diff --git a/navigation/ukf_okid/package.xml b/navigation/tukf_rsi/package.xml similarity index 56% rename from navigation/ukf_okid/package.xml rename to navigation/tukf_rsi/package.xml index 1c1b2b4cb..989241795 100644 --- a/navigation/ukf_okid/package.xml +++ b/navigation/tukf_rsi/package.xml @@ -1,20 +1,20 @@ - ukf_python + tukf_rsi 1.0.0 - Uscented Kalman filter for AUV model - talha + Transformed Unscented Kalman Filter + talhanc MIT - ament_cmake_python + ament_cmake - rclpy + rclcpp geometry_msgs nav_msgs + eigen + tf2 vortex_msgs - python-control-pip - std_msgs ament_cmake diff --git a/navigation/tukf_rsi/src/tukf_rsi.cpp b/navigation/tukf_rsi/src/tukf_rsi.cpp new file mode 100644 index 000000000..df0195d86 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi.cpp @@ -0,0 +1,84 @@ +#include "tukf_rsi/tukf.hpp" +#include "tukf_rsi/tukf_rsi_utils.hpp" +#include "tukf_rsi/typedefs.hpp" +#include "tukf_rsi/tukf_rsi_model.hpp" +#include + +TUKF::TUKF(const AUVState& x0, + const Eigen::Matrix37d& Q_in, + double dt_in) + : x(x0), Q(Q_in), dt(dt_in), filter_failed(false), flagg(0) +{ + delta = generate_elta_matrix37() / std::sqrt(static_cast(x.as_sector().size())); + measurement_updated = MeasModel(); +} + +std::vector TUKF::sigma_points(const AUVState& current_state) { + int n = static_cast(current_state.covariance.rows()); + ++flagg; + Eigen::Matrix37d S; + bool chol_ok = true; + auto llt = current_state.covariance.llt(); + if(llt.info() == Eigen::NumericalIssue) { + chol_ok = false; + } else { + S = llt.matrixL(); + } + if (!chol_ok) { + filter_failed = true; + S = Eigen::Matrix37d::Identity() * 1e-6; + } + sigma_points_list.resize(2 * n); + for (int k = 0; k < 2 * n; ++k) { + Eigen::Vector37d v = current_state.as_vector() + S * delta.col(k); + sigma_points_list[k].fill_States(v); + } + return sigma_points_list; +} + +AUVState TUKF::unscented_transform(const AUVState& current_state, + const Eigen::Vector3d& control_force) { + int n = static_cast(current_state.covariance.rows()); + sigma_soints(current_state); + y_i.resize(2 * n); + for (int i = 0; i < 2 * n; ++i) { + y_i[i] = F_dynamics(sigma_points_list[i], dt, control_force); + } + AUVState state_est; + Eigen::Vector37d x_vec = mean_Set(y_i); + state_est.fill_States(x_vec); + state_est.covariance = covarianceSet(y_i, x_vec) + Q; + return state_est; +} + +void TUKF::measurement_update(const AUVState& current_state, + const MeasModel& measurement) { + int n = static_cast(current_state.covariance.rows()); + std::vector z_i(2 * n); + for (int i = 0; i < 2 * n; ++i) { + z_i[i] = measurement.H(sigma_points_list[i]); + } + measurement_updated.measurement = mean_seasurement(z_i); + measurement_updated.covariance = covariance_measurement( + z_i, measurement_updated.measurement); + cross_correlation = cross_covariance( + y_i, + current_state.as_vector(), + z_i, + measurement_updated.measurement); +} + +AUVState TUKF::posterior_estimate(const AUVState& current_state, + const MeasModel& measurement) { + MeasModel nu_k; + nu_k.measurement = measurement.measurement - measurement_updated.measurement; + nu_k.covariance = measurement_updated.covariance + measurement.covariance; + Eigen::Matrix K = cross_correlation * nu_k.covariance.inverse(); + AUVState post; + Eigen::Vector37d v = current_state.as_vector() + + K * nu_k.measurement; + post.fill_states(v); + post.covariance = current_state.covariance - + K * nu_k.covariance * K.transpose(); + return post; +} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_model.cpp b/navigation/tukf_rsi/src/tukf_rsi_model.cpp new file mode 100644 index 000000000..97a91c024 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_model.cpp @@ -0,0 +1,125 @@ +#include "tukf_rsi/tukf_model.hpp" +#include "tukf_rsi/tukf_rsi_utils.hpp" +#include "tukf_rsi/typedefs.hpp" +#include +#include + + +Eigen::Matrix4x3d tranfromation_matrix(const Eigen::Quaterniond& q) { + Eigen::Matrix4x3d T; + T << -q.x(), -q.y(), -q.z(), + q.w(), -q.z(), q.y(), + q.z(), q.w(), -q.x(), + -q.y(), q.x(), q.w(); + return T; +} + +Eigen::Matrix6d M_rb(const Eigen::Vector& inertia_vec) { + const double mass = 30.0; + const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); + const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); + + Eigen::Matrix6d M = Eigen::Matrix6d::Zero(); + M.block<3,3>(0,0) = mass * Eigen::Matrix3d::Identity(); + M.block<3,3>(0,3) = -mass * skewSymmetric(r_b_bg); + M.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg); + M.block<3,3>(3,3) = I_rb; + + return M; +} + +Eigen::Matrix6d M_a(const Eigen::Vector& a_mass) { + Eigen::Matrix6d Ma = Eigen::Matrix6d::Zero(); + Ma.block<3,3>(0,0) = a_mass.head<3>().asDiagonal(); + Ma.block<3,3>(3,3) = a_mass.tail<3>().asDiagonal(); + return Ma; +} + +Eigen::Matrix6d C_rb(const Eigen::Vector& inertia_vec, const Eigen::Vector3d& w) { + const double mass = 30.0; + const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); + const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); + + Eigen::Matrix6d C = Eigen::Matrix6d::Zero(); + C.block<3,3>(3,3) = -skewSymmetric(I_rb * w); + C.block<3,3>(0,3) = -mass * skewSymmetric(w) * skewSymmetric(r_b_bg); + C.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg) * skewSymmetric(w); + + return C; +} + +Eigen::Matrix6d C_a(const Eigen::Vector& a_mass, const Eigen::Vector3d& w, const Eigen::Vector3d& v) { + Eigen::Matrix6d Ca = Eigen::Matrix6d::Zero(); + const Eigen::Matrix3d A11 = a_mass.head<3>().asDiagonal(); + const Eigen::Matrix3d A22 = a_mass.tail<3>().asDiagonal(); + + Ca.block<3,3>(0,3) = -skewSymmetric(A11 * v); + Ca.block<3,3>(3,0) = -skewSymmetric(A11 * v); + Ca.block<3,3>(3,3) = -skewSymmetric(A22 * w); + + return Ca; +} + +Eigen::Matrix6d D_linear(const Eigen::Vector& d) { + Eigen::Matrix6d D = Eigen::Matrix6d::Zero(); + D.block<3,3>(0,0) = -d.head<3>().asDiagonal(); + D.block<3,3>(3,3) = -d.tail<3>().asDiagonal(); + return D; +} + +Eigen::Vector6d G_eta(const Eigen::Vector& g_params, const Eigen::Quaterniond& q) { + const double Mx = g_params[1], My = g_params[2], Mz = g_params[3]; + const Eigen::Matrix3d R = q.toRotationMatrix(); + + Eigen::Vector6d G = Eigen::Vector6d::Zero(); + G(3) = -My*R(2,2) + Mz*R(1,2); + G(4) = -Mz*R(0,2) + Mx*R(2,2); + G(5) = -Mx*R(1,2) + My*R(0,2); + + return G; +} + +AUVState F_dynamics(const AUVState& state, double dt, const Eigen::Vector6d& u) { + const Eigen::Matrix6d Mrb = M_rb(state.inertia); + const Eigen::Matrix6d Ma = M_a(state.added_mass); + const Eigen::Matrix6d Mtotal = Mrb + Ma; + + const Eigen::Matrix6d Crb = C_rb(state.inertia, state.angular_velocity); + const Eigen::Matrix6d Ca = C_a(state.added_mass, state.angular_velocity, state.velocity); + const Eigen::Matrix6d Ctotal = Crb + Ca; + + const Eigen::Matrix6d Dl = D_linear(state.damping); + const Eigen::Vector6d G = G_eta(state.g_eta, state.orientation); + + Eigen::Vector6d nu; + nu << state.velocity, state.angular_velocity; + + AUVState sd; + sd.position = state.orientation.toRotationMatrix() * state.velocity; + sd.orientation = tranfromation_matrix(state.orientation) * state.angular_velocity; + + Eigen::Vector6d Nu = Mtotal.inverse() * (u - Ctotal*nu - Dl*nu - G); + sd.velocity = Nu.head<3>(); + sd.angular_velocity = Nu.tail<3>(); + + sd.inertia.setZero(); + sd.added_mass.setZero(); + sd.damping.setZero(); + sd.g_eta.setZero(); + + AUVState ns; + ns.position = state.position + sd.position * dt; + ns.orientation = state.orientation * Eigen::Quaterniond(1, 0.5*dt*sd.orientation.x(), + 0.5*dt*sd.orientation.y(), + 0.5*dt*sd.orientation.z()); + ns.orientation.normalize(); + ns.velocity = state.velocity + sd.velocity * dt; + ns.angular_velocity = state.angular_velocity + sd.angular_velocity * dt; + + ns.inertia = state.inertia; + ns.added_mass = state.added_mass; + ns.damping = state.damping; + ns.g_eta = state.g_eta; + + return ns; +} diff --git a/navigation/tukf_rsi/src/tukf_rsi_node.cpp b/navigation/tukf_rsi/src/tukf_rsi_node.cpp new file mode 100644 index 000000000..d4f6eed17 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_node.cpp @@ -0,0 +1,9 @@ +#include "tukf_rsi/tukf_rsi_ros.hpp" + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + spdlog::info("Starting TUFK for RSI ROS2 Node"); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_ros.cpp b/navigation/tukf_rsi/src/tukf_rsi_ros.cpp new file mode 100644 index 000000000..2be453191 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_ros.cpp @@ -0,0 +1,150 @@ +#include "tukf_node.hpp" +#include + +TUKFNode::TUKFNode() +: Node("tukf_node") +{ + + odom_timer_ = this->create_wall_timer( + std::chrono::duration(dt_), + std::bind(&TUKFNode::publishOdom, this)); + + set_subscribers_and_publisher(); + + set_parameters(); + + spdlog::info("TUKF Node Initialized"); +} + +void TUKFNode::set_subscribers_and_publisher() { + auto qos = rclcpp::QoS(rclcpp::SensorDataQoS()); + this->declare_parameter("gyro_topic"); + std::string gyro_topic = this->get_parameter("gyro_topic").as_string(); + gyro_sub_ = this->create_subscription( + gyro_topic, qos, + std::bind(&TUKFNode::gyroCallback, this, std::placeholders::_1)); + + this->declare_parameter("dvl_topic"); + std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); + dvl_sub_ = this->create_subscription( + dvl_topic, qos, + std::bind(&TUKFNode::dvlCallback, this, std::placeholders::_1)); + + this->declare_parameter("wrench_topic"); + std::string dvl_topic = this->get_parameter("wrench_topic").as_string(); + wrench_sub_ = this->create_subscription( + wrench_sub_, qos, + std::bind(&TUKFNode::wrenchCallback, this, std::placeholders::_1)); + + this->declare_parameter("odom_topic"); + std::string odom_topic = this->get_parameter("odom_topic").as_string(); + odom_pub_ = this->create_publisher( + odom_topic, qos); +} + +void TUKFNode::set_parameters() { + this->declare_parameter>("diag_Q_std"); + auto diagQ = this->get_parameter("diag_Q_std").as_double_array(); + Eigen::Matrix37d Q = Eigen::Matrix37d::Zero(); + for (int i = 0; i < 37; ++i) { + Q(i,i) = diagQ[i] * diagQ[i]; + } + + this->declare_parameter>("diag_P0_std"); + auto diagP0 = this->get_parameter("diag_P0_std").as_double_array(); + Eigen::Matrix37d P0 = Eigen::Matrix37d::Zero(); + for (int i = 0; i < 37; ++i) { + P0(i,i) = diagP0[i] * diagP0[i]; + } + + this->declare_parameter>("x0"); + auto x0_vec = this->get_parameter("x0").as_double_array(); + Eigen::Vector37d x0_e; + for (int i = 0; i < 37; ++i) x0_e[i] = x0_vec[i]; + + this->declare_parameter("dt", 0.01); + dt_ = this->get_parameter("dt").as_double(); + + this->declare_parameter>("diag_Rgyro_std"); + auto diagRgyro = this->get_parameter("diag_Rgyro_std").as_double_array(); + R_gyro_ = Eigen::Matrix3d::Zero(); + for (int i = 0; i < 3; ++i) R_gyro_(i,i) = diagRgyro[i] * diagRgyro[i]; + + this->declare_parameter>("diag_Rdvl_std"); + auto diagRdvl = this->get_parameter("diag_Rdvl_std").as_double_array(); + R_dvl_ = Eigen::Matrix3d::Zero(); + for (int i = 0; i < 3; ++i) R_dvl_(i,i) = diagRdvl[i] * diagRdvl[i]; + + tukf_ = std::make_unique(x0, Q, dt_); + tukf_->x.covariance = P0; + tukf_->x.fill_states(x0_e); +} + +void TUKFNode::gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { + Eigen::Vector3d gyro(msg->angular_velocity.x, + msg->angular_velocity.y, + msg->angular_velocity.z); + MeasModel m; + m.measurement = gyro; + m.covariance = R_gyro_; + m.H = [](const AUVState& s) { + MeasModel mm; + Eigen::Matrix3x12d Hm = Eigen::Matrix3x12d::Zero(); + Hm.block<3,3>(0,9) = Eigen::Matrix3d::Identity(); + mm.measurement = Hm * s.dynamic_part(); + return mm; + }; + + tukf_->measurement_update(state_, m); + state_ = tukf_->posterior_estimate(state_, m); +} + +void TUKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + Eigen::Vector3d vel(msg->twist.twist.linear.x, + msg->twist.twist.linear.y, + msg->twist.twist.linear.z); + Eigen::Matrix3d cov; + cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + MeasModel m; + m.measurement = vel; + m.covariance = R_dvl_; + + tukf_->measurement_update(state_, m); + state_ = tukf_->posterior_estimate(state_, m); +} + +void TUKFNode::wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg) { + Eigen::Vector6d wrench_input(msg->wrench.force.x, + msg->wrench.force.y, + msg->wrench.force.z, + msg->wrench.torque.x, + msg->wrench.torque.y, + msg->wrench.torque.z); + + state_ = tukf_->unscented_transform(state_, control_force); +} + +void TUKFNode::publish_odom() { + nav_msgs::msg::Odometry odom; + odom.header.stamp = this->now(); + odom.header.frame_id = "odom"; + + odom.pose.pose.position.x = state_.position.x(); + odom.pose.pose.position.y = state_.position.y(); + odom.pose.pose.position.z = state_.position.z(); + odom.pose.pose.orientation.w = state_.orientation.w(); + odom.pose.pose.orientation.x = state_.orientation.x(); + odom.pose.pose.orientation.y = state_.orientation.y(); + odom.pose.pose.orientation.z = state_.orientation.z(); + + odom.twist.twist.linear.x = state_.velocity.x(); + odom.twist.twist.linear.y = state_.velocity.y(); + odom.twist.twist.linear.z = state_.velocity.z(); + odom.twist.twist.angular.x = state_.angular_velocity.x(); + odom.twist.twist.angular.y = state_.angular_velocity.y(); + odom.twist.twist.angular.z = state_.angular_velocity.z(); + + odom_pub_->publish(odom); +} diff --git a/navigation/tukf_rsi/src/tukf_rsi_utils.cpp b/navigation/tukf_rsi/src/tukf_rsi_utils.cpp new file mode 100644 index 000000000..882fe0cf8 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_utils.cpp @@ -0,0 +1,199 @@ + +#include "tukf_rsi_utils.hpp" +#include + +Eigen::Quaterniond quaternionMean( + const std::vector& quats, + double tol, + int maxIter +) { + Eigen::Quaterniond mean_q = quats.front(); + int n = int(quats.size()); + + for (int iter = 0; iter < maxIter; ++iter) { + Eigen::Vector3d errAvg = Eigen::Vector3d::Zero(); + + for (const auto& q : quats) { + + Eigen::Quaterniond e = q * mean_q.conjugate(); + + double w = std::clamp(e.w(), -1.0, 1.0); + double angle = 2 * std::acos(w); + + Eigen::Vector3d axis; + + if (std::abs(angle) < tol) { + axis.setZero(); + } else { + axis = (angle / std::sin(angle / 2.0)) * e.vec(); + } + errAvg += axis; + } + errAvg /= double(n); + + if (errAvg.norm() < tol) break; + double errNorm = errAvg.norm(); + Eigen::Quaterniond dq + + if (errNorm > tol) { + dq.w() = std::cos(errNorm/2.0); + dq.vec() = std::sin(errNorm/2.0) * (errAvg/errNorm); + } else { + dq = Eigen::Quaterniond::Identity(); + } + mean_q = dq * mean_q; + mean_q.normalize(); + } + return mean_q; +} + +Eigen::Vector37d mean_set( + const std::vector& setPoints, + double tol, + int maxIter +) { + int n = int(setPoints.size()); + + Eigen::Vector3d posAvg = Eigen::Vector3d::Zero(); + Eigen::Vector3d velAvg = Eigen::Vector3d::Zero(); + Eigen::Vector3d angVelAvg = Eigen::Vector3d::Zero(); + Eigen::Vector9d inAvg = Eigen::Vector9d::Zero(); + Eigen::Vector6d amAvg = Eigen::Vector6d::Zero(); + Eigen::Vector6d dAvg = Eigen::Vector6d::Zero(); + Eigen::Vector4d gAvg = Eigen::Vector4d::Zero(); + + std::vector quats; + quats.reserve(n); + + for (const auto& s : setPoints) { + posAvg += s.position; + velAvg += s.velocity; + angVelAvg += s.angular_velocity; + inAvg += s.inertia; + amAvg += s.added_mass; + dAvg += s.damping; + gAvg += s.g_eta; + quats.push_back(s.orientation); + } + posAvg /= double(n); + velAvg /= double(n); + angVelAvg /= double(n); + inAvg /= double(n); + amAvg /= double(n); + dAvg /= double(n); + gAvg /= double(n); + Eigen::Quaterniond qMean = quaternion_mean(quats, tol, maxIter); + + AUVState meanState; + meanState.position = posAvg; + meanState.orientation = qMean; + meanState.velocity = velAvg; + meanState.angular_velocity = angVelAvg; + meanState.inertia = inAvg; + meanState.added_mass = amAvg; + meanState.damping = dAvg; + meanState.g_eta = gAvg; + + return meanState.asVector(); +} + +Eigen::Vector3d mean_measurement(const std::vector& setPoints) { + Eigen::Vector3d avg = Eigen::Vector3d::Zero(); + for (const auto& m : setPoints) avg += m.measurement; + return avg / double(setPoints.size()); +} + +Eigen::Matrix37d covariance_set( + const std::vector& setPoints, + const Eigen::Vector37d& meanVec, + double tol +) { + int n = int(setPoints.size()); + AUVState meanState; + meanState.fillStates(meanVec); + std::vector quats; + quats.reserve(n); + + for (const auto& s : setPoints) quats.push_back(s.orientation); + meanState.orientation = quaternion_mean(quats, tol); + + Eigen::Matrix37d cov = Eigen::Matrix37d::Zero(); + for (const auto& s : setPoints) { + Eigen::Vector37d d = Eigen::Vector37d::Zero(); + + d.segment<3>(0) = s.position - meanState.position; + + Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); + double w = std::clamp(e.w(), -1.0, 1.0); + double angle = 2 * std::acos(w); + + + Eigen::Vector3d err; + if (std::abs(angle) < tol) err.setZero(); + else err = (angle / std::sin(angle/2.0)) * e.vec(); + + d.segment<3>(3) = err; + + d.segment<3>(6) = s.velocity - meanState.velocity; + d.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; + d.segment<9>(12) = s.inertia - meanState.inertia; + d.segment<6>(21) = s.added_mass - meanState.added_mass; + d.segment<6>(27) = s.damping - meanState.damping; + d.segment<4>(33) = s.g_eta - meanState.g_eta; + cov += d * d.transpose(); + } + return cov / double(n); +} + +Eigen::Matrix3d covariance_measurement( + const std::vector& setPoints, + const Eigen::Vector3d& mean +) { + Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); + for (const auto& m : setPoints) { + Eigen::Vector3d d = m.measurement - mean; + cov += d * d.transpose(); + } + return cov / double(setPoints.size()); +} + +Eigen::Matrix cross_covariance( + const std::vector& setY, + const Eigen::Vector37d& meanY, + const std::vector& setZ, + const Eigen::Vector3d& meanZ, + double tol +) { + int n = int(setY.size()); + AUVState meanState; + meanState.fill_states(meanY); + std::vector quats; + quats.reserve(n); + for (const auto& s : setY) quats.push_back(s.orientation); + meanState.orientation = quaternion_cean(quats, tol); + + Eigen::Matrix cov = Eigen::Matrix::Zero(); + for (size_t i = 0; i < setY.size(); ++i) { + const auto& s = setY[i]; + + Eigen::Vector37d dY = Eigen::Vector37d::Zero(); + dY.segment<3>(0) = s.position - meanState.position; + Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); + double w = std::clamp(e.w(), -1.0, 1.0); + double angle = 2 * std::acos(w); + Eigen::Vector3d err; + if (std::abs(angle) < tol) err.setZero(); + else err = (angle / std::sin(angle/2.0)) * e.vec(); + dY.segment<3>(3) = err; + dY.segment<3>(6) = s.velocity - meanState.velocity; + dY.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; + dY.segment<9>(12) = s.inertia - meanState.inertia; + dY.segment<6>(21) = s.added_mass - meanState.added_mass; + dY.segment<6>(27) = s.damping - meanState.damping; + dY.segment<4>(33) = s.g_eta - meanState.g_eta; + + Eigen::Vector3d dZ = setZ[i].measurement - meanZ; + cov += dY * dZ.transpose(); + } + return cov / double(n); +} \ No newline at end of file diff --git a/navigation/ukf_okid/CMakeLists.txt b/navigation/ukf_okid/CMakeLists.txt deleted file mode 100644 index 901ca044b..000000000 --- a/navigation/ukf_okid/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(ukf_python) - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(vortex_msgs REQUIRED) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -ament_python_install_package(${PROJECT_NAME}) - -install(PROGRAMS - ukf_python/ukf_ros.py - DESTINATION lib/${PROJECT_NAME} -) - -ament_package() diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py deleted file mode 100644 index 5d075259f..000000000 --- a/navigation/ukf_okid/launch/ukf.launch.py +++ /dev/null @@ -1,12 +0,0 @@ -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description() -> LaunchDescription: - ukf_node = Node( - package="ukf_python", - executable="ukf_ros.py", - name="ukf_node", - ) - - return LaunchDescription([ukf_node]) diff --git a/navigation/ukf_okid/ukf_python/__init__.py b/navigation/ukf_okid/ukf_python/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py deleted file mode 100644 index 240ca42bb..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ /dev/null @@ -1,130 +0,0 @@ -import numpy as np -from ukf_okid_class import ( - MeasModel, - StateQuat, - covariance_measurement, - covariance_set, - cross_covariance, - mean_measurement, - mean_set, - F_dynamics, -) - - -class UKF: - def __init__(self, x_0: StateQuat, Q): - self.x = x_0 - self.Q = Q - # self.G = G - self.sigma_points_list = None - self.measurement_updated = MeasModel() - self.y_i = None - self.weight = None - self.delta = self.generate_delta_matrix(len(x_0.as_vector()) - 1) - self.cross_correlation = None - self.dt = 0.01 # Time step for dynamics - - def generate_delta_matrix(self, n: float) -> np.ndarray: - """Generates the weight matrix used in the TUKF sigma point generation. - - Parameters: - n (int): The state dimension. - - Returns: - delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. - """ - delta = np.zeros((n, 2 * n)) - k = 0.00000001 # Tuning parameter to ensure pos def - - for i in range(2 * n): - for j in range(n // 2): - delta[2 * j + 1, i] = ( - np.sqrt(2) * np.sin((2 * j - 1) * ((k * np.pi) / n)) - ) - delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1) * ((k * np.pi) / n)) - - if (n % 2) == 1: - delta[n - 1, i] = (-1) ** i - return delta - - def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """Functions that generate the sigma points for the UKF.""" - n = len(current_state.covariance) - - S = np.linalg.cholesky(current_state.covariance + self.Q) - - self.sigma_points_list = [StateQuat() for _ in range(2 * n)] - - for index, state in enumerate(self.sigma_points_list): - delta_x = S @ self.delta[:, index] - state.fill_dynamic_states(current_state.as_vector(), delta_x) - - return self.sigma_points_list - - def unscented_transform(self, current_state: StateQuat, control_force: np.ndarray) -> StateQuat: - """The unscented transform function generates the priori state estimate.""" - self.sigma_points(current_state) - n = len(current_state.covariance) - - self.y_i = [StateQuat() for _ in range(2 * n)] - - for i, sp in enumerate(self.sigma_points_list): - self.y_i[i] = F_dynamics(sp, self.dt, control_force) - - state_estimate = StateQuat() - x = mean_set(self.y_i) - - state_estimate.fill_states(x) - state_estimate.covariance = covariance_set(self.y_i, x) - return state_estimate - - def measurement_update( - self, current_state: StateQuat, measurement: MeasModel - ) -> None: - """Function that updates the state estimate with a measurement. - - Hopefully this is the DVL or GNSS - """ - n = len(current_state.covariance) - z_i = [MeasModel() for _ in range(2 * n)] - - for i, state in enumerate(self.sigma_points_list): - z_i[i] = measurement.H(state) - - self.measurement_updated.measurement = mean_measurement(z_i) - - self.measurement_updated.covariance = covariance_measurement( - z_i, self.measurement_updated.measurement - ) - - self.cross_correlation = cross_covariance( - self.y_i, - current_state.as_vector(), - z_i, - self.measurement_updated.measurement, - ) - - def posteriori_estimate( - self, - current_state: StateQuat, - measurement: MeasModel, - ) -> StateQuat: - """Calculates the posteriori estimate using measurement and the prior estimate.""" - nu_k = MeasModel() - nu_k.measurement = ( - measurement.measurement - self.measurement_updated.measurement - ) - nu_k.covariance = self.measurement_updated.covariance + measurement.covariance - - K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) - - posteriori_estimate = StateQuat() - - posteriori_estimate.fill_states_different_dim( - current_state.as_vector(), np.dot(K_k, nu_k.measurement) - ) - posteriori_estimate.covariance = current_state.covariance - np.dot( - K_k, np.dot(nu_k.covariance, np.transpose(K_k)) - ) - - return posteriori_estimate diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py deleted file mode 100644 index f494e3280..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ /dev/null @@ -1,880 +0,0 @@ -from dataclasses import dataclass, field -from typing import Callable -import numpy as np - - -@dataclass -class okid: - """A class to represent the parameters for the OKID algorithm.""" - - inertia: np.ndarray = field( - default_factory=lambda: np.array( - [0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34] - ) - ) - added_mass: np.ndarray = field( - default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) - ) - damping_linear: np.ndarray = field( - default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) - ) - g_eta: np.ndarray = field( - default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0]) - ) - - def fill(self, state: np.ndarray) -> None: - """Fills the okid_params object with values from a numpy array.""" - self.inertia = state[0:9] - self.added_mass = state[9:15] - self.damping_linear = state[15:21] - self.g_eta = state[21:25] - - def as_vector(self) -> np.ndarray: - """Returns the okid_params as a numpy array.""" - return np.concatenate([self.inertia, self.added_mass, self.damping_linear, self.g_eta]) - - def __add__(self, other: 'okid') -> 'okid': - """Defines the addition operation between two okid_params objects.""" - result = okid() - result.inertia = self.inertia + other.inertia - result.added_mass = self.added_mass + other.added_mass - result.damping_linear = self.damping_linear + other.damping_linear - result.g_eta = self.g_eta + other.g_eta - return result - - def __sub__(self, other: 'okid') -> 'okid': - """Defines the subtraction operation between two okid_params objects.""" - result = okid() - result.inertia = self.inertia - other.inertia - result.added_mass = self.added_mass - other.added_mass - result.damping_linear = self.damping_linear - other.damping_linear - result.g_eta = self.g_eta - other.g_eta - return result - - def __sub__(self, other: np.ndarray) -> 'okid': - """Defines sub between okid_params and np.ndarray.""" - result = okid() - result.inertia = self.inertia - other[0:9] - result.added_mass = self.added_mass - other[9:15] - result.damping_linear = self.damping_linear - other[15:21] - result.g_eta = self.g_eta - other[21:25] - return result - - def __rmul__(self, scalar: float) -> 'okid': - """Defines the multiplication operation between a scalar and okid_params object.""" - result = okid() - result.inertia = scalar * self.inertia - result.added_mass = scalar * self.added_mass - result.damping_linear = scalar * self.damping_linear - result.g_eta = scalar * self.g_eta - return result - - -@dataclass -class StateQuat: - """A class to represent the state to be estimated by the UKF.""" - - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - okid_params: okid = field(default_factory=okid) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) - - def as_vector(self) -> np.ndarray: - """Returns the StateVector as a numpy array.""" - return np.concatenate( - [ - self.position, - self.orientation, - self.velocity, - self.angular_velocity, - self.okid_params.as_vector(), - ] - ) - - def dynamic_part(self) -> np.ndarray: - """Returns the dynamic part of the state vector.""" - return np.concatenate( - [self.position, self.orientation, self.velocity, self.angular_velocity] - ) - - def nu(self) -> np.ndarray: - """Calculates the nu vector.""" - return np.concatenate([self.velocity, self.angular_velocity]) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - return R - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array.""" - self.position = state[0:3] - self.orientation = state[3:7] - self.velocity = state[7:10] - self.angular_velocity = state[10:13] - self.okid_params.fill(state[13:]) - - def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> None: - """Fills only the dynamic part of the state vector with the values from a numpy array.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product( - state[3:7], euler_to_quat(state_euler[3:6]) - ) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - self.okid_params.fill(state[13:] + state_euler[12:]) - - def fill_states_different_dim( - self, state: np.ndarray, state_euler: np.ndarray - ) -> None: - """Fills states when the state vector has different dimensions than the default state vector.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product( - state[3:7], euler_to_quat(state_euler[3:6]) - ) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - self.okid_params.fill(state[13:] + state_euler[12:]) - - def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: - """Subtracts two StateQuat objects, returning the difference with Euler angles.""" - new_array = np.zeros(len(self.as_vector()) - 1) - new_array[:3] = self.position - other.position - new_array[3:6] = error_ori - new_array[6:9] = self.velocity - other.velocity - new_array[9:12] = self.angular_velocity - other.angular_velocity - new_array[12:] = self.okid_params.as_vector() - other.okid_params.as_vector() - - return new_array - - def __add__(self, other: 'StateQuat') -> 'StateQuat': - """Adds two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position + other.position - new_state.orientation = quaternion_super_product( - self.orientation, other.orientation - ) - new_state.velocity = self.velocity + other.velocity - new_state.angular_velocity = self.angular_velocity + other.angular_velocity - new_state.okid_params = self.okid_params + other.okid_params - - return new_state - - def __sub__(self, other: 'StateQuat') -> 'StateQuat': - """Subtracts two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position - other.position - new_state.orientation = quaternion_error(self.orientation, other.orientation) - new_state.velocity = self.velocity - other.velocity - new_state.angular_velocity = self.angular_velocity - other.angular_velocity - new_state.okid_params = self.okid_params - other.okid_params - - return new_state.as_vector() - - def __rmul__(self, scalar: float) -> 'StateQuat': - """Multiplies the StateQuat object by a scalar.""" - new_state = StateQuat() - new_state.position = scalar * self.position - new_state.orientation = quat_norm(scalar * self.orientation) - new_state.velocity = scalar * self.velocity - new_state.angular_velocity = scalar * self.angular_velocity - new_state.okid_params = scalar * self.okid_params - - return new_state - - def insert_weights(self, weights: np.ndarray) -> np.ndarray: - """Inserts the weights into the covariance matrix.""" - new_state = StateQuat() - new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error( - self.orientation, euler_to_quat(weights[3:6]) - ) - new_state.velocity = self.velocity - weights[6:9] - new_state.angular_velocity = self.angular_velocity - weights[9:12] - new_state.okid_params = self.okid_params - weights[12:] - - return new_state.as_vector() - - def add_without_quaternions(self, other: 'StateQuat') -> None: - """Adds elements into the state vector without considering the quaternions.""" - self.position += other.position - self.velocity += other.velocity - self.angular_velocity += other.angular_velocity - self.okid_params += other.okid_params - - -@dataclass -class MeasModel: - """A class defined for a general measurement model.""" - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - H: Callable[["StateQuat"], "MeasModel"] | None = None - - def __post_init__(self): - """Initialize H with a default measurement function if none provided.""" - if self.H is None: - self.H = self._default_H - - def _default_H(self, state: StateQuat) -> 'MeasModel': - """Default measurement function that returns velocity.""" - H_matrix = np.zeros((3, 13)) - H_matrix[:, 7:10] = np.eye(3) - z_i = MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - - def __add__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the addition operation between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement + other.measurement - return result - - def __rmul__(self, scalar: float) -> 'MeasModel': - """Defines multiplication between scalar value and MeasModel object.""" - result = MeasModel() - result.measurement = scalar * self.measurement - return result - - def __sub__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the subtraction between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement - other.measurement - return result - - -@dataclass -class process_model: - """A class defined for a general process model.""" - - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array( - [ - [ - 1 - 2 * e_2**2 - 2 * e_3**2, - 2 * e_1 * e_2 - 2 * nu * e_3, - 2 * e_1 * e_3 + 2 * nu * e_2, - ], - [ - 2 * e_1 * e_2 + 2 * nu * e_3, - 1 - 2 * e_1**2 - 2 * e_3**2, - 2 * e_2 * e_3 - 2 * nu * e_1, - ], - [ - 2 * e_1 * e_3 - 2 * nu * e_2, - 2 * e_2 * e_3 + 2 * nu * e_1, - 1 - 2 * e_1**2 - 2 * e_2**2, - ], - ] - ) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array( - [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] - ) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot( - self.T(), self.state_vector.angular_velocity - ) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( - self.Control_input - - np.dot(self.Crb(), self.state_vector.nu()) - - np.dot(self.D(), self.state_vector.nu()) - ) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> StateQuat: - """Calculates the forward Euler integration.""" - self.state_vector.position = ( - self.state_vector_prev.position + self.state_vector_dot.position * self.dt - ) - self.state_vector.orientation = quat_norm( - self.state_vector_prev.orientation - + self.state_vector_dot.orientation * self.dt - ) - self.state_vector.velocity = ( - self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - ) - self.state_vector.angular_velocity = ( - self.state_vector_prev.angular_velocity - + self.state_vector_dot.angular_velocity * self.dt - ) - return self.state_vector - - -@dataclass -class okid_process_model: - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 30.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.01 - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array( - [ - [ - 1 - 2 * e_2**2 - 2 * e_3**2, - 2 * e_1 * e_2 - 2 * nu * e_3, - 2 * e_1 * e_3 + 2 * nu * e_2, - ], - [ - 2 * e_1 * e_2 + 2 * nu * e_3, - 1 - 2 * e_1**2 - 2 * e_3**2, - 2 * e_2 * e_3 - 2 * nu * e_1, - ], - [ - 2 * e_1 * e_3 - 2 * nu * e_2, - 2 * e_2 * e_3 + 2 * nu * e_1, - 1 - 2 * e_1**2 - 2 * e_2**2, - ], - ] - ) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array( - [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] - ) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - - return D_l - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - """ - separate out the different okid values - """ - self.inertia = state.okid_params.inertia.reshape((3, 3)) - self.added_mass = state.okid_params.added_mass - self.damping_linear = state.okid_params.damping_linear - - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot( - self.T(), self.state_vector.angular_velocity - ) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( - self.Control_input - - np.dot(self.Crb(), self.state_vector.nu()) - - np.dot(self.D(), self.state_vector.nu()) - ) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> None: - """Calculates the forward Euler integration.""" - self.state_vector.position = ( - self.state_vector_prev.position + self.state_vector_dot.position * self.dt - ) - self.state_vector.orientation = quat_norm( - self.state_vector_prev.orientation - + self.state_vector_dot.orientation * self.dt - ) - self.state_vector.velocity = ( - self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - ) - self.state_vector.angular_velocity = ( - self.state_vector_prev.angular_velocity - + self.state_vector_dot.angular_velocity * self.dt - ) - return self.state_vector - - -# ----------------------------------------------------------- - -def R_q(orientation: np.ndarray) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = orientation - R = np.array( - [ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2], - ] - ) - return R - -def T_q(orientation: np.ndarray) -> np.ndarray: - """Calculates the transformation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = orientation - T = 0.5 * np.array( - [[-q1, -q2, -q3], [q0, -q3, q2], [q3, q0, -q1], [-q2, q1, q0]] - ) - return T - -def M_rb(inertia: np.ndarray) -> np.ndarray: - m = 30.0 - inertia = inertia.reshape((3, 3)) - r_b_bg = np.array([0.01, 0.0, 0.02]) - M_rb = np.zeros((6, 6)) - M_rb[0:3, 0:3] = m * np.eye(3) - M_rb[3:6, 3:6] = inertia - M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) - M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) - return M_rb - -def M_a(added_mass: np.ndarray) -> np.ndarray: - """Calculates the added mass matrix.""" - M_a = np.zeros((6, 6)) - M_a[0:3, 0:3] = np.diag(added_mass[0:3]) - M_a[3:6, 3:6] = np.diag(added_mass[3:6]) - return M_a - -def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: - """Calculates the Coriolis matrix.""" - m = 30.0 - r_b_bg = np.array([0.01, 0.0, 0.02]) - inertia = inertia.reshape((3, 3)) - C_rb = np.zeros((6, 6)) - - C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) - C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) - C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) - C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) - return C_rb - -def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: - """Calculates the added mass Coriolis matrix.""" - C_a = np.zeros((6, 6)) - A11 = np.diag(added_mass[0:3]) - A22 = np.diag(added_mass[3:6]) - C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) - C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) - C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) - return C_a - -def D_linear(damping_linear: np.ndarray) -> np.ndarray: - """Calculates the linear damping matrix.""" - D = np.zeros((6, 6)) - D[0:3, 0:3] = -np.diag(damping_linear[0:3]) - D[3:6, 3:6] = -np.diag(damping_linear[3:6]) - return D - -def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: - """Calculates the g_eta matrix.""" - Delta_WB = g_eta[0] - M_x = g_eta[1] - M_y = g_eta[2] - M_z = g_eta[3] - - q_0 = orientation[0] - q_1 = orientation[1] - q_2 = orientation[2] - q_3 = orientation[3] - - R1 = (2*(q_1*q_3 - q_0*q_2)) - R2 = (2*(q_2*q_3 + q_0*q_1)) - R3 = (1 - 2*(q_1**2 + q_2**2)) - G_eta = np.zeros((6,1)) - G_eta[0] = - Delta_WB * R1 - G_eta[1] = - Delta_WB * R2 - G_eta[2] = - Delta_WB * R3 - - G_eta[3] = -M_y * R3 + M_z * R2 - G_eta[4] = -M_z * R1 + M_x * R3 - G_eta[5] = -M_x * R2 + M_y * R1 - - return G_eta - -def F_dynamics( - state: StateQuat, - dt: float, - control_input: np.ndarray) -> np.ndarray: - - """Calculates the dynamics of the system.""" - m_rb = M_rb(state.okid_params.inertia) - m_a = M_a(state.okid_params.added_mass) - c_rb = C_rb(state.okid_params.inertia, state.angular_velocity) - c_a = C_a(state.okid_params.added_mass, state.angular_velocity, state.velocity) - D_l = D_linear(state.okid_params.damping_linear) - g_eta_ = g_eta(state.okid_params.g_eta, state.orientation) - r_q = R_q(state.orientation) - t_q = T_q(state.orientation) - Crb = c_rb + c_a - Mrb = m_rb + m_a - M_inv = np.linalg.inv(Mrb) - - - # Calculate the new state - state_dot = StateQuat() - state_dot.position = np.dot(r_q, state.velocity) - state_dot.orientation = np.dot(t_q, state.angular_velocity) - Nu = M_inv @ (control_input - np.dot(Crb, state.nu()) - np.dot(D_l, state.nu()) - g_eta_.flatten()) - - state_dot.velocity = Nu[:3] - state_dot.angular_velocity = Nu[3:6] - state_dot.okid_params.added_mass = state.okid_params.added_mass - state_dot.okid_params.damping_linear = state.okid_params.damping_linear - state_dot.okid_params.inertia = state.okid_params.inertia - state_dot.okid_params.g_eta = state.okid_params.g_eta - - # Update the state using Euler integration - state.position += state_dot.position * dt - state.orientation = quat_norm( - state.orientation + state_dot.orientation * dt - ) - state.velocity += state_dot.velocity * dt - state.angular_velocity += state_dot.angular_velocity * dt - state.okid_params.added_mass = state.okid_params.added_mass - state.okid_params.damping_linear = state.okid_params.damping_linear - state.okid_params.inertia = state.okid_params.inertia - state.okid_params.g_eta = state.okid_params.g_eta - return state -# ----------------------------------------------------------- - - -def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion.""" - psi, theta, phi = euler_angles - c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) - c_theta = np.cos(theta / 2) - s_theta = np.sin(theta / 2) - c_phi = np.cos(phi / 2) - s_phi = np.sin(phi / 2) - - quat = np.array( - [ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, - ] - ) - - return quat - - -def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles.""" - nu, eta_1, eta_2, eta_3 = quat - - phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) - theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) - - return np.array([phi, theta, psi]) - - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion.""" - quat = quat / np.linalg.norm(quat) - - return quat - - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - - -def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - - q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) - - return q_new - - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions.""" - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_super_product(quat_1, quat_2_inv) - - return error_quat - - -def iterative_quaternion_mean_statequat( - state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100 -) -> np.ndarray: - """Computes the iterative mean of quaternion orientations from StateQuat objects. - - Args: - state_list: List of StateQuat objects - tol: Convergence tolerance - max_iter: Maximum iterations - - Returns: - Mean quaternion as numpy array - """ - sigma_quats = [state.orientation for state in state_list] - n = len(state_list) - - mean_q = sigma_quats[0].copy() - - for _ in range(max_iter): - weighted_error_vectors = [] - for i, q in enumerate(sigma_quats): - mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) - e = quaternion_super_product(q, mean_q_conj) - - e0_clipped = np.clip(e[0], -1.0, 1.0) - angle = 2 * np.arccos(e0_clipped) - if np.abs(angle) < 1e-8: - error_vec = np.zeros(3) - else: - error_vec = (angle / np.sin(angle / 2)) * e[1:4] - weighted_error_vectors.append(error_vec) - - error_avg = (1 / n) * np.sum(weighted_error_vectors, axis=0) - if np.linalg.norm(error_avg) < tol: - break - - error_norm = np.linalg.norm(error_avg) - if error_norm > 0: - delta_q = np.array( - [ - np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm)), - ] - ) - else: - delta_q = np.array([1.0, 0.0, 0.0, 0.0]) - - mean_q = quaternion_super_product(delta_q, mean_q) - mean_q = quat_norm(mean_q) - - return mean_q - - -def mean_set(set_points: list[StateQuat]) -> np.ndarray: - """Function calculates the mean vector of a set of points. - - Args: - set_points (list[StateQuat]): List of StateQuat objects - - Returns: - np.ndarray: The mean vector - """ - n = len(set_points) - mean_value = StateQuat() - - for state in set_points: - mean_value.add_without_quaternions(state) - - mean_value.position = (1 / n) * mean_value.position - mean_value.velocity = (1 / n) * mean_value.velocity - mean_value.angular_velocity = (1 / n) * mean_value.angular_velocity - mean_value.okid_params = (1 / n) * mean_value.okid_params - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points) - return mean_value.as_vector() - - -def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points.""" - n = len(set_points) - mean_value = MeasModel() - - for state in set_points: - mean_value = mean_value + state - - mean_value = (1 / n) * mean_value - - return mean_value.measurement - - -def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - covariance = np.zeros(set_points[0].covariance.shape) - - mean_quat = StateQuat() - mean_quat.fill_states(mean) - - mean_q = mean_quat.orientation - - for state in set_points: - q = state.orientation - diff_q = quaternion_error(q, mean_q) - - e0_clipped = np.clip(diff_q[0], -1.0, 1.0) - angle = 2.0 * np.arccos(e0_clipped) - if abs(angle) < 1e-8: - e_vec = np.zeros(3) - else: - e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] - - covariance += np.outer( - state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec) - ) - - covariance = (1 / (n)) * covariance - - return covariance - - -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - co_size = len(set_points[0].measurement) - covariance = np.zeros((co_size, co_size)) - - mean_meas = MeasModel() - mean_meas.measurement = mean - - for state in set_points: - temp_state = state - mean_meas - covariance += np.outer(temp_state.measurement, temp_state.measurement) - - covariance = (1 / n) * covariance - - return covariance - - -def cross_covariance( - set_y: list[StateQuat], - mean_y: np.ndarray, - set_z: list[MeasModel], - mean_z: np.ndarray, -) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction.""" - n = len(set_y) - - cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) - mean_quat = StateQuat() - mean_quat.fill_states(mean_y) - - mean_q = mean_quat.orientation - - for i in range(n): - q = set_y[i].orientation - diff_q = quaternion_error(q, mean_q) - - e0_clipped = np.clip(diff_q[0], -1.0, 1.0) - angle = 2.0 * np.arccos(e0_clipped) - if abs(angle) < 1e-8: - e_vec = np.zeros(3) - else: - e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] - - cross_covariance += np.outer( - set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z - ) - - cross_covariance = (1 / n) * cross_covariance - - return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_ros.py b/navigation/ukf_okid/ukf_python/ukf_ros.py deleted file mode 100755 index a40c2f7c3..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_ros.py +++ /dev/null @@ -1,159 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import rclpy -from geometry_msgs.msg import TwistWithCovarianceStamped, WrenchStamped -from nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy -from ukf_okid import UKF -from ukf_okid_class import MeasModel, StateQuat, process_model - - -class UKFNode(Node): - def __init__(self): - super().__init__("UKFNode") - - best_effort_qos = QoSProfile( - reliability=ReliabilityPolicy.BEST_EFFORT, - history=HistoryPolicy.KEEP_LAST, - depth=1, - ) - - # subscribers - self.dvl_subscriber = self.create_subscription( - TwistWithCovarianceStamped, - "/orca/twist", - self.dvl_callback, - qos_profile=best_effort_qos, - ) - - self.control_input = self.create_subscription( - WrenchStamped, - "/orca/wrench_input", - self.control_callback, - qos_profile=best_effort_qos, - ) - - self.odom_publish = self.create_publisher( - Odometry, "/orca/odometry", qos_profile=best_effort_qos - ) - dt = self.declare_parameter("dt", 0.01).get_parameter_value().double_value - self.control_timer = self.create_timer(dt, self.odom_publisher) - - self.current_state = StateQuat() - x0 = np.zeros(13) - x0[3] = 1.0 # quaternion: [1, 0, 0, 0] - P0 = np.eye(12) * 0.5 - self.ukf_model = process_model() - self.ukf_model.dt = 0.01 - self.ukf_model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - self.ukf_model.m = 30.0 - self.ukf_model.r_b_bg = np.array([0.01, 0.0, 0.02]) - self.ukf_model.inertia = np.diag([0.68, 3.32, 3.34]) - self.ukf_model.damping_linear = np.array([0.01] * 6) - # self.ukf_model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - Q = np.diag([0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - - self.ukf = UKF(self.ukf_model, x0, P0, Q) - self.ukf_flagg = False - - def dvl_callback(self, msg: TwistWithCovarianceStamped): - # unpack msg - dvl_measurement = MeasModel() - # Print received DVL data to console - # self.get_logger().info(f"DVL data received: x={msg.twist.twist.linear.x}, y={msg.twist.twist.linear.y}, z={msg.twist.twist.linear.z}") - dvl_measurement.measurement = np.array( - [ - msg.twist.twist.linear.x, - msg.twist.twist.linear.y, - msg.twist.twist.linear.z, - ] - ) - dvl_measurement.covariance = np.array( - [ - [ - msg.twist.covariance[0], - msg.twist.covariance[1], - msg.twist.covariance[3], - ], - [ - msg.twist.covariance[6], - msg.twist.covariance[7], - msg.twist.covariance[8], - ], - [ - msg.twist.covariance[12], - msg.twist.covariance[13], - msg.twist.covariance[14], - ], - ] - ) - - self.ukf.measurement_update(self.current_state, dvl_measurement) - self.current_state = self.ukf.posteriori_estimate( - self.current_state, dvl_measurement - ) - self.ukf_flagg = True - - def control_callback(self, msg: WrenchStamped): - # unpack message - control_array = np.array( - [ - msg.wrench.force.x, - msg.wrench.force.y, - msg.wrench.force.z, - msg.wrench.torque.x, - msg.wrench.torque.y, - msg.wrench.torque.z, - ] - ) - self.ukf_model.Control_input = control_array - - def odom_publisher(self): - msg = Odometry() - - if self.ukf_flagg == False: - self.current_state = self.ukf.unscented_transform(self.current_state) - else: - self.ukf_flagg = False - - msg.header.stamp = self.get_clock().now().to_msg() - msg.header.frame_id = "odom" - msg.child_frame_id = "base_link" - - msg.pose.pose.position.x = self.current_state.position[0] - msg.pose.pose.position.y = self.current_state.position[1] - msg.pose.pose.position.z = self.current_state.position[2] - msg.pose.pose.orientation.w = self.current_state.orientation[0] - msg.pose.pose.orientation.x = self.current_state.orientation[1] - msg.pose.pose.orientation.y = self.current_state.orientation[2] - msg.pose.pose.orientation.z = self.current_state.orientation[3] - msg.twist.twist.linear.x = self.current_state.velocity[0] - msg.twist.twist.linear.y = self.current_state.velocity[1] - msg.twist.twist.linear.z = self.current_state.velocity[2] - msg.twist.twist.angular.x = self.current_state.angular_velocity[0] - msg.twist.twist.angular.y = self.current_state.angular_velocity[1] - msg.twist.twist.angular.z = self.current_state.angular_velocity[2] - - self.odom_publish.publish(msg) - - -def main(args=None): - rclpy.init(args=args) - ukf_node = UKFNode() - rclpy.spin(ukf_node) - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py deleted file mode 100644 index e664bd848..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ /dev/null @@ -1,27 +0,0 @@ -import numpy as np -def generate_delta_matrix(n: int) -> np.ndarray: - if n < 1: - raise ValueError("n must be a positive integer") - - delta = np.zeros((n, 2 * n)) - r_max = n // 2 # floor(n/2) - sq2 = np.sqrt(2.0) - - for k in range(1, 2 * n + 1): # k = 1 … 2n - for r in range(1, r_max + 1): - row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} - row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} - angle = (2 * r - 1) * k * np.pi / n - delta[row_cos, k - 1] = sq2 * np.cos(angle) - delta[row_sin, k - 1] = sq2 * np.sin(angle) - - if n % 2 == 1: # extra entry when n is odd - delta[n - 1, k - 1] = (-1) ** k - - return delta - -a1 = np.array([1, 0, 1]) -a2 = np.array([1, 1, 0]) - -a3 = np.outer(a1, a2) -print(a3) \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py deleted file mode 100644 index 0a2d5b2fe..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_test_2.py +++ /dev/null @@ -1,229 +0,0 @@ -import numpy as np -import ukf_okid_class as ukf -from ukf_okid import UKF -from mpl_toolkits.mplot3d import Axes3D -import time -import math -from ukf_utils import print_StateQuat, print_matrix - -import matplotlib.pyplot as plt - -# Initialize UKF with StateQuat -initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z -initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz -initial_quaternion = np.array([1.0, 0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) -initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz -initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters -initial_covariance = np.eye(37) * 20.0 # Initial covariance matrix - -# Create StateQuat object -state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) -state.okid_params.g_eta = initial_g_eta -state.covariance = initial_covariance - -real_state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) -real_state.okid_params.g_eta = np.array([1.2, 0.3, 0.3, 0.3]) - -UKF_model = UKF(state, Q=10.0 * np.eye(37)) # Process noise covariance -dvl_measurement = ukf.MeasModel() - -def ang_h(state: ukf.StateQuat) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 13)) - H_matrix[:, 10:13] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -ang_measurement = ukf.MeasModel(H=ang_h) - -# UKF parameters -dt = 0.01 # time step -sim_time = 1.0 # total simulation time -steps = int(sim_time / dt) - -# Storage for trajectory -positions = np.zeros((steps, 3)) -velocities = np.zeros((steps, 3)) -quaternions = np.zeros((steps, 4)) -angular_velocities = np.zeros((steps, 3)) -okid_params = np.zeros((steps, 4)) - -# Storage for trajectory -positions_est = np.zeros((steps, 3)) -velocities_est = np.zeros((steps, 3)) -quaternions_est = np.zeros((steps, 4)) -angular_velocities_est = np.zeros((steps, 3)) -okid_params_est = np.zeros((steps, 4)) - -# Simulation loop -for i in range(steps): - t = i * dt - - # Generate control input (slow sinusoidal signals) - control_force = np.array([ - 5 * np.sin(4.0 * t), - 10 * np.sin(3.0 * t), - 10 * np.sin(2.0 * t) - ]) - - control_torque = np.array([ - 10 * np.sin(4.0 * t), - 10 * np.sin(4.0 * t), - 10 * np.sin(4.0 * t) - ]) - - control_input = np.concatenate((control_force, control_torque)) - - # Propagate state using UKF prediction - real_state = ukf.F_dynamics(real_state, dt, control_input) - state = UKF_model.unscented_transform(state, control_input) - if i % 5 == 0: - # Simulate measurement update every 5 steps - ang_measurement.measurement = np.array([ - real_state.angular_velocity[0], - real_state.angular_velocity[1], - real_state.angular_velocity[2] - ]) + np.random.normal(0, 0.03, 3) - # Simulate measurement covariance - ang_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance - # Update UKF with measurement - UKF_model.measurement_update(state, ang_measurement) - state = UKF_model.posteriori_estimate(state, ang_measurement) - - if i % 10 == 0: - # Simulate measurement update every 10 steps - dvl_measurement.measurement = np.array([ - real_state.velocity[0], - real_state.velocity[1], - real_state.velocity[2] - ]) + np.random.normal(0, 0.03, 3) # Simulated measurement with noise - - # Simulate measurement covariance - dvl_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance - - # Update UKF with measurement - UKF_model.measurement_update(state, dvl_measurement) - state = UKF_model.posteriori_estimate(state, dvl_measurement) - print_matrix(state.covariance) - - print("Determinant of covariance matrix:", np.linalg.det(state.covariance)) - # Store state for plotting - positions[i] = real_state.position - velocities[i] = real_state.velocity - quaternions[i] = real_state.orientation - angular_velocities[i] = real_state.angular_velocity - okid_params[i] = real_state.okid_params.g_eta - - # Store estimated state for plotting - positions_est[i] = state.position - velocities_est[i] = state.velocity - quaternions_est[i] = state.orientation - angular_velocities_est[i] = state.angular_velocity - okid_params_est[i] = state.okid_params.g_eta - - # Add small delay to simulate real-time execution - time.sleep(0.001) -print(state.as_vector()) -# Plotting -time_points = np.arange(0, sim_time, dt) - -# 3D trajectory plot -fig = plt.figure(figsize=(12, 10)) -ax = fig.add_subplot(111, projection='3d') -ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') -ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') -ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') -ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') -ax.set_xlabel('X Position') -ax.set_ylabel('Y Position') -ax.set_zlabel('Z Position') -ax.set_title('3D Trajectory') -ax.legend() - -# Position plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, positions[:, 0], 'b-', label='True') -plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Position') -plt.legend() -plt.subplot(312) -plt.plot(time_points, positions[:, 1], 'b-', label='True') -plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Position') -plt.legend() -plt.subplot(313) -plt.plot(time_points, positions[:, 2], 'b-', label='True') -plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Position') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, velocities[:, 0], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Velocity') -plt.legend() -plt.subplot(312) -plt.plot(time_points, velocities[:, 1], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Velocity') -plt.legend() -plt.subplot(313) -plt.plot(time_points, velocities[:, 2], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Velocity') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Angular velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('Roll Rate') -plt.legend() -plt.subplot(312) -plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Pitch Rate') -plt.legend() -plt.subplot(313) -plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Yaw Rate') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# OKID g_eta plot -plt.figure(figsize=(12, 6)) -plt.subplot(411) -plt.plot(time_points, okid_params[:, 0], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 0], 'r--', label='Estimated') -plt.ylabel('g_eta[0]') -plt.legend() -plt.subplot(412) -plt.plot(time_points, okid_params[:, 1], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 1], 'r--', label='Estimated') -plt.ylabel('g_eta[1]') -plt.legend() -plt.subplot(413) -plt.plot(time_points, okid_params[:, 2], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 2], 'r--', label='Estimated') -plt.ylabel('g_eta[2]') -plt.legend() -plt.subplot(414) -plt.plot(time_points, okid_params[:, 3], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 3], 'r--', label='Estimated') -plt.ylabel('g_eta[3]') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -plt.show() - diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py deleted file mode 100644 index 7bf7cd4e3..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ /dev/null @@ -1,35 +0,0 @@ -import numpy as np -from ukf_okid_class import StateQuat - - -def print_StateQuat_list( - state_list: list[StateQuat], name="StateQuat List", print_covariance=True -): - """Custom print function to print a list of StateQuat objects in a formatted form.""" - print(f"{name}:") - for i, state in enumerate(state_list): - print(f"Index {i}:") - print_StateQuat(state, f"StateQuat {i}", print_covariance) - - -def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): - """Custom print function to print StateQuat objects in a formatted form.""" - print(f"{name}:") - print(f" Position: {state.position}") - print(f" Orientation: {state.orientation}") - print(f" Velocity: {state.velocity}") - print(f" Angular Velocity: {state.angular_velocity}") - print(f" okid state: {state.okid_params}") - # print(f" okid_params: {state.okid_params}") - if print_covariance: - print_matrix(state.covariance, "Covariance") - - -def print_matrix(matrix, name="Matrix"): - """Custom print function to print matrices in a formatted form.""" - print(f"{name}: {matrix.shape}") - if isinstance(matrix, np.ndarray): - for row in matrix: - print(" ".join(f"{val:.2f}" for val in row)) - else: - print(matrix) From 334519db45a7f64c862fa5143e7cd4f8e83432d3 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 5 Oct 2025 20:31:07 +0200 Subject: [PATCH 024/109] fix: removing tukf and some errors in eskf --- navigation/eskf/include/eskf/eskf_ros.hpp | 11 +- navigation/eskf/src/eskf_ros.cpp | 20 +- navigation/tukf_rsi/CMakeLists.txt | 61 ------ .../tukf_rsi/config/tusk_rsi_params.yaml | 12 -- .../tukf_rsi/include/tukf_rsi/tukf_rsi.hpp | 63 ------ .../include/tukf_rsi/tukf_rsi_model.hpp | 50 ----- .../include/tukf_rsi/tukf_rsi_ros.hpp | 64 ------ .../include/tukf_rsi/tukf_rsi_utils.hpp | 65 ------ .../tukf_rsi/include/tukf_rsi/typedefs.hpp | 145 ------------- navigation/tukf_rsi/launch/tukf_rsi.launch.py | 22 -- navigation/tukf_rsi/package.xml | 22 -- navigation/tukf_rsi/src/tukf_rsi.cpp | 84 -------- navigation/tukf_rsi/src/tukf_rsi_model.cpp | 125 ----------- navigation/tukf_rsi/src/tukf_rsi_node.cpp | 9 - navigation/tukf_rsi/src/tukf_rsi_ros.cpp | 150 ------------- navigation/tukf_rsi/src/tukf_rsi_utils.cpp | 199 ------------------ 16 files changed, 17 insertions(+), 1085 deletions(-) delete mode 100644 navigation/tukf_rsi/CMakeLists.txt delete mode 100644 navigation/tukf_rsi/config/tusk_rsi_params.yaml delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp delete mode 100644 navigation/tukf_rsi/launch/tukf_rsi.launch.py delete mode 100644 navigation/tukf_rsi/package.xml delete mode 100644 navigation/tukf_rsi/src/tukf_rsi.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_model.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_node.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_ros.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_utils.cpp diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index d4a770864..424e583f7 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -21,14 +21,14 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: - // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); // @brief Callback function for the dvl topic // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Publish the odometry message void publish_odom(); @@ -41,7 +41,8 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr dvl_sub_; + rclcpp::Subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; rclcpp::Publisher::SharedPtr odom_pub_; @@ -63,11 +64,11 @@ class ESKFNode : public rclcpp::Node { std::unique_ptr eskf_; - rclcpp::Time last_imu_time_; - bool first_imu_msg_received_ = false; Eigen::Matrix3d R_imu_eskf_; + + rclcpp::Time last_imu_time_; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index cfa85172e..c379732e3 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -28,7 +28,8 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription( + dvl_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -95,21 +96,22 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } -void ESKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - // Log that we received a DVL message - // spdlog::info("DVL message received"); - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; +void ESKFNode::dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], + msg->twist.covariance[14]; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); - } void ESKFNode::publish_odom() { diff --git a/navigation/tukf_rsi/CMakeLists.txt b/navigation/tukf_rsi/CMakeLists.txt deleted file mode 100644 index f1ad5e0b1..000000000 --- a/navigation/tukf_rsi/CMakeLists.txt +++ /dev/null @@ -1,61 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(tukf_rsi) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 20) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(Eigen3 REQUIRED) -find_package(tf2 REQUIRED) -find_package(vortex_msgs REQUIRED) -find_package(spdlog REQUIRED) -find_package(fmt REQUIRED) - -if(NOT DEFINED EIGEN3_INCLUDE_DIR) - set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) -endif() -include_directories(${EIGEN3_INCLUDE_DIR}) - -include_directories(include) - -add_executable(tukf_rsi_node - src/tukf_rsi.cpp - src/tukf_rsi_ros.cpp - src/tukf_rsi_node.cpp - src/tukf_rsi_utils.cpp -) - -ament_target_dependencies(tukf_rsi_node - rclcpp - geometry_msgs - nav_msgs - Eigen3 - tf2 - vortex_msgs - spdlog - fmt -) - -target_link_libraries(tukf_rsi_node - fmt::fmt -) - -install(TARGETS - tukf_rsi_node - DESTINATION lib/${PROJECT_NAME}) - -install(DIRECTORY - config - launch - DESTINATION share/${PROJECT_NAME}/ -) - -ament_package() diff --git a/navigation/tukf_rsi/config/tusk_rsi_params.yaml b/navigation/tukf_rsi/config/tusk_rsi_params.yaml deleted file mode 100644 index c74717815..000000000 --- a/navigation/tukf_rsi/config/tusk_rsi_params.yaml +++ /dev/null @@ -1,12 +0,0 @@ -eskf_node: - ros__parameters: - gyro_topic: "/imu/data" - dvl_topic: "/orca/twist" - odom_topic: "/tukf/odom" - wrench_topic: "/orca/wrench_input" - diag_Q_std: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] - diag_P0_std: [2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] - x0: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - diag_Rgyro_std: [0.01, 0.01, 0.01] - diag_Rdvl_std: [0.05, 0.05, 0.05] - diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp deleted file mode 100644 index a1e19edb5..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp +++ /dev/null @@ -1,63 +0,0 @@ -// tukf.hpp -#ifndef TUKF_HPP -#define TUKF_HPP - -#include "typedefs.hpp" // includes AUVState, MeasModel, and utility functions -#include - -class TUKF { -public: - TUKF(const AUVState& x0, - const Eigen::Matrix37d& Q_in, - double dt = 0.01); - - // @brief Generate sigma points for the current state - // @param current_state: Current state of the AUV - // @return A vector of sigma points - std::vector sigma_points(const AUVState& current_state); - - // @brief Unscented transform to predict the next state - // @param current_state: Current state of the AUV - // @param control_force: Control force applied to the AUV - // @return Predicted state after applying the control force - AUVState unscented_transform(const AUVState& current_state, - const Eigen::Vector3d& control_force); - - // @brief Perform measurement update using the measurement model - // @param current_state: Current state of the AUV - // @param measurement: Measurement model containing the measurement and covariance - // @return Updated state after measurement update - void measurement_update(const AUVState& current_state, - const MeasModel& measurement); - - // @brief Posterior estimate of the state after measurement update - // @param current_state: Current state of the AUV - // @param measurement: Measurement model containing the measurement and covariance - // @return Posterior estimate of the state - AUVState posterior_estimate(const AUVState& current_state, - const MeasModel& measurement); - - // public state and flags - AUVState x; - bool filter_failed; - -private: - - Eigen::Matrix37d Q; - - Eigen::Matrix delta; - - std::vector sigma_points_list; - - std::vector y_i; - - MeasModel measurement_updated; - - Eigen::Matrix cross_correlation; - - double dt; - - int flagg; -}; - -#endif // TUKF_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp deleted file mode 100644 index b536ca798..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef TUKF_MODEL_HPP -#define TUKF_MODEL_HPP - -#include -#include "tukf_rsi/typedefs.hpp" - - -// @brief Tranformation matrix from quaternion orientation -// @param orientation: Quaternion representing the orientation -// @return 3x3 transformation matrix -Eigen::Matrix3d tranfromation_matrix(const Eigen::Quaterniond& orientation); - -// @brief Mass inertia system-matrix (6×6) -// @param inertia_vec: Vector containing the inertia parameters -Eigen::Matrix6d M_rb(const Eigen::Vector9d& inertia_vec); - -// @brief Added mass system-matrix (6×6) -// @param added_mass: Vector containing the added mass parameters -Eigen::Matrix6d M_a(const Eigen::Vector6d& added_mass); - -// @brief Corilos and centripetal forces system-matrix (6×6) -// @param inertia_vec: Vector containing the inertia parameters -// @param angular_velocity: Angular velocity vector -Eigen::Matrix6d C_rb(const Eigen::Vector9d& inertia_vec, - const Eigen::Vector3d& angular_velocity); - -// @brief added mass Corilos and centripetal forces system-matrix (6×6) -// @param added_mass: Vector containing the added mass parameters -// @param angular_velocity: Angular velocity vector -// @param velocity: Velocity linear vector -Eigen::Matrix6d C_a(const Eigen::Vector6d& added_mass, - const Eigen::Vector3d& angular_velocity, - const Eigen::Vector3d& velocity); - -// @brief Damping system-matrix (6×6) -// @param damping: Vector containing the damping parameters -Eigen::Matrix6d D_linear(const Eigen::Vector6d& damping); - -// @brief generalized froces (6×1) -// @param g_eta_params: Vector containing the g_eta parameters (buoyancy terms) -// @param euler_angles: Euler angles (roll, pitch, yaw) -Eigen::Vector6d G_eta(const Eigen::Vector4d& g_eta_params, - const Eigen::Vector3d& euler_angles); - -// @brief Dynamics function for the AUV -AUVState F_dynamics(const AUVState& state, - double dt, - const Eigen::Vector3d& control_input); - -#endif // TUKF_MODEL_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp deleted file mode 100644 index 98b0a547a..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp +++ /dev/null @@ -1,64 +0,0 @@ -#ifndef TUKF_NODE_HPP -#define TUKF_NODE_HPP - -#include -#include -#include -#include -#include -#include -#include -#include -#include "tukf_rsi/tukf.hpp" -#include "tukf_rsi/tukf_rsi_utils.hpp" -#include "tukf_rsi/typedefs.hpp" - -class TUKFNode : public rclcpp::Node { -public: - TUKFNode(); - -private: - - // @brief Callback function for the gyro topic - // @param msg: Imu message containing the gyro data - void gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg); - - // @brief Callback function for the DVL topic - // @param msg: TwistWithCovarianceStamped message containing the DVL data - void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); - - // @brief Callback function for the wrench topic - // @param msg: WrenchStamped message containing the wrench data - void wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg); - - // @brief Set the subscriber and publisher for the node - void set_subscribers_and_publisher(); - - // @brief Set the parameters for the eskf - void set_parameters(); - - // @brief Publish the odometry message - void publish_odom(); - - rclcpp::Subscription::SharedPtr gyro_sub_; - - rclcpp::Subscription::SharedPtr dvl_sub_; - - rclcpp::Subscription::SharedPtr wrench_sub_; - - rclcpp::Publisher::SharedPtr odom_pub_; - - rclcpp::TimerBase::SharedPtr odom_timer_; - - std::unique_ptr tukf_; - - AUVState state_; - - double dt_; - - Eigen::Matrix3d R_gyro_; - - Eigen::Matrix3d R_dvl_; -}; - -#endif // TUKF_NODE_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp deleted file mode 100644 index b3c31221f..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp +++ /dev/null @@ -1,65 +0,0 @@ -#ifndef TUKF_RSI_UTILS_HPP -#define TUKF_RSI_UTILS_HPP - -#include -#include -#include "tukf_rsi/typedefs.hpp" - -// @brief Compute mean quaternion from a set of quaternions -// @param quats: Vector of quaternions -// @param tol: Tolerance for convergence -// @param maxIter: Maximum number of iterations -Eigen::Quaterniond quaternion_mean( - const std::vector& quats, - double tol = 1e-6, - int maxIter = 100 -); - -// @brief Compute mean of a set of AUV states -// @param setPoints: Vector of AUVState objects -// @param tol: Tolerance for convergence -// @param maxIter: Maximum number of iterations -Eigen::Vector37d mean_set( - const std::vector& setPoints, - double tol = 1e-6, - int maxIter = 100 -); - -// @brief Compute mean of a set of measurements -// @param setPoints: Vector of MeasModel objects -Eigen::Vector3d mean_masurement(const std::vector& setPoints); - -// @brief Compute covariance of a set of AUV states -// @param setPoints: Vector of AUVState objects -// @param meanVec: Mean vector of the set -// @param tol: Tolerance for convergence -Eigen::Matrix37d covariance_set( - const std::vector& setPoints, - const Eigen::Vector37d& meanVec, - double tol = 1e-6 -); - -// @brief Compute covariance of a set of measurements -// @param setPoints: Vector of MeasModel objects -// @param mean: Mean vector of the measurements -Eigen::Matrix3d covariance_measurement( - const std::vector& setPoints, - const Eigen::Vector3d& mean -); - -// @brief Compute cross-covariance between AUV states and measurements -// @param setY: Vector of AUVState objects -// @param meanY: Mean vector of the AUV states -// @param setZ: Vector of MeasModel objects -// @param meanZ: Mean vector of the measurements -// @param tol: Tolerance for convergence -Eigen::Matrix cross_covariance( - const std::vector& setY, - const Eigen::Vector37d& meanY, - const std::vector& setZ, - const Eigen::Vector3d& meanZ, - double tol = 1e-6 -); - -#endif // TUKF_RSI_UTILS_HPP - diff --git a/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp b/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp deleted file mode 100644 index 0d724577d..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp +++ /dev/null @@ -1,145 +0,0 @@ -#ifndef AUV_TYPEDEFS_HPP -#define AUV_TYPEDEFS_HPP - -#include -#include -#include -#include - -namespace Eigen { - typedef Matrix Vector37d; - typedef Matrix Matrix37d; - typedef Matrix Vector25d; - typedef Matrix Vector12d; - typedef Matrix Vector9d; - typedef Matrix Vector6d; - typedef Matrix Vector4d; - typedef Matrix Matrix3x12d; - typedef Matrix Matrix3d; - typedef Matrix Matrix3x37d; - typedef Matrix Matrix37x74d; - typedef Matrix Matrix37x3d; -} - -struct AUVState { - Eigen::Vector3d position = Eigen::Vector3d::Zero(); - Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity(); - Eigen::Vector3d velocity = Eigen::Vector3d::Zero(); - Eigen::Vector3d angular_velocity = Eigen::Vector3d::Zero(); - Eigen::Vector9d inertia = Eigen::Vector9d::Zero(); - Eigen::Vector6d added_mass = Eigen::Vector6d::Zero(); - Eigen::Vector6d damping = Eigen::Vector6d::Zero(); - Eigen::Vector4d g_eta = Eigen::Vector4d::Zero(); - Eigen::Matrix37d covariance = Eigen::Matrix37d::Zero(); - - Eigen::Vector3d error = Eigen::Vector3d::Zero(); - - AUVState() = default; - - Eigen::Vector12d dynamic_part() const { - Eigen::Vector12d x; - x << position, - orientation.vec(), - velocity, - angular_velocity; - return x; - } - - Eigen::Vector25d okid_part() const { - Eigen::Vector25d x; - x << inertia, - added_mass, - damping, - g_eta; - return x; - } - - Eigen::Vector37d as_vector() const { - Eigen::Vector37d x; - x << dynamic_part(), - okid_part(); - return x; - } - - AUVState operator+(const AUVState& other) const { - AUVState result; - result.position = position + other.position; - result.orientation = orientation * other.orientation; - result.velocity = velocity + other.velocity; - result.angular_velocity = angular_velocity + other.angular_velocity; - result.inertia = inertia + other.inertia; - result.added_mass = added_mass + other.added_mass; - result.damping = damping + other.damping; - result.g_eta = g_eta + other.g_eta; - return result; - } - - AUVState operator-(const AUVState& other) const { - AUVState result; - result.position = position - other.position; - result.orientation = orientation * other.orientation.inverse(); - result.velocity = velocity - other.velocity; - result.angular_velocity = angular_velocity - other.angular_velocity; - result.inertia = inertia - other.inertia; - result.added_mass = added_mass - other.added_mass; - result.damping = damping - other.damping; - result.g_eta = g_eta - other.g_eta; - return result; - } - - void fill_states(const Eigen::Vector37d& x) { - position = x.segment<3>(0); - Eigen::Vector3d ori_vec = x.segment<3>(3); - orientation = Eigen::Quaterniond(1, ori_vec.x(), ori_vec.y(), ori_vec.z()).normalized(); - velocity = x.segment<3>(6); - angular_velocity = x.segment<3>(9); - inertia = x.segment<9>(12); - added_mass = x.segment<6>(21); - damping = x.segment<6>(27); - g_eta = x.segment<4>(33); - } -}; - -struct MeasModel { - Eigen::Vector3d measurement = Eigen::Vector3d::Zero(); - Eigen::Matrix3d covariance = Eigen::Matrix3d::Zero(); - std::function H; - - MeasModel() - : H(default_h) - {} - - MeasModel(const Eigen::Vector3d& meas, - const Eigen::Matrix3d& cov, - std::function Hfunc = default_h) - : measurement(meas), covariance(cov), H(std::move(Hfunc)) - {} - - static MeasModel default_h(const AUVState& state) { - MeasModel z; - Eigen::Matrix3x12d Hmat = Eigen::Matrix3x12d::Zero(); - Hmat.block<3,3>(0,6) = Eigen::Matrix3d::Identity(); - z.measurement = Hmat * state.dynamic_part(); - return z; - } - - MeasModel operator+(const MeasModel& other) const { - MeasModel r; - r.measurement = measurement + other.measurement; - return r; - } - - MeasModel operator-(const MeasModel& other) const { - MeasModel r; - r.measurement = measurement - other.measurement; - return r; - } - - friend MeasModel operator*(double scalar, const MeasModel& m) { - MeasModel r; - r.measurement = scalar * m.measurement; - return r; - } -}; - -#endif // AUV_TYPEDEFS_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/launch/tukf_rsi.launch.py b/navigation/tukf_rsi/launch/tukf_rsi.launch.py deleted file mode 100644 index e238b3e1e..000000000 --- a/navigation/tukf_rsi/launch/tukf_rsi.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -from os import path - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - -tukf_rsi_params = path.join( - get_package_share_directory("tukf_rsi"), "config", "tukf_rsi_params.yaml" -) - - -def generate_launch_description(): - tukf_rsi_node = Node( - package="tukf_rsi", - executable="tukf_rsi_node", - name="tukf_rsi_node", - parameters=[ - tukf_rsi_params, - ], - output="screen", - ) - return LaunchDescription([tukf_rsi_node]) diff --git a/navigation/tukf_rsi/package.xml b/navigation/tukf_rsi/package.xml deleted file mode 100644 index 989241795..000000000 --- a/navigation/tukf_rsi/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - tukf_rsi - 1.0.0 - Transformed Unscented Kalman Filter - talhanc - MIT - - ament_cmake - - rclcpp - geometry_msgs - nav_msgs - eigen - tf2 - vortex_msgs - - - ament_cmake - - diff --git a/navigation/tukf_rsi/src/tukf_rsi.cpp b/navigation/tukf_rsi/src/tukf_rsi.cpp deleted file mode 100644 index df0195d86..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi.cpp +++ /dev/null @@ -1,84 +0,0 @@ -#include "tukf_rsi/tukf.hpp" -#include "tukf_rsi/tukf_rsi_utils.hpp" -#include "tukf_rsi/typedefs.hpp" -#include "tukf_rsi/tukf_rsi_model.hpp" -#include - -TUKF::TUKF(const AUVState& x0, - const Eigen::Matrix37d& Q_in, - double dt_in) - : x(x0), Q(Q_in), dt(dt_in), filter_failed(false), flagg(0) -{ - delta = generate_elta_matrix37() / std::sqrt(static_cast(x.as_sector().size())); - measurement_updated = MeasModel(); -} - -std::vector TUKF::sigma_points(const AUVState& current_state) { - int n = static_cast(current_state.covariance.rows()); - ++flagg; - Eigen::Matrix37d S; - bool chol_ok = true; - auto llt = current_state.covariance.llt(); - if(llt.info() == Eigen::NumericalIssue) { - chol_ok = false; - } else { - S = llt.matrixL(); - } - if (!chol_ok) { - filter_failed = true; - S = Eigen::Matrix37d::Identity() * 1e-6; - } - sigma_points_list.resize(2 * n); - for (int k = 0; k < 2 * n; ++k) { - Eigen::Vector37d v = current_state.as_vector() + S * delta.col(k); - sigma_points_list[k].fill_States(v); - } - return sigma_points_list; -} - -AUVState TUKF::unscented_transform(const AUVState& current_state, - const Eigen::Vector3d& control_force) { - int n = static_cast(current_state.covariance.rows()); - sigma_soints(current_state); - y_i.resize(2 * n); - for (int i = 0; i < 2 * n; ++i) { - y_i[i] = F_dynamics(sigma_points_list[i], dt, control_force); - } - AUVState state_est; - Eigen::Vector37d x_vec = mean_Set(y_i); - state_est.fill_States(x_vec); - state_est.covariance = covarianceSet(y_i, x_vec) + Q; - return state_est; -} - -void TUKF::measurement_update(const AUVState& current_state, - const MeasModel& measurement) { - int n = static_cast(current_state.covariance.rows()); - std::vector z_i(2 * n); - for (int i = 0; i < 2 * n; ++i) { - z_i[i] = measurement.H(sigma_points_list[i]); - } - measurement_updated.measurement = mean_seasurement(z_i); - measurement_updated.covariance = covariance_measurement( - z_i, measurement_updated.measurement); - cross_correlation = cross_covariance( - y_i, - current_state.as_vector(), - z_i, - measurement_updated.measurement); -} - -AUVState TUKF::posterior_estimate(const AUVState& current_state, - const MeasModel& measurement) { - MeasModel nu_k; - nu_k.measurement = measurement.measurement - measurement_updated.measurement; - nu_k.covariance = measurement_updated.covariance + measurement.covariance; - Eigen::Matrix K = cross_correlation * nu_k.covariance.inverse(); - AUVState post; - Eigen::Vector37d v = current_state.as_vector() + - K * nu_k.measurement; - post.fill_states(v); - post.covariance = current_state.covariance - - K * nu_k.covariance * K.transpose(); - return post; -} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_model.cpp b/navigation/tukf_rsi/src/tukf_rsi_model.cpp deleted file mode 100644 index 97a91c024..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_model.cpp +++ /dev/null @@ -1,125 +0,0 @@ -#include "tukf_rsi/tukf_model.hpp" -#include "tukf_rsi/tukf_rsi_utils.hpp" -#include "tukf_rsi/typedefs.hpp" -#include -#include - - -Eigen::Matrix4x3d tranfromation_matrix(const Eigen::Quaterniond& q) { - Eigen::Matrix4x3d T; - T << -q.x(), -q.y(), -q.z(), - q.w(), -q.z(), q.y(), - q.z(), q.w(), -q.x(), - -q.y(), q.x(), q.w(); - return T; -} - -Eigen::Matrix6d M_rb(const Eigen::Vector& inertia_vec) { - const double mass = 30.0; - const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); - const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); - - Eigen::Matrix6d M = Eigen::Matrix6d::Zero(); - M.block<3,3>(0,0) = mass * Eigen::Matrix3d::Identity(); - M.block<3,3>(0,3) = -mass * skewSymmetric(r_b_bg); - M.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg); - M.block<3,3>(3,3) = I_rb; - - return M; -} - -Eigen::Matrix6d M_a(const Eigen::Vector& a_mass) { - Eigen::Matrix6d Ma = Eigen::Matrix6d::Zero(); - Ma.block<3,3>(0,0) = a_mass.head<3>().asDiagonal(); - Ma.block<3,3>(3,3) = a_mass.tail<3>().asDiagonal(); - return Ma; -} - -Eigen::Matrix6d C_rb(const Eigen::Vector& inertia_vec, const Eigen::Vector3d& w) { - const double mass = 30.0; - const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); - const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); - - Eigen::Matrix6d C = Eigen::Matrix6d::Zero(); - C.block<3,3>(3,3) = -skewSymmetric(I_rb * w); - C.block<3,3>(0,3) = -mass * skewSymmetric(w) * skewSymmetric(r_b_bg); - C.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg) * skewSymmetric(w); - - return C; -} - -Eigen::Matrix6d C_a(const Eigen::Vector& a_mass, const Eigen::Vector3d& w, const Eigen::Vector3d& v) { - Eigen::Matrix6d Ca = Eigen::Matrix6d::Zero(); - const Eigen::Matrix3d A11 = a_mass.head<3>().asDiagonal(); - const Eigen::Matrix3d A22 = a_mass.tail<3>().asDiagonal(); - - Ca.block<3,3>(0,3) = -skewSymmetric(A11 * v); - Ca.block<3,3>(3,0) = -skewSymmetric(A11 * v); - Ca.block<3,3>(3,3) = -skewSymmetric(A22 * w); - - return Ca; -} - -Eigen::Matrix6d D_linear(const Eigen::Vector& d) { - Eigen::Matrix6d D = Eigen::Matrix6d::Zero(); - D.block<3,3>(0,0) = -d.head<3>().asDiagonal(); - D.block<3,3>(3,3) = -d.tail<3>().asDiagonal(); - return D; -} - -Eigen::Vector6d G_eta(const Eigen::Vector& g_params, const Eigen::Quaterniond& q) { - const double Mx = g_params[1], My = g_params[2], Mz = g_params[3]; - const Eigen::Matrix3d R = q.toRotationMatrix(); - - Eigen::Vector6d G = Eigen::Vector6d::Zero(); - G(3) = -My*R(2,2) + Mz*R(1,2); - G(4) = -Mz*R(0,2) + Mx*R(2,2); - G(5) = -Mx*R(1,2) + My*R(0,2); - - return G; -} - -AUVState F_dynamics(const AUVState& state, double dt, const Eigen::Vector6d& u) { - const Eigen::Matrix6d Mrb = M_rb(state.inertia); - const Eigen::Matrix6d Ma = M_a(state.added_mass); - const Eigen::Matrix6d Mtotal = Mrb + Ma; - - const Eigen::Matrix6d Crb = C_rb(state.inertia, state.angular_velocity); - const Eigen::Matrix6d Ca = C_a(state.added_mass, state.angular_velocity, state.velocity); - const Eigen::Matrix6d Ctotal = Crb + Ca; - - const Eigen::Matrix6d Dl = D_linear(state.damping); - const Eigen::Vector6d G = G_eta(state.g_eta, state.orientation); - - Eigen::Vector6d nu; - nu << state.velocity, state.angular_velocity; - - AUVState sd; - sd.position = state.orientation.toRotationMatrix() * state.velocity; - sd.orientation = tranfromation_matrix(state.orientation) * state.angular_velocity; - - Eigen::Vector6d Nu = Mtotal.inverse() * (u - Ctotal*nu - Dl*nu - G); - sd.velocity = Nu.head<3>(); - sd.angular_velocity = Nu.tail<3>(); - - sd.inertia.setZero(); - sd.added_mass.setZero(); - sd.damping.setZero(); - sd.g_eta.setZero(); - - AUVState ns; - ns.position = state.position + sd.position * dt; - ns.orientation = state.orientation * Eigen::Quaterniond(1, 0.5*dt*sd.orientation.x(), - 0.5*dt*sd.orientation.y(), - 0.5*dt*sd.orientation.z()); - ns.orientation.normalize(); - ns.velocity = state.velocity + sd.velocity * dt; - ns.angular_velocity = state.angular_velocity + sd.angular_velocity * dt; - - ns.inertia = state.inertia; - ns.added_mass = state.added_mass; - ns.damping = state.damping; - ns.g_eta = state.g_eta; - - return ns; -} diff --git a/navigation/tukf_rsi/src/tukf_rsi_node.cpp b/navigation/tukf_rsi/src/tukf_rsi_node.cpp deleted file mode 100644 index d4f6eed17..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_node.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include "tukf_rsi/tukf_rsi_ros.hpp" - -int main(int argc, char** argv) { - rclcpp::init(argc, argv); - spdlog::info("Starting TUFK for RSI ROS2 Node"); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_ros.cpp b/navigation/tukf_rsi/src/tukf_rsi_ros.cpp deleted file mode 100644 index 2be453191..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_ros.cpp +++ /dev/null @@ -1,150 +0,0 @@ -#include "tukf_node.hpp" -#include - -TUKFNode::TUKFNode() -: Node("tukf_node") -{ - - odom_timer_ = this->create_wall_timer( - std::chrono::duration(dt_), - std::bind(&TUKFNode::publishOdom, this)); - - set_subscribers_and_publisher(); - - set_parameters(); - - spdlog::info("TUKF Node Initialized"); -} - -void TUKFNode::set_subscribers_and_publisher() { - auto qos = rclcpp::QoS(rclcpp::SensorDataQoS()); - this->declare_parameter("gyro_topic"); - std::string gyro_topic = this->get_parameter("gyro_topic").as_string(); - gyro_sub_ = this->create_subscription( - gyro_topic, qos, - std::bind(&TUKFNode::gyroCallback, this, std::placeholders::_1)); - - this->declare_parameter("dvl_topic"); - std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription( - dvl_topic, qos, - std::bind(&TUKFNode::dvlCallback, this, std::placeholders::_1)); - - this->declare_parameter("wrench_topic"); - std::string dvl_topic = this->get_parameter("wrench_topic").as_string(); - wrench_sub_ = this->create_subscription( - wrench_sub_, qos, - std::bind(&TUKFNode::wrenchCallback, this, std::placeholders::_1)); - - this->declare_parameter("odom_topic"); - std::string odom_topic = this->get_parameter("odom_topic").as_string(); - odom_pub_ = this->create_publisher( - odom_topic, qos); -} - -void TUKFNode::set_parameters() { - this->declare_parameter>("diag_Q_std"); - auto diagQ = this->get_parameter("diag_Q_std").as_double_array(); - Eigen::Matrix37d Q = Eigen::Matrix37d::Zero(); - for (int i = 0; i < 37; ++i) { - Q(i,i) = diagQ[i] * diagQ[i]; - } - - this->declare_parameter>("diag_P0_std"); - auto diagP0 = this->get_parameter("diag_P0_std").as_double_array(); - Eigen::Matrix37d P0 = Eigen::Matrix37d::Zero(); - for (int i = 0; i < 37; ++i) { - P0(i,i) = diagP0[i] * diagP0[i]; - } - - this->declare_parameter>("x0"); - auto x0_vec = this->get_parameter("x0").as_double_array(); - Eigen::Vector37d x0_e; - for (int i = 0; i < 37; ++i) x0_e[i] = x0_vec[i]; - - this->declare_parameter("dt", 0.01); - dt_ = this->get_parameter("dt").as_double(); - - this->declare_parameter>("diag_Rgyro_std"); - auto diagRgyro = this->get_parameter("diag_Rgyro_std").as_double_array(); - R_gyro_ = Eigen::Matrix3d::Zero(); - for (int i = 0; i < 3; ++i) R_gyro_(i,i) = diagRgyro[i] * diagRgyro[i]; - - this->declare_parameter>("diag_Rdvl_std"); - auto diagRdvl = this->get_parameter("diag_Rdvl_std").as_double_array(); - R_dvl_ = Eigen::Matrix3d::Zero(); - for (int i = 0; i < 3; ++i) R_dvl_(i,i) = diagRdvl[i] * diagRdvl[i]; - - tukf_ = std::make_unique(x0, Q, dt_); - tukf_->x.covariance = P0; - tukf_->x.fill_states(x0_e); -} - -void TUKFNode::gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { - Eigen::Vector3d gyro(msg->angular_velocity.x, - msg->angular_velocity.y, - msg->angular_velocity.z); - MeasModel m; - m.measurement = gyro; - m.covariance = R_gyro_; - m.H = [](const AUVState& s) { - MeasModel mm; - Eigen::Matrix3x12d Hm = Eigen::Matrix3x12d::Zero(); - Hm.block<3,3>(0,9) = Eigen::Matrix3d::Identity(); - mm.measurement = Hm * s.dynamic_part(); - return mm; - }; - - tukf_->measurement_update(state_, m); - state_ = tukf_->posterior_estimate(state_, m); -} - -void TUKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - Eigen::Vector3d vel(msg->twist.twist.linear.x, - msg->twist.twist.linear.y, - msg->twist.twist.linear.z); - Eigen::Matrix3d cov; - cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - MeasModel m; - m.measurement = vel; - m.covariance = R_dvl_; - - tukf_->measurement_update(state_, m); - state_ = tukf_->posterior_estimate(state_, m); -} - -void TUKFNode::wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg) { - Eigen::Vector6d wrench_input(msg->wrench.force.x, - msg->wrench.force.y, - msg->wrench.force.z, - msg->wrench.torque.x, - msg->wrench.torque.y, - msg->wrench.torque.z); - - state_ = tukf_->unscented_transform(state_, control_force); -} - -void TUKFNode::publish_odom() { - nav_msgs::msg::Odometry odom; - odom.header.stamp = this->now(); - odom.header.frame_id = "odom"; - - odom.pose.pose.position.x = state_.position.x(); - odom.pose.pose.position.y = state_.position.y(); - odom.pose.pose.position.z = state_.position.z(); - odom.pose.pose.orientation.w = state_.orientation.w(); - odom.pose.pose.orientation.x = state_.orientation.x(); - odom.pose.pose.orientation.y = state_.orientation.y(); - odom.pose.pose.orientation.z = state_.orientation.z(); - - odom.twist.twist.linear.x = state_.velocity.x(); - odom.twist.twist.linear.y = state_.velocity.y(); - odom.twist.twist.linear.z = state_.velocity.z(); - odom.twist.twist.angular.x = state_.angular_velocity.x(); - odom.twist.twist.angular.y = state_.angular_velocity.y(); - odom.twist.twist.angular.z = state_.angular_velocity.z(); - - odom_pub_->publish(odom); -} diff --git a/navigation/tukf_rsi/src/tukf_rsi_utils.cpp b/navigation/tukf_rsi/src/tukf_rsi_utils.cpp deleted file mode 100644 index 882fe0cf8..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_utils.cpp +++ /dev/null @@ -1,199 +0,0 @@ - -#include "tukf_rsi_utils.hpp" -#include - -Eigen::Quaterniond quaternionMean( - const std::vector& quats, - double tol, - int maxIter -) { - Eigen::Quaterniond mean_q = quats.front(); - int n = int(quats.size()); - - for (int iter = 0; iter < maxIter; ++iter) { - Eigen::Vector3d errAvg = Eigen::Vector3d::Zero(); - - for (const auto& q : quats) { - - Eigen::Quaterniond e = q * mean_q.conjugate(); - - double w = std::clamp(e.w(), -1.0, 1.0); - double angle = 2 * std::acos(w); - - Eigen::Vector3d axis; - - if (std::abs(angle) < tol) { - axis.setZero(); - } else { - axis = (angle / std::sin(angle / 2.0)) * e.vec(); - } - errAvg += axis; - } - errAvg /= double(n); - - if (errAvg.norm() < tol) break; - double errNorm = errAvg.norm(); - Eigen::Quaterniond dq - - if (errNorm > tol) { - dq.w() = std::cos(errNorm/2.0); - dq.vec() = std::sin(errNorm/2.0) * (errAvg/errNorm); - } else { - dq = Eigen::Quaterniond::Identity(); - } - mean_q = dq * mean_q; - mean_q.normalize(); - } - return mean_q; -} - -Eigen::Vector37d mean_set( - const std::vector& setPoints, - double tol, - int maxIter -) { - int n = int(setPoints.size()); - - Eigen::Vector3d posAvg = Eigen::Vector3d::Zero(); - Eigen::Vector3d velAvg = Eigen::Vector3d::Zero(); - Eigen::Vector3d angVelAvg = Eigen::Vector3d::Zero(); - Eigen::Vector9d inAvg = Eigen::Vector9d::Zero(); - Eigen::Vector6d amAvg = Eigen::Vector6d::Zero(); - Eigen::Vector6d dAvg = Eigen::Vector6d::Zero(); - Eigen::Vector4d gAvg = Eigen::Vector4d::Zero(); - - std::vector quats; - quats.reserve(n); - - for (const auto& s : setPoints) { - posAvg += s.position; - velAvg += s.velocity; - angVelAvg += s.angular_velocity; - inAvg += s.inertia; - amAvg += s.added_mass; - dAvg += s.damping; - gAvg += s.g_eta; - quats.push_back(s.orientation); - } - posAvg /= double(n); - velAvg /= double(n); - angVelAvg /= double(n); - inAvg /= double(n); - amAvg /= double(n); - dAvg /= double(n); - gAvg /= double(n); - Eigen::Quaterniond qMean = quaternion_mean(quats, tol, maxIter); - - AUVState meanState; - meanState.position = posAvg; - meanState.orientation = qMean; - meanState.velocity = velAvg; - meanState.angular_velocity = angVelAvg; - meanState.inertia = inAvg; - meanState.added_mass = amAvg; - meanState.damping = dAvg; - meanState.g_eta = gAvg; - - return meanState.asVector(); -} - -Eigen::Vector3d mean_measurement(const std::vector& setPoints) { - Eigen::Vector3d avg = Eigen::Vector3d::Zero(); - for (const auto& m : setPoints) avg += m.measurement; - return avg / double(setPoints.size()); -} - -Eigen::Matrix37d covariance_set( - const std::vector& setPoints, - const Eigen::Vector37d& meanVec, - double tol -) { - int n = int(setPoints.size()); - AUVState meanState; - meanState.fillStates(meanVec); - std::vector quats; - quats.reserve(n); - - for (const auto& s : setPoints) quats.push_back(s.orientation); - meanState.orientation = quaternion_mean(quats, tol); - - Eigen::Matrix37d cov = Eigen::Matrix37d::Zero(); - for (const auto& s : setPoints) { - Eigen::Vector37d d = Eigen::Vector37d::Zero(); - - d.segment<3>(0) = s.position - meanState.position; - - Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); - double w = std::clamp(e.w(), -1.0, 1.0); - double angle = 2 * std::acos(w); - - - Eigen::Vector3d err; - if (std::abs(angle) < tol) err.setZero(); - else err = (angle / std::sin(angle/2.0)) * e.vec(); - - d.segment<3>(3) = err; - - d.segment<3>(6) = s.velocity - meanState.velocity; - d.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; - d.segment<9>(12) = s.inertia - meanState.inertia; - d.segment<6>(21) = s.added_mass - meanState.added_mass; - d.segment<6>(27) = s.damping - meanState.damping; - d.segment<4>(33) = s.g_eta - meanState.g_eta; - cov += d * d.transpose(); - } - return cov / double(n); -} - -Eigen::Matrix3d covariance_measurement( - const std::vector& setPoints, - const Eigen::Vector3d& mean -) { - Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); - for (const auto& m : setPoints) { - Eigen::Vector3d d = m.measurement - mean; - cov += d * d.transpose(); - } - return cov / double(setPoints.size()); -} - -Eigen::Matrix cross_covariance( - const std::vector& setY, - const Eigen::Vector37d& meanY, - const std::vector& setZ, - const Eigen::Vector3d& meanZ, - double tol -) { - int n = int(setY.size()); - AUVState meanState; - meanState.fill_states(meanY); - std::vector quats; - quats.reserve(n); - for (const auto& s : setY) quats.push_back(s.orientation); - meanState.orientation = quaternion_cean(quats, tol); - - Eigen::Matrix cov = Eigen::Matrix::Zero(); - for (size_t i = 0; i < setY.size(); ++i) { - const auto& s = setY[i]; - - Eigen::Vector37d dY = Eigen::Vector37d::Zero(); - dY.segment<3>(0) = s.position - meanState.position; - Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); - double w = std::clamp(e.w(), -1.0, 1.0); - double angle = 2 * std::acos(w); - Eigen::Vector3d err; - if (std::abs(angle) < tol) err.setZero(); - else err = (angle / std::sin(angle/2.0)) * e.vec(); - dY.segment<3>(3) = err; - dY.segment<3>(6) = s.velocity - meanState.velocity; - dY.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; - dY.segment<9>(12) = s.inertia - meanState.inertia; - dY.segment<6>(21) = s.added_mass - meanState.added_mass; - dY.segment<6>(27) = s.damping - meanState.damping; - dY.segment<4>(33) = s.g_eta - meanState.g_eta; - - Eigen::Vector3d dZ = setZ[i].measurement - meanZ; - cov += dY * dZ.transpose(); - } - return cov / double(n); -} \ No newline at end of file From 7d112b8d85508843250ad762e5992f3a470b2d5c Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Sun, 5 Oct 2025 18:54:00 +0000 Subject: [PATCH 025/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/typedefs.hpp | 3 ++- navigation/eskf/src/eskf.cpp | 33 +++++++++++++++-------- 2 files changed, 24 insertions(+), 12 deletions(-) diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 4dbdb6da3..d6433d46d 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -60,7 +60,8 @@ struct state_quat { euler_diff = (quat * other.quat.inverse()) .toRotationMatrix() - .eulerAngles(0, 1, 2) + Eigen::Vector3d(-M_PI, M_PI, -M_PI); + .eulerAngles(0, 1, 2) + + Eigen::Vector3d(-M_PI, M_PI, -M_PI); vec << pos - other.pos, vel - other.vel, euler_diff, gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 3838e2f1a..4a5501405 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -61,12 +61,14 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Vector3d q_vec(q.x(), q.y(), q.z()); Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - Eigen::Matrix dhdq; - dhdq.col(0) = 2*( qw*v_n + q_vec.cross(v_n) ); - dhdq.block<3,3>(0,1) = 2*( q_vec.dot(v_n)*I3 + q_vec*v_n.transpose() - v_n*q_vec.transpose() - qw*skew(v_n) ); + Eigen::Matrix dhdq; + dhdq.col(0) = 2 * (qw * v_n + q_vec.cross(v_n)); + dhdq.block<3, 3>(0, 1) = + 2 * (q_vec.dot(v_n) * I3 + q_vec * v_n.transpose() - + v_n * q_vec.transpose() - qw * skew(v_n)); // Assign quaternion derivative (3x4 block at columns 6:9) - Hx.block<3,4>(0,6) = dhdq; + Hx.block<3, 4>(0, 6) = dhdq; return Hx; } @@ -83,22 +85,28 @@ Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Vector3d ESKF::calculate_h() { Eigen::Vector3d h; - Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); + Eigen::Matrix3d R_bn = + current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; - //0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, + // 0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, return h; } void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; + Eigen::Vector3d acc = + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -132,7 +140,8 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; - current_error_state_.covariance = A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; + current_error_state_.covariance = + A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { @@ -160,7 +169,9 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = + current_nom_state_.quat * + vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; From ccc834bc3318e9859303cfaa9f405112c45a86ed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20H=C3=B8gden?= Date: Tue, 7 Oct 2025 10:41:25 +0200 Subject: [PATCH 026/109] ci: add node test for eskf --- .github/workflows/ros-node-tests.yml | 1 + navigation/eskf/CMakeLists.txt | 2 -- navigation/eskf/include/eskf/eskf_ros.hpp | 1 - navigation/eskf/launch/eskf.launch.py | 1 + tests/ros_node_tests/eskf_node_test.sh | 39 +++++++++++++++++++++++ 5 files changed, 41 insertions(+), 3 deletions(-) create mode 100644 tests/ros_node_tests/eskf_node_test.sh diff --git a/.github/workflows/ros-node-tests.yml b/.github/workflows/ros-node-tests.yml index c85fbe1f7..8ff052ded 100644 --- a/.github/workflows/ros-node-tests.yml +++ b/.github/workflows/ros-node-tests.yml @@ -14,6 +14,7 @@ jobs: matrix: test_script: - "tests/ros_node_tests/dp_node_test.sh" + - "tests/ros_node_tests/eskf_node_test.sh" uses: vortexntnu/vortex-ci/.github/workflows/reusable-ros2-simulator-test.yml@main with: vcs_repos_file: "tests/dependencies.repos" diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index c431c235f..6c8167609 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -18,7 +18,6 @@ find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) -find_package(stonefish_ros2 REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) @@ -43,7 +42,6 @@ ament_target_dependencies(eskf_node vortex_msgs spdlog fmt - stonefish_ros2 ) target_link_libraries(eskf_node diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 424e583f7..5975d9cc7 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -11,7 +11,6 @@ #include #include #include -#include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" diff --git a/navigation/eskf/launch/eskf.launch.py b/navigation/eskf/launch/eskf.launch.py index 84284f804..1e9d64759 100644 --- a/navigation/eskf/launch/eskf.launch.py +++ b/navigation/eskf/launch/eskf.launch.py @@ -14,6 +14,7 @@ def generate_launch_description(): package="eskf", executable="eskf_node", name="eskf_node", + namespace="orca", parameters=[ eskf_params, ], diff --git a/tests/ros_node_tests/eskf_node_test.sh b/tests/ros_node_tests/eskf_node_test.sh new file mode 100644 index 000000000..35ba6e91e --- /dev/null +++ b/tests/ros_node_tests/eskf_node_test.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -e +set -o pipefail + +echo "Testing that the ESKF node is able to start up and publish odom" + +# Load ROS 2 environment +echo "Setting up ROS 2 environment..." +. /opt/ros/humble/setup.sh +. "${WORKSPACE:-$HOME/ros2_ws}/install/setup.bash" + +# Function to terminate processes safely on error +cleanup() { + echo "Error detected. Cleaning up..." + kill -TERM -"$ESKF_PID" || true + exit 1 +} +trap cleanup ERR + +# Launch eskf node +setsid ros2 launch eskf eskf.launch.py & +ESKF_PID=$! +echo "Launched eskf with PID: $ESKF_PID" + +# Check for ROS errors before continuing +if journalctl -u ros2 | grep -i "error"; then + echo "Error detected in ROS logs. Exiting..." + exit 1 +fi + +# Check if eskf correctly publishes odom +echo "Waiting for odom data..." +timeout 10s ros2 topic echo /orca/odom --once +echo "Got odom data" + +# Terminate processes +kill -TERM -"$ESKF_PID" + +echo "Test completed successfully." From 916fe462b4e1e16d80f71242a75670b1aa27727d Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Tue, 7 Oct 2025 20:28:48 +0200 Subject: [PATCH 027/109] feat: Added fancy text for starting filter --- navigation/eskf/include/eskf/eskf.hpp | 12 ++---------- navigation/eskf/include/eskf/eskf_utils.hpp | 20 ++++++++++++++++++++ navigation/eskf/include/eskf/typedefs.hpp | 11 +++++------ navigation/eskf/launch/eskf.launch.py | 2 +- navigation/eskf/package.xml | 4 ++-- navigation/eskf/src/eskf.cpp | 15 +-------------- navigation/eskf/src/eskf_ros.cpp | 10 +++++++++- navigation/eskf/src/eskf_utils.cpp | 13 +++++++++++++ 8 files changed, 53 insertions(+), 34 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 214f462c4..87221a3b6 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -24,8 +24,8 @@ class ESKF { std::pair dvl_update( const dvl_measurement& dvl_meas); - // NIS - double NIS_; + // Normalized Innovation Squared + double NIS_{}; private: // @brief Predict the nominal state @@ -63,23 +63,15 @@ class ESKF { const Eigen::Matrix18x12d& G_c, const double dt); - // @brief Calculate the delta quaternion matrix - // @param nom_state: Nominal state - // @return Delta quaternion matrix - Eigen::Matrix4x3d calculate_q_delta(); - // @brief Calculate the measurement matrix jakobian - // @param nom_state: Nominal state // @return Measurement matrix Eigen::Matrix3x19d calculate_hx(); // @brief Calculate the full measurement matrix - // @param nom_state: Nominal state // @return Measurement matrix Eigen::Matrix3x18d calculate_h_jacobian(); // @brief Calculate the measurement - // @param nom_state: Nominal state // @return Measurement Eigen::Vector3d calculate_h(); diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 4fcaed412..4481f2787 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -5,14 +5,34 @@ #include "eigen3/Eigen/Dense" #include "eskf/typedefs.hpp" +// @brief Compute the skew-symmetric matrix of a vector +// @param v: Input vector +// @return Skew-symmetric matrix Eigen::Matrix3d skew(const Eigen::Vector3d& v); +// @brief Square a value +// @param value: Input value +// @return Squared value double sq(const double& value); +// @brief Normalize an angle to the range [-pi, pi] +// @param angle: Input angle in radians +// @return Normalized angle in radians double ssa(const double& angle); +// @brief Calculate the transformation matrix using a quaternion +// @param quat: Input quaternion +// @return Transformation matrix +Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat); + +// @brief Convert a rotation vector to a quaternion +// @param vector: Input rotation vector +// @return Corresponding quaternion Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); +// @brief Convert Euler angles to a quaternion +// @param euler: Input Euler angles (roll, pitch, yaw) in radians +// @return Corresponding quaternion Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); #endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index d6433d46d..54a88032a 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -36,16 +36,15 @@ Eigen::Matrix createDiagonalMatrix( return Eigen::Map>(diag.data()) .asDiagonal(); } - struct state_quat { - Eigen::Vector3d pos = Eigen::Vector3d(5.58, 0.66, 0.12); + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Quaterniond quat = Eigen::Quaterniond(0.98, -0.047, 0.028, -0.18); + Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); - state_quat() { gravity << 0, 0, 9.81; } + state_quat() = default; Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; @@ -87,7 +86,7 @@ struct state_euler { Eigen::Vector3d euler = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); diff --git a/navigation/eskf/launch/eskf.launch.py b/navigation/eskf/launch/eskf.launch.py index 1e9d64759..d7b3a8a4e 100644 --- a/navigation/eskf/launch/eskf.launch.py +++ b/navigation/eskf/launch/eskf.launch.py @@ -14,7 +14,7 @@ def generate_launch_description(): package="eskf", executable="eskf_node", name="eskf_node", - namespace="orca", + # namespace="orca", parameters=[ eskf_params, ], diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index d3d8dc416..015e6f71c 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -2,9 +2,9 @@ eskf - 1.0.0 + 2.0.0 Error-state Kalman filter - talhanc + talhanc MIT ament_cmake diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 4a5501405..8507244e9 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -31,19 +31,6 @@ std::pair ESKF::van_loan_discretization( return {A_d, GQG_d}; } -Eigen::Matrix4x3d ESKF::calculate_q_delta() { - Eigen::Matrix4x3d q_delta_theta = Eigen::Matrix4x3d::Zero(); - double qw = current_nom_state_.quat.w(); - double qx = current_nom_state_.quat.x(); - double qy = current_nom_state_.quat.y(); - double qz = current_nom_state_.quat.z(); - - q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; - - q_delta_theta *= 0.5; - return q_delta_theta; -} - Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); @@ -76,7 +63,7 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - x_delta.block<4, 3>(6, 6) = calculate_q_delta(); + x_delta.block<4, 3>(6, 6) = calculate_T_q(current_nom_state_.quat); x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); Eigen::Matrix3x18d H = calculate_hx() * x_delta; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index c379732e3..a79ae09bb 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -12,7 +12,15 @@ ESKFNode::ESKFNode() : Node("eskf_node") { set_parameters(); - spdlog::info("ESKF Node Initialized"); + auto start_message{R"( + ________ ______ ___ ____ ________ + |_ __ |.' ____ \ |_ ||_ _| |_ __ | + | |_ \_|| (___ \_| | |_/ / | |_ \_| + | _| _ _.____`. | __'. | _| + _| |__/ || \____) | _| | \ \_ _| |_ + |________| \______.'|____||____||_____| + )"}; + spdlog::info("\n{}", start_message); } void ESKFNode::set_subscribers_and_publisher() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 88d04c3d5..0b9ae007f 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -17,6 +17,19 @@ double ssa(const double& angle) { return angle_ssa; } +Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat) { + Eigen::Matrix4x3d T_q = Eigen::Matrix4x3d::Zero(); + double qw = quat.w(); + double qx = quat.x(); + double qy = quat.y(); + double qz = quat.z(); + + T_q << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; + + T_q *= 0.5; + return T_q; +} + Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { double angle = vector.norm(); if (angle < 1e-8) { From c6f948ee8fca7a557a0f010c5b231119a27fd280 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Tue, 7 Oct 2025 22:06:01 +0200 Subject: [PATCH 028/109] fix: moved the fancy text variable outside the initiation --- navigation/eskf/CMakeLists.txt | 34 +++++++++++++++------ navigation/eskf/include/eskf/eskf.hpp | 6 ++-- navigation/eskf/include/eskf/eskf_ros.hpp | 17 ++++++----- navigation/eskf/include/eskf/eskf_utils.hpp | 4 +-- navigation/eskf/include/eskf/typedefs.hpp | 10 +++--- navigation/eskf/src/eskf_node.cpp | 9 ------ navigation/eskf/src/eskf_ros.cpp | 25 +++++++++------ navigation/eskf/src/eskf_utils.cpp | 4 +-- 8 files changed, 61 insertions(+), 48 deletions(-) delete mode 100644 navigation/eskf/src/eskf_node.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 6c8167609..8fc8a02cc 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -11,6 +11,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) find_package(nav_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) @@ -22,19 +23,22 @@ find_package(fmt REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) endif() + include_directories(${EIGEN3_INCLUDE_DIR}) include_directories(include) -add_executable(eskf_node +set(LIB_NAME "${PROJECT_NAME}_component") + +add_library(${LIB_NAME} SHARED src/eskf.cpp src/eskf_ros.cpp - src/eskf_node.cpp src/eskf_utils.cpp ) -ament_target_dependencies(eskf_node +ament_target_dependencies(${LIB_NAME} PUBLIC rclcpp + rclcpp_components geometry_msgs nav_msgs Eigen3 @@ -44,17 +48,29 @@ ament_target_dependencies(eskf_node fmt ) -target_link_libraries(eskf_node - fmt::fmt +rclcpp_components_register_node( + ${LIB_NAME} + PLUGIN "ESKFNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_export_targets(export_${LIB_NAME}) + +install(TARGETS ${LIB_NAME} + EXPORT export_${LIB_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) -install(TARGETS - eskf_node - DESTINATION lib/${PROJECT_NAME}) +install( + DIRECTORY include/ + DESTINATION include +) install(DIRECTORY - config launch + config DESTINATION share/${PROJECT_NAME}/ ) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 87221a3b6..ea3a72159 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -76,13 +76,13 @@ class ESKF { Eigen::Vector3d calculate_h(); // Process noise covariance matrix - Eigen::Matrix12d Q_; + Eigen::Matrix12d Q_{}; // Member variable for the current error state - state_euler current_error_state_; + state_euler current_error_state_{}; // Member variable for the current nominal state - state_quat current_nom_state_; + state_quat current_nom_state_{}; }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 5975d9cc7..431e93ea1 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -17,7 +17,8 @@ class ESKFNode : public rclcpp::Node { public: - explicit ESKFNode(); + explicit ESKFNode( + const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); private: // @brief Callback function for the imu topic @@ -51,23 +52,23 @@ class ESKFNode : public rclcpp::Node { rclcpp::TimerBase::SharedPtr odom_pub_timer_; - state_quat nom_state_; + state_quat nom_state_{}; - state_euler error_state_; + state_euler error_state_{}; - imu_measurement imu_meas_; + imu_measurement imu_meas_{}; - dvl_measurement dvl_meas_; + dvl_measurement dvl_meas_{}; - eskf_params eskf_params_; + eskf_params eskf_params_{}; std::unique_ptr eskf_; bool first_imu_msg_received_ = false; - Eigen::Matrix3d R_imu_eskf_; + Eigen::Matrix3d R_imu_eskf_{}; - rclcpp::Time last_imu_time_; + rclcpp::Time last_imu_time_{}; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 4481f2787..0fe06ee7a 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -13,12 +13,12 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v); // @brief Square a value // @param value: Input value // @return Squared value -double sq(const double& value); +double sq(double value); // @brief Normalize an angle to the range [-pi, pi] // @param angle: Input angle in radians // @return Normalized angle in radians -double ssa(const double& angle); +double ssa(double angle); // @brief Calculate the transformation matrix using a quaternion // @param quat: Input quaternion diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 54a88032a..77432ecca 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -47,15 +47,15 @@ struct state_quat { state_quat() = default; Eigen::Vector19d as_vector() const { - Eigen::Vector19d vec; + Eigen::Vector19d vec{}; vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, accel_bias, gravity; return vec; } Eigen::Vector18d nees_error(const state_quat& other) const { - Eigen::Vector18d vec; - Eigen::Vector3d euler_diff; + Eigen::Vector18d vec{}; + Eigen::Vector3d euler_diff{}; euler_diff = (quat * other.quat.inverse()) .toRotationMatrix() @@ -69,7 +69,7 @@ struct state_quat { } state_quat operator-(const state_quat& other) const { - state_quat diff; + state_quat diff{}; diff.pos = pos - other.pos; diff.vel = vel - other.vel; diff.quat = quat * other.quat.inverse(); @@ -91,7 +91,7 @@ struct state_euler { Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); Eigen::Vector18d as_vector() const { - Eigen::Vector18d vec; + Eigen::Vector18d vec{}; vec << pos, vel, euler, gyro_bias, accel_bias, gravity; return vec; } diff --git a/navigation/eskf/src/eskf_node.cpp b/navigation/eskf/src/eskf_node.cpp deleted file mode 100644 index 196fa7916..000000000 --- a/navigation/eskf/src/eskf_node.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include "eskf/eskf_ros.hpp" - -int main(int argc, char** argv) { - rclcpp::init(argc, argv); - spdlog::info("Starting ESKF Node"); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a79ae09bb..ce9e229ed 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,9 +1,20 @@ #include "eskf/eskf_ros.hpp" #include +#include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -ESKFNode::ESKFNode() : Node("eskf_node") { +auto start_message{R"( + ________ ______ ___ ____ ________ + |_ __ |.' ____ \ |_ ||_ _| |_ __ | + | |_ \_|| (___ \_| | |_/ / | |_ \_| + | _| _ _.____`. | __'. | _| + _| |__/ || \____) | _| | \ \_ _| |_ + |________| \______.'|____||____||_____| +)"}; + +ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) + : Node("eskf_node", options) { time_step = std::chrono::milliseconds(1); odom_pub_timer_ = this->create_wall_timer( time_step, std::bind(&ESKFNode::publish_odom, this)); @@ -12,15 +23,7 @@ ESKFNode::ESKFNode() : Node("eskf_node") { set_parameters(); - auto start_message{R"( - ________ ______ ___ ____ ________ - |_ __ |.' ____ \ |_ ||_ _| |_ __ | - | |_ \_|| (___ \_| | |_/ / | |_ \_| - | _| _ _.____`. | __'. | _| - _| |__/ || \____) | _| | \ \_ _| |_ - |________| \______.'|____||____||_____| - )"}; - spdlog::info("\n{}", start_message); + spdlog::info(start_message); } void ESKFNode::set_subscribers_and_publisher() { @@ -149,3 +152,5 @@ void ESKFNode::publish_odom() { odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); } + +RCLCPP_COMPONENTS_REGISTER_NODE(ESKFNode) diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 0b9ae007f..e7dc4e5e3 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -8,10 +8,10 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { return S; } -double sq(const double& value) { +double sq(const double value) { return value * value; } -double ssa(const double& angle) { +double ssa(const double angle) { double result = fmod(angle + M_PI, 2 * M_PI); double angle_ssa = result < 0 ? result + M_PI : result - M_PI; return angle_ssa; From 80cbd2d1895368064078b85d6c4ced9dc05208ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 19 Oct 2025 14:25:35 +0200 Subject: [PATCH 029/109] We do a little bit of refactoring MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- navigation/eskf/include/eskf/eskf.hpp | 34 +++++++----- navigation/eskf/include/eskf/eskf_ros.hpp | 10 ---- navigation/eskf/include/eskf/typedefs.hpp | 21 ++++--- navigation/eskf/src/eskf.cpp | 35 ++++++------ navigation/eskf/src/eskf_ros.cpp | 67 +++++++++++++---------- 5 files changed, 83 insertions(+), 84 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index ea3a72159..98e12f229 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -8,38 +8,39 @@ class ESKF { public: - ESKF(const eskf_params& params); + ESKF(const EskfParams& params); // @brief Update the nominal state and error state // @param imu_meas: IMU measurement // @param dt: Time step - // @return Updated nominal state and error state - std::pair imu_update( - const imu_measurement& imu_meas, - const double dt); + void imu_update(const ImuMeasurement& imu_meas, const double dt); // @brief Update the nominal state and error state // @param dvl_meas: DVL measurement - // @return Updated nominal state and error state - std::pair dvl_update( - const dvl_measurement& dvl_meas); + void dvl_update(const DvlMeasurement& dvl_meas); + + inline StateQuat get_nominal_state() const { + return current_nom_state_; + } + + inline double get_nis() const { + return nis_; + } - // Normalized Innovation Squared - double NIS_{}; private: // @brief Predict the nominal state // @param imu_meas: IMU measurement // @param dt: Time step // @return Predicted nominal state - void nominal_state_discrete(const imu_measurement& imu_meas, + void nominal_state_discrete(const ImuMeasurement& imu_meas, const double dt); // @brief Predict the error state // @param imu_meas: IMU measurement // @param dt: Time step // @return Predicted error state - void error_state_prediction(const imu_measurement& imu_meas, + void error_state_prediction(const ImuMeasurement& imu_meas, const double dt); // @brief Calculate the NIS @@ -49,7 +50,7 @@ class ESKF { // @brief Update the error state // @param dvl_meas: DVL measurement - void measurement_update(const dvl_measurement& dvl_meas); + void measurement_update(const DvlMeasurement& dvl_meas); // @brief Inject the error state into the nominal state and reset the error void injection_and_reset(); @@ -78,11 +79,14 @@ class ESKF { // Process noise covariance matrix Eigen::Matrix12d Q_{}; + // Normalized Innovation Squared + double nis_{}; + // Member variable for the current error state - state_euler current_error_state_{}; + StateEuler current_error_state_{}; // Member variable for the current nominal state - state_quat current_nom_state_{}; + StateQuat current_nom_state_{}; }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 431e93ea1..4a9e699aa 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -52,16 +52,6 @@ class ESKFNode : public rclcpp::Node { rclcpp::TimerBase::SharedPtr odom_pub_timer_; - state_quat nom_state_{}; - - state_euler error_state_{}; - - imu_measurement imu_meas_{}; - - dvl_measurement dvl_meas_{}; - - eskf_params eskf_params_{}; - std::unique_ptr eskf_; bool first_imu_msg_received_ = false; diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 77432ecca..3b4b990bd 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -36,7 +36,7 @@ Eigen::Matrix createDiagonalMatrix( return Eigen::Map>(diag.data()) .asDiagonal(); } -struct state_quat { +struct StateQuat { Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); @@ -44,7 +44,7 @@ struct state_quat { Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); - state_quat() = default; + StateQuat() = default; Eigen::Vector19d as_vector() const { Eigen::Vector19d vec{}; @@ -53,7 +53,7 @@ struct state_quat { return vec; } - Eigen::Vector18d nees_error(const state_quat& other) const { + Eigen::Vector18d nees_error(const StateQuat& other) const { Eigen::Vector18d vec{}; Eigen::Vector3d euler_diff{}; @@ -68,8 +68,8 @@ struct state_quat { return vec; } - state_quat operator-(const state_quat& other) const { - state_quat diff{}; + StateQuat operator-(const StateQuat& other) const { + StateQuat diff{}; diff.pos = pos - other.pos; diff.vel = vel - other.vel; diff.quat = quat * other.quat.inverse(); @@ -80,7 +80,7 @@ struct state_quat { } }; -struct state_euler { +struct StateEuler { Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Vector3d euler = Eigen::Vector3d::Zero(); @@ -106,20 +106,19 @@ struct state_euler { } }; -struct imu_measurement { +struct ImuMeasurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); }; -struct dvl_measurement { +struct DvlMeasurement { Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); }; -struct eskf_params { - double temp = 0.0; +struct EskfParams { Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); - double dt = 0.0; + Eigen::Matrix18d P = Eigen::Matrix18d::Zero(); }; #endif // ESKF_TYPEDEFS_H diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 8507244e9..c9d0824e3 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -7,7 +7,14 @@ #include "eskf/typedefs.hpp" #include "iostream" -ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} +double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { + Eigen::Matrix3d S_inv = S.inverse(); + return innovation.transpose() * S_inv * innovation; +} + +ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { + // current_error_state_.covariance = params.P; +} std::pair ESKF::van_loan_discretization( const Eigen::Matrix18d& A_c, @@ -80,7 +87,7 @@ Eigen::Vector3d ESKF::calculate_h() { return h; } -void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, +void ESKF::nominal_state_discrete(const ImuMeasurement& imu_meas, const double dt) { Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * @@ -101,7 +108,7 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, current_nom_state_.gravity = current_nom_state_.gravity; } -void ESKF::error_state_prediction(const imu_measurement& imu_meas, +void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, const double dt) { Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); @@ -126,16 +133,12 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, Eigen::Matrix18d A_d, GQG_d; std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); - state_euler next_error_state; + StateEuler next_error_state; current_error_state_.covariance = A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } -void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { - Eigen::Matrix3d S_inv = S.inverse(); - NIS_ = innovation.transpose() * S_inv * innovation; -} -void ESKF::measurement_update(const dvl_measurement& dvl_meas) { +void ESKF::measurement_update(const DvlMeasurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; Eigen::Matrix3d R = dvl_meas.cov; @@ -144,7 +147,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); - NIS(innovation, S); + nis_ = compute_nis(innovation, S); current_error_state_.set_from_vector(K * innovation); Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; @@ -174,19 +177,15 @@ void ESKF::injection_and_reset() { current_error_state_.set_from_vector(Eigen::Vector18d::Zero()); } -std::pair ESKF::imu_update( - const imu_measurement& imu_meas, +void ESKF::imu_update( + const ImuMeasurement& imu_meas, const double dt) { nominal_state_discrete(imu_meas, dt); error_state_prediction(imu_meas, dt); - - return {current_nom_state_, current_error_state_}; } -std::pair ESKF::dvl_update( - const dvl_measurement& dvl_meas) { +void ESKF::dvl_update( + const DvlMeasurement& dvl_meas) { measurement_update(dvl_meas); injection_and_reset(); - - return {current_nom_state_, current_error_state_}; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index ce9e229ed..f516d68df 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -15,9 +15,9 @@ auto start_message{R"( ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) : Node("eskf_node", options) { - time_step = std::chrono::milliseconds(1); - odom_pub_timer_ = this->create_wall_timer( - time_step, std::bind(&ESKFNode::publish_odom, this)); + // time_step = std::chrono::milliseconds(1); + // odom_pub_timer_ = this->create_wall_timer( + // time_step, std::bind(&ESKFNode::publish_odom, this)); set_subscribers_and_publisher(); @@ -64,21 +64,24 @@ void ESKFNode::set_parameters() { diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); + // EskfParams eskf_params{}; + Eigen::Matrix12d Q; Q.setZero(); Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); - eskf_params_.Q = Q; - - eskf_ = std::make_unique(eskf_params_); std::vector diag_p_init = this->declare_parameter>("diag_p_init"); Eigen::Matrix18d P = createDiagonalMatrix<18>(diag_p_init); + EskfParams eskf_params{ + .Q = Q, + .P = P + }; - error_state_.covariance = P; + eskf_ = std::make_unique(eskf_params); } void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { @@ -97,57 +100,61 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { msg->linear_acceleration.y, msg->linear_acceleration.z); - imu_meas_.accel = R_imu_eskf_ * raw_accel; + ImuMeasurement imu_measurement{}; + imu_measurement.accel = R_imu_eskf_ * raw_accel; Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - imu_meas_.gyro = R_imu_eskf_ * raw_gyro; + imu_measurement.gyro = R_imu_eskf_ * raw_gyro; - std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); + eskf_->imu_update(imu_measurement, dt); + publish_odom(); } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + DvlMeasurement dvl_measurement{}; + dvl_measurement.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + dvl_measurement.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); + eskf_->dvl_update(dvl_measurement); std_msgs::msg::Float64 nis_msg; - nis_msg.data = eskf_->NIS_; + nis_msg.data = eskf_->get_nis(); nis_pub_->publish(nis_msg); + + publish_odom(); } void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; + StateQuat nom_state = eskf_->get_nominal_state(); - odom_msg.pose.pose.position.x = nom_state_.pos.x(); - odom_msg.pose.pose.position.y = nom_state_.pos.y(); - odom_msg.pose.pose.position.z = nom_state_.pos.z(); + odom_msg.pose.pose.position.x = nom_state.pos.x(); + odom_msg.pose.pose.position.y = nom_state.pos.y(); + odom_msg.pose.pose.position.z = nom_state.pos.z(); - odom_msg.pose.pose.orientation.w = nom_state_.quat.w(); - odom_msg.pose.pose.orientation.x = nom_state_.quat.x(); - odom_msg.pose.pose.orientation.y = nom_state_.quat.y(); - odom_msg.pose.pose.orientation.z = nom_state_.quat.z(); + odom_msg.pose.pose.orientation.w = nom_state.quat.w(); + odom_msg.pose.pose.orientation.x = nom_state.quat.x(); + odom_msg.pose.pose.orientation.y = nom_state.quat.y(); + odom_msg.pose.pose.orientation.z = nom_state.quat.z(); - odom_msg.twist.twist.linear.x = nom_state_.vel.x(); - odom_msg.twist.twist.linear.y = nom_state_.vel.y(); - odom_msg.twist.twist.linear.z = nom_state_.vel.z(); + odom_msg.twist.twist.linear.x = nom_state.vel.x(); + odom_msg.twist.twist.linear.y = nom_state.vel.y(); + odom_msg.twist.twist.linear.z = nom_state.vel.z(); - // Add bias values to the angular velocity field of twist - odom_msg.twist.twist.angular.x = nom_state_.accel_bias.x(); - odom_msg.twist.twist.angular.y = nom_state_.accel_bias.y(); - odom_msg.twist.twist.angular.z = nom_state_.accel_bias.z(); + odom_msg.twist.twist.angular.x = nom_state.accel_bias.x(); + odom_msg.twist.twist.angular.y = nom_state.accel_bias.y(); + odom_msg.twist.twist.angular.z = nom_state.accel_bias.z(); - // If you also want to include gyro bias, you could add it to the covariance - // matrix or publish a separate topic for biases + // TODO: Covariance out odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); From 3a1b03c82c6b70e0c416185c4ef7b4d059651452 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20H=C3=B8gden?= Date: Sun, 19 Oct 2025 21:01:17 +0200 Subject: [PATCH 030/109] refactor(eskf): vortex-utils enjoyer --- navigation/eskf/CMakeLists.txt | 3 +- navigation/eskf/include/eskf/eskf.hpp | 9 +--- navigation/eskf/include/eskf/eskf_utils.hpp | 38 --------------- navigation/eskf/include/eskf/typedefs.hpp | 3 +- navigation/eskf/package.xml | 1 + navigation/eskf/src/eskf.cpp | 38 ++++++++------- navigation/eskf/src/eskf_ros.cpp | 32 ++++++------- navigation/eskf/src/eskf_utils.cpp | 52 --------------------- 8 files changed, 43 insertions(+), 133 deletions(-) delete mode 100644 navigation/eskf/include/eskf/eskf_utils.hpp delete mode 100644 navigation/eskf/src/eskf_utils.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 8fc8a02cc..e9f464906 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -17,6 +17,7 @@ find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) +find_package(vortex_utils REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) @@ -33,7 +34,6 @@ set(LIB_NAME "${PROJECT_NAME}_component") add_library(${LIB_NAME} SHARED src/eskf.cpp src/eskf_ros.cpp - src/eskf_utils.cpp ) ament_target_dependencies(${LIB_NAME} PUBLIC @@ -44,6 +44,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC Eigen3 tf2 vortex_msgs + vortex_utils spdlog fmt ) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 98e12f229..6219335c7 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -19,14 +19,9 @@ class ESKF { // @param dvl_meas: DVL measurement void dvl_update(const DvlMeasurement& dvl_meas); - inline StateQuat get_nominal_state() const { - return current_nom_state_; - } - - inline double get_nis() const { - return nis_; - } + inline StateQuat get_nominal_state() const { return current_nom_state_; } + inline double get_nis() const { return nis_; } private: // @brief Predict the nominal state diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp deleted file mode 100644 index 0fe06ee7a..000000000 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ /dev/null @@ -1,38 +0,0 @@ -#ifndef ESKF_UTILS_HPP -#define ESKF_UTILS_HPP - -#include -#include "eigen3/Eigen/Dense" -#include "eskf/typedefs.hpp" - -// @brief Compute the skew-symmetric matrix of a vector -// @param v: Input vector -// @return Skew-symmetric matrix -Eigen::Matrix3d skew(const Eigen::Vector3d& v); - -// @brief Square a value -// @param value: Input value -// @return Squared value -double sq(double value); - -// @brief Normalize an angle to the range [-pi, pi] -// @param angle: Input angle in radians -// @return Normalized angle in radians -double ssa(double angle); - -// @brief Calculate the transformation matrix using a quaternion -// @param quat: Input quaternion -// @return Transformation matrix -Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat); - -// @brief Convert a rotation vector to a quaternion -// @param vector: Input rotation vector -// @return Corresponding quaternion -Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); - -// @brief Convert Euler angles to a quaternion -// @param euler: Input Euler angles (roll, pitch, yaw) in radians -// @return Corresponding quaternion -Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); - -#endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 3b4b990bd..9360a5903 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,9 +5,9 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H -#include #include #include +#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -28,6 +28,7 @@ typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; typedef Eigen::Matrix Matrix15d; typedef Eigen::Matrix Vector15d; +typedef Eigen::Matrix Vector12d; } // namespace Eigen template diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index 015e6f71c..588855609 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -15,6 +15,7 @@ eigen tf2 vortex_msgs + vortex_utils ament_cmake diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index c9d0824e3..a478be43f 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -1,13 +1,12 @@ #include "eskf/eskf.hpp" -#include #include #include #include -#include "eskf/eskf_utils.hpp" +#include #include "eskf/typedefs.hpp" -#include "iostream" -double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { +double compute_nis(const Eigen::Vector3d& innovation, + const Eigen::Matrix3d& S) { Eigen::Matrix3d S_inv = S.inverse(); return innovation.transpose() * S_inv * innovation; } @@ -59,7 +58,8 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { dhdq.col(0) = 2 * (qw * v_n + q_vec.cross(v_n)); dhdq.block<3, 3>(0, 1) = 2 * (q_vec.dot(v_n) * I3 + q_vec * v_n.transpose() - - v_n * q_vec.transpose() - qw * skew(v_n)); + v_n * q_vec.transpose() - + qw * vortex::utils::math::get_skew_symmetric_matrix(v_n)); // Assign quaternion derivative (3x4 block at columns 6:9) Hx.block<3, 4>(0, 6) = dhdq; @@ -70,7 +70,9 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - x_delta.block<4, 3>(6, 6) = calculate_T_q(current_nom_state_.quat); + x_delta.block<4, 3>(6, 6) = + vortex::utils::math::get_transformation_matrix_attitude_quat( + current_nom_state_.quat); x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); Eigen::Matrix3x18d H = calculate_hx() * x_delta; @@ -96,11 +98,12 @@ void ESKF::nominal_state_discrete(const ImuMeasurement& imu_meas, Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.vel * dt + 0.5 * dt * dt * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + (current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -116,8 +119,10 @@ void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); - A_c.block<3, 3>(3, 6) = -R * skew(acc); - A_c.block<3, 3>(6, 6) = -skew(gyro); + A_c.block<3, 3>(3, 6) = + -R * vortex::utils::math::get_skew_symmetric_matrix(acc); + A_c.block<3, 3>(6, 6) = + -vortex::utils::math::get_skew_symmetric_matrix(gyro); A_c.block<3, 3>(3, 9) = -R; A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); @@ -159,9 +164,9 @@ void ESKF::measurement_update(const DvlMeasurement& dvl_meas) { void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = - current_nom_state_.quat * - vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion( + current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; @@ -177,15 +182,12 @@ void ESKF::injection_and_reset() { current_error_state_.set_from_vector(Eigen::Vector18d::Zero()); } -void ESKF::imu_update( - const ImuMeasurement& imu_meas, - const double dt) { +void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { nominal_state_discrete(imu_meas, dt); error_state_prediction(imu_meas, dt); } -void ESKF::dvl_update( - const DvlMeasurement& dvl_meas) { +void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { measurement_update(dvl_meas); injection_and_reset(); } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index f516d68df..02e1c44fc 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,7 +1,7 @@ #include "eskf/eskf_ros.hpp" #include #include -#include "eskf/eskf_utils.hpp" +#include #include "eskf/typedefs.hpp" auto start_message{R"( @@ -27,9 +27,7 @@ ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) } void ESKFNode::set_subscribers_and_publisher() { - rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; - auto qos_sensor_data = rclcpp::QoS( - rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + auto qos_sensor_data = vortex::utils::qos_profiles::sensor_data_profile(1); this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); @@ -49,7 +47,8 @@ void ESKFNode::set_subscribers_and_publisher() { odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); - nis_pub_ = create_publisher("dvl/nis", 10); + nis_pub_ = create_publisher( + "dvl/nis", vortex::utils::qos_profiles::reliable_profile()); } void ESKFNode::set_parameters() { @@ -64,22 +63,23 @@ void ESKFNode::set_parameters() { diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); - // EskfParams eskf_params{}; + if (diag_Q_std.size() != 12) { + throw std::runtime_error("diag_Q_std must have length 12"); + } - Eigen::Matrix12d Q; - Q.setZero(); - Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), - sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), - sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), - sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); + Eigen::Matrix12d Q = Eigen::Map(diag_Q_std.data()) + .array() + .square() + .matrix() + .asDiagonal(); std::vector diag_p_init = this->declare_parameter>("diag_p_init"); + if (diag_p_init.size() != 18) { + throw std::runtime_error("diag_p_init must have length 18"); + } Eigen::Matrix18d P = createDiagonalMatrix<18>(diag_p_init); - EskfParams eskf_params{ - .Q = Q, - .P = P - }; + EskfParams eskf_params{.Q = Q, .P = P}; eskf_ = std::make_unique(eskf_params); } diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp deleted file mode 100644 index e7dc4e5e3..000000000 --- a/navigation/eskf/src/eskf_utils.cpp +++ /dev/null @@ -1,52 +0,0 @@ - -#include "eskf/eskf_utils.hpp" -#include "eskf/typedefs.hpp" - -Eigen::Matrix3d skew(const Eigen::Vector3d& v) { - Eigen::Matrix3d S; - S << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(), 0; - return S; -} - -double sq(const double value) { - return value * value; -} -double ssa(const double angle) { - double result = fmod(angle + M_PI, 2 * M_PI); - double angle_ssa = result < 0 ? result + M_PI : result - M_PI; - return angle_ssa; -} - -Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat) { - Eigen::Matrix4x3d T_q = Eigen::Matrix4x3d::Zero(); - double qw = quat.w(); - double qx = quat.x(); - double qy = quat.y(); - double qz = quat.z(); - - T_q << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; - - T_q *= 0.5; - return T_q; -} - -Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { - double angle = vector.norm(); - if (angle < 1e-8) { - return Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); - } else { - Eigen::Vector3d axis = vector / angle; - Eigen::Quaterniond quat = - Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); - return quat.normalized(); - } -} - -Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { - Eigen::Quaterniond q; - q = Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); - q.normalize(); - return q; -} From 08f9b6d60068bd58f1a9e3971abd39ea580bc899 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 9 Feb 2025 19:47:52 +0100 Subject: [PATCH 031/109] feat: added the math and setup of the ESKF, need some changes --- navigation/eskf_python/CMakeLists.txt | 33 ++ navigation/eskf_python/README.md | 0 .../eskf_python/config/eskf_python.yaml | 3 + .../eskf_python/eskf_python/__init__.py | 0 .../eskf_python/eskf_python_filter.py | 511 ++++++++++++++++++ .../eskf_python/eskf_python_node.py | 103 ++++ navigation/eskf_python/launch/eskf.launch.py | 22 + navigation/eskf_python/package.xml | 23 + 8 files changed, 695 insertions(+) create mode 100644 navigation/eskf_python/CMakeLists.txt create mode 100644 navigation/eskf_python/README.md create mode 100644 navigation/eskf_python/config/eskf_python.yaml create mode 100644 navigation/eskf_python/eskf_python/__init__.py create mode 100644 navigation/eskf_python/eskf_python/eskf_python_filter.py create mode 100644 navigation/eskf_python/eskf_python/eskf_python_node.py create mode 100644 navigation/eskf_python/launch/eskf.launch.py create mode 100644 navigation/eskf_python/package.xml diff --git a/navigation/eskf_python/CMakeLists.txt b/navigation/eskf_python/CMakeLists.txt new file mode 100644 index 000000000..b4fc9118c --- /dev/null +++ b/navigation/eskf_python/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(eskf_python) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(vortex_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +install(PROGRAMS + eskf_python/eskf_python_node.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) +endif() + +ament_package() diff --git a/navigation/eskf_python/README.md b/navigation/eskf_python/README.md new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/eskf_python/config/eskf_python.yaml b/navigation/eskf_python/config/eskf_python.yaml new file mode 100644 index 000000000..0d80b90df --- /dev/null +++ b/navigation/eskf_python/config/eskf_python.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + eskf_python_node: diff --git a/navigation/eskf_python/eskf_python/__init__.py b/navigation/eskf_python/eskf_python/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py new file mode 100644 index 000000000..286747467 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -0,0 +1,511 @@ +from dataclasses import dataclass, field +from typing import tuple + +import numpy as np + + +@dataclass +class StateVector_quaternion: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(4) + ) # Orientation quaternion (w, x, y, z) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion. + + Returns: + np.ndarray: The rotation matrix. + """ + q0, q1, q2, q3 = self.orientation + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R + + def euler_forward( + self, current_state: 'StateVector_quaternion', dt: float + ) -> 'StateVector_quaternion': + # Define the new state + new_state = StateVector_quaternion() + + # Define the state derivatives + new_state.position = current_state.position + self.position * dt + new_state.velocity = current_state.velocity + self.velocity * dt + new_state.orientation = current_state.orientation + self.orientation * dt + new_state.acceleration_bias = ( + current_state.acceleration_bias + self.acceleration_bias * dt + ) + new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt + + # Normalize the orientation quaternion + new_state.orientation /= np.linalg.norm(new_state.orientation) + + return new_state + + +@dataclass +class StateVector_euler: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Orientation angles (roll, pitch, yaw) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + covariance: np.ndarray = field( + default_factory=lambda: np.zeros((15, 15)) + ) # Covariance matrix + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:9] + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:15] + + def copy_state(self, wanted_state: 'StateVector_euler') -> None: + """Copies the state from a StateVector object into the current StateVector object. + + Args: + wanted_state (StateVector_euler): The quaternion state to copy from. + """ + self.position = wanted_state.position + self.velocity = wanted_state.velocity + self.orientation = wanted_state.orientation + self.acceleration_bias = wanted_state.acceleration_bias + self.gyro_bias = wanted_state.gyro_bias + + +@dataclass +class MeasurementModel: + measurement: np.ndarray = field( + default_factory=lambda: np.zeros(6) + ) # Measurement vector + measurement_matrix: np.ndarray = field( + default_factory=lambda: np.zeros((6, 15)) + ) # Measurement matrix + measurement_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((6, 6)) + ) # Measurement noise matrix + + +class ErrorStateKalmanFilter: + def __init__( + self, + P_ab: np.ndarray, + P_wb: np.ndarray, + Q: np.ndarray, + lever_arm: np.array, + R: np.ndarray, + g: float, + dt: float, + ) -> None: + self.P_ab = P_ab + self.P_wb = P_wb + self.Q_process_noise = Q + self.lever_arm = lever_arm + self.R = R + self.g = np.array([0, 0, g]) + self.dt = dt + + def skew_symmetric(self, vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + + def quaternion_super_product(self, q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + nu_0, eta_0_x, eta_0_y, eta_0_z = q1 + nu_1, eta_1_x, eta_1_y, eta_1_z = q2 + + eta_0 = np.array([[eta_1_x, eta_1_y, eta_1_z]]).T + eta_1 = np.array([[eta_0_x, eta_0_y, eta_0_z]]).T + + eta_new = ( + nu_1 * eta_0 + nu_0 * eta_1 + np.dot(self.skew_symmetric(eta_0), eta_1) + ) + nu_new = nu_0 * nu_1 - np.dot(eta_0.T, eta_1) + + q_new = np.array([nu_new, eta_new[0], eta_new[1], eta_new[2]]) + q_new /= np.linalg.norm(q_new) + + return q_new + + def van_loan_discretization( + self, A_c: np.ndarray, G_c: np.ndarray + ) -> tuple[np.ndarray, np.ndarray]: + """Calculates the Van Loan discretization of a continuous-time system. + + Args: + A_c (np.ndarray): The A matrix. + G_c (np.ndarray): The G matrix. + + Returns: + tuple: The A_d and GQG_d matrices. + """ + GQG_T = np.dot(np.dot(G_c, self.Q_process_noise), G_c.T) * self.dt + + matrix_exp = ( + np.block([[A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), A_c.T]]) + * self.dt + ) + + van_loan_matrix = np.linalg.expm(matrix_exp) + + V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] + V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] + + A_d = V1.T + GQG_d = A_d @ V2 + + return A_d, GQG_d + + def nominal_state_update( + self, current_state: StateVector_quaternion, imu_reading: np.ndarray + ) -> StateVector_quaternion: + """Updates the nominal state of the system. + + Args: + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated nominal state. + """ + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + # Define the derivative of the state + current_state_dot = StateVector_quaternion() + + # Define the state derivates + current_state_dot.position = current_state.velocity + current_state_dot.velocity = ( + np.dot( + current_state.R_q(), + (imu_acceleration - current_state.acceleration_bias), + ) + + self.g + ) + + # Define the quaternion derivatives + current_state_dot.orientation = 0.5 * self.quaternion_super_product( + current_state.orientation, + np.array([0, imu_gyro[0], imu_gyro[1], imu_gyro[2]]), + ) + + # Define the bias + current_state_dot.acceleration_bias = ( + -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias + ) + current_state_dot.gyro_bias = ( + -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias + ) + + return current_state_dot.euler_forward(current_state, self.dt) + + def error_state_update( + self, + current_error_state: StateVector_euler, + current_state: StateVector_quaternion, + imu_reading: np.ndarray, + ) -> StateVector_euler: + """Updates the error state of the system. + + Args: + current_error_state (np.ndarray): The current error state of the system. + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated error state. + """ + # Define the derivative of the state + next_error_state = StateVector_euler() + + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + A_c = np.zeros((15, 15)) + A_c[0:3, 3:6] = np.eye(3) + A_c[3:6, 6:9] = -np.dot( + current_state.R_q(), + self.skew_symmetric(imu_acceleration - current_state.acceleration_bias), + ) + A_c[6:9, 6:9] = -self.skew_symmetric(imu_gyro - current_state.gyro_bias) + A_c[3:6, 9:12] = -current_state.R_q() + A_c[6:9, 12:15] = -np.eye(3) + A_c[9:12, 9:12] = -self.P_ab * np.eye(3) + A_c[12:15, 12:15] = -self.P_wb * np.eye(3) + + G_c = np.zeros((15, 12)) + G_c[3:6, 0:3] = -current_state.R_q() + G_c[6:9, 3:6] = -np.eye(3) + G_c[9:12, 6:9] = np.eye(3) + G_c[12:15, 9:12] = np.eye(3) + + # Van loan discretization + A_d, GQG_d = self.van_loan_discretization(A_c, G_c, self.dt) + + # Inserting the new state and covariance + next_error_state.copy_state(current_error_state) + next_error_state.covariance = ( + np.dot(np.dot(A_d, current_error_state.covariance), A_d.T) + GQG_d + ) + + return next_error_state + + def H(self) -> np.ndarray: + """Calculates the measurement matrix. + + Returns: + np.ndarray: The measurement matrix. + """ + # Define the measurement matrix + H = np.zeros((3, 15)) + + # For now assume only velocity is measured + H[0:3, 3:6] = np.eye(3) + + return H + + def prediction_from_estimates( + self, + current_state: StateVector_quaternion, + current_error_state: StateVector_euler, + imu_reading: np.ndarray, + ) -> StateVector_euler: + """Predicts the measurement from the current state and error state. + + Args: + current_state (StateVector_quaternion): The current state of the system. + current_error_state (StateVector_euler): The current error state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + StateVector_euler: The predicted measurement. + """ + # Define the z_pred matrix + z_pred = MeasurementModel() + + # Define the z_pred values separately + z_pred_1 = np.hstack((current_state.position, current_state.velocity)) + z_pred_2 = np.hstack( + np.dot(current_state.R_q(), self.lever_arm), + np.dot( + current_state.R_q, + np.dot( + self.skew_symmetric(current_state.angular_velocity), self.lever_arm + ), + ), + ) + + # Combine the z_pred values + z_pred.measurement = z_pred_1 + z_pred_2 + + # Define the H matrix + z_pred.measurement_matrix = self.H() + R = self.R + z_pred.measurement_covariance = ( + np.dot( + np.dot(z_pred.measurement_matrix, current_error_state.covariance), + z_pred.measurement_matrix.T, + ) + + R + ) + + return z_pred + + def measurement_update( + self, + error_state_pred: StateVector_euler, + z_pred: MeasurementModel, + dvl_measure: np.array, + ) -> StateVector_euler: + """Updates the error state of the system. + + Args: + current_error_state (np.ndarray): The current error state of the system. + measurement (np.ndarray): The measurement. + + Returns: + np.ndarray: The updated error state. + """ + # Define new error state value + new_error_state = StateVector_euler() + + # Define the measurement matrix + innovation = dvl_measure - z_pred.measurement + H = z_pred.measurement_matrix + R = self.R + P = error_state_pred.covariance + S = z_pred.measurement_covariance + + # Kalman gain calculation + W = np.dot(P, np.linalg.solve(S, H).T) + new_error_state.fill_states(np.dot(W, innovation)) + + I_WH = np.eye(15) - np.dot(W, H) + new_error_state.covariance = np.dot(np.dot(I_WH, P), I_WH.T) + np.dot( + np.dot(W, R), W.T + ) + + return new_error_state + + def imu_update_states( + self, + current_pred_nom: StateVector_quaternion, + current_pred_err: StateVector_euler, + imu_readings: np.array, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Calculates the predicted state using the IMU readings. + + Args: + current_pred_nom (StateVector_quaternion): The current nominal state. + current_pred_err (StateVector_euler): The current error state. + imu_readings (np.array): The IMU readings. + + Returns: + tuple: The predicted nominal state and the predicted error state. + """ + pred_nom_state = self.nominal_state_update(current_pred_nom, imu_readings) + pred_err_state = self.error_state_update( + current_pred_err, current_pred_nom, imu_readings + ) + + return pred_nom_state, pred_err_state + + def dvl_update_states( + self, + current_pred_nom: StateVector_quaternion, + current_pred_err: StateVector_euler, + dvl_measure: np.array, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Calculates the predicted state using the DVL readings. + + Args: + current_pred_nom (StateVector_quaternion): The current nominal state. + current_pred_err (StateVector_euler): The current error state. + dvl_measure (np.array): The DVL readings. + + Returns: + tuple: The predicted nominal state and the predicted error state. + """ + z_pred = self.prediction_from_estimates( + current_pred_nom, current_pred_err, dvl_measure + ) + new_error_state = self.measurement_update(current_pred_err, z_pred, dvl_measure) + + return current_pred_nom, new_error_state + + def injection_and_reset( + self, next_state: StateVector_quaternion, next_error_state: StateVector_euler + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Injects the error state into the nominal state and resets the error state. + + Args: + next_state (StateVector_quaternion): The next nominal state. + next_error_state (StateVector_euler): The next error state. + + Returns: + tuple: The injected nominal state and the reset error state. + """ + # Define the new state + inj_state = StateVector_quaternion() + + # Injecting the error state + inj_state.position = next_state.position + next_error_state.position + inj_state.velocity = next_state.velocity + next_error_state.velocity + inj_state.orientation = self.quaternion_super_product( + next_state.orientation, + 0.5 + * np.array( + [ + 2, + next_error_state.orientation[0], + next_error_state.orientation[1], + next_error_state.orientation[2], + ] + ), + ) + inj_state.acceleration_bias = ( + next_state.acceleration_bias + next_error_state.acceleration_bias + ) + inj_state.gyro_bias = next_state.gyro_bias + next_error_state.gyro_bias + + # Resetting the error state + G = np.eye(15) + G[6:9, 6:9] = np.eye(3) - self.skew_symmetric( + 0.5 * next_error_state.orientation + ) + + next_error_state.covariance = np.dot( + np.dot(G, next_error_state.covariance), G.T + ) + next_error_state.fill_states(np.zeros(15)) + + return inj_state, next_error_state diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py new file mode 100644 index 000000000..25e5b6ca9 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python3 + +import rclpy +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import QoSProfile, qos_profile_sensor_data + +# NEED TO CHANGE THIS TO THE CORRECT PATH +from eskf_python.eskf_python_filter import ( + ErrorStateKalmanFilter, + MeasurementModel, + StateVector_euler, + StateVector_quaternion, +) + +qos_profile = QoSProfile( + depth=1, + history=qos_profile_sensor_data.history, + reliability=qos_profile_sensor_data.reliability, +) + + +class ESKalmanFilterNode(Node): + def __init__(self): + super().__init__("eskf_python_node") + + # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz + # TEMPORARILY ADDED FOR TESTING + self.imu_subscriber_ = self.create_subscription( + Odometry, '/orca/imu', self.state_callback, qos_profile=qos_profile + ) + + # This publisher will publish the estimtaed state of the vehicle + self.state_publisher_ = self.create_publisher( + Odometry, '/orca/odom', qos_profile=qos_profile + ) + + self.eskf_modual = ErrorStateKalmanFilter() + self.current_state_nom = StateVector_quaternion() + self.current_state_error = StateVector_euler() + self.measurement_pred = MeasurementModel() + + self.get_logger().info("hybridpath_controller_node started") + + def imu_callback(self, msg: Odometry): + self.get_logger().info(f"Received IMU message: {msg}") + + # Get the IMU data + + # SOME CONVERSION HERE TO SUITABLE TYPE + imu_data = "something" + + # Update the filter with the IMU data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.imu_update_states( + self.current_state_nom, self.current_state_error, imu_data + ) + ) + + # Publish the estimated state + """ + Some conversion function from the custom state type to odometry message + This needs to be worked on + """ + + def filter_callback(self): + """Callback function for the filter measurement update, + this will be called when the filter needs to be updated with the DVL data. + """ + self.get_logger().info("Filter callback, got DVL data") + + # Get the DVL data + dvl_data = "something" + + # Update the filter with the DVL data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.dvl_update_states( + self.current_state_nom, self.current_state_error, dvl_data + ) + ) + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.injection_and_reset( + self.current_state_nom, self.current_state_error + ) + ) + + # Publish the estimated state + """ + Some conversion function from the custom state type to odometry message + This needs to be worked on + """ + + +def main(args=None): + rclpy.init(args=args) + node = ESKalmanFilterNode() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/navigation/eskf_python/launch/eskf.launch.py b/navigation/eskf_python/launch/eskf.launch.py new file mode 100644 index 000000000..3cae83dce --- /dev/null +++ b/navigation/eskf_python/launch/eskf.launch.py @@ -0,0 +1,22 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + eskf_python_node = Node( + package='eskf_python', + executable='eskf_python_node.py', + name='eskf_python_node', + parameters=[ + os.path.join( + get_package_share_directory('eskf_python'), + 'config', + 'eskf_python.yaml', + ), + ], + output='screen', + ) + return LaunchDescription([eskf_python_node]) diff --git a/navigation/eskf_python/package.xml b/navigation/eskf_python/package.xml new file mode 100644 index 000000000..980653c40 --- /dev/null +++ b/navigation/eskf_python/package.xml @@ -0,0 +1,23 @@ + + + + eskf_python + 1.0.0 + This package provides the implementation of a error-state kalman filter in python + talhanc + MIT + + ament_cmake_python + + rclpy + python-transforms3d-pip + geometry_msgs + vortex_msgs + + python3-pytest + + + + ament_cmake + + From d5ff3a0695d2e770c2127fcfcf186b1ab90ec232 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Mon, 10 Feb 2025 14:28:18 +0100 Subject: [PATCH 032/109] feat: added in the IMU msg and DVL msg, pluss ros2 setup --- .../eskf_python/eskf_python_filter.py | 12 +-- .../eskf_python/eskf_python_node.py | 74 ++++++++++++++----- 2 files changed, 56 insertions(+), 30 deletions(-) diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 286747467..392c705c2 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -353,16 +353,8 @@ def prediction_from_estimates( z_pred = MeasurementModel() # Define the z_pred values separately - z_pred_1 = np.hstack((current_state.position, current_state.velocity)) - z_pred_2 = np.hstack( - np.dot(current_state.R_q(), self.lever_arm), - np.dot( - current_state.R_q, - np.dot( - self.skew_symmetric(current_state.angular_velocity), self.lever_arm - ), - ), - ) + z_pred_1 = current_state.velocity + z_pred_2 = 0 # Currently assuming no lever arm compensation # Combine the z_pred values z_pred.measurement = z_pred_1 + z_pred_2 diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py index 25e5b6ca9..5b860582e 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -4,6 +4,9 @@ from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import QoSProfile, qos_profile_sensor_data +from sensor_msgs.msg import Imu, +import numpy as np +from geometry_msgs.msg import TwistWithCovarianceStamped # NEED TO CHANGE THIS TO THE CORRECT PATH from eskf_python.eskf_python_filter import ( @@ -25,9 +28,12 @@ def __init__(self): super().__init__("eskf_python_node") # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz - # TEMPORARILY ADDED FOR TESTING self.imu_subscriber_ = self.create_subscription( - Odometry, '/orca/imu', self.state_callback, qos_profile=qos_profile + Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile + ) + + self.twist_dvl_subscriber_ = self.create_subscription( + TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile ) # This publisher will publish the estimtaed state of the vehicle @@ -39,16 +45,19 @@ def __init__(self): self.current_state_nom = StateVector_quaternion() self.current_state_error = StateVector_euler() self.measurement_pred = MeasurementModel() + self.odom_msg = Odometry() - self.get_logger().info("hybridpath_controller_node started") + self.get_logger().info("Error State Kalman Filter started") - def imu_callback(self, msg: Odometry): - self.get_logger().info(f"Received IMU message: {msg}") + def imu_callback(self, msg: Imu): # Get the IMU data - # SOME CONVERSION HERE TO SUITABLE TYPE - imu_data = "something" + imu_acceleartion = msg.linear_acceleration + imu_angular_velocity = msg.angular_velocity + + # Combine the IMU data + imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) # Update the filter with the IMU data self.current_state_nom, self.current_state_error = ( @@ -57,20 +66,34 @@ def imu_callback(self, msg: Odometry): ) ) - # Publish the estimated state - """ - Some conversion function from the custom state type to odometry message - This needs to be worked on - """ + # Inserting the nominal state into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x + self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y + self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z + + # Publish + self.state_publisher_.publish(self.odom_msg) - def filter_callback(self): + + + def filter_callback(self, msg: TwistWithCovarianceStamped): """Callback function for the filter measurement update, this will be called when the filter needs to be updated with the DVL data. """ self.get_logger().info("Filter callback, got DVL data") - # Get the DVL data - dvl_data = "something" + # Get the DVL data (linear velocity) + dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) # Update the filter with the DVL data self.current_state_nom, self.current_state_error = ( @@ -84,11 +107,22 @@ def filter_callback(self): ) ) - # Publish the estimated state - """ - Some conversion function from the custom state type to odometry message - This needs to be worked on - """ + # Inserting data into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + + # Publishing the data + self.state_publisher_.publish(self.odom_msg) + def main(args=None): From a40e4e53db241693f982f59cb0d354c2b62a5827 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 21 Feb 2025 17:07:58 +0100 Subject: [PATCH 033/109] feat: added ES-UKF filter --- .../eskf_python/eskf_python_filter.py | 4 +- navigation/sp_ukf_python/CMakeLists.txt | 33 ++ navigation/sp_ukf_python/README.md | 0 .../sp_ukf_python/config/sp_ukf_python.yaml | 3 + navigation/sp_ukf_python/launch/ukf.launch.py | 22 + navigation/sp_ukf_python/package.xml | 23 + .../sp_ukf_python/sp_ukf_python/__init__.py | 0 .../sp_ukf_python/sp_ukf_python.py | 440 ++++++++++++++++++ .../sp_ukf_python/sp_ukf_python_class.py | 280 +++++++++++ .../sp_ukf_python/sp_ukf_python_node.py | 137 ++++++ .../sp_ukf_python/sp_ukf_python_utils.py | 107 +++++ .../sp_ukf_python/sp_ukf_python/test_ukf.py | 218 +++++++++ 12 files changed, 1265 insertions(+), 2 deletions(-) create mode 100644 navigation/sp_ukf_python/CMakeLists.txt create mode 100644 navigation/sp_ukf_python/README.md create mode 100644 navigation/sp_ukf_python/config/sp_ukf_python.yaml create mode 100644 navigation/sp_ukf_python/launch/ukf.launch.py create mode 100644 navigation/sp_ukf_python/package.xml create mode 100644 navigation/sp_ukf_python/sp_ukf_python/__init__.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py create mode 100644 navigation/sp_ukf_python/sp_ukf_python/test_ukf.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 392c705c2..edf39dcc0 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -2,7 +2,7 @@ from typing import tuple import numpy as np - +from scipy.linalg import expm @dataclass class StateVector_quaternion: @@ -212,7 +212,7 @@ def van_loan_discretization( * self.dt ) - van_loan_matrix = np.linalg.expm(matrix_exp) + van_loan_matrix = expm(matrix_exp) V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] diff --git a/navigation/sp_ukf_python/CMakeLists.txt b/navigation/sp_ukf_python/CMakeLists.txt new file mode 100644 index 000000000..a40f065cd --- /dev/null +++ b/navigation/sp_ukf_python/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(sp_ukf_python) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(vortex_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +install(PROGRAMS + sp_ukf_python/sp_ukf_python_node.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) +endif() + +ament_package() diff --git a/navigation/sp_ukf_python/README.md b/navigation/sp_ukf_python/README.md new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/sp_ukf_python/config/sp_ukf_python.yaml b/navigation/sp_ukf_python/config/sp_ukf_python.yaml new file mode 100644 index 000000000..d3d18145d --- /dev/null +++ b/navigation/sp_ukf_python/config/sp_ukf_python.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + sp_ukf_python_node: diff --git a/navigation/sp_ukf_python/launch/ukf.launch.py b/navigation/sp_ukf_python/launch/ukf.launch.py new file mode 100644 index 000000000..fdd3f07e6 --- /dev/null +++ b/navigation/sp_ukf_python/launch/ukf.launch.py @@ -0,0 +1,22 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + sp_ukf_python_node = Node( + package='sp_ukf_python', + executable='sp_ukf_python_node.py', + name='sp_ukf_python_node', + parameters=[ + os.path.join( + get_package_share_directory('sp_ukf_python'), + 'config', + 'sp_ukf_python.yaml', + ), + ], + output='screen', + ) + return LaunchDescription([sp_ukf_python_node]) diff --git a/navigation/sp_ukf_python/package.xml b/navigation/sp_ukf_python/package.xml new file mode 100644 index 000000000..6aa4edbc0 --- /dev/null +++ b/navigation/sp_ukf_python/package.xml @@ -0,0 +1,23 @@ + + + + sp_ukf_python + 1.0.0 + This package provides the implementation of a sigma point based Unscented Error-state Kalman Filter + talhanc + MIT + + ament_cmake_python + + rclpy + python-transforms3d-pip + geometry_msgs + vortex_msgs + + python3-pytest + + + + ament_cmake + + diff --git a/navigation/sp_ukf_python/sp_ukf_python/__init__.py b/navigation/sp_ukf_python/sp_ukf_python/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py new file mode 100644 index 000000000..6f9d1b2f6 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py @@ -0,0 +1,440 @@ +from dataclasses import dataclass +from typing import Tuple +from sp_ukf_python_class import StateVector_quaternion, StateVector_euler +from sp_ukf_python_utils import skew_symmetric, quaternion_super_product +from scipy.linalg import expm + +import numpy as np + +class ErrorStateUnscentedKalmanFilter: + def __init__( + self, + P_ab: float, + P_wb: float, + Q: np.ndarray, + lever_arm: np.array, + R: np.ndarray, + g: float, + dt: float, + ) -> None: + self.P_ab = P_ab + self.P_wb = P_wb + self.Q_process_noise = Q + self.lever_arm = lever_arm + self.R = R + self.g = np.array([0, 0, g]) + self.dt = dt + self.y_i = np.zeros((15, 2*15)) + + def mean_set(self, set: np.ndarray) -> np.ndarray: + """ + Calculates the mean of a set of values. + + Args: + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The mean of the set. + """ + # Define the number of columns + n = set.shape[0] + + # Calculate the mean value + mean_value = (1 / (2 * n)) * np.sum(set, axis=1) + + return mean_value + + def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: + """ + Calculates the mean of a set of values. + + Args: + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The mean of the set. + """ + # Define the number of columns + n = set.shape[0] + mean_value = np.zeros(n) + + for i in range(2*n + 1): + mean_value += weight[i] * set[:, i] + + mean_value = (1 / (2 * n + 1)) * mean_value + + return mean_value + + def covariance_set(self, mean: np.ndarray, set: np.ndarray, mean_2: np.ndarray = None, set_2: np.ndarray = None) -> np.ndarray: + """ + Calculate the covarince of a set of sigmapoints + + Args: + mean (np.ndarray): The mean of the set. + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The covariance of the set. + """ + + if mean_2 is not None: + + n = set.shape[0] + n2 = set_2.shape[0] + covariance_set = np.zeros((n, n2)) + + for i in range(2*n): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + vector_2 = StateVector_euler() + vector_2.position = set_2[:, i][:3] + vector_2.velocity = set_2[:, i][3:6] + vector_2.orientation = set_2[:, i][6:9] + vector_2.acceleration_bias = set_2[:, i][9:12] + vector_2.gyro_bias = set_2[:, i][12:] + W_i = vector - mean + W_i_2 = vector_2 - mean_2 + + covariance_set += (1 / (2*n)) * np.outer(W_i, W_i_2) + + return covariance_set + else: + + n = set.shape[0] + covariance_set = np.zeros((n, n)) + + for i in range(2*n): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + W_i = vector - mean + covariance_set += (1 / (2*n)) * np.outer(W_i, W_i) + + return covariance_set + + def weighted_covariance_set(self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray) -> np.ndarray: + """ + Calculate the covarince of a set of sigmapoints + + Args: + mean (np.ndarray): The mean of the set. + set (np.ndarray): The set of values. + + Returns: + np.ndarray: The covariance of the set. + """ + + n = set.shape[0] + covariance_set = np.zeros((n, n)) + + for i in range(2*n): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + W_i = vector - mean + covariance_set += weight[i] * np.outer(W_i, W_i) + + return covariance_set + + + + def generate_sigma_points(self, error_state: StateVector_euler, Q_process_noise) -> tuple[list[StateVector_euler], np.ndarray]: + """ + Generates the sigma points for the UKF + This is done using the Cholesky decomposition method + """ + + # Define n + n = len(error_state.covariance) + kappa = 3 - n + + # Computing S matrix using cholensky decomposition + S = np.linalg.cholesky(error_state.covariance + Q_process_noise) + + S_scaled = np.sqrt(n + kappa) * S + + weighted_points = np.concatenate((S_scaled , -S_scaled), axis=1) + + sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] + + sigma_points[0].fill_states(error_state.as_vector()) + for i in range(2*n): + sigma_points[i + 1].fill_states(error_state + weighted_points[:,i]) + + W = np.zeros(2*n + 1) + W[0] = kappa / (n + kappa) + + for i in range(2*n): + W[i + 1] = 1 / (2 * (n + kappa)) + + return sigma_points, W + + def nominal_state_update( + self, current_state: StateVector_quaternion, imu_reading: np.ndarray + ) -> StateVector_quaternion: + """Updates the nominal state of the system. + + Args: + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated nominal state. + """ + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + # Define the derivative of the state + current_state_dot = StateVector_quaternion() + + # Define the state derivates + current_state_dot.position = current_state.velocity + current_state_dot.velocity = ( + np.dot( + current_state.R_q(), + (imu_acceleration - current_state.acceleration_bias), + ) + + self.g + ) + + # Define the quaternion derivatives + current_state_dot.orientation = 0.5 * quaternion_super_product( + current_state.orientation, + np.array([0, imu_gyro[0] - current_state.gyro_bias[0], imu_gyro[1] - current_state.gyro_bias[1], imu_gyro[2] - current_state.gyro_bias[2]]), + ) + + # Define the bias + current_state_dot.acceleration_bias = ( + -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias + ) + current_state_dot.gyro_bias = ( + -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias + ) + + return current_state_dot.euler_forward(current_state, self.dt) + + def error_state_update( + self, + current_error_state: StateVector_euler, + current_state: StateVector_quaternion, + imu_reading: np.ndarray, + ) -> np.ndarray: + """Updates the error state of the system. + + Args: + current_error_state (np.ndarray): The current error state of the system. + current_state (np.ndarray): The current state of the system. + imu_reading (np.ndarray): The IMU reading. + + Returns: + np.ndarray: The updated error state. + """ + # Defining the IMU readings + imu_acceleration = imu_reading[0:3] + imu_gyro = imu_reading[3:6] + + A_c = np.zeros((15, 15)) + A_c[0:3, 3:6] = np.eye(3) + A_c[3:6, 6:9] = -np.dot( + current_state.R_q(), + skew_symmetric(imu_acceleration - current_state.acceleration_bias), + ) + A_c[6:9, 6:9] = -skew_symmetric(imu_gyro - current_state.gyro_bias) + A_c[3:6, 9:12] = -current_state.R_q() + A_c[6:9, 12:15] = -np.eye(3) + A_c[9:12, 9:12] = -self.P_ab * np.eye(3) + A_c[12:15, 12:15] = -self.P_wb * np.eye(3) + + # Exact matrix exponential + A_d = expm(A_c * self.dt) + + next_error_state = A_d @ current_error_state.as_vector() + + return next_error_state + + def unscented_transform(self, sigma_points: list[StateVector_euler], current_state: StateVector_quaternion, + imu_reading: np.ndarray,) -> StateVector_euler: + """ + Performs the Unscented Transform + This is the corresponding to a preditction step in the EKF + """ + + n = len(sigma_points[0].as_vector()) + + self.y_i = np.zeros((n, 2*n)) + + for i in range(2*n): + self.y_i[:, i] = self.error_state_update(sigma_points[i], current_state, imu_reading) + + error_state_estimate = StateVector_euler() + + x = self.mean_set(self.y_i) + + error_state_estimate.fill_states(x) + error_state_estimate.covariance = self.covariance_set(x, self.y_i) + + return error_state_estimate + + def H(self) -> np.ndarray: + """Calculates the measurement matrix. + + Returns: + np.ndarray: The measurement matrix. + """ + # Define the measurement matrix + H = np.zeros((3, 15)) + + # For now assume only velocity is measured + H[0:3, 3:6] = np.eye(3) + + return H + + def measurement_update(self, sigma_points: list[StateVector_euler], current_error_state: StateVector_euler, dvl_data: np.ndarray, Weight: np.ndarray) -> StateVector_euler: + """ + Updates the state vector with the DVL data + """ + + H = self.H() + R = self.R + + n = len(sigma_points[0].as_vector()) + + Z_i = np.zeros((H.shape[0], 2 * n)) + + for i in range(2*n): + Z_i[:, i] = np.dot(H, sigma_points[i].as_vector()) + + z = self.weighted_mean_set(Z_i, Weight) + S = self.weighted_covariance_set(z, Z_i, Weight) + + x = self.mean_set(self.y_i) + + # Calculate the rest + innovation = dvl_data - z + + P_innovation = S + R + + P_xz = self.covariance_set(x, self.y_i, z, Z_i) + + # Kalman gain + K_k = np.dot(P_xz, np.linalg.inv(P_innovation)) + + updated_error_state = StateVector_euler() + + # Update the state + updated_error_state.fill_states(x + np.dot(K_k, innovation)) + + # Update the covariance + updated_error_state.covariance = current_error_state.covariance - np.dot(K_k, np.dot(P_innovation, K_k.T)) + + return updated_error_state + + def imu_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, imu_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: + """ + Updates the state vector with the IMU data + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + imu_data (np.ndarray): The IMU data + + Returns: + tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states + + """ + + # Update the nominal state + current_state_nom = self.nominal_state_update(current_state_nom, imu_data) + + # Generate the sigma points + sigma_points, _ = self.generate_sigma_points(current_state_error, self.Q_process_noise) + + # Update the error state + current_state_error = self.unscented_transform(sigma_points, current_state_nom, imu_data) + + return current_state_nom, current_state_error + + def dvl_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, dvl_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: + """ + Update the error state given the DVL data + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + dvl_data (np.ndarray): The DVL data to update the state with + + Returns: + tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states + """ + + # Generate the sigma points + sigma_points, weight = self.generate_sigma_points(current_state_error, self.Q_process_noise) + + # Update the error state + current_state_error = self.measurement_update(sigma_points, current_state_error, dvl_data, weight) + + return current_state_nom, current_state_error + + def inject_and_reset(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler) -> tuple[StateVector_quaternion, StateVector_euler]: + """ + Injects the error state into the nominal state and resets the error state + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + + Returns: + tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states + """ + + inj_state = StateVector_quaternion() + + inj_state.position = current_state_nom.position + current_state_error.position + inj_state.velocity = current_state_nom.velocity + current_state_error.velocity + inj_state.orientation = quaternion_super_product( + current_state_nom.orientation, + 0.5 + * np.array( + [ + 2, + current_state_error.orientation[0], + current_state_error.orientation[1], + current_state_error.orientation[2], + ] + ), + ) + inj_state.acceleration_bias = ( + current_state_nom.acceleration_bias + current_state_error.acceleration_bias + ) + inj_state.gyro_bias = current_state_nom.gyro_bias + current_state_error.gyro_bias + + + # Resetting the error state + G = np.eye(15) + G[6:9, 6:9] = np.eye(3) - skew_symmetric( + 0.5 * current_state_error.orientation + ) + + current_state_error.covariance = np.dot( + np.dot(G, current_state_error.covariance), G.T + ) + + current_state_error.fill_states(np.zeros(15)) + + + return inj_state, current_state_error + diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py new file mode 100644 index 000000000..629ce460e --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py @@ -0,0 +1,280 @@ +import numpy as np +from dataclasses import dataclass, field +from sp_ukf_python_utils import quaternion_super_product, quaternion_error, euler_rotation_quaternion, ssa + +@dataclass +class StateVector_quaternion: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(4) + ) # Orientation quaternion (w, x, y, z) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + + def as_vector(self) -> np.ndarray: + """Calculates the state vector. + + Returns: + np.ndarray: The state vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + if len(state) == 15: + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:10] + self.acceleration_bias = state[10:13] + self.gyro_bias = state[13:] + else: + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = euler_rotation_quaternion(state[6:9]) + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:] + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion. + + Returns: + np.ndarray: The rotation matrix. + """ + q0, q1, q2, q3 = self.orientation + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R + + def euler_forward( + self, current_state: 'StateVector_quaternion', dt: float + ) -> 'StateVector_quaternion': + # Define the new state + new_state = StateVector_quaternion() + + # Define the state derivatives + new_state.position = current_state.position + self.position * dt + new_state.velocity = current_state.velocity + self.velocity * dt + new_state.orientation = current_state.orientation + self.orientation * dt + new_state.acceleration_bias = ( + current_state.acceleration_bias + self.acceleration_bias * dt + ) + new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt + + # Normalize the orientation quaternion + new_state.orientation /= np.linalg.norm(new_state.orientation) + + return new_state + + def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: + """Subtracts two StateVector_quaternion objects. + + Args: + other (StateVector_quaternion): The other StateVector_quaternion object. + + Returns: + np.ndarray: The difference between the two StateVector_quaternion objects. + """ + position_diff = self.position - other.position + velocity_diff = self.velocity - other.velocity + orientation_diff = quaternion_error(self.orientation, other.orientation) + acceleration_bias_diff = self.acceleration_bias - other.acceleration_bias + gyro_bias_diff = self.gyro_bias - other.gyro_bias + + return np.concatenate( + [ + position_diff, + velocity_diff, + orientation_diff, + acceleration_bias_diff, + gyro_bias_diff, + ] + ) + + def __add__(self, other: 'np.ndarray') -> 'np.ndarray': + """Adds a numpy array to this StateVector_quaternion. + + Args: + other (np.ndarray): The numpy array to add. + + Returns: + np.ndarray: The result of the addition. + """ + # Construct the quaternion from the array + add_to_position = other[:3] + add_to_orientation = euler_rotation_quaternion(other[6:10]) + + new_position = self.position + add_to_position + new_velcoity = self.velocity + other[3:6] + new_orientation = quaternion_super_product(self.orientation, add_to_orientation) + new_acceleration_bias = self.acceleration_bias + other[10:13] + new_gyro_bias = self.gyro_bias + other[13:] + + return np.concatenate( + [ + new_position, + new_velcoity, + new_orientation, + new_acceleration_bias, + new_gyro_bias, + ] + ) + + +@dataclass +class StateVector_euler: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Orientation angles (roll, pitch, yaw) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + covariance: np.ndarray = field( + default_factory=lambda: np.zeros((15, 15)) + ) # Covariance matrix + + def as_vector(self) -> np.ndarray: + """Calculates the state estimate vector. + + Returns: + np.ndarray: The state estimate vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:9] + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:15] + + def copy_state(self, wanted_state: 'StateVector_euler') -> None: + """Copies the state from a StateVector object into the current StateVector object. + + Args: + wanted_state (StateVector_euler): The quaternion state to copy from. + """ + self.position = wanted_state.position + self.velocity = wanted_state.velocity + self.orientation = wanted_state.orientation + self.acceleration_bias = wanted_state.acceleration_bias + self.gyro_bias = wanted_state.gyro_bias + + def __add__(self, other: 'np.ndarray') -> 'np.ndarray': + """Adds a numpy array to this StateVector_quaternion. + + Args: + other (np.ndarray): The numpy array to add. + + Returns: + np.ndarray: The result of the addition. + """ + + new_position = self.position + other[:3] + new_velcoity = self.velocity + other[3:6] + new_orientation = self.orientation + other[6:9] + new_acceleration_bias = self.acceleration_bias + other[9:12] + new_gyro_bias = self.gyro_bias + other[12:] + + return np.concatenate( + [ + new_position, + new_velcoity, + new_orientation, + new_acceleration_bias, + new_gyro_bias, + ] + ) + + def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': + """ + Subtracts two StateVector_euler objects. + + Args: + other (StateVector_euler): The other StateVector_euler object. + + Returns: + StateVector_euler: The difference between the two StateVector_euler objects. + """ + position_diff = self.position - other_state[:3] + velocity_diff = self.velocity - other_state[3:6] + orientation_diff = ssa(self.orientation - other_state[6:9]) + acceleration_bias_diff = self.acceleration_bias - other_state[9:12] + gyro_bias_diff = self.gyro_bias - other_state[12:] + + return np.concatenate( + (position_diff, velocity_diff, orientation_diff, acceleration_bias_diff, gyro_bias_diff) + ) + + +@dataclass +class MeasurementModel: + measurement: np.ndarray = field( + default_factory=lambda: np.zeros(6) + ) # Measurement vector + measurement_matrix: np.ndarray = field( + default_factory=lambda: np.zeros((6, 15)) + ) # Measurement matrix + measurement_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((6, 6)) + ) # Measurement noise matrix \ No newline at end of file diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py new file mode 100644 index 000000000..103528ef2 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py @@ -0,0 +1,137 @@ +#!/usr/bin/env python3 + +import rclpy +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import QoSProfile, qos_profile_sensor_data +from sensor_msgs.msg import Imu, +import numpy as np +from geometry_msgs.msg import TwistWithCovarianceStamped + +# NEED TO CHANGE THIS TO THE CORRECT PATH +from eskf_python.eskf_python_filter import ( + ErrorStateKalmanFilter, + MeasurementModel, + StateVector_euler, + StateVector_quaternion, +) + +qos_profile = QoSProfile( + depth=1, + history=qos_profile_sensor_data.history, + reliability=qos_profile_sensor_data.reliability, +) + + +class ESKalmanFilterNode(Node): + def __init__(self): + super().__init__("sp_ukf_python_node") + + # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz + self.imu_subscriber_ = self.create_subscription( + Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile + ) + + self.twist_dvl_subscriber_ = self.create_subscription( + TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile + ) + + # This publisher will publish the estimtaed state of the vehicle + self.state_publisher_ = self.create_publisher( + Odometry, '/orca/odom', qos_profile=qos_profile + ) + + self.eskf_modual = ErrorStateKalmanFilter() + self.current_state_nom = StateVector_quaternion() + self.current_state_error = StateVector_euler() + self.measurement_pred = MeasurementModel() + self.odom_msg = Odometry() + + self.get_logger().info("Unscented Kalman Filter started") + + def imu_callback(self, msg: Imu): + + # Get the IMU data + + imu_acceleartion = msg.linear_acceleration + imu_angular_velocity = msg.angular_velocity + + # Combine the IMU data + imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) + + # Update the filter with the IMU data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.imu_update_states( + self.current_state_nom, self.current_state_error, imu_data + ) + ) + + # Inserting the nominal state into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x + self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y + self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z + + # Publish + self.state_publisher_.publish(self.odom_msg) + + + + def filter_callback(self, msg: TwistWithCovarianceStamped): + """Callback function for the filter measurement update, + this will be called when the filter needs to be updated with the DVL data. + """ + self.get_logger().info("Filter callback, got DVL data") + + # Get the DVL data (linear velocity) + dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + + # Update the filter with the DVL data + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.dvl_update_states( + self.current_state_nom, self.current_state_error, dvl_data + ) + ) + self.current_state_nom, self.current_state_error = ( + ErrorStateKalmanFilter.injection_and_reset( + self.current_state_nom, self.current_state_error + ) + ) + + # Inserting data into the msg + self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] + self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] + self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] + self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] + self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] + self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] + self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] + self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] + self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] + + # Publishing the data + self.state_publisher_.publish(self.odom_msg) + + + +def main(args=None): + rclpy.init(args=args) + node = ESKalmanFilterNode() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py new file mode 100644 index 000000000..071180fc7 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py @@ -0,0 +1,107 @@ +import numpy as np + +def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + + q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) + q_new /= np.linalg.norm(q_new) + + return q_new + +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_super_product(quat_1, quat_2_inv) + + return error_quat + +def euler_rotation_quaternion(self, euler_angles: np.ndarray) -> np.ndarray: + """ + Converts An vector assumed to be rotation vector to quaternion + + Args: + euler_angles (np.ndarray): Rotation vector + + Returns: + np.ndarray: Quaternion representation of the rotation vector + """ + + angle = np.linalg.norm(euler_angles) + + if angle == 0: + axis = np.array([0, 0, 0]) + else: + axis = euler_angles / angle + + quaternion = np.zeros(4) + quaternion[0] = np.cos(angle / 2) + quaternion[1:] = np.sin(angle / 2) * axis + + return quaternion + +def quaternion_rotation_euler(self, quaternion: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to an euler rotation vector + Used to generate the covarince matrix + + Args: + quaternion (np.ndarray): The quaternion to convert + + Returns: + np.ndarray: The euler rotation vector + """ + nu, eta_x, eta_y, eta_z = quaternion + + phi = np.arctan2(2 * (nu * eta_x + eta_y * eta_z), 1 - 2 * (eta_x ** 2 + eta_y ** 2)) + theta = -np.arcsin(2 * (eta_z * eta_x - nu * eta_y)) + psi = np.arctan2(2 * (nu * eta_z + eta_x * eta_y), 1 - 2 * (eta_y ** 2 + eta_z ** 2)) + + return np.array([phi, theta, psi]) + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def ssa(angle: np.ndarray) -> np.ndarray: + """ + smallest signed angle between two angles + """ + ssa_vector = np.zeros(len(angle)) + + for i in range(len(angle)): + ssa_vector[i] = (angle[i] + np.pi) % (2 * np.pi) - np.pi + + return ssa_vector \ No newline at end of file diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py new file mode 100644 index 000000000..59e08aa55 --- /dev/null +++ b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py @@ -0,0 +1,218 @@ +import numpy as np +import matplotlib.pyplot as plt +from mpl_toolkits.mplot3d import Axes3D # for 3D plotting + +# (Assuming the following have been imported from your modules) +from sp_ukf_python_class import StateVector_quaternion, StateVector_euler +from sp_ukf_python_utils import skew_symmetric, quaternion_super_product +from sp_ukf_python import ErrorStateUnscentedKalmanFilter + +def quat_to_yaw(q: np.ndarray) -> float: + """ + Convert a quaternion (assumed [w, x, y, z]) with zero roll and pitch + into a yaw angle. + """ + return 2 * np.arctan2(q[3], q[0]) + +def run_ESUKF_simulation(): + # Simulation parameters + dt = 0.01 # time step [s] + T = 60.0 # total simulation time [s] + num_steps = int(T/dt) + g_val = 9.81 # gravitational acceleration + + # Define noise and covariance matrices + Q = np.diag([0.1]*15) # Process noise covariance (15x15) + R_meas = np.diag([0.08]*3) # DVL measurement noise (velocity noise) + P_ab = 0.005 # Accelerometer bias dynamics matrix + P_wb = 0.005 # Gyro bias dynamics matrix + lever_arm = np.array([0.0, 0.0, 0.0]) # Assume sensor is at the center of mass + + # Create ESUKF instance + esukf = ErrorStateUnscentedKalmanFilter(P_ab, P_wb, Q, lever_arm, R_meas, g_val, dt) + + # Initialize true state (StateVector_quaternion) with no biases. + true_state = StateVector_quaternion() + true_state.position = np.array([20.0, 0.0, 0.0]) + true_state.velocity = np.array([0.0, 1.0, 0.0]) + true_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # No initial rotation + true_state.acceleration_bias = np.zeros(3) + true_state.gyro_bias = np.zeros(3) + + # Initialize estimated (nominal) state with a small offset. + est_state_nom = StateVector_quaternion() + est_state_nom.position = true_state.position + np.array([0.1, -0.1, 0.05]) + est_state_nom.velocity = true_state.velocity + np.array([0.05, 0.05, -0.05]) + est_state_nom.orientation = true_state.orientation.copy() + est_state_nom.acceleration_bias = np.zeros(3) + est_state_nom.gyro_bias = np.zeros(3) + + # Initialize error state (StateVector_euler) as zero with some initial covariance. + est_state_error = StateVector_euler() + est_state_error.fill_states(np.zeros(15)) + est_state_error.covariance = 0.1 * np.eye(15) + + # Prepare histories for plotting + time_hist = [] + true_pos_hist = [] + est_pos_hist = [] + true_vel_hist = [] + est_vel_hist = [] + true_yaw_hist = [] + est_yaw_hist = [] + + # For the true trajectory, we simulate a circle in the horizontal plane. + R_circle = 20.0 # circle radius [m] + omega = 0.05 # angular speed [rad/s] + + t = 0.0 + for step in range(num_steps): + # --- True State Generation --- + # Circular trajectory: position = [R*cos(omega*t), R*sin(omega*t), 0] + pos_true = np.array([R_circle * np.cos(omega * t), + R_circle * np.sin(omega * t), + 0.0]) + # Velocity is the derivative of position. + vel_true = np.array([-R_circle * omega * np.sin(omega * t), + R_circle * omega * np.cos(omega * t), + 0.0]) + # Acceleration is the second derivative. + acc_true = np.array([-R_circle * omega**2 * np.cos(omega * t), + -R_circle * omega**2 * np.sin(omega * t), + 0.0]) + # Update the true state. + true_state.position = pos_true + true_state.velocity = vel_true + # Compute heading (yaw) tangent to the path. + yaw_true = np.arctan2(vel_true[1], vel_true[0]) + # For simplicity, assume roll and pitch are zero. + true_state.orientation = np.array([np.cos(yaw_true/2), 0.0, 0.0, np.sin(yaw_true/2)]) + # Biases remain zero for the true state. + + # --- Simulated IMU Measurements --- + # The nominal state propagation uses: + # velocity_dot = R_q() @ (imu_acc - bias) + g + # Therefore, the ideal accelerometer measurement is: + # imu_acc = R_true.T @ (acc_true - g_vector) + R_true = true_state.R_q() # rotation matrix from quaternion + imu_acc_ideal = np.dot(R_true.T, (acc_true - np.array([0.0, 0.0, g_val]))) + # Add noise (e.g., 0.1 m/s^2 std dev). + imu_acc_noise = np.random.normal(0.0, 0.1, 3) + imu_acc_meas = imu_acc_ideal + imu_acc_noise + + # For the gyro: the true angular velocity in body frame. + # For a circular path with constant yaw rate, the ideal gyro reading is: + imu_gyro_ideal = np.array([0.0, 0.0, omega]) + # Add noise (e.g., 0.01 rad/s std dev). + imu_gyro_noise = np.random.normal(0.0, 0.01, 3) + imu_gyro_meas = imu_gyro_ideal + imu_gyro_noise + + # Combine to form the complete IMU measurement vector. + imu_meas = np.hstack((imu_acc_meas, imu_gyro_meas)) + + # --- Simulated DVL Measurement --- + # DVL measures velocity (here assumed in the inertial frame). + dvl_noise = np.random.normal(0.0, 0.05, 3) + dvl_meas = vel_true + dvl_noise + + # --- Filter Updates --- + # 1. Propagate the nominal state with IMU data. + est_state_nom, est_state_error = esukf.imu_update_states(est_state_nom, est_state_error, imu_meas) + # 2. Incorporate DVL measurement. + est_state_nom, est_state_error = esukf.dvl_update_states(est_state_nom, est_state_error, dvl_meas) + # 3. Inject the error state into the nominal state and reset the error state. + est_state_nom, est_state_error = esukf.inject_and_reset(est_state_nom, est_state_error) + + # --- Store Histories --- + time_hist.append(t) + true_pos_hist.append(pos_true) + est_pos_hist.append(est_state_nom.position.copy()) + true_vel_hist.append(vel_true) + est_vel_hist.append(est_state_nom.velocity.copy()) + true_yaw_hist.append(yaw_true) + est_yaw_hist.append(quat_to_yaw(est_state_nom.orientation)) + + t += dt + + # Convert histories to NumPy arrays. + true_pos_hist = np.array(true_pos_hist) + est_pos_hist = np.array(est_pos_hist) + true_vel_hist = np.array(true_vel_hist) + est_vel_hist = np.array(est_vel_hist) + true_yaw_hist = np.array(true_yaw_hist) + est_yaw_hist = np.array(est_yaw_hist) + time_hist = np.array(time_hist) + + # --- Plotting Results --- + + # Plot positions (each axis separately) + plt.figure(figsize=(10, 8)) + plt.subplot(3, 1, 1) + plt.plot(time_hist, true_pos_hist[:, 0], label='True X') + plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated X') + plt.ylabel('X Position (m)') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time_hist, true_pos_hist[:, 1], label='True Y') + plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated Y') + plt.ylabel('Y Position (m)') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time_hist, true_pos_hist[:, 2], label='True Z') + plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated Z') + plt.xlabel('Time (s)') + plt.ylabel('Z Position (m)') + plt.legend() + plt.tight_layout() + plt.show() + + # Plot velocities + plt.figure(figsize=(10, 8)) + plt.subplot(3, 1, 1) + plt.plot(time_hist, true_vel_hist[:, 0], label='True Vx') + plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vx') + plt.ylabel('Vx (m/s)') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time_hist, true_vel_hist[:, 1], label='True Vy') + plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Vy') + plt.ylabel('Vy (m/s)') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time_hist, true_vel_hist[:, 2], label='True Vz') + plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vz') + plt.xlabel('Time (s)') + plt.ylabel('Vz (m/s)') + plt.legend() + plt.tight_layout() + plt.show() + + # Plot heading (yaw) + plt.figure(figsize=(10, 4)) + plt.plot(time_hist, np.degrees(true_yaw_hist), label='True Yaw') + plt.plot(time_hist, np.degrees(est_yaw_hist), '--', label='Estimated Yaw') + plt.xlabel('Time (s)') + plt.ylabel('Yaw (deg)') + plt.legend() + plt.title('Heading Comparison') + plt.tight_layout() + plt.show() + + # Plot 3D Trajectory + fig = plt.figure(figsize=(8, 6)) + ax = fig.add_subplot(111, projection='3d') + ax.plot(true_pos_hist[:, 0], true_pos_hist[:, 1], true_pos_hist[:, 2], label='True Trajectory', linewidth=2) + ax.plot(est_pos_hist[:, 0], est_pos_hist[:, 1], est_pos_hist[:, 2], '--', label='Estimated Trajectory', linewidth=2) + ax.set_xlabel('X (m)') + ax.set_ylabel('Y (m)') + ax.set_zlabel('Z (m)') + ax.legend() + plt.title('3D Trajectory') + plt.show() + +if __name__ == '__main__': + run_ESUKF_simulation() From 2851c665424b7c6bd27be0e7b19ef1b01ca2548f Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 27 Feb 2025 16:18:15 +0100 Subject: [PATCH 034/109] feat: added UKF fix injection step --- .../sp_ukf_python/sp_ukf_python.py | 377 ++++++++++-------- .../sp_ukf_python/sp_ukf_python_class.py | 33 +- .../sp_ukf_python/sp_ukf_python/test_ukf.py | 295 +++++++++----- 3 files changed, 434 insertions(+), 271 deletions(-) diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py index 6f9d1b2f6..8d2ff6265 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py @@ -1,10 +1,9 @@ -from dataclasses import dataclass -from typing import Tuple -from sp_ukf_python_class import StateVector_quaternion, StateVector_euler -from sp_ukf_python_utils import skew_symmetric, quaternion_super_product -from scipy.linalg import expm import numpy as np +from scipy.linalg import expm +from sp_ukf_python_class import StateVector_euler, StateVector_quaternion +from sp_ukf_python_utils import quaternion_super_product, skew_symmetric + class ErrorStateUnscentedKalmanFilter: def __init__( @@ -24,11 +23,10 @@ def __init__( self.R = R self.g = np.array([0, 0, g]) self.dt = dt - self.y_i = np.zeros((15, 2*15)) - + self.y_i = np.zeros((15, 2 * 15)) + def mean_set(self, set: np.ndarray) -> np.ndarray: - """ - Calculates the mean of a set of values. + """Calculates the mean of a set of values. Args: set (np.ndarray): The set of values. @@ -38,15 +36,14 @@ def mean_set(self, set: np.ndarray) -> np.ndarray: """ # Define the number of columns n = set.shape[0] - + # Calculate the mean value mean_value = (1 / (2 * n)) * np.sum(set, axis=1) return mean_value - + def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: - """ - Calculates the mean of a set of values. + """Calculates the mean of a set of values. Args: set (np.ndarray): The set of values. @@ -57,86 +54,94 @@ def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: # Define the number of columns n = set.shape[0] mean_value = np.zeros(n) - - for i in range(2*n + 1): + + for i in range(2 * n + 1): mean_value += weight[i] * set[:, i] - mean_value = (1 / (2 * n + 1)) * mean_value + mean_value = (1 / (2 * n + 1)) * mean_value return mean_value - - def covariance_set(self, mean: np.ndarray, set: np.ndarray, mean_2: np.ndarray = None, set_2: np.ndarray = None) -> np.ndarray: - """ - Calculate the covarince of a set of sigmapoints - + + def covariance_set(self, mean: np.ndarray, set: np.ndarray) -> np.ndarray: + """Calculate the covarince of a set of sigmapoints + Args: mean (np.ndarray): The mean of the set. set (np.ndarray): The set of values. - + Returns: np.ndarray: The covariance of the set. """ + n = set.shape[0] + covariance_set = np.zeros((n, n)) - if mean_2 is not None: - - n = set.shape[0] - n2 = set_2.shape[0] - covariance_set = np.zeros((n, n2)) - - for i in range(2*n): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - vector_2 = StateVector_euler() - vector_2.position = set_2[:, i][:3] - vector_2.velocity = set_2[:, i][3:6] - vector_2.orientation = set_2[:, i][6:9] - vector_2.acceleration_bias = set_2[:, i][9:12] - vector_2.gyro_bias = set_2[:, i][12:] - W_i = vector - mean - W_i_2 = vector_2 - mean_2 - - covariance_set += (1 / (2*n)) * np.outer(W_i, W_i_2) - - return covariance_set - else: - - n = set.shape[0] - covariance_set = np.zeros((n, n)) - - for i in range(2*n): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - W_i = vector - mean - covariance_set += (1 / (2*n)) * np.outer(W_i, W_i) - - return covariance_set - - def weighted_covariance_set(self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray) -> np.ndarray: + for i in range(2 * n + 1): + vector = StateVector_euler() + vector.position = set[:, i][:3] + vector.velocity = set[:, i][3:6] + vector.orientation = set[:, i][6:9] + vector.acceleration_bias = set[:, i][9:12] + vector.gyro_bias = set[:, i][12:] + + W_i = vector - mean + + covariance_set += (1 / (2 * n + 1)) * np.outer(W_i, W_i) + + return covariance_set + + def cross_covariance_set( + self, + mean: np.ndarray, + set: np.ndarray, + mean_2: np.ndarray, + set_2: np.ndarray, + weight: np.ndarray, + ) -> np.ndarray: + """Calculate the cross covariance of a set of sigmapoints + + Args: + mean (np.ndarray): The mean of the set. + set (np.ndarray): The set of values. + mean_2 (np.ndarray): The mean of the second set. + set_2 (np.ndarray): The second set of values. + + Returns: + np.ndarray: The cross covariance of the set. """ - Calculate the covarince of a set of sigmapoints - + n_x = set.shape[0] + n_z = set_2.shape[0] + covariance_mat = np.zeros((n_x, n_z)) + + for i in range(2 * n_x + 1): + # parse the 15-dim error state + err_vec = set[:, i] # shape (15,) + W_i = err_vec - mean # shape (15,) + + # parse the 3-dim measurement + meas_vec = set_2[:, i] # shape (3,) + W_i_2 = meas_vec - mean_2 # shape (3,) + + # outer product -> shape (15,3) + covariance_mat += weight[i] * np.outer(W_i, W_i_2) + + return covariance_mat + + def weighted_covariance_set( + self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray + ) -> np.ndarray: + """Calculate the covarince of a set of sigmapoints + Args: mean (np.ndarray): The mean of the set. set (np.ndarray): The set of values. - + Returns: np.ndarray: The covariance of the set. """ - n = set.shape[0] covariance_set = np.zeros((n, n)) - for i in range(2*n): + for i in range(2 * n + 1): vector = StateVector_euler() vector.position = set[:, i][:3] vector.velocity = set[:, i][3:6] @@ -146,38 +151,38 @@ def weighted_covariance_set(self, mean: np.ndarray, set: np.ndarray, weight: np. W_i = vector - mean covariance_set += weight[i] * np.outer(W_i, W_i) - - return covariance_set - + return covariance_set - def generate_sigma_points(self, error_state: StateVector_euler, Q_process_noise) -> tuple[list[StateVector_euler], np.ndarray]: - """ - Generates the sigma points for the UKF + def generate_sigma_points( + self, error_state: StateVector_euler, Q_process_noise + ) -> tuple[list[StateVector_euler], np.ndarray]: + """Generates the sigma points for the UKF This is done using the Cholesky decomposition method """ - # Define n n = len(error_state.covariance) kappa = 3 - n # Computing S matrix using cholensky decomposition + # print(error_state.covariance + Q_process_noise) S = np.linalg.cholesky(error_state.covariance + Q_process_noise) + # print(S) S_scaled = np.sqrt(n + kappa) * S - weighted_points = np.concatenate((S_scaled , -S_scaled), axis=1) + weighted_points = np.concatenate((S_scaled, -S_scaled), axis=1) sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] sigma_points[0].fill_states(error_state.as_vector()) - for i in range(2*n): - sigma_points[i + 1].fill_states(error_state + weighted_points[:,i]) + for i in range(2 * n): + sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) - W = np.zeros(2*n + 1) + W = np.zeros(2 * n + 1) W[0] = kappa / (n + kappa) - for i in range(2*n): + for i in range(2 * n): W[i + 1] = 1 / (2 * (n + kappa)) return sigma_points, W @@ -214,7 +219,14 @@ def nominal_state_update( # Define the quaternion derivatives current_state_dot.orientation = 0.5 * quaternion_super_product( current_state.orientation, - np.array([0, imu_gyro[0] - current_state.gyro_bias[0], imu_gyro[1] - current_state.gyro_bias[1], imu_gyro[2] - current_state.gyro_bias[2]]), + np.array( + [ + 0, + imu_gyro[0] - current_state.gyro_bias[0], + imu_gyro[1] - current_state.gyro_bias[1], + imu_gyro[2] - current_state.gyro_bias[2], + ] + ), ) # Define the bias @@ -265,20 +277,24 @@ def error_state_update( next_error_state = A_d @ current_error_state.as_vector() return next_error_state - - def unscented_transform(self, sigma_points: list[StateVector_euler], current_state: StateVector_quaternion, - imu_reading: np.ndarray,) -> StateVector_euler: - """ - Performs the Unscented Transform + + def unscented_transform( + self, + sigma_points: list[StateVector_euler], + current_state: StateVector_quaternion, + imu_reading: np.ndarray, + ) -> StateVector_euler: + """Performs the Unscented Transform This is the corresponding to a preditction step in the EKF """ - n = len(sigma_points[0].as_vector()) - self.y_i = np.zeros((n, 2*n)) + self.y_i = np.zeros((n, 2 * n + 1)) - for i in range(2*n): - self.y_i[:, i] = self.error_state_update(sigma_points[i], current_state, imu_reading) + for i in range(2 * n + 1): + self.y_i[:, i] = self.error_state_update( + sigma_points[i], current_state, imu_reading + ) error_state_estimate = StateVector_euler() @@ -286,9 +302,9 @@ def unscented_transform(self, sigma_points: list[StateVector_euler], current_sta error_state_estimate.fill_states(x) error_state_estimate.covariance = self.covariance_set(x, self.y_i) - + return error_state_estimate - + def H(self) -> np.ndarray: """Calculates the measurement matrix. @@ -296,39 +312,83 @@ def H(self) -> np.ndarray: np.ndarray: The measurement matrix. """ # Define the measurement matrix - H = np.zeros((3, 15)) + H = np.zeros((3, 16)) # For now assume only velocity is measured - H[0:3, 3:6] = np.eye(3) + H[:, 3:6] = np.eye(3) return H - - def measurement_update(self, sigma_points: list[StateVector_euler], current_error_state: StateVector_euler, dvl_data: np.ndarray, Weight: np.ndarray) -> StateVector_euler: - """ - Updates the state vector with the DVL data + + def injection( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + ) -> StateVector_quaternion: + """Injects the error state into the nominal state + + Args: + current_state_nom (StateVector_quaternion): The current nominal state + current_state_error (StateVector_euler): The current error state + + Returns: + StateVector_quaternion: The updated nominal state """ + inj_state = StateVector_quaternion() + inj_state.position = current_state_nom.position + current_state_error.position + inj_state.velocity = current_state_nom.velocity + current_state_error.velocity + inj_state.orientation = quaternion_super_product( + current_state_nom.orientation, + 0.5 + * np.array( + [ + 2, + current_state_error.orientation[0], + current_state_error.orientation[1], + current_state_error.orientation[2], + ] + ), + ) + inj_state.acceleration_bias = ( + current_state_nom.acceleration_bias + current_state_error.acceleration_bias + ) + inj_state.gyro_bias = ( + current_state_nom.gyro_bias + current_state_error.gyro_bias + ) + + return inj_state + + def measurement_update( + self, + sigma_points: list[StateVector_euler], + current_nom_state: StateVector_quaternion, + current_error_state: StateVector_euler, + dvl_data: np.ndarray, + Weight: np.ndarray, + ) -> StateVector_euler: + """Updates the state vector with the DVL data + """ H = self.H() R = self.R n = len(sigma_points[0].as_vector()) - Z_i = np.zeros((H.shape[0], 2 * n)) + Z_i = np.zeros((H.shape[0], 2 * n + 1)) + + for i in range(2 * n + 1): + injected_state = self.injection(current_nom_state, sigma_points[i]) + Z_i[:, i] = np.dot(H, injected_state.as_vector()) - for i in range(2*n): - Z_i[:, i] = np.dot(H, sigma_points[i].as_vector()) - z = self.weighted_mean_set(Z_i, Weight) S = self.weighted_covariance_set(z, Z_i, Weight) x = self.mean_set(self.y_i) - # Calculate the rest innovation = dvl_data - z P_innovation = S + R - P_xz = self.covariance_set(x, self.y_i, z, Z_i) + P_xz = self.cross_covariance_set(x, self.y_i, z, Z_i, Weight) # Kalman gain K_k = np.dot(P_xz, np.linalg.inv(P_innovation)) @@ -339,102 +399,99 @@ def measurement_update(self, sigma_points: list[StateVector_euler], current_erro updated_error_state.fill_states(x + np.dot(K_k, innovation)) # Update the covariance - updated_error_state.covariance = current_error_state.covariance - np.dot(K_k, np.dot(P_innovation, K_k.T)) + updated_error_state.covariance = current_error_state.covariance - np.dot( + K_k, np.dot(P_innovation, K_k.T) + ) - return updated_error_state + return updated_error_state + + def imu_update_states( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + imu_data: np.ndarray, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Updates the state vector with the IMU data - def imu_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, imu_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: - """ - Updates the state vector with the IMU data - Args: current_state_nom (StateVector_quaternion): The current nominal state current_state_error (StateVector_euler): The current error state imu_data (np.ndarray): The IMU data - + Returns: tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states """ - # Update the nominal state current_state_nom = self.nominal_state_update(current_state_nom, imu_data) # Generate the sigma points - sigma_points, _ = self.generate_sigma_points(current_state_error, self.Q_process_noise) + sigma_points, _ = self.generate_sigma_points( + current_state_error, self.Q_process_noise + ) # Update the error state - current_state_error = self.unscented_transform(sigma_points, current_state_nom, imu_data) + current_state_error = self.unscented_transform( + sigma_points, current_state_nom, imu_data + ) return current_state_nom, current_state_error - - def dvl_update_states(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, dvl_data: np.ndarray) -> tuple[StateVector_quaternion, StateVector_euler]: - """ - Update the error state given the DVL data + + def dvl_update_states( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + dvl_data: np.ndarray, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Update the error state given the DVL data Args: current_state_nom (StateVector_quaternion): The current nominal state current_state_error (StateVector_euler): The current error state dvl_data (np.ndarray): The DVL data to update the state with - + Returns: tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states """ - # Generate the sigma points - sigma_points, weight = self.generate_sigma_points(current_state_error, self.Q_process_noise) + sigma_points, weight = self.generate_sigma_points( + current_state_error, self.Q_process_noise + ) # Update the error state - current_state_error = self.measurement_update(sigma_points, current_state_error, dvl_data, weight) + current_state_error = self.measurement_update( + sigma_points, current_state_nom, current_state_error, dvl_data, weight + ) return current_state_nom, current_state_error - - def inject_and_reset(self, current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler) -> tuple[StateVector_quaternion, StateVector_euler]: - """ - Injects the error state into the nominal state and resets the error state + + def inject_and_reset( + self, + current_state_nom: StateVector_quaternion, + current_state_error: StateVector_euler, + ) -> tuple[StateVector_quaternion, StateVector_euler]: + """Injects the error state into the nominal state and resets the error state Args: current_state_nom (StateVector_quaternion): The current nominal state current_state_error (StateVector_euler): The current error state - - Returns: + + Returns: tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states """ + inj_state = self.injection(current_state_nom, current_state_error) - inj_state = StateVector_quaternion() - - inj_state.position = current_state_nom.position + current_state_error.position - inj_state.velocity = current_state_nom.velocity + current_state_error.velocity - inj_state.orientation = quaternion_super_product( - current_state_nom.orientation, - 0.5 - * np.array( - [ - 2, - current_state_error.orientation[0], - current_state_error.orientation[1], - current_state_error.orientation[2], - ] - ), - ) - inj_state.acceleration_bias = ( - current_state_nom.acceleration_bias + current_state_error.acceleration_bias - ) - inj_state.gyro_bias = current_state_nom.gyro_bias + current_state_error.gyro_bias - - - # Resetting the error state G = np.eye(15) - G[6:9, 6:9] = np.eye(3) - skew_symmetric( - 0.5 * current_state_error.orientation - ) + G[6:9, 6:9] = np.eye(3) - skew_symmetric(0.5 * current_state_error.orientation) current_state_error.covariance = np.dot( np.dot(G, current_state_error.covariance), G.T ) + current_state_error.covariance += np.eye(15) * 1e-4 + + eigvals = np.linalg.eigvals(current_state_error.covariance) + print("Min eigenvalue:", np.min(eigvals)) current_state_error.fill_states(np.zeros(15)) - return inj_state, current_state_error - diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py index 629ce460e..b9a76e26f 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py @@ -1,6 +1,13 @@ -import numpy as np from dataclasses import dataclass, field -from sp_ukf_python_utils import quaternion_super_product, quaternion_error, euler_rotation_quaternion, ssa + +import numpy as np +from sp_ukf_python_utils import ( + euler_rotation_quaternion, + quaternion_error, + quaternion_super_product, + ssa, +) + @dataclass class StateVector_quaternion: @@ -48,7 +55,7 @@ def fill_states(self, state: np.ndarray) -> None: self.orientation = state[6:10] self.acceleration_bias = state[10:13] self.gyro_bias = state[13:] - else: + else: self.position = state[0:3] self.velocity = state[3:6] self.orientation = euler_rotation_quaternion(state[6:9]) @@ -103,7 +110,7 @@ def euler_forward( new_state.orientation /= np.linalg.norm(new_state.orientation) return new_state - + def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: """Subtracts two StateVector_quaternion objects. @@ -128,7 +135,7 @@ def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: gyro_bias_diff, ] ) - + def __add__(self, other: 'np.ndarray') -> 'np.ndarray': """Adds a numpy array to this StateVector_quaternion. @@ -229,7 +236,6 @@ def __add__(self, other: 'np.ndarray') -> 'np.ndarray': Returns: np.ndarray: The result of the addition. """ - new_position = self.position + other[:3] new_velcoity = self.velocity + other[3:6] new_orientation = self.orientation + other[6:9] @@ -247,9 +253,8 @@ def __add__(self, other: 'np.ndarray') -> 'np.ndarray': ) def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': - """ - Subtracts two StateVector_euler objects. - + """Subtracts two StateVector_euler objects. + Args: other (StateVector_euler): The other StateVector_euler object. @@ -263,7 +268,13 @@ def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': gyro_bias_diff = self.gyro_bias - other_state[12:] return np.concatenate( - (position_diff, velocity_diff, orientation_diff, acceleration_bias_diff, gyro_bias_diff) + [ + position_diff, + velocity_diff, + orientation_diff, + acceleration_bias_diff, + gyro_bias_diff, + ] ) @@ -277,4 +288,4 @@ class MeasurementModel: ) # Measurement matrix measurement_covariance: np.ndarray = field( default_factory=lambda: np.zeros((6, 6)) - ) # Measurement noise matrix \ No newline at end of file + ) # Measurement noise matrix diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py index 59e08aa55..d46962797 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py +++ b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py @@ -1,45 +1,78 @@ -import numpy as np import matplotlib.pyplot as plt -from mpl_toolkits.mplot3d import Axes3D # for 3D plotting +import numpy as np # (Assuming the following have been imported from your modules) -from sp_ukf_python_class import StateVector_quaternion, StateVector_euler -from sp_ukf_python_utils import skew_symmetric, quaternion_super_product +from sp_ukf_python_class import StateVector_euler, StateVector_quaternion + from sp_ukf_python import ErrorStateUnscentedKalmanFilter + def quat_to_yaw(q: np.ndarray) -> float: - """ - Convert a quaternion (assumed [w, x, y, z]) with zero roll and pitch - into a yaw angle. + """Convert a quaternion (assumed [w, x, y, z]) into a yaw angle. + In NED, yaw is typically around the z-down axis. """ return 2 * np.arctan2(q[3], q[0]) + def run_ESUKF_simulation(): + # ------------------------------------------------------------------------- # Simulation parameters - dt = 0.01 # time step [s] - T = 60.0 # total simulation time [s] - num_steps = int(T/dt) - g_val = 9.81 # gravitational acceleration + # ------------------------------------------------------------------------- + dt = 0.01 # time step [s] + T = 60.0 # total simulation time [s] + num_steps = int(T / dt) + # In an NED frame, gravity is +9.81 in the z (down) direction. + g_val = 9.81 + + # ------------------------------------------------------------------------- # Define noise and covariance matrices - Q = np.diag([0.1]*15) # Process noise covariance (15x15) - R_meas = np.diag([0.08]*3) # DVL measurement noise (velocity noise) - P_ab = 0.005 # Accelerometer bias dynamics matrix - P_wb = 0.005 # Gyro bias dynamics matrix - lever_arm = np.array([0.0, 0.0, 0.0]) # Assume sensor is at the center of mass + # ------------------------------------------------------------------------- + Q = np.diag( + [ + 0.06, + 0.06, + 0.06, # position error + 0.04, + 0.04, + 0.04, # velocity error + 0.003, + 0.003, + 0.003, # orientation error + 0.02, + 0.02, + 0.02, # accelerometer bias error + 0.02, + 0.02, + 0.02, # gyro bias error + ] + ) + + R_meas = np.diag([0.52, 0.52, 0.52]) # Increased DVL measurement noise - # Create ESUKF instance + # Bias dynamics tuning remains the same here: + P_ab = 0.002 + P_wb = 0.002 + lever_arm = np.array([0.0, 0.0, 0.0]) # Sensor at the vehicle CG + + # Create the Error-State UKF instance (NED convention) esukf = ErrorStateUnscentedKalmanFilter(P_ab, P_wb, Q, lever_arm, R_meas, g_val, dt) - # Initialize true state (StateVector_quaternion) with no biases. + # ------------------------------------------------------------------------- + # Initialize the true state in NED + # ------------------------------------------------------------------------- + # We treat x as North, y as East, z as Down. + # We'll do a circular path in the horizontal plane (z=0). true_state = StateVector_quaternion() - true_state.position = np.array([20.0, 0.0, 0.0]) - true_state.velocity = np.array([0.0, 1.0, 0.0]) + true_state.position = np.array([20.0, 0.0, 0.0]) # [N, E, D]=[20, 0, 0] + true_state.velocity = np.array([0.0, 1.0, 0.0]) # 1 m/s in the East direction true_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # No initial rotation true_state.acceleration_bias = np.zeros(3) true_state.gyro_bias = np.zeros(3) - # Initialize estimated (nominal) state with a small offset. + # ------------------------------------------------------------------------- + # Initialize the estimated state + # ------------------------------------------------------------------------- est_state_nom = StateVector_quaternion() est_state_nom.position = true_state.position + np.array([0.1, -0.1, 0.05]) est_state_nom.velocity = true_state.velocity + np.array([0.05, 0.05, -0.05]) @@ -47,12 +80,14 @@ def run_ESUKF_simulation(): est_state_nom.acceleration_bias = np.zeros(3) est_state_nom.gyro_bias = np.zeros(3) - # Initialize error state (StateVector_euler) as zero with some initial covariance. + # Initialize error state (Euler) with some covariance est_state_error = StateVector_euler() est_state_error.fill_states(np.zeros(15)) - est_state_error.covariance = 0.1 * np.eye(15) + est_state_error.covariance = 0.5 * np.eye(15) + # ------------------------------------------------------------------------- # Prepare histories for plotting + # ------------------------------------------------------------------------- time_hist = [] true_pos_hist = [] est_pos_hist = [] @@ -61,67 +96,110 @@ def run_ESUKF_simulation(): true_yaw_hist = [] est_yaw_hist = [] - # For the true trajectory, we simulate a circle in the horizontal plane. - R_circle = 20.0 # circle radius [m] - omega = 0.05 # angular speed [rad/s] + # ------------------------------------------------------------------------- + # Define the "circular" trajectory in the horizontal plane (z=0) + # in NED: x=North, y=East, z=Down + # We'll revolve in the XY-plane, at D=0, with radius=20 m, angular speed=0.05 rad/s + # ------------------------------------------------------------------------- + R_circle = 20.0 + omega = 0.05 + # ------------------------------------------------------------------------- + # Main simulation loop + # ------------------------------------------------------------------------- t = 0.0 for step in range(num_steps): - # --- True State Generation --- - # Circular trajectory: position = [R*cos(omega*t), R*sin(omega*t), 0] - pos_true = np.array([R_circle * np.cos(omega * t), - R_circle * np.sin(omega * t), - 0.0]) - # Velocity is the derivative of position. - vel_true = np.array([-R_circle * omega * np.sin(omega * t), - R_circle * omega * np.cos(omega * t), - 0.0]) - # Acceleration is the second derivative. - acc_true = np.array([-R_circle * omega**2 * np.cos(omega * t), - -R_circle * omega**2 * np.sin(omega * t), - 0.0]) - # Update the true state. + # --- True State Generation (NED) --- + # Position: circle in x-y plane at z=0 + pos_true = np.array( + [ + R_circle * np.cos(omega * t), # N + R_circle * np.sin(omega * t), # E + 0.0, # D + ] + ) + # Velocity: derivative of pos + vel_true = np.array( + [ + -R_circle * omega * np.sin(omega * t), # d/dt of cos => -sin + R_circle * omega * np.cos(omega * t), # d/dt of sin => cos + 0.0, + ] + ) + # Acceleration: second derivative + acc_true = np.array( + [ + -R_circle * omega**2 * np.cos(omega * t), + -R_circle * omega**2 * np.sin(omega * t), + 0.0, + ] + ) + + # Update the "true" state in NED true_state.position = pos_true true_state.velocity = vel_true - # Compute heading (yaw) tangent to the path. + + # Compute full quaternion from Euler angles (roll, pitch, yaw) + roll_true = 0.0 + pitch_true = 0.0 yaw_true = np.arctan2(vel_true[1], vel_true[0]) - # For simplicity, assume roll and pitch are zero. - true_state.orientation = np.array([np.cos(yaw_true/2), 0.0, 0.0, np.sin(yaw_true/2)]) - # Biases remain zero for the true state. - - # --- Simulated IMU Measurements --- - # The nominal state propagation uses: - # velocity_dot = R_q() @ (imu_acc - bias) + g - # Therefore, the ideal accelerometer measurement is: - # imu_acc = R_true.T @ (acc_true - g_vector) - R_true = true_state.R_q() # rotation matrix from quaternion - imu_acc_ideal = np.dot(R_true.T, (acc_true - np.array([0.0, 0.0, g_val]))) - # Add noise (e.g., 0.1 m/s^2 std dev). - imu_acc_noise = np.random.normal(0.0, 0.1, 3) + cy = np.cos(yaw_true * 0.5) + sy = np.sin(yaw_true * 0.5) + cp = np.cos(pitch_true * 0.5) + sp = np.sin(pitch_true * 0.5) + cr = np.cos(roll_true * 0.5) + sr = np.sin(roll_true * 0.5) + true_state.orientation = np.array( + [ + cr * cp * cy + sr * sp * sy, # w + sr * cp * cy - cr * sp * sy, # x + cr * sp * cy + sr * cp * sy, # y + cr * cp * sy - sr * sp * cy, # z + ] + ) + + # --- Simulated IMU Measurements (NED) --- + # Gravity is +9.81 in the down (z) direction in NED + R_true = true_state.R_q() # rotation from body to inertial + # The "specific force" in body frame is (acc_inertial - gravity_inertial) rotated to body + imu_acc_ideal = R_true.T @ ( + acc_true - np.array([0.0, 0.0, g_val]) + ) + np.random.normal(0.01, 0.01, 3) # [rad/s] + + # Add small noise + imu_acc_noise = np.random.normal(0.0, 0.05, 3) # [m/s^2] imu_acc_meas = imu_acc_ideal + imu_acc_noise - # For the gyro: the true angular velocity in body frame. - # For a circular path with constant yaw rate, the ideal gyro reading is: - imu_gyro_ideal = np.array([0.0, 0.0, omega]) - # Add noise (e.g., 0.01 rad/s std dev). - imu_gyro_noise = np.random.normal(0.0, 0.01, 3) + # Gyro: angular velocity about body axes. Yaw rate is ~omega for a flat circle + imu_gyro_ideal = np.array([0.0, 0.0, omega]) + np.random.normal( + 0.01, 0.01, 3 + ) # [rad/s] + imu_gyro_noise = np.random.normal(0.0, 0.05, 3) # [rad/s] imu_gyro_meas = imu_gyro_ideal + imu_gyro_noise - # Combine to form the complete IMU measurement vector. + # Combine imu_meas = np.hstack((imu_acc_meas, imu_gyro_meas)) # --- Simulated DVL Measurement --- - # DVL measures velocity (here assumed in the inertial frame). + # Velocity in inertial frame (NED) with zero noise for this test dvl_noise = np.random.normal(0.0, 0.05, 3) dvl_meas = vel_true + dvl_noise - # --- Filter Updates --- - # 1. Propagate the nominal state with IMU data. - est_state_nom, est_state_error = esukf.imu_update_states(est_state_nom, est_state_error, imu_meas) - # 2. Incorporate DVL measurement. - est_state_nom, est_state_error = esukf.dvl_update_states(est_state_nom, est_state_error, dvl_meas) - # 3. Inject the error state into the nominal state and reset the error state. - est_state_nom, est_state_error = esukf.inject_and_reset(est_state_nom, est_state_error) + # --------------------------------------------------------------------- + # Filter Updates + # --------------------------------------------------------------------- + # 1. IMU update (prediction) + est_state_nom, est_state_error = esukf.imu_update_states( + est_state_nom, est_state_error, imu_meas + ) + # 2. DVL update (measurement) + est_state_nom, est_state_error = esukf.dvl_update_states( + est_state_nom, est_state_error, dvl_meas + ) + # 3. Inject error state + est_state_nom, est_state_error = esukf.inject_and_reset( + est_state_nom, est_state_error + ) # --- Store Histories --- time_hist.append(t) @@ -134,7 +212,9 @@ def run_ESUKF_simulation(): t += dt - # Convert histories to NumPy arrays. + # ------------------------------------------------------------------------- + # Convert histories to arrays + # ------------------------------------------------------------------------- true_pos_hist = np.array(true_pos_hist) est_pos_hist = np.array(est_pos_hist) true_vel_hist = np.array(true_vel_hist) @@ -143,76 +223,91 @@ def run_ESUKF_simulation(): est_yaw_hist = np.array(est_yaw_hist) time_hist = np.array(time_hist) - # --- Plotting Results --- - - # Plot positions (each axis separately) + # ------------------------------------------------------------------------- + # Plotting + # ------------------------------------------------------------------------- + # Positions plt.figure(figsize=(10, 8)) plt.subplot(3, 1, 1) - plt.plot(time_hist, true_pos_hist[:, 0], label='True X') - plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated X') - plt.ylabel('X Position (m)') + plt.plot(time_hist, true_pos_hist[:, 0], label='True N') + plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated N') + plt.ylabel('N (m)') plt.legend() plt.subplot(3, 1, 2) - plt.plot(time_hist, true_pos_hist[:, 1], label='True Y') - plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated Y') - plt.ylabel('Y Position (m)') + plt.plot(time_hist, true_pos_hist[:, 1], label='True E') + plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated E') + plt.ylabel('E (m)') plt.legend() plt.subplot(3, 1, 3) - plt.plot(time_hist, true_pos_hist[:, 2], label='True Z') - plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated Z') + plt.plot(time_hist, true_pos_hist[:, 2], label='True D') + plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated D') plt.xlabel('Time (s)') - plt.ylabel('Z Position (m)') + plt.ylabel('D (m)') plt.legend() plt.tight_layout() plt.show() - # Plot velocities + # Velocities plt.figure(figsize=(10, 8)) plt.subplot(3, 1, 1) - plt.plot(time_hist, true_vel_hist[:, 0], label='True Vx') - plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vx') - plt.ylabel('Vx (m/s)') + plt.plot(time_hist, true_vel_hist[:, 0], label='True Vn') + plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vn') + plt.ylabel('Vn (m/s)') plt.legend() plt.subplot(3, 1, 2) - plt.plot(time_hist, true_vel_hist[:, 1], label='True Vy') - plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Vy') - plt.ylabel('Vy (m/s)') + plt.plot(time_hist, true_vel_hist[:, 1], label='True Ve') + plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Ve') + plt.ylabel('Ve (m/s)') plt.legend() plt.subplot(3, 1, 3) - plt.plot(time_hist, true_vel_hist[:, 2], label='True Vz') - plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vz') + plt.plot(time_hist, true_vel_hist[:, 2], label='True Vd') + plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vd') plt.xlabel('Time (s)') - plt.ylabel('Vz (m/s)') + plt.ylabel('Vd (m/s)') plt.legend() plt.tight_layout() plt.show() - # Plot heading (yaw) + # Heading (Yaw) plt.figure(figsize=(10, 4)) plt.plot(time_hist, np.degrees(true_yaw_hist), label='True Yaw') plt.plot(time_hist, np.degrees(est_yaw_hist), '--', label='Estimated Yaw') plt.xlabel('Time (s)') plt.ylabel('Yaw (deg)') plt.legend() - plt.title('Heading Comparison') + plt.title('Heading Comparison (NED)') plt.tight_layout() plt.show() - # Plot 3D Trajectory + # 3D Trajectory fig = plt.figure(figsize=(8, 6)) ax = fig.add_subplot(111, projection='3d') - ax.plot(true_pos_hist[:, 0], true_pos_hist[:, 1], true_pos_hist[:, 2], label='True Trajectory', linewidth=2) - ax.plot(est_pos_hist[:, 0], est_pos_hist[:, 1], est_pos_hist[:, 2], '--', label='Estimated Trajectory', linewidth=2) - ax.set_xlabel('X (m)') - ax.set_ylabel('Y (m)') - ax.set_zlabel('Z (m)') + ax.plot( + true_pos_hist[:, 0], + true_pos_hist[:, 1], + true_pos_hist[:, 2], + label='True Trajectory', + linewidth=2, + ) + ax.plot( + est_pos_hist[:, 0], + est_pos_hist[:, 1], + est_pos_hist[:, 2], + '--', + label='Estimated Trajectory', + linewidth=2, + ) + ax.set_xlabel('North (m)') + ax.set_ylabel('East (m)') + ax.set_zlabel('Down (m)') ax.legend() - plt.title('3D Trajectory') + plt.title('3D Trajectory (NED Frame)') plt.show() + if __name__ == '__main__': run_ESUKF_simulation() From 780cedecc3a084bb21e48c5e256168b2a4317595 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 9 Mar 2025 01:32:46 +0100 Subject: [PATCH 035/109] feat: working ukf filter is added, some issue in the ESUKF --- .../sp_ukf_python/sp_ukf_python.py | 40 +- .../sp_ukf_python/sp_ukf_python_class.py | 3 +- .../sp_ukf_python/sp_ukf_python_utils.py | 11 +- .../sp_ukf_python/sp_ukf_python/test_ukf.py | 2 +- navigation/ukf_okid/ukf_python/__ini__.py | 0 navigation/ukf_okid/ukf_python/ukf_okid.py | 376 ++++++++++++ .../ukf_python/ukf_okid_class copy.py | 568 ++++++++++++++++++ .../ukf_okid/ukf_python/ukf_okid_class.py | 464 ++++++++++++++ navigation/ukf_okid/ukf_python/ukf_utils.py | 36 ++ 9 files changed, 1476 insertions(+), 24 deletions(-) create mode 100644 navigation/ukf_okid/ukf_python/__ini__.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_okid.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_okid_class copy.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_okid_class.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_utils.py diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py index 8d2ff6265..819cb737d 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py @@ -24,6 +24,7 @@ def __init__( self.g = np.array([0, 0, g]) self.dt = dt self.y_i = np.zeros((15, 2 * 15)) + self.W = np.zeros(2 * 15 + 1) def mean_set(self, set: np.ndarray) -> np.ndarray: """Calculates the mean of a set of values. @@ -34,11 +35,12 @@ def mean_set(self, set: np.ndarray) -> np.ndarray: Returns: np.ndarray: The mean of the set. """ - # Define the number of columns + # Define the number of sigma points based on columns n = set.shape[0] + mean_value = np.zeros(n) - # Calculate the mean value - mean_value = (1 / (2 * n)) * np.sum(set, axis=1) + for i in range(2 * n + 1): + mean_value += (1/(2 * n + 1)) * set[:, i] return mean_value @@ -58,8 +60,6 @@ def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: for i in range(2 * n + 1): mean_value += weight[i] * set[:, i] - mean_value = (1 / (2 * n + 1)) * mean_value - return mean_value def covariance_set(self, mean: np.ndarray, set: np.ndarray) -> np.ndarray: @@ -160,31 +160,26 @@ def generate_sigma_points( """Generates the sigma points for the UKF This is done using the Cholesky decomposition method """ - # Define n n = len(error_state.covariance) kappa = 3 - n - # Computing S matrix using cholensky decomposition - # print(error_state.covariance + Q_process_noise) S = np.linalg.cholesky(error_state.covariance + Q_process_noise) - # print(S) S_scaled = np.sqrt(n + kappa) * S weighted_points = np.concatenate((S_scaled, -S_scaled), axis=1) sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] + W = np.zeros(2 * n + 1) sigma_points[0].fill_states(error_state.as_vector()) - for i in range(2 * n): - sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) - - W = np.zeros(2 * n + 1) W[0] = kappa / (n + kappa) for i in range(2 * n): + sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) W[i + 1] = 1 / (2 * (n + kappa)) + self.W = W return sigma_points, W def nominal_state_update( @@ -298,10 +293,10 @@ def unscented_transform( error_state_estimate = StateVector_euler() - x = self.mean_set(self.y_i) + x = self.weighted_mean_set(self.y_i, self.W) error_state_estimate.fill_states(x) - error_state_estimate.covariance = self.covariance_set(x, self.y_i) + error_state_estimate.covariance = self.weighted_covariance_set(x, self.y_i, self.W) return error_state_estimate @@ -311,10 +306,10 @@ def H(self) -> np.ndarray: Returns: np.ndarray: The measurement matrix. """ - # Define the measurement matrix + # Define the measurement matrix (error state is 15-dim) H = np.zeros((3, 16)) - # For now assume only velocity is measured + # For now assume only velocity is measured (located at indices 3:6) H[:, 3:6] = np.eye(3) return H @@ -442,6 +437,7 @@ def dvl_update_states( current_state_nom: StateVector_quaternion, current_state_error: StateVector_euler, dvl_data: np.ndarray, + imu_data: np.ndarray, ) -> tuple[StateVector_quaternion, StateVector_euler]: """Update the error state given the DVL data @@ -458,6 +454,11 @@ def dvl_update_states( current_state_error, self.Q_process_noise ) + # Update the error state + current_state_error = self.unscented_transform( + sigma_points, current_state_nom, imu_data + ) + # Update the error state current_state_error = self.measurement_update( sigma_points, current_state_nom, current_state_error, dvl_data, weight @@ -487,10 +488,7 @@ def inject_and_reset( current_state_error.covariance = np.dot( np.dot(G, current_state_error.covariance), G.T ) - current_state_error.covariance += np.eye(15) * 1e-4 - - eigvals = np.linalg.eigvals(current_state_error.covariance) - print("Min eigenvalue:", np.min(eigvals)) + current_state_error.covariance += np.eye(15) current_state_error.fill_states(np.zeros(15)) diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py index b9a76e26f..f8ede884d 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py @@ -6,6 +6,7 @@ quaternion_error, quaternion_super_product, ssa, + quat_norm, ) @@ -100,7 +101,7 @@ def euler_forward( # Define the state derivatives new_state.position = current_state.position + self.position * dt new_state.velocity = current_state.velocity + self.velocity * dt - new_state.orientation = current_state.orientation + self.orientation * dt + new_state.orientation = quat_norm(current_state.orientation + self.orientation * dt) new_state.acceleration_bias = ( current_state.acceleration_bias + self.acceleration_bias * dt ) diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py index 071180fc7..56285f031 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py +++ b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py @@ -104,4 +104,13 @@ def ssa(angle: np.ndarray) -> np.ndarray: for i in range(len(angle)): ssa_vector[i] = (angle[i] + np.pi) % (2 * np.pi) - np.pi - return ssa_vector \ No newline at end of file + return ssa_vector + +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + + quat = quat / np.linalg.norm(quat) + + return quat diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py index d46962797..1d8c723b1 100644 --- a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py +++ b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py @@ -194,7 +194,7 @@ def run_ESUKF_simulation(): ) # 2. DVL update (measurement) est_state_nom, est_state_error = esukf.dvl_update_states( - est_state_nom, est_state_error, dvl_meas + est_state_nom, est_state_error, dvl_meas, imu_meas ) # 3. Inject error state est_state_nom, est_state_error = esukf.inject_and_reset( diff --git a/navigation/ukf_okid/ukf_python/__ini__.py b/navigation/ukf_okid/ukf_python/__ini__.py new file mode 100644 index 000000000..e69de29bb diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py new file mode 100644 index 000000000..c588d579e --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -0,0 +1,376 @@ +from ukf_okid_class import * +import numpy as np +import time +import matplotlib.pyplot as plt + + +class UKF: + def __init__(self, process_model: process_model, x_0, P_0, Q, R): + self.x = x_0 + self.P = P_0 + self.Q = Q + self.R = R + self.process_model = process_model + self.sigma_points_list = None + self.y_i = None + self.weight = None + + def sigma_points(self, current_state: StateQuat) -> tuple[list[StateQuat], np.ndarray]: + """ + Functions that generate the sigma points for the UKF + """ + n = len(current_state.covariance) + kappa = 3 - n + + S = np.linalg.cholesky(current_state.covariance + self.Q) + S_scaled = np.sqrt(n + kappa) * S + + weighted_points = np.concatenate([S_scaled, -S_scaled], axis=1) + + self.sigma_points_list = [StateQuat() for _ in range(2 * n + 1)] + W = np.zeros(2 * n + 1) + + self.sigma_points_list [0].fill_states(current_state.as_vector()) + W[0] = kappa / (n + kappa) + for i in range(2 * n): + self.sigma_points_list [i + 1].fill_states(current_state.insert_weights(weighted_points[:, i])) + W[i + 1] = 1 / (2 * (n + kappa)) + + self.weight = W + + return self.sigma_points_list , self.weight + + + def unscented_transform(self, current_state: StateQuat) -> StateQuat: + """ + The unscented transform function generates the priori state estimate + """ + + _ , _ = self.sigma_points(current_state) + n = len(current_state.covariance) + + self.y_i = [StateQuat() for _ in range(2 * n + 1)] + + for i in range(2 * n + 1): + self.process_model.model_prediction(self.sigma_points_list[i]) + self.y_i[i] = self.process_model.euler_forward() + + state_estimate = StateQuat() + x = mean_set(self.y_i, self.weight) + + state_estimate.fill_states(x) + state_estimate.covariance = covariance_set(self.y_i, x, self.weight) + return state_estimate + + def measurement_update(self, current_state: StateQuat, measurement: MeasModel) -> tuple[MeasModel, np.ndarray]: + """ + Function that updates the state estimate with a measurement + Hopefully this is the DVL or GNSS + """ + + n = len(current_state.covariance) + z_i = [MeasModel() for _ in range(2 * n + 1)] + + for i in range(2 * n + 1): + z_i[i] = measurement.H(self.sigma_points_list[i]) + + meas_update = MeasModel() + + meas_update.measurement = mean_measurement(z_i, self.weight) + + meas_update.covariance = covariance_measurement(z_i, meas_update.measurement, self.weight) + + cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement, self.weight) + + return meas_update, cross_correlation + + def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.ndarray, measurement: MeasModel, ex_measuremnt: MeasModel) -> StateQuat: + """ + Calculates the posteriori estimate using measurment and the prior estimate + """ + + nu_k = MeasModel() + + nu_k.measurement = measurement.measurement - ex_measuremnt.measurement + nu_k.covariance = ex_measuremnt.covariance + measurement.covariance + + K_k = np.dot(cross_correlation, np.linalg.inv(nu_k.covariance)) + + posteriori_estimate = StateQuat() + + posteriori_estimate.fill_states_different_dim(current_state.as_vector(), np.dot(K_k, nu_k.measurement)) + posteriori_estimate.covariance = current_state.covariance - np.dot(K_k, np.dot(nu_k.covariance, np.transpose(K_k))) + + self.process_model.state_vector_prev = posteriori_estimate + + return posteriori_estimate + +def add_quaternion_noise(q, noise_std): + + noise = np.random.normal(0, noise_std, 3) + + theta = np.linalg.norm(noise) + + if theta > 0: + + axis = noise / theta + + q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) + + else: + + q_noise = np.array([1.0, 0.0, 0.0, 0.0]) + + q_new = quaternion_super_product(q, q_noise) + + return q_new / np.linalg.norm(q_new) + + +if __name__ == '__main__': + + # Create initial state vector and covariance matrix. + x0 = np.zeros(13) + x0[0:3] = [0.3, 0.3, 0.3] + x0[3] = 1 + x0[7:10] = [0.2, 0.2, 0.2] + dt = 0.01 + R = (0.1 / dt) * np.eye(3) + + Q = 0.1 * np.eye(12) + P0 = np.eye(12) * 0.1 + + model = process_model() + model.dt = 0.01 + model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model.m = 30.0 + model.r_b_bg = np.array([0.01, 0.0, 0.02]) + model.inertia = np.diag([0.68, 3.32, 3.34]) + model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + model_ukf = model + + # Simulation parameters + simulation_time = 40 # seconds + num_steps = int(simulation_time / dt) + + # Initialize a dummy StateQuat. + test_state = StateQuat() + test_state.fill_states(x0) + test_state.covariance = P0 + + # Initialize a estimated state + estimated_state = StateQuat() + estimated_state.fill_states(x0) + estimated_state.covariance = P0 + + # Initialize a estimated state + noisy_state = StateQuat() + noisy_state.fill_states(x0) + noisy_state.covariance = P0 + + measurment_model = MeasModel() + measurment_model.measurement = np.array([0.0, 0.0, 0.0]) + measurment_model.covariance = R + + # Initialize arrays to store the results + positions = np.zeros((num_steps, 3)) + orientations = np.zeros((num_steps, 3)) + velocities = np.zeros((num_steps, 3)) + angular_velocities = np.zeros((num_steps, 3)) + + # Initialize arrays to store the estimates + positions_est = np.zeros((num_steps, 3)) + orientations_est = np.zeros((num_steps, 3)) + velocities_est = np.zeros((num_steps, 3)) + angular_velocities_est = np.zeros((num_steps, 3)) + + # Initialize the okid params + okid_params = np.zeros((num_steps, 21)) + + model.state_vector_prev = test_state + model.state_vector = test_state + + model_ukf.state_vector_prev = test_state + model_ukf.state_vector = test_state + + # initialize the ukf + ukf = UKF(model_ukf, x0, P0, Q, R) + + # Test + ukf.unscented_transform(test_state) + + elapsed_times = [] + + u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + + # Run the simulation + for step in range(num_steps): + # Insert control input + model.Control_input = u(step * dt) + model_ukf.Control_input = u(step * dt) + + # Perform the unscented transform + model.model_prediction(test_state) + new_state = model.euler_forward() + + # Adding noise in the state vector + noisy_state.position = new_state.position + np.random.normal(0, 0.1, 3) + noisy_state.orientation = add_quaternion_noise(new_state.orientation, 0.1) + noisy_state.velocity = new_state.velocity + np.random.normal(0, 0.1, 3) + noisy_state.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.1, 3) + + start_time = time.time() + estimated_state = ukf.unscented_transform(noisy_state) + elapsed_time = time.time() - start_time + elapsed_times.append(elapsed_time) + + if step % 20 == 0: + measurment_model.measurement = new_state.velocity + np.random.normal(0, 0.2, 3) + meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) + estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) + + + positions[step, :] = new_state.position + orientations[step, :] = quat_to_euler(new_state.orientation) + velocities[step, :] = new_state.velocity + angular_velocities[step, :] = new_state.angular_velocity + + positions_est[step, :] = estimated_state.position + orientations_est[step, :] = quat_to_euler(estimated_state.orientation) + velocities_est[step, :] = estimated_state.velocity + angular_velocities_est[step, :] = estimated_state.angular_velocity + + # Update the state for the next iteration + model.state_vector_prev = new_state + + print('Average elapsed time: ', np.mean(elapsed_times)) + print('Max elapsed time: ', np.max(elapsed_times)) + print('Min elapsed time: ', np.min(elapsed_times)) + print('median elapsed time: ', np.median(elapsed_times)) + # Plot the results + time = np.linspace(0, simulation_time, num_steps) + + # Plot positions + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, positions[:, 0], label='True') + plt.plot(time, positions_est[:, 0], label='Estimated') + plt.title('Position X') + plt.xlabel('Time [s]') + plt.ylabel('Position X [m]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, positions[:, 1], label='True') + plt.plot(time, positions_est[:, 1], label='Estimated') + plt.title('Position Y') + plt.xlabel('Time [s]') + plt.ylabel('Position Y [m]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, positions[:, 2], label='True') + plt.plot(time, positions_est[:, 2], label='Estimated') + plt.title('Position Z') + plt.xlabel('Time [s]') + plt.ylabel('Position Z [m]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot orientations (Euler angles) + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, orientations[:, 0], label='True') + plt.plot(time, orientations_est[:, 0], label='Estimated') + plt.title('Orientation Roll') + plt.xlabel('Time [s]') + plt.ylabel('Roll [rad]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, orientations[:, 1], label='True') + plt.plot(time, orientations_est[:, 1], label='Estimated') + plt.title('Orientation Pitch') + plt.xlabel('Time [s]') + plt.ylabel('Pitch [rad]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, orientations[:, 2], label='True') + plt.plot(time, orientations_est[:, 2], label='Estimated') + plt.title('Orientation Yaw') + plt.xlabel('Time [s]') + plt.ylabel('Yaw [rad]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, velocities[:, 0], label='True') + plt.plot(time, velocities_est[:, 0], label='Estimated') + plt.title('Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Velocity X [m/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, velocities[:, 1], label='True') + plt.plot(time, velocities_est[:, 1], label='Estimated') + plt.title('Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Y [m/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, velocities[:, 2], label='True') + plt.plot(time, velocities_est[:, 2], label='Estimated') + plt.title('Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Z [m/s]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot angular velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, angular_velocities[:, 0], label='True') + plt.plot(time, angular_velocities_est[:, 0], label='Estimated') + plt.title('Angular Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity X [rad/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, angular_velocities[:, 1], label='True') + plt.plot(time, angular_velocities_est[:, 1], label='Estimated') + plt.title('Angular Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Y [rad/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, angular_velocities[:, 2], label='True') + plt.plot(time, angular_velocities_est[:, 2], label='Estimated') + plt.title('Angular Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Z [rad/s]') + plt.legend() + + plt.tight_layout() + plt.show() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py b/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py new file mode 100644 index 000000000..86b7beb49 --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py @@ -0,0 +1,568 @@ +from dataclasses import dataclass, field +import numpy as np + + +from dataclasses import dataclass, field +import numpy as np + +@dataclass +class StateQuat: + """ + A class to represent the state to be estimated by the UKF. + """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + okid_params: np.ndarray = field(default_factory=lambda: np.zeros(21)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) + + def as_vector(self) -> np.ndarray: + """Returns the StateVector as a numpy array.""" + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params]) + + def nu(self) -> np.ndarray: + """Calculates the nu vector.""" + return np.concatenate([self.velocity, self.angular_velocity]) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = self.orientation + R = np.array([ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] + ]) + return R + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array.""" + self.position = state[0:3] + self.orientation = state[3:7] + self.velocity = state[7:10] + self.angular_velocity = state[10:13] + + if len(state) > 13: + self.okid_params = state[13:] + + def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills states when the state vector has different dimensions than the default state vector.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] + + if len(state) > 13: + self.okid_params = state[13:] + + def subtract(self, other: 'StateQuat') -> np.ndarray: + """Subtracts two StateQuat objects, returning the difference with Euler angles.""" + new_array = np.zeros(len(self.as_vector()) - 1) + new_array[:3] = self.position - other.position + new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[6:9] = self.velocity - other.velocity + new_array[9:12] = self.angular_velocity - other.angular_velocity + + new_array[12:] = self.okid_params - other.okid_params + + return new_array + + def __add__(self, other: 'StateQuat') -> 'StateQuat': + """Adds two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position + other.position + new_state.orientation = quaternion_super_product(self.orientation, other.orientation) + new_state.velocity = self.velocity + other.velocity + new_state.angular_velocity = self.angular_velocity + other.angular_velocity + + new_state.okid_params = self.okid_params + other.okid_params + + return new_state + + def __sub__(self, other: 'StateQuat') -> 'StateQuat': + """Subtracts two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position - other.position + new_state.orientation = quaternion_error(self.orientation, other.orientation) + new_state.velocity = self.velocity - other.velocity + new_state.angular_velocity = self.angular_velocity - other.angular_velocity + + new_state.okid_params = self.okid_params - other.okid_params + + return new_state.as_vector() + + def __rmul__(self, scalar: float) -> 'StateQuat': + """Multiplies the StateQuat object by a scalar.""" + new_state = StateQuat() + new_state.position = scalar * self.position + new_state.orientation = quat_norm(scalar * self.orientation) + new_state.velocity = scalar * self.velocity + new_state.angular_velocity = scalar * self.angular_velocity + + new_state.okid_params = scalar * self.okid_params + + return new_state + + def insert_weights(self, weights: np.ndarray) -> np.ndarray: + """Inserts the weights into the covariance matrix.""" + new_state = StateQuat() + new_state.position = self.position - weights[:3] + new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.velocity = self.velocity - weights[6:9] + new_state.angular_velocity = self.angular_velocity - weights[9:12] + new_state.okid_params = self.okid_params - weights[12:] + + return new_state.as_vector() + + def add_without_quaternions(self, other: 'StateQuat') -> None: + """Adds elements into the state vector without considering the quaternions.""" + self.position += other.position + self.velocity += other.velocity + self.angular_velocity += other.angular_velocity + self.okid_params += other.okid_params + +@dataclass +class MeasModel: + """ + A class defined for a general measurement model. + """ + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + + def H(self, state: StateQuat) -> 'MeasModel': + """Calculates the measurement matrix.""" + H = np.zeros((3, 34)) + H[:, 7:10] = np.eye(3) + z_i = MeasModel() + z_i.measurement = np.dot(H, state.as_vector()) + return z_i + + def __add__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the addition operation between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement + other.measurement + return result + + def __rmul__(self, scalar: float) -> 'MeasModel': + """Defines multiplication between scalar value and MeasModel object.""" + result = MeasModel() + result.measurement = scalar * self.measurement + return result + + def __sub__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the subtraction between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement - other.measurement + return result + +@dataclass +class process_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> StateQuat: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + return self.state_vector + +@dataclass +class okid_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + D_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self, linear_damping: np.ndarray, nonlinear_damping: np.ndarray) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(linear_damping) + D_nl = -np.diag(nonlinear_damping) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + + self.inertia = np.diag(self.state_vector.okid_params[:3]) + self.mass_interia_matrix[3:6, 3:6] = self.inertia + self.D_matrix = self.D(self.state_vector.okid_params[3:9], self.state_vector.okid_params[9:15]) + self.added_mass = self.state_vector.okid_params[15:21] + + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D_matrix, self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + self.state_vector_dot.okid_params = np.zeros(21) + + def euler_forward(self) -> StateQuat: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + self.state_vector.okid_params = self.state_vector_prev.okid_params + return self.state_vector + + + +def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: + """ + Converts Euler angles to a quaternion + """ + psi, theta, phi = euler_angles + c_psi = np.cos(psi / 2) + s_psi = np.sin(psi / 2) + c_theta = np.cos(theta / 2) + s_theta = np.sin(theta / 2) + c_phi = np.cos(phi / 2) + s_phi = np.sin(phi / 2) + + quat = np.array([ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi + ]) + + return quat + +def quat_to_euler(quat: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to Euler angles + """ + nu, eta_1, eta_2, eta_3 = quat + + phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + + return np.array([phi, theta, psi]) + +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + + quat = quat / np.linalg.norm(quat) + + return quat + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + + q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) + + return q_new + +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_super_product(quat_1, quat_2_inv) + + return error_quat + +def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: + """ + Computes the weighted mean of the quaternion orientations from a list of StateQuat objects + using an iterative approach, without requiring the caller to manually extract the quaternion. + + Parameters: + state_list (list[StateQuat]): List of StateQuat objects. + weights (np.ndarray): Weights for each state. + tol (float): Convergence tolerance. + max_iter (int): Maximum number of iterations. + + Returns: + np.ndarray: The averaged quaternion as a 4-element numpy array. + """ + # Internally extract the quaternion from each state + sigma_quats = [state.orientation for state in state_list] + + # Initialize the mean quaternion with the first quaternion + mean_q = sigma_quats[0].copy() + + for _ in range(max_iter): + weighted_error_vectors = [] + for i, q in enumerate(sigma_quats): + # Compute the error quaternion: e = q * inv(mean_q) + # For unit quaternions, the inverse is the conjugate. + mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) + e = quaternion_super_product(q, mean_q_conj) + + # Clip to avoid numerical issues + e0_clipped = np.clip(e[0], -1.0, 1.0) + angle = 2 * np.arccos(e0_clipped) + if np.abs(angle) < 1e-8: + error_vec = np.zeros(3) + else: + # Compute the full rotation vector (angle * axis) + error_vec = (angle / np.sin(angle / 2)) * e[1:4] + weighted_error_vectors.append(weights[i] * error_vec) + + error_avg = np.sum(weighted_error_vectors, axis=0) + if np.linalg.norm(error_avg) < tol: + break + + error_norm = np.linalg.norm(error_avg) + delta_q = (np.array([np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) + mean_q = quaternion_super_product(delta_q, mean_q) + mean_q = quat_norm(mean_q) + + return mean_q + + + +def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + mean_value = StateQuat() + + if weights is None: + for i in range(2 * n + 1): + weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + + else: + for i in range(2 * n + 1): + mean_value.add_without_quaternions(weights[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) + + return mean_value.as_vector() + +def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points) + mean_value = MeasModel() + + if weights is None: + for i in range(n): + mean_value = mean_value + set_points[i] + else: + for i in range(n): + mean_value = mean_value + (weights[i] * set_points[i]) + + return mean_value.measurement + +def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + covariance = np.zeros((n, n)) + mean_quat = StateQuat() + mean_quat.fill_states(mean) + + if weights is None: + for i in range(2 * n + 1): + covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + covariance = (1 / (2 * n + 1)) * covariance + + else: + for i in range(2 * n + 1): + covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + return covariance + +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points) + co_size = len(set_points[0].measurement) + covariance = np.zeros((co_size, co_size)) + mean_meas = MeasModel() + mean_meas.measurement = mean + + if weights is None: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += np.outer(temp_model.measurement, temp_model.measurement) + + covariance = (1 / (n)) * covariance + + else: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) + + return covariance + +def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: + """ + Calculates the cross covariance between the measurement and state prediction + """ + + n = len(mean_y) - 1 + m = len(mean_z) + cross_covariance = np.zeros((n,m)) + mean_quat = StateQuat() + mean_quat.fill_states(mean_y) + + for i in range(n): + cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) + + cross_covariance = (1 / len(set_y)) * cross_covariance + + return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py new file mode 100644 index 000000000..8444fd82e --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -0,0 +1,464 @@ +from dataclasses import dataclass, field +import numpy as np + + +from dataclasses import dataclass, field +import numpy as np + +@dataclass +class StateQuat: + """ + A class to represent the state to be estimated by the UKF. + """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) + + def as_vector(self) -> np.ndarray: + """Returns the StateVector as a numpy array.""" + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + + def nu(self) -> np.ndarray: + """Calculates the nu vector.""" + return np.concatenate([self.velocity, self.angular_velocity]) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = self.orientation + R = np.array([ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] + ]) + return R + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array.""" + self.position = state[0:3] + self.orientation = state[3:7] + self.velocity = state[7:10] + self.angular_velocity = state[10:13] + + def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills states when the state vector has different dimensions than the default state vector.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] + + def subtract(self, other: 'StateQuat') -> np.ndarray: + """Subtracts two StateQuat objects, returning the difference with Euler angles.""" + new_array = np.zeros(len(self.as_vector()) - 1) + new_array[:3] = self.position - other.position + new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[6:9] = self.velocity - other.velocity + new_array[9:12] = self.angular_velocity - other.angular_velocity + + return new_array + + def __add__(self, other: 'StateQuat') -> 'StateQuat': + """Adds two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position + other.position + new_state.orientation = quaternion_super_product(self.orientation, other.orientation) + new_state.velocity = self.velocity + other.velocity + new_state.angular_velocity = self.angular_velocity + other.angular_velocity + + return new_state + + def __sub__(self, other: 'StateQuat') -> 'StateQuat': + """Subtracts two StateQuat objects.""" + new_state = StateQuat() + new_state.position = self.position - other.position + new_state.orientation = quaternion_error(self.orientation, other.orientation) + new_state.velocity = self.velocity - other.velocity + new_state.angular_velocity = self.angular_velocity - other.angular_velocity + + return new_state.as_vector() + + def __rmul__(self, scalar: float) -> 'StateQuat': + """Multiplies the StateQuat object by a scalar.""" + new_state = StateQuat() + new_state.position = scalar * self.position + new_state.orientation = quat_norm(scalar * self.orientation) + new_state.velocity = scalar * self.velocity + new_state.angular_velocity = scalar * self.angular_velocity + + return new_state + + def insert_weights(self, weights: np.ndarray) -> np.ndarray: + """Inserts the weights into the covariance matrix.""" + new_state = StateQuat() + new_state.position = self.position - weights[:3] + new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.velocity = self.velocity - weights[6:9] + new_state.angular_velocity = self.angular_velocity - weights[9:12] + + return new_state.as_vector() + + def add_without_quaternions(self, other: 'StateQuat') -> None: + """Adds elements into the state vector without considering the quaternions.""" + self.position += other.position + self.velocity += other.velocity + self.angular_velocity += other.angular_velocity + +@dataclass +class MeasModel: + """ + A class defined for a general measurement model. + """ + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + + def H(self, state: StateQuat) -> 'MeasModel': + """Calculates the measurement matrix.""" + H = np.zeros((3, 13)) + H[:, 7:10] = np.eye(3) + z_i = MeasModel() + z_i.measurement = np.dot(H, state.as_vector()) + return z_i + + def __add__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the addition operation between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement + other.measurement + return result + + def __rmul__(self, scalar: float) -> 'MeasModel': + """Defines multiplication between scalar value and MeasModel object.""" + result = MeasModel() + result.measurement = scalar * self.measurement + return result + + def __sub__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the subtraction between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement - other.measurement + return result + +@dataclass +class process_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> StateQuat: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + return self.state_vector + +def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: + """ + Converts Euler angles to a quaternion + """ + psi, theta, phi = euler_angles + c_psi = np.cos(psi / 2) + s_psi = np.sin(psi / 2) + c_theta = np.cos(theta / 2) + s_theta = np.sin(theta / 2) + c_phi = np.cos(phi / 2) + s_phi = np.sin(phi / 2) + + quat = np.array([ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi + ]) + + return quat + +def quat_to_euler(quat: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to Euler angles + """ + nu, eta_1, eta_2, eta_3 = quat + + phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + + return np.array([phi, theta, psi]) + +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + + quat = quat / np.linalg.norm(quat) + + return quat + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + + q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) + + return q_new + +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_super_product(quat_1, quat_2_inv) + + return error_quat + +def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: + """ + Computes the weighted mean of the quaternion orientations from a list of StateQuat objects + using an iterative approach, without requiring the caller to manually extract the quaternion. + + Parameters: + state_list (list[StateQuat]): List of StateQuat objects. + weights (np.ndarray): Weights for each state. + tol (float): Convergence tolerance. + max_iter (int): Maximum number of iterations. + + Returns: + np.ndarray: The averaged quaternion as a 4-element numpy array. + """ + # Internally extract the quaternion from each state + sigma_quats = [state.orientation for state in state_list] + + # Initialize the mean quaternion with the first quaternion + mean_q = sigma_quats[0].copy() + + for _ in range(max_iter): + weighted_error_vectors = [] + for i, q in enumerate(sigma_quats): + # Compute the error quaternion: e = q * inv(mean_q) + # For unit quaternions, the inverse is the conjugate. + mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) + e = quaternion_super_product(q, mean_q_conj) + + # Clip to avoid numerical issues + e0_clipped = np.clip(e[0], -1.0, 1.0) + angle = 2 * np.arccos(e0_clipped) + if np.abs(angle) < 1e-8: + error_vec = np.zeros(3) + else: + # Compute the full rotation vector (angle * axis) + error_vec = (angle / np.sin(angle / 2)) * e[1:4] + weighted_error_vectors.append(weights[i] * error_vec) + + error_avg = np.sum(weighted_error_vectors, axis=0) + if np.linalg.norm(error_avg) < tol: + break + + error_norm = np.linalg.norm(error_avg) + delta_q = (np.array([np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) + mean_q = quaternion_super_product(delta_q, mean_q) + mean_q = quat_norm(mean_q) + + return mean_q + + + +def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + mean_value = StateQuat() + + if weights is None: + for i in range(2 * n + 1): + weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + + else: + for i in range(2 * n + 1): + mean_value.add_without_quaternions(weights[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) + + return mean_value.as_vector() + +def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points) + mean_value = MeasModel() + + if weights is None: + for i in range(n): + mean_value = mean_value + set_points[i] + else: + for i in range(n): + mean_value = mean_value + (weights[i] * set_points[i]) + + return mean_value.measurement + +def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + covariance = np.zeros((n, n)) + mean_quat = StateQuat() + mean_quat.fill_states(mean) + + if weights is None: + for i in range(2 * n + 1): + covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + covariance = (1 / (2 * n + 1)) * covariance + + else: + for i in range(2 * n + 1): + covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + + return covariance + +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the covariance of a set of points + """ + n = len(set_points) + co_size = len(set_points[0].measurement) + covariance = np.zeros((co_size, co_size)) + mean_meas = MeasModel() + mean_meas.measurement = mean + + if weights is None: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += np.outer(temp_model.measurement, temp_model.measurement) + + covariance = (1 / (n)) * covariance + + else: + for i in range(n): + temp_model = set_points[i] - mean_meas + covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) + + return covariance + +def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: + """ + Calculates the cross covariance between the measurement and state prediction + """ + + n = len(mean_y) - 1 + m = len(mean_z) + cross_covariance = np.zeros((n,m)) + mean_quat = StateQuat() + mean_quat.fill_states(mean_y) + + for i in range(n): + cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) + + cross_covariance = (1 / len(set_y)) * cross_covariance + + return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py new file mode 100644 index 000000000..f52f2eb62 --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -0,0 +1,36 @@ +import numpy as np +from dataclasses import dataclass +from ukf_okid_class import StateQuat + +def print_StateQuat_list(state_list: list[StateQuat], name="StateQuat List", print_covariance=True): + """ + Custom print function to print a list of StateQuat objects in a formatted form. + """ + print(f"{name}:") + for i, state in enumerate(state_list): + print(f"Index {i}:") + print_StateQuat(state, f"StateQuat {i}", print_covariance) + +def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): + """ + Custom print function to print StateQuat objects in a formatted form. + """ + print(f"{name}:") + print(f" Position: {state.position}") + print(f" Orientation: {state.orientation}") + print(f" Velocity: {state.velocity}") + print(f" Angular Velocity: {state.angular_velocity}") + print(f" okid_params: {state.okid_params}") + if print_covariance: + print_matrix(state.covariance, "Covariance") + +def print_matrix(matrix, name="Matrix"): + """ + Custom print function to print matrices in a formatted form. + """ + print(f"{name}: {matrix.shape}") + if isinstance(matrix, np.ndarray): + for row in matrix: + print(" ".join(f"{val:.2f}" for val in row)) + else: + print(matrix) From 95573c78112d14b402dcc88142754e3ce9c711c7 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 14 Mar 2025 23:04:40 +0100 Subject: [PATCH 036/109] added in some changes to eskf and the ukf algorithm --- .../eskf_python/eskf_python_class.py | 215 +++++++ .../eskf_python/eskf_python_filter.py | 600 +++++------------- .../eskf_python/eskf_python_node.py | 2 +- .../eskf_python/eskf_python_utils.py | 95 +++ .../eskf_python/ukf_okid_class.py} | 110 +--- navigation/sp_ukf_python/CMakeLists.txt | 33 - navigation/sp_ukf_python/README.md | 0 .../sp_ukf_python/config/sp_ukf_python.yaml | 3 - navigation/sp_ukf_python/launch/ukf.launch.py | 22 - navigation/sp_ukf_python/package.xml | 23 - .../sp_ukf_python/sp_ukf_python/__init__.py | 0 .../sp_ukf_python/sp_ukf_python.py | 495 --------------- .../sp_ukf_python/sp_ukf_python_class.py | 292 --------- .../sp_ukf_python/sp_ukf_python_node.py | 137 ---- .../sp_ukf_python/sp_ukf_python_utils.py | 116 ---- .../sp_ukf_python/sp_ukf_python/test_ukf.py | 313 --------- navigation/ukf_okid/ukf_python/ukf_okid.py | 87 ++- 17 files changed, 551 insertions(+), 1992 deletions(-) create mode 100644 navigation/eskf_python/eskf_python/eskf_python_class.py create mode 100644 navigation/eskf_python/eskf_python/eskf_python_utils.py rename navigation/{ukf_okid/ukf_python/ukf_okid_class copy.py => eskf_python/eskf_python/ukf_okid_class.py} (78%) delete mode 100644 navigation/sp_ukf_python/CMakeLists.txt delete mode 100644 navigation/sp_ukf_python/README.md delete mode 100644 navigation/sp_ukf_python/config/sp_ukf_python.yaml delete mode 100644 navigation/sp_ukf_python/launch/ukf.launch.py delete mode 100644 navigation/sp_ukf_python/package.xml delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/__init__.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py delete mode 100644 navigation/sp_ukf_python/sp_ukf_python/test_ukf.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py new file mode 100644 index 000000000..949ab996d --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -0,0 +1,215 @@ +from dataclasses import dataclass, field +from typing import Tuple, List +from scipy.linalg import expm +import numpy as np +from eskf_python_utils import skew_matrix, quaternion_product + + +@dataclass +class StateQuat: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.array([1, 0, 0, 0]) + ) # Orientation quaternion (w, x, y, z) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + g: np.ndarray = field( + default_factory=lambda: np.array([0, 0, 0]) + ) # Gravity vector + + def as_vector(self) -> np.ndarray: + """Returns the state vector as a numpy array. + + Returns: + np.ndarray: The state vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + self.g, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:10] + self.acceleration_bias = state[10:13] + self.gyro_bias = state[13:16] + self.g = state[16:19] + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion. + + Returns: + np.ndarray: The rotation matrix. + """ + q0, q1, q2, q3 = self.orientation + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R + + # def inject(self, EulerState: 'StateEuler') -> 'StateQuat': + # inj_state = StateQuat() + + # # Injecting the error state + # inj_state.position = self.position + EulerState.position + # inj_state.velocity = self.velocity + EulerState.velocity + # inj_state.orientation = quaternion_product( + # self.orientation, + # 0.5 + # * np.array( + # [ + # 2, + # EulerState.orientation[0], + # EulerState.orientation[1], + # EulerState.orientation[2], + # ] + # ), + # ) + # inj_state.acceleration_bias = self.acceleration_bias + EulerState.acceleration_bias + # inj_state.gyro_bias = self.gyro_bias + EulerState.gyro_bias + + # return inj_state + + + +@dataclass +class StateEuler: + position: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Position vector (x, y, z) + velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Velocity vector (u, v, w) + orientation: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Orientation angles (roll, pitch, yaw) + acceleration_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Acceleration bias vector (b_ax, b_ay, b_az) + gyro_bias: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) # Gyro bias vector (b_gx, b_gy, b_gz) + g: np.ndarray = field( + default_factory=lambda: np.array([0, 0, 9.81]) + ) # Gravity vector + covariance: np.ndarray = field( + default_factory=lambda: np.zeros((18, 18)) + ) # Covariance matrix + + def as_vector(self) -> np.ndarray: + """Returns the state vector as a numpy array. + + Returns: + np.ndarray: The state vector. + """ + return np.concatenate( + [ + self.position, + self.velocity, + self.orientation, + self.acceleration_bias, + self.gyro_bias, + self.g, + ] + ) + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array. + + Args: + state (np.ndarray): The state vector. + """ + self.position = state[0:3] + self.velocity = state[3:6] + self.orientation = state[6:9] + self.acceleration_bias = state[9:12] + self.gyro_bias = state[12:15] + self.g = state[15:18] + + def copy_state(self, wanted_state: 'StateEuler') -> None: + """Copies the state from a StateVector object into the current StateVector object. + + Args: + wanted_state (StateVector_euler): The quaternion state to copy from. + """ + self.position = wanted_state.position + self.velocity = wanted_state.velocity + self.orientation = wanted_state.orientation + self.acceleration_bias = wanted_state.acceleration_bias + self.gyro_bias = wanted_state.gyro_bias + + +@dataclass +class MeasurementModel: + measurement: np.ndarray = field( + default_factory=lambda: np.zeros(6) + ) + measurement_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((6, 6)) + ) + + def H(self) -> np.ndarray: + """Calculates the measurement matrix. + + Returns: + np.ndarray: The measurement matrix. + """ + H = np.zeros((3, 15)) + + H[0:3, 3:6] = np.eye(3) + + return H + +@dataclass +class Measurement: + acceleration: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) + angular_velocity: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) + aiding: np.ndarray = field( + default_factory=lambda: np.zeros(3) + ) + + aiding_covariance: np.ndarray = field( + default_factory=lambda: np.zeros((3, 3)) + ) \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index edf39dcc0..a9c772e47 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -1,503 +1,249 @@ -from dataclasses import dataclass, field -from typing import tuple +# from dataclasses import dataclass +from typing import Tuple import numpy as np from scipy.linalg import expm +from eskf_python_class import StateEuler, StateQuat, Measurement +from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion +from ukf_okid_class import euler_to_quat +from scipy.linalg import block_diag + +class ESKF: + def __init__(self, Q: np.ndarray, P0, Hx, nom_state: StateQuat, p_accBias, p_gyroBias, dt): + self.Q = Q + self.Hx = Hx # Jacobian of the measurement model + self.dt = dt + self.nom_state = nom_state + self.error_state = StateEuler() + self.error_state.covariance = P0 + self.p_accBias = p_accBias + self.p_gyroBias = p_gyroBias + + def Fx(self, imu_data: Measurement) -> np.ndarray: + """Calculates the state transition matrix. -@dataclass -class StateVector_quaternion: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(4) - ) # Orientation quaternion (w, x, y, z) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion. + Args: + imu_data (np.ndarray): The IMU data. Returns: - np.ndarray: The rotation matrix. + np.ndarray: The state transition matrix. """ - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - return R + F_x = np.zeros((18, 18)) + I = np.eye(3) + + F_x[0:3, 0:3] = I + F_x[0:3, 3:6] = self.dt * I + F_x[3:6, 3:6] = I + F_x[3:6, 6:9] = -self.nom_state.R_q() @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) * self.dt + F_x[6:9, 6:9] = R_from_angle_axis((imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt).T + F_x[3:6, 9:12] = -self.nom_state.R_q() * self.dt + F_x[3:6, 15:18] = I * self.dt + F_x[6:9, 12:15] = -I * self.dt + F_x[9:12, 9:12] = I + F_x[12:15, 12:15] = I + F_x[15:18, 15:18] = I + + return F_x + + def Fi(self) -> np.ndarray: + """Calculates the input matrix. + + Returns: + np.ndarray: The input matrix. + """ - def euler_forward( - self, current_state: 'StateVector_quaternion', dt: float - ) -> 'StateVector_quaternion': - # Define the new state - new_state = StateVector_quaternion() + F_i = np.zeros((18, 12)) + I = np.eye(3) - # Define the state derivatives - new_state.position = current_state.position + self.position * dt - new_state.velocity = current_state.velocity + self.velocity * dt - new_state.orientation = current_state.orientation + self.orientation * dt - new_state.acceleration_bias = ( - current_state.acceleration_bias + self.acceleration_bias * dt - ) - new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt - - # Normalize the orientation quaternion - new_state.orientation /= np.linalg.norm(new_state.orientation) - - return new_state - - -@dataclass -class StateVector_euler: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Orientation angles (roll, pitch, yaw) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - covariance: np.ndarray = field( - default_factory=lambda: np.zeros((15, 15)) - ) # Covariance matrix - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. + F_i[3:6, 0:3] = I + F_i[6:9, 3:6] = I + F_i[9:12, 6:9] = I + F_i[12:15, 9:12] = I - Args: - state (np.ndarray): The state vector. + return F_i + + def Q_delta_theta(self) -> np.ndarray: + """ + Calculates the Q_delta_theta matrix. + See Joan Solà. Quaternion kinematics for the error-state Kalman filter. + chapter: 6.1.1 eq. 281 """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:9] - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:15] - def copy_state(self, wanted_state: 'StateVector_euler') -> None: - """Copies the state from a StateVector object into the current StateVector object. + qw, qx, qy, qz = self.nom_state.orientation - Args: - wanted_state (StateVector_euler): The quaternion state to copy from. - """ - self.position = wanted_state.position - self.velocity = wanted_state.velocity - self.orientation = wanted_state.orientation - self.acceleration_bias = wanted_state.acceleration_bias - self.gyro_bias = wanted_state.gyro_bias - - -@dataclass -class MeasurementModel: - measurement: np.ndarray = field( - default_factory=lambda: np.zeros(6) - ) # Measurement vector - measurement_matrix: np.ndarray = field( - default_factory=lambda: np.zeros((6, 15)) - ) # Measurement matrix - measurement_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((6, 6)) - ) # Measurement noise matrix - - -class ErrorStateKalmanFilter: - def __init__( - self, - P_ab: np.ndarray, - P_wb: np.ndarray, - Q: np.ndarray, - lever_arm: np.array, - R: np.ndarray, - g: float, - dt: float, - ) -> None: - self.P_ab = P_ab - self.P_wb = P_wb - self.Q_process_noise = Q - self.lever_arm = lever_arm - self.R = R - self.g = np.array([0, 0, g]) - self.dt = dt + Q_delta_theta = 0.5 * np.array([ + [-qx, -qy, -qz], + [qw, -qz, qy], + [qz, qw, -qx], + [-qy, qx, qw], + ]) - def skew_symmetric(self, vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. + return Q_delta_theta - Args: - vector (np.ndarray): The vector. + def H(self) -> np.ndarray: + """Calculates the measurement matrix. Returns: - np.ndarray: The skew symmetric matrix. + np.ndarray: The measurement matrix. """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - def quaternion_super_product(self, q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. + X_deltax = block_diag(np.eye(6), self.Q_delta_theta(), np.eye(9)) - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. + H = self.Hx @ X_deltax + + return H + + def h(self) -> np.ndarray: + """ + Calculates the measurement model. Returns: - np.ndarray: The quaternion super product. + np.ndarray: The measurement model. """ - nu_0, eta_0_x, eta_0_y, eta_0_z = q1 - nu_1, eta_1_x, eta_1_y, eta_1_z = q2 + return self.nom_state.velocity - eta_0 = np.array([[eta_1_x, eta_1_y, eta_1_z]]).T - eta_1 = np.array([[eta_0_x, eta_0_y, eta_0_z]]).T - eta_new = ( - nu_1 * eta_0 + nu_0 * eta_1 + np.dot(self.skew_symmetric(eta_0), eta_1) - ) - nu_new = nu_0 * nu_1 - np.dot(eta_0.T, eta_1) - q_new = np.array([nu_new, eta_new[0], eta_new[1], eta_new[2]]) - q_new /= np.linalg.norm(q_new) + def nominal_state_discrete(self, imu_data: Measurement) -> None: + """ + Calculates the next nominal state using the discrete-time process model defined in: + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter: 5.4.1 The nominal state kinematics - return q_new + Args: + imu_data (np.ndarray): The IMU data. + """ - def van_loan_discretization( - self, A_c: np.ndarray, G_c: np.ndarray - ) -> tuple[np.ndarray, np.ndarray]: - """Calculates the Van Loan discretization of a continuous-time system. + # Rectify measurements. + acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias + gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias + + R = self.nom_state.R_q() + + self.nom_state.position = self.nom_state.position + self.nom_state.velocity * self.dt + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 + self.nom_state.velocity = self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt + self.nom_state.orientation = quaternion_product(self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt)) + self.nom_state.acceleration_bias = np.exp(-self.p_accBias * self.dt) * self.nom_state.acceleration_bias + self.nom_state.gyro_bias = np.exp(-self.p_gyroBias * self.dt) * self.nom_state.gyro_bias + self.nom_state.g = self.nom_state.g + + def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: + """ + Calculates the Van Loan discretization of a continuous-time system. Args: A_c (np.ndarray): The A matrix. G_c (np.ndarray): The G matrix. Returns: - tuple: The A_d and GQG_d matrices. + Tuple: The A_d and GQG_d matrices. """ - GQG_T = np.dot(np.dot(G_c, self.Q_process_noise), G_c.T) * self.dt + + GQG_T = np.dot(np.dot(G_c, self.Q), G_c.T) matrix_exp = ( - np.block([[A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), A_c.T]]) + np.block([[- A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)]]) * self.dt ) van_loan_matrix = expm(matrix_exp) - V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] - V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] + V1 = van_loan_matrix[A_c.shape[0]:, A_c.shape[0]:] + V2 = van_loan_matrix[:A_c.shape[0], A_c.shape[0]:] A_d = V1.T GQG_d = A_d @ V2 return A_d, GQG_d - def nominal_state_update( - self, current_state: StateVector_quaternion, imu_reading: np.ndarray - ) -> StateVector_quaternion: - """Updates the nominal state of the system. + def error_state_prediction(self, imu_data: Measurement) -> None: - Args: - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. + # Rectify measurements. + acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias + gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias - Returns: - np.ndarray: The updated nominal state. - """ - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - # Define the derivative of the state - current_state_dot = StateVector_quaternion() - - # Define the state derivates - current_state_dot.position = current_state.velocity - current_state_dot.velocity = ( - np.dot( - current_state.R_q(), - (imu_acceleration - current_state.acceleration_bias), - ) - + self.g - ) + R = self.nom_state.R_q() - # Define the quaternion derivatives - current_state_dot.orientation = 0.5 * self.quaternion_super_product( - current_state.orientation, - np.array([0, imu_gyro[0], imu_gyro[1], imu_gyro[2]]), - ) + A_c = np.zeros((18, 18)) - # Define the bias - current_state_dot.acceleration_bias = ( - -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias - ) - current_state_dot.gyro_bias = ( - -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias - ) - - return current_state_dot.euler_forward(current_state, self.dt) - - def error_state_update( - self, - current_error_state: StateVector_euler, - current_state: StateVector_quaternion, - imu_reading: np.ndarray, - ) -> StateVector_euler: - """Updates the error state of the system. - - Args: - current_error_state (np.ndarray): The current error state of the system. - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - np.ndarray: The updated error state. - """ - # Define the derivative of the state - next_error_state = StateVector_euler() - - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - A_c = np.zeros((15, 15)) A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = -np.dot( - current_state.R_q(), - self.skew_symmetric(imu_acceleration - current_state.acceleration_bias), - ) - A_c[6:9, 6:9] = -self.skew_symmetric(imu_gyro - current_state.gyro_bias) - A_c[3:6, 9:12] = -current_state.R_q() + A_c[3:6, 6:9] = - R @ skew_matrix(acc_rect) + A_c[6:9, 6:9] = - skew_matrix(gyro_rect) + A_c[3:6, 9:12] = - R + A_c[9:12, 9:12] = -self.p_accBias * np.eye(3) + A_c[12:15, 12:15] = -self.p_gyroBias * np.eye(3) A_c[6:9, 12:15] = -np.eye(3) - A_c[9:12, 9:12] = -self.P_ab * np.eye(3) - A_c[12:15, 12:15] = -self.P_wb * np.eye(3) + A_c[3:6, 15:18] = np.eye(3) + + G_c = np.zeros((18, 12)) - G_c = np.zeros((15, 12)) - G_c[3:6, 0:3] = -current_state.R_q() + G_c[3:6, 0:3] = -R G_c[6:9, 3:6] = -np.eye(3) G_c[9:12, 6:9] = np.eye(3) G_c[12:15, 9:12] = np.eye(3) - # Van loan discretization - A_d, GQG_d = self.van_loan_discretization(A_c, G_c, self.dt) + A_d, GQG_d = self.van_loan_discretization(A_c, G_c) - # Inserting the new state and covariance - next_error_state.copy_state(current_error_state) - next_error_state.covariance = ( - np.dot(np.dot(A_d, current_error_state.covariance), A_d.T) + GQG_d - ) - - return next_error_state - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. + self.error_state.covariance = (A_d @ self.error_state.covariance @ A_d.T + GQG_d) - Returns: - np.ndarray: The measurement matrix. + def measurement_update(self, dvl_measurement:Measurement) -> None: """ - # Define the measurement matrix - H = np.zeros((3, 15)) - - # For now assume only velocity is measured - H[0:3, 3:6] = np.eye(3) - - return H - - def prediction_from_estimates( - self, - current_state: StateVector_quaternion, - current_error_state: StateVector_euler, - imu_reading: np.ndarray, - ) -> StateVector_euler: - """Predicts the measurement from the current state and error state. + Updates the error state using the DVL measurement. + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter: 6.1 eq. 274-276 Args: - current_state (StateVector_quaternion): The current state of the system. - current_error_state (StateVector_euler): The current error state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - StateVector_euler: The predicted measurement. + dvl_measurement (np.ndarray): The DVL measurement. """ - # Define the z_pred matrix - z_pred = MeasurementModel() - - # Define the z_pred values separately - z_pred_1 = current_state.velocity - z_pred_2 = 0 # Currently assuming no lever arm compensation - - # Combine the z_pred values - z_pred.measurement = z_pred_1 + z_pred_2 - - # Define the H matrix - z_pred.measurement_matrix = self.H() - R = self.R - z_pred.measurement_covariance = ( - np.dot( - np.dot(z_pred.measurement_matrix, current_error_state.covariance), - z_pred.measurement_matrix.T, - ) - + R - ) - - return z_pred - def measurement_update( - self, - error_state_pred: StateVector_euler, - z_pred: MeasurementModel, - dvl_measure: np.array, - ) -> StateVector_euler: - """Updates the error state of the system. + H = self.H() + P = self.error_state.covariance + R= dvl_measurement.aiding_covariance + K = P @ H.T @ np.linalg.inv(H @ P @ H.T + R) + self.error_state.fill_states(K @ (dvl_measurement.aiding - self.h())) + self.error_state.covariance = (np.eye(18) - K @ H) @ P - Args: - current_error_state (np.ndarray): The current error state of the system. - measurement (np.ndarray): The measurement. - - Returns: - np.ndarray: The updated error state. + def injection(self) -> None: """ - # Define new error state value - new_error_state = StateVector_euler() - - # Define the measurement matrix - innovation = dvl_measure - z_pred.measurement - H = z_pred.measurement_matrix - R = self.R - P = error_state_pred.covariance - S = z_pred.measurement_covariance - - # Kalman gain calculation - W = np.dot(P, np.linalg.solve(S, H).T) - new_error_state.fill_states(np.dot(W, innovation)) - - I_WH = np.eye(15) - np.dot(W, H) - new_error_state.covariance = np.dot(np.dot(I_WH, P), I_WH.T) + np.dot( - np.dot(W, R), W.T - ) - - return new_error_state - - def imu_update_states( - self, - current_pred_nom: StateVector_quaternion, - current_pred_err: StateVector_euler, - imu_readings: np.array, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Calculates the predicted state using the IMU readings. - - Args: - current_pred_nom (StateVector_quaternion): The current nominal state. - current_pred_err (StateVector_euler): The current error state. - imu_readings (np.array): The IMU readings. - - Returns: - tuple: The predicted nominal state and the predicted error state. + Injects the error state into the nominal state to produce the estimated state. + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter 6.2 eq. 282-283 + """ - pred_nom_state = self.nominal_state_update(current_pred_nom, imu_readings) - pred_err_state = self.error_state_update( - current_pred_err, current_pred_nom, imu_readings - ) - - return pred_nom_state, pred_err_state - - def dvl_update_states( - self, - current_pred_nom: StateVector_quaternion, - current_pred_err: StateVector_euler, - dvl_measure: np.array, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Calculates the predicted state using the DVL readings. - - Args: - current_pred_nom (StateVector_quaternion): The current nominal state. - current_pred_err (StateVector_euler): The current error state. - dvl_measure (np.array): The DVL readings. - - Returns: - tuple: The predicted nominal state and the predicted error state. + + self.nom_state.position = self.nom_state.position + self.error_state.position + self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity + self.nom_state.orientation = quaternion_product(self.nom_state.orientation, euler_to_quat(self.error_state.orientation)) + self.nom_state.acceleration_bias = self.nom_state.acceleration_bias + self.error_state.acceleration_bias + self.nom_state.gyro_bias = self.nom_state.gyro_bias + self.error_state.gyro_bias + self.nom_state.g = self.nom_state.g + self.error_state.g + + def reset_error_state(self) -> None: + """ + Resets the error state after injection. + Joan Solà. Quaternion kinematics for the error-state Kalman filter. + Chapter 6.3 eq. 284-286 """ - z_pred = self.prediction_from_estimates( - current_pred_nom, current_pred_err, dvl_measure - ) - new_error_state = self.measurement_update(current_pred_err, z_pred, dvl_measure) - return current_pred_nom, new_error_state + G = np.eye(18) # Neglecting the delta_theta as this is most common in practice - def injection_and_reset( - self, next_state: StateVector_quaternion, next_error_state: StateVector_euler - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Injects the error state into the nominal state and resets the error state. + self.error_state.covariance = G @ self.error_state.covariance @ G.T + self.error_state.fill_states(np.zeros(18)) - Args: - next_state (StateVector_quaternion): The next nominal state. - next_error_state (StateVector_euler): The next error state. - - Returns: - tuple: The injected nominal state and the reset error state. + def imu_update(self, imu_data: Measurement) -> None: + """ + Updates the state using the IMU data. """ - # Define the new state - inj_state = StateVector_quaternion() - - # Injecting the error state - inj_state.position = next_state.position + next_error_state.position - inj_state.velocity = next_state.velocity + next_error_state.velocity - inj_state.orientation = self.quaternion_super_product( - next_state.orientation, - 0.5 - * np.array( - [ - 2, - next_error_state.orientation[0], - next_error_state.orientation[1], - next_error_state.orientation[2], - ] - ), - ) - inj_state.acceleration_bias = ( - next_state.acceleration_bias + next_error_state.acceleration_bias - ) - inj_state.gyro_bias = next_state.gyro_bias + next_error_state.gyro_bias - - # Resetting the error state - G = np.eye(15) - G[6:9, 6:9] = np.eye(3) - self.skew_symmetric( - 0.5 * next_error_state.orientation - ) - - next_error_state.covariance = np.dot( - np.dot(G, next_error_state.covariance), G.T - ) - next_error_state.fill_states(np.zeros(15)) - return inj_state, next_error_state + self.nominal_state_discrete(imu_data) + self.error_state_prediction(imu_data) + + def dvl_update(self, dvl_measurement: Measurement) -> None: + """ + Updates the state using the DVL measurement. + """ + + self.measurement_update(dvl_measurement) + self.injection() + self.reset_error_state() \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py index 5b860582e..ec206ab64 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -4,7 +4,7 @@ from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import QoSProfile, qos_profile_sensor_data -from sensor_msgs.msg import Imu, +from sensor_msgs.msg import Imu import numpy as np from geometry_msgs.msg import TwistWithCovarianceStamped diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py new file mode 100644 index 000000000..9ea439982 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_python_utils.py @@ -0,0 +1,95 @@ +import numpy as np + +def skew_matrix(vector: np.ndarray) -> np.ndarray: + """ + Returns the skew symmetric matrix of a 3x1 vector. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0] + ] + ) + +def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + """Calculates the quaternion super product of two quaternions. + + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. + + Returns: + np.ndarray: The quaternion super product. + """ + + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) + + eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) + + q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) + q_new = q_new / np.linalg.norm(q_new) + + return q_new + +def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: + """Converts an angle-axis representation to a quaternion. + + Args: + vector (np.ndarray): The angle-axis representation. + + Returns: + np.ndarray: The quaternion representation. + """ + angle = np.linalg.norm(vector) + if angle < 1e-8: + return np.array([1, 0, 0, 0]) + else: + axis = vector / angle + + + q = np.zeros(4) + q[0] = np.cos(angle / 2) + q[1:] = np.sin(angle / 2) * axis + + return q + + +def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: + """Calculates the rotation matrix from the angle-axis representation. + + Args: + vector (np.ndarray): The angle-axis representation. + + Returns: + np.ndarray: The rotation matrix. + """ + quaternion = angle_axis_to_quaternion(vector) + q0, q1, q2, q3 = quaternion + + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) + + return R diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py b/navigation/eskf_python/eskf_python/ukf_okid_class.py similarity index 78% rename from navigation/ukf_okid/ukf_python/ukf_okid_class copy.py rename to navigation/eskf_python/eskf_python/ukf_okid_class.py index 86b7beb49..8444fd82e 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class copy.py +++ b/navigation/eskf_python/eskf_python/ukf_okid_class.py @@ -14,12 +14,11 @@ class StateQuat: orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - okid_params: np.ndarray = field(default_factory=lambda: np.zeros(21)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params]) + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) def nu(self) -> np.ndarray: """Calculates the nu vector.""" @@ -42,9 +41,6 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] - if len(state) > 13: - self.okid_params = state[13:] - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: """Fills states when the state vector has different dimensions than the default state vector.""" self.position = state[0:3] + state_euler[0:3] @@ -52,9 +48,6 @@ def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] - if len(state) > 13: - self.okid_params = state[13:] - def subtract(self, other: 'StateQuat') -> np.ndarray: """Subtracts two StateQuat objects, returning the difference with Euler angles.""" new_array = np.zeros(len(self.as_vector()) - 1) @@ -63,8 +56,6 @@ def subtract(self, other: 'StateQuat') -> np.ndarray: new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity - new_array[12:] = self.okid_params - other.okid_params - return new_array def __add__(self, other: 'StateQuat') -> 'StateQuat': @@ -75,8 +66,6 @@ def __add__(self, other: 'StateQuat') -> 'StateQuat': new_state.velocity = self.velocity + other.velocity new_state.angular_velocity = self.angular_velocity + other.angular_velocity - new_state.okid_params = self.okid_params + other.okid_params - return new_state def __sub__(self, other: 'StateQuat') -> 'StateQuat': @@ -87,8 +76,6 @@ def __sub__(self, other: 'StateQuat') -> 'StateQuat': new_state.velocity = self.velocity - other.velocity new_state.angular_velocity = self.angular_velocity - other.angular_velocity - new_state.okid_params = self.okid_params - other.okid_params - return new_state.as_vector() def __rmul__(self, scalar: float) -> 'StateQuat': @@ -99,8 +86,6 @@ def __rmul__(self, scalar: float) -> 'StateQuat': new_state.velocity = scalar * self.velocity new_state.angular_velocity = scalar * self.angular_velocity - new_state.okid_params = scalar * self.okid_params - return new_state def insert_weights(self, weights: np.ndarray) -> np.ndarray: @@ -110,7 +95,6 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] - new_state.okid_params = self.okid_params - weights[12:] return new_state.as_vector() @@ -119,7 +103,6 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: self.position += other.position self.velocity += other.velocity self.angular_velocity += other.angular_velocity - self.okid_params += other.okid_params @dataclass class MeasModel: @@ -131,7 +114,7 @@ class MeasModel: def H(self, state: StateQuat) -> 'MeasModel': """Calculates the measurement matrix.""" - H = np.zeros((3, 34)) + H = np.zeros((3, 13)) H[:, 7:10] = np.eye(3) z_i = MeasModel() z_i.measurement = np.dot(H, state.as_vector()) @@ -233,93 +216,6 @@ def euler_forward(self) -> StateQuat: self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt return self.state_vector -@dataclass -class okid_model: - """ - A class defined for a general process model. - """ - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - D_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self, linear_damping: np.ndarray, nonlinear_damping: np.ndarray) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(linear_damping) - D_nl = -np.diag(nonlinear_damping) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - - self.inertia = np.diag(self.state_vector.okid_params[:3]) - self.mass_interia_matrix[3:6, 3:6] = self.inertia - self.D_matrix = self.D(self.state_vector.okid_params[3:9], self.state_vector.okid_params[9:15]) - self.added_mass = self.state_vector.okid_params[15:21] - - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D_matrix, self.state_vector.nu())) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - self.state_vector_dot.okid_params = np.zeros(21) - - def euler_forward(self) -> StateQuat: - """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt - self.state_vector.okid_params = self.state_vector_prev.okid_params - return self.state_vector - - - def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: """ Converts Euler angles to a quaternion diff --git a/navigation/sp_ukf_python/CMakeLists.txt b/navigation/sp_ukf_python/CMakeLists.txt deleted file mode 100644 index a40f065cd..000000000 --- a/navigation/sp_ukf_python/CMakeLists.txt +++ /dev/null @@ -1,33 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(sp_ukf_python) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(vortex_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) - -ament_python_install_package(${PROJECT_NAME}) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -install(PROGRAMS - sp_ukf_python/sp_ukf_python_node.py - DESTINATION lib/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_pytest REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) -endif() - -ament_package() diff --git a/navigation/sp_ukf_python/README.md b/navigation/sp_ukf_python/README.md deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/sp_ukf_python/config/sp_ukf_python.yaml b/navigation/sp_ukf_python/config/sp_ukf_python.yaml deleted file mode 100644 index d3d18145d..000000000 --- a/navigation/sp_ukf_python/config/sp_ukf_python.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - sp_ukf_python_node: diff --git a/navigation/sp_ukf_python/launch/ukf.launch.py b/navigation/sp_ukf_python/launch/ukf.launch.py deleted file mode 100644 index fdd3f07e6..000000000 --- a/navigation/sp_ukf_python/launch/ukf.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - sp_ukf_python_node = Node( - package='sp_ukf_python', - executable='sp_ukf_python_node.py', - name='sp_ukf_python_node', - parameters=[ - os.path.join( - get_package_share_directory('sp_ukf_python'), - 'config', - 'sp_ukf_python.yaml', - ), - ], - output='screen', - ) - return LaunchDescription([sp_ukf_python_node]) diff --git a/navigation/sp_ukf_python/package.xml b/navigation/sp_ukf_python/package.xml deleted file mode 100644 index 6aa4edbc0..000000000 --- a/navigation/sp_ukf_python/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - sp_ukf_python - 1.0.0 - This package provides the implementation of a sigma point based Unscented Error-state Kalman Filter - talhanc - MIT - - ament_cmake_python - - rclpy - python-transforms3d-pip - geometry_msgs - vortex_msgs - - python3-pytest - - - - ament_cmake - - diff --git a/navigation/sp_ukf_python/sp_ukf_python/__init__.py b/navigation/sp_ukf_python/sp_ukf_python/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py deleted file mode 100644 index 819cb737d..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python.py +++ /dev/null @@ -1,495 +0,0 @@ - -import numpy as np -from scipy.linalg import expm -from sp_ukf_python_class import StateVector_euler, StateVector_quaternion -from sp_ukf_python_utils import quaternion_super_product, skew_symmetric - - -class ErrorStateUnscentedKalmanFilter: - def __init__( - self, - P_ab: float, - P_wb: float, - Q: np.ndarray, - lever_arm: np.array, - R: np.ndarray, - g: float, - dt: float, - ) -> None: - self.P_ab = P_ab - self.P_wb = P_wb - self.Q_process_noise = Q - self.lever_arm = lever_arm - self.R = R - self.g = np.array([0, 0, g]) - self.dt = dt - self.y_i = np.zeros((15, 2 * 15)) - self.W = np.zeros(2 * 15 + 1) - - def mean_set(self, set: np.ndarray) -> np.ndarray: - """Calculates the mean of a set of values. - - Args: - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The mean of the set. - """ - # Define the number of sigma points based on columns - n = set.shape[0] - mean_value = np.zeros(n) - - for i in range(2 * n + 1): - mean_value += (1/(2 * n + 1)) * set[:, i] - - return mean_value - - def weighted_mean_set(self, set: np.ndarray, weight: np.ndarray) -> np.ndarray: - """Calculates the mean of a set of values. - - Args: - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The mean of the set. - """ - # Define the number of columns - n = set.shape[0] - mean_value = np.zeros(n) - - for i in range(2 * n + 1): - mean_value += weight[i] * set[:, i] - - return mean_value - - def covariance_set(self, mean: np.ndarray, set: np.ndarray) -> np.ndarray: - """Calculate the covarince of a set of sigmapoints - - Args: - mean (np.ndarray): The mean of the set. - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The covariance of the set. - """ - n = set.shape[0] - covariance_set = np.zeros((n, n)) - - for i in range(2 * n + 1): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - W_i = vector - mean - - covariance_set += (1 / (2 * n + 1)) * np.outer(W_i, W_i) - - return covariance_set - - def cross_covariance_set( - self, - mean: np.ndarray, - set: np.ndarray, - mean_2: np.ndarray, - set_2: np.ndarray, - weight: np.ndarray, - ) -> np.ndarray: - """Calculate the cross covariance of a set of sigmapoints - - Args: - mean (np.ndarray): The mean of the set. - set (np.ndarray): The set of values. - mean_2 (np.ndarray): The mean of the second set. - set_2 (np.ndarray): The second set of values. - - Returns: - np.ndarray: The cross covariance of the set. - """ - n_x = set.shape[0] - n_z = set_2.shape[0] - covariance_mat = np.zeros((n_x, n_z)) - - for i in range(2 * n_x + 1): - # parse the 15-dim error state - err_vec = set[:, i] # shape (15,) - W_i = err_vec - mean # shape (15,) - - # parse the 3-dim measurement - meas_vec = set_2[:, i] # shape (3,) - W_i_2 = meas_vec - mean_2 # shape (3,) - - # outer product -> shape (15,3) - covariance_mat += weight[i] * np.outer(W_i, W_i_2) - - return covariance_mat - - def weighted_covariance_set( - self, mean: np.ndarray, set: np.ndarray, weight: np.ndarray - ) -> np.ndarray: - """Calculate the covarince of a set of sigmapoints - - Args: - mean (np.ndarray): The mean of the set. - set (np.ndarray): The set of values. - - Returns: - np.ndarray: The covariance of the set. - """ - n = set.shape[0] - covariance_set = np.zeros((n, n)) - - for i in range(2 * n + 1): - vector = StateVector_euler() - vector.position = set[:, i][:3] - vector.velocity = set[:, i][3:6] - vector.orientation = set[:, i][6:9] - vector.acceleration_bias = set[:, i][9:12] - vector.gyro_bias = set[:, i][12:] - - W_i = vector - mean - covariance_set += weight[i] * np.outer(W_i, W_i) - - return covariance_set - - def generate_sigma_points( - self, error_state: StateVector_euler, Q_process_noise - ) -> tuple[list[StateVector_euler], np.ndarray]: - """Generates the sigma points for the UKF - This is done using the Cholesky decomposition method - """ - n = len(error_state.covariance) - kappa = 3 - n - - S = np.linalg.cholesky(error_state.covariance + Q_process_noise) - - S_scaled = np.sqrt(n + kappa) * S - - weighted_points = np.concatenate((S_scaled, -S_scaled), axis=1) - - sigma_points = [StateVector_euler() for _ in range(2 * n + 1)] - W = np.zeros(2 * n + 1) - - sigma_points[0].fill_states(error_state.as_vector()) - W[0] = kappa / (n + kappa) - - for i in range(2 * n): - sigma_points[i + 1].fill_states(error_state + weighted_points[:, i]) - W[i + 1] = 1 / (2 * (n + kappa)) - - self.W = W - return sigma_points, W - - def nominal_state_update( - self, current_state: StateVector_quaternion, imu_reading: np.ndarray - ) -> StateVector_quaternion: - """Updates the nominal state of the system. - - Args: - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - np.ndarray: The updated nominal state. - """ - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - # Define the derivative of the state - current_state_dot = StateVector_quaternion() - - # Define the state derivates - current_state_dot.position = current_state.velocity - current_state_dot.velocity = ( - np.dot( - current_state.R_q(), - (imu_acceleration - current_state.acceleration_bias), - ) - + self.g - ) - - # Define the quaternion derivatives - current_state_dot.orientation = 0.5 * quaternion_super_product( - current_state.orientation, - np.array( - [ - 0, - imu_gyro[0] - current_state.gyro_bias[0], - imu_gyro[1] - current_state.gyro_bias[1], - imu_gyro[2] - current_state.gyro_bias[2], - ] - ), - ) - - # Define the bias - current_state_dot.acceleration_bias = ( - -np.dot(self.P_ab, np.eye(3)) @ current_state.acceleration_bias - ) - current_state_dot.gyro_bias = ( - -np.dot(self.P_wb, np.eye(3)) @ current_state.gyro_bias - ) - - return current_state_dot.euler_forward(current_state, self.dt) - - def error_state_update( - self, - current_error_state: StateVector_euler, - current_state: StateVector_quaternion, - imu_reading: np.ndarray, - ) -> np.ndarray: - """Updates the error state of the system. - - Args: - current_error_state (np.ndarray): The current error state of the system. - current_state (np.ndarray): The current state of the system. - imu_reading (np.ndarray): The IMU reading. - - Returns: - np.ndarray: The updated error state. - """ - # Defining the IMU readings - imu_acceleration = imu_reading[0:3] - imu_gyro = imu_reading[3:6] - - A_c = np.zeros((15, 15)) - A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = -np.dot( - current_state.R_q(), - skew_symmetric(imu_acceleration - current_state.acceleration_bias), - ) - A_c[6:9, 6:9] = -skew_symmetric(imu_gyro - current_state.gyro_bias) - A_c[3:6, 9:12] = -current_state.R_q() - A_c[6:9, 12:15] = -np.eye(3) - A_c[9:12, 9:12] = -self.P_ab * np.eye(3) - A_c[12:15, 12:15] = -self.P_wb * np.eye(3) - - # Exact matrix exponential - A_d = expm(A_c * self.dt) - - next_error_state = A_d @ current_error_state.as_vector() - - return next_error_state - - def unscented_transform( - self, - sigma_points: list[StateVector_euler], - current_state: StateVector_quaternion, - imu_reading: np.ndarray, - ) -> StateVector_euler: - """Performs the Unscented Transform - This is the corresponding to a preditction step in the EKF - """ - n = len(sigma_points[0].as_vector()) - - self.y_i = np.zeros((n, 2 * n + 1)) - - for i in range(2 * n + 1): - self.y_i[:, i] = self.error_state_update( - sigma_points[i], current_state, imu_reading - ) - - error_state_estimate = StateVector_euler() - - x = self.weighted_mean_set(self.y_i, self.W) - - error_state_estimate.fill_states(x) - error_state_estimate.covariance = self.weighted_covariance_set(x, self.y_i, self.W) - - return error_state_estimate - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. - - Returns: - np.ndarray: The measurement matrix. - """ - # Define the measurement matrix (error state is 15-dim) - H = np.zeros((3, 16)) - - # For now assume only velocity is measured (located at indices 3:6) - H[:, 3:6] = np.eye(3) - - return H - - def injection( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - ) -> StateVector_quaternion: - """Injects the error state into the nominal state - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - - Returns: - StateVector_quaternion: The updated nominal state - """ - inj_state = StateVector_quaternion() - - inj_state.position = current_state_nom.position + current_state_error.position - inj_state.velocity = current_state_nom.velocity + current_state_error.velocity - inj_state.orientation = quaternion_super_product( - current_state_nom.orientation, - 0.5 - * np.array( - [ - 2, - current_state_error.orientation[0], - current_state_error.orientation[1], - current_state_error.orientation[2], - ] - ), - ) - inj_state.acceleration_bias = ( - current_state_nom.acceleration_bias + current_state_error.acceleration_bias - ) - inj_state.gyro_bias = ( - current_state_nom.gyro_bias + current_state_error.gyro_bias - ) - - return inj_state - - def measurement_update( - self, - sigma_points: list[StateVector_euler], - current_nom_state: StateVector_quaternion, - current_error_state: StateVector_euler, - dvl_data: np.ndarray, - Weight: np.ndarray, - ) -> StateVector_euler: - """Updates the state vector with the DVL data - """ - H = self.H() - R = self.R - - n = len(sigma_points[0].as_vector()) - - Z_i = np.zeros((H.shape[0], 2 * n + 1)) - - for i in range(2 * n + 1): - injected_state = self.injection(current_nom_state, sigma_points[i]) - Z_i[:, i] = np.dot(H, injected_state.as_vector()) - - z = self.weighted_mean_set(Z_i, Weight) - S = self.weighted_covariance_set(z, Z_i, Weight) - - x = self.mean_set(self.y_i) - - innovation = dvl_data - z - - P_innovation = S + R - - P_xz = self.cross_covariance_set(x, self.y_i, z, Z_i, Weight) - - # Kalman gain - K_k = np.dot(P_xz, np.linalg.inv(P_innovation)) - - updated_error_state = StateVector_euler() - - # Update the state - updated_error_state.fill_states(x + np.dot(K_k, innovation)) - - # Update the covariance - updated_error_state.covariance = current_error_state.covariance - np.dot( - K_k, np.dot(P_innovation, K_k.T) - ) - - return updated_error_state - - def imu_update_states( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - imu_data: np.ndarray, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Updates the state vector with the IMU data - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - imu_data (np.ndarray): The IMU data - - Returns: - tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states - - """ - # Update the nominal state - current_state_nom = self.nominal_state_update(current_state_nom, imu_data) - - # Generate the sigma points - sigma_points, _ = self.generate_sigma_points( - current_state_error, self.Q_process_noise - ) - - # Update the error state - current_state_error = self.unscented_transform( - sigma_points, current_state_nom, imu_data - ) - - return current_state_nom, current_state_error - - def dvl_update_states( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - dvl_data: np.ndarray, - imu_data: np.ndarray, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Update the error state given the DVL data - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - dvl_data (np.ndarray): The DVL data to update the state with - - Returns: - tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states - """ - # Generate the sigma points - sigma_points, weight = self.generate_sigma_points( - current_state_error, self.Q_process_noise - ) - - # Update the error state - current_state_error = self.unscented_transform( - sigma_points, current_state_nom, imu_data - ) - - # Update the error state - current_state_error = self.measurement_update( - sigma_points, current_state_nom, current_state_error, dvl_data, weight - ) - - return current_state_nom, current_state_error - - def inject_and_reset( - self, - current_state_nom: StateVector_quaternion, - current_state_error: StateVector_euler, - ) -> tuple[StateVector_quaternion, StateVector_euler]: - """Injects the error state into the nominal state and resets the error state - - Args: - current_state_nom (StateVector_quaternion): The current nominal state - current_state_error (StateVector_euler): The current error state - - Returns: - tuple[StateVector_quaternion, StateVector_euler]: The updated nominal and error states - """ - inj_state = self.injection(current_state_nom, current_state_error) - - G = np.eye(15) - G[6:9, 6:9] = np.eye(3) - skew_symmetric(0.5 * current_state_error.orientation) - - current_state_error.covariance = np.dot( - np.dot(G, current_state_error.covariance), G.T - ) - current_state_error.covariance += np.eye(15) - - current_state_error.fill_states(np.zeros(15)) - - return inj_state, current_state_error diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py deleted file mode 100644 index f8ede884d..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_class.py +++ /dev/null @@ -1,292 +0,0 @@ -from dataclasses import dataclass, field - -import numpy as np -from sp_ukf_python_utils import ( - euler_rotation_quaternion, - quaternion_error, - quaternion_super_product, - ssa, - quat_norm, -) - - -@dataclass -class StateVector_quaternion: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(4) - ) # Orientation quaternion (w, x, y, z) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - - def as_vector(self) -> np.ndarray: - """Calculates the state vector. - - Returns: - np.ndarray: The state vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - if len(state) == 15: - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:10] - self.acceleration_bias = state[10:13] - self.gyro_bias = state[13:] - else: - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = euler_rotation_quaternion(state[6:9]) - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:] - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion. - - Returns: - np.ndarray: The rotation matrix. - """ - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - - return R - - def euler_forward( - self, current_state: 'StateVector_quaternion', dt: float - ) -> 'StateVector_quaternion': - # Define the new state - new_state = StateVector_quaternion() - - # Define the state derivatives - new_state.position = current_state.position + self.position * dt - new_state.velocity = current_state.velocity + self.velocity * dt - new_state.orientation = quat_norm(current_state.orientation + self.orientation * dt) - new_state.acceleration_bias = ( - current_state.acceleration_bias + self.acceleration_bias * dt - ) - new_state.gyro_bias = current_state.gyro_bias + self.gyro_bias * dt - - # Normalize the orientation quaternion - new_state.orientation /= np.linalg.norm(new_state.orientation) - - return new_state - - def __sub__(self, other: 'StateVector_quaternion') -> np.ndarray: - """Subtracts two StateVector_quaternion objects. - - Args: - other (StateVector_quaternion): The other StateVector_quaternion object. - - Returns: - np.ndarray: The difference between the two StateVector_quaternion objects. - """ - position_diff = self.position - other.position - velocity_diff = self.velocity - other.velocity - orientation_diff = quaternion_error(self.orientation, other.orientation) - acceleration_bias_diff = self.acceleration_bias - other.acceleration_bias - gyro_bias_diff = self.gyro_bias - other.gyro_bias - - return np.concatenate( - [ - position_diff, - velocity_diff, - orientation_diff, - acceleration_bias_diff, - gyro_bias_diff, - ] - ) - - def __add__(self, other: 'np.ndarray') -> 'np.ndarray': - """Adds a numpy array to this StateVector_quaternion. - - Args: - other (np.ndarray): The numpy array to add. - - Returns: - np.ndarray: The result of the addition. - """ - # Construct the quaternion from the array - add_to_position = other[:3] - add_to_orientation = euler_rotation_quaternion(other[6:10]) - - new_position = self.position + add_to_position - new_velcoity = self.velocity + other[3:6] - new_orientation = quaternion_super_product(self.orientation, add_to_orientation) - new_acceleration_bias = self.acceleration_bias + other[10:13] - new_gyro_bias = self.gyro_bias + other[13:] - - return np.concatenate( - [ - new_position, - new_velcoity, - new_orientation, - new_acceleration_bias, - new_gyro_bias, - ] - ) - - -@dataclass -class StateVector_euler: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Orientation angles (roll, pitch, yaw) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - covariance: np.ndarray = field( - default_factory=lambda: np.zeros((15, 15)) - ) # Covariance matrix - - def as_vector(self) -> np.ndarray: - """Calculates the state estimate vector. - - Returns: - np.ndarray: The state estimate vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:9] - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:15] - - def copy_state(self, wanted_state: 'StateVector_euler') -> None: - """Copies the state from a StateVector object into the current StateVector object. - - Args: - wanted_state (StateVector_euler): The quaternion state to copy from. - """ - self.position = wanted_state.position - self.velocity = wanted_state.velocity - self.orientation = wanted_state.orientation - self.acceleration_bias = wanted_state.acceleration_bias - self.gyro_bias = wanted_state.gyro_bias - - def __add__(self, other: 'np.ndarray') -> 'np.ndarray': - """Adds a numpy array to this StateVector_quaternion. - - Args: - other (np.ndarray): The numpy array to add. - - Returns: - np.ndarray: The result of the addition. - """ - new_position = self.position + other[:3] - new_velcoity = self.velocity + other[3:6] - new_orientation = self.orientation + other[6:9] - new_acceleration_bias = self.acceleration_bias + other[9:12] - new_gyro_bias = self.gyro_bias + other[12:] - - return np.concatenate( - [ - new_position, - new_velcoity, - new_orientation, - new_acceleration_bias, - new_gyro_bias, - ] - ) - - def __sub__(self, other_state: 'StateVector_euler') -> 'StateVector_euler': - """Subtracts two StateVector_euler objects. - - Args: - other (StateVector_euler): The other StateVector_euler object. - - Returns: - StateVector_euler: The difference between the two StateVector_euler objects. - """ - position_diff = self.position - other_state[:3] - velocity_diff = self.velocity - other_state[3:6] - orientation_diff = ssa(self.orientation - other_state[6:9]) - acceleration_bias_diff = self.acceleration_bias - other_state[9:12] - gyro_bias_diff = self.gyro_bias - other_state[12:] - - return np.concatenate( - [ - position_diff, - velocity_diff, - orientation_diff, - acceleration_bias_diff, - gyro_bias_diff, - ] - ) - - -@dataclass -class MeasurementModel: - measurement: np.ndarray = field( - default_factory=lambda: np.zeros(6) - ) # Measurement vector - measurement_matrix: np.ndarray = field( - default_factory=lambda: np.zeros((6, 15)) - ) # Measurement matrix - measurement_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((6, 6)) - ) # Measurement noise matrix diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py deleted file mode 100644 index 103528ef2..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_node.py +++ /dev/null @@ -1,137 +0,0 @@ -#!/usr/bin/env python3 - -import rclpy -from nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import QoSProfile, qos_profile_sensor_data -from sensor_msgs.msg import Imu, -import numpy as np -from geometry_msgs.msg import TwistWithCovarianceStamped - -# NEED TO CHANGE THIS TO THE CORRECT PATH -from eskf_python.eskf_python_filter import ( - ErrorStateKalmanFilter, - MeasurementModel, - StateVector_euler, - StateVector_quaternion, -) - -qos_profile = QoSProfile( - depth=1, - history=qos_profile_sensor_data.history, - reliability=qos_profile_sensor_data.reliability, -) - - -class ESKalmanFilterNode(Node): - def __init__(self): - super().__init__("sp_ukf_python_node") - - # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz - self.imu_subscriber_ = self.create_subscription( - Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile - ) - - self.twist_dvl_subscriber_ = self.create_subscription( - TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile - ) - - # This publisher will publish the estimtaed state of the vehicle - self.state_publisher_ = self.create_publisher( - Odometry, '/orca/odom', qos_profile=qos_profile - ) - - self.eskf_modual = ErrorStateKalmanFilter() - self.current_state_nom = StateVector_quaternion() - self.current_state_error = StateVector_euler() - self.measurement_pred = MeasurementModel() - self.odom_msg = Odometry() - - self.get_logger().info("Unscented Kalman Filter started") - - def imu_callback(self, msg: Imu): - - # Get the IMU data - - imu_acceleartion = msg.linear_acceleration - imu_angular_velocity = msg.angular_velocity - - # Combine the IMU data - imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) - - # Update the filter with the IMU data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.imu_update_states( - self.current_state_nom, self.current_state_error, imu_data - ) - ) - - # Inserting the nominal state into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x - self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y - self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z - - # Publish - self.state_publisher_.publish(self.odom_msg) - - - - def filter_callback(self, msg: TwistWithCovarianceStamped): - """Callback function for the filter measurement update, - this will be called when the filter needs to be updated with the DVL data. - """ - self.get_logger().info("Filter callback, got DVL data") - - # Get the DVL data (linear velocity) - dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) - - # Update the filter with the DVL data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.dvl_update_states( - self.current_state_nom, self.current_state_error, dvl_data - ) - ) - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.injection_and_reset( - self.current_state_nom, self.current_state_error - ) - ) - - # Inserting data into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - - # Publishing the data - self.state_publisher_.publish(self.odom_msg) - - - -def main(args=None): - rclpy.init(args=args) - node = ESKalmanFilterNode() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py b/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py deleted file mode 100644 index 56285f031..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/sp_ukf_python_utils.py +++ /dev/null @@ -1,116 +0,0 @@ -import numpy as np - -def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - - q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) - q_new /= np.linalg.norm(q_new) - - return q_new - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """ - Calculates the error between two quaternions - """ - - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_super_product(quat_1, quat_2_inv) - - return error_quat - -def euler_rotation_quaternion(self, euler_angles: np.ndarray) -> np.ndarray: - """ - Converts An vector assumed to be rotation vector to quaternion - - Args: - euler_angles (np.ndarray): Rotation vector - - Returns: - np.ndarray: Quaternion representation of the rotation vector - """ - - angle = np.linalg.norm(euler_angles) - - if angle == 0: - axis = np.array([0, 0, 0]) - else: - axis = euler_angles / angle - - quaternion = np.zeros(4) - quaternion[0] = np.cos(angle / 2) - quaternion[1:] = np.sin(angle / 2) * axis - - return quaternion - -def quaternion_rotation_euler(self, quaternion: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to an euler rotation vector - Used to generate the covarince matrix - - Args: - quaternion (np.ndarray): The quaternion to convert - - Returns: - np.ndarray: The euler rotation vector - """ - nu, eta_x, eta_y, eta_z = quaternion - - phi = np.arctan2(2 * (nu * eta_x + eta_y * eta_z), 1 - 2 * (eta_x ** 2 + eta_y ** 2)) - theta = -np.arcsin(2 * (eta_z * eta_x - nu * eta_y)) - psi = np.arctan2(2 * (nu * eta_z + eta_x * eta_y), 1 - 2 * (eta_y ** 2 + eta_z ** 2)) - - return np.array([phi, theta, psi]) - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - -def ssa(angle: np.ndarray) -> np.ndarray: - """ - smallest signed angle between two angles - """ - ssa_vector = np.zeros(len(angle)) - - for i in range(len(angle)): - ssa_vector[i] = (angle[i] + np.pi) % (2 * np.pi) - np.pi - - return ssa_vector - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """ - Function that normalizes a quaternion - """ - - quat = quat / np.linalg.norm(quat) - - return quat diff --git a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py b/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py deleted file mode 100644 index 1d8c723b1..000000000 --- a/navigation/sp_ukf_python/sp_ukf_python/test_ukf.py +++ /dev/null @@ -1,313 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np - -# (Assuming the following have been imported from your modules) -from sp_ukf_python_class import StateVector_euler, StateVector_quaternion - -from sp_ukf_python import ErrorStateUnscentedKalmanFilter - - -def quat_to_yaw(q: np.ndarray) -> float: - """Convert a quaternion (assumed [w, x, y, z]) into a yaw angle. - In NED, yaw is typically around the z-down axis. - """ - return 2 * np.arctan2(q[3], q[0]) - - -def run_ESUKF_simulation(): - # ------------------------------------------------------------------------- - # Simulation parameters - # ------------------------------------------------------------------------- - dt = 0.01 # time step [s] - T = 60.0 # total simulation time [s] - num_steps = int(T / dt) - - # In an NED frame, gravity is +9.81 in the z (down) direction. - g_val = 9.81 - - # ------------------------------------------------------------------------- - # Define noise and covariance matrices - # ------------------------------------------------------------------------- - Q = np.diag( - [ - 0.06, - 0.06, - 0.06, # position error - 0.04, - 0.04, - 0.04, # velocity error - 0.003, - 0.003, - 0.003, # orientation error - 0.02, - 0.02, - 0.02, # accelerometer bias error - 0.02, - 0.02, - 0.02, # gyro bias error - ] - ) - - R_meas = np.diag([0.52, 0.52, 0.52]) # Increased DVL measurement noise - - # Bias dynamics tuning remains the same here: - P_ab = 0.002 - P_wb = 0.002 - lever_arm = np.array([0.0, 0.0, 0.0]) # Sensor at the vehicle CG - - # Create the Error-State UKF instance (NED convention) - esukf = ErrorStateUnscentedKalmanFilter(P_ab, P_wb, Q, lever_arm, R_meas, g_val, dt) - - # ------------------------------------------------------------------------- - # Initialize the true state in NED - # ------------------------------------------------------------------------- - # We treat x as North, y as East, z as Down. - # We'll do a circular path in the horizontal plane (z=0). - true_state = StateVector_quaternion() - true_state.position = np.array([20.0, 0.0, 0.0]) # [N, E, D]=[20, 0, 0] - true_state.velocity = np.array([0.0, 1.0, 0.0]) # 1 m/s in the East direction - true_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # No initial rotation - true_state.acceleration_bias = np.zeros(3) - true_state.gyro_bias = np.zeros(3) - - # ------------------------------------------------------------------------- - # Initialize the estimated state - # ------------------------------------------------------------------------- - est_state_nom = StateVector_quaternion() - est_state_nom.position = true_state.position + np.array([0.1, -0.1, 0.05]) - est_state_nom.velocity = true_state.velocity + np.array([0.05, 0.05, -0.05]) - est_state_nom.orientation = true_state.orientation.copy() - est_state_nom.acceleration_bias = np.zeros(3) - est_state_nom.gyro_bias = np.zeros(3) - - # Initialize error state (Euler) with some covariance - est_state_error = StateVector_euler() - est_state_error.fill_states(np.zeros(15)) - est_state_error.covariance = 0.5 * np.eye(15) - - # ------------------------------------------------------------------------- - # Prepare histories for plotting - # ------------------------------------------------------------------------- - time_hist = [] - true_pos_hist = [] - est_pos_hist = [] - true_vel_hist = [] - est_vel_hist = [] - true_yaw_hist = [] - est_yaw_hist = [] - - # ------------------------------------------------------------------------- - # Define the "circular" trajectory in the horizontal plane (z=0) - # in NED: x=North, y=East, z=Down - # We'll revolve in the XY-plane, at D=0, with radius=20 m, angular speed=0.05 rad/s - # ------------------------------------------------------------------------- - R_circle = 20.0 - omega = 0.05 - - # ------------------------------------------------------------------------- - # Main simulation loop - # ------------------------------------------------------------------------- - t = 0.0 - for step in range(num_steps): - # --- True State Generation (NED) --- - # Position: circle in x-y plane at z=0 - pos_true = np.array( - [ - R_circle * np.cos(omega * t), # N - R_circle * np.sin(omega * t), # E - 0.0, # D - ] - ) - # Velocity: derivative of pos - vel_true = np.array( - [ - -R_circle * omega * np.sin(omega * t), # d/dt of cos => -sin - R_circle * omega * np.cos(omega * t), # d/dt of sin => cos - 0.0, - ] - ) - # Acceleration: second derivative - acc_true = np.array( - [ - -R_circle * omega**2 * np.cos(omega * t), - -R_circle * omega**2 * np.sin(omega * t), - 0.0, - ] - ) - - # Update the "true" state in NED - true_state.position = pos_true - true_state.velocity = vel_true - - # Compute full quaternion from Euler angles (roll, pitch, yaw) - roll_true = 0.0 - pitch_true = 0.0 - yaw_true = np.arctan2(vel_true[1], vel_true[0]) - cy = np.cos(yaw_true * 0.5) - sy = np.sin(yaw_true * 0.5) - cp = np.cos(pitch_true * 0.5) - sp = np.sin(pitch_true * 0.5) - cr = np.cos(roll_true * 0.5) - sr = np.sin(roll_true * 0.5) - true_state.orientation = np.array( - [ - cr * cp * cy + sr * sp * sy, # w - sr * cp * cy - cr * sp * sy, # x - cr * sp * cy + sr * cp * sy, # y - cr * cp * sy - sr * sp * cy, # z - ] - ) - - # --- Simulated IMU Measurements (NED) --- - # Gravity is +9.81 in the down (z) direction in NED - R_true = true_state.R_q() # rotation from body to inertial - # The "specific force" in body frame is (acc_inertial - gravity_inertial) rotated to body - imu_acc_ideal = R_true.T @ ( - acc_true - np.array([0.0, 0.0, g_val]) - ) + np.random.normal(0.01, 0.01, 3) # [rad/s] - - # Add small noise - imu_acc_noise = np.random.normal(0.0, 0.05, 3) # [m/s^2] - imu_acc_meas = imu_acc_ideal + imu_acc_noise - - # Gyro: angular velocity about body axes. Yaw rate is ~omega for a flat circle - imu_gyro_ideal = np.array([0.0, 0.0, omega]) + np.random.normal( - 0.01, 0.01, 3 - ) # [rad/s] - imu_gyro_noise = np.random.normal(0.0, 0.05, 3) # [rad/s] - imu_gyro_meas = imu_gyro_ideal + imu_gyro_noise - - # Combine - imu_meas = np.hstack((imu_acc_meas, imu_gyro_meas)) - - # --- Simulated DVL Measurement --- - # Velocity in inertial frame (NED) with zero noise for this test - dvl_noise = np.random.normal(0.0, 0.05, 3) - dvl_meas = vel_true + dvl_noise - - # --------------------------------------------------------------------- - # Filter Updates - # --------------------------------------------------------------------- - # 1. IMU update (prediction) - est_state_nom, est_state_error = esukf.imu_update_states( - est_state_nom, est_state_error, imu_meas - ) - # 2. DVL update (measurement) - est_state_nom, est_state_error = esukf.dvl_update_states( - est_state_nom, est_state_error, dvl_meas, imu_meas - ) - # 3. Inject error state - est_state_nom, est_state_error = esukf.inject_and_reset( - est_state_nom, est_state_error - ) - - # --- Store Histories --- - time_hist.append(t) - true_pos_hist.append(pos_true) - est_pos_hist.append(est_state_nom.position.copy()) - true_vel_hist.append(vel_true) - est_vel_hist.append(est_state_nom.velocity.copy()) - true_yaw_hist.append(yaw_true) - est_yaw_hist.append(quat_to_yaw(est_state_nom.orientation)) - - t += dt - - # ------------------------------------------------------------------------- - # Convert histories to arrays - # ------------------------------------------------------------------------- - true_pos_hist = np.array(true_pos_hist) - est_pos_hist = np.array(est_pos_hist) - true_vel_hist = np.array(true_vel_hist) - est_vel_hist = np.array(est_vel_hist) - true_yaw_hist = np.array(true_yaw_hist) - est_yaw_hist = np.array(est_yaw_hist) - time_hist = np.array(time_hist) - - # ------------------------------------------------------------------------- - # Plotting - # ------------------------------------------------------------------------- - # Positions - plt.figure(figsize=(10, 8)) - plt.subplot(3, 1, 1) - plt.plot(time_hist, true_pos_hist[:, 0], label='True N') - plt.plot(time_hist, est_pos_hist[:, 0], '--', label='Estimated N') - plt.ylabel('N (m)') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time_hist, true_pos_hist[:, 1], label='True E') - plt.plot(time_hist, est_pos_hist[:, 1], '--', label='Estimated E') - plt.ylabel('E (m)') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time_hist, true_pos_hist[:, 2], label='True D') - plt.plot(time_hist, est_pos_hist[:, 2], '--', label='Estimated D') - plt.xlabel('Time (s)') - plt.ylabel('D (m)') - plt.legend() - plt.tight_layout() - plt.show() - - # Velocities - plt.figure(figsize=(10, 8)) - plt.subplot(3, 1, 1) - plt.plot(time_hist, true_vel_hist[:, 0], label='True Vn') - plt.plot(time_hist, est_vel_hist[:, 0], '--', label='Estimated Vn') - plt.ylabel('Vn (m/s)') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time_hist, true_vel_hist[:, 1], label='True Ve') - plt.plot(time_hist, est_vel_hist[:, 1], '--', label='Estimated Ve') - plt.ylabel('Ve (m/s)') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time_hist, true_vel_hist[:, 2], label='True Vd') - plt.plot(time_hist, est_vel_hist[:, 2], '--', label='Estimated Vd') - plt.xlabel('Time (s)') - plt.ylabel('Vd (m/s)') - plt.legend() - plt.tight_layout() - plt.show() - - # Heading (Yaw) - plt.figure(figsize=(10, 4)) - plt.plot(time_hist, np.degrees(true_yaw_hist), label='True Yaw') - plt.plot(time_hist, np.degrees(est_yaw_hist), '--', label='Estimated Yaw') - plt.xlabel('Time (s)') - plt.ylabel('Yaw (deg)') - plt.legend() - plt.title('Heading Comparison (NED)') - plt.tight_layout() - plt.show() - - # 3D Trajectory - fig = plt.figure(figsize=(8, 6)) - ax = fig.add_subplot(111, projection='3d') - ax.plot( - true_pos_hist[:, 0], - true_pos_hist[:, 1], - true_pos_hist[:, 2], - label='True Trajectory', - linewidth=2, - ) - ax.plot( - est_pos_hist[:, 0], - est_pos_hist[:, 1], - est_pos_hist[:, 2], - '--', - label='Estimated Trajectory', - linewidth=2, - ) - ax.set_xlabel('North (m)') - ax.set_ylabel('East (m)') - ax.set_zlabel('Down (m)') - ax.legend() - plt.title('3D Trajectory (NED Frame)') - plt.show() - - -if __name__ == '__main__': - run_ESUKF_simulation() diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index c588d579e..dd52c6589 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -14,6 +14,31 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.sigma_points_list = None self.y_i = None self.weight = None + # self.T = self.generate_T_matrix(len(P_0)) + + def generate_T_matrix(n): + """ + Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. + + Parameters: + n (int): The state dimension. + + Returns: + T (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. + """ + T = np.zeros((n, 2 * n)) + + for i in range(1, 2 * n + 1): # indexing matches equation (1, ..., 2n) + for j in range(1, (n // 2) + 1): + T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) + T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) + + if n % 2 == 1: # if n is odd, add the last term as described in the paper + T[n - 1, i - 1] = (-1) ** i + + T = T / np.sqrt(2) # Normalize matrix for orthonormality (unit scaling) + + return T def sigma_points(self, current_state: StateQuat) -> tuple[list[StateQuat], np.ndarray]: """ @@ -134,10 +159,10 @@ def add_quaternion_noise(q, noise_std): x0[3] = 1 x0[7:10] = [0.2, 0.2, 0.2] dt = 0.01 - R = (0.1 / dt) * np.eye(3) + R = (0.01) * np.eye(3) - Q = 0.1 * np.eye(12) - P0 = np.eye(12) * 0.1 + Q = 0.00015 * np.eye(12) + P0 = np.eye(12) * 0.0001 model = process_model() model.dt = 0.01 @@ -156,16 +181,35 @@ def add_quaternion_noise(q, noise_std): model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - model_ukf = model + model_ukf = process_model() + model_ukf.dt = 0.01 + model_ukf.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model_ukf.m = 30.0 + model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) + model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) + model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) # Simulation parameters - simulation_time = 40 # seconds + simulation_time = 20 # seconds num_steps = int(simulation_time / dt) # Initialize a dummy StateQuat. - test_state = StateQuat() - test_state.fill_states(x0) - test_state.covariance = P0 + new_state = StateQuat() + new_state.fill_states(x0) + new_state.covariance = P0 + + test_state_x = StateQuat() + test_state_x.fill_states(x0) + test_state_x.covariance = P0 # Initialize a estimated state estimated_state = StateQuat() @@ -196,18 +240,15 @@ def add_quaternion_noise(q, noise_std): # Initialize the okid params okid_params = np.zeros((num_steps, 21)) - model.state_vector_prev = test_state - model.state_vector = test_state + model.state_vector_prev = new_state + model.state_vector = new_state - model_ukf.state_vector_prev = test_state - model_ukf.state_vector = test_state + model_ukf.state_vector_prev = test_state_x + model_ukf.state_vector = test_state_x # initialize the ukf ukf = UKF(model_ukf, x0, P0, Q, R) - # Test - ukf.unscented_transform(test_state) - elapsed_times = [] u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) @@ -219,22 +260,22 @@ def add_quaternion_noise(q, noise_std): model_ukf.Control_input = u(step * dt) # Perform the unscented transform - model.model_prediction(test_state) + model.model_prediction(new_state) new_state = model.euler_forward() # Adding noise in the state vector - noisy_state.position = new_state.position + np.random.normal(0, 0.1, 3) - noisy_state.orientation = add_quaternion_noise(new_state.orientation, 0.1) - noisy_state.velocity = new_state.velocity + np.random.normal(0, 0.1, 3) - noisy_state.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.1, 3) + estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) + estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) + estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) + estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) start_time = time.time() - estimated_state = ukf.unscented_transform(noisy_state) + estimated_state = ukf.unscented_transform(estimated_state) elapsed_time = time.time() - start_time elapsed_times.append(elapsed_time) - if step % 20 == 0: - measurment_model.measurement = new_state.velocity + np.random.normal(0, 0.2, 3) + if step % 10 == 0: + measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) From bbb3dd67ce8da5b7c09bd3c1807c86b5a2de51fe Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 14 Mar 2025 23:17:19 +0100 Subject: [PATCH 037/109] added test script --- .../eskf_python/eskf_python/eskf_test.py | 235 ++++++++++++++++++ 1 file changed, 235 insertions(+) create mode 100644 navigation/eskf_python/eskf_python/eskf_test.py diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py new file mode 100644 index 000000000..4623b7b86 --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -0,0 +1,235 @@ + +from eskf_python_class import StateEuler, StateQuat, MeasurementModel, Measurement +import numpy as np +from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion +from ukf_okid_class import process_model, quat_to_euler, euler_to_quat +from ukf_okid_class import StateQuat as StateQuatmodel +from scipy.linalg import block_diag +import matplotlib.pyplot as plt +from eskf_python_filter import ESKF + + +def fancy_print_state_quat(state: StateQuat) -> None: + print("Nominal State (Quaternion):") + print(f" Position : {np.array2string(state.position, precision=3, separator=', ')}") + print(f" Velocity : {np.array2string(state.velocity, precision=3, separator=', ')}") + print(f" Orientation (Quat): {np.array2string(state.orientation, precision=3, separator=', ')}") + print(f" Acceleration Bias : {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") + print(f" Gyro Bias : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") + print(f" Gravity : {np.array2string(state.g, precision=3, separator=', ')}\n") + + +def fancy_print_state_euler(state: StateEuler) -> None: + print("Error State (Euler):") + print(f" Position Error : {np.array2string(state.position, precision=3, separator=', ')}") + print(f" Velocity Error : {np.array2string(state.velocity, precision=3, separator=', ')}") + print(f" Orientation Error : {np.array2string(state.orientation, precision=3, separator=', ')}") + print(f" Acceleration Bias Error: {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") + print(f" Gyro Bias Error : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") + print(f" Gravity Error : {np.array2string(state.g, precision=3, separator=', ')}\n") + +def fancy_print_matrix(matrix: np.ndarray) -> None: + print(f"Matrix shape: {matrix.shape}") + print("========== Matrix ==========") + for row in matrix: + print(" ".join(f"{value:8.3f}" for value in row)) + print("======== End Matrix ========") + +if __name__ == "__main__": + + # Simulation parameters + simulation_time = 20.0 # seconds + dt = 0.01 + num_steps = int(simulation_time / dt) + time = np.linspace(0, simulation_time, num_steps) + + # ----------------------- Setup Initial States, Filter & Model ----------------------- + # True initial state + true_state_init = StateQuat() + true_state_init.position = np.array([0.1, 0.0, 0.0]) + true_state_init.velocity = np.array([0.1, 0.0, 0.0]) + P0 = np.diag([ + 1.0, 1.0, 1.0, # Position + 0.2, 0.2, 0.2, # Velocity + 0.01, 0.01, 0.01, # Orientation + 0.00001, 0.00001, 0.00001, # Acceleration bias + 0.00001, 0.00001, 0.00001, # Gyro bias + 0.00001, 0.00001, 0.00001 # Gravity + ]) + + # Estimated initial state (for filter) + est_state_init = StateQuat() + est_state_init.position = np.array([0.1, 0.0, 0.0]) + est_state_init.velocity = np.array([0.1, 0.0, 0.0]) + + # Noise parameters + Q = np.diag([ + (0.02**2) / dt, (0.02**2) / dt, (0.02**2) / dt, # Accelerometer noise + (0.001**2) / dt, (0.001**2) / dt, (0.001**2) / dt, # Gyroscope noise + 0.0001, 0.0001, 0.0001, # Acceleration bias random walk + 0.00001, 0.00001, 0.00001 # Gyro bias random walk + ]) + + Hx = np.zeros((3, 19)) + Hx[0:3, 6:9] = np.eye(3) + + # Create filter object + eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) + + imu_data = Measurement() + dvl_data = Measurement() + dvl_data.aiding_covariance = np.eye(3) * 0.2 + + # Setup the process model + model = process_model() + model.dt = dt + model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model.m = 30.0 + model.r_b_bg = np.array([0.01, 0.0, 0.02]) + model.inertia = np.diag([0.68, 3.32, 3.34]) + model.damping_linear = np.diag([0.03, 0.03, 0.03, 0.03, 0.03, 0.03]) + + # Initialize a dummy state for simulation dynamics. + new_state = StateQuatmodel() + new_state.position = np.array([0.1, 0.0, 0.0]) + new_state.velocity = np.array([0.1, 0.0, 0.0]) + new_state_prev = StateQuatmodel() + new_state_prev.position = np.array([0.1, 0.0, 0.0]) + new_state_prev.velocity = np.array([0.1, 0.0, 0.0]) + + model.state_vector = new_state + model.state_vector_prev = new_state_prev + + # ----------------------- Data Storage Arrays ----------------------- + true_positions = np.zeros((num_steps, 3)) + true_orientations = np.zeros((num_steps, 3)) + true_velocities = np.zeros((num_steps, 3)) + + est_positions = np.zeros((num_steps, 3)) + est_orientations = np.zeros((num_steps, 3)) + est_velocities = np.zeros((num_steps, 3)) + + # We'll record the filter’s covariance diagonal for each state component. + pos_cov = np.zeros((num_steps, 3)) # covariance for position (indices 0:3) + vel_cov = np.zeros((num_steps, 3)) # covariance for velocity (indices 3:6) + ori_cov = np.zeros((num_steps, 3)) # covariance for orientation (indices 6:9) + + prev_velocity = np.zeros(3) + u = lambda t: np.array([ + 0.5 * np.sin(0.1 * t), + 0.5 * np.sin(0.1 * t + 0.3), + 0.5 * np.sin(0.1 * t + 0.6), + 0.05 * np.cos(0.1 * t), + 0.05 * np.cos(0.1 * t + 0.3), + 0.05 * np.cos(0.1 * t + 0.6) + ]) + + # ----------------------- Simulation Loop ----------------------- + for step in range(num_steps): + t = step * dt + + model.Control_input = u(t) + model.model_prediction(new_state) + new_state = model.euler_forward() + + # Simulate IMU measurements (with noise) + imu_data.acceleration = ((new_state.velocity - prev_velocity) / dt) + np.random.normal(0, 0.13, 3) + imu_data.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.13, 3) + + eskf.imu_update(imu_data) + + # DVL update every 20 time-steps + if step % 20 == 0: + dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) + eskf.dvl_update(dvl_data) + + # Store True data (from the simulated dynamics) + true_positions[step, :] = np.copy(new_state.position) + true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) + true_velocities[step, :] = np.copy(new_state.velocity) + + # Store estimated state (from the filter) + est_positions[step, :] = np.copy(eskf.nom_state.position) + est_orientations[step, :] = quat_to_euler(np.copy(eskf.nom_state.orientation)) + est_velocities[step, :] = np.copy(eskf.nom_state.velocity) + + # Record covariance diagonal (assumed ordering: pos (0:3), vel (3:6), orientation (6:9)) + P_diag = np.diag(eskf.error_state.covariance) + pos_cov[step, :] = P_diag[0:3] + vel_cov[step, :] = P_diag[3:6] + ori_cov[step, :] = P_diag[6:9] + + prev_velocity = new_state.velocity + model.state_vector_prev = new_state + + # ----------------------- New Plotting Scheme ----------------------- + # Create 3 separate figures, each corresponding to one degree of freedom: + # For position and velocity: X, Y, Z. + # For orientation: Roll, Pitch, Yaw. + axis_labels_pos = ["X", "Y", "Z"] + axis_labels_vel = ["X", "Y", "Z"] + axis_labels_ori = ["Roll", "Pitch", "Yaw"] + + # Plot Position + fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) + fig_pos.suptitle("True Data vs Filter Estimates for Position") + for i in range(3): + ax_pos = axs_pos[i] + ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') + ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') + sigma_pos = np.sqrt(pos_cov[:, i]) + ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, + color=f"C{i}", alpha=0.2) + ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") + ax_pos.set_xlabel("Time [s]") + ax_pos.set_ylabel("Position") + ax_pos.grid(True) + ax_pos.legend() + + plt.tight_layout(rect=[0, 0, 1, 0.96]) + plt.show() + + # Plot Velocity + fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) + fig_vel.suptitle("True Data vs Filter Estimates for Velocity") + for i in range(3): + ax_vel = axs_vel[i] + ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') + ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') + sigma_vel = np.sqrt(vel_cov[:, i]) + ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, + color=f"C{i}", alpha=0.2) + ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") + ax_vel.set_xlabel("Time [s]") + ax_vel.set_ylabel("Velocity") + ax_vel.grid(True) + ax_vel.legend() + + plt.tight_layout(rect=[0, 0, 1, 0.96]) + plt.show() + + # Plot Orientation + fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) + fig_ori.suptitle("True Data vs Filter Estimates for Orientation") + for i in range(3): + ax_ori = axs_ori[i] + ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') + ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') + sigma_ori = np.sqrt(ori_cov[:, i]) + ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, + color=f"C{i}", alpha=0.2) + ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") + ax_ori.set_xlabel("Time [s]") + ax_ori.set_ylabel("Orientation") + ax_ori.grid(True) + ax_ori.legend() + + plt.tight_layout(rect=[0, 0, 1, 0.96]) + plt.show() From 8c6ab5b473b068dc55d51ec948c463968f9f41b7 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sat, 15 Mar 2025 00:02:45 +0100 Subject: [PATCH 038/109] fixed some errors, code runs from eskf_test now --- .../eskf_python/eskf_python_class.py | 28 -- .../eskf_python/eskf_python_filter.py | 22 +- .../eskf_python/eskf_python_utils.py | 53 ++ .../eskf_python/eskf_python/eskf_test.py | 83 +--- .../eskf_python/eskf_test_utils.py | 184 +++++++ .../eskf_python/eskf_python/ukf_okid_class.py | 464 ------------------ 6 files changed, 272 insertions(+), 562 deletions(-) create mode 100644 navigation/eskf_python/eskf_python/eskf_test_utils.py delete mode 100644 navigation/eskf_python/eskf_python/ukf_okid_class.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py index 949ab996d..c2ffc8e02 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -1,8 +1,5 @@ from dataclasses import dataclass, field -from typing import Tuple, List -from scipy.linalg import expm import numpy as np -from eskf_python_utils import skew_matrix, quaternion_product @dataclass @@ -85,31 +82,6 @@ def R_q(self) -> np.ndarray: return R - # def inject(self, EulerState: 'StateEuler') -> 'StateQuat': - # inj_state = StateQuat() - - # # Injecting the error state - # inj_state.position = self.position + EulerState.position - # inj_state.velocity = self.velocity + EulerState.velocity - # inj_state.orientation = quaternion_product( - # self.orientation, - # 0.5 - # * np.array( - # [ - # 2, - # EulerState.orientation[0], - # EulerState.orientation[1], - # EulerState.orientation[2], - # ] - # ), - # ) - # inj_state.acceleration_bias = self.acceleration_bias + EulerState.acceleration_bias - # inj_state.gyro_bias = self.gyro_bias + EulerState.gyro_bias - - # return inj_state - - - @dataclass class StateEuler: position: np.ndarray = field( diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index a9c772e47..b1efeb0a9 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -4,9 +4,9 @@ import numpy as np from scipy.linalg import expm from eskf_python_class import StateEuler, StateQuat, Measurement -from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion -from ukf_okid_class import euler_to_quat +from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion, euler_to_quat from scipy.linalg import block_diag +from scipy.spatial.transform import Rotation as R_scipy class ESKF: def __init__(self, Q: np.ndarray, P0, Hx, nom_state: StateQuat, p_accBias, p_gyroBias, dt): @@ -103,8 +103,6 @@ def h(self) -> np.ndarray: """ return self.nom_state.velocity - - def nominal_state_discrete(self, imu_data: Measurement) -> None: """ Calculates the next nominal state using the discrete-time process model defined in: @@ -196,13 +194,18 @@ def measurement_update(self, dvl_measurement:Measurement) -> None: Args: dvl_measurement (np.ndarray): The DVL measurement. """ - + H = self.H() P = self.error_state.covariance - R= dvl_measurement.aiding_covariance - K = P @ H.T @ np.linalg.inv(H @ P @ H.T + R) - self.error_state.fill_states(K @ (dvl_measurement.aiding - self.h())) - self.error_state.covariance = (np.eye(18) - K @ H) @ P + R = dvl_measurement.aiding_covariance + + S = H @ P @ H.T + R + K = P @ H.T @ np.linalg.inv(S) + innovation = dvl_measurement.aiding - self.h() + self.error_state.fill_states(K @ innovation) + + I_KH = np.eye(18) - K @ H + self.error_state.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T # Joseph form for more stability def injection(self) -> None: """ @@ -211,7 +214,6 @@ def injection(self) -> None: Chapter 6.2 eq. 282-283 """ - self.nom_state.position = self.nom_state.position + self.error_state.position self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity self.nom_state.orientation = quaternion_product(self.nom_state.orientation, euler_to_quat(self.error_state.orientation)) diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py index 9ea439982..aaef5f8d6 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_utils.py +++ b/navigation/eskf_python/eskf_python/eskf_python_utils.py @@ -12,6 +12,14 @@ def skew_matrix(vector: np.ndarray) -> np.ndarray: ] ) +def quat_norm(quat: np.ndarray) -> np.ndarray: + """ + Function that normalizes a quaternion + """ + quat = quat / np.linalg.norm(quat) + + return quat + def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: """Calculates the quaternion super product of two quaternions. @@ -37,6 +45,17 @@ def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: return q_new +def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """ + Calculates the error between two quaternions + """ + + quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) + + error_quat = quaternion_product(quat_1, quat_2_inv) + + return error_quat + def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: """Converts an angle-axis representation to a quaternion. @@ -93,3 +112,37 @@ def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: ) return R + +def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: + """ + Converts Euler angles to a quaternion + """ + psi, theta, phi = euler_angles + c_psi = np.cos(psi / 2) + s_psi = np.sin(psi / 2) + c_theta = np.cos(theta / 2) + s_theta = np.sin(theta / 2) + c_phi = np.cos(phi / 2) + s_phi = np.sin(phi / 2) + + quat = np.array([ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi + ]) + + return quat + +def quat_to_euler(quat: np.ndarray) -> np.ndarray: + """ + Converts a quaternion to Euler angles + """ + nu, eta_1, eta_2, eta_3 = quat + + phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + + return np.array([phi, theta, psi]) + diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 4623b7b86..bf4cc8f8b 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -1,40 +1,11 @@ from eskf_python_class import StateEuler, StateQuat, MeasurementModel, Measurement +from eskf_python_utils import quat_to_euler +from eskf_test_utils import process_model, StateQuatModel import numpy as np -from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion -from ukf_okid_class import process_model, quat_to_euler, euler_to_quat -from ukf_okid_class import StateQuat as StateQuatmodel -from scipy.linalg import block_diag import matplotlib.pyplot as plt from eskf_python_filter import ESKF - -def fancy_print_state_quat(state: StateQuat) -> None: - print("Nominal State (Quaternion):") - print(f" Position : {np.array2string(state.position, precision=3, separator=', ')}") - print(f" Velocity : {np.array2string(state.velocity, precision=3, separator=', ')}") - print(f" Orientation (Quat): {np.array2string(state.orientation, precision=3, separator=', ')}") - print(f" Acceleration Bias : {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") - print(f" Gyro Bias : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") - print(f" Gravity : {np.array2string(state.g, precision=3, separator=', ')}\n") - - -def fancy_print_state_euler(state: StateEuler) -> None: - print("Error State (Euler):") - print(f" Position Error : {np.array2string(state.position, precision=3, separator=', ')}") - print(f" Velocity Error : {np.array2string(state.velocity, precision=3, separator=', ')}") - print(f" Orientation Error : {np.array2string(state.orientation, precision=3, separator=', ')}") - print(f" Acceleration Bias Error: {np.array2string(state.acceleration_bias, precision=3, separator=', ')}") - print(f" Gyro Bias Error : {np.array2string(state.gyro_bias, precision=3, separator=', ')}") - print(f" Gravity Error : {np.array2string(state.g, precision=3, separator=', ')}\n") - -def fancy_print_matrix(matrix: np.ndarray) -> None: - print(f"Matrix shape: {matrix.shape}") - print("========== Matrix ==========") - for row in matrix: - print(" ".join(f"{value:8.3f}" for value in row)) - print("======== End Matrix ========") - if __name__ == "__main__": # Simulation parameters @@ -51,23 +22,18 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: P0 = np.diag([ 1.0, 1.0, 1.0, # Position 0.2, 0.2, 0.2, # Velocity - 0.01, 0.01, 0.01, # Orientation + 0.2, 0.2, 0.2, # Orientation 0.00001, 0.00001, 0.00001, # Acceleration bias 0.00001, 0.00001, 0.00001, # Gyro bias 0.00001, 0.00001, 0.00001 # Gravity ]) - # Estimated initial state (for filter) - est_state_init = StateQuat() - est_state_init.position = np.array([0.1, 0.0, 0.0]) - est_state_init.velocity = np.array([0.1, 0.0, 0.0]) - # Noise parameters Q = np.diag([ - (0.02**2) / dt, (0.02**2) / dt, (0.02**2) / dt, # Accelerometer noise - (0.001**2) / dt, (0.001**2) / dt, (0.001**2) / dt, # Gyroscope noise - 0.0001, 0.0001, 0.0001, # Acceleration bias random walk - 0.00001, 0.00001, 0.00001 # Gyro bias random walk + (0.05**2) / dt, (0.05**2) / dt, (0.05**2) / dt, # Accelerometer noise + (0.004**2) / dt, (0.004**2) / dt, (0.004**2) / dt, # Gyroscope noise + 0.0002, 0.0002, 0.0002, # Acceleration bias random walk + 0.0001, 0.0001, 0.0001 # Gyro bias random walk ]) Hx = np.zeros((3, 19)) @@ -76,11 +42,14 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: # Create filter object eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) + # Create measurement objects imu_data = Measurement() dvl_data = Measurement() - dvl_data.aiding_covariance = np.eye(3) * 0.2 - # Setup the process model + # R matrix for DVL aiding + dvl_data.aiding_covariance = np.diag([(0.5)**2, (0.5)**2, (0.5)**2]) + + # Setup the process model for simulation of AUV model = process_model() model.dt = dt model.mass_interia_matrix = np.array([ @@ -97,17 +66,19 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: model.damping_linear = np.diag([0.03, 0.03, 0.03, 0.03, 0.03, 0.03]) # Initialize a dummy state for simulation dynamics. - new_state = StateQuatmodel() + # Two where made since there seems to be an issue with declaring two identical objects. + new_state = StateQuatModel() new_state.position = np.array([0.1, 0.0, 0.0]) new_state.velocity = np.array([0.1, 0.0, 0.0]) - new_state_prev = StateQuatmodel() + + new_state_prev = StateQuatModel() new_state_prev.position = np.array([0.1, 0.0, 0.0]) new_state_prev.velocity = np.array([0.1, 0.0, 0.0]) model.state_vector = new_state model.state_vector_prev = new_state_prev - # ----------------------- Data Storage Arrays ----------------------- + # Initialize arrays to store true and estimated states true_positions = np.zeros((num_steps, 3)) true_orientations = np.zeros((num_steps, 3)) true_velocities = np.zeros((num_steps, 3)) @@ -116,10 +87,10 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: est_orientations = np.zeros((num_steps, 3)) est_velocities = np.zeros((num_steps, 3)) - # We'll record the filter’s covariance diagonal for each state component. - pos_cov = np.zeros((num_steps, 3)) # covariance for position (indices 0:3) - vel_cov = np.zeros((num_steps, 3)) # covariance for velocity (indices 3:6) - ori_cov = np.zeros((num_steps, 3)) # covariance for orientation (indices 6:9) + # covariance arrays + pos_cov = np.zeros((num_steps, 3)) + vel_cov = np.zeros((num_steps, 3)) + ori_cov = np.zeros((num_steps, 3)) prev_velocity = np.zeros(3) u = lambda t: np.array([ @@ -131,7 +102,7 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: 0.05 * np.cos(0.1 * t + 0.6) ]) - # ----------------------- Simulation Loop ----------------------- + # Sim for step in range(num_steps): t = step * dt @@ -139,28 +110,23 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: model.model_prediction(new_state) new_state = model.euler_forward() - # Simulate IMU measurements (with noise) imu_data.acceleration = ((new_state.velocity - prev_velocity) / dt) + np.random.normal(0, 0.13, 3) imu_data.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.13, 3) eskf.imu_update(imu_data) - # DVL update every 20 time-steps if step % 20 == 0: dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) eskf.dvl_update(dvl_data) - # Store True data (from the simulated dynamics) true_positions[step, :] = np.copy(new_state.position) true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) true_velocities[step, :] = np.copy(new_state.velocity) - # Store estimated state (from the filter) est_positions[step, :] = np.copy(eskf.nom_state.position) est_orientations[step, :] = quat_to_euler(np.copy(eskf.nom_state.orientation)) est_velocities[step, :] = np.copy(eskf.nom_state.velocity) - # Record covariance diagonal (assumed ordering: pos (0:3), vel (3:6), orientation (6:9)) P_diag = np.diag(eskf.error_state.covariance) pos_cov[step, :] = P_diag[0:3] vel_cov[step, :] = P_diag[3:6] @@ -169,10 +135,7 @@ def fancy_print_matrix(matrix: np.ndarray) -> None: prev_velocity = new_state.velocity model.state_vector_prev = new_state - # ----------------------- New Plotting Scheme ----------------------- - # Create 3 separate figures, each corresponding to one degree of freedom: - # For position and velocity: X, Y, Z. - # For orientation: Roll, Pitch, Yaw. + # Plotting axis_labels_pos = ["X", "Y", "Z"] axis_labels_vel = ["X", "Y", "Z"] axis_labels_ori = ["Roll", "Pitch", "Yaw"] diff --git a/navigation/eskf_python/eskf_python/eskf_test_utils.py b/navigation/eskf_python/eskf_python/eskf_test_utils.py new file mode 100644 index 000000000..34abe8eda --- /dev/null +++ b/navigation/eskf_python/eskf_python/eskf_test_utils.py @@ -0,0 +1,184 @@ +import numpy as np +from dataclasses import dataclass, field +from typing import Tuple +from eskf_python_utils import quaternion_product, euler_to_quat, quat_to_euler, quaternion_error, quat_norm, skew_matrix + +# This was the original code from the ukf_okid.py file + +@dataclass +class StateQuatModel: + """ + A class to represent the state to be estimated by the UKF. + """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) + + def as_vector(self) -> np.ndarray: + """Returns the StateVector as a numpy array.""" + return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + + def nu(self) -> np.ndarray: + """Calculates the nu vector.""" + return np.concatenate([self.velocity, self.angular_velocity]) + + def R_q(self) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = self.orientation + R = np.array([ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] + ]) + return R + + def fill_states(self, state: np.ndarray) -> None: + """Fills the state vector with the values from a numpy array.""" + self.position = state[0:3] + self.orientation = state[3:7] + self.velocity = state[7:10] + self.angular_velocity = state[10:13] + + def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills states when the state vector has different dimensions than the default state vector.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] + + def subtract(self, other: 'StateQuatModel') -> np.ndarray: + """Subtracts two StateQuatModel objects, returning the difference with Euler angles.""" + new_array = np.zeros(len(self.as_vector()) - 1) + new_array[:3] = self.position - other.position + new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[6:9] = self.velocity - other.velocity + new_array[9:12] = self.angular_velocity - other.angular_velocity + + return new_array + + def __add__(self, other: 'StateQuatModel') -> 'StateQuatModel': + """Adds two StateQuatModel objects.""" + new_state = StateQuatModel() + new_state.position = self.position + other.position + new_state.orientation = quaternion_product(self.orientation, other.orientation) + new_state.velocity = self.velocity + other.velocity + new_state.angular_velocity = self.angular_velocity + other.angular_velocity + + return new_state + + def __sub__(self, other: 'StateQuatModel') -> 'StateQuatModel': + """Subtracts two StateQuatModel objects.""" + new_state = StateQuatModel() + new_state.position = self.position - other.position + new_state.orientation = quaternion_error(self.orientation, other.orientation) + new_state.velocity = self.velocity - other.velocity + new_state.angular_velocity = self.angular_velocity - other.angular_velocity + + return new_state.as_vector() + + def __rmul__(self, scalar: float) -> 'StateQuatModel': + """Multiplies the StateQuatModel object by a scalar.""" + new_state = StateQuatModel() + new_state.position = scalar * self.position + new_state.orientation = quat_norm(scalar * self.orientation) + new_state.velocity = scalar * self.velocity + new_state.angular_velocity = scalar * self.angular_velocity + + return new_state + + def insert_weights(self, weights: np.ndarray) -> np.ndarray: + """Inserts the weights into the covariance matrix.""" + new_state = StateQuatModel() + new_state.position = self.position - weights[:3] + new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.velocity = self.velocity - weights[6:9] + new_state.angular_velocity = self.angular_velocity - weights[9:12] + + return new_state.as_vector() + + def add_without_quaternions(self, other: 'StateQuatModel') -> None: + """Adds elements into the state vector without considering the quaternions.""" + self.position += other.position + self.velocity += other.velocity + self.angular_velocity += other.angular_velocity + + +@dataclass +class process_model: + """ + A class defined for a general process model. + """ + state_vector: StateQuatModel = field(default_factory=StateQuatModel) + state_vector_dot: StateQuatModel = field(default_factory=StateQuatModel) + state_vector_prev: StateQuatModel = field(default_factory=StateQuatModel) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 0.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.0 + integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) + prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) + + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array([ + [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], + [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], + [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] + ]) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array([ + [-e_1, -e_2, -e_3], + [nu, -e_3, e_2], + [e_3, nu, -e_1], + [-e_2, e_1, nu] + ]) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_matrix(ang_vel) + lever_arm_skew = skew_matrix(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_matrix(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) + return D_l + D_nl + + def model_prediction(self, state: StateQuatModel) -> None: + """Calculates the model of the system.""" + self.state_vector = state + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> StateQuatModel: + """Calculates the forward Euler integration.""" + self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt + self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) + self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + return self.state_vector \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/ukf_okid_class.py b/navigation/eskf_python/eskf_python/ukf_okid_class.py deleted file mode 100644 index 8444fd82e..000000000 --- a/navigation/eskf_python/eskf_python/ukf_okid_class.py +++ /dev/null @@ -1,464 +0,0 @@ -from dataclasses import dataclass, field -import numpy as np - - -from dataclasses import dataclass, field -import numpy as np - -@dataclass -class StateQuat: - """ - A class to represent the state to be estimated by the UKF. - """ - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) - - def as_vector(self) -> np.ndarray: - """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) - - def nu(self) -> np.ndarray: - """Calculates the nu vector.""" - return np.concatenate([self.velocity, self.angular_velocity]) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = self.orientation - R = np.array([ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] - ]) - return R - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array.""" - self.position = state[0:3] - self.orientation = state[3:7] - self.velocity = state[7:10] - self.angular_velocity = state[10:13] - - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: - """Fills states when the state vector has different dimensions than the default state vector.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - - def subtract(self, other: 'StateQuat') -> np.ndarray: - """Subtracts two StateQuat objects, returning the difference with Euler angles.""" - new_array = np.zeros(len(self.as_vector()) - 1) - new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) - new_array[6:9] = self.velocity - other.velocity - new_array[9:12] = self.angular_velocity - other.angular_velocity - - return new_array - - def __add__(self, other: 'StateQuat') -> 'StateQuat': - """Adds two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position + other.position - new_state.orientation = quaternion_super_product(self.orientation, other.orientation) - new_state.velocity = self.velocity + other.velocity - new_state.angular_velocity = self.angular_velocity + other.angular_velocity - - return new_state - - def __sub__(self, other: 'StateQuat') -> 'StateQuat': - """Subtracts two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position - other.position - new_state.orientation = quaternion_error(self.orientation, other.orientation) - new_state.velocity = self.velocity - other.velocity - new_state.angular_velocity = self.angular_velocity - other.angular_velocity - - return new_state.as_vector() - - def __rmul__(self, scalar: float) -> 'StateQuat': - """Multiplies the StateQuat object by a scalar.""" - new_state = StateQuat() - new_state.position = scalar * self.position - new_state.orientation = quat_norm(scalar * self.orientation) - new_state.velocity = scalar * self.velocity - new_state.angular_velocity = scalar * self.angular_velocity - - return new_state - - def insert_weights(self, weights: np.ndarray) -> np.ndarray: - """Inserts the weights into the covariance matrix.""" - new_state = StateQuat() - new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) - new_state.velocity = self.velocity - weights[6:9] - new_state.angular_velocity = self.angular_velocity - weights[9:12] - - return new_state.as_vector() - - def add_without_quaternions(self, other: 'StateQuat') -> None: - """Adds elements into the state vector without considering the quaternions.""" - self.position += other.position - self.velocity += other.velocity - self.angular_velocity += other.angular_velocity - -@dataclass -class MeasModel: - """ - A class defined for a general measurement model. - """ - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - - def H(self, state: StateQuat) -> 'MeasModel': - """Calculates the measurement matrix.""" - H = np.zeros((3, 13)) - H[:, 7:10] = np.eye(3) - z_i = MeasModel() - z_i.measurement = np.dot(H, state.as_vector()) - return z_i - - def __add__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the addition operation between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement + other.measurement - return result - - def __rmul__(self, scalar: float) -> 'MeasModel': - """Defines multiplication between scalar value and MeasModel object.""" - result = MeasModel() - result.measurement = scalar * self.measurement - return result - - def __sub__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the subtraction between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement - other.measurement - return result - -@dataclass -class process_model: - """ - A class defined for a general process model. - """ - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> StateQuat: - """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt - return self.state_vector - -def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """ - Converts Euler angles to a quaternion - """ - psi, theta, phi = euler_angles - c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) - c_theta = np.cos(theta / 2) - s_theta = np.sin(theta / 2) - c_phi = np.cos(phi / 2) - s_phi = np.sin(phi / 2) - - quat = np.array([ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi - ]) - - return quat - -def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to Euler angles - """ - nu, eta_1, eta_2, eta_3 = quat - - phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) - theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) - - return np.array([phi, theta, psi]) - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """ - Function that normalizes a quaternion - """ - - quat = quat / np.linalg.norm(quat) - - return quat - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - -def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - - q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) - - return q_new - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """ - Calculates the error between two quaternions - """ - - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_super_product(quat_1, quat_2_inv) - - return error_quat - -def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: - """ - Computes the weighted mean of the quaternion orientations from a list of StateQuat objects - using an iterative approach, without requiring the caller to manually extract the quaternion. - - Parameters: - state_list (list[StateQuat]): List of StateQuat objects. - weights (np.ndarray): Weights for each state. - tol (float): Convergence tolerance. - max_iter (int): Maximum number of iterations. - - Returns: - np.ndarray: The averaged quaternion as a 4-element numpy array. - """ - # Internally extract the quaternion from each state - sigma_quats = [state.orientation for state in state_list] - - # Initialize the mean quaternion with the first quaternion - mean_q = sigma_quats[0].copy() - - for _ in range(max_iter): - weighted_error_vectors = [] - for i, q in enumerate(sigma_quats): - # Compute the error quaternion: e = q * inv(mean_q) - # For unit quaternions, the inverse is the conjugate. - mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) - e = quaternion_super_product(q, mean_q_conj) - - # Clip to avoid numerical issues - e0_clipped = np.clip(e[0], -1.0, 1.0) - angle = 2 * np.arccos(e0_clipped) - if np.abs(angle) < 1e-8: - error_vec = np.zeros(3) - else: - # Compute the full rotation vector (angle * axis) - error_vec = (angle / np.sin(angle / 2)) * e[1:4] - weighted_error_vectors.append(weights[i] * error_vec) - - error_avg = np.sum(weighted_error_vectors, axis=0) - if np.linalg.norm(error_avg) < tol: - break - - error_norm = np.linalg.norm(error_avg) - delta_q = (np.array([np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm))]) - if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) - mean_q = quaternion_super_product(delta_q, mean_q) - mean_q = quat_norm(mean_q) - - return mean_q - - - -def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points - """ - n = len(set_points[0].as_vector()) - 1 - mean_value = StateQuat() - - if weights is None: - for i in range(2 * n + 1): - weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) - mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) - - else: - for i in range(2 * n + 1): - mean_value.add_without_quaternions(weights[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) - - return mean_value.as_vector() - -def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points - """ - n = len(set_points) - mean_value = MeasModel() - - if weights is None: - for i in range(n): - mean_value = mean_value + set_points[i] - else: - for i in range(n): - mean_value = mean_value + (weights[i] * set_points[i]) - - return mean_value.measurement - -def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the covariance of a set of points - """ - n = len(set_points[0].as_vector()) - 1 - covariance = np.zeros((n, n)) - mean_quat = StateQuat() - mean_quat.fill_states(mean) - - if weights is None: - for i in range(2 * n + 1): - covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) - - covariance = (1 / (2 * n + 1)) * covariance - - else: - for i in range(2 * n + 1): - covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) - - return covariance - -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the covariance of a set of points - """ - n = len(set_points) - co_size = len(set_points[0].measurement) - covariance = np.zeros((co_size, co_size)) - mean_meas = MeasModel() - mean_meas.measurement = mean - - if weights is None: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += np.outer(temp_model.measurement, temp_model.measurement) - - covariance = (1 / (n)) * covariance - - else: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) - - return covariance - -def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: - """ - Calculates the cross covariance between the measurement and state prediction - """ - - n = len(mean_y) - 1 - m = len(mean_z) - cross_covariance = np.zeros((n,m)) - mean_quat = StateQuat() - mean_quat.fill_states(mean_y) - - for i in range(n): - cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) - - cross_covariance = (1 / len(set_y)) * cross_covariance - - return cross_covariance From d131c8c1b0d8b573407ea47475a1313c6177ce99 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 20 Mar 2025 16:29:42 +0100 Subject: [PATCH 039/109] added changes to ukf --- .../eskf_python/eskf_python_class.py | 23 +- .../eskf_python/eskf_python_filter.py | 28 +- .../eskf_python/eskf_python/eskf_test.py | 185 ++++++---- navigation/ukf_okid/ukf_python/rest.py | 37 ++ navigation/ukf_okid/ukf_python/ukf_okid.py | 324 +----------------- .../ukf_okid/ukf_python/ukf_okid_class.py | 143 ++++---- navigation/ukf_okid/ukf_python/ukf_test.py | 323 +++++++++++++++++ navigation/ukf_okid/ukf_python/ukf_utils.py | 2 +- 8 files changed, 614 insertions(+), 451 deletions(-) create mode 100644 navigation/ukf_okid/ukf_python/rest.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_test.py diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py index c2ffc8e02..0ba96ba1f 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -1,6 +1,6 @@ from dataclasses import dataclass, field import numpy as np - +from eskf_python_utils import quaternion_error @dataclass class StateQuat: @@ -82,6 +82,27 @@ def R_q(self) -> np.ndarray: return R + def __sub__(self, other: 'StateQuat') -> 'StateQuat': + """Subtracts the values of two state vectors. + + Args: + other (StateQuat): The state vector to subtract. + + Returns: + np.ndarray: The difference between the two state vectors. + """ + result = StateQuat() + result.position = self.position - other.position + result.velocity = self.velocity - other.velocity + result.orientation = quaternion_error(self.orientation, other.orientation) + result.acceleration_bias = self.acceleration_bias - other.acceleration_bias + result.gyro_bias = self.gyro_bias - other.gyro_bias + result.g = self.g - other.g + + return result + + + @dataclass class StateEuler: position: np.ndarray = field( diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index b1efeb0a9..8c4b01963 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -185,7 +185,7 @@ def error_state_prediction(self, imu_data: Measurement) -> None: self.error_state.covariance = (A_d @ self.error_state.covariance @ A_d.T + GQG_d) - def measurement_update(self, dvl_measurement:Measurement) -> None: + def measurement_update(self, dvl_measurement:Measurement) -> float: """ Updates the error state using the DVL measurement. Joan Solà. Quaternion kinematics for the error-state Kalman filter. @@ -202,11 +202,16 @@ def measurement_update(self, dvl_measurement:Measurement) -> None: S = H @ P @ H.T + R K = P @ H.T @ np.linalg.inv(S) innovation = dvl_measurement.aiding - self.h() + + NIS_value = self.NIS(S, innovation) + self.error_state.fill_states(K @ innovation) I_KH = np.eye(18) - K @ H self.error_state.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T # Joseph form for more stability + return NIS_value + def injection(self) -> None: """ Injects the error state into the nominal state to produce the estimated state. @@ -241,11 +246,26 @@ def imu_update(self, imu_data: Measurement) -> None: self.nominal_state_discrete(imu_data) self.error_state_prediction(imu_data) - def dvl_update(self, dvl_measurement: Measurement) -> None: + def dvl_update(self, dvl_measurement: Measurement) -> float: """ Updates the state using the DVL measurement. """ - self.measurement_update(dvl_measurement) + NIS = self.measurement_update(dvl_measurement) self.injection() - self.reset_error_state() \ No newline at end of file + self.reset_error_state() + + return NIS + + # functions for tuning the filter + def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: + """ + Calculates the Normalized Innovation Squared (NIS) value. + """ + return innovation.T @ np.linalg.inv(S) @ innovation + + def NEES(self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat) -> float: + """ + Calculates the Normalized Estimation Error Squared (NEES) value. + """ + return (true_state - estimate_state).as_vector().T @ np.linalg.inv(P) @ (true_state - estimate_state).as_vector() \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index bf4cc8f8b..95f5e996b 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -5,8 +5,9 @@ import numpy as np import matplotlib.pyplot as plt from eskf_python_filter import ESKF +from scipy.stats import chi2 -if __name__ == "__main__": +def simulate_eskf(): # Simulation parameters simulation_time = 20.0 # seconds @@ -20,7 +21,7 @@ true_state_init.position = np.array([0.1, 0.0, 0.0]) true_state_init.velocity = np.array([0.1, 0.0, 0.0]) P0 = np.diag([ - 1.0, 1.0, 1.0, # Position + 0.5, 0.5, 0.5, # Position 0.2, 0.2, 0.2, # Velocity 0.2, 0.2, 0.2, # Orientation 0.00001, 0.00001, 0.00001, # Acceleration bias @@ -30,14 +31,14 @@ # Noise parameters Q = np.diag([ - (0.05**2) / dt, (0.05**2) / dt, (0.05**2) / dt, # Accelerometer noise - (0.004**2) / dt, (0.004**2) / dt, (0.004**2) / dt, # Gyroscope noise - 0.0002, 0.0002, 0.0002, # Acceleration bias random walk - 0.0001, 0.0001, 0.0001 # Gyro bias random walk + (0.034**2) / dt, (0.034**2) / dt, (0.034**2) / dt, # Accelerometer noise + (0.002**2) / dt, (0.002**2) / dt, (0.002**2) / dt, # Gyroscope noise + 0.00001, 0.00001, 0.00001, # Acceleration bias random walk + 0.00001, 0.00001, 0.00001 # Gyro bias random walk ]) Hx = np.zeros((3, 19)) - Hx[0:3, 6:9] = np.eye(3) + Hx[0:3, 3:6] = np.eye(3) # Create filter object eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) @@ -47,7 +48,7 @@ dvl_data = Measurement() # R matrix for DVL aiding - dvl_data.aiding_covariance = np.diag([(0.5)**2, (0.5)**2, (0.5)**2]) + dvl_data.aiding_covariance = np.diag([(0.01)**2, (0.01)**2, (0.01)**2]) # Setup the process model for simulation of AUV model = process_model() @@ -102,6 +103,9 @@ 0.05 * np.cos(0.1 * t + 0.6) ]) + NIS_list = [] + NIS_value = 0.0 + # Sim for step in range(num_steps): t = step * dt @@ -117,7 +121,8 @@ if step % 20 == 0: dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) - eskf.dvl_update(dvl_data) + NIS_value = eskf.dvl_update(dvl_data) + NIS_list.append(NIS_value) true_positions[step, :] = np.copy(new_state.position) true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) @@ -135,64 +140,104 @@ prev_velocity = new_state.velocity model.state_vector_prev = new_state - # Plotting - axis_labels_pos = ["X", "Y", "Z"] - axis_labels_vel = ["X", "Y", "Z"] - axis_labels_ori = ["Roll", "Pitch", "Yaw"] - - # Plot Position - fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) - fig_pos.suptitle("True Data vs Filter Estimates for Position") - for i in range(3): - ax_pos = axs_pos[i] - ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') - ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') - sigma_pos = np.sqrt(pos_cov[:, i]) - ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, - color=f"C{i}", alpha=0.2) - ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") - ax_pos.set_xlabel("Time [s]") - ax_pos.set_ylabel("Position") - ax_pos.grid(True) - ax_pos.legend() - - plt.tight_layout(rect=[0, 0, 1, 0.96]) - plt.show() - - # Plot Velocity - fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) - fig_vel.suptitle("True Data vs Filter Estimates for Velocity") - for i in range(3): - ax_vel = axs_vel[i] - ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') - ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') - sigma_vel = np.sqrt(vel_cov[:, i]) - ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, - color=f"C{i}", alpha=0.2) - ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") - ax_vel.set_xlabel("Time [s]") - ax_vel.set_ylabel("Velocity") - ax_vel.grid(True) - ax_vel.legend() - - plt.tight_layout(rect=[0, 0, 1, 0.96]) - plt.show() - - # Plot Orientation - fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) - fig_ori.suptitle("True Data vs Filter Estimates for Orientation") - for i in range(3): - ax_ori = axs_ori[i] - ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') - ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') - sigma_ori = np.sqrt(ori_cov[:, i]) - ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, - color=f"C{i}", alpha=0.2) - ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") - ax_ori.set_xlabel("Time [s]") - ax_ori.set_ylabel("Orientation") - ax_ori.grid(True) - ax_ori.legend() - - plt.tight_layout(rect=[0, 0, 1, 0.96]) - plt.show() + return time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, NIS_list + +time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, _ = simulate_eskf() + +# Plotting +axis_labels_pos = ["X", "Y", "Z"] +axis_labels_vel = ["X", "Y", "Z"] +axis_labels_ori = ["Roll", "Pitch", "Yaw"] + +# Plot Position +fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) +fig_pos.suptitle("True Data vs Filter Estimates for Position") +for i in range(3): + ax_pos = axs_pos[i] + ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') + ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') + sigma_pos = np.sqrt(pos_cov[:, i]) + ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, + color=f"C{i}", alpha=0.2) + ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") + ax_pos.set_xlabel("Time [s]") + ax_pos.set_ylabel("Position") + ax_pos.grid(True) + ax_pos.legend() + +plt.tight_layout(rect=[0, 0, 1, 0.96]) +plt.show() + +# Plot Velocity +fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) +fig_vel.suptitle("True Data vs Filter Estimates for Velocity") +for i in range(3): + ax_vel = axs_vel[i] + ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') + ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') + sigma_vel = np.sqrt(vel_cov[:, i]) + ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, + color=f"C{i}", alpha=0.2) + ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") + ax_vel.set_xlabel("Time [s]") + ax_vel.set_ylabel("Velocity") + ax_vel.grid(True) + ax_vel.legend() + +plt.tight_layout(rect=[0, 0, 1, 0.96]) +plt.show() + +# Plot Orientation +fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) +fig_ori.suptitle("True Data vs Filter Estimates for Orientation") +for i in range(3): + ax_ori = axs_ori[i] + ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') + ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') + sigma_ori = np.sqrt(ori_cov[:, i]) + ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, + color=f"C{i}", alpha=0.2) + ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") + ax_ori.set_xlabel("Time [s]") + ax_ori.set_ylabel("Orientation") + ax_ori.grid(True) + ax_ori.legend() + +plt.tight_layout(rect=[0, 0, 1, 0.96]) +plt.show() + + +### _______ NIS AND NEES _______ + +num_simulations = 10 +NIS_runs = [] + +for sim in range(num_simulations): + time, true_positions, true_orientations, true_velocities, \ + est_positions, est_orientations, est_velocities, \ + pos_cov, vel_cov, ori_cov, NIS_list = simulate_eskf() + + NIS_runs.append(np.array(NIS_list)) + +NIS_runs = np.vstack(NIS_runs) +ANIS = np.mean(NIS_runs, axis=0) + +measurement_dimension = 3 + +chi2_lower = chi2.ppf(0.025, measurement_dimension) / num_simulations +chi2_upper = chi2.ppf(0.975, measurement_dimension) / num_simulations + +time_steps = np.arange(len(ANIS)) * 0.01 * 20 + +fig, ax = plt.subplots(figsize=(10, 6)) +ax.plot(time_steps, ANIS, label="ANIS", color="C0") +ax.axhline(chi2_lower, color="C1", linestyle="--", label="95% CI Lower") +ax.axhline(chi2_upper, color="C2", linestyle="--", label="95% CI Upper") +ax.set_title("Average Normalized Innovation Squared (ANIS)") +ax.set_xlabel("Time [s]") +ax.set_ylabel("ANIS") +ax.grid(True) +ax.legend() + +plt.tight_layout() +plt.show() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py new file mode 100644 index 000000000..df7392bd4 --- /dev/null +++ b/navigation/ukf_okid/ukf_python/rest.py @@ -0,0 +1,37 @@ +def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points[0].as_vector()) - 1 + mean_value = StateQuat() + + if weights is None: + for i in range(2 * n + 1): + weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + + else: + for i in range(2 * n + 1): + mean_value.add_without_quaternions(weights[i] * set_points[i]) + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) + + return mean_value.as_vector() + +def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: + """ + Function that calculates the mean of a set of points + """ + n = len(set_points) + mean_value = MeasModel() + + if weights is None: + for i in range(n): + mean_value = mean_value + set_points[i] + else: + for i in range(n): + mean_value = mean_value + (weights[i] * set_points[i]) + + return mean_value.measurement \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index dd52c6589..1ede3f22b 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -14,9 +14,9 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.sigma_points_list = None self.y_i = None self.weight = None - # self.T = self.generate_T_matrix(len(P_0)) + self.T = self.generate_T_matrix(len(P_0)) - def generate_T_matrix(n): + def generate_T_matrix(n: float) -> np.ndarray: """ Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. @@ -28,42 +28,36 @@ def generate_T_matrix(n): """ T = np.zeros((n, 2 * n)) - for i in range(1, 2 * n + 1): # indexing matches equation (1, ..., 2n) + for i in range(1, 2 * n + 1): for j in range(1, (n // 2) + 1): T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) - if n % 2 == 1: # if n is odd, add the last term as described in the paper + if n % 2 == 1: # if n is odd T[n - 1, i - 1] = (-1) ** i - T = T / np.sqrt(2) # Normalize matrix for orthonormality (unit scaling) + T = T / np.sqrt(2) return T - def sigma_points(self, current_state: StateQuat) -> tuple[list[StateQuat], np.ndarray]: + def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: """ Functions that generate the sigma points for the UKF """ n = len(current_state.covariance) - kappa = 3 - n - S = np.linalg.cholesky(current_state.covariance + self.Q) - S_scaled = np.sqrt(n + kappa) * S - - weighted_points = np.concatenate([S_scaled, -S_scaled], axis=1) + I = np.hstack([np.eye(n), -np.eye(n)]) + my = np.sqrt(n) * I + delta = self.T @ my - self.sigma_points_list = [StateQuat() for _ in range(2 * n + 1)] - W = np.zeros(2 * n + 1) - - self.sigma_points_list [0].fill_states(current_state.as_vector()) - W[0] = kappa / (n + kappa) - for i in range(2 * n): - self.sigma_points_list [i + 1].fill_states(current_state.insert_weights(weighted_points[:, i])) - W[i + 1] = 1 / (2 * (n + kappa)) + S = np.linalg.cholesky(current_state.covariance + self.Q) - self.weight = W + self.sigma_points_list = [StateQuat() for _ in range(2 * n)] + + for state in self.sigma_points_list: + state.fill_states_different_dim(current_state.as_vector(), delta[:, self.sigma_points_list.index - return self.sigma_points_list , self.weight + return self.sigma_points_list def unscented_transform(self, current_state: StateQuat) -> StateQuat: @@ -128,290 +122,4 @@ def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.nd self.process_model.state_vector_prev = posteriori_estimate - return posteriori_estimate - -def add_quaternion_noise(q, noise_std): - - noise = np.random.normal(0, noise_std, 3) - - theta = np.linalg.norm(noise) - - if theta > 0: - - axis = noise / theta - - q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) - - else: - - q_noise = np.array([1.0, 0.0, 0.0, 0.0]) - - q_new = quaternion_super_product(q, q_noise) - - return q_new / np.linalg.norm(q_new) - - -if __name__ == '__main__': - - # Create initial state vector and covariance matrix. - x0 = np.zeros(13) - x0[0:3] = [0.3, 0.3, 0.3] - x0[3] = 1 - x0[7:10] = [0.2, 0.2, 0.2] - dt = 0.01 - R = (0.01) * np.eye(3) - - Q = 0.00015 * np.eye(12) - P0 = np.eye(12) * 0.0001 - - model = process_model() - model.dt = 0.01 - model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) - model.m = 30.0 - model.r_b_bg = np.array([0.01, 0.0, 0.02]) - model.inertia = np.diag([0.68, 3.32, 3.34]) - model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - model_ukf = process_model() - model_ukf.dt = 0.01 - model_ukf.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) - model_ukf.m = 30.0 - model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) - model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) - model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # Simulation parameters - simulation_time = 20 # seconds - num_steps = int(simulation_time / dt) - - # Initialize a dummy StateQuat. - new_state = StateQuat() - new_state.fill_states(x0) - new_state.covariance = P0 - - test_state_x = StateQuat() - test_state_x.fill_states(x0) - test_state_x.covariance = P0 - - # Initialize a estimated state - estimated_state = StateQuat() - estimated_state.fill_states(x0) - estimated_state.covariance = P0 - - # Initialize a estimated state - noisy_state = StateQuat() - noisy_state.fill_states(x0) - noisy_state.covariance = P0 - - measurment_model = MeasModel() - measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - measurment_model.covariance = R - - # Initialize arrays to store the results - positions = np.zeros((num_steps, 3)) - orientations = np.zeros((num_steps, 3)) - velocities = np.zeros((num_steps, 3)) - angular_velocities = np.zeros((num_steps, 3)) - - # Initialize arrays to store the estimates - positions_est = np.zeros((num_steps, 3)) - orientations_est = np.zeros((num_steps, 3)) - velocities_est = np.zeros((num_steps, 3)) - angular_velocities_est = np.zeros((num_steps, 3)) - - # Initialize the okid params - okid_params = np.zeros((num_steps, 21)) - - model.state_vector_prev = new_state - model.state_vector = new_state - - model_ukf.state_vector_prev = test_state_x - model_ukf.state_vector = test_state_x - - # initialize the ukf - ukf = UKF(model_ukf, x0, P0, Q, R) - - elapsed_times = [] - - u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) - - # Run the simulation - for step in range(num_steps): - # Insert control input - model.Control_input = u(step * dt) - model_ukf.Control_input = u(step * dt) - - # Perform the unscented transform - model.model_prediction(new_state) - new_state = model.euler_forward() - - # Adding noise in the state vector - estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) - estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) - estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) - estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) - - start_time = time.time() - estimated_state = ukf.unscented_transform(estimated_state) - elapsed_time = time.time() - start_time - elapsed_times.append(elapsed_time) - - if step % 10 == 0: - measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) - meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) - estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) - - - positions[step, :] = new_state.position - orientations[step, :] = quat_to_euler(new_state.orientation) - velocities[step, :] = new_state.velocity - angular_velocities[step, :] = new_state.angular_velocity - - positions_est[step, :] = estimated_state.position - orientations_est[step, :] = quat_to_euler(estimated_state.orientation) - velocities_est[step, :] = estimated_state.velocity - angular_velocities_est[step, :] = estimated_state.angular_velocity - - # Update the state for the next iteration - model.state_vector_prev = new_state - - print('Average elapsed time: ', np.mean(elapsed_times)) - print('Max elapsed time: ', np.max(elapsed_times)) - print('Min elapsed time: ', np.min(elapsed_times)) - print('median elapsed time: ', np.median(elapsed_times)) - # Plot the results - time = np.linspace(0, simulation_time, num_steps) - - # Plot positions - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, positions[:, 0], label='True') - plt.plot(time, positions_est[:, 0], label='Estimated') - plt.title('Position X') - plt.xlabel('Time [s]') - plt.ylabel('Position X [m]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, positions[:, 1], label='True') - plt.plot(time, positions_est[:, 1], label='Estimated') - plt.title('Position Y') - plt.xlabel('Time [s]') - plt.ylabel('Position Y [m]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, positions[:, 2], label='True') - plt.plot(time, positions_est[:, 2], label='Estimated') - plt.title('Position Z') - plt.xlabel('Time [s]') - plt.ylabel('Position Z [m]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot orientations (Euler angles) - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, orientations[:, 0], label='True') - plt.plot(time, orientations_est[:, 0], label='Estimated') - plt.title('Orientation Roll') - plt.xlabel('Time [s]') - plt.ylabel('Roll [rad]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, orientations[:, 1], label='True') - plt.plot(time, orientations_est[:, 1], label='Estimated') - plt.title('Orientation Pitch') - plt.xlabel('Time [s]') - plt.ylabel('Pitch [rad]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, orientations[:, 2], label='True') - plt.plot(time, orientations_est[:, 2], label='Estimated') - plt.title('Orientation Yaw') - plt.xlabel('Time [s]') - plt.ylabel('Yaw [rad]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, velocities[:, 0], label='True') - plt.plot(time, velocities_est[:, 0], label='Estimated') - plt.title('Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Velocity X [m/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, velocities[:, 1], label='True') - plt.plot(time, velocities_est[:, 1], label='Estimated') - plt.title('Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Y [m/s]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, velocities[:, 2], label='True') - plt.plot(time, velocities_est[:, 2], label='Estimated') - plt.title('Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Z [m/s]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot angular velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, angular_velocities[:, 0], label='True') - plt.plot(time, angular_velocities_est[:, 0], label='Estimated') - plt.title('Angular Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity X [rad/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, angular_velocities[:, 1], label='True') - plt.plot(time, angular_velocities_est[:, 1], label='Estimated') - plt.title('Angular Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Y [rad/s]') - plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, angular_velocities[:, 2], label='True') - plt.plot(time, angular_velocities_est[:, 2], label='Estimated') - plt.title('Angular Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Z [rad/s]') - plt.legend() - - plt.tight_layout() - plt.show() \ No newline at end of file + return posteriori_estimate \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 8444fd82e..50f1988b4 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -48,11 +48,11 @@ def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] - def subtract(self, other: 'StateQuat') -> np.ndarray: + def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: """Subtracts two StateQuat objects, returning the difference with Euler angles.""" new_array = np.zeros(len(self.as_vector()) - 1) new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[3:6] = error_ori new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity @@ -115,7 +115,7 @@ class MeasModel: def H(self, state: StateQuat) -> 'MeasModel': """Calculates the measurement matrix.""" H = np.zeros((3, 13)) - H[:, 7:10] = np.eye(3) + H[0:3, 7:10] = np.eye(3) z_i = MeasModel() z_i.measurement = np.dot(H, state.as_vector()) return z_i @@ -309,7 +309,7 @@ def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: return error_quat -def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np.ndarray, tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: +def iterative_quaternion_mean_statequat(state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: """ Computes the weighted mean of the quaternion orientations from a list of StateQuat objects using an iterative approach, without requiring the caller to manually extract the quaternion. @@ -323,142 +323,151 @@ def iterative_quaternion_mean_statequat(state_list: list[StateQuat], weights: np Returns: np.ndarray: The averaged quaternion as a 4-element numpy array. """ - # Internally extract the quaternion from each state + sigma_quats = [state.orientation for state in state_list] - - # Initialize the mean quaternion with the first quaternion + n = len(state_list) + mean_q = sigma_quats[0].copy() for _ in range(max_iter): weighted_error_vectors = [] for i, q in enumerate(sigma_quats): - # Compute the error quaternion: e = q * inv(mean_q) - # For unit quaternions, the inverse is the conjugate. mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) e = quaternion_super_product(q, mean_q_conj) - # Clip to avoid numerical issues e0_clipped = np.clip(e[0], -1.0, 1.0) angle = 2 * np.arccos(e0_clipped) if np.abs(angle) < 1e-8: error_vec = np.zeros(3) else: - # Compute the full rotation vector (angle * axis) error_vec = (angle / np.sin(angle / 2)) * e[1:4] - weighted_error_vectors.append(weights[i] * error_vec) + weighted_error_vectors.append(error_vec) - error_avg = np.sum(weighted_error_vectors, axis=0) + error_avg = (1 / n) * np.sum(weighted_error_vectors, axis=0) if np.linalg.norm(error_avg) < tol: break error_norm = np.linalg.norm(error_avg) - delta_q = (np.array([np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm))]) - if error_norm > 0 else np.array([1.0, 0.0, 0.0, 0.0])) + if error_norm > 0: + delta_q = np.array([np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + else: + delta_q = np.array([1.0, 0.0, 0.0, 0.0]) + mean_q = quaternion_super_product(delta_q, mean_q) mean_q = quat_norm(mean_q) return mean_q - - -def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: +def mean_set(set_points: list[StateQuat]) -> np.ndarray: """ - Function that calculates the mean of a set of points + Functio calculates the mean vector of a set of points + + Args: + set_points (list[StateQuat]): List of StateQuat objects + + Returns: + np.ndarray: The mean vector """ - n = len(set_points[0].as_vector()) - 1 + n = len(set_points) mean_value = StateQuat() - if weights is None: - for i in range(2 * n + 1): - weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) - mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) + for state in set_points: + mean_value.add_without_quaternions(state) - else: - for i in range(2 * n + 1): - mean_value.add_without_quaternions(weights[i] * set_points[i]) + mean_value = (1 / (n)) * mean_value + + mean_value.orientation = iterative_quaternion_mean_statequat(set_points) - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) - return mean_value.as_vector() -def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: +def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: """ Function that calculates the mean of a set of points """ n = len(set_points) mean_value = MeasModel() - if weights is None: - for i in range(n): - mean_value = mean_value + set_points[i] - else: - for i in range(n): - mean_value = mean_value + (weights[i] * set_points[i]) + for state in set_points: + mean_value = mean_value + state + mean_value = (1 / n) * mean_value + return mean_value.measurement -def covariance_set(set_points: list[StateQuat], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: +def covariance_set(set_points: list[StateQuat], mean: StateQuat) -> np.ndarray: """ Function that calculates the covariance of a set of points """ - n = len(set_points[0].as_vector()) - 1 - covariance = np.zeros((n, n)) + n = len(set_points) + covariance = np.zeros(set_points[0].covariance.shape) + mean_quat = StateQuat() - mean_quat.fill_states(mean) + mean_quat.fill_states(mean.as_vector()) - if weights is None: - for i in range(2 * n + 1): - covariance += np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + mean_q = mean.orientation - covariance = (1 / (2 * n + 1)) * covariance + for state in set_points: + q = state.orientation + diff_q = quaternion_error(q, mean_q) + + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) + angle = 2.0 * np.arccos(e0_clipped) + if abs(angle) < 1e-8: + e_vec = np.zeros(3) + else: + e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] - else: - for i in range(2 * n + 1): - covariance += weights[i] * np.outer(set_points[i].subtract(mean_quat), set_points[i].subtract(mean_quat)) + covariance += np.outer(state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec)) + + covariance = (1 / (n)) * covariance return covariance -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray, weights: np.ndarray = None) -> np.ndarray: +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: """ Function that calculates the covariance of a set of points """ n = len(set_points) co_size = len(set_points[0].measurement) covariance = np.zeros((co_size, co_size)) + mean_meas = MeasModel() mean_meas.measurement = mean - if weights is None: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += np.outer(temp_model.measurement, temp_model.measurement) - - covariance = (1 / (n)) * covariance + for state in set_points: + temp_state = state - mean_meas + covariance += np.outer(temp_state.measurement, temp_state.measurement) - else: - for i in range(n): - temp_model = set_points[i] - mean_meas - covariance += weights[i] * np.outer(temp_model.measurement, temp_model.measurement) + covariance = (1 / n) * covariance return covariance -def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray, weights: np.ndarray) -> np.ndarray: +def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray) -> np.ndarray: """ Calculates the cross covariance between the measurement and state prediction """ + n = len(set_y) - n = len(mean_y) - 1 - m = len(mean_z) - cross_covariance = np.zeros((n,m)) + cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) mean_quat = StateQuat() mean_quat.fill_states(mean_y) + mean_q = mean_quat.orientation + for i in range(n): - cross_covariance += np.outer(set_y[i].subtract(mean_quat), set_z[i].measurement - mean_z) + q = set_y[i].orientation + diff_q = quaternion_error(q, mean_q) + + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) + angle = 2.0 * np.arccos(e0_clipped) + if abs(angle) < 1e-8: + e_vec = np.zeros(3) + else: + e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] + + cross_covariance += np.outer(set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z) - cross_covariance = (1 / len(set_y)) * cross_covariance + cross_covariance = (1 / n) * cross_covariance return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py new file mode 100644 index 000000000..5a7e9eaba --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -0,0 +1,323 @@ +from ukf_okid import UKF +from ukf_okid_class import StateQuat, process_model, MeasModel +import numpy as np +import time +import matplotlib.pyplot as plt +from ukf_utils import print_StateQuat_list, print_StateQuat +from ukf_okid_class import quaternion_super_product, quat_to_euler, mean_set, covariance_set + + + +def add_quaternion_noise(q, noise_std): + + noise = np.random.normal(0, noise_std, 3) + + theta = np.linalg.norm(noise) + + if theta > 0: + + axis = noise / theta + + q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) + + else: + + q_noise = np.array([1.0, 0.0, 0.0, 0.0]) + + q_new = quaternion_super_product(q, q_noise) + + return q_new / np.linalg.norm(q_new) + + +if __name__ == '__main__': + + # Define a mean StateQuat + mean_state = StateQuat() + mean_state.position = np.array([1.0, 2.0, 3.0]) + mean_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # Quaternion + mean_state.velocity = np.array([0.5, 0.5, 0.5]) + mean_state.angular_velocity = np.array([0.1, 0.1, 0.1]) + + test_state = StateQuat() + test_state.position = np.array([1.0, 1.0, 1.0]) + test_state.orientation = np.array([0.0, 1.0, 0.0, 0.0]) # Quaternion + test_state.velocity = np.array([0.2, 0.2, 0.2]) + test_state.angular_velocity = np.array([0.2, 0.2, 0.2]) + + # Create a set with only one element + state_set = list() + state_set.append(test_state) + print(len(state_set)) + + # Compute the mean + mean = mean_set(state_set) + + # Compute the covariance + mean_state.covariance = covariance_set(state_set, mean_state) + + # Print the results + print("Mean State:") + print_StateQuat(mean_state) + + # # Create initial state vector and covariance matrix. + # x0 = np.zeros(13) + # x0[0:3] = [0.3, 0.3, 0.3] + # x0[3] = 1 + # x0[7:10] = [0.2, 0.2, 0.2] + # dt = 0.01 + # R = (0.01) * np.eye(3) + + # Q = 0.00015 * np.eye(12) + # P0 = np.eye(12) * 0.0001 + + # model = process_model() + # model.dt = 0.01 + # model.mass_interia_matrix = np.array([ + # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + # ]) + # model.m = 30.0 + # model.r_b_bg = np.array([0.01, 0.0, 0.02]) + # model.inertia = np.diag([0.68, 3.32, 3.34]) + # model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + # model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + # model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + # model_ukf = process_model() + # model_ukf.dt = 0.01 + # model_ukf.mass_interia_matrix = np.array([ + # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + # ]) + # model_ukf.m = 30.0 + # model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) + # model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) + # model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + # model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + # model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + # # Simulation parameters + # simulation_time = 20 # seconds + # num_steps = int(simulation_time / dt) + + # # Initialize a dummy StateQuat. + # new_state = StateQuat() + # new_state.fill_states(x0) + # new_state.covariance = P0 + + # test_state_x = StateQuat() + # test_state_x.fill_states(x0) + # test_state_x.covariance = P0 + + # # Initialize a estimated state + # estimated_state = StateQuat() + # estimated_state.fill_states(x0) + # estimated_state.covariance = P0 + + # # Initialize a estimated state + # noisy_state = StateQuat() + # noisy_state.fill_states(x0) + # noisy_state.covariance = P0 + + # measurment_model = MeasModel() + # measurment_model.measurement = np.array([0.0, 0.0, 0.0]) + # measurment_model.covariance = R + + # # Initialize arrays to store the results + # positions = np.zeros((num_steps, 3)) + # orientations = np.zeros((num_steps, 3)) + # velocities = np.zeros((num_steps, 3)) + # angular_velocities = np.zeros((num_steps, 3)) + + # # Initialize arrays to store the estimates + # positions_est = np.zeros((num_steps, 3)) + # orientations_est = np.zeros((num_steps, 3)) + # velocities_est = np.zeros((num_steps, 3)) + # angular_velocities_est = np.zeros((num_steps, 3)) + + # # Initialize the okid params + # okid_params = np.zeros((num_steps, 21)) + + # model.state_vector_prev = new_state + # model.state_vector = new_state + + # model_ukf.state_vector_prev = test_state_x + # model_ukf.state_vector = test_state_x + + # # initialize the ukf + # ukf = UKF(model_ukf, x0, P0, Q, R) + + # elapsed_times = [] + + # u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + + # # Run the simulation + # for step in range(num_steps): + # # Insert control input + # model.Control_input = u(step * dt) + # model_ukf.Control_input = u(step * dt) + + # # Perform the unscented transform + # model.model_prediction(new_state) + # new_state = model.euler_forward() + + # # Adding noise in the state vector + # estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) + # estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) + # estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) + # estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) + + # start_time = time.time() + # estimated_state = ukf.unscented_transform(estimated_state) + # elapsed_time = time.time() - start_time + # elapsed_times.append(elapsed_time) + + # if step % 10 == 0: + # measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) + # meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) + # estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) + + + # positions[step, :] = new_state.position + # orientations[step, :] = quat_to_euler(new_state.orientation) + # velocities[step, :] = new_state.velocity + # angular_velocities[step, :] = new_state.angular_velocity + + # positions_est[step, :] = estimated_state.position + # orientations_est[step, :] = quat_to_euler(estimated_state.orientation) + # velocities_est[step, :] = estimated_state.velocity + # angular_velocities_est[step, :] = estimated_state.angular_velocity + + # # Update the state for the next iteration + # model.state_vector_prev = new_state + + # print('Average elapsed time: ', np.mean(elapsed_times)) + # print('Max elapsed time: ', np.max(elapsed_times)) + # print('Min elapsed time: ', np.min(elapsed_times)) + # print('median elapsed time: ', np.median(elapsed_times)) + # # Plot the results + # time = np.linspace(0, simulation_time, num_steps) + + # # Plot positions + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, positions[:, 0], label='True') + # plt.plot(time, positions_est[:, 0], label='Estimated') + # plt.title('Position X') + # plt.xlabel('Time [s]') + # plt.ylabel('Position X [m]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, positions[:, 1], label='True') + # plt.plot(time, positions_est[:, 1], label='Estimated') + # plt.title('Position Y') + # plt.xlabel('Time [s]') + # plt.ylabel('Position Y [m]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, positions[:, 2], label='True') + # plt.plot(time, positions_est[:, 2], label='Estimated') + # plt.title('Position Z') + # plt.xlabel('Time [s]') + # plt.ylabel('Position Z [m]') + # plt.legend() + + # plt.tight_layout() + # plt.show() + + # # Plot orientations (Euler angles) + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, orientations[:, 0], label='True') + # plt.plot(time, orientations_est[:, 0], label='Estimated') + # plt.title('Orientation Roll') + # plt.xlabel('Time [s]') + # plt.ylabel('Roll [rad]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, orientations[:, 1], label='True') + # plt.plot(time, orientations_est[:, 1], label='Estimated') + # plt.title('Orientation Pitch') + # plt.xlabel('Time [s]') + # plt.ylabel('Pitch [rad]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, orientations[:, 2], label='True') + # plt.plot(time, orientations_est[:, 2], label='Estimated') + # plt.title('Orientation Yaw') + # plt.xlabel('Time [s]') + # plt.ylabel('Yaw [rad]') + # plt.legend() + + # plt.tight_layout() + # plt.show() + + # # Plot velocities + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, velocities[:, 0], label='True') + # plt.plot(time, velocities_est[:, 0], label='Estimated') + # plt.title('Velocity X') + # plt.xlabel('Time [s]') + # plt.ylabel('Velocity X [m/s]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, velocities[:, 1], label='True') + # plt.plot(time, velocities_est[:, 1], label='Estimated') + # plt.title('Velocity Y') + # plt.xlabel('Time [s]') + # plt.ylabel('Velocity Y [m/s]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, velocities[:, 2], label='True') + # plt.plot(time, velocities_est[:, 2], label='Estimated') + # plt.title('Velocity Z') + # plt.xlabel('Time [s]') + # plt.ylabel('Velocity Z [m/s]') + # plt.legend() + + # plt.tight_layout() + # plt.show() + + # # Plot angular velocities + # plt.figure() + # plt.subplot(3, 1, 1) + # plt.plot(time, angular_velocities[:, 0], label='True') + # plt.plot(time, angular_velocities_est[:, 0], label='Estimated') + # plt.title('Angular Velocity X') + # plt.xlabel('Time [s]') + # plt.ylabel('Angular Velocity X [rad/s]') + # plt.legend() + + # plt.subplot(3, 1, 2) + # plt.plot(time, angular_velocities[:, 1], label='True') + # plt.plot(time, angular_velocities_est[:, 1], label='Estimated') + # plt.title('Angular Velocity Y') + # plt.xlabel('Time [s]') + # plt.ylabel('Angular Velocity Y [rad/s]') + # plt.legend() + + # plt.subplot(3, 1, 3) + # plt.plot(time, angular_velocities[:, 2], label='True') + # plt.plot(time, angular_velocities_est[:, 2], label='Estimated') + # plt.title('Angular Velocity Z') + # plt.xlabel('Time [s]') + # plt.ylabel('Angular Velocity Z [rad/s]') + # plt.legend() + + # plt.tight_layout() + # plt.show() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index f52f2eb62..ad5871567 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -20,7 +20,7 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): print(f" Orientation: {state.orientation}") print(f" Velocity: {state.velocity}") print(f" Angular Velocity: {state.angular_velocity}") - print(f" okid_params: {state.okid_params}") + # print(f" okid_params: {state.okid_params}") if print_covariance: print_matrix(state.covariance, "Covariance") From 006d1464e897ac3c31f14416c9454bb0afbd300b Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 28 Mar 2025 21:41:33 +0100 Subject: [PATCH 040/109] feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info --- navigation/eskf/CMakeLists.txt | 53 ++++ navigation/eskf/config/eskf_params.yaml | 5 + navigation/eskf/include/eskf/eskf.hpp | 92 +++++++ navigation/eskf/include/eskf/eskf_ros.hpp | 69 +++++ navigation/eskf/include/eskf/eskf_utils.hpp | 11 + navigation/eskf/include/eskf/typedefs.hpp | 100 +++++++ navigation/eskf/launch/eskf.launch.py | 22 ++ navigation/eskf/package.xml | 22 ++ navigation/eskf/src/eskf.cpp | 240 ++++++++++++++++ navigation/eskf/src/eskf_node.cpp | 9 + navigation/eskf/src/eskf_ros.cpp | 118 ++++++++ navigation/eskf/src/eskf_utils.cpp | 13 + .../eskf_python/eskf_python_filter.py | 193 +++++++------ .../eskf_python/eskf_python/eskf_test.py | 257 +++++++++++++----- navigation/ukf_okid/ukf_python/ukf_okid.py | 22 +- 15 files changed, 1067 insertions(+), 159 deletions(-) create mode 100644 navigation/eskf/CMakeLists.txt create mode 100644 navigation/eskf/config/eskf_params.yaml create mode 100644 navigation/eskf/include/eskf/eskf.hpp create mode 100644 navigation/eskf/include/eskf/eskf_ros.hpp create mode 100644 navigation/eskf/include/eskf/eskf_utils.hpp create mode 100644 navigation/eskf/include/eskf/typedefs.hpp create mode 100644 navigation/eskf/launch/eskf.launch.py create mode 100644 navigation/eskf/package.xml create mode 100644 navigation/eskf/src/eskf.cpp create mode 100644 navigation/eskf/src/eskf_node.cpp create mode 100644 navigation/eskf/src/eskf_ros.cpp create mode 100644 navigation/eskf/src/eskf_utils.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt new file mode 100644 index 000000000..2809f9ed9 --- /dev/null +++ b/navigation/eskf/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 3.8) +project(eskf) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(tf2 REQUIRED) +find_package(vortex_msgs REQUIRED) + +if(NOT DEFINED EIGEN3_INCLUDE_DIR) + set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) +endif() +include_directories(${EIGEN3_INCLUDE_DIR}) + +include_directories(include) + +add_executable(eskf_node + src/eskf.cpp + src/eskf_ros.cpp + src/eskf_node.cpp + src/eskf_utils.cpp +) + +ament_target_dependencies(eskf_node + rclcpp + geometry_msgs + nav_msgs + Eigen3 + tf2 + vortex_msgs +) + +install(TARGETS + eskf_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml new file mode 100644 index 000000000..f3402f4a9 --- /dev/null +++ b/navigation/eskf/config/eskf_params.yaml @@ -0,0 +1,5 @@ +eskf_node: + ros__parameters: + imu_topic: imu/date_raw + dvl_twist: /orca/twist + odom_topic: odom diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp new file mode 100644 index 000000000..ee47277ea --- /dev/null +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -0,0 +1,92 @@ +#ifndef ESKF_HPP +#define ESKF_HPP + +#include +#include +#include "eskf/typedefs.hpp" +#include "typedefs.hpp" + +class ESKF { + public: + ESKF(const eskf_params& params); + + std::pair imu_update( + const state_quat& nom_state, + const state_euler& error_state, + const imu_measurement& imu_meas, + const double dt); + + std::pair dvl_update( + const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas); + + private: + // @brief Predict the nominal state + // @param nom_state: Nominal state + // @param imu_meas: IMU measurement + // @return Predicted nominal state + state_quat nominal_state_discrete(const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt); + + // @brief Predict the error state + // @param error_state: Error state + // @param nom_state: Nominal state + // @param imu_meas: IMU measurement + // @return Predicted error state + state_euler error_state_prediction(const state_euler& error_state, + const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt); + + // @brief Update the error state + // @param error_state: Error state + // @param dvl_meas: DVL measurement + // @return Updated error state + state_euler measurement_update(const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas); + + // @brief Inject the error state into the nominal state and reset the error + // state + // @param nom_state: Nominal state + // @param error_state: Error state + // @return Injected and reset state + std::pair injection_and_reset( + const state_quat& nom_state, + const state_euler& error_state); + + // @brief Van Loan discretization + // @param A_c: Continuous state transition matrix + // @param G_c: Continuous input matrix + // @return Discrete state transition matrix and discrete input matrix + std::pair van_loan_discretization( + const Eigen::Matrix18d& A_c, + const Eigen::Matrix18x12d& G_c, + const double dt); + + // @brief Calculate the delta quaternion matrix + // @param nom_state: Nominal state + // @return Delta quaternion matrix + Eigen::Matrix4x3d calculate_Q_delta(const state_quat& nom_state); + + // @brief Calculate the measurement matrix jakobian + // @param nom_state: Nominal state + // @return Measurement matrix + Eigen::Matrix3x19d calculate_Hx(const state_quat& nom_state); + + // @brief Calculate the full measurement matrix + // @param nom_state: Nominal state + // @return Measurement matrix + Eigen::Matrix3x18d calculate_H(const state_quat& nom_state); + + // @brief Calculate the measurement + // @param nom_state: Nominal state + // @return Measurement + Eigen::Vector3d calculate_h(const state_quat& nom_state); + + Eigen::Matrix12d Q_; +}; + +#endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp new file mode 100644 index 000000000..88f97459f --- /dev/null +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -0,0 +1,69 @@ +#ifndef ESKF_ROS_HPP +#define ESKF_ROS_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "eskf/eskf.hpp" +#include "eskf/typedefs.hpp" +#include "typedefs.hpp" + +class ESKFNode : public rclcpp::Node { + public: + explicit ESKFNode(); + + private: + // @brief Callback function for the imu topic + // @param msg: Imu message containing the imu data + void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); + + // @brief Callback function for the dvl topic + // @param msg: TwistWithCovarianceStamped message containing the dvl data + void dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + + // @brief Publish the odometry message + void publish_odom(); + + // @brief Set the subscriber and publisher for the node + void set_subscribers_and_publisher(); + + // @brief Set the parameters for the eskf + void set_parameters(); + + rclcpp::Subscription::SharedPtr imu_sub_; + + rclcpp::Subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; + + rclcpp::Publisher::SharedPtr odom_pub_; + + std::chrono::milliseconds time_step; + + rclcpp::TimerBase::SharedPtr odom_pub_timer_; + + state_quat nom_state_; + + state_euler error_state_; + + imu_measurement imu_meas_; + + dvl_measurement dvl_meas_; + + eskf_params eskf_params_; + + std::unique_ptr eskf_; + + rclcpp::Time last_imu_time_; + + bool first_imu_msg_received_ = false; +}; + +#endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp new file mode 100644 index 000000000..afd871772 --- /dev/null +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -0,0 +1,11 @@ +#ifndef ESKF_UTILS_HPP +#define ESKF_UTILS_HPP + +#include "eigen3/Eigen/Dense" +#include "eskf/typedefs.hpp" + +Eigen::Matrix3d skew(const Eigen::Vector3d& v); + +double sq(const double& value); + +#endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp new file mode 100644 index 000000000..c93c92402 --- /dev/null +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -0,0 +1,100 @@ +/** + * @file typedefs.hpp + * @brief Contains the typedef and structs for the eskf. + */ +#ifndef ESKF_TYPEDEFS_H +#define ESKF_TYPEDEFS_H + +#include +#include + +namespace Eigen { +typedef Eigen::Matrix Vector19d; +typedef Eigen::Matrix Vector18d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix19d; +typedef Eigen::Matrix Matrix18x12d; +typedef Eigen::Matrix Matrix4x3d; +typedef Eigen::Matrix Matrix3x19d; +typedef Eigen::Matrix Matrix3x18d; +typedef Eigen::Matrix Matrix12d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix3x1d; +typedef Eigen::Matrix Matrix19x18d; +typedef Eigen::Matrix Matrix18x3d; +typedef Eigen::Matrix Matrix36d; +typedef Eigen::Matrix Matrix6d; +typedef Eigen::Matrix Matrix9d; +} // namespace Eigen + +struct state_quat { + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); + Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + + Eigen::Vector19d as_vector() const { + Eigen::Vector19d vec; + vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, + accel_bias; + return vec; + } + + state_quat operator-(const state_quat& other) const { + state_quat diff; + diff.pos = pos - other.pos; + diff.vel = vel - other.vel; + diff.quat = quat * other.quat.inverse(); + diff.gyro_bias = gyro_bias - other.gyro_bias; + diff.accel_bias = accel_bias - other.accel_bias; + return diff; + } + + Eigen::Matrix3d get_R() const { return quat.toRotationMatrix(); } +}; + +struct state_euler { + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Vector3d euler = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + + Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); + + Eigen::Vector18d as_vector() const { + Eigen::Vector18d vec; + vec << pos, vel, euler, gyro_bias, accel_bias, gravity; + return vec; + } + + void set_from_vector(const Eigen::Vector18d& vec) { + pos = vec.block<3, 1>(0, 0); + vel = vec.block<3, 1>(3, 0); + euler = vec.block<3, 1>(6, 0); + gyro_bias = vec.block<3, 1>(9, 0); + accel_bias = vec.block<3, 1>(12, 0); + gravity = vec.block<3, 1>(15, 0); + } +}; + +struct imu_measurement { + Eigen::Vector3d accel = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); +}; + +struct dvl_measurement { + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); +}; + +struct eskf_params { + double temp = 0.0; + Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); + double dt = 0.0; +}; + +#endif // ESKF_TYPEDEFS_H diff --git a/navigation/eskf/launch/eskf.launch.py b/navigation/eskf/launch/eskf.launch.py new file mode 100644 index 000000000..84284f804 --- /dev/null +++ b/navigation/eskf/launch/eskf.launch.py @@ -0,0 +1,22 @@ +from os import path + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +eskf_params = path.join( + get_package_share_directory("eskf"), "config", "eskf_params.yaml" +) + + +def generate_launch_description(): + eskf_node = Node( + package="eskf", + executable="eskf_node", + name="eskf_node", + parameters=[ + eskf_params, + ], + output="screen", + ) + return LaunchDescription([eskf_node]) diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml new file mode 100644 index 000000000..d3d8dc416 --- /dev/null +++ b/navigation/eskf/package.xml @@ -0,0 +1,22 @@ + + + + eskf + 1.0.0 + Error-state Kalman filter + talhanc + MIT + + ament_cmake + + rclcpp + geometry_msgs + nav_msgs + eigen + tf2 + vortex_msgs + + + ament_cmake + + diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp new file mode 100644 index 000000000..8218bf8d0 --- /dev/null +++ b/navigation/eskf/src/eskf.cpp @@ -0,0 +1,240 @@ +#include "eskf/eskf.hpp" +#include +#include +#include +#include +#include "eskf/eskf_utils.hpp" +#include "eskf/typedefs.hpp" + +ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} + +std::pair ESKF::van_loan_discretization( + const Eigen::Matrix18d& A_c, + const Eigen::Matrix18x12d& G_c, + const double dt) { + Eigen::Matrix18d GQG_T = G_c * Q_ * G_c.transpose(); + Eigen::Matrix36d vanLoanMat = Eigen::Matrix36d::Zero(); + + vanLoanMat.topLeftCorner<18, 18>() = -A_c; + vanLoanMat.topRightCorner<18, 18>() = GQG_T; + vanLoanMat.bottomRightCorner<18, 18>() = A_c.transpose(); + + Eigen::Matrix36d vanLoanExp = (vanLoanMat * dt).exp(); + + Eigen::Matrix18d V1 = vanLoanExp.bottomRightCorner<18, 18>().transpose(); + Eigen::Matrix18d V2 = vanLoanExp.topRightCorner<18, 18>(); + + Eigen::Matrix18d A_d = V1; + Eigen::Matrix18d GQG_d = A_d * V2; + + return {A_d, GQG_d}; +} + +Eigen::Matrix4x3d ESKF::calculate_Q_delta(const state_quat& nom_state) { + Eigen::Matrix4x3d Q_delta_theta = Eigen::Matrix4x3d::Zero(); + double qw = nom_state.quat.w(); + double qx = nom_state.quat.x(); + double qy = nom_state.quat.y(); + double qz = nom_state.quat.z(); + + Q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; + + Q_delta_theta *= 0.5; + return Q_delta_theta; +} + +Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { + Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); + + Eigen::Matrix3d R_bn = + nom_state.quat.normalized().toRotationMatrix().transpose(); + + // normal measurement of the velocity + Hx.block<3, 3>(0, 3) = R_bn; + + Eigen::Vector3d v_n = nom_state.vel; + + Eigen::Matrix dR_dq; + Eigen::Quaterniond q = nom_state.quat.normalized(); + double qw = q.w(); + double qx = q.x(); + double qy = q.y(); + double qz = q.z(); + + dR_dq.col(0) = + 2 * Eigen::Vector3d(qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z(), + -qy * v_n.x() + qx * v_n.y() + qw * v_n.z()); + + dR_dq.col(1) = + 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); + + dR_dq.col(2) = + 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); + + dR_dq.col(3) = + 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), + qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); + + Hx.block<3, 4>(0, 6) = dR_dq; + + return Hx; +} + +Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { + Eigen::Matrix19x18d X_delta = Eigen::Matrix19x18d::Zero(); + X_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); + X_delta.block<4, 3>(6, 6) = calculate_Q_delta(nom_state); + X_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); + + Eigen::Matrix3x18d H = calculate_Hx(nom_state) * X_delta; + return H; +} + +Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { + Eigen::Matrix3x1d h; + Eigen::Matrix3d R_bn = + nom_state.quat.normalized().toRotationMatrix().transpose(); + + h = R_bn * nom_state.vel; + + return h; +} + +state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt) { + Eigen::Vector3d acc = + nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + + nom_state.gravity; + Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; + + state_quat next_nom_state; + next_nom_state.pos = + nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; + next_nom_state.vel = nom_state.vel + dt * acc; + next_nom_state.quat = + (nom_state.quat * + Eigen::Quaterniond(0, 0.5 * gyro.x(), 0.5 * gyro.y(), 0.5 * gyro.z())); + next_nom_state.quat.normalize(); + next_nom_state.gyro_bias = nom_state.gyro_bias; + next_nom_state.accel_bias = nom_state.accel_bias; + next_nom_state.gravity = nom_state.gravity; + + return next_nom_state; +} + +state_euler ESKF::error_state_prediction(const state_euler& error_state, + const state_quat& nom_state, + const imu_measurement& imu_meas, + const double dt) { + Eigen::Matrix3d R = nom_state.get_R(); + Eigen::Vector3d acc = (imu_meas.accel - nom_state.accel_bias); + Eigen::Vector3d gyro = imu_meas.gyro - nom_state.gyro_bias; + + Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); + A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(3, 6) = -R * skew(acc); + A_c.block<3, 3>(6, 6) = -skew(gyro); + A_c.block<3, 3>(3, 9) = -R; + A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(6, 12) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(3, 15) = Eigen::Matrix3d::Identity(); + + Eigen::Matrix18x12d G_c = Eigen::Matrix18x12d::Zero(); + G_c.block<3, 3>(3, 0) = -R; + G_c.block<3, 3>(6, 3) = -Eigen::Matrix3d::Identity(); + G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); + G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); + + auto [A_d, GQG_d] = van_loan_discretization(A_c, G_c, dt); + + state_euler next_error_state; + next_error_state.covariance = + A_d * error_state.covariance * A_d.transpose() + GQG_d; + + return next_error_state; +} + +state_euler ESKF::measurement_update(const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas) { + state_euler new_error_state; + + Eigen::Matrix3x18d H = calculate_H(nom_state); + Eigen::Matrix18d P = error_state.covariance; + Eigen::Matrix3d R = dvl_meas.cov; + + Eigen::Matrix3d S = H * P * H.transpose() + R; + Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); + Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(nom_state); + new_error_state.set_from_vector(K * innovation); + + Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; + new_error_state.covariance = + I_KH * P * I_KH.transpose() + + K * R * K.transpose(); // Used joseph form for more stable calculations + + return new_error_state; +} + +std::pair ESKF::injection_and_reset( + const state_quat& nom_state, + const state_euler& error_state) { + state_quat next_nom_state; + + next_nom_state.pos = nom_state.pos + error_state.pos; + next_nom_state.vel = nom_state.vel + error_state.vel; + next_nom_state.quat = + nom_state.quat * Eigen::Quaterniond(1, 0.5 * error_state.euler.x(), + 0.5 * error_state.euler.y(), + 0.5 * error_state.euler.z()); + next_nom_state.quat.normalize(); + next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; + next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; + next_nom_state.gravity = nom_state.gravity + error_state.gravity; + + state_euler new_error_state; + + Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); + + new_error_state.covariance = G * error_state.covariance * G.transpose(); + new_error_state.pos = Eigen::Vector3d::Zero(); + new_error_state.vel = Eigen::Vector3d::Zero(); + new_error_state.euler = Eigen::Vector3d::Zero(); + new_error_state.gyro_bias = Eigen::Vector3d::Zero(); + new_error_state.accel_bias = Eigen::Vector3d::Zero(); + new_error_state.gravity = Eigen::Vector3d::Zero(); + + return {next_nom_state, new_error_state}; +} + +std::pair ESKF::imu_update( + const state_quat& nom_state, + const state_euler& error_state, + const imu_measurement& imu_meas, + const double dt) { + state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); + state_euler next_error_state = + error_state_prediction(error_state, nom_state, imu_meas, dt); + + return {next_nom_state, next_error_state}; +} + +std::pair ESKF::dvl_update( + const state_quat& nom_state, + const state_euler& error_state, + const dvl_measurement& dvl_meas) { + state_euler new_error_state = + measurement_update(nom_state, error_state, dvl_meas); + auto [updated_nom_state, updated_error_state] = + injection_and_reset(nom_state, new_error_state); + + return {updated_nom_state, updated_error_state}; +} diff --git a/navigation/eskf/src/eskf_node.cpp b/navigation/eskf/src/eskf_node.cpp new file mode 100644 index 000000000..e90cebde3 --- /dev/null +++ b/navigation/eskf/src/eskf_node.cpp @@ -0,0 +1,9 @@ +#include "eskf/eskf_ros.hpp" + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Started ESKF Node"); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp new file mode 100644 index 000000000..a3b9c5cf3 --- /dev/null +++ b/navigation/eskf/src/eskf_ros.cpp @@ -0,0 +1,118 @@ +#include "eskf/eskf_ros.hpp" +#include +#include +#include "eskf/eskf_utils.hpp" +#include "eskf/typedefs.hpp" + +ESKFNode::ESKFNode() : Node("eskf_node") { + time_step = std::chrono::milliseconds(1); + odom_pub_timer_ = this->create_wall_timer( + time_step, std::bind(&ESKFNode::publish_odom, this)); + + set_subscribers_and_publisher(); + + set_parameters(); +} + +void ESKFNode::set_subscribers_and_publisher() { + rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; + auto qos_sensor_data = rclcpp::QoS( + rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + + this->declare_parameter("imu_topic", "imu/data_raw"); + std::string imu_topic = this->get_parameter("imu_topic").as_string(); + imu_sub_ = this->create_subscription( + imu_topic, qos_sensor_data, + std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); + + this->declare_parameter("dvl_topic", "/orca/twist"); + std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); + dvl_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( + dvl_topic, qos_sensor_data, + std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); + + this->declare_parameter("odom_topic", "odom"); + std::string odom_topic = this->get_parameter("odom_topic").as_string(); + odom_pub_ = this->create_publisher( + odom_topic, qos_sensor_data); +} + +void ESKFNode::set_parameters() { + Eigen::Matrix12d Q; + Q.setZero(); + Q.diagonal() << sq(0.0103), sq(0.0118), sq(0.0043), // acceleration noise + sq(0.00193), sq(0.00306), sq(0.00118), // gyroscope noise + sq(0.05), sq(0.05), sq(0.05), // acceleration bias noise + sq(0.03), sq(0.03), sq(0.03); // gyroscope bias noise + + eskf_params_.Q = Q; + + eskf_ = std::make_unique(eskf_params_); + + Eigen::Matrix18d P; + P.setZero(); + P.diagonal() << 0.1, 0.1, 0.1, // position + 0.1, 0.1, 0.1, // velocity + 0.1, 0.1, 0.1, // euler angles + 0.01, 0.01, 0.01, // accel bias + 0.01, 0.01, 0.01, // gyro bias + 0.001, 0.001, 0.001; // gravity + + error_state_.covariance = P; +} + +void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { + rclcpp::Time current_time = msg->header.stamp; + + if (!first_imu_msg_received_) { + last_imu_time_ = current_time; + first_imu_msg_received_ = true; + return; + } + + double dt = (current_time - last_imu_time_).seconds(); + last_imu_time_ = current_time; + + imu_meas_.accel << msg->linear_acceleration.x, msg->linear_acceleration.y, + msg->linear_acceleration.z; + imu_meas_.gyro << msg->angular_velocity.x, msg->angular_velocity.y, + msg->angular_velocity.z; + + std::tie(nom_state_, error_state_) = + eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); +} + +void ESKFNode::dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], + msg->twist.covariance[14]; + + std::tie(nom_state_, error_state_) = + eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); +} + +void ESKFNode::publish_odom() { + nav_msgs::msg::Odometry odom_msg; + + odom_msg.pose.pose.position.x = nom_state_.pos.x(); + odom_msg.pose.pose.position.y = nom_state_.pos.y(); + odom_msg.pose.pose.position.z = nom_state_.pos.z(); + + odom_msg.pose.pose.orientation.w = nom_state_.quat.w(); + odom_msg.pose.pose.orientation.x = nom_state_.quat.x(); + odom_msg.pose.pose.orientation.y = nom_state_.quat.y(); + odom_msg.pose.pose.orientation.z = nom_state_.quat.z(); + + odom_msg.twist.twist.linear.x = nom_state_.vel.x(); + odom_msg.twist.twist.linear.y = nom_state_.vel.y(); + odom_msg.twist.twist.linear.z = nom_state_.vel.z(); + + odom_msg.header.stamp = this->now(); // Add timestamp to the message + odom_pub_->publish(odom_msg); +} diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp new file mode 100644 index 000000000..4d33ec7ce --- /dev/null +++ b/navigation/eskf/src/eskf_utils.cpp @@ -0,0 +1,13 @@ + +#include "eskf/eskf_utils.hpp" +#include "eskf/typedefs.hpp" + +Eigen::Matrix3d skew(const Eigen::Vector3d& v) { + Eigen::Matrix3d S; + S << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(), 0; + return S; +} + +double sq(const double& value) { + return value * value; +} diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 8c4b01963..245d7ece4 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -2,16 +2,22 @@ from typing import Tuple import numpy as np -from scipy.linalg import expm -from eskf_python_class import StateEuler, StateQuat, Measurement -from eskf_python_utils import skew_matrix, quaternion_product, R_from_angle_axis, angle_axis_to_quaternion, euler_to_quat -from scipy.linalg import block_diag -from scipy.spatial.transform import Rotation as R_scipy +from eskf_python_class import Measurement, StateEuler, StateQuat +from eskf_python_utils import ( + R_from_angle_axis, + angle_axis_to_quaternion, + euler_to_quat, + quaternion_product, + skew_matrix, +) +from scipy.linalg import block_diag, expm + class ESKF: - def __init__(self, Q: np.ndarray, P0, Hx, nom_state: StateQuat, p_accBias, p_gyroBias, dt): + def __init__( + self, Q: np.ndarray, P0, nom_state: StateQuat, p_accBias, p_gyroBias, dt + ): self.Q = Q - self.Hx = Hx # Jacobian of the measurement model self.dt = dt self.nom_state = nom_state self.error_state = StateEuler() @@ -28,15 +34,20 @@ def Fx(self, imu_data: Measurement) -> np.ndarray: Returns: np.ndarray: The state transition matrix. """ - F_x = np.zeros((18, 18)) I = np.eye(3) F_x[0:3, 0:3] = I F_x[0:3, 3:6] = self.dt * I F_x[3:6, 3:6] = I - F_x[3:6, 6:9] = -self.nom_state.R_q() @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) * self.dt - F_x[6:9, 6:9] = R_from_angle_axis((imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt).T + F_x[3:6, 6:9] = ( + -self.nom_state.R_q() + @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) + * self.dt + ) + F_x[6:9, 6:9] = R_from_angle_axis( + (imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt + ).T F_x[3:6, 9:12] = -self.nom_state.R_q() * self.dt F_x[3:6, 15:18] = I * self.dt F_x[6:9, 12:15] = -I * self.dt @@ -45,14 +56,13 @@ def Fx(self, imu_data: Measurement) -> np.ndarray: F_x[15:18, 15:18] = I return F_x - + def Fi(self) -> np.ndarray: """Calculates the input matrix. Returns: np.ndarray: The input matrix. """ - F_i = np.zeros((18, 12)) I = np.eye(3) @@ -62,73 +72,99 @@ def Fi(self) -> np.ndarray: F_i[12:15, 9:12] = I return F_i - + def Q_delta_theta(self) -> np.ndarray: - """ - Calculates the Q_delta_theta matrix. + """Calculates the Q_delta_theta matrix. See Joan Solà. Quaternion kinematics for the error-state Kalman filter. chapter: 6.1.1 eq. 281 """ - qw, qx, qy, qz = self.nom_state.orientation - Q_delta_theta = 0.5 * np.array([ - [-qx, -qy, -qz], - [qw, -qz, qy], - [qz, qw, -qx], - [-qy, qx, qw], - ]) + Q_delta_theta = 0.5 * np.array( + [ + [-qx, -qy, -qz], + [qw, -qz, qy], + [qz, qw, -qx], + [-qy, qx, qw], + ] + ) return Q_delta_theta + def Hx(self) -> np.ndarray: + """Calculates the Jacobian of the measurement model. + + Returns: + np.ndarray: The Jacobian of the measurement model. + """ + Hx = np.zeros((3, 19)) + + q0, q1, q2, q3 = self.nom_state.orientation + e = np.array([q1, q2, q3]) + v = self.nom_state.velocity + + temp_nu = -2 * skew_matrix(e) @ v + temp_eps = 2 * (q0 * np.eye(3) + skew_matrix(e)) @ skew_matrix(v) + + Hx[0:3, 3:6] = self.nom_state.R_q() + Hx[0:3, 6:10] = np.vstack([temp_nu, temp_eps]).T + + Hx = np.zeros((3, 19)) + Hx[0:3, 3:6] = np.eye(3) + + return Hx + def H(self) -> np.ndarray: """Calculates the measurement matrix. Returns: np.ndarray: The measurement matrix. """ - X_deltax = block_diag(np.eye(6), self.Q_delta_theta(), np.eye(9)) - H = self.Hx @ X_deltax + H = self.Hx() @ X_deltax return H - + def h(self) -> np.ndarray: - """ - Calculates the measurement model. + """Calculates the measurement model. Returns: np.ndarray: The measurement model. """ - return self.nom_state.velocity + return self.nom_state.velocity # self.nom_state.R_q() @ self.nom_state.velocity def nominal_state_discrete(self, imu_data: Measurement) -> None: - """ - Calculates the next nominal state using the discrete-time process model defined in: + """Calculates the next nominal state using the discrete-time process model defined in: Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter: 5.4.1 The nominal state kinematics - Args: + Args: imu_data (np.ndarray): The IMU data. """ - # Rectify measurements. acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias R = self.nom_state.R_q() - self.nom_state.position = self.nom_state.position + self.nom_state.velocity * self.dt + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 - self.nom_state.velocity = self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt - self.nom_state.orientation = quaternion_product(self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt)) - self.nom_state.acceleration_bias = np.exp(-self.p_accBias * self.dt) * self.nom_state.acceleration_bias - self.nom_state.gyro_bias = np.exp(-self.p_gyroBias * self.dt) * self.nom_state.gyro_bias + self.nom_state.position = ( + self.nom_state.position + + self.nom_state.velocity * self.dt + + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 + ) + self.nom_state.velocity = ( + self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt + ) + self.nom_state.orientation = quaternion_product( + self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt) + ) + self.nom_state.acceleration_bias = self.nom_state.acceleration_bias + self.nom_state.gyro_bias = self.nom_state.gyro_bias self.nom_state.g = self.nom_state.g def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: - """ - Calculates the Van Loan discretization of a continuous-time system. + """Calculates the Van Loan discretization of a continuous-time system. Args: A_c (np.ndarray): The A matrix. @@ -137,18 +173,22 @@ def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: Returns: Tuple: The A_d and GQG_d matrices. """ - GQG_T = np.dot(np.dot(G_c, self.Q), G_c.T) matrix_exp = ( - np.block([[- A_c, GQG_T], [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)]]) + np.block( + [ + [-A_c, GQG_T], + [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)], + ] + ) * self.dt ) van_loan_matrix = expm(matrix_exp) - V1 = van_loan_matrix[A_c.shape[0]:, A_c.shape[0]:] - V2 = van_loan_matrix[:A_c.shape[0], A_c.shape[0]:] + V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] + V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] A_d = V1.T GQG_d = A_d @ V2 @@ -156,7 +196,6 @@ def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: return A_d, GQG_d def error_state_prediction(self, imu_data: Measurement) -> None: - # Rectify measurements. acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias @@ -166,9 +205,9 @@ def error_state_prediction(self, imu_data: Measurement) -> None: A_c = np.zeros((18, 18)) A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = - R @ skew_matrix(acc_rect) - A_c[6:9, 6:9] = - skew_matrix(gyro_rect) - A_c[3:6, 9:12] = - R + A_c[3:6, 6:9] = -R @ skew_matrix(acc_rect) + A_c[6:9, 6:9] = -skew_matrix(gyro_rect) + A_c[3:6, 9:12] = -R A_c[9:12, 9:12] = -self.p_accBias * np.eye(3) A_c[12:15, 12:15] = -self.p_gyroBias * np.eye(3) A_c[6:9, 12:15] = -np.eye(3) @@ -183,18 +222,16 @@ def error_state_prediction(self, imu_data: Measurement) -> None: A_d, GQG_d = self.van_loan_discretization(A_c, G_c) - self.error_state.covariance = (A_d @ self.error_state.covariance @ A_d.T + GQG_d) + self.error_state.covariance = A_d @ self.error_state.covariance @ A_d.T + GQG_d - def measurement_update(self, dvl_measurement:Measurement) -> float: - """ - Updates the error state using the DVL measurement. + def measurement_update(self, dvl_measurement: Measurement) -> float: + """Updates the error state using the DVL measurement. Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter: 6.1 eq. 274-276 Args: dvl_measurement (np.ndarray): The DVL measurement. """ - H = self.H() P = self.error_state.covariance R = dvl_measurement.aiding_covariance @@ -208,49 +245,47 @@ def measurement_update(self, dvl_measurement:Measurement) -> float: self.error_state.fill_states(K @ innovation) I_KH = np.eye(18) - K @ H - self.error_state.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T # Joseph form for more stability - + self.error_state.covariance = ( + I_KH @ P @ I_KH.T + K @ R @ K.T + ) # Joseph form for more stability return NIS_value def injection(self) -> None: - """ - Injects the error state into the nominal state to produce the estimated state. + """Injects the error state into the nominal state to produce the estimated state. Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter 6.2 eq. 282-283 - + """ self.nom_state.position = self.nom_state.position + self.error_state.position self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity - self.nom_state.orientation = quaternion_product(self.nom_state.orientation, euler_to_quat(self.error_state.orientation)) - self.nom_state.acceleration_bias = self.nom_state.acceleration_bias + self.error_state.acceleration_bias + self.nom_state.orientation = quaternion_product( + self.nom_state.orientation, euler_to_quat(self.error_state.orientation) + ) + self.nom_state.acceleration_bias = ( + self.nom_state.acceleration_bias + self.error_state.acceleration_bias + ) self.nom_state.gyro_bias = self.nom_state.gyro_bias + self.error_state.gyro_bias self.nom_state.g = self.nom_state.g + self.error_state.g def reset_error_state(self) -> None: - """ - Resets the error state after injection. + """Resets the error state after injection. Joan Solà. Quaternion kinematics for the error-state Kalman filter. Chapter 6.3 eq. 284-286 """ - - G = np.eye(18) # Neglecting the delta_theta as this is most common in practice + G = np.eye(18) # Neglecting the delta_theta as this is most common in practice self.error_state.covariance = G @ self.error_state.covariance @ G.T self.error_state.fill_states(np.zeros(18)) def imu_update(self, imu_data: Measurement) -> None: + """Updates the state using the IMU data. """ - Updates the state using the IMU data. - """ - self.nominal_state_discrete(imu_data) self.error_state_prediction(imu_data) - + def dvl_update(self, dvl_measurement: Measurement) -> float: + """Updates the state using the DVL measurement. """ - Updates the state using the DVL measurement. - """ - NIS = self.measurement_update(dvl_measurement) self.injection() self.reset_error_state() @@ -259,13 +294,17 @@ def dvl_update(self, dvl_measurement: Measurement) -> float: # functions for tuning the filter def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: - """ - Calculates the Normalized Innovation Squared (NIS) value. + """Calculates the Normalized Innovation Squared (NIS) value. """ return innovation.T @ np.linalg.inv(S) @ innovation - - def NEES(self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat) -> float: - """ - Calculates the Normalized Estimation Error Squared (NEES) value. + + def NEEDS( + self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat + ) -> float: + """Calculates the Normalized Estimation Error Squared (NEEDS) value. """ - return (true_state - estimate_state).as_vector().T @ np.linalg.inv(P) @ (true_state - estimate_state).as_vector() \ No newline at end of file + return ( + (true_state - estimate_state).as_vector().T + @ np.linalg.inv(P) + @ (true_state - estimate_state).as_vector() + ) diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 95f5e996b..53ad83958 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -1,14 +1,13 @@ - -from eskf_python_class import StateEuler, StateQuat, MeasurementModel, Measurement -from eskf_python_utils import quat_to_euler -from eskf_test_utils import process_model, StateQuatModel -import numpy as np import matplotlib.pyplot as plt +import numpy as np +from eskf_python_class import Measurement, StateQuat from eskf_python_filter import ESKF +from eskf_python_utils import quat_to_euler +from eskf_test_utils import StateQuatModel, process_model from scipy.stats import chi2 -def simulate_eskf(): +def simulate_eskf(): # Simulation parameters simulation_time = 20.0 # seconds dt = 0.01 @@ -20,47 +19,71 @@ def simulate_eskf(): true_state_init = StateQuat() true_state_init.position = np.array([0.1, 0.0, 0.0]) true_state_init.velocity = np.array([0.1, 0.0, 0.0]) - P0 = np.diag([ - 0.5, 0.5, 0.5, # Position - 0.2, 0.2, 0.2, # Velocity - 0.2, 0.2, 0.2, # Orientation - 0.00001, 0.00001, 0.00001, # Acceleration bias - 0.00001, 0.00001, 0.00001, # Gyro bias - 0.00001, 0.00001, 0.00001 # Gravity - ]) - + P0 = np.diag( + [ + 0.3, + 0.3, + 0.3, # Position + 0.2, + 0.2, + 0.2, # Velocity + 0.2, + 0.2, + 0.2, # Orientation + 0.0001, + 0.0001, + 0.0001, # Acceleration bias + 0.00001, + 0.00001, + 0.00001, # Gyro bias + 0.00001, + 0.00001, + 0.00001, # Gravity + ] + ) # Noise parameters - Q = np.diag([ - (0.034**2) / dt, (0.034**2) / dt, (0.034**2) / dt, # Accelerometer noise - (0.002**2) / dt, (0.002**2) / dt, (0.002**2) / dt, # Gyroscope noise - 0.00001, 0.00001, 0.00001, # Acceleration bias random walk - 0.00001, 0.00001, 0.00001 # Gyro bias random walk - ]) - - Hx = np.zeros((3, 19)) - Hx[0:3, 3:6] = np.eye(3) + Q = np.diag( + [ + (0.13**2), + (0.13**2), + (0.13**2), # Adjusted Accelerometer noise + (0.13**2), + (0.13**2), + (0.13**2), # Adjusted Gyroscope noise + 0.0001, + 0.0001, + 0.0001, # Adjusted Acceleration bias random walk + 0.0001, + 0.0001, + 0.0001, # Adjusted Gyro bias random walk + ] + ) # Create filter object - eskf = ESKF(Q, P0, Hx, true_state_init, 1e-13, 1e-13, dt) + eskf = ESKF(Q, P0, true_state_init, 1e-13, 1e-13, dt) # Create measurement objects imu_data = Measurement() dvl_data = Measurement() # R matrix for DVL aiding - dvl_data.aiding_covariance = np.diag([(0.01)**2, (0.01)**2, (0.01)**2]) + dvl_data.aiding_covariance = np.diag( + [(0.01) ** 2, (0.01) ** 2, (0.01) ** 2] + ) # Adjusted DVL aiding covariance # Setup the process model for simulation of AUV model = process_model() model.dt = dt - model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) + model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) model.m = 30.0 model.r_b_bg = np.array([0.01, 0.0, 0.02]) model.inertia = np.diag([0.68, 3.32, 3.34]) @@ -89,19 +112,21 @@ def simulate_eskf(): est_velocities = np.zeros((num_steps, 3)) # covariance arrays - pos_cov = np.zeros((num_steps, 3)) - vel_cov = np.zeros((num_steps, 3)) - ori_cov = np.zeros((num_steps, 3)) + pos_cov = np.zeros((num_steps, 3)) + vel_cov = np.zeros((num_steps, 3)) + ori_cov = np.zeros((num_steps, 3)) prev_velocity = np.zeros(3) - u = lambda t: np.array([ - 0.5 * np.sin(0.1 * t), - 0.5 * np.sin(0.1 * t + 0.3), - 0.5 * np.sin(0.1 * t + 0.6), - 0.05 * np.cos(0.1 * t), - 0.05 * np.cos(0.1 * t + 0.3), - 0.05 * np.cos(0.1 * t + 0.6) - ]) + u = lambda t: np.array( + [ + 0.5 * np.sin(0.1 * t), + 0.5 * np.sin(0.1 * t + 0.3), + 0.5 * np.sin(0.1 * t + 0.6), + 0.05 * np.cos(0.1 * t), + 0.05 * np.cos(0.1 * t + 0.3), + 0.05 * np.cos(0.1 * t + 0.6), + ] + ) NIS_list = [] NIS_value = 0.0 @@ -114,12 +139,16 @@ def simulate_eskf(): model.model_prediction(new_state) new_state = model.euler_forward() - imu_data.acceleration = ((new_state.velocity - prev_velocity) / dt) + np.random.normal(0, 0.13, 3) - imu_data.angular_velocity = new_state.angular_velocity + np.random.normal(0, 0.13, 3) + imu_data.acceleration = ( + (new_state.velocity - prev_velocity) / dt + ) + np.random.normal(0, 0.13, 3) + imu_data.angular_velocity = new_state.angular_velocity + np.random.normal( + 0, 0.13, 3 + ) eskf.imu_update(imu_data) - if step % 20 == 0: + if step % 200 == 0: dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) NIS_value = eskf.dvl_update(dvl_data) NIS_list.append(NIS_value) @@ -140,9 +169,34 @@ def simulate_eskf(): prev_velocity = new_state.velocity model.state_vector_prev = new_state - return time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, NIS_list - -time, true_positions, true_orientations, true_velocities, est_positions, est_orientations, est_velocities, pos_cov, vel_cov, ori_cov, _ = simulate_eskf() + return ( + time, + true_positions, + true_orientations, + true_velocities, + est_positions, + est_orientations, + est_velocities, + pos_cov, + vel_cov, + ori_cov, + NIS_list, + ) + + +( + time, + true_positions, + true_orientations, + true_velocities, + est_positions, + est_orientations, + est_velocities, + pos_cov, + vel_cov, + ori_cov, + _, +) = simulate_eskf() # Plotting axis_labels_pos = ["X", "Y", "Z"] @@ -154,11 +208,28 @@ def simulate_eskf(): fig_pos.suptitle("True Data vs Filter Estimates for Position") for i in range(3): ax_pos = axs_pos[i] - ax_pos.plot(time, true_positions[:, i], label=f"True Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='-') - ax_pos.plot(time, est_positions[:, i], label=f"Est Pos {axis_labels_pos[i]}", color=f"C{i}", linestyle='--') + ax_pos.plot( + time, + true_positions[:, i], + label=f"True Pos {axis_labels_pos[i]}", + color=f"C{i}", + linestyle='-', + ) + ax_pos.plot( + time, + est_positions[:, i], + label=f"Est Pos {axis_labels_pos[i]}", + color=f"C{i}", + linestyle='--', + ) sigma_pos = np.sqrt(pos_cov[:, i]) - ax_pos.fill_between(time, est_positions[:, i] - sigma_pos, est_positions[:, i] + sigma_pos, - color=f"C{i}", alpha=0.2) + ax_pos.fill_between( + time, + est_positions[:, i] - sigma_pos, + est_positions[:, i] + sigma_pos, + color=f"C{i}", + alpha=0.2, + ) ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") ax_pos.set_xlabel("Time [s]") ax_pos.set_ylabel("Position") @@ -173,11 +244,28 @@ def simulate_eskf(): fig_vel.suptitle("True Data vs Filter Estimates for Velocity") for i in range(3): ax_vel = axs_vel[i] - ax_vel.plot(time, true_velocities[:, i], label=f"True Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='-') - ax_vel.plot(time, est_velocities[:, i], label=f"Est Vel {axis_labels_vel[i]}", color=f"C{i}", linestyle='--') + ax_vel.plot( + time, + true_velocities[:, i], + label=f"True Vel {axis_labels_vel[i]}", + color=f"C{i}", + linestyle='-', + ) + ax_vel.plot( + time, + est_velocities[:, i], + label=f"Est Vel {axis_labels_vel[i]}", + color=f"C{i}", + linestyle='--', + ) sigma_vel = np.sqrt(vel_cov[:, i]) - ax_vel.fill_between(time, est_velocities[:, i] - sigma_vel, est_velocities[:, i] + sigma_vel, - color=f"C{i}", alpha=0.2) + ax_vel.fill_between( + time, + est_velocities[:, i] - sigma_vel, + est_velocities[:, i] + sigma_vel, + color=f"C{i}", + alpha=0.2, + ) ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") ax_vel.set_xlabel("Time [s]") ax_vel.set_ylabel("Velocity") @@ -192,11 +280,28 @@ def simulate_eskf(): fig_ori.suptitle("True Data vs Filter Estimates for Orientation") for i in range(3): ax_ori = axs_ori[i] - ax_ori.plot(time, true_orientations[:, i], label=f"True Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='-') - ax_ori.plot(time, est_orientations[:, i], label=f"Est Ori {axis_labels_ori[i]}", color=f"C{i}", linestyle='--') + ax_ori.plot( + time, + true_orientations[:, i], + label=f"True Ori {axis_labels_ori[i]}", + color=f"C{i}", + linestyle='-', + ) + ax_ori.plot( + time, + est_orientations[:, i], + label=f"Est Ori {axis_labels_ori[i]}", + color=f"C{i}", + linestyle='--', + ) sigma_ori = np.sqrt(ori_cov[:, i]) - ax_ori.fill_between(time, est_orientations[:, i] - sigma_ori, est_orientations[:, i] + sigma_ori, - color=f"C{i}", alpha=0.2) + ax_ori.fill_between( + time, + est_orientations[:, i] - sigma_ori, + est_orientations[:, i] + sigma_ori, + color=f"C{i}", + alpha=0.2, + ) ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") ax_ori.set_xlabel("Time [s]") ax_ori.set_ylabel("Orientation") @@ -207,19 +312,29 @@ def simulate_eskf(): plt.show() -### _______ NIS AND NEES _______ +### _______ NIS AND NEEDS _______ -num_simulations = 10 +num_simulations = 10 NIS_runs = [] for sim in range(num_simulations): - time, true_positions, true_orientations, true_velocities, \ - est_positions, est_orientations, est_velocities, \ - pos_cov, vel_cov, ori_cov, NIS_list = simulate_eskf() + ( + time, + true_positions, + true_orientations, + true_velocities, + est_positions, + est_orientations, + est_velocities, + pos_cov, + vel_cov, + ori_cov, + NIS_list, + ) = simulate_eskf() NIS_runs.append(np.array(NIS_list)) -NIS_runs = np.vstack(NIS_runs) +NIS_runs = np.vstack(NIS_runs) ANIS = np.mean(NIS_runs, axis=0) measurement_dimension = 3 @@ -227,7 +342,7 @@ def simulate_eskf(): chi2_lower = chi2.ppf(0.025, measurement_dimension) / num_simulations chi2_upper = chi2.ppf(0.975, measurement_dimension) / num_simulations -time_steps = np.arange(len(ANIS)) * 0.01 * 20 +time_steps = np.arange(len(ANIS)) * 0.01 * 20 fig, ax = plt.subplots(figsize=(10, 6)) ax.plot(time_steps, ANIS, label="ANIS", color="C0") @@ -240,4 +355,4 @@ def simulate_eskf(): ax.legend() plt.tight_layout() -plt.show() \ No newline at end of file +plt.show() diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 1ede3f22b..f7000adb4 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -36,10 +36,10 @@ def generate_T_matrix(n: float) -> np.ndarray: if n % 2 == 1: # if n is odd T[n - 1, i - 1] = (-1) ** i - T = T / np.sqrt(2) + T = T / np.sqrt(2) return T - + def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: """ Functions that generate the sigma points for the UKF @@ -53,12 +53,12 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: S = np.linalg.cholesky(current_state.covariance + self.Q) self.sigma_points_list = [StateQuat() for _ in range(2 * n)] - + for state in self.sigma_points_list: - state.fill_states_different_dim(current_state.as_vector(), delta[:, self.sigma_points_list.index + state.fill_states_different_dim(current_state.as_vector(), return self.sigma_points_list - + def unscented_transform(self, current_state: StateQuat) -> StateQuat: """ @@ -94,18 +94,18 @@ def measurement_update(self, current_state: StateQuat, measurement: MeasModel) - z_i[i] = measurement.H(self.sigma_points_list[i]) meas_update = MeasModel() - + meas_update.measurement = mean_measurement(z_i, self.weight) - + meas_update.covariance = covariance_measurement(z_i, meas_update.measurement, self.weight) - + cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement, self.weight) - + return meas_update, cross_correlation def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.ndarray, measurement: MeasModel, ex_measuremnt: MeasModel) -> StateQuat: """ - Calculates the posteriori estimate using measurment and the prior estimate + Calculates the posteriori estimate using measurement and the prior estimate """ nu_k = MeasModel() @@ -122,4 +122,4 @@ def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.nd self.process_model.state_vector_prev = posteriori_estimate - return posteriori_estimate \ No newline at end of file + return posteriori_estimate From 05f3dbd4323ac641f847aabe12e6a1c686a81b8f Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Wed, 2 Apr 2025 17:03:52 +0200 Subject: [PATCH 041/109] fix: Added correction for the IMU measurements --- navigation/eskf/CMakeLists.txt | 10 +- navigation/eskf/config/eskf_params.yaml | 3 +- navigation/eskf/include/eskf/eskf.hpp | 2 +- navigation/eskf/include/eskf/eskf_utils.hpp | 4 + navigation/eskf/include/eskf/typedefs.hpp | 48 +- navigation/eskf/src/eskf.cpp | 95 ++- navigation/eskf/src/eskf_ros.cpp | 81 ++- navigation/eskf/src/eskf_utils.cpp | 18 + .../eskf_python/eskf_python_filter.py | 116 ++-- .../eskf_python/eskf_python/eskf_test.py | 3 +- navigation/ukf_okid/ukf_python/ukf_okid.py | 33 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 6 +- navigation/ukf_okid/ukf_python/ukf_test.py | 550 +++++++++--------- 13 files changed, 476 insertions(+), 493 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 2809f9ed9..6c8167609 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8) project(eskf) if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD 20) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") @@ -16,6 +16,8 @@ find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) +find_package(spdlog REQUIRED) +find_package(fmt REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) @@ -38,6 +40,12 @@ ament_target_dependencies(eskf_node Eigen3 tf2 vortex_msgs + spdlog + fmt +) + +target_link_libraries(eskf_node + fmt::fmt ) install(TARGETS diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index f3402f4a9..f89b62f79 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,5 +1,6 @@ eskf_node: ros__parameters: - imu_topic: imu/date_raw + imu_topic: imu/data_raw dvl_twist: /orca/twist odom_topic: odom + diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.000003, 0.000003, 0.000003] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index ee47277ea..b30dc35b0 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -1,7 +1,7 @@ #ifndef ESKF_HPP #define ESKF_HPP -#include +#include #include #include "eskf/typedefs.hpp" #include "typedefs.hpp" diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index afd871772..100f7673d 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -8,4 +8,8 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v); double sq(const double& value); +Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); + +Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); + #endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index c93c92402..c0a1e41f9 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,26 +5,26 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H -#include +#include #include namespace Eigen { -typedef Eigen::Matrix Vector19d; -typedef Eigen::Matrix Vector18d; -typedef Eigen::Matrix Matrix18d; -typedef Eigen::Matrix Matrix19d; -typedef Eigen::Matrix Matrix18x12d; -typedef Eigen::Matrix Matrix4x3d; -typedef Eigen::Matrix Matrix3x19d; -typedef Eigen::Matrix Matrix3x18d; -typedef Eigen::Matrix Matrix12d; -typedef Eigen::Matrix Matrix18d; -typedef Eigen::Matrix Matrix3x1d; -typedef Eigen::Matrix Matrix19x18d; -typedef Eigen::Matrix Matrix18x3d; -typedef Eigen::Matrix Matrix36d; -typedef Eigen::Matrix Matrix6d; -typedef Eigen::Matrix Matrix9d; + typedef Eigen::Matrix Vector19d; + typedef Eigen::Matrix Vector18d; + typedef Eigen::Matrix Matrix18d; + typedef Eigen::Matrix Matrix19d; + typedef Eigen::Matrix Matrix18x12d; + typedef Eigen::Matrix Matrix4x3d; + typedef Eigen::Matrix Matrix3x19d; + typedef Eigen::Matrix Matrix3x18d; + typedef Eigen::Matrix Matrix12d; + typedef Eigen::Matrix Matrix18d; + typedef Eigen::Matrix Matrix3x1d; + typedef Eigen::Matrix Matrix19x18d; + typedef Eigen::Matrix Matrix18x3d; + typedef Eigen::Matrix Matrix36d; + typedef Eigen::Matrix Matrix6d; + typedef Eigen::Matrix Matrix9d; } // namespace Eigen struct state_quat { @@ -61,7 +61,7 @@ struct state_euler { Eigen::Vector3d euler = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); @@ -84,6 +84,18 @@ struct state_euler { struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_uncorrected = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro_uncorrected = Eigen::Vector3d::Zero(); + + void correct() { + Eigen::Matrix3d R_nb; + R_nb << 0, 0, -1, + 0, -1, 0, + -1, 0, 0; + + accel = R_nb * accel_uncorrected; + gyro = R_nb * gyro_uncorrected; + } }; struct dvl_measurement { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 8218bf8d0..55d8516dd 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -6,7 +6,8 @@ #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} +ESKF::ESKF(const eskf_params& params) : + Q_(params.Q) {} std::pair ESKF::van_loan_discretization( const Eigen::Matrix18d& A_c, @@ -42,44 +43,45 @@ Eigen::Matrix4x3d ESKF::calculate_Q_delta(const state_quat& nom_state) { Q_delta_theta *= 0.5; return Q_delta_theta; } - Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); - Eigen::Matrix3d R_bn = - nom_state.quat.normalized().toRotationMatrix().transpose(); - - // normal measurement of the velocity - Hx.block<3, 3>(0, 3) = R_bn; - + Eigen::Quaterniond q = nom_state.quat.normalized(); + Eigen::Matrix3d R_bn = q.toRotationMatrix(); + Eigen::Vector3d v_n = nom_state.vel; + Hx.block<3, 3>(0, 3) = R_bn.transpose(); + Eigen::Matrix dR_dq; - Eigen::Quaterniond q = nom_state.quat.normalized(); double qw = q.w(); double qx = q.x(); double qy = q.y(); double qz = q.z(); - dR_dq.col(0) = - 2 * Eigen::Vector3d(qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z(), - -qy * v_n.x() + qx * v_n.y() + qw * v_n.z()); - - dR_dq.col(1) = - 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); - - dR_dq.col(2) = - 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); - - dR_dq.col(3) = - 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), - qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); + dR_dq.col(0) = 2 * Eigen::Vector3d( + qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), + -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), + qy * v_n.x() - qx * v_n.y() + qw * v_n.z() + ); + + dR_dq.col(1) = 2 * Eigen::Vector3d( + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z() + ); + + dR_dq.col(2) = 2 * Eigen::Vector3d( + -qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + -qw * v_n.x() + qz * v_n.y() - qy * v_n.z() + ); + + dR_dq.col(3) = 2 * Eigen::Vector3d( + -qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), + qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z() + ); Hx.block<3, 4>(0, 6) = dR_dq; @@ -98,8 +100,7 @@ Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { Eigen::Matrix3x1d h; - Eigen::Matrix3d R_bn = - nom_state.quat.normalized().toRotationMatrix().transpose(); + Eigen::Matrix3d R_bn = nom_state.quat.normalized().toRotationMatrix().transpose(); h = R_bn * nom_state.vel; @@ -109,18 +110,14 @@ Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = - nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + - nom_state.gravity; + Eigen::Vector3d acc = nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + nom_state.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; state_quat next_nom_state; - next_nom_state.pos = - nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; + + next_nom_state.pos = nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; next_nom_state.vel = nom_state.vel + dt * acc; - next_nom_state.quat = - (nom_state.quat * - Eigen::Quaterniond(0, 0.5 * gyro.x(), 0.5 * gyro.y(), 0.5 * gyro.z())); + next_nom_state.quat = (nom_state.quat * vector3d_to_quaternion(gyro)); next_nom_state.quat.normalize(); next_nom_state.gyro_bias = nom_state.gyro_bias; next_nom_state.accel_bias = nom_state.accel_bias; @@ -135,7 +132,7 @@ state_euler ESKF::error_state_prediction(const state_euler& error_state, const double dt) { Eigen::Matrix3d R = nom_state.get_R(); Eigen::Vector3d acc = (imu_meas.accel - nom_state.accel_bias); - Eigen::Vector3d gyro = imu_meas.gyro - nom_state.gyro_bias; + Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias); Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -191,10 +188,7 @@ std::pair ESKF::injection_and_reset( next_nom_state.pos = nom_state.pos + error_state.pos; next_nom_state.vel = nom_state.vel + error_state.vel; - next_nom_state.quat = - nom_state.quat * Eigen::Quaterniond(1, 0.5 * error_state.euler.x(), - 0.5 * error_state.euler.y(), - 0.5 * error_state.euler.z()); + next_nom_state.quat = nom_state.quat * vector3d_to_quaternion(error_state.euler); next_nom_state.quat.normalize(); next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; @@ -205,12 +199,6 @@ std::pair ESKF::injection_and_reset( Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); new_error_state.covariance = G * error_state.covariance * G.transpose(); - new_error_state.pos = Eigen::Vector3d::Zero(); - new_error_state.vel = Eigen::Vector3d::Zero(); - new_error_state.euler = Eigen::Vector3d::Zero(); - new_error_state.gyro_bias = Eigen::Vector3d::Zero(); - new_error_state.accel_bias = Eigen::Vector3d::Zero(); - new_error_state.gravity = Eigen::Vector3d::Zero(); return {next_nom_state, new_error_state}; } @@ -221,8 +209,7 @@ std::pair ESKF::imu_update( const imu_measurement& imu_meas, const double dt) { state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); - state_euler next_error_state = - error_state_prediction(error_state, nom_state, imu_meas, dt); + state_euler next_error_state = error_state_prediction(error_state, next_nom_state, imu_meas, dt); return {next_nom_state, next_error_state}; } @@ -231,10 +218,8 @@ std::pair ESKF::dvl_update( const state_quat& nom_state, const state_euler& error_state, const dvl_measurement& dvl_meas) { - state_euler new_error_state = - measurement_update(nom_state, error_state, dvl_meas); - auto [updated_nom_state, updated_error_state] = - injection_and_reset(nom_state, new_error_state); + state_euler new_error_state = measurement_update(nom_state, error_state, dvl_meas); + auto [updated_nom_state, updated_error_state] = injection_and_reset(nom_state, new_error_state); return {updated_nom_state, updated_error_state}; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a3b9c5cf3..524b48c29 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,63 +1,64 @@ #include "eskf/eskf_ros.hpp" -#include -#include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" +#include ESKFNode::ESKFNode() : Node("eskf_node") { time_step = std::chrono::milliseconds(1); - odom_pub_timer_ = this->create_wall_timer( - time_step, std::bind(&ESKFNode::publish_odom, this)); + odom_pub_timer_ = this->create_wall_timer(time_step, std::bind(&ESKFNode::publish_odom, this)); set_subscribers_and_publisher(); set_parameters(); + + spdlog::info("ESKF Node Initialized"); } void ESKFNode::set_subscribers_and_publisher() { rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; - auto qos_sensor_data = rclcpp::QoS( - rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + auto qos_sensor_data = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); this->declare_parameter("imu_topic", "imu/data_raw"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); - imu_sub_ = this->create_subscription( - imu_topic, qos_sensor_data, - std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); + imu_sub_ = this->create_subscription(imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); this->declare_parameter("dvl_topic", "/orca/twist"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( - dvl_topic, qos_sensor_data, - std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); + dvl_sub_ = this->create_subscription(dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); + this->declare_parameter("odom_topic", "odom"); std::string odom_topic = this->get_parameter("odom_topic").as_string(); - odom_pub_ = this->create_publisher( - odom_topic, qos_sensor_data); + odom_pub_ = this->create_publisher(odom_topic, qos_sensor_data); } void ESKFNode::set_parameters() { + + std::vector diag_Q_std; + this->declare_parameter>("diag_Q_std"); // gyroscope bias noise + + diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); + Eigen::Matrix12d Q; Q.setZero(); - Q.diagonal() << sq(0.0103), sq(0.0118), sq(0.0043), // acceleration noise - sq(0.00193), sq(0.00306), sq(0.00118), // gyroscope noise - sq(0.05), sq(0.05), sq(0.05), // acceleration bias noise - sq(0.03), sq(0.03), sq(0.03); // gyroscope bias noise - + spdlog::info("Q diagonal: {}",diag_Q_std[0]); + Q.diagonal() << + sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), // acceleration noise + sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), // gyroscope noise + sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), // acceleration bias noise + sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); // gyroscope bias noise eskf_params_.Q = Q; eskf_ = std::make_unique(eskf_params_); Eigen::Matrix18d P; P.setZero(); - P.diagonal() << 0.1, 0.1, 0.1, // position - 0.1, 0.1, 0.1, // velocity - 0.1, 0.1, 0.1, // euler angles - 0.01, 0.01, 0.01, // accel bias - 0.01, 0.01, 0.01, // gyro bias - 0.001, 0.001, 0.001; // gravity + P.diagonal() << 1.0, 1.0, 1.0, // position + 0.1, 0.1, 0.1, // velocity + 0.1, 0.1, 0.1, // euler angles + 0.001, 0.001, 0.001, // accel bias + 0.001, 0.001, 0.001, // gyro bias + 0.001, 0.001, 0.001; // gravity error_state_.covariance = P; } @@ -71,30 +72,24 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { return; } - double dt = (current_time - last_imu_time_).seconds(); + double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; last_imu_time_ = current_time; - imu_meas_.accel << msg->linear_acceleration.x, msg->linear_acceleration.y, - msg->linear_acceleration.z; - imu_meas_.gyro << msg->angular_velocity.x, msg->angular_velocity.y, - msg->angular_velocity.z; + imu_meas_.accel_uncorrected << msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z; + imu_meas_.gyro_uncorrected << msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z; + imu_meas_.correct(); - std::tie(nom_state_, error_state_) = - eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); + std::tie(nom_state_, error_state_) = eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], - msg->twist.covariance[2], msg->twist.covariance[6], - msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], - msg->twist.covariance[14]; - - std::tie(nom_state_, error_state_) = - eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + + std::tie(nom_state_, error_state_) = eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 4d33ec7ce..7a668adfc 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -11,3 +11,21 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { double sq(const double& value) { return value * value; } + +Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { + double angle = vector.norm(); + if (angle < 1e-8) { + return Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); + } else { + Eigen::Vector3d axis = vector / angle; + return Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); + } +} + +Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { + Eigen::Quaterniond q; + q = Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()) * + Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * + Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); + return q; +} \ No newline at end of file diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 245d7ece4..890226639 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -25,54 +25,6 @@ def __init__( self.p_accBias = p_accBias self.p_gyroBias = p_gyroBias - def Fx(self, imu_data: Measurement) -> np.ndarray: - """Calculates the state transition matrix. - - Args: - imu_data (np.ndarray): The IMU data. - - Returns: - np.ndarray: The state transition matrix. - """ - F_x = np.zeros((18, 18)) - I = np.eye(3) - - F_x[0:3, 0:3] = I - F_x[0:3, 3:6] = self.dt * I - F_x[3:6, 3:6] = I - F_x[3:6, 6:9] = ( - -self.nom_state.R_q() - @ skew_matrix(imu_data.acceleration - self.nom_state.acceleration_bias) - * self.dt - ) - F_x[6:9, 6:9] = R_from_angle_axis( - (imu_data.angular_velocity - self.nom_state.gyro_bias) * self.dt - ).T - F_x[3:6, 9:12] = -self.nom_state.R_q() * self.dt - F_x[3:6, 15:18] = I * self.dt - F_x[6:9, 12:15] = -I * self.dt - F_x[9:12, 9:12] = I - F_x[12:15, 12:15] = I - F_x[15:18, 15:18] = I - - return F_x - - def Fi(self) -> np.ndarray: - """Calculates the input matrix. - - Returns: - np.ndarray: The input matrix. - """ - F_i = np.zeros((18, 12)) - I = np.eye(3) - - F_i[3:6, 0:3] = I - F_i[6:9, 3:6] = I - F_i[9:12, 6:9] = I - F_i[12:15, 9:12] = I - - return F_i - def Q_delta_theta(self) -> np.ndarray: """Calculates the Q_delta_theta matrix. See Joan Solà. Quaternion kinematics for the error-state Kalman filter. @@ -92,26 +44,58 @@ def Q_delta_theta(self) -> np.ndarray: return Q_delta_theta def Hx(self) -> np.ndarray: - """Calculates the Jacobian of the measurement model. - - Returns: - np.ndarray: The Jacobian of the measurement model. """ - Hx = np.zeros((3, 19)) - - q0, q1, q2, q3 = self.nom_state.orientation - e = np.array([q1, q2, q3]) - v = self.nom_state.velocity - - temp_nu = -2 * skew_matrix(e) @ v - temp_eps = 2 * (q0 * np.eye(3) + skew_matrix(e)) @ skew_matrix(v) - - Hx[0:3, 3:6] = self.nom_state.R_q() - Hx[0:3, 6:10] = np.vstack([temp_nu, temp_eps]).T + Computes the true-state measurement Jacobian for the measurement + h(x) = R(q) * velocity, + where: + - R(q) is the rotation matrix from the quaternion (q, q, q, q) with q as the scalar part, + - velocity is a 3-vector. + + The state is assumed to be ordered as: + [position (3), velocity (3), quaternion (4), ...] (total length 19). + + The Jacobian Hx is a 3x19 matrix with nonzero blocks: + - Columns 3:6 (velocity): R(q) + - Columns 6:10 (quaternion): + """ + q = self.nom_state.orientation # shape (4,) + v = self.nom_state.velocity # shape (3,) + q0, q1, q2, q3 = q + v1, v2, v3 = v + + R = self.nom_state.R_q().transpose() # shape (3, 3) + + dhdq0 = 2 * np.array([ + q0 * v1 - q3 * v2 + q2 * v3, + q3 * v1 + q0 * v2 - q1 * v3, + -q2 * v1 + q1 * v2 + q0 * v3 + ]) + + dhdq1 = 2 * np.array([ + q1 * v1 + q2 * v2 + q3 * v3, + q2 * v1 - q1 * v2 - q0 * v3, + q3 * v1 + q0 * v2 - q1 * v3 + ]) + + dhdq2 = 2 * np.array([ + -q2 * v1 + q1 * v2 + q0 * v3, + q1 * v1 + q2 * v2 + q3 * v3, + -q0 * v1 + q3 * v2 - q2 * v3 + ]) + + dhdq3 = 2 * np.array([ + -q3 * v1 - q0 * v2 + q1 * v3, + q0 * v1 - q3 * v2 + q2 * v3, + q1 * v1 + q2 * v2 + q3 * v3 + ]) + + dHdq = np.column_stack((dhdq0, dhdq1, dhdq2, dhdq3)) # shape (3, 4) + Hx = np.zeros((3, 19)) - Hx[0:3, 3:6] = np.eye(3) - + Hx[:, 3:6] = R + Hx[:, 6:10] = dHdq + return Hx def H(self) -> np.ndarray: @@ -132,7 +116,7 @@ def h(self) -> np.ndarray: Returns: np.ndarray: The measurement model. """ - return self.nom_state.velocity # self.nom_state.R_q() @ self.nom_state.velocity + return self.nom_state.R_q() @ self.nom_state.velocity def nominal_state_discrete(self, imu_data: Measurement) -> None: """Calculates the next nominal state using the discrete-time process model defined in: diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 53ad83958..0930d9f6c 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -313,7 +313,7 @@ def simulate_eskf(): ### _______ NIS AND NEEDS _______ - +""" num_simulations = 10 NIS_runs = [] @@ -356,3 +356,4 @@ def simulate_eskf(): plt.tight_layout() plt.show() +""" \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index f7000adb4..16312935a 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -16,7 +16,7 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.weight = None self.T = self.generate_T_matrix(len(P_0)) - def generate_T_matrix(n: float) -> np.ndarray: + def generate_T_matrix(self, n: float) -> np.ndarray: """ Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. @@ -26,10 +26,10 @@ def generate_T_matrix(n: float) -> np.ndarray: Returns: T (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ - T = np.zeros((n, 2 * n)) + T = np.zeros((n, n)) - for i in range(1, 2 * n + 1): - for j in range(1, (n // 2) + 1): + for i in range(n): + for j in range(n//2): T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) @@ -54,8 +54,9 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: self.sigma_points_list = [StateQuat() for _ in range(2 * n)] - for state in self.sigma_points_list: - state.fill_states_different_dim(current_state.as_vector(), + for index, state in enumerate(self.sigma_points_list): + delta_x = S @ delta[:, index] + state.fill_states_different_dim(current_state.as_vector(), delta_x) return self.sigma_points_list @@ -65,20 +66,20 @@ def unscented_transform(self, current_state: StateQuat) -> StateQuat: The unscented transform function generates the priori state estimate """ - _ , _ = self.sigma_points(current_state) + _ = self.sigma_points(current_state) n = len(current_state.covariance) - self.y_i = [StateQuat() for _ in range(2 * n + 1)] + self.y_i = [StateQuat() for _ in range(2 * n)] - for i in range(2 * n + 1): + for i in range(2 * n ): self.process_model.model_prediction(self.sigma_points_list[i]) self.y_i[i] = self.process_model.euler_forward() state_estimate = StateQuat() - x = mean_set(self.y_i, self.weight) + x = mean_set(self.y_i) state_estimate.fill_states(x) - state_estimate.covariance = covariance_set(self.y_i, x, self.weight) + state_estimate.covariance = covariance_set(self.y_i, x) return state_estimate def measurement_update(self, current_state: StateQuat, measurement: MeasModel) -> tuple[MeasModel, np.ndarray]: @@ -88,18 +89,18 @@ def measurement_update(self, current_state: StateQuat, measurement: MeasModel) - """ n = len(current_state.covariance) - z_i = [MeasModel() for _ in range(2 * n + 1)] + z_i = [MeasModel() for _ in range(2 * n)] - for i in range(2 * n + 1): + for i in range(2 * n): z_i[i] = measurement.H(self.sigma_points_list[i]) meas_update = MeasModel() - meas_update.measurement = mean_measurement(z_i, self.weight) + meas_update.measurement = mean_measurement(z_i) - meas_update.covariance = covariance_measurement(z_i, meas_update.measurement, self.weight) + meas_update.covariance = covariance_measurement(z_i, meas_update.measurement) - cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement, self.weight) + cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement) return meas_update, cross_correlation diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 50f1988b4..4d3281260 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -395,7 +395,7 @@ def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: return mean_value.measurement -def covariance_set(set_points: list[StateQuat], mean: StateQuat) -> np.ndarray: +def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: """ Function that calculates the covariance of a set of points """ @@ -403,9 +403,9 @@ def covariance_set(set_points: list[StateQuat], mean: StateQuat) -> np.ndarray: covariance = np.zeros(set_points[0].covariance.shape) mean_quat = StateQuat() - mean_quat.fill_states(mean.as_vector()) + mean_quat.fill_states(mean) - mean_q = mean.orientation + mean_q = mean_quat.orientation for state in set_points: q = state.orientation diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index 5a7e9eaba..3c197ed63 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -31,293 +31,267 @@ def add_quaternion_noise(q, noise_std): if __name__ == '__main__': - # Define a mean StateQuat - mean_state = StateQuat() - mean_state.position = np.array([1.0, 2.0, 3.0]) - mean_state.orientation = np.array([1.0, 0.0, 0.0, 0.0]) # Quaternion - mean_state.velocity = np.array([0.5, 0.5, 0.5]) - mean_state.angular_velocity = np.array([0.1, 0.1, 0.1]) - - test_state = StateQuat() - test_state.position = np.array([1.0, 1.0, 1.0]) - test_state.orientation = np.array([0.0, 1.0, 0.0, 0.0]) # Quaternion - test_state.velocity = np.array([0.2, 0.2, 0.2]) - test_state.angular_velocity = np.array([0.2, 0.2, 0.2]) - - # Create a set with only one element - state_set = list() - state_set.append(test_state) - print(len(state_set)) - - # Compute the mean - mean = mean_set(state_set) - - # Compute the covariance - mean_state.covariance = covariance_set(state_set, mean_state) - - # Print the results - print("Mean State:") - print_StateQuat(mean_state) - - # # Create initial state vector and covariance matrix. - # x0 = np.zeros(13) - # x0[0:3] = [0.3, 0.3, 0.3] - # x0[3] = 1 - # x0[7:10] = [0.2, 0.2, 0.2] - # dt = 0.01 - # R = (0.01) * np.eye(3) + # Create initial state vector and covariance matrix. + x0 = np.zeros(13) + x0[0:3] = [0.3, 0.3, 0.3] + x0[3] = 1 + x0[7:10] = [0.2, 0.2, 0.2] + dt = 0.01 + R = (0.01) * np.eye(3) - # Q = 0.00015 * np.eye(12) - # P0 = np.eye(12) * 0.0001 - - # model = process_model() - # model.dt = 0.01 - # model.mass_interia_matrix = np.array([ - # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - # ]) - # model.m = 30.0 - # model.r_b_bg = np.array([0.01, 0.0, 0.02]) - # model.inertia = np.diag([0.68, 3.32, 3.34]) - # model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - # model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - # model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # model_ukf = process_model() - # model_ukf.dt = 0.01 - # model_ukf.mass_interia_matrix = np.array([ - # [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - # [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - # [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - # [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - # [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - # [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - # ]) - # model_ukf.m = 30.0 - # model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) - # model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) - # model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - # model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - # model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # # Simulation parameters - # simulation_time = 20 # seconds - # num_steps = int(simulation_time / dt) - - # # Initialize a dummy StateQuat. - # new_state = StateQuat() - # new_state.fill_states(x0) - # new_state.covariance = P0 - - # test_state_x = StateQuat() - # test_state_x.fill_states(x0) - # test_state_x.covariance = P0 - - # # Initialize a estimated state - # estimated_state = StateQuat() - # estimated_state.fill_states(x0) - # estimated_state.covariance = P0 - - # # Initialize a estimated state - # noisy_state = StateQuat() - # noisy_state.fill_states(x0) - # noisy_state.covariance = P0 - - # measurment_model = MeasModel() - # measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - # measurment_model.covariance = R - - # # Initialize arrays to store the results - # positions = np.zeros((num_steps, 3)) - # orientations = np.zeros((num_steps, 3)) - # velocities = np.zeros((num_steps, 3)) - # angular_velocities = np.zeros((num_steps, 3)) - - # # Initialize arrays to store the estimates - # positions_est = np.zeros((num_steps, 3)) - # orientations_est = np.zeros((num_steps, 3)) - # velocities_est = np.zeros((num_steps, 3)) - # angular_velocities_est = np.zeros((num_steps, 3)) - - # # Initialize the okid params - # okid_params = np.zeros((num_steps, 21)) - - # model.state_vector_prev = new_state - # model.state_vector = new_state - - # model_ukf.state_vector_prev = test_state_x - # model_ukf.state_vector = test_state_x - - # # initialize the ukf - # ukf = UKF(model_ukf, x0, P0, Q, R) - - # elapsed_times = [] - - # u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) - - # # Run the simulation - # for step in range(num_steps): - # # Insert control input - # model.Control_input = u(step * dt) - # model_ukf.Control_input = u(step * dt) - - # # Perform the unscented transform - # model.model_prediction(new_state) - # new_state = model.euler_forward() - - # # Adding noise in the state vector - # estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) - # estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) - # estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) - # estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) - - # start_time = time.time() - # estimated_state = ukf.unscented_transform(estimated_state) - # elapsed_time = time.time() - start_time - # elapsed_times.append(elapsed_time) - - # if step % 10 == 0: - # measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) - # meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) - # estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) - - - # positions[step, :] = new_state.position - # orientations[step, :] = quat_to_euler(new_state.orientation) - # velocities[step, :] = new_state.velocity - # angular_velocities[step, :] = new_state.angular_velocity - - # positions_est[step, :] = estimated_state.position - # orientations_est[step, :] = quat_to_euler(estimated_state.orientation) - # velocities_est[step, :] = estimated_state.velocity - # angular_velocities_est[step, :] = estimated_state.angular_velocity + Q = 0.00015 * np.eye(12) + P0 = np.eye(12) * 0.0001 + + model = process_model() + model.dt = 0.01 + model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model.m = 30.0 + model.r_b_bg = np.array([0.01, 0.0, 0.02]) + model.inertia = np.diag([0.68, 3.32, 3.34]) + model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + model_ukf = process_model() + model_ukf.dt = 0.01 + model_ukf.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] + ]) + model_ukf.m = 30.0 + model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) + model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) + model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) + model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) + model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + # Simulation parameters + simulation_time = 5 # seconds + num_steps = int(simulation_time / dt) + + # Initialize a dummy StateQuat. + new_state = StateQuat() + new_state.fill_states(x0) + new_state.covariance = P0 + + test_state_x = StateQuat() + test_state_x.fill_states(x0) + test_state_x.covariance = P0 + + # Initialize a estimated state + estimated_state = StateQuat() + estimated_state.fill_states(x0) + estimated_state.covariance = P0 + + # Initialize a estimated state + noisy_state = StateQuat() + noisy_state.fill_states(x0) + noisy_state.covariance = P0 + + measurment_model = MeasModel() + measurment_model.measurement = np.array([0.0, 0.0, 0.0]) + measurment_model.covariance = R + + # Initialize arrays to store the results + positions = np.zeros((num_steps, 3)) + orientations = np.zeros((num_steps, 3)) + velocities = np.zeros((num_steps, 3)) + angular_velocities = np.zeros((num_steps, 3)) + + # Initialize arrays to store the estimates + positions_est = np.zeros((num_steps, 3)) + orientations_est = np.zeros((num_steps, 3)) + velocities_est = np.zeros((num_steps, 3)) + angular_velocities_est = np.zeros((num_steps, 3)) + + # Initialize the okid params + okid_params = np.zeros((num_steps, 21)) + + model.state_vector_prev = new_state + model.state_vector = new_state + + model_ukf.state_vector_prev = test_state_x + model_ukf.state_vector = test_state_x + + # initialize the ukf + ukf = UKF(model_ukf, x0, P0, Q, R) + + elapsed_times = [] + + u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + + # Run the simulation + for step in range(num_steps): + # Insert control input + model.Control_input = u(step * dt) + model_ukf.Control_input = u(step * dt) + + # Perform the unscented transform + model.model_prediction(new_state) + new_state = model.euler_forward() + + # Adding noise in the state vector + estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) + estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) + estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) + estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) + + start_time = time.time() + estimated_state = ukf.unscented_transform(estimated_state) + print(estimated_state.as_vector()) + break + elapsed_time = time.time() - start_time + elapsed_times.append(elapsed_time) + + if step % 20 == 0: + measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) + meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) + estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) + + + positions[step, :] = new_state.position + orientations[step, :] = quat_to_euler(new_state.orientation) + velocities[step, :] = new_state.velocity + angular_velocities[step, :] = new_state.angular_velocity + + positions_est[step, :] = estimated_state.position + orientations_est[step, :] = quat_to_euler(estimated_state.orientation) + velocities_est[step, :] = estimated_state.velocity + angular_velocities_est[step, :] = estimated_state.angular_velocity - # # Update the state for the next iteration - # model.state_vector_prev = new_state - - # print('Average elapsed time: ', np.mean(elapsed_times)) - # print('Max elapsed time: ', np.max(elapsed_times)) - # print('Min elapsed time: ', np.min(elapsed_times)) - # print('median elapsed time: ', np.median(elapsed_times)) - # # Plot the results - # time = np.linspace(0, simulation_time, num_steps) - - # # Plot positions - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, positions[:, 0], label='True') - # plt.plot(time, positions_est[:, 0], label='Estimated') - # plt.title('Position X') - # plt.xlabel('Time [s]') - # plt.ylabel('Position X [m]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, positions[:, 1], label='True') - # plt.plot(time, positions_est[:, 1], label='Estimated') - # plt.title('Position Y') - # plt.xlabel('Time [s]') - # plt.ylabel('Position Y [m]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, positions[:, 2], label='True') - # plt.plot(time, positions_est[:, 2], label='Estimated') - # plt.title('Position Z') - # plt.xlabel('Time [s]') - # plt.ylabel('Position Z [m]') - # plt.legend() - - # plt.tight_layout() - # plt.show() - - # # Plot orientations (Euler angles) - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, orientations[:, 0], label='True') - # plt.plot(time, orientations_est[:, 0], label='Estimated') - # plt.title('Orientation Roll') - # plt.xlabel('Time [s]') - # plt.ylabel('Roll [rad]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, orientations[:, 1], label='True') - # plt.plot(time, orientations_est[:, 1], label='Estimated') - # plt.title('Orientation Pitch') - # plt.xlabel('Time [s]') - # plt.ylabel('Pitch [rad]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, orientations[:, 2], label='True') - # plt.plot(time, orientations_est[:, 2], label='Estimated') - # plt.title('Orientation Yaw') - # plt.xlabel('Time [s]') - # plt.ylabel('Yaw [rad]') - # plt.legend() - - # plt.tight_layout() - # plt.show() - - # # Plot velocities - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, velocities[:, 0], label='True') - # plt.plot(time, velocities_est[:, 0], label='Estimated') - # plt.title('Velocity X') - # plt.xlabel('Time [s]') - # plt.ylabel('Velocity X [m/s]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, velocities[:, 1], label='True') - # plt.plot(time, velocities_est[:, 1], label='Estimated') - # plt.title('Velocity Y') - # plt.xlabel('Time [s]') - # plt.ylabel('Velocity Y [m/s]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, velocities[:, 2], label='True') - # plt.plot(time, velocities_est[:, 2], label='Estimated') - # plt.title('Velocity Z') - # plt.xlabel('Time [s]') - # plt.ylabel('Velocity Z [m/s]') - # plt.legend() - - # plt.tight_layout() - # plt.show() - - # # Plot angular velocities - # plt.figure() - # plt.subplot(3, 1, 1) - # plt.plot(time, angular_velocities[:, 0], label='True') - # plt.plot(time, angular_velocities_est[:, 0], label='Estimated') - # plt.title('Angular Velocity X') - # plt.xlabel('Time [s]') - # plt.ylabel('Angular Velocity X [rad/s]') - # plt.legend() - - # plt.subplot(3, 1, 2) - # plt.plot(time, angular_velocities[:, 1], label='True') - # plt.plot(time, angular_velocities_est[:, 1], label='Estimated') - # plt.title('Angular Velocity Y') - # plt.xlabel('Time [s]') - # plt.ylabel('Angular Velocity Y [rad/s]') - # plt.legend() - - # plt.subplot(3, 1, 3) - # plt.plot(time, angular_velocities[:, 2], label='True') - # plt.plot(time, angular_velocities_est[:, 2], label='Estimated') - # plt.title('Angular Velocity Z') - # plt.xlabel('Time [s]') - # plt.ylabel('Angular Velocity Z [rad/s]') - # plt.legend() - - # plt.tight_layout() - # plt.show() \ No newline at end of file + # Update the state for the next iteration + model.state_vector_prev = new_state + + print('Average elapsed time: ', np.mean(elapsed_times)) + print('Max elapsed time: ', np.max(elapsed_times)) + print('Min elapsed time: ', np.min(elapsed_times)) + print('median elapsed time: ', np.median(elapsed_times)) + # Plot the results + time = np.linspace(0, simulation_time, num_steps) + + # Plot positions + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, positions[:, 0], label='True') + plt.plot(time, positions_est[:, 0], label='Estimated') + plt.title('Position X') + plt.xlabel('Time [s]') + plt.ylabel('Position X [m]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, positions[:, 1], label='True') + plt.plot(time, positions_est[:, 1], label='Estimated') + plt.title('Position Y') + plt.xlabel('Time [s]') + plt.ylabel('Position Y [m]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, positions[:, 2], label='True') + plt.plot(time, positions_est[:, 2], label='Estimated') + plt.title('Position Z') + plt.xlabel('Time [s]') + plt.ylabel('Position Z [m]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot orientations (Euler angles) + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, orientations[:, 0], label='True') + plt.plot(time, orientations_est[:, 0], label='Estimated') + plt.title('Orientation Roll') + plt.xlabel('Time [s]') + plt.ylabel('Roll [rad]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, orientations[:, 1], label='True') + plt.plot(time, orientations_est[:, 1], label='Estimated') + plt.title('Orientation Pitch') + plt.xlabel('Time [s]') + plt.ylabel('Pitch [rad]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, orientations[:, 2], label='True') + plt.plot(time, orientations_est[:, 2], label='Estimated') + plt.title('Orientation Yaw') + plt.xlabel('Time [s]') + plt.ylabel('Yaw [rad]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, velocities[:, 0], label='True') + plt.plot(time, velocities_est[:, 0], label='Estimated') + plt.title('Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Velocity X [m/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, velocities[:, 1], label='True') + plt.plot(time, velocities_est[:, 1], label='Estimated') + plt.title('Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Y [m/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, velocities[:, 2], label='True') + plt.plot(time, velocities_est[:, 2], label='Estimated') + plt.title('Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Velocity Z [m/s]') + plt.legend() + + plt.tight_layout() + plt.show() + + # Plot angular velocities + plt.figure() + plt.subplot(3, 1, 1) + plt.plot(time, angular_velocities[:, 0], label='True') + plt.plot(time, angular_velocities_est[:, 0], label='Estimated') + plt.title('Angular Velocity X') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity X [rad/s]') + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time, angular_velocities[:, 1], label='True') + plt.plot(time, angular_velocities_est[:, 1], label='Estimated') + plt.title('Angular Velocity Y') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Y [rad/s]') + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(time, angular_velocities[:, 2], label='True') + plt.plot(time, angular_velocities_est[:, 2], label='Estimated') + plt.title('Angular Velocity Z') + plt.xlabel('Time [s]') + plt.ylabel('Angular Velocity Z [rad/s]') + plt.legend() + + plt.tight_layout() + plt.show() \ No newline at end of file From 6893a159a1929025070754071538268c9f7bc756 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 3 Apr 2025 17:22:08 +0000 Subject: [PATCH 042/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/typedefs.hpp | 40 ++- navigation/eskf/src/eskf.cpp | 69 ++-- navigation/eskf/src/eskf_ros.cpp | 79 +++-- navigation/eskf/src/eskf_utils.cpp | 2 +- .../eskf_python/eskf_python_class.py | 38 +-- .../eskf_python/eskf_python_filter.py | 87 ++--- .../eskf_python/eskf_python_node.py | 32 +- .../eskf_python/eskf_python_utils.py | 82 ++--- .../eskf_python/eskf_python/eskf_test.py | 3 +- .../eskf_python/eskf_test_utils.py | 131 ++++++-- navigation/ukf_okid/ukf_python/rest.py | 31 +- navigation/ukf_okid/ukf_python/ukf_okid.py | 54 +-- .../ukf_okid/ukf_python/ukf_okid_class.py | 307 +++++++++++------- navigation/ukf_okid/ukf_python/ukf_test.py | 106 +++--- navigation/ukf_okid/ukf_python/ukf_utils.py | 18 +- 15 files changed, 631 insertions(+), 448 deletions(-) diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index c0a1e41f9..925d8fd72 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,26 +5,26 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H -#include #include +#include namespace Eigen { - typedef Eigen::Matrix Vector19d; - typedef Eigen::Matrix Vector18d; - typedef Eigen::Matrix Matrix18d; - typedef Eigen::Matrix Matrix19d; - typedef Eigen::Matrix Matrix18x12d; - typedef Eigen::Matrix Matrix4x3d; - typedef Eigen::Matrix Matrix3x19d; - typedef Eigen::Matrix Matrix3x18d; - typedef Eigen::Matrix Matrix12d; - typedef Eigen::Matrix Matrix18d; - typedef Eigen::Matrix Matrix3x1d; - typedef Eigen::Matrix Matrix19x18d; - typedef Eigen::Matrix Matrix18x3d; - typedef Eigen::Matrix Matrix36d; - typedef Eigen::Matrix Matrix6d; - typedef Eigen::Matrix Matrix9d; +typedef Eigen::Matrix Vector19d; +typedef Eigen::Matrix Vector18d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix19d; +typedef Eigen::Matrix Matrix18x12d; +typedef Eigen::Matrix Matrix4x3d; +typedef Eigen::Matrix Matrix3x19d; +typedef Eigen::Matrix Matrix3x18d; +typedef Eigen::Matrix Matrix12d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix3x1d; +typedef Eigen::Matrix Matrix19x18d; +typedef Eigen::Matrix Matrix18x3d; +typedef Eigen::Matrix Matrix36d; +typedef Eigen::Matrix Matrix6d; +typedef Eigen::Matrix Matrix9d; } // namespace Eigen struct state_quat { @@ -89,10 +89,8 @@ struct imu_measurement { void correct() { Eigen::Matrix3d R_nb; - R_nb << 0, 0, -1, - 0, -1, 0, - -1, 0, 0; - + R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; + accel = R_nb * accel_uncorrected; gyro = R_nb * gyro_uncorrected; } diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 55d8516dd..58c532afa 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -6,8 +6,7 @@ #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -ESKF::ESKF(const eskf_params& params) : - Q_(params.Q) {} +ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} std::pair ESKF::van_loan_discretization( const Eigen::Matrix18d& A_c, @@ -48,7 +47,7 @@ Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { Eigen::Quaterniond q = nom_state.quat.normalized(); Eigen::Matrix3d R_bn = q.toRotationMatrix(); - + Eigen::Vector3d v_n = nom_state.vel; Hx.block<3, 3>(0, 3) = R_bn.transpose(); @@ -59,29 +58,25 @@ Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { double qy = q.y(); double qz = q.z(); - dR_dq.col(0) = 2 * Eigen::Vector3d( - qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), - -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), - qy * v_n.x() - qx * v_n.y() + qw * v_n.z() - ); - - dR_dq.col(1) = 2 * Eigen::Vector3d( - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z() - ); - - dR_dq.col(2) = 2 * Eigen::Vector3d( - -qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - -qw * v_n.x() + qz * v_n.y() - qy * v_n.z() - ); - - dR_dq.col(3) = 2 * Eigen::Vector3d( - -qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), - qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z() - ); + dR_dq.col(0) = + 2 * Eigen::Vector3d(qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), + -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), + qy * v_n.x() - qx * v_n.y() + qw * v_n.z()); + + dR_dq.col(1) = + 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), + qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); + + dR_dq.col(2) = + 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), + -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); + + dR_dq.col(3) = + 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), + qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), + qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); Hx.block<3, 4>(0, 6) = dR_dq; @@ -100,7 +95,8 @@ Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { Eigen::Matrix3x1d h; - Eigen::Matrix3d R_bn = nom_state.quat.normalized().toRotationMatrix().transpose(); + Eigen::Matrix3d R_bn = + nom_state.quat.normalized().toRotationMatrix().transpose(); h = R_bn * nom_state.vel; @@ -110,12 +106,15 @@ Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + nom_state.gravity; + Eigen::Vector3d acc = + nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + + nom_state.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; state_quat next_nom_state; - next_nom_state.pos = nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; + next_nom_state.pos = + nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; next_nom_state.vel = nom_state.vel + dt * acc; next_nom_state.quat = (nom_state.quat * vector3d_to_quaternion(gyro)); next_nom_state.quat.normalize(); @@ -188,7 +187,8 @@ std::pair ESKF::injection_and_reset( next_nom_state.pos = nom_state.pos + error_state.pos; next_nom_state.vel = nom_state.vel + error_state.vel; - next_nom_state.quat = nom_state.quat * vector3d_to_quaternion(error_state.euler); + next_nom_state.quat = + nom_state.quat * vector3d_to_quaternion(error_state.euler); next_nom_state.quat.normalize(); next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; @@ -209,7 +209,8 @@ std::pair ESKF::imu_update( const imu_measurement& imu_meas, const double dt) { state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); - state_euler next_error_state = error_state_prediction(error_state, next_nom_state, imu_meas, dt); + state_euler next_error_state = + error_state_prediction(error_state, next_nom_state, imu_meas, dt); return {next_nom_state, next_error_state}; } @@ -218,8 +219,10 @@ std::pair ESKF::dvl_update( const state_quat& nom_state, const state_euler& error_state, const dvl_measurement& dvl_meas) { - state_euler new_error_state = measurement_update(nom_state, error_state, dvl_meas); - auto [updated_nom_state, updated_error_state] = injection_and_reset(nom_state, new_error_state); + state_euler new_error_state = + measurement_update(nom_state, error_state, dvl_meas); + auto [updated_nom_state, updated_error_state] = + injection_and_reset(nom_state, new_error_state); return {updated_nom_state, updated_error_state}; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 524b48c29..d679d600e 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,11 +1,12 @@ #include "eskf/eskf_ros.hpp" +#include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -#include ESKFNode::ESKFNode() : Node("eskf_node") { time_step = std::chrono::milliseconds(1); - odom_pub_timer_ = this->create_wall_timer(time_step, std::bind(&ESKFNode::publish_odom, this)); + odom_pub_timer_ = this->create_wall_timer( + time_step, std::bind(&ESKFNode::publish_odom, this)); set_subscribers_and_publisher(); @@ -16,49 +17,58 @@ ESKFNode::ESKFNode() : Node("eskf_node") { void ESKFNode::set_subscribers_and_publisher() { rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; - auto qos_sensor_data = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + auto qos_sensor_data = rclcpp::QoS( + rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); this->declare_parameter("imu_topic", "imu/data_raw"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); - imu_sub_ = this->create_subscription(imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); + imu_sub_ = this->create_subscription( + imu_topic, qos_sensor_data, + std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); this->declare_parameter("dvl_topic", "/orca/twist"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription(dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); - + dvl_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( + dvl_topic, qos_sensor_data, + std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); this->declare_parameter("odom_topic", "odom"); std::string odom_topic = this->get_parameter("odom_topic").as_string(); - odom_pub_ = this->create_publisher(odom_topic, qos_sensor_data); + odom_pub_ = this->create_publisher( + odom_topic, qos_sensor_data); } void ESKFNode::set_parameters() { - std::vector diag_Q_std; - this->declare_parameter>("diag_Q_std"); // gyroscope bias noise + this->declare_parameter>( + "diag_Q_std"); // gyroscope bias noise diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); - + Eigen::Matrix12d Q; Q.setZero(); - spdlog::info("Q diagonal: {}",diag_Q_std[0]); - Q.diagonal() << - sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), // acceleration noise - sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), // gyroscope noise - sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), // acceleration bias noise - sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); // gyroscope bias noise + spdlog::info("Q diagonal: {}", diag_Q_std[0]); + Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), + sq(diag_Q_std[2]), // acceleration noise + sq(diag_Q_std[3]), sq(diag_Q_std[4]), + sq(diag_Q_std[5]), // gyroscope noise + sq(diag_Q_std[6]), sq(diag_Q_std[7]), + sq(diag_Q_std[8]), // acceleration bias noise + sq(diag_Q_std[9]), sq(diag_Q_std[10]), + sq(diag_Q_std[11]); // gyroscope bias noise eskf_params_.Q = Q; eskf_ = std::make_unique(eskf_params_); Eigen::Matrix18d P; P.setZero(); - P.diagonal() << 1.0, 1.0, 1.0, // position - 0.1, 0.1, 0.1, // velocity - 0.1, 0.1, 0.1, // euler angles - 0.001, 0.001, 0.001, // accel bias - 0.001, 0.001, 0.001, // gyro bias - 0.001, 0.001, 0.001; // gravity + P.diagonal() << 1.0, 1.0, 1.0, // position + 0.1, 0.1, 0.1, // velocity + 0.1, 0.1, 0.1, // euler angles + 0.001, 0.001, 0.001, // accel bias + 0.001, 0.001, 0.001, // gyro bias + 0.001, 0.001, 0.001; // gravity error_state_.covariance = P; } @@ -75,21 +85,28 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; last_imu_time_ = current_time; - imu_meas_.accel_uncorrected << msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z; - imu_meas_.gyro_uncorrected << msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z; + imu_meas_.accel_uncorrected << msg->linear_acceleration.x, + msg->linear_acceleration.y, msg->linear_acceleration.z; + imu_meas_.gyro_uncorrected << msg->angular_velocity.x, + msg->angular_velocity.y, msg->angular_velocity.z; imu_meas_.correct(); - std::tie(nom_state_, error_state_) = eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); + std::tie(nom_state_, error_state_) = + eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - - std::tie(nom_state_, error_state_) = eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], + msg->twist.covariance[14]; + + std::tie(nom_state_, error_state_) = + eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 7a668adfc..930167eaa 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -28,4 +28,4 @@ Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); return q; -} \ No newline at end of file +} diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py index 0ba96ba1f..65d41425d 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ b/navigation/eskf_python/eskf_python/eskf_python_class.py @@ -1,7 +1,9 @@ from dataclasses import dataclass, field + import numpy as np from eskf_python_utils import quaternion_error + @dataclass class StateQuat: position: np.ndarray = field( @@ -19,10 +21,8 @@ class StateQuat: gyro_bias: np.ndarray = field( default_factory=lambda: np.zeros(3) ) # Gyro bias vector (b_gx, b_gy, b_gz) - g: np.ndarray = field( - default_factory=lambda: np.array([0, 0, 0]) - ) # Gravity vector - + g: np.ndarray = field(default_factory=lambda: np.array([0, 0, 0])) # Gravity vector + def as_vector(self) -> np.ndarray: """Returns the state vector as a numpy array. @@ -81,7 +81,7 @@ def R_q(self) -> np.ndarray: ) return R - + def __sub__(self, other: 'StateQuat') -> 'StateQuat': """Subtracts the values of two state vectors. @@ -102,7 +102,6 @@ def __sub__(self, other: 'StateQuat') -> 'StateQuat': return result - @dataclass class StateEuler: position: np.ndarray = field( @@ -172,12 +171,8 @@ def copy_state(self, wanted_state: 'StateEuler') -> None: @dataclass class MeasurementModel: - measurement: np.ndarray = field( - default_factory=lambda: np.zeros(6) - ) - measurement_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((6, 6)) - ) + measurement: np.ndarray = field(default_factory=lambda: np.zeros(6)) + measurement_covariance: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) def H(self) -> np.ndarray: """Calculates the measurement matrix. @@ -190,19 +185,12 @@ def H(self) -> np.ndarray: H[0:3, 3:6] = np.eye(3) return H - + + @dataclass class Measurement: - acceleration: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) - angular_velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) - aiding: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) + acceleration: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + aiding: np.ndarray = field(default_factory=lambda: np.zeros(3)) - aiding_covariance: np.ndarray = field( - default_factory=lambda: np.zeros((3, 3)) - ) \ No newline at end of file + aiding_covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py index 890226639..fac3c8526 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ b/navigation/eskf_python/eskf_python/eskf_python_filter.py @@ -4,7 +4,6 @@ import numpy as np from eskf_python_class import Measurement, StateEuler, StateQuat from eskf_python_utils import ( - R_from_angle_axis, angle_axis_to_quaternion, euler_to_quat, quaternion_product, @@ -44,58 +43,64 @@ def Q_delta_theta(self) -> np.ndarray: return Q_delta_theta def Hx(self) -> np.ndarray: - """ - Computes the true-state measurement Jacobian for the measurement + """Computes the true-state measurement Jacobian for the measurement h(x) = R(q) * velocity, where: - R(q) is the rotation matrix from the quaternion (q, q, q, q) with q as the scalar part, - velocity is a 3-vector. - + The state is assumed to be ordered as: [position (3), velocity (3), quaternion (4), ...] (total length 19). - + The Jacobian Hx is a 3x19 matrix with nonzero blocks: - Columns 3:6 (velocity): R(q) - - Columns 6:10 (quaternion): + - Columns 6:10 (quaternion): """ - q = self.nom_state.orientation # shape (4,) - v = self.nom_state.velocity # shape (3,) + v = self.nom_state.velocity # shape (3,) q0, q1, q2, q3 = q v1, v2, v3 = v R = self.nom_state.R_q().transpose() # shape (3, 3) - - dhdq0 = 2 * np.array([ - q0 * v1 - q3 * v2 + q2 * v3, - q3 * v1 + q0 * v2 - q1 * v3, - -q2 * v1 + q1 * v2 + q0 * v3 - ]) - - dhdq1 = 2 * np.array([ - q1 * v1 + q2 * v2 + q3 * v3, - q2 * v1 - q1 * v2 - q0 * v3, - q3 * v1 + q0 * v2 - q1 * v3 - ]) - - dhdq2 = 2 * np.array([ - -q2 * v1 + q1 * v2 + q0 * v3, - q1 * v1 + q2 * v2 + q3 * v3, - -q0 * v1 + q3 * v2 - q2 * v3 - ]) - - dhdq3 = 2 * np.array([ - -q3 * v1 - q0 * v2 + q1 * v3, - q0 * v1 - q3 * v2 + q2 * v3, - q1 * v1 + q2 * v2 + q3 * v3 - ]) - + + dhdq0 = 2 * np.array( + [ + q0 * v1 - q3 * v2 + q2 * v3, + q3 * v1 + q0 * v2 - q1 * v3, + -q2 * v1 + q1 * v2 + q0 * v3, + ] + ) + + dhdq1 = 2 * np.array( + [ + q1 * v1 + q2 * v2 + q3 * v3, + q2 * v1 - q1 * v2 - q0 * v3, + q3 * v1 + q0 * v2 - q1 * v3, + ] + ) + + dhdq2 = 2 * np.array( + [ + -q2 * v1 + q1 * v2 + q0 * v3, + q1 * v1 + q2 * v2 + q3 * v3, + -q0 * v1 + q3 * v2 - q2 * v3, + ] + ) + + dhdq3 = 2 * np.array( + [ + -q3 * v1 - q0 * v2 + q1 * v3, + q0 * v1 - q3 * v2 + q2 * v3, + q1 * v1 + q2 * v2 + q3 * v3, + ] + ) + dHdq = np.column_stack((dhdq0, dhdq1, dhdq2, dhdq3)) # shape (3, 4) - + Hx = np.zeros((3, 19)) Hx[:, 3:6] = R Hx[:, 6:10] = dHdq - + return Hx def H(self) -> np.ndarray: @@ -262,14 +267,12 @@ def reset_error_state(self) -> None: self.error_state.fill_states(np.zeros(18)) def imu_update(self, imu_data: Measurement) -> None: - """Updates the state using the IMU data. - """ + """Updates the state using the IMU data.""" self.nominal_state_discrete(imu_data) self.error_state_prediction(imu_data) def dvl_update(self, dvl_measurement: Measurement) -> float: - """Updates the state using the DVL measurement. - """ + """Updates the state using the DVL measurement.""" NIS = self.measurement_update(dvl_measurement) self.injection() self.reset_error_state() @@ -278,15 +281,13 @@ def dvl_update(self, dvl_measurement: Measurement) -> float: # functions for tuning the filter def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: - """Calculates the Normalized Innovation Squared (NIS) value. - """ + """Calculates the Normalized Innovation Squared (NIS) value.""" return innovation.T @ np.linalg.inv(S) @ innovation def NEEDS( self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat ) -> float: - """Calculates the Normalized Estimation Error Squared (NEEDS) value. - """ + """Calculates the Normalized Estimation Error Squared (NEEDS) value.""" return ( (true_state - estimate_state).as_vector().T @ np.linalg.inv(P) diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py index ec206ab64..7b300ecc6 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ b/navigation/eskf_python/eskf_python/eskf_python_node.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 +import numpy as np import rclpy +from geometry_msgs.msg import TwistWithCovarianceStamped from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import QoSProfile, qos_profile_sensor_data from sensor_msgs.msg import Imu -import numpy as np -from geometry_msgs.msg import TwistWithCovarianceStamped # NEED TO CHANGE THIS TO THE CORRECT PATH from eskf_python.eskf_python_filter import ( @@ -33,7 +33,10 @@ def __init__(self): ) self.twist_dvl_subscriber_ = self.create_subscription( - TwistWithCovarianceStamped, '/dvl/twist', self.filter_callback, qos_profile=qos_profile + TwistWithCovarianceStamped, + '/dvl/twist', + self.filter_callback, + qos_profile=qos_profile, ) # This publisher will publish the estimtaed state of the vehicle @@ -50,14 +53,22 @@ def __init__(self): self.get_logger().info("Error State Kalman Filter started") def imu_callback(self, msg: Imu): - # Get the IMU data imu_acceleartion = msg.linear_acceleration imu_angular_velocity = msg.angular_velocity # Combine the IMU data - imu_data = np.array([imu_acceleartion.x, imu_acceleartion.y, imu_acceleartion.z, imu_angular_velocity.x, imu_angular_velocity.y, imu_angular_velocity.z]) + imu_data = np.array( + [ + imu_acceleartion.x, + imu_acceleartion.y, + imu_acceleartion.z, + imu_angular_velocity.x, + imu_angular_velocity.y, + imu_angular_velocity.z, + ] + ) # Update the filter with the IMU data self.current_state_nom, self.current_state_error = ( @@ -84,8 +95,6 @@ def imu_callback(self, msg: Imu): # Publish self.state_publisher_.publish(self.odom_msg) - - def filter_callback(self, msg: TwistWithCovarianceStamped): """Callback function for the filter measurement update, this will be called when the filter needs to be updated with the DVL data. @@ -93,7 +102,13 @@ def filter_callback(self, msg: TwistWithCovarianceStamped): self.get_logger().info("Filter callback, got DVL data") # Get the DVL data (linear velocity) - dvl_data = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + dvl_data = np.array( + [ + msg.twist.twist.linear.x, + msg.twist.twist.linear.y, + msg.twist.twist.linear.z, + ] + ) # Update the filter with the DVL data self.current_state_nom, self.current_state_error = ( @@ -124,7 +139,6 @@ def filter_callback(self, msg: TwistWithCovarianceStamped): self.state_publisher_.publish(self.odom_msg) - def main(args=None): rclpy.init(args=args) node = ESKalmanFilterNode() diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py index aaef5f8d6..bbe13d759 100644 --- a/navigation/eskf_python/eskf_python/eskf_python_utils.py +++ b/navigation/eskf_python/eskf_python/eskf_python_utils.py @@ -1,61 +1,61 @@ import numpy as np + def skew_matrix(vector: np.ndarray) -> np.ndarray: - """ - Returns the skew symmetric matrix of a 3x1 vector. + """Returns the skew symmetric matrix of a 3x1 vector. """ return np.array( [ [0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0] + [-vector[1], vector[0], 0], ] ) + def quat_norm(quat: np.ndarray) -> np.ndarray: - """ - Function that normalizes a quaternion + """Function that normalizes a quaternion """ quat = quat / np.linalg.norm(quat) return quat + def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. + """Calculates the quaternion super product of two quaternions. - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. - Returns: - np.ndarray: The quaternion super product. - """ + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) + eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) - eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) + q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) + q_new = q_new / np.linalg.norm(q_new) - q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) - q_new = q_new / np.linalg.norm(q_new) + return q_new - return q_new def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """Calculates the error between two quaternions """ - Calculates the error between two quaternions - """ - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_product(quat_1, quat_2_inv) return error_quat + def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: """Converts an angle-axis representation to a quaternion. @@ -71,13 +71,12 @@ def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: else: axis = vector / angle - q = np.zeros(4) q[0] = np.cos(angle / 2) q[1:] = np.sin(angle / 2) * axis return q - + def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: """Calculates the rotation matrix from the angle-axis representation. @@ -109,40 +108,41 @@ def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: 1 - 2 * q1**2 - 2 * q2**2, ], ] - ) + ) return R + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """ - Converts Euler angles to a quaternion + """Converts Euler angles to a quaternion """ psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) + s_psi = np.sin(psi / 2) c_theta = np.cos(theta / 2) s_theta = np.sin(theta / 2) c_phi = np.cos(phi / 2) s_phi = np.sin(phi / 2) - quat = np.array([ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi - ]) + quat = np.array( + [ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, + ] + ) return quat + def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to Euler angles + """Converts a quaternion to Euler angles """ nu, eta_1, eta_2, eta_3 = quat - phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) return np.array([phi, theta, psi]) - diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py index 0930d9f6c..2c6d94c09 100644 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ b/navigation/eskf_python/eskf_python/eskf_test.py @@ -4,7 +4,6 @@ from eskf_python_filter import ESKF from eskf_python_utils import quat_to_euler from eskf_test_utils import StateQuatModel, process_model -from scipy.stats import chi2 def simulate_eskf(): @@ -356,4 +355,4 @@ def simulate_eskf(): plt.tight_layout() plt.show() -""" \ No newline at end of file +""" diff --git a/navigation/eskf_python/eskf_python/eskf_test_utils.py b/navigation/eskf_python/eskf_python/eskf_test_utils.py index 34abe8eda..a60e62ff0 100644 --- a/navigation/eskf_python/eskf_python/eskf_test_utils.py +++ b/navigation/eskf_python/eskf_python/eskf_test_utils.py @@ -1,15 +1,23 @@ -import numpy as np from dataclasses import dataclass, field -from typing import Tuple -from eskf_python_utils import quaternion_product, euler_to_quat, quat_to_euler, quaternion_error, quat_norm, skew_matrix + +import numpy as np +from eskf_python_utils import ( + euler_to_quat, + quat_norm, + quat_to_euler, + quaternion_error, + quaternion_product, + skew_matrix, +) # This was the original code from the ukf_okid.py file + @dataclass class StateQuatModel: + """A class to represent the state to be estimated by the UKF. """ - A class to represent the state to be estimated by the UKF. - """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -18,7 +26,9 @@ class StateQuatModel: def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + return np.concatenate( + [self.position, self.orientation, self.velocity, self.angular_velocity] + ) def nu(self) -> np.ndarray: """Calculates the nu vector.""" @@ -27,11 +37,25 @@ def nu(self) -> np.ndarray: def R_q(self) -> np.ndarray: """Calculates the rotation matrix from the orientation quaternion.""" q0, q1, q2, q3 = self.orientation - R = np.array([ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] - ]) + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) return R def fill_states(self, state: np.ndarray) -> None: @@ -41,10 +65,14 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + def fill_states_different_dim( + self, state: np.ndarray, state_euler: np.ndarray + ) -> None: """Fills states when the state vector has different dimensions than the default state vector.""" self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.orientation = quaternion_product( + state[3:7], euler_to_quat(state_euler[3:6]) + ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] @@ -52,7 +80,9 @@ def subtract(self, other: 'StateQuatModel') -> np.ndarray: """Subtracts two StateQuatModel objects, returning the difference with Euler angles.""" new_array = np.zeros(len(self.as_vector()) - 1) new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler(quaternion_error(self.orientation, other.orientation)) + new_array[3:6] = quat_to_euler( + quaternion_error(self.orientation, other.orientation) + ) new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity @@ -92,7 +122,9 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: """Inserts the weights into the covariance matrix.""" new_state = StateQuatModel() new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.orientation = quaternion_error( + self.orientation, euler_to_quat(weights[3:6]) + ) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] @@ -107,9 +139,9 @@ def add_without_quaternions(self, other: 'StateQuatModel') -> None: @dataclass class process_model: + """A class defined for a general process model. """ - A class defined for a general process model. - """ + state_vector: StateQuatModel = field(default_factory=StateQuatModel) state_vector_dot: StateQuatModel = field(default_factory=StateQuatModel) state_vector_prev: StateQuatModel = field(default_factory=StateQuatModel) @@ -119,7 +151,7 @@ class process_model: damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) dt: float = 0.0 integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -130,22 +162,33 @@ class process_model: def R(self) -> np.ndarray: """Calculates the rotation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) + R = np.array( + [ + [ + 1 - 2 * e_2**2 - 2 * e_3**2, + 2 * e_1 * e_2 - 2 * nu * e_3, + 2 * e_1 * e_3 + 2 * nu * e_2, + ], + [ + 2 * e_1 * e_2 + 2 * nu * e_3, + 1 - 2 * e_1**2 - 2 * e_3**2, + 2 * e_2 * e_3 - 2 * nu * e_1, + ], + [ + 2 * e_1 * e_3 - 2 * nu * e_2, + 2 * e_2 * e_3 + 2 * nu * e_1, + 1 - 2 * e_1**2 - 2 * e_2**2, + ], + ] + ) return R def T(self) -> np.ndarray: """Calculates the transformation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) + T = 0.5 * np.array( + [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] + ) return T def Crb(self) -> np.ndarray: @@ -170,15 +213,31 @@ def model_prediction(self, state: StateQuatModel) -> None: """Calculates the model of the system.""" self.state_vector = state self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.orientation = np.dot( + self.T(), self.state_vector.angular_velocity + ) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( + self.Control_input + - np.dot(self.Crb(), self.state_vector.nu()) + - np.dot(self.D(), self.state_vector.nu()) + ) self.state_vector_dot.velocity = Nu[:3] self.state_vector_dot.angular_velocity = Nu[3:] def euler_forward(self) -> StateQuatModel: """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt - return self.state_vector \ No newline at end of file + self.state_vector.position = ( + self.state_vector_prev.position + self.state_vector_dot.position * self.dt + ) + self.state_vector.orientation = quat_norm( + self.state_vector_prev.orientation + + self.state_vector_dot.orientation * self.dt + ) + self.state_vector.velocity = ( + self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + ) + self.state_vector.angular_velocity = ( + self.state_vector_prev.angular_velocity + + self.state_vector_dot.angular_velocity * self.dt + ) + return self.state_vector diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py index df7392bd4..52cffb2df 100644 --- a/navigation/ukf_okid/ukf_python/rest.py +++ b/navigation/ukf_okid/ukf_python/rest.py @@ -1,28 +1,33 @@ def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points + """Function that calculates the mean of a set of points """ n = len(set_points[0].as_vector()) - 1 mean_value = StateQuat() if weights is None: for i in range(2 * n + 1): - weight_temp_list = (1/ (2 * n + 1)) * np.ones(2 * n + 1) + weight_temp_list = (1 / (2 * n + 1)) * np.ones(2 * n + 1) mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weight_temp_list) - + + mean_value.orientation = iterative_quaternion_mean_statequat( + set_points, weight_temp_list + ) + else: for i in range(2 * n + 1): mean_value.add_without_quaternions(weights[i] * set_points[i]) - mean_value.orientation = iterative_quaternion_mean_statequat(set_points, weights) - + mean_value.orientation = iterative_quaternion_mean_statequat( + set_points, weights + ) + return mean_value.as_vector() -def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> np.ndarray: - """ - Function that calculates the mean of a set of points + +def mean_measurement( + set_points: list[MeasModel], weights: np.ndarray = None +) -> np.ndarray: + """Function that calculates the mean of a set of points """ n = len(set_points) mean_value = MeasModel() @@ -33,5 +38,5 @@ def mean_measurement(set_points: list[MeasModel], weights: np.ndarray = None) -> else: for i in range(n): mean_value = mean_value + (weights[i] * set_points[i]) - - return mean_value.measurement \ No newline at end of file + + return mean_value.measurement diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 16312935a..80a7c939c 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,7 +1,6 @@ -from ukf_okid_class import * + import numpy as np -import time -import matplotlib.pyplot as plt +from ukf_okid_class import * class UKF: @@ -17,8 +16,7 @@ def __init__(self, process_model: process_model, x_0, P_0, Q, R): self.T = self.generate_T_matrix(len(P_0)) def generate_T_matrix(self, n: float) -> np.ndarray: - """ - Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. + """Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. Parameters: n (int): The state dimension. @@ -29,7 +27,7 @@ def generate_T_matrix(self, n: float) -> np.ndarray: T = np.zeros((n, n)) for i in range(n): - for j in range(n//2): + for j in range(n // 2): T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) @@ -41,8 +39,7 @@ def generate_T_matrix(self, n: float) -> np.ndarray: return T def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """ - Functions that generate the sigma points for the UKF + """Functions that generate the sigma points for the UKF """ n = len(current_state.covariance) @@ -60,18 +57,15 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: return self.sigma_points_list - def unscented_transform(self, current_state: StateQuat) -> StateQuat: + """The unscented transform function generates the priori state estimate """ - The unscented transform function generates the priori state estimate - """ - - _ = self.sigma_points(current_state) + _ = self.sigma_points(current_state) n = len(current_state.covariance) self.y_i = [StateQuat() for _ in range(2 * n)] - for i in range(2 * n ): + for i in range(2 * n): self.process_model.model_prediction(self.sigma_points_list[i]) self.y_i[i] = self.process_model.euler_forward() @@ -82,12 +76,12 @@ def unscented_transform(self, current_state: StateQuat) -> StateQuat: state_estimate.covariance = covariance_set(self.y_i, x) return state_estimate - def measurement_update(self, current_state: StateQuat, measurement: MeasModel) -> tuple[MeasModel, np.ndarray]: - """ - Function that updates the state estimate with a measurement + def measurement_update( + self, current_state: StateQuat, measurement: MeasModel + ) -> tuple[MeasModel, np.ndarray]: + """Function that updates the state estimate with a measurement Hopefully this is the DVL or GNSS """ - n = len(current_state.covariance) z_i = [MeasModel() for _ in range(2 * n)] @@ -100,15 +94,21 @@ def measurement_update(self, current_state: StateQuat, measurement: MeasModel) - meas_update.covariance = covariance_measurement(z_i, meas_update.measurement) - cross_correlation = cross_covariance(self.y_i, current_state.as_vector(), z_i, meas_update.measurement) + cross_correlation = cross_covariance( + self.y_i, current_state.as_vector(), z_i, meas_update.measurement + ) return meas_update, cross_correlation - def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.ndarray, measurement: MeasModel, ex_measuremnt: MeasModel) -> StateQuat: - """ - Calculates the posteriori estimate using measurement and the prior estimate + def posteriori_estimate( + self, + current_state: StateQuat, + cross_correlation: np.ndarray, + measurement: MeasModel, + ex_measuremnt: MeasModel, + ) -> StateQuat: + """Calculates the posteriori estimate using measurement and the prior estimate """ - nu_k = MeasModel() nu_k.measurement = measurement.measurement - ex_measuremnt.measurement @@ -118,8 +118,12 @@ def posteriori_estimate(self, current_state: StateQuat, cross_correlation: np.nd posteriori_estimate = StateQuat() - posteriori_estimate.fill_states_different_dim(current_state.as_vector(), np.dot(K_k, nu_k.measurement)) - posteriori_estimate.covariance = current_state.covariance - np.dot(K_k, np.dot(nu_k.covariance, np.transpose(K_k))) + posteriori_estimate.fill_states_different_dim( + current_state.as_vector(), np.dot(K_k, nu_k.measurement) + ) + posteriori_estimate.covariance = current_state.covariance - np.dot( + K_k, np.dot(nu_k.covariance, np.transpose(K_k)) + ) self.process_model.state_vector_prev = posteriori_estimate diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 4d3281260..181d1f4af 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -1,15 +1,13 @@ from dataclasses import dataclass, field -import numpy as np - -from dataclasses import dataclass, field import numpy as np + @dataclass class StateQuat: + """A class to represent the state to be estimated by the UKF. """ - A class to represent the state to be estimated by the UKF. - """ + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -18,7 +16,9 @@ class StateQuat: def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" - return np.concatenate([self.position, self.orientation, self.velocity, self.angular_velocity]) + return np.concatenate( + [self.position, self.orientation, self.velocity, self.angular_velocity] + ) def nu(self) -> np.ndarray: """Calculates the nu vector.""" @@ -27,11 +27,25 @@ def nu(self) -> np.ndarray: def R_q(self) -> np.ndarray: """Calculates the rotation matrix from the orientation quaternion.""" q0, q1, q2, q3 = self.orientation - R = np.array([ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2] - ]) + R = np.array( + [ + [ + 1 - 2 * q2**2 - 2 * q3**2, + 2 * (q1 * q2 - q0 * q3), + 2 * (q0 * q2 + q1 * q3), + ], + [ + 2 * (q1 * q2 + q0 * q3), + 1 - 2 * q1**2 - 2 * q3**2, + 2 * (q2 * q3 - q0 * q1), + ], + [ + 2 * (q1 * q3 - q0 * q2), + 2 * (q0 * q1 + q2 * q3), + 1 - 2 * q1**2 - 2 * q2**2, + ], + ] + ) return R def fill_states(self, state: np.ndarray) -> None: @@ -41,10 +55,14 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] - def fill_states_different_dim(self, state: np.ndarray, state_euler: np.ndarray) -> None: + def fill_states_different_dim( + self, state: np.ndarray, state_euler: np.ndarray + ) -> None: """Fills states when the state vector has different dimensions than the default state vector.""" self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product(state[3:7], euler_to_quat(state_euler[3:6])) + self.orientation = quaternion_super_product( + state[3:7], euler_to_quat(state_euler[3:6]) + ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] @@ -62,7 +80,9 @@ def __add__(self, other: 'StateQuat') -> 'StateQuat': """Adds two StateQuat objects.""" new_state = StateQuat() new_state.position = self.position + other.position - new_state.orientation = quaternion_super_product(self.orientation, other.orientation) + new_state.orientation = quaternion_super_product( + self.orientation, other.orientation + ) new_state.velocity = self.velocity + other.velocity new_state.angular_velocity = self.angular_velocity + other.angular_velocity @@ -92,7 +112,9 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: """Inserts the weights into the covariance matrix.""" new_state = StateQuat() new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error(self.orientation, euler_to_quat(weights[3:6])) + new_state.orientation = quaternion_error( + self.orientation, euler_to_quat(weights[3:6]) + ) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] @@ -104,11 +126,12 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: self.velocity += other.velocity self.angular_velocity += other.angular_velocity + @dataclass class MeasModel: + """A class defined for a general measurement model. """ - A class defined for a general measurement model. - """ + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) @@ -138,11 +161,12 @@ def __sub__(self, other: 'MeasModel') -> 'MeasModel': result.measurement = self.measurement - other.measurement return result + @dataclass class process_model: + """A class defined for a general process model. """ - A class defined for a general process model. - """ + state_vector: StateQuat = field(default_factory=StateQuat) state_vector_dot: StateQuat = field(default_factory=StateQuat) state_vector_prev: StateQuat = field(default_factory=StateQuat) @@ -152,7 +176,7 @@ class process_model: damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3,3))) + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) dt: float = 0.0 integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) @@ -163,22 +187,33 @@ class process_model: def R(self) -> np.ndarray: """Calculates the rotation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array([ - [1 - 2 * e_2 ** 2 - 2 * e_3 ** 2, 2 * e_1 * e_2 - 2 * nu * e_3, 2 * e_1 * e_3 + 2 * nu * e_2], - [2 * e_1 * e_2 + 2 * nu * e_3, 1 - 2 * e_1 ** 2 - 2 * e_3 ** 2, 2 * e_2 * e_3 - 2 * nu * e_1], - [2 * e_1 * e_3 - 2 * nu * e_2, 2 * e_2 * e_3 + 2 * nu * e_1, 1 - 2 * e_1 ** 2 - 2 * e_2 ** 2] - ]) + R = np.array( + [ + [ + 1 - 2 * e_2**2 - 2 * e_3**2, + 2 * e_1 * e_2 - 2 * nu * e_3, + 2 * e_1 * e_3 + 2 * nu * e_2, + ], + [ + 2 * e_1 * e_2 + 2 * nu * e_3, + 1 - 2 * e_1**2 - 2 * e_3**2, + 2 * e_2 * e_3 - 2 * nu * e_1, + ], + [ + 2 * e_1 * e_3 - 2 * nu * e_2, + 2 * e_2 * e_3 + 2 * nu * e_1, + 1 - 2 * e_1**2 - 2 * e_2**2, + ], + ] + ) return R def T(self) -> np.ndarray: """Calculates the transformation matrix.""" nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array([ - [-e_1, -e_2, -e_3], - [nu, -e_3, e_2], - [e_3, nu, -e_1], - [-e_2, e_1, nu] - ]) + T = 0.5 * np.array( + [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] + ) return T def Crb(self) -> np.ndarray: @@ -203,138 +238,157 @@ def model_prediction(self, state: StateQuat) -> None: """Calculates the model of the system.""" self.state_vector = state self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot(self.T(), self.state_vector.angular_velocity) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ (self.Control_input - np.dot(self.Crb(), self.state_vector.nu()) - np.dot(self.D(), self.state_vector.nu())) + self.state_vector_dot.orientation = np.dot( + self.T(), self.state_vector.angular_velocity + ) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( + self.Control_input + - np.dot(self.Crb(), self.state_vector.nu()) + - np.dot(self.D(), self.state_vector.nu()) + ) self.state_vector_dot.velocity = Nu[:3] self.state_vector_dot.angular_velocity = Nu[3:] def euler_forward(self) -> StateQuat: """Calculates the forward Euler integration.""" - self.state_vector.position = self.state_vector_prev.position + self.state_vector_dot.position * self.dt - self.state_vector.orientation = quat_norm(self.state_vector_prev.orientation + self.state_vector_dot.orientation * self.dt) - self.state_vector.velocity = self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - self.state_vector.angular_velocity = self.state_vector_prev.angular_velocity + self.state_vector_dot.angular_velocity * self.dt + self.state_vector.position = ( + self.state_vector_prev.position + self.state_vector_dot.position * self.dt + ) + self.state_vector.orientation = quat_norm( + self.state_vector_prev.orientation + + self.state_vector_dot.orientation * self.dt + ) + self.state_vector.velocity = ( + self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + ) + self.state_vector.angular_velocity = ( + self.state_vector_prev.angular_velocity + + self.state_vector_dot.angular_velocity * self.dt + ) return self.state_vector + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """ - Converts Euler angles to a quaternion + """Converts Euler angles to a quaternion """ psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) + s_psi = np.sin(psi / 2) c_theta = np.cos(theta / 2) s_theta = np.sin(theta / 2) c_phi = np.cos(phi / 2) s_phi = np.sin(phi / 2) - quat = np.array([ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi - ]) + quat = np.array( + [ + c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, + c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, + s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, + s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, + ] + ) return quat + def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """ - Converts a quaternion to Euler angles + """Converts a quaternion to Euler angles """ nu, eta_1, eta_2, eta_3 = quat - phi = np.arctan2(2*(eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1 ** 2 + eta_2 ** 2)) + phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2 ** 2 + eta_3 ** 2)) + psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) return np.array([phi, theta, psi]) + def quat_norm(quat: np.ndarray) -> np.ndarray: + """Function that normalizes a quaternion """ - Function that normalizes a quaternion - """ - quat = quat / np.linalg.norm(quat) return quat + def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. + """Calculates the skew symmetric matrix of a vector. - Args: - vector (np.ndarray): The vector. + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. + """Calculates the quaternion super product of two quaternions. - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. + Args: + q1 (np.ndarray): The first quaternion. + q2 (np.ndarray): The second quaternion. - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 + Returns: + np.ndarray: The quaternion super product. + """ + eta_0, e_0_x, e_0_y, e_0_z = q1 + eta_1, e_1_x, e_1_y, e_1_z = q2 + + e_0 = np.array([e_0_x, e_0_y, e_0_z]) + e_1 = np.array([e_1_x, e_1_y, e_1_z]) - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) + eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) + nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) + q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) - q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) + return q_new - return q_new def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: + """Calculates the error between two quaternions """ - Calculates the error between two quaternions - """ - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_super_product(quat_1, quat_2_inv) return error_quat -def iterative_quaternion_mean_statequat(state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100) -> np.ndarray: - """ - Computes the weighted mean of the quaternion orientations from a list of StateQuat objects + +def iterative_quaternion_mean_statequat( + state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100 +) -> np.ndarray: + """Computes the weighted mean of the quaternion orientations from a list of StateQuat objects using an iterative approach, without requiring the caller to manually extract the quaternion. - + Parameters: state_list (list[StateQuat]): List of StateQuat objects. weights (np.ndarray): Weights for each state. tol (float): Convergence tolerance. max_iter (int): Maximum number of iterations. - + Returns: np.ndarray: The averaged quaternion as a 4-element numpy array. """ - sigma_quats = [state.orientation for state in state_list] n = len(state_list) mean_q = sigma_quats[0].copy() - + for _ in range(max_iter): weighted_error_vectors = [] for i, q in enumerate(sigma_quats): mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) e = quaternion_super_product(q, mean_q_conj) - + e0_clipped = np.clip(e[0], -1.0, 1.0) angle = 2 * np.arccos(e0_clipped) if np.abs(angle) < 1e-8: @@ -342,28 +396,32 @@ def iterative_quaternion_mean_statequat(state_list: list[StateQuat], tol: float else: error_vec = (angle / np.sin(angle / 2)) * e[1:4] weighted_error_vectors.append(error_vec) - + error_avg = (1 / n) * np.sum(weighted_error_vectors, axis=0) if np.linalg.norm(error_avg) < tol: break - + error_norm = np.linalg.norm(error_avg) if error_norm > 0: - delta_q = np.array([np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm))]) + delta_q = np.array( + [ + np.cos(error_norm / 2), + *(np.sin(error_norm / 2) * (error_avg / error_norm)), + ] + ) else: delta_q = np.array([1.0, 0.0, 0.0, 0.0]) mean_q = quaternion_super_product(delta_q, mean_q) mean_q = quat_norm(mean_q) - + return mean_q + def mean_set(set_points: list[StateQuat]) -> np.ndarray: - """ - Functio calculates the mean vector of a set of points - - Args: + """Function calculates the mean vector of a set of points + + Args: set_points (list[StateQuat]): List of StateQuat objects Returns: @@ -374,30 +432,30 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: for state in set_points: mean_value.add_without_quaternions(state) - - mean_value = (1 / (n)) * mean_value + + mean_value = (1 / (n)) * mean_value mean_value.orientation = iterative_quaternion_mean_statequat(set_points) return mean_value.as_vector() + def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """ - Function that calculates the mean of a set of points + """Function that calculates the mean of a set of points """ n = len(set_points) mean_value = MeasModel() for state in set_points: mean_value = mean_value + state - + mean_value = (1 / n) * mean_value return mean_value.measurement + def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """ - Function that calculates the covariance of a set of points + """Function that calculates the covariance of a set of points """ n = len(set_points) covariance = np.zeros(set_points[0].covariance.shape) @@ -410,23 +468,25 @@ def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: for state in set_points: q = state.orientation diff_q = quaternion_error(q, mean_q) - + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) angle = 2.0 * np.arccos(e0_clipped) if abs(angle) < 1e-8: e_vec = np.zeros(3) else: - e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] + e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] - covariance += np.outer(state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec)) + covariance += np.outer( + state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec) + ) covariance = (1 / (n)) * covariance return covariance + def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """ - Function that calculates the covariance of a set of points + """Function that calculates the covariance of a set of points """ n = len(set_points) co_size = len(set_points[0].measurement) @@ -443,9 +503,14 @@ def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np. return covariance -def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[MeasModel], mean_z: np.ndarray) -> np.ndarray: - """ - Calculates the cross covariance between the measurement and state prediction + +def cross_covariance( + set_y: list[StateQuat], + mean_y: np.ndarray, + set_z: list[MeasModel], + mean_z: np.ndarray, +) -> np.ndarray: + """Calculates the cross covariance between the measurement and state prediction """ n = len(set_y) @@ -458,16 +523,18 @@ def cross_covariance(set_y: list[StateQuat], mean_y: np.ndarray, set_z: list[Mea for i in range(n): q = set_y[i].orientation diff_q = quaternion_error(q, mean_q) - + e0_clipped = np.clip(diff_q[0], -1.0, 1.0) angle = 2.0 * np.arccos(e0_clipped) if abs(angle) < 1e-8: e_vec = np.zeros(3) else: - e_vec = (angle / np.sin(angle/2)) * diff_q[1:4] + e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] + + cross_covariance += np.outer( + set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z + ) - cross_covariance += np.outer(set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z) - cross_covariance = (1 / n) * cross_covariance return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index 3c197ed63..cebb53ac6 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,27 +1,28 @@ -from ukf_okid import UKF -from ukf_okid_class import StateQuat, process_model, MeasModel -import numpy as np import time -import matplotlib.pyplot as plt -from ukf_utils import print_StateQuat_list, print_StateQuat -from ukf_okid_class import quaternion_super_product, quat_to_euler, mean_set, covariance_set +import matplotlib.pyplot as plt +import numpy as np +from ukf_okid import UKF +from ukf_okid_class import ( + MeasModel, + StateQuat, + process_model, + quat_to_euler, + quaternion_super_product, +) def add_quaternion_noise(q, noise_std): - noise = np.random.normal(0, noise_std, 3) theta = np.linalg.norm(noise) if theta > 0: - axis = noise / theta - q_noise = np.hstack((np.cos(theta/2), np.sin(theta/2) * axis)) + q_noise = np.hstack((np.cos(theta / 2), np.sin(theta / 2) * axis)) else: - q_noise = np.array([1.0, 0.0, 0.0, 0.0]) q_new = quaternion_super_product(q, q_noise) @@ -30,7 +31,6 @@ def add_quaternion_noise(q, noise_std): if __name__ == '__main__': - # Create initial state vector and covariance matrix. x0 = np.zeros(13) x0[0:3] = [0.3, 0.3, 0.3] @@ -38,20 +38,22 @@ def add_quaternion_noise(q, noise_std): x0[7:10] = [0.2, 0.2, 0.2] dt = 0.01 R = (0.01) * np.eye(3) - + Q = 0.00015 * np.eye(12) P0 = np.eye(12) * 0.0001 model = process_model() model.dt = 0.01 - model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) + model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) model.m = 30.0 model.r_b_bg = np.array([0.01, 0.0, 0.02]) model.inertia = np.diag([0.68, 3.32, 3.34]) @@ -61,14 +63,16 @@ def add_quaternion_noise(q, noise_std): model_ukf = process_model() model_ukf.dt = 0.01 - model_ukf.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34] - ]) + model_ukf.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) model_ukf.m = 30.0 model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) @@ -101,7 +105,7 @@ def add_quaternion_noise(q, noise_std): measurment_model = MeasModel() measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - measurment_model.covariance = R + measurment_model.covariance = R # Initialize arrays to store the results positions = np.zeros((num_steps, 3)) @@ -129,7 +133,16 @@ def add_quaternion_noise(q, noise_std): elapsed_times = [] - u = lambda t: np.array([2 * np.sin(1 * t), 2 * np.sin(1 * t), 2 * np.sin(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t), 0.2 * np.cos(1 * t)]) + u = lambda t: np.array( + [ + 2 * np.sin(1 * t), + 2 * np.sin(1 * t), + 2 * np.sin(1 * t), + 0.2 * np.cos(1 * t), + 0.2 * np.cos(1 * t), + 0.2 * np.cos(1 * t), + ] + ) # Run the simulation for step in range(num_steps): @@ -142,10 +155,18 @@ def add_quaternion_noise(q, noise_std): new_state = model.euler_forward() # Adding noise in the state vector - estimated_state.position = estimated_state.position # + np.random.normal(0, 0.01, 3) - estimated_state.orientation = estimated_state.orientation #add_quaternion_noise(estimated_state.orientation, 0.01) - estimated_state.velocity = estimated_state.velocity # + np.random.normal(0, 0.01, 3) - estimated_state.angular_velocity = estimated_state.angular_velocity # + np.random.normal(0, 0.01, 3) + estimated_state.position = ( + estimated_state.position + ) # + np.random.normal(0, 0.01, 3) + estimated_state.orientation = ( + estimated_state.orientation + ) # add_quaternion_noise(estimated_state.orientation, 0.01) + estimated_state.velocity = ( + estimated_state.velocity + ) # + np.random.normal(0, 0.01, 3) + estimated_state.angular_velocity = ( + estimated_state.angular_velocity + ) # + np.random.normal(0, 0.01, 3) start_time = time.time() estimated_state = ukf.unscented_transform(estimated_state) @@ -155,10 +176,15 @@ def add_quaternion_noise(q, noise_std): elapsed_times.append(elapsed_time) if step % 20 == 0: - measurment_model.measurement = new_state.velocity # + np.random.normal(0, 0.01, 3) - meas_update, covariance_matrix = ukf.measurement_update(estimated_state, measurment_model) - estimated_state = ukf.posteriori_estimate(estimated_state, covariance_matrix, measurment_model, meas_update) - + measurment_model.measurement = ( + new_state.velocity + ) # + np.random.normal(0, 0.01, 3) + meas_update, covariance_matrix = ukf.measurement_update( + estimated_state, measurment_model + ) + estimated_state = ukf.posteriori_estimate( + estimated_state, covariance_matrix, measurment_model, meas_update + ) positions[step, :] = new_state.position orientations[step, :] = quat_to_euler(new_state.orientation) @@ -169,7 +195,7 @@ def add_quaternion_noise(q, noise_std): orientations_est[step, :] = quat_to_euler(estimated_state.orientation) velocities_est[step, :] = estimated_state.velocity angular_velocities_est[step, :] = estimated_state.angular_velocity - + # Update the state for the next iteration model.state_vector_prev = new_state @@ -294,4 +320,4 @@ def add_quaternion_noise(q, noise_std): plt.legend() plt.tight_layout() - plt.show() \ No newline at end of file + plt.show() diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index ad5871567..da56a7dfc 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -1,19 +1,21 @@ + import numpy as np -from dataclasses import dataclass from ukf_okid_class import StateQuat -def print_StateQuat_list(state_list: list[StateQuat], name="StateQuat List", print_covariance=True): - """ - Custom print function to print a list of StateQuat objects in a formatted form. + +def print_StateQuat_list( + state_list: list[StateQuat], name="StateQuat List", print_covariance=True +): + """Custom print function to print a list of StateQuat objects in a formatted form. """ print(f"{name}:") for i, state in enumerate(state_list): print(f"Index {i}:") print_StateQuat(state, f"StateQuat {i}", print_covariance) + def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): - """ - Custom print function to print StateQuat objects in a formatted form. + """Custom print function to print StateQuat objects in a formatted form. """ print(f"{name}:") print(f" Position: {state.position}") @@ -24,9 +26,9 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): if print_covariance: print_matrix(state.covariance, "Covariance") + def print_matrix(matrix, name="Matrix"): - """ - Custom print function to print matrices in a formatted form. + """Custom print function to print matrices in a formatted form. """ print(f"{name}: {matrix.shape}") if isinstance(matrix, np.ndarray): From dfa687c9cdf9816c72491e5c405275c62b1c712e Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 3 Apr 2025 19:31:45 +0200 Subject: [PATCH 043/109] refactor: remove python eskf --- navigation/eskf_python/CMakeLists.txt | 33 -- navigation/eskf_python/README.md | 0 .../eskf_python/config/eskf_python.yaml | 3 - .../eskf_python/eskf_python/__init__.py | 0 .../eskf_python/eskf_python_class.py | 196 ---------- .../eskf_python/eskf_python_filter.py | 295 --------------- .../eskf_python/eskf_python_node.py | 151 -------- .../eskf_python/eskf_python_utils.py | 148 -------- .../eskf_python/eskf_python/eskf_test.py | 358 ------------------ .../eskf_python/eskf_test_utils.py | 243 ------------ navigation/eskf_python/launch/eskf.launch.py | 22 -- navigation/eskf_python/package.xml | 23 -- navigation/ukf_okid/ukf_python/rest.py | 6 +- navigation/ukf_okid/ukf_python/ukf_okid.py | 10 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 33 +- navigation/ukf_okid/ukf_python/ukf_utils.py | 10 +- 16 files changed, 19 insertions(+), 1512 deletions(-) delete mode 100644 navigation/eskf_python/CMakeLists.txt delete mode 100644 navigation/eskf_python/README.md delete mode 100644 navigation/eskf_python/config/eskf_python.yaml delete mode 100644 navigation/eskf_python/eskf_python/__init__.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_class.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_filter.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_node.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_python_utils.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_test.py delete mode 100644 navigation/eskf_python/eskf_python/eskf_test_utils.py delete mode 100644 navigation/eskf_python/launch/eskf.launch.py delete mode 100644 navigation/eskf_python/package.xml diff --git a/navigation/eskf_python/CMakeLists.txt b/navigation/eskf_python/CMakeLists.txt deleted file mode 100644 index b4fc9118c..000000000 --- a/navigation/eskf_python/CMakeLists.txt +++ /dev/null @@ -1,33 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(eskf_python) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(vortex_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) - -ament_python_install_package(${PROJECT_NAME}) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -install(PROGRAMS - eskf_python/eskf_python_node.py - DESTINATION lib/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_pytest REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) -endif() - -ament_package() diff --git a/navigation/eskf_python/README.md b/navigation/eskf_python/README.md deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/eskf_python/config/eskf_python.yaml b/navigation/eskf_python/config/eskf_python.yaml deleted file mode 100644 index 0d80b90df..000000000 --- a/navigation/eskf_python/config/eskf_python.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - eskf_python_node: diff --git a/navigation/eskf_python/eskf_python/__init__.py b/navigation/eskf_python/eskf_python/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/eskf_python/eskf_python/eskf_python_class.py b/navigation/eskf_python/eskf_python/eskf_python_class.py deleted file mode 100644 index 65d41425d..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_class.py +++ /dev/null @@ -1,196 +0,0 @@ -from dataclasses import dataclass, field - -import numpy as np -from eskf_python_utils import quaternion_error - - -@dataclass -class StateQuat: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.array([1, 0, 0, 0]) - ) # Orientation quaternion (w, x, y, z) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - g: np.ndarray = field(default_factory=lambda: np.array([0, 0, 0])) # Gravity vector - - def as_vector(self) -> np.ndarray: - """Returns the state vector as a numpy array. - - Returns: - np.ndarray: The state vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - self.g, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:10] - self.acceleration_bias = state[10:13] - self.gyro_bias = state[13:16] - self.g = state[16:19] - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion. - - Returns: - np.ndarray: The rotation matrix. - """ - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - - return R - - def __sub__(self, other: 'StateQuat') -> 'StateQuat': - """Subtracts the values of two state vectors. - - Args: - other (StateQuat): The state vector to subtract. - - Returns: - np.ndarray: The difference between the two state vectors. - """ - result = StateQuat() - result.position = self.position - other.position - result.velocity = self.velocity - other.velocity - result.orientation = quaternion_error(self.orientation, other.orientation) - result.acceleration_bias = self.acceleration_bias - other.acceleration_bias - result.gyro_bias = self.gyro_bias - other.gyro_bias - result.g = self.g - other.g - - return result - - -@dataclass -class StateEuler: - position: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Position vector (x, y, z) - velocity: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Velocity vector (u, v, w) - orientation: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Orientation angles (roll, pitch, yaw) - acceleration_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Acceleration bias vector (b_ax, b_ay, b_az) - gyro_bias: np.ndarray = field( - default_factory=lambda: np.zeros(3) - ) # Gyro bias vector (b_gx, b_gy, b_gz) - g: np.ndarray = field( - default_factory=lambda: np.array([0, 0, 9.81]) - ) # Gravity vector - covariance: np.ndarray = field( - default_factory=lambda: np.zeros((18, 18)) - ) # Covariance matrix - - def as_vector(self) -> np.ndarray: - """Returns the state vector as a numpy array. - - Returns: - np.ndarray: The state vector. - """ - return np.concatenate( - [ - self.position, - self.velocity, - self.orientation, - self.acceleration_bias, - self.gyro_bias, - self.g, - ] - ) - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array. - - Args: - state (np.ndarray): The state vector. - """ - self.position = state[0:3] - self.velocity = state[3:6] - self.orientation = state[6:9] - self.acceleration_bias = state[9:12] - self.gyro_bias = state[12:15] - self.g = state[15:18] - - def copy_state(self, wanted_state: 'StateEuler') -> None: - """Copies the state from a StateVector object into the current StateVector object. - - Args: - wanted_state (StateVector_euler): The quaternion state to copy from. - """ - self.position = wanted_state.position - self.velocity = wanted_state.velocity - self.orientation = wanted_state.orientation - self.acceleration_bias = wanted_state.acceleration_bias - self.gyro_bias = wanted_state.gyro_bias - - -@dataclass -class MeasurementModel: - measurement: np.ndarray = field(default_factory=lambda: np.zeros(6)) - measurement_covariance: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. - - Returns: - np.ndarray: The measurement matrix. - """ - H = np.zeros((3, 15)) - - H[0:3, 3:6] = np.eye(3) - - return H - - -@dataclass -class Measurement: - acceleration: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - aiding: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - aiding_covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) diff --git a/navigation/eskf_python/eskf_python/eskf_python_filter.py b/navigation/eskf_python/eskf_python/eskf_python_filter.py deleted file mode 100644 index fac3c8526..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_filter.py +++ /dev/null @@ -1,295 +0,0 @@ -# from dataclasses import dataclass -from typing import Tuple - -import numpy as np -from eskf_python_class import Measurement, StateEuler, StateQuat -from eskf_python_utils import ( - angle_axis_to_quaternion, - euler_to_quat, - quaternion_product, - skew_matrix, -) -from scipy.linalg import block_diag, expm - - -class ESKF: - def __init__( - self, Q: np.ndarray, P0, nom_state: StateQuat, p_accBias, p_gyroBias, dt - ): - self.Q = Q - self.dt = dt - self.nom_state = nom_state - self.error_state = StateEuler() - self.error_state.covariance = P0 - self.p_accBias = p_accBias - self.p_gyroBias = p_gyroBias - - def Q_delta_theta(self) -> np.ndarray: - """Calculates the Q_delta_theta matrix. - See Joan Solà. Quaternion kinematics for the error-state Kalman filter. - chapter: 6.1.1 eq. 281 - """ - qw, qx, qy, qz = self.nom_state.orientation - - Q_delta_theta = 0.5 * np.array( - [ - [-qx, -qy, -qz], - [qw, -qz, qy], - [qz, qw, -qx], - [-qy, qx, qw], - ] - ) - - return Q_delta_theta - - def Hx(self) -> np.ndarray: - """Computes the true-state measurement Jacobian for the measurement - h(x) = R(q) * velocity, - where: - - R(q) is the rotation matrix from the quaternion (q, q, q, q) with q as the scalar part, - - velocity is a 3-vector. - - The state is assumed to be ordered as: - [position (3), velocity (3), quaternion (4), ...] (total length 19). - - The Jacobian Hx is a 3x19 matrix with nonzero blocks: - - Columns 3:6 (velocity): R(q) - - Columns 6:10 (quaternion): - """ - q = self.nom_state.orientation # shape (4,) - v = self.nom_state.velocity # shape (3,) - q0, q1, q2, q3 = q - v1, v2, v3 = v - - R = self.nom_state.R_q().transpose() # shape (3, 3) - - dhdq0 = 2 * np.array( - [ - q0 * v1 - q3 * v2 + q2 * v3, - q3 * v1 + q0 * v2 - q1 * v3, - -q2 * v1 + q1 * v2 + q0 * v3, - ] - ) - - dhdq1 = 2 * np.array( - [ - q1 * v1 + q2 * v2 + q3 * v3, - q2 * v1 - q1 * v2 - q0 * v3, - q3 * v1 + q0 * v2 - q1 * v3, - ] - ) - - dhdq2 = 2 * np.array( - [ - -q2 * v1 + q1 * v2 + q0 * v3, - q1 * v1 + q2 * v2 + q3 * v3, - -q0 * v1 + q3 * v2 - q2 * v3, - ] - ) - - dhdq3 = 2 * np.array( - [ - -q3 * v1 - q0 * v2 + q1 * v3, - q0 * v1 - q3 * v2 + q2 * v3, - q1 * v1 + q2 * v2 + q3 * v3, - ] - ) - - dHdq = np.column_stack((dhdq0, dhdq1, dhdq2, dhdq3)) # shape (3, 4) - - Hx = np.zeros((3, 19)) - Hx[:, 3:6] = R - Hx[:, 6:10] = dHdq - - return Hx - - def H(self) -> np.ndarray: - """Calculates the measurement matrix. - - Returns: - np.ndarray: The measurement matrix. - """ - X_deltax = block_diag(np.eye(6), self.Q_delta_theta(), np.eye(9)) - - H = self.Hx() @ X_deltax - - return H - - def h(self) -> np.ndarray: - """Calculates the measurement model. - - Returns: - np.ndarray: The measurement model. - """ - return self.nom_state.R_q() @ self.nom_state.velocity - - def nominal_state_discrete(self, imu_data: Measurement) -> None: - """Calculates the next nominal state using the discrete-time process model defined in: - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter: 5.4.1 The nominal state kinematics - - Args: - imu_data (np.ndarray): The IMU data. - """ - # Rectify measurements. - acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias - gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias - - R = self.nom_state.R_q() - - self.nom_state.position = ( - self.nom_state.position - + self.nom_state.velocity * self.dt - + 0.5 * (R @ acc_rect + self.nom_state.g) * self.dt**2 - ) - self.nom_state.velocity = ( - self.nom_state.velocity + (R @ acc_rect + self.nom_state.g) * self.dt - ) - self.nom_state.orientation = quaternion_product( - self.nom_state.orientation, angle_axis_to_quaternion(gyro_rect * self.dt) - ) - self.nom_state.acceleration_bias = self.nom_state.acceleration_bias - self.nom_state.gyro_bias = self.nom_state.gyro_bias - self.nom_state.g = self.nom_state.g - - def van_loan_discretization(self, A_c, G_c) -> Tuple[np.ndarray, np.ndarray]: - """Calculates the Van Loan discretization of a continuous-time system. - - Args: - A_c (np.ndarray): The A matrix. - G_c (np.ndarray): The G matrix. - - Returns: - Tuple: The A_d and GQG_d matrices. - """ - GQG_T = np.dot(np.dot(G_c, self.Q), G_c.T) - - matrix_exp = ( - np.block( - [ - [-A_c, GQG_T], - [np.zeros((A_c.shape[0], A_c.shape[0])), np.transpose(A_c)], - ] - ) - * self.dt - ) - - van_loan_matrix = expm(matrix_exp) - - V1 = van_loan_matrix[A_c.shape[0] :, A_c.shape[0] :] - V2 = van_loan_matrix[: A_c.shape[0], A_c.shape[0] :] - - A_d = V1.T - GQG_d = A_d @ V2 - - return A_d, GQG_d - - def error_state_prediction(self, imu_data: Measurement) -> None: - # Rectify measurements. - acc_rect = imu_data.acceleration - self.nom_state.acceleration_bias - gyro_rect = imu_data.angular_velocity - self.nom_state.gyro_bias - - R = self.nom_state.R_q() - - A_c = np.zeros((18, 18)) - - A_c[0:3, 3:6] = np.eye(3) - A_c[3:6, 6:9] = -R @ skew_matrix(acc_rect) - A_c[6:9, 6:9] = -skew_matrix(gyro_rect) - A_c[3:6, 9:12] = -R - A_c[9:12, 9:12] = -self.p_accBias * np.eye(3) - A_c[12:15, 12:15] = -self.p_gyroBias * np.eye(3) - A_c[6:9, 12:15] = -np.eye(3) - A_c[3:6, 15:18] = np.eye(3) - - G_c = np.zeros((18, 12)) - - G_c[3:6, 0:3] = -R - G_c[6:9, 3:6] = -np.eye(3) - G_c[9:12, 6:9] = np.eye(3) - G_c[12:15, 9:12] = np.eye(3) - - A_d, GQG_d = self.van_loan_discretization(A_c, G_c) - - self.error_state.covariance = A_d @ self.error_state.covariance @ A_d.T + GQG_d - - def measurement_update(self, dvl_measurement: Measurement) -> float: - """Updates the error state using the DVL measurement. - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter: 6.1 eq. 274-276 - - Args: - dvl_measurement (np.ndarray): The DVL measurement. - """ - H = self.H() - P = self.error_state.covariance - R = dvl_measurement.aiding_covariance - - S = H @ P @ H.T + R - K = P @ H.T @ np.linalg.inv(S) - innovation = dvl_measurement.aiding - self.h() - - NIS_value = self.NIS(S, innovation) - - self.error_state.fill_states(K @ innovation) - - I_KH = np.eye(18) - K @ H - self.error_state.covariance = ( - I_KH @ P @ I_KH.T + K @ R @ K.T - ) # Joseph form for more stability - return NIS_value - - def injection(self) -> None: - """Injects the error state into the nominal state to produce the estimated state. - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter 6.2 eq. 282-283 - - """ - self.nom_state.position = self.nom_state.position + self.error_state.position - self.nom_state.velocity = self.nom_state.velocity + self.error_state.velocity - self.nom_state.orientation = quaternion_product( - self.nom_state.orientation, euler_to_quat(self.error_state.orientation) - ) - self.nom_state.acceleration_bias = ( - self.nom_state.acceleration_bias + self.error_state.acceleration_bias - ) - self.nom_state.gyro_bias = self.nom_state.gyro_bias + self.error_state.gyro_bias - self.nom_state.g = self.nom_state.g + self.error_state.g - - def reset_error_state(self) -> None: - """Resets the error state after injection. - Joan Solà. Quaternion kinematics for the error-state Kalman filter. - Chapter 6.3 eq. 284-286 - """ - G = np.eye(18) # Neglecting the delta_theta as this is most common in practice - - self.error_state.covariance = G @ self.error_state.covariance @ G.T - self.error_state.fill_states(np.zeros(18)) - - def imu_update(self, imu_data: Measurement) -> None: - """Updates the state using the IMU data.""" - self.nominal_state_discrete(imu_data) - self.error_state_prediction(imu_data) - - def dvl_update(self, dvl_measurement: Measurement) -> float: - """Updates the state using the DVL measurement.""" - NIS = self.measurement_update(dvl_measurement) - self.injection() - self.reset_error_state() - - return NIS - - # functions for tuning the filter - def NIS(self, S: np.ndarray, innovation: np.ndarray) -> float: - """Calculates the Normalized Innovation Squared (NIS) value.""" - return innovation.T @ np.linalg.inv(S) @ innovation - - def NEEDS( - self, P: np.ndarray, true_state: StateQuat, estimate_state: StateQuat - ) -> float: - """Calculates the Normalized Estimation Error Squared (NEEDS) value.""" - return ( - (true_state - estimate_state).as_vector().T - @ np.linalg.inv(P) - @ (true_state - estimate_state).as_vector() - ) diff --git a/navigation/eskf_python/eskf_python/eskf_python_node.py b/navigation/eskf_python/eskf_python/eskf_python_node.py deleted file mode 100644 index 7b300ecc6..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_node.py +++ /dev/null @@ -1,151 +0,0 @@ -#!/usr/bin/env python3 - -import numpy as np -import rclpy -from geometry_msgs.msg import TwistWithCovarianceStamped -from nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import QoSProfile, qos_profile_sensor_data -from sensor_msgs.msg import Imu - -# NEED TO CHANGE THIS TO THE CORRECT PATH -from eskf_python.eskf_python_filter import ( - ErrorStateKalmanFilter, - MeasurementModel, - StateVector_euler, - StateVector_quaternion, -) - -qos_profile = QoSProfile( - depth=1, - history=qos_profile_sensor_data.history, - reliability=qos_profile_sensor_data.reliability, -) - - -class ESKalmanFilterNode(Node): - def __init__(self): - super().__init__("eskf_python_node") - - # This callback will supply information from the IMU (Inertial Measurement Unit) 1000 Hz - self.imu_subscriber_ = self.create_subscription( - Imu, '/orca/imu', self.imu_callback, qos_profile=qos_profile - ) - - self.twist_dvl_subscriber_ = self.create_subscription( - TwistWithCovarianceStamped, - '/dvl/twist', - self.filter_callback, - qos_profile=qos_profile, - ) - - # This publisher will publish the estimtaed state of the vehicle - self.state_publisher_ = self.create_publisher( - Odometry, '/orca/odom', qos_profile=qos_profile - ) - - self.eskf_modual = ErrorStateKalmanFilter() - self.current_state_nom = StateVector_quaternion() - self.current_state_error = StateVector_euler() - self.measurement_pred = MeasurementModel() - self.odom_msg = Odometry() - - self.get_logger().info("Error State Kalman Filter started") - - def imu_callback(self, msg: Imu): - # Get the IMU data - - imu_acceleartion = msg.linear_acceleration - imu_angular_velocity = msg.angular_velocity - - # Combine the IMU data - imu_data = np.array( - [ - imu_acceleartion.x, - imu_acceleartion.y, - imu_acceleartion.z, - imu_angular_velocity.x, - imu_angular_velocity.y, - imu_angular_velocity.z, - ] - ) - - # Update the filter with the IMU data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.imu_update_states( - self.current_state_nom, self.current_state_error, imu_data - ) - ) - - # Inserting the nominal state into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.angular.x = imu_angular_velocity.x - self.odom_msg.twist.twist.angular.y = imu_angular_velocity.y - self.odom_msg.twist.twist.angular.z = imu_angular_velocity.z - - # Publish - self.state_publisher_.publish(self.odom_msg) - - def filter_callback(self, msg: TwistWithCovarianceStamped): - """Callback function for the filter measurement update, - this will be called when the filter needs to be updated with the DVL data. - """ - self.get_logger().info("Filter callback, got DVL data") - - # Get the DVL data (linear velocity) - dvl_data = np.array( - [ - msg.twist.twist.linear.x, - msg.twist.twist.linear.y, - msg.twist.twist.linear.z, - ] - ) - - # Update the filter with the DVL data - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.dvl_update_states( - self.current_state_nom, self.current_state_error, dvl_data - ) - ) - self.current_state_nom, self.current_state_error = ( - ErrorStateKalmanFilter.injection_and_reset( - self.current_state_nom, self.current_state_error - ) - ) - - # Inserting data into the msg - self.odom_msg.pose.pose.position.x = self.current_state_nom.position[0] - self.odom_msg.pose.pose.position.y = self.current_state_nom.position[1] - self.odom_msg.pose.pose.position.z = self.current_state_nom.position[2] - self.odom_msg.pose.pose.orientation.x = self.current_state_nom.orientation[0] - self.odom_msg.pose.pose.orientation.y = self.current_state_nom.orientation[1] - self.odom_msg.pose.pose.orientation.z = self.current_state_nom.orientation[2] - self.odom_msg.pose.pose.orientation.w = self.current_state_nom.orientation[3] - self.odom_msg.twist.twist.linear.x = self.current_state_nom.velocity[0] - self.odom_msg.twist.twist.linear.y = self.current_state_nom.velocity[1] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - self.odom_msg.twist.twist.linear.z = self.current_state_nom.velocity[2] - - # Publishing the data - self.state_publisher_.publish(self.odom_msg) - - -def main(args=None): - rclpy.init(args=args) - node = ESKalmanFilterNode() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/navigation/eskf_python/eskf_python/eskf_python_utils.py b/navigation/eskf_python/eskf_python/eskf_python_utils.py deleted file mode 100644 index bbe13d759..000000000 --- a/navigation/eskf_python/eskf_python/eskf_python_utils.py +++ /dev/null @@ -1,148 +0,0 @@ -import numpy as np - - -def skew_matrix(vector: np.ndarray) -> np.ndarray: - """Returns the skew symmetric matrix of a 3x1 vector. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion - """ - quat = quat / np.linalg.norm(quat) - - return quat - - -def quaternion_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - np.dot(e_0, e_1) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.cross(e_0, e_1) - - q_new = np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]]) - q_new = q_new / np.linalg.norm(q_new) - - return q_new - - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions - """ - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_product(quat_1, quat_2_inv) - - return error_quat - - -def angle_axis_to_quaternion(vector: np.ndarray) -> np.ndarray: - """Converts an angle-axis representation to a quaternion. - - Args: - vector (np.ndarray): The angle-axis representation. - - Returns: - np.ndarray: The quaternion representation. - """ - angle = np.linalg.norm(vector) - if angle < 1e-8: - return np.array([1, 0, 0, 0]) - else: - axis = vector / angle - - q = np.zeros(4) - q[0] = np.cos(angle / 2) - q[1:] = np.sin(angle / 2) * axis - - return q - - -def R_from_angle_axis(vector: np.ndarray) -> np.ndarray: - """Calculates the rotation matrix from the angle-axis representation. - - Args: - vector (np.ndarray): The angle-axis representation. - - Returns: - np.ndarray: The rotation matrix. - """ - quaternion = angle_axis_to_quaternion(vector) - q0, q1, q2, q3 = quaternion - - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - - return R - - -def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion - """ - psi, theta, phi = euler_angles - c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) - c_theta = np.cos(theta / 2) - s_theta = np.sin(theta / 2) - c_phi = np.cos(phi / 2) - s_phi = np.sin(phi / 2) - - quat = np.array( - [ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, - ] - ) - - return quat - - -def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles - """ - nu, eta_1, eta_2, eta_3 = quat - - phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) - theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) - - return np.array([phi, theta, psi]) diff --git a/navigation/eskf_python/eskf_python/eskf_test.py b/navigation/eskf_python/eskf_python/eskf_test.py deleted file mode 100644 index 2c6d94c09..000000000 --- a/navigation/eskf_python/eskf_python/eskf_test.py +++ /dev/null @@ -1,358 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np -from eskf_python_class import Measurement, StateQuat -from eskf_python_filter import ESKF -from eskf_python_utils import quat_to_euler -from eskf_test_utils import StateQuatModel, process_model - - -def simulate_eskf(): - # Simulation parameters - simulation_time = 20.0 # seconds - dt = 0.01 - num_steps = int(simulation_time / dt) - time = np.linspace(0, simulation_time, num_steps) - - # ----------------------- Setup Initial States, Filter & Model ----------------------- - # True initial state - true_state_init = StateQuat() - true_state_init.position = np.array([0.1, 0.0, 0.0]) - true_state_init.velocity = np.array([0.1, 0.0, 0.0]) - P0 = np.diag( - [ - 0.3, - 0.3, - 0.3, # Position - 0.2, - 0.2, - 0.2, # Velocity - 0.2, - 0.2, - 0.2, # Orientation - 0.0001, - 0.0001, - 0.0001, # Acceleration bias - 0.00001, - 0.00001, - 0.00001, # Gyro bias - 0.00001, - 0.00001, - 0.00001, # Gravity - ] - ) - # Noise parameters - Q = np.diag( - [ - (0.13**2), - (0.13**2), - (0.13**2), # Adjusted Accelerometer noise - (0.13**2), - (0.13**2), - (0.13**2), # Adjusted Gyroscope noise - 0.0001, - 0.0001, - 0.0001, # Adjusted Acceleration bias random walk - 0.0001, - 0.0001, - 0.0001, # Adjusted Gyro bias random walk - ] - ) - - # Create filter object - eskf = ESKF(Q, P0, true_state_init, 1e-13, 1e-13, dt) - - # Create measurement objects - imu_data = Measurement() - dvl_data = Measurement() - - # R matrix for DVL aiding - dvl_data.aiding_covariance = np.diag( - [(0.01) ** 2, (0.01) ** 2, (0.01) ** 2] - ) # Adjusted DVL aiding covariance - - # Setup the process model for simulation of AUV - model = process_model() - model.dt = dt - model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - model.m = 30.0 - model.r_b_bg = np.array([0.01, 0.0, 0.02]) - model.inertia = np.diag([0.68, 3.32, 3.34]) - model.damping_linear = np.diag([0.03, 0.03, 0.03, 0.03, 0.03, 0.03]) - - # Initialize a dummy state for simulation dynamics. - # Two where made since there seems to be an issue with declaring two identical objects. - new_state = StateQuatModel() - new_state.position = np.array([0.1, 0.0, 0.0]) - new_state.velocity = np.array([0.1, 0.0, 0.0]) - - new_state_prev = StateQuatModel() - new_state_prev.position = np.array([0.1, 0.0, 0.0]) - new_state_prev.velocity = np.array([0.1, 0.0, 0.0]) - - model.state_vector = new_state - model.state_vector_prev = new_state_prev - - # Initialize arrays to store true and estimated states - true_positions = np.zeros((num_steps, 3)) - true_orientations = np.zeros((num_steps, 3)) - true_velocities = np.zeros((num_steps, 3)) - - est_positions = np.zeros((num_steps, 3)) - est_orientations = np.zeros((num_steps, 3)) - est_velocities = np.zeros((num_steps, 3)) - - # covariance arrays - pos_cov = np.zeros((num_steps, 3)) - vel_cov = np.zeros((num_steps, 3)) - ori_cov = np.zeros((num_steps, 3)) - - prev_velocity = np.zeros(3) - u = lambda t: np.array( - [ - 0.5 * np.sin(0.1 * t), - 0.5 * np.sin(0.1 * t + 0.3), - 0.5 * np.sin(0.1 * t + 0.6), - 0.05 * np.cos(0.1 * t), - 0.05 * np.cos(0.1 * t + 0.3), - 0.05 * np.cos(0.1 * t + 0.6), - ] - ) - - NIS_list = [] - NIS_value = 0.0 - - # Sim - for step in range(num_steps): - t = step * dt - - model.Control_input = u(t) - model.model_prediction(new_state) - new_state = model.euler_forward() - - imu_data.acceleration = ( - (new_state.velocity - prev_velocity) / dt - ) + np.random.normal(0, 0.13, 3) - imu_data.angular_velocity = new_state.angular_velocity + np.random.normal( - 0, 0.13, 3 - ) - - eskf.imu_update(imu_data) - - if step % 200 == 0: - dvl_data.aiding = new_state.velocity + np.random.normal(0, 0.01, 3) - NIS_value = eskf.dvl_update(dvl_data) - NIS_list.append(NIS_value) - - true_positions[step, :] = np.copy(new_state.position) - true_orientations[step, :] = quat_to_euler(np.copy(new_state.orientation)) - true_velocities[step, :] = np.copy(new_state.velocity) - - est_positions[step, :] = np.copy(eskf.nom_state.position) - est_orientations[step, :] = quat_to_euler(np.copy(eskf.nom_state.orientation)) - est_velocities[step, :] = np.copy(eskf.nom_state.velocity) - - P_diag = np.diag(eskf.error_state.covariance) - pos_cov[step, :] = P_diag[0:3] - vel_cov[step, :] = P_diag[3:6] - ori_cov[step, :] = P_diag[6:9] - - prev_velocity = new_state.velocity - model.state_vector_prev = new_state - - return ( - time, - true_positions, - true_orientations, - true_velocities, - est_positions, - est_orientations, - est_velocities, - pos_cov, - vel_cov, - ori_cov, - NIS_list, - ) - - -( - time, - true_positions, - true_orientations, - true_velocities, - est_positions, - est_orientations, - est_velocities, - pos_cov, - vel_cov, - ori_cov, - _, -) = simulate_eskf() - -# Plotting -axis_labels_pos = ["X", "Y", "Z"] -axis_labels_vel = ["X", "Y", "Z"] -axis_labels_ori = ["Roll", "Pitch", "Yaw"] - -# Plot Position -fig_pos, axs_pos = plt.subplots(3, 1, figsize=(10, 12)) -fig_pos.suptitle("True Data vs Filter Estimates for Position") -for i in range(3): - ax_pos = axs_pos[i] - ax_pos.plot( - time, - true_positions[:, i], - label=f"True Pos {axis_labels_pos[i]}", - color=f"C{i}", - linestyle='-', - ) - ax_pos.plot( - time, - est_positions[:, i], - label=f"Est Pos {axis_labels_pos[i]}", - color=f"C{i}", - linestyle='--', - ) - sigma_pos = np.sqrt(pos_cov[:, i]) - ax_pos.fill_between( - time, - est_positions[:, i] - sigma_pos, - est_positions[:, i] + sigma_pos, - color=f"C{i}", - alpha=0.2, - ) - ax_pos.set_title(f"Position [{axis_labels_pos[i]}] [m]") - ax_pos.set_xlabel("Time [s]") - ax_pos.set_ylabel("Position") - ax_pos.grid(True) - ax_pos.legend() - -plt.tight_layout(rect=[0, 0, 1, 0.96]) -plt.show() - -# Plot Velocity -fig_vel, axs_vel = plt.subplots(3, 1, figsize=(10, 12)) -fig_vel.suptitle("True Data vs Filter Estimates for Velocity") -for i in range(3): - ax_vel = axs_vel[i] - ax_vel.plot( - time, - true_velocities[:, i], - label=f"True Vel {axis_labels_vel[i]}", - color=f"C{i}", - linestyle='-', - ) - ax_vel.plot( - time, - est_velocities[:, i], - label=f"Est Vel {axis_labels_vel[i]}", - color=f"C{i}", - linestyle='--', - ) - sigma_vel = np.sqrt(vel_cov[:, i]) - ax_vel.fill_between( - time, - est_velocities[:, i] - sigma_vel, - est_velocities[:, i] + sigma_vel, - color=f"C{i}", - alpha=0.2, - ) - ax_vel.set_title(f"Velocity [{axis_labels_vel[i]}] [m/s]") - ax_vel.set_xlabel("Time [s]") - ax_vel.set_ylabel("Velocity") - ax_vel.grid(True) - ax_vel.legend() - -plt.tight_layout(rect=[0, 0, 1, 0.96]) -plt.show() - -# Plot Orientation -fig_ori, axs_ori = plt.subplots(3, 1, figsize=(10, 12)) -fig_ori.suptitle("True Data vs Filter Estimates for Orientation") -for i in range(3): - ax_ori = axs_ori[i] - ax_ori.plot( - time, - true_orientations[:, i], - label=f"True Ori {axis_labels_ori[i]}", - color=f"C{i}", - linestyle='-', - ) - ax_ori.plot( - time, - est_orientations[:, i], - label=f"Est Ori {axis_labels_ori[i]}", - color=f"C{i}", - linestyle='--', - ) - sigma_ori = np.sqrt(ori_cov[:, i]) - ax_ori.fill_between( - time, - est_orientations[:, i] - sigma_ori, - est_orientations[:, i] + sigma_ori, - color=f"C{i}", - alpha=0.2, - ) - ax_ori.set_title(f"Orientation [{axis_labels_ori[i]}] [rad]") - ax_ori.set_xlabel("Time [s]") - ax_ori.set_ylabel("Orientation") - ax_ori.grid(True) - ax_ori.legend() - -plt.tight_layout(rect=[0, 0, 1, 0.96]) -plt.show() - - -### _______ NIS AND NEEDS _______ -""" -num_simulations = 10 -NIS_runs = [] - -for sim in range(num_simulations): - ( - time, - true_positions, - true_orientations, - true_velocities, - est_positions, - est_orientations, - est_velocities, - pos_cov, - vel_cov, - ori_cov, - NIS_list, - ) = simulate_eskf() - - NIS_runs.append(np.array(NIS_list)) - -NIS_runs = np.vstack(NIS_runs) -ANIS = np.mean(NIS_runs, axis=0) - -measurement_dimension = 3 - -chi2_lower = chi2.ppf(0.025, measurement_dimension) / num_simulations -chi2_upper = chi2.ppf(0.975, measurement_dimension) / num_simulations - -time_steps = np.arange(len(ANIS)) * 0.01 * 20 - -fig, ax = plt.subplots(figsize=(10, 6)) -ax.plot(time_steps, ANIS, label="ANIS", color="C0") -ax.axhline(chi2_lower, color="C1", linestyle="--", label="95% CI Lower") -ax.axhline(chi2_upper, color="C2", linestyle="--", label="95% CI Upper") -ax.set_title("Average Normalized Innovation Squared (ANIS)") -ax.set_xlabel("Time [s]") -ax.set_ylabel("ANIS") -ax.grid(True) -ax.legend() - -plt.tight_layout() -plt.show() -""" diff --git a/navigation/eskf_python/eskf_python/eskf_test_utils.py b/navigation/eskf_python/eskf_python/eskf_test_utils.py deleted file mode 100644 index a60e62ff0..000000000 --- a/navigation/eskf_python/eskf_python/eskf_test_utils.py +++ /dev/null @@ -1,243 +0,0 @@ -from dataclasses import dataclass, field - -import numpy as np -from eskf_python_utils import ( - euler_to_quat, - quat_norm, - quat_to_euler, - quaternion_error, - quaternion_product, - skew_matrix, -) - -# This was the original code from the ukf_okid.py file - - -@dataclass -class StateQuatModel: - """A class to represent the state to be estimated by the UKF. - """ - - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) - - def as_vector(self) -> np.ndarray: - """Returns the StateVector as a numpy array.""" - return np.concatenate( - [self.position, self.orientation, self.velocity, self.angular_velocity] - ) - - def nu(self) -> np.ndarray: - """Calculates the nu vector.""" - return np.concatenate([self.velocity, self.angular_velocity]) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - return R - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array.""" - self.position = state[0:3] - self.orientation = state[3:7] - self.velocity = state[7:10] - self.angular_velocity = state[10:13] - - def fill_states_different_dim( - self, state: np.ndarray, state_euler: np.ndarray - ) -> None: - """Fills states when the state vector has different dimensions than the default state vector.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_product( - state[3:7], euler_to_quat(state_euler[3:6]) - ) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - - def subtract(self, other: 'StateQuatModel') -> np.ndarray: - """Subtracts two StateQuatModel objects, returning the difference with Euler angles.""" - new_array = np.zeros(len(self.as_vector()) - 1) - new_array[:3] = self.position - other.position - new_array[3:6] = quat_to_euler( - quaternion_error(self.orientation, other.orientation) - ) - new_array[6:9] = self.velocity - other.velocity - new_array[9:12] = self.angular_velocity - other.angular_velocity - - return new_array - - def __add__(self, other: 'StateQuatModel') -> 'StateQuatModel': - """Adds two StateQuatModel objects.""" - new_state = StateQuatModel() - new_state.position = self.position + other.position - new_state.orientation = quaternion_product(self.orientation, other.orientation) - new_state.velocity = self.velocity + other.velocity - new_state.angular_velocity = self.angular_velocity + other.angular_velocity - - return new_state - - def __sub__(self, other: 'StateQuatModel') -> 'StateQuatModel': - """Subtracts two StateQuatModel objects.""" - new_state = StateQuatModel() - new_state.position = self.position - other.position - new_state.orientation = quaternion_error(self.orientation, other.orientation) - new_state.velocity = self.velocity - other.velocity - new_state.angular_velocity = self.angular_velocity - other.angular_velocity - - return new_state.as_vector() - - def __rmul__(self, scalar: float) -> 'StateQuatModel': - """Multiplies the StateQuatModel object by a scalar.""" - new_state = StateQuatModel() - new_state.position = scalar * self.position - new_state.orientation = quat_norm(scalar * self.orientation) - new_state.velocity = scalar * self.velocity - new_state.angular_velocity = scalar * self.angular_velocity - - return new_state - - def insert_weights(self, weights: np.ndarray) -> np.ndarray: - """Inserts the weights into the covariance matrix.""" - new_state = StateQuatModel() - new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error( - self.orientation, euler_to_quat(weights[3:6]) - ) - new_state.velocity = self.velocity - weights[6:9] - new_state.angular_velocity = self.angular_velocity - weights[9:12] - - return new_state.as_vector() - - def add_without_quaternions(self, other: 'StateQuatModel') -> None: - """Adds elements into the state vector without considering the quaternions.""" - self.position += other.position - self.velocity += other.velocity - self.angular_velocity += other.angular_velocity - - -@dataclass -class process_model: - """A class defined for a general process model. - """ - - state_vector: StateQuatModel = field(default_factory=StateQuatModel) - state_vector_dot: StateQuatModel = field(default_factory=StateQuatModel) - state_vector_prev: StateQuatModel = field(default_factory=StateQuatModel) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array( - [ - [ - 1 - 2 * e_2**2 - 2 * e_3**2, - 2 * e_1 * e_2 - 2 * nu * e_3, - 2 * e_1 * e_3 + 2 * nu * e_2, - ], - [ - 2 * e_1 * e_2 + 2 * nu * e_3, - 1 - 2 * e_1**2 - 2 * e_3**2, - 2 * e_2 * e_3 - 2 * nu * e_1, - ], - [ - 2 * e_1 * e_3 - 2 * nu * e_2, - 2 * e_2 * e_3 + 2 * nu * e_1, - 1 - 2 * e_1**2 - 2 * e_2**2, - ], - ] - ) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array( - [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] - ) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_matrix(ang_vel) - lever_arm_skew = skew_matrix(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_matrix(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuatModel) -> None: - """Calculates the model of the system.""" - self.state_vector = state - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot( - self.T(), self.state_vector.angular_velocity - ) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( - self.Control_input - - np.dot(self.Crb(), self.state_vector.nu()) - - np.dot(self.D(), self.state_vector.nu()) - ) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> StateQuatModel: - """Calculates the forward Euler integration.""" - self.state_vector.position = ( - self.state_vector_prev.position + self.state_vector_dot.position * self.dt - ) - self.state_vector.orientation = quat_norm( - self.state_vector_prev.orientation - + self.state_vector_dot.orientation * self.dt - ) - self.state_vector.velocity = ( - self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - ) - self.state_vector.angular_velocity = ( - self.state_vector_prev.angular_velocity - + self.state_vector_dot.angular_velocity * self.dt - ) - return self.state_vector diff --git a/navigation/eskf_python/launch/eskf.launch.py b/navigation/eskf_python/launch/eskf.launch.py deleted file mode 100644 index 3cae83dce..000000000 --- a/navigation/eskf_python/launch/eskf.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - eskf_python_node = Node( - package='eskf_python', - executable='eskf_python_node.py', - name='eskf_python_node', - parameters=[ - os.path.join( - get_package_share_directory('eskf_python'), - 'config', - 'eskf_python.yaml', - ), - ], - output='screen', - ) - return LaunchDescription([eskf_python_node]) diff --git a/navigation/eskf_python/package.xml b/navigation/eskf_python/package.xml deleted file mode 100644 index 980653c40..000000000 --- a/navigation/eskf_python/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - eskf_python - 1.0.0 - This package provides the implementation of a error-state kalman filter in python - talhanc - MIT - - ament_cmake_python - - rclpy - python-transforms3d-pip - geometry_msgs - vortex_msgs - - python3-pytest - - - - ament_cmake - - diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py index 52cffb2df..c8b4f3b14 100644 --- a/navigation/ukf_okid/ukf_python/rest.py +++ b/navigation/ukf_okid/ukf_python/rest.py @@ -1,6 +1,5 @@ def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """Function that calculates the mean of a set of points - """ + """Function that calculates the mean of a set of points""" n = len(set_points[0].as_vector()) - 1 mean_value = StateQuat() @@ -27,8 +26,7 @@ def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndar def mean_measurement( set_points: list[MeasModel], weights: np.ndarray = None ) -> np.ndarray: - """Function that calculates the mean of a set of points - """ + """Function that calculates the mean of a set of points""" n = len(set_points) mean_value = MeasModel() diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 80a7c939c..50c68e08c 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,4 +1,3 @@ - import numpy as np from ukf_okid_class import * @@ -39,8 +38,7 @@ def generate_T_matrix(self, n: float) -> np.ndarray: return T def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """Functions that generate the sigma points for the UKF - """ + """Functions that generate the sigma points for the UKF""" n = len(current_state.covariance) I = np.hstack([np.eye(n), -np.eye(n)]) @@ -58,8 +56,7 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: return self.sigma_points_list def unscented_transform(self, current_state: StateQuat) -> StateQuat: - """The unscented transform function generates the priori state estimate - """ + """The unscented transform function generates the priori state estimate""" _ = self.sigma_points(current_state) n = len(current_state.covariance) @@ -107,8 +104,7 @@ def posteriori_estimate( measurement: MeasModel, ex_measuremnt: MeasModel, ) -> StateQuat: - """Calculates the posteriori estimate using measurement and the prior estimate - """ + """Calculates the posteriori estimate using measurement and the prior estimate""" nu_k = MeasModel() nu_k.measurement = measurement.measurement - ex_measuremnt.measurement diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 181d1f4af..45bbffcfe 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -5,8 +5,7 @@ @dataclass class StateQuat: - """A class to represent the state to be estimated by the UKF. - """ + """A class to represent the state to be estimated by the UKF.""" position: np.ndarray = field(default_factory=lambda: np.zeros(3)) orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) @@ -129,8 +128,7 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: @dataclass class MeasModel: - """A class defined for a general measurement model. - """ + """A class defined for a general measurement model.""" measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) @@ -164,8 +162,7 @@ def __sub__(self, other: 'MeasModel') -> 'MeasModel': @dataclass class process_model: - """A class defined for a general process model. - """ + """A class defined for a general process model.""" state_vector: StateQuat = field(default_factory=StateQuat) state_vector_dot: StateQuat = field(default_factory=StateQuat) @@ -269,8 +266,7 @@ def euler_forward(self) -> StateQuat: def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion - """ + """Converts Euler angles to a quaternion""" psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) s_psi = np.sin(psi / 2) @@ -292,8 +288,7 @@ def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles - """ + """Converts a quaternion to Euler angles""" nu, eta_1, eta_2, eta_3 = quat phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) @@ -304,8 +299,7 @@ def quat_to_euler(quat: np.ndarray) -> np.ndarray: def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion - """ + """Function that normalizes a quaternion""" quat = quat / np.linalg.norm(quat) return quat @@ -354,8 +348,7 @@ def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions - """ + """Calculates the error between two quaternions""" quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_super_product(quat_1, quat_2_inv) @@ -441,8 +434,7 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points - """ + """Function that calculates the mean of a set of points""" n = len(set_points) mean_value = MeasModel() @@ -455,8 +447,7 @@ def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points - """ + """Function that calculates the covariance of a set of points""" n = len(set_points) covariance = np.zeros(set_points[0].covariance.shape) @@ -486,8 +477,7 @@ def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points - """ + """Function that calculates the covariance of a set of points""" n = len(set_points) co_size = len(set_points[0].measurement) covariance = np.zeros((co_size, co_size)) @@ -510,8 +500,7 @@ def cross_covariance( set_z: list[MeasModel], mean_z: np.ndarray, ) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction - """ + """Calculates the cross covariance between the measurement and state prediction""" n = len(set_y) cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index da56a7dfc..cb92d9393 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -1,4 +1,3 @@ - import numpy as np from ukf_okid_class import StateQuat @@ -6,8 +5,7 @@ def print_StateQuat_list( state_list: list[StateQuat], name="StateQuat List", print_covariance=True ): - """Custom print function to print a list of StateQuat objects in a formatted form. - """ + """Custom print function to print a list of StateQuat objects in a formatted form.""" print(f"{name}:") for i, state in enumerate(state_list): print(f"Index {i}:") @@ -15,8 +13,7 @@ def print_StateQuat_list( def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): - """Custom print function to print StateQuat objects in a formatted form. - """ + """Custom print function to print StateQuat objects in a formatted form.""" print(f"{name}:") print(f" Position: {state.position}") print(f" Orientation: {state.orientation}") @@ -28,8 +25,7 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): def print_matrix(matrix, name="Matrix"): - """Custom print function to print matrices in a formatted form. - """ + """Custom print function to print matrices in a formatted form.""" print(f"{name}: {matrix.shape}") if isinstance(matrix, np.ndarray): for row in matrix: From fdf7263bcde5a6a5cd9014887a21433ea275cfe2 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sat, 5 Apr 2025 18:27:32 +0200 Subject: [PATCH 044/109] fix: added errorstate and nominalstate variables into the eskf class --- navigation/eskf/config/eskf_params.yaml | 3 +- navigation/eskf/include/eskf/eskf.hpp | 56 +++--- navigation/eskf/include/eskf/eskf_ros.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 13 +- navigation/eskf/src/eskf.cpp | 202 ++++++++++------------ navigation/eskf/src/eskf_node.cpp | 2 +- navigation/eskf/src/eskf_ros.cpp | 40 ++--- navigation/eskf/src/eskf_utils.cpp | 5 +- 8 files changed, 149 insertions(+), 174 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index f89b62f79..87d50ee44 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,4 +3,5 @@ eskf_node: imu_topic: imu/data_raw dvl_twist: /orca/twist odom_topic: odom - diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.000003, 0.000003, 0.000003] + diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] + diag_p_init: [1.0, 1.0, 1.0, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index b30dc35b0..5cc3e0708 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -10,52 +10,41 @@ class ESKF { public: ESKF(const eskf_params& params); + // @brief Update the nominal state and error state + // @param imu_meas: IMU measurement + // @param dt: Time step + // @return Updated nominal state and error state std::pair imu_update( - const state_quat& nom_state, - const state_euler& error_state, const imu_measurement& imu_meas, const double dt); + // @brief Update the nominal state and error state + // @param dvl_meas: DVL measurement + // @return Updated nominal state and error state std::pair dvl_update( - const state_quat& nom_state, - const state_euler& error_state, const dvl_measurement& dvl_meas); private: // @brief Predict the nominal state - // @param nom_state: Nominal state // @param imu_meas: IMU measurement + // @param dt: Time step // @return Predicted nominal state - state_quat nominal_state_discrete(const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt); + void nominal_state_discrete(const imu_measurement& imu_meas, + const double dt); // @brief Predict the error state - // @param error_state: Error state - // @param nom_state: Nominal state // @param imu_meas: IMU measurement + // @param dt: Time step // @return Predicted error state - state_euler error_state_prediction(const state_euler& error_state, - const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt); + void error_state_prediction(const imu_measurement& imu_meas, + const double dt); // @brief Update the error state - // @param error_state: Error state // @param dvl_meas: DVL measurement - // @return Updated error state - state_euler measurement_update(const state_quat& nom_state, - const state_euler& error_state, - const dvl_measurement& dvl_meas); + void measurement_update(const dvl_measurement& dvl_meas); // @brief Inject the error state into the nominal state and reset the error - // state - // @param nom_state: Nominal state - // @param error_state: Error state - // @return Injected and reset state - std::pair injection_and_reset( - const state_quat& nom_state, - const state_euler& error_state); + void injection_and_reset(); // @brief Van Loan discretization // @param A_c: Continuous state transition matrix @@ -69,24 +58,31 @@ class ESKF { // @brief Calculate the delta quaternion matrix // @param nom_state: Nominal state // @return Delta quaternion matrix - Eigen::Matrix4x3d calculate_Q_delta(const state_quat& nom_state); + Eigen::Matrix4x3d calculate_q_delta(); // @brief Calculate the measurement matrix jakobian // @param nom_state: Nominal state // @return Measurement matrix - Eigen::Matrix3x19d calculate_Hx(const state_quat& nom_state); + Eigen::Matrix3x19d calculate_hx(); // @brief Calculate the full measurement matrix // @param nom_state: Nominal state // @return Measurement matrix - Eigen::Matrix3x18d calculate_H(const state_quat& nom_state); + Eigen::Matrix3x18d calculate_h_jacobian(); // @brief Calculate the measurement // @param nom_state: Nominal state // @return Measurement - Eigen::Vector3d calculate_h(const state_quat& nom_state); + Eigen::Vector3d calculate_h(); + // Process noise covariance matrix Eigen::Matrix12d Q_; + + // Member variable for the current error state + state_euler current_error_state_; + + // Member variable for the current nominal state + state_quat current_nom_state_; }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 88f97459f..b5c0b1dab 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -13,7 +13,7 @@ #include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" -#include "typedefs.hpp" +#include "spdlog/spdlog.h" class ESKFNode : public rclcpp::Node { public: diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 925d8fd72..9be435753 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -27,6 +27,13 @@ typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; } // namespace Eigen +template +Eigen::Matrix createDiagonalMatrix( + const std::vector& diag) { + return Eigen::Map>(diag.data()) + .asDiagonal(); +} + struct state_quat { Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); @@ -51,8 +58,6 @@ struct state_quat { diff.accel_bias = accel_bias - other.accel_bias; return diff; } - - Eigen::Matrix3d get_R() const { return quat.toRotationMatrix(); } }; struct state_euler { @@ -91,8 +96,8 @@ struct imu_measurement { Eigen::Matrix3d R_nb; R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; - accel = R_nb * accel_uncorrected; - gyro = R_nb * gyro_uncorrected; + accel = (R_nb * accel_uncorrected); + gyro = (R_nb * gyro_uncorrected); } }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 58c532afa..06c9c44c8 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -30,27 +30,27 @@ std::pair ESKF::van_loan_discretization( return {A_d, GQG_d}; } -Eigen::Matrix4x3d ESKF::calculate_Q_delta(const state_quat& nom_state) { - Eigen::Matrix4x3d Q_delta_theta = Eigen::Matrix4x3d::Zero(); - double qw = nom_state.quat.w(); - double qx = nom_state.quat.x(); - double qy = nom_state.quat.y(); - double qz = nom_state.quat.z(); +Eigen::Matrix4x3d ESKF::calculate_q_delta() { + Eigen::Matrix4x3d q_delta_theta = Eigen::Matrix4x3d::Zero(); + double qw = current_nom_state_.quat.w(); + double qx = current_nom_state_.quat.x(); + double qy = current_nom_state_.quat.y(); + double qz = current_nom_state_.quat.z(); - Q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; + q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; - Q_delta_theta *= 0.5; - return Q_delta_theta; + q_delta_theta *= 0.5; + return q_delta_theta; } -Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { +Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); - Eigen::Quaterniond q = nom_state.quat.normalized(); + Eigen::Quaterniond q = current_nom_state_.quat.normalized(); Eigen::Matrix3d R_bn = q.toRotationMatrix(); - Eigen::Vector3d v_n = nom_state.vel; + Eigen::Vector3d v_n = current_nom_state_.vel; - Hx.block<3, 3>(0, 3) = R_bn.transpose(); + Hx.block<3, 3>(0, 3) = R_bn; Eigen::Matrix dR_dq; double qw = q.w(); @@ -58,80 +58,79 @@ Eigen::Matrix3x19d ESKF::calculate_Hx(const state_quat& nom_state) { double qy = q.y(); double qz = q.z(); + Eigen::Vector3d epsilon(qx, qy, qz); + + Eigen::Vector3d e_1(1, 0, 0); + Eigen::Vector3d e_2(0, 1, 0); + Eigen::Vector3d e_3(0, 0, 1); + dR_dq.col(0) = - 2 * Eigen::Vector3d(qw * v_n.x() + qz * v_n.y() - qy * v_n.z(), - -qz * v_n.x() + qw * v_n.y() + qx * v_n.z(), - qy * v_n.x() - qx * v_n.y() + qw * v_n.z()); + ((4 * qw * Eigen::Matrix3d::Identity()) + (2 * skew(epsilon))) * v_n; - dR_dq.col(1) = - 2 * Eigen::Vector3d(qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - qy * v_n.x() - qx * v_n.y() - qw * v_n.z(), - qz * v_n.x() + qw * v_n.y() - qx * v_n.z()); + dR_dq.col(1) = 2 * + ((e_1 * epsilon.transpose()) + (epsilon * e_1.transpose()) + + (qw * skew(e_1))) * + v_n; - dR_dq.col(2) = - 2 * Eigen::Vector3d(-qy * v_n.x() + qx * v_n.y() + qw * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z(), - -qw * v_n.x() + qz * v_n.y() - qy * v_n.z()); + dR_dq.col(2) = 2 * + ((e_2 * epsilon.transpose()) + (epsilon * e_2.transpose()) + + (qw * skew(e_2))) * + v_n; - dR_dq.col(3) = - 2 * Eigen::Vector3d(-qz * v_n.x() - qw * v_n.y() + qx * v_n.z(), - qw * v_n.x() - qz * v_n.y() + qy * v_n.z(), - qx * v_n.x() + qy * v_n.y() + qz * v_n.z()); + dR_dq.col(3) = 2 * + ((e_3 * epsilon.transpose()) + (epsilon * e_3.transpose()) + + (qw * skew(e_3))) * + v_n; Hx.block<3, 4>(0, 6) = dR_dq; return Hx; } -Eigen::Matrix3x18d ESKF::calculate_H(const state_quat& nom_state) { - Eigen::Matrix19x18d X_delta = Eigen::Matrix19x18d::Zero(); - X_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - X_delta.block<4, 3>(6, 6) = calculate_Q_delta(nom_state); - X_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); +Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { + Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); + x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); + x_delta.block<4, 3>(6, 6) = calculate_q_delta(); + x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); - Eigen::Matrix3x18d H = calculate_Hx(nom_state) * X_delta; + Eigen::Matrix3x18d H = calculate_hx() * x_delta; return H; } -Eigen::Matrix3x1d ESKF::calculate_h(const state_quat& nom_state) { +Eigen::Matrix3x1d ESKF::calculate_h() { Eigen::Matrix3x1d h; Eigen::Matrix3d R_bn = - nom_state.quat.normalized().toRotationMatrix().transpose(); + current_nom_state_.quat.normalized().toRotationMatrix(); - h = R_bn * nom_state.vel; + h = R_bn * current_nom_state_.vel; return h; } -state_quat ESKF::nominal_state_discrete(const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt) { +void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, + const double dt) { Eigen::Vector3d acc = - nom_state.get_R() * (imu_meas.accel - nom_state.accel_bias) + - nom_state.gravity; - Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias) * dt; - - state_quat next_nom_state; - - next_nom_state.pos = - nom_state.pos + nom_state.vel * dt + 0.5 * sq(dt) * acc; - next_nom_state.vel = nom_state.vel + dt * acc; - next_nom_state.quat = (nom_state.quat * vector3d_to_quaternion(gyro)); - next_nom_state.quat.normalize(); - next_nom_state.gyro_bias = nom_state.gyro_bias; - next_nom_state.accel_bias = nom_state.accel_bias; - next_nom_state.gravity = nom_state.gravity; - - return next_nom_state; + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.gravity; + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; + + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.vel = current_nom_state_.vel + dt * acc; + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; + current_nom_state_.accel_bias = current_nom_state_.accel_bias; + current_nom_state_.gravity = current_nom_state_.gravity; } -state_euler ESKF::error_state_prediction(const state_euler& error_state, - const state_quat& nom_state, - const imu_measurement& imu_meas, - const double dt) { - Eigen::Matrix3d R = nom_state.get_R(); - Eigen::Vector3d acc = (imu_meas.accel - nom_state.accel_bias); - Eigen::Vector3d gyro = (imu_meas.gyro - nom_state.gyro_bias); +void ESKF::error_state_prediction(const imu_measurement& imu_meas, + const double dt) { + Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); + Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -152,77 +151,60 @@ state_euler ESKF::error_state_prediction(const state_euler& error_state, auto [A_d, GQG_d] = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; - next_error_state.covariance = - A_d * error_state.covariance * A_d.transpose() + GQG_d; - - return next_error_state; + current_error_state_.covariance = + A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } -state_euler ESKF::measurement_update(const state_quat& nom_state, - const state_euler& error_state, - const dvl_measurement& dvl_meas) { - state_euler new_error_state; - - Eigen::Matrix3x18d H = calculate_H(nom_state); - Eigen::Matrix18d P = error_state.covariance; +void ESKF::measurement_update(const dvl_measurement& dvl_meas) { + Eigen::Matrix3x18d H = calculate_h_jacobian(); + Eigen::Matrix18d P = current_error_state_.covariance; Eigen::Matrix3d R = dvl_meas.cov; Eigen::Matrix3d S = H * P * H.transpose() + R; Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); - Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(nom_state); - new_error_state.set_from_vector(K * innovation); + Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); + current_error_state_.set_from_vector(K * innovation); Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; - new_error_state.covariance = + current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations - - return new_error_state; } -std::pair ESKF::injection_and_reset( - const state_quat& nom_state, - const state_euler& error_state) { - state_quat next_nom_state; - - next_nom_state.pos = nom_state.pos + error_state.pos; - next_nom_state.vel = nom_state.vel + error_state.vel; - next_nom_state.quat = - nom_state.quat * vector3d_to_quaternion(error_state.euler); - next_nom_state.quat.normalize(); - next_nom_state.gyro_bias = nom_state.gyro_bias + error_state.gyro_bias; - next_nom_state.accel_bias = nom_state.accel_bias + error_state.accel_bias; - next_nom_state.gravity = nom_state.gravity + error_state.gravity; - - state_euler new_error_state; +void ESKF::injection_and_reset() { + current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; + current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; + current_nom_state_.quat = + current_nom_state_.quat * + vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = + current_nom_state_.accel_bias + current_error_state_.accel_bias; + current_nom_state_.gravity = + current_nom_state_.gravity + current_error_state_.gravity; Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); - new_error_state.covariance = G * error_state.covariance * G.transpose(); - - return {next_nom_state, new_error_state}; + current_error_state_.covariance = + G * current_error_state_.covariance * G.transpose(); + current_error_state_.set_from_vector(Eigen::Vector18d::Zero()); } std::pair ESKF::imu_update( - const state_quat& nom_state, - const state_euler& error_state, const imu_measurement& imu_meas, const double dt) { - state_quat next_nom_state = nominal_state_discrete(nom_state, imu_meas, dt); - state_euler next_error_state = - error_state_prediction(error_state, next_nom_state, imu_meas, dt); + nominal_state_discrete(imu_meas, dt); + error_state_prediction(imu_meas, dt); - return {next_nom_state, next_error_state}; + return {current_nom_state_, current_error_state_}; } std::pair ESKF::dvl_update( - const state_quat& nom_state, - const state_euler& error_state, const dvl_measurement& dvl_meas) { - state_euler new_error_state = - measurement_update(nom_state, error_state, dvl_meas); - auto [updated_nom_state, updated_error_state] = - injection_and_reset(nom_state, new_error_state); + measurement_update(dvl_meas); + injection_and_reset(); - return {updated_nom_state, updated_error_state}; + return {current_nom_state_, current_error_state_}; } diff --git a/navigation/eskf/src/eskf_node.cpp b/navigation/eskf/src/eskf_node.cpp index e90cebde3..196fa7916 100644 --- a/navigation/eskf/src/eskf_node.cpp +++ b/navigation/eskf/src/eskf_node.cpp @@ -2,7 +2,7 @@ int main(int argc, char** argv) { rclcpp::init(argc, argv); - RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Started ESKF Node"); + spdlog::info("Starting ESKF Node"); rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index d679d600e..06bb047b9 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -20,20 +20,20 @@ void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = rclcpp::QoS( rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); - this->declare_parameter("imu_topic", "imu/data_raw"); + this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); - this->declare_parameter("dvl_topic", "/orca/twist"); + this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); dvl_sub_ = this->create_subscription< geometry_msgs::msg::TwistWithCovarianceStamped>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); - this->declare_parameter("odom_topic", "odom"); + this->declare_parameter("odom_topic"); std::string odom_topic = this->get_parameter("odom_topic").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); @@ -41,34 +41,24 @@ void ESKFNode::set_subscribers_and_publisher() { void ESKFNode::set_parameters() { std::vector diag_Q_std; - this->declare_parameter>( - "diag_Q_std"); // gyroscope bias noise + this->declare_parameter>("diag_Q_std"); diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); Eigen::Matrix12d Q; Q.setZero(); spdlog::info("Q diagonal: {}", diag_Q_std[0]); - Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), - sq(diag_Q_std[2]), // acceleration noise - sq(diag_Q_std[3]), sq(diag_Q_std[4]), - sq(diag_Q_std[5]), // gyroscope noise - sq(diag_Q_std[6]), sq(diag_Q_std[7]), - sq(diag_Q_std[8]), // acceleration bias noise - sq(diag_Q_std[9]), sq(diag_Q_std[10]), - sq(diag_Q_std[11]); // gyroscope bias noise + Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), + sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), + sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), + sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); eskf_params_.Q = Q; eskf_ = std::make_unique(eskf_params_); - Eigen::Matrix18d P; - P.setZero(); - P.diagonal() << 1.0, 1.0, 1.0, // position - 0.1, 0.1, 0.1, // velocity - 0.1, 0.1, 0.1, // euler angles - 0.001, 0.001, 0.001, // accel bias - 0.001, 0.001, 0.001, // gyro bias - 0.001, 0.001, 0.001; // gravity + std::vector diag_p_init = + this->declare_parameter>("diag_p_init"); + Eigen::Matrix18d P = createDiagonalMatrix<18>(diag_p_init); error_state_.covariance = P; } @@ -91,8 +81,7 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { msg->angular_velocity.y, msg->angular_velocity.z; imu_meas_.correct(); - std::tie(nom_state_, error_state_) = - eskf_->imu_update(nom_state_, error_state_, imu_meas_, dt); + std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } void ESKFNode::dvl_callback( @@ -105,8 +94,7 @@ void ESKFNode::dvl_callback( msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - std::tie(nom_state_, error_state_) = - eskf_->dvl_update(nom_state_, error_state_, dvl_meas_); + std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); } void ESKFNode::publish_odom() { @@ -125,6 +113,6 @@ void ESKFNode::publish_odom() { odom_msg.twist.twist.linear.y = nom_state_.vel.y(); odom_msg.twist.twist.linear.z = nom_state_.vel.z(); - odom_msg.header.stamp = this->now(); // Add timestamp to the message + odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); } diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 930167eaa..133589d05 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -18,7 +18,9 @@ Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { return Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); } else { Eigen::Vector3d axis = vector / angle; - return Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); + Eigen::Quaterniond quat = + Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); + return quat; } } @@ -27,5 +29,6 @@ Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { q = Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()) * Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); + q.normalize(); return q; } From a78e9fa428cf8ff558fde9553a931f1616b0bf23 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 17 Apr 2025 18:27:14 +0200 Subject: [PATCH 045/109] feat: modified imu correction and added in tested imu noise --- navigation/eskf/config/eskf_params.yaml | 7 +- navigation/eskf/include/eskf/eskf.hpp | 1 + navigation/eskf/include/eskf/eskf_ros.hpp | 2 + navigation/eskf/include/eskf/typedefs.hpp | 16 +- navigation/eskf/src/eskf.cpp | 21 +- navigation/eskf/src/eskf_ros.cpp | 21 +- navigation/eskf/src/eskf_utils.cpp | 2 +- navigation/ukf_okid/CMakeLists.txt | 23 + navigation/ukf_okid/launch/ukf.launch.py | 16 + navigation/ukf_okid/package.xml | 22 + .../ukf_python/{__ini__.py => __init__.py} | 0 navigation/ukf_okid/ukf_python/rest.py | 40 - navigation/ukf_okid/ukf_python/ukf_okid.py | 100 +-- .../ukf_okid/ukf_python/ukf_okid_class.py | 216 +++++- navigation/ukf_okid/ukf_python/ukf_ros.py | 117 +++ navigation/ukf_okid/ukf_python/ukf_test.py | 721 ++++++++++-------- navigation/ukf_okid/ukf_python/ukf_test_2.py | 40 + navigation/ukf_okid/ukf_python/ukf_utils.py | 1 + 18 files changed, 926 insertions(+), 440 deletions(-) create mode 100644 navigation/ukf_okid/CMakeLists.txt create mode 100644 navigation/ukf_okid/launch/ukf.launch.py create mode 100644 navigation/ukf_okid/package.xml rename navigation/ukf_okid/ukf_python/{__ini__.py => __init__.py} (100%) delete mode 100644 navigation/ukf_okid/ukf_python/rest.py create mode 100755 navigation/ukf_okid/ukf_python/ukf_ros.py create mode 100644 navigation/ukf_okid/ukf_python/ukf_test_2.py diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 87d50ee44..639af1fc9 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,7 +1,8 @@ eskf_node: ros__parameters: imu_topic: imu/data_raw - dvl_twist: /orca/twist + dvl_topic: /orca/twist odom_topic: odom - diag_Q_std: [0.0103, 0.0118, 0.0043, 0.00193, 0.00306, 0.00118, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] - diag_p_init: [1.0, 1.0, 1.0, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] + diag_Q_std: [0.027293, 0.028089, 0.029067, 0.00255253, 0.00270035, 0.00280294, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] + diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] + imu_frame: [0, 0, -1, 0, -1, 0, -1, 0, 0 ] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 5cc3e0708..80b086d26 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -25,6 +25,7 @@ class ESKF { const dvl_measurement& dvl_meas); private: + // @brief Predict the nominal state // @param imu_meas: IMU measurement // @param dt: Time step diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index b5c0b1dab..e0b777c86 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -64,6 +64,8 @@ class ESKFNode : public rclcpp::Node { rclcpp::Time last_imu_time_; bool first_imu_msg_received_ = false; + + Eigen::Matrix3d R_imu_eskf_; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 9be435753..fac89baa7 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -7,6 +7,7 @@ #include #include +#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -40,7 +41,11 @@ struct state_quat { Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); + + state_quat() { + gravity << 0, 0, 9.81; + } Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; @@ -89,16 +94,7 @@ struct state_euler { struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); - Eigen::Vector3d accel_uncorrected = Eigen::Vector3d::Zero(); - Eigen::Vector3d gyro_uncorrected = Eigen::Vector3d::Zero(); - void correct() { - Eigen::Matrix3d R_nb; - R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; - - accel = (R_nb * accel_uncorrected); - gyro = (R_nb * gyro_uncorrected); - } }; struct dvl_measurement { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 06c9c44c8..bbd367c7f 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -107,20 +107,24 @@ Eigen::Matrix3x1d ESKF::calculate_h() { return h; } + void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.quat.normalized().toRotationMatrix() * imu_meas.accel + current_nom_state_.gravity; - Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; + Eigen::Vector3d gyro = imu_meas.gyro * dt/2; current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + + + current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; current_nom_state_.accel_bias = current_nom_state_.accel_bias; current_nom_state_.gravity = current_nom_state_.gravity; @@ -129,8 +133,8 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, void ESKF::error_state_prediction(const imu_measurement& imu_meas, const double dt) { Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); - Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); - Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); + Eigen::Vector3d acc = imu_meas.accel; + Eigen::Vector3d gyro = imu_meas.gyro; Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -148,7 +152,8 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); - auto [A_d, GQG_d] = van_loan_discretization(A_c, G_c, dt); + Eigen::Matrix18d A_d, GQG_d; + std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; current_error_state_.covariance = diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 06bb047b9..a35273103 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -40,6 +40,11 @@ void ESKFNode::set_subscribers_and_publisher() { } void ESKFNode::set_parameters() { + std::vector R_imu_correction; + this->declare_parameter>("imu_frame"); + R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); + R_imu_eskf_ = Eigen::Map>(R_imu_correction.data()); + std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -75,11 +80,17 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; last_imu_time_ = current_time; - imu_meas_.accel_uncorrected << msg->linear_acceleration.x, - msg->linear_acceleration.y, msg->linear_acceleration.z; - imu_meas_.gyro_uncorrected << msg->angular_velocity.x, - msg->angular_velocity.y, msg->angular_velocity.z; - imu_meas_.correct(); + Eigen::Vector3d raw_accel(msg->linear_acceleration.x, + msg->linear_acceleration.y, + msg->linear_acceleration.z); + + imu_meas_.accel = R_imu_eskf_ * raw_accel; + + Eigen::Vector3d raw_gyro(msg->angular_velocity.x, + msg->angular_velocity.y, + msg->angular_velocity.z); + + imu_meas_.gyro = R_imu_eskf_ * raw_gyro; std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 133589d05..a07f3acda 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -20,7 +20,7 @@ Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { Eigen::Vector3d axis = vector / angle; Eigen::Quaterniond quat = Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); - return quat; + return quat.normalized(); } } diff --git a/navigation/ukf_okid/CMakeLists.txt b/navigation/ukf_okid/CMakeLists.txt new file mode 100644 index 000000000..901ca044b --- /dev/null +++ b/navigation/ukf_okid/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.8) +project(ukf_python) + +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(vortex_msgs REQUIRED) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +ament_python_install_package(${PROJECT_NAME}) + +install(PROGRAMS + ukf_python/ukf_ros.py + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py new file mode 100644 index 000000000..62a439b94 --- /dev/null +++ b/navigation/ukf_okid/launch/ukf.launch.py @@ -0,0 +1,16 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + + ukf_node = Node( + package="ukf_python", + executable="ukf_ros.py", + name="ukf_node", + ) + + return LaunchDescription([ukf_node]) diff --git a/navigation/ukf_okid/package.xml b/navigation/ukf_okid/package.xml new file mode 100644 index 000000000..1c1b2b4cb --- /dev/null +++ b/navigation/ukf_okid/package.xml @@ -0,0 +1,22 @@ + + + + ukf_python + 1.0.0 + Uscented Kalman filter for AUV model + talha + MIT + + ament_cmake_python + + rclpy + geometry_msgs + nav_msgs + vortex_msgs + python-control-pip + std_msgs + + + ament_cmake + + diff --git a/navigation/ukf_okid/ukf_python/__ini__.py b/navigation/ukf_okid/ukf_python/__init__.py similarity index 100% rename from navigation/ukf_okid/ukf_python/__ini__.py rename to navigation/ukf_okid/ukf_python/__init__.py diff --git a/navigation/ukf_okid/ukf_python/rest.py b/navigation/ukf_okid/ukf_python/rest.py deleted file mode 100644 index c8b4f3b14..000000000 --- a/navigation/ukf_okid/ukf_python/rest.py +++ /dev/null @@ -1,40 +0,0 @@ -def mean_set(set_points: list[StateQuat], weights: np.ndarray = None) -> np.ndarray: - """Function that calculates the mean of a set of points""" - n = len(set_points[0].as_vector()) - 1 - mean_value = StateQuat() - - if weights is None: - for i in range(2 * n + 1): - weight_temp_list = (1 / (2 * n + 1)) * np.ones(2 * n + 1) - mean_value.add_without_quaternions(weight_temp_list[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat( - set_points, weight_temp_list - ) - - else: - for i in range(2 * n + 1): - mean_value.add_without_quaternions(weights[i] * set_points[i]) - - mean_value.orientation = iterative_quaternion_mean_statequat( - set_points, weights - ) - - return mean_value.as_vector() - - -def mean_measurement( - set_points: list[MeasModel], weights: np.ndarray = None -) -> np.ndarray: - """Function that calculates the mean of a set of points""" - n = len(set_points) - mean_value = MeasModel() - - if weights is None: - for i in range(n): - mean_value = mean_value + set_points[i] - else: - for i in range(n): - mean_value = mean_value + (weights[i] * set_points[i]) - - return mean_value.measurement diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 50c68e08c..af61d1a79 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,69 +1,77 @@ import numpy as np -from ukf_okid_class import * +from ukf_utils import print_StateQuat +from ukf_okid_class import ( + MeasModel, + StateQuat, + covariance_measurement, + covariance_set, + cross_covariance, + mean_measurement, + mean_set, + process_model, + okid_process_model, +) class UKF: - def __init__(self, process_model: process_model, x_0, P_0, Q, R): + def __init__(self, process_model: okid_process_model, x_0, P_0, Q, G): self.x = x_0 self.P = P_0 self.Q = Q - self.R = R + self.G = G self.process_model = process_model self.sigma_points_list = None + self.measurement_updated = MeasModel() self.y_i = None self.weight = None - self.T = self.generate_T_matrix(len(P_0)) + self.delta = self.generate_delta_matrix(len(x_0.as_vector()) - 1) + self.cross_correlation = None - def generate_T_matrix(self, n: float) -> np.ndarray: - """Generates the orthonormal transformation matrix T used in the TUKF sigma point generation. + def generate_delta_matrix(self, n: float) -> np.ndarray: + """Generates the weight matrix used in the TUKF sigma point generation. Parameters: n (int): The state dimension. Returns: - T (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. + delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ - T = np.zeros((n, n)) + delta = np.zeros((n, 2 * n)) + k = 0.01 #Tuning parameter to ensure pos def - for i in range(n): + for i in range(2 * n): for j in range(n // 2): - T[2 * j - 2, i - 1] = np.sqrt(2) * np.cos(((2 * j - 1) * i * np.pi) / n) - T[2 * j - 1, i - 1] = np.sqrt(2) * np.sin(((2 * j - 1) * i * np.pi) / n) - - if n % 2 == 1: # if n is odd - T[n - 1, i - 1] = (-1) ** i - - T = T / np.sqrt(2) - - return T + delta[2 * j + 1, i] = np.sqrt(2) * np.sin((2 * j - 1)) * ((k * np.pi) / n) + delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1)) * ((k * np.pi) / n) + + if (n % 2) == 1: + delta[n-1, i] = (-1)**i + return delta def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """Functions that generate the sigma points for the UKF""" + """Functions that generate the sigma points for the UKF.""" n = len(current_state.covariance) - I = np.hstack([np.eye(n), -np.eye(n)]) - my = np.sqrt(n) * I - delta = self.T @ my - S = np.linalg.cholesky(current_state.covariance + self.Q) self.sigma_points_list = [StateQuat() for _ in range(2 * n)] for index, state in enumerate(self.sigma_points_list): - delta_x = S @ delta[:, index] - state.fill_states_different_dim(current_state.as_vector(), delta_x) + delta_x = S @ self.delta[:, index] + state.fill_dynamic_states(current_state.as_vector(), delta_x) return self.sigma_points_list def unscented_transform(self, current_state: StateQuat) -> StateQuat: - """The unscented transform function generates the priori state estimate""" - _ = self.sigma_points(current_state) + """The unscented transform function generates the priori state estimate.""" + self.sigma_points(current_state) n = len(current_state.covariance) self.y_i = [StateQuat() for _ in range(2 * n)] - for i in range(2 * n): - self.process_model.model_prediction(self.sigma_points_list[i]) + for i, state in enumerate(self.sigma_points_list): + self.process_model.model_prediction(state) + self.process_model.state_vector_prev = state self.y_i[i] = self.process_model.euler_forward() state_estimate = StateQuat() @@ -75,42 +83,36 @@ def unscented_transform(self, current_state: StateQuat) -> StateQuat: def measurement_update( self, current_state: StateQuat, measurement: MeasModel - ) -> tuple[MeasModel, np.ndarray]: - """Function that updates the state estimate with a measurement + ) -> None: + """Function that updates the state estimate with a measurement. + Hopefully this is the DVL or GNSS """ n = len(current_state.covariance) z_i = [MeasModel() for _ in range(2 * n)] - for i in range(2 * n): - z_i[i] = measurement.H(self.sigma_points_list[i]) + for i, state in enumerate(self.sigma_points_list): + z_i[i] = measurement.H(state) - meas_update = MeasModel() + self.measurement_updated.measurement = mean_measurement(z_i) - meas_update.measurement = mean_measurement(z_i) + self.measurement_updated.covariance = covariance_measurement(z_i, self.measurement_updated.measurement) - meas_update.covariance = covariance_measurement(z_i, meas_update.measurement) - - cross_correlation = cross_covariance( - self.y_i, current_state.as_vector(), z_i, meas_update.measurement + self.cross_correlation = cross_covariance( + self.y_i, current_state.as_vector(), z_i, self.measurement_updated.measurement ) - return meas_update, cross_correlation - def posteriori_estimate( self, current_state: StateQuat, - cross_correlation: np.ndarray, measurement: MeasModel, - ex_measuremnt: MeasModel, ) -> StateQuat: - """Calculates the posteriori estimate using measurement and the prior estimate""" + """Calculates the posteriori estimate using measurement and the prior estimate.""" nu_k = MeasModel() + nu_k.measurement = measurement.measurement - self.measurement_updated.measurement + nu_k.covariance = self.measurement_updated.covariance + measurement.covariance - nu_k.measurement = measurement.measurement - ex_measuremnt.measurement - nu_k.covariance = ex_measuremnt.covariance + measurement.covariance - - K_k = np.dot(cross_correlation, np.linalg.inv(nu_k.covariance)) + K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) posteriori_estimate = StateQuat() @@ -121,6 +123,4 @@ def posteriori_estimate( K_k, np.dot(nu_k.covariance, np.transpose(K_k)) ) - self.process_model.state_vector_prev = posteriori_estimate - return posteriori_estimate diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 45bbffcfe..5558ad754 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -2,6 +2,54 @@ import numpy as np +@dataclass +class okid: + """A class to represent the parameters for the OKID algorithm.""" + + inertia: np.ndarray = field(default_factory=lambda: np.array([0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34])) + added_mass: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,2.0,2.0,2.0])) + damping_linear: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,1.0,1.0,1.0])) + + def fill(self, state: np.ndarray) -> None: + """Fills the okid_params object with values from a numpy array.""" + self.inertia = state[0:9] + self.added_mass = state[9:15] + self.damping_linear = state[15:] + + def as_vector(self) -> np.ndarray: + """Returns the okid_params as a numpy array.""" + return np.concatenate([self.inertia, self.added_mass, self.damping_linear]) + + def __add__(self, other: 'okid') -> 'okid': + """Defines the addition operation between two okid_params objects.""" + result = okid() + result.inertia = self.inertia + other.inertia + result.added_mass = self.added_mass + other.added_mass + result.damping_linear = self.damping_linear + other.damping_linear + return result + def __sub__(self, other: 'okid') -> 'okid': + """Defines the subtraction operation between two okid_params objects.""" + result = okid() + result.inertia = self.inertia - other.inertia + result.added_mass = self.added_mass - other.added_mass + result.damping_linear = self.damping_linear - other.damping_linear + return result + + def __sub__(self, other: np.ndarray) -> 'okid': + """ Defines sub between okid_params and np.ndarray.""" + result = okid() + result.inertia = self.inertia - other[0:9] + result.added_mass = self.added_mass - other[9:15] + result.damping_linear = self.damping_linear - other[15:] + return result + + def __rmul__(self, scalar: float) -> 'okid': + """Defines the multiplication operation between a scalar and okid_params object.""" + result = okid() + result.inertia = scalar * self.inertia + result.added_mass = scalar * self.added_mass + result.damping_linear = scalar * self.damping_linear + return result @dataclass class StateQuat: @@ -11,10 +59,16 @@ class StateQuat: orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((12, 12))) + okid_params: okid = field(default_factory=okid) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" + return np.concatenate( + [self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params.as_vector()] + ) + def dynamic_part(self) -> np.ndarray: + """Returns the dynamic part of the state vector.""" return np.concatenate( [self.position, self.orientation, self.velocity, self.angular_velocity] ) @@ -53,6 +107,16 @@ def fill_states(self, state: np.ndarray) -> None: self.orientation = state[3:7] self.velocity = state[7:10] self.angular_velocity = state[10:13] + self.okid_params.fill(state[13:]) + + def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> None: + """Fills only the dynamic part of the state vector with the values from a numpy array.""" + self.position = state[0:3] + state_euler[0:3] + self.orientation = quaternion_super_product( + state[3:7], euler_to_quat(state_euler[3:6]) + ) + self.velocity = state[7:10] + state_euler[6:9] + self.angular_velocity = state[10:13] + state_euler[9:12] def fill_states_different_dim( self, state: np.ndarray, state_euler: np.ndarray @@ -64,6 +128,7 @@ def fill_states_different_dim( ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] + self.okid_params.fill(state[13:] + state_euler[12:]) def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: """Subtracts two StateQuat objects, returning the difference with Euler angles.""" @@ -72,6 +137,7 @@ def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: new_array[3:6] = error_ori new_array[6:9] = self.velocity - other.velocity new_array[9:12] = self.angular_velocity - other.angular_velocity + new_array[12:] = self.okid_params.as_vector() - other.okid_params.as_vector() return new_array @@ -84,6 +150,7 @@ def __add__(self, other: 'StateQuat') -> 'StateQuat': ) new_state.velocity = self.velocity + other.velocity new_state.angular_velocity = self.angular_velocity + other.angular_velocity + new_state.okid_params = self.okid_params + other.okid_params return new_state @@ -94,6 +161,7 @@ def __sub__(self, other: 'StateQuat') -> 'StateQuat': new_state.orientation = quaternion_error(self.orientation, other.orientation) new_state.velocity = self.velocity - other.velocity new_state.angular_velocity = self.angular_velocity - other.angular_velocity + new_state.okid_params = self.okid_params - other.okid_params return new_state.as_vector() @@ -104,6 +172,7 @@ def __rmul__(self, scalar: float) -> 'StateQuat': new_state.orientation = quat_norm(scalar * self.orientation) new_state.velocity = scalar * self.velocity new_state.angular_velocity = scalar * self.angular_velocity + new_state.okid_params = scalar * self.okid_params return new_state @@ -116,6 +185,7 @@ def insert_weights(self, weights: np.ndarray) -> np.ndarray: ) new_state.velocity = self.velocity - weights[6:9] new_state.angular_velocity = self.angular_velocity - weights[9:12] + new_state.okid_params = self.okid_params - weights[12:] return new_state.as_vector() @@ -124,6 +194,7 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: self.position += other.position self.velocity += other.velocity self.angular_velocity += other.angular_velocity + self.okid_params += other.okid_params @dataclass @@ -136,9 +207,9 @@ class MeasModel: def H(self, state: StateQuat) -> 'MeasModel': """Calculates the measurement matrix.""" H = np.zeros((3, 13)) - H[0:3, 7:10] = np.eye(3) + H[:, 7:10] = np.eye(3) z_i = MeasModel() - z_i.measurement = np.dot(H, state.as_vector()) + z_i.measurement = np.dot(H, state.dynamic_part()) return z_i def __add__(self, other: 'MeasModel') -> 'MeasModel': @@ -263,10 +334,112 @@ def euler_forward(self) -> StateQuat: + self.state_vector_dot.angular_velocity * self.dt ) return self.state_vector +@dataclass +class okid_process_model: + state_vector: StateQuat = field(default_factory=StateQuat) + state_vector_dot: StateQuat = field(default_factory=StateQuat) + state_vector_prev: StateQuat = field(default_factory=StateQuat) + Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) + mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) + damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) + m: float = 30.0 + inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) + dt: float = 0.01 + def R(self) -> np.ndarray: + """Calculates the rotation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + R = np.array( + [ + [ + 1 - 2 * e_2**2 - 2 * e_3**2, + 2 * e_1 * e_2 - 2 * nu * e_3, + 2 * e_1 * e_3 + 2 * nu * e_2, + ], + [ + 2 * e_1 * e_2 + 2 * nu * e_3, + 1 - 2 * e_1**2 - 2 * e_3**2, + 2 * e_2 * e_3 - 2 * nu * e_1, + ], + [ + 2 * e_1 * e_3 - 2 * nu * e_2, + 2 * e_2 * e_3 + 2 * nu * e_1, + 1 - 2 * e_1**2 - 2 * e_2**2, + ], + ] + ) + return R + + def T(self) -> np.ndarray: + """Calculates the transformation matrix.""" + nu, e_1, e_2, e_3 = self.state_vector.orientation + T = 0.5 * np.array( + [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] + ) + return T + + def Crb(self) -> np.ndarray: + """Calculates the Coriolis matrix.""" + ang_vel = self.state_vector.angular_velocity + ang_vel_skew = skew_symmetric(ang_vel) + lever_arm_skew = skew_symmetric(self.r_b_bg) + Crb = np.zeros((6, 6)) + Crb[0:3, 0:3] = self.m * ang_vel_skew + Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) + Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) + Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) + return Crb + + def D(self) -> np.ndarray: + """Calculates the damping matrix.""" + D_l = -np.diag(self.damping_linear) + + return D_l + + def model_prediction(self, state: StateQuat) -> None: + """Calculates the model of the system.""" + self.state_vector = state + """ + separate out the different okid values + """ + self.inertia = state.okid_params.inertia.reshape((3, 3)) + self.added_mass = state.okid_params.added_mass + self.damping_linear = state.okid_params.damping_linear + + self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) + self.state_vector_dot.orientation = np.dot( + self.T(), self.state_vector.angular_velocity + ) + Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( + self.Control_input + - np.dot(self.Crb(), self.state_vector.nu()) + - np.dot(self.D(), self.state_vector.nu()) + ) + self.state_vector_dot.velocity = Nu[:3] + self.state_vector_dot.angular_velocity = Nu[3:] + + def euler_forward(self) -> None: + """Calculates the forward Euler integration.""" + self.state_vector.position = ( + self.state_vector_prev.position + self.state_vector_dot.position * self.dt + ) + self.state_vector.orientation = quat_norm( + self.state_vector_prev.orientation + + self.state_vector_dot.orientation * self.dt + ) + self.state_vector.velocity = ( + self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt + ) + self.state_vector.angular_velocity = ( + self.state_vector_prev.angular_velocity + + self.state_vector_dot.angular_velocity * self.dt + ) + return self.state_vector def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion""" + """Converts Euler angles to a quaternion.""" psi, theta, phi = euler_angles c_psi = np.cos(psi / 2) s_psi = np.sin(psi / 2) @@ -288,7 +461,7 @@ def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles""" + """Converts a quaternion to Euler angles.""" nu, eta_1, eta_2, eta_3 = quat phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) @@ -299,7 +472,7 @@ def quat_to_euler(quat: np.ndarray) -> np.ndarray: def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion""" + """Function that normalizes a quaternion.""" quat = quat / np.linalg.norm(quat) return quat @@ -348,7 +521,7 @@ def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions""" + """Calculates the error between two quaternions.""" quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) error_quat = quaternion_super_product(quat_1, quat_2_inv) @@ -359,17 +532,15 @@ def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: def iterative_quaternion_mean_statequat( state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100 ) -> np.ndarray: - """Computes the weighted mean of the quaternion orientations from a list of StateQuat objects - using an iterative approach, without requiring the caller to manually extract the quaternion. + """Computes the iterative mean of quaternion orientations from StateQuat objects. - Parameters: - state_list (list[StateQuat]): List of StateQuat objects. - weights (np.ndarray): Weights for each state. - tol (float): Convergence tolerance. - max_iter (int): Maximum number of iterations. + Args: + state_list: List of StateQuat objects + tol: Convergence tolerance + max_iter: Maximum iterations Returns: - np.ndarray: The averaged quaternion as a 4-element numpy array. + Mean quaternion as numpy array """ sigma_quats = [state.orientation for state in state_list] n = len(state_list) @@ -412,7 +583,7 @@ def iterative_quaternion_mean_statequat( def mean_set(set_points: list[StateQuat]) -> np.ndarray: - """Function calculates the mean vector of a set of points + """Function calculates the mean vector of a set of points. Args: set_points (list[StateQuat]): List of StateQuat objects @@ -426,7 +597,10 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: for state in set_points: mean_value.add_without_quaternions(state) - mean_value = (1 / (n)) * mean_value + mean_value.position = (1 / n) * mean_value.position + mean_value.velocity = (1 / n) * mean_value.velocity + mean_value.angular_velocity = (1 / n) * mean_value.angular_velocity + mean_value.okid_params = (1 / n) * mean_value.okid_params mean_value.orientation = iterative_quaternion_mean_statequat(set_points) @@ -434,7 +608,7 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points""" + """Function that calculates the mean of a set of points.""" n = len(set_points) mean_value = MeasModel() @@ -447,7 +621,7 @@ def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points""" + """Function that calculates the covariance of a set of points.""" n = len(set_points) covariance = np.zeros(set_points[0].covariance.shape) @@ -477,7 +651,7 @@ def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points""" + """Function that calculates the covariance of a set of points.""" n = len(set_points) co_size = len(set_points[0].measurement) covariance = np.zeros((co_size, co_size)) @@ -500,7 +674,7 @@ def cross_covariance( set_z: list[MeasModel], mean_z: np.ndarray, ) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction""" + """Calculates the cross covariance between the measurement and state prediction.""" n = len(set_y) cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) diff --git a/navigation/ukf_okid/ukf_python/ukf_ros.py b/navigation/ukf_okid/ukf_python/ukf_ros.py new file mode 100755 index 000000000..66d01175c --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_ros.py @@ -0,0 +1,117 @@ +#!/usr/bin/env python3 +import rclpy +from geometry_msgs.msg import TwistWithCovarianceStamped, WrenchStamped +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy +from std_msgs.msg import Bool, String +from ukf_okid import UKF +from ukf_okid_class import StateQuat, process_model, MeasModel +import numpy as np + +class UKFNode(Node): + def __init__(self): + super().__init__("UKFNode") + + best_effort_qos = QoSProfile( + reliability=ReliabilityPolicy.BEST_EFFORT, + history=HistoryPolicy.KEEP_LAST, + depth=1, + ) + + #subcribers + self.dvl_subscriber = self.create_subscription(TwistWithCovarianceStamped, + "/orca/twist", + self.dvl_callback, + qos_profile=best_effort_qos, + ) + + self.control_input = self.create_subscription(WrenchStamped,"/orca/wrench_input", self.control_callback, qos_profile=best_effort_qos,) + + self.odom_publish = self.create_publisher(Odometry, "/orca/odometry", qos_profile=best_effort_qos) + dt = self.declare_parameter("dt", 0.01).get_parameter_value().double_value + self.control_timer = self.create_timer(dt, self.odom_publisher) + + self.current_state = StateQuat() + x0 = np.zeros(13) + x0[3] = 1.0 # quaternion: [1, 0, 0, 0] + P0 = np.eye(12) * 0.5 + self.ukf_model = process_model() + self.ukf_model.dt = 0.01 + self.ukf_model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ]) + self.ukf_model.m = 30.0 + self.ukf_model.r_b_bg = np.array([0.01, 0.0, 0.02]) + self.ukf_model.inertia = np.diag([0.68, 3.32, 3.34]) + self.ukf_model.damping_linear = np.array([0.01] * 6) + # self.ukf_model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + + Q = np.diag([0.02, 0.02, 0.02, + 0.02, 0.02, 0.02, + 0.1, 0.1, 0.1, + 0.1, 0.1, 0.1]) + + self.ukf = UKF(self.ukf_model, x0, P0, Q) + self.ukf_flagg = False + + def dvl_callback(self, msg: TwistWithCovarianceStamped): + # unpack msg + dvl_measurement = MeasModel() + # Print received DVL data to console + # self.get_logger().info(f"DVL data received: x={msg.twist.twist.linear.x}, y={msg.twist.twist.linear.y}, z={msg.twist.twist.linear.z}") + dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + dvl_measurement.covariance = np.array([[msg.twist.covariance[0], msg.twist.covariance[1], msg.twist.covariance[3]], + [msg.twist.covariance[6], msg.twist.covariance[7], msg.twist.covariance[8]], + [msg.twist.covariance[12], msg.twist.covariance[13], msg.twist.covariance[14]]]) + + self.ukf.measurement_update(self.current_state, dvl_measurement) + self.current_state = self.ukf.posteriori_estimate(self.current_state, dvl_measurement) + self.ukf_flagg = True + + def control_callback(self, msg:WrenchStamped): + # unpack message + control_array = np.array([msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z, msg.wrench.torque.x, msg.wrench.torque.y, msg.wrench.torque.z]) + self.ukf_model.Control_input = control_array + + def odom_publisher(self): + msg = Odometry() + + if self.ukf_flagg == False: + self.current_state = self.ukf.unscented_transform(self.current_state) + else: + self.ukf_flagg = False + + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = "odom" + msg.child_frame_id = "base_link" + + msg.pose.pose.position.x = self.current_state.position[0] + msg.pose.pose.position.y = self.current_state.position[1] + msg.pose.pose.position.z = self.current_state.position[2] + msg.pose.pose.orientation.w = self.current_state.orientation[0] + msg.pose.pose.orientation.x = self.current_state.orientation[1] + msg.pose.pose.orientation.y = self.current_state.orientation[2] + msg.pose.pose.orientation.z = self.current_state.orientation[3] + msg.twist.twist.linear.x = self.current_state.velocity[0] + msg.twist.twist.linear.y = self.current_state.velocity[1] + msg.twist.twist.linear.z = self.current_state.velocity[2] + msg.twist.twist.angular.x = self.current_state.angular_velocity[0] + msg.twist.twist.angular.y = self.current_state.angular_velocity[1] + msg.twist.twist.angular.z = self.current_state.angular_velocity[2] + + self.odom_publish.publish(msg) + +def main(args=None): + rclpy.init(args=args) + ukf_node = UKFNode() + rclpy.spin(ukf_node) + rclpy.shutdown() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index cebb53ac6..80ca90e86 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,323 +1,440 @@ -import time - -import matplotlib.pyplot as plt import numpy as np -from ukf_okid import UKF +import matplotlib.pyplot as plt +from ukf_utils import print_StateQuat +# Import your classes and functions. +# Adjust the import paths as necessary based on your module organization. from ukf_okid_class import ( - MeasModel, StateQuat, - process_model, - quat_to_euler, + MeasModel, + iterative_quaternion_mean_statequat, + mean_set, + mean_measurement, + covariance_set, + covariance_measurement, + cross_covariance, quaternion_super_product, + quaternion_error, + quat_to_euler, + quat_norm, ) - -def add_quaternion_noise(q, noise_std): - noise = np.random.normal(0, noise_std, 3) - - theta = np.linalg.norm(noise) - - if theta > 0: - axis = noise / theta - - q_noise = np.hstack((np.cos(theta / 2), np.sin(theta / 2) * axis)) - +# For testing, define a function to create a StateQuat with small perturbations. +def create_statequat(base_vector, position_perturbation, orientation_perturbation, velocity_perturbation, angular_velocity_perturbation): + """ + Creates a StateQuat object. + - base_vector: 1D numpy array for base state (13 elements: + position (3), quaternion (4), velocity (3), angular_velocity (3)) + - ..._perturbation: small perturbation vector to be added to each respective component. + Returns a StateQuat. + """ + state = StateQuat() + # Base state + state.position = base_vector[0:3] + position_perturbation + # For orientation, perturb by adding a small rotation: + base_quat = base_vector[3:7] + noise_angle = np.linalg.norm(orientation_perturbation) + if noise_angle < 1e-8: + noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) else: - q_noise = np.array([1.0, 0.0, 0.0, 0.0]) - - q_new = quaternion_super_product(q, q_noise) - - return q_new / np.linalg.norm(q_new) - - -if __name__ == '__main__': - # Create initial state vector and covariance matrix. - x0 = np.zeros(13) - x0[0:3] = [0.3, 0.3, 0.3] - x0[3] = 1 - x0[7:10] = [0.2, 0.2, 0.2] - dt = 0.01 - R = (0.01) * np.eye(3) - - Q = 0.00015 * np.eye(12) - P0 = np.eye(12) * 0.0001 + noise_axis = orientation_perturbation / noise_angle + noise_quat = np.concatenate(([np.cos(noise_angle/2)], np.sin(noise_angle/2) * noise_axis)) + state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) + state.velocity = base_vector[7:10] + velocity_perturbation + state.angular_velocity = base_vector[10:13] + angular_velocity_perturbation + + # For the augmented parameters (OKID parameters), set a 21-element vector: + # 9 for inertia, 6 for added_mass, and 6 for damping_linear. + state.okid_params.fill(np.concatenate((np.zeros(9), np.zeros(6), np.zeros(6)))) + + # Set a default covariance (33x33 for the extended state) + state.covariance = np.eye(33) * 0.01 + return state + +# Test functions for state statistics +def test_state_statistics(): + # Define a base state vector (13 elements: position, quaternion, velocity, angular_velocity) + base_vector = np.zeros(13) + base_vector[0:3] = np.array([1.0, 2.0, 3.0]) + base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion + base_vector[7:10] = np.array([0.1, 0.2, 0.3]) + base_vector[10:13] = np.array([0.01, 0.02, 0.03]) + + # Create a list of StateQuat objects with small random perturbations. + np.random.seed(42) + state_list = [] + num_states = 10 + for _ in range(num_states): + pos_noise = np.random.normal(0, 0.05, 3) + ori_noise = np.random.normal(0, 0.01, 3) + vel_noise = np.random.normal(0, 0.02, 3) + ang_vel_noise = np.random.normal(0, 0.005, 3) + state_list.append(create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise)) + + # Compute the state mean using mean_set. + mean_state_vec = mean_set(state_list) + print("Computed mean state vector:") + print(mean_state_vec) + + # Compute the covariance of the states. + cov_state = covariance_set(state_list, mean_state_vec) + print("Computed state covariance matrix:") + print(cov_state) + + # Check symmetry of the covariance: + asym_error = np.linalg.norm(cov_state - cov_state.T) + print("Covariance symmetry error (should be near 0):", asym_error) + + # Check eigenvalues for positive semidefiniteness: + eigvals = np.linalg.eigvals(cov_state) + print("Eigenvalues of state covariance:") + print(eigvals) + +def test_measurement_statistics(): + # Create a list of measurement objects (MeasModel) with measurements in R^3. + np.random.seed(24) + meas_list = [] + num_meas = 10 + base_meas = np.array([1.0, 2.0, 3.0]) + for _ in range(num_meas): + noise = np.random.normal(0, 0.1, 3) + meas = MeasModel() + meas.measurement = base_meas + noise + meas_list.append(meas) + + # Compute the measurement mean. + mean_meas = mean_measurement(meas_list) + print("Computed measurement mean:") + print(mean_meas) + + # Compute the measurement covariance. + cov_meas = covariance_measurement(meas_list, mean_meas) + print("Computed measurement covariance:") + print(cov_meas) + + # Check symmetry and eigenvalues. + asym_error = np.linalg.norm(cov_meas - cov_meas.T) + print("Measurement covariance symmetry error:", asym_error) + eigvals = np.linalg.eigvals(cov_meas) + print("Eigenvalues of measurement covariance:") + print(eigvals) + +def test_cross_covariance(): + # Create a set of StateQuat and corresponding MeasModel objects. + np.random.seed(99) + num = 10 + state_list = [] + meas_list = [] + base_vector = np.zeros(13) + base_vector[0:3] = np.array([0.5, 1.0, -0.5]) + base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) + base_vector[7:10] = np.array([0.05, 0.1, 0.15]) + base_vector[10:13] = np.array([0.005, 0.01, 0.015]) + + for _ in range(num): + pos_noise = np.random.normal(0, 0.02, 3) + ori_noise = np.random.normal(0, 0.005, 3) + vel_noise = np.random.normal(0, 0.01, 3) + ang_vel_noise = np.random.normal(0, 0.002, 3) + state = create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise) + state_list.append(state) + + # Generate a measurement from each state (e.g., state velocity plus noise). + meas = MeasModel() + meas.measurement = state.velocity + np.random.normal(0, 0.01, 3) + meas_list.append(meas) + + # Compute the state mean and measurement mean as vectors. + mean_state_vec = mean_set(state_list) + mean_meas = mean_measurement(meas_list) + + cross_cov = cross_covariance(state_list, mean_state_vec, meas_list, mean_meas) + print("Computed cross-covariance between state and measurement:") + print(cross_cov) - model = process_model() - model.dt = 0.01 - model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - model.m = 30.0 - model.r_b_bg = np.array([0.01, 0.0, 0.02]) - model.inertia = np.diag([0.68, 3.32, 3.34]) - model.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - model_ukf = process_model() - model_ukf.dt = 0.01 - model_ukf.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - model_ukf.m = 30.0 - model_ukf.r_b_bg = np.array([0.01, 0.0, 0.02]) - model_ukf.inertia = np.diag([0.68, 3.32, 3.34]) - model_ukf.damping_linear = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - model_ukf.damping_nonlinear = np.array([0.3, 0.3, 0.3, 0.3, 0.3, 0.3]) - model_ukf.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) +import time +import numpy as np +import matplotlib.pyplot as plt - # Simulation parameters - simulation_time = 5 # seconds +# Import your classes and functions. +from ukf_okid_class import ( + StateQuat, + MeasModel, + iterative_quaternion_mean_statequat, + mean_set, + mean_measurement, + covariance_set, + covariance_measurement, + cross_covariance, + quaternion_super_product, + quaternion_error, + quat_norm, +) +from ukf_okid import UKF +from ukf_okid_class import process_model, okid_process_model # Your process model classes + +############################################ +# Helper function to create a StateQuat with perturbations. +############################################ +def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise): + """ + Create a StateQuat object from a base vector (13 elements: + position (3), quaternion (4), velocity (3), angular_velocity (3)) + plus additive noise on each component. + + For the OKID parameters, we assume a 21-element vector: + - first 9: inertia, + - next 6: added_mass, + - last 6: damping_linear. + """ + state = StateQuat() + state.position = base_vector[0:3] + pos_noise + base_quat = base_vector[3:7] + noise_angle = np.linalg.norm(ori_noise) + if noise_angle < 1e-8: + noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) + else: + noise_axis = ori_noise / noise_angle + noise_quat = np.concatenate(([np.cos(noise_angle/2)], + np.sin(noise_angle/2) * noise_axis)) + state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) + state.velocity = base_vector[7:10] + vel_noise + state.angular_velocity = base_vector[10:13] + ang_vel_noise + + # Set OKID parameters to exactly 21 elements (9,6,6) + state.okid_params.fill(np.concatenate((np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0])))) + # Set an initial covariance (33x33) for the full augmented state. + state.covariance = np.eye(33) * 0.02 + return state + +############################################ +# Full Filter Simulation Test +############################################ +def run_ukf_simulation(): + dt = 0.01 # Time step for simulation [s] + simulation_time = 10 # Total simulation time in seconds num_steps = int(simulation_time / dt) - - # Initialize a dummy StateQuat. - new_state = StateQuat() - new_state.fill_states(x0) - new_state.covariance = P0 - - test_state_x = StateQuat() - test_state_x.fill_states(x0) - test_state_x.covariance = P0 - - # Initialize a estimated state - estimated_state = StateQuat() - estimated_state.fill_states(x0) - estimated_state.covariance = P0 - - # Initialize a estimated state - noisy_state = StateQuat() - noisy_state.fill_states(x0) - noisy_state.covariance = P0 - - measurment_model = MeasModel() - measurment_model.measurement = np.array([0.0, 0.0, 0.0]) - measurment_model.covariance = R - - # Initialize arrays to store the results - positions = np.zeros((num_steps, 3)) - orientations = np.zeros((num_steps, 3)) - velocities = np.zeros((num_steps, 3)) - angular_velocities = np.zeros((num_steps, 3)) - - # Initialize arrays to store the estimates - positions_est = np.zeros((num_steps, 3)) - orientations_est = np.zeros((num_steps, 3)) - velocities_est = np.zeros((num_steps, 3)) - angular_velocities_est = np.zeros((num_steps, 3)) - - # Initialize the okid params - okid_params = np.zeros((num_steps, 21)) - - model.state_vector_prev = new_state - model.state_vector = new_state - - model_ukf.state_vector_prev = test_state_x - model_ukf.state_vector = test_state_x - - # initialize the ukf - ukf = UKF(model_ukf, x0, P0, Q, R) - - elapsed_times = [] - - u = lambda t: np.array( - [ - 2 * np.sin(1 * t), - 2 * np.sin(1 * t), - 2 * np.sin(1 * t), - 0.2 * np.cos(1 * t), - 0.2 * np.cos(1 * t), - 0.2 * np.cos(1 * t), - ] - ) - - # Run the simulation - for step in range(num_steps): - # Insert control input - model.Control_input = u(step * dt) - model_ukf.Control_input = u(step * dt) - - # Perform the unscented transform - model.model_prediction(new_state) - new_state = model.euler_forward() - - # Adding noise in the state vector - estimated_state.position = ( - estimated_state.position - ) # + np.random.normal(0, 0.01, 3) - estimated_state.orientation = ( - estimated_state.orientation - ) # add_quaternion_noise(estimated_state.orientation, 0.01) - estimated_state.velocity = ( - estimated_state.velocity - ) # + np.random.normal(0, 0.01, 3) - estimated_state.angular_velocity = ( - estimated_state.angular_velocity - ) # + np.random.normal(0, 0.01, 3) - - start_time = time.time() - estimated_state = ukf.unscented_transform(estimated_state) - print(estimated_state.as_vector()) - break - elapsed_time = time.time() - start_time - elapsed_times.append(elapsed_time) - - if step % 20 == 0: - measurment_model.measurement = ( - new_state.velocity - ) # + np.random.normal(0, 0.01, 3) - meas_update, covariance_matrix = ukf.measurement_update( - estimated_state, measurment_model - ) - estimated_state = ukf.posteriori_estimate( - estimated_state, covariance_matrix, measurment_model, meas_update - ) - - positions[step, :] = new_state.position - orientations[step, :] = quat_to_euler(new_state.orientation) - velocities[step, :] = new_state.velocity - angular_velocities[step, :] = new_state.angular_velocity - - positions_est[step, :] = estimated_state.position - orientations_est[step, :] = quat_to_euler(estimated_state.orientation) - velocities_est[step, :] = estimated_state.velocity - angular_velocities_est[step, :] = estimated_state.angular_velocity - - # Update the state for the next iteration - model.state_vector_prev = new_state - - print('Average elapsed time: ', np.mean(elapsed_times)) - print('Max elapsed time: ', np.max(elapsed_times)) - print('Min elapsed time: ', np.min(elapsed_times)) - print('median elapsed time: ', np.median(elapsed_times)) - # Plot the results - time = np.linspace(0, simulation_time, num_steps) - - # Plot positions - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, positions[:, 0], label='True') - plt.plot(time, positions_est[:, 0], label='Estimated') - plt.title('Position X') - plt.xlabel('Time [s]') - plt.ylabel('Position X [m]') + + # Define a base state vector (13 elements: pos, quat, vel, ang_vel) + base_vector = np.zeros(13) + base_vector[0:3] = np.array([0.0, 0.0, 0.0]) + base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion + base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x + base_vector[10:13] = np.array([0.0, 0.0, 0.0]) + + # Define initial covariance for state (33x33) + P0 = np.eye(33) + P0[0:3, 0:3] = np.eye(3) * 0.01 # position + P0[3:6, 3:6] = np.eye(3) * 0.01 # orientation error (quaternion) + P0[6:9, 6:9] = np.eye(3) * 0.01 # velocity + P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity + P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters + + # Define process noise covariance Q (33x33) + Q = np.zeros((33, 33)) + Q[0:3, 0:3] = np.eye(3)*0.001 # for position + Q[3:6, 3:6] = np.eye(3)*0.001 # for orientation error (represented with Euler angles) + Q[6:9, 6:9] = np.eye(3)*0.001 # for velocity + Q[9:12, 9:12] = np.eye(3)*0.001 # for angular velocity + Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters + + + G = np.zeros((33, 12)) + G[0:3, 0:3] = np.eye(3) + G[3:6, 3:6] = np.eye(3) + G[6:9, 6:9] = np.eye(3) + G[9:12, 9:12] = np.eye(3) + + # Measurement noise covariance R (3x3), assume measurement is velocity + R = np.eye(3) * 0.01 + + # Create a simulation process model and an independent UKF process model. + sim_model = process_model() + sim_model.dt = dt + sim_model.mass_interia_matrix = np.array([ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ]) + sim_model.m = 30.0 + sim_model.r_b_bg = np.array([0.01, 0.0, 0.02]) + sim_model.inertia = np.diag([0.68, 3.32, 3.34]) + sim_model.damping_linear = np.array([0.1]*6) + sim_model.added_mass = np.array([1.0,1.0,1.0,2.0,2.0,2.0]) + + # UKF process model copy: + ukf_model = okid_process_model() + ukf_model.dt = dt + ukf_model.mass_interia_matrix = sim_model.mass_interia_matrix.copy() + ukf_model.m = sim_model.m + ukf_model.r_b_bg = sim_model.r_b_bg.copy() + ukf_model.inertia = sim_model.inertia.copy() + ukf_model.damping_linear = sim_model.damping_linear.copy() + ukf_model.added_mass = sim_model.added_mass.copy() + + # Initialize true state and filter state. + true_state = create_statequat(base_vector, + np.zeros(3), + np.zeros(3), + np.zeros(3), + np.zeros(3)) + true_state.covariance = P0.copy() + + filter_state = create_statequat(base_vector, + np.zeros(3), + np.zeros(3), + np.zeros(3), + np.zeros(3)) + filter_state.covariance = P0.copy() + + # Initialize measurement model (for example, measuring velocity only) + meas_model = MeasModel() + meas_model.covariance = R.copy() + + # Initialize UKF. + ukf = UKF(ukf_model, true_state, P0.copy(), Q.copy(), G.copy()) + + # Arrays to store time histories. + pos_true_hist = np.zeros((num_steps, 3)) + pos_est_hist = np.zeros((num_steps, 3)) + vel_true_hist = np.zeros((num_steps, 3)) + vel_est_hist = np.zeros((num_steps, 3)) + euler_true_hist = np.zeros((num_steps, 3)) + euler_est_hist = np.zeros((num_steps, 3)) + time_array = np.linspace(0, simulation_time, num_steps) + + # Control input function (example: oscillatory in all directions) + def control_input(t): + return np.array([ + 2*np.sin(t), + 2*np.sin(t+0.5), + 2*np.sin(t+1.0), + 0.2*np.cos(t), + 0.2*np.cos(t+0.5), + 0.2*np.cos(t+1.0) + ]) + + # Set previous states. + sim_model.state_vector_prev = true_state + sim_model.state_vector = true_state + ukf_model.state_vector_prev = filter_state + ukf_model.state_vector = filter_state + + # Lists for timing diagnostics. + ukf_transform_times = [] + ukf_update_times = [] + + # Simulation loop. + for i in range(num_steps): + t_current = i*dt + + # Update control inputs. + sim_model.Control_input = control_input(t_current) + ukf_model.Control_input = control_input(t_current) + + # Propagate true state using the simulation model. + sim_model.model_prediction(true_state) + true_state = sim_model.euler_forward() + + # Create a measurement from true state. + # Here we assume we measure velocity plus noise. + meas_noise = np.random.normal(0, 0.01, 3) + meas_model.measurement = true_state.velocity + meas_noise + + # UKF prediction: unscented transform. + start = time.time() + filter_state = ukf.unscented_transform(filter_state) + ukf_transform_times.append(time.time() - start) + + # UKF measurement update every few steps. + if i % 5 == 0: + try: + start = time.time() + ukf.measurement_update(filter_state, meas_model) + filter_state = ukf.posteriori_estimate(filter_state, meas_model) + ukf_update_times.append(time.time() - start) + except np.linalg.LinAlgError: + # If matrix is not PD, add jitter. + filter_state.covariance += np.eye(filter_state.covariance.shape[0])*1e-6 + + # Store true and estimated state for diagnostics. + pos_true_hist[i, :] = true_state.position + pos_est_hist[i, :] = filter_state.position + vel_true_hist[i, :] = true_state.velocity + vel_est_hist[i, :] = filter_state.velocity + # Convert quaternion to Euler angles for visualization. + # Assumes you have a function quat_to_euler. + euler_true_hist[i, :] = quat_to_euler(true_state.orientation) + euler_est_hist[i, :] = quat_to_euler(filter_state.orientation) + + # Update previous states. + sim_model.state_vector_prev = true_state + ukf_model.state_vector_prev = filter_state + + # Print timing diagnostics. + print("Average unscented transform time:", np.mean(ukf_transform_times)) + print("Average measurement update time:", np.mean(ukf_update_times)) + + # Compute error metrics. + pos_error = np.linalg.norm(pos_true_hist - pos_est_hist, axis=1) + vel_error = np.linalg.norm(vel_true_hist - vel_est_hist, axis=1) + euler_error = np.linalg.norm(euler_true_hist - euler_est_hist, axis=1) + print("Average position error:", np.mean(pos_error)) + print("Average velocity error:", np.mean(vel_error)) + print("Average orientation (Euler) error:", np.mean(euler_error)) + + # Plot estimated vs true trajectory (positions). + plt.figure(figsize=(10,8)) + plt.subplot(3,1,1) + plt.plot(time_array, pos_true_hist[:,0], label="True X") + plt.plot(time_array, pos_est_hist[:,0], label="Est X", linestyle="--") plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, positions[:, 1], label='True') - plt.plot(time, positions_est[:, 1], label='Estimated') - plt.title('Position Y') - plt.xlabel('Time [s]') - plt.ylabel('Position Y [m]') + plt.title("Position X") + + plt.subplot(3,1,2) + plt.plot(time_array, pos_true_hist[:,1], label="True Y") + plt.plot(time_array, pos_est_hist[:,1], label="Est Y", linestyle="--") plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, positions[:, 2], label='True') - plt.plot(time, positions_est[:, 2], label='Estimated') - plt.title('Position Z') - plt.xlabel('Time [s]') - plt.ylabel('Position Z [m]') + plt.title("Position Y") + + plt.subplot(3,1,3) + plt.plot(time_array, pos_true_hist[:,2], label="True Z") + plt.plot(time_array, pos_est_hist[:,2], label="Est Z", linestyle="--") plt.legend() - + plt.title("Position Z") plt.tight_layout() plt.show() - - # Plot orientations (Euler angles) - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, orientations[:, 0], label='True') - plt.plot(time, orientations_est[:, 0], label='Estimated') - plt.title('Orientation Roll') - plt.xlabel('Time [s]') - plt.ylabel('Roll [rad]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, orientations[:, 1], label='True') - plt.plot(time, orientations_est[:, 1], label='Estimated') - plt.title('Orientation Pitch') - plt.xlabel('Time [s]') - plt.ylabel('Pitch [rad]') + + # Plot errors. + plt.figure(figsize=(10,4)) + plt.plot(time_array, pos_error, label="Position Error") + plt.plot(time_array, vel_error, label="Velocity Error") + plt.plot(time_array, euler_error, label="Euler Angle Error") plt.legend() - - plt.subplot(3, 1, 3) - plt.plot(time, orientations[:, 2], label='True') - plt.plot(time, orientations_est[:, 2], label='Estimated') - plt.title('Orientation Yaw') - plt.xlabel('Time [s]') - plt.ylabel('Yaw [rad]') - plt.legend() - - plt.tight_layout() + plt.title("Error Metrics over Time") + plt.xlabel("Time (s)") + plt.ylabel("Error magnitude") plt.show() - # Plot velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, velocities[:, 0], label='True') - plt.plot(time, velocities_est[:, 0], label='Estimated') - plt.title('Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Velocity X [m/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, velocities[:, 1], label='True') - plt.plot(time, velocities_est[:, 1], label='Estimated') - plt.title('Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Y [m/s]') - plt.legend() +# You can also test the individual statistics functions separately: +def run_diagnostics(): + print("Testing state mean and covariance computation:") + # Call your pre-written tests: + # (Assuming these functions—test_state_statistics, test_measurement_statistics, test_cross_covariance—are defined above) + test_state_statistics() + print("\nTesting measurement mean and covariance computation:") + test_measurement_statistics() + print("\nTesting cross-covariance computation:") + test_cross_covariance() - plt.subplot(3, 1, 3) - plt.plot(time, velocities[:, 2], label='True') - plt.plot(time, velocities_est[:, 2], label='Estimated') - plt.title('Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Velocity Z [m/s]') - plt.legend() - - plt.tight_layout() - plt.show() - - # Plot angular velocities - plt.figure() - plt.subplot(3, 1, 1) - plt.plot(time, angular_velocities[:, 0], label='True') - plt.plot(time, angular_velocities_est[:, 0], label='Estimated') - plt.title('Angular Velocity X') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity X [rad/s]') - plt.legend() - - plt.subplot(3, 1, 2) - plt.plot(time, angular_velocities[:, 1], label='True') - plt.plot(time, angular_velocities_est[:, 1], label='Estimated') - plt.title('Angular Velocity Y') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Y [rad/s]') - plt.legend() +if __name__ == '__main__': + # First, run the diagnostics on the mean/covariance functions. + run_diagnostics() + + # Then run the full UKF simulation test. + print("\nRunning full UKF simulation test:") + run_ukf_simulation() - plt.subplot(3, 1, 3) - plt.plot(time, angular_velocities[:, 2], label='True') - plt.plot(time, angular_velocities_est[:, 2], label='Estimated') - plt.title('Angular Velocity Z') - plt.xlabel('Time [s]') - plt.ylabel('Angular Velocity Z [rad/s]') - plt.legend() - plt.tight_layout() - plt.show() diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py new file mode 100644 index 000000000..bf58b7a1a --- /dev/null +++ b/navigation/ukf_okid/ukf_python/ukf_test_2.py @@ -0,0 +1,40 @@ +import numpy as np + +# Define process noise covariance Q (33x33) +Q = np.zeros((12, 12)) +Q[0:3, 0:3] = np.eye(3)*0.003 # for position +Q[3:6, 3:6] = np.eye(3)*0.003 # for orientation error (represented with Euler angles) +Q[6:9, 6:9] = np.eye(3)*0.002 # for velocity +Q[9:12, 9:12] = np.eye(3)*0.003 # for angular velocity + +G = np.zeros((33, 12)) +G[0:3, 0:3] = np.eye(3) +G[3:6, 3:6] = np.eye(3) +G[6:9, 6:9] = np.eye(3) +G[9:12, 9:12] = np.eye(3) + +GG = G @ Q @ G.T +def fancy_print_matrix(matrix, name="Matrix", precision=4): + """ + Print a matrix with fancy formatting. + + Args: + matrix: numpy array to print + name: name of the matrix to display + precision: number of decimal places to show + """ + print(f"\n{'=' * 50}") + print(f" {name} [{matrix.shape[0]}x{matrix.shape[1]}]") + print(f"{'=' * 50}") + + # Set numpy print options + with np.printoptions(precision=precision, suppress=True, linewidth=100): + # Print each row with custom formatting + for i in range(matrix.shape[0]): + row = ' '.join([f"{x:8.{precision}f}" for x in matrix[i]]) + print(f" {i:2d} | {row}") + + print(f"{'=' * 50}\n") + +# Example usage: +fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py index cb92d9393..7bf7cd4e3 100644 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ b/navigation/ukf_okid/ukf_python/ukf_utils.py @@ -19,6 +19,7 @@ def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): print(f" Orientation: {state.orientation}") print(f" Velocity: {state.velocity}") print(f" Angular Velocity: {state.angular_velocity}") + print(f" okid state: {state.okid_params}") # print(f" okid_params: {state.okid_params}") if print_covariance: print_matrix(state.covariance, "Covariance") From 7319110656db82185642020d22187726d917d099 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 17 Apr 2025 16:27:59 +0000 Subject: [PATCH 046/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/eskf.hpp | 1 - navigation/eskf/include/eskf/typedefs.hpp | 7 +- navigation/eskf/src/eskf.cpp | 11 +- navigation/eskf/src/eskf_ros.cpp | 18 +- navigation/ukf_okid/launch/ukf.launch.py | 3 - navigation/ukf_okid/ukf_python/ukf_okid.py | 29 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 43 ++- navigation/ukf_okid/ukf_python/ukf_ros.py | 102 +++++-- navigation/ukf_okid/ukf_python/ukf_test.py | 268 ++++++++++-------- navigation/ukf_okid/ukf_python/ukf_test_2.py | 22 +- 10 files changed, 293 insertions(+), 211 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 80b086d26..5cc3e0708 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -25,7 +25,6 @@ class ESKF { const dvl_measurement& dvl_meas); private: - // @brief Predict the nominal state // @param imu_meas: IMU measurement // @param dt: Time step diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index fac89baa7..748804be3 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,9 +5,9 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H +#include #include #include -#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -43,9 +43,7 @@ struct state_quat { Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); - state_quat() { - gravity << 0, 0, 9.81; - } + state_quat() { gravity << 0, 0, 9.81; } Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; @@ -94,7 +92,6 @@ struct state_euler { struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); - }; struct dvl_measurement { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index bbd367c7f..84fb5e8f3 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -107,21 +107,20 @@ Eigen::Matrix3x1d ESKF::calculate_h() { return h; } - void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * imu_meas.accel + + current_nom_state_.quat.normalized().toRotationMatrix() * + imu_meas.accel + current_nom_state_.gravity; - Eigen::Vector3d gyro = imu_meas.gyro * dt/2; + Eigen::Vector3d gyro = imu_meas.gyro * dt / 2; current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - - current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); - + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a35273103..e805a0c39 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -42,8 +42,9 @@ void ESKFNode::set_subscribers_and_publisher() { void ESKFNode::set_parameters() { std::vector R_imu_correction; this->declare_parameter>("imu_frame"); - R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); - R_imu_eskf_ = Eigen::Map>(R_imu_correction.data()); + R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); + R_imu_eskf_ = Eigen::Map>( + R_imu_correction.data()); std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -81,15 +82,14 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { last_imu_time_ = current_time; Eigen::Vector3d raw_accel(msg->linear_acceleration.x, - msg->linear_acceleration.y, - msg->linear_acceleration.z); + msg->linear_acceleration.y, + msg->linear_acceleration.z); imu_meas_.accel = R_imu_eskf_ * raw_accel; - - Eigen::Vector3d raw_gyro(msg->angular_velocity.x, - msg->angular_velocity.y, - msg->angular_velocity.z); - + + Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, + msg->angular_velocity.z); + imu_meas_.gyro = R_imu_eskf_ * raw_gyro; std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py index 62a439b94..baf6fb645 100644 --- a/navigation/ukf_okid/launch/ukf.launch.py +++ b/navigation/ukf_okid/launch/ukf.launch.py @@ -1,12 +1,9 @@ -import os -from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description() -> LaunchDescription: - ukf_node = Node( package="ukf_python", executable="ukf_ros.py", diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index af61d1a79..474b94ac6 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -1,5 +1,4 @@ import numpy as np -from ukf_utils import print_StateQuat from ukf_okid_class import ( MeasModel, StateQuat, @@ -8,7 +7,6 @@ cross_covariance, mean_measurement, mean_set, - process_model, okid_process_model, ) @@ -37,15 +35,17 @@ def generate_delta_matrix(self, n: float) -> np.ndarray: delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ delta = np.zeros((n, 2 * n)) - k = 0.01 #Tuning parameter to ensure pos def + k = 0.01 # Tuning parameter to ensure pos def - for i in range(2 * n): + for i in range(2 * n): for j in range(n // 2): - delta[2 * j + 1, i] = np.sqrt(2) * np.sin((2 * j - 1)) * ((k * np.pi) / n) - delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1)) * ((k * np.pi) / n) - + delta[2 * j + 1, i] = ( + np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) + ) + delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + if (n % 2) == 1: - delta[n-1, i] = (-1)**i + delta[n - 1, i] = (-1) ** i return delta def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: @@ -96,10 +96,15 @@ def measurement_update( self.measurement_updated.measurement = mean_measurement(z_i) - self.measurement_updated.covariance = covariance_measurement(z_i, self.measurement_updated.measurement) + self.measurement_updated.covariance = covariance_measurement( + z_i, self.measurement_updated.measurement + ) self.cross_correlation = cross_covariance( - self.y_i, current_state.as_vector(), z_i, self.measurement_updated.measurement + self.y_i, + current_state.as_vector(), + z_i, + self.measurement_updated.measurement, ) def posteriori_estimate( @@ -109,7 +114,9 @@ def posteriori_estimate( ) -> StateQuat: """Calculates the posteriori estimate using measurement and the prior estimate.""" nu_k = MeasModel() - nu_k.measurement = measurement.measurement - self.measurement_updated.measurement + nu_k.measurement = ( + measurement.measurement - self.measurement_updated.measurement + ) nu_k.covariance = self.measurement_updated.covariance + measurement.covariance K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 5558ad754..0b329cb84 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -2,13 +2,22 @@ import numpy as np + @dataclass class okid: """A class to represent the parameters for the OKID algorithm.""" - inertia: np.ndarray = field(default_factory=lambda: np.array([0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34])) - added_mass: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,2.0,2.0,2.0])) - damping_linear: np.ndarray = field(default_factory=lambda: np.array([1.0,1.0,1.0,1.0,1.0,1.0])) + inertia: np.ndarray = field( + default_factory=lambda: np.array( + [0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34] + ) + ) + added_mass: np.ndarray = field( + default_factory=lambda: np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + ) + damping_linear: np.ndarray = field( + default_factory=lambda: np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]) + ) def fill(self, state: np.ndarray) -> None: """Fills the okid_params object with values from a numpy array.""" @@ -27,6 +36,7 @@ def __add__(self, other: 'okid') -> 'okid': result.added_mass = self.added_mass + other.added_mass result.damping_linear = self.damping_linear + other.damping_linear return result + def __sub__(self, other: 'okid') -> 'okid': """Defines the subtraction operation between two okid_params objects.""" result = okid() @@ -34,22 +44,23 @@ def __sub__(self, other: 'okid') -> 'okid': result.added_mass = self.added_mass - other.added_mass result.damping_linear = self.damping_linear - other.damping_linear return result - + def __sub__(self, other: np.ndarray) -> 'okid': - """ Defines sub between okid_params and np.ndarray.""" + """Defines sub between okid_params and np.ndarray.""" result = okid() result.inertia = self.inertia - other[0:9] result.added_mass = self.added_mass - other[9:15] result.damping_linear = self.damping_linear - other[15:] return result - + def __rmul__(self, scalar: float) -> 'okid': """Defines the multiplication operation between a scalar and okid_params object.""" result = okid() result.inertia = scalar * self.inertia result.added_mass = scalar * self.added_mass result.damping_linear = scalar * self.damping_linear - return result + return result + @dataclass class StateQuat: @@ -65,8 +76,15 @@ class StateQuat: def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" return np.concatenate( - [self.position, self.orientation, self.velocity, self.angular_velocity, self.okid_params.as_vector()] + [ + self.position, + self.orientation, + self.velocity, + self.angular_velocity, + self.okid_params.as_vector(), + ] ) + def dynamic_part(self) -> np.ndarray: """Returns the dynamic part of the state vector.""" return np.concatenate( @@ -108,7 +126,7 @@ def fill_states(self, state: np.ndarray) -> None: self.velocity = state[7:10] self.angular_velocity = state[10:13] self.okid_params.fill(state[13:]) - + def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> None: """Fills only the dynamic part of the state vector with the values from a numpy array.""" self.position = state[0:3] + state_euler[0:3] @@ -334,6 +352,8 @@ def euler_forward(self) -> StateQuat: + self.state_vector_dot.angular_velocity * self.dt ) return self.state_vector + + @dataclass class okid_process_model: state_vector: StateQuat = field(default_factory=StateQuat) @@ -396,8 +416,8 @@ def D(self) -> np.ndarray: """Calculates the damping matrix.""" D_l = -np.diag(self.damping_linear) - return D_l - + return D_l + def model_prediction(self, state: StateQuat) -> None: """Calculates the model of the system.""" self.state_vector = state @@ -438,6 +458,7 @@ def euler_forward(self) -> None: ) return self.state_vector + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: """Converts Euler angles to a quaternion.""" psi, theta, phi = euler_angles diff --git a/navigation/ukf_okid/ukf_python/ukf_ros.py b/navigation/ukf_okid/ukf_python/ukf_ros.py index 66d01175c..a40c2f7c3 100755 --- a/navigation/ukf_okid/ukf_python/ukf_ros.py +++ b/navigation/ukf_okid/ukf_python/ukf_ros.py @@ -1,13 +1,13 @@ #!/usr/bin/env python3 +import numpy as np import rclpy from geometry_msgs.msg import TwistWithCovarianceStamped, WrenchStamped from nav_msgs.msg import Odometry from rclpy.node import Node from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy -from std_msgs.msg import Bool, String from ukf_okid import UKF -from ukf_okid_class import StateQuat, process_model, MeasModel -import numpy as np +from ukf_okid_class import MeasModel, StateQuat, process_model + class UKFNode(Node): def __init__(self): @@ -19,16 +19,24 @@ def __init__(self): depth=1, ) - #subcribers - self.dvl_subscriber = self.create_subscription(TwistWithCovarianceStamped, + # subscribers + self.dvl_subscriber = self.create_subscription( + TwistWithCovarianceStamped, "/orca/twist", self.dvl_callback, qos_profile=best_effort_qos, ) - self.control_input = self.create_subscription(WrenchStamped,"/orca/wrench_input", self.control_callback, qos_profile=best_effort_qos,) + self.control_input = self.create_subscription( + WrenchStamped, + "/orca/wrench_input", + self.control_callback, + qos_profile=best_effort_qos, + ) - self.odom_publish = self.create_publisher(Odometry, "/orca/odometry", qos_profile=best_effort_qos) + self.odom_publish = self.create_publisher( + Odometry, "/orca/odometry", qos_profile=best_effort_qos + ) dt = self.declare_parameter("dt", 0.01).get_parameter_value().double_value self.control_timer = self.create_timer(dt, self.odom_publisher) @@ -38,24 +46,23 @@ def __init__(self): P0 = np.eye(12) * 0.5 self.ukf_model = process_model() self.ukf_model.dt = 0.01 - self.ukf_model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ]) + self.ukf_model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) self.ukf_model.m = 30.0 self.ukf_model.r_b_bg = np.array([0.01, 0.0, 0.02]) self.ukf_model.inertia = np.diag([0.68, 3.32, 3.34]) self.ukf_model.damping_linear = np.array([0.01] * 6) # self.ukf_model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - Q = np.diag([0.02, 0.02, 0.02, - 0.02, 0.02, 0.02, - 0.1, 0.1, 0.1, - 0.1, 0.1, 0.1]) + Q = np.diag([0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) self.ukf = UKF(self.ukf_model, x0, P0, Q) self.ukf_flagg = False @@ -65,18 +72,51 @@ def dvl_callback(self, msg: TwistWithCovarianceStamped): dvl_measurement = MeasModel() # Print received DVL data to console # self.get_logger().info(f"DVL data received: x={msg.twist.twist.linear.x}, y={msg.twist.twist.linear.y}, z={msg.twist.twist.linear.z}") - dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) - dvl_measurement.covariance = np.array([[msg.twist.covariance[0], msg.twist.covariance[1], msg.twist.covariance[3]], - [msg.twist.covariance[6], msg.twist.covariance[7], msg.twist.covariance[8]], - [msg.twist.covariance[12], msg.twist.covariance[13], msg.twist.covariance[14]]]) - + dvl_measurement.measurement = np.array( + [ + msg.twist.twist.linear.x, + msg.twist.twist.linear.y, + msg.twist.twist.linear.z, + ] + ) + dvl_measurement.covariance = np.array( + [ + [ + msg.twist.covariance[0], + msg.twist.covariance[1], + msg.twist.covariance[3], + ], + [ + msg.twist.covariance[6], + msg.twist.covariance[7], + msg.twist.covariance[8], + ], + [ + msg.twist.covariance[12], + msg.twist.covariance[13], + msg.twist.covariance[14], + ], + ] + ) + self.ukf.measurement_update(self.current_state, dvl_measurement) - self.current_state = self.ukf.posteriori_estimate(self.current_state, dvl_measurement) + self.current_state = self.ukf.posteriori_estimate( + self.current_state, dvl_measurement + ) self.ukf_flagg = True - - def control_callback(self, msg:WrenchStamped): + + def control_callback(self, msg: WrenchStamped): # unpack message - control_array = np.array([msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z, msg.wrench.torque.x, msg.wrench.torque.y, msg.wrench.torque.z]) + control_array = np.array( + [ + msg.wrench.force.x, + msg.wrench.force.y, + msg.wrench.force.z, + msg.wrench.torque.x, + msg.wrench.torque.y, + msg.wrench.torque.z, + ] + ) self.ukf_model.Control_input = control_array def odom_publisher(self): @@ -90,7 +130,7 @@ def odom_publisher(self): msg.header.stamp = self.get_clock().now().to_msg() msg.header.frame_id = "odom" msg.child_frame_id = "base_link" - + msg.pose.pose.position.x = self.current_state.position[0] msg.pose.pose.position.y = self.current_state.position[1] msg.pose.pose.position.z = self.current_state.position[2] @@ -107,11 +147,13 @@ def odom_publisher(self): self.odom_publish.publish(msg) + def main(args=None): rclpy.init(args=args) ukf_node = UKFNode() rclpy.spin(ukf_node) rclpy.shutdown() + if __name__ == "__main__": - main() \ No newline at end of file + main() diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index 80ca90e86..d80427364 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,27 +1,31 @@ -import numpy as np import matplotlib.pyplot as plt -from ukf_utils import print_StateQuat +import numpy as np + # Import your classes and functions. # Adjust the import paths as necessary based on your module organization. from ukf_okid_class import ( - StateQuat, MeasModel, - iterative_quaternion_mean_statequat, - mean_set, - mean_measurement, - covariance_set, + StateQuat, covariance_measurement, + covariance_set, cross_covariance, - quaternion_super_product, - quaternion_error, - quat_to_euler, + mean_measurement, + mean_set, quat_norm, + quat_to_euler, + quaternion_super_product, ) + # For testing, define a function to create a StateQuat with small perturbations. -def create_statequat(base_vector, position_perturbation, orientation_perturbation, velocity_perturbation, angular_velocity_perturbation): - """ - Creates a StateQuat object. +def create_statequat( + base_vector, + position_perturbation, + orientation_perturbation, + velocity_perturbation, + angular_velocity_perturbation, +): + """Creates a StateQuat object. - base_vector: 1D numpy array for base state (13 elements: position (3), quaternion (4), velocity (3), angular_velocity (3)) - ..._perturbation: small perturbation vector to be added to each respective component. @@ -37,19 +41,22 @@ def create_statequat(base_vector, position_perturbation, orientation_perturbatio noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) else: noise_axis = orientation_perturbation / noise_angle - noise_quat = np.concatenate(([np.cos(noise_angle/2)], np.sin(noise_angle/2) * noise_axis)) + noise_quat = np.concatenate( + ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) + ) state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) state.velocity = base_vector[7:10] + velocity_perturbation state.angular_velocity = base_vector[10:13] + angular_velocity_perturbation - - # For the augmented parameters (OKID parameters), set a 21-element vector: + + # For the augmented parameters (OKID parameters), set a 21-element vector: # 9 for inertia, 6 for added_mass, and 6 for damping_linear. state.okid_params.fill(np.concatenate((np.zeros(9), np.zeros(6), np.zeros(6)))) - + # Set a default covariance (33x33 for the extended state) state.covariance = np.eye(33) * 0.01 return state + # Test functions for state statistics def test_state_statistics(): # Define a base state vector (13 elements: position, quaternion, velocity, angular_velocity) @@ -58,7 +65,7 @@ def test_state_statistics(): base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion base_vector[7:10] = np.array([0.1, 0.2, 0.3]) base_vector[10:13] = np.array([0.01, 0.02, 0.03]) - + # Create a list of StateQuat objects with small random perturbations. np.random.seed(42) state_list = [] @@ -68,27 +75,32 @@ def test_state_statistics(): ori_noise = np.random.normal(0, 0.01, 3) vel_noise = np.random.normal(0, 0.02, 3) ang_vel_noise = np.random.normal(0, 0.005, 3) - state_list.append(create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise)) - + state_list.append( + create_statequat( + base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise + ) + ) + # Compute the state mean using mean_set. mean_state_vec = mean_set(state_list) print("Computed mean state vector:") print(mean_state_vec) - + # Compute the covariance of the states. cov_state = covariance_set(state_list, mean_state_vec) print("Computed state covariance matrix:") print(cov_state) - + # Check symmetry of the covariance: asym_error = np.linalg.norm(cov_state - cov_state.T) print("Covariance symmetry error (should be near 0):", asym_error) - + # Check eigenvalues for positive semidefiniteness: eigvals = np.linalg.eigvals(cov_state) print("Eigenvalues of state covariance:") print(eigvals) - + + def test_measurement_statistics(): # Create a list of measurement objects (MeasModel) with measurements in R^3. np.random.seed(24) @@ -100,17 +112,17 @@ def test_measurement_statistics(): meas = MeasModel() meas.measurement = base_meas + noise meas_list.append(meas) - + # Compute the measurement mean. mean_meas = mean_measurement(meas_list) print("Computed measurement mean:") print(mean_meas) - + # Compute the measurement covariance. cov_meas = covariance_measurement(meas_list, mean_meas) print("Computed measurement covariance:") print(cov_meas) - + # Check symmetry and eigenvalues. asym_error = np.linalg.norm(cov_meas - cov_meas.T) print("Measurement covariance symmetry error:", asym_error) @@ -118,6 +130,7 @@ def test_measurement_statistics(): print("Eigenvalues of measurement covariance:") print(eigvals) + def test_cross_covariance(): # Create a set of StateQuat and corresponding MeasModel objects. np.random.seed(99) @@ -129,58 +142,50 @@ def test_cross_covariance(): base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) base_vector[7:10] = np.array([0.05, 0.1, 0.15]) base_vector[10:13] = np.array([0.005, 0.01, 0.015]) - + for _ in range(num): pos_noise = np.random.normal(0, 0.02, 3) ori_noise = np.random.normal(0, 0.005, 3) vel_noise = np.random.normal(0, 0.01, 3) ang_vel_noise = np.random.normal(0, 0.002, 3) - state = create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise) + state = create_statequat( + base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise + ) state_list.append(state) - + # Generate a measurement from each state (e.g., state velocity plus noise). meas = MeasModel() meas.measurement = state.velocity + np.random.normal(0, 0.01, 3) meas_list.append(meas) - + # Compute the state mean and measurement mean as vectors. mean_state_vec = mean_set(state_list) mean_meas = mean_measurement(meas_list) - + cross_cov = cross_covariance(state_list, mean_state_vec, meas_list, mean_meas) print("Computed cross-covariance between state and measurement:") print(cross_cov) + import time -import numpy as np -import matplotlib.pyplot as plt + +from ukf_okid import UKF # Import your classes and functions. from ukf_okid_class import ( - StateQuat, - MeasModel, - iterative_quaternion_mean_statequat, - mean_set, - mean_measurement, - covariance_set, - covariance_measurement, - cross_covariance, - quaternion_super_product, - quaternion_error, - quat_norm, -) -from ukf_okid import UKF -from ukf_okid_class import process_model, okid_process_model # Your process model classes + okid_process_model, + process_model, +) # Your process model classes + ############################################ # Helper function to create a StateQuat with perturbations. ############################################ def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise): - """ - Create a StateQuat object from a base vector (13 elements: + """Create a StateQuat object from a base vector (13 elements: position (3), quaternion (4), velocity (3), angular_velocity (3)) plus additive noise on each component. - + For the OKID parameters, we assume a 21-element vector: - first 9: inertia, - next 6: added_mass, @@ -194,49 +199,60 @@ def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) else: noise_axis = ori_noise / noise_angle - noise_quat = np.concatenate(([np.cos(noise_angle/2)], - np.sin(noise_angle/2) * noise_axis)) + noise_quat = np.concatenate( + ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) + ) state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) state.velocity = base_vector[7:10] + vel_noise state.angular_velocity = base_vector[10:13] + ang_vel_noise # Set OKID parameters to exactly 21 elements (9,6,6) - state.okid_params.fill(np.concatenate((np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0])))) + state.okid_params.fill( + np.concatenate( + ( + np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), + np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), + np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), + ) + ) + ) # Set an initial covariance (33x33) for the full augmented state. state.covariance = np.eye(33) * 0.02 return state + ############################################ # Full Filter Simulation Test ############################################ def run_ukf_simulation(): - dt = 0.01 # Time step for simulation [s] - simulation_time = 10 # Total simulation time in seconds + dt = 0.01 # Time step for simulation [s] + simulation_time = 10 # Total simulation time in seconds num_steps = int(simulation_time / dt) - + # Define a base state vector (13 elements: pos, quat, vel, ang_vel) base_vector = np.zeros(13) - base_vector[0:3] = np.array([0.0, 0.0, 0.0]) + base_vector[0:3] = np.array([0.0, 0.0, 0.0]) base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion - base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x + base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x base_vector[10:13] = np.array([0.0, 0.0, 0.0]) - + # Define initial covariance for state (33x33) P0 = np.eye(33) P0[0:3, 0:3] = np.eye(3) * 0.01 # position P0[3:6, 3:6] = np.eye(3) * 0.01 # orientation error (quaternion) P0[6:9, 6:9] = np.eye(3) * 0.01 # velocity - P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity - P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters + P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity + P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters # Define process noise covariance Q (33x33) Q = np.zeros((33, 33)) - Q[0:3, 0:3] = np.eye(3)*0.001 # for position - Q[3:6, 3:6] = np.eye(3)*0.001 # for orientation error (represented with Euler angles) - Q[6:9, 6:9] = np.eye(3)*0.001 # for velocity - Q[9:12, 9:12] = np.eye(3)*0.001 # for angular velocity - Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters - + Q[0:3, 0:3] = np.eye(3) * 0.001 # for position + Q[3:6, 3:6] = ( + np.eye(3) * 0.001 + ) # for orientation error (represented with Euler angles) + Q[6:9, 6:9] = np.eye(3) * 0.001 # for velocity + Q[9:12, 9:12] = np.eye(3) * 0.001 # for angular velocity + Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters G = np.zeros((33, 12)) G[0:3, 0:3] = np.eye(3) @@ -250,19 +266,21 @@ def run_ukf_simulation(): # Create a simulation process model and an independent UKF process model. sim_model = process_model() sim_model.dt = dt - sim_model.mass_interia_matrix = np.array([ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ]) + sim_model.mass_interia_matrix = np.array( + [ + [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], + [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], + [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], + [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], + [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], + [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], + ] + ) sim_model.m = 30.0 sim_model.r_b_bg = np.array([0.01, 0.0, 0.02]) sim_model.inertia = np.diag([0.68, 3.32, 3.34]) - sim_model.damping_linear = np.array([0.1]*6) - sim_model.added_mass = np.array([1.0,1.0,1.0,2.0,2.0,2.0]) + sim_model.damping_linear = np.array([0.1] * 6) + sim_model.added_mass = np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) # UKF process model copy: ukf_model = okid_process_model() @@ -275,18 +293,14 @@ def run_ukf_simulation(): ukf_model.added_mass = sim_model.added_mass.copy() # Initialize true state and filter state. - true_state = create_statequat(base_vector, - np.zeros(3), - np.zeros(3), - np.zeros(3), - np.zeros(3)) + true_state = create_statequat( + base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) + ) true_state.covariance = P0.copy() - - filter_state = create_statequat(base_vector, - np.zeros(3), - np.zeros(3), - np.zeros(3), - np.zeros(3)) + + filter_state = create_statequat( + base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) + ) filter_state.covariance = P0.copy() # Initialize measurement model (for example, measuring velocity only) @@ -307,14 +321,16 @@ def run_ukf_simulation(): # Control input function (example: oscillatory in all directions) def control_input(t): - return np.array([ - 2*np.sin(t), - 2*np.sin(t+0.5), - 2*np.sin(t+1.0), - 0.2*np.cos(t), - 0.2*np.cos(t+0.5), - 0.2*np.cos(t+1.0) - ]) + return np.array( + [ + 2 * np.sin(t), + 2 * np.sin(t + 0.5), + 2 * np.sin(t + 1.0), + 0.2 * np.cos(t), + 0.2 * np.cos(t + 0.5), + 0.2 * np.cos(t + 1.0), + ] + ) # Set previous states. sim_model.state_vector_prev = true_state @@ -325,19 +341,19 @@ def control_input(t): # Lists for timing diagnostics. ukf_transform_times = [] ukf_update_times = [] - + # Simulation loop. for i in range(num_steps): - t_current = i*dt - + t_current = i * dt + # Update control inputs. sim_model.Control_input = control_input(t_current) ukf_model.Control_input = control_input(t_current) - + # Propagate true state using the simulation model. sim_model.model_prediction(true_state) true_state = sim_model.euler_forward() - + # Create a measurement from true state. # Here we assume we measure velocity plus noise. meas_noise = np.random.normal(0, 0.01, 3) @@ -347,7 +363,7 @@ def control_input(t): start = time.time() filter_state = ukf.unscented_transform(filter_state) ukf_transform_times.append(time.time() - start) - + # UKF measurement update every few steps. if i % 5 == 0: try: @@ -357,8 +373,10 @@ def control_input(t): ukf_update_times.append(time.time() - start) except np.linalg.LinAlgError: # If matrix is not PD, add jitter. - filter_state.covariance += np.eye(filter_state.covariance.shape[0])*1e-6 - + filter_state.covariance += ( + np.eye(filter_state.covariance.shape[0]) * 1e-6 + ) + # Store true and estimated state for diagnostics. pos_true_hist[i, :] = true_state.position pos_est_hist[i, :] = filter_state.position @@ -368,7 +386,7 @@ def control_input(t): # Assumes you have a function quat_to_euler. euler_true_hist[i, :] = quat_to_euler(true_state.orientation) euler_est_hist[i, :] = quat_to_euler(filter_state.orientation) - + # Update previous states. sim_model.state_vector_prev = true_state ukf_model.state_vector_prev = filter_state @@ -376,7 +394,7 @@ def control_input(t): # Print timing diagnostics. print("Average unscented transform time:", np.mean(ukf_transform_times)) print("Average measurement update time:", np.mean(ukf_update_times)) - + # Compute error metrics. pos_error = np.linalg.norm(pos_true_hist - pos_est_hist, axis=1) vel_error = np.linalg.norm(vel_true_hist - vel_est_hist, axis=1) @@ -384,31 +402,31 @@ def control_input(t): print("Average position error:", np.mean(pos_error)) print("Average velocity error:", np.mean(vel_error)) print("Average orientation (Euler) error:", np.mean(euler_error)) - + # Plot estimated vs true trajectory (positions). - plt.figure(figsize=(10,8)) - plt.subplot(3,1,1) - plt.plot(time_array, pos_true_hist[:,0], label="True X") - plt.plot(time_array, pos_est_hist[:,0], label="Est X", linestyle="--") + plt.figure(figsize=(10, 8)) + plt.subplot(3, 1, 1) + plt.plot(time_array, pos_true_hist[:, 0], label="True X") + plt.plot(time_array, pos_est_hist[:, 0], label="Est X", linestyle="--") plt.legend() plt.title("Position X") - - plt.subplot(3,1,2) - plt.plot(time_array, pos_true_hist[:,1], label="True Y") - plt.plot(time_array, pos_est_hist[:,1], label="Est Y", linestyle="--") + + plt.subplot(3, 1, 2) + plt.plot(time_array, pos_true_hist[:, 1], label="True Y") + plt.plot(time_array, pos_est_hist[:, 1], label="Est Y", linestyle="--") plt.legend() plt.title("Position Y") - - plt.subplot(3,1,3) - plt.plot(time_array, pos_true_hist[:,2], label="True Z") - plt.plot(time_array, pos_est_hist[:,2], label="Est Z", linestyle="--") + + plt.subplot(3, 1, 3) + plt.plot(time_array, pos_true_hist[:, 2], label="True Z") + plt.plot(time_array, pos_est_hist[:, 2], label="Est Z", linestyle="--") plt.legend() plt.title("Position Z") plt.tight_layout() plt.show() - + # Plot errors. - plt.figure(figsize=(10,4)) + plt.figure(figsize=(10, 4)) plt.plot(time_array, pos_error, label="Position Error") plt.plot(time_array, vel_error, label="Velocity Error") plt.plot(time_array, euler_error, label="Euler Angle Error") @@ -418,6 +436,7 @@ def control_input(t): plt.ylabel("Error magnitude") plt.show() + # You can also test the individual statistics functions separately: def run_diagnostics(): print("Testing state mean and covariance computation:") @@ -429,12 +448,11 @@ def run_diagnostics(): print("\nTesting cross-covariance computation:") test_cross_covariance() + if __name__ == '__main__': # First, run the diagnostics on the mean/covariance functions. run_diagnostics() - + # Then run the full UKF simulation test. print("\nRunning full UKF simulation test:") run_ukf_simulation() - - diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py index bf58b7a1a..d3a75313b 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test_2.py +++ b/navigation/ukf_okid/ukf_python/ukf_test_2.py @@ -2,10 +2,10 @@ # Define process noise covariance Q (33x33) Q = np.zeros((12, 12)) -Q[0:3, 0:3] = np.eye(3)*0.003 # for position -Q[3:6, 3:6] = np.eye(3)*0.003 # for orientation error (represented with Euler angles) -Q[6:9, 6:9] = np.eye(3)*0.002 # for velocity -Q[9:12, 9:12] = np.eye(3)*0.003 # for angular velocity +Q[0:3, 0:3] = np.eye(3) * 0.003 # for position +Q[3:6, 3:6] = np.eye(3) * 0.003 # for orientation error (represented with Euler angles) +Q[6:9, 6:9] = np.eye(3) * 0.002 # for velocity +Q[9:12, 9:12] = np.eye(3) * 0.003 # for angular velocity G = np.zeros((33, 12)) G[0:3, 0:3] = np.eye(3) @@ -14,10 +14,11 @@ G[9:12, 9:12] = np.eye(3) GG = G @ Q @ G.T + + def fancy_print_matrix(matrix, name="Matrix", precision=4): - """ - Print a matrix with fancy formatting. - + """Print a matrix with fancy formatting. + Args: matrix: numpy array to print name: name of the matrix to display @@ -26,15 +27,16 @@ def fancy_print_matrix(matrix, name="Matrix", precision=4): print(f"\n{'=' * 50}") print(f" {name} [{matrix.shape[0]}x{matrix.shape[1]}]") print(f"{'=' * 50}") - + # Set numpy print options with np.printoptions(precision=precision, suppress=True, linewidth=100): # Print each row with custom formatting for i in range(matrix.shape[0]): row = ' '.join([f"{x:8.{precision}f}" for x in matrix[i]]) print(f" {i:2d} | {row}") - + print(f"{'=' * 50}\n") + # Example usage: -fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) \ No newline at end of file +fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) From cef35328f506b8836399621b3859e69a88c09c1f Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Thu, 8 May 2025 20:19:53 +0200 Subject: [PATCH 047/109] feat: added NIS plots --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/include/eskf/eskf.hpp | 8 ++++++++ navigation/eskf/include/eskf/eskf_ros.hpp | 3 +++ navigation/eskf/src/eskf.cpp | 6 ++++++ navigation/eskf/src/eskf_ros.cpp | 9 +++++++-- 5 files changed, 25 insertions(+), 3 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 639af1fc9..961575447 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -5,4 +5,4 @@ eskf_node: odom_topic: odom diag_Q_std: [0.027293, 0.028089, 0.029067, 0.00255253, 0.00270035, 0.00280294, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_frame: [0, 0, -1, 0, -1, 0, -1, 0, 0 ] + imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 5cc3e0708..214f462c4 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -24,6 +24,9 @@ class ESKF { std::pair dvl_update( const dvl_measurement& dvl_meas); + // NIS + double NIS_; + private: // @brief Predict the nominal state // @param imu_meas: IMU measurement @@ -39,6 +42,11 @@ class ESKF { void error_state_prediction(const imu_measurement& imu_meas, const double dt); + // @brief Calculate the NIS + // @param innovation: Innovation vector + // @param S: Innovation covariance matrix + void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); + // @brief Update the error state // @param dvl_meas: DVL measurement void measurement_update(const dvl_measurement& dvl_meas); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index e0b777c86..44743fd75 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -8,6 +8,7 @@ #include #include #include +#include #include #include #include @@ -45,6 +46,8 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Publisher::SharedPtr nis_pub_; + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 84fb5e8f3..c02bf57df 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -159,6 +159,11 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } +void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { + Eigen::Matrix3d S_inv = S.inverse(); + NIS_ = innovation.transpose() * S_inv * innovation; +} + void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; @@ -167,6 +172,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3d S = H * P * H.transpose() + R; Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); + NIS(innovation, S); current_error_state_.set_from_vector(K * innovation); Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index e805a0c39..9d46969d9 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -37,12 +37,14 @@ void ESKFNode::set_subscribers_and_publisher() { std::string odom_topic = this->get_parameter("odom_topic").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); + + nis_pub_ = create_publisher("dvl/nis", 10); } void ESKFNode::set_parameters() { std::vector R_imu_correction; this->declare_parameter>("imu_frame"); - R_imu_correction = get_parameter("imu_rotation_matrix").as_double_array(); + R_imu_correction = get_parameter("imu_frame").as_double_array(); R_imu_eskf_ = Eigen::Map>( R_imu_correction.data()); @@ -53,7 +55,6 @@ void ESKFNode::set_parameters() { Eigen::Matrix12d Q; Q.setZero(); - spdlog::info("Q diagonal: {}", diag_Q_std[0]); Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), @@ -106,6 +107,10 @@ void ESKFNode::dvl_callback( msg->twist.covariance[14]; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); + + std_msgs::msg::Float64 nis_msg; + nis_msg.data = eskf_->NIS_; + nis_pub_->publish(nis_msg); } void ESKFNode::publish_odom() { From 73cc153b0f30571bf4fa4ed407aa8a9647cbdc98 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Wed, 14 May 2025 00:00:00 +0200 Subject: [PATCH 048/109] fix: issues in innovation and jacobian of the measurement --- navigation/eskf/CMakeLists.txt | 2 + navigation/eskf/config/eskf_params.yaml | 6 +- navigation/eskf/include/eskf/eskf.hpp | 8 ++ navigation/eskf/include/eskf/eskf_ros.hpp | 21 +++- navigation/eskf/include/eskf/eskf_utils.hpp | 3 + navigation/eskf/include/eskf/typedefs.hpp | 18 +++- navigation/eskf/src/eskf.cpp | 103 ++++++++++++-------- navigation/eskf/src/eskf_ros.cpp | 67 +++++++++++-- navigation/eskf/src/eskf_utils.cpp | 5 + 9 files changed, 172 insertions(+), 61 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 6c8167609..c431c235f 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -18,6 +18,7 @@ find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) +find_package(stonefish_ros2 REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) @@ -42,6 +43,7 @@ ament_target_dependencies(eskf_node vortex_msgs spdlog fmt + stonefish_ros2 ) target_link_libraries(eskf_node diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 961575447..98be8e789 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,8 +1,8 @@ eskf_node: ros__parameters: imu_topic: imu/data_raw - dvl_topic: /orca/twist + dvl_topic: /dvl/sim odom_topic: odom - diag_Q_std: [0.027293, 0.028089, 0.029067, 0.00255253, 0.00270035, 0.00280294, 0.000001, 0.000001, 0.000001, 0.00001, 0.00001, 0.00001] + diag_Q_std: [0.05, 0.05, 0.05, 0.00001, 0.00001, 0.00001, 0.000001, 0.000000001, 0.000000001, 0.000000001, 0.00000001, 0.00000001] diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 214f462c4..6d8d33bd5 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -27,6 +27,12 @@ class ESKF { // NIS double NIS_; + // NEES + double NEES_; + + // ground truth + state_quat ground_truth_; + private: // @brief Predict the nominal state // @param imu_meas: IMU measurement @@ -47,6 +53,8 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); + void NEES(); + // @brief Update the error state // @param dvl_meas: DVL measurement void measurement_update(const dvl_measurement& dvl_meas); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 44743fd75..8cb32b173 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -7,11 +7,11 @@ #include #include #include +#include #include #include #include #include -#include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" @@ -21,14 +21,18 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: + + void pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); + + void twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); // @brief Callback function for the dvl topic // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg); // @brief Publish the odometry message void publish_odom(); @@ -41,19 +45,26 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; + rclcpp::Subscription::SharedPtr dvl_sub_; + + rclcpp::Subscription::SharedPtr pose_sub_; + + rclcpp::Subscription::SharedPtr twist_sub_; rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Publisher::SharedPtr nis_pub_; + rclcpp::Publisher::SharedPtr nees_pub_; + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; state_quat nom_state_; + state_quat g_truth_; + state_euler error_state_; imu_measurement imu_meas_; diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 100f7673d..0cc2f6887 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -3,11 +3,14 @@ #include "eigen3/Eigen/Dense" #include "eskf/typedefs.hpp" +#include Eigen::Matrix3d skew(const Eigen::Vector3d& v); double sq(const double& value); +double ssa(const double& angle); + Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 748804be3..ab86b0a6c 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -48,7 +48,22 @@ struct state_quat { Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, - accel_bias; + accel_bias, gravity; + return vec; + } + + Eigen::Vector18d nees_error(const state_quat& other) const { + Eigen::Vector18d vec; + Eigen::Vector3d euler_diff; + + euler_diff = (quat * other.quat.inverse()).toRotationMatrix().eulerAngles(0, 1, 2); + + vec << pos - other.pos, + vel - other.vel, + euler_diff, + gyro_bias - other.gyro_bias, + accel_bias - other.accel_bias, + gravity - other.gravity; return vec; } @@ -59,6 +74,7 @@ struct state_quat { diff.quat = quat * other.quat.inverse(); diff.gyro_bias = gyro_bias - other.gyro_bias; diff.accel_bias = accel_bias - other.accel_bias; + diff.gravity = gravity - other.gravity; return diff; } }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index c02bf57df..9325378bb 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -5,6 +5,7 @@ #include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" +#include "iostream" ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} @@ -50,37 +51,38 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Vector3d v_n = current_nom_state_.vel; - Hx.block<3, 3>(0, 3) = R_bn; + Hx.block<3, 3>(0, 3) = R_bn.transpose(); - Eigen::Matrix dR_dq; double qw = q.w(); double qx = q.x(); double qy = q.y(); double qz = q.z(); - Eigen::Vector3d epsilon(qx, qy, qz); + Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - Eigen::Vector3d e_1(1, 0, 0); - Eigen::Vector3d e_2(0, 1, 0); - Eigen::Vector3d e_3(0, 0, 1); + Eigen::Vector3d eps(qx, qy, qz); - dR_dq.col(0) = - ((4 * qw * Eigen::Matrix3d::Identity()) + (2 * skew(epsilon))) * v_n; + Eigen::Matrix3d dR_deta = 2*qw * I3 - 2*skew(eps); - dR_dq.col(1) = 2 * - ((e_1 * epsilon.transpose()) + (epsilon * e_1.transpose()) + - (qw * skew(e_1))) * - v_n; + Eigen::Vector3d e1_vec(1,0,0), e2_vec(0,1,0), e3_vec(0,0,1); - dR_dq.col(2) = 2 * - ((e_2 * epsilon.transpose()) + (epsilon * e_2.transpose()) + - (qw * skew(e_2))) * - v_n; + Eigen::Matrix3d dR_dqx = -2*qx*I3 + + 2*(e1_vec*eps.transpose() + eps*e1_vec.transpose()) + - 2*qw*skew(e1_vec); - dR_dq.col(3) = 2 * - ((e_3 * epsilon.transpose()) + (epsilon * e_3.transpose()) + - (qw * skew(e_3))) * - v_n; + Eigen::Matrix3d dR_dqy = -2*qy*I3 + + 2*(e2_vec*eps.transpose() + eps*e2_vec.transpose()) + - 2*qw*skew(e2_vec); + + Eigen::Matrix3d dR_dqz = -2*qz*I3 + + 2*(e3_vec*eps.transpose() + eps*e3_vec.transpose()) + - 2*qw*skew(e3_vec); + + Eigen::Matrix dR_dq; + dR_dq.col(0) = dR_deta * v_n; + dR_dq.col(1) = dR_dqx * v_n; + dR_dq.col(2) = dR_dqy * v_n; + dR_dq.col(3) = dR_dqz * v_n; Hx.block<3, 4>(0, 6) = dR_dq; @@ -100,7 +102,7 @@ Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Matrix3x1d ESKF::calculate_h() { Eigen::Matrix3x1d h; Eigen::Matrix3d R_bn = - current_nom_state_.quat.normalized().toRotationMatrix(); + current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; @@ -109,19 +111,13 @@ Eigen::Matrix3x1d ESKF::calculate_h() { void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - imu_meas.accel + - current_nom_state_.gravity; - Eigen::Vector3d gyro = imu_meas.gyro * dt / 2; - - current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; - current_nom_state_.vel = current_nom_state_.vel + dt * acc; + Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.vel = current_nom_state_.vel + dt * acc; + current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -132,8 +128,8 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, void ESKF::error_state_prediction(const imu_measurement& imu_meas, const double dt) { Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); - Eigen::Vector3d acc = imu_meas.accel; - Eigen::Vector3d gyro = imu_meas.gyro; + Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -164,6 +160,30 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { NIS_ = innovation.transpose() * S_inv * innovation; } +void ESKF::NEES() { + + Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); + + // Use SVD-based pseudo-inverse for better numerical stability + Eigen::JacobiSVD svd(current_error_state_.covariance, + Eigen::ComputeThinU | Eigen::ComputeThinV); + const double epsilon = 1e-10; // Threshold for singular values + Eigen::VectorXd singular_values = svd.singularValues(); + Eigen::VectorXd singular_values_inv(singular_values.size()); + + for (int i = 0; i < singular_values.size(); ++i) { + if (singular_values(i) > epsilon) { + singular_values_inv(i) = 1.0 / singular_values(i); + } else { + singular_values_inv(i) = 0.0; + } + } + + Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * svd.matrixU().transpose(); + + NEES_ = error_state.transpose() * cov_inv * error_state; +} + void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; @@ -179,21 +199,18 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations + + NEES(); } void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = - current_nom_state_.quat * - vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); - current_nom_state_.gyro_bias = - current_nom_state_.gyro_bias + current_error_state_.gyro_bias; - current_nom_state_.accel_bias = - current_nom_state_.accel_bias + current_error_state_.accel_bias; - current_nom_state_.gravity = - current_nom_state_.gravity + current_error_state_.gravity; + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = current_nom_state_.accel_bias + current_error_state_.accel_bias; + current_nom_state_.gravity = current_nom_state_.gravity + current_error_state_.gravity; Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 9d46969d9..04b6dd9c6 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -20,6 +20,16 @@ void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = rclcpp::QoS( rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); + pose_sub_ = this->create_subscription< + geometry_msgs::msg::PoseWithCovarianceStamped>( + "/orca/pose", qos_sensor_data, + std::bind(&ESKFNode::pose_callback, this, std::placeholders::_1)); + + twist_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( + "/orca/twist", qos_sensor_data, + std::bind(&ESKFNode::twist_callback, this, std::placeholders::_1)); + this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( @@ -29,7 +39,7 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); dvl_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( + stonefish_ros2::msg::DVL>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -39,6 +49,7 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); + nees_pub_ = create_publisher("dvl/nees", 10); } void ESKFNode::set_parameters() { @@ -70,6 +81,20 @@ void ESKFNode::set_parameters() { error_state_.covariance = P; } +void ESKFNode::pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + g_truth_.pos << msg->pose.pose.position.x, + msg->pose.pose.position.y, msg->pose.pose.position.z; + g_truth_.quat.w() = msg->pose.pose.orientation.w; + g_truth_.quat.x() = msg->pose.pose.orientation.x; + g_truth_.quat.y() = msg->pose.pose.orientation.y; + g_truth_.quat.z() = msg->pose.pose.orientation.z; +} + +void ESKFNode::twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + g_truth_.vel << msg->twist.twist.linear.x, + msg->twist.twist.linear.y, msg->twist.twist.linear.z; +} + void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { rclcpp::Time current_time = msg->header.stamp; @@ -97,20 +122,44 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { } void ESKFNode::dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], - msg->twist.covariance[2], msg->twist.covariance[6], - msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], - msg->twist.covariance[14]; + const stonefish_ros2::msg::DVL::SharedPtr msg) { + dvl_meas_.vel << msg->velocity.x, + msg->velocity.y, msg->velocity.z; + dvl_meas_.cov << 0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001; + + // msg->velocity_covariance[0], msg->velocity_covariance[1], msg->velocity_covariance[2], + // msg->velocity_covariance[3], msg->velocity_covariance[4], msg->velocity_covariance[5], + // msg->velocity_covariance[6], msg->velocity_covariance[7], msg->velocity_covariance[8]; + + + // Set biases and gravity as float values + float gyro_bias_x = 0.00001; + float gyro_bias_y = 0.00001; + float gyro_bias_z = 0.00001; + + float accel_bias_x = 0.00001; + float accel_bias_y = 0.00001; + float accel_bias_z = 0.00001; + + float gravity_x = 0.0; + float gravity_y = 0.0; + float gravity_z = -9.81; + + g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; + g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; + g_truth_.gravity << gravity_x, gravity_y, gravity_z; + + eskf_->ground_truth_ = g_truth_; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); + + std_msgs::msg::Float64 nees_msg; + nees_msg.data = eskf_->NEES_; + nees_pub_->publish(nees_msg); } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index a07f3acda..88d04c3d5 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -11,6 +11,11 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { double sq(const double& value) { return value * value; } +double ssa(const double& angle) { + double result = fmod(angle + M_PI, 2 * M_PI); + double angle_ssa = result < 0 ? result + M_PI : result - M_PI; + return angle_ssa; +} Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { double angle = vector.norm(); From e2b13a5e9c563251d7a893719aeeeeac0074dec3 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 13 May 2025 22:01:55 +0000 Subject: [PATCH 049/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/eskf.hpp | 4 +- navigation/eskf/include/eskf/eskf_ros.hpp | 17 ++-- navigation/eskf/include/eskf/eskf_utils.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 11 ++- navigation/eskf/src/eskf.cpp | 86 ++++++++++++--------- navigation/eskf/src/eskf_ros.cpp | 45 +++++------ navigation/ukf_okid/launch/ukf.launch.py | 1 - navigation/ukf_okid/ukf_python/ukf_okid.py | 4 +- 8 files changed, 92 insertions(+), 78 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 6d8d33bd5..d9b7d4fa0 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -27,7 +27,7 @@ class ESKF { // NIS double NIS_; - // NEES + // NEEDS double NEES_; // ground truth @@ -53,7 +53,7 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - void NEES(); + void NEEDS(); // @brief Update the error state // @param dvl_meas: DVL measurement diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 8cb32b173..c3d09e820 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -7,11 +7,11 @@ #include #include #include -#include #include #include #include #include +#include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" @@ -21,10 +21,11 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: + void pose_callback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - void pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - void twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void twist_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data @@ -47,9 +48,11 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr dvl_sub_; - rclcpp::Subscription::SharedPtr pose_sub_; - - rclcpp::Subscription::SharedPtr twist_sub_; + rclcpp::Subscription< + geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_; + + rclcpp::Subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr twist_sub_; rclcpp::Publisher::SharedPtr odom_pub_; diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 0cc2f6887..4fcaed412 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -1,9 +1,9 @@ #ifndef ESKF_UTILS_HPP #define ESKF_UTILS_HPP +#include #include "eigen3/Eigen/Dense" #include "eskf/typedefs.hpp" -#include Eigen::Matrix3d skew(const Eigen::Vector3d& v); diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index ab86b0a6c..47dfe06e1 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -56,13 +56,12 @@ struct state_quat { Eigen::Vector18d vec; Eigen::Vector3d euler_diff; - euler_diff = (quat * other.quat.inverse()).toRotationMatrix().eulerAngles(0, 1, 2); + euler_diff = (quat * other.quat.inverse()) + .toRotationMatrix() + .eulerAngles(0, 1, 2); - vec << pos - other.pos, - vel - other.vel, - euler_diff, - gyro_bias - other.gyro_bias, - accel_bias - other.accel_bias, + vec << pos - other.pos, vel - other.vel, euler_diff, + gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, gravity - other.gravity; return vec; } diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 9325378bb..e0e7c7a98 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -58,31 +58,34 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { double qy = q.y(); double qz = q.z(); - Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); + Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); Eigen::Vector3d eps(qx, qy, qz); - Eigen::Matrix3d dR_deta = 2*qw * I3 - 2*skew(eps); + Eigen::Matrix3d dR_deta = 2 * qw * I3 - 2 * skew(eps); - Eigen::Vector3d e1_vec(1,0,0), e2_vec(0,1,0), e3_vec(0,0,1); + Eigen::Vector3d e1_vec(1, 0, 0), e2_vec(0, 1, 0), e3_vec(0, 0, 1); - Eigen::Matrix3d dR_dqx = -2*qx*I3 - + 2*(e1_vec*eps.transpose() + eps*e1_vec.transpose()) - - 2*qw*skew(e1_vec); + Eigen::Matrix3d dR_dqx = + -2 * qx * I3 + + 2 * (e1_vec * eps.transpose() + eps * e1_vec.transpose()) - + 2 * qw * skew(e1_vec); - Eigen::Matrix3d dR_dqy = -2*qy*I3 - + 2*(e2_vec*eps.transpose() + eps*e2_vec.transpose()) - - 2*qw*skew(e2_vec); + Eigen::Matrix3d dR_dqy = + -2 * qy * I3 + + 2 * (e2_vec * eps.transpose() + eps * e2_vec.transpose()) - + 2 * qw * skew(e2_vec); - Eigen::Matrix3d dR_dqz = -2*qz*I3 - + 2*(e3_vec*eps.transpose() + eps*e3_vec.transpose()) - - 2*qw*skew(e3_vec); + Eigen::Matrix3d dR_dqz = + -2 * qz * I3 + + 2 * (e3_vec * eps.transpose() + eps * e3_vec.transpose()) - + 2 * qw * skew(e3_vec); - Eigen::Matrix dR_dq; - dR_dq.col(0) = dR_deta * v_n; - dR_dq.col(1) = dR_dqx * v_n; - dR_dq.col(2) = dR_dqy * v_n; - dR_dq.col(3) = dR_dqz * v_n; + Eigen::Matrix dR_dq; + dR_dq.col(0) = dR_deta * v_n; + dR_dq.col(1) = dR_dqx * v_n; + dR_dq.col(2) = dR_dqy * v_n; + dR_dq.col(3) = dR_dqz * v_n; Hx.block<3, 4>(0, 6) = dR_dq; @@ -111,13 +114,18 @@ Eigen::Matrix3x1d ESKF::calculate_h() { void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; + Eigen::Vector3d acc = + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -160,17 +168,17 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { NIS_ = innovation.transpose() * S_inv * innovation; } -void ESKF::NEES() { - +void ESKF::NEEDS() { Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); - + // Use SVD-based pseudo-inverse for better numerical stability - Eigen::JacobiSVD svd(current_error_state_.covariance, - Eigen::ComputeThinU | Eigen::ComputeThinV); - const double epsilon = 1e-10; // Threshold for singular values + Eigen::JacobiSVD svd( + current_error_state_.covariance, + Eigen::ComputeThinU | Eigen::ComputeThinV); + const double epsilon = 1e-10; // Threshold for singular values Eigen::VectorXd singular_values = svd.singularValues(); Eigen::VectorXd singular_values_inv(singular_values.size()); - + for (int i = 0; i < singular_values.size(); ++i) { if (singular_values(i) > epsilon) { singular_values_inv(i) = 1.0 / singular_values(i); @@ -178,9 +186,10 @@ void ESKF::NEES() { singular_values_inv(i) = 0.0; } } - - Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * svd.matrixU().transpose(); - + + Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * + svd.matrixU().transpose(); + NEES_ = error_state.transpose() * cov_inv * error_state; } @@ -199,18 +208,23 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations - - NEES(); + + NEEDS(); } void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = + current_nom_state_.quat * + vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); - current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; - current_nom_state_.accel_bias = current_nom_state_.accel_bias + current_error_state_.accel_bias; - current_nom_state_.gravity = current_nom_state_.gravity + current_error_state_.gravity; + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = + current_nom_state_.accel_bias + current_error_state_.accel_bias; + current_nom_state_.gravity = + current_nom_state_.gravity + current_error_state_.gravity; Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 04b6dd9c6..54daadb4c 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -24,7 +24,7 @@ void ESKFNode::set_subscribers_and_publisher() { geometry_msgs::msg::PoseWithCovarianceStamped>( "/orca/pose", qos_sensor_data, std::bind(&ESKFNode::pose_callback, this, std::placeholders::_1)); - + twist_sub_ = this->create_subscription< geometry_msgs::msg::TwistWithCovarianceStamped>( "/orca/twist", qos_sensor_data, @@ -38,8 +38,7 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription< - stonefish_ros2::msg::DVL>( + dvl_sub_ = this->create_subscription( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -49,7 +48,7 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); - nees_pub_ = create_publisher("dvl/nees", 10); + nees_pub_ = create_publisher("dvl/needs", 10); } void ESKFNode::set_parameters() { @@ -81,18 +80,20 @@ void ESKFNode::set_parameters() { error_state_.covariance = P; } -void ESKFNode::pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { - g_truth_.pos << msg->pose.pose.position.x, - msg->pose.pose.position.y, msg->pose.pose.position.z; +void ESKFNode::pose_callback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + g_truth_.pos << msg->pose.pose.position.x, msg->pose.pose.position.y, + msg->pose.pose.position.z; g_truth_.quat.w() = msg->pose.pose.orientation.w; g_truth_.quat.x() = msg->pose.pose.orientation.x; g_truth_.quat.y() = msg->pose.pose.orientation.y; g_truth_.quat.z() = msg->pose.pose.orientation.z; } -void ESKFNode::twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - g_truth_.vel << msg->twist.twist.linear.x, - msg->twist.twist.linear.y, msg->twist.twist.linear.z; +void ESKFNode::twist_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + g_truth_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; } void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { @@ -121,30 +122,30 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } -void ESKFNode::dvl_callback( - const stonefish_ros2::msg::DVL::SharedPtr msg) { - dvl_meas_.vel << msg->velocity.x, - msg->velocity.y, msg->velocity.z; +void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { + dvl_meas_.vel << msg->velocity.x, msg->velocity.y, msg->velocity.z; dvl_meas_.cov << 0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001; - - // msg->velocity_covariance[0], msg->velocity_covariance[1], msg->velocity_covariance[2], - // msg->velocity_covariance[3], msg->velocity_covariance[4], msg->velocity_covariance[5], - // msg->velocity_covariance[6], msg->velocity_covariance[7], msg->velocity_covariance[8]; - + + // msg->velocity_covariance[0], msg->velocity_covariance[1], + // msg->velocity_covariance[2], + // msg->velocity_covariance[3], msg->velocity_covariance[4], + // msg->velocity_covariance[5], + // msg->velocity_covariance[6], msg->velocity_covariance[7], + // msg->velocity_covariance[8]; // Set biases and gravity as float values float gyro_bias_x = 0.00001; float gyro_bias_y = 0.00001; float gyro_bias_z = 0.00001; - + float accel_bias_x = 0.00001; float accel_bias_y = 0.00001; float accel_bias_z = 0.00001; - + float gravity_x = 0.0; float gravity_y = 0.0; float gravity_z = -9.81; - + g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; g_truth_.gravity << gravity_x, gravity_y, gravity_z; diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py index baf6fb645..5d075259f 100644 --- a/navigation/ukf_okid/launch/ukf.launch.py +++ b/navigation/ukf_okid/launch/ukf.launch.py @@ -1,4 +1,3 @@ - from launch import LaunchDescription from launch_ros.actions import Node diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index 474b94ac6..e50c65c3a 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -39,9 +39,7 @@ def generate_delta_matrix(self, n: float) -> np.ndarray: for i in range(2 * n): for j in range(n // 2): - delta[2 * j + 1, i] = ( - np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) - ) + delta[2 * j + 1, i] = np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) if (n % 2) == 1: From 75feb13042c83ae4b020b6b3cc8f0f3696b6a5b5 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Wed, 14 May 2025 11:22:07 +0200 Subject: [PATCH 050/109] feat: Adding in the TUKF and the UKF --- navigation/tukf/test_tukf.py | 347 +++++++++++++ navigation/tukf/tukf.py | 126 +++++ navigation/tukf/tukf_class.py | 437 ++++++++++++++++ navigation/ukf_okid/ukf_python/ukf_okid.py | 25 +- .../ukf_okid/ukf_python/ukf_okid_class.py | 186 ++++++- navigation/ukf_okid/ukf_python/ukf_test.py | 471 +----------------- navigation/ukf_okid/ukf_python/ukf_test_2.py | 249 +++++++-- 7 files changed, 1331 insertions(+), 510 deletions(-) create mode 100644 navigation/tukf/test_tukf.py create mode 100644 navigation/tukf/tukf.py create mode 100644 navigation/tukf/tukf_class.py diff --git a/navigation/tukf/test_tukf.py b/navigation/tukf/test_tukf.py new file mode 100644 index 000000000..2998855ea --- /dev/null +++ b/navigation/tukf/test_tukf.py @@ -0,0 +1,347 @@ +import numpy as np +from tukf import TUKF +import tukf_class as ukf +from mpl_toolkits.mplot3d import Axes3D +import time +import math + +import matplotlib.pyplot as plt + +# Initialize UKF with StateQuat +initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z +initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz +initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) +initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz +initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters +initial_intertia = np.array([0.68, 0.2, 0.1, + 0.2, 3.32, 0.2, + 0.1, 0.2, 3.34]) +initial_damping = np.array([0.01, 0.01, 0.01, + 0.01, 0.01, 0.01]) +initla_added_mass = np.array([0.02, 0.02, 0.02, + 0.02, 0.02, 0.02]) + +p_diag = np.concatenate([ + 2*np.ones(3), # x position + 2*np.ones(3), # orientation + 2*np.ones(3), # velocity + 2*np.ones(3), # angular velocity + 2*np.ones(9), # inertia + 2*np.ones(6), # added mass + 2*np.ones(6), # damping + 2*np.ones(4) # g_eta +]) + +initial_covariance = np.diag(p_diag) + +state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) +state.covariance = initial_covariance.copy() +state.inertia = np.array([0.58, 0.1, 0.05, + 0.1, 2.32, 0.1, + 0.01, 0.1, 2.34]) +state.g_eta = np.array([1.1, 0.1, 0.1, 0.1]) +state.damping = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) +state.added_mass = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + +real_state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) +real_state.inertia = initial_intertia.copy() +real_state.g_eta = initial_g_eta.copy() +real_state.damping = initial_damping.copy() +real_state.added_mass = initla_added_mass.copy() + +Q_diag = np.concatenate([ + 0.01*np.ones(3), # position + 0.2*np.ones(9), # kinematic (η & ν) + 0.8*np.ones(9), # inertia + 0.8*np.ones(6), # added mass + 0.8*np.ones(6), # damping + 0.8*np.ones(4), # g_eta +]) + +UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance + +def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 6:9] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +dvl_measurement = ukf.MeasModel(H=dvl_h) + +def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 9:12] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +ang_measurement = ukf.MeasModel(H=ang_h) + +# UKF parameters +dt = 0.01 # time step +sim_time = 50.0 # total simulation time +steps = int(sim_time / dt) + +# Storage for trajectory +positions = np.zeros((steps, 3)) +velocities = np.zeros((steps, 3)) +quaternions = np.zeros((steps, 3)) +angular_velocities = np.zeros((steps, 3)) +okid_params = np.zeros((steps, 25)) + +# Storage for trajectory +positions_est = np.zeros((steps, 3)) +velocities_est = np.zeros((steps, 3)) +quaternions_est = np.zeros((steps, 3)) +angular_velocities_est = np.zeros((steps, 3)) +okid_params_est = np.zeros((steps, 25)) + +# ---------- user‑tunable manoeuvre parameters ----------------------------- +SEG_DUR = 10.0 # [s] duration of each phase +A_F_TRANSL = 2.0 # [N] translational force amplitude +A_T_ROT = 1.0 # [N·m] rotational torque amplitude +# -------------------------------------------------------------------------- + +# Helper: build the scripted sequence as (kind, axis_idx, sign) +# kind = 'F' for force, 'T' for torque +# axes: 0‑x (surge/roll), 1‑y (sway/pitch), 2‑z (heave/yaw) +sequence = [ + ('F', 2, +1), # +z (up) + ('F', 2, -1), # –z (down) + ('F', 1, +1), # +y (right) + ('F', 1, -1), # –y (left / “back” sideways) + ('F', 0, +1), # +x (forward) + ('F', 0, -1), # –x (backward) + ('T', 2, +1), # +yaw (turn right) + ('T', 2, -1), # –yaw (turn left) + ('T', 1, +1), # +pitch (nose up) + ('T', 1, -1), # –pitch (nose down) + ('T', 0, +1), # +roll (starboard roll) + ('T', 0, -1) # –roll (port roll) +] + +TOTAL_TIME = len(sequence) * SEG_DUR # handy if you need it + +def _half_sine(local_t: float, duration: float) -> float: + """Smooth window: 0 → 1 → 0 over `duration` (half‑sine).""" + return np.sin(np.pi * local_t / duration) + +def control_inputs(t: float) -> tuple[np.ndarray, np.ndarray]: + """ + Piecewise scripted test signal: + – translations along z, y, x + – rotations about z (yaw), y (pitch), x (roll) + """ + # Default: no actuation + F = np.zeros(3) + T = np.zeros(3) + + # Past the last segment? keep everything zero + idx = int(t // SEG_DUR) + if idx >= len(sequence): + return F, T + + # Time inside current segment + tau = t - idx * SEG_DUR + window = _half_sine(tau, SEG_DUR) # 0‑to‑1‑to‑0 shape + + kind, axis, sgn = sequence[idx] + + if kind == 'F': + F[axis] = sgn * A_F_TRANSL * window + else: # 'T' + T[axis] = sgn * A_T_ROT * window + + return F, T + +# Simulation loop +for i in range(steps): + t = i * dt + + control_force, control_torque = control_inputs(t) + + control_input = np.concatenate((control_force, control_torque)) + + # Propagate state using UKF prediction + real_state = ukf.F_dynamics(real_state, dt, control_input) + state = UKF_model.unscented_transform(state, control_input) + + if UKF_model.filter_failed: + print("Filter failed, stopping simulation.") + break + + if i % 5 == 0: + # Simulate measurement update every 5 steps + ang_measurement.measurement = np.array([ + real_state.angular_velocity[0], + real_state.angular_velocity[1], + real_state.angular_velocity[2] + ]) + np.random.normal(0, 0.04, 3) + + ang_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance + + UKF_model.measurement_update(state, ang_measurement) + state = UKF_model.posteriori_estimate(state, ang_measurement) + + if i % 10 == 0: + # Simulate measurement update every 10 steps + dvl_measurement.measurement = np.array([ + real_state.velocity[0], + real_state.velocity[1], + real_state.velocity[2] + ]) + np.random.normal(0, 0.04, 3) # Simulated measurement with noise + + # Simulate measurement covariance + dvl_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance + + # Update UKF with measurement + UKF_model.measurement_update(state, dvl_measurement) + state = UKF_model.posteriori_estimate(state, dvl_measurement) + + # Store state for plotting + positions[i] = real_state.position + velocities[i] = real_state.velocity + quaternions[i] = real_state.orientation + angular_velocities[i] = real_state.angular_velocity + okid_params[i] = real_state.okid_part() + + # Store estimated state for plotting + positions_est[i] = state.position + velocities_est[i] = state.velocity + quaternions_est[i] = state.orientation + angular_velocities_est[i] = state.angular_velocity + okid_params_est[i] = state.okid_part() + + # Add small delay to simulate real-time execution + time.sleep(0.001) +print(state.as_vector()) +# Plotting +time_points = np.arange(0, sim_time, dt) + +# 3D trajectory plot +fig = plt.figure(figsize=(12, 10)) +ax = fig.add_subplot(111, projection='3d') +ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') +ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') +ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') +ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') +ax.set_xlabel('X Position') +ax.set_ylabel('Y Position') +ax.set_zlabel('Z Position') +ax.set_title('3D Trajectory') +ax.legend() + +# Position plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, positions[:, 0], 'b-', label='True') +plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Position') +plt.legend() +plt.subplot(312) +plt.plot(time_points, positions[:, 1], 'b-', label='True') +plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Position') +plt.legend() +plt.subplot(313) +plt.plot(time_points, positions[:, 2], 'b-', label='True') +plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Position') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, velocities[:, 0], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Velocity') +plt.legend() +plt.subplot(312) +plt.plot(time_points, velocities[:, 1], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Velocity') +plt.legend() +plt.subplot(313) +plt.plot(time_points, velocities[:, 2], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Velocity') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Angular velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('Roll Rate') +plt.legend() +plt.subplot(312) +plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Pitch Rate') +plt.legend() +plt.subplot(313) +plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Yaw Rate') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# OKID Inertia parameters plot (9 parameters) +plt.figure(figsize=(15, 10)) +plt.suptitle('Inertia Parameters', fontsize=16) +for i in range(9): + plt.subplot(3, 3, i+1) + plt.plot(time_points, okid_params[:, i], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i], 'r--', label='Estimated') + plt.ylabel(f'Inertia[{i}]') + if i >= 6: # Add x-label only to bottom row + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +# OKID Added Mass parameters plot (6 parameters) +plt.figure(figsize=(15, 8)) +plt.suptitle('Added Mass Parameters', fontsize=16) +for i in range(6): + plt.subplot(2, 3, i+1) + plt.plot(time_points, okid_params[:, i+9], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i+9], 'r--', label='Estimated') + plt.ylabel(f'Added Mass[{i}]') + if i >= 3: # Add x-label only to bottom row + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +# OKID Damping parameters plot (6 parameters) +plt.figure(figsize=(15, 8)) +plt.suptitle('Damping Parameters', fontsize=16) +for i in range(6): + plt.subplot(2, 3, i+1) + plt.plot(time_points, okid_params[:, i+15], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i+15], 'r--', label='Estimated') + plt.ylabel(f'Damping[{i}]') + if i >= 3: # Add x-label only to bottom row + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +# OKID g_eta parameters plot (4 parameters) +plt.figure(figsize=(12, 8)) +plt.suptitle('g_eta Parameters', fontsize=16) +for i in range(4): + plt.subplot(2, 2, i+1) + plt.plot(time_points, okid_params[:, i+21], 'b-', label='True') + plt.plot(time_points, okid_params_est[:, i+21], 'r--', label='Estimated') + plt.ylabel(f'g_eta[{i}]') + plt.xlabel('Time (s)') + plt.legend() +plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle + +plt.show() + diff --git a/navigation/tukf/tukf.py b/navigation/tukf/tukf.py new file mode 100644 index 000000000..a4badd887 --- /dev/null +++ b/navigation/tukf/tukf.py @@ -0,0 +1,126 @@ +import numpy as np +from tukf_class import ( + MeasModel, + AUVState, + covariance_measurement, + covariance_set, + cross_covariance, + mean_measurement, + mean_set, + F_dynamics, + generate_delta_matrix, +) + +def print_matrix(matrix, name="Matrix"): + """Custom print function to print matrices in a formatted form.""" + print(f"{name}: {matrix.shape}") + if isinstance(matrix, np.ndarray): + for row in matrix: + print(" ".join(f"{val:.2f}" for val in row)) + else: + print(matrix) + +class TUKF: + def __init__(self, x_0: AUVState, Q): + self.x = x_0 + self.Q = Q + self.delta = generate_delta_matrix(len(x_0.as_vector())) / np.sqrt(len(x_0.as_vector())) + self.sigma_points_list = None + self.measurement_updated = MeasModel() + self.dt = 0.01 # Time step for dynamics + self.flagg = 0 + self.filter_failed = False + + def sigma_points(self, current_state: AUVState) -> list[AUVState]: + """Functions that generate the sigma points for the UKF.""" + n = len(current_state.covariance) + self.flagg += 1 + try: + S = np.linalg.cholesky(current_state.covariance) + except np.linalg.LinAlgError: + print("Cholesky decomposition failed!") + print("flagg", self.flagg) + print_matrix(current_state.covariance, "Current State Covariance") + print_matrix(self.Q, "Process Noise Covariance (Q)") + + # Set flag to indicate filter has failed + self.filter_failed = True + + # Create a valid but minimal S matrix to avoid crashing + # This allows the simulation to continue to the next step where it can be checked + S = np.eye(n) * 1e-6 + + self.sigma_points_list = [AUVState() for _ in range(2 * n)] + + for index, state in enumerate(self.sigma_points_list): + state.fill_states(current_state.as_vector() + S @ self.delta[:, index]) + + return self.sigma_points_list + + def unscented_transform(self, current_state: AUVState, control_force: np.ndarray) -> AUVState: + """The unscented transform function generates the priori state estimate.""" + self.sigma_points(current_state) + n = len(current_state.covariance) + + self.y_i = [AUVState() for _ in range(2 * n)] + + for i, sp in enumerate(self.sigma_points_list): + self.y_i[i] = F_dynamics(sp, self.dt, control_force) + + state_estimate = AUVState() + x = mean_set(self.y_i) + + state_estimate.fill_states(x) + state_estimate.covariance = covariance_set(self.y_i, x) + + self.Q + return state_estimate + + def measurement_update( + self, current_state: AUVState, measurement: MeasModel + ) -> None: + """Function that updates the state estimate with a measurement. + + Hopefully this is the DVL or GNSS + """ + n = len(current_state.covariance) + z_i = [MeasModel() for _ in range(2 * n)] + + for i, state in enumerate(self.y_i): + z_i[i] = measurement.H(state) + + self.measurement_updated.measurement = mean_measurement(z_i) + + self.measurement_updated.covariance = covariance_measurement( + z_i, self.measurement_updated.measurement + ) + + self.cross_correlation = cross_covariance( + self.y_i, + current_state.as_vector(), + z_i, + self.measurement_updated.measurement, + ) + + def posteriori_estimate( + self, + current_state: AUVState, + measurement: MeasModel, + ) -> AUVState: + """Calculates the posteriori estimate using measurement and the prior estimate.""" + nu_k = MeasModel() + nu_k.measurement = ( + measurement.measurement - self.measurement_updated.measurement + ) + nu_k.covariance = self.measurement_updated.covariance + measurement.covariance + + K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) + + posteriori_estimate = AUVState() + + posteriori_estimate.fill_states( + current_state.as_vector() + np.dot(K_k, nu_k.measurement) + ) + posteriori_estimate.covariance = current_state.covariance - np.dot( + K_k, np.dot(nu_k.covariance, np.transpose(K_k)) + ) + + return posteriori_estimate diff --git a/navigation/tukf/tukf_class.py b/navigation/tukf/tukf_class.py new file mode 100644 index 000000000..e3ec138fb --- /dev/null +++ b/navigation/tukf/tukf_class.py @@ -0,0 +1,437 @@ +import numpy as np +from dataclasses import dataclass, field +from typing import Callable + +@dataclass +class AUVState: + position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + orientation: np.ndarray = field(default_factory=lambda: np.array(3)) + velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + inertia: np.ndarray = field(default_factory=lambda: np.zeros((9))) + added_mass: np.ndarray = field(default_factory=lambda: np.zeros((6))) + damping: np.ndarray = field(default_factory=lambda: np.zeros((6))) + g_eta: np.ndarray = field(default_factory=lambda: np.zeros((4))) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) + + def dynamic_part(self) -> np.ndarray: + """Get the dynamic part of the AUV state.""" + return np.concatenate([ + self.position, + self.orientation, + self.velocity, + self.angular_velocity + ]) + def okid_part(self) -> np.ndarray: + """Get the OKID part of the AUV state.""" + return np.concatenate([ + self.inertia, + self.added_mass, + self.damping, + self.g_eta + ]) + def as_vector(self) -> np.ndarray: + """Convert the AUV state to a vector representation.""" + return np.concatenate([ + self.position, + self.orientation, + self.velocity, + self.angular_velocity, + self.inertia.flatten(), + self.added_mass.flatten(), + self.damping.flatten(), + self.g_eta + ]) + + def __add__(self, other: 'AUVState') -> 'AUVState': + """Add two AUV states together.""" + return AUVState( + position=self.position + other.position, + orientation=self.orientation + other.orientation, + velocity=self.velocity + other.velocity, + angular_velocity=self.angular_velocity + other.angular_velocity, + inertia=self.inertia + other.inertia, + added_mass=self.added_mass + other.added_mass, + damping=self.damping + other.damping, + g_eta=self.g_eta + other.g_eta + ) + def __sub__(self, other: 'AUVState') -> 'AUVState': + """Subtract two AUV states.""" + return AUVState( + position=self.position - other.position, + orientation=self.orientation - other.orientation, + velocity=self.velocity - other.velocity, + angular_velocity=self.angular_velocity - other.angular_velocity, + inertia=self.inertia - other.inertia, + added_mass=self.added_mass - other.added_mass, + damping=self.damping - other.damping, + g_eta=self.g_eta - other.g_eta + ) + def fill_states(self, x: np.ndarray) -> None: + """Fill the AUV state with a vector representation.""" + self.position = x[0:3] + self.orientation = x[3:6] + self.velocity = x[6:9] + self.angular_velocity = x[9:12] + self.inertia = x[12:21] + self.added_mass = x[21:27] + self.damping = x[27:33] + self.g_eta = x[33:37] + + +@dataclass +class MeasModel: + """A class defined for a general measurement model.""" + measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) + H: Callable[["AUVState"], "MeasModel"] | None = None + + def __post_init__(self): + """Initialize H with a default measurement function if none provided.""" + if self.H is None: + self.H = self._default_H + + def _default_H(self, state: AUVState) -> 'MeasModel': + """Default measurement function that returns velocity.""" + H_matrix = np.zeros((3, 12)) + H_matrix[:, 6:9] = np.eye(3) + z_i = MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + + def __add__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the addition operation between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement + other.measurement + return result + + def __rmul__(self, scalar: float) -> 'MeasModel': + """Defines multiplication between scalar value and MeasModel object.""" + result = MeasModel() + result.measurement = scalar * self.measurement + return result + + def __sub__(self, other: 'MeasModel') -> 'MeasModel': + """Defines the subtraction between two MeasModel objects.""" + result = MeasModel() + result.measurement = self.measurement - other.measurement + return result + +def generate_delta_matrix_2(n: float) -> np.ndarray: + """Generates the weight matrix used in the TUKF sigma point generation. + + Parameters: + n (int): The state dimension. + + Returns: + delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. + """ + delta = np.zeros((n, 2 * n)) + k = 0.001 # Tuning parameter to ensure pos def + + for i in range(2 * n): + for j in range(n // 2): + delta[2 * j + 1, i] = ( + np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) + ) + delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + + if (n % 2) == 1: + delta[n - 1, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + + return delta + +def generate_delta_matrix(n: int) -> np.ndarray: + if n < 1: + raise ValueError("n must be a positive integer") + + delta = np.zeros((n, 2 * n)) + r_max = n // 2 # floor(n/2) + sq2 = np.sqrt(2.0) + + for k in range(1, 2 * n + 1): # k = 1 … 2n + for r in range(1, r_max + 1): + row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} + row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} + angle = (2 * r - 1) * k * np.pi / n + delta[row_cos, k - 1] = sq2 * np.cos(angle) + delta[row_sin, k - 1] = sq2 * np.sin(angle) + + if n % 2 == 1: # extra entry when n is odd + delta[n - 1, k - 1] = (-1) ** k + + return delta + +def skew_symmetric(vector: np.ndarray) -> np.ndarray: + """Calculates the skew symmetric matrix of a vector. + + Args: + vector (np.ndarray): The vector. + + Returns: + np.ndarray: The skew symmetric matrix. + """ + return np.array( + [ + [0, -vector[2], vector[1]], + [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0], + ] + ) + +def mean_set(set_points: list[AUVState]) -> np.ndarray: + """Function calculates the mean vector of a set of points. + + Args: + set_points (list[AUVState]): List of AUVState objects + + Returns: + np.ndarray: The mean vector + """ + n = len(set_points) + mean_value = np.zeros(set_points[0].as_vector().shape) + + for state in set_points: + mean_value = mean_value + state.as_vector() + + mean_value = (1 / n) * mean_value + + return mean_value + + +def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: + """Function that calculates the mean of a set of points.""" + n = len(set_points) + mean_value = MeasModel() + + for state in set_points: + mean_value = mean_value + state + + mean_value = (1 / n) * mean_value + + return mean_value.measurement + + +def covariance_set(set_points: list[AUVState], mean: np.ndarray) -> np.ndarray: + """Function that calculates the covariance of a set of points.""" + n = len(set_points) + covariance = np.zeros(set_points[0].covariance.shape) + + for state in set_points: + W_i = state.as_vector() - mean + + covariance += np.outer(W_i, W_i) + + covariance = (1 / n) * covariance + + return covariance + + +def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: + """Function that calculates the covariance of a set of points.""" + n = len(set_points) + co_size = len(set_points[0].measurement) + covariance = np.zeros((co_size, co_size)) + + mean_meas = MeasModel() + mean_meas.measurement = mean + + for state in set_points: + temp_state = state - mean_meas + covariance += np.outer(temp_state.measurement, temp_state.measurement) + + covariance = (1 / n) * covariance + + return covariance + + +def cross_covariance( + set_y: list[AUVState], + mean_y: np.ndarray, + set_z: list[MeasModel], + mean_z: np.ndarray, +) -> np.ndarray: + """Calculates the cross covariance between the measurement and state prediction.""" + n = len(set_y) + + cross_covariance = np.zeros((len(mean_y), len(mean_z))) + + for i in range(n): + state_diff = set_y[i].as_vector() - mean_y + meas_diff = set_z[i].measurement - mean_z + + cross_covariance += np.outer(state_diff, meas_diff) + + cross_covariance = (1 / n) * cross_covariance + + return cross_covariance + + +# ----------------------------------------------------------- + +def rotation_matrix(euler_angles: np.ndarray) -> np.ndarray: + """Calculates the rotation matrix from Euler angles (roll, pitch, yaw).""" + roll, pitch, yaw = euler_angles + + # Roll rotation + Rx = np.array([ + [1, 0, 0], + [0, np.cos(roll), -np.sin(roll)], + [0, np.sin(roll), np.cos(roll)] + ]) + + # Pitch rotation + Ry = np.array([ + [np.cos(pitch), 0, np.sin(pitch)], + [0, 1, 0], + [-np.sin(pitch), 0, np.cos(pitch)] + ]) + + # Yaw rotation + Rz = np.array([ + [np.cos(yaw), -np.sin(yaw), 0], + [np.sin(yaw), np.cos(yaw), 0], + [0, 0, 1] + ]) + + # Complete rotation matrix + R = Rz @ Ry @ Rx + return R + +def angular_velocity_transformation(euler_angles: np.ndarray) -> np.ndarray: + """Transformation matrix relating Euler rates to angular velocities.""" + roll, pitch, yaw = euler_angles + + T = np.array([ + [1, 0, -np.sin(pitch)], + [0, np.cos(roll), np.cos(pitch) * np.sin(roll)], + [0, -np.sin(roll), np.cos(pitch) * np.cos(roll)] + ]) + + return T + +def M_rb(inertia: np.ndarray) -> np.ndarray: + m = 30.0 + inertia = inertia.reshape((3, 3)) + r_b_bg = np.array([0.01, 0.0, 0.02]) + M_rb = np.zeros((6, 6)) + M_rb[0:3, 0:3] = m * np.eye(3) + M_rb[3:6, 3:6] = inertia + M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) + M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) + return M_rb + +def M_a(added_mass: np.ndarray) -> np.ndarray: + """Calculates the added mass matrix.""" + M_a = np.zeros((6, 6)) + M_a[0:3, 0:3] = np.diag(added_mass[0:3]) + M_a[3:6, 3:6] = np.diag(added_mass[3:6]) + return M_a + +def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: + """Calculates the Coriolis matrix.""" + m = 30.0 + r_b_bg = np.array([0.01, 0.0, 0.02]) + inertia = inertia.reshape((3, 3)) + C_rb = np.zeros((6, 6)) + + C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) + C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) + C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) + C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) + return C_rb + +def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: + """Calculates the added mass Coriolis matrix.""" + C_a = np.zeros((6, 6)) + A11 = np.diag(added_mass[0:3]) + A22 = np.diag(added_mass[3:6]) + C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) + C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) + C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) + return C_a + +def D_linear(damping_linear: np.ndarray) -> np.ndarray: + """Calculates the linear damping matrix.""" + D = np.zeros((6, 6)) + D[0:3, 0:3] = -np.diag(damping_linear[0:3]) + D[3:6, 3:6] = -np.diag(damping_linear[3:6]) + return D + +def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: + """Calculates the g_eta matrix using Euler angles.""" + Delta_WB = g_eta[0] + M_x = g_eta[1] + M_y = g_eta[2] + M_z = g_eta[3] + + # Get rotation matrix using Euler angles + R = rotation_matrix(orientation) + + G_eta = np.zeros((6,1)) + # Gravitational forces + G_eta[0:3] = -Delta_WB * R[:, 2].reshape(3, 1) + + # Buoyancy moments + G_eta[3] = -M_y * R[2, 2] + M_z * R[1, 2] + G_eta[4] = -M_z * R[0, 2] + M_x * R[2, 2] + G_eta[5] = -M_x * R[1, 2] + M_y * R[0, 2] + + return G_eta + +def F_dynamics( + state: AUVState, + dt: float, + control_input: np.ndarray) -> AUVState: + + """Calculates the dynamics of the system.""" + m_rb = M_rb(state.inertia) + m_a = M_a(state.added_mass) + c_rb = C_rb(state.inertia, state.angular_velocity) + c_a = C_a(state.added_mass, state.angular_velocity, state.velocity) + D_l = D_linear(state.damping) + g_eta_ = g_eta(state.g_eta, state.orientation) + + # Get rotation and transformation matrices + r = rotation_matrix(state.orientation) + t = angular_velocity_transformation(state.orientation) + + Crb = c_rb + c_a + Mrb = m_rb + m_a + M_inv = np.linalg.inv(Mrb) + + # Create a vector of velocity and angular velocity + nu = np.concatenate([state.velocity, state.angular_velocity]) + + # Calculate the new state + state_dot = AUVState() + state_dot.position = np.dot(r, state.velocity) + + # Calculate Euler angle rates from angular velocities + t_inv = np.linalg.inv(t) + euler_rates = np.dot(t_inv, state.angular_velocity) + state_dot.orientation = euler_rates + + Nu = M_inv @ (control_input - np.dot(Crb, nu) - np.dot(D_l, nu) - g_eta_.flatten()) + + state_dot.velocity = Nu[:3] + state_dot.angular_velocity = Nu[3:6] + + # Update the inertia, added mass, damping, and g_eta + state_dot.inertia = np.zeros_like(state.inertia) + state_dot.added_mass = np.zeros_like(state.added_mass) + state_dot.damping = np.zeros_like(state.damping) + state_dot.g_eta = np.zeros_like(state.g_eta) + + new_state = AUVState() + new_state.position = state.position + state_dot.position * dt + new_state.orientation = state.orientation + state_dot.orientation * dt + new_state.velocity = state.velocity + state_dot.velocity * dt + new_state.angular_velocity = state.angular_velocity + state_dot.angular_velocity * dt + new_state.inertia = state.inertia + state_dot.inertia * dt + new_state.added_mass = state.added_mass + state_dot.added_mass * dt + new_state.damping = state.damping + state_dot.damping * dt + new_state.g_eta = state.g_eta + state_dot.g_eta * dt + + return new_state +# ----------------------------------------------------------- diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py index e50c65c3a..240ca42bb 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid.py @@ -7,23 +7,22 @@ cross_covariance, mean_measurement, mean_set, - okid_process_model, + F_dynamics, ) class UKF: - def __init__(self, process_model: okid_process_model, x_0, P_0, Q, G): + def __init__(self, x_0: StateQuat, Q): self.x = x_0 - self.P = P_0 self.Q = Q - self.G = G - self.process_model = process_model + # self.G = G self.sigma_points_list = None self.measurement_updated = MeasModel() self.y_i = None self.weight = None self.delta = self.generate_delta_matrix(len(x_0.as_vector()) - 1) self.cross_correlation = None + self.dt = 0.01 # Time step for dynamics def generate_delta_matrix(self, n: float) -> np.ndarray: """Generates the weight matrix used in the TUKF sigma point generation. @@ -35,12 +34,14 @@ def generate_delta_matrix(self, n: float) -> np.ndarray: delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. """ delta = np.zeros((n, 2 * n)) - k = 0.01 # Tuning parameter to ensure pos def + k = 0.00000001 # Tuning parameter to ensure pos def for i in range(2 * n): for j in range(n // 2): - delta[2 * j + 1, i] = np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) - delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) + delta[2 * j + 1, i] = ( + np.sqrt(2) * np.sin((2 * j - 1) * ((k * np.pi) / n)) + ) + delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1) * ((k * np.pi) / n)) if (n % 2) == 1: delta[n - 1, i] = (-1) ** i @@ -60,17 +61,15 @@ def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: return self.sigma_points_list - def unscented_transform(self, current_state: StateQuat) -> StateQuat: + def unscented_transform(self, current_state: StateQuat, control_force: np.ndarray) -> StateQuat: """The unscented transform function generates the priori state estimate.""" self.sigma_points(current_state) n = len(current_state.covariance) self.y_i = [StateQuat() for _ in range(2 * n)] - for i, state in enumerate(self.sigma_points_list): - self.process_model.model_prediction(state) - self.process_model.state_vector_prev = state - self.y_i[i] = self.process_model.euler_forward() + for i, sp in enumerate(self.sigma_points_list): + self.y_i[i] = F_dynamics(sp, self.dt, control_force) state_estimate = StateQuat() x = mean_set(self.y_i) diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py index 0b329cb84..f494e3280 100644 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ b/navigation/ukf_okid/ukf_python/ukf_okid_class.py @@ -1,5 +1,5 @@ from dataclasses import dataclass, field - +from typing import Callable import numpy as np @@ -13,21 +13,25 @@ class okid: ) ) added_mass: np.ndarray = field( - default_factory=lambda: np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) + default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) ) damping_linear: np.ndarray = field( - default_factory=lambda: np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]) + default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + ) + g_eta: np.ndarray = field( + default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0]) ) def fill(self, state: np.ndarray) -> None: """Fills the okid_params object with values from a numpy array.""" self.inertia = state[0:9] self.added_mass = state[9:15] - self.damping_linear = state[15:] + self.damping_linear = state[15:21] + self.g_eta = state[21:25] def as_vector(self) -> np.ndarray: """Returns the okid_params as a numpy array.""" - return np.concatenate([self.inertia, self.added_mass, self.damping_linear]) + return np.concatenate([self.inertia, self.added_mass, self.damping_linear, self.g_eta]) def __add__(self, other: 'okid') -> 'okid': """Defines the addition operation between two okid_params objects.""" @@ -35,6 +39,7 @@ def __add__(self, other: 'okid') -> 'okid': result.inertia = self.inertia + other.inertia result.added_mass = self.added_mass + other.added_mass result.damping_linear = self.damping_linear + other.damping_linear + result.g_eta = self.g_eta + other.g_eta return result def __sub__(self, other: 'okid') -> 'okid': @@ -43,6 +48,7 @@ def __sub__(self, other: 'okid') -> 'okid': result.inertia = self.inertia - other.inertia result.added_mass = self.added_mass - other.added_mass result.damping_linear = self.damping_linear - other.damping_linear + result.g_eta = self.g_eta - other.g_eta return result def __sub__(self, other: np.ndarray) -> 'okid': @@ -50,7 +56,8 @@ def __sub__(self, other: np.ndarray) -> 'okid': result = okid() result.inertia = self.inertia - other[0:9] result.added_mass = self.added_mass - other[9:15] - result.damping_linear = self.damping_linear - other[15:] + result.damping_linear = self.damping_linear - other[15:21] + result.g_eta = self.g_eta - other[21:25] return result def __rmul__(self, scalar: float) -> 'okid': @@ -59,6 +66,7 @@ def __rmul__(self, scalar: float) -> 'okid': result.inertia = scalar * self.inertia result.added_mass = scalar * self.added_mass result.damping_linear = scalar * self.damping_linear + result.g_eta = scalar * self.g_eta return result @@ -71,7 +79,7 @@ class StateQuat: velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) okid_params: okid = field(default_factory=okid) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((33, 33))) + covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) def as_vector(self) -> np.ndarray: """Returns the StateVector as a numpy array.""" @@ -135,6 +143,7 @@ def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> Non ) self.velocity = state[7:10] + state_euler[6:9] self.angular_velocity = state[10:13] + state_euler[9:12] + self.okid_params.fill(state[13:] + state_euler[12:]) def fill_states_different_dim( self, state: np.ndarray, state_euler: np.ndarray @@ -218,16 +227,21 @@ def add_without_quaternions(self, other: 'StateQuat') -> None: @dataclass class MeasModel: """A class defined for a general measurement model.""" - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - - def H(self, state: StateQuat) -> 'MeasModel': - """Calculates the measurement matrix.""" - H = np.zeros((3, 13)) - H[:, 7:10] = np.eye(3) + H: Callable[["StateQuat"], "MeasModel"] | None = None + + def __post_init__(self): + """Initialize H with a default measurement function if none provided.""" + if self.H is None: + self.H = self._default_H + + def _default_H(self, state: StateQuat) -> 'MeasModel': + """Default measurement function that returns velocity.""" + H_matrix = np.zeros((3, 13)) + H_matrix[:, 7:10] = np.eye(3) z_i = MeasModel() - z_i.measurement = np.dot(H, state.dynamic_part()) + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) return z_i def __add__(self, other: 'MeasModel') -> 'MeasModel': @@ -459,6 +473,149 @@ def euler_forward(self) -> None: return self.state_vector +# ----------------------------------------------------------- + +def R_q(orientation: np.ndarray) -> np.ndarray: + """Calculates the rotation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = orientation + R = np.array( + [ + [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], + [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], + [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2], + ] + ) + return R + +def T_q(orientation: np.ndarray) -> np.ndarray: + """Calculates the transformation matrix from the orientation quaternion.""" + q0, q1, q2, q3 = orientation + T = 0.5 * np.array( + [[-q1, -q2, -q3], [q0, -q3, q2], [q3, q0, -q1], [-q2, q1, q0]] + ) + return T + +def M_rb(inertia: np.ndarray) -> np.ndarray: + m = 30.0 + inertia = inertia.reshape((3, 3)) + r_b_bg = np.array([0.01, 0.0, 0.02]) + M_rb = np.zeros((6, 6)) + M_rb[0:3, 0:3] = m * np.eye(3) + M_rb[3:6, 3:6] = inertia + M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) + M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) + return M_rb + +def M_a(added_mass: np.ndarray) -> np.ndarray: + """Calculates the added mass matrix.""" + M_a = np.zeros((6, 6)) + M_a[0:3, 0:3] = np.diag(added_mass[0:3]) + M_a[3:6, 3:6] = np.diag(added_mass[3:6]) + return M_a + +def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: + """Calculates the Coriolis matrix.""" + m = 30.0 + r_b_bg = np.array([0.01, 0.0, 0.02]) + inertia = inertia.reshape((3, 3)) + C_rb = np.zeros((6, 6)) + + C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) + C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) + C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) + C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) + return C_rb + +def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: + """Calculates the added mass Coriolis matrix.""" + C_a = np.zeros((6, 6)) + A11 = np.diag(added_mass[0:3]) + A22 = np.diag(added_mass[3:6]) + C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) + C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) + C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) + return C_a + +def D_linear(damping_linear: np.ndarray) -> np.ndarray: + """Calculates the linear damping matrix.""" + D = np.zeros((6, 6)) + D[0:3, 0:3] = -np.diag(damping_linear[0:3]) + D[3:6, 3:6] = -np.diag(damping_linear[3:6]) + return D + +def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: + """Calculates the g_eta matrix.""" + Delta_WB = g_eta[0] + M_x = g_eta[1] + M_y = g_eta[2] + M_z = g_eta[3] + + q_0 = orientation[0] + q_1 = orientation[1] + q_2 = orientation[2] + q_3 = orientation[3] + + R1 = (2*(q_1*q_3 - q_0*q_2)) + R2 = (2*(q_2*q_3 + q_0*q_1)) + R3 = (1 - 2*(q_1**2 + q_2**2)) + G_eta = np.zeros((6,1)) + G_eta[0] = - Delta_WB * R1 + G_eta[1] = - Delta_WB * R2 + G_eta[2] = - Delta_WB * R3 + + G_eta[3] = -M_y * R3 + M_z * R2 + G_eta[4] = -M_z * R1 + M_x * R3 + G_eta[5] = -M_x * R2 + M_y * R1 + + return G_eta + +def F_dynamics( + state: StateQuat, + dt: float, + control_input: np.ndarray) -> np.ndarray: + + """Calculates the dynamics of the system.""" + m_rb = M_rb(state.okid_params.inertia) + m_a = M_a(state.okid_params.added_mass) + c_rb = C_rb(state.okid_params.inertia, state.angular_velocity) + c_a = C_a(state.okid_params.added_mass, state.angular_velocity, state.velocity) + D_l = D_linear(state.okid_params.damping_linear) + g_eta_ = g_eta(state.okid_params.g_eta, state.orientation) + r_q = R_q(state.orientation) + t_q = T_q(state.orientation) + Crb = c_rb + c_a + Mrb = m_rb + m_a + M_inv = np.linalg.inv(Mrb) + + + # Calculate the new state + state_dot = StateQuat() + state_dot.position = np.dot(r_q, state.velocity) + state_dot.orientation = np.dot(t_q, state.angular_velocity) + Nu = M_inv @ (control_input - np.dot(Crb, state.nu()) - np.dot(D_l, state.nu()) - g_eta_.flatten()) + + state_dot.velocity = Nu[:3] + state_dot.angular_velocity = Nu[3:6] + state_dot.okid_params.added_mass = state.okid_params.added_mass + state_dot.okid_params.damping_linear = state.okid_params.damping_linear + state_dot.okid_params.inertia = state.okid_params.inertia + state_dot.okid_params.g_eta = state.okid_params.g_eta + + # Update the state using Euler integration + state.position += state_dot.position * dt + state.orientation = quat_norm( + state.orientation + state_dot.orientation * dt + ) + state.velocity += state_dot.velocity * dt + state.angular_velocity += state_dot.angular_velocity * dt + state.okid_params.added_mass = state.okid_params.added_mass + state.okid_params.damping_linear = state.okid_params.damping_linear + state.okid_params.inertia = state.okid_params.inertia + state.okid_params.g_eta = state.okid_params.g_eta + return state +# ----------------------------------------------------------- + + def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: """Converts Euler angles to a quaternion.""" psi, theta, phi = euler_angles @@ -624,7 +781,6 @@ def mean_set(set_points: list[StateQuat]) -> np.ndarray: mean_value.okid_params = (1 / n) * mean_value.okid_params mean_value.orientation = iterative_quaternion_mean_statequat(set_points) - return mean_value.as_vector() diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py index d80427364..e664bd848 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ b/navigation/ukf_okid/ukf_python/ukf_test.py @@ -1,458 +1,27 @@ -import matplotlib.pyplot as plt import numpy as np +def generate_delta_matrix(n: int) -> np.ndarray: + if n < 1: + raise ValueError("n must be a positive integer") -# Import your classes and functions. -# Adjust the import paths as necessary based on your module organization. -from ukf_okid_class import ( - MeasModel, - StateQuat, - covariance_measurement, - covariance_set, - cross_covariance, - mean_measurement, - mean_set, - quat_norm, - quat_to_euler, - quaternion_super_product, -) + delta = np.zeros((n, 2 * n)) + r_max = n // 2 # floor(n/2) + sq2 = np.sqrt(2.0) + for k in range(1, 2 * n + 1): # k = 1 … 2n + for r in range(1, r_max + 1): + row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} + row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} + angle = (2 * r - 1) * k * np.pi / n + delta[row_cos, k - 1] = sq2 * np.cos(angle) + delta[row_sin, k - 1] = sq2 * np.sin(angle) -# For testing, define a function to create a StateQuat with small perturbations. -def create_statequat( - base_vector, - position_perturbation, - orientation_perturbation, - velocity_perturbation, - angular_velocity_perturbation, -): - """Creates a StateQuat object. - - base_vector: 1D numpy array for base state (13 elements: - position (3), quaternion (4), velocity (3), angular_velocity (3)) - - ..._perturbation: small perturbation vector to be added to each respective component. - Returns a StateQuat. - """ - state = StateQuat() - # Base state - state.position = base_vector[0:3] + position_perturbation - # For orientation, perturb by adding a small rotation: - base_quat = base_vector[3:7] - noise_angle = np.linalg.norm(orientation_perturbation) - if noise_angle < 1e-8: - noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) - else: - noise_axis = orientation_perturbation / noise_angle - noise_quat = np.concatenate( - ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) - ) - state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) - state.velocity = base_vector[7:10] + velocity_perturbation - state.angular_velocity = base_vector[10:13] + angular_velocity_perturbation + if n % 2 == 1: # extra entry when n is odd + delta[n - 1, k - 1] = (-1) ** k - # For the augmented parameters (OKID parameters), set a 21-element vector: - # 9 for inertia, 6 for added_mass, and 6 for damping_linear. - state.okid_params.fill(np.concatenate((np.zeros(9), np.zeros(6), np.zeros(6)))) + return delta - # Set a default covariance (33x33 for the extended state) - state.covariance = np.eye(33) * 0.01 - return state +a1 = np.array([1, 0, 1]) +a2 = np.array([1, 1, 0]) - -# Test functions for state statistics -def test_state_statistics(): - # Define a base state vector (13 elements: position, quaternion, velocity, angular_velocity) - base_vector = np.zeros(13) - base_vector[0:3] = np.array([1.0, 2.0, 3.0]) - base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion - base_vector[7:10] = np.array([0.1, 0.2, 0.3]) - base_vector[10:13] = np.array([0.01, 0.02, 0.03]) - - # Create a list of StateQuat objects with small random perturbations. - np.random.seed(42) - state_list = [] - num_states = 10 - for _ in range(num_states): - pos_noise = np.random.normal(0, 0.05, 3) - ori_noise = np.random.normal(0, 0.01, 3) - vel_noise = np.random.normal(0, 0.02, 3) - ang_vel_noise = np.random.normal(0, 0.005, 3) - state_list.append( - create_statequat( - base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise - ) - ) - - # Compute the state mean using mean_set. - mean_state_vec = mean_set(state_list) - print("Computed mean state vector:") - print(mean_state_vec) - - # Compute the covariance of the states. - cov_state = covariance_set(state_list, mean_state_vec) - print("Computed state covariance matrix:") - print(cov_state) - - # Check symmetry of the covariance: - asym_error = np.linalg.norm(cov_state - cov_state.T) - print("Covariance symmetry error (should be near 0):", asym_error) - - # Check eigenvalues for positive semidefiniteness: - eigvals = np.linalg.eigvals(cov_state) - print("Eigenvalues of state covariance:") - print(eigvals) - - -def test_measurement_statistics(): - # Create a list of measurement objects (MeasModel) with measurements in R^3. - np.random.seed(24) - meas_list = [] - num_meas = 10 - base_meas = np.array([1.0, 2.0, 3.0]) - for _ in range(num_meas): - noise = np.random.normal(0, 0.1, 3) - meas = MeasModel() - meas.measurement = base_meas + noise - meas_list.append(meas) - - # Compute the measurement mean. - mean_meas = mean_measurement(meas_list) - print("Computed measurement mean:") - print(mean_meas) - - # Compute the measurement covariance. - cov_meas = covariance_measurement(meas_list, mean_meas) - print("Computed measurement covariance:") - print(cov_meas) - - # Check symmetry and eigenvalues. - asym_error = np.linalg.norm(cov_meas - cov_meas.T) - print("Measurement covariance symmetry error:", asym_error) - eigvals = np.linalg.eigvals(cov_meas) - print("Eigenvalues of measurement covariance:") - print(eigvals) - - -def test_cross_covariance(): - # Create a set of StateQuat and corresponding MeasModel objects. - np.random.seed(99) - num = 10 - state_list = [] - meas_list = [] - base_vector = np.zeros(13) - base_vector[0:3] = np.array([0.5, 1.0, -0.5]) - base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) - base_vector[7:10] = np.array([0.05, 0.1, 0.15]) - base_vector[10:13] = np.array([0.005, 0.01, 0.015]) - - for _ in range(num): - pos_noise = np.random.normal(0, 0.02, 3) - ori_noise = np.random.normal(0, 0.005, 3) - vel_noise = np.random.normal(0, 0.01, 3) - ang_vel_noise = np.random.normal(0, 0.002, 3) - state = create_statequat( - base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise - ) - state_list.append(state) - - # Generate a measurement from each state (e.g., state velocity plus noise). - meas = MeasModel() - meas.measurement = state.velocity + np.random.normal(0, 0.01, 3) - meas_list.append(meas) - - # Compute the state mean and measurement mean as vectors. - mean_state_vec = mean_set(state_list) - mean_meas = mean_measurement(meas_list) - - cross_cov = cross_covariance(state_list, mean_state_vec, meas_list, mean_meas) - print("Computed cross-covariance between state and measurement:") - print(cross_cov) - - -import time - -from ukf_okid import UKF - -# Import your classes and functions. -from ukf_okid_class import ( - okid_process_model, - process_model, -) # Your process model classes - - -############################################ -# Helper function to create a StateQuat with perturbations. -############################################ -def create_statequat(base_vector, pos_noise, ori_noise, vel_noise, ang_vel_noise): - """Create a StateQuat object from a base vector (13 elements: - position (3), quaternion (4), velocity (3), angular_velocity (3)) - plus additive noise on each component. - - For the OKID parameters, we assume a 21-element vector: - - first 9: inertia, - - next 6: added_mass, - - last 6: damping_linear. - """ - state = StateQuat() - state.position = base_vector[0:3] + pos_noise - base_quat = base_vector[3:7] - noise_angle = np.linalg.norm(ori_noise) - if noise_angle < 1e-8: - noise_quat = np.array([1.0, 0.0, 0.0, 0.0]) - else: - noise_axis = ori_noise / noise_angle - noise_quat = np.concatenate( - ([np.cos(noise_angle / 2)], np.sin(noise_angle / 2) * noise_axis) - ) - state.orientation = quat_norm(quaternion_super_product(base_quat, noise_quat)) - state.velocity = base_vector[7:10] + vel_noise - state.angular_velocity = base_vector[10:13] + ang_vel_noise - - # Set OKID parameters to exactly 21 elements (9,6,6) - state.okid_params.fill( - np.concatenate( - ( - np.array([0.0, 0.0, 0.3, 0.0, 0.0, 3.3, 0.0, 0.0, 3.3]), - np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), - np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]), - ) - ) - ) - # Set an initial covariance (33x33) for the full augmented state. - state.covariance = np.eye(33) * 0.02 - return state - - -############################################ -# Full Filter Simulation Test -############################################ -def run_ukf_simulation(): - dt = 0.01 # Time step for simulation [s] - simulation_time = 10 # Total simulation time in seconds - num_steps = int(simulation_time / dt) - - # Define a base state vector (13 elements: pos, quat, vel, ang_vel) - base_vector = np.zeros(13) - base_vector[0:3] = np.array([0.0, 0.0, 0.0]) - base_vector[3:7] = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion - base_vector[7:10] = np.array([0.1, 0.0, 0.0]) # small velocity in x - base_vector[10:13] = np.array([0.0, 0.0, 0.0]) - - # Define initial covariance for state (33x33) - P0 = np.eye(33) - P0[0:3, 0:3] = np.eye(3) * 0.01 # position - P0[3:6, 3:6] = np.eye(3) * 0.01 # orientation error (quaternion) - P0[6:9, 6:9] = np.eye(3) * 0.01 # velocity - P0[9:12, 9:12] = np.eye(3) * 0.01 # angular velocity - P0[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters - - # Define process noise covariance Q (33x33) - Q = np.zeros((33, 33)) - Q[0:3, 0:3] = np.eye(3) * 0.001 # for position - Q[3:6, 3:6] = ( - np.eye(3) * 0.001 - ) # for orientation error (represented with Euler angles) - Q[6:9, 6:9] = np.eye(3) * 0.001 # for velocity - Q[9:12, 9:12] = np.eye(3) * 0.001 # for angular velocity - Q[12:33, 12:33] = np.eye(21) * 0.001 # OKID parameters - - G = np.zeros((33, 12)) - G[0:3, 0:3] = np.eye(3) - G[3:6, 3:6] = np.eye(3) - G[6:9, 6:9] = np.eye(3) - G[9:12, 9:12] = np.eye(3) - - # Measurement noise covariance R (3x3), assume measurement is velocity - R = np.eye(3) * 0.01 - - # Create a simulation process model and an independent UKF process model. - sim_model = process_model() - sim_model.dt = dt - sim_model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - sim_model.m = 30.0 - sim_model.r_b_bg = np.array([0.01, 0.0, 0.02]) - sim_model.inertia = np.diag([0.68, 3.32, 3.34]) - sim_model.damping_linear = np.array([0.1] * 6) - sim_model.added_mass = np.array([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - # UKF process model copy: - ukf_model = okid_process_model() - ukf_model.dt = dt - ukf_model.mass_interia_matrix = sim_model.mass_interia_matrix.copy() - ukf_model.m = sim_model.m - ukf_model.r_b_bg = sim_model.r_b_bg.copy() - ukf_model.inertia = sim_model.inertia.copy() - ukf_model.damping_linear = sim_model.damping_linear.copy() - ukf_model.added_mass = sim_model.added_mass.copy() - - # Initialize true state and filter state. - true_state = create_statequat( - base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) - ) - true_state.covariance = P0.copy() - - filter_state = create_statequat( - base_vector, np.zeros(3), np.zeros(3), np.zeros(3), np.zeros(3) - ) - filter_state.covariance = P0.copy() - - # Initialize measurement model (for example, measuring velocity only) - meas_model = MeasModel() - meas_model.covariance = R.copy() - - # Initialize UKF. - ukf = UKF(ukf_model, true_state, P0.copy(), Q.copy(), G.copy()) - - # Arrays to store time histories. - pos_true_hist = np.zeros((num_steps, 3)) - pos_est_hist = np.zeros((num_steps, 3)) - vel_true_hist = np.zeros((num_steps, 3)) - vel_est_hist = np.zeros((num_steps, 3)) - euler_true_hist = np.zeros((num_steps, 3)) - euler_est_hist = np.zeros((num_steps, 3)) - time_array = np.linspace(0, simulation_time, num_steps) - - # Control input function (example: oscillatory in all directions) - def control_input(t): - return np.array( - [ - 2 * np.sin(t), - 2 * np.sin(t + 0.5), - 2 * np.sin(t + 1.0), - 0.2 * np.cos(t), - 0.2 * np.cos(t + 0.5), - 0.2 * np.cos(t + 1.0), - ] - ) - - # Set previous states. - sim_model.state_vector_prev = true_state - sim_model.state_vector = true_state - ukf_model.state_vector_prev = filter_state - ukf_model.state_vector = filter_state - - # Lists for timing diagnostics. - ukf_transform_times = [] - ukf_update_times = [] - - # Simulation loop. - for i in range(num_steps): - t_current = i * dt - - # Update control inputs. - sim_model.Control_input = control_input(t_current) - ukf_model.Control_input = control_input(t_current) - - # Propagate true state using the simulation model. - sim_model.model_prediction(true_state) - true_state = sim_model.euler_forward() - - # Create a measurement from true state. - # Here we assume we measure velocity plus noise. - meas_noise = np.random.normal(0, 0.01, 3) - meas_model.measurement = true_state.velocity + meas_noise - - # UKF prediction: unscented transform. - start = time.time() - filter_state = ukf.unscented_transform(filter_state) - ukf_transform_times.append(time.time() - start) - - # UKF measurement update every few steps. - if i % 5 == 0: - try: - start = time.time() - ukf.measurement_update(filter_state, meas_model) - filter_state = ukf.posteriori_estimate(filter_state, meas_model) - ukf_update_times.append(time.time() - start) - except np.linalg.LinAlgError: - # If matrix is not PD, add jitter. - filter_state.covariance += ( - np.eye(filter_state.covariance.shape[0]) * 1e-6 - ) - - # Store true and estimated state for diagnostics. - pos_true_hist[i, :] = true_state.position - pos_est_hist[i, :] = filter_state.position - vel_true_hist[i, :] = true_state.velocity - vel_est_hist[i, :] = filter_state.velocity - # Convert quaternion to Euler angles for visualization. - # Assumes you have a function quat_to_euler. - euler_true_hist[i, :] = quat_to_euler(true_state.orientation) - euler_est_hist[i, :] = quat_to_euler(filter_state.orientation) - - # Update previous states. - sim_model.state_vector_prev = true_state - ukf_model.state_vector_prev = filter_state - - # Print timing diagnostics. - print("Average unscented transform time:", np.mean(ukf_transform_times)) - print("Average measurement update time:", np.mean(ukf_update_times)) - - # Compute error metrics. - pos_error = np.linalg.norm(pos_true_hist - pos_est_hist, axis=1) - vel_error = np.linalg.norm(vel_true_hist - vel_est_hist, axis=1) - euler_error = np.linalg.norm(euler_true_hist - euler_est_hist, axis=1) - print("Average position error:", np.mean(pos_error)) - print("Average velocity error:", np.mean(vel_error)) - print("Average orientation (Euler) error:", np.mean(euler_error)) - - # Plot estimated vs true trajectory (positions). - plt.figure(figsize=(10, 8)) - plt.subplot(3, 1, 1) - plt.plot(time_array, pos_true_hist[:, 0], label="True X") - plt.plot(time_array, pos_est_hist[:, 0], label="Est X", linestyle="--") - plt.legend() - plt.title("Position X") - - plt.subplot(3, 1, 2) - plt.plot(time_array, pos_true_hist[:, 1], label="True Y") - plt.plot(time_array, pos_est_hist[:, 1], label="Est Y", linestyle="--") - plt.legend() - plt.title("Position Y") - - plt.subplot(3, 1, 3) - plt.plot(time_array, pos_true_hist[:, 2], label="True Z") - plt.plot(time_array, pos_est_hist[:, 2], label="Est Z", linestyle="--") - plt.legend() - plt.title("Position Z") - plt.tight_layout() - plt.show() - - # Plot errors. - plt.figure(figsize=(10, 4)) - plt.plot(time_array, pos_error, label="Position Error") - plt.plot(time_array, vel_error, label="Velocity Error") - plt.plot(time_array, euler_error, label="Euler Angle Error") - plt.legend() - plt.title("Error Metrics over Time") - plt.xlabel("Time (s)") - plt.ylabel("Error magnitude") - plt.show() - - -# You can also test the individual statistics functions separately: -def run_diagnostics(): - print("Testing state mean and covariance computation:") - # Call your pre-written tests: - # (Assuming these functions—test_state_statistics, test_measurement_statistics, test_cross_covariance—are defined above) - test_state_statistics() - print("\nTesting measurement mean and covariance computation:") - test_measurement_statistics() - print("\nTesting cross-covariance computation:") - test_cross_covariance() - - -if __name__ == '__main__': - # First, run the diagnostics on the mean/covariance functions. - run_diagnostics() - - # Then run the full UKF simulation test. - print("\nRunning full UKF simulation test:") - run_ukf_simulation() +a3 = np.outer(a1, a2) +print(a3) \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py index d3a75313b..0a2d5b2fe 100644 --- a/navigation/ukf_okid/ukf_python/ukf_test_2.py +++ b/navigation/ukf_okid/ukf_python/ukf_test_2.py @@ -1,42 +1,229 @@ import numpy as np +import ukf_okid_class as ukf +from ukf_okid import UKF +from mpl_toolkits.mplot3d import Axes3D +import time +import math +from ukf_utils import print_StateQuat, print_matrix -# Define process noise covariance Q (33x33) -Q = np.zeros((12, 12)) -Q[0:3, 0:3] = np.eye(3) * 0.003 # for position -Q[3:6, 3:6] = np.eye(3) * 0.003 # for orientation error (represented with Euler angles) -Q[6:9, 6:9] = np.eye(3) * 0.002 # for velocity -Q[9:12, 9:12] = np.eye(3) * 0.003 # for angular velocity +import matplotlib.pyplot as plt -G = np.zeros((33, 12)) -G[0:3, 0:3] = np.eye(3) -G[3:6, 3:6] = np.eye(3) -G[6:9, 6:9] = np.eye(3) -G[9:12, 9:12] = np.eye(3) +# Initialize UKF with StateQuat +initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z +initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz +initial_quaternion = np.array([1.0, 0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) +initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz +initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters +initial_covariance = np.eye(37) * 20.0 # Initial covariance matrix -GG = G @ Q @ G.T +# Create StateQuat object +state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) +state.okid_params.g_eta = initial_g_eta +state.covariance = initial_covariance +real_state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) +real_state.okid_params.g_eta = np.array([1.2, 0.3, 0.3, 0.3]) -def fancy_print_matrix(matrix, name="Matrix", precision=4): - """Print a matrix with fancy formatting. +UKF_model = UKF(state, Q=10.0 * np.eye(37)) # Process noise covariance +dvl_measurement = ukf.MeasModel() - Args: - matrix: numpy array to print - name: name of the matrix to display - precision: number of decimal places to show - """ - print(f"\n{'=' * 50}") - print(f" {name} [{matrix.shape[0]}x{matrix.shape[1]}]") - print(f"{'=' * 50}") +def ang_h(state: ukf.StateQuat) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 13)) + H_matrix[:, 10:13] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i - # Set numpy print options - with np.printoptions(precision=precision, suppress=True, linewidth=100): - # Print each row with custom formatting - for i in range(matrix.shape[0]): - row = ' '.join([f"{x:8.{precision}f}" for x in matrix[i]]) - print(f" {i:2d} | {row}") +ang_measurement = ukf.MeasModel(H=ang_h) - print(f"{'=' * 50}\n") +# UKF parameters +dt = 0.01 # time step +sim_time = 1.0 # total simulation time +steps = int(sim_time / dt) +# Storage for trajectory +positions = np.zeros((steps, 3)) +velocities = np.zeros((steps, 3)) +quaternions = np.zeros((steps, 4)) +angular_velocities = np.zeros((steps, 3)) +okid_params = np.zeros((steps, 4)) + +# Storage for trajectory +positions_est = np.zeros((steps, 3)) +velocities_est = np.zeros((steps, 3)) +quaternions_est = np.zeros((steps, 4)) +angular_velocities_est = np.zeros((steps, 3)) +okid_params_est = np.zeros((steps, 4)) + +# Simulation loop +for i in range(steps): + t = i * dt + + # Generate control input (slow sinusoidal signals) + control_force = np.array([ + 5 * np.sin(4.0 * t), + 10 * np.sin(3.0 * t), + 10 * np.sin(2.0 * t) + ]) + + control_torque = np.array([ + 10 * np.sin(4.0 * t), + 10 * np.sin(4.0 * t), + 10 * np.sin(4.0 * t) + ]) + + control_input = np.concatenate((control_force, control_torque)) + + # Propagate state using UKF prediction + real_state = ukf.F_dynamics(real_state, dt, control_input) + state = UKF_model.unscented_transform(state, control_input) + if i % 5 == 0: + # Simulate measurement update every 5 steps + ang_measurement.measurement = np.array([ + real_state.angular_velocity[0], + real_state.angular_velocity[1], + real_state.angular_velocity[2] + ]) + np.random.normal(0, 0.03, 3) + # Simulate measurement covariance + ang_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance + # Update UKF with measurement + UKF_model.measurement_update(state, ang_measurement) + state = UKF_model.posteriori_estimate(state, ang_measurement) + + if i % 10 == 0: + # Simulate measurement update every 10 steps + dvl_measurement.measurement = np.array([ + real_state.velocity[0], + real_state.velocity[1], + real_state.velocity[2] + ]) + np.random.normal(0, 0.03, 3) # Simulated measurement with noise + + # Simulate measurement covariance + dvl_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance + + # Update UKF with measurement + UKF_model.measurement_update(state, dvl_measurement) + state = UKF_model.posteriori_estimate(state, dvl_measurement) + print_matrix(state.covariance) + + print("Determinant of covariance matrix:", np.linalg.det(state.covariance)) + # Store state for plotting + positions[i] = real_state.position + velocities[i] = real_state.velocity + quaternions[i] = real_state.orientation + angular_velocities[i] = real_state.angular_velocity + okid_params[i] = real_state.okid_params.g_eta + + # Store estimated state for plotting + positions_est[i] = state.position + velocities_est[i] = state.velocity + quaternions_est[i] = state.orientation + angular_velocities_est[i] = state.angular_velocity + okid_params_est[i] = state.okid_params.g_eta + + # Add small delay to simulate real-time execution + time.sleep(0.001) +print(state.as_vector()) +# Plotting +time_points = np.arange(0, sim_time, dt) + +# 3D trajectory plot +fig = plt.figure(figsize=(12, 10)) +ax = fig.add_subplot(111, projection='3d') +ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') +ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') +ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') +ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') +ax.set_xlabel('X Position') +ax.set_ylabel('Y Position') +ax.set_zlabel('Z Position') +ax.set_title('3D Trajectory') +ax.legend() + +# Position plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, positions[:, 0], 'b-', label='True') +plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Position') +plt.legend() +plt.subplot(312) +plt.plot(time_points, positions[:, 1], 'b-', label='True') +plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Position') +plt.legend() +plt.subplot(313) +plt.plot(time_points, positions[:, 2], 'b-', label='True') +plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Position') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, velocities[:, 0], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('X Velocity') +plt.legend() +plt.subplot(312) +plt.plot(time_points, velocities[:, 1], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Y Velocity') +plt.legend() +plt.subplot(313) +plt.plot(time_points, velocities[:, 2], 'b-', label='True') +plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Z Velocity') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# Angular velocity plot +plt.figure(figsize=(12, 6)) +plt.subplot(311) +plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') +plt.ylabel('Roll Rate') +plt.legend() +plt.subplot(312) +plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') +plt.ylabel('Pitch Rate') +plt.legend() +plt.subplot(313) +plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') +plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') +plt.ylabel('Yaw Rate') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +# OKID g_eta plot +plt.figure(figsize=(12, 6)) +plt.subplot(411) +plt.plot(time_points, okid_params[:, 0], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 0], 'r--', label='Estimated') +plt.ylabel('g_eta[0]') +plt.legend() +plt.subplot(412) +plt.plot(time_points, okid_params[:, 1], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 1], 'r--', label='Estimated') +plt.ylabel('g_eta[1]') +plt.legend() +plt.subplot(413) +plt.plot(time_points, okid_params[:, 2], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 2], 'r--', label='Estimated') +plt.ylabel('g_eta[2]') +plt.legend() +plt.subplot(414) +plt.plot(time_points, okid_params[:, 3], 'b-', label='True') +plt.plot(time_points, okid_params_est[:, 3], 'r--', label='Estimated') +plt.ylabel('g_eta[3]') +plt.xlabel('Time (s)') +plt.legend() +plt.tight_layout() + +plt.show() -# Example usage: -fancy_print_matrix(GG, name="Process Noise Covariance (GQG')", precision=3) From 7e229beb1131970abd4f0ef5f6b075765ba38244 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 18 May 2025 16:40:56 +0200 Subject: [PATCH 051/109] fix: added tukf and simulation --- navigation/eskf/config/eskf_params.yaml | 6 +- navigation/eskf/include/eskf/typedefs.hpp | 6 +- navigation/eskf/src/eskf.cpp | 56 ++--- navigation/eskf/src/eskf_ros.cpp | 8 +- navigation/tukf/simulation.py | 155 +++++++++++++ navigation/tukf/simulation_re.ipynb | 265 ++++++++++++++++++++++ 6 files changed, 451 insertions(+), 45 deletions(-) create mode 100644 navigation/tukf/simulation.py create mode 100644 navigation/tukf/simulation_re.ipynb diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 98be8e789..3b9fcdc0b 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,8 +1,8 @@ eskf_node: ros__parameters: - imu_topic: imu/data_raw + imu_topic: /imu/data_raw dvl_topic: /dvl/sim odom_topic: odom - diag_Q_std: [0.05, 0.05, 0.05, 0.00001, 0.00001, 0.00001, 0.000001, 0.000000001, 0.000000001, 0.000000001, 0.00000001, 0.00000001] - diag_p_init: [1.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] + diag_Q_std: [0.01, 0.01, 0.01, 0.005, 0.005, 0.005, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001] + diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 47dfe06e1..eacb32841 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -26,6 +26,8 @@ typedef Eigen::Matrix Matrix18x3d; typedef Eigen::Matrix Matrix36d; typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; +typedef Eigen::Matrix Matrix15d; +typedef Eigen::Matrix Vector15d; } // namespace Eigen template @@ -36,7 +38,7 @@ Eigen::Matrix createDiagonalMatrix( } struct state_quat { - Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d pos = Eigen::Vector3d(0,0,0.125); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); @@ -58,7 +60,7 @@ struct state_quat { euler_diff = (quat * other.quat.inverse()) .toRotationMatrix() - .eulerAngles(0, 1, 2); + .eulerAngles(0, 1, 2) + Eigen::Vector3d(-M_PI, M_PI, -M_PI); vec << pos - other.pos, vel - other.vel, euler_diff, gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index e0e7c7a98..e39993abc 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -102,10 +102,9 @@ Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { return H; } -Eigen::Matrix3x1d ESKF::calculate_h() { - Eigen::Matrix3x1d h; - Eigen::Matrix3d R_bn = - current_nom_state_.quat.normalized().toRotationMatrix().transpose(); +Eigen::Vector3d ESKF::calculate_h() { + Eigen::Vector3d h; + Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; @@ -114,18 +113,13 @@ Eigen::Matrix3x1d ESKF::calculate_h() { void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - (imu_meas.accel - current_nom_state_.accel_bias) + - current_nom_state_.gravity; + Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -159,8 +153,7 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; - current_error_state_.covariance = - A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; + current_error_state_.covariance = A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { @@ -170,27 +163,17 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { void ESKF::NEEDS() { Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); - - // Use SVD-based pseudo-inverse for better numerical stability - Eigen::JacobiSVD svd( - current_error_state_.covariance, - Eigen::ComputeThinU | Eigen::ComputeThinV); - const double epsilon = 1e-10; // Threshold for singular values - Eigen::VectorXd singular_values = svd.singularValues(); - Eigen::VectorXd singular_values_inv(singular_values.size()); - - for (int i = 0; i < singular_values.size(); ++i) { - if (singular_values(i) > epsilon) { - singular_values_inv(i) = 1.0 / singular_values(i); - } else { - singular_values_inv(i) = 0.0; - } + Eigen::Vector15d error_state_trim = error_state.head<15>(); + // Set the last 6 elements of error_state_trim to zero + for (int i = 9; i < 15; i++) { + error_state_trim(i) = 0; } - - Eigen::MatrixXd cov_inv = svd.matrixV() * singular_values_inv.asDiagonal() * - svd.matrixU().transpose(); - - NEES_ = error_state.transpose() * cov_inv * error_state; + error_state_trim(6) = 0.001; + error_state_trim(7) = 0.001; + error_state_trim(8) = 0.001; + Eigen::Matrix15d P = current_error_state_.covariance.block<15, 15>(0, 0); + Eigen::Matrix15d P_inv = P.inverse(); + NEES_ = error_state_trim.transpose() * P_inv * error_state_trim; } void ESKF::measurement_update(const dvl_measurement& dvl_meas) { @@ -201,6 +184,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3d S = H * P * H.transpose() + R; Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); + NIS(innovation, S); current_error_state_.set_from_vector(K * innovation); @@ -215,9 +199,7 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = - current_nom_state_.quat * - vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 54daadb4c..b7cdced09 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -48,7 +48,7 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); - nees_pub_ = create_publisher("dvl/needs", 10); + nees_pub_ = create_publisher("dvl/nees", 10); } void ESKFNode::set_parameters() { @@ -123,8 +123,10 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { } void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { + // Log that we received a DVL message + // spdlog::info("DVL message received"); dvl_meas_.vel << msg->velocity.x, msg->velocity.y, msg->velocity.z; - dvl_meas_.cov << 0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001; + dvl_meas_.cov << 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004; // msg->velocity_covariance[0], msg->velocity_covariance[1], // msg->velocity_covariance[2], @@ -144,7 +146,7 @@ void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { float gravity_x = 0.0; float gravity_y = 0.0; - float gravity_z = -9.81; + float gravity_z = 9.81; g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; diff --git a/navigation/tukf/simulation.py b/navigation/tukf/simulation.py new file mode 100644 index 000000000..56fb2a6a1 --- /dev/null +++ b/navigation/tukf/simulation.py @@ -0,0 +1,155 @@ +from rosbags.highlevel import AnyReader +from rosbags.typesys import get_types_from_msg, register_types +import numpy as np, pandas as pd, pathlib +from tukf import TUKF +import tukf_class as ukf + +bag_folder = pathlib.Path(r"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl") + +# Initialize UKF with StateQuat +initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z +initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz +initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) +initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz +initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters +initial_intertia = np.array([0.2, 0.2, 0.1, + 0.2, 0.2, 0.2, + 0.1, 0.2, 0.2]) +initial_damping = np.array([0.01, 0.01, 0.01, + 0.01, 0.01, 0.01]) +initla_added_mass = np.array([0.02, 0.02, 0.02, + 0.02, 0.02, 0.02]) + +p_diag = np.concatenate([ + 2*np.ones(3), # x position + 2*np.ones(3), # orientation + 2*np.ones(3), # velocity + 2*np.ones(3), # angular velocity + 2*np.ones(9), # inertia + 2*np.ones(6), # added mass + 2*np.ones(6), # damping + 2*np.ones(4) # g_eta +]) + +initial_covariance = np.diag(p_diag) + +state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), + initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy()) + +state.covariance = initial_covariance.copy() + +Q_diag = np.concatenate([ + 0.1*np.ones(3), # position + 0.1*np.ones(9), # kinematic (η & ν) + 0.001*np.ones(9), # inertia + 0.001*np.ones(6), # added mass + 0.001*np.ones(6), # damping + 0.001*np.ones(4), # g_eta +]) + +UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance + +def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 6:9] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +dvl_measurement = ukf.MeasModel(H=dvl_h) + +def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': + H_matrix = np.zeros((3, 12)) + H_matrix[:, 9:12] = np.eye(3) + z_i = ukf.MeasModel() + z_i.measurement = np.dot(H_matrix, state.dynamic_part()) + return z_i + +ang_measurement = ukf.MeasModel(H=ang_h) + +R_corr = np.array([[0.0, 0.0, -1.0], + [0.0, -1.0, 0.0], + [-1.0, 0.0, 0.0]]) + +# Storage for trajectory +positions = [] +velocities = [] +quaternions = [] +angular_velocities = [] +okid_params = [] + +# Storage for trajectory estimates +positions_est = [] +velocities_est = [] +quaternions_est = [] +angular_velocities_est = [] +okid_params_est = [] + +with AnyReader([bag_folder]) as reader: + # Filter topics once + conns = [c for c in reader.connections + if c.topic in ("/imu/data_raw", "/dvl_twist", "/orca/wrench_input")] + + last_time = None + log = [] + coutner = 0 + + for conn, ts_raw, raw in reader.messages(conns): + t_ns = ts_raw # already nanoseconds integer + coutner += 1 + + if conn.topic == "/orca/wrench_input": + + # Get the wrench input message + msg = reader.deserialize(raw, conn.msgtype) + wrench = msg.wrench # Extract the wrench field from the message + forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z]) + torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z]) + + control_input = np.concatenate([forces, torques]) + + if last_time is not None: + UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds + + # 1. prediction step + state = UKF_model.unscented_transform(state, control_input) + + # 2. measurement update + msg = reader.deserialize(raw, conn.msgtype) + if conn.topic == "/imu/data_raw": + print("IMU data received") + + # Get the IMU data + measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z]) + + ang_measurement.measurement = np.dot(R_corr,measurement_imu) + + ang_measurement.covariance = np.eye(3) * (0.03**2) + + UKF_model.measurement_update(state, ang_measurement) + state = UKF_model.posteriori_estimate(state, ang_measurement) + + if conn.topic == "/dvl_twist": + print("DVL data received") + + msg = reader.deserialize(raw, conn.msgtype) + dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) + dvl_measurement.measurement = np.dot(R_corr, dvl_measurement.measurement) + + dvl_measurement.covariance = np.eye(3) * (0.01**2) + + # Update UKF with measurement + UKF_model.measurement_update(state, dvl_measurement) + state = UKF_model.posteriori_estimate(state, dvl_measurement) + + + # Store the state estimates + positions_est.append(state.position.copy()) + velocities_est.append(state.velocity.copy()) + quaternions_est.append(state.quaternion.copy()) + angular_velocities_est.append(state.angular_velocity.copy()) + okid_params_est.append(state.okid_part().copy()) + + last_time = t_ns + + \ No newline at end of file diff --git a/navigation/tukf/simulation_re.ipynb b/navigation/tukf/simulation_re.ipynb new file mode 100644 index 000000000..e508825bf --- /dev/null +++ b/navigation/tukf/simulation_re.ipynb @@ -0,0 +1,265 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Simulation results for the TUKF ###\n", + "\n", + "try to simulate the path and parameters using the tukf algorithm" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "from rosbags.highlevel import AnyReader\n", + "from rosbags.typesys import get_types_from_msg, register_types\n", + "import numpy as np, pandas as pd, pathlib\n", + "from tukf import TUKF\n", + "import tukf_class as ukf" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "bag_folder = pathlib.Path(r\"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl\")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [], + "source": [ + "# Initialize UKF with StateQuat\n", + "initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z\n", + "initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz\n", + "initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion)\n", + "initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz\n", + "initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters\n", + "initial_intertia = np.array([0.2, 0.2, 0.1, \n", + " 0.2, 0.2, 0.2, \n", + " 0.1, 0.2, 0.2])\n", + "initial_damping = np.array([0.01, 0.01, 0.01,\n", + " 0.01, 0.01, 0.01])\n", + "initla_added_mass = np.array([0.02, 0.02, 0.02,\n", + " 0.02, 0.02, 0.02])\n", + "\n", + "p_diag = np.concatenate([\n", + " 2*np.ones(3), # x position\n", + " 2*np.ones(3), # orientation\n", + " 2*np.ones(3), # velocity\n", + " 2*np.ones(3), # angular velocity\n", + " 2*np.ones(9), # inertia\n", + " 2*np.ones(6), # added mass\n", + " 2*np.ones(6), # damping\n", + " 2*np.ones(4) # g_eta\n", + "])\n", + "\n", + "initial_covariance = np.diag(p_diag) \n", + "\n", + "state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), \n", + " initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy())\n", + "\n", + "state.covariance = initial_covariance.copy()\n", + "\n", + "Q_diag = np.concatenate([\n", + " 0.1*np.ones(3), # position\n", + " 0.1*np.ones(9), # kinematic (η & ν)\n", + " 0.001*np.ones(9), # inertia\n", + " 0.001*np.ones(6), # added mass\n", + " 0.001*np.ones(6), # damping\n", + " 0.001*np.ones(4), # g_eta\n", + "])\n", + "\n", + "UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance\n", + "\n", + "def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", + " H_matrix = np.zeros((3, 12))\n", + " H_matrix[:, 6:9] = np.eye(3)\n", + " z_i = ukf.MeasModel()\n", + " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", + " return z_i\n", + "\n", + "dvl_measurement = ukf.MeasModel(H=dvl_h)\n", + "\n", + "def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", + " H_matrix = np.zeros((3, 12))\n", + " H_matrix[:, 9:12] = np.eye(3)\n", + " z_i = ukf.MeasModel()\n", + " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", + " return z_i\n", + "\n", + "ang_measurement = ukf.MeasModel(H=ang_h) \n", + "\n", + "R_corr = np.array([[0.0, 0.0, -1.0],\n", + " [0.0, -1.0, 0.0],\n", + " [-1.0, 0.0, 0.0]])\n", + "\n", + "# Storage for trajectory\n", + "positions = []\n", + "velocities = []\n", + "quaternions = []\n", + "angular_velocities = []\n", + "okid_params = []\n", + "\n", + "# Storage for trajectory estimates\n", + "positions_est = []\n", + "velocities_est = []\n", + "quaternions_est = []\n", + "angular_velocities_est = []\n", + "okid_params_est = []" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [], + "source": [ + "with AnyReader([bag_folder]) as reader:\n", + " # Filter topics once\n", + " conns = [c for c in reader.connections\n", + " if c.topic in (\"/imu/data_raw\", \"/dvl_twist\", \"/orca/wrench_input\")]\n", + "\n", + " last_time = None\n", + " log = []\n", + " coutner = 0\n", + "\n", + " for conn, ts_raw, raw in reader.messages(conns):\n", + " t_ns = ts_raw # already nanoseconds integer\n", + " coutner += 1\n", + "\n", + " if conn.topic == \"/orca/wrench_input\":\n", + " \n", + " # Get the wrench input message\n", + " msg = reader.deserialize(raw, conn.msgtype)\n", + " wrench = msg.wrench # Extract the wrench field from the message\n", + " forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z])\n", + " torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z])\n", + "\n", + " control_input = np.concatenate([forces, torques])\n", + "\n", + " if last_time is not None:\n", + " UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds\n", + "\n", + " # 1. prediction step\n", + " state = UKF_model.unscented_transform(state, control_input)\n", + "\n", + " # 2. measurement update\n", + " msg = reader.deserialize(raw, conn.msgtype)\n", + " if conn.topic == \"/imu/data_raw\":\n", + " # print(\"IMU data received\")\n", + "\n", + " # Get the IMU data\n", + " measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z])\n", + "\n", + " ang_measurement.measurement = np.dot(R_corr,measurement_imu)\n", + "\n", + " ang_measurement.covariance = np.eye(3) * (0.03**2) \n", + "\n", + " UKF_model.measurement_update(state, ang_measurement)\n", + " state = UKF_model.posteriori_estimate(state, ang_measurement)\n", + "\n", + " if conn.topic == \"/dvl_twist\":\n", + " # print(\"DVL data received\")\n", + "\n", + " msg = reader.deserialize(raw, conn.msgtype)\n", + " dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z])\n", + " \n", + " dvl_measurement.covariance = np.eye(3) * (0.01**2) \n", + " \n", + " # Update UKF with measurement\n", + " UKF_model.measurement_update(state, dvl_measurement)\n", + " state = UKF_model.posteriori_estimate(state, dvl_measurement)\n", + "\n", + "\n", + " # Store the state estimates\n", + " positions_est.append(state.position.copy())\n", + " velocities_est.append(state.velocity.copy())\n", + " quaternions_est.append(state.orientation.copy())\n", + " angular_velocities_est.append(state.angular_velocity.copy())\n", + " okid_params_est.append(state.okid_part().copy())\n", + "\n", + " last_time = t_ns" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "import numpy as np\n", + "\n", + "import matplotlib.pyplot as plt\n", + "\n", + "# Extract x, y, z positions from positions_est\n", + "x_positions = np.array([pos[0] for pos in positions_est])\n", + "y_positions = np.array([pos[1] for pos in positions_est])\n", + "z_positions = np.array([pos[2] for pos in positions_est])\n", + "\n", + "# Create figure with three subplots\n", + "fig, axs = plt.subplots(3, 1, figsize=(12, 10), sharex=True)\n", + "fig.suptitle('AUV Position Estimates Over Time', fontsize=16)\n", + "\n", + "# Plot x position\n", + "axs[0].plot(x_positions, 'b-', linewidth=2)\n", + "axs[0].set_ylabel('X Position [m]')\n", + "axs[0].grid(True)\n", + "\n", + "# Plot y position\n", + "axs[1].plot(y_positions, 'g-', linewidth=2)\n", + "axs[1].set_ylabel('Y Position [m]')\n", + "axs[1].grid(True)\n", + "\n", + "# Plot z position\n", + "axs[2].plot(z_positions, 'r-', linewidth=2)\n", + "axs[2].set_ylabel('Z Position [m]')\n", + "axs[2].set_xlabel('Time steps')\n", + "axs[2].grid(True)\n", + "\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} From c51b9a3f2d62a85c74dfaf657ad7e50690239d86 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Tue, 20 May 2025 13:23:59 +0200 Subject: [PATCH 052/109] fix:added in some minor fixes --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/include/eskf/eskf.hpp | 8 -- navigation/eskf/include/eskf/eskf_ros.hpp | 19 +-- navigation/eskf/src/eskf.cpp | 18 --- navigation/eskf/src/eskf_ros.cpp | 65 +-------- navigation/tukf/simulation_re.ipynb | 154 ++++++++++++++++++---- navigation/tukf/tukf_class.py | 4 +- 7 files changed, 138 insertions(+), 132 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 3b9fcdc0b..c08c21d3c 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,7 +1,7 @@ eskf_node: ros__parameters: imu_topic: /imu/data_raw - dvl_topic: /dvl/sim + dvl_topic: /orca/twist odom_topic: odom diag_Q_std: [0.01, 0.01, 0.01, 0.005, 0.005, 0.005, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index d9b7d4fa0..214f462c4 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -27,12 +27,6 @@ class ESKF { // NIS double NIS_; - // NEEDS - double NEES_; - - // ground truth - state_quat ground_truth_; - private: // @brief Predict the nominal state // @param imu_meas: IMU measurement @@ -53,8 +47,6 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - void NEEDS(); - // @brief Update the error state // @param dvl_meas: DVL measurement void measurement_update(const dvl_measurement& dvl_meas); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index c3d09e820..b10995f04 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -21,11 +21,6 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: - void pose_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - void twist_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data @@ -33,7 +28,7 @@ class ESKFNode : public rclcpp::Node { // @brief Callback function for the dvl topic // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg); + void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Publish the odometry message void publish_odom(); @@ -46,28 +41,18 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr dvl_sub_; - - rclcpp::Subscription< - geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_; - - rclcpp::Subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr twist_sub_; + rclcpp::Subscription::SharedPtr dvl_sub_; rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Publisher::SharedPtr nis_pub_; - rclcpp::Publisher::SharedPtr nees_pub_; - std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; state_quat nom_state_; - state_quat g_truth_; - state_euler error_state_; imu_measurement imu_meas_; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index e39993abc..8d1fdb6b4 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -160,22 +160,6 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { Eigen::Matrix3d S_inv = S.inverse(); NIS_ = innovation.transpose() * S_inv * innovation; } - -void ESKF::NEEDS() { - Eigen::Vector18d error_state = current_nom_state_.nees_error(ground_truth_); - Eigen::Vector15d error_state_trim = error_state.head<15>(); - // Set the last 6 elements of error_state_trim to zero - for (int i = 9; i < 15; i++) { - error_state_trim(i) = 0; - } - error_state_trim(6) = 0.001; - error_state_trim(7) = 0.001; - error_state_trim(8) = 0.001; - Eigen::Matrix15d P = current_error_state_.covariance.block<15, 15>(0, 0); - Eigen::Matrix15d P_inv = P.inverse(); - NEES_ = error_state_trim.transpose() * P_inv * error_state_trim; -} - void ESKF::measurement_update(const dvl_measurement& dvl_meas) { Eigen::Matrix3x18d H = calculate_h_jacobian(); Eigen::Matrix18d P = current_error_state_.covariance; @@ -192,8 +176,6 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations - - NEEDS(); } void ESKF::injection_and_reset() { diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index b7cdced09..cc4256c18 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -20,16 +20,6 @@ void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = rclcpp::QoS( rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); - pose_sub_ = this->create_subscription< - geometry_msgs::msg::PoseWithCovarianceStamped>( - "/orca/pose", qos_sensor_data, - std::bind(&ESKFNode::pose_callback, this, std::placeholders::_1)); - - twist_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( - "/orca/twist", qos_sensor_data, - std::bind(&ESKFNode::twist_callback, this, std::placeholders::_1)); - this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( @@ -38,7 +28,7 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription( + dvl_sub_ = this->create_subscription( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -48,7 +38,6 @@ void ESKFNode::set_subscribers_and_publisher() { odom_topic, qos_sensor_data); nis_pub_ = create_publisher("dvl/nis", 10); - nees_pub_ = create_publisher("dvl/nees", 10); } void ESKFNode::set_parameters() { @@ -80,22 +69,6 @@ void ESKFNode::set_parameters() { error_state_.covariance = P; } -void ESKFNode::pose_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { - g_truth_.pos << msg->pose.pose.position.x, msg->pose.pose.position.y, - msg->pose.pose.position.z; - g_truth_.quat.w() = msg->pose.pose.orientation.w; - g_truth_.quat.x() = msg->pose.pose.orientation.x; - g_truth_.quat.y() = msg->pose.pose.orientation.y; - g_truth_.quat.z() = msg->pose.pose.orientation.z; -} - -void ESKFNode::twist_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - g_truth_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; -} - void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { rclcpp::Time current_time = msg->header.stamp; @@ -122,37 +95,14 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } -void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { +void ESKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { // Log that we received a DVL message // spdlog::info("DVL message received"); - dvl_meas_.vel << msg->velocity.x, msg->velocity.y, msg->velocity.z; - dvl_meas_.cov << 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004, 0.0, 0.0, 0.0, 0.004*0.004; - - // msg->velocity_covariance[0], msg->velocity_covariance[1], - // msg->velocity_covariance[2], - // msg->velocity_covariance[3], msg->velocity_covariance[4], - // msg->velocity_covariance[5], - // msg->velocity_covariance[6], msg->velocity_covariance[7], - // msg->velocity_covariance[8]; - - // Set biases and gravity as float values - float gyro_bias_x = 0.00001; - float gyro_bias_y = 0.00001; - float gyro_bias_z = 0.00001; - - float accel_bias_x = 0.00001; - float accel_bias_y = 0.00001; - float accel_bias_z = 0.00001; - - float gravity_x = 0.0; - float gravity_y = 0.0; - float gravity_z = 9.81; - - g_truth_.gyro_bias << gyro_bias_x, gyro_bias_y, gyro_bias_z; - g_truth_.accel_bias << accel_bias_x, accel_bias_y, accel_bias_z; - g_truth_.gravity << gravity_x, gravity_y, gravity_z; + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - eskf_->ground_truth_ = g_truth_; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); @@ -160,9 +110,6 @@ void ESKFNode::dvl_callback(const stonefish_ros2::msg::DVL::SharedPtr msg) { nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); - std_msgs::msg::Float64 nees_msg; - nees_msg.data = eskf_->NEES_; - nees_pub_->publish(nees_msg); } void ESKFNode::publish_odom() { diff --git a/navigation/tukf/simulation_re.ipynb b/navigation/tukf/simulation_re.ipynb index e508825bf..06f7369a6 100644 --- a/navigation/tukf/simulation_re.ipynb +++ b/navigation/tukf/simulation_re.ipynb @@ -11,7 +11,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -24,7 +24,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -33,33 +33,33 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "# Initialize UKF with StateQuat\n", - "initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z\n", + "initial_position = np.array([0.0, 0.0, 0.13]) # x, y, z\n", "initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz\n", "initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion)\n", "initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz\n", "initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters\n", - "initial_intertia = np.array([0.2, 0.2, 0.1, \n", - " 0.2, 0.2, 0.2, \n", - " 0.1, 0.2, 0.2])\n", + "initial_intertia = np.array([0.2, 0.05, 0.01, \n", + " 0.05, 0.2, 0.05, \n", + " 0.01, 0.05, 0.2])\n", "initial_damping = np.array([0.01, 0.01, 0.01,\n", " 0.01, 0.01, 0.01])\n", "initla_added_mass = np.array([0.02, 0.02, 0.02,\n", " 0.02, 0.02, 0.02])\n", "\n", "p_diag = np.concatenate([\n", - " 2*np.ones(3), # x position\n", - " 2*np.ones(3), # orientation\n", - " 2*np.ones(3), # velocity\n", - " 2*np.ones(3), # angular velocity\n", - " 2*np.ones(9), # inertia\n", - " 2*np.ones(6), # added mass\n", - " 2*np.ones(6), # damping\n", - " 2*np.ones(4) # g_eta\n", + " (0.8**2)*np.ones(3), # x position\n", + " (0.4**2)*np.ones(3), # orientation\n", + " (0.4**2)*np.ones(3), # velocity\n", + " (0.5**2)*np.ones(3), # angular velocity\n", + " 30*np.ones(9), # inertia\n", + " 30*np.ones(6), # added mass\n", + " 30*np.ones(6), # damping\n", + " 30*np.ones(4) # g_eta\n", "])\n", "\n", "initial_covariance = np.diag(p_diag) \n", @@ -70,12 +70,14 @@ "state.covariance = initial_covariance.copy()\n", "\n", "Q_diag = np.concatenate([\n", - " 0.1*np.ones(3), # position\n", - " 0.1*np.ones(9), # kinematic (η & ν)\n", - " 0.001*np.ones(9), # inertia\n", - " 0.001*np.ones(6), # added mass\n", - " 0.001*np.ones(6), # damping\n", - " 0.001*np.ones(4), # g_eta\n", + " (0.09**2)*np.ones(3), # position\n", + " (0.06**2)*np.ones(3), # kinematic (η & ν)\n", + " (0.06**2)*np.ones(3),\n", + " (0.06**2)*np.ones(3),\n", + " 0.000001*np.ones(9), # inertia\n", + " 0.000001*np.ones(6), # added mass\n", + " 0.000001*np.ones(6), # damping\n", + " 0.000001*np.ones(4), # g_eta\n", "])\n", "\n", "UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance\n", @@ -119,7 +121,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -162,7 +164,7 @@ "\n", " ang_measurement.measurement = np.dot(R_corr,measurement_imu)\n", "\n", - " ang_measurement.covariance = np.eye(3) * (0.03**2) \n", + " ang_measurement.covariance = np.eye(3) * (0.005**2) \n", "\n", " UKF_model.measurement_update(state, ang_measurement)\n", " state = UKF_model.posteriori_estimate(state, ang_measurement)\n", @@ -173,7 +175,7 @@ " msg = reader.deserialize(raw, conn.msgtype)\n", " dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z])\n", " \n", - " dvl_measurement.covariance = np.eye(3) * (0.01**2) \n", + " dvl_measurement.covariance = np.eye(3) * (0.005**2) \n", " \n", " # Update UKF with measurement\n", " UKF_model.measurement_update(state, dvl_measurement)\n", @@ -192,12 +194,12 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 5, "metadata": {}, "outputs": [ { "data": { - "image/png": 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", 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"text/plain": [ "
" ] @@ -231,7 +233,7 @@ "axs[1].grid(True)\n", "\n", "# Plot z position\n", - "axs[2].plot(z_positions, 'r-', linewidth=2)\n", + "axs[2].plot(z_positions, 'r-', linewidth=2) \n", "axs[2].set_ylabel('Z Position [m]')\n", "axs[2].set_xlabel('Time steps')\n", "axs[2].grid(True)\n", @@ -239,6 +241,104 @@ "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", "plt.show()" ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", 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", 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Convert okid_params_est from list of arrays to a numpy array for easier handling\n", + "okid_params_array = np.array(okid_params_est)\n", + "\n", + "# Create labels for the different parameter groups\n", + "inertia_labels = ['Ixx', 'Ixy', 'Ixz', 'Iyx', 'Iyy', 'Iyz', 'Izx', 'Izy', 'Izz']\n", + "added_mass_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", + "damping_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", + "g_eta_labels = ['g_eta1', 'g_eta2', 'g_eta3', 'g_eta4']\n", + "\n", + "# Create figures for each parameter group\n", + "plt.figure(figsize=(14, 10))\n", + "plt.suptitle('Inertia Matrix Parameters', fontsize=16)\n", + "for i in range(9):\n", + " plt.subplot(3, 3, i+1)\n", + " plt.plot(okid_params_array[:, i], 'b-')\n", + " plt.title(inertia_labels[i])\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()\n", + "\n", + "plt.figure(figsize=(14, 8))\n", + "plt.suptitle('Added Mass Parameters', fontsize=16)\n", + "for i in range(6):\n", + " plt.subplot(2, 3, i+1)\n", + " plt.plot(okid_params_array[:, 9+i], 'g-')\n", + " plt.title(f'Added Mass: {added_mass_labels[i]}')\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()\n", + "\n", + "plt.figure(figsize=(14, 8))\n", + "plt.suptitle('Damping Parameters', fontsize=16)\n", + "for i in range(6):\n", + " plt.subplot(2, 3, i+1)\n", + " plt.plot(okid_params_array[:, 15+i], 'r-')\n", + " plt.title(f'Damping: {damping_labels[i]}')\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()\n", + "\n", + "plt.figure(figsize=(14, 6))\n", + "plt.suptitle('G-Eta Parameters', fontsize=16)\n", + "for i in range(4):\n", + " plt.subplot(2, 2, i+1)\n", + " plt.plot(okid_params_array[:, 21+i], 'm-')\n", + " plt.title(g_eta_labels[i])\n", + " plt.grid(True)\n", + "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", + "plt.show()" + ] } ], "metadata": { diff --git a/navigation/tukf/tukf_class.py b/navigation/tukf/tukf_class.py index e3ec138fb..ff274680e 100644 --- a/navigation/tukf/tukf_class.py +++ b/navigation/tukf/tukf_class.py @@ -311,7 +311,7 @@ def angular_velocity_transformation(euler_angles: np.ndarray) -> np.ndarray: return T def M_rb(inertia: np.ndarray) -> np.ndarray: - m = 30.0 + m = 25.5 inertia = inertia.reshape((3, 3)) r_b_bg = np.array([0.01, 0.0, 0.02]) M_rb = np.zeros((6, 6)) @@ -330,7 +330,7 @@ def M_a(added_mass: np.ndarray) -> np.ndarray: def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: """Calculates the Coriolis matrix.""" - m = 30.0 + m = 25.5 r_b_bg = np.array([0.01, 0.0, 0.02]) inertia = inertia.reshape((3, 3)) C_rb = np.zeros((6, 6)) From 1d65dccc81a469a4af16edde219a4e02df4d539e Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Fri, 30 May 2025 19:18:16 +0200 Subject: [PATCH 053/109] added the cpp code --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/include/eskf/eskf_ros.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 4 +- navigation/eskf/src/eskf.cpp | 43 +- navigation/eskf/src/eskf_ros.cpp | 8 + navigation/tukf/simulation.py | 155 --- navigation/tukf/simulation_re.ipynb | 365 -------- navigation/tukf/test_tukf.py | 347 ------- navigation/tukf/tukf.py | 126 --- navigation/tukf/tukf_class.py | 437 --------- navigation/tukf_rsi/CMakeLists.txt | 61 ++ .../tukf_rsi/config/tusk_rsi_params.yaml | 12 + .../tukf_rsi/include/tukf_rsi/tukf_rsi.hpp | 63 ++ .../include/tukf_rsi/tukf_rsi_model.hpp | 50 + .../include/tukf_rsi/tukf_rsi_ros.hpp | 64 ++ .../include/tukf_rsi/tukf_rsi_utils.hpp | 65 ++ .../tukf_rsi/include/tukf_rsi/typedefs.hpp | 145 +++ navigation/tukf_rsi/launch/tukf_rsi.launch.py | 22 + navigation/{ukf_okid => tukf_rsi}/package.xml | 14 +- navigation/tukf_rsi/src/tukf_rsi.cpp | 84 ++ navigation/tukf_rsi/src/tukf_rsi_model.cpp | 125 +++ navigation/tukf_rsi/src/tukf_rsi_node.cpp | 9 + navigation/tukf_rsi/src/tukf_rsi_ros.cpp | 150 +++ navigation/tukf_rsi/src/tukf_rsi_utils.cpp | 199 ++++ navigation/ukf_okid/CMakeLists.txt | 23 - navigation/ukf_okid/launch/ukf.launch.py | 12 - navigation/ukf_okid/ukf_python/__init__.py | 0 navigation/ukf_okid/ukf_python/ukf_okid.py | 130 --- .../ukf_okid/ukf_python/ukf_okid_class.py | 880 ------------------ navigation/ukf_okid/ukf_python/ukf_ros.py | 159 ---- navigation/ukf_okid/ukf_python/ukf_test.py | 27 - navigation/ukf_okid/ukf_python/ukf_test_2.py | 229 ----- navigation/ukf_okid/ukf_python/ukf_utils.py | 35 - 33 files changed, 1079 insertions(+), 2968 deletions(-) delete mode 100644 navigation/tukf/simulation.py delete mode 100644 navigation/tukf/simulation_re.ipynb delete mode 100644 navigation/tukf/test_tukf.py delete mode 100644 navigation/tukf/tukf.py delete mode 100644 navigation/tukf/tukf_class.py create mode 100644 navigation/tukf_rsi/CMakeLists.txt create mode 100644 navigation/tukf_rsi/config/tusk_rsi_params.yaml create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp create mode 100644 navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp create mode 100644 navigation/tukf_rsi/launch/tukf_rsi.launch.py rename navigation/{ukf_okid => tukf_rsi}/package.xml (56%) create mode 100644 navigation/tukf_rsi/src/tukf_rsi.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_model.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_node.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_ros.cpp create mode 100644 navigation/tukf_rsi/src/tukf_rsi_utils.cpp delete mode 100644 navigation/ukf_okid/CMakeLists.txt delete mode 100644 navigation/ukf_okid/launch/ukf.launch.py delete mode 100644 navigation/ukf_okid/ukf_python/__init__.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_okid.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_okid_class.py delete mode 100755 navigation/ukf_okid/ukf_python/ukf_ros.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_test.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_test_2.py delete mode 100644 navigation/ukf_okid/ukf_python/ukf_utils.py diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index c08c21d3c..f17dcd3df 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,6 +3,6 @@ eskf_node: imu_topic: /imu/data_raw dvl_topic: /orca/twist odom_topic: odom - diag_Q_std: [0.01, 0.01, 0.01, 0.005, 0.005, 0.005, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001, 0.00001] + diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index b10995f04..d4a770864 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -21,7 +21,7 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: - + // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index eacb32841..4dbdb6da3 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -38,9 +38,9 @@ Eigen::Matrix createDiagonalMatrix( } struct state_quat { - Eigen::Vector3d pos = Eigen::Vector3d(0,0,0.125); + Eigen::Vector3d pos = Eigen::Vector3d(5.58, 0.66, 0.12); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); + Eigen::Quaterniond quat = Eigen::Quaterniond(0.98, -0.047, 0.028, -0.18); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 8d1fdb6b4..3838e2f1a 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -43,6 +43,7 @@ Eigen::Matrix4x3d ESKF::calculate_q_delta() { q_delta_theta *= 0.5; return q_delta_theta; } + Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); @@ -51,43 +52,21 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Vector3d v_n = current_nom_state_.vel; + // Correct derivative w.r.t velocity (nominal state: v_n) Hx.block<3, 3>(0, 3) = R_bn.transpose(); + // Derivative w.r.t quaternion (nominal state: q) + // Compute partial derivative w.r.t quaternion directly: double qw = q.w(); - double qx = q.x(); - double qy = q.y(); - double qz = q.z(); - + Eigen::Vector3d q_vec(q.x(), q.y(), q.z()); Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - Eigen::Vector3d eps(qx, qy, qz); - - Eigen::Matrix3d dR_deta = 2 * qw * I3 - 2 * skew(eps); - - Eigen::Vector3d e1_vec(1, 0, 0), e2_vec(0, 1, 0), e3_vec(0, 0, 1); - - Eigen::Matrix3d dR_dqx = - -2 * qx * I3 + - 2 * (e1_vec * eps.transpose() + eps * e1_vec.transpose()) - - 2 * qw * skew(e1_vec); + Eigen::Matrix dhdq; + dhdq.col(0) = 2*( qw*v_n + q_vec.cross(v_n) ); + dhdq.block<3,3>(0,1) = 2*( q_vec.dot(v_n)*I3 + q_vec*v_n.transpose() - v_n*q_vec.transpose() - qw*skew(v_n) ); - Eigen::Matrix3d dR_dqy = - -2 * qy * I3 + - 2 * (e2_vec * eps.transpose() + eps * e2_vec.transpose()) - - 2 * qw * skew(e2_vec); - - Eigen::Matrix3d dR_dqz = - -2 * qz * I3 + - 2 * (e3_vec * eps.transpose() + eps * e3_vec.transpose()) - - 2 * qw * skew(e3_vec); - - Eigen::Matrix dR_dq; - dR_dq.col(0) = dR_deta * v_n; - dR_dq.col(1) = dR_dqx * v_n; - dR_dq.col(2) = dR_dqy * v_n; - dR_dq.col(3) = dR_dqz * v_n; - - Hx.block<3, 4>(0, 6) = dR_dq; + // Assign quaternion derivative (3x4 block at columns 6:9) + Hx.block<3,4>(0,6) = dhdq; return Hx; } @@ -107,7 +86,7 @@ Eigen::Vector3d ESKF::calculate_h() { Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; - + //0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, return h; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index cc4256c18..cfa85172e 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -128,6 +128,14 @@ void ESKFNode::publish_odom() { odom_msg.twist.twist.linear.y = nom_state_.vel.y(); odom_msg.twist.twist.linear.z = nom_state_.vel.z(); + // Add bias values to the angular velocity field of twist + odom_msg.twist.twist.angular.x = nom_state_.accel_bias.x(); + odom_msg.twist.twist.angular.y = nom_state_.accel_bias.y(); + odom_msg.twist.twist.angular.z = nom_state_.accel_bias.z(); + + // If you also want to include gyro bias, you could add it to the covariance + // matrix or publish a separate topic for biases + odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); } diff --git a/navigation/tukf/simulation.py b/navigation/tukf/simulation.py deleted file mode 100644 index 56fb2a6a1..000000000 --- a/navigation/tukf/simulation.py +++ /dev/null @@ -1,155 +0,0 @@ -from rosbags.highlevel import AnyReader -from rosbags.typesys import get_types_from_msg, register_types -import numpy as np, pandas as pd, pathlib -from tukf import TUKF -import tukf_class as ukf - -bag_folder = pathlib.Path(r"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl") - -# Initialize UKF with StateQuat -initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z -initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz -initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) -initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz -initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters -initial_intertia = np.array([0.2, 0.2, 0.1, - 0.2, 0.2, 0.2, - 0.1, 0.2, 0.2]) -initial_damping = np.array([0.01, 0.01, 0.01, - 0.01, 0.01, 0.01]) -initla_added_mass = np.array([0.02, 0.02, 0.02, - 0.02, 0.02, 0.02]) - -p_diag = np.concatenate([ - 2*np.ones(3), # x position - 2*np.ones(3), # orientation - 2*np.ones(3), # velocity - 2*np.ones(3), # angular velocity - 2*np.ones(9), # inertia - 2*np.ones(6), # added mass - 2*np.ones(6), # damping - 2*np.ones(4) # g_eta -]) - -initial_covariance = np.diag(p_diag) - -state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), - initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy()) - -state.covariance = initial_covariance.copy() - -Q_diag = np.concatenate([ - 0.1*np.ones(3), # position - 0.1*np.ones(9), # kinematic (η & ν) - 0.001*np.ones(9), # inertia - 0.001*np.ones(6), # added mass - 0.001*np.ones(6), # damping - 0.001*np.ones(4), # g_eta -]) - -UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance - -def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 6:9] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -dvl_measurement = ukf.MeasModel(H=dvl_h) - -def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 9:12] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -ang_measurement = ukf.MeasModel(H=ang_h) - -R_corr = np.array([[0.0, 0.0, -1.0], - [0.0, -1.0, 0.0], - [-1.0, 0.0, 0.0]]) - -# Storage for trajectory -positions = [] -velocities = [] -quaternions = [] -angular_velocities = [] -okid_params = [] - -# Storage for trajectory estimates -positions_est = [] -velocities_est = [] -quaternions_est = [] -angular_velocities_est = [] -okid_params_est = [] - -with AnyReader([bag_folder]) as reader: - # Filter topics once - conns = [c for c in reader.connections - if c.topic in ("/imu/data_raw", "/dvl_twist", "/orca/wrench_input")] - - last_time = None - log = [] - coutner = 0 - - for conn, ts_raw, raw in reader.messages(conns): - t_ns = ts_raw # already nanoseconds integer - coutner += 1 - - if conn.topic == "/orca/wrench_input": - - # Get the wrench input message - msg = reader.deserialize(raw, conn.msgtype) - wrench = msg.wrench # Extract the wrench field from the message - forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z]) - torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z]) - - control_input = np.concatenate([forces, torques]) - - if last_time is not None: - UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds - - # 1. prediction step - state = UKF_model.unscented_transform(state, control_input) - - # 2. measurement update - msg = reader.deserialize(raw, conn.msgtype) - if conn.topic == "/imu/data_raw": - print("IMU data received") - - # Get the IMU data - measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z]) - - ang_measurement.measurement = np.dot(R_corr,measurement_imu) - - ang_measurement.covariance = np.eye(3) * (0.03**2) - - UKF_model.measurement_update(state, ang_measurement) - state = UKF_model.posteriori_estimate(state, ang_measurement) - - if conn.topic == "/dvl_twist": - print("DVL data received") - - msg = reader.deserialize(raw, conn.msgtype) - dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z]) - dvl_measurement.measurement = np.dot(R_corr, dvl_measurement.measurement) - - dvl_measurement.covariance = np.eye(3) * (0.01**2) - - # Update UKF with measurement - UKF_model.measurement_update(state, dvl_measurement) - state = UKF_model.posteriori_estimate(state, dvl_measurement) - - - # Store the state estimates - positions_est.append(state.position.copy()) - velocities_est.append(state.velocity.copy()) - quaternions_est.append(state.quaternion.copy()) - angular_velocities_est.append(state.angular_velocity.copy()) - okid_params_est.append(state.okid_part().copy()) - - last_time = t_ns - - \ No newline at end of file diff --git a/navigation/tukf/simulation_re.ipynb b/navigation/tukf/simulation_re.ipynb deleted file mode 100644 index 06f7369a6..000000000 --- a/navigation/tukf/simulation_re.ipynb +++ /dev/null @@ -1,365 +0,0 @@ -{ - "cells": [ - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "### Simulation results for the TUKF ###\n", - "\n", - "try to simulate the path and parameters using the tukf algorithm" - ] - }, - { - "cell_type": "code", - "execution_count": 1, - "metadata": {}, - "outputs": [], - "source": [ - "from rosbags.highlevel import AnyReader\n", - "from rosbags.typesys import get_types_from_msg, register_types\n", - "import numpy as np, pandas as pd, pathlib\n", - "from tukf import TUKF\n", - "import tukf_class as ukf" - ] - }, - { - "cell_type": "code", - "execution_count": 2, - "metadata": {}, - "outputs": [], - "source": [ - "bag_folder = pathlib.Path(r\"/home/talha/vortex_auv_ws/bags/sim_data_no_dvl\")" - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": {}, - "outputs": [], - "source": [ - "# Initialize UKF with StateQuat\n", - "initial_position = np.array([0.0, 0.0, 0.13]) # x, y, z\n", - "initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz\n", - "initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion)\n", - "initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz\n", - "initial_g_eta = np.array([0.01, 0.01, 0.01, 0.01]) # g_eta parameters\n", - "initial_intertia = np.array([0.2, 0.05, 0.01, \n", - " 0.05, 0.2, 0.05, \n", - " 0.01, 0.05, 0.2])\n", - "initial_damping = np.array([0.01, 0.01, 0.01,\n", - " 0.01, 0.01, 0.01])\n", - "initla_added_mass = np.array([0.02, 0.02, 0.02,\n", - " 0.02, 0.02, 0.02])\n", - "\n", - "p_diag = np.concatenate([\n", - " (0.8**2)*np.ones(3), # x position\n", - " (0.4**2)*np.ones(3), # orientation\n", - " (0.4**2)*np.ones(3), # velocity\n", - " (0.5**2)*np.ones(3), # angular velocity\n", - " 30*np.ones(9), # inertia\n", - " 30*np.ones(6), # added mass\n", - " 30*np.ones(6), # damping\n", - " 30*np.ones(4) # g_eta\n", - "])\n", - "\n", - "initial_covariance = np.diag(p_diag) \n", - "\n", - "state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy(), \n", - " initial_intertia.copy(), initla_added_mass.copy(), initial_damping.copy(), initial_g_eta.copy())\n", - "\n", - "state.covariance = initial_covariance.copy()\n", - "\n", - "Q_diag = np.concatenate([\n", - " (0.09**2)*np.ones(3), # position\n", - " (0.06**2)*np.ones(3), # kinematic (η & ν)\n", - " (0.06**2)*np.ones(3),\n", - " (0.06**2)*np.ones(3),\n", - " 0.000001*np.ones(9), # inertia\n", - " 0.000001*np.ones(6), # added mass\n", - " 0.000001*np.ones(6), # damping\n", - " 0.000001*np.ones(4), # g_eta\n", - "])\n", - "\n", - "UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance\n", - "\n", - "def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", - " H_matrix = np.zeros((3, 12))\n", - " H_matrix[:, 6:9] = np.eye(3)\n", - " z_i = ukf.MeasModel()\n", - " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", - " return z_i\n", - "\n", - "dvl_measurement = ukf.MeasModel(H=dvl_h)\n", - "\n", - "def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel':\n", - " H_matrix = np.zeros((3, 12))\n", - " H_matrix[:, 9:12] = np.eye(3)\n", - " z_i = ukf.MeasModel()\n", - " z_i.measurement = np.dot(H_matrix, state.dynamic_part())\n", - " return z_i\n", - "\n", - "ang_measurement = ukf.MeasModel(H=ang_h) \n", - "\n", - "R_corr = np.array([[0.0, 0.0, -1.0],\n", - " [0.0, -1.0, 0.0],\n", - " [-1.0, 0.0, 0.0]])\n", - "\n", - "# Storage for trajectory\n", - "positions = []\n", - "velocities = []\n", - "quaternions = []\n", - "angular_velocities = []\n", - "okid_params = []\n", - "\n", - "# Storage for trajectory estimates\n", - "positions_est = []\n", - "velocities_est = []\n", - "quaternions_est = []\n", - "angular_velocities_est = []\n", - "okid_params_est = []" - ] - }, - { - "cell_type": "code", - "execution_count": 4, - "metadata": {}, - "outputs": [], - "source": [ - "with AnyReader([bag_folder]) as reader:\n", - " # Filter topics once\n", - " conns = [c for c in reader.connections\n", - " if c.topic in (\"/imu/data_raw\", \"/dvl_twist\", \"/orca/wrench_input\")]\n", - "\n", - " last_time = None\n", - " log = []\n", - " coutner = 0\n", - "\n", - " for conn, ts_raw, raw in reader.messages(conns):\n", - " t_ns = ts_raw # already nanoseconds integer\n", - " coutner += 1\n", - "\n", - " if conn.topic == \"/orca/wrench_input\":\n", - " \n", - " # Get the wrench input message\n", - " msg = reader.deserialize(raw, conn.msgtype)\n", - " wrench = msg.wrench # Extract the wrench field from the message\n", - " forces = np.array([wrench.force.x, wrench.force.y, wrench.force.z])\n", - " torques = np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z])\n", - "\n", - " control_input = np.concatenate([forces, torques])\n", - "\n", - " if last_time is not None:\n", - " UKF_model.dt = (t_ns - last_time) / 1e9 # Convert nanoseconds to seconds\n", - "\n", - " # 1. prediction step\n", - " state = UKF_model.unscented_transform(state, control_input)\n", - "\n", - " # 2. measurement update\n", - " msg = reader.deserialize(raw, conn.msgtype)\n", - " if conn.topic == \"/imu/data_raw\":\n", - " # print(\"IMU data received\")\n", - "\n", - " # Get the IMU data\n", - " measurement_imu = np.array([msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z])\n", - "\n", - " ang_measurement.measurement = np.dot(R_corr,measurement_imu)\n", - "\n", - " ang_measurement.covariance = np.eye(3) * (0.005**2) \n", - "\n", - " UKF_model.measurement_update(state, ang_measurement)\n", - " state = UKF_model.posteriori_estimate(state, ang_measurement)\n", - "\n", - " if conn.topic == \"/dvl_twist\":\n", - " # print(\"DVL data received\")\n", - "\n", - " msg = reader.deserialize(raw, conn.msgtype)\n", - " dvl_measurement.measurement = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z])\n", - " \n", - " dvl_measurement.covariance = np.eye(3) * (0.005**2) \n", - " \n", - " # Update UKF with measurement\n", - " UKF_model.measurement_update(state, dvl_measurement)\n", - " state = UKF_model.posteriori_estimate(state, dvl_measurement)\n", - "\n", - "\n", - " # Store the state estimates\n", - " positions_est.append(state.position.copy())\n", - " velocities_est.append(state.velocity.copy())\n", - " quaternions_est.append(state.orientation.copy())\n", - " angular_velocities_est.append(state.angular_velocity.copy())\n", - " okid_params_est.append(state.okid_part().copy())\n", - "\n", - " last_time = t_ns" - ] - }, - { - "cell_type": "code", - "execution_count": 5, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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- "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "import numpy as np\n", - "\n", - "import matplotlib.pyplot as plt\n", - "\n", - "# Extract x, y, z positions from positions_est\n", - "x_positions = np.array([pos[0] for pos in positions_est])\n", - "y_positions = np.array([pos[1] for pos in positions_est])\n", - "z_positions = np.array([pos[2] for pos in positions_est])\n", - "\n", - "# Create figure with three subplots\n", - "fig, axs = plt.subplots(3, 1, figsize=(12, 10), sharex=True)\n", - "fig.suptitle('AUV Position Estimates Over Time', fontsize=16)\n", - "\n", - "# Plot x position\n", - "axs[0].plot(x_positions, 'b-', linewidth=2)\n", - "axs[0].set_ylabel('X Position [m]')\n", - "axs[0].grid(True)\n", - "\n", - "# Plot y position\n", - "axs[1].plot(y_positions, 'g-', linewidth=2)\n", - "axs[1].set_ylabel('Y Position [m]')\n", - "axs[1].grid(True)\n", - "\n", - "# Plot z position\n", - "axs[2].plot(z_positions, 'r-', linewidth=2) \n", - "axs[2].set_ylabel('Z Position [m]')\n", - "axs[2].set_xlabel('Time steps')\n", - "axs[2].grid(True)\n", - "\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()" - ] - }, - { - "cell_type": "code", - "execution_count": 6, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", 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", 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0xOXLl5GTkwNBELBgwYIuxVtTU4PY2FjExsbCxcUFvr6+0Gg0OH/+POrr62FnZ4c333yzZzqHiIiIiJi4JSIiIuppVlZW2LVrF1asWIGdO3di7969KCgoQFZWFuzs7DB69GhMnToV991333WNUKyuru5wIbMWdnZ2bbZtbW2RkJCAF154AYcPH0ZycjJ0Oh38/PzEOv/6178QHByMTz75BHl5eXBycsJdd92FmJgYFBUVdTvWruitGGQyGXbv3o1//OMf+Oqrr5CVlQU3NzcsWrQI69evx+7du3vwVRhm48aNmDt3LjZv3ox9+/bh+PHjsLa2hpeXF+644w7Mnz8fN998c5tzVq1ahebmZnzxxRc4ffo0mpqaAACNjY1inSlTpuD06dN466238OOPPyI7OxvNzc0YMmQIZs2ahblz54pTKhhq2rRpePvtt5GYmIhTp07h9OnTkMvlCAoKwqxZs7B8+XK4u7tff6cQEREREQBAIvzxmSwiIiIiIiIiIiIiMirOcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RERERERERERERCaGiVsiIiIiIiIiIiIiE8PELREREREREREREZGJYeKWiIiIiIiIiIiIyMQwcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RERERERERERERCaGiVsiIiIiIiIiIiIiE8PELREREREREREREZGJYeKWiIiIiIiIiIiIyMQwcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RERERERERERERCaGiVsiIiIiIiIiIiIiE8PELREREREREREREZGJYeKWiIiIiIiIiIiIyMQwcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RERERERERERERCaGiVsiIiIiIiIiIiIiE8PELREREREREREREZGJYeKWiIiIiIiIiIiIyMQwcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RERERERERERERCaGiVsiIiIiIiIiIiIiE8PELREREREREREREZGJYeKWiIiIiIiIiIiIyMQwcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RERERERERERERCaGiVsiIiIiIiIiIiIiE8PELREREREREREREZGJYeKWiIiIiIiIiIiIyMQwcUtERERERERERERkYpi4JSIiIiIiIiIiIjIxTNwSERERERERERERmRgmbomIiIiIiIiIiIhMDBO3RESD3OnTpxETE4Pc3NxuX6OmpgbPPvssoqOj4eLiAolEgpiYmB6LkYiIiIioRU/cv/7222945JFHMGLECFhZWWHIkCG4/fbbkZKS0nOBEhFdJyZuiYgGudOnT2PdunXXdeNbVlaG999/H01NTbjjjjt6LDYiIiIioj/qifvXrVu3Ijc3F0899RTi4+Px1ltvoaSkBBEREfjtt996LlgiousgM3YARETU//n6+qKiogISiQSlpaX44IMPjB0SEREREdFVbd68Ga6urm32zZo1C0FBQdiwYQNuuukmI0VGRNSKI26JiEzQd999hzFjxkChUCAgIABvvfUWYmJiIJFIunSdY8eO4bbbboOjoyOUSiVCQ0Px73//Wzy+c+dO3H333QCAG2+8ERKJBBKJBDt37gQAJCYm4vbbb4eXlxeUSiWCgoLw2GOPobS0tE07LecRERER0eDU3+5f/5i0BQBra2uMHDkSFy9e7OKrJyLqHRxxS0RkYn755RfMmzcPN9xwA3bt2gWtVovY2FgUFxd36Tq///47Zs2ahUmTJmHbtm2ws7PDF198gQULFqC+vh4LFy7Erbfeig0bNmDNmjXYvHkzxo8fDwAIDAwEAGRnZyMyMhKLFy+GnZ0dcnNzsWnTJkydOhUnT56EXC7v8ddPRERERP3LQLl/raqqQmpqKkfbEpHJkAiCIBg7CCIiajVx4kSoVCpkZWXB3NwcAFBbWws/Pz+UlZXB0F/bwcHBsLCwwJEjRyCTtX5PN3fuXKSkpODSpUswMzPDl19+ibvvvhu///47pk+fftXrCYKA5uZmFBYWwtfXF9999x1uu+22dvVKS0vh4uKCF198kQuUEREREQ0C/f3+tcX999+PXbt24dChQwgLCzPsxRMR9SJOlUBEZELq6upw7Ngx3HHHHeJNL6B/bGvu3LkGXycrKwtnzpzBX/7yFwCAVqsV/82ZMwdFRUU4e/bsNa9TUlKCJUuWwNvbGzKZDHK5HL6+vgCAzMzMLr46IiIiIhpoBsr96/PPP49//etfePPNN5m0JSKTwakSiIhMSEVFBQRBgJubW7tjHe27mpbH0lauXImVK1d2WOeP83z9kU6nQ3R0NAoLC/H8889j9OjRsLKygk6nQ0REBBoaGgyOh4iIiIgGpoFw/7pu3Tq8/PLLeOWVV/D4448bHDMRUW9j4paIyIQ4ODhAIpF0OB+YSqUy+DrOzs4AgNWrV2PevHkd1hk+fHin1zh16hSOHz+OnTt34qGHHhL3Z2VlGRwHEREREQ1s/f3+dd26dYiJiUFMTAzWrFljcLxERH2BiVsiIhNiZWWFCRMm4Ntvv0VsbGybOcJ+/PFHg68zfPhwDB06FMePH8eGDRs6ratQKACg3QiElhWAW463eO+99wyOg4iIiIgGtv58//rSSy8hJiYG//jHP/Diiy8aHCsRUV9h4paIyMSsX78et956K2bOnImnnnoKzc3NeP3112FtbY3y8nKDr/Pee+9h9uzZmDlzJhYuXIghQ4agvLwcmZmZSE1NxX/+8x8AQEhICADg/fffh42NDZRKJfz9/TFixAgEBgZi1apVEAQBjo6O+OGHH5CYmNhhez///DPq6upQU1MDADh9+jS+/PJLAMCcOXNgaWl5Pd1CRERERCaqP96/vvHGG3jhhRcwa9Ys3HrrrTh06FCb4xEREdfRI0REPUMiGLq8IxER9Zlvv/0WL7zwAs6ePQt3d3csXboUhYWF+OSTT7p083vixAm88sor2LNnDyoqKuDk5ISRI0finnvuwWOPPSbWe+utt/DWW28hPz8fzc3N+PDDD7Fw4UJkZmbiqaeewqFDhyCTyXDLLbfgjTfegI+PD1588UXExMSI1/Dz80NeXl6HceTk5MDPz6+73UFEREREJq6/3b9Onz4dSUlJV42DqRIiMgVM3BIR9QMajQbjxo3DkCFDkJCQYOxwiIiIiIg6xftXIqLrx6kSiIhM0KJFizBjxgx4eHhApVJh27ZtyMzMxFtvvWXs0IiIiIiI2uH9KxFRz2PilojIBNXU1GDlypW4fPky5HI5xo8fj/j4eNxyyy3Q6XTQ6XSdni+T8dc7EREREfUd3r8SEfU8TpVARNTPLFy4EB999FGndfirnYiIiIhMBe9fiYi6h4lbIqJ+Jjc3F6WlpZ3WmTBhQh9FQ0RERETUOd6/EhF1DxO3RERERERERERERCaGk8h0kU6nQ2FhIWxsbCCRSIwdDhEREdGgJggCampq4OnpCTMzM2OHY5J4/0pERERkOrpy/8rEbRcVFhbC29vb2GEQERER0RUuXrwILy8vY4dhknj/SkRERGR6DLl/ZeK2i2xsbADoO9fW1rbX29NoNEhISEB0dDTkcnmvt9efsa8Mx77qGvaX4dhXhmNfGY59ZbjB2FfV1dXw9vYW79GoPd6/mi72VdewvwzHvjIc+8pw7CvDsa8MNxj7qiv3r0zcdlHL42W2trZ9duNraWkJW1vbQfMG7i72leHYV13D/jIc+8pw7CvDsa8MN5j7ilMAXB3vX00X+6pr2F+GY18Zjn1lOPaV4dhXhhvMfWXI/SsnAiMiIiIiIiIiIiIyMUzcEhEREREREREREZkYJm6JiIiIiABs2bIF/v7+UCqVCAsLw759+zqtn5SUhLCwMCiVSgQEBGDbtm1tjmdkZGD+/Pnw8/ODRCJBXFxcu2ts3LgR4eHhsLGxgaurK+644w6cPXu2TR1BEBATEwNPT09YWFhg+vTpyMjIuO7XS0RERESmjYlbIiIiIhr0du3ahWXLlmHt2rVIS0vDtGnTMHv2bOTn53dYPycnB3PmzMG0adOQlpaGNWvW4Mknn8RXX30l1qmvr0dAQABeffVVuLu7d3idpKQk/P3vf8ehQ4eQmJgIrVaL6Oho1NXViXVee+01bNq0Ce+++y6OHj0Kd3d3zJgxAzU1NT3bCURERERkUrg4GRGRCREEAYJagMRcwoV2iIj60KZNm7Bo0SIsXrwYABAXF4fdu3dj69at2LhxY7v627Ztg4+PjziKNjg4GMeOHUNsbCzmz58PAAgPD0d4eDgAYNWqVR22+8svv7TZ/vDDD+Hq6oqUlBTccMMNEAQBcXFxWLt2LebNmwcA+Oijj+Dm5obPPvsMjz32WLtrNjU1oampSdyurq4GoF/8Q6PRdKVbuqWljb5oq79jX3UN+8tw7CvDsa8Mx74yHPvKcIOxr7ryWpm4JSIyEkEQULmnEqVfl6LmWA0ashugKdcAzYAyQImgt4Lg/CdnY4dJRDTgqdVqpKSktEuuRkdH4+DBgx2ek5ycjOjo6Db7Zs6cie3bt0Oj0XR7VeSqqioAgKOjIwD9yF6VStWmLYVCgaioKBw8eLDDxO3GjRuxbt26dvsTEhJgaWnZrbi6IzExsc/a6u/YV13D/jIc+8pw7CvDDea+MrtkBnmSHPIDcpiVm0HnqUPDQw1oHtvcYf3B3FddNZj6qr6+3uC6TNwSEfUxoVlA8afFyH81H/VnOv6F3XihEafmnkLAqwHwec6njyMkIhpcSktL0dzcDDc3tzb73dzcoFKpOjxHpVJ1WF+r1aK0tBQeHh5djkMQBKxYsQJTp05FSEiI2E7Ltf/YVl5eXofXWb16NVasWCFuV1dXw9vbG9HR0bC1te1yXF2l0WiQmJiIGTNmdDuBPViwr7qG/WU49pXh2FeGG6x91VzbjMu7LuPyZ5dRva+6zTHpBSmsX7TGsI+GweXPLuL+wdpX3TEY+6rlaShDMHFLRNSHGvMakRaVhqY8/SOsZkozuN7rCodbHGAVYgW5sxxCs4D06elozGnEhVUX0HixEUPfGgqJlFMnEBH1pj9OUSMIQqfT1nRUv6P9hnr88cdx4sQJ7N+//7piUygUUCgU7fbL5fI+/UDU1+31Z+yrrmF/GY59ZTj2leEGS1815jfi4qaLUG1Xobn2fyNqpYDjLEe43ecGpa8SaVPTAADnHjoHhZMCTrc6tbnGYOmrnjCY+qorr5OJWyKiPlJ9pBqpk1LFbd/nfTHkiSEwdzFvV3fS+Uk4PvM4Kn+tROHmQpT/XI7xh8Z3WJeIiK6Ps7MzpFJpu9G1JSUl7Ua6tnB3d++wvkwmg5OTU4fndOaJJ57A999/j71798LLy6tNO4B+5O2Vo3g7i42IiIi6T1ujRc7zOSh4pwDQ6fdZBFnAfZE73P7iBqW3UqwbkReBQ76HAAAn/3QSU0qnQO40OJKP1DfMjB0AEdFgIOiENknb0P2h8F/vf9VErEQqwdjEsfB/xR+AfuqEQ/6HkPlAJir3V/ZFyEREg4a5uTnCwsLaza2WmJiIyZMnd3hOZGRku/oJCQmYMGFCl0ZRCIKAxx9/HF9//TV+++03+Pv7tznu7+8Pd3f3Nm2p1WokJSVdNTYiIiLqnpJ/lyDZOxkFb+mTtrYRthj1zShMPDcRvqt82yRtAUDpo0TYsTBx+3DQ4b4OmQY4Jm6JiPrAmYfOiOVx+8bBbordNc+RSCTwXeOL0T+PhtJPCV2dDsWfFiN9WjrOPHLmmucTEZHhVqxYgQ8++AA7duxAZmYmli9fjvz8fCxZsgSAft7YBx98UKy/ZMkS5OXlYcWKFcjMzMSOHTuwfft2rFy5UqyjVquRnp6O9PR0qNVqFBQUID09HVlZWWKdv//97/j000/x2WefwcbGBiqVCiqVCg0NDQD0fwuWLVuGDRs24JtvvsGpU6ewcOFCWFpa4r777uuj3iEiIhr4cl7MwekFp9Fc1Qy5ixzB/wrG+OTxcLnDpdNpkGzCbOD+iP4JGW2lFtWHDZ+/lOhaOFUCEVEva8htQPGnxQAAZYAS9lPtu3S+0ywnOJx1QFl8GS6+dhHVydVQfaiC659d4TjDsRciJiIafBYsWICysjKsX78eRUVFCAkJQXx8PHx9fQEARUVFyM/PF+v7+/sjPj4ey5cvx+bNm+Hp6Ym3334b8+fPF+sUFhYiNDRU3I6NjUVsbCyioqKwZ88eAMDWrVsBANOnT28Tz4cffoiFCxcCAJ599lk0NDRg6dKlqKiowKRJk5CQkAAbG5te6AkiIqLB50jIEdRn6BeONnc3x8QzEyGzMzxlNvyD4VDt0E+hlH5jOiKrInslThp8mLglIuplR0cdFcthR8I6qXl1ZuZmcLnDBc63OSNJmgQAOBF9AtOF6T0RIhERAVi6dCmWLl3a4bGdO3e22xcVFYXU1NT2lf/Hz89PXLDsaq51HNCPuo2JiUFMTMw16xIREVHXHAo8hMYLjQAAx1sdMfqH0V1eaFQikSDg1QBcWHUBugYdmi429UaoNAhxqgQiol5U/HkxdPX6Ge19X/S97onqJWYShHwbIm6rPlV1UpuIiIiIiIiuJnVqqpi0tQiywJgfx3Q5advC+xlvsXz+0fM9Eh8RE7dERL1EEARk3pcpbvu96Ncj13W+3Vksn3mAc90SERERERF1Vc7zOag+oJ+PVu4qx6Tzk67rehIzCZzv0H9Wq/qtCtBdd4hETNwSEfWW7JXZYnncvnHd/ua2IyE/tI66rdxb2WPXJSIiIiIiGuiqDlYh7+U8cXuyanKPXHfY+8PEsuIzRY9ckwa3biVut2zZAn9/fyiVSoSFhWHfvn2d1k9KSkJYWBiUSiUCAgKwbdu2NsczMjIwf/58+Pn5QSKRIC4urlvtCoKAmJgYeHp6wsLCAtOnT0dGRoZ4vLy8HE888QSGDx8OS0tL+Pj44Mknn0RVVVV3uoGI6KoEnYBLmy4BAORu8i4vSHYtzn9qHXWbcVdGJzWJiIiIiIiohaATkDYlTdyefHlyjw2yMXcxh8xBv5yU8ktlj1yTBrcuJ2537dqFZcuWYe3atUhLS8O0adMwe/bsNqvsXiknJwdz5szBtGnTkJaWhjVr1uDJJ5/EV199Jdapr69HQEAAXn31Vbi7u3e73ddeew2bNm3Cu+++i6NHj8Ld3R0zZsxATU0NAP3KvoWFhYiNjcXJkyexc+dO/PLLL1i0aFFXu4GIqFOpk1sXqxl/YHyvtBHwagAAQHNZg7rMul5pg4iIiIiIaCBJjWz9rDb6p9Ewdzbv0euP/mG0WK5JqenRa9Pg0+XE7aZNm7Bo0SIsXrwYwcHBiIuLg7e3N7Zu3dph/W3btsHHxwdxcXEIDg7G4sWL8cgjjyA2NlasEx4ejtdffx333nsvFIqOh5Jfq11BEBAXF4e1a9di3rx5CAkJwUcffYT6+np89tlnAICQkBB89dVXmDt3LgIDA3HTTTfhlVdewQ8//ACtVtvVriAiakfXpMOxsGOoOaz/A20baQuLQIteacv72dbJ70//+XSvtEFERERERDRQVO6rRM0R/Wc1uyg7OM1x6vE27KbYieXc53J7/Po0uMi6UlmtViMlJQWrVq1qsz86OhoHDx7s8Jzk5GRER0e32Tdz5kxs374dGo0Gcvm1V1g3pN2cnByoVKo2bSkUCkRFReHgwYN47LHHOrx2VVUVbG1tIZN13BVNTU1oamoSt6ur9RNXazQaaDSaa8Z+vVra6Iu2+jv2leHYV11jaH81XWzCscBj4rZEIUHInpBe7Wf3x9yhek+FuuN1aKxuhNRC2mttGYLvLcOxrwzHvjLcYOyrwfRaiYiI6Pqk35Aulsf9Nq7X2nFe4IzSXaWo3lvda23Q4NClxG1paSmam5vh5ubWZr+bmxtUKlWH56hUqg7ra7ValJaWwsPDo0fabflvR3Xy8vLQkbKyMrz00ktXTeoCwMaNG7Fu3bp2+xMSEmBpaXnN2HtKYmJin7XV37GvDMe+6ppO+6sOsPtL6zerDY80QH2bGj///HPvBnUzYPeevt29d+1Fw98berc9A/G9ZTj2leHYV4YbTH1VX19v7BCIiIioHyjaWSSWgz8LhsSs5xaP/iPfl31RuqsUAFD2cxmcZvf8yF4aHLqUuG3xx0mbBUHodCLnjup3tL8n2jU0turqatx6660YOXIkXnzxxau2uXr1aqxYsaLNed7e3oiOjoatrW2X4u8OjUaDxMREzJgxw6DRyYMZ+8pw7KuuuVZ/CYKAg4rWpw48l3nC/zX/PosvfWw66o7XwTzRHDf+dGOftdsRvrcMx74yHPvKcIOxr1qehiIiIiLqzNmHz4pltz+7dVLz+il9Wxcmy34mm4lb6rYuJW6dnZ0hlUrbja4tKSlpN9K1hbu7e4f1ZTIZnJwMe+Ma0m7LomYqlarNKN6OYqupqcGsWbNgbW2Nb775ptMPNgqFosN5d+VyeZ9+IOrr9voz9pXh2Fddc7X+OnXnKbFsE26DYW8O68uwEPxxMI6N1U/RoD6vhtVIqz5tvyN8bxmOfWU49pXhBlNfDZbXSURERN2nKWudWmnkf0b2SZtNf2qC4kcF6jPqIeiEXh3hSwNXlxYnMzc3R1hYWLvH7xITEzF58uQOz4mMjGxXPyEhARMmTDD4RtuQdv39/eHu7t6mjlqtRlJSUpvYqqurER0dDXNzc3z//fdQKpUgIuquS29fQum3peJ22JGwPo/Beoy1WD676GwnNYmIiIiIiAaf0/e2Lubsepdrn7TZ+JdGsVz2Q1mftEkDT5enSlixYgUeeOABTJgwAZGRkXj//feRn5+PJUuWANBPLVBQUICPP/4YALBkyRK8++67WLFiBR599FEkJydj+/bt+Pzzz8VrqtVqnD59WiwXFBQgPT0d1tbWCAoKMqhdiUSCZcuWYcOGDRg6dCiGDh2KDRs2wNLSEvfddx8A/Ujb6Oho1NfX49NPP0V1dbX4eJ2LiwukUuMu6kNE/UvRjiJkPZUlbkcWRhotFpcFLri86zKqD1Xz21wiIiIiIqL/EQQBFf+tAAA4zHDou4YtWosXVl+A8+3Ofdc2DRhdTtwuWLAAZWVlWL9+PYqKihASEoL4+Hj4+voCAIqKipCfny/W9/f3R3x8PJYvX47NmzfD09MTb7/9NubPny/WKSwsRGhoqLgdGxuL2NhYREVFYc+ePQa1CwDPPvssGhoasHTpUlRUVGDSpElISEiAjY0NACAlJQWHDx8GADEh3CInJwd+fn5d7Q4iGqQuvnER2Suzxe3xR8ZD4dF+WpW+MvyD4bi86zIAIHddLvzX9d0cu0RERERERKYq5x85Yjn4X8F92vaQlUNQEFuA+kwupkrd063FyZYuXYqlS5d2eGznzp3t9kVFRSE1NfWq1/Pz8xMXLOtuu4B+1G1MTAxiYmI6PD59+nSD2iEi6kzBtoI2SdvQ5FDYhvf+YoWdkVnLIHeTQ1OsQd76PPjF+HV5AUgiIiIiIqKBRBAE5G/QDy6U2ctg7mLep+17PeuFgtgCAEDl/krYT7Xv0/ap/+vSHLdERIPdub+dw/m/nRe3J12YBLsIOyNG1GrML2PE8ul7TndSk4iIiIiIaOAr/rhYLI/bM67P25fZt46XzFuf1+ftU//HxC0RkYFO3HAChdsKAQByNzmm1U6Dhb/FNc7qOzbjbGAxVB/P5S8vozKp0rgBERERERERGdGZhWfEsvVY605q9h63B9wAABWJFUZpn/o3Jm6JiAxgudESNYdq9OVRlphcNBlSK9Nb0HDC8Qli+cSsE6hJrTFiNEREREREdCWdVofKpErkvJiD7FXZuPTOJdSf5/ynveHy15fFcsh3IUaLw3OJp1jWVGqMFgf1T92a45aIaDA5EXUC8sNyAIDUWorwk+EmO3+s1EKKsb+PxfEbj0PXqEPKxBR4LfOC/zp/k0w0ExERERENBvVZ9Sh4uwDFnxVDW6Ztd9w20hYh34TA3K1v52AdyDLmZ4hl59ucjRaHbUTreij5G/MR+M9Ao8VC/Q9H3BIRdeLMojOoSdaPWlUOVWJq9VSTTdq2cJjugEnZk2A31Q5oBi69cQnJPsm48I8LaFI1GTs8IiIiIqJBQ1Omwfknz+PI0CMoeKcA2jItZA4yuP7FFV7LvOBwiwMAoDq5GoeHHkZ5YrmRIx4YruzH4TuGGzESQGImEae0K/q/IqPGQv0PE7dERFdxMe4iVDtU4vb4U+NNPmnbwiLAAuP2jsOIj0ZA4aOAtlyL/FfykeyVjFPzTqHi1woIgmDsMImIiIiIBqzLX19GsncyCt4pAADYT7fH6J9GY3LJZIz8dCSC3gzC2MSxGPXVKMAMaK5pxonoEzg1/xSEZt6rX48T0SfEssfDHkaMRM9njQ8AQFuhha5JZ+RoqD9h4paIqAPVR6uRvTxb3K7aVdVvkrYtJBIJ3B90x6SsSQj+V7D+EZ1moPSbUhy/5TjSpqWh+ki1scMkIiIiIhpQBEFA6tRUZMzPgK5BB3MPc4R8H4Jxv4+D0xwnmMnapmJc5rlgcuFk2N9kDwAo/boU++z2Qadmgq87slZkieVRX40yYiSt3O53E8vluzmqmgzHxC0R0R801zUjdWKquD3hwgRAYcSArpOZ3Axu97lhfPJ4hKWFwf1hd0AKVB+oRuqkVJx5+Aya65uNHSYRERER0YBwNOQoqg/oB0g4znHExLMT4Ty38zlWzd3MMe7XcfBcql/ISlenw17FXj4l10W6Jh0uvXkJACAxl8BlnouRI9Izk5lB5qRfZqrk8xIjR0P9CRO3RERXEAQB+6z3idsjvxgJhVc/ztr+gc04G4zYMQKTzk+C8536m0fVThWSfZJRd7rOyNEREREREfVvuS/nov50PQDAZqINxvw0BjIbw9eFH7Z5GFzuaU02pk5K7aQ2/dHh4YfFckRuhBEjac92kn6RspIvmLglwxn+24OIaBA44HJALHsu8YTrAldoNBojRtQ7LPwtEPJ1CC5/cxkZ8zOgLdPi2Lhj8FnlAzMLM+jqdWiub4ZFoAVc7nKBuStXt70WbY0WtcdroS5QQxAESC2kMFOaQWojhdRKCjMLM0itpZC7yts9HkdERERE/V+Tqgm5z+eK22GHw7p1nVG7RuFw2mE0nG9AzdEa5K7Phd8Lfj0T5ABW9GERmvL0izG73O0ChYdpDcDxWu6F8nj9NAk6rY6fCcggTNwSEf3PkZAj0JZpAQC2U2wxbOswI0fU+1zudMH4I+NxIvoEtBVa5L2U165O9tPZGPLEEAS+FmiECE2boBNQ+l0pCrcUouL3CsCQGSekgOUIS9hMtoHcQo7G4EbIh8l7PVYiIiIi6j3N9c1I9kgWtyMLI6/rehPPTkSSWRIAIPfFXLgucIXlcMvruuZA1lTYhLOPnBW3R+4aacRoOmY/3V4sX/7yMtzudbt6ZaL/YeKWiAjA8VnHUZ+hf6RJGajE+P3jjRxR37GdYIvIwkgUvVeEmpQaSOQSSC2lgASo+LUC9afrcfH1i6g9UYuxv4w1drgmozKpEmcfO4uGsw3iPoWXAkp/JSQyCXQNOugaddBWa8URzM21zUAzUJ9Rj/qMeljCEilvp8A61Bruj7jD7T43yB2ZxCUiIiLqL+rP16NwayFUH6nEfb4v+F73aE+JRILIgkgkD9Eng4+MOILpwvTruuZAVZ9VjyNDj4jbE05OMMmFpc1kZvqnGxt0KNxcyMStCRAEAboGHZprmqGt0cLC3wISqWm9d5i4JaJBL2NBBip2V4jbk85PMmI0xiFVSuH1lFe7/TqtDmmT01BztAYVuyuQ9XQWgt4IMkKEpqO5sRlnF59Fyb/0c1OZWZlhyNIh8FjsActhnY+CEJoFNBU1oeZYDSr2ViA/Ph+y8zLUptUi64ksZK/MhscjHvB+1hsWfhZ98XKIiIiIqBuqj1Qj76U8lP1YJu6Tu8rh+TdP+Mf490gbCk8Fhm4divN/Ow8AOHXnKYR8E9Ij1x4oLr17CVlPZInbQe8EwTrE2ogRdc7jUQ8UvF2Aqv1Vxg5lwBJ0AtQqNRpzG9GY3wh1oRrqIjXUl9XQlGigKdVAU66BtkILbZW2zVOTk4snm9w0gZxQg4gGtayVWbj878vidpQ2yiS/nTUWM5kZxh9uHX18adMlFP+r2IgRGVfVwSrss9gnJm2d5zsjIjsCga8FXjNpCwASqQRKLyVc7nCB/z/9UffPOoTnhyPwzUBYjbaC0CSgcGshDgccxvmnzkNTNvDmVyYyZVu2bIG/vz+USiXCwsKwb9++TusnJSUhLCwMSqUSAQEB2LZtW5vjGRkZmD9/Pvz8/CCRSBAXF9fuGnv37sXcuXPh6ekJiUSCb7/9tl2dhQsXQiKRtPkXEWFaC64QEQ0W6hI1Ts0/hdRJqWLS1iHaASHfhiDyUmSPJW1bDFkyBMpAJQCg9NtS/fRcBEEQkP1ctpi0lbvIMSZxDLwebz8YxZR4/s1TLDfkNHRSkwyhqdSgPKEc+f/MR8a9GTgScgR7LfcieUgy0qakIfPPmch+OhsXYy+i+KNilP9cjpqjNWjMboS2vG3SVmotRXO9IXPf9S2OuCWiQSt3fS4uvXFJ3I5qjoLEjEnbP5JIJJhaMxX7bfYDADLvz4TVGCtYjzbdb7J7Q/3ZeqRNSRO3g/8VDLf7rv/xJnNXc3gv84bXU16oSKxA7vpcVB+oRsHbBVB9qMKwrcPg9hc+RkXU23bt2oVly5Zhy5YtmDJlCt577z3Mnj0bp0+fho+PT7v6OTk5mDNnDh599FF8+umnOHDgAJYuXQoXFxfMnz8fAFBfX4+AgADcfffdWL58eYft1tXVYezYsXj44YfF8zoya9YsfPjhh+K2ublpjQYhIhoMij8vxpmHzkDQCAAA13td4bPWp9dHeE7MmIi9yr0AgOM3HdcPNjGxx7n7kqZSg5SwFDReaAQAWI2xQtiRMJgpTH9sotUIK7F8MfYihm0e+Ouq9CRNmQblv5Sjcl8lqvZWoT6zvuOK0v9NY+ethMJLAXMPc8hd5DB3N4fcSQ6ZowxyRzlk9jJxMWlTzQUwcUtEg1Luy7nIfTFX3J5aPdVkf1GbApm1DOGnw3F05FEAwLExxzC1Zipk1oPjz4i2SosjI1rnzRr982g4zXLq0TYkEgkcox3hGO2Iy19fRvbT2WjMbUTm/Zko/qwYw7YOg9JH2aNtElGrTZs2YdGiRVi8eDEAIC4uDrt378bWrVuxcePGdvW3bdsGHx8fcRRtcHAwjh07htjYWDEBGx4ejvDwcADAqlWrOmx39uzZmD179jXjUygUcHd3N+i1NDU1oampSdyurq4GAGg0Gmg0vT+Sv6WNvmirv2NfdQ37y3DsK8MZ0ldCs4Az955B+XflAAC5uxxDtw+FwwyHa57bI8yA4G+CkXlnJgAgdUoqxuwb07ttdsAU3ldNF5twLPCYuO21xgs+L/qgWdKMZo3pjJbsrK9sImxQc6gGRe8XwT+uZ0do90fXel/VZ9Sj9MtSVCRUoDalFtC1Pa4MVMIq1ArWY61hOcYSlsMtofBRQCIz7PO9AAHaZq1hC033kK78DA2OT9xERFfI25iH3Odzxe3JxZMhs+Gvw2uxCrZCyLchOHXHKQDAfpv9g2KBBEEQsN9+v7jt/4p/jydt/8hlngscZzviwnMXUPBOAcrjy3Fk+BE4znGE659d4XybM8zMTX9EAVF/oVarkZKS0i65Gh0djYMHD3Z4TnJyMqKjo9vsmzlzJrZv3w6NRgO5vGcXGtyzZw9cXV1hb2+PqKgovPLKK3B1de2w7saNG7Fu3bp2+xMSEmBp2XcrkicmJvZZW/0d+6pr2F+GY18Z7mp9JamWwPZBW3FbPU2NqserUKopBeL7KjoAEsAq0AqybBlqDtdg95u70TzcOIlKY72vzPLNYPOkjbjd8NcGZEzMQMbPGUaJxxAd9ZVsmgxWh6wgaAXEfxcPcG1iAG37yuyiGeSH5JDvl0OaJ21Tr9mnGdqxWmhHadEc3IwquyvmCxYAnPnfPxNWX3+VkcIdYKaCiAaVvA15yFmbI25PrZwKmR1/FRrK+XZnePzVA0XvFwEAziw+gxEfjDByVL0rySxJLHs/6w3fNb590q7UQoqhbw+F2/1uOP/EedQcqUHp16Uo/boUSj8lgt4OgvNc5z6JhWigKy0tRXNzM9zc2k5L4ubmBpVK1eE5KpWqw/parRalpaXw8PDosfhmz56Nu+++G76+vsjJycHzzz+Pm266CSkpKVAo2q9avnr1aqxYsULcrq6uhre3N6Kjo2Fra9uufk/TaDRITEzEjBkzejyBPdCwr7qG/WU49pXhOusrtUqNoz5HxW2/1/wwZNmQvg5RJMwUcNBC/4Wi9XPWmKKe0qftG/N9VZNSgxN3nBC3A7cGwn2RYU+iGENnfSXMEnDwdf3/x4nqiXC+fXDd0+s0OtQk16DxQiN0ah2am5pxJuMMhgUMg1AtoDy+HPWnWhObErkE9tH2cLrdCfa32EPh1f7ep79peRrKEMxWENGgUZ5QzqRtDxj+3nAUbS8CmgHVdhU8FnnALtLO2GH1iqzlrSvUKrwUCPxnYJ/HYDvRFuMPjUdtai1K/lOCwq2FaMxtxKnbTsEuyg6he0L7PCaigeqPi1MKgtDpgpUd1e9o//VasGCBWA4JCcGECRPg6+uLn376CfPmzWtXX6FQdJjQlcvlffpBu6/b68/YV13D/jIc+8pwf+wrTYWmTdI26J0g4y98JQeGvT8M5/56DgCg2qyC9zLvvg+jj99XNSk1OBHZmrQdt28c7Kfa91n71+NafVX8f8XwuK/nvuw1ZTq1DoXvF+LiPy+i6VJTm2MWsMBFXBS3JTIJ7G+2h8t8F7jc5QK5w8D6PdaVnx8+Z0lEg0JTYRNOzGz9Yz9ZNZlJ2+swtXKqWE6bnCYmKwaSmvQaXIprXbwu8mKk0WKRSCSwCbNB4KuBmJQ9CQ7R+vnUqpKqcHLuSaPFRTRQODs7QyqVthtdW1JS0m5UbQt3d/cO68tkMjg59e50Kh4eHvD19cX58+d7tR0iosFKEAQccDwgbge8GmD8pO3/eD7qKZazl2cbMZK+UXuiFikTUsTtUV+P6jdJ284MeUI/crtyT6VxA+kjZfFlODrqKLKeyELTpSbInGRwnO0I53nOcLrLCeooNVwfcIXHox4Y/sFwTC6ejLG/jIXno54DLmnbVUzcEtGAJzQLSB6SLG6P/X0szN24Gvf1kFnLMPI/I8XtMw+a+CRCXSQIAlJCW28QI3IjjBhNW+bO5hi7eyzkbvobmLIfy1D2c5mRoyLq38zNzREWFtZuHrrExERMnjy5w3MiIyPb1U9ISMCECRN6fRRSWVkZLl682KPTMRARUasrvxj3WesDn+d8jBhNe+OPjBfL2asGbvK2/lw9jo1tXYhs1Dej4HKnixEj6jmef2tNwDfkNhgxkt7VkNuA9JvScfLWk2jIaoDMQYbANwMReSkSY+LHIOSrEIz4bAQaljdg6PahGP7+cHgs8oDccXAna6/ExC0RDXj7bPaJ5YBXA+Aw3cGI0Qwcrne5wtxdnwAv/rQYdWfqjBxRz8mY17rAQdA7QVD6Ko0YTccmF7Umk07O4ahbouu1YsUKfPDBB9ixYwcyMzOxfPly5OfnY8mSJQD088Y++OCDYv0lS5YgLy8PK1asQGZmJnbs2IHt27dj5cqVYh21Wo309HSkp6dDrVajoKAA6enpyMpqnYaltrZWrAMAOTk5SE9PR35+vnh85cqVSE5ORm5uLvbs2YO5c+fC2dkZd955Zx/0DBHR4FK+uxzlP5UDAMyHmCPg5QAjR9SebbgtJAr9tDwX/3kROo3OyBH1vPpz9Tgy/Ii4PXLXSLjcMTCStoB+4ecW55cOvCdoBEHAxbiLOOx/GJW/VwIAPP7qgYlnJsJ7mTekSmnnFyARE7dENKClTUuDrkF/I+Mw08Hkvi3v7yaenyiWjwYf7aRm/1F/th6l35aK26byWNwfSSQShPwQIm7nxOR0UpuIrmXBggWIi4vD+vXrMW7cOOzduxfx8fHw9dUvSFhUVCQmUwHA398f8fHx2LNnD8aNG4eXXnoJb7/9NubPny/WKSwsRGhoKEJDQ1FUVITY2FiEhoZi8eLFYp1jx46JdQB9Ajk0NBQvvPACAEAqleLkyZO4/fbbMWzYMDz00EMYNmwYkpOTYWPTurI2ERFdP0EQcGJW6/RqETmm89TVH006P0ksZ96XacRIep66VN02afufkXC9x9WIEfUOh5n6AUXlP5cbOZKe1VTYhNTIVHEqD8sRlhh/ZDyGvzcc5q588rWrOMEjEQ1Y2auyUbW/CgAgd5Vj7C9jjRzRwCOzliHwjUBkP63/o3wp9hIw8honmbgjI1pvEqdWTe2kpvE5/8kZZkoz6Bp1yFuXB5/nfCC14LfXRN21dOlSLF26tMNjO3fubLcvKioKqampV72en5/fNecAnz59eqd1LCwssHv37k6vQUREPePKBOiYhDEwk5vuWDeltxIWwy3QcLYBl7+8DJ1aBzNz0423Kw66HBTLwz8cDte7Bl7SFgCGbR6Gw0GHAQCXv74Ml3n9e0SxtlqLwm2FyF2fC12dfvCUzyof+L/sD4m0ZxduHUwGxk81EdEflO8ux8V/tq5KOVnV8RyFdP28V7SuZJu3Jg9QGzGY65T/WutoOu/nvCGzNf3vN8MzwsVyauTVE0hEREREdHWaMg1KvigBAJh7mMNxhqORI7q20KRQsXxi9olOavYfGfe0TlnmtcILHgsH7nzuFoEWYjljfkYnNU2XTqNDxW8VOLPoDJKHJOPCcxegq9NB4aPAuKRxCNgYwKTtdWLilogGnMa8xjaPOE2tngqJhH8setPEc61TJlittuqkpulSX1bjwnMXxO3AVwONGI3hLAIsYD/dHgBQd7wOVQeqjBsQERERUT907sFzYnli5sROapoOczdzWIdZAwAqf6uEtlpr5IiuT11mHS7/5zIAQOYgQ9AbQUaOqPcN/3C4WL787WUjRtI19Wfrce7xczjofhDHbz4O1Q4VmmubYTHUAsPeG4ZJWZNgf4O9scMcEJi4JaIBRafV4ZDfIXF73J5xkNmY/qjJ/s5yqCXsptkBAGTZMtSfqTdyRF13dGTrHL2Tsid1UtP0jPlljFhOm5oGbU3/vmknIiIi6lMCUJlYCQCwu8EOMrv+8/nhylG3p+48ZcRIrt+V9+NXLsQ7kF05ojjjzoxrTrFkbLXHa3Hy9pM4MuIICjcXQluuhdROCvdF7hi3ZxwmnpkIz796mvQ0I/1Nt3pyy5Yt8Pf3h1KpRFhYGPbt29dp/aSkJISFhUGpVCIgIADbtm1rczwjIwPz58+Hn58fJBIJ4uLiutWuIAiIiYmBp6cnLCwsMH36dGRktB1u/v7772P69OmwtbWFRCJBZWVll18/EZmu/Tb7xXLQ20Gwj7I3XjCDzOj40WI5bUyaESPpuprUGmhKNQAA+5vsYRFgcY0zTIuZwgwh37cuVLbfdr/J3/QRERERmQr5AblYDvk2pJOapkdqJRUHUFT+Vgldk87IEXVP0Y4isRzwzwCYKQZP4m/sf1vXYjk596QRI7k6TZkGmQszcSz0GMq+LwMAOEQ7YHT8aEwpnYIRH4yAfZQ9JGZ80rWndfknYdeuXVi2bBnWrl2LtLQ0TJs2DbNnz26zyu6VcnJyMGfOHEybNg1paWlYs2YNnnzySXz11Vdinfr6egQEBODVV1+Fu7t7t9t97bXXsGnTJrz77rs4evQo3N3dMWPGDNTU1LRpa9asWVizZk1XXzoRmbgzi89A16i/UXGc4wivJ7yMHNHgIrOWwfclX3H7YtzFTmqblpSwFLE8NrF/LmLnPNcZXsta3/MDZZ4zIiIiot5mGWspluUO8k5qmqaQ71qTzafvPW3ESLqnubEZZxedFbd9nvUxYjR9z+FmByj9lQCA8p/KUZ5YbuSI2rr8zWUkeyWj+KNiQACc5joh/FQ4xu4eC6fZTjCTDZ4kuzF0efz/pk2bsGjRIixevBgAEBcXh927d2Pr1q3YuHFju/rbtm2Dj4+POIo2ODgYx44dQ2xsLObPnw8ACA8PR3i4fnGVVatWdatdQRAQFxeHtWvXYt68eQCAjz76CG5ubvjss8/w2GOPAQCWLVsGANizZ49Br7epqQlNTU3idnV1NQBAo9FAo9EYdI3r0dJGX7TV37GvDDcQ+6r061Kotqv0G1Ig+NvgHnt9A7G/eovbCjfkPZ8HAMheng23JW4mPxn9pTcuieXAbYHQNmuB5t5vtzfeV76v+aJ4VzE0RRpU7K5A4ceFcPlz/16dFuDPYFcMxr4aTK+ViIh6XlNh6+f9Ye8PM2Ik3Sd3kMNqjBXqTtSh9NtSCILQr9b4ODLiiFieeKZ/zC/c0yZmTsRe5V4AwInoE5haMxUya+NO2aFr0uHsY2f1CVsA5u7mGLFzBBxnmv7CfQNJl94FarUaKSkp7ZKr0dHROHjwYIfnJCcnIzo6us2+mTNnYvv27dBoNJDLr/1tliHt5uTkQKVStWlLoVAgKioKBw8eFBO3XbVx40asW7eu3f6EhARYWlp2cEbvSExM7LO2+jv2leEGSl9JyiWwfcRW3K76rArx8fE93s5A6a/eZvauGWwetwEA7Bu1D7Wbao0cUScEwG61nbiZ6p4K9Pxbp1M9/r56F7Cbr39N5x46h6PWRwFpzzZhLPwZNNxg6qv6+v43pzYREZmOrMeyxLLHYo9Oapq2MT+PQfKQZABA7rpc+Mf4Gzkiw5R+X4qmPH3y3Ok2J1gO77s8iykxU5hh7O9jcfzG4wD0UwBOF6YbLZ6603U4Nu4YBI1++jWnPzkh+PNgoyeTB6Mu9XhpaSmam5vh5ubWZr+bmxtUKlWH56hUqg7ra7ValJaWwsPj2r8YDWm35b8d1cnLy7tmG1ezevVqrFixQtyurq6Gt7c3oqOjYWtr28mZPUOj0SAxMREzZswwKMk9mLGvDDeQ+koQBBxUtH5xNPbQWFiPt+7RNgZSf/W2lr6ymWqDmv01kF6QYrxqPNwf6XgaHGO7sOwCiqCfT2tUwijYT7fvs7Z7831VmVCJjGj9HO/eb3lj9H9HX+MM08afQcMNxr5qeRqKiIj6L3WxGg3ZDZDaSmERZAGpsm++dRaaBVTurgQA2M+071ejVP9I4amAzF4GbaUWeevy+kXiVqfR4dTtrQuq9bf5hXuaw3QHeDzmgaL39J9PDg8/jEln+3bR5ObGZlyKu4TcmFwxaTt8+3B4PNJ/v9To77qVKv/jL7NrDcPvqH5H+3ui3a7Gdi0KhQIKhaLdfrlc3qcfiPq6vf6MfWW4gdBXaTe0LoLlv9EfDpMceq2tgdBffWV04mgctNAn1LOXZMNltguUPkojR9WWTqtD0ZbWRRBcZhhnSoHeeF+5zHARb9yr91ZDV6aDwr3937L+hj+DhhtMfTVYXicR0UBU9ksZcmNyUXO4dV0aM0szOM11gvdyb9hO6t3BUiVflIjlof83tFfb6gujfxyNtKn6z0eqT1Rwf8A0B0+0uHJNhtADof06cd5Thm8bjqq9VajPrEfDuQac+/s5DNvc+1N46NQ6qHaqkPdKHpry9SOg5c5yjP5xdK//HFLnujSDsLOzM6RSabvRtSUlJe1GurZwd3fvsL5MJoOTk1OPtduyqFlXYiOi/u3Su5dQta8KAGDuaQ7fVb7XOIP6ikQqwcRzrfNTHfI9BEEnGDGi9k5Et94oRuRHGDGS3hGR2/qakj2SjRgJERERUXvnnzyPk7NPiklbhbcCUlspdPU6XN51GakRqUibnoa6jLpeiyHz/kwAgGAuwNzdvNfa6St2U1qnADvz4BkjRnJtmnINKn+tBABYj7OG3WS7zk8YRMIzwiG11Y86L9xSiJNzT0JT0XNz+guCAJ1aB02lBvVn65G3MQ+HAw/j3GPn0JTfBLmLHEFvBSGyMJJJWxPQpcStubk5wsLC2s2blpiYiMmTJ3d4TmRkZLv6CQkJmDBhgsEjJAxp19/fH+7u7m3qqNVqJCUlXTU2Iuq/6s/XI+uJ1vmoIvMjjRgNdcRyqCWC3gkStw/5HzJiNG015DSg8vdKAIDNBBsovU1rNHBPkNnJ4LOmdUXeC/+4YMRoiIiIiFrlx+aj4J0CAIAyQImI3AhE5kdiauVUhB4Ihdv9boAUqEqqwtGQozj76Fmoi9U9GkPDhQax3PhIY49e25iCPw8Wyw05DZ3UNK7MBzLFcmhyqBEjMT0SiQRTK6bC9T5XAEDZj2U45HcIRduLoFPrunQtQRBQn1WPwvcKcfovp3Eo4BD2WuzFXsVeHHA4gCMjjiBnTQ6aLjVB7ipHwGsBiMiJgNeTXjCTdyllSL2ky1MlrFixAg888AAmTJiAyMhIvP/++8jPz8eSJUsA6OeELSgowMcffwwAWLJkCd59912sWLECjz76KJKTk7F9+3Z8/vnn4jXVajVOnz4tlgsKCpCeng5ra2sEBQUZ1K5EIsGyZcuwYcMGDB06FEOHDsWGDRtgaWmJ++67T2xLpVJBpVIhK0uf8Dl58iRsbGzg4+MDR0eujEfUXxwZ1rryaEReBCRSPlZjirwe90Lpt6Wo/LUSTflNyHo6C0FvBF37xF6WMj5FLI/bN854gfSygFcCkL8hHwCQ/0o+3B90h+WwwbngAxEREZmG8v+W48IzrV8oTzw7EWYyfYJIIpHAbrId7CbbwWe1D7KfyUZ5fDmKPihCyb9L4POcD4Y8PgQy2+tfIOl49HGxrJ7Vs0lhY3Jd4IrMP+uTosdvOo6IHNN7skyn1aE8vhwAYDfNrs/mNO5PJGYSjPzXSLjd54azj52FukCNs4vP4sKqC3C6zQmOMx1hM9EGcmc5BI0g/tNWalF/rh616bWoOVqD6iPV0JZpr96OXAK7KXZwu98Nrn92hdSS/y9MTZd/2y1YsABlZWVYv349ioqKEBISgvj4ePj66h9RLioqQn5+vljf398f8fHxWL58OTZv3gxPT0+8/fbbmD9/vlinsLAQoaGt37DExsYiNjYWUVFR2LNnj0HtAsCzzz6LhoYGLF26FBUVFZg0aRISEhJgY2Mj1tm2bRvWrVsnbt9www0AgA8//BALFy7sancQkRGcurN1AvuguCCTmzuV2hr333HYI9kDALi06RIUXgp4L/c2WjwVeyqgrdTfvHg97TXgbxTDT4fj6MijAIAjw49gatXUHvmwQ0RERNRVTYVNODGjdbqqyIJIMWn7R1YjrTDmpzEo+6kM55bqH+HOWZuD/Ffz4b7QHR5/9YB1SPcWJdbWatGYrR9l63K/C6pQ1a3rmCKJRAKPRz1Q9H9FaMxthLZaa3L3fjmrc8TyqK9GGTES0+d0qxMmZU1C/sZ8FL5XCE2xBqodKqh2qK598v9I5BLYRtrC/gZ72E+3hzJQCZm9DFILKSTmEs4tbOK69dO7dOlSLF26tMNjO3fubLcvKioKqampV72en5+fuGBZd9sF9L+gYmJiEBMTc9U61zpORKbt8jeXUfptKQBA5iiD11NeRo6IDDGtdhr2We8DAGSvyIbSTwmXO42zGNjxG1tHVwS+HmiUGPqSVbAVfJ/3Rd5LeQCA/Xb7MV2YbtygiIiIaFBKHtI67/7Y38ZC4XntxVOdbnXCpOxJKP6oGPmv5aPhXAMK3ilAwTsFsB5vjSGPD4HHw11b8T5jXoZYDtoWhKz/ZnVSu/8ZtnUYiv5Pvwhv5oOZGP3taCNH1NbF2IsAAHN3c5i79P+5hXubVCmF/zp/+K71ReXvlSjfXY6KXytQn1kPQdOaS5PIJDCzNINFkAWsx1jDOswaNhNsYBNqAzMFpz3or0zraxciok7o1Lo2N1mRBZzXtr+QWkkRcTECh7z189xmzMvA+MPjYTuxbye7L9nVunLwyC9GDppvl/3X+6PqYJW4AMTRMUcRfiLcuEERERHRoJJ2Q5pY9t/gD4cbHQw+10xmBo9FHnB/2B3lP5ejYGsByn8pR21qLc4+chbqIjV81xi2ULGmUoOKxAoAgO0UW5iZD7yElkQqgd0NdqjaW4Wy78og6ARIzEzjvrf6SLVYDvk+xIiR9D9m5mZwnOkIx5n6aT4FnQBdgw4SuUT/b5B8thlsBt5vKCIasI6GHBXL4/aOG/CPuA80Si8lwo6Fidupk1JRf76+T2M4fe9psey6wLVP2za2cf8dJ5brTtahLL7MeMEQERHRgCQIQodP0+ZtyEPVPv10BMoAJXxXG5Zk/SOJmQROtzphzI9jMLmwdRHynLU50GkNW7QpNaL1aeDRP5jWSNSeNPLzkWI598Vc4wXyByfnnhTLtuF9O4hjoJGYSSC1ksLM3IxJ2wGMiVsi6hdKvixBw3n9qqgOtzjAfpq9cQOibrEJs8Hon1pvkI8MO4LGvL5ZxVf1aes8UFfGMJjc0HSDWD5568kur0pLRERE1JH6rHqcefgM9tvtR5JZEpKUSdhnvw8H3A9gv8N+5KxtndN00vlJPdKmuat5myfwcmNyr3lOXWYdGs7qP1M4z3OG3EHeI7GYIoWnAlI7/UCXvJfzjByNnqZSA02JBgDgtZxT3hEZglMlEJHJE5oFnL67daTkmIQxRoyGrpfTHCcM3z4cZxedBQAc8juEKeVTev3G+cwDZ9rEMBiZmZth5K6ROL1A//O0V7GX890SERH1AXWxGjVpNajPrEdjTiPUxWpoy7VobmiGrlEHoUk/UlUikUBiLoGZwgxmSjOYWZpBZiuDzE4GmZMMcic5zF3NYT7EHIohCn1yzsp4T6FpKjTIWp6F4k+KgSu+DxaaBDQ3NaO5qlncZzXWCqFJoT36yL7CUwGFtwJNF5uQ/0o+/Nf5QyK9+vVbFmwFgFH/GfiLYo3+bjTSp6cDABouNMAiwMKo8aSMTxHLAf8MMGIkRP0HE7dEZPKOjr5iioR94/gYyADg8YgHmmubkfWUfiGIA44HMK1uGqSWvfPB49Jbl8TyYB1t28L1Hlec//t5aEr1ox2qkqtgF2ln5KiIiIgGHk25BkU7ilDyRQlqU2p7rR25qxxKfyUsh1vCcrglrMdaQx4oB669/ne3CYKAgncLkP1MNoQmfUN2N9jBL8YPViOtoGvS6f/V6yAxl0DuKIe5W+8sQjX217E4MuwIACDr6SwMjRvaYb3MhZliOXBToMnM+dqb7KPsxXLG3RmYkDLBaLFUJlWiMUf/pJ3rn11hJucD4ESGYOKWiExa8RfFqM/Uz4NqO8UW9lPtjRsQ9RivJ72grdYi9/lcAMA+q324QX1Dr9zEZS1rXSl4sI62vdLkkslIMksCAKRNTkOUNqrT0SlERERkOG2tFnkv56HgnQLo6luHoVqOsITlKEtYBFpA4amAzFEGqaUUZhZm+hXfzQDo9Avy6pr0o3Cb65qhrdZCW6GFtlwL9WU1NMUaNBU1oeliE3T1OmhK9I+f1xyuaROHrcIW6aPSYR1iDesx1rCLsoNNmM11D4KoSa9B5l8yUX9af4+uDFRi6DtD4TTbOPdYlkMtIXOUQVuuRcFbBQh6M6jda6z4rQLFHxUDACQKCbyXexsjVKNwWeCCy7suoza1Fromnf691sfUl9XiyF8ACP40uM9jIOqvmLglIpOla9Ih88+t34yH7gs1YjTUG/z+4QddvQ75G/MBAHvN92JqzVTIrHvuz9Old1pH2479fWyPXbc/k0gkbaZMSJ2SirBDYdc4i4iIiK6l9IdSZD6QKU4RYBViBc+/e8LlTpdeGXGqrdKiIasBjbmNqDtdh/rMetSdqkP92XqgCahLrUNdah2KoU9a2kywQWBsYJuRmIbSlGuQ93IeLr35v3srCeCzygd+MX4wMzfu6MnQ/aHiNAh5r+TB7x9+4rGG7AYcv/m4uD2lZEpfh2dUw98fjsu7LgMAzi05hxEfjujT9ptUTUj2SBa3x/wyZlCMdibqKUzcEpHJOjbumFgef3g8p0gYoAI2BKAxvxEl/yoBAOy32d9jyVtBEJD1ZOtoW4fpDtd9zYHC9R5XnHnoDHSNOtQcrkF9Vj0sgyyNHRYREVG/pfpEhTMP6ufUlznIMOy9YXC5y6VX72FldjLYhNnAJswGLvNdxP1NdU1I+CgB4S7haMxsRE1qDcp/KUfNsRqkT0+H619cEfRmEMxdrp1MFgQB2c9ko3BLIXQN+hHE9jfaY/j/DYdFoHHnTG1hFWwFqY0UzTXNyH0+F15PeUFmI0NjXiMOBx0W641JHAOZ7eBKg8hsZbAcaYn60/VQ7VRh+PbhfZI41Wl1yH81HxdfvyjuC3orCI4zHXu9baKBhJOKEJFJqkmvQf0Z/eNXdlF2sJ1oa+SIqDeN/HQkhjw1RNzeb7Mf2mrtdV/3yhWMxx8af93XG2imlLaOODky9IgRIyEiIurfKvdWiklbAAg/HQ7Xu12NNvDAzNwMuiE6ON3hBL8X/DD629GIuBABtwfdAAAl/yrB4aGHUfRhEZrrWhcQE3QCdE06aGv10zJU/FaBlLAUXHrjEnQNOlgMs8DIXSMx7rdxJpO0bTFu7zixfMDxAPJj83FkROv9zfAdw+F4y+BMGo75pXVx5wtrLvR6e9pqLfbK9yL3+Vw0VzdD6afEqC9HwetJr15vm2igGVxfNRFRv5ES2rri6LjfxhkvEOozQ+OGQmopFadN2G+3H1Mrp0Jm170/VdparXgtM6UZbCcx+f9HUispPJd4onBbIQCgYHMBhvx9yDXOIiIioisJgoD0qHRxO/x0OBTuCuMFdBUKTwWCPwqG6wJXnH30LNSFapx95CzOPnIWEnMJBI1w1QXNzJRmcL3PFcO2DTPZRaVsxtnAZ40P8jfkQ9AKuPCMPkEpd5Zj5H9GDuonr5TeSnEe4Iv/vIiAjQG99qWCIAjYb7df3PZ/xR/ez3ib7PuGyNTxJ4eITM6ZR1pHK4z4eATnQBpEAjYEwOvp1m/i99vvbzMKpCuunGojPCP8umMbqIZuaV15+fzj56Fr0nVSm4iIiP7o4mutj4KP/nE0rIKtjBjNtTnNccKkc5Pg+7wvzIfop0oQ1B0nbeWucrg94IbwzHCM2D7C5JNvAa8EYOjmoXCIdoDjbEf4b/BHRH7EoE7atgjd37peSN7Leb3WTtqUNLHs8VcP+K7xNfn3DZEp44hbov/RlGtaJ/M/Vw+JmQQyBxkcZzrCJszG2OENGpoyDVQfqgAAMkcZ3B9wN3JE1NeCYoMgtZYib53+hnKf9T5Mq58GqYXU4GtU7q1EY3YjAMDpT06wCDCtR/lMiUQiwYQTE3BsjD7RnTIxBeHHmegmIiIy1IVV+pGdEnMJnG51MnI0hpFaSeG/3h9+6/ygrdKiuboZEnMJzORmkMgkkMj1//pjwm3I0iEYspRPEP2RVbAVIAXQDOS+kAu/5/16vI2CrQWoTq4GAFgMt8Dw94b3eBtEg03/+y1MdJ2a65pRk1ID1UcqZK3IwvGZx3HA7QAOOB1A2tQ0nFtyDpc2XcLF2IvIWZuDlAkpSAlPgbbm+ufbpGs7OfekWI7IjTBiJGRM/jH+8FnjI27vs9wHba3hP4NXPq4Y8n1IT4Y2IFmPtoZFkD65XXeiDppyjZEjIjKOLVu2wN/fH0qlEmFhYdi3b1+n9ZOSkhAWFgalUomAgABs27atzfGMjAzMnz8ffn5+kEgkiIuLa3eNvXv3Yu7cufD09IREIsG3337bro4gCIiJiYGnpycsLCwwffp0ZGRkXM9LJaIeUplUKZZDvut/9xwSiQRyezmUPkoo3BWQO8khs5NBaintl0lb6lzYsTCxXPx5cY9eu+50Hc4vPS9uT8yc2KPXJxqs+JuYBiydRoeq5CoUvleI7GezcWr+KRwKOoR91vuQMiEFZxaewaU3L6EioQKaEn2SQuGlgMNMB3gt94LX015wvFU/eX3NsRrst90PQbjKpE/UIxovNYrf0DpEO0Bmw4cCBrOAVwLgs7o1ebvfZj80lddOKJb8u0Qsj/z3SKMtCtLfTDgxQSwneyUbMRIi49i1axeWLVuGtWvXIi0tDdOmTcPs2bORn5/fYf2cnBzMmTMH06ZNQ1paGtasWYMnn3wSX331lVinvr4eAQEBePXVV+Hu3vETJHV1dRg7dizefffdq8b22muvYdOmTXj33Xdx9OhRuLu7Y8aMGaipqbm+F01E1+34LcfFstOs/jHalgYvm3GtT5Jm3pfZY9fVaXU4OuqouD3x/ETegxP1EGZFaMAQmgVIz0hxMf0iqvdVo/pQNXR1Hc/VKHeRw3KkJazHWMNqtBWsx1rDcqQlZNbtfyQuvXMJWU9mAQAy78/EyH+N7NXXMZgd8j4klkO+7X8jFqjnBWwIgEQuQd56/bQJBxwOYFLWpE5XMc56Kkssu97t2usxDhRSCynsbrBD1d4q6Bp0qD5czQXdaFDZtGkTFi1ahMWLFwMA4uLisHv3bmzduhUbN25sV3/btm3w8fERR9EGBwfj2LFjiI2Nxfz58wEA4eHhCA/XTz2yatWqDtudPXs2Zs+efdW4BEFAXFwc1q5di3nz5gEAPvroI7i5ueGzzz7DY4891u3XTETXp6mgCYJWP7Aj8I1AI0dDZJiR/x6J0/ecBgBUHayC3WS7677mQbeDYnn4juGwDLK87msSkR4Tt9Svaau0KP2uFJV7K1H2UxmsVdbIR+vIGJmTDLbhtrAYZgGlvxJWo6xgHWoNc2dzg9vwesILBW8XoCGrASWflcDtPrd+M3dVf3Lp3Uti2fcF3y7NZ0oDm/86fyg8FTi35BwA4HDQYYQmh8Iuov1NprZaC7VKrT9vg3+fxjkQjE0Yi73KvQCA1IhUTBemGzcgoj6iVquRkpLSLrkaHR2NgwcPdnhOcnIyoqOj2+ybOXMmtm/fDo1GA7lc3iOx5eTkQKVStWlLoVAgKioKBw8e7DBx29TUhKamJnG7ulr/NItGo4FG0/tTobS00Rdt9Xfsq64xtf46+7ezYtntcTeTiQswvb4yZYOtrxzuaF2o7cStJxBRYvj0dB311fnF56Et109pZh9tD+f7nQdNX3ZmsL2vrsdg7KuuvFYmbqlfEQQBjTmNqMuoQ+k3pSj+tBiCpnX6AsFCgPMsZzjc5AD7G+xhFWIFidn1P6IRnhGOvQp9MuPkn05iWt00SC2ZWOwpzY3NyHqidZSk/zom3Kgtz8c8Ye5pjlO3nQIApEWmIfjTYLj9xa1NvSvntvV+xrsvQxwQzBRmGLp5KM7/XT8/WU5MDvxj+PNIA19paSmam5vh5tb2d4qbmxtUKlWH56hUqg7ra7ValJaWwsPDo0dia2m/o7by8jpeFXzjxo1Yt25du/0JCQmwtOy7UVCJiYl91lZ/x77qGlPpL7sf9F8ia8Zq8PPPPxs5mo6ZSl/1B4OprxR/VkD5uRLNlc34+fOfIdh1bUrAlr6S75bD8mP93xXBTEDe0jzkxXf8t2mwGkzvq+s1mPqqvr7e4LpM3FK/oKnU4GLsRRR9UARNcdtvJiyGW8D5NmfY3GCD5IZkTL1jao+NcmlhZm6G8UfHIzU8FQBwOPAwIgsjOW9PDznsf1gsTzg5oZOaNJg5z3VG2LEwpExIAaCfuqSpoAk+z+rnwa0/W4/a9FoAgP3N9jCTcRr37hiydIiYuM1blwfftb5cnIQGjT/+XRcEodO/9R3V72h/X8e2evVqrFixQtyurq6Gt7c3oqOjYWvb+1OgaDQaJCYmYsaMGT1+TzbQsK+6xpT6q/TrUpyFfsTtpM8mwWLo1adxMgZT6itTNxj7Spgt4ODn+idKvD7wwuhfRxt03pV91XCkASe3ti4sPaV2CiQyfj5uMRjfV901GPuq5WkoQzBxSyav+nA1UiNSxW2JQgLLYZawjbCF2/1usJtmB4lEoh9qHt97cdhOsIX3M964+PpFqFVqnL7nNEb9Z1TvNThIFH5QKD7a7jTXCdYh1kaOiEyZTZgNIvIjcMj3ECAAF567gLqMOgzbOgxHRhwR6435ZYwRo+z/wjPCxQUmTs49ibG/jDVyRES9y9nZGVKptN3o2pKSknYjXVu4u7t3WF8mk8HJqeemVGpZ1EylUrUZxdtZbAqFAgqFot1+uVzepx+I+rq9/ox91TWm0F9Zi1ufFrMdabpzwptCX/UXg62vHOc4ojy+HNX7qiEVpDAzN/yLel2RDidvbE3aTsqeBHMLw6cjHEwG2/vqegymvurK6+QQGjJpgiC0Jm0lQPCnwZhaORXhJ8Ix/P3hsL/Bvk9HvQa+FgiXe1wAAJe/vIwzj5zps7YHIm2NFucePSduh3zHBcno2pTeStzQeAMcZurn5yr+uBj7rPaJxwNeDeBo2+tkNdIKNhP0qw5X7K6A+rLayBER9S5zc3OEhYW1e0QvMTERkydP7vCcyMjIdvUTEhIwYcKEHv3Q4e/vD3d39zZtqdVqJCUlXTU2Iupd2motmmubAQBBcUFGjoaoe4I/DRbLZxef7aTmH9QDx4KOiZtjfhkDiwDTGnFONJDwky2ZtPxXWxcaCz0YCre/uEGqNO7csqN2jYLzPGcAgOpDFc4sOiM+Gklds99hv1gOPx3OqSfIYGbmZhj7y1iM2DmizX5zd3P4POdjpKgGlnF7xonltMlpxguEqI+sWLECH3zwAXbs2IHMzEwsX74c+fn5WLJkCQD99AMPPvigWH/JkiXIy8vDihUrkJmZiR07dmD79u1YuXKlWEetViM9PR3p6elQq9UoKChAeno6srJaR+rV1taKdQD9YmTp6enIz9ffA0kkEixbtgwbNmzAN998g1OnTmHhwoWwtLTEfffd1wc9Q0R/lPVU68/wkCeHGDESou6TO8hhOUI/P23xJ8UGfaZtKmyC3X2tCwQP3ToUjjMdey1GIuJUCWTCBEFAzpocAIDUTtrhCvLGMurLUch8IBMl/yqBaocKtam1GH9oPMwU/C7EUFnLswD9QAV4POYBq2Ar4wZE/ZL7Q+5wiHZA8cfFkNnL4PHXnlkMiACplRSuf3ZFyeclaMhqQFNRExQe7R+9JhooFixYgLKyMqxfvx5FRUUICQlBfHw8fH19AQBFRUViMhXQj4SNj4/H8uXLsXnzZnh6euLtt9/G/PnzxTqFhYUIDQ0Vt2NjYxEbG4uoqCjs2bMHAHDs2DHceOONYp2WuWkfeugh7Ny5EwDw7LPPoqGhAUuXLkVFRQUmTZqEhIQE2NjY9FZ3EFEnVDv106RYjbXiwAPq10bHj8bhAP16I+cfP49hm4ddtW7t8VocG9c60tZnjQ+GLOEXF0S9jYlbMllF/1ckliekmdaCVRKJBCM/HQmlnxL5r+SjNr0Wh4cehs8qH3g86sGFfK6h6kAVLsVdEreHbxtuxGiov1N4KDjKtpeM+GgESj4vAQCkjE/B5CI+lk0D29KlS7F06dIOj7UkUa8UFRWF1NTU9pX/x8/P75ojmKZPn37NOhKJBDExMYiJiem0HhH1vtrjtWI5+OPgTmoSmT4LfwvI3eTQFGtQuKUQ3s94w8Kv/bQHdRl1bZK2QR8EwWuRV1+GSjRoMbtEJuvcY/q5T6W2Ulj4m+acOQEvByAoLghmSjM0XWzC+b+fx7HQY6j4vcLYoZms5sZmpE1tfex6StkUI0ZDRJ0xk5vB/RH9wkhqlRo1qTVGjoiIiMi4zixqXePCegwX1aX+L+xYmFg+7H8Y9Wfr2xzXVGhwNOSouF27vhZuD3a8OCYR9TwmbskkVR2sEssjPx9pxEiuzespL0QWRML/FX9IraWoz6jH8ZuO4+xjZ6Gt0nZ4jrpYjdIfSqEuHnwL/hx0PyiWR/88GnLHwbFqJFF/NfyD1hHxKRNTjBgJERGRcQmCgNoU/Yjbli82ifo7pZcSw3dccb83KQWFHxSi9kQtyhPLkeyVLB4bun0omsc0GyNMokGLiVsyOYIgIG1K64hMpzlORozGMHJHOXzX+GJS9iS43OMCACh6vwiHAg5B9ZGqzSOQF9+4iIPuB3HqtlM46H4Qqo9Uxgq7z2WtzEJzlf4Pvet9rnCaZfr/b4kGO4lEAv9X/PUbzWg3CoOIiGiwKP6kWCwHxgYaMRKinuXxsAfG7B4DiUyC5qpmnHv0HI6NPYYT0Segq9cBAILiguD6gKuRIyUafLqVuN2yZQv8/f2hVCoRFhaGffv2dVo/KSkJYWFhUCqVCAgIwLZt29ocz8jIwPz58+Hn5weJRIK4uLhutSsIAmJiYuDp6QkLCwtMnz4dGRkZbeo0NTXhiSeegLOzM6ysrHDbbbfh0qVLINOgU+tw6s5T4vaw/7v65OimyNzVHKN2jcKob0ZB6aeEtlyLMwvP4MSsE6j4rQKHhx5G9srsNuecWXgGzQ0D/1vLsp/LcOmN1p+1kf8y7ZHURNTKd42vWD4+47gRIyEiIjKelqncIAXkDnxqjAYWx2hHTK2aCr8YP1iOsoTcWQ5lgBJuD7hh4pmJ8HqKc9oSGUOXFyfbtWsXli1bhi1btmDKlCl47733MHv2bJw+fRo+Pu0Xh8nJycGcOXPw6KOP4tNPP8WBAwewdOlSuLi4iKvu1tfXIyAgAHfffTeWL1/e7XZfe+01bNq0CTt37sSwYcPw8ssvY8aMGTh79qy46u6yZcvwww8/4IsvvoCTkxOefvpp/OlPf0JKSgqkUmlXu6PPCToBQrMA6AChuX1ZaBaA5v9t6/5X1l2x/2rljs6/1rau7bEO49AKHdZtd121gOa6ZlTtr4K6SD99gOt9rvBc7GnkHu8elztc4DjTEXkv5SF/Yz4qEipQkdA6763Tn5zgv8Efx8boJ3jPvC8TId+EGCvcXld9rBon55wUt6eUcl5bov7Gc6knCrcUouliE5oKm6DwVBg7JCIioj6jLlVD16gfecjRtjRQSS2l8HvRD34v+hk7FCL6ny4nbjdt2oRFixZh8eLFAIC4uDjs3r0bW7duxcaNG9vV37ZtG3x8fMRRtMHBwTh27BhiY2PFxG14eDjCw8MBAKtWrepWu4IgIC4uDmvXrsW8efMAAB999BHc3Nzw2Wef4bHHHkNVVRW2b9+OTz75BLfccgsA4NNPP4W3tzf++9//YubMme3abWpqQlNTk7hdXV0NANBoNNBoNF3tvi7LvDcTtt/Y4oDZAWDgD8oEAEjtpfD5hw88n/TsUh+31O2L/y8GkQHe67zhcLsDcp7LQc2BGghaAZ5PecL/df1jx1ZjrFB3og6l35ZC3aCGRCbpk9D6sq8qfqnA6dtOi9tjD48FbE3o/5MBTO69ZcLYV4brb33l+7ovCrcUAgBO3nkSY/eP7bO2+1tfGdNg7KvB9FqJyHiylmWJZY48JCKivtKlxK1arUZKSkq75Gp0dDQOHjzY4TnJycmIjo5us2/mzJnYvn07NBoN5PJrP2JiSLs5OTlQqVRt2lIoFIiKisLBgwfx2GOPISUlBRqNpk0dT09PhISE4ODBgx0mbjdu3Ih169a125+QkABLS8trxn69rM5YQSbIupS0FaSCfhIMMwAS/X8Fs/b7IAEg/cMxsw7q/3G/9A/X6ax+SyySa1xfCghKAYK9AE2YBuUW5UiPT+9WnyUmJnbrvF61HMBTACRAlaQKmfGZAADJSglsH7QFAOy5dQ8anmro07B6u6/ku+Ww3Nr6c1K7vhZ7i/YCRb3abK8xyfeWiWJfGa4/9ZXlREvIj8hRe6QW8d/EA3086LY/9ZWxDaa+qq/nvMtE1PtK/lUCALCdbAuJpG8GWxAREXUpcVtaWorm5ma4ubm12e/m5gaVquMFllQqVYf1tVotSktL4eHh0SPttvy3ozp5eXliHXNzczg4OBgc/+rVq7FixQpxu7q6Gt7e3oiOjoatre01Y79eJU0lOL73OCL/HglzG3NIpBLADJBIJW3K4j6zwXsTodFokJiYiBkzZhj0hYCpSFmXgsbsRpj/bo6oH6NgJu/9NQN7u690Gh3O/eUcyr4tE/eFnQuD0k/Z4231hf763jIG9pXh+mNfNd/QjEOOhwAAfh/7YeQ3fTNXdX/sK2MZjH3V8jQUEVFvKf2hVCwHfxxsxEiIiGiw6fJUCQDafcMoCEKn3zp2VL+j/T3Rbldju1YdhUIBhaL9kCK5XN4nH4hc73SFRqGBdZD1oPkAdr366v9NTxn3+zgc8tEnQjLnZmLcr+P6rO3e6KsmVRPSp6ej4ax+9LDzHc4I/jQYUivTn0P6Wvrbe8uY2FeG6099JXeQw3q8NWpTa1HxUwVkUlmffmHYn/rK2AZTXw2W10lExnNm4RmxbBFoYcRIiIhosOnS0D5nZ2dIpdJ2o1NLSkrajXRt4e7u3mF9mUwGJyenHmvX3d0dAK5ZR61Wo6Ki4qp1iPqa0lsJmwn6xfMqf6tE1cEqI0fUfWU/leGQ7yExaRv0dhBCvgkZEElbItIb88sYsXzhuQtGjISIiKj3aco10JZrAQABrwcYORoiIhpsupS4NTc3R1hYWLt50xITEzF58uQOz4mMjGxXPyEhARMmTDB4hIQh7fr7+8Pd3b1NHbVajaSkJLFOWFgY5HJ5mzpFRUU4derUVeMn6gvj9owTy2lT0tBU0HT1yiZIW6vF2UfP4uSfTkJQC5DaSRGaHAqvJ7hwA9FAY+5iDpm9/oGdi7EXjRwNERFR7zq7+KxY9lrGe1siIupbXZ5Mc8WKFfjggw+wY8cOZGZmYvny5cjPz8eSJUsA6OeEffDBB8X6S5YsQV5eHlasWIHMzEzs2LED27dvx8qVK8U6arUa6enpSE9Ph1qtRkFBAdLT05GVlWVwuxKJBMuWLcOGDRvwzTff4NSpU1i4cCEsLS1x3333AQDs7OywaNEiPP300/j111+RlpaG+++/H6NHj8Ytt9zSvR4k6gFSKylG/zha3D7kfwgVv1V0cobpKP2xFIf8DqHoA/2KY45zHBGRGwG7CDsjR0ZEvWXcvnFiueLX/vG7ioiIqKsEnYDSb/Tz29pNs4OZrPfXoiAiIrpSl+e4XbBgAcrKyrB+/XoUFRUhJCQE8fHx8PX1BaAfwZqfny/W9/f3R3x8PJYvX47NmzfD09MTb7/9NubPny/WKSwsRGhoqLgdGxuL2NhYREVFYc+ePQa1CwDPPvssGhoasHTpUlRUVGDSpElISEiAjY2NWOfNN9+ETCbDPffcg4aGBtx8883YuXMnpFI+yk3G5XSrE0Z9PQoZ8zIgaAQcv/k4nOc5w/cfvrAJtbn2BfpYk6oJ5/92HqXf6m9mZQ4yBG4KhMfCay84SET9m3WItVg+fstxTBemGy8YIiKiXpIelS6Wgz/jomRERNT3urU42dKlS7F06dIOj+3cubPdvqioKKSmpl71en5+fuKCZd1tF9CPuo2JiUFMTMxV6yiVSrzzzjt45513rtkeUV9zudMFk1WTkb0yG8X/Kkbp16Uo/boU9jfZw/8lf9hNNv4oVk2FBhffuIhLb1yCrlEHAHCe74wRH46AzKZbv1KIqB8aunUozv/tPAD9qFuHmx2MHBEREVHPyYnJQdV+/doT1qHWUHopjRwRERENRnzWg8jEmLuZI/iTYExImwCXBS6AmX7RsrQpaTgx+wTK4ssg6K79RUdPEgQB1Yercfaxs0j2Tkb+K/nQNepgGWyJsf8di5AvQ5i0JRpkhiwZIpaP33LciJF0rLm+GVXJVahJq0FTQZNBXxATEREJOgEZ92Ygb12euG/8kfFGjIiIiAYzZlqITJT1WGuM+mIU6tfXI+/lPBT/qxjlv5Sj/JdyKAOU8FjsAdd7XGERaNHtNtQqNVT/VqE8sRzqQjWkVlJIbaSwGGoBM3MzNDc0Q1uuRdXBKqgL1OJ5lsGW8FnlA7f73SAxk/TEyyWifmjEJyNw5oEzAIDL31yGy50uRo4IqEmpQf5r+Sj7oQy6Bp24XxmgxJAnhsBjsQdk1rz9ISKi9hovNiL9hnQ05jYCACxHWiLsWBjntiUiIqPhJxciE2c5zBLBHwfDd60vLr11CcWfFKPxQiNy1uQgZ00OLEdZwuFmB9hNs4P1WGsofZUwM297cyk0C2huaEbTpSbUnaxDZXIlrL+zxtGco0AHg9AqEtsvNmRmaQbn253h/og7HG52gETChC3RYOd+v7uYuM2Yl2H0uW5P3nESZd+VidtyFzkkUgnUl9VovNCI7OXZyN+Qj2Fbh8FlvvGTzEREZDoqfq1o8wSJX4wf/F70M15AREREYOKWqN+wHG6JYVuGIeC1AJR8UYKSz0pQubcS9Rn1qM+oR8HbBWJdqZ0UglaAoNH/6yg5K4V+QT7rcdZwe8gNVsFW0DXpoCnXoOFsAwRBgNRCPwLXaowV7KbYQWrBRfyIqK2Ru0bi9ILTAIDS70vhfJuzUeI4eftJlH2vT9o6zHCA/8v+sAm3gUQigbZaC9VHKuS9kgdNsQYZd2XA5S4XjPxiJCRSfglFRDTYXdx0EdlPZ+s3zIBxe8bBfpq9UWMiIiICmLgl6ndk1jJ4LvaE52JPaMo0qPitAhWJFahJqUH9mXro6nVormru8NyWaRCsJ1jjgsUF3LD8Blj7WndYl4jIEK73uIqJ21O3nzLKqNuK3yrEpK3MUYYxu8e0eSpAZiuD1xNecH/IHWcWnkHpN6W4/OVlJMmSMKViCuT28j6PmYiIjE/QCTi39ByK3isCoP8bMiF9ApTeXIiMiIhMAxO3RP2Y3EkO17td4Xq3KwD9ImKaMg20ZVpIZBJIzCWQyCUwk5tBYi6B1FoKiUQCjUaDs/FnofBUGPkVENFAEPJ9CE7ddgoAoPpEBfcH3Pu0/eM3tz7aOuXylKtO5SKzlSHk6xDkvJiDvPX6RWcOOBzApAuTYOHf/fnCiYio/2lSNeHErBOoO14HALCbZoexv46FmZzz2RIRkengXyWiAUQikcDc2RyWwy1hEWgBpbcSCncF5E5yyGxknJeWiHqF89zW6RHOPHimT9su2lkklkf+e6RBCyb6r/NHwKsB4vbhgMPQNek6OYOIiAaS0u9Lcdj/sJi09X/FH6F7Q5m0JSIik8O/TERERHTdQn4IEcuFHxT2SZuCIODsw2fF7ZanDwzh85wPgj8NFrf3Wu3t0diIiMg0nV92HqduPwVdow5SWynG7RsH3zW+xg6LiIioQ0zcEhER0XVz/lPrqNtzj56DIHSwKmIPu/jaRbE8bu+4Lp/v9hc3uN3vpt9oBlImpfRQZEREZGq0VVqkTk1FwVv6BX2VgUpE5ETAfqq9cQMjIiLqBBO3RERE1COuTJ7mrMnp1bYEQcCFVRf0G2bo9urfwZ8EQ+Gln++75kgNsp7O6qEIiYjIVFQfrcahwEOoPlANAHCa64RJ5ydB7sjFKYmIyLQxcUtEREQ9wn6aPcys9LcW+a/m9+q8sUUftM5tO/7w+Ou6VkR+hFi+tOkSatJqrut6RERkGrTVWpxZfAapE1OhLdMCAIa9Pwyjvx/NtR+IiKhfYOKWiIiIekz4qXCxfGLOiV5r59xfz4ll2wm213UtiUSCKRVTxO2U8SlcrIyIyMQJggB1iRqaCg106ra/s3VNOhS+X4jDgYeh2q4CADhEOyAiNwKej3oaI1wiIqJukRk7ACIiIho4LPwsYDPRBjVHalD5WyUa8xqh9FX2aBtVh6rE8shdI3vkmnJ7OUZ+MRKn7z0NADg8/DAicyN75NpERNSzSj4rQf4L+WjKbxL3WQy3gNOtTtBWaFH6XSm05foRtnIXOYZuHtqlBSyJiIhMBUfcEhERUY8a++tYsXzI71CPXz8tMk0su97Tcx/EXRe4wv5mewBAU14TSn8s7bFrU/+wZcsW+Pv7Q6lUIiwsDPv27eu0flJSEsLCwqBUKhEQEIBt27a1OZ6RkYH58+fDz88PEokEcXFx3Wp34cKFkEgkbf5FRER0eC2igU52WIbzC8+3SdoCQMPZBlzadAmqD1XQlmuh8FIg4LUARORGMGlLRET9FhO3RERE1KNk1jL4/sNX3C75d0mPXfvK0bZDNw/tseu2GJvYmnQ+NfcUBEHo8TbINO3atQvLli3D2rVrkZaWhmnTpmH27NnIz8/vsH5OTg7mzJmDadOmIS0tDWvWrMGTTz6Jr776SqxTX1+PgIAAvPrqq3B3d7+udmfNmoWioiLxX3x8fM+9eKJ+ouFcA6w2WonbEXkRuEF9AyaXTMbwD4bD8++e8FnrgzG/jEFEbgR8nvGB1FJqxIiJiIiuDxO3RERE1OP8X/IXy6cXnG43/2B3Hb/xuFgesnRIj1zzShKJBGMSxojbp+441eNtkGnatGkTFi1ahMWLFyM4OBhxcXHw9vbG1q1bO6y/bds2+Pj4IC4uDsHBwVi8eDEeeeQRxMbGinXCw8Px+uuv495774VCobiudhUKBdzd3cV/jo6OPffiifoBdYkaqSGp4vb4Q+Oh9FHCTG4GcxdzeCzywLB3hyHg5QA4znSERMrFx4iIqP/jHLdERETUK8btHYf0G9IBAIeHXf+csfVn66Fr1CeA/WL8rjO6q3Oc4QiFtwJNF5tQ9n0Zak/UwnqMda+1R8anVquRkpKCVatWtdkfHR2NgwcPdnhOcnIyoqOj2+ybOXMmtm/fDo1GA7lc3qPt7tmzB66urrC3t0dUVBReeeUVuLp2/Ph3U1MTmppaHyOvrq4GAGg0Gmg0mmvGdb1a2uiLtvo79pVhhGYBB91afyb83/OHxXgL9lsn+N4yHPvKcOwrw7GvDDcY+6orr5WJWyIiIuoV9tPs4XCLAyr+W4GmvCYUf14Mtz+7dft6x8NbR9v6vuDbSc3rN/HMROyz0s8zemzsMUwXpvdqe2RcpaWlaG5uhptb2/enm5sbVCpVh+eoVKoO62u1WpSWlsLDw6PH2p09ezbuvvtu+Pr6IicnB88//zxuuukmpKSkdDiSd+PGjVi3bl27/QkJCbC0tLxmXD0lMTGxz9rq79hXnbNZZAOz/z0s2nhPI9Ld0pEen27coPoJvrcMx74yHPvKcOwrww2mvqqvrze4LhO3RERE1GvGJIxBklkSACDzvkzYR9lD4dnxI+OdkZ6TiqNtfdb6QCLp3UdgpZZSBL0ThKwnsgAA2auyEfhqYK+2Scb3x/eVIAidvtc6qt/R/uttd8GCBWI5JCQEEyZMgK+vL3766SfMmzev3fVWr16NFStWiNvV1dXw9vZGdHQ0bG1tuxRbd2g0GiQmJmLGjBkGjTwezNhX15Y5PxPlZeUAALsZdqi6r4r9ZQC+twzHvjIc+8pw7CvDDca+ankayhBM3BIREVGvkUgkGH9kPFIn6uclTB6SjChdVJcTW9bPtk5VcOX8ub3J63EvZD2VBeiAi/+8CO+V3jB3Nu+TtqlvOTs7QyqVthtdW1JS0m40bAt3d/cO68tkMjg5OfVauwDg4eEBX19fnD9/vsPjCoWiw5G4crm8Tz8Q9XV7/Rn7qmOX3r2E8h/0SVu5ixwhP4UgPz6f/dUF7CvDsa8Mx74yHPvKcIOpr7ryOrk4GREREfUq23Bb+L/cmmw9EnykS+cX7ywWy8PeH9bro22vFHmpdV7egy4dz3VK/Z+5uTnCwsLaPaKXmJiIyZMnd3hOZGRku/oJCQmYMGGCwTfj3WkXAMrKynDx4kWDpmMg6q9qUmrEpx4AICI/wojREBERGQcTt0RERNTrfNf6wjpUP2q24WwDMhdmGnSeIAjI+mvrB3fPRz17Jb6rUXgo4P2Mt7h9YfWFPm2f+s6KFSvwwQcfYMeOHcjMzMTy5cuRn5+PJUuWANBPP/Dggw+K9ZcsWYK8vDysWLECmZmZ2LFjB7Zv346VK1eKddRqNdLT05Geng61Wo2CggKkp6cjKyvL4HZra2uxcuVKJCcnIzc3F3v27MHcuXPh7OyMO++8s496h6hvaSo1SJmQIm5H5EVAqpQaMSIiIiLj4FQJRERE1CfCUsLE+W6LPyqGRYAF/F7w6/Sc1MhUsRzy35DeDO+qAl8LxMXXLwIA8l/Nh/sj7rAc2ncLPFHfWLBgAcrKyrB+/XoUFRUhJCQE8fHx8PXVL4RXVFSE/Px8sb6/vz/i4+OxfPlybN68GZ6ennj77bcxf/58sU5hYSFCQ0PF7djYWMTGxiIqKgp79uwxqF2pVIqTJ0/i448/RmVlJTw8PHDjjTdi165dsLGx6YOeIepbgiDggMMBcXvUV6Og9FEaMSIiIiLjYeKWiIiI+oREIsG0+mnYZ7kPAJD7Yi6Ufkq4P+jeYf2Sf5eg5nANAKDZrxl2N9j1Wax/NFk1GQfd9VMlHBl2BNOF6UaLhXrP0qVLsXTp0g6P7dy5s92+qKgopKamtq/8P35+fuKCZd1t18LCArt3777mNYgGimNjj4llr+VecJnnYsRoiIiIjItTJRAREVGfkVpIMaV0irh95qEzKNlV0q6etlqL0wtOi9u1m2r7JL6rMXczh/+G1nl6L711yYjREBENTLkv56LuZB0AwDrUGkGbgowcERERkXExcUtERER9Su4kR3hmuLh9+t7TUH2qErc15Rrst9svbo9JHmMSdyy+q33FctayLDReajRiNEREA0t5Yjlyn88Vt8NSwowXDBERkYno1segLVu2wN/fH0qlEmFhYdi3b1+n9ZOSkhAWFgalUomAgABs27atXZ2vvvoKI0eOhEKhwMiRI/HNN9+0OV5TU4Nly5bB19cXFhYWmDx5Mo4ePdqmTnFxMRYuXAhPT09YWlpi1qxZOH/+fJs62dnZuPPOO+Hi4gJbW1vcc889KC4uBhEREfUdqxFWCM9oTd6eeeAMTs0/hYx7MnA46LC43+8lP9iEmc48nhEXW1c1P+R9yIiREBENHE0FTTgRfULcjiyKhEQiMWJEREREpqHLidtdu3Zh2bJlWLt2LdLS0jBt2jTMnj27zWINV8rJycGcOXMwbdo0pKWlYc2aNXjyySfx1VdfiXWSk5OxYMECPPDAAzh+/DgeeOAB3HPPPTh8uPWD2+LFi5GYmIhPPvkEJ0+eRHR0NG655RYUFBQA0E9if8cdd+DChQv47rvvkJaWBl9fX9xyyy2oq9M/blNXV4fo6GhIJBL89ttvOHDgANRqNebOnQudTtfVriAiIqLrYDXSClMrp0LhqwAAlH5disv/uQxthRYyexmCPw+G3z/8jBvkHyi9lPB9oXXkbdr0NGirtUaMiIiofxN0ApK9ksXtcUnjoHBXGDEiIiIi09Hlxck2bdqERYsWYfHixQCAuLg47N69G1u3bsXGjRvb1d+2bRt8fHwQFxcHAAgODsaxY8cQGxsrrrobFxeHGTNmYPXq1QCA1atXIykpCXFxcfj888/R0NCAr776Ct999x1uuOEGAEBMTAy+/fZbbN26FS+//DLOnz+PQ4cO4dSpUxg1ahQA/chgV1dXfP7551i8eDEOHDiA3NxcpKWlwdbWFgDw4YcfwtHREb/99htuueWWrnYHERERXQeZnQwRORGo+G8FalJqILWUQhmghOMMR5gpTGB+hA74r/NH+S/lqDlSg6qkKnFaB6/lXpyPkYioi65cjMx/gz/sb7A3XjBEREQmpkuJW7VajZSUFKxatarN/ujoaBw8eLDDc5KTkxEdHd1m38yZM7F9+3ZoNBrI5XIkJydj+fLl7eq0JHu1Wi2am5uhVCrb1LGwsMD+/foPS01NTQDQpo5UKoW5uTn279+PxYsXo6mpCRKJBApF6ze4SqUSZmZm2L9/f4eJ26amJvHaAFBdXQ0A0Gg00Gg0Hb7mntTSRl+01d+xrwzHvuoa9pfh2FeGY1+1ZTPdBjbTW6dEaEYzmjXNAEyzr8bsH4OiLUXIeTYHgloAAFx68xIEqQC/DX5Gi8sU+6q3DabXSjTQXHr3EupO/W8xsnHWbeYSJyIioi4mbktLS9Hc3Aw3N7c2+93c3KBSqTo8R6VSdVhfq9WitLQUHh4eV63Tck0bGxtERkbipZdeQnBwMNzc3PD555/j8OHDGDp0KABgxIgR8PX1xerVq/Hee+/BysoKmzZtgkqlQlFREQAgIiICVlZWeO6557BhwwYIgoDnnnsOOp1OrPNHGzduxLp169rtT0hIgKWlpQG91jMSExP7rK3+jn1lOPZV17C/DMe+Mhz7ynAm11d+AD4HpKelsH7eGgBQEFuAM+5noAsy7hRMJtdXvai+vt7YIRBRNzRcaEDWE1nidlgqFyMjIqL/Z+/Ow6K6zj+Afy8zw8ywy74joiLuCoqgRpMqRrOYaCKpqYmJ2liziDRtYxIbzWYWa6lN1KQ1MUurNrVmaUgEf43EBTfAFdwRFEEE2bfZ7u+PiVcJiIMycwf4fp7Hx3PvnLnnnddRD++cOZd+rt1bJQBosVG8KIptbh7fWv+fn7/ZNT/77DM8+eSTCAoKgkKhwPDhwzFz5kxkZ2cDAFQqFTZv3ow5c+bA09MTCoUCEyZMwOTJk6Vr+Pj44IsvvsBvfvMbrFq1Cg4ODvjlL3+J4cOHQ6FQtBr74sWLkZycLB1XV1cjJCQECQkJ0nYL1qTX65Geno6JEydCpVJZfbzOjLmyHHPVPsyX5ZgryzFXlrP7XN0H1N9bj5xhOQAA1+ddEd8QD0Fh+xvr2H2urODqt6GIqPMQTSL2Rly7n0nsmVjejIyIiKgV7Srcent7Q6FQtFhdW1pa2mLF7FX+/v6t9lcqlfDy8mqzz/XXjIiIQEZGBurq6lBdXY2AgAAkJiYiPDxc6hMdHY2DBw+iqqoKOp0OPj4+iI2NRUxMjNQnISEBZ86cQVlZGZRKJTw8PODv79/sOtdTq9XNtla4SqVS2fQHIluP15kxV5ZjrtqH+bIcc2U55spy9pwr96Hu6P3X3tLqsUzXTIzTj5MtHnvOVUfrLq+TqCs5lHBIavde1RvaXloZoyEiIrJf7brrh6OjI6Kjo1t8/S49PR3x8fGtPicuLq5F/7S0NMTExEgT7Rv1ae2azs7OCAgIQEVFBbZu3YqpU6e26OPu7g4fHx+cOnUKBw4caLWPt7c3PDw88L///Q+lpaW4//77237xRERERG0IfiYYSi/zZ+KiQcSlf1ySOSIiIvtz+cvLqPy/SgCAJkKD4GeD5Q2IiIjIjrV7q4Tk5GTMmjULMTExiIuLw4cffojCwkLMnz8fgHlrgaKiInz66acAgPnz5+O9995DcnIy5s2bh8zMTKxbtw4bNmyQrrlw4ULccccdePvttzF16lR89dVX2LZtm3TjMQDYunUrRFFEZGQkTp8+jd/97neIjIzEE088IfX54osv4OPjg9DQUBw5cgQLFy7EAw880OzmaB9//DGioqLg4+ODzMxMLFy4EIsWLUJkZGT7s0dERER0nfiL8fhR/SMAIO9XefC63wtK11vamYqIqMvRlelw7MFj0vHIvJEyRkNERGT/2v2TRGJiIsrLy/Hqq6+iuLgYAwcORGpqKsLCzHcALS4uRmFhodQ/PDwcqampWLRoEd5//30EBgZi1apVmD59utQnPj4eGzduxMsvv4wlS5YgIiICmzZtQmxsrNSnqqoKixcvxoULF+Dp6Ynp06fjjTfeaPb1uOLiYiQnJ+PSpUsICAjAY489hiVLljSL/8SJE1i8eDGuXLmCnj174qWXXsKiRYvamwYiIiKiFhwcHTB462AcnnQYALDTbSfGi+PlDYqIyA6IoojdPrul4+F7h8NB1a4vgBIREXU7t7QEZMGCBViwYEGrj61fv77FuXHjxkk3EbuRhx56CA899NANH58xYwZmzJjR5jWee+45PPfcc232eeutt/DWW2+12YeIiIjoVnkmeKLHpB6o2FoBAMhfko/w11rfS5+IqLvInZErtYOeDYLbSOvf6JmIiKiz40ecRERERB1syPdDpHbB6wXQlepkjIaISF6VP1bi8r8vAwAUrgr0WdVH5oiIiIg6BxZuiYiIiKxg5PFrezfuH7xfxkiIiORj0plwcNxB6Xj05dHyBUNERNTJsHBLREREZAVOkU4InB8IANBf0qMur07miIiIbG+X7y6pPfCbgXBQ80dQIiIiS/F/TSIiIiIr6bP62teBj049KmMkRES2d/r50zBWGQEAnlM84X2vt8wRERERdS4s3BIRERFZiSAICHomCADQcKoBusvc65aIuoe6vDpc+NMF6XjQfwfJGA0REVHnxMItERERkRX1ereX1D404ZCMkRAR2YYoitjf/9re3qOvjIYgCDJGRERE1DmxcEtERERkRQqNAl73ewEA6g7XQXeJq26JqGvLismS2n3W9IGqh0rGaIiIiDovFm6JiIiIrKz/pv5S+1ACV90SUdd19sWzqM2uBQBo+2gRND9I5oiIiIg6LxZuiYiIiKxMoVHA+0HzTXnqDtfBUGOQOSIioo538e8XUbi8UDoeeXykjNEQERF1fizcEhEREdlA/w3XrbrlXrdE1MVUZVbh5LyT0vGYqjEQHLivLRER0e1g4ZaIiIjIBhzUDvC6z7zXbc2+GhjrjTJHRETUMQxVBuTE50jHsWdioXRTyhgRERFR18DCLREREZGN9N94bdXt4bsPyxgJEVHH2RO+R2oP/HogtL20MkZDRETUdbBwS0RERGQjCicFPO7yAABU7ahC44VGeQMiIrpNl7dchqHCvG93wK8D4H2ft8wRERERdR0s3BIRERHZ0KBvB0nt7FHZMkZCRHT7jk07JrUjP4iUMRIiIqKuh4VbIiIiIhtSaBQIeiYIAKAr0qH2aK3MEdFVq1evRnh4ODQaDaKjo7Fjx442+2dkZCA6OhoajQa9evXC2rVrmz1+7NgxTJ8+HT179oQgCEhJSbmlcUVRxNKlSxEYGAitVovx48fj2LFjrV6LyJbKvi6T2oNSB7XRk4iIiG4FC7dERERENtZ7VW+pfWDIARkjoas2bdqEpKQkvPTSS8jJycHYsWMxefJkFBYWtto/Pz8fU6ZMwdixY5GTk4MXX3wRzz33HDZv3iz1qa+vR69evfDWW2/B39//lsd95513sHLlSrz33nvYv38//P39MXHiRNTU1HRsEojaKTcxV2p7TfaSMRIiIqKuiYVbIiIiIhsTBAG9//JT8dYEFK0pkjcgwsqVKzFnzhzMnTsXUVFRSElJQUhICNasWdNq/7Vr1yI0NBQpKSmIiorC3Llz8eSTT2LFihVSnxEjRuDdd9/FI488ArVafUvjiqKIlJQUvPTSS5g2bRoGDhyITz75BPX19fjnP//Z8YnoAI3nGiFcFmBqMkE0iXKHQ1air9DD1GgC0PzDKCIiIuo4SrkDICIiIuqOgp8LxumFpwEApxacgt+v/KB05dRMDjqdDllZWXjhhReanU9ISMDu3btbfU5mZiYSEhKanZs0aRLWrVsHvV4PlUrVIePm5+ejpKSk2VhqtRrjxo3D7t278dRTT7W4blNTE5qamqTj6upqAIBer4der79pXLcr/8V8uP3bDZnzMgEAglKAoBbg4OgAwVGAoDL/clA5mNuOPz2mEsx9f3pcUApwUF97jtTn+v5Xj1U/9buufbUPFGjW30F93XXUDnDQXHetqzEoBQiCYPVcXf3zsMWfS0c79+Y5qe37lK9NXkNnzpetMVeWY64sx1xZjrmyXHfMVXteK386ICIiIpJJbH4s9obvBQBkDc9C7KlYmSPqnsrKymA0GuHn59fsvJ+fH0pKSlp9TklJSav9DQYDysrKEBAQ0CHjXv29tT4FBQWtXnf58uVYtmxZi/NpaWlwcnK6aVy3y6nICUqlEoLBXPgUDSJEgwhTncnqY3cUURABFQAFICpF809NyuvaCkBUiYAjYAowoem+JpjCbv31paend1ToNuO20g0CBBhDjfjuu+9sOnZnzJdcmCvLMVeWY64sx1xZrjvlqr6+3uK+LNwSERERyUTbUwuv+71Q/nU5Gk434MJfLyD42WC5w+q2fr7CUhTFNlddtta/tfMdMW57Ylu8eDGSk5Ol4+rqaoSEhCAhIQFubm7tiu1W6Cfqkf59Ou4cdSeUUMKkM0HUieatE3QiRKNoPtb/dKwTzX305gLv1d9NOhPEpp+O9df6XL3e9eeaHRvE5tc1XLvGz59jajBJX/e/niAKgO6nNm7y53kMcNzmCP+n/BHx14j25UqvR3p6OiZOnGjRKm17YawzYo9pDwAg6s0o+Ezxscm4nTVfcmCuLMdcWY65shxzZbnumKur34ayBAu3RERERDIauGUgMhQZAIDTz52GyxAXeNzhIW9Q3Yy3tzcUCkWL1bWlpaUtVrpe5e/v32p/pVIJLy/LbtJkybhXb2pWUlLSbBVvW7Gp1epW99RVqVS2+4FIAWh9tJ3mBzDR+FMh+Wpxt6l5kbjVYrFehKHSgII3ClCfV4+SD0rgHOmMkEUh7R7fpn82HeDSp5ekdsAvAyA4WH9biet1tnzJibmyHHNlOebKcsyV5bpTrtrzOnlzMiIiIiIZCQ4C4kvipeOD4w5CX9599viyB46OjoiOjm7xFb309HTEx8e3+py4uLgW/dPS0hATE2PxZNySccPDw+Hv79+sj06nQ0ZGxg1jo/YTFAIUGgWUrkqoPFVQB6ihCdXAqbcTnPs7w3WoK9xGusF9tDt63NkDngme8LrHC36P+mHEkRHSdc4kn4GpqfNsCXGrCt8qBACofFU2L9oSERF1JyzcEhEREcnM0c8RQzOGSse7vHdBNInyBdQNJScn4+9//zs++ugj5OXlYdGiRSgsLMT8+fMBmLcfeOyxx6T+8+fPR0FBAZKTk5GXl4ePPvoI69atw/PPPy/10el0OHjwIA4ePAidToeioiIcPHgQp0+ftnhcQRCQlJSEN998E1u2bMHRo0cxe/ZsODk5YebMmTbKDrVFUAiIPXttf+qzi8/KGI31iaIIXbF5H4nQ34fKHA0REVHXxq0SiIiIiOyAxx0e6LmsJ869cg4AkBmaifgLXFFpK4mJiSgvL8err76K4uJiDBw4EKmpqQgLCwMAFBcXo7CwUOofHh6O1NRULFq0CO+//z4CAwOxatUqTJ8+Xepz8eJFDBs2TDpesWIFVqxYgXHjxmH79u0WjQsAv//979HQ0IAFCxagoqICsbGxSEtLg6urq5WzQpbShmuhDlGj6XwTLvz5Anqv7C13SLet7OsyXPn+ClyjXeH/pL+0p/KV769IfQKeuvlN+IiIiOjWsXBLREREZCd6/rEn6o7W4fIXl6Er0uHkMyfR972+cofVbSxYsAALFixo9bH169e3ODdu3DhkZ2ff8Ho9e/aUblh2q+MC5lW3S5cuxdKlS296LZJP5LpIHE44DADQl+uh8uq8+/TljMtB1Y9V0vH5lecx8thIAMC5Zeek80oX/jhJRERkTdwqgYiIiMiODPjXAChcFQCAi+9fREN+g8wREZElPCd6Su2ST0ra6Gm/jI1G7A7eLRVtFe7mf4vqc+uR+6tciKKImr01ALjaloiIyBZuqXC7evVqhIeHQ6PRIDo6Gjt27Gizf0ZGBqKjo6HRaNCrVy+sXbu2RZ/Nmzejf//+UKvV6N+/P7Zs2dLs8ZqaGiQlJSEsLAxarRbx8fHYv39/sz6XLl3C7NmzERgYCCcnJ9x99904depUsz4lJSWYNWsW/P394ezsjOHDh+Pf//73raSBiIiIyCquv1nZvr77ZIyEiNpDHaIGAFz4ywWZI2m/6r3V2BuxF7oi8/61nvd4YmzlWCjczMXb0n+UYqf7Tql/z6U95QiTiIioW2l34XbTpk1ISkrCSy+9hJycHIwdOxaTJ09utufX9fLz8zFlyhSMHTsWOTk5ePHFF/Hcc89h8+bNUp/MzEwkJiZi1qxZOHToEGbNmoUZM2Zg7969Up+5c+ciPT0dn332GY4cOYKEhARMmDABRUVFAMyb5D/wwAM4e/YsvvrqK+Tk5CAsLAwTJkxAXV2ddJ1Zs2bhxIkT+Prrr3HkyBFMmzYNiYmJyMnJaW8qiIiIiKxC4aRAr3d7AQBEg4iyb8pkjoiILBH0dBAAoKmwCaKxc9xgUBRFFL5TiOxR2dBdNBdtw18Px+D/DgYAxF+69kGSscYIAFB6KKH2V9s+WCIiom6m3YXblStXYs6cOZg7dy6ioqKQkpKCkJAQrFmzptX+a9euRWhoKFJSUhAVFYW5c+fiySefxIoVK6Q+KSkpmDhxIhYvXox+/fph8eLF+MUvfoGUlBQAQENDAzZv3ox33nkHd9xxB3r37o2lS5ciPDxcGvfUqVPYs2cP1qxZgxEjRiAyMhKrV69GbW0tNmzYII2VmZmJZ599FiNHjkSvXr3w8ssvw8PDo839yYiIiIhsLfT5a3drP3r/URkjaR/dJR2q91d3mqIVUUcKTgqW2mVf2vcHLqIoompXFXLG5uDsH84CAJyHOGNUwSiEvXTt5ngKjQIjT45s9tyYQzE2jZWIiKi7atdu8jqdDllZWXjhhReanU9ISMDu3btbfU5mZiYSEhKanZs0aRLWrVsHvV4PlUqFzMxMLFq0qEWfq4Vbg8EAo9EIjUbTrI9Wq8XOneav6zQ1NQFAsz4KhQKOjo7YuXMn5s6dCwAYM2YMNm3ahHvuuQceHh7417/+haamJowfP77V+JuamqRrA0B1dTUAQK/XQ6/Xt/qcjnR1DFuM1dkxV5ZjrtqH+bIcc2U55spy3TlXkRsiceKXJwAAV3ZegWusa5v95c5V8YfFOPuMuQA0qmIUFM4Kq4/ZHd8XZL8c1A5QeiphuGJA3qw8+Ez3kTukVl3echn5L+WjPq8eACAoBfg95ofIDyMhKIQW/Z36OGGcYRxqcmrgMsQFDireKoWIiMgW2lW4LSsrg9FohJ+fX7Pzfn5+KClpfQP+kpKSVvsbDAaUlZUhICDghn2uXtPV1RVxcXF47bXXEBUVBT8/P2zYsAF79+5Fnz59AAD9+vVDWFgYFi9ejA8++ADOzs5YuXIlSkpKUFxcLF1306ZNSExMhJeXF5RKJZycnLBlyxZERES0Gv/y5cuxbNmyFufT0tLg5OR0k4x1nPT0dJuN1dkxV5ZjrtqH+bIcc2U55spy3TJXWsAd7gCAw2MPo+rLqps8wczmuaoDnP7sBNUBlXRqa9pWwAbfpK6vr7f+IETt0POPPXE66TRMDSYY64w2+QCjPc69dg7n/ngOACA4CvBN9EXoC6Fw7u/c5vMEhQC3GDcbREhERERXtatwe5UgNP8UVhTFFudu1v/n5292zc8++wxPPvkkgoKCoFAoMHz4cMycOVPa4kClUmHz5s2YM2cOPD09oVAoMGHCBEyePLnZdV9++WVUVFRg27Zt8Pb2xpdffomHH34YO3bswKBBg1rEvnjxYiQnJ0vH1dXVCAkJQUJCAtzcrD9x0ev1SE9Px8SJE6FSqW7+hG6MubIcc9U+zJflmCvLMVeW6+65Kk4pxtkk8yrWETUj4JN44xV8cuSq/JtynFpwCsYq896XvrN90Xt1bwjKG88NO9LVb0MR2YugZ4NwOuk0ACAzNBOjy0a3+bOSrZh0JhwYekBaZauN1GLYj8Pg6Osoc2RERER0I+0q3Hp7e0OhULRYXVtaWtpixexV/v7+rfZXKpXw8vJqs8/114yIiEBGRgbq6upQXV2NgIAAJCYmIjw8XOoTHR2NgwcPoqqqCjqdDj4+PoiNjUVMjHkPpjNnzuC9997D0aNHMWDAAADAkCFDsGPHDrz//vtYu3Zti/jVajXU6pbLRVQqlU1/eLT1eJ0Zc2U55qp9mC/LMVeWY64s111zFbowVCrcnpx1EoG/Crzpc2yRq8aCRpxbdg4lH5vncApXBaL+EQXv+7ytOu7Pdcf3BNk3wUFAwLwAFP+tGIYrBhyacAiBTwXCqb8TnCKdZNlmwKQz4Uf1j9Kx/xx/87YIDvIXlImIiOjG2jVrcHR0RHR0dIuv36WnpyM+Pr7V58TFxbXon5aWhpiYGGmifaM+rV3T2dkZAQEBqKiowNatWzF16tQWfdzd3eHj44NTp07hwIEDUp+rX6VzcGj+shUKBUwmU1svnYiIiEg2w3YOk9rHnzxu0XMMVQZc2ngJBW8VoCqzCg35DR0SS8PZBuQ9noc9EXukoq33A94YlT/K5kVbInsV+WEkfGb4AAJQ+b9K5Cbm4sCgA8gMzMTZl89CV6azWSyiSWxWtA1eFIx+f+/Hoi0REVEn0O6tEpKTkzFr1izExMQgLi4OH374IQoLCzF//nwA5q0FioqK8OmnnwIA5s+fj/feew/JycmYN28eMjMzsW7dOmzYsEG65sKFC3HHHXfg7bffxtSpU/HVV19h27Zt0o3HAGDr1q0QRRGRkZE4ffo0fve73yEyMhJPPPGE1OeLL76Aj48PQkNDceTIESxcuBAPPPCAdHO0fv36oXfv3njqqaewYsUKeHl54csvv0R6ejr++9//3loGiYiIiKzMfbQ7tH20aDjVgJKPSxAwLwDuce437F/6aSlOzT11w8d7/6U3XEe6wnW4Kxwc2/4cXxRFNJxqwJW0KyjdWIrqXde2JnCLd0PPZT3hOcGz/S+KqIsbsGkAal+uRfG6YlTtrELDqQboy/QofKMQ51ech/f93vC4xwPQ3PRSt2Vf1D6p7ftLX/Re2du6AxIREVGHaXfhNjExEeXl5Xj11VdRXFyMgQMHIjU1FWFhYQCA4uJiFBYWSv3Dw8ORmpqKRYsW4f3330dgYCBWrVqF6dOnS33i4+OxceNGvPzyy1iyZAkiIiKwadMmxMbGSn2qqqqwePFiXLhwAZ6enpg+fTreeOONZl+PKy4uRnJyMi5duoSAgAA89thjWLJkifS4SqVCamoqXnjhBdx3332ora1F79698cknn2DKlCntTQURERGRzcQcjsEO7Q4AQE58DsbUjIHSpeVUTpWmwqnVNy7aAsDphaeltvMQZzhFOkEdpIaD1gGmJhPEJhGmJhMazjag7lAd9GX6a08WgB6/6IHg5GB43u1pF3t3Etkrl0Eu6JNivpmyyWDC5X9dRuHyQtQdrcPlLy7j8heX4aZxw4n/nID3fd7wnOgJR7+O23O2YHkBGk6aV9u7xbuh/z/7d9i1iYiIyPpu6eZkCxYswIIFC1p9bP369S3OjRs3TrqJ2I089NBDeOihh274+IwZMzBjxow2r/Hcc8/hueeea7NPnz59sHnz5jb7EBEREdkbhUaBwVsH4/CkwwCAveF7Mfry6GZ9ag7UwGm1EwDA/Q53DN46GAqNAqIoQndJh6L3ilC9uxrGWiPqjtTB1GhC3aE61B2qa3NsQS3AbZQbvO71gu8MX2hCrbxEkKgLclA6wG+mH3x/6YvqvdUo/6YcpZtK0XimEWX/KkPZv8oAAXAZ5oIeE3vAZZALtH21cB7gDIWTot3j1eXWIf/FfOn4+i1XiIiIqHO4pcItEREREdmeZ4In/H7lh0ufX4K+TI8zvz+DiHciAAA1WTU4HH9Y6jv4e3PRFgAEQYDaX41er/eSHhdNIhrONqA+rx4NpxqgK9HB1GiCg9oBDhoHCGoB6gA1nAc7w3mQs3QtIro9giDAfZQ73Ee5I/iVYKT9OQ2R5ZGoTKtE3aE61GbXoja79toTFOaVu64jXOEyxAUu0S5wGerS5t9JURSxf8B+6XhUwSiujiciIuqEWLglIiIi6kSiPovCpc8vAQDOv3serjGuMDWacPI3J6U+w3KGQaFtu9AqOAhw6u0Ep95OVo2XiG5MEAQY+xnRc0pPqN5RoamkCVe+u4LqPdWoP16P+uP10JfqUXuwFrUHf1bMHewC5wHOcBlmLuS6DHGBg9YBuhIdjj10TOoa+XEkV8kTERF1UizcEhEREXUyY2rGYKer+SauuYm50nmVvwrly8rhNIDFWKLOSO2vRsATAQh4IgCAeeVs04Um1OyvQc3+GtQerkX13moYyg2ozalFbU6t9EFOa3pM6oGA2QG2Cp+IiIg6GAu3RERERJ2M0kWJ0eWjkTM2B/W59XDQOiBgTgBCXg/B1u1b5Q6PiDqIIAjQhGigCdHAZ5oPgJ+KuYVNqMmuQd3ROvNq3JxaNOY3/vQkwG2UG/xn+yPw14EyRk9ERES3i4VbIiIiok5I5anCyGMj0VTSBKWHEgqNAnq9Xu6wiMjKBEGAJkwDTZgGPg/6SOeNdUaIJhEOWgc4KB1kjJCIiIg6Cgu3RERERJ2Y2l8tdwhEZAcUzryBIBERUVfDj2KJiIiIiIiIiIiI7AwLt0RERERERERERER2hoVbIiIiIiIiIiIiIjvDwi0RERERERERERGRnWHhloiIiIiIiIiIiMjOKOUOoLMRRREAUF1dbZPx9Ho96uvrUV1dDZVKZZMxOyvmynLMVfswX5ZjrizHXFmOubJcd8zV1TnZ1TkatcT5q/1irtqH+bIcc2U55spyzJXlmCvLdcdctWf+ysJtO9XU1AAAQkJCZI6EiIiIiK6qqamBu7u73GHYJc5fiYiIiOyPJfNXQeTyhHYxmUy4ePEiXF1dIQiC1cerrq5GSEgIzp8/Dzc3N6uP15kxV5ZjrtqH+bIcc2U55spyzJXlumOuRFFETU0NAgMD4eDAXcBaw/mr/WKu2of5shxzZTnmynLMleWYK8t1x1y1Z/7KFbft5ODggODgYJuP6+bm1m3ewLeLubIcc9U+zJflmCvLMVeWY64s191yxZW2beP81f4xV+3DfFmOubIcc2U55spyzJXluluuLJ2/clkCERERERERERERkZ1h4ZaIiIiIiIiIiIjIzrBwa+fUajVeeeUVqNVquUOxe8yV5Zir9mG+LMdcWY65shxzZTnmiuwB34eWY67ah/myHHNlOebKcsyV5ZgryzFXbePNyYiIiIiIiIiIiIjsDFfcEhEREREREREREdkZFm6JiIiIiIiIiIiI7AwLt0RERERERERERER2hoVbIiIiIiIiIiIiIjvDwq2dW716NcLDw6HRaBAdHY0dO3bIHZJVLV++HCNGjICrqyt8fX3xwAMP4MSJE836zJ49G4IgNPs1atSoZn2amprw7LPPwtvbG87Ozrj//vtx4cKFZn0qKiowa9YsuLu7w93dHbNmzUJlZaW1X2KHWbp0aYs8+Pv7S4+LooilS5ciMDAQWq0W48ePx7Fjx5pdozvkCQB69uzZIleCIODpp58G0L3fUz/++CPuu+8+BAYGQhAEfPnll80et+X7qLCwEPfddx+cnZ3h7e2N5557Djqdzhov+5a0lSu9Xo8//OEPGDRoEJydnREYGIjHHnsMFy9ebHaN8ePHt3ivPfLII836dPVcAbb9O9fZc9Xav12CIODdd9+V+nSX9xV1Hpy/cv56I5y/Wo7z1xvj/NVynL9ajvNXy3H+alss3NqxTZs2ISkpCS+99BJycnIwduxYTJ48GYWFhXKHZjUZGRl4+umnsWfPHqSnp8NgMCAhIQF1dXXN+t19990oLi6WfqWmpjZ7PCkpCVu2bMHGjRuxc+dO1NbW4t5774XRaJT6zJw5EwcPHsT333+P77//HgcPHsSsWbNs8jo7yoABA5rl4ciRI9Jj77zzDlauXIn33nsP+/fvh7+/PyZOnIiamhqpT3fJ0/79+5vlKT09HQDw8MMPS32663uqrq4OQ4YMwXvvvdfq47Z6HxmNRtxzzz2oq6vDzp07sXHjRmzevBm//e1vrffi26mtXNXX1yM7OxtLlixBdnY2/vOf/+DkyZO4//77W/SdN29es/faBx980Ozxrp6rq2zxd64r5Or6HBUXF+Ojjz6CIAiYPn16s37d4X1FnQPnr5y/3gznr5bh/PXGOH+1HOevluP81XKcv9qYSHZr5MiR4vz585ud69evn/jCCy/IFJHtlZaWigDEjIwM6dzjjz8uTp069YbPqaysFFUqlbhx40bpXFFRkejg4CB+//33oiiKYm5urghA3LNnj9QnMzNTBCAeP36841+IFbzyyivikCFDWn3MZDKJ/v7+4ltvvSWda2xsFN3d3cW1a9eKoth98tSahQsXihEREaLJZBJFke+pqwCIW7ZskY5t+T5KTU0VHRwcxKKiIqnPhg0bRLVaLVZVVVnl9d6On+eqNfv27RMBiAUFBdK5cePGiQsXLrzhc7pLrmz1d64r5Ornpk6dKt51113NznXH9xXZL85fOX9tC+evt47z19Zx/mo5zl8tx/mr5Th/tT6uuLVTOp0OWVlZSEhIaHY+ISEBu3fvlikq26uqqgIAeHp6Nju/fft2+Pr6om/fvpg3bx5KS0ulx7KysqDX65vlLjAwEAMHDpRyl5mZCXd3d8TGxkp9Ro0aBXd3906V31OnTiEwMBDh4eF45JFHcPbsWQBAfn4+SkpKmuVArVZj3Lhx0uvrTnm6nk6nw+eff44nn3wSgiBI5/measmW76PMzEwMHDgQgYGBUp9JkyahqakJWVlZVn2d1lJVVQVBEODh4dHs/D/+8Q94e3tjwIABeP7555ut/uhOubLF37mukqurLl26hG+//RZz5sxp8RjfV2QPOH814/y1bZy/th/nr5bj/PX2cP7aNs5f24/z19unlDsAal1ZWRmMRiP8/Pyanffz80NJSYlMUdmWKIpITk7GmDFjMHDgQOn85MmT8fDDDyMsLAz5+flYsmQJ7rrrLmRlZUGtVqOkpASOjo7o0aNHs+tdn7uSkhL4+vq2GNPX17fT5Dc2Nhaffvop+vbti0uXLuH1119HfHw8jh07Jr2G1t4/BQUFANBt8vRzX375JSorKzF79mzpHN9TrbPl+6ikpKTFOD169ICjo2OnzF9jYyNeeOEFzJw5E25ubtL5Rx99FOHh4fD398fRo0exePFiHDp0SPr6Y3fJla3+znWFXF3vk08+gaurK6ZNm9bsPN9XZC84f+X89WY4f701nL9ajvPXW8f5a9s4f701nL/ePhZu7dz1n6gC5sngz891Vc888wwOHz6MnTt3NjufmJgotQcOHIiYmBiEhYXh22+/bfGPwfV+nrvW8tiZ8jt58mSpPWjQIMTFxSEiIgKffPKJtEn6rbx/ulqefm7dunWYPHlys0/l+J5qm63eR10lf3q9Ho888ghMJhNWr17d7LF58+ZJ7YEDB6JPnz6IiYlBdnY2hg8fDqB75MqWf+c6e66u99FHH+HRRx+FRqNpdp7vK7I3nL9y/nojnL/eGs5f24/z1/bh/PXmOH+9NZy/3j5ulWCnvL29oVAoWnxKUFpa2uITha7o2Wefxddff40ffvgBwcHBbfYNCAhAWFgYTp06BQDw9/eHTqdDRUVFs37X587f3x+XLl1qca3Lly932vw6Oztj0KBBOHXqlHR33rbeP90xTwUFBdi2bRvmzp3bZj++p8xs+T7y9/dvMU5FRQX0en2nyp9er8eMGTOQn5+P9PT0ZqsVWjN8+HCoVKpm77XukqvrWevvXFfK1Y4dO3DixImb/vsF8H1F8uH8lfPX9uL89eY4f20fzl/bj/PXW8P5681x/toxWLi1U46OjoiOjpaWiV+Vnp6O+Ph4maKyPlEU8cwzz+A///kP/ve//yE8PPymzykvL8f58+cREBAAAIiOjoZKpWqWu+LiYhw9elTKXVxcHKqqqrBv3z6pz969e1FVVdVp89vU1IS8vDwEBARIXzm4Pgc6nQ4ZGRnS6+uOefr444/h6+uLe+65p81+fE+Z2fJ9FBcXh6NHj6K4uFjqk5aWBrVajejoaKu+zo5yddJ76tQpbNu2DV5eXjd9zrFjx6DX66X3WnfJ1c9Z6+9cV8rVunXrEB0djSFDhty0L99XJBfOXzl/bS/OX2+O89f24fy1fTh/vXWcv94c568dxFp3PaPbt3HjRlGlUonr1q0Tc3NzxaSkJNHZ2Vk8d+6c3KFZzW9+8xvR3d1d3L59u1hcXCz9qq+vF0VRFGtqasTf/va34u7du8X8/Hzxhx9+EOPi4sSgoCCxurpaus78+fPF4OBgcdu2bWJ2drZ41113iUOGDBENBoPU5+677xYHDx4sZmZmipmZmeKgQYPEe++91+av+Vb99re/Fbdv3y6ePXtW3LNnj3jvvfeKrq6u0vvjrbfeEt3d3cX//Oc/4pEjR8Rf/vKXYkBAQLfL01VGo1EMDQ0V//CHPzQ7393fUzU1NWJOTo6Yk5MjAhBXrlwp5uTkSHeStdX7yGAwiAMHDhR/8YtfiNnZ2eK2bdvE4OBg8ZlnnrFdMm6irVzp9Xrx/vvvF4ODg8WDBw82+/erqalJFEVRPH36tLhs2TJx//79Yn5+vvjtt9+K/fr1E4cNG9atcmXLv3OdPVdXVVVViU5OTuKaNWtaPL87va+oc+D8lfPXtnD+2j6cv7aO81fLcf5qOc5fLcf5q22xcGvn3n//fTEsLEx0dHQUhw8fLmZkZMgdklUBaPXXxx9/LIqiKNbX14sJCQmij4+PqFKpxNDQUPHxxx8XCwsLm12noaFBfOaZZ0RPT09Rq9WK9957b4s+5eXl4qOPPiq6urqKrq6u4qOPPipWVFTY6JXevsTERDEgIEBUqVRiYGCgOG3aNPHYsWPS4yaTSXzllVdEf39/Ua1Wi3fccYd45MiRZtfoDnm6auvWrSIA8cSJE83Od/f31A8//NDq37nHH39cFEXbvo8KCgrEe+65R9RqtaKnp6f4zDPPiI2NjdZ8+e3SVq7y8/Nv+O/XDz/8IIqiKBYWFop33HGH6OnpKTo6OooRERHic889J5aXlzcbp6vnytZ/5zpzrq764IMPRK1WK1ZWVrZ4fnd6X1Hnwfkr5683wvlr+3D+2jrOXy3H+avlOH+1HOevtiWIoije6mpdIiIiIiIiIiIiIup43OOWiIiIiIiIiIiIyM6wcEtERERERERERERkZ1i4JSIiIiIiIiIiIrIzLNwSERERERERERER2RkWbomIiIiIiIiIiIjsDAu3RERERERERERERHaGhVsiIiIiIiIiIiIiO8PCLREREREREREREZGdYeGWiIiIiIiIiIiIyM6wcEtERERERERERERkZ1i4JSIiIiIiIiIiIrIzLNwSERERERERERER2RkWbomIiIiIiIiIiIjsDAu3RERERERERERERHaGhVsiIiIiIiIiIiIiO8PCLREREREREREREZGdYeGWiIiIiIiIiIiIyM6wcEtERERERERERERkZ1i4JSLq5nJzc7F06VKcO3fulq9x8OBB3HPPPQgNDYVWq4Wnpyfi4uLw+eefd1ygRERERETomPnrz/3973+HIAhwcXHpsGsSEd0uFm6JiLq53NxcLFu27LYmvpWVlQgJCcGbb76J1NRUfPrpp+jZsydmzZqF119/veOCJSIiIqJuryPmr9crKirC888/j8DAwA65HhFRR1HKHQAREXV+48ePx/jx45udu/fee5Gfn48PP/wQL7/8sjyBERERERHdxPz583HHHXfA09MT//73v+UOh4hIwhW3RER26KuvvsLgwYOhVqvRq1cv/OUvf8HSpUshCEK7rnPgwAHcf//98PT0hEajwbBhw/Cvf/1Lenz9+vV4+OGHAQB33nknBEGAIAhYv349ACA9PR1Tp05FcHAwNBoNevfujaeeegplZWUWje/t7Q2lkp8REhEREXV1nXX++vnnnyMjIwOrV6++tRdORGRF/GmaiMjOfP/995g2bRruuOMObNq0CQaDAStWrMClS5fadZ0ffvgBd999N2JjY7F27Vq4u7tj48aNSExMRH19PWbPno177rkHb775Jl588UW8//77GD58OAAgIiICAHDmzBnExcVh7ty5cHd3x7lz57By5UqMGTMGR44cgUqlajamyWSCyWRCRUUFvvjiC2zduhXvvfdexySGiIiIiOxSZ52/lpaWIikpCW+99RaCg4M7LiFERB1EEEVRlDsIIiK6ZuTIkSgpKcHp06fh6OgIAKitrUXPnj1RXl4OS//ZjoqKglarxb59+5qter3vvvuQlZWFCxcuwMHBAf/+97/x8MMP44cffmix3cH1RFGE0WjExYsXERYWhq+++gr3339/sz7z58/HBx98AABwdHRESkoKfvOb37QzA0RERETUmXTW+etDDz2E4uJi7Ny5E4IgYPbs2fj3v/+N2traW0sEEVEH41YJRER2pK6uDgcOHMADDzwgTXoBwMXFBffdd5/F1zl9+jSOHz+ORx99FABgMBikX1OmTEFxcTFOnDhx0+uUlpZi/vz5CAkJgVKphEqlQlhYGAAgLy+vRf8XX3wR+/fvx7fffosnn3wSzzzzDFasWGFx3ERERETUuXTW+evmzZvxzTff4G9/+1u7t3MgIrIVbpVARGRHKioqIIoi/Pz8WjzW2rkbufq1tOeffx7PP/98q31utk+tyWRCQkICLl68iCVLlmDQoEFwdnaGyWTCqFGj0NDQ0OI5oaGhCA0NBQBMmTIFALB48WI8/vjj8PHxsTh+IiIiIuocOuP8tba2Fk8//TSeffZZBAYGorKyEgCg0+kAAJWVlVCpVHB2drY4fiIia2DhlojIjvTo0QOCILS6H1hJSYnF1/H29gZgLppOmzat1T6RkZFtXuPo0aM4dOgQ1q9fj8cff1w6f/r0aYvjGDlyJNauXYuzZ8+ycEtERETUBXXG+WtZWRkuXbqEP/3pT/jTn/7U4jo9evTA1KlT8eWXX1ocPxGRNbBwS0RkR5ydnRETE4Mvv/wSK1asaLZH2H//+1+LrxMZGYk+ffrg0KFDePPNN9vsq1arAaDFCtqrXxm7+vhVV/ewtcQPP/wABwcH9OrVy+LnEBEREVHn0Rnnr/7+/vjhhx9aXPett95CRkYGvvvuO6mQTEQkJxZuiYjszKuvvop77rkHkyZNwsKFC2E0GvHuu+/CxcUFV65csfg6H3zwASZPnoxJkyZh9uzZCAoKwpUrV5CXl4fs7Gx88cUXAICBAwcCAD788EO4urpCo9EgPDwc/fr1Q0REBF544QWIoghPT0988803SE9PbzHWr3/9a7i5uWHkyJHw8/NDWVkZvvjiC2zatAm/+93vuNqWiIiIqAvrbPNXjUbT6k3N1q9fD4VC0eYNz4iIbIk3JyMisjN33303Nm/ejPLyciQmJiI5ORkPPvggpk6dCg8PD4uvc+edd2Lfvn3w8PBAUlISJkyYgN/85jfYtm0bJkyYIPULDw9HSkoKDh06hPHjx2PEiBH45ptvoFKp8M0336Bv37546qmn8Mtf/hKlpaXYtm1bi7Hi4uKwb98+PP3005gwYQLmzp2LkpISfPbZZ3jnnXc6Ii1EREREZKc64/yViKgzEERRFOUOgoiI2qbX6zF06FAEBQUhLS1N7nCIiIiIiNrE+SsR0e3jVglERHZozpw5mDhxIgICAlBSUoK1a9ciLy8Pf/nLX+QOjYiIiIioBc5fiYg6Hgu3RER2qKamBs8//zwuX74MlUqF4cOHIzU1FRMmTIDJZILJZGrz+Uol/3knIiIiItvh/JWIqONxqwQiok5m9uzZ+OSTT9rsw3/aiYiIiMhecP5KRHRrWLglIupkzp07h7Kysjb7xMTE2CgaIiIiIqK2cf5KRHRrWLglIiIiIiIiIiIisjNW20Rm9erVePfdd1FcXIwBAwYgJSUFY8eOvWH/jIwMJCcn49ixYwgMDMTvf/97zJ8/X3r82LFj+OMf/4isrCwUFBTgz3/+M5KSkto9bmtf0YiNjcWePXssel0mkwkXL16Eq6srBEGw6DlEREREZB2iKKKmpgaBgYFwcHCQOxy7xPkrERERkf1oz/zVKoXbTZs2ISkpCatXr8bo0aPxwQcfYPLkycjNzUVoaGiL/vn5+ZgyZQrmzZuHzz//HLt27cKCBQvg4+OD6dOnAwDq6+vRq1cvPPzww1i0aNFtjXv33Xfj448/lo4dHR0tfm0XL15ESEiIxf2JiIiIyPrOnz+P4OBgucOwS5y/EhEREdkfS+avVtkqITY2FsOHD8eaNWukc1FRUXjggQewfPnyFv3/8Ic/4Ouvv0ZeXp50bv78+Th06BAyMzNb9O/ZsyeSkpJarLi1ZNzZs2ejsrISX3755S29tqqqKnh4eOD8+fNwc3O7pWu0h16vR1paGhISEqBSqaw+XmfGXFmOuWof5styzJXlmCvLMVeW6465qq6uRkhICCorK+Hu7i53OHaJ81f7xVy1D/NlOebKcsyV5ZgryzFXluuOuWrP/LXDV9zqdDpkZWXhhRdeaHY+ISEBu3fvbvU5mZmZSEhIaHZu0qRJWLduHfR6vUV/cO0Zd/v27fD19YWHhwfGjRuHN954A76+vq1et6mpCU1NTdJxTU0NAECr1UKr1d40rtulVCrh5OQErVbbbd7At4q5shxz1T7Ml+WYK8sxV5ZjrizXHXOl1+sBgFsAtOFqbtzc3GxWuHVycoKbm1u3eR/eKuaqfZgvyzFXlmOuLMdcWY65slx3zpUl89cOL9yWlZXBaDTCz8+v2Xk/Pz+UlJS0+pySkpJW+xsMBpSVlSEgIKDDxp08eTIefvhhhIWFIT8/H0uWLMFdd92FrKwsqNXqFtddvnw5li1b1uJ8WloanJycbhpXR0lPT7fZWJ0dc2U55qp9mC/LMVeWY64sx1xZrjvlqr6+Xu4QiIiIiIiswmo3J/t51VgUxTYrya31b+387Y6bmJgotQcOHIiYmBiEhYXh22+/xbRp01pcb/HixUhOTpaOry5nTkhIsNmKhfT0dEycOLHbffLQXsyV5Zir9mG+LMdcWY65shxzZbnumKvq6mq5QyAiIiIisooOL9x6e3tDoVC0WF1bWlraYjXsVf7+/q32VyqV8PLystq4ABAQEICwsDCcOnWq1cfVanWrK3FVKpVNfyCy9XidGXNlOeaqfZgvyzFXlmOuLMdcWa475aq7vE4iIiIi6n4cOvqCjo6OiI6ObvEVvfT0dMTHx7f6nLi4uBb909LSEBMTY/Fk/FbGBYDy8nKcP3/eou0YiIiIiIiIiIiIiGzBKlslJCcnY9asWYiJiUFcXBw+/PBDFBYWYv78+QDM2w8UFRXh008/BQDMnz8f7733HpKTkzFv3jxkZmZi3bp12LBhg3RNnU6H3NxcqV1UVISDBw/CxcUFvXv3tmjc2tpaLF26FNOnT0dAQADOnTuHF198Ed7e3njwwQetkQqiLs+kN6E2pxZ1R+ugK9bB1GiCg8YBDloHKHsooempgfNAZzj6OModKhERERERERHJqHpfNSp/qITKVwXvB70BZ7kjsm9WKdwmJiaivLwcr776KoqLizFw4ECkpqYiLCwMAFBcXIzCwkKpf3h4OFJTU7Fo0SK8//77CAwMxKpVqzB9+nSpz8WLFzFs2DDpeMWKFVixYgXGjRuH7du3WzSuQqHAkSNH8Omnn6KyshIBAQG48847sWnTJri6ulojFURdVkN+Ay6kXMClzy/BcMVw0/7qEDV8E30R8W6EDaIjIiIiIiIiInty5P4jKP+mXDo++4ezCPptEBApY1B2zmo3J1uwYAEWLFjQ6mPr169vcW7cuHHIzs6+4fV69uwp3bDsVsfVarXYunXrTa9BRDdm0plw6tlTKP57MWAyn1N6KuEa7Qp1sBoKZwVMjSYYG4zQX9aj4UwDGs80oul8E86vOA+FiwI9X+kp62sgIiIiIiIiItvZ23cvGk41AAA0vTQQDSKaCptw7oVzcAl0gW6EDqog3rvg56xWuCWirqfmYA0OJxyG/rIeAOA+xh2hL4Wix4QecFDeeMtsQ5UBmcGZMNYacW7pORZuiYiIiIiIiLqJA9EHpKKty1AXRGdHQzSIKHi1AAWvF0BxUYH9wfsRdzEO6gB1s+eKoghdsQ61h2tRd7gOdcfq0Hi2EfpyPQSFAEElQHAUoNAqoA5Tw3WYKzx+4QHnAc4QBEGOl9uhWLglIotU7apCzpgc6bjvh30ROC/Qoucq3ZUY9N0gHBx7EACgv6KHypOfpBERERERERF1ZYcmHkJtdi0AwDHAETE5MQAAQSUg/LVwOIY74tScUwCAff32IfJvkYAANBU1oe5IHSozKtF4ptHi8S59csk8VqAjfB72QcATAXAZ4tLBr8p2WLglopvSl+ubFW1jDsa0+x8+99HuUvvimosIeymsw+IjIiIiIiIiIvtyOvk0KrZVAACUXkrEFcW16OM7yxeHsg/B6X0nGKuNyE3MbXkhAXCKdILzEGc4D3CGU18nqHzMi8FMOhNEnQhjnRENpxtQtaMKVTuroLuoQ9FfilD0lyK4jXZD6B9C4XWvV6dbhcvCLRHd1C7vXVJ70HeDbunTKkEQoI3UouFEAyr+r4KFWyIiIiIiIqIuqmp3FS78+YJ0PPry6BsWTfUT9Rj262EoeqcI9Xn1UDgroPJVwamfE9xGucFjrAeU7paXMI2NRlRsq0DJxyUo+6oM1buqcfT+o3AMdMSgrwfBNdr1tl+frbBwS0RtOv38aakd8rsQeN3tdcvX8nnQB4VvFaLyh8oOiIyIiIiIiIiI7I0oisgZfe1bu2Prx950patTlBP6f96/Q8ZXaBTwvtcb3vd6o/F8Iy785QIu/OkCdBd1yIrJgt9jfoj8WyQcHG98rx57Yf8REpFsdKU6XPjTtU/IIt6JuK3r+f3KT2obqgy3dS0iIiIiIiIisj/HnzgutQf8ewAUWoVssWhCNOi9ojeis6LhEm3+9vClTy9hX/99aDjXIFtclmLhlohuKGtEltQeXTb6tq/n1N9Jal/ZeuW2r0dERERERERE9sPYaJRuEKb0UsJnuo/MEZm5DndFzIEYRKw0L0hrPNOIfZH7cHnLZZkjaxsLt0TUqvoT9WgqbAIA+M/xh8pLddvXFAQBKj/zdcq+Lrvt6xERERERERGR/bj+xuYjc0fKGEnrQhaFIDo7GsoeSog6EcemHcPZl8/KHdYNsXBLRK06NuOY1I78MLLDrtvjrh4AgPL/lnfYNYmIiIiIiIhIXtUHqlGbVQsA8BjvAUdfR5kjap3rMFfEno2FtrcWAFD4RiF2B+6Godr+tnRk4ZaIWjAZTKg7XAcA8H/CH4JD25uIt4f3A94AAGOVEaJJ7LDrEhEREREREZE8TAYTskdkS8eD0wfLGM3NqTxUGHliJDzu8gAA6Ip1MNYY5Q2qFUq5AyAi+3Pps0tSu8/7fTr02t5TvaV2/Yl6OEc5d+j1iYiIiIiIiMh2RFHEj6ofpeP+m/rDQWn/a0UFBwFD/28o8pfmQ1+mh4Oz/cXMwi0RtVDwWgEAwMHJocPv/uigvvYPYfl/y1m4JSIiIiIiIurE9vTcI7V9H/GF7wxfGaNpv/Cl4XKHcEP2V0omItk15jcCAMJeDrPK9V2iXQAAV767YpXrExEREREREZH1ZYZlSjc2d4tzQ/8N/WWOqGth4ZaImqk9Wiu1A58KtMoYnnd7AgAqf6i0yvWJiIiIiIiIyLr2Re2TirbuY9wxfPdwmSPqeli4JaJmLv/7stRWeaqsMkaPu3pIbVHkDcqIiIiIiIiIOpNDdx9C/fF6AIA6RI1hO4bJHFHXxMItETVT/lU5AMBlmIvVxnAf7S61qzOrrTYOEREREREREXWs838+j4qtFQAApZcSowpGyRxR18XCLRE1U3vQvFWC3yw/q43R7AZl35ZbbRwiIiIiIiIi6jgN+Q04k3xGOh59eTQEQZAxoq6NhVsikjQWNEptr3u8rDqW+zjzqtvq3VxxS0RE9mH16tUIDw+HRqNBdHQ0duzY0Wb/jIwMREdHQ6PRoFevXli7dm2zx48dO4bp06ejZ8+eEAQBKSkptzSuKIpYunQpAgMDodVqMX78eBw7duy2XivR7Wo414Dij4pR+E4hLqy6gIsfXsSlf1xCxQ8VaDzfCNHE7bCIiLoaURSxt9de6Tj2bCyLtlamlDsAIrIfBW8WSG2nvk5WHct9tDuqMqqkFb5ERERy2rRpE5KSkrB69WqMHj0aH3zwASZPnozc3FyEhoa26J+fn48pU6Zg3rx5+Pzzz7Fr1y4sWLAAPj4+mD59OgCgvr4evXr1wsMPP4xFixbd8rjvvPMOVq5cifXr16Nv3754/fXXMXHiRJw4cQKurq7WSwp1O6IoQlesQ31ePZouNkFQChCUAlReKrgMd4HKQ4Wa7BrkL8nHldQrbV5L4aKA6whXeE72hNcULzj1d+IP90REndyRe49I7d6rekMbrpUxmu6BhVsikpRtKQMAuMW7WX0sj/EeKHyzEIZKA0RR5ESeiIhktXLlSsyZMwdz584FAKSkpGDr1q1Ys2YNli9f3qL/2rVrERoaKq2ijYqKwoEDB7BixQqpcDtixAiMGDECAPDCCy/c0riiKCIlJQUvvfQSpk2bBgD45JNP4Ofnh3/+85946qmnWlyzqakJTU1N0nF1tfnbLXq9Hnq9/lbS0y7Hf3Ucrt+5Yq/jXuCn/96l/+ev/+9eaP33ZnOCm/Vp43pt9kE7+lrYR1AIUAer4f4Ld/jO9IWyx81/1Lr652GLP5frmXQm1B+rR1NBExoLGtFwogH1R+tRn1cPY5Xxhs9TuClgrL72uGu8KzS9NBCbRJgaTTDWGNF0oQlN55pgrDWi8odKVP5QibO/PwttpBa+s33h97gfVN63dgNcufLVGTFXlmOuLMdcWa4r5qruUJ30oZ0mQgO/+X4d8vq6Yq5upj2vlYVbIgIAmAwm6C+b//EIWhBk9fGuv0FZU1ETNMEaq49JRETUGp1Oh6ysrBbF1YSEBOzevbvV52RmZiIhIaHZuUmTJmHdunXQ6/VQqW5emLJk3Pz8fJSUlDQbS61WY9y4cdi9e3erhdvly5dj2bJlLc6npaXBycm636gBAKezTlDVqGCAwepj2Zu6g3W48t8rOPviWTRNaYJ+tB6mIBOgbvt56enpVo9NuCRAtUcF5UEllHlKCI2tf2guOogw+ZsgeouACMAIOJQ5wKHUAcZqI0QHEYaRBjT+shFVYVWtD2YEHM47QHlYaR7vsBINJxpQsLgA5/54Drq7dNA9oIMpwHRLr8UW+eoqmCvLMVeWY64s15Vy5f7AtZ/hL719CampqR16/a6Uq5upr6+3uC8Lt0QEAM2+7ubzsI/Vx1M4KaR2RVoFAp4MsPqYRERErSkrK4PRaISfX/Mbc/r5+aGkpKTV55SUlLTa32AwoKysDAEBN/9/zZJxr/7eWp+CggK0ZvHixUhOTpaOq6urERISgoSEBLi5Wf9bNbVRtdiZthPxcfFQKpXm4h/MX8OXiK3/3mof3KCP2PIxi653oz5tXM+SPiadCfWH61G8phi6izpoNmug2Wz+YNrBxQEqbxXUwWqoQ9RwDHaEOlQNRYAC2ReyMe7hcdB4a6zyDaTyr8tx8a8XUZ3R/L4CSk8lNBEaqEPV0EZo4TTACU6DnKDtrYWDpuWtUHSlOhjKDXAMcITSo30/RhqqDCj7ogwla0tQd7gO6q1qqLeqEfB0AEJeCrF4Ba5er0d6ejomTpxo0Ycj3RlzZTnmynLMleW6Wq7OJp9FMYoBABFrI+B/v3+HXbur5coSV78NZQkWbokIAJC/JN/cEAAHR9vct9AxyBG6Ih2qdlaxcEtERLL7edHsZlv5tNa/tfMdMW57YlOr1VCrWy7xVKlUNvmByCXcBaYQE9wGu3WbH8Ak9wNhL4ShbHMZij8qRs3+GhgqDDDVmtBUa95C4Odc4YrspGwoXBRwDHKEJkRjLo72UELproTKWwWVrwoqbxUcfRzNbR8VHJRtz9eq91Xj1DOnULO/RjrnMd4DXvd7occvesB5oDMEB8vfq6ogFXCLX8pSeasQ8psQBM8PRmVGJQpeLUDlD5Uofr8Yl/9xGaEvhSLktyEW/92x1Xu5K2CuLMdcWY65slxXyJWx3oji98xFWyiAkKdCrDJOV8iVpdrzOlm4JSKIooi6w3UAgKDnrL9NwlUeYz1QurEUV9LavrkFERGRNXl7e0OhULRYXVtaWtpipetV/v7+rfZXKpXw8vLqsHH9/c0rWkpKSpqt4m0rNpKXg9IBvom+8E30hSiKMFQYoL+ih75Uj6bzTWg834imwiY0FjaisbARNWdq4FDtAGOtEQ0nGtBwosGicZSePxV1fVRw9HWEykcFhbMChkoD6k/Wo3qXeTWPoBQQ8FQAQn8XCk2YvFtTCYKAHuN7oMf4Hrj8n8s4vfA0mi404ezvzuLyF5cR9Y8oOPW2/nYeRERkuayRWVI7vihexki6JxZuiQilG0ulds+lPW02rsdd5sKtrkhnszGJiIh+ztHREdHR0UhPT8eDDz4onU9PT8fUqVNbfU5cXBy++eabZufS0tIQExNj8SoKS8YNDw+Hv78/0tPTMWzYMADmvXEzMjLw9ttvt+t1ku0JggCVpwoqTxXQu+Xjer0eqampmDR+EkyXTGgqakJTYZN5W4JKg7noW6aHrlQHfZke+st66Mv0gAkwXDHAcMWAhpM3LvT6POyDiBUR0ITa370EfKb5wOseL5z+7WlcfP8iavbVYH///Qh9MRQ9X+nJG9cSEdmB+tP1qD9m3o+1x6QecPRzlDmi7oeFWyLCmd+dkdoqD9t9NcHzbk+pbWwwQqFVtNGbiIjIepKTkzFr1izExMQgLi4OH374IQoLCzF//nwA5n1ji4qK8OmnnwIA5s+fj/feew/JycmYN28eMjMzsW7dOmzYsEG6pk6nQ25urtQuKirCwYMH4eLigt69e1s0riAISEpKwptvvok+ffqgT58+ePPNN+Hk5ISZM2faMkVkRQonBTR9NXDqe/PVpqJRlFbw6sv00F3WQX/J3DbWGaH0UEIdrIb7aHdoI7Q2iP7WOagd0Pe9vgiYG4Djjx1H3ZE6FCwrQPk35Ri8dTAcvVkgICKS074++6T24NTBMkbSfbFwS9TNGWoM0orXXm/3sunY6uBr++/V59XDdbirTccnIiK6KjExEeXl5Xj11VdRXFyMgQMHIjU1FWFhYQCA4uJiFBYWSv3Dw8ORmpqKRYsW4f3330dgYCBWrVqF6dOnS30uXrworZIFgBUrVmDFihUYN24ctm/fbtG4APD73/8eDQ0NWLBgASoqKhAbG4u0tDS4uvL/ze5IUAhw9HGEo0/XKWq6DnVFzMEYFLxRgHN/PIfa7Frs9tmNoRlD4XGHh9zhERF1S2Vfl0nt0JdC27UvOnUcFm6Juhl9uR5Xdl6B+p9q5P4tFxXfVkiPBS8Mtmks138FrmpXFQu3REQkqwULFmDBggWtPrZ+/foW58aNG4fs7OwbXq9nz57SDctudVzA/P/l0qVLsXTp0ptei6izEhwE9FzSEx7jPXDwzoOAETg47iDCloQh/NVwucMjIup2jk49KrV7vW7bRV50DQu3RF3c1RuPXd5yGeXflKM2pxYQAQ00qMC1om3Yy2FwULd9d2JrcOrvhPrcelRnVgPP2nx4IiIiIrIjHmM9EFcYh8OTDqPuaB0KXitA1a4qDNk2RO7QiIi6jYsfXpTag74dJGMkxMItURelu6xD8d+KUfJJSYubVmj6aFAdXI3I+yPhOsAVLsNcZNtDrMeEHqjPrUdlRqUs4xMRERGRfVEHqhFzKAY5o3NQvacalf+rxN4+ezE8d7jcoRERdQsnnzoptb2meMkYCbFwS9TFVP5YiQt/uYDyr8shGsxfzxQcBXgmeMJ7mjc8J3vCwcsBqampCJwSaPGdr63FfYw7ilYVQXdRJ2scRERERGQ/BAcBwzOH4+BdB1H5QyUazzQi0yUT2HDz5xIR0a07/dvTUnvI//HbDnJj4Zaoi6j4vwoUvFGAyh8qpXMuw10Q+FQgfB72garHtQKtXq+XIcLWuY10k9omnQkOjrbfroGIiIiI7NPQ/w3FsRnHcPmLyxD1IlyfcoVpsgmQd+0BEVGXVH+yHhdWXgAAKFwU6HFXD5kjIlZIiDq5+lP1ODTpEA5NOGQu2gqA7y99EZ0djZisGAT+OrBZ0dbeqIPVUrtye6V8gRARERGRXRrwrwHw/aUvAMCh3AGZzpkw6UwyR0VE1LWIooh9kfuk49jTsTJGQ1excEvUSRnrjDjz+zPY13cfKtLMNxnzm+WH2FOx6P/P/nAd5ipzhJYRFIL0LxH3uSUiIiKi1vT/Z3+ELguVjn9U/wjRJErHdcfqUPJZCcq/L4eh1iBHiEREndqhCYekdp81feDoJ899cKg5bpVA1AmVbirFyfknYag0T0pdR7gicl0kXAa5yBzZrXEf646qjCpU76mWOxQiIiIislMhi0NwevtpOP5gLibs7b0XKl8VDFcMaDh17Wa8CncFAuYEIOzFMKi87PebZ0RE9qLsqzJU/q8SgPlbsUHzg+QNiCRccUvUiegu6XD4nsPIfSQXhkoDlJ5KRP0jCsP3Du+0RVsA8BjrAcC8UoKIiIiI6EYaFjbA6yHzHc4b8xtRs7fGXLR1ANzi3KAOVsNYZcSFlReQGZyJ0n+XyhwxEZF9MzYacfSBo9JxbD63SLAnXHFL1EkUf1yMU0+fgqnBvJ+X3yw/9PlrHyjdO/9fY7c48w3K9Jfs56ZpRERERGSf+v2zH0yrTKjaWQUHRwcoXBRwHuQMR19HiEYRpV+U4tQzp2AoNyD34VyU3F2CQamDIAiC3KETEdmdzKBMqT10x1A4KLnG0550/ooPURenr9Qj79E8XEm9AgBQ+akQ9WkUPBM8ZY6s47jFu0ntpotNUAeq2+hNRERERN2dOkAN34d9W5wXFAL8HvGD9/3eOPbQMVz57gqufH8F+wfsx/DM4V1i0QMRUUc599o5GK6Yt2D0fsAbHmM85A2IWmAZnchOiaKI4o+KsSdsj1S0DXo2CHEFcV2qaAsAKo9re4/VHeF2CURERER0exROCgxOHYyAXwcAAOrz6rHTYyeM9UaZIyMisg8NZxtw7o/npOOBWwbKFwzdEAu3RHaoLrcOWTFZODHnBIzVRii9lBj4zUD0WdUHDuqu+ddW4aIAAFTv5w3KiIiIiKhjRH4Qib5/6ysd73DeAWMDi7dE1L2JJhF7I/ZKx6POj5IxGmpL16wAEXVi+UvysX/gftRm10JQCgj+bTDizsfB+15vuUOzKm0fLQCg4UTDTXoSEREREVkucG4gQp4PkY53OO2QMRoiInld2nAJ+wfvl44jVkZAE6yRMSJqi9UKt6tXr0Z4eDg0Gg2io6OxY0fb/zlmZGQgOjoaGo0GvXr1wtq1a5s9fuzYMUyfPh09e/aEIAhISUm5pXFFUcTSpUsRGBgIrVaL8ePH49ixY7f1Wok6yqFJh1DwegEgAppeGsQciUHvFb2h0CrkDs3qPO82b/9Qub1S3kCIiIiIqMuJeDcCAXMDpOPsuGwZoyEisj1DlQEHYg4gb2Ye6o/VQ1ALCE4KRsiikJs/mWRjlcLtpk2bkJSUhJdeegk5OTkYO3YsJk+ejMLCwlb75+fnY8qUKRg7dixycnLw4osv4rnnnsPmzZulPvX19ejVqxfeeust+Pv73/K477zzDlauXIn33nsP+/fvh7+/PyZOnIiampqOTQJRO53+7WlUpFUAAJz6OSH2ZCyc+znLHJXtaHqaP+FrutAkcyRERERE1BVF/i1S+pZX9Z5qnFp4SuaIiIhsQzSJ2OmxE7VZtQCA4KRgxF2IQ+8/95Y5MroZqxRuV65ciTlz5mDu3LmIiopCSkoKQkJCsGbNmlb7r127FqGhoUhJSUFUVBTmzp2LJ598EitWrJD6jBgxAu+++y4eeeQRqNWt33H+ZuOKooiUlBS89NJLmDZtGgYOHIhPPvkE9fX1+Oc//9nxiegAtTm1UOQpUJtTi7q8OjRdbIK+Qg9jnREmvQmiKModInWAurw6XFh5QToekTsCgkKQMSLb6zGhh9Q2GUwyRkJEREREXdXIEyOldtGqIhSvK5YxGiIi2zg08ZDU7r2qN3r/uTccvR1ljIgspezoC+p0OmRlZeGFF15odj4hIQG7d+9u9TmZmZlISEhodm7SpElYt24d9Ho9VCpVq89r77j5+fkoKSlpNpZarca4ceOwe/duPPXUUy2u29TUhKamaysAq6vNN07S6/XQ6/U3jet2nX3+LFx2uOAQDt2wj+AowEHjYP7d8aff1Q5wUJvbV887ODmYH1eb+1/9JagE6TmCowCFk8LcR9XymoJaMF9HbX7e1ccUrgrpnOAgT8Hx6p+HLf5cOtr+/tf2l4m9HAuDwWDV8ewxV4qga9tBVB+phvNA+1ltbI/5slfMleWYK8sxV5brjrnqTq+ViG6fIAgYUzUGO913AgBOzD0B50HOcBvpJnNkRETWUZlRicr/VQIANBEaBD8bLG9A1C4dXrgtKyuD0WiEn59fs/N+fn4oKSlp9TklJSWt9jcYDCgrK0NAQECrz2vvuFd/b61PQUFBq9ddvnw5li1b1uJ8WloanJycbhrX7dIKWij8FRB0AoQmAWgABFPzwqioE2HU2c+dUUWFCCgBUSUCKgAqQHS87pwjICp/ekz502MqQFSLMHmboB+th+h36yuJ09PTO+y12IJyvxLOMBcpG3/ViLRdaTYb295y5Q53AEDm2kzopuhkjqYle8uXPWOuLMdcWY65slx3ylV9fb3cIRBRJ6N0UyL2TKx0R/Xs2GyMqRkDpUuH/3hMRCQrURRxcPxB6Xjk8ZE37kx2yWr/MwnCz4qLotji3M36t3a+I8ZtT2yLFy9GcnKydFxdXY2QkBAkJCTAzc36n8rqJ+qRnp6OiRMnQqVSQRRFiAYRos78y6QzQWz66Xfddb83mKS2qBNhajLB1GiCqemn/o0m6Zeov+55jSaY6n86p//ZtX96vqnhurH05vO4rm4sGAXACHOh+RZoP9eix+Qe6PP3PlB53Xy1tZQrffNcdRa7HtgltX/x0S9sMqa95io7MhsNJxoQUhmCyCmRcocjsdd82SPmynLMleWYK8t1x1xd/TYUEVF7aHtpMWDzABybbr5R9U7XnRgvjpc3KCKiDpY3M09qD/x6IByUVtkxlayowwu33t7eUCgULVbXlpaWtljpepW/v3+r/ZVKJby8vDps3Ks3NSspKWm2iret2NRqdat76qpUKpv+QNRsPEcA1l/sazFRNBeGmxWSm0zX2o0mGBuMzQvIjaYWx8Y6IyozKlG9qxoV31ZgX8A+jC4fDZVn+/Js6z+b21Hy6bX368CvBto8bnvLlcc4DzScaED1rmq7iusqe8uXPWOuLMdcWY65slx3ylV3eZ1E1PF8pvkg4NcBKP7QvM9t7qO56P+P/jJHRUTUMepy61C6sRQAoPJVwfs+b5kjolvR4YVbR0dHREdHIz09HQ8++KB0Pj09HVOnTm31OXFxcfjmm2+anUtLS0NMTIzFk3FLxg0PD4e/vz/S09MxbNgwAOa9cTMyMvD222+363XSNYIgQKFRAJqOuV7pplLkPpILANg/aD/ii+I75sIyqtpThcofKqF0V8LrPi9oQjQQRRHHHz8u9fG+n/+Iuo9xR/GHxdAV2d82CURERETU9UR+EImST0ogNoko/WcpAp8KhMcdHnKHRUR02/YPuHYvnetvzEidi1W2SkhOTsasWbMQExODuLg4fPjhhygsLMT8+fMBmLcfKCoqwqeffgoAmD9/Pt577z0kJydj3rx5yMzMxLp167BhwwbpmjqdDrm5uVK7qKgIBw8ehIuLC3r37m3RuIIgICkpCW+++Sb69OmDPn364M0334STkxNmzpxpjVTQLfBN9EXZV2Uo3VAK3UUd6k/UwynSjpYYt0PljkrkL8lHVUaVdO7Uc6fgM80HtYdrpXOD0wfLEZ7dcYu7tv2IqckEBzW/xkFERERE1jWmYgx2OO0AABwcdxB3NN7BeSgRdWq5M3OlduRHkVB58BtKnZVVCreJiYkoLy/Hq6++iuLiYgwcOBCpqakICwsDABQXF6OwsFDqHx4ejtTUVCxatAjvv/8+AgMDsWrVKkyfPl3qc/HiRWmVLACsWLECK1aswLhx47B9+3aLxgWA3//+92hoaMCCBQtQUVGB2NhYpKWlwdXV1RqpoFsU9Y8olG4wL+nPGZuD0aWjZY7IcqJJRNnXZbjwpwuo2mku2ApKAV5TvaAr0qF6TzUuf3FZ6u86whWeEzzlCteuaHtppXbj+UY49e6cBXsiIiIi6jwUWgUGpQ7CkSlHAAC7A3ZjzJUxMkdFRHRrGs41SPUUpacSAU8E3OQZZM+sdnOyBQsWYMGCBa0+tn79+hbnxo0bh+zs7Bter2fPntINy251XMC86nbp0qVYunTpTa9F8hEEAcG/DcaFP12A/rIeNQdr4DrUvovrjQWNKPuqDBfXXkR93k93uHYAfH/pi56v9IRTHyeIooiqH6tQuqkUol6Ey3AXBM4PlDdwOyI4XLuhXc2+GhZuiYiIiMgmvCZ7wWuqF8q/KoehwoDTvz2N3n/qLXdYRETttjd8r9SOK4yTMRLqCFYr3BLdroh3I3DhTxcAAFnDsuzyLq/GRiPOv3seJetL0Hi2UTqvcFUg8KlABD4dCG3Pa6tIBUGAxzgPeIzzkCHazkEdrEbThSZU/lgJv5mt3zSQiIiIiKijDfpyELYL2wEAF1ZegP/j/nAZ7CJvUERE7VC0pkhqh78RDoWzQsZoqCNw4x6yW4IgoO/f+krHJ546AX25XsaImru04RL29t6Lc388Zy7aKgDXWFdE/DkCowpGIeLdiGZFW7KMy3Dz5FjU33yFPRERERFRRxpTdW2LhANDDkA0ck5KRJ2DSWfCqQWnpOOwF8Pa6E2dBVfckl0LnBuIor8Woe5wHYo/LEbJRyVwHuIMTYgGLsNd4P2AN5wHOkMQhJtfrIPoLuuQOyMXldsrAQDKHkqE/TEMAXMCoHTlX6nb5ZngifKvy1GRXiF3KERERETUzSjdlOj3aT8cf+w4AODwPYcx5PshMkdFRHRzOWNzpHbMwRgZI6GOxCoT2b0Rh0bg4ocXcWHVBdQfq0dtVi1qs2pR9mUZzv3xHLSRWvS4qwecR1i/gFv+fTmOTj0KUWf+5D1oYRDCXwtnwbYDOTibvwjQdL5J5kiIiIiIqDvyn+WP/CX5aCpoQsXWChiqDFC6c75PRPar/lQ9avbVAADcRrnBZQi3eekq+L8PdQqBvw5EwLwANJxuQH1uPRrPNaJiWwWubL2ChhMNaDjRAKwB3OCG7Ley4R7nDteRrnAd4QqXoS5wUN7+riClm0qR+0guAEDhosCAzQPgmeB529el5tzHuEttY70RCifuyUNEREREthV7IhY/an4EABy59wiG7Rgmc0RERDe2r+8+qT10+1D5AqEOx8ItdRqCIMCpjxOc+jgBAIIXBkNfoUfl/ypRtbsKFf9XgbpDdVIht2R9ifl5SgHqYDXUIWo4RTnBKcoJzgOd4dTHCepgNQTFzVfpnv/TeZx5/ox0PPL4SKiD1NZ5od2cNuLavsBVu6rgOZHFcSIiIiKyLQe1A3pM6oGKrRWo2lkF0Sha9HMDEZGtXdp4SWqH/TEMDmrezqorYeGWOjVVDxV8pvvAZ7oP9Ho9vtvwHWLdYlF3oA41+2tQvbcaxiojGs81ovFcI6p2VDV7voPGAU79nOA0wAna3lpzu58TNGEaAICxxoiyL8uaFW1HnRvFoq0VCYIAZQ8lDBUGlG4qZeGWiIiIiGQx4N8DsNN1JwCg8J1ChC3mjX6IyL6Y9Cbk/TJPOg5fFi5jNGQNLMNTlyK6i/C8xxO9Xu+FIVuHYEz5GIw6PwrDdg5D1OdRCH0pFN4PeEMbqYWgEmBqNKH2YC1K/1GKgmUFyPtlHrKGZWGX5y7s8tyFPWF7cHrhaen68SXxUlGXrMf9DvN2CaX/LJU5EiIi6k5Wr16N8PBwaDQaREdHY8eOHW32z8jIQHR0NDQaDXr16oW1a9e26LN582b0798farUa/fv3x5YtW5o9XlNTg6SkJISFhUGr1SI+Ph779+9v1mf27NkQBKHZr1GjRt3+CyaiNildlFB6mdc6nXvlnLzBEBG14vobkg3byS1duiKuuKUuTVAI0ARroAnWwH20e7PHRKOIhrMNqM+rR93ROjScMbfrT9bDUG4wP18pQNNTA6/7vBD+ejj3W7URv5l+KP+qHKYGE0x6ExxU/IyJiIisa9OmTUhKSsLq1asxevRofPDBB5g8eTJyc3MRGhraon9+fj6mTJmCefPm4fPPP8euXbuwYMEC+Pj4YPr06QCAzMxMJCYm4rXXXsODDz6ILVu2YMaMGdi5cydiY2MBAHPnzsXRo0fx2WefITAwEJ9//jkmTJiA3NxcBAUFSePdfffd+Pjjj6VjR0dHK2eEiAAgYkUETjxxAqJehL5SD5WHSu6QiIgAABU/VKBmr/mGZB53ebSoeVDXwMItdVuC4tqeud73ezd7zFBrgIPagQVDmXhPu/bncSX1CrynerfRm4iI6PatXLkSc+bMwdy5cwEAKSkp2Lp1K9asWYPly5e36L927VqEhoYiJSUFABAVFYUDBw5gxYoVUuE2JSUFEydOxOLFiwEAixcvRkZGBlJSUrBhwwY0NDRg8+bN+Oqrr3DHHXcAAJYuXYovv/wSa9asweuvvy6Np1ar4e/vb80UEFEr/B/3x4knTgAALvz5Ar+GTER2waQ34dBdh6TjIWlDZIyGrImFW6JWKF34V0NODkoHODg5wFRvQvHHxSzcEhGRVel0OmRlZeGFF15odj4hIQG7d+9u9TmZmZlISEhodm7SpElYt24d9Ho9VCoVMjMzsWjRohZ9rhZ7DQYDjEYjNJrm2zBptVrs3Lmz2bnt27fD19cXHh4eGDduHN544w34+vq2GltTUxOampqk4+rqagCAXq+HXq+/QRY6ztUxbDFWZ8dctY9c+dL21aLhZAMKXi1A8MvBNh37VvG9ZTnmynLMleWsnat9Yfukdv9v+sNgMgAmqwxldd3xfdWe18rqFBHZJZ9pPrj0+SWUf1UudyhERNTFlZWVwWg0ws/Pr9l5Pz8/lJSUtPqckpKSVvsbDAaUlZUhICDghn2uXtPV1RVxcXF47bXXEBUVBT8/P2zYsAF79+5Fnz59pOdMnjwZDz/8MMLCwpCfn48lS5bgrrvuQlZWFtTqljdMXb58OZYtW9bifFpaGpycnCxLSgdIT0+32VidHXPVPrbOl3KaEs5vOQMAvtv4HUQ30abj3w6+tyzHXFmOubKcNXLl+L0jtMVaAIB+iB6ZxkwgtcOHsbnu9L6qr6+3uC8Lt0RklwJ+HYBLn18CABgbjFBoub8wERFZlyAIzY5FUWxx7mb9f37+Ztf87LPP8OSTTyIoKAgKhQLDhw/HzJkzkZ2dLfVJTEyU2gMHDkRMTAzCwsLw7bffYtq0aS3iWrx4MZKTk6Xj6upqhISEICEhAW5ubjd8PR1Fr9cjPT0dEydOhErF/UDbwly1j1z5EieL2P2WefV938y+iPhLhM3GvlV8b1mOubIcc2U5a+XK1GRC5gOZ0vG4fePanKt0Bt3xfXX121CWYOGWiOzS9RurF/+tGMHPdY6vpRERUefj7e0NhULRYnVtaWlpixWzV/n7+7faX6lUwsvLq80+118zIiICGRkZqKurQ3V1NQICApCYmIjw8BvvoxkQEICwsDCcOnWq1cfVanWrK3FVKpVNfyCy9XidGXPVPnLky6m/E+pz61GypgT9Vvez6di3g+8tyzFXlmOuLNfRudruuF1qxxyJ6VI3K+1O76v2vE7eeYmI7JLgIMAxwPyf0PmV52WOhoiIujJHR0dER0e3+Ipeeno64uPjW31OXFxci/5paWmIiYmRJuM36tPaNZ2dnREQEICKigps3boVU6dOvWG85eXlOH/+PAICAix6fUR0+/qsurZ9SVNJUxs9iYis4+CEg1Lbb5YfXAa6yBcM2QwLt0RktwIXBAIAmgqaYNJ30p3WiYioU0hOTsbf//53fPTRR8jLy8OiRYtQWFiI+fPnAzBvP/DYY49J/efPn4+CggIkJycjLy8PH330EdatW4fnn39e6rNw4UKkpaXh7bffxvHjx/H2229j27ZtSEpKkvps3boV33//PfLz85Geno4777wTkZGReOKJJwAAtbW1eP7555GZmYlz585h+/btuO++++Dt7Y0HH3zQNskhInjc5SG181/Kly8QIuqWCt8pROX/VQIAlF5KRH0aJW9AZDMs3BKR3QpZFCK1L669KGMkRETU1SUmJiIlJQWvvvoqhg4dih9//BGpqakICwsDABQXF6OwsFDqHx4ejtTUVGzfvh1Dhw7Fa6+9hlWrVmH69OlSn/j4eGzcuBEff/wxBg8ejPXr12PTpk2IjY2V+lRVVeHpp59Gv3798Nhjj2HMmDFIS0uTVu0qFAocOXIEU6dORd++ffH444+jb9++yMzMhKurq42yQ0SCIMAt3rxHdMlHrd+0kIjIGqp2VeHsH85Kx6NLR8sYDdka97glIrulcFZA5aeC/pIep587jeBnuc8tERFZz4IFC7BgwYJWH1u/fn2Lc+PGjWt2E7HWPPTQQ3jooYdu+PiMGTMwY8aMGz6u1WqxdevWNscgItsIfyMch+48BADQXdbB0afr7C1JRPapsaAROWNypOO4ojgIDp37ZmTUPlxxS0R2rdebvaR2Y2GjjJEQERERUXfWY3wPqV3wRoGMkRBRd6Cv0GNPzz3S8aBvB0Ed2PLmo9S1sXBLRHbN/wl/qX3k/iMyRkJERERE3Z3zYGcAQNFfimSOhIi6Mn25Hrs8d0nHvf/aG15TvGSMiOTCrRKIyK4JggDfX/qidEMp6g7VwaQ3wUHFz5yIiIiIyPZ6vd0LRyabFxMYagxQuvJHaqLuTDSKKE8tx5XvrqDhTAMEhQB1sBou8S4QFLe2pYGxzohd3teKtmF/DEPwM9w2sLvi/zJEZPci/xaJ0g2lAIAzvz2DPqv6yBwREREREXVHnpM8pXbRe0UIWxwmYzREJKfLWy7jTPIZNJ5rZUu/vwGuSlec2nYKIc+FwDXashuKNpxrwP4B+6Xjnkt7oucrPTsoYuqMuGyNiOyewlkBdYh5L5+ivxZBFEWZIyIiIiKi7kgQBGleev6d8zJHQ0RyMOlNOHLfERybdgyN5xqhcFUg8OlARH4ciciPIhHyuxA4DXCCYBBQ+mkpsmKycPCug7iSfuWGP8saag0oWF6AvRF7Yao3AQB6vsaiLXHFLRF1EoO/Hyx98nj+3fMI/X2ozBERERERUXfUc2lPnJhzAoZKA0wGExyUXA9F1F3Un65HVnQWjNVGAIDvo77ondIbjt6OzfqFvB6CtJVpCDsQhvL/lKPyh0pU/lAJbR8tfH/pC487PKAJ16AxvxGXN19G6YZSGCoNAAB1sBr9/9Uf7nHuNn99ZH9YuCWiTsG5vzMERwGiTsTZP5xl4ZaIiIiIZOH3mB9OzDkBAChaVYSQ5BCZIyIiW6jJqUHW8CzpuHdKbwQvbH3vWUEQYIwyot9v+8FQaEDhO4W49I9LaDjVgIJXC1CAghbP0fbWIuT3IfCf7c/7upCE7wQi6jSG7RomtU8tPCVjJERERETUXTkoHaDsYV4DVfhOoczREJEt1B2va1a0Hbx18A2Ltj+njdAi8oNIxF+MR+RHkfB5yAfa3loIavPWK74zfTHou0EYkTcCgfMCWbSlZrjilog6DbcYNzhoHWBqMJlXN/wuBJpgjdxhEREREVE3E/bHMJxZdAb6S3qYmkxwULPQQtRVNeQ3YH/UtRuGDU4bDM+Jnm08o3VKNyUCnghAwBMBHRkedXH834WIOpXYM7FSe0/IHhkjISIiIqLuKug3QVK79F+lMkZCRNakv6LH3l57peN+n/a7paIt0a1i4ZaIOhV1gBo9l/aUjvOX5MsXDBERERF1Sw5qByg9zF9gPf/OeZmjISJrEE0idnntko77rO4D/1n+MkZE3RELt0TU6fR8pafULni9ADVZNfIFQ0RERETdkv9scwGn7midzJEQkTVkBmVK7ZDfhTRbaU9kKyzcElGnFFcUJ7WzYrKgu6yTMRoiIiIi6m5CXwyV2lW7qmSMhIg62tHpR6ErMf+M6THeAxHvRMgcEXVXLNwSUaekDlRjwH8GSMe7fXdDNIoyRkRERERE3Ymjj6PUPr3otIyREFFHKvu6DGX/KQMACCoBQ38YKm9A1K2xcEtEnZbPgz4I+2OYdJyhzIAosnhLRERERLZxdbuEmv3cuouoK9BX6HF06lHpeGztWBmjIWLhlog6ufBl4fB52Ec63um+E6KJxVsiIiIisr7wN8Kldk0Oi7dEnd1u391Se9iuYXBwZNmM5MV3IBF1egP+NQBe93oBAIw1Ruzy3gWTziRzVERERETU1akD1VL7QsoFGSMhotuVvyQfosG8CChoYRDc491ljoiIhVsi6iIGfTNIKt4aKgzY6bEThlqDzFERERERUVfn8QsPAMClTy/JGwgR3bKG/AYUvF4gHfdJ6SNjNETXsHBLRF3GoG8GIejZIACAqcGEzOBMVO+tljmqrsNYZ0TF/1Wg/LtyVO+thknPVc1EREREYYuv3XPBUMOFA0Sd0d5ee6V2XHGcjJEQNaeUOwAioo7UZ1UfOA9yxslfn4SxyojsUdkYsm0Ievyih9yhdVqGWgPyF+ej+ONimOquFWuVPZTwf8IfoS+ENrurMhEREVF34nGXh9Q+98dz6P3n3vIFQ0TtdvLpk1I7fHk41P7qNnoT2RZX3BJRlxM4LxAxh2Kk40MTDuHsy2chirxpWXtV7apCZnAmit4rgqnOBHWoGi7DXKD0VMJQYcCFlRew23c3itcXyx0qERERkSwEQYBTPycA3OeWqLOpP1WPi6svmg8cgLAXwtp+ApGNsXBLRF2Sy2AXxJfEwyXaBQBQ+EYhskZkQXdJJ3NknYeuVIecMTkwVhkBB6D/F/0x6twoxGTHIP5SPAb8ewCUPcxf3DjxxAmcffGszBETERERyaPfp/2k9uUvL8sYCRG1x76++6T26LLRMkZC1DoWbomoy3L0c0T0/miE/dH8qWltVi12++9G1a4qmSPrHHb77ZbaI4+PhO9DvhAEAQDgoHSAz3QfjMwbKfUpXF6Imr01No+TiIiISG5uI9yk9vHZx2WMhIgsdfr501I7YmUEVD1UMkZD1DqrFW5Xr16N8PBwaDQaREdHY8eOHW32z8jIQHR0NDQaDXr16oW1a9e26LN582b0798farUa/fv3x5YtW5o9XlNTg6SkJISFhUGr1SI+Ph779+9v1mf27NkQBKHZr1GjRt3+CyYiuyQIAsKXhWPo9qGAueaInDE5yH8ln1sntKFobZHUDnslDE59nFrt5+jniNEV1z6ZPjz2MMC0EhERUTcUsSICAGCsMkJ/RS9zNETUlsaCRlz4009bmyiAkEUh8gZEdANWKdxu2rQJSUlJeOmll5CTk4OxY8di8uTJKCwsbLV/fn4+pkyZgrFjxyInJwcvvvginnvuOWzevFnqk5mZicTERMyaNQuHDh3CrFmzMGPGDOzde+3Of3PnzkV6ejo+++wzHDlyBAkJCZgwYQKKioqajXf33XejuLhY+pWammqNNBCRHfEY54FRBaPgMtS8dULBqwU4MOQAGs40yByZ/RGNIk795pR0HL40vM3+Kg8V+v+rv3Ss/bPWarERERER2aughUFS+/jjXHVLZM/29NwjteMvxssYCVHbrFK4XblyJebMmYO5c+ciKioKKSkpCAkJwZo1a1rtv3btWoSGhiIlJQVRUVGYO3cunnzySaxYsULqk5KSgokTJ2Lx4sXo168fFi9ejF/84hdISUkBADQ0NGDz5s145513cMcdd6B3795YunQpwsPDW4yrVqvh7+8v/fL09LRGGojIzmhCNIjOjkbPZT0BAHVH6rC3915c+CtvInG9w1MOS+3Ys7EWPcf3YV+ofM1fLXL80RGGSoNVYiMiIiKyVw5KB7iPcQcAlP+3HCaDSeaIiKg1ub/Kldq9/9Ibjr6OMkZD1DZlR19Qp9MhKysLL7zwQrPzCQkJ2L17d6vPyczMREJCQrNzkyZNwrp166DX66FSqZCZmYlFixa16HO1cGswGGA0GqHRaJr10Wq12LlzZ7Nz27dvh6+vLzw8PDBu3Di88cYb8PX1bTW2pqYmNDU1ScfV1dUAAL1eD73e+l9/uTqGLcbq7Jgry3X3XAUtDoLHPR44/shxNJ5uxOnnTqM8tRx9/9EXSteW/yx2p3zVH6tHRVoFAEDbVwtlsNLi1z30wFDsDzVvT3PojkOIPhxttTi7gu70vrpdzJXlumOuutNrJSL71/+L/sgMyAQAnHzqJPqt63eTZxCRLV3echml/ygFAKi8VQh+LljmiIja1uGF27KyMhiNRvj5+TU77+fnh5KSklafU1JS0mp/g8GAsrIyBAQE3LDP1Wu6uroiLi4Or732GqKiouDn54cNGzZg79696NOnj/ScyZMn4+GHH0ZYWBjy8/OxZMkS3HXXXcjKyoJarW4R2/Lly7Fs2bIW59PS0uDk1Pqej9aQnp5us7E6O+bKct0+V28Dmg80UKepUfF9BfYE7UH98/UwxLS+WrQ75Mv9AXepXfJqSbu3knEa7gRVtgqNxxvx3SffQfThhrc30x3eVx2FubJcd8pVfX293CEQEUnU/mpoIjRoPNOIko9KEPlhJASFIHdYRASgLq8Ox6Ydk47jiuJkjIbIMh1euL3q6p3HrxJFscW5m/X/+fmbXfOzzz7Dk08+iaCgICgUCgwfPhwzZ85Edna21CcxMVFqDxw4EDExMQgLC8O3336LadOmtYhr8eLFSE5Olo6rq6sREhKChIQEuLm5tejf0fR6PdLT0zFx4kSoVLzDYVuYK8sxV9e5Dyj/phwnHz0JU6MJzq87I+SPIQh5MQSCg/nfl+6QL1EUkfdgHipgXm3b97O+8Jnm0+7rNI1vwgGPAwAA72XeGHF2RIfG2ZV0h/dVR2GuLNcdc3X121BERPZiSPoQ7O1lvhdL7qO5GLBxgMwREZGpyYT9/a/dvH74vuFwcLTK7qFEHarDC7fe3t5QKBQtVteWlpa2WDF7lb+/f6v9lUolvLy82uxz/TUjIiKQkZGBuro6VFdXIyAgAImJiQgPv/GNdQICAhAWFoZTp061+rharW51Ja5KpbLpD0S2Hq8zY64sx1yZ+U/zR4/8Hjh05yHUH6/H+VfPo3xzOYbtHAaVx7X8dNV8NZxrwPHHj6PqxyoAgLaPFoG/Cry1izkBTVOaoE5VQ3dBB1O5CWr/lv+G0jVd9X1lDcyV5bpTrrrL6ySizkMbroWmpwaN5xpxedNlmD4zwUHFAhGRnH7U/Ci1+33aD24jrL8Qj6gjdPj/Ho6OjoiOjm7xFb309HTEx7d+p764uLgW/dPS0hATEyNNxm/Up7VrOjs7IyAgABUVFdi6dSumTp16w3jLy8tx/vx5BAQEWPT6iKhrUvurMSJ3BEJfCgVg3ut1V49dqMmqkTky6xGNIopWF2Fvr71S0dbvMT+MPDHytq7bOKdRal/d442IiIioOxm+f7jUPv7YcRkjIaIDww5I7cD5gfCf5S9jNETtY5WP/ZKTk/H3v/8dH330EfLy8rBo0SIUFhZi/vz5AMzbDzz22GNS//nz56OgoADJycnIy8vDRx99hHXr1uH555+X+ixcuBBpaWl4++23cfz4cbz99tvYtm0bkpKSpD5bt27F999/j/z8fKSnp+POO+9EZGQknnjiCQBAbW0tnn/+eWRmZuLcuXPYvn077rvvPnh7e+PBBx+0RiqIqBMRBAG9Xu+FQf8dJJ3LjstG8ZpiGaPqeKJRROmmUuwfvB+nnj4FiICmpwbDdg9D1CdRbW5rYxEFEPyHa5v8Z4/ObqMzERERUdfj6O0IpwHme6KUbiyFscEoc0RE3dPJZ06i9mAtAMCpvxP6rukrc0RE7WOVwm1iYiJSUlLw6quvYujQofjxxx+RmpqKsLAwAEBxcTEKCwul/uHh4UhNTcX27dsxdOhQvPbaa1i1ahWmT58u9YmPj8fGjRvx8ccfY/DgwVi/fj02bdqE2NhYqU9VVRWefvpp9OvXD4899hjGjBmDtLQ0adWuQqHAkSNHMHXqVPTt2xePP/44+vbti8zMTLi6ulojFUTUCXnd44XonGiovFUQ9SLOLjwL7Z+0MDWZ5A7ttugu63D+T+ext+9e5D6Si/rceihcFQh9KRQjT46Ee5z7zS9iobDXwuAY5AgAqN5djaPTjkI08UZlRGTfVq9ejfDwcGg0GkRHR2PHjh1t9s/IyEB0dDQ0Gg169eqFtWvXtuizefNm9O/fH2q1Gv3798eWLVuaPV5TU4OkpCSEhYVBq9UiPj4e+/fvb9ZHFEUsXboUgYGB0Gq1GD9+PI4dOwYism9DfxgqtY9MOSJfIETdVNk3Zbj4/kXpeMRR3n+DOh+r3ZxswYIFWLBgQauPrV+/vsW5cePGNbuJWGseeughPPTQQzd8fMaMGZgxY8YNH9dqtdi6dWubYxARAYDrUFeMKhyFE0+eQOnGUjjucERWVBai1kehxy96yB2exYx1RlzechmlG0pxZesV4KfFHgo3BYKeCUJIcghUXtbZHzLufBz2hO5B04UmlG0pQ1Z0FsLfCIfn3Z7Sjd9aI4oiGs81QjSK0EZob38FMBGRBTZt2oSkpCSsXr0ao0ePxgcffIDJkycjNzcXoaGhLfrn5+djypQpmDdvHj7//HPs2rULCxYsgI+Pj7T4IDMzE4mJiXjttdfw4IMPYsuWLZgxYwZ27twpLT6YO3cujh49is8++wyBgYH4/PPPMWHCBOTm5iIoKAgA8M4772DlypVYv349+vbti9dffx0TJ07EiRMnuPiAyI45+jjCLc4N1ZnVqNxeCf0VPVSe3JebyBaaippw9P6j0vGYqjH8uYI6JasVbomIOjuFVoH+G/rDfYI7Ti44Cd0FHQ5NOISAeQGI+FMElK72+09o5c5KXFx7EWVbymCqv7ZS2GWYCwLmBsDvV35Qulk3fkEQEHc+Dvmv5KPg1QLUHqzFkXuOwNHfEZ53e0LbVwuluxKmJhNM9SboSnWoP16P2uxa6Mv00nXG1IyB0sV+c01EXcPKlSsxZ84czJ07FwCQkpKCrVu3Ys2aNVi+fHmL/mvXrkVoaChSUlIAAFFRUThw4ABWrFghFW5TUlIwceJELF68GIB5u7CMjAykpKRgw4YNaGhowObNm/HVV1/hjjvuAAAsXboUX375JdasWYPXX38doigiJSUFL730EqZNmwYA+OSTT+Dn54d//vOfeOqpp1rE1tTUhKamJum4uroaAKDX66HX61v072hXx7DFWJ0dc9U+nTFf/b/rjz0eewAAWbFZiM6Ntsm4nTFXcmGuLNdZcmVqMiEz+Nq9NgbvGAxRK9o07s6SK3vQHXPVntfKn4SJiG7C9zFfZKmyELYxDBXfVaD4b8Uo/lsxog9EwzXavlY66S7pkPtILiq3V0rnNBEa+M30g+8jvnDu72zzmMKXhSPgyQAUvl2IkvUl0JXoULK+pM3nCEoBosG8tcKBoQcw6vQoW4RKRN2UTqdDVlYWXnjhhWbnExISsHv37lafk5mZiYSEhGbnJk2ahHXr1kGv10OlUiEzMxOLFi1q0edqsddgMMBoNEKj0TTro9VqsXPnTgDmlb0lJSXNxlKr1Rg3bhx2797dauF2+fLlWLZsWYvzaWlpcHJyukEWOt7PbyxMN8ZctU9ny5d2rBaOOxzReLoRW5dvhXGI7fa77Wy5khNzZTl7z5XbI24QYF5d2zC7ATvKdwCp8sRi77myJ90pV/X19Rb3ZeGWiMgCoruI/l/1x5V/XUHer/IAAFkxWRhdNtpqWw20V/X+amSPvLbljP9sf/jP8Yf7aHfZvxakCdOg7+q+6PVOL1TtrEJ1ZjUaCxphrDbCQesAhZMCSk8ltL20cBnmAufBzjjxhHmbisYzjag9UguXQS6yvgYi6rrKyspgNBrh5+fX7Lyfnx9KSlr/oKmkpKTV/gaDAWVlZQgICLhhn6vXdHV1RVxcHF577TVERUXBz88PGzZswN69e9GnTx9pnKvP+/l1CgoKWo1t8eLFSE5Olo6rq6sREhKChIQEuLm53Swdt02v1yM9PR0TJ06U7jVBrWOu2qez5ktMELHbyfwhkMsrLhitG231MTtrruTAXFmuM+Tq5OyTuNx4GQDg8ysf9P1QnpuRdYZc2YvumKur34ayBAu3RETt4PeoHxy0Djg23XxTmF0+uzDeNF7eoADoK/TNirZD/m8Ietxlf3vxKl2U8LrbC153e920b/8N/VG6sRQAcGDwAYwXx1s5OiLq7n7+IZcoim1+8NVa/5+fv9k1P/vsMzz55JMICgqCQqHA8OHDMXPmzBb3fmhPbGq1Gmq1usV5lUpl0x+IbD1eZ8ZctU+ny5cKGPjNQBy9z7zfZsELBej9p962Gbqz5UpGzJXl7DVXJZ+W4PI/zUVbQSVgwGcDZI7IfnNlj7pTrtrzOh2sGAcRUZfkM80HQc+YbxgDEch/P1JYEgAAPZ5JREFUJV/egADsCdsjtQenD7bLou2t6PVOL6l99KGjbfQkIrp13t7eUCgULVbXlpaWtljpepW/v3+r/ZVKJby8vNrsc/01IyIikJGRgdraWpw/fx779u2DXq9HeHi4dA0A7YqNiOyP973ecHAy//h9YeUF6Cu6z16O1FL13mrkPZ6H43OPw1BtkDucLqGxoBHHHz8uHY+tGStjNEQdh4VbIqJb0OevfaR2wasFsk64Lm+5DGONea+0wKcD4TnBU7ZYOlro70KhDjWvGivbXIaDdx1E1e4qaVUbEVFHcHR0RHR0dIu91dLT0xEfH9/qc+Li4lr0T0tLQ0xMjLSK4kZ9Wrums7MzAgICUFFRga1bt2Lq1KkAgPDwcPj7+ze7jk6nQ0ZGxg1jIyL7NDJvpNTeE7qnjZ7UVRlqDDi54CSyR2Xj0qeXULKuBDvdd8odVqcniiL29Lz2d2pE3gg4qFnuoq6B72Qiols0quDaDbP2Re6TJQZRFHFs2jHpuO978uzhZE2j8kfB+wFvAEDlD5XIGZ2Dvb324vic4yh4swAXVl1AyaclqD9h+QbvREQ/l5ycjL///e/46KOPkJeXh0WLFqGwsBDz588HYN439rHHHpP6z58/HwUFBUhOTkZeXh4++ugjrFu3Ds8//7zUZ+HChUhLS8Pbb7+N48eP4+2338a2bduQlJQk9dm6dSu+//575OfnIz09HXfeeSciIyPxxBNPADBvkZCUlIQ333wTW7ZswdGjRzF79mw4OTlh5syZtkkOEXUITagGAb8OAAAYa4248JcLMkdEtnRl6xVkhmTi4pqL5hPXVWPO/OGMPEF1EUfuOSK1e6/qDed+tr8hM5G1cI9bIqJbpAnVwO8xP1z69BJ0JTpcSb8Cz4m2Xe16euFpqT3ov4NsOratCA4CBm4ZiPoT9Sh4swCX/3UZjecaUfJRyxsGeYz3wMCvB0Lpyv/eiKh9EhMTUV5ejldffRXFxcUYOHAgUlNTERYWBgAoLi5GYWGh1D88PBypqalYtGgR3n//fQQGBmLVqlWYPn261Cc+Ph4bN27Eyy+/jCVLliAiIgKbNm1CbGys1KeqqgqLFy/GhQsX4OnpienTp+ONN95otvfZ73//ezQ0NGDBggWoqKhAbGws0tLS4OrqaoPMEFFHivwgEsUfFgMATiedRsC8ACicFDJHRdZkqDLg7AtncXGtuWCr9FSi7+q+8E30xXZhOwDg/DvnEf5aOBwcubauvaoPVOPKd1cAAOpgNYKfDZY5IqKOxZ9siYhuQ7/1/XDp00sAgMMJh216Ay1jnRFFfy0CADhoHOB1z81v+NWZOUU6IeqTKPRd3RcV/6tA9d5q6Ip1MNYZ0XiuETV7a1C5vRK7/XdjcOpgeIzzkDtkIupkFixYgAULFrT62Pr161ucGzduXIubiP3cQw89hIceeuiGj8+YMQMzZsxo8xqCIGDp0qVYunRpm/2IqHOIPROLvRF7AQB7eu7B6NLRMkdE1iCKIko3luLU06dgqDBvq9ZjYg/039Qfqh7mD+dGFYyS7lVxaMIhDPtxmGzxdlbZI679Pxx7JraNnkSdEz/OISK6DYIgoP+m/tJx7qO5Nhv70MRDUnvkyZFt9OxaFM4KeN/njV6v90K/df0wYOMARO+JRuTHkQAAU70JB8cfRFVmlcyREhEREbWk7aWF76O+AAD9ZT0ufnhR5oioIxmqDbi85TKyorOQNzMPhgoDHP0d0X9TfwxJGyIVbQHzN/hcY83fnqjaUQVjo1GusDul4o+LpXbEigiuWKYuie9qIqLb5DvDFw4a8z+npf8sRdHqIquPqa/QozqzGgDQY0IPaEI0Vh/T3gXMDsCIYyOk45z4HNQerpUxIiIiIqLW9f/82gf/J586Cf0VvYzRUEdoPN+IvFl52OW7C8emHUNtTi0EtYDg5GDEno6F7wzfVp83dPtQqZ3/cr6Nou38jHVGnHjyhHQc8tsQGaMhsh4WbomIOkB86bU7e596+hSy47JR+u9Sq423L+razdAGfds197a9Fc79nTHou2v5ODDkAC6s4o0/iIiIyP6MyLv2gXNmUKaMkdDtqtxZiT2he3Dp80sQm0RoemoQtDAII3NHovefekPhfON9jBUaBbR9tACAC3/ivNVSO1x2SO3h+4fLGAmRdbFwS0TUAZSuSoypHgOv+837zFbvqUbuw7k4NuNYh49Vk10D/SXzqgy/WX78StDPeN3thejsaCjczBPk0wtP4+j0ozJHRURERNSccz9nBD0bBAAwNZqQv4SrLTuj4o+LcXDsQel4UOogxJ6NRZ+UPtD20lp0jb4f9pXa+X/k++BmzvzujNQOeCoAbjFuMkZDZF38aZ+IqIMoXZUY9NUgxF2Ig2uMea+qy19cxsUPOm7fMlEUkRWdJR33+6Rfh127K3Ed5or4kniog9UAgLL/lCFnbI7MURERERE112dVH6ld8HoB6nLrZIyG2uvc6+eafV0/OjsaXpO9IAhCu67TY3wPqV3wWgF0l3QdFmNX03C2AedXnJeOI9dGyhgNkfWxcEtE1MHUQWoM33ft6zon55+87RtlNRY2ouSzEuSMuVZ87Pu3vu2eFHYnCq0CowpHwTHIEQBQtbMKWSOybvIsIiIiItuKv3Rty639A/ZDNIoyRkOWEE0ijj18DOeWnJPOxZfEw3WY6y1fc1ThKKm923/37YTXZYkmEXsj9krHcUVxMkZDZBss3BIRWYEgCBh5aqR0nBOfc0ufnJsMJpz+7WnsCd+D448dR/Vu8w3JXEe6InBuYIfF21UJgoC483HQ9DLfvK3mQA0OTTwkc1RERERE1zj6OiJy3bVVg/sH7pcxGroZfaUemUGZuPzvywAA1xjX/2/vzsOjqNK2gd/VnU5nodPZN7ICYU1AEiCEfVBRlMURBZUXF5SRUVREHWCUER13HT5mREVn0BE3eOd1GwWFMEJYshAIayAQSEhIyALZ1+5O9/n+yFChTQidkF6S3L/rykVX1amqU89VTZ48ffoUJtZNhHOA83Ud1yXUBaHLWx6wdeaZM9d1vJ4oLaqlaDvgrwOgDlbbsTdEtsHCLRGRlbgNcEPM1pYHZSUHJndoBEX9mXqkRaahYE0BYAJcB7mi75N9Ef1dNOLS4qzR5R5JkiTEn4mHpGoenVyxowIn/ueEnXtFRERE1CJoYRD6xPYBANRn1aPon0V27hG1pf5UPZL9k6Evbh6QEf5COOLS46B0u/rDxzqi/xv95dcFawqgK9J1yXF7guynstGY0wgA8Jnlg5AnQ+zcIyLbYOGWiMiKfKb7IPLVSHk5NTLVov0qkyqxP2o/dAXNydqAvw7AmJNjEPXXKPjO9rVKX3sySZIwqXGSvFz6RSny38q3Y4+IiIiIzMWlt3wwf+qhU2gsaLRjb+jXSr4swf7B+yEMzQMxBrw7AJF/jrzGXh2XcKHl6/9p/dLaadl7FG8sRuHfCuXlmO9j2mlN1LOwcEtEZGXhfwyHdpIWAKA7r8OhKYdwfu15lCeWoyG3AaYmk1n7mkM1ODzlsLw8MnkkQp4M4Xy210lSSJhkaCne5izPQcG7BXbsEREREVELSSFh1LFR8nJqaCqEifPd2ptJZ8Kx2cdwcv5JAIBzkDNi02IRssQ6Iz7VQWoEL26eEs3UaELxZ8VWOU93UfFLBbIeyJKXx1eMt2NviGzPyd4dICLqDW7YdQOOzzqOsh/LUJVUhaqkloeVSU4SnPs6Q+gFjPVGGKuM8rYR/xkBbYLWHl3ukRROCkyonIC9nnsBAGeePAOFiwLBizhfMBEREdlfn+g+6PdmP+QszwEA7B+8H/Gn4+3cq96ren81Mudkyt+C877VG0P/NRROfaxbSol6PwoX1l8AAGTdnwX/ef5QOPe+cXeVeypx5MaW51OMPjEaKk+VHXtEZHu9751PRGQHkiQh5ocYjDk1BhGrI+B9uzfcBrtBcpYgmgR0eTroi/Ry0VapUWL49uHwmupl5573PE5aJ4wrbXl68+nfnUb5jnI79oiIiIioRdgfwtAnrnm+24bsBuS/w+mdbM2kMyH7yWxkxGfIRdv+a/pj+E/DrV60BZr/dohNi5WXD8QesPo5Hc2lHy7h8KTD8vINSTfAfYi7/TpEZCcccUtEZENuA90Q8WKEvCyMArpCHXSFOihcFFC6K+Hk5QSVr4pTI1iRs58z4nPi5XnDjt58FGOyx8BtgJude0ZERETUPN9tkiIJAJDzXA58ZvjAfTCLVtYmhMClby4h+4ls6IuaH0CmnajF4I2D4RrhatO+eIzxgOcUT1TuqkR9Zj0u/XgJvjN6x7Mu8t/OR84fcuTl2LRYeIzxsGOPiOyHI26JiOxIUkpwCXOBNkELzUgN3Aa6wdnPmUVbG3CNdMUNSTfIy/uj9kMYOY8cERER2Z8kSRibN1ZeTh+SDiGYp1hNPVC8oRgHRhxA5l2Z0BfpoeyjRNQHURi5e6TNi7aXjfjPCPn18ZnHYdKb2mndM1z4xwWzom3ChQQWbalXY+GWiIh6Lc9Jnhjw7gB5eU+fPXbsDREREVELlzAXDPxwoLyc1j/Njr3pmXSFOpxdchYeD3vg7O/Pou5YHSQnCcGPByM+Nx59F/e1a/8khYQbdt8gL+/z2We/zthAeWI5Ti86LS8nFCZAHaS2Y4+I7I+FWyIi6tVCloTA7y4/AM1P7j1y65Fr7EFERERkG8G/C4ZmlAYA0JjbiGOzj9m5Rz1DU20Tcp7PQdqANBR/VAypQYJLlAsiX4lEQkECBq4bCGdfZ3t3EwDgOdET/vP9AQDGWiMy7860c4+so2JnBY5OOyovx+fGQx3Moi0RC7dERNTrDfvXMCj7KAEAFdsqkP8WHwJCREREjiF2fyzQnKag7N9lyHooy74d6uYufnMRKSEpyH8tH6ZGE9yHu6PuhTrEHotF+PPhcA5wjILtlYZ+PhSSc/NUahf/76JVc1UhBBpyGlCXWYeGsw0wVBqsdi4AMJQZkPVIFo5MbRk8MTLZftNTEDkaFm6JiIgAjC8fL7/OWZ6Dyt2V9uuMnTTmNeLUolNIDklGSkQKqpKr7N0lIiKiXk+SJEzWTZaXi/9ZjLMrztqxR92TscGIrEeykDknE8YqI5x8nDDkiyEYsX8EmkY1QVI49jMmJlZPlF/nLM/BpR8udenxGwsaceaZM0gJSUFa/zSkR6cjbUAa9nntw8GxB1H0SRFMjV03x64wCeS/k4/U/qko3lAMAPAY74Gx+WOhTdB22XmIujsWbomIiAAoVAokXEiQlw9PPgxDhXVHGDiKxvxGnFl2BmlRaSj6RxH0hXro8nQ4NP4QH4RCRETkACSlhEmNk+Tl82+eR9EnRXbsUfdSnVaNtKi0lgLhWA/EZ8cj4L4Ahy/YXqZQm+eqx2cdR3V69XUfV5gETi44ibQBaShYUwD9BT0kZwlOPk5QuDeXjGrSanBq4SnsD90Pt7fcUPRhEepP1Xc6T6zLrMOBGw4g57kcGKuMcOnvgqGbhyJ2byxcQl2u+5qIehIne3eAiIjIUaiD1Bj+83AcvbV5fq193vswRUyxb6esRAiB2kO1OP/2eZRuKpXX9xnZB9qJWhT+rRAAUPhuIUKeDLFXN4mIiOi/FGoFxleMxz6v5gdUnVp4Cu5D3eER72Hnnjm2nD/mIP/15qkFJJWEqPejEPxIsJ171TnqIDVi02KREZ8BAMgYk4HRmaPhPtS9U8czNZmw13MvTHXNI2n7xPZB2Iow+Mz0gdKleX4OXbEOxR8Xo3BdIfRFeqiSVchJzkEOcqDyV8FjjAfcR7jDfag71GFqqLxVgABMBhOEQcg/TdVNaMxtRNXeKlz85iJgbO5D5KuRCP1DKBROHFdI1BYWbomIiK7gfYs3QpaFoGBNAQDg6PSjGP7TcDv3qmsIIaA7r8Ol7y+haEMR6o7Uyds8xnkg9NlQ+N7hC0mS5MLtmafOsHBLRETkIFSeKow+ORrpQ9IBABljMzAmawzcBrnZuWeOx6Q3Yf+g/Wg81wig+cPpmB9ioO7bvR945THGA8O+HYbM3zY/pCx9WDpi98fCY3THCvjGBiOSA5Plom3wY8GIWhcFSTIfgawOVCP8j+EIWx6G8n3lSF+fjoCiAFQnV8NQakDZj2Uo+7Gsw9ehnaxF1LtR6BPTp8P7EvUmLNwSERH9yoC/DEDJFyUwlBhQ/nM5Ct8vRN/H+tq7Wx0mjAJlW8pw8f8uov50PXR5OuiL9fJ2SSXBZ5YPQpeFQjvOfC6xETtH4Mhvmh8SUb6tHN63eNu070RERNQ298HuiNkag2O3HQMA7B+8HxOqJ8BJwz/vLzPWG7HHfY+8HLAgAIM/HdyqKNld+d3hh+gfonF85nEAzSNvh309DH53+lm0v65Ih9SIVAh981QHAfcHYOB7A9vdR1JK8EjwgK5Ch+jboqE0KVFzsAY1B2pQe7QWDdkN0F/Qw1BugKSQIKlafhQqBRTuCqhD1OhzQx/4zPCBxyiOFCeyBP9nJyIiakNCQQJ2q3YDALIfz4bXNC+4DXDM0SzGBiPOLD2D2sO1zcmxiwJOWifUHatDQ3aDeWMJ8EjwgN8cPwTMD7jqk5O9pnjJr08vPo2xuWOteQlERETUAT7TfTDww4E4/ehpAMBej72Y3DQZkrJnFCavh/6SHqmhqfJyyLIQDPjLADv2yDp8Z/hixI4ROHJT8wftmXMyEbQoCP3e6Nc8XUEbhEmg5PMSnP79abloG/FSBCL+FNHh8yvUCmjHaVt9+E9EXYuFWyIiojYonBSIz41HWmQaAGB/1H5M0k2Cwtnx5t/a47bnqtuUHkoE3h8Iz6meUPdVw22oG5z6WPbrP/xP4ch7OQ+N5xohjIJ/DBIRETmQ4N8Foz6rHgX/r3l6pz3aPZhUO+kae/VshjIDkv2S5eW+T/btkUXby7xu9MKE6gk4Of8kyn4oQ9Hfi1C6uRRBC4PgM8sHrlGuEDqBxvxGVO6sRMmXJWg82zx1hMJNgSEbh8BvjmWjdInIPli4JSIiugrXCFcMXD8Qpxc3j2bZ57MPE2sm2rlX5rIeypJfBy0Kgvet3jDWGqEr1MHZ3xl+d/nBSdu5X/dhK8OQ93IeAODC+gvo+3j3my6CiIioJxuwZgAachpQ9n0ZTHUmHL3tKIZv7Rlz83eU/pLerGg7+NPBCLw/0I49sg0njRNi/h2DS/++hLN/OIuGUw0oWFuAgrUFbbZXapTo+3hfhL8QDqW70sa9JaKOYuGWiIioHcGPBqPiPxW4+K+LMNYacfL+kxiycYi9uwUAqE6rRvE/iwEAClcFBn00qEuPr3RRQqlRwlhjxNlnz7JwS0RE5IBivovBPr99MFwyoPynclz4xwX4PdC7RlE21TSZFW37vd2vVxRtr+Q7yxc+t/ugbEsZSv+3FFW7q6C7oIPSTQknrRM08Rr4zvSF752+nA+ZqBvhu5WIiOgahv3vMOySdgEASj4rQcCCAHjfbN+HdRnrjcgYmyEvjy8bb5XzDPh/A3DqkVMwNZpgqDRA5dn2nGlERERkPwlFLXPzn150GtrpvWfe0aaaJuz12Csvh60IQ9izYXbskf1ISgm+s3zhO8vX3l0hoi7ieBP1EREROaBJjS1zxh2ddhQNuQ3ttLYeIQTKd5QjpW+KvG7ov4ZC6Wqdr7oFLmwZrZL/Wr5VzkFERETXR+GkwKhjo+Tl9JB0wGjHDtmIsc5oVrQNWRaCfq/3s2OPiIi6Fgu3REREFlCoFbhhzw3yclq/NOhL9DY5t6HCgAv/uICsh7KQGpmKozcfRVNlEwCg3xv94H+Xv9XOLUkS3Ia5AQDOv33eauchIiKi69Mnug8iX4uUlzUPaOzYG+ury6pDcnDL9AgRqyN69IPIiKh3YuGWiIjIQp4TPDHok5Z5ZJMDk6EvtV7x1qQ3IXdVLlLDUnF60WkU/7MYujwdFC4KBDwQgFHHRiFsufW/Ctj/zf7ya2NdLxi+Q0RE1E2FrwyH9/Tm6ZwUtQpk3Zt1jT26p+r91Ugfkg5jdXNeErYiDBEvRti3U0REVsA5bomIiDog6MEgGEoMyFmRAwBIDkjGhJoJcOrTtb9Sq9OrcXL+STRkN0/J4DbUDX53+kEzSgPPqZ42faiE920t8/kWf1qMvo/xIWVERESOavjW4dit2Q1TrQllX5fh6O1HMXzLcHt3q8tUpVbhUMIhefmGpBvgOcnTfh0iIrIijrglIiLqoLDlYYh4KUJe3qvZC5PO1CXHbqppwqlFp5ARn4GG7AZIKglR70dh9LHRiPxzJHxn2/5JwJIkwaWfCwDg/BpOl0A91/vvv4/IyEi4uLggLi4Oe/bsabd9UlIS4uLi4OLign79+mH9+vWt2nz99dcYOnQo1Go1hg4dim+//dZse1NTE1544QVERkbC1dUV/fr1w8svvwyTqeX/lAcffBCSJJn9jB07tmsumoh6pLGXxsKkbf5/pHxrOU7ce8LOPeoa1WnVZkXbEf8ZwaItEfVoVivc2iPxrampwdKlSxEeHg5XV1eMGzcO6enpZm2EEFi9ejWCg4Ph6uqKKVOmIDMz8/ovmIiIepWIP0Wg71MtI093u+yGMIpOH0+YBC58eAGpYako+kcRIADtZC3is+PR9/d9ISmkruh2p/nf2zyPbuPZRgjR+eskclSbN2/G0qVL8fzzz+PQoUOYOHEipk+fjvz8th/Kl5ubi9tuuw0TJ07EoUOH8Mc//hFPPvkkvv76a7lNSkoK5s2bhwULFuDIkSNYsGAB5s6di7S0NLnNm2++ifXr12PdunU4efIk3nrrLbz99tt49913zc536623oqioSP7ZunWrdQJBRD2CpJBQ888aebl0UymyHu7e0yac/8t5ZIzNkJejf4iG11QvO/aIiMj6rFK4tVfi+8gjjyAxMRGfffYZjh07hmnTpuGmm25CYWGh3Oatt97CmjVrsG7dOqSnpyMwMBA333wzampqQERE1BFRa6MQ+GCgvJzknASToWMjb4UQuPjdRRyMO4jTi0+jqbIJTt5OGPqvoRi5ayRcwl26utudEvpsqPy67McyO/aEyDrWrFmDhx9+GI888giGDBmCtWvXIjQ0FB988EGb7devX4+wsDCsXbsWQ4YMwSOPPIKFCxfinXfekdusXbsWN998M1auXInBgwdj5cqVuPHGG7F27Vq5TUpKCmbPno3bb78dERERuOuuuzBt2jQcOHDA7HxqtRqBgYHyj7e3N4iI2iUB4+rHwcmz+Zs6xR8X4+DogzCUGezcsY4x6U3IvDsTZ589CwBQ+aowOnM0fGf42rlnRETWZ5XvWl6Z+ALNSeu2bdvwwQcf4PXXX2/V/srEFwCGDBmCAwcO4J133sGcOXPkY1xOfAFg5cqVSEpKwtq1a/HVV1+hoaEBX3/9Nb7//ntMmjQJALB69Wp89913+OCDD/DKK69ACIG1a9fi+eefx5133gkA+PTTTxEQEIAvv/wSjz76aKu+6XQ66HQ6ebm6uhoAYDAYYDBY/xfe5XPY4lzdHWNlOcaqYxgvy/XGWPX/qD+a6ppw6V+XABOQNigNIw+PhNJV2e5+umodVEkqHHn5COoy6gAAklpC8JPBCFsVBoWLwrHi6N7yMu+1PGhv1drs1L3xvuqszsRKGAUacxrRcLoBjecaYSg2wFBugLHSCGEQgBMgKSVIThIkpQQoIb+WnCQoXBRw8nSCk7cTnLycoPJVQeWrgusgV0hO1h8p3hX3hV6vx8GDB7FixQqz9dOmTUNycnKb+6SkpGDatGlm62655RZs2LABBoMBKpUKKSkpePrpp1u1ubJwO2HCBKxfvx6nT5/GwIEDceTIEezdu9esDQDs2rUL/v7+8PT0xOTJk/Hqq6/C39+/zb4xf+0+GKuOYbwsdzlGTaIJY0rG4OySsyj5ewlqDtRgX8A+RG+LhnaS7X6Xd1Z9Zj1OzjmJxpxGAECf0X0Q80sMFOquy5N4X1mOsbIcY2W53hirjlxrlxdu7ZX4NjU1wWg0wsXFfGSSq6sr9u7dC6B5ZG9xcbHZudRqNSZPnozk5OQ2C7evv/46XnrppVbrt2/fDjc3t6tEoeslJiba7FzdHWNlOcaqYxgvy/W6WM0HXItd4bzHGbpcHfYN2gfdHB0M4w3Ar35VKM4roP5ODdU+Fdwa3VCHOghnAf00PXRzdKj0qsSJXxxzHjqXGS5Q/6hGTWqNXb6m3evuq+vQbqx0gNMJJyiPKeGU6QRlrhKSvusLrNUbqyE8rD+tRn19/XUf49KlSzAajQgICDBbHxAQgOLi4jb3KS4ubrN9U1MTLl26hKCgoKu2ufKYy5cvR1VVFQYPHgylUgmj0YhXX30V9957r9xm+vTpuPvuuxEeHo7c3FysWrUKU6dOxcGDB6FWq1v1jflr98NYdQzjZTk5VrcDTn5OcH/NHTACx286jobfNUB/m96+HbwaAaj/Tw2XL1r+vm9c0IiqOVUo/E9hOzt2Hu8ryzFWlmOsLNebYtWR/LXLC7f2Snw1Gg0SEhLw5z//GUOGDEFAQAC++uorpKWlISoqSj7P5f1+fZy8vLw2+7Zy5UosW7ZMXq6urkZoaCimTZsGDw+Pa4XjuhkMBiQmJuLmm2+GSqWy+vm6M8bKcoxVxzBeluvVsboNKPmkBGeXnIWyWAm399yA9YBmlAbqMHXzqMZzjfLoWgAw+ZoQsjAEwb8Phrpv6+KLo6nvV49DPzY/EGRKxBS4DbVNAahX31cddLVYCSFQ9UsVSj4pQfmP5TDVm0/poXBVwHWgK1wiXeAc7AwnHyc4aZ0gqSXACIgmAWEUZv9eXm9sMMJYYURTRROaKppguGhAU0UTbp17q03mZr48mrQrSJJ5f4UQrdZdq/2v11/rmJs3b8bnn3+OL7/8EsOGDcPhw4exdOlSBAcH44EHHgAAzJs3T24fHR2NUaNGITw8HFu2bJG/RXYl5q/dB2PVMYyX5dqM1W1A/dx6HLqh+Xe560euiI6NRuDCwHaOZHu6fB2y7s1CbXotAMAtxg2DPh8EtyHWyTt4X1mOsbIcY2W53hirjuSvVnsstT0S388++wwLFy5E3759oVQqERsbi/vuuw8ZGRlm+3Wkb2q1us2RDCqVyqY3lK3P150xVpZjrDqG8bJcb41VyO9CEDAnABc+uoDij4vRcKYBNWk1qEkzn0fd+zZvBC0JQnJjMiJnRHabWGljWr5SeeEvFzBk4xCbnr+33ledcTlWhkoDij8pRtFHRajPavlk37mvM7xu8oLXVC9oxmjgFuXWPA1CN9QV94Svry+USmWrQQalpaWtPvC/LDAwsM32Tk5O8PHxabfNlcd87rnnsGLFCtxzzz0AgJiYGOTl5eH111+XC7e/FhQUhPDwcGRnZ7e5nflr98NYdQzjZblfx0o7QovxZeOxz2cfAODs4rPwu80PLqGOMaf+pR8v4fjM4/Jy6LOh6PdmP5t8EMj7ynKMleUYK8v1plh15Dq7vHBrz8S3f//+SEpKQl1dHaqrqxEUFIR58+YhMjJSPgbQPPI2KCjIor4RERF1hMpHhfCV4QhbEYbGnEZUp1dDX6yHpJTgHOAM7QQt1MHq5nmNuuFD4b2ne6P8p3KUfFZi88ItWU5XoEPee3m48MEFeXStwk2BgPkBCFoUBM0oTbsfqPc2zs7OiIuLQ2JiIn7729/K6xMTEzF79uw290lISMAPP/xgtm779u0YNWqUnIwnJCQgMTHRbLqv7du3Y9y4cfJyfX09FArz5wUrlUqYTFd/0GFZWRnOnz9vls8SEVlK5a1C/Nl4pPVvftB3algqJpsm2/33Qs4fc5D/essDzUf8MgJev/GyY4+IiOxPce0mHXNl4nulxMREsyT1SpeT2itdLfH9dZu2junu7o6goCBUVFRg27ZtcsIdGRmJwMBAs+Po9XokJSVdtW9ERESdIUkSXPu7IuCeAIQuDUXIEyHwn+sPdbDjT4nQnrAVYfJr/UUHnRevFzLpTahKqcL5V8/DfaU7DvQ/gIK/FMBUb4LbYDdEfRCFcUXjMOijQfAY7WH3P84d0bJly/CPf/wDH3/8MU6ePImnn34a+fn5WLx4MYDm6Qfuv/9+uf3ixYuRl5eHZcuW4eTJk/j444+xYcMGPPvss3Kbp556Ctu3b8ebb76JrKwsvPnmm9ixYweWLl0qt5k5cyZeffVVbNmyBefOncO3336LNWvWyAXk2tpaPPvss0hJScG5c+ewa9cuzJw5E76+vmZFZiKijnDt54p+b/WTl1P6ptixN0DmvEy5aKvyU2HsubEs2hIRwUpTJSxbtgwLFizAqFGjkJCQgI8++qhV4ltYWIiNGzcCaE58161bh2XLlmHRokVISUnBhg0b8NVXX8nHfOqppzBp0iS8+eabmD17Nr7//nvs2LFDfvAYAGzbtg1CCAwaNAhnzpzBc889h0GDBuGhhx4C0PxH9NKlS/Haa68hKioKUVFReO211+Dm5ob77rvPGqEgIiLqUbQTW6ZLOPfSOQxcN9COvenddIU6lP9cjrKfylCxvQLGGiMAwOm/6Z12ghYhy0LgO9vXJl8x7e7mzZuHsrIyvPzyyygqKkJ0dDS2bt2K8PBwAEBRURHy81tGgkVGRmLr1q14+umn8d577yE4OBh/+9vfMGfOHLnNuHHjsGnTJrzwwgtYtWoV+vfvj82bNyM+Pl5u8+6772LVqlV47LHHUFpaiuDgYDz66KP405/+BKB59O2xY8ewceNGVFZWIigoCL/5zW+wefNmaDQaG0WHiHqisOfCcPHri6hJq4G+SI8T/3MCQz8favN+FG8sxsX/vQigeSqfsbljoVB1+RgzIqJuySqFW3slvlVVVVi5ciUKCgrg7e2NOXPm4NVXXzWbO+IPf/gDGhoa8Nhjj6GiogLx8fHYvn07E18iIiILSJIEt2FuqM+sR+mXpSzc2lhDbgNKvyrFxf+7iNpDtWbbnHycoJ2oRUFgASYsmwBNFHObjnrsscfw2GOPtbntn//8Z6t1kydPbvUshV+76667cNddd111u0ajwdq1a7F27do2t7u6umLbtm3tnoOIqLPiUuOQEpoCXYEOpV+Uojq1GvHZ8Tb7Zoax0YisB7Lk5YS8hG475zoRkTVY7eFk9kh8586di7lz57Z7DEmSsHr1aqxevbrddkRERNS2yJcjkTknE00VTRBGwT+wbKDhbAPOLj+LS99dAoz/XSkBmtEaeE/zhs9MH2hGadBkbELO1hy4RDjGQ2aIiMjxjc0fi+N3HEfZv8vQeLYRmXMyEf1NtE3OfWLuCfn1qGOjmFMQEf2K1Qq3RERE1DP5zPCRX5dtKYPvLN8uO7ax3ghJKUGh5lckAcBkMCFnRQ4K1hTI67STtPC/xx9+d/nB2c/ZfAcjiIiIOkSSJMR8H4Pd7rthqjfh0reXoL+kh7Ov87V3vg4mvQllP5QBANyGuaFPdB+rno+IqDti4ZaIiIg6ROGsgMJFAVOjCacfPX3dhVuTzoTijcUo/qQY1anVgAAktQTPSZ4IXxUO97HuXdTz7qXiPxXIWpgFXb4OAKAZo8GANQOgHa+9xp5EREQdN6F8Ana77AYAHL35KEYdGmXV82UtbJkiYeSekVY9FxFRd8XhLERERNRhIc+EAAD0xXroLug6dQxjvREFfy1AamQqTv/uNKpTmou2ACB0AhWJFTg86TAK3ilo/0A9TF1WHY7feRxHbjoCXb4OCncFBqwdgNjUWBZtiYjIahRqBXx/2/xhbO3hWuiKO/f73RJCCJR+UQoAcI92h8pLdY09iIh6J464JSIiog6LeDEC+a82P2g0tV8qJjdOtnhfYRQofK8Qea/lwVBiAACo/FUIeTIEAf8TAKVWiYbsBhwadwiiSSDvj3lQ360GbrPKpdiModyA+qx6NFU3wVhjhLH2vz81RhjKDDDWGFF7tBY16TWAqXmfwIcC0e+NfnD2t+7XVYmIiABg6FdD5VG3GWMykJCfYJXznH/rvPw6ZmuMVc5BRNQTsHBLREREHaZQKdD3ib4ofLcQQidw7pVziHghot19hEmgdFMpcp/PReO5RgCAOkSN0OWhCHo4CEpXpdxWNVqF8WXjsVe7FwDg8i8XlN5Sir4P97XaNXU1YRSoO1mH8p/KUfxpMeoz6y3e1/t2b0T8KQIeYzys2EMiIiJzCrUCAQsCUPJZCXTndajProdblFuXnkMIgZwVOQAApVYJl1A+UJOI6GpYuCUiIqJOifpbFArfLQQAnFt1Dm6D3eB/l3+rdia9CSWfl+D82+dRn9VcvFR6KBH2hzCELAsxK9heycnDCRMbJmKP6x4AQPYj2fC91RfqvmorXdH1a8xvxMVvLqJiWwWqkqtgrDZ/Wpg6TA2VjwrKPkooNUr5X5WXCkoPJZyDnOE5xRNuA7r2j2QiIiJLDfp4EEo+KwEA7B+0H1NMU7r0+FkPtsxtO2LbiC49NhFRT8PCLREREXXauIvjkOyXDAA4cfcJVCyqgNeNXhBCQOgEao/UouTLEnlKBGUfJUKeDkHos6Fw8rh2GqJ0UeKGjBtwOPYwACAlJAWTTZMhSZLVrqkzGs83IntJdvPTsUXLeoW7Ah5jPeB3lx/85/pD5c05/IiIyLEpnBSIWB2Bc6vPAQK4+N1F+N3h1yXHbsxvRMnG5qKwyl8Fj3h+s4SIqD0s3BIREVGnOfs6Y3zZeBy95ShqDtSg6O9FKPp7Uat2l+ewDV4cDJVPx4qX7tHuaFzQCJfPmr9KeWzmMQz/cXiX9P96NdU0ofTLUpxefFpe5zHeA36/9YPnbzzRZ0QfSErHKjITERFdS8SL/y3cAsj8bSamiCldctzUiFT59ejjo7vkmEREPRkLt0RERHRdVN4qxO6PReXOSpR8VoL60/VQOCsgqSWog9Xwvs0bvrN8oXBWdPocujk6aLZpYCg1oHxLOSqTKuE52bPrLsJC+lI9KndWompfFapTq1F7pBZC3zLEduS+kdCO09q8X0RERF1t2LfDkPnbTABA/jv5CHs27LqOl7sqV/5WSvifwuHsxwdvEhFdCwu3REREdN0kSYLXVC94TfWy2jlG5Y5CinsKAODwlMOY3DTZqqNZhRBoON2Ayt2VqNpbheq0ajScamjVznWgKwIfCkTfx/vCScPUioiIeoYrp0fIeS4HPjN84D7YvVPHqk6vRt4refJy5EuR190/IqLegH9dEBERUbegUCkQ/V00jt9xHACQEp6CcQXjuuz4Qgg0nmtEZVIlyn8qR+UvlTBcMrRq5z7CHdoJWmgnaKGJ1cA1ytXh5twlIiLqCqNPjkb6kHQAQPqQdCQUJHToIaFCCNQdq0PGmAx53bjSrvvdTUTU07FwS0RERN2G72xfeN3khYodFdAX6pHzQg76vdKv08cz1htR/lM5KnZWoPI/lajPqjfbLqkleIz1gHa8FtpxWmjiNXD25Vc7iYiod3Af7I7BGwcj6/4sAMD+Yfsx/Ofh0I5tf1ogY50ROStyULq5FIaLLR+CRn8XzSkSiIg6gIVbIiIi6lZGJI7ALmkXACD/1Xx4jPaA72xfi/a9PPKnbGsZKrZXoDqlGqZGk7xdcpLQZ2QfeN/iDa9bvOAx2gMKdefn5iUiIuruAhcEQlJIOPk/J2GsMuJQwiFE/DkC4SvD25yyqPpANY5OO4qmiiYAzb9bNWM0iHgpAt43edu6+0RE3RoLt0RERNTtjCseh+TAZADA8TuOY9jXw+B3p1+bbQ0VhuapD/47BYLuvM5suzpcDZ8ZPvD6jRc8p3pC5aWyev+JiIi6k4D5AdBO1uL4zOOoPVyLc6vOofTLUoT/KRx+c/ygUCkghEDey3k49+dzgLF5v4EfDUTg/YH8EJSIqJNYuCUiIqJuxznAGaOOjsKB4QcAAJlzMuEz2weu/VwhDAImgwnGWiPqjtSh7kQd0DKoFpJagtdNXvCZ7gPP33jCbYgb56glIiK6BpcQF8RlxCH/jXyce/Ec6k/W4+S9J3E28Cx8Zvug7mgdqlOqm9v2c8Hwn4bDbaCbnXtNRNS9sXBLRERE3VKfmD6YWDsRmfMyUb6lHGXfl121rdtgN3jd4gXvad7wnOwJpbvShj0lIiLqGSRJQvjKcAT/LhgFfy3AhQ8uQF+sR9GHRXKb4MXBiFoX1eY0CkRE1DEs3BIREVG3pXRXYviPw1FzsAZlP5bBWG+EwlkByVmCQq2A2yA3aMZooA6y/AnYRERE1D6VjwqRL0ci/IVweToihVoBv7l+0IzU2Lt7REQ9Bgu3RERE1O1p4jTQxPEPRSIiIltSOCvgO9vX4oeEEhFRx3CGcCIiIiIiIiIiIiIHw8ItERERERERERERkYNh4ZaIiIiIiIiIiIjIwbBwS0RERERERERERORgWLglIiIiIiIiIiIicjBO9u5AdyOEAABUV1fb5HwGgwH19fWorq6GSqWyyTm7K8bKcoxVxzBelmOsLMdYWY6xslxvjNXlnOxyjkatMX91XIxVxzBelmOsLMdYWY6xshxjZbneGKuO5K8s3HZQTU0NACA0NNTOPSEiIiKiy2pqaqDVau3dDYfE/JWIiIjI8ViSv0qCwxM6xGQy4cKFC9BoNJAkyernq66uRmhoKM6fPw8PDw+rn687Y6wsx1h1DONlOcbKcoyV5Rgry/XGWAkhUFNTg+DgYCgUnAWsLcxfHRdj1TGMl+UYK8sxVpZjrCzHWFmuN8aqI/krR9x2kEKhQEhIiM3P6+Hh0Wtu4OvFWFmOseoYxstyjJXlGCvLMVaW622x4kjb9jF/dXyMVccwXpZjrCzHWFmOsbIcY2W53hYrS/NXDksgIiIiIiIiIiIicjAs3BIRERERERERERE5GBZuHZxarcaLL74ItVpt7644PMbKcoxVxzBelmOsLMdYWY6xshxjRY6A96HlGKuOYbwsx1hZjrGyHGNlOcbKcoxV+/hwMiIiIiIiIiIiIiIHwxG3RERERERERERERA6GhVsiIiIiIiIiIiIiB8PCLREREREREREREZGDYeGWiIiIiIiIiIiIyMGwcEtERERERERERETkYFi4dXDvv/8+IiMj4eLigri4OOzZs8feXbKq119/HaNHj4ZGo4G/vz/uuOMOnDp1yqzNgw8+CEmSzH7Gjh1r1kan0+GJJ56Ar68v3N3dMWvWLBQUFJi1qaiowIIFC6DVaqHVarFgwQJUVlZa+xK7zOrVq1vFITAwUN4uhMDq1asRHBwMV1dXTJkyBZmZmWbH6A1xAoCIiIhWsZIkCY8//jiA3n1P7d69GzNnzkRwcDAkScJ3331ntt2W91F+fj5mzpwJd3d3+Pr64sknn4Rer7fGZXdKe7EyGAxYvnw5YmJi4O7ujuDgYNx///24cOGC2TGmTJnS6l675557zNr09FgBtn3PdfdYtfV/lyRJePvtt+U2veW+ou6D+Svz16th/mo55q9Xx/zVcsxfLcf81XLMX22LhVsHtnnzZixduhTPP/88Dh06hIkTJ2L69OnIz8+3d9esJikpCY8//jhSU1ORmJiIpqYmTJs2DXV1dWbtbr31VhQVFck/W7duNdu+dOlSfPvtt9i0aRP27t2L2tpazJgxA0ajUW5z33334fDhw/j555/x888/4/Dhw1iwYIFNrrOrDBs2zCwOx44dk7e99dZbWLNmDdatW4f09HQEBgbi5ptvRk1Njdymt8QpPT3dLE6JiYkAgLvvvltu01vvqbq6OowYMQLr1q1rc7ut7iOj0Yjbb78ddXV12Lt3LzZt2oSvv/4azzzzjPUuvoPai1V9fT0yMjKwatUqZGRk4JtvvsHp06cxa9asVm0XLVpkdq99+OGHZtt7eqwus8V7rifE6soYFRUV4eOPP4YkSZgzZ45Zu95wX1H3wPyV+eu1MH+1DPPXq2P+ajnmr5Zj/mo55q82JshhjRkzRixevNhs3eDBg8WKFSvs1CPbKy0tFQBEUlKSvO6BBx4Qs2fPvuo+lZWVQqVSiU2bNsnrCgsLhUKhED///LMQQogTJ04IACI1NVVuk5KSIgCIrKysrr8QK3jxxRfFiBEj2txmMplEYGCgeOONN+R1jY2NQqvVivXr1wshek+c2vLUU0+J/v37C5PJJITgPXUZAPHtt9/Ky7a8j7Zu3SoUCoUoLCyU23z11VdCrVaLqqoqq1zv9fh1rNqyf/9+AUDk5eXJ6yZPniyeeuqpq+7TW2Jlq/dcT4jVr82ePVtMnTrVbF1vvK/IcTF/Zf7aHuavncf8tW3MXy3H/NVyzF8tx/zV+jji1kHp9XocPHgQ06ZNM1s/bdo0JCcn26lXtldVVQUA8Pb2Nlu/a9cu+Pv7Y+DAgVi0aBFKS0vlbQcPHoTBYDCLXXBwMKKjo+XYpaSkQKvVIj4+Xm4zduxYaLXabhXf7OxsBAcHIzIyEvfccw9ycnIAALm5uSguLjaLgVqtxuTJk+Xr601xupJer8fnn3+OhQsXQpIkeT3vqdZseR+lpKQgOjoawcHBcptbbrkFOp0OBw8etOp1WktVVRUkSYKnp6fZ+i+++AK+vr4YNmwYnn32WbPRH70pVrZ4z/WUWF1WUlKCLVu24OGHH261jfcVOQLmr82Yv7aP+WvHMX+1HPPX68P8tX3MXzuO+ev1c7J3B6htly5dgtFoREBAgNn6gIAAFBcX26lXtiWEwLJlyzBhwgRER0fL66dPn467774b4eHhyM3NxapVqzB16lQcPHgQarUaxcXFcHZ2hpeXl9nxroxdcXEx/P39W53T39+/28Q3Pj4eGzduxMCBA1FSUoJXXnkF48aNQ2ZmpnwNbd0/eXl5ANBr4vRr3333HSorK/Hggw/K63hPtc2W91FxcXGr83h5ecHZ2blbxq+xsRErVqzAfffdBw8PD3n9/PnzERkZicDAQBw/fhwrV67EkSNH5K8/9pZY2eo91xNidaVPP/0UGo0Gd955p9l63lfkKJi/Mn+9FuavncP81XLMXzuP+Wv7mL92DvPX68fCrYO78hNVoDkZ/PW6nmrJkiU4evQo9u7da7Z+3rx58uvo6GiMGjUK4eHh2LJlS6v/DK7069i1FcfuFN/p06fLr2NiYpCQkID+/fvj008/lSdJ78z909Pi9GsbNmzA9OnTzT6V4z3VPlvdRz0lfgaDAffccw9MJhPef/99s22LFi2SX0dHRyMqKgqjRo1CRkYGYmNjAfSOWNnyPdfdY3Wljz/+GPPnz4eLi4vZet5X5GiYvzJ/vRrmr53D/LXjmL92DPPXa2P+2jnMX68fp0pwUL6+vlAqla0+JSgtLW31iUJP9MQTT+Df//43du7ciZCQkHbbBgUFITw8HNnZ2QCAwMBA6PV6VFRUmLW7MnaBgYEoKSlpdayLFy922/i6u7sjJiYG2dnZ8tN527t/emOc8vLysGPHDjzyyCPttuM91cyW91FgYGCr81RUVMBgMHSr+BkMBsydOxe5ublITEw0G63QltjYWKhUKrN7rbfE6krWes/1pFjt2bMHp06duub/XwDvK7If5q/MXzuK+eu1MX/tGOavHcf8tXOYv14b89euwcKtg3J2dkZcXJw8TPyyxMREjBs3zk69sj4hBJYsWYJvvvkGv/zyCyIjI6+5T1lZGc6fP4+goCAAQFxcHFQqlVnsioqKcPz4cTl2CQkJqKqqwv79++U2aWlpqKqq6rbx1el0OHnyJIKCguSvHFwZA71ej6SkJPn6emOcPvnkE/j7++P2229vtx3vqWa2vI8SEhJw/PhxFBUVyW22b98OtVqNuLg4q15nV7mc9GZnZ2PHjh3w8fG55j6ZmZkwGAzyvdZbYvVr1nrP9aRYbdiwAXFxcRgxYsQ12/K+Inth/sr8taOYv14b89eOYf7aMcxfO4/567Uxf+0i1nrqGV2/TZs2CZVKJTZs2CBOnDghli5dKtzd3cW5c+fs3TWr+f3vfy+0Wq3YtWuXKCoqkn/q6+uFEELU1NSIZ555RiQnJ4vc3Fyxc+dOkZCQIPr27Suqq6vl4yxevFiEhISIHTt2iIyMDDF16lQxYsQI0dTUJLe59dZbxfDhw0VKSopISUkRMTExYsaMGTa/5s565plnxK5du0ROTo5ITU0VM2bMEBqNRr4/3njjDaHVasU333wjjh07Ju69914RFBTU6+J0mdFoFGFhYWL58uVm63v7PVVTUyMOHTokDh06JACINWvWiEOHDslPkrXVfdTU1CSio6PFjTfeKDIyMsSOHTtESEiIWLJkie2CcQ3txcpgMIhZs2aJkJAQcfjwYbP/v3Q6nRBCiDNnzoiXXnpJpKeni9zcXLFlyxYxePBgMXLkyF4VK1u+57p7rC6rqqoSbm5u4oMPPmi1f2+6r6h7YP7K/LU9zF87hvlr25i/Wo75q+WYv1qO+attsXDr4N577z0RHh4unJ2dRWxsrEhKSrJ3l6wKQJs/n3zyiRBCiPr6ejFt2jTh5+cnVCqVCAsLEw888IDIz883O05DQ4NYsmSJ8Pb2Fq6urmLGjBmt2pSVlYn58+cLjUYjNBqNmD9/vqioqLDRlV6/efPmiaCgIKFSqURwcLC48847RWZmprzdZDKJF198UQQGBgq1Wi0mTZokjh07ZnaM3hCny7Zt2yYAiFOnTpmt7+331M6dO9t8zz3wwANCCNveR3l5eeL2228Xrq6uwtvbWyxZskQ0NjZa8/I7pL1Y5ebmXvX/r507dwohhMjPzxeTJk0S3t7ewtnZWfTv3188+eSToqyszOw8PT1Wtn7PdedYXfbhhx8KV1dXUVlZ2Wr/3nRfUffB/JX569Uwf+0Y5q9tY/5qOeavlmP+ajnmr7YlCSFEZ0frEhEREREREREREVHX4xy3RERERERERERERA6GhVsiIiIiIiIiIiIiB8PCLREREREREREREZGDYeGWiIiIiIiIiIiIyMGwcEtERERERERERETkYFi4JSIiIiIiIiIiInIwLNwSERERERERERERORgWbomIiIiIiIiIiIgcDAu3RERERERERERERA6GhVsiIiIiIiIiIiIiB8PCLREREREREREREZGD+f/pzBLg/irdLQAAAABJRU5ErkJggg==", - "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "# Convert okid_params_est from list of arrays to a numpy array for easier handling\n", - "okid_params_array = np.array(okid_params_est)\n", - "\n", - "# Create labels for the different parameter groups\n", - "inertia_labels = ['Ixx', 'Ixy', 'Ixz', 'Iyx', 'Iyy', 'Iyz', 'Izx', 'Izy', 'Izz']\n", - "added_mass_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", - "damping_labels = ['Xu', 'Yv', 'Zw', 'Kp', 'Mq', 'Nr']\n", - "g_eta_labels = ['g_eta1', 'g_eta2', 'g_eta3', 'g_eta4']\n", - "\n", - "# Create figures for each parameter group\n", - "plt.figure(figsize=(14, 10))\n", - "plt.suptitle('Inertia Matrix Parameters', fontsize=16)\n", - "for i in range(9):\n", - " plt.subplot(3, 3, i+1)\n", - " plt.plot(okid_params_array[:, i], 'b-')\n", - " plt.title(inertia_labels[i])\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()\n", - "\n", - "plt.figure(figsize=(14, 8))\n", - "plt.suptitle('Added Mass Parameters', fontsize=16)\n", - "for i in range(6):\n", - " plt.subplot(2, 3, i+1)\n", - " plt.plot(okid_params_array[:, 9+i], 'g-')\n", - " plt.title(f'Added Mass: {added_mass_labels[i]}')\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()\n", - "\n", - "plt.figure(figsize=(14, 8))\n", - "plt.suptitle('Damping Parameters', fontsize=16)\n", - "for i in range(6):\n", - " plt.subplot(2, 3, i+1)\n", - " plt.plot(okid_params_array[:, 15+i], 'r-')\n", - " plt.title(f'Damping: {damping_labels[i]}')\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()\n", - "\n", - "plt.figure(figsize=(14, 6))\n", - "plt.suptitle('G-Eta Parameters', fontsize=16)\n", - "for i in range(4):\n", - " plt.subplot(2, 2, i+1)\n", - " plt.plot(okid_params_array[:, 21+i], 'm-')\n", - " plt.title(g_eta_labels[i])\n", - " plt.grid(True)\n", - "plt.tight_layout(rect=[0, 0.03, 1, 0.95])\n", - "plt.show()" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.10.12" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/navigation/tukf/test_tukf.py b/navigation/tukf/test_tukf.py deleted file mode 100644 index 2998855ea..000000000 --- a/navigation/tukf/test_tukf.py +++ /dev/null @@ -1,347 +0,0 @@ -import numpy as np -from tukf import TUKF -import tukf_class as ukf -from mpl_toolkits.mplot3d import Axes3D -import time -import math - -import matplotlib.pyplot as plt - -# Initialize UKF with StateQuat -initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z -initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz -initial_quaternion = np.array([0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) -initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz -initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters -initial_intertia = np.array([0.68, 0.2, 0.1, - 0.2, 3.32, 0.2, - 0.1, 0.2, 3.34]) -initial_damping = np.array([0.01, 0.01, 0.01, - 0.01, 0.01, 0.01]) -initla_added_mass = np.array([0.02, 0.02, 0.02, - 0.02, 0.02, 0.02]) - -p_diag = np.concatenate([ - 2*np.ones(3), # x position - 2*np.ones(3), # orientation - 2*np.ones(3), # velocity - 2*np.ones(3), # angular velocity - 2*np.ones(9), # inertia - 2*np.ones(6), # added mass - 2*np.ones(6), # damping - 2*np.ones(4) # g_eta -]) - -initial_covariance = np.diag(p_diag) - -state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) -state.covariance = initial_covariance.copy() -state.inertia = np.array([0.58, 0.1, 0.05, - 0.1, 2.32, 0.1, - 0.01, 0.1, 2.34]) -state.g_eta = np.array([1.1, 0.1, 0.1, 0.1]) -state.damping = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) -state.added_mass = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) - -real_state = ukf.AUVState(initial_position.copy(), initial_quaternion.copy(), initial_velocity.copy(), initial_angular_velocity.copy()) -real_state.inertia = initial_intertia.copy() -real_state.g_eta = initial_g_eta.copy() -real_state.damping = initial_damping.copy() -real_state.added_mass = initla_added_mass.copy() - -Q_diag = np.concatenate([ - 0.01*np.ones(3), # position - 0.2*np.ones(9), # kinematic (η & ν) - 0.8*np.ones(9), # inertia - 0.8*np.ones(6), # added mass - 0.8*np.ones(6), # damping - 0.8*np.ones(4), # g_eta -]) - -UKF_model = TUKF(state, np.diag(Q_diag)) # Process noise covariance - -def dvl_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 6:9] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -dvl_measurement = ukf.MeasModel(H=dvl_h) - -def ang_h(state: ukf.AUVState) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 12)) - H_matrix[:, 9:12] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -ang_measurement = ukf.MeasModel(H=ang_h) - -# UKF parameters -dt = 0.01 # time step -sim_time = 50.0 # total simulation time -steps = int(sim_time / dt) - -# Storage for trajectory -positions = np.zeros((steps, 3)) -velocities = np.zeros((steps, 3)) -quaternions = np.zeros((steps, 3)) -angular_velocities = np.zeros((steps, 3)) -okid_params = np.zeros((steps, 25)) - -# Storage for trajectory -positions_est = np.zeros((steps, 3)) -velocities_est = np.zeros((steps, 3)) -quaternions_est = np.zeros((steps, 3)) -angular_velocities_est = np.zeros((steps, 3)) -okid_params_est = np.zeros((steps, 25)) - -# ---------- user‑tunable manoeuvre parameters ----------------------------- -SEG_DUR = 10.0 # [s] duration of each phase -A_F_TRANSL = 2.0 # [N] translational force amplitude -A_T_ROT = 1.0 # [N·m] rotational torque amplitude -# -------------------------------------------------------------------------- - -# Helper: build the scripted sequence as (kind, axis_idx, sign) -# kind = 'F' for force, 'T' for torque -# axes: 0‑x (surge/roll), 1‑y (sway/pitch), 2‑z (heave/yaw) -sequence = [ - ('F', 2, +1), # +z (up) - ('F', 2, -1), # –z (down) - ('F', 1, +1), # +y (right) - ('F', 1, -1), # –y (left / “back” sideways) - ('F', 0, +1), # +x (forward) - ('F', 0, -1), # –x (backward) - ('T', 2, +1), # +yaw (turn right) - ('T', 2, -1), # –yaw (turn left) - ('T', 1, +1), # +pitch (nose up) - ('T', 1, -1), # –pitch (nose down) - ('T', 0, +1), # +roll (starboard roll) - ('T', 0, -1) # –roll (port roll) -] - -TOTAL_TIME = len(sequence) * SEG_DUR # handy if you need it - -def _half_sine(local_t: float, duration: float) -> float: - """Smooth window: 0 → 1 → 0 over `duration` (half‑sine).""" - return np.sin(np.pi * local_t / duration) - -def control_inputs(t: float) -> tuple[np.ndarray, np.ndarray]: - """ - Piecewise scripted test signal: - – translations along z, y, x - – rotations about z (yaw), y (pitch), x (roll) - """ - # Default: no actuation - F = np.zeros(3) - T = np.zeros(3) - - # Past the last segment? keep everything zero - idx = int(t // SEG_DUR) - if idx >= len(sequence): - return F, T - - # Time inside current segment - tau = t - idx * SEG_DUR - window = _half_sine(tau, SEG_DUR) # 0‑to‑1‑to‑0 shape - - kind, axis, sgn = sequence[idx] - - if kind == 'F': - F[axis] = sgn * A_F_TRANSL * window - else: # 'T' - T[axis] = sgn * A_T_ROT * window - - return F, T - -# Simulation loop -for i in range(steps): - t = i * dt - - control_force, control_torque = control_inputs(t) - - control_input = np.concatenate((control_force, control_torque)) - - # Propagate state using UKF prediction - real_state = ukf.F_dynamics(real_state, dt, control_input) - state = UKF_model.unscented_transform(state, control_input) - - if UKF_model.filter_failed: - print("Filter failed, stopping simulation.") - break - - if i % 5 == 0: - # Simulate measurement update every 5 steps - ang_measurement.measurement = np.array([ - real_state.angular_velocity[0], - real_state.angular_velocity[1], - real_state.angular_velocity[2] - ]) + np.random.normal(0, 0.04, 3) - - ang_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance - - UKF_model.measurement_update(state, ang_measurement) - state = UKF_model.posteriori_estimate(state, ang_measurement) - - if i % 10 == 0: - # Simulate measurement update every 10 steps - dvl_measurement.measurement = np.array([ - real_state.velocity[0], - real_state.velocity[1], - real_state.velocity[2] - ]) + np.random.normal(0, 0.04, 3) # Simulated measurement with noise - - # Simulate measurement covariance - dvl_measurement.covariance = np.eye(3) * (0.03**2) # Measurement noise covariance - - # Update UKF with measurement - UKF_model.measurement_update(state, dvl_measurement) - state = UKF_model.posteriori_estimate(state, dvl_measurement) - - # Store state for plotting - positions[i] = real_state.position - velocities[i] = real_state.velocity - quaternions[i] = real_state.orientation - angular_velocities[i] = real_state.angular_velocity - okid_params[i] = real_state.okid_part() - - # Store estimated state for plotting - positions_est[i] = state.position - velocities_est[i] = state.velocity - quaternions_est[i] = state.orientation - angular_velocities_est[i] = state.angular_velocity - okid_params_est[i] = state.okid_part() - - # Add small delay to simulate real-time execution - time.sleep(0.001) -print(state.as_vector()) -# Plotting -time_points = np.arange(0, sim_time, dt) - -# 3D trajectory plot -fig = plt.figure(figsize=(12, 10)) -ax = fig.add_subplot(111, projection='3d') -ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') -ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') -ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') -ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') -ax.set_xlabel('X Position') -ax.set_ylabel('Y Position') -ax.set_zlabel('Z Position') -ax.set_title('3D Trajectory') -ax.legend() - -# Position plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, positions[:, 0], 'b-', label='True') -plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Position') -plt.legend() -plt.subplot(312) -plt.plot(time_points, positions[:, 1], 'b-', label='True') -plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Position') -plt.legend() -plt.subplot(313) -plt.plot(time_points, positions[:, 2], 'b-', label='True') -plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Position') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, velocities[:, 0], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Velocity') -plt.legend() -plt.subplot(312) -plt.plot(time_points, velocities[:, 1], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Velocity') -plt.legend() -plt.subplot(313) -plt.plot(time_points, velocities[:, 2], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Velocity') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Angular velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('Roll Rate') -plt.legend() -plt.subplot(312) -plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Pitch Rate') -plt.legend() -plt.subplot(313) -plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Yaw Rate') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# OKID Inertia parameters plot (9 parameters) -plt.figure(figsize=(15, 10)) -plt.suptitle('Inertia Parameters', fontsize=16) -for i in range(9): - plt.subplot(3, 3, i+1) - plt.plot(time_points, okid_params[:, i], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i], 'r--', label='Estimated') - plt.ylabel(f'Inertia[{i}]') - if i >= 6: # Add x-label only to bottom row - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -# OKID Added Mass parameters plot (6 parameters) -plt.figure(figsize=(15, 8)) -plt.suptitle('Added Mass Parameters', fontsize=16) -for i in range(6): - plt.subplot(2, 3, i+1) - plt.plot(time_points, okid_params[:, i+9], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i+9], 'r--', label='Estimated') - plt.ylabel(f'Added Mass[{i}]') - if i >= 3: # Add x-label only to bottom row - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -# OKID Damping parameters plot (6 parameters) -plt.figure(figsize=(15, 8)) -plt.suptitle('Damping Parameters', fontsize=16) -for i in range(6): - plt.subplot(2, 3, i+1) - plt.plot(time_points, okid_params[:, i+15], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i+15], 'r--', label='Estimated') - plt.ylabel(f'Damping[{i}]') - if i >= 3: # Add x-label only to bottom row - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -# OKID g_eta parameters plot (4 parameters) -plt.figure(figsize=(12, 8)) -plt.suptitle('g_eta Parameters', fontsize=16) -for i in range(4): - plt.subplot(2, 2, i+1) - plt.plot(time_points, okid_params[:, i+21], 'b-', label='True') - plt.plot(time_points, okid_params_est[:, i+21], 'r--', label='Estimated') - plt.ylabel(f'g_eta[{i}]') - plt.xlabel('Time (s)') - plt.legend() -plt.tight_layout(rect=[0, 0, 1, 0.96]) # Adjust for suptitle - -plt.show() - diff --git a/navigation/tukf/tukf.py b/navigation/tukf/tukf.py deleted file mode 100644 index a4badd887..000000000 --- a/navigation/tukf/tukf.py +++ /dev/null @@ -1,126 +0,0 @@ -import numpy as np -from tukf_class import ( - MeasModel, - AUVState, - covariance_measurement, - covariance_set, - cross_covariance, - mean_measurement, - mean_set, - F_dynamics, - generate_delta_matrix, -) - -def print_matrix(matrix, name="Matrix"): - """Custom print function to print matrices in a formatted form.""" - print(f"{name}: {matrix.shape}") - if isinstance(matrix, np.ndarray): - for row in matrix: - print(" ".join(f"{val:.2f}" for val in row)) - else: - print(matrix) - -class TUKF: - def __init__(self, x_0: AUVState, Q): - self.x = x_0 - self.Q = Q - self.delta = generate_delta_matrix(len(x_0.as_vector())) / np.sqrt(len(x_0.as_vector())) - self.sigma_points_list = None - self.measurement_updated = MeasModel() - self.dt = 0.01 # Time step for dynamics - self.flagg = 0 - self.filter_failed = False - - def sigma_points(self, current_state: AUVState) -> list[AUVState]: - """Functions that generate the sigma points for the UKF.""" - n = len(current_state.covariance) - self.flagg += 1 - try: - S = np.linalg.cholesky(current_state.covariance) - except np.linalg.LinAlgError: - print("Cholesky decomposition failed!") - print("flagg", self.flagg) - print_matrix(current_state.covariance, "Current State Covariance") - print_matrix(self.Q, "Process Noise Covariance (Q)") - - # Set flag to indicate filter has failed - self.filter_failed = True - - # Create a valid but minimal S matrix to avoid crashing - # This allows the simulation to continue to the next step where it can be checked - S = np.eye(n) * 1e-6 - - self.sigma_points_list = [AUVState() for _ in range(2 * n)] - - for index, state in enumerate(self.sigma_points_list): - state.fill_states(current_state.as_vector() + S @ self.delta[:, index]) - - return self.sigma_points_list - - def unscented_transform(self, current_state: AUVState, control_force: np.ndarray) -> AUVState: - """The unscented transform function generates the priori state estimate.""" - self.sigma_points(current_state) - n = len(current_state.covariance) - - self.y_i = [AUVState() for _ in range(2 * n)] - - for i, sp in enumerate(self.sigma_points_list): - self.y_i[i] = F_dynamics(sp, self.dt, control_force) - - state_estimate = AUVState() - x = mean_set(self.y_i) - - state_estimate.fill_states(x) - state_estimate.covariance = covariance_set(self.y_i, x) + + self.Q - return state_estimate - - def measurement_update( - self, current_state: AUVState, measurement: MeasModel - ) -> None: - """Function that updates the state estimate with a measurement. - - Hopefully this is the DVL or GNSS - """ - n = len(current_state.covariance) - z_i = [MeasModel() for _ in range(2 * n)] - - for i, state in enumerate(self.y_i): - z_i[i] = measurement.H(state) - - self.measurement_updated.measurement = mean_measurement(z_i) - - self.measurement_updated.covariance = covariance_measurement( - z_i, self.measurement_updated.measurement - ) - - self.cross_correlation = cross_covariance( - self.y_i, - current_state.as_vector(), - z_i, - self.measurement_updated.measurement, - ) - - def posteriori_estimate( - self, - current_state: AUVState, - measurement: MeasModel, - ) -> AUVState: - """Calculates the posteriori estimate using measurement and the prior estimate.""" - nu_k = MeasModel() - nu_k.measurement = ( - measurement.measurement - self.measurement_updated.measurement - ) - nu_k.covariance = self.measurement_updated.covariance + measurement.covariance - - K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) - - posteriori_estimate = AUVState() - - posteriori_estimate.fill_states( - current_state.as_vector() + np.dot(K_k, nu_k.measurement) - ) - posteriori_estimate.covariance = current_state.covariance - np.dot( - K_k, np.dot(nu_k.covariance, np.transpose(K_k)) - ) - - return posteriori_estimate diff --git a/navigation/tukf/tukf_class.py b/navigation/tukf/tukf_class.py deleted file mode 100644 index ff274680e..000000000 --- a/navigation/tukf/tukf_class.py +++ /dev/null @@ -1,437 +0,0 @@ -import numpy as np -from dataclasses import dataclass, field -from typing import Callable - -@dataclass -class AUVState: - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array(3)) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - inertia: np.ndarray = field(default_factory=lambda: np.zeros((9))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros((6))) - damping: np.ndarray = field(default_factory=lambda: np.zeros((6))) - g_eta: np.ndarray = field(default_factory=lambda: np.zeros((4))) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) - - def dynamic_part(self) -> np.ndarray: - """Get the dynamic part of the AUV state.""" - return np.concatenate([ - self.position, - self.orientation, - self.velocity, - self.angular_velocity - ]) - def okid_part(self) -> np.ndarray: - """Get the OKID part of the AUV state.""" - return np.concatenate([ - self.inertia, - self.added_mass, - self.damping, - self.g_eta - ]) - def as_vector(self) -> np.ndarray: - """Convert the AUV state to a vector representation.""" - return np.concatenate([ - self.position, - self.orientation, - self.velocity, - self.angular_velocity, - self.inertia.flatten(), - self.added_mass.flatten(), - self.damping.flatten(), - self.g_eta - ]) - - def __add__(self, other: 'AUVState') -> 'AUVState': - """Add two AUV states together.""" - return AUVState( - position=self.position + other.position, - orientation=self.orientation + other.orientation, - velocity=self.velocity + other.velocity, - angular_velocity=self.angular_velocity + other.angular_velocity, - inertia=self.inertia + other.inertia, - added_mass=self.added_mass + other.added_mass, - damping=self.damping + other.damping, - g_eta=self.g_eta + other.g_eta - ) - def __sub__(self, other: 'AUVState') -> 'AUVState': - """Subtract two AUV states.""" - return AUVState( - position=self.position - other.position, - orientation=self.orientation - other.orientation, - velocity=self.velocity - other.velocity, - angular_velocity=self.angular_velocity - other.angular_velocity, - inertia=self.inertia - other.inertia, - added_mass=self.added_mass - other.added_mass, - damping=self.damping - other.damping, - g_eta=self.g_eta - other.g_eta - ) - def fill_states(self, x: np.ndarray) -> None: - """Fill the AUV state with a vector representation.""" - self.position = x[0:3] - self.orientation = x[3:6] - self.velocity = x[6:9] - self.angular_velocity = x[9:12] - self.inertia = x[12:21] - self.added_mass = x[21:27] - self.damping = x[27:33] - self.g_eta = x[33:37] - - -@dataclass -class MeasModel: - """A class defined for a general measurement model.""" - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - H: Callable[["AUVState"], "MeasModel"] | None = None - - def __post_init__(self): - """Initialize H with a default measurement function if none provided.""" - if self.H is None: - self.H = self._default_H - - def _default_H(self, state: AUVState) -> 'MeasModel': - """Default measurement function that returns velocity.""" - H_matrix = np.zeros((3, 12)) - H_matrix[:, 6:9] = np.eye(3) - z_i = MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - - def __add__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the addition operation between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement + other.measurement - return result - - def __rmul__(self, scalar: float) -> 'MeasModel': - """Defines multiplication between scalar value and MeasModel object.""" - result = MeasModel() - result.measurement = scalar * self.measurement - return result - - def __sub__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the subtraction between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement - other.measurement - return result - -def generate_delta_matrix_2(n: float) -> np.ndarray: - """Generates the weight matrix used in the TUKF sigma point generation. - - Parameters: - n (int): The state dimension. - - Returns: - delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. - """ - delta = np.zeros((n, 2 * n)) - k = 0.001 # Tuning parameter to ensure pos def - - for i in range(2 * n): - for j in range(n // 2): - delta[2 * j + 1, i] = ( - np.sqrt(2) * np.sin(2 * j - 1) * ((k * np.pi) / n) - ) - delta[2 * j, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) - - if (n % 2) == 1: - delta[n - 1, i] = np.sqrt(2) * np.cos(2 * j - 1) * ((k * np.pi) / n) - - return delta - -def generate_delta_matrix(n: int) -> np.ndarray: - if n < 1: - raise ValueError("n must be a positive integer") - - delta = np.zeros((n, 2 * n)) - r_max = n // 2 # floor(n/2) - sq2 = np.sqrt(2.0) - - for k in range(1, 2 * n + 1): # k = 1 … 2n - for r in range(1, r_max + 1): - row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} - row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} - angle = (2 * r - 1) * k * np.pi / n - delta[row_cos, k - 1] = sq2 * np.cos(angle) - delta[row_sin, k - 1] = sq2 * np.sin(angle) - - if n % 2 == 1: # extra entry when n is odd - delta[n - 1, k - 1] = (-1) ** k - - return delta - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - -def mean_set(set_points: list[AUVState]) -> np.ndarray: - """Function calculates the mean vector of a set of points. - - Args: - set_points (list[AUVState]): List of AUVState objects - - Returns: - np.ndarray: The mean vector - """ - n = len(set_points) - mean_value = np.zeros(set_points[0].as_vector().shape) - - for state in set_points: - mean_value = mean_value + state.as_vector() - - mean_value = (1 / n) * mean_value - - return mean_value - - -def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points.""" - n = len(set_points) - mean_value = MeasModel() - - for state in set_points: - mean_value = mean_value + state - - mean_value = (1 / n) * mean_value - - return mean_value.measurement - - -def covariance_set(set_points: list[AUVState], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - covariance = np.zeros(set_points[0].covariance.shape) - - for state in set_points: - W_i = state.as_vector() - mean - - covariance += np.outer(W_i, W_i) - - covariance = (1 / n) * covariance - - return covariance - - -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - co_size = len(set_points[0].measurement) - covariance = np.zeros((co_size, co_size)) - - mean_meas = MeasModel() - mean_meas.measurement = mean - - for state in set_points: - temp_state = state - mean_meas - covariance += np.outer(temp_state.measurement, temp_state.measurement) - - covariance = (1 / n) * covariance - - return covariance - - -def cross_covariance( - set_y: list[AUVState], - mean_y: np.ndarray, - set_z: list[MeasModel], - mean_z: np.ndarray, -) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction.""" - n = len(set_y) - - cross_covariance = np.zeros((len(mean_y), len(mean_z))) - - for i in range(n): - state_diff = set_y[i].as_vector() - mean_y - meas_diff = set_z[i].measurement - mean_z - - cross_covariance += np.outer(state_diff, meas_diff) - - cross_covariance = (1 / n) * cross_covariance - - return cross_covariance - - -# ----------------------------------------------------------- - -def rotation_matrix(euler_angles: np.ndarray) -> np.ndarray: - """Calculates the rotation matrix from Euler angles (roll, pitch, yaw).""" - roll, pitch, yaw = euler_angles - - # Roll rotation - Rx = np.array([ - [1, 0, 0], - [0, np.cos(roll), -np.sin(roll)], - [0, np.sin(roll), np.cos(roll)] - ]) - - # Pitch rotation - Ry = np.array([ - [np.cos(pitch), 0, np.sin(pitch)], - [0, 1, 0], - [-np.sin(pitch), 0, np.cos(pitch)] - ]) - - # Yaw rotation - Rz = np.array([ - [np.cos(yaw), -np.sin(yaw), 0], - [np.sin(yaw), np.cos(yaw), 0], - [0, 0, 1] - ]) - - # Complete rotation matrix - R = Rz @ Ry @ Rx - return R - -def angular_velocity_transformation(euler_angles: np.ndarray) -> np.ndarray: - """Transformation matrix relating Euler rates to angular velocities.""" - roll, pitch, yaw = euler_angles - - T = np.array([ - [1, 0, -np.sin(pitch)], - [0, np.cos(roll), np.cos(pitch) * np.sin(roll)], - [0, -np.sin(roll), np.cos(pitch) * np.cos(roll)] - ]) - - return T - -def M_rb(inertia: np.ndarray) -> np.ndarray: - m = 25.5 - inertia = inertia.reshape((3, 3)) - r_b_bg = np.array([0.01, 0.0, 0.02]) - M_rb = np.zeros((6, 6)) - M_rb[0:3, 0:3] = m * np.eye(3) - M_rb[3:6, 3:6] = inertia - M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) - M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) - return M_rb - -def M_a(added_mass: np.ndarray) -> np.ndarray: - """Calculates the added mass matrix.""" - M_a = np.zeros((6, 6)) - M_a[0:3, 0:3] = np.diag(added_mass[0:3]) - M_a[3:6, 3:6] = np.diag(added_mass[3:6]) - return M_a - -def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: - """Calculates the Coriolis matrix.""" - m = 25.5 - r_b_bg = np.array([0.01, 0.0, 0.02]) - inertia = inertia.reshape((3, 3)) - C_rb = np.zeros((6, 6)) - - C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) - C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) - C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) - C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) - return C_rb - -def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: - """Calculates the added mass Coriolis matrix.""" - C_a = np.zeros((6, 6)) - A11 = np.diag(added_mass[0:3]) - A22 = np.diag(added_mass[3:6]) - C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) - C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) - C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) - return C_a - -def D_linear(damping_linear: np.ndarray) -> np.ndarray: - """Calculates the linear damping matrix.""" - D = np.zeros((6, 6)) - D[0:3, 0:3] = -np.diag(damping_linear[0:3]) - D[3:6, 3:6] = -np.diag(damping_linear[3:6]) - return D - -def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: - """Calculates the g_eta matrix using Euler angles.""" - Delta_WB = g_eta[0] - M_x = g_eta[1] - M_y = g_eta[2] - M_z = g_eta[3] - - # Get rotation matrix using Euler angles - R = rotation_matrix(orientation) - - G_eta = np.zeros((6,1)) - # Gravitational forces - G_eta[0:3] = -Delta_WB * R[:, 2].reshape(3, 1) - - # Buoyancy moments - G_eta[3] = -M_y * R[2, 2] + M_z * R[1, 2] - G_eta[4] = -M_z * R[0, 2] + M_x * R[2, 2] - G_eta[5] = -M_x * R[1, 2] + M_y * R[0, 2] - - return G_eta - -def F_dynamics( - state: AUVState, - dt: float, - control_input: np.ndarray) -> AUVState: - - """Calculates the dynamics of the system.""" - m_rb = M_rb(state.inertia) - m_a = M_a(state.added_mass) - c_rb = C_rb(state.inertia, state.angular_velocity) - c_a = C_a(state.added_mass, state.angular_velocity, state.velocity) - D_l = D_linear(state.damping) - g_eta_ = g_eta(state.g_eta, state.orientation) - - # Get rotation and transformation matrices - r = rotation_matrix(state.orientation) - t = angular_velocity_transformation(state.orientation) - - Crb = c_rb + c_a - Mrb = m_rb + m_a - M_inv = np.linalg.inv(Mrb) - - # Create a vector of velocity and angular velocity - nu = np.concatenate([state.velocity, state.angular_velocity]) - - # Calculate the new state - state_dot = AUVState() - state_dot.position = np.dot(r, state.velocity) - - # Calculate Euler angle rates from angular velocities - t_inv = np.linalg.inv(t) - euler_rates = np.dot(t_inv, state.angular_velocity) - state_dot.orientation = euler_rates - - Nu = M_inv @ (control_input - np.dot(Crb, nu) - np.dot(D_l, nu) - g_eta_.flatten()) - - state_dot.velocity = Nu[:3] - state_dot.angular_velocity = Nu[3:6] - - # Update the inertia, added mass, damping, and g_eta - state_dot.inertia = np.zeros_like(state.inertia) - state_dot.added_mass = np.zeros_like(state.added_mass) - state_dot.damping = np.zeros_like(state.damping) - state_dot.g_eta = np.zeros_like(state.g_eta) - - new_state = AUVState() - new_state.position = state.position + state_dot.position * dt - new_state.orientation = state.orientation + state_dot.orientation * dt - new_state.velocity = state.velocity + state_dot.velocity * dt - new_state.angular_velocity = state.angular_velocity + state_dot.angular_velocity * dt - new_state.inertia = state.inertia + state_dot.inertia * dt - new_state.added_mass = state.added_mass + state_dot.added_mass * dt - new_state.damping = state.damping + state_dot.damping * dt - new_state.g_eta = state.g_eta + state_dot.g_eta * dt - - return new_state -# ----------------------------------------------------------- diff --git a/navigation/tukf_rsi/CMakeLists.txt b/navigation/tukf_rsi/CMakeLists.txt new file mode 100644 index 000000000..f1ad5e0b1 --- /dev/null +++ b/navigation/tukf_rsi/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 3.8) +project(tukf_rsi) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 20) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(tf2 REQUIRED) +find_package(vortex_msgs REQUIRED) +find_package(spdlog REQUIRED) +find_package(fmt REQUIRED) + +if(NOT DEFINED EIGEN3_INCLUDE_DIR) + set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) +endif() +include_directories(${EIGEN3_INCLUDE_DIR}) + +include_directories(include) + +add_executable(tukf_rsi_node + src/tukf_rsi.cpp + src/tukf_rsi_ros.cpp + src/tukf_rsi_node.cpp + src/tukf_rsi_utils.cpp +) + +ament_target_dependencies(tukf_rsi_node + rclcpp + geometry_msgs + nav_msgs + Eigen3 + tf2 + vortex_msgs + spdlog + fmt +) + +target_link_libraries(tukf_rsi_node + fmt::fmt +) + +install(TARGETS + tukf_rsi_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/navigation/tukf_rsi/config/tusk_rsi_params.yaml b/navigation/tukf_rsi/config/tusk_rsi_params.yaml new file mode 100644 index 000000000..c74717815 --- /dev/null +++ b/navigation/tukf_rsi/config/tusk_rsi_params.yaml @@ -0,0 +1,12 @@ +eskf_node: + ros__parameters: + gyro_topic: "/imu/data" + dvl_topic: "/orca/twist" + odom_topic: "/tukf/odom" + wrench_topic: "/orca/wrench_input" + diag_Q_std: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] + diag_P0_std: [2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + x0: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + diag_Rgyro_std: [0.01, 0.01, 0.01] + diag_Rdvl_std: [0.05, 0.05, 0.05] + diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp new file mode 100644 index 000000000..a1e19edb5 --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp @@ -0,0 +1,63 @@ +// tukf.hpp +#ifndef TUKF_HPP +#define TUKF_HPP + +#include "typedefs.hpp" // includes AUVState, MeasModel, and utility functions +#include + +class TUKF { +public: + TUKF(const AUVState& x0, + const Eigen::Matrix37d& Q_in, + double dt = 0.01); + + // @brief Generate sigma points for the current state + // @param current_state: Current state of the AUV + // @return A vector of sigma points + std::vector sigma_points(const AUVState& current_state); + + // @brief Unscented transform to predict the next state + // @param current_state: Current state of the AUV + // @param control_force: Control force applied to the AUV + // @return Predicted state after applying the control force + AUVState unscented_transform(const AUVState& current_state, + const Eigen::Vector3d& control_force); + + // @brief Perform measurement update using the measurement model + // @param current_state: Current state of the AUV + // @param measurement: Measurement model containing the measurement and covariance + // @return Updated state after measurement update + void measurement_update(const AUVState& current_state, + const MeasModel& measurement); + + // @brief Posterior estimate of the state after measurement update + // @param current_state: Current state of the AUV + // @param measurement: Measurement model containing the measurement and covariance + // @return Posterior estimate of the state + AUVState posterior_estimate(const AUVState& current_state, + const MeasModel& measurement); + + // public state and flags + AUVState x; + bool filter_failed; + +private: + + Eigen::Matrix37d Q; + + Eigen::Matrix delta; + + std::vector sigma_points_list; + + std::vector y_i; + + MeasModel measurement_updated; + + Eigen::Matrix cross_correlation; + + double dt; + + int flagg; +}; + +#endif // TUKF_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp new file mode 100644 index 000000000..b536ca798 --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp @@ -0,0 +1,50 @@ +#ifndef TUKF_MODEL_HPP +#define TUKF_MODEL_HPP + +#include +#include "tukf_rsi/typedefs.hpp" + + +// @brief Tranformation matrix from quaternion orientation +// @param orientation: Quaternion representing the orientation +// @return 3x3 transformation matrix +Eigen::Matrix3d tranfromation_matrix(const Eigen::Quaterniond& orientation); + +// @brief Mass inertia system-matrix (6×6) +// @param inertia_vec: Vector containing the inertia parameters +Eigen::Matrix6d M_rb(const Eigen::Vector9d& inertia_vec); + +// @brief Added mass system-matrix (6×6) +// @param added_mass: Vector containing the added mass parameters +Eigen::Matrix6d M_a(const Eigen::Vector6d& added_mass); + +// @brief Corilos and centripetal forces system-matrix (6×6) +// @param inertia_vec: Vector containing the inertia parameters +// @param angular_velocity: Angular velocity vector +Eigen::Matrix6d C_rb(const Eigen::Vector9d& inertia_vec, + const Eigen::Vector3d& angular_velocity); + +// @brief added mass Corilos and centripetal forces system-matrix (6×6) +// @param added_mass: Vector containing the added mass parameters +// @param angular_velocity: Angular velocity vector +// @param velocity: Velocity linear vector +Eigen::Matrix6d C_a(const Eigen::Vector6d& added_mass, + const Eigen::Vector3d& angular_velocity, + const Eigen::Vector3d& velocity); + +// @brief Damping system-matrix (6×6) +// @param damping: Vector containing the damping parameters +Eigen::Matrix6d D_linear(const Eigen::Vector6d& damping); + +// @brief generalized froces (6×1) +// @param g_eta_params: Vector containing the g_eta parameters (buoyancy terms) +// @param euler_angles: Euler angles (roll, pitch, yaw) +Eigen::Vector6d G_eta(const Eigen::Vector4d& g_eta_params, + const Eigen::Vector3d& euler_angles); + +// @brief Dynamics function for the AUV +AUVState F_dynamics(const AUVState& state, + double dt, + const Eigen::Vector3d& control_input); + +#endif // TUKF_MODEL_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp new file mode 100644 index 000000000..98b0a547a --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp @@ -0,0 +1,64 @@ +#ifndef TUKF_NODE_HPP +#define TUKF_NODE_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include "tukf_rsi/tukf.hpp" +#include "tukf_rsi/tukf_rsi_utils.hpp" +#include "tukf_rsi/typedefs.hpp" + +class TUKFNode : public rclcpp::Node { +public: + TUKFNode(); + +private: + + // @brief Callback function for the gyro topic + // @param msg: Imu message containing the gyro data + void gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg); + + // @brief Callback function for the DVL topic + // @param msg: TwistWithCovarianceStamped message containing the DVL data + void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + + // @brief Callback function for the wrench topic + // @param msg: WrenchStamped message containing the wrench data + void wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg); + + // @brief Set the subscriber and publisher for the node + void set_subscribers_and_publisher(); + + // @brief Set the parameters for the eskf + void set_parameters(); + + // @brief Publish the odometry message + void publish_odom(); + + rclcpp::Subscription::SharedPtr gyro_sub_; + + rclcpp::Subscription::SharedPtr dvl_sub_; + + rclcpp::Subscription::SharedPtr wrench_sub_; + + rclcpp::Publisher::SharedPtr odom_pub_; + + rclcpp::TimerBase::SharedPtr odom_timer_; + + std::unique_ptr tukf_; + + AUVState state_; + + double dt_; + + Eigen::Matrix3d R_gyro_; + + Eigen::Matrix3d R_dvl_; +}; + +#endif // TUKF_NODE_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp new file mode 100644 index 000000000..b3c31221f --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp @@ -0,0 +1,65 @@ +#ifndef TUKF_RSI_UTILS_HPP +#define TUKF_RSI_UTILS_HPP + +#include +#include +#include "tukf_rsi/typedefs.hpp" + +// @brief Compute mean quaternion from a set of quaternions +// @param quats: Vector of quaternions +// @param tol: Tolerance for convergence +// @param maxIter: Maximum number of iterations +Eigen::Quaterniond quaternion_mean( + const std::vector& quats, + double tol = 1e-6, + int maxIter = 100 +); + +// @brief Compute mean of a set of AUV states +// @param setPoints: Vector of AUVState objects +// @param tol: Tolerance for convergence +// @param maxIter: Maximum number of iterations +Eigen::Vector37d mean_set( + const std::vector& setPoints, + double tol = 1e-6, + int maxIter = 100 +); + +// @brief Compute mean of a set of measurements +// @param setPoints: Vector of MeasModel objects +Eigen::Vector3d mean_masurement(const std::vector& setPoints); + +// @brief Compute covariance of a set of AUV states +// @param setPoints: Vector of AUVState objects +// @param meanVec: Mean vector of the set +// @param tol: Tolerance for convergence +Eigen::Matrix37d covariance_set( + const std::vector& setPoints, + const Eigen::Vector37d& meanVec, + double tol = 1e-6 +); + +// @brief Compute covariance of a set of measurements +// @param setPoints: Vector of MeasModel objects +// @param mean: Mean vector of the measurements +Eigen::Matrix3d covariance_measurement( + const std::vector& setPoints, + const Eigen::Vector3d& mean +); + +// @brief Compute cross-covariance between AUV states and measurements +// @param setY: Vector of AUVState objects +// @param meanY: Mean vector of the AUV states +// @param setZ: Vector of MeasModel objects +// @param meanZ: Mean vector of the measurements +// @param tol: Tolerance for convergence +Eigen::Matrix cross_covariance( + const std::vector& setY, + const Eigen::Vector37d& meanY, + const std::vector& setZ, + const Eigen::Vector3d& meanZ, + double tol = 1e-6 +); + +#endif // TUKF_RSI_UTILS_HPP + diff --git a/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp b/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp new file mode 100644 index 000000000..0d724577d --- /dev/null +++ b/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp @@ -0,0 +1,145 @@ +#ifndef AUV_TYPEDEFS_HPP +#define AUV_TYPEDEFS_HPP + +#include +#include +#include +#include + +namespace Eigen { + typedef Matrix Vector37d; + typedef Matrix Matrix37d; + typedef Matrix Vector25d; + typedef Matrix Vector12d; + typedef Matrix Vector9d; + typedef Matrix Vector6d; + typedef Matrix Vector4d; + typedef Matrix Matrix3x12d; + typedef Matrix Matrix3d; + typedef Matrix Matrix3x37d; + typedef Matrix Matrix37x74d; + typedef Matrix Matrix37x3d; +} + +struct AUVState { + Eigen::Vector3d position = Eigen::Vector3d::Zero(); + Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity(); + Eigen::Vector3d velocity = Eigen::Vector3d::Zero(); + Eigen::Vector3d angular_velocity = Eigen::Vector3d::Zero(); + Eigen::Vector9d inertia = Eigen::Vector9d::Zero(); + Eigen::Vector6d added_mass = Eigen::Vector6d::Zero(); + Eigen::Vector6d damping = Eigen::Vector6d::Zero(); + Eigen::Vector4d g_eta = Eigen::Vector4d::Zero(); + Eigen::Matrix37d covariance = Eigen::Matrix37d::Zero(); + + Eigen::Vector3d error = Eigen::Vector3d::Zero(); + + AUVState() = default; + + Eigen::Vector12d dynamic_part() const { + Eigen::Vector12d x; + x << position, + orientation.vec(), + velocity, + angular_velocity; + return x; + } + + Eigen::Vector25d okid_part() const { + Eigen::Vector25d x; + x << inertia, + added_mass, + damping, + g_eta; + return x; + } + + Eigen::Vector37d as_vector() const { + Eigen::Vector37d x; + x << dynamic_part(), + okid_part(); + return x; + } + + AUVState operator+(const AUVState& other) const { + AUVState result; + result.position = position + other.position; + result.orientation = orientation * other.orientation; + result.velocity = velocity + other.velocity; + result.angular_velocity = angular_velocity + other.angular_velocity; + result.inertia = inertia + other.inertia; + result.added_mass = added_mass + other.added_mass; + result.damping = damping + other.damping; + result.g_eta = g_eta + other.g_eta; + return result; + } + + AUVState operator-(const AUVState& other) const { + AUVState result; + result.position = position - other.position; + result.orientation = orientation * other.orientation.inverse(); + result.velocity = velocity - other.velocity; + result.angular_velocity = angular_velocity - other.angular_velocity; + result.inertia = inertia - other.inertia; + result.added_mass = added_mass - other.added_mass; + result.damping = damping - other.damping; + result.g_eta = g_eta - other.g_eta; + return result; + } + + void fill_states(const Eigen::Vector37d& x) { + position = x.segment<3>(0); + Eigen::Vector3d ori_vec = x.segment<3>(3); + orientation = Eigen::Quaterniond(1, ori_vec.x(), ori_vec.y(), ori_vec.z()).normalized(); + velocity = x.segment<3>(6); + angular_velocity = x.segment<3>(9); + inertia = x.segment<9>(12); + added_mass = x.segment<6>(21); + damping = x.segment<6>(27); + g_eta = x.segment<4>(33); + } +}; + +struct MeasModel { + Eigen::Vector3d measurement = Eigen::Vector3d::Zero(); + Eigen::Matrix3d covariance = Eigen::Matrix3d::Zero(); + std::function H; + + MeasModel() + : H(default_h) + {} + + MeasModel(const Eigen::Vector3d& meas, + const Eigen::Matrix3d& cov, + std::function Hfunc = default_h) + : measurement(meas), covariance(cov), H(std::move(Hfunc)) + {} + + static MeasModel default_h(const AUVState& state) { + MeasModel z; + Eigen::Matrix3x12d Hmat = Eigen::Matrix3x12d::Zero(); + Hmat.block<3,3>(0,6) = Eigen::Matrix3d::Identity(); + z.measurement = Hmat * state.dynamic_part(); + return z; + } + + MeasModel operator+(const MeasModel& other) const { + MeasModel r; + r.measurement = measurement + other.measurement; + return r; + } + + MeasModel operator-(const MeasModel& other) const { + MeasModel r; + r.measurement = measurement - other.measurement; + return r; + } + + friend MeasModel operator*(double scalar, const MeasModel& m) { + MeasModel r; + r.measurement = scalar * m.measurement; + return r; + } +}; + +#endif // AUV_TYPEDEFS_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/launch/tukf_rsi.launch.py b/navigation/tukf_rsi/launch/tukf_rsi.launch.py new file mode 100644 index 000000000..e238b3e1e --- /dev/null +++ b/navigation/tukf_rsi/launch/tukf_rsi.launch.py @@ -0,0 +1,22 @@ +from os import path + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +tukf_rsi_params = path.join( + get_package_share_directory("tukf_rsi"), "config", "tukf_rsi_params.yaml" +) + + +def generate_launch_description(): + tukf_rsi_node = Node( + package="tukf_rsi", + executable="tukf_rsi_node", + name="tukf_rsi_node", + parameters=[ + tukf_rsi_params, + ], + output="screen", + ) + return LaunchDescription([tukf_rsi_node]) diff --git a/navigation/ukf_okid/package.xml b/navigation/tukf_rsi/package.xml similarity index 56% rename from navigation/ukf_okid/package.xml rename to navigation/tukf_rsi/package.xml index 1c1b2b4cb..989241795 100644 --- a/navigation/ukf_okid/package.xml +++ b/navigation/tukf_rsi/package.xml @@ -1,20 +1,20 @@ - ukf_python + tukf_rsi 1.0.0 - Uscented Kalman filter for AUV model - talha + Transformed Unscented Kalman Filter + talhanc MIT - ament_cmake_python + ament_cmake - rclpy + rclcpp geometry_msgs nav_msgs + eigen + tf2 vortex_msgs - python-control-pip - std_msgs ament_cmake diff --git a/navigation/tukf_rsi/src/tukf_rsi.cpp b/navigation/tukf_rsi/src/tukf_rsi.cpp new file mode 100644 index 000000000..df0195d86 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi.cpp @@ -0,0 +1,84 @@ +#include "tukf_rsi/tukf.hpp" +#include "tukf_rsi/tukf_rsi_utils.hpp" +#include "tukf_rsi/typedefs.hpp" +#include "tukf_rsi/tukf_rsi_model.hpp" +#include + +TUKF::TUKF(const AUVState& x0, + const Eigen::Matrix37d& Q_in, + double dt_in) + : x(x0), Q(Q_in), dt(dt_in), filter_failed(false), flagg(0) +{ + delta = generate_elta_matrix37() / std::sqrt(static_cast(x.as_sector().size())); + measurement_updated = MeasModel(); +} + +std::vector TUKF::sigma_points(const AUVState& current_state) { + int n = static_cast(current_state.covariance.rows()); + ++flagg; + Eigen::Matrix37d S; + bool chol_ok = true; + auto llt = current_state.covariance.llt(); + if(llt.info() == Eigen::NumericalIssue) { + chol_ok = false; + } else { + S = llt.matrixL(); + } + if (!chol_ok) { + filter_failed = true; + S = Eigen::Matrix37d::Identity() * 1e-6; + } + sigma_points_list.resize(2 * n); + for (int k = 0; k < 2 * n; ++k) { + Eigen::Vector37d v = current_state.as_vector() + S * delta.col(k); + sigma_points_list[k].fill_States(v); + } + return sigma_points_list; +} + +AUVState TUKF::unscented_transform(const AUVState& current_state, + const Eigen::Vector3d& control_force) { + int n = static_cast(current_state.covariance.rows()); + sigma_soints(current_state); + y_i.resize(2 * n); + for (int i = 0; i < 2 * n; ++i) { + y_i[i] = F_dynamics(sigma_points_list[i], dt, control_force); + } + AUVState state_est; + Eigen::Vector37d x_vec = mean_Set(y_i); + state_est.fill_States(x_vec); + state_est.covariance = covarianceSet(y_i, x_vec) + Q; + return state_est; +} + +void TUKF::measurement_update(const AUVState& current_state, + const MeasModel& measurement) { + int n = static_cast(current_state.covariance.rows()); + std::vector z_i(2 * n); + for (int i = 0; i < 2 * n; ++i) { + z_i[i] = measurement.H(sigma_points_list[i]); + } + measurement_updated.measurement = mean_seasurement(z_i); + measurement_updated.covariance = covariance_measurement( + z_i, measurement_updated.measurement); + cross_correlation = cross_covariance( + y_i, + current_state.as_vector(), + z_i, + measurement_updated.measurement); +} + +AUVState TUKF::posterior_estimate(const AUVState& current_state, + const MeasModel& measurement) { + MeasModel nu_k; + nu_k.measurement = measurement.measurement - measurement_updated.measurement; + nu_k.covariance = measurement_updated.covariance + measurement.covariance; + Eigen::Matrix K = cross_correlation * nu_k.covariance.inverse(); + AUVState post; + Eigen::Vector37d v = current_state.as_vector() + + K * nu_k.measurement; + post.fill_states(v); + post.covariance = current_state.covariance - + K * nu_k.covariance * K.transpose(); + return post; +} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_model.cpp b/navigation/tukf_rsi/src/tukf_rsi_model.cpp new file mode 100644 index 000000000..97a91c024 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_model.cpp @@ -0,0 +1,125 @@ +#include "tukf_rsi/tukf_model.hpp" +#include "tukf_rsi/tukf_rsi_utils.hpp" +#include "tukf_rsi/typedefs.hpp" +#include +#include + + +Eigen::Matrix4x3d tranfromation_matrix(const Eigen::Quaterniond& q) { + Eigen::Matrix4x3d T; + T << -q.x(), -q.y(), -q.z(), + q.w(), -q.z(), q.y(), + q.z(), q.w(), -q.x(), + -q.y(), q.x(), q.w(); + return T; +} + +Eigen::Matrix6d M_rb(const Eigen::Vector& inertia_vec) { + const double mass = 30.0; + const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); + const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); + + Eigen::Matrix6d M = Eigen::Matrix6d::Zero(); + M.block<3,3>(0,0) = mass * Eigen::Matrix3d::Identity(); + M.block<3,3>(0,3) = -mass * skewSymmetric(r_b_bg); + M.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg); + M.block<3,3>(3,3) = I_rb; + + return M; +} + +Eigen::Matrix6d M_a(const Eigen::Vector& a_mass) { + Eigen::Matrix6d Ma = Eigen::Matrix6d::Zero(); + Ma.block<3,3>(0,0) = a_mass.head<3>().asDiagonal(); + Ma.block<3,3>(3,3) = a_mass.tail<3>().asDiagonal(); + return Ma; +} + +Eigen::Matrix6d C_rb(const Eigen::Vector& inertia_vec, const Eigen::Vector3d& w) { + const double mass = 30.0; + const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); + const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); + + Eigen::Matrix6d C = Eigen::Matrix6d::Zero(); + C.block<3,3>(3,3) = -skewSymmetric(I_rb * w); + C.block<3,3>(0,3) = -mass * skewSymmetric(w) * skewSymmetric(r_b_bg); + C.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg) * skewSymmetric(w); + + return C; +} + +Eigen::Matrix6d C_a(const Eigen::Vector& a_mass, const Eigen::Vector3d& w, const Eigen::Vector3d& v) { + Eigen::Matrix6d Ca = Eigen::Matrix6d::Zero(); + const Eigen::Matrix3d A11 = a_mass.head<3>().asDiagonal(); + const Eigen::Matrix3d A22 = a_mass.tail<3>().asDiagonal(); + + Ca.block<3,3>(0,3) = -skewSymmetric(A11 * v); + Ca.block<3,3>(3,0) = -skewSymmetric(A11 * v); + Ca.block<3,3>(3,3) = -skewSymmetric(A22 * w); + + return Ca; +} + +Eigen::Matrix6d D_linear(const Eigen::Vector& d) { + Eigen::Matrix6d D = Eigen::Matrix6d::Zero(); + D.block<3,3>(0,0) = -d.head<3>().asDiagonal(); + D.block<3,3>(3,3) = -d.tail<3>().asDiagonal(); + return D; +} + +Eigen::Vector6d G_eta(const Eigen::Vector& g_params, const Eigen::Quaterniond& q) { + const double Mx = g_params[1], My = g_params[2], Mz = g_params[3]; + const Eigen::Matrix3d R = q.toRotationMatrix(); + + Eigen::Vector6d G = Eigen::Vector6d::Zero(); + G(3) = -My*R(2,2) + Mz*R(1,2); + G(4) = -Mz*R(0,2) + Mx*R(2,2); + G(5) = -Mx*R(1,2) + My*R(0,2); + + return G; +} + +AUVState F_dynamics(const AUVState& state, double dt, const Eigen::Vector6d& u) { + const Eigen::Matrix6d Mrb = M_rb(state.inertia); + const Eigen::Matrix6d Ma = M_a(state.added_mass); + const Eigen::Matrix6d Mtotal = Mrb + Ma; + + const Eigen::Matrix6d Crb = C_rb(state.inertia, state.angular_velocity); + const Eigen::Matrix6d Ca = C_a(state.added_mass, state.angular_velocity, state.velocity); + const Eigen::Matrix6d Ctotal = Crb + Ca; + + const Eigen::Matrix6d Dl = D_linear(state.damping); + const Eigen::Vector6d G = G_eta(state.g_eta, state.orientation); + + Eigen::Vector6d nu; + nu << state.velocity, state.angular_velocity; + + AUVState sd; + sd.position = state.orientation.toRotationMatrix() * state.velocity; + sd.orientation = tranfromation_matrix(state.orientation) * state.angular_velocity; + + Eigen::Vector6d Nu = Mtotal.inverse() * (u - Ctotal*nu - Dl*nu - G); + sd.velocity = Nu.head<3>(); + sd.angular_velocity = Nu.tail<3>(); + + sd.inertia.setZero(); + sd.added_mass.setZero(); + sd.damping.setZero(); + sd.g_eta.setZero(); + + AUVState ns; + ns.position = state.position + sd.position * dt; + ns.orientation = state.orientation * Eigen::Quaterniond(1, 0.5*dt*sd.orientation.x(), + 0.5*dt*sd.orientation.y(), + 0.5*dt*sd.orientation.z()); + ns.orientation.normalize(); + ns.velocity = state.velocity + sd.velocity * dt; + ns.angular_velocity = state.angular_velocity + sd.angular_velocity * dt; + + ns.inertia = state.inertia; + ns.added_mass = state.added_mass; + ns.damping = state.damping; + ns.g_eta = state.g_eta; + + return ns; +} diff --git a/navigation/tukf_rsi/src/tukf_rsi_node.cpp b/navigation/tukf_rsi/src/tukf_rsi_node.cpp new file mode 100644 index 000000000..d4f6eed17 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_node.cpp @@ -0,0 +1,9 @@ +#include "tukf_rsi/tukf_rsi_ros.hpp" + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + spdlog::info("Starting TUFK for RSI ROS2 Node"); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_ros.cpp b/navigation/tukf_rsi/src/tukf_rsi_ros.cpp new file mode 100644 index 000000000..2be453191 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_ros.cpp @@ -0,0 +1,150 @@ +#include "tukf_node.hpp" +#include + +TUKFNode::TUKFNode() +: Node("tukf_node") +{ + + odom_timer_ = this->create_wall_timer( + std::chrono::duration(dt_), + std::bind(&TUKFNode::publishOdom, this)); + + set_subscribers_and_publisher(); + + set_parameters(); + + spdlog::info("TUKF Node Initialized"); +} + +void TUKFNode::set_subscribers_and_publisher() { + auto qos = rclcpp::QoS(rclcpp::SensorDataQoS()); + this->declare_parameter("gyro_topic"); + std::string gyro_topic = this->get_parameter("gyro_topic").as_string(); + gyro_sub_ = this->create_subscription( + gyro_topic, qos, + std::bind(&TUKFNode::gyroCallback, this, std::placeholders::_1)); + + this->declare_parameter("dvl_topic"); + std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); + dvl_sub_ = this->create_subscription( + dvl_topic, qos, + std::bind(&TUKFNode::dvlCallback, this, std::placeholders::_1)); + + this->declare_parameter("wrench_topic"); + std::string dvl_topic = this->get_parameter("wrench_topic").as_string(); + wrench_sub_ = this->create_subscription( + wrench_sub_, qos, + std::bind(&TUKFNode::wrenchCallback, this, std::placeholders::_1)); + + this->declare_parameter("odom_topic"); + std::string odom_topic = this->get_parameter("odom_topic").as_string(); + odom_pub_ = this->create_publisher( + odom_topic, qos); +} + +void TUKFNode::set_parameters() { + this->declare_parameter>("diag_Q_std"); + auto diagQ = this->get_parameter("diag_Q_std").as_double_array(); + Eigen::Matrix37d Q = Eigen::Matrix37d::Zero(); + for (int i = 0; i < 37; ++i) { + Q(i,i) = diagQ[i] * diagQ[i]; + } + + this->declare_parameter>("diag_P0_std"); + auto diagP0 = this->get_parameter("diag_P0_std").as_double_array(); + Eigen::Matrix37d P0 = Eigen::Matrix37d::Zero(); + for (int i = 0; i < 37; ++i) { + P0(i,i) = diagP0[i] * diagP0[i]; + } + + this->declare_parameter>("x0"); + auto x0_vec = this->get_parameter("x0").as_double_array(); + Eigen::Vector37d x0_e; + for (int i = 0; i < 37; ++i) x0_e[i] = x0_vec[i]; + + this->declare_parameter("dt", 0.01); + dt_ = this->get_parameter("dt").as_double(); + + this->declare_parameter>("diag_Rgyro_std"); + auto diagRgyro = this->get_parameter("diag_Rgyro_std").as_double_array(); + R_gyro_ = Eigen::Matrix3d::Zero(); + for (int i = 0; i < 3; ++i) R_gyro_(i,i) = diagRgyro[i] * diagRgyro[i]; + + this->declare_parameter>("diag_Rdvl_std"); + auto diagRdvl = this->get_parameter("diag_Rdvl_std").as_double_array(); + R_dvl_ = Eigen::Matrix3d::Zero(); + for (int i = 0; i < 3; ++i) R_dvl_(i,i) = diagRdvl[i] * diagRdvl[i]; + + tukf_ = std::make_unique(x0, Q, dt_); + tukf_->x.covariance = P0; + tukf_->x.fill_states(x0_e); +} + +void TUKFNode::gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { + Eigen::Vector3d gyro(msg->angular_velocity.x, + msg->angular_velocity.y, + msg->angular_velocity.z); + MeasModel m; + m.measurement = gyro; + m.covariance = R_gyro_; + m.H = [](const AUVState& s) { + MeasModel mm; + Eigen::Matrix3x12d Hm = Eigen::Matrix3x12d::Zero(); + Hm.block<3,3>(0,9) = Eigen::Matrix3d::Identity(); + mm.measurement = Hm * s.dynamic_part(); + return mm; + }; + + tukf_->measurement_update(state_, m); + state_ = tukf_->posterior_estimate(state_, m); +} + +void TUKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + Eigen::Vector3d vel(msg->twist.twist.linear.x, + msg->twist.twist.linear.y, + msg->twist.twist.linear.z); + Eigen::Matrix3d cov; + cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + MeasModel m; + m.measurement = vel; + m.covariance = R_dvl_; + + tukf_->measurement_update(state_, m); + state_ = tukf_->posterior_estimate(state_, m); +} + +void TUKFNode::wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg) { + Eigen::Vector6d wrench_input(msg->wrench.force.x, + msg->wrench.force.y, + msg->wrench.force.z, + msg->wrench.torque.x, + msg->wrench.torque.y, + msg->wrench.torque.z); + + state_ = tukf_->unscented_transform(state_, control_force); +} + +void TUKFNode::publish_odom() { + nav_msgs::msg::Odometry odom; + odom.header.stamp = this->now(); + odom.header.frame_id = "odom"; + + odom.pose.pose.position.x = state_.position.x(); + odom.pose.pose.position.y = state_.position.y(); + odom.pose.pose.position.z = state_.position.z(); + odom.pose.pose.orientation.w = state_.orientation.w(); + odom.pose.pose.orientation.x = state_.orientation.x(); + odom.pose.pose.orientation.y = state_.orientation.y(); + odom.pose.pose.orientation.z = state_.orientation.z(); + + odom.twist.twist.linear.x = state_.velocity.x(); + odom.twist.twist.linear.y = state_.velocity.y(); + odom.twist.twist.linear.z = state_.velocity.z(); + odom.twist.twist.angular.x = state_.angular_velocity.x(); + odom.twist.twist.angular.y = state_.angular_velocity.y(); + odom.twist.twist.angular.z = state_.angular_velocity.z(); + + odom_pub_->publish(odom); +} diff --git a/navigation/tukf_rsi/src/tukf_rsi_utils.cpp b/navigation/tukf_rsi/src/tukf_rsi_utils.cpp new file mode 100644 index 000000000..882fe0cf8 --- /dev/null +++ b/navigation/tukf_rsi/src/tukf_rsi_utils.cpp @@ -0,0 +1,199 @@ + +#include "tukf_rsi_utils.hpp" +#include + +Eigen::Quaterniond quaternionMean( + const std::vector& quats, + double tol, + int maxIter +) { + Eigen::Quaterniond mean_q = quats.front(); + int n = int(quats.size()); + + for (int iter = 0; iter < maxIter; ++iter) { + Eigen::Vector3d errAvg = Eigen::Vector3d::Zero(); + + for (const auto& q : quats) { + + Eigen::Quaterniond e = q * mean_q.conjugate(); + + double w = std::clamp(e.w(), -1.0, 1.0); + double angle = 2 * std::acos(w); + + Eigen::Vector3d axis; + + if (std::abs(angle) < tol) { + axis.setZero(); + } else { + axis = (angle / std::sin(angle / 2.0)) * e.vec(); + } + errAvg += axis; + } + errAvg /= double(n); + + if (errAvg.norm() < tol) break; + double errNorm = errAvg.norm(); + Eigen::Quaterniond dq + + if (errNorm > tol) { + dq.w() = std::cos(errNorm/2.0); + dq.vec() = std::sin(errNorm/2.0) * (errAvg/errNorm); + } else { + dq = Eigen::Quaterniond::Identity(); + } + mean_q = dq * mean_q; + mean_q.normalize(); + } + return mean_q; +} + +Eigen::Vector37d mean_set( + const std::vector& setPoints, + double tol, + int maxIter +) { + int n = int(setPoints.size()); + + Eigen::Vector3d posAvg = Eigen::Vector3d::Zero(); + Eigen::Vector3d velAvg = Eigen::Vector3d::Zero(); + Eigen::Vector3d angVelAvg = Eigen::Vector3d::Zero(); + Eigen::Vector9d inAvg = Eigen::Vector9d::Zero(); + Eigen::Vector6d amAvg = Eigen::Vector6d::Zero(); + Eigen::Vector6d dAvg = Eigen::Vector6d::Zero(); + Eigen::Vector4d gAvg = Eigen::Vector4d::Zero(); + + std::vector quats; + quats.reserve(n); + + for (const auto& s : setPoints) { + posAvg += s.position; + velAvg += s.velocity; + angVelAvg += s.angular_velocity; + inAvg += s.inertia; + amAvg += s.added_mass; + dAvg += s.damping; + gAvg += s.g_eta; + quats.push_back(s.orientation); + } + posAvg /= double(n); + velAvg /= double(n); + angVelAvg /= double(n); + inAvg /= double(n); + amAvg /= double(n); + dAvg /= double(n); + gAvg /= double(n); + Eigen::Quaterniond qMean = quaternion_mean(quats, tol, maxIter); + + AUVState meanState; + meanState.position = posAvg; + meanState.orientation = qMean; + meanState.velocity = velAvg; + meanState.angular_velocity = angVelAvg; + meanState.inertia = inAvg; + meanState.added_mass = amAvg; + meanState.damping = dAvg; + meanState.g_eta = gAvg; + + return meanState.asVector(); +} + +Eigen::Vector3d mean_measurement(const std::vector& setPoints) { + Eigen::Vector3d avg = Eigen::Vector3d::Zero(); + for (const auto& m : setPoints) avg += m.measurement; + return avg / double(setPoints.size()); +} + +Eigen::Matrix37d covariance_set( + const std::vector& setPoints, + const Eigen::Vector37d& meanVec, + double tol +) { + int n = int(setPoints.size()); + AUVState meanState; + meanState.fillStates(meanVec); + std::vector quats; + quats.reserve(n); + + for (const auto& s : setPoints) quats.push_back(s.orientation); + meanState.orientation = quaternion_mean(quats, tol); + + Eigen::Matrix37d cov = Eigen::Matrix37d::Zero(); + for (const auto& s : setPoints) { + Eigen::Vector37d d = Eigen::Vector37d::Zero(); + + d.segment<3>(0) = s.position - meanState.position; + + Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); + double w = std::clamp(e.w(), -1.0, 1.0); + double angle = 2 * std::acos(w); + + + Eigen::Vector3d err; + if (std::abs(angle) < tol) err.setZero(); + else err = (angle / std::sin(angle/2.0)) * e.vec(); + + d.segment<3>(3) = err; + + d.segment<3>(6) = s.velocity - meanState.velocity; + d.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; + d.segment<9>(12) = s.inertia - meanState.inertia; + d.segment<6>(21) = s.added_mass - meanState.added_mass; + d.segment<6>(27) = s.damping - meanState.damping; + d.segment<4>(33) = s.g_eta - meanState.g_eta; + cov += d * d.transpose(); + } + return cov / double(n); +} + +Eigen::Matrix3d covariance_measurement( + const std::vector& setPoints, + const Eigen::Vector3d& mean +) { + Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); + for (const auto& m : setPoints) { + Eigen::Vector3d d = m.measurement - mean; + cov += d * d.transpose(); + } + return cov / double(setPoints.size()); +} + +Eigen::Matrix cross_covariance( + const std::vector& setY, + const Eigen::Vector37d& meanY, + const std::vector& setZ, + const Eigen::Vector3d& meanZ, + double tol +) { + int n = int(setY.size()); + AUVState meanState; + meanState.fill_states(meanY); + std::vector quats; + quats.reserve(n); + for (const auto& s : setY) quats.push_back(s.orientation); + meanState.orientation = quaternion_cean(quats, tol); + + Eigen::Matrix cov = Eigen::Matrix::Zero(); + for (size_t i = 0; i < setY.size(); ++i) { + const auto& s = setY[i]; + + Eigen::Vector37d dY = Eigen::Vector37d::Zero(); + dY.segment<3>(0) = s.position - meanState.position; + Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); + double w = std::clamp(e.w(), -1.0, 1.0); + double angle = 2 * std::acos(w); + Eigen::Vector3d err; + if (std::abs(angle) < tol) err.setZero(); + else err = (angle / std::sin(angle/2.0)) * e.vec(); + dY.segment<3>(3) = err; + dY.segment<3>(6) = s.velocity - meanState.velocity; + dY.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; + dY.segment<9>(12) = s.inertia - meanState.inertia; + dY.segment<6>(21) = s.added_mass - meanState.added_mass; + dY.segment<6>(27) = s.damping - meanState.damping; + dY.segment<4>(33) = s.g_eta - meanState.g_eta; + + Eigen::Vector3d dZ = setZ[i].measurement - meanZ; + cov += dY * dZ.transpose(); + } + return cov / double(n); +} \ No newline at end of file diff --git a/navigation/ukf_okid/CMakeLists.txt b/navigation/ukf_okid/CMakeLists.txt deleted file mode 100644 index 901ca044b..000000000 --- a/navigation/ukf_okid/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(ukf_python) - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(vortex_msgs REQUIRED) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -ament_python_install_package(${PROJECT_NAME}) - -install(PROGRAMS - ukf_python/ukf_ros.py - DESTINATION lib/${PROJECT_NAME} -) - -ament_package() diff --git a/navigation/ukf_okid/launch/ukf.launch.py b/navigation/ukf_okid/launch/ukf.launch.py deleted file mode 100644 index 5d075259f..000000000 --- a/navigation/ukf_okid/launch/ukf.launch.py +++ /dev/null @@ -1,12 +0,0 @@ -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description() -> LaunchDescription: - ukf_node = Node( - package="ukf_python", - executable="ukf_ros.py", - name="ukf_node", - ) - - return LaunchDescription([ukf_node]) diff --git a/navigation/ukf_okid/ukf_python/__init__.py b/navigation/ukf_okid/ukf_python/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/navigation/ukf_okid/ukf_python/ukf_okid.py b/navigation/ukf_okid/ukf_python/ukf_okid.py deleted file mode 100644 index 240ca42bb..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_okid.py +++ /dev/null @@ -1,130 +0,0 @@ -import numpy as np -from ukf_okid_class import ( - MeasModel, - StateQuat, - covariance_measurement, - covariance_set, - cross_covariance, - mean_measurement, - mean_set, - F_dynamics, -) - - -class UKF: - def __init__(self, x_0: StateQuat, Q): - self.x = x_0 - self.Q = Q - # self.G = G - self.sigma_points_list = None - self.measurement_updated = MeasModel() - self.y_i = None - self.weight = None - self.delta = self.generate_delta_matrix(len(x_0.as_vector()) - 1) - self.cross_correlation = None - self.dt = 0.01 # Time step for dynamics - - def generate_delta_matrix(self, n: float) -> np.ndarray: - """Generates the weight matrix used in the TUKF sigma point generation. - - Parameters: - n (int): The state dimension. - - Returns: - delta (np.ndarray): An n x 2n orthonormal transformation matrix used to generate TUKF sigma points. - """ - delta = np.zeros((n, 2 * n)) - k = 0.00000001 # Tuning parameter to ensure pos def - - for i in range(2 * n): - for j in range(n // 2): - delta[2 * j + 1, i] = ( - np.sqrt(2) * np.sin((2 * j - 1) * ((k * np.pi) / n)) - ) - delta[2 * j, i] = np.sqrt(2) * np.cos((2 * j - 1) * ((k * np.pi) / n)) - - if (n % 2) == 1: - delta[n - 1, i] = (-1) ** i - return delta - - def sigma_points(self, current_state: StateQuat) -> list[StateQuat]: - """Functions that generate the sigma points for the UKF.""" - n = len(current_state.covariance) - - S = np.linalg.cholesky(current_state.covariance + self.Q) - - self.sigma_points_list = [StateQuat() for _ in range(2 * n)] - - for index, state in enumerate(self.sigma_points_list): - delta_x = S @ self.delta[:, index] - state.fill_dynamic_states(current_state.as_vector(), delta_x) - - return self.sigma_points_list - - def unscented_transform(self, current_state: StateQuat, control_force: np.ndarray) -> StateQuat: - """The unscented transform function generates the priori state estimate.""" - self.sigma_points(current_state) - n = len(current_state.covariance) - - self.y_i = [StateQuat() for _ in range(2 * n)] - - for i, sp in enumerate(self.sigma_points_list): - self.y_i[i] = F_dynamics(sp, self.dt, control_force) - - state_estimate = StateQuat() - x = mean_set(self.y_i) - - state_estimate.fill_states(x) - state_estimate.covariance = covariance_set(self.y_i, x) - return state_estimate - - def measurement_update( - self, current_state: StateQuat, measurement: MeasModel - ) -> None: - """Function that updates the state estimate with a measurement. - - Hopefully this is the DVL or GNSS - """ - n = len(current_state.covariance) - z_i = [MeasModel() for _ in range(2 * n)] - - for i, state in enumerate(self.sigma_points_list): - z_i[i] = measurement.H(state) - - self.measurement_updated.measurement = mean_measurement(z_i) - - self.measurement_updated.covariance = covariance_measurement( - z_i, self.measurement_updated.measurement - ) - - self.cross_correlation = cross_covariance( - self.y_i, - current_state.as_vector(), - z_i, - self.measurement_updated.measurement, - ) - - def posteriori_estimate( - self, - current_state: StateQuat, - measurement: MeasModel, - ) -> StateQuat: - """Calculates the posteriori estimate using measurement and the prior estimate.""" - nu_k = MeasModel() - nu_k.measurement = ( - measurement.measurement - self.measurement_updated.measurement - ) - nu_k.covariance = self.measurement_updated.covariance + measurement.covariance - - K_k = np.dot(self.cross_correlation, np.linalg.inv(nu_k.covariance)) - - posteriori_estimate = StateQuat() - - posteriori_estimate.fill_states_different_dim( - current_state.as_vector(), np.dot(K_k, nu_k.measurement) - ) - posteriori_estimate.covariance = current_state.covariance - np.dot( - K_k, np.dot(nu_k.covariance, np.transpose(K_k)) - ) - - return posteriori_estimate diff --git a/navigation/ukf_okid/ukf_python/ukf_okid_class.py b/navigation/ukf_okid/ukf_python/ukf_okid_class.py deleted file mode 100644 index f494e3280..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_okid_class.py +++ /dev/null @@ -1,880 +0,0 @@ -from dataclasses import dataclass, field -from typing import Callable -import numpy as np - - -@dataclass -class okid: - """A class to represent the parameters for the OKID algorithm.""" - - inertia: np.ndarray = field( - default_factory=lambda: np.array( - [0.68, 0.0, 0.0, 0.0, 3.32, 0.0, 0.0, 0.0, 3.34] - ) - ) - added_mass: np.ndarray = field( - default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) - ) - damping_linear: np.ndarray = field( - default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) - ) - g_eta: np.ndarray = field( - default_factory=lambda: np.array([0.0, 0.0, 0.0, 0.0]) - ) - - def fill(self, state: np.ndarray) -> None: - """Fills the okid_params object with values from a numpy array.""" - self.inertia = state[0:9] - self.added_mass = state[9:15] - self.damping_linear = state[15:21] - self.g_eta = state[21:25] - - def as_vector(self) -> np.ndarray: - """Returns the okid_params as a numpy array.""" - return np.concatenate([self.inertia, self.added_mass, self.damping_linear, self.g_eta]) - - def __add__(self, other: 'okid') -> 'okid': - """Defines the addition operation between two okid_params objects.""" - result = okid() - result.inertia = self.inertia + other.inertia - result.added_mass = self.added_mass + other.added_mass - result.damping_linear = self.damping_linear + other.damping_linear - result.g_eta = self.g_eta + other.g_eta - return result - - def __sub__(self, other: 'okid') -> 'okid': - """Defines the subtraction operation between two okid_params objects.""" - result = okid() - result.inertia = self.inertia - other.inertia - result.added_mass = self.added_mass - other.added_mass - result.damping_linear = self.damping_linear - other.damping_linear - result.g_eta = self.g_eta - other.g_eta - return result - - def __sub__(self, other: np.ndarray) -> 'okid': - """Defines sub between okid_params and np.ndarray.""" - result = okid() - result.inertia = self.inertia - other[0:9] - result.added_mass = self.added_mass - other[9:15] - result.damping_linear = self.damping_linear - other[15:21] - result.g_eta = self.g_eta - other[21:25] - return result - - def __rmul__(self, scalar: float) -> 'okid': - """Defines the multiplication operation between a scalar and okid_params object.""" - result = okid() - result.inertia = scalar * self.inertia - result.added_mass = scalar * self.added_mass - result.damping_linear = scalar * self.damping_linear - result.g_eta = scalar * self.g_eta - return result - - -@dataclass -class StateQuat: - """A class to represent the state to be estimated by the UKF.""" - - position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - orientation: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 0])) - velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - angular_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) - okid_params: okid = field(default_factory=okid) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((37, 37))) - - def as_vector(self) -> np.ndarray: - """Returns the StateVector as a numpy array.""" - return np.concatenate( - [ - self.position, - self.orientation, - self.velocity, - self.angular_velocity, - self.okid_params.as_vector(), - ] - ) - - def dynamic_part(self) -> np.ndarray: - """Returns the dynamic part of the state vector.""" - return np.concatenate( - [self.position, self.orientation, self.velocity, self.angular_velocity] - ) - - def nu(self) -> np.ndarray: - """Calculates the nu vector.""" - return np.concatenate([self.velocity, self.angular_velocity]) - - def R_q(self) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = self.orientation - R = np.array( - [ - [ - 1 - 2 * q2**2 - 2 * q3**2, - 2 * (q1 * q2 - q0 * q3), - 2 * (q0 * q2 + q1 * q3), - ], - [ - 2 * (q1 * q2 + q0 * q3), - 1 - 2 * q1**2 - 2 * q3**2, - 2 * (q2 * q3 - q0 * q1), - ], - [ - 2 * (q1 * q3 - q0 * q2), - 2 * (q0 * q1 + q2 * q3), - 1 - 2 * q1**2 - 2 * q2**2, - ], - ] - ) - return R - - def fill_states(self, state: np.ndarray) -> None: - """Fills the state vector with the values from a numpy array.""" - self.position = state[0:3] - self.orientation = state[3:7] - self.velocity = state[7:10] - self.angular_velocity = state[10:13] - self.okid_params.fill(state[13:]) - - def fill_dynamic_states(self, state: np.ndarray, state_euler: np.ndarray) -> None: - """Fills only the dynamic part of the state vector with the values from a numpy array.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product( - state[3:7], euler_to_quat(state_euler[3:6]) - ) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - self.okid_params.fill(state[13:] + state_euler[12:]) - - def fill_states_different_dim( - self, state: np.ndarray, state_euler: np.ndarray - ) -> None: - """Fills states when the state vector has different dimensions than the default state vector.""" - self.position = state[0:3] + state_euler[0:3] - self.orientation = quaternion_super_product( - state[3:7], euler_to_quat(state_euler[3:6]) - ) - self.velocity = state[7:10] + state_euler[6:9] - self.angular_velocity = state[10:13] + state_euler[9:12] - self.okid_params.fill(state[13:] + state_euler[12:]) - - def subtract(self, other: 'StateQuat', error_ori: 'np.ndarray') -> np.ndarray: - """Subtracts two StateQuat objects, returning the difference with Euler angles.""" - new_array = np.zeros(len(self.as_vector()) - 1) - new_array[:3] = self.position - other.position - new_array[3:6] = error_ori - new_array[6:9] = self.velocity - other.velocity - new_array[9:12] = self.angular_velocity - other.angular_velocity - new_array[12:] = self.okid_params.as_vector() - other.okid_params.as_vector() - - return new_array - - def __add__(self, other: 'StateQuat') -> 'StateQuat': - """Adds two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position + other.position - new_state.orientation = quaternion_super_product( - self.orientation, other.orientation - ) - new_state.velocity = self.velocity + other.velocity - new_state.angular_velocity = self.angular_velocity + other.angular_velocity - new_state.okid_params = self.okid_params + other.okid_params - - return new_state - - def __sub__(self, other: 'StateQuat') -> 'StateQuat': - """Subtracts two StateQuat objects.""" - new_state = StateQuat() - new_state.position = self.position - other.position - new_state.orientation = quaternion_error(self.orientation, other.orientation) - new_state.velocity = self.velocity - other.velocity - new_state.angular_velocity = self.angular_velocity - other.angular_velocity - new_state.okid_params = self.okid_params - other.okid_params - - return new_state.as_vector() - - def __rmul__(self, scalar: float) -> 'StateQuat': - """Multiplies the StateQuat object by a scalar.""" - new_state = StateQuat() - new_state.position = scalar * self.position - new_state.orientation = quat_norm(scalar * self.orientation) - new_state.velocity = scalar * self.velocity - new_state.angular_velocity = scalar * self.angular_velocity - new_state.okid_params = scalar * self.okid_params - - return new_state - - def insert_weights(self, weights: np.ndarray) -> np.ndarray: - """Inserts the weights into the covariance matrix.""" - new_state = StateQuat() - new_state.position = self.position - weights[:3] - new_state.orientation = quaternion_error( - self.orientation, euler_to_quat(weights[3:6]) - ) - new_state.velocity = self.velocity - weights[6:9] - new_state.angular_velocity = self.angular_velocity - weights[9:12] - new_state.okid_params = self.okid_params - weights[12:] - - return new_state.as_vector() - - def add_without_quaternions(self, other: 'StateQuat') -> None: - """Adds elements into the state vector without considering the quaternions.""" - self.position += other.position - self.velocity += other.velocity - self.angular_velocity += other.angular_velocity - self.okid_params += other.okid_params - - -@dataclass -class MeasModel: - """A class defined for a general measurement model.""" - measurement: np.ndarray = field(default_factory=lambda: np.zeros(3)) - covariance: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - H: Callable[["StateQuat"], "MeasModel"] | None = None - - def __post_init__(self): - """Initialize H with a default measurement function if none provided.""" - if self.H is None: - self.H = self._default_H - - def _default_H(self, state: StateQuat) -> 'MeasModel': - """Default measurement function that returns velocity.""" - H_matrix = np.zeros((3, 13)) - H_matrix[:, 7:10] = np.eye(3) - z_i = MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - - def __add__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the addition operation between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement + other.measurement - return result - - def __rmul__(self, scalar: float) -> 'MeasModel': - """Defines multiplication between scalar value and MeasModel object.""" - result = MeasModel() - result.measurement = scalar * self.measurement - return result - - def __sub__(self, other: 'MeasModel') -> 'MeasModel': - """Defines the subtraction between two MeasModel objects.""" - result = MeasModel() - result.measurement = self.measurement - other.measurement - return result - - -@dataclass -class process_model: - """A class defined for a general process model.""" - - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_nonlinear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 0.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.0 - integral_error_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) - integral_error_orientation: np.ndarray = field(default_factory=lambda: np.zeros(4)) - prev_position_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - prev_orientation_error: np.ndarray = field(default_factory=lambda: np.zeros(3)) - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array( - [ - [ - 1 - 2 * e_2**2 - 2 * e_3**2, - 2 * e_1 * e_2 - 2 * nu * e_3, - 2 * e_1 * e_3 + 2 * nu * e_2, - ], - [ - 2 * e_1 * e_2 + 2 * nu * e_3, - 1 - 2 * e_1**2 - 2 * e_3**2, - 2 * e_2 * e_3 - 2 * nu * e_1, - ], - [ - 2 * e_1 * e_3 - 2 * nu * e_2, - 2 * e_2 * e_3 + 2 * nu * e_1, - 1 - 2 * e_1**2 - 2 * e_2**2, - ], - ] - ) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array( - [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] - ) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - D_nl = -np.diag(self.damping_nonlinear) * np.abs(self.state_vector.nu()) - return D_l + D_nl - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot( - self.T(), self.state_vector.angular_velocity - ) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( - self.Control_input - - np.dot(self.Crb(), self.state_vector.nu()) - - np.dot(self.D(), self.state_vector.nu()) - ) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> StateQuat: - """Calculates the forward Euler integration.""" - self.state_vector.position = ( - self.state_vector_prev.position + self.state_vector_dot.position * self.dt - ) - self.state_vector.orientation = quat_norm( - self.state_vector_prev.orientation - + self.state_vector_dot.orientation * self.dt - ) - self.state_vector.velocity = ( - self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - ) - self.state_vector.angular_velocity = ( - self.state_vector_prev.angular_velocity - + self.state_vector_dot.angular_velocity * self.dt - ) - return self.state_vector - - -@dataclass -class okid_process_model: - state_vector: StateQuat = field(default_factory=StateQuat) - state_vector_dot: StateQuat = field(default_factory=StateQuat) - state_vector_prev: StateQuat = field(default_factory=StateQuat) - Control_input: np.ndarray = field(default_factory=lambda: np.zeros(6)) - mass_interia_matrix: np.ndarray = field(default_factory=lambda: np.zeros((6, 6))) - added_mass: np.ndarray = field(default_factory=lambda: np.zeros(6)) - damping_linear: np.ndarray = field(default_factory=lambda: np.zeros(6)) - m: float = 30.0 - inertia: np.ndarray = field(default_factory=lambda: np.zeros((3, 3))) - r_b_bg: np.ndarray = field(default_factory=lambda: np.zeros(3)) - dt: float = 0.01 - - def R(self) -> np.ndarray: - """Calculates the rotation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - R = np.array( - [ - [ - 1 - 2 * e_2**2 - 2 * e_3**2, - 2 * e_1 * e_2 - 2 * nu * e_3, - 2 * e_1 * e_3 + 2 * nu * e_2, - ], - [ - 2 * e_1 * e_2 + 2 * nu * e_3, - 1 - 2 * e_1**2 - 2 * e_3**2, - 2 * e_2 * e_3 - 2 * nu * e_1, - ], - [ - 2 * e_1 * e_3 - 2 * nu * e_2, - 2 * e_2 * e_3 + 2 * nu * e_1, - 1 - 2 * e_1**2 - 2 * e_2**2, - ], - ] - ) - return R - - def T(self) -> np.ndarray: - """Calculates the transformation matrix.""" - nu, e_1, e_2, e_3 = self.state_vector.orientation - T = 0.5 * np.array( - [[-e_1, -e_2, -e_3], [nu, -e_3, e_2], [e_3, nu, -e_1], [-e_2, e_1, nu]] - ) - return T - - def Crb(self) -> np.ndarray: - """Calculates the Coriolis matrix.""" - ang_vel = self.state_vector.angular_velocity - ang_vel_skew = skew_symmetric(ang_vel) - lever_arm_skew = skew_symmetric(self.r_b_bg) - Crb = np.zeros((6, 6)) - Crb[0:3, 0:3] = self.m * ang_vel_skew - Crb[3:6, 3:6] = -skew_symmetric(np.dot(self.inertia, ang_vel)) - Crb[0:3, 3:6] = -self.m * np.dot(ang_vel_skew, lever_arm_skew) - Crb[3:6, 0:3] = self.m * np.dot(lever_arm_skew, ang_vel_skew) - return Crb - - def D(self) -> np.ndarray: - """Calculates the damping matrix.""" - D_l = -np.diag(self.damping_linear) - - return D_l - - def model_prediction(self, state: StateQuat) -> None: - """Calculates the model of the system.""" - self.state_vector = state - """ - separate out the different okid values - """ - self.inertia = state.okid_params.inertia.reshape((3, 3)) - self.added_mass = state.okid_params.added_mass - self.damping_linear = state.okid_params.damping_linear - - self.state_vector_dot.position = np.dot(self.R(), self.state_vector.velocity) - self.state_vector_dot.orientation = np.dot( - self.T(), self.state_vector.angular_velocity - ) - Nu = np.linalg.inv(self.mass_interia_matrix + np.diag(self.added_mass)) @ ( - self.Control_input - - np.dot(self.Crb(), self.state_vector.nu()) - - np.dot(self.D(), self.state_vector.nu()) - ) - self.state_vector_dot.velocity = Nu[:3] - self.state_vector_dot.angular_velocity = Nu[3:] - - def euler_forward(self) -> None: - """Calculates the forward Euler integration.""" - self.state_vector.position = ( - self.state_vector_prev.position + self.state_vector_dot.position * self.dt - ) - self.state_vector.orientation = quat_norm( - self.state_vector_prev.orientation - + self.state_vector_dot.orientation * self.dt - ) - self.state_vector.velocity = ( - self.state_vector_prev.velocity + self.state_vector_dot.velocity * self.dt - ) - self.state_vector.angular_velocity = ( - self.state_vector_prev.angular_velocity - + self.state_vector_dot.angular_velocity * self.dt - ) - return self.state_vector - - -# ----------------------------------------------------------- - -def R_q(orientation: np.ndarray) -> np.ndarray: - """Calculates the rotation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = orientation - R = np.array( - [ - [1 - 2 * q2**2 - 2 * q3**2, 2 * (q1 * q2 - q0 * q3), 2 * (q0 * q2 + q1 * q3)], - [2 * (q1 * q2 + q0 * q3), 1 - 2 * q1**2 - 2 * q3**2, 2 * (q2 * q3 - q0 * q1)], - [2 * (q1 * q3 - q0 * q2), 2 * (q0 * q1 + q2 * q3), 1 - 2 * q1**2 - 2 * q2**2], - ] - ) - return R - -def T_q(orientation: np.ndarray) -> np.ndarray: - """Calculates the transformation matrix from the orientation quaternion.""" - q0, q1, q2, q3 = orientation - T = 0.5 * np.array( - [[-q1, -q2, -q3], [q0, -q3, q2], [q3, q0, -q1], [-q2, q1, q0]] - ) - return T - -def M_rb(inertia: np.ndarray) -> np.ndarray: - m = 30.0 - inertia = inertia.reshape((3, 3)) - r_b_bg = np.array([0.01, 0.0, 0.02]) - M_rb = np.zeros((6, 6)) - M_rb[0:3, 0:3] = m * np.eye(3) - M_rb[3:6, 3:6] = inertia - M_rb[0:3, 3:6] = -m * skew_symmetric(r_b_bg) - M_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) - return M_rb - -def M_a(added_mass: np.ndarray) -> np.ndarray: - """Calculates the added mass matrix.""" - M_a = np.zeros((6, 6)) - M_a[0:3, 0:3] = np.diag(added_mass[0:3]) - M_a[3:6, 3:6] = np.diag(added_mass[3:6]) - return M_a - -def C_rb(inertia: np.ndarray, angular_velocity: np.ndarray) -> np.ndarray: - """Calculates the Coriolis matrix.""" - m = 30.0 - r_b_bg = np.array([0.01, 0.0, 0.02]) - inertia = inertia.reshape((3, 3)) - C_rb = np.zeros((6, 6)) - - C_rb[0:3, 0:3] = m * skew_symmetric(angular_velocity) - C_rb[3:6, 3:6] = -skew_symmetric(np.dot(inertia, angular_velocity)) - C_rb[0:3, 3:6] = -m * skew_symmetric(angular_velocity) @ skew_symmetric(r_b_bg) - C_rb[3:6, 0:3] = m * skew_symmetric(r_b_bg) @ skew_symmetric(angular_velocity) - return C_rb - -def C_a(added_mass: np.ndarray, angular_velocity: np.ndarray, velocity: np.ndarray) -> np.ndarray: - """Calculates the added mass Coriolis matrix.""" - C_a = np.zeros((6, 6)) - A11 = np.diag(added_mass[0:3]) - A22 = np.diag(added_mass[3:6]) - C_a[3:6,3:6] = - skew_symmetric(A22 @ angular_velocity) - C_a[0:3,3:6] = - skew_symmetric(A11 @ velocity) - C_a[3:6,0:3] = - skew_symmetric(A11 @ velocity) - return C_a - -def D_linear(damping_linear: np.ndarray) -> np.ndarray: - """Calculates the linear damping matrix.""" - D = np.zeros((6, 6)) - D[0:3, 0:3] = -np.diag(damping_linear[0:3]) - D[3:6, 3:6] = -np.diag(damping_linear[3:6]) - return D - -def g_eta(g_eta: np.ndarray, orientation: np.ndarray) -> np.ndarray: - """Calculates the g_eta matrix.""" - Delta_WB = g_eta[0] - M_x = g_eta[1] - M_y = g_eta[2] - M_z = g_eta[3] - - q_0 = orientation[0] - q_1 = orientation[1] - q_2 = orientation[2] - q_3 = orientation[3] - - R1 = (2*(q_1*q_3 - q_0*q_2)) - R2 = (2*(q_2*q_3 + q_0*q_1)) - R3 = (1 - 2*(q_1**2 + q_2**2)) - G_eta = np.zeros((6,1)) - G_eta[0] = - Delta_WB * R1 - G_eta[1] = - Delta_WB * R2 - G_eta[2] = - Delta_WB * R3 - - G_eta[3] = -M_y * R3 + M_z * R2 - G_eta[4] = -M_z * R1 + M_x * R3 - G_eta[5] = -M_x * R2 + M_y * R1 - - return G_eta - -def F_dynamics( - state: StateQuat, - dt: float, - control_input: np.ndarray) -> np.ndarray: - - """Calculates the dynamics of the system.""" - m_rb = M_rb(state.okid_params.inertia) - m_a = M_a(state.okid_params.added_mass) - c_rb = C_rb(state.okid_params.inertia, state.angular_velocity) - c_a = C_a(state.okid_params.added_mass, state.angular_velocity, state.velocity) - D_l = D_linear(state.okid_params.damping_linear) - g_eta_ = g_eta(state.okid_params.g_eta, state.orientation) - r_q = R_q(state.orientation) - t_q = T_q(state.orientation) - Crb = c_rb + c_a - Mrb = m_rb + m_a - M_inv = np.linalg.inv(Mrb) - - - # Calculate the new state - state_dot = StateQuat() - state_dot.position = np.dot(r_q, state.velocity) - state_dot.orientation = np.dot(t_q, state.angular_velocity) - Nu = M_inv @ (control_input - np.dot(Crb, state.nu()) - np.dot(D_l, state.nu()) - g_eta_.flatten()) - - state_dot.velocity = Nu[:3] - state_dot.angular_velocity = Nu[3:6] - state_dot.okid_params.added_mass = state.okid_params.added_mass - state_dot.okid_params.damping_linear = state.okid_params.damping_linear - state_dot.okid_params.inertia = state.okid_params.inertia - state_dot.okid_params.g_eta = state.okid_params.g_eta - - # Update the state using Euler integration - state.position += state_dot.position * dt - state.orientation = quat_norm( - state.orientation + state_dot.orientation * dt - ) - state.velocity += state_dot.velocity * dt - state.angular_velocity += state_dot.angular_velocity * dt - state.okid_params.added_mass = state.okid_params.added_mass - state.okid_params.damping_linear = state.okid_params.damping_linear - state.okid_params.inertia = state.okid_params.inertia - state.okid_params.g_eta = state.okid_params.g_eta - return state -# ----------------------------------------------------------- - - -def euler_to_quat(euler_angles: np.ndarray) -> np.ndarray: - """Converts Euler angles to a quaternion.""" - psi, theta, phi = euler_angles - c_psi = np.cos(psi / 2) - s_psi = np.sin(psi / 2) - c_theta = np.cos(theta / 2) - s_theta = np.sin(theta / 2) - c_phi = np.cos(phi / 2) - s_phi = np.sin(phi / 2) - - quat = np.array( - [ - c_psi * c_theta * c_phi + s_psi * s_theta * s_phi, - c_psi * c_theta * s_phi - s_psi * s_theta * c_phi, - s_psi * c_theta * s_phi + c_psi * s_theta * c_phi, - s_psi * c_theta * c_phi - c_psi * s_theta * s_phi, - ] - ) - - return quat - - -def quat_to_euler(quat: np.ndarray) -> np.ndarray: - """Converts a quaternion to Euler angles.""" - nu, eta_1, eta_2, eta_3 = quat - - phi = np.arctan2(2 * (eta_2 * eta_3 + nu * eta_1), 1 - 2 * (eta_1**2 + eta_2**2)) - theta = -np.arcsin(2 * (eta_1 * eta_3 - nu * eta_2)) - psi = np.arctan2(2 * (nu * eta_3 + eta_1 * eta_2), 1 - 2 * (eta_2**2 + eta_3**2)) - - return np.array([phi, theta, psi]) - - -def quat_norm(quat: np.ndarray) -> np.ndarray: - """Function that normalizes a quaternion.""" - quat = quat / np.linalg.norm(quat) - - return quat - - -def skew_symmetric(vector: np.ndarray) -> np.ndarray: - """Calculates the skew symmetric matrix of a vector. - - Args: - vector (np.ndarray): The vector. - - Returns: - np.ndarray: The skew symmetric matrix. - """ - return np.array( - [ - [0, -vector[2], vector[1]], - [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0], - ] - ) - - -def quaternion_super_product(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: - """Calculates the quaternion super product of two quaternions. - - Args: - q1 (np.ndarray): The first quaternion. - q2 (np.ndarray): The second quaternion. - - Returns: - np.ndarray: The quaternion super product. - """ - eta_0, e_0_x, e_0_y, e_0_z = q1 - eta_1, e_1_x, e_1_y, e_1_z = q2 - - e_0 = np.array([e_0_x, e_0_y, e_0_z]) - e_1 = np.array([e_1_x, e_1_y, e_1_z]) - - eta_new = eta_0 * eta_1 - (e_0_x * e_1_x + e_0_y * e_1_y + e_0_z * e_1_z) - nu_new = e_1 * eta_0 + e_0 * eta_1 + np.dot(skew_symmetric(e_0), e_1) - - q_new = quat_norm(np.array([eta_new, nu_new[0], nu_new[1], nu_new[2]])) - - return q_new - - -def quaternion_error(quat_1: np.ndarray, quat_2: np.ndarray) -> np.ndarray: - """Calculates the error between two quaternions.""" - quat_2_inv = np.array([quat_2[0], -quat_2[1], -quat_2[2], -quat_2[3]]) - - error_quat = quaternion_super_product(quat_1, quat_2_inv) - - return error_quat - - -def iterative_quaternion_mean_statequat( - state_list: list[StateQuat], tol: float = 1e-6, max_iter: int = 100 -) -> np.ndarray: - """Computes the iterative mean of quaternion orientations from StateQuat objects. - - Args: - state_list: List of StateQuat objects - tol: Convergence tolerance - max_iter: Maximum iterations - - Returns: - Mean quaternion as numpy array - """ - sigma_quats = [state.orientation for state in state_list] - n = len(state_list) - - mean_q = sigma_quats[0].copy() - - for _ in range(max_iter): - weighted_error_vectors = [] - for i, q in enumerate(sigma_quats): - mean_q_conj = np.array([mean_q[0], -mean_q[1], -mean_q[2], -mean_q[3]]) - e = quaternion_super_product(q, mean_q_conj) - - e0_clipped = np.clip(e[0], -1.0, 1.0) - angle = 2 * np.arccos(e0_clipped) - if np.abs(angle) < 1e-8: - error_vec = np.zeros(3) - else: - error_vec = (angle / np.sin(angle / 2)) * e[1:4] - weighted_error_vectors.append(error_vec) - - error_avg = (1 / n) * np.sum(weighted_error_vectors, axis=0) - if np.linalg.norm(error_avg) < tol: - break - - error_norm = np.linalg.norm(error_avg) - if error_norm > 0: - delta_q = np.array( - [ - np.cos(error_norm / 2), - *(np.sin(error_norm / 2) * (error_avg / error_norm)), - ] - ) - else: - delta_q = np.array([1.0, 0.0, 0.0, 0.0]) - - mean_q = quaternion_super_product(delta_q, mean_q) - mean_q = quat_norm(mean_q) - - return mean_q - - -def mean_set(set_points: list[StateQuat]) -> np.ndarray: - """Function calculates the mean vector of a set of points. - - Args: - set_points (list[StateQuat]): List of StateQuat objects - - Returns: - np.ndarray: The mean vector - """ - n = len(set_points) - mean_value = StateQuat() - - for state in set_points: - mean_value.add_without_quaternions(state) - - mean_value.position = (1 / n) * mean_value.position - mean_value.velocity = (1 / n) * mean_value.velocity - mean_value.angular_velocity = (1 / n) * mean_value.angular_velocity - mean_value.okid_params = (1 / n) * mean_value.okid_params - - mean_value.orientation = iterative_quaternion_mean_statequat(set_points) - return mean_value.as_vector() - - -def mean_measurement(set_points: list[MeasModel]) -> np.ndarray: - """Function that calculates the mean of a set of points.""" - n = len(set_points) - mean_value = MeasModel() - - for state in set_points: - mean_value = mean_value + state - - mean_value = (1 / n) * mean_value - - return mean_value.measurement - - -def covariance_set(set_points: list[StateQuat], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - covariance = np.zeros(set_points[0].covariance.shape) - - mean_quat = StateQuat() - mean_quat.fill_states(mean) - - mean_q = mean_quat.orientation - - for state in set_points: - q = state.orientation - diff_q = quaternion_error(q, mean_q) - - e0_clipped = np.clip(diff_q[0], -1.0, 1.0) - angle = 2.0 * np.arccos(e0_clipped) - if abs(angle) < 1e-8: - e_vec = np.zeros(3) - else: - e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] - - covariance += np.outer( - state.subtract(mean_quat, e_vec), state.subtract(mean_quat, e_vec) - ) - - covariance = (1 / (n)) * covariance - - return covariance - - -def covariance_measurement(set_points: list[MeasModel], mean: np.ndarray) -> np.ndarray: - """Function that calculates the covariance of a set of points.""" - n = len(set_points) - co_size = len(set_points[0].measurement) - covariance = np.zeros((co_size, co_size)) - - mean_meas = MeasModel() - mean_meas.measurement = mean - - for state in set_points: - temp_state = state - mean_meas - covariance += np.outer(temp_state.measurement, temp_state.measurement) - - covariance = (1 / n) * covariance - - return covariance - - -def cross_covariance( - set_y: list[StateQuat], - mean_y: np.ndarray, - set_z: list[MeasModel], - mean_z: np.ndarray, -) -> np.ndarray: - """Calculates the cross covariance between the measurement and state prediction.""" - n = len(set_y) - - cross_covariance = np.zeros((len(mean_y) - 1, len(mean_z))) - mean_quat = StateQuat() - mean_quat.fill_states(mean_y) - - mean_q = mean_quat.orientation - - for i in range(n): - q = set_y[i].orientation - diff_q = quaternion_error(q, mean_q) - - e0_clipped = np.clip(diff_q[0], -1.0, 1.0) - angle = 2.0 * np.arccos(e0_clipped) - if abs(angle) < 1e-8: - e_vec = np.zeros(3) - else: - e_vec = (angle / np.sin(angle / 2)) * diff_q[1:4] - - cross_covariance += np.outer( - set_y[i].subtract(mean_quat, e_vec), set_z[i].measurement - mean_z - ) - - cross_covariance = (1 / n) * cross_covariance - - return cross_covariance diff --git a/navigation/ukf_okid/ukf_python/ukf_ros.py b/navigation/ukf_okid/ukf_python/ukf_ros.py deleted file mode 100755 index a40c2f7c3..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_ros.py +++ /dev/null @@ -1,159 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import rclpy -from geometry_msgs.msg import TwistWithCovarianceStamped, WrenchStamped -from nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy -from ukf_okid import UKF -from ukf_okid_class import MeasModel, StateQuat, process_model - - -class UKFNode(Node): - def __init__(self): - super().__init__("UKFNode") - - best_effort_qos = QoSProfile( - reliability=ReliabilityPolicy.BEST_EFFORT, - history=HistoryPolicy.KEEP_LAST, - depth=1, - ) - - # subscribers - self.dvl_subscriber = self.create_subscription( - TwistWithCovarianceStamped, - "/orca/twist", - self.dvl_callback, - qos_profile=best_effort_qos, - ) - - self.control_input = self.create_subscription( - WrenchStamped, - "/orca/wrench_input", - self.control_callback, - qos_profile=best_effort_qos, - ) - - self.odom_publish = self.create_publisher( - Odometry, "/orca/odometry", qos_profile=best_effort_qos - ) - dt = self.declare_parameter("dt", 0.01).get_parameter_value().double_value - self.control_timer = self.create_timer(dt, self.odom_publisher) - - self.current_state = StateQuat() - x0 = np.zeros(13) - x0[3] = 1.0 # quaternion: [1, 0, 0, 0] - P0 = np.eye(12) * 0.5 - self.ukf_model = process_model() - self.ukf_model.dt = 0.01 - self.ukf_model.mass_interia_matrix = np.array( - [ - [30.0, 0.0, 0.0, 0.0, 0.0, 0.6], - [0.0, 30.0, 0.0, 0.0, -0.6, 0.3], - [0.0, 0.0, 30.0, 0.6, 0.3, 0.0], - [0.0, 0.0, 0.6, 0.68, 0.0, 0.0], - [0.0, -0.6, 0.3, 0.0, 3.32, 0.0], - [0.6, 0.3, 0.0, 0.0, 0.0, 3.34], - ] - ) - self.ukf_model.m = 30.0 - self.ukf_model.r_b_bg = np.array([0.01, 0.0, 0.02]) - self.ukf_model.inertia = np.diag([0.68, 3.32, 3.34]) - self.ukf_model.damping_linear = np.array([0.01] * 6) - # self.ukf_model.added_mass = np.diag([1.0, 1.0, 1.0, 2.0, 2.0, 2.0]) - - Q = np.diag([0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]) - - self.ukf = UKF(self.ukf_model, x0, P0, Q) - self.ukf_flagg = False - - def dvl_callback(self, msg: TwistWithCovarianceStamped): - # unpack msg - dvl_measurement = MeasModel() - # Print received DVL data to console - # self.get_logger().info(f"DVL data received: x={msg.twist.twist.linear.x}, y={msg.twist.twist.linear.y}, z={msg.twist.twist.linear.z}") - dvl_measurement.measurement = np.array( - [ - msg.twist.twist.linear.x, - msg.twist.twist.linear.y, - msg.twist.twist.linear.z, - ] - ) - dvl_measurement.covariance = np.array( - [ - [ - msg.twist.covariance[0], - msg.twist.covariance[1], - msg.twist.covariance[3], - ], - [ - msg.twist.covariance[6], - msg.twist.covariance[7], - msg.twist.covariance[8], - ], - [ - msg.twist.covariance[12], - msg.twist.covariance[13], - msg.twist.covariance[14], - ], - ] - ) - - self.ukf.measurement_update(self.current_state, dvl_measurement) - self.current_state = self.ukf.posteriori_estimate( - self.current_state, dvl_measurement - ) - self.ukf_flagg = True - - def control_callback(self, msg: WrenchStamped): - # unpack message - control_array = np.array( - [ - msg.wrench.force.x, - msg.wrench.force.y, - msg.wrench.force.z, - msg.wrench.torque.x, - msg.wrench.torque.y, - msg.wrench.torque.z, - ] - ) - self.ukf_model.Control_input = control_array - - def odom_publisher(self): - msg = Odometry() - - if self.ukf_flagg == False: - self.current_state = self.ukf.unscented_transform(self.current_state) - else: - self.ukf_flagg = False - - msg.header.stamp = self.get_clock().now().to_msg() - msg.header.frame_id = "odom" - msg.child_frame_id = "base_link" - - msg.pose.pose.position.x = self.current_state.position[0] - msg.pose.pose.position.y = self.current_state.position[1] - msg.pose.pose.position.z = self.current_state.position[2] - msg.pose.pose.orientation.w = self.current_state.orientation[0] - msg.pose.pose.orientation.x = self.current_state.orientation[1] - msg.pose.pose.orientation.y = self.current_state.orientation[2] - msg.pose.pose.orientation.z = self.current_state.orientation[3] - msg.twist.twist.linear.x = self.current_state.velocity[0] - msg.twist.twist.linear.y = self.current_state.velocity[1] - msg.twist.twist.linear.z = self.current_state.velocity[2] - msg.twist.twist.angular.x = self.current_state.angular_velocity[0] - msg.twist.twist.angular.y = self.current_state.angular_velocity[1] - msg.twist.twist.angular.z = self.current_state.angular_velocity[2] - - self.odom_publish.publish(msg) - - -def main(args=None): - rclpy.init(args=args) - ukf_node = UKFNode() - rclpy.spin(ukf_node) - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/navigation/ukf_okid/ukf_python/ukf_test.py b/navigation/ukf_okid/ukf_python/ukf_test.py deleted file mode 100644 index e664bd848..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_test.py +++ /dev/null @@ -1,27 +0,0 @@ -import numpy as np -def generate_delta_matrix(n: int) -> np.ndarray: - if n < 1: - raise ValueError("n must be a positive integer") - - delta = np.zeros((n, 2 * n)) - r_max = n // 2 # floor(n/2) - sq2 = np.sqrt(2.0) - - for k in range(1, 2 * n + 1): # k = 1 … 2n - for r in range(1, r_max + 1): - row_cos = 2 * r - 2 # 0‑based index for γ_{k,2r‑1} - row_sin = 2 * r - 1 # 0‑based index for γ_{k,2r} - angle = (2 * r - 1) * k * np.pi / n - delta[row_cos, k - 1] = sq2 * np.cos(angle) - delta[row_sin, k - 1] = sq2 * np.sin(angle) - - if n % 2 == 1: # extra entry when n is odd - delta[n - 1, k - 1] = (-1) ** k - - return delta - -a1 = np.array([1, 0, 1]) -a2 = np.array([1, 1, 0]) - -a3 = np.outer(a1, a2) -print(a3) \ No newline at end of file diff --git a/navigation/ukf_okid/ukf_python/ukf_test_2.py b/navigation/ukf_okid/ukf_python/ukf_test_2.py deleted file mode 100644 index 0a2d5b2fe..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_test_2.py +++ /dev/null @@ -1,229 +0,0 @@ -import numpy as np -import ukf_okid_class as ukf -from ukf_okid import UKF -from mpl_toolkits.mplot3d import Axes3D -import time -import math -from ukf_utils import print_StateQuat, print_matrix - -import matplotlib.pyplot as plt - -# Initialize UKF with StateQuat -initial_position = np.array([0.0, 0.0, 0.0]) # x, y, z -initial_velocity = np.array([0.0, 0.0, 0.0]) # vx, vy, vz -initial_quaternion = np.array([1.0, 0.0, 0.0, 0.0]) # w, x, y, z (identity quaternion) -initial_angular_velocity = np.array([0.0, 0.0, 0.0]) # wx, wy, wz -initial_g_eta = np.array([1.2, 0.3, 0.3, 0.3]) # g_eta parameters -initial_covariance = np.eye(37) * 20.0 # Initial covariance matrix - -# Create StateQuat object -state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) -state.okid_params.g_eta = initial_g_eta -state.covariance = initial_covariance - -real_state = ukf.StateQuat(initial_position, initial_quaternion, initial_velocity, initial_angular_velocity) -real_state.okid_params.g_eta = np.array([1.2, 0.3, 0.3, 0.3]) - -UKF_model = UKF(state, Q=10.0 * np.eye(37)) # Process noise covariance -dvl_measurement = ukf.MeasModel() - -def ang_h(state: ukf.StateQuat) -> 'ukf.MeasModel': - H_matrix = np.zeros((3, 13)) - H_matrix[:, 10:13] = np.eye(3) - z_i = ukf.MeasModel() - z_i.measurement = np.dot(H_matrix, state.dynamic_part()) - return z_i - -ang_measurement = ukf.MeasModel(H=ang_h) - -# UKF parameters -dt = 0.01 # time step -sim_time = 1.0 # total simulation time -steps = int(sim_time / dt) - -# Storage for trajectory -positions = np.zeros((steps, 3)) -velocities = np.zeros((steps, 3)) -quaternions = np.zeros((steps, 4)) -angular_velocities = np.zeros((steps, 3)) -okid_params = np.zeros((steps, 4)) - -# Storage for trajectory -positions_est = np.zeros((steps, 3)) -velocities_est = np.zeros((steps, 3)) -quaternions_est = np.zeros((steps, 4)) -angular_velocities_est = np.zeros((steps, 3)) -okid_params_est = np.zeros((steps, 4)) - -# Simulation loop -for i in range(steps): - t = i * dt - - # Generate control input (slow sinusoidal signals) - control_force = np.array([ - 5 * np.sin(4.0 * t), - 10 * np.sin(3.0 * t), - 10 * np.sin(2.0 * t) - ]) - - control_torque = np.array([ - 10 * np.sin(4.0 * t), - 10 * np.sin(4.0 * t), - 10 * np.sin(4.0 * t) - ]) - - control_input = np.concatenate((control_force, control_torque)) - - # Propagate state using UKF prediction - real_state = ukf.F_dynamics(real_state, dt, control_input) - state = UKF_model.unscented_transform(state, control_input) - if i % 5 == 0: - # Simulate measurement update every 5 steps - ang_measurement.measurement = np.array([ - real_state.angular_velocity[0], - real_state.angular_velocity[1], - real_state.angular_velocity[2] - ]) + np.random.normal(0, 0.03, 3) - # Simulate measurement covariance - ang_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance - # Update UKF with measurement - UKF_model.measurement_update(state, ang_measurement) - state = UKF_model.posteriori_estimate(state, ang_measurement) - - if i % 10 == 0: - # Simulate measurement update every 10 steps - dvl_measurement.measurement = np.array([ - real_state.velocity[0], - real_state.velocity[1], - real_state.velocity[2] - ]) + np.random.normal(0, 0.03, 3) # Simulated measurement with noise - - # Simulate measurement covariance - dvl_measurement.covariance = np.eye(3) * 0.04 # Measurement noise covariance - - # Update UKF with measurement - UKF_model.measurement_update(state, dvl_measurement) - state = UKF_model.posteriori_estimate(state, dvl_measurement) - print_matrix(state.covariance) - - print("Determinant of covariance matrix:", np.linalg.det(state.covariance)) - # Store state for plotting - positions[i] = real_state.position - velocities[i] = real_state.velocity - quaternions[i] = real_state.orientation - angular_velocities[i] = real_state.angular_velocity - okid_params[i] = real_state.okid_params.g_eta - - # Store estimated state for plotting - positions_est[i] = state.position - velocities_est[i] = state.velocity - quaternions_est[i] = state.orientation - angular_velocities_est[i] = state.angular_velocity - okid_params_est[i] = state.okid_params.g_eta - - # Add small delay to simulate real-time execution - time.sleep(0.001) -print(state.as_vector()) -# Plotting -time_points = np.arange(0, sim_time, dt) - -# 3D trajectory plot -fig = plt.figure(figsize=(12, 10)) -ax = fig.add_subplot(111, projection='3d') -ax.plot(positions[:, 0], positions[:, 1], positions[:, 2], 'b-', label='True Trajectory') -ax.plot(positions_est[:, 0], positions_est[:, 1], positions_est[:, 2], 'r--', label='Estimated Trajectory') -ax.scatter(positions[0, 0], positions[0, 1], positions[0, 2], c='g', marker='o', s=100, label='Start') -ax.scatter(positions[-1, 0], positions[-1, 1], positions[-1, 2], c='r', marker='o', s=100, label='End') -ax.set_xlabel('X Position') -ax.set_ylabel('Y Position') -ax.set_zlabel('Z Position') -ax.set_title('3D Trajectory') -ax.legend() - -# Position plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, positions[:, 0], 'b-', label='True') -plt.plot(time_points, positions_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Position') -plt.legend() -plt.subplot(312) -plt.plot(time_points, positions[:, 1], 'b-', label='True') -plt.plot(time_points, positions_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Position') -plt.legend() -plt.subplot(313) -plt.plot(time_points, positions[:, 2], 'b-', label='True') -plt.plot(time_points, positions_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Position') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, velocities[:, 0], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('X Velocity') -plt.legend() -plt.subplot(312) -plt.plot(time_points, velocities[:, 1], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Y Velocity') -plt.legend() -plt.subplot(313) -plt.plot(time_points, velocities[:, 2], 'b-', label='True') -plt.plot(time_points, velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Z Velocity') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# Angular velocity plot -plt.figure(figsize=(12, 6)) -plt.subplot(311) -plt.plot(time_points, angular_velocities[:, 0], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 0], 'r--', label='Estimated') -plt.ylabel('Roll Rate') -plt.legend() -plt.subplot(312) -plt.plot(time_points, angular_velocities[:, 1], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 1], 'r--', label='Estimated') -plt.ylabel('Pitch Rate') -plt.legend() -plt.subplot(313) -plt.plot(time_points, angular_velocities[:, 2], 'b-', label='True') -plt.plot(time_points, angular_velocities_est[:, 2], 'r--', label='Estimated') -plt.ylabel('Yaw Rate') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -# OKID g_eta plot -plt.figure(figsize=(12, 6)) -plt.subplot(411) -plt.plot(time_points, okid_params[:, 0], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 0], 'r--', label='Estimated') -plt.ylabel('g_eta[0]') -plt.legend() -plt.subplot(412) -plt.plot(time_points, okid_params[:, 1], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 1], 'r--', label='Estimated') -plt.ylabel('g_eta[1]') -plt.legend() -plt.subplot(413) -plt.plot(time_points, okid_params[:, 2], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 2], 'r--', label='Estimated') -plt.ylabel('g_eta[2]') -plt.legend() -plt.subplot(414) -plt.plot(time_points, okid_params[:, 3], 'b-', label='True') -plt.plot(time_points, okid_params_est[:, 3], 'r--', label='Estimated') -plt.ylabel('g_eta[3]') -plt.xlabel('Time (s)') -plt.legend() -plt.tight_layout() - -plt.show() - diff --git a/navigation/ukf_okid/ukf_python/ukf_utils.py b/navigation/ukf_okid/ukf_python/ukf_utils.py deleted file mode 100644 index 7bf7cd4e3..000000000 --- a/navigation/ukf_okid/ukf_python/ukf_utils.py +++ /dev/null @@ -1,35 +0,0 @@ -import numpy as np -from ukf_okid_class import StateQuat - - -def print_StateQuat_list( - state_list: list[StateQuat], name="StateQuat List", print_covariance=True -): - """Custom print function to print a list of StateQuat objects in a formatted form.""" - print(f"{name}:") - for i, state in enumerate(state_list): - print(f"Index {i}:") - print_StateQuat(state, f"StateQuat {i}", print_covariance) - - -def print_StateQuat(state: StateQuat, name="StateQuat", print_covariance=True): - """Custom print function to print StateQuat objects in a formatted form.""" - print(f"{name}:") - print(f" Position: {state.position}") - print(f" Orientation: {state.orientation}") - print(f" Velocity: {state.velocity}") - print(f" Angular Velocity: {state.angular_velocity}") - print(f" okid state: {state.okid_params}") - # print(f" okid_params: {state.okid_params}") - if print_covariance: - print_matrix(state.covariance, "Covariance") - - -def print_matrix(matrix, name="Matrix"): - """Custom print function to print matrices in a formatted form.""" - print(f"{name}: {matrix.shape}") - if isinstance(matrix, np.ndarray): - for row in matrix: - print(" ".join(f"{val:.2f}" for val in row)) - else: - print(matrix) From b2570d66aa1347a1c2c8e806026a7de7aa2d3773 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Sun, 5 Oct 2025 20:31:07 +0200 Subject: [PATCH 054/109] fix: removing tukf and some errors in eskf --- navigation/eskf/include/eskf/eskf_ros.hpp | 11 +- navigation/eskf/src/eskf_ros.cpp | 20 +- navigation/tukf_rsi/CMakeLists.txt | 61 ------ .../tukf_rsi/config/tusk_rsi_params.yaml | 12 -- .../tukf_rsi/include/tukf_rsi/tukf_rsi.hpp | 63 ------ .../include/tukf_rsi/tukf_rsi_model.hpp | 50 ----- .../include/tukf_rsi/tukf_rsi_ros.hpp | 64 ------ .../include/tukf_rsi/tukf_rsi_utils.hpp | 65 ------ .../tukf_rsi/include/tukf_rsi/typedefs.hpp | 145 ------------- navigation/tukf_rsi/launch/tukf_rsi.launch.py | 22 -- navigation/tukf_rsi/package.xml | 22 -- navigation/tukf_rsi/src/tukf_rsi.cpp | 84 -------- navigation/tukf_rsi/src/tukf_rsi_model.cpp | 125 ----------- navigation/tukf_rsi/src/tukf_rsi_node.cpp | 9 - navigation/tukf_rsi/src/tukf_rsi_ros.cpp | 150 ------------- navigation/tukf_rsi/src/tukf_rsi_utils.cpp | 199 ------------------ 16 files changed, 17 insertions(+), 1085 deletions(-) delete mode 100644 navigation/tukf_rsi/CMakeLists.txt delete mode 100644 navigation/tukf_rsi/config/tusk_rsi_params.yaml delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp delete mode 100644 navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp delete mode 100644 navigation/tukf_rsi/launch/tukf_rsi.launch.py delete mode 100644 navigation/tukf_rsi/package.xml delete mode 100644 navigation/tukf_rsi/src/tukf_rsi.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_model.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_node.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_ros.cpp delete mode 100644 navigation/tukf_rsi/src/tukf_rsi_utils.cpp diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index d4a770864..424e583f7 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -21,14 +21,14 @@ class ESKFNode : public rclcpp::Node { explicit ESKFNode(); private: - // @brief Callback function for the imu topic // @param msg: Imu message containing the imu data void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); // @brief Callback function for the dvl topic // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); // @brief Publish the odometry message void publish_odom(); @@ -41,7 +41,8 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr dvl_sub_; + rclcpp::Subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; rclcpp::Publisher::SharedPtr odom_pub_; @@ -63,11 +64,11 @@ class ESKFNode : public rclcpp::Node { std::unique_ptr eskf_; - rclcpp::Time last_imu_time_; - bool first_imu_msg_received_ = false; Eigen::Matrix3d R_imu_eskf_; + + rclcpp::Time last_imu_time_; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index cfa85172e..c379732e3 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -28,7 +28,8 @@ void ESKFNode::set_subscribers_and_publisher() { this->declare_parameter("dvl_topic"); std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription( + dvl_sub_ = this->create_subscription< + geometry_msgs::msg::TwistWithCovarianceStamped>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); @@ -95,21 +96,22 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); } -void ESKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - // Log that we received a DVL message - // spdlog::info("DVL message received"); - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; +void ESKFNode::dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[12], msg->twist.covariance[13], + msg->twist.covariance[14]; std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); - } void ESKFNode::publish_odom() { diff --git a/navigation/tukf_rsi/CMakeLists.txt b/navigation/tukf_rsi/CMakeLists.txt deleted file mode 100644 index f1ad5e0b1..000000000 --- a/navigation/tukf_rsi/CMakeLists.txt +++ /dev/null @@ -1,61 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(tukf_rsi) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 20) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(Eigen3 REQUIRED) -find_package(tf2 REQUIRED) -find_package(vortex_msgs REQUIRED) -find_package(spdlog REQUIRED) -find_package(fmt REQUIRED) - -if(NOT DEFINED EIGEN3_INCLUDE_DIR) - set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) -endif() -include_directories(${EIGEN3_INCLUDE_DIR}) - -include_directories(include) - -add_executable(tukf_rsi_node - src/tukf_rsi.cpp - src/tukf_rsi_ros.cpp - src/tukf_rsi_node.cpp - src/tukf_rsi_utils.cpp -) - -ament_target_dependencies(tukf_rsi_node - rclcpp - geometry_msgs - nav_msgs - Eigen3 - tf2 - vortex_msgs - spdlog - fmt -) - -target_link_libraries(tukf_rsi_node - fmt::fmt -) - -install(TARGETS - tukf_rsi_node - DESTINATION lib/${PROJECT_NAME}) - -install(DIRECTORY - config - launch - DESTINATION share/${PROJECT_NAME}/ -) - -ament_package() diff --git a/navigation/tukf_rsi/config/tusk_rsi_params.yaml b/navigation/tukf_rsi/config/tusk_rsi_params.yaml deleted file mode 100644 index c74717815..000000000 --- a/navigation/tukf_rsi/config/tusk_rsi_params.yaml +++ /dev/null @@ -1,12 +0,0 @@ -eskf_node: - ros__parameters: - gyro_topic: "/imu/data" - dvl_topic: "/orca/twist" - odom_topic: "/tukf/odom" - wrench_topic: "/orca/wrench_input" - diag_Q_std: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] - diag_P0_std: [2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] - x0: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - diag_Rgyro_std: [0.01, 0.01, 0.01] - diag_Rdvl_std: [0.05, 0.05, 0.05] - diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp deleted file mode 100644 index a1e19edb5..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi.hpp +++ /dev/null @@ -1,63 +0,0 @@ -// tukf.hpp -#ifndef TUKF_HPP -#define TUKF_HPP - -#include "typedefs.hpp" // includes AUVState, MeasModel, and utility functions -#include - -class TUKF { -public: - TUKF(const AUVState& x0, - const Eigen::Matrix37d& Q_in, - double dt = 0.01); - - // @brief Generate sigma points for the current state - // @param current_state: Current state of the AUV - // @return A vector of sigma points - std::vector sigma_points(const AUVState& current_state); - - // @brief Unscented transform to predict the next state - // @param current_state: Current state of the AUV - // @param control_force: Control force applied to the AUV - // @return Predicted state after applying the control force - AUVState unscented_transform(const AUVState& current_state, - const Eigen::Vector3d& control_force); - - // @brief Perform measurement update using the measurement model - // @param current_state: Current state of the AUV - // @param measurement: Measurement model containing the measurement and covariance - // @return Updated state after measurement update - void measurement_update(const AUVState& current_state, - const MeasModel& measurement); - - // @brief Posterior estimate of the state after measurement update - // @param current_state: Current state of the AUV - // @param measurement: Measurement model containing the measurement and covariance - // @return Posterior estimate of the state - AUVState posterior_estimate(const AUVState& current_state, - const MeasModel& measurement); - - // public state and flags - AUVState x; - bool filter_failed; - -private: - - Eigen::Matrix37d Q; - - Eigen::Matrix delta; - - std::vector sigma_points_list; - - std::vector y_i; - - MeasModel measurement_updated; - - Eigen::Matrix cross_correlation; - - double dt; - - int flagg; -}; - -#endif // TUKF_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp deleted file mode 100644 index b536ca798..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_model.hpp +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef TUKF_MODEL_HPP -#define TUKF_MODEL_HPP - -#include -#include "tukf_rsi/typedefs.hpp" - - -// @brief Tranformation matrix from quaternion orientation -// @param orientation: Quaternion representing the orientation -// @return 3x3 transformation matrix -Eigen::Matrix3d tranfromation_matrix(const Eigen::Quaterniond& orientation); - -// @brief Mass inertia system-matrix (6×6) -// @param inertia_vec: Vector containing the inertia parameters -Eigen::Matrix6d M_rb(const Eigen::Vector9d& inertia_vec); - -// @brief Added mass system-matrix (6×6) -// @param added_mass: Vector containing the added mass parameters -Eigen::Matrix6d M_a(const Eigen::Vector6d& added_mass); - -// @brief Corilos and centripetal forces system-matrix (6×6) -// @param inertia_vec: Vector containing the inertia parameters -// @param angular_velocity: Angular velocity vector -Eigen::Matrix6d C_rb(const Eigen::Vector9d& inertia_vec, - const Eigen::Vector3d& angular_velocity); - -// @brief added mass Corilos and centripetal forces system-matrix (6×6) -// @param added_mass: Vector containing the added mass parameters -// @param angular_velocity: Angular velocity vector -// @param velocity: Velocity linear vector -Eigen::Matrix6d C_a(const Eigen::Vector6d& added_mass, - const Eigen::Vector3d& angular_velocity, - const Eigen::Vector3d& velocity); - -// @brief Damping system-matrix (6×6) -// @param damping: Vector containing the damping parameters -Eigen::Matrix6d D_linear(const Eigen::Vector6d& damping); - -// @brief generalized froces (6×1) -// @param g_eta_params: Vector containing the g_eta parameters (buoyancy terms) -// @param euler_angles: Euler angles (roll, pitch, yaw) -Eigen::Vector6d G_eta(const Eigen::Vector4d& g_eta_params, - const Eigen::Vector3d& euler_angles); - -// @brief Dynamics function for the AUV -AUVState F_dynamics(const AUVState& state, - double dt, - const Eigen::Vector3d& control_input); - -#endif // TUKF_MODEL_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp deleted file mode 100644 index 98b0a547a..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_ros.hpp +++ /dev/null @@ -1,64 +0,0 @@ -#ifndef TUKF_NODE_HPP -#define TUKF_NODE_HPP - -#include -#include -#include -#include -#include -#include -#include -#include -#include "tukf_rsi/tukf.hpp" -#include "tukf_rsi/tukf_rsi_utils.hpp" -#include "tukf_rsi/typedefs.hpp" - -class TUKFNode : public rclcpp::Node { -public: - TUKFNode(); - -private: - - // @brief Callback function for the gyro topic - // @param msg: Imu message containing the gyro data - void gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg); - - // @brief Callback function for the DVL topic - // @param msg: TwistWithCovarianceStamped message containing the DVL data - void dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); - - // @brief Callback function for the wrench topic - // @param msg: WrenchStamped message containing the wrench data - void wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg); - - // @brief Set the subscriber and publisher for the node - void set_subscribers_and_publisher(); - - // @brief Set the parameters for the eskf - void set_parameters(); - - // @brief Publish the odometry message - void publish_odom(); - - rclcpp::Subscription::SharedPtr gyro_sub_; - - rclcpp::Subscription::SharedPtr dvl_sub_; - - rclcpp::Subscription::SharedPtr wrench_sub_; - - rclcpp::Publisher::SharedPtr odom_pub_; - - rclcpp::TimerBase::SharedPtr odom_timer_; - - std::unique_ptr tukf_; - - AUVState state_; - - double dt_; - - Eigen::Matrix3d R_gyro_; - - Eigen::Matrix3d R_dvl_; -}; - -#endif // TUKF_NODE_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp b/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp deleted file mode 100644 index b3c31221f..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/tukf_rsi_utils.hpp +++ /dev/null @@ -1,65 +0,0 @@ -#ifndef TUKF_RSI_UTILS_HPP -#define TUKF_RSI_UTILS_HPP - -#include -#include -#include "tukf_rsi/typedefs.hpp" - -// @brief Compute mean quaternion from a set of quaternions -// @param quats: Vector of quaternions -// @param tol: Tolerance for convergence -// @param maxIter: Maximum number of iterations -Eigen::Quaterniond quaternion_mean( - const std::vector& quats, - double tol = 1e-6, - int maxIter = 100 -); - -// @brief Compute mean of a set of AUV states -// @param setPoints: Vector of AUVState objects -// @param tol: Tolerance for convergence -// @param maxIter: Maximum number of iterations -Eigen::Vector37d mean_set( - const std::vector& setPoints, - double tol = 1e-6, - int maxIter = 100 -); - -// @brief Compute mean of a set of measurements -// @param setPoints: Vector of MeasModel objects -Eigen::Vector3d mean_masurement(const std::vector& setPoints); - -// @brief Compute covariance of a set of AUV states -// @param setPoints: Vector of AUVState objects -// @param meanVec: Mean vector of the set -// @param tol: Tolerance for convergence -Eigen::Matrix37d covariance_set( - const std::vector& setPoints, - const Eigen::Vector37d& meanVec, - double tol = 1e-6 -); - -// @brief Compute covariance of a set of measurements -// @param setPoints: Vector of MeasModel objects -// @param mean: Mean vector of the measurements -Eigen::Matrix3d covariance_measurement( - const std::vector& setPoints, - const Eigen::Vector3d& mean -); - -// @brief Compute cross-covariance between AUV states and measurements -// @param setY: Vector of AUVState objects -// @param meanY: Mean vector of the AUV states -// @param setZ: Vector of MeasModel objects -// @param meanZ: Mean vector of the measurements -// @param tol: Tolerance for convergence -Eigen::Matrix cross_covariance( - const std::vector& setY, - const Eigen::Vector37d& meanY, - const std::vector& setZ, - const Eigen::Vector3d& meanZ, - double tol = 1e-6 -); - -#endif // TUKF_RSI_UTILS_HPP - diff --git a/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp b/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp deleted file mode 100644 index 0d724577d..000000000 --- a/navigation/tukf_rsi/include/tukf_rsi/typedefs.hpp +++ /dev/null @@ -1,145 +0,0 @@ -#ifndef AUV_TYPEDEFS_HPP -#define AUV_TYPEDEFS_HPP - -#include -#include -#include -#include - -namespace Eigen { - typedef Matrix Vector37d; - typedef Matrix Matrix37d; - typedef Matrix Vector25d; - typedef Matrix Vector12d; - typedef Matrix Vector9d; - typedef Matrix Vector6d; - typedef Matrix Vector4d; - typedef Matrix Matrix3x12d; - typedef Matrix Matrix3d; - typedef Matrix Matrix3x37d; - typedef Matrix Matrix37x74d; - typedef Matrix Matrix37x3d; -} - -struct AUVState { - Eigen::Vector3d position = Eigen::Vector3d::Zero(); - Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity(); - Eigen::Vector3d velocity = Eigen::Vector3d::Zero(); - Eigen::Vector3d angular_velocity = Eigen::Vector3d::Zero(); - Eigen::Vector9d inertia = Eigen::Vector9d::Zero(); - Eigen::Vector6d added_mass = Eigen::Vector6d::Zero(); - Eigen::Vector6d damping = Eigen::Vector6d::Zero(); - Eigen::Vector4d g_eta = Eigen::Vector4d::Zero(); - Eigen::Matrix37d covariance = Eigen::Matrix37d::Zero(); - - Eigen::Vector3d error = Eigen::Vector3d::Zero(); - - AUVState() = default; - - Eigen::Vector12d dynamic_part() const { - Eigen::Vector12d x; - x << position, - orientation.vec(), - velocity, - angular_velocity; - return x; - } - - Eigen::Vector25d okid_part() const { - Eigen::Vector25d x; - x << inertia, - added_mass, - damping, - g_eta; - return x; - } - - Eigen::Vector37d as_vector() const { - Eigen::Vector37d x; - x << dynamic_part(), - okid_part(); - return x; - } - - AUVState operator+(const AUVState& other) const { - AUVState result; - result.position = position + other.position; - result.orientation = orientation * other.orientation; - result.velocity = velocity + other.velocity; - result.angular_velocity = angular_velocity + other.angular_velocity; - result.inertia = inertia + other.inertia; - result.added_mass = added_mass + other.added_mass; - result.damping = damping + other.damping; - result.g_eta = g_eta + other.g_eta; - return result; - } - - AUVState operator-(const AUVState& other) const { - AUVState result; - result.position = position - other.position; - result.orientation = orientation * other.orientation.inverse(); - result.velocity = velocity - other.velocity; - result.angular_velocity = angular_velocity - other.angular_velocity; - result.inertia = inertia - other.inertia; - result.added_mass = added_mass - other.added_mass; - result.damping = damping - other.damping; - result.g_eta = g_eta - other.g_eta; - return result; - } - - void fill_states(const Eigen::Vector37d& x) { - position = x.segment<3>(0); - Eigen::Vector3d ori_vec = x.segment<3>(3); - orientation = Eigen::Quaterniond(1, ori_vec.x(), ori_vec.y(), ori_vec.z()).normalized(); - velocity = x.segment<3>(6); - angular_velocity = x.segment<3>(9); - inertia = x.segment<9>(12); - added_mass = x.segment<6>(21); - damping = x.segment<6>(27); - g_eta = x.segment<4>(33); - } -}; - -struct MeasModel { - Eigen::Vector3d measurement = Eigen::Vector3d::Zero(); - Eigen::Matrix3d covariance = Eigen::Matrix3d::Zero(); - std::function H; - - MeasModel() - : H(default_h) - {} - - MeasModel(const Eigen::Vector3d& meas, - const Eigen::Matrix3d& cov, - std::function Hfunc = default_h) - : measurement(meas), covariance(cov), H(std::move(Hfunc)) - {} - - static MeasModel default_h(const AUVState& state) { - MeasModel z; - Eigen::Matrix3x12d Hmat = Eigen::Matrix3x12d::Zero(); - Hmat.block<3,3>(0,6) = Eigen::Matrix3d::Identity(); - z.measurement = Hmat * state.dynamic_part(); - return z; - } - - MeasModel operator+(const MeasModel& other) const { - MeasModel r; - r.measurement = measurement + other.measurement; - return r; - } - - MeasModel operator-(const MeasModel& other) const { - MeasModel r; - r.measurement = measurement - other.measurement; - return r; - } - - friend MeasModel operator*(double scalar, const MeasModel& m) { - MeasModel r; - r.measurement = scalar * m.measurement; - return r; - } -}; - -#endif // AUV_TYPEDEFS_HPP \ No newline at end of file diff --git a/navigation/tukf_rsi/launch/tukf_rsi.launch.py b/navigation/tukf_rsi/launch/tukf_rsi.launch.py deleted file mode 100644 index e238b3e1e..000000000 --- a/navigation/tukf_rsi/launch/tukf_rsi.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -from os import path - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - -tukf_rsi_params = path.join( - get_package_share_directory("tukf_rsi"), "config", "tukf_rsi_params.yaml" -) - - -def generate_launch_description(): - tukf_rsi_node = Node( - package="tukf_rsi", - executable="tukf_rsi_node", - name="tukf_rsi_node", - parameters=[ - tukf_rsi_params, - ], - output="screen", - ) - return LaunchDescription([tukf_rsi_node]) diff --git a/navigation/tukf_rsi/package.xml b/navigation/tukf_rsi/package.xml deleted file mode 100644 index 989241795..000000000 --- a/navigation/tukf_rsi/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - tukf_rsi - 1.0.0 - Transformed Unscented Kalman Filter - talhanc - MIT - - ament_cmake - - rclcpp - geometry_msgs - nav_msgs - eigen - tf2 - vortex_msgs - - - ament_cmake - - diff --git a/navigation/tukf_rsi/src/tukf_rsi.cpp b/navigation/tukf_rsi/src/tukf_rsi.cpp deleted file mode 100644 index df0195d86..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi.cpp +++ /dev/null @@ -1,84 +0,0 @@ -#include "tukf_rsi/tukf.hpp" -#include "tukf_rsi/tukf_rsi_utils.hpp" -#include "tukf_rsi/typedefs.hpp" -#include "tukf_rsi/tukf_rsi_model.hpp" -#include - -TUKF::TUKF(const AUVState& x0, - const Eigen::Matrix37d& Q_in, - double dt_in) - : x(x0), Q(Q_in), dt(dt_in), filter_failed(false), flagg(0) -{ - delta = generate_elta_matrix37() / std::sqrt(static_cast(x.as_sector().size())); - measurement_updated = MeasModel(); -} - -std::vector TUKF::sigma_points(const AUVState& current_state) { - int n = static_cast(current_state.covariance.rows()); - ++flagg; - Eigen::Matrix37d S; - bool chol_ok = true; - auto llt = current_state.covariance.llt(); - if(llt.info() == Eigen::NumericalIssue) { - chol_ok = false; - } else { - S = llt.matrixL(); - } - if (!chol_ok) { - filter_failed = true; - S = Eigen::Matrix37d::Identity() * 1e-6; - } - sigma_points_list.resize(2 * n); - for (int k = 0; k < 2 * n; ++k) { - Eigen::Vector37d v = current_state.as_vector() + S * delta.col(k); - sigma_points_list[k].fill_States(v); - } - return sigma_points_list; -} - -AUVState TUKF::unscented_transform(const AUVState& current_state, - const Eigen::Vector3d& control_force) { - int n = static_cast(current_state.covariance.rows()); - sigma_soints(current_state); - y_i.resize(2 * n); - for (int i = 0; i < 2 * n; ++i) { - y_i[i] = F_dynamics(sigma_points_list[i], dt, control_force); - } - AUVState state_est; - Eigen::Vector37d x_vec = mean_Set(y_i); - state_est.fill_States(x_vec); - state_est.covariance = covarianceSet(y_i, x_vec) + Q; - return state_est; -} - -void TUKF::measurement_update(const AUVState& current_state, - const MeasModel& measurement) { - int n = static_cast(current_state.covariance.rows()); - std::vector z_i(2 * n); - for (int i = 0; i < 2 * n; ++i) { - z_i[i] = measurement.H(sigma_points_list[i]); - } - measurement_updated.measurement = mean_seasurement(z_i); - measurement_updated.covariance = covariance_measurement( - z_i, measurement_updated.measurement); - cross_correlation = cross_covariance( - y_i, - current_state.as_vector(), - z_i, - measurement_updated.measurement); -} - -AUVState TUKF::posterior_estimate(const AUVState& current_state, - const MeasModel& measurement) { - MeasModel nu_k; - nu_k.measurement = measurement.measurement - measurement_updated.measurement; - nu_k.covariance = measurement_updated.covariance + measurement.covariance; - Eigen::Matrix K = cross_correlation * nu_k.covariance.inverse(); - AUVState post; - Eigen::Vector37d v = current_state.as_vector() + - K * nu_k.measurement; - post.fill_states(v); - post.covariance = current_state.covariance - - K * nu_k.covariance * K.transpose(); - return post; -} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_model.cpp b/navigation/tukf_rsi/src/tukf_rsi_model.cpp deleted file mode 100644 index 97a91c024..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_model.cpp +++ /dev/null @@ -1,125 +0,0 @@ -#include "tukf_rsi/tukf_model.hpp" -#include "tukf_rsi/tukf_rsi_utils.hpp" -#include "tukf_rsi/typedefs.hpp" -#include -#include - - -Eigen::Matrix4x3d tranfromation_matrix(const Eigen::Quaterniond& q) { - Eigen::Matrix4x3d T; - T << -q.x(), -q.y(), -q.z(), - q.w(), -q.z(), q.y(), - q.z(), q.w(), -q.x(), - -q.y(), q.x(), q.w(); - return T; -} - -Eigen::Matrix6d M_rb(const Eigen::Vector& inertia_vec) { - const double mass = 30.0; - const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); - const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); - - Eigen::Matrix6d M = Eigen::Matrix6d::Zero(); - M.block<3,3>(0,0) = mass * Eigen::Matrix3d::Identity(); - M.block<3,3>(0,3) = -mass * skewSymmetric(r_b_bg); - M.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg); - M.block<3,3>(3,3) = I_rb; - - return M; -} - -Eigen::Matrix6d M_a(const Eigen::Vector& a_mass) { - Eigen::Matrix6d Ma = Eigen::Matrix6d::Zero(); - Ma.block<3,3>(0,0) = a_mass.head<3>().asDiagonal(); - Ma.block<3,3>(3,3) = a_mass.tail<3>().asDiagonal(); - return Ma; -} - -Eigen::Matrix6d C_rb(const Eigen::Vector& inertia_vec, const Eigen::Vector3d& w) { - const double mass = 30.0; - const Eigen::Vector3d r_b_bg(0.01, 0.0, 0.02); - const Eigen::Matrix3d I_rb = Eigen::Map(inertia_vec.data()); - - Eigen::Matrix6d C = Eigen::Matrix6d::Zero(); - C.block<3,3>(3,3) = -skewSymmetric(I_rb * w); - C.block<3,3>(0,3) = -mass * skewSymmetric(w) * skewSymmetric(r_b_bg); - C.block<3,3>(3,0) = mass * skewSymmetric(r_b_bg) * skewSymmetric(w); - - return C; -} - -Eigen::Matrix6d C_a(const Eigen::Vector& a_mass, const Eigen::Vector3d& w, const Eigen::Vector3d& v) { - Eigen::Matrix6d Ca = Eigen::Matrix6d::Zero(); - const Eigen::Matrix3d A11 = a_mass.head<3>().asDiagonal(); - const Eigen::Matrix3d A22 = a_mass.tail<3>().asDiagonal(); - - Ca.block<3,3>(0,3) = -skewSymmetric(A11 * v); - Ca.block<3,3>(3,0) = -skewSymmetric(A11 * v); - Ca.block<3,3>(3,3) = -skewSymmetric(A22 * w); - - return Ca; -} - -Eigen::Matrix6d D_linear(const Eigen::Vector& d) { - Eigen::Matrix6d D = Eigen::Matrix6d::Zero(); - D.block<3,3>(0,0) = -d.head<3>().asDiagonal(); - D.block<3,3>(3,3) = -d.tail<3>().asDiagonal(); - return D; -} - -Eigen::Vector6d G_eta(const Eigen::Vector& g_params, const Eigen::Quaterniond& q) { - const double Mx = g_params[1], My = g_params[2], Mz = g_params[3]; - const Eigen::Matrix3d R = q.toRotationMatrix(); - - Eigen::Vector6d G = Eigen::Vector6d::Zero(); - G(3) = -My*R(2,2) + Mz*R(1,2); - G(4) = -Mz*R(0,2) + Mx*R(2,2); - G(5) = -Mx*R(1,2) + My*R(0,2); - - return G; -} - -AUVState F_dynamics(const AUVState& state, double dt, const Eigen::Vector6d& u) { - const Eigen::Matrix6d Mrb = M_rb(state.inertia); - const Eigen::Matrix6d Ma = M_a(state.added_mass); - const Eigen::Matrix6d Mtotal = Mrb + Ma; - - const Eigen::Matrix6d Crb = C_rb(state.inertia, state.angular_velocity); - const Eigen::Matrix6d Ca = C_a(state.added_mass, state.angular_velocity, state.velocity); - const Eigen::Matrix6d Ctotal = Crb + Ca; - - const Eigen::Matrix6d Dl = D_linear(state.damping); - const Eigen::Vector6d G = G_eta(state.g_eta, state.orientation); - - Eigen::Vector6d nu; - nu << state.velocity, state.angular_velocity; - - AUVState sd; - sd.position = state.orientation.toRotationMatrix() * state.velocity; - sd.orientation = tranfromation_matrix(state.orientation) * state.angular_velocity; - - Eigen::Vector6d Nu = Mtotal.inverse() * (u - Ctotal*nu - Dl*nu - G); - sd.velocity = Nu.head<3>(); - sd.angular_velocity = Nu.tail<3>(); - - sd.inertia.setZero(); - sd.added_mass.setZero(); - sd.damping.setZero(); - sd.g_eta.setZero(); - - AUVState ns; - ns.position = state.position + sd.position * dt; - ns.orientation = state.orientation * Eigen::Quaterniond(1, 0.5*dt*sd.orientation.x(), - 0.5*dt*sd.orientation.y(), - 0.5*dt*sd.orientation.z()); - ns.orientation.normalize(); - ns.velocity = state.velocity + sd.velocity * dt; - ns.angular_velocity = state.angular_velocity + sd.angular_velocity * dt; - - ns.inertia = state.inertia; - ns.added_mass = state.added_mass; - ns.damping = state.damping; - ns.g_eta = state.g_eta; - - return ns; -} diff --git a/navigation/tukf_rsi/src/tukf_rsi_node.cpp b/navigation/tukf_rsi/src/tukf_rsi_node.cpp deleted file mode 100644 index d4f6eed17..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_node.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include "tukf_rsi/tukf_rsi_ros.hpp" - -int main(int argc, char** argv) { - rclcpp::init(argc, argv); - spdlog::info("Starting TUFK for RSI ROS2 Node"); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/navigation/tukf_rsi/src/tukf_rsi_ros.cpp b/navigation/tukf_rsi/src/tukf_rsi_ros.cpp deleted file mode 100644 index 2be453191..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_ros.cpp +++ /dev/null @@ -1,150 +0,0 @@ -#include "tukf_node.hpp" -#include - -TUKFNode::TUKFNode() -: Node("tukf_node") -{ - - odom_timer_ = this->create_wall_timer( - std::chrono::duration(dt_), - std::bind(&TUKFNode::publishOdom, this)); - - set_subscribers_and_publisher(); - - set_parameters(); - - spdlog::info("TUKF Node Initialized"); -} - -void TUKFNode::set_subscribers_and_publisher() { - auto qos = rclcpp::QoS(rclcpp::SensorDataQoS()); - this->declare_parameter("gyro_topic"); - std::string gyro_topic = this->get_parameter("gyro_topic").as_string(); - gyro_sub_ = this->create_subscription( - gyro_topic, qos, - std::bind(&TUKFNode::gyroCallback, this, std::placeholders::_1)); - - this->declare_parameter("dvl_topic"); - std::string dvl_topic = this->get_parameter("dvl_topic").as_string(); - dvl_sub_ = this->create_subscription( - dvl_topic, qos, - std::bind(&TUKFNode::dvlCallback, this, std::placeholders::_1)); - - this->declare_parameter("wrench_topic"); - std::string dvl_topic = this->get_parameter("wrench_topic").as_string(); - wrench_sub_ = this->create_subscription( - wrench_sub_, qos, - std::bind(&TUKFNode::wrenchCallback, this, std::placeholders::_1)); - - this->declare_parameter("odom_topic"); - std::string odom_topic = this->get_parameter("odom_topic").as_string(); - odom_pub_ = this->create_publisher( - odom_topic, qos); -} - -void TUKFNode::set_parameters() { - this->declare_parameter>("diag_Q_std"); - auto diagQ = this->get_parameter("diag_Q_std").as_double_array(); - Eigen::Matrix37d Q = Eigen::Matrix37d::Zero(); - for (int i = 0; i < 37; ++i) { - Q(i,i) = diagQ[i] * diagQ[i]; - } - - this->declare_parameter>("diag_P0_std"); - auto diagP0 = this->get_parameter("diag_P0_std").as_double_array(); - Eigen::Matrix37d P0 = Eigen::Matrix37d::Zero(); - for (int i = 0; i < 37; ++i) { - P0(i,i) = diagP0[i] * diagP0[i]; - } - - this->declare_parameter>("x0"); - auto x0_vec = this->get_parameter("x0").as_double_array(); - Eigen::Vector37d x0_e; - for (int i = 0; i < 37; ++i) x0_e[i] = x0_vec[i]; - - this->declare_parameter("dt", 0.01); - dt_ = this->get_parameter("dt").as_double(); - - this->declare_parameter>("diag_Rgyro_std"); - auto diagRgyro = this->get_parameter("diag_Rgyro_std").as_double_array(); - R_gyro_ = Eigen::Matrix3d::Zero(); - for (int i = 0; i < 3; ++i) R_gyro_(i,i) = diagRgyro[i] * diagRgyro[i]; - - this->declare_parameter>("diag_Rdvl_std"); - auto diagRdvl = this->get_parameter("diag_Rdvl_std").as_double_array(); - R_dvl_ = Eigen::Matrix3d::Zero(); - for (int i = 0; i < 3; ++i) R_dvl_(i,i) = diagRdvl[i] * diagRdvl[i]; - - tukf_ = std::make_unique(x0, Q, dt_); - tukf_->x.covariance = P0; - tukf_->x.fill_states(x0_e); -} - -void TUKFNode::gyro_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { - Eigen::Vector3d gyro(msg->angular_velocity.x, - msg->angular_velocity.y, - msg->angular_velocity.z); - MeasModel m; - m.measurement = gyro; - m.covariance = R_gyro_; - m.H = [](const AUVState& s) { - MeasModel mm; - Eigen::Matrix3x12d Hm = Eigen::Matrix3x12d::Zero(); - Hm.block<3,3>(0,9) = Eigen::Matrix3d::Identity(); - mm.measurement = Hm * s.dynamic_part(); - return mm; - }; - - tukf_->measurement_update(state_, m); - state_ = tukf_->posterior_estimate(state_, m); -} - -void TUKFNode::dvl_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - Eigen::Vector3d vel(msg->twist.twist.linear.x, - msg->twist.twist.linear.y, - msg->twist.twist.linear.z); - Eigen::Matrix3d cov; - cov << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - MeasModel m; - m.measurement = vel; - m.covariance = R_dvl_; - - tukf_->measurement_update(state_, m); - state_ = tukf_->posterior_estimate(state_, m); -} - -void TUKFNode::wrench_callback(const geometry_msgs::msg::WrenchStamped::SharedPtr msg) { - Eigen::Vector6d wrench_input(msg->wrench.force.x, - msg->wrench.force.y, - msg->wrench.force.z, - msg->wrench.torque.x, - msg->wrench.torque.y, - msg->wrench.torque.z); - - state_ = tukf_->unscented_transform(state_, control_force); -} - -void TUKFNode::publish_odom() { - nav_msgs::msg::Odometry odom; - odom.header.stamp = this->now(); - odom.header.frame_id = "odom"; - - odom.pose.pose.position.x = state_.position.x(); - odom.pose.pose.position.y = state_.position.y(); - odom.pose.pose.position.z = state_.position.z(); - odom.pose.pose.orientation.w = state_.orientation.w(); - odom.pose.pose.orientation.x = state_.orientation.x(); - odom.pose.pose.orientation.y = state_.orientation.y(); - odom.pose.pose.orientation.z = state_.orientation.z(); - - odom.twist.twist.linear.x = state_.velocity.x(); - odom.twist.twist.linear.y = state_.velocity.y(); - odom.twist.twist.linear.z = state_.velocity.z(); - odom.twist.twist.angular.x = state_.angular_velocity.x(); - odom.twist.twist.angular.y = state_.angular_velocity.y(); - odom.twist.twist.angular.z = state_.angular_velocity.z(); - - odom_pub_->publish(odom); -} diff --git a/navigation/tukf_rsi/src/tukf_rsi_utils.cpp b/navigation/tukf_rsi/src/tukf_rsi_utils.cpp deleted file mode 100644 index 882fe0cf8..000000000 --- a/navigation/tukf_rsi/src/tukf_rsi_utils.cpp +++ /dev/null @@ -1,199 +0,0 @@ - -#include "tukf_rsi_utils.hpp" -#include - -Eigen::Quaterniond quaternionMean( - const std::vector& quats, - double tol, - int maxIter -) { - Eigen::Quaterniond mean_q = quats.front(); - int n = int(quats.size()); - - for (int iter = 0; iter < maxIter; ++iter) { - Eigen::Vector3d errAvg = Eigen::Vector3d::Zero(); - - for (const auto& q : quats) { - - Eigen::Quaterniond e = q * mean_q.conjugate(); - - double w = std::clamp(e.w(), -1.0, 1.0); - double angle = 2 * std::acos(w); - - Eigen::Vector3d axis; - - if (std::abs(angle) < tol) { - axis.setZero(); - } else { - axis = (angle / std::sin(angle / 2.0)) * e.vec(); - } - errAvg += axis; - } - errAvg /= double(n); - - if (errAvg.norm() < tol) break; - double errNorm = errAvg.norm(); - Eigen::Quaterniond dq - - if (errNorm > tol) { - dq.w() = std::cos(errNorm/2.0); - dq.vec() = std::sin(errNorm/2.0) * (errAvg/errNorm); - } else { - dq = Eigen::Quaterniond::Identity(); - } - mean_q = dq * mean_q; - mean_q.normalize(); - } - return mean_q; -} - -Eigen::Vector37d mean_set( - const std::vector& setPoints, - double tol, - int maxIter -) { - int n = int(setPoints.size()); - - Eigen::Vector3d posAvg = Eigen::Vector3d::Zero(); - Eigen::Vector3d velAvg = Eigen::Vector3d::Zero(); - Eigen::Vector3d angVelAvg = Eigen::Vector3d::Zero(); - Eigen::Vector9d inAvg = Eigen::Vector9d::Zero(); - Eigen::Vector6d amAvg = Eigen::Vector6d::Zero(); - Eigen::Vector6d dAvg = Eigen::Vector6d::Zero(); - Eigen::Vector4d gAvg = Eigen::Vector4d::Zero(); - - std::vector quats; - quats.reserve(n); - - for (const auto& s : setPoints) { - posAvg += s.position; - velAvg += s.velocity; - angVelAvg += s.angular_velocity; - inAvg += s.inertia; - amAvg += s.added_mass; - dAvg += s.damping; - gAvg += s.g_eta; - quats.push_back(s.orientation); - } - posAvg /= double(n); - velAvg /= double(n); - angVelAvg /= double(n); - inAvg /= double(n); - amAvg /= double(n); - dAvg /= double(n); - gAvg /= double(n); - Eigen::Quaterniond qMean = quaternion_mean(quats, tol, maxIter); - - AUVState meanState; - meanState.position = posAvg; - meanState.orientation = qMean; - meanState.velocity = velAvg; - meanState.angular_velocity = angVelAvg; - meanState.inertia = inAvg; - meanState.added_mass = amAvg; - meanState.damping = dAvg; - meanState.g_eta = gAvg; - - return meanState.asVector(); -} - -Eigen::Vector3d mean_measurement(const std::vector& setPoints) { - Eigen::Vector3d avg = Eigen::Vector3d::Zero(); - for (const auto& m : setPoints) avg += m.measurement; - return avg / double(setPoints.size()); -} - -Eigen::Matrix37d covariance_set( - const std::vector& setPoints, - const Eigen::Vector37d& meanVec, - double tol -) { - int n = int(setPoints.size()); - AUVState meanState; - meanState.fillStates(meanVec); - std::vector quats; - quats.reserve(n); - - for (const auto& s : setPoints) quats.push_back(s.orientation); - meanState.orientation = quaternion_mean(quats, tol); - - Eigen::Matrix37d cov = Eigen::Matrix37d::Zero(); - for (const auto& s : setPoints) { - Eigen::Vector37d d = Eigen::Vector37d::Zero(); - - d.segment<3>(0) = s.position - meanState.position; - - Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); - double w = std::clamp(e.w(), -1.0, 1.0); - double angle = 2 * std::acos(w); - - - Eigen::Vector3d err; - if (std::abs(angle) < tol) err.setZero(); - else err = (angle / std::sin(angle/2.0)) * e.vec(); - - d.segment<3>(3) = err; - - d.segment<3>(6) = s.velocity - meanState.velocity; - d.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; - d.segment<9>(12) = s.inertia - meanState.inertia; - d.segment<6>(21) = s.added_mass - meanState.added_mass; - d.segment<6>(27) = s.damping - meanState.damping; - d.segment<4>(33) = s.g_eta - meanState.g_eta; - cov += d * d.transpose(); - } - return cov / double(n); -} - -Eigen::Matrix3d covariance_measurement( - const std::vector& setPoints, - const Eigen::Vector3d& mean -) { - Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); - for (const auto& m : setPoints) { - Eigen::Vector3d d = m.measurement - mean; - cov += d * d.transpose(); - } - return cov / double(setPoints.size()); -} - -Eigen::Matrix cross_covariance( - const std::vector& setY, - const Eigen::Vector37d& meanY, - const std::vector& setZ, - const Eigen::Vector3d& meanZ, - double tol -) { - int n = int(setY.size()); - AUVState meanState; - meanState.fill_states(meanY); - std::vector quats; - quats.reserve(n); - for (const auto& s : setY) quats.push_back(s.orientation); - meanState.orientation = quaternion_cean(quats, tol); - - Eigen::Matrix cov = Eigen::Matrix::Zero(); - for (size_t i = 0; i < setY.size(); ++i) { - const auto& s = setY[i]; - - Eigen::Vector37d dY = Eigen::Vector37d::Zero(); - dY.segment<3>(0) = s.position - meanState.position; - Eigen::Quaterniond e = s.orientation * meanState.orientation.conjugate(); - double w = std::clamp(e.w(), -1.0, 1.0); - double angle = 2 * std::acos(w); - Eigen::Vector3d err; - if (std::abs(angle) < tol) err.setZero(); - else err = (angle / std::sin(angle/2.0)) * e.vec(); - dY.segment<3>(3) = err; - dY.segment<3>(6) = s.velocity - meanState.velocity; - dY.segment<3>(9) = s.angular_velocity - meanState.angular_velocity; - dY.segment<9>(12) = s.inertia - meanState.inertia; - dY.segment<6>(21) = s.added_mass - meanState.added_mass; - dY.segment<6>(27) = s.damping - meanState.damping; - dY.segment<4>(33) = s.g_eta - meanState.g_eta; - - Eigen::Vector3d dZ = setZ[i].measurement - meanZ; - cov += dY * dZ.transpose(); - } - return cov / double(n); -} \ No newline at end of file From 835146cc5eb0a390216514f3e9875232f65985fe Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Sun, 5 Oct 2025 18:54:00 +0000 Subject: [PATCH 055/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/typedefs.hpp | 3 ++- navigation/eskf/src/eskf.cpp | 33 +++++++++++++++-------- 2 files changed, 24 insertions(+), 12 deletions(-) diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 4dbdb6da3..d6433d46d 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -60,7 +60,8 @@ struct state_quat { euler_diff = (quat * other.quat.inverse()) .toRotationMatrix() - .eulerAngles(0, 1, 2) + Eigen::Vector3d(-M_PI, M_PI, -M_PI); + .eulerAngles(0, 1, 2) + + Eigen::Vector3d(-M_PI, M_PI, -M_PI); vec << pos - other.pos, vel - other.vel, euler_diff, gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 3838e2f1a..4a5501405 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -61,12 +61,14 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Vector3d q_vec(q.x(), q.y(), q.z()); Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - Eigen::Matrix dhdq; - dhdq.col(0) = 2*( qw*v_n + q_vec.cross(v_n) ); - dhdq.block<3,3>(0,1) = 2*( q_vec.dot(v_n)*I3 + q_vec*v_n.transpose() - v_n*q_vec.transpose() - qw*skew(v_n) ); + Eigen::Matrix dhdq; + dhdq.col(0) = 2 * (qw * v_n + q_vec.cross(v_n)); + dhdq.block<3, 3>(0, 1) = + 2 * (q_vec.dot(v_n) * I3 + q_vec * v_n.transpose() - + v_n * q_vec.transpose() - qw * skew(v_n)); // Assign quaternion derivative (3x4 block at columns 6:9) - Hx.block<3,4>(0,6) = dhdq; + Hx.block<3, 4>(0, 6) = dhdq; return Hx; } @@ -83,22 +85,28 @@ Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Vector3d ESKF::calculate_h() { Eigen::Vector3d h; - Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); + Eigen::Matrix3d R_bn = + current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; - //0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, + // 0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, return h; } void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, const double dt) { - Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + current_nom_state_.gravity; + Eigen::Vector3d acc = + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + current_nom_state_.gravity; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - current_nom_state_.pos = current_nom_state_.pos + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; - current_nom_state_.quat = (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + current_nom_state_.quat = + (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; @@ -132,7 +140,8 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; - current_error_state_.covariance = A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; + current_error_state_.covariance = + A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { @@ -160,7 +169,9 @@ void ESKF::measurement_update(const dvl_measurement& dvl_meas) { void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = current_nom_state_.quat * vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = + current_nom_state_.quat * + vector3d_to_quaternion(current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; From 733cc90bcd39055fcf409b0d3b3a55ba2c9992f2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20H=C3=B8gden?= Date: Tue, 7 Oct 2025 10:41:25 +0200 Subject: [PATCH 056/109] ci: add node test for eskf --- .github/workflows/ros-node-tests.yml | 5 +++ navigation/eskf/CMakeLists.txt | 2 -- navigation/eskf/include/eskf/eskf_ros.hpp | 1 - navigation/eskf/launch/eskf.launch.py | 1 + tests/ros_node_tests/eskf_node_test.sh | 39 +++++++++++++++++++++++ 5 files changed, 45 insertions(+), 3 deletions(-) create mode 100644 tests/ros_node_tests/eskf_node_test.sh diff --git a/.github/workflows/ros-node-tests.yml b/.github/workflows/ros-node-tests.yml index 4200df85d..1ae75e093 100644 --- a/.github/workflows/ros-node-tests.yml +++ b/.github/workflows/ros-node-tests.yml @@ -10,6 +10,11 @@ on: - cron: '0 1 * * *' # Runs daily at 01:00 UTC jobs: call_reusable_workflow: + strategy: + matrix: + test_script: + - "tests/ros_node_tests/dp_node_test.sh" + - "tests/ros_node_tests/eskf_node_test.sh" uses: vortexntnu/vortex-ci/.github/workflows/reusable-ros2-simulator-test.yml@main with: vcs_repos_file: "tests/dependencies.repos" diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index c431c235f..6c8167609 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -18,7 +18,6 @@ find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) -find_package(stonefish_ros2 REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) @@ -43,7 +42,6 @@ ament_target_dependencies(eskf_node vortex_msgs spdlog fmt - stonefish_ros2 ) target_link_libraries(eskf_node diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 424e583f7..5975d9cc7 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -11,7 +11,6 @@ #include #include #include -#include #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" diff --git a/navigation/eskf/launch/eskf.launch.py b/navigation/eskf/launch/eskf.launch.py index 84284f804..1e9d64759 100644 --- a/navigation/eskf/launch/eskf.launch.py +++ b/navigation/eskf/launch/eskf.launch.py @@ -14,6 +14,7 @@ def generate_launch_description(): package="eskf", executable="eskf_node", name="eskf_node", + namespace="orca", parameters=[ eskf_params, ], diff --git a/tests/ros_node_tests/eskf_node_test.sh b/tests/ros_node_tests/eskf_node_test.sh new file mode 100644 index 000000000..35ba6e91e --- /dev/null +++ b/tests/ros_node_tests/eskf_node_test.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -e +set -o pipefail + +echo "Testing that the ESKF node is able to start up and publish odom" + +# Load ROS 2 environment +echo "Setting up ROS 2 environment..." +. /opt/ros/humble/setup.sh +. "${WORKSPACE:-$HOME/ros2_ws}/install/setup.bash" + +# Function to terminate processes safely on error +cleanup() { + echo "Error detected. Cleaning up..." + kill -TERM -"$ESKF_PID" || true + exit 1 +} +trap cleanup ERR + +# Launch eskf node +setsid ros2 launch eskf eskf.launch.py & +ESKF_PID=$! +echo "Launched eskf with PID: $ESKF_PID" + +# Check for ROS errors before continuing +if journalctl -u ros2 | grep -i "error"; then + echo "Error detected in ROS logs. Exiting..." + exit 1 +fi + +# Check if eskf correctly publishes odom +echo "Waiting for odom data..." +timeout 10s ros2 topic echo /orca/odom --once +echo "Got odom data" + +# Terminate processes +kill -TERM -"$ESKF_PID" + +echo "Test completed successfully." From e5332c5079997c36f995720d23b27eee64af0251 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Tue, 7 Oct 2025 20:28:48 +0200 Subject: [PATCH 057/109] feat: Added fancy text for starting filter --- navigation/eskf/include/eskf/eskf.hpp | 12 ++---------- navigation/eskf/include/eskf/eskf_utils.hpp | 20 ++++++++++++++++++++ navigation/eskf/include/eskf/typedefs.hpp | 11 +++++------ navigation/eskf/launch/eskf.launch.py | 2 +- navigation/eskf/package.xml | 4 ++-- navigation/eskf/src/eskf.cpp | 15 +-------------- navigation/eskf/src/eskf_ros.cpp | 10 +++++++++- navigation/eskf/src/eskf_utils.cpp | 13 +++++++++++++ 8 files changed, 53 insertions(+), 34 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 214f462c4..87221a3b6 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -24,8 +24,8 @@ class ESKF { std::pair dvl_update( const dvl_measurement& dvl_meas); - // NIS - double NIS_; + // Normalized Innovation Squared + double NIS_{}; private: // @brief Predict the nominal state @@ -63,23 +63,15 @@ class ESKF { const Eigen::Matrix18x12d& G_c, const double dt); - // @brief Calculate the delta quaternion matrix - // @param nom_state: Nominal state - // @return Delta quaternion matrix - Eigen::Matrix4x3d calculate_q_delta(); - // @brief Calculate the measurement matrix jakobian - // @param nom_state: Nominal state // @return Measurement matrix Eigen::Matrix3x19d calculate_hx(); // @brief Calculate the full measurement matrix - // @param nom_state: Nominal state // @return Measurement matrix Eigen::Matrix3x18d calculate_h_jacobian(); // @brief Calculate the measurement - // @param nom_state: Nominal state // @return Measurement Eigen::Vector3d calculate_h(); diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 4fcaed412..4481f2787 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -5,14 +5,34 @@ #include "eigen3/Eigen/Dense" #include "eskf/typedefs.hpp" +// @brief Compute the skew-symmetric matrix of a vector +// @param v: Input vector +// @return Skew-symmetric matrix Eigen::Matrix3d skew(const Eigen::Vector3d& v); +// @brief Square a value +// @param value: Input value +// @return Squared value double sq(const double& value); +// @brief Normalize an angle to the range [-pi, pi] +// @param angle: Input angle in radians +// @return Normalized angle in radians double ssa(const double& angle); +// @brief Calculate the transformation matrix using a quaternion +// @param quat: Input quaternion +// @return Transformation matrix +Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat); + +// @brief Convert a rotation vector to a quaternion +// @param vector: Input rotation vector +// @return Corresponding quaternion Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); +// @brief Convert Euler angles to a quaternion +// @param euler: Input Euler angles (roll, pitch, yaw) in radians +// @return Corresponding quaternion Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); #endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index d6433d46d..54a88032a 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -36,16 +36,15 @@ Eigen::Matrix createDiagonalMatrix( return Eigen::Map>(diag.data()) .asDiagonal(); } - struct state_quat { - Eigen::Vector3d pos = Eigen::Vector3d(5.58, 0.66, 0.12); + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Quaterniond quat = Eigen::Quaterniond(0.98, -0.047, 0.028, -0.18); + Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); - state_quat() { gravity << 0, 0, 9.81; } + state_quat() = default; Eigen::Vector19d as_vector() const { Eigen::Vector19d vec; @@ -87,7 +86,7 @@ struct state_euler { Eigen::Vector3d euler = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d::Zero(); + Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); diff --git a/navigation/eskf/launch/eskf.launch.py b/navigation/eskf/launch/eskf.launch.py index 1e9d64759..d7b3a8a4e 100644 --- a/navigation/eskf/launch/eskf.launch.py +++ b/navigation/eskf/launch/eskf.launch.py @@ -14,7 +14,7 @@ def generate_launch_description(): package="eskf", executable="eskf_node", name="eskf_node", - namespace="orca", + # namespace="orca", parameters=[ eskf_params, ], diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index d3d8dc416..015e6f71c 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -2,9 +2,9 @@ eskf - 1.0.0 + 2.0.0 Error-state Kalman filter - talhanc + talhanc MIT ament_cmake diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 4a5501405..8507244e9 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -31,19 +31,6 @@ std::pair ESKF::van_loan_discretization( return {A_d, GQG_d}; } -Eigen::Matrix4x3d ESKF::calculate_q_delta() { - Eigen::Matrix4x3d q_delta_theta = Eigen::Matrix4x3d::Zero(); - double qw = current_nom_state_.quat.w(); - double qx = current_nom_state_.quat.x(); - double qy = current_nom_state_.quat.y(); - double qz = current_nom_state_.quat.z(); - - q_delta_theta << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; - - q_delta_theta *= 0.5; - return q_delta_theta; -} - Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); @@ -76,7 +63,7 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - x_delta.block<4, 3>(6, 6) = calculate_q_delta(); + x_delta.block<4, 3>(6, 6) = calculate_T_q(current_nom_state_.quat); x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); Eigen::Matrix3x18d H = calculate_hx() * x_delta; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index c379732e3..a79ae09bb 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -12,7 +12,15 @@ ESKFNode::ESKFNode() : Node("eskf_node") { set_parameters(); - spdlog::info("ESKF Node Initialized"); + auto start_message{R"( + ________ ______ ___ ____ ________ + |_ __ |.' ____ \ |_ ||_ _| |_ __ | + | |_ \_|| (___ \_| | |_/ / | |_ \_| + | _| _ _.____`. | __'. | _| + _| |__/ || \____) | _| | \ \_ _| |_ + |________| \______.'|____||____||_____| + )"}; + spdlog::info("\n{}", start_message); } void ESKFNode::set_subscribers_and_publisher() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 88d04c3d5..0b9ae007f 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -17,6 +17,19 @@ double ssa(const double& angle) { return angle_ssa; } +Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat) { + Eigen::Matrix4x3d T_q = Eigen::Matrix4x3d::Zero(); + double qw = quat.w(); + double qx = quat.x(); + double qy = quat.y(); + double qz = quat.z(); + + T_q << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; + + T_q *= 0.5; + return T_q; +} + Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { double angle = vector.norm(); if (angle < 1e-8) { From d964d23f831836ac1730ae91bc83ad45930c87b6 Mon Sep 17 00:00:00 2001 From: Talha Nauman Choudhry Date: Tue, 7 Oct 2025 22:06:01 +0200 Subject: [PATCH 058/109] fix: moved the fancy text variable outside the initiation --- navigation/eskf/CMakeLists.txt | 34 +++++++++++++++------ navigation/eskf/include/eskf/eskf.hpp | 6 ++-- navigation/eskf/include/eskf/eskf_ros.hpp | 17 ++++++----- navigation/eskf/include/eskf/eskf_utils.hpp | 4 +-- navigation/eskf/include/eskf/typedefs.hpp | 10 +++--- navigation/eskf/src/eskf_node.cpp | 9 ------ navigation/eskf/src/eskf_ros.cpp | 25 +++++++++------ navigation/eskf/src/eskf_utils.cpp | 4 +-- 8 files changed, 61 insertions(+), 48 deletions(-) delete mode 100644 navigation/eskf/src/eskf_node.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 6c8167609..8fc8a02cc 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -11,6 +11,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) find_package(nav_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) @@ -22,19 +23,22 @@ find_package(fmt REQUIRED) if(NOT DEFINED EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) endif() + include_directories(${EIGEN3_INCLUDE_DIR}) include_directories(include) -add_executable(eskf_node +set(LIB_NAME "${PROJECT_NAME}_component") + +add_library(${LIB_NAME} SHARED src/eskf.cpp src/eskf_ros.cpp - src/eskf_node.cpp src/eskf_utils.cpp ) -ament_target_dependencies(eskf_node +ament_target_dependencies(${LIB_NAME} PUBLIC rclcpp + rclcpp_components geometry_msgs nav_msgs Eigen3 @@ -44,17 +48,29 @@ ament_target_dependencies(eskf_node fmt ) -target_link_libraries(eskf_node - fmt::fmt +rclcpp_components_register_node( + ${LIB_NAME} + PLUGIN "ESKFNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_export_targets(export_${LIB_NAME}) + +install(TARGETS ${LIB_NAME} + EXPORT export_${LIB_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) -install(TARGETS - eskf_node - DESTINATION lib/${PROJECT_NAME}) +install( + DIRECTORY include/ + DESTINATION include +) install(DIRECTORY - config launch + config DESTINATION share/${PROJECT_NAME}/ ) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 87221a3b6..ea3a72159 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -76,13 +76,13 @@ class ESKF { Eigen::Vector3d calculate_h(); // Process noise covariance matrix - Eigen::Matrix12d Q_; + Eigen::Matrix12d Q_{}; // Member variable for the current error state - state_euler current_error_state_; + state_euler current_error_state_{}; // Member variable for the current nominal state - state_quat current_nom_state_; + state_quat current_nom_state_{}; }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 5975d9cc7..431e93ea1 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -17,7 +17,8 @@ class ESKFNode : public rclcpp::Node { public: - explicit ESKFNode(); + explicit ESKFNode( + const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); private: // @brief Callback function for the imu topic @@ -51,23 +52,23 @@ class ESKFNode : public rclcpp::Node { rclcpp::TimerBase::SharedPtr odom_pub_timer_; - state_quat nom_state_; + state_quat nom_state_{}; - state_euler error_state_; + state_euler error_state_{}; - imu_measurement imu_meas_; + imu_measurement imu_meas_{}; - dvl_measurement dvl_meas_; + dvl_measurement dvl_meas_{}; - eskf_params eskf_params_; + eskf_params eskf_params_{}; std::unique_ptr eskf_; bool first_imu_msg_received_ = false; - Eigen::Matrix3d R_imu_eskf_; + Eigen::Matrix3d R_imu_eskf_{}; - rclcpp::Time last_imu_time_; + rclcpp::Time last_imu_time_{}; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 4481f2787..0fe06ee7a 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -13,12 +13,12 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v); // @brief Square a value // @param value: Input value // @return Squared value -double sq(const double& value); +double sq(double value); // @brief Normalize an angle to the range [-pi, pi] // @param angle: Input angle in radians // @return Normalized angle in radians -double ssa(const double& angle); +double ssa(double angle); // @brief Calculate the transformation matrix using a quaternion // @param quat: Input quaternion diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 54a88032a..77432ecca 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -47,15 +47,15 @@ struct state_quat { state_quat() = default; Eigen::Vector19d as_vector() const { - Eigen::Vector19d vec; + Eigen::Vector19d vec{}; vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, accel_bias, gravity; return vec; } Eigen::Vector18d nees_error(const state_quat& other) const { - Eigen::Vector18d vec; - Eigen::Vector3d euler_diff; + Eigen::Vector18d vec{}; + Eigen::Vector3d euler_diff{}; euler_diff = (quat * other.quat.inverse()) .toRotationMatrix() @@ -69,7 +69,7 @@ struct state_quat { } state_quat operator-(const state_quat& other) const { - state_quat diff; + state_quat diff{}; diff.pos = pos - other.pos; diff.vel = vel - other.vel; diff.quat = quat * other.quat.inverse(); @@ -91,7 +91,7 @@ struct state_euler { Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); Eigen::Vector18d as_vector() const { - Eigen::Vector18d vec; + Eigen::Vector18d vec{}; vec << pos, vel, euler, gyro_bias, accel_bias, gravity; return vec; } diff --git a/navigation/eskf/src/eskf_node.cpp b/navigation/eskf/src/eskf_node.cpp deleted file mode 100644 index 196fa7916..000000000 --- a/navigation/eskf/src/eskf_node.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include "eskf/eskf_ros.hpp" - -int main(int argc, char** argv) { - rclcpp::init(argc, argv); - spdlog::info("Starting ESKF Node"); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a79ae09bb..ce9e229ed 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,9 +1,20 @@ #include "eskf/eskf_ros.hpp" #include +#include #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" -ESKFNode::ESKFNode() : Node("eskf_node") { +auto start_message{R"( + ________ ______ ___ ____ ________ + |_ __ |.' ____ \ |_ ||_ _| |_ __ | + | |_ \_|| (___ \_| | |_/ / | |_ \_| + | _| _ _.____`. | __'. | _| + _| |__/ || \____) | _| | \ \_ _| |_ + |________| \______.'|____||____||_____| +)"}; + +ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) + : Node("eskf_node", options) { time_step = std::chrono::milliseconds(1); odom_pub_timer_ = this->create_wall_timer( time_step, std::bind(&ESKFNode::publish_odom, this)); @@ -12,15 +23,7 @@ ESKFNode::ESKFNode() : Node("eskf_node") { set_parameters(); - auto start_message{R"( - ________ ______ ___ ____ ________ - |_ __ |.' ____ \ |_ ||_ _| |_ __ | - | |_ \_|| (___ \_| | |_/ / | |_ \_| - | _| _ _.____`. | __'. | _| - _| |__/ || \____) | _| | \ \_ _| |_ - |________| \______.'|____||____||_____| - )"}; - spdlog::info("\n{}", start_message); + spdlog::info(start_message); } void ESKFNode::set_subscribers_and_publisher() { @@ -149,3 +152,5 @@ void ESKFNode::publish_odom() { odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); } + +RCLCPP_COMPONENTS_REGISTER_NODE(ESKFNode) diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 0b9ae007f..e7dc4e5e3 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -8,10 +8,10 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { return S; } -double sq(const double& value) { +double sq(const double value) { return value * value; } -double ssa(const double& angle) { +double ssa(const double angle) { double result = fmod(angle + M_PI, 2 * M_PI); double angle_ssa = result < 0 ? result + M_PI : result - M_PI; return angle_ssa; From 6d0f000c13541381dce2d429ac84c5643b97bb2e Mon Sep 17 00:00:00 2001 From: Ahmed Date: Wed, 15 Oct 2025 15:43:39 +0200 Subject: [PATCH 059/109] Fixed some of the suggested comments, add debug flag --- navigation/eskf/CMakeLists.txt | 4 ++++ navigation/eskf/include/eskf/typedefs.hpp | 2 +- navigation/eskf/src/eskf_ros.cpp | 8 +++++++- navigation/eskf/src/eskf_utils.cpp | 4 ++-- 4 files changed, 14 insertions(+), 4 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 8fc8a02cc..ec4feea05 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -9,6 +9,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 77432ecca..b96f8dfbf 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -31,7 +31,7 @@ typedef Eigen::Matrix Vector15d; } // namespace Eigen template -Eigen::Matrix createDiagonalMatrix( +Eigen::Matrix create_diagonal_matrix( const std::vector& diag) { return Eigen::Map>(diag.data()) .asDiagonal(); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index ce9e229ed..5542af533 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -24,6 +24,9 @@ ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) set_parameters(); spdlog::info(start_message); + #ifndef NDEBUG + spdlog::info("__________________________Debug mode is enabled______________________"); + #endif } void ESKFNode::set_subscribers_and_publisher() { @@ -76,7 +79,7 @@ void ESKFNode::set_parameters() { std::vector diag_p_init = this->declare_parameter>("diag_p_init"); - Eigen::Matrix18d P = createDiagonalMatrix<18>(diag_p_init); + Eigen::Matrix18d P = create_diagonal_matrix<18>(diag_p_init); error_state_.covariance = P; } @@ -120,9 +123,12 @@ void ESKFNode::dvl_callback( std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); + #ifndef NDEBUG + // Publish NIS std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); + #endif } void ESKFNode::publish_odom() { diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index e7dc4e5e3..02e8d9229 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -8,10 +8,10 @@ Eigen::Matrix3d skew(const Eigen::Vector3d& v) { return S; } -double sq(const double value) { +double sq(double value) { return value * value; } -double ssa(const double angle) { +double ssa(double angle) { double result = fmod(angle + M_PI, 2 * M_PI); double angle_ssa = result < 0 ? result + M_PI : result - M_PI; return angle_ssa; From e4be55e0484cb0fe3a0e404f3ba0a7781be318ca Mon Sep 17 00:00:00 2001 From: Ahmed Date: Sun, 19 Oct 2025 14:40:25 +0200 Subject: [PATCH 060/109] updating the published topic name --- navigation/eskf/config/eskf_params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index f17dcd3df..2293ae1e1 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -2,7 +2,7 @@ eskf_node: ros__parameters: imu_topic: /imu/data_raw dvl_topic: /orca/twist - odom_topic: odom + odom_topic: odom_ESKF diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] From b4b04fe60c8de00673b27d47525fb6d10418f7df Mon Sep 17 00:00:00 2001 From: Ahmed Date: Sun, 19 Oct 2025 15:53:21 +0200 Subject: [PATCH 061/109] implemented the sensor concept requirement, added eskf.tpp so that I don't put the definition in the header --- navigation/eskf/include/eskf/eskf.hpp | 32 ++++++++-------- navigation/eskf/include/eskf/eskf.tpp | 25 +++++++++++++ navigation/eskf/include/eskf/eskf_ros.hpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 27 ++++++++++---- navigation/eskf/src/eskf.cpp | 45 +++++++++++------------ navigation/eskf/src/eskf_ros.cpp | 10 ++--- 6 files changed, 90 insertions(+), 51 deletions(-) create mode 100644 navigation/eskf/include/eskf/eskf.tpp diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index ea3a72159..f9ef6284e 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -22,7 +22,7 @@ class ESKF { // @param dvl_meas: DVL measurement // @return Updated nominal state and error state std::pair dvl_update( - const dvl_measurement& dvl_meas); + const sensor_dvl& dvl_meas); // Normalized Innovation Squared double NIS_{}; @@ -47,9 +47,11 @@ class ESKF { // @param S: Innovation covariance matrix void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - // @brief Update the error state - // @param dvl_meas: DVL measurement - void measurement_update(const dvl_measurement& dvl_meas); + // @brief Update the error state using a generic sensor measurement model + // @tparam SensorT Type of the sensor model (must satisfy SensorModelConcept) + // @param meas Sensor measurement instance + template + void measurement_update(const SensorT& meas); // @brief Inject the error state into the nominal state and reset the error void injection_and_reset(); @@ -63,17 +65,6 @@ class ESKF { const Eigen::Matrix18x12d& G_c, const double dt); - // @brief Calculate the measurement matrix jakobian - // @return Measurement matrix - Eigen::Matrix3x19d calculate_hx(); - - // @brief Calculate the full measurement matrix - // @return Measurement matrix - Eigen::Matrix3x18d calculate_h_jacobian(); - - // @brief Calculate the measurement - // @return Measurement - Eigen::Vector3d calculate_h(); // Process noise covariance matrix Eigen::Matrix12d Q_{}; @@ -85,4 +76,15 @@ class ESKF { state_quat current_nom_state_{}; }; +// Measurement in world frame --> h(x) +Eigen::Vector3d calculate_h(const state_quat& current_nom_state_); + +// Jacobian of h(x) with respect to the error state --> H +Eigen::Matrix3x18d calculate_h_jacobian(const state_quat& current_nom_state_); + +// Jacobian of h(x) with respect to the nominal state --> Hx +Eigen::Matrix3x19d calculate_hx(const state_quat& current_nom_state_); + +#include "eskf.tpp" // including template implementation + #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf.tpp b/navigation/eskf/include/eskf/eskf.tpp new file mode 100644 index 000000000..81e01ba8e --- /dev/null +++ b/navigation/eskf/include/eskf/eskf.tpp @@ -0,0 +1,25 @@ + + +template +void ESKF::measurement_update(const SensorT& meas) +{ + Eigen::VectorXd innovation = meas.innovation(current_nom_state_); + Eigen::MatrixXd H = meas.jacobian(current_nom_state_); + Eigen::MatrixXd R = meas.noise_covariance(); + + Eigen::MatrixXd P = current_error_state_.covariance; + + Eigen::MatrixXd S = H * P * H.transpose() + R; + Eigen::MatrixXd K = P * H.transpose() * S.inverse(); + + #ifndef NDEBUG + NIS(innovation, S); + #endif + + current_error_state_.set_from_vector(K * innovation); + + Eigen::MatrixXd I_KH = Eigen::MatrixXd::Identity(P.rows(), P.cols()) - K * H; + current_error_state_.covariance = + I_KH * P * I_KH.transpose() + + K * R * K.transpose(); // Used joseph form for more stable calculations +} \ No newline at end of file diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 431e93ea1..9220ae7bf 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -58,7 +58,7 @@ class ESKFNode : public rclcpp::Node { imu_measurement imu_meas_{}; - dvl_measurement dvl_meas_{}; + sensor_dvl dvl_sensor_{}; eskf_params eskf_params_{}; diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index b96f8dfbf..5b27e1b25 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -8,6 +8,7 @@ #include #include #include +#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -106,20 +107,32 @@ struct state_euler { } }; +struct eskf_params { + double temp = 0.0; + Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); + double dt = 0.0; +}; + struct imu_measurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); }; -struct dvl_measurement { - Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); +template +concept SensorModelConcept = requires(const T &meas, const state_quat &state) +{ + { meas.innovation(state) } -> std::convertible_to; + { meas.jacobian(state) } -> std::convertible_to; + { meas.noise_covariance() } -> std::convertible_to; }; -struct eskf_params { - double temp = 0.0; - Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); - double dt = 0.0; +struct sensor_dvl { + Eigen::Vector3d measurement; + Eigen::Matrix3d measurement_noise; + Eigen::VectorXd innovation(const state_quat &state) const; + Eigen::MatrixXd jacobian(const state_quat &state) const; + Eigen::MatrixXd noise_covariance() const; }; + #endif // ESKF_TYPEDEFS_H diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 8507244e9..7beef13cb 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -31,7 +31,7 @@ std::pair ESKF::van_loan_discretization( return {A_d, GQG_d}; } -Eigen::Matrix3x19d ESKF::calculate_hx() { +Eigen::Matrix3x19d calculate_hx(const state_quat& current_nom_state_) { Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); Eigen::Quaterniond q = current_nom_state_.quat.normalized(); @@ -60,23 +60,22 @@ Eigen::Matrix3x19d ESKF::calculate_hx() { return Hx; } -Eigen::Matrix3x18d ESKF::calculate_h_jacobian() { +Eigen::Matrix3x18d calculate_h_jacobian(const state_quat& current_nom_state_) { Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); x_delta.block<4, 3>(6, 6) = calculate_T_q(current_nom_state_.quat); x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); - Eigen::Matrix3x18d H = calculate_hx() * x_delta; + Eigen::Matrix3x18d H = calculate_hx(current_nom_state_) * x_delta; return H; } -Eigen::Vector3d ESKF::calculate_h() { +Eigen::Vector3d calculate_h(const state_quat& current_nom_state_) { Eigen::Vector3d h; Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); h = R_bn * current_nom_state_.vel; - // 0.027293, 0.028089, 0.028089, 0.00255253, 0.00270035, 0.00280294, return h; } @@ -135,23 +134,6 @@ void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { Eigen::Matrix3d S_inv = S.inverse(); NIS_ = innovation.transpose() * S_inv * innovation; } -void ESKF::measurement_update(const dvl_measurement& dvl_meas) { - Eigen::Matrix3x18d H = calculate_h_jacobian(); - Eigen::Matrix18d P = current_error_state_.covariance; - Eigen::Matrix3d R = dvl_meas.cov; - - Eigen::Matrix3d S = H * P * H.transpose() + R; - Eigen::Matrix18x3d K = P * H.transpose() * S.inverse(); - Eigen::Vector3d innovation = dvl_meas.vel - calculate_h(); - - NIS(innovation, S); - current_error_state_.set_from_vector(K * innovation); - - Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; - current_error_state_.covariance = - I_KH * P * I_KH.transpose() + - K * R * K.transpose(); // Used joseph form for more stable calculations -} void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; @@ -184,9 +166,26 @@ std::pair ESKF::imu_update( } std::pair ESKF::dvl_update( - const dvl_measurement& dvl_meas) { + const sensor_dvl& dvl_meas) { measurement_update(dvl_meas); injection_and_reset(); return {current_nom_state_, current_error_state_}; } + +// DVL sensor model implementations + +Eigen::VectorXd sensor_dvl::innovation(const state_quat &state) const { + + Eigen::Vector3d innovation = this->measurement - calculate_h(state); + return innovation; +} + +Eigen::MatrixXd sensor_dvl::jacobian(const state_quat &state) const { + Eigen::Matrix3x18d H = calculate_h_jacobian(state); + return H; +} + +Eigen::MatrixXd sensor_dvl::noise_covariance() const { + return this->measurement_noise; +} \ No newline at end of file diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 5542af533..c95ab266f 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -25,7 +25,7 @@ ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) spdlog::info(start_message); #ifndef NDEBUG - spdlog::info("__________________________Debug mode is enabled______________________"); + spdlog::info("______________________Debug mode is enabled______________________"); #endif } @@ -112,19 +112,19 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_meas_.vel << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + dvl_sensor_.measurement << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - dvl_meas_.cov << msg->twist.covariance[0], msg->twist.covariance[1], + dvl_sensor_.measurement_noise << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_meas_); + std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_sensor_); #ifndef NDEBUG - // Publish NIS + // Publish NIS in Debug mode std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->NIS_; nis_pub_->publish(nis_msg); From ea4fbaad84f69a8e5738419758db276e2c707446 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Sun, 26 Oct 2025 13:15:19 +0100 Subject: [PATCH 062/109] removed gravity from the state vector and put it seperately for efficiency --- navigation/eskf/include/eskf/eskf.hpp | 23 +++++++-- navigation/eskf/include/eskf/typedefs.hpp | 51 ++++++++++--------- navigation/eskf/src/eskf.cpp | 62 +++++++++++------------ navigation/eskf/src/eskf_ros.cpp | 2 +- 4 files changed, 76 insertions(+), 62 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index f9ef6284e..1f0ba2ec2 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -60,9 +60,9 @@ class ESKF { // @param A_c: Continuous state transition matrix // @param G_c: Continuous input matrix // @return Discrete state transition matrix and discrete input matrix - std::pair van_loan_discretization( - const Eigen::Matrix18d& A_c, - const Eigen::Matrix18x12d& G_c, + std::pair van_loan_discretization( + const Eigen::Matrix15d& A_c, + const Eigen::Matrix15x12d& G_c, const double dt); @@ -74,16 +74,29 @@ class ESKF { // Member variable for the current nominal state state_quat current_nom_state_{}; + + // gravity + Eigen::Vector3d g_{0.0, 0.0, 9.82}; + + // accelometer noise parameters + float accm_std_{0.0}; + float accm_bias_std_{0.0}; + float accm_bias_p_{1e-16}; + + // gyroscope noise parameters + float gyro_std_{0.0}; + float gyro_bias_std_{0.0}; + float gyro_bias_p_{1e-16}; }; // Measurement in world frame --> h(x) Eigen::Vector3d calculate_h(const state_quat& current_nom_state_); // Jacobian of h(x) with respect to the error state --> H -Eigen::Matrix3x18d calculate_h_jacobian(const state_quat& current_nom_state_); +Eigen::Matrix3x15d calculate_h_jacobian(const state_quat& current_nom_state_); // Jacobian of h(x) with respect to the nominal state --> Hx -Eigen::Matrix3x19d calculate_hx(const state_quat& current_nom_state_); +Eigen::Matrix3x16d calculate_hx(const state_quat& current_nom_state_); #include "eskf.tpp" // including template implementation diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 5b27e1b25..1a9963df5 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -29,6 +29,12 @@ typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; typedef Eigen::Matrix Matrix15d; typedef Eigen::Matrix Vector15d; +typedef Eigen::Matrix Vector16d; +typedef Eigen::Matrix Matrix15x12d; +typedef Eigen::Matrix Matrix16x15d; +typedef Eigen::Matrix Matrix3x15d; +typedef Eigen::Matrix Matrix3x16d; +typedef Eigen::Matrix Matrix30d; } // namespace Eigen template @@ -43,31 +49,31 @@ struct state_quat { Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); + // Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); state_quat() = default; - Eigen::Vector19d as_vector() const { - Eigen::Vector19d vec{}; + Eigen::Vector16d as_vector() const { + Eigen::Vector16d vec{}; vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, - accel_bias, gravity; + accel_bias; return vec; } - Eigen::Vector18d nees_error(const state_quat& other) const { - Eigen::Vector18d vec{}; - Eigen::Vector3d euler_diff{}; + // Eigen::Vector18d nees_error(const state_quat& other) const { + // Eigen::Vector18d vec{}; + // Eigen::Vector3d euler_diff{}; - euler_diff = (quat * other.quat.inverse()) - .toRotationMatrix() - .eulerAngles(0, 1, 2) + - Eigen::Vector3d(-M_PI, M_PI, -M_PI); + // euler_diff = (quat * other.quat.inverse()) + // .toRotationMatrix() + // .eulerAngles(0, 1, 2) + + // Eigen::Vector3d(-M_PI, M_PI, -M_PI); - vec << pos - other.pos, vel - other.vel, euler_diff, - gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, - gravity - other.gravity; - return vec; - } + // vec << pos - other.pos, vel - other.vel, euler_diff, + // gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, + // gravity - other.gravity; + // return vec; + // } state_quat operator-(const state_quat& other) const { state_quat diff{}; @@ -76,7 +82,6 @@ struct state_quat { diff.quat = quat * other.quat.inverse(); diff.gyro_bias = gyro_bias - other.gyro_bias; diff.accel_bias = accel_bias - other.accel_bias; - diff.gravity = gravity - other.gravity; return diff; } }; @@ -87,23 +92,21 @@ struct state_euler { Eigen::Vector3d euler = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); - Eigen::Matrix18d covariance = Eigen::Matrix18d::Zero(); + Eigen::Matrix15d covariance = Eigen::Matrix15d::Zero(); - Eigen::Vector18d as_vector() const { - Eigen::Vector18d vec{}; - vec << pos, vel, euler, gyro_bias, accel_bias, gravity; + Eigen::Vector15d as_vector() const { + Eigen::Vector15d vec{}; + vec << pos, vel, euler, gyro_bias, accel_bias; return vec; } - void set_from_vector(const Eigen::Vector18d& vec) { + void set_from_vector(const Eigen::Vector15d& vec) { pos = vec.block<3, 1>(0, 0); vel = vec.block<3, 1>(3, 0); euler = vec.block<3, 1>(6, 0); gyro_bias = vec.block<3, 1>(9, 0); accel_bias = vec.block<3, 1>(12, 0); - gravity = vec.block<3, 1>(15, 0); } }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 7beef13cb..e08c0a90f 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -6,33 +6,34 @@ #include "eskf/eskf_utils.hpp" #include "eskf/typedefs.hpp" #include "iostream" +#include ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} -std::pair ESKF::van_loan_discretization( - const Eigen::Matrix18d& A_c, - const Eigen::Matrix18x12d& G_c, +std::pair ESKF::van_loan_discretization( + const Eigen::Matrix15d& A_c, + const Eigen::Matrix15x12d& G_c, const double dt) { - Eigen::Matrix18d GQG_T = G_c * Q_ * G_c.transpose(); - Eigen::Matrix36d vanLoanMat = Eigen::Matrix36d::Zero(); + Eigen::Matrix15d GQG_T = G_c * Q_ * G_c.transpose(); + Eigen::Matrix30d vanLoanMat = Eigen::Matrix30d::Zero(); - vanLoanMat.topLeftCorner<18, 18>() = -A_c; - vanLoanMat.topRightCorner<18, 18>() = GQG_T; - vanLoanMat.bottomRightCorner<18, 18>() = A_c.transpose(); + vanLoanMat.topLeftCorner<15, 15>() = -A_c; + vanLoanMat.topRightCorner<15, 15>() = GQG_T; + vanLoanMat.bottomRightCorner<15, 15>() = A_c.transpose(); - Eigen::Matrix36d vanLoanExp = (vanLoanMat * dt).exp(); + Eigen::Matrix30d vanLoanExp = (vanLoanMat * dt).exp(); - Eigen::Matrix18d V1 = vanLoanExp.bottomRightCorner<18, 18>().transpose(); - Eigen::Matrix18d V2 = vanLoanExp.topRightCorner<18, 18>(); + Eigen::Matrix15d V1 = vanLoanExp.bottomRightCorner<15, 15>().transpose(); + Eigen::Matrix15d V2 = vanLoanExp.topRightCorner<15, 15>(); - Eigen::Matrix18d A_d = V1; - Eigen::Matrix18d GQG_d = A_d * V2; + Eigen::Matrix15d A_d = V1; + Eigen::Matrix15d GQG_d = A_d * V2; return {A_d, GQG_d}; } -Eigen::Matrix3x19d calculate_hx(const state_quat& current_nom_state_) { - Eigen::Matrix3x19d Hx = Eigen::Matrix3x19d::Zero(); +Eigen::Matrix3x16d calculate_hx(const state_quat& current_nom_state_) { + Eigen::Matrix3x16d Hx = Eigen::Matrix3x16d::Zero(); Eigen::Quaterniond q = current_nom_state_.quat.normalized(); Eigen::Matrix3d R_bn = q.toRotationMatrix(); @@ -60,13 +61,13 @@ Eigen::Matrix3x19d calculate_hx(const state_quat& current_nom_state_) { return Hx; } -Eigen::Matrix3x18d calculate_h_jacobian(const state_quat& current_nom_state_) { - Eigen::Matrix19x18d x_delta = Eigen::Matrix19x18d::Zero(); +Eigen::Matrix3x15d calculate_h_jacobian(const state_quat& current_nom_state_) { + Eigen::Matrix16x15d x_delta = Eigen::Matrix16x15d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); x_delta.block<4, 3>(6, 6) = calculate_T_q(current_nom_state_.quat); - x_delta.block<9, 9>(10, 9) = Eigen::Matrix9d::Identity(); + x_delta.block<6, 6>(10, 9) = Eigen::Matrix6d::Identity(); - Eigen::Matrix3x18d H = calculate_hx(current_nom_state_) * x_delta; + Eigen::Matrix3x15d H = calculate_hx(current_nom_state_) * x_delta; return H; } @@ -84,7 +85,7 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * (imu_meas.accel - current_nom_state_.accel_bias) + - current_nom_state_.gravity; + this->g_; Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; current_nom_state_.pos = current_nom_state_.pos + @@ -95,9 +96,8 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, (current_nom_state_.quat * vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); - current_nom_state_.gyro_bias = current_nom_state_.gyro_bias; - current_nom_state_.accel_bias = current_nom_state_.accel_bias; - current_nom_state_.gravity = current_nom_state_.gravity; + current_nom_state_.accel_bias = current_nom_state_.accel_bias*std::exp(accm_bias_p_*dt); + current_nom_state_.gyro_bias = current_nom_state_.gyro_bias*std::exp(gyro_bias_p_*dt); } void ESKF::error_state_prediction(const imu_measurement& imu_meas, @@ -106,7 +106,7 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); - Eigen::Matrix18d A_c = Eigen::Matrix18d::Zero(); + Eigen::Matrix15d A_c = Eigen::Matrix15d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); A_c.block<3, 3>(3, 6) = -R * skew(acc); A_c.block<3, 3>(6, 6) = -skew(gyro); @@ -114,15 +114,15 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); A_c.block<3, 3>(6, 12) = -Eigen::Matrix3d::Identity(); - A_c.block<3, 3>(3, 15) = Eigen::Matrix3d::Identity(); + // A_c.block<3, 3>(3, 15) = Eigen::Matrix3d::Identity(); - Eigen::Matrix18x12d G_c = Eigen::Matrix18x12d::Zero(); + Eigen::Matrix15x12d G_c = Eigen::Matrix15x12d::Zero(); G_c.block<3, 3>(3, 0) = -R; G_c.block<3, 3>(6, 3) = -Eigen::Matrix3d::Identity(); G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); - Eigen::Matrix18d A_d, GQG_d; + Eigen::Matrix15d A_d, GQG_d; std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); state_euler next_error_state; @@ -146,14 +146,12 @@ void ESKF::injection_and_reset() { current_nom_state_.gyro_bias + current_error_state_.gyro_bias; current_nom_state_.accel_bias = current_nom_state_.accel_bias + current_error_state_.accel_bias; - current_nom_state_.gravity = - current_nom_state_.gravity + current_error_state_.gravity; - Eigen::Matrix18d G = Eigen::Matrix18d::Identity(); + Eigen::Matrix15d G = Eigen::Matrix15d::Identity(); current_error_state_.covariance = G * current_error_state_.covariance * G.transpose(); - current_error_state_.set_from_vector(Eigen::Vector18d::Zero()); + current_error_state_.set_from_vector(Eigen::Vector15d::Zero()); } std::pair ESKF::imu_update( @@ -182,7 +180,7 @@ Eigen::VectorXd sensor_dvl::innovation(const state_quat &state) const { } Eigen::MatrixXd sensor_dvl::jacobian(const state_quat &state) const { - Eigen::Matrix3x18d H = calculate_h_jacobian(state); + Eigen::Matrix3x15d H = calculate_h_jacobian(state); return H; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index c95ab266f..99e3c8cb5 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -79,7 +79,7 @@ void ESKFNode::set_parameters() { std::vector diag_p_init = this->declare_parameter>("diag_p_init"); - Eigen::Matrix18d P = create_diagonal_matrix<18>(diag_p_init); + Eigen::Matrix15d P = create_diagonal_matrix<15>(diag_p_init); error_state_.covariance = P; } From 0f231c1952c855e5b27870b35b8ee43c61b115c3 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Wed, 5 Nov 2025 11:52:17 +0100 Subject: [PATCH 063/109] added code for errors and for covariance publishing --- navigation/eskf/config/eskf_params.yaml | 3 +- navigation/eskf/include/eskf/eskf_ros.hpp | 20 +++++ navigation/eskf/include/eskf/eskf_utils.hpp | 3 + navigation/eskf/src/eskf.cpp | 1 - navigation/eskf/src/eskf_ros.cpp | 85 ++++++++++++++++++++- navigation/eskf/src/eskf_utils.cpp | 28 +++++++ 6 files changed, 136 insertions(+), 4 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 2293ae1e1..6d9f01beb 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,6 +3,7 @@ eskf_node: imu_topic: /imu/data_raw dvl_topic: /orca/twist odom_topic: odom_ESKF - diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] + #diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] + diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 9220ae7bf..c22371240 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -46,8 +46,28 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Publisher::SharedPtr odom_cov_pub_; + + #ifndef NDEBUG + void ground_truth_callback(const nav_msgs::msg::Odometry::SharedPtr msg); + rclcpp::Publisher::SharedPtr nis_pub_; + rclcpp::Subscription::SharedPtr odom_ground_truth_; + + struct ESKFError { + Eigen::Vector3d pos; // position error + Eigen::Vector3d vel; // velocity error + Eigen::Vector3d ori; // orientation error (roll, pitch, yaw) + }; + + ESKFError last_error_; + rclcpp::Publisher::SharedPtr error_pub_; + #endif + + // to remove + // rclcpp::Publisher::SharedPtr incoming_imu_eskf_; + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp index 0fe06ee7a..8dc35b0b5 100644 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ b/navigation/eskf/include/eskf/eskf_utils.hpp @@ -35,4 +35,7 @@ Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); // @return Corresponding quaternion Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); + +Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond& q); + #endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index e08c0a90f..be9324f60 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -114,7 +114,6 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); A_c.block<3, 3>(6, 12) = -Eigen::Matrix3d::Identity(); - // A_c.block<3, 3>(3, 15) = Eigen::Matrix3d::Identity(); Eigen::Matrix15x12d G_c = Eigen::Matrix15x12d::Zero(); G_c.block<3, 3>(3, 0) = -R; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 99e3c8cb5..80db43a89 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -51,8 +51,20 @@ void ESKFNode::set_subscribers_and_publisher() { std::string odom_topic = this->get_parameter("odom_topic").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); + #ifndef NDEBUG nis_pub_ = create_publisher("dvl/nis", 10); + + error_pub_ = create_publisher("eskf/error", 10); + + odom_cov_pub_ = create_publisher("eskf/odom_covariance", 10); + + odom_ground_truth_ = this->create_subscription( + "/orca/odom", qos_sensor_data, + std::bind(&ESKFNode::ground_truth_callback, this, + std::placeholders::_1)); + // incoming_imu_eskf_ = this->create_publisher("incoming_imu_eskf", rclcpp::SensorDataQoS() ); + #endif } void ESKFNode::set_parameters() { @@ -100,14 +112,27 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { msg->linear_acceleration.y, msg->linear_acceleration.z); - imu_meas_.accel = R_imu_eskf_ * raw_accel; + // imu_meas_.accel = R_imu_eskf_ * raw_accel; + imu_meas_.accel = -raw_accel; Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - imu_meas_.gyro = R_imu_eskf_ * raw_gyro; + // imu_meas_.gyro = R_imu_eskf_ * raw_gyro; + imu_meas_.gyro = raw_gyro; std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); + + // to remove + // sensor_msgs::msg::Imu imu_out; + // imu_out.header = msg->header; + // imu_out.linear_acceleration.x = imu_meas_.accel.x(); + // imu_out.linear_acceleration.y = imu_meas_.accel.y(); + // imu_out.linear_acceleration.z = imu_meas_.accel.z(); + // imu_out.angular_velocity.x = imu_meas_.gyro.x(); + // imu_out.angular_velocity.y = imu_meas_.gyro.y(); + // imu_out.angular_velocity.z = imu_meas_.gyro.z(); + // incoming_imu_eskf_->publish(imu_out); } void ESKFNode::dvl_callback( @@ -131,6 +156,40 @@ void ESKFNode::dvl_callback( #endif } +#ifndef NDEBUG +void ESKFNode::ground_truth_callback( + const nav_msgs::msg::Odometry::SharedPtr msg) { + + // Position error + last_error_.pos.x() = nom_state_.pos.x() - msg->pose.pose.position.x; + last_error_.pos.y() = nom_state_.pos.y() - msg->pose.pose.position.y; + last_error_.pos.z() = nom_state_.pos.z() - msg->pose.pose.position.z; + + // Velocity error + last_error_.vel.x() = nom_state_.vel.x() - msg->twist.twist.linear.x; + last_error_.vel.y() = nom_state_.vel.y() - msg->twist.twist.linear.y; + last_error_.vel.z() = nom_state_.vel.z() - msg->twist.twist.linear.z; + + // Orientation error + Eigen::Quaterniond q_nom(nom_state_.quat.x(), nom_state_.quat.y(), + nom_state_.quat.z(), nom_state_.quat.w()); + Eigen::Quaterniond q_gt(msg->pose.pose.orientation.x, + msg->pose.pose.orientation.y, + msg->pose.pose.orientation.z, + msg->pose.pose.orientation.w); + + Eigen::Quaterniond q_err = q_gt.inverse() * q_nom; // error rotation + last_error_.ori = quaternion_to_euler(q_err); + + // Publish + std_msgs::msg::Float64MultiArray error_msg; + error_msg.data = { last_error_.pos.x(), last_error_.pos.y(), last_error_.pos.z(), + last_error_.vel.x(), last_error_.vel.y(), last_error_.vel.z(), + last_error_.ori.x(), last_error_.ori.y(), last_error_.ori.z() }; + error_pub_->publish(error_msg); +} +#endif + void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; @@ -157,6 +216,28 @@ void ESKFNode::publish_odom() { odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); + + + // publish the covariance matrix + std_msgs::msg::Float64MultiArray msg; + + msg.layout.dim.resize(2); + msg.layout.dim[0].label = "rows"; + msg.layout.dim[0].size = 15; + msg.layout.dim[0].stride = 15 * 15; + msg.layout.dim[1].label = "cols"; + msg.layout.dim[1].size = 15; + msg.layout.dim[1].stride = 15; + + // Flatten Eigen matrix into a std::vector + msg.data.resize(15 * 15); + msg.data.assign( + error_state_.covariance.data(), + error_state_.covariance.data() + 15 * 15 + ); + + // Publish + odom_cov_pub_->publish(msg); } RCLCPP_COMPONENTS_REGISTER_NODE(ESKFNode) diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp index 02e8d9229..5cbd704ae 100644 --- a/navigation/eskf/src/eskf_utils.cpp +++ b/navigation/eskf/src/eskf_utils.cpp @@ -50,3 +50,31 @@ Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { q.normalize(); return q; } + +Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond& q) { + // Assumes quaternion is normalized + double w = q.w(); + double x = q.x(); + double y = q.y(); + double z = q.z(); + + // Roll (x-axis rotation) + double sinr_cosp = 2.0 * (w * x + y * z); + double cosr_cosp = 1.0 - 2.0 * (x * x + y * y); + double roll = std::atan2(sinr_cosp, cosr_cosp); + + // Pitch (y-axis rotation) + double sinp = 2.0 * (w * y - z * x); + double pitch; + if (std::abs(sinp) >= 1) + pitch = std::copysign(M_PI / 2.0, sinp); // use 90° if out of range + else + pitch = std::asin(sinp); + + // Yaw (z-axis rotation) + double siny_cosp = 2.0 * (w * z + x * y); + double cosy_cosp = 1.0 - 2.0 * (y * y + z * z); + double yaw = std::atan2(siny_cosp, cosy_cosp); + + return Eigen::Vector3d(roll, pitch, yaw); +} From 02c87c314f5166a4b03f8d6b4037a00b06cc92c0 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Sun, 9 Nov 2025 16:47:29 +0100 Subject: [PATCH 064/109] added the modifications from Talha's branch /dev/auv-navigation-eskf (removed local utils, fixed naming) --- navigation/eskf/CMakeLists.txt | 3 +- navigation/eskf/config/eskf_params.yaml | 4 +- navigation/eskf/include/eskf/eskf.hpp | 37 ++--- navigation/eskf/include/eskf/eskf.tpp | 2 +- navigation/eskf/include/eskf/eskf_ros.hpp | 32 +--- navigation/eskf/include/eskf/eskf_utils.hpp | 41 ------ navigation/eskf/include/eskf/typedefs.hpp | 52 +++---- navigation/eskf/src/eskf.cpp | 70 +++++---- navigation/eskf/src/eskf_ros.cpp | 155 +++++++------------- navigation/eskf/src/eskf_utils.cpp | 80 ---------- 10 files changed, 139 insertions(+), 337 deletions(-) delete mode 100644 navigation/eskf/include/eskf/eskf_utils.hpp delete mode 100644 navigation/eskf/src/eskf_utils.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index ec4feea05..28af1cd06 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -21,6 +21,7 @@ find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) +find_package(vortex_utils REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) @@ -37,7 +38,6 @@ set(LIB_NAME "${PROJECT_NAME}_component") add_library(${LIB_NAME} SHARED src/eskf.cpp src/eskf_ros.cpp - src/eskf_utils.cpp ) ament_target_dependencies(${LIB_NAME} PUBLIC @@ -48,6 +48,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC Eigen3 tf2 vortex_msgs + vortex_utils spdlog fmt ) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 6d9f01beb..81c38deac 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -5,5 +5,7 @@ eskf_node: odom_topic: odom_ESKF #diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] + # diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + # imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + imu_frame: [-1.0, 0.0, 0.0, -1.0, 0.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 1f0ba2ec2..8d04f12d7 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -8,38 +8,36 @@ class ESKF { public: - ESKF(const eskf_params& params); + ESKF(const EskfParams& params); // @brief Update the nominal state and error state // @param imu_meas: IMU measurement // @param dt: Time step - // @return Updated nominal state and error state - std::pair imu_update( - const imu_measurement& imu_meas, - const double dt); + void imu_update(const ImuMeasurement& imu_meas, const double dt); // @brief Update the nominal state and error state // @param dvl_meas: DVL measurement - // @return Updated nominal state and error state - std::pair dvl_update( - const sensor_dvl& dvl_meas); + void dvl_update(const SensorDVL& dvl_meas); - // Normalized Innovation Squared - double NIS_{}; + inline StateQuat get_nominal_state() const { return current_nom_state_; } + + inline StateEuler get_error_state() const { return current_error_state_; } + + inline double get_nis() const { return nis_; } private: // @brief Predict the nominal state // @param imu_meas: IMU measurement // @param dt: Time step // @return Predicted nominal state - void nominal_state_discrete(const imu_measurement& imu_meas, + void nominal_state_discrete(const ImuMeasurement& imu_meas, const double dt); // @brief Predict the error state // @param imu_meas: IMU measurement // @param dt: Time step // @return Predicted error state - void error_state_prediction(const imu_measurement& imu_meas, + void error_state_prediction(const ImuMeasurement& imu_meas, const double dt); // @brief Calculate the NIS @@ -69,11 +67,14 @@ class ESKF { // Process noise covariance matrix Eigen::Matrix12d Q_{}; + // Normalized Innovation Squared + double nis_{}; + // Member variable for the current error state - state_euler current_error_state_{}; + StateEuler current_error_state_{}; // Member variable for the current nominal state - state_quat current_nom_state_{}; + StateQuat current_nom_state_{}; // gravity Eigen::Vector3d g_{0.0, 0.0, 9.82}; @@ -90,13 +91,15 @@ class ESKF { }; // Measurement in world frame --> h(x) -Eigen::Vector3d calculate_h(const state_quat& current_nom_state_); +Eigen::Vector3d calculate_h(const StateQuat& current_nom_state_); // Jacobian of h(x) with respect to the error state --> H -Eigen::Matrix3x15d calculate_h_jacobian(const state_quat& current_nom_state_); +Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_); // Jacobian of h(x) with respect to the nominal state --> Hx -Eigen::Matrix3x16d calculate_hx(const state_quat& current_nom_state_); +Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_); + +double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); #include "eskf.tpp" // including template implementation diff --git a/navigation/eskf/include/eskf/eskf.tpp b/navigation/eskf/include/eskf/eskf.tpp index 81e01ba8e..ba7a1f859 100644 --- a/navigation/eskf/include/eskf/eskf.tpp +++ b/navigation/eskf/include/eskf/eskf.tpp @@ -13,7 +13,7 @@ void ESKF::measurement_update(const SensorT& meas) Eigen::MatrixXd K = P * H.transpose() * S.inverse(); #ifndef NDEBUG - NIS(innovation, S); + nis_ = compute_nis(innovation, S); #endif current_error_state_.set_from_vector(K * innovation); diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index c22371240..a07487e3d 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -46,46 +46,20 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Publisher::SharedPtr odom_cov_pub_; - - #ifndef NDEBUG - void ground_truth_callback(const nav_msgs::msg::Odometry::SharedPtr msg); + rclcpp::Publisher::SharedPtr cov_pub_; rclcpp::Publisher::SharedPtr nis_pub_; - rclcpp::Subscription::SharedPtr odom_ground_truth_; - - struct ESKFError { - Eigen::Vector3d pos; // position error - Eigen::Vector3d vel; // velocity error - Eigen::Vector3d ori; // orientation error (roll, pitch, yaw) - }; - - ESKFError last_error_; - rclcpp::Publisher::SharedPtr error_pub_; - #endif - - // to remove - // rclcpp::Publisher::SharedPtr incoming_imu_eskf_; - std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; - state_quat nom_state_{}; - - state_euler error_state_{}; - - imu_measurement imu_meas_{}; - - sensor_dvl dvl_sensor_{}; - - eskf_params eskf_params_{}; - std::unique_ptr eskf_; bool first_imu_msg_received_ = false; + bool debug_on_ = false; + Eigen::Matrix3d R_imu_eskf_{}; rclcpp::Time last_imu_time_{}; diff --git a/navigation/eskf/include/eskf/eskf_utils.hpp b/navigation/eskf/include/eskf/eskf_utils.hpp deleted file mode 100644 index 8dc35b0b5..000000000 --- a/navigation/eskf/include/eskf/eskf_utils.hpp +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef ESKF_UTILS_HPP -#define ESKF_UTILS_HPP - -#include -#include "eigen3/Eigen/Dense" -#include "eskf/typedefs.hpp" - -// @brief Compute the skew-symmetric matrix of a vector -// @param v: Input vector -// @return Skew-symmetric matrix -Eigen::Matrix3d skew(const Eigen::Vector3d& v); - -// @brief Square a value -// @param value: Input value -// @return Squared value -double sq(double value); - -// @brief Normalize an angle to the range [-pi, pi] -// @param angle: Input angle in radians -// @return Normalized angle in radians -double ssa(double angle); - -// @brief Calculate the transformation matrix using a quaternion -// @param quat: Input quaternion -// @return Transformation matrix -Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat); - -// @brief Convert a rotation vector to a quaternion -// @param vector: Input rotation vector -// @return Corresponding quaternion -Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector); - -// @brief Convert Euler angles to a quaternion -// @param euler: Input Euler angles (roll, pitch, yaw) in radians -// @return Corresponding quaternion -Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler); - - -Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond& q); - -#endif // ESKF_UTILS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 1a9963df5..5585b0455 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,9 +5,9 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H -#include #include #include +#include #include namespace Eigen { @@ -28,6 +28,7 @@ typedef Eigen::Matrix Matrix36d; typedef Eigen::Matrix Matrix6d; typedef Eigen::Matrix Matrix9d; typedef Eigen::Matrix Matrix15d; +typedef Eigen::Matrix Vector12d; typedef Eigen::Matrix Vector15d; typedef Eigen::Matrix Vector16d; typedef Eigen::Matrix Matrix15x12d; @@ -38,20 +39,19 @@ typedef Eigen::Matrix Matrix30d; } // namespace Eigen template -Eigen::Matrix create_diagonal_matrix( +Eigen::Matrix createDiagonalMatrix( const std::vector& diag) { return Eigen::Map>(diag.data()) .asDiagonal(); } -struct state_quat { +struct StateQuat { Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - // Eigen::Vector3d gravity = Eigen::Vector3d(0, 0, 9.81); - state_quat() = default; + StateQuat() = default; Eigen::Vector16d as_vector() const { Eigen::Vector16d vec{}; @@ -60,23 +60,8 @@ struct state_quat { return vec; } - // Eigen::Vector18d nees_error(const state_quat& other) const { - // Eigen::Vector18d vec{}; - // Eigen::Vector3d euler_diff{}; - - // euler_diff = (quat * other.quat.inverse()) - // .toRotationMatrix() - // .eulerAngles(0, 1, 2) + - // Eigen::Vector3d(-M_PI, M_PI, -M_PI); - - // vec << pos - other.pos, vel - other.vel, euler_diff, - // gyro_bias - other.gyro_bias, accel_bias - other.accel_bias, - // gravity - other.gravity; - // return vec; - // } - - state_quat operator-(const state_quat& other) const { - state_quat diff{}; + StateQuat operator-(const StateQuat& other) const { + StateQuat diff{}; diff.pos = pos - other.pos; diff.vel = vel - other.vel; diff.quat = quat * other.quat.inverse(); @@ -86,7 +71,7 @@ struct state_quat { } }; -struct state_euler { +struct StateEuler { Eigen::Vector3d pos = Eigen::Vector3d::Zero(); Eigen::Vector3d vel = Eigen::Vector3d::Zero(); Eigen::Vector3d euler = Eigen::Vector3d::Zero(); @@ -110,30 +95,33 @@ struct state_euler { } }; -struct eskf_params { - double temp = 0.0; +struct EskfParams { Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); - double dt = 0.0; + Eigen::Matrix15d P = Eigen::Matrix15d::Zero(); }; - -struct imu_measurement { +struct ImuMeasurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); }; +struct DvlMeasurement { + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); +}; + template -concept SensorModelConcept = requires(const T &meas, const state_quat &state) +concept SensorModelConcept = requires(const T &meas, const StateQuat &state) { { meas.innovation(state) } -> std::convertible_to; { meas.jacobian(state) } -> std::convertible_to; { meas.noise_covariance() } -> std::convertible_to; }; -struct sensor_dvl { +struct SensorDVL { Eigen::Vector3d measurement; Eigen::Matrix3d measurement_noise; - Eigen::VectorXd innovation(const state_quat &state) const; - Eigen::MatrixXd jacobian(const state_quat &state) const; + Eigen::VectorXd innovation(const StateQuat &state) const; + Eigen::MatrixXd jacobian(const StateQuat &state) const; Eigen::MatrixXd noise_covariance() const; }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index be9324f60..2e623a749 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -1,14 +1,17 @@ #include "eskf/eskf.hpp" -#include #include #include #include -#include "eskf/eskf_utils.hpp" +#include #include "eskf/typedefs.hpp" -#include "iostream" -#include -ESKF::ESKF(const eskf_params& params) : Q_(params.Q) {} +double compute_nis(const Eigen::Vector3d& innovation, + const Eigen::Matrix3d& S) { + Eigen::Matrix3d S_inv = S.inverse(); + return innovation.transpose() * S_inv * innovation; +} + +ESKF::ESKF(const EskfParams& params) : Q_(params.Q) {} std::pair ESKF::van_loan_discretization( const Eigen::Matrix15d& A_c, @@ -32,7 +35,7 @@ std::pair ESKF::van_loan_discretization( return {A_d, GQG_d}; } -Eigen::Matrix3x16d calculate_hx(const state_quat& current_nom_state_) { +Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_) { Eigen::Matrix3x16d Hx = Eigen::Matrix3x16d::Zero(); Eigen::Quaterniond q = current_nom_state_.quat.normalized(); @@ -53,7 +56,8 @@ Eigen::Matrix3x16d calculate_hx(const state_quat& current_nom_state_) { dhdq.col(0) = 2 * (qw * v_n + q_vec.cross(v_n)); dhdq.block<3, 3>(0, 1) = 2 * (q_vec.dot(v_n) * I3 + q_vec * v_n.transpose() - - v_n * q_vec.transpose() - qw * skew(v_n)); + v_n * q_vec.transpose() - + qw * vortex::utils::math::get_skew_symmetric_matrix(v_n)); // Assign quaternion derivative (3x4 block at columns 6:9) Hx.block<3, 4>(0, 6) = dhdq; @@ -61,17 +65,19 @@ Eigen::Matrix3x16d calculate_hx(const state_quat& current_nom_state_) { return Hx; } -Eigen::Matrix3x15d calculate_h_jacobian(const state_quat& current_nom_state_) { +Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_) { Eigen::Matrix16x15d x_delta = Eigen::Matrix16x15d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - x_delta.block<4, 3>(6, 6) = calculate_T_q(current_nom_state_.quat); + x_delta.block<4, 3>(6, 6) = + vortex::utils::math::get_transformation_matrix_attitude_quat( + current_nom_state_.quat); x_delta.block<6, 6>(10, 9) = Eigen::Matrix6d::Identity(); Eigen::Matrix3x15d H = calculate_hx(current_nom_state_) * x_delta; return H; } -Eigen::Vector3d calculate_h(const state_quat& current_nom_state_) { +Eigen::Vector3d calculate_h(const StateQuat& current_nom_state_) { Eigen::Vector3d h; Eigen::Matrix3d R_bn = current_nom_state_.quat.normalized().toRotationMatrix().transpose(); @@ -80,7 +86,7 @@ Eigen::Vector3d calculate_h(const state_quat& current_nom_state_) { return h; } -void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, +void ESKF::nominal_state_discrete(const ImuMeasurement& imu_meas, const double dt) { Eigen::Vector3d acc = current_nom_state_.quat.normalized().toRotationMatrix() * @@ -89,18 +95,19 @@ void ESKF::nominal_state_discrete(const imu_measurement& imu_meas, Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * sq(dt) * acc; + current_nom_state_.vel * dt + 0.5 * dt * dt * acc; current_nom_state_.vel = current_nom_state_.vel + dt * acc; current_nom_state_.quat = - (current_nom_state_.quat * vector3d_to_quaternion(gyro)); + (current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); current_nom_state_.accel_bias = current_nom_state_.accel_bias*std::exp(accm_bias_p_*dt); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias*std::exp(gyro_bias_p_*dt); } -void ESKF::error_state_prediction(const imu_measurement& imu_meas, +void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, const double dt) { Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); @@ -108,8 +115,10 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, Eigen::Matrix15d A_c = Eigen::Matrix15d::Zero(); A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); - A_c.block<3, 3>(3, 6) = -R * skew(acc); - A_c.block<3, 3>(6, 6) = -skew(gyro); + A_c.block<3, 3>(3, 6) = + -R * vortex::utils::math::get_skew_symmetric_matrix(acc); + A_c.block<3, 3>(6, 6) = + -vortex::utils::math::get_skew_symmetric_matrix(gyro); A_c.block<3, 3>(3, 9) = -R; A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); @@ -124,22 +133,18 @@ void ESKF::error_state_prediction(const imu_measurement& imu_meas, Eigen::Matrix15d A_d, GQG_d; std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); - state_euler next_error_state; + StateEuler next_error_state; current_error_state_.covariance = A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } -void ESKF::NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { - Eigen::Matrix3d S_inv = S.inverse(); - NIS_ = innovation.transpose() * S_inv * innovation; -} void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = - current_nom_state_.quat * - vector3d_to_quaternion(current_error_state_.euler); + current_nom_state_.quat = current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion( + current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; @@ -153,36 +158,29 @@ void ESKF::injection_and_reset() { current_error_state_.set_from_vector(Eigen::Vector15d::Zero()); } -std::pair ESKF::imu_update( - const imu_measurement& imu_meas, - const double dt) { +void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { nominal_state_discrete(imu_meas, dt); error_state_prediction(imu_meas, dt); - - return {current_nom_state_, current_error_state_}; } -std::pair ESKF::dvl_update( - const sensor_dvl& dvl_meas) { +void ESKF::dvl_update(const SensorDVL& dvl_meas) { measurement_update(dvl_meas); injection_and_reset(); - - return {current_nom_state_, current_error_state_}; } // DVL sensor model implementations -Eigen::VectorXd sensor_dvl::innovation(const state_quat &state) const { +Eigen::VectorXd SensorDVL::innovation(const StateQuat &state) const { Eigen::Vector3d innovation = this->measurement - calculate_h(state); return innovation; } -Eigen::MatrixXd sensor_dvl::jacobian(const state_quat &state) const { +Eigen::MatrixXd SensorDVL::jacobian(const StateQuat &state) const { Eigen::Matrix3x15d H = calculate_h_jacobian(state); return H; } -Eigen::MatrixXd sensor_dvl::noise_covariance() const { +Eigen::MatrixXd SensorDVL::noise_covariance() const { return this->measurement_noise; } \ No newline at end of file diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 80db43a89..9c6ca8761 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,7 +1,7 @@ #include "eskf/eskf_ros.hpp" #include #include -#include "eskf/eskf_utils.hpp" +#include #include "eskf/typedefs.hpp" auto start_message{R"( @@ -24,16 +24,14 @@ ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) set_parameters(); spdlog::info(start_message); + #ifndef NDEBUG - spdlog::info("______________________Debug mode is enabled______________________"); + spdlog::info("______________________Debug mode is enabled______________________"); #endif } void ESKFNode::set_subscribers_and_publisher() { - rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; - auto qos_sensor_data = rclcpp::QoS( - rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile); - + auto qos_sensor_data = vortex::utils::qos_profiles::sensor_data_profile(1); this->declare_parameter("imu_topic"); std::string imu_topic = this->get_parameter("imu_topic").as_string(); imu_sub_ = this->create_subscription( @@ -51,20 +49,12 @@ void ESKFNode::set_subscribers_and_publisher() { std::string odom_topic = this->get_parameter("odom_topic").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); - #ifndef NDEBUG - - nis_pub_ = create_publisher("dvl/nis", 10); - - error_pub_ = create_publisher("eskf/error", 10); - odom_cov_pub_ = create_publisher("eskf/odom_covariance", 10); - - odom_ground_truth_ = this->create_subscription( - "/orca/odom", qos_sensor_data, - std::bind(&ESKFNode::ground_truth_callback, this, - std::placeholders::_1)); - // incoming_imu_eskf_ = this->create_publisher("incoming_imu_eskf", rclcpp::SensorDataQoS() ); + #ifndef NDEBUG + nis_pub_ = create_publisher("dvl/nis", vortex::utils::qos_profiles::reliable_profile()); #endif + + cov_pub_ = create_publisher("eskf/covariance", 10); } void ESKFNode::set_parameters() { @@ -79,21 +69,26 @@ void ESKFNode::set_parameters() { diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); - Eigen::Matrix12d Q; - Q.setZero(); - Q.diagonal() << sq(diag_Q_std[0]), sq(diag_Q_std[1]), sq(diag_Q_std[2]), - sq(diag_Q_std[3]), sq(diag_Q_std[4]), sq(diag_Q_std[5]), - sq(diag_Q_std[6]), sq(diag_Q_std[7]), sq(diag_Q_std[8]), - sq(diag_Q_std[9]), sq(diag_Q_std[10]), sq(diag_Q_std[11]); - eskf_params_.Q = Q; + if (diag_Q_std.size() != 12) { + throw std::runtime_error("diag_Q_std must have length 12"); + } - eskf_ = std::make_unique(eskf_params_); + Eigen::Matrix12d Q = Eigen::Map(diag_Q_std.data()) + .array() + .square() + .matrix() + .asDiagonal(); std::vector diag_p_init = this->declare_parameter>("diag_p_init"); - Eigen::Matrix15d P = create_diagonal_matrix<15>(diag_p_init); + if (diag_p_init.size() != 15) { + throw std::runtime_error("diag_p_init must have length 15"); + } + Eigen::Matrix15d P = createDiagonalMatrix<15>(diag_p_init); - error_state_.covariance = P; + EskfParams eskf_params{.Q = Q, .P = P}; + //error_state_.covariance = P; + eskf_ = std::make_unique(eskf_params); } void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { @@ -111,105 +106,64 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { Eigen::Vector3d raw_accel(msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z); - - // imu_meas_.accel = R_imu_eskf_ * raw_accel; - imu_meas_.accel = -raw_accel; + + ImuMeasurement imu_measurement{}; + imu_measurement.accel = R_imu_eskf_ * raw_accel; Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - // imu_meas_.gyro = R_imu_eskf_ * raw_gyro; - imu_meas_.gyro = raw_gyro; - - std::tie(nom_state_, error_state_) = eskf_->imu_update(imu_meas_, dt); - - // to remove - // sensor_msgs::msg::Imu imu_out; - // imu_out.header = msg->header; - // imu_out.linear_acceleration.x = imu_meas_.accel.x(); - // imu_out.linear_acceleration.y = imu_meas_.accel.y(); - // imu_out.linear_acceleration.z = imu_meas_.accel.z(); - // imu_out.angular_velocity.x = imu_meas_.gyro.x(); - // imu_out.angular_velocity.y = imu_meas_.gyro.y(); - // imu_out.angular_velocity.z = imu_meas_.gyro.z(); - // incoming_imu_eskf_->publish(imu_out); + // imu_measurement.gyro = R_imu_eskf_ * raw_gyro; + imu_measurement.gyro = raw_gyro; + + eskf_->imu_update(imu_measurement, dt); + + } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - dvl_sensor_.measurement << msg->twist.twist.linear.x, msg->twist.twist.linear.y, + SensorDVL dvl_sensor; + dvl_sensor.measurement << msg->twist.twist.linear.x, msg->twist.twist.linear.y, msg->twist.twist.linear.z; - dvl_sensor_.measurement_noise << msg->twist.covariance[0], msg->twist.covariance[1], + dvl_sensor.measurement_noise << msg->twist.covariance[0], msg->twist.covariance[1], msg->twist.covariance[2], msg->twist.covariance[6], msg->twist.covariance[7], msg->twist.covariance[8], msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - std::tie(nom_state_, error_state_) = eskf_->dvl_update(dvl_sensor_); + eskf_->dvl_update(dvl_sensor); #ifndef NDEBUG // Publish NIS in Debug mode std_msgs::msg::Float64 nis_msg; - nis_msg.data = eskf_->NIS_; + nis_msg.data = eskf_->get_nis(); nis_pub_->publish(nis_msg); #endif } -#ifndef NDEBUG -void ESKFNode::ground_truth_callback( - const nav_msgs::msg::Odometry::SharedPtr msg) { - - // Position error - last_error_.pos.x() = nom_state_.pos.x() - msg->pose.pose.position.x; - last_error_.pos.y() = nom_state_.pos.y() - msg->pose.pose.position.y; - last_error_.pos.z() = nom_state_.pos.z() - msg->pose.pose.position.z; - - // Velocity error - last_error_.vel.x() = nom_state_.vel.x() - msg->twist.twist.linear.x; - last_error_.vel.y() = nom_state_.vel.y() - msg->twist.twist.linear.y; - last_error_.vel.z() = nom_state_.vel.z() - msg->twist.twist.linear.z; - - // Orientation error - Eigen::Quaterniond q_nom(nom_state_.quat.x(), nom_state_.quat.y(), - nom_state_.quat.z(), nom_state_.quat.w()); - Eigen::Quaterniond q_gt(msg->pose.pose.orientation.x, - msg->pose.pose.orientation.y, - msg->pose.pose.orientation.z, - msg->pose.pose.orientation.w); - - Eigen::Quaterniond q_err = q_gt.inverse() * q_nom; // error rotation - last_error_.ori = quaternion_to_euler(q_err); - - // Publish - std_msgs::msg::Float64MultiArray error_msg; - error_msg.data = { last_error_.pos.x(), last_error_.pos.y(), last_error_.pos.z(), - last_error_.vel.x(), last_error_.vel.y(), last_error_.vel.z(), - last_error_.ori.x(), last_error_.ori.y(), last_error_.ori.z() }; - error_pub_->publish(error_msg); -} -#endif - void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; + StateQuat nom_state = eskf_->get_nominal_state(); - odom_msg.pose.pose.position.x = nom_state_.pos.x(); - odom_msg.pose.pose.position.y = nom_state_.pos.y(); - odom_msg.pose.pose.position.z = nom_state_.pos.z(); + odom_msg.pose.pose.position.x = nom_state.pos.x(); + odom_msg.pose.pose.position.y = nom_state.pos.y(); + odom_msg.pose.pose.position.z = nom_state.pos.z(); - odom_msg.pose.pose.orientation.w = nom_state_.quat.w(); - odom_msg.pose.pose.orientation.x = nom_state_.quat.x(); - odom_msg.pose.pose.orientation.y = nom_state_.quat.y(); - odom_msg.pose.pose.orientation.z = nom_state_.quat.z(); + odom_msg.pose.pose.orientation.w = nom_state.quat.w(); + odom_msg.pose.pose.orientation.x = nom_state.quat.x(); + odom_msg.pose.pose.orientation.y = nom_state.quat.y(); + odom_msg.pose.pose.orientation.z = nom_state.quat.z(); - odom_msg.twist.twist.linear.x = nom_state_.vel.x(); - odom_msg.twist.twist.linear.y = nom_state_.vel.y(); - odom_msg.twist.twist.linear.z = nom_state_.vel.z(); + odom_msg.twist.twist.linear.x = nom_state.vel.x(); + odom_msg.twist.twist.linear.y = nom_state.vel.y(); + odom_msg.twist.twist.linear.z = nom_state.vel.z(); // Add bias values to the angular velocity field of twist - odom_msg.twist.twist.angular.x = nom_state_.accel_bias.x(); - odom_msg.twist.twist.angular.y = nom_state_.accel_bias.y(); - odom_msg.twist.twist.angular.z = nom_state_.accel_bias.z(); + odom_msg.twist.twist.angular.x = nom_state.accel_bias.x(); + odom_msg.twist.twist.angular.y = nom_state.accel_bias.y(); + odom_msg.twist.twist.angular.z = nom_state.accel_bias.z(); // If you also want to include gyro bias, you could add it to the covariance // matrix or publish a separate topic for biases @@ -229,6 +183,9 @@ void ESKFNode::publish_odom() { msg.layout.dim[1].size = 15; msg.layout.dim[1].stride = 15; + // get error state covariance + StateEuler error_state_ = eskf_->get_error_state(); + // Flatten Eigen matrix into a std::vector msg.data.resize(15 * 15); msg.data.assign( @@ -236,8 +193,8 @@ void ESKFNode::publish_odom() { error_state_.covariance.data() + 15 * 15 ); - // Publish - odom_cov_pub_->publish(msg); + // Publish covariance + cov_pub_->publish(msg); } RCLCPP_COMPONENTS_REGISTER_NODE(ESKFNode) diff --git a/navigation/eskf/src/eskf_utils.cpp b/navigation/eskf/src/eskf_utils.cpp deleted file mode 100644 index 5cbd704ae..000000000 --- a/navigation/eskf/src/eskf_utils.cpp +++ /dev/null @@ -1,80 +0,0 @@ - -#include "eskf/eskf_utils.hpp" -#include "eskf/typedefs.hpp" - -Eigen::Matrix3d skew(const Eigen::Vector3d& v) { - Eigen::Matrix3d S; - S << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(), 0; - return S; -} - -double sq(double value) { - return value * value; -} -double ssa(double angle) { - double result = fmod(angle + M_PI, 2 * M_PI); - double angle_ssa = result < 0 ? result + M_PI : result - M_PI; - return angle_ssa; -} - -Eigen::Matrix4x3d calculate_T_q(const Eigen::Quaterniond& quat) { - Eigen::Matrix4x3d T_q = Eigen::Matrix4x3d::Zero(); - double qw = quat.w(); - double qx = quat.x(); - double qy = quat.y(); - double qz = quat.z(); - - T_q << -qx, -qy, -qz, qw, -qz, qy, qz, qw, -qx, -qy, qx, qw; - - T_q *= 0.5; - return T_q; -} - -Eigen::Quaterniond vector3d_to_quaternion(const Eigen::Vector3d& vector) { - double angle = vector.norm(); - if (angle < 1e-8) { - return Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); - } else { - Eigen::Vector3d axis = vector / angle; - Eigen::Quaterniond quat = - Eigen::Quaterniond(Eigen::AngleAxisd(angle, axis)); - return quat.normalized(); - } -} - -Eigen::Quaterniond euler_to_quaternion(const Eigen::Vector3d& euler) { - Eigen::Quaterniond q; - q = Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()); - q.normalize(); - return q; -} - -Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond& q) { - // Assumes quaternion is normalized - double w = q.w(); - double x = q.x(); - double y = q.y(); - double z = q.z(); - - // Roll (x-axis rotation) - double sinr_cosp = 2.0 * (w * x + y * z); - double cosr_cosp = 1.0 - 2.0 * (x * x + y * y); - double roll = std::atan2(sinr_cosp, cosr_cosp); - - // Pitch (y-axis rotation) - double sinp = 2.0 * (w * y - z * x); - double pitch; - if (std::abs(sinp) >= 1) - pitch = std::copysign(M_PI / 2.0, sinp); // use 90° if out of range - else - pitch = std::asin(sinp); - - // Yaw (z-axis rotation) - double siny_cosp = 2.0 * (w * z + x * y); - double cosy_cosp = 1.0 - 2.0 * (y * y + z * z); - double yaw = std::atan2(siny_cosp, cosy_cosp); - - return Eigen::Vector3d(roll, pitch, yaw); -} From d87003b6d7967366a3f931961921c59eeeea59dd Mon Sep 17 00:00:00 2001 From: Ahmed Date: Sun, 9 Nov 2025 16:51:23 +0100 Subject: [PATCH 065/109] removed unused variable and old comment --- navigation/eskf/include/eskf/eskf_ros.hpp | 2 -- navigation/eskf/src/eskf_ros.cpp | 2 +- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index a07487e3d..2fa8191a3 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -58,8 +58,6 @@ class ESKFNode : public rclcpp::Node { bool first_imu_msg_received_ = false; - bool debug_on_ = false; - Eigen::Matrix3d R_imu_eskf_{}; rclcpp::Time last_imu_time_{}; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 9c6ca8761..a5dbca3ae 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -87,7 +87,7 @@ void ESKFNode::set_parameters() { Eigen::Matrix15d P = createDiagonalMatrix<15>(diag_p_init); EskfParams eskf_params{.Q = Q, .P = P}; - //error_state_.covariance = P; + eskf_ = std::make_unique(eskf_params); } From 8cf1048ed5d5c5b04201ef8f024bdd8ed9f279e8 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Sun, 9 Nov 2025 17:42:46 +0000 Subject: [PATCH 066/109] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- navigation/eskf/include/eskf/eskf.hpp | 6 +-- navigation/eskf/include/eskf/eskf.tpp | 2 +- navigation/eskf/include/eskf/typedefs.hpp | 12 +++--- navigation/eskf/src/eskf.cpp | 30 +++++++-------- navigation/eskf/src/eskf_ros.cpp | 46 +++++++++++------------ 5 files changed, 46 insertions(+), 50 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 8d04f12d7..7fa27a3ce 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -46,10 +46,11 @@ class ESKF { void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); // @brief Update the error state using a generic sensor measurement model - // @tparam SensorT Type of the sensor model (must satisfy SensorModelConcept) + // @tparam SensorT Type of the sensor model (must satisfy + // SensorModelConcept) // @param meas Sensor measurement instance template - void measurement_update(const SensorT& meas); + void measurement_update(const SensorT& meas); // @brief Inject the error state into the nominal state and reset the error void injection_and_reset(); @@ -63,7 +64,6 @@ class ESKF { const Eigen::Matrix15x12d& G_c, const double dt); - // Process noise covariance matrix Eigen::Matrix12d Q_{}; diff --git a/navigation/eskf/include/eskf/eskf.tpp b/navigation/eskf/include/eskf/eskf.tpp index ba7a1f859..56afcb3a3 100644 --- a/navigation/eskf/include/eskf/eskf.tpp +++ b/navigation/eskf/include/eskf/eskf.tpp @@ -22,4 +22,4 @@ void ESKF::measurement_update(const SensorT& meas) current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations -} \ No newline at end of file +} diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 5585b0455..d8745b46e 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -5,10 +5,10 @@ #ifndef ESKF_TYPEDEFS_H #define ESKF_TYPEDEFS_H +#include #include #include #include -#include namespace Eigen { typedef Eigen::Matrix Vector19d; @@ -109,9 +109,8 @@ struct DvlMeasurement { Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); }; -template -concept SensorModelConcept = requires(const T &meas, const StateQuat &state) -{ +template +concept SensorModelConcept = requires(const T& meas, const StateQuat& state) { { meas.innovation(state) } -> std::convertible_to; { meas.jacobian(state) } -> std::convertible_to; { meas.noise_covariance() } -> std::convertible_to; @@ -120,10 +119,9 @@ concept SensorModelConcept = requires(const T &meas, const StateQuat &state) struct SensorDVL { Eigen::Vector3d measurement; Eigen::Matrix3d measurement_noise; - Eigen::VectorXd innovation(const StateQuat &state) const; - Eigen::MatrixXd jacobian(const StateQuat &state) const; + Eigen::VectorXd innovation(const StateQuat& state) const; + Eigen::MatrixXd jacobian(const StateQuat& state) const; Eigen::MatrixXd noise_covariance() const; }; - #endif // ESKF_TYPEDEFS_H diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 2e623a749..1073a50cf 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -68,9 +68,9 @@ Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_) { Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_) { Eigen::Matrix16x15d x_delta = Eigen::Matrix16x15d::Zero(); x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - x_delta.block<4, 3>(6, 6) = - vortex::utils::math::get_transformation_matrix_attitude_quat( - current_nom_state_.quat); + x_delta.block<4, 3>(6, 6) = + vortex::utils::math::get_transformation_matrix_attitude_quat( + current_nom_state_.quat); x_delta.block<6, 6>(10, 9) = Eigen::Matrix6d::Identity(); Eigen::Matrix3x15d H = calculate_hx(current_nom_state_) * x_delta; @@ -99,12 +99,14 @@ void ESKF::nominal_state_discrete(const ImuMeasurement& imu_meas, current_nom_state_.vel = current_nom_state_.vel + dt * acc; current_nom_state_.quat = - (current_nom_state_.quat * - vortex::utils::math::eigen_vector3d_to_quaternion(gyro)); + (current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion(gyro)); current_nom_state_.quat.normalize(); - current_nom_state_.accel_bias = current_nom_state_.accel_bias*std::exp(accm_bias_p_*dt); - current_nom_state_.gyro_bias = current_nom_state_.gyro_bias*std::exp(gyro_bias_p_*dt); + current_nom_state_.accel_bias = + current_nom_state_.accel_bias * std::exp(accm_bias_p_ * dt); + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias * std::exp(gyro_bias_p_ * dt); } void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, @@ -117,7 +119,7 @@ void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); A_c.block<3, 3>(3, 6) = -R * vortex::utils::math::get_skew_symmetric_matrix(acc); - A_c.block<3, 3>(6, 6) = + A_c.block<3, 3>(6, 6) = -vortex::utils::math::get_skew_symmetric_matrix(gyro); A_c.block<3, 3>(3, 9) = -R; A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); @@ -138,13 +140,12 @@ void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; } - void ESKF::injection_and_reset() { current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; current_nom_state_.quat = current_nom_state_.quat * - vortex::utils::math::eigen_vector3d_to_quaternion( - current_error_state_.euler); + vortex::utils::math::eigen_vector3d_to_quaternion( + current_error_state_.euler); current_nom_state_.quat.normalize(); current_nom_state_.gyro_bias = current_nom_state_.gyro_bias + current_error_state_.gyro_bias; @@ -170,17 +171,16 @@ void ESKF::dvl_update(const SensorDVL& dvl_meas) { // DVL sensor model implementations -Eigen::VectorXd SensorDVL::innovation(const StateQuat &state) const { - +Eigen::VectorXd SensorDVL::innovation(const StateQuat& state) const { Eigen::Vector3d innovation = this->measurement - calculate_h(state); return innovation; } -Eigen::MatrixXd SensorDVL::jacobian(const StateQuat &state) const { +Eigen::MatrixXd SensorDVL::jacobian(const StateQuat& state) const { Eigen::Matrix3x15d H = calculate_h_jacobian(state); return H; } Eigen::MatrixXd SensorDVL::noise_covariance() const { return this->measurement_noise; -} \ No newline at end of file +} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index a5dbca3ae..248e83434 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -25,9 +25,10 @@ ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) spdlog::info(start_message); - #ifndef NDEBUG - spdlog::info("______________________Debug mode is enabled______________________"); - #endif +#ifndef NDEBUG + spdlog::info( + "______________________Debug mode is enabled______________________"); +#endif } void ESKFNode::set_subscribers_and_publisher() { @@ -50,11 +51,13 @@ void ESKFNode::set_subscribers_and_publisher() { odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); - #ifndef NDEBUG - nis_pub_ = create_publisher("dvl/nis", vortex::utils::qos_profiles::reliable_profile()); - #endif +#ifndef NDEBUG + nis_pub_ = create_publisher( + "dvl/nis", vortex::utils::qos_profiles::reliable_profile()); +#endif - cov_pub_ = create_publisher("eskf/covariance", 10); + cov_pub_ = create_publisher( + "eskf/covariance", 10); } void ESKFNode::set_parameters() { @@ -106,7 +109,7 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { Eigen::Vector3d raw_accel(msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z); - + ImuMeasurement imu_measurement{}; imu_measurement.accel = R_imu_eskf_ * raw_accel; @@ -117,30 +120,28 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { imu_measurement.gyro = raw_gyro; eskf_->imu_update(imu_measurement, dt); - - } void ESKFNode::dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { SensorDVL dvl_sensor; - dvl_sensor.measurement << msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z; + dvl_sensor.measurement << msg->twist.twist.linear.x, + msg->twist.twist.linear.y, msg->twist.twist.linear.z; - dvl_sensor.measurement_noise << msg->twist.covariance[0], msg->twist.covariance[1], - msg->twist.covariance[2], msg->twist.covariance[6], - msg->twist.covariance[7], msg->twist.covariance[8], - msg->twist.covariance[12], msg->twist.covariance[13], - msg->twist.covariance[14]; + dvl_sensor.measurement_noise << msg->twist.covariance[0], + msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], + msg->twist.covariance[8], msg->twist.covariance[12], + msg->twist.covariance[13], msg->twist.covariance[14]; eskf_->dvl_update(dvl_sensor); - #ifndef NDEBUG +#ifndef NDEBUG // Publish NIS in Debug mode std_msgs::msg::Float64 nis_msg; nis_msg.data = eskf_->get_nis(); nis_pub_->publish(nis_msg); - #endif +#endif } void ESKFNode::publish_odom() { @@ -171,7 +172,6 @@ void ESKFNode::publish_odom() { odom_msg.header.stamp = this->now(); odom_pub_->publish(odom_msg); - // publish the covariance matrix std_msgs::msg::Float64MultiArray msg; @@ -188,10 +188,8 @@ void ESKFNode::publish_odom() { // Flatten Eigen matrix into a std::vector msg.data.resize(15 * 15); - msg.data.assign( - error_state_.covariance.data(), - error_state_.covariance.data() + 15 * 15 - ); + msg.data.assign(error_state_.covariance.data(), + error_state_.covariance.data() + 15 * 15); // Publish covariance cov_pub_->publish(msg); From 30488527608c3e0b02c626aa2b6668c35c90d91a Mon Sep 17 00:00:00 2001 From: Ahmed Date: Mon, 5 Jan 2026 12:00:27 +0100 Subject: [PATCH 067/109] clang-format fix --- navigation/eskf/include/eskf/eskf.tpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.tpp b/navigation/eskf/include/eskf/eskf.tpp index 56afcb3a3..c02d7d4f7 100644 --- a/navigation/eskf/include/eskf/eskf.tpp +++ b/navigation/eskf/include/eskf/eskf.tpp @@ -1,8 +1,7 @@ template -void ESKF::measurement_update(const SensorT& meas) -{ +void ESKF::measurement_update(const SensorT& meas) { Eigen::VectorXd innovation = meas.innovation(current_nom_state_); Eigen::MatrixXd H = meas.jacobian(current_nom_state_); Eigen::MatrixXd R = meas.noise_covariance(); @@ -12,13 +11,14 @@ void ESKF::measurement_update(const SensorT& meas) Eigen::MatrixXd S = H * P * H.transpose() + R; Eigen::MatrixXd K = P * H.transpose() * S.inverse(); - #ifndef NDEBUG +#ifndef NDEBUG nis_ = compute_nis(innovation, S); - #endif +#endif current_error_state_.set_from_vector(K * innovation); - Eigen::MatrixXd I_KH = Eigen::MatrixXd::Identity(P.rows(), P.cols()) - K * H; + Eigen::MatrixXd I_KH = + Eigen::MatrixXd::Identity(P.rows(), P.cols()) - K * H; current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); // Used joseph form for more stable calculations From d40d40b86086bdc055e31e128dd850fb8568a691 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Mon, 5 Jan 2026 14:19:58 +0100 Subject: [PATCH 068/109] ament_cpplint fixes --- navigation/eskf/include/eskf/eskf.hpp | 8 ++++---- navigation/eskf/include/eskf/eskf_ros.hpp | 7 ++++--- navigation/eskf/include/eskf/typedefs.hpp | 8 ++++---- 3 files changed, 12 insertions(+), 11 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 7fa27a3ce..66fe42c0d 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -1,5 +1,5 @@ -#ifndef ESKF_HPP -#define ESKF_HPP +#ifndef ESKF__ESKF_HPP_ +#define ESKF__ESKF_HPP_ #include #include @@ -8,7 +8,7 @@ class ESKF { public: - ESKF(const EskfParams& params); + explicit ESKF(const EskfParams& params); // @brief Update the nominal state and error state // @param imu_meas: IMU measurement @@ -103,4 +103,4 @@ double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); #include "eskf.tpp" // including template implementation -#endif // ESKF_HPP +#endif // ESKF__ESKF_HPP_ diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 2fa8191a3..31218274f 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -1,9 +1,10 @@ -#ifndef ESKF_ROS_HPP -#define ESKF_ROS_HPP +#ifndef ESKF__ESKF_ROS_HPP_ +#define ESKF__ESKF_ROS_HPP_ #include #include #include +#include #include #include #include @@ -63,4 +64,4 @@ class ESKFNode : public rclcpp::Node { rclcpp::Time last_imu_time_{}; }; -#endif // ESKF_ROS_HPP +#endif // ESKF__ESKF_ROS_HPP_ diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index d8745b46e..56b6a224b 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -2,8 +2,8 @@ * @file typedefs.hpp * @brief Contains the typedef and structs for the eskf. */ -#ifndef ESKF_TYPEDEFS_H -#define ESKF_TYPEDEFS_H +#ifndef ESKF__TYPEDEFS_HPP_ +#define ESKF__TYPEDEFS_HPP_ #include #include @@ -114,7 +114,7 @@ concept SensorModelConcept = requires(const T& meas, const StateQuat& state) { { meas.innovation(state) } -> std::convertible_to; { meas.jacobian(state) } -> std::convertible_to; { meas.noise_covariance() } -> std::convertible_to; -}; +}; // NOLINT(readability/braces) struct SensorDVL { Eigen::Vector3d measurement; @@ -124,4 +124,4 @@ struct SensorDVL { Eigen::MatrixXd noise_covariance() const; }; -#endif // ESKF_TYPEDEFS_H +#endif // ESKF__TYPEDEFS_HPP_ From f2c9d2a9c18b152e81f8ff2d0720f9947abaa9bd Mon Sep 17 00:00:00 2001 From: Ahmed Date: Mon, 5 Jan 2026 15:04:49 +0100 Subject: [PATCH 069/109] missing dependency --- navigation/eskf/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index 015e6f71c..588855609 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -15,6 +15,7 @@ eigen tf2 vortex_msgs + vortex_utils ament_cmake From fbf05585425285ba407c2633a8d17719556f3435 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Mon, 5 Jan 2026 15:46:58 +0100 Subject: [PATCH 070/109] updating yaml, P(cov) is 15*15 now --- navigation/eskf/config/eskf_params.yaml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 81c38deac..507c86de9 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,9 +3,6 @@ eskf_node: imu_topic: /imu/data_raw dvl_topic: /orca/twist odom_topic: odom_ESKF - #diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] - # diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - # imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [-1.0, 0.0, 0.0, -1.0, 0.0, 0.0, -1.0, 0.0, 0.0] From 5975165515a5a4d4a201c908eaef5858c62702e7 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Mon, 5 Jan 2026 16:29:25 +0100 Subject: [PATCH 071/109] update for the separate vortex_utils --- navigation/eskf/CMakeLists.txt | 2 ++ navigation/eskf/package.xml | 1 + navigation/eskf/src/eskf_ros.cpp | 2 +- 3 files changed, 4 insertions(+), 1 deletion(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 28af1cd06..0028693bf 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -22,6 +22,7 @@ find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) find_package(vortex_msgs REQUIRED) find_package(vortex_utils REQUIRED) +find_package(vortex_utils_ros REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) @@ -49,6 +50,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC tf2 vortex_msgs vortex_utils + vortex_utils_ros spdlog fmt ) diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index 588855609..f8472c188 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -16,6 +16,7 @@ tf2 vortex_msgs vortex_utils + vortex_utils_ros ament_cmake diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 248e83434..63fe6e2aa 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,7 +1,7 @@ #include "eskf/eskf_ros.hpp" #include #include -#include +#include #include "eskf/typedefs.hpp" auto start_message{R"( From 52b2a06d951a8d7fe12be1b80bbe1d38a1d86261 Mon Sep 17 00:00:00 2001 From: AntTra Date: Fri, 9 Jan 2026 11:19:51 +0100 Subject: [PATCH 072/109] eskf: added VO-relative anchoring, cleaned duplicate typedef matrices, added local visual egomotion anchoring, reset VO anchor on measurement gaps, fuse VO as relative pose measurement' --- navigation/eskf/CMakeLists.txt | 7 + navigation/eskf/config/eskf_params.yaml | 3 +- navigation/eskf/include/eskf/eskf.hpp | 11 +- navigation/eskf/include/eskf/eskf_ros.hpp | 5 + navigation/eskf/include/eskf/typedefs.hpp | 17 +- navigation/eskf/src/eskf.cpp | 56 ++++- navigation/eskf/src/eskf_ros.cpp | 30 +++ navigation/valve_egomotion/CMakeLists.txt | 42 ++++ .../config/valve_egomotion.yaml | 18 ++ .../valve_egomotion/valve_egomotion.hpp | 136 +++++++++++ .../launch/valve_egomotion.launch.py | 36 +++ navigation/valve_egomotion/package.xml | 21 ++ .../valve_egomotion/src/valve_egomotion.cpp | 226 ++++++++++++++++++ 13 files changed, 603 insertions(+), 5 deletions(-) create mode 100644 navigation/valve_egomotion/CMakeLists.txt create mode 100644 navigation/valve_egomotion/config/valve_egomotion.yaml create mode 100644 navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp create mode 100644 navigation/valve_egomotion/launch/valve_egomotion.launch.py create mode 100644 navigation/valve_egomotion/package.xml create mode 100644 navigation/valve_egomotion/src/valve_egomotion.cpp diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index e9f464906..1e9191787 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -57,6 +57,13 @@ rclcpp_components_register_node( ament_export_targets(export_${LIB_NAME}) +# --- THE FIX: INSTALL THE EXECUTABLE --- +install(TARGETS + ${LIB_NAME} + ${PROJECT_NAME}_node + DESTINATION lib/${PROJECT_NAME} +) + install(TARGETS ${LIB_NAME} EXPORT export_${LIB_NAME} ARCHIVE DESTINATION lib diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index f17dcd3df..384801fd9 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,6 +3,7 @@ eskf_node: imu_topic: /imu/data_raw dvl_topic: /orca/twist odom_topic: odom - diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] + # diag_Q_std: [0.0124, 0.0124, 0.0124, 0.0026, 0.0026, 0.0026, 0.000392, 0.000392, 0.000392, 0.00001145, 0.0000145, 0.0000145] + diag_Q_std: [0.1, 0.1, 0.1, 0.05, 0.05, 0.05, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 6219335c7..661972d81 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -3,7 +3,6 @@ #include #include -#include "eskf/typedefs.hpp" #include "typedefs.hpp" class ESKF { @@ -19,9 +18,19 @@ class ESKF { // @param dvl_meas: DVL measurement void dvl_update(const DvlMeasurement& dvl_meas); + // @brief Update the nominal state and error state + // @param visual_meas: Visual measurement + void visualEgomotion_update(const VisualMeasurement& visual_meas); + inline StateQuat get_nominal_state() const { return current_nom_state_; } inline double get_nis() const { return nis_; } + bool have_vo_anchor_ = false; + Eigen::Quaterniond q_nav_vo_{1, 0, 0, 0}; + Eigen::Vector3d p_nav_vo_{0, 0, 0}; + + double last_vo_stamp_sec_ = -1.0; + double vo_reset_gap_sec_ = 0.5; private: // @brief Predict the nominal state diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 4a9e699aa..c3f024722 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -30,6 +30,8 @@ class ESKFNode : public rclcpp::Node { void dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void visualEgomotion_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); + // @brief Publish the odometry message void publish_odom(); @@ -44,6 +46,9 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription< geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; + rclcpp::Subscription< + geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr visualEgomotion_sub_; + rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Publisher::SharedPtr nis_pub_; diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 9360a5903..430dc0742 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -19,7 +19,6 @@ typedef Eigen::Matrix Matrix4x3d; typedef Eigen::Matrix Matrix3x19d; typedef Eigen::Matrix Matrix3x18d; typedef Eigen::Matrix Matrix12d; -typedef Eigen::Matrix Matrix18d; typedef Eigen::Matrix Matrix3x1d; typedef Eigen::Matrix Matrix19x18d; typedef Eigen::Matrix Matrix18x3d; @@ -122,4 +121,18 @@ struct EskfParams { Eigen::Matrix18d P = Eigen::Matrix18d::Zero(); }; -#endif // ESKF_TYPEDEFS_H +struct VisualMeasurement { + Eigen::Vector3d pos; + Eigen::Quaterniond quat; + Eigen::Matrix R; + double stamp_sec = 0.0; +}; + +namespace Eigen { + typedef Matrix Matrix6d; + typedef Matrix Vector6d; + typedef Matrix Matrix18x6d; + typedef Matrix Matrix6x18d; +} + +#endif // ESKF_TYPEDEFS_H \ No newline at end of file diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index a478be43f..d2c2cc145 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -1,4 +1,5 @@ #include "eskf/eskf.hpp" +#include #include #include #include @@ -12,7 +13,7 @@ double compute_nis(const Eigen::Vector3d& innovation, } ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { - // current_error_state_.covariance = params.P; + current_error_state_.covariance = params.P; } std::pair ESKF::van_loan_discretization( @@ -191,3 +192,56 @@ void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { measurement_update(dvl_meas); injection_and_reset(); } + +void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { + if (last_vo_stamp_sec_ > 0.0) { + const double gap = visual_meas.stamp_sec - last_vo_stamp_sec_; + if (gap > vo_reset_gap_sec_) { + have_vo_anchor_ = false; + } + } + last_vo_stamp_sec_ = visual_meas.stamp_sec; + + if (!have_vo_anchor_) { + q_nav_vo_ = (current_nom_state_.quat * visual_meas.quat.inverse()).normalized(); + p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * visual_meas.pos; + have_vo_anchor_ = true; + return; + } + + const Eigen::Vector3d p_meas_nav = p_nav_vo_ + q_nav_vo_ * visual_meas.pos; + const Eigen::Quaterniond q_meas_nav = (q_nav_vo_ * visual_meas.quat).normalized(); + + Eigen::Vector3d pos_err_vec = p_meas_nav - current_nom_state_.pos; + double error_mag = pos_err_vec.norm(); + + spdlog::info("ESKF: Visual Update. Error: {:.3f}m", error_mag); + + if (error_mag > 0.2) { + return; + } + + Eigen::Matrix y; + y.head<3>() = pos_err_vec; + + Eigen::Quaterniond q_err = current_nom_state_.quat.inverse() * q_meas_nav; + q_err.normalize(); + y.segment<3>(3) = (q_err.w() < 0) ? -2.0 * q_err.vec() : 2.0 * q_err.vec(); + + Eigen::Matrix H = Eigen::Matrix::Zero(); + H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); + H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); + + Eigen::Matrix18d P = current_error_state_.covariance; + Eigen::Matrix R = visual_meas.R; + Eigen::Matrix S = H * P * H.transpose() + R; + Eigen::Matrix K = P * H.transpose() * S.inverse(); + + current_error_state_.set_from_vector(K * y); + + Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; + current_error_state_.covariance = + I_KH * P * I_KH.transpose() + K * R * K.transpose(); + + injection_and_reset(); +} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 02e1c44fc..90eebe784 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -49,6 +49,13 @@ void ESKFNode::set_subscribers_and_publisher() { nis_pub_ = create_publisher( "dvl/nis", vortex::utils::qos_profiles::reliable_profile()); + + this->declare_parameter("pose_topic", "/landmark/pose_cov"); + std::string pose_topic = this->get_parameter("pose_topic").as_string(); + + visualEgomotion_sub_ = this->create_subscription( + pose_topic, qos_sensor_data, + std::bind(&ESKFNode::visualEgomotion_callback, this, std::placeholders::_1)); } void ESKFNode::set_parameters() { @@ -133,6 +140,29 @@ void ESKFNode::dvl_callback( publish_odom(); } +void ESKFNode::visualEgomotion_callback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + VisualMeasurement visual_meas{}; + + visual_meas.pos << msg->pose.pose.position.x, + msg->pose.pose.position.y, + msg->pose.pose.position.z; + + visual_meas.quat = Eigen::Quaterniond( + msg->pose.pose.orientation.w, + msg->pose.pose.orientation.x, + msg->pose.pose.orientation.y, + msg->pose.pose.orientation.z); + + visual_meas.R = Eigen::Map>( + msg->pose.covariance.data()); + + visual_meas.stamp_sec = rclcpp::Time(msg->header.stamp).seconds(); + + eskf_->visualEgomotion_update(visual_meas); + publish_odom(); +} + void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; StateQuat nom_state = eskf_->get_nominal_state(); diff --git a/navigation/valve_egomotion/CMakeLists.txt b/navigation/valve_egomotion/CMakeLists.txt new file mode 100644 index 000000000..635b756d9 --- /dev/null +++ b/navigation/valve_egomotion/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.8) +project(valve_egomotion) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(vortex_msgs REQUIRED) + +include_directories(include) + +add_executable(valve_egomotion + src/valve_egomotion.cpp +) + +ament_target_dependencies(valve_egomotion + rclcpp + geometry_msgs + nav_msgs + tf2 + tf2_ros + tf2_geometry_msgs + vortex_msgs +) + +install(TARGETS valve_egomotion + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME}) + +install(DIRECTORY config + DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/navigation/valve_egomotion/config/valve_egomotion.yaml b/navigation/valve_egomotion/config/valve_egomotion.yaml new file mode 100644 index 000000000..e6cc30b86 --- /dev/null +++ b/navigation/valve_egomotion/config/valve_egomotion.yaml @@ -0,0 +1,18 @@ +orientation_bridge: + ros__parameters: + base_frame: "Orca/camera_front" + map_frame: "Orca/camera_front" + marker_frame: valve_marker_0 + marker_pose_topic: /aruco_detector/marker_pose + publish_tf: false + use_tf: false + + # Sliding window + win.size: 15 + win.age_sec: 0.6 + win.huber_deg: 3.0 + win.gate_deg: 10.0 + win.use_mad: true + + pub_rate_hz: 30.0 + rpy_std_fallback_deg: 1.5 diff --git a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp new file mode 100644 index 000000000..34f344bfa --- /dev/null +++ b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp @@ -0,0 +1,136 @@ +#pragma once + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace valve_egomotion { + +class ValveEgomotionNode : public rclcpp::Node { + public: + /** + * @brief Constructor: Initializes parameters, subscribers, and TF + * listeners. + */ + ValveEgomotionNode(); + + private: + std::string ref_frame_; + bool have_ref_ = false; + tf2::Transform T_base_marker0_; + + rclcpp::Time last_det_stamp_; + double lost_timeout_sec_ = 0.5; + + /** + * @brief Listener. Triggered every time ArUco markers/Valves are detected. + * + * @param msg A list of poses where the camera thinks the markers are. + */ + void valvePoseCallback(const geometry_msgs::msg::PoseArray::SharedPtr msg); + + /** + * @brief A memory entry in the sliding window + */ + struct Sample { + rclcpp::Time stamp; + tf2::Transform T_ref_base; + double weight; + }; + + /** + * @brief Clean memory for relevant and updated samples in regards to the + * window size + * + * @param nowt Current timestamp of rosbag when used with --clock + */ + void prune(const rclcpp::Time& nowt); + + /** + * @brief Averages all samples in the buffer to find one pose. + * + * @param T_est The resulting smoothed position and rotation + * @param cov6x6 An array representing the trust + * @param nowt Current time for age-checking + * + * @return true if estimation succeeded, false if there was insufficient + * data + */ + bool estimateWindow(tf2::Transform& T_est, + double* cov6x6, + const rclcpp::Time& nowt); + + /** + * @brief SO(3) used so we can average rotation + */ + static tf2::Vector3 logMapSO3(const tf2::Quaternion& q); + + /** + * @brief SO(3) wraps a flat 3D vector to valid 3D rotation + */ + static tf2::Quaternion expMapSO3(const tf2::Vector3& w); + + /** + * @brief Calculates the angle (radians) between two orientations + */ + static double angularDist(const tf2::Quaternion& q1, + const tf2::Quaternion& q2); + + /** + * @brief Returns the median of a list + */ + template + static T getMedian(std::vector v); + + /** + * @brief YAML config parameters + */ + std::string map_frame_, base_frame_, cam_frame_; + int win_size_; + double win_age_sec_, huber_deg_, gate_deg_, pub_rate_hz_; + bool use_mad_, publish_tf_; + + /** + * @brief Memory buffer for sliding window + */ + std::deque buf_; + + /** + * @brief TF infrastructure + */ + std::unique_ptr tf_buffer_; + std::shared_ptr tf_listener_; + std::shared_ptr tf_broadcaster_; + + /** + * @brief Subscribes to aruco marker/valve pose + */ + rclcpp::Subscription::SharedPtr sub_marker_; + + /** + * @brief Publishes time stamped pose with covariance + */ + rclcpp::Publisher::SharedPtr + pub_pose_cov_; + + /** + * @brief Internal timing + */ + rclcpp::Time last_pub_time_; +}; + +} // namespace valve_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/launch/valve_egomotion.launch.py b/navigation/valve_egomotion/launch/valve_egomotion.launch.py new file mode 100644 index 000000000..9c6031e50 --- /dev/null +++ b/navigation/valve_egomotion/launch/valve_egomotion.launch.py @@ -0,0 +1,36 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + use_sim_time_val = LaunchConfiguration('use_sim_time', default='true') + + return LaunchDescription([ + DeclareLaunchArgument('valve_topic', default_value='/aruco_detector/markers'), + DeclareLaunchArgument('use_sim_time', default_value='false'), # change to true when using rosbags with --clock + + Node( + package='valve_egomotion', + executable='valve_egomotion', + name='valve_egomotion', + parameters=[{ + 'valve_topic': LaunchConfiguration('valve_topic'), + 'use_sim_time': use_sim_time_val, + 'map_frame': 'map', + 'base_frame': 'base_link', + 'cam_frame': 'Orca/camera_front', + 'marker_frame': 'valve_marker_0', + 'max_age_sec': 10.0, + }], + output='screen' + ), + + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='base_to_cam', + arguments=['0.2', '0', '0', '0', '0', '0', 'base_link', 'Orca/camera_front'], + parameters=[{'use_sim_time': use_sim_time_val}] + ), + ]) \ No newline at end of file diff --git a/navigation/valve_egomotion/package.xml b/navigation/valve_egomotion/package.xml new file mode 100644 index 000000000..fa5a0d02e --- /dev/null +++ b/navigation/valve_egomotion/package.xml @@ -0,0 +1,21 @@ + + + valve_egomotion + 0.1.0 + Compute AUV pose from valve detections and publish to ESKF + Anton Tran + MIT + + ament_cmake + + rclcpp + tf2 + tf2_ros + tf2_geometry_msgs + geometry_msgs + vortex_msgs + + + ament_cmake + + diff --git a/navigation/valve_egomotion/src/valve_egomotion.cpp b/navigation/valve_egomotion/src/valve_egomotion.cpp new file mode 100644 index 000000000..14d83ca09 --- /dev/null +++ b/navigation/valve_egomotion/src/valve_egomotion.cpp @@ -0,0 +1,226 @@ +#include "valve_egomotion/valve_egomotion.hpp" +#include + +namespace valve_egomotion { + +ValveEgomotionNode::ValveEgomotionNode() : Node("valve_egomotion") { + std::string valve_topic = + declare_parameter("valve_topic", "/aruco_detector/markers"); + ref_frame_ = declare_parameter("ref_frame", "vo_ref"); + base_frame_ = declare_parameter("base_frame", "base_link"); + cam_frame_ = declare_parameter("cam_frame", "Orca/camera_front"); + + win_size_ = declare_parameter("window_size", 20); + win_age_sec_ = declare_parameter("max_age_sec", 1.0); + huber_deg_ = declare_parameter("huber_threshold_deg", 2.5); + gate_deg_ = declare_parameter("gate_threshold_deg", 15.0); + use_mad_ = declare_parameter("use_mad", false); + pub_rate_hz_ = declare_parameter("pub_rate_hz", 30.0); + publish_tf_ = declare_parameter("publish_tf", false); + + tf_buffer_ = std::make_unique(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + tf_broadcaster_ = std::make_shared(this); + + sub_marker_ = create_subscription( + valve_topic, rclcpp::SensorDataQoS(), + std::bind(&ValveEgomotionNode::valvePoseCallback, this, + std::placeholders::_1)); + + pub_pose_cov_ = + create_publisher( + "/landmark/pose_cov", 10); + + last_pub_time_ = this->now(); + RCLCPP_INFO(get_logger(), "Valve Estimator Node Online. Watching: %s", + valve_topic.c_str()); +} + +void ValveEgomotionNode::valvePoseCallback( + const geometry_msgs::msg::PoseArray::SharedPtr msg) { + if (msg->poses.empty()) + return; + + tf2::Transform T_cam_marker; + tf2::fromMsg(msg->poses[0], T_cam_marker); + + tf2::Transform T_base_cam; + +try { + auto ts_base_cam = tf_buffer_->lookupTransform(base_frame_, cam_frame_, + tf2::TimePointZero); + tf2::fromMsg(ts_base_cam.transform, T_base_cam); +} catch (const tf2::TransformException& ex) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, + "Waiting for TF frames : %s", ex.what()); + return; +} + +// base <- marker (measured) +tf2::Transform T_base_marker_now = T_base_cam * T_cam_marker; + +// latch reference at first good detection +if (!have_ref_) { + T_base_marker0_ = T_base_marker_now; + have_ref_ = true; +} + +// ref(base0) <- base(now) +tf2::Transform T_ref_base_meas = T_base_marker0_ * T_base_marker_now.inverse(); + +buf_.push_back({msg->header.stamp, T_ref_base_meas, 1.0}); + prune(this->now()); + + if ((this->now() - last_pub_time_).seconds() < (1.0 / pub_rate_hz_)) + return; + last_pub_time_ = this->now(); + + tf2::Transform T_est; + double cov[36]; + + if (estimateWindow(T_est, cov, this->now())) { + geometry_msgs::msg::PoseWithCovarianceStamped pc; + pc.header.frame_id = ref_frame_; + pc.header.stamp = msg->header.stamp; // For ESKF time synchronization + tf2::toMsg(T_est, pc.pose.pose); + std::copy(std::begin(cov), std::end(cov), pc.pose.covariance.begin()); + pub_pose_cov_->publish(pc); + + if (publish_tf_) { + geometry_msgs::msg::TransformStamped tfs; + tfs.header = pc.header; + tfs.child_frame_id = base_frame_ + "/refined"; + tfs.transform = tf2::toMsg(T_est); + tf_broadcaster_->sendTransform(tfs); + } + } +} + +bool ValveEgomotionNode::estimateWindow(tf2::Transform& T_est, + double* cov6x6, + const rclcpp::Time& nowt) { + if (buf_.empty()) + return false; + + tf2::Quaternion q_avg = buf_.back().T_ref_base.getRotation(); + tf2::Vector3 p_avg(0, 0, 0); + double current_gate = gate_deg_ * M_PI / 180.0; + const double huber = huber_deg_ * M_PI / 180.0; + + if (use_mad_ && buf_.size() >= 5) { + std::vector dists; + for (auto& s : buf_) + dists.push_back(angularDist(q_avg, s.T_ref_base.getRotation())); + double med = getMedian(dists); + for (auto& d : dists) + d = std::abs(d - med); + current_gate = std::min(current_gate, med + 3.0 * getMedian(dists)); + } + + for (int i = 0; i < 5; ++i) { + tf2::Vector3 sum_p(0, 0, 0), sum_q(0, 0, 0); + double w_total = 0; + for (auto& s : buf_) { + double dist = angularDist(q_avg, s.T_ref_base.getRotation()); + if (dist > current_gate) + continue; + tf2::Vector3 wi = + logMapSO3(q_avg.inverse() * s.T_ref_base.getRotation()); + double weight = (huber > 0 && wi.length() > huber) + ? (huber / wi.length()) + : 1.0; + sum_p += s.T_ref_base.getOrigin() * weight; + sum_q += wi * weight; + w_total += weight; + } + if (w_total < 1e-6) + return false; + p_avg = sum_p / w_total; + tf2::Vector3 dq = sum_q / w_total; + q_avg = (q_avg * expMapSO3(dq)).normalized(); + if (dq.length() < 1e-4) + break; + } + T_est.setOrigin(p_avg); + T_est.setRotation(q_avg); + + std::fill(cov6x6, cov6x6 + 36, 0.0); + double inliers = 0; + for (auto& s : buf_) { + if (angularDist(q_avg, s.T_ref_base.getRotation()) > current_gate) + continue; + tf2::Vector3 dp = s.T_ref_base.getOrigin() - p_avg; + tf2::Vector3 dq = + logMapSO3(q_avg.inverse() * s.T_ref_base.getRotation()); + + cov6x6[0] += dp.x() * dp.x(); // x + cov6x6[7] += dp.y() * dp.y(); // y + cov6x6[14] += dp.z() * dp.z(); // z + cov6x6[21] += dq.x() * dq.x(); // roll + cov6x6[28] += dq.y() * dq.y(); // pitch + cov6x6[35] += dq.z() * dq.z(); // yaw + inliers += 1.0; + } + for (int i = 0; i < 36; i++) + cov6x6[i] /= std::max(1.0, inliers); + + const double pos_floor = 1e-6; // 1mm variance + const double rot_floor = 1e-6; // ~0.05 degree variance + + cov6x6[0] += pos_floor; + cov6x6[7] += pos_floor; + cov6x6[14] += pos_floor; + cov6x6[21] += rot_floor; + cov6x6[28] += rot_floor; + cov6x6[35] += rot_floor; + return true; +} + +tf2::Vector3 ValveEgomotionNode::logMapSO3(const tf2::Quaternion& q) { + double w = std::clamp((double)q.getW(), -1.0, 1.0); + double th = 2.0 * acos(w); + double s = sqrt(std::max(0.0, 1.0 - w * w)); + + if (s < 1e-9) + return tf2::Vector3(2 * q.getX(), 2 * q.getY(), 2 * q.getZ()); + + return tf2::Vector3(q.getX(), q.getY(), q.getZ()) * (th / s); +} +tf2::Quaternion ValveEgomotionNode::expMapSO3(const tf2::Vector3& w) { + double th = w.length(); + + if (th < 1e-9) + return tf2::Quaternion(w.x() * 0.5, w.y() * 0.5, w.z() * 0.5, 1.0) + .normalized(); + tf2::Vector3 a = w / th; + + return tf2::Quaternion(a.x() * sin(th * 0.5), a.y() * sin(th * 0.5), + a.z() * sin(th * 0.5), cos(th * 0.5)); +} +double ValveEgomotionNode::angularDist(const tf2::Quaternion& q1, + const tf2::Quaternion& q2) { + return 2.0 * acos(std::clamp(std::abs((double)q1.dot(q2)), -1.0, 1.0)); +} +template +T ValveEgomotionNode::getMedian(std::vector v) { + size_t n = v.size() / 2; + std::nth_element(v.begin(), v.begin() + n, v.end()); + return v[n]; +} +void ValveEgomotionNode::prune(const rclcpp::Time& nowt) { + while (!buf_.empty() && + (nowt - buf_.front().stamp).seconds() > win_age_sec_) + buf_.pop_front(); + + while ((int)buf_.size() > win_size_) + buf_.pop_front(); +} +} // namespace valve_egomotion + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} \ No newline at end of file From af62692f1ae2dd73f0d5d0ad3454b2f11e293b35 Mon Sep 17 00:00:00 2001 From: AntTra Date: Wed, 14 Jan 2026 17:57:58 +0100 Subject: [PATCH 073/109] refactor: split valve code into logic and ROS. Turned off the DVL in eskf --- navigation/eskf/src/eskf.cpp | 8 +- navigation/valve_egomotion/CMakeLists.txt | 41 ++- .../valve_egomotion/valve_egomotion.hpp | 145 +++------ .../valve_egomotion/valve_egomotion_ros.hpp | 69 +++++ .../valve_egomotion/src/valve_egomotion.cpp | 279 ++++++++---------- .../src/valve_egomotion_ros.cpp | 141 +++++++++ 6 files changed, 403 insertions(+), 280 deletions(-) create mode 100644 navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp create mode 100644 navigation/valve_egomotion/src/valve_egomotion_ros.cpp diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index d2c2cc145..2a79c4cd4 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -189,8 +189,11 @@ void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { } void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { - measurement_update(dvl_meas); - injection_and_reset(); + // for testing the visual odom + return; + + // measurement_update(dvl_meas); + // injection_and_reset(); } void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { @@ -218,6 +221,7 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { spdlog::info("ESKF: Visual Update. Error: {:.3f}m", error_mag); if (error_mag > 0.2) { + spdlog::warn("VO rejected: error_mag={:.3f}m", error_mag); return; } diff --git a/navigation/valve_egomotion/CMakeLists.txt b/navigation/valve_egomotion/CMakeLists.txt index 635b756d9..7aae33546 100644 --- a/navigation/valve_egomotion/CMakeLists.txt +++ b/navigation/valve_egomotion/CMakeLists.txt @@ -8,35 +8,56 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(nav_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) -find_package(vortex_msgs REQUIRED) include_directories(include) -add_executable(valve_egomotion +add_library(valve_egomotion_core src/valve_egomotion.cpp ) +ament_target_dependencies(valve_egomotion_core + rclcpp + tf2 +) + +target_include_directories(valve_egomotion_core PUBLIC + $ + $ +) + +add_executable(valve_egomotion_node + src/valve_egomotion_ros.cpp +) +target_link_libraries(valve_egomotion_node valve_egomotion_core) -ament_target_dependencies(valve_egomotion +ament_target_dependencies(valve_egomotion_node rclcpp geometry_msgs - nav_msgs tf2 tf2_ros tf2_geometry_msgs - vortex_msgs ) -install(TARGETS valve_egomotion - DESTINATION lib/${PROJECT_NAME}) +install(TARGETS + valve_egomotion_core + valve_egomotion_node + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY include/ + DESTINATION include +) install(DIRECTORY launch - DESTINATION share/${PROJECT_NAME}) + DESTINATION share/${PROJECT_NAME} +) install(DIRECTORY config - DESTINATION share/${PROJECT_NAME}) + DESTINATION share/${PROJECT_NAME} +) ament_package() diff --git a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp index 34f344bfa..f38eb7c1c 100644 --- a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp +++ b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp @@ -1,136 +1,71 @@ #pragma once +#include #include -#include -#include #include -#include -#include -#include -#include - #include #include #include -#include -#include -#include -#include +#include namespace valve_egomotion { -class ValveEgomotionNode : public rclcpp::Node { +/** + * Sliding-window smoother for the relative pose T_ref<-base measured from a + * valve/marker. + * + * Notes: + * - Keeps a time/size bounded buffer. + * - Uses robust iterative averaging on SO(3) (log/exp maps) + arithmetic mean + * in R^3. + * - Outputs a diagonal 6x6 covariance (x,y,z, roll,pitch,yaw) as a cheap + * confidence proxy. + * + * This class has no ROS publishers/subscribers and is unit-testable. + */ +class SlidingWindowSO3Mean { public: - /** - * @brief Constructor: Initializes parameters, subscribers, and TF - * listeners. - */ - ValveEgomotionNode(); - - private: - std::string ref_frame_; - bool have_ref_ = false; - tf2::Transform T_base_marker0_; - - rclcpp::Time last_det_stamp_; - double lost_timeout_sec_ = 0.5; - - /** - * @brief Listener. Triggered every time ArUco markers/Valves are detected. - * - * @param msg A list of poses where the camera thinks the markers are. - */ - void valvePoseCallback(const geometry_msgs::msg::PoseArray::SharedPtr msg); + struct Config { + int win_size = 20; + double win_age_sec = 1.0; + double huber_threshold_deg = 2.5; + double gate_threshold_deg = 15.0; + bool use_mad_gate = false; + }; - /** - * @brief A memory entry in the sliding window - */ struct Sample { rclcpp::Time stamp; tf2::Transform T_ref_base; - double weight; + double weight = 1.0; }; - /** - * @brief Clean memory for relevant and updated samples in regards to the - * window size - * - * @param nowt Current timestamp of rosbag when used with --clock - */ - void prune(const rclcpp::Time& nowt); + explicit SlidingWindowSO3Mean(Config cfg); - /** - * @brief Averages all samples in the buffer to find one pose. - * - * @param T_est The resulting smoothed position and rotation - * @param cov6x6 An array representing the trust - * @param nowt Current time for age-checking - * - * @return true if estimation succeeded, false if there was insufficient - * data - */ - bool estimateWindow(tf2::Transform& T_est, - double* cov6x6, - const rclcpp::Time& nowt); + void clear(); + bool empty() const { return buf_.empty(); } + size_t size() const { return buf_.size(); } - /** - * @brief SO(3) used so we can average rotation - */ - static tf2::Vector3 logMapSO3(const tf2::Quaternion& q); + void addSample(const rclcpp::Time& stamp, + const tf2::Transform& T_ref_base, + double weight = 1.0); + void prune(const rclcpp::Time& now); - /** - * @brief SO(3) wraps a flat 3D vector to valid 3D rotation - */ - static tf2::Quaternion expMapSO3(const tf2::Vector3& w); + bool estimate(const rclcpp::Time& now, + tf2::Transform& T_est, + std::array& cov6x6) const; - /** - * @brief Calculates the angle (radians) between two orientations - */ + private: + static tf2::Vector3 logMapSO3(const tf2::Quaternion& q); + static tf2::Quaternion expMapSO3(const tf2::Vector3& w); static double angularDist(const tf2::Quaternion& q1, const tf2::Quaternion& q2); - /** - * @brief Returns the median of a list - */ template - static T getMedian(std::vector v); - - /** - * @brief YAML config parameters - */ - std::string map_frame_, base_frame_, cam_frame_; - int win_size_; - double win_age_sec_, huber_deg_, gate_deg_, pub_rate_hz_; - bool use_mad_, publish_tf_; + static T median(std::vector v); - /** - * @brief Memory buffer for sliding window - */ + Config cfg_; std::deque buf_; - - /** - * @brief TF infrastructure - */ - std::unique_ptr tf_buffer_; - std::shared_ptr tf_listener_; - std::shared_ptr tf_broadcaster_; - - /** - * @brief Subscribes to aruco marker/valve pose - */ - rclcpp::Subscription::SharedPtr sub_marker_; - - /** - * @brief Publishes time stamped pose with covariance - */ - rclcpp::Publisher::SharedPtr - pub_pose_cov_; - - /** - * @brief Internal timing - */ - rclcpp::Time last_pub_time_; }; } // namespace valve_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp new file mode 100644 index 000000000..bbcc6a26f --- /dev/null +++ b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp @@ -0,0 +1,69 @@ +#pragma once + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "valve_egomotion/valve_egomotion.hpp" + +namespace valve_egomotion { + +/** + * ROS2 node: + * - subscribes to PoseArray of marker poses in camera frame + * - looks up T_base<-cam + * - defines an initial anchor marker0 in base frame + * - computes T_ref<-base = T_base<-marker0 * (T_base<-marker_now)^-1 + * - smoothes in a window and publishes PoseWithCovarianceStamped in ref_frame + */ +class ValveEgomotionNode final : public rclcpp::Node { + public: + explicit ValveEgomotionNode( + const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); + + private: + void onMarkers(const geometry_msgs::msg::PoseArray::SharedPtr msg); + void onPublishTimer(); + + // Params + std::string valve_topic_; + std::string ref_frame_; + std::string base_frame_; + std::string cam_frame_; + bool publish_tf_ = false; + + double pub_rate_hz_ = 30.0; + double lost_timeout_sec_ = 0.5; + + // TF + std::unique_ptr tf_buffer_; + std::shared_ptr tf_listener_; + std::shared_ptr tf_broadcaster_; + + // ROS I/O + rclcpp::Subscription::SharedPtr sub_marker_; + rclcpp::Publisher::SharedPtr + pub_pose_cov_; + rclcpp::TimerBase::SharedPtr pub_timer_; + + // Estimator + SlidingWindowSO3Mean smoother_; + + // Anchor and timing + bool have_ref_ = false; + tf2::Transform T_base_marker0_; + rclcpp::Time last_det_stamp_; + rclcpp::Time last_pub_stamp_; +}; + +} // namespace valve_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/src/valve_egomotion.cpp b/navigation/valve_egomotion/src/valve_egomotion.cpp index 14d83ca09..db4df1ced 100644 --- a/navigation/valve_egomotion/src/valve_egomotion.cpp +++ b/navigation/valve_egomotion/src/valve_egomotion.cpp @@ -1,226 +1,179 @@ #include "valve_egomotion/valve_egomotion.hpp" + #include +#include namespace valve_egomotion { -ValveEgomotionNode::ValveEgomotionNode() : Node("valve_egomotion") { - std::string valve_topic = - declare_parameter("valve_topic", "/aruco_detector/markers"); - ref_frame_ = declare_parameter("ref_frame", "vo_ref"); - base_frame_ = declare_parameter("base_frame", "base_link"); - cam_frame_ = declare_parameter("cam_frame", "Orca/camera_front"); - - win_size_ = declare_parameter("window_size", 20); - win_age_sec_ = declare_parameter("max_age_sec", 1.0); - huber_deg_ = declare_parameter("huber_threshold_deg", 2.5); - gate_deg_ = declare_parameter("gate_threshold_deg", 15.0); - use_mad_ = declare_parameter("use_mad", false); - pub_rate_hz_ = declare_parameter("pub_rate_hz", 30.0); - publish_tf_ = declare_parameter("publish_tf", false); - - tf_buffer_ = std::make_unique(this->get_clock()); - tf_listener_ = std::make_shared(*tf_buffer_); - tf_broadcaster_ = std::make_shared(this); - - sub_marker_ = create_subscription( - valve_topic, rclcpp::SensorDataQoS(), - std::bind(&ValveEgomotionNode::valvePoseCallback, this, - std::placeholders::_1)); - - pub_pose_cov_ = - create_publisher( - "/landmark/pose_cov", 10); - - last_pub_time_ = this->now(); - RCLCPP_INFO(get_logger(), "Valve Estimator Node Online. Watching: %s", - valve_topic.c_str()); -} - -void ValveEgomotionNode::valvePoseCallback( - const geometry_msgs::msg::PoseArray::SharedPtr msg) { - if (msg->poses.empty()) - return; - - tf2::Transform T_cam_marker; - tf2::fromMsg(msg->poses[0], T_cam_marker); - - tf2::Transform T_base_cam; +SlidingWindowSO3Mean::SlidingWindowSO3Mean(Config cfg) : cfg_(cfg) {} -try { - auto ts_base_cam = tf_buffer_->lookupTransform(base_frame_, cam_frame_, - tf2::TimePointZero); - tf2::fromMsg(ts_base_cam.transform, T_base_cam); -} catch (const tf2::TransformException& ex) { - RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, - "Waiting for TF frames : %s", ex.what()); - return; +void SlidingWindowSO3Mean::clear() { + buf_.clear(); } -// base <- marker (measured) -tf2::Transform T_base_marker_now = T_base_cam * T_cam_marker; - -// latch reference at first good detection -if (!have_ref_) { - T_base_marker0_ = T_base_marker_now; - have_ref_ = true; +void SlidingWindowSO3Mean::addSample(const rclcpp::Time& stamp, + const tf2::Transform& T_ref_base, + double weight) { + buf_.push_back(Sample{stamp, T_ref_base, weight}); } -// ref(base0) <- base(now) -tf2::Transform T_ref_base_meas = T_base_marker0_ * T_base_marker_now.inverse(); - -buf_.push_back({msg->header.stamp, T_ref_base_meas, 1.0}); - prune(this->now()); - - if ((this->now() - last_pub_time_).seconds() < (1.0 / pub_rate_hz_)) - return; - last_pub_time_ = this->now(); - - tf2::Transform T_est; - double cov[36]; - - if (estimateWindow(T_est, cov, this->now())) { - geometry_msgs::msg::PoseWithCovarianceStamped pc; - pc.header.frame_id = ref_frame_; - pc.header.stamp = msg->header.stamp; // For ESKF time synchronization - tf2::toMsg(T_est, pc.pose.pose); - std::copy(std::begin(cov), std::end(cov), pc.pose.covariance.begin()); - pub_pose_cov_->publish(pc); - - if (publish_tf_) { - geometry_msgs::msg::TransformStamped tfs; - tfs.header = pc.header; - tfs.child_frame_id = base_frame_ + "/refined"; - tfs.transform = tf2::toMsg(T_est); - tf_broadcaster_->sendTransform(tfs); - } +void SlidingWindowSO3Mean::prune(const rclcpp::Time& now) { + while (!buf_.empty() && + (now - buf_.front().stamp).seconds() > cfg_.win_age_sec) { + buf_.pop_front(); + } + while (static_cast(buf_.size()) > cfg_.win_size) { + buf_.pop_front(); } } -bool ValveEgomotionNode::estimateWindow(tf2::Transform& T_est, - double* cov6x6, - const rclcpp::Time& nowt) { +bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, + tf2::Transform& T_est, + std::array& cov6x6) const { + (void)now; if (buf_.empty()) return false; + // Init around the newest sample rotation; translation init at origin. tf2::Quaternion q_avg = buf_.back().T_ref_base.getRotation(); tf2::Vector3 p_avg(0, 0, 0); - double current_gate = gate_deg_ * M_PI / 180.0; - const double huber = huber_deg_ * M_PI / 180.0; - if (use_mad_ && buf_.size() >= 5) { + double gate = cfg_.gate_threshold_deg * M_PI / 180.0; + const double huber = cfg_.huber_threshold_deg * M_PI / 180.0; + + if (cfg_.use_mad_gate && buf_.size() >= 5) { std::vector dists; - for (auto& s : buf_) + dists.reserve(buf_.size()); + for (const auto& s : buf_) { dists.push_back(angularDist(q_avg, s.T_ref_base.getRotation())); - double med = getMedian(dists); + } + const double med = median(dists); for (auto& d : dists) d = std::abs(d - med); - current_gate = std::min(current_gate, med + 3.0 * getMedian(dists)); + const double mad = median(dists); + // 3*MAD is a common robust spread heuristic. Clamp with configured + // gate. + gate = std::min(gate, med + 3.0 * mad); } + // Robust mean on SO(3) using log/exp in the tangent space at q_avg. for (int i = 0; i < 5; ++i) { - tf2::Vector3 sum_p(0, 0, 0), sum_q(0, 0, 0); - double w_total = 0; - for (auto& s : buf_) { - double dist = angularDist(q_avg, s.T_ref_base.getRotation()); - if (dist > current_gate) + tf2::Vector3 sum_p(0, 0, 0); + tf2::Vector3 sum_w(0, 0, 0); + double w_total = 0.0; + + for (const auto& s : buf_) { + const tf2::Quaternion q_i = s.T_ref_base.getRotation(); + const double dist = angularDist(q_avg, q_i); + if (dist > gate) continue; - tf2::Vector3 wi = - logMapSO3(q_avg.inverse() * s.T_ref_base.getRotation()); - double weight = (huber > 0 && wi.length() > huber) - ? (huber / wi.length()) - : 1.0; - sum_p += s.T_ref_base.getOrigin() * weight; - sum_q += wi * weight; - w_total += weight; + + const tf2::Vector3 w_i = logMapSO3(q_avg.inverse() * q_i); + + double w = s.weight; + if (huber > 0.0) { + const double a = w_i.length(); + if (a > huber && a > 1e-12) + w *= (huber / a); + } + + sum_p += s.T_ref_base.getOrigin() * w; + sum_w += w_i * w; + w_total += w; } - if (w_total < 1e-6) + + if (w_total < 1e-9) return false; + p_avg = sum_p / w_total; - tf2::Vector3 dq = sum_q / w_total; - q_avg = (q_avg * expMapSO3(dq)).normalized(); - if (dq.length() < 1e-4) + + const tf2::Vector3 dw = sum_w / w_total; + q_avg = (q_avg * expMapSO3(dw)).normalized(); + + if (dw.length() < 1e-4) break; } + T_est.setOrigin(p_avg); T_est.setRotation(q_avg); - std::fill(cov6x6, cov6x6 + 36, 0.0); - double inliers = 0; - for (auto& s : buf_) { - if (angularDist(q_avg, s.T_ref_base.getRotation()) > current_gate) + // Diagonal covariance proxy. + cov6x6.fill(0.0); + double inliers = 0.0; + + for (const auto& s : buf_) { + const tf2::Quaternion q_i = s.T_ref_base.getRotation(); + if (angularDist(q_avg, q_i) > gate) continue; - tf2::Vector3 dp = s.T_ref_base.getOrigin() - p_avg; - tf2::Vector3 dq = - logMapSO3(q_avg.inverse() * s.T_ref_base.getRotation()); - - cov6x6[0] += dp.x() * dp.x(); // x - cov6x6[7] += dp.y() * dp.y(); // y - cov6x6[14] += dp.z() * dp.z(); // z - cov6x6[21] += dq.x() * dq.x(); // roll - cov6x6[28] += dq.y() * dq.y(); // pitch - cov6x6[35] += dq.z() * dq.z(); // yaw + + const tf2::Vector3 dp = s.T_ref_base.getOrigin() - p_avg; + const tf2::Vector3 dq = logMapSO3(q_avg.inverse() * q_i); + + cov6x6[0] += dp.x() * dp.x(); + cov6x6[7] += dp.y() * dp.y(); + cov6x6[14] += dp.z() * dp.z(); + cov6x6[21] += dq.x() * dq.x(); + cov6x6[28] += dq.y() * dq.y(); + cov6x6[35] += dq.z() * dq.z(); + inliers += 1.0; } - for (int i = 0; i < 36; i++) - cov6x6[i] /= std::max(1.0, inliers); - const double pos_floor = 1e-6; // 1mm variance - const double rot_floor = 1e-6; // ~0.05 degree variance + const double denom = std::max(1.0, inliers); + for (double& v : cov6x6) + v /= denom; + // Floors to avoid exact zeros. + const double pos_floor = 1e-6; // ~1mm^2 + const double rot_floor = 1e-6; // ~ (0.057 deg)^2 in rad^2 order cov6x6[0] += pos_floor; cov6x6[7] += pos_floor; cov6x6[14] += pos_floor; cov6x6[21] += rot_floor; cov6x6[28] += rot_floor; cov6x6[35] += rot_floor; + return true; } -tf2::Vector3 ValveEgomotionNode::logMapSO3(const tf2::Quaternion& q) { - double w = std::clamp((double)q.getW(), -1.0, 1.0); - double th = 2.0 * acos(w); - double s = sqrt(std::max(0.0, 1.0 - w * w)); +tf2::Vector3 SlidingWindowSO3Mean::logMapSO3(const tf2::Quaternion& q) { + const double w = std::clamp(static_cast(q.getW()), -1.0, 1.0); + const double th = 2.0 * std::acos(w); + const double s = std::sqrt(std::max(0.0, 1.0 - w * w)); - if (s < 1e-9) + // Small-angle: log(q) ≈ 2*v where q ≈ [v, 1] + if (s < 1e-9) { return tf2::Vector3(2 * q.getX(), 2 * q.getY(), 2 * q.getZ()); - + } return tf2::Vector3(q.getX(), q.getY(), q.getZ()) * (th / s); } -tf2::Quaternion ValveEgomotionNode::expMapSO3(const tf2::Vector3& w) { - double th = w.length(); - if (th < 1e-9) - return tf2::Quaternion(w.x() * 0.5, w.y() * 0.5, w.z() * 0.5, 1.0) +tf2::Quaternion SlidingWindowSO3Mean::expMapSO3(const tf2::Vector3& w) { + const double th = w.length(); + if (th < 1e-9) { + return tf2::Quaternion(0.5 * w.x(), 0.5 * w.y(), 0.5 * w.z(), 1.0) .normalized(); - tf2::Vector3 a = w / th; - - return tf2::Quaternion(a.x() * sin(th * 0.5), a.y() * sin(th * 0.5), - a.z() * sin(th * 0.5), cos(th * 0.5)); + } + const tf2::Vector3 a = w / th; + return tf2::Quaternion(a.x() * std::sin(0.5 * th), + a.y() * std::sin(0.5 * th), + a.z() * std::sin(0.5 * th), std::cos(0.5 * th)); } -double ValveEgomotionNode::angularDist(const tf2::Quaternion& q1, - const tf2::Quaternion& q2) { - return 2.0 * acos(std::clamp(std::abs((double)q1.dot(q2)), -1.0, 1.0)); + +double SlidingWindowSO3Mean::angularDist(const tf2::Quaternion& q1, + const tf2::Quaternion& q2) { + // Use abs(dot) to account for q and -q representing same rotation. + const double d = std::abs(static_cast(q1.dot(q2))); + return 2.0 * std::acos(std::clamp(d, -1.0, 1.0)); } + template -T ValveEgomotionNode::getMedian(std::vector v) { - size_t n = v.size() / 2; +T SlidingWindowSO3Mean::median(std::vector v) { + const size_t n = v.size() / 2; std::nth_element(v.begin(), v.begin() + n, v.end()); return v[n]; } -void ValveEgomotionNode::prune(const rclcpp::Time& nowt) { - while (!buf_.empty() && - (nowt - buf_.front().stamp).seconds() > win_age_sec_) - buf_.pop_front(); - - while ((int)buf_.size() > win_size_) - buf_.pop_front(); -} -} // namespace valve_egomotion -int main(int argc, char** argv) { - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); +template double SlidingWindowSO3Mean::median(std::vector); - return 0; -} \ No newline at end of file +} // namespace valve_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/src/valve_egomotion_ros.cpp b/navigation/valve_egomotion/src/valve_egomotion_ros.cpp new file mode 100644 index 000000000..f1e29f02b --- /dev/null +++ b/navigation/valve_egomotion/src/valve_egomotion_ros.cpp @@ -0,0 +1,141 @@ +#include "valve_egomotion/valve_egomotion_ros.hpp" + +#include +#include + +namespace valve_egomotion { + +ValveEgomotionNode::ValveEgomotionNode(const rclcpp::NodeOptions& options) + : rclcpp::Node("valve_egomotion", options), smoother_([&]() { + SlidingWindowSO3Mean::Config cfg; + cfg.win_size = this->declare_parameter("window_size", 20); + cfg.win_age_sec = this->declare_parameter("max_age_sec", 1.0); + cfg.huber_threshold_deg = + this->declare_parameter("huber_threshold_deg", 2.5); + cfg.gate_threshold_deg = + this->declare_parameter("gate_threshold_deg", 15.0); + cfg.use_mad_gate = this->declare_parameter("use_mad", false); + return cfg; + }()) { + valve_topic_ = this->declare_parameter( + "valve_topic", "/aruco_detector/markers"); + ref_frame_ = this->declare_parameter("ref_frame", "vo_ref"); + base_frame_ = + this->declare_parameter("base_frame", "base_link"); + cam_frame_ = + this->declare_parameter("cam_frame", "Orca/camera_front"); + + publish_tf_ = this->declare_parameter("publish_tf", false); + pub_rate_hz_ = this->declare_parameter("pub_rate_hz", 30.0); + lost_timeout_sec_ = + this->declare_parameter("lost_timeout_sec", 0.5); + + pub_pose_cov_ = + this->create_publisher( + "/landmark/pose_cov", rclcpp::QoS(10)); + + tf_buffer_ = std::make_unique(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + tf_broadcaster_ = std::make_shared(this); + + sub_marker_ = this->create_subscription( + valve_topic_, rclcpp::SensorDataQoS(), + std::bind(&ValveEgomotionNode::onMarkers, this, std::placeholders::_1)); + + last_det_stamp_ = this->now(); + last_pub_stamp_ = this->now(); + + const auto period = + std::chrono::duration(1.0 / std::max(1.0, pub_rate_hz_)); + pub_timer_ = this->create_wall_timer( + std::chrono::duration_cast(period), + std::bind(&ValveEgomotionNode::onPublishTimer, this)); + + RCLCPP_INFO( + this->get_logger(), + "ValveEgomotionNode online. Sub: %s, base: %s, cam: %s, ref: %s", + valve_topic_.c_str(), base_frame_.c_str(), cam_frame_.c_str(), + ref_frame_.c_str()); +} + +void ValveEgomotionNode::onMarkers( + const geometry_msgs::msg::PoseArray::SharedPtr msg) { + if (!msg || msg->poses.empty()) + return; + + // Take the first detection (keep your selector policy here if needed). + tf2::Transform T_cam_marker; + tf2::fromMsg(msg->poses[0], T_cam_marker); + + tf2::Transform T_base_cam; + try { + const auto ts = tf_buffer_->lookupTransform(base_frame_, cam_frame_, + tf2::TimePointZero); + tf2::fromMsg(ts.transform, T_base_cam); + } catch (const tf2::TransformException& ex) { + RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, + "Waiting for TF %s <- %s: %s", base_frame_.c_str(), + cam_frame_.c_str(), ex.what()); + return; + } + + const tf2::Transform T_base_marker_now = T_base_cam * T_cam_marker; + + if (!have_ref_) { + // Anchor at first valid detection. + T_base_marker0_ = T_base_marker_now; + have_ref_ = true; + } + + const tf2::Transform T_ref_base_meas = + T_base_marker0_ * T_base_marker_now.inverse(); + + smoother_.addSample(msg->header.stamp, T_ref_base_meas, 1.0); + smoother_.prune(this->now()); + + last_det_stamp_ = msg->header.stamp; +} + +void ValveEgomotionNode::onPublishTimer() { + const rclcpp::Time now = this->now(); + + // If we haven't received detections for a while, stop publishing. + if (!have_ref_) + return; + if ((now - last_det_stamp_).seconds() > lost_timeout_sec_) + return; + + tf2::Transform T_est; + std::array cov; + + if (!smoother_.estimate(now, T_est, cov)) + return; + + geometry_msgs::msg::PoseWithCovarianceStamped pc; + pc.header.frame_id = ref_frame_; + // Publish with current time; consumers doing time-sync can use header + // stamps from message filters. + pc.header.stamp = now; + tf2::toMsg(T_est, pc.pose.pose); + std::copy(cov.begin(), cov.end(), pc.pose.covariance.begin()); + pub_pose_cov_->publish(pc); + + if (publish_tf_) { + geometry_msgs::msg::TransformStamped tfs; + tfs.header = pc.header; + tfs.child_frame_id = base_frame_ + "/refined"; + tfs.transform = tf2::toMsg(T_est); + tf_broadcaster_->sendTransform(tfs); + } + + last_pub_stamp_ = now; +} + +} // namespace valve_egomotion + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file From 7cd32d311b4baf0ff6dcc4b4b9795317d237024c Mon Sep 17 00:00:00 2001 From: Anttra Date: Thu, 15 Jan 2026 13:43:35 +0100 Subject: [PATCH 074/109] set threshold for VO rejection dependent on nis --- navigation/eskf/CMakeLists.txt | 6 ++++++ navigation/eskf/src/eskf.cpp | 6 ++++-- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 1e9191787..da3bc2cd4 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -16,6 +16,9 @@ find_package(nav_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_msgs REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) find_package(vortex_msgs REQUIRED) find_package(vortex_utils REQUIRED) find_package(spdlog REQUIRED) @@ -43,6 +46,9 @@ ament_target_dependencies(${LIB_NAME} PUBLIC nav_msgs Eigen3 tf2 + tf2_ros + tf2_msgs + tf2_geometry_msgs vortex_msgs vortex_utils spdlog diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 2a79c4cd4..3a034cb0b 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -220,8 +220,10 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { spdlog::info("ESKF: Visual Update. Error: {:.3f}m", error_mag); - if (error_mag > 0.2) { - spdlog::warn("VO rejected: error_mag={:.3f}m", error_mag); + const double nis = y.transpose() * S.inverse() * y; + // chi2 threshold for 6 dof: ~12.59 (95%), ~16.81 (99%) + if (nis > 16.81) { + spdlog::warn("VO rejected by NIS: nis={:.2f}", nis); return; } From ddf1e0a709d0eba7cf2b344a9243b8e70a91755f Mon Sep 17 00:00:00 2001 From: Ahmed Date: Fri, 16 Jan 2026 16:36:33 +0100 Subject: [PATCH 075/109] puting the covariance in the odom msg. Fixing the orientation for IMU, it seems the accelerometer and gyro have different frames --- navigation/eskf/config/eskf_params.yaml | 7 ++- navigation/eskf/include/eskf/eskf_ros.hpp | 6 +- navigation/eskf/src/eskf_ros.cpp | 75 +++++++++++++---------- 3 files changed, 51 insertions(+), 37 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 507c86de9..9352e3f6e 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -5,4 +5,9 @@ eskf_node: odom_topic: odom_ESKF diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_frame: [-1.0, 0.0, 0.0, -1.0, 0.0, 0.0, -1.0, 0.0, 0.0] + imu_acc_frame: [ -1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, -1.0 ] + imu_gyro_frame: [ 1.0, 0.0, 0.0, + 0.0, -1.0, 0.0, + 0.0, 0.0, 1.0 ] diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 31218274f..9b8384608 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -47,8 +47,6 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Publisher::SharedPtr cov_pub_; - rclcpp::Publisher::SharedPtr nis_pub_; std::chrono::milliseconds time_step; @@ -59,7 +57,9 @@ class ESKFNode : public rclcpp::Node { bool first_imu_msg_received_ = false; - Eigen::Matrix3d R_imu_eskf_{}; + Eigen::Matrix3d R_imu_acc_eskf_{}; + + Eigen::Matrix3d R_imu_gyro_eskf_{}; rclcpp::Time last_imu_time_{}; }; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 63fe6e2aa..3392b3983 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -53,19 +53,22 @@ void ESKFNode::set_subscribers_and_publisher() { #ifndef NDEBUG nis_pub_ = create_publisher( - "dvl/nis", vortex::utils::qos_profiles::reliable_profile()); + "eskf/nis", vortex::utils::qos_profiles::reliable_profile()); #endif - - cov_pub_ = create_publisher( - "eskf/covariance", 10); } void ESKFNode::set_parameters() { - std::vector R_imu_correction; - this->declare_parameter>("imu_frame"); - R_imu_correction = get_parameter("imu_frame").as_double_array(); - R_imu_eskf_ = Eigen::Map>( - R_imu_correction.data()); + std::vector R_imu_acc_correction; + this->declare_parameter>("imu_acc_frame"); + R_imu_acc_correction = get_parameter("imu_acc_frame").as_double_array(); + R_imu_acc_eskf_ = Eigen::Map>( + R_imu_acc_correction.data()); + + std::vector R_imu_gyro_correction; + this->declare_parameter>("imu_gyro_frame"); + R_imu_gyro_correction = get_parameter("imu_gyro_frame").as_double_array(); + R_imu_gyro_eskf_ = Eigen::Map>( + R_imu_gyro_correction.data()); std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -111,13 +114,12 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { msg->linear_acceleration.z); ImuMeasurement imu_measurement{}; - imu_measurement.accel = R_imu_eskf_ * raw_accel; + imu_measurement.accel = R_imu_acc_eskf_ * raw_accel; Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - // imu_measurement.gyro = R_imu_eskf_ * raw_gyro; - imu_measurement.gyro = raw_gyro; + imu_measurement.gyro = R_imu_gyro_eskf_ * raw_gyro; eskf_->imu_update(imu_measurement, dt); } @@ -147,6 +149,7 @@ void ESKFNode::dvl_callback( void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; StateQuat nom_state = eskf_->get_nominal_state(); + StateEuler error_state_ = eskf_->get_error_state(); odom_msg.pose.pose.position.x = nom_state.pos.x(); odom_msg.pose.pose.position.y = nom_state.pos.y(); @@ -170,29 +173,35 @@ void ESKFNode::publish_odom() { // matrix or publish a separate topic for biases odom_msg.header.stamp = this->now(); - odom_pub_->publish(odom_msg); - - // publish the covariance matrix - std_msgs::msg::Float64MultiArray msg; - - msg.layout.dim.resize(2); - msg.layout.dim[0].label = "rows"; - msg.layout.dim[0].size = 15; - msg.layout.dim[0].stride = 15 * 15; - msg.layout.dim[1].label = "cols"; - msg.layout.dim[1].size = 15; - msg.layout.dim[1].stride = 15; - - // get error state covariance - StateEuler error_state_ = eskf_->get_error_state(); + odom_msg.header.frame_id = "odom"; + + // The covariance is published in a way that some cross terms are ignored, + // if using this cov with other estimator, the whole 15*15 should be published + // Covariance of pos and orientation needs to be mapped from 6*6 matrix to an array + // Position covariance (states 0-2) + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + odom_msg.pose.covariance[i * 6 + j] = + error_state_.covariance(i, j); + } + } - // Flatten Eigen matrix into a std::vector - msg.data.resize(15 * 15); - msg.data.assign(error_state_.covariance.data(), - error_state_.covariance.data() + 15 * 15); + // Orientation covariance (states 6–8) + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + odom_msg.pose.covariance[(i + 3) * 6 + (j + 3)] = + error_state_.covariance(i + 6, j + 6); + } + } - // Publish covariance - cov_pub_->publish(msg); + // Linear velocity covariance + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + odom_msg.twist.covariance[i * 6 + j] = + error_state_.covariance(i + 3, j + 3); + } + } + odom_pub_->publish(odom_msg); } RCLCPP_COMPONENTS_REGISTER_NODE(ESKFNode) From cbb1366e36afaf5915d015adde26d86c0e6911e9 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Fri, 16 Jan 2026 16:46:21 +0100 Subject: [PATCH 076/109] clnag-format fix --- navigation/eskf/src/eskf_ros.cpp | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 3392b3983..4a55fbbb4 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -175,14 +175,13 @@ void ESKFNode::publish_odom() { odom_msg.header.stamp = this->now(); odom_msg.header.frame_id = "odom"; - // The covariance is published in a way that some cross terms are ignored, - // if using this cov with other estimator, the whole 15*15 should be published - // Covariance of pos and orientation needs to be mapped from 6*6 matrix to an array - // Position covariance (states 0-2) + // Some cross terms of the covariance are ignored, and the acc/gyro biases + // cov are not published. Pos and orientation cov needs to be mapped from + // 6*6 matrix to an array (states 0-2) + for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - odom_msg.pose.covariance[i * 6 + j] = - error_state_.covariance(i, j); + odom_msg.pose.covariance[i * 6 + j] = error_state_.covariance(i, j); } } From 454bd166229b2b68c903681069f2c8c0ccd0dbce Mon Sep 17 00:00:00 2001 From: Anttra Date: Tue, 20 Jan 2026 19:46:11 +0100 Subject: [PATCH 077/109] feat: handles multiple unique marker IDs in a single frame --- navigation/valve_egomotion/CMakeLists.txt | 2 + .../valve_egomotion/valve_egomotion_ros.hpp | 18 +- .../launch/valve_egomotion.launch.py | 22 +- navigation/valve_egomotion/package.xml | 2 +- .../valve_egomotion/src/valve_egomotion.cpp | 15 +- .../src/valve_egomotion_ros.cpp | 161 +- .../animationwindow/include/AnimationWindow.h | 137 + subprojects/animationwindow/include/Audio.h | 29 + subprojects/animationwindow/include/Color.h | 335 + subprojects/animationwindow/include/Font.h | 22 + subprojects/animationwindow/include/Image.h | 28 + .../animationwindow/include/KeyboardKey.h | 72 + .../animationwindow/include/MessageType.h | 7 + subprojects/animationwindow/include/Point.h | 8 + subprojects/animationwindow/include/Widget.h | 39 + .../include/internal/FontCache.h | 57 + .../include/internal/KeyboardKeyConverter.h | 10 + .../include/internal/nuklear.h | 30009 ++++++++++++++++ .../include/internal/nuklear_configured.h | 20 + .../include/internal/nuklear_sdl_renderer.h | 378 + .../include/internal/portable-file-dialogs.h | 1647 + .../include/internal/windows_main_fix.h | 14 + .../animationwindow/include/widgets/Button.h | 31 + .../include/widgets/CheckBox.h | 31 + .../include/widgets/DropdownList.h | 19 + .../include/widgets/RadioButton.h | 31 + .../animationwindow/include/widgets/Slider.h | 34 + .../animationwindow/include/widgets/TextBox.h | 29 + .../include/widgets/TextInput.h | 34 + subprojects/animationwindow/meson.build | 43 + .../animationwindow/src/AnimationWindow.cpp | 422 + subprojects/animationwindow/src/Audio.cpp | 69 + subprojects/animationwindow/src/Color.cpp | 46 + subprojects/animationwindow/src/Image.cpp | 43 + subprojects/animationwindow/src/Widget.cpp | 34 + .../src/internal/FontCache.cpp | 96 + .../src/internal/KeyboardKeyConverter.cpp | 409 + .../src/internal/nuklear_implementation.cpp | 3 + .../animationwindow/src/widgets/Button.cpp | 39 + .../animationwindow/src/widgets/CheckBox.cpp | 44 + .../src/widgets/DropdownList.cpp | 33 + .../src/widgets/RadioButton.cpp | 45 + .../animationwindow/src/widgets/Slider.cpp | 38 + .../animationwindow/src/widgets/TextBox.cpp | 29 + .../animationwindow/src/widgets/TextInput.cpp | 49 + subprojects/libjpeg-turbo.wrap | 12 + subprojects/libpng.wrap | 12 + subprojects/libtiff-4.wrap | 12 + subprojects/sdl2.wrap | 12 + subprojects/sdl2_image.wrap | 12 + subprojects/sdl2_image_windows/CHANGES.txt | 198 + subprojects/sdl2_image_windows/LICENSE.txt | 17 + subprojects/sdl2_image_windows/README.txt | 38 + subprojects/sdl2_image_windows/copy.py | 4 + .../include/SDL2/SDL_image.h | 2173 ++ subprojects/sdl2_image_windows/meson.build | 15 + subprojects/sdl2_mixer.wrap | 13 + subprojects/sdl2_mixer_windows/LICENSE.txt | 17 + subprojects/sdl2_mixer_windows/README.txt | 31 + subprojects/sdl2_mixer_windows/copy.py | 4 + .../include/SDL2/SDL_mixer.h | 2831 ++ subprojects/sdl2_mixer_windows/meson.build | 15 + .../optional/LICENSE.gme.txt | 504 + .../optional/LICENSE.ogg-vorbis.txt | 32 + .../optional/LICENSE.opus.txt | 48 + .../optional/LICENSE.opusfile.txt | 32 + .../optional/LICENSE.wavpack.txt | 25 + .../optional/LICENSE.xmp.txt | 20 + subprojects/sdl2_windows/BUGS.txt | 16 + subprojects/sdl2_windows/COPYING.txt | 20 + subprojects/sdl2_windows/CREDITS.txt | 53 + subprojects/sdl2_windows/INSTALL.txt | 18 + subprojects/sdl2_windows/README-SDL.txt | 13 + subprojects/sdl2_windows/README.txt | 21 + subprojects/sdl2_windows/WhatsNew.txt | 853 + subprojects/sdl2_windows/copy.py | 4 + subprojects/sdl2_windows/include/SDL2/SDL.h | 233 + .../sdl2_windows/include/SDL2/SDL_assert.h | 326 + .../sdl2_windows/include/SDL2/SDL_atomic.h | 415 + .../sdl2_windows/include/SDL2/SDL_audio.h | 1500 + .../sdl2_windows/include/SDL2/SDL_bits.h | 126 + .../sdl2_windows/include/SDL2/SDL_blendmode.h | 198 + .../sdl2_windows/include/SDL2/SDL_clipboard.h | 141 + .../sdl2_windows/include/SDL2/SDL_config.h | 331 + .../sdl2_windows/include/SDL2/SDL_cpuinfo.h | 594 + .../sdl2_windows/include/SDL2/SDL_egl.h | 2352 ++ .../sdl2_windows/include/SDL2/SDL_endian.h | 348 + .../sdl2_windows/include/SDL2/SDL_error.h | 163 + .../sdl2_windows/include/SDL2/SDL_events.h | 1166 + .../include/SDL2/SDL_filesystem.h | 149 + .../include/SDL2/SDL_gamecontroller.h | 1074 + .../sdl2_windows/include/SDL2/SDL_gesture.h | 117 + .../sdl2_windows/include/SDL2/SDL_guid.h | 100 + .../sdl2_windows/include/SDL2/SDL_haptic.h | 1341 + .../sdl2_windows/include/SDL2/SDL_hidapi.h | 451 + .../sdl2_windows/include/SDL2/SDL_hints.h | 2569 ++ .../sdl2_windows/include/SDL2/SDL_joystick.h | 1066 + .../sdl2_windows/include/SDL2/SDL_keyboard.h | 353 + .../sdl2_windows/include/SDL2/SDL_keycode.h | 358 + .../sdl2_windows/include/SDL2/SDL_loadso.h | 115 + .../sdl2_windows/include/SDL2/SDL_locale.h | 103 + .../sdl2_windows/include/SDL2/SDL_log.h | 404 + .../sdl2_windows/include/SDL2/SDL_main.h | 275 + .../include/SDL2/SDL_messagebox.h | 193 + .../sdl2_windows/include/SDL2/SDL_metal.h | 113 + .../sdl2_windows/include/SDL2/SDL_misc.h | 79 + .../sdl2_windows/include/SDL2/SDL_mouse.h | 465 + .../sdl2_windows/include/SDL2/SDL_mutex.h | 471 + .../sdl2_windows/include/SDL2/SDL_name.h | 33 + .../sdl2_windows/include/SDL2/SDL_opengl.h | 2132 ++ .../include/SDL2/SDL_opengl_glext.h | 13209 +++++++ .../sdl2_windows/include/SDL2/SDL_opengles.h | 39 + .../sdl2_windows/include/SDL2/SDL_opengles2.h | 52 + .../include/SDL2/SDL_opengles2_gl2.h | 656 + .../include/SDL2/SDL_opengles2_gl2ext.h | 4033 +++ .../include/SDL2/SDL_opengles2_gl2platform.h | 27 + .../include/SDL2/SDL_opengles2_khrplatform.h | 311 + .../sdl2_windows/include/SDL2/SDL_pixels.h | 644 + .../sdl2_windows/include/SDL2/SDL_platform.h | 261 + .../sdl2_windows/include/SDL2/SDL_power.h | 88 + .../sdl2_windows/include/SDL2/SDL_quit.h | 58 + .../sdl2_windows/include/SDL2/SDL_rect.h | 376 + .../sdl2_windows/include/SDL2/SDL_render.h | 1919 + .../sdl2_windows/include/SDL2/SDL_revision.h | 7 + .../sdl2_windows/include/SDL2/SDL_rwops.h | 841 + .../sdl2_windows/include/SDL2/SDL_scancode.h | 438 + .../sdl2_windows/include/SDL2/SDL_sensor.h | 322 + .../sdl2_windows/include/SDL2/SDL_shape.h | 155 + .../sdl2_windows/include/SDL2/SDL_stdinc.h | 830 + .../sdl2_windows/include/SDL2/SDL_surface.h | 997 + .../sdl2_windows/include/SDL2/SDL_system.h | 623 + .../sdl2_windows/include/SDL2/SDL_syswm.h | 386 + .../sdl2_windows/include/SDL2/SDL_test.h | 69 + .../include/SDL2/SDL_test_assert.h | 105 + .../include/SDL2/SDL_test_common.h | 236 + .../include/SDL2/SDL_test_compare.h | 69 + .../include/SDL2/SDL_test_crc32.h | 124 + .../sdl2_windows/include/SDL2/SDL_test_font.h | 168 + .../include/SDL2/SDL_test_fuzzer.h | 386 + .../include/SDL2/SDL_test_harness.h | 134 + .../include/SDL2/SDL_test_images.h | 78 + .../sdl2_windows/include/SDL2/SDL_test_log.h | 67 + .../sdl2_windows/include/SDL2/SDL_test_md5.h | 129 + .../include/SDL2/SDL_test_memory.h | 63 + .../include/SDL2/SDL_test_random.h | 115 + .../sdl2_windows/include/SDL2/SDL_thread.h | 464 + .../sdl2_windows/include/SDL2/SDL_timer.h | 222 + .../sdl2_windows/include/SDL2/SDL_touch.h | 150 + .../sdl2_windows/include/SDL2/SDL_types.h | 29 + .../sdl2_windows/include/SDL2/SDL_version.h | 204 + .../sdl2_windows/include/SDL2/SDL_video.h | 2150 ++ .../sdl2_windows/include/SDL2/SDL_vulkan.h | 215 + .../sdl2_windows/include/SDL2/begin_code.h | 187 + .../sdl2_windows/include/SDL2/close_code.h | 40 + subprojects/sdl2_windows/meson.build | 16 + .../sdl2_windows/share/aclocal/sdl2.m4 | 214 + subprojects/std_lib_facilities/meson.build | 7 + .../std_lib_facilities/std_lib_facilities.h | 175 + subprojects/zlib.wrap | 12 + 159 files changed, 93670 insertions(+), 42 deletions(-) create mode 100644 subprojects/animationwindow/include/AnimationWindow.h create mode 100644 subprojects/animationwindow/include/Audio.h create mode 100644 subprojects/animationwindow/include/Color.h create mode 100644 subprojects/animationwindow/include/Font.h create mode 100644 subprojects/animationwindow/include/Image.h create mode 100644 subprojects/animationwindow/include/KeyboardKey.h create mode 100644 subprojects/animationwindow/include/MessageType.h create mode 100644 subprojects/animationwindow/include/Point.h create mode 100644 subprojects/animationwindow/include/Widget.h create mode 100644 subprojects/animationwindow/include/internal/FontCache.h create mode 100644 subprojects/animationwindow/include/internal/KeyboardKeyConverter.h create mode 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a/navigation/valve_egomotion/CMakeLists.txt b/navigation/valve_egomotion/CMakeLists.txt index 7aae33546..4f1da5ffb 100644 --- a/navigation/valve_egomotion/CMakeLists.txt +++ b/navigation/valve_egomotion/CMakeLists.txt @@ -11,6 +11,7 @@ find_package(geometry_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) +find_package(vortex_msgs REQUIRED) include_directories(include) @@ -38,6 +39,7 @@ ament_target_dependencies(valve_egomotion_node tf2 tf2_ros tf2_geometry_msgs + vortex_msgs ) install(TARGETS diff --git a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp index bbcc6a26f..5a998d150 100644 --- a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp +++ b/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp @@ -3,10 +3,12 @@ #include #include #include +#include -#include #include #include +#include +#include #include #include @@ -32,7 +34,7 @@ class ValveEgomotionNode final : public rclcpp::Node { const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); private: - void onMarkers(const geometry_msgs::msg::PoseArray::SharedPtr msg); + void onLandmarks(const vortex_msgs::msg::LandmarkArray::SharedPtr msg); void onPublishTimer(); // Params @@ -41,17 +43,22 @@ class ValveEgomotionNode final : public rclcpp::Node { std::string base_frame_; std::string cam_frame_; bool publish_tf_ = false; - double pub_rate_hz_ = 30.0; double lost_timeout_sec_ = 0.5; + // Anchor selection + int anchor_id_{-1}; + uint16_t last_used_marker_id_{0xFFFF}; + size_t multi_skip_count_{0}; + // TF std::unique_ptr tf_buffer_; std::shared_ptr tf_listener_; std::shared_ptr tf_broadcaster_; // ROS I/O - rclcpp::Subscription::SharedPtr sub_marker_; + rclcpp::Subscription::SharedPtr + sub_landmarks_; rclcpp::Publisher::SharedPtr pub_pose_cov_; rclcpp::TimerBase::SharedPtr pub_timer_; @@ -64,6 +71,9 @@ class ValveEgomotionNode final : public rclcpp::Node { tf2::Transform T_base_marker0_; rclcpp::Time last_det_stamp_; rclcpp::Time last_pub_stamp_; + + bool have_last_ref_base_ = false; + tf2::Transform last_T_ref_base_; }; } // namespace valve_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/launch/valve_egomotion.launch.py b/navigation/valve_egomotion/launch/valve_egomotion.launch.py index 9c6031e50..6b02155d4 100644 --- a/navigation/valve_egomotion/launch/valve_egomotion.launch.py +++ b/navigation/valve_egomotion/launch/valve_egomotion.launch.py @@ -4,24 +4,25 @@ from launch_ros.actions import Node def generate_launch_description(): - use_sim_time_val = LaunchConfiguration('use_sim_time', default='true') + use_sim_time = LaunchConfiguration('use_sim_time') return LaunchDescription([ - DeclareLaunchArgument('valve_topic', default_value='/aruco_detector/markers'), - DeclareLaunchArgument('use_sim_time', default_value='false'), # change to true when using rosbags with --clock + DeclareLaunchArgument('valve_topic', default_value='/aruco_detector/landmarks'), + DeclareLaunchArgument('use_sim_time', default_value='false'), Node( package='valve_egomotion', - executable='valve_egomotion', + executable='valve_egomotion_node', name='valve_egomotion', parameters=[{ 'valve_topic': LaunchConfiguration('valve_topic'), - 'use_sim_time': use_sim_time_val, - 'map_frame': 'map', + 'use_sim_time': use_sim_time, + 'ref_frame': 'vo_ref', 'base_frame': 'base_link', 'cam_frame': 'Orca/camera_front', - 'marker_frame': 'valve_marker_0', - 'max_age_sec': 10.0, + 'max_age_sec': 10.0, + 'window_size': 20, + 'publish_tf': False, }], output='screen' ), @@ -31,6 +32,7 @@ def generate_launch_description(): executable='static_transform_publisher', name='base_to_cam', arguments=['0.2', '0', '0', '0', '0', '0', 'base_link', 'Orca/camera_front'], - parameters=[{'use_sim_time': use_sim_time_val}] + parameters=[{'use_sim_time': use_sim_time}], + output='screen' ), - ]) \ No newline at end of file + ]) diff --git a/navigation/valve_egomotion/package.xml b/navigation/valve_egomotion/package.xml index fa5a0d02e..8bb19ead8 100644 --- a/navigation/valve_egomotion/package.xml +++ b/navigation/valve_egomotion/package.xml @@ -3,7 +3,7 @@ valve_egomotion 0.1.0 Compute AUV pose from valve detections and publish to ESKF - Anton Tran + Anton Tran MIT ament_cmake diff --git a/navigation/valve_egomotion/src/valve_egomotion.cpp b/navigation/valve_egomotion/src/valve_egomotion.cpp index db4df1ced..3298a1ec5 100644 --- a/navigation/valve_egomotion/src/valve_egomotion.cpp +++ b/navigation/valve_egomotion/src/valve_egomotion.cpp @@ -34,7 +34,7 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, if (buf_.empty()) return false; - // Init around the newest sample rotation; translation init at origin. + // Init around the newest sample rotation; translation init at origin tf2::Quaternion q_avg = buf_.back().T_ref_base.getRotation(); tf2::Vector3 p_avg(0, 0, 0); @@ -51,12 +51,10 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, for (auto& d : dists) d = std::abs(d - med); const double mad = median(dists); - // 3*MAD is a common robust spread heuristic. Clamp with configured - // gate. gate = std::min(gate, med + 3.0 * mad); } - // Robust mean on SO(3) using log/exp in the tangent space at q_avg. + // Robust mean on SO(3) using log/exp in the tangent space at q_avg for (int i = 0; i < 5; ++i) { tf2::Vector3 sum_p(0, 0, 0); tf2::Vector3 sum_w(0, 0, 0); @@ -97,7 +95,7 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, T_est.setOrigin(p_avg); T_est.setRotation(q_avg); - // Diagonal covariance proxy. + // Diagonal covariance proxy cov6x6.fill(0.0); double inliers = 0.0; @@ -123,9 +121,8 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, for (double& v : cov6x6) v /= denom; - // Floors to avoid exact zeros. - const double pos_floor = 1e-6; // ~1mm^2 - const double rot_floor = 1e-6; // ~ (0.057 deg)^2 in rad^2 order + const double pos_floor = 1e-6; + const double rot_floor = 1e-6; cov6x6[0] += pos_floor; cov6x6[7] += pos_floor; cov6x6[14] += pos_floor; @@ -162,7 +159,7 @@ tf2::Quaternion SlidingWindowSO3Mean::expMapSO3(const tf2::Vector3& w) { double SlidingWindowSO3Mean::angularDist(const tf2::Quaternion& q1, const tf2::Quaternion& q2) { - // Use abs(dot) to account for q and -q representing same rotation. + // Use abs(dot) to account for q and -q representing same rotation const double d = std::abs(static_cast(q1.dot(q2))); return 2.0 * std::acos(std::clamp(d, -1.0, 1.0)); } diff --git a/navigation/valve_egomotion/src/valve_egomotion_ros.cpp b/navigation/valve_egomotion/src/valve_egomotion_ros.cpp index f1e29f02b..6a666402f 100644 --- a/navigation/valve_egomotion/src/valve_egomotion_ros.cpp +++ b/navigation/valve_egomotion/src/valve_egomotion_ros.cpp @@ -2,6 +2,7 @@ #include #include +#include namespace valve_egomotion { @@ -18,7 +19,7 @@ ValveEgomotionNode::ValveEgomotionNode(const rclcpp::NodeOptions& options) return cfg; }()) { valve_topic_ = this->declare_parameter( - "valve_topic", "/aruco_detector/markers"); + "valve_topic", "/aruco_detector/landmarks"); ref_frame_ = this->declare_parameter("ref_frame", "vo_ref"); base_frame_ = this->declare_parameter("base_frame", "base_link"); @@ -30,6 +31,8 @@ ValveEgomotionNode::ValveEgomotionNode(const rclcpp::NodeOptions& options) lost_timeout_sec_ = this->declare_parameter("lost_timeout_sec", 0.5); + anchor_id_ = this->declare_parameter("anchor_id", -1); + pub_pose_cov_ = this->create_publisher( "/landmark/pose_cov", rclcpp::QoS(10)); @@ -38,9 +41,10 @@ ValveEgomotionNode::ValveEgomotionNode(const rclcpp::NodeOptions& options) tf_listener_ = std::make_shared(*tf_buffer_); tf_broadcaster_ = std::make_shared(this); - sub_marker_ = this->create_subscription( + sub_landmarks_ = this->create_subscription( valve_topic_, rclcpp::SensorDataQoS(), - std::bind(&ValveEgomotionNode::onMarkers, this, std::placeholders::_1)); + std::bind(&ValveEgomotionNode::onLandmarks, this, + std::placeholders::_1)); last_det_stamp_ = this->now(); last_pub_stamp_ = this->now(); @@ -58,14 +62,91 @@ ValveEgomotionNode::ValveEgomotionNode(const rclcpp::NodeOptions& options) ref_frame_.c_str()); } -void ValveEgomotionNode::onMarkers( - const geometry_msgs::msg::PoseArray::SharedPtr msg) { - if (!msg || msg->poses.empty()) +void ValveEgomotionNode::onLandmarks( + const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { + if (!msg || msg->landmarks.empty()) + return; + + // Runtime-updateable + this->get_parameter("anchor_id", anchor_id_); + + // Collect ARUCO_MARKER detections (board disabled for now) + const vortex_msgs::msg::Landmark* board = nullptr; + std::vector markers; + markers.reserve(msg->landmarks.size()); + + for (const auto& lm : msg->landmarks) { + if (lm.type == vortex_msgs::msg::Landmark::ARUCO_MARKER) { + markers.push_back(&lm); + } + } + + if (!board && markers.empty()) return; - // Take the first detection (keep your selector policy here if needed). - tf2::Transform T_cam_marker; - tf2::fromMsg(msg->poses[0], T_cam_marker); + const vortex_msgs::msg::Landmark* chosen = nullptr; + uint16_t chosen_id = 0xFFFF; + + if (board) { + chosen = board; + chosen_id = 0; + } else { + if (markers.size() == 1) { + chosen = markers[0]; + chosen_id = chosen->subtype; + } else { + // Multi-marker: choose by explicit anchor_id, else implicit locked id + uint16_t aid = 0xFFFF; + bool have_aid = false; + + if (anchor_id_ >= 0) { + aid = static_cast(anchor_id_); + have_aid = true; + } else if (have_ref_ && last_used_marker_id_ != 0xFFFF) { + aid = last_used_marker_id_; + have_aid = true; + } + + if (!have_aid) { + if ((++multi_skip_count_ % 20) == 1) { + std::ostringstream oss; + oss << "Multi-marker frame and no anchor yet. Seen ids: "; + for (auto* m : markers) + oss << m->subtype << " "; + RCLCPP_WARN(this->get_logger(), "%s", oss.str().c_str()); + } + return; + } + + for (auto* m : markers) { + if (m->subtype == aid) { + chosen = m; + chosen_id = aid; + break; + } + } + + if (!chosen) { + if ((++multi_skip_count_ % 20) == 1) { + std::ostringstream oss; + oss << "Multi-marker frame: anchor_id=" << aid + << " not present. Seen ids: "; + for (auto* m : markers) + oss << m->subtype << " "; + RCLCPP_WARN(this->get_logger(), "%s", oss.str().c_str()); + } + return; + } + } + } + + RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 500, + "Chosen=%s id=%u (anchor_id=%d) markers=%zu", + (chosen == board) ? "BOARD" : "MARKER", chosen_id, + anchor_id_, markers.size()); + + tf2::Transform T_cam_landmark; + tf2::fromMsg(chosen->pose.pose, T_cam_landmark); tf2::Transform T_base_cam; try { @@ -79,27 +160,73 @@ void ValveEgomotionNode::onMarkers( return; } - const tf2::Transform T_base_marker_now = T_base_cam * T_cam_marker; + const tf2::Transform T_base_landmark_now = T_base_cam * T_cam_landmark; + + if (have_ref_ && chosen != board && last_used_marker_id_ != 0xFFFF && + chosen_id != last_used_marker_id_) { + tf2::Transform T_ref_base_curr; + std::array tmp_cov; + + if (smoother_.estimate(this->now(), T_ref_base_curr, tmp_cov)) { + last_T_ref_base_ = T_ref_base_curr; + have_last_ref_base_ = true; + } else if (have_last_ref_base_) { + T_ref_base_curr = last_T_ref_base_; + } else { + T_ref_base_curr = + T_base_marker0_ * T_base_landmark_now.inverse(); + last_T_ref_base_ = T_ref_base_curr; + have_last_ref_base_ = true; + } + + // Re-anchor so T_ref<-base stays the same under the new marker + T_base_marker0_ = T_ref_base_curr * T_base_landmark_now; + + RCLCPP_WARN(this->get_logger(), + "Marker switch %u -> %u: re-anchored to preserve continuity", + last_used_marker_id_, chosen_id); + } if (!have_ref_) { - // Anchor at first valid detection. - T_base_marker0_ = T_base_marker_now; + T_base_marker0_ = T_base_landmark_now; have_ref_ = true; + + if (chosen != board) { + last_used_marker_id_ = chosen_id; + } + + if (chosen == board) { + RCLCPP_INFO(this->get_logger(), "Anchor set to ARUCO_BOARD"); + } else { + RCLCPP_INFO(this->get_logger(), "Anchor set to ARUCO_MARKER id=%u", + chosen_id); + } + } else { + if (chosen != board) { + const bool changed = (last_used_marker_id_ != 0xFFFF) && + (chosen_id != last_used_marker_id_); + if (changed) { + RCLCPP_INFO(this->get_logger(), "Using marker id=%u (prev=%u)", + chosen_id, last_used_marker_id_); + } + last_used_marker_id_ = chosen_id; + } } const tf2::Transform T_ref_base_meas = - T_base_marker0_ * T_base_marker_now.inverse(); + T_base_marker0_ * T_base_landmark_now.inverse(); + + last_T_ref_base_ = T_ref_base_meas; + have_last_ref_base_ = true; smoother_.addSample(msg->header.stamp, T_ref_base_meas, 1.0); smoother_.prune(this->now()); - last_det_stamp_ = msg->header.stamp; } void ValveEgomotionNode::onPublishTimer() { const rclcpp::Time now = this->now(); - // If we haven't received detections for a while, stop publishing. if (!have_ref_) return; if ((now - last_det_stamp_).seconds() > lost_timeout_sec_) @@ -113,9 +240,7 @@ void ValveEgomotionNode::onPublishTimer() { geometry_msgs::msg::PoseWithCovarianceStamped pc; pc.header.frame_id = ref_frame_; - // Publish with current time; consumers doing time-sync can use header - // stamps from message filters. - pc.header.stamp = now; + pc.header.stamp = last_det_stamp_; tf2::toMsg(T_est, pc.pose.pose); std::copy(cov.begin(), cov.end(), pc.pose.covariance.begin()); pub_pose_cov_->publish(pc); diff --git a/subprojects/animationwindow/include/AnimationWindow.h b/subprojects/animationwindow/include/AnimationWindow.h new file mode 100644 index 000000000..7fcde3637 --- /dev/null +++ b/subprojects/animationwindow/include/AnimationWindow.h @@ -0,0 +1,137 @@ +#pragma once + +#include + +#include +#include +#include +#include + +#include "Color.h" +#include "Font.h" +#include "Image.h" +#include "Audio.h" +#include "KeyboardKey.h" +#include "Point.h" +#include "Widget.h" +#include "internal/FontCache.h" +#include "internal/nuklear_configured.h" +#include "internal/windows_main_fix.h" +#include "MessageType.h" + +namespace TDT4102 { +// Forward declaration of Widget class +class Widget; +namespace internal { +// These variables set the rate at which this window should draw frames. + +static const double activeFramesPerSecond = 60.0; +static const double activeSecondsPerFrame = 1.0 / activeFramesPerSecond; + +static const double idleFramesPerSecond = 15.0; +static const double idleSecondsPerFrame = 1.0 / idleFramesPerSecond; + +// Higher number of vertices means better circle approximation +// Lower number of vertices results in better speed +static const int SLICES_PER_CIRCLE = 45; +[[maybe_unused]] static std::array circleCoordinateBuffer; +[[maybe_unused]] static std::array circleIndexBuffer; +[[maybe_unused]] static std::array circleBorderBuffer; +} // namespace internal + +class AnimationWindow { + private: + void show_frame(); + void update_gui(); + void pump_events(); + TDT4102::Point getWindowDimensions() const; + void startNuklearDraw(TDT4102::Point location, std::string uniqueWindowName, unsigned int width = 0, unsigned int height = 0); + void endNuklearDraw(); + void destroy(); + bool destroyed = false; + + // If set to true, new shapes will be drawn on top of the old ones. Can create some neat effects. + // However, note that GUI elements such as buttons will not draw themselves correctly if you use this. + bool keepPreviousFrame = false; + + bool closeRequested = false; + + std::vector> widgets; + + TDT4102::Color backgroundColor = TDT4102::Color::white; + + // SDL related context + SDL_Window* windowHandle = nullptr; + SDL_Renderer* rendererHandle = nullptr; + + // Nuklear related context + nk_context* context = nullptr; + TDT4102::internal::FontCache fontCache; + unsigned int textWindowCounter = 0; + + // Input related context + std::unordered_map currentKeyStates; + bool currentLeftMouseButtonState = false; + bool currentRightMouseButtonState = false; + float deltaMouseWheel = 0; + + public: + explicit AnimationWindow(int x = 50, int y = 50, int width = 1024, int height = 768, const std::string& title = "Animation Window"); + ~AnimationWindow(); + + // When you have finished drawing a frame, call this function to display it (usually at the end of your main while loop) + void next_frame(); + + // Returns true if someone has clicked the close button of the window + bool should_close() const; + + // See the comment above talking about the keepPreviousFrame variable :) + void keep_previous_frame(bool enabled); + + // Run the application until someone closes the window. + // Using this function makes sure GUI elements such as buttons are interactive and are drawn. + void wait_for_close(); + + // Close window immediately the next time next_frame() or wait_for_close() is called + void close(); + + // Pauses execution for a specified amount of time + static void wait_for(double timeSeconds); + + // These functions should hopefully be rather self-explanatory. + // They allow you to draw a variety of different shapes. + void draw_circle(TDT4102::Point centre, int radius, TDT4102::Color color = TDT4102::Color::dark_blue, TDT4102::Color borderColor = TDT4102::Color::transparent); + void draw_rectangle(TDT4102::Point topLeftPoint, int width, int height, TDT4102::Color color = TDT4102::Color::dark_green, TDT4102::Color borderColor = TDT4102::Color::transparent); + void draw_image(TDT4102::Point topLeftPoint, TDT4102::Image& image, int imageWidth = 0, int imageHeight = 0); + void draw_text(TDT4102::Point bottomLeftPoint, std::string textToShow, TDT4102::Color color = TDT4102::Color::black, unsigned int fontSize = 20, TDT4102::Font font = TDT4102::Font::arial); + void draw_line(TDT4102::Point start, TDT4102::Point end, TDT4102::Color color = TDT4102::Color::black); + void draw_triangle(TDT4102::Point vertex0, TDT4102::Point vertex1, TDT4102::Point vertex2, TDT4102::Color color = TDT4102::Color::yellow); + void draw_quad(TDT4102::Point vertex0, TDT4102::Point vertex1, TDT4102::Point vertex2, TDT4102::Point vertex3, TDT4102::Color color = TDT4102::Color::cyan); + void draw_arc(TDT4102::Point center, int width, int height, int start_degree, int end_degree, TDT4102::Color color = TDT4102::Color::black); + + // And these functions are for handling input + bool is_key_down(KeyboardKey key) const; + TDT4102::Point get_mouse_coordinates() const; + bool is_left_mouse_button_down() const; + bool is_right_mouse_button_down() const; + + // Add a GUI widget to the window such that it becomes visible and the user can interact with it + void add(TDT4102::Widget& widgetToAdd); + + // Show an information dialog message to the user + void show_info_dialog(const std::string& message) const; + // Show an alert message to the user + void show_error_dialog(const std::string& message) const; + + // Getters for the window dimensions + int width() const; + int height() const; + + void setBackgroundColor(TDT4102::Color newBackgroundColor); + + float get_delta_mouse_wheel() const; + + // + void play_audio(TDT4102::Audio& audio, int loops = 0); +}; +} // namespace TDT4102 diff --git a/subprojects/animationwindow/include/Audio.h b/subprojects/animationwindow/include/Audio.h new file mode 100644 index 000000000..44324bb62 --- /dev/null +++ b/subprojects/animationwindow/include/Audio.h @@ -0,0 +1,29 @@ +#pragma once + +#include +#include +#include + +namespace TDT4102 { + struct Audio { + // Allow the audio to be read out and played despite being private + friend class AnimationWindow; + + public: + explicit Audio(); + explicit Audio(std::filesystem::path pathToAudioFile); + ~Audio(); + + + private: + Mix_Chunk *sfx = nullptr; + Mix_Music *mus = nullptr; + bool ready = false; // flag to load audio before playing + bool isMusic = false; + + std::filesystem::path src = "non existent file"; + + void load(); + void play(int loops = 0); + }; +} diff --git a/subprojects/animationwindow/include/Color.h b/subprojects/animationwindow/include/Color.h new file mode 100644 index 000000000..5a5212a33 --- /dev/null +++ b/subprojects/animationwindow/include/Color.h @@ -0,0 +1,335 @@ +#pragma once + +namespace TDT4102 { + struct Color { + // Colour channel fields + unsigned char redChannel = 0; + unsigned char greenChannel = 0; + unsigned char blueChannel = 0; + unsigned char alphaChannel = 255; // The alpha channel is used for transparency + + // The easiest way of using this colour class is to use one of the default colours specified above + // However, you can also specify your own if you so desire. We recommend you use a colour picker for finding the colour you want + // Many colour picker tools allow you to view values for the red, green, and blue channels, or produce a string of 6 numbers and letters (A to F). + // Use the first constructor for the former format, where each value must be between 0 and 255 + // You can also specify a transparency value in the same range if you want, where 0 means completely transparent, and 255 means completely opaque + // If your colour picker produces a 6 character hexadecimal string, use the second constructor instead. + + explicit Color(unsigned char red, unsigned char green, unsigned char blue, unsigned char transparency = 255); + explicit Color(unsigned int hexadecimalColour); + explicit Color() = default; + + bool operator!=(Color otherColor); + bool operator==(Color otherColor); + + // Predefined colour values + // The first set originates from the Graph_lib library used in the course book + const static Color transparent; + const static Color red; + const static Color blue; + const static Color green; + const static Color yellow; + const static Color white; + const static Color black; + const static Color magenta; + const static Color cyan; + const static Color dark_red; + const static Color dark_green; + const static Color dark_blue; + const static Color dark_magenta; + const static Color dark_cyan; + const static Color mid_gray; + const static Color dark_gray; + const static Color light_gray; + + // A second set of colours used from colours used in CSS (intended for web pages) + // You can find the colour visualised here: https://developer.mozilla.org/en-US/docs/Web/CSS/color_value/color_keywords + const static Color silver; + const static Color gray; + const static Color maroon; + const static Color purple; + const static Color fuchsia; + const static Color lime; + const static Color olive; + const static Color navy; + const static Color teal; + const static Color aqua; + const static Color orange; + const static Color alice_blue; + const static Color antique_white; + const static Color aquamarine; + const static Color azure; + const static Color beige; + const static Color bisque; + const static Color blanched_almond; + const static Color blue_violet; + const static Color brown; + const static Color burly_wood; + const static Color cadet_blue; + const static Color chart_reuse; + const static Color chocolate; + const static Color coral; + const static Color cornflower_blue; + const static Color corn_silk; + const static Color crimson; + const static Color dark_goldenrod; + const static Color dark_grey; + const static Color dark_khaki; + const static Color dark_olivegreen; + const static Color dark_orange; + const static Color dark_orchid; + const static Color dark_salmon; + const static Color dark_seagreen; + const static Color dark_slateblue; + const static Color dark_slategray; + const static Color dark_slategrey; + const static Color dark_turquoise; + const static Color dark_violet; + const static Color dark_yellow; + const static Color deep_pink; + const static Color deep_skyblue; + const static Color dim_gray; + const static Color dim_grey; + const static Color dodger_blue; + const static Color firebrick; + const static Color floral_white; + const static Color forest_green; + const static Color gainsboro; + const static Color ghost_white; + const static Color gold; + const static Color goldenrod; + const static Color green_yellow; + const static Color grey; + const static Color honeydew; + const static Color hot_pink; + const static Color indian_red; + const static Color indigo; + const static Color ivory; + const static Color khaki; + const static Color lavender; + const static Color lavender_blush; + const static Color lawn_green; + const static Color lemon_chiffon; + const static Color light_blue; + const static Color light_coral; + const static Color light_cyan; + const static Color light_goldenrodyellow; + const static Color light_green; + const static Color light_grey; + const static Color light_pink; + const static Color light_salmon; + const static Color light_sea_green; + const static Color light_sky_blue; + const static Color light_slate_gray; + const static Color light_slate_grey; + const static Color light_steel_blue; + const static Color light_yellow; + const static Color lime_green; + const static Color linen; + const static Color medium_aquamarine; + const static Color medium_blue; + const static Color medium_orchid; + const static Color medium_purple; + const static Color medium_sea_green; + const static Color medium_slate_blue; + const static Color medium_spring_green; + const static Color medium_turquoise; + const static Color medium_violet_red; + const static Color midnight_blue; + const static Color mint_cream; + const static Color misty_rose; + const static Color moccasin; + const static Color navajo_white; + const static Color old_lace; + const static Color olivedrab; + const static Color orange_red; + const static Color orchid; + const static Color pale_goldenrod; + const static Color pale_green; + const static Color pale_turquoise; + const static Color pale_violet_red; + const static Color papayawhip; + const static Color peachpuff; + const static Color peru; + const static Color pink; + const static Color plum; + const static Color powder_blue; + const static Color rosy_brown; + const static Color royal_blue; + const static Color saddle_brown; + const static Color salmon; + const static Color sandy_brown; + const static Color sea_green; + const static Color sea_shell; + const static Color sienna; + const static Color sky_blue; + const static Color slate_blue; + const static Color slate_gray; + const static Color slate_grey; + const static Color snow; + const static Color spring_green; + const static Color steel_blue; + const static Color tan; + const static Color thistle; + const static Color tomato; + const static Color turquoise; + const static Color violet; + const static Color wheat; + const static Color white_smoke; + const static Color yellow_green; + const static Color rebecca_purple; + }; + + inline const TDT4102::Color TDT4102::Color::transparent = [] { return TDT4102::Color{0, 0, 0, 0};}(); + inline const TDT4102::Color TDT4102::Color::silver = [] { return TDT4102::Color{0xc0c0c0};}(); + inline const TDT4102::Color TDT4102::Color::black = [] { return TDT4102::Color{0x000000};}(); + inline const TDT4102::Color TDT4102::Color::gray = [] { return TDT4102::Color{0x808080};}(); + inline const TDT4102::Color TDT4102::Color::white = [] { return TDT4102::Color{0xffffff};}(); + inline const TDT4102::Color TDT4102::Color::maroon = [] { return TDT4102::Color{0x800000};}(); + inline const TDT4102::Color TDT4102::Color::red = [] { return TDT4102::Color{0xff0000};}(); + inline const TDT4102::Color TDT4102::Color::purple = [] { return TDT4102::Color{0x800080};}(); + inline const TDT4102::Color TDT4102::Color::fuchsia = [] { return TDT4102::Color{0xff00ff};}(); + inline const TDT4102::Color TDT4102::Color::magenta = [] { return TDT4102::Color{0xff00ff};}(); + inline const TDT4102::Color TDT4102::Color::green = [] { return TDT4102::Color{0x008000};}(); + inline const TDT4102::Color TDT4102::Color::lime = [] { return TDT4102::Color{0x00ff00};}(); + inline const TDT4102::Color TDT4102::Color::olive = [] { return TDT4102::Color{0x808000};}(); + inline const TDT4102::Color TDT4102::Color::yellow = [] { return TDT4102::Color{0xffff00};}(); + inline const TDT4102::Color TDT4102::Color::navy = [] { return TDT4102::Color{0x000080};}(); + inline const TDT4102::Color TDT4102::Color::blue = [] { return TDT4102::Color{0x0000ff};}(); + inline const TDT4102::Color TDT4102::Color::teal = [] { return TDT4102::Color{0x008080};}(); + inline const TDT4102::Color TDT4102::Color::aqua = [] { return TDT4102::Color{0x00ffff};}(); + inline const TDT4102::Color TDT4102::Color::orange = [] { return TDT4102::Color{0xffa500};}(); + inline const TDT4102::Color TDT4102::Color::mid_gray = [] { return TDT4102::Color{0x6a6c6e};}(); + inline const TDT4102::Color TDT4102::Color::alice_blue = [] { return TDT4102::Color{0xf0f8ff};}(); + inline const TDT4102::Color TDT4102::Color::antique_white = [] { return TDT4102::Color{0xfaebd7};}(); + inline const TDT4102::Color TDT4102::Color::aquamarine = [] { return TDT4102::Color{0x7fffd4};}(); + inline const TDT4102::Color TDT4102::Color::azure = [] { return TDT4102::Color{0xf0ffff};}(); + inline const TDT4102::Color TDT4102::Color::beige = [] { return TDT4102::Color{0xf5f5dc};}(); + inline const TDT4102::Color TDT4102::Color::bisque = [] { return TDT4102::Color{0xffe4c4};}(); + inline const TDT4102::Color TDT4102::Color::blanched_almond = [] { return TDT4102::Color{0xffebcd};}(); + inline const TDT4102::Color TDT4102::Color::blue_violet = [] { return TDT4102::Color{0x8a2be2};}(); + inline const TDT4102::Color TDT4102::Color::brown = [] { return TDT4102::Color{0xa52a2a};}(); + inline const TDT4102::Color TDT4102::Color::burly_wood = [] { return TDT4102::Color{0xdeb887};}(); + inline const TDT4102::Color TDT4102::Color::cadet_blue = [] { return TDT4102::Color{0x5f9ea0};}(); + inline const TDT4102::Color TDT4102::Color::chart_reuse = [] { return TDT4102::Color{0x7fff00};}(); + inline const TDT4102::Color TDT4102::Color::chocolate = [] { return TDT4102::Color{0xd2691e};}(); + inline const TDT4102::Color TDT4102::Color::coral = [] { return TDT4102::Color{0xff7f50};}(); + inline const TDT4102::Color TDT4102::Color::cornflower_blue = [] { return TDT4102::Color{0x6495ed};}(); + inline const TDT4102::Color TDT4102::Color::corn_silk = [] { return TDT4102::Color{0xfff8dc};}(); + inline const TDT4102::Color TDT4102::Color::crimson = [] { return TDT4102::Color{0xdc143c};}(); + inline const TDT4102::Color TDT4102::Color::cyan = [] { return TDT4102::Color{0x00ffff};}(); + inline const TDT4102::Color TDT4102::Color::dark_blue = [] { return TDT4102::Color{0x00008b};}(); + inline const TDT4102::Color TDT4102::Color::dark_cyan = [] { return TDT4102::Color{0x008b8b};}(); + inline const TDT4102::Color TDT4102::Color::dark_goldenrod = [] { return TDT4102::Color{0xb8860b};}(); + inline const TDT4102::Color TDT4102::Color::dark_gray = [] { return TDT4102::Color{0xa9a9a9};}(); + inline const TDT4102::Color TDT4102::Color::dark_green = [] { return TDT4102::Color{0x006400};}(); + inline const TDT4102::Color TDT4102::Color::dark_grey = [] { return TDT4102::Color{0xa9a9a9};}(); + inline const TDT4102::Color TDT4102::Color::dark_khaki = [] { return TDT4102::Color{0xbdb76b};}(); + inline const TDT4102::Color TDT4102::Color::dark_magenta = [] { return TDT4102::Color{0x8b008b};}(); + inline const TDT4102::Color TDT4102::Color::dark_olivegreen = [] { return TDT4102::Color{0x556b2f};}(); + inline const TDT4102::Color TDT4102::Color::dark_orange = [] { return TDT4102::Color{0xff8c00};}(); + inline const TDT4102::Color TDT4102::Color::dark_orchid = [] { return TDT4102::Color{0x9932cc};}(); + inline const TDT4102::Color TDT4102::Color::dark_red = [] { return TDT4102::Color{0x8b0000};}(); + inline const TDT4102::Color TDT4102::Color::dark_salmon = [] { return TDT4102::Color{0xe9967a};}(); + inline const TDT4102::Color TDT4102::Color::dark_seagreen = [] { return TDT4102::Color{0x8fbc8f};}(); + inline const TDT4102::Color TDT4102::Color::dark_slateblue = [] { return TDT4102::Color{0x483d8b};}(); + inline const TDT4102::Color TDT4102::Color::dark_slategray = [] { return TDT4102::Color{0x2f4f4f};}(); + inline const TDT4102::Color TDT4102::Color::dark_slategrey = [] { return TDT4102::Color{0x2f4f4f};}(); + inline const TDT4102::Color TDT4102::Color::dark_turquoise = [] { return TDT4102::Color{0x00ced1};}(); + inline const TDT4102::Color TDT4102::Color::dark_violet = [] { return TDT4102::Color{0x9400d3};}(); + inline const TDT4102::Color TDT4102::Color::dark_yellow = [] { return TDT4102::Color{0xffcc00};}(); + inline const TDT4102::Color TDT4102::Color::deep_pink = [] { return TDT4102::Color{0xff1493};}(); + inline const TDT4102::Color TDT4102::Color::deep_skyblue = [] { return TDT4102::Color{0x00bfff};}(); + inline const TDT4102::Color TDT4102::Color::dim_gray = [] { return TDT4102::Color{0x696969};}(); + inline const TDT4102::Color TDT4102::Color::dim_grey = [] { return TDT4102::Color{0x696969};}(); + inline const TDT4102::Color TDT4102::Color::dodger_blue = [] { return TDT4102::Color{0x1e90ff};}(); + inline const TDT4102::Color TDT4102::Color::firebrick = [] { return TDT4102::Color{0xb22222};}(); + inline const TDT4102::Color TDT4102::Color::floral_white = [] { return TDT4102::Color{0xfffaf0};}(); + inline const TDT4102::Color TDT4102::Color::forest_green = [] { return TDT4102::Color{0x228b22};}(); + inline const TDT4102::Color TDT4102::Color::gainsboro = [] { return TDT4102::Color{0xdcdcdc};}(); + inline const TDT4102::Color TDT4102::Color::ghost_white = [] { return TDT4102::Color{0xf8f8ff};}(); + inline const TDT4102::Color TDT4102::Color::gold = [] { return TDT4102::Color{0xffd700};}(); + inline const TDT4102::Color TDT4102::Color::goldenrod = [] { return TDT4102::Color{0xdaa520};}(); + inline const TDT4102::Color TDT4102::Color::green_yellow = [] { return TDT4102::Color{0xadff2f};}(); + inline const TDT4102::Color TDT4102::Color::grey = [] { return TDT4102::Color{0x808080};}(); + inline const TDT4102::Color TDT4102::Color::honeydew = [] { return TDT4102::Color{0xf0fff0};}(); + inline const TDT4102::Color TDT4102::Color::hot_pink = [] { return TDT4102::Color{0xff69b4};}(); + inline const TDT4102::Color TDT4102::Color::indian_red = [] { return TDT4102::Color{0xcd5c5c};}(); + inline const TDT4102::Color TDT4102::Color::indigo = [] { return TDT4102::Color{0x4b0082};}(); + inline const TDT4102::Color TDT4102::Color::ivory = [] { return TDT4102::Color{0xfffff0};}(); + inline const TDT4102::Color TDT4102::Color::khaki = [] { return TDT4102::Color{0xf0e68c};}(); + inline const TDT4102::Color TDT4102::Color::lavender = [] { return TDT4102::Color{0xe6e6fa};}(); + inline const TDT4102::Color TDT4102::Color::lavender_blush = [] { return TDT4102::Color{0xfff0f5};}(); + inline const TDT4102::Color TDT4102::Color::lawn_green = [] { return TDT4102::Color{0x7cfc00};}(); + inline const TDT4102::Color TDT4102::Color::lemon_chiffon = [] { return TDT4102::Color{0xfffacd};}(); + inline const TDT4102::Color TDT4102::Color::light_blue = [] { return TDT4102::Color{0xadd8e6};}(); + inline const TDT4102::Color TDT4102::Color::light_coral = [] { return TDT4102::Color{0xf08080};}(); + inline const TDT4102::Color TDT4102::Color::light_cyan = [] { return TDT4102::Color{0xe0ffff};}(); + inline const TDT4102::Color TDT4102::Color::light_goldenrodyellow = [] { return TDT4102::Color{0xfafad2};}(); + inline const TDT4102::Color TDT4102::Color::light_gray = [] { return TDT4102::Color{0xd3d3d3};}(); + inline const TDT4102::Color TDT4102::Color::light_green = [] { return TDT4102::Color{0x90ee90};}(); + inline const TDT4102::Color TDT4102::Color::light_grey = [] { return TDT4102::Color{0xd3d3d3};}(); + inline const TDT4102::Color TDT4102::Color::light_pink = [] { return TDT4102::Color{0xffb6c1};}(); + inline const TDT4102::Color TDT4102::Color::light_salmon = [] { return TDT4102::Color{0xffa07a};}(); + inline const TDT4102::Color TDT4102::Color::light_sea_green = [] { return TDT4102::Color{0x20b2aa};}(); + inline const TDT4102::Color TDT4102::Color::light_sky_blue = [] { return TDT4102::Color{0x87cefa};}(); + inline const TDT4102::Color TDT4102::Color::light_slate_gray = [] { return TDT4102::Color{0x778899};}(); + inline const TDT4102::Color TDT4102::Color::light_slate_grey = [] { return TDT4102::Color{0x778899};}(); + inline const TDT4102::Color TDT4102::Color::light_steel_blue = [] { return TDT4102::Color{0xb0c4de};}(); + inline const TDT4102::Color TDT4102::Color::light_yellow = [] { return TDT4102::Color{0xffffe0};}(); + inline const TDT4102::Color TDT4102::Color::lime_green = [] { return TDT4102::Color{0x32cd32};}(); + inline const TDT4102::Color TDT4102::Color::linen = [] { return TDT4102::Color{0xfaf0e6};}(); + inline const TDT4102::Color TDT4102::Color::medium_aquamarine = [] { return TDT4102::Color{0x66cdaa};}(); + inline const TDT4102::Color TDT4102::Color::medium_blue = [] { return TDT4102::Color{0x0000cd};}(); + inline const TDT4102::Color TDT4102::Color::medium_orchid = [] { return TDT4102::Color{0xba55d3};}(); + inline const TDT4102::Color TDT4102::Color::medium_purple = [] { return TDT4102::Color{0x9370db};}(); + inline const TDT4102::Color TDT4102::Color::medium_sea_green = [] { return TDT4102::Color{0x3cb371};}(); + inline const TDT4102::Color TDT4102::Color::medium_slate_blue = [] { return TDT4102::Color{0x7b68ee};}(); + inline const TDT4102::Color TDT4102::Color::medium_spring_green = [] { return TDT4102::Color{0x00fa9a};}(); + inline const TDT4102::Color TDT4102::Color::medium_turquoise = [] { return TDT4102::Color{0x48d1cc};}(); + inline const TDT4102::Color TDT4102::Color::medium_violet_red = [] { return TDT4102::Color{0xc71585};}(); + inline const TDT4102::Color TDT4102::Color::midnight_blue = [] { return TDT4102::Color{0x191970};}(); + inline const TDT4102::Color TDT4102::Color::mint_cream = [] { return TDT4102::Color{0xf5fffa};}(); + inline const TDT4102::Color TDT4102::Color::misty_rose = [] { return TDT4102::Color{0xffe4e1};}(); + inline const TDT4102::Color TDT4102::Color::moccasin = [] { return TDT4102::Color{0xffe4b5};}(); + inline const TDT4102::Color TDT4102::Color::navajo_white = [] { return TDT4102::Color{0xffdead};}(); + inline const TDT4102::Color TDT4102::Color::old_lace = [] { return TDT4102::Color{0xfdf5e6};}(); + inline const TDT4102::Color TDT4102::Color::olivedrab = [] { return TDT4102::Color{0x6b8e23};}(); + inline const TDT4102::Color TDT4102::Color::orange_red = [] { return TDT4102::Color{0xff4500};}(); + inline const TDT4102::Color TDT4102::Color::orchid = [] { return TDT4102::Color{0xda70d6};}(); + inline const TDT4102::Color TDT4102::Color::pale_goldenrod = [] { return TDT4102::Color{0xeee8aa};}(); + inline const TDT4102::Color TDT4102::Color::pale_green = [] { return TDT4102::Color{0x98fb98};}(); + inline const TDT4102::Color TDT4102::Color::pale_turquoise = [] { return TDT4102::Color{0xafeeee};}(); + inline const TDT4102::Color TDT4102::Color::pale_violet_red = [] { return TDT4102::Color{0xdb7093};}(); + inline const TDT4102::Color TDT4102::Color::papayawhip = [] { return TDT4102::Color{0xffefd5};}(); + inline const TDT4102::Color TDT4102::Color::peachpuff = [] { return TDT4102::Color{0xffdab9};}(); + inline const TDT4102::Color TDT4102::Color::peru = [] { return TDT4102::Color{0xcd853f};}(); + inline const TDT4102::Color TDT4102::Color::pink = [] { return TDT4102::Color{0xffc0cb};}(); + inline const TDT4102::Color TDT4102::Color::plum = [] { return TDT4102::Color{0xdda0dd};}(); + inline const TDT4102::Color TDT4102::Color::powder_blue = [] { return TDT4102::Color{0xb0e0e6};}(); + inline const TDT4102::Color TDT4102::Color::rosy_brown = [] { return TDT4102::Color{0xbc8f8f};}(); + inline const TDT4102::Color TDT4102::Color::royal_blue = [] { return TDT4102::Color{0x4169e1};}(); + inline const TDT4102::Color TDT4102::Color::saddle_brown = [] { return TDT4102::Color{0x8b4513};}(); + inline const TDT4102::Color TDT4102::Color::salmon = [] { return TDT4102::Color{0xfa8072};}(); + inline const TDT4102::Color TDT4102::Color::sandy_brown = [] { return TDT4102::Color{0xf4a460};}(); + inline const TDT4102::Color TDT4102::Color::sea_green = [] { return TDT4102::Color{0x2e8b57};}(); + inline const TDT4102::Color TDT4102::Color::sea_shell = [] { return TDT4102::Color{0xfff5ee};}(); + inline const TDT4102::Color TDT4102::Color::sienna = [] { return TDT4102::Color{0xa0522d};}(); + inline const TDT4102::Color TDT4102::Color::sky_blue = [] { return TDT4102::Color{0x87ceeb};}(); + inline const TDT4102::Color TDT4102::Color::slate_blue = [] { return TDT4102::Color{0x6a5acd};}(); + inline const TDT4102::Color TDT4102::Color::slate_gray = [] { return TDT4102::Color{0x708090};}(); + inline const TDT4102::Color TDT4102::Color::slate_grey = [] { return TDT4102::Color{0x708090};}(); + inline const TDT4102::Color TDT4102::Color::snow = [] { return TDT4102::Color{0xfffafa};}(); + inline const TDT4102::Color TDT4102::Color::spring_green = [] { return TDT4102::Color{0x00ff7f};}(); + inline const TDT4102::Color TDT4102::Color::steel_blue = [] { return TDT4102::Color{0x4682b4};}(); + inline const TDT4102::Color TDT4102::Color::tan = [] { return TDT4102::Color{0xd2b48c};}(); + inline const TDT4102::Color TDT4102::Color::thistle = [] { return TDT4102::Color{0xd8bfd8};}(); + inline const TDT4102::Color TDT4102::Color::tomato = [] { return TDT4102::Color{0xff6347};}(); + inline const TDT4102::Color TDT4102::Color::turquoise = [] { return TDT4102::Color{0x40e0d0};}(); + inline const TDT4102::Color TDT4102::Color::violet = [] { return TDT4102::Color{0xee82ee};}(); + inline const TDT4102::Color TDT4102::Color::wheat = [] { return TDT4102::Color{0xf5deb3};}(); + inline const TDT4102::Color TDT4102::Color::white_smoke = [] { return TDT4102::Color{0xf5f5f5};}(); + inline const TDT4102::Color TDT4102::Color::yellow_green = [] { return TDT4102::Color{0x9acd32};}(); + inline const TDT4102::Color TDT4102::Color::rebecca_purple = [] { return TDT4102::Color{0x663399};}(); +} + diff --git a/subprojects/animationwindow/include/Font.h b/subprojects/animationwindow/include/Font.h new file mode 100644 index 000000000..a0adc34bf --- /dev/null +++ b/subprojects/animationwindow/include/Font.h @@ -0,0 +1,22 @@ +#pragma once + +namespace TDT4102 { + enum class Font { + defaultFont, + + arial, + arial_bold, + arial_italic, + arial_bold_italic, + + courier, + courier_bold, + courier_italic, + courier_bold_italic, + + times, + times_bold, + times_italic, + times_bold_italic + }; +} diff --git a/subprojects/animationwindow/include/Image.h b/subprojects/animationwindow/include/Image.h new file mode 100644 index 000000000..621e96f9b --- /dev/null +++ b/subprojects/animationwindow/include/Image.h @@ -0,0 +1,28 @@ +#pragma once + +#include +#include "Point.h" +#include +#include "SDL_render.h" + +namespace TDT4102 { + struct Image { + // Allow the texture to be read out and drawn despite being private + friend class AnimationWindow; + + public: + explicit Image(); + explicit Image(std::filesystem::path pathToImageFile); + ~Image(); + + int width = 0; + int height = 0; + private: + + SDL_Texture *texture = nullptr; + std::filesystem::path src = "non existent file"; + + void load(SDL_Renderer* renderer); + void draw(SDL_Renderer* renderer, TDT4102::Point location, int imageWidth = 0, int imageHeight = 0); + }; +} diff --git a/subprojects/animationwindow/include/KeyboardKey.h b/subprojects/animationwindow/include/KeyboardKey.h new file mode 100644 index 000000000..ed983a529 --- /dev/null +++ b/subprojects/animationwindow/include/KeyboardKey.h @@ -0,0 +1,72 @@ +#pragma once + +enum class KeyboardKey { + A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, + KEY_1, KEY_2, KEY_3, KEY_4, KEY_5, KEY_6, KEY_7, KEY_8, KEY_9, KEY_0, + NUMPAD_1, NUMPAD_2, NUMPAD_3, NUMPAD_4, NUMPAD_5, NUMPAD_6, NUMPAD_7, NUMPAD_8, NUMPAD_9, NUMPAD_0, + NUMPAD_COMMA, NUMPAD_SLASH, NUMPAD_ASTERISK, NUMPAD_MINUS, NUMPAD_PLUS, NUMPAD_ENTER, NUMPAD_PERIOD, NUMPAD_EQUALS, + AUDIO_MUTE, AUDIO_NEXT, AUDIO_PLAY, AUDIO_PREV, AUDIO_STOP, AUDIO_VOLUME_UP, AUDIO_VOLUME_DOWN, + F1, F2, F3, F4, F5, F6, F7, F8, F9, F10, F11, F12, F13, F14, F15, F16, F17, F18, F19, F20, F21, F22, F23, F24, + + // Norwegian keys + AA, AE, OO, + + BACKSPACE, + TAB, + ENTER, + PAUSE, + SCROLL_LOCK, + CAPS_LOCK, + NUM_LOCK, + ESCAPE, + HOME, + LEFT, + UP, + RIGHT, + DOWN, + PAGE_UP, + PAGE_DOWN, + END, + PRINT_SCREEN, + INSERT, + MENU, + LEFT_SHIFT, + RIGHT_SHIFT, + LEFT_CTRL, + RIGHT_CTRL, + SUPER_LEFT, + SUPER_RIGHT, + LEFT_ALT, + RIGHT_ALT, + DELETE, + UNDERSCORE, + AMPERSAND, + ASTERISK, + AT, + CARET, + COLON, + DOLLAR, + EXCLAMATION_MARK, + GREATER_THAN, + LESS_THAN, + HASH, + LEFT_PAREN, + RIGHT_PAREN, + PERCENT, + QUOTE, + DOUBLE_QUOTE, + PLUS, + SEMICOLON, + LEFT_BRACKET, + RIGHT_BRACKET, + PERIOD, + MINUS, + SPACE, + EQUALS, + BACKSLASH, + GRAVE, + COMMA, + SLASH, + QUESTION_MARK, + UNKNOWN +}; \ No newline at end of file diff --git a/subprojects/animationwindow/include/MessageType.h b/subprojects/animationwindow/include/MessageType.h new file mode 100644 index 000000000..14314ed66 --- /dev/null +++ b/subprojects/animationwindow/include/MessageType.h @@ -0,0 +1,7 @@ +#pragma once + +namespace TDT4102 { + enum class MessageType { + INFO, ERROR, WARNING, QUESTION + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/Point.h b/subprojects/animationwindow/include/Point.h new file mode 100644 index 000000000..1828fb4ab --- /dev/null +++ b/subprojects/animationwindow/include/Point.h @@ -0,0 +1,8 @@ +#pragma once + +namespace TDT4102 { + struct Point { + int x = 0; + int y = 0; + }; +} diff --git a/subprojects/animationwindow/include/Widget.h b/subprojects/animationwindow/include/Widget.h new file mode 100644 index 000000000..a18db1df1 --- /dev/null +++ b/subprojects/animationwindow/include/Widget.h @@ -0,0 +1,39 @@ +#pragma once + +#include +#include +#include "internal/nuklear_configured.h" +#include "Point.h" +#include "internal/windows_main_fix.h" + +namespace TDT4102 { + namespace internal { + [[maybe_unused]] static unsigned int nextWidgetID = 0; + } + + class AnimationWindow; + + class Widget { + friend class TDT4102::AnimationWindow; + private: + std::function callbackFunction; + TDT4102::Point position; + unsigned int width = 0; + unsigned int height = 0; + bool isVisible = true; + // Each window in Nuklear needs a unique name, so we generate a unique one for each widget + std::string uniqueWidgetName; + + protected: + void fire(); + virtual void update(nk_context* context) = 0; + explicit Widget(TDT4102::Point position, unsigned int width, unsigned int height); + public: + void setCallback(std::function callback); + virtual ~Widget() {} + void setVisible(bool isVisible); + unsigned int getWidth() const; + unsigned int getHeight() const; + void setSize(unsigned int newWidth, unsigned int newHeight); + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/internal/FontCache.h b/subprojects/animationwindow/include/internal/FontCache.h new file mode 100644 index 000000000..e6a3aff45 --- /dev/null +++ b/subprojects/animationwindow/include/internal/FontCache.h @@ -0,0 +1,57 @@ +#pragma once + +#include +#include +#include +#include "Font.h" +#include "nuklear_configured.h" + +namespace TDT4102::internal { + // The root directories containing fonts that should be searched for the TTF files + // Paths are checked for existence before they are searched, and are thus effectively platform independent + static const std::vector TTFSearchDirectories = { + // Windows + "C:/Windows/Fonts", + + // MacOS + "/System/Library/Fonts", + "/Library/Fonts", + + // Linux + "/usr/share/fonts", + "/usr/local/share/fonts" + }; + + static const std::unordered_map> TTFFilenames { + {Font::arial, {"Arial.ttf", "arial.ttf", "LiberationSans.ttf", "LiberationSans-Regular.ttf", "DejaVuSans.ttf"}}, + {Font::arial_bold, {"Arial_Bold.ttf", "arialb.ttf", "arialbd.ttf", "Arial Bold.ttf", "LiberationSans-Bold.ttf", "DejaVuSans-Bold.ttf"}}, + {Font::arial_bold_italic, {"Arial_Bold_Italic.ttf", "arialbi.ttf", "Arial Bold Italic.ttf", "LiberationSans-BoldItalic.ttf", "DejaVuSans-BoldOblique.ttf"}}, + {Font::arial_italic, {"Arial_Italic.ttf", "ariali.ttf", "Arial Italic.ttf", "LiberationSans-Italic.ttf", "DejaVuSans-Oblique.ttf"}}, + + {Font::courier, {"Courier_New.ttf", "cour.ttf", "Courier New.ttf", "LiberationMono.ttf", "LiberationMono-Regular.ttf", "DejaVuSansMono.ttf"}}, + {Font::courier_bold, {"Courier_New_Bold.ttf", "courbd.ttf", "Courier New Bold.ttf", "LiberationMono-Bold.ttf", "DejaVuSansMono-Bold.ttf"}}, + {Font::courier_bold_italic, {"Courier_New_Bold_Italic.ttf", "courbi.ttf", "Courier New Bold Italic.ttf", "LiberationMono-BoldItalic.ttf", "DejaVuSansMono-BoldOblique.ttf"}}, + {Font::courier_italic, {"Courier_New_Italic.ttf", "couri.ttf", "Courier New Bold Italic.ttf", "LiberationMono-Italic.ttf", "DejaVuSansMono-Oblique.ttf"}}, + + {Font::times, {"Times_New_Roman.ttf", "times.ttf", "Times New Roman.ttf", "LiberationSerif.ttf", "LiberationSerif-Regular.ttf", "DejaVuSerif.ttf"}}, + {Font::times_bold, {"Times_New_Roman_Bold.ttf", "timesb.ttf", "timesbd.ttf", "Times New Roman Bold.ttf", "LiberationSerif-Bold.ttf", "DejaVuSerif-Bold.ttf"}}, + {Font::times_bold_italic, {"Times_New_Roman_Bold_Italic.ttf", "timesbi.ttf", "Times New Roman Bold Italic.ttf", "LiberationSerif-BoldItalic.ttf", "DejaVuSerif-BoldItalic.ttf"}}, + {Font::times_italic, {"Times_New_Roman_Italic.ttf", "timesi.ttf", "Times New Roman Italic.ttf", "LiberationSerif-Italic.ttf", "DejaVuSerif-Italic.ttf"}} + }; + + class FontCache { + // Map for keeping track where source TTF files are stored on disk + std::unordered_map fontFileLocations; + + // Maps a font face and size to a loaded font + std::unordered_map> loadedFonts; + std::unordered_map> loadedAtlases; + + std::filesystem::path findTTFInDirectory(const std::filesystem::path &directoryToSearch, const std::string &fontFileName); + std::filesystem::path findTTFFile(const std::string &filename); + void loadFont(nk_context *context, TDT4102::Font face, unsigned int size); + public: + void initialize(); + void setFont(nk_context* context, TDT4102::Font face, unsigned int size); + }; +} diff --git a/subprojects/animationwindow/include/internal/KeyboardKeyConverter.h b/subprojects/animationwindow/include/internal/KeyboardKeyConverter.h new file mode 100644 index 000000000..d6b2e4109 --- /dev/null +++ b/subprojects/animationwindow/include/internal/KeyboardKeyConverter.h @@ -0,0 +1,10 @@ +#pragma once + +#include "KeyboardKey.h" +#include "SDL.h" + +namespace TDT4102 { + namespace internal { + KeyboardKey convertSDLKeyToKeyboardKey(SDL_Keysym key); + } +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/internal/nuklear.h b/subprojects/animationwindow/include/internal/nuklear.h new file mode 100644 index 000000000..aef8f7fe9 --- /dev/null +++ b/subprojects/animationwindow/include/internal/nuklear.h @@ -0,0 +1,30009 @@ +/* +/// # Nuklear +/// ![](https://cloud.githubusercontent.com/assets/8057201/11761525/ae06f0ca-a0c6-11e5-819d-5610b25f6ef4.gif) +/// +/// ## Contents +/// 1. About section +/// 2. Highlights section +/// 3. Features section +/// 4. Usage section +/// 1. Flags section +/// 2. Constants section +/// 3. Dependencies section +/// 5. Example section +/// 6. API section +/// 1. Context section +/// 2. Input section +/// 3. Drawing section +/// 4. Window section +/// 5. Layouting section +/// 6. Groups section +/// 7. Tree section +/// 8. Properties section +/// 7. License section +/// 8. Changelog section +/// 9. Gallery section +/// 10. Credits section +/// +/// ## About +/// This is a minimal state immediate mode graphical user interface toolkit +/// written in ANSI C and licensed under public domain. It was designed as a simple +/// embeddable user interface for application and does not have any dependencies, +/// a default renderbackend or OS window and input handling but instead provides a very modular +/// library approach by using simple input state for input and draw +/// commands describing primitive shapes as output. So instead of providing a +/// layered library that tries to abstract over a number of platform and +/// render backends it only focuses on the actual UI. +/// +/// ## Highlights +/// - Graphical user interface toolkit +/// - Single header library +/// - Written in C89 (a.k.a. ANSI C or ISO C90) +/// - Small codebase (~18kLOC) +/// - Focus on portability, efficiency and simplicity +/// - No dependencies (not even the standard library if not wanted) +/// - Fully skinnable and customizable +/// - Low memory footprint with total memory control if needed or wanted +/// - UTF-8 support +/// - No global or hidden state +/// - Customizable library modules (you can compile and use only what you need) +/// - Optional font baker and vertex buffer output +/// +/// ## Features +/// - Absolutely no platform dependent code +/// - Memory management control ranging from/to +/// - Ease of use by allocating everything from standard library +/// - Control every byte of memory inside the library +/// - Font handling control ranging from/to +/// - Use your own font implementation for everything +/// - Use this libraries internal font baking and handling API +/// - Drawing output control ranging from/to +/// - Simple shapes for more high level APIs which already have drawing capabilities +/// - Hardware accessible anti-aliased vertex buffer output +/// - Customizable colors and properties ranging from/to +/// - Simple changes to color by filling a simple color table +/// - Complete control with ability to use skinning to decorate widgets +/// - Bendable UI library with widget ranging from/to +/// - Basic widgets like buttons, checkboxes, slider, ... +/// - Advanced widget like abstract comboboxes, contextual menus,... +/// - Compile time configuration to only compile what you need +/// - Subset which can be used if you do not want to link or use the standard library +/// - Can be easily modified to only update on user input instead of frame updates +/// +/// ## Usage +/// This library is self contained in one single header file and can be used either +/// in header only mode or in implementation mode. The header only mode is used +/// by default when included and allows including this header in other headers +/// and does not contain the actual implementation.

+/// +/// The implementation mode requires to define the preprocessor macro +/// NK_IMPLEMENTATION in *one* .c/.cpp file before #including this file, e.g.: +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~C +/// #define NK_IMPLEMENTATION +/// #include "nuklear.h" +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Also optionally define the symbols listed in the section "OPTIONAL DEFINES" +/// below in header and implementation mode if you want to use additional functionality +/// or need more control over the library. +/// +/// !!! WARNING +/// Every time nuklear is included define the same compiler flags. This very important not doing so could lead to compiler errors or even worse stack corruptions. +/// +/// ### Flags +/// Flag | Description +/// --------------------------------|------------------------------------------ +/// NK_PRIVATE | If defined declares all functions as static, so they can only be accessed inside the file that contains the implementation +/// NK_INCLUDE_FIXED_TYPES | If defined it will include header `` for fixed sized types otherwise nuklear tries to select the correct type. If that fails it will throw a compiler error and you have to select the correct types yourself. +/// NK_INCLUDE_DEFAULT_ALLOCATOR | If defined it will include header `` and provide additional functions to use this library without caring for memory allocation control and therefore ease memory management. +/// NK_INCLUDE_STANDARD_IO | If defined it will include header `` and provide additional functions depending on file loading. +/// NK_INCLUDE_STANDARD_VARARGS | If defined it will include header and provide additional functions depending on file loading. +/// NK_INCLUDE_STANDARD_BOOL | If defined it will include header `` for nk_bool otherwise nuklear defines nk_bool as int. +/// NK_INCLUDE_VERTEX_BUFFER_OUTPUT | Defining this adds a vertex draw command list backend to this library, which allows you to convert queue commands into vertex draw commands. This is mainly if you need a hardware accessible format for OpenGL, DirectX, Vulkan, Metal,... +/// NK_INCLUDE_FONT_BAKING | Defining this adds `stb_truetype` and `stb_rect_pack` implementation to this library and provides font baking and rendering. If you already have font handling or do not want to use this font handler you don't have to define it. +/// NK_INCLUDE_DEFAULT_FONT | Defining this adds the default font: ProggyClean.ttf into this library which can be loaded into a font atlas and allows using this library without having a truetype font +/// NK_INCLUDE_COMMAND_USERDATA | Defining this adds a userdata pointer into each command. Can be useful for example if you want to provide custom shaders depending on the used widget. Can be combined with the style structures. +/// NK_BUTTON_TRIGGER_ON_RELEASE | Different platforms require button clicks occurring either on buttons being pressed (up to down) or released (down to up). By default this library will react on buttons being pressed, but if you define this it will only trigger if a button is released. +/// NK_ZERO_COMMAND_MEMORY | Defining this will zero out memory for each drawing command added to a drawing queue (inside nk_command_buffer_push). Zeroing command memory is very useful for fast checking (using memcmp) if command buffers are equal and avoid drawing frames when nothing on screen has changed since previous frame. +/// NK_UINT_DRAW_INDEX | Defining this will set the size of vertex index elements when using NK_VERTEX_BUFFER_OUTPUT to 32bit instead of the default of 16bit +/// NK_KEYSTATE_BASED_INPUT | Define this if your backend uses key state for each frame rather than key press/release events +/// +/// !!! WARNING +/// The following flags will pull in the standard C library: +/// - NK_INCLUDE_DEFAULT_ALLOCATOR +/// - NK_INCLUDE_STANDARD_IO +/// - NK_INCLUDE_STANDARD_VARARGS +/// +/// !!! WARNING +/// The following flags if defined need to be defined for both header and implementation: +/// - NK_INCLUDE_FIXED_TYPES +/// - NK_INCLUDE_DEFAULT_ALLOCATOR +/// - NK_INCLUDE_STANDARD_VARARGS +/// - NK_INCLUDE_STANDARD_BOOL +/// - NK_INCLUDE_VERTEX_BUFFER_OUTPUT +/// - NK_INCLUDE_FONT_BAKING +/// - NK_INCLUDE_DEFAULT_FONT +/// - NK_INCLUDE_STANDARD_VARARGS +/// - NK_INCLUDE_COMMAND_USERDATA +/// - NK_UINT_DRAW_INDEX +/// +/// ### Constants +/// Define | Description +/// --------------------------------|--------------------------------------- +/// NK_BUFFER_DEFAULT_INITIAL_SIZE | Initial buffer size allocated by all buffers while using the default allocator functions included by defining NK_INCLUDE_DEFAULT_ALLOCATOR. If you don't want to allocate the default 4k memory then redefine it. +/// NK_MAX_NUMBER_BUFFER | Maximum buffer size for the conversion buffer between float and string Under normal circumstances this should be more than sufficient. +/// NK_INPUT_MAX | Defines the max number of bytes which can be added as text input in one frame. Under normal circumstances this should be more than sufficient. +/// +/// !!! WARNING +/// The following constants if defined need to be defined for both header and implementation: +/// - NK_MAX_NUMBER_BUFFER +/// - NK_BUFFER_DEFAULT_INITIAL_SIZE +/// - NK_INPUT_MAX +/// +/// ### Dependencies +/// Function | Description +/// ------------|--------------------------------------------------------------- +/// NK_ASSERT | If you don't define this, nuklear will use with assert(). +/// NK_MEMSET | You can define this to 'memset' or your own memset implementation replacement. If not nuklear will use its own version. +/// NK_MEMCPY | You can define this to 'memcpy' or your own memcpy implementation replacement. If not nuklear will use its own version. +/// NK_INV_SQRT | You can define this to your own inverse sqrt implementation replacement. If not nuklear will use its own slow and not highly accurate version. +/// NK_SIN | You can define this to 'sinf' or your own sine implementation replacement. If not nuklear will use its own approximation implementation. +/// NK_COS | You can define this to 'cosf' or your own cosine implementation replacement. If not nuklear will use its own approximation implementation. +/// NK_STRTOD | You can define this to `strtod` or your own string to double conversion implementation replacement. If not defined nuklear will use its own imprecise and possibly unsafe version (does not handle nan or infinity!). +/// NK_DTOA | You can define this to `dtoa` or your own double to string conversion implementation replacement. If not defined nuklear will use its own imprecise and possibly unsafe version (does not handle nan or infinity!). +/// NK_VSNPRINTF| If you define `NK_INCLUDE_STANDARD_VARARGS` as well as `NK_INCLUDE_STANDARD_IO` and want to be safe define this to `vsnprintf` on compilers supporting later versions of C or C++. By default nuklear will check for your stdlib version in C as well as compiler version in C++. if `vsnprintf` is available it will define it to `vsnprintf` directly. If not defined and if you have older versions of C or C++ it will be defined to `vsprintf` which is unsafe. +/// +/// !!! WARNING +/// The following dependencies will pull in the standard C library if not redefined: +/// - NK_ASSERT +/// +/// !!! WARNING +/// The following dependencies if defined need to be defined for both header and implementation: +/// - NK_ASSERT +/// +/// !!! WARNING +/// The following dependencies if defined need to be defined only for the implementation part: +/// - NK_MEMSET +/// - NK_MEMCPY +/// - NK_SQRT +/// - NK_SIN +/// - NK_COS +/// - NK_STRTOD +/// - NK_DTOA +/// - NK_VSNPRINTF +/// +/// ## Example +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// // init gui state +/// enum {EASY, HARD}; +/// static int op = EASY; +/// static float value = 0.6f; +/// static int i = 20; +/// struct nk_context ctx; +/// +/// nk_init_fixed(&ctx, calloc(1, MAX_MEMORY), MAX_MEMORY, &font); +/// if (nk_begin(&ctx, "Show", nk_rect(50, 50, 220, 220), +/// NK_WINDOW_BORDER|NK_WINDOW_MOVABLE|NK_WINDOW_CLOSABLE)) { +/// // fixed widget pixel width +/// nk_layout_row_static(&ctx, 30, 80, 1); +/// if (nk_button_label(&ctx, "button")) { +/// // event handling +/// } +/// +/// // fixed widget window ratio width +/// nk_layout_row_dynamic(&ctx, 30, 2); +/// if (nk_option_label(&ctx, "easy", op == EASY)) op = EASY; +/// if (nk_option_label(&ctx, "hard", op == HARD)) op = HARD; +/// +/// // custom widget pixel width +/// nk_layout_row_begin(&ctx, NK_STATIC, 30, 2); +/// { +/// nk_layout_row_push(&ctx, 50); +/// nk_label(&ctx, "Volume:", NK_TEXT_LEFT); +/// nk_layout_row_push(&ctx, 110); +/// nk_slider_float(&ctx, 0, &value, 1.0f, 0.1f); +/// } +/// nk_layout_row_end(&ctx); +/// } +/// nk_end(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// ![](https://cloud.githubusercontent.com/assets/8057201/10187981/584ecd68-675c-11e5-897c-822ef534a876.png) +/// +/// ## API +/// +*/ +#ifndef NK_SINGLE_FILE + #define NK_SINGLE_FILE +#endif + +#ifndef NK_NUKLEAR_H_ +#define NK_NUKLEAR_H_ + +#ifdef __cplusplus +extern "C" { +#endif +/* + * ============================================================== + * + * CONSTANTS + * + * =============================================================== + */ +#define NK_UNDEFINED (-1.0f) +#define NK_UTF_INVALID 0xFFFD /* internal invalid utf8 rune */ +#define NK_UTF_SIZE 4 /* describes the number of bytes a glyph consists of*/ +#ifndef NK_INPUT_MAX + #define NK_INPUT_MAX 16 +#endif +#ifndef NK_MAX_NUMBER_BUFFER + #define NK_MAX_NUMBER_BUFFER 64 +#endif +#ifndef NK_SCROLLBAR_HIDING_TIMEOUT + #define NK_SCROLLBAR_HIDING_TIMEOUT 4.0f +#endif +/* + * ============================================================== + * + * HELPER + * + * =============================================================== + */ +#ifndef NK_API + #ifdef NK_PRIVATE + #if (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199409L)) + #define NK_API static inline + #elif defined(__cplusplus) + #define NK_API static inline + #else + #define NK_API static + #endif + #else + #define NK_API extern + #endif +#endif +#ifndef NK_LIB + #ifdef NK_SINGLE_FILE + #define NK_LIB static + #else + #define NK_LIB extern + #endif +#endif + +#define NK_INTERN static +#define NK_STORAGE static +#define NK_GLOBAL static + +#define NK_FLAG(x) (1 << (x)) +#define NK_STRINGIFY(x) #x +#define NK_MACRO_STRINGIFY(x) NK_STRINGIFY(x) +#define NK_STRING_JOIN_IMMEDIATE(arg1, arg2) arg1 ## arg2 +#define NK_STRING_JOIN_DELAY(arg1, arg2) NK_STRING_JOIN_IMMEDIATE(arg1, arg2) +#define NK_STRING_JOIN(arg1, arg2) NK_STRING_JOIN_DELAY(arg1, arg2) + +#ifdef _MSC_VER + #define NK_UNIQUE_NAME(name) NK_STRING_JOIN(name,__COUNTER__) +#else + #define NK_UNIQUE_NAME(name) NK_STRING_JOIN(name,__LINE__) +#endif + +#ifndef NK_STATIC_ASSERT + #define NK_STATIC_ASSERT(exp) typedef char NK_UNIQUE_NAME(_dummy_array)[(exp)?1:-1] +#endif + +#ifndef NK_FILE_LINE +#ifdef _MSC_VER + #define NK_FILE_LINE __FILE__ ":" NK_MACRO_STRINGIFY(__COUNTER__) +#else + #define NK_FILE_LINE __FILE__ ":" NK_MACRO_STRINGIFY(__LINE__) +#endif +#endif + +#define NK_MIN(a,b) ((a) < (b) ? (a) : (b)) +#define NK_MAX(a,b) ((a) < (b) ? (b) : (a)) +#define NK_CLAMP(i,v,x) (NK_MAX(NK_MIN(v,x), i)) + +#ifdef NK_INCLUDE_STANDARD_VARARGS + #include + #if defined(_MSC_VER) && (_MSC_VER >= 1600) /* VS 2010 and above */ + #include + #define NK_PRINTF_FORMAT_STRING _Printf_format_string_ + #else + #define NK_PRINTF_FORMAT_STRING + #endif + #if defined(__GNUC__) + #define NK_PRINTF_VARARG_FUNC(fmtargnumber) __attribute__((format(__printf__, fmtargnumber, fmtargnumber+1))) + #define NK_PRINTF_VALIST_FUNC(fmtargnumber) __attribute__((format(__printf__, fmtargnumber, 0))) + #else + #define NK_PRINTF_VARARG_FUNC(fmtargnumber) + #define NK_PRINTF_VALIST_FUNC(fmtargnumber) + #endif +#endif + +/* + * =============================================================== + * + * BASIC + * + * =============================================================== + */ +#ifdef NK_INCLUDE_FIXED_TYPES + #include + #define NK_INT8 int8_t + #define NK_UINT8 uint8_t + #define NK_INT16 int16_t + #define NK_UINT16 uint16_t + #define NK_INT32 int32_t + #define NK_UINT32 uint32_t + #define NK_SIZE_TYPE uintptr_t + #define NK_POINTER_TYPE uintptr_t +#else + #ifndef NK_INT8 + #define NK_INT8 signed char + #endif + #ifndef NK_UINT8 + #define NK_UINT8 unsigned char + #endif + #ifndef NK_INT16 + #define NK_INT16 signed short + #endif + #ifndef NK_UINT16 + #define NK_UINT16 unsigned short + #endif + #ifndef NK_INT32 + #if defined(_MSC_VER) + #define NK_INT32 __int32 + #else + #define NK_INT32 signed int + #endif + #endif + #ifndef NK_UINT32 + #if defined(_MSC_VER) + #define NK_UINT32 unsigned __int32 + #else + #define NK_UINT32 unsigned int + #endif + #endif + #ifndef NK_SIZE_TYPE + #if defined(_WIN64) && defined(_MSC_VER) + #define NK_SIZE_TYPE unsigned __int64 + #elif (defined(_WIN32) || defined(WIN32)) && defined(_MSC_VER) + #define NK_SIZE_TYPE unsigned __int32 + #elif defined(__GNUC__) || defined(__clang__) + #if defined(__x86_64__) || defined(__ppc64__) + #define NK_SIZE_TYPE unsigned long + #else + #define NK_SIZE_TYPE unsigned int + #endif + #else + #define NK_SIZE_TYPE unsigned long + #endif + #endif + #ifndef NK_POINTER_TYPE + #if defined(_WIN64) && defined(_MSC_VER) + #define NK_POINTER_TYPE unsigned __int64 + #elif (defined(_WIN32) || defined(WIN32)) && defined(_MSC_VER) + #define NK_POINTER_TYPE unsigned __int32 + #elif defined(__GNUC__) || defined(__clang__) + #if defined(__x86_64__) || defined(__ppc64__) + #define NK_POINTER_TYPE unsigned long + #else + #define NK_POINTER_TYPE unsigned int + #endif + #else + #define NK_POINTER_TYPE unsigned long + #endif + #endif +#endif + +#ifndef NK_BOOL + #ifdef NK_INCLUDE_STANDARD_BOOL + #include + #define NK_BOOL bool + #else + #define NK_BOOL int /* could be char, use int for drop-in replacement backwards compatibility */ + #endif +#endif + +typedef NK_INT8 nk_char; +typedef NK_UINT8 nk_uchar; +typedef NK_UINT8 nk_byte; +typedef NK_INT16 nk_short; +typedef NK_UINT16 nk_ushort; +typedef NK_INT32 nk_int; +typedef NK_UINT32 nk_uint; +typedef NK_SIZE_TYPE nk_size; +typedef NK_POINTER_TYPE nk_ptr; +typedef NK_BOOL nk_bool; + +typedef nk_uint nk_hash; +typedef nk_uint nk_flags; +typedef nk_uint nk_rune; + +/* Make sure correct type size: + * This will fire with a negative subscript error if the type sizes + * are set incorrectly by the compiler, and compile out if not */ +NK_STATIC_ASSERT(sizeof(nk_short) == 2); +NK_STATIC_ASSERT(sizeof(nk_ushort) == 2); +NK_STATIC_ASSERT(sizeof(nk_uint) == 4); +NK_STATIC_ASSERT(sizeof(nk_int) == 4); +NK_STATIC_ASSERT(sizeof(nk_byte) == 1); +NK_STATIC_ASSERT(sizeof(nk_flags) >= 4); +NK_STATIC_ASSERT(sizeof(nk_rune) >= 4); +NK_STATIC_ASSERT(sizeof(nk_size) >= sizeof(void*)); +NK_STATIC_ASSERT(sizeof(nk_ptr) >= sizeof(void*)); +#ifdef NK_INCLUDE_STANDARD_BOOL +NK_STATIC_ASSERT(sizeof(nk_bool) == sizeof(bool)); +#else +NK_STATIC_ASSERT(sizeof(nk_bool) >= 2); +#endif + +/* ============================================================================ + * + * API + * + * =========================================================================== */ +struct nk_buffer; +struct nk_allocator; +struct nk_command_buffer; +struct nk_draw_command; +struct nk_convert_config; +struct nk_style_item; +struct nk_text_edit; +struct nk_draw_list; +struct nk_user_font; +struct nk_panel; +struct nk_context; +struct nk_draw_vertex_layout_element; +struct nk_style_button; +struct nk_style_toggle; +struct nk_style_selectable; +struct nk_style_slide; +struct nk_style_progress; +struct nk_style_scrollbar; +struct nk_style_edit; +struct nk_style_property; +struct nk_style_chart; +struct nk_style_combo; +struct nk_style_tab; +struct nk_style_window_header; +struct nk_style_window; + +enum {nk_false, nk_true}; +struct nk_color {nk_byte r,g,b,a;}; +struct nk_colorf {float r,g,b,a;}; +struct nk_vec2 {float x,y;}; +struct nk_vec2i {short x, y;}; +struct nk_rect {float x,y,w,h;}; +struct nk_recti {short x,y,w,h;}; +typedef char nk_glyph[NK_UTF_SIZE]; +typedef union {void *ptr; int id;} nk_handle; +struct nk_image {nk_handle handle; nk_ushort w, h; nk_ushort region[4];}; +struct nk_nine_slice {struct nk_image img; nk_ushort l, t, r, b;}; +struct nk_cursor {struct nk_image img; struct nk_vec2 size, offset;}; +struct nk_scroll {nk_uint x, y;}; + +enum nk_heading {NK_UP, NK_RIGHT, NK_DOWN, NK_LEFT}; +enum nk_button_behavior {NK_BUTTON_DEFAULT, NK_BUTTON_REPEATER}; +enum nk_modify {NK_FIXED = nk_false, NK_MODIFIABLE = nk_true}; +enum nk_orientation {NK_VERTICAL, NK_HORIZONTAL}; +enum nk_collapse_states {NK_MINIMIZED = nk_false, NK_MAXIMIZED = nk_true}; +enum nk_show_states {NK_HIDDEN = nk_false, NK_SHOWN = nk_true}; +enum nk_chart_type {NK_CHART_LINES, NK_CHART_COLUMN, NK_CHART_MAX}; +enum nk_chart_event {NK_CHART_HOVERING = 0x01, NK_CHART_CLICKED = 0x02}; +enum nk_color_format {NK_RGB, NK_RGBA}; +enum nk_popup_type {NK_POPUP_STATIC, NK_POPUP_DYNAMIC}; +enum nk_layout_format {NK_DYNAMIC, NK_STATIC}; +enum nk_tree_type {NK_TREE_NODE, NK_TREE_TAB}; + +typedef void*(*nk_plugin_alloc)(nk_handle, void *old, nk_size); +typedef void (*nk_plugin_free)(nk_handle, void *old); +typedef nk_bool(*nk_plugin_filter)(const struct nk_text_edit*, nk_rune unicode); +typedef void(*nk_plugin_paste)(nk_handle, struct nk_text_edit*); +typedef void(*nk_plugin_copy)(nk_handle, const char*, int len); + +struct nk_allocator { + nk_handle userdata; + nk_plugin_alloc alloc; + nk_plugin_free free; +}; +enum nk_symbol_type { + NK_SYMBOL_NONE, + NK_SYMBOL_X, + NK_SYMBOL_UNDERSCORE, + NK_SYMBOL_CIRCLE_SOLID, + NK_SYMBOL_CIRCLE_OUTLINE, + NK_SYMBOL_RECT_SOLID, + NK_SYMBOL_RECT_OUTLINE, + NK_SYMBOL_TRIANGLE_UP, + NK_SYMBOL_TRIANGLE_DOWN, + NK_SYMBOL_TRIANGLE_LEFT, + NK_SYMBOL_TRIANGLE_RIGHT, + NK_SYMBOL_PLUS, + NK_SYMBOL_MINUS, + NK_SYMBOL_MAX +}; +/* ============================================================================= + * + * CONTEXT + * + * =============================================================================*/ +/*/// ### Context +/// Contexts are the main entry point and the majestro of nuklear and contain all required state. +/// They are used for window, memory, input, style, stack, commands and time management and need +/// to be passed into all nuklear GUI specific functions. +/// +/// #### Usage +/// To use a context it first has to be initialized which can be achieved by calling +/// one of either `nk_init_default`, `nk_init_fixed`, `nk_init`, `nk_init_custom`. +/// Each takes in a font handle and a specific way of handling memory. Memory control +/// hereby ranges from standard library to just specifying a fixed sized block of memory +/// which nuklear has to manage itself from. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// // [...] +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// --------------------|------------------------------------------------------- +/// __nk_init_default__ | Initializes context with standard library memory allocation (malloc,free) +/// __nk_init_fixed__ | Initializes context from single fixed size memory block +/// __nk_init__ | Initializes context with memory allocator callbacks for alloc and free +/// __nk_init_custom__ | Initializes context from two buffers. One for draw commands the other for window/panel/table allocations +/// __nk_clear__ | Called at the end of the frame to reset and prepare the context for the next frame +/// __nk_free__ | Shutdown and free all memory allocated inside the context +/// __nk_set_user_data__| Utility function to pass user data to draw command + */ +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +/*/// #### nk_init_default +/// Initializes a `nk_context` struct with a default standard library allocator. +/// Should be used if you don't want to be bothered with memory management in nuklear. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_init_default(struct nk_context *ctx, const struct nk_user_font *font); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|--------------------------------------------------------------- +/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct +/// __font__ | Must point to a previously initialized font handle for more info look at font documentation +/// +/// Returns either `false(0)` on failure or `true(1)` on success. +/// +*/ +NK_API nk_bool nk_init_default(struct nk_context*, const struct nk_user_font*); +#endif +/*/// #### nk_init_fixed +/// Initializes a `nk_context` struct from single fixed size memory block +/// Should be used if you want complete control over nuklear's memory management. +/// Especially recommended for system with little memory or systems with virtual memory. +/// For the later case you can just allocate for example 16MB of virtual memory +/// and only the required amount of memory will actually be committed. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_init_fixed(struct nk_context *ctx, void *memory, nk_size size, const struct nk_user_font *font); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// !!! Warning +/// make sure the passed memory block is aligned correctly for `nk_draw_commands`. +/// +/// Parameter | Description +/// ------------|-------------------------------------------------------------- +/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct +/// __memory__ | Must point to a previously allocated memory block +/// __size__ | Must contain the total size of __memory__ +/// __font__ | Must point to a previously initialized font handle for more info look at font documentation +/// +/// Returns either `false(0)` on failure or `true(1)` on success. +*/ +NK_API nk_bool nk_init_fixed(struct nk_context*, void *memory, nk_size size, const struct nk_user_font*); +/*/// #### nk_init +/// Initializes a `nk_context` struct with memory allocation callbacks for nuklear to allocate +/// memory from. Used internally for `nk_init_default` and provides a kitchen sink allocation +/// interface to nuklear. Can be useful for cases like monitoring memory consumption. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_init(struct nk_context *ctx, struct nk_allocator *alloc, const struct nk_user_font *font); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|--------------------------------------------------------------- +/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct +/// __alloc__ | Must point to a previously allocated memory allocator +/// __font__ | Must point to a previously initialized font handle for more info look at font documentation +/// +/// Returns either `false(0)` on failure or `true(1)` on success. +*/ +NK_API nk_bool nk_init(struct nk_context*, struct nk_allocator*, const struct nk_user_font*); +/*/// #### nk_init_custom +/// Initializes a `nk_context` struct from two different either fixed or growing +/// buffers. The first buffer is for allocating draw commands while the second buffer is +/// used for allocating windows, panels and state tables. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_init_custom(struct nk_context *ctx, struct nk_buffer *cmds, struct nk_buffer *pool, const struct nk_user_font *font); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|--------------------------------------------------------------- +/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct +/// __cmds__ | Must point to a previously initialized memory buffer either fixed or dynamic to store draw commands into +/// __pool__ | Must point to a previously initialized memory buffer either fixed or dynamic to store windows, panels and tables +/// __font__ | Must point to a previously initialized font handle for more info look at font documentation +/// +/// Returns either `false(0)` on failure or `true(1)` on success. +*/ +NK_API nk_bool nk_init_custom(struct nk_context*, struct nk_buffer *cmds, struct nk_buffer *pool, const struct nk_user_font*); +/*/// #### nk_clear +/// Resets the context state at the end of the frame. This includes mostly +/// garbage collector tasks like removing windows or table not called and therefore +/// used anymore. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_clear(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +*/ +NK_API void nk_clear(struct nk_context*); +/*/// #### nk_free +/// Frees all memory allocated by nuklear. Not needed if context was +/// initialized with `nk_init_fixed`. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_free(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +*/ +NK_API void nk_free(struct nk_context*); +#ifdef NK_INCLUDE_COMMAND_USERDATA +/*/// #### nk_set_user_data +/// Sets the currently passed userdata passed down into each draw command. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_set_user_data(struct nk_context *ctx, nk_handle data); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|-------------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __data__ | Handle with either pointer or index to be passed into every draw commands +*/ +NK_API void nk_set_user_data(struct nk_context*, nk_handle handle); +#endif +/* ============================================================================= + * + * INPUT + * + * =============================================================================*/ +/*/// ### Input +/// The input API is responsible for holding the current input state composed of +/// mouse, key and text input states. +/// It is worth noting that no direct OS or window handling is done in nuklear. +/// Instead all input state has to be provided by platform specific code. This on one hand +/// expects more work from the user and complicates usage but on the other hand +/// provides simple abstraction over a big number of platforms, libraries and other +/// already provided functionality. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_input_begin(&ctx); +/// while (GetEvent(&evt)) { +/// if (evt.type == MOUSE_MOVE) +/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); +/// else if (evt.type == [...]) { +/// // [...] +/// } +/// } nk_input_end(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Usage +/// Input state needs to be provided to nuklear by first calling `nk_input_begin` +/// which resets internal state like delta mouse position and button transitions. +/// After `nk_input_begin` all current input state needs to be provided. This includes +/// mouse motion, button and key pressed and released, text input and scrolling. +/// Both event- or state-based input handling are supported by this API +/// and should work without problems. Finally after all input state has been +/// mirrored `nk_input_end` needs to be called to finish input process. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// Event evt; +/// nk_input_begin(&ctx); +/// while (GetEvent(&evt)) { +/// if (evt.type == MOUSE_MOVE) +/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); +/// else if (evt.type == [...]) { +/// // [...] +/// } +/// } +/// nk_input_end(&ctx); +/// // [...] +/// nk_clear(&ctx); +/// } nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// --------------------|------------------------------------------------------- +/// __nk_input_begin__ | Begins the input mirroring process. Needs to be called before all other `nk_input_xxx` calls +/// __nk_input_motion__ | Mirrors mouse cursor position +/// __nk_input_key__ | Mirrors key state with either pressed or released +/// __nk_input_button__ | Mirrors mouse button state with either pressed or released +/// __nk_input_scroll__ | Mirrors mouse scroll values +/// __nk_input_char__ | Adds a single ASCII text character into an internal text buffer +/// __nk_input_glyph__ | Adds a single multi-byte UTF-8 character into an internal text buffer +/// __nk_input_unicode__| Adds a single unicode rune into an internal text buffer +/// __nk_input_end__ | Ends the input mirroring process by calculating state changes. Don't call any `nk_input_xxx` function referenced above after this call +*/ +enum nk_keys { + NK_KEY_NONE, + NK_KEY_SHIFT, + NK_KEY_CTRL, + NK_KEY_DEL, + NK_KEY_ENTER, + NK_KEY_TAB, + NK_KEY_BACKSPACE, + NK_KEY_COPY, + NK_KEY_CUT, + NK_KEY_PASTE, + NK_KEY_UP, + NK_KEY_DOWN, + NK_KEY_LEFT, + NK_KEY_RIGHT, + /* Shortcuts: text field */ + NK_KEY_TEXT_INSERT_MODE, + NK_KEY_TEXT_REPLACE_MODE, + NK_KEY_TEXT_RESET_MODE, + NK_KEY_TEXT_LINE_START, + NK_KEY_TEXT_LINE_END, + NK_KEY_TEXT_START, + NK_KEY_TEXT_END, + NK_KEY_TEXT_UNDO, + NK_KEY_TEXT_REDO, + NK_KEY_TEXT_SELECT_ALL, + NK_KEY_TEXT_WORD_LEFT, + NK_KEY_TEXT_WORD_RIGHT, + /* Shortcuts: scrollbar */ + NK_KEY_SCROLL_START, + NK_KEY_SCROLL_END, + NK_KEY_SCROLL_DOWN, + NK_KEY_SCROLL_UP, + NK_KEY_MAX +}; +enum nk_buttons { + NK_BUTTON_LEFT, + NK_BUTTON_MIDDLE, + NK_BUTTON_RIGHT, + NK_BUTTON_DOUBLE, + NK_BUTTON_MAX +}; +/*/// #### nk_input_begin +/// Begins the input mirroring process by resetting text, scroll +/// mouse, previous mouse position and movement as well as key state transitions, +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_begin(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +*/ +NK_API void nk_input_begin(struct nk_context*); +/*/// #### nk_input_motion +/// Mirrors current mouse position to nuklear +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_motion(struct nk_context *ctx, int x, int y); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __x__ | Must hold an integer describing the current mouse cursor x-position +/// __y__ | Must hold an integer describing the current mouse cursor y-position +*/ +NK_API void nk_input_motion(struct nk_context*, int x, int y); +/*/// #### nk_input_key +/// Mirrors the state of a specific key to nuklear +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_key(struct nk_context*, enum nk_keys key, nk_bool down); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __key__ | Must be any value specified in enum `nk_keys` that needs to be mirrored +/// __down__ | Must be 0 for key is up and 1 for key is down +*/ +NK_API void nk_input_key(struct nk_context*, enum nk_keys, nk_bool down); +/*/// #### nk_input_button +/// Mirrors the state of a specific mouse button to nuklear +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_button(struct nk_context *ctx, enum nk_buttons btn, int x, int y, nk_bool down); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __btn__ | Must be any value specified in enum `nk_buttons` that needs to be mirrored +/// __x__ | Must contain an integer describing mouse cursor x-position on click up/down +/// __y__ | Must contain an integer describing mouse cursor y-position on click up/down +/// __down__ | Must be 0 for key is up and 1 for key is down +*/ +NK_API void nk_input_button(struct nk_context*, enum nk_buttons, int x, int y, nk_bool down); +/*/// #### nk_input_scroll +/// Copies the last mouse scroll value to nuklear. Is generally +/// a scroll value. So does not have to come from mouse and could also originate +/// TODO finish this sentence +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_scroll(struct nk_context *ctx, struct nk_vec2 val); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __val__ | vector with both X- as well as Y-scroll value +*/ +NK_API void nk_input_scroll(struct nk_context*, struct nk_vec2 val); +/*/// #### nk_input_char +/// Copies a single ASCII character into an internal text buffer +/// This is basically a helper function to quickly push ASCII characters into +/// nuklear. +/// +/// !!! Note +/// Stores up to NK_INPUT_MAX bytes between `nk_input_begin` and `nk_input_end`. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_char(struct nk_context *ctx, char c); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __c__ | Must be a single ASCII character preferable one that can be printed +*/ +NK_API void nk_input_char(struct nk_context*, char); +/*/// #### nk_input_glyph +/// Converts an encoded unicode rune into UTF-8 and copies the result into an +/// internal text buffer. +/// +/// !!! Note +/// Stores up to NK_INPUT_MAX bytes between `nk_input_begin` and `nk_input_end`. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_glyph(struct nk_context *ctx, const nk_glyph g); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __g__ | UTF-32 unicode codepoint +*/ +NK_API void nk_input_glyph(struct nk_context*, const nk_glyph); +/*/// #### nk_input_unicode +/// Converts a unicode rune into UTF-8 and copies the result +/// into an internal text buffer. +/// !!! Note +/// Stores up to NK_INPUT_MAX bytes between `nk_input_begin` and `nk_input_end`. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_unicode(struct nk_context*, nk_rune rune); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +/// __rune__ | UTF-32 unicode codepoint +*/ +NK_API void nk_input_unicode(struct nk_context*, nk_rune); +/*/// #### nk_input_end +/// End the input mirroring process by resetting mouse grabbing +/// state to ensure the mouse cursor is not grabbed indefinitely. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_input_end(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to a previously initialized `nk_context` struct +*/ +NK_API void nk_input_end(struct nk_context*); +/* ============================================================================= + * + * DRAWING + * + * =============================================================================*/ +/*/// ### Drawing +/// This library was designed to be render backend agnostic so it does +/// not draw anything to screen directly. Instead all drawn shapes, widgets +/// are made of, are buffered into memory and make up a command queue. +/// Each frame therefore fills the command buffer with draw commands +/// that then need to be executed by the user and his own render backend. +/// After that the command buffer needs to be cleared and a new frame can be +/// started. It is probably important to note that the command buffer is the main +/// drawing API and the optional vertex buffer API only takes this format and +/// converts it into a hardware accessible format. +/// +/// #### Usage +/// To draw all draw commands accumulated over a frame you need your own render +/// backend able to draw a number of 2D primitives. This includes at least +/// filled and stroked rectangles, circles, text, lines, triangles and scissors. +/// As soon as this criterion is met you can iterate over each draw command +/// and execute each draw command in a interpreter like fashion: +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// switch (cmd->type) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case //...: +/// //[...] +/// } +/// } +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// In program flow context draw commands need to be executed after input has been +/// gathered and the complete UI with windows and their contained widgets have +/// been executed and before calling `nk_clear` which frees all previously +/// allocated draw commands. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// Event evt; +/// nk_input_begin(&ctx); +/// while (GetEvent(&evt)) { +/// if (evt.type == MOUSE_MOVE) +/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); +/// else if (evt.type == [...]) { +/// [...] +/// } +/// } +/// nk_input_end(&ctx); +/// // +/// // [...] +/// // +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// switch (cmd->type) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case ...: +/// // [...] +/// } +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// You probably noticed that you have to draw all of the UI each frame which is +/// quite wasteful. While the actual UI updating loop is quite fast rendering +/// without actually needing it is not. So there are multiple things you could do. +/// +/// First is only update on input. This of course is only an option if your +/// application only depends on the UI and does not require any outside calculations. +/// If you actually only update on input make sure to update the UI two times each +/// frame and call `nk_clear` directly after the first pass and only draw in +/// the second pass. In addition it is recommended to also add additional timers +/// to make sure the UI is not drawn more than a fixed number of frames per second. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// // [...wait for input ] +/// // [...do two UI passes ...] +/// do_ui(...) +/// nk_clear(&ctx); +/// do_ui(...) +/// // +/// // draw +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// switch (cmd->type) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case ...: +/// //[...] +/// } +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// The second probably more applicable trick is to only draw if anything changed. +/// It is not really useful for applications with continuous draw loop but +/// quite useful for desktop applications. To actually get nuklear to only +/// draw on changes you first have to define `NK_ZERO_COMMAND_MEMORY` and +/// allocate a memory buffer that will store each unique drawing output. +/// After each frame you compare the draw command memory inside the library +/// with your allocated buffer by memcmp. If memcmp detects differences +/// you have to copy the command buffer into the allocated buffer +/// and then draw like usual (this example uses fixed memory but you could +/// use dynamically allocated memory). +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// //[... other defines ...] +/// #define NK_ZERO_COMMAND_MEMORY +/// #include "nuklear.h" +/// // +/// // setup context +/// struct nk_context ctx; +/// void *last = calloc(1,64*1024); +/// void *buf = calloc(1,64*1024); +/// nk_init_fixed(&ctx, buf, 64*1024); +/// // +/// // loop +/// while (1) { +/// // [...input...] +/// // [...ui...] +/// void *cmds = nk_buffer_memory(&ctx.memory); +/// if (memcmp(cmds, last, ctx.memory.allocated)) { +/// memcpy(last,cmds,ctx.memory.allocated); +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// switch (cmd->type) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case ...: +/// // [...] +/// } +/// } +/// } +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Finally while using draw commands makes sense for higher abstracted platforms like +/// X11 and Win32 or drawing libraries it is often desirable to use graphics +/// hardware directly. Therefore it is possible to just define +/// `NK_INCLUDE_VERTEX_BUFFER_OUTPUT` which includes optional vertex output. +/// To access the vertex output you first have to convert all draw commands into +/// vertexes by calling `nk_convert` which takes in your preferred vertex format. +/// After successfully converting all draw commands just iterate over and execute all +/// vertex draw commands: +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// // fill configuration +/// struct your_vertex +/// { +/// float pos[2]; // important to keep it to 2 floats +/// float uv[2]; +/// unsigned char col[4]; +/// }; +/// struct nk_convert_config cfg = {}; +/// static const struct nk_draw_vertex_layout_element vertex_layout[] = { +/// {NK_VERTEX_POSITION, NK_FORMAT_FLOAT, NK_OFFSETOF(struct your_vertex, pos)}, +/// {NK_VERTEX_TEXCOORD, NK_FORMAT_FLOAT, NK_OFFSETOF(struct your_vertex, uv)}, +/// {NK_VERTEX_COLOR, NK_FORMAT_R8G8B8A8, NK_OFFSETOF(struct your_vertex, col)}, +/// {NK_VERTEX_LAYOUT_END} +/// }; +/// cfg.shape_AA = NK_ANTI_ALIASING_ON; +/// cfg.line_AA = NK_ANTI_ALIASING_ON; +/// cfg.vertex_layout = vertex_layout; +/// cfg.vertex_size = sizeof(struct your_vertex); +/// cfg.vertex_alignment = NK_ALIGNOF(struct your_vertex); +/// cfg.circle_segment_count = 22; +/// cfg.curve_segment_count = 22; +/// cfg.arc_segment_count = 22; +/// cfg.global_alpha = 1.0f; +/// cfg.null = dev->null; +/// // +/// // setup buffers and convert +/// struct nk_buffer cmds, verts, idx; +/// nk_buffer_init_default(&cmds); +/// nk_buffer_init_default(&verts); +/// nk_buffer_init_default(&idx); +/// nk_convert(&ctx, &cmds, &verts, &idx, &cfg); +/// // +/// // draw +/// nk_draw_foreach(cmd, &ctx, &cmds) { +/// if (!cmd->elem_count) continue; +/// //[...] +/// } +/// nk_buffer_free(&cms); +/// nk_buffer_free(&verts); +/// nk_buffer_free(&idx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// --------------------|------------------------------------------------------- +/// __nk__begin__ | Returns the first draw command in the context draw command list to be drawn +/// __nk__next__ | Increments the draw command iterator to the next command inside the context draw command list +/// __nk_foreach__ | Iterates over each draw command inside the context draw command list +/// __nk_convert__ | Converts from the abstract draw commands list into a hardware accessible vertex format +/// __nk_draw_begin__ | Returns the first vertex command in the context vertex draw list to be executed +/// __nk__draw_next__ | Increments the vertex command iterator to the next command inside the context vertex command list +/// __nk__draw_end__ | Returns the end of the vertex draw list +/// __nk_draw_foreach__ | Iterates over each vertex draw command inside the vertex draw list +*/ +enum nk_anti_aliasing {NK_ANTI_ALIASING_OFF, NK_ANTI_ALIASING_ON}; +enum nk_convert_result { + NK_CONVERT_SUCCESS = 0, + NK_CONVERT_INVALID_PARAM = 1, + NK_CONVERT_COMMAND_BUFFER_FULL = NK_FLAG(1), + NK_CONVERT_VERTEX_BUFFER_FULL = NK_FLAG(2), + NK_CONVERT_ELEMENT_BUFFER_FULL = NK_FLAG(3) +}; +struct nk_draw_null_texture { + nk_handle texture; /* texture handle to a texture with a white pixel */ + struct nk_vec2 uv; /* coordinates to a white pixel in the texture */ +}; +struct nk_convert_config { + float global_alpha; /* global alpha value */ + enum nk_anti_aliasing line_AA; /* line anti-aliasing flag can be turned off if you are tight on memory */ + enum nk_anti_aliasing shape_AA; /* shape anti-aliasing flag can be turned off if you are tight on memory */ + unsigned circle_segment_count; /* number of segments used for circles: default to 22 */ + unsigned arc_segment_count; /* number of segments used for arcs: default to 22 */ + unsigned curve_segment_count; /* number of segments used for curves: default to 22 */ + struct nk_draw_null_texture null; /* handle to texture with a white pixel for shape drawing */ + const struct nk_draw_vertex_layout_element *vertex_layout; /* describes the vertex output format and packing */ + nk_size vertex_size; /* sizeof one vertex for vertex packing */ + nk_size vertex_alignment; /* vertex alignment: Can be obtained by NK_ALIGNOF */ +}; +/*/// #### nk__begin +/// Returns a draw command list iterator to iterate all draw +/// commands accumulated over one frame. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// const struct nk_command* nk__begin(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | must point to an previously initialized `nk_context` struct at the end of a frame +/// +/// Returns draw command pointer pointing to the first command inside the draw command list +*/ +NK_API const struct nk_command* nk__begin(struct nk_context*); +/*/// #### nk__next +/// Returns draw command pointer pointing to the next command inside the draw command list +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// const struct nk_command* nk__next(struct nk_context*, const struct nk_command*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +/// __cmd__ | Must point to an previously a draw command either returned by `nk__begin` or `nk__next` +/// +/// Returns draw command pointer pointing to the next command inside the draw command list +*/ +NK_API const struct nk_command* nk__next(struct nk_context*, const struct nk_command*); +/*/// #### nk_foreach +/// Iterates over each draw command inside the context draw command list +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// #define nk_foreach(c, ctx) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +/// __cmd__ | Command pointer initialized to NULL +/// +/// Iterates over each draw command inside the context draw command list +*/ +#define nk_foreach(c, ctx) for((c) = nk__begin(ctx); (c) != 0; (c) = nk__next(ctx,c)) +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT +/*/// #### nk_convert +/// Converts all internal draw commands into vertex draw commands and fills +/// three buffers with vertexes, vertex draw commands and vertex indices. The vertex format +/// as well as some other configuration values have to be configured by filling out a +/// `nk_convert_config` struct. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_flags nk_convert(struct nk_context *ctx, struct nk_buffer *cmds, +/// struct nk_buffer *vertices, struct nk_buffer *elements, const struct nk_convert_config*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +/// __cmds__ | Must point to a previously initialized buffer to hold converted vertex draw commands +/// __vertices__| Must point to a previously initialized buffer to hold all produced vertices +/// __elements__| Must point to a previously initialized buffer to hold all produced vertex indices +/// __config__ | Must point to a filled out `nk_config` struct to configure the conversion process +/// +/// Returns one of enum nk_convert_result error codes +/// +/// Parameter | Description +/// --------------------------------|----------------------------------------------------------- +/// NK_CONVERT_SUCCESS | Signals a successful draw command to vertex buffer conversion +/// NK_CONVERT_INVALID_PARAM | An invalid argument was passed in the function call +/// NK_CONVERT_COMMAND_BUFFER_FULL | The provided buffer for storing draw commands is full or failed to allocate more memory +/// NK_CONVERT_VERTEX_BUFFER_FULL | The provided buffer for storing vertices is full or failed to allocate more memory +/// NK_CONVERT_ELEMENT_BUFFER_FULL | The provided buffer for storing indices is full or failed to allocate more memory +*/ +NK_API nk_flags nk_convert(struct nk_context*, struct nk_buffer *cmds, struct nk_buffer *vertices, struct nk_buffer *elements, const struct nk_convert_config*); +/*/// #### nk__draw_begin +/// Returns a draw vertex command buffer iterator to iterate over the vertex draw command buffer +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// const struct nk_draw_command* nk__draw_begin(const struct nk_context*, const struct nk_buffer*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer +/// +/// Returns vertex draw command pointer pointing to the first command inside the vertex draw command buffer +*/ +NK_API const struct nk_draw_command* nk__draw_begin(const struct nk_context*, const struct nk_buffer*); +/*/// #### nk__draw_end +/// Returns the vertex draw command at the end of the vertex draw command buffer +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// const struct nk_draw_command* nk__draw_end(const struct nk_context *ctx, const struct nk_buffer *buf); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer +/// +/// Returns vertex draw command pointer pointing to the end of the last vertex draw command inside the vertex draw command buffer +*/ +NK_API const struct nk_draw_command* nk__draw_end(const struct nk_context*, const struct nk_buffer*); +/*/// #### nk__draw_next +/// Increments the vertex draw command buffer iterator +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// const struct nk_draw_command* nk__draw_next(const struct nk_draw_command*, const struct nk_buffer*, const struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __cmd__ | Must point to an previously either by `nk__draw_begin` or `nk__draw_next` returned vertex draw command +/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +/// +/// Returns vertex draw command pointer pointing to the end of the last vertex draw command inside the vertex draw command buffer +*/ +NK_API const struct nk_draw_command* nk__draw_next(const struct nk_draw_command*, const struct nk_buffer*, const struct nk_context*); +/*/// #### nk_draw_foreach +/// Iterates over each vertex draw command inside a vertex draw command buffer +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// #define nk_draw_foreach(cmd,ctx, b) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __cmd__ | `nk_draw_command`iterator set to NULL +/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer +/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame +*/ +#define nk_draw_foreach(cmd,ctx, b) for((cmd)=nk__draw_begin(ctx, b); (cmd)!=0; (cmd)=nk__draw_next(cmd, b, ctx)) +#endif +/* ============================================================================= + * + * WINDOW + * + * ============================================================================= +/// ### Window +/// Windows are the main persistent state used inside nuklear and are life time +/// controlled by simply "retouching" (i.e. calling) each window each frame. +/// All widgets inside nuklear can only be added inside the function pair `nk_begin_xxx` +/// and `nk_end`. Calling any widgets outside these two functions will result in an +/// assert in debug or no state change in release mode.

+/// +/// Each window holds frame persistent state like position, size, flags, state tables, +/// and some garbage collected internal persistent widget state. Each window +/// is linked into a window stack list which determines the drawing and overlapping +/// order. The topmost window thereby is the currently active window.

+/// +/// To change window position inside the stack occurs either automatically by +/// user input by being clicked on or programmatically by calling `nk_window_focus`. +/// Windows by default are visible unless explicitly being defined with flag +/// `NK_WINDOW_HIDDEN`, the user clicked the close button on windows with flag +/// `NK_WINDOW_CLOSABLE` or if a window was explicitly hidden by calling +/// `nk_window_show`. To explicitly close and destroy a window call `nk_window_close`.

+/// +/// #### Usage +/// To create and keep a window you have to call one of the two `nk_begin_xxx` +/// functions to start window declarations and `nk_end` at the end. Furthermore it +/// is recommended to check the return value of `nk_begin_xxx` and only process +/// widgets inside the window if the value is not 0. Either way you have to call +/// `nk_end` at the end of window declarations. Furthermore, do not attempt to +/// nest `nk_begin_xxx` calls which will hopefully result in an assert or if not +/// in a segmentation fault. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // [... widgets ...] +/// } +/// nk_end(ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// In the grand concept window and widget declarations need to occur after input +/// handling and before drawing to screen. Not doing so can result in higher +/// latency or at worst invalid behavior. Furthermore make sure that `nk_clear` +/// is called at the end of the frame. While nuklear's default platform backends +/// already call `nk_clear` for you if you write your own backend not calling +/// `nk_clear` can cause asserts or even worse undefined behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// Event evt; +/// nk_input_begin(&ctx); +/// while (GetEvent(&evt)) { +/// if (evt.type == MOUSE_MOVE) +/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); +/// else if (evt.type == [...]) { +/// nk_input_xxx(...); +/// } +/// } +/// nk_input_end(&ctx); +/// +/// if (nk_begin_xxx(...) { +/// //[...] +/// } +/// nk_end(ctx); +/// +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case //...: +/// //[...] +/// } +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// ------------------------------------|---------------------------------------- +/// nk_begin | Starts a new window; needs to be called every frame for every window (unless hidden) or otherwise the window gets removed +/// nk_begin_titled | Extended window start with separated title and identifier to allow multiple windows with same name but not title +/// nk_end | Needs to be called at the end of the window building process to process scaling, scrollbars and general cleanup +// +/// nk_window_find | Finds and returns the window with give name +/// nk_window_get_bounds | Returns a rectangle with screen position and size of the currently processed window. +/// nk_window_get_position | Returns the position of the currently processed window +/// nk_window_get_size | Returns the size with width and height of the currently processed window +/// nk_window_get_width | Returns the width of the currently processed window +/// nk_window_get_height | Returns the height of the currently processed window +/// nk_window_get_panel | Returns the underlying panel which contains all processing state of the current window +/// nk_window_get_content_region | Returns the position and size of the currently visible and non-clipped space inside the currently processed window +/// nk_window_get_content_region_min | Returns the upper rectangle position of the currently visible and non-clipped space inside the currently processed window +/// nk_window_get_content_region_max | Returns the upper rectangle position of the currently visible and non-clipped space inside the currently processed window +/// nk_window_get_content_region_size | Returns the size of the currently visible and non-clipped space inside the currently processed window +/// nk_window_get_canvas | Returns the draw command buffer. Can be used to draw custom widgets +/// nk_window_get_scroll | Gets the scroll offset of the current window +/// nk_window_has_focus | Returns if the currently processed window is currently active +/// nk_window_is_collapsed | Returns if the window with given name is currently minimized/collapsed +/// nk_window_is_closed | Returns if the currently processed window was closed +/// nk_window_is_hidden | Returns if the currently processed window was hidden +/// nk_window_is_active | Same as nk_window_has_focus for some reason +/// nk_window_is_hovered | Returns if the currently processed window is currently being hovered by mouse +/// nk_window_is_any_hovered | Return if any window currently hovered +/// nk_item_is_any_active | Returns if any window or widgets is currently hovered or active +// +/// nk_window_set_bounds | Updates position and size of the currently processed window +/// nk_window_set_position | Updates position of the currently process window +/// nk_window_set_size | Updates the size of the currently processed window +/// nk_window_set_focus | Set the currently processed window as active window +/// nk_window_set_scroll | Sets the scroll offset of the current window +// +/// nk_window_close | Closes the window with given window name which deletes the window at the end of the frame +/// nk_window_collapse | Collapses the window with given window name +/// nk_window_collapse_if | Collapses the window with given window name if the given condition was met +/// nk_window_show | Hides a visible or reshows a hidden window +/// nk_window_show_if | Hides/shows a window depending on condition +*/ +/* +/// #### nk_panel_flags +/// Flag | Description +/// ----------------------------|---------------------------------------- +/// NK_WINDOW_BORDER | Draws a border around the window to visually separate window from the background +/// NK_WINDOW_MOVABLE | The movable flag indicates that a window can be moved by user input or by dragging the window header +/// NK_WINDOW_SCALABLE | The scalable flag indicates that a window can be scaled by user input by dragging a scaler icon at the button of the window +/// NK_WINDOW_CLOSABLE | Adds a closable icon into the header +/// NK_WINDOW_MINIMIZABLE | Adds a minimize icon into the header +/// NK_WINDOW_NO_SCROLLBAR | Removes the scrollbar from the window +/// NK_WINDOW_TITLE | Forces a header at the top at the window showing the title +/// NK_WINDOW_SCROLL_AUTO_HIDE | Automatically hides the window scrollbar if no user interaction: also requires delta time in `nk_context` to be set each frame +/// NK_WINDOW_BACKGROUND | Always keep window in the background +/// NK_WINDOW_SCALE_LEFT | Puts window scaler in the left-bottom corner instead right-bottom +/// NK_WINDOW_NO_INPUT | Prevents window of scaling, moving or getting focus +/// +/// #### nk_collapse_states +/// State | Description +/// ----------------|----------------------------------------------------------- +/// __NK_MINIMIZED__| UI section is collased and not visible until maximized +/// __NK_MAXIMIZED__| UI section is extended and visible until minimized +///

+*/ +enum nk_panel_flags { + NK_WINDOW_BORDER = NK_FLAG(0), + NK_WINDOW_MOVABLE = NK_FLAG(1), + NK_WINDOW_SCALABLE = NK_FLAG(2), + NK_WINDOW_CLOSABLE = NK_FLAG(3), + NK_WINDOW_MINIMIZABLE = NK_FLAG(4), + NK_WINDOW_NO_SCROLLBAR = NK_FLAG(5), + NK_WINDOW_TITLE = NK_FLAG(6), + NK_WINDOW_SCROLL_AUTO_HIDE = NK_FLAG(7), + NK_WINDOW_BACKGROUND = NK_FLAG(8), + NK_WINDOW_SCALE_LEFT = NK_FLAG(9), + NK_WINDOW_NO_INPUT = NK_FLAG(10) +}; +/*/// #### nk_begin +/// Starts a new window; needs to be called every frame for every +/// window (unless hidden) or otherwise the window gets removed +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_begin(struct nk_context *ctx, const char *title, struct nk_rect bounds, nk_flags flags); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __title__ | Window title and identifier. Needs to be persistent over frames to identify the window +/// __bounds__ | Initial position and window size. However if you do not define `NK_WINDOW_SCALABLE` or `NK_WINDOW_MOVABLE` you can set window position and size every frame +/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different window behaviors +/// +/// Returns `true(1)` if the window can be filled up with widgets from this point +/// until `nk_end` or `false(0)` otherwise for example if minimized +*/ +NK_API nk_bool nk_begin(struct nk_context *ctx, const char *title, struct nk_rect bounds, nk_flags flags); +/*/// #### nk_begin_titled +/// Extended window start with separated title and identifier to allow multiple +/// windows with same title but not name +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_begin_titled(struct nk_context *ctx, const char *name, const char *title, struct nk_rect bounds, nk_flags flags); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Window identifier. Needs to be persistent over frames to identify the window +/// __title__ | Window title displayed inside header if flag `NK_WINDOW_TITLE` or either `NK_WINDOW_CLOSABLE` or `NK_WINDOW_MINIMIZED` was set +/// __bounds__ | Initial position and window size. However if you do not define `NK_WINDOW_SCALABLE` or `NK_WINDOW_MOVABLE` you can set window position and size every frame +/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different window behaviors +/// +/// Returns `true(1)` if the window can be filled up with widgets from this point +/// until `nk_end` or `false(0)` otherwise for example if minimized +*/ +NK_API nk_bool nk_begin_titled(struct nk_context *ctx, const char *name, const char *title, struct nk_rect bounds, nk_flags flags); +/*/// #### nk_end +/// Needs to be called at the end of the window building process to process scaling, scrollbars and general cleanup. +/// All widget calls after this functions will result in asserts or no state changes +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_end(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +*/ +NK_API void nk_end(struct nk_context *ctx); +/*/// #### nk_window_find +/// Finds and returns a window from passed name +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_window *nk_window_find(struct nk_context *ctx, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Window identifier +/// +/// Returns a `nk_window` struct pointing to the identified window or NULL if +/// no window with the given name was found +*/ +NK_API struct nk_window *nk_window_find(struct nk_context *ctx, const char *name); +/*/// #### nk_window_get_bounds +/// Returns a rectangle with screen position and size of the currently processed window +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_rect nk_window_get_bounds(const struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns a `nk_rect` struct with window upper left window position and size +*/ +NK_API struct nk_rect nk_window_get_bounds(const struct nk_context *ctx); +/*/// #### nk_window_get_position +/// Returns the position of the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_window_get_position(const struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns a `nk_vec2` struct with window upper left position +*/ +NK_API struct nk_vec2 nk_window_get_position(const struct nk_context *ctx); +/*/// #### nk_window_get_size +/// Returns the size with width and height of the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_window_get_size(const struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns a `nk_vec2` struct with window width and height +*/ +NK_API struct nk_vec2 nk_window_get_size(const struct nk_context*); +/*/// #### nk_window_get_width +/// Returns the width of the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// float nk_window_get_width(const struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns the current window width +*/ +NK_API float nk_window_get_width(const struct nk_context*); +/*/// #### nk_window_get_height +/// Returns the height of the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// float nk_window_get_height(const struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns the current window height +*/ +NK_API float nk_window_get_height(const struct nk_context*); +/*/// #### nk_window_get_panel +/// Returns the underlying panel which contains all processing state of the current window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// !!! WARNING +/// Do not keep the returned panel pointer around, it is only valid until `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_panel* nk_window_get_panel(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns a pointer to window internal `nk_panel` state. +*/ +NK_API struct nk_panel* nk_window_get_panel(struct nk_context*); +/*/// #### nk_window_get_content_region +/// Returns the position and size of the currently visible and non-clipped space +/// inside the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_rect nk_window_get_content_region(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `nk_rect` struct with screen position and size (no scrollbar offset) +/// of the visible space inside the current window +*/ +NK_API struct nk_rect nk_window_get_content_region(struct nk_context*); +/*/// #### nk_window_get_content_region_min +/// Returns the upper left position of the currently visible and non-clipped +/// space inside the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_window_get_content_region_min(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// returns `nk_vec2` struct with upper left screen position (no scrollbar offset) +/// of the visible space inside the current window +*/ +NK_API struct nk_vec2 nk_window_get_content_region_min(struct nk_context*); +/*/// #### nk_window_get_content_region_max +/// Returns the lower right screen position of the currently visible and +/// non-clipped space inside the currently processed window. +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_window_get_content_region_max(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `nk_vec2` struct with lower right screen position (no scrollbar offset) +/// of the visible space inside the current window +*/ +NK_API struct nk_vec2 nk_window_get_content_region_max(struct nk_context*); +/*/// #### nk_window_get_content_region_size +/// Returns the size of the currently visible and non-clipped space inside the +/// currently processed window +/// +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_window_get_content_region_size(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `nk_vec2` struct with size the visible space inside the current window +*/ +NK_API struct nk_vec2 nk_window_get_content_region_size(struct nk_context*); +/*/// #### nk_window_get_canvas +/// Returns the draw command buffer. Can be used to draw custom widgets +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// !!! WARNING +/// Do not keep the returned command buffer pointer around it is only valid until `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_command_buffer* nk_window_get_canvas(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns a pointer to window internal `nk_command_buffer` struct used as +/// drawing canvas. Can be used to do custom drawing. +*/ +NK_API struct nk_command_buffer* nk_window_get_canvas(struct nk_context*); +/*/// #### nk_window_get_scroll +/// Gets the scroll offset for the current window +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_get_scroll(struct nk_context *ctx, nk_uint *offset_x, nk_uint *offset_y); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// -------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __offset_x__ | A pointer to the x offset output (or NULL to ignore) +/// __offset_y__ | A pointer to the y offset output (or NULL to ignore) +*/ +NK_API void nk_window_get_scroll(struct nk_context*, nk_uint *offset_x, nk_uint *offset_y); +/*/// #### nk_window_has_focus +/// Returns if the currently processed window is currently active +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_has_focus(const struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `false(0)` if current window is not active or `true(1)` if it is +*/ +NK_API nk_bool nk_window_has_focus(const struct nk_context*); +/*/// #### nk_window_is_hovered +/// Return if the current window is being hovered +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_is_hovered(struct nk_context *ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `true(1)` if current window is hovered or `false(0)` otherwise +*/ +NK_API nk_bool nk_window_is_hovered(struct nk_context*); +/*/// #### nk_window_is_collapsed +/// Returns if the window with given name is currently minimized/collapsed +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_is_collapsed(struct nk_context *ctx, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of window you want to check if it is collapsed +/// +/// Returns `true(1)` if current window is minimized and `false(0)` if window not +/// found or is not minimized +*/ +NK_API nk_bool nk_window_is_collapsed(struct nk_context *ctx, const char *name); +/*/// #### nk_window_is_closed +/// Returns if the window with given name was closed by calling `nk_close` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_is_closed(struct nk_context *ctx, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of window you want to check if it is closed +/// +/// Returns `true(1)` if current window was closed or `false(0)` window not found or not closed +*/ +NK_API nk_bool nk_window_is_closed(struct nk_context*, const char*); +/*/// #### nk_window_is_hidden +/// Returns if the window with given name is hidden +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_is_hidden(struct nk_context *ctx, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of window you want to check if it is hidden +/// +/// Returns `true(1)` if current window is hidden or `false(0)` window not found or visible +*/ +NK_API nk_bool nk_window_is_hidden(struct nk_context*, const char*); +/*/// #### nk_window_is_active +/// Same as nk_window_has_focus for some reason +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_is_active(struct nk_context *ctx, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of window you want to check if it is active +/// +/// Returns `true(1)` if current window is active or `false(0)` window not found or not active +*/ +NK_API nk_bool nk_window_is_active(struct nk_context*, const char*); +/*/// #### nk_window_is_any_hovered +/// Returns if the any window is being hovered +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_window_is_any_hovered(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `true(1)` if any window is hovered or `false(0)` otherwise +*/ +NK_API nk_bool nk_window_is_any_hovered(struct nk_context*); +/*/// #### nk_item_is_any_active +/// Returns if the any window is being hovered or any widget is currently active. +/// Can be used to decide if input should be processed by UI or your specific input handling. +/// Example could be UI and 3D camera to move inside a 3D space. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_item_is_any_active(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// +/// Returns `true(1)` if any window is hovered or any item is active or `false(0)` otherwise +*/ +NK_API nk_bool nk_item_is_any_active(struct nk_context*); +/*/// #### nk_window_set_bounds +/// Updates position and size of window with passed in name +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_set_bounds(struct nk_context*, const char *name, struct nk_rect bounds); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to modify both position and size +/// __bounds__ | Must point to a `nk_rect` struct with the new position and size +*/ +NK_API void nk_window_set_bounds(struct nk_context*, const char *name, struct nk_rect bounds); +/*/// #### nk_window_set_position +/// Updates position of window with passed name +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_set_position(struct nk_context*, const char *name, struct nk_vec2 pos); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to modify both position +/// __pos__ | Must point to a `nk_vec2` struct with the new position +*/ +NK_API void nk_window_set_position(struct nk_context*, const char *name, struct nk_vec2 pos); +/*/// #### nk_window_set_size +/// Updates size of window with passed in name +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_set_size(struct nk_context*, const char *name, struct nk_vec2); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to modify both window size +/// __size__ | Must point to a `nk_vec2` struct with new window size +*/ +NK_API void nk_window_set_size(struct nk_context*, const char *name, struct nk_vec2); +/*/// #### nk_window_set_focus +/// Sets the window with given name as active +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_set_focus(struct nk_context*, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to set focus on +*/ +NK_API void nk_window_set_focus(struct nk_context*, const char *name); +/*/// #### nk_window_set_scroll +/// Sets the scroll offset for the current window +/// !!! WARNING +/// Only call this function between calls `nk_begin_xxx` and `nk_end` +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_set_scroll(struct nk_context *ctx, nk_uint offset_x, nk_uint offset_y); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// -------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __offset_x__ | The x offset to scroll to +/// __offset_y__ | The y offset to scroll to +*/ +NK_API void nk_window_set_scroll(struct nk_context*, nk_uint offset_x, nk_uint offset_y); +/*/// #### nk_window_close +/// Closes a window and marks it for being freed at the end of the frame +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_close(struct nk_context *ctx, const char *name); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to close +*/ +NK_API void nk_window_close(struct nk_context *ctx, const char *name); +/*/// #### nk_window_collapse +/// Updates collapse state of a window with given name +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_collapse(struct nk_context*, const char *name, enum nk_collapse_states state); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to close +/// __state__ | value out of nk_collapse_states section +*/ +NK_API void nk_window_collapse(struct nk_context*, const char *name, enum nk_collapse_states state); +/*/// #### nk_window_collapse_if +/// Updates collapse state of a window with given name if given condition is met +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_collapse_if(struct nk_context*, const char *name, enum nk_collapse_states, int cond); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to either collapse or maximize +/// __state__ | value out of nk_collapse_states section the window should be put into +/// __cond__ | condition that has to be met to actually commit the collapse state change +*/ +NK_API void nk_window_collapse_if(struct nk_context*, const char *name, enum nk_collapse_states, int cond); +/*/// #### nk_window_show +/// updates visibility state of a window with given name +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_show(struct nk_context*, const char *name, enum nk_show_states); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to either collapse or maximize +/// __state__ | state with either visible or hidden to modify the window with +*/ +NK_API void nk_window_show(struct nk_context*, const char *name, enum nk_show_states); +/*/// #### nk_window_show_if +/// Updates visibility state of a window with given name if a given condition is met +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_window_show_if(struct nk_context*, const char *name, enum nk_show_states, int cond); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __name__ | Identifier of the window to either hide or show +/// __state__ | state with either visible or hidden to modify the window with +/// __cond__ | condition that has to be met to actually commit the visbility state change +*/ +NK_API void nk_window_show_if(struct nk_context*, const char *name, enum nk_show_states, int cond); +/* ============================================================================= + * + * LAYOUT + * + * ============================================================================= +/// ### Layouting +/// Layouting in general describes placing widget inside a window with position and size. +/// While in this particular implementation there are five different APIs for layouting +/// each with different trade offs between control and ease of use.

+/// +/// All layouting methods in this library are based around the concept of a row. +/// A row has a height the window content grows by and a number of columns and each +/// layouting method specifies how each widget is placed inside the row. +/// After a row has been allocated by calling a layouting functions and then +/// filled with widgets will advance an internal pointer over the allocated row.

+/// +/// To actually define a layout you just call the appropriate layouting function +/// and each subsequent widget call will place the widget as specified. Important +/// here is that if you define more widgets then columns defined inside the layout +/// functions it will allocate the next row without you having to make another layouting

+/// call. +/// +/// Biggest limitation with using all these APIs outside the `nk_layout_space_xxx` API +/// is that you have to define the row height for each. However the row height +/// often depends on the height of the font.

+/// +/// To fix that internally nuklear uses a minimum row height that is set to the +/// height plus padding of currently active font and overwrites the row height +/// value if zero.

+/// +/// If you manually want to change the minimum row height then +/// use nk_layout_set_min_row_height, and use nk_layout_reset_min_row_height to +/// reset it back to be derived from font height.

+/// +/// Also if you change the font in nuklear it will automatically change the minimum +/// row height for you and. This means if you change the font but still want +/// a minimum row height smaller than the font you have to repush your value.

+/// +/// For actually more advanced UI I would even recommend using the `nk_layout_space_xxx` +/// layouting method in combination with a cassowary constraint solver (there are +/// some versions on github with permissive license model) to take over all control over widget +/// layouting yourself. However for quick and dirty layouting using all the other layouting +/// functions should be fine. +/// +/// #### Usage +/// 1. __nk_layout_row_dynamic__

+/// The easiest layouting function is `nk_layout_row_dynamic`. It provides each +/// widgets with same horizontal space inside the row and dynamically grows +/// if the owning window grows in width. So the number of columns dictates +/// the size of each widget dynamically by formula: +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// widget_width = (window_width - padding - spacing) * (1/colum_count) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Just like all other layouting APIs if you define more widget than columns this +/// library will allocate a new row and keep all layouting parameters previously +/// defined. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // first row with height: 30 composed of two widgets +/// nk_layout_row_dynamic(&ctx, 30, 2); +/// nk_widget(...); +/// nk_widget(...); +/// // +/// // second row with same parameter as defined above +/// nk_widget(...); +/// nk_widget(...); +/// // +/// // third row uses 0 for height which will use auto layouting +/// nk_layout_row_dynamic(&ctx, 0, 2); +/// nk_widget(...); +/// nk_widget(...); +/// } +/// nk_end(...); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// 2. __nk_layout_row_static__

+/// Another easy layouting function is `nk_layout_row_static`. It provides each +/// widget with same horizontal pixel width inside the row and does not grow +/// if the owning window scales smaller or bigger. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // first row with height: 30 composed of two widgets with width: 80 +/// nk_layout_row_static(&ctx, 30, 80, 2); +/// nk_widget(...); +/// nk_widget(...); +/// // +/// // second row with same parameter as defined above +/// nk_widget(...); +/// nk_widget(...); +/// // +/// // third row uses 0 for height which will use auto layouting +/// nk_layout_row_static(&ctx, 0, 80, 2); +/// nk_widget(...); +/// nk_widget(...); +/// } +/// nk_end(...); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// 3. __nk_layout_row_xxx__

+/// A little bit more advanced layouting API are functions `nk_layout_row_begin`, +/// `nk_layout_row_push` and `nk_layout_row_end`. They allow to directly +/// specify each column pixel or window ratio in a row. It supports either +/// directly setting per column pixel width or widget window ratio but not +/// both. Furthermore it is a immediate mode API so each value is directly +/// pushed before calling a widget. Therefore the layout is not automatically +/// repeating like the last two layouting functions. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // first row with height: 25 composed of two widgets with width 60 and 40 +/// nk_layout_row_begin(ctx, NK_STATIC, 25, 2); +/// nk_layout_row_push(ctx, 60); +/// nk_widget(...); +/// nk_layout_row_push(ctx, 40); +/// nk_widget(...); +/// nk_layout_row_end(ctx); +/// // +/// // second row with height: 25 composed of two widgets with window ratio 0.25 and 0.75 +/// nk_layout_row_begin(ctx, NK_DYNAMIC, 25, 2); +/// nk_layout_row_push(ctx, 0.25f); +/// nk_widget(...); +/// nk_layout_row_push(ctx, 0.75f); +/// nk_widget(...); +/// nk_layout_row_end(ctx); +/// // +/// // third row with auto generated height: composed of two widgets with window ratio 0.25 and 0.75 +/// nk_layout_row_begin(ctx, NK_DYNAMIC, 0, 2); +/// nk_layout_row_push(ctx, 0.25f); +/// nk_widget(...); +/// nk_layout_row_push(ctx, 0.75f); +/// nk_widget(...); +/// nk_layout_row_end(ctx); +/// } +/// nk_end(...); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// 4. __nk_layout_row__

+/// The array counterpart to API nk_layout_row_xxx is the single nk_layout_row +/// functions. Instead of pushing either pixel or window ratio for every widget +/// it allows to define it by array. The trade of for less control is that +/// `nk_layout_row` is automatically repeating. Otherwise the behavior is the +/// same. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // two rows with height: 30 composed of two widgets with width 60 and 40 +/// const float size[] = {60,40}; +/// nk_layout_row(ctx, NK_STATIC, 30, 2, ratio); +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// // +/// // two rows with height: 30 composed of two widgets with window ratio 0.25 and 0.75 +/// const float ratio[] = {0.25, 0.75}; +/// nk_layout_row(ctx, NK_DYNAMIC, 30, 2, ratio); +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// // +/// // two rows with auto generated height composed of two widgets with window ratio 0.25 and 0.75 +/// const float ratio[] = {0.25, 0.75}; +/// nk_layout_row(ctx, NK_DYNAMIC, 30, 2, ratio); +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// } +/// nk_end(...); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// 5. __nk_layout_row_template_xxx__

+/// The most complex and second most flexible API is a simplified flexbox version without +/// line wrapping and weights for dynamic widgets. It is an immediate mode API but +/// unlike `nk_layout_row_xxx` it has auto repeat behavior and needs to be called +/// before calling the templated widgets. +/// The row template layout has three different per widget size specifier. The first +/// one is the `nk_layout_row_template_push_static` with fixed widget pixel width. +/// They do not grow if the row grows and will always stay the same. +/// The second size specifier is `nk_layout_row_template_push_variable` +/// which defines a minimum widget size but it also can grow if more space is available +/// not taken by other widgets. +/// Finally there are dynamic widgets with `nk_layout_row_template_push_dynamic` +/// which are completely flexible and unlike variable widgets can even shrink +/// to zero if not enough space is provided. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // two rows with height: 30 composed of three widgets +/// nk_layout_row_template_begin(ctx, 30); +/// nk_layout_row_template_push_dynamic(ctx); +/// nk_layout_row_template_push_variable(ctx, 80); +/// nk_layout_row_template_push_static(ctx, 80); +/// nk_layout_row_template_end(ctx); +/// // +/// // first row +/// nk_widget(...); // dynamic widget can go to zero if not enough space +/// nk_widget(...); // variable widget with min 80 pixel but can grow bigger if enough space +/// nk_widget(...); // static widget with fixed 80 pixel width +/// // +/// // second row same layout +/// nk_widget(...); +/// nk_widget(...); +/// nk_widget(...); +/// } +/// nk_end(...); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// 6. __nk_layout_space_xxx__

+/// Finally the most flexible API directly allows you to place widgets inside the +/// window. The space layout API is an immediate mode API which does not support +/// row auto repeat and directly sets position and size of a widget. Position +/// and size hereby can be either specified as ratio of allocated space or +/// allocated space local position and pixel size. Since this API is quite +/// powerful there are a number of utility functions to get the available space +/// and convert between local allocated space and screen space. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_begin_xxx(...) { +/// // static row with height: 500 (you can set column count to INT_MAX if you don't want to be bothered) +/// nk_layout_space_begin(ctx, NK_STATIC, 500, INT_MAX); +/// nk_layout_space_push(ctx, nk_rect(0,0,150,200)); +/// nk_widget(...); +/// nk_layout_space_push(ctx, nk_rect(200,200,100,200)); +/// nk_widget(...); +/// nk_layout_space_end(ctx); +/// // +/// // dynamic row with height: 500 (you can set column count to INT_MAX if you don't want to be bothered) +/// nk_layout_space_begin(ctx, NK_DYNAMIC, 500, INT_MAX); +/// nk_layout_space_push(ctx, nk_rect(0.5,0.5,0.1,0.1)); +/// nk_widget(...); +/// nk_layout_space_push(ctx, nk_rect(0.7,0.6,0.1,0.1)); +/// nk_widget(...); +/// } +/// nk_end(...); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// ----------------------------------------|------------------------------------ +/// nk_layout_set_min_row_height | Set the currently used minimum row height to a specified value +/// nk_layout_reset_min_row_height | Resets the currently used minimum row height to font height +/// nk_layout_widget_bounds | Calculates current width a static layout row can fit inside a window +/// nk_layout_ratio_from_pixel | Utility functions to calculate window ratio from pixel size +// +/// nk_layout_row_dynamic | Current layout is divided into n same sized growing columns +/// nk_layout_row_static | Current layout is divided into n same fixed sized columns +/// nk_layout_row_begin | Starts a new row with given height and number of columns +/// nk_layout_row_push | Pushes another column with given size or window ratio +/// nk_layout_row_end | Finished previously started row +/// nk_layout_row | Specifies row columns in array as either window ratio or size +// +/// nk_layout_row_template_begin | Begins the row template declaration +/// nk_layout_row_template_push_dynamic | Adds a dynamic column that dynamically grows and can go to zero if not enough space +/// nk_layout_row_template_push_variable | Adds a variable column that dynamically grows but does not shrink below specified pixel width +/// nk_layout_row_template_push_static | Adds a static column that does not grow and will always have the same size +/// nk_layout_row_template_end | Marks the end of the row template +// +/// nk_layout_space_begin | Begins a new layouting space that allows to specify each widgets position and size +/// nk_layout_space_push | Pushes position and size of the next widget in own coordinate space either as pixel or ratio +/// nk_layout_space_end | Marks the end of the layouting space +// +/// nk_layout_space_bounds | Callable after nk_layout_space_begin and returns total space allocated +/// nk_layout_space_to_screen | Converts vector from nk_layout_space coordinate space into screen space +/// nk_layout_space_to_local | Converts vector from screen space into nk_layout_space coordinates +/// nk_layout_space_rect_to_screen | Converts rectangle from nk_layout_space coordinate space into screen space +/// nk_layout_space_rect_to_local | Converts rectangle from screen space into nk_layout_space coordinates +*/ +/*/// #### nk_layout_set_min_row_height +/// Sets the currently used minimum row height. +/// !!! WARNING +/// The passed height needs to include both your preferred row height +/// as well as padding. No internal padding is added. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_set_min_row_height(struct nk_context*, float height); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __height__ | New minimum row height to be used for auto generating the row height +*/ +NK_API void nk_layout_set_min_row_height(struct nk_context*, float height); +/*/// #### nk_layout_reset_min_row_height +/// Reset the currently used minimum row height back to `font_height + text_padding + padding` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_reset_min_row_height(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +*/ +NK_API void nk_layout_reset_min_row_height(struct nk_context*); +/*/// #### nk_layout_widget_bounds +/// Returns the width of the next row allocate by one of the layouting functions +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_rect nk_layout_widget_bounds(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// +/// Return `nk_rect` with both position and size of the next row +*/ +NK_API struct nk_rect nk_layout_widget_bounds(struct nk_context*); +/*/// #### nk_layout_ratio_from_pixel +/// Utility functions to calculate window ratio from pixel size +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// float nk_layout_ratio_from_pixel(struct nk_context*, float pixel_width); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __pixel__ | Pixel_width to convert to window ratio +/// +/// Returns `nk_rect` with both position and size of the next row +*/ +NK_API float nk_layout_ratio_from_pixel(struct nk_context*, float pixel_width); +/*/// #### nk_layout_row_dynamic +/// Sets current row layout to share horizontal space +/// between @cols number of widgets evenly. Once called all subsequent widget +/// calls greater than @cols will allocate a new row with same layout. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_dynamic(struct nk_context *ctx, float height, int cols); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __height__ | Holds height of each widget in row or zero for auto layouting +/// __columns__ | Number of widget inside row +*/ +NK_API void nk_layout_row_dynamic(struct nk_context *ctx, float height, int cols); +/*/// #### nk_layout_row_static +/// Sets current row layout to fill @cols number of widgets +/// in row with same @item_width horizontal size. Once called all subsequent widget +/// calls greater than @cols will allocate a new row with same layout. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_static(struct nk_context *ctx, float height, int item_width, int cols); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __height__ | Holds height of each widget in row or zero for auto layouting +/// __width__ | Holds pixel width of each widget in the row +/// __columns__ | Number of widget inside row +*/ +NK_API void nk_layout_row_static(struct nk_context *ctx, float height, int item_width, int cols); +/*/// #### nk_layout_row_begin +/// Starts a new dynamic or fixed row with given height and columns. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_begin(struct nk_context *ctx, enum nk_layout_format fmt, float row_height, int cols); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __fmt__ | either `NK_DYNAMIC` for window ratio or `NK_STATIC` for fixed size columns +/// __height__ | holds height of each widget in row or zero for auto layouting +/// __columns__ | Number of widget inside row +*/ +NK_API void nk_layout_row_begin(struct nk_context *ctx, enum nk_layout_format fmt, float row_height, int cols); +/*/// #### nk_layout_row_push +/// Specifies either window ratio or width of a single column +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_push(struct nk_context*, float value); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __value__ | either a window ratio or fixed width depending on @fmt in previous `nk_layout_row_begin` call +*/ +NK_API void nk_layout_row_push(struct nk_context*, float value); +/*/// #### nk_layout_row_end +/// Finished previously started row +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_end(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +*/ +NK_API void nk_layout_row_end(struct nk_context*); +/*/// #### nk_layout_row +/// Specifies row columns in array as either window ratio or size +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row(struct nk_context*, enum nk_layout_format, float height, int cols, const float *ratio); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __fmt__ | Either `NK_DYNAMIC` for window ratio or `NK_STATIC` for fixed size columns +/// __height__ | Holds height of each widget in row or zero for auto layouting +/// __columns__ | Number of widget inside row +*/ +NK_API void nk_layout_row(struct nk_context*, enum nk_layout_format, float height, int cols, const float *ratio); +/*/// #### nk_layout_row_template_begin +/// Begins the row template declaration +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_template_begin(struct nk_context*, float row_height); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __height__ | Holds height of each widget in row or zero for auto layouting +*/ +NK_API void nk_layout_row_template_begin(struct nk_context*, float row_height); +/*/// #### nk_layout_row_template_push_dynamic +/// Adds a dynamic column that dynamically grows and can go to zero if not enough space +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_template_push_dynamic(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __height__ | Holds height of each widget in row or zero for auto layouting +*/ +NK_API void nk_layout_row_template_push_dynamic(struct nk_context*); +/*/// #### nk_layout_row_template_push_variable +/// Adds a variable column that dynamically grows but does not shrink below specified pixel width +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_template_push_variable(struct nk_context*, float min_width); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __width__ | Holds the minimum pixel width the next column must always be +*/ +NK_API void nk_layout_row_template_push_variable(struct nk_context*, float min_width); +/*/// #### nk_layout_row_template_push_static +/// Adds a static column that does not grow and will always have the same size +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_template_push_static(struct nk_context*, float width); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __width__ | Holds the absolute pixel width value the next column must be +*/ +NK_API void nk_layout_row_template_push_static(struct nk_context*, float width); +/*/// #### nk_layout_row_template_end +/// Marks the end of the row template +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_row_template_end(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +*/ +NK_API void nk_layout_row_template_end(struct nk_context*); +/*/// #### nk_layout_space_begin +/// Begins a new layouting space that allows to specify each widgets position and size. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_space_begin(struct nk_context*, enum nk_layout_format, float height, int widget_count); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` +/// __fmt__ | Either `NK_DYNAMIC` for window ratio or `NK_STATIC` for fixed size columns +/// __height__ | Holds height of each widget in row or zero for auto layouting +/// __columns__ | Number of widgets inside row +*/ +NK_API void nk_layout_space_begin(struct nk_context*, enum nk_layout_format, float height, int widget_count); +/*/// #### nk_layout_space_push +/// Pushes position and size of the next widget in own coordinate space either as pixel or ratio +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_space_push(struct nk_context *ctx, struct nk_rect bounds); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// __bounds__ | Position and size in laoyut space local coordinates +*/ +NK_API void nk_layout_space_push(struct nk_context*, struct nk_rect bounds); +/*/// #### nk_layout_space_end +/// Marks the end of the layout space +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_layout_space_end(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +*/ +NK_API void nk_layout_space_end(struct nk_context*); +/*/// #### nk_layout_space_bounds +/// Utility function to calculate total space allocated for `nk_layout_space` +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_rect nk_layout_space_bounds(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// +/// Returns `nk_rect` holding the total space allocated +*/ +NK_API struct nk_rect nk_layout_space_bounds(struct nk_context*); +/*/// #### nk_layout_space_to_screen +/// Converts vector from nk_layout_space coordinate space into screen space +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_layout_space_to_screen(struct nk_context*, struct nk_vec2); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// __vec__ | Position to convert from layout space into screen coordinate space +/// +/// Returns transformed `nk_vec2` in screen space coordinates +*/ +NK_API struct nk_vec2 nk_layout_space_to_screen(struct nk_context*, struct nk_vec2); +/*/// #### nk_layout_space_to_local +/// Converts vector from layout space into screen space +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_vec2 nk_layout_space_to_local(struct nk_context*, struct nk_vec2); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// __vec__ | Position to convert from screen space into layout coordinate space +/// +/// Returns transformed `nk_vec2` in layout space coordinates +*/ +NK_API struct nk_vec2 nk_layout_space_to_local(struct nk_context*, struct nk_vec2); +/*/// #### nk_layout_space_rect_to_screen +/// Converts rectangle from screen space into layout space +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_rect nk_layout_space_rect_to_screen(struct nk_context*, struct nk_rect); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// __bounds__ | Rectangle to convert from layout space into screen space +/// +/// Returns transformed `nk_rect` in screen space coordinates +*/ +NK_API struct nk_rect nk_layout_space_rect_to_screen(struct nk_context*, struct nk_rect); +/*/// #### nk_layout_space_rect_to_local +/// Converts rectangle from layout space into screen space +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_rect nk_layout_space_rect_to_local(struct nk_context*, struct nk_rect); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// __bounds__ | Rectangle to convert from layout space into screen space +/// +/// Returns transformed `nk_rect` in layout space coordinates +*/ +NK_API struct nk_rect nk_layout_space_rect_to_local(struct nk_context*, struct nk_rect); + +/*/// #### nk_spacer +/// Spacer is a dummy widget that consumes space as usual but doesn't draw anything +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_spacer(struct nk_context* ); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` +/// +*/ +NK_API void nk_spacer(struct nk_context* ); + + +/* ============================================================================= + * + * GROUP + * + * ============================================================================= +/// ### Groups +/// Groups are basically windows inside windows. They allow to subdivide space +/// in a window to layout widgets as a group. Almost all more complex widget +/// layouting requirements can be solved using groups and basic layouting +/// fuctionality. Groups just like windows are identified by an unique name and +/// internally keep track of scrollbar offsets by default. However additional +/// versions are provided to directly manage the scrollbar. +/// +/// #### Usage +/// To create a group you have to call one of the three `nk_group_begin_xxx` +/// functions to start group declarations and `nk_group_end` at the end. Furthermore it +/// is required to check the return value of `nk_group_begin_xxx` and only process +/// widgets inside the window if the value is not 0. +/// Nesting groups is possible and even encouraged since many layouting schemes +/// can only be achieved by nesting. Groups, unlike windows, need `nk_group_end` +/// to be only called if the corresponding `nk_group_begin_xxx` call does not return 0: +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_group_begin_xxx(ctx, ...) { +/// // [... widgets ...] +/// nk_group_end(ctx); +/// } +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// In the grand concept groups can be called after starting a window +/// with `nk_begin_xxx` and before calling `nk_end`: +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// // Input +/// Event evt; +/// nk_input_begin(&ctx); +/// while (GetEvent(&evt)) { +/// if (evt.type == MOUSE_MOVE) +/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); +/// else if (evt.type == [...]) { +/// nk_input_xxx(...); +/// } +/// } +/// nk_input_end(&ctx); +/// // +/// // Window +/// if (nk_begin_xxx(...) { +/// // [...widgets...] +/// nk_layout_row_dynamic(...); +/// if (nk_group_begin_xxx(ctx, ...) { +/// //[... widgets ...] +/// nk_group_end(ctx); +/// } +/// } +/// nk_end(ctx); +/// // +/// // Draw +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// switch (cmd->type) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case ...: +/// // [...] +/// } +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// #### Reference +/// Function | Description +/// --------------------------------|------------------------------------------- +/// nk_group_begin | Start a new group with internal scrollbar handling +/// nk_group_begin_titled | Start a new group with separated name and title and internal scrollbar handling +/// nk_group_end | Ends a group. Should only be called if nk_group_begin returned non-zero +/// nk_group_scrolled_offset_begin | Start a new group with manual separated handling of scrollbar x- and y-offset +/// nk_group_scrolled_begin | Start a new group with manual scrollbar handling +/// nk_group_scrolled_end | Ends a group with manual scrollbar handling. Should only be called if nk_group_begin returned non-zero +/// nk_group_get_scroll | Gets the scroll offset for the given group +/// nk_group_set_scroll | Sets the scroll offset for the given group +*/ +/*/// #### nk_group_begin +/// Starts a new widget group. Requires a previous layouting function to specify a pos/size. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_group_begin(struct nk_context*, const char *title, nk_flags); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __title__ | Must be an unique identifier for this group that is also used for the group header +/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different group behaviors +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_group_begin(struct nk_context*, const char *title, nk_flags); +/*/// #### nk_group_begin_titled +/// Starts a new widget group. Requires a previous layouting function to specify a pos/size. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_group_begin_titled(struct nk_context*, const char *name, const char *title, nk_flags); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __id__ | Must be an unique identifier for this group +/// __title__ | Group header title +/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different group behaviors +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_group_begin_titled(struct nk_context*, const char *name, const char *title, nk_flags); +/*/// #### nk_group_end +/// Ends a widget group +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_group_end(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +*/ +NK_API void nk_group_end(struct nk_context*); +/*/// #### nk_group_scrolled_offset_begin +/// starts a new widget group. requires a previous layouting function to specify +/// a size. Does not keep track of scrollbar. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_group_scrolled_offset_begin(struct nk_context*, nk_uint *x_offset, nk_uint *y_offset, const char *title, nk_flags flags); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __x_offset__| Scrollbar x-offset to offset all widgets inside the group horizontally. +/// __y_offset__| Scrollbar y-offset to offset all widgets inside the group vertically +/// __title__ | Window unique group title used to both identify and display in the group header +/// __flags__ | Window flags from the nk_panel_flags section +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_group_scrolled_offset_begin(struct nk_context*, nk_uint *x_offset, nk_uint *y_offset, const char *title, nk_flags flags); +/*/// #### nk_group_scrolled_begin +/// Starts a new widget group. requires a previous +/// layouting function to specify a size. Does not keep track of scrollbar. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_group_scrolled_begin(struct nk_context*, struct nk_scroll *off, const char *title, nk_flags); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __off__ | Both x- and y- scroll offset. Allows for manual scrollbar control +/// __title__ | Window unique group title used to both identify and display in the group header +/// __flags__ | Window flags from nk_panel_flags section +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_group_scrolled_begin(struct nk_context*, struct nk_scroll *off, const char *title, nk_flags); +/*/// #### nk_group_scrolled_end +/// Ends a widget group after calling nk_group_scrolled_offset_begin or nk_group_scrolled_begin. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_group_scrolled_end(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +*/ +NK_API void nk_group_scrolled_end(struct nk_context*); +/*/// #### nk_group_get_scroll +/// Gets the scroll position of the given group. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_group_get_scroll(struct nk_context*, const char *id, nk_uint *x_offset, nk_uint *y_offset); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// -------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __id__ | The id of the group to get the scroll position of +/// __x_offset__ | A pointer to the x offset output (or NULL to ignore) +/// __y_offset__ | A pointer to the y offset output (or NULL to ignore) +*/ +NK_API void nk_group_get_scroll(struct nk_context*, const char *id, nk_uint *x_offset, nk_uint *y_offset); +/*/// #### nk_group_set_scroll +/// Sets the scroll position of the given group. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_group_set_scroll(struct nk_context*, const char *id, nk_uint x_offset, nk_uint y_offset); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// -------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __id__ | The id of the group to scroll +/// __x_offset__ | The x offset to scroll to +/// __y_offset__ | The y offset to scroll to +*/ +NK_API void nk_group_set_scroll(struct nk_context*, const char *id, nk_uint x_offset, nk_uint y_offset); +/* ============================================================================= + * + * TREE + * + * ============================================================================= +/// ### Tree +/// Trees represent two different concept. First the concept of a collapsible +/// UI section that can be either in a hidden or visible state. They allow the UI +/// user to selectively minimize the current set of visible UI to comprehend. +/// The second concept are tree widgets for visual UI representation of trees.

+/// +/// Trees thereby can be nested for tree representations and multiple nested +/// collapsible UI sections. All trees are started by calling of the +/// `nk_tree_xxx_push_tree` functions and ended by calling one of the +/// `nk_tree_xxx_pop_xxx()` functions. Each starting functions takes a title label +/// and optionally an image to be displayed and the initial collapse state from +/// the nk_collapse_states section.

+/// +/// The runtime state of the tree is either stored outside the library by the caller +/// or inside which requires a unique ID. The unique ID can either be generated +/// automatically from `__FILE__` and `__LINE__` with function `nk_tree_push`, +/// by `__FILE__` and a user provided ID generated for example by loop index with +/// function `nk_tree_push_id` or completely provided from outside by user with +/// function `nk_tree_push_hashed`. +/// +/// #### Usage +/// To create a tree you have to call one of the seven `nk_tree_xxx_push_xxx` +/// functions to start a collapsible UI section and `nk_tree_xxx_pop` to mark the +/// end. +/// Each starting function will either return `false(0)` if the tree is collapsed +/// or hidden and therefore does not need to be filled with content or `true(1)` +/// if visible and required to be filled. +/// +/// !!! Note +/// The tree header does not require and layouting function and instead +/// calculates a auto height based on the currently used font size +/// +/// The tree ending functions only need to be called if the tree content is +/// actually visible. So make sure the tree push function is guarded by `if` +/// and the pop call is only taken if the tree is visible. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// if (nk_tree_push(ctx, NK_TREE_TAB, "Tree", NK_MINIMIZED)) { +/// nk_layout_row_dynamic(...); +/// nk_widget(...); +/// nk_tree_pop(ctx); +/// } +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// ----------------------------|------------------------------------------- +/// nk_tree_push | Start a collapsible UI section with internal state management +/// nk_tree_push_id | Start a collapsible UI section with internal state management callable in a look +/// nk_tree_push_hashed | Start a collapsible UI section with internal state management with full control over internal unique ID use to store state +/// nk_tree_image_push | Start a collapsible UI section with image and label header +/// nk_tree_image_push_id | Start a collapsible UI section with image and label header and internal state management callable in a look +/// nk_tree_image_push_hashed | Start a collapsible UI section with image and label header and internal state management with full control over internal unique ID use to store state +/// nk_tree_pop | Ends a collapsible UI section +// +/// nk_tree_state_push | Start a collapsible UI section with external state management +/// nk_tree_state_image_push | Start a collapsible UI section with image and label header and external state management +/// nk_tree_state_pop | Ends a collapsabale UI section +/// +/// #### nk_tree_type +/// Flag | Description +/// ----------------|---------------------------------------- +/// NK_TREE_NODE | Highlighted tree header to mark a collapsible UI section +/// NK_TREE_TAB | Non-highlighted tree header closer to tree representations +*/ +/*/// #### nk_tree_push +/// Starts a collapsible UI section with internal state management +/// !!! WARNING +/// To keep track of the runtime tree collapsible state this function uses +/// defines `__FILE__` and `__LINE__` to generate a unique ID. If you want +/// to call this function in a loop please use `nk_tree_push_id` or +/// `nk_tree_push_hashed` instead. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// #define nk_tree_push(ctx, type, title, state) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __title__ | Label printed in the tree header +/// __state__ | Initial tree state value out of nk_collapse_states +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +#define nk_tree_push(ctx, type, title, state) nk_tree_push_hashed(ctx, type, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),__LINE__) +/*/// #### nk_tree_push_id +/// Starts a collapsible UI section with internal state management callable in a look +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// #define nk_tree_push_id(ctx, type, title, state, id) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __title__ | Label printed in the tree header +/// __state__ | Initial tree state value out of nk_collapse_states +/// __id__ | Loop counter index if this function is called in a loop +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +#define nk_tree_push_id(ctx, type, title, state, id) nk_tree_push_hashed(ctx, type, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),id) +/*/// #### nk_tree_push_hashed +/// Start a collapsible UI section with internal state management with full +/// control over internal unique ID used to store state +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_tree_push_hashed(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __title__ | Label printed in the tree header +/// __state__ | Initial tree state value out of nk_collapse_states +/// __hash__ | Memory block or string to generate the ID from +/// __len__ | Size of passed memory block or string in __hash__ +/// __seed__ | Seeding value if this function is called in a loop or default to `0` +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_tree_push_hashed(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); +/*/// #### nk_tree_image_push +/// Start a collapsible UI section with image and label header +/// !!! WARNING +/// To keep track of the runtime tree collapsible state this function uses +/// defines `__FILE__` and `__LINE__` to generate a unique ID. If you want +/// to call this function in a loop please use `nk_tree_image_push_id` or +/// `nk_tree_image_push_hashed` instead. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// #define nk_tree_image_push(ctx, type, img, title, state) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __img__ | Image to display inside the header on the left of the label +/// __title__ | Label printed in the tree header +/// __state__ | Initial tree state value out of nk_collapse_states +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +#define nk_tree_image_push(ctx, type, img, title, state) nk_tree_image_push_hashed(ctx, type, img, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),__LINE__) +/*/// #### nk_tree_image_push_id +/// Start a collapsible UI section with image and label header and internal state +/// management callable in a look +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// #define nk_tree_image_push_id(ctx, type, img, title, state, id) +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __img__ | Image to display inside the header on the left of the label +/// __title__ | Label printed in the tree header +/// __state__ | Initial tree state value out of nk_collapse_states +/// __id__ | Loop counter index if this function is called in a loop +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +#define nk_tree_image_push_id(ctx, type, img, title, state, id) nk_tree_image_push_hashed(ctx, type, img, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),id) +/*/// #### nk_tree_image_push_hashed +/// Start a collapsible UI section with internal state management with full +/// control over internal unique ID used to store state +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_tree_image_push_hashed(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __img__ | Image to display inside the header on the left of the label +/// __title__ | Label printed in the tree header +/// __state__ | Initial tree state value out of nk_collapse_states +/// __hash__ | Memory block or string to generate the ID from +/// __len__ | Size of passed memory block or string in __hash__ +/// __seed__ | Seeding value if this function is called in a loop or default to `0` +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_tree_image_push_hashed(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); +/*/// #### nk_tree_pop +/// Ends a collapsabale UI section +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_tree_pop(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` +*/ +NK_API void nk_tree_pop(struct nk_context*); +/*/// #### nk_tree_state_push +/// Start a collapsible UI section with external state management +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_tree_state_push(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states *state); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __title__ | Label printed in the tree header +/// __state__ | Persistent state to update +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_tree_state_push(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states *state); +/*/// #### nk_tree_state_image_push +/// Start a collapsible UI section with image and label header and external state management +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// nk_bool nk_tree_state_image_push(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states *state); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` +/// __img__ | Image to display inside the header on the left of the label +/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node +/// __title__ | Label printed in the tree header +/// __state__ | Persistent state to update +/// +/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise +*/ +NK_API nk_bool nk_tree_state_image_push(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states *state); +/*/// #### nk_tree_state_pop +/// Ends a collapsabale UI section +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_tree_state_pop(struct nk_context*); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// ------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` +*/ +NK_API void nk_tree_state_pop(struct nk_context*); + +#define nk_tree_element_push(ctx, type, title, state, sel) nk_tree_element_push_hashed(ctx, type, title, state, sel, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),__LINE__) +#define nk_tree_element_push_id(ctx, type, title, state, sel, id) nk_tree_element_push_hashed(ctx, type, title, state, sel, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),id) +NK_API nk_bool nk_tree_element_push_hashed(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states initial_state, nk_bool *selected, const char *hash, int len, int seed); +NK_API nk_bool nk_tree_element_image_push_hashed(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states initial_state, nk_bool *selected, const char *hash, int len,int seed); +NK_API void nk_tree_element_pop(struct nk_context*); + +/* ============================================================================= + * + * LIST VIEW + * + * ============================================================================= */ +struct nk_list_view { +/* public: */ + int begin, end, count; +/* private: */ + int total_height; + struct nk_context *ctx; + nk_uint *scroll_pointer; + nk_uint scroll_value; +}; +NK_API nk_bool nk_list_view_begin(struct nk_context*, struct nk_list_view *out, const char *id, nk_flags, int row_height, int row_count); +NK_API void nk_list_view_end(struct nk_list_view*); +/* ============================================================================= + * + * WIDGET + * + * ============================================================================= */ +enum nk_widget_layout_states { + NK_WIDGET_INVALID, /* The widget cannot be seen and is completely out of view */ + NK_WIDGET_VALID, /* The widget is completely inside the window and can be updated and drawn */ + NK_WIDGET_ROM /* The widget is partially visible and cannot be updated */ +}; +enum nk_widget_states { + NK_WIDGET_STATE_MODIFIED = NK_FLAG(1), + NK_WIDGET_STATE_INACTIVE = NK_FLAG(2), /* widget is neither active nor hovered */ + NK_WIDGET_STATE_ENTERED = NK_FLAG(3), /* widget has been hovered on the current frame */ + NK_WIDGET_STATE_HOVER = NK_FLAG(4), /* widget is being hovered */ + NK_WIDGET_STATE_ACTIVED = NK_FLAG(5),/* widget is currently activated */ + NK_WIDGET_STATE_LEFT = NK_FLAG(6), /* widget is from this frame on not hovered anymore */ + NK_WIDGET_STATE_HOVERED = NK_WIDGET_STATE_HOVER|NK_WIDGET_STATE_MODIFIED, /* widget is being hovered */ + NK_WIDGET_STATE_ACTIVE = NK_WIDGET_STATE_ACTIVED|NK_WIDGET_STATE_MODIFIED /* widget is currently activated */ +}; +NK_API enum nk_widget_layout_states nk_widget(struct nk_rect*, const struct nk_context*); +NK_API enum nk_widget_layout_states nk_widget_fitting(struct nk_rect*, struct nk_context*, struct nk_vec2); +NK_API struct nk_rect nk_widget_bounds(struct nk_context*); +NK_API struct nk_vec2 nk_widget_position(struct nk_context*); +NK_API struct nk_vec2 nk_widget_size(struct nk_context*); +NK_API float nk_widget_width(struct nk_context*); +NK_API float nk_widget_height(struct nk_context*); +NK_API nk_bool nk_widget_is_hovered(struct nk_context*); +NK_API nk_bool nk_widget_is_mouse_clicked(struct nk_context*, enum nk_buttons); +NK_API nk_bool nk_widget_has_mouse_click_down(struct nk_context*, enum nk_buttons, nk_bool down); +NK_API void nk_spacing(struct nk_context*, int cols); +/* ============================================================================= + * + * TEXT + * + * ============================================================================= */ +enum nk_text_align { + NK_TEXT_ALIGN_LEFT = 0x01, + NK_TEXT_ALIGN_CENTERED = 0x02, + NK_TEXT_ALIGN_RIGHT = 0x04, + NK_TEXT_ALIGN_TOP = 0x08, + NK_TEXT_ALIGN_MIDDLE = 0x10, + NK_TEXT_ALIGN_BOTTOM = 0x20 +}; +enum nk_text_alignment { + NK_TEXT_LEFT = NK_TEXT_ALIGN_MIDDLE|NK_TEXT_ALIGN_LEFT, + NK_TEXT_CENTERED = NK_TEXT_ALIGN_MIDDLE|NK_TEXT_ALIGN_CENTERED, + NK_TEXT_RIGHT = NK_TEXT_ALIGN_MIDDLE|NK_TEXT_ALIGN_RIGHT +}; +NK_API void nk_text(struct nk_context*, const char*, int, nk_flags); +NK_API void nk_text_colored(struct nk_context*, const char*, int, nk_flags, struct nk_color); +NK_API void nk_text_wrap(struct nk_context*, const char*, int); +NK_API void nk_text_wrap_colored(struct nk_context*, const char*, int, struct nk_color); +NK_API void nk_label(struct nk_context*, const char*, nk_flags align); +NK_API void nk_label_colored(struct nk_context*, const char*, nk_flags align, struct nk_color); +NK_API void nk_label_wrap(struct nk_context*, const char*); +NK_API void nk_label_colored_wrap(struct nk_context*, const char*, struct nk_color); +NK_API void nk_image(struct nk_context*, struct nk_image); +NK_API void nk_image_color(struct nk_context*, struct nk_image, struct nk_color); +#ifdef NK_INCLUDE_STANDARD_VARARGS +NK_API void nk_labelf(struct nk_context*, nk_flags, NK_PRINTF_FORMAT_STRING const char*, ...) NK_PRINTF_VARARG_FUNC(3); +NK_API void nk_labelf_colored(struct nk_context*, nk_flags, struct nk_color, NK_PRINTF_FORMAT_STRING const char*,...) NK_PRINTF_VARARG_FUNC(4); +NK_API void nk_labelf_wrap(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*,...) NK_PRINTF_VARARG_FUNC(2); +NK_API void nk_labelf_colored_wrap(struct nk_context*, struct nk_color, NK_PRINTF_FORMAT_STRING const char*,...) NK_PRINTF_VARARG_FUNC(3); +NK_API void nk_labelfv(struct nk_context*, nk_flags, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(3); +NK_API void nk_labelfv_colored(struct nk_context*, nk_flags, struct nk_color, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(4); +NK_API void nk_labelfv_wrap(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(2); +NK_API void nk_labelfv_colored_wrap(struct nk_context*, struct nk_color, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(3); +NK_API void nk_value_bool(struct nk_context*, const char *prefix, int); +NK_API void nk_value_int(struct nk_context*, const char *prefix, int); +NK_API void nk_value_uint(struct nk_context*, const char *prefix, unsigned int); +NK_API void nk_value_float(struct nk_context*, const char *prefix, float); +NK_API void nk_value_color_byte(struct nk_context*, const char *prefix, struct nk_color); +NK_API void nk_value_color_float(struct nk_context*, const char *prefix, struct nk_color); +NK_API void nk_value_color_hex(struct nk_context*, const char *prefix, struct nk_color); +#endif +/* ============================================================================= + * + * BUTTON + * + * ============================================================================= */ +NK_API nk_bool nk_button_text(struct nk_context*, const char *title, int len); +NK_API nk_bool nk_button_label(struct nk_context*, const char *title); +NK_API nk_bool nk_button_color(struct nk_context*, struct nk_color); +NK_API nk_bool nk_button_symbol(struct nk_context*, enum nk_symbol_type); +NK_API nk_bool nk_button_image(struct nk_context*, struct nk_image img); +NK_API nk_bool nk_button_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags text_alignment); +NK_API nk_bool nk_button_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); +NK_API nk_bool nk_button_image_label(struct nk_context*, struct nk_image img, const char*, nk_flags text_alignment); +NK_API nk_bool nk_button_image_text(struct nk_context*, struct nk_image img, const char*, int, nk_flags alignment); +NK_API nk_bool nk_button_text_styled(struct nk_context*, const struct nk_style_button*, const char *title, int len); +NK_API nk_bool nk_button_label_styled(struct nk_context*, const struct nk_style_button*, const char *title); +NK_API nk_bool nk_button_symbol_styled(struct nk_context*, const struct nk_style_button*, enum nk_symbol_type); +NK_API nk_bool nk_button_image_styled(struct nk_context*, const struct nk_style_button*, struct nk_image img); +NK_API nk_bool nk_button_symbol_text_styled(struct nk_context*,const struct nk_style_button*, enum nk_symbol_type, const char*, int, nk_flags alignment); +NK_API nk_bool nk_button_symbol_label_styled(struct nk_context *ctx, const struct nk_style_button *style, enum nk_symbol_type symbol, const char *title, nk_flags align); +NK_API nk_bool nk_button_image_label_styled(struct nk_context*,const struct nk_style_button*, struct nk_image img, const char*, nk_flags text_alignment); +NK_API nk_bool nk_button_image_text_styled(struct nk_context*,const struct nk_style_button*, struct nk_image img, const char*, int, nk_flags alignment); +NK_API void nk_button_set_behavior(struct nk_context*, enum nk_button_behavior); +NK_API nk_bool nk_button_push_behavior(struct nk_context*, enum nk_button_behavior); +NK_API nk_bool nk_button_pop_behavior(struct nk_context*); +/* ============================================================================= + * + * CHECKBOX + * + * ============================================================================= */ +NK_API nk_bool nk_check_label(struct nk_context*, const char*, nk_bool active); +NK_API nk_bool nk_check_text(struct nk_context*, const char*, int, nk_bool active); +NK_API unsigned nk_check_flags_label(struct nk_context*, const char*, unsigned int flags, unsigned int value); +NK_API unsigned nk_check_flags_text(struct nk_context*, const char*, int, unsigned int flags, unsigned int value); +NK_API nk_bool nk_checkbox_label(struct nk_context*, const char*, nk_bool *active); +NK_API nk_bool nk_checkbox_text(struct nk_context*, const char*, int, nk_bool *active); +NK_API nk_bool nk_checkbox_flags_label(struct nk_context*, const char*, unsigned int *flags, unsigned int value); +NK_API nk_bool nk_checkbox_flags_text(struct nk_context*, const char*, int, unsigned int *flags, unsigned int value); +/* ============================================================================= + * + * RADIO BUTTON + * + * ============================================================================= */ +NK_API nk_bool nk_radio_label(struct nk_context*, const char*, nk_bool *active); +NK_API nk_bool nk_radio_text(struct nk_context*, const char*, int, nk_bool *active); +NK_API nk_bool nk_option_label(struct nk_context*, const char*, nk_bool active); +NK_API nk_bool nk_option_text(struct nk_context*, const char*, int, nk_bool active); +/* ============================================================================= + * + * SELECTABLE + * + * ============================================================================= */ +NK_API nk_bool nk_selectable_label(struct nk_context*, const char*, nk_flags align, nk_bool *value); +NK_API nk_bool nk_selectable_text(struct nk_context*, const char*, int, nk_flags align, nk_bool *value); +NK_API nk_bool nk_selectable_image_label(struct nk_context*,struct nk_image, const char*, nk_flags align, nk_bool *value); +NK_API nk_bool nk_selectable_image_text(struct nk_context*,struct nk_image, const char*, int, nk_flags align, nk_bool *value); +NK_API nk_bool nk_selectable_symbol_label(struct nk_context*,enum nk_symbol_type, const char*, nk_flags align, nk_bool *value); +NK_API nk_bool nk_selectable_symbol_text(struct nk_context*,enum nk_symbol_type, const char*, int, nk_flags align, nk_bool *value); + +NK_API nk_bool nk_select_label(struct nk_context*, const char*, nk_flags align, nk_bool value); +NK_API nk_bool nk_select_text(struct nk_context*, const char*, int, nk_flags align, nk_bool value); +NK_API nk_bool nk_select_image_label(struct nk_context*, struct nk_image,const char*, nk_flags align, nk_bool value); +NK_API nk_bool nk_select_image_text(struct nk_context*, struct nk_image,const char*, int, nk_flags align, nk_bool value); +NK_API nk_bool nk_select_symbol_label(struct nk_context*,enum nk_symbol_type, const char*, nk_flags align, nk_bool value); +NK_API nk_bool nk_select_symbol_text(struct nk_context*,enum nk_symbol_type, const char*, int, nk_flags align, nk_bool value); + +/* ============================================================================= + * + * SLIDER + * + * ============================================================================= */ +NK_API float nk_slide_float(struct nk_context*, float min, float val, float max, float step); +NK_API int nk_slide_int(struct nk_context*, int min, int val, int max, int step); +NK_API nk_bool nk_slider_float(struct nk_context*, float min, float *val, float max, float step); +NK_API nk_bool nk_slider_int(struct nk_context*, int min, int *val, int max, int step); +/* ============================================================================= + * + * PROGRESSBAR + * + * ============================================================================= */ +NK_API nk_bool nk_progress(struct nk_context*, nk_size *cur, nk_size max, nk_bool modifyable); +NK_API nk_size nk_prog(struct nk_context*, nk_size cur, nk_size max, nk_bool modifyable); + +/* ============================================================================= + * + * COLOR PICKER + * + * ============================================================================= */ +NK_API struct nk_colorf nk_color_picker(struct nk_context*, struct nk_colorf, enum nk_color_format); +NK_API nk_bool nk_color_pick(struct nk_context*, struct nk_colorf*, enum nk_color_format); +/* ============================================================================= + * + * PROPERTIES + * + * ============================================================================= +/// ### Properties +/// Properties are the main value modification widgets in Nuklear. Changing a value +/// can be achieved by dragging, adding/removing incremental steps on button click +/// or by directly typing a number. +/// +/// #### Usage +/// Each property requires a unique name for identification that is also used for +/// displaying a label. If you want to use the same name multiple times make sure +/// add a '#' before your name. The '#' will not be shown but will generate a +/// unique ID. Each property also takes in a minimum and maximum value. If you want +/// to make use of the complete number range of a type just use the provided +/// type limits from `limits.h`. For example `INT_MIN` and `INT_MAX` for +/// `nk_property_int` and `nk_propertyi`. In additional each property takes in +/// a increment value that will be added or subtracted if either the increment +/// decrement button is clicked. Finally there is a value for increment per pixel +/// dragged that is added or subtracted from the value. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// int value = 0; +/// struct nk_context ctx; +/// nk_init_xxx(&ctx, ...); +/// while (1) { +/// // Input +/// Event evt; +/// nk_input_begin(&ctx); +/// while (GetEvent(&evt)) { +/// if (evt.type == MOUSE_MOVE) +/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); +/// else if (evt.type == [...]) { +/// nk_input_xxx(...); +/// } +/// } +/// nk_input_end(&ctx); +/// // +/// // Window +/// if (nk_begin_xxx(...) { +/// // Property +/// nk_layout_row_dynamic(...); +/// nk_property_int(ctx, "ID", INT_MIN, &value, INT_MAX, 1, 1); +/// } +/// nk_end(ctx); +/// // +/// // Draw +/// const struct nk_command *cmd = 0; +/// nk_foreach(cmd, &ctx) { +/// switch (cmd->type) { +/// case NK_COMMAND_LINE: +/// your_draw_line_function(...) +/// break; +/// case NK_COMMAND_RECT +/// your_draw_rect_function(...) +/// break; +/// case ...: +/// // [...] +/// } +/// nk_clear(&ctx); +/// } +/// nk_free(&ctx); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// #### Reference +/// Function | Description +/// --------------------|------------------------------------------- +/// nk_property_int | Integer property directly modifying a passed in value +/// nk_property_float | Float property directly modifying a passed in value +/// nk_property_double | Double property directly modifying a passed in value +/// nk_propertyi | Integer property returning the modified int value +/// nk_propertyf | Float property returning the modified float value +/// nk_propertyd | Double property returning the modified double value +/// +*/ +/*/// #### nk_property_int +/// Integer property directly modifying a passed in value +/// !!! WARNING +/// To generate a unique property ID using the same label make sure to insert +/// a `#` at the beginning. It will not be shown but guarantees correct behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_property_int(struct nk_context *ctx, const char *name, int min, int *val, int max, int step, float inc_per_pixel); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// --------------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function +/// __name__ | String used both as a label as well as a unique identifier +/// __min__ | Minimum value not allowed to be underflown +/// __val__ | Integer pointer to be modified +/// __max__ | Maximum value not allowed to be overflown +/// __step__ | Increment added and subtracted on increment and decrement button +/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging +*/ +NK_API void nk_property_int(struct nk_context*, const char *name, int min, int *val, int max, int step, float inc_per_pixel); +/*/// #### nk_property_float +/// Float property directly modifying a passed in value +/// !!! WARNING +/// To generate a unique property ID using the same label make sure to insert +/// a `#` at the beginning. It will not be shown but guarantees correct behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_property_float(struct nk_context *ctx, const char *name, float min, float *val, float max, float step, float inc_per_pixel); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// --------------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function +/// __name__ | String used both as a label as well as a unique identifier +/// __min__ | Minimum value not allowed to be underflown +/// __val__ | Float pointer to be modified +/// __max__ | Maximum value not allowed to be overflown +/// __step__ | Increment added and subtracted on increment and decrement button +/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging +*/ +NK_API void nk_property_float(struct nk_context*, const char *name, float min, float *val, float max, float step, float inc_per_pixel); +/*/// #### nk_property_double +/// Double property directly modifying a passed in value +/// !!! WARNING +/// To generate a unique property ID using the same label make sure to insert +/// a `#` at the beginning. It will not be shown but guarantees correct behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// void nk_property_double(struct nk_context *ctx, const char *name, double min, double *val, double max, double step, double inc_per_pixel); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// --------------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function +/// __name__ | String used both as a label as well as a unique identifier +/// __min__ | Minimum value not allowed to be underflown +/// __val__ | Double pointer to be modified +/// __max__ | Maximum value not allowed to be overflown +/// __step__ | Increment added and subtracted on increment and decrement button +/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging +*/ +NK_API void nk_property_double(struct nk_context*, const char *name, double min, double *val, double max, double step, float inc_per_pixel); +/*/// #### nk_propertyi +/// Integer property modifying a passed in value and returning the new value +/// !!! WARNING +/// To generate a unique property ID using the same label make sure to insert +/// a `#` at the beginning. It will not be shown but guarantees correct behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// int nk_propertyi(struct nk_context *ctx, const char *name, int min, int val, int max, int step, float inc_per_pixel); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// --------------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function +/// __name__ | String used both as a label as well as a unique identifier +/// __min__ | Minimum value not allowed to be underflown +/// __val__ | Current integer value to be modified and returned +/// __max__ | Maximum value not allowed to be overflown +/// __step__ | Increment added and subtracted on increment and decrement button +/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging +/// +/// Returns the new modified integer value +*/ +NK_API int nk_propertyi(struct nk_context*, const char *name, int min, int val, int max, int step, float inc_per_pixel); +/*/// #### nk_propertyf +/// Float property modifying a passed in value and returning the new value +/// !!! WARNING +/// To generate a unique property ID using the same label make sure to insert +/// a `#` at the beginning. It will not be shown but guarantees correct behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// float nk_propertyf(struct nk_context *ctx, const char *name, float min, float val, float max, float step, float inc_per_pixel); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// --------------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function +/// __name__ | String used both as a label as well as a unique identifier +/// __min__ | Minimum value not allowed to be underflown +/// __val__ | Current float value to be modified and returned +/// __max__ | Maximum value not allowed to be overflown +/// __step__ | Increment added and subtracted on increment and decrement button +/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging +/// +/// Returns the new modified float value +*/ +NK_API float nk_propertyf(struct nk_context*, const char *name, float min, float val, float max, float step, float inc_per_pixel); +/*/// #### nk_propertyd +/// Float property modifying a passed in value and returning the new value +/// !!! WARNING +/// To generate a unique property ID using the same label make sure to insert +/// a `#` at the beginning. It will not be shown but guarantees correct behavior. +/// +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c +/// float nk_propertyd(struct nk_context *ctx, const char *name, double min, double val, double max, double step, double inc_per_pixel); +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// +/// Parameter | Description +/// --------------------|----------------------------------------------------------- +/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function +/// __name__ | String used both as a label as well as a unique identifier +/// __min__ | Minimum value not allowed to be underflown +/// __val__ | Current double value to be modified and returned +/// __max__ | Maximum value not allowed to be overflown +/// __step__ | Increment added and subtracted on increment and decrement button +/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging +/// +/// Returns the new modified double value +*/ +NK_API double nk_propertyd(struct nk_context*, const char *name, double min, double val, double max, double step, float inc_per_pixel); +/* ============================================================================= + * + * TEXT EDIT + * + * ============================================================================= */ +enum nk_edit_flags { + NK_EDIT_DEFAULT = 0, + NK_EDIT_READ_ONLY = NK_FLAG(0), + NK_EDIT_AUTO_SELECT = NK_FLAG(1), + NK_EDIT_SIG_ENTER = NK_FLAG(2), + NK_EDIT_ALLOW_TAB = NK_FLAG(3), + NK_EDIT_NO_CURSOR = NK_FLAG(4), + NK_EDIT_SELECTABLE = NK_FLAG(5), + NK_EDIT_CLIPBOARD = NK_FLAG(6), + NK_EDIT_CTRL_ENTER_NEWLINE = NK_FLAG(7), + NK_EDIT_NO_HORIZONTAL_SCROLL = NK_FLAG(8), + NK_EDIT_ALWAYS_INSERT_MODE = NK_FLAG(9), + NK_EDIT_MULTILINE = NK_FLAG(10), + NK_EDIT_GOTO_END_ON_ACTIVATE = NK_FLAG(11) +}; +enum nk_edit_types { + NK_EDIT_SIMPLE = NK_EDIT_ALWAYS_INSERT_MODE, + NK_EDIT_FIELD = NK_EDIT_SIMPLE|NK_EDIT_SELECTABLE|NK_EDIT_CLIPBOARD, + NK_EDIT_BOX = NK_EDIT_ALWAYS_INSERT_MODE| NK_EDIT_SELECTABLE| NK_EDIT_MULTILINE|NK_EDIT_ALLOW_TAB|NK_EDIT_CLIPBOARD, + NK_EDIT_EDITOR = NK_EDIT_SELECTABLE|NK_EDIT_MULTILINE|NK_EDIT_ALLOW_TAB| NK_EDIT_CLIPBOARD +}; +enum nk_edit_events { + NK_EDIT_ACTIVE = NK_FLAG(0), /* edit widget is currently being modified */ + NK_EDIT_INACTIVE = NK_FLAG(1), /* edit widget is not active and is not being modified */ + NK_EDIT_ACTIVATED = NK_FLAG(2), /* edit widget went from state inactive to state active */ + NK_EDIT_DEACTIVATED = NK_FLAG(3), /* edit widget went from state active to state inactive */ + NK_EDIT_COMMITED = NK_FLAG(4) /* edit widget has received an enter and lost focus */ +}; +NK_API nk_flags nk_edit_string(struct nk_context*, nk_flags, char *buffer, int *len, int max, nk_plugin_filter); +NK_API nk_flags nk_edit_string_zero_terminated(struct nk_context*, nk_flags, char *buffer, int max, nk_plugin_filter); +NK_API nk_flags nk_edit_buffer(struct nk_context*, nk_flags, struct nk_text_edit*, nk_plugin_filter); +NK_API void nk_edit_focus(struct nk_context*, nk_flags flags); +NK_API void nk_edit_unfocus(struct nk_context*); +/* ============================================================================= + * + * CHART + * + * ============================================================================= */ +NK_API nk_bool nk_chart_begin(struct nk_context*, enum nk_chart_type, int num, float min, float max); +NK_API nk_bool nk_chart_begin_colored(struct nk_context*, enum nk_chart_type, struct nk_color, struct nk_color active, int num, float min, float max); +NK_API void nk_chart_add_slot(struct nk_context *ctx, const enum nk_chart_type, int count, float min_value, float max_value); +NK_API void nk_chart_add_slot_colored(struct nk_context *ctx, const enum nk_chart_type, struct nk_color, struct nk_color active, int count, float min_value, float max_value); +NK_API nk_flags nk_chart_push(struct nk_context*, float); +NK_API nk_flags nk_chart_push_slot(struct nk_context*, float, int); +NK_API void nk_chart_end(struct nk_context*); +NK_API void nk_plot(struct nk_context*, enum nk_chart_type, const float *values, int count, int offset); +NK_API void nk_plot_function(struct nk_context*, enum nk_chart_type, void *userdata, float(*value_getter)(void* user, int index), int count, int offset); +/* ============================================================================= + * + * POPUP + * + * ============================================================================= */ +NK_API nk_bool nk_popup_begin(struct nk_context*, enum nk_popup_type, const char*, nk_flags, struct nk_rect bounds); +NK_API void nk_popup_close(struct nk_context*); +NK_API void nk_popup_end(struct nk_context*); +NK_API void nk_popup_get_scroll(struct nk_context*, nk_uint *offset_x, nk_uint *offset_y); +NK_API void nk_popup_set_scroll(struct nk_context*, nk_uint offset_x, nk_uint offset_y); +/* ============================================================================= + * + * COMBOBOX + * + * ============================================================================= */ +NK_API int nk_combo(struct nk_context*, const char **items, int count, int selected, int item_height, struct nk_vec2 size); +NK_API int nk_combo_separator(struct nk_context*, const char *items_separated_by_separator, int separator, int selected, int count, int item_height, struct nk_vec2 size); +NK_API int nk_combo_string(struct nk_context*, const char *items_separated_by_zeros, int selected, int count, int item_height, struct nk_vec2 size); +NK_API int nk_combo_callback(struct nk_context*, void(*item_getter)(void*, int, const char**), void *userdata, int selected, int count, int item_height, struct nk_vec2 size); +NK_API void nk_combobox(struct nk_context*, const char **items, int count, int *selected, int item_height, struct nk_vec2 size); +NK_API void nk_combobox_string(struct nk_context*, const char *items_separated_by_zeros, int *selected, int count, int item_height, struct nk_vec2 size); +NK_API void nk_combobox_separator(struct nk_context*, const char *items_separated_by_separator, int separator, int *selected, int count, int item_height, struct nk_vec2 size); +NK_API void nk_combobox_callback(struct nk_context*, void(*item_getter)(void*, int, const char**), void*, int *selected, int count, int item_height, struct nk_vec2 size); +/* ============================================================================= + * + * ABSTRACT COMBOBOX + * + * ============================================================================= */ +NK_API nk_bool nk_combo_begin_text(struct nk_context*, const char *selected, int, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_label(struct nk_context*, const char *selected, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_color(struct nk_context*, struct nk_color color, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_symbol(struct nk_context*, enum nk_symbol_type, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_symbol_label(struct nk_context*, const char *selected, enum nk_symbol_type, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_symbol_text(struct nk_context*, const char *selected, int, enum nk_symbol_type, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_image(struct nk_context*, struct nk_image img, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_image_label(struct nk_context*, const char *selected, struct nk_image, struct nk_vec2 size); +NK_API nk_bool nk_combo_begin_image_text(struct nk_context*, const char *selected, int, struct nk_image, struct nk_vec2 size); +NK_API nk_bool nk_combo_item_label(struct nk_context*, const char*, nk_flags alignment); +NK_API nk_bool nk_combo_item_text(struct nk_context*, const char*,int, nk_flags alignment); +NK_API nk_bool nk_combo_item_image_label(struct nk_context*, struct nk_image, const char*, nk_flags alignment); +NK_API nk_bool nk_combo_item_image_text(struct nk_context*, struct nk_image, const char*, int,nk_flags alignment); +NK_API nk_bool nk_combo_item_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags alignment); +NK_API nk_bool nk_combo_item_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); +NK_API void nk_combo_close(struct nk_context*); +NK_API void nk_combo_end(struct nk_context*); +/* ============================================================================= + * + * CONTEXTUAL + * + * ============================================================================= */ +NK_API nk_bool nk_contextual_begin(struct nk_context*, nk_flags, struct nk_vec2, struct nk_rect trigger_bounds); +NK_API nk_bool nk_contextual_item_text(struct nk_context*, const char*, int,nk_flags align); +NK_API nk_bool nk_contextual_item_label(struct nk_context*, const char*, nk_flags align); +NK_API nk_bool nk_contextual_item_image_label(struct nk_context*, struct nk_image, const char*, nk_flags alignment); +NK_API nk_bool nk_contextual_item_image_text(struct nk_context*, struct nk_image, const char*, int len, nk_flags alignment); +NK_API nk_bool nk_contextual_item_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags alignment); +NK_API nk_bool nk_contextual_item_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); +NK_API void nk_contextual_close(struct nk_context*); +NK_API void nk_contextual_end(struct nk_context*); +/* ============================================================================= + * + * TOOLTIP + * + * ============================================================================= */ +NK_API void nk_tooltip(struct nk_context*, const char*); +#ifdef NK_INCLUDE_STANDARD_VARARGS +NK_API void nk_tooltipf(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*, ...) NK_PRINTF_VARARG_FUNC(2); +NK_API void nk_tooltipfv(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(2); +#endif +NK_API nk_bool nk_tooltip_begin(struct nk_context*, float width); +NK_API void nk_tooltip_end(struct nk_context*); +/* ============================================================================= + * + * MENU + * + * ============================================================================= */ +NK_API void nk_menubar_begin(struct nk_context*); +NK_API void nk_menubar_end(struct nk_context*); +NK_API nk_bool nk_menu_begin_text(struct nk_context*, const char* title, int title_len, nk_flags align, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_label(struct nk_context*, const char*, nk_flags align, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_image(struct nk_context*, const char*, struct nk_image, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_image_text(struct nk_context*, const char*, int,nk_flags align,struct nk_image, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_image_label(struct nk_context*, const char*, nk_flags align,struct nk_image, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_symbol(struct nk_context*, const char*, enum nk_symbol_type, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_symbol_text(struct nk_context*, const char*, int,nk_flags align,enum nk_symbol_type, struct nk_vec2 size); +NK_API nk_bool nk_menu_begin_symbol_label(struct nk_context*, const char*, nk_flags align,enum nk_symbol_type, struct nk_vec2 size); +NK_API nk_bool nk_menu_item_text(struct nk_context*, const char*, int,nk_flags align); +NK_API nk_bool nk_menu_item_label(struct nk_context*, const char*, nk_flags alignment); +NK_API nk_bool nk_menu_item_image_label(struct nk_context*, struct nk_image, const char*, nk_flags alignment); +NK_API nk_bool nk_menu_item_image_text(struct nk_context*, struct nk_image, const char*, int len, nk_flags alignment); +NK_API nk_bool nk_menu_item_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); +NK_API nk_bool nk_menu_item_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags alignment); +NK_API void nk_menu_close(struct nk_context*); +NK_API void nk_menu_end(struct nk_context*); +/* ============================================================================= + * + * STYLE + * + * ============================================================================= */ +enum nk_style_colors { + NK_COLOR_TEXT, + NK_COLOR_WINDOW, + NK_COLOR_HEADER, + NK_COLOR_BORDER, + NK_COLOR_BUTTON, + NK_COLOR_BUTTON_HOVER, + NK_COLOR_BUTTON_ACTIVE, + NK_COLOR_TOGGLE, + NK_COLOR_TOGGLE_HOVER, + NK_COLOR_TOGGLE_CURSOR, + NK_COLOR_SELECT, + NK_COLOR_SELECT_ACTIVE, + NK_COLOR_SLIDER, + NK_COLOR_SLIDER_CURSOR, + NK_COLOR_SLIDER_CURSOR_HOVER, + NK_COLOR_SLIDER_CURSOR_ACTIVE, + NK_COLOR_PROPERTY, + NK_COLOR_EDIT, + NK_COLOR_EDIT_CURSOR, + NK_COLOR_COMBO, + NK_COLOR_CHART, + NK_COLOR_CHART_COLOR, + NK_COLOR_CHART_COLOR_HIGHLIGHT, + NK_COLOR_SCROLLBAR, + NK_COLOR_SCROLLBAR_CURSOR, + NK_COLOR_SCROLLBAR_CURSOR_HOVER, + NK_COLOR_SCROLLBAR_CURSOR_ACTIVE, + NK_COLOR_TAB_HEADER, + NK_COLOR_COUNT +}; +enum nk_style_cursor { + NK_CURSOR_ARROW, + NK_CURSOR_TEXT, + NK_CURSOR_MOVE, + NK_CURSOR_RESIZE_VERTICAL, + NK_CURSOR_RESIZE_HORIZONTAL, + NK_CURSOR_RESIZE_TOP_LEFT_DOWN_RIGHT, + NK_CURSOR_RESIZE_TOP_RIGHT_DOWN_LEFT, + NK_CURSOR_COUNT +}; +NK_API void nk_style_default(struct nk_context*); +NK_API void nk_style_from_table(struct nk_context*, const struct nk_color*); +NK_API void nk_style_load_cursor(struct nk_context*, enum nk_style_cursor, const struct nk_cursor*); +NK_API void nk_style_load_all_cursors(struct nk_context*, struct nk_cursor*); +NK_API const char* nk_style_get_color_by_name(enum nk_style_colors); +NK_API void nk_style_set_font(struct nk_context*, const struct nk_user_font*); +NK_API nk_bool nk_style_set_cursor(struct nk_context*, enum nk_style_cursor); +NK_API void nk_style_show_cursor(struct nk_context*); +NK_API void nk_style_hide_cursor(struct nk_context*); + +NK_API nk_bool nk_style_push_font(struct nk_context*, const struct nk_user_font*); +NK_API nk_bool nk_style_push_float(struct nk_context*, float*, float); +NK_API nk_bool nk_style_push_vec2(struct nk_context*, struct nk_vec2*, struct nk_vec2); +NK_API nk_bool nk_style_push_style_item(struct nk_context*, struct nk_style_item*, struct nk_style_item); +NK_API nk_bool nk_style_push_flags(struct nk_context*, nk_flags*, nk_flags); +NK_API nk_bool nk_style_push_color(struct nk_context*, struct nk_color*, struct nk_color); + +NK_API nk_bool nk_style_pop_font(struct nk_context*); +NK_API nk_bool nk_style_pop_float(struct nk_context*); +NK_API nk_bool nk_style_pop_vec2(struct nk_context*); +NK_API nk_bool nk_style_pop_style_item(struct nk_context*); +NK_API nk_bool nk_style_pop_flags(struct nk_context*); +NK_API nk_bool nk_style_pop_color(struct nk_context*); +/* ============================================================================= + * + * COLOR + * + * ============================================================================= */ +NK_API struct nk_color nk_rgb(int r, int g, int b); +NK_API struct nk_color nk_rgb_iv(const int *rgb); +NK_API struct nk_color nk_rgb_bv(const nk_byte* rgb); +NK_API struct nk_color nk_rgb_f(float r, float g, float b); +NK_API struct nk_color nk_rgb_fv(const float *rgb); +NK_API struct nk_color nk_rgb_cf(struct nk_colorf c); +NK_API struct nk_color nk_rgb_hex(const char *rgb); + +NK_API struct nk_color nk_rgba(int r, int g, int b, int a); +NK_API struct nk_color nk_rgba_u32(nk_uint); +NK_API struct nk_color nk_rgba_iv(const int *rgba); +NK_API struct nk_color nk_rgba_bv(const nk_byte *rgba); +NK_API struct nk_color nk_rgba_f(float r, float g, float b, float a); +NK_API struct nk_color nk_rgba_fv(const float *rgba); +NK_API struct nk_color nk_rgba_cf(struct nk_colorf c); +NK_API struct nk_color nk_rgba_hex(const char *rgb); + +NK_API struct nk_colorf nk_hsva_colorf(float h, float s, float v, float a); +NK_API struct nk_colorf nk_hsva_colorfv(float *c); +NK_API void nk_colorf_hsva_f(float *out_h, float *out_s, float *out_v, float *out_a, struct nk_colorf in); +NK_API void nk_colorf_hsva_fv(float *hsva, struct nk_colorf in); + +NK_API struct nk_color nk_hsv(int h, int s, int v); +NK_API struct nk_color nk_hsv_iv(const int *hsv); +NK_API struct nk_color nk_hsv_bv(const nk_byte *hsv); +NK_API struct nk_color nk_hsv_f(float h, float s, float v); +NK_API struct nk_color nk_hsv_fv(const float *hsv); + +NK_API struct nk_color nk_hsva(int h, int s, int v, int a); +NK_API struct nk_color nk_hsva_iv(const int *hsva); +NK_API struct nk_color nk_hsva_bv(const nk_byte *hsva); +NK_API struct nk_color nk_hsva_f(float h, float s, float v, float a); +NK_API struct nk_color nk_hsva_fv(const float *hsva); + +/* color (conversion nuklear --> user) */ +NK_API void nk_color_f(float *r, float *g, float *b, float *a, struct nk_color); +NK_API void nk_color_fv(float *rgba_out, struct nk_color); +NK_API struct nk_colorf nk_color_cf(struct nk_color); +NK_API void nk_color_d(double *r, double *g, double *b, double *a, struct nk_color); +NK_API void nk_color_dv(double *rgba_out, struct nk_color); + +NK_API nk_uint nk_color_u32(struct nk_color); +NK_API void nk_color_hex_rgba(char *output, struct nk_color); +NK_API void nk_color_hex_rgb(char *output, struct nk_color); + +NK_API void nk_color_hsv_i(int *out_h, int *out_s, int *out_v, struct nk_color); +NK_API void nk_color_hsv_b(nk_byte *out_h, nk_byte *out_s, nk_byte *out_v, struct nk_color); +NK_API void nk_color_hsv_iv(int *hsv_out, struct nk_color); +NK_API void nk_color_hsv_bv(nk_byte *hsv_out, struct nk_color); +NK_API void nk_color_hsv_f(float *out_h, float *out_s, float *out_v, struct nk_color); +NK_API void nk_color_hsv_fv(float *hsv_out, struct nk_color); + +NK_API void nk_color_hsva_i(int *h, int *s, int *v, int *a, struct nk_color); +NK_API void nk_color_hsva_b(nk_byte *h, nk_byte *s, nk_byte *v, nk_byte *a, struct nk_color); +NK_API void nk_color_hsva_iv(int *hsva_out, struct nk_color); +NK_API void nk_color_hsva_bv(nk_byte *hsva_out, struct nk_color); +NK_API void nk_color_hsva_f(float *out_h, float *out_s, float *out_v, float *out_a, struct nk_color); +NK_API void nk_color_hsva_fv(float *hsva_out, struct nk_color); +/* ============================================================================= + * + * IMAGE + * + * ============================================================================= */ +NK_API nk_handle nk_handle_ptr(void*); +NK_API nk_handle nk_handle_id(int); +NK_API struct nk_image nk_image_handle(nk_handle); +NK_API struct nk_image nk_image_ptr(void*); +NK_API struct nk_image nk_image_id(int); +NK_API nk_bool nk_image_is_subimage(const struct nk_image* img); +NK_API struct nk_image nk_subimage_ptr(void*, nk_ushort w, nk_ushort h, struct nk_rect sub_region); +NK_API struct nk_image nk_subimage_id(int, nk_ushort w, nk_ushort h, struct nk_rect sub_region); +NK_API struct nk_image nk_subimage_handle(nk_handle, nk_ushort w, nk_ushort h, struct nk_rect sub_region); +/* ============================================================================= + * + * 9-SLICE + * + * ============================================================================= */ +NK_API struct nk_nine_slice nk_nine_slice_handle(nk_handle, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); +NK_API struct nk_nine_slice nk_nine_slice_ptr(void*, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); +NK_API struct nk_nine_slice nk_nine_slice_id(int, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); +NK_API int nk_nine_slice_is_sub9slice(const struct nk_nine_slice* img); +NK_API struct nk_nine_slice nk_sub9slice_ptr(void*, nk_ushort w, nk_ushort h, struct nk_rect sub_region, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); +NK_API struct nk_nine_slice nk_sub9slice_id(int, nk_ushort w, nk_ushort h, struct nk_rect sub_region, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); +NK_API struct nk_nine_slice nk_sub9slice_handle(nk_handle, nk_ushort w, nk_ushort h, struct nk_rect sub_region, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); +/* ============================================================================= + * + * MATH + * + * ============================================================================= */ +NK_API nk_hash nk_murmur_hash(const void *key, int len, nk_hash seed); +NK_API void nk_triangle_from_direction(struct nk_vec2 *result, struct nk_rect r, float pad_x, float pad_y, enum nk_heading); + +NK_API struct nk_vec2 nk_vec2(float x, float y); +NK_API struct nk_vec2 nk_vec2i(int x, int y); +NK_API struct nk_vec2 nk_vec2v(const float *xy); +NK_API struct nk_vec2 nk_vec2iv(const int *xy); + +NK_API struct nk_rect nk_get_null_rect(void); +NK_API struct nk_rect nk_rect(float x, float y, float w, float h); +NK_API struct nk_rect nk_recti(int x, int y, int w, int h); +NK_API struct nk_rect nk_recta(struct nk_vec2 pos, struct nk_vec2 size); +NK_API struct nk_rect nk_rectv(const float *xywh); +NK_API struct nk_rect nk_rectiv(const int *xywh); +NK_API struct nk_vec2 nk_rect_pos(struct nk_rect); +NK_API struct nk_vec2 nk_rect_size(struct nk_rect); +/* ============================================================================= + * + * STRING + * + * ============================================================================= */ +NK_API int nk_strlen(const char *str); +NK_API int nk_stricmp(const char *s1, const char *s2); +NK_API int nk_stricmpn(const char *s1, const char *s2, int n); +NK_API int nk_strtoi(const char *str, const char **endptr); +NK_API float nk_strtof(const char *str, const char **endptr); +#ifndef NK_STRTOD +#define NK_STRTOD nk_strtod +NK_API double nk_strtod(const char *str, const char **endptr); +#endif +NK_API int nk_strfilter(const char *text, const char *regexp); +NK_API int nk_strmatch_fuzzy_string(char const *str, char const *pattern, int *out_score); +NK_API int nk_strmatch_fuzzy_text(const char *txt, int txt_len, const char *pattern, int *out_score); +/* ============================================================================= + * + * UTF-8 + * + * ============================================================================= */ +NK_API int nk_utf_decode(const char*, nk_rune*, int); +NK_API int nk_utf_encode(nk_rune, char*, int); +NK_API int nk_utf_len(const char*, int byte_len); +NK_API const char* nk_utf_at(const char *buffer, int length, int index, nk_rune *unicode, int *len); +/* =============================================================== + * + * FONT + * + * ===============================================================*/ +/* Font handling in this library was designed to be quite customizable and lets + you decide what you want to use and what you want to provide. There are three + different ways to use the font atlas. The first two will use your font + handling scheme and only requires essential data to run nuklear. The next + slightly more advanced features is font handling with vertex buffer output. + Finally the most complex API wise is using nuklear's font baking API. + + 1.) Using your own implementation without vertex buffer output + -------------------------------------------------------------- + So first up the easiest way to do font handling is by just providing a + `nk_user_font` struct which only requires the height in pixel of the used + font and a callback to calculate the width of a string. This way of handling + fonts is best fitted for using the normal draw shape command API where you + do all the text drawing yourself and the library does not require any kind + of deeper knowledge about which font handling mechanism you use. + IMPORTANT: the `nk_user_font` pointer provided to nuklear has to persist + over the complete life time! I know this sucks but it is currently the only + way to switch between fonts. + + float your_text_width_calculation(nk_handle handle, float height, const char *text, int len) + { + your_font_type *type = handle.ptr; + float text_width = ...; + return text_width; + } + + struct nk_user_font font; + font.userdata.ptr = &your_font_class_or_struct; + font.height = your_font_height; + font.width = your_text_width_calculation; + + struct nk_context ctx; + nk_init_default(&ctx, &font); + + 2.) Using your own implementation with vertex buffer output + -------------------------------------------------------------- + While the first approach works fine if you don't want to use the optional + vertex buffer output it is not enough if you do. To get font handling working + for these cases you have to provide two additional parameters inside the + `nk_user_font`. First a texture atlas handle used to draw text as subimages + of a bigger font atlas texture and a callback to query a character's glyph + information (offset, size, ...). So it is still possible to provide your own + font and use the vertex buffer output. + + float your_text_width_calculation(nk_handle handle, float height, const char *text, int len) + { + your_font_type *type = handle.ptr; + float text_width = ...; + return text_width; + } + void query_your_font_glyph(nk_handle handle, float font_height, struct nk_user_font_glyph *glyph, nk_rune codepoint, nk_rune next_codepoint) + { + your_font_type *type = handle.ptr; + glyph.width = ...; + glyph.height = ...; + glyph.xadvance = ...; + glyph.uv[0].x = ...; + glyph.uv[0].y = ...; + glyph.uv[1].x = ...; + glyph.uv[1].y = ...; + glyph.offset.x = ...; + glyph.offset.y = ...; + } + + struct nk_user_font font; + font.userdata.ptr = &your_font_class_or_struct; + font.height = your_font_height; + font.width = your_text_width_calculation; + font.query = query_your_font_glyph; + font.texture.id = your_font_texture; + + struct nk_context ctx; + nk_init_default(&ctx, &font); + + 3.) Nuklear font baker + ------------------------------------ + The final approach if you do not have a font handling functionality or don't + want to use it in this library is by using the optional font baker. + The font baker APIs can be used to create a font plus font atlas texture + and can be used with or without the vertex buffer output. + + It still uses the `nk_user_font` struct and the two different approaches + previously stated still work. The font baker is not located inside + `nk_context` like all other systems since it can be understood as more of + an extension to nuklear and does not really depend on any `nk_context` state. + + Font baker need to be initialized first by one of the nk_font_atlas_init_xxx + functions. If you don't care about memory just call the default version + `nk_font_atlas_init_default` which will allocate all memory from the standard library. + If you want to control memory allocation but you don't care if the allocated + memory is temporary and therefore can be freed directly after the baking process + is over or permanent you can call `nk_font_atlas_init`. + + After successfully initializing the font baker you can add Truetype(.ttf) fonts from + different sources like memory or from file by calling one of the `nk_font_atlas_add_xxx`. + functions. Adding font will permanently store each font, font config and ttf memory block(!) + inside the font atlas and allows to reuse the font atlas. If you don't want to reuse + the font baker by for example adding additional fonts you can call + `nk_font_atlas_cleanup` after the baking process is over (after calling nk_font_atlas_end). + + As soon as you added all fonts you wanted you can now start the baking process + for every selected glyph to image by calling `nk_font_atlas_bake`. + The baking process returns image memory, width and height which can be used to + either create your own image object or upload it to any graphics library. + No matter which case you finally have to call `nk_font_atlas_end` which + will free all temporary memory including the font atlas image so make sure + you created our texture beforehand. `nk_font_atlas_end` requires a handle + to your font texture or object and optionally fills a `struct nk_draw_null_texture` + which can be used for the optional vertex output. If you don't want it just + set the argument to `NULL`. + + At this point you are done and if you don't want to reuse the font atlas you + can call `nk_font_atlas_cleanup` to free all truetype blobs and configuration + memory. Finally if you don't use the font atlas and any of it's fonts anymore + you need to call `nk_font_atlas_clear` to free all memory still being used. + + struct nk_font_atlas atlas; + nk_font_atlas_init_default(&atlas); + nk_font_atlas_begin(&atlas); + nk_font *font = nk_font_atlas_add_from_file(&atlas, "Path/To/Your/TTF_Font.ttf", 13, 0); + nk_font *font2 = nk_font_atlas_add_from_file(&atlas, "Path/To/Your/TTF_Font2.ttf", 16, 0); + const void* img = nk_font_atlas_bake(&atlas, &img_width, &img_height, NK_FONT_ATLAS_RGBA32); + nk_font_atlas_end(&atlas, nk_handle_id(texture), 0); + + struct nk_context ctx; + nk_init_default(&ctx, &font->handle); + while (1) { + + } + nk_font_atlas_clear(&atlas); + + The font baker API is probably the most complex API inside this library and + I would suggest reading some of my examples `example/` to get a grip on how + to use the font atlas. There are a number of details I left out. For example + how to merge fonts, configure a font with `nk_font_config` to use other languages, + use another texture coordinate format and a lot more: + + struct nk_font_config cfg = nk_font_config(font_pixel_height); + cfg.merge_mode = nk_false or nk_true; + cfg.range = nk_font_korean_glyph_ranges(); + cfg.coord_type = NK_COORD_PIXEL; + nk_font *font = nk_font_atlas_add_from_file(&atlas, "Path/To/Your/TTF_Font.ttf", 13, &cfg); + +*/ +struct nk_user_font_glyph; +typedef float(*nk_text_width_f)(nk_handle, float h, const char*, int len); +typedef void(*nk_query_font_glyph_f)(nk_handle handle, float font_height, + struct nk_user_font_glyph *glyph, + nk_rune codepoint, nk_rune next_codepoint); + +#if defined(NK_INCLUDE_VERTEX_BUFFER_OUTPUT) || defined(NK_INCLUDE_SOFTWARE_FONT) +struct nk_user_font_glyph { + struct nk_vec2 uv[2]; + /* texture coordinates */ + struct nk_vec2 offset; + /* offset between top left and glyph */ + float width, height; + /* size of the glyph */ + float xadvance; + /* offset to the next glyph */ +}; +#endif + +struct nk_user_font { + nk_handle userdata; + /* user provided font handle */ + float height; + /* max height of the font */ + nk_text_width_f width; + /* font string width in pixel callback */ +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT + nk_query_font_glyph_f query; + /* font glyph callback to query drawing info */ + nk_handle texture; + /* texture handle to the used font atlas or texture */ +#endif +}; + +#ifdef NK_INCLUDE_FONT_BAKING +enum nk_font_coord_type { + NK_COORD_UV, /* texture coordinates inside font glyphs are clamped between 0-1 */ + NK_COORD_PIXEL /* texture coordinates inside font glyphs are in absolute pixel */ +}; + +struct nk_font; +struct nk_baked_font { + float height; + /* height of the font */ + float ascent, descent; + /* font glyphs ascent and descent */ + nk_rune glyph_offset; + /* glyph array offset inside the font glyph baking output array */ + nk_rune glyph_count; + /* number of glyphs of this font inside the glyph baking array output */ + const nk_rune *ranges; + /* font codepoint ranges as pairs of (from/to) and 0 as last element */ +}; + +struct nk_font_config { + struct nk_font_config *next; + /* NOTE: only used internally */ + void *ttf_blob; + /* pointer to loaded TTF file memory block. + * NOTE: not needed for nk_font_atlas_add_from_memory and nk_font_atlas_add_from_file. */ + nk_size ttf_size; + /* size of the loaded TTF file memory block + * NOTE: not needed for nk_font_atlas_add_from_memory and nk_font_atlas_add_from_file. */ + + unsigned char ttf_data_owned_by_atlas; + /* used inside font atlas: default to: 0*/ + unsigned char merge_mode; + /* merges this font into the last font */ + unsigned char pixel_snap; + /* align every character to pixel boundary (if true set oversample (1,1)) */ + unsigned char oversample_v, oversample_h; + /* rasterize at high quality for sub-pixel position */ + unsigned char padding[3]; + + float size; + /* baked pixel height of the font */ + enum nk_font_coord_type coord_type; + /* texture coordinate format with either pixel or UV coordinates */ + struct nk_vec2 spacing; + /* extra pixel spacing between glyphs */ + const nk_rune *range; + /* list of unicode ranges (2 values per range, zero terminated) */ + struct nk_baked_font *font; + /* font to setup in the baking process: NOTE: not needed for font atlas */ + nk_rune fallback_glyph; + /* fallback glyph to use if a given rune is not found */ + struct nk_font_config *n; + struct nk_font_config *p; +}; + +struct nk_font_glyph { + nk_rune codepoint; + float xadvance; + float x0, y0, x1, y1, w, h; + float u0, v0, u1, v1; +}; + +struct nk_font { + struct nk_font *next; + struct nk_user_font handle; + struct nk_baked_font info; + float scale; + struct nk_font_glyph *glyphs; + const struct nk_font_glyph *fallback; + nk_rune fallback_codepoint; + nk_handle texture; + struct nk_font_config *config; +}; + +enum nk_font_atlas_format { + NK_FONT_ATLAS_ALPHA8, + NK_FONT_ATLAS_RGBA32 +}; + +struct nk_font_atlas { + void *pixel; + int tex_width; + int tex_height; + + struct nk_allocator permanent; + struct nk_allocator temporary; + + struct nk_recti custom; + struct nk_cursor cursors[NK_CURSOR_COUNT]; + + int glyph_count; + struct nk_font_glyph *glyphs; + struct nk_font *default_font; + struct nk_font *fonts; + struct nk_font_config *config; + int font_num; +}; + +/* some language glyph codepoint ranges */ +NK_API const nk_rune *nk_font_default_glyph_ranges(void); +NK_API const nk_rune *nk_font_chinese_glyph_ranges(void); +NK_API const nk_rune *nk_font_cyrillic_glyph_ranges(void); +NK_API const nk_rune *nk_font_korean_glyph_ranges(void); + +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void nk_font_atlas_init_default(struct nk_font_atlas*); +#endif +NK_API void nk_font_atlas_init(struct nk_font_atlas*, struct nk_allocator*); +NK_API void nk_font_atlas_init_custom(struct nk_font_atlas*, struct nk_allocator *persistent, struct nk_allocator *transient); +NK_API void nk_font_atlas_begin(struct nk_font_atlas*); +NK_API struct nk_font_config nk_font_config(float pixel_height); +NK_API struct nk_font *nk_font_atlas_add(struct nk_font_atlas*, const struct nk_font_config*); +#ifdef NK_INCLUDE_DEFAULT_FONT +NK_API struct nk_font* nk_font_atlas_add_default(struct nk_font_atlas*, float height, const struct nk_font_config*); +#endif +NK_API struct nk_font* nk_font_atlas_add_from_memory(struct nk_font_atlas *atlas, void *memory, nk_size size, float height, const struct nk_font_config *config); +#ifdef NK_INCLUDE_STANDARD_IO +NK_API struct nk_font* nk_font_atlas_add_from_file(struct nk_font_atlas *atlas, const char *file_path, float height, const struct nk_font_config*); +#endif +NK_API struct nk_font *nk_font_atlas_add_compressed(struct nk_font_atlas*, void *memory, nk_size size, float height, const struct nk_font_config*); +NK_API struct nk_font* nk_font_atlas_add_compressed_base85(struct nk_font_atlas*, const char *data, float height, const struct nk_font_config *config); +NK_API const void* nk_font_atlas_bake(struct nk_font_atlas*, int *width, int *height, enum nk_font_atlas_format); +NK_API void nk_font_atlas_end(struct nk_font_atlas*, nk_handle tex, struct nk_draw_null_texture*); +NK_API const struct nk_font_glyph* nk_font_find_glyph(struct nk_font*, nk_rune unicode); +NK_API void nk_font_atlas_cleanup(struct nk_font_atlas *atlas); +NK_API void nk_font_atlas_clear(struct nk_font_atlas*); + +#endif + +/* ============================================================== + * + * MEMORY BUFFER + * + * ===============================================================*/ +/* A basic (double)-buffer with linear allocation and resetting as only + freeing policy. The buffer's main purpose is to control all memory management + inside the GUI toolkit and still leave memory control as much as possible in + the hand of the user while also making sure the library is easy to use if + not as much control is needed. + In general all memory inside this library can be provided from the user in + three different ways. + + The first way and the one providing most control is by just passing a fixed + size memory block. In this case all control lies in the hand of the user + since he can exactly control where the memory comes from and how much memory + the library should consume. Of course using the fixed size API removes the + ability to automatically resize a buffer if not enough memory is provided so + you have to take over the resizing. While being a fixed sized buffer sounds + quite limiting, it is very effective in this library since the actual memory + consumption is quite stable and has a fixed upper bound for a lot of cases. + + If you don't want to think about how much memory the library should allocate + at all time or have a very dynamic UI with unpredictable memory consumption + habits but still want control over memory allocation you can use the dynamic + allocator based API. The allocator consists of two callbacks for allocating + and freeing memory and optional userdata so you can plugin your own allocator. + + The final and easiest way can be used by defining + NK_INCLUDE_DEFAULT_ALLOCATOR which uses the standard library memory + allocation functions malloc and free and takes over complete control over + memory in this library. +*/ +struct nk_memory_status { + void *memory; + unsigned int type; + nk_size size; + nk_size allocated; + nk_size needed; + nk_size calls; +}; + +enum nk_allocation_type { + NK_BUFFER_FIXED, + NK_BUFFER_DYNAMIC +}; + +enum nk_buffer_allocation_type { + NK_BUFFER_FRONT, + NK_BUFFER_BACK, + NK_BUFFER_MAX +}; + +struct nk_buffer_marker { + nk_bool active; + nk_size offset; +}; + +struct nk_memory {void *ptr;nk_size size;}; +struct nk_buffer { + struct nk_buffer_marker marker[NK_BUFFER_MAX]; + /* buffer marker to free a buffer to a certain offset */ + struct nk_allocator pool; + /* allocator callback for dynamic buffers */ + enum nk_allocation_type type; + /* memory management type */ + struct nk_memory memory; + /* memory and size of the current memory block */ + float grow_factor; + /* growing factor for dynamic memory management */ + nk_size allocated; + /* total amount of memory allocated */ + nk_size needed; + /* totally consumed memory given that enough memory is present */ + nk_size calls; + /* number of allocation calls */ + nk_size size; + /* current size of the buffer */ +}; + +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void nk_buffer_init_default(struct nk_buffer*); +#endif +NK_API void nk_buffer_init(struct nk_buffer*, const struct nk_allocator*, nk_size size); +NK_API void nk_buffer_init_fixed(struct nk_buffer*, void *memory, nk_size size); +NK_API void nk_buffer_info(struct nk_memory_status*, struct nk_buffer*); +NK_API void nk_buffer_push(struct nk_buffer*, enum nk_buffer_allocation_type type, const void *memory, nk_size size, nk_size align); +NK_API void nk_buffer_mark(struct nk_buffer*, enum nk_buffer_allocation_type type); +NK_API void nk_buffer_reset(struct nk_buffer*, enum nk_buffer_allocation_type type); +NK_API void nk_buffer_clear(struct nk_buffer*); +NK_API void nk_buffer_free(struct nk_buffer*); +NK_API void *nk_buffer_memory(struct nk_buffer*); +NK_API const void *nk_buffer_memory_const(const struct nk_buffer*); +NK_API nk_size nk_buffer_total(struct nk_buffer*); + +/* ============================================================== + * + * STRING + * + * ===============================================================*/ +/* Basic string buffer which is only used in context with the text editor + * to manage and manipulate dynamic or fixed size string content. This is _NOT_ + * the default string handling method. The only instance you should have any contact + * with this API is if you interact with an `nk_text_edit` object inside one of the + * copy and paste functions and even there only for more advanced cases. */ +struct nk_str { + struct nk_buffer buffer; + int len; /* in codepoints/runes/glyphs */ +}; + +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void nk_str_init_default(struct nk_str*); +#endif +NK_API void nk_str_init(struct nk_str*, const struct nk_allocator*, nk_size size); +NK_API void nk_str_init_fixed(struct nk_str*, void *memory, nk_size size); +NK_API void nk_str_clear(struct nk_str*); +NK_API void nk_str_free(struct nk_str*); + +NK_API int nk_str_append_text_char(struct nk_str*, const char*, int); +NK_API int nk_str_append_str_char(struct nk_str*, const char*); +NK_API int nk_str_append_text_utf8(struct nk_str*, const char*, int); +NK_API int nk_str_append_str_utf8(struct nk_str*, const char*); +NK_API int nk_str_append_text_runes(struct nk_str*, const nk_rune*, int); +NK_API int nk_str_append_str_runes(struct nk_str*, const nk_rune*); + +NK_API int nk_str_insert_at_char(struct nk_str*, int pos, const char*, int); +NK_API int nk_str_insert_at_rune(struct nk_str*, int pos, const char*, int); + +NK_API int nk_str_insert_text_char(struct nk_str*, int pos, const char*, int); +NK_API int nk_str_insert_str_char(struct nk_str*, int pos, const char*); +NK_API int nk_str_insert_text_utf8(struct nk_str*, int pos, const char*, int); +NK_API int nk_str_insert_str_utf8(struct nk_str*, int pos, const char*); +NK_API int nk_str_insert_text_runes(struct nk_str*, int pos, const nk_rune*, int); +NK_API int nk_str_insert_str_runes(struct nk_str*, int pos, const nk_rune*); + +NK_API void nk_str_remove_chars(struct nk_str*, int len); +NK_API void nk_str_remove_runes(struct nk_str *str, int len); +NK_API void nk_str_delete_chars(struct nk_str*, int pos, int len); +NK_API void nk_str_delete_runes(struct nk_str*, int pos, int len); + +NK_API char *nk_str_at_char(struct nk_str*, int pos); +NK_API char *nk_str_at_rune(struct nk_str*, int pos, nk_rune *unicode, int *len); +NK_API nk_rune nk_str_rune_at(const struct nk_str*, int pos); +NK_API const char *nk_str_at_char_const(const struct nk_str*, int pos); +NK_API const char *nk_str_at_const(const struct nk_str*, int pos, nk_rune *unicode, int *len); + +NK_API char *nk_str_get(struct nk_str*); +NK_API const char *nk_str_get_const(const struct nk_str*); +NK_API int nk_str_len(struct nk_str*); +NK_API int nk_str_len_char(struct nk_str*); + +/*=============================================================== + * + * TEXT EDITOR + * + * ===============================================================*/ +/* Editing text in this library is handled by either `nk_edit_string` or + * `nk_edit_buffer`. But like almost everything in this library there are multiple + * ways of doing it and a balance between control and ease of use with memory + * as well as functionality controlled by flags. + * + * This library generally allows three different levels of memory control: + * First of is the most basic way of just providing a simple char array with + * string length. This method is probably the easiest way of handling simple + * user text input. Main upside is complete control over memory while the biggest + * downside in comparison with the other two approaches is missing undo/redo. + * + * For UIs that require undo/redo the second way was created. It is based on + * a fixed size nk_text_edit struct, which has an internal undo/redo stack. + * This is mainly useful if you want something more like a text editor but don't want + * to have a dynamically growing buffer. + * + * The final way is using a dynamically growing nk_text_edit struct, which + * has both a default version if you don't care where memory comes from and an + * allocator version if you do. While the text editor is quite powerful for its + * complexity I would not recommend editing gigabytes of data with it. + * It is rather designed for uses cases which make sense for a GUI library not for + * an full blown text editor. + */ +#ifndef NK_TEXTEDIT_UNDOSTATECOUNT +#define NK_TEXTEDIT_UNDOSTATECOUNT 99 +#endif + +#ifndef NK_TEXTEDIT_UNDOCHARCOUNT +#define NK_TEXTEDIT_UNDOCHARCOUNT 999 +#endif + +struct nk_text_edit; +struct nk_clipboard { + nk_handle userdata; + nk_plugin_paste paste; + nk_plugin_copy copy; +}; + +struct nk_text_undo_record { + int where; + short insert_length; + short delete_length; + short char_storage; +}; + +struct nk_text_undo_state { + struct nk_text_undo_record undo_rec[NK_TEXTEDIT_UNDOSTATECOUNT]; + nk_rune undo_char[NK_TEXTEDIT_UNDOCHARCOUNT]; + short undo_point; + short redo_point; + short undo_char_point; + short redo_char_point; +}; + +enum nk_text_edit_type { + NK_TEXT_EDIT_SINGLE_LINE, + NK_TEXT_EDIT_MULTI_LINE +}; + +enum nk_text_edit_mode { + NK_TEXT_EDIT_MODE_VIEW, + NK_TEXT_EDIT_MODE_INSERT, + NK_TEXT_EDIT_MODE_REPLACE +}; + +struct nk_text_edit { + struct nk_clipboard clip; + struct nk_str string; + nk_plugin_filter filter; + struct nk_vec2 scrollbar; + + int cursor; + int select_start; + int select_end; + unsigned char mode; + unsigned char cursor_at_end_of_line; + unsigned char initialized; + unsigned char has_preferred_x; + unsigned char single_line; + unsigned char active; + unsigned char padding1; + float preferred_x; + struct nk_text_undo_state undo; +}; + +/* filter function */ +NK_API nk_bool nk_filter_default(const struct nk_text_edit*, nk_rune unicode); +NK_API nk_bool nk_filter_ascii(const struct nk_text_edit*, nk_rune unicode); +NK_API nk_bool nk_filter_float(const struct nk_text_edit*, nk_rune unicode); +NK_API nk_bool nk_filter_decimal(const struct nk_text_edit*, nk_rune unicode); +NK_API nk_bool nk_filter_hex(const struct nk_text_edit*, nk_rune unicode); +NK_API nk_bool nk_filter_oct(const struct nk_text_edit*, nk_rune unicode); +NK_API nk_bool nk_filter_binary(const struct nk_text_edit*, nk_rune unicode); + +/* text editor */ +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void nk_textedit_init_default(struct nk_text_edit*); +#endif +NK_API void nk_textedit_init(struct nk_text_edit*, struct nk_allocator*, nk_size size); +NK_API void nk_textedit_init_fixed(struct nk_text_edit*, void *memory, nk_size size); +NK_API void nk_textedit_free(struct nk_text_edit*); +NK_API void nk_textedit_text(struct nk_text_edit*, const char*, int total_len); +NK_API void nk_textedit_delete(struct nk_text_edit*, int where, int len); +NK_API void nk_textedit_delete_selection(struct nk_text_edit*); +NK_API void nk_textedit_select_all(struct nk_text_edit*); +NK_API nk_bool nk_textedit_cut(struct nk_text_edit*); +NK_API nk_bool nk_textedit_paste(struct nk_text_edit*, char const*, int len); +NK_API void nk_textedit_undo(struct nk_text_edit*); +NK_API void nk_textedit_redo(struct nk_text_edit*); + +/* =============================================================== + * + * DRAWING + * + * ===============================================================*/ +/* This library was designed to be render backend agnostic so it does + not draw anything to screen. Instead all drawn shapes, widgets + are made of, are buffered into memory and make up a command queue. + Each frame therefore fills the command buffer with draw commands + that then need to be executed by the user and his own render backend. + After that the command buffer needs to be cleared and a new frame can be + started. It is probably important to note that the command buffer is the main + drawing API and the optional vertex buffer API only takes this format and + converts it into a hardware accessible format. + + To use the command queue to draw your own widgets you can access the + command buffer of each window by calling `nk_window_get_canvas` after + previously having called `nk_begin`: + + void draw_red_rectangle_widget(struct nk_context *ctx) + { + struct nk_command_buffer *canvas; + struct nk_input *input = &ctx->input; + canvas = nk_window_get_canvas(ctx); + + struct nk_rect space; + enum nk_widget_layout_states state; + state = nk_widget(&space, ctx); + if (!state) return; + + if (state != NK_WIDGET_ROM) + update_your_widget_by_user_input(...); + nk_fill_rect(canvas, space, 0, nk_rgb(255,0,0)); + } + + if (nk_begin(...)) { + nk_layout_row_dynamic(ctx, 25, 1); + draw_red_rectangle_widget(ctx); + } + nk_end(..) + + Important to know if you want to create your own widgets is the `nk_widget` + call. It allocates space on the panel reserved for this widget to be used, + but also returns the state of the widget space. If your widget is not seen and does + not have to be updated it is '0' and you can just return. If it only has + to be drawn the state will be `NK_WIDGET_ROM` otherwise you can do both + update and draw your widget. The reason for separating is to only draw and + update what is actually necessary which is crucial for performance. +*/ +enum nk_command_type { + NK_COMMAND_NOP, + NK_COMMAND_SCISSOR, + NK_COMMAND_LINE, + NK_COMMAND_CURVE, + NK_COMMAND_RECT, + NK_COMMAND_RECT_FILLED, + NK_COMMAND_RECT_MULTI_COLOR, + NK_COMMAND_CIRCLE, + NK_COMMAND_CIRCLE_FILLED, + NK_COMMAND_ARC, + NK_COMMAND_ARC_FILLED, + NK_COMMAND_TRIANGLE, + NK_COMMAND_TRIANGLE_FILLED, + NK_COMMAND_POLYGON, + NK_COMMAND_POLYGON_FILLED, + NK_COMMAND_POLYLINE, + NK_COMMAND_TEXT, + NK_COMMAND_IMAGE, + NK_COMMAND_CUSTOM +}; + +/* command base and header of every command inside the buffer */ +struct nk_command { + enum nk_command_type type; + nk_size next; +#ifdef NK_INCLUDE_COMMAND_USERDATA + nk_handle userdata; +#endif +}; + +struct nk_command_scissor { + struct nk_command header; + short x, y; + unsigned short w, h; +}; + +struct nk_command_line { + struct nk_command header; + unsigned short line_thickness; + struct nk_vec2i begin; + struct nk_vec2i end; + struct nk_color color; +}; + +struct nk_command_curve { + struct nk_command header; + unsigned short line_thickness; + struct nk_vec2i begin; + struct nk_vec2i end; + struct nk_vec2i ctrl[2]; + struct nk_color color; +}; + +struct nk_command_rect { + struct nk_command header; + unsigned short rounding; + unsigned short line_thickness; + short x, y; + unsigned short w, h; + struct nk_color color; +}; + +struct nk_command_rect_filled { + struct nk_command header; + unsigned short rounding; + short x, y; + unsigned short w, h; + struct nk_color color; +}; + +struct nk_command_rect_multi_color { + struct nk_command header; + short x, y; + unsigned short w, h; + struct nk_color left; + struct nk_color top; + struct nk_color bottom; + struct nk_color right; +}; + +struct nk_command_triangle { + struct nk_command header; + unsigned short line_thickness; + struct nk_vec2i a; + struct nk_vec2i b; + struct nk_vec2i c; + struct nk_color color; +}; + +struct nk_command_triangle_filled { + struct nk_command header; + struct nk_vec2i a; + struct nk_vec2i b; + struct nk_vec2i c; + struct nk_color color; +}; + +struct nk_command_circle { + struct nk_command header; + short x, y; + unsigned short line_thickness; + unsigned short w, h; + struct nk_color color; +}; + +struct nk_command_circle_filled { + struct nk_command header; + short x, y; + unsigned short w, h; + struct nk_color color; +}; + +struct nk_command_arc { + struct nk_command header; + short cx, cy; + unsigned short r; + unsigned short line_thickness; + float a[2]; + struct nk_color color; +}; + +struct nk_command_arc_filled { + struct nk_command header; + short cx, cy; + unsigned short r; + float a[2]; + struct nk_color color; +}; + +struct nk_command_polygon { + struct nk_command header; + struct nk_color color; + unsigned short line_thickness; + unsigned short point_count; + struct nk_vec2i points[1]; +}; + +struct nk_command_polygon_filled { + struct nk_command header; + struct nk_color color; + unsigned short point_count; + struct nk_vec2i points[1]; +}; + +struct nk_command_polyline { + struct nk_command header; + struct nk_color color; + unsigned short line_thickness; + unsigned short point_count; + struct nk_vec2i points[1]; +}; + +struct nk_command_image { + struct nk_command header; + short x, y; + unsigned short w, h; + struct nk_image img; + struct nk_color col; +}; + +typedef void (*nk_command_custom_callback)(void *canvas, short x,short y, + unsigned short w, unsigned short h, nk_handle callback_data); +struct nk_command_custom { + struct nk_command header; + short x, y; + unsigned short w, h; + nk_handle callback_data; + nk_command_custom_callback callback; +}; + +struct nk_command_text { + struct nk_command header; + const struct nk_user_font *font; + struct nk_color background; + struct nk_color foreground; + short x, y; + unsigned short w, h; + float height; + int length; + char string[1]; +}; + +enum nk_command_clipping { + NK_CLIPPING_OFF = nk_false, + NK_CLIPPING_ON = nk_true +}; + +struct nk_command_buffer { + struct nk_buffer *base; + struct nk_rect clip; + int use_clipping; + nk_handle userdata; + nk_size begin, end, last; +}; + +/* shape outlines */ +NK_API void nk_stroke_line(struct nk_command_buffer *b, float x0, float y0, float x1, float y1, float line_thickness, struct nk_color); +NK_API void nk_stroke_curve(struct nk_command_buffer*, float, float, float, float, float, float, float, float, float line_thickness, struct nk_color); +NK_API void nk_stroke_rect(struct nk_command_buffer*, struct nk_rect, float rounding, float line_thickness, struct nk_color); +NK_API void nk_stroke_circle(struct nk_command_buffer*, struct nk_rect, float line_thickness, struct nk_color); +NK_API void nk_stroke_arc(struct nk_command_buffer*, float cx, float cy, float radius, float a_min, float a_max, float line_thickness, struct nk_color); +NK_API void nk_stroke_triangle(struct nk_command_buffer*, float, float, float, float, float, float, float line_thichness, struct nk_color); +NK_API void nk_stroke_polyline(struct nk_command_buffer*, float *points, int point_count, float line_thickness, struct nk_color col); +NK_API void nk_stroke_polygon(struct nk_command_buffer*, float*, int point_count, float line_thickness, struct nk_color); + +/* filled shades */ +NK_API void nk_fill_rect(struct nk_command_buffer*, struct nk_rect, float rounding, struct nk_color); +NK_API void nk_fill_rect_multi_color(struct nk_command_buffer*, struct nk_rect, struct nk_color left, struct nk_color top, struct nk_color right, struct nk_color bottom); +NK_API void nk_fill_circle(struct nk_command_buffer*, struct nk_rect, struct nk_color); +NK_API void nk_fill_arc(struct nk_command_buffer*, float cx, float cy, float radius, float a_min, float a_max, struct nk_color); +NK_API void nk_fill_triangle(struct nk_command_buffer*, float x0, float y0, float x1, float y1, float x2, float y2, struct nk_color); +NK_API void nk_fill_polygon(struct nk_command_buffer*, float*, int point_count, struct nk_color); + +/* misc */ +NK_API void nk_draw_image(struct nk_command_buffer*, struct nk_rect, const struct nk_image*, struct nk_color); +NK_API void nk_draw_nine_slice(struct nk_command_buffer*, struct nk_rect, const struct nk_nine_slice*, struct nk_color); +NK_API void nk_draw_text(struct nk_command_buffer*, struct nk_rect, const char *text, int len, const struct nk_user_font*, struct nk_color, struct nk_color); +NK_API void nk_push_scissor(struct nk_command_buffer*, struct nk_rect); +NK_API void nk_push_custom(struct nk_command_buffer*, struct nk_rect, nk_command_custom_callback, nk_handle usr); + +/* =============================================================== + * + * INPUT + * + * ===============================================================*/ +struct nk_mouse_button { + nk_bool down; + unsigned int clicked; + struct nk_vec2 clicked_pos; +}; +struct nk_mouse { + struct nk_mouse_button buttons[NK_BUTTON_MAX]; + struct nk_vec2 pos; +#ifdef NK_BUTTON_TRIGGER_ON_RELEASE + struct nk_vec2 down_pos; +#endif + struct nk_vec2 prev; + struct nk_vec2 delta; + struct nk_vec2 scroll_delta; + unsigned char grab; + unsigned char grabbed; + unsigned char ungrab; +}; + +struct nk_key { + nk_bool down; + unsigned int clicked; +}; +struct nk_keyboard { + struct nk_key keys[NK_KEY_MAX]; + char text[NK_INPUT_MAX]; + int text_len; +}; + +struct nk_input { + struct nk_keyboard keyboard; + struct nk_mouse mouse; +}; + +NK_API nk_bool nk_input_has_mouse_click(const struct nk_input*, enum nk_buttons); +NK_API nk_bool nk_input_has_mouse_click_in_rect(const struct nk_input*, enum nk_buttons, struct nk_rect); +NK_API nk_bool nk_input_has_mouse_click_in_button_rect(const struct nk_input*, enum nk_buttons, struct nk_rect); +NK_API nk_bool nk_input_has_mouse_click_down_in_rect(const struct nk_input*, enum nk_buttons, struct nk_rect, nk_bool down); +NK_API nk_bool nk_input_is_mouse_click_in_rect(const struct nk_input*, enum nk_buttons, struct nk_rect); +NK_API nk_bool nk_input_is_mouse_click_down_in_rect(const struct nk_input *i, enum nk_buttons id, struct nk_rect b, nk_bool down); +NK_API nk_bool nk_input_any_mouse_click_in_rect(const struct nk_input*, struct nk_rect); +NK_API nk_bool nk_input_is_mouse_prev_hovering_rect(const struct nk_input*, struct nk_rect); +NK_API nk_bool nk_input_is_mouse_hovering_rect(const struct nk_input*, struct nk_rect); +NK_API nk_bool nk_input_mouse_clicked(const struct nk_input*, enum nk_buttons, struct nk_rect); +NK_API nk_bool nk_input_is_mouse_down(const struct nk_input*, enum nk_buttons); +NK_API nk_bool nk_input_is_mouse_pressed(const struct nk_input*, enum nk_buttons); +NK_API nk_bool nk_input_is_mouse_released(const struct nk_input*, enum nk_buttons); +NK_API nk_bool nk_input_is_key_pressed(const struct nk_input*, enum nk_keys); +NK_API nk_bool nk_input_is_key_released(const struct nk_input*, enum nk_keys); +NK_API nk_bool nk_input_is_key_down(const struct nk_input*, enum nk_keys); + +/* =============================================================== + * + * DRAW LIST + * + * ===============================================================*/ +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT +/* The optional vertex buffer draw list provides a 2D drawing context + with antialiasing functionality which takes basic filled or outlined shapes + or a path and outputs vertexes, elements and draw commands. + The actual draw list API is not required to be used directly while using this + library since converting the default library draw command output is done by + just calling `nk_convert` but I decided to still make this library accessible + since it can be useful. + + The draw list is based on a path buffering and polygon and polyline + rendering API which allows a lot of ways to draw 2D content to screen. + In fact it is probably more powerful than needed but allows even more crazy + things than this library provides by default. +*/ +#ifdef NK_UINT_DRAW_INDEX +typedef nk_uint nk_draw_index; +#else +typedef nk_ushort nk_draw_index; +#endif +enum nk_draw_list_stroke { + NK_STROKE_OPEN = nk_false, + /* build up path has no connection back to the beginning */ + NK_STROKE_CLOSED = nk_true + /* build up path has a connection back to the beginning */ +}; + +enum nk_draw_vertex_layout_attribute { + NK_VERTEX_POSITION, + NK_VERTEX_COLOR, + NK_VERTEX_TEXCOORD, + NK_VERTEX_ATTRIBUTE_COUNT +}; + +enum nk_draw_vertex_layout_format { + NK_FORMAT_SCHAR, + NK_FORMAT_SSHORT, + NK_FORMAT_SINT, + NK_FORMAT_UCHAR, + NK_FORMAT_USHORT, + NK_FORMAT_UINT, + NK_FORMAT_FLOAT, + NK_FORMAT_DOUBLE, + +NK_FORMAT_COLOR_BEGIN, + NK_FORMAT_R8G8B8 = NK_FORMAT_COLOR_BEGIN, + NK_FORMAT_R16G15B16, + NK_FORMAT_R32G32B32, + + NK_FORMAT_R8G8B8A8, + NK_FORMAT_B8G8R8A8, + NK_FORMAT_R16G15B16A16, + NK_FORMAT_R32G32B32A32, + NK_FORMAT_R32G32B32A32_FLOAT, + NK_FORMAT_R32G32B32A32_DOUBLE, + + NK_FORMAT_RGB32, + NK_FORMAT_RGBA32, +NK_FORMAT_COLOR_END = NK_FORMAT_RGBA32, + NK_FORMAT_COUNT +}; + +#define NK_VERTEX_LAYOUT_END NK_VERTEX_ATTRIBUTE_COUNT,NK_FORMAT_COUNT,0 +struct nk_draw_vertex_layout_element { + enum nk_draw_vertex_layout_attribute attribute; + enum nk_draw_vertex_layout_format format; + nk_size offset; +}; + +struct nk_draw_command { + unsigned int elem_count; + /* number of elements in the current draw batch */ + struct nk_rect clip_rect; + /* current screen clipping rectangle */ + nk_handle texture; + /* current texture to set */ +#ifdef NK_INCLUDE_COMMAND_USERDATA + nk_handle userdata; +#endif +}; + +struct nk_draw_list { + struct nk_rect clip_rect; + struct nk_vec2 circle_vtx[12]; + struct nk_convert_config config; + + struct nk_buffer *buffer; + struct nk_buffer *vertices; + struct nk_buffer *elements; + + unsigned int element_count; + unsigned int vertex_count; + unsigned int cmd_count; + nk_size cmd_offset; + + unsigned int path_count; + unsigned int path_offset; + + enum nk_anti_aliasing line_AA; + enum nk_anti_aliasing shape_AA; + +#ifdef NK_INCLUDE_COMMAND_USERDATA + nk_handle userdata; +#endif +}; + +/* draw list */ +NK_API void nk_draw_list_init(struct nk_draw_list*); +NK_API void nk_draw_list_setup(struct nk_draw_list*, const struct nk_convert_config*, struct nk_buffer *cmds, struct nk_buffer *vertices, struct nk_buffer *elements, enum nk_anti_aliasing line_aa,enum nk_anti_aliasing shape_aa); + +/* drawing */ +#define nk_draw_list_foreach(cmd, can, b) for((cmd)=nk__draw_list_begin(can, b); (cmd)!=0; (cmd)=nk__draw_list_next(cmd, b, can)) +NK_API const struct nk_draw_command* nk__draw_list_begin(const struct nk_draw_list*, const struct nk_buffer*); +NK_API const struct nk_draw_command* nk__draw_list_next(const struct nk_draw_command*, const struct nk_buffer*, const struct nk_draw_list*); +NK_API const struct nk_draw_command* nk__draw_list_end(const struct nk_draw_list*, const struct nk_buffer*); + +/* path */ +NK_API void nk_draw_list_path_clear(struct nk_draw_list*); +NK_API void nk_draw_list_path_line_to(struct nk_draw_list*, struct nk_vec2 pos); +NK_API void nk_draw_list_path_arc_to_fast(struct nk_draw_list*, struct nk_vec2 center, float radius, int a_min, int a_max); +NK_API void nk_draw_list_path_arc_to(struct nk_draw_list*, struct nk_vec2 center, float radius, float a_min, float a_max, unsigned int segments); +NK_API void nk_draw_list_path_rect_to(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, float rounding); +NK_API void nk_draw_list_path_curve_to(struct nk_draw_list*, struct nk_vec2 p2, struct nk_vec2 p3, struct nk_vec2 p4, unsigned int num_segments); +NK_API void nk_draw_list_path_fill(struct nk_draw_list*, struct nk_color); +NK_API void nk_draw_list_path_stroke(struct nk_draw_list*, struct nk_color, enum nk_draw_list_stroke closed, float thickness); + +/* stroke */ +NK_API void nk_draw_list_stroke_line(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, struct nk_color, float thickness); +NK_API void nk_draw_list_stroke_rect(struct nk_draw_list*, struct nk_rect rect, struct nk_color, float rounding, float thickness); +NK_API void nk_draw_list_stroke_triangle(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, struct nk_vec2 c, struct nk_color, float thickness); +NK_API void nk_draw_list_stroke_circle(struct nk_draw_list*, struct nk_vec2 center, float radius, struct nk_color, unsigned int segs, float thickness); +NK_API void nk_draw_list_stroke_curve(struct nk_draw_list*, struct nk_vec2 p0, struct nk_vec2 cp0, struct nk_vec2 cp1, struct nk_vec2 p1, struct nk_color, unsigned int segments, float thickness); +NK_API void nk_draw_list_stroke_poly_line(struct nk_draw_list*, const struct nk_vec2 *pnts, const unsigned int cnt, struct nk_color, enum nk_draw_list_stroke, float thickness, enum nk_anti_aliasing); + +/* fill */ +NK_API void nk_draw_list_fill_rect(struct nk_draw_list*, struct nk_rect rect, struct nk_color, float rounding); +NK_API void nk_draw_list_fill_rect_multi_color(struct nk_draw_list*, struct nk_rect rect, struct nk_color left, struct nk_color top, struct nk_color right, struct nk_color bottom); +NK_API void nk_draw_list_fill_triangle(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, struct nk_vec2 c, struct nk_color); +NK_API void nk_draw_list_fill_circle(struct nk_draw_list*, struct nk_vec2 center, float radius, struct nk_color col, unsigned int segs); +NK_API void nk_draw_list_fill_poly_convex(struct nk_draw_list*, const struct nk_vec2 *points, const unsigned int count, struct nk_color, enum nk_anti_aliasing); + +/* misc */ +NK_API void nk_draw_list_add_image(struct nk_draw_list*, struct nk_image texture, struct nk_rect rect, struct nk_color); +NK_API void nk_draw_list_add_text(struct nk_draw_list*, const struct nk_user_font*, struct nk_rect, const char *text, int len, float font_height, struct nk_color); +#ifdef NK_INCLUDE_COMMAND_USERDATA +NK_API void nk_draw_list_push_userdata(struct nk_draw_list*, nk_handle userdata); +#endif + +#endif + +/* =============================================================== + * + * GUI + * + * ===============================================================*/ +enum nk_style_item_type { + NK_STYLE_ITEM_COLOR, + NK_STYLE_ITEM_IMAGE, + NK_STYLE_ITEM_NINE_SLICE +}; + +union nk_style_item_data { + struct nk_color color; + struct nk_image image; + struct nk_nine_slice slice; +}; + +struct nk_style_item { + enum nk_style_item_type type; + union nk_style_item_data data; +}; + +struct nk_style_text { + struct nk_color color; + struct nk_vec2 padding; +}; + +struct nk_style_button { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* text */ + struct nk_color text_background; + struct nk_color text_normal; + struct nk_color text_hover; + struct nk_color text_active; + nk_flags text_alignment; + + /* properties */ + float border; + float rounding; + struct nk_vec2 padding; + struct nk_vec2 image_padding; + struct nk_vec2 touch_padding; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle userdata); + void(*draw_end)(struct nk_command_buffer*, nk_handle userdata); +}; + +struct nk_style_toggle { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* cursor */ + struct nk_style_item cursor_normal; + struct nk_style_item cursor_hover; + + /* text */ + struct nk_color text_normal; + struct nk_color text_hover; + struct nk_color text_active; + struct nk_color text_background; + nk_flags text_alignment; + + /* properties */ + struct nk_vec2 padding; + struct nk_vec2 touch_padding; + float spacing; + float border; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle); + void(*draw_end)(struct nk_command_buffer*, nk_handle); +}; + +struct nk_style_selectable { + /* background (inactive) */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item pressed; + + /* background (active) */ + struct nk_style_item normal_active; + struct nk_style_item hover_active; + struct nk_style_item pressed_active; + + /* text color (inactive) */ + struct nk_color text_normal; + struct nk_color text_hover; + struct nk_color text_pressed; + + /* text color (active) */ + struct nk_color text_normal_active; + struct nk_color text_hover_active; + struct nk_color text_pressed_active; + struct nk_color text_background; + nk_flags text_alignment; + + /* properties */ + float rounding; + struct nk_vec2 padding; + struct nk_vec2 touch_padding; + struct nk_vec2 image_padding; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle); + void(*draw_end)(struct nk_command_buffer*, nk_handle); +}; + +struct nk_style_slider { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* background bar */ + struct nk_color bar_normal; + struct nk_color bar_hover; + struct nk_color bar_active; + struct nk_color bar_filled; + + /* cursor */ + struct nk_style_item cursor_normal; + struct nk_style_item cursor_hover; + struct nk_style_item cursor_active; + + /* properties */ + float border; + float rounding; + float bar_height; + struct nk_vec2 padding; + struct nk_vec2 spacing; + struct nk_vec2 cursor_size; + + /* optional buttons */ + int show_buttons; + struct nk_style_button inc_button; + struct nk_style_button dec_button; + enum nk_symbol_type inc_symbol; + enum nk_symbol_type dec_symbol; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle); + void(*draw_end)(struct nk_command_buffer*, nk_handle); +}; + +struct nk_style_progress { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* cursor */ + struct nk_style_item cursor_normal; + struct nk_style_item cursor_hover; + struct nk_style_item cursor_active; + struct nk_color cursor_border_color; + + /* properties */ + float rounding; + float border; + float cursor_border; + float cursor_rounding; + struct nk_vec2 padding; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle); + void(*draw_end)(struct nk_command_buffer*, nk_handle); +}; + +struct nk_style_scrollbar { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* cursor */ + struct nk_style_item cursor_normal; + struct nk_style_item cursor_hover; + struct nk_style_item cursor_active; + struct nk_color cursor_border_color; + + /* properties */ + float border; + float rounding; + float border_cursor; + float rounding_cursor; + struct nk_vec2 padding; + + /* optional buttons */ + int show_buttons; + struct nk_style_button inc_button; + struct nk_style_button dec_button; + enum nk_symbol_type inc_symbol; + enum nk_symbol_type dec_symbol; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle); + void(*draw_end)(struct nk_command_buffer*, nk_handle); +}; + +struct nk_style_edit { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + struct nk_style_scrollbar scrollbar; + + /* cursor */ + struct nk_color cursor_normal; + struct nk_color cursor_hover; + struct nk_color cursor_text_normal; + struct nk_color cursor_text_hover; + + /* text (unselected) */ + struct nk_color text_normal; + struct nk_color text_hover; + struct nk_color text_active; + + /* text (selected) */ + struct nk_color selected_normal; + struct nk_color selected_hover; + struct nk_color selected_text_normal; + struct nk_color selected_text_hover; + + /* properties */ + float border; + float rounding; + float cursor_size; + struct nk_vec2 scrollbar_size; + struct nk_vec2 padding; + float row_padding; +}; + +struct nk_style_property { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* text */ + struct nk_color label_normal; + struct nk_color label_hover; + struct nk_color label_active; + + /* symbols */ + enum nk_symbol_type sym_left; + enum nk_symbol_type sym_right; + + /* properties */ + float border; + float rounding; + struct nk_vec2 padding; + + struct nk_style_edit edit; + struct nk_style_button inc_button; + struct nk_style_button dec_button; + + /* optional user callbacks */ + nk_handle userdata; + void(*draw_begin)(struct nk_command_buffer*, nk_handle); + void(*draw_end)(struct nk_command_buffer*, nk_handle); +}; + +struct nk_style_chart { + /* colors */ + struct nk_style_item background; + struct nk_color border_color; + struct nk_color selected_color; + struct nk_color color; + + /* properties */ + float border; + float rounding; + struct nk_vec2 padding; +}; + +struct nk_style_combo { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + struct nk_color border_color; + + /* label */ + struct nk_color label_normal; + struct nk_color label_hover; + struct nk_color label_active; + + /* symbol */ + struct nk_color symbol_normal; + struct nk_color symbol_hover; + struct nk_color symbol_active; + + /* button */ + struct nk_style_button button; + enum nk_symbol_type sym_normal; + enum nk_symbol_type sym_hover; + enum nk_symbol_type sym_active; + + /* properties */ + float border; + float rounding; + struct nk_vec2 content_padding; + struct nk_vec2 button_padding; + struct nk_vec2 spacing; +}; + +struct nk_style_tab { + /* background */ + struct nk_style_item background; + struct nk_color border_color; + struct nk_color text; + + /* button */ + struct nk_style_button tab_maximize_button; + struct nk_style_button tab_minimize_button; + struct nk_style_button node_maximize_button; + struct nk_style_button node_minimize_button; + enum nk_symbol_type sym_minimize; + enum nk_symbol_type sym_maximize; + + /* properties */ + float border; + float rounding; + float indent; + struct nk_vec2 padding; + struct nk_vec2 spacing; +}; + +enum nk_style_header_align { + NK_HEADER_LEFT, + NK_HEADER_RIGHT +}; +struct nk_style_window_header { + /* background */ + struct nk_style_item normal; + struct nk_style_item hover; + struct nk_style_item active; + + /* button */ + struct nk_style_button close_button; + struct nk_style_button minimize_button; + enum nk_symbol_type close_symbol; + enum nk_symbol_type minimize_symbol; + enum nk_symbol_type maximize_symbol; + + /* title */ + struct nk_color label_normal; + struct nk_color label_hover; + struct nk_color label_active; + + /* properties */ + enum nk_style_header_align align; + struct nk_vec2 padding; + struct nk_vec2 label_padding; + struct nk_vec2 spacing; +}; + +struct nk_style_window { + struct nk_style_window_header header; + struct nk_style_item fixed_background; + struct nk_color background; + + struct nk_color border_color; + struct nk_color popup_border_color; + struct nk_color combo_border_color; + struct nk_color contextual_border_color; + struct nk_color menu_border_color; + struct nk_color group_border_color; + struct nk_color tooltip_border_color; + struct nk_style_item scaler; + + float border; + float combo_border; + float contextual_border; + float menu_border; + float group_border; + float tooltip_border; + float popup_border; + float min_row_height_padding; + + float rounding; + struct nk_vec2 spacing; + struct nk_vec2 scrollbar_size; + struct nk_vec2 min_size; + + struct nk_vec2 padding; + struct nk_vec2 group_padding; + struct nk_vec2 popup_padding; + struct nk_vec2 combo_padding; + struct nk_vec2 contextual_padding; + struct nk_vec2 menu_padding; + struct nk_vec2 tooltip_padding; +}; + +struct nk_style { + const struct nk_user_font *font; + const struct nk_cursor *cursors[NK_CURSOR_COUNT]; + const struct nk_cursor *cursor_active; + struct nk_cursor *cursor_last; + int cursor_visible; + + struct nk_style_text text; + struct nk_style_button button; + struct nk_style_button contextual_button; + struct nk_style_button menu_button; + struct nk_style_toggle option; + struct nk_style_toggle checkbox; + struct nk_style_selectable selectable; + struct nk_style_slider slider; + struct nk_style_progress progress; + struct nk_style_property property; + struct nk_style_edit edit; + struct nk_style_chart chart; + struct nk_style_scrollbar scrollh; + struct nk_style_scrollbar scrollv; + struct nk_style_tab tab; + struct nk_style_combo combo; + struct nk_style_window window; +}; + +NK_API struct nk_style_item nk_style_item_color(struct nk_color); +NK_API struct nk_style_item nk_style_item_image(struct nk_image img); +NK_API struct nk_style_item nk_style_item_nine_slice(struct nk_nine_slice slice); +NK_API struct nk_style_item nk_style_item_hide(void); + +/*============================================================== + * PANEL + * =============================================================*/ +#ifndef NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS +#define NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS 16 +#endif +#ifndef NK_CHART_MAX_SLOT +#define NK_CHART_MAX_SLOT 4 +#endif + +enum nk_panel_type { + NK_PANEL_NONE = 0, + NK_PANEL_WINDOW = NK_FLAG(0), + NK_PANEL_GROUP = NK_FLAG(1), + NK_PANEL_POPUP = NK_FLAG(2), + NK_PANEL_CONTEXTUAL = NK_FLAG(4), + NK_PANEL_COMBO = NK_FLAG(5), + NK_PANEL_MENU = NK_FLAG(6), + NK_PANEL_TOOLTIP = NK_FLAG(7) +}; +enum nk_panel_set { + NK_PANEL_SET_NONBLOCK = NK_PANEL_CONTEXTUAL|NK_PANEL_COMBO|NK_PANEL_MENU|NK_PANEL_TOOLTIP, + NK_PANEL_SET_POPUP = NK_PANEL_SET_NONBLOCK|NK_PANEL_POPUP, + NK_PANEL_SET_SUB = NK_PANEL_SET_POPUP|NK_PANEL_GROUP +}; + +struct nk_chart_slot { + enum nk_chart_type type; + struct nk_color color; + struct nk_color highlight; + float min, max, range; + int count; + struct nk_vec2 last; + int index; +}; + +struct nk_chart { + int slot; + float x, y, w, h; + struct nk_chart_slot slots[NK_CHART_MAX_SLOT]; +}; + +enum nk_panel_row_layout_type { + NK_LAYOUT_DYNAMIC_FIXED = 0, + NK_LAYOUT_DYNAMIC_ROW, + NK_LAYOUT_DYNAMIC_FREE, + NK_LAYOUT_DYNAMIC, + NK_LAYOUT_STATIC_FIXED, + NK_LAYOUT_STATIC_ROW, + NK_LAYOUT_STATIC_FREE, + NK_LAYOUT_STATIC, + NK_LAYOUT_TEMPLATE, + NK_LAYOUT_COUNT +}; +struct nk_row_layout { + enum nk_panel_row_layout_type type; + int index; + float height; + float min_height; + int columns; + const float *ratio; + float item_width; + float item_height; + float item_offset; + float filled; + struct nk_rect item; + int tree_depth; + float templates[NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS]; +}; + +struct nk_popup_buffer { + nk_size begin; + nk_size parent; + nk_size last; + nk_size end; + nk_bool active; +}; + +struct nk_menu_state { + float x, y, w, h; + struct nk_scroll offset; +}; + +struct nk_panel { + enum nk_panel_type type; + nk_flags flags; + struct nk_rect bounds; + nk_uint *offset_x; + nk_uint *offset_y; + float at_x, at_y, max_x; + float footer_height; + float header_height; + float border; + unsigned int has_scrolling; + struct nk_rect clip; + struct nk_menu_state menu; + struct nk_row_layout row; + struct nk_chart chart; + struct nk_command_buffer *buffer; + struct nk_panel *parent; +}; + +/*============================================================== + * WINDOW + * =============================================================*/ +#ifndef NK_WINDOW_MAX_NAME +#define NK_WINDOW_MAX_NAME 64 +#endif + +struct nk_table; +enum nk_window_flags { + NK_WINDOW_PRIVATE = NK_FLAG(11), + NK_WINDOW_DYNAMIC = NK_WINDOW_PRIVATE, + /* special window type growing up in height while being filled to a certain maximum height */ + NK_WINDOW_ROM = NK_FLAG(12), + /* sets window widgets into a read only mode and does not allow input changes */ + NK_WINDOW_NOT_INTERACTIVE = NK_WINDOW_ROM|NK_WINDOW_NO_INPUT, + /* prevents all interaction caused by input to either window or widgets inside */ + NK_WINDOW_HIDDEN = NK_FLAG(13), + /* Hides window and stops any window interaction and drawing */ + NK_WINDOW_CLOSED = NK_FLAG(14), + /* Directly closes and frees the window at the end of the frame */ + NK_WINDOW_MINIMIZED = NK_FLAG(15), + /* marks the window as minimized */ + NK_WINDOW_REMOVE_ROM = NK_FLAG(16) + /* Removes read only mode at the end of the window */ +}; + +struct nk_popup_state { + struct nk_window *win; + enum nk_panel_type type; + struct nk_popup_buffer buf; + nk_hash name; + nk_bool active; + unsigned combo_count; + unsigned con_count, con_old; + unsigned active_con; + struct nk_rect header; +}; + +struct nk_edit_state { + nk_hash name; + unsigned int seq; + unsigned int old; + int active, prev; + int cursor; + int sel_start; + int sel_end; + struct nk_scroll scrollbar; + unsigned char mode; + unsigned char single_line; +}; + +struct nk_property_state { + int active, prev; + char buffer[NK_MAX_NUMBER_BUFFER]; + int length; + int cursor; + int select_start; + int select_end; + nk_hash name; + unsigned int seq; + unsigned int old; + int state; +}; + +struct nk_window { + unsigned int seq; + nk_hash name; + char name_string[NK_WINDOW_MAX_NAME]; + nk_flags flags; + + struct nk_rect bounds; + struct nk_scroll scrollbar; + struct nk_command_buffer buffer; + struct nk_panel *layout; + float scrollbar_hiding_timer; + + /* persistent widget state */ + struct nk_property_state property; + struct nk_popup_state popup; + struct nk_edit_state edit; + unsigned int scrolled; + + struct nk_table *tables; + unsigned int table_count; + + /* window list hooks */ + struct nk_window *next; + struct nk_window *prev; + struct nk_window *parent; +}; + +/*============================================================== + * STACK + * =============================================================*/ +/* The style modifier stack can be used to temporarily change a + * property inside `nk_style`. For example if you want a special + * red button you can temporarily push the old button color onto a stack + * draw the button with a red color and then you just pop the old color + * back from the stack: + * + * nk_style_push_style_item(ctx, &ctx->style.button.normal, nk_style_item_color(nk_rgb(255,0,0))); + * nk_style_push_style_item(ctx, &ctx->style.button.hover, nk_style_item_color(nk_rgb(255,0,0))); + * nk_style_push_style_item(ctx, &ctx->style.button.active, nk_style_item_color(nk_rgb(255,0,0))); + * nk_style_push_vec2(ctx, &cx->style.button.padding, nk_vec2(2,2)); + * + * nk_button(...); + * + * nk_style_pop_style_item(ctx); + * nk_style_pop_style_item(ctx); + * nk_style_pop_style_item(ctx); + * nk_style_pop_vec2(ctx); + * + * Nuklear has a stack for style_items, float properties, vector properties, + * flags, colors, fonts and for button_behavior. Each has it's own fixed size stack + * which can be changed at compile time. + */ +#ifndef NK_BUTTON_BEHAVIOR_STACK_SIZE +#define NK_BUTTON_BEHAVIOR_STACK_SIZE 8 +#endif + +#ifndef NK_FONT_STACK_SIZE +#define NK_FONT_STACK_SIZE 8 +#endif + +#ifndef NK_STYLE_ITEM_STACK_SIZE +#define NK_STYLE_ITEM_STACK_SIZE 16 +#endif + +#ifndef NK_FLOAT_STACK_SIZE +#define NK_FLOAT_STACK_SIZE 32 +#endif + +#ifndef NK_VECTOR_STACK_SIZE +#define NK_VECTOR_STACK_SIZE 16 +#endif + +#ifndef NK_FLAGS_STACK_SIZE +#define NK_FLAGS_STACK_SIZE 32 +#endif + +#ifndef NK_COLOR_STACK_SIZE +#define NK_COLOR_STACK_SIZE 32 +#endif + +#define NK_CONFIGURATION_STACK_TYPE(prefix, name, type)\ + struct nk_config_stack_##name##_element {\ + prefix##_##type *address;\ + prefix##_##type old_value;\ + } +#define NK_CONFIG_STACK(type,size)\ + struct nk_config_stack_##type {\ + int head;\ + struct nk_config_stack_##type##_element elements[size];\ + } + +#define nk_float float +NK_CONFIGURATION_STACK_TYPE(struct nk, style_item, style_item); +NK_CONFIGURATION_STACK_TYPE(nk ,float, float); +NK_CONFIGURATION_STACK_TYPE(struct nk, vec2, vec2); +NK_CONFIGURATION_STACK_TYPE(nk ,flags, flags); +NK_CONFIGURATION_STACK_TYPE(struct nk, color, color); +NK_CONFIGURATION_STACK_TYPE(const struct nk, user_font, user_font*); +NK_CONFIGURATION_STACK_TYPE(enum nk, button_behavior, button_behavior); + +NK_CONFIG_STACK(style_item, NK_STYLE_ITEM_STACK_SIZE); +NK_CONFIG_STACK(float, NK_FLOAT_STACK_SIZE); +NK_CONFIG_STACK(vec2, NK_VECTOR_STACK_SIZE); +NK_CONFIG_STACK(flags, NK_FLAGS_STACK_SIZE); +NK_CONFIG_STACK(color, NK_COLOR_STACK_SIZE); +NK_CONFIG_STACK(user_font, NK_FONT_STACK_SIZE); +NK_CONFIG_STACK(button_behavior, NK_BUTTON_BEHAVIOR_STACK_SIZE); + +struct nk_configuration_stacks { + struct nk_config_stack_style_item style_items; + struct nk_config_stack_float floats; + struct nk_config_stack_vec2 vectors; + struct nk_config_stack_flags flags; + struct nk_config_stack_color colors; + struct nk_config_stack_user_font fonts; + struct nk_config_stack_button_behavior button_behaviors; +}; + +/*============================================================== + * CONTEXT + * =============================================================*/ +#define NK_VALUE_PAGE_CAPACITY \ + (((NK_MAX(sizeof(struct nk_window),sizeof(struct nk_panel)) / sizeof(nk_uint))) / 2) + +struct nk_table { + unsigned int seq; + unsigned int size; + nk_hash keys[NK_VALUE_PAGE_CAPACITY]; + nk_uint values[NK_VALUE_PAGE_CAPACITY]; + struct nk_table *next, *prev; +}; + +union nk_page_data { + struct nk_table tbl; + struct nk_panel pan; + struct nk_window win; +}; + +struct nk_page_element { + union nk_page_data data; + struct nk_page_element *next; + struct nk_page_element *prev; +}; + +struct nk_page { + unsigned int size; + struct nk_page *next; + struct nk_page_element win[1]; +}; + +struct nk_pool { + struct nk_allocator alloc; + enum nk_allocation_type type; + unsigned int page_count; + struct nk_page *pages; + struct nk_page_element *freelist; + unsigned capacity; + nk_size size; + nk_size cap; +}; + +struct nk_context { +/* public: can be accessed freely */ + struct nk_input input; + struct nk_style style; + struct nk_buffer memory; + struct nk_clipboard clip; + nk_flags last_widget_state; + enum nk_button_behavior button_behavior; + struct nk_configuration_stacks stacks; + float delta_time_seconds; + +/* private: + should only be accessed if you + know what you are doing */ +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT + struct nk_draw_list draw_list; +#endif +#ifdef NK_INCLUDE_COMMAND_USERDATA + nk_handle userdata; +#endif + /* text editor objects are quite big because of an internal + * undo/redo stack. Therefore it does not make sense to have one for + * each window for temporary use cases, so I only provide *one* instance + * for all windows. This works because the content is cleared anyway */ + struct nk_text_edit text_edit; + /* draw buffer used for overlay drawing operation like cursor */ + struct nk_command_buffer overlay; + + /* windows */ + int build; + int use_pool; + struct nk_pool pool; + struct nk_window *begin; + struct nk_window *end; + struct nk_window *active; + struct nk_window *current; + struct nk_page_element *freelist; + unsigned int count; + unsigned int seq; +}; + +/* ============================================================== + * MATH + * =============================================================== */ +#define NK_PI 3.141592654f +#define NK_UTF_INVALID 0xFFFD +#define NK_MAX_FLOAT_PRECISION 2 + +#define NK_UNUSED(x) ((void)(x)) +#define NK_SATURATE(x) (NK_MAX(0, NK_MIN(1.0f, x))) +#define NK_LEN(a) (sizeof(a)/sizeof(a)[0]) +#define NK_ABS(a) (((a) < 0) ? -(a) : (a)) +#define NK_BETWEEN(x, a, b) ((a) <= (x) && (x) < (b)) +#define NK_INBOX(px, py, x, y, w, h)\ + (NK_BETWEEN(px,x,x+w) && NK_BETWEEN(py,y,y+h)) +#define NK_INTERSECT(x0, y0, w0, h0, x1, y1, w1, h1) \ + ((x1 < (x0 + w0)) && (x0 < (x1 + w1)) && \ + (y1 < (y0 + h0)) && (y0 < (y1 + h1))) +#define NK_CONTAINS(x, y, w, h, bx, by, bw, bh)\ + (NK_INBOX(x,y, bx, by, bw, bh) && NK_INBOX(x+w,y+h, bx, by, bw, bh)) + +#define nk_vec2_sub(a, b) nk_vec2((a).x - (b).x, (a).y - (b).y) +#define nk_vec2_add(a, b) nk_vec2((a).x + (b).x, (a).y + (b).y) +#define nk_vec2_len_sqr(a) ((a).x*(a).x+(a).y*(a).y) +#define nk_vec2_muls(a, t) nk_vec2((a).x * (t), (a).y * (t)) + +#define nk_ptr_add(t, p, i) ((t*)((void*)((nk_byte*)(p) + (i)))) +#define nk_ptr_add_const(t, p, i) ((const t*)((const void*)((const nk_byte*)(p) + (i)))) +#define nk_zero_struct(s) nk_zero(&s, sizeof(s)) + +/* ============================================================== + * ALIGNMENT + * =============================================================== */ +/* Pointer to Integer type conversion for pointer alignment */ +#if defined(__PTRDIFF_TYPE__) /* This case should work for GCC*/ +# define NK_UINT_TO_PTR(x) ((void*)(__PTRDIFF_TYPE__)(x)) +# define NK_PTR_TO_UINT(x) ((nk_size)(__PTRDIFF_TYPE__)(x)) +#elif !defined(__GNUC__) /* works for compilers other than LLVM */ +# define NK_UINT_TO_PTR(x) ((void*)&((char*)0)[x]) +# define NK_PTR_TO_UINT(x) ((nk_size)(((char*)x)-(char*)0)) +#elif defined(NK_USE_FIXED_TYPES) /* used if we have */ +# define NK_UINT_TO_PTR(x) ((void*)(uintptr_t)(x)) +# define NK_PTR_TO_UINT(x) ((uintptr_t)(x)) +#else /* generates warning but works */ +# define NK_UINT_TO_PTR(x) ((void*)(x)) +# define NK_PTR_TO_UINT(x) ((nk_size)(x)) +#endif + +#define NK_ALIGN_PTR(x, mask)\ + (NK_UINT_TO_PTR((NK_PTR_TO_UINT((nk_byte*)(x) + (mask-1)) & ~(mask-1)))) +#define NK_ALIGN_PTR_BACK(x, mask)\ + (NK_UINT_TO_PTR((NK_PTR_TO_UINT((nk_byte*)(x)) & ~(mask-1)))) + +#if (defined(__GNUC__) && __GNUC__ >= 4) || defined(__clang__) +#define NK_OFFSETOF(st,m) (__builtin_offsetof(st,m)) +#else +#define NK_OFFSETOF(st,m) ((nk_ptr)&(((st*)0)->m)) +#endif + +#ifdef __cplusplus +} +#endif + +#ifdef __cplusplus +template struct nk_alignof; +template struct nk_helper{enum {value = size_diff};}; +template struct nk_helper{enum {value = nk_alignof::value};}; +template struct nk_alignof{struct Big {T x; char c;}; enum { + diff = sizeof(Big) - sizeof(T), value = nk_helper::value};}; +#define NK_ALIGNOF(t) (nk_alignof::value) +#else +#define NK_ALIGNOF(t) NK_OFFSETOF(struct {char c; t _h;}, _h) +#endif + +#define NK_CONTAINER_OF(ptr,type,member)\ + (type*)((void*)((char*)(1 ? (ptr): &((type*)0)->member) - NK_OFFSETOF(type, member))) + + + +#endif /* NK_NUKLEAR_H_ */ + +#ifdef NK_IMPLEMENTATION + +#ifndef NK_INTERNAL_H +#define NK_INTERNAL_H + +#ifndef NK_POOL_DEFAULT_CAPACITY +#define NK_POOL_DEFAULT_CAPACITY 16 +#endif + +#ifndef NK_DEFAULT_COMMAND_BUFFER_SIZE +#define NK_DEFAULT_COMMAND_BUFFER_SIZE (4*1024) +#endif + +#ifndef NK_BUFFER_DEFAULT_INITIAL_SIZE +#define NK_BUFFER_DEFAULT_INITIAL_SIZE (4*1024) +#endif + +/* standard library headers */ +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +#include /* malloc, free */ +#endif +#ifdef NK_INCLUDE_STANDARD_IO +#include /* fopen, fclose,... */ +#endif +#ifdef NK_INCLUDE_STANDARD_VARARGS +#include /* valist, va_start, va_end, ... */ +#endif +#ifndef NK_ASSERT +#include +#define NK_ASSERT(expr) assert(expr) +#endif + +#define NK_DEFAULT (-1) + +#ifndef NK_VSNPRINTF +/* If your compiler does support `vsnprintf` I would highly recommend + * defining this to vsnprintf instead since `vsprintf` is basically + * unbelievable unsafe and should *NEVER* be used. But I have to support + * it since C89 only provides this unsafe version. */ + #if (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) ||\ + (defined(__cplusplus) && (__cplusplus >= 201103L)) || \ + (defined(_POSIX_C_SOURCE) && (_POSIX_C_SOURCE >= 200112L)) ||\ + (defined(_XOPEN_SOURCE) && (_XOPEN_SOURCE >= 500)) ||\ + defined(_ISOC99_SOURCE) || defined(_BSD_SOURCE) + #define NK_VSNPRINTF(s,n,f,a) vsnprintf(s,n,f,a) + #else + #define NK_VSNPRINTF(s,n,f,a) vsprintf(s,f,a) + #endif +#endif + +#define NK_SCHAR_MIN (-127) +#define NK_SCHAR_MAX 127 +#define NK_UCHAR_MIN 0 +#define NK_UCHAR_MAX 256 +#define NK_SSHORT_MIN (-32767) +#define NK_SSHORT_MAX 32767 +#define NK_USHORT_MIN 0 +#define NK_USHORT_MAX 65535 +#define NK_SINT_MIN (-2147483647) +#define NK_SINT_MAX 2147483647 +#define NK_UINT_MIN 0 +#define NK_UINT_MAX 4294967295u + +/* Make sure correct type size: + * This will fire with a negative subscript error if the type sizes + * are set incorrectly by the compiler, and compile out if not */ +NK_STATIC_ASSERT(sizeof(nk_size) >= sizeof(void*)); +NK_STATIC_ASSERT(sizeof(nk_ptr) == sizeof(void*)); +NK_STATIC_ASSERT(sizeof(nk_flags) >= 4); +NK_STATIC_ASSERT(sizeof(nk_rune) >= 4); +NK_STATIC_ASSERT(sizeof(nk_ushort) == 2); +NK_STATIC_ASSERT(sizeof(nk_short) == 2); +NK_STATIC_ASSERT(sizeof(nk_uint) == 4); +NK_STATIC_ASSERT(sizeof(nk_int) == 4); +NK_STATIC_ASSERT(sizeof(nk_byte) == 1); +#ifdef NK_INCLUDE_STANDARD_BOOL +NK_STATIC_ASSERT(sizeof(nk_bool) == sizeof(bool)); +#else +NK_STATIC_ASSERT(sizeof(nk_bool) == 4); +#endif + +NK_GLOBAL const struct nk_rect nk_null_rect = {-8192.0f, -8192.0f, 16384, 16384}; +#define NK_FLOAT_PRECISION 0.00000000000001 + +NK_GLOBAL const struct nk_color nk_red = {255,0,0,255}; +NK_GLOBAL const struct nk_color nk_green = {0,255,0,255}; +NK_GLOBAL const struct nk_color nk_blue = {0,0,255,255}; +NK_GLOBAL const struct nk_color nk_white = {255,255,255,255}; +NK_GLOBAL const struct nk_color nk_black = {0,0,0,255}; +NK_GLOBAL const struct nk_color nk_yellow = {255,255,0,255}; + +/* widget */ +#define nk_widget_state_reset(s)\ + if ((*(s)) & NK_WIDGET_STATE_MODIFIED)\ + (*(s)) = NK_WIDGET_STATE_INACTIVE|NK_WIDGET_STATE_MODIFIED;\ + else (*(s)) = NK_WIDGET_STATE_INACTIVE; + +/* math */ +#ifndef NK_INV_SQRT +NK_LIB float nk_inv_sqrt(float n); +#endif +#ifndef NK_SIN +NK_LIB float nk_sin(float x); +#endif +#ifndef NK_COS +NK_LIB float nk_cos(float x); +#endif +NK_LIB nk_uint nk_round_up_pow2(nk_uint v); +NK_LIB struct nk_rect nk_shrink_rect(struct nk_rect r, float amount); +NK_LIB struct nk_rect nk_pad_rect(struct nk_rect r, struct nk_vec2 pad); +NK_LIB void nk_unify(struct nk_rect *clip, const struct nk_rect *a, float x0, float y0, float x1, float y1); +NK_LIB double nk_pow(double x, int n); +NK_LIB int nk_ifloord(double x); +NK_LIB int nk_ifloorf(float x); +NK_LIB int nk_iceilf(float x); +NK_LIB int nk_log10(double n); + +/* util */ +enum {NK_DO_NOT_STOP_ON_NEW_LINE, NK_STOP_ON_NEW_LINE}; +NK_LIB nk_bool nk_is_lower(int c); +NK_LIB nk_bool nk_is_upper(int c); +NK_LIB int nk_to_upper(int c); +NK_LIB int nk_to_lower(int c); + +#ifndef NK_MEMCPY +NK_LIB void* nk_memcopy(void *dst, const void *src, nk_size n); +#endif +#ifndef NK_MEMSET +NK_LIB void nk_memset(void *ptr, int c0, nk_size size); +#endif +NK_LIB void nk_zero(void *ptr, nk_size size); +NK_LIB char *nk_itoa(char *s, long n); +NK_LIB int nk_string_float_limit(char *string, int prec); +#ifndef NK_DTOA +NK_LIB char *nk_dtoa(char *s, double n); +#endif +NK_LIB int nk_text_clamp(const struct nk_user_font *font, const char *text, int text_len, float space, int *glyphs, float *text_width, nk_rune *sep_list, int sep_count); +NK_LIB struct nk_vec2 nk_text_calculate_text_bounds(const struct nk_user_font *font, const char *begin, int byte_len, float row_height, const char **remaining, struct nk_vec2 *out_offset, int *glyphs, int op); +#ifdef NK_INCLUDE_STANDARD_VARARGS +NK_LIB int nk_strfmt(char *buf, int buf_size, const char *fmt, va_list args); +#endif +#ifdef NK_INCLUDE_STANDARD_IO +NK_LIB char *nk_file_load(const char* path, nk_size* siz, struct nk_allocator *alloc); +#endif + +/* buffer */ +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_LIB void* nk_malloc(nk_handle unused, void *old,nk_size size); +NK_LIB void nk_mfree(nk_handle unused, void *ptr); +#endif +NK_LIB void* nk_buffer_align(void *unaligned, nk_size align, nk_size *alignment, enum nk_buffer_allocation_type type); +NK_LIB void* nk_buffer_alloc(struct nk_buffer *b, enum nk_buffer_allocation_type type, nk_size size, nk_size align); +NK_LIB void* nk_buffer_realloc(struct nk_buffer *b, nk_size capacity, nk_size *size); + +/* draw */ +NK_LIB void nk_command_buffer_init(struct nk_command_buffer *cb, struct nk_buffer *b, enum nk_command_clipping clip); +NK_LIB void nk_command_buffer_reset(struct nk_command_buffer *b); +NK_LIB void* nk_command_buffer_push(struct nk_command_buffer* b, enum nk_command_type t, nk_size size); +NK_LIB void nk_draw_symbol(struct nk_command_buffer *out, enum nk_symbol_type type, struct nk_rect content, struct nk_color background, struct nk_color foreground, float border_width, const struct nk_user_font *font); + +/* buffering */ +NK_LIB void nk_start_buffer(struct nk_context *ctx, struct nk_command_buffer *b); +NK_LIB void nk_start(struct nk_context *ctx, struct nk_window *win); +NK_LIB void nk_start_popup(struct nk_context *ctx, struct nk_window *win); +NK_LIB void nk_finish_popup(struct nk_context *ctx, struct nk_window*); +NK_LIB void nk_finish_buffer(struct nk_context *ctx, struct nk_command_buffer *b); +NK_LIB void nk_finish(struct nk_context *ctx, struct nk_window *w); +NK_LIB void nk_build(struct nk_context *ctx); + +/* text editor */ +NK_LIB void nk_textedit_clear_state(struct nk_text_edit *state, enum nk_text_edit_type type, nk_plugin_filter filter); +NK_LIB void nk_textedit_click(struct nk_text_edit *state, float x, float y, const struct nk_user_font *font, float row_height); +NK_LIB void nk_textedit_drag(struct nk_text_edit *state, float x, float y, const struct nk_user_font *font, float row_height); +NK_LIB void nk_textedit_key(struct nk_text_edit *state, enum nk_keys key, int shift_mod, const struct nk_user_font *font, float row_height); + +/* window */ +enum nk_window_insert_location { + NK_INSERT_BACK, /* inserts window into the back of list (front of screen) */ + NK_INSERT_FRONT /* inserts window into the front of list (back of screen) */ +}; +NK_LIB void *nk_create_window(struct nk_context *ctx); +NK_LIB void nk_remove_window(struct nk_context*, struct nk_window*); +NK_LIB void nk_free_window(struct nk_context *ctx, struct nk_window *win); +NK_LIB struct nk_window *nk_find_window(struct nk_context *ctx, nk_hash hash, const char *name); +NK_LIB void nk_insert_window(struct nk_context *ctx, struct nk_window *win, enum nk_window_insert_location loc); + +/* pool */ +NK_LIB void nk_pool_init(struct nk_pool *pool, struct nk_allocator *alloc, unsigned int capacity); +NK_LIB void nk_pool_free(struct nk_pool *pool); +NK_LIB void nk_pool_init_fixed(struct nk_pool *pool, void *memory, nk_size size); +NK_LIB struct nk_page_element *nk_pool_alloc(struct nk_pool *pool); + +/* page-element */ +NK_LIB struct nk_page_element* nk_create_page_element(struct nk_context *ctx); +NK_LIB void nk_link_page_element_into_freelist(struct nk_context *ctx, struct nk_page_element *elem); +NK_LIB void nk_free_page_element(struct nk_context *ctx, struct nk_page_element *elem); + +/* table */ +NK_LIB struct nk_table* nk_create_table(struct nk_context *ctx); +NK_LIB void nk_remove_table(struct nk_window *win, struct nk_table *tbl); +NK_LIB void nk_free_table(struct nk_context *ctx, struct nk_table *tbl); +NK_LIB void nk_push_table(struct nk_window *win, struct nk_table *tbl); +NK_LIB nk_uint *nk_add_value(struct nk_context *ctx, struct nk_window *win, nk_hash name, nk_uint value); +NK_LIB nk_uint *nk_find_value(struct nk_window *win, nk_hash name); + +/* panel */ +NK_LIB void *nk_create_panel(struct nk_context *ctx); +NK_LIB void nk_free_panel(struct nk_context*, struct nk_panel *pan); +NK_LIB nk_bool nk_panel_has_header(nk_flags flags, const char *title); +NK_LIB struct nk_vec2 nk_panel_get_padding(const struct nk_style *style, enum nk_panel_type type); +NK_LIB float nk_panel_get_border(const struct nk_style *style, nk_flags flags, enum nk_panel_type type); +NK_LIB struct nk_color nk_panel_get_border_color(const struct nk_style *style, enum nk_panel_type type); +NK_LIB nk_bool nk_panel_is_sub(enum nk_panel_type type); +NK_LIB nk_bool nk_panel_is_nonblock(enum nk_panel_type type); +NK_LIB nk_bool nk_panel_begin(struct nk_context *ctx, const char *title, enum nk_panel_type panel_type); +NK_LIB void nk_panel_end(struct nk_context *ctx); + +/* layout */ +NK_LIB float nk_layout_row_calculate_usable_space(const struct nk_style *style, enum nk_panel_type type, float total_space, int columns); +NK_LIB void nk_panel_layout(const struct nk_context *ctx, struct nk_window *win, float height, int cols); +NK_LIB void nk_row_layout(struct nk_context *ctx, enum nk_layout_format fmt, float height, int cols, int width); +NK_LIB void nk_panel_alloc_row(const struct nk_context *ctx, struct nk_window *win); +NK_LIB void nk_layout_widget_space(struct nk_rect *bounds, const struct nk_context *ctx, struct nk_window *win, int modify); +NK_LIB void nk_panel_alloc_space(struct nk_rect *bounds, const struct nk_context *ctx); +NK_LIB void nk_layout_peek(struct nk_rect *bounds, struct nk_context *ctx); + +/* popup */ +NK_LIB nk_bool nk_nonblock_begin(struct nk_context *ctx, nk_flags flags, struct nk_rect body, struct nk_rect header, enum nk_panel_type panel_type); + +/* text */ +struct nk_text { + struct nk_vec2 padding; + struct nk_color background; + struct nk_color text; +}; +NK_LIB void nk_widget_text(struct nk_command_buffer *o, struct nk_rect b, const char *string, int len, const struct nk_text *t, nk_flags a, const struct nk_user_font *f); +NK_LIB void nk_widget_text_wrap(struct nk_command_buffer *o, struct nk_rect b, const char *string, int len, const struct nk_text *t, const struct nk_user_font *f); + +/* button */ +NK_LIB nk_bool nk_button_behavior(nk_flags *state, struct nk_rect r, const struct nk_input *i, enum nk_button_behavior behavior); +NK_LIB const struct nk_style_item* nk_draw_button(struct nk_command_buffer *out, const struct nk_rect *bounds, nk_flags state, const struct nk_style_button *style); +NK_LIB nk_bool nk_do_button(nk_flags *state, struct nk_command_buffer *out, struct nk_rect r, const struct nk_style_button *style, const struct nk_input *in, enum nk_button_behavior behavior, struct nk_rect *content); +NK_LIB void nk_draw_button_text(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, const struct nk_style_button *style, const char *txt, int len, nk_flags text_alignment, const struct nk_user_font *font); +NK_LIB nk_bool nk_do_button_text(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, const char *string, int len, nk_flags align, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_input *in, const struct nk_user_font *font); +NK_LIB void nk_draw_button_symbol(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, const struct nk_style_button *style, enum nk_symbol_type type, const struct nk_user_font *font); +NK_LIB nk_bool nk_do_button_symbol(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, enum nk_symbol_type symbol, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_input *in, const struct nk_user_font *font); +NK_LIB void nk_draw_button_image(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, const struct nk_style_button *style, const struct nk_image *img); +NK_LIB nk_bool nk_do_button_image(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, struct nk_image img, enum nk_button_behavior b, const struct nk_style_button *style, const struct nk_input *in); +NK_LIB void nk_draw_button_text_symbol(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *label, const struct nk_rect *symbol, nk_flags state, const struct nk_style_button *style, const char *str, int len, enum nk_symbol_type type, const struct nk_user_font *font); +NK_LIB nk_bool nk_do_button_text_symbol(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, enum nk_symbol_type symbol, const char *str, int len, nk_flags align, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_user_font *font, const struct nk_input *in); +NK_LIB void nk_draw_button_text_image(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *label, const struct nk_rect *image, nk_flags state, const struct nk_style_button *style, const char *str, int len, const struct nk_user_font *font, const struct nk_image *img); +NK_LIB nk_bool nk_do_button_text_image(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, struct nk_image img, const char* str, int len, nk_flags align, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_user_font *font, const struct nk_input *in); + +/* toggle */ +enum nk_toggle_type { + NK_TOGGLE_CHECK, + NK_TOGGLE_OPTION +}; +NK_LIB nk_bool nk_toggle_behavior(const struct nk_input *in, struct nk_rect select, nk_flags *state, nk_bool active); +NK_LIB void nk_draw_checkbox(struct nk_command_buffer *out, nk_flags state, const struct nk_style_toggle *style, nk_bool active, const struct nk_rect *label, const struct nk_rect *selector, const struct nk_rect *cursors, const char *string, int len, const struct nk_user_font *font); +NK_LIB void nk_draw_option(struct nk_command_buffer *out, nk_flags state, const struct nk_style_toggle *style, nk_bool active, const struct nk_rect *label, const struct nk_rect *selector, const struct nk_rect *cursors, const char *string, int len, const struct nk_user_font *font); +NK_LIB nk_bool nk_do_toggle(nk_flags *state, struct nk_command_buffer *out, struct nk_rect r, nk_bool *active, const char *str, int len, enum nk_toggle_type type, const struct nk_style_toggle *style, const struct nk_input *in, const struct nk_user_font *font); + +/* progress */ +NK_LIB nk_size nk_progress_behavior(nk_flags *state, struct nk_input *in, struct nk_rect r, struct nk_rect cursor, nk_size max, nk_size value, nk_bool modifiable); +NK_LIB void nk_draw_progress(struct nk_command_buffer *out, nk_flags state, const struct nk_style_progress *style, const struct nk_rect *bounds, const struct nk_rect *scursor, nk_size value, nk_size max); +NK_LIB nk_size nk_do_progress(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, nk_size value, nk_size max, nk_bool modifiable, const struct nk_style_progress *style, struct nk_input *in); + +/* slider */ +NK_LIB float nk_slider_behavior(nk_flags *state, struct nk_rect *logical_cursor, struct nk_rect *visual_cursor, struct nk_input *in, struct nk_rect bounds, float slider_min, float slider_max, float slider_value, float slider_step, float slider_steps); +NK_LIB void nk_draw_slider(struct nk_command_buffer *out, nk_flags state, const struct nk_style_slider *style, const struct nk_rect *bounds, const struct nk_rect *visual_cursor, float min, float value, float max); +NK_LIB float nk_do_slider(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, float min, float val, float max, float step, const struct nk_style_slider *style, struct nk_input *in, const struct nk_user_font *font); + +/* scrollbar */ +NK_LIB float nk_scrollbar_behavior(nk_flags *state, struct nk_input *in, int has_scrolling, const struct nk_rect *scroll, const struct nk_rect *cursor, const struct nk_rect *empty0, const struct nk_rect *empty1, float scroll_offset, float target, float scroll_step, enum nk_orientation o); +NK_LIB void nk_draw_scrollbar(struct nk_command_buffer *out, nk_flags state, const struct nk_style_scrollbar *style, const struct nk_rect *bounds, const struct nk_rect *scroll); +NK_LIB float nk_do_scrollbarv(nk_flags *state, struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, float offset, float target, float step, float button_pixel_inc, const struct nk_style_scrollbar *style, struct nk_input *in, const struct nk_user_font *font); +NK_LIB float nk_do_scrollbarh(nk_flags *state, struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, float offset, float target, float step, float button_pixel_inc, const struct nk_style_scrollbar *style, struct nk_input *in, const struct nk_user_font *font); + +/* selectable */ +NK_LIB void nk_draw_selectable(struct nk_command_buffer *out, nk_flags state, const struct nk_style_selectable *style, nk_bool active, const struct nk_rect *bounds, const struct nk_rect *icon, const struct nk_image *img, enum nk_symbol_type sym, const char *string, int len, nk_flags align, const struct nk_user_font *font); +NK_LIB nk_bool nk_do_selectable(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, const struct nk_style_selectable *style, const struct nk_input *in, const struct nk_user_font *font); +NK_LIB nk_bool nk_do_selectable_image(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, const struct nk_image *img, const struct nk_style_selectable *style, const struct nk_input *in, const struct nk_user_font *font); + +/* edit */ +NK_LIB void nk_edit_draw_text(struct nk_command_buffer *out, const struct nk_style_edit *style, float pos_x, float pos_y, float x_offset, const char *text, int byte_len, float row_height, const struct nk_user_font *font, struct nk_color background, struct nk_color foreground, nk_bool is_selected); +NK_LIB nk_flags nk_do_edit(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, nk_flags flags, nk_plugin_filter filter, struct nk_text_edit *edit, const struct nk_style_edit *style, struct nk_input *in, const struct nk_user_font *font); + +/* color-picker */ +NK_LIB nk_bool nk_color_picker_behavior(nk_flags *state, const struct nk_rect *bounds, const struct nk_rect *matrix, const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, struct nk_colorf *color, const struct nk_input *in); +NK_LIB void nk_draw_color_picker(struct nk_command_buffer *o, const struct nk_rect *matrix, const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, struct nk_colorf col); +NK_LIB nk_bool nk_do_color_picker(nk_flags *state, struct nk_command_buffer *out, struct nk_colorf *col, enum nk_color_format fmt, struct nk_rect bounds, struct nk_vec2 padding, const struct nk_input *in, const struct nk_user_font *font); + +/* property */ +enum nk_property_status { + NK_PROPERTY_DEFAULT, + NK_PROPERTY_EDIT, + NK_PROPERTY_DRAG +}; +enum nk_property_filter { + NK_FILTER_INT, + NK_FILTER_FLOAT +}; +enum nk_property_kind { + NK_PROPERTY_INT, + NK_PROPERTY_FLOAT, + NK_PROPERTY_DOUBLE +}; +union nk_property { + int i; + float f; + double d; +}; +struct nk_property_variant { + enum nk_property_kind kind; + union nk_property value; + union nk_property min_value; + union nk_property max_value; + union nk_property step; +}; +NK_LIB struct nk_property_variant nk_property_variant_int(int value, int min_value, int max_value, int step); +NK_LIB struct nk_property_variant nk_property_variant_float(float value, float min_value, float max_value, float step); +NK_LIB struct nk_property_variant nk_property_variant_double(double value, double min_value, double max_value, double step); + +NK_LIB void nk_drag_behavior(nk_flags *state, const struct nk_input *in, struct nk_rect drag, struct nk_property_variant *variant, float inc_per_pixel); +NK_LIB void nk_property_behavior(nk_flags *ws, const struct nk_input *in, struct nk_rect property, struct nk_rect label, struct nk_rect edit, struct nk_rect empty, int *state, struct nk_property_variant *variant, float inc_per_pixel); +NK_LIB void nk_draw_property(struct nk_command_buffer *out, const struct nk_style_property *style, const struct nk_rect *bounds, const struct nk_rect *label, nk_flags state, const char *name, int len, const struct nk_user_font *font); +NK_LIB void nk_do_property(nk_flags *ws, struct nk_command_buffer *out, struct nk_rect property, const char *name, struct nk_property_variant *variant, float inc_per_pixel, char *buffer, int *len, int *state, int *cursor, int *select_begin, int *select_end, const struct nk_style_property *style, enum nk_property_filter filter, struct nk_input *in, const struct nk_user_font *font, struct nk_text_edit *text_edit, enum nk_button_behavior behavior); +NK_LIB void nk_property(struct nk_context *ctx, const char *name, struct nk_property_variant *variant, float inc_per_pixel, const enum nk_property_filter filter); + +#ifdef NK_INCLUDE_FONT_BAKING + +#define STB_RECT_PACK_IMPLEMENTATION +#define STB_TRUETYPE_IMPLEMENTATION + +/* Allow consumer to define own STBTT_malloc/STBTT_free, and use the font atlas' allocator otherwise */ +#ifndef STBTT_malloc +static void* +nk_stbtt_malloc(nk_size size, void *user_data) { + struct nk_allocator *alloc = (struct nk_allocator *) user_data; + return alloc->alloc(alloc->userdata, 0, size); +} + +static void +nk_stbtt_free(void *ptr, void *user_data) { + struct nk_allocator *alloc = (struct nk_allocator *) user_data; + alloc->free(alloc->userdata, ptr); +} + +#define STBTT_malloc(x,u) nk_stbtt_malloc(x,u) +#define STBTT_free(x,u) nk_stbtt_free(x,u) + +#endif /* STBTT_malloc */ + +#endif /* NK_INCLUDE_FONT_BAKING */ + +#endif + + + + + +/* =============================================================== + * + * MATH + * + * ===============================================================*/ +/* Since nuklear is supposed to work on all systems providing floating point + math without any dependencies I also had to implement my own math functions + for sqrt, sin and cos. Since the actual highly accurate implementations for + the standard library functions are quite complex and I do not need high + precision for my use cases I use approximations. + + Sqrt + ---- + For square root nuklear uses the famous fast inverse square root: + https://en.wikipedia.org/wiki/Fast_inverse_square_root with + slightly tweaked magic constant. While on today's hardware it is + probably not faster it is still fast and accurate enough for + nuklear's use cases. IMPORTANT: this requires float format IEEE 754 + + Sine/Cosine + ----------- + All constants inside both function are generated Remez's minimax + approximations for value range 0...2*PI. The reason why I decided to + approximate exactly that range is that nuklear only needs sine and + cosine to generate circles which only requires that exact range. + In addition I used Remez instead of Taylor for additional precision: + www.lolengine.net/blog/2011/12/21/better-function-approximations. + + The tool I used to generate constants for both sine and cosine + (it can actually approximate a lot more functions) can be + found here: www.lolengine.net/wiki/oss/lolremez +*/ +#ifndef NK_INV_SQRT +#define NK_INV_SQRT nk_inv_sqrt +NK_LIB float +nk_inv_sqrt(float n) +{ + float x2; + const float threehalfs = 1.5f; + union {nk_uint i; float f;} conv = {0}; + conv.f = n; + x2 = n * 0.5f; + conv.i = 0x5f375A84 - (conv.i >> 1); + conv.f = conv.f * (threehalfs - (x2 * conv.f * conv.f)); + return conv.f; +} +#endif +#ifndef NK_SIN +#define NK_SIN nk_sin +NK_LIB float +nk_sin(float x) +{ + NK_STORAGE const float a0 = +1.91059300966915117e-31f; + NK_STORAGE const float a1 = +1.00086760103908896f; + NK_STORAGE const float a2 = -1.21276126894734565e-2f; + NK_STORAGE const float a3 = -1.38078780785773762e-1f; + NK_STORAGE const float a4 = -2.67353392911981221e-2f; + NK_STORAGE const float a5 = +2.08026600266304389e-2f; + NK_STORAGE const float a6 = -3.03996055049204407e-3f; + NK_STORAGE const float a7 = +1.38235642404333740e-4f; + return a0 + x*(a1 + x*(a2 + x*(a3 + x*(a4 + x*(a5 + x*(a6 + x*a7)))))); +} +#endif +#ifndef NK_COS +#define NK_COS nk_cos +NK_LIB float +nk_cos(float x) +{ + /* New implementation. Also generated using lolremez. */ + /* Old version significantly deviated from expected results. */ + NK_STORAGE const float a0 = 9.9995999154986614e-1f; + NK_STORAGE const float a1 = 1.2548995793001028e-3f; + NK_STORAGE const float a2 = -5.0648546280678015e-1f; + NK_STORAGE const float a3 = 1.2942246466519995e-2f; + NK_STORAGE const float a4 = 2.8668384702547972e-2f; + NK_STORAGE const float a5 = 7.3726485210586547e-3f; + NK_STORAGE const float a6 = -3.8510875386947414e-3f; + NK_STORAGE const float a7 = 4.7196604604366623e-4f; + NK_STORAGE const float a8 = -1.8776444013090451e-5f; + return a0 + x*(a1 + x*(a2 + x*(a3 + x*(a4 + x*(a5 + x*(a6 + x*(a7 + x*a8))))))); +} +#endif +NK_LIB nk_uint +nk_round_up_pow2(nk_uint v) +{ + v--; + v |= v >> 1; + v |= v >> 2; + v |= v >> 4; + v |= v >> 8; + v |= v >> 16; + v++; + return v; +} +NK_LIB double +nk_pow(double x, int n) +{ + /* check the sign of n */ + double r = 1; + int plus = n >= 0; + n = (plus) ? n : -n; + while (n > 0) { + if ((n & 1) == 1) + r *= x; + n /= 2; + x *= x; + } + return plus ? r : 1.0 / r; +} +NK_LIB int +nk_ifloord(double x) +{ + x = (double)((int)x - ((x < 0.0) ? 1 : 0)); + return (int)x; +} +NK_LIB int +nk_ifloorf(float x) +{ + x = (float)((int)x - ((x < 0.0f) ? 1 : 0)); + return (int)x; +} +NK_LIB int +nk_iceilf(float x) +{ + if (x >= 0) { + int i = (int)x; + return (x > i) ? i+1: i; + } else { + int t = (int)x; + float r = x - (float)t; + return (r > 0.0f) ? t+1: t; + } +} +NK_LIB int +nk_log10(double n) +{ + int neg; + int ret; + int exp = 0; + + neg = (n < 0) ? 1 : 0; + ret = (neg) ? (int)-n : (int)n; + while ((ret / 10) > 0) { + ret /= 10; + exp++; + } + if (neg) exp = -exp; + return exp; +} +NK_API struct nk_rect +nk_get_null_rect(void) +{ + return nk_null_rect; +} +NK_API struct nk_rect +nk_rect(float x, float y, float w, float h) +{ + struct nk_rect r; + r.x = x; r.y = y; + r.w = w; r.h = h; + return r; +} +NK_API struct nk_rect +nk_recti(int x, int y, int w, int h) +{ + struct nk_rect r; + r.x = (float)x; + r.y = (float)y; + r.w = (float)w; + r.h = (float)h; + return r; +} +NK_API struct nk_rect +nk_recta(struct nk_vec2 pos, struct nk_vec2 size) +{ + return nk_rect(pos.x, pos.y, size.x, size.y); +} +NK_API struct nk_rect +nk_rectv(const float *r) +{ + return nk_rect(r[0], r[1], r[2], r[3]); +} +NK_API struct nk_rect +nk_rectiv(const int *r) +{ + return nk_recti(r[0], r[1], r[2], r[3]); +} +NK_API struct nk_vec2 +nk_rect_pos(struct nk_rect r) +{ + struct nk_vec2 ret; + ret.x = r.x; ret.y = r.y; + return ret; +} +NK_API struct nk_vec2 +nk_rect_size(struct nk_rect r) +{ + struct nk_vec2 ret; + ret.x = r.w; ret.y = r.h; + return ret; +} +NK_LIB struct nk_rect +nk_shrink_rect(struct nk_rect r, float amount) +{ + struct nk_rect res; + r.w = NK_MAX(r.w, 2 * amount); + r.h = NK_MAX(r.h, 2 * amount); + res.x = r.x + amount; + res.y = r.y + amount; + res.w = r.w - 2 * amount; + res.h = r.h - 2 * amount; + return res; +} +NK_LIB struct nk_rect +nk_pad_rect(struct nk_rect r, struct nk_vec2 pad) +{ + r.w = NK_MAX(r.w, 2 * pad.x); + r.h = NK_MAX(r.h, 2 * pad.y); + r.x += pad.x; r.y += pad.y; + r.w -= 2 * pad.x; + r.h -= 2 * pad.y; + return r; +} +NK_API struct nk_vec2 +nk_vec2(float x, float y) +{ + struct nk_vec2 ret; + ret.x = x; ret.y = y; + return ret; +} +NK_API struct nk_vec2 +nk_vec2i(int x, int y) +{ + struct nk_vec2 ret; + ret.x = (float)x; + ret.y = (float)y; + return ret; +} +NK_API struct nk_vec2 +nk_vec2v(const float *v) +{ + return nk_vec2(v[0], v[1]); +} +NK_API struct nk_vec2 +nk_vec2iv(const int *v) +{ + return nk_vec2i(v[0], v[1]); +} +NK_LIB void +nk_unify(struct nk_rect *clip, const struct nk_rect *a, float x0, float y0, + float x1, float y1) +{ + NK_ASSERT(a); + NK_ASSERT(clip); + clip->x = NK_MAX(a->x, x0); + clip->y = NK_MAX(a->y, y0); + clip->w = NK_MIN(a->x + a->w, x1) - clip->x; + clip->h = NK_MIN(a->y + a->h, y1) - clip->y; + clip->w = NK_MAX(0, clip->w); + clip->h = NK_MAX(0, clip->h); +} + +NK_API void +nk_triangle_from_direction(struct nk_vec2 *result, struct nk_rect r, + float pad_x, float pad_y, enum nk_heading direction) +{ + float w_half, h_half; + NK_ASSERT(result); + + r.w = NK_MAX(2 * pad_x, r.w); + r.h = NK_MAX(2 * pad_y, r.h); + r.w = r.w - 2 * pad_x; + r.h = r.h - 2 * pad_y; + + r.x = r.x + pad_x; + r.y = r.y + pad_y; + + w_half = r.w / 2.0f; + h_half = r.h / 2.0f; + + if (direction == NK_UP) { + result[0] = nk_vec2(r.x + w_half, r.y); + result[1] = nk_vec2(r.x + r.w, r.y + r.h); + result[2] = nk_vec2(r.x, r.y + r.h); + } else if (direction == NK_RIGHT) { + result[0] = nk_vec2(r.x, r.y); + result[1] = nk_vec2(r.x + r.w, r.y + h_half); + result[2] = nk_vec2(r.x, r.y + r.h); + } else if (direction == NK_DOWN) { + result[0] = nk_vec2(r.x, r.y); + result[1] = nk_vec2(r.x + r.w, r.y); + result[2] = nk_vec2(r.x + w_half, r.y + r.h); + } else { + result[0] = nk_vec2(r.x, r.y + h_half); + result[1] = nk_vec2(r.x + r.w, r.y); + result[2] = nk_vec2(r.x + r.w, r.y + r.h); + } +} + + + + + +/* =============================================================== + * + * UTIL + * + * ===============================================================*/ +NK_INTERN int nk_str_match_here(const char *regexp, const char *text); +NK_INTERN int nk_str_match_star(int c, const char *regexp, const char *text); +NK_LIB nk_bool nk_is_lower(int c) {return (c >= 'a' && c <= 'z') || (c >= 0xE0 && c <= 0xFF);} +NK_LIB nk_bool nk_is_upper(int c){return (c >= 'A' && c <= 'Z') || (c >= 0xC0 && c <= 0xDF);} +NK_LIB int nk_to_upper(int c) {return (c >= 'a' && c <= 'z') ? (c - ('a' - 'A')) : c;} +NK_LIB int nk_to_lower(int c) {return (c >= 'A' && c <= 'Z') ? (c - ('a' + 'A')) : c;} + +#ifndef NK_MEMCPY +#define NK_MEMCPY nk_memcopy +NK_LIB void* +nk_memcopy(void *dst0, const void *src0, nk_size length) +{ + nk_ptr t; + char *dst = (char*)dst0; + const char *src = (const char*)src0; + if (length == 0 || dst == src) + goto done; + + #define nk_word int + #define nk_wsize sizeof(nk_word) + #define nk_wmask (nk_wsize-1) + #define NK_TLOOP(s) if (t) NK_TLOOP1(s) + #define NK_TLOOP1(s) do { s; } while (--t) + + if (dst < src) { + t = (nk_ptr)src; /* only need low bits */ + if ((t | (nk_ptr)dst) & nk_wmask) { + if ((t ^ (nk_ptr)dst) & nk_wmask || length < nk_wsize) + t = length; + else + t = nk_wsize - (t & nk_wmask); + length -= t; + NK_TLOOP1(*dst++ = *src++); + } + t = length / nk_wsize; + NK_TLOOP(*(nk_word*)(void*)dst = *(const nk_word*)(const void*)src; + src += nk_wsize; dst += nk_wsize); + t = length & nk_wmask; + NK_TLOOP(*dst++ = *src++); + } else { + src += length; + dst += length; + t = (nk_ptr)src; + if ((t | (nk_ptr)dst) & nk_wmask) { + if ((t ^ (nk_ptr)dst) & nk_wmask || length <= nk_wsize) + t = length; + else + t &= nk_wmask; + length -= t; + NK_TLOOP1(*--dst = *--src); + } + t = length / nk_wsize; + NK_TLOOP(src -= nk_wsize; dst -= nk_wsize; + *(nk_word*)(void*)dst = *(const nk_word*)(const void*)src); + t = length & nk_wmask; + NK_TLOOP(*--dst = *--src); + } + #undef nk_word + #undef nk_wsize + #undef nk_wmask + #undef NK_TLOOP + #undef NK_TLOOP1 +done: + return (dst0); +} +#endif +#ifndef NK_MEMSET +#define NK_MEMSET nk_memset +NK_LIB void +nk_memset(void *ptr, int c0, nk_size size) +{ + #define nk_word unsigned + #define nk_wsize sizeof(nk_word) + #define nk_wmask (nk_wsize - 1) + nk_byte *dst = (nk_byte*)ptr; + unsigned c = 0; + nk_size t = 0; + + if ((c = (nk_byte)c0) != 0) { + c = (c << 8) | c; /* at least 16-bits */ + if (sizeof(unsigned int) > 2) + c = (c << 16) | c; /* at least 32-bits*/ + } + + /* too small of a word count */ + dst = (nk_byte*)ptr; + if (size < 3 * nk_wsize) { + while (size--) *dst++ = (nk_byte)c0; + return; + } + + /* align destination */ + if ((t = NK_PTR_TO_UINT(dst) & nk_wmask) != 0) { + t = nk_wsize -t; + size -= t; + do { + *dst++ = (nk_byte)c0; + } while (--t != 0); + } + + /* fill word */ + t = size / nk_wsize; + do { + *(nk_word*)((void*)dst) = c; + dst += nk_wsize; + } while (--t != 0); + + /* fill trailing bytes */ + t = (size & nk_wmask); + if (t != 0) { + do { + *dst++ = (nk_byte)c0; + } while (--t != 0); + } + + #undef nk_word + #undef nk_wsize + #undef nk_wmask +} +#endif +NK_LIB void +nk_zero(void *ptr, nk_size size) +{ + NK_ASSERT(ptr); + NK_MEMSET(ptr, 0, size); +} +NK_API int +nk_strlen(const char *str) +{ + int siz = 0; + NK_ASSERT(str); + while (str && *str++ != '\0') siz++; + return siz; +} +NK_API int +nk_strtoi(const char *str, const char **endptr) +{ + int neg = 1; + const char *p = str; + int value = 0; + + NK_ASSERT(str); + if (!str) return 0; + + /* skip whitespace */ + while (*p == ' ') p++; + if (*p == '-') { + neg = -1; + p++; + } + while (*p && *p >= '0' && *p <= '9') { + value = value * 10 + (int) (*p - '0'); + p++; + } + if (endptr) + *endptr = p; + return neg*value; +} +NK_API double +nk_strtod(const char *str, const char **endptr) +{ + double m; + double neg = 1.0; + const char *p = str; + double value = 0; + double number = 0; + + NK_ASSERT(str); + if (!str) return 0; + + /* skip whitespace */ + while (*p == ' ') p++; + if (*p == '-') { + neg = -1.0; + p++; + } + + while (*p && *p != '.' && *p != 'e') { + value = value * 10.0 + (double) (*p - '0'); + p++; + } + + if (*p == '.') { + p++; + for(m = 0.1; *p && *p != 'e'; p++ ) { + value = value + (double) (*p - '0') * m; + m *= 0.1; + } + } + if (*p == 'e') { + int i, pow, div; + p++; + if (*p == '-') { + div = nk_true; + p++; + } else if (*p == '+') { + div = nk_false; + p++; + } else div = nk_false; + + for (pow = 0; *p; p++) + pow = pow * 10 + (int) (*p - '0'); + + for (m = 1.0, i = 0; i < pow; i++) + m *= 10.0; + + if (div) + value /= m; + else value *= m; + } + number = value * neg; + if (endptr) + *endptr = p; + return number; +} +NK_API float +nk_strtof(const char *str, const char **endptr) +{ + float float_value; + double double_value; + double_value = NK_STRTOD(str, endptr); + float_value = (float)double_value; + return float_value; +} +NK_API int +nk_stricmp(const char *s1, const char *s2) +{ + nk_int c1,c2,d; + do { + c1 = *s1++; + c2 = *s2++; + d = c1 - c2; + while (d) { + if (c1 <= 'Z' && c1 >= 'A') { + d += ('a' - 'A'); + if (!d) break; + } + if (c2 <= 'Z' && c2 >= 'A') { + d -= ('a' - 'A'); + if (!d) break; + } + return ((d >= 0) << 1) - 1; + } + } while (c1); + return 0; +} +NK_API int +nk_stricmpn(const char *s1, const char *s2, int n) +{ + int c1,c2,d; + NK_ASSERT(n >= 0); + do { + c1 = *s1++; + c2 = *s2++; + if (!n--) return 0; + + d = c1 - c2; + while (d) { + if (c1 <= 'Z' && c1 >= 'A') { + d += ('a' - 'A'); + if (!d) break; + } + if (c2 <= 'Z' && c2 >= 'A') { + d -= ('a' - 'A'); + if (!d) break; + } + return ((d >= 0) << 1) - 1; + } + } while (c1); + return 0; +} +NK_INTERN int +nk_str_match_here(const char *regexp, const char *text) +{ + if (regexp[0] == '\0') + return 1; + if (regexp[1] == '*') + return nk_str_match_star(regexp[0], regexp+2, text); + if (regexp[0] == '$' && regexp[1] == '\0') + return *text == '\0'; + if (*text!='\0' && (regexp[0]=='.' || regexp[0]==*text)) + return nk_str_match_here(regexp+1, text+1); + return 0; +} +NK_INTERN int +nk_str_match_star(int c, const char *regexp, const char *text) +{ + do {/* a '* matches zero or more instances */ + if (nk_str_match_here(regexp, text)) + return 1; + } while (*text != '\0' && (*text++ == c || c == '.')); + return 0; +} +NK_API int +nk_strfilter(const char *text, const char *regexp) +{ + /* + c matches any literal character c + . matches any single character + ^ matches the beginning of the input string + $ matches the end of the input string + * matches zero or more occurrences of the previous character*/ + if (regexp[0] == '^') + return nk_str_match_here(regexp+1, text); + do { /* must look even if string is empty */ + if (nk_str_match_here(regexp, text)) + return 1; + } while (*text++ != '\0'); + return 0; +} +NK_API int +nk_strmatch_fuzzy_text(const char *str, int str_len, + const char *pattern, int *out_score) +{ + /* Returns true if each character in pattern is found sequentially within str + * if found then out_score is also set. Score value has no intrinsic meaning. + * Range varies with pattern. Can only compare scores with same search pattern. */ + + /* bonus for adjacent matches */ + #define NK_ADJACENCY_BONUS 5 + /* bonus if match occurs after a separator */ + #define NK_SEPARATOR_BONUS 10 + /* bonus if match is uppercase and prev is lower */ + #define NK_CAMEL_BONUS 10 + /* penalty applied for every letter in str before the first match */ + #define NK_LEADING_LETTER_PENALTY (-3) + /* maximum penalty for leading letters */ + #define NK_MAX_LEADING_LETTER_PENALTY (-9) + /* penalty for every letter that doesn't matter */ + #define NK_UNMATCHED_LETTER_PENALTY (-1) + + /* loop variables */ + int score = 0; + char const * pattern_iter = pattern; + int str_iter = 0; + int prev_matched = nk_false; + int prev_lower = nk_false; + /* true so if first letter match gets separator bonus*/ + int prev_separator = nk_true; + + /* use "best" matched letter if multiple string letters match the pattern */ + char const * best_letter = 0; + int best_letter_score = 0; + + /* loop over strings */ + NK_ASSERT(str); + NK_ASSERT(pattern); + if (!str || !str_len || !pattern) return 0; + while (str_iter < str_len) + { + const char pattern_letter = *pattern_iter; + const char str_letter = str[str_iter]; + + int next_match = *pattern_iter != '\0' && + nk_to_lower(pattern_letter) == nk_to_lower(str_letter); + int rematch = best_letter && nk_to_upper(*best_letter) == nk_to_upper(str_letter); + + int advanced = next_match && best_letter; + int pattern_repeat = best_letter && *pattern_iter != '\0'; + pattern_repeat = pattern_repeat && + nk_to_lower(*best_letter) == nk_to_lower(pattern_letter); + + if (advanced || pattern_repeat) { + score += best_letter_score; + best_letter = 0; + best_letter_score = 0; + } + + if (next_match || rematch) + { + int new_score = 0; + /* Apply penalty for each letter before the first pattern match */ + if (pattern_iter == pattern) { + int count = (int)(&str[str_iter] - str); + int penalty = NK_LEADING_LETTER_PENALTY * count; + if (penalty < NK_MAX_LEADING_LETTER_PENALTY) + penalty = NK_MAX_LEADING_LETTER_PENALTY; + + score += penalty; + } + + /* apply bonus for consecutive bonuses */ + if (prev_matched) + new_score += NK_ADJACENCY_BONUS; + + /* apply bonus for matches after a separator */ + if (prev_separator) + new_score += NK_SEPARATOR_BONUS; + + /* apply bonus across camel case boundaries */ + if (prev_lower && nk_is_upper(str_letter)) + new_score += NK_CAMEL_BONUS; + + /* update pattern iter IFF the next pattern letter was matched */ + if (next_match) + ++pattern_iter; + + /* update best letter in str which may be for a "next" letter or a rematch */ + if (new_score >= best_letter_score) { + /* apply penalty for now skipped letter */ + if (best_letter != 0) + score += NK_UNMATCHED_LETTER_PENALTY; + + best_letter = &str[str_iter]; + best_letter_score = new_score; + } + prev_matched = nk_true; + } else { + score += NK_UNMATCHED_LETTER_PENALTY; + prev_matched = nk_false; + } + + /* separators should be more easily defined */ + prev_lower = nk_is_lower(str_letter) != 0; + prev_separator = str_letter == '_' || str_letter == ' '; + + ++str_iter; + } + + /* apply score for last match */ + if (best_letter) + score += best_letter_score; + + /* did not match full pattern */ + if (*pattern_iter != '\0') + return nk_false; + + if (out_score) + *out_score = score; + return nk_true; +} +NK_API int +nk_strmatch_fuzzy_string(char const *str, char const *pattern, int *out_score) +{ + return nk_strmatch_fuzzy_text(str, nk_strlen(str), pattern, out_score); +} +NK_LIB int +nk_string_float_limit(char *string, int prec) +{ + int dot = 0; + char *c = string; + while (*c) { + if (*c == '.') { + dot = 1; + c++; + continue; + } + if (dot == (prec+1)) { + *c = 0; + break; + } + if (dot > 0) dot++; + c++; + } + return (int)(c - string); +} +NK_INTERN void +nk_strrev_ascii(char *s) +{ + int len = nk_strlen(s); + int end = len / 2; + int i = 0; + char t; + for (; i < end; ++i) { + t = s[i]; + s[i] = s[len - 1 - i]; + s[len -1 - i] = t; + } +} +NK_LIB char* +nk_itoa(char *s, long n) +{ + long i = 0; + if (n == 0) { + s[i++] = '0'; + s[i] = 0; + return s; + } + if (n < 0) { + s[i++] = '-'; + n = -n; + } + while (n > 0) { + s[i++] = (char)('0' + (n % 10)); + n /= 10; + } + s[i] = 0; + if (s[0] == '-') + ++s; + + nk_strrev_ascii(s); + return s; +} +#ifndef NK_DTOA +#define NK_DTOA nk_dtoa +NK_LIB char* +nk_dtoa(char *s, double n) +{ + int useExp = 0; + int digit = 0, m = 0, m1 = 0; + char *c = s; + int neg = 0; + + NK_ASSERT(s); + if (!s) return 0; + + if (n == 0.0) { + s[0] = '0'; s[1] = '\0'; + return s; + } + + neg = (n < 0); + if (neg) n = -n; + + /* calculate magnitude */ + m = nk_log10(n); + useExp = (m >= 14 || (neg && m >= 9) || m <= -9); + if (neg) *(c++) = '-'; + + /* set up for scientific notation */ + if (useExp) { + if (m < 0) + m -= 1; + n = n / (double)nk_pow(10.0, m); + m1 = m; + m = 0; + } + if (m < 1.0) { + m = 0; + } + + /* convert the number */ + while (n > NK_FLOAT_PRECISION || m >= 0) { + double weight = nk_pow(10.0, m); + if (weight > 0) { + double t = (double)n / weight; + digit = nk_ifloord(t); + n -= ((double)digit * weight); + *(c++) = (char)('0' + (char)digit); + } + if (m == 0 && n > 0) + *(c++) = '.'; + m--; + } + + if (useExp) { + /* convert the exponent */ + int i, j; + *(c++) = 'e'; + if (m1 > 0) { + *(c++) = '+'; + } else { + *(c++) = '-'; + m1 = -m1; + } + m = 0; + while (m1 > 0) { + *(c++) = (char)('0' + (char)(m1 % 10)); + m1 /= 10; + m++; + } + c -= m; + for (i = 0, j = m-1; i= buf_size) break; + iter++; + + /* flag arguments */ + while (*iter) { + if (*iter == '-') flag |= NK_ARG_FLAG_LEFT; + else if (*iter == '+') flag |= NK_ARG_FLAG_PLUS; + else if (*iter == ' ') flag |= NK_ARG_FLAG_SPACE; + else if (*iter == '#') flag |= NK_ARG_FLAG_NUM; + else if (*iter == '0') flag |= NK_ARG_FLAG_ZERO; + else break; + iter++; + } + + /* width argument */ + width = NK_DEFAULT; + if (*iter >= '1' && *iter <= '9') { + const char *end; + width = nk_strtoi(iter, &end); + if (end == iter) + width = -1; + else iter = end; + } else if (*iter == '*') { + width = va_arg(args, int); + iter++; + } + + /* precision argument */ + precision = NK_DEFAULT; + if (*iter == '.') { + iter++; + if (*iter == '*') { + precision = va_arg(args, int); + iter++; + } else { + const char *end; + precision = nk_strtoi(iter, &end); + if (end == iter) + precision = -1; + else iter = end; + } + } + + /* length modifier */ + if (*iter == 'h') { + if (*(iter+1) == 'h') { + arg_type = NK_ARG_TYPE_CHAR; + iter++; + } else arg_type = NK_ARG_TYPE_SHORT; + iter++; + } else if (*iter == 'l') { + arg_type = NK_ARG_TYPE_LONG; + iter++; + } else arg_type = NK_ARG_TYPE_DEFAULT; + + /* specifier */ + if (*iter == '%') { + NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); + NK_ASSERT(precision == NK_DEFAULT); + NK_ASSERT(width == NK_DEFAULT); + if (len < buf_size) + buf[len++] = '%'; + } else if (*iter == 's') { + /* string */ + const char *str = va_arg(args, const char*); + NK_ASSERT(str != buf && "buffer and argument are not allowed to overlap!"); + NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); + NK_ASSERT(precision == NK_DEFAULT); + NK_ASSERT(width == NK_DEFAULT); + if (str == buf) return -1; + while (str && *str && len < buf_size) + buf[len++] = *str++; + } else if (*iter == 'n') { + /* current length callback */ + signed int *n = va_arg(args, int*); + NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); + NK_ASSERT(precision == NK_DEFAULT); + NK_ASSERT(width == NK_DEFAULT); + if (n) *n = len; + } else if (*iter == 'c' || *iter == 'i' || *iter == 'd') { + /* signed integer */ + long value = 0; + const char *num_iter; + int num_len, num_print, padding; + int cur_precision = NK_MAX(precision, 1); + int cur_width = NK_MAX(width, 0); + + /* retrieve correct value type */ + if (arg_type == NK_ARG_TYPE_CHAR) + value = (signed char)va_arg(args, int); + else if (arg_type == NK_ARG_TYPE_SHORT) + value = (signed short)va_arg(args, int); + else if (arg_type == NK_ARG_TYPE_LONG) + value = va_arg(args, signed long); + else if (*iter == 'c') + value = (unsigned char)va_arg(args, int); + else value = va_arg(args, signed int); + + /* convert number to string */ + nk_itoa(number_buffer, value); + num_len = nk_strlen(number_buffer); + padding = NK_MAX(cur_width - NK_MAX(cur_precision, num_len), 0); + if ((flag & NK_ARG_FLAG_PLUS) || (flag & NK_ARG_FLAG_SPACE)) + padding = NK_MAX(padding-1, 0); + + /* fill left padding up to a total of `width` characters */ + if (!(flag & NK_ARG_FLAG_LEFT)) { + while (padding-- > 0 && (len < buf_size)) { + if ((flag & NK_ARG_FLAG_ZERO) && (precision == NK_DEFAULT)) + buf[len++] = '0'; + else buf[len++] = ' '; + } + } + + /* copy string value representation into buffer */ + if ((flag & NK_ARG_FLAG_PLUS) && value >= 0 && len < buf_size) + buf[len++] = '+'; + else if ((flag & NK_ARG_FLAG_SPACE) && value >= 0 && len < buf_size) + buf[len++] = ' '; + + /* fill up to precision number of digits with '0' */ + num_print = NK_MAX(cur_precision, num_len); + while (precision && (num_print > num_len) && (len < buf_size)) { + buf[len++] = '0'; + num_print--; + } + + /* copy string value representation into buffer */ + num_iter = number_buffer; + while (precision && *num_iter && len < buf_size) + buf[len++] = *num_iter++; + + /* fill right padding up to width characters */ + if (flag & NK_ARG_FLAG_LEFT) { + while ((padding-- > 0) && (len < buf_size)) + buf[len++] = ' '; + } + } else if (*iter == 'o' || *iter == 'x' || *iter == 'X' || *iter == 'u') { + /* unsigned integer */ + unsigned long value = 0; + int num_len = 0, num_print, padding = 0; + int cur_precision = NK_MAX(precision, 1); + int cur_width = NK_MAX(width, 0); + unsigned int base = (*iter == 'o') ? 8: (*iter == 'u')? 10: 16; + + /* print oct/hex/dec value */ + const char *upper_output_format = "0123456789ABCDEF"; + const char *lower_output_format = "0123456789abcdef"; + const char *output_format = (*iter == 'x') ? + lower_output_format: upper_output_format; + + /* retrieve correct value type */ + if (arg_type == NK_ARG_TYPE_CHAR) + value = (unsigned char)va_arg(args, int); + else if (arg_type == NK_ARG_TYPE_SHORT) + value = (unsigned short)va_arg(args, int); + else if (arg_type == NK_ARG_TYPE_LONG) + value = va_arg(args, unsigned long); + else value = va_arg(args, unsigned int); + + do { + /* convert decimal number into hex/oct number */ + int digit = output_format[value % base]; + if (num_len < NK_MAX_NUMBER_BUFFER) + number_buffer[num_len++] = (char)digit; + value /= base; + } while (value > 0); + + num_print = NK_MAX(cur_precision, num_len); + padding = NK_MAX(cur_width - NK_MAX(cur_precision, num_len), 0); + if (flag & NK_ARG_FLAG_NUM) + padding = NK_MAX(padding-1, 0); + + /* fill left padding up to a total of `width` characters */ + if (!(flag & NK_ARG_FLAG_LEFT)) { + while ((padding-- > 0) && (len < buf_size)) { + if ((flag & NK_ARG_FLAG_ZERO) && (precision == NK_DEFAULT)) + buf[len++] = '0'; + else buf[len++] = ' '; + } + } + + /* fill up to precision number of digits */ + if (num_print && (flag & NK_ARG_FLAG_NUM)) { + if ((*iter == 'o') && (len < buf_size)) { + buf[len++] = '0'; + } else if ((*iter == 'x') && ((len+1) < buf_size)) { + buf[len++] = '0'; + buf[len++] = 'x'; + } else if ((*iter == 'X') && ((len+1) < buf_size)) { + buf[len++] = '0'; + buf[len++] = 'X'; + } + } + while (precision && (num_print > num_len) && (len < buf_size)) { + buf[len++] = '0'; + num_print--; + } + + /* reverse number direction */ + while (num_len > 0) { + if (precision && (len < buf_size)) + buf[len++] = number_buffer[num_len-1]; + num_len--; + } + + /* fill right padding up to width characters */ + if (flag & NK_ARG_FLAG_LEFT) { + while ((padding-- > 0) && (len < buf_size)) + buf[len++] = ' '; + } + } else if (*iter == 'f') { + /* floating point */ + const char *num_iter; + int cur_precision = (precision < 0) ? 6: precision; + int prefix, cur_width = NK_MAX(width, 0); + double value = va_arg(args, double); + int num_len = 0, frac_len = 0, dot = 0; + int padding = 0; + + NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); + NK_DTOA(number_buffer, value); + num_len = nk_strlen(number_buffer); + + /* calculate padding */ + num_iter = number_buffer; + while (*num_iter && *num_iter != '.') + num_iter++; + + prefix = (*num_iter == '.')?(int)(num_iter - number_buffer)+1:0; + padding = NK_MAX(cur_width - (prefix + NK_MIN(cur_precision, num_len - prefix)) , 0); + if ((flag & NK_ARG_FLAG_PLUS) || (flag & NK_ARG_FLAG_SPACE)) + padding = NK_MAX(padding-1, 0); + + /* fill left padding up to a total of `width` characters */ + if (!(flag & NK_ARG_FLAG_LEFT)) { + while (padding-- > 0 && (len < buf_size)) { + if (flag & NK_ARG_FLAG_ZERO) + buf[len++] = '0'; + else buf[len++] = ' '; + } + } + + /* copy string value representation into buffer */ + num_iter = number_buffer; + if ((flag & NK_ARG_FLAG_PLUS) && (value >= 0) && (len < buf_size)) + buf[len++] = '+'; + else if ((flag & NK_ARG_FLAG_SPACE) && (value >= 0) && (len < buf_size)) + buf[len++] = ' '; + while (*num_iter) { + if (dot) frac_len++; + if (len < buf_size) + buf[len++] = *num_iter; + if (*num_iter == '.') dot = 1; + if (frac_len >= cur_precision) break; + num_iter++; + } + + /* fill number up to precision */ + while (frac_len < cur_precision) { + if (!dot && len < buf_size) { + buf[len++] = '.'; + dot = 1; + } + if (len < buf_size) + buf[len++] = '0'; + frac_len++; + } + + /* fill right padding up to width characters */ + if (flag & NK_ARG_FLAG_LEFT) { + while ((padding-- > 0) && (len < buf_size)) + buf[len++] = ' '; + } + } else { + /* Specifier not supported: g,G,e,E,p,z */ + NK_ASSERT(0 && "specifier is not supported!"); + return result; + } + } + buf[(len >= buf_size)?(buf_size-1):len] = 0; + result = (len >= buf_size)?-1:len; + return result; +} +#endif +NK_LIB int +nk_strfmt(char *buf, int buf_size, const char *fmt, va_list args) +{ + int result = -1; + NK_ASSERT(buf); + NK_ASSERT(buf_size); + if (!buf || !buf_size || !fmt) return 0; +#ifdef NK_INCLUDE_STANDARD_IO + result = NK_VSNPRINTF(buf, (nk_size)buf_size, fmt, args); + result = (result >= buf_size) ? -1: result; + buf[buf_size-1] = 0; +#else + result = nk_vsnprintf(buf, buf_size, fmt, args); +#endif + return result; +} +#endif +NK_API nk_hash +nk_murmur_hash(const void * key, int len, nk_hash seed) +{ + /* 32-Bit MurmurHash3: https://code.google.com/p/smhasher/wiki/MurmurHash3*/ + #define NK_ROTL(x,r) ((x) << (r) | ((x) >> (32 - r))) + + nk_uint h1 = seed; + nk_uint k1; + const nk_byte *data = (const nk_byte*)key; + const nk_byte *keyptr = data; + nk_byte *k1ptr; + const int bsize = sizeof(k1); + const int nblocks = len/4; + + const nk_uint c1 = 0xcc9e2d51; + const nk_uint c2 = 0x1b873593; + const nk_byte *tail; + int i; + + /* body */ + if (!key) return 0; + for (i = 0; i < nblocks; ++i, keyptr += bsize) { + k1ptr = (nk_byte*)&k1; + k1ptr[0] = keyptr[0]; + k1ptr[1] = keyptr[1]; + k1ptr[2] = keyptr[2]; + k1ptr[3] = keyptr[3]; + + k1 *= c1; + k1 = NK_ROTL(k1,15); + k1 *= c2; + + h1 ^= k1; + h1 = NK_ROTL(h1,13); + h1 = h1*5+0xe6546b64; + } + + /* tail */ + tail = (const nk_byte*)(data + nblocks*4); + k1 = 0; + switch (len & 3) { + case 3: k1 ^= (nk_uint)(tail[2] << 16); /* fallthrough */ + case 2: k1 ^= (nk_uint)(tail[1] << 8u); /* fallthrough */ + case 1: k1 ^= tail[0]; + k1 *= c1; + k1 = NK_ROTL(k1,15); + k1 *= c2; + h1 ^= k1; + break; + default: break; + } + + /* finalization */ + h1 ^= (nk_uint)len; + /* fmix32 */ + h1 ^= h1 >> 16; + h1 *= 0x85ebca6b; + h1 ^= h1 >> 13; + h1 *= 0xc2b2ae35; + h1 ^= h1 >> 16; + + #undef NK_ROTL + return h1; +} +#ifdef NK_INCLUDE_STANDARD_IO +NK_LIB char* +nk_file_load(const char* path, nk_size* siz, struct nk_allocator *alloc) +{ + char *buf; + FILE *fd; + long ret; + + NK_ASSERT(path); + NK_ASSERT(siz); + NK_ASSERT(alloc); + if (!path || !siz || !alloc) + return 0; + + fd = fopen(path, "rb"); + if (!fd) return 0; + fseek(fd, 0, SEEK_END); + ret = ftell(fd); + if (ret < 0) { + fclose(fd); + return 0; + } + *siz = (nk_size)ret; + fseek(fd, 0, SEEK_SET); + buf = (char*)alloc->alloc(alloc->userdata,0, *siz); + NK_ASSERT(buf); + if (!buf) { + fclose(fd); + return 0; + } + *siz = (nk_size)fread(buf, 1,*siz, fd); + fclose(fd); + return buf; +} +#endif +NK_LIB int +nk_text_clamp(const struct nk_user_font *font, const char *text, + int text_len, float space, int *glyphs, float *text_width, + nk_rune *sep_list, int sep_count) +{ + int i = 0; + int glyph_len = 0; + float last_width = 0; + nk_rune unicode = 0; + float width = 0; + int len = 0; + int g = 0; + float s; + + int sep_len = 0; + int sep_g = 0; + float sep_width = 0; + sep_count = NK_MAX(sep_count,0); + + glyph_len = nk_utf_decode(text, &unicode, text_len); + while (glyph_len && (width < space) && (len < text_len)) { + len += glyph_len; + s = font->width(font->userdata, font->height, text, len); + for (i = 0; i < sep_count; ++i) { + if (unicode != sep_list[i]) continue; + sep_width = last_width = width; + sep_g = g+1; + sep_len = len; + break; + } + if (i == sep_count){ + last_width = sep_width = width; + sep_g = g+1; + } + width = s; + glyph_len = nk_utf_decode(&text[len], &unicode, text_len - len); + g++; + } + if (len >= text_len) { + *glyphs = g; + *text_width = last_width; + return len; + } else { + *glyphs = sep_g; + *text_width = sep_width; + return (!sep_len) ? len: sep_len; + } +} +NK_LIB struct nk_vec2 +nk_text_calculate_text_bounds(const struct nk_user_font *font, + const char *begin, int byte_len, float row_height, const char **remaining, + struct nk_vec2 *out_offset, int *glyphs, int op) +{ + float line_height = row_height; + struct nk_vec2 text_size = nk_vec2(0,0); + float line_width = 0.0f; + + float glyph_width; + int glyph_len = 0; + nk_rune unicode = 0; + int text_len = 0; + if (!begin || byte_len <= 0 || !font) + return nk_vec2(0,row_height); + + glyph_len = nk_utf_decode(begin, &unicode, byte_len); + if (!glyph_len) return text_size; + glyph_width = font->width(font->userdata, font->height, begin, glyph_len); + + *glyphs = 0; + while ((text_len < byte_len) && glyph_len) { + if (unicode == '\n') { + text_size.x = NK_MAX(text_size.x, line_width); + text_size.y += line_height; + line_width = 0; + *glyphs+=1; + if (op == NK_STOP_ON_NEW_LINE) + break; + + text_len++; + glyph_len = nk_utf_decode(begin + text_len, &unicode, byte_len-text_len); + continue; + } + + if (unicode == '\r') { + text_len++; + *glyphs+=1; + glyph_len = nk_utf_decode(begin + text_len, &unicode, byte_len-text_len); + continue; + } + + *glyphs = *glyphs + 1; + text_len += glyph_len; + line_width += (float)glyph_width; + glyph_len = nk_utf_decode(begin + text_len, &unicode, byte_len-text_len); + glyph_width = font->width(font->userdata, font->height, begin+text_len, glyph_len); + continue; + } + + if (text_size.x < line_width) + text_size.x = line_width; + if (out_offset) + *out_offset = nk_vec2(line_width, text_size.y + line_height); + if (line_width > 0 || text_size.y == 0.0f) + text_size.y += line_height; + if (remaining) + *remaining = begin+text_len; + return text_size; +} + + + + + +/* ============================================================== + * + * COLOR + * + * ===============================================================*/ +NK_INTERN int +nk_parse_hex(const char *p, int length) +{ + int i = 0; + int len = 0; + while (len < length) { + i <<= 4; + if (p[len] >= 'a' && p[len] <= 'f') + i += ((p[len] - 'a') + 10); + else if (p[len] >= 'A' && p[len] <= 'F') + i += ((p[len] - 'A') + 10); + else i += (p[len] - '0'); + len++; + } + return i; +} +NK_API struct nk_color +nk_rgba(int r, int g, int b, int a) +{ + struct nk_color ret; + ret.r = (nk_byte)NK_CLAMP(0, r, 255); + ret.g = (nk_byte)NK_CLAMP(0, g, 255); + ret.b = (nk_byte)NK_CLAMP(0, b, 255); + ret.a = (nk_byte)NK_CLAMP(0, a, 255); + return ret; +} +NK_API struct nk_color +nk_rgb_hex(const char *rgb) +{ + struct nk_color col; + const char *c = rgb; + if (*c == '#') c++; + col.r = (nk_byte)nk_parse_hex(c, 2); + col.g = (nk_byte)nk_parse_hex(c+2, 2); + col.b = (nk_byte)nk_parse_hex(c+4, 2); + col.a = 255; + return col; +} +NK_API struct nk_color +nk_rgba_hex(const char *rgb) +{ + struct nk_color col; + const char *c = rgb; + if (*c == '#') c++; + col.r = (nk_byte)nk_parse_hex(c, 2); + col.g = (nk_byte)nk_parse_hex(c+2, 2); + col.b = (nk_byte)nk_parse_hex(c+4, 2); + col.a = (nk_byte)nk_parse_hex(c+6, 2); + return col; +} +NK_API void +nk_color_hex_rgba(char *output, struct nk_color col) +{ + #define NK_TO_HEX(i) ((i) <= 9 ? '0' + (i): 'A' - 10 + (i)) + output[0] = (char)NK_TO_HEX((col.r & 0xF0) >> 4); + output[1] = (char)NK_TO_HEX((col.r & 0x0F)); + output[2] = (char)NK_TO_HEX((col.g & 0xF0) >> 4); + output[3] = (char)NK_TO_HEX((col.g & 0x0F)); + output[4] = (char)NK_TO_HEX((col.b & 0xF0) >> 4); + output[5] = (char)NK_TO_HEX((col.b & 0x0F)); + output[6] = (char)NK_TO_HEX((col.a & 0xF0) >> 4); + output[7] = (char)NK_TO_HEX((col.a & 0x0F)); + output[8] = '\0'; + #undef NK_TO_HEX +} +NK_API void +nk_color_hex_rgb(char *output, struct nk_color col) +{ + #define NK_TO_HEX(i) ((i) <= 9 ? '0' + (i): 'A' - 10 + (i)) + output[0] = (char)NK_TO_HEX((col.r & 0xF0) >> 4); + output[1] = (char)NK_TO_HEX((col.r & 0x0F)); + output[2] = (char)NK_TO_HEX((col.g & 0xF0) >> 4); + output[3] = (char)NK_TO_HEX((col.g & 0x0F)); + output[4] = (char)NK_TO_HEX((col.b & 0xF0) >> 4); + output[5] = (char)NK_TO_HEX((col.b & 0x0F)); + output[6] = '\0'; + #undef NK_TO_HEX +} +NK_API struct nk_color +nk_rgba_iv(const int *c) +{ + return nk_rgba(c[0], c[1], c[2], c[3]); +} +NK_API struct nk_color +nk_rgba_bv(const nk_byte *c) +{ + return nk_rgba(c[0], c[1], c[2], c[3]); +} +NK_API struct nk_color +nk_rgb(int r, int g, int b) +{ + struct nk_color ret; + ret.r = (nk_byte)NK_CLAMP(0, r, 255); + ret.g = (nk_byte)NK_CLAMP(0, g, 255); + ret.b = (nk_byte)NK_CLAMP(0, b, 255); + ret.a = (nk_byte)255; + return ret; +} +NK_API struct nk_color +nk_rgb_iv(const int *c) +{ + return nk_rgb(c[0], c[1], c[2]); +} +NK_API struct nk_color +nk_rgb_bv(const nk_byte* c) +{ + return nk_rgb(c[0], c[1], c[2]); +} +NK_API struct nk_color +nk_rgba_u32(nk_uint in) +{ + struct nk_color ret; + ret.r = (in & 0xFF); + ret.g = ((in >> 8) & 0xFF); + ret.b = ((in >> 16) & 0xFF); + ret.a = (nk_byte)((in >> 24) & 0xFF); + return ret; +} +NK_API struct nk_color +nk_rgba_f(float r, float g, float b, float a) +{ + struct nk_color ret; + ret.r = (nk_byte)(NK_SATURATE(r) * 255.0f); + ret.g = (nk_byte)(NK_SATURATE(g) * 255.0f); + ret.b = (nk_byte)(NK_SATURATE(b) * 255.0f); + ret.a = (nk_byte)(NK_SATURATE(a) * 255.0f); + return ret; +} +NK_API struct nk_color +nk_rgba_fv(const float *c) +{ + return nk_rgba_f(c[0], c[1], c[2], c[3]); +} +NK_API struct nk_color +nk_rgba_cf(struct nk_colorf c) +{ + return nk_rgba_f(c.r, c.g, c.b, c.a); +} +NK_API struct nk_color +nk_rgb_f(float r, float g, float b) +{ + struct nk_color ret; + ret.r = (nk_byte)(NK_SATURATE(r) * 255.0f); + ret.g = (nk_byte)(NK_SATURATE(g) * 255.0f); + ret.b = (nk_byte)(NK_SATURATE(b) * 255.0f); + ret.a = 255; + return ret; +} +NK_API struct nk_color +nk_rgb_fv(const float *c) +{ + return nk_rgb_f(c[0], c[1], c[2]); +} +NK_API struct nk_color +nk_rgb_cf(struct nk_colorf c) +{ + return nk_rgb_f(c.r, c.g, c.b); +} +NK_API struct nk_color +nk_hsv(int h, int s, int v) +{ + return nk_hsva(h, s, v, 255); +} +NK_API struct nk_color +nk_hsv_iv(const int *c) +{ + return nk_hsv(c[0], c[1], c[2]); +} +NK_API struct nk_color +nk_hsv_bv(const nk_byte *c) +{ + return nk_hsv(c[0], c[1], c[2]); +} +NK_API struct nk_color +nk_hsv_f(float h, float s, float v) +{ + return nk_hsva_f(h, s, v, 1.0f); +} +NK_API struct nk_color +nk_hsv_fv(const float *c) +{ + return nk_hsv_f(c[0], c[1], c[2]); +} +NK_API struct nk_color +nk_hsva(int h, int s, int v, int a) +{ + float hf = ((float)NK_CLAMP(0, h, 255)) / 255.0f; + float sf = ((float)NK_CLAMP(0, s, 255)) / 255.0f; + float vf = ((float)NK_CLAMP(0, v, 255)) / 255.0f; + float af = ((float)NK_CLAMP(0, a, 255)) / 255.0f; + return nk_hsva_f(hf, sf, vf, af); +} +NK_API struct nk_color +nk_hsva_iv(const int *c) +{ + return nk_hsva(c[0], c[1], c[2], c[3]); +} +NK_API struct nk_color +nk_hsva_bv(const nk_byte *c) +{ + return nk_hsva(c[0], c[1], c[2], c[3]); +} +NK_API struct nk_colorf +nk_hsva_colorf(float h, float s, float v, float a) +{ + int i; + float p, q, t, f; + struct nk_colorf out = {0,0,0,0}; + if (s <= 0.0f) { + out.r = v; out.g = v; out.b = v; out.a = a; + return out; + } + h = h / (60.0f/360.0f); + i = (int)h; + f = h - (float)i; + p = v * (1.0f - s); + q = v * (1.0f - (s * f)); + t = v * (1.0f - s * (1.0f - f)); + + switch (i) { + case 0: default: out.r = v; out.g = t; out.b = p; break; + case 1: out.r = q; out.g = v; out.b = p; break; + case 2: out.r = p; out.g = v; out.b = t; break; + case 3: out.r = p; out.g = q; out.b = v; break; + case 4: out.r = t; out.g = p; out.b = v; break; + case 5: out.r = v; out.g = p; out.b = q; break;} + out.a = a; + return out; +} +NK_API struct nk_colorf +nk_hsva_colorfv(float *c) +{ + return nk_hsva_colorf(c[0], c[1], c[2], c[3]); +} +NK_API struct nk_color +nk_hsva_f(float h, float s, float v, float a) +{ + struct nk_colorf c = nk_hsva_colorf(h, s, v, a); + return nk_rgba_f(c.r, c.g, c.b, c.a); +} +NK_API struct nk_color +nk_hsva_fv(const float *c) +{ + return nk_hsva_f(c[0], c[1], c[2], c[3]); +} +NK_API nk_uint +nk_color_u32(struct nk_color in) +{ + nk_uint out = (nk_uint)in.r; + out |= ((nk_uint)in.g << 8); + out |= ((nk_uint)in.b << 16); + out |= ((nk_uint)in.a << 24); + return out; +} +NK_API void +nk_color_f(float *r, float *g, float *b, float *a, struct nk_color in) +{ + NK_STORAGE const float s = 1.0f/255.0f; + *r = (float)in.r * s; + *g = (float)in.g * s; + *b = (float)in.b * s; + *a = (float)in.a * s; +} +NK_API void +nk_color_fv(float *c, struct nk_color in) +{ + nk_color_f(&c[0], &c[1], &c[2], &c[3], in); +} +NK_API struct nk_colorf +nk_color_cf(struct nk_color in) +{ + struct nk_colorf o; + nk_color_f(&o.r, &o.g, &o.b, &o.a, in); + return o; +} +NK_API void +nk_color_d(double *r, double *g, double *b, double *a, struct nk_color in) +{ + NK_STORAGE const double s = 1.0/255.0; + *r = (double)in.r * s; + *g = (double)in.g * s; + *b = (double)in.b * s; + *a = (double)in.a * s; +} +NK_API void +nk_color_dv(double *c, struct nk_color in) +{ + nk_color_d(&c[0], &c[1], &c[2], &c[3], in); +} +NK_API void +nk_color_hsv_f(float *out_h, float *out_s, float *out_v, struct nk_color in) +{ + float a; + nk_color_hsva_f(out_h, out_s, out_v, &a, in); +} +NK_API void +nk_color_hsv_fv(float *out, struct nk_color in) +{ + float a; + nk_color_hsva_f(&out[0], &out[1], &out[2], &a, in); +} +NK_API void +nk_colorf_hsva_f(float *out_h, float *out_s, + float *out_v, float *out_a, struct nk_colorf in) +{ + float chroma; + float K = 0.0f; + if (in.g < in.b) { + const float t = in.g; in.g = in.b; in.b = t; + K = -1.f; + } + if (in.r < in.g) { + const float t = in.r; in.r = in.g; in.g = t; + K = -2.f/6.0f - K; + } + chroma = in.r - ((in.g < in.b) ? in.g: in.b); + *out_h = NK_ABS(K + (in.g - in.b)/(6.0f * chroma + 1e-20f)); + *out_s = chroma / (in.r + 1e-20f); + *out_v = in.r; + *out_a = in.a; + +} +NK_API void +nk_colorf_hsva_fv(float *hsva, struct nk_colorf in) +{ + nk_colorf_hsva_f(&hsva[0], &hsva[1], &hsva[2], &hsva[3], in); +} +NK_API void +nk_color_hsva_f(float *out_h, float *out_s, + float *out_v, float *out_a, struct nk_color in) +{ + struct nk_colorf col; + nk_color_f(&col.r,&col.g,&col.b,&col.a, in); + nk_colorf_hsva_f(out_h, out_s, out_v, out_a, col); +} +NK_API void +nk_color_hsva_fv(float *out, struct nk_color in) +{ + nk_color_hsva_f(&out[0], &out[1], &out[2], &out[3], in); +} +NK_API void +nk_color_hsva_i(int *out_h, int *out_s, int *out_v, + int *out_a, struct nk_color in) +{ + float h,s,v,a; + nk_color_hsva_f(&h, &s, &v, &a, in); + *out_h = (nk_byte)(h * 255.0f); + *out_s = (nk_byte)(s * 255.0f); + *out_v = (nk_byte)(v * 255.0f); + *out_a = (nk_byte)(a * 255.0f); +} +NK_API void +nk_color_hsva_iv(int *out, struct nk_color in) +{ + nk_color_hsva_i(&out[0], &out[1], &out[2], &out[3], in); +} +NK_API void +nk_color_hsva_bv(nk_byte *out, struct nk_color in) +{ + int tmp[4]; + nk_color_hsva_i(&tmp[0], &tmp[1], &tmp[2], &tmp[3], in); + out[0] = (nk_byte)tmp[0]; + out[1] = (nk_byte)tmp[1]; + out[2] = (nk_byte)tmp[2]; + out[3] = (nk_byte)tmp[3]; +} +NK_API void +nk_color_hsva_b(nk_byte *h, nk_byte *s, nk_byte *v, nk_byte *a, struct nk_color in) +{ + int tmp[4]; + nk_color_hsva_i(&tmp[0], &tmp[1], &tmp[2], &tmp[3], in); + *h = (nk_byte)tmp[0]; + *s = (nk_byte)tmp[1]; + *v = (nk_byte)tmp[2]; + *a = (nk_byte)tmp[3]; +} +NK_API void +nk_color_hsv_i(int *out_h, int *out_s, int *out_v, struct nk_color in) +{ + int a; + nk_color_hsva_i(out_h, out_s, out_v, &a, in); +} +NK_API void +nk_color_hsv_b(nk_byte *out_h, nk_byte *out_s, nk_byte *out_v, struct nk_color in) +{ + int tmp[4]; + nk_color_hsva_i(&tmp[0], &tmp[1], &tmp[2], &tmp[3], in); + *out_h = (nk_byte)tmp[0]; + *out_s = (nk_byte)tmp[1]; + *out_v = (nk_byte)tmp[2]; +} +NK_API void +nk_color_hsv_iv(int *out, struct nk_color in) +{ + nk_color_hsv_i(&out[0], &out[1], &out[2], in); +} +NK_API void +nk_color_hsv_bv(nk_byte *out, struct nk_color in) +{ + int tmp[4]; + nk_color_hsv_i(&tmp[0], &tmp[1], &tmp[2], in); + out[0] = (nk_byte)tmp[0]; + out[1] = (nk_byte)tmp[1]; + out[2] = (nk_byte)tmp[2]; +} + + + + + +/* =============================================================== + * + * UTF-8 + * + * ===============================================================*/ +NK_GLOBAL const nk_byte nk_utfbyte[NK_UTF_SIZE+1] = {0x80, 0, 0xC0, 0xE0, 0xF0}; +NK_GLOBAL const nk_byte nk_utfmask[NK_UTF_SIZE+1] = {0xC0, 0x80, 0xE0, 0xF0, 0xF8}; +NK_GLOBAL const nk_uint nk_utfmin[NK_UTF_SIZE+1] = {0, 0, 0x80, 0x800, 0x10000}; +NK_GLOBAL const nk_uint nk_utfmax[NK_UTF_SIZE+1] = {0x10FFFF, 0x7F, 0x7FF, 0xFFFF, 0x10FFFF}; + +NK_INTERN int +nk_utf_validate(nk_rune *u, int i) +{ + NK_ASSERT(u); + if (!u) return 0; + if (!NK_BETWEEN(*u, nk_utfmin[i], nk_utfmax[i]) || + NK_BETWEEN(*u, 0xD800, 0xDFFF)) + *u = NK_UTF_INVALID; + for (i = 1; *u > nk_utfmax[i]; ++i); + return i; +} +NK_INTERN nk_rune +nk_utf_decode_byte(char c, int *i) +{ + NK_ASSERT(i); + if (!i) return 0; + for(*i = 0; *i < (int)NK_LEN(nk_utfmask); ++(*i)) { + if (((nk_byte)c & nk_utfmask[*i]) == nk_utfbyte[*i]) + return (nk_byte)(c & ~nk_utfmask[*i]); + } + return 0; +} +NK_API int +nk_utf_decode(const char *c, nk_rune *u, int clen) +{ + int i, j, len, type=0; + nk_rune udecoded; + + NK_ASSERT(c); + NK_ASSERT(u); + + if (!c || !u) return 0; + if (!clen) return 0; + *u = NK_UTF_INVALID; + + udecoded = nk_utf_decode_byte(c[0], &len); + if (!NK_BETWEEN(len, 1, NK_UTF_SIZE)) + return 1; + + for (i = 1, j = 1; i < clen && j < len; ++i, ++j) { + udecoded = (udecoded << 6) | nk_utf_decode_byte(c[i], &type); + if (type != 0) + return j; + } + if (j < len) + return 0; + *u = udecoded; + nk_utf_validate(u, len); + return len; +} +NK_INTERN char +nk_utf_encode_byte(nk_rune u, int i) +{ + return (char)((nk_utfbyte[i]) | ((nk_byte)u & ~nk_utfmask[i])); +} +NK_API int +nk_utf_encode(nk_rune u, char *c, int clen) +{ + int len, i; + len = nk_utf_validate(&u, 0); + if (clen < len || !len || len > NK_UTF_SIZE) + return 0; + + for (i = len - 1; i != 0; --i) { + c[i] = nk_utf_encode_byte(u, 0); + u >>= 6; + } + c[0] = nk_utf_encode_byte(u, len); + return len; +} +NK_API int +nk_utf_len(const char *str, int len) +{ + const char *text; + int glyphs = 0; + int text_len; + int glyph_len; + int src_len = 0; + nk_rune unicode; + + NK_ASSERT(str); + if (!str || !len) return 0; + + text = str; + text_len = len; + glyph_len = nk_utf_decode(text, &unicode, text_len); + while (glyph_len && src_len < len) { + glyphs++; + src_len = src_len + glyph_len; + glyph_len = nk_utf_decode(text + src_len, &unicode, text_len - src_len); + } + return glyphs; +} +NK_API const char* +nk_utf_at(const char *buffer, int length, int index, + nk_rune *unicode, int *len) +{ + int i = 0; + int src_len = 0; + int glyph_len = 0; + const char *text; + int text_len; + + NK_ASSERT(buffer); + NK_ASSERT(unicode); + NK_ASSERT(len); + + if (!buffer || !unicode || !len) return 0; + if (index < 0) { + *unicode = NK_UTF_INVALID; + *len = 0; + return 0; + } + + text = buffer; + text_len = length; + glyph_len = nk_utf_decode(text, unicode, text_len); + while (glyph_len) { + if (i == index) { + *len = glyph_len; + break; + } + + i++; + src_len = src_len + glyph_len; + glyph_len = nk_utf_decode(text + src_len, unicode, text_len - src_len); + } + if (i != index) return 0; + return buffer + src_len; +} + + + + + +/* ============================================================== + * + * BUFFER + * + * ===============================================================*/ +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_LIB void* +nk_malloc(nk_handle unused, void *old,nk_size size) +{ + NK_UNUSED(unused); + NK_UNUSED(old); + return malloc(size); +} +NK_LIB void +nk_mfree(nk_handle unused, void *ptr) +{ + NK_UNUSED(unused); + free(ptr); +} +NK_API void +nk_buffer_init_default(struct nk_buffer *buffer) +{ + struct nk_allocator alloc; + alloc.userdata.ptr = 0; + alloc.alloc = nk_malloc; + alloc.free = nk_mfree; + nk_buffer_init(buffer, &alloc, NK_BUFFER_DEFAULT_INITIAL_SIZE); +} +#endif + +NK_API void +nk_buffer_init(struct nk_buffer *b, const struct nk_allocator *a, + nk_size initial_size) +{ + NK_ASSERT(b); + NK_ASSERT(a); + NK_ASSERT(initial_size); + if (!b || !a || !initial_size) return; + + nk_zero(b, sizeof(*b)); + b->type = NK_BUFFER_DYNAMIC; + b->memory.ptr = a->alloc(a->userdata,0, initial_size); + b->memory.size = initial_size; + b->size = initial_size; + b->grow_factor = 2.0f; + b->pool = *a; +} +NK_API void +nk_buffer_init_fixed(struct nk_buffer *b, void *m, nk_size size) +{ + NK_ASSERT(b); + NK_ASSERT(m); + NK_ASSERT(size); + if (!b || !m || !size) return; + + nk_zero(b, sizeof(*b)); + b->type = NK_BUFFER_FIXED; + b->memory.ptr = m; + b->memory.size = size; + b->size = size; +} +NK_LIB void* +nk_buffer_align(void *unaligned, + nk_size align, nk_size *alignment, + enum nk_buffer_allocation_type type) +{ + void *memory = 0; + switch (type) { + default: + case NK_BUFFER_MAX: + case NK_BUFFER_FRONT: + if (align) { + memory = NK_ALIGN_PTR(unaligned, align); + *alignment = (nk_size)((nk_byte*)memory - (nk_byte*)unaligned); + } else { + memory = unaligned; + *alignment = 0; + } + break; + case NK_BUFFER_BACK: + if (align) { + memory = NK_ALIGN_PTR_BACK(unaligned, align); + *alignment = (nk_size)((nk_byte*)unaligned - (nk_byte*)memory); + } else { + memory = unaligned; + *alignment = 0; + } + break; + } + return memory; +} +NK_LIB void* +nk_buffer_realloc(struct nk_buffer *b, nk_size capacity, nk_size *size) +{ + void *temp; + nk_size buffer_size; + + NK_ASSERT(b); + NK_ASSERT(size); + if (!b || !size || !b->pool.alloc || !b->pool.free) + return 0; + + buffer_size = b->memory.size; + temp = b->pool.alloc(b->pool.userdata, b->memory.ptr, capacity); + NK_ASSERT(temp); + if (!temp) return 0; + + *size = capacity; + if (temp != b->memory.ptr) { + NK_MEMCPY(temp, b->memory.ptr, buffer_size); + b->pool.free(b->pool.userdata, b->memory.ptr); + } + + if (b->size == buffer_size) { + /* no back buffer so just set correct size */ + b->size = capacity; + return temp; + } else { + /* copy back buffer to the end of the new buffer */ + void *dst, *src; + nk_size back_size; + back_size = buffer_size - b->size; + dst = nk_ptr_add(void, temp, capacity - back_size); + src = nk_ptr_add(void, temp, b->size); + NK_MEMCPY(dst, src, back_size); + b->size = capacity - back_size; + } + return temp; +} +NK_LIB void* +nk_buffer_alloc(struct nk_buffer *b, enum nk_buffer_allocation_type type, + nk_size size, nk_size align) +{ + int full; + nk_size alignment; + void *unaligned; + void *memory; + + NK_ASSERT(b); + NK_ASSERT(size); + if (!b || !size) return 0; + b->needed += size; + + /* calculate total size with needed alignment + size */ + if (type == NK_BUFFER_FRONT) + unaligned = nk_ptr_add(void, b->memory.ptr, b->allocated); + else unaligned = nk_ptr_add(void, b->memory.ptr, b->size - size); + memory = nk_buffer_align(unaligned, align, &alignment, type); + + /* check if buffer has enough memory*/ + if (type == NK_BUFFER_FRONT) + full = ((b->allocated + size + alignment) > b->size); + else full = ((b->size - NK_MIN(b->size,(size + alignment))) <= b->allocated); + + if (full) { + nk_size capacity; + if (b->type != NK_BUFFER_DYNAMIC) + return 0; + NK_ASSERT(b->pool.alloc && b->pool.free); + if (b->type != NK_BUFFER_DYNAMIC || !b->pool.alloc || !b->pool.free) + return 0; + + /* buffer is full so allocate bigger buffer if dynamic */ + capacity = (nk_size)((float)b->memory.size * b->grow_factor); + capacity = NK_MAX(capacity, nk_round_up_pow2((nk_uint)(b->allocated + size))); + b->memory.ptr = nk_buffer_realloc(b, capacity, &b->memory.size); + if (!b->memory.ptr) return 0; + + /* align newly allocated pointer */ + if (type == NK_BUFFER_FRONT) + unaligned = nk_ptr_add(void, b->memory.ptr, b->allocated); + else unaligned = nk_ptr_add(void, b->memory.ptr, b->size - size); + memory = nk_buffer_align(unaligned, align, &alignment, type); + } + if (type == NK_BUFFER_FRONT) + b->allocated += size + alignment; + else b->size -= (size + alignment); + b->needed += alignment; + b->calls++; + return memory; +} +NK_API void +nk_buffer_push(struct nk_buffer *b, enum nk_buffer_allocation_type type, + const void *memory, nk_size size, nk_size align) +{ + void *mem = nk_buffer_alloc(b, type, size, align); + if (!mem) return; + NK_MEMCPY(mem, memory, size); +} +NK_API void +nk_buffer_mark(struct nk_buffer *buffer, enum nk_buffer_allocation_type type) +{ + NK_ASSERT(buffer); + if (!buffer) return; + buffer->marker[type].active = nk_true; + if (type == NK_BUFFER_BACK) + buffer->marker[type].offset = buffer->size; + else buffer->marker[type].offset = buffer->allocated; +} +NK_API void +nk_buffer_reset(struct nk_buffer *buffer, enum nk_buffer_allocation_type type) +{ + NK_ASSERT(buffer); + if (!buffer) return; + if (type == NK_BUFFER_BACK) { + /* reset back buffer either back to marker or empty */ + buffer->needed -= (buffer->memory.size - buffer->marker[type].offset); + if (buffer->marker[type].active) + buffer->size = buffer->marker[type].offset; + else buffer->size = buffer->memory.size; + buffer->marker[type].active = nk_false; + } else { + /* reset front buffer either back to back marker or empty */ + buffer->needed -= (buffer->allocated - buffer->marker[type].offset); + if (buffer->marker[type].active) + buffer->allocated = buffer->marker[type].offset; + else buffer->allocated = 0; + buffer->marker[type].active = nk_false; + } +} +NK_API void +nk_buffer_clear(struct nk_buffer *b) +{ + NK_ASSERT(b); + if (!b) return; + b->allocated = 0; + b->size = b->memory.size; + b->calls = 0; + b->needed = 0; +} +NK_API void +nk_buffer_free(struct nk_buffer *b) +{ + NK_ASSERT(b); + if (!b || !b->memory.ptr) return; + if (b->type == NK_BUFFER_FIXED) return; + if (!b->pool.free) return; + NK_ASSERT(b->pool.free); + b->pool.free(b->pool.userdata, b->memory.ptr); +} +NK_API void +nk_buffer_info(struct nk_memory_status *s, struct nk_buffer *b) +{ + NK_ASSERT(b); + NK_ASSERT(s); + if (!s || !b) return; + s->allocated = b->allocated; + s->size = b->memory.size; + s->needed = b->needed; + s->memory = b->memory.ptr; + s->calls = b->calls; +} +NK_API void* +nk_buffer_memory(struct nk_buffer *buffer) +{ + NK_ASSERT(buffer); + if (!buffer) return 0; + return buffer->memory.ptr; +} +NK_API const void* +nk_buffer_memory_const(const struct nk_buffer *buffer) +{ + NK_ASSERT(buffer); + if (!buffer) return 0; + return buffer->memory.ptr; +} +NK_API nk_size +nk_buffer_total(struct nk_buffer *buffer) +{ + NK_ASSERT(buffer); + if (!buffer) return 0; + return buffer->memory.size; +} + + + + + +/* =============================================================== + * + * STRING + * + * ===============================================================*/ +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void +nk_str_init_default(struct nk_str *str) +{ + struct nk_allocator alloc; + alloc.userdata.ptr = 0; + alloc.alloc = nk_malloc; + alloc.free = nk_mfree; + nk_buffer_init(&str->buffer, &alloc, 32); + str->len = 0; +} +#endif + +NK_API void +nk_str_init(struct nk_str *str, const struct nk_allocator *alloc, nk_size size) +{ + nk_buffer_init(&str->buffer, alloc, size); + str->len = 0; +} +NK_API void +nk_str_init_fixed(struct nk_str *str, void *memory, nk_size size) +{ + nk_buffer_init_fixed(&str->buffer, memory, size); + str->len = 0; +} +NK_API int +nk_str_append_text_char(struct nk_str *s, const char *str, int len) +{ + char *mem; + NK_ASSERT(s); + NK_ASSERT(str); + if (!s || !str || !len) return 0; + mem = (char*)nk_buffer_alloc(&s->buffer, NK_BUFFER_FRONT, (nk_size)len * sizeof(char), 0); + if (!mem) return 0; + NK_MEMCPY(mem, str, (nk_size)len * sizeof(char)); + s->len += nk_utf_len(str, len); + return len; +} +NK_API int +nk_str_append_str_char(struct nk_str *s, const char *str) +{ + return nk_str_append_text_char(s, str, nk_strlen(str)); +} +NK_API int +nk_str_append_text_utf8(struct nk_str *str, const char *text, int len) +{ + int i = 0; + int byte_len = 0; + nk_rune unicode; + if (!str || !text || !len) return 0; + for (i = 0; i < len; ++i) + byte_len += nk_utf_decode(text+byte_len, &unicode, 4); + nk_str_append_text_char(str, text, byte_len); + return len; +} +NK_API int +nk_str_append_str_utf8(struct nk_str *str, const char *text) +{ + int runes = 0; + int byte_len = 0; + int num_runes = 0; + int glyph_len = 0; + nk_rune unicode; + if (!str || !text) return 0; + + glyph_len = byte_len = nk_utf_decode(text+byte_len, &unicode, 4); + while (unicode != '\0' && glyph_len) { + glyph_len = nk_utf_decode(text+byte_len, &unicode, 4); + byte_len += glyph_len; + num_runes++; + } + nk_str_append_text_char(str, text, byte_len); + return runes; +} +NK_API int +nk_str_append_text_runes(struct nk_str *str, const nk_rune *text, int len) +{ + int i = 0; + int byte_len = 0; + nk_glyph glyph; + + NK_ASSERT(str); + if (!str || !text || !len) return 0; + for (i = 0; i < len; ++i) { + byte_len = nk_utf_encode(text[i], glyph, NK_UTF_SIZE); + if (!byte_len) break; + nk_str_append_text_char(str, glyph, byte_len); + } + return len; +} +NK_API int +nk_str_append_str_runes(struct nk_str *str, const nk_rune *runes) +{ + int i = 0; + nk_glyph glyph; + int byte_len; + NK_ASSERT(str); + if (!str || !runes) return 0; + while (runes[i] != '\0') { + byte_len = nk_utf_encode(runes[i], glyph, NK_UTF_SIZE); + nk_str_append_text_char(str, glyph, byte_len); + i++; + } + return i; +} +NK_API int +nk_str_insert_at_char(struct nk_str *s, int pos, const char *str, int len) +{ + int i; + void *mem; + char *src; + char *dst; + + int copylen; + NK_ASSERT(s); + NK_ASSERT(str); + NK_ASSERT(len >= 0); + if (!s || !str || !len || (nk_size)pos > s->buffer.allocated) return 0; + if ((s->buffer.allocated + (nk_size)len >= s->buffer.memory.size) && + (s->buffer.type == NK_BUFFER_FIXED)) return 0; + + copylen = (int)s->buffer.allocated - pos; + if (!copylen) { + nk_str_append_text_char(s, str, len); + return 1; + } + mem = nk_buffer_alloc(&s->buffer, NK_BUFFER_FRONT, (nk_size)len * sizeof(char), 0); + if (!mem) return 0; + + /* memmove */ + NK_ASSERT(((int)pos + (int)len + ((int)copylen - 1)) >= 0); + NK_ASSERT(((int)pos + ((int)copylen - 1)) >= 0); + dst = nk_ptr_add(char, s->buffer.memory.ptr, pos + len + (copylen - 1)); + src = nk_ptr_add(char, s->buffer.memory.ptr, pos + (copylen-1)); + for (i = 0; i < copylen; ++i) *dst-- = *src--; + mem = nk_ptr_add(void, s->buffer.memory.ptr, pos); + NK_MEMCPY(mem, str, (nk_size)len * sizeof(char)); + s->len = nk_utf_len((char *)s->buffer.memory.ptr, (int)s->buffer.allocated); + return 1; +} +NK_API int +nk_str_insert_at_rune(struct nk_str *str, int pos, const char *cstr, int len) +{ + int glyph_len; + nk_rune unicode; + const char *begin; + const char *buffer; + + NK_ASSERT(str); + NK_ASSERT(cstr); + NK_ASSERT(len); + if (!str || !cstr || !len) return 0; + begin = nk_str_at_rune(str, pos, &unicode, &glyph_len); + if (!str->len) + return nk_str_append_text_char(str, cstr, len); + buffer = nk_str_get_const(str); + if (!begin) return 0; + return nk_str_insert_at_char(str, (int)(begin - buffer), cstr, len); +} +NK_API int +nk_str_insert_text_char(struct nk_str *str, int pos, const char *text, int len) +{ + return nk_str_insert_text_utf8(str, pos, text, len); +} +NK_API int +nk_str_insert_str_char(struct nk_str *str, int pos, const char *text) +{ + return nk_str_insert_text_utf8(str, pos, text, nk_strlen(text)); +} +NK_API int +nk_str_insert_text_utf8(struct nk_str *str, int pos, const char *text, int len) +{ + int i = 0; + int byte_len = 0; + nk_rune unicode; + + NK_ASSERT(str); + NK_ASSERT(text); + if (!str || !text || !len) return 0; + for (i = 0; i < len; ++i) + byte_len += nk_utf_decode(text+byte_len, &unicode, 4); + nk_str_insert_at_rune(str, pos, text, byte_len); + return len; +} +NK_API int +nk_str_insert_str_utf8(struct nk_str *str, int pos, const char *text) +{ + int runes = 0; + int byte_len = 0; + int num_runes = 0; + int glyph_len = 0; + nk_rune unicode; + if (!str || !text) return 0; + + glyph_len = byte_len = nk_utf_decode(text+byte_len, &unicode, 4); + while (unicode != '\0' && glyph_len) { + glyph_len = nk_utf_decode(text+byte_len, &unicode, 4); + byte_len += glyph_len; + num_runes++; + } + nk_str_insert_at_rune(str, pos, text, byte_len); + return runes; +} +NK_API int +nk_str_insert_text_runes(struct nk_str *str, int pos, const nk_rune *runes, int len) +{ + int i = 0; + int byte_len = 0; + nk_glyph glyph; + + NK_ASSERT(str); + if (!str || !runes || !len) return 0; + for (i = 0; i < len; ++i) { + byte_len = nk_utf_encode(runes[i], glyph, NK_UTF_SIZE); + if (!byte_len) break; + nk_str_insert_at_rune(str, pos+i, glyph, byte_len); + } + return len; +} +NK_API int +nk_str_insert_str_runes(struct nk_str *str, int pos, const nk_rune *runes) +{ + int i = 0; + nk_glyph glyph; + int byte_len; + NK_ASSERT(str); + if (!str || !runes) return 0; + while (runes[i] != '\0') { + byte_len = nk_utf_encode(runes[i], glyph, NK_UTF_SIZE); + nk_str_insert_at_rune(str, pos+i, glyph, byte_len); + i++; + } + return i; +} +NK_API void +nk_str_remove_chars(struct nk_str *s, int len) +{ + NK_ASSERT(s); + NK_ASSERT(len >= 0); + if (!s || len < 0 || (nk_size)len > s->buffer.allocated) return; + NK_ASSERT(((int)s->buffer.allocated - (int)len) >= 0); + s->buffer.allocated -= (nk_size)len; + s->len = nk_utf_len((char *)s->buffer.memory.ptr, (int)s->buffer.allocated); +} +NK_API void +nk_str_remove_runes(struct nk_str *str, int len) +{ + int index; + const char *begin; + const char *end; + nk_rune unicode; + + NK_ASSERT(str); + NK_ASSERT(len >= 0); + if (!str || len < 0) return; + if (len >= str->len) { + str->len = 0; + return; + } + + index = str->len - len; + begin = nk_str_at_rune(str, index, &unicode, &len); + end = (const char*)str->buffer.memory.ptr + str->buffer.allocated; + nk_str_remove_chars(str, (int)(end-begin)+1); +} +NK_API void +nk_str_delete_chars(struct nk_str *s, int pos, int len) +{ + NK_ASSERT(s); + if (!s || !len || (nk_size)pos > s->buffer.allocated || + (nk_size)(pos + len) > s->buffer.allocated) return; + + if ((nk_size)(pos + len) < s->buffer.allocated) { + /* memmove */ + char *dst = nk_ptr_add(char, s->buffer.memory.ptr, pos); + char *src = nk_ptr_add(char, s->buffer.memory.ptr, pos + len); + NK_MEMCPY(dst, src, s->buffer.allocated - (nk_size)(pos + len)); + NK_ASSERT(((int)s->buffer.allocated - (int)len) >= 0); + s->buffer.allocated -= (nk_size)len; + } else nk_str_remove_chars(s, len); + s->len = nk_utf_len((char *)s->buffer.memory.ptr, (int)s->buffer.allocated); +} +NK_API void +nk_str_delete_runes(struct nk_str *s, int pos, int len) +{ + char *temp; + nk_rune unicode; + char *begin; + char *end; + int unused; + + NK_ASSERT(s); + NK_ASSERT(s->len >= pos + len); + if (s->len < pos + len) + len = NK_CLAMP(0, (s->len - pos), s->len); + if (!len) return; + + temp = (char *)s->buffer.memory.ptr; + begin = nk_str_at_rune(s, pos, &unicode, &unused); + if (!begin) return; + s->buffer.memory.ptr = begin; + end = nk_str_at_rune(s, len, &unicode, &unused); + s->buffer.memory.ptr = temp; + if (!end) return; + nk_str_delete_chars(s, (int)(begin - temp), (int)(end - begin)); +} +NK_API char* +nk_str_at_char(struct nk_str *s, int pos) +{ + NK_ASSERT(s); + if (!s || pos > (int)s->buffer.allocated) return 0; + return nk_ptr_add(char, s->buffer.memory.ptr, pos); +} +NK_API char* +nk_str_at_rune(struct nk_str *str, int pos, nk_rune *unicode, int *len) +{ + int i = 0; + int src_len = 0; + int glyph_len = 0; + char *text; + int text_len; + + NK_ASSERT(str); + NK_ASSERT(unicode); + NK_ASSERT(len); + + if (!str || !unicode || !len) return 0; + if (pos < 0) { + *unicode = 0; + *len = 0; + return 0; + } + + text = (char*)str->buffer.memory.ptr; + text_len = (int)str->buffer.allocated; + glyph_len = nk_utf_decode(text, unicode, text_len); + while (glyph_len) { + if (i == pos) { + *len = glyph_len; + break; + } + + i++; + src_len = src_len + glyph_len; + glyph_len = nk_utf_decode(text + src_len, unicode, text_len - src_len); + } + if (i != pos) return 0; + return text + src_len; +} +NK_API const char* +nk_str_at_char_const(const struct nk_str *s, int pos) +{ + NK_ASSERT(s); + if (!s || pos > (int)s->buffer.allocated) return 0; + return nk_ptr_add(char, s->buffer.memory.ptr, pos); +} +NK_API const char* +nk_str_at_const(const struct nk_str *str, int pos, nk_rune *unicode, int *len) +{ + int i = 0; + int src_len = 0; + int glyph_len = 0; + char *text; + int text_len; + + NK_ASSERT(str); + NK_ASSERT(unicode); + NK_ASSERT(len); + + if (!str || !unicode || !len) return 0; + if (pos < 0) { + *unicode = 0; + *len = 0; + return 0; + } + + text = (char*)str->buffer.memory.ptr; + text_len = (int)str->buffer.allocated; + glyph_len = nk_utf_decode(text, unicode, text_len); + while (glyph_len) { + if (i == pos) { + *len = glyph_len; + break; + } + + i++; + src_len = src_len + glyph_len; + glyph_len = nk_utf_decode(text + src_len, unicode, text_len - src_len); + } + if (i != pos) return 0; + return text + src_len; +} +NK_API nk_rune +nk_str_rune_at(const struct nk_str *str, int pos) +{ + int len; + nk_rune unicode = 0; + nk_str_at_const(str, pos, &unicode, &len); + return unicode; +} +NK_API char* +nk_str_get(struct nk_str *s) +{ + NK_ASSERT(s); + if (!s || !s->len || !s->buffer.allocated) return 0; + return (char*)s->buffer.memory.ptr; +} +NK_API const char* +nk_str_get_const(const struct nk_str *s) +{ + NK_ASSERT(s); + if (!s || !s->len || !s->buffer.allocated) return 0; + return (const char*)s->buffer.memory.ptr; +} +NK_API int +nk_str_len(struct nk_str *s) +{ + NK_ASSERT(s); + if (!s || !s->len || !s->buffer.allocated) return 0; + return s->len; +} +NK_API int +nk_str_len_char(struct nk_str *s) +{ + NK_ASSERT(s); + if (!s || !s->len || !s->buffer.allocated) return 0; + return (int)s->buffer.allocated; +} +NK_API void +nk_str_clear(struct nk_str *str) +{ + NK_ASSERT(str); + nk_buffer_clear(&str->buffer); + str->len = 0; +} +NK_API void +nk_str_free(struct nk_str *str) +{ + NK_ASSERT(str); + nk_buffer_free(&str->buffer); + str->len = 0; +} + + + + + +/* ============================================================== + * + * DRAW + * + * ===============================================================*/ +NK_LIB void +nk_command_buffer_init(struct nk_command_buffer *cb, + struct nk_buffer *b, enum nk_command_clipping clip) +{ + NK_ASSERT(cb); + NK_ASSERT(b); + if (!cb || !b) return; + cb->base = b; + cb->use_clipping = (int)clip; + cb->begin = b->allocated; + cb->end = b->allocated; + cb->last = b->allocated; +} +NK_LIB void +nk_command_buffer_reset(struct nk_command_buffer *b) +{ + NK_ASSERT(b); + if (!b) return; + b->begin = 0; + b->end = 0; + b->last = 0; + b->clip = nk_null_rect; +#ifdef NK_INCLUDE_COMMAND_USERDATA + b->userdata.ptr = 0; +#endif +} +NK_LIB void* +nk_command_buffer_push(struct nk_command_buffer* b, + enum nk_command_type t, nk_size size) +{ + NK_STORAGE const nk_size align = NK_ALIGNOF(struct nk_command); + struct nk_command *cmd; + nk_size alignment; + void *unaligned; + void *memory; + + NK_ASSERT(b); + NK_ASSERT(b->base); + if (!b) return 0; + cmd = (struct nk_command*)nk_buffer_alloc(b->base,NK_BUFFER_FRONT,size,align); + if (!cmd) return 0; + + /* make sure the offset to the next command is aligned */ + b->last = (nk_size)((nk_byte*)cmd - (nk_byte*)b->base->memory.ptr); + unaligned = (nk_byte*)cmd + size; + memory = NK_ALIGN_PTR(unaligned, align); + alignment = (nk_size)((nk_byte*)memory - (nk_byte*)unaligned); +#ifdef NK_ZERO_COMMAND_MEMORY + NK_MEMSET(cmd, 0, size + alignment); +#endif + + cmd->type = t; + cmd->next = b->base->allocated + alignment; +#ifdef NK_INCLUDE_COMMAND_USERDATA + cmd->userdata = b->userdata; +#endif + b->end = cmd->next; + return cmd; +} +NK_API void +nk_push_scissor(struct nk_command_buffer *b, struct nk_rect r) +{ + struct nk_command_scissor *cmd; + NK_ASSERT(b); + if (!b) return; + + b->clip.x = r.x; + b->clip.y = r.y; + b->clip.w = r.w; + b->clip.h = r.h; + cmd = (struct nk_command_scissor*) + nk_command_buffer_push(b, NK_COMMAND_SCISSOR, sizeof(*cmd)); + + if (!cmd) return; + cmd->x = (short)r.x; + cmd->y = (short)r.y; + cmd->w = (unsigned short)NK_MAX(0, r.w); + cmd->h = (unsigned short)NK_MAX(0, r.h); +} +NK_API void +nk_stroke_line(struct nk_command_buffer *b, float x0, float y0, + float x1, float y1, float line_thickness, struct nk_color c) +{ + struct nk_command_line *cmd; + NK_ASSERT(b); + if (!b || line_thickness <= 0) return; + cmd = (struct nk_command_line*) + nk_command_buffer_push(b, NK_COMMAND_LINE, sizeof(*cmd)); + if (!cmd) return; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->begin.x = (short)x0; + cmd->begin.y = (short)y0; + cmd->end.x = (short)x1; + cmd->end.y = (short)y1; + cmd->color = c; +} +NK_API void +nk_stroke_curve(struct nk_command_buffer *b, float ax, float ay, + float ctrl0x, float ctrl0y, float ctrl1x, float ctrl1y, + float bx, float by, float line_thickness, struct nk_color col) +{ + struct nk_command_curve *cmd; + NK_ASSERT(b); + if (!b || col.a == 0 || line_thickness <= 0) return; + + cmd = (struct nk_command_curve*) + nk_command_buffer_push(b, NK_COMMAND_CURVE, sizeof(*cmd)); + if (!cmd) return; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->begin.x = (short)ax; + cmd->begin.y = (short)ay; + cmd->ctrl[0].x = (short)ctrl0x; + cmd->ctrl[0].y = (short)ctrl0y; + cmd->ctrl[1].x = (short)ctrl1x; + cmd->ctrl[1].y = (short)ctrl1y; + cmd->end.x = (short)bx; + cmd->end.y = (short)by; + cmd->color = col; +} +NK_API void +nk_stroke_rect(struct nk_command_buffer *b, struct nk_rect rect, + float rounding, float line_thickness, struct nk_color c) +{ + struct nk_command_rect *cmd; + NK_ASSERT(b); + if (!b || c.a == 0 || rect.w == 0 || rect.h == 0 || line_thickness <= 0) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, + clip->x, clip->y, clip->w, clip->h)) return; + } + cmd = (struct nk_command_rect*) + nk_command_buffer_push(b, NK_COMMAND_RECT, sizeof(*cmd)); + if (!cmd) return; + cmd->rounding = (unsigned short)rounding; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->x = (short)rect.x; + cmd->y = (short)rect.y; + cmd->w = (unsigned short)NK_MAX(0, rect.w); + cmd->h = (unsigned short)NK_MAX(0, rect.h); + cmd->color = c; +} +NK_API void +nk_fill_rect(struct nk_command_buffer *b, struct nk_rect rect, + float rounding, struct nk_color c) +{ + struct nk_command_rect_filled *cmd; + NK_ASSERT(b); + if (!b || c.a == 0 || rect.w == 0 || rect.h == 0) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, + clip->x, clip->y, clip->w, clip->h)) return; + } + + cmd = (struct nk_command_rect_filled*) + nk_command_buffer_push(b, NK_COMMAND_RECT_FILLED, sizeof(*cmd)); + if (!cmd) return; + cmd->rounding = (unsigned short)rounding; + cmd->x = (short)rect.x; + cmd->y = (short)rect.y; + cmd->w = (unsigned short)NK_MAX(0, rect.w); + cmd->h = (unsigned short)NK_MAX(0, rect.h); + cmd->color = c; +} +NK_API void +nk_fill_rect_multi_color(struct nk_command_buffer *b, struct nk_rect rect, + struct nk_color left, struct nk_color top, struct nk_color right, + struct nk_color bottom) +{ + struct nk_command_rect_multi_color *cmd; + NK_ASSERT(b); + if (!b || rect.w == 0 || rect.h == 0) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, + clip->x, clip->y, clip->w, clip->h)) return; + } + + cmd = (struct nk_command_rect_multi_color*) + nk_command_buffer_push(b, NK_COMMAND_RECT_MULTI_COLOR, sizeof(*cmd)); + if (!cmd) return; + cmd->x = (short)rect.x; + cmd->y = (short)rect.y; + cmd->w = (unsigned short)NK_MAX(0, rect.w); + cmd->h = (unsigned short)NK_MAX(0, rect.h); + cmd->left = left; + cmd->top = top; + cmd->right = right; + cmd->bottom = bottom; +} +NK_API void +nk_stroke_circle(struct nk_command_buffer *b, struct nk_rect r, + float line_thickness, struct nk_color c) +{ + struct nk_command_circle *cmd; + if (!b || r.w == 0 || r.h == 0 || line_thickness <= 0) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INTERSECT(r.x, r.y, r.w, r.h, clip->x, clip->y, clip->w, clip->h)) + return; + } + + cmd = (struct nk_command_circle*) + nk_command_buffer_push(b, NK_COMMAND_CIRCLE, sizeof(*cmd)); + if (!cmd) return; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->x = (short)r.x; + cmd->y = (short)r.y; + cmd->w = (unsigned short)NK_MAX(r.w, 0); + cmd->h = (unsigned short)NK_MAX(r.h, 0); + cmd->color = c; +} +NK_API void +nk_fill_circle(struct nk_command_buffer *b, struct nk_rect r, struct nk_color c) +{ + struct nk_command_circle_filled *cmd; + NK_ASSERT(b); + if (!b || c.a == 0 || r.w == 0 || r.h == 0) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INTERSECT(r.x, r.y, r.w, r.h, clip->x, clip->y, clip->w, clip->h)) + return; + } + + cmd = (struct nk_command_circle_filled*) + nk_command_buffer_push(b, NK_COMMAND_CIRCLE_FILLED, sizeof(*cmd)); + if (!cmd) return; + cmd->x = (short)r.x; + cmd->y = (short)r.y; + cmd->w = (unsigned short)NK_MAX(r.w, 0); + cmd->h = (unsigned short)NK_MAX(r.h, 0); + cmd->color = c; +} +NK_API void +nk_stroke_arc(struct nk_command_buffer *b, float cx, float cy, float radius, + float a_min, float a_max, float line_thickness, struct nk_color c) +{ + struct nk_command_arc *cmd; + if (!b || c.a == 0 || line_thickness <= 0) return; + cmd = (struct nk_command_arc*) + nk_command_buffer_push(b, NK_COMMAND_ARC, sizeof(*cmd)); + if (!cmd) return; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->cx = (short)cx; + cmd->cy = (short)cy; + cmd->r = (unsigned short)radius; + cmd->a[0] = a_min; + cmd->a[1] = a_max; + cmd->color = c; +} +NK_API void +nk_fill_arc(struct nk_command_buffer *b, float cx, float cy, float radius, + float a_min, float a_max, struct nk_color c) +{ + struct nk_command_arc_filled *cmd; + NK_ASSERT(b); + if (!b || c.a == 0) return; + cmd = (struct nk_command_arc_filled*) + nk_command_buffer_push(b, NK_COMMAND_ARC_FILLED, sizeof(*cmd)); + if (!cmd) return; + cmd->cx = (short)cx; + cmd->cy = (short)cy; + cmd->r = (unsigned short)radius; + cmd->a[0] = a_min; + cmd->a[1] = a_max; + cmd->color = c; +} +NK_API void +nk_stroke_triangle(struct nk_command_buffer *b, float x0, float y0, float x1, + float y1, float x2, float y2, float line_thickness, struct nk_color c) +{ + struct nk_command_triangle *cmd; + NK_ASSERT(b); + if (!b || c.a == 0 || line_thickness <= 0) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INBOX(x0, y0, clip->x, clip->y, clip->w, clip->h) && + !NK_INBOX(x1, y1, clip->x, clip->y, clip->w, clip->h) && + !NK_INBOX(x2, y2, clip->x, clip->y, clip->w, clip->h)) + return; + } + + cmd = (struct nk_command_triangle*) + nk_command_buffer_push(b, NK_COMMAND_TRIANGLE, sizeof(*cmd)); + if (!cmd) return; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->a.x = (short)x0; + cmd->a.y = (short)y0; + cmd->b.x = (short)x1; + cmd->b.y = (short)y1; + cmd->c.x = (short)x2; + cmd->c.y = (short)y2; + cmd->color = c; +} +NK_API void +nk_fill_triangle(struct nk_command_buffer *b, float x0, float y0, float x1, + float y1, float x2, float y2, struct nk_color c) +{ + struct nk_command_triangle_filled *cmd; + NK_ASSERT(b); + if (!b || c.a == 0) return; + if (!b) return; + if (b->use_clipping) { + const struct nk_rect *clip = &b->clip; + if (!NK_INBOX(x0, y0, clip->x, clip->y, clip->w, clip->h) && + !NK_INBOX(x1, y1, clip->x, clip->y, clip->w, clip->h) && + !NK_INBOX(x2, y2, clip->x, clip->y, clip->w, clip->h)) + return; + } + + cmd = (struct nk_command_triangle_filled*) + nk_command_buffer_push(b, NK_COMMAND_TRIANGLE_FILLED, sizeof(*cmd)); + if (!cmd) return; + cmd->a.x = (short)x0; + cmd->a.y = (short)y0; + cmd->b.x = (short)x1; + cmd->b.y = (short)y1; + cmd->c.x = (short)x2; + cmd->c.y = (short)y2; + cmd->color = c; +} +NK_API void +nk_stroke_polygon(struct nk_command_buffer *b, float *points, int point_count, + float line_thickness, struct nk_color col) +{ + int i; + nk_size size = 0; + struct nk_command_polygon *cmd; + + NK_ASSERT(b); + if (!b || col.a == 0 || line_thickness <= 0) return; + size = sizeof(*cmd) + sizeof(short) * 2 * (nk_size)point_count; + cmd = (struct nk_command_polygon*) nk_command_buffer_push(b, NK_COMMAND_POLYGON, size); + if (!cmd) return; + cmd->color = col; + cmd->line_thickness = (unsigned short)line_thickness; + cmd->point_count = (unsigned short)point_count; + for (i = 0; i < point_count; ++i) { + cmd->points[i].x = (short)points[i*2]; + cmd->points[i].y = (short)points[i*2+1]; + } +} +NK_API void +nk_fill_polygon(struct nk_command_buffer *b, float *points, int point_count, + struct nk_color col) +{ + int i; + nk_size size = 0; + struct nk_command_polygon_filled *cmd; + + NK_ASSERT(b); + if (!b || col.a == 0) return; + size = sizeof(*cmd) + sizeof(short) * 2 * (nk_size)point_count; + cmd = (struct nk_command_polygon_filled*) + nk_command_buffer_push(b, NK_COMMAND_POLYGON_FILLED, size); + if (!cmd) return; + cmd->color = col; + cmd->point_count = (unsigned short)point_count; + for (i = 0; i < point_count; ++i) { + cmd->points[i].x = (short)points[i*2+0]; + cmd->points[i].y = (short)points[i*2+1]; + } +} +NK_API void +nk_stroke_polyline(struct nk_command_buffer *b, float *points, int point_count, + float line_thickness, struct nk_color col) +{ + int i; + nk_size size = 0; + struct nk_command_polyline *cmd; + + NK_ASSERT(b); + if (!b || col.a == 0 || line_thickness <= 0) return; + size = sizeof(*cmd) + sizeof(short) * 2 * (nk_size)point_count; + cmd = (struct nk_command_polyline*) nk_command_buffer_push(b, NK_COMMAND_POLYLINE, size); + if (!cmd) return; + cmd->color = col; + cmd->point_count = (unsigned short)point_count; + cmd->line_thickness = (unsigned short)line_thickness; + for (i = 0; i < point_count; ++i) { + cmd->points[i].x = (short)points[i*2]; + cmd->points[i].y = (short)points[i*2+1]; + } +} +NK_API void +nk_draw_image(struct nk_command_buffer *b, struct nk_rect r, + const struct nk_image *img, struct nk_color col) +{ + struct nk_command_image *cmd; + NK_ASSERT(b); + if (!b) return; + if (b->use_clipping) { + const struct nk_rect *c = &b->clip; + if (c->w == 0 || c->h == 0 || !NK_INTERSECT(r.x, r.y, r.w, r.h, c->x, c->y, c->w, c->h)) + return; + } + + cmd = (struct nk_command_image*) + nk_command_buffer_push(b, NK_COMMAND_IMAGE, sizeof(*cmd)); + if (!cmd) return; + cmd->x = (short)r.x; + cmd->y = (short)r.y; + cmd->w = (unsigned short)NK_MAX(0, r.w); + cmd->h = (unsigned short)NK_MAX(0, r.h); + cmd->img = *img; + cmd->col = col; +} +NK_API void +nk_draw_nine_slice(struct nk_command_buffer *b, struct nk_rect r, + const struct nk_nine_slice *slc, struct nk_color col) +{ + struct nk_image img; + const struct nk_image *slcimg = (const struct nk_image*)slc; + nk_ushort rgnX, rgnY, rgnW, rgnH; + rgnX = slcimg->region[0]; + rgnY = slcimg->region[1]; + rgnW = slcimg->region[2]; + rgnH = slcimg->region[3]; + + /* top-left */ + img.handle = slcimg->handle; + img.w = slcimg->w; + img.h = slcimg->h; + img.region[0] = rgnX; + img.region[1] = rgnY; + img.region[2] = slc->l; + img.region[3] = slc->t; + + nk_draw_image(b, + nk_rect(r.x, r.y, (float)slc->l, (float)slc->t), + &img, col); + +#define IMG_RGN(x, y, w, h) img.region[0] = (nk_ushort)(x); img.region[1] = (nk_ushort)(y); img.region[2] = (nk_ushort)(w); img.region[3] = (nk_ushort)(h); + + /* top-center */ + IMG_RGN(rgnX + slc->l, rgnY, rgnW - slc->l - slc->r, slc->t); + nk_draw_image(b, + nk_rect(r.x + (float)slc->l, r.y, (float)(r.w - slc->l - slc->r), (float)slc->t), + &img, col); + + /* top-right */ + IMG_RGN(rgnX + rgnW - slc->r, rgnY, slc->r, slc->t); + nk_draw_image(b, + nk_rect(r.x + r.w - (float)slc->r, r.y, (float)slc->r, (float)slc->t), + &img, col); + + /* center-left */ + IMG_RGN(rgnX, rgnY + slc->t, slc->l, rgnH - slc->t - slc->b); + nk_draw_image(b, + nk_rect(r.x, r.y + (float)slc->t, (float)slc->l, (float)(r.h - slc->t - slc->b)), + &img, col); + + /* center */ + IMG_RGN(rgnX + slc->l, rgnY + slc->t, rgnW - slc->l - slc->r, rgnH - slc->t - slc->b); + nk_draw_image(b, + nk_rect(r.x + (float)slc->l, r.y + (float)slc->t, (float)(r.w - slc->l - slc->r), (float)(r.h - slc->t - slc->b)), + &img, col); + + /* center-right */ + IMG_RGN(rgnX + rgnW - slc->r, rgnY + slc->t, slc->r, rgnH - slc->t - slc->b); + nk_draw_image(b, + nk_rect(r.x + r.w - (float)slc->r, r.y + (float)slc->t, (float)slc->r, (float)(r.h - slc->t - slc->b)), + &img, col); + + /* bottom-left */ + IMG_RGN(rgnX, rgnY + rgnH - slc->b, slc->l, slc->b); + nk_draw_image(b, + nk_rect(r.x, r.y + r.h - (float)slc->b, (float)slc->l, (float)slc->b), + &img, col); + + /* bottom-center */ + IMG_RGN(rgnX + slc->l, rgnY + rgnH - slc->b, rgnW - slc->l - slc->r, slc->b); + nk_draw_image(b, + nk_rect(r.x + (float)slc->l, r.y + r.h - (float)slc->b, (float)(r.w - slc->l - slc->r), (float)slc->b), + &img, col); + + /* bottom-right */ + IMG_RGN(rgnX + rgnW - slc->r, rgnY + rgnH - slc->b, slc->r, slc->b); + nk_draw_image(b, + nk_rect(r.x + r.w - (float)slc->r, r.y + r.h - (float)slc->b, (float)slc->r, (float)slc->b), + &img, col); + +#undef IMG_RGN +} +NK_API void +nk_push_custom(struct nk_command_buffer *b, struct nk_rect r, + nk_command_custom_callback cb, nk_handle usr) +{ + struct nk_command_custom *cmd; + NK_ASSERT(b); + if (!b) return; + if (b->use_clipping) { + const struct nk_rect *c = &b->clip; + if (c->w == 0 || c->h == 0 || !NK_INTERSECT(r.x, r.y, r.w, r.h, c->x, c->y, c->w, c->h)) + return; + } + + cmd = (struct nk_command_custom*) + nk_command_buffer_push(b, NK_COMMAND_CUSTOM, sizeof(*cmd)); + if (!cmd) return; + cmd->x = (short)r.x; + cmd->y = (short)r.y; + cmd->w = (unsigned short)NK_MAX(0, r.w); + cmd->h = (unsigned short)NK_MAX(0, r.h); + cmd->callback_data = usr; + cmd->callback = cb; +} +NK_API void +nk_draw_text(struct nk_command_buffer *b, struct nk_rect r, + const char *string, int length, const struct nk_user_font *font, + struct nk_color bg, struct nk_color fg) +{ + float text_width = 0; + struct nk_command_text *cmd; + + NK_ASSERT(b); + NK_ASSERT(font); + if (!b || !string || !length || (bg.a == 0 && fg.a == 0)) return; + if (b->use_clipping) { + const struct nk_rect *c = &b->clip; + if (c->w == 0 || c->h == 0 || !NK_INTERSECT(r.x, r.y, r.w, r.h, c->x, c->y, c->w, c->h)) + return; + } + + /* make sure text fits inside bounds */ + text_width = font->width(font->userdata, font->height, string, length); + if (text_width > r.w){ + int glyphs = 0; + float txt_width = (float)text_width; + length = nk_text_clamp(font, string, length, r.w, &glyphs, &txt_width, 0,0); + } + + if (!length) return; + cmd = (struct nk_command_text*) + nk_command_buffer_push(b, NK_COMMAND_TEXT, sizeof(*cmd) + (nk_size)(length + 1)); + if (!cmd) return; + cmd->x = (short)r.x; + cmd->y = (short)r.y; + cmd->w = (unsigned short)r.w; + cmd->h = (unsigned short)r.h; + cmd->background = bg; + cmd->foreground = fg; + cmd->font = font; + cmd->length = length; + cmd->height = font->height; + NK_MEMCPY(cmd->string, string, (nk_size)length); + cmd->string[length] = '\0'; +} + + + + + +/* =============================================================== + * + * VERTEX + * + * ===============================================================*/ +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT +NK_API void +nk_draw_list_init(struct nk_draw_list *list) +{ + nk_size i = 0; + NK_ASSERT(list); + if (!list) return; + nk_zero(list, sizeof(*list)); + for (i = 0; i < NK_LEN(list->circle_vtx); ++i) { + const float a = ((float)i / (float)NK_LEN(list->circle_vtx)) * 2 * NK_PI; + list->circle_vtx[i].x = (float)NK_COS(a); + list->circle_vtx[i].y = (float)NK_SIN(a); + } +} +NK_API void +nk_draw_list_setup(struct nk_draw_list *canvas, const struct nk_convert_config *config, + struct nk_buffer *cmds, struct nk_buffer *vertices, struct nk_buffer *elements, + enum nk_anti_aliasing line_aa, enum nk_anti_aliasing shape_aa) +{ + NK_ASSERT(canvas); + NK_ASSERT(config); + NK_ASSERT(cmds); + NK_ASSERT(vertices); + NK_ASSERT(elements); + if (!canvas || !config || !cmds || !vertices || !elements) + return; + + canvas->buffer = cmds; + canvas->config = *config; + canvas->elements = elements; + canvas->vertices = vertices; + canvas->line_AA = line_aa; + canvas->shape_AA = shape_aa; + canvas->clip_rect = nk_null_rect; + + canvas->cmd_offset = 0; + canvas->element_count = 0; + canvas->vertex_count = 0; + canvas->cmd_offset = 0; + canvas->cmd_count = 0; + canvas->path_count = 0; +} +NK_API const struct nk_draw_command* +nk__draw_list_begin(const struct nk_draw_list *canvas, const struct nk_buffer *buffer) +{ + nk_byte *memory; + nk_size offset; + const struct nk_draw_command *cmd; + + NK_ASSERT(buffer); + if (!buffer || !buffer->size || !canvas->cmd_count) + return 0; + + memory = (nk_byte*)buffer->memory.ptr; + offset = buffer->memory.size - canvas->cmd_offset; + cmd = nk_ptr_add(const struct nk_draw_command, memory, offset); + return cmd; +} +NK_API const struct nk_draw_command* +nk__draw_list_end(const struct nk_draw_list *canvas, const struct nk_buffer *buffer) +{ + nk_size size; + nk_size offset; + nk_byte *memory; + const struct nk_draw_command *end; + + NK_ASSERT(buffer); + NK_ASSERT(canvas); + if (!buffer || !canvas) + return 0; + + memory = (nk_byte*)buffer->memory.ptr; + size = buffer->memory.size; + offset = size - canvas->cmd_offset; + end = nk_ptr_add(const struct nk_draw_command, memory, offset); + end -= (canvas->cmd_count-1); + return end; +} +NK_API const struct nk_draw_command* +nk__draw_list_next(const struct nk_draw_command *cmd, + const struct nk_buffer *buffer, const struct nk_draw_list *canvas) +{ + const struct nk_draw_command *end; + NK_ASSERT(buffer); + NK_ASSERT(canvas); + if (!cmd || !buffer || !canvas) + return 0; + + end = nk__draw_list_end(canvas, buffer); + if (cmd <= end) return 0; + return (cmd-1); +} +NK_INTERN struct nk_vec2* +nk_draw_list_alloc_path(struct nk_draw_list *list, int count) +{ + struct nk_vec2 *points; + NK_STORAGE const nk_size point_align = NK_ALIGNOF(struct nk_vec2); + NK_STORAGE const nk_size point_size = sizeof(struct nk_vec2); + points = (struct nk_vec2*) + nk_buffer_alloc(list->buffer, NK_BUFFER_FRONT, + point_size * (nk_size)count, point_align); + + if (!points) return 0; + if (!list->path_offset) { + void *memory = nk_buffer_memory(list->buffer); + list->path_offset = (unsigned int)((nk_byte*)points - (nk_byte*)memory); + } + list->path_count += (unsigned int)count; + return points; +} +NK_INTERN struct nk_vec2 +nk_draw_list_path_last(struct nk_draw_list *list) +{ + void *memory; + struct nk_vec2 *point; + NK_ASSERT(list->path_count); + memory = nk_buffer_memory(list->buffer); + point = nk_ptr_add(struct nk_vec2, memory, list->path_offset); + point += (list->path_count-1); + return *point; +} +NK_INTERN struct nk_draw_command* +nk_draw_list_push_command(struct nk_draw_list *list, struct nk_rect clip, + nk_handle texture) +{ + NK_STORAGE const nk_size cmd_align = NK_ALIGNOF(struct nk_draw_command); + NK_STORAGE const nk_size cmd_size = sizeof(struct nk_draw_command); + struct nk_draw_command *cmd; + + NK_ASSERT(list); + cmd = (struct nk_draw_command*) + nk_buffer_alloc(list->buffer, NK_BUFFER_BACK, cmd_size, cmd_align); + + if (!cmd) return 0; + if (!list->cmd_count) { + nk_byte *memory = (nk_byte*)nk_buffer_memory(list->buffer); + nk_size total = nk_buffer_total(list->buffer); + memory = nk_ptr_add(nk_byte, memory, total); + list->cmd_offset = (nk_size)(memory - (nk_byte*)cmd); + } + + cmd->elem_count = 0; + cmd->clip_rect = clip; + cmd->texture = texture; +#ifdef NK_INCLUDE_COMMAND_USERDATA + cmd->userdata = list->userdata; +#endif + + list->cmd_count++; + list->clip_rect = clip; + return cmd; +} +NK_INTERN struct nk_draw_command* +nk_draw_list_command_last(struct nk_draw_list *list) +{ + void *memory; + nk_size size; + struct nk_draw_command *cmd; + NK_ASSERT(list->cmd_count); + + memory = nk_buffer_memory(list->buffer); + size = nk_buffer_total(list->buffer); + cmd = nk_ptr_add(struct nk_draw_command, memory, size - list->cmd_offset); + return (cmd - (list->cmd_count-1)); +} +NK_INTERN void +nk_draw_list_add_clip(struct nk_draw_list *list, struct nk_rect rect) +{ + NK_ASSERT(list); + if (!list) return; + if (!list->cmd_count) { + nk_draw_list_push_command(list, rect, list->config.null.texture); + } else { + struct nk_draw_command *prev = nk_draw_list_command_last(list); + if (prev->elem_count == 0) + prev->clip_rect = rect; + nk_draw_list_push_command(list, rect, prev->texture); + } +} +NK_INTERN void +nk_draw_list_push_image(struct nk_draw_list *list, nk_handle texture) +{ + NK_ASSERT(list); + if (!list) return; + if (!list->cmd_count) { + nk_draw_list_push_command(list, nk_null_rect, texture); + } else { + struct nk_draw_command *prev = nk_draw_list_command_last(list); + if (prev->elem_count == 0) { + prev->texture = texture; + #ifdef NK_INCLUDE_COMMAND_USERDATA + prev->userdata = list->userdata; + #endif + } else if (prev->texture.id != texture.id + #ifdef NK_INCLUDE_COMMAND_USERDATA + || prev->userdata.id != list->userdata.id + #endif + ) nk_draw_list_push_command(list, prev->clip_rect, texture); + } +} +#ifdef NK_INCLUDE_COMMAND_USERDATA +NK_API void +nk_draw_list_push_userdata(struct nk_draw_list *list, nk_handle userdata) +{ + list->userdata = userdata; +} +#endif +NK_INTERN void* +nk_draw_list_alloc_vertices(struct nk_draw_list *list, nk_size count) +{ + void *vtx; + NK_ASSERT(list); + if (!list) return 0; + vtx = nk_buffer_alloc(list->vertices, NK_BUFFER_FRONT, + list->config.vertex_size*count, list->config.vertex_alignment); + if (!vtx) return 0; + list->vertex_count += (unsigned int)count; + + /* This assert triggers because your are drawing a lot of stuff and nuklear + * defined `nk_draw_index` as `nk_ushort` to safe space be default. + * + * So you reached the maximum number of indices or rather vertexes. + * To solve this issue please change typedef `nk_draw_index` to `nk_uint` + * and don't forget to specify the new element size in your drawing + * backend (OpenGL, DirectX, ...). For example in OpenGL for `glDrawElements` + * instead of specifying `GL_UNSIGNED_SHORT` you have to define `GL_UNSIGNED_INT`. + * Sorry for the inconvenience. */ + if(sizeof(nk_draw_index)==2) NK_ASSERT((list->vertex_count < NK_USHORT_MAX && + "To many vertices for 16-bit vertex indices. Please read comment above on how to solve this problem")); + return vtx; +} +NK_INTERN nk_draw_index* +nk_draw_list_alloc_elements(struct nk_draw_list *list, nk_size count) +{ + nk_draw_index *ids; + struct nk_draw_command *cmd; + NK_STORAGE const nk_size elem_align = NK_ALIGNOF(nk_draw_index); + NK_STORAGE const nk_size elem_size = sizeof(nk_draw_index); + NK_ASSERT(list); + if (!list) return 0; + + ids = (nk_draw_index*) + nk_buffer_alloc(list->elements, NK_BUFFER_FRONT, elem_size*count, elem_align); + if (!ids) return 0; + cmd = nk_draw_list_command_last(list); + list->element_count += (unsigned int)count; + cmd->elem_count += (unsigned int)count; + return ids; +} +NK_INTERN int +nk_draw_vertex_layout_element_is_end_of_layout( + const struct nk_draw_vertex_layout_element *element) +{ + return (element->attribute == NK_VERTEX_ATTRIBUTE_COUNT || + element->format == NK_FORMAT_COUNT); +} +NK_INTERN void +nk_draw_vertex_color(void *attr, const float *vals, + enum nk_draw_vertex_layout_format format) +{ + /* if this triggers you tried to provide a value format for a color */ + float val[4]; + NK_ASSERT(format >= NK_FORMAT_COLOR_BEGIN); + NK_ASSERT(format <= NK_FORMAT_COLOR_END); + if (format < NK_FORMAT_COLOR_BEGIN || format > NK_FORMAT_COLOR_END) return; + + val[0] = NK_SATURATE(vals[0]); + val[1] = NK_SATURATE(vals[1]); + val[2] = NK_SATURATE(vals[2]); + val[3] = NK_SATURATE(vals[3]); + + switch (format) { + default: NK_ASSERT(0 && "Invalid vertex layout color format"); break; + case NK_FORMAT_R8G8B8A8: + case NK_FORMAT_R8G8B8: { + struct nk_color col = nk_rgba_fv(val); + NK_MEMCPY(attr, &col.r, sizeof(col)); + } break; + case NK_FORMAT_B8G8R8A8: { + struct nk_color col = nk_rgba_fv(val); + struct nk_color bgra = nk_rgba(col.b, col.g, col.r, col.a); + NK_MEMCPY(attr, &bgra, sizeof(bgra)); + } break; + case NK_FORMAT_R16G15B16: { + nk_ushort col[3]; + col[0] = (nk_ushort)(val[0]*(float)NK_USHORT_MAX); + col[1] = (nk_ushort)(val[1]*(float)NK_USHORT_MAX); + col[2] = (nk_ushort)(val[2]*(float)NK_USHORT_MAX); + NK_MEMCPY(attr, col, sizeof(col)); + } break; + case NK_FORMAT_R16G15B16A16: { + nk_ushort col[4]; + col[0] = (nk_ushort)(val[0]*(float)NK_USHORT_MAX); + col[1] = (nk_ushort)(val[1]*(float)NK_USHORT_MAX); + col[2] = (nk_ushort)(val[2]*(float)NK_USHORT_MAX); + col[3] = (nk_ushort)(val[3]*(float)NK_USHORT_MAX); + NK_MEMCPY(attr, col, sizeof(col)); + } break; + case NK_FORMAT_R32G32B32: { + nk_uint col[3]; + col[0] = (nk_uint)(val[0]*(float)NK_UINT_MAX); + col[1] = (nk_uint)(val[1]*(float)NK_UINT_MAX); + col[2] = (nk_uint)(val[2]*(float)NK_UINT_MAX); + NK_MEMCPY(attr, col, sizeof(col)); + } break; + case NK_FORMAT_R32G32B32A32: { + nk_uint col[4]; + col[0] = (nk_uint)(val[0]*(float)NK_UINT_MAX); + col[1] = (nk_uint)(val[1]*(float)NK_UINT_MAX); + col[2] = (nk_uint)(val[2]*(float)NK_UINT_MAX); + col[3] = (nk_uint)(val[3]*(float)NK_UINT_MAX); + NK_MEMCPY(attr, col, sizeof(col)); + } break; + case NK_FORMAT_R32G32B32A32_FLOAT: + NK_MEMCPY(attr, val, sizeof(float)*4); + break; + case NK_FORMAT_R32G32B32A32_DOUBLE: { + double col[4]; + col[0] = (double)val[0]; + col[1] = (double)val[1]; + col[2] = (double)val[2]; + col[3] = (double)val[3]; + NK_MEMCPY(attr, col, sizeof(col)); + } break; + case NK_FORMAT_RGB32: + case NK_FORMAT_RGBA32: { + struct nk_color col = nk_rgba_fv(val); + nk_uint color = nk_color_u32(col); + NK_MEMCPY(attr, &color, sizeof(color)); + } break; } +} +NK_INTERN void +nk_draw_vertex_element(void *dst, const float *values, int value_count, + enum nk_draw_vertex_layout_format format) +{ + int value_index; + void *attribute = dst; + /* if this triggers you tried to provide a color format for a value */ + NK_ASSERT(format < NK_FORMAT_COLOR_BEGIN); + if (format >= NK_FORMAT_COLOR_BEGIN && format <= NK_FORMAT_COLOR_END) return; + for (value_index = 0; value_index < value_count; ++value_index) { + switch (format) { + default: NK_ASSERT(0 && "invalid vertex layout format"); break; + case NK_FORMAT_SCHAR: { + char value = (char)NK_CLAMP((float)NK_SCHAR_MIN, values[value_index], (float)NK_SCHAR_MAX); + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(char)); + } break; + case NK_FORMAT_SSHORT: { + nk_short value = (nk_short)NK_CLAMP((float)NK_SSHORT_MIN, values[value_index], (float)NK_SSHORT_MAX); + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(value)); + } break; + case NK_FORMAT_SINT: { + nk_int value = (nk_int)NK_CLAMP((float)NK_SINT_MIN, values[value_index], (float)NK_SINT_MAX); + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(nk_int)); + } break; + case NK_FORMAT_UCHAR: { + unsigned char value = (unsigned char)NK_CLAMP((float)NK_UCHAR_MIN, values[value_index], (float)NK_UCHAR_MAX); + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(unsigned char)); + } break; + case NK_FORMAT_USHORT: { + nk_ushort value = (nk_ushort)NK_CLAMP((float)NK_USHORT_MIN, values[value_index], (float)NK_USHORT_MAX); + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(value)); + } break; + case NK_FORMAT_UINT: { + nk_uint value = (nk_uint)NK_CLAMP((float)NK_UINT_MIN, values[value_index], (float)NK_UINT_MAX); + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(nk_uint)); + } break; + case NK_FORMAT_FLOAT: + NK_MEMCPY(attribute, &values[value_index], sizeof(values[value_index])); + attribute = (void*)((char*)attribute + sizeof(float)); + break; + case NK_FORMAT_DOUBLE: { + double value = (double)values[value_index]; + NK_MEMCPY(attribute, &value, sizeof(value)); + attribute = (void*)((char*)attribute + sizeof(double)); + } break; + } + } +} +NK_INTERN void* +nk_draw_vertex(void *dst, const struct nk_convert_config *config, + struct nk_vec2 pos, struct nk_vec2 uv, struct nk_colorf color) +{ + void *result = (void*)((char*)dst + config->vertex_size); + const struct nk_draw_vertex_layout_element *elem_iter = config->vertex_layout; + while (!nk_draw_vertex_layout_element_is_end_of_layout(elem_iter)) { + void *address = (void*)((char*)dst + elem_iter->offset); + switch (elem_iter->attribute) { + case NK_VERTEX_ATTRIBUTE_COUNT: + default: NK_ASSERT(0 && "wrong element attribute"); break; + case NK_VERTEX_POSITION: nk_draw_vertex_element(address, &pos.x, 2, elem_iter->format); break; + case NK_VERTEX_TEXCOORD: nk_draw_vertex_element(address, &uv.x, 2, elem_iter->format); break; + case NK_VERTEX_COLOR: nk_draw_vertex_color(address, &color.r, elem_iter->format); break; + } + elem_iter++; + } + return result; +} +NK_API void +nk_draw_list_stroke_poly_line(struct nk_draw_list *list, const struct nk_vec2 *points, + const unsigned int points_count, struct nk_color color, enum nk_draw_list_stroke closed, + float thickness, enum nk_anti_aliasing aliasing) +{ + nk_size count; + int thick_line; + struct nk_colorf col; + struct nk_colorf col_trans; + NK_ASSERT(list); + if (!list || points_count < 2) return; + + color.a = (nk_byte)((float)color.a * list->config.global_alpha); + count = points_count; + if (!closed) count = points_count-1; + thick_line = thickness > 1.0f; + +#ifdef NK_INCLUDE_COMMAND_USERDATA + nk_draw_list_push_userdata(list, list->userdata); +#endif + + color.a = (nk_byte)((float)color.a * list->config.global_alpha); + nk_color_fv(&col.r, color); + col_trans = col; + col_trans.a = 0; + + if (aliasing == NK_ANTI_ALIASING_ON) { + /* ANTI-ALIASED STROKE */ + const float AA_SIZE = 1.0f; + NK_STORAGE const nk_size pnt_align = NK_ALIGNOF(struct nk_vec2); + NK_STORAGE const nk_size pnt_size = sizeof(struct nk_vec2); + + /* allocate vertices and elements */ + nk_size i1 = 0; + nk_size vertex_offset; + nk_size index = list->vertex_count; + + const nk_size idx_count = (thick_line) ? (count * 18) : (count * 12); + const nk_size vtx_count = (thick_line) ? (points_count * 4): (points_count *3); + + void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); + nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); + + nk_size size; + struct nk_vec2 *normals, *temp; + if (!vtx || !ids) return; + + /* temporary allocate normals + points */ + vertex_offset = (nk_size)((nk_byte*)vtx - (nk_byte*)list->vertices->memory.ptr); + nk_buffer_mark(list->vertices, NK_BUFFER_FRONT); + size = pnt_size * ((thick_line) ? 5 : 3) * points_count; + normals = (struct nk_vec2*) nk_buffer_alloc(list->vertices, NK_BUFFER_FRONT, size, pnt_align); + if (!normals) return; + temp = normals + points_count; + + /* make sure vertex pointer is still correct */ + vtx = (void*)((nk_byte*)list->vertices->memory.ptr + vertex_offset); + + /* calculate normals */ + for (i1 = 0; i1 < count; ++i1) { + const nk_size i2 = ((i1 + 1) == points_count) ? 0 : (i1 + 1); + struct nk_vec2 diff = nk_vec2_sub(points[i2], points[i1]); + float len; + + /* vec2 inverted length */ + len = nk_vec2_len_sqr(diff); + if (len != 0.0f) + len = NK_INV_SQRT(len); + else len = 1.0f; + + diff = nk_vec2_muls(diff, len); + normals[i1].x = diff.y; + normals[i1].y = -diff.x; + } + + if (!closed) + normals[points_count-1] = normals[points_count-2]; + + if (!thick_line) { + nk_size idx1, i; + if (!closed) { + struct nk_vec2 d; + temp[0] = nk_vec2_add(points[0], nk_vec2_muls(normals[0], AA_SIZE)); + temp[1] = nk_vec2_sub(points[0], nk_vec2_muls(normals[0], AA_SIZE)); + d = nk_vec2_muls(normals[points_count-1], AA_SIZE); + temp[(points_count-1) * 2 + 0] = nk_vec2_add(points[points_count-1], d); + temp[(points_count-1) * 2 + 1] = nk_vec2_sub(points[points_count-1], d); + } + + /* fill elements */ + idx1 = index; + for (i1 = 0; i1 < count; i1++) { + struct nk_vec2 dm; + float dmr2; + nk_size i2 = ((i1 + 1) == points_count) ? 0 : (i1 + 1); + nk_size idx2 = ((i1+1) == points_count) ? index: (idx1 + 3); + + /* average normals */ + dm = nk_vec2_muls(nk_vec2_add(normals[i1], normals[i2]), 0.5f); + dmr2 = dm.x * dm.x + dm.y* dm.y; + if (dmr2 > 0.000001f) { + float scale = 1.0f/dmr2; + scale = NK_MIN(100.0f, scale); + dm = nk_vec2_muls(dm, scale); + } + + dm = nk_vec2_muls(dm, AA_SIZE); + temp[i2*2+0] = nk_vec2_add(points[i2], dm); + temp[i2*2+1] = nk_vec2_sub(points[i2], dm); + + ids[0] = (nk_draw_index)(idx2 + 0); ids[1] = (nk_draw_index)(idx1+0); + ids[2] = (nk_draw_index)(idx1 + 2); ids[3] = (nk_draw_index)(idx1+2); + ids[4] = (nk_draw_index)(idx2 + 2); ids[5] = (nk_draw_index)(idx2+0); + ids[6] = (nk_draw_index)(idx2 + 1); ids[7] = (nk_draw_index)(idx1+1); + ids[8] = (nk_draw_index)(idx1 + 0); ids[9] = (nk_draw_index)(idx1+0); + ids[10]= (nk_draw_index)(idx2 + 0); ids[11]= (nk_draw_index)(idx2+1); + ids += 12; + idx1 = idx2; + } + + /* fill vertices */ + for (i = 0; i < points_count; ++i) { + const struct nk_vec2 uv = list->config.null.uv; + vtx = nk_draw_vertex(vtx, &list->config, points[i], uv, col); + vtx = nk_draw_vertex(vtx, &list->config, temp[i*2+0], uv, col_trans); + vtx = nk_draw_vertex(vtx, &list->config, temp[i*2+1], uv, col_trans); + } + } else { + nk_size idx1, i; + const float half_inner_thickness = (thickness - AA_SIZE) * 0.5f; + if (!closed) { + struct nk_vec2 d1 = nk_vec2_muls(normals[0], half_inner_thickness + AA_SIZE); + struct nk_vec2 d2 = nk_vec2_muls(normals[0], half_inner_thickness); + + temp[0] = nk_vec2_add(points[0], d1); + temp[1] = nk_vec2_add(points[0], d2); + temp[2] = nk_vec2_sub(points[0], d2); + temp[3] = nk_vec2_sub(points[0], d1); + + d1 = nk_vec2_muls(normals[points_count-1], half_inner_thickness + AA_SIZE); + d2 = nk_vec2_muls(normals[points_count-1], half_inner_thickness); + + temp[(points_count-1)*4+0] = nk_vec2_add(points[points_count-1], d1); + temp[(points_count-1)*4+1] = nk_vec2_add(points[points_count-1], d2); + temp[(points_count-1)*4+2] = nk_vec2_sub(points[points_count-1], d2); + temp[(points_count-1)*4+3] = nk_vec2_sub(points[points_count-1], d1); + } + + /* add all elements */ + idx1 = index; + for (i1 = 0; i1 < count; ++i1) { + struct nk_vec2 dm_out, dm_in; + const nk_size i2 = ((i1+1) == points_count) ? 0: (i1 + 1); + nk_size idx2 = ((i1+1) == points_count) ? index: (idx1 + 4); + + /* average normals */ + struct nk_vec2 dm = nk_vec2_muls(nk_vec2_add(normals[i1], normals[i2]), 0.5f); + float dmr2 = dm.x * dm.x + dm.y* dm.y; + if (dmr2 > 0.000001f) { + float scale = 1.0f/dmr2; + scale = NK_MIN(100.0f, scale); + dm = nk_vec2_muls(dm, scale); + } + + dm_out = nk_vec2_muls(dm, ((half_inner_thickness) + AA_SIZE)); + dm_in = nk_vec2_muls(dm, half_inner_thickness); + temp[i2*4+0] = nk_vec2_add(points[i2], dm_out); + temp[i2*4+1] = nk_vec2_add(points[i2], dm_in); + temp[i2*4+2] = nk_vec2_sub(points[i2], dm_in); + temp[i2*4+3] = nk_vec2_sub(points[i2], dm_out); + + /* add indexes */ + ids[0] = (nk_draw_index)(idx2 + 1); ids[1] = (nk_draw_index)(idx1+1); + ids[2] = (nk_draw_index)(idx1 + 2); ids[3] = (nk_draw_index)(idx1+2); + ids[4] = (nk_draw_index)(idx2 + 2); ids[5] = (nk_draw_index)(idx2+1); + ids[6] = (nk_draw_index)(idx2 + 1); ids[7] = (nk_draw_index)(idx1+1); + ids[8] = (nk_draw_index)(idx1 + 0); ids[9] = (nk_draw_index)(idx1+0); + ids[10]= (nk_draw_index)(idx2 + 0); ids[11] = (nk_draw_index)(idx2+1); + ids[12]= (nk_draw_index)(idx2 + 2); ids[13] = (nk_draw_index)(idx1+2); + ids[14]= (nk_draw_index)(idx1 + 3); ids[15] = (nk_draw_index)(idx1+3); + ids[16]= (nk_draw_index)(idx2 + 3); ids[17] = (nk_draw_index)(idx2+2); + ids += 18; + idx1 = idx2; + } + + /* add vertices */ + for (i = 0; i < points_count; ++i) { + const struct nk_vec2 uv = list->config.null.uv; + vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+0], uv, col_trans); + vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+1], uv, col); + vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+2], uv, col); + vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+3], uv, col_trans); + } + } + /* free temporary normals + points */ + nk_buffer_reset(list->vertices, NK_BUFFER_FRONT); + } else { + /* NON ANTI-ALIASED STROKE */ + nk_size i1 = 0; + nk_size idx = list->vertex_count; + const nk_size idx_count = count * 6; + const nk_size vtx_count = count * 4; + void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); + nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); + if (!vtx || !ids) return; + + for (i1 = 0; i1 < count; ++i1) { + float dx, dy; + const struct nk_vec2 uv = list->config.null.uv; + const nk_size i2 = ((i1+1) == points_count) ? 0 : i1 + 1; + const struct nk_vec2 p1 = points[i1]; + const struct nk_vec2 p2 = points[i2]; + struct nk_vec2 diff = nk_vec2_sub(p2, p1); + float len; + + /* vec2 inverted length */ + len = nk_vec2_len_sqr(diff); + if (len != 0.0f) + len = NK_INV_SQRT(len); + else len = 1.0f; + diff = nk_vec2_muls(diff, len); + + /* add vertices */ + dx = diff.x * (thickness * 0.5f); + dy = diff.y * (thickness * 0.5f); + + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p1.x + dy, p1.y - dx), uv, col); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p2.x + dy, p2.y - dx), uv, col); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p2.x - dy, p2.y + dx), uv, col); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p1.x - dy, p1.y + dx), uv, col); + + ids[0] = (nk_draw_index)(idx+0); ids[1] = (nk_draw_index)(idx+1); + ids[2] = (nk_draw_index)(idx+2); ids[3] = (nk_draw_index)(idx+0); + ids[4] = (nk_draw_index)(idx+2); ids[5] = (nk_draw_index)(idx+3); + + ids += 6; + idx += 4; + } + } +} +NK_API void +nk_draw_list_fill_poly_convex(struct nk_draw_list *list, + const struct nk_vec2 *points, const unsigned int points_count, + struct nk_color color, enum nk_anti_aliasing aliasing) +{ + struct nk_colorf col; + struct nk_colorf col_trans; + + NK_STORAGE const nk_size pnt_align = NK_ALIGNOF(struct nk_vec2); + NK_STORAGE const nk_size pnt_size = sizeof(struct nk_vec2); + NK_ASSERT(list); + if (!list || points_count < 3) return; + +#ifdef NK_INCLUDE_COMMAND_USERDATA + nk_draw_list_push_userdata(list, list->userdata); +#endif + + color.a = (nk_byte)((float)color.a * list->config.global_alpha); + nk_color_fv(&col.r, color); + col_trans = col; + col_trans.a = 0; + + if (aliasing == NK_ANTI_ALIASING_ON) { + nk_size i = 0; + nk_size i0 = 0; + nk_size i1 = 0; + + const float AA_SIZE = 1.0f; + nk_size vertex_offset = 0; + nk_size index = list->vertex_count; + + const nk_size idx_count = (points_count-2)*3 + points_count*6; + const nk_size vtx_count = (points_count*2); + + void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); + nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); + + nk_size size = 0; + struct nk_vec2 *normals = 0; + unsigned int vtx_inner_idx = (unsigned int)(index + 0); + unsigned int vtx_outer_idx = (unsigned int)(index + 1); + if (!vtx || !ids) return; + + /* temporary allocate normals */ + vertex_offset = (nk_size)((nk_byte*)vtx - (nk_byte*)list->vertices->memory.ptr); + nk_buffer_mark(list->vertices, NK_BUFFER_FRONT); + size = pnt_size * points_count; + normals = (struct nk_vec2*) nk_buffer_alloc(list->vertices, NK_BUFFER_FRONT, size, pnt_align); + if (!normals) return; + vtx = (void*)((nk_byte*)list->vertices->memory.ptr + vertex_offset); + + /* add elements */ + for (i = 2; i < points_count; i++) { + ids[0] = (nk_draw_index)(vtx_inner_idx); + ids[1] = (nk_draw_index)(vtx_inner_idx + ((i-1) << 1)); + ids[2] = (nk_draw_index)(vtx_inner_idx + (i << 1)); + ids += 3; + } + + /* compute normals */ + for (i0 = points_count-1, i1 = 0; i1 < points_count; i0 = i1++) { + struct nk_vec2 p0 = points[i0]; + struct nk_vec2 p1 = points[i1]; + struct nk_vec2 diff = nk_vec2_sub(p1, p0); + + /* vec2 inverted length */ + float len = nk_vec2_len_sqr(diff); + if (len != 0.0f) + len = NK_INV_SQRT(len); + else len = 1.0f; + diff = nk_vec2_muls(diff, len); + + normals[i0].x = diff.y; + normals[i0].y = -diff.x; + } + + /* add vertices + indexes */ + for (i0 = points_count-1, i1 = 0; i1 < points_count; i0 = i1++) { + const struct nk_vec2 uv = list->config.null.uv; + struct nk_vec2 n0 = normals[i0]; + struct nk_vec2 n1 = normals[i1]; + struct nk_vec2 dm = nk_vec2_muls(nk_vec2_add(n0, n1), 0.5f); + float dmr2 = dm.x*dm.x + dm.y*dm.y; + if (dmr2 > 0.000001f) { + float scale = 1.0f / dmr2; + scale = NK_MIN(scale, 100.0f); + dm = nk_vec2_muls(dm, scale); + } + dm = nk_vec2_muls(dm, AA_SIZE * 0.5f); + + /* add vertices */ + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2_sub(points[i1], dm), uv, col); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2_add(points[i1], dm), uv, col_trans); + + /* add indexes */ + ids[0] = (nk_draw_index)(vtx_inner_idx+(i1<<1)); + ids[1] = (nk_draw_index)(vtx_inner_idx+(i0<<1)); + ids[2] = (nk_draw_index)(vtx_outer_idx+(i0<<1)); + ids[3] = (nk_draw_index)(vtx_outer_idx+(i0<<1)); + ids[4] = (nk_draw_index)(vtx_outer_idx+(i1<<1)); + ids[5] = (nk_draw_index)(vtx_inner_idx+(i1<<1)); + ids += 6; + } + /* free temporary normals + points */ + nk_buffer_reset(list->vertices, NK_BUFFER_FRONT); + } else { + nk_size i = 0; + nk_size index = list->vertex_count; + const nk_size idx_count = (points_count-2)*3; + const nk_size vtx_count = points_count; + void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); + nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); + + if (!vtx || !ids) return; + for (i = 0; i < vtx_count; ++i) + vtx = nk_draw_vertex(vtx, &list->config, points[i], list->config.null.uv, col); + for (i = 2; i < points_count; ++i) { + ids[0] = (nk_draw_index)index; + ids[1] = (nk_draw_index)(index+ i - 1); + ids[2] = (nk_draw_index)(index+i); + ids += 3; + } + } +} +NK_API void +nk_draw_list_path_clear(struct nk_draw_list *list) +{ + NK_ASSERT(list); + if (!list) return; + nk_buffer_reset(list->buffer, NK_BUFFER_FRONT); + list->path_count = 0; + list->path_offset = 0; +} +NK_API void +nk_draw_list_path_line_to(struct nk_draw_list *list, struct nk_vec2 pos) +{ + struct nk_vec2 *points = 0; + struct nk_draw_command *cmd = 0; + NK_ASSERT(list); + if (!list) return; + if (!list->cmd_count) + nk_draw_list_add_clip(list, nk_null_rect); + + cmd = nk_draw_list_command_last(list); + if (cmd && cmd->texture.ptr != list->config.null.texture.ptr) + nk_draw_list_push_image(list, list->config.null.texture); + + points = nk_draw_list_alloc_path(list, 1); + if (!points) return; + points[0] = pos; +} +NK_API void +nk_draw_list_path_arc_to_fast(struct nk_draw_list *list, struct nk_vec2 center, + float radius, int a_min, int a_max) +{ + int a = 0; + NK_ASSERT(list); + if (!list) return; + if (a_min <= a_max) { + for (a = a_min; a <= a_max; a++) { + const struct nk_vec2 c = list->circle_vtx[(nk_size)a % NK_LEN(list->circle_vtx)]; + const float x = center.x + c.x * radius; + const float y = center.y + c.y * radius; + nk_draw_list_path_line_to(list, nk_vec2(x, y)); + } + } +} +NK_API void +nk_draw_list_path_arc_to(struct nk_draw_list *list, struct nk_vec2 center, + float radius, float a_min, float a_max, unsigned int segments) +{ + unsigned int i = 0; + NK_ASSERT(list); + if (!list) return; + if (radius == 0.0f) return; + + /* This algorithm for arc drawing relies on these two trigonometric identities[1]: + sin(a + b) = sin(a) * cos(b) + cos(a) * sin(b) + cos(a + b) = cos(a) * cos(b) - sin(a) * sin(b) + + Two coordinates (x, y) of a point on a circle centered on + the origin can be written in polar form as: + x = r * cos(a) + y = r * sin(a) + where r is the radius of the circle, + a is the angle between (x, y) and the origin. + + This allows us to rotate the coordinates around the + origin by an angle b using the following transformation: + x' = r * cos(a + b) = x * cos(b) - y * sin(b) + y' = r * sin(a + b) = y * cos(b) + x * sin(b) + + [1] https://en.wikipedia.org/wiki/List_of_trigonometric_identities#Angle_sum_and_difference_identities + */ + {const float d_angle = (a_max - a_min) / (float)segments; + const float sin_d = (float)NK_SIN(d_angle); + const float cos_d = (float)NK_COS(d_angle); + + float cx = (float)NK_COS(a_min) * radius; + float cy = (float)NK_SIN(a_min) * radius; + for(i = 0; i <= segments; ++i) { + float new_cx, new_cy; + const float x = center.x + cx; + const float y = center.y + cy; + nk_draw_list_path_line_to(list, nk_vec2(x, y)); + + new_cx = cx * cos_d - cy * sin_d; + new_cy = cy * cos_d + cx * sin_d; + cx = new_cx; + cy = new_cy; + }} +} +NK_API void +nk_draw_list_path_rect_to(struct nk_draw_list *list, struct nk_vec2 a, + struct nk_vec2 b, float rounding) +{ + float r; + NK_ASSERT(list); + if (!list) return; + r = rounding; + r = NK_MIN(r, ((b.x-a.x) < 0) ? -(b.x-a.x): (b.x-a.x)); + r = NK_MIN(r, ((b.y-a.y) < 0) ? -(b.y-a.y): (b.y-a.y)); + + if (r == 0.0f) { + nk_draw_list_path_line_to(list, a); + nk_draw_list_path_line_to(list, nk_vec2(b.x,a.y)); + nk_draw_list_path_line_to(list, b); + nk_draw_list_path_line_to(list, nk_vec2(a.x,b.y)); + } else { + nk_draw_list_path_arc_to_fast(list, nk_vec2(a.x + r, a.y + r), r, 6, 9); + nk_draw_list_path_arc_to_fast(list, nk_vec2(b.x - r, a.y + r), r, 9, 12); + nk_draw_list_path_arc_to_fast(list, nk_vec2(b.x - r, b.y - r), r, 0, 3); + nk_draw_list_path_arc_to_fast(list, nk_vec2(a.x + r, b.y - r), r, 3, 6); + } +} +NK_API void +nk_draw_list_path_curve_to(struct nk_draw_list *list, struct nk_vec2 p2, + struct nk_vec2 p3, struct nk_vec2 p4, unsigned int num_segments) +{ + float t_step; + unsigned int i_step; + struct nk_vec2 p1; + + NK_ASSERT(list); + NK_ASSERT(list->path_count); + if (!list || !list->path_count) return; + num_segments = NK_MAX(num_segments, 1); + + p1 = nk_draw_list_path_last(list); + t_step = 1.0f/(float)num_segments; + for (i_step = 1; i_step <= num_segments; ++i_step) { + float t = t_step * (float)i_step; + float u = 1.0f - t; + float w1 = u*u*u; + float w2 = 3*u*u*t; + float w3 = 3*u*t*t; + float w4 = t * t *t; + float x = w1 * p1.x + w2 * p2.x + w3 * p3.x + w4 * p4.x; + float y = w1 * p1.y + w2 * p2.y + w3 * p3.y + w4 * p4.y; + nk_draw_list_path_line_to(list, nk_vec2(x,y)); + } +} +NK_API void +nk_draw_list_path_fill(struct nk_draw_list *list, struct nk_color color) +{ + struct nk_vec2 *points; + NK_ASSERT(list); + if (!list) return; + points = (struct nk_vec2*)nk_buffer_memory(list->buffer); + nk_draw_list_fill_poly_convex(list, points, list->path_count, color, list->config.shape_AA); + nk_draw_list_path_clear(list); +} +NK_API void +nk_draw_list_path_stroke(struct nk_draw_list *list, struct nk_color color, + enum nk_draw_list_stroke closed, float thickness) +{ + struct nk_vec2 *points; + NK_ASSERT(list); + if (!list) return; + points = (struct nk_vec2*)nk_buffer_memory(list->buffer); + nk_draw_list_stroke_poly_line(list, points, list->path_count, color, + closed, thickness, list->config.line_AA); + nk_draw_list_path_clear(list); +} +NK_API void +nk_draw_list_stroke_line(struct nk_draw_list *list, struct nk_vec2 a, + struct nk_vec2 b, struct nk_color col, float thickness) +{ + NK_ASSERT(list); + if (!list || !col.a) return; + if (list->line_AA == NK_ANTI_ALIASING_ON) { + nk_draw_list_path_line_to(list, a); + nk_draw_list_path_line_to(list, b); + } else { + nk_draw_list_path_line_to(list, nk_vec2_sub(a,nk_vec2(0.5f,0.5f))); + nk_draw_list_path_line_to(list, nk_vec2_sub(b,nk_vec2(0.5f,0.5f))); + } + nk_draw_list_path_stroke(list, col, NK_STROKE_OPEN, thickness); +} +NK_API void +nk_draw_list_fill_rect(struct nk_draw_list *list, struct nk_rect rect, + struct nk_color col, float rounding) +{ + NK_ASSERT(list); + if (!list || !col.a) return; + + if (list->line_AA == NK_ANTI_ALIASING_ON) { + nk_draw_list_path_rect_to(list, nk_vec2(rect.x, rect.y), + nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); + } else { + nk_draw_list_path_rect_to(list, nk_vec2(rect.x-0.5f, rect.y-0.5f), + nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); + } nk_draw_list_path_fill(list, col); +} +NK_API void +nk_draw_list_stroke_rect(struct nk_draw_list *list, struct nk_rect rect, + struct nk_color col, float rounding, float thickness) +{ + NK_ASSERT(list); + if (!list || !col.a) return; + if (list->line_AA == NK_ANTI_ALIASING_ON) { + nk_draw_list_path_rect_to(list, nk_vec2(rect.x, rect.y), + nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); + } else { + nk_draw_list_path_rect_to(list, nk_vec2(rect.x-0.5f, rect.y-0.5f), + nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); + } nk_draw_list_path_stroke(list, col, NK_STROKE_CLOSED, thickness); +} +NK_API void +nk_draw_list_fill_rect_multi_color(struct nk_draw_list *list, struct nk_rect rect, + struct nk_color left, struct nk_color top, struct nk_color right, + struct nk_color bottom) +{ + void *vtx; + struct nk_colorf col_left, col_top; + struct nk_colorf col_right, col_bottom; + nk_draw_index *idx; + nk_draw_index index; + + nk_color_fv(&col_left.r, left); + nk_color_fv(&col_right.r, right); + nk_color_fv(&col_top.r, top); + nk_color_fv(&col_bottom.r, bottom); + + NK_ASSERT(list); + if (!list) return; + + nk_draw_list_push_image(list, list->config.null.texture); + index = (nk_draw_index)list->vertex_count; + vtx = nk_draw_list_alloc_vertices(list, 4); + idx = nk_draw_list_alloc_elements(list, 6); + if (!vtx || !idx) return; + + idx[0] = (nk_draw_index)(index+0); idx[1] = (nk_draw_index)(index+1); + idx[2] = (nk_draw_index)(index+2); idx[3] = (nk_draw_index)(index+0); + idx[4] = (nk_draw_index)(index+2); idx[5] = (nk_draw_index)(index+3); + + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x, rect.y), list->config.null.uv, col_left); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x + rect.w, rect.y), list->config.null.uv, col_top); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x + rect.w, rect.y + rect.h), list->config.null.uv, col_right); + vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x, rect.y + rect.h), list->config.null.uv, col_bottom); +} +NK_API void +nk_draw_list_fill_triangle(struct nk_draw_list *list, struct nk_vec2 a, + struct nk_vec2 b, struct nk_vec2 c, struct nk_color col) +{ + NK_ASSERT(list); + if (!list || !col.a) return; + nk_draw_list_path_line_to(list, a); + nk_draw_list_path_line_to(list, b); + nk_draw_list_path_line_to(list, c); + nk_draw_list_path_fill(list, col); +} +NK_API void +nk_draw_list_stroke_triangle(struct nk_draw_list *list, struct nk_vec2 a, + struct nk_vec2 b, struct nk_vec2 c, struct nk_color col, float thickness) +{ + NK_ASSERT(list); + if (!list || !col.a) return; + nk_draw_list_path_line_to(list, a); + nk_draw_list_path_line_to(list, b); + nk_draw_list_path_line_to(list, c); + nk_draw_list_path_stroke(list, col, NK_STROKE_CLOSED, thickness); +} +NK_API void +nk_draw_list_fill_circle(struct nk_draw_list *list, struct nk_vec2 center, + float radius, struct nk_color col, unsigned int segs) +{ + float a_max; + NK_ASSERT(list); + if (!list || !col.a) return; + a_max = NK_PI * 2.0f * ((float)segs - 1.0f) / (float)segs; + nk_draw_list_path_arc_to(list, center, radius, 0.0f, a_max, segs); + nk_draw_list_path_fill(list, col); +} +NK_API void +nk_draw_list_stroke_circle(struct nk_draw_list *list, struct nk_vec2 center, + float radius, struct nk_color col, unsigned int segs, float thickness) +{ + float a_max; + NK_ASSERT(list); + if (!list || !col.a) return; + a_max = NK_PI * 2.0f * ((float)segs - 1.0f) / (float)segs; + nk_draw_list_path_arc_to(list, center, radius, 0.0f, a_max, segs); + nk_draw_list_path_stroke(list, col, NK_STROKE_CLOSED, thickness); +} +NK_API void +nk_draw_list_stroke_curve(struct nk_draw_list *list, struct nk_vec2 p0, + struct nk_vec2 cp0, struct nk_vec2 cp1, struct nk_vec2 p1, + struct nk_color col, unsigned int segments, float thickness) +{ + NK_ASSERT(list); + if (!list || !col.a) return; + nk_draw_list_path_line_to(list, p0); + nk_draw_list_path_curve_to(list, cp0, cp1, p1, segments); + nk_draw_list_path_stroke(list, col, NK_STROKE_OPEN, thickness); +} +NK_INTERN void +nk_draw_list_push_rect_uv(struct nk_draw_list *list, struct nk_vec2 a, + struct nk_vec2 c, struct nk_vec2 uva, struct nk_vec2 uvc, + struct nk_color color) +{ + void *vtx; + struct nk_vec2 uvb; + struct nk_vec2 uvd; + struct nk_vec2 b; + struct nk_vec2 d; + + struct nk_colorf col; + nk_draw_index *idx; + nk_draw_index index; + NK_ASSERT(list); + if (!list) return; + + nk_color_fv(&col.r, color); + uvb = nk_vec2(uvc.x, uva.y); + uvd = nk_vec2(uva.x, uvc.y); + b = nk_vec2(c.x, a.y); + d = nk_vec2(a.x, c.y); + + index = (nk_draw_index)list->vertex_count; + vtx = nk_draw_list_alloc_vertices(list, 4); + idx = nk_draw_list_alloc_elements(list, 6); + if (!vtx || !idx) return; + + idx[0] = (nk_draw_index)(index+0); idx[1] = (nk_draw_index)(index+1); + idx[2] = (nk_draw_index)(index+2); idx[3] = (nk_draw_index)(index+0); + idx[4] = (nk_draw_index)(index+2); idx[5] = (nk_draw_index)(index+3); + + vtx = nk_draw_vertex(vtx, &list->config, a, uva, col); + vtx = nk_draw_vertex(vtx, &list->config, b, uvb, col); + vtx = nk_draw_vertex(vtx, &list->config, c, uvc, col); + vtx = nk_draw_vertex(vtx, &list->config, d, uvd, col); +} +NK_API void +nk_draw_list_add_image(struct nk_draw_list *list, struct nk_image texture, + struct nk_rect rect, struct nk_color color) +{ + NK_ASSERT(list); + if (!list) return; + /* push new command with given texture */ + nk_draw_list_push_image(list, texture.handle); + if (nk_image_is_subimage(&texture)) { + /* add region inside of the texture */ + struct nk_vec2 uv[2]; + uv[0].x = (float)texture.region[0]/(float)texture.w; + uv[0].y = (float)texture.region[1]/(float)texture.h; + uv[1].x = (float)(texture.region[0] + texture.region[2])/(float)texture.w; + uv[1].y = (float)(texture.region[1] + texture.region[3])/(float)texture.h; + nk_draw_list_push_rect_uv(list, nk_vec2(rect.x, rect.y), + nk_vec2(rect.x + rect.w, rect.y + rect.h), uv[0], uv[1], color); + } else nk_draw_list_push_rect_uv(list, nk_vec2(rect.x, rect.y), + nk_vec2(rect.x + rect.w, rect.y + rect.h), + nk_vec2(0.0f, 0.0f), nk_vec2(1.0f, 1.0f),color); +} +NK_API void +nk_draw_list_add_text(struct nk_draw_list *list, const struct nk_user_font *font, + struct nk_rect rect, const char *text, int len, float font_height, + struct nk_color fg) +{ + float x = 0; + int text_len = 0; + nk_rune unicode = 0; + nk_rune next = 0; + int glyph_len = 0; + int next_glyph_len = 0; + struct nk_user_font_glyph g; + + NK_ASSERT(list); + if (!list || !len || !text) return; + if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, + list->clip_rect.x, list->clip_rect.y, list->clip_rect.w, list->clip_rect.h)) return; + + nk_draw_list_push_image(list, font->texture); + x = rect.x; + glyph_len = nk_utf_decode(text, &unicode, len); + if (!glyph_len) return; + + /* draw every glyph image */ + fg.a = (nk_byte)((float)fg.a * list->config.global_alpha); + while (text_len < len && glyph_len) { + float gx, gy, gh, gw; + float char_width = 0; + if (unicode == NK_UTF_INVALID) break; + + /* query currently drawn glyph information */ + next_glyph_len = nk_utf_decode(text + text_len + glyph_len, &next, (int)len - text_len); + font->query(font->userdata, font_height, &g, unicode, + (next == NK_UTF_INVALID) ? '\0' : next); + + /* calculate and draw glyph drawing rectangle and image */ + gx = x + g.offset.x; + gy = rect.y + g.offset.y; + gw = g.width; gh = g.height; + char_width = g.xadvance; + nk_draw_list_push_rect_uv(list, nk_vec2(gx,gy), nk_vec2(gx + gw, gy+ gh), + g.uv[0], g.uv[1], fg); + + /* offset next glyph */ + text_len += glyph_len; + x += char_width; + glyph_len = next_glyph_len; + unicode = next; + } +} +NK_API nk_flags +nk_convert(struct nk_context *ctx, struct nk_buffer *cmds, + struct nk_buffer *vertices, struct nk_buffer *elements, + const struct nk_convert_config *config) +{ + nk_flags res = NK_CONVERT_SUCCESS; + const struct nk_command *cmd; + NK_ASSERT(ctx); + NK_ASSERT(cmds); + NK_ASSERT(vertices); + NK_ASSERT(elements); + NK_ASSERT(config); + NK_ASSERT(config->vertex_layout); + NK_ASSERT(config->vertex_size); + if (!ctx || !cmds || !vertices || !elements || !config || !config->vertex_layout) + return NK_CONVERT_INVALID_PARAM; + + nk_draw_list_setup(&ctx->draw_list, config, cmds, vertices, elements, + config->line_AA, config->shape_AA); + nk_foreach(cmd, ctx) + { +#ifdef NK_INCLUDE_COMMAND_USERDATA + ctx->draw_list.userdata = cmd->userdata; +#endif + switch (cmd->type) { + case NK_COMMAND_NOP: break; + case NK_COMMAND_SCISSOR: { + const struct nk_command_scissor *s = (const struct nk_command_scissor*)cmd; + nk_draw_list_add_clip(&ctx->draw_list, nk_rect(s->x, s->y, s->w, s->h)); + } break; + case NK_COMMAND_LINE: { + const struct nk_command_line *l = (const struct nk_command_line*)cmd; + nk_draw_list_stroke_line(&ctx->draw_list, nk_vec2(l->begin.x, l->begin.y), + nk_vec2(l->end.x, l->end.y), l->color, l->line_thickness); + } break; + case NK_COMMAND_CURVE: { + const struct nk_command_curve *q = (const struct nk_command_curve*)cmd; + nk_draw_list_stroke_curve(&ctx->draw_list, nk_vec2(q->begin.x, q->begin.y), + nk_vec2(q->ctrl[0].x, q->ctrl[0].y), nk_vec2(q->ctrl[1].x, + q->ctrl[1].y), nk_vec2(q->end.x, q->end.y), q->color, + config->curve_segment_count, q->line_thickness); + } break; + case NK_COMMAND_RECT: { + const struct nk_command_rect *r = (const struct nk_command_rect*)cmd; + nk_draw_list_stroke_rect(&ctx->draw_list, nk_rect(r->x, r->y, r->w, r->h), + r->color, (float)r->rounding, r->line_thickness); + } break; + case NK_COMMAND_RECT_FILLED: { + const struct nk_command_rect_filled *r = (const struct nk_command_rect_filled*)cmd; + nk_draw_list_fill_rect(&ctx->draw_list, nk_rect(r->x, r->y, r->w, r->h), + r->color, (float)r->rounding); + } break; + case NK_COMMAND_RECT_MULTI_COLOR: { + const struct nk_command_rect_multi_color *r = (const struct nk_command_rect_multi_color*)cmd; + nk_draw_list_fill_rect_multi_color(&ctx->draw_list, nk_rect(r->x, r->y, r->w, r->h), + r->left, r->top, r->right, r->bottom); + } break; + case NK_COMMAND_CIRCLE: { + const struct nk_command_circle *c = (const struct nk_command_circle*)cmd; + nk_draw_list_stroke_circle(&ctx->draw_list, nk_vec2((float)c->x + (float)c->w/2, + (float)c->y + (float)c->h/2), (float)c->w/2, c->color, + config->circle_segment_count, c->line_thickness); + } break; + case NK_COMMAND_CIRCLE_FILLED: { + const struct nk_command_circle_filled *c = (const struct nk_command_circle_filled *)cmd; + nk_draw_list_fill_circle(&ctx->draw_list, nk_vec2((float)c->x + (float)c->w/2, + (float)c->y + (float)c->h/2), (float)c->w/2, c->color, + config->circle_segment_count); + } break; + case NK_COMMAND_ARC: { + const struct nk_command_arc *c = (const struct nk_command_arc*)cmd; + nk_draw_list_path_line_to(&ctx->draw_list, nk_vec2(c->cx, c->cy)); + nk_draw_list_path_arc_to(&ctx->draw_list, nk_vec2(c->cx, c->cy), c->r, + c->a[0], c->a[1], config->arc_segment_count); + nk_draw_list_path_stroke(&ctx->draw_list, c->color, NK_STROKE_CLOSED, c->line_thickness); + } break; + case NK_COMMAND_ARC_FILLED: { + const struct nk_command_arc_filled *c = (const struct nk_command_arc_filled*)cmd; + nk_draw_list_path_line_to(&ctx->draw_list, nk_vec2(c->cx, c->cy)); + nk_draw_list_path_arc_to(&ctx->draw_list, nk_vec2(c->cx, c->cy), c->r, + c->a[0], c->a[1], config->arc_segment_count); + nk_draw_list_path_fill(&ctx->draw_list, c->color); + } break; + case NK_COMMAND_TRIANGLE: { + const struct nk_command_triangle *t = (const struct nk_command_triangle*)cmd; + nk_draw_list_stroke_triangle(&ctx->draw_list, nk_vec2(t->a.x, t->a.y), + nk_vec2(t->b.x, t->b.y), nk_vec2(t->c.x, t->c.y), t->color, + t->line_thickness); + } break; + case NK_COMMAND_TRIANGLE_FILLED: { + const struct nk_command_triangle_filled *t = (const struct nk_command_triangle_filled*)cmd; + nk_draw_list_fill_triangle(&ctx->draw_list, nk_vec2(t->a.x, t->a.y), + nk_vec2(t->b.x, t->b.y), nk_vec2(t->c.x, t->c.y), t->color); + } break; + case NK_COMMAND_POLYGON: { + int i; + const struct nk_command_polygon*p = (const struct nk_command_polygon*)cmd; + for (i = 0; i < p->point_count; ++i) { + struct nk_vec2 pnt = nk_vec2((float)p->points[i].x, (float)p->points[i].y); + nk_draw_list_path_line_to(&ctx->draw_list, pnt); + } + nk_draw_list_path_stroke(&ctx->draw_list, p->color, NK_STROKE_CLOSED, p->line_thickness); + } break; + case NK_COMMAND_POLYGON_FILLED: { + int i; + const struct nk_command_polygon_filled *p = (const struct nk_command_polygon_filled*)cmd; + for (i = 0; i < p->point_count; ++i) { + struct nk_vec2 pnt = nk_vec2((float)p->points[i].x, (float)p->points[i].y); + nk_draw_list_path_line_to(&ctx->draw_list, pnt); + } + nk_draw_list_path_fill(&ctx->draw_list, p->color); + } break; + case NK_COMMAND_POLYLINE: { + int i; + const struct nk_command_polyline *p = (const struct nk_command_polyline*)cmd; + for (i = 0; i < p->point_count; ++i) { + struct nk_vec2 pnt = nk_vec2((float)p->points[i].x, (float)p->points[i].y); + nk_draw_list_path_line_to(&ctx->draw_list, pnt); + } + nk_draw_list_path_stroke(&ctx->draw_list, p->color, NK_STROKE_OPEN, p->line_thickness); + } break; + case NK_COMMAND_TEXT: { + const struct nk_command_text *t = (const struct nk_command_text*)cmd; + nk_draw_list_add_text(&ctx->draw_list, t->font, nk_rect(t->x, t->y, t->w, t->h), + t->string, t->length, t->height, t->foreground); + } break; + case NK_COMMAND_IMAGE: { + const struct nk_command_image *i = (const struct nk_command_image*)cmd; + nk_draw_list_add_image(&ctx->draw_list, i->img, nk_rect(i->x, i->y, i->w, i->h), i->col); + } break; + case NK_COMMAND_CUSTOM: { + const struct nk_command_custom *c = (const struct nk_command_custom*)cmd; + c->callback(&ctx->draw_list, c->x, c->y, c->w, c->h, c->callback_data); + } break; + default: break; + } + } + res |= (cmds->needed > cmds->allocated + (cmds->memory.size - cmds->size)) ? NK_CONVERT_COMMAND_BUFFER_FULL: 0; + res |= (vertices->needed > vertices->allocated) ? NK_CONVERT_VERTEX_BUFFER_FULL: 0; + res |= (elements->needed > elements->allocated) ? NK_CONVERT_ELEMENT_BUFFER_FULL: 0; + return res; +} +NK_API const struct nk_draw_command* +nk__draw_begin(const struct nk_context *ctx, + const struct nk_buffer *buffer) +{ + return nk__draw_list_begin(&ctx->draw_list, buffer); +} +NK_API const struct nk_draw_command* +nk__draw_end(const struct nk_context *ctx, const struct nk_buffer *buffer) +{ + return nk__draw_list_end(&ctx->draw_list, buffer); +} +NK_API const struct nk_draw_command* +nk__draw_next(const struct nk_draw_command *cmd, + const struct nk_buffer *buffer, const struct nk_context *ctx) +{ + return nk__draw_list_next(cmd, buffer, &ctx->draw_list); +} +#endif + + +/* stb_rect_pack.h - v1.01 - public domain - rectangle packing */ +/* Sean Barrett 2014 */ +/* */ +/* Useful for e.g. packing rectangular textures into an atlas. */ +/* Does not do rotation. */ +/* */ +/* Before #including, */ +/* */ +/* #define STB_RECT_PACK_IMPLEMENTATION */ +/* */ +/* in the file that you want to have the implementation. */ +/* */ +/* Not necessarily the awesomest packing method, but better than */ +/* the totally naive one in stb_truetype (which is primarily what */ +/* this is meant to replace). */ +/* */ +/* Has only had a few tests run, may have issues. */ +/* */ +/* More docs to come. */ +/* */ +/* No memory allocations; uses qsort() and assert() from stdlib. */ +/* Can override those by defining STBRP_SORT and STBRP_ASSERT. */ +/* */ +/* This library currently uses the Skyline Bottom-Left algorithm. */ +/* */ +/* Please note: better rectangle packers are welcome! Please */ +/* implement them to the same API, but with a different init */ +/* function. */ +/* */ +/* Credits */ +/* */ +/* Library */ +/* Sean Barrett */ +/* Minor features */ +/* Martins Mozeiko */ +/* github:IntellectualKitty */ +/* */ +/* Bugfixes / warning fixes */ +/* Jeremy Jaussaud */ +/* Fabian Giesen */ +/* */ +/* Version history: */ +/* */ +/* 1.01 (2021-07-11) always use large rect mode, expose STBRP__MAXVAL in public section */ +/* 1.00 (2019-02-25) avoid small space waste; gracefully fail too-wide rectangles */ +/* 0.99 (2019-02-07) warning fixes */ +/* 0.11 (2017-03-03) return packing success/fail result */ +/* 0.10 (2016-10-25) remove cast-away-const to avoid warnings */ +/* 0.09 (2016-08-27) fix compiler warnings */ +/* 0.08 (2015-09-13) really fix bug with empty rects (w=0 or h=0) */ +/* 0.07 (2015-09-13) fix bug with empty rects (w=0 or h=0) */ +/* 0.06 (2015-04-15) added STBRP_SORT to allow replacing qsort */ +/* 0.05: added STBRP_ASSERT to allow replacing assert */ +/* 0.04: fixed minor bug in STBRP_LARGE_RECTS support */ +/* 0.01: initial release */ +/* */ +/* LICENSE */ +/* */ +/* See end of file for license information. */ + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* INCLUDE SECTION */ +/* */ + +#ifndef STB_INCLUDE_STB_RECT_PACK_H +#define STB_INCLUDE_STB_RECT_PACK_H + +#define STB_RECT_PACK_VERSION 1 + +#ifdef STBRP_STATIC +#define STBRP_DEF static +#else +#define STBRP_DEF extern +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct stbrp_context stbrp_context; +typedef struct stbrp_node stbrp_node; +typedef struct stbrp_rect stbrp_rect; + +typedef int stbrp_coord; + +#define STBRP__MAXVAL 0x7fffffff +/* Mostly for internal use, but this is the maximum supported coordinate value. */ + +STBRP_DEF int stbrp_pack_rects (stbrp_context *context, stbrp_rect *rects, int num_rects); +/* Assign packed locations to rectangles. The rectangles are of type */ +/* 'stbrp_rect' defined below, stored in the array 'rects', and there */ +/* are 'num_rects' many of them. */ +/* */ +/* Rectangles which are successfully packed have the 'was_packed' flag */ +/* set to a non-zero value and 'x' and 'y' store the minimum location */ +/* on each axis (i.e. bottom-left in cartesian coordinates, top-left */ +/* if you imagine y increasing downwards). Rectangles which do not fit */ +/* have the 'was_packed' flag set to 0. */ +/* */ +/* You should not try to access the 'rects' array from another thread */ +/* while this function is running, as the function temporarily reorders */ +/* the array while it executes. */ +/* */ +/* To pack into another rectangle, you need to call stbrp_init_target */ +/* again. To continue packing into the same rectangle, you can call */ +/* this function again. Calling this multiple times with multiple rect */ +/* arrays will probably produce worse packing results than calling it */ +/* a single time with the full rectangle array, but the option is */ +/* available. */ +/* */ +/* The function returns 1 if all of the rectangles were successfully */ +/* packed and 0 otherwise. */ + +struct stbrp_rect +{ + /* reserved for your use: */ + int id; + + /* input: */ + stbrp_coord w, h; + + /* output: */ + stbrp_coord x, y; + int was_packed; /* non-zero if valid packing */ + +}; /* 16 bytes, nominally */ + + +STBRP_DEF void stbrp_init_target (stbrp_context *context, int width, int height, stbrp_node *nodes, int num_nodes); +/* Initialize a rectangle packer to: */ +/* pack a rectangle that is 'width' by 'height' in dimensions */ +/* using temporary storage provided by the array 'nodes', which is 'num_nodes' long */ +/* */ +/* You must call this function every time you start packing into a new target. */ +/* */ +/* There is no "shutdown" function. The 'nodes' memory must stay valid for */ +/* the following stbrp_pack_rects() call (or calls), but can be freed after */ +/* the call (or calls) finish. */ +/* */ +/* Note: to guarantee best results, either: */ +/* 1. make sure 'num_nodes' >= 'width' */ +/* or 2. call stbrp_allow_out_of_mem() defined below with 'allow_out_of_mem = 1' */ +/* */ +/* If you don't do either of the above things, widths will be quantized to multiples */ +/* of small integers to guarantee the algorithm doesn't run out of temporary storage. */ +/* */ +/* If you do #2, then the non-quantized algorithm will be used, but the algorithm */ +/* may run out of temporary storage and be unable to pack some rectangles. */ + +STBRP_DEF void stbrp_setup_allow_out_of_mem (stbrp_context *context, int allow_out_of_mem); +/* Optionally call this function after init but before doing any packing to */ +/* change the handling of the out-of-temp-memory scenario, described above. */ +/* If you call init again, this will be reset to the default (false). */ + + +STBRP_DEF void stbrp_setup_heuristic (stbrp_context *context, int heuristic); +/* Optionally select which packing heuristic the library should use. Different */ +/* heuristics will produce better/worse results for different data sets. */ +/* If you call init again, this will be reset to the default. */ + +enum +{ + STBRP_HEURISTIC_Skyline_default=0, + STBRP_HEURISTIC_Skyline_BL_sortHeight = STBRP_HEURISTIC_Skyline_default, + STBRP_HEURISTIC_Skyline_BF_sortHeight +}; + + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* the details of the following structures don't matter to you, but they must */ +/* be visible so you can handle the memory allocations for them */ + +struct stbrp_node +{ + stbrp_coord x,y; + stbrp_node *next; +}; + +struct stbrp_context +{ + int width; + int height; + int align; + int init_mode; + int heuristic; + int num_nodes; + stbrp_node *active_head; + stbrp_node *free_head; + stbrp_node extra[2]; /* we allocate two extra nodes so optimal user-node-count is 'width' not 'width+2' */ +}; + +#ifdef __cplusplus +} +#endif + +#endif + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* IMPLEMENTATION SECTION */ +/* */ + +#ifdef STB_RECT_PACK_IMPLEMENTATION +#ifndef STBRP_SORT +#include +#define STBRP_SORT qsort +#endif + +#ifndef STBRP_ASSERT +#include +#define STBRP_ASSERT assert +#endif + +#ifdef _MSC_VER +#define STBRP__NOTUSED(v) (void)(v) +#define STBRP__CDECL __cdecl +#else +#define STBRP__NOTUSED(v) (void)sizeof(v) +#define STBRP__CDECL +#endif + +enum +{ + STBRP__INIT_skyline = 1 +}; + +STBRP_DEF void stbrp_setup_heuristic(stbrp_context *context, int heuristic) +{ + switch (context->init_mode) { + case STBRP__INIT_skyline: + STBRP_ASSERT(heuristic == STBRP_HEURISTIC_Skyline_BL_sortHeight || heuristic == STBRP_HEURISTIC_Skyline_BF_sortHeight); + context->heuristic = heuristic; + break; + default: + STBRP_ASSERT(0); + } +} + +STBRP_DEF void stbrp_setup_allow_out_of_mem(stbrp_context *context, int allow_out_of_mem) +{ + if (allow_out_of_mem) + /* if it's ok to run out of memory, then don't bother aligning them; */ + /* this gives better packing, but may fail due to OOM (even though */ + /* the rectangles easily fit). @TODO a smarter approach would be to only */ + /* quantize once we've hit OOM, then we could get rid of this parameter. */ + context->align = 1; + else { + /* if it's not ok to run out of memory, then quantize the widths */ + /* so that num_nodes is always enough nodes. */ + /* */ + /* I.e. num_nodes * align >= width */ + /* align >= width / num_nodes */ + /* align = ceil(width/num_nodes) */ + + context->align = (context->width + context->num_nodes-1) / context->num_nodes; + } +} + +STBRP_DEF void stbrp_init_target(stbrp_context *context, int width, int height, stbrp_node *nodes, int num_nodes) +{ + int i; + + for (i=0; i < num_nodes-1; ++i) + nodes[i].next = &nodes[i+1]; + nodes[i].next = NULL; + context->init_mode = STBRP__INIT_skyline; + context->heuristic = STBRP_HEURISTIC_Skyline_default; + context->free_head = &nodes[0]; + context->active_head = &context->extra[0]; + context->width = width; + context->height = height; + context->num_nodes = num_nodes; + stbrp_setup_allow_out_of_mem(context, 0); + + /* node 0 is the full width, node 1 is the sentinel (lets us not store width explicitly) */ + context->extra[0].x = 0; + context->extra[0].y = 0; + context->extra[0].next = &context->extra[1]; + context->extra[1].x = (stbrp_coord) width; + context->extra[1].y = (1<<30); + context->extra[1].next = NULL; +} + +/* find minimum y position if it starts at x1 */ +static int stbrp__skyline_find_min_y(stbrp_context *c, stbrp_node *first, int x0, int width, int *pwaste) +{ + stbrp_node *node = first; + int x1 = x0 + width; + int min_y, visited_width, waste_area; + + STBRP__NOTUSED(c); + + STBRP_ASSERT(first->x <= x0); + + #if 0 + /* skip in case we're past the node */ + while (node->next->x <= x0) + ++node; + #else + STBRP_ASSERT(node->next->x > x0); /* we ended up handling this in the caller for efficiency */ + #endif + + STBRP_ASSERT(node->x <= x0); + + min_y = 0; + waste_area = 0; + visited_width = 0; + while (node->x < x1) { + if (node->y > min_y) { + /* raise min_y higher. */ + /* we've accounted for all waste up to min_y, */ + /* but we'll now add more waste for everything we've visted */ + waste_area += visited_width * (node->y - min_y); + min_y = node->y; + /* the first time through, visited_width might be reduced */ + if (node->x < x0) + visited_width += node->next->x - x0; + else + visited_width += node->next->x - node->x; + } else { + /* add waste area */ + int under_width = node->next->x - node->x; + if (under_width + visited_width > width) + under_width = width - visited_width; + waste_area += under_width * (min_y - node->y); + visited_width += under_width; + } + node = node->next; + } + + *pwaste = waste_area; + return min_y; +} + +typedef struct +{ + int x,y; + stbrp_node **prev_link; +} stbrp__findresult; + +static stbrp__findresult stbrp__skyline_find_best_pos(stbrp_context *c, int width, int height) +{ + int best_waste = (1<<30), best_x, best_y = (1 << 30); + stbrp__findresult fr; + stbrp_node **prev, *node, *tail, **best = NULL; + + /* align to multiple of c->align */ + width = (width + c->align - 1); + width -= width % c->align; + STBRP_ASSERT(width % c->align == 0); + + /* if it can't possibly fit, bail immediately */ + if (width > c->width || height > c->height) { + fr.prev_link = NULL; + fr.x = fr.y = 0; + return fr; + } + + node = c->active_head; + prev = &c->active_head; + while (node->x + width <= c->width) { + int y,waste; + y = stbrp__skyline_find_min_y(c, node, node->x, width, &waste); + if (c->heuristic == STBRP_HEURISTIC_Skyline_BL_sortHeight) { /* actually just want to test BL */ + /* bottom left */ + if (y < best_y) { + best_y = y; + best = prev; + } + } else { + /* best-fit */ + if (y + height <= c->height) { + /* can only use it if it first vertically */ + if (y < best_y || (y == best_y && waste < best_waste)) { + best_y = y; + best_waste = waste; + best = prev; + } + } + } + prev = &node->next; + node = node->next; + } + + best_x = (best == NULL) ? 0 : (*best)->x; + + /* if doing best-fit (BF), we also have to try aligning right edge to each node position */ + /* */ + /* e.g, if fitting */ + /* */ + /* ____________________ */ + /* |____________________| */ + /* */ + /* into */ + /* */ + /* | | */ + /* | ____________| */ + /* |____________| */ + /* */ + /* then right-aligned reduces waste, but bottom-left BL is always chooses left-aligned */ + /* */ + /* This makes BF take about 2x the time */ + + if (c->heuristic == STBRP_HEURISTIC_Skyline_BF_sortHeight) { + tail = c->active_head; + node = c->active_head; + prev = &c->active_head; + /* find first node that's admissible */ + while (tail->x < width) + tail = tail->next; + while (tail) { + int xpos = tail->x - width; + int y,waste; + STBRP_ASSERT(xpos >= 0); + /* find the left position that matches this */ + while (node->next->x <= xpos) { + prev = &node->next; + node = node->next; + } + STBRP_ASSERT(node->next->x > xpos && node->x <= xpos); + y = stbrp__skyline_find_min_y(c, node, xpos, width, &waste); + if (y + height <= c->height) { + if (y <= best_y) { + if (y < best_y || waste < best_waste || (waste==best_waste && xpos < best_x)) { + best_x = xpos; + STBRP_ASSERT(y <= best_y); + best_y = y; + best_waste = waste; + best = prev; + } + } + } + tail = tail->next; + } + } + + fr.prev_link = best; + fr.x = best_x; + fr.y = best_y; + return fr; +} + +static stbrp__findresult stbrp__skyline_pack_rectangle(stbrp_context *context, int width, int height) +{ + /* find best position according to heuristic */ + stbrp__findresult res = stbrp__skyline_find_best_pos(context, width, height); + stbrp_node *node, *cur; + + /* bail if: */ + /* 1. it failed */ + /* 2. the best node doesn't fit (we don't always check this) */ + /* 3. we're out of memory */ + if (res.prev_link == NULL || res.y + height > context->height || context->free_head == NULL) { + res.prev_link = NULL; + return res; + } + + /* on success, create new node */ + node = context->free_head; + node->x = (stbrp_coord) res.x; + node->y = (stbrp_coord) (res.y + height); + + context->free_head = node->next; + + /* insert the new node into the right starting point, and */ + /* let 'cur' point to the remaining nodes needing to be */ + /* stiched back in */ + + cur = *res.prev_link; + if (cur->x < res.x) { + /* preserve the existing one, so start testing with the next one */ + stbrp_node *next = cur->next; + cur->next = node; + cur = next; + } else { + *res.prev_link = node; + } + + /* from here, traverse cur and free the nodes, until we get to one */ + /* that shouldn't be freed */ + while (cur->next && cur->next->x <= res.x + width) { + stbrp_node *next = cur->next; + /* move the current node to the free list */ + cur->next = context->free_head; + context->free_head = cur; + cur = next; + } + + /* stitch the list back in */ + node->next = cur; + + if (cur->x < res.x + width) + cur->x = (stbrp_coord) (res.x + width); + +#ifdef _DEBUG + cur = context->active_head; + while (cur->x < context->width) { + STBRP_ASSERT(cur->x < cur->next->x); + cur = cur->next; + } + STBRP_ASSERT(cur->next == NULL); + + { + int count=0; + cur = context->active_head; + while (cur) { + cur = cur->next; + ++count; + } + cur = context->free_head; + while (cur) { + cur = cur->next; + ++count; + } + STBRP_ASSERT(count == context->num_nodes+2); + } +#endif + + return res; +} + +static int STBRP__CDECL rect_height_compare(const void *a, const void *b) +{ + const stbrp_rect *p = (const stbrp_rect *) a; + const stbrp_rect *q = (const stbrp_rect *) b; + if (p->h > q->h) + return -1; + if (p->h < q->h) + return 1; + return (p->w > q->w) ? -1 : (p->w < q->w); +} + +static int STBRP__CDECL rect_original_order(const void *a, const void *b) +{ + const stbrp_rect *p = (const stbrp_rect *) a; + const stbrp_rect *q = (const stbrp_rect *) b; + return (p->was_packed < q->was_packed) ? -1 : (p->was_packed > q->was_packed); +} + +STBRP_DEF int stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int num_rects) +{ + int i, all_rects_packed = 1; + + /* we use the 'was_packed' field internally to allow sorting/unsorting */ + for (i=0; i < num_rects; ++i) { + rects[i].was_packed = i; + } + + /* sort according to heuristic */ + STBRP_SORT(rects, num_rects, sizeof(rects[0]), rect_height_compare); + + for (i=0; i < num_rects; ++i) { + if (rects[i].w == 0 || rects[i].h == 0) { + rects[i].x = rects[i].y = 0; /* empty rect needs no space */ + } else { + stbrp__findresult fr = stbrp__skyline_pack_rectangle(context, rects[i].w, rects[i].h); + if (fr.prev_link) { + rects[i].x = (stbrp_coord) fr.x; + rects[i].y = (stbrp_coord) fr.y; + } else { + rects[i].x = rects[i].y = STBRP__MAXVAL; + } + } + } + + /* unsort */ + STBRP_SORT(rects, num_rects, sizeof(rects[0]), rect_original_order); + + /* set was_packed flags and all_rects_packed status */ + for (i=0; i < num_rects; ++i) { + rects[i].was_packed = !(rects[i].x == STBRP__MAXVAL && rects[i].y == STBRP__MAXVAL); + if (!rects[i].was_packed) + all_rects_packed = 0; + } + + /* return the all_rects_packed status */ + return all_rects_packed; +} +#endif + +/* +------------------------------------------------------------------------------ +This software is available under 2 licenses -- choose whichever you prefer. +------------------------------------------------------------------------------ +ALTERNATIVE A - MIT License +Copyright (c) 2017 Sean Barrett +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +of the Software, and to permit persons to whom the Software is furnished to do +so, subject to the following conditions: +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +------------------------------------------------------------------------------ +ALTERNATIVE B - Public Domain (www.unlicense.org) +This is free and unencumbered software released into the public domain. +Anyone is free to copy, modify, publish, use, compile, sell, or distribute this +software, either in source code form or as a compiled binary, for any purpose, +commercial or non-commercial, and by any means. +In jurisdictions that recognize copyright laws, the author or authors of this +software dedicate any and all copyright interest in the software to the public +domain. We make this dedication for the benefit of the public at large and to +the detriment of our heirs and successors. We intend this dedication to be an +overt act of relinquishment in perpetuity of all present and future rights to +this software under copyright law. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN +ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +------------------------------------------------------------------------------ +*/ + +/* stb_truetype.h - v1.26 - public domain */ +/* authored from 2009-2021 by Sean Barrett / RAD Game Tools */ +/* */ +/* ======================================================================= */ +/* */ +/* NO SECURITY GUARANTEE -- DO NOT USE THIS ON UNTRUSTED FONT FILES */ +/* */ +/* This library does no range checking of the offsets found in the file, */ +/* meaning an attacker can use it to read arbitrary memory. */ +/* */ +/* ======================================================================= */ +/* */ +/* This library processes TrueType files: */ +/* parse files */ +/* extract glyph metrics */ +/* extract glyph shapes */ +/* render glyphs to one-channel bitmaps with antialiasing (box filter) */ +/* render glyphs to one-channel SDF bitmaps (signed-distance field/function) */ +/* */ +/* Todo: */ +/* non-MS cmaps */ +/* crashproof on bad data */ +/* hinting? (no longer patented) */ +/* cleartype-style AA? */ +/* optimize: use simple memory allocator for intermediates */ +/* optimize: build edge-list directly from curves */ +/* optimize: rasterize directly from curves? */ +/* */ +/* ADDITIONAL CONTRIBUTORS */ +/* */ +/* Mikko Mononen: compound shape support, more cmap formats */ +/* Tor Andersson: kerning, subpixel rendering */ +/* Dougall Johnson: OpenType / Type 2 font handling */ +/* Daniel Ribeiro Maciel: basic GPOS-based kerning */ +/* */ +/* Misc other: */ +/* Ryan Gordon */ +/* Simon Glass */ +/* github:IntellectualKitty */ +/* Imanol Celaya */ +/* Daniel Ribeiro Maciel */ +/* */ +/* Bug/warning reports/fixes: */ +/* "Zer" on mollyrocket Fabian "ryg" Giesen github:NiLuJe */ +/* Cass Everitt Martins Mozeiko github:aloucks */ +/* stoiko (Haemimont Games) Cap Petschulat github:oyvindjam */ +/* Brian Hook Omar Cornut github:vassvik */ +/* Walter van Niftrik Ryan Griege */ +/* David Gow Peter LaValle */ +/* David Given Sergey Popov */ +/* Ivan-Assen Ivanov Giumo X. Clanjor */ +/* Anthony Pesch Higor Euripedes */ +/* Johan Duparc Thomas Fields */ +/* Hou Qiming Derek Vinyard */ +/* Rob Loach Cort Stratton */ +/* Kenney Phillis Jr. Brian Costabile */ +/* Ken Voskuil (kaesve) */ +/* */ +/* VERSION HISTORY */ +/* */ +/* 1.26 (2021-08-28) fix broken rasterizer */ +/* 1.25 (2021-07-11) many fixes */ +/* 1.24 (2020-02-05) fix warning */ +/* 1.23 (2020-02-02) query SVG data for glyphs; query whole kerning table (but only kern not GPOS) */ +/* 1.22 (2019-08-11) minimize missing-glyph duplication; fix kerning if both 'GPOS' and 'kern' are defined */ +/* 1.21 (2019-02-25) fix warning */ +/* 1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics() */ +/* 1.19 (2018-02-11) GPOS kerning, STBTT_fmod */ +/* 1.18 (2018-01-29) add missing function */ +/* 1.17 (2017-07-23) make more arguments const; doc fix */ +/* 1.16 (2017-07-12) SDF support */ +/* 1.15 (2017-03-03) make more arguments const */ +/* 1.14 (2017-01-16) num-fonts-in-TTC function */ +/* 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts */ +/* 1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual */ +/* 1.11 (2016-04-02) fix unused-variable warning */ +/* 1.10 (2016-04-02) user-defined fabs(); rare memory leak; remove duplicate typedef */ +/* 1.09 (2016-01-16) warning fix; avoid crash on outofmem; use allocation userdata properly */ +/* 1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges */ +/* 1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints; */ +/* variant PackFontRanges to pack and render in separate phases; */ +/* fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?); */ +/* fixed an assert() bug in the new rasterizer */ +/* replace assert() with STBTT_assert() in new rasterizer */ +/* */ +/* Full history can be found at the end of this file. */ +/* */ +/* LICENSE */ +/* */ +/* See end of file for license information. */ +/* */ +/* USAGE */ +/* */ +/* Include this file in whatever places need to refer to it. In ONE C/C++ */ +/* file, write: */ +/* #define STB_TRUETYPE_IMPLEMENTATION */ +/* before the #include of this file. This expands out the actual */ +/* implementation into that C/C++ file. */ +/* */ +/* To make the implementation private to the file that generates the implementation, */ +/* #define STBTT_STATIC */ +/* */ +/* Simple 3D API (don't ship this, but it's fine for tools and quick start) */ +/* stbtt_BakeFontBitmap() -- bake a font to a bitmap for use as texture */ +/* stbtt_GetBakedQuad() -- compute quad to draw for a given char */ +/* */ +/* Improved 3D API (more shippable): */ +/* #include "stb_rect_pack.h" -- optional, but you really want it */ +/* stbtt_PackBegin() */ +/* stbtt_PackSetOversampling() -- for improved quality on small fonts */ +/* stbtt_PackFontRanges() -- pack and renders */ +/* stbtt_PackEnd() */ +/* stbtt_GetPackedQuad() */ +/* */ +/* "Load" a font file from a memory buffer (you have to keep the buffer loaded) */ +/* stbtt_InitFont() */ +/* stbtt_GetFontOffsetForIndex() -- indexing for TTC font collections */ +/* stbtt_GetNumberOfFonts() -- number of fonts for TTC font collections */ +/* */ +/* Render a unicode codepoint to a bitmap */ +/* stbtt_GetCodepointBitmap() -- allocates and returns a bitmap */ +/* stbtt_MakeCodepointBitmap() -- renders into bitmap you provide */ +/* stbtt_GetCodepointBitmapBox() -- how big the bitmap must be */ +/* */ +/* Character advance/positioning */ +/* stbtt_GetCodepointHMetrics() */ +/* stbtt_GetFontVMetrics() */ +/* stbtt_GetFontVMetricsOS2() */ +/* stbtt_GetCodepointKernAdvance() */ +/* */ +/* Starting with version 1.06, the rasterizer was replaced with a new, */ +/* faster and generally-more-precise rasterizer. The new rasterizer more */ +/* accurately measures pixel coverage for anti-aliasing, except in the case */ +/* where multiple shapes overlap, in which case it overestimates the AA pixel */ +/* coverage. Thus, anti-aliasing of intersecting shapes may look wrong. If */ +/* this turns out to be a problem, you can re-enable the old rasterizer with */ +/* #define STBTT_RASTERIZER_VERSION 1 */ +/* which will incur about a 15% speed hit. */ +/* */ +/* ADDITIONAL DOCUMENTATION */ +/* */ +/* Immediately after this block comment are a series of sample programs. */ +/* */ +/* After the sample programs is the "header file" section. This section */ +/* includes documentation for each API function. */ +/* */ +/* Some important concepts to understand to use this library: */ +/* */ +/* Codepoint */ +/* Characters are defined by unicode codepoints, e.g. 65 is */ +/* uppercase A, 231 is lowercase c with a cedilla, 0x7e30 is */ +/* the hiragana for "ma". */ +/* */ +/* Glyph */ +/* A visual character shape (every codepoint is rendered as */ +/* some glyph) */ +/* */ +/* Glyph index */ +/* A font-specific integer ID representing a glyph */ +/* */ +/* Baseline */ +/* Glyph shapes are defined relative to a baseline, which is the */ +/* bottom of uppercase characters. Characters extend both above */ +/* and below the baseline. */ +/* */ +/* Current Point */ +/* As you draw text to the screen, you keep track of a "current point" */ +/* which is the origin of each character. The current point's vertical */ +/* position is the baseline. Even "baked fonts" use this model. */ +/* */ +/* Vertical Font Metrics */ +/* The vertical qualities of the font, used to vertically position */ +/* and space the characters. See docs for stbtt_GetFontVMetrics. */ +/* */ +/* Font Size in Pixels or Points */ +/* The preferred interface for specifying font sizes in stb_truetype */ +/* is to specify how tall the font's vertical extent should be in pixels. */ +/* If that sounds good enough, skip the next paragraph. */ +/* */ +/* Most font APIs instead use "points", which are a common typographic */ +/* measurement for describing font size, defined as 72 points per inch. */ +/* stb_truetype provides a point API for compatibility. However, true */ +/* "per inch" conventions don't make much sense on computer displays */ +/* since different monitors have different number of pixels per */ +/* inch. For example, Windows traditionally uses a convention that */ +/* there are 96 pixels per inch, thus making 'inch' measurements have */ +/* nothing to do with inches, and thus effectively defining a point to */ +/* be 1.333 pixels. Additionally, the TrueType font data provides */ +/* an explicit scale factor to scale a given font's glyphs to points, */ +/* but the author has observed that this scale factor is often wrong */ +/* for non-commercial fonts, thus making fonts scaled in points */ +/* according to the TrueType spec incoherently sized in practice. */ +/* */ +/* DETAILED USAGE: */ +/* */ +/* Scale: */ +/* Select how high you want the font to be, in points or pixels. */ +/* Call ScaleForPixelHeight or ScaleForMappingEmToPixels to compute */ +/* a scale factor SF that will be used by all other functions. */ +/* */ +/* Baseline: */ +/* You need to select a y-coordinate that is the baseline of where */ +/* your text will appear. Call GetFontBoundingBox to get the baseline-relative */ +/* bounding box for all characters. SF*-y0 will be the distance in pixels */ +/* that the worst-case character could extend above the baseline, so if */ +/* you want the top edge of characters to appear at the top of the */ +/* screen where y=0, then you would set the baseline to SF*-y0. */ +/* */ +/* Current point: */ +/* Set the current point where the first character will appear. The */ +/* first character could extend left of the current point; this is font */ +/* dependent. You can either choose a current point that is the leftmost */ +/* point and hope, or add some padding, or check the bounding box or */ +/* left-side-bearing of the first character to be displayed and set */ +/* the current point based on that. */ +/* */ +/* Displaying a character: */ +/* Compute the bounding box of the character. It will contain signed values */ +/* relative to . I.e. if it returns x0,y0,x1,y1, */ +/* then the character should be displayed in the rectangle from */ +/* to = 32 && *text < 128) { + stbtt_aligned_quad q; + stbtt_GetBakedQuad(cdata, 512,512, *text-32, &x,&y,&q,1);/* 1=opengl & d3d10+,0=d3d9 */ + glTexCoord2f(q.s0,q.t0); glVertex2f(q.x0,q.y0); + glTexCoord2f(q.s1,q.t0); glVertex2f(q.x1,q.y0); + glTexCoord2f(q.s1,q.t1); glVertex2f(q.x1,q.y1); + glTexCoord2f(q.s0,q.t1); glVertex2f(q.x0,q.y1); + } + ++text; + } + glEnd(); +} +#endif +/* */ +/* */ +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* Complete program (this compiles): get a single bitmap, print as ASCII art */ +/* */ +#if 0 +#include +#define STB_TRUETYPE_IMPLEMENTATION /* force following include to generate implementation */ +#include "stb_truetype.h" + +char ttf_buffer[1<<25]; + +int main(int argc, char **argv) +{ + stbtt_fontinfo font; + unsigned char *bitmap; + int w,h,i,j,c = (argc > 1 ? atoi(argv[1]) : 'a'), s = (argc > 2 ? atoi(argv[2]) : 20); + + fread(ttf_buffer, 1, 1<<25, fopen(argc > 3 ? argv[3] : "c:/windows/fonts/arialbd.ttf", "rb")); + + stbtt_InitFont(&font, ttf_buffer, stbtt_GetFontOffsetForIndex(ttf_buffer,0)); + bitmap = stbtt_GetCodepointBitmap(&font, 0,stbtt_ScaleForPixelHeight(&font, s), c, &w, &h, 0,0); + + for (j=0; j < h; ++j) { + for (i=0; i < w; ++i) + putchar(" .:ioVM@"[bitmap[j*w+i]>>5]); + putchar('\n'); + } + return 0; +} +#endif +/* */ +/* Output: */ +/* */ +/* .ii. */ +/* @@@@@@. */ +/* V@Mio@@o */ +/* :i. V@V */ +/* :oM@@M */ +/* :@@@MM@M */ +/* @@o o@M */ +/* :@@. M@M */ +/* @@@o@@@@ */ +/* :M@@V:@@. */ +/* */ +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* Complete program: print "Hello World!" banner, with bugs */ +/* */ +#if 0 +char buffer[24<<20]; +unsigned char screen[20][79]; + +int main(int arg, char **argv) +{ + stbtt_fontinfo font; + int i,j,ascent,baseline,ch=0; + float scale, xpos=2; /* leave a little padding in case the character extends left */ + char *text = "Heljo World!"; /* intentionally misspelled to show 'lj' brokenness */ + + fread(buffer, 1, 1000000, fopen("c:/windows/fonts/arialbd.ttf", "rb")); + stbtt_InitFont(&font, buffer, 0); + + scale = stbtt_ScaleForPixelHeight(&font, 15); + stbtt_GetFontVMetrics(&font, &ascent,0,0); + baseline = (int) (ascent*scale); + + while (text[ch]) { + int advance,lsb,x0,y0,x1,y1; + float x_shift = xpos - (float) floor(xpos); + stbtt_GetCodepointHMetrics(&font, text[ch], &advance, &lsb); + stbtt_GetCodepointBitmapBoxSubpixel(&font, text[ch], scale,scale,x_shift,0, &x0,&y0,&x1,&y1); + stbtt_MakeCodepointBitmapSubpixel(&font, &screen[baseline + y0][(int) xpos + x0], x1-x0,y1-y0, 79, scale,scale,x_shift,0, text[ch]); + /* note that this stomps the old data, so where character boxes overlap (e.g. 'lj') it's wrong */ + /* because this API is really for baking character bitmaps into textures. if you want to render */ + /* a sequence of characters, you really need to render each bitmap to a temp buffer, then */ + /* "alpha blend" that into the working buffer */ + xpos += (advance * scale); + if (text[ch+1]) + xpos += scale*stbtt_GetCodepointKernAdvance(&font, text[ch],text[ch+1]); + ++ch; + } + + for (j=0; j < 20; ++j) { + for (i=0; i < 78; ++i) + putchar(" .:ioVM@"[screen[j][i]>>5]); + putchar('\n'); + } + + return 0; +} +#endif + + +/* //////////////////////////////////////////////////////////////////////////// */ +/* //////////////////////////////////////////////////////////////////////////// */ +/* // */ +/* // INTEGRATION WITH YOUR CODEBASE */ +/* // */ +/* // The following sections allow you to supply alternate definitions */ +/* // of C library functions used by stb_truetype, e.g. if you don't */ +/* // link with the C runtime library. */ + +#ifdef STB_TRUETYPE_IMPLEMENTATION + /* #define your own (u)stbtt_int8/16/32 before including to override this */ + #ifndef stbtt_uint8 + typedef unsigned char stbtt_uint8; + typedef signed char stbtt_int8; + typedef unsigned short stbtt_uint16; + typedef signed short stbtt_int16; + typedef unsigned int stbtt_uint32; + typedef signed int stbtt_int32; + #endif + + typedef char stbtt__check_size32[sizeof(stbtt_int32)==4 ? 1 : -1]; + typedef char stbtt__check_size16[sizeof(stbtt_int16)==2 ? 1 : -1]; + + /* e.g. #define your own STBTT_ifloor/STBTT_iceil() to avoid math.h */ + #ifndef STBTT_ifloor + #include + #define STBTT_ifloor(x) ((int) floor(x)) + #define STBTT_iceil(x) ((int) ceil(x)) + #endif + + #ifndef STBTT_sqrt + #include + #define STBTT_sqrt(x) sqrt(x) + #define STBTT_pow(x,y) pow(x,y) + #endif + + #ifndef STBTT_fmod + #include + #define STBTT_fmod(x,y) fmod(x,y) + #endif + + #ifndef STBTT_cos + #include + #define STBTT_cos(x) cos(x) + #define STBTT_acos(x) acos(x) + #endif + + #ifndef STBTT_fabs + #include + #define STBTT_fabs(x) fabs(x) + #endif + + /* #define your own functions "STBTT_malloc" / "STBTT_free" to avoid malloc.h */ + #ifndef STBTT_malloc + #include + #define STBTT_malloc(x,u) ((void)(u),malloc(x)) + #define STBTT_free(x,u) ((void)(u),free(x)) + #endif + + #ifndef STBTT_assert + #include + #define STBTT_assert(x) assert(x) + #endif + + #ifndef STBTT_strlen + #include + #define STBTT_strlen(x) strlen(x) + #endif + + #ifndef STBTT_memcpy + #include + #define STBTT_memcpy memcpy + #define STBTT_memset memset + #endif +#endif + +/* ///////////////////////////////////////////////////////////////////////////// */ +/* ///////////////////////////////////////////////////////////////////////////// */ +/* // */ +/* // INTERFACE */ +/* // */ +/* // */ + +#ifndef __STB_INCLUDE_STB_TRUETYPE_H__ +#define __STB_INCLUDE_STB_TRUETYPE_H__ + +#ifdef STBTT_STATIC +#define STBTT_DEF static +#else +#define STBTT_DEF extern +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/* private structure */ +typedef struct +{ + unsigned char *data; + int cursor; + int size; +} stbtt__buf; + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* TEXTURE BAKING API */ +/* */ +/* If you use this API, you only have to call two functions ever. */ +/* */ + +typedef struct +{ + unsigned short x0,y0,x1,y1; /* coordinates of bbox in bitmap */ + float xoff,yoff,xadvance; +} stbtt_bakedchar; + +STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset, /* font location (use offset=0 for plain .ttf) */ + float pixel_height, /* height of font in pixels */ + unsigned char *pixels, int pw, int ph, /* bitmap to be filled in */ + int first_char, int num_chars, /* characters to bake */ + stbtt_bakedchar *chardata); /* you allocate this, it's num_chars long */ +/* if return is positive, the first unused row of the bitmap */ +/* if return is negative, returns the negative of the number of characters that fit */ +/* if return is 0, no characters fit and no rows were used */ +/* This uses a very crappy packing. */ + +typedef struct +{ + float x0,y0,s0,t0; /* top-left */ + float x1,y1,s1,t1; /* bottom-right */ +} stbtt_aligned_quad; + +STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, /* same data as above */ + int char_index, /* character to display */ + float *xpos, float *ypos, /* pointers to current position in screen pixel space */ + stbtt_aligned_quad *q, /* output: quad to draw */ + int opengl_fillrule); /* true if opengl fill rule; false if DX9 or earlier */ +/* Call GetBakedQuad with char_index = 'character - first_char', and it */ +/* creates the quad you need to draw and advances the current position. */ +/* */ +/* The coordinate system used assumes y increases downwards. */ +/* */ +/* Characters will extend both above and below the current position; */ +/* see discussion of "BASELINE" above. */ +/* */ +/* It's inefficient; you might want to c&p it and optimize it. */ + +STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap); +/* Query the font vertical metrics without having to create a font first. */ + + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* NEW TEXTURE BAKING API */ +/* */ +/* This provides options for packing multiple fonts into one atlas, not */ +/* perfectly but better than nothing. */ + +typedef struct +{ + unsigned short x0,y0,x1,y1; /* coordinates of bbox in bitmap */ + float xoff,yoff,xadvance; + float xoff2,yoff2; +} stbtt_packedchar; + +typedef struct stbtt_pack_context stbtt_pack_context; +typedef struct stbtt_fontinfo stbtt_fontinfo; +#ifndef STB_RECT_PACK_VERSION +typedef struct stbrp_rect stbrp_rect; +#endif + +STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int width, int height, int stride_in_bytes, int padding, void *alloc_context); +/* Initializes a packing context stored in the passed-in stbtt_pack_context. */ +/* Future calls using this context will pack characters into the bitmap passed */ +/* in here: a 1-channel bitmap that is width * height. stride_in_bytes is */ +/* the distance from one row to the next (or 0 to mean they are packed tightly */ +/* together). "padding" is the amount of padding to leave between each */ +/* character (normally you want '1' for bitmaps you'll use as textures with */ +/* bilinear filtering). */ +/* */ +/* Returns 0 on failure, 1 on success. */ + +STBTT_DEF void stbtt_PackEnd (stbtt_pack_context *spc); +/* Cleans up the packing context and frees all memory. */ + +#define STBTT_POINT_SIZE(x) (-(x)) + +STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size, + int first_unicode_char_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range); +/* Creates character bitmaps from the font_index'th font found in fontdata (use */ +/* font_index=0 if you don't know what that is). It creates num_chars_in_range */ +/* bitmaps for characters with unicode values starting at first_unicode_char_in_range */ +/* and increasing. Data for how to render them is stored in chardata_for_range; */ +/* pass these to stbtt_GetPackedQuad to get back renderable quads. */ +/* */ +/* font_size is the full height of the character from ascender to descender, */ +/* as computed by stbtt_ScaleForPixelHeight. To use a point size as computed */ +/* by stbtt_ScaleForMappingEmToPixels, wrap the point size in STBTT_POINT_SIZE() */ +/* and pass that result as 'font_size': */ +/* ..., 20 , ... // font max minus min y is 20 pixels tall */ +/* ..., STBTT_POINT_SIZE(20), ... // 'M' is 20 pixels tall */ + +typedef struct +{ + float font_size; + int first_unicode_codepoint_in_range; /* if non-zero, then the chars are continuous, and this is the first codepoint */ + int *array_of_unicode_codepoints; /* if non-zero, then this is an array of unicode codepoints */ + int num_chars; + stbtt_packedchar *chardata_for_range; /* output */ + unsigned char h_oversample, v_oversample; /* don't set these, they're used internally */ +} stbtt_pack_range; + +STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges); +/* Creates character bitmaps from multiple ranges of characters stored in */ +/* ranges. This will usually create a better-packed bitmap than multiple */ +/* calls to stbtt_PackFontRange. Note that you can call this multiple */ +/* times within a single PackBegin/PackEnd. */ + +STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample); +/* Oversampling a font increases the quality by allowing higher-quality subpixel */ +/* positioning, and is especially valuable at smaller text sizes. */ +/* */ +/* This function sets the amount of oversampling for all following calls to */ +/* stbtt_PackFontRange(s) or stbtt_PackFontRangesGatherRects for a given */ +/* pack context. The default (no oversampling) is achieved by h_oversample=1 */ +/* and v_oversample=1. The total number of pixels required is */ +/* h_oversample*v_oversample larger than the default; for example, 2x2 */ +/* oversampling requires 4x the storage of 1x1. For best results, render */ +/* oversampled textures with bilinear filtering. Look at the readme in */ +/* stb/tests/oversample for information about oversampled fonts */ +/* */ +/* To use with PackFontRangesGather etc., you must set it before calls */ +/* call to PackFontRangesGatherRects. */ + +STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip); +/* If skip != 0, this tells stb_truetype to skip any codepoints for which */ +/* there is no corresponding glyph. If skip=0, which is the default, then */ +/* codepoints without a glyph recived the font's "missing character" glyph, */ +/* typically an empty box by convention. */ + +STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, /* same data as above */ + int char_index, /* character to display */ + float *xpos, float *ypos, /* pointers to current position in screen pixel space */ + stbtt_aligned_quad *q, /* output: quad to draw */ + int align_to_integer); + +STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects); +STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects); +STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects); +/* Calling these functions in sequence is roughly equivalent to calling */ +/* stbtt_PackFontRanges(). If you more control over the packing of multiple */ +/* fonts, or if you want to pack custom data into a font texture, take a look */ +/* at the source to of stbtt_PackFontRanges() and create a custom version */ +/* using these functions, e.g. call GatherRects multiple times, */ +/* building up a single array of rects, then call PackRects once, */ +/* then call RenderIntoRects repeatedly. This may result in a */ +/* better packing than calling PackFontRanges multiple times */ +/* (or it may not). */ + +/* this is an opaque structure that you shouldn't mess with which holds */ +/* all the context needed from PackBegin to PackEnd. */ +struct stbtt_pack_context { + void *user_allocator_context; + void *pack_info; + int width; + int height; + int stride_in_bytes; + int padding; + int skip_missing; + unsigned int h_oversample, v_oversample; + unsigned char *pixels; + void *nodes; +}; + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* FONT LOADING */ +/* */ +/* */ + +STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data); +/* This function will determine the number of fonts in a font file. TrueType */ +/* collection (.ttc) files may contain multiple fonts, while TrueType font */ +/* (.ttf) files only contain one font. The number of fonts can be used for */ +/* indexing with the previous function where the index is between zero and one */ +/* less than the total fonts. If an error occurs, -1 is returned. */ + +STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index); +/* Each .ttf/.ttc file may have more than one font. Each font has a sequential */ +/* index number starting from 0. Call this function to get the font offset for */ +/* a given index; it returns -1 if the index is out of range. A regular .ttf */ +/* file will only define one font and it always be at offset 0, so it will */ +/* return '0' for index 0, and -1 for all other indices. */ + +/* The following structure is defined publicly so you can declare one on */ +/* the stack or as a global or etc, but you should treat it as opaque. */ +struct stbtt_fontinfo +{ + void * userdata; + unsigned char * data; /* pointer to .ttf file */ + int fontstart; /* offset of start of font */ + + int numGlyphs; /* number of glyphs, needed for range checking */ + + int loca,head,glyf,hhea,hmtx,kern,gpos,svg; /* table locations as offset from start of .ttf */ + int index_map; /* a cmap mapping for our chosen character encoding */ + int indexToLocFormat; /* format needed to map from glyph index to glyph */ + + stbtt__buf cff; /* cff font data */ + stbtt__buf charstrings; /* the charstring index */ + stbtt__buf gsubrs; /* global charstring subroutines index */ + stbtt__buf subrs; /* private charstring subroutines index */ + stbtt__buf fontdicts; /* array of font dicts */ + stbtt__buf fdselect; /* map from glyph to fontdict */ +}; + +STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset); +/* Given an offset into the file that defines a font, this function builds */ +/* the necessary cached info for the rest of the system. You must allocate */ +/* the stbtt_fontinfo yourself, and stbtt_InitFont will fill it out. You don't */ +/* need to do anything special to free it, because the contents are pure */ +/* value data with no additional data structures. Returns 0 on failure. */ + + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* CHARACTER TO GLYPH-INDEX CONVERSIOn */ + +STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint); +/* If you're going to perform multiple operations on the same character */ +/* and you want a speed-up, call this function with the character you're */ +/* going to process, then use glyph-based functions instead of the */ +/* codepoint-based functions. */ +/* Returns 0 if the character codepoint is not defined in the font. */ + + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* CHARACTER PROPERTIES */ +/* */ + +STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float pixels); +/* computes a scale factor to produce a font whose "height" is 'pixels' tall. */ +/* Height is measured as the distance from the highest ascender to the lowest */ +/* descender; in other words, it's equivalent to calling stbtt_GetFontVMetrics */ +/* and computing: */ +/* scale = pixels / (ascent - descent) */ +/* so if you prefer to measure height by the ascent only, use a similar calculation. */ + +STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels); +/* computes a scale factor to produce a font whose EM size is mapped to */ +/* 'pixels' tall. This is probably what traditional APIs compute, but */ +/* I'm not positive. */ + +STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap); +/* ascent is the coordinate above the baseline the font extends; descent */ +/* is the coordinate below the baseline the font extends (i.e. it is typically negative) */ +/* lineGap is the spacing between one row's descent and the next row's ascent... */ +/* so you should advance the vertical position by "*ascent - *descent + *lineGap" */ +/* these are expressed in unscaled coordinates, so you must multiply by */ +/* the scale factor for a given size */ + +STBTT_DEF int stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap); +/* analogous to GetFontVMetrics, but returns the "typographic" values from the OS/2 */ +/* table (specific to MS/Windows TTF files). */ +/* */ +/* Returns 1 on success (table present), 0 on failure. */ + +STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1); +/* the bounding box around all possible characters */ + +STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing); +/* leftSideBearing is the offset from the current horizontal position to the left edge of the character */ +/* advanceWidth is the offset from the current horizontal position to the next horizontal position */ +/* these are expressed in unscaled coordinates */ + +STBTT_DEF int stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2); +/* an additional amount to add to the 'advance' value between ch1 and ch2 */ + +STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1); +/* Gets the bounding box of the visible part of the glyph, in unscaled coordinates */ + +STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing); +STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2); +STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1); +/* as above, but takes one or more glyph indices for greater efficiency */ + +typedef struct stbtt_kerningentry +{ + int glyph1; /* use stbtt_FindGlyphIndex */ + int glyph2; + int advance; +} stbtt_kerningentry; + +STBTT_DEF int stbtt_GetKerningTableLength(const stbtt_fontinfo *info); +STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length); +/* Retrieves a complete list of all of the kerning pairs provided by the font */ +/* stbtt_GetKerningTable never writes more than table_length entries and returns how many entries it did write. */ +/* The table will be sorted by (a.glyph1 == b.glyph1)?(a.glyph2 < b.glyph2):(a.glyph1 < b.glyph1) */ + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* GLYPH SHAPES (you probably don't need these, but they have to go before */ +/* the bitmaps for C declaration-order reasons) */ +/* */ + +#ifndef STBTT_vmove /* you can predefine these to use different values (but why?) */ + enum { + STBTT_vmove=1, + STBTT_vline, + STBTT_vcurve, + STBTT_vcubic + }; +#endif + +#ifndef stbtt_vertex /* you can predefine this to use different values */ + /* (we share this with other code at RAD) */ + #define stbtt_vertex_type short /* can't use stbtt_int16 because that's not visible in the header file */ + typedef struct + { + stbtt_vertex_type x,y,cx,cy,cx1,cy1; + unsigned char type,padding; + } stbtt_vertex; +#endif + +STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index); +/* returns non-zero if nothing is drawn for this glyph */ + +STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices); +STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **vertices); +/* returns # of vertices and fills *vertices with the pointer to them */ +/* these are expressed in "unscaled" coordinates */ +/* */ +/* The shape is a series of contours. Each one starts with */ +/* a STBTT_moveto, then consists of a series of mixed */ +/* STBTT_lineto and STBTT_curveto segments. A lineto */ +/* draws a line from previous endpoint to its x,y; a curveto */ +/* draws a quadratic bezier from previous endpoint to */ +/* its x,y, using cx,cy as the bezier control point. */ + +STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *vertices); +/* frees the data allocated above */ + +STBTT_DEF unsigned char *stbtt_FindSVGDoc(const stbtt_fontinfo *info, int gl); +STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg); +STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg); +/* fills svg with the character's SVG data. */ +/* returns data size or 0 if SVG not found. */ + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* BITMAP RENDERING */ +/* */ + +STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata); +/* frees the bitmap allocated below */ + +STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff); +/* allocates a large-enough single-channel 8bpp bitmap and renders the */ +/* specified character/glyph at the specified scale into it, with */ +/* antialiasing. 0 is no coverage (transparent), 255 is fully covered (opaque). */ +/* *width & *height are filled out with the width & height of the bitmap, */ +/* which is stored left-to-right, top-to-bottom. */ +/* */ +/* xoff/yoff are the offset it pixel space from the glyph origin to the top-left of the bitmap */ + +STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff); +/* the same as stbtt_GetCodepoitnBitmap, but you can specify a subpixel */ +/* shift for the character */ + +STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint); +/* the same as stbtt_GetCodepointBitmap, but you pass in storage for the bitmap */ +/* in the form of 'output', with row spacing of 'out_stride' bytes. the bitmap */ +/* is clipped to out_w/out_h bytes. Call stbtt_GetCodepointBitmapBox to get the */ +/* width and height and positioning info for it first. */ + +STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint); +/* same as stbtt_MakeCodepointBitmap, but you can specify a subpixel */ +/* shift for the character */ + +STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint); +/* same as stbtt_MakeCodepointBitmapSubpixel, but prefiltering */ +/* is performed (see stbtt_PackSetOversampling) */ + +STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1); +/* get the bbox of the bitmap centered around the glyph origin; so the */ +/* bitmap width is ix1-ix0, height is iy1-iy0, and location to place */ +/* the bitmap top left is (leftSideBearing*scale,iy0). */ +/* (Note that the bitmap uses y-increases-down, but the shape uses */ +/* y-increases-up, so CodepointBitmapBox and CodepointBox are inverted.) */ + +STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1); +/* same as stbtt_GetCodepointBitmapBox, but you can specify a subpixel */ +/* shift for the character */ + +/* the following functions are equivalent to the above functions, but operate */ +/* on glyph indices instead of Unicode codepoints (for efficiency) */ +STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff); +STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff); +STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph); +STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph); +STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int glyph); +STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1); +STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1); + + +/* @TODO: don't expose this structure */ +typedef struct +{ + int w,h,stride; + unsigned char *pixels; +} stbtt__bitmap; + +/* rasterize a shape with quadratic beziers into a bitmap */ +STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, /* 1-channel bitmap to draw into */ + float flatness_in_pixels, /* allowable error of curve in pixels */ + stbtt_vertex *vertices, /* array of vertices defining shape */ + int num_verts, /* number of vertices in above array */ + float scale_x, float scale_y, /* scale applied to input vertices */ + float shift_x, float shift_y, /* translation applied to input vertices */ + int x_off, int y_off, /* another translation applied to input */ + int invert, /* if non-zero, vertically flip shape */ + void *userdata); /* context for to STBTT_MALLOC */ + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* Signed Distance Function (or Field) rendering */ + +STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata); +/* frees the SDF bitmap allocated below */ + +STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff); +STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff); +/* These functions compute a discretized SDF field for a single character, suitable for storing */ +/* in a single-channel texture, sampling with bilinear filtering, and testing against */ +/* larger than some threshold to produce scalable fonts. */ +/* info -- the font */ +/* scale -- controls the size of the resulting SDF bitmap, same as it would be creating a regular bitmap */ +/* glyph/codepoint -- the character to generate the SDF for */ +/* padding -- extra "pixels" around the character which are filled with the distance to the character (not 0), */ +/* which allows effects like bit outlines */ +/* onedge_value -- value 0-255 to test the SDF against to reconstruct the character (i.e. the isocontour of the character) */ +/* pixel_dist_scale -- what value the SDF should increase by when moving one SDF "pixel" away from the edge (on the 0..255 scale) */ +/* if positive, > onedge_value is inside; if negative, < onedge_value is inside */ +/* width,height -- output height & width of the SDF bitmap (including padding) */ +/* xoff,yoff -- output origin of the character */ +/* return value -- a 2D array of bytes 0..255, width*height in size */ +/* */ +/* pixel_dist_scale & onedge_value are a scale & bias that allows you to make */ +/* optimal use of the limited 0..255 for your application, trading off precision */ +/* and special effects. SDF values outside the range 0..255 are clamped to 0..255. */ +/* */ +/* Example: */ +/* scale = stbtt_ScaleForPixelHeight(22) */ +/* padding = 5 */ +/* onedge_value = 180 */ +/* pixel_dist_scale = 180/5.0 = 36.0 */ +/* */ +/* This will create an SDF bitmap in which the character is about 22 pixels */ +/* high but the whole bitmap is about 22+5+5=32 pixels high. To produce a filled */ +/* shape, sample the SDF at each pixel and fill the pixel if the SDF value */ +/* is greater than or equal to 180/255. (You'll actually want to antialias, */ +/* which is beyond the scope of this example.) Additionally, you can compute */ +/* offset outlines (e.g. to stroke the character border inside & outside, */ +/* or only outside). For example, to fill outside the character up to 3 SDF */ +/* pixels, you would compare against (180-36.0*3)/255 = 72/255. The above */ +/* choice of variables maps a range from 5 pixels outside the shape to */ +/* 2 pixels inside the shape to 0..255; this is intended primarily for apply */ +/* outside effects only (the interior range is needed to allow proper */ +/* antialiasing of the font at *smaller* sizes) */ +/* */ +/* The function computes the SDF analytically at each SDF pixel, not by e.g. */ +/* building a higher-res bitmap and approximating it. In theory the quality */ +/* should be as high as possible for an SDF of this size & representation, but */ +/* unclear if this is true in practice (perhaps building a higher-res bitmap */ +/* and computing from that can allow drop-out prevention). */ +/* */ +/* The algorithm has not been optimized at all, so expect it to be slow */ +/* if computing lots of characters or very large sizes. */ + + + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* Finding the right font... */ +/* */ +/* You should really just solve this offline, keep your own tables */ +/* of what font is what, and don't try to get it out of the .ttf file. */ +/* That's because getting it out of the .ttf file is really hard, because */ +/* the names in the file can appear in many possible encodings, in many */ +/* possible languages, and e.g. if you need a case-insensitive comparison, */ +/* the details of that depend on the encoding & language in a complex way */ +/* (actually underspecified in truetype, but also gigantic). */ +/* */ +/* But you can use the provided functions in two possible ways: */ +/* stbtt_FindMatchingFont() will use *case-sensitive* comparisons on */ +/* unicode-encoded names to try to find the font you want; */ +/* you can run this before calling stbtt_InitFont() */ +/* */ +/* stbtt_GetFontNameString() lets you get any of the various strings */ +/* from the file yourself and do your own comparisons on them. */ +/* You have to have called stbtt_InitFont() first. */ + + +STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags); +/* returns the offset (not index) of the font that matches, or -1 if none */ +/* if you use STBTT_MACSTYLE_DONTCARE, use a font name like "Arial Bold". */ +/* if you use any other flag, use a font name like "Arial"; this checks */ +/* the 'macStyle' header field; i don't know if fonts set this consistently */ +#define STBTT_MACSTYLE_DONTCARE 0 +#define STBTT_MACSTYLE_BOLD 1 +#define STBTT_MACSTYLE_ITALIC 2 +#define STBTT_MACSTYLE_UNDERSCORE 4 +#define STBTT_MACSTYLE_NONE 8 /* <= not same as 0, this makes us check the bitfield is 0 */ + +STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2); +/* returns 1/0 whether the first string interpreted as utf8 is identical to */ +/* the second string interpreted as big-endian utf16... useful for strings from next func */ + +STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID); +/* returns the string (which may be big-endian double byte, e.g. for unicode) */ +/* and puts the length in bytes in *length. */ +/* */ +/* some of the values for the IDs are below; for more see the truetype spec: */ +/* http://developer.apple.com/textfonts/TTRefMan/RM06/Chap6name.html */ +/* http://www.microsoft.com/typography/otspec/name.htm */ + +enum { /* platformID */ + STBTT_PLATFORM_ID_UNICODE =0, + STBTT_PLATFORM_ID_MAC =1, + STBTT_PLATFORM_ID_ISO =2, + STBTT_PLATFORM_ID_MICROSOFT =3 +}; + +enum { /* encodingID for STBTT_PLATFORM_ID_UNICODE */ + STBTT_UNICODE_EID_UNICODE_1_0 =0, + STBTT_UNICODE_EID_UNICODE_1_1 =1, + STBTT_UNICODE_EID_ISO_10646 =2, + STBTT_UNICODE_EID_UNICODE_2_0_BMP=3, + STBTT_UNICODE_EID_UNICODE_2_0_FULL=4 +}; + +enum { /* encodingID for STBTT_PLATFORM_ID_MICROSOFT */ + STBTT_MS_EID_SYMBOL =0, + STBTT_MS_EID_UNICODE_BMP =1, + STBTT_MS_EID_SHIFTJIS =2, + STBTT_MS_EID_UNICODE_FULL =10 +}; + +enum { /* encodingID for STBTT_PLATFORM_ID_MAC; same as Script Manager codes */ + STBTT_MAC_EID_ROMAN =0, STBTT_MAC_EID_ARABIC =4, + STBTT_MAC_EID_JAPANESE =1, STBTT_MAC_EID_HEBREW =5, + STBTT_MAC_EID_CHINESE_TRAD =2, STBTT_MAC_EID_GREEK =6, + STBTT_MAC_EID_KOREAN =3, STBTT_MAC_EID_RUSSIAN =7 +}; + +enum { /* languageID for STBTT_PLATFORM_ID_MICROSOFT; same as LCID... */ + /* problematic because there are e.g. 16 english LCIDs and 16 arabic LCIDs */ + STBTT_MS_LANG_ENGLISH =0x0409, STBTT_MS_LANG_ITALIAN =0x0410, + STBTT_MS_LANG_CHINESE =0x0804, STBTT_MS_LANG_JAPANESE =0x0411, + STBTT_MS_LANG_DUTCH =0x0413, STBTT_MS_LANG_KOREAN =0x0412, + STBTT_MS_LANG_FRENCH =0x040c, STBTT_MS_LANG_RUSSIAN =0x0419, + STBTT_MS_LANG_GERMAN =0x0407, STBTT_MS_LANG_SPANISH =0x0409, + STBTT_MS_LANG_HEBREW =0x040d, STBTT_MS_LANG_SWEDISH =0x041D +}; + +enum { /* languageID for STBTT_PLATFORM_ID_MAC */ + STBTT_MAC_LANG_ENGLISH =0 , STBTT_MAC_LANG_JAPANESE =11, + STBTT_MAC_LANG_ARABIC =12, STBTT_MAC_LANG_KOREAN =23, + STBTT_MAC_LANG_DUTCH =4 , STBTT_MAC_LANG_RUSSIAN =32, + STBTT_MAC_LANG_FRENCH =1 , STBTT_MAC_LANG_SPANISH =6 , + STBTT_MAC_LANG_GERMAN =2 , STBTT_MAC_LANG_SWEDISH =5 , + STBTT_MAC_LANG_HEBREW =10, STBTT_MAC_LANG_CHINESE_SIMPLIFIED =33, + STBTT_MAC_LANG_ITALIAN =3 , STBTT_MAC_LANG_CHINESE_TRAD =19 +}; + +#ifdef __cplusplus +} +#endif + +#endif /* __STB_INCLUDE_STB_TRUETYPE_H__ */ + +/* ///////////////////////////////////////////////////////////////////////////// */ +/* ///////////////////////////////////////////////////////////////////////////// */ +/* // */ +/* // IMPLEMENTATION */ +/* // */ +/* // */ + +#ifdef STB_TRUETYPE_IMPLEMENTATION + +#ifndef STBTT_MAX_OVERSAMPLE +#define STBTT_MAX_OVERSAMPLE 8 +#endif + +#if STBTT_MAX_OVERSAMPLE > 255 +#error "STBTT_MAX_OVERSAMPLE cannot be > 255" +#endif + +typedef int stbtt__test_oversample_pow2[(STBTT_MAX_OVERSAMPLE & (STBTT_MAX_OVERSAMPLE-1)) == 0 ? 1 : -1]; + +#ifndef STBTT_RASTERIZER_VERSION +#define STBTT_RASTERIZER_VERSION 2 +#endif + +#ifdef _MSC_VER +#define STBTT__NOTUSED(v) (void)(v) +#else +#define STBTT__NOTUSED(v) (void)sizeof(v) +#endif + +/* //////////////////////////////////////////////////////////////////////// */ +/* */ +/* stbtt__buf helpers to parse data from file */ +/* */ + +static stbtt_uint8 stbtt__buf_get8(stbtt__buf *b) +{ + if (b->cursor >= b->size) + return 0; + return b->data[b->cursor++]; +} + +static stbtt_uint8 stbtt__buf_peek8(stbtt__buf *b) +{ + if (b->cursor >= b->size) + return 0; + return b->data[b->cursor]; +} + +static void stbtt__buf_seek(stbtt__buf *b, int o) +{ + STBTT_assert(!(o > b->size || o < 0)); + b->cursor = (o > b->size || o < 0) ? b->size : o; +} + +static void stbtt__buf_skip(stbtt__buf *b, int o) +{ + stbtt__buf_seek(b, b->cursor + o); +} + +static stbtt_uint32 stbtt__buf_get(stbtt__buf *b, int n) +{ + stbtt_uint32 v = 0; + int i; + STBTT_assert(n >= 1 && n <= 4); + for (i = 0; i < n; i++) + v = (v << 8) | stbtt__buf_get8(b); + return v; +} + +static stbtt__buf stbtt__new_buf(const void *p, size_t size) +{ + stbtt__buf r; + STBTT_assert(size < 0x40000000); + r.data = (stbtt_uint8*) p; + r.size = (int) size; + r.cursor = 0; + return r; +} + +#define stbtt__buf_get16(b) stbtt__buf_get((b), 2) +#define stbtt__buf_get32(b) stbtt__buf_get((b), 4) + +static stbtt__buf stbtt__buf_range(const stbtt__buf *b, int o, int s) +{ + stbtt__buf r = stbtt__new_buf(NULL, 0); + if (o < 0 || s < 0 || o > b->size || s > b->size - o) return r; + r.data = b->data + o; + r.size = s; + return r; +} + +static stbtt__buf stbtt__cff_get_index(stbtt__buf *b) +{ + int count, start, offsize; + start = b->cursor; + count = stbtt__buf_get16(b); + if (count) { + offsize = stbtt__buf_get8(b); + STBTT_assert(offsize >= 1 && offsize <= 4); + stbtt__buf_skip(b, offsize * count); + stbtt__buf_skip(b, stbtt__buf_get(b, offsize) - 1); + } + return stbtt__buf_range(b, start, b->cursor - start); +} + +static stbtt_uint32 stbtt__cff_int(stbtt__buf *b) +{ + int b0 = stbtt__buf_get8(b); + if (b0 >= 32 && b0 <= 246) return b0 - 139; + else if (b0 >= 247 && b0 <= 250) return (b0 - 247)*256 + stbtt__buf_get8(b) + 108; + else if (b0 >= 251 && b0 <= 254) return -(b0 - 251)*256 - stbtt__buf_get8(b) - 108; + else if (b0 == 28) return stbtt__buf_get16(b); + else if (b0 == 29) return stbtt__buf_get32(b); + STBTT_assert(0); + return 0; +} + +static void stbtt__cff_skip_operand(stbtt__buf *b) { + int v, b0 = stbtt__buf_peek8(b); + STBTT_assert(b0 >= 28); + if (b0 == 30) { + stbtt__buf_skip(b, 1); + while (b->cursor < b->size) { + v = stbtt__buf_get8(b); + if ((v & 0xF) == 0xF || (v >> 4) == 0xF) + break; + } + } else { + stbtt__cff_int(b); + } +} + +static stbtt__buf stbtt__dict_get(stbtt__buf *b, int key) +{ + stbtt__buf_seek(b, 0); + while (b->cursor < b->size) { + int start = b->cursor, end, op; + while (stbtt__buf_peek8(b) >= 28) + stbtt__cff_skip_operand(b); + end = b->cursor; + op = stbtt__buf_get8(b); + if (op == 12) op = stbtt__buf_get8(b) | 0x100; + if (op == key) return stbtt__buf_range(b, start, end-start); + } + return stbtt__buf_range(b, 0, 0); +} + +static void stbtt__dict_get_ints(stbtt__buf *b, int key, int outcount, stbtt_uint32 *out) +{ + int i; + stbtt__buf operands = stbtt__dict_get(b, key); + for (i = 0; i < outcount && operands.cursor < operands.size; i++) + out[i] = stbtt__cff_int(&operands); +} + +static int stbtt__cff_index_count(stbtt__buf *b) +{ + stbtt__buf_seek(b, 0); + return stbtt__buf_get16(b); +} + +static stbtt__buf stbtt__cff_index_get(stbtt__buf b, int i) +{ + int count, offsize, start, end; + stbtt__buf_seek(&b, 0); + count = stbtt__buf_get16(&b); + offsize = stbtt__buf_get8(&b); + STBTT_assert(i >= 0 && i < count); + STBTT_assert(offsize >= 1 && offsize <= 4); + stbtt__buf_skip(&b, i*offsize); + start = stbtt__buf_get(&b, offsize); + end = stbtt__buf_get(&b, offsize); + return stbtt__buf_range(&b, 2+(count+1)*offsize+start, end - start); +} + +/* //////////////////////////////////////////////////////////////////////// */ +/* */ +/* accessors to parse data from file */ +/* */ + +/* on platforms that don't allow misaligned reads, if we want to allow */ +/* truetype fonts that aren't padded to alignment, define ALLOW_UNALIGNED_TRUETYPE */ + +#define ttBYTE(p) (* (stbtt_uint8 *) (p)) +#define ttCHAR(p) (* (stbtt_int8 *) (p)) +#define ttFixed(p) ttLONG(p) + +static stbtt_uint16 ttUSHORT(stbtt_uint8 *p) { return p[0]*256 + p[1]; } +static stbtt_int16 ttSHORT(stbtt_uint8 *p) { return p[0]*256 + p[1]; } +static stbtt_uint32 ttULONG(stbtt_uint8 *p) { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; } +static stbtt_int32 ttLONG(stbtt_uint8 *p) { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; } + +#define stbtt_tag4(p,c0,c1,c2,c3) ((p)[0] == (c0) && (p)[1] == (c1) && (p)[2] == (c2) && (p)[3] == (c3)) +#define stbtt_tag(p,str) stbtt_tag4(p,str[0],str[1],str[2],str[3]) + +static int stbtt__isfont(stbtt_uint8 *font) +{ + /* check the version number */ + if (stbtt_tag4(font, '1',0,0,0)) return 1; /* TrueType 1 */ + if (stbtt_tag(font, "typ1")) return 1; /* TrueType with type 1 font -- we don't support this! */ + if (stbtt_tag(font, "OTTO")) return 1; /* OpenType with CFF */ + if (stbtt_tag4(font, 0,1,0,0)) return 1; /* OpenType 1.0 */ + if (stbtt_tag(font, "true")) return 1; /* Apple specification for TrueType fonts */ + return 0; +} + +/* @OPTIMIZE: binary search */ +static stbtt_uint32 stbtt__find_table(stbtt_uint8 *data, stbtt_uint32 fontstart, const char *tag) +{ + stbtt_int32 num_tables = ttUSHORT(data+fontstart+4); + stbtt_uint32 tabledir = fontstart + 12; + stbtt_int32 i; + for (i=0; i < num_tables; ++i) { + stbtt_uint32 loc = tabledir + 16*i; + if (stbtt_tag(data+loc+0, tag)) + return ttULONG(data+loc+8); + } + return 0; +} + +static int stbtt_GetFontOffsetForIndex_internal(unsigned char *font_collection, int index) +{ + /* if it's just a font, there's only one valid index */ + if (stbtt__isfont(font_collection)) + return index == 0 ? 0 : -1; + + /* check if it's a TTC */ + if (stbtt_tag(font_collection, "ttcf")) { + /* version 1? */ + if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) { + stbtt_int32 n = ttLONG(font_collection+8); + if (index >= n) + return -1; + return ttULONG(font_collection+12+index*4); + } + } + return -1; +} + +static int stbtt_GetNumberOfFonts_internal(unsigned char *font_collection) +{ + /* if it's just a font, there's only one valid font */ + if (stbtt__isfont(font_collection)) + return 1; + + /* check if it's a TTC */ + if (stbtt_tag(font_collection, "ttcf")) { + /* version 1? */ + if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) { + return ttLONG(font_collection+8); + } + } + return 0; +} + +static stbtt__buf stbtt__get_subrs(stbtt__buf cff, stbtt__buf fontdict) +{ + stbtt_uint32 subrsoff = 0, private_loc[2] = { 0, 0 }; + stbtt__buf pdict; + stbtt__dict_get_ints(&fontdict, 18, 2, private_loc); + if (!private_loc[1] || !private_loc[0]) return stbtt__new_buf(NULL, 0); + pdict = stbtt__buf_range(&cff, private_loc[1], private_loc[0]); + stbtt__dict_get_ints(&pdict, 19, 1, &subrsoff); + if (!subrsoff) return stbtt__new_buf(NULL, 0); + stbtt__buf_seek(&cff, private_loc[1]+subrsoff); + return stbtt__cff_get_index(&cff); +} + +/* since most people won't use this, find this table the first time it's needed */ +static int stbtt__get_svg(stbtt_fontinfo *info) +{ + stbtt_uint32 t; + if (info->svg < 0) { + t = stbtt__find_table(info->data, info->fontstart, "SVG "); + if (t) { + stbtt_uint32 offset = ttULONG(info->data + t + 2); + info->svg = t + offset; + } else { + info->svg = 0; + } + } + return info->svg; +} + +static int stbtt_InitFont_internal(stbtt_fontinfo *info, unsigned char *data, int fontstart) +{ + stbtt_uint32 cmap, t; + stbtt_int32 i,numTables; + + info->data = data; + info->fontstart = fontstart; + info->cff = stbtt__new_buf(NULL, 0); + + cmap = stbtt__find_table(data, fontstart, "cmap"); /* required */ + info->loca = stbtt__find_table(data, fontstart, "loca"); /* required */ + info->head = stbtt__find_table(data, fontstart, "head"); /* required */ + info->glyf = stbtt__find_table(data, fontstart, "glyf"); /* required */ + info->hhea = stbtt__find_table(data, fontstart, "hhea"); /* required */ + info->hmtx = stbtt__find_table(data, fontstart, "hmtx"); /* required */ + info->kern = stbtt__find_table(data, fontstart, "kern"); /* not required */ + info->gpos = stbtt__find_table(data, fontstart, "GPOS"); /* not required */ + + if (!cmap || !info->head || !info->hhea || !info->hmtx) + return 0; + if (info->glyf) { + /* required for truetype */ + if (!info->loca) return 0; + } else { + /* initialization for CFF / Type2 fonts (OTF) */ + stbtt__buf b, topdict, topdictidx; + stbtt_uint32 cstype = 2, charstrings = 0, fdarrayoff = 0, fdselectoff = 0; + stbtt_uint32 cff; + + cff = stbtt__find_table(data, fontstart, "CFF "); + if (!cff) return 0; + + info->fontdicts = stbtt__new_buf(NULL, 0); + info->fdselect = stbtt__new_buf(NULL, 0); + + /* @TODO this should use size from table (not 512MB) */ + info->cff = stbtt__new_buf(data+cff, 512*1024*1024); + b = info->cff; + + /* read the header */ + stbtt__buf_skip(&b, 2); + stbtt__buf_seek(&b, stbtt__buf_get8(&b)); /* hdrsize */ + + /* @TODO the name INDEX could list multiple fonts, */ + /* but we just use the first one. */ + stbtt__cff_get_index(&b); /* name INDEX */ + topdictidx = stbtt__cff_get_index(&b); + topdict = stbtt__cff_index_get(topdictidx, 0); + stbtt__cff_get_index(&b); /* string INDEX */ + info->gsubrs = stbtt__cff_get_index(&b); + + stbtt__dict_get_ints(&topdict, 17, 1, &charstrings); + stbtt__dict_get_ints(&topdict, 0x100 | 6, 1, &cstype); + stbtt__dict_get_ints(&topdict, 0x100 | 36, 1, &fdarrayoff); + stbtt__dict_get_ints(&topdict, 0x100 | 37, 1, &fdselectoff); + info->subrs = stbtt__get_subrs(b, topdict); + + /* we only support Type 2 charstrings */ + if (cstype != 2) return 0; + if (charstrings == 0) return 0; + + if (fdarrayoff) { + /* looks like a CID font */ + if (!fdselectoff) return 0; + stbtt__buf_seek(&b, fdarrayoff); + info->fontdicts = stbtt__cff_get_index(&b); + info->fdselect = stbtt__buf_range(&b, fdselectoff, b.size-fdselectoff); + } + + stbtt__buf_seek(&b, charstrings); + info->charstrings = stbtt__cff_get_index(&b); + } + + t = stbtt__find_table(data, fontstart, "maxp"); + if (t) + info->numGlyphs = ttUSHORT(data+t+4); + else + info->numGlyphs = 0xffff; + + info->svg = -1; + + /* find a cmap encoding table we understand *now* to avoid searching */ + /* later. (todo: could make this installable) */ + /* the same regardless of glyph. */ + numTables = ttUSHORT(data + cmap + 2); + info->index_map = 0; + for (i=0; i < numTables; ++i) { + stbtt_uint32 encoding_record = cmap + 4 + 8 * i; + /* find an encoding we understand: */ + switch(ttUSHORT(data+encoding_record)) { + case STBTT_PLATFORM_ID_MICROSOFT: + switch (ttUSHORT(data+encoding_record+2)) { + case STBTT_MS_EID_UNICODE_BMP: + case STBTT_MS_EID_UNICODE_FULL: + /* MS/Unicode */ + info->index_map = cmap + ttULONG(data+encoding_record+4); + break; + } + break; + case STBTT_PLATFORM_ID_UNICODE: + /* Mac/iOS has these */ + /* all the encodingIDs are unicode, so we don't bother to check it */ + info->index_map = cmap + ttULONG(data+encoding_record+4); + break; + } + } + if (info->index_map == 0) + return 0; + + info->indexToLocFormat = ttUSHORT(data+info->head + 50); + return 1; +} + +STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint) +{ + stbtt_uint8 *data = info->data; + stbtt_uint32 index_map = info->index_map; + + stbtt_uint16 format = ttUSHORT(data + index_map + 0); + if (format == 0) { /* apple byte encoding */ + stbtt_int32 bytes = ttUSHORT(data + index_map + 2); + if (unicode_codepoint < bytes-6) + return ttBYTE(data + index_map + 6 + unicode_codepoint); + return 0; + } else if (format == 6) { + stbtt_uint32 first = ttUSHORT(data + index_map + 6); + stbtt_uint32 count = ttUSHORT(data + index_map + 8); + if ((stbtt_uint32) unicode_codepoint >= first && (stbtt_uint32) unicode_codepoint < first+count) + return ttUSHORT(data + index_map + 10 + (unicode_codepoint - first)*2); + return 0; + } else if (format == 2) { + STBTT_assert(0); /* @TODO: high-byte mapping for japanese/chinese/korean */ + return 0; + } else if (format == 4) { /* standard mapping for windows fonts: binary search collection of ranges */ + stbtt_uint16 segcount = ttUSHORT(data+index_map+6) >> 1; + stbtt_uint16 searchRange = ttUSHORT(data+index_map+8) >> 1; + stbtt_uint16 entrySelector = ttUSHORT(data+index_map+10); + stbtt_uint16 rangeShift = ttUSHORT(data+index_map+12) >> 1; + + /* do a binary search of the segments */ + stbtt_uint32 endCount = index_map + 14; + stbtt_uint32 search = endCount; + + if (unicode_codepoint > 0xffff) + return 0; + + /* they lie from endCount .. endCount + segCount */ + /* but searchRange is the nearest power of two, so... */ + if (unicode_codepoint >= ttUSHORT(data + search + rangeShift*2)) + search += rangeShift*2; + + /* now decrement to bias correctly to find smallest */ + search -= 2; + while (entrySelector) { + stbtt_uint16 end; + searchRange >>= 1; + end = ttUSHORT(data + search + searchRange*2); + if (unicode_codepoint > end) + search += searchRange*2; + --entrySelector; + } + search += 2; + + { + stbtt_uint16 offset, start, last; + stbtt_uint16 item = (stbtt_uint16) ((search - endCount) >> 1); + + start = ttUSHORT(data + index_map + 14 + segcount*2 + 2 + 2*item); + last = ttUSHORT(data + endCount + 2*item); + if (unicode_codepoint < start || unicode_codepoint > last) + return 0; + + offset = ttUSHORT(data + index_map + 14 + segcount*6 + 2 + 2*item); + if (offset == 0) + return (stbtt_uint16) (unicode_codepoint + ttSHORT(data + index_map + 14 + segcount*4 + 2 + 2*item)); + + return ttUSHORT(data + offset + (unicode_codepoint-start)*2 + index_map + 14 + segcount*6 + 2 + 2*item); + } + } else if (format == 12 || format == 13) { + stbtt_uint32 ngroups = ttULONG(data+index_map+12); + stbtt_int32 low,high; + low = 0; high = (stbtt_int32)ngroups; + /* Binary search the right group. */ + while (low < high) { + stbtt_int32 mid = low + ((high-low) >> 1); /* rounds down, so low <= mid < high */ + stbtt_uint32 start_char = ttULONG(data+index_map+16+mid*12); + stbtt_uint32 end_char = ttULONG(data+index_map+16+mid*12+4); + if ((stbtt_uint32) unicode_codepoint < start_char) + high = mid; + else if ((stbtt_uint32) unicode_codepoint > end_char) + low = mid+1; + else { + stbtt_uint32 start_glyph = ttULONG(data+index_map+16+mid*12+8); + if (format == 12) + return start_glyph + unicode_codepoint-start_char; + else /* format == 13 */ + return start_glyph; + } + } + return 0; /* not found */ + } + /* @TODO */ + STBTT_assert(0); + return 0; +} + +STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices) +{ + return stbtt_GetGlyphShape(info, stbtt_FindGlyphIndex(info, unicode_codepoint), vertices); +} + +static void stbtt_setvertex(stbtt_vertex *v, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy) +{ + v->type = type; + v->x = (stbtt_int16) x; + v->y = (stbtt_int16) y; + v->cx = (stbtt_int16) cx; + v->cy = (stbtt_int16) cy; +} + +static int stbtt__GetGlyfOffset(const stbtt_fontinfo *info, int glyph_index) +{ + int g1,g2; + + STBTT_assert(!info->cff.size); + + if (glyph_index >= info->numGlyphs) return -1; /* glyph index out of range */ + if (info->indexToLocFormat >= 2) return -1; /* unknown index->glyph map format */ + + if (info->indexToLocFormat == 0) { + g1 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2) * 2; + g2 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2 + 2) * 2; + } else { + g1 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4); + g2 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4 + 4); + } + + return g1==g2 ? -1 : g1; /* if length is 0, return -1 */ +} + +static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1); + +STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1) +{ + if (info->cff.size) { + stbtt__GetGlyphInfoT2(info, glyph_index, x0, y0, x1, y1); + } else { + int g = stbtt__GetGlyfOffset(info, glyph_index); + if (g < 0) return 0; + + if (x0) *x0 = ttSHORT(info->data + g + 2); + if (y0) *y0 = ttSHORT(info->data + g + 4); + if (x1) *x1 = ttSHORT(info->data + g + 6); + if (y1) *y1 = ttSHORT(info->data + g + 8); + } + return 1; +} + +STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1) +{ + return stbtt_GetGlyphBox(info, stbtt_FindGlyphIndex(info,codepoint), x0,y0,x1,y1); +} + +STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index) +{ + stbtt_int16 numberOfContours; + int g; + if (info->cff.size) + return stbtt__GetGlyphInfoT2(info, glyph_index, NULL, NULL, NULL, NULL) == 0; + g = stbtt__GetGlyfOffset(info, glyph_index); + if (g < 0) return 1; + numberOfContours = ttSHORT(info->data + g); + return numberOfContours == 0; +} + +static int stbtt__close_shape(stbtt_vertex *vertices, int num_vertices, int was_off, int start_off, + stbtt_int32 sx, stbtt_int32 sy, stbtt_int32 scx, stbtt_int32 scy, stbtt_int32 cx, stbtt_int32 cy) +{ + if (start_off) { + if (was_off) + stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+scx)>>1, (cy+scy)>>1, cx,cy); + stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, sx,sy,scx,scy); + } else { + if (was_off) + stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve,sx,sy,cx,cy); + else + stbtt_setvertex(&vertices[num_vertices++], STBTT_vline,sx,sy,0,0); + } + return num_vertices; +} + +static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices) +{ + stbtt_int16 numberOfContours; + stbtt_uint8 *endPtsOfContours; + stbtt_uint8 *data = info->data; + stbtt_vertex *vertices=0; + int num_vertices=0; + int g = stbtt__GetGlyfOffset(info, glyph_index); + + *pvertices = NULL; + + if (g < 0) return 0; + + numberOfContours = ttSHORT(data + g); + + if (numberOfContours > 0) { + stbtt_uint8 flags=0,flagcount; + stbtt_int32 ins, i,j=0,m,n, next_move, was_off=0, off, start_off=0; + stbtt_int32 x,y,cx,cy,sx,sy, scx,scy; + stbtt_uint8 *points; + endPtsOfContours = (data + g + 10); + ins = ttUSHORT(data + g + 10 + numberOfContours * 2); + points = data + g + 10 + numberOfContours * 2 + 2 + ins; + + n = 1+ttUSHORT(endPtsOfContours + numberOfContours*2-2); + + m = n + 2*numberOfContours; /* a loose bound on how many vertices we might need */ + vertices = (stbtt_vertex *) STBTT_malloc(m * sizeof(vertices[0]), info->userdata); + if (vertices == 0) + return 0; + + next_move = 0; + flagcount=0; + + /* in first pass, we load uninterpreted data into the allocated array */ + /* above, shifted to the end of the array so we won't overwrite it when */ + /* we create our final data starting from the front */ + + off = m - n; /* starting offset for uninterpreted data, regardless of how m ends up being calculated */ + + /* first load flags */ + + for (i=0; i < n; ++i) { + if (flagcount == 0) { + flags = *points++; + if (flags & 8) + flagcount = *points++; + } else + --flagcount; + vertices[off+i].type = flags; + } + + /* now load x coordinates */ + x=0; + for (i=0; i < n; ++i) { + flags = vertices[off+i].type; + if (flags & 2) { + stbtt_int16 dx = *points++; + x += (flags & 16) ? dx : -dx; /* ??? */ + } else { + if (!(flags & 16)) { + x = x + (stbtt_int16) (points[0]*256 + points[1]); + points += 2; + } + } + vertices[off+i].x = (stbtt_int16) x; + } + + /* now load y coordinates */ + y=0; + for (i=0; i < n; ++i) { + flags = vertices[off+i].type; + if (flags & 4) { + stbtt_int16 dy = *points++; + y += (flags & 32) ? dy : -dy; /* ??? */ + } else { + if (!(flags & 32)) { + y = y + (stbtt_int16) (points[0]*256 + points[1]); + points += 2; + } + } + vertices[off+i].y = (stbtt_int16) y; + } + + /* now convert them to our format */ + num_vertices=0; + sx = sy = cx = cy = scx = scy = 0; + for (i=0; i < n; ++i) { + flags = vertices[off+i].type; + x = (stbtt_int16) vertices[off+i].x; + y = (stbtt_int16) vertices[off+i].y; + + if (next_move == i) { + if (i != 0) + num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy); + + /* now start the new one */ + start_off = !(flags & 1); + if (start_off) { + /* if we start off with an off-curve point, then when we need to find a point on the curve */ + /* where we can start, and we need to save some state for when we wraparound. */ + scx = x; + scy = y; + if (!(vertices[off+i+1].type & 1)) { + /* next point is also a curve point, so interpolate an on-point curve */ + sx = (x + (stbtt_int32) vertices[off+i+1].x) >> 1; + sy = (y + (stbtt_int32) vertices[off+i+1].y) >> 1; + } else { + /* otherwise just use the next point as our start point */ + sx = (stbtt_int32) vertices[off+i+1].x; + sy = (stbtt_int32) vertices[off+i+1].y; + ++i; /* we're using point i+1 as the starting point, so skip it */ + } + } else { + sx = x; + sy = y; + } + stbtt_setvertex(&vertices[num_vertices++], STBTT_vmove,sx,sy,0,0); + was_off = 0; + next_move = 1 + ttUSHORT(endPtsOfContours+j*2); + ++j; + } else { + if (!(flags & 1)) { /* if it's a curve */ + if (was_off) /* two off-curve control points in a row means interpolate an on-curve midpoint */ + stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+x)>>1, (cy+y)>>1, cx, cy); + cx = x; + cy = y; + was_off = 1; + } else { + if (was_off) + stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, x,y, cx, cy); + else + stbtt_setvertex(&vertices[num_vertices++], STBTT_vline, x,y,0,0); + was_off = 0; + } + } + } + num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy); + } else if (numberOfContours < 0) { + /* Compound shapes. */ + int more = 1; + stbtt_uint8 *comp = data + g + 10; + num_vertices = 0; + vertices = 0; + while (more) { + stbtt_uint16 flags, gidx; + int comp_num_verts = 0, i; + stbtt_vertex *comp_verts = 0, *tmp = 0; + float mtx[6] = {1,0,0,1,0,0}, m, n; + + flags = ttSHORT(comp); comp+=2; + gidx = ttSHORT(comp); comp+=2; + + if (flags & 2) { /* XY values */ + if (flags & 1) { /* shorts */ + mtx[4] = ttSHORT(comp); comp+=2; + mtx[5] = ttSHORT(comp); comp+=2; + } else { + mtx[4] = ttCHAR(comp); comp+=1; + mtx[5] = ttCHAR(comp); comp+=1; + } + } + else { + /* @TODO handle matching point */ + STBTT_assert(0); + } + if (flags & (1<<3)) { /* WE_HAVE_A_SCALE */ + mtx[0] = mtx[3] = ttSHORT(comp)/16384.0f; comp+=2; + mtx[1] = mtx[2] = 0; + } else if (flags & (1<<6)) { /* WE_HAVE_AN_X_AND_YSCALE */ + mtx[0] = ttSHORT(comp)/16384.0f; comp+=2; + mtx[1] = mtx[2] = 0; + mtx[3] = ttSHORT(comp)/16384.0f; comp+=2; + } else if (flags & (1<<7)) { /* WE_HAVE_A_TWO_BY_TWO */ + mtx[0] = ttSHORT(comp)/16384.0f; comp+=2; + mtx[1] = ttSHORT(comp)/16384.0f; comp+=2; + mtx[2] = ttSHORT(comp)/16384.0f; comp+=2; + mtx[3] = ttSHORT(comp)/16384.0f; comp+=2; + } + + /* Find transformation scales. */ + m = (float) STBTT_sqrt(mtx[0]*mtx[0] + mtx[1]*mtx[1]); + n = (float) STBTT_sqrt(mtx[2]*mtx[2] + mtx[3]*mtx[3]); + + /* Get indexed glyph. */ + comp_num_verts = stbtt_GetGlyphShape(info, gidx, &comp_verts); + if (comp_num_verts > 0) { + /* Transform vertices. */ + for (i = 0; i < comp_num_verts; ++i) { + stbtt_vertex* v = &comp_verts[i]; + stbtt_vertex_type x,y; + x=v->x; y=v->y; + v->x = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4])); + v->y = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5])); + x=v->cx; y=v->cy; + v->cx = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4])); + v->cy = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5])); + } + /* Append vertices. */ + tmp = (stbtt_vertex*)STBTT_malloc((num_vertices+comp_num_verts)*sizeof(stbtt_vertex), info->userdata); + if (!tmp) { + if (vertices) STBTT_free(vertices, info->userdata); + if (comp_verts) STBTT_free(comp_verts, info->userdata); + return 0; + } + if (num_vertices > 0 && vertices) STBTT_memcpy(tmp, vertices, num_vertices*sizeof(stbtt_vertex)); + STBTT_memcpy(tmp+num_vertices, comp_verts, comp_num_verts*sizeof(stbtt_vertex)); + if (vertices) STBTT_free(vertices, info->userdata); + vertices = tmp; + STBTT_free(comp_verts, info->userdata); + num_vertices += comp_num_verts; + } + /* More components ? */ + more = flags & (1<<5); + } + } else { + /* numberOfCounters == 0, do nothing */ + } + + *pvertices = vertices; + return num_vertices; +} + +typedef struct +{ + int bounds; + int started; + float first_x, first_y; + float x, y; + stbtt_int32 min_x, max_x, min_y, max_y; + + stbtt_vertex *pvertices; + int num_vertices; +} stbtt__csctx; + +#define STBTT__CSCTX_INIT(bounds) {bounds,0, 0,0, 0,0, 0,0,0,0, NULL, 0} + +static void stbtt__track_vertex(stbtt__csctx *c, stbtt_int32 x, stbtt_int32 y) +{ + if (x > c->max_x || !c->started) c->max_x = x; + if (y > c->max_y || !c->started) c->max_y = y; + if (x < c->min_x || !c->started) c->min_x = x; + if (y < c->min_y || !c->started) c->min_y = y; + c->started = 1; +} + +static void stbtt__csctx_v(stbtt__csctx *c, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy, stbtt_int32 cx1, stbtt_int32 cy1) +{ + if (c->bounds) { + stbtt__track_vertex(c, x, y); + if (type == STBTT_vcubic) { + stbtt__track_vertex(c, cx, cy); + stbtt__track_vertex(c, cx1, cy1); + } + } else { + stbtt_setvertex(&c->pvertices[c->num_vertices], type, x, y, cx, cy); + c->pvertices[c->num_vertices].cx1 = (stbtt_int16) cx1; + c->pvertices[c->num_vertices].cy1 = (stbtt_int16) cy1; + } + c->num_vertices++; +} + +static void stbtt__csctx_close_shape(stbtt__csctx *ctx) +{ + if (ctx->first_x != ctx->x || ctx->first_y != ctx->y) + stbtt__csctx_v(ctx, STBTT_vline, (int)ctx->first_x, (int)ctx->first_y, 0, 0, 0, 0); +} + +static void stbtt__csctx_rmove_to(stbtt__csctx *ctx, float dx, float dy) +{ + stbtt__csctx_close_shape(ctx); + ctx->first_x = ctx->x = ctx->x + dx; + ctx->first_y = ctx->y = ctx->y + dy; + stbtt__csctx_v(ctx, STBTT_vmove, (int)ctx->x, (int)ctx->y, 0, 0, 0, 0); +} + +static void stbtt__csctx_rline_to(stbtt__csctx *ctx, float dx, float dy) +{ + ctx->x += dx; + ctx->y += dy; + stbtt__csctx_v(ctx, STBTT_vline, (int)ctx->x, (int)ctx->y, 0, 0, 0, 0); +} + +static void stbtt__csctx_rccurve_to(stbtt__csctx *ctx, float dx1, float dy1, float dx2, float dy2, float dx3, float dy3) +{ + float cx1 = ctx->x + dx1; + float cy1 = ctx->y + dy1; + float cx2 = cx1 + dx2; + float cy2 = cy1 + dy2; + ctx->x = cx2 + dx3; + ctx->y = cy2 + dy3; + stbtt__csctx_v(ctx, STBTT_vcubic, (int)ctx->x, (int)ctx->y, (int)cx1, (int)cy1, (int)cx2, (int)cy2); +} + +static stbtt__buf stbtt__get_subr(stbtt__buf idx, int n) +{ + int count = stbtt__cff_index_count(&idx); + int bias = 107; + if (count >= 33900) + bias = 32768; + else if (count >= 1240) + bias = 1131; + n += bias; + if (n < 0 || n >= count) + return stbtt__new_buf(NULL, 0); + return stbtt__cff_index_get(idx, n); +} + +static stbtt__buf stbtt__cid_get_glyph_subrs(const stbtt_fontinfo *info, int glyph_index) +{ + stbtt__buf fdselect = info->fdselect; + int nranges, start, end, v, fmt, fdselector = -1, i; + + stbtt__buf_seek(&fdselect, 0); + fmt = stbtt__buf_get8(&fdselect); + if (fmt == 0) { + /* untested */ + stbtt__buf_skip(&fdselect, glyph_index); + fdselector = stbtt__buf_get8(&fdselect); + } else if (fmt == 3) { + nranges = stbtt__buf_get16(&fdselect); + start = stbtt__buf_get16(&fdselect); + for (i = 0; i < nranges; i++) { + v = stbtt__buf_get8(&fdselect); + end = stbtt__buf_get16(&fdselect); + if (glyph_index >= start && glyph_index < end) { + fdselector = v; + break; + } + start = end; + } + } + if (fdselector == -1) stbtt__new_buf(NULL, 0); + return stbtt__get_subrs(info->cff, stbtt__cff_index_get(info->fontdicts, fdselector)); +} + +static int stbtt__run_charstring(const stbtt_fontinfo *info, int glyph_index, stbtt__csctx *c) +{ + int in_header = 1, maskbits = 0, subr_stack_height = 0, sp = 0, v, i, b0; + int has_subrs = 0, clear_stack; + float s[48]; + stbtt__buf subr_stack[10], subrs = info->subrs, b; + float f; + +#define STBTT__CSERR(s) (0) + + /* this currently ignores the initial width value, which isn't needed if we have hmtx */ + b = stbtt__cff_index_get(info->charstrings, glyph_index); + while (b.cursor < b.size) { + i = 0; + clear_stack = 1; + b0 = stbtt__buf_get8(&b); + switch (b0) { + /* @TODO implement hinting */ + case 0x13: /* hintmask */ + case 0x14: /* cntrmask */ + if (in_header) + maskbits += (sp / 2); /* implicit "vstem" */ + in_header = 0; + stbtt__buf_skip(&b, (maskbits + 7) / 8); + break; + + case 0x01: /* hstem */ + case 0x03: /* vstem */ + case 0x12: /* hstemhm */ + case 0x17: /* vstemhm */ + maskbits += (sp / 2); + break; + + case 0x15: /* rmoveto */ + in_header = 0; + if (sp < 2) return STBTT__CSERR("rmoveto stack"); + stbtt__csctx_rmove_to(c, s[sp-2], s[sp-1]); + break; + case 0x04: /* vmoveto */ + in_header = 0; + if (sp < 1) return STBTT__CSERR("vmoveto stack"); + stbtt__csctx_rmove_to(c, 0, s[sp-1]); + break; + case 0x16: /* hmoveto */ + in_header = 0; + if (sp < 1) return STBTT__CSERR("hmoveto stack"); + stbtt__csctx_rmove_to(c, s[sp-1], 0); + break; + + case 0x05: /* rlineto */ + if (sp < 2) return STBTT__CSERR("rlineto stack"); + for (; i + 1 < sp; i += 2) + stbtt__csctx_rline_to(c, s[i], s[i+1]); + break; + + /* hlineto/vlineto and vhcurveto/hvcurveto alternate horizontal and vertical */ + /* starting from a different place. */ + + case 0x07: /* vlineto */ + if (sp < 1) return STBTT__CSERR("vlineto stack"); + goto vlineto; + case 0x06: /* hlineto */ + if (sp < 1) return STBTT__CSERR("hlineto stack"); + for (;;) { + if (i >= sp) break; + stbtt__csctx_rline_to(c, s[i], 0); + i++; + vlineto: + if (i >= sp) break; + stbtt__csctx_rline_to(c, 0, s[i]); + i++; + } + break; + + case 0x1F: /* hvcurveto */ + if (sp < 4) return STBTT__CSERR("hvcurveto stack"); + goto hvcurveto; + case 0x1E: /* vhcurveto */ + if (sp < 4) return STBTT__CSERR("vhcurveto stack"); + for (;;) { + if (i + 3 >= sp) break; + stbtt__csctx_rccurve_to(c, 0, s[i], s[i+1], s[i+2], s[i+3], (sp - i == 5) ? s[i + 4] : 0.0f); + i += 4; + hvcurveto: + if (i + 3 >= sp) break; + stbtt__csctx_rccurve_to(c, s[i], 0, s[i+1], s[i+2], (sp - i == 5) ? s[i+4] : 0.0f, s[i+3]); + i += 4; + } + break; + + case 0x08: /* rrcurveto */ + if (sp < 6) return STBTT__CSERR("rcurveline stack"); + for (; i + 5 < sp; i += 6) + stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]); + break; + + case 0x18: /* rcurveline */ + if (sp < 8) return STBTT__CSERR("rcurveline stack"); + for (; i + 5 < sp - 2; i += 6) + stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]); + if (i + 1 >= sp) return STBTT__CSERR("rcurveline stack"); + stbtt__csctx_rline_to(c, s[i], s[i+1]); + break; + + case 0x19: /* rlinecurve */ + if (sp < 8) return STBTT__CSERR("rlinecurve stack"); + for (; i + 1 < sp - 6; i += 2) + stbtt__csctx_rline_to(c, s[i], s[i+1]); + if (i + 5 >= sp) return STBTT__CSERR("rlinecurve stack"); + stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]); + break; + + case 0x1A: /* vvcurveto */ + case 0x1B: /* hhcurveto */ + if (sp < 4) return STBTT__CSERR("(vv|hh)curveto stack"); + f = 0.0; + if (sp & 1) { f = s[i]; i++; } + for (; i + 3 < sp; i += 4) { + if (b0 == 0x1B) + stbtt__csctx_rccurve_to(c, s[i], f, s[i+1], s[i+2], s[i+3], 0.0); + else + stbtt__csctx_rccurve_to(c, f, s[i], s[i+1], s[i+2], 0.0, s[i+3]); + f = 0.0; + } + break; + + case 0x0A: /* callsubr */ + if (!has_subrs) { + if (info->fdselect.size) + subrs = stbtt__cid_get_glyph_subrs(info, glyph_index); + has_subrs = 1; + } + /* FALLTHROUGH */ + case 0x1D: /* callgsubr */ + if (sp < 1) return STBTT__CSERR("call(g|)subr stack"); + v = (int) s[--sp]; + if (subr_stack_height >= 10) return STBTT__CSERR("recursion limit"); + subr_stack[subr_stack_height++] = b; + b = stbtt__get_subr(b0 == 0x0A ? subrs : info->gsubrs, v); + if (b.size == 0) return STBTT__CSERR("subr not found"); + b.cursor = 0; + clear_stack = 0; + break; + + case 0x0B: /* return */ + if (subr_stack_height <= 0) return STBTT__CSERR("return outside subr"); + b = subr_stack[--subr_stack_height]; + clear_stack = 0; + break; + + case 0x0E: /* endchar */ + stbtt__csctx_close_shape(c); + return 1; + + case 0x0C: { /* two-byte escape */ + float dx1, dx2, dx3, dx4, dx5, dx6, dy1, dy2, dy3, dy4, dy5, dy6; + float dx, dy; + int b1 = stbtt__buf_get8(&b); + switch (b1) { + /* @TODO These "flex" implementations ignore the flex-depth and resolution, */ + /* and always draw beziers. */ + case 0x22: /* hflex */ + if (sp < 7) return STBTT__CSERR("hflex stack"); + dx1 = s[0]; + dx2 = s[1]; + dy2 = s[2]; + dx3 = s[3]; + dx4 = s[4]; + dx5 = s[5]; + dx6 = s[6]; + stbtt__csctx_rccurve_to(c, dx1, 0, dx2, dy2, dx3, 0); + stbtt__csctx_rccurve_to(c, dx4, 0, dx5, -dy2, dx6, 0); + break; + + case 0x23: /* flex */ + if (sp < 13) return STBTT__CSERR("flex stack"); + dx1 = s[0]; + dy1 = s[1]; + dx2 = s[2]; + dy2 = s[3]; + dx3 = s[4]; + dy3 = s[5]; + dx4 = s[6]; + dy4 = s[7]; + dx5 = s[8]; + dy5 = s[9]; + dx6 = s[10]; + dy6 = s[11]; + /* fd is s[12] */ + stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, dy3); + stbtt__csctx_rccurve_to(c, dx4, dy4, dx5, dy5, dx6, dy6); + break; + + case 0x24: /* hflex1 */ + if (sp < 9) return STBTT__CSERR("hflex1 stack"); + dx1 = s[0]; + dy1 = s[1]; + dx2 = s[2]; + dy2 = s[3]; + dx3 = s[4]; + dx4 = s[5]; + dx5 = s[6]; + dy5 = s[7]; + dx6 = s[8]; + stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, 0); + stbtt__csctx_rccurve_to(c, dx4, 0, dx5, dy5, dx6, -(dy1+dy2+dy5)); + break; + + case 0x25: /* flex1 */ + if (sp < 11) return STBTT__CSERR("flex1 stack"); + dx1 = s[0]; + dy1 = s[1]; + dx2 = s[2]; + dy2 = s[3]; + dx3 = s[4]; + dy3 = s[5]; + dx4 = s[6]; + dy4 = s[7]; + dx5 = s[8]; + dy5 = s[9]; + dx6 = dy6 = s[10]; + dx = dx1+dx2+dx3+dx4+dx5; + dy = dy1+dy2+dy3+dy4+dy5; + if (STBTT_fabs(dx) > STBTT_fabs(dy)) + dy6 = -dy; + else + dx6 = -dx; + stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, dy3); + stbtt__csctx_rccurve_to(c, dx4, dy4, dx5, dy5, dx6, dy6); + break; + + default: + return STBTT__CSERR("unimplemented"); + } + } break; + + default: + if (b0 != 255 && b0 != 28 && b0 < 32) + return STBTT__CSERR("reserved operator"); + + /* push immediate */ + if (b0 == 255) { + f = (float)(stbtt_int32)stbtt__buf_get32(&b) / 0x10000; + } else { + stbtt__buf_skip(&b, -1); + f = (float)(stbtt_int16)stbtt__cff_int(&b); + } + if (sp >= 48) return STBTT__CSERR("push stack overflow"); + s[sp++] = f; + clear_stack = 0; + break; + } + if (clear_stack) sp = 0; + } + return STBTT__CSERR("no endchar"); + +#undef STBTT__CSERR +} + +static int stbtt__GetGlyphShapeT2(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices) +{ + /* runs the charstring twice, once to count and once to output (to avoid realloc) */ + stbtt__csctx count_ctx = STBTT__CSCTX_INIT(1); + stbtt__csctx output_ctx = STBTT__CSCTX_INIT(0); + if (stbtt__run_charstring(info, glyph_index, &count_ctx)) { + *pvertices = (stbtt_vertex*)STBTT_malloc(count_ctx.num_vertices*sizeof(stbtt_vertex), info->userdata); + output_ctx.pvertices = *pvertices; + if (stbtt__run_charstring(info, glyph_index, &output_ctx)) { + STBTT_assert(output_ctx.num_vertices == count_ctx.num_vertices); + return output_ctx.num_vertices; + } + } + *pvertices = NULL; + return 0; +} + +static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1) +{ + stbtt__csctx c = STBTT__CSCTX_INIT(1); + int r = stbtt__run_charstring(info, glyph_index, &c); + if (x0) *x0 = r ? c.min_x : 0; + if (y0) *y0 = r ? c.min_y : 0; + if (x1) *x1 = r ? c.max_x : 0; + if (y1) *y1 = r ? c.max_y : 0; + return r ? c.num_vertices : 0; +} + +STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices) +{ + if (!info->cff.size) + return stbtt__GetGlyphShapeTT(info, glyph_index, pvertices); + else + return stbtt__GetGlyphShapeT2(info, glyph_index, pvertices); +} + +STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing) +{ + stbtt_uint16 numOfLongHorMetrics = ttUSHORT(info->data+info->hhea + 34); + if (glyph_index < numOfLongHorMetrics) { + if (advanceWidth) *advanceWidth = ttSHORT(info->data + info->hmtx + 4*glyph_index); + if (leftSideBearing) *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*glyph_index + 2); + } else { + if (advanceWidth) *advanceWidth = ttSHORT(info->data + info->hmtx + 4*(numOfLongHorMetrics-1)); + if (leftSideBearing) *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*numOfLongHorMetrics + 2*(glyph_index - numOfLongHorMetrics)); + } +} + +STBTT_DEF int stbtt_GetKerningTableLength(const stbtt_fontinfo *info) +{ + stbtt_uint8 *data = info->data + info->kern; + + /* we only look at the first table. it must be 'horizontal' and format 0. */ + if (!info->kern) + return 0; + if (ttUSHORT(data+2) < 1) /* number of tables, need at least 1 */ + return 0; + if (ttUSHORT(data+8) != 1) /* horizontal flag must be set in format */ + return 0; + + return ttUSHORT(data+10); +} + +STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length) +{ + stbtt_uint8 *data = info->data + info->kern; + int k, length; + + /* we only look at the first table. it must be 'horizontal' and format 0. */ + if (!info->kern) + return 0; + if (ttUSHORT(data+2) < 1) /* number of tables, need at least 1 */ + return 0; + if (ttUSHORT(data+8) != 1) /* horizontal flag must be set in format */ + return 0; + + length = ttUSHORT(data+10); + if (table_length < length) + length = table_length; + + for (k = 0; k < length; k++) + { + table[k].glyph1 = ttUSHORT(data+18+(k*6)); + table[k].glyph2 = ttUSHORT(data+20+(k*6)); + table[k].advance = ttSHORT(data+22+(k*6)); + } + + return length; +} + +static int stbtt__GetGlyphKernInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) +{ + stbtt_uint8 *data = info->data + info->kern; + stbtt_uint32 needle, straw; + int l, r, m; + + /* we only look at the first table. it must be 'horizontal' and format 0. */ + if (!info->kern) + return 0; + if (ttUSHORT(data+2) < 1) /* number of tables, need at least 1 */ + return 0; + if (ttUSHORT(data+8) != 1) /* horizontal flag must be set in format */ + return 0; + + l = 0; + r = ttUSHORT(data+10) - 1; + needle = glyph1 << 16 | glyph2; + while (l <= r) { + m = (l + r) >> 1; + straw = ttULONG(data+18+(m*6)); /* note: unaligned read */ + if (needle < straw) + r = m - 1; + else if (needle > straw) + l = m + 1; + else + return ttSHORT(data+22+(m*6)); + } + return 0; +} + +static stbtt_int32 stbtt__GetCoverageIndex(stbtt_uint8 *coverageTable, int glyph) +{ + stbtt_uint16 coverageFormat = ttUSHORT(coverageTable); + switch (coverageFormat) { + case 1: { + stbtt_uint16 glyphCount = ttUSHORT(coverageTable + 2); + + /* Binary search. */ + stbtt_int32 l=0, r=glyphCount-1, m; + int straw, needle=glyph; + while (l <= r) { + stbtt_uint8 *glyphArray = coverageTable + 4; + stbtt_uint16 glyphID; + m = (l + r) >> 1; + glyphID = ttUSHORT(glyphArray + 2 * m); + straw = glyphID; + if (needle < straw) + r = m - 1; + else if (needle > straw) + l = m + 1; + else { + return m; + } + } + break; + } + + case 2: { + stbtt_uint16 rangeCount = ttUSHORT(coverageTable + 2); + stbtt_uint8 *rangeArray = coverageTable + 4; + + /* Binary search. */ + stbtt_int32 l=0, r=rangeCount-1, m; + int strawStart, strawEnd, needle=glyph; + while (l <= r) { + stbtt_uint8 *rangeRecord; + m = (l + r) >> 1; + rangeRecord = rangeArray + 6 * m; + strawStart = ttUSHORT(rangeRecord); + strawEnd = ttUSHORT(rangeRecord + 2); + if (needle < strawStart) + r = m - 1; + else if (needle > strawEnd) + l = m + 1; + else { + stbtt_uint16 startCoverageIndex = ttUSHORT(rangeRecord + 4); + return startCoverageIndex + glyph - strawStart; + } + } + break; + } + + default: return -1; /* unsupported */ + } + + return -1; +} + +static stbtt_int32 stbtt__GetGlyphClass(stbtt_uint8 *classDefTable, int glyph) +{ + stbtt_uint16 classDefFormat = ttUSHORT(classDefTable); + switch (classDefFormat) + { + case 1: { + stbtt_uint16 startGlyphID = ttUSHORT(classDefTable + 2); + stbtt_uint16 glyphCount = ttUSHORT(classDefTable + 4); + stbtt_uint8 *classDef1ValueArray = classDefTable + 6; + + if (glyph >= startGlyphID && glyph < startGlyphID + glyphCount) + return (stbtt_int32)ttUSHORT(classDef1ValueArray + 2 * (glyph - startGlyphID)); + break; + } + + case 2: { + stbtt_uint16 classRangeCount = ttUSHORT(classDefTable + 2); + stbtt_uint8 *classRangeRecords = classDefTable + 4; + + /* Binary search. */ + stbtt_int32 l=0, r=classRangeCount-1, m; + int strawStart, strawEnd, needle=glyph; + while (l <= r) { + stbtt_uint8 *classRangeRecord; + m = (l + r) >> 1; + classRangeRecord = classRangeRecords + 6 * m; + strawStart = ttUSHORT(classRangeRecord); + strawEnd = ttUSHORT(classRangeRecord + 2); + if (needle < strawStart) + r = m - 1; + else if (needle > strawEnd) + l = m + 1; + else + return (stbtt_int32)ttUSHORT(classRangeRecord + 4); + } + break; + } + + default: + return -1; /* Unsupported definition type, return an error. */ + } + + /* "All glyphs not assigned to a class fall into class 0". (OpenType spec) */ + return 0; +} + +/* Define to STBTT_assert(x) if you want to break on unimplemented formats. */ +#define STBTT_GPOS_TODO_assert(x) + +static stbtt_int32 stbtt__GetGlyphGPOSInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) +{ + stbtt_uint16 lookupListOffset; + stbtt_uint8 *lookupList; + stbtt_uint16 lookupCount; + stbtt_uint8 *data; + stbtt_int32 i, sti; + + if (!info->gpos) return 0; + + data = info->data + info->gpos; + + if (ttUSHORT(data+0) != 1) return 0; /* Major version 1 */ + if (ttUSHORT(data+2) != 0) return 0; /* Minor version 0 */ + + lookupListOffset = ttUSHORT(data+8); + lookupList = data + lookupListOffset; + lookupCount = ttUSHORT(lookupList); + + for (i=0; i= pairSetCount) return 0; + + needle=glyph2; + r=pairValueCount-1; + l=0; + + /* Binary search. */ + while (l <= r) { + stbtt_uint16 secondGlyph; + stbtt_uint8 *pairValue; + m = (l + r) >> 1; + pairValue = pairValueArray + (2 + valueRecordPairSizeInBytes) * m; + secondGlyph = ttUSHORT(pairValue); + straw = secondGlyph; + if (needle < straw) + r = m - 1; + else if (needle > straw) + l = m + 1; + else { + stbtt_int16 xAdvance = ttSHORT(pairValue + 2); + return xAdvance; + } + } + } else + return 0; + break; + } + + case 2: { + stbtt_uint16 valueFormat1 = ttUSHORT(table + 4); + stbtt_uint16 valueFormat2 = ttUSHORT(table + 6); + if (valueFormat1 == 4 && valueFormat2 == 0) { /* Support more formats? */ + stbtt_uint16 classDef1Offset = ttUSHORT(table + 8); + stbtt_uint16 classDef2Offset = ttUSHORT(table + 10); + int glyph1class = stbtt__GetGlyphClass(table + classDef1Offset, glyph1); + int glyph2class = stbtt__GetGlyphClass(table + classDef2Offset, glyph2); + + stbtt_uint16 class1Count = ttUSHORT(table + 12); + stbtt_uint16 class2Count = ttUSHORT(table + 14); + stbtt_uint8 *class1Records, *class2Records; + stbtt_int16 xAdvance; + + if (glyph1class < 0 || glyph1class >= class1Count) return 0; /* malformed */ + if (glyph2class < 0 || glyph2class >= class2Count) return 0; /* malformed */ + + class1Records = table + 16; + class2Records = class1Records + 2 * (glyph1class * class2Count); + xAdvance = ttSHORT(class2Records + 2 * glyph2class); + return xAdvance; + } else + return 0; + break; + } + + default: + return 0; /* Unsupported position format */ + } + } + } + + return 0; +} + +STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int g1, int g2) +{ + int xAdvance = 0; + + if (info->gpos) + xAdvance += stbtt__GetGlyphGPOSInfoAdvance(info, g1, g2); + else if (info->kern) + xAdvance += stbtt__GetGlyphKernInfoAdvance(info, g1, g2); + + return xAdvance; +} + +STBTT_DEF int stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2) +{ + if (!info->kern && !info->gpos) /* if no kerning table, don't waste time looking up both codepoint->glyphs */ + return 0; + return stbtt_GetGlyphKernAdvance(info, stbtt_FindGlyphIndex(info,ch1), stbtt_FindGlyphIndex(info,ch2)); +} + +STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing) +{ + stbtt_GetGlyphHMetrics(info, stbtt_FindGlyphIndex(info,codepoint), advanceWidth, leftSideBearing); +} + +STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap) +{ + if (ascent ) *ascent = ttSHORT(info->data+info->hhea + 4); + if (descent) *descent = ttSHORT(info->data+info->hhea + 6); + if (lineGap) *lineGap = ttSHORT(info->data+info->hhea + 8); +} + +STBTT_DEF int stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap) +{ + int tab = stbtt__find_table(info->data, info->fontstart, "OS/2"); + if (!tab) + return 0; + if (typoAscent ) *typoAscent = ttSHORT(info->data+tab + 68); + if (typoDescent) *typoDescent = ttSHORT(info->data+tab + 70); + if (typoLineGap) *typoLineGap = ttSHORT(info->data+tab + 72); + return 1; +} + +STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1) +{ + *x0 = ttSHORT(info->data + info->head + 36); + *y0 = ttSHORT(info->data + info->head + 38); + *x1 = ttSHORT(info->data + info->head + 40); + *y1 = ttSHORT(info->data + info->head + 42); +} + +STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float height) +{ + int fheight = ttSHORT(info->data + info->hhea + 4) - ttSHORT(info->data + info->hhea + 6); + return (float) height / fheight; +} + +STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels) +{ + int unitsPerEm = ttUSHORT(info->data + info->head + 18); + return pixels / unitsPerEm; +} + +STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *v) +{ + STBTT_free(v, info->userdata); +} + +STBTT_DEF stbtt_uint8 *stbtt_FindSVGDoc(const stbtt_fontinfo *info, int gl) +{ + int i; + stbtt_uint8 *data = info->data; + stbtt_uint8 *svg_doc_list = data + stbtt__get_svg((stbtt_fontinfo *) info); + + int numEntries = ttUSHORT(svg_doc_list); + stbtt_uint8 *svg_docs = svg_doc_list + 2; + + for(i=0; i= ttUSHORT(svg_doc)) && (gl <= ttUSHORT(svg_doc + 2))) + return svg_doc; + } + return 0; +} + +STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg) +{ + stbtt_uint8 *data = info->data; + stbtt_uint8 *svg_doc; + + if (info->svg == 0) + return 0; + + svg_doc = stbtt_FindSVGDoc(info, gl); + if (svg_doc != NULL) { + *svg = (char *) data + info->svg + ttULONG(svg_doc + 4); + return ttULONG(svg_doc + 8); + } else { + return 0; + } +} + +STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg) +{ + return stbtt_GetGlyphSVG(info, stbtt_FindGlyphIndex(info, unicode_codepoint), svg); +} + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* antialiasing software rasterizer */ +/* */ + +STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1) +{ + int x0=0,y0=0,x1,y1; /* =0 suppresses compiler warning */ + if (!stbtt_GetGlyphBox(font, glyph, &x0,&y0,&x1,&y1)) { + /* e.g. space character */ + if (ix0) *ix0 = 0; + if (iy0) *iy0 = 0; + if (ix1) *ix1 = 0; + if (iy1) *iy1 = 0; + } else { + /* move to integral bboxes (treating pixels as little squares, what pixels get touched)? */ + if (ix0) *ix0 = STBTT_ifloor( x0 * scale_x + shift_x); + if (iy0) *iy0 = STBTT_ifloor(-y1 * scale_y + shift_y); + if (ix1) *ix1 = STBTT_iceil ( x1 * scale_x + shift_x); + if (iy1) *iy1 = STBTT_iceil (-y0 * scale_y + shift_y); + } +} + +STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1) +{ + stbtt_GetGlyphBitmapBoxSubpixel(font, glyph, scale_x, scale_y,0.0f,0.0f, ix0, iy0, ix1, iy1); +} + +STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1) +{ + stbtt_GetGlyphBitmapBoxSubpixel(font, stbtt_FindGlyphIndex(font,codepoint), scale_x, scale_y,shift_x,shift_y, ix0,iy0,ix1,iy1); +} + +STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1) +{ + stbtt_GetCodepointBitmapBoxSubpixel(font, codepoint, scale_x, scale_y,0.0f,0.0f, ix0,iy0,ix1,iy1); +} + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* Rasterizer */ + +typedef struct stbtt__hheap_chunk +{ + struct stbtt__hheap_chunk *next; +} stbtt__hheap_chunk; + +typedef struct stbtt__hheap +{ + struct stbtt__hheap_chunk *head; + void *first_free; + int num_remaining_in_head_chunk; +} stbtt__hheap; + +static void *stbtt__hheap_alloc(stbtt__hheap *hh, size_t size, void *userdata) +{ + if (hh->first_free) { + void *p = hh->first_free; + hh->first_free = * (void **) p; + return p; + } else { + if (hh->num_remaining_in_head_chunk == 0) { + int count = (size < 32 ? 2000 : size < 128 ? 800 : 100); + stbtt__hheap_chunk *c = (stbtt__hheap_chunk *) STBTT_malloc(sizeof(stbtt__hheap_chunk) + size * count, userdata); + if (c == NULL) + return NULL; + c->next = hh->head; + hh->head = c; + hh->num_remaining_in_head_chunk = count; + } + --hh->num_remaining_in_head_chunk; + return (char *) (hh->head) + sizeof(stbtt__hheap_chunk) + size * hh->num_remaining_in_head_chunk; + } +} + +static void stbtt__hheap_free(stbtt__hheap *hh, void *p) +{ + *(void **) p = hh->first_free; + hh->first_free = p; +} + +static void stbtt__hheap_cleanup(stbtt__hheap *hh, void *userdata) +{ + stbtt__hheap_chunk *c = hh->head; + while (c) { + stbtt__hheap_chunk *n = c->next; + STBTT_free(c, userdata); + c = n; + } +} + +typedef struct stbtt__edge { + float x0,y0, x1,y1; + int invert; +} stbtt__edge; + + +typedef struct stbtt__active_edge +{ + struct stbtt__active_edge *next; + #if STBTT_RASTERIZER_VERSION==1 + int x,dx; + float ey; + int direction; + #elif STBTT_RASTERIZER_VERSION==2 + float fx,fdx,fdy; + float direction; + float sy; + float ey; + #else + #error "Unrecognized value of STBTT_RASTERIZER_VERSION" + #endif +} stbtt__active_edge; + +#if STBTT_RASTERIZER_VERSION == 1 +#define STBTT_FIXSHIFT 10 +#define STBTT_FIX (1 << STBTT_FIXSHIFT) +#define STBTT_FIXMASK (STBTT_FIX-1) + +static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata) +{ + stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata); + float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0); + STBTT_assert(z != NULL); + if (!z) return z; + + /* round dx down to avoid overshooting */ + if (dxdy < 0) + z->dx = -STBTT_ifloor(STBTT_FIX * -dxdy); + else + z->dx = STBTT_ifloor(STBTT_FIX * dxdy); + + z->x = STBTT_ifloor(STBTT_FIX * e->x0 + z->dx * (start_point - e->y0)); /* use z->dx so when we offset later it's by the same amount */ + z->x -= off_x * STBTT_FIX; + + z->ey = e->y1; + z->next = 0; + z->direction = e->invert ? 1 : -1; + return z; +} +#elif STBTT_RASTERIZER_VERSION == 2 +static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata) +{ + stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata); + float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0); + STBTT_assert(z != NULL); + /* STBTT_assert(e->y0 <= start_point); */ + if (!z) return z; + z->fdx = dxdy; + z->fdy = dxdy != 0.0f ? (1.0f/dxdy) : 0.0f; + z->fx = e->x0 + dxdy * (start_point - e->y0); + z->fx -= off_x; + z->direction = e->invert ? 1.0f : -1.0f; + z->sy = e->y0; + z->ey = e->y1; + z->next = 0; + return z; +} +#else +#error "Unrecognized value of STBTT_RASTERIZER_VERSION" +#endif + +#if STBTT_RASTERIZER_VERSION == 1 +/* note: this routine clips fills that extend off the edges... ideally this */ +/* wouldn't happen, but it could happen if the truetype glyph bounding boxes */ +/* are wrong, or if the user supplies a too-small bitmap */ +static void stbtt__fill_active_edges(unsigned char *scanline, int len, stbtt__active_edge *e, int max_weight) +{ + /* non-zero winding fill */ + int x0=0, w=0; + + while (e) { + if (w == 0) { + /* if we're currently at zero, we need to record the edge start point */ + x0 = e->x; w += e->direction; + } else { + int x1 = e->x; w += e->direction; + /* if we went to zero, we need to draw */ + if (w == 0) { + int i = x0 >> STBTT_FIXSHIFT; + int j = x1 >> STBTT_FIXSHIFT; + + if (i < len && j >= 0) { + if (i == j) { + /* x0,x1 are the same pixel, so compute combined coverage */ + scanline[i] = scanline[i] + (stbtt_uint8) ((x1 - x0) * max_weight >> STBTT_FIXSHIFT); + } else { + if (i >= 0) /* add antialiasing for x0 */ + scanline[i] = scanline[i] + (stbtt_uint8) (((STBTT_FIX - (x0 & STBTT_FIXMASK)) * max_weight) >> STBTT_FIXSHIFT); + else + i = -1; /* clip */ + + if (j < len) /* add antialiasing for x1 */ + scanline[j] = scanline[j] + (stbtt_uint8) (((x1 & STBTT_FIXMASK) * max_weight) >> STBTT_FIXSHIFT); + else + j = len; /* clip */ + + for (++i; i < j; ++i) /* fill pixels between x0 and x1 */ + scanline[i] = scanline[i] + (stbtt_uint8) max_weight; + } + } + } + } + + e = e->next; + } +} + +static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata) +{ + stbtt__hheap hh = { 0, 0, 0 }; + stbtt__active_edge *active = NULL; + int y,j=0; + int max_weight = (255 / vsubsample); /* weight per vertical scanline */ + int s; /* vertical subsample index */ + unsigned char scanline_data[512], *scanline; + + if (result->w > 512) + scanline = (unsigned char *) STBTT_malloc(result->w, userdata); + else + scanline = scanline_data; + + y = off_y * vsubsample; + e[n].y0 = (off_y + result->h) * (float) vsubsample + 1; + + while (j < result->h) { + STBTT_memset(scanline, 0, result->w); + for (s=0; s < vsubsample; ++s) { + /* find center of pixel for this scanline */ + float scan_y = y + 0.5f; + stbtt__active_edge **step = &active; + + /* update all active edges; */ + /* remove all active edges that terminate before the center of this scanline */ + while (*step) { + stbtt__active_edge * z = *step; + if (z->ey <= scan_y) { + *step = z->next; /* delete from list */ + STBTT_assert(z->direction); + z->direction = 0; + stbtt__hheap_free(&hh, z); + } else { + z->x += z->dx; /* advance to position for current scanline */ + step = &((*step)->next); /* advance through list */ + } + } + + /* resort the list if needed */ + for(;;) { + int changed=0; + step = &active; + while (*step && (*step)->next) { + if ((*step)->x > (*step)->next->x) { + stbtt__active_edge *t = *step; + stbtt__active_edge *q = t->next; + + t->next = q->next; + q->next = t; + *step = q; + changed = 1; + } + step = &(*step)->next; + } + if (!changed) break; + } + + /* insert all edges that start before the center of this scanline -- omit ones that also end on this scanline */ + while (e->y0 <= scan_y) { + if (e->y1 > scan_y) { + stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y, userdata); + if (z != NULL) { + /* find insertion point */ + if (active == NULL) + active = z; + else if (z->x < active->x) { + /* insert at front */ + z->next = active; + active = z; + } else { + /* find thing to insert AFTER */ + stbtt__active_edge *p = active; + while (p->next && p->next->x < z->x) + p = p->next; + /* at this point, p->next->x is NOT < z->x */ + z->next = p->next; + p->next = z; + } + } + } + ++e; + } + + /* now process all active edges in XOR fashion */ + if (active) + stbtt__fill_active_edges(scanline, result->w, active, max_weight); + + ++y; + } + STBTT_memcpy(result->pixels + j * result->stride, scanline, result->w); + ++j; + } + + stbtt__hheap_cleanup(&hh, userdata); + + if (scanline != scanline_data) + STBTT_free(scanline, userdata); +} + +#elif STBTT_RASTERIZER_VERSION == 2 + +/* the edge passed in here does not cross the vertical line at x or the vertical line at x+1 */ +/* (i.e. it has already been clipped to those) */ +static void stbtt__handle_clipped_edge(float *scanline, int x, stbtt__active_edge *e, float x0, float y0, float x1, float y1) +{ + if (y0 == y1) return; + STBTT_assert(y0 < y1); + STBTT_assert(e->sy <= e->ey); + if (y0 > e->ey) return; + if (y1 < e->sy) return; + if (y0 < e->sy) { + x0 += (x1-x0) * (e->sy - y0) / (y1-y0); + y0 = e->sy; + } + if (y1 > e->ey) { + x1 += (x1-x0) * (e->ey - y1) / (y1-y0); + y1 = e->ey; + } + + if (x0 == x) + STBTT_assert(x1 <= x+1); + else if (x0 == x+1) + STBTT_assert(x1 >= x); + else if (x0 <= x) + STBTT_assert(x1 <= x); + else if (x0 >= x+1) + STBTT_assert(x1 >= x+1); + else + STBTT_assert(x1 >= x && x1 <= x+1); + + if (x0 <= x && x1 <= x) + scanline[x] += e->direction * (y1-y0); + else if (x0 >= x+1 && x1 >= x+1) + ; + else { + STBTT_assert(x0 >= x && x0 <= x+1 && x1 >= x && x1 <= x+1); + scanline[x] += e->direction * (y1-y0) * (1-((x0-x)+(x1-x))/2); /* coverage = 1 - average x position */ + } +} + +static float stbtt__sized_trapezoid_area(float height, float top_width, float bottom_width) +{ + STBTT_assert(top_width >= 0); + STBTT_assert(bottom_width >= 0); + return (top_width + bottom_width) / 2.0f * height; +} + +static float stbtt__position_trapezoid_area(float height, float tx0, float tx1, float bx0, float bx1) +{ + return stbtt__sized_trapezoid_area(height, tx1 - tx0, bx1 - bx0); +} + +static float stbtt__sized_triangle_area(float height, float width) +{ + return height * width / 2; +} + +static void stbtt__fill_active_edges_new(float *scanline, float *scanline_fill, int len, stbtt__active_edge *e, float y_top) +{ + float y_bottom = y_top+1; + + while (e) { + /* brute force every pixel */ + + /* compute intersection points with top & bottom */ + STBTT_assert(e->ey >= y_top); + + if (e->fdx == 0) { + float x0 = e->fx; + if (x0 < len) { + if (x0 >= 0) { + stbtt__handle_clipped_edge(scanline,(int) x0,e, x0,y_top, x0,y_bottom); + stbtt__handle_clipped_edge(scanline_fill-1,(int) x0+1,e, x0,y_top, x0,y_bottom); + } else { + stbtt__handle_clipped_edge(scanline_fill-1,0,e, x0,y_top, x0,y_bottom); + } + } + } else { + float x0 = e->fx; + float dx = e->fdx; + float xb = x0 + dx; + float x_top, x_bottom; + float sy0,sy1; + float dy = e->fdy; + STBTT_assert(e->sy <= y_bottom && e->ey >= y_top); + + /* compute endpoints of line segment clipped to this scanline (if the */ + /* line segment starts on this scanline. x0 is the intersection of the */ + /* line with y_top, but that may be off the line segment. */ + if (e->sy > y_top) { + x_top = x0 + dx * (e->sy - y_top); + sy0 = e->sy; + } else { + x_top = x0; + sy0 = y_top; + } + if (e->ey < y_bottom) { + x_bottom = x0 + dx * (e->ey - y_top); + sy1 = e->ey; + } else { + x_bottom = xb; + sy1 = y_bottom; + } + + if (x_top >= 0 && x_bottom >= 0 && x_top < len && x_bottom < len) { + /* from here on, we don't have to range check x values */ + + if ((int) x_top == (int) x_bottom) { + float height; + /* simple case, only spans one pixel */ + int x = (int) x_top; + height = (sy1 - sy0) * e->direction; + STBTT_assert(x >= 0 && x < len); + scanline[x] += stbtt__position_trapezoid_area(height, x_top, x+1.0f, x_bottom, x+1.0f); + scanline_fill[x] += height; /* everything right of this pixel is filled */ + } else { + int x,x1,x2; + float y_crossing, y_final, step, sign, area; + /* covers 2+ pixels */ + if (x_top > x_bottom) { + /* flip scanline vertically; signed area is the same */ + float t; + sy0 = y_bottom - (sy0 - y_top); + sy1 = y_bottom - (sy1 - y_top); + t = sy0, sy0 = sy1, sy1 = t; + t = x_bottom, x_bottom = x_top, x_top = t; + dx = -dx; + dy = -dy; + t = x0, x0 = xb, xb = t; + } + STBTT_assert(dy >= 0); + STBTT_assert(dx >= 0); + + x1 = (int) x_top; + x2 = (int) x_bottom; + /* compute intersection with y axis at x1+1 */ + y_crossing = y_top + dy * (x1+1 - x0); + + /* compute intersection with y axis at x2 */ + y_final = y_top + dy * (x2 - x0); + + /* x1 x_top x2 x_bottom */ + /* y_top +------|-----+------------+------------+--------|---+------------+ */ + /* | | | | | | */ + /* | | | | | | */ + /* sy0 | Txxxxx|............|............|............|............| */ + /* y_crossing | *xxxxx.......|............|............|............| */ + /* | | xxxxx..|............|............|............| */ + /* | | /- xx*xxxx........|............|............| */ + /* | | dy < | xxxxxx..|............|............| */ + /* y_final | | \- | xx*xxx.........|............| */ + /* sy1 | | | | xxxxxB...|............| */ + /* | | | | | | */ + /* | | | | | | */ + /* y_bottom +------------+------------+------------+------------+------------+ */ + /* */ + /* goal is to measure the area covered by '.' in each pixel */ + + /* if x2 is right at the right edge of x1, y_crossing can blow up, github #1057 */ + /* @TODO: maybe test against sy1 rather than y_bottom? */ + if (y_crossing > y_bottom) + y_crossing = y_bottom; + + sign = e->direction; + + /* area of the rectangle covered from sy0..y_crossing */ + area = sign * (y_crossing-sy0); + + /* area of the triangle (x_top,sy0), (x1+1,sy0), (x1+1,y_crossing) */ + scanline[x1] += stbtt__sized_triangle_area(area, x1+1 - x_top); + + /* check if final y_crossing is blown up; no test case for this */ + if (y_final > y_bottom) { + y_final = y_bottom; + dy = (y_final - y_crossing ) / (x2 - (x1+1)); /* if denom=0, y_final = y_crossing, so y_final <= y_bottom */ + } + + /* in second pixel, area covered by line segment found in first pixel */ + /* is always a rectangle 1 wide * the height of that line segment; this */ + /* is exactly what the variable 'area' stores. it also gets a contribution */ + /* from the line segment within it. the THIRD pixel will get the first */ + /* pixel's rectangle contribution, the second pixel's rectangle contribution, */ + /* and its own contribution. the 'own contribution' is the same in every pixel except */ + /* the leftmost and rightmost, a trapezoid that slides down in each pixel. */ + /* the second pixel's contribution to the third pixel will be the */ + /* rectangle 1 wide times the height change in the second pixel, which is dy. */ + + step = sign * dy * 1; /* dy is dy/dx, change in y for every 1 change in x, */ + /* which multiplied by 1-pixel-width is how much pixel area changes for each step in x */ + /* so the area advances by 'step' every time */ + + for (x = x1+1; x < x2; ++x) { + scanline[x] += area + step/2; /* area of trapezoid is 1*step/2 */ + area += step; + } + STBTT_assert(STBTT_fabs(area) <= 1.01f); /* accumulated error from area += step unless we round step down */ + STBTT_assert(sy1 > y_final-0.01f); + + /* area covered in the last pixel is the rectangle from all the pixels to the left, */ + /* plus the trapezoid filled by the line segment in this pixel all the way to the right edge */ + scanline[x2] += area + sign * stbtt__position_trapezoid_area(sy1-y_final, (float) x2, x2+1.0f, x_bottom, x2+1.0f); + + /* the rest of the line is filled based on the total height of the line segment in this pixel */ + scanline_fill[x2] += sign * (sy1-sy0); + } + } else { + /* if edge goes outside of box we're drawing, we require */ + /* clipping logic. since this does not match the intended use */ + /* of this library, we use a different, very slow brute */ + /* force implementation */ + /* note though that this does happen some of the time because */ + /* x_top and x_bottom can be extrapolated at the top & bottom of */ + /* the shape and actually lie outside the bounding box */ + int x; + for (x=0; x < len; ++x) { + /* cases: */ + /* */ + /* there can be up to two intersections with the pixel. any intersection */ + /* with left or right edges can be handled by splitting into two (or three) */ + /* regions. intersections with top & bottom do not necessitate case-wise logic. */ + /* */ + /* the old way of doing this found the intersections with the left & right edges, */ + /* then used some simple logic to produce up to three segments in sorted order */ + /* from top-to-bottom. however, this had a problem: if an x edge was epsilon */ + /* across the x border, then the corresponding y position might not be distinct */ + /* from the other y segment, and it might ignored as an empty segment. to avoid */ + /* that, we need to explicitly produce segments based on x positions. */ + + /* rename variables to clearly-defined pairs */ + float y0 = y_top; + float x1 = (float) (x); + float x2 = (float) (x+1); + float x3 = xb; + float y3 = y_bottom; + + /* x = e->x + e->dx * (y-y_top) */ + /* (y-y_top) = (x - e->x) / e->dx */ + /* y = (x - e->x) / e->dx + y_top */ + float y1 = (x - x0) / dx + y_top; + float y2 = (x+1 - x0) / dx + y_top; + + if (x0 < x1 && x3 > x2) { /* three segments descending down-right */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); + stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x2,y2); + stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3); + } else if (x3 < x1 && x0 > x2) { /* three segments descending down-left */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2); + stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x1,y1); + stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3); + } else if (x0 < x1 && x3 > x1) { /* two segments across x, down-right */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); + stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3); + } else if (x3 < x1 && x0 > x1) { /* two segments across x, down-left */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); + stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3); + } else if (x0 < x2 && x3 > x2) { /* two segments across x+1, down-right */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2); + stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3); + } else if (x3 < x2 && x0 > x2) { /* two segments across x+1, down-left */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2); + stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3); + } else { /* one segment */ + stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x3,y3); + } + } + } + } + e = e->next; + } +} + +/* directly AA rasterize edges w/o supersampling */ +static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata) +{ + stbtt__hheap hh = { 0, 0, 0 }; + stbtt__active_edge *active = NULL; + int y,j=0, i; + float scanline_data[129], *scanline, *scanline2; + + STBTT__NOTUSED(vsubsample); + + if (result->w > 64) + scanline = (float *) STBTT_malloc((result->w*2+1) * sizeof(float), userdata); + else + scanline = scanline_data; + + scanline2 = scanline + result->w; + + y = off_y; + e[n].y0 = (float) (off_y + result->h) + 1; + + while (j < result->h) { + /* find center of pixel for this scanline */ + float scan_y_top = y + 0.0f; + float scan_y_bottom = y + 1.0f; + stbtt__active_edge **step = &active; + + STBTT_memset(scanline , 0, result->w*sizeof(scanline[0])); + STBTT_memset(scanline2, 0, (result->w+1)*sizeof(scanline[0])); + + /* update all active edges; */ + /* remove all active edges that terminate before the top of this scanline */ + while (*step) { + stbtt__active_edge * z = *step; + if (z->ey <= scan_y_top) { + *step = z->next; /* delete from list */ + STBTT_assert(z->direction); + z->direction = 0; + stbtt__hheap_free(&hh, z); + } else { + step = &((*step)->next); /* advance through list */ + } + } + + /* insert all edges that start before the bottom of this scanline */ + while (e->y0 <= scan_y_bottom) { + if (e->y0 != e->y1) { + stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y_top, userdata); + if (z != NULL) { + if (j == 0 && off_y != 0) { + if (z->ey < scan_y_top) { + /* this can happen due to subpixel positioning and some kind of fp rounding error i think */ + z->ey = scan_y_top; + } + } + STBTT_assert(z->ey >= scan_y_top); /* if we get really unlucky a tiny bit of an edge can be out of bounds */ + /* insert at front */ + z->next = active; + active = z; + } + } + ++e; + } + + /* now process all active edges */ + if (active) + stbtt__fill_active_edges_new(scanline, scanline2+1, result->w, active, scan_y_top); + + { + float sum = 0; + for (i=0; i < result->w; ++i) { + float k; + int m; + sum += scanline2[i]; + k = scanline[i] + sum; + k = (float) STBTT_fabs(k)*255 + 0.5f; + m = (int) k; + if (m > 255) m = 255; + result->pixels[j*result->stride + i] = (unsigned char) m; + } + } + /* advance all the edges */ + step = &active; + while (*step) { + stbtt__active_edge *z = *step; + z->fx += z->fdx; /* advance to position for current scanline */ + step = &((*step)->next); /* advance through list */ + } + + ++y; + ++j; + } + + stbtt__hheap_cleanup(&hh, userdata); + + if (scanline != scanline_data) + STBTT_free(scanline, userdata); +} +#else +#error "Unrecognized value of STBTT_RASTERIZER_VERSION" +#endif + +#define STBTT__COMPARE(a,b) ((a)->y0 < (b)->y0) + +static void stbtt__sort_edges_ins_sort(stbtt__edge *p, int n) +{ + int i,j; + for (i=1; i < n; ++i) { + stbtt__edge t = p[i], *a = &t; + j = i; + while (j > 0) { + stbtt__edge *b = &p[j-1]; + int c = STBTT__COMPARE(a,b); + if (!c) break; + p[j] = p[j-1]; + --j; + } + if (i != j) + p[j] = t; + } +} + +static void stbtt__sort_edges_quicksort(stbtt__edge *p, int n) +{ + /* threshold for transitioning to insertion sort */ + while (n > 12) { + stbtt__edge t; + int c01,c12,c,m,i,j; + + /* compute median of three */ + m = n >> 1; + c01 = STBTT__COMPARE(&p[0],&p[m]); + c12 = STBTT__COMPARE(&p[m],&p[n-1]); + /* if 0 >= mid >= end, or 0 < mid < end, then use mid */ + if (c01 != c12) { + /* otherwise, we'll need to swap something else to middle */ + int z; + c = STBTT__COMPARE(&p[0],&p[n-1]); + /* 0>mid && midn => n; 0 0 */ + /* 0n: 0>n => 0; 0 n */ + z = (c == c12) ? 0 : n-1; + t = p[z]; + p[z] = p[m]; + p[m] = t; + } + /* now p[m] is the median-of-three */ + /* swap it to the beginning so it won't move around */ + t = p[0]; + p[0] = p[m]; + p[m] = t; + + /* partition loop */ + i=1; + j=n-1; + for(;;) { + /* handling of equality is crucial here */ + /* for sentinels & efficiency with duplicates */ + for (;;++i) { + if (!STBTT__COMPARE(&p[i], &p[0])) break; + } + for (;;--j) { + if (!STBTT__COMPARE(&p[0], &p[j])) break; + } + /* make sure we haven't crossed */ + if (i >= j) break; + t = p[i]; + p[i] = p[j]; + p[j] = t; + + ++i; + --j; + } + /* recurse on smaller side, iterate on larger */ + if (j < (n-i)) { + stbtt__sort_edges_quicksort(p,j); + p = p+i; + n = n-i; + } else { + stbtt__sort_edges_quicksort(p+i, n-i); + n = j; + } + } +} + +static void stbtt__sort_edges(stbtt__edge *p, int n) +{ + stbtt__sort_edges_quicksort(p, n); + stbtt__sort_edges_ins_sort(p, n); +} + +typedef struct +{ + float x,y; +} stbtt__point; + +static void stbtt__rasterize(stbtt__bitmap *result, stbtt__point *pts, int *wcount, int windings, float scale_x, float scale_y, float shift_x, float shift_y, int off_x, int off_y, int invert, void *userdata) +{ + float y_scale_inv = invert ? -scale_y : scale_y; + stbtt__edge *e; + int n,i,j,k,m; +#if STBTT_RASTERIZER_VERSION == 1 + int vsubsample = result->h < 8 ? 15 : 5; +#elif STBTT_RASTERIZER_VERSION == 2 + int vsubsample = 1; +#else + #error "Unrecognized value of STBTT_RASTERIZER_VERSION" +#endif + /* vsubsample should divide 255 evenly; otherwise we won't reach full opacity */ + + /* now we have to blow out the windings into explicit edge lists */ + n = 0; + for (i=0; i < windings; ++i) + n += wcount[i]; + + e = (stbtt__edge *) STBTT_malloc(sizeof(*e) * (n+1), userdata); /* add an extra one as a sentinel */ + if (e == 0) return; + n = 0; + + m=0; + for (i=0; i < windings; ++i) { + stbtt__point *p = pts + m; + m += wcount[i]; + j = wcount[i]-1; + for (k=0; k < wcount[i]; j=k++) { + int a=k,b=j; + /* skip the edge if horizontal */ + if (p[j].y == p[k].y) + continue; + /* add edge from j to k to the list */ + e[n].invert = 0; + if (invert ? p[j].y > p[k].y : p[j].y < p[k].y) { + e[n].invert = 1; + a=j,b=k; + } + e[n].x0 = p[a].x * scale_x + shift_x; + e[n].y0 = (p[a].y * y_scale_inv + shift_y) * vsubsample; + e[n].x1 = p[b].x * scale_x + shift_x; + e[n].y1 = (p[b].y * y_scale_inv + shift_y) * vsubsample; + ++n; + } + } + + /* now sort the edges by their highest point (should snap to integer, and then by x) */ + /* STBTT_sort(e, n, sizeof(e[0]), stbtt__edge_compare); */ + stbtt__sort_edges(e, n); + + /* now, traverse the scanlines and find the intersections on each scanline, use xor winding rule */ + stbtt__rasterize_sorted_edges(result, e, n, vsubsample, off_x, off_y, userdata); + + STBTT_free(e, userdata); +} + +static void stbtt__add_point(stbtt__point *points, int n, float x, float y) +{ + if (!points) return; /* during first pass, it's unallocated */ + points[n].x = x; + points[n].y = y; +} + +/* tessellate until threshold p is happy... @TODO warped to compensate for non-linear stretching */ +static int stbtt__tesselate_curve(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float objspace_flatness_squared, int n) +{ + /* midpoint */ + float mx = (x0 + 2*x1 + x2)/4; + float my = (y0 + 2*y1 + y2)/4; + /* versus directly drawn line */ + float dx = (x0+x2)/2 - mx; + float dy = (y0+y2)/2 - my; + if (n > 16) /* 65536 segments on one curve better be enough! */ + return 1; + if (dx*dx+dy*dy > objspace_flatness_squared) { /* half-pixel error allowed... need to be smaller if AA */ + stbtt__tesselate_curve(points, num_points, x0,y0, (x0+x1)/2.0f,(y0+y1)/2.0f, mx,my, objspace_flatness_squared,n+1); + stbtt__tesselate_curve(points, num_points, mx,my, (x1+x2)/2.0f,(y1+y2)/2.0f, x2,y2, objspace_flatness_squared,n+1); + } else { + stbtt__add_point(points, *num_points,x2,y2); + *num_points = *num_points+1; + } + return 1; +} + +static void stbtt__tesselate_cubic(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float x3, float y3, float objspace_flatness_squared, int n) +{ + /* @TODO this "flatness" calculation is just made-up nonsense that seems to work well enough */ + float dx0 = x1-x0; + float dy0 = y1-y0; + float dx1 = x2-x1; + float dy1 = y2-y1; + float dx2 = x3-x2; + float dy2 = y3-y2; + float dx = x3-x0; + float dy = y3-y0; + float longlen = (float) (STBTT_sqrt(dx0*dx0+dy0*dy0)+STBTT_sqrt(dx1*dx1+dy1*dy1)+STBTT_sqrt(dx2*dx2+dy2*dy2)); + float shortlen = (float) STBTT_sqrt(dx*dx+dy*dy); + float flatness_squared = longlen*longlen-shortlen*shortlen; + + if (n > 16) /* 65536 segments on one curve better be enough! */ + return; + + if (flatness_squared > objspace_flatness_squared) { + float x01 = (x0+x1)/2; + float y01 = (y0+y1)/2; + float x12 = (x1+x2)/2; + float y12 = (y1+y2)/2; + float x23 = (x2+x3)/2; + float y23 = (y2+y3)/2; + + float xa = (x01+x12)/2; + float ya = (y01+y12)/2; + float xb = (x12+x23)/2; + float yb = (y12+y23)/2; + + float mx = (xa+xb)/2; + float my = (ya+yb)/2; + + stbtt__tesselate_cubic(points, num_points, x0,y0, x01,y01, xa,ya, mx,my, objspace_flatness_squared,n+1); + stbtt__tesselate_cubic(points, num_points, mx,my, xb,yb, x23,y23, x3,y3, objspace_flatness_squared,n+1); + } else { + stbtt__add_point(points, *num_points,x3,y3); + *num_points = *num_points+1; + } +} + +/* returns number of contours */ +static stbtt__point *stbtt_FlattenCurves(stbtt_vertex *vertices, int num_verts, float objspace_flatness, int **contour_lengths, int *num_contours, void *userdata) +{ + stbtt__point *points=0; + int num_points=0; + + float objspace_flatness_squared = objspace_flatness * objspace_flatness; + int i,n=0,start=0, pass; + + /* count how many "moves" there are to get the contour count */ + for (i=0; i < num_verts; ++i) + if (vertices[i].type == STBTT_vmove) + ++n; + + *num_contours = n; + if (n == 0) return 0; + + *contour_lengths = (int *) STBTT_malloc(sizeof(**contour_lengths) * n, userdata); + + if (*contour_lengths == 0) { + *num_contours = 0; + return 0; + } + + /* make two passes through the points so we don't need to realloc */ + for (pass=0; pass < 2; ++pass) { + float x=0,y=0; + if (pass == 1) { + points = (stbtt__point *) STBTT_malloc(num_points * sizeof(points[0]), userdata); + if (points == NULL) goto error; + } + num_points = 0; + n= -1; + for (i=0; i < num_verts; ++i) { + switch (vertices[i].type) { + case STBTT_vmove: + /* start the next contour */ + if (n >= 0) + (*contour_lengths)[n] = num_points - start; + ++n; + start = num_points; + + x = vertices[i].x, y = vertices[i].y; + stbtt__add_point(points, num_points++, x,y); + break; + case STBTT_vline: + x = vertices[i].x, y = vertices[i].y; + stbtt__add_point(points, num_points++, x, y); + break; + case STBTT_vcurve: + stbtt__tesselate_curve(points, &num_points, x,y, + vertices[i].cx, vertices[i].cy, + vertices[i].x, vertices[i].y, + objspace_flatness_squared, 0); + x = vertices[i].x, y = vertices[i].y; + break; + case STBTT_vcubic: + stbtt__tesselate_cubic(points, &num_points, x,y, + vertices[i].cx, vertices[i].cy, + vertices[i].cx1, vertices[i].cy1, + vertices[i].x, vertices[i].y, + objspace_flatness_squared, 0); + x = vertices[i].x, y = vertices[i].y; + break; + } + } + (*contour_lengths)[n] = num_points - start; + } + + return points; +error: + STBTT_free(points, userdata); + STBTT_free(*contour_lengths, userdata); + *contour_lengths = 0; + *num_contours = 0; + return NULL; +} + +STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, float flatness_in_pixels, stbtt_vertex *vertices, int num_verts, float scale_x, float scale_y, float shift_x, float shift_y, int x_off, int y_off, int invert, void *userdata) +{ + float scale = scale_x > scale_y ? scale_y : scale_x; + int winding_count = 0; + int *winding_lengths = NULL; + stbtt__point *windings = stbtt_FlattenCurves(vertices, num_verts, flatness_in_pixels / scale, &winding_lengths, &winding_count, userdata); + if (windings) { + stbtt__rasterize(result, windings, winding_lengths, winding_count, scale_x, scale_y, shift_x, shift_y, x_off, y_off, invert, userdata); + STBTT_free(winding_lengths, userdata); + STBTT_free(windings, userdata); + } +} + +STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata) +{ + STBTT_free(bitmap, userdata); +} + +STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff) +{ + int ix0,iy0,ix1,iy1; + stbtt__bitmap gbm; + stbtt_vertex *vertices; + int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices); + + if (scale_x == 0) scale_x = scale_y; + if (scale_y == 0) { + if (scale_x == 0) { + STBTT_free(vertices, info->userdata); + return NULL; + } + scale_y = scale_x; + } + + stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,&ix1,&iy1); + + /* now we get the size */ + gbm.w = (ix1 - ix0); + gbm.h = (iy1 - iy0); + gbm.pixels = NULL; /* in case we error */ + + if (width ) *width = gbm.w; + if (height) *height = gbm.h; + if (xoff ) *xoff = ix0; + if (yoff ) *yoff = iy0; + + if (gbm.w && gbm.h) { + gbm.pixels = (unsigned char *) STBTT_malloc(gbm.w * gbm.h, info->userdata); + if (gbm.pixels) { + gbm.stride = gbm.w; + + stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0, iy0, 1, info->userdata); + } + } + STBTT_free(vertices, info->userdata); + return gbm.pixels; +} + +STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff) +{ + return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y, 0.0f, 0.0f, glyph, width, height, xoff, yoff); +} + +STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph) +{ + int ix0,iy0; + stbtt_vertex *vertices; + int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices); + stbtt__bitmap gbm; + + stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,0,0); + gbm.pixels = output; + gbm.w = out_w; + gbm.h = out_h; + gbm.stride = out_stride; + + if (gbm.w && gbm.h) + stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0,iy0, 1, info->userdata); + + STBTT_free(vertices, info->userdata); +} + +STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph) +{ + stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, glyph); +} + +STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff) +{ + return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y,shift_x,shift_y, stbtt_FindGlyphIndex(info,codepoint), width,height,xoff,yoff); +} + +STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint) +{ + stbtt_MakeGlyphBitmapSubpixelPrefilter(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, oversample_x, oversample_y, sub_x, sub_y, stbtt_FindGlyphIndex(info,codepoint)); +} + +STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint) +{ + stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, stbtt_FindGlyphIndex(info,codepoint)); +} + +STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff) +{ + return stbtt_GetCodepointBitmapSubpixel(info, scale_x, scale_y, 0.0f,0.0f, codepoint, width,height,xoff,yoff); +} + +STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint) +{ + stbtt_MakeCodepointBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, codepoint); +} + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* bitmap baking */ +/* */ +/* This is SUPER-CRAPPY packing to keep source code small */ + +static int stbtt_BakeFontBitmap_internal(unsigned char *data, int offset, /* font location (use offset=0 for plain .ttf) */ + float pixel_height, /* height of font in pixels */ + unsigned char *pixels, int pw, int ph, /* bitmap to be filled in */ + int first_char, int num_chars, /* characters to bake */ + stbtt_bakedchar *chardata) +{ + float scale; + int x,y,bottom_y, i; + stbtt_fontinfo f; + f.userdata = NULL; + if (!stbtt_InitFont(&f, data, offset)) + return -1; + STBTT_memset(pixels, 0, pw*ph); /* background of 0 around pixels */ + x=y=1; + bottom_y = 1; + + scale = stbtt_ScaleForPixelHeight(&f, pixel_height); + + for (i=0; i < num_chars; ++i) { + int advance, lsb, x0,y0,x1,y1,gw,gh; + int g = stbtt_FindGlyphIndex(&f, first_char + i); + stbtt_GetGlyphHMetrics(&f, g, &advance, &lsb); + stbtt_GetGlyphBitmapBox(&f, g, scale,scale, &x0,&y0,&x1,&y1); + gw = x1-x0; + gh = y1-y0; + if (x + gw + 1 >= pw) + y = bottom_y, x = 1; /* advance to next row */ + if (y + gh + 1 >= ph) /* check if it fits vertically AFTER potentially moving to next row */ + return -i; + STBTT_assert(x+gw < pw); + STBTT_assert(y+gh < ph); + stbtt_MakeGlyphBitmap(&f, pixels+x+y*pw, gw,gh,pw, scale,scale, g); + chardata[i].x0 = (stbtt_int16) x; + chardata[i].y0 = (stbtt_int16) y; + chardata[i].x1 = (stbtt_int16) (x + gw); + chardata[i].y1 = (stbtt_int16) (y + gh); + chardata[i].xadvance = scale * advance; + chardata[i].xoff = (float) x0; + chardata[i].yoff = (float) y0; + x = x + gw + 1; + if (y+gh+1 > bottom_y) + bottom_y = y+gh+1; + } + return bottom_y; +} + +STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int opengl_fillrule) +{ + float d3d_bias = opengl_fillrule ? 0 : -0.5f; + float ipw = 1.0f / pw, iph = 1.0f / ph; + const stbtt_bakedchar *b = chardata + char_index; + int round_x = STBTT_ifloor((*xpos + b->xoff) + 0.5f); + int round_y = STBTT_ifloor((*ypos + b->yoff) + 0.5f); + + q->x0 = round_x + d3d_bias; + q->y0 = round_y + d3d_bias; + q->x1 = round_x + b->x1 - b->x0 + d3d_bias; + q->y1 = round_y + b->y1 - b->y0 + d3d_bias; + + q->s0 = b->x0 * ipw; + q->t0 = b->y0 * iph; + q->s1 = b->x1 * ipw; + q->t1 = b->y1 * iph; + + *xpos += b->xadvance; +} + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* rectangle packing replacement routines if you don't have stb_rect_pack.h */ +/* */ + +#ifndef STB_RECT_PACK_VERSION + +typedef int stbrp_coord; + +/* ////////////////////////////////////////////////////////////////////////////////// */ +/* // */ +/* // */ +/* COMPILER WARNING ?!?!? // */ +/* // */ +/* // */ +/* if you get a compile warning due to these symbols being defined more than // */ +/* once, move #include "stb_rect_pack.h" before #include "stb_truetype.h" // */ +/* // */ +/* ////////////////////////////////////////////////////////////////////////////////// */ + +typedef struct +{ + int width,height; + int x,y,bottom_y; +} stbrp_context; + +typedef struct +{ + unsigned char x; +} stbrp_node; + +struct stbrp_rect +{ + stbrp_coord x,y; + int id,w,h,was_packed; +}; + +static void stbrp_init_target(stbrp_context *con, int pw, int ph, stbrp_node *nodes, int num_nodes) +{ + con->width = pw; + con->height = ph; + con->x = 0; + con->y = 0; + con->bottom_y = 0; + STBTT__NOTUSED(nodes); + STBTT__NOTUSED(num_nodes); +} + +static void stbrp_pack_rects(stbrp_context *con, stbrp_rect *rects, int num_rects) +{ + int i; + for (i=0; i < num_rects; ++i) { + if (con->x + rects[i].w > con->width) { + con->x = 0; + con->y = con->bottom_y; + } + if (con->y + rects[i].h > con->height) + break; + rects[i].x = con->x; + rects[i].y = con->y; + rects[i].was_packed = 1; + con->x += rects[i].w; + if (con->y + rects[i].h > con->bottom_y) + con->bottom_y = con->y + rects[i].h; + } + for ( ; i < num_rects; ++i) + rects[i].was_packed = 0; +} +#endif + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* bitmap baking */ +/* */ +/* This is SUPER-AWESOME (tm Ryan Gordon) packing using stb_rect_pack.h. If */ +/* stb_rect_pack.h isn't available, it uses the BakeFontBitmap strategy. */ + +STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int pw, int ph, int stride_in_bytes, int padding, void *alloc_context) +{ + stbrp_context *context = (stbrp_context *) STBTT_malloc(sizeof(*context) ,alloc_context); + int num_nodes = pw - padding; + stbrp_node *nodes = (stbrp_node *) STBTT_malloc(sizeof(*nodes ) * num_nodes,alloc_context); + + if (context == NULL || nodes == NULL) { + if (context != NULL) STBTT_free(context, alloc_context); + if (nodes != NULL) STBTT_free(nodes , alloc_context); + return 0; + } + + spc->user_allocator_context = alloc_context; + spc->width = pw; + spc->height = ph; + spc->pixels = pixels; + spc->pack_info = context; + spc->nodes = nodes; + spc->padding = padding; + spc->stride_in_bytes = stride_in_bytes != 0 ? stride_in_bytes : pw; + spc->h_oversample = 1; + spc->v_oversample = 1; + spc->skip_missing = 0; + + stbrp_init_target(context, pw-padding, ph-padding, nodes, num_nodes); + + if (pixels) + STBTT_memset(pixels, 0, pw*ph); /* background of 0 around pixels */ + + return 1; +} + +STBTT_DEF void stbtt_PackEnd (stbtt_pack_context *spc) +{ + STBTT_free(spc->nodes , spc->user_allocator_context); + STBTT_free(spc->pack_info, spc->user_allocator_context); +} + +STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample) +{ + STBTT_assert(h_oversample <= STBTT_MAX_OVERSAMPLE); + STBTT_assert(v_oversample <= STBTT_MAX_OVERSAMPLE); + if (h_oversample <= STBTT_MAX_OVERSAMPLE) + spc->h_oversample = h_oversample; + if (v_oversample <= STBTT_MAX_OVERSAMPLE) + spc->v_oversample = v_oversample; +} + +STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip) +{ + spc->skip_missing = skip; +} + +#define STBTT__OVER_MASK (STBTT_MAX_OVERSAMPLE-1) + +static void stbtt__h_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width) +{ + unsigned char buffer[STBTT_MAX_OVERSAMPLE]; + int safe_w = w - kernel_width; + int j; + STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); /* suppress bogus warning from VS2013 -analyze */ + for (j=0; j < h; ++j) { + int i; + unsigned int total; + STBTT_memset(buffer, 0, kernel_width); + + total = 0; + + /* make kernel_width a constant in common cases so compiler can optimize out the divide */ + switch (kernel_width) { + case 2: + for (i=0; i <= safe_w; ++i) { + total += pixels[i] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; + pixels[i] = (unsigned char) (total / 2); + } + break; + case 3: + for (i=0; i <= safe_w; ++i) { + total += pixels[i] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; + pixels[i] = (unsigned char) (total / 3); + } + break; + case 4: + for (i=0; i <= safe_w; ++i) { + total += pixels[i] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; + pixels[i] = (unsigned char) (total / 4); + } + break; + case 5: + for (i=0; i <= safe_w; ++i) { + total += pixels[i] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; + pixels[i] = (unsigned char) (total / 5); + } + break; + default: + for (i=0; i <= safe_w; ++i) { + total += pixels[i] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; + pixels[i] = (unsigned char) (total / kernel_width); + } + break; + } + + for (; i < w; ++i) { + STBTT_assert(pixels[i] == 0); + total -= buffer[i & STBTT__OVER_MASK]; + pixels[i] = (unsigned char) (total / kernel_width); + } + + pixels += stride_in_bytes; + } +} + +static void stbtt__v_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width) +{ + unsigned char buffer[STBTT_MAX_OVERSAMPLE]; + int safe_h = h - kernel_width; + int j; + STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); /* suppress bogus warning from VS2013 -analyze */ + for (j=0; j < w; ++j) { + int i; + unsigned int total; + STBTT_memset(buffer, 0, kernel_width); + + total = 0; + + /* make kernel_width a constant in common cases so compiler can optimize out the divide */ + switch (kernel_width) { + case 2: + for (i=0; i <= safe_h; ++i) { + total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; + pixels[i*stride_in_bytes] = (unsigned char) (total / 2); + } + break; + case 3: + for (i=0; i <= safe_h; ++i) { + total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; + pixels[i*stride_in_bytes] = (unsigned char) (total / 3); + } + break; + case 4: + for (i=0; i <= safe_h; ++i) { + total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; + pixels[i*stride_in_bytes] = (unsigned char) (total / 4); + } + break; + case 5: + for (i=0; i <= safe_h; ++i) { + total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; + pixels[i*stride_in_bytes] = (unsigned char) (total / 5); + } + break; + default: + for (i=0; i <= safe_h; ++i) { + total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; + buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; + pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width); + } + break; + } + + for (; i < h; ++i) { + STBTT_assert(pixels[i*stride_in_bytes] == 0); + total -= buffer[i & STBTT__OVER_MASK]; + pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width); + } + + pixels += 1; + } +} + +static float stbtt__oversample_shift(int oversample) +{ + if (!oversample) + return 0.0f; + + /* The prefilter is a box filter of width "oversample", */ + /* which shifts phase by (oversample - 1)/2 pixels in */ + /* oversampled space. We want to shift in the opposite */ + /* direction to counter this. */ + return (float)-(oversample - 1) / (2.0f * (float)oversample); +} + +/* rects array must be big enough to accommodate all characters in the given ranges */ +STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects) +{ + int i,j,k; + int missing_glyph_added = 0; + + k=0; + for (i=0; i < num_ranges; ++i) { + float fh = ranges[i].font_size; + float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh); + ranges[i].h_oversample = (unsigned char) spc->h_oversample; + ranges[i].v_oversample = (unsigned char) spc->v_oversample; + for (j=0; j < ranges[i].num_chars; ++j) { + int x0,y0,x1,y1; + int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j]; + int glyph = stbtt_FindGlyphIndex(info, codepoint); + if (glyph == 0 && (spc->skip_missing || missing_glyph_added)) { + rects[k].w = rects[k].h = 0; + } else { + stbtt_GetGlyphBitmapBoxSubpixel(info,glyph, + scale * spc->h_oversample, + scale * spc->v_oversample, + 0,0, + &x0,&y0,&x1,&y1); + rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1); + rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1); + if (glyph == 0) + missing_glyph_added = 1; + } + ++k; + } + } + + return k; +} + +STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int prefilter_x, int prefilter_y, float *sub_x, float *sub_y, int glyph) +{ + stbtt_MakeGlyphBitmapSubpixel(info, + output, + out_w - (prefilter_x - 1), + out_h - (prefilter_y - 1), + out_stride, + scale_x, + scale_y, + shift_x, + shift_y, + glyph); + + if (prefilter_x > 1) + stbtt__h_prefilter(output, out_w, out_h, out_stride, prefilter_x); + + if (prefilter_y > 1) + stbtt__v_prefilter(output, out_w, out_h, out_stride, prefilter_y); + + *sub_x = stbtt__oversample_shift(prefilter_x); + *sub_y = stbtt__oversample_shift(prefilter_y); +} + +/* rects array must be big enough to accommodate all characters in the given ranges */ +STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects) +{ + int i,j,k, missing_glyph = -1, return_value = 1; + + /* save current values */ + int old_h_over = spc->h_oversample; + int old_v_over = spc->v_oversample; + + k = 0; + for (i=0; i < num_ranges; ++i) { + float fh = ranges[i].font_size; + float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh); + float recip_h,recip_v,sub_x,sub_y; + spc->h_oversample = ranges[i].h_oversample; + spc->v_oversample = ranges[i].v_oversample; + recip_h = 1.0f / spc->h_oversample; + recip_v = 1.0f / spc->v_oversample; + sub_x = stbtt__oversample_shift(spc->h_oversample); + sub_y = stbtt__oversample_shift(spc->v_oversample); + for (j=0; j < ranges[i].num_chars; ++j) { + stbrp_rect *r = &rects[k]; + if (r->was_packed && r->w != 0 && r->h != 0) { + stbtt_packedchar *bc = &ranges[i].chardata_for_range[j]; + int advance, lsb, x0,y0,x1,y1; + int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j]; + int glyph = stbtt_FindGlyphIndex(info, codepoint); + stbrp_coord pad = (stbrp_coord) spc->padding; + + /* pad on left and top */ + r->x += pad; + r->y += pad; + r->w -= pad; + r->h -= pad; + stbtt_GetGlyphHMetrics(info, glyph, &advance, &lsb); + stbtt_GetGlyphBitmapBox(info, glyph, + scale * spc->h_oversample, + scale * spc->v_oversample, + &x0,&y0,&x1,&y1); + stbtt_MakeGlyphBitmapSubpixel(info, + spc->pixels + r->x + r->y*spc->stride_in_bytes, + r->w - spc->h_oversample+1, + r->h - spc->v_oversample+1, + spc->stride_in_bytes, + scale * spc->h_oversample, + scale * spc->v_oversample, + 0,0, + glyph); + + if (spc->h_oversample > 1) + stbtt__h_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes, + r->w, r->h, spc->stride_in_bytes, + spc->h_oversample); + + if (spc->v_oversample > 1) + stbtt__v_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes, + r->w, r->h, spc->stride_in_bytes, + spc->v_oversample); + + bc->x0 = (stbtt_int16) r->x; + bc->y0 = (stbtt_int16) r->y; + bc->x1 = (stbtt_int16) (r->x + r->w); + bc->y1 = (stbtt_int16) (r->y + r->h); + bc->xadvance = scale * advance; + bc->xoff = (float) x0 * recip_h + sub_x; + bc->yoff = (float) y0 * recip_v + sub_y; + bc->xoff2 = (x0 + r->w) * recip_h + sub_x; + bc->yoff2 = (y0 + r->h) * recip_v + sub_y; + + if (glyph == 0) + missing_glyph = j; + } else if (spc->skip_missing) { + return_value = 0; + } else if (r->was_packed && r->w == 0 && r->h == 0 && missing_glyph >= 0) { + ranges[i].chardata_for_range[j] = ranges[i].chardata_for_range[missing_glyph]; + } else { + return_value = 0; /* if any fail, report failure */ + } + + ++k; + } + } + + /* restore original values */ + spc->h_oversample = old_h_over; + spc->v_oversample = old_v_over; + + return return_value; +} + +STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects) +{ + stbrp_pack_rects((stbrp_context *) spc->pack_info, rects, num_rects); +} + +STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges) +{ + stbtt_fontinfo info; + int i,j,n, return_value = 1; + /* stbrp_context *context = (stbrp_context *) spc->pack_info; */ + stbrp_rect *rects; + + /* flag all characters as NOT packed */ + for (i=0; i < num_ranges; ++i) + for (j=0; j < ranges[i].num_chars; ++j) + ranges[i].chardata_for_range[j].x0 = + ranges[i].chardata_for_range[j].y0 = + ranges[i].chardata_for_range[j].x1 = + ranges[i].chardata_for_range[j].y1 = 0; + + n = 0; + for (i=0; i < num_ranges; ++i) + n += ranges[i].num_chars; + + rects = (stbrp_rect *) STBTT_malloc(sizeof(*rects) * n, spc->user_allocator_context); + if (rects == NULL) + return 0; + + info.userdata = spc->user_allocator_context; + stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata,font_index)); + + n = stbtt_PackFontRangesGatherRects(spc, &info, ranges, num_ranges, rects); + + stbtt_PackFontRangesPackRects(spc, rects, n); + + return_value = stbtt_PackFontRangesRenderIntoRects(spc, &info, ranges, num_ranges, rects); + + STBTT_free(rects, spc->user_allocator_context); + return return_value; +} + +STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size, + int first_unicode_codepoint_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range) +{ + stbtt_pack_range range; + range.first_unicode_codepoint_in_range = first_unicode_codepoint_in_range; + range.array_of_unicode_codepoints = NULL; + range.num_chars = num_chars_in_range; + range.chardata_for_range = chardata_for_range; + range.font_size = font_size; + return stbtt_PackFontRanges(spc, fontdata, font_index, &range, 1); +} + +STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap) +{ + int i_ascent, i_descent, i_lineGap; + float scale; + stbtt_fontinfo info; + stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata, index)); + scale = size > 0 ? stbtt_ScaleForPixelHeight(&info, size) : stbtt_ScaleForMappingEmToPixels(&info, -size); + stbtt_GetFontVMetrics(&info, &i_ascent, &i_descent, &i_lineGap); + *ascent = (float) i_ascent * scale; + *descent = (float) i_descent * scale; + *lineGap = (float) i_lineGap * scale; +} + +STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer) +{ + float ipw = 1.0f / pw, iph = 1.0f / ph; + const stbtt_packedchar *b = chardata + char_index; + + if (align_to_integer) { + float x = (float) STBTT_ifloor((*xpos + b->xoff) + 0.5f); + float y = (float) STBTT_ifloor((*ypos + b->yoff) + 0.5f); + q->x0 = x; + q->y0 = y; + q->x1 = x + b->xoff2 - b->xoff; + q->y1 = y + b->yoff2 - b->yoff; + } else { + q->x0 = *xpos + b->xoff; + q->y0 = *ypos + b->yoff; + q->x1 = *xpos + b->xoff2; + q->y1 = *ypos + b->yoff2; + } + + q->s0 = b->x0 * ipw; + q->t0 = b->y0 * iph; + q->s1 = b->x1 * ipw; + q->t1 = b->y1 * iph; + + *xpos += b->xadvance; +} + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* sdf computation */ +/* */ + +#define STBTT_min(a,b) ((a) < (b) ? (a) : (b)) +#define STBTT_max(a,b) ((a) < (b) ? (b) : (a)) + +static int stbtt__ray_intersect_bezier(float orig[2], float ray[2], float q0[2], float q1[2], float q2[2], float hits[2][2]) +{ + float q0perp = q0[1]*ray[0] - q0[0]*ray[1]; + float q1perp = q1[1]*ray[0] - q1[0]*ray[1]; + float q2perp = q2[1]*ray[0] - q2[0]*ray[1]; + float roperp = orig[1]*ray[0] - orig[0]*ray[1]; + + float a = q0perp - 2*q1perp + q2perp; + float b = q1perp - q0perp; + float c = q0perp - roperp; + + float s0 = 0., s1 = 0.; + int num_s = 0; + + if (a != 0.0) { + float discr = b*b - a*c; + if (discr > 0.0) { + float rcpna = -1 / a; + float d = (float) STBTT_sqrt(discr); + s0 = (b+d) * rcpna; + s1 = (b-d) * rcpna; + if (s0 >= 0.0 && s0 <= 1.0) + num_s = 1; + if (d > 0.0 && s1 >= 0.0 && s1 <= 1.0) { + if (num_s == 0) s0 = s1; + ++num_s; + } + } + } else { + /* 2*b*s + c = 0 */ + /* s = -c / (2*b) */ + s0 = c / (-2 * b); + if (s0 >= 0.0 && s0 <= 1.0) + num_s = 1; + } + + if (num_s == 0) + return 0; + else { + float rcp_len2 = 1 / (ray[0]*ray[0] + ray[1]*ray[1]); + float rayn_x = ray[0] * rcp_len2, rayn_y = ray[1] * rcp_len2; + + float q0d = q0[0]*rayn_x + q0[1]*rayn_y; + float q1d = q1[0]*rayn_x + q1[1]*rayn_y; + float q2d = q2[0]*rayn_x + q2[1]*rayn_y; + float rod = orig[0]*rayn_x + orig[1]*rayn_y; + + float q10d = q1d - q0d; + float q20d = q2d - q0d; + float q0rd = q0d - rod; + + hits[0][0] = q0rd + s0*(2.0f - 2.0f*s0)*q10d + s0*s0*q20d; + hits[0][1] = a*s0+b; + + if (num_s > 1) { + hits[1][0] = q0rd + s1*(2.0f - 2.0f*s1)*q10d + s1*s1*q20d; + hits[1][1] = a*s1+b; + return 2; + } else { + return 1; + } + } +} + +static int equal(float *a, float *b) +{ + return (a[0] == b[0] && a[1] == b[1]); +} + +static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex *verts) +{ + int i; + float orig[2], ray[2] = { 1, 0 }; + float y_frac; + int winding = 0; + + /* make sure y never passes through a vertex of the shape */ + y_frac = (float) STBTT_fmod(y, 1.0f); + if (y_frac < 0.01f) + y += 0.01f; + else if (y_frac > 0.99f) + y -= 0.01f; + + orig[0] = x; + orig[1] = y; + + /* test a ray from (-infinity,y) to (x,y) */ + for (i=0; i < nverts; ++i) { + if (verts[i].type == STBTT_vline) { + int x0 = (int) verts[i-1].x, y0 = (int) verts[i-1].y; + int x1 = (int) verts[i ].x, y1 = (int) verts[i ].y; + if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) { + float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0; + if (x_inter < x) + winding += (y0 < y1) ? 1 : -1; + } + } + if (verts[i].type == STBTT_vcurve) { + int x0 = (int) verts[i-1].x , y0 = (int) verts[i-1].y ; + int x1 = (int) verts[i ].cx, y1 = (int) verts[i ].cy; + int x2 = (int) verts[i ].x , y2 = (int) verts[i ].y ; + int ax = STBTT_min(x0,STBTT_min(x1,x2)), ay = STBTT_min(y0,STBTT_min(y1,y2)); + int by = STBTT_max(y0,STBTT_max(y1,y2)); + if (y > ay && y < by && x > ax) { + float q0[2],q1[2],q2[2]; + float hits[2][2]; + q0[0] = (float)x0; + q0[1] = (float)y0; + q1[0] = (float)x1; + q1[1] = (float)y1; + q2[0] = (float)x2; + q2[1] = (float)y2; + if (equal(q0,q1) || equal(q1,q2)) { + x0 = (int)verts[i-1].x; + y0 = (int)verts[i-1].y; + x1 = (int)verts[i ].x; + y1 = (int)verts[i ].y; + if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) { + float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0; + if (x_inter < x) + winding += (y0 < y1) ? 1 : -1; + } + } else { + int num_hits = stbtt__ray_intersect_bezier(orig, ray, q0, q1, q2, hits); + if (num_hits >= 1) + if (hits[0][0] < 0) + winding += (hits[0][1] < 0 ? -1 : 1); + if (num_hits >= 2) + if (hits[1][0] < 0) + winding += (hits[1][1] < 0 ? -1 : 1); + } + } + } + } + return winding; +} + +static float stbtt__cuberoot( float x ) +{ + if (x<0) + return -(float) STBTT_pow(-x,1.0f/3.0f); + else + return (float) STBTT_pow( x,1.0f/3.0f); +} + +/* x^3 + a*x^2 + b*x + c = 0 */ +static int stbtt__solve_cubic(float a, float b, float c, float* r) +{ + float s = -a / 3; + float p = b - a*a / 3; + float q = a * (2*a*a - 9*b) / 27 + c; + float p3 = p*p*p; + float d = q*q + 4*p3 / 27; + if (d >= 0) { + float z = (float) STBTT_sqrt(d); + float u = (-q + z) / 2; + float v = (-q - z) / 2; + u = stbtt__cuberoot(u); + v = stbtt__cuberoot(v); + r[0] = s + u + v; + return 1; + } else { + float u = (float) STBTT_sqrt(-p/3); + float v = (float) STBTT_acos(-STBTT_sqrt(-27/p3) * q / 2) / 3; /* p3 must be negative, since d is negative */ + float m = (float) STBTT_cos(v); + float n = (float) STBTT_cos(v-3.141592/2)*1.732050808f; + r[0] = s + u * 2 * m; + r[1] = s - u * (m + n); + r[2] = s - u * (m - n); + + /* STBTT_assert( STBTT_fabs(((r[0]+a)*r[0]+b)*r[0]+c) < 0.05f); // these asserts may not be safe at all scales, though they're in bezier t parameter units so maybe? */ + /* STBTT_assert( STBTT_fabs(((r[1]+a)*r[1]+b)*r[1]+c) < 0.05f); */ + /* STBTT_assert( STBTT_fabs(((r[2]+a)*r[2]+b)*r[2]+c) < 0.05f); */ + return 3; + } +} + +STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff) +{ + float scale_x = scale, scale_y = scale; + int ix0,iy0,ix1,iy1; + int w,h; + unsigned char *data; + + if (scale == 0) return NULL; + + stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale, scale, 0.0f,0.0f, &ix0,&iy0,&ix1,&iy1); + + /* if empty, return NULL */ + if (ix0 == ix1 || iy0 == iy1) + return NULL; + + ix0 -= padding; + iy0 -= padding; + ix1 += padding; + iy1 += padding; + + w = (ix1 - ix0); + h = (iy1 - iy0); + + if (width ) *width = w; + if (height) *height = h; + if (xoff ) *xoff = ix0; + if (yoff ) *yoff = iy0; + + /* invert for y-downwards bitmaps */ + scale_y = -scale_y; + + { + int x,y,i,j; + float *precompute; + stbtt_vertex *verts; + int num_verts = stbtt_GetGlyphShape(info, glyph, &verts); + data = (unsigned char *) STBTT_malloc(w * h, info->userdata); + precompute = (float *) STBTT_malloc(num_verts * sizeof(float), info->userdata); + + for (i=0,j=num_verts-1; i < num_verts; j=i++) { + if (verts[i].type == STBTT_vline) { + float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y; + float x1 = verts[j].x*scale_x, y1 = verts[j].y*scale_y; + float dist = (float) STBTT_sqrt((x1-x0)*(x1-x0) + (y1-y0)*(y1-y0)); + precompute[i] = (dist == 0) ? 0.0f : 1.0f / dist; + } else if (verts[i].type == STBTT_vcurve) { + float x2 = verts[j].x *scale_x, y2 = verts[j].y *scale_y; + float x1 = verts[i].cx*scale_x, y1 = verts[i].cy*scale_y; + float x0 = verts[i].x *scale_x, y0 = verts[i].y *scale_y; + float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2; + float len2 = bx*bx + by*by; + if (len2 != 0.0f) + precompute[i] = 1.0f / (bx*bx + by*by); + else + precompute[i] = 0.0f; + } else + precompute[i] = 0.0f; + } + + for (y=iy0; y < iy1; ++y) { + for (x=ix0; x < ix1; ++x) { + float val; + float min_dist = 999999.0f; + float sx = (float) x + 0.5f; + float sy = (float) y + 0.5f; + float x_gspace = (sx / scale_x); + float y_gspace = (sy / scale_y); + + int winding = stbtt__compute_crossings_x(x_gspace, y_gspace, num_verts, verts); /* @OPTIMIZE: this could just be a rasterization, but needs to be line vs. non-tesselated curves so a new path */ + + for (i=0; i < num_verts; ++i) { + float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y; + + if (verts[i].type == STBTT_vline && precompute[i] != 0.0f) { + float x1 = verts[i-1].x*scale_x, y1 = verts[i-1].y*scale_y; + + float dist,dist2 = (x0-sx)*(x0-sx) + (y0-sy)*(y0-sy); + if (dist2 < min_dist*min_dist) + min_dist = (float) STBTT_sqrt(dist2); + + /* coarse culling against bbox */ + /* if (sx > STBTT_min(x0,x1)-min_dist && sx < STBTT_max(x0,x1)+min_dist && */ + /* sy > STBTT_min(y0,y1)-min_dist && sy < STBTT_max(y0,y1)+min_dist) */ + dist = (float) STBTT_fabs((x1-x0)*(y0-sy) - (y1-y0)*(x0-sx)) * precompute[i]; + STBTT_assert(i != 0); + if (dist < min_dist) { + /* check position along line */ + /* x' = x0 + t*(x1-x0), y' = y0 + t*(y1-y0) */ + /* minimize (x'-sx)*(x'-sx)+(y'-sy)*(y'-sy) */ + float dx = x1-x0, dy = y1-y0; + float px = x0-sx, py = y0-sy; + /* minimize (px+t*dx)^2 + (py+t*dy)^2 = px*px + 2*px*dx*t + t^2*dx*dx + py*py + 2*py*dy*t + t^2*dy*dy */ + /* derivative: 2*px*dx + 2*py*dy + (2*dx*dx+2*dy*dy)*t, set to 0 and solve */ + float t = -(px*dx + py*dy) / (dx*dx + dy*dy); + if (t >= 0.0f && t <= 1.0f) + min_dist = dist; + } + } else if (verts[i].type == STBTT_vcurve) { + float x2 = verts[i-1].x *scale_x, y2 = verts[i-1].y *scale_y; + float x1 = verts[i ].cx*scale_x, y1 = verts[i ].cy*scale_y; + float box_x0 = STBTT_min(STBTT_min(x0,x1),x2); + float box_y0 = STBTT_min(STBTT_min(y0,y1),y2); + float box_x1 = STBTT_max(STBTT_max(x0,x1),x2); + float box_y1 = STBTT_max(STBTT_max(y0,y1),y2); + /* coarse culling against bbox to avoid computing cubic unnecessarily */ + if (sx > box_x0-min_dist && sx < box_x1+min_dist && sy > box_y0-min_dist && sy < box_y1+min_dist) { + int num=0; + float ax = x1-x0, ay = y1-y0; + float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2; + float mx = x0 - sx, my = y0 - sy; + float res[3] = {0.f,0.f,0.f}; + float px,py,t,it,dist2; + float a_inv = precompute[i]; + if (a_inv == 0.0) { /* if a_inv is 0, it's 2nd degree so use quadratic formula */ + float a = 3*(ax*bx + ay*by); + float b = 2*(ax*ax + ay*ay) + (mx*bx+my*by); + float c = mx*ax+my*ay; + if (a == 0.0) { /* if a is 0, it's linear */ + if (b != 0.0) { + res[num++] = -c/b; + } + } else { + float discriminant = b*b - 4*a*c; + if (discriminant < 0) + num = 0; + else { + float root = (float) STBTT_sqrt(discriminant); + res[0] = (-b - root)/(2*a); + res[1] = (-b + root)/(2*a); + num = 2; /* don't bother distinguishing 1-solution case, as code below will still work */ + } + } + } else { + float b = 3*(ax*bx + ay*by) * a_inv; /* could precompute this as it doesn't depend on sample point */ + float c = (2*(ax*ax + ay*ay) + (mx*bx+my*by)) * a_inv; + float d = (mx*ax+my*ay) * a_inv; + num = stbtt__solve_cubic(b, c, d, res); + } + dist2 = (x0-sx)*(x0-sx) + (y0-sy)*(y0-sy); + if (dist2 < min_dist*min_dist) + min_dist = (float) STBTT_sqrt(dist2); + + if (num >= 1 && res[0] >= 0.0f && res[0] <= 1.0f) { + t = res[0], it = 1.0f - t; + px = it*it*x0 + 2*t*it*x1 + t*t*x2; + py = it*it*y0 + 2*t*it*y1 + t*t*y2; + dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); + if (dist2 < min_dist * min_dist) + min_dist = (float) STBTT_sqrt(dist2); + } + if (num >= 2 && res[1] >= 0.0f && res[1] <= 1.0f) { + t = res[1], it = 1.0f - t; + px = it*it*x0 + 2*t*it*x1 + t*t*x2; + py = it*it*y0 + 2*t*it*y1 + t*t*y2; + dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); + if (dist2 < min_dist * min_dist) + min_dist = (float) STBTT_sqrt(dist2); + } + if (num >= 3 && res[2] >= 0.0f && res[2] <= 1.0f) { + t = res[2], it = 1.0f - t; + px = it*it*x0 + 2*t*it*x1 + t*t*x2; + py = it*it*y0 + 2*t*it*y1 + t*t*y2; + dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); + if (dist2 < min_dist * min_dist) + min_dist = (float) STBTT_sqrt(dist2); + } + } + } + } + if (winding == 0) + min_dist = -min_dist; /* if outside the shape, value is negative */ + val = onedge_value + pixel_dist_scale * min_dist; + if (val < 0) + val = 0; + else if (val > 255) + val = 255; + data[(y-iy0)*w+(x-ix0)] = (unsigned char) val; + } + } + STBTT_free(precompute, info->userdata); + STBTT_free(verts, info->userdata); + } + return data; +} + +STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff) +{ + return stbtt_GetGlyphSDF(info, scale, stbtt_FindGlyphIndex(info, codepoint), padding, onedge_value, pixel_dist_scale, width, height, xoff, yoff); +} + +STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata) +{ + STBTT_free(bitmap, userdata); +} + +/* //////////////////////////////////////////////////////////////////////////// */ +/* */ +/* font name matching -- recommended not to use this */ +/* */ + +/* check if a utf8 string contains a prefix which is the utf16 string; if so return length of matching utf8 string */ +static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(stbtt_uint8 *s1, stbtt_int32 len1, stbtt_uint8 *s2, stbtt_int32 len2) +{ + stbtt_int32 i=0; + + /* convert utf16 to utf8 and compare the results while converting */ + while (len2) { + stbtt_uint16 ch = s2[0]*256 + s2[1]; + if (ch < 0x80) { + if (i >= len1) return -1; + if (s1[i++] != ch) return -1; + } else if (ch < 0x800) { + if (i+1 >= len1) return -1; + if (s1[i++] != 0xc0 + (ch >> 6)) return -1; + if (s1[i++] != 0x80 + (ch & 0x3f)) return -1; + } else if (ch >= 0xd800 && ch < 0xdc00) { + stbtt_uint32 c; + stbtt_uint16 ch2 = s2[2]*256 + s2[3]; + if (i+3 >= len1) return -1; + c = ((ch - 0xd800) << 10) + (ch2 - 0xdc00) + 0x10000; + if (s1[i++] != 0xf0 + (c >> 18)) return -1; + if (s1[i++] != 0x80 + ((c >> 12) & 0x3f)) return -1; + if (s1[i++] != 0x80 + ((c >> 6) & 0x3f)) return -1; + if (s1[i++] != 0x80 + ((c ) & 0x3f)) return -1; + s2 += 2; /* plus another 2 below */ + len2 -= 2; + } else if (ch >= 0xdc00 && ch < 0xe000) { + return -1; + } else { + if (i+2 >= len1) return -1; + if (s1[i++] != 0xe0 + (ch >> 12)) return -1; + if (s1[i++] != 0x80 + ((ch >> 6) & 0x3f)) return -1; + if (s1[i++] != 0x80 + ((ch ) & 0x3f)) return -1; + } + s2 += 2; + len2 -= 2; + } + return i; +} + +static int stbtt_CompareUTF8toUTF16_bigendian_internal(char *s1, int len1, char *s2, int len2) +{ + return len1 == stbtt__CompareUTF8toUTF16_bigendian_prefix((stbtt_uint8*) s1, len1, (stbtt_uint8*) s2, len2); +} + +/* returns results in whatever encoding you request... but note that 2-byte encodings */ +/* will be BIG-ENDIAN... use stbtt_CompareUTF8toUTF16_bigendian() to compare */ +STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID) +{ + stbtt_int32 i,count,stringOffset; + stbtt_uint8 *fc = font->data; + stbtt_uint32 offset = font->fontstart; + stbtt_uint32 nm = stbtt__find_table(fc, offset, "name"); + if (!nm) return NULL; + + count = ttUSHORT(fc+nm+2); + stringOffset = nm + ttUSHORT(fc+nm+4); + for (i=0; i < count; ++i) { + stbtt_uint32 loc = nm + 6 + 12 * i; + if (platformID == ttUSHORT(fc+loc+0) && encodingID == ttUSHORT(fc+loc+2) + && languageID == ttUSHORT(fc+loc+4) && nameID == ttUSHORT(fc+loc+6)) { + *length = ttUSHORT(fc+loc+8); + return (const char *) (fc+stringOffset+ttUSHORT(fc+loc+10)); + } + } + return NULL; +} + +static int stbtt__matchpair(stbtt_uint8 *fc, stbtt_uint32 nm, stbtt_uint8 *name, stbtt_int32 nlen, stbtt_int32 target_id, stbtt_int32 next_id) +{ + stbtt_int32 i; + stbtt_int32 count = ttUSHORT(fc+nm+2); + stbtt_int32 stringOffset = nm + ttUSHORT(fc+nm+4); + + for (i=0; i < count; ++i) { + stbtt_uint32 loc = nm + 6 + 12 * i; + stbtt_int32 id = ttUSHORT(fc+loc+6); + if (id == target_id) { + /* find the encoding */ + stbtt_int32 platform = ttUSHORT(fc+loc+0), encoding = ttUSHORT(fc+loc+2), language = ttUSHORT(fc+loc+4); + + /* is this a Unicode encoding? */ + if (platform == 0 || (platform == 3 && encoding == 1) || (platform == 3 && encoding == 10)) { + stbtt_int32 slen = ttUSHORT(fc+loc+8); + stbtt_int32 off = ttUSHORT(fc+loc+10); + + /* check if there's a prefix match */ + stbtt_int32 matchlen = stbtt__CompareUTF8toUTF16_bigendian_prefix(name, nlen, fc+stringOffset+off,slen); + if (matchlen >= 0) { + /* check for target_id+1 immediately following, with same encoding & language */ + if (i+1 < count && ttUSHORT(fc+loc+12+6) == next_id && ttUSHORT(fc+loc+12) == platform && ttUSHORT(fc+loc+12+2) == encoding && ttUSHORT(fc+loc+12+4) == language) { + slen = ttUSHORT(fc+loc+12+8); + off = ttUSHORT(fc+loc+12+10); + if (slen == 0) { + if (matchlen == nlen) + return 1; + } else if (matchlen < nlen && name[matchlen] == ' ') { + ++matchlen; + if (stbtt_CompareUTF8toUTF16_bigendian_internal((char*) (name+matchlen), nlen-matchlen, (char*)(fc+stringOffset+off),slen)) + return 1; + } + } else { + /* if nothing immediately following */ + if (matchlen == nlen) + return 1; + } + } + } + + /* @TODO handle other encodings */ + } + } + return 0; +} + +static int stbtt__matches(stbtt_uint8 *fc, stbtt_uint32 offset, stbtt_uint8 *name, stbtt_int32 flags) +{ + stbtt_int32 nlen = (stbtt_int32) STBTT_strlen((char *) name); + stbtt_uint32 nm,hd; + if (!stbtt__isfont(fc+offset)) return 0; + + /* check italics/bold/underline flags in macStyle... */ + if (flags) { + hd = stbtt__find_table(fc, offset, "head"); + if ((ttUSHORT(fc+hd+44) & 7) != (flags & 7)) return 0; + } + + nm = stbtt__find_table(fc, offset, "name"); + if (!nm) return 0; + + if (flags) { + /* if we checked the macStyle flags, then just check the family and ignore the subfamily */ + if (stbtt__matchpair(fc, nm, name, nlen, 16, -1)) return 1; + if (stbtt__matchpair(fc, nm, name, nlen, 1, -1)) return 1; + if (stbtt__matchpair(fc, nm, name, nlen, 3, -1)) return 1; + } else { + if (stbtt__matchpair(fc, nm, name, nlen, 16, 17)) return 1; + if (stbtt__matchpair(fc, nm, name, nlen, 1, 2)) return 1; + if (stbtt__matchpair(fc, nm, name, nlen, 3, -1)) return 1; + } + + return 0; +} + +static int stbtt_FindMatchingFont_internal(unsigned char *font_collection, char *name_utf8, stbtt_int32 flags) +{ + stbtt_int32 i; + for (i=0;;++i) { + stbtt_int32 off = stbtt_GetFontOffsetForIndex(font_collection, i); + if (off < 0) return off; + if (stbtt__matches((stbtt_uint8 *) font_collection, off, (stbtt_uint8*) name_utf8, flags)) + return off; + } +} + +#if defined(__GNUC__) || defined(__clang__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wcast-qual" +#endif + +STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset, + float pixel_height, unsigned char *pixels, int pw, int ph, + int first_char, int num_chars, stbtt_bakedchar *chardata) +{ + return stbtt_BakeFontBitmap_internal((unsigned char *) data, offset, pixel_height, pixels, pw, ph, first_char, num_chars, chardata); +} + +STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index) +{ + return stbtt_GetFontOffsetForIndex_internal((unsigned char *) data, index); +} + +STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data) +{ + return stbtt_GetNumberOfFonts_internal((unsigned char *) data); +} + +STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset) +{ + return stbtt_InitFont_internal(info, (unsigned char *) data, offset); +} + +STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags) +{ + return stbtt_FindMatchingFont_internal((unsigned char *) fontdata, (char *) name, flags); +} + +STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2) +{ + return stbtt_CompareUTF8toUTF16_bigendian_internal((char *) s1, len1, (char *) s2, len2); +} + +#if defined(__GNUC__) || defined(__clang__) +#pragma GCC diagnostic pop +#endif + +#endif /* STB_TRUETYPE_IMPLEMENTATION */ + + +/* FULL VERSION HISTORY */ +/* */ +/* 1.25 (2021-07-11) many fixes */ +/* 1.24 (2020-02-05) fix warning */ +/* 1.23 (2020-02-02) query SVG data for glyphs; query whole kerning table (but only kern not GPOS) */ +/* 1.22 (2019-08-11) minimize missing-glyph duplication; fix kerning if both 'GPOS' and 'kern' are defined */ +/* 1.21 (2019-02-25) fix warning */ +/* 1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics() */ +/* 1.19 (2018-02-11) OpenType GPOS kerning (horizontal only), STBTT_fmod */ +/* 1.18 (2018-01-29) add missing function */ +/* 1.17 (2017-07-23) make more arguments const; doc fix */ +/* 1.16 (2017-07-12) SDF support */ +/* 1.15 (2017-03-03) make more arguments const */ +/* 1.14 (2017-01-16) num-fonts-in-TTC function */ +/* 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts */ +/* 1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual */ +/* 1.11 (2016-04-02) fix unused-variable warning */ +/* 1.10 (2016-04-02) allow user-defined fabs() replacement */ +/* fix memory leak if fontsize=0.0 */ +/* fix warning from duplicate typedef */ +/* 1.09 (2016-01-16) warning fix; avoid crash on outofmem; use alloc userdata for PackFontRanges */ +/* 1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges */ +/* 1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints; */ +/* allow PackFontRanges to pack and render in separate phases; */ +/* fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?); */ +/* fixed an assert() bug in the new rasterizer */ +/* replace assert() with STBTT_assert() in new rasterizer */ +/* 1.06 (2015-07-14) performance improvements (~35% faster on x86 and x64 on test machine) */ +/* also more precise AA rasterizer, except if shapes overlap */ +/* remove need for STBTT_sort */ +/* 1.05 (2015-04-15) fix misplaced definitions for STBTT_STATIC */ +/* 1.04 (2015-04-15) typo in example */ +/* 1.03 (2015-04-12) STBTT_STATIC, fix memory leak in new packing, various fixes */ +/* 1.02 (2014-12-10) fix various warnings & compile issues w/ stb_rect_pack, C++ */ +/* 1.01 (2014-12-08) fix subpixel position when oversampling to exactly match */ +/* non-oversampled; STBTT_POINT_SIZE for packed case only */ +/* 1.00 (2014-12-06) add new PackBegin etc. API, w/ support for oversampling */ +/* 0.99 (2014-09-18) fix multiple bugs with subpixel rendering (ryg) */ +/* 0.9 (2014-08-07) support certain mac/iOS fonts without an MS platformID */ +/* 0.8b (2014-07-07) fix a warning */ +/* 0.8 (2014-05-25) fix a few more warnings */ +/* 0.7 (2013-09-25) bugfix: subpixel glyph bug fixed in 0.5 had come back */ +/* 0.6c (2012-07-24) improve documentation */ +/* 0.6b (2012-07-20) fix a few more warnings */ +/* 0.6 (2012-07-17) fix warnings; added stbtt_ScaleForMappingEmToPixels, */ +/* stbtt_GetFontBoundingBox, stbtt_IsGlyphEmpty */ +/* 0.5 (2011-12-09) bugfixes: */ +/* subpixel glyph renderer computed wrong bounding box */ +/* first vertex of shape can be off-curve (FreeSans) */ +/* 0.4b (2011-12-03) fixed an error in the font baking example */ +/* 0.4 (2011-12-01) kerning, subpixel rendering (tor) */ +/* bugfixes for: */ +/* codepoint-to-glyph conversion using table fmt=12 */ +/* codepoint-to-glyph conversion using table fmt=4 */ +/* stbtt_GetBakedQuad with non-square texture (Zer) */ +/* updated Hello World! sample to use kerning and subpixel */ +/* fixed some warnings */ +/* 0.3 (2009-06-24) cmap fmt=12, compound shapes (MM) */ +/* userdata, malloc-from-userdata, non-zero fill (stb) */ +/* 0.2 (2009-03-11) Fix unsigned/signed char warnings */ +/* 0.1 (2009-03-09) First public release */ +/* */ + +/* +------------------------------------------------------------------------------ +This software is available under 2 licenses -- choose whichever you prefer. +------------------------------------------------------------------------------ +ALTERNATIVE A - MIT License +Copyright (c) 2017 Sean Barrett +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +of the Software, and to permit persons to whom the Software is furnished to do +so, subject to the following conditions: +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +------------------------------------------------------------------------------ +ALTERNATIVE B - Public Domain (www.unlicense.org) +This is free and unencumbered software released into the public domain. +Anyone is free to copy, modify, publish, use, compile, sell, or distribute this +software, either in source code form or as a compiled binary, for any purpose, +commercial or non-commercial, and by any means. +In jurisdictions that recognize copyright laws, the author or authors of this +software dedicate any and all copyright interest in the software to the public +domain. We make this dedication for the benefit of the public at large and to +the detriment of our heirs and successors. We intend this dedication to be an +overt act of relinquishment in perpetuity of all present and future rights to +this software under copyright law. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN +ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +------------------------------------------------------------------------------ +*/ + + + + +#ifdef NK_INCLUDE_FONT_BAKING +/* ------------------------------------------------------------- + * + * RECT PACK + * + * --------------------------------------------------------------*/ + + + +/* + * ============================================================== + * + * TRUETYPE + * + * =============================================================== + */ +#define STBTT_MAX_OVERSAMPLE 8 + + +/* ------------------------------------------------------------- + * + * FONT BAKING + * + * --------------------------------------------------------------*/ +struct nk_font_bake_data { + struct stbtt_fontinfo info; + struct stbrp_rect *rects; + stbtt_pack_range *ranges; + nk_rune range_count; +}; + +struct nk_font_baker { + struct nk_allocator alloc; + struct stbtt_pack_context spc; + struct nk_font_bake_data *build; + stbtt_packedchar *packed_chars; + struct stbrp_rect *rects; + stbtt_pack_range *ranges; +}; + +NK_GLOBAL const nk_size nk_rect_align = NK_ALIGNOF(struct stbrp_rect); +NK_GLOBAL const nk_size nk_range_align = NK_ALIGNOF(stbtt_pack_range); +NK_GLOBAL const nk_size nk_char_align = NK_ALIGNOF(stbtt_packedchar); +NK_GLOBAL const nk_size nk_build_align = NK_ALIGNOF(struct nk_font_bake_data); +NK_GLOBAL const nk_size nk_baker_align = NK_ALIGNOF(struct nk_font_baker); + +NK_INTERN int +nk_range_count(const nk_rune *range) +{ + const nk_rune *iter = range; + NK_ASSERT(range); + if (!range) return 0; + while (*(iter++) != 0); + return (iter == range) ? 0 : (int)((iter - range)/2); +} +NK_INTERN int +nk_range_glyph_count(const nk_rune *range, int count) +{ + int i = 0; + int total_glyphs = 0; + for (i = 0; i < count; ++i) { + int diff; + nk_rune f = range[(i*2)+0]; + nk_rune t = range[(i*2)+1]; + NK_ASSERT(t >= f); + diff = (int)((t - f) + 1); + total_glyphs += diff; + } + return total_glyphs; +} +NK_API const nk_rune* +nk_font_default_glyph_ranges(void) +{ + NK_STORAGE const nk_rune ranges[] = {0x0020, 0x00FF, 0}; + return ranges; +} +NK_API const nk_rune* +nk_font_chinese_glyph_ranges(void) +{ + NK_STORAGE const nk_rune ranges[] = { + 0x0020, 0x00FF, + 0x3000, 0x30FF, + 0x31F0, 0x31FF, + 0xFF00, 0xFFEF, + 0x4e00, 0x9FAF, + 0 + }; + return ranges; +} +NK_API const nk_rune* +nk_font_cyrillic_glyph_ranges(void) +{ + NK_STORAGE const nk_rune ranges[] = { + 0x0020, 0x00FF, + 0x0400, 0x052F, + 0x2DE0, 0x2DFF, + 0xA640, 0xA69F, + 0 + }; + return ranges; +} +NK_API const nk_rune* +nk_font_korean_glyph_ranges(void) +{ + NK_STORAGE const nk_rune ranges[] = { + 0x0020, 0x00FF, + 0x3131, 0x3163, + 0xAC00, 0xD79D, + 0 + }; + return ranges; +} +NK_INTERN void +nk_font_baker_memory(nk_size *temp, int *glyph_count, + struct nk_font_config *config_list, int count) +{ + int range_count = 0; + int total_range_count = 0; + struct nk_font_config *iter, *i; + + NK_ASSERT(config_list); + NK_ASSERT(glyph_count); + if (!config_list) { + *temp = 0; + *glyph_count = 0; + return; + } + *glyph_count = 0; + for (iter = config_list; iter; iter = iter->next) { + i = iter; + do {if (!i->range) iter->range = nk_font_default_glyph_ranges(); + range_count = nk_range_count(i->range); + total_range_count += range_count; + *glyph_count += nk_range_glyph_count(i->range, range_count); + } while ((i = i->n) != iter); + } + *temp = (nk_size)*glyph_count * sizeof(struct stbrp_rect); + *temp += (nk_size)total_range_count * sizeof(stbtt_pack_range); + *temp += (nk_size)*glyph_count * sizeof(stbtt_packedchar); + *temp += (nk_size)count * sizeof(struct nk_font_bake_data); + *temp += sizeof(struct nk_font_baker); + *temp += nk_rect_align + nk_range_align + nk_char_align; + *temp += nk_build_align + nk_baker_align; +} +NK_INTERN struct nk_font_baker* +nk_font_baker(void *memory, int glyph_count, int count, struct nk_allocator *alloc) +{ + struct nk_font_baker *baker; + if (!memory) return 0; + /* setup baker inside a memory block */ + baker = (struct nk_font_baker*)NK_ALIGN_PTR(memory, nk_baker_align); + baker->build = (struct nk_font_bake_data*)NK_ALIGN_PTR((baker + 1), nk_build_align); + baker->packed_chars = (stbtt_packedchar*)NK_ALIGN_PTR((baker->build + count), nk_char_align); + baker->rects = (struct stbrp_rect*)NK_ALIGN_PTR((baker->packed_chars + glyph_count), nk_rect_align); + baker->ranges = (stbtt_pack_range*)NK_ALIGN_PTR((baker->rects + glyph_count), nk_range_align); + baker->alloc = *alloc; + return baker; +} +NK_INTERN int +nk_font_bake_pack(struct nk_font_baker *baker, + nk_size *image_memory, int *width, int *height, struct nk_recti *custom, + const struct nk_font_config *config_list, int count, + struct nk_allocator *alloc) +{ + NK_STORAGE const nk_size max_height = 1024 * 32; + const struct nk_font_config *config_iter, *it; + int total_glyph_count = 0; + int total_range_count = 0; + int range_count = 0; + int i = 0; + + NK_ASSERT(image_memory); + NK_ASSERT(width); + NK_ASSERT(height); + NK_ASSERT(config_list); + NK_ASSERT(count); + NK_ASSERT(alloc); + + if (!image_memory || !width || !height || !config_list || !count) return nk_false; + for (config_iter = config_list; config_iter; config_iter = config_iter->next) { + it = config_iter; + do {range_count = nk_range_count(it->range); + total_range_count += range_count; + total_glyph_count += nk_range_glyph_count(it->range, range_count); + } while ((it = it->n) != config_iter); + } + /* setup font baker from temporary memory */ + for (config_iter = config_list; config_iter; config_iter = config_iter->next) { + it = config_iter; + do { + struct stbtt_fontinfo *font_info = &baker->build[i++].info; + font_info->userdata = alloc; + + if (!stbtt_InitFont(font_info, (const unsigned char*)it->ttf_blob, 0)) + return nk_false; + } while ((it = it->n) != config_iter); + } + *height = 0; + *width = (total_glyph_count > 1000) ? 1024 : 512; + stbtt_PackBegin(&baker->spc, 0, (int)*width, (int)max_height, 0, 1, alloc); + { + int input_i = 0; + int range_n = 0; + int rect_n = 0; + int char_n = 0; + + if (custom) { + /* pack custom user data first so it will be in the upper left corner*/ + struct stbrp_rect custom_space; + nk_zero(&custom_space, sizeof(custom_space)); + custom_space.w = (stbrp_coord)(custom->w); + custom_space.h = (stbrp_coord)(custom->h); + + stbtt_PackSetOversampling(&baker->spc, 1, 1); + stbrp_pack_rects((struct stbrp_context*)baker->spc.pack_info, &custom_space, 1); + *height = NK_MAX(*height, (int)(custom_space.y + custom_space.h)); + + custom->x = (short)custom_space.x; + custom->y = (short)custom_space.y; + custom->w = (short)custom_space.w; + custom->h = (short)custom_space.h; + } + + /* first font pass: pack all glyphs */ + for (input_i = 0, config_iter = config_list; input_i < count && config_iter; + config_iter = config_iter->next) { + it = config_iter; + do {int n = 0; + int glyph_count; + const nk_rune *in_range; + const struct nk_font_config *cfg = it; + struct nk_font_bake_data *tmp = &baker->build[input_i++]; + + /* count glyphs + ranges in current font */ + glyph_count = 0; range_count = 0; + for (in_range = cfg->range; in_range[0] && in_range[1]; in_range += 2) { + glyph_count += (int)(in_range[1] - in_range[0]) + 1; + range_count++; + } + + /* setup ranges */ + tmp->ranges = baker->ranges + range_n; + tmp->range_count = (nk_rune)range_count; + range_n += range_count; + for (i = 0; i < range_count; ++i) { + in_range = &cfg->range[i * 2]; + tmp->ranges[i].font_size = cfg->size; + tmp->ranges[i].first_unicode_codepoint_in_range = (int)in_range[0]; + tmp->ranges[i].num_chars = (int)(in_range[1]- in_range[0]) + 1; + tmp->ranges[i].chardata_for_range = baker->packed_chars + char_n; + char_n += tmp->ranges[i].num_chars; + } + + /* pack */ + tmp->rects = baker->rects + rect_n; + rect_n += glyph_count; + stbtt_PackSetOversampling(&baker->spc, cfg->oversample_h, cfg->oversample_v); + n = stbtt_PackFontRangesGatherRects(&baker->spc, &tmp->info, + tmp->ranges, (int)tmp->range_count, tmp->rects); + stbrp_pack_rects((struct stbrp_context*)baker->spc.pack_info, tmp->rects, (int)n); + + /* texture height */ + for (i = 0; i < n; ++i) { + if (tmp->rects[i].was_packed) + *height = NK_MAX(*height, tmp->rects[i].y + tmp->rects[i].h); + } + } while ((it = it->n) != config_iter); + } + NK_ASSERT(rect_n == total_glyph_count); + NK_ASSERT(char_n == total_glyph_count); + NK_ASSERT(range_n == total_range_count); + } + *height = (int)nk_round_up_pow2((nk_uint)*height); + *image_memory = (nk_size)(*width) * (nk_size)(*height); + return nk_true; +} +NK_INTERN void +nk_font_bake(struct nk_font_baker *baker, void *image_memory, int width, int height, + struct nk_font_glyph *glyphs, int glyphs_count, + const struct nk_font_config *config_list, int font_count) +{ + int input_i = 0; + nk_rune glyph_n = 0; + const struct nk_font_config *config_iter; + const struct nk_font_config *it; + + NK_ASSERT(image_memory); + NK_ASSERT(width); + NK_ASSERT(height); + NK_ASSERT(config_list); + NK_ASSERT(baker); + NK_ASSERT(font_count); + NK_ASSERT(glyphs_count); + if (!image_memory || !width || !height || !config_list || + !font_count || !glyphs || !glyphs_count) + return; + + /* second font pass: render glyphs */ + nk_zero(image_memory, (nk_size)((nk_size)width * (nk_size)height)); + baker->spc.pixels = (unsigned char*)image_memory; + baker->spc.height = (int)height; + for (input_i = 0, config_iter = config_list; input_i < font_count && config_iter; + config_iter = config_iter->next) { + it = config_iter; + do {const struct nk_font_config *cfg = it; + struct nk_font_bake_data *tmp = &baker->build[input_i++]; + stbtt_PackSetOversampling(&baker->spc, cfg->oversample_h, cfg->oversample_v); + stbtt_PackFontRangesRenderIntoRects(&baker->spc, &tmp->info, tmp->ranges, (int)tmp->range_count, tmp->rects); + } while ((it = it->n) != config_iter); + } stbtt_PackEnd(&baker->spc); + + /* third pass: setup font and glyphs */ + for (input_i = 0, config_iter = config_list; input_i < font_count && config_iter; + config_iter = config_iter->next) { + it = config_iter; + do {nk_size i = 0; + int char_idx = 0; + nk_rune glyph_count = 0; + const struct nk_font_config *cfg = it; + struct nk_font_bake_data *tmp = &baker->build[input_i++]; + struct nk_baked_font *dst_font = cfg->font; + + float font_scale = stbtt_ScaleForPixelHeight(&tmp->info, cfg->size); + int unscaled_ascent, unscaled_descent, unscaled_line_gap; + stbtt_GetFontVMetrics(&tmp->info, &unscaled_ascent, &unscaled_descent, + &unscaled_line_gap); + + /* fill baked font */ + if (!cfg->merge_mode) { + dst_font->ranges = cfg->range; + dst_font->height = cfg->size; + dst_font->ascent = ((float)unscaled_ascent * font_scale); + dst_font->descent = ((float)unscaled_descent * font_scale); + dst_font->glyph_offset = glyph_n; + /* + Need to zero this, or it will carry over from a previous + bake, and cause a segfault when accessing glyphs[]. + */ + dst_font->glyph_count = 0; + } + + /* fill own baked font glyph array */ + for (i = 0; i < tmp->range_count; ++i) { + stbtt_pack_range *range = &tmp->ranges[i]; + for (char_idx = 0; char_idx < range->num_chars; char_idx++) + { + nk_rune codepoint = 0; + float dummy_x = 0, dummy_y = 0; + stbtt_aligned_quad q; + struct nk_font_glyph *glyph; + + /* query glyph bounds from stb_truetype */ + const stbtt_packedchar *pc = &range->chardata_for_range[char_idx]; + if (!pc->x0 && !pc->x1 && !pc->y0 && !pc->y1) continue; + codepoint = (nk_rune)(range->first_unicode_codepoint_in_range + char_idx); + stbtt_GetPackedQuad(range->chardata_for_range, (int)width, + (int)height, char_idx, &dummy_x, &dummy_y, &q, 0); + + /* fill own glyph type with data */ + glyph = &glyphs[dst_font->glyph_offset + dst_font->glyph_count + (unsigned int)glyph_count]; + glyph->codepoint = codepoint; + glyph->x0 = q.x0; glyph->y0 = q.y0; + glyph->x1 = q.x1; glyph->y1 = q.y1; + glyph->y0 += (dst_font->ascent + 0.5f); + glyph->y1 += (dst_font->ascent + 0.5f); + glyph->w = glyph->x1 - glyph->x0 + 0.5f; + glyph->h = glyph->y1 - glyph->y0; + + if (cfg->coord_type == NK_COORD_PIXEL) { + glyph->u0 = q.s0 * (float)width; + glyph->v0 = q.t0 * (float)height; + glyph->u1 = q.s1 * (float)width; + glyph->v1 = q.t1 * (float)height; + } else { + glyph->u0 = q.s0; + glyph->v0 = q.t0; + glyph->u1 = q.s1; + glyph->v1 = q.t1; + } + glyph->xadvance = (pc->xadvance + cfg->spacing.x); + if (cfg->pixel_snap) + glyph->xadvance = (float)(int)(glyph->xadvance + 0.5f); + glyph_count++; + } + } + dst_font->glyph_count += glyph_count; + glyph_n += glyph_count; + } while ((it = it->n) != config_iter); + } +} +NK_INTERN void +nk_font_bake_custom_data(void *img_memory, int img_width, int img_height, + struct nk_recti img_dst, const char *texture_data_mask, int tex_width, + int tex_height, char white, char black) +{ + nk_byte *pixels; + int y = 0; + int x = 0; + int n = 0; + + NK_ASSERT(img_memory); + NK_ASSERT(img_width); + NK_ASSERT(img_height); + NK_ASSERT(texture_data_mask); + NK_UNUSED(tex_height); + if (!img_memory || !img_width || !img_height || !texture_data_mask) + return; + + pixels = (nk_byte*)img_memory; + for (y = 0, n = 0; y < tex_height; ++y) { + for (x = 0; x < tex_width; ++x, ++n) { + const int off0 = ((img_dst.x + x) + (img_dst.y + y) * img_width); + const int off1 = off0 + 1 + tex_width; + pixels[off0] = (texture_data_mask[n] == white) ? 0xFF : 0x00; + pixels[off1] = (texture_data_mask[n] == black) ? 0xFF : 0x00; + } + } +} +NK_INTERN void +nk_font_bake_convert(void *out_memory, int img_width, int img_height, + const void *in_memory) +{ + int n = 0; + nk_rune *dst; + const nk_byte *src; + + NK_ASSERT(out_memory); + NK_ASSERT(in_memory); + NK_ASSERT(img_width); + NK_ASSERT(img_height); + if (!out_memory || !in_memory || !img_height || !img_width) return; + + dst = (nk_rune*)out_memory; + src = (const nk_byte*)in_memory; + for (n = (int)(img_width * img_height); n > 0; n--) + *dst++ = ((nk_rune)(*src++) << 24) | 0x00FFFFFF; +} + +/* ------------------------------------------------------------- + * + * FONT + * + * --------------------------------------------------------------*/ +NK_INTERN float +nk_font_text_width(nk_handle handle, float height, const char *text, int len) +{ + nk_rune unicode; + int text_len = 0; + float text_width = 0; + int glyph_len = 0; + float scale = 0; + + struct nk_font *font = (struct nk_font*)handle.ptr; + NK_ASSERT(font); + NK_ASSERT(font->glyphs); + if (!font || !text || !len) + return 0; + + scale = height/font->info.height; + glyph_len = text_len = nk_utf_decode(text, &unicode, (int)len); + if (!glyph_len) return 0; + while (text_len <= (int)len && glyph_len) { + const struct nk_font_glyph *g; + if (unicode == NK_UTF_INVALID) break; + + /* query currently drawn glyph information */ + g = nk_font_find_glyph(font, unicode); + text_width += g->xadvance * scale; + + /* offset next glyph */ + glyph_len = nk_utf_decode(text + text_len, &unicode, (int)len - text_len); + text_len += glyph_len; + } + return text_width; +} +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT +NK_INTERN void +nk_font_query_font_glyph(nk_handle handle, float height, + struct nk_user_font_glyph *glyph, nk_rune codepoint, nk_rune next_codepoint) +{ + float scale; + const struct nk_font_glyph *g; + struct nk_font *font; + + NK_ASSERT(glyph); + NK_UNUSED(next_codepoint); + + font = (struct nk_font*)handle.ptr; + NK_ASSERT(font); + NK_ASSERT(font->glyphs); + if (!font || !glyph) + return; + + scale = height/font->info.height; + g = nk_font_find_glyph(font, codepoint); + glyph->width = (g->x1 - g->x0) * scale; + glyph->height = (g->y1 - g->y0) * scale; + glyph->offset = nk_vec2(g->x0 * scale, g->y0 * scale); + glyph->xadvance = (g->xadvance * scale); + glyph->uv[0] = nk_vec2(g->u0, g->v0); + glyph->uv[1] = nk_vec2(g->u1, g->v1); +} +#endif +NK_API const struct nk_font_glyph* +nk_font_find_glyph(struct nk_font *font, nk_rune unicode) +{ + int i = 0; + int count; + int total_glyphs = 0; + const struct nk_font_glyph *glyph = 0; + const struct nk_font_config *iter = 0; + + NK_ASSERT(font); + NK_ASSERT(font->glyphs); + NK_ASSERT(font->info.ranges); + if (!font || !font->glyphs) return 0; + + glyph = font->fallback; + iter = font->config; + do {count = nk_range_count(iter->range); + for (i = 0; i < count; ++i) { + nk_rune f = iter->range[(i*2)+0]; + nk_rune t = iter->range[(i*2)+1]; + int diff = (int)((t - f) + 1); + if (unicode >= f && unicode <= t) + return &font->glyphs[((nk_rune)total_glyphs + (unicode - f))]; + total_glyphs += diff; + } + } while ((iter = iter->n) != font->config); + return glyph; +} +NK_INTERN void +nk_font_init(struct nk_font *font, float pixel_height, + nk_rune fallback_codepoint, struct nk_font_glyph *glyphs, + const struct nk_baked_font *baked_font, nk_handle atlas) +{ + struct nk_baked_font baked; + NK_ASSERT(font); + NK_ASSERT(glyphs); + NK_ASSERT(baked_font); + if (!font || !glyphs || !baked_font) + return; + + baked = *baked_font; + font->fallback = 0; + font->info = baked; + font->scale = (float)pixel_height / (float)font->info.height; + font->glyphs = &glyphs[baked_font->glyph_offset]; + font->texture = atlas; + font->fallback_codepoint = fallback_codepoint; + font->fallback = nk_font_find_glyph(font, fallback_codepoint); + + font->handle.height = font->info.height * font->scale; + font->handle.width = nk_font_text_width; + font->handle.userdata.ptr = font; +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT + font->handle.query = nk_font_query_font_glyph; + font->handle.texture = font->texture; +#endif +} + +/* --------------------------------------------------------------------------- + * + * DEFAULT FONT + * + * ProggyClean.ttf + * Copyright (c) 2004, 2005 Tristan Grimmer + * MIT license (see License.txt in http://www.upperbounds.net/download/ProggyClean.ttf.zip) + * Download and more information at http://upperbounds.net + *-----------------------------------------------------------------------------*/ +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Woverlength-strings" +#elif defined(__GNUC__) || defined(__GNUG__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Woverlength-strings" +#endif + +#ifdef NK_INCLUDE_DEFAULT_FONT + +NK_GLOBAL const char nk_proggy_clean_ttf_compressed_data_base85[11980+1] = + "7])#######hV0qs'/###[),##/l:$#Q6>##5[n42>c-TH`->>#/e>11NNV=Bv(*:.F?uu#(gRU.o0XGH`$vhLG1hxt9?W`#,5LsCp#-i>.r$<$6pD>Lb';9Crc6tgXmKVeU2cD4Eo3R/" + "2*>]b(MC;$jPfY.;h^`IWM9Qo#t'X#(v#Y9w0#1D$CIf;W'#pWUPXOuxXuU(H9M(1=Ke$$'5F%)]0^#0X@U.a$FBjVQTSDgEKnIS7EM9>ZY9w0#L;>>#Mx&4Mvt//L[MkA#W@lK.N'[0#7RL_&#w+F%HtG9M#XL`N&.,GM4Pg;--VsM.M0rJfLH2eTM`*oJMHRC`N" + 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X...X - X...X -X....X - X....X" + "X - X.X - X.....X - X.....X -X...X - X...X" + "XX - X.X -X.......X- X.......X -X..X.X - X.X..X" + "X.X - X.X -XXXX.XXXX- XXXX.XXXX -X.X X.X - X.X X.X" + "X..X - X.X - X.X - X.X -XX X.X - X.X XX" + "X...X - X.X - X.X - XX X.X XX - X.X - X.X " + "X....X - X.X - X.X - X.X X.X X.X - X.X - X.X " + "X.....X - X.X - X.X - X..X X.X X..X - X.X - X.X " + "X......X - X.X - X.X - X...XXXXXX.XXXXXX...X - X.X XX-XX X.X " + "X.......X - X.X - X.X -X.....................X- X.X X.X-X.X X.X " + "X........X - X.X - X.X - X...XXXXXX.XXXXXX...X - X.X..X-X..X.X " + "X.........X -XXX.XXX- X.X - X..X X.X X..X - X...X-X...X " + "X..........X-X.....X- X.X - X.X X.X X.X - X....X-X....X " + "X......XXXXX-XXXXXXX- X.X - XX X.X XX - X.....X-X.....X " + "X...X..X --------- X.X - X.X - XXXXXXX-XXXXXXX " + "X..X X..X - -XXXX.XXXX- XXXX.XXXX ------------------------------------" + "X.X X..X - -X.......X- X.......X - XX XX - " + "XX X..X - - X.....X - X.....X - X.X X.X - " + " X..X - X...X - X...X - X..X X..X - " + " XX - X.X - X.X - X...XXXXXXXXXXXXX...X - " + "------------ - X - X -X.....................X- " + " ----------------------------------- X...XXXXXXXXXXXXX...X - " + " - X..X X..X - " + " - X.X X.X - " + " - XX XX - " +}; + +#ifdef __clang__ +#pragma clang diagnostic pop +#elif defined(__GNUC__) || defined(__GNUG__) +#pragma GCC diagnostic pop +#endif + +NK_GLOBAL unsigned char *nk__barrier; +NK_GLOBAL unsigned char *nk__barrier2; +NK_GLOBAL unsigned char *nk__barrier3; +NK_GLOBAL unsigned char *nk__barrier4; +NK_GLOBAL unsigned char *nk__dout; + +NK_INTERN unsigned int +nk_decompress_length(unsigned char *input) +{ + return (unsigned int)((input[8] << 24) + (input[9] << 16) + (input[10] << 8) + input[11]); +} +NK_INTERN void +nk__match(unsigned char *data, unsigned int length) +{ + /* INVERSE of memmove... write each byte before copying the next...*/ + NK_ASSERT (nk__dout + length <= nk__barrier); + if (nk__dout + length > nk__barrier) { nk__dout += length; return; } + if (data < nk__barrier4) { nk__dout = nk__barrier+1; return; } + while (length--) *nk__dout++ = *data++; +} +NK_INTERN void +nk__lit(unsigned char *data, unsigned int length) +{ + NK_ASSERT (nk__dout + length <= nk__barrier); + if (nk__dout + length > nk__barrier) { nk__dout += length; return; } + if (data < nk__barrier2) { nk__dout = nk__barrier+1; return; } + NK_MEMCPY(nk__dout, data, length); + nk__dout += length; +} +NK_INTERN unsigned char* +nk_decompress_token(unsigned char *i) +{ + #define nk__in2(x) ((i[x] << 8) + i[(x)+1]) + #define nk__in3(x) ((i[x] << 16) + nk__in2((x)+1)) + #define nk__in4(x) ((i[x] << 24) + nk__in3((x)+1)) + + if (*i >= 0x20) { /* use fewer if's for cases that expand small */ + if (*i >= 0x80) nk__match(nk__dout-i[1]-1, (unsigned int)i[0] - 0x80 + 1), i += 2; + else if (*i >= 0x40) nk__match(nk__dout-(nk__in2(0) - 0x4000 + 1), (unsigned int)i[2]+1), i += 3; + else /* *i >= 0x20 */ nk__lit(i+1, (unsigned int)i[0] - 0x20 + 1), i += 1 + (i[0] - 0x20 + 1); + } else { /* more ifs for cases that expand large, since overhead is amortized */ + if (*i >= 0x18) nk__match(nk__dout-(unsigned int)(nk__in3(0) - 0x180000 + 1), (unsigned int)i[3]+1), i += 4; + else if (*i >= 0x10) nk__match(nk__dout-(unsigned int)(nk__in3(0) - 0x100000 + 1), (unsigned int)nk__in2(3)+1), i += 5; + else if (*i >= 0x08) nk__lit(i+2, (unsigned int)nk__in2(0) - 0x0800 + 1), i += 2 + (nk__in2(0) - 0x0800 + 1); + else if (*i == 0x07) nk__lit(i+3, (unsigned int)nk__in2(1) + 1), i += 3 + (nk__in2(1) + 1); + else if (*i == 0x06) nk__match(nk__dout-(unsigned int)(nk__in3(1)+1), i[4]+1u), i += 5; + else if (*i == 0x04) nk__match(nk__dout-(unsigned int)(nk__in3(1)+1), (unsigned int)nk__in2(4)+1u), i += 6; + } + return i; +} +NK_INTERN unsigned int +nk_adler32(unsigned int adler32, unsigned char *buffer, unsigned int buflen) +{ + const unsigned long ADLER_MOD = 65521; + unsigned long s1 = adler32 & 0xffff, s2 = adler32 >> 16; + unsigned long blocklen, i; + + blocklen = buflen % 5552; + while (buflen) { + for (i=0; i + 7 < blocklen; i += 8) { + s1 += buffer[0]; s2 += s1; + s1 += buffer[1]; s2 += s1; + s1 += buffer[2]; s2 += s1; + s1 += buffer[3]; s2 += s1; + s1 += buffer[4]; s2 += s1; + s1 += buffer[5]; s2 += s1; + s1 += buffer[6]; s2 += s1; + s1 += buffer[7]; s2 += s1; + buffer += 8; + } + for (; i < blocklen; ++i) { + s1 += *buffer++; s2 += s1; + } + + s1 %= ADLER_MOD; s2 %= ADLER_MOD; + buflen -= (unsigned int)blocklen; + blocklen = 5552; + } + return (unsigned int)(s2 << 16) + (unsigned int)s1; +} +NK_INTERN unsigned int +nk_decompress(unsigned char *output, unsigned char *i, unsigned int length) +{ + unsigned int olen; + if (nk__in4(0) != 0x57bC0000) return 0; + if (nk__in4(4) != 0) return 0; /* error! stream is > 4GB */ + olen = nk_decompress_length(i); + nk__barrier2 = i; + nk__barrier3 = i+length; + nk__barrier = output + olen; + nk__barrier4 = output; + i += 16; + + nk__dout = output; + for (;;) { + unsigned char *old_i = i; + i = nk_decompress_token(i); + if (i == old_i) { + if (*i == 0x05 && i[1] == 0xfa) { + NK_ASSERT(nk__dout == output + olen); + if (nk__dout != output + olen) return 0; + if (nk_adler32(1, output, olen) != (unsigned int) nk__in4(2)) + return 0; + return olen; + } else { + NK_ASSERT(0); /* NOTREACHED */ + return 0; + } + } + NK_ASSERT(nk__dout <= output + olen); + if (nk__dout > output + olen) + return 0; + } +} +NK_INTERN unsigned int +nk_decode_85_byte(char c) +{ + return (unsigned int)((c >= '\\') ? c-36 : c-35); +} +NK_INTERN void +nk_decode_85(unsigned char* dst, const unsigned char* src) +{ + while (*src) + { + unsigned int tmp = + nk_decode_85_byte((char)src[0]) + + 85 * (nk_decode_85_byte((char)src[1]) + + 85 * (nk_decode_85_byte((char)src[2]) + + 85 * (nk_decode_85_byte((char)src[3]) + + 85 * nk_decode_85_byte((char)src[4])))); + + /* we can't assume little-endianess. */ + dst[0] = (unsigned char)((tmp >> 0) & 0xFF); + dst[1] = (unsigned char)((tmp >> 8) & 0xFF); + dst[2] = (unsigned char)((tmp >> 16) & 0xFF); + dst[3] = (unsigned char)((tmp >> 24) & 0xFF); + + src += 5; + dst += 4; + } +} + +/* ------------------------------------------------------------- + * + * FONT ATLAS + * + * --------------------------------------------------------------*/ +NK_API struct nk_font_config +nk_font_config(float pixel_height) +{ + struct nk_font_config cfg; + nk_zero_struct(cfg); + cfg.ttf_blob = 0; + cfg.ttf_size = 0; + cfg.ttf_data_owned_by_atlas = 0; + cfg.size = pixel_height; + cfg.oversample_h = 3; + cfg.oversample_v = 1; + cfg.pixel_snap = 0; + cfg.coord_type = NK_COORD_UV; + cfg.spacing = nk_vec2(0,0); + cfg.range = nk_font_default_glyph_ranges(); + cfg.merge_mode = 0; + cfg.fallback_glyph = '?'; + cfg.font = 0; + cfg.n = 0; + return cfg; +} +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void +nk_font_atlas_init_default(struct nk_font_atlas *atlas) +{ + NK_ASSERT(atlas); + if (!atlas) return; + nk_zero_struct(*atlas); + atlas->temporary.userdata.ptr = 0; + atlas->temporary.alloc = nk_malloc; + atlas->temporary.free = nk_mfree; + atlas->permanent.userdata.ptr = 0; + atlas->permanent.alloc = nk_malloc; + atlas->permanent.free = nk_mfree; +} +#endif +NK_API void +nk_font_atlas_init(struct nk_font_atlas *atlas, struct nk_allocator *alloc) +{ + NK_ASSERT(atlas); + NK_ASSERT(alloc); + if (!atlas || !alloc) return; + nk_zero_struct(*atlas); + atlas->permanent = *alloc; + atlas->temporary = *alloc; +} +NK_API void +nk_font_atlas_init_custom(struct nk_font_atlas *atlas, + struct nk_allocator *permanent, struct nk_allocator *temporary) +{ + NK_ASSERT(atlas); + NK_ASSERT(permanent); + NK_ASSERT(temporary); + if (!atlas || !permanent || !temporary) return; + nk_zero_struct(*atlas); + atlas->permanent = *permanent; + atlas->temporary = *temporary; +} +NK_API void +nk_font_atlas_begin(struct nk_font_atlas *atlas) +{ + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc && atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc && atlas->permanent.free); + if (!atlas || !atlas->permanent.alloc || !atlas->permanent.free || + !atlas->temporary.alloc || !atlas->temporary.free) return; + if (atlas->glyphs) { + atlas->permanent.free(atlas->permanent.userdata, atlas->glyphs); + atlas->glyphs = 0; + } + if (atlas->pixel) { + atlas->permanent.free(atlas->permanent.userdata, atlas->pixel); + atlas->pixel = 0; + } +} +NK_API struct nk_font* +nk_font_atlas_add(struct nk_font_atlas *atlas, const struct nk_font_config *config) +{ + struct nk_font *font = 0; + struct nk_font_config *cfg; + + NK_ASSERT(atlas); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + + NK_ASSERT(config); + NK_ASSERT(config->ttf_blob); + NK_ASSERT(config->ttf_size); + NK_ASSERT(config->size > 0.0f); + + if (!atlas || !config || !config->ttf_blob || !config->ttf_size || config->size <= 0.0f|| + !atlas->permanent.alloc || !atlas->permanent.free || + !atlas->temporary.alloc || !atlas->temporary.free) + return 0; + + /* allocate font config */ + cfg = (struct nk_font_config*) + atlas->permanent.alloc(atlas->permanent.userdata,0, sizeof(struct nk_font_config)); + NK_MEMCPY(cfg, config, sizeof(*config)); + cfg->n = cfg; + cfg->p = cfg; + + if (!config->merge_mode) { + /* insert font config into list */ + if (!atlas->config) { + atlas->config = cfg; + cfg->next = 0; + } else { + struct nk_font_config *i = atlas->config; + while (i->next) i = i->next; + i->next = cfg; + cfg->next = 0; + } + /* allocate new font */ + font = (struct nk_font*) + atlas->permanent.alloc(atlas->permanent.userdata,0, sizeof(struct nk_font)); + NK_ASSERT(font); + nk_zero(font, sizeof(*font)); + if (!font) return 0; + font->config = cfg; + + /* insert font into list */ + if (!atlas->fonts) { + atlas->fonts = font; + font->next = 0; + } else { + struct nk_font *i = atlas->fonts; + while (i->next) i = i->next; + i->next = font; + font->next = 0; + } + cfg->font = &font->info; + } else { + /* extend previously added font */ + struct nk_font *f = 0; + struct nk_font_config *c = 0; + NK_ASSERT(atlas->font_num); + f = atlas->fonts; + c = f->config; + cfg->font = &f->info; + + cfg->n = c; + cfg->p = c->p; + c->p->n = cfg; + c->p = cfg; + } + /* create own copy of .TTF font blob */ + if (!config->ttf_data_owned_by_atlas) { + cfg->ttf_blob = atlas->permanent.alloc(atlas->permanent.userdata,0, cfg->ttf_size); + NK_ASSERT(cfg->ttf_blob); + if (!cfg->ttf_blob) { + atlas->font_num++; + return 0; + } + NK_MEMCPY(cfg->ttf_blob, config->ttf_blob, cfg->ttf_size); + cfg->ttf_data_owned_by_atlas = 1; + } + atlas->font_num++; + return font; +} +NK_API struct nk_font* +nk_font_atlas_add_from_memory(struct nk_font_atlas *atlas, void *memory, + nk_size size, float height, const struct nk_font_config *config) +{ + struct nk_font_config cfg; + NK_ASSERT(memory); + NK_ASSERT(size); + + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + if (!atlas || !atlas->temporary.alloc || !atlas->temporary.free || !memory || !size || + !atlas->permanent.alloc || !atlas->permanent.free) + return 0; + + cfg = (config) ? *config: nk_font_config(height); + cfg.ttf_blob = memory; + cfg.ttf_size = size; + cfg.size = height; + cfg.ttf_data_owned_by_atlas = 0; + return nk_font_atlas_add(atlas, &cfg); +} +#ifdef NK_INCLUDE_STANDARD_IO +NK_API struct nk_font* +nk_font_atlas_add_from_file(struct nk_font_atlas *atlas, const char *file_path, + float height, const struct nk_font_config *config) +{ + nk_size size; + char *memory; + struct nk_font_config cfg; + + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + + if (!atlas || !file_path) return 0; + memory = nk_file_load(file_path, &size, &atlas->permanent); + if (!memory) return 0; + + cfg = (config) ? *config: nk_font_config(height); + cfg.ttf_blob = memory; + cfg.ttf_size = size; + cfg.size = height; + cfg.ttf_data_owned_by_atlas = 1; + return nk_font_atlas_add(atlas, &cfg); +} +#endif +NK_API struct nk_font* +nk_font_atlas_add_compressed(struct nk_font_atlas *atlas, + void *compressed_data, nk_size compressed_size, float height, + const struct nk_font_config *config) +{ + unsigned int decompressed_size; + void *decompressed_data; + struct nk_font_config cfg; + + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + + NK_ASSERT(compressed_data); + NK_ASSERT(compressed_size); + if (!atlas || !compressed_data || !atlas->temporary.alloc || !atlas->temporary.free || + !atlas->permanent.alloc || !atlas->permanent.free) + return 0; + + decompressed_size = nk_decompress_length((unsigned char*)compressed_data); + decompressed_data = atlas->permanent.alloc(atlas->permanent.userdata,0,decompressed_size); + NK_ASSERT(decompressed_data); + if (!decompressed_data) return 0; + nk_decompress((unsigned char*)decompressed_data, (unsigned char*)compressed_data, + (unsigned int)compressed_size); + + cfg = (config) ? *config: nk_font_config(height); + cfg.ttf_blob = decompressed_data; + cfg.ttf_size = decompressed_size; + cfg.size = height; + cfg.ttf_data_owned_by_atlas = 1; + return nk_font_atlas_add(atlas, &cfg); +} +NK_API struct nk_font* +nk_font_atlas_add_compressed_base85(struct nk_font_atlas *atlas, + const char *data_base85, float height, const struct nk_font_config *config) +{ + int compressed_size; + void *compressed_data; + struct nk_font *font; + + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + + NK_ASSERT(data_base85); + if (!atlas || !data_base85 || !atlas->temporary.alloc || !atlas->temporary.free || + !atlas->permanent.alloc || !atlas->permanent.free) + return 0; + + compressed_size = (((int)nk_strlen(data_base85) + 4) / 5) * 4; + compressed_data = atlas->temporary.alloc(atlas->temporary.userdata,0, (nk_size)compressed_size); + NK_ASSERT(compressed_data); + if (!compressed_data) return 0; + nk_decode_85((unsigned char*)compressed_data, (const unsigned char*)data_base85); + font = nk_font_atlas_add_compressed(atlas, compressed_data, + (nk_size)compressed_size, height, config); + atlas->temporary.free(atlas->temporary.userdata, compressed_data); + return font; +} + +#ifdef NK_INCLUDE_DEFAULT_FONT +NK_API struct nk_font* +nk_font_atlas_add_default(struct nk_font_atlas *atlas, + float pixel_height, const struct nk_font_config *config) +{ + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + return nk_font_atlas_add_compressed_base85(atlas, + nk_proggy_clean_ttf_compressed_data_base85, pixel_height, config); +} +#endif +NK_API const void* +nk_font_atlas_bake(struct nk_font_atlas *atlas, int *width, int *height, + enum nk_font_atlas_format fmt) +{ + int i = 0; + void *tmp = 0; + nk_size tmp_size, img_size; + struct nk_font *font_iter; + struct nk_font_baker *baker; + + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + + NK_ASSERT(width); + NK_ASSERT(height); + if (!atlas || !width || !height || + !atlas->temporary.alloc || !atlas->temporary.free || + !atlas->permanent.alloc || !atlas->permanent.free) + return 0; + +#ifdef NK_INCLUDE_DEFAULT_FONT + /* no font added so just use default font */ + if (!atlas->font_num) + atlas->default_font = nk_font_atlas_add_default(atlas, 13.0f, 0); +#endif + NK_ASSERT(atlas->font_num); + if (!atlas->font_num) return 0; + + /* allocate temporary baker memory required for the baking process */ + nk_font_baker_memory(&tmp_size, &atlas->glyph_count, atlas->config, atlas->font_num); + tmp = atlas->temporary.alloc(atlas->temporary.userdata,0, tmp_size); + NK_ASSERT(tmp); + if (!tmp) goto failed; + NK_MEMSET(tmp,0,tmp_size); + + /* allocate glyph memory for all fonts */ + baker = nk_font_baker(tmp, atlas->glyph_count, atlas->font_num, &atlas->temporary); + atlas->glyphs = (struct nk_font_glyph*)atlas->permanent.alloc( + atlas->permanent.userdata,0, sizeof(struct nk_font_glyph)*(nk_size)atlas->glyph_count); + NK_ASSERT(atlas->glyphs); + if (!atlas->glyphs) + goto failed; + + /* pack all glyphs into a tight fit space */ + atlas->custom.w = (NK_CURSOR_DATA_W*2)+1; + atlas->custom.h = NK_CURSOR_DATA_H + 1; + if (!nk_font_bake_pack(baker, &img_size, width, height, &atlas->custom, + atlas->config, atlas->font_num, &atlas->temporary)) + goto failed; + + /* allocate memory for the baked image font atlas */ + atlas->pixel = atlas->temporary.alloc(atlas->temporary.userdata,0, img_size); + NK_ASSERT(atlas->pixel); + if (!atlas->pixel) + goto failed; + + /* bake glyphs and custom white pixel into image */ + nk_font_bake(baker, atlas->pixel, *width, *height, + atlas->glyphs, atlas->glyph_count, atlas->config, atlas->font_num); + nk_font_bake_custom_data(atlas->pixel, *width, *height, atlas->custom, + nk_custom_cursor_data, NK_CURSOR_DATA_W, NK_CURSOR_DATA_H, '.', 'X'); + + if (fmt == NK_FONT_ATLAS_RGBA32) { + /* convert alpha8 image into rgba32 image */ + void *img_rgba = atlas->temporary.alloc(atlas->temporary.userdata,0, + (nk_size)(*width * *height * 4)); + NK_ASSERT(img_rgba); + if (!img_rgba) goto failed; + nk_font_bake_convert(img_rgba, *width, *height, atlas->pixel); + atlas->temporary.free(atlas->temporary.userdata, atlas->pixel); + atlas->pixel = img_rgba; + } + atlas->tex_width = *width; + atlas->tex_height = *height; + + /* initialize each font */ + for (font_iter = atlas->fonts; font_iter; font_iter = font_iter->next) { + struct nk_font *font = font_iter; + struct nk_font_config *config = font->config; + nk_font_init(font, config->size, config->fallback_glyph, atlas->glyphs, + config->font, nk_handle_ptr(0)); + } + + /* initialize each cursor */ + {NK_STORAGE const struct nk_vec2 nk_cursor_data[NK_CURSOR_COUNT][3] = { + /* Pos Size Offset */ + {{ 0, 3}, {12,19}, { 0, 0}}, + {{13, 0}, { 7,16}, { 4, 8}}, + {{31, 0}, {23,23}, {11,11}}, + {{21, 0}, { 9, 23}, { 5,11}}, + {{55,18}, {23, 9}, {11, 5}}, + {{73, 0}, {17,17}, { 9, 9}}, + {{55, 0}, {17,17}, { 9, 9}} + }; + for (i = 0; i < NK_CURSOR_COUNT; ++i) { + struct nk_cursor *cursor = &atlas->cursors[i]; + cursor->img.w = (unsigned short)*width; + cursor->img.h = (unsigned short)*height; + cursor->img.region[0] = (unsigned short)(atlas->custom.x + nk_cursor_data[i][0].x); + cursor->img.region[1] = (unsigned short)(atlas->custom.y + nk_cursor_data[i][0].y); + cursor->img.region[2] = (unsigned short)nk_cursor_data[i][1].x; + cursor->img.region[3] = (unsigned short)nk_cursor_data[i][1].y; + cursor->size = nk_cursor_data[i][1]; + cursor->offset = nk_cursor_data[i][2]; + }} + /* free temporary memory */ + atlas->temporary.free(atlas->temporary.userdata, tmp); + return atlas->pixel; + +failed: + /* error so cleanup all memory */ + if (tmp) atlas->temporary.free(atlas->temporary.userdata, tmp); + if (atlas->glyphs) { + atlas->permanent.free(atlas->permanent.userdata, atlas->glyphs); + atlas->glyphs = 0; + } + if (atlas->pixel) { + atlas->temporary.free(atlas->temporary.userdata, atlas->pixel); + atlas->pixel = 0; + } + return 0; +} +NK_API void +nk_font_atlas_end(struct nk_font_atlas *atlas, nk_handle texture, + struct nk_draw_null_texture *null) +{ + int i = 0; + struct nk_font *font_iter; + NK_ASSERT(atlas); + if (!atlas) { + if (!null) return; + null->texture = texture; + null->uv = nk_vec2(0.5f,0.5f); + } + if (null) { + null->texture = texture; + null->uv.x = (atlas->custom.x + 0.5f)/(float)atlas->tex_width; + null->uv.y = (atlas->custom.y + 0.5f)/(float)atlas->tex_height; + } + for (font_iter = atlas->fonts; font_iter; font_iter = font_iter->next) { + font_iter->texture = texture; +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT + font_iter->handle.texture = texture; +#endif + } + for (i = 0; i < NK_CURSOR_COUNT; ++i) + atlas->cursors[i].img.handle = texture; + + atlas->temporary.free(atlas->temporary.userdata, atlas->pixel); + atlas->pixel = 0; + atlas->tex_width = 0; + atlas->tex_height = 0; + atlas->custom.x = 0; + atlas->custom.y = 0; + atlas->custom.w = 0; + atlas->custom.h = 0; +} +NK_API void +nk_font_atlas_cleanup(struct nk_font_atlas *atlas) +{ + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + if (!atlas || !atlas->permanent.alloc || !atlas->permanent.free) return; + if (atlas->config) { + struct nk_font_config *iter; + for (iter = atlas->config; iter; iter = iter->next) { + struct nk_font_config *i; + for (i = iter->n; i != iter; i = i->n) { + atlas->permanent.free(atlas->permanent.userdata, i->ttf_blob); + i->ttf_blob = 0; + } + atlas->permanent.free(atlas->permanent.userdata, iter->ttf_blob); + iter->ttf_blob = 0; + } + } +} +NK_API void +nk_font_atlas_clear(struct nk_font_atlas *atlas) +{ + NK_ASSERT(atlas); + NK_ASSERT(atlas->temporary.alloc); + NK_ASSERT(atlas->temporary.free); + NK_ASSERT(atlas->permanent.alloc); + NK_ASSERT(atlas->permanent.free); + if (!atlas || !atlas->permanent.alloc || !atlas->permanent.free) return; + + if (atlas->config) { + struct nk_font_config *iter, *next; + for (iter = atlas->config; iter; iter = next) { + struct nk_font_config *i, *n; + for (i = iter->n; i != iter; i = n) { + n = i->n; + if (i->ttf_blob) + atlas->permanent.free(atlas->permanent.userdata, i->ttf_blob); + atlas->permanent.free(atlas->permanent.userdata, i); + } + next = iter->next; + if (i->ttf_blob) + atlas->permanent.free(atlas->permanent.userdata, iter->ttf_blob); + atlas->permanent.free(atlas->permanent.userdata, iter); + } + atlas->config = 0; + } + if (atlas->fonts) { + struct nk_font *iter, *next; + for (iter = atlas->fonts; iter; iter = next) { + next = iter->next; + atlas->permanent.free(atlas->permanent.userdata, iter); + } + atlas->fonts = 0; + } + if (atlas->glyphs) + atlas->permanent.free(atlas->permanent.userdata, atlas->glyphs); + nk_zero_struct(*atlas); +} +#endif + + + + + +/* =============================================================== + * + * INPUT + * + * ===============================================================*/ +NK_API void +nk_input_begin(struct nk_context *ctx) +{ + int i; + struct nk_input *in; + NK_ASSERT(ctx); + if (!ctx) return; + in = &ctx->input; + for (i = 0; i < NK_BUTTON_MAX; ++i) + in->mouse.buttons[i].clicked = 0; + + in->keyboard.text_len = 0; + in->mouse.scroll_delta = nk_vec2(0,0); + in->mouse.prev.x = in->mouse.pos.x; + in->mouse.prev.y = in->mouse.pos.y; + in->mouse.delta.x = 0; + in->mouse.delta.y = 0; + for (i = 0; i < NK_KEY_MAX; i++) + in->keyboard.keys[i].clicked = 0; +} +NK_API void +nk_input_end(struct nk_context *ctx) +{ + struct nk_input *in; + NK_ASSERT(ctx); + if (!ctx) return; + in = &ctx->input; + if (in->mouse.grab) + in->mouse.grab = 0; + if (in->mouse.ungrab) { + in->mouse.grabbed = 0; + in->mouse.ungrab = 0; + in->mouse.grab = 0; + } +} +NK_API void +nk_input_motion(struct nk_context *ctx, int x, int y) +{ + struct nk_input *in; + NK_ASSERT(ctx); + if (!ctx) return; + in = &ctx->input; + in->mouse.pos.x = (float)x; + in->mouse.pos.y = (float)y; + in->mouse.delta.x = in->mouse.pos.x - in->mouse.prev.x; + in->mouse.delta.y = in->mouse.pos.y - in->mouse.prev.y; +} +NK_API void +nk_input_key(struct nk_context *ctx, enum nk_keys key, nk_bool down) +{ + struct nk_input *in; + NK_ASSERT(ctx); + if (!ctx) return; + in = &ctx->input; +#ifdef NK_KEYSTATE_BASED_INPUT + if (in->keyboard.keys[key].down != down) + in->keyboard.keys[key].clicked++; +#else + in->keyboard.keys[key].clicked++; +#endif + in->keyboard.keys[key].down = down; +} +NK_API void +nk_input_button(struct nk_context *ctx, enum nk_buttons id, int x, int y, nk_bool down) +{ + struct nk_mouse_button *btn; + struct nk_input *in; + NK_ASSERT(ctx); + if (!ctx) return; + in = &ctx->input; + if (in->mouse.buttons[id].down == down) return; + + btn = &in->mouse.buttons[id]; + btn->clicked_pos.x = (float)x; + btn->clicked_pos.y = (float)y; + btn->down = down; + btn->clicked++; +#ifdef NK_BUTTON_TRIGGER_ON_RELEASE + if (down == 1 && id == NK_BUTTON_LEFT) + { + in->mouse.down_pos.x = btn->clicked_pos.x; + in->mouse.down_pos.y = btn->clicked_pos.y; + } +#endif +} +NK_API void +nk_input_scroll(struct nk_context *ctx, struct nk_vec2 val) +{ + NK_ASSERT(ctx); + if (!ctx) return; + ctx->input.mouse.scroll_delta.x += val.x; + ctx->input.mouse.scroll_delta.y += val.y; +} +NK_API void +nk_input_glyph(struct nk_context *ctx, const nk_glyph glyph) +{ + int len = 0; + nk_rune unicode; + struct nk_input *in; + + NK_ASSERT(ctx); + if (!ctx) return; + in = &ctx->input; + + len = nk_utf_decode(glyph, &unicode, NK_UTF_SIZE); + if (len && ((in->keyboard.text_len + len) < NK_INPUT_MAX)) { + nk_utf_encode(unicode, &in->keyboard.text[in->keyboard.text_len], + NK_INPUT_MAX - in->keyboard.text_len); + in->keyboard.text_len += len; + } +} +NK_API void +nk_input_char(struct nk_context *ctx, char c) +{ + nk_glyph glyph; + NK_ASSERT(ctx); + if (!ctx) return; + glyph[0] = c; + nk_input_glyph(ctx, glyph); +} +NK_API void +nk_input_unicode(struct nk_context *ctx, nk_rune unicode) +{ + nk_glyph rune; + NK_ASSERT(ctx); + if (!ctx) return; + nk_utf_encode(unicode, rune, NK_UTF_SIZE); + nk_input_glyph(ctx, rune); +} +NK_API nk_bool +nk_input_has_mouse_click(const struct nk_input *i, enum nk_buttons id) +{ + const struct nk_mouse_button *btn; + if (!i) return nk_false; + btn = &i->mouse.buttons[id]; + return (btn->clicked && btn->down == nk_false) ? nk_true : nk_false; +} +NK_API nk_bool +nk_input_has_mouse_click_in_rect(const struct nk_input *i, enum nk_buttons id, + struct nk_rect b) +{ + const struct nk_mouse_button *btn; + if (!i) return nk_false; + btn = &i->mouse.buttons[id]; + if (!NK_INBOX(btn->clicked_pos.x,btn->clicked_pos.y,b.x,b.y,b.w,b.h)) + return nk_false; + return nk_true; +} +NK_API nk_bool +nk_input_has_mouse_click_in_button_rect(const struct nk_input *i, enum nk_buttons id, + struct nk_rect b) +{ + const struct nk_mouse_button *btn; + if (!i) return nk_false; + btn = &i->mouse.buttons[id]; +#ifdef NK_BUTTON_TRIGGER_ON_RELEASE + if (!NK_INBOX(btn->clicked_pos.x,btn->clicked_pos.y,b.x,b.y,b.w,b.h) + || !NK_INBOX(i->mouse.down_pos.x,i->mouse.down_pos.y,b.x,b.y,b.w,b.h)) +#else + if (!NK_INBOX(btn->clicked_pos.x,btn->clicked_pos.y,b.x,b.y,b.w,b.h)) +#endif + return nk_false; + return nk_true; +} +NK_API nk_bool +nk_input_has_mouse_click_down_in_rect(const struct nk_input *i, enum nk_buttons id, + struct nk_rect b, nk_bool down) +{ + const struct nk_mouse_button *btn; + if (!i) return nk_false; + btn = &i->mouse.buttons[id]; + return nk_input_has_mouse_click_in_rect(i, id, b) && (btn->down == down); +} +NK_API nk_bool +nk_input_is_mouse_click_in_rect(const struct nk_input *i, enum nk_buttons id, + struct nk_rect b) +{ + const struct nk_mouse_button *btn; + if (!i) return nk_false; + btn = &i->mouse.buttons[id]; + return (nk_input_has_mouse_click_down_in_rect(i, id, b, nk_false) && + btn->clicked) ? nk_true : nk_false; +} +NK_API nk_bool +nk_input_is_mouse_click_down_in_rect(const struct nk_input *i, enum nk_buttons id, + struct nk_rect b, nk_bool down) +{ + const struct nk_mouse_button *btn; + if (!i) return nk_false; + btn = &i->mouse.buttons[id]; + return (nk_input_has_mouse_click_down_in_rect(i, id, b, down) && + btn->clicked) ? nk_true : nk_false; +} +NK_API nk_bool +nk_input_any_mouse_click_in_rect(const struct nk_input *in, struct nk_rect b) +{ + int i, down = 0; + for (i = 0; i < NK_BUTTON_MAX; ++i) + down = down || nk_input_is_mouse_click_in_rect(in, (enum nk_buttons)i, b); + return down; +} +NK_API nk_bool +nk_input_is_mouse_hovering_rect(const struct nk_input *i, struct nk_rect rect) +{ + if (!i) return nk_false; + return NK_INBOX(i->mouse.pos.x, i->mouse.pos.y, rect.x, rect.y, rect.w, rect.h); +} +NK_API nk_bool +nk_input_is_mouse_prev_hovering_rect(const struct nk_input *i, struct nk_rect rect) +{ + if (!i) return nk_false; + return NK_INBOX(i->mouse.prev.x, i->mouse.prev.y, rect.x, rect.y, rect.w, rect.h); +} +NK_API nk_bool +nk_input_mouse_clicked(const struct nk_input *i, enum nk_buttons id, struct nk_rect rect) +{ + if (!i) return nk_false; + if (!nk_input_is_mouse_hovering_rect(i, rect)) return nk_false; + return nk_input_is_mouse_click_in_rect(i, id, rect); +} +NK_API nk_bool +nk_input_is_mouse_down(const struct nk_input *i, enum nk_buttons id) +{ + if (!i) return nk_false; + return i->mouse.buttons[id].down; +} +NK_API nk_bool +nk_input_is_mouse_pressed(const struct nk_input *i, enum nk_buttons id) +{ + const struct nk_mouse_button *b; + if (!i) return nk_false; + b = &i->mouse.buttons[id]; + if (b->down && b->clicked) + return nk_true; + return nk_false; +} +NK_API nk_bool +nk_input_is_mouse_released(const struct nk_input *i, enum nk_buttons id) +{ + if (!i) return nk_false; + return (!i->mouse.buttons[id].down && i->mouse.buttons[id].clicked); +} +NK_API nk_bool +nk_input_is_key_pressed(const struct nk_input *i, enum nk_keys key) +{ + const struct nk_key *k; + if (!i) return nk_false; + k = &i->keyboard.keys[key]; + if ((k->down && k->clicked) || (!k->down && k->clicked >= 2)) + return nk_true; + return nk_false; +} +NK_API nk_bool +nk_input_is_key_released(const struct nk_input *i, enum nk_keys key) +{ + const struct nk_key *k; + if (!i) return nk_false; + k = &i->keyboard.keys[key]; + if ((!k->down && k->clicked) || (k->down && k->clicked >= 2)) + return nk_true; + return nk_false; +} +NK_API nk_bool +nk_input_is_key_down(const struct nk_input *i, enum nk_keys key) +{ + const struct nk_key *k; + if (!i) return nk_false; + k = &i->keyboard.keys[key]; + if (k->down) return nk_true; + return nk_false; +} + + + + + +/* =============================================================== + * + * STYLE + * + * ===============================================================*/ +NK_API void nk_style_default(struct nk_context *ctx){nk_style_from_table(ctx, 0);} +#define NK_COLOR_MAP(NK_COLOR)\ + NK_COLOR(NK_COLOR_TEXT, 175,175,175,255) \ + NK_COLOR(NK_COLOR_WINDOW, 45, 45, 45, 255) \ + NK_COLOR(NK_COLOR_HEADER, 40, 40, 40, 255) \ + NK_COLOR(NK_COLOR_BORDER, 65, 65, 65, 255) \ + NK_COLOR(NK_COLOR_BUTTON, 50, 50, 50, 255) \ + NK_COLOR(NK_COLOR_BUTTON_HOVER, 40, 40, 40, 255) \ + NK_COLOR(NK_COLOR_BUTTON_ACTIVE, 35, 35, 35, 255) \ + NK_COLOR(NK_COLOR_TOGGLE, 100,100,100,255) \ + NK_COLOR(NK_COLOR_TOGGLE_HOVER, 120,120,120,255) \ + NK_COLOR(NK_COLOR_TOGGLE_CURSOR, 45, 45, 45, 255) \ + NK_COLOR(NK_COLOR_SELECT, 45, 45, 45, 255) \ + NK_COLOR(NK_COLOR_SELECT_ACTIVE, 35, 35, 35,255) \ + NK_COLOR(NK_COLOR_SLIDER, 38, 38, 38, 255) \ + NK_COLOR(NK_COLOR_SLIDER_CURSOR, 100,100,100,255) \ + NK_COLOR(NK_COLOR_SLIDER_CURSOR_HOVER, 120,120,120,255) \ + NK_COLOR(NK_COLOR_SLIDER_CURSOR_ACTIVE, 150,150,150,255) \ + NK_COLOR(NK_COLOR_PROPERTY, 38, 38, 38, 255) \ + NK_COLOR(NK_COLOR_EDIT, 38, 38, 38, 255) \ + NK_COLOR(NK_COLOR_EDIT_CURSOR, 175,175,175,255) \ + NK_COLOR(NK_COLOR_COMBO, 45, 45, 45, 255) \ + NK_COLOR(NK_COLOR_CHART, 120,120,120,255) \ + NK_COLOR(NK_COLOR_CHART_COLOR, 45, 45, 45, 255) \ + NK_COLOR(NK_COLOR_CHART_COLOR_HIGHLIGHT, 255, 0, 0, 255) \ + NK_COLOR(NK_COLOR_SCROLLBAR, 40, 40, 40, 255) \ + NK_COLOR(NK_COLOR_SCROLLBAR_CURSOR, 100,100,100,255) \ + NK_COLOR(NK_COLOR_SCROLLBAR_CURSOR_HOVER, 120,120,120,255) \ + NK_COLOR(NK_COLOR_SCROLLBAR_CURSOR_ACTIVE, 150,150,150,255) \ + NK_COLOR(NK_COLOR_TAB_HEADER, 40, 40, 40,255) + +NK_GLOBAL const struct nk_color +nk_default_color_style[NK_COLOR_COUNT] = { +#define NK_COLOR(a,b,c,d,e) {b,c,d,e}, + NK_COLOR_MAP(NK_COLOR) +#undef NK_COLOR +}; +NK_GLOBAL const char *nk_color_names[NK_COLOR_COUNT] = { +#define NK_COLOR(a,b,c,d,e) #a, + NK_COLOR_MAP(NK_COLOR) +#undef NK_COLOR +}; + +NK_API const char* +nk_style_get_color_by_name(enum nk_style_colors c) +{ + return nk_color_names[c]; +} +NK_API struct nk_style_item +nk_style_item_color(struct nk_color col) +{ + struct nk_style_item i; + i.type = NK_STYLE_ITEM_COLOR; + i.data.color = col; + return i; +} +NK_API struct nk_style_item +nk_style_item_image(struct nk_image img) +{ + struct nk_style_item i; + i.type = NK_STYLE_ITEM_IMAGE; + i.data.image = img; + return i; +} +NK_API struct nk_style_item +nk_style_item_nine_slice(struct nk_nine_slice slice) +{ + struct nk_style_item i; + i.type = NK_STYLE_ITEM_NINE_SLICE; + i.data.slice = slice; + return i; +} +NK_API struct nk_style_item +nk_style_item_hide(void) +{ + struct nk_style_item i; + i.type = NK_STYLE_ITEM_COLOR; + i.data.color = nk_rgba(0,0,0,0); + return i; +} +NK_API void +nk_style_from_table(struct nk_context *ctx, const struct nk_color *table) +{ + struct nk_style *style; + struct nk_style_text *text; + struct nk_style_button *button; + struct nk_style_toggle *toggle; + struct nk_style_selectable *select; + struct nk_style_slider *slider; + struct nk_style_progress *prog; + struct nk_style_scrollbar *scroll; + struct nk_style_edit *edit; + struct nk_style_property *property; + struct nk_style_combo *combo; + struct nk_style_chart *chart; + struct nk_style_tab *tab; + struct nk_style_window *win; + + NK_ASSERT(ctx); + if (!ctx) return; + style = &ctx->style; + table = (!table) ? nk_default_color_style: table; + + /* default text */ + text = &style->text; + text->color = table[NK_COLOR_TEXT]; + text->padding = nk_vec2(0,0); + + /* default button */ + button = &style->button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_BUTTON]); + button->hover = nk_style_item_color(table[NK_COLOR_BUTTON_HOVER]); + button->active = nk_style_item_color(table[NK_COLOR_BUTTON_ACTIVE]); + button->border_color = table[NK_COLOR_BORDER]; + button->text_background = table[NK_COLOR_BUTTON]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(2.0f,2.0f); + button->image_padding = nk_vec2(0.0f,0.0f); + button->touch_padding = nk_vec2(0.0f, 0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 1.0f; + button->rounding = 4.0f; + button->draw_begin = 0; + button->draw_end = 0; + + /* contextual button */ + button = &style->contextual_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->hover = nk_style_item_color(table[NK_COLOR_BUTTON_HOVER]); + button->active = nk_style_item_color(table[NK_COLOR_BUTTON_ACTIVE]); + button->border_color = table[NK_COLOR_WINDOW]; + button->text_background = table[NK_COLOR_WINDOW]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(2.0f,2.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + + /* menu button */ + button = &style->menu_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->hover = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->active = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->border_color = table[NK_COLOR_WINDOW]; + button->text_background = table[NK_COLOR_WINDOW]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(2.0f,2.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 1.0f; + button->draw_begin = 0; + button->draw_end = 0; + + /* checkbox toggle */ + toggle = &style->checkbox; + nk_zero_struct(*toggle); + toggle->normal = nk_style_item_color(table[NK_COLOR_TOGGLE]); + toggle->hover = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); + toggle->active = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); + toggle->cursor_normal = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); + toggle->cursor_hover = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); + toggle->userdata = nk_handle_ptr(0); + toggle->text_background = table[NK_COLOR_WINDOW]; + toggle->text_normal = table[NK_COLOR_TEXT]; + toggle->text_hover = table[NK_COLOR_TEXT]; + toggle->text_active = table[NK_COLOR_TEXT]; + toggle->padding = nk_vec2(2.0f, 2.0f); + toggle->touch_padding = nk_vec2(0,0); + toggle->border_color = nk_rgba(0,0,0,0); + toggle->border = 0.0f; + toggle->spacing = 4; + + /* option toggle */ + toggle = &style->option; + nk_zero_struct(*toggle); + toggle->normal = nk_style_item_color(table[NK_COLOR_TOGGLE]); + toggle->hover = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); + toggle->active = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); + toggle->cursor_normal = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); + toggle->cursor_hover = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); + toggle->userdata = nk_handle_ptr(0); + toggle->text_background = table[NK_COLOR_WINDOW]; + toggle->text_normal = table[NK_COLOR_TEXT]; + toggle->text_hover = table[NK_COLOR_TEXT]; + toggle->text_active = table[NK_COLOR_TEXT]; + toggle->padding = nk_vec2(3.0f, 3.0f); + toggle->touch_padding = nk_vec2(0,0); + toggle->border_color = nk_rgba(0,0,0,0); + toggle->border = 0.0f; + toggle->spacing = 4; + + /* selectable */ + select = &style->selectable; + nk_zero_struct(*select); + select->normal = nk_style_item_color(table[NK_COLOR_SELECT]); + select->hover = nk_style_item_color(table[NK_COLOR_SELECT]); + select->pressed = nk_style_item_color(table[NK_COLOR_SELECT]); + select->normal_active = nk_style_item_color(table[NK_COLOR_SELECT_ACTIVE]); + select->hover_active = nk_style_item_color(table[NK_COLOR_SELECT_ACTIVE]); + select->pressed_active = nk_style_item_color(table[NK_COLOR_SELECT_ACTIVE]); + select->text_normal = table[NK_COLOR_TEXT]; + select->text_hover = table[NK_COLOR_TEXT]; + select->text_pressed = table[NK_COLOR_TEXT]; + select->text_normal_active = table[NK_COLOR_TEXT]; + select->text_hover_active = table[NK_COLOR_TEXT]; + select->text_pressed_active = table[NK_COLOR_TEXT]; + select->padding = nk_vec2(2.0f,2.0f); + select->image_padding = nk_vec2(2.0f,2.0f); + select->touch_padding = nk_vec2(0,0); + select->userdata = nk_handle_ptr(0); + select->rounding = 0.0f; + select->draw_begin = 0; + select->draw_end = 0; + + /* slider */ + slider = &style->slider; + nk_zero_struct(*slider); + slider->normal = nk_style_item_hide(); + slider->hover = nk_style_item_hide(); + slider->active = nk_style_item_hide(); + slider->bar_normal = table[NK_COLOR_SLIDER]; + slider->bar_hover = table[NK_COLOR_SLIDER]; + slider->bar_active = table[NK_COLOR_SLIDER]; + slider->bar_filled = table[NK_COLOR_SLIDER_CURSOR]; + slider->cursor_normal = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR]); + slider->cursor_hover = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_HOVER]); + slider->cursor_active = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_ACTIVE]); + slider->inc_symbol = NK_SYMBOL_TRIANGLE_RIGHT; + slider->dec_symbol = NK_SYMBOL_TRIANGLE_LEFT; + slider->cursor_size = nk_vec2(16,16); + slider->padding = nk_vec2(2,2); + slider->spacing = nk_vec2(2,2); + slider->userdata = nk_handle_ptr(0); + slider->show_buttons = nk_false; + slider->bar_height = 8; + slider->rounding = 0; + slider->draw_begin = 0; + slider->draw_end = 0; + + /* slider buttons */ + button = &style->slider.inc_button; + button->normal = nk_style_item_color(nk_rgb(40,40,40)); + button->hover = nk_style_item_color(nk_rgb(42,42,42)); + button->active = nk_style_item_color(nk_rgb(44,44,44)); + button->border_color = nk_rgb(65,65,65); + button->text_background = nk_rgb(40,40,40); + button->text_normal = nk_rgb(175,175,175); + button->text_hover = nk_rgb(175,175,175); + button->text_active = nk_rgb(175,175,175); + button->padding = nk_vec2(8.0f,8.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 1.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + style->slider.dec_button = style->slider.inc_button; + + /* progressbar */ + prog = &style->progress; + nk_zero_struct(*prog); + prog->normal = nk_style_item_color(table[NK_COLOR_SLIDER]); + prog->hover = nk_style_item_color(table[NK_COLOR_SLIDER]); + prog->active = nk_style_item_color(table[NK_COLOR_SLIDER]); + prog->cursor_normal = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR]); + prog->cursor_hover = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_HOVER]); + prog->cursor_active = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_ACTIVE]); + prog->border_color = nk_rgba(0,0,0,0); + prog->cursor_border_color = nk_rgba(0,0,0,0); + prog->userdata = nk_handle_ptr(0); + prog->padding = nk_vec2(4,4); + prog->rounding = 0; + prog->border = 0; + prog->cursor_rounding = 0; + prog->cursor_border = 0; + prog->draw_begin = 0; + prog->draw_end = 0; + + /* scrollbars */ + scroll = &style->scrollh; + nk_zero_struct(*scroll); + scroll->normal = nk_style_item_color(table[NK_COLOR_SCROLLBAR]); + scroll->hover = nk_style_item_color(table[NK_COLOR_SCROLLBAR]); + scroll->active = nk_style_item_color(table[NK_COLOR_SCROLLBAR]); + scroll->cursor_normal = nk_style_item_color(table[NK_COLOR_SCROLLBAR_CURSOR]); + scroll->cursor_hover = nk_style_item_color(table[NK_COLOR_SCROLLBAR_CURSOR_HOVER]); + scroll->cursor_active = nk_style_item_color(table[NK_COLOR_SCROLLBAR_CURSOR_ACTIVE]); + scroll->dec_symbol = NK_SYMBOL_CIRCLE_SOLID; + scroll->inc_symbol = NK_SYMBOL_CIRCLE_SOLID; + scroll->userdata = nk_handle_ptr(0); + scroll->border_color = table[NK_COLOR_SCROLLBAR]; + scroll->cursor_border_color = table[NK_COLOR_SCROLLBAR]; + scroll->padding = nk_vec2(0,0); + scroll->show_buttons = nk_false; + scroll->border = 0; + scroll->rounding = 0; + scroll->border_cursor = 0; + scroll->rounding_cursor = 0; + scroll->draw_begin = 0; + scroll->draw_end = 0; + style->scrollv = style->scrollh; + + /* scrollbars buttons */ + button = &style->scrollh.inc_button; + button->normal = nk_style_item_color(nk_rgb(40,40,40)); + button->hover = nk_style_item_color(nk_rgb(42,42,42)); + button->active = nk_style_item_color(nk_rgb(44,44,44)); + button->border_color = nk_rgb(65,65,65); + button->text_background = nk_rgb(40,40,40); + button->text_normal = nk_rgb(175,175,175); + button->text_hover = nk_rgb(175,175,175); + button->text_active = nk_rgb(175,175,175); + button->padding = nk_vec2(4.0f,4.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 1.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + style->scrollh.dec_button = style->scrollh.inc_button; + style->scrollv.inc_button = style->scrollh.inc_button; + style->scrollv.dec_button = style->scrollh.inc_button; + + /* edit */ + edit = &style->edit; + nk_zero_struct(*edit); + edit->normal = nk_style_item_color(table[NK_COLOR_EDIT]); + edit->hover = nk_style_item_color(table[NK_COLOR_EDIT]); + edit->active = nk_style_item_color(table[NK_COLOR_EDIT]); + edit->cursor_normal = table[NK_COLOR_TEXT]; + edit->cursor_hover = table[NK_COLOR_TEXT]; + edit->cursor_text_normal= table[NK_COLOR_EDIT]; + edit->cursor_text_hover = table[NK_COLOR_EDIT]; + edit->border_color = table[NK_COLOR_BORDER]; + edit->text_normal = table[NK_COLOR_TEXT]; + edit->text_hover = table[NK_COLOR_TEXT]; + edit->text_active = table[NK_COLOR_TEXT]; + edit->selected_normal = table[NK_COLOR_TEXT]; + edit->selected_hover = table[NK_COLOR_TEXT]; + edit->selected_text_normal = table[NK_COLOR_EDIT]; + edit->selected_text_hover = table[NK_COLOR_EDIT]; + edit->scrollbar_size = nk_vec2(10,10); + edit->scrollbar = style->scrollv; + edit->padding = nk_vec2(4,4); + edit->row_padding = 2; + edit->cursor_size = 4; + edit->border = 1; + edit->rounding = 0; + + /* property */ + property = &style->property; + nk_zero_struct(*property); + property->normal = nk_style_item_color(table[NK_COLOR_PROPERTY]); + property->hover = nk_style_item_color(table[NK_COLOR_PROPERTY]); + property->active = nk_style_item_color(table[NK_COLOR_PROPERTY]); + property->border_color = table[NK_COLOR_BORDER]; + property->label_normal = table[NK_COLOR_TEXT]; + property->label_hover = table[NK_COLOR_TEXT]; + property->label_active = table[NK_COLOR_TEXT]; + property->sym_left = NK_SYMBOL_TRIANGLE_LEFT; + property->sym_right = NK_SYMBOL_TRIANGLE_RIGHT; + property->userdata = nk_handle_ptr(0); + property->padding = nk_vec2(4,4); + property->border = 1; + property->rounding = 10; + property->draw_begin = 0; + property->draw_end = 0; + + /* property buttons */ + button = &style->property.dec_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_PROPERTY]); + button->hover = nk_style_item_color(table[NK_COLOR_PROPERTY]); + button->active = nk_style_item_color(table[NK_COLOR_PROPERTY]); + button->border_color = nk_rgba(0,0,0,0); + button->text_background = table[NK_COLOR_PROPERTY]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(0.0f,0.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + style->property.inc_button = style->property.dec_button; + + /* property edit */ + edit = &style->property.edit; + nk_zero_struct(*edit); + edit->normal = nk_style_item_color(table[NK_COLOR_PROPERTY]); + edit->hover = nk_style_item_color(table[NK_COLOR_PROPERTY]); + edit->active = nk_style_item_color(table[NK_COLOR_PROPERTY]); + edit->border_color = nk_rgba(0,0,0,0); + edit->cursor_normal = table[NK_COLOR_TEXT]; + edit->cursor_hover = table[NK_COLOR_TEXT]; + edit->cursor_text_normal= table[NK_COLOR_EDIT]; + edit->cursor_text_hover = table[NK_COLOR_EDIT]; + edit->text_normal = table[NK_COLOR_TEXT]; + edit->text_hover = table[NK_COLOR_TEXT]; + edit->text_active = table[NK_COLOR_TEXT]; + edit->selected_normal = table[NK_COLOR_TEXT]; + edit->selected_hover = table[NK_COLOR_TEXT]; + edit->selected_text_normal = table[NK_COLOR_EDIT]; + edit->selected_text_hover = table[NK_COLOR_EDIT]; + edit->padding = nk_vec2(0,0); + edit->cursor_size = 8; + edit->border = 0; + edit->rounding = 0; + + /* chart */ + chart = &style->chart; + nk_zero_struct(*chart); + chart->background = nk_style_item_color(table[NK_COLOR_CHART]); + chart->border_color = table[NK_COLOR_BORDER]; + chart->selected_color = table[NK_COLOR_CHART_COLOR_HIGHLIGHT]; + chart->color = table[NK_COLOR_CHART_COLOR]; + chart->padding = nk_vec2(4,4); + chart->border = 0; + chart->rounding = 0; + + /* combo */ + combo = &style->combo; + combo->normal = nk_style_item_color(table[NK_COLOR_COMBO]); + combo->hover = nk_style_item_color(table[NK_COLOR_COMBO]); + combo->active = nk_style_item_color(table[NK_COLOR_COMBO]); + combo->border_color = table[NK_COLOR_BORDER]; + combo->label_normal = table[NK_COLOR_TEXT]; + combo->label_hover = table[NK_COLOR_TEXT]; + combo->label_active = table[NK_COLOR_TEXT]; + combo->sym_normal = NK_SYMBOL_TRIANGLE_DOWN; + combo->sym_hover = NK_SYMBOL_TRIANGLE_DOWN; + combo->sym_active = NK_SYMBOL_TRIANGLE_DOWN; + combo->content_padding = nk_vec2(4,4); + combo->button_padding = nk_vec2(0,4); + combo->spacing = nk_vec2(4,0); + combo->border = 1; + combo->rounding = 0; + + /* combo button */ + button = &style->combo.button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_COMBO]); + button->hover = nk_style_item_color(table[NK_COLOR_COMBO]); + button->active = nk_style_item_color(table[NK_COLOR_COMBO]); + button->border_color = nk_rgba(0,0,0,0); + button->text_background = table[NK_COLOR_COMBO]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(2.0f,2.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + + /* tab */ + tab = &style->tab; + tab->background = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); + tab->border_color = table[NK_COLOR_BORDER]; + tab->text = table[NK_COLOR_TEXT]; + tab->sym_minimize = NK_SYMBOL_TRIANGLE_RIGHT; + tab->sym_maximize = NK_SYMBOL_TRIANGLE_DOWN; + tab->padding = nk_vec2(4,4); + tab->spacing = nk_vec2(4,4); + tab->indent = 10.0f; + tab->border = 1; + tab->rounding = 0; + + /* tab button */ + button = &style->tab.tab_minimize_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); + button->hover = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); + button->active = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); + button->border_color = nk_rgba(0,0,0,0); + button->text_background = table[NK_COLOR_TAB_HEADER]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(2.0f,2.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + style->tab.tab_maximize_button =*button; + + /* node button */ + button = &style->tab.node_minimize_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->hover = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->active = nk_style_item_color(table[NK_COLOR_WINDOW]); + button->border_color = nk_rgba(0,0,0,0); + button->text_background = table[NK_COLOR_TAB_HEADER]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(2.0f,2.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + style->tab.node_maximize_button =*button; + + /* window header */ + win = &style->window; + win->header.align = NK_HEADER_RIGHT; + win->header.close_symbol = NK_SYMBOL_X; + win->header.minimize_symbol = NK_SYMBOL_MINUS; + win->header.maximize_symbol = NK_SYMBOL_PLUS; + win->header.normal = nk_style_item_color(table[NK_COLOR_HEADER]); + win->header.hover = nk_style_item_color(table[NK_COLOR_HEADER]); + win->header.active = nk_style_item_color(table[NK_COLOR_HEADER]); + win->header.label_normal = table[NK_COLOR_TEXT]; + win->header.label_hover = table[NK_COLOR_TEXT]; + win->header.label_active = table[NK_COLOR_TEXT]; + win->header.label_padding = nk_vec2(4,4); + win->header.padding = nk_vec2(4,4); + win->header.spacing = nk_vec2(0,0); + + /* window header close button */ + button = &style->window.header.close_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_HEADER]); + button->hover = nk_style_item_color(table[NK_COLOR_HEADER]); + button->active = nk_style_item_color(table[NK_COLOR_HEADER]); + button->border_color = nk_rgba(0,0,0,0); + button->text_background = table[NK_COLOR_HEADER]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(0.0f,0.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + + /* window header minimize button */ + button = &style->window.header.minimize_button; + nk_zero_struct(*button); + button->normal = nk_style_item_color(table[NK_COLOR_HEADER]); + button->hover = nk_style_item_color(table[NK_COLOR_HEADER]); + button->active = nk_style_item_color(table[NK_COLOR_HEADER]); + button->border_color = nk_rgba(0,0,0,0); + button->text_background = table[NK_COLOR_HEADER]; + button->text_normal = table[NK_COLOR_TEXT]; + button->text_hover = table[NK_COLOR_TEXT]; + button->text_active = table[NK_COLOR_TEXT]; + button->padding = nk_vec2(0.0f,0.0f); + button->touch_padding = nk_vec2(0.0f,0.0f); + button->userdata = nk_handle_ptr(0); + button->text_alignment = NK_TEXT_CENTERED; + button->border = 0.0f; + button->rounding = 0.0f; + button->draw_begin = 0; + button->draw_end = 0; + + /* window */ + win->background = table[NK_COLOR_WINDOW]; + win->fixed_background = nk_style_item_color(table[NK_COLOR_WINDOW]); + win->border_color = table[NK_COLOR_BORDER]; + win->popup_border_color = table[NK_COLOR_BORDER]; + win->combo_border_color = table[NK_COLOR_BORDER]; + win->contextual_border_color = table[NK_COLOR_BORDER]; + win->menu_border_color = table[NK_COLOR_BORDER]; + win->group_border_color = table[NK_COLOR_BORDER]; + win->tooltip_border_color = table[NK_COLOR_BORDER]; + win->scaler = nk_style_item_color(table[NK_COLOR_TEXT]); + + win->rounding = 0.0f; + win->spacing = nk_vec2(4,4); + win->scrollbar_size = nk_vec2(10,10); + win->min_size = nk_vec2(64,64); + + win->combo_border = 1.0f; + win->contextual_border = 1.0f; + win->menu_border = 1.0f; + win->group_border = 1.0f; + win->tooltip_border = 1.0f; + win->popup_border = 1.0f; + win->border = 2.0f; + win->min_row_height_padding = 8; + + win->padding = nk_vec2(4,4); + win->group_padding = nk_vec2(4,4); + win->popup_padding = nk_vec2(4,4); + win->combo_padding = nk_vec2(4,4); + win->contextual_padding = nk_vec2(4,4); + win->menu_padding = nk_vec2(4,4); + win->tooltip_padding = nk_vec2(4,4); +} +NK_API void +nk_style_set_font(struct nk_context *ctx, const struct nk_user_font *font) +{ + struct nk_style *style; + NK_ASSERT(ctx); + + if (!ctx) return; + style = &ctx->style; + style->font = font; + ctx->stacks.fonts.head = 0; + if (ctx->current) + nk_layout_reset_min_row_height(ctx); +} +NK_API nk_bool +nk_style_push_font(struct nk_context *ctx, const struct nk_user_font *font) +{ + struct nk_config_stack_user_font *font_stack; + struct nk_config_stack_user_font_element *element; + + NK_ASSERT(ctx); + if (!ctx) return 0; + + font_stack = &ctx->stacks.fonts; + NK_ASSERT(font_stack->head < (int)NK_LEN(font_stack->elements)); + if (font_stack->head >= (int)NK_LEN(font_stack->elements)) + return 0; + + element = &font_stack->elements[font_stack->head++]; + element->address = &ctx->style.font; + element->old_value = ctx->style.font; + ctx->style.font = font; + return 1; +} +NK_API nk_bool +nk_style_pop_font(struct nk_context *ctx) +{ + struct nk_config_stack_user_font *font_stack; + struct nk_config_stack_user_font_element *element; + + NK_ASSERT(ctx); + if (!ctx) return 0; + + font_stack = &ctx->stacks.fonts; + NK_ASSERT(font_stack->head > 0); + if (font_stack->head < 1) + return 0; + + element = &font_stack->elements[--font_stack->head]; + *element->address = element->old_value; + return 1; +} +#define NK_STYLE_PUSH_IMPLEMENATION(prefix, type, stack) \ +nk_style_push_##type(struct nk_context *ctx, prefix##_##type *address, prefix##_##type value)\ +{\ + struct nk_config_stack_##type * type_stack;\ + struct nk_config_stack_##type##_element *element;\ + NK_ASSERT(ctx);\ + if (!ctx) return 0;\ + type_stack = &ctx->stacks.stack;\ + NK_ASSERT(type_stack->head < (int)NK_LEN(type_stack->elements));\ + if (type_stack->head >= (int)NK_LEN(type_stack->elements))\ + return 0;\ + element = &type_stack->elements[type_stack->head++];\ + element->address = address;\ + element->old_value = *address;\ + *address = value;\ + return 1;\ +} +#define NK_STYLE_POP_IMPLEMENATION(type, stack) \ +nk_style_pop_##type(struct nk_context *ctx)\ +{\ + struct nk_config_stack_##type *type_stack;\ + struct nk_config_stack_##type##_element *element;\ + NK_ASSERT(ctx);\ + if (!ctx) return 0;\ + type_stack = &ctx->stacks.stack;\ + NK_ASSERT(type_stack->head > 0);\ + if (type_stack->head < 1)\ + return 0;\ + element = &type_stack->elements[--type_stack->head];\ + *element->address = element->old_value;\ + return 1;\ +} +NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(struct nk, style_item, style_items) +NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(nk,float, floats) +NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(struct nk, vec2, vectors) +NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(nk,flags, flags) +NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(struct nk,color, colors) + +NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(style_item, style_items) +NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(float,floats) +NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(vec2, vectors) +NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(flags,flags) +NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(color,colors) + +NK_API nk_bool +nk_style_set_cursor(struct nk_context *ctx, enum nk_style_cursor c) +{ + struct nk_style *style; + NK_ASSERT(ctx); + if (!ctx) return 0; + style = &ctx->style; + if (style->cursors[c]) { + style->cursor_active = style->cursors[c]; + return 1; + } + return 0; +} +NK_API void +nk_style_show_cursor(struct nk_context *ctx) +{ + ctx->style.cursor_visible = nk_true; +} +NK_API void +nk_style_hide_cursor(struct nk_context *ctx) +{ + ctx->style.cursor_visible = nk_false; +} +NK_API void +nk_style_load_cursor(struct nk_context *ctx, enum nk_style_cursor cursor, + const struct nk_cursor *c) +{ + struct nk_style *style; + NK_ASSERT(ctx); + if (!ctx) return; + style = &ctx->style; + style->cursors[cursor] = c; +} +NK_API void +nk_style_load_all_cursors(struct nk_context *ctx, struct nk_cursor *cursors) +{ + int i = 0; + struct nk_style *style; + NK_ASSERT(ctx); + if (!ctx) return; + style = &ctx->style; + for (i = 0; i < NK_CURSOR_COUNT; ++i) + style->cursors[i] = &cursors[i]; + style->cursor_visible = nk_true; +} + + + + + +/* ============================================================== + * + * CONTEXT + * + * ===============================================================*/ +NK_INTERN void +nk_setup(struct nk_context *ctx, const struct nk_user_font *font) +{ + NK_ASSERT(ctx); + if (!ctx) return; + nk_zero_struct(*ctx); + nk_style_default(ctx); + ctx->seq = 1; + if (font) ctx->style.font = font; +#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT + nk_draw_list_init(&ctx->draw_list); +#endif +} +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API nk_bool +nk_init_default(struct nk_context *ctx, const struct nk_user_font *font) +{ + struct nk_allocator alloc; + alloc.userdata.ptr = 0; + alloc.alloc = nk_malloc; + alloc.free = nk_mfree; + return nk_init(ctx, &alloc, font); +} +#endif +NK_API nk_bool +nk_init_fixed(struct nk_context *ctx, void *memory, nk_size size, + const struct nk_user_font *font) +{ + NK_ASSERT(memory); + if (!memory) return 0; + nk_setup(ctx, font); + nk_buffer_init_fixed(&ctx->memory, memory, size); + ctx->use_pool = nk_false; + return 1; +} +NK_API nk_bool +nk_init_custom(struct nk_context *ctx, struct nk_buffer *cmds, + struct nk_buffer *pool, const struct nk_user_font *font) +{ + NK_ASSERT(cmds); + NK_ASSERT(pool); + if (!cmds || !pool) return 0; + + nk_setup(ctx, font); + ctx->memory = *cmds; + if (pool->type == NK_BUFFER_FIXED) { + /* take memory from buffer and alloc fixed pool */ + nk_pool_init_fixed(&ctx->pool, pool->memory.ptr, pool->memory.size); + } else { + /* create dynamic pool from buffer allocator */ + struct nk_allocator *alloc = &pool->pool; + nk_pool_init(&ctx->pool, alloc, NK_POOL_DEFAULT_CAPACITY); + } + ctx->use_pool = nk_true; + return 1; +} +NK_API nk_bool +nk_init(struct nk_context *ctx, struct nk_allocator *alloc, + const struct nk_user_font *font) +{ + NK_ASSERT(alloc); + if (!alloc) return 0; + nk_setup(ctx, font); + nk_buffer_init(&ctx->memory, alloc, NK_DEFAULT_COMMAND_BUFFER_SIZE); + nk_pool_init(&ctx->pool, alloc, NK_POOL_DEFAULT_CAPACITY); + ctx->use_pool = nk_true; + return 1; +} +#ifdef NK_INCLUDE_COMMAND_USERDATA +NK_API void +nk_set_user_data(struct nk_context *ctx, nk_handle handle) +{ + if (!ctx) return; + ctx->userdata = handle; + if (ctx->current) + ctx->current->buffer.userdata = handle; +} +#endif +NK_API void +nk_free(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + if (!ctx) return; + nk_buffer_free(&ctx->memory); + if (ctx->use_pool) + nk_pool_free(&ctx->pool); + + nk_zero(&ctx->input, sizeof(ctx->input)); + nk_zero(&ctx->style, sizeof(ctx->style)); + nk_zero(&ctx->memory, sizeof(ctx->memory)); + + ctx->seq = 0; + ctx->build = 0; + ctx->begin = 0; + ctx->end = 0; + ctx->active = 0; + ctx->current = 0; + ctx->freelist = 0; + ctx->count = 0; +} +NK_API void +nk_clear(struct nk_context *ctx) +{ + struct nk_window *iter; + struct nk_window *next; + NK_ASSERT(ctx); + + if (!ctx) return; + if (ctx->use_pool) + nk_buffer_clear(&ctx->memory); + else nk_buffer_reset(&ctx->memory, NK_BUFFER_FRONT); + + ctx->build = 0; + ctx->memory.calls = 0; + ctx->last_widget_state = 0; + ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_ARROW]; + NK_MEMSET(&ctx->overlay, 0, sizeof(ctx->overlay)); + + /* garbage collector */ + iter = ctx->begin; + while (iter) { + /* make sure valid minimized windows do not get removed */ + if ((iter->flags & NK_WINDOW_MINIMIZED) && + !(iter->flags & NK_WINDOW_CLOSED) && + iter->seq == ctx->seq) { + iter = iter->next; + continue; + } + /* remove hotness from hidden or closed windows*/ + if (((iter->flags & NK_WINDOW_HIDDEN) || + (iter->flags & NK_WINDOW_CLOSED)) && + iter == ctx->active) { + ctx->active = iter->prev; + ctx->end = iter->prev; + if (!ctx->end) + ctx->begin = 0; + if (ctx->active) + ctx->active->flags &= ~(unsigned)NK_WINDOW_ROM; + } + /* free unused popup windows */ + if (iter->popup.win && iter->popup.win->seq != ctx->seq) { + nk_free_window(ctx, iter->popup.win); + iter->popup.win = 0; + } + /* remove unused window state tables */ + {struct nk_table *n, *it = iter->tables; + while (it) { + n = it->next; + if (it->seq != ctx->seq) { + nk_remove_table(iter, it); + nk_zero(it, sizeof(union nk_page_data)); + nk_free_table(ctx, it); + if (it == iter->tables) + iter->tables = n; + } it = n; + }} + /* window itself is not used anymore so free */ + if (iter->seq != ctx->seq || iter->flags & NK_WINDOW_CLOSED) { + next = iter->next; + nk_remove_window(ctx, iter); + nk_free_window(ctx, iter); + iter = next; + } else iter = iter->next; + } + ctx->seq++; +} +NK_LIB void +nk_start_buffer(struct nk_context *ctx, struct nk_command_buffer *buffer) +{ + NK_ASSERT(ctx); + NK_ASSERT(buffer); + if (!ctx || !buffer) return; + buffer->begin = ctx->memory.allocated; + buffer->end = buffer->begin; + buffer->last = buffer->begin; + buffer->clip = nk_null_rect; +} +NK_LIB void +nk_start(struct nk_context *ctx, struct nk_window *win) +{ + NK_ASSERT(ctx); + NK_ASSERT(win); + nk_start_buffer(ctx, &win->buffer); +} +NK_LIB void +nk_start_popup(struct nk_context *ctx, struct nk_window *win) +{ + struct nk_popup_buffer *buf; + NK_ASSERT(ctx); + NK_ASSERT(win); + if (!ctx || !win) return; + + /* save buffer fill state for popup */ + buf = &win->popup.buf; + buf->begin = win->buffer.end; + buf->end = win->buffer.end; + buf->parent = win->buffer.last; + buf->last = buf->begin; + buf->active = nk_true; +} +NK_LIB void +nk_finish_popup(struct nk_context *ctx, struct nk_window *win) +{ + struct nk_popup_buffer *buf; + NK_ASSERT(ctx); + NK_ASSERT(win); + if (!ctx || !win) return; + + buf = &win->popup.buf; + buf->last = win->buffer.last; + buf->end = win->buffer.end; +} +NK_LIB void +nk_finish_buffer(struct nk_context *ctx, struct nk_command_buffer *buffer) +{ + NK_ASSERT(ctx); + NK_ASSERT(buffer); + if (!ctx || !buffer) return; + buffer->end = ctx->memory.allocated; +} +NK_LIB void +nk_finish(struct nk_context *ctx, struct nk_window *win) +{ + struct nk_popup_buffer *buf; + struct nk_command *parent_last; + void *memory; + + NK_ASSERT(ctx); + NK_ASSERT(win); + if (!ctx || !win) return; + nk_finish_buffer(ctx, &win->buffer); + if (!win->popup.buf.active) return; + + buf = &win->popup.buf; + memory = ctx->memory.memory.ptr; + parent_last = nk_ptr_add(struct nk_command, memory, buf->parent); + parent_last->next = buf->end; +} +NK_LIB void +nk_build(struct nk_context *ctx) +{ + struct nk_window *it = 0; + struct nk_command *cmd = 0; + nk_byte *buffer = 0; + + /* draw cursor overlay */ + if (!ctx->style.cursor_active) + ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_ARROW]; + if (ctx->style.cursor_active && !ctx->input.mouse.grabbed && ctx->style.cursor_visible) { + struct nk_rect mouse_bounds; + const struct nk_cursor *cursor = ctx->style.cursor_active; + nk_command_buffer_init(&ctx->overlay, &ctx->memory, NK_CLIPPING_OFF); + nk_start_buffer(ctx, &ctx->overlay); + + mouse_bounds.x = ctx->input.mouse.pos.x - cursor->offset.x; + mouse_bounds.y = ctx->input.mouse.pos.y - cursor->offset.y; + mouse_bounds.w = cursor->size.x; + mouse_bounds.h = cursor->size.y; + + nk_draw_image(&ctx->overlay, mouse_bounds, &cursor->img, nk_white); + nk_finish_buffer(ctx, &ctx->overlay); + } + /* build one big draw command list out of all window buffers */ + it = ctx->begin; + buffer = (nk_byte*)ctx->memory.memory.ptr; + while (it != 0) { + struct nk_window *next = it->next; + if (it->buffer.last == it->buffer.begin || (it->flags & NK_WINDOW_HIDDEN)|| + it->seq != ctx->seq) + goto cont; + + cmd = nk_ptr_add(struct nk_command, buffer, it->buffer.last); + while (next && ((next->buffer.last == next->buffer.begin) || + (next->flags & NK_WINDOW_HIDDEN) || next->seq != ctx->seq)) + next = next->next; /* skip empty command buffers */ + + if (next) cmd->next = next->buffer.begin; + cont: it = next; + } + /* append all popup draw commands into lists */ + it = ctx->begin; + while (it != 0) { + struct nk_window *next = it->next; + struct nk_popup_buffer *buf; + if (!it->popup.buf.active) + goto skip; + + buf = &it->popup.buf; + cmd->next = buf->begin; + cmd = nk_ptr_add(struct nk_command, buffer, buf->last); + buf->active = nk_false; + skip: it = next; + } + if (cmd) { + /* append overlay commands */ + if (ctx->overlay.end != ctx->overlay.begin) + cmd->next = ctx->overlay.begin; + else cmd->next = ctx->memory.allocated; + } +} +NK_API const struct nk_command* +nk__begin(struct nk_context *ctx) +{ + struct nk_window *iter; + nk_byte *buffer; + NK_ASSERT(ctx); + if (!ctx) return 0; + if (!ctx->count) return 0; + + buffer = (nk_byte*)ctx->memory.memory.ptr; + if (!ctx->build) { + nk_build(ctx); + ctx->build = nk_true; + } + iter = ctx->begin; + while (iter && ((iter->buffer.begin == iter->buffer.end) || + (iter->flags & NK_WINDOW_HIDDEN) || iter->seq != ctx->seq)) + iter = iter->next; + if (!iter) return 0; + return nk_ptr_add_const(struct nk_command, buffer, iter->buffer.begin); +} + +NK_API const struct nk_command* +nk__next(struct nk_context *ctx, const struct nk_command *cmd) +{ + nk_byte *buffer; + const struct nk_command *next; + NK_ASSERT(ctx); + if (!ctx || !cmd || !ctx->count) return 0; + if (cmd->next >= ctx->memory.allocated) return 0; + buffer = (nk_byte*)ctx->memory.memory.ptr; + next = nk_ptr_add_const(struct nk_command, buffer, cmd->next); + return next; +} + + + + + + +/* =============================================================== + * + * POOL + * + * ===============================================================*/ +NK_LIB void +nk_pool_init(struct nk_pool *pool, struct nk_allocator *alloc, + unsigned int capacity) +{ + NK_ASSERT(capacity >= 1); + nk_zero(pool, sizeof(*pool)); + pool->alloc = *alloc; + pool->capacity = capacity; + pool->type = NK_BUFFER_DYNAMIC; + pool->pages = 0; +} +NK_LIB void +nk_pool_free(struct nk_pool *pool) +{ + struct nk_page *iter; + if (!pool) return; + iter = pool->pages; + if (pool->type == NK_BUFFER_FIXED) return; + while (iter) { + struct nk_page *next = iter->next; + pool->alloc.free(pool->alloc.userdata, iter); + iter = next; + } +} +NK_LIB void +nk_pool_init_fixed(struct nk_pool *pool, void *memory, nk_size size) +{ + nk_zero(pool, sizeof(*pool)); + NK_ASSERT(size >= sizeof(struct nk_page)); + if (size < sizeof(struct nk_page)) return; + /* first nk_page_element is embedded in nk_page, additional elements follow in adjacent space */ + pool->capacity = (unsigned)(1 + (size - sizeof(struct nk_page)) / sizeof(struct nk_page_element)); + pool->pages = (struct nk_page*)memory; + pool->type = NK_BUFFER_FIXED; + pool->size = size; +} +NK_LIB struct nk_page_element* +nk_pool_alloc(struct nk_pool *pool) +{ + if (!pool->pages || pool->pages->size >= pool->capacity) { + /* allocate new page */ + struct nk_page *page; + if (pool->type == NK_BUFFER_FIXED) { + NK_ASSERT(pool->pages); + if (!pool->pages) return 0; + NK_ASSERT(pool->pages->size < pool->capacity); + return 0; + } else { + nk_size size = sizeof(struct nk_page); + size += (pool->capacity - 1) * sizeof(struct nk_page_element); + page = (struct nk_page*)pool->alloc.alloc(pool->alloc.userdata,0, size); + page->next = pool->pages; + pool->pages = page; + page->size = 0; + } + } return &pool->pages->win[pool->pages->size++]; +} + + + + + +/* =============================================================== + * + * PAGE ELEMENT + * + * ===============================================================*/ +NK_LIB struct nk_page_element* +nk_create_page_element(struct nk_context *ctx) +{ + struct nk_page_element *elem; + if (ctx->freelist) { + /* unlink page element from free list */ + elem = ctx->freelist; + ctx->freelist = elem->next; + } else if (ctx->use_pool) { + /* allocate page element from memory pool */ + elem = nk_pool_alloc(&ctx->pool); + NK_ASSERT(elem); + if (!elem) return 0; + } else { + /* allocate new page element from back of fixed size memory buffer */ + NK_STORAGE const nk_size size = sizeof(struct nk_page_element); + NK_STORAGE const nk_size align = NK_ALIGNOF(struct nk_page_element); + elem = (struct nk_page_element*)nk_buffer_alloc(&ctx->memory, NK_BUFFER_BACK, size, align); + NK_ASSERT(elem); + if (!elem) return 0; + } + nk_zero_struct(*elem); + elem->next = 0; + elem->prev = 0; + return elem; +} +NK_LIB void +nk_link_page_element_into_freelist(struct nk_context *ctx, + struct nk_page_element *elem) +{ + /* link table into freelist */ + if (!ctx->freelist) { + ctx->freelist = elem; + } else { + elem->next = ctx->freelist; + ctx->freelist = elem; + } +} +NK_LIB void +nk_free_page_element(struct nk_context *ctx, struct nk_page_element *elem) +{ + /* we have a pool so just add to free list */ + if (ctx->use_pool) { + nk_link_page_element_into_freelist(ctx, elem); + return; + } + /* if possible remove last element from back of fixed memory buffer */ + {void *elem_end = (void*)(elem + 1); + void *buffer_end = (nk_byte*)ctx->memory.memory.ptr + ctx->memory.size; + if (elem_end == buffer_end) + ctx->memory.size -= sizeof(struct nk_page_element); + else nk_link_page_element_into_freelist(ctx, elem);} +} + + + + + +/* =============================================================== + * + * TABLE + * + * ===============================================================*/ +NK_LIB struct nk_table* +nk_create_table(struct nk_context *ctx) +{ + struct nk_page_element *elem; + elem = nk_create_page_element(ctx); + if (!elem) return 0; + nk_zero_struct(*elem); + return &elem->data.tbl; +} +NK_LIB void +nk_free_table(struct nk_context *ctx, struct nk_table *tbl) +{ + union nk_page_data *pd = NK_CONTAINER_OF(tbl, union nk_page_data, tbl); + struct nk_page_element *pe = NK_CONTAINER_OF(pd, struct nk_page_element, data); + nk_free_page_element(ctx, pe); +} +NK_LIB void +nk_push_table(struct nk_window *win, struct nk_table *tbl) +{ + if (!win->tables) { + win->tables = tbl; + tbl->next = 0; + tbl->prev = 0; + tbl->size = 0; + win->table_count = 1; + return; + } + win->tables->prev = tbl; + tbl->next = win->tables; + tbl->prev = 0; + tbl->size = 0; + win->tables = tbl; + win->table_count++; +} +NK_LIB void +nk_remove_table(struct nk_window *win, struct nk_table *tbl) +{ + if (win->tables == tbl) + win->tables = tbl->next; + if (tbl->next) + tbl->next->prev = tbl->prev; + if (tbl->prev) + tbl->prev->next = tbl->next; + tbl->next = 0; + tbl->prev = 0; +} +NK_LIB nk_uint* +nk_add_value(struct nk_context *ctx, struct nk_window *win, + nk_hash name, nk_uint value) +{ + NK_ASSERT(ctx); + NK_ASSERT(win); + if (!win || !ctx) return 0; + if (!win->tables || win->tables->size >= NK_VALUE_PAGE_CAPACITY) { + struct nk_table *tbl = nk_create_table(ctx); + NK_ASSERT(tbl); + if (!tbl) return 0; + nk_push_table(win, tbl); + } + win->tables->seq = win->seq; + win->tables->keys[win->tables->size] = name; + win->tables->values[win->tables->size] = value; + return &win->tables->values[win->tables->size++]; +} +NK_LIB nk_uint* +nk_find_value(struct nk_window *win, nk_hash name) +{ + struct nk_table *iter = win->tables; + while (iter) { + unsigned int i = 0; + unsigned int size = iter->size; + for (i = 0; i < size; ++i) { + if (iter->keys[i] == name) { + iter->seq = win->seq; + return &iter->values[i]; + } + } size = NK_VALUE_PAGE_CAPACITY; + iter = iter->next; + } + return 0; +} + + + + + +/* =============================================================== + * + * PANEL + * + * ===============================================================*/ +NK_LIB void* +nk_create_panel(struct nk_context *ctx) +{ + struct nk_page_element *elem; + elem = nk_create_page_element(ctx); + if (!elem) return 0; + nk_zero_struct(*elem); + return &elem->data.pan; +} +NK_LIB void +nk_free_panel(struct nk_context *ctx, struct nk_panel *pan) +{ + union nk_page_data *pd = NK_CONTAINER_OF(pan, union nk_page_data, pan); + struct nk_page_element *pe = NK_CONTAINER_OF(pd, struct nk_page_element, data); + nk_free_page_element(ctx, pe); +} +NK_LIB nk_bool +nk_panel_has_header(nk_flags flags, const char *title) +{ + nk_bool active = 0; + active = (flags & (NK_WINDOW_CLOSABLE|NK_WINDOW_MINIMIZABLE)); + active = active || (flags & NK_WINDOW_TITLE); + active = active && !(flags & NK_WINDOW_HIDDEN) && title; + return active; +} +NK_LIB struct nk_vec2 +nk_panel_get_padding(const struct nk_style *style, enum nk_panel_type type) +{ + switch (type) { + default: + case NK_PANEL_WINDOW: return style->window.padding; + case NK_PANEL_GROUP: return style->window.group_padding; + case NK_PANEL_POPUP: return style->window.popup_padding; + case NK_PANEL_CONTEXTUAL: return style->window.contextual_padding; + case NK_PANEL_COMBO: return style->window.combo_padding; + case NK_PANEL_MENU: return style->window.menu_padding; + case NK_PANEL_TOOLTIP: return style->window.menu_padding;} +} +NK_LIB float +nk_panel_get_border(const struct nk_style *style, nk_flags flags, + enum nk_panel_type type) +{ + if (flags & NK_WINDOW_BORDER) { + switch (type) { + default: + case NK_PANEL_WINDOW: return style->window.border; + case NK_PANEL_GROUP: return style->window.group_border; + case NK_PANEL_POPUP: return style->window.popup_border; + case NK_PANEL_CONTEXTUAL: return style->window.contextual_border; + case NK_PANEL_COMBO: return style->window.combo_border; + case NK_PANEL_MENU: return style->window.menu_border; + case NK_PANEL_TOOLTIP: return style->window.menu_border; + }} else return 0; +} +NK_LIB struct nk_color +nk_panel_get_border_color(const struct nk_style *style, enum nk_panel_type type) +{ + switch (type) { + default: + case NK_PANEL_WINDOW: return style->window.border_color; + case NK_PANEL_GROUP: return style->window.group_border_color; + case NK_PANEL_POPUP: return style->window.popup_border_color; + case NK_PANEL_CONTEXTUAL: return style->window.contextual_border_color; + case NK_PANEL_COMBO: return style->window.combo_border_color; + case NK_PANEL_MENU: return style->window.menu_border_color; + case NK_PANEL_TOOLTIP: return style->window.menu_border_color;} +} +NK_LIB nk_bool +nk_panel_is_sub(enum nk_panel_type type) +{ + return (type & NK_PANEL_SET_SUB)?1:0; +} +NK_LIB nk_bool +nk_panel_is_nonblock(enum nk_panel_type type) +{ + return (type & NK_PANEL_SET_NONBLOCK)?1:0; +} +NK_LIB nk_bool +nk_panel_begin(struct nk_context *ctx, const char *title, enum nk_panel_type panel_type) +{ + struct nk_input *in; + struct nk_window *win; + struct nk_panel *layout; + struct nk_command_buffer *out; + const struct nk_style *style; + const struct nk_user_font *font; + + struct nk_vec2 scrollbar_size; + struct nk_vec2 panel_padding; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) return 0; + nk_zero(ctx->current->layout, sizeof(*ctx->current->layout)); + if ((ctx->current->flags & NK_WINDOW_HIDDEN) || (ctx->current->flags & NK_WINDOW_CLOSED)) { + nk_zero(ctx->current->layout, sizeof(struct nk_panel)); + ctx->current->layout->type = panel_type; + return 0; + } + /* pull state into local stack */ + style = &ctx->style; + font = style->font; + win = ctx->current; + layout = win->layout; + out = &win->buffer; + in = (win->flags & NK_WINDOW_NO_INPUT) ? 0: &ctx->input; +#ifdef NK_INCLUDE_COMMAND_USERDATA + win->buffer.userdata = ctx->userdata; +#endif + /* pull style configuration into local stack */ + scrollbar_size = style->window.scrollbar_size; + panel_padding = nk_panel_get_padding(style, panel_type); + + /* window movement */ + if ((win->flags & NK_WINDOW_MOVABLE) && !(win->flags & NK_WINDOW_ROM)) { + nk_bool left_mouse_down; + unsigned int left_mouse_clicked; + int left_mouse_click_in_cursor; + + /* calculate draggable window space */ + struct nk_rect header; + header.x = win->bounds.x; + header.y = win->bounds.y; + header.w = win->bounds.w; + if (nk_panel_has_header(win->flags, title)) { + header.h = font->height + 2.0f * style->window.header.padding.y; + header.h += 2.0f * style->window.header.label_padding.y; + } else header.h = panel_padding.y; + + /* window movement by dragging */ + left_mouse_down = in->mouse.buttons[NK_BUTTON_LEFT].down; + left_mouse_clicked = in->mouse.buttons[NK_BUTTON_LEFT].clicked; + left_mouse_click_in_cursor = nk_input_has_mouse_click_down_in_rect(in, + NK_BUTTON_LEFT, header, nk_true); + if (left_mouse_down && left_mouse_click_in_cursor && !left_mouse_clicked) { + win->bounds.x = win->bounds.x + in->mouse.delta.x; + win->bounds.y = win->bounds.y + in->mouse.delta.y; + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x += in->mouse.delta.x; + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.y += in->mouse.delta.y; + ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_MOVE]; + } + } + + /* setup panel */ + layout->type = panel_type; + layout->flags = win->flags; + layout->bounds = win->bounds; + layout->bounds.x += panel_padding.x; + layout->bounds.w -= 2*panel_padding.x; + if (win->flags & NK_WINDOW_BORDER) { + layout->border = nk_panel_get_border(style, win->flags, panel_type); + layout->bounds = nk_shrink_rect(layout->bounds, layout->border); + } else layout->border = 0; + layout->at_y = layout->bounds.y; + layout->at_x = layout->bounds.x; + layout->max_x = 0; + layout->header_height = 0; + layout->footer_height = 0; + nk_layout_reset_min_row_height(ctx); + layout->row.index = 0; + layout->row.columns = 0; + layout->row.ratio = 0; + layout->row.item_width = 0; + layout->row.tree_depth = 0; + layout->row.height = panel_padding.y; + layout->has_scrolling = nk_true; + if (!(win->flags & NK_WINDOW_NO_SCROLLBAR)) + layout->bounds.w -= scrollbar_size.x; + if (!nk_panel_is_nonblock(panel_type)) { + layout->footer_height = 0; + if (!(win->flags & NK_WINDOW_NO_SCROLLBAR) || win->flags & NK_WINDOW_SCALABLE) + layout->footer_height = scrollbar_size.y; + layout->bounds.h -= layout->footer_height; + } + + /* panel header */ + if (nk_panel_has_header(win->flags, title)) + { + struct nk_text text; + struct nk_rect header; + const struct nk_style_item *background = 0; + + /* calculate header bounds */ + header.x = win->bounds.x; + header.y = win->bounds.y; + header.w = win->bounds.w; + header.h = font->height + 2.0f * style->window.header.padding.y; + header.h += (2.0f * style->window.header.label_padding.y); + + /* shrink panel by header */ + layout->header_height = header.h; + layout->bounds.y += header.h; + layout->bounds.h -= header.h; + layout->at_y += header.h; + + /* select correct header background and text color */ + if (ctx->active == win) { + background = &style->window.header.active; + text.text = style->window.header.label_active; + } else if (nk_input_is_mouse_hovering_rect(&ctx->input, header)) { + background = &style->window.header.hover; + text.text = style->window.header.label_hover; + } else { + background = &style->window.header.normal; + text.text = style->window.header.label_normal; + } + + /* draw header background */ + header.h += 1.0f; + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + text.background = nk_rgba(0,0,0,0); + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + text.background = background->data.color; + nk_fill_rect(out, header, 0, background->data.color); + break; + } + + /* window close button */ + {struct nk_rect button; + button.y = header.y + style->window.header.padding.y; + button.h = header.h - 2 * style->window.header.padding.y; + button.w = button.h; + if (win->flags & NK_WINDOW_CLOSABLE) { + nk_flags ws = 0; + if (style->window.header.align == NK_HEADER_RIGHT) { + button.x = (header.w + header.x) - (button.w + style->window.header.padding.x); + header.w -= button.w + style->window.header.spacing.x + style->window.header.padding.x; + } else { + button.x = header.x + style->window.header.padding.x; + header.x += button.w + style->window.header.spacing.x + style->window.header.padding.x; + } + + if (nk_do_button_symbol(&ws, &win->buffer, button, + style->window.header.close_symbol, NK_BUTTON_DEFAULT, + &style->window.header.close_button, in, style->font) && !(win->flags & NK_WINDOW_ROM)) + { + layout->flags |= NK_WINDOW_HIDDEN; + layout->flags &= (nk_flags)~NK_WINDOW_MINIMIZED; + } + } + + /* window minimize button */ + if (win->flags & NK_WINDOW_MINIMIZABLE) { + nk_flags ws = 0; + if (style->window.header.align == NK_HEADER_RIGHT) { + button.x = (header.w + header.x) - button.w; + if (!(win->flags & NK_WINDOW_CLOSABLE)) { + button.x -= style->window.header.padding.x; + header.w -= style->window.header.padding.x; + } + header.w -= button.w + style->window.header.spacing.x; + } else { + button.x = header.x; + header.x += button.w + style->window.header.spacing.x + style->window.header.padding.x; + } + if (nk_do_button_symbol(&ws, &win->buffer, button, (layout->flags & NK_WINDOW_MINIMIZED)? + style->window.header.maximize_symbol: style->window.header.minimize_symbol, + NK_BUTTON_DEFAULT, &style->window.header.minimize_button, in, style->font) && !(win->flags & NK_WINDOW_ROM)) + layout->flags = (layout->flags & NK_WINDOW_MINIMIZED) ? + layout->flags & (nk_flags)~NK_WINDOW_MINIMIZED: + layout->flags | NK_WINDOW_MINIMIZED; + }} + + {/* window header title */ + int text_len = nk_strlen(title); + struct nk_rect label = {0,0,0,0}; + float t = font->width(font->userdata, font->height, title, text_len); + text.padding = nk_vec2(0,0); + + label.x = header.x + style->window.header.padding.x; + label.x += style->window.header.label_padding.x; + label.y = header.y + style->window.header.label_padding.y; + label.h = font->height + 2 * style->window.header.label_padding.y; + label.w = t + 2 * style->window.header.spacing.x; + label.w = NK_CLAMP(0, label.w, header.x + header.w - label.x); + nk_widget_text(out, label, (const char*)title, text_len, &text, NK_TEXT_LEFT, font);} + } + + /* draw window background */ + if (!(layout->flags & NK_WINDOW_MINIMIZED) && !(layout->flags & NK_WINDOW_DYNAMIC)) { + struct nk_rect body; + body.x = win->bounds.x; + body.w = win->bounds.w; + body.y = (win->bounds.y + layout->header_height); + body.h = (win->bounds.h - layout->header_height); + + switch(style->window.fixed_background.type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, body, &style->window.fixed_background.data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, body, &style->window.fixed_background.data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, body, 0, style->window.fixed_background.data.color); + break; + } + } + + /* set clipping rectangle */ + {struct nk_rect clip; + layout->clip = layout->bounds; + nk_unify(&clip, &win->buffer.clip, layout->clip.x, layout->clip.y, + layout->clip.x + layout->clip.w, layout->clip.y + layout->clip.h); + nk_push_scissor(out, clip); + layout->clip = clip;} + return !(layout->flags & NK_WINDOW_HIDDEN) && !(layout->flags & NK_WINDOW_MINIMIZED); +} +NK_LIB void +nk_panel_end(struct nk_context *ctx) +{ + struct nk_input *in; + struct nk_window *window; + struct nk_panel *layout; + const struct nk_style *style; + struct nk_command_buffer *out; + + struct nk_vec2 scrollbar_size; + struct nk_vec2 panel_padding; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + window = ctx->current; + layout = window->layout; + style = &ctx->style; + out = &window->buffer; + in = (layout->flags & NK_WINDOW_ROM || layout->flags & NK_WINDOW_NO_INPUT) ? 0 :&ctx->input; + if (!nk_panel_is_sub(layout->type)) + nk_push_scissor(out, nk_null_rect); + + /* cache configuration data */ + scrollbar_size = style->window.scrollbar_size; + panel_padding = nk_panel_get_padding(style, layout->type); + + /* update the current cursor Y-position to point over the last added widget */ + layout->at_y += layout->row.height; + + /* dynamic panels */ + if (layout->flags & NK_WINDOW_DYNAMIC && !(layout->flags & NK_WINDOW_MINIMIZED)) + { + /* update panel height to fit dynamic growth */ + struct nk_rect empty_space; + if (layout->at_y < (layout->bounds.y + layout->bounds.h)) + layout->bounds.h = layout->at_y - layout->bounds.y; + + /* fill top empty space */ + empty_space.x = window->bounds.x; + empty_space.y = layout->bounds.y; + empty_space.h = panel_padding.y; + empty_space.w = window->bounds.w; + nk_fill_rect(out, empty_space, 0, style->window.background); + + /* fill left empty space */ + empty_space.x = window->bounds.x; + empty_space.y = layout->bounds.y; + empty_space.w = panel_padding.x + layout->border; + empty_space.h = layout->bounds.h; + nk_fill_rect(out, empty_space, 0, style->window.background); + + /* fill right empty space */ + empty_space.x = layout->bounds.x + layout->bounds.w; + empty_space.y = layout->bounds.y; + empty_space.w = panel_padding.x + layout->border; + empty_space.h = layout->bounds.h; + if (*layout->offset_y == 0 && !(layout->flags & NK_WINDOW_NO_SCROLLBAR)) + empty_space.w += scrollbar_size.x; + nk_fill_rect(out, empty_space, 0, style->window.background); + + /* fill bottom empty space */ + if (layout->footer_height > 0) { + empty_space.x = window->bounds.x; + empty_space.y = layout->bounds.y + layout->bounds.h; + empty_space.w = window->bounds.w; + empty_space.h = layout->footer_height; + nk_fill_rect(out, empty_space, 0, style->window.background); + } + } + + /* scrollbars */ + if (!(layout->flags & NK_WINDOW_NO_SCROLLBAR) && + !(layout->flags & NK_WINDOW_MINIMIZED) && + window->scrollbar_hiding_timer < NK_SCROLLBAR_HIDING_TIMEOUT) + { + struct nk_rect scroll; + int scroll_has_scrolling; + float scroll_target; + float scroll_offset; + float scroll_step; + float scroll_inc; + + /* mouse wheel scrolling */ + if (nk_panel_is_sub(layout->type)) + { + /* sub-window mouse wheel scrolling */ + struct nk_window *root_window = window; + struct nk_panel *root_panel = window->layout; + while (root_panel->parent) + root_panel = root_panel->parent; + while (root_window->parent) + root_window = root_window->parent; + + /* only allow scrolling if parent window is active */ + scroll_has_scrolling = 0; + if ((root_window == ctx->active) && layout->has_scrolling) { + /* and panel is being hovered and inside clip rect*/ + if (nk_input_is_mouse_hovering_rect(in, layout->bounds) && + NK_INTERSECT(layout->bounds.x, layout->bounds.y, layout->bounds.w, layout->bounds.h, + root_panel->clip.x, root_panel->clip.y, root_panel->clip.w, root_panel->clip.h)) + { + /* deactivate all parent scrolling */ + root_panel = window->layout; + while (root_panel->parent) { + root_panel->has_scrolling = nk_false; + root_panel = root_panel->parent; + } + root_panel->has_scrolling = nk_false; + scroll_has_scrolling = nk_true; + } + } + } else if (!nk_panel_is_sub(layout->type)) { + /* window mouse wheel scrolling */ + scroll_has_scrolling = (window == ctx->active) && layout->has_scrolling; + if (in && (in->mouse.scroll_delta.y > 0 || in->mouse.scroll_delta.x > 0) && scroll_has_scrolling) + window->scrolled = nk_true; + else window->scrolled = nk_false; + } else scroll_has_scrolling = nk_false; + + { + /* vertical scrollbar */ + nk_flags state = 0; + scroll.x = layout->bounds.x + layout->bounds.w + panel_padding.x; + scroll.y = layout->bounds.y; + scroll.w = scrollbar_size.x; + scroll.h = layout->bounds.h; + + scroll_offset = (float)*layout->offset_y; + scroll_step = scroll.h * 0.10f; + scroll_inc = scroll.h * 0.01f; + scroll_target = (float)(int)(layout->at_y - scroll.y); + scroll_offset = nk_do_scrollbarv(&state, out, scroll, scroll_has_scrolling, + scroll_offset, scroll_target, scroll_step, scroll_inc, + &ctx->style.scrollv, in, style->font); + *layout->offset_y = (nk_uint)scroll_offset; + if (in && scroll_has_scrolling) + in->mouse.scroll_delta.y = 0; + } + { + /* horizontal scrollbar */ + nk_flags state = 0; + scroll.x = layout->bounds.x; + scroll.y = layout->bounds.y + layout->bounds.h; + scroll.w = layout->bounds.w; + scroll.h = scrollbar_size.y; + + scroll_offset = (float)*layout->offset_x; + scroll_target = (float)(int)(layout->max_x - scroll.x); + scroll_step = layout->max_x * 0.05f; + scroll_inc = layout->max_x * 0.005f; + scroll_offset = nk_do_scrollbarh(&state, out, scroll, scroll_has_scrolling, + scroll_offset, scroll_target, scroll_step, scroll_inc, + &ctx->style.scrollh, in, style->font); + *layout->offset_x = (nk_uint)scroll_offset; + } + } + + /* hide scroll if no user input */ + if (window->flags & NK_WINDOW_SCROLL_AUTO_HIDE) { + int has_input = ctx->input.mouse.delta.x != 0 || ctx->input.mouse.delta.y != 0 || ctx->input.mouse.scroll_delta.y != 0; + int is_window_hovered = nk_window_is_hovered(ctx); + int any_item_active = (ctx->last_widget_state & NK_WIDGET_STATE_MODIFIED); + if ((!has_input && is_window_hovered) || (!is_window_hovered && !any_item_active)) + window->scrollbar_hiding_timer += ctx->delta_time_seconds; + else window->scrollbar_hiding_timer = 0; + } else window->scrollbar_hiding_timer = 0; + + /* window border */ + if (layout->flags & NK_WINDOW_BORDER) + { + struct nk_color border_color = nk_panel_get_border_color(style, layout->type); + const float padding_y = (layout->flags & NK_WINDOW_MINIMIZED) + ? (style->window.border + window->bounds.y + layout->header_height) + : ((layout->flags & NK_WINDOW_DYNAMIC) + ? (layout->bounds.y + layout->bounds.h + layout->footer_height) + : (window->bounds.y + window->bounds.h)); + struct nk_rect b = window->bounds; + b.h = padding_y - window->bounds.y; + nk_stroke_rect(out, b, 0, layout->border, border_color); + } + + /* scaler */ + if ((layout->flags & NK_WINDOW_SCALABLE) && in && !(layout->flags & NK_WINDOW_MINIMIZED)) + { + /* calculate scaler bounds */ + struct nk_rect scaler; + scaler.w = scrollbar_size.x; + scaler.h = scrollbar_size.y; + scaler.y = layout->bounds.y + layout->bounds.h; + if (layout->flags & NK_WINDOW_SCALE_LEFT) + scaler.x = layout->bounds.x - panel_padding.x * 0.5f; + else scaler.x = layout->bounds.x + layout->bounds.w + panel_padding.x; + if (layout->flags & NK_WINDOW_NO_SCROLLBAR) + scaler.x -= scaler.w; + + /* draw scaler */ + {const struct nk_style_item *item = &style->window.scaler; + if (item->type == NK_STYLE_ITEM_IMAGE) + nk_draw_image(out, scaler, &item->data.image, nk_white); + else { + if (layout->flags & NK_WINDOW_SCALE_LEFT) { + nk_fill_triangle(out, scaler.x, scaler.y, scaler.x, + scaler.y + scaler.h, scaler.x + scaler.w, + scaler.y + scaler.h, item->data.color); + } else { + nk_fill_triangle(out, scaler.x + scaler.w, scaler.y, scaler.x + scaler.w, + scaler.y + scaler.h, scaler.x, scaler.y + scaler.h, item->data.color); + } + }} + + /* do window scaling */ + if (!(window->flags & NK_WINDOW_ROM)) { + struct nk_vec2 window_size = style->window.min_size; + int left_mouse_down = in->mouse.buttons[NK_BUTTON_LEFT].down; + int left_mouse_click_in_scaler = nk_input_has_mouse_click_down_in_rect(in, + NK_BUTTON_LEFT, scaler, nk_true); + + if (left_mouse_down && left_mouse_click_in_scaler) { + float delta_x = in->mouse.delta.x; + if (layout->flags & NK_WINDOW_SCALE_LEFT) { + delta_x = -delta_x; + window->bounds.x += in->mouse.delta.x; + } + /* dragging in x-direction */ + if (window->bounds.w + delta_x >= window_size.x) { + if ((delta_x < 0) || (delta_x > 0 && in->mouse.pos.x >= scaler.x)) { + window->bounds.w = window->bounds.w + delta_x; + scaler.x += in->mouse.delta.x; + } + } + /* dragging in y-direction (only possible if static window) */ + if (!(layout->flags & NK_WINDOW_DYNAMIC)) { + if (window_size.y < window->bounds.h + in->mouse.delta.y) { + if ((in->mouse.delta.y < 0) || (in->mouse.delta.y > 0 && in->mouse.pos.y >= scaler.y)) { + window->bounds.h = window->bounds.h + in->mouse.delta.y; + scaler.y += in->mouse.delta.y; + } + } + } + ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_RESIZE_TOP_RIGHT_DOWN_LEFT]; + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = scaler.x + scaler.w/2.0f; + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.y = scaler.y + scaler.h/2.0f; + } + } + } + if (!nk_panel_is_sub(layout->type)) { + /* window is hidden so clear command buffer */ + if (layout->flags & NK_WINDOW_HIDDEN) + nk_command_buffer_reset(&window->buffer); + /* window is visible and not tab */ + else nk_finish(ctx, window); + } + + /* NK_WINDOW_REMOVE_ROM flag was set so remove NK_WINDOW_ROM */ + if (layout->flags & NK_WINDOW_REMOVE_ROM) { + layout->flags &= ~(nk_flags)NK_WINDOW_ROM; + layout->flags &= ~(nk_flags)NK_WINDOW_REMOVE_ROM; + } + window->flags = layout->flags; + + /* property garbage collector */ + if (window->property.active && window->property.old != window->property.seq && + window->property.active == window->property.prev) { + nk_zero(&window->property, sizeof(window->property)); + } else { + window->property.old = window->property.seq; + window->property.prev = window->property.active; + window->property.seq = 0; + } + /* edit garbage collector */ + if (window->edit.active && window->edit.old != window->edit.seq && + window->edit.active == window->edit.prev) { + nk_zero(&window->edit, sizeof(window->edit)); + } else { + window->edit.old = window->edit.seq; + window->edit.prev = window->edit.active; + window->edit.seq = 0; + } + /* contextual garbage collector */ + if (window->popup.active_con && window->popup.con_old != window->popup.con_count) { + window->popup.con_count = 0; + window->popup.con_old = 0; + window->popup.active_con = 0; + } else { + window->popup.con_old = window->popup.con_count; + window->popup.con_count = 0; + } + window->popup.combo_count = 0; + /* helper to make sure you have a 'nk_tree_push' for every 'nk_tree_pop' */ + NK_ASSERT(!layout->row.tree_depth); +} + + + + + +/* =============================================================== + * + * WINDOW + * + * ===============================================================*/ +NK_LIB void* +nk_create_window(struct nk_context *ctx) +{ + struct nk_page_element *elem; + elem = nk_create_page_element(ctx); + if (!elem) return 0; + elem->data.win.seq = ctx->seq; + return &elem->data.win; +} +NK_LIB void +nk_free_window(struct nk_context *ctx, struct nk_window *win) +{ + /* unlink windows from list */ + struct nk_table *it = win->tables; + if (win->popup.win) { + nk_free_window(ctx, win->popup.win); + win->popup.win = 0; + } + win->next = 0; + win->prev = 0; + + while (it) { + /*free window state tables */ + struct nk_table *n = it->next; + nk_remove_table(win, it); + nk_free_table(ctx, it); + if (it == win->tables) + win->tables = n; + it = n; + } + + /* link windows into freelist */ + {union nk_page_data *pd = NK_CONTAINER_OF(win, union nk_page_data, win); + struct nk_page_element *pe = NK_CONTAINER_OF(pd, struct nk_page_element, data); + nk_free_page_element(ctx, pe);} +} +NK_LIB struct nk_window* +nk_find_window(struct nk_context *ctx, nk_hash hash, const char *name) +{ + struct nk_window *iter; + iter = ctx->begin; + while (iter) { + NK_ASSERT(iter != iter->next); + if (iter->name == hash) { + int max_len = nk_strlen(iter->name_string); + if (!nk_stricmpn(iter->name_string, name, max_len)) + return iter; + } + iter = iter->next; + } + return 0; +} +NK_LIB void +nk_insert_window(struct nk_context *ctx, struct nk_window *win, + enum nk_window_insert_location loc) +{ + const struct nk_window *iter; + NK_ASSERT(ctx); + NK_ASSERT(win); + if (!win || !ctx) return; + + iter = ctx->begin; + while (iter) { + NK_ASSERT(iter != iter->next); + NK_ASSERT(iter != win); + if (iter == win) return; + iter = iter->next; + } + + if (!ctx->begin) { + win->next = 0; + win->prev = 0; + ctx->begin = win; + ctx->end = win; + ctx->count = 1; + return; + } + if (loc == NK_INSERT_BACK) { + struct nk_window *end; + end = ctx->end; + end->flags |= NK_WINDOW_ROM; + end->next = win; + win->prev = ctx->end; + win->next = 0; + ctx->end = win; + ctx->active = ctx->end; + ctx->end->flags &= ~(nk_flags)NK_WINDOW_ROM; + } else { + /*ctx->end->flags |= NK_WINDOW_ROM;*/ + ctx->begin->prev = win; + win->next = ctx->begin; + win->prev = 0; + ctx->begin = win; + ctx->begin->flags &= ~(nk_flags)NK_WINDOW_ROM; + } + ctx->count++; +} +NK_LIB void +nk_remove_window(struct nk_context *ctx, struct nk_window *win) +{ + if (win == ctx->begin || win == ctx->end) { + if (win == ctx->begin) { + ctx->begin = win->next; + if (win->next) + win->next->prev = 0; + } + if (win == ctx->end) { + ctx->end = win->prev; + if (win->prev) + win->prev->next = 0; + } + } else { + if (win->next) + win->next->prev = win->prev; + if (win->prev) + win->prev->next = win->next; + } + if (win == ctx->active || !ctx->active) { + ctx->active = ctx->end; + if (ctx->end) + ctx->end->flags &= ~(nk_flags)NK_WINDOW_ROM; + } + win->next = 0; + win->prev = 0; + ctx->count--; +} +NK_API nk_bool +nk_begin(struct nk_context *ctx, const char *title, + struct nk_rect bounds, nk_flags flags) +{ + return nk_begin_titled(ctx, title, title, bounds, flags); +} +NK_API nk_bool +nk_begin_titled(struct nk_context *ctx, const char *name, const char *title, + struct nk_rect bounds, nk_flags flags) +{ + struct nk_window *win; + struct nk_style *style; + nk_hash name_hash; + int name_len; + int ret = 0; + + NK_ASSERT(ctx); + NK_ASSERT(name); + NK_ASSERT(title); + NK_ASSERT(ctx->style.font && ctx->style.font->width && "if this triggers you forgot to add a font"); + NK_ASSERT(!ctx->current && "if this triggers you missed a `nk_end` call"); + if (!ctx || ctx->current || !title || !name) + return 0; + + /* find or create window */ + style = &ctx->style; + name_len = (int)nk_strlen(name); + name_hash = nk_murmur_hash(name, (int)name_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, name_hash, name); + if (!win) { + /* create new window */ + nk_size name_length = (nk_size)name_len; + win = (struct nk_window*)nk_create_window(ctx); + NK_ASSERT(win); + if (!win) return 0; + + if (flags & NK_WINDOW_BACKGROUND) + nk_insert_window(ctx, win, NK_INSERT_FRONT); + else nk_insert_window(ctx, win, NK_INSERT_BACK); + nk_command_buffer_init(&win->buffer, &ctx->memory, NK_CLIPPING_ON); + + win->flags = flags; + win->bounds = bounds; + win->name = name_hash; + name_length = NK_MIN(name_length, NK_WINDOW_MAX_NAME-1); + NK_MEMCPY(win->name_string, name, name_length); + win->name_string[name_length] = 0; + win->popup.win = 0; + if (!ctx->active) + ctx->active = win; + } else { + /* update window */ + win->flags &= ~(nk_flags)(NK_WINDOW_PRIVATE-1); + win->flags |= flags; + if (!(win->flags & (NK_WINDOW_MOVABLE | NK_WINDOW_SCALABLE))) + win->bounds = bounds; + /* If this assert triggers you either: + * + * I.) Have more than one window with the same name or + * II.) You forgot to actually draw the window. + * More specific you did not call `nk_clear` (nk_clear will be + * automatically called for you if you are using one of the + * provided demo backends). */ + NK_ASSERT(win->seq != ctx->seq); + win->seq = ctx->seq; + if (!ctx->active && !(win->flags & NK_WINDOW_HIDDEN)) { + ctx->active = win; + ctx->end = win; + } + } + if (win->flags & NK_WINDOW_HIDDEN) { + ctx->current = win; + win->layout = 0; + return 0; + } else nk_start(ctx, win); + + /* window overlapping */ + if (!(win->flags & NK_WINDOW_HIDDEN) && !(win->flags & NK_WINDOW_NO_INPUT)) + { + int inpanel, ishovered; + struct nk_window *iter = win; + float h = ctx->style.font->height + 2.0f * style->window.header.padding.y + + (2.0f * style->window.header.label_padding.y); + struct nk_rect win_bounds = (!(win->flags & NK_WINDOW_MINIMIZED))? + win->bounds: nk_rect(win->bounds.x, win->bounds.y, win->bounds.w, h); + + /* activate window if hovered and no other window is overlapping this window */ + inpanel = nk_input_has_mouse_click_down_in_rect(&ctx->input, NK_BUTTON_LEFT, win_bounds, nk_true); + inpanel = inpanel && ctx->input.mouse.buttons[NK_BUTTON_LEFT].clicked; + ishovered = nk_input_is_mouse_hovering_rect(&ctx->input, win_bounds); + if ((win != ctx->active) && ishovered && !ctx->input.mouse.buttons[NK_BUTTON_LEFT].down) { + iter = win->next; + while (iter) { + struct nk_rect iter_bounds = (!(iter->flags & NK_WINDOW_MINIMIZED))? + iter->bounds: nk_rect(iter->bounds.x, iter->bounds.y, iter->bounds.w, h); + if (NK_INTERSECT(win_bounds.x, win_bounds.y, win_bounds.w, win_bounds.h, + iter_bounds.x, iter_bounds.y, iter_bounds.w, iter_bounds.h) && + (!(iter->flags & NK_WINDOW_HIDDEN))) + break; + + if (iter->popup.win && iter->popup.active && !(iter->flags & NK_WINDOW_HIDDEN) && + NK_INTERSECT(win->bounds.x, win_bounds.y, win_bounds.w, win_bounds.h, + iter->popup.win->bounds.x, iter->popup.win->bounds.y, + iter->popup.win->bounds.w, iter->popup.win->bounds.h)) + break; + iter = iter->next; + } + } + + /* activate window if clicked */ + if (iter && inpanel && (win != ctx->end)) { + iter = win->next; + while (iter) { + /* try to find a panel with higher priority in the same position */ + struct nk_rect iter_bounds = (!(iter->flags & NK_WINDOW_MINIMIZED))? + iter->bounds: nk_rect(iter->bounds.x, iter->bounds.y, iter->bounds.w, h); + if (NK_INBOX(ctx->input.mouse.pos.x, ctx->input.mouse.pos.y, + iter_bounds.x, iter_bounds.y, iter_bounds.w, iter_bounds.h) && + !(iter->flags & NK_WINDOW_HIDDEN)) + break; + if (iter->popup.win && iter->popup.active && !(iter->flags & NK_WINDOW_HIDDEN) && + NK_INTERSECT(win_bounds.x, win_bounds.y, win_bounds.w, win_bounds.h, + iter->popup.win->bounds.x, iter->popup.win->bounds.y, + iter->popup.win->bounds.w, iter->popup.win->bounds.h)) + break; + iter = iter->next; + } + } + if (iter && !(win->flags & NK_WINDOW_ROM) && (win->flags & NK_WINDOW_BACKGROUND)) { + win->flags |= (nk_flags)NK_WINDOW_ROM; + iter->flags &= ~(nk_flags)NK_WINDOW_ROM; + ctx->active = iter; + if (!(iter->flags & NK_WINDOW_BACKGROUND)) { + /* current window is active in that position so transfer to top + * at the highest priority in stack */ + nk_remove_window(ctx, iter); + nk_insert_window(ctx, iter, NK_INSERT_BACK); + } + } else { + if (!iter && ctx->end != win) { + if (!(win->flags & NK_WINDOW_BACKGROUND)) { + /* current window is active in that position so transfer to top + * at the highest priority in stack */ + nk_remove_window(ctx, win); + nk_insert_window(ctx, win, NK_INSERT_BACK); + } + win->flags &= ~(nk_flags)NK_WINDOW_ROM; + ctx->active = win; + } + if (ctx->end != win && !(win->flags & NK_WINDOW_BACKGROUND)) + win->flags |= NK_WINDOW_ROM; + } + } + win->layout = (struct nk_panel*)nk_create_panel(ctx); + ctx->current = win; + ret = nk_panel_begin(ctx, title, NK_PANEL_WINDOW); + win->layout->offset_x = &win->scrollbar.x; + win->layout->offset_y = &win->scrollbar.y; + return ret; +} +NK_API void +nk_end(struct nk_context *ctx) +{ + struct nk_panel *layout; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current && "if this triggers you forgot to call `nk_begin`"); + if (!ctx || !ctx->current) + return; + + layout = ctx->current->layout; + if (!layout || (layout->type == NK_PANEL_WINDOW && (ctx->current->flags & NK_WINDOW_HIDDEN))) { + ctx->current = 0; + return; + } + nk_panel_end(ctx); + nk_free_panel(ctx, ctx->current->layout); + ctx->current = 0; +} +NK_API struct nk_rect +nk_window_get_bounds(const struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return nk_rect(0,0,0,0); + return ctx->current->bounds; +} +NK_API struct nk_vec2 +nk_window_get_position(const struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return nk_vec2(0,0); + return nk_vec2(ctx->current->bounds.x, ctx->current->bounds.y); +} +NK_API struct nk_vec2 +nk_window_get_size(const struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return nk_vec2(0,0); + return nk_vec2(ctx->current->bounds.w, ctx->current->bounds.h); +} +NK_API float +nk_window_get_width(const struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return 0; + return ctx->current->bounds.w; +} +NK_API float +nk_window_get_height(const struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return 0; + return ctx->current->bounds.h; +} +NK_API struct nk_rect +nk_window_get_content_region(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return nk_rect(0,0,0,0); + return ctx->current->layout->clip; +} +NK_API struct nk_vec2 +nk_window_get_content_region_min(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current) return nk_vec2(0,0); + return nk_vec2(ctx->current->layout->clip.x, ctx->current->layout->clip.y); +} +NK_API struct nk_vec2 +nk_window_get_content_region_max(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current) return nk_vec2(0,0); + return nk_vec2(ctx->current->layout->clip.x + ctx->current->layout->clip.w, + ctx->current->layout->clip.y + ctx->current->layout->clip.h); +} +NK_API struct nk_vec2 +nk_window_get_content_region_size(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current) return nk_vec2(0,0); + return nk_vec2(ctx->current->layout->clip.w, ctx->current->layout->clip.h); +} +NK_API struct nk_command_buffer* +nk_window_get_canvas(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current) return 0; + return &ctx->current->buffer; +} +NK_API struct nk_panel* +nk_window_get_panel(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return 0; + return ctx->current->layout; +} +NK_API void +nk_window_get_scroll(struct nk_context *ctx, nk_uint *offset_x, nk_uint *offset_y) +{ + struct nk_window *win; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return ; + win = ctx->current; + if (offset_x) + *offset_x = win->scrollbar.x; + if (offset_y) + *offset_y = win->scrollbar.y; +} +NK_API nk_bool +nk_window_has_focus(const struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current) return 0; + return ctx->current == ctx->active; +} +NK_API nk_bool +nk_window_is_hovered(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current || (ctx->current->flags & NK_WINDOW_HIDDEN)) + return 0; + else { + struct nk_rect actual_bounds = ctx->current->bounds; + if (ctx->begin->flags & NK_WINDOW_MINIMIZED) { + actual_bounds.h = ctx->current->layout->header_height; + } + return nk_input_is_mouse_hovering_rect(&ctx->input, actual_bounds); + } +} +NK_API nk_bool +nk_window_is_any_hovered(struct nk_context *ctx) +{ + struct nk_window *iter; + NK_ASSERT(ctx); + if (!ctx) return 0; + iter = ctx->begin; + while (iter) { + /* check if window is being hovered */ + if(!(iter->flags & NK_WINDOW_HIDDEN)) { + /* check if window popup is being hovered */ + if (iter->popup.active && iter->popup.win && nk_input_is_mouse_hovering_rect(&ctx->input, iter->popup.win->bounds)) + return 1; + + if (iter->flags & NK_WINDOW_MINIMIZED) { + struct nk_rect header = iter->bounds; + header.h = ctx->style.font->height + 2 * ctx->style.window.header.padding.y; + if (nk_input_is_mouse_hovering_rect(&ctx->input, header)) + return 1; + } else if (nk_input_is_mouse_hovering_rect(&ctx->input, iter->bounds)) { + return 1; + } + } + iter = iter->next; + } + return 0; +} +NK_API nk_bool +nk_item_is_any_active(struct nk_context *ctx) +{ + int any_hovered = nk_window_is_any_hovered(ctx); + int any_active = (ctx->last_widget_state & NK_WIDGET_STATE_MODIFIED); + return any_hovered || any_active; +} +NK_API nk_bool +nk_window_is_collapsed(struct nk_context *ctx, const char *name) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return 0; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (!win) return 0; + return win->flags & NK_WINDOW_MINIMIZED; +} +NK_API nk_bool +nk_window_is_closed(struct nk_context *ctx, const char *name) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return 1; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (!win) return 1; + return (win->flags & NK_WINDOW_CLOSED); +} +NK_API nk_bool +nk_window_is_hidden(struct nk_context *ctx, const char *name) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return 1; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (!win) return 1; + return (win->flags & NK_WINDOW_HIDDEN); +} +NK_API nk_bool +nk_window_is_active(struct nk_context *ctx, const char *name) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return 0; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (!win) return 0; + return win == ctx->active; +} +NK_API struct nk_window* +nk_window_find(struct nk_context *ctx, const char *name) +{ + int title_len; + nk_hash title_hash; + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + return nk_find_window(ctx, title_hash, name); +} +NK_API void +nk_window_close(struct nk_context *ctx, const char *name) +{ + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return; + win = nk_window_find(ctx, name); + if (!win) return; + NK_ASSERT(ctx->current != win && "You cannot close a currently active window"); + if (ctx->current == win) return; + win->flags |= NK_WINDOW_HIDDEN; + win->flags |= NK_WINDOW_CLOSED; +} +NK_API void +nk_window_set_bounds(struct nk_context *ctx, + const char *name, struct nk_rect bounds) +{ + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return; + win = nk_window_find(ctx, name); + if (!win) return; + NK_ASSERT(ctx->current != win && "You cannot update a currently in procecss window"); + win->bounds = bounds; +} +NK_API void +nk_window_set_position(struct nk_context *ctx, + const char *name, struct nk_vec2 pos) +{ + struct nk_window *win = nk_window_find(ctx, name); + if (!win) return; + win->bounds.x = pos.x; + win->bounds.y = pos.y; +} +NK_API void +nk_window_set_size(struct nk_context *ctx, + const char *name, struct nk_vec2 size) +{ + struct nk_window *win = nk_window_find(ctx, name); + if (!win) return; + win->bounds.w = size.x; + win->bounds.h = size.y; +} +NK_API void +nk_window_set_scroll(struct nk_context *ctx, nk_uint offset_x, nk_uint offset_y) +{ + struct nk_window *win; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return; + win = ctx->current; + win->scrollbar.x = offset_x; + win->scrollbar.y = offset_y; +} +NK_API void +nk_window_collapse(struct nk_context *ctx, const char *name, + enum nk_collapse_states c) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (!win) return; + if (c == NK_MINIMIZED) + win->flags |= NK_WINDOW_MINIMIZED; + else win->flags &= ~(nk_flags)NK_WINDOW_MINIMIZED; +} +NK_API void +nk_window_collapse_if(struct nk_context *ctx, const char *name, + enum nk_collapse_states c, int cond) +{ + NK_ASSERT(ctx); + if (!ctx || !cond) return; + nk_window_collapse(ctx, name, c); +} +NK_API void +nk_window_show(struct nk_context *ctx, const char *name, enum nk_show_states s) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (!win) return; + if (s == NK_HIDDEN) { + win->flags |= NK_WINDOW_HIDDEN; + } else win->flags &= ~(nk_flags)NK_WINDOW_HIDDEN; +} +NK_API void +nk_window_show_if(struct nk_context *ctx, const char *name, + enum nk_show_states s, int cond) +{ + NK_ASSERT(ctx); + if (!ctx || !cond) return; + nk_window_show(ctx, name, s); +} + +NK_API void +nk_window_set_focus(struct nk_context *ctx, const char *name) +{ + int title_len; + nk_hash title_hash; + struct nk_window *win; + NK_ASSERT(ctx); + if (!ctx) return; + + title_len = (int)nk_strlen(name); + title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); + win = nk_find_window(ctx, title_hash, name); + if (win && ctx->end != win) { + nk_remove_window(ctx, win); + nk_insert_window(ctx, win, NK_INSERT_BACK); + } + ctx->active = win; +} + + + + +/* =============================================================== + * + * POPUP + * + * ===============================================================*/ +NK_API nk_bool +nk_popup_begin(struct nk_context *ctx, enum nk_popup_type type, + const char *title, nk_flags flags, struct nk_rect rect) +{ + struct nk_window *popup; + struct nk_window *win; + struct nk_panel *panel; + + int title_len; + nk_hash title_hash; + nk_size allocated; + + NK_ASSERT(ctx); + NK_ASSERT(title); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + panel = win->layout; + NK_ASSERT(!(panel->type & NK_PANEL_SET_POPUP) && "popups are not allowed to have popups"); + (void)panel; + title_len = (int)nk_strlen(title); + title_hash = nk_murmur_hash(title, (int)title_len, NK_PANEL_POPUP); + + popup = win->popup.win; + if (!popup) { + popup = (struct nk_window*)nk_create_window(ctx); + popup->parent = win; + win->popup.win = popup; + win->popup.active = 0; + win->popup.type = NK_PANEL_POPUP; + } + + /* make sure we have correct popup */ + if (win->popup.name != title_hash) { + if (!win->popup.active) { + nk_zero(popup, sizeof(*popup)); + win->popup.name = title_hash; + win->popup.active = 1; + win->popup.type = NK_PANEL_POPUP; + } else return 0; + } + + /* popup position is local to window */ + ctx->current = popup; + rect.x += win->layout->clip.x; + rect.y += win->layout->clip.y; + + /* setup popup data */ + popup->parent = win; + popup->bounds = rect; + popup->seq = ctx->seq; + popup->layout = (struct nk_panel*)nk_create_panel(ctx); + popup->flags = flags; + popup->flags |= NK_WINDOW_BORDER; + if (type == NK_POPUP_DYNAMIC) + popup->flags |= NK_WINDOW_DYNAMIC; + + popup->buffer = win->buffer; + nk_start_popup(ctx, win); + allocated = ctx->memory.allocated; + nk_push_scissor(&popup->buffer, nk_null_rect); + + if (nk_panel_begin(ctx, title, NK_PANEL_POPUP)) { + /* popup is running therefore invalidate parent panels */ + struct nk_panel *root; + root = win->layout; + while (root) { + root->flags |= NK_WINDOW_ROM; + root->flags &= ~(nk_flags)NK_WINDOW_REMOVE_ROM; + root = root->parent; + } + win->popup.active = 1; + popup->layout->offset_x = &popup->scrollbar.x; + popup->layout->offset_y = &popup->scrollbar.y; + popup->layout->parent = win->layout; + return 1; + } else { + /* popup was closed/is invalid so cleanup */ + struct nk_panel *root; + root = win->layout; + while (root) { + root->flags |= NK_WINDOW_REMOVE_ROM; + root = root->parent; + } + win->popup.buf.active = 0; + win->popup.active = 0; + ctx->memory.allocated = allocated; + ctx->current = win; + nk_free_panel(ctx, popup->layout); + popup->layout = 0; + return 0; + } +} +NK_LIB nk_bool +nk_nonblock_begin(struct nk_context *ctx, + nk_flags flags, struct nk_rect body, struct nk_rect header, + enum nk_panel_type panel_type) +{ + struct nk_window *popup; + struct nk_window *win; + struct nk_panel *panel; + int is_active = nk_true; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + /* popups cannot have popups */ + win = ctx->current; + panel = win->layout; + NK_ASSERT(!(panel->type & NK_PANEL_SET_POPUP)); + (void)panel; + popup = win->popup.win; + if (!popup) { + /* create window for nonblocking popup */ + popup = (struct nk_window*)nk_create_window(ctx); + popup->parent = win; + win->popup.win = popup; + win->popup.type = panel_type; + nk_command_buffer_init(&popup->buffer, &ctx->memory, NK_CLIPPING_ON); + } else { + /* close the popup if user pressed outside or in the header */ + int pressed, in_body, in_header; +#ifdef NK_BUTTON_TRIGGER_ON_RELEASE + pressed = nk_input_is_mouse_released(&ctx->input, NK_BUTTON_LEFT); +#else + pressed = nk_input_is_mouse_pressed(&ctx->input, NK_BUTTON_LEFT); +#endif + in_body = nk_input_is_mouse_hovering_rect(&ctx->input, body); + in_header = nk_input_is_mouse_hovering_rect(&ctx->input, header); + if (pressed && (!in_body || in_header)) + is_active = nk_false; + } + win->popup.header = header; + + if (!is_active) { + /* remove read only mode from all parent panels */ + struct nk_panel *root = win->layout; + while (root) { + root->flags |= NK_WINDOW_REMOVE_ROM; + root = root->parent; + } + return is_active; + } + popup->bounds = body; + popup->parent = win; + popup->layout = (struct nk_panel*)nk_create_panel(ctx); + popup->flags = flags; + popup->flags |= NK_WINDOW_BORDER; + popup->flags |= NK_WINDOW_DYNAMIC; + popup->seq = ctx->seq; + win->popup.active = 1; + NK_ASSERT(popup->layout); + + nk_start_popup(ctx, win); + popup->buffer = win->buffer; + nk_push_scissor(&popup->buffer, nk_null_rect); + ctx->current = popup; + + nk_panel_begin(ctx, 0, panel_type); + win->buffer = popup->buffer; + popup->layout->parent = win->layout; + popup->layout->offset_x = &popup->scrollbar.x; + popup->layout->offset_y = &popup->scrollbar.y; + + /* set read only mode to all parent panels */ + {struct nk_panel *root; + root = win->layout; + while (root) { + root->flags |= NK_WINDOW_ROM; + root = root->parent; + }} + return is_active; +} +NK_API void +nk_popup_close(struct nk_context *ctx) +{ + struct nk_window *popup; + NK_ASSERT(ctx); + if (!ctx || !ctx->current) return; + + popup = ctx->current; + NK_ASSERT(popup->parent); + NK_ASSERT(popup->layout->type & NK_PANEL_SET_POPUP); + popup->flags |= NK_WINDOW_HIDDEN; +} +NK_API void +nk_popup_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_window *popup; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + popup = ctx->current; + if (!popup->parent) return; + win = popup->parent; + if (popup->flags & NK_WINDOW_HIDDEN) { + struct nk_panel *root; + root = win->layout; + while (root) { + root->flags |= NK_WINDOW_REMOVE_ROM; + root = root->parent; + } + win->popup.active = 0; + } + nk_push_scissor(&popup->buffer, nk_null_rect); + nk_end(ctx); + + win->buffer = popup->buffer; + nk_finish_popup(ctx, win); + ctx->current = win; + nk_push_scissor(&win->buffer, win->layout->clip); +} +NK_API void +nk_popup_get_scroll(struct nk_context *ctx, nk_uint *offset_x, nk_uint *offset_y) +{ + struct nk_window *popup; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + popup = ctx->current; + if (offset_x) + *offset_x = popup->scrollbar.x; + if (offset_y) + *offset_y = popup->scrollbar.y; +} +NK_API void +nk_popup_set_scroll(struct nk_context *ctx, nk_uint offset_x, nk_uint offset_y) +{ + struct nk_window *popup; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + popup = ctx->current; + popup->scrollbar.x = offset_x; + popup->scrollbar.y = offset_y; +} + + + + +/* ============================================================== + * + * CONTEXTUAL + * + * ===============================================================*/ +NK_API nk_bool +nk_contextual_begin(struct nk_context *ctx, nk_flags flags, struct nk_vec2 size, + struct nk_rect trigger_bounds) +{ + struct nk_window *win; + struct nk_window *popup; + struct nk_rect body; + + NK_STORAGE const struct nk_rect null_rect = {-1,-1,0,0}; + int is_clicked = 0; + int is_open = 0; + int ret = 0; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + ++win->popup.con_count; + if (ctx->current != ctx->active) + return 0; + + /* check if currently active contextual is active */ + popup = win->popup.win; + is_open = (popup && win->popup.type == NK_PANEL_CONTEXTUAL); + is_clicked = nk_input_mouse_clicked(&ctx->input, NK_BUTTON_RIGHT, trigger_bounds); + if (win->popup.active_con && win->popup.con_count != win->popup.active_con) + return 0; + if (!is_open && win->popup.active_con) + win->popup.active_con = 0; + if ((!is_open && !is_clicked)) + return 0; + + /* calculate contextual position on click */ + win->popup.active_con = win->popup.con_count; + if (is_clicked) { + body.x = ctx->input.mouse.pos.x; + body.y = ctx->input.mouse.pos.y; + } else { + body.x = popup->bounds.x; + body.y = popup->bounds.y; + } + body.w = size.x; + body.h = size.y; + + /* start nonblocking contextual popup */ + ret = nk_nonblock_begin(ctx, flags|NK_WINDOW_NO_SCROLLBAR, body, + null_rect, NK_PANEL_CONTEXTUAL); + if (ret) win->popup.type = NK_PANEL_CONTEXTUAL; + else { + win->popup.active_con = 0; + win->popup.type = NK_PANEL_NONE; + if (win->popup.win) + win->popup.win->flags = 0; + } + return ret; +} +NK_API nk_bool +nk_contextual_item_text(struct nk_context *ctx, const char *text, int len, + nk_flags alignment) +{ + struct nk_window *win; + const struct nk_input *in; + const struct nk_style *style; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + state = nk_widget_fitting(&bounds, ctx, style->contextual_button.padding); + if (!state) return nk_false; + + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_text(&ctx->last_widget_state, &win->buffer, bounds, + text, len, alignment, NK_BUTTON_DEFAULT, &style->contextual_button, in, style->font)) { + nk_contextual_close(ctx); + return nk_true; + } + return nk_false; +} +NK_API nk_bool +nk_contextual_item_label(struct nk_context *ctx, const char *label, nk_flags align) +{ + return nk_contextual_item_text(ctx, label, nk_strlen(label), align); +} +NK_API nk_bool +nk_contextual_item_image_text(struct nk_context *ctx, struct nk_image img, + const char *text, int len, nk_flags align) +{ + struct nk_window *win; + const struct nk_input *in; + const struct nk_style *style; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + state = nk_widget_fitting(&bounds, ctx, style->contextual_button.padding); + if (!state) return nk_false; + + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_text_image(&ctx->last_widget_state, &win->buffer, bounds, + img, text, len, align, NK_BUTTON_DEFAULT, &style->contextual_button, style->font, in)){ + nk_contextual_close(ctx); + return nk_true; + } + return nk_false; +} +NK_API nk_bool +nk_contextual_item_image_label(struct nk_context *ctx, struct nk_image img, + const char *label, nk_flags align) +{ + return nk_contextual_item_image_text(ctx, img, label, nk_strlen(label), align); +} +NK_API nk_bool +nk_contextual_item_symbol_text(struct nk_context *ctx, enum nk_symbol_type symbol, + const char *text, int len, nk_flags align) +{ + struct nk_window *win; + const struct nk_input *in; + const struct nk_style *style; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + state = nk_widget_fitting(&bounds, ctx, style->contextual_button.padding); + if (!state) return nk_false; + + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_text_symbol(&ctx->last_widget_state, &win->buffer, bounds, + symbol, text, len, align, NK_BUTTON_DEFAULT, &style->contextual_button, style->font, in)) { + nk_contextual_close(ctx); + return nk_true; + } + return nk_false; +} +NK_API nk_bool +nk_contextual_item_symbol_label(struct nk_context *ctx, enum nk_symbol_type symbol, + const char *text, nk_flags align) +{ + return nk_contextual_item_symbol_text(ctx, symbol, text, nk_strlen(text), align); +} +NK_API void +nk_contextual_close(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) return; + nk_popup_close(ctx); +} +NK_API void +nk_contextual_end(struct nk_context *ctx) +{ + struct nk_window *popup; + struct nk_panel *panel; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return; + + popup = ctx->current; + panel = popup->layout; + NK_ASSERT(popup->parent); + NK_ASSERT(panel->type & NK_PANEL_SET_POPUP); + if (panel->flags & NK_WINDOW_DYNAMIC) { + /* Close behavior + This is a bit of a hack solution since we do not know before we end our popup + how big it will be. We therefore do not directly know when a + click outside the non-blocking popup must close it at that direct frame. + Instead it will be closed in the next frame.*/ + struct nk_rect body = {0,0,0,0}; + if (panel->at_y < (panel->bounds.y + panel->bounds.h)) { + struct nk_vec2 padding = nk_panel_get_padding(&ctx->style, panel->type); + body = panel->bounds; + body.y = (panel->at_y + panel->footer_height + panel->border + padding.y + panel->row.height); + body.h = (panel->bounds.y + panel->bounds.h) - body.y; + } + {int pressed = nk_input_is_mouse_pressed(&ctx->input, NK_BUTTON_LEFT); + int in_body = nk_input_is_mouse_hovering_rect(&ctx->input, body); + if (pressed && in_body) + popup->flags |= NK_WINDOW_HIDDEN; + } + } + if (popup->flags & NK_WINDOW_HIDDEN) + popup->seq = 0; + nk_popup_end(ctx); + return; +} + + + + + +/* =============================================================== + * + * MENU + * + * ===============================================================*/ +NK_API void +nk_menubar_begin(struct nk_context *ctx) +{ + struct nk_panel *layout; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + layout = ctx->current->layout; + NK_ASSERT(layout->at_y == layout->bounds.y); + /* if this assert triggers you allocated space between nk_begin and nk_menubar_begin. + If you want a menubar the first nuklear function after `nk_begin` has to be a + `nk_menubar_begin` call. Inside the menubar you then have to allocate space for + widgets (also supports multiple rows). + Example: + if (nk_begin(...)) { + nk_menubar_begin(...); + nk_layout_xxxx(...); + nk_button(...); + nk_layout_xxxx(...); + nk_button(...); + nk_menubar_end(...); + } + nk_end(...); + */ + if (layout->flags & NK_WINDOW_HIDDEN || layout->flags & NK_WINDOW_MINIMIZED) + return; + + layout->menu.x = layout->at_x; + layout->menu.y = layout->at_y + layout->row.height; + layout->menu.w = layout->bounds.w; + layout->menu.offset.x = *layout->offset_x; + layout->menu.offset.y = *layout->offset_y; + *layout->offset_y = 0; +} +NK_API void +nk_menubar_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + struct nk_command_buffer *out; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + out = &win->buffer; + layout = win->layout; + if (layout->flags & NK_WINDOW_HIDDEN || layout->flags & NK_WINDOW_MINIMIZED) + return; + + layout->menu.h = layout->at_y - layout->menu.y; + layout->menu.h += layout->row.height + ctx->style.window.spacing.y; + + layout->bounds.y += layout->menu.h; + layout->bounds.h -= layout->menu.h; + + *layout->offset_x = layout->menu.offset.x; + *layout->offset_y = layout->menu.offset.y; + layout->at_y = layout->bounds.y - layout->row.height; + + layout->clip.y = layout->bounds.y; + layout->clip.h = layout->bounds.h; + nk_push_scissor(out, layout->clip); +} +NK_INTERN int +nk_menu_begin(struct nk_context *ctx, struct nk_window *win, + const char *id, int is_clicked, struct nk_rect header, struct nk_vec2 size) +{ + int is_open = 0; + int is_active = 0; + struct nk_rect body; + struct nk_window *popup; + nk_hash hash = nk_murmur_hash(id, (int)nk_strlen(id), NK_PANEL_MENU); + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + body.x = header.x; + body.w = size.x; + body.y = header.y + header.h; + body.h = size.y; + + popup = win->popup.win; + is_open = popup ? nk_true : nk_false; + is_active = (popup && (win->popup.name == hash) && win->popup.type == NK_PANEL_MENU); + if ((is_clicked && is_open && !is_active) || (is_open && !is_active) || + (!is_open && !is_active && !is_clicked)) return 0; + if (!nk_nonblock_begin(ctx, NK_WINDOW_NO_SCROLLBAR, body, header, NK_PANEL_MENU)) + return 0; + + win->popup.type = NK_PANEL_MENU; + win->popup.name = hash; + return 1; +} +NK_API nk_bool +nk_menu_begin_text(struct nk_context *ctx, const char *title, int len, + nk_flags align, struct nk_vec2 size) +{ + struct nk_window *win; + const struct nk_input *in; + struct nk_rect header; + int is_clicked = nk_false; + nk_flags state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + state = nk_widget(&header, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || win->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_text(&ctx->last_widget_state, &win->buffer, header, + title, len, align, NK_BUTTON_DEFAULT, &ctx->style.menu_button, in, ctx->style.font)) + is_clicked = nk_true; + return nk_menu_begin(ctx, win, title, is_clicked, header, size); +} +NK_API nk_bool nk_menu_begin_label(struct nk_context *ctx, + const char *text, nk_flags align, struct nk_vec2 size) +{ + return nk_menu_begin_text(ctx, text, nk_strlen(text), align, size); +} +NK_API nk_bool +nk_menu_begin_image(struct nk_context *ctx, const char *id, struct nk_image img, + struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_rect header; + const struct nk_input *in; + int is_clicked = nk_false; + nk_flags state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + state = nk_widget(&header, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_image(&ctx->last_widget_state, &win->buffer, header, + img, NK_BUTTON_DEFAULT, &ctx->style.menu_button, in)) + is_clicked = nk_true; + return nk_menu_begin(ctx, win, id, is_clicked, header, size); +} +NK_API nk_bool +nk_menu_begin_symbol(struct nk_context *ctx, const char *id, + enum nk_symbol_type sym, struct nk_vec2 size) +{ + struct nk_window *win; + const struct nk_input *in; + struct nk_rect header; + int is_clicked = nk_false; + nk_flags state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + state = nk_widget(&header, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_symbol(&ctx->last_widget_state, &win->buffer, header, + sym, NK_BUTTON_DEFAULT, &ctx->style.menu_button, in, ctx->style.font)) + is_clicked = nk_true; + return nk_menu_begin(ctx, win, id, is_clicked, header, size); +} +NK_API nk_bool +nk_menu_begin_image_text(struct nk_context *ctx, const char *title, int len, + nk_flags align, struct nk_image img, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_rect header; + const struct nk_input *in; + int is_clicked = nk_false; + nk_flags state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + state = nk_widget(&header, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_text_image(&ctx->last_widget_state, &win->buffer, + header, img, title, len, align, NK_BUTTON_DEFAULT, &ctx->style.menu_button, + ctx->style.font, in)) + is_clicked = nk_true; + return nk_menu_begin(ctx, win, title, is_clicked, header, size); +} +NK_API nk_bool +nk_menu_begin_image_label(struct nk_context *ctx, + const char *title, nk_flags align, struct nk_image img, struct nk_vec2 size) +{ + return nk_menu_begin_image_text(ctx, title, nk_strlen(title), align, img, size); +} +NK_API nk_bool +nk_menu_begin_symbol_text(struct nk_context *ctx, const char *title, int len, + nk_flags align, enum nk_symbol_type sym, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_rect header; + const struct nk_input *in; + int is_clicked = nk_false; + nk_flags state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + state = nk_widget(&header, ctx); + if (!state) return 0; + + in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + if (nk_do_button_text_symbol(&ctx->last_widget_state, &win->buffer, + header, sym, title, len, align, NK_BUTTON_DEFAULT, &ctx->style.menu_button, + ctx->style.font, in)) is_clicked = nk_true; + return nk_menu_begin(ctx, win, title, is_clicked, header, size); +} +NK_API nk_bool +nk_menu_begin_symbol_label(struct nk_context *ctx, + const char *title, nk_flags align, enum nk_symbol_type sym, struct nk_vec2 size ) +{ + return nk_menu_begin_symbol_text(ctx, title, nk_strlen(title), align,sym,size); +} +NK_API nk_bool +nk_menu_item_text(struct nk_context *ctx, const char *title, int len, nk_flags align) +{ + return nk_contextual_item_text(ctx, title, len, align); +} +NK_API nk_bool +nk_menu_item_label(struct nk_context *ctx, const char *label, nk_flags align) +{ + return nk_contextual_item_label(ctx, label, align); +} +NK_API nk_bool +nk_menu_item_image_label(struct nk_context *ctx, struct nk_image img, + const char *label, nk_flags align) +{ + return nk_contextual_item_image_label(ctx, img, label, align); +} +NK_API nk_bool +nk_menu_item_image_text(struct nk_context *ctx, struct nk_image img, + const char *text, int len, nk_flags align) +{ + return nk_contextual_item_image_text(ctx, img, text, len, align); +} +NK_API nk_bool nk_menu_item_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, + const char *text, int len, nk_flags align) +{ + return nk_contextual_item_symbol_text(ctx, sym, text, len, align); +} +NK_API nk_bool nk_menu_item_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, + const char *label, nk_flags align) +{ + return nk_contextual_item_symbol_label(ctx, sym, label, align); +} +NK_API void nk_menu_close(struct nk_context *ctx) +{ + nk_contextual_close(ctx); +} +NK_API void +nk_menu_end(struct nk_context *ctx) +{ + nk_contextual_end(ctx); +} + + + + + +/* =============================================================== + * + * LAYOUT + * + * ===============================================================*/ +NK_API void +nk_layout_set_min_row_height(struct nk_context *ctx, float height) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + layout->row.min_height = height; +} +NK_API void +nk_layout_reset_min_row_height(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + layout->row.min_height = ctx->style.font->height; + layout->row.min_height += ctx->style.text.padding.y*2; + layout->row.min_height += ctx->style.window.min_row_height_padding*2; +} +NK_LIB float +nk_layout_row_calculate_usable_space(const struct nk_style *style, enum nk_panel_type type, + float total_space, int columns) +{ + float panel_spacing; + float panel_space; + + struct nk_vec2 spacing; + + NK_UNUSED(type); + + spacing = style->window.spacing; + + /* calculate the usable panel space */ + panel_spacing = (float)NK_MAX(columns - 1, 0) * spacing.x; + panel_space = total_space - panel_spacing; + return panel_space; +} +NK_LIB void +nk_panel_layout(const struct nk_context *ctx, struct nk_window *win, + float height, int cols) +{ + struct nk_panel *layout; + const struct nk_style *style; + struct nk_command_buffer *out; + + struct nk_vec2 item_spacing; + struct nk_color color; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + /* prefetch some configuration data */ + layout = win->layout; + style = &ctx->style; + out = &win->buffer; + color = style->window.background; + item_spacing = style->window.spacing; + + /* if one of these triggers you forgot to add an `if` condition around either + a window, group, popup, combobox or contextual menu `begin` and `end` block. + Example: + if (nk_begin(...) {...} nk_end(...); or + if (nk_group_begin(...) { nk_group_end(...);} */ + NK_ASSERT(!(layout->flags & NK_WINDOW_MINIMIZED)); + NK_ASSERT(!(layout->flags & NK_WINDOW_HIDDEN)); + NK_ASSERT(!(layout->flags & NK_WINDOW_CLOSED)); + + /* update the current row and set the current row layout */ + layout->row.index = 0; + layout->at_y += layout->row.height; + layout->row.columns = cols; + if (height == 0.0f) + layout->row.height = NK_MAX(height, layout->row.min_height) + item_spacing.y; + else layout->row.height = height + item_spacing.y; + + layout->row.item_offset = 0; + if (layout->flags & NK_WINDOW_DYNAMIC) { + /* draw background for dynamic panels */ + struct nk_rect background; + background.x = win->bounds.x; + background.w = win->bounds.w; + background.y = layout->at_y - 1.0f; + background.h = layout->row.height + 1.0f; + nk_fill_rect(out, background, 0, color); + } +} +NK_LIB void +nk_row_layout(struct nk_context *ctx, enum nk_layout_format fmt, + float height, int cols, int width) +{ + /* update the current row and set the current row layout */ + struct nk_window *win; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + nk_panel_layout(ctx, win, height, cols); + if (fmt == NK_DYNAMIC) + win->layout->row.type = NK_LAYOUT_DYNAMIC_FIXED; + else win->layout->row.type = NK_LAYOUT_STATIC_FIXED; + + win->layout->row.ratio = 0; + win->layout->row.filled = 0; + win->layout->row.item_offset = 0; + win->layout->row.item_width = (float)width; +} +NK_API float +nk_layout_ratio_from_pixel(struct nk_context *ctx, float pixel_width) +{ + struct nk_window *win; + NK_ASSERT(ctx); + NK_ASSERT(pixel_width); + if (!ctx || !ctx->current || !ctx->current->layout) return 0; + win = ctx->current; + return NK_CLAMP(0.0f, pixel_width/win->bounds.x, 1.0f); +} +NK_API void +nk_layout_row_dynamic(struct nk_context *ctx, float height, int cols) +{ + nk_row_layout(ctx, NK_DYNAMIC, height, cols, 0); +} +NK_API void +nk_layout_row_static(struct nk_context *ctx, float height, int item_width, int cols) +{ + nk_row_layout(ctx, NK_STATIC, height, cols, item_width); +} +NK_API void +nk_layout_row_begin(struct nk_context *ctx, enum nk_layout_format fmt, + float row_height, int cols) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + nk_panel_layout(ctx, win, row_height, cols); + if (fmt == NK_DYNAMIC) + layout->row.type = NK_LAYOUT_DYNAMIC_ROW; + else layout->row.type = NK_LAYOUT_STATIC_ROW; + + layout->row.ratio = 0; + layout->row.filled = 0; + layout->row.item_width = 0; + layout->row.item_offset = 0; + layout->row.columns = cols; +} +NK_API void +nk_layout_row_push(struct nk_context *ctx, float ratio_or_width) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + NK_ASSERT(layout->row.type == NK_LAYOUT_STATIC_ROW || layout->row.type == NK_LAYOUT_DYNAMIC_ROW); + if (layout->row.type != NK_LAYOUT_STATIC_ROW && layout->row.type != NK_LAYOUT_DYNAMIC_ROW) + return; + + if (layout->row.type == NK_LAYOUT_DYNAMIC_ROW) { + float ratio = ratio_or_width; + if ((ratio + layout->row.filled) > 1.0f) return; + if (ratio > 0.0f) + layout->row.item_width = NK_SATURATE(ratio); + else layout->row.item_width = 1.0f - layout->row.filled; + } else layout->row.item_width = ratio_or_width; +} +NK_API void +nk_layout_row_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + NK_ASSERT(layout->row.type == NK_LAYOUT_STATIC_ROW || layout->row.type == NK_LAYOUT_DYNAMIC_ROW); + if (layout->row.type != NK_LAYOUT_STATIC_ROW && layout->row.type != NK_LAYOUT_DYNAMIC_ROW) + return; + layout->row.item_width = 0; + layout->row.item_offset = 0; +} +NK_API void +nk_layout_row(struct nk_context *ctx, enum nk_layout_format fmt, + float height, int cols, const float *ratio) +{ + int i; + int n_undef = 0; + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + nk_panel_layout(ctx, win, height, cols); + if (fmt == NK_DYNAMIC) { + /* calculate width of undefined widget ratios */ + float r = 0; + layout->row.ratio = ratio; + for (i = 0; i < cols; ++i) { + if (ratio[i] < 0.0f) + n_undef++; + else r += ratio[i]; + } + r = NK_SATURATE(1.0f - r); + layout->row.type = NK_LAYOUT_DYNAMIC; + layout->row.item_width = (r > 0 && n_undef > 0) ? (r / (float)n_undef):0; + } else { + layout->row.ratio = ratio; + layout->row.type = NK_LAYOUT_STATIC; + layout->row.item_width = 0; + layout->row.item_offset = 0; + } + layout->row.item_offset = 0; + layout->row.filled = 0; +} +NK_API void +nk_layout_row_template_begin(struct nk_context *ctx, float height) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + nk_panel_layout(ctx, win, height, 1); + layout->row.type = NK_LAYOUT_TEMPLATE; + layout->row.columns = 0; + layout->row.ratio = 0; + layout->row.item_width = 0; + layout->row.item_height = 0; + layout->row.item_offset = 0; + layout->row.filled = 0; + layout->row.item.x = 0; + layout->row.item.y = 0; + layout->row.item.w = 0; + layout->row.item.h = 0; +} +NK_API void +nk_layout_row_template_push_dynamic(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); + NK_ASSERT(layout->row.columns < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); + if (layout->row.type != NK_LAYOUT_TEMPLATE) return; + if (layout->row.columns >= NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS) return; + layout->row.templates[layout->row.columns++] = -1.0f; +} +NK_API void +nk_layout_row_template_push_variable(struct nk_context *ctx, float min_width) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); + NK_ASSERT(layout->row.columns < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); + if (layout->row.type != NK_LAYOUT_TEMPLATE) return; + if (layout->row.columns >= NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS) return; + layout->row.templates[layout->row.columns++] = -min_width; +} +NK_API void +nk_layout_row_template_push_static(struct nk_context *ctx, float width) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); + NK_ASSERT(layout->row.columns < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); + if (layout->row.type != NK_LAYOUT_TEMPLATE) return; + if (layout->row.columns >= NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS) return; + layout->row.templates[layout->row.columns++] = width; +} +NK_API void +nk_layout_row_template_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + + int i = 0; + int variable_count = 0; + int min_variable_count = 0; + float min_fixed_width = 0.0f; + float total_fixed_width = 0.0f; + float max_variable_width = 0.0f; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); + if (layout->row.type != NK_LAYOUT_TEMPLATE) return; + for (i = 0; i < layout->row.columns; ++i) { + float width = layout->row.templates[i]; + if (width >= 0.0f) { + total_fixed_width += width; + min_fixed_width += width; + } else if (width < -1.0f) { + width = -width; + total_fixed_width += width; + max_variable_width = NK_MAX(max_variable_width, width); + variable_count++; + } else { + min_variable_count++; + variable_count++; + } + } + if (variable_count) { + float space = nk_layout_row_calculate_usable_space(&ctx->style, layout->type, + layout->bounds.w, layout->row.columns); + float var_width = (NK_MAX(space-min_fixed_width,0.0f)) / (float)variable_count; + int enough_space = var_width >= max_variable_width; + if (!enough_space) + var_width = (NK_MAX(space-total_fixed_width,0)) / (float)min_variable_count; + for (i = 0; i < layout->row.columns; ++i) { + float *width = &layout->row.templates[i]; + *width = (*width >= 0.0f)? *width: (*width < -1.0f && !enough_space)? -(*width): var_width; + } + } +} +NK_API void +nk_layout_space_begin(struct nk_context *ctx, enum nk_layout_format fmt, + float height, int widget_count) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + nk_panel_layout(ctx, win, height, widget_count); + if (fmt == NK_STATIC) + layout->row.type = NK_LAYOUT_STATIC_FREE; + else layout->row.type = NK_LAYOUT_DYNAMIC_FREE; + + layout->row.ratio = 0; + layout->row.filled = 0; + layout->row.item_width = 0; + layout->row.item_offset = 0; +} +NK_API void +nk_layout_space_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + layout->row.item_width = 0; + layout->row.item_height = 0; + layout->row.item_offset = 0; + nk_zero(&layout->row.item, sizeof(layout->row.item)); +} +NK_API void +nk_layout_space_push(struct nk_context *ctx, struct nk_rect rect) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + layout->row.item = rect; +} +NK_API struct nk_rect +nk_layout_space_bounds(struct nk_context *ctx) +{ + struct nk_rect ret; + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + win = ctx->current; + layout = win->layout; + + ret.x = layout->clip.x; + ret.y = layout->clip.y; + ret.w = layout->clip.w; + ret.h = layout->row.height; + return ret; +} +NK_API struct nk_rect +nk_layout_widget_bounds(struct nk_context *ctx) +{ + struct nk_rect ret; + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + win = ctx->current; + layout = win->layout; + + ret.x = layout->at_x; + ret.y = layout->at_y; + ret.w = layout->bounds.w - NK_MAX(layout->at_x - layout->bounds.x,0); + ret.h = layout->row.height; + return ret; +} +NK_API struct nk_vec2 +nk_layout_space_to_screen(struct nk_context *ctx, struct nk_vec2 ret) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + win = ctx->current; + layout = win->layout; + + ret.x += layout->at_x - (float)*layout->offset_x; + ret.y += layout->at_y - (float)*layout->offset_y; + return ret; +} +NK_API struct nk_vec2 +nk_layout_space_to_local(struct nk_context *ctx, struct nk_vec2 ret) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + win = ctx->current; + layout = win->layout; + + ret.x += -layout->at_x + (float)*layout->offset_x; + ret.y += -layout->at_y + (float)*layout->offset_y; + return ret; +} +NK_API struct nk_rect +nk_layout_space_rect_to_screen(struct nk_context *ctx, struct nk_rect ret) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + win = ctx->current; + layout = win->layout; + + ret.x += layout->at_x - (float)*layout->offset_x; + ret.y += layout->at_y - (float)*layout->offset_y; + return ret; +} +NK_API struct nk_rect +nk_layout_space_rect_to_local(struct nk_context *ctx, struct nk_rect ret) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + win = ctx->current; + layout = win->layout; + + ret.x += -layout->at_x + (float)*layout->offset_x; + ret.y += -layout->at_y + (float)*layout->offset_y; + return ret; +} +NK_LIB void +nk_panel_alloc_row(const struct nk_context *ctx, struct nk_window *win) +{ + struct nk_panel *layout = win->layout; + struct nk_vec2 spacing = ctx->style.window.spacing; + const float row_height = layout->row.height - spacing.y; + nk_panel_layout(ctx, win, row_height, layout->row.columns); +} +NK_LIB void +nk_layout_widget_space(struct nk_rect *bounds, const struct nk_context *ctx, + struct nk_window *win, int modify) +{ + struct nk_panel *layout; + const struct nk_style *style; + + struct nk_vec2 spacing; + + float item_offset = 0; + float item_width = 0; + float item_spacing = 0; + float panel_space = 0; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + style = &ctx->style; + NK_ASSERT(bounds); + + spacing = style->window.spacing; + panel_space = nk_layout_row_calculate_usable_space(&ctx->style, layout->type, + layout->bounds.w, layout->row.columns); + + #define NK_FRAC(x) (x - (float)(int)x) /* will be used to remove fookin gaps */ + /* calculate the width of one item inside the current layout space */ + switch (layout->row.type) { + case NK_LAYOUT_DYNAMIC_FIXED: { + /* scaling fixed size widgets item width */ + float w = NK_MAX(1.0f,panel_space) / (float)layout->row.columns; + item_offset = (float)layout->row.index * w; + item_width = w + NK_FRAC(item_offset); + item_spacing = (float)layout->row.index * spacing.x; + } break; + case NK_LAYOUT_DYNAMIC_ROW: { + /* scaling single ratio widget width */ + float w = layout->row.item_width * panel_space; + item_offset = layout->row.item_offset; + item_width = w + NK_FRAC(item_offset); + item_spacing = 0; + + if (modify) { + layout->row.item_offset += w + spacing.x; + layout->row.filled += layout->row.item_width; + layout->row.index = 0; + } + } break; + case NK_LAYOUT_DYNAMIC_FREE: { + /* panel width depended free widget placing */ + bounds->x = layout->at_x + (layout->bounds.w * layout->row.item.x); + bounds->x -= (float)*layout->offset_x; + bounds->y = layout->at_y + (layout->row.height * layout->row.item.y); + bounds->y -= (float)*layout->offset_y; + bounds->w = layout->bounds.w * layout->row.item.w + NK_FRAC(bounds->x); + bounds->h = layout->row.height * layout->row.item.h + NK_FRAC(bounds->y); + return; + } + case NK_LAYOUT_DYNAMIC: { + /* scaling arrays of panel width ratios for every widget */ + float ratio, w; + NK_ASSERT(layout->row.ratio); + ratio = (layout->row.ratio[layout->row.index] < 0) ? + layout->row.item_width : layout->row.ratio[layout->row.index]; + + w = (ratio * panel_space); + item_spacing = (float)layout->row.index * spacing.x; + item_offset = layout->row.item_offset; + item_width = w + NK_FRAC(item_offset); + + if (modify) { + layout->row.item_offset += w; + layout->row.filled += ratio; + } + } break; + case NK_LAYOUT_STATIC_FIXED: { + /* non-scaling fixed widgets item width */ + item_width = layout->row.item_width; + item_offset = (float)layout->row.index * item_width; + item_spacing = (float)layout->row.index * spacing.x; + } break; + case NK_LAYOUT_STATIC_ROW: { + /* scaling single ratio widget width */ + item_width = layout->row.item_width; + item_offset = layout->row.item_offset; + item_spacing = (float)layout->row.index * spacing.x; + if (modify) layout->row.item_offset += item_width; + } break; + case NK_LAYOUT_STATIC_FREE: { + /* free widget placing */ + bounds->x = layout->at_x + layout->row.item.x; + bounds->w = layout->row.item.w; + if (((bounds->x + bounds->w) > layout->max_x) && modify) + layout->max_x = (bounds->x + bounds->w); + bounds->x -= (float)*layout->offset_x; + bounds->y = layout->at_y + layout->row.item.y; + bounds->y -= (float)*layout->offset_y; + bounds->h = layout->row.item.h; + return; + } + case NK_LAYOUT_STATIC: { + /* non-scaling array of panel pixel width for every widget */ + item_spacing = (float)layout->row.index * spacing.x; + item_width = layout->row.ratio[layout->row.index]; + item_offset = layout->row.item_offset; + if (modify) layout->row.item_offset += item_width; + } break; + case NK_LAYOUT_TEMPLATE: { + /* stretchy row layout with combined dynamic/static widget width*/ + float w; + NK_ASSERT(layout->row.index < layout->row.columns); + NK_ASSERT(layout->row.index < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); + w = layout->row.templates[layout->row.index]; + item_offset = layout->row.item_offset; + item_width = w + NK_FRAC(item_offset); + item_spacing = (float)layout->row.index * spacing.x; + if (modify) layout->row.item_offset += w; + } break; + #undef NK_FRAC + default: NK_ASSERT(0); break; + }; + + /* set the bounds of the newly allocated widget */ + bounds->w = item_width; + bounds->h = layout->row.height - spacing.y; + bounds->y = layout->at_y - (float)*layout->offset_y; + bounds->x = layout->at_x + item_offset + item_spacing; + if (((bounds->x + bounds->w) > layout->max_x) && modify) + layout->max_x = bounds->x + bounds->w; + bounds->x -= (float)*layout->offset_x; +} +NK_LIB void +nk_panel_alloc_space(struct nk_rect *bounds, const struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + /* check if the end of the row has been hit and begin new row if so */ + win = ctx->current; + layout = win->layout; + if (layout->row.index >= layout->row.columns) + nk_panel_alloc_row(ctx, win); + + /* calculate widget position and size */ + nk_layout_widget_space(bounds, ctx, win, nk_true); + layout->row.index++; +} +NK_LIB void +nk_layout_peek(struct nk_rect *bounds, struct nk_context *ctx) +{ + float y; + int index; + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) { + *bounds = nk_rect(0,0,0,0); + return; + } + + win = ctx->current; + layout = win->layout; + y = layout->at_y; + index = layout->row.index; + if (layout->row.index >= layout->row.columns) { + layout->at_y += layout->row.height; + layout->row.index = 0; + } + nk_layout_widget_space(bounds, ctx, win, nk_false); + if (!layout->row.index) { + bounds->x -= layout->row.item_offset; + } + layout->at_y = y; + layout->row.index = index; +} +NK_API void +nk_spacer(struct nk_context *ctx ) +{ + struct nk_rect dummy_rect = { 0, 0, 0, 0 }; + nk_panel_alloc_space( &dummy_rect, ctx ); +} + + + + +/* =============================================================== + * + * TREE + * + * ===============================================================*/ +NK_INTERN int +nk_tree_state_base(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image *img, const char *title, enum nk_collapse_states *state) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_style *style; + struct nk_command_buffer *out; + const struct nk_input *in; + const struct nk_style_button *button; + enum nk_symbol_type symbol; + float row_height; + + struct nk_vec2 item_spacing; + struct nk_rect header = {0,0,0,0}; + struct nk_rect sym = {0,0,0,0}; + struct nk_text text; + + nk_flags ws = 0; + enum nk_widget_layout_states widget_state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + /* cache some data */ + win = ctx->current; + layout = win->layout; + out = &win->buffer; + style = &ctx->style; + item_spacing = style->window.spacing; + + /* calculate header bounds and draw background */ + row_height = style->font->height + 2 * style->tab.padding.y; + nk_layout_set_min_row_height(ctx, row_height); + nk_layout_row_dynamic(ctx, row_height, 1); + nk_layout_reset_min_row_height(ctx); + + widget_state = nk_widget(&header, ctx); + if (type == NK_TREE_TAB) { + const struct nk_style_item *background = &style->tab.background; + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, header, 0, style->tab.border_color); + nk_fill_rect(out, nk_shrink_rect(header, style->tab.border), + style->tab.rounding, background->data.color); + break; + } + } else text.background = style->window.background; + + /* update node state */ + in = (!(layout->flags & NK_WINDOW_ROM)) ? &ctx->input: 0; + in = (in && widget_state == NK_WIDGET_VALID) ? &ctx->input : 0; + if (nk_button_behavior(&ws, header, in, NK_BUTTON_DEFAULT)) + *state = (*state == NK_MAXIMIZED) ? NK_MINIMIZED : NK_MAXIMIZED; + + /* select correct button style */ + if (*state == NK_MAXIMIZED) { + symbol = style->tab.sym_maximize; + if (type == NK_TREE_TAB) + button = &style->tab.tab_maximize_button; + else button = &style->tab.node_maximize_button; + } else { + symbol = style->tab.sym_minimize; + if (type == NK_TREE_TAB) + button = &style->tab.tab_minimize_button; + else button = &style->tab.node_minimize_button; + } + + {/* draw triangle button */ + sym.w = sym.h = style->font->height; + sym.y = header.y + style->tab.padding.y; + sym.x = header.x + style->tab.padding.x; + nk_do_button_symbol(&ws, &win->buffer, sym, symbol, NK_BUTTON_DEFAULT, + button, 0, style->font); + + if (img) { + /* draw optional image icon */ + sym.x = sym.x + sym.w + 4 * item_spacing.x; + nk_draw_image(&win->buffer, sym, img, nk_white); + sym.w = style->font->height + style->tab.spacing.x;} + } + + {/* draw label */ + struct nk_rect label; + header.w = NK_MAX(header.w, sym.w + item_spacing.x); + label.x = sym.x + sym.w + item_spacing.x; + label.y = sym.y; + label.w = header.w - (sym.w + item_spacing.y + style->tab.indent); + label.h = style->font->height; + text.text = style->tab.text; + text.padding = nk_vec2(0,0); + nk_widget_text(out, label, title, nk_strlen(title), &text, + NK_TEXT_LEFT, style->font);} + + /* increase x-axis cursor widget position pointer */ + if (*state == NK_MAXIMIZED) { + layout->at_x = header.x + (float)*layout->offset_x + style->tab.indent; + layout->bounds.w = NK_MAX(layout->bounds.w, style->tab.indent); + layout->bounds.w -= (style->tab.indent + style->window.padding.x); + layout->row.tree_depth++; + return nk_true; + } else return nk_false; +} +NK_INTERN int +nk_tree_base(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image *img, const char *title, enum nk_collapse_states initial_state, + const char *hash, int len, int line) +{ + struct nk_window *win = ctx->current; + int title_len = 0; + nk_hash tree_hash = 0; + nk_uint *state = 0; + + /* retrieve tree state from internal widget state tables */ + if (!hash) { + title_len = (int)nk_strlen(title); + tree_hash = nk_murmur_hash(title, (int)title_len, (nk_hash)line); + } else tree_hash = nk_murmur_hash(hash, len, (nk_hash)line); + state = nk_find_value(win, tree_hash); + if (!state) { + state = nk_add_value(ctx, win, tree_hash, 0); + *state = initial_state; + } + return nk_tree_state_base(ctx, type, img, title, (enum nk_collapse_states*)state); +} +NK_API nk_bool +nk_tree_state_push(struct nk_context *ctx, enum nk_tree_type type, + const char *title, enum nk_collapse_states *state) +{ + return nk_tree_state_base(ctx, type, 0, title, state); +} +NK_API nk_bool +nk_tree_state_image_push(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image img, const char *title, enum nk_collapse_states *state) +{ + return nk_tree_state_base(ctx, type, &img, title, state); +} +NK_API void +nk_tree_state_pop(struct nk_context *ctx) +{ + struct nk_window *win = 0; + struct nk_panel *layout = 0; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + layout->at_x -= ctx->style.tab.indent + (float)*layout->offset_x; + layout->bounds.w += ctx->style.tab.indent + ctx->style.window.padding.x; + NK_ASSERT(layout->row.tree_depth); + layout->row.tree_depth--; +} +NK_API nk_bool +nk_tree_push_hashed(struct nk_context *ctx, enum nk_tree_type type, + const char *title, enum nk_collapse_states initial_state, + const char *hash, int len, int line) +{ + return nk_tree_base(ctx, type, 0, title, initial_state, hash, len, line); +} +NK_API nk_bool +nk_tree_image_push_hashed(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image img, const char *title, enum nk_collapse_states initial_state, + const char *hash, int len,int seed) +{ + return nk_tree_base(ctx, type, &img, title, initial_state, hash, len, seed); +} +NK_API void +nk_tree_pop(struct nk_context *ctx) +{ + nk_tree_state_pop(ctx); +} +NK_INTERN int +nk_tree_element_image_push_hashed_base(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image *img, const char *title, int title_len, + enum nk_collapse_states *state, nk_bool *selected) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_style *style; + struct nk_command_buffer *out; + const struct nk_input *in; + const struct nk_style_button *button; + enum nk_symbol_type symbol; + float row_height; + struct nk_vec2 padding; + + int text_len; + float text_width; + + struct nk_vec2 item_spacing; + struct nk_rect header = {0,0,0,0}; + struct nk_rect sym = {0,0,0,0}; + + nk_flags ws = 0; + enum nk_widget_layout_states widget_state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + /* cache some data */ + win = ctx->current; + layout = win->layout; + out = &win->buffer; + style = &ctx->style; + item_spacing = style->window.spacing; + padding = style->selectable.padding; + + /* calculate header bounds and draw background */ + row_height = style->font->height + 2 * style->tab.padding.y; + nk_layout_set_min_row_height(ctx, row_height); + nk_layout_row_dynamic(ctx, row_height, 1); + nk_layout_reset_min_row_height(ctx); + + widget_state = nk_widget(&header, ctx); + if (type == NK_TREE_TAB) { + const struct nk_style_item *background = &style->tab.background; + + switch (background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, header, 0, style->tab.border_color); + nk_fill_rect(out, nk_shrink_rect(header, style->tab.border), + style->tab.rounding, background->data.color); + break; + } + } + + in = (!(layout->flags & NK_WINDOW_ROM)) ? &ctx->input: 0; + in = (in && widget_state == NK_WIDGET_VALID) ? &ctx->input : 0; + + /* select correct button style */ + if (*state == NK_MAXIMIZED) { + symbol = style->tab.sym_maximize; + if (type == NK_TREE_TAB) + button = &style->tab.tab_maximize_button; + else button = &style->tab.node_maximize_button; + } else { + symbol = style->tab.sym_minimize; + if (type == NK_TREE_TAB) + button = &style->tab.tab_minimize_button; + else button = &style->tab.node_minimize_button; + } + {/* draw triangle button */ + sym.w = sym.h = style->font->height; + sym.y = header.y + style->tab.padding.y; + sym.x = header.x + style->tab.padding.x; + if (nk_do_button_symbol(&ws, &win->buffer, sym, symbol, NK_BUTTON_DEFAULT, button, in, style->font)) + *state = (*state == NK_MAXIMIZED) ? NK_MINIMIZED : NK_MAXIMIZED;} + + /* draw label */ + {nk_flags dummy = 0; + struct nk_rect label; + /* calculate size of the text and tooltip */ + text_len = nk_strlen(title); + text_width = style->font->width(style->font->userdata, style->font->height, title, text_len); + text_width += (4 * padding.x); + + header.w = NK_MAX(header.w, sym.w + item_spacing.x); + label.x = sym.x + sym.w + item_spacing.x; + label.y = sym.y; + label.w = NK_MIN(header.w - (sym.w + item_spacing.y + style->tab.indent), text_width); + label.h = style->font->height; + + if (img) { + nk_do_selectable_image(&dummy, &win->buffer, label, title, title_len, NK_TEXT_LEFT, + selected, img, &style->selectable, in, style->font); + } else nk_do_selectable(&dummy, &win->buffer, label, title, title_len, NK_TEXT_LEFT, + selected, &style->selectable, in, style->font); + } + /* increase x-axis cursor widget position pointer */ + if (*state == NK_MAXIMIZED) { + layout->at_x = header.x + (float)*layout->offset_x + style->tab.indent; + layout->bounds.w = NK_MAX(layout->bounds.w, style->tab.indent); + layout->bounds.w -= (style->tab.indent + style->window.padding.x); + layout->row.tree_depth++; + return nk_true; + } else return nk_false; +} +NK_INTERN int +nk_tree_element_base(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image *img, const char *title, enum nk_collapse_states initial_state, + nk_bool *selected, const char *hash, int len, int line) +{ + struct nk_window *win = ctx->current; + int title_len = 0; + nk_hash tree_hash = 0; + nk_uint *state = 0; + + /* retrieve tree state from internal widget state tables */ + if (!hash) { + title_len = (int)nk_strlen(title); + tree_hash = nk_murmur_hash(title, (int)title_len, (nk_hash)line); + } else tree_hash = nk_murmur_hash(hash, len, (nk_hash)line); + state = nk_find_value(win, tree_hash); + if (!state) { + state = nk_add_value(ctx, win, tree_hash, 0); + *state = initial_state; + } return nk_tree_element_image_push_hashed_base(ctx, type, img, title, + nk_strlen(title), (enum nk_collapse_states*)state, selected); +} +NK_API nk_bool +nk_tree_element_push_hashed(struct nk_context *ctx, enum nk_tree_type type, + const char *title, enum nk_collapse_states initial_state, + nk_bool *selected, const char *hash, int len, int seed) +{ + return nk_tree_element_base(ctx, type, 0, title, initial_state, selected, hash, len, seed); +} +NK_API nk_bool +nk_tree_element_image_push_hashed(struct nk_context *ctx, enum nk_tree_type type, + struct nk_image img, const char *title, enum nk_collapse_states initial_state, + nk_bool *selected, const char *hash, int len,int seed) +{ + return nk_tree_element_base(ctx, type, &img, title, initial_state, selected, hash, len, seed); +} +NK_API void +nk_tree_element_pop(struct nk_context *ctx) +{ + nk_tree_state_pop(ctx); +} + + + + + +/* =============================================================== + * + * GROUP + * + * ===============================================================*/ +NK_API nk_bool +nk_group_scrolled_offset_begin(struct nk_context *ctx, + nk_uint *x_offset, nk_uint *y_offset, const char *title, nk_flags flags) +{ + struct nk_rect bounds; + struct nk_window panel; + struct nk_window *win; + + win = ctx->current; + nk_panel_alloc_space(&bounds, ctx); + {const struct nk_rect *c = &win->layout->clip; + if (!NK_INTERSECT(c->x, c->y, c->w, c->h, bounds.x, bounds.y, bounds.w, bounds.h) && + !(flags & NK_WINDOW_MOVABLE)) { + return 0; + }} + if (win->flags & NK_WINDOW_ROM) + flags |= NK_WINDOW_ROM; + + /* initialize a fake window to create the panel from */ + nk_zero(&panel, sizeof(panel)); + panel.bounds = bounds; + panel.flags = flags; + panel.scrollbar.x = *x_offset; + panel.scrollbar.y = *y_offset; + panel.buffer = win->buffer; + panel.layout = (struct nk_panel*)nk_create_panel(ctx); + ctx->current = &panel; + nk_panel_begin(ctx, (flags & NK_WINDOW_TITLE) ? title: 0, NK_PANEL_GROUP); + + win->buffer = panel.buffer; + win->buffer.clip = panel.layout->clip; + panel.layout->offset_x = x_offset; + panel.layout->offset_y = y_offset; + panel.layout->parent = win->layout; + win->layout = panel.layout; + + ctx->current = win; + if ((panel.layout->flags & NK_WINDOW_CLOSED) || + (panel.layout->flags & NK_WINDOW_MINIMIZED)) + { + nk_flags f = panel.layout->flags; + nk_group_scrolled_end(ctx); + if (f & NK_WINDOW_CLOSED) + return NK_WINDOW_CLOSED; + if (f & NK_WINDOW_MINIMIZED) + return NK_WINDOW_MINIMIZED; + } + return 1; +} +NK_API void +nk_group_scrolled_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_panel *parent; + struct nk_panel *g; + + struct nk_rect clip; + struct nk_window pan; + struct nk_vec2 panel_padding; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return; + + /* make sure nk_group_begin was called correctly */ + NK_ASSERT(ctx->current); + win = ctx->current; + NK_ASSERT(win->layout); + g = win->layout; + NK_ASSERT(g->parent); + parent = g->parent; + + /* dummy window */ + nk_zero_struct(pan); + panel_padding = nk_panel_get_padding(&ctx->style, NK_PANEL_GROUP); + pan.bounds.y = g->bounds.y - (g->header_height + g->menu.h); + pan.bounds.x = g->bounds.x - panel_padding.x; + pan.bounds.w = g->bounds.w + 2 * panel_padding.x; + pan.bounds.h = g->bounds.h + g->header_height + g->menu.h; + if (g->flags & NK_WINDOW_BORDER) { + pan.bounds.x -= g->border; + pan.bounds.y -= g->border; + pan.bounds.w += 2*g->border; + pan.bounds.h += 2*g->border; + } + if (!(g->flags & NK_WINDOW_NO_SCROLLBAR)) { + pan.bounds.w += ctx->style.window.scrollbar_size.x; + pan.bounds.h += ctx->style.window.scrollbar_size.y; + } + pan.scrollbar.x = *g->offset_x; + pan.scrollbar.y = *g->offset_y; + pan.flags = g->flags; + pan.buffer = win->buffer; + pan.layout = g; + pan.parent = win; + ctx->current = &pan; + + /* make sure group has correct clipping rectangle */ + nk_unify(&clip, &parent->clip, pan.bounds.x, pan.bounds.y, + pan.bounds.x + pan.bounds.w, pan.bounds.y + pan.bounds.h + panel_padding.x); + nk_push_scissor(&pan.buffer, clip); + nk_end(ctx); + + win->buffer = pan.buffer; + nk_push_scissor(&win->buffer, parent->clip); + ctx->current = win; + win->layout = parent; + g->bounds = pan.bounds; + return; +} +NK_API nk_bool +nk_group_scrolled_begin(struct nk_context *ctx, + struct nk_scroll *scroll, const char *title, nk_flags flags) +{ + return nk_group_scrolled_offset_begin(ctx, &scroll->x, &scroll->y, title, flags); +} +NK_API nk_bool +nk_group_begin_titled(struct nk_context *ctx, const char *id, + const char *title, nk_flags flags) +{ + int id_len; + nk_hash id_hash; + struct nk_window *win; + nk_uint *x_offset; + nk_uint *y_offset; + + NK_ASSERT(ctx); + NK_ASSERT(id); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !id) + return 0; + + /* find persistent group scrollbar value */ + win = ctx->current; + id_len = (int)nk_strlen(id); + id_hash = nk_murmur_hash(id, (int)id_len, NK_PANEL_GROUP); + x_offset = nk_find_value(win, id_hash); + if (!x_offset) { + x_offset = nk_add_value(ctx, win, id_hash, 0); + y_offset = nk_add_value(ctx, win, id_hash+1, 0); + + NK_ASSERT(x_offset); + NK_ASSERT(y_offset); + if (!x_offset || !y_offset) return 0; + *x_offset = *y_offset = 0; + } else y_offset = nk_find_value(win, id_hash+1); + return nk_group_scrolled_offset_begin(ctx, x_offset, y_offset, title, flags); +} +NK_API nk_bool +nk_group_begin(struct nk_context *ctx, const char *title, nk_flags flags) +{ + return nk_group_begin_titled(ctx, title, title, flags); +} +NK_API void +nk_group_end(struct nk_context *ctx) +{ + nk_group_scrolled_end(ctx); +} +NK_API void +nk_group_get_scroll(struct nk_context *ctx, const char *id, nk_uint *x_offset, nk_uint *y_offset) +{ + int id_len; + nk_hash id_hash; + struct nk_window *win; + nk_uint *x_offset_ptr; + nk_uint *y_offset_ptr; + + NK_ASSERT(ctx); + NK_ASSERT(id); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !id) + return; + + /* find persistent group scrollbar value */ + win = ctx->current; + id_len = (int)nk_strlen(id); + id_hash = nk_murmur_hash(id, (int)id_len, NK_PANEL_GROUP); + x_offset_ptr = nk_find_value(win, id_hash); + if (!x_offset_ptr) { + x_offset_ptr = nk_add_value(ctx, win, id_hash, 0); + y_offset_ptr = nk_add_value(ctx, win, id_hash+1, 0); + + NK_ASSERT(x_offset_ptr); + NK_ASSERT(y_offset_ptr); + if (!x_offset_ptr || !y_offset_ptr) return; + *x_offset_ptr = *y_offset_ptr = 0; + } else y_offset_ptr = nk_find_value(win, id_hash+1); + if (x_offset) + *x_offset = *x_offset_ptr; + if (y_offset) + *y_offset = *y_offset_ptr; +} +NK_API void +nk_group_set_scroll(struct nk_context *ctx, const char *id, nk_uint x_offset, nk_uint y_offset) +{ + int id_len; + nk_hash id_hash; + struct nk_window *win; + nk_uint *x_offset_ptr; + nk_uint *y_offset_ptr; + + NK_ASSERT(ctx); + NK_ASSERT(id); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !id) + return; + + /* find persistent group scrollbar value */ + win = ctx->current; + id_len = (int)nk_strlen(id); + id_hash = nk_murmur_hash(id, (int)id_len, NK_PANEL_GROUP); + x_offset_ptr = nk_find_value(win, id_hash); + if (!x_offset_ptr) { + x_offset_ptr = nk_add_value(ctx, win, id_hash, 0); + y_offset_ptr = nk_add_value(ctx, win, id_hash+1, 0); + + NK_ASSERT(x_offset_ptr); + NK_ASSERT(y_offset_ptr); + if (!x_offset_ptr || !y_offset_ptr) return; + *x_offset_ptr = *y_offset_ptr = 0; + } else y_offset_ptr = nk_find_value(win, id_hash+1); + *x_offset_ptr = x_offset; + *y_offset_ptr = y_offset; +} + + + + +/* =============================================================== + * + * LIST VIEW + * + * ===============================================================*/ +NK_API nk_bool +nk_list_view_begin(struct nk_context *ctx, struct nk_list_view *view, + const char *title, nk_flags flags, int row_height, int row_count) +{ + int title_len; + nk_hash title_hash; + nk_uint *x_offset; + nk_uint *y_offset; + + int result; + struct nk_window *win; + struct nk_panel *layout; + const struct nk_style *style; + struct nk_vec2 item_spacing; + + NK_ASSERT(ctx); + NK_ASSERT(view); + NK_ASSERT(title); + if (!ctx || !view || !title) return 0; + + win = ctx->current; + style = &ctx->style; + item_spacing = style->window.spacing; + row_height += NK_MAX(0, (int)item_spacing.y); + + /* find persistent list view scrollbar offset */ + title_len = (int)nk_strlen(title); + title_hash = nk_murmur_hash(title, (int)title_len, NK_PANEL_GROUP); + x_offset = nk_find_value(win, title_hash); + if (!x_offset) { + x_offset = nk_add_value(ctx, win, title_hash, 0); + y_offset = nk_add_value(ctx, win, title_hash+1, 0); + + NK_ASSERT(x_offset); + NK_ASSERT(y_offset); + if (!x_offset || !y_offset) return 0; + *x_offset = *y_offset = 0; + } else y_offset = nk_find_value(win, title_hash+1); + view->scroll_value = *y_offset; + view->scroll_pointer = y_offset; + + *y_offset = 0; + result = nk_group_scrolled_offset_begin(ctx, x_offset, y_offset, title, flags); + win = ctx->current; + layout = win->layout; + + view->total_height = row_height * NK_MAX(row_count,1); + view->begin = (int)NK_MAX(((float)view->scroll_value / (float)row_height), 0.0f); + view->count = (int)NK_MAX(nk_iceilf((layout->clip.h)/(float)row_height),0); + view->count = NK_MIN(view->count, row_count - view->begin); + view->end = view->begin + view->count; + view->ctx = ctx; + return result; +} +NK_API void +nk_list_view_end(struct nk_list_view *view) +{ + struct nk_context *ctx; + struct nk_window *win; + struct nk_panel *layout; + + NK_ASSERT(view); + NK_ASSERT(view->ctx); + NK_ASSERT(view->scroll_pointer); + if (!view || !view->ctx) return; + + ctx = view->ctx; + win = ctx->current; + layout = win->layout; + layout->at_y = layout->bounds.y + (float)view->total_height; + *view->scroll_pointer = *view->scroll_pointer + view->scroll_value; + nk_group_end(view->ctx); +} + + + + + +/* =============================================================== + * + * WIDGET + * + * ===============================================================*/ +NK_API struct nk_rect +nk_widget_bounds(struct nk_context *ctx) +{ + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return nk_rect(0,0,0,0); + nk_layout_peek(&bounds, ctx); + return bounds; +} +NK_API struct nk_vec2 +nk_widget_position(struct nk_context *ctx) +{ + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return nk_vec2(0,0); + + nk_layout_peek(&bounds, ctx); + return nk_vec2(bounds.x, bounds.y); +} +NK_API struct nk_vec2 +nk_widget_size(struct nk_context *ctx) +{ + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return nk_vec2(0,0); + + nk_layout_peek(&bounds, ctx); + return nk_vec2(bounds.w, bounds.h); +} +NK_API float +nk_widget_width(struct nk_context *ctx) +{ + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return 0; + + nk_layout_peek(&bounds, ctx); + return bounds.w; +} +NK_API float +nk_widget_height(struct nk_context *ctx) +{ + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return 0; + + nk_layout_peek(&bounds, ctx); + return bounds.h; +} +NK_API nk_bool +nk_widget_is_hovered(struct nk_context *ctx) +{ + struct nk_rect c, v; + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current || ctx->active != ctx->current) + return 0; + + c = ctx->current->layout->clip; + c.x = (float)((int)c.x); + c.y = (float)((int)c.y); + c.w = (float)((int)c.w); + c.h = (float)((int)c.h); + + nk_layout_peek(&bounds, ctx); + nk_unify(&v, &c, bounds.x, bounds.y, bounds.x + bounds.w, bounds.y + bounds.h); + if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds.x, bounds.y, bounds.w, bounds.h)) + return 0; + return nk_input_is_mouse_hovering_rect(&ctx->input, bounds); +} +NK_API nk_bool +nk_widget_is_mouse_clicked(struct nk_context *ctx, enum nk_buttons btn) +{ + struct nk_rect c, v; + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current || ctx->active != ctx->current) + return 0; + + c = ctx->current->layout->clip; + c.x = (float)((int)c.x); + c.y = (float)((int)c.y); + c.w = (float)((int)c.w); + c.h = (float)((int)c.h); + + nk_layout_peek(&bounds, ctx); + nk_unify(&v, &c, bounds.x, bounds.y, bounds.x + bounds.w, bounds.y + bounds.h); + if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds.x, bounds.y, bounds.w, bounds.h)) + return 0; + return nk_input_mouse_clicked(&ctx->input, btn, bounds); +} +NK_API nk_bool +nk_widget_has_mouse_click_down(struct nk_context *ctx, enum nk_buttons btn, nk_bool down) +{ + struct nk_rect c, v; + struct nk_rect bounds; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current || ctx->active != ctx->current) + return 0; + + c = ctx->current->layout->clip; + c.x = (float)((int)c.x); + c.y = (float)((int)c.y); + c.w = (float)((int)c.w); + c.h = (float)((int)c.h); + + nk_layout_peek(&bounds, ctx); + nk_unify(&v, &c, bounds.x, bounds.y, bounds.x + bounds.w, bounds.y + bounds.h); + if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds.x, bounds.y, bounds.w, bounds.h)) + return 0; + return nk_input_has_mouse_click_down_in_rect(&ctx->input, btn, bounds, down); +} +NK_API enum nk_widget_layout_states +nk_widget(struct nk_rect *bounds, const struct nk_context *ctx) +{ + struct nk_rect c, v; + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return NK_WIDGET_INVALID; + + /* allocate space and check if the widget needs to be updated and drawn */ + nk_panel_alloc_space(bounds, ctx); + win = ctx->current; + layout = win->layout; + in = &ctx->input; + c = layout->clip; + + /* if one of these triggers you forgot to add an `if` condition around either + a window, group, popup, combobox or contextual menu `begin` and `end` block. + Example: + if (nk_begin(...) {...} nk_end(...); or + if (nk_group_begin(...) { nk_group_end(...);} */ + NK_ASSERT(!(layout->flags & NK_WINDOW_MINIMIZED)); + NK_ASSERT(!(layout->flags & NK_WINDOW_HIDDEN)); + NK_ASSERT(!(layout->flags & NK_WINDOW_CLOSED)); + + /* need to convert to int here to remove floating point errors */ + bounds->x = (float)((int)bounds->x); + bounds->y = (float)((int)bounds->y); + bounds->w = (float)((int)bounds->w); + bounds->h = (float)((int)bounds->h); + + c.x = (float)((int)c.x); + c.y = (float)((int)c.y); + c.w = (float)((int)c.w); + c.h = (float)((int)c.h); + + nk_unify(&v, &c, bounds->x, bounds->y, bounds->x + bounds->w, bounds->y + bounds->h); + if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds->x, bounds->y, bounds->w, bounds->h)) + return NK_WIDGET_INVALID; + if (!NK_INBOX(in->mouse.pos.x, in->mouse.pos.y, v.x, v.y, v.w, v.h)) + return NK_WIDGET_ROM; + return NK_WIDGET_VALID; +} +NK_API enum nk_widget_layout_states +nk_widget_fitting(struct nk_rect *bounds, struct nk_context *ctx, + struct nk_vec2 item_padding) +{ + /* update the bounds to stand without padding */ + enum nk_widget_layout_states state; + NK_UNUSED(item_padding); + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return NK_WIDGET_INVALID; + + state = nk_widget(bounds, ctx); + return state; +} +NK_API void +nk_spacing(struct nk_context *ctx, int cols) +{ + struct nk_window *win; + struct nk_panel *layout; + struct nk_rect none; + int i, index, rows; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + /* spacing over row boundaries */ + win = ctx->current; + layout = win->layout; + index = (layout->row.index + cols) % layout->row.columns; + rows = (layout->row.index + cols) / layout->row.columns; + if (rows) { + for (i = 0; i < rows; ++i) + nk_panel_alloc_row(ctx, win); + cols = index; + } + /* non table layout need to allocate space */ + if (layout->row.type != NK_LAYOUT_DYNAMIC_FIXED && + layout->row.type != NK_LAYOUT_STATIC_FIXED) { + for (i = 0; i < cols; ++i) + nk_panel_alloc_space(&none, ctx); + } layout->row.index = index; +} + + + + + +/* =============================================================== + * + * TEXT + * + * ===============================================================*/ +NK_LIB void +nk_widget_text(struct nk_command_buffer *o, struct nk_rect b, + const char *string, int len, const struct nk_text *t, + nk_flags a, const struct nk_user_font *f) +{ + struct nk_rect label; + float text_width; + + NK_ASSERT(o); + NK_ASSERT(t); + if (!o || !t) return; + + b.h = NK_MAX(b.h, 2 * t->padding.y); + label.x = 0; label.w = 0; + label.y = b.y + t->padding.y; + label.h = NK_MIN(f->height, b.h - 2 * t->padding.y); + + text_width = f->width(f->userdata, f->height, (const char*)string, len); + text_width += (2.0f * t->padding.x); + + /* align in x-axis */ + if (a & NK_TEXT_ALIGN_LEFT) { + label.x = b.x + t->padding.x; + label.w = NK_MAX(0, b.w - 2 * t->padding.x); + } else if (a & NK_TEXT_ALIGN_CENTERED) { + label.w = NK_MAX(1, 2 * t->padding.x + (float)text_width); + label.x = (b.x + t->padding.x + ((b.w - 2 * t->padding.x) - label.w) / 2); + label.x = NK_MAX(b.x + t->padding.x, label.x); + label.w = NK_MIN(b.x + b.w, label.x + label.w); + if (label.w >= label.x) label.w -= label.x; + } else if (a & NK_TEXT_ALIGN_RIGHT) { + label.x = NK_MAX(b.x + t->padding.x, (b.x + b.w) - (2 * t->padding.x + (float)text_width)); + label.w = (float)text_width + 2 * t->padding.x; + } else return; + + /* align in y-axis */ + if (a & NK_TEXT_ALIGN_MIDDLE) { + label.y = b.y + b.h/2.0f - (float)f->height/2.0f; + label.h = NK_MAX(b.h/2.0f, b.h - (b.h/2.0f + f->height/2.0f)); + } else if (a & NK_TEXT_ALIGN_BOTTOM) { + label.y = b.y + b.h - f->height; + label.h = f->height; + } + nk_draw_text(o, label, (const char*)string, len, f, t->background, t->text); +} +NK_LIB void +nk_widget_text_wrap(struct nk_command_buffer *o, struct nk_rect b, + const char *string, int len, const struct nk_text *t, + const struct nk_user_font *f) +{ + float width; + int glyphs = 0; + int fitting = 0; + int done = 0; + struct nk_rect line; + struct nk_text text; + NK_INTERN nk_rune seperator[] = {' '}; + + NK_ASSERT(o); + NK_ASSERT(t); + if (!o || !t) return; + + text.padding = nk_vec2(0,0); + text.background = t->background; + text.text = t->text; + + b.w = NK_MAX(b.w, 2 * t->padding.x); + b.h = NK_MAX(b.h, 2 * t->padding.y); + b.h = b.h - 2 * t->padding.y; + + line.x = b.x + t->padding.x; + line.y = b.y + t->padding.y; + line.w = b.w - 2 * t->padding.x; + line.h = 2 * t->padding.y + f->height; + + fitting = nk_text_clamp(f, string, len, line.w, &glyphs, &width, seperator,NK_LEN(seperator)); + while (done < len) { + if (!fitting || line.y + line.h >= (b.y + b.h)) break; + nk_widget_text(o, line, &string[done], fitting, &text, NK_TEXT_LEFT, f); + done += fitting; + line.y += f->height + 2 * t->padding.y; + fitting = nk_text_clamp(f, &string[done], len - done, line.w, &glyphs, &width, seperator,NK_LEN(seperator)); + } +} +NK_API void +nk_text_colored(struct nk_context *ctx, const char *str, int len, + nk_flags alignment, struct nk_color color) +{ + struct nk_window *win; + const struct nk_style *style; + + struct nk_vec2 item_padding; + struct nk_rect bounds; + struct nk_text text; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) return; + + win = ctx->current; + style = &ctx->style; + nk_panel_alloc_space(&bounds, ctx); + item_padding = style->text.padding; + + text.padding.x = item_padding.x; + text.padding.y = item_padding.y; + text.background = style->window.background; + text.text = color; + nk_widget_text(&win->buffer, bounds, str, len, &text, alignment, style->font); +} +NK_API void +nk_text_wrap_colored(struct nk_context *ctx, const char *str, + int len, struct nk_color color) +{ + struct nk_window *win; + const struct nk_style *style; + + struct nk_vec2 item_padding; + struct nk_rect bounds; + struct nk_text text; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) return; + + win = ctx->current; + style = &ctx->style; + nk_panel_alloc_space(&bounds, ctx); + item_padding = style->text.padding; + + text.padding.x = item_padding.x; + text.padding.y = item_padding.y; + text.background = style->window.background; + text.text = color; + nk_widget_text_wrap(&win->buffer, bounds, str, len, &text, style->font); +} +#ifdef NK_INCLUDE_STANDARD_VARARGS +NK_API void +nk_labelf_colored(struct nk_context *ctx, nk_flags flags, + struct nk_color color, const char *fmt, ...) +{ + va_list args; + va_start(args, fmt); + nk_labelfv_colored(ctx, flags, color, fmt, args); + va_end(args); +} +NK_API void +nk_labelf_colored_wrap(struct nk_context *ctx, struct nk_color color, + const char *fmt, ...) +{ + va_list args; + va_start(args, fmt); + nk_labelfv_colored_wrap(ctx, color, fmt, args); + va_end(args); +} +NK_API void +nk_labelf(struct nk_context *ctx, nk_flags flags, const char *fmt, ...) +{ + va_list args; + va_start(args, fmt); + nk_labelfv(ctx, flags, fmt, args); + va_end(args); +} +NK_API void +nk_labelf_wrap(struct nk_context *ctx, const char *fmt,...) +{ + va_list args; + va_start(args, fmt); + nk_labelfv_wrap(ctx, fmt, args); + va_end(args); +} +NK_API void +nk_labelfv_colored(struct nk_context *ctx, nk_flags flags, + struct nk_color color, const char *fmt, va_list args) +{ + char buf[256]; + nk_strfmt(buf, NK_LEN(buf), fmt, args); + nk_label_colored(ctx, buf, flags, color); +} + +NK_API void +nk_labelfv_colored_wrap(struct nk_context *ctx, struct nk_color color, + const char *fmt, va_list args) +{ + char buf[256]; + nk_strfmt(buf, NK_LEN(buf), fmt, args); + nk_label_colored_wrap(ctx, buf, color); +} + +NK_API void +nk_labelfv(struct nk_context *ctx, nk_flags flags, const char *fmt, va_list args) +{ + char buf[256]; + nk_strfmt(buf, NK_LEN(buf), fmt, args); + nk_label(ctx, buf, flags); +} + +NK_API void +nk_labelfv_wrap(struct nk_context *ctx, const char *fmt, va_list args) +{ + char buf[256]; + nk_strfmt(buf, NK_LEN(buf), fmt, args); + nk_label_wrap(ctx, buf); +} + +NK_API void +nk_value_bool(struct nk_context *ctx, const char *prefix, int value) +{ + nk_labelf(ctx, NK_TEXT_LEFT, "%s: %s", prefix, ((value) ? "true": "false")); +} +NK_API void +nk_value_int(struct nk_context *ctx, const char *prefix, int value) +{ + nk_labelf(ctx, NK_TEXT_LEFT, "%s: %d", prefix, value); +} +NK_API void +nk_value_uint(struct nk_context *ctx, const char *prefix, unsigned int value) +{ + nk_labelf(ctx, NK_TEXT_LEFT, "%s: %u", prefix, value); +} +NK_API void +nk_value_float(struct nk_context *ctx, const char *prefix, float value) +{ + double double_value = (double)value; + nk_labelf(ctx, NK_TEXT_LEFT, "%s: %.3f", prefix, double_value); +} +NK_API void +nk_value_color_byte(struct nk_context *ctx, const char *p, struct nk_color c) +{ + nk_labelf(ctx, NK_TEXT_LEFT, "%s: (%d, %d, %d, %d)", p, c.r, c.g, c.b, c.a); +} +NK_API void +nk_value_color_float(struct nk_context *ctx, const char *p, struct nk_color color) +{ + double c[4]; nk_color_dv(c, color); + nk_labelf(ctx, NK_TEXT_LEFT, "%s: (%.2f, %.2f, %.2f, %.2f)", + p, c[0], c[1], c[2], c[3]); +} +NK_API void +nk_value_color_hex(struct nk_context *ctx, const char *prefix, struct nk_color color) +{ + char hex[16]; + nk_color_hex_rgba(hex, color); + nk_labelf(ctx, NK_TEXT_LEFT, "%s: %s", prefix, hex); +} +#endif +NK_API void +nk_text(struct nk_context *ctx, const char *str, int len, nk_flags alignment) +{ + NK_ASSERT(ctx); + if (!ctx) return; + nk_text_colored(ctx, str, len, alignment, ctx->style.text.color); +} +NK_API void +nk_text_wrap(struct nk_context *ctx, const char *str, int len) +{ + NK_ASSERT(ctx); + if (!ctx) return; + nk_text_wrap_colored(ctx, str, len, ctx->style.text.color); +} +NK_API void +nk_label(struct nk_context *ctx, const char *str, nk_flags alignment) +{ + nk_text(ctx, str, nk_strlen(str), alignment); +} +NK_API void +nk_label_colored(struct nk_context *ctx, const char *str, nk_flags align, + struct nk_color color) +{ + nk_text_colored(ctx, str, nk_strlen(str), align, color); +} +NK_API void +nk_label_wrap(struct nk_context *ctx, const char *str) +{ + nk_text_wrap(ctx, str, nk_strlen(str)); +} +NK_API void +nk_label_colored_wrap(struct nk_context *ctx, const char *str, struct nk_color color) +{ + nk_text_wrap_colored(ctx, str, nk_strlen(str), color); +} + + + + + +/* =============================================================== + * + * IMAGE + * + * ===============================================================*/ +NK_API nk_handle +nk_handle_ptr(void *ptr) +{ + nk_handle handle = {0}; + handle.ptr = ptr; + return handle; +} +NK_API nk_handle +nk_handle_id(int id) +{ + nk_handle handle; + nk_zero_struct(handle); + handle.id = id; + return handle; +} +NK_API struct nk_image +nk_subimage_ptr(void *ptr, nk_ushort w, nk_ushort h, struct nk_rect r) +{ + struct nk_image s; + nk_zero(&s, sizeof(s)); + s.handle.ptr = ptr; + s.w = w; s.h = h; + s.region[0] = (nk_ushort)r.x; + s.region[1] = (nk_ushort)r.y; + s.region[2] = (nk_ushort)r.w; + s.region[3] = (nk_ushort)r.h; + return s; +} +NK_API struct nk_image +nk_subimage_id(int id, nk_ushort w, nk_ushort h, struct nk_rect r) +{ + struct nk_image s; + nk_zero(&s, sizeof(s)); + s.handle.id = id; + s.w = w; s.h = h; + s.region[0] = (nk_ushort)r.x; + s.region[1] = (nk_ushort)r.y; + s.region[2] = (nk_ushort)r.w; + s.region[3] = (nk_ushort)r.h; + return s; +} +NK_API struct nk_image +nk_subimage_handle(nk_handle handle, nk_ushort w, nk_ushort h, struct nk_rect r) +{ + struct nk_image s; + nk_zero(&s, sizeof(s)); + s.handle = handle; + s.w = w; s.h = h; + s.region[0] = (nk_ushort)r.x; + s.region[1] = (nk_ushort)r.y; + s.region[2] = (nk_ushort)r.w; + s.region[3] = (nk_ushort)r.h; + return s; +} +NK_API struct nk_image +nk_image_handle(nk_handle handle) +{ + struct nk_image s; + nk_zero(&s, sizeof(s)); + s.handle = handle; + s.w = 0; s.h = 0; + s.region[0] = 0; + s.region[1] = 0; + s.region[2] = 0; + s.region[3] = 0; + return s; +} +NK_API struct nk_image +nk_image_ptr(void *ptr) +{ + struct nk_image s; + nk_zero(&s, sizeof(s)); + NK_ASSERT(ptr); + s.handle.ptr = ptr; + s.w = 0; s.h = 0; + s.region[0] = 0; + s.region[1] = 0; + s.region[2] = 0; + s.region[3] = 0; + return s; +} +NK_API struct nk_image +nk_image_id(int id) +{ + struct nk_image s; + nk_zero(&s, sizeof(s)); + s.handle.id = id; + s.w = 0; s.h = 0; + s.region[0] = 0; + s.region[1] = 0; + s.region[2] = 0; + s.region[3] = 0; + return s; +} +NK_API nk_bool +nk_image_is_subimage(const struct nk_image* img) +{ + NK_ASSERT(img); + return !(img->w == 0 && img->h == 0); +} +NK_API void +nk_image(struct nk_context *ctx, struct nk_image img) +{ + struct nk_window *win; + struct nk_rect bounds; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) return; + + win = ctx->current; + if (!nk_widget(&bounds, ctx)) return; + nk_draw_image(&win->buffer, bounds, &img, nk_white); +} +NK_API void +nk_image_color(struct nk_context *ctx, struct nk_image img, struct nk_color col) +{ + struct nk_window *win; + struct nk_rect bounds; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) return; + + win = ctx->current; + if (!nk_widget(&bounds, ctx)) return; + nk_draw_image(&win->buffer, bounds, &img, col); +} + + + + + +/* =============================================================== + * + * 9-SLICE + * + * ===============================================================*/ +NK_API struct nk_nine_slice +nk_sub9slice_ptr(void *ptr, nk_ushort w, nk_ushort h, struct nk_rect rgn, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) +{ + struct nk_nine_slice s; + struct nk_image *i = &s.img; + nk_zero(&s, sizeof(s)); + i->handle.ptr = ptr; + i->w = w; i->h = h; + i->region[0] = (nk_ushort)rgn.x; + i->region[1] = (nk_ushort)rgn.y; + i->region[2] = (nk_ushort)rgn.w; + i->region[3] = (nk_ushort)rgn.h; + s.l = l; s.t = t; s.r = r; s.b = b; + return s; +} +NK_API struct nk_nine_slice +nk_sub9slice_id(int id, nk_ushort w, nk_ushort h, struct nk_rect rgn, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) +{ + struct nk_nine_slice s; + struct nk_image *i = &s.img; + nk_zero(&s, sizeof(s)); + i->handle.id = id; + i->w = w; i->h = h; + i->region[0] = (nk_ushort)rgn.x; + i->region[1] = (nk_ushort)rgn.y; + i->region[2] = (nk_ushort)rgn.w; + i->region[3] = (nk_ushort)rgn.h; + s.l = l; s.t = t; s.r = r; s.b = b; + return s; +} +NK_API struct nk_nine_slice +nk_sub9slice_handle(nk_handle handle, nk_ushort w, nk_ushort h, struct nk_rect rgn, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) +{ + struct nk_nine_slice s; + struct nk_image *i = &s.img; + nk_zero(&s, sizeof(s)); + i->handle = handle; + i->w = w; i->h = h; + i->region[0] = (nk_ushort)rgn.x; + i->region[1] = (nk_ushort)rgn.y; + i->region[2] = (nk_ushort)rgn.w; + i->region[3] = (nk_ushort)rgn.h; + s.l = l; s.t = t; s.r = r; s.b = b; + return s; +} +NK_API struct nk_nine_slice +nk_nine_slice_handle(nk_handle handle, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) +{ + struct nk_nine_slice s; + struct nk_image *i = &s.img; + nk_zero(&s, sizeof(s)); + i->handle = handle; + i->w = 0; i->h = 0; + i->region[0] = 0; + i->region[1] = 0; + i->region[2] = 0; + i->region[3] = 0; + s.l = l; s.t = t; s.r = r; s.b = b; + return s; +} +NK_API struct nk_nine_slice +nk_nine_slice_ptr(void *ptr, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) +{ + struct nk_nine_slice s; + struct nk_image *i = &s.img; + nk_zero(&s, sizeof(s)); + NK_ASSERT(ptr); + i->handle.ptr = ptr; + i->w = 0; i->h = 0; + i->region[0] = 0; + i->region[1] = 0; + i->region[2] = 0; + i->region[3] = 0; + s.l = l; s.t = t; s.r = r; s.b = b; + return s; +} +NK_API struct nk_nine_slice +nk_nine_slice_id(int id, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) +{ + struct nk_nine_slice s; + struct nk_image *i = &s.img; + nk_zero(&s, sizeof(s)); + i->handle.id = id; + i->w = 0; i->h = 0; + i->region[0] = 0; + i->region[1] = 0; + i->region[2] = 0; + i->region[3] = 0; + s.l = l; s.t = t; s.r = r; s.b = b; + return s; +} +NK_API int +nk_nine_slice_is_sub9slice(const struct nk_nine_slice* slice) +{ + NK_ASSERT(slice); + return !(slice->img.w == 0 && slice->img.h == 0); +} + + + + + +/* ============================================================== + * + * BUTTON + * + * ===============================================================*/ +NK_LIB void +nk_draw_symbol(struct nk_command_buffer *out, enum nk_symbol_type type, + struct nk_rect content, struct nk_color background, struct nk_color foreground, + float border_width, const struct nk_user_font *font) +{ + switch (type) { + case NK_SYMBOL_X: + case NK_SYMBOL_UNDERSCORE: + case NK_SYMBOL_PLUS: + case NK_SYMBOL_MINUS: { + /* single character text symbol */ + const char *X = (type == NK_SYMBOL_X) ? "x": + (type == NK_SYMBOL_UNDERSCORE) ? "_": + (type == NK_SYMBOL_PLUS) ? "+": "-"; + struct nk_text text; + text.padding = nk_vec2(0,0); + text.background = background; + text.text = foreground; + nk_widget_text(out, content, X, 1, &text, NK_TEXT_CENTERED, font); + } break; + case NK_SYMBOL_CIRCLE_SOLID: + case NK_SYMBOL_CIRCLE_OUTLINE: + case NK_SYMBOL_RECT_SOLID: + case NK_SYMBOL_RECT_OUTLINE: { + /* simple empty/filled shapes */ + if (type == NK_SYMBOL_RECT_SOLID || type == NK_SYMBOL_RECT_OUTLINE) { + nk_fill_rect(out, content, 0, foreground); + if (type == NK_SYMBOL_RECT_OUTLINE) + nk_fill_rect(out, nk_shrink_rect(content, border_width), 0, background); + } else { + nk_fill_circle(out, content, foreground); + if (type == NK_SYMBOL_CIRCLE_OUTLINE) + nk_fill_circle(out, nk_shrink_rect(content, 1), background); + } + } break; + case NK_SYMBOL_TRIANGLE_UP: + case NK_SYMBOL_TRIANGLE_DOWN: + case NK_SYMBOL_TRIANGLE_LEFT: + case NK_SYMBOL_TRIANGLE_RIGHT: { + enum nk_heading heading; + struct nk_vec2 points[3]; + heading = (type == NK_SYMBOL_TRIANGLE_RIGHT) ? NK_RIGHT : + (type == NK_SYMBOL_TRIANGLE_LEFT) ? NK_LEFT: + (type == NK_SYMBOL_TRIANGLE_UP) ? NK_UP: NK_DOWN; + nk_triangle_from_direction(points, content, 0, 0, heading); + nk_fill_triangle(out, points[0].x, points[0].y, points[1].x, points[1].y, + points[2].x, points[2].y, foreground); + } break; + default: + case NK_SYMBOL_NONE: + case NK_SYMBOL_MAX: break; + } +} +NK_LIB nk_bool +nk_button_behavior(nk_flags *state, struct nk_rect r, + const struct nk_input *i, enum nk_button_behavior behavior) +{ + int ret = 0; + nk_widget_state_reset(state); + if (!i) return 0; + if (nk_input_is_mouse_hovering_rect(i, r)) { + *state = NK_WIDGET_STATE_HOVERED; + if (nk_input_is_mouse_down(i, NK_BUTTON_LEFT)) + *state = NK_WIDGET_STATE_ACTIVE; + if (nk_input_has_mouse_click_in_button_rect(i, NK_BUTTON_LEFT, r)) { + ret = (behavior != NK_BUTTON_DEFAULT) ? + nk_input_is_mouse_down(i, NK_BUTTON_LEFT): +#ifdef NK_BUTTON_TRIGGER_ON_RELEASE + nk_input_is_mouse_released(i, NK_BUTTON_LEFT); +#else + nk_input_is_mouse_pressed(i, NK_BUTTON_LEFT); +#endif + } + } + if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(i, r)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(i, r)) + *state |= NK_WIDGET_STATE_LEFT; + return ret; +} +NK_LIB const struct nk_style_item* +nk_draw_button(struct nk_command_buffer *out, + const struct nk_rect *bounds, nk_flags state, + const struct nk_style_button *style) +{ + const struct nk_style_item *background; + if (state & NK_WIDGET_STATE_HOVER) + background = &style->hover; + else if (state & NK_WIDGET_STATE_ACTIVED) + background = &style->active; + else background = &style->normal; + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, *bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, *bounds, style->rounding, background->data.color); + nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); + break; + } + return background; +} +NK_LIB nk_bool +nk_do_button(nk_flags *state, struct nk_command_buffer *out, struct nk_rect r, + const struct nk_style_button *style, const struct nk_input *in, + enum nk_button_behavior behavior, struct nk_rect *content) +{ + struct nk_rect bounds; + NK_ASSERT(style); + NK_ASSERT(state); + NK_ASSERT(out); + if (!out || !style) + return nk_false; + + /* calculate button content space */ + content->x = r.x + style->padding.x + style->border + style->rounding; + content->y = r.y + style->padding.y + style->border + style->rounding; + content->w = r.w - (2 * style->padding.x + style->border + style->rounding*2); + content->h = r.h - (2 * style->padding.y + style->border + style->rounding*2); + + /* execute button behavior */ + bounds.x = r.x - style->touch_padding.x; + bounds.y = r.y - style->touch_padding.y; + bounds.w = r.w + 2 * style->touch_padding.x; + bounds.h = r.h + 2 * style->touch_padding.y; + return nk_button_behavior(state, bounds, in, behavior); +} +NK_LIB void +nk_draw_button_text(struct nk_command_buffer *out, + const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, + const struct nk_style_button *style, const char *txt, int len, + nk_flags text_alignment, const struct nk_user_font *font) +{ + struct nk_text text; + const struct nk_style_item *background; + background = nk_draw_button(out, bounds, state, style); + + /* select correct colors/images */ + if (background->type == NK_STYLE_ITEM_COLOR) + text.background = background->data.color; + else text.background = style->text_background; + if (state & NK_WIDGET_STATE_HOVER) + text.text = style->text_hover; + else if (state & NK_WIDGET_STATE_ACTIVED) + text.text = style->text_active; + else text.text = style->text_normal; + + text.padding = nk_vec2(0,0); + nk_widget_text(out, *content, txt, len, &text, text_alignment, font); +} +NK_LIB nk_bool +nk_do_button_text(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + const char *string, int len, nk_flags align, enum nk_button_behavior behavior, + const struct nk_style_button *style, const struct nk_input *in, + const struct nk_user_font *font) +{ + struct nk_rect content; + int ret = nk_false; + + NK_ASSERT(state); + NK_ASSERT(style); + NK_ASSERT(out); + NK_ASSERT(string); + NK_ASSERT(font); + if (!out || !style || !font || !string) + return nk_false; + + ret = nk_do_button(state, out, bounds, style, in, behavior, &content); + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_button_text(out, &bounds, &content, *state, style, string, len, align, font); + if (style->draw_end) style->draw_end(out, style->userdata); + return ret; +} +NK_LIB void +nk_draw_button_symbol(struct nk_command_buffer *out, + const struct nk_rect *bounds, const struct nk_rect *content, + nk_flags state, const struct nk_style_button *style, + enum nk_symbol_type type, const struct nk_user_font *font) +{ + struct nk_color sym, bg; + const struct nk_style_item *background; + + /* select correct colors/images */ + background = nk_draw_button(out, bounds, state, style); + if (background->type == NK_STYLE_ITEM_COLOR) + bg = background->data.color; + else bg = style->text_background; + + if (state & NK_WIDGET_STATE_HOVER) + sym = style->text_hover; + else if (state & NK_WIDGET_STATE_ACTIVED) + sym = style->text_active; + else sym = style->text_normal; + nk_draw_symbol(out, type, *content, bg, sym, 1, font); +} +NK_LIB nk_bool +nk_do_button_symbol(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + enum nk_symbol_type symbol, enum nk_button_behavior behavior, + const struct nk_style_button *style, const struct nk_input *in, + const struct nk_user_font *font) +{ + int ret; + struct nk_rect content; + + NK_ASSERT(state); + NK_ASSERT(style); + NK_ASSERT(font); + NK_ASSERT(out); + if (!out || !style || !font || !state) + return nk_false; + + ret = nk_do_button(state, out, bounds, style, in, behavior, &content); + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_button_symbol(out, &bounds, &content, *state, style, symbol, font); + if (style->draw_end) style->draw_end(out, style->userdata); + return ret; +} +NK_LIB void +nk_draw_button_image(struct nk_command_buffer *out, + const struct nk_rect *bounds, const struct nk_rect *content, + nk_flags state, const struct nk_style_button *style, const struct nk_image *img) +{ + nk_draw_button(out, bounds, state, style); + nk_draw_image(out, *content, img, nk_white); +} +NK_LIB nk_bool +nk_do_button_image(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + struct nk_image img, enum nk_button_behavior b, + const struct nk_style_button *style, const struct nk_input *in) +{ + int ret; + struct nk_rect content; + + NK_ASSERT(state); + NK_ASSERT(style); + NK_ASSERT(out); + if (!out || !style || !state) + return nk_false; + + ret = nk_do_button(state, out, bounds, style, in, b, &content); + content.x += style->image_padding.x; + content.y += style->image_padding.y; + content.w -= 2 * style->image_padding.x; + content.h -= 2 * style->image_padding.y; + + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_button_image(out, &bounds, &content, *state, style, &img); + if (style->draw_end) style->draw_end(out, style->userdata); + return ret; +} +NK_LIB void +nk_draw_button_text_symbol(struct nk_command_buffer *out, + const struct nk_rect *bounds, const struct nk_rect *label, + const struct nk_rect *symbol, nk_flags state, const struct nk_style_button *style, + const char *str, int len, enum nk_symbol_type type, + const struct nk_user_font *font) +{ + struct nk_color sym; + struct nk_text text; + const struct nk_style_item *background; + + /* select correct background colors/images */ + background = nk_draw_button(out, bounds, state, style); + if (background->type == NK_STYLE_ITEM_COLOR) + text.background = background->data.color; + else text.background = style->text_background; + + /* select correct text colors */ + if (state & NK_WIDGET_STATE_HOVER) { + sym = style->text_hover; + text.text = style->text_hover; + } else if (state & NK_WIDGET_STATE_ACTIVED) { + sym = style->text_active; + text.text = style->text_active; + } else { + sym = style->text_normal; + text.text = style->text_normal; + } + + text.padding = nk_vec2(0,0); + nk_draw_symbol(out, type, *symbol, style->text_background, sym, 0, font); + nk_widget_text(out, *label, str, len, &text, NK_TEXT_CENTERED, font); +} +NK_LIB nk_bool +nk_do_button_text_symbol(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + enum nk_symbol_type symbol, const char *str, int len, nk_flags align, + enum nk_button_behavior behavior, const struct nk_style_button *style, + const struct nk_user_font *font, const struct nk_input *in) +{ + int ret; + struct nk_rect tri = {0,0,0,0}; + struct nk_rect content; + + NK_ASSERT(style); + NK_ASSERT(out); + NK_ASSERT(font); + if (!out || !style || !font) + return nk_false; + + ret = nk_do_button(state, out, bounds, style, in, behavior, &content); + tri.y = content.y + (content.h/2) - font->height/2; + tri.w = font->height; tri.h = font->height; + if (align & NK_TEXT_ALIGN_LEFT) { + tri.x = (content.x + content.w) - (2 * style->padding.x + tri.w); + tri.x = NK_MAX(tri.x, 0); + } else tri.x = content.x + 2 * style->padding.x; + + /* draw button */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_button_text_symbol(out, &bounds, &content, &tri, + *state, style, str, len, symbol, font); + if (style->draw_end) style->draw_end(out, style->userdata); + return ret; +} +NK_LIB void +nk_draw_button_text_image(struct nk_command_buffer *out, + const struct nk_rect *bounds, const struct nk_rect *label, + const struct nk_rect *image, nk_flags state, const struct nk_style_button *style, + const char *str, int len, const struct nk_user_font *font, + const struct nk_image *img) +{ + struct nk_text text; + const struct nk_style_item *background; + background = nk_draw_button(out, bounds, state, style); + + /* select correct colors */ + if (background->type == NK_STYLE_ITEM_COLOR) + text.background = background->data.color; + else text.background = style->text_background; + if (state & NK_WIDGET_STATE_HOVER) + text.text = style->text_hover; + else if (state & NK_WIDGET_STATE_ACTIVED) + text.text = style->text_active; + else text.text = style->text_normal; + + text.padding = nk_vec2(0,0); + nk_widget_text(out, *label, str, len, &text, NK_TEXT_CENTERED, font); + nk_draw_image(out, *image, img, nk_white); +} +NK_LIB nk_bool +nk_do_button_text_image(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + struct nk_image img, const char* str, int len, nk_flags align, + enum nk_button_behavior behavior, const struct nk_style_button *style, + const struct nk_user_font *font, const struct nk_input *in) +{ + int ret; + struct nk_rect icon; + struct nk_rect content; + + NK_ASSERT(style); + NK_ASSERT(state); + NK_ASSERT(font); + NK_ASSERT(out); + if (!out || !font || !style || !str) + return nk_false; + + ret = nk_do_button(state, out, bounds, style, in, behavior, &content); + icon.y = bounds.y + style->padding.y; + icon.w = icon.h = bounds.h - 2 * style->padding.y; + if (align & NK_TEXT_ALIGN_LEFT) { + icon.x = (bounds.x + bounds.w) - (2 * style->padding.x + icon.w); + icon.x = NK_MAX(icon.x, 0); + } else icon.x = bounds.x + 2 * style->padding.x; + + icon.x += style->image_padding.x; + icon.y += style->image_padding.y; + icon.w -= 2 * style->image_padding.x; + icon.h -= 2 * style->image_padding.y; + + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_button_text_image(out, &bounds, &content, &icon, *state, style, str, len, font, &img); + if (style->draw_end) style->draw_end(out, style->userdata); + return ret; +} +NK_API void +nk_button_set_behavior(struct nk_context *ctx, enum nk_button_behavior behavior) +{ + NK_ASSERT(ctx); + if (!ctx) return; + ctx->button_behavior = behavior; +} +NK_API nk_bool +nk_button_push_behavior(struct nk_context *ctx, enum nk_button_behavior behavior) +{ + struct nk_config_stack_button_behavior *button_stack; + struct nk_config_stack_button_behavior_element *element; + + NK_ASSERT(ctx); + if (!ctx) return 0; + + button_stack = &ctx->stacks.button_behaviors; + NK_ASSERT(button_stack->head < (int)NK_LEN(button_stack->elements)); + if (button_stack->head >= (int)NK_LEN(button_stack->elements)) + return 0; + + element = &button_stack->elements[button_stack->head++]; + element->address = &ctx->button_behavior; + element->old_value = ctx->button_behavior; + ctx->button_behavior = behavior; + return 1; +} +NK_API nk_bool +nk_button_pop_behavior(struct nk_context *ctx) +{ + struct nk_config_stack_button_behavior *button_stack; + struct nk_config_stack_button_behavior_element *element; + + NK_ASSERT(ctx); + if (!ctx) return 0; + + button_stack = &ctx->stacks.button_behaviors; + NK_ASSERT(button_stack->head > 0); + if (button_stack->head < 1) + return 0; + + element = &button_stack->elements[--button_stack->head]; + *element->address = element->old_value; + return 1; +} +NK_API nk_bool +nk_button_text_styled(struct nk_context *ctx, + const struct nk_style_button *style, const char *title, int len) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(style); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!style || !ctx || !ctx->current || !ctx->current->layout) return 0; + + win = ctx->current; + layout = win->layout; + state = nk_widget(&bounds, ctx); + + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_button_text(&ctx->last_widget_state, &win->buffer, bounds, + title, len, style->text_alignment, ctx->button_behavior, + style, in, ctx->style.font); +} +NK_API nk_bool +nk_button_text(struct nk_context *ctx, const char *title, int len) +{ + NK_ASSERT(ctx); + if (!ctx) return 0; + return nk_button_text_styled(ctx, &ctx->style.button, title, len); +} +NK_API nk_bool nk_button_label_styled(struct nk_context *ctx, + const struct nk_style_button *style, const char *title) +{ + return nk_button_text_styled(ctx, style, title, nk_strlen(title)); +} +NK_API nk_bool nk_button_label(struct nk_context *ctx, const char *title) +{ + return nk_button_text(ctx, title, nk_strlen(title)); +} +NK_API nk_bool +nk_button_color(struct nk_context *ctx, struct nk_color color) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + struct nk_style_button button; + + int ret = 0; + struct nk_rect bounds; + struct nk_rect content; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + + button = ctx->style.button; + button.normal = nk_style_item_color(color); + button.hover = nk_style_item_color(color); + button.active = nk_style_item_color(color); + ret = nk_do_button(&ctx->last_widget_state, &win->buffer, bounds, + &button, in, ctx->button_behavior, &content); + nk_draw_button(&win->buffer, &bounds, ctx->last_widget_state, &button); + return ret; +} +NK_API nk_bool +nk_button_symbol_styled(struct nk_context *ctx, + const struct nk_style_button *style, enum nk_symbol_type symbol) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + layout = win->layout; + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_button_symbol(&ctx->last_widget_state, &win->buffer, bounds, + symbol, ctx->button_behavior, style, in, ctx->style.font); +} +NK_API nk_bool +nk_button_symbol(struct nk_context *ctx, enum nk_symbol_type symbol) +{ + NK_ASSERT(ctx); + if (!ctx) return 0; + return nk_button_symbol_styled(ctx, &ctx->style.button, symbol); +} +NK_API nk_bool +nk_button_image_styled(struct nk_context *ctx, const struct nk_style_button *style, + struct nk_image img) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_button_image(&ctx->last_widget_state, &win->buffer, bounds, + img, ctx->button_behavior, style, in); +} +NK_API nk_bool +nk_button_image(struct nk_context *ctx, struct nk_image img) +{ + NK_ASSERT(ctx); + if (!ctx) return 0; + return nk_button_image_styled(ctx, &ctx->style.button, img); +} +NK_API nk_bool +nk_button_symbol_text_styled(struct nk_context *ctx, + const struct nk_style_button *style, enum nk_symbol_type symbol, + const char *text, int len, nk_flags align) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_button_text_symbol(&ctx->last_widget_state, &win->buffer, bounds, + symbol, text, len, align, ctx->button_behavior, + style, ctx->style.font, in); +} +NK_API nk_bool +nk_button_symbol_text(struct nk_context *ctx, enum nk_symbol_type symbol, + const char* text, int len, nk_flags align) +{ + NK_ASSERT(ctx); + if (!ctx) return 0; + return nk_button_symbol_text_styled(ctx, &ctx->style.button, symbol, text, len, align); +} +NK_API nk_bool nk_button_symbol_label(struct nk_context *ctx, enum nk_symbol_type symbol, + const char *label, nk_flags align) +{ + return nk_button_symbol_text(ctx, symbol, label, nk_strlen(label), align); +} +NK_API nk_bool nk_button_symbol_label_styled(struct nk_context *ctx, + const struct nk_style_button *style, enum nk_symbol_type symbol, + const char *title, nk_flags align) +{ + return nk_button_symbol_text_styled(ctx, style, symbol, title, nk_strlen(title), align); +} +NK_API nk_bool +nk_button_image_text_styled(struct nk_context *ctx, + const struct nk_style_button *style, struct nk_image img, const char *text, + int len, nk_flags align) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_button_text_image(&ctx->last_widget_state, &win->buffer, + bounds, img, text, len, align, ctx->button_behavior, + style, ctx->style.font, in); +} +NK_API nk_bool +nk_button_image_text(struct nk_context *ctx, struct nk_image img, + const char *text, int len, nk_flags align) +{ + return nk_button_image_text_styled(ctx, &ctx->style.button,img, text, len, align); +} +NK_API nk_bool nk_button_image_label(struct nk_context *ctx, struct nk_image img, + const char *label, nk_flags align) +{ + return nk_button_image_text(ctx, img, label, nk_strlen(label), align); +} +NK_API nk_bool nk_button_image_label_styled(struct nk_context *ctx, + const struct nk_style_button *style, struct nk_image img, + const char *label, nk_flags text_alignment) +{ + return nk_button_image_text_styled(ctx, style, img, label, nk_strlen(label), text_alignment); +} + + + + + +/* =============================================================== + * + * TOGGLE + * + * ===============================================================*/ +NK_LIB nk_bool +nk_toggle_behavior(const struct nk_input *in, struct nk_rect select, + nk_flags *state, nk_bool active) +{ + nk_widget_state_reset(state); + if (nk_button_behavior(state, select, in, NK_BUTTON_DEFAULT)) { + *state = NK_WIDGET_STATE_ACTIVE; + active = !active; + } + if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, select)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(in, select)) + *state |= NK_WIDGET_STATE_LEFT; + return active; +} +NK_LIB void +nk_draw_checkbox(struct nk_command_buffer *out, + nk_flags state, const struct nk_style_toggle *style, nk_bool active, + const struct nk_rect *label, const struct nk_rect *selector, + const struct nk_rect *cursors, const char *string, int len, + const struct nk_user_font *font) +{ + const struct nk_style_item *background; + const struct nk_style_item *cursor; + struct nk_text text; + + /* select correct colors/images */ + if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + cursor = &style->cursor_hover; + text.text = style->text_hover; + } else if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->hover; + cursor = &style->cursor_hover; + text.text = style->text_active; + } else { + background = &style->normal; + cursor = &style->cursor_normal; + text.text = style->text_normal; + } + + /* draw background and cursor */ + if (background->type == NK_STYLE_ITEM_COLOR) { + nk_fill_rect(out, *selector, 0, style->border_color); + nk_fill_rect(out, nk_shrink_rect(*selector, style->border), 0, background->data.color); + } else nk_draw_image(out, *selector, &background->data.image, nk_white); + if (active) { + if (cursor->type == NK_STYLE_ITEM_IMAGE) + nk_draw_image(out, *cursors, &cursor->data.image, nk_white); + else nk_fill_rect(out, *cursors, 0, cursor->data.color); + } + + text.padding.x = 0; + text.padding.y = 0; + text.background = style->text_background; + nk_widget_text(out, *label, string, len, &text, NK_TEXT_LEFT, font); +} +NK_LIB void +nk_draw_option(struct nk_command_buffer *out, + nk_flags state, const struct nk_style_toggle *style, nk_bool active, + const struct nk_rect *label, const struct nk_rect *selector, + const struct nk_rect *cursors, const char *string, int len, + const struct nk_user_font *font) +{ + const struct nk_style_item *background; + const struct nk_style_item *cursor; + struct nk_text text; + + /* select correct colors/images */ + if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + cursor = &style->cursor_hover; + text.text = style->text_hover; + } else if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->hover; + cursor = &style->cursor_hover; + text.text = style->text_active; + } else { + background = &style->normal; + cursor = &style->cursor_normal; + text.text = style->text_normal; + } + + /* draw background and cursor */ + if (background->type == NK_STYLE_ITEM_COLOR) { + nk_fill_circle(out, *selector, style->border_color); + nk_fill_circle(out, nk_shrink_rect(*selector, style->border), background->data.color); + } else nk_draw_image(out, *selector, &background->data.image, nk_white); + if (active) { + if (cursor->type == NK_STYLE_ITEM_IMAGE) + nk_draw_image(out, *cursors, &cursor->data.image, nk_white); + else nk_fill_circle(out, *cursors, cursor->data.color); + } + + text.padding.x = 0; + text.padding.y = 0; + text.background = style->text_background; + nk_widget_text(out, *label, string, len, &text, NK_TEXT_LEFT, font); +} +NK_LIB nk_bool +nk_do_toggle(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect r, + nk_bool *active, const char *str, int len, enum nk_toggle_type type, + const struct nk_style_toggle *style, const struct nk_input *in, + const struct nk_user_font *font) +{ + int was_active; + struct nk_rect bounds; + struct nk_rect select; + struct nk_rect cursor; + struct nk_rect label; + + NK_ASSERT(style); + NK_ASSERT(out); + NK_ASSERT(font); + if (!out || !style || !font || !active) + return 0; + + r.w = NK_MAX(r.w, font->height + 2 * style->padding.x); + r.h = NK_MAX(r.h, font->height + 2 * style->padding.y); + + /* add additional touch padding for touch screen devices */ + bounds.x = r.x - style->touch_padding.x; + bounds.y = r.y - style->touch_padding.y; + bounds.w = r.w + 2 * style->touch_padding.x; + bounds.h = r.h + 2 * style->touch_padding.y; + + /* calculate the selector space */ + select.w = font->height; + select.h = select.w; + select.y = r.y + r.h/2.0f - select.h/2.0f; + select.x = r.x; + + /* calculate the bounds of the cursor inside the selector */ + cursor.x = select.x + style->padding.x + style->border; + cursor.y = select.y + style->padding.y + style->border; + cursor.w = select.w - (2 * style->padding.x + 2 * style->border); + cursor.h = select.h - (2 * style->padding.y + 2 * style->border); + + /* label behind the selector */ + label.x = select.x + select.w + style->spacing; + label.y = select.y; + label.w = NK_MAX(r.x + r.w, label.x) - label.x; + label.h = select.w; + + /* update selector */ + was_active = *active; + *active = nk_toggle_behavior(in, bounds, state, *active); + + /* draw selector */ + if (style->draw_begin) + style->draw_begin(out, style->userdata); + if (type == NK_TOGGLE_CHECK) { + nk_draw_checkbox(out, *state, style, *active, &label, &select, &cursor, str, len, font); + } else { + nk_draw_option(out, *state, style, *active, &label, &select, &cursor, str, len, font); + } + if (style->draw_end) + style->draw_end(out, style->userdata); + return (was_active != *active); +} +/*---------------------------------------------------------------- + * + * CHECKBOX + * + * --------------------------------------------------------------*/ +NK_API nk_bool +nk_check_text(struct nk_context *ctx, const char *text, int len, nk_bool active) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + const struct nk_style *style; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return active; + + win = ctx->current; + style = &ctx->style; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return active; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + nk_do_toggle(&ctx->last_widget_state, &win->buffer, bounds, &active, + text, len, NK_TOGGLE_CHECK, &style->checkbox, in, style->font); + return active; +} +NK_API unsigned int +nk_check_flags_text(struct nk_context *ctx, const char *text, int len, + unsigned int flags, unsigned int value) +{ + int old_active; + NK_ASSERT(ctx); + NK_ASSERT(text); + if (!ctx || !text) return flags; + old_active = (int)((flags & value) & value); + if (nk_check_text(ctx, text, len, old_active)) + flags |= value; + else flags &= ~value; + return flags; +} +NK_API nk_bool +nk_checkbox_text(struct nk_context *ctx, const char *text, int len, nk_bool *active) +{ + int old_val; + NK_ASSERT(ctx); + NK_ASSERT(text); + NK_ASSERT(active); + if (!ctx || !text || !active) return 0; + old_val = *active; + *active = nk_check_text(ctx, text, len, *active); + return old_val != *active; +} +NK_API nk_bool +nk_checkbox_flags_text(struct nk_context *ctx, const char *text, int len, + unsigned int *flags, unsigned int value) +{ + nk_bool active; + NK_ASSERT(ctx); + NK_ASSERT(text); + NK_ASSERT(flags); + if (!ctx || !text || !flags) return 0; + + active = (int)((*flags & value) & value); + if (nk_checkbox_text(ctx, text, len, &active)) { + if (active) *flags |= value; + else *flags &= ~value; + return 1; + } + return 0; +} +NK_API nk_bool nk_check_label(struct nk_context *ctx, const char *label, nk_bool active) +{ + return nk_check_text(ctx, label, nk_strlen(label), active); +} +NK_API unsigned int nk_check_flags_label(struct nk_context *ctx, const char *label, + unsigned int flags, unsigned int value) +{ + return nk_check_flags_text(ctx, label, nk_strlen(label), flags, value); +} +NK_API nk_bool nk_checkbox_label(struct nk_context *ctx, const char *label, nk_bool *active) +{ + return nk_checkbox_text(ctx, label, nk_strlen(label), active); +} +NK_API nk_bool nk_checkbox_flags_label(struct nk_context *ctx, const char *label, + unsigned int *flags, unsigned int value) +{ + return nk_checkbox_flags_text(ctx, label, nk_strlen(label), flags, value); +} +/*---------------------------------------------------------------- + * + * OPTION + * + * --------------------------------------------------------------*/ +NK_API nk_bool +nk_option_text(struct nk_context *ctx, const char *text, int len, nk_bool is_active) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + const struct nk_style *style; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return is_active; + + win = ctx->current; + style = &ctx->style; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return (int)state; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + nk_do_toggle(&ctx->last_widget_state, &win->buffer, bounds, &is_active, + text, len, NK_TOGGLE_OPTION, &style->option, in, style->font); + return is_active; +} +NK_API nk_bool +nk_radio_text(struct nk_context *ctx, const char *text, int len, nk_bool *active) +{ + int old_value; + NK_ASSERT(ctx); + NK_ASSERT(text); + NK_ASSERT(active); + if (!ctx || !text || !active) return 0; + old_value = *active; + *active = nk_option_text(ctx, text, len, old_value); + return old_value != *active; +} +NK_API nk_bool +nk_option_label(struct nk_context *ctx, const char *label, nk_bool active) +{ + return nk_option_text(ctx, label, nk_strlen(label), active); +} +NK_API nk_bool +nk_radio_label(struct nk_context *ctx, const char *label, nk_bool *active) +{ + return nk_radio_text(ctx, label, nk_strlen(label), active); +} + + + + + +/* =============================================================== + * + * SELECTABLE + * + * ===============================================================*/ +NK_LIB void +nk_draw_selectable(struct nk_command_buffer *out, + nk_flags state, const struct nk_style_selectable *style, nk_bool active, + const struct nk_rect *bounds, + const struct nk_rect *icon, const struct nk_image *img, enum nk_symbol_type sym, + const char *string, int len, nk_flags align, const struct nk_user_font *font) +{ + const struct nk_style_item *background; + struct nk_text text; + text.padding = style->padding; + + /* select correct colors/images */ + if (!active) { + if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->pressed; + text.text = style->text_pressed; + } else if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + text.text = style->text_hover; + } else { + background = &style->normal; + text.text = style->text_normal; + } + } else { + if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->pressed_active; + text.text = style->text_pressed_active; + } else if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover_active; + text.text = style->text_hover_active; + } else { + background = &style->normal_active; + text.text = style->text_normal_active; + } + } + /* draw selectable background and text */ + switch (background->type) { + case NK_STYLE_ITEM_IMAGE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_image(out, *bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + text.background = background->data.color; + nk_fill_rect(out, *bounds, style->rounding, background->data.color); + break; + } + if (icon) { + if (img) nk_draw_image(out, *icon, img, nk_white); + else nk_draw_symbol(out, sym, *icon, text.background, text.text, 1, font); + } + nk_widget_text(out, *bounds, string, len, &text, align, font); +} +NK_LIB nk_bool +nk_do_selectable(nk_flags *state, struct nk_command_buffer *out, + struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, + const struct nk_style_selectable *style, const struct nk_input *in, + const struct nk_user_font *font) +{ + int old_value; + struct nk_rect touch; + + NK_ASSERT(state); + NK_ASSERT(out); + NK_ASSERT(str); + NK_ASSERT(len); + NK_ASSERT(value); + NK_ASSERT(style); + NK_ASSERT(font); + + if (!state || !out || !str || !len || !value || !style || !font) return 0; + old_value = *value; + + /* remove padding */ + touch.x = bounds.x - style->touch_padding.x; + touch.y = bounds.y - style->touch_padding.y; + touch.w = bounds.w + style->touch_padding.x * 2; + touch.h = bounds.h + style->touch_padding.y * 2; + + /* update button */ + if (nk_button_behavior(state, touch, in, NK_BUTTON_DEFAULT)) + *value = !(*value); + + /* draw selectable */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_selectable(out, *state, style, *value, &bounds, 0,0,NK_SYMBOL_NONE, str, len, align, font); + if (style->draw_end) style->draw_end(out, style->userdata); + return old_value != *value; +} +NK_LIB nk_bool +nk_do_selectable_image(nk_flags *state, struct nk_command_buffer *out, + struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, + const struct nk_image *img, const struct nk_style_selectable *style, + const struct nk_input *in, const struct nk_user_font *font) +{ + nk_bool old_value; + struct nk_rect touch; + struct nk_rect icon; + + NK_ASSERT(state); + NK_ASSERT(out); + NK_ASSERT(str); + NK_ASSERT(len); + NK_ASSERT(value); + NK_ASSERT(style); + NK_ASSERT(font); + + if (!state || !out || !str || !len || !value || !style || !font) return 0; + old_value = *value; + + /* toggle behavior */ + touch.x = bounds.x - style->touch_padding.x; + touch.y = bounds.y - style->touch_padding.y; + touch.w = bounds.w + style->touch_padding.x * 2; + touch.h = bounds.h + style->touch_padding.y * 2; + if (nk_button_behavior(state, touch, in, NK_BUTTON_DEFAULT)) + *value = !(*value); + + icon.y = bounds.y + style->padding.y; + icon.w = icon.h = bounds.h - 2 * style->padding.y; + if (align & NK_TEXT_ALIGN_LEFT) { + icon.x = (bounds.x + bounds.w) - (2 * style->padding.x + icon.w); + icon.x = NK_MAX(icon.x, 0); + } else icon.x = bounds.x + 2 * style->padding.x; + + icon.x += style->image_padding.x; + icon.y += style->image_padding.y; + icon.w -= 2 * style->image_padding.x; + icon.h -= 2 * style->image_padding.y; + + /* draw selectable */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_selectable(out, *state, style, *value, &bounds, &icon, img, NK_SYMBOL_NONE, str, len, align, font); + if (style->draw_end) style->draw_end(out, style->userdata); + return old_value != *value; +} +NK_LIB nk_bool +nk_do_selectable_symbol(nk_flags *state, struct nk_command_buffer *out, + struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, + enum nk_symbol_type sym, const struct nk_style_selectable *style, + const struct nk_input *in, const struct nk_user_font *font) +{ + int old_value; + struct nk_rect touch; + struct nk_rect icon; + + NK_ASSERT(state); + NK_ASSERT(out); + NK_ASSERT(str); + NK_ASSERT(len); + NK_ASSERT(value); + NK_ASSERT(style); + NK_ASSERT(font); + + if (!state || !out || !str || !len || !value || !style || !font) return 0; + old_value = *value; + + /* toggle behavior */ + touch.x = bounds.x - style->touch_padding.x; + touch.y = bounds.y - style->touch_padding.y; + touch.w = bounds.w + style->touch_padding.x * 2; + touch.h = bounds.h + style->touch_padding.y * 2; + if (nk_button_behavior(state, touch, in, NK_BUTTON_DEFAULT)) + *value = !(*value); + + icon.y = bounds.y + style->padding.y; + icon.w = icon.h = bounds.h - 2 * style->padding.y; + if (align & NK_TEXT_ALIGN_LEFT) { + icon.x = (bounds.x + bounds.w) - (2 * style->padding.x + icon.w); + icon.x = NK_MAX(icon.x, 0); + } else icon.x = bounds.x + 2 * style->padding.x; + + icon.x += style->image_padding.x; + icon.y += style->image_padding.y; + icon.w -= 2 * style->image_padding.x; + icon.h -= 2 * style->image_padding.y; + + /* draw selectable */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_selectable(out, *state, style, *value, &bounds, &icon, 0, sym, str, len, align, font); + if (style->draw_end) style->draw_end(out, style->userdata); + return old_value != *value; +} + +NK_API nk_bool +nk_selectable_text(struct nk_context *ctx, const char *str, int len, + nk_flags align, nk_bool *value) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + const struct nk_style *style; + + enum nk_widget_layout_states state; + struct nk_rect bounds; + + NK_ASSERT(ctx); + NK_ASSERT(value); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !value) + return 0; + + win = ctx->current; + layout = win->layout; + style = &ctx->style; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_selectable(&ctx->last_widget_state, &win->buffer, bounds, + str, len, align, value, &style->selectable, in, style->font); +} +NK_API nk_bool +nk_selectable_image_text(struct nk_context *ctx, struct nk_image img, + const char *str, int len, nk_flags align, nk_bool *value) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + const struct nk_style *style; + + enum nk_widget_layout_states state; + struct nk_rect bounds; + + NK_ASSERT(ctx); + NK_ASSERT(value); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !value) + return 0; + + win = ctx->current; + layout = win->layout; + style = &ctx->style; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_selectable_image(&ctx->last_widget_state, &win->buffer, bounds, + str, len, align, value, &img, &style->selectable, in, style->font); +} +NK_API nk_bool +nk_selectable_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, + const char *str, int len, nk_flags align, nk_bool *value) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_input *in; + const struct nk_style *style; + + enum nk_widget_layout_states state; + struct nk_rect bounds; + + NK_ASSERT(ctx); + NK_ASSERT(value); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !value) + return 0; + + win = ctx->current; + layout = win->layout; + style = &ctx->style; + + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_selectable_symbol(&ctx->last_widget_state, &win->buffer, bounds, + str, len, align, value, sym, &style->selectable, in, style->font); +} +NK_API nk_bool +nk_selectable_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, + const char *title, nk_flags align, nk_bool *value) +{ + return nk_selectable_symbol_text(ctx, sym, title, nk_strlen(title), align, value); +} +NK_API nk_bool nk_select_text(struct nk_context *ctx, const char *str, int len, + nk_flags align, nk_bool value) +{ + nk_selectable_text(ctx, str, len, align, &value);return value; +} +NK_API nk_bool nk_selectable_label(struct nk_context *ctx, const char *str, nk_flags align, nk_bool *value) +{ + return nk_selectable_text(ctx, str, nk_strlen(str), align, value); +} +NK_API nk_bool nk_selectable_image_label(struct nk_context *ctx,struct nk_image img, + const char *str, nk_flags align, nk_bool *value) +{ + return nk_selectable_image_text(ctx, img, str, nk_strlen(str), align, value); +} +NK_API nk_bool nk_select_label(struct nk_context *ctx, const char *str, nk_flags align, nk_bool value) +{ + nk_selectable_text(ctx, str, nk_strlen(str), align, &value);return value; +} +NK_API nk_bool nk_select_image_label(struct nk_context *ctx, struct nk_image img, + const char *str, nk_flags align, nk_bool value) +{ + nk_selectable_image_text(ctx, img, str, nk_strlen(str), align, &value);return value; +} +NK_API nk_bool nk_select_image_text(struct nk_context *ctx, struct nk_image img, + const char *str, int len, nk_flags align, nk_bool value) +{ + nk_selectable_image_text(ctx, img, str, len, align, &value);return value; +} +NK_API nk_bool +nk_select_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, + const char *title, int title_len, nk_flags align, nk_bool value) +{ + nk_selectable_symbol_text(ctx, sym, title, title_len, align, &value);return value; +} +NK_API nk_bool +nk_select_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, + const char *title, nk_flags align, nk_bool value) +{ + return nk_select_symbol_text(ctx, sym, title, nk_strlen(title), align, value); +} + + + + + +/* =============================================================== + * + * SLIDER + * + * ===============================================================*/ +NK_LIB float +nk_slider_behavior(nk_flags *state, struct nk_rect *logical_cursor, + struct nk_rect *visual_cursor, struct nk_input *in, + struct nk_rect bounds, float slider_min, float slider_max, float slider_value, + float slider_step, float slider_steps) +{ + int left_mouse_down; + int left_mouse_click_in_cursor; + + /* check if visual cursor is being dragged */ + nk_widget_state_reset(state); + left_mouse_down = in && in->mouse.buttons[NK_BUTTON_LEFT].down; + left_mouse_click_in_cursor = in && nk_input_has_mouse_click_down_in_rect(in, + NK_BUTTON_LEFT, *visual_cursor, nk_true); + + if (left_mouse_down && left_mouse_click_in_cursor) { + float ratio = 0; + const float d = in->mouse.pos.x - (visual_cursor->x+visual_cursor->w*0.5f); + const float pxstep = bounds.w / slider_steps; + + /* only update value if the next slider step is reached */ + *state = NK_WIDGET_STATE_ACTIVE; + if (NK_ABS(d) >= pxstep) { + const float steps = (float)((int)(NK_ABS(d) / pxstep)); + slider_value += (d > 0) ? (slider_step*steps) : -(slider_step*steps); + slider_value = NK_CLAMP(slider_min, slider_value, slider_max); + ratio = (slider_value - slider_min)/slider_step; + logical_cursor->x = bounds.x + (logical_cursor->w * ratio); + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = logical_cursor->x; + } + } + + /* slider widget state */ + if (nk_input_is_mouse_hovering_rect(in, bounds)) + *state = NK_WIDGET_STATE_HOVERED; + if (*state & NK_WIDGET_STATE_HOVER && + !nk_input_is_mouse_prev_hovering_rect(in, bounds)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(in, bounds)) + *state |= NK_WIDGET_STATE_LEFT; + return slider_value; +} +NK_LIB void +nk_draw_slider(struct nk_command_buffer *out, nk_flags state, + const struct nk_style_slider *style, const struct nk_rect *bounds, + const struct nk_rect *visual_cursor, float min, float value, float max) +{ + struct nk_rect fill; + struct nk_rect bar; + const struct nk_style_item *background; + + /* select correct slider images/colors */ + struct nk_color bar_color; + const struct nk_style_item *cursor; + + NK_UNUSED(min); + NK_UNUSED(max); + NK_UNUSED(value); + + if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->active; + bar_color = style->bar_active; + cursor = &style->cursor_active; + } else if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + bar_color = style->bar_hover; + cursor = &style->cursor_hover; + } else { + background = &style->normal; + bar_color = style->bar_normal; + cursor = &style->cursor_normal; + } + /* calculate slider background bar */ + bar.x = bounds->x; + bar.y = (visual_cursor->y + visual_cursor->h/2) - bounds->h/12; + bar.w = bounds->w; + bar.h = bounds->h/6; + + /* filled background bar style */ + fill.w = (visual_cursor->x + (visual_cursor->w/2.0f)) - bar.x; + fill.x = bar.x; + fill.y = bar.y; + fill.h = bar.h; + + /* draw background */ + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, *bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, *bounds, style->rounding, background->data.color); + nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); + break; + } + + /* draw slider bar */ + nk_fill_rect(out, bar, style->rounding, bar_color); + nk_fill_rect(out, fill, style->rounding, style->bar_filled); + + /* draw cursor */ + if (cursor->type == NK_STYLE_ITEM_IMAGE) + nk_draw_image(out, *visual_cursor, &cursor->data.image, nk_white); + else + nk_fill_circle(out, *visual_cursor, cursor->data.color); +} +NK_LIB float +nk_do_slider(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + float min, float val, float max, float step, + const struct nk_style_slider *style, struct nk_input *in, + const struct nk_user_font *font) +{ + float slider_range; + float slider_min; + float slider_max; + float slider_value; + float slider_steps; + float cursor_offset; + + struct nk_rect visual_cursor; + struct nk_rect logical_cursor; + + NK_ASSERT(style); + NK_ASSERT(out); + if (!out || !style) + return 0; + + /* remove padding from slider bounds */ + bounds.x = bounds.x + style->padding.x; + bounds.y = bounds.y + style->padding.y; + bounds.h = NK_MAX(bounds.h, 2*style->padding.y); + bounds.w = NK_MAX(bounds.w, 2*style->padding.x + style->cursor_size.x); + bounds.w -= 2 * style->padding.x; + bounds.h -= 2 * style->padding.y; + + /* optional buttons */ + if (style->show_buttons) { + nk_flags ws; + struct nk_rect button; + button.y = bounds.y; + button.w = bounds.h; + button.h = bounds.h; + + /* decrement button */ + button.x = bounds.x; + if (nk_do_button_symbol(&ws, out, button, style->dec_symbol, NK_BUTTON_DEFAULT, + &style->dec_button, in, font)) + val -= step; + + /* increment button */ + button.x = (bounds.x + bounds.w) - button.w; + if (nk_do_button_symbol(&ws, out, button, style->inc_symbol, NK_BUTTON_DEFAULT, + &style->inc_button, in, font)) + val += step; + + bounds.x = bounds.x + button.w + style->spacing.x; + bounds.w = bounds.w - (2*button.w + 2*style->spacing.x); + } + + /* remove one cursor size to support visual cursor */ + bounds.x += style->cursor_size.x*0.5f; + bounds.w -= style->cursor_size.x; + + /* make sure the provided values are correct */ + slider_max = NK_MAX(min, max); + slider_min = NK_MIN(min, max); + slider_value = NK_CLAMP(slider_min, val, slider_max); + slider_range = slider_max - slider_min; + slider_steps = slider_range / step; + cursor_offset = (slider_value - slider_min) / step; + + /* calculate cursor + Basically you have two cursors. One for visual representation and interaction + and one for updating the actual cursor value. */ + logical_cursor.h = bounds.h; + logical_cursor.w = bounds.w / slider_steps; + logical_cursor.x = bounds.x + (logical_cursor.w * cursor_offset); + logical_cursor.y = bounds.y; + + visual_cursor.h = style->cursor_size.y; + visual_cursor.w = style->cursor_size.x; + visual_cursor.y = (bounds.y + bounds.h*0.5f) - visual_cursor.h*0.5f; + visual_cursor.x = logical_cursor.x - visual_cursor.w*0.5f; + + slider_value = nk_slider_behavior(state, &logical_cursor, &visual_cursor, + in, bounds, slider_min, slider_max, slider_value, step, slider_steps); + visual_cursor.x = logical_cursor.x - visual_cursor.w*0.5f; + + /* draw slider */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_slider(out, *state, style, &bounds, &visual_cursor, slider_min, slider_value, slider_max); + if (style->draw_end) style->draw_end(out, style->userdata); + return slider_value; +} +NK_API nk_bool +nk_slider_float(struct nk_context *ctx, float min_value, float *value, float max_value, + float value_step) +{ + struct nk_window *win; + struct nk_panel *layout; + struct nk_input *in; + const struct nk_style *style; + + int ret = 0; + float old_value; + struct nk_rect bounds; + enum nk_widget_layout_states state; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + NK_ASSERT(value); + if (!ctx || !ctx->current || !ctx->current->layout || !value) + return ret; + + win = ctx->current; + style = &ctx->style; + layout = win->layout; + + state = nk_widget(&bounds, ctx); + if (!state) return ret; + in = (/*state == NK_WIDGET_ROM || */ layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + + old_value = *value; + *value = nk_do_slider(&ctx->last_widget_state, &win->buffer, bounds, min_value, + old_value, max_value, value_step, &style->slider, in, style->font); + return (old_value > *value || old_value < *value); +} +NK_API float +nk_slide_float(struct nk_context *ctx, float min, float val, float max, float step) +{ + nk_slider_float(ctx, min, &val, max, step); return val; +} +NK_API int +nk_slide_int(struct nk_context *ctx, int min, int val, int max, int step) +{ + float value = (float)val; + nk_slider_float(ctx, (float)min, &value, (float)max, (float)step); + return (int)value; +} +NK_API nk_bool +nk_slider_int(struct nk_context *ctx, int min, int *val, int max, int step) +{ + int ret; + float value = (float)*val; + ret = nk_slider_float(ctx, (float)min, &value, (float)max, (float)step); + *val = (int)value; + return ret; +} + + + + + +/* =============================================================== + * + * PROGRESS + * + * ===============================================================*/ +NK_LIB nk_size +nk_progress_behavior(nk_flags *state, struct nk_input *in, + struct nk_rect r, struct nk_rect cursor, nk_size max, nk_size value, nk_bool modifiable) +{ + int left_mouse_down = 0; + int left_mouse_click_in_cursor = 0; + + nk_widget_state_reset(state); + if (!in || !modifiable) return value; + left_mouse_down = in && in->mouse.buttons[NK_BUTTON_LEFT].down; + left_mouse_click_in_cursor = in && nk_input_has_mouse_click_down_in_rect(in, + NK_BUTTON_LEFT, cursor, nk_true); + if (nk_input_is_mouse_hovering_rect(in, r)) + *state = NK_WIDGET_STATE_HOVERED; + + if (in && left_mouse_down && left_mouse_click_in_cursor) { + if (left_mouse_down && left_mouse_click_in_cursor) { + float ratio = NK_MAX(0, (float)(in->mouse.pos.x - cursor.x)) / (float)cursor.w; + value = (nk_size)NK_CLAMP(0, (float)max * ratio, (float)max); + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = cursor.x + cursor.w/2.0f; + *state |= NK_WIDGET_STATE_ACTIVE; + } + } + /* set progressbar widget state */ + if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, r)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(in, r)) + *state |= NK_WIDGET_STATE_LEFT; + return value; +} +NK_LIB void +nk_draw_progress(struct nk_command_buffer *out, nk_flags state, + const struct nk_style_progress *style, const struct nk_rect *bounds, + const struct nk_rect *scursor, nk_size value, nk_size max) +{ + const struct nk_style_item *background; + const struct nk_style_item *cursor; + + NK_UNUSED(max); + NK_UNUSED(value); + + /* select correct colors/images to draw */ + if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->active; + cursor = &style->cursor_active; + } else if (state & NK_WIDGET_STATE_HOVER){ + background = &style->hover; + cursor = &style->cursor_hover; + } else { + background = &style->normal; + cursor = &style->cursor_normal; + } + + /* draw background */ + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, *bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, *bounds, style->rounding, background->data.color); + nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); + break; + } + + /* draw cursor */ + switch(cursor->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, *scursor, &cursor->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, *scursor, &cursor->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, *scursor, style->rounding, cursor->data.color); + nk_stroke_rect(out, *scursor, style->rounding, style->border, style->border_color); + break; + } +} +NK_LIB nk_size +nk_do_progress(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect bounds, + nk_size value, nk_size max, nk_bool modifiable, + const struct nk_style_progress *style, struct nk_input *in) +{ + float prog_scale; + nk_size prog_value; + struct nk_rect cursor; + + NK_ASSERT(style); + NK_ASSERT(out); + if (!out || !style) return 0; + + /* calculate progressbar cursor */ + cursor.w = NK_MAX(bounds.w, 2 * style->padding.x + 2 * style->border); + cursor.h = NK_MAX(bounds.h, 2 * style->padding.y + 2 * style->border); + cursor = nk_pad_rect(bounds, nk_vec2(style->padding.x + style->border, style->padding.y + style->border)); + prog_scale = (float)value / (float)max; + + /* update progressbar */ + prog_value = NK_MIN(value, max); + prog_value = nk_progress_behavior(state, in, bounds, cursor,max, prog_value, modifiable); + cursor.w = cursor.w * prog_scale; + + /* draw progressbar */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_progress(out, *state, style, &bounds, &cursor, value, max); + if (style->draw_end) style->draw_end(out, style->userdata); + return prog_value; +} +NK_API nk_bool +nk_progress(struct nk_context *ctx, nk_size *cur, nk_size max, nk_bool is_modifyable) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_style *style; + struct nk_input *in; + + struct nk_rect bounds; + enum nk_widget_layout_states state; + nk_size old_value; + + NK_ASSERT(ctx); + NK_ASSERT(cur); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !cur) + return 0; + + win = ctx->current; + style = &ctx->style; + layout = win->layout; + state = nk_widget(&bounds, ctx); + if (!state) return 0; + + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + old_value = *cur; + *cur = nk_do_progress(&ctx->last_widget_state, &win->buffer, bounds, + *cur, max, is_modifyable, &style->progress, in); + return (*cur != old_value); +} +NK_API nk_size +nk_prog(struct nk_context *ctx, nk_size cur, nk_size max, nk_bool modifyable) +{ + nk_progress(ctx, &cur, max, modifyable); + return cur; +} + + + + + +/* =============================================================== + * + * SCROLLBAR + * + * ===============================================================*/ +NK_LIB float +nk_scrollbar_behavior(nk_flags *state, struct nk_input *in, + int has_scrolling, const struct nk_rect *scroll, + const struct nk_rect *cursor, const struct nk_rect *empty0, + const struct nk_rect *empty1, float scroll_offset, + float target, float scroll_step, enum nk_orientation o) +{ + nk_flags ws = 0; + int left_mouse_down; + unsigned int left_mouse_clicked; + int left_mouse_click_in_cursor; + float scroll_delta; + + nk_widget_state_reset(state); + if (!in) return scroll_offset; + + left_mouse_down = in->mouse.buttons[NK_BUTTON_LEFT].down; + left_mouse_clicked = in->mouse.buttons[NK_BUTTON_LEFT].clicked; + left_mouse_click_in_cursor = nk_input_has_mouse_click_down_in_rect(in, + NK_BUTTON_LEFT, *cursor, nk_true); + if (nk_input_is_mouse_hovering_rect(in, *scroll)) + *state = NK_WIDGET_STATE_HOVERED; + + scroll_delta = (o == NK_VERTICAL) ? in->mouse.scroll_delta.y: in->mouse.scroll_delta.x; + if (left_mouse_down && left_mouse_click_in_cursor && !left_mouse_clicked) { + /* update cursor by mouse dragging */ + float pixel, delta; + *state = NK_WIDGET_STATE_ACTIVE; + if (o == NK_VERTICAL) { + float cursor_y; + pixel = in->mouse.delta.y; + delta = (pixel / scroll->h) * target; + scroll_offset = NK_CLAMP(0, scroll_offset + delta, target - scroll->h); + cursor_y = scroll->y + ((scroll_offset/target) * scroll->h); + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.y = cursor_y + cursor->h/2.0f; + } else { + float cursor_x; + pixel = in->mouse.delta.x; + delta = (pixel / scroll->w) * target; + scroll_offset = NK_CLAMP(0, scroll_offset + delta, target - scroll->w); + cursor_x = scroll->x + ((scroll_offset/target) * scroll->w); + in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = cursor_x + cursor->w/2.0f; + } + } else if ((nk_input_is_key_pressed(in, NK_KEY_SCROLL_UP) && o == NK_VERTICAL && has_scrolling)|| + nk_button_behavior(&ws, *empty0, in, NK_BUTTON_DEFAULT)) { + /* scroll page up by click on empty space or shortcut */ + if (o == NK_VERTICAL) + scroll_offset = NK_MAX(0, scroll_offset - scroll->h); + else scroll_offset = NK_MAX(0, scroll_offset - scroll->w); + } else if ((nk_input_is_key_pressed(in, NK_KEY_SCROLL_DOWN) && o == NK_VERTICAL && has_scrolling) || + nk_button_behavior(&ws, *empty1, in, NK_BUTTON_DEFAULT)) { + /* scroll page down by click on empty space or shortcut */ + if (o == NK_VERTICAL) + scroll_offset = NK_MIN(scroll_offset + scroll->h, target - scroll->h); + else scroll_offset = NK_MIN(scroll_offset + scroll->w, target - scroll->w); + } else if (has_scrolling) { + if ((scroll_delta < 0 || (scroll_delta > 0))) { + /* update cursor by mouse scrolling */ + scroll_offset = scroll_offset + scroll_step * (-scroll_delta); + if (o == NK_VERTICAL) + scroll_offset = NK_CLAMP(0, scroll_offset, target - scroll->h); + else scroll_offset = NK_CLAMP(0, scroll_offset, target - scroll->w); + } else if (nk_input_is_key_pressed(in, NK_KEY_SCROLL_START)) { + /* update cursor to the beginning */ + if (o == NK_VERTICAL) scroll_offset = 0; + } else if (nk_input_is_key_pressed(in, NK_KEY_SCROLL_END)) { + /* update cursor to the end */ + if (o == NK_VERTICAL) scroll_offset = target - scroll->h; + } + } + if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, *scroll)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(in, *scroll)) + *state |= NK_WIDGET_STATE_LEFT; + return scroll_offset; +} +NK_LIB void +nk_draw_scrollbar(struct nk_command_buffer *out, nk_flags state, + const struct nk_style_scrollbar *style, const struct nk_rect *bounds, + const struct nk_rect *scroll) +{ + const struct nk_style_item *background; + const struct nk_style_item *cursor; + + /* select correct colors/images to draw */ + if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->active; + cursor = &style->cursor_active; + } else if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + cursor = &style->cursor_hover; + } else { + background = &style->normal; + cursor = &style->cursor_normal; + } + + /* draw background */ + switch (background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, *bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, *bounds, style->rounding, background->data.color); + nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); + break; + } + + /* draw cursor */ + switch (cursor->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, *scroll, &cursor->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, *scroll, &cursor->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, *scroll, style->rounding_cursor, cursor->data.color); + nk_stroke_rect(out, *scroll, style->rounding_cursor, style->border_cursor, style->cursor_border_color); + break; + } +} +NK_LIB float +nk_do_scrollbarv(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, + float offset, float target, float step, float button_pixel_inc, + const struct nk_style_scrollbar *style, struct nk_input *in, + const struct nk_user_font *font) +{ + struct nk_rect empty_north; + struct nk_rect empty_south; + struct nk_rect cursor; + + float scroll_step; + float scroll_offset; + float scroll_off; + float scroll_ratio; + + NK_ASSERT(out); + NK_ASSERT(style); + NK_ASSERT(state); + if (!out || !style) return 0; + + scroll.w = NK_MAX(scroll.w, 1); + scroll.h = NK_MAX(scroll.h, 0); + if (target <= scroll.h) return 0; + + /* optional scrollbar buttons */ + if (style->show_buttons) { + nk_flags ws; + float scroll_h; + struct nk_rect button; + + button.x = scroll.x; + button.w = scroll.w; + button.h = scroll.w; + + scroll_h = NK_MAX(scroll.h - 2 * button.h,0); + scroll_step = NK_MIN(step, button_pixel_inc); + + /* decrement button */ + button.y = scroll.y; + if (nk_do_button_symbol(&ws, out, button, style->dec_symbol, + NK_BUTTON_REPEATER, &style->dec_button, in, font)) + offset = offset - scroll_step; + + /* increment button */ + button.y = scroll.y + scroll.h - button.h; + if (nk_do_button_symbol(&ws, out, button, style->inc_symbol, + NK_BUTTON_REPEATER, &style->inc_button, in, font)) + offset = offset + scroll_step; + + scroll.y = scroll.y + button.h; + scroll.h = scroll_h; + } + + /* calculate scrollbar constants */ + scroll_step = NK_MIN(step, scroll.h); + scroll_offset = NK_CLAMP(0, offset, target - scroll.h); + scroll_ratio = scroll.h / target; + scroll_off = scroll_offset / target; + + /* calculate scrollbar cursor bounds */ + cursor.h = NK_MAX((scroll_ratio * scroll.h) - (2*style->border + 2*style->padding.y), 0); + cursor.y = scroll.y + (scroll_off * scroll.h) + style->border + style->padding.y; + cursor.w = scroll.w - (2 * style->border + 2 * style->padding.x); + cursor.x = scroll.x + style->border + style->padding.x; + + /* calculate empty space around cursor */ + empty_north.x = scroll.x; + empty_north.y = scroll.y; + empty_north.w = scroll.w; + empty_north.h = NK_MAX(cursor.y - scroll.y, 0); + + empty_south.x = scroll.x; + empty_south.y = cursor.y + cursor.h; + empty_south.w = scroll.w; + empty_south.h = NK_MAX((scroll.y + scroll.h) - (cursor.y + cursor.h), 0); + + /* update scrollbar */ + scroll_offset = nk_scrollbar_behavior(state, in, has_scrolling, &scroll, &cursor, + &empty_north, &empty_south, scroll_offset, target, scroll_step, NK_VERTICAL); + scroll_off = scroll_offset / target; + cursor.y = scroll.y + (scroll_off * scroll.h) + style->border_cursor + style->padding.y; + + /* draw scrollbar */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_scrollbar(out, *state, style, &scroll, &cursor); + if (style->draw_end) style->draw_end(out, style->userdata); + return scroll_offset; +} +NK_LIB float +nk_do_scrollbarh(nk_flags *state, + struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, + float offset, float target, float step, float button_pixel_inc, + const struct nk_style_scrollbar *style, struct nk_input *in, + const struct nk_user_font *font) +{ + struct nk_rect cursor; + struct nk_rect empty_west; + struct nk_rect empty_east; + + float scroll_step; + float scroll_offset; + float scroll_off; + float scroll_ratio; + + NK_ASSERT(out); + NK_ASSERT(style); + if (!out || !style) return 0; + + /* scrollbar background */ + scroll.h = NK_MAX(scroll.h, 1); + scroll.w = NK_MAX(scroll.w, 2 * scroll.h); + if (target <= scroll.w) return 0; + + /* optional scrollbar buttons */ + if (style->show_buttons) { + nk_flags ws; + float scroll_w; + struct nk_rect button; + button.y = scroll.y; + button.w = scroll.h; + button.h = scroll.h; + + scroll_w = scroll.w - 2 * button.w; + scroll_step = NK_MIN(step, button_pixel_inc); + + /* decrement button */ + button.x = scroll.x; + if (nk_do_button_symbol(&ws, out, button, style->dec_symbol, + NK_BUTTON_REPEATER, &style->dec_button, in, font)) + offset = offset - scroll_step; + + /* increment button */ + button.x = scroll.x + scroll.w - button.w; + if (nk_do_button_symbol(&ws, out, button, style->inc_symbol, + NK_BUTTON_REPEATER, &style->inc_button, in, font)) + offset = offset + scroll_step; + + scroll.x = scroll.x + button.w; + scroll.w = scroll_w; + } + + /* calculate scrollbar constants */ + scroll_step = NK_MIN(step, scroll.w); + scroll_offset = NK_CLAMP(0, offset, target - scroll.w); + scroll_ratio = scroll.w / target; + scroll_off = scroll_offset / target; + + /* calculate cursor bounds */ + cursor.w = (scroll_ratio * scroll.w) - (2*style->border + 2*style->padding.x); + cursor.x = scroll.x + (scroll_off * scroll.w) + style->border + style->padding.x; + cursor.h = scroll.h - (2 * style->border + 2 * style->padding.y); + cursor.y = scroll.y + style->border + style->padding.y; + + /* calculate empty space around cursor */ + empty_west.x = scroll.x; + empty_west.y = scroll.y; + empty_west.w = cursor.x - scroll.x; + empty_west.h = scroll.h; + + empty_east.x = cursor.x + cursor.w; + empty_east.y = scroll.y; + empty_east.w = (scroll.x + scroll.w) - (cursor.x + cursor.w); + empty_east.h = scroll.h; + + /* update scrollbar */ + scroll_offset = nk_scrollbar_behavior(state, in, has_scrolling, &scroll, &cursor, + &empty_west, &empty_east, scroll_offset, target, scroll_step, NK_HORIZONTAL); + scroll_off = scroll_offset / target; + cursor.x = scroll.x + (scroll_off * scroll.w); + + /* draw scrollbar */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_scrollbar(out, *state, style, &scroll, &cursor); + if (style->draw_end) style->draw_end(out, style->userdata); + return scroll_offset; +} + + + + + +/* =============================================================== + * + * TEXT EDITOR + * + * ===============================================================*/ +/* stb_textedit.h - v1.8 - public domain - Sean Barrett */ +struct nk_text_find { + float x,y; /* position of n'th character */ + float height; /* height of line */ + int first_char, length; /* first char of row, and length */ + int prev_first; /*_ first char of previous row */ +}; + +struct nk_text_edit_row { + float x0,x1; + /* starting x location, end x location (allows for align=right, etc) */ + float baseline_y_delta; + /* position of baseline relative to previous row's baseline*/ + float ymin,ymax; + /* height of row above and below baseline */ + int num_chars; +}; + +/* forward declarations */ +NK_INTERN void nk_textedit_makeundo_delete(struct nk_text_edit*, int, int); +NK_INTERN void nk_textedit_makeundo_insert(struct nk_text_edit*, int, int); +NK_INTERN void nk_textedit_makeundo_replace(struct nk_text_edit*, int, int, int); +#define NK_TEXT_HAS_SELECTION(s) ((s)->select_start != (s)->select_end) + +NK_INTERN float +nk_textedit_get_width(const struct nk_text_edit *edit, int line_start, int char_id, + const struct nk_user_font *font) +{ + int len = 0; + nk_rune unicode = 0; + const char *str = nk_str_at_const(&edit->string, line_start + char_id, &unicode, &len); + return font->width(font->userdata, font->height, str, len); +} +NK_INTERN void +nk_textedit_layout_row(struct nk_text_edit_row *r, struct nk_text_edit *edit, + int line_start_id, float row_height, const struct nk_user_font *font) +{ + int l; + int glyphs = 0; + nk_rune unicode; + const char *remaining; + int len = nk_str_len_char(&edit->string); + const char *end = nk_str_get_const(&edit->string) + len; + const char *text = nk_str_at_const(&edit->string, line_start_id, &unicode, &l); + const struct nk_vec2 size = nk_text_calculate_text_bounds(font, + text, (int)(end - text), row_height, &remaining, 0, &glyphs, NK_STOP_ON_NEW_LINE); + + r->x0 = 0.0f; + r->x1 = size.x; + r->baseline_y_delta = size.y; + r->ymin = 0.0f; + r->ymax = size.y; + r->num_chars = glyphs; +} +NK_INTERN int +nk_textedit_locate_coord(struct nk_text_edit *edit, float x, float y, + const struct nk_user_font *font, float row_height) +{ + struct nk_text_edit_row r; + int n = edit->string.len; + float base_y = 0, prev_x; + int i=0, k; + + r.x0 = r.x1 = 0; + r.ymin = r.ymax = 0; + r.num_chars = 0; + + /* search rows to find one that straddles 'y' */ + while (i < n) { + nk_textedit_layout_row(&r, edit, i, row_height, font); + if (r.num_chars <= 0) + return n; + + if (i==0 && y < base_y + r.ymin) + return 0; + + if (y < base_y + r.ymax) + break; + + i += r.num_chars; + base_y += r.baseline_y_delta; + } + + /* below all text, return 'after' last character */ + if (i >= n) + return n; + + /* check if it's before the beginning of the line */ + if (x < r.x0) + return i; + + /* check if it's before the end of the line */ + if (x < r.x1) { + /* search characters in row for one that straddles 'x' */ + k = i; + prev_x = r.x0; + for (i=0; i < r.num_chars; ++i) { + float w = nk_textedit_get_width(edit, k, i, font); + if (x < prev_x+w) { + if (x < prev_x+w/2) + return k+i; + else return k+i+1; + } + prev_x += w; + } + /* shouldn't happen, but if it does, fall through to end-of-line case */ + } + + /* if the last character is a newline, return that. + * otherwise return 'after' the last character */ + if (nk_str_rune_at(&edit->string, i+r.num_chars-1) == '\n') + return i+r.num_chars-1; + else return i+r.num_chars; +} +NK_LIB void +nk_textedit_click(struct nk_text_edit *state, float x, float y, + const struct nk_user_font *font, float row_height) +{ + /* API click: on mouse down, move the cursor to the clicked location, + * and reset the selection */ + state->cursor = nk_textedit_locate_coord(state, x, y, font, row_height); + state->select_start = state->cursor; + state->select_end = state->cursor; + state->has_preferred_x = 0; +} +NK_LIB void +nk_textedit_drag(struct nk_text_edit *state, float x, float y, + const struct nk_user_font *font, float row_height) +{ + /* API drag: on mouse drag, move the cursor and selection endpoint + * to the clicked location */ + int p = nk_textedit_locate_coord(state, x, y, font, row_height); + if (state->select_start == state->select_end) + state->select_start = state->cursor; + state->cursor = state->select_end = p; +} +NK_INTERN void +nk_textedit_find_charpos(struct nk_text_find *find, struct nk_text_edit *state, + int n, int single_line, const struct nk_user_font *font, float row_height) +{ + /* find the x/y location of a character, and remember info about the previous + * row in case we get a move-up event (for page up, we'll have to rescan) */ + struct nk_text_edit_row r; + int prev_start = 0; + int z = state->string.len; + int i=0, first; + + nk_zero_struct(r); + if (n == z) { + /* if it's at the end, then find the last line -- simpler than trying to + explicitly handle this case in the regular code */ + nk_textedit_layout_row(&r, state, 0, row_height, font); + if (single_line) { + find->first_char = 0; + find->length = z; + } else { + while (i < z) { + prev_start = i; + i += r.num_chars; + nk_textedit_layout_row(&r, state, i, row_height, font); + } + + find->first_char = i; + find->length = r.num_chars; + } + find->x = r.x1; + find->y = r.ymin; + find->height = r.ymax - r.ymin; + find->prev_first = prev_start; + return; + } + + /* search rows to find the one that straddles character n */ + find->y = 0; + + for(;;) { + nk_textedit_layout_row(&r, state, i, row_height, font); + if (n < i + r.num_chars) break; + prev_start = i; + i += r.num_chars; + find->y += r.baseline_y_delta; + } + + find->first_char = first = i; + find->length = r.num_chars; + find->height = r.ymax - r.ymin; + find->prev_first = prev_start; + + /* now scan to find xpos */ + find->x = r.x0; + for (i=0; first+i < n; ++i) + find->x += nk_textedit_get_width(state, first, i, font); +} +NK_INTERN void +nk_textedit_clamp(struct nk_text_edit *state) +{ + /* make the selection/cursor state valid if client altered the string */ + int n = state->string.len; + if (NK_TEXT_HAS_SELECTION(state)) { + if (state->select_start > n) state->select_start = n; + if (state->select_end > n) state->select_end = n; + /* if clamping forced them to be equal, move the cursor to match */ + if (state->select_start == state->select_end) + state->cursor = state->select_start; + } + if (state->cursor > n) state->cursor = n; +} +NK_API void +nk_textedit_delete(struct nk_text_edit *state, int where, int len) +{ + /* delete characters while updating undo */ + nk_textedit_makeundo_delete(state, where, len); + nk_str_delete_runes(&state->string, where, len); + state->has_preferred_x = 0; +} +NK_API void +nk_textedit_delete_selection(struct nk_text_edit *state) +{ + /* delete the section */ + nk_textedit_clamp(state); + if (NK_TEXT_HAS_SELECTION(state)) { + if (state->select_start < state->select_end) { + nk_textedit_delete(state, state->select_start, + state->select_end - state->select_start); + state->select_end = state->cursor = state->select_start; + } else { + nk_textedit_delete(state, state->select_end, + state->select_start - state->select_end); + state->select_start = state->cursor = state->select_end; + } + state->has_preferred_x = 0; + } +} +NK_INTERN void +nk_textedit_sortselection(struct nk_text_edit *state) +{ + /* canonicalize the selection so start <= end */ + if (state->select_end < state->select_start) { + int temp = state->select_end; + state->select_end = state->select_start; + state->select_start = temp; + } +} +NK_INTERN void +nk_textedit_move_to_first(struct nk_text_edit *state) +{ + /* move cursor to first character of selection */ + if (NK_TEXT_HAS_SELECTION(state)) { + nk_textedit_sortselection(state); + state->cursor = state->select_start; + state->select_end = state->select_start; + state->has_preferred_x = 0; + } +} +NK_INTERN void +nk_textedit_move_to_last(struct nk_text_edit *state) +{ + /* move cursor to last character of selection */ + if (NK_TEXT_HAS_SELECTION(state)) { + nk_textedit_sortselection(state); + nk_textedit_clamp(state); + state->cursor = state->select_end; + state->select_start = state->select_end; + state->has_preferred_x = 0; + } +} +NK_INTERN int +nk_is_word_boundary( struct nk_text_edit *state, int idx) +{ + int len; + nk_rune c; + if (idx <= 0) return 1; + if (!nk_str_at_rune(&state->string, idx, &c, &len)) return 1; + return (c == ' ' || c == '\t' ||c == 0x3000 || c == ',' || c == ';' || + c == '(' || c == ')' || c == '{' || c == '}' || c == '[' || c == ']' || + c == '|'); +} +NK_INTERN int +nk_textedit_move_to_word_previous(struct nk_text_edit *state) +{ + int c = state->cursor - 1; + while( c >= 0 && !nk_is_word_boundary(state, c)) + --c; + + if( c < 0 ) + c = 0; + + return c; +} +NK_INTERN int +nk_textedit_move_to_word_next(struct nk_text_edit *state) +{ + const int len = state->string.len; + int c = state->cursor+1; + while( c < len && !nk_is_word_boundary(state, c)) + ++c; + + if( c > len ) + c = len; + + return c; +} +NK_INTERN void +nk_textedit_prep_selection_at_cursor(struct nk_text_edit *state) +{ + /* update selection and cursor to match each other */ + if (!NK_TEXT_HAS_SELECTION(state)) + state->select_start = state->select_end = state->cursor; + else state->cursor = state->select_end; +} +NK_API nk_bool +nk_textedit_cut(struct nk_text_edit *state) +{ + /* API cut: delete selection */ + if (state->mode == NK_TEXT_EDIT_MODE_VIEW) + return 0; + if (NK_TEXT_HAS_SELECTION(state)) { + nk_textedit_delete_selection(state); /* implicitly clamps */ + state->has_preferred_x = 0; + return 1; + } + return 0; +} +NK_API nk_bool +nk_textedit_paste(struct nk_text_edit *state, char const *ctext, int len) +{ + /* API paste: replace existing selection with passed-in text */ + int glyphs; + const char *text = (const char *) ctext; + if (state->mode == NK_TEXT_EDIT_MODE_VIEW) return 0; + + /* if there's a selection, the paste should delete it */ + nk_textedit_clamp(state); + nk_textedit_delete_selection(state); + + /* try to insert the characters */ + glyphs = nk_utf_len(ctext, len); + if (nk_str_insert_text_char(&state->string, state->cursor, text, len)) { + nk_textedit_makeundo_insert(state, state->cursor, glyphs); + state->cursor += len; + state->has_preferred_x = 0; + return 1; + } + /* remove the undo since we didn't actually insert the characters */ + if (state->undo.undo_point) + --state->undo.undo_point; + return 0; +} +NK_API void +nk_textedit_text(struct nk_text_edit *state, const char *text, int total_len) +{ + nk_rune unicode; + int glyph_len; + int text_len = 0; + + NK_ASSERT(state); + NK_ASSERT(text); + if (!text || !total_len || state->mode == NK_TEXT_EDIT_MODE_VIEW) return; + + glyph_len = nk_utf_decode(text, &unicode, total_len); + while ((text_len < total_len) && glyph_len) + { + /* don't insert a backward delete, just process the event */ + if (unicode == 127) goto next; + /* can't add newline in single-line mode */ + if (unicode == '\n' && state->single_line) goto next; + /* filter incoming text */ + if (state->filter && !state->filter(state, unicode)) goto next; + + if (!NK_TEXT_HAS_SELECTION(state) && + state->cursor < state->string.len) + { + if (state->mode == NK_TEXT_EDIT_MODE_REPLACE) { + nk_textedit_makeundo_replace(state, state->cursor, 1, 1); + nk_str_delete_runes(&state->string, state->cursor, 1); + } + if (nk_str_insert_text_utf8(&state->string, state->cursor, + text+text_len, 1)) + { + ++state->cursor; + state->has_preferred_x = 0; + } + } else { + nk_textedit_delete_selection(state); /* implicitly clamps */ + if (nk_str_insert_text_utf8(&state->string, state->cursor, + text+text_len, 1)) + { + nk_textedit_makeundo_insert(state, state->cursor, 1); + ++state->cursor; + state->has_preferred_x = 0; + } + } + next: + text_len += glyph_len; + glyph_len = nk_utf_decode(text + text_len, &unicode, total_len-text_len); + } +} +NK_LIB void +nk_textedit_key(struct nk_text_edit *state, enum nk_keys key, int shift_mod, + const struct nk_user_font *font, float row_height) +{ +retry: + switch (key) + { + case NK_KEY_NONE: + case NK_KEY_CTRL: + case NK_KEY_ENTER: + case NK_KEY_SHIFT: + case NK_KEY_TAB: + case NK_KEY_COPY: + case NK_KEY_CUT: + case NK_KEY_PASTE: + case NK_KEY_MAX: + default: break; + case NK_KEY_TEXT_UNDO: + nk_textedit_undo(state); + state->has_preferred_x = 0; + break; + + case NK_KEY_TEXT_REDO: + nk_textedit_redo(state); + state->has_preferred_x = 0; + break; + + case NK_KEY_TEXT_SELECT_ALL: + nk_textedit_select_all(state); + state->has_preferred_x = 0; + break; + + case NK_KEY_TEXT_INSERT_MODE: + if (state->mode == NK_TEXT_EDIT_MODE_VIEW) + state->mode = NK_TEXT_EDIT_MODE_INSERT; + break; + case NK_KEY_TEXT_REPLACE_MODE: + if (state->mode == NK_TEXT_EDIT_MODE_VIEW) + state->mode = NK_TEXT_EDIT_MODE_REPLACE; + break; + case NK_KEY_TEXT_RESET_MODE: + if (state->mode == NK_TEXT_EDIT_MODE_INSERT || + state->mode == NK_TEXT_EDIT_MODE_REPLACE) + state->mode = NK_TEXT_EDIT_MODE_VIEW; + break; + + case NK_KEY_LEFT: + if (shift_mod) { + nk_textedit_clamp(state); + nk_textedit_prep_selection_at_cursor(state); + /* move selection left */ + if (state->select_end > 0) + --state->select_end; + state->cursor = state->select_end; + state->has_preferred_x = 0; + } else { + /* if currently there's a selection, + * move cursor to start of selection */ + if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_move_to_first(state); + else if (state->cursor > 0) + --state->cursor; + state->has_preferred_x = 0; + } break; + + case NK_KEY_RIGHT: + if (shift_mod) { + nk_textedit_prep_selection_at_cursor(state); + /* move selection right */ + ++state->select_end; + nk_textedit_clamp(state); + state->cursor = state->select_end; + state->has_preferred_x = 0; + } else { + /* if currently there's a selection, + * move cursor to end of selection */ + if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_move_to_last(state); + else ++state->cursor; + nk_textedit_clamp(state); + state->has_preferred_x = 0; + } break; + + case NK_KEY_TEXT_WORD_LEFT: + if (shift_mod) { + if( !NK_TEXT_HAS_SELECTION( state ) ) + nk_textedit_prep_selection_at_cursor(state); + state->cursor = nk_textedit_move_to_word_previous(state); + state->select_end = state->cursor; + nk_textedit_clamp(state ); + } else { + if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_move_to_first(state); + else { + state->cursor = nk_textedit_move_to_word_previous(state); + nk_textedit_clamp(state ); + } + } break; + + case NK_KEY_TEXT_WORD_RIGHT: + if (shift_mod) { + if( !NK_TEXT_HAS_SELECTION( state ) ) + nk_textedit_prep_selection_at_cursor(state); + state->cursor = nk_textedit_move_to_word_next(state); + state->select_end = state->cursor; + nk_textedit_clamp(state); + } else { + if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_move_to_last(state); + else { + state->cursor = nk_textedit_move_to_word_next(state); + nk_textedit_clamp(state ); + } + } break; + + case NK_KEY_DOWN: { + struct nk_text_find find; + struct nk_text_edit_row row; + int i, sel = shift_mod; + + if (state->single_line) { + /* on windows, up&down in single-line behave like left&right */ + key = NK_KEY_RIGHT; + goto retry; + } + + if (sel) + nk_textedit_prep_selection_at_cursor(state); + else if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_move_to_last(state); + + /* compute current position of cursor point */ + nk_textedit_clamp(state); + nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, + font, row_height); + + /* now find character position down a row */ + if (find.length) + { + float x; + float goal_x = state->has_preferred_x ? state->preferred_x : find.x; + int start = find.first_char + find.length; + + state->cursor = start; + nk_textedit_layout_row(&row, state, state->cursor, row_height, font); + x = row.x0; + + for (i=0; i < row.num_chars && x < row.x1; ++i) { + float dx = nk_textedit_get_width(state, start, i, font); + x += dx; + if (x > goal_x) + break; + ++state->cursor; + } + nk_textedit_clamp(state); + + state->has_preferred_x = 1; + state->preferred_x = goal_x; + if (sel) + state->select_end = state->cursor; + } + } break; + + case NK_KEY_UP: { + struct nk_text_find find; + struct nk_text_edit_row row; + int i, sel = shift_mod; + + if (state->single_line) { + /* on windows, up&down become left&right */ + key = NK_KEY_LEFT; + goto retry; + } + + if (sel) + nk_textedit_prep_selection_at_cursor(state); + else if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_move_to_first(state); + + /* compute current position of cursor point */ + nk_textedit_clamp(state); + nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, + font, row_height); + + /* can only go up if there's a previous row */ + if (find.prev_first != find.first_char) { + /* now find character position up a row */ + float x; + float goal_x = state->has_preferred_x ? state->preferred_x : find.x; + + state->cursor = find.prev_first; + nk_textedit_layout_row(&row, state, state->cursor, row_height, font); + x = row.x0; + + for (i=0; i < row.num_chars && x < row.x1; ++i) { + float dx = nk_textedit_get_width(state, find.prev_first, i, font); + x += dx; + if (x > goal_x) + break; + ++state->cursor; + } + nk_textedit_clamp(state); + + state->has_preferred_x = 1; + state->preferred_x = goal_x; + if (sel) state->select_end = state->cursor; + } + } break; + + case NK_KEY_DEL: + if (state->mode == NK_TEXT_EDIT_MODE_VIEW) + break; + if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_delete_selection(state); + else { + int n = state->string.len; + if (state->cursor < n) + nk_textedit_delete(state, state->cursor, 1); + } + state->has_preferred_x = 0; + break; + + case NK_KEY_BACKSPACE: + if (state->mode == NK_TEXT_EDIT_MODE_VIEW) + break; + if (NK_TEXT_HAS_SELECTION(state)) + nk_textedit_delete_selection(state); + else { + nk_textedit_clamp(state); + if (state->cursor > 0) { + nk_textedit_delete(state, state->cursor-1, 1); + --state->cursor; + } + } + state->has_preferred_x = 0; + break; + + case NK_KEY_TEXT_START: + if (shift_mod) { + nk_textedit_prep_selection_at_cursor(state); + state->cursor = state->select_end = 0; + state->has_preferred_x = 0; + } else { + state->cursor = state->select_start = state->select_end = 0; + state->has_preferred_x = 0; + } + break; + + case NK_KEY_TEXT_END: + if (shift_mod) { + nk_textedit_prep_selection_at_cursor(state); + state->cursor = state->select_end = state->string.len; + state->has_preferred_x = 0; + } else { + state->cursor = state->string.len; + state->select_start = state->select_end = 0; + state->has_preferred_x = 0; + } + break; + + case NK_KEY_TEXT_LINE_START: { + if (shift_mod) { + struct nk_text_find find; + nk_textedit_clamp(state); + nk_textedit_prep_selection_at_cursor(state); + if (state->string.len && state->cursor == state->string.len) + --state->cursor; + nk_textedit_find_charpos(&find, state,state->cursor, state->single_line, + font, row_height); + state->cursor = state->select_end = find.first_char; + state->has_preferred_x = 0; + } else { + struct nk_text_find find; + if (state->string.len && state->cursor == state->string.len) + --state->cursor; + nk_textedit_clamp(state); + nk_textedit_move_to_first(state); + nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, + font, row_height); + state->cursor = find.first_char; + state->has_preferred_x = 0; + } + } break; + + case NK_KEY_TEXT_LINE_END: { + if (shift_mod) { + struct nk_text_find find; + nk_textedit_clamp(state); + nk_textedit_prep_selection_at_cursor(state); + nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, + font, row_height); + state->has_preferred_x = 0; + state->cursor = find.first_char + find.length; + if (find.length > 0 && nk_str_rune_at(&state->string, state->cursor-1) == '\n') + --state->cursor; + state->select_end = state->cursor; + } else { + struct nk_text_find find; + nk_textedit_clamp(state); + nk_textedit_move_to_first(state); + nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, + font, row_height); + + state->has_preferred_x = 0; + state->cursor = find.first_char + find.length; + if (find.length > 0 && nk_str_rune_at(&state->string, state->cursor-1) == '\n') + --state->cursor; + }} break; + } +} +NK_INTERN void +nk_textedit_flush_redo(struct nk_text_undo_state *state) +{ + state->redo_point = NK_TEXTEDIT_UNDOSTATECOUNT; + state->redo_char_point = NK_TEXTEDIT_UNDOCHARCOUNT; +} +NK_INTERN void +nk_textedit_discard_undo(struct nk_text_undo_state *state) +{ + /* discard the oldest entry in the undo list */ + if (state->undo_point > 0) { + /* if the 0th undo state has characters, clean those up */ + if (state->undo_rec[0].char_storage >= 0) { + int n = state->undo_rec[0].insert_length, i; + /* delete n characters from all other records */ + state->undo_char_point = (short)(state->undo_char_point - n); + NK_MEMCPY(state->undo_char, state->undo_char + n, + (nk_size)state->undo_char_point*sizeof(nk_rune)); + for (i=0; i < state->undo_point; ++i) { + if (state->undo_rec[i].char_storage >= 0) + state->undo_rec[i].char_storage = (short) + (state->undo_rec[i].char_storage - n); + } + } + --state->undo_point; + NK_MEMCPY(state->undo_rec, state->undo_rec+1, + (nk_size)((nk_size)state->undo_point * sizeof(state->undo_rec[0]))); + } +} +NK_INTERN void +nk_textedit_discard_redo(struct nk_text_undo_state *state) +{ +/* discard the oldest entry in the redo list--it's bad if this + ever happens, but because undo & redo have to store the actual + characters in different cases, the redo character buffer can + fill up even though the undo buffer didn't */ + nk_size num; + int k = NK_TEXTEDIT_UNDOSTATECOUNT-1; + if (state->redo_point <= k) { + /* if the k'th undo state has characters, clean those up */ + if (state->undo_rec[k].char_storage >= 0) { + int n = state->undo_rec[k].insert_length, i; + /* delete n characters from all other records */ + state->redo_char_point = (short)(state->redo_char_point + n); + num = (nk_size)(NK_TEXTEDIT_UNDOCHARCOUNT - state->redo_char_point); + NK_MEMCPY(state->undo_char + state->redo_char_point, + state->undo_char + state->redo_char_point-n, num * sizeof(char)); + for (i = state->redo_point; i < k; ++i) { + if (state->undo_rec[i].char_storage >= 0) { + state->undo_rec[i].char_storage = (short) + (state->undo_rec[i].char_storage + n); + } + } + } + ++state->redo_point; + num = (nk_size)(NK_TEXTEDIT_UNDOSTATECOUNT - state->redo_point); + if (num) NK_MEMCPY(state->undo_rec + state->redo_point-1, + state->undo_rec + state->redo_point, num * sizeof(state->undo_rec[0])); + } +} +NK_INTERN struct nk_text_undo_record* +nk_textedit_create_undo_record(struct nk_text_undo_state *state, int numchars) +{ + /* any time we create a new undo record, we discard redo*/ + nk_textedit_flush_redo(state); + + /* if we have no free records, we have to make room, + * by sliding the existing records down */ + if (state->undo_point == NK_TEXTEDIT_UNDOSTATECOUNT) + nk_textedit_discard_undo(state); + + /* if the characters to store won't possibly fit in the buffer, + * we can't undo */ + if (numchars > NK_TEXTEDIT_UNDOCHARCOUNT) { + state->undo_point = 0; + state->undo_char_point = 0; + return 0; + } + + /* if we don't have enough free characters in the buffer, + * we have to make room */ + while (state->undo_char_point + numchars > NK_TEXTEDIT_UNDOCHARCOUNT) + nk_textedit_discard_undo(state); + return &state->undo_rec[state->undo_point++]; +} +NK_INTERN nk_rune* +nk_textedit_createundo(struct nk_text_undo_state *state, int pos, + int insert_len, int delete_len) +{ + struct nk_text_undo_record *r = nk_textedit_create_undo_record(state, insert_len); + if (r == 0) + return 0; + + r->where = pos; + r->insert_length = (short) insert_len; + r->delete_length = (short) delete_len; + + if (insert_len == 0) { + r->char_storage = -1; + return 0; + } else { + r->char_storage = state->undo_char_point; + state->undo_char_point = (short)(state->undo_char_point + insert_len); + return &state->undo_char[r->char_storage]; + } +} +NK_API void +nk_textedit_undo(struct nk_text_edit *state) +{ + struct nk_text_undo_state *s = &state->undo; + struct nk_text_undo_record u, *r; + if (s->undo_point == 0) + return; + + /* we need to do two things: apply the undo record, and create a redo record */ + u = s->undo_rec[s->undo_point-1]; + r = &s->undo_rec[s->redo_point-1]; + r->char_storage = -1; + + r->insert_length = u.delete_length; + r->delete_length = u.insert_length; + r->where = u.where; + + if (u.delete_length) + { + /* if the undo record says to delete characters, then the redo record will + need to re-insert the characters that get deleted, so we need to store + them. + there are three cases: + - there's enough room to store the characters + - characters stored for *redoing* don't leave room for redo + - characters stored for *undoing* don't leave room for redo + if the last is true, we have to bail */ + if (s->undo_char_point + u.delete_length >= NK_TEXTEDIT_UNDOCHARCOUNT) { + /* the undo records take up too much character space; there's no space + * to store the redo characters */ + r->insert_length = 0; + } else { + int i; + /* there's definitely room to store the characters eventually */ + while (s->undo_char_point + u.delete_length > s->redo_char_point) { + /* there's currently not enough room, so discard a redo record */ + nk_textedit_discard_redo(s); + /* should never happen: */ + if (s->redo_point == NK_TEXTEDIT_UNDOSTATECOUNT) + return; + } + + r = &s->undo_rec[s->redo_point-1]; + r->char_storage = (short)(s->redo_char_point - u.delete_length); + s->redo_char_point = (short)(s->redo_char_point - u.delete_length); + + /* now save the characters */ + for (i=0; i < u.delete_length; ++i) + s->undo_char[r->char_storage + i] = + nk_str_rune_at(&state->string, u.where + i); + } + /* now we can carry out the deletion */ + nk_str_delete_runes(&state->string, u.where, u.delete_length); + } + + /* check type of recorded action: */ + if (u.insert_length) { + /* easy case: was a deletion, so we need to insert n characters */ + nk_str_insert_text_runes(&state->string, u.where, + &s->undo_char[u.char_storage], u.insert_length); + s->undo_char_point = (short)(s->undo_char_point - u.insert_length); + } + state->cursor = (short)(u.where + u.insert_length); + + s->undo_point--; + s->redo_point--; +} +NK_API void +nk_textedit_redo(struct nk_text_edit *state) +{ + struct nk_text_undo_state *s = &state->undo; + struct nk_text_undo_record *u, r; + if (s->redo_point == NK_TEXTEDIT_UNDOSTATECOUNT) + return; + + /* we need to do two things: apply the redo record, and create an undo record */ + u = &s->undo_rec[s->undo_point]; + r = s->undo_rec[s->redo_point]; + + /* we KNOW there must be room for the undo record, because the redo record + was derived from an undo record */ + u->delete_length = r.insert_length; + u->insert_length = r.delete_length; + u->where = r.where; + u->char_storage = -1; + + if (r.delete_length) { + /* the redo record requires us to delete characters, so the undo record + needs to store the characters */ + if (s->undo_char_point + u->insert_length > s->redo_char_point) { + u->insert_length = 0; + u->delete_length = 0; + } else { + int i; + u->char_storage = s->undo_char_point; + s->undo_char_point = (short)(s->undo_char_point + u->insert_length); + + /* now save the characters */ + for (i=0; i < u->insert_length; ++i) { + s->undo_char[u->char_storage + i] = + nk_str_rune_at(&state->string, u->where + i); + } + } + nk_str_delete_runes(&state->string, r.where, r.delete_length); + } + + if (r.insert_length) { + /* easy case: need to insert n characters */ + nk_str_insert_text_runes(&state->string, r.where, + &s->undo_char[r.char_storage], r.insert_length); + } + state->cursor = r.where + r.insert_length; + + s->undo_point++; + s->redo_point++; +} +NK_INTERN void +nk_textedit_makeundo_insert(struct nk_text_edit *state, int where, int length) +{ + nk_textedit_createundo(&state->undo, where, 0, length); +} +NK_INTERN void +nk_textedit_makeundo_delete(struct nk_text_edit *state, int where, int length) +{ + int i; + nk_rune *p = nk_textedit_createundo(&state->undo, where, length, 0); + if (p) { + for (i=0; i < length; ++i) + p[i] = nk_str_rune_at(&state->string, where+i); + } +} +NK_INTERN void +nk_textedit_makeundo_replace(struct nk_text_edit *state, int where, + int old_length, int new_length) +{ + int i; + nk_rune *p = nk_textedit_createundo(&state->undo, where, old_length, new_length); + if (p) { + for (i=0; i < old_length; ++i) + p[i] = nk_str_rune_at(&state->string, where+i); + } +} +NK_LIB void +nk_textedit_clear_state(struct nk_text_edit *state, enum nk_text_edit_type type, + nk_plugin_filter filter) +{ + /* reset the state to default */ + state->undo.undo_point = 0; + state->undo.undo_char_point = 0; + state->undo.redo_point = NK_TEXTEDIT_UNDOSTATECOUNT; + state->undo.redo_char_point = NK_TEXTEDIT_UNDOCHARCOUNT; + state->select_end = state->select_start = 0; + state->cursor = 0; + state->has_preferred_x = 0; + state->preferred_x = 0; + state->cursor_at_end_of_line = 0; + state->initialized = 1; + state->single_line = (unsigned char)(type == NK_TEXT_EDIT_SINGLE_LINE); + state->mode = NK_TEXT_EDIT_MODE_VIEW; + state->filter = filter; + state->scrollbar = nk_vec2(0,0); +} +NK_API void +nk_textedit_init_fixed(struct nk_text_edit *state, void *memory, nk_size size) +{ + NK_ASSERT(state); + NK_ASSERT(memory); + if (!state || !memory || !size) return; + NK_MEMSET(state, 0, sizeof(struct nk_text_edit)); + nk_textedit_clear_state(state, NK_TEXT_EDIT_SINGLE_LINE, 0); + nk_str_init_fixed(&state->string, memory, size); +} +NK_API void +nk_textedit_init(struct nk_text_edit *state, struct nk_allocator *alloc, nk_size size) +{ + NK_ASSERT(state); + NK_ASSERT(alloc); + if (!state || !alloc) return; + NK_MEMSET(state, 0, sizeof(struct nk_text_edit)); + nk_textedit_clear_state(state, NK_TEXT_EDIT_SINGLE_LINE, 0); + nk_str_init(&state->string, alloc, size); +} +#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR +NK_API void +nk_textedit_init_default(struct nk_text_edit *state) +{ + NK_ASSERT(state); + if (!state) return; + NK_MEMSET(state, 0, sizeof(struct nk_text_edit)); + nk_textedit_clear_state(state, NK_TEXT_EDIT_SINGLE_LINE, 0); + nk_str_init_default(&state->string); +} +#endif +NK_API void +nk_textedit_select_all(struct nk_text_edit *state) +{ + NK_ASSERT(state); + state->select_start = 0; + state->select_end = state->string.len; +} +NK_API void +nk_textedit_free(struct nk_text_edit *state) +{ + NK_ASSERT(state); + if (!state) return; + nk_str_free(&state->string); +} + + + + + +/* =============================================================== + * + * FILTER + * + * ===============================================================*/ +NK_API nk_bool +nk_filter_default(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(unicode); + NK_UNUSED(box); + return nk_true; +} +NK_API nk_bool +nk_filter_ascii(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(box); + if (unicode > 128) return nk_false; + else return nk_true; +} +NK_API nk_bool +nk_filter_float(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(box); + if ((unicode < '0' || unicode > '9') && unicode != '.' && unicode != '-') + return nk_false; + else return nk_true; +} +NK_API nk_bool +nk_filter_decimal(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(box); + if ((unicode < '0' || unicode > '9') && unicode != '-') + return nk_false; + else return nk_true; +} +NK_API nk_bool +nk_filter_hex(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(box); + if ((unicode < '0' || unicode > '9') && + (unicode < 'a' || unicode > 'f') && + (unicode < 'A' || unicode > 'F')) + return nk_false; + else return nk_true; +} +NK_API nk_bool +nk_filter_oct(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(box); + if (unicode < '0' || unicode > '7') + return nk_false; + else return nk_true; +} +NK_API nk_bool +nk_filter_binary(const struct nk_text_edit *box, nk_rune unicode) +{ + NK_UNUSED(box); + if (unicode != '0' && unicode != '1') + return nk_false; + else return nk_true; +} + +/* =============================================================== + * + * EDIT + * + * ===============================================================*/ +NK_LIB void +nk_edit_draw_text(struct nk_command_buffer *out, + const struct nk_style_edit *style, float pos_x, float pos_y, + float x_offset, const char *text, int byte_len, float row_height, + const struct nk_user_font *font, struct nk_color background, + struct nk_color foreground, nk_bool is_selected) +{ + NK_ASSERT(out); + NK_ASSERT(font); + NK_ASSERT(style); + if (!text || !byte_len || !out || !style) return; + + {int glyph_len = 0; + nk_rune unicode = 0; + int text_len = 0; + float line_width = 0; + float glyph_width; + const char *line = text; + float line_offset = 0; + int line_count = 0; + + struct nk_text txt; + txt.padding = nk_vec2(0,0); + txt.background = background; + txt.text = foreground; + + glyph_len = nk_utf_decode(text+text_len, &unicode, byte_len-text_len); + if (!glyph_len) return; + while ((text_len < byte_len) && glyph_len) + { + if (unicode == '\n') { + /* new line separator so draw previous line */ + struct nk_rect label; + label.y = pos_y + line_offset; + label.h = row_height; + label.w = line_width; + label.x = pos_x; + if (!line_count) + label.x += x_offset; + + if (is_selected) /* selection needs to draw different background color */ + nk_fill_rect(out, label, 0, background); + nk_widget_text(out, label, line, (int)((text + text_len) - line), + &txt, NK_TEXT_CENTERED, font); + + text_len++; + line_count++; + line_width = 0; + line = text + text_len; + line_offset += row_height; + glyph_len = nk_utf_decode(text + text_len, &unicode, (int)(byte_len-text_len)); + continue; + } + if (unicode == '\r') { + text_len++; + glyph_len = nk_utf_decode(text + text_len, &unicode, byte_len-text_len); + continue; + } + glyph_width = font->width(font->userdata, font->height, text+text_len, glyph_len); + line_width += (float)glyph_width; + text_len += glyph_len; + glyph_len = nk_utf_decode(text + text_len, &unicode, byte_len-text_len); + continue; + } + if (line_width > 0) { + /* draw last line */ + struct nk_rect label; + label.y = pos_y + line_offset; + label.h = row_height; + label.w = line_width; + label.x = pos_x; + if (!line_count) + label.x += x_offset; + + if (is_selected) + nk_fill_rect(out, label, 0, background); + nk_widget_text(out, label, line, (int)((text + text_len) - line), + &txt, NK_TEXT_LEFT, font); + }} +} +NK_LIB nk_flags +nk_do_edit(nk_flags *state, struct nk_command_buffer *out, + struct nk_rect bounds, nk_flags flags, nk_plugin_filter filter, + struct nk_text_edit *edit, const struct nk_style_edit *style, + struct nk_input *in, const struct nk_user_font *font) +{ + struct nk_rect area; + nk_flags ret = 0; + float row_height; + char prev_state = 0; + char is_hovered = 0; + char select_all = 0; + char cursor_follow = 0; + struct nk_rect old_clip; + struct nk_rect clip; + + NK_ASSERT(state); + NK_ASSERT(out); + NK_ASSERT(style); + if (!state || !out || !style) + return ret; + + /* visible text area calculation */ + area.x = bounds.x + style->padding.x + style->border; + area.y = bounds.y + style->padding.y + style->border; + area.w = bounds.w - (2.0f * style->padding.x + 2 * style->border); + area.h = bounds.h - (2.0f * style->padding.y + 2 * style->border); + if (flags & NK_EDIT_MULTILINE) + area.w = NK_MAX(0, area.w - style->scrollbar_size.x); + row_height = (flags & NK_EDIT_MULTILINE)? font->height + style->row_padding: area.h; + + /* calculate clipping rectangle */ + old_clip = out->clip; + nk_unify(&clip, &old_clip, area.x, area.y, area.x + area.w, area.y + area.h); + + /* update edit state */ + prev_state = (char)edit->active; + is_hovered = (char)nk_input_is_mouse_hovering_rect(in, bounds); + if (in && in->mouse.buttons[NK_BUTTON_LEFT].clicked && in->mouse.buttons[NK_BUTTON_LEFT].down) { + edit->active = NK_INBOX(in->mouse.pos.x, in->mouse.pos.y, + bounds.x, bounds.y, bounds.w, bounds.h); + } + + /* (de)activate text editor */ + if (!prev_state && edit->active) { + const enum nk_text_edit_type type = (flags & NK_EDIT_MULTILINE) ? + NK_TEXT_EDIT_MULTI_LINE: NK_TEXT_EDIT_SINGLE_LINE; + /* keep scroll position when re-activating edit widget */ + struct nk_vec2 oldscrollbar = edit->scrollbar; + nk_textedit_clear_state(edit, type, filter); + edit->scrollbar = oldscrollbar; + if (flags & NK_EDIT_AUTO_SELECT) + select_all = nk_true; + if (flags & NK_EDIT_GOTO_END_ON_ACTIVATE) { + edit->cursor = edit->string.len; + in = 0; + } + } else if (!edit->active) edit->mode = NK_TEXT_EDIT_MODE_VIEW; + if (flags & NK_EDIT_READ_ONLY) + edit->mode = NK_TEXT_EDIT_MODE_VIEW; + else if (flags & NK_EDIT_ALWAYS_INSERT_MODE) + edit->mode = NK_TEXT_EDIT_MODE_INSERT; + + ret = (edit->active) ? NK_EDIT_ACTIVE: NK_EDIT_INACTIVE; + if (prev_state != edit->active) + ret |= (edit->active) ? NK_EDIT_ACTIVATED: NK_EDIT_DEACTIVATED; + + /* handle user input */ + if (edit->active && in) + { + int shift_mod = in->keyboard.keys[NK_KEY_SHIFT].down; + const float mouse_x = (in->mouse.pos.x - area.x) + edit->scrollbar.x; + const float mouse_y = (in->mouse.pos.y - area.y) + edit->scrollbar.y; + + /* mouse click handler */ + is_hovered = (char)nk_input_is_mouse_hovering_rect(in, area); + if (select_all) { + nk_textedit_select_all(edit); + } else if (is_hovered && in->mouse.buttons[NK_BUTTON_LEFT].down && + in->mouse.buttons[NK_BUTTON_LEFT].clicked) { + nk_textedit_click(edit, mouse_x, mouse_y, font, row_height); + } else if (is_hovered && in->mouse.buttons[NK_BUTTON_LEFT].down && + (in->mouse.delta.x != 0.0f || in->mouse.delta.y != 0.0f)) { + nk_textedit_drag(edit, mouse_x, mouse_y, font, row_height); + cursor_follow = nk_true; + } else if (is_hovered && in->mouse.buttons[NK_BUTTON_RIGHT].clicked && + in->mouse.buttons[NK_BUTTON_RIGHT].down) { + nk_textedit_key(edit, NK_KEY_TEXT_WORD_LEFT, nk_false, font, row_height); + nk_textedit_key(edit, NK_KEY_TEXT_WORD_RIGHT, nk_true, font, row_height); + cursor_follow = nk_true; + } + + {int i; /* keyboard input */ + int old_mode = edit->mode; + for (i = 0; i < NK_KEY_MAX; ++i) { + if (i == NK_KEY_ENTER || i == NK_KEY_TAB) continue; /* special case */ + if (nk_input_is_key_pressed(in, (enum nk_keys)i)) { + nk_textedit_key(edit, (enum nk_keys)i, shift_mod, font, row_height); + cursor_follow = nk_true; + } + } + if (old_mode != edit->mode) { + in->keyboard.text_len = 0; + }} + + /* text input */ + edit->filter = filter; + if (in->keyboard.text_len) { + nk_textedit_text(edit, in->keyboard.text, in->keyboard.text_len); + cursor_follow = nk_true; + in->keyboard.text_len = 0; + } + + /* enter key handler */ + if (nk_input_is_key_pressed(in, NK_KEY_ENTER)) { + cursor_follow = nk_true; + if (flags & NK_EDIT_CTRL_ENTER_NEWLINE && shift_mod) + nk_textedit_text(edit, "\n", 1); + else if (flags & NK_EDIT_SIG_ENTER) + ret |= NK_EDIT_COMMITED; + else nk_textedit_text(edit, "\n", 1); + } + + /* cut & copy handler */ + {int copy= nk_input_is_key_pressed(in, NK_KEY_COPY); + int cut = nk_input_is_key_pressed(in, NK_KEY_CUT); + if ((copy || cut) && (flags & NK_EDIT_CLIPBOARD)) + { + int glyph_len; + nk_rune unicode; + const char *text; + int b = edit->select_start; + int e = edit->select_end; + + int begin = NK_MIN(b, e); + int end = NK_MAX(b, e); + text = nk_str_at_const(&edit->string, begin, &unicode, &glyph_len); + if (edit->clip.copy) + edit->clip.copy(edit->clip.userdata, text, end - begin); + if (cut && !(flags & NK_EDIT_READ_ONLY)){ + nk_textedit_cut(edit); + cursor_follow = nk_true; + } + }} + + /* paste handler */ + {int paste = nk_input_is_key_pressed(in, NK_KEY_PASTE); + if (paste && (flags & NK_EDIT_CLIPBOARD) && edit->clip.paste) { + edit->clip.paste(edit->clip.userdata, edit); + cursor_follow = nk_true; + }} + + /* tab handler */ + {int tab = nk_input_is_key_pressed(in, NK_KEY_TAB); + if (tab && (flags & NK_EDIT_ALLOW_TAB)) { + nk_textedit_text(edit, " ", 4); + cursor_follow = nk_true; + }} + } + + /* set widget state */ + if (edit->active) + *state = NK_WIDGET_STATE_ACTIVE; + else nk_widget_state_reset(state); + + if (is_hovered) + *state |= NK_WIDGET_STATE_HOVERED; + + /* DRAW EDIT */ + {const char *text = nk_str_get_const(&edit->string); + int len = nk_str_len_char(&edit->string); + + {/* select background colors/images */ + const struct nk_style_item *background; + if (*state & NK_WIDGET_STATE_ACTIVED) + background = &style->active; + else if (*state & NK_WIDGET_STATE_HOVER) + background = &style->hover; + else background = &style->normal; + + /* draw background frame */ + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(out, bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(out, bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(out, bounds, style->rounding, background->data.color); + nk_stroke_rect(out, bounds, style->rounding, style->border, style->border_color); + break; + }} + + + area.w = NK_MAX(0, area.w - style->cursor_size); + if (edit->active) + { + int total_lines = 1; + struct nk_vec2 text_size = nk_vec2(0,0); + + /* text pointer positions */ + const char *cursor_ptr = 0; + const char *select_begin_ptr = 0; + const char *select_end_ptr = 0; + + /* 2D pixel positions */ + struct nk_vec2 cursor_pos = nk_vec2(0,0); + struct nk_vec2 selection_offset_start = nk_vec2(0,0); + struct nk_vec2 selection_offset_end = nk_vec2(0,0); + + int selection_begin = NK_MIN(edit->select_start, edit->select_end); + int selection_end = NK_MAX(edit->select_start, edit->select_end); + + /* calculate total line count + total space + cursor/selection position */ + float line_width = 0.0f; + if (text && len) + { + /* utf8 encoding */ + float glyph_width; + int glyph_len = 0; + nk_rune unicode = 0; + int text_len = 0; + int glyphs = 0; + int row_begin = 0; + + glyph_len = nk_utf_decode(text, &unicode, len); + glyph_width = font->width(font->userdata, font->height, text, glyph_len); + line_width = 0; + + /* iterate all lines */ + while ((text_len < len) && glyph_len) + { + /* set cursor 2D position and line */ + if (!cursor_ptr && glyphs == edit->cursor) + { + int glyph_offset; + struct nk_vec2 out_offset; + struct nk_vec2 row_size; + const char *remaining; + + /* calculate 2d position */ + cursor_pos.y = (float)(total_lines-1) * row_height; + row_size = nk_text_calculate_text_bounds(font, text+row_begin, + text_len-row_begin, row_height, &remaining, + &out_offset, &glyph_offset, NK_STOP_ON_NEW_LINE); + cursor_pos.x = row_size.x; + cursor_ptr = text + text_len; + } + + /* set start selection 2D position and line */ + if (!select_begin_ptr && edit->select_start != edit->select_end && + glyphs == selection_begin) + { + int glyph_offset; + struct nk_vec2 out_offset; + struct nk_vec2 row_size; + const char *remaining; + + /* calculate 2d position */ + selection_offset_start.y = (float)(NK_MAX(total_lines-1,0)) * row_height; + row_size = nk_text_calculate_text_bounds(font, text+row_begin, + text_len-row_begin, row_height, &remaining, + &out_offset, &glyph_offset, NK_STOP_ON_NEW_LINE); + selection_offset_start.x = row_size.x; + select_begin_ptr = text + text_len; + } + + /* set end selection 2D position and line */ + if (!select_end_ptr && edit->select_start != edit->select_end && + glyphs == selection_end) + { + int glyph_offset; + struct nk_vec2 out_offset; + struct nk_vec2 row_size; + const char *remaining; + + /* calculate 2d position */ + selection_offset_end.y = (float)(total_lines-1) * row_height; + row_size = nk_text_calculate_text_bounds(font, text+row_begin, + text_len-row_begin, row_height, &remaining, + &out_offset, &glyph_offset, NK_STOP_ON_NEW_LINE); + selection_offset_end.x = row_size.x; + select_end_ptr = text + text_len; + } + if (unicode == '\n') { + text_size.x = NK_MAX(text_size.x, line_width); + total_lines++; + line_width = 0; + text_len++; + glyphs++; + row_begin = text_len; + glyph_len = nk_utf_decode(text + text_len, &unicode, len-text_len); + glyph_width = font->width(font->userdata, font->height, text+text_len, glyph_len); + continue; + } + + glyphs++; + text_len += glyph_len; + line_width += (float)glyph_width; + + glyph_len = nk_utf_decode(text + text_len, &unicode, len-text_len); + glyph_width = font->width(font->userdata, font->height, + text+text_len, glyph_len); + continue; + } + text_size.y = (float)total_lines * row_height; + + /* handle case when cursor is at end of text buffer */ + if (!cursor_ptr && edit->cursor == edit->string.len) { + cursor_pos.x = line_width; + cursor_pos.y = text_size.y - row_height; + } + } + { + /* scrollbar */ + if (cursor_follow) + { + /* update scrollbar to follow cursor */ + if (!(flags & NK_EDIT_NO_HORIZONTAL_SCROLL)) { + /* horizontal scroll */ + const float scroll_increment = area.w * 0.25f; + if (cursor_pos.x < edit->scrollbar.x) + edit->scrollbar.x = (float)(int)NK_MAX(0.0f, cursor_pos.x - scroll_increment); + if (cursor_pos.x >= edit->scrollbar.x + area.w) + edit->scrollbar.x = (float)(int)NK_MAX(0.0f, cursor_pos.x - area.w + scroll_increment); + } else edit->scrollbar.x = 0; + + if (flags & NK_EDIT_MULTILINE) { + /* vertical scroll */ + if (cursor_pos.y < edit->scrollbar.y) + edit->scrollbar.y = NK_MAX(0.0f, cursor_pos.y - row_height); + if (cursor_pos.y >= edit->scrollbar.y + row_height) + edit->scrollbar.y = edit->scrollbar.y + row_height; + } else edit->scrollbar.y = 0; + } + + /* scrollbar widget */ + if (flags & NK_EDIT_MULTILINE) + { + nk_flags ws; + struct nk_rect scroll; + float scroll_target; + float scroll_offset; + float scroll_step; + float scroll_inc; + + scroll = area; + scroll.x = (bounds.x + bounds.w - style->border) - style->scrollbar_size.x; + scroll.w = style->scrollbar_size.x; + + scroll_offset = edit->scrollbar.y; + scroll_step = scroll.h * 0.10f; + scroll_inc = scroll.h * 0.01f; + scroll_target = text_size.y; + edit->scrollbar.y = nk_do_scrollbarv(&ws, out, scroll, 0, + scroll_offset, scroll_target, scroll_step, scroll_inc, + &style->scrollbar, in, font); + } + } + + /* draw text */ + {struct nk_color background_color; + struct nk_color text_color; + struct nk_color sel_background_color; + struct nk_color sel_text_color; + struct nk_color cursor_color; + struct nk_color cursor_text_color; + const struct nk_style_item *background; + nk_push_scissor(out, clip); + + /* select correct colors to draw */ + if (*state & NK_WIDGET_STATE_ACTIVED) { + background = &style->active; + text_color = style->text_active; + sel_text_color = style->selected_text_hover; + sel_background_color = style->selected_hover; + cursor_color = style->cursor_hover; + cursor_text_color = style->cursor_text_hover; + } else if (*state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + text_color = style->text_hover; + sel_text_color = style->selected_text_hover; + sel_background_color = style->selected_hover; + cursor_text_color = style->cursor_text_hover; + cursor_color = style->cursor_hover; + } else { + background = &style->normal; + text_color = style->text_normal; + sel_text_color = style->selected_text_normal; + sel_background_color = style->selected_normal; + cursor_color = style->cursor_normal; + cursor_text_color = style->cursor_text_normal; + } + if (background->type == NK_STYLE_ITEM_IMAGE) + background_color = nk_rgba(0,0,0,0); + else + background_color = background->data.color; + + + if (edit->select_start == edit->select_end) { + /* no selection so just draw the complete text */ + const char *begin = nk_str_get_const(&edit->string); + int l = nk_str_len_char(&edit->string); + nk_edit_draw_text(out, style, area.x - edit->scrollbar.x, + area.y - edit->scrollbar.y, 0, begin, l, row_height, font, + background_color, text_color, nk_false); + } else { + /* edit has selection so draw 1-3 text chunks */ + if (edit->select_start != edit->select_end && selection_begin > 0){ + /* draw unselected text before selection */ + const char *begin = nk_str_get_const(&edit->string); + NK_ASSERT(select_begin_ptr); + nk_edit_draw_text(out, style, area.x - edit->scrollbar.x, + area.y - edit->scrollbar.y, 0, begin, (int)(select_begin_ptr - begin), + row_height, font, background_color, text_color, nk_false); + } + if (edit->select_start != edit->select_end) { + /* draw selected text */ + NK_ASSERT(select_begin_ptr); + if (!select_end_ptr) { + const char *begin = nk_str_get_const(&edit->string); + select_end_ptr = begin + nk_str_len_char(&edit->string); + } + nk_edit_draw_text(out, style, + area.x - edit->scrollbar.x, + area.y + selection_offset_start.y - edit->scrollbar.y, + selection_offset_start.x, + select_begin_ptr, (int)(select_end_ptr - select_begin_ptr), + row_height, font, sel_background_color, sel_text_color, nk_true); + } + if ((edit->select_start != edit->select_end && + selection_end < edit->string.len)) + { + /* draw unselected text after selected text */ + const char *begin = select_end_ptr; + const char *end = nk_str_get_const(&edit->string) + + nk_str_len_char(&edit->string); + NK_ASSERT(select_end_ptr); + nk_edit_draw_text(out, style, + area.x - edit->scrollbar.x, + area.y + selection_offset_end.y - edit->scrollbar.y, + selection_offset_end.x, + begin, (int)(end - begin), row_height, font, + background_color, text_color, nk_true); + } + } + + /* cursor */ + if (edit->select_start == edit->select_end) + { + if (edit->cursor >= nk_str_len(&edit->string) || + (cursor_ptr && *cursor_ptr == '\n')) { + /* draw cursor at end of line */ + struct nk_rect cursor; + cursor.w = style->cursor_size; + cursor.h = font->height; + cursor.x = area.x + cursor_pos.x - edit->scrollbar.x; + cursor.y = area.y + cursor_pos.y + row_height/2.0f - cursor.h/2.0f; + cursor.y -= edit->scrollbar.y; + nk_fill_rect(out, cursor, 0, cursor_color); + } else { + /* draw cursor inside text */ + int glyph_len; + struct nk_rect label; + struct nk_text txt; + + nk_rune unicode; + NK_ASSERT(cursor_ptr); + glyph_len = nk_utf_decode(cursor_ptr, &unicode, 4); + + label.x = area.x + cursor_pos.x - edit->scrollbar.x; + label.y = area.y + cursor_pos.y - edit->scrollbar.y; + label.w = font->width(font->userdata, font->height, cursor_ptr, glyph_len); + label.h = row_height; + + txt.padding = nk_vec2(0,0); + txt.background = cursor_color;; + txt.text = cursor_text_color; + nk_fill_rect(out, label, 0, cursor_color); + nk_widget_text(out, label, cursor_ptr, glyph_len, &txt, NK_TEXT_LEFT, font); + } + }} + } else { + /* not active so just draw text */ + int l = nk_str_len_char(&edit->string); + const char *begin = nk_str_get_const(&edit->string); + + const struct nk_style_item *background; + struct nk_color background_color; + struct nk_color text_color; + nk_push_scissor(out, clip); + if (*state & NK_WIDGET_STATE_ACTIVED) { + background = &style->active; + text_color = style->text_active; + } else if (*state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + text_color = style->text_hover; + } else { + background = &style->normal; + text_color = style->text_normal; + } + if (background->type == NK_STYLE_ITEM_IMAGE) + background_color = nk_rgba(0,0,0,0); + else + background_color = background->data.color; + nk_edit_draw_text(out, style, area.x - edit->scrollbar.x, + area.y - edit->scrollbar.y, 0, begin, l, row_height, font, + background_color, text_color, nk_false); + } + nk_push_scissor(out, old_clip);} + return ret; +} +NK_API void +nk_edit_focus(struct nk_context *ctx, nk_flags flags) +{ + nk_hash hash; + struct nk_window *win; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return; + + win = ctx->current; + hash = win->edit.seq; + win->edit.active = nk_true; + win->edit.name = hash; + if (flags & NK_EDIT_ALWAYS_INSERT_MODE) + win->edit.mode = NK_TEXT_EDIT_MODE_INSERT; +} +NK_API void +nk_edit_unfocus(struct nk_context *ctx) +{ + struct nk_window *win; + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return; + + win = ctx->current; + win->edit.active = nk_false; + win->edit.name = 0; +} +NK_API nk_flags +nk_edit_string(struct nk_context *ctx, nk_flags flags, + char *memory, int *len, int max, nk_plugin_filter filter) +{ + nk_hash hash; + nk_flags state; + struct nk_text_edit *edit; + struct nk_window *win; + + NK_ASSERT(ctx); + NK_ASSERT(memory); + NK_ASSERT(len); + if (!ctx || !memory || !len) + return 0; + + filter = (!filter) ? nk_filter_default: filter; + win = ctx->current; + hash = win->edit.seq; + edit = &ctx->text_edit; + nk_textedit_clear_state(&ctx->text_edit, (flags & NK_EDIT_MULTILINE)? + NK_TEXT_EDIT_MULTI_LINE: NK_TEXT_EDIT_SINGLE_LINE, filter); + + if (win->edit.active && hash == win->edit.name) { + if (flags & NK_EDIT_NO_CURSOR) + edit->cursor = nk_utf_len(memory, *len); + else edit->cursor = win->edit.cursor; + if (!(flags & NK_EDIT_SELECTABLE)) { + edit->select_start = win->edit.cursor; + edit->select_end = win->edit.cursor; + } else { + edit->select_start = win->edit.sel_start; + edit->select_end = win->edit.sel_end; + } + edit->mode = win->edit.mode; + edit->scrollbar.x = (float)win->edit.scrollbar.x; + edit->scrollbar.y = (float)win->edit.scrollbar.y; + edit->active = nk_true; + } else edit->active = nk_false; + + max = NK_MAX(1, max); + *len = NK_MIN(*len, max-1); + nk_str_init_fixed(&edit->string, memory, (nk_size)max); + edit->string.buffer.allocated = (nk_size)*len; + edit->string.len = nk_utf_len(memory, *len); + state = nk_edit_buffer(ctx, flags, edit, filter); + *len = (int)edit->string.buffer.allocated; + + if (edit->active) { + win->edit.cursor = edit->cursor; + win->edit.sel_start = edit->select_start; + win->edit.sel_end = edit->select_end; + win->edit.mode = edit->mode; + win->edit.scrollbar.x = (nk_uint)edit->scrollbar.x; + win->edit.scrollbar.y = (nk_uint)edit->scrollbar.y; + } return state; +} +NK_API nk_flags +nk_edit_buffer(struct nk_context *ctx, nk_flags flags, + struct nk_text_edit *edit, nk_plugin_filter filter) +{ + struct nk_window *win; + struct nk_style *style; + struct nk_input *in; + + enum nk_widget_layout_states state; + struct nk_rect bounds; + + nk_flags ret_flags = 0; + unsigned char prev_state; + nk_hash hash; + + /* make sure correct values */ + NK_ASSERT(ctx); + NK_ASSERT(edit); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + state = nk_widget(&bounds, ctx); + if (!state) return state; + in = (win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + + /* check if edit is currently hot item */ + hash = win->edit.seq++; + if (win->edit.active && hash == win->edit.name) { + if (flags & NK_EDIT_NO_CURSOR) + edit->cursor = edit->string.len; + if (!(flags & NK_EDIT_SELECTABLE)) { + edit->select_start = edit->cursor; + edit->select_end = edit->cursor; + } + if (flags & NK_EDIT_CLIPBOARD) + edit->clip = ctx->clip; + edit->active = (unsigned char)win->edit.active; + } else edit->active = nk_false; + edit->mode = win->edit.mode; + + filter = (!filter) ? nk_filter_default: filter; + prev_state = (unsigned char)edit->active; + in = (flags & NK_EDIT_READ_ONLY) ? 0: in; + ret_flags = nk_do_edit(&ctx->last_widget_state, &win->buffer, bounds, flags, + filter, edit, &style->edit, in, style->font); + + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_TEXT]; + if (edit->active && prev_state != edit->active) { + /* current edit is now hot */ + win->edit.active = nk_true; + win->edit.name = hash; + } else if (prev_state && !edit->active) { + /* current edit is now cold */ + win->edit.active = nk_false; + } return ret_flags; +} +NK_API nk_flags +nk_edit_string_zero_terminated(struct nk_context *ctx, nk_flags flags, + char *buffer, int max, nk_plugin_filter filter) +{ + nk_flags result; + int len = nk_strlen(buffer); + result = nk_edit_string(ctx, flags, buffer, &len, max, filter); + buffer[NK_MIN(NK_MAX(max-1,0), len)] = '\0'; + return result; +} + + + + + +/* =============================================================== + * + * PROPERTY + * + * ===============================================================*/ +NK_LIB void +nk_drag_behavior(nk_flags *state, const struct nk_input *in, + struct nk_rect drag, struct nk_property_variant *variant, + float inc_per_pixel) +{ + int left_mouse_down = in && in->mouse.buttons[NK_BUTTON_LEFT].down; + int left_mouse_click_in_cursor = in && + nk_input_has_mouse_click_down_in_rect(in, NK_BUTTON_LEFT, drag, nk_true); + + nk_widget_state_reset(state); + if (nk_input_is_mouse_hovering_rect(in, drag)) + *state = NK_WIDGET_STATE_HOVERED; + + if (left_mouse_down && left_mouse_click_in_cursor) { + float delta, pixels; + pixels = in->mouse.delta.x; + delta = pixels * inc_per_pixel; + switch (variant->kind) { + default: break; + case NK_PROPERTY_INT: + variant->value.i = variant->value.i + (int)delta; + variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i, variant->max_value.i); + break; + case NK_PROPERTY_FLOAT: + variant->value.f = variant->value.f + (float)delta; + variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f, variant->max_value.f); + break; + case NK_PROPERTY_DOUBLE: + variant->value.d = variant->value.d + (double)delta; + variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d, variant->max_value.d); + break; + } + *state = NK_WIDGET_STATE_ACTIVE; + } + if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, drag)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(in, drag)) + *state |= NK_WIDGET_STATE_LEFT; +} +NK_LIB void +nk_property_behavior(nk_flags *ws, const struct nk_input *in, + struct nk_rect property, struct nk_rect label, struct nk_rect edit, + struct nk_rect empty, int *state, struct nk_property_variant *variant, + float inc_per_pixel) +{ + nk_widget_state_reset(ws); + if (in && *state == NK_PROPERTY_DEFAULT) { + if (nk_button_behavior(ws, edit, in, NK_BUTTON_DEFAULT)) + *state = NK_PROPERTY_EDIT; + else if (nk_input_is_mouse_click_down_in_rect(in, NK_BUTTON_LEFT, label, nk_true)) + *state = NK_PROPERTY_DRAG; + else if (nk_input_is_mouse_click_down_in_rect(in, NK_BUTTON_LEFT, empty, nk_true)) + *state = NK_PROPERTY_DRAG; + } + if (*state == NK_PROPERTY_DRAG) { + nk_drag_behavior(ws, in, property, variant, inc_per_pixel); + if (!(*ws & NK_WIDGET_STATE_ACTIVED)) *state = NK_PROPERTY_DEFAULT; + } +} +NK_LIB void +nk_draw_property(struct nk_command_buffer *out, const struct nk_style_property *style, + const struct nk_rect *bounds, const struct nk_rect *label, nk_flags state, + const char *name, int len, const struct nk_user_font *font) +{ + struct nk_text text; + const struct nk_style_item *background; + + /* select correct background and text color */ + if (state & NK_WIDGET_STATE_ACTIVED) { + background = &style->active; + text.text = style->label_active; + } else if (state & NK_WIDGET_STATE_HOVER) { + background = &style->hover; + text.text = style->label_hover; + } else { + background = &style->normal; + text.text = style->label_normal; + } + + /* draw background */ + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_image(out, *bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + text.background = background->data.color; + nk_fill_rect(out, *bounds, style->rounding, background->data.color); + nk_stroke_rect(out, *bounds, style->rounding, style->border, background->data.color); + break; + } + + /* draw label */ + text.padding = nk_vec2(0,0); + nk_widget_text(out, *label, name, len, &text, NK_TEXT_CENTERED, font); +} +NK_LIB void +nk_do_property(nk_flags *ws, + struct nk_command_buffer *out, struct nk_rect property, + const char *name, struct nk_property_variant *variant, + float inc_per_pixel, char *buffer, int *len, + int *state, int *cursor, int *select_begin, int *select_end, + const struct nk_style_property *style, + enum nk_property_filter filter, struct nk_input *in, + const struct nk_user_font *font, struct nk_text_edit *text_edit, + enum nk_button_behavior behavior) +{ + const nk_plugin_filter filters[] = { + nk_filter_decimal, + nk_filter_float + }; + nk_bool active, old; + int num_len = 0, name_len; + char string[NK_MAX_NUMBER_BUFFER]; + float size; + + char *dst = 0; + int *length; + + struct nk_rect left; + struct nk_rect right; + struct nk_rect label; + struct nk_rect edit; + struct nk_rect empty; + + /* left decrement button */ + left.h = font->height/2; + left.w = left.h; + left.x = property.x + style->border + style->padding.x; + left.y = property.y + style->border + property.h/2.0f - left.h/2; + + /* text label */ + name_len = nk_strlen(name); + size = font->width(font->userdata, font->height, name, name_len); + label.x = left.x + left.w + style->padding.x; + label.w = (float)size + 2 * style->padding.x; + label.y = property.y + style->border + style->padding.y; + label.h = property.h - (2 * style->border + 2 * style->padding.y); + + /* right increment button */ + right.y = left.y; + right.w = left.w; + right.h = left.h; + right.x = property.x + property.w - (right.w + style->padding.x); + + /* edit */ + if (*state == NK_PROPERTY_EDIT) { + size = font->width(font->userdata, font->height, buffer, *len); + size += style->edit.cursor_size; + length = len; + dst = buffer; + } else { + switch (variant->kind) { + default: break; + case NK_PROPERTY_INT: + nk_itoa(string, variant->value.i); + num_len = nk_strlen(string); + break; + case NK_PROPERTY_FLOAT: + NK_DTOA(string, (double)variant->value.f); + num_len = nk_string_float_limit(string, NK_MAX_FLOAT_PRECISION); + break; + case NK_PROPERTY_DOUBLE: + NK_DTOA(string, variant->value.d); + num_len = nk_string_float_limit(string, NK_MAX_FLOAT_PRECISION); + break; + } + size = font->width(font->userdata, font->height, string, num_len); + dst = string; + length = &num_len; + } + + edit.w = (float)size + 2 * style->padding.x; + edit.w = NK_MIN(edit.w, right.x - (label.x + label.w)); + edit.x = right.x - (edit.w + style->padding.x); + edit.y = property.y + style->border; + edit.h = property.h - (2 * style->border); + + /* empty left space activator */ + empty.w = edit.x - (label.x + label.w); + empty.x = label.x + label.w; + empty.y = property.y; + empty.h = property.h; + + /* update property */ + old = (*state == NK_PROPERTY_EDIT); + nk_property_behavior(ws, in, property, label, edit, empty, state, variant, inc_per_pixel); + + /* draw property */ + if (style->draw_begin) style->draw_begin(out, style->userdata); + nk_draw_property(out, style, &property, &label, *ws, name, name_len, font); + if (style->draw_end) style->draw_end(out, style->userdata); + + /* execute right button */ + if (nk_do_button_symbol(ws, out, left, style->sym_left, behavior, &style->dec_button, in, font)) { + switch (variant->kind) { + default: break; + case NK_PROPERTY_INT: + variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i - variant->step.i, variant->max_value.i); break; + case NK_PROPERTY_FLOAT: + variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f - variant->step.f, variant->max_value.f); break; + case NK_PROPERTY_DOUBLE: + variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d - variant->step.d, variant->max_value.d); break; + } + } + /* execute left button */ + if (nk_do_button_symbol(ws, out, right, style->sym_right, behavior, &style->inc_button, in, font)) { + switch (variant->kind) { + default: break; + case NK_PROPERTY_INT: + variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i + variant->step.i, variant->max_value.i); break; + case NK_PROPERTY_FLOAT: + variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f + variant->step.f, variant->max_value.f); break; + case NK_PROPERTY_DOUBLE: + variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d + variant->step.d, variant->max_value.d); break; + } + } + if (old != NK_PROPERTY_EDIT && (*state == NK_PROPERTY_EDIT)) { + /* property has been activated so setup buffer */ + NK_MEMCPY(buffer, dst, (nk_size)*length); + *cursor = nk_utf_len(buffer, *length); + *len = *length; + length = len; + dst = buffer; + active = 0; + } else active = (*state == NK_PROPERTY_EDIT); + + /* execute and run text edit field */ + nk_textedit_clear_state(text_edit, NK_TEXT_EDIT_SINGLE_LINE, filters[filter]); + text_edit->active = (unsigned char)active; + text_edit->string.len = *length; + text_edit->cursor = NK_CLAMP(0, *cursor, *length); + text_edit->select_start = NK_CLAMP(0,*select_begin, *length); + text_edit->select_end = NK_CLAMP(0,*select_end, *length); + text_edit->string.buffer.allocated = (nk_size)*length; + text_edit->string.buffer.memory.size = NK_MAX_NUMBER_BUFFER; + text_edit->string.buffer.memory.ptr = dst; + text_edit->string.buffer.size = NK_MAX_NUMBER_BUFFER; + text_edit->mode = NK_TEXT_EDIT_MODE_INSERT; + nk_do_edit(ws, out, edit, NK_EDIT_FIELD|NK_EDIT_AUTO_SELECT, + filters[filter], text_edit, &style->edit, (*state == NK_PROPERTY_EDIT) ? in: 0, font); + + *length = text_edit->string.len; + *cursor = text_edit->cursor; + *select_begin = text_edit->select_start; + *select_end = text_edit->select_end; + if (text_edit->active && nk_input_is_key_pressed(in, NK_KEY_ENTER)) + text_edit->active = nk_false; + + if (active && !text_edit->active) { + /* property is now not active so convert edit text to value*/ + *state = NK_PROPERTY_DEFAULT; + buffer[*len] = '\0'; + switch (variant->kind) { + default: break; + case NK_PROPERTY_INT: + variant->value.i = nk_strtoi(buffer, 0); + variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i, variant->max_value.i); + break; + case NK_PROPERTY_FLOAT: + nk_string_float_limit(buffer, NK_MAX_FLOAT_PRECISION); + variant->value.f = nk_strtof(buffer, 0); + variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f, variant->max_value.f); + break; + case NK_PROPERTY_DOUBLE: + nk_string_float_limit(buffer, NK_MAX_FLOAT_PRECISION); + variant->value.d = nk_strtod(buffer, 0); + variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d, variant->max_value.d); + break; + } + } +} +NK_LIB struct nk_property_variant +nk_property_variant_int(int value, int min_value, int max_value, int step) +{ + struct nk_property_variant result; + result.kind = NK_PROPERTY_INT; + result.value.i = value; + result.min_value.i = min_value; + result.max_value.i = max_value; + result.step.i = step; + return result; +} +NK_LIB struct nk_property_variant +nk_property_variant_float(float value, float min_value, float max_value, float step) +{ + struct nk_property_variant result; + result.kind = NK_PROPERTY_FLOAT; + result.value.f = value; + result.min_value.f = min_value; + result.max_value.f = max_value; + result.step.f = step; + return result; +} +NK_LIB struct nk_property_variant +nk_property_variant_double(double value, double min_value, double max_value, + double step) +{ + struct nk_property_variant result; + result.kind = NK_PROPERTY_DOUBLE; + result.value.d = value; + result.min_value.d = min_value; + result.max_value.d = max_value; + result.step.d = step; + return result; +} +NK_LIB void +nk_property(struct nk_context *ctx, const char *name, struct nk_property_variant *variant, + float inc_per_pixel, const enum nk_property_filter filter) +{ + struct nk_window *win; + struct nk_panel *layout; + struct nk_input *in; + const struct nk_style *style; + + struct nk_rect bounds; + enum nk_widget_layout_states s; + + int *state = 0; + nk_hash hash = 0; + char *buffer = 0; + int *len = 0; + int *cursor = 0; + int *select_begin = 0; + int *select_end = 0; + int old_state; + + char dummy_buffer[NK_MAX_NUMBER_BUFFER]; + int dummy_state = NK_PROPERTY_DEFAULT; + int dummy_length = 0; + int dummy_cursor = 0; + int dummy_select_begin = 0; + int dummy_select_end = 0; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return; + + win = ctx->current; + layout = win->layout; + style = &ctx->style; + s = nk_widget(&bounds, ctx); + if (!s) return; + + /* calculate hash from name */ + if (name[0] == '#') { + hash = nk_murmur_hash(name, (int)nk_strlen(name), win->property.seq++); + name++; /* special number hash */ + } else hash = nk_murmur_hash(name, (int)nk_strlen(name), 42); + + /* check if property is currently hot item */ + if (win->property.active && hash == win->property.name) { + buffer = win->property.buffer; + len = &win->property.length; + cursor = &win->property.cursor; + state = &win->property.state; + select_begin = &win->property.select_start; + select_end = &win->property.select_end; + } else { + buffer = dummy_buffer; + len = &dummy_length; + cursor = &dummy_cursor; + state = &dummy_state; + select_begin = &dummy_select_begin; + select_end = &dummy_select_end; + } + + /* execute property widget */ + old_state = *state; + ctx->text_edit.clip = ctx->clip; + in = ((s == NK_WIDGET_ROM && !win->property.active) || + layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + nk_do_property(&ctx->last_widget_state, &win->buffer, bounds, name, + variant, inc_per_pixel, buffer, len, state, cursor, select_begin, + select_end, &style->property, filter, in, style->font, &ctx->text_edit, + ctx->button_behavior); + + if (in && *state != NK_PROPERTY_DEFAULT && !win->property.active) { + /* current property is now hot */ + win->property.active = 1; + NK_MEMCPY(win->property.buffer, buffer, (nk_size)*len); + win->property.length = *len; + win->property.cursor = *cursor; + win->property.state = *state; + win->property.name = hash; + win->property.select_start = *select_begin; + win->property.select_end = *select_end; + if (*state == NK_PROPERTY_DRAG) { + ctx->input.mouse.grab = nk_true; + ctx->input.mouse.grabbed = nk_true; + } + } + /* check if previously active property is now inactive */ + if (*state == NK_PROPERTY_DEFAULT && old_state != NK_PROPERTY_DEFAULT) { + if (old_state == NK_PROPERTY_DRAG) { + ctx->input.mouse.grab = nk_false; + ctx->input.mouse.grabbed = nk_false; + ctx->input.mouse.ungrab = nk_true; + } + win->property.select_start = 0; + win->property.select_end = 0; + win->property.active = 0; + } +} +NK_API void +nk_property_int(struct nk_context *ctx, const char *name, + int min, int *val, int max, int step, float inc_per_pixel) +{ + struct nk_property_variant variant; + NK_ASSERT(ctx); + NK_ASSERT(name); + NK_ASSERT(val); + + if (!ctx || !ctx->current || !name || !val) return; + variant = nk_property_variant_int(*val, min, max, step); + nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_INT); + *val = variant.value.i; +} +NK_API void +nk_property_float(struct nk_context *ctx, const char *name, + float min, float *val, float max, float step, float inc_per_pixel) +{ + struct nk_property_variant variant; + NK_ASSERT(ctx); + NK_ASSERT(name); + NK_ASSERT(val); + + if (!ctx || !ctx->current || !name || !val) return; + variant = nk_property_variant_float(*val, min, max, step); + nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); + *val = variant.value.f; +} +NK_API void +nk_property_double(struct nk_context *ctx, const char *name, + double min, double *val, double max, double step, float inc_per_pixel) +{ + struct nk_property_variant variant; + NK_ASSERT(ctx); + NK_ASSERT(name); + NK_ASSERT(val); + + if (!ctx || !ctx->current || !name || !val) return; + variant = nk_property_variant_double(*val, min, max, step); + nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); + *val = variant.value.d; +} +NK_API int +nk_propertyi(struct nk_context *ctx, const char *name, int min, int val, + int max, int step, float inc_per_pixel) +{ + struct nk_property_variant variant; + NK_ASSERT(ctx); + NK_ASSERT(name); + + if (!ctx || !ctx->current || !name) return val; + variant = nk_property_variant_int(val, min, max, step); + nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_INT); + val = variant.value.i; + return val; +} +NK_API float +nk_propertyf(struct nk_context *ctx, const char *name, float min, + float val, float max, float step, float inc_per_pixel) +{ + struct nk_property_variant variant; + NK_ASSERT(ctx); + NK_ASSERT(name); + + if (!ctx || !ctx->current || !name) return val; + variant = nk_property_variant_float(val, min, max, step); + nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); + val = variant.value.f; + return val; +} +NK_API double +nk_propertyd(struct nk_context *ctx, const char *name, double min, + double val, double max, double step, float inc_per_pixel) +{ + struct nk_property_variant variant; + NK_ASSERT(ctx); + NK_ASSERT(name); + + if (!ctx || !ctx->current || !name) return val; + variant = nk_property_variant_double(val, min, max, step); + nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); + val = variant.value.d; + return val; +} + + + + + +/* ============================================================== + * + * CHART + * + * ===============================================================*/ +NK_API nk_bool +nk_chart_begin_colored(struct nk_context *ctx, enum nk_chart_type type, + struct nk_color color, struct nk_color highlight, + int count, float min_value, float max_value) +{ + struct nk_window *win; + struct nk_chart *chart; + const struct nk_style *config; + const struct nk_style_chart *style; + + const struct nk_style_item *background; + struct nk_rect bounds = {0, 0, 0, 0}; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + + if (!ctx || !ctx->current || !ctx->current->layout) return 0; + if (!nk_widget(&bounds, ctx)) { + chart = &ctx->current->layout->chart; + nk_zero(chart, sizeof(*chart)); + return 0; + } + + win = ctx->current; + config = &ctx->style; + chart = &win->layout->chart; + style = &config->chart; + + /* setup basic generic chart */ + nk_zero(chart, sizeof(*chart)); + chart->x = bounds.x + style->padding.x; + chart->y = bounds.y + style->padding.y; + chart->w = bounds.w - 2 * style->padding.x; + chart->h = bounds.h - 2 * style->padding.y; + chart->w = NK_MAX(chart->w, 2 * style->padding.x); + chart->h = NK_MAX(chart->h, 2 * style->padding.y); + + /* add first slot into chart */ + {struct nk_chart_slot *slot = &chart->slots[chart->slot++]; + slot->type = type; + slot->count = count; + slot->color = color; + slot->highlight = highlight; + slot->min = NK_MIN(min_value, max_value); + slot->max = NK_MAX(min_value, max_value); + slot->range = slot->max - slot->min;} + + /* draw chart background */ + background = &style->background; + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(&win->buffer, bounds, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(&win->buffer, bounds, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(&win->buffer, bounds, style->rounding, style->border_color); + nk_fill_rect(&win->buffer, nk_shrink_rect(bounds, style->border), + style->rounding, style->background.data.color); + break; + } + return 1; +} +NK_API nk_bool +nk_chart_begin(struct nk_context *ctx, const enum nk_chart_type type, + int count, float min_value, float max_value) +{ + return nk_chart_begin_colored(ctx, type, ctx->style.chart.color, + ctx->style.chart.selected_color, count, min_value, max_value); +} +NK_API void +nk_chart_add_slot_colored(struct nk_context *ctx, const enum nk_chart_type type, + struct nk_color color, struct nk_color highlight, + int count, float min_value, float max_value) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + NK_ASSERT(ctx->current->layout->chart.slot < NK_CHART_MAX_SLOT); + if (!ctx || !ctx->current || !ctx->current->layout) return; + if (ctx->current->layout->chart.slot >= NK_CHART_MAX_SLOT) return; + + /* add another slot into the graph */ + {struct nk_chart *chart = &ctx->current->layout->chart; + struct nk_chart_slot *slot = &chart->slots[chart->slot++]; + slot->type = type; + slot->count = count; + slot->color = color; + slot->highlight = highlight; + slot->min = NK_MIN(min_value, max_value); + slot->max = NK_MAX(min_value, max_value); + slot->range = slot->max - slot->min;} +} +NK_API void +nk_chart_add_slot(struct nk_context *ctx, const enum nk_chart_type type, + int count, float min_value, float max_value) +{ + nk_chart_add_slot_colored(ctx, type, ctx->style.chart.color, + ctx->style.chart.selected_color, count, min_value, max_value); +} +NK_INTERN nk_flags +nk_chart_push_line(struct nk_context *ctx, struct nk_window *win, + struct nk_chart *g, float value, int slot) +{ + struct nk_panel *layout = win->layout; + const struct nk_input *i = &ctx->input; + struct nk_command_buffer *out = &win->buffer; + + nk_flags ret = 0; + struct nk_vec2 cur; + struct nk_rect bounds; + struct nk_color color; + float step; + float range; + float ratio; + + NK_ASSERT(slot >= 0 && slot < NK_CHART_MAX_SLOT); + step = g->w / (float)g->slots[slot].count; + range = g->slots[slot].max - g->slots[slot].min; + ratio = (value - g->slots[slot].min) / range; + + if (g->slots[slot].index == 0) { + /* first data point does not have a connection */ + g->slots[slot].last.x = g->x; + g->slots[slot].last.y = (g->y + g->h) - ratio * (float)g->h; + + bounds.x = g->slots[slot].last.x - 2; + bounds.y = g->slots[slot].last.y - 2; + bounds.w = bounds.h = 4; + + color = g->slots[slot].color; + if (!(layout->flags & NK_WINDOW_ROM) && + NK_INBOX(i->mouse.pos.x,i->mouse.pos.y, g->slots[slot].last.x-3, g->slots[slot].last.y-3, 6, 6)){ + ret = nk_input_is_mouse_hovering_rect(i, bounds) ? NK_CHART_HOVERING : 0; + ret |= (i->mouse.buttons[NK_BUTTON_LEFT].down && + i->mouse.buttons[NK_BUTTON_LEFT].clicked) ? NK_CHART_CLICKED: 0; + color = g->slots[slot].highlight; + } + nk_fill_rect(out, bounds, 0, color); + g->slots[slot].index += 1; + return ret; + } + + /* draw a line between the last data point and the new one */ + color = g->slots[slot].color; + cur.x = g->x + (float)(step * (float)g->slots[slot].index); + cur.y = (g->y + g->h) - (ratio * (float)g->h); + nk_stroke_line(out, g->slots[slot].last.x, g->slots[slot].last.y, cur.x, cur.y, 1.0f, color); + + bounds.x = cur.x - 3; + bounds.y = cur.y - 3; + bounds.w = bounds.h = 6; + + /* user selection of current data point */ + if (!(layout->flags & NK_WINDOW_ROM)) { + if (nk_input_is_mouse_hovering_rect(i, bounds)) { + ret = NK_CHART_HOVERING; + ret |= (!i->mouse.buttons[NK_BUTTON_LEFT].down && + i->mouse.buttons[NK_BUTTON_LEFT].clicked) ? NK_CHART_CLICKED: 0; + color = g->slots[slot].highlight; + } + } + nk_fill_rect(out, nk_rect(cur.x - 2, cur.y - 2, 4, 4), 0, color); + + /* save current data point position */ + g->slots[slot].last.x = cur.x; + g->slots[slot].last.y = cur.y; + g->slots[slot].index += 1; + return ret; +} +NK_INTERN nk_flags +nk_chart_push_column(const struct nk_context *ctx, struct nk_window *win, + struct nk_chart *chart, float value, int slot) +{ + struct nk_command_buffer *out = &win->buffer; + const struct nk_input *in = &ctx->input; + struct nk_panel *layout = win->layout; + + float ratio; + nk_flags ret = 0; + struct nk_color color; + struct nk_rect item = {0,0,0,0}; + + NK_ASSERT(slot >= 0 && slot < NK_CHART_MAX_SLOT); + if (chart->slots[slot].index >= chart->slots[slot].count) + return nk_false; + if (chart->slots[slot].count) { + float padding = (float)(chart->slots[slot].count-1); + item.w = (chart->w - padding) / (float)(chart->slots[slot].count); + } + + /* calculate bounds of current bar chart entry */ + color = chart->slots[slot].color;; + item.h = chart->h * NK_ABS((value/chart->slots[slot].range)); + if (value >= 0) { + ratio = (value + NK_ABS(chart->slots[slot].min)) / NK_ABS(chart->slots[slot].range); + item.y = (chart->y + chart->h) - chart->h * ratio; + } else { + ratio = (value - chart->slots[slot].max) / chart->slots[slot].range; + item.y = chart->y + (chart->h * NK_ABS(ratio)) - item.h; + } + item.x = chart->x + ((float)chart->slots[slot].index * item.w); + item.x = item.x + ((float)chart->slots[slot].index); + + /* user chart bar selection */ + if (!(layout->flags & NK_WINDOW_ROM) && + NK_INBOX(in->mouse.pos.x,in->mouse.pos.y,item.x,item.y,item.w,item.h)) { + ret = NK_CHART_HOVERING; + ret |= (!in->mouse.buttons[NK_BUTTON_LEFT].down && + in->mouse.buttons[NK_BUTTON_LEFT].clicked) ? NK_CHART_CLICKED: 0; + color = chart->slots[slot].highlight; + } + nk_fill_rect(out, item, 0, color); + chart->slots[slot].index += 1; + return ret; +} +NK_API nk_flags +nk_chart_push_slot(struct nk_context *ctx, float value, int slot) +{ + nk_flags flags; + struct nk_window *win; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(slot >= 0 && slot < NK_CHART_MAX_SLOT); + NK_ASSERT(slot < ctx->current->layout->chart.slot); + if (!ctx || !ctx->current || slot >= NK_CHART_MAX_SLOT) return nk_false; + if (slot >= ctx->current->layout->chart.slot) return nk_false; + + win = ctx->current; + if (win->layout->chart.slot < slot) return nk_false; + switch (win->layout->chart.slots[slot].type) { + case NK_CHART_LINES: + flags = nk_chart_push_line(ctx, win, &win->layout->chart, value, slot); break; + case NK_CHART_COLUMN: + flags = nk_chart_push_column(ctx, win, &win->layout->chart, value, slot); break; + default: + case NK_CHART_MAX: + flags = 0; + } + return flags; +} +NK_API nk_flags +nk_chart_push(struct nk_context *ctx, float value) +{ + return nk_chart_push_slot(ctx, value, 0); +} +NK_API void +nk_chart_end(struct nk_context *ctx) +{ + struct nk_window *win; + struct nk_chart *chart; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) + return; + + win = ctx->current; + chart = &win->layout->chart; + NK_MEMSET(chart, 0, sizeof(*chart)); + return; +} +NK_API void +nk_plot(struct nk_context *ctx, enum nk_chart_type type, const float *values, + int count, int offset) +{ + int i = 0; + float min_value; + float max_value; + + NK_ASSERT(ctx); + NK_ASSERT(values); + if (!ctx || !values || !count) return; + + min_value = values[offset]; + max_value = values[offset]; + for (i = 0; i < count; ++i) { + min_value = NK_MIN(values[i + offset], min_value); + max_value = NK_MAX(values[i + offset], max_value); + } + + if (nk_chart_begin(ctx, type, count, min_value, max_value)) { + for (i = 0; i < count; ++i) + nk_chart_push(ctx, values[i + offset]); + nk_chart_end(ctx); + } +} +NK_API void +nk_plot_function(struct nk_context *ctx, enum nk_chart_type type, void *userdata, + float(*value_getter)(void* user, int index), int count, int offset) +{ + int i = 0; + float min_value; + float max_value; + + NK_ASSERT(ctx); + NK_ASSERT(value_getter); + if (!ctx || !value_getter || !count) return; + + max_value = min_value = value_getter(userdata, offset); + for (i = 0; i < count; ++i) { + float value = value_getter(userdata, i + offset); + min_value = NK_MIN(value, min_value); + max_value = NK_MAX(value, max_value); + } + + if (nk_chart_begin(ctx, type, count, min_value, max_value)) { + for (i = 0; i < count; ++i) + nk_chart_push(ctx, value_getter(userdata, i + offset)); + nk_chart_end(ctx); + } +} + + + + + +/* ============================================================== + * + * COLOR PICKER + * + * ===============================================================*/ +NK_LIB nk_bool +nk_color_picker_behavior(nk_flags *state, + const struct nk_rect *bounds, const struct nk_rect *matrix, + const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, + struct nk_colorf *color, const struct nk_input *in) +{ + float hsva[4]; + nk_bool value_changed = 0; + nk_bool hsv_changed = 0; + + NK_ASSERT(state); + NK_ASSERT(matrix); + NK_ASSERT(hue_bar); + NK_ASSERT(color); + + /* color matrix */ + nk_colorf_hsva_fv(hsva, *color); + if (nk_button_behavior(state, *matrix, in, NK_BUTTON_REPEATER)) { + hsva[1] = NK_SATURATE((in->mouse.pos.x - matrix->x) / (matrix->w-1)); + hsva[2] = 1.0f - NK_SATURATE((in->mouse.pos.y - matrix->y) / (matrix->h-1)); + value_changed = hsv_changed = 1; + } + /* hue bar */ + if (nk_button_behavior(state, *hue_bar, in, NK_BUTTON_REPEATER)) { + hsva[0] = NK_SATURATE((in->mouse.pos.y - hue_bar->y) / (hue_bar->h-1)); + value_changed = hsv_changed = 1; + } + /* alpha bar */ + if (alpha_bar) { + if (nk_button_behavior(state, *alpha_bar, in, NK_BUTTON_REPEATER)) { + hsva[3] = 1.0f - NK_SATURATE((in->mouse.pos.y - alpha_bar->y) / (alpha_bar->h-1)); + value_changed = 1; + } + } + nk_widget_state_reset(state); + if (hsv_changed) { + *color = nk_hsva_colorfv(hsva); + *state = NK_WIDGET_STATE_ACTIVE; + } + if (value_changed) { + color->a = hsva[3]; + *state = NK_WIDGET_STATE_ACTIVE; + } + /* set color picker widget state */ + if (nk_input_is_mouse_hovering_rect(in, *bounds)) + *state = NK_WIDGET_STATE_HOVERED; + if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, *bounds)) + *state |= NK_WIDGET_STATE_ENTERED; + else if (nk_input_is_mouse_prev_hovering_rect(in, *bounds)) + *state |= NK_WIDGET_STATE_LEFT; + return value_changed; +} +NK_LIB void +nk_draw_color_picker(struct nk_command_buffer *o, const struct nk_rect *matrix, + const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, + struct nk_colorf col) +{ + NK_STORAGE const struct nk_color black = {0,0,0,255}; + NK_STORAGE const struct nk_color white = {255, 255, 255, 255}; + NK_STORAGE const struct nk_color black_trans = {0,0,0,0}; + + const float crosshair_size = 7.0f; + struct nk_color temp; + float hsva[4]; + float line_y; + int i; + + NK_ASSERT(o); + NK_ASSERT(matrix); + NK_ASSERT(hue_bar); + + /* draw hue bar */ + nk_colorf_hsva_fv(hsva, col); + for (i = 0; i < 6; ++i) { + NK_GLOBAL const struct nk_color hue_colors[] = { + {255, 0, 0, 255}, {255,255,0,255}, {0,255,0,255}, {0, 255,255,255}, + {0,0,255,255}, {255, 0, 255, 255}, {255, 0, 0, 255} + }; + nk_fill_rect_multi_color(o, + nk_rect(hue_bar->x, hue_bar->y + (float)i * (hue_bar->h/6.0f) + 0.5f, + hue_bar->w, (hue_bar->h/6.0f) + 0.5f), hue_colors[i], hue_colors[i], + hue_colors[i+1], hue_colors[i+1]); + } + line_y = (float)(int)(hue_bar->y + hsva[0] * matrix->h + 0.5f); + nk_stroke_line(o, hue_bar->x-1, line_y, hue_bar->x + hue_bar->w + 2, + line_y, 1, nk_rgb(255,255,255)); + + /* draw alpha bar */ + if (alpha_bar) { + float alpha = NK_SATURATE(col.a); + line_y = (float)(int)(alpha_bar->y + (1.0f - alpha) * matrix->h + 0.5f); + + nk_fill_rect_multi_color(o, *alpha_bar, white, white, black, black); + nk_stroke_line(o, alpha_bar->x-1, line_y, alpha_bar->x + alpha_bar->w + 2, + line_y, 1, nk_rgb(255,255,255)); + } + + /* draw color matrix */ + temp = nk_hsv_f(hsva[0], 1.0f, 1.0f); + nk_fill_rect_multi_color(o, *matrix, white, temp, temp, white); + nk_fill_rect_multi_color(o, *matrix, black_trans, black_trans, black, black); + + /* draw cross-hair */ + {struct nk_vec2 p; float S = hsva[1]; float V = hsva[2]; + p.x = (float)(int)(matrix->x + S * matrix->w); + p.y = (float)(int)(matrix->y + (1.0f - V) * matrix->h); + nk_stroke_line(o, p.x - crosshair_size, p.y, p.x-2, p.y, 1.0f, white); + nk_stroke_line(o, p.x + crosshair_size + 1, p.y, p.x+3, p.y, 1.0f, white); + nk_stroke_line(o, p.x, p.y + crosshair_size + 1, p.x, p.y+3, 1.0f, white); + nk_stroke_line(o, p.x, p.y - crosshair_size, p.x, p.y-2, 1.0f, white);} +} +NK_LIB nk_bool +nk_do_color_picker(nk_flags *state, + struct nk_command_buffer *out, struct nk_colorf *col, + enum nk_color_format fmt, struct nk_rect bounds, + struct nk_vec2 padding, const struct nk_input *in, + const struct nk_user_font *font) +{ + int ret = 0; + struct nk_rect matrix; + struct nk_rect hue_bar; + struct nk_rect alpha_bar; + float bar_w; + + NK_ASSERT(out); + NK_ASSERT(col); + NK_ASSERT(state); + NK_ASSERT(font); + if (!out || !col || !state || !font) + return ret; + + bar_w = font->height; + bounds.x += padding.x; + bounds.y += padding.x; + bounds.w -= 2 * padding.x; + bounds.h -= 2 * padding.y; + + matrix.x = bounds.x; + matrix.y = bounds.y; + matrix.h = bounds.h; + matrix.w = bounds.w - (3 * padding.x + 2 * bar_w); + + hue_bar.w = bar_w; + hue_bar.y = bounds.y; + hue_bar.h = matrix.h; + hue_bar.x = matrix.x + matrix.w + padding.x; + + alpha_bar.x = hue_bar.x + hue_bar.w + padding.x; + alpha_bar.y = bounds.y; + alpha_bar.w = bar_w; + alpha_bar.h = matrix.h; + + ret = nk_color_picker_behavior(state, &bounds, &matrix, &hue_bar, + (fmt == NK_RGBA) ? &alpha_bar:0, col, in); + nk_draw_color_picker(out, &matrix, &hue_bar, (fmt == NK_RGBA) ? &alpha_bar:0, *col); + return ret; +} +NK_API nk_bool +nk_color_pick(struct nk_context * ctx, struct nk_colorf *color, + enum nk_color_format fmt) +{ + struct nk_window *win; + struct nk_panel *layout; + const struct nk_style *config; + const struct nk_input *in; + + enum nk_widget_layout_states state; + struct nk_rect bounds; + + NK_ASSERT(ctx); + NK_ASSERT(color); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !color) + return 0; + + win = ctx->current; + config = &ctx->style; + layout = win->layout; + state = nk_widget(&bounds, ctx); + if (!state) return 0; + in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; + return nk_do_color_picker(&ctx->last_widget_state, &win->buffer, color, fmt, bounds, + nk_vec2(0,0), in, config->font); +} +NK_API struct nk_colorf +nk_color_picker(struct nk_context *ctx, struct nk_colorf color, + enum nk_color_format fmt) +{ + nk_color_pick(ctx, &color, fmt); + return color; +} + + + + + +/* ============================================================== + * + * COMBO + * + * ===============================================================*/ +NK_INTERN nk_bool +nk_combo_begin(struct nk_context *ctx, struct nk_window *win, + struct nk_vec2 size, nk_bool is_clicked, struct nk_rect header) +{ + struct nk_window *popup; + int is_open = 0; + int is_active = 0; + struct nk_rect body; + nk_hash hash; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + popup = win->popup.win; + body.x = header.x; + body.w = size.x; + body.y = header.y + header.h-ctx->style.window.combo_border; + body.h = size.y; + + hash = win->popup.combo_count++; + is_open = (popup) ? nk_true:nk_false; + is_active = (popup && (win->popup.name == hash) && win->popup.type == NK_PANEL_COMBO); + if ((is_clicked && is_open && !is_active) || (is_open && !is_active) || + (!is_open && !is_active && !is_clicked)) return 0; + if (!nk_nonblock_begin(ctx, 0, body, + (is_clicked && is_open)?nk_rect(0,0,0,0):header, NK_PANEL_COMBO)) return 0; + + win->popup.type = NK_PANEL_COMBO; + win->popup.name = hash; + return 1; +} +NK_API nk_bool +nk_combo_begin_text(struct nk_context *ctx, const char *selected, int len, + struct nk_vec2 size) +{ + const struct nk_input *in; + struct nk_window *win; + struct nk_style *style; + + enum nk_widget_layout_states s; + int is_clicked = nk_false; + struct nk_rect header; + const struct nk_style_item *background; + struct nk_text text; + + NK_ASSERT(ctx); + NK_ASSERT(selected); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout || !selected) + return 0; + + win = ctx->current; + style = &ctx->style; + s = nk_widget(&header, ctx); + if (s == NK_WIDGET_INVALID) + return 0; + + in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; + if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) + is_clicked = nk_true; + + /* draw combo box header background and border */ + if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { + background = &style->combo.active; + text.text = style->combo.label_active; + } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { + background = &style->combo.hover; + text.text = style->combo.label_hover; + } else { + background = &style->combo.normal; + text.text = style->combo.label_normal; + } + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + text.background = background->data.color; + nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); + nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); + break; + } + { + /* print currently selected text item */ + struct nk_rect label; + struct nk_rect button; + struct nk_rect content; + int draw_button_symbol; + + enum nk_symbol_type sym; + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + sym = style->combo.sym_hover; + else if (is_clicked) + sym = style->combo.sym_active; + else + sym = style->combo.sym_normal; + + /* represents whether or not the combo's button symbol should be drawn */ + draw_button_symbol = sym != NK_SYMBOL_NONE; + + /* calculate button */ + button.w = header.h - 2 * style->combo.button_padding.y; + button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; + button.y = header.y + style->combo.button_padding.y; + button.h = button.w; + + content.x = button.x + style->combo.button.padding.x; + content.y = button.y + style->combo.button.padding.y; + content.w = button.w - 2 * style->combo.button.padding.x; + content.h = button.h - 2 * style->combo.button.padding.y; + + /* draw selected label */ + text.padding = nk_vec2(0,0); + label.x = header.x + style->combo.content_padding.x; + label.y = header.y + style->combo.content_padding.y; + label.h = header.h - 2 * style->combo.content_padding.y; + if (draw_button_symbol) + label.w = button.x - (style->combo.content_padding.x + style->combo.spacing.x) - label.x; + else + label.w = header.w - 2 * style->combo.content_padding.x; + nk_widget_text(&win->buffer, label, selected, len, &text, + NK_TEXT_LEFT, ctx->style.font); + + /* draw open/close button */ + if (draw_button_symbol) + nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, + &ctx->style.combo.button, sym, style->font); + } + return nk_combo_begin(ctx, win, size, is_clicked, header); +} +NK_API nk_bool +nk_combo_begin_label(struct nk_context *ctx, const char *selected, struct nk_vec2 size) +{ + return nk_combo_begin_text(ctx, selected, nk_strlen(selected), size); +} +NK_API nk_bool +nk_combo_begin_color(struct nk_context *ctx, struct nk_color color, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_style *style; + const struct nk_input *in; + + struct nk_rect header; + int is_clicked = nk_false; + enum nk_widget_layout_states s; + const struct nk_style_item *background; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + s = nk_widget(&header, ctx); + if (s == NK_WIDGET_INVALID) + return 0; + + in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; + if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) + is_clicked = nk_true; + + /* draw combo box header background and border */ + if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) + background = &style->combo.active; + else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + background = &style->combo.hover; + else background = &style->combo.normal; + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); + nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); + break; + } + { + struct nk_rect content; + struct nk_rect button; + struct nk_rect bounds; + int draw_button_symbol; + + enum nk_symbol_type sym; + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + sym = style->combo.sym_hover; + else if (is_clicked) + sym = style->combo.sym_active; + else sym = style->combo.sym_normal; + + /* represents whether or not the combo's button symbol should be drawn */ + draw_button_symbol = sym != NK_SYMBOL_NONE; + + /* calculate button */ + button.w = header.h - 2 * style->combo.button_padding.y; + button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; + button.y = header.y + style->combo.button_padding.y; + button.h = button.w; + + content.x = button.x + style->combo.button.padding.x; + content.y = button.y + style->combo.button.padding.y; + content.w = button.w - 2 * style->combo.button.padding.x; + content.h = button.h - 2 * style->combo.button.padding.y; + + /* draw color */ + bounds.h = header.h - 4 * style->combo.content_padding.y; + bounds.y = header.y + 2 * style->combo.content_padding.y; + bounds.x = header.x + 2 * style->combo.content_padding.x; + if (draw_button_symbol) + bounds.w = (button.x - (style->combo.content_padding.x + style->combo.spacing.x)) - bounds.x; + else + bounds.w = header.w - 4 * style->combo.content_padding.x; + nk_fill_rect(&win->buffer, bounds, 0, color); + + /* draw open/close button */ + if (draw_button_symbol) + nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, + &ctx->style.combo.button, sym, style->font); + } + return nk_combo_begin(ctx, win, size, is_clicked, header); +} +NK_API nk_bool +nk_combo_begin_symbol(struct nk_context *ctx, enum nk_symbol_type symbol, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_style *style; + const struct nk_input *in; + + struct nk_rect header; + int is_clicked = nk_false; + enum nk_widget_layout_states s; + const struct nk_style_item *background; + struct nk_color sym_background; + struct nk_color symbol_color; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + s = nk_widget(&header, ctx); + if (s == NK_WIDGET_INVALID) + return 0; + + in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; + if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) + is_clicked = nk_true; + + /* draw combo box header background and border */ + if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { + background = &style->combo.active; + symbol_color = style->combo.symbol_active; + } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { + background = &style->combo.hover; + symbol_color = style->combo.symbol_hover; + } else { + background = &style->combo.normal; + symbol_color = style->combo.symbol_hover; + } + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + sym_background = nk_rgba(0, 0, 0, 0); + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + sym_background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + sym_background = background->data.color; + nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); + nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); + break; + } + { + struct nk_rect bounds = {0,0,0,0}; + struct nk_rect content; + struct nk_rect button; + + enum nk_symbol_type sym; + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + sym = style->combo.sym_hover; + else if (is_clicked) + sym = style->combo.sym_active; + else sym = style->combo.sym_normal; + + /* calculate button */ + button.w = header.h - 2 * style->combo.button_padding.y; + button.x = (header.x + header.w - header.h) - style->combo.button_padding.y; + button.y = header.y + style->combo.button_padding.y; + button.h = button.w; + + content.x = button.x + style->combo.button.padding.x; + content.y = button.y + style->combo.button.padding.y; + content.w = button.w - 2 * style->combo.button.padding.x; + content.h = button.h - 2 * style->combo.button.padding.y; + + /* draw symbol */ + bounds.h = header.h - 2 * style->combo.content_padding.y; + bounds.y = header.y + style->combo.content_padding.y; + bounds.x = header.x + style->combo.content_padding.x; + bounds.w = (button.x - style->combo.content_padding.y) - bounds.x; + nk_draw_symbol(&win->buffer, symbol, bounds, sym_background, symbol_color, + 1.0f, style->font); + + /* draw open/close button */ + nk_draw_button_symbol(&win->buffer, &bounds, &content, ctx->last_widget_state, + &ctx->style.combo.button, sym, style->font); + } + return nk_combo_begin(ctx, win, size, is_clicked, header); +} +NK_API nk_bool +nk_combo_begin_symbol_text(struct nk_context *ctx, const char *selected, int len, + enum nk_symbol_type symbol, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_style *style; + struct nk_input *in; + + struct nk_rect header; + int is_clicked = nk_false; + enum nk_widget_layout_states s; + const struct nk_style_item *background; + struct nk_color symbol_color; + struct nk_text text; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + s = nk_widget(&header, ctx); + if (!s) return 0; + + in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; + if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) + is_clicked = nk_true; + + /* draw combo box header background and border */ + if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { + background = &style->combo.active; + symbol_color = style->combo.symbol_active; + text.text = style->combo.label_active; + } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { + background = &style->combo.hover; + symbol_color = style->combo.symbol_hover; + text.text = style->combo.label_hover; + } else { + background = &style->combo.normal; + symbol_color = style->combo.symbol_normal; + text.text = style->combo.label_normal; + } + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + text.background = background->data.color; + nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); + nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); + break; + } + { + struct nk_rect content; + struct nk_rect button; + struct nk_rect label; + struct nk_rect image; + + enum nk_symbol_type sym; + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + sym = style->combo.sym_hover; + else if (is_clicked) + sym = style->combo.sym_active; + else sym = style->combo.sym_normal; + + /* calculate button */ + button.w = header.h - 2 * style->combo.button_padding.y; + button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; + button.y = header.y + style->combo.button_padding.y; + button.h = button.w; + + content.x = button.x + style->combo.button.padding.x; + content.y = button.y + style->combo.button.padding.y; + content.w = button.w - 2 * style->combo.button.padding.x; + content.h = button.h - 2 * style->combo.button.padding.y; + nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, + &ctx->style.combo.button, sym, style->font); + + /* draw symbol */ + image.x = header.x + style->combo.content_padding.x; + image.y = header.y + style->combo.content_padding.y; + image.h = header.h - 2 * style->combo.content_padding.y; + image.w = image.h; + nk_draw_symbol(&win->buffer, symbol, image, text.background, symbol_color, + 1.0f, style->font); + + /* draw label */ + text.padding = nk_vec2(0,0); + label.x = image.x + image.w + style->combo.spacing.x + style->combo.content_padding.x; + label.y = header.y + style->combo.content_padding.y; + label.w = (button.x - style->combo.content_padding.x) - label.x; + label.h = header.h - 2 * style->combo.content_padding.y; + nk_widget_text(&win->buffer, label, selected, len, &text, NK_TEXT_LEFT, style->font); + } + return nk_combo_begin(ctx, win, size, is_clicked, header); +} +NK_API nk_bool +nk_combo_begin_image(struct nk_context *ctx, struct nk_image img, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_style *style; + const struct nk_input *in; + + struct nk_rect header; + int is_clicked = nk_false; + enum nk_widget_layout_states s; + const struct nk_style_item *background; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + s = nk_widget(&header, ctx); + if (s == NK_WIDGET_INVALID) + return 0; + + in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; + if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) + is_clicked = nk_true; + + /* draw combo box header background and border */ + if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) + background = &style->combo.active; + else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + background = &style->combo.hover; + else background = &style->combo.normal; + + switch (background->type) { + case NK_STYLE_ITEM_IMAGE: + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); + nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); + break; + } + { + struct nk_rect bounds = {0,0,0,0}; + struct nk_rect content; + struct nk_rect button; + int draw_button_symbol; + + enum nk_symbol_type sym; + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + sym = style->combo.sym_hover; + else if (is_clicked) + sym = style->combo.sym_active; + else sym = style->combo.sym_normal; + + /* represents whether or not the combo's button symbol should be drawn */ + draw_button_symbol = sym != NK_SYMBOL_NONE; + + /* calculate button */ + button.w = header.h - 2 * style->combo.button_padding.y; + button.x = (header.x + header.w - header.h) - style->combo.button_padding.y; + button.y = header.y + style->combo.button_padding.y; + button.h = button.w; + + content.x = button.x + style->combo.button.padding.x; + content.y = button.y + style->combo.button.padding.y; + content.w = button.w - 2 * style->combo.button.padding.x; + content.h = button.h - 2 * style->combo.button.padding.y; + + /* draw image */ + bounds.h = header.h - 2 * style->combo.content_padding.y; + bounds.y = header.y + style->combo.content_padding.y; + bounds.x = header.x + style->combo.content_padding.x; + if (draw_button_symbol) + bounds.w = (button.x - style->combo.content_padding.y) - bounds.x; + else + bounds.w = header.w - 2 * style->combo.content_padding.x; + nk_draw_image(&win->buffer, bounds, &img, nk_white); + + /* draw open/close button */ + if (draw_button_symbol) + nk_draw_button_symbol(&win->buffer, &bounds, &content, ctx->last_widget_state, + &ctx->style.combo.button, sym, style->font); + } + return nk_combo_begin(ctx, win, size, is_clicked, header); +} +NK_API nk_bool +nk_combo_begin_image_text(struct nk_context *ctx, const char *selected, int len, + struct nk_image img, struct nk_vec2 size) +{ + struct nk_window *win; + struct nk_style *style; + struct nk_input *in; + + struct nk_rect header; + int is_clicked = nk_false; + enum nk_widget_layout_states s; + const struct nk_style_item *background; + struct nk_text text; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + win = ctx->current; + style = &ctx->style; + s = nk_widget(&header, ctx); + if (!s) return 0; + + in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; + if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) + is_clicked = nk_true; + + /* draw combo box header background and border */ + if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { + background = &style->combo.active; + text.text = style->combo.label_active; + } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { + background = &style->combo.hover; + text.text = style->combo.label_hover; + } else { + background = &style->combo.normal; + text.text = style->combo.label_normal; + } + + switch(background->type) { + case NK_STYLE_ITEM_IMAGE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_image(&win->buffer, header, &background->data.image, nk_white); + break; + case NK_STYLE_ITEM_NINE_SLICE: + text.background = nk_rgba(0, 0, 0, 0); + nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); + break; + case NK_STYLE_ITEM_COLOR: + text.background = background->data.color; + nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); + nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); + break; + } + { + struct nk_rect content; + struct nk_rect button; + struct nk_rect label; + struct nk_rect image; + int draw_button_symbol; + + enum nk_symbol_type sym; + if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) + sym = style->combo.sym_hover; + else if (is_clicked) + sym = style->combo.sym_active; + else sym = style->combo.sym_normal; + + /* represents whether or not the combo's button symbol should be drawn */ + draw_button_symbol = sym != NK_SYMBOL_NONE; + + /* calculate button */ + button.w = header.h - 2 * style->combo.button_padding.y; + button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; + button.y = header.y + style->combo.button_padding.y; + button.h = button.w; + + content.x = button.x + style->combo.button.padding.x; + content.y = button.y + style->combo.button.padding.y; + content.w = button.w - 2 * style->combo.button.padding.x; + content.h = button.h - 2 * style->combo.button.padding.y; + if (draw_button_symbol) + nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, + &ctx->style.combo.button, sym, style->font); + + /* draw image */ + image.x = header.x + style->combo.content_padding.x; + image.y = header.y + style->combo.content_padding.y; + image.h = header.h - 2 * style->combo.content_padding.y; + image.w = image.h; + nk_draw_image(&win->buffer, image, &img, nk_white); + + /* draw label */ + text.padding = nk_vec2(0,0); + label.x = image.x + image.w + style->combo.spacing.x + style->combo.content_padding.x; + label.y = header.y + style->combo.content_padding.y; + label.h = header.h - 2 * style->combo.content_padding.y; + if (draw_button_symbol) + label.w = (button.x - style->combo.content_padding.x) - label.x; + else + label.w = (header.x + header.w - style->combo.content_padding.x) - label.x; + nk_widget_text(&win->buffer, label, selected, len, &text, NK_TEXT_LEFT, style->font); + } + return nk_combo_begin(ctx, win, size, is_clicked, header); +} +NK_API nk_bool +nk_combo_begin_symbol_label(struct nk_context *ctx, + const char *selected, enum nk_symbol_type type, struct nk_vec2 size) +{ + return nk_combo_begin_symbol_text(ctx, selected, nk_strlen(selected), type, size); +} +NK_API nk_bool +nk_combo_begin_image_label(struct nk_context *ctx, + const char *selected, struct nk_image img, struct nk_vec2 size) +{ + return nk_combo_begin_image_text(ctx, selected, nk_strlen(selected), img, size); +} +NK_API nk_bool +nk_combo_item_text(struct nk_context *ctx, const char *text, int len,nk_flags align) +{ + return nk_contextual_item_text(ctx, text, len, align); +} +NK_API nk_bool +nk_combo_item_label(struct nk_context *ctx, const char *label, nk_flags align) +{ + return nk_contextual_item_label(ctx, label, align); +} +NK_API nk_bool +nk_combo_item_image_text(struct nk_context *ctx, struct nk_image img, const char *text, + int len, nk_flags alignment) +{ + return nk_contextual_item_image_text(ctx, img, text, len, alignment); +} +NK_API nk_bool +nk_combo_item_image_label(struct nk_context *ctx, struct nk_image img, + const char *text, nk_flags alignment) +{ + return nk_contextual_item_image_label(ctx, img, text, alignment); +} +NK_API nk_bool +nk_combo_item_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, + const char *text, int len, nk_flags alignment) +{ + return nk_contextual_item_symbol_text(ctx, sym, text, len, alignment); +} +NK_API nk_bool +nk_combo_item_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, + const char *label, nk_flags alignment) +{ + return nk_contextual_item_symbol_label(ctx, sym, label, alignment); +} +NK_API void nk_combo_end(struct nk_context *ctx) +{ + nk_contextual_end(ctx); +} +NK_API void nk_combo_close(struct nk_context *ctx) +{ + nk_contextual_close(ctx); +} +NK_API int +nk_combo(struct nk_context *ctx, const char **items, int count, + int selected, int item_height, struct nk_vec2 size) +{ + int i = 0; + int max_height; + struct nk_vec2 item_spacing; + struct nk_vec2 window_padding; + + NK_ASSERT(ctx); + NK_ASSERT(items); + NK_ASSERT(ctx->current); + if (!ctx || !items ||!count) + return selected; + + item_spacing = ctx->style.window.spacing; + window_padding = nk_panel_get_padding(&ctx->style, ctx->current->layout->type); + max_height = count * item_height + count * (int)item_spacing.y; + max_height += (int)item_spacing.y * 2 + (int)window_padding.y * 2; + size.y = NK_MIN(size.y, (float)max_height); + if (nk_combo_begin_label(ctx, items[selected], size)) { + nk_layout_row_dynamic(ctx, (float)item_height, 1); + for (i = 0; i < count; ++i) { + if (nk_combo_item_label(ctx, items[i], NK_TEXT_LEFT)) + selected = i; + } + nk_combo_end(ctx); + } + return selected; +} +NK_API int +nk_combo_separator(struct nk_context *ctx, const char *items_separated_by_separator, + int separator, int selected, int count, int item_height, struct nk_vec2 size) +{ + int i; + int max_height; + struct nk_vec2 item_spacing; + struct nk_vec2 window_padding; + const char *current_item; + const char *iter; + int length = 0; + + NK_ASSERT(ctx); + NK_ASSERT(items_separated_by_separator); + if (!ctx || !items_separated_by_separator) + return selected; + + /* calculate popup window */ + item_spacing = ctx->style.window.spacing; + window_padding = nk_panel_get_padding(&ctx->style, ctx->current->layout->type); + max_height = count * item_height + count * (int)item_spacing.y; + max_height += (int)item_spacing.y * 2 + (int)window_padding.y * 2; + size.y = NK_MIN(size.y, (float)max_height); + + /* find selected item */ + current_item = items_separated_by_separator; + for (i = 0; i < count; ++i) { + iter = current_item; + while (*iter && *iter != separator) iter++; + length = (int)(iter - current_item); + if (i == selected) break; + current_item = iter + 1; + } + + if (nk_combo_begin_text(ctx, current_item, length, size)) { + current_item = items_separated_by_separator; + nk_layout_row_dynamic(ctx, (float)item_height, 1); + for (i = 0; i < count; ++i) { + iter = current_item; + while (*iter && *iter != separator) iter++; + length = (int)(iter - current_item); + if (nk_combo_item_text(ctx, current_item, length, NK_TEXT_LEFT)) + selected = i; + current_item = current_item + length + 1; + } + nk_combo_end(ctx); + } + return selected; +} +NK_API int +nk_combo_string(struct nk_context *ctx, const char *items_separated_by_zeros, + int selected, int count, int item_height, struct nk_vec2 size) +{ + return nk_combo_separator(ctx, items_separated_by_zeros, '\0', selected, count, item_height, size); +} +NK_API int +nk_combo_callback(struct nk_context *ctx, void(*item_getter)(void*, int, const char**), + void *userdata, int selected, int count, int item_height, struct nk_vec2 size) +{ + int i; + int max_height; + struct nk_vec2 item_spacing; + struct nk_vec2 window_padding; + const char *item; + + NK_ASSERT(ctx); + NK_ASSERT(item_getter); + if (!ctx || !item_getter) + return selected; + + /* calculate popup window */ + item_spacing = ctx->style.window.spacing; + window_padding = nk_panel_get_padding(&ctx->style, ctx->current->layout->type); + max_height = count * item_height + count * (int)item_spacing.y; + max_height += (int)item_spacing.y * 2 + (int)window_padding.y * 2; + size.y = NK_MIN(size.y, (float)max_height); + + item_getter(userdata, selected, &item); + if (nk_combo_begin_label(ctx, item, size)) { + nk_layout_row_dynamic(ctx, (float)item_height, 1); + for (i = 0; i < count; ++i) { + item_getter(userdata, i, &item); + if (nk_combo_item_label(ctx, item, NK_TEXT_LEFT)) + selected = i; + } + nk_combo_end(ctx); + } return selected; +} +NK_API void +nk_combobox(struct nk_context *ctx, const char **items, int count, + int *selected, int item_height, struct nk_vec2 size) +{ + *selected = nk_combo(ctx, items, count, *selected, item_height, size); +} +NK_API void +nk_combobox_string(struct nk_context *ctx, const char *items_separated_by_zeros, + int *selected, int count, int item_height, struct nk_vec2 size) +{ + *selected = nk_combo_string(ctx, items_separated_by_zeros, *selected, count, item_height, size); +} +NK_API void +nk_combobox_separator(struct nk_context *ctx, const char *items_separated_by_separator, + int separator, int *selected, int count, int item_height, struct nk_vec2 size) +{ + *selected = nk_combo_separator(ctx, items_separated_by_separator, separator, + *selected, count, item_height, size); +} +NK_API void +nk_combobox_callback(struct nk_context *ctx, + void(*item_getter)(void* data, int id, const char **out_text), + void *userdata, int *selected, int count, int item_height, struct nk_vec2 size) +{ + *selected = nk_combo_callback(ctx, item_getter, userdata, *selected, count, item_height, size); +} + + + + + +/* =============================================================== + * + * TOOLTIP + * + * ===============================================================*/ +NK_API nk_bool +nk_tooltip_begin(struct nk_context *ctx, float width) +{ + int x,y,w,h; + struct nk_window *win; + const struct nk_input *in; + struct nk_rect bounds; + int ret; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + if (!ctx || !ctx->current || !ctx->current->layout) + return 0; + + /* make sure that no nonblocking popup is currently active */ + win = ctx->current; + in = &ctx->input; + if (win->popup.win && (win->popup.type & NK_PANEL_SET_NONBLOCK)) + return 0; + + w = nk_iceilf(width); + h = nk_iceilf(nk_null_rect.h); + x = nk_ifloorf(in->mouse.pos.x + 1) - (int)win->layout->clip.x; + y = nk_ifloorf(in->mouse.pos.y + 1) - (int)win->layout->clip.y; + + bounds.x = (float)x; + bounds.y = (float)y; + bounds.w = (float)w; + bounds.h = (float)h; + + ret = nk_popup_begin(ctx, NK_POPUP_DYNAMIC, + "__##Tooltip##__", NK_WINDOW_NO_SCROLLBAR|NK_WINDOW_BORDER, bounds); + if (ret) win->layout->flags &= ~(nk_flags)NK_WINDOW_ROM; + win->popup.type = NK_PANEL_TOOLTIP; + ctx->current->layout->type = NK_PANEL_TOOLTIP; + return ret; +} + +NK_API void +nk_tooltip_end(struct nk_context *ctx) +{ + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + if (!ctx || !ctx->current) return; + ctx->current->seq--; + nk_popup_close(ctx); + nk_popup_end(ctx); +} +NK_API void +nk_tooltip(struct nk_context *ctx, const char *text) +{ + const struct nk_style *style; + struct nk_vec2 padding; + + int text_len; + float text_width; + float text_height; + + NK_ASSERT(ctx); + NK_ASSERT(ctx->current); + NK_ASSERT(ctx->current->layout); + NK_ASSERT(text); + if (!ctx || !ctx->current || !ctx->current->layout || !text) + return; + + /* fetch configuration data */ + style = &ctx->style; + padding = style->window.padding; + + /* calculate size of the text and tooltip */ + text_len = nk_strlen(text); + text_width = style->font->width(style->font->userdata, + style->font->height, text, text_len); + text_width += (4 * padding.x); + text_height = (style->font->height + 2 * padding.y); + + /* execute tooltip and fill with text */ + if (nk_tooltip_begin(ctx, (float)text_width)) { + nk_layout_row_dynamic(ctx, (float)text_height, 1); + nk_text(ctx, text, text_len, NK_TEXT_LEFT); + nk_tooltip_end(ctx); + } +} +#ifdef NK_INCLUDE_STANDARD_VARARGS +NK_API void +nk_tooltipf(struct nk_context *ctx, const char *fmt, ...) +{ + va_list args; + va_start(args, fmt); + nk_tooltipfv(ctx, fmt, args); + va_end(args); +} +NK_API void +nk_tooltipfv(struct nk_context *ctx, const char *fmt, va_list args) +{ + char buf[256]; + nk_strfmt(buf, NK_LEN(buf), fmt, args); + nk_tooltip(ctx, buf); +} +#endif + + + +#endif /* NK_IMPLEMENTATION */ + +/* +/// ## License +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~none +/// ------------------------------------------------------------------------------ +/// This software is available under 2 licenses -- choose whichever you prefer. +/// ------------------------------------------------------------------------------ +/// ALTERNATIVE A - MIT License +/// Copyright (c) 2016-2018 Micha Mettke +/// Permission is hereby granted, free of charge, to any person obtaining a copy of +/// this software and associated documentation files (the "Software"), to deal in +/// the Software without restriction, including without limitation the rights to +/// use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +/// of the Software, and to permit persons to whom the Software is furnished to do +/// so, subject to the following conditions: +/// The above copyright notice and this permission notice shall be included in all +/// copies or substantial portions of the Software. +/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +/// SOFTWARE. +/// ------------------------------------------------------------------------------ +/// ALTERNATIVE B - Public Domain (www.unlicense.org) +/// This is free and unencumbered software released into the public domain. +/// Anyone is free to copy, modify, publish, use, compile, sell, or distribute this +/// software, either in source code form or as a compiled binary, for any purpose, +/// commercial or non-commercial, and by any means. +/// In jurisdictions that recognize copyright laws, the author or authors of this +/// software dedicate any and all copyright interest in the software to the public +/// domain. We make this dedication for the benefit of the public at large and to +/// the detriment of our heirs and successors. We intend this dedication to be an +/// overt act of relinquishment in perpetuity of all present and future rights to +/// this software under copyright law. +/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +/// AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN +/// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +/// WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +/// ------------------------------------------------------------------------------ +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +/// ## Changelog +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~none +/// [date] ([x.y.z]) - [description] +/// - [date]: date on which the change has been pushed +/// - [x.y.z]: Version string, represented in Semantic Versioning format +/// - [x]: Major version with API and library breaking changes +/// - [y]: Minor version with non-breaking API and library changes +/// - [z]: Patch version with no direct changes to the API +/// +/// - 2022/05/27 (4.10.0) - Add nk_input_has_mouse_click_in_button_rect() to fix window move bug +/// - 2022/04/18 (4.9.7) - Change button behavior when NK_BUTTON_TRIGGER_ON_RELEASE is defined to +/// only trigger when the mouse position was inside the same button on down +/// - 2022/02/03 (4.9.6) - Allow overriding the NK_INV_SQRT function, similar to NK_SIN and NK_COS +/// - 2021/12/22 (4.9.5) - Revert layout bounds not accounting for padding due to regressions +/// - 2021/12/22 (4.9.4) - Fix checking hovering when window is minimized +/// - 2021/12/22 (4.09.3) - Fix layout bounds not accounting for padding +/// - 2021/12/19 (4.09.2) - Update to stb_rect_pack.h v1.01 and stb_truetype.h v1.26 +/// - 2021/12/16 (4.09.1) - Fix the majority of GCC warnings +/// - 2021/10/16 (4.09.0) - Added nk_spacer() widget +/// - 2021/09/22 (4.08.6) - Fix "may be used uninitialized" warnings in nk_widget +/// - 2021/09/22 (4.08.5) - GCC __builtin_offsetof only exists in version 4 and later +/// - 2021/09/15 (4.08.4) - Fix "'num_len' may be used uninitialized" in nk_do_property +/// - 2021/09/15 (4.08.3) - Fix "Templates cannot be declared to have 'C' Linkage" +/// - 2021/09/08 (4.08.2) - Fix warnings in C89 builds +/// - 2021/09/08 (4.08.1) - Use compiler builtins for NK_OFFSETOF when possible +/// - 2021/08/17 (4.08.0) - Implemented 9-slice scaling support for widget styles +/// - 2021/08/16 (4.07.5) - Replace usage of memset in nk_font_atlas_bake with NK_MEMSET +/// - 2021/08/15 (4.07.4) - Fix conversion and sign conversion warnings +/// - 2021/08/08 (4.07.3) - Fix crash when baking merged fonts +/// - 2021/08/08 (4.07.2) - Fix Multiline Edit wrong offset +/// - 2021/03/17 (4.07.1) - Fix warning about unused parameter +/// - 2021/03/17 (4.07.0) - Fix nk_property hover bug +/// - 2021/03/15 (4.06.4) - Change nk_propertyi back to int +/// - 2021/03/15 (4.06.3) - Update documentation for functions that now return nk_bool +/// - 2020/12/19 (4.06.2) - Fix additional C++ style comments which are not allowed in ISO C90. +/// - 2020/10/11 (4.06.1) - Fix C++ style comments which are not allowed in ISO C90. +/// - 2020/10/07 (4.06.0) - Fix nk_combo return type wrongly changed to nk_bool +/// - 2020/09/05 (4.05.0) - Use the nk_font_atlas allocator for stb_truetype memory management. +/// - 2020/09/04 (4.04.1) - Replace every boolean int by nk_bool +/// - 2020/09/04 (4.04.0) - Add nk_bool with NK_INCLUDE_STANDARD_BOOL +/// - 2020/06/13 (4.03.1) - Fix nk_pool allocation sizes. +/// - 2020/06/04 (4.03.0) - Made nk_combo header symbols optional. +/// - 2020/05/27 (4.02.5) - Fix nk_do_edit: Keep scroll position when re-activating edit widget. +/// - 2020/05/09 (4.02.4) - Fix nk_menubar height calculation bug +/// - 2020/05/08 (4.02.3) - Fix missing stdarg.h with NK_INCLUDE_STANDARD_VARARGS +/// - 2020/04/30 (4.02.2) - Fix nk_edit border drawing bug +/// - 2020/04/09 (4.02.1) - Removed unused nk_sqrt function to fix compiler warnings +/// - Fixed compiler warnings if you bring your own methods for +/// nk_cos/nk_sin/nk_strtod/nk_memset/nk_memcopy/nk_dtoa +/// - 2020/04/06 (4.01.10) - Fix bug: Do not use pool before checking for NULL +/// - 2020/03/22 (4.01.9) - Fix bug where layout state wasn't restored correctly after +/// popping a tree. +/// - 2020/03/11 (4.01.8) - Fix bug where padding is subtracted from widget +/// - 2020/03/06 (4.01.7) - Fix bug where width padding was applied twice +/// - 2020/02/06 (4.01.6) - Update stb_truetype.h and stb_rect_pack.h and separate them +/// - 2019/12/10 (4.01.5) - Fix off-by-one error in NK_INTERSECT +/// - 2019/10/09 (4.01.4) - Fix bug for autoscrolling in nk_do_edit +/// - 2019/09/20 (4.01.3) - Fixed a bug wherein combobox cannot be closed by clicking the header +/// when NK_BUTTON_TRIGGER_ON_RELEASE is defined. +/// - 2019/09/10 (4.01.2) - Fixed the nk_cos function, which deviated significantly. +/// - 2019/09/08 (4.01.1) - Fixed a bug wherein re-baking of fonts caused a segmentation +/// fault due to dst_font->glyph_count not being zeroed on subsequent +/// bakes of the same set of fonts. +/// - 2019/06/23 (4.01.0) - Added nk_***_get_scroll and nk_***_set_scroll for groups, windows, and popups. +/// - 2019/06/12 (4.00.3) - Fix panel background drawing bug. +/// - 2018/10/31 (4.00.2) - Added NK_KEYSTATE_BASED_INPUT to "fix" state based backends +/// like GLFW without breaking key repeat behavior on event based. +/// - 2018/04/01 (4.00.1) - Fixed calling `nk_convert` multiple time per single frame. +/// - 2018/04/01 (4.00.0) - BREAKING CHANGE: nk_draw_list_clear no longer tries to +/// clear provided buffers. So make sure to either free +/// or clear each passed buffer after calling nk_convert. +/// - 2018/02/23 (3.00.6) - Fixed slider dragging behavior. +/// - 2018/01/31 (3.00.5) - Fixed overcalculation of cursor data in font baking process. +/// - 2018/01/31 (3.00.4) - Removed name collision with stb_truetype. +/// - 2018/01/28 (3.00.3) - Fixed panel window border drawing bug. +/// - 2018/01/12 (3.00.2) - Added `nk_group_begin_titled` for separated group identifier and title. +/// - 2018/01/07 (3.00.1) - Started to change documentation style. +/// - 2018/01/05 (3.00.0) - BREAKING CHANGE: The previous color picker API was broken +/// because of conversions between float and byte color representation. +/// Color pickers now use floating point values to represent +/// HSV values. To get back the old behavior I added some additional +/// color conversion functions to cast between nk_color and +/// nk_colorf. +/// - 2017/12/23 (2.00.7) - Fixed small warning. +/// - 2017/12/23 (2.00.7) - Fixed `nk_edit_buffer` behavior if activated to allow input. +/// - 2017/12/23 (2.00.7) - Fixed modifyable progressbar dragging visuals and input behavior. +/// - 2017/12/04 (2.00.6) - Added formatted string tooltip widget. +/// - 2017/11/18 (2.00.5) - Fixed window becoming hidden with flag `NK_WINDOW_NO_INPUT`. +/// - 2017/11/15 (2.00.4) - Fixed font merging. +/// - 2017/11/07 (2.00.3) - Fixed window size and position modifier functions. +/// - 2017/09/14 (2.00.2) - Fixed `nk_edit_buffer` and `nk_edit_focus` behavior. +/// - 2017/09/14 (2.00.1) - Fixed window closing behavior. +/// - 2017/09/14 (2.00.0) - BREAKING CHANGE: Modifying window position and size functions now +/// require the name of the window and must happen outside the window +/// building process (between function call nk_begin and nk_end). +/// - 2017/09/11 (1.40.9) - Fixed window background flag if background window is declared last. +/// - 2017/08/27 (1.40.8) - Fixed `nk_item_is_any_active` for hidden windows. +/// - 2017/08/27 (1.40.7) - Fixed window background flag. +/// - 2017/07/07 (1.40.6) - Fixed missing clipping rect check for hovering/clicked +/// query for widgets. +/// - 2017/07/07 (1.40.5) - Fixed drawing bug for vertex output for lines and stroked +/// and filled rectangles. +/// - 2017/07/07 (1.40.4) - Fixed bug in nk_convert trying to add windows that are in +/// process of being destroyed. +/// - 2017/07/07 (1.40.3) - Fixed table internal bug caused by storing table size in +/// window instead of directly in table. +/// - 2017/06/30 (1.40.2) - Removed unneeded semicolon in C++ NK_ALIGNOF macro. +/// - 2017/06/30 (1.40.1) - Fixed drawing lines smaller or equal zero. +/// - 2017/06/08 (1.40.0) - Removed the breaking part of last commit. Auto layout now only +/// comes in effect if you pass in zero was row height argument. +/// - 2017/06/08 (1.40.0) - BREAKING CHANGE: while not directly API breaking it will change +/// how layouting works. From now there will be an internal minimum +/// row height derived from font height. If you need a row smaller than +/// that you can directly set it by `nk_layout_set_min_row_height` and +/// reset the value back by calling `nk_layout_reset_min_row_height. +/// - 2017/06/08 (1.39.1) - Fixed property text edit handling bug caused by past `nk_widget` fix. +/// - 2017/06/08 (1.39.0) - Added function to retrieve window space without calling a `nk_layout_xxx` function. +/// - 2017/06/06 (1.38.5) - Fixed `nk_convert` return flag for command buffer. +/// - 2017/05/23 (1.38.4) - Fixed activation behavior for widgets partially clipped. +/// - 2017/05/10 (1.38.3) - Fixed wrong min window size mouse scaling over boundaries. +/// - 2017/05/09 (1.38.2) - Fixed vertical scrollbar drawing with not enough space. +/// - 2017/05/09 (1.38.1) - Fixed scaler dragging behavior if window size hits minimum size. +/// - 2017/05/06 (1.38.0) - Added platform double-click support. +/// - 2017/04/20 (1.37.1) - Fixed key repeat found inside glfw demo backends. +/// - 2017/04/20 (1.37.0) - Extended properties with selection and clipboard support. +/// - 2017/04/20 (1.36.2) - Fixed #405 overlapping rows with zero padding and spacing. +/// - 2017/04/09 (1.36.1) - Fixed #403 with another widget float error. +/// - 2017/04/09 (1.36.0) - Added window `NK_WINDOW_NO_INPUT` and `NK_WINDOW_NOT_INTERACTIVE` flags. +/// - 2017/04/09 (1.35.3) - Fixed buffer heap corruption. +/// - 2017/03/25 (1.35.2) - Fixed popup overlapping for `NK_WINDOW_BACKGROUND` windows. +/// - 2017/03/25 (1.35.1) - Fixed windows closing behavior. +/// - 2017/03/18 (1.35.0) - Added horizontal scroll requested in #377. +/// - 2017/03/18 (1.34.3) - Fixed long window header titles. +/// - 2017/03/04 (1.34.2) - Fixed text edit filtering. +/// - 2017/03/04 (1.34.1) - Fixed group closable flag. +/// - 2017/02/25 (1.34.0) - Added custom draw command for better language binding support. +/// - 2017/01/24 (1.33.0) - Added programmatic way to remove edit focus. +/// - 2017/01/24 (1.32.3) - Fixed wrong define for basic type definitions for windows. +/// - 2017/01/21 (1.32.2) - Fixed input capture from hidden or closed windows. +/// - 2017/01/21 (1.32.1) - Fixed slider behavior and drawing. +/// - 2017/01/13 (1.32.0) - Added flag to put scaler into the bottom left corner. +/// - 2017/01/13 (1.31.0) - Added additional row layouting method to combine both +/// dynamic and static widgets. +/// - 2016/12/31 (1.30.0) - Extended scrollbar offset from 16-bit to 32-bit. +/// - 2016/12/31 (1.29.2) - Fixed closing window bug of minimized windows. +/// - 2016/12/03 (1.29.1) - Fixed wrapped text with no seperator and C89 error. +/// - 2016/12/03 (1.29.0) - Changed text wrapping to process words not characters. +/// - 2016/11/22 (1.28.6) - Fixed window minimized closing bug. +/// - 2016/11/19 (1.28.5) - Fixed abstract combo box closing behavior. +/// - 2016/11/19 (1.28.4) - Fixed tooltip flickering. +/// - 2016/11/19 (1.28.3) - Fixed memory leak caused by popup repeated closing. +/// - 2016/11/18 (1.28.2) - Fixed memory leak caused by popup panel allocation. +/// - 2016/11/10 (1.28.1) - Fixed some warnings and C++ error. +/// - 2016/11/10 (1.28.0) - Added additional `nk_button` versions which allows to directly +/// pass in a style struct to change buttons visual. +/// - 2016/11/10 (1.27.0) - Added additional `nk_tree` versions to support external state +/// storage. Just like last the `nk_group` commit the main +/// advantage is that you optionally can minimize nuklears runtime +/// memory consumption or handle hash collisions. +/// - 2016/11/09 (1.26.0) - Added additional `nk_group` version to support external scrollbar +/// offset storage. Main advantage is that you can externalize +/// the memory management for the offset. It could also be helpful +/// if you have a hash collision in `nk_group_begin` but really +/// want the name. In addition I added `nk_list_view` which allows +/// to draw big lists inside a group without actually having to +/// commit the whole list to nuklear (issue #269). +/// - 2016/10/30 (1.25.1) - Fixed clipping rectangle bug inside `nk_draw_list`. +/// - 2016/10/29 (1.25.0) - Pulled `nk_panel` memory management into nuklear and out of +/// the hands of the user. From now on users don't have to care +/// about panels unless they care about some information. If you +/// still need the panel just call `nk_window_get_panel`. +/// - 2016/10/21 (1.24.0) - Changed widget border drawing to stroked rectangle from filled +/// rectangle for less overdraw and widget background transparency. +/// - 2016/10/18 (1.23.0) - Added `nk_edit_focus` for manually edit widget focus control. +/// - 2016/09/29 (1.22.7) - Fixed deduction of basic type in non `` compilation. +/// - 2016/09/29 (1.22.6) - Fixed edit widget UTF-8 text cursor drawing bug. +/// - 2016/09/28 (1.22.5) - Fixed edit widget UTF-8 text appending/inserting/removing. +/// - 2016/09/28 (1.22.4) - Fixed drawing bug inside edit widgets which offset all text +/// text in every edit widget if one of them is scrolled. +/// - 2016/09/28 (1.22.3) - Fixed small bug in edit widgets if not active. The wrong +/// text length is passed. It should have been in bytes but +/// was passed as glyphs. +/// - 2016/09/20 (1.22.2) - Fixed color button size calculation. +/// - 2016/09/20 (1.22.1) - Fixed some `nk_vsnprintf` behavior bugs and removed `` +/// again from `NK_INCLUDE_STANDARD_VARARGS`. +/// - 2016/09/18 (1.22.0) - C89 does not support vsnprintf only C99 and newer as well +/// as C++11 and newer. In addition to use vsnprintf you have +/// to include . So just defining `NK_INCLUDE_STD_VAR_ARGS` +/// is not enough. That behavior is now fixed. By default if +/// both varargs as well as stdio is selected I try to use +/// vsnprintf if not possible I will revert to vsprintf. If +/// varargs but not stdio was defined I will use my own function. +/// - 2016/09/15 (1.21.2) - Fixed panel `close` behavior for deeper panel levels. +/// - 2016/09/15 (1.21.1) - Fixed C++ errors and wrong argument to `nk_panel_get_xxxx`. +/// - 2016/09/13 (1.21.0) - !BREAKING! Fixed nonblocking popup behavior in menu, combo, +/// and contextual which prevented closing in y-direction if +/// popup did not reach max height. +/// In addition the height parameter was changed into vec2 +/// for width and height to have more control over the popup size. +/// - 2016/09/13 (1.20.3) - Cleaned up and extended type selection. +/// - 2016/09/13 (1.20.2) - Fixed slider behavior hopefully for the last time. This time +/// all calculation are correct so no more hackery. +/// - 2016/09/13 (1.20.1) - Internal change to divide window/panel flags into panel flags and types. +/// Suprisinly spend years in C and still happened to confuse types +/// with flags. Probably something to take note. +/// - 2016/09/08 (1.20.0) - Added additional helper function to make it easier to just +/// take the produced buffers from `nk_convert` and unplug the +/// iteration process from `nk_context`. So now you can +/// just use the vertex,element and command buffer + two pointer +/// inside the command buffer retrieved by calls `nk__draw_begin` +/// and `nk__draw_end` and macro `nk_draw_foreach_bounded`. +/// - 2016/09/08 (1.19.0) - Added additional asserts to make sure every `nk_xxx_begin` call +/// for windows, popups, combobox, menu and contextual is guarded by +/// `if` condition and does not produce false drawing output. +/// - 2016/09/08 (1.18.0) - Changed confusing name for `NK_SYMBOL_RECT_FILLED`, `NK_SYMBOL_RECT` +/// to hopefully easier to understand `NK_SYMBOL_RECT_FILLED` and +/// `NK_SYMBOL_RECT_OUTLINE`. +/// - 2016/09/08 (1.17.0) - Changed confusing name for `NK_SYMBOL_CIRLCE_FILLED`, `NK_SYMBOL_CIRCLE` +/// to hopefully easier to understand `NK_SYMBOL_CIRCLE_FILLED` and +/// `NK_SYMBOL_CIRCLE_OUTLINE`. +/// - 2016/09/08 (1.16.0) - Added additional checks to select correct types if `NK_INCLUDE_FIXED_TYPES` +/// is not defined by supporting the biggest compiler GCC, clang and MSVC. +/// - 2016/09/07 (1.15.3) - Fixed `NK_INCLUDE_COMMAND_USERDATA` define to not cause an error. +/// - 2016/09/04 (1.15.2) - Fixed wrong combobox height calculation. +/// - 2016/09/03 (1.15.1) - Fixed gaps inside combo boxes in OpenGL. +/// - 2016/09/02 (1.15.0) - Changed nuklear to not have any default vertex layout and +/// instead made it user provided. The range of types to convert +/// to is quite limited at the moment, but I would be more than +/// happy to accept PRs to add additional. +/// - 2016/08/30 (1.14.2) - Removed unused variables. +/// - 2016/08/30 (1.14.1) - Fixed C++ build errors. +/// - 2016/08/30 (1.14.0) - Removed mouse dragging from SDL demo since it does not work correctly. +/// - 2016/08/30 (1.13.4) - Tweaked some default styling variables. +/// - 2016/08/30 (1.13.3) - Hopefully fixed drawing bug in slider, in general I would +/// refrain from using slider with a big number of steps. +/// - 2016/08/30 (1.13.2) - Fixed close and minimize button which would fire even if the +/// window was in Read Only Mode. +/// - 2016/08/30 (1.13.1) - Fixed popup panel padding handling which was previously just +/// a hack for combo box and menu. +/// - 2016/08/30 (1.13.0) - Removed `NK_WINDOW_DYNAMIC` flag from public API since +/// it is bugged and causes issues in window selection. +/// - 2016/08/30 (1.12.0) - Removed scaler size. The size of the scaler is now +/// determined by the scrollbar size. +/// - 2016/08/30 (1.11.2) - Fixed some drawing bugs caused by changes from 1.11.0. +/// - 2016/08/30 (1.11.1) - Fixed overlapping minimized window selection. +/// - 2016/08/30 (1.11.0) - Removed some internal complexity and overly complex code +/// handling panel padding and panel border. +/// - 2016/08/29 (1.10.0) - Added additional height parameter to `nk_combobox_xxx`. +/// - 2016/08/29 (1.10.0) - Fixed drawing bug in dynamic popups. +/// - 2016/08/29 (1.10.0) - Added experimental mouse scrolling to popups, menus and comboboxes. +/// - 2016/08/26 (1.10.0) - Added window name string prepresentation to account for +/// hash collisions. Currently limited to `NK_WINDOW_MAX_NAME` +/// which in term can be redefined if not big enough. +/// - 2016/08/26 (1.10.0) - Added stacks for temporary style/UI changes in code. +/// - 2016/08/25 (1.10.0) - Changed `nk_input_is_key_pressed` and 'nk_input_is_key_released' +/// to account for key press and release happening in one frame. +/// - 2016/08/25 (1.10.0) - Added additional nk_edit flag to directly jump to the end on activate. +/// - 2016/08/17 (1.09.6) - Removed invalid check for value zero in `nk_propertyx`. +/// - 2016/08/16 (1.09.5) - Fixed ROM mode for deeper levels of popup windows parents. +/// - 2016/08/15 (1.09.4) - Editbox are now still active if enter was pressed with flag +/// `NK_EDIT_SIG_ENTER`. Main reasoning is to be able to keep +/// typing after committing. +/// - 2016/08/15 (1.09.4) - Removed redundant code. +/// - 2016/08/15 (1.09.4) - Fixed negative numbers in `nk_strtoi` and remove unused variable. +/// - 2016/08/15 (1.09.3) - Fixed `NK_WINDOW_BACKGROUND` flag behavior to select a background +/// window only as selected by hovering and not by clicking. +/// - 2016/08/14 (1.09.2) - Fixed a bug in font atlas which caused wrong loading +/// of glyphs for font with multiple ranges. +/// - 2016/08/12 (1.09.1) - Added additional function to check if window is currently +/// hidden and therefore not visible. +/// - 2016/08/12 (1.09.1) - nk_window_is_closed now queries the correct flag `NK_WINDOW_CLOSED` +/// instead of the old flag `NK_WINDOW_HIDDEN`. +/// - 2016/08/09 (1.09.0) - Added additional double version to nk_property and changed +/// the underlying implementation to not cast to float and instead +/// work directly on the given values. +/// - 2016/08/09 (1.08.0) - Added additional define to overwrite library internal +/// floating pointer number to string conversion for additional +/// precision. +/// - 2016/08/09 (1.08.0) - Added additional define to overwrite library internal +/// string to floating point number conversion for additional +/// precision. +/// - 2016/08/08 (1.07.2) - Fixed compiling error without define `NK_INCLUDE_FIXED_TYPE`. +/// - 2016/08/08 (1.07.1) - Fixed possible floating point error inside `nk_widget` leading +/// to wrong wiget width calculation which results in widgets falsely +/// becoming tagged as not inside window and cannot be accessed. +/// - 2016/08/08 (1.07.0) - Nuklear now differentiates between hiding a window (NK_WINDOW_HIDDEN) and +/// closing a window (NK_WINDOW_CLOSED). A window can be hidden/shown +/// by using `nk_window_show` and closed by either clicking the close +/// icon in a window or by calling `nk_window_close`. Only closed +/// windows get removed at the end of the frame while hidden windows +/// remain. +/// - 2016/08/08 (1.06.0) - Added `nk_edit_string_zero_terminated` as a second option to +/// `nk_edit_string` which takes, edits and outputs a '\0' terminated string. +/// - 2016/08/08 (1.05.4) - Fixed scrollbar auto hiding behavior. +/// - 2016/08/08 (1.05.3) - Fixed wrong panel padding selection in `nk_layout_widget_space`. +/// - 2016/08/07 (1.05.2) - Fixed old bug in dynamic immediate mode layout API, calculating +/// wrong item spacing and panel width. +/// - 2016/08/07 (1.05.1) - Hopefully finally fixed combobox popup drawing bug. +/// - 2016/08/07 (1.05.0) - Split varargs away from `NK_INCLUDE_STANDARD_IO` into own +/// define `NK_INCLUDE_STANDARD_VARARGS` to allow more fine +/// grained controlled over library includes. +/// - 2016/08/06 (1.04.5) - Changed memset calls to `NK_MEMSET`. +/// - 2016/08/04 (1.04.4) - Fixed fast window scaling behavior. +/// - 2016/08/04 (1.04.3) - Fixed window scaling, movement bug which appears if you +/// move/scale a window and another window is behind it. +/// If you are fast enough then the window behind gets activated +/// and the operation is blocked. I now require activating +/// by hovering only if mouse is not pressed. +/// - 2016/08/04 (1.04.2) - Fixed changing fonts. +/// - 2016/08/03 (1.04.1) - Fixed `NK_WINDOW_BACKGROUND` behavior. +/// - 2016/08/03 (1.04.0) - Added color parameter to `nk_draw_image`. +/// - 2016/08/03 (1.04.0) - Added additional window padding style attributes for +/// sub windows (combo, menu, ...). +/// - 2016/08/03 (1.04.0) - Added functions to show/hide software cursor. +/// - 2016/08/03 (1.04.0) - Added `NK_WINDOW_BACKGROUND` flag to force a window +/// to be always in the background of the screen. +/// - 2016/08/03 (1.03.2) - Removed invalid assert macro for NK_RGB color picker. +/// - 2016/08/01 (1.03.1) - Added helper macros into header include guard. +/// - 2016/07/29 (1.03.0) - Moved the window/table pool into the header part to +/// simplify memory management by removing the need to +/// allocate the pool. +/// - 2016/07/29 (1.02.0) - Added auto scrollbar hiding window flag which if enabled +/// will hide the window scrollbar after NK_SCROLLBAR_HIDING_TIMEOUT +/// seconds without window interaction. To make it work +/// you have to also set a delta time inside the `nk_context`. +/// - 2016/07/25 (1.01.1) - Fixed small panel and panel border drawing bugs. +/// - 2016/07/15 (1.01.0) - Added software cursor to `nk_style` and `nk_context`. +/// - 2016/07/15 (1.01.0) - Added const correctness to `nk_buffer_push' data argument. +/// - 2016/07/15 (1.01.0) - Removed internal font baking API and simplified +/// font atlas memory management by converting pointer +/// arrays for fonts and font configurations to lists. +/// - 2016/07/15 (1.00.0) - Changed button API to use context dependent button +/// behavior instead of passing it for every function call. +/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +/// ## Gallery +/// ![Figure [blue]: Feature overview with blue color styling](https://cloud.githubusercontent.com/assets/8057201/13538240/acd96876-e249-11e5-9547-5ac0b19667a0.png) +/// ![Figure [red]: Feature overview with red color styling](https://cloud.githubusercontent.com/assets/8057201/13538243/b04acd4c-e249-11e5-8fd2-ad7744a5b446.png) +/// ![Figure [widgets]: Widget overview](https://cloud.githubusercontent.com/assets/8057201/11282359/3325e3c6-8eff-11e5-86cb-cf02b0596087.png) +/// ![Figure [blackwhite]: Black and white](https://cloud.githubusercontent.com/assets/8057201/11033668/59ab5d04-86e5-11e5-8091-c56f16411565.png) +/// ![Figure [filexp]: File explorer](https://cloud.githubusercontent.com/assets/8057201/10718115/02a9ba08-7b6b-11e5-950f-adacdd637739.png) +/// ![Figure [opengl]: OpenGL Editor](https://cloud.githubusercontent.com/assets/8057201/12779619/2a20d72c-ca69-11e5-95fe-4edecf820d5c.png) +/// ![Figure [nodedit]: Node Editor](https://cloud.githubusercontent.com/assets/8057201/9976995/e81ac04a-5ef7-11e5-872b-acd54fbeee03.gif) +/// ![Figure [skinning]: Using skinning in Nuklear](https://cloud.githubusercontent.com/assets/8057201/15991632/76494854-30b8-11e6-9555-a69840d0d50b.png) +/// ![Figure [bf]: Heavy modified version](https://cloud.githubusercontent.com/assets/8057201/14902576/339926a8-0d9c-11e6-9fee-a8b73af04473.png) +/// +/// ## Credits +/// Developed by Micha Mettke and every direct or indirect github contributor.

+/// +/// Embeds [stb_texedit](https://github.com/nothings/stb/blob/master/stb_textedit.h), [stb_truetype](https://github.com/nothings/stb/blob/master/stb_truetype.h) and [stb_rectpack](https://github.com/nothings/stb/blob/master/stb_rect_pack.h) by Sean Barret (public domain)
+/// Uses [stddoc.c](https://github.com/r-lyeh/stddoc.c) from r-lyeh@github.com for documentation generation

+/// Embeds ProggyClean.ttf font by Tristan Grimmer (MIT license).
+/// +/// Big thank you to Omar Cornut (ocornut@github) for his [imgui library](https://github.com/ocornut/imgui) and +/// giving me the inspiration for this library, Casey Muratori for handmade hero +/// and his original immediate mode graphical user interface idea and Sean +/// Barret for his amazing single header libraries which restored my faith +/// in libraries and brought me to create some of my own. Finally Apoorva Joshi +/// for his single header file packer. +*/ + diff --git a/subprojects/animationwindow/include/internal/nuklear_configured.h b/subprojects/animationwindow/include/internal/nuklear_configured.h new file mode 100644 index 000000000..d3fd8f1cb --- /dev/null +++ b/subprojects/animationwindow/include/internal/nuklear_configured.h @@ -0,0 +1,20 @@ +#pragma once + +// Nuklear requires that all files using it specify the exact same defines. +// This header should always be included, rather than the nuklear.h header directly for that reason. + +#define NK_INCLUDE_FIXED_TYPES +#define NK_INCLUDE_STANDARD_IO +#define NK_INCLUDE_STANDARD_VARARGS +#define NK_INCLUDE_DEFAULT_ALLOCATOR +#define NK_INCLUDE_VERTEX_BUFFER_OUTPUT +#define NK_INCLUDE_FONT_BAKING +#define NK_INCLUDE_DEFAULT_FONT + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wshadow" + +#include "internal/nuklear.h" +#include "internal/nuklear_sdl_renderer.h" + +#pragma GCC diagnostic pop \ No newline at end of file diff --git a/subprojects/animationwindow/include/internal/nuklear_sdl_renderer.h b/subprojects/animationwindow/include/internal/nuklear_sdl_renderer.h new file mode 100644 index 000000000..2d6ad36c2 --- /dev/null +++ b/subprojects/animationwindow/include/internal/nuklear_sdl_renderer.h @@ -0,0 +1,378 @@ +/* + * Nuklear - 4.9.4 - public domain + */ +/* + * ============================================================== + * + * API + * + * =============================================================== + */ +#ifndef NK_SDL_RENDERER_H_ +#define NK_SDL_RENDERER_H_ + +#include +NK_API struct nk_context* nk_sdl_init(SDL_Window *win, SDL_Renderer *renderer); +NK_API void nk_sdl_font_stash_begin(struct nk_font_atlas **atlas); +NK_API void nk_sdl_font_stash_end(void); +NK_API int nk_sdl_handle_event(SDL_Event *evt); +NK_API void nk_sdl_render(enum nk_anti_aliasing); +NK_API void nk_sdl_shutdown(void); + +#if SDL_COMPILEDVERSION < SDL_VERSIONNUM(2, 0, 22) +/* Metal API does not support cliprects with negative coordinates or large + * dimensions. The issue is fixed in SDL2 with version 2.0.22 but until + * that version is released, the NK_SDL_CLAMP_CLIP_RECT flag can be used to + * ensure the cliprect is itself clipped to the viewport. + * See discussion at https://discourse.libsdl.org/t/rendergeometryraw-producing-different-results-in-metal-vs-opengl/34953 + */ +#define NK_SDL_CLAMP_CLIP_RECT +#endif + +#endif /* NK_SDL_RENDERER_H_ */ + +/* + * ============================================================== + * + * IMPLEMENTATION + * + * =============================================================== + */ +#ifdef NK_SDL_RENDERER_IMPLEMENTATION + + +struct nk_sdl_device { + struct nk_buffer cmds; + struct nk_draw_null_texture null; + SDL_Texture *font_tex; +}; + +struct nk_sdl_vertex { + float position[2]; + float uv[2]; + nk_byte col[4]; +}; + +static struct nk_sdl { + SDL_Window *win; + SDL_Renderer *renderer; + struct nk_sdl_device ogl; + struct nk_context ctx; + struct nk_font_atlas atlas; +} sdl; + + + +NK_INTERN void +nk_sdl_device_upload_atlas(const void *image, int width, int height) +{ + struct nk_sdl_device *dev = &sdl.ogl; + + SDL_Texture *g_SDLFontTexture = SDL_CreateTexture(sdl.renderer, SDL_PIXELFORMAT_ARGB8888, SDL_TEXTUREACCESS_STATIC, width, height); + if (g_SDLFontTexture == NULL) { + SDL_Log("error creating texture"); + return; + } + SDL_UpdateTexture(g_SDLFontTexture, NULL, image, 4 * width); + SDL_SetTextureBlendMode(g_SDLFontTexture, SDL_BLENDMODE_BLEND); + dev->font_tex = g_SDLFontTexture; +} + +NK_API void +nk_sdl_render(enum nk_anti_aliasing AA) +{ + /* setup global state */ + struct nk_sdl_device *dev = &sdl.ogl; + + { + SDL_Rect saved_clip; +#ifdef NK_SDL_CLAMP_CLIP_RECT + SDL_Rect viewport; +#endif + SDL_bool clipping_enabled; + int vs = sizeof(struct nk_sdl_vertex); + size_t vp = offsetof(struct nk_sdl_vertex, position); + size_t vt = offsetof(struct nk_sdl_vertex, uv); + size_t vc = offsetof(struct nk_sdl_vertex, col); + + /* convert from command queue into draw list and draw to screen */ + const struct nk_draw_command *cmd; + const nk_draw_index *offset = NULL; + struct nk_buffer vbuf, ebuf; + + /* fill converting configuration */ + struct nk_convert_config config; + static const struct nk_draw_vertex_layout_element vertex_layout[] = { + {NK_VERTEX_POSITION, NK_FORMAT_FLOAT, NK_OFFSETOF(struct nk_sdl_vertex, position)}, + {NK_VERTEX_TEXCOORD, NK_FORMAT_FLOAT, NK_OFFSETOF(struct nk_sdl_vertex, uv)}, + {NK_VERTEX_COLOR, NK_FORMAT_R8G8B8A8, NK_OFFSETOF(struct nk_sdl_vertex, col)}, + {NK_VERTEX_LAYOUT_END} + }; + NK_MEMSET(&config, 0, sizeof(config)); + config.vertex_layout = vertex_layout; + config.vertex_size = sizeof(struct nk_sdl_vertex); + config.vertex_alignment = NK_ALIGNOF(struct nk_sdl_vertex); + config.null = dev->null; + config.circle_segment_count = 22; + config.curve_segment_count = 22; + config.arc_segment_count = 22; + config.global_alpha = 1.0f; + config.shape_AA = AA; + config.line_AA = AA; + + /* convert shapes into vertexes */ + nk_buffer_init_default(&vbuf); + nk_buffer_init_default(&ebuf); + nk_convert(&sdl.ctx, &dev->cmds, &vbuf, &ebuf, &config); + + /* iterate over and execute each draw command */ + offset = (const nk_draw_index*)nk_buffer_memory_const(&ebuf); + + clipping_enabled = SDL_RenderIsClipEnabled(sdl.renderer); + SDL_RenderGetClipRect(sdl.renderer, &saved_clip); +#ifdef NK_SDL_CLAMP_CLIP_RECT + SDL_RenderGetViewport(sdl.renderer, &viewport); +#endif + + nk_draw_foreach(cmd, &sdl.ctx, &dev->cmds) + { + if (!cmd->elem_count) continue; + + { + SDL_Rect r; + r.x = cmd->clip_rect.x; + r.y = cmd->clip_rect.y; + r.w = cmd->clip_rect.w; + r.h = cmd->clip_rect.h; +#ifdef NK_SDL_CLAMP_CLIP_RECT + if (r.x < 0) { + r.w += r.x; + r.x = 0; + } + if (r.y < 0) { + r.h += r.y; + r.y = 0; + } + if (r.h > viewport.h) { + r.h = viewport.h; + } + if (r.w > viewport.w) { + r.w = viewport.w; + } +#endif + SDL_RenderSetClipRect(sdl.renderer, &r); + } + + { + const void *vertices = nk_buffer_memory_const(&vbuf); + + SDL_RenderGeometryRaw(sdl.renderer, + (SDL_Texture *)cmd->texture.ptr, + (const float*)((const nk_byte*)vertices + vp), vs, + (const SDL_Color*)((const nk_byte*)vertices + vc), vs, + (const float*)((const nk_byte*)vertices + vt), vs, + (vbuf.needed / vs), + (void *) offset, cmd->elem_count, 2); + + offset += cmd->elem_count; + } + } + + SDL_RenderSetClipRect(sdl.renderer, &saved_clip); + if (!clipping_enabled) { + SDL_RenderSetClipRect(sdl.renderer, NULL); + } + + nk_clear(&sdl.ctx); + nk_buffer_clear(&dev->cmds); + nk_buffer_free(&vbuf); + nk_buffer_free(&ebuf); + } +} + +static void +nk_sdl_clipboard_paste(nk_handle usr, struct nk_text_edit *edit) +{ + const char *text = SDL_GetClipboardText(); + if (text) nk_textedit_paste(edit, text, nk_strlen(text)); + (void)usr; +} + +static void +nk_sdl_clipboard_copy(nk_handle usr, const char *text, int len) +{ + char *str = 0; + (void)usr; + if (!len) return; + str = (char*)malloc((size_t)len+1); + if (!str) return; + memcpy(str, text, (size_t)len); + str[len] = '\0'; + SDL_SetClipboardText(str); + free(str); +} + +NK_API struct nk_context* +nk_sdl_init(SDL_Window *win, SDL_Renderer *renderer) +{ +#ifndef NK_SDL_CLAMP_CLIP_RECT + SDL_RendererInfo info; + SDL_version runtimeVer; + + /* warn for cases where NK_SDL_CLAMP_CLIP_RECT should have been set but isn't */ + SDL_GetRendererInfo(renderer, &info); + SDL_GetVersion(&runtimeVer); + if (strncmp("metal", info.name, 5) == 0 && + SDL_VERSIONNUM(runtimeVer.major, runtimeVer.minor, runtimeVer.patch) < SDL_VERSIONNUM(2, 0, 22)) + { + SDL_LogWarn( + SDL_LOG_CATEGORY_APPLICATION, + "renderer is using Metal API but runtime SDL version %d.%d.%d is older than compiled version %d.%d.%d, " + "which may cause issues with rendering", + runtimeVer.major, runtimeVer.minor, runtimeVer.patch, + SDL_MAJOR_VERSION, SDL_MINOR_VERSION, SDL_PATCHLEVEL + ); + } +#endif + sdl.win = win; + sdl.renderer = renderer; + nk_init_default(&sdl.ctx, 0); + sdl.ctx.clip.copy = nk_sdl_clipboard_copy; + sdl.ctx.clip.paste = nk_sdl_clipboard_paste; + sdl.ctx.clip.userdata = nk_handle_ptr(0); + nk_buffer_init_default(&sdl.ogl.cmds); + return &sdl.ctx; +} + +NK_API void +nk_sdl_font_stash_begin(struct nk_font_atlas **atlas) +{ + nk_font_atlas_init_default(&sdl.atlas); + nk_font_atlas_begin(&sdl.atlas); + *atlas = &sdl.atlas; +} + +NK_API void +nk_sdl_font_stash_end(void) +{ + const void *image; int w, h; + image = nk_font_atlas_bake(&sdl.atlas, &w, &h, NK_FONT_ATLAS_RGBA32); + nk_sdl_device_upload_atlas(image, w, h); + nk_font_atlas_end(&sdl.atlas, nk_handle_ptr(sdl.ogl.font_tex), &sdl.ogl.null); + if (sdl.atlas.default_font) + nk_style_set_font(&sdl.ctx, &sdl.atlas.default_font->handle); +} + +NK_API int +nk_sdl_handle_event(SDL_Event *evt) +{ + struct nk_context *ctx = &sdl.ctx; + + /* optional grabbing behavior */ + if (ctx->input.mouse.grab) { + SDL_SetRelativeMouseMode(SDL_TRUE); + ctx->input.mouse.grab = 0; + } else if (ctx->input.mouse.ungrab) { + int x = (int)ctx->input.mouse.prev.x, y = (int)ctx->input.mouse.prev.y; + SDL_SetRelativeMouseMode(SDL_FALSE); + SDL_WarpMouseInWindow(sdl.win, x, y); + ctx->input.mouse.ungrab = 0; + } + + switch(evt->type) + { + case SDL_KEYUP: /* KEYUP & KEYDOWN share same routine */ + case SDL_KEYDOWN: + { + int down = evt->type == SDL_KEYDOWN; + const Uint8* state = SDL_GetKeyboardState(0); + switch(evt->key.keysym.sym) + { + case SDLK_RSHIFT: /* RSHIFT & LSHIFT share same routine */ + case SDLK_LSHIFT: nk_input_key(ctx, NK_KEY_SHIFT, down); break; + case SDLK_DELETE: nk_input_key(ctx, NK_KEY_DEL, down); break; + case SDLK_RETURN: nk_input_key(ctx, NK_KEY_ENTER, down); break; + case SDLK_TAB: nk_input_key(ctx, NK_KEY_TAB, down); break; + case SDLK_BACKSPACE: nk_input_key(ctx, NK_KEY_BACKSPACE, down); break; + case SDLK_HOME: nk_input_key(ctx, NK_KEY_TEXT_START, down); + nk_input_key(ctx, NK_KEY_SCROLL_START, down); break; + case SDLK_END: nk_input_key(ctx, NK_KEY_TEXT_END, down); + nk_input_key(ctx, NK_KEY_SCROLL_END, down); break; + case SDLK_PAGEDOWN: nk_input_key(ctx, NK_KEY_SCROLL_DOWN, down); break; + case SDLK_PAGEUP: nk_input_key(ctx, NK_KEY_SCROLL_UP, down); break; + case SDLK_z: nk_input_key(ctx, NK_KEY_TEXT_UNDO, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_r: nk_input_key(ctx, NK_KEY_TEXT_REDO, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_c: nk_input_key(ctx, NK_KEY_COPY, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_v: nk_input_key(ctx, NK_KEY_PASTE, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_x: nk_input_key(ctx, NK_KEY_CUT, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_b: nk_input_key(ctx, NK_KEY_TEXT_LINE_START, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_e: nk_input_key(ctx, NK_KEY_TEXT_LINE_END, down && state[SDL_SCANCODE_LCTRL]); break; + case SDLK_UP: nk_input_key(ctx, NK_KEY_UP, down); break; + case SDLK_DOWN: nk_input_key(ctx, NK_KEY_DOWN, down); break; + case SDLK_LEFT: + if (state[SDL_SCANCODE_LCTRL]) + nk_input_key(ctx, NK_KEY_TEXT_WORD_LEFT, down); + else nk_input_key(ctx, NK_KEY_LEFT, down); + break; + case SDLK_RIGHT: + if (state[SDL_SCANCODE_LCTRL]) + nk_input_key(ctx, NK_KEY_TEXT_WORD_RIGHT, down); + else nk_input_key(ctx, NK_KEY_RIGHT, down); + break; + } + } + return 1; + + case SDL_MOUSEBUTTONUP: /* MOUSEBUTTONUP & MOUSEBUTTONDOWN share same routine */ + case SDL_MOUSEBUTTONDOWN: + { + int down = evt->type == SDL_MOUSEBUTTONDOWN; + const int x = evt->button.x, y = evt->button.y; + switch(evt->button.button) + { + case SDL_BUTTON_LEFT: + if (evt->button.clicks > 1) + nk_input_button(ctx, NK_BUTTON_DOUBLE, x, y, down); + nk_input_button(ctx, NK_BUTTON_LEFT, x, y, down); break; + case SDL_BUTTON_MIDDLE: nk_input_button(ctx, NK_BUTTON_MIDDLE, x, y, down); break; + case SDL_BUTTON_RIGHT: nk_input_button(ctx, NK_BUTTON_RIGHT, x, y, down); break; + } + } + return 1; + + case SDL_MOUSEMOTION: + if (ctx->input.mouse.grabbed) { + int x = (int)ctx->input.mouse.prev.x, y = (int)ctx->input.mouse.prev.y; + nk_input_motion(ctx, x + evt->motion.xrel, y + evt->motion.yrel); + } + else nk_input_motion(ctx, evt->motion.x, evt->motion.y); + return 1; + + case SDL_TEXTINPUT: + { + nk_glyph glyph; + memcpy(glyph, evt->text.text, NK_UTF_SIZE); + nk_input_glyph(ctx, glyph); + } + return 1; + + case SDL_MOUSEWHEEL: + nk_input_scroll(ctx,nk_vec2((float)evt->wheel.x,(float)evt->wheel.y)); + return 1; + } + return 0; +} + +NK_API +void nk_sdl_shutdown(void) +{ + struct nk_sdl_device *dev = &sdl.ogl; + nk_font_atlas_clear(&sdl.atlas); + nk_free(&sdl.ctx); + SDL_DestroyTexture(dev->font_tex); + /* glDeleteTextures(1, &dev->font_tex); */ + nk_buffer_free(&dev->cmds); + memset(&sdl, 0, sizeof(sdl)); +} + +#endif /* NK_SDL_RENDERER_IMPLEMENTATION */ diff --git a/subprojects/animationwindow/include/internal/portable-file-dialogs.h b/subprojects/animationwindow/include/internal/portable-file-dialogs.h new file mode 100644 index 000000000..d62443ca7 --- /dev/null +++ b/subprojects/animationwindow/include/internal/portable-file-dialogs.h @@ -0,0 +1,1647 @@ +// +// Portable File Dialogs +// +// Copyright © 2018—2020 Sam Hocevar +// +// This library is free software. It comes without any warranty, to +// the extent permitted by applicable law. You can redistribute it +// and/or modify it under the terms of the Do What the Fuck You Want +// to Public License, Version 2, as published by the WTFPL Task Force. +// See http://www.wtfpl.net/ for more details. +// + +#pragma once + +#if _WIN32 +#ifndef WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN 1 +#endif +#include +#include +#include +#include +#include +#include + +#elif __EMSCRIPTEN__ +#include + +#else +#ifndef _POSIX_C_SOURCE +# define _POSIX_C_SOURCE 2 // for popen() +#endif +#include // popen() +#include // std::getenv() +#include // fcntl() +#include // read() +#include // ::kill, std::signal +#include // waitpid() +#endif + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace pfd +{ + +enum class button +{ + cancel = -1, + ok, + yes, + no, + abort, + retry, + ignore, +}; + +enum class choice +{ + ok = 0, + ok_cancel, + yes_no, + yes_no_cancel, + retry_cancel, + abort_retry_ignore, +}; + +enum class icon +{ + info = 0, + warning, + error, + question, +}; + +// Additional option flags for various dialog constructors +enum class opt : uint8_t +{ + none = 0, + // For file open, allow multiselect. + multiselect = 0x1, + // For file save, force overwrite and disable the confirmation dialog. + force_overwrite = 0x2, + // For file open or save, force path to be the provided argument instead + // of the last opened directory, which is the Microsoft-recommended, user- + // friendly behaviour. + force_path = 0x4, +}; + +inline opt operator |(opt a, opt b) { return opt(uint8_t(a) | uint8_t(b)); } +inline bool operator &(opt a, opt b) { return bool(uint8_t(a) & uint8_t(b)); } + +// The settings class, only exposing to the user a way to set verbose mode +// and to force a rescan of installed desktop helpers (zenity, kdialog…). +class settings +{ +public: + static void verbose(bool value); + static void rescan(); + +protected: + explicit settings(bool resync = false); + + inline bool is_osascript() const; + inline bool is_zenity() const; + inline bool is_kdialog() const; + + enum class flag + { + is_scanned = 0, + is_verbose, + + has_zenity, + has_matedialog, + has_qarma, + has_kdialog, + is_vista, + + max_flag, + }; + + // Static array of flags for internal state + bool const &flags(flag in_flag) const; + + // Non-const getter for the static array of flags + bool &flags(flag in_flag); +}; + +// Internal classes, not to be used by client applications +namespace internal +{ + +// Process wait timeout, in milliseconds +static int const default_wait_timeout = 20; + +class executor +{ + friend class dialog; + +public: + // High level function to get the result of a command + std::string result(int *exit_code = nullptr); + + // High level function to abort + bool kill(); + +#if _WIN32 + void start_func(std::function const &fun); + static BOOL CALLBACK enum_windows_callback(HWND hwnd, LPARAM lParam); +#elif __EMSCRIPTEN__ + void start(int exit_code); +#else + void start_process(std::vector const &command); +#endif + + ~executor(); + +protected: + bool ready(int timeout = default_wait_timeout); + void stop(); + +private: + bool m_running = false; + std::string m_stdout; + int m_exit_code = -1; +#if _WIN32 + std::future m_future; + std::unordered_set m_windows; + std::condition_variable m_cond; + std::mutex m_mutex; + DWORD m_tid; +#elif __EMSCRIPTEN__ || __NX__ + // FIXME: do something +#else + pid_t m_pid = 0; + int m_fd = -1; +#endif +}; + +class platform +{ +protected: +#if _WIN32 + // Helper class around LoadLibraryA() and GetProcAddress() with some safety + class dll + { + public: + dll(std::string const &name); + ~dll(); + + template class proc + { + public: + proc(dll const &lib, std::string const &sym) + : m_proc(reinterpret_cast(::GetProcAddress(lib.handle, sym.c_str()))) + {} + + operator bool() const { return m_proc != nullptr; } + operator T *() const { return m_proc; } + + private: + T *m_proc; + }; + + private: + HMODULE handle; + }; + + // Helper class around CreateActCtx() and ActivateActCtx() + class new_style_context + { + public: + new_style_context(); + ~new_style_context(); + + private: + HANDLE create(); + ULONG_PTR m_cookie = 0; + }; +#endif +}; + +class dialog : protected settings, protected platform +{ +public: + bool ready(int timeout = default_wait_timeout); + bool kill(); + +protected: + explicit dialog(); + + std::vector desktop_helper() const; + std::string buttons_to_name(choice _choice) const; + std::string get_icon_name(icon _icon) const; + + std::string powershell_quote(std::string const &str) const; + std::string osascript_quote(std::string const &str) const; + std::string shell_quote(std::string const &str) const; + + bool check_program(std::string const &program); + + // Keep handle to executing command + std::shared_ptr m_async; +}; + +class file_dialog : public dialog +{ +protected: + enum type + { + open, + save, + folder, + }; + + file_dialog(type in_type, + std::string const &title, + std::string const &default_path = "", + std::vector filters = {}, + opt options = opt::none); + +protected: + std::string string_result(); + std::vector vector_result(); + +#if _WIN32 + static int CALLBACK bffcallback(HWND hwnd, UINT uMsg, LPARAM, LPARAM pData); + std::string select_folder_vista(IFileDialog *ifd, bool force_path); + + std::wstring m_wtitle; + std::wstring m_wdefault_path; + + std::vector m_vector_result; +#endif +}; + +} // namespace internal + +// +// The notify widget +// + +class notify : public internal::dialog +{ +public: + notify(std::string const &title, + std::string const &message, + icon _icon = icon::info); +}; + +// +// The message widget +// + +class message : public internal::dialog +{ +public: + message(std::string const &title, + std::string const &text, + choice _choice = choice::ok_cancel, + icon _icon = icon::info); + + button result(); + +private: + // Some extra logic to map the exit code to button number + std::map m_mappings; +}; + +// +// The open_file, save_file, and open_folder widgets +// + +class open_file : public internal::file_dialog +{ +public: + open_file(std::string const &title, + std::string const &default_path = "", + std::vector filters = { "All Files", "*" }, + opt options = opt::none); + +#if defined(__has_cpp_attribute) +#if __has_cpp_attribute(deprecated) + // Backwards compatibility + [[deprecated("Use pfd::opt::multiselect instead of allow_multiselect")]] +#endif +#endif + open_file(std::string const &title, + std::string const &default_path, + std::vector filters, + bool allow_multiselect); + + std::vector result(); +}; + +class save_file : public internal::file_dialog +{ +public: + save_file(std::string const &title, + std::string const &default_path = "", + std::vector filters = { "All Files", "*" }, + opt options = opt::none); + +#if defined(__has_cpp_attribute) +#if __has_cpp_attribute(deprecated) + // Backwards compatibility + [[deprecated("Use pfd::opt::force_overwrite instead of confirm_overwrite")]] +#endif +#endif + save_file(std::string const &title, + std::string const &default_path, + std::vector filters, + bool confirm_overwrite); + + std::string result(); +}; + +class select_folder : public internal::file_dialog +{ +public: + select_folder(std::string const &title, + std::string const &default_path = "", + opt options = opt::none); + + std::string result(); +}; + +// +// Below this are all the method implementations. You may choose to define the +// macro PFD_SKIP_IMPLEMENTATION everywhere before including this header except +// in one place. This may reduce compilation times. +// + +#if !defined PFD_SKIP_IMPLEMENTATION + +// settings implementation + +inline settings::settings(bool resync) +{ + flags(flag::is_scanned) &= !resync; +} + +inline void settings::verbose(bool value) +{ + settings().flags(flag::is_verbose) = value; +} + +inline void settings::rescan() +{ + settings(true); +} + +inline bool settings::is_osascript() const +{ +#if __APPLE__ + return true; +#else + return false; +#endif +} + +inline bool settings::is_zenity() const +{ + return flags(flag::has_zenity) || + flags(flag::has_matedialog) || + flags(flag::has_qarma); +} + +inline bool settings::is_kdialog() const +{ + return flags(flag::has_kdialog); +} + +inline bool const &settings::flags(flag in_flag) const +{ + static bool flags[size_t(flag::max_flag)]; + return flags[size_t(in_flag)]; +} + +inline bool &settings::flags(flag in_flag) +{ + return const_cast(static_cast(this)->flags(in_flag)); +} + +// internal free functions implementations + +namespace internal +{ + +#if _WIN32 +static inline std::wstring str2wstr(std::string const &str) +{ + int len = MultiByteToWideChar(CP_UTF8, 0, str.c_str(), (int)str.size(), nullptr, 0); + std::wstring ret(len, '\0'); + MultiByteToWideChar(CP_UTF8, 0, str.c_str(), (int)str.size(), (LPWSTR)ret.data(), (int)ret.size()); + return ret; +} + +static inline std::string wstr2str(std::wstring const &str) +{ + int len = WideCharToMultiByte(CP_UTF8, 0, str.c_str(), (int)str.size(), nullptr, 0, nullptr, nullptr); + std::string ret(len, '\0'); + WideCharToMultiByte(CP_UTF8, 0, str.c_str(), (int)str.size(), (LPSTR)ret.data(), (int)ret.size(), nullptr, nullptr); + return ret; +} + +static inline bool is_vista() +{ + OSVERSIONINFOEXW osvi; + memset(&osvi, 0, sizeof(osvi)); + DWORDLONG const mask = VerSetConditionMask( + VerSetConditionMask( + VerSetConditionMask( + 0, VER_MAJORVERSION, VER_GREATER_EQUAL), + VER_MINORVERSION, VER_GREATER_EQUAL), + VER_SERVICEPACKMAJOR, VER_GREATER_EQUAL); + osvi.dwOSVersionInfoSize = sizeof(osvi); + osvi.dwMajorVersion = HIBYTE(_WIN32_WINNT_VISTA); + osvi.dwMinorVersion = LOBYTE(_WIN32_WINNT_VISTA); + osvi.wServicePackMajor = 0; + + return VerifyVersionInfoW(&osvi, VER_MAJORVERSION | VER_MINORVERSION | VER_SERVICEPACKMAJOR, mask) != FALSE; +} +#endif + +// This is necessary until C++20 which will have std::string::ends_with() etc. + +static inline bool ends_with(std::string const &str, std::string const &suffix) +{ + return suffix.size() <= str.size() && + str.compare(str.size() - suffix.size(), suffix.size(), suffix) == 0; +} + +static inline bool starts_with(std::string const &str, std::string const &prefix) +{ + return prefix.size() <= str.size() && + str.compare(0, prefix.size(), prefix) == 0; +} + +} // namespace internal + +// executor implementation + +inline std::string internal::executor::result(int *exit_code /* = nullptr */) +{ + stop(); + if (exit_code) + *exit_code = m_exit_code; + return m_stdout; +} + +inline bool internal::executor::kill() +{ +#if _WIN32 + if (m_future.valid()) + { + // Close all windows that weren’t open when we started the future + auto previous_windows = m_windows; + EnumWindows(&enum_windows_callback, (LPARAM)this); + for (auto hwnd : m_windows) + if (previous_windows.find(hwnd) == previous_windows.end()) + SendMessage(hwnd, WM_CLOSE, 0, 0); + } +#elif __EMSCRIPTEN__ || __NX__ + // FIXME: do something + (void)timeout; + return false; // cannot kill +#else + ::kill(m_pid, SIGKILL); +#endif + stop(); + return true; +} + +#if _WIN32 +inline BOOL CALLBACK internal::executor::enum_windows_callback(HWND hwnd, LPARAM lParam) +{ + auto that = (executor *)lParam; + + DWORD pid; + auto tid = GetWindowThreadProcessId(hwnd, &pid); + if (tid == that->m_tid) + that->m_windows.insert(hwnd); + return TRUE; +} +#endif + +#if _WIN32 +inline void internal::executor::start_func(std::function const &fun) +{ + stop(); + + auto trampoline = [fun, this]() + { + // Save our thread id so that the caller can cancel us + m_tid = GetCurrentThreadId(); + EnumWindows(&enum_windows_callback, (LPARAM)this); + m_cond.notify_all(); + return fun(&m_exit_code); + }; + + std::unique_lock lock(m_mutex); + m_future = std::async(std::launch::async, trampoline); + m_cond.wait(lock); + m_running = true; +} + +#elif __EMSCRIPTEN__ +inline void internal::executor::start(int exit_code) +{ + m_exit_code = exit_code; +} + +#else +inline void internal::executor::start_process(std::vector const &command) +{ + stop(); + m_stdout.clear(); + m_exit_code = -1; + + int in[2], out[2]; + if (pipe(in) != 0 || pipe(out) != 0) + return; + + m_pid = fork(); + if (m_pid < 0) + return; + + close(in[m_pid ? 0 : 1]); + close(out[m_pid ? 1 : 0]); + + if (m_pid == 0) + { + dup2(in[0], STDIN_FILENO); + dup2(out[1], STDOUT_FILENO); + + // Ignore stderr so that it doesn’t pollute the console (e.g. GTK+ errors from zenity) + int fd = open("/dev/null", O_WRONLY); + dup2(fd, STDERR_FILENO); + close(fd); + + std::vector args; + std::transform(command.cbegin(), command.cend(), std::back_inserter(args), + [](std::string const &s) { return const_cast(s.c_str()); }); + args.push_back(nullptr); // null-terminate argv[] + + execvp(args[0], args.data()); + exit(1); + } + + close(in[1]); + m_fd = out[0]; + auto flags = fcntl(m_fd, F_GETFL); + fcntl(m_fd, F_SETFL, flags | O_NONBLOCK); + + m_running = true; +} +#endif + +inline internal::executor::~executor() +{ + stop(); +} + +inline bool internal::executor::ready(int timeout /* = default_wait_timeout */) +{ + if (!m_running) + return true; + +#if _WIN32 + if (m_future.valid()) + { + auto status = m_future.wait_for(std::chrono::milliseconds(timeout)); + if (status != std::future_status::ready) + { + // On Windows, we need to run the message pump. If the async + // thread uses a Windows API dialog, it may be attached to the + // main thread and waiting for messages that only we can dispatch. + MSG msg; + while (PeekMessage(&msg, nullptr, 0, 0, PM_REMOVE)) + { + TranslateMessage(&msg); + DispatchMessage(&msg); + } + return false; + } + + m_stdout = m_future.get(); + } +#elif __EMSCRIPTEN__ || __NX__ + // FIXME: do something + (void)timeout; +#else + char buf[BUFSIZ]; + ssize_t received = read(m_fd, buf, BUFSIZ - 1); + if (received > 0) + { + m_stdout += std::string(buf, received); + return false; + } + + // Reap child process if it is dead. It is possible that the system has already reaped it + // (this happens when the calling application handles or ignores SIG_CHLD) and results in + // waitpid() failing with ECHILD. Otherwise we assume the child is running and we sleep for + // a little while. + int status; + pid_t child = waitpid(m_pid, &status, WNOHANG); + if (child != m_pid && (child >= 0 || errno != ECHILD)) + { + // FIXME: this happens almost always at first iteration + std::this_thread::sleep_for(std::chrono::milliseconds(timeout)); + return false; + } + + close(m_fd); + m_exit_code = WEXITSTATUS(status); +#endif + + m_running = false; + return true; +} + +inline void internal::executor::stop() +{ + // Loop until the user closes the dialog + while (!ready()) + ; +} + +// dll implementation + +#if _WIN32 +inline internal::platform::dll::dll(std::string const &name) + : handle(::LoadLibraryA(name.c_str())) +{} + +inline internal::platform::dll::~dll() +{ + if (handle) + ::FreeLibrary(handle); +} +#endif // _WIN32 + +// new_style_context implementation + +#if _WIN32 +inline internal::platform::new_style_context::new_style_context() +{ + // Only create one activation context for the whole app lifetime. + static HANDLE hctx = create(); + + if (hctx != INVALID_HANDLE_VALUE) + ActivateActCtx(hctx, &m_cookie); +} + +inline internal::platform::new_style_context::~new_style_context() +{ + DeactivateActCtx(0, m_cookie); +} + +inline HANDLE internal::platform::new_style_context::create() +{ + // This “hack” seems to be necessary for this code to work on windows XP. + // Without it, dialogs do not show and close immediately. GetError() + // returns 0 so I don’t know what causes this. I was not able to reproduce + // this behavior on Windows 7 and 10 but just in case, let it be here for + // those versions too. + // This hack is not required if other dialogs are used (they load comdlg32 + // automatically), only if message boxes are used. + dll comdlg32("comdlg32.dll"); + + // Using approach as shown here: https://stackoverflow.com/a/10444161 + UINT len = ::GetSystemDirectoryA(nullptr, 0); + std::string sys_dir(len, '\0'); + ::GetSystemDirectoryA(&sys_dir[0], len); + + ACTCTXA act_ctx = + { + // Do not set flag ACTCTX_FLAG_SET_PROCESS_DEFAULT, since it causes a + // crash with error “default context is already set”. + sizeof(act_ctx), + ACTCTX_FLAG_RESOURCE_NAME_VALID | ACTCTX_FLAG_ASSEMBLY_DIRECTORY_VALID, + "shell32.dll", 0, 0, sys_dir.c_str(), (LPCSTR)124, + }; + + return ::CreateActCtxA(&act_ctx); +} +#endif // _WIN32 + +// dialog implementation + +inline bool internal::dialog::ready(int timeout /* = default_wait_timeout */) +{ + return m_async->ready(timeout); +} + +inline bool internal::dialog::kill() +{ + return m_async->kill(); +} + +inline internal::dialog::dialog() + : m_async(std::make_shared()) +{ + if (!flags(flag::is_scanned)) + { +#if _WIN32 + flags(flag::is_vista) = is_vista(); +#elif !__APPLE__ + flags(flag::has_zenity) = check_program("zenity"); + flags(flag::has_matedialog) = check_program("matedialog"); + flags(flag::has_qarma) = check_program("qarma"); + flags(flag::has_kdialog) = check_program("kdialog"); + + // If multiple helpers are available, try to default to the best one + if (flags(flag::has_zenity) && flags(flag::has_kdialog)) + { + auto desktop_name = std::getenv("XDG_SESSION_DESKTOP"); + if (desktop_name && desktop_name == std::string("gnome")) + flags(flag::has_kdialog) = false; + else if (desktop_name && desktop_name == std::string("KDE")) + flags(flag::has_zenity) = false; + } +#endif + flags(flag::is_scanned) = true; + } +} + +inline std::vector internal::dialog::desktop_helper() const +{ +#if __APPLE__ + return { "osascript" }; +#else + return { flags(flag::has_zenity) ? "zenity" + : flags(flag::has_matedialog) ? "matedialog" + : flags(flag::has_qarma) ? "qarma" + : flags(flag::has_kdialog) ? "kdialog" + : "echo" }; +#endif +} + +inline std::string internal::dialog::buttons_to_name(choice _choice) const +{ + switch (_choice) + { + case choice::ok_cancel: return "okcancel"; + case choice::yes_no: return "yesno"; + case choice::yes_no_cancel: return "yesnocancel"; + case choice::retry_cancel: return "retrycancel"; + case choice::abort_retry_ignore: return "abortretryignore"; + /* case choice::ok: */ default: return "ok"; + } +} + +inline std::string internal::dialog::get_icon_name(icon _icon) const +{ + switch (_icon) + { + case icon::warning: return "warning"; + case icon::error: return "error"; + case icon::question: return "question"; + // Zenity wants "information" but WinForms wants "info" + /* case icon::info: */ default: +#if _WIN32 + return "info"; +#else + return "information"; +#endif + } +} + +// THis is only used for debugging purposes +inline std::ostream& operator <<(std::ostream &s, std::vector const &v) +{ + int not_first = 0; + for (auto &e : v) + s << (not_first++ ? " " : "") << e; + return s; +} + +// Properly quote a string for Powershell: replace ' or " with '' or "" +// FIXME: we should probably get rid of newlines! +// FIXME: the \" sequence seems unsafe, too! +// XXX: this is no longer used but I would like to keep it around just in case +inline std::string internal::dialog::powershell_quote(std::string const &str) const +{ + return "'" + std::regex_replace(str, std::regex("['\"]"), "$&$&") + "'"; +} + +// Properly quote a string for osascript: replace \ or " with \\ or \" +// XXX: this also used to replace ' with \' when popen was used, but it would be +// smarter to do shell_quote(osascript_quote(...)) if this is needed again. +inline std::string internal::dialog::osascript_quote(std::string const &str) const +{ + return "\"" + std::regex_replace(str, std::regex("[\\\\\"]"), "\\$&") + "\""; +} + +// Properly quote a string for the shell: just replace ' with '\'' +// XXX: this is no longer used but I would like to keep it around just in case +inline std::string internal::dialog::shell_quote(std::string const &str) const +{ + return "'" + std::regex_replace(str, std::regex("'"), "'\\''") + "'"; +} + +// Check whether a program is present using “which”. +inline bool internal::dialog::check_program(std::string const &program) +{ +#if _WIN32 + (void)program; + return false; +#elif __EMSCRIPTEN__ + (void)program; + return false; +#else + int exit_code = -1; + m_async->start_process({"/bin/sh", "-c", "which " + program}); + m_async->result(&exit_code); + return exit_code == 0; +#endif +} + +// file_dialog implementation + +inline internal::file_dialog::file_dialog(type in_type, + std::string const &title, + std::string const &default_path /* = "" */, + std::vector filters /* = {} */, + opt options /* = opt::none */) +{ +#if _WIN32 + std::string filter_list; + std::regex whitespace(" *"); + for (size_t i = 0; i + 1 < filters.size(); i += 2) + { + filter_list += filters[i] + '\0'; + filter_list += std::regex_replace(filters[i + 1], whitespace, ";") + '\0'; + } + filter_list += '\0'; + + m_async->start_func([this, in_type, title, default_path, filter_list, + options](int *exit_code) -> std::string + { + (void)exit_code; + m_wtitle = internal::str2wstr(title); + m_wdefault_path = internal::str2wstr(default_path); + auto wfilter_list = internal::str2wstr(filter_list); + + // Folder selection uses a different method + if (in_type == type::folder) + { + dll ole32("ole32.dll"); + + auto status = dll::proc(ole32, "CoInitializeEx") + (nullptr, COINIT_APARTMENTTHREADED); + if (flags(flag::is_vista)) + { + // On Vista and higher we should be able to use IFileDialog for folder selection + IFileDialog *ifd; + HRESULT hr = dll::proc(ole32, "CoCreateInstance") + (CLSID_FileOpenDialog, nullptr, CLSCTX_INPROC_SERVER, IID_PPV_ARGS(&ifd)); + + // In case CoCreateInstance fails (which it should not), try legacy approach + if (SUCCEEDED(hr)) + return select_folder_vista(ifd, options & opt::force_path); + } + + BROWSEINFOW bi; + memset(&bi, 0, sizeof(bi)); + + bi.lpfn = &bffcallback; + bi.lParam = (LPARAM)this; + + if (flags(flag::is_vista)) + { + // This hangs on Windows XP, as reported here: + // https://github.com/samhocevar/portable-file-dialogs/pull/21 + if (status == S_OK) + bi.ulFlags |= BIF_NEWDIALOGSTYLE; + bi.ulFlags |= BIF_EDITBOX; + bi.ulFlags |= BIF_STATUSTEXT; + } + + auto *list = SHBrowseForFolderW(&bi); + std::string ret; + if (list) + { + auto buffer = new wchar_t[MAX_PATH]; + SHGetPathFromIDListW(list, buffer); + dll::proc(ole32, "CoTaskMemFree")(list); + ret = internal::wstr2str(buffer); + delete[] buffer; + } + if (status == S_OK) + dll::proc(ole32, "CoUninitialize")(); + return ret; + } + + OPENFILENAMEW ofn; + memset(&ofn, 0, sizeof(ofn)); + ofn.lStructSize = sizeof(OPENFILENAMEW); + ofn.hwndOwner = GetActiveWindow(); + + ofn.lpstrFilter = wfilter_list.c_str(); + + auto woutput = std::wstring(MAX_PATH * 256, L'\0'); + ofn.lpstrFile = (LPWSTR)woutput.data(); + ofn.nMaxFile = (DWORD)woutput.size(); + if (!m_wdefault_path.empty()) + { + // If a directory was provided, use it as the initial directory. If + // a valid path was provided, use it as the initial file. Otherwise, + // let the Windows API decide. + auto path_attr = GetFileAttributesW(m_wdefault_path.c_str()); + if (path_attr != INVALID_FILE_ATTRIBUTES && (path_attr & FILE_ATTRIBUTE_DIRECTORY)) + ofn.lpstrInitialDir = m_wdefault_path.c_str(); + else if (m_wdefault_path.size() <= woutput.size()) + //second argument is size of buffer, not length of string + StringCchCopyW(ofn.lpstrFile, MAX_PATH*256+1, m_wdefault_path.c_str()); + else + { + ofn.lpstrFileTitle = (LPWSTR)m_wdefault_path.data(); + ofn.nMaxFileTitle = (DWORD)m_wdefault_path.size(); + } + } + ofn.lpstrTitle = m_wtitle.c_str(); + ofn.Flags = OFN_NOCHANGEDIR | OFN_EXPLORER; + + dll comdlg32("comdlg32.dll"); + + if (in_type == type::save) + { + if (!(options & opt::force_overwrite)) + ofn.Flags |= OFN_OVERWRITEPROMPT; + + // using set context to apply new visual style (required for windows XP) + new_style_context ctx; + + dll::proc get_save_file_name(comdlg32, "GetSaveFileNameW"); + if (get_save_file_name(&ofn) == 0) + return ""; + return internal::wstr2str(woutput.c_str()); + } + + if (options & opt::multiselect) + ofn.Flags |= OFN_ALLOWMULTISELECT; + ofn.Flags |= OFN_PATHMUSTEXIST; + + // using set context to apply new visual style (required for windows XP) + new_style_context ctx; + + dll::proc get_open_file_name(comdlg32, "GetOpenFileNameW"); + if (get_open_file_name(&ofn) == 0) + return ""; + + std::string prefix; + for (wchar_t const *p = woutput.c_str(); *p; ) + { + auto filename = internal::wstr2str(p); + p += filename.size(); + // In multiselect mode, we advance p one step more and + // check for another filename. If there is one and the + // prefix is empty, it means we just read the prefix. + if ((options & opt::multiselect) && *++p && prefix.empty()) + { + prefix = filename + "/"; + continue; + } + + m_vector_result.push_back(prefix + filename); + } + + return ""; + }); +#else + auto command = desktop_helper(); + + if (is_osascript()) + { + std::string script = "set ret to choose"; + switch (in_type) + { + case type::save: + script += " file name"; + break; + case type::open: default: + script += " file"; + if (options & opt::multiselect) + script += " with multiple selections allowed"; + break; + case type::folder: + script += " folder"; + break; + } + + if (default_path.size()) + script += " default location " + osascript_quote(default_path); + script += " with prompt " + osascript_quote(title); + + if (in_type == type::open) + { + // Concatenate all user-provided filter patterns + std::string patterns; + for (size_t i = 0; i < filters.size() / 2; ++i) + patterns += " " + filters[2 * i + 1]; + + // Split the pattern list to check whether "*" is in there; if it + // is, we have to disable filters because there is no mechanism in + // OS X for the user to override the filter. + std::regex sep("\\s+"); + std::string filter_list; + bool has_filter = true; + std::sregex_token_iterator iter(patterns.begin(), patterns.end(), sep, -1); + std::sregex_token_iterator end; + for ( ; iter != end; ++iter) + { + auto pat = iter->str(); + if (pat == "*" || pat == "*.*") + has_filter = false; + else if (internal::starts_with(pat, "*.")) + filter_list += (filter_list.size() == 0 ? "" : ",") + + osascript_quote(pat.substr(2, pat.size() - 2)); + } + if (has_filter && filter_list.size() > 0) + script += " of type {" + filter_list + "}"; + } + + if (in_type == type::open && (options & opt::multiselect)) + { + script += "\nset s to \"\""; + script += "\nrepeat with i in ret"; + script += "\n set s to s & (POSIX path of i) & \"\\n\""; + script += "\nend repeat"; + script += "\ncopy s to stdout"; + } + else + { + script += "\nPOSIX path of ret"; + } + + command.push_back("-e"); + command.push_back(script); + } + else if (is_zenity()) + { + command.push_back("--file-selection"); + command.push_back("--filename=" + default_path); + command.push_back("--title"); + command.push_back(title); + command.push_back("--separator='\n'"); + + for (size_t i = 0; i < filters.size() / 2; ++i) + { + command.push_back("--file-filter"); + command.push_back(filters[2 * i] + "|" + filters[2 * i + 1]); + } + + if (in_type == type::save) + command.push_back("--save"); + if (in_type == type::folder) + command.push_back("--directory"); + if (!(options & opt::force_overwrite)) + command.push_back("--confirm-overwrite"); + if (options & opt::multiselect) + command.push_back("--multiple"); + } + else if (is_kdialog()) + { + switch (in_type) + { + case type::save: command.push_back("--getsavefilename"); break; + case type::open: command.push_back("--getopenfilename"); break; + case type::folder: command.push_back("--getexistingdirectory"); break; + } + if (options & opt::multiselect) + command.push_back(" --multiple"); + + command.push_back(default_path); + + std::string filter; + for (size_t i = 0; i < filters.size() / 2; ++i) + filter += (i == 0 ? "" : " | ") + filters[2 * i] + "(" + filters[2 * i + 1] + ")"; + command.push_back(filter); + + command.push_back("--title"); + command.push_back(title); + } + + if (flags(flag::is_verbose)) + std::cerr << "pfd: " << command << std::endl; + + m_async->start_process(command); +#endif +} + +inline std::string internal::file_dialog::string_result() +{ +#if _WIN32 + return m_async->result(); +#else + // Strip the newline character + auto ret = m_async->result(); + return ret.back() == '\n' ? ret.substr(0, ret.size() - 1) : ret; +#endif +} + +inline std::vector internal::file_dialog::vector_result() +{ +#if _WIN32 + m_async->result(); + return m_vector_result; +#else + std::vector ret; + auto result = m_async->result(); + for (;;) + { + // Split result along newline characters + auto i = result.find('\n'); + if (i == 0 || i == std::string::npos) + break; + ret.push_back(result.substr(0, i)); + result = result.substr(i + 1, result.size()); + } + return ret; +#endif +} + +#if _WIN32 +// Use a static function to pass as BFFCALLBACK for legacy folder select +inline int CALLBACK internal::file_dialog::bffcallback(HWND hwnd, UINT uMsg, + LPARAM, LPARAM pData) +{ + auto inst = (file_dialog *)pData; + switch (uMsg) + { + case BFFM_INITIALIZED: + SendMessage(hwnd, BFFM_SETSELECTIONW, TRUE, (LPARAM)inst->m_wdefault_path.c_str()); + break; + } + return 0; +} + +inline std::string internal::file_dialog::select_folder_vista(IFileDialog *ifd, bool force_path) +{ + std::string result; + + IShellItem *folder; + + // Load library at runtime so app doesn't link it at load time (which will fail on windows XP) + dll shell32("shell32.dll"); + dll::proc + create_item(shell32, "SHCreateItemFromParsingName"); + + if (!create_item) + return ""; + + auto hr = create_item(m_wdefault_path.c_str(), + nullptr, + IID_PPV_ARGS(&folder)); + + // Set default folder if found. This only sets the default folder. If + // Windows has any info about the most recently selected folder, it + // will display it instead. Generally, calling SetFolder() to set the + // current directory “is not a good or expected user experience and + // should therefore be avoided”: + // https://docs.microsoft.com/windows/win32/api/shobjidl_core/nf-shobjidl_core-ifiledialog-setfolder + if (SUCCEEDED(hr)) + { + if (force_path) + ifd->SetFolder(folder); + else + ifd->SetDefaultFolder(folder); + folder->Release(); + } + + // Set the dialog title and option to select folders + ifd->SetOptions(FOS_PICKFOLDERS); + ifd->SetTitle(m_wtitle.c_str()); + + hr = ifd->Show(GetActiveWindow()); + if (SUCCEEDED(hr)) + { + IShellItem* item; + hr = ifd->GetResult(&item); + if (SUCCEEDED(hr)) + { + wchar_t* wselected = nullptr; + item->GetDisplayName(SIGDN_FILESYSPATH, &wselected); + item->Release(); + + if (wselected) + { + result = internal::wstr2str(std::wstring(wselected)); + dll ole32("ole32.dll"); + dll::proc(ole32, "CoTaskMemFree")(wselected); + } + } + } + + ifd->Release(); + + return result; +} +#endif + +// notify implementation + +inline notify::notify(std::string const &title, + std::string const &message, + icon _icon /* = icon::info */) +{ + if (_icon == icon::question) // Not supported by notifications + _icon = icon::info; + +#if _WIN32 + // Use a static shared pointer for notify_icon so that we can delete + // it whenever we need to display a new one, and we can also wait + // until the program has finished running. + struct notify_icon_data : public NOTIFYICONDATAW + { + ~notify_icon_data() { Shell_NotifyIconW(NIM_DELETE, this); } + }; + + static std::shared_ptr nid; + + // Release the previous notification icon, if any, and allocate a new + // one. Note that std::make_shared() does value initialization, so there + // is no need to memset the structure. + nid = nullptr; + nid = std::make_shared(); + + // For XP support + nid->cbSize = NOTIFYICONDATAW_V2_SIZE; + nid->hWnd = nullptr; + nid->uID = 0; + + // Flag Description: + // - NIF_ICON The hIcon member is valid. + // - NIF_MESSAGE The uCallbackMessage member is valid. + // - NIF_TIP The szTip member is valid. + // - NIF_STATE The dwState and dwStateMask members are valid. + // - NIF_INFO Use a balloon ToolTip instead of a standard ToolTip. The szInfo, uTimeout, szInfoTitle, and dwInfoFlags members are valid. + // - NIF_GUID Reserved. + nid->uFlags = NIF_MESSAGE | NIF_ICON | NIF_INFO; + + // Flag Description + // - NIIF_ERROR An error icon. + // - NIIF_INFO An information icon. + // - NIIF_NONE No icon. + // - NIIF_WARNING A warning icon. + // - NIIF_ICON_MASK Version 6.0. Reserved. + // - NIIF_NOSOUND Version 6.0. Do not play the associated sound. Applies only to balloon ToolTips + switch (_icon) + { + case icon::warning: nid->dwInfoFlags = NIIF_WARNING; break; + case icon::error: nid->dwInfoFlags = NIIF_ERROR; break; + /* case icon::info: */ default: nid->dwInfoFlags = NIIF_INFO; break; + } + + ENUMRESNAMEPROC icon_enum_callback = [](HMODULE, LPCTSTR, LPTSTR lpName, LONG_PTR lParam) -> BOOL + { + ((NOTIFYICONDATAW *)lParam)->hIcon = ::LoadIcon(GetModuleHandle(nullptr), lpName); + return false; + }; + + nid->hIcon = ::LoadIcon(nullptr, IDI_APPLICATION); + ::EnumResourceNames(nullptr, RT_GROUP_ICON, icon_enum_callback, (LONG_PTR)nid.get()); + + nid->uTimeout = 5000; + + StringCchCopyW(nid->szInfoTitle, ARRAYSIZE(nid->szInfoTitle), internal::str2wstr(title).c_str()); + StringCchCopyW(nid->szInfo, ARRAYSIZE(nid->szInfo), internal::str2wstr(message).c_str()); + + // Display the new icon + Shell_NotifyIconW(NIM_ADD, nid.get()); +#else + auto command = desktop_helper(); + + if (is_osascript()) + { + command.push_back("-e"); + command.push_back("display notification " + osascript_quote(message) + + " with title " + osascript_quote(title)); + } + else if (is_zenity()) + { + command.push_back("--notification"); + command.push_back("--window-icon"); + command.push_back(get_icon_name(_icon)); + command.push_back("--text"); + command.push_back(title + "\n" + message); + } + else if (is_kdialog()) + { + command.push_back("--icon"); + command.push_back(get_icon_name(_icon)); + command.push_back("--title"); + command.push_back(title); + command.push_back("--passivepopup"); + command.push_back(message); + command.push_back("5"); + } + + if (flags(flag::is_verbose)) + std::cerr << "pfd: " << command << std::endl; + + m_async->start_process(command); +#endif +} + +// message implementation + +inline message::message(std::string const &title, + std::string const &text, + choice _choice /* = choice::ok_cancel */, + icon _icon /* = icon::info */) +{ +#if _WIN32 + UINT style = MB_TOPMOST; + switch (_icon) + { + case icon::warning: style |= MB_ICONWARNING; break; + case icon::error: style |= MB_ICONERROR; break; + case icon::question: style |= MB_ICONQUESTION; break; + /* case icon::info: */ default: style |= MB_ICONINFORMATION; break; + } + + switch (_choice) + { + case choice::ok_cancel: style |= MB_OKCANCEL; break; + case choice::yes_no: style |= MB_YESNO; break; + case choice::yes_no_cancel: style |= MB_YESNOCANCEL; break; + case choice::retry_cancel: style |= MB_RETRYCANCEL; break; + case choice::abort_retry_ignore: style |= MB_ABORTRETRYIGNORE; break; + /* case choice::ok: */ default: style |= MB_OK; break; + } + + m_mappings[IDCANCEL] = button::cancel; + m_mappings[IDOK] = button::ok; + m_mappings[IDYES] = button::yes; + m_mappings[IDNO] = button::no; + m_mappings[IDABORT] = button::abort; + m_mappings[IDRETRY] = button::retry; + m_mappings[IDIGNORE] = button::ignore; + + m_async->start_func([this, text, title, style](int* exit_code) -> std::string + { + auto wtext = internal::str2wstr(text); + auto wtitle = internal::str2wstr(title); + // using set context to apply new visual style (required for all windows versions) + new_style_context ctx; + *exit_code = MessageBoxW(GetActiveWindow(), wtext.c_str(), wtitle.c_str(), style); + return ""; + }); + +#elif __EMSCRIPTEN__ + std::string full_message; + switch (_icon) + { + case icon::warning: full_message = "⚠️"; break; + case icon::error: full_message = "⛔"; break; + case icon::question: full_message = "❓"; break; + /* case icon::info: */ default: full_message = "ℹ"; break; + } + + full_message += ' ' + title + "\n\n" + text; + + // This does not really start an async task; it just passes the + // EM_ASM_INT return value to a fake start() function. + m_async->start(EM_ASM_INT( + { + if ($1) + return window.confirm(UTF8ToString($0)) ? 0 : -1; + alert(UTF8ToString($0)); + return 0; + }, full_message.c_str(), _choice == choice::ok_cancel)); +#else + auto command = desktop_helper(); + + if (is_osascript()) + { + std::string script = "display dialog " + osascript_quote(text) + + " with title " + osascript_quote(title); + switch (_choice) + { + case choice::ok_cancel: + script += "buttons {\"OK\", \"Cancel\"}" + " default button \"OK\"" + " cancel button \"Cancel\""; + m_mappings[256] = button::cancel; + break; + case choice::yes_no: + script += "buttons {\"Yes\", \"No\"}" + " default button \"Yes\"" + " cancel button \"No\""; + m_mappings[256] = button::no; + break; + case choice::yes_no_cancel: + script += "buttons {\"Yes\", \"No\", \"Cancel\"}" + " default button \"Yes\"" + " cancel button \"Cancel\""; + m_mappings[256] = button::cancel; + break; + case choice::retry_cancel: + script += "buttons {\"Retry\", \"Cancel\"}" + " default button \"Retry\"" + " cancel button \"Cancel\""; + m_mappings[256] = button::cancel; + break; + case choice::abort_retry_ignore: + script += "buttons {\"Abort\", \"Retry\", \"Ignore\"}" + " default button \"Retry\"" + " cancel button \"Retry\""; + m_mappings[256] = button::cancel; + break; + case choice::ok: default: + script += "buttons {\"OK\"}" + " default button \"OK\"" + " cancel button \"OK\""; + m_mappings[256] = button::ok; + break; + } + script += " with icon "; + switch (_icon) + { + #define PFD_OSX_ICON(n) "alias ((path to library folder from system domain) as text " \ + "& \"CoreServices:CoreTypes.bundle:Contents:Resources:" n ".icns\")" + case icon::info: default: script += PFD_OSX_ICON("ToolBarInfo"); break; + case icon::warning: script += "caution"; break; + case icon::error: script += "stop"; break; + case icon::question: script += PFD_OSX_ICON("GenericQuestionMarkIcon"); break; + #undef PFD_OSX_ICON + } + + command.push_back("-e"); + command.push_back(script); + } + else if (is_zenity()) + { + switch (_choice) + { + case choice::ok_cancel: + command.insert(command.end(), { "--question", "--ok-label=OK", "--cancel-label=Cancel" }); break; + case choice::yes_no: + // Do not use standard --question because it causes “No” to return -1, + // which is inconsistent with the “Yes/No/Cancel” mode below. + command.insert(command.end(), { "--question", "--switch", "--extra-button", "No", "--extra-button", "Yes" }); break; + case choice::yes_no_cancel: + command.insert(command.end(), { "--question", "--switch", "--extra-button", "No", "--extra-button", "Yes", "--extra-button", "Cancel" }); break; + case choice::retry_cancel: + command.insert(command.end(), { "--question", "--switch", "--extra-button", "Retry", "--extra-button", "Cancel" }); break; + case choice::abort_retry_ignore: + command.insert(command.end(), { "--question", "--switch", "--extra-button", "Abort", "--extra-button", "Retry", "--extra-button", "Ignore" }); break; + default: + switch (_icon) + { + case icon::error: command.push_back("--error"); break; + case icon::warning: command.push_back("--warning"); break; + default: command.push_back("--info"); break; + } + } + + command.insert(command.end(), { "--title", title, + "--width", "300", "--height", "0", // sensible defaults + "--text", text, + "--icon-name=dialog-" + get_icon_name(_icon) }); + } + else if (is_kdialog()) + { + if (_choice == choice::ok) + { + switch (_icon) + { + case icon::error: command.push_back("--error"); break; + case icon::warning: command.push_back("--sorry"); break; + default: command.push_back("--msgbox"); break; + } + } + else + { + std::string flag = "--"; + if (_icon == icon::warning || _icon == icon::error) + flag += "warning"; + flag += "yesno"; + if (_choice == choice::yes_no_cancel) + flag += "cancel"; + command.push_back(flag); + if (_choice == choice::yes_no || _choice == choice::yes_no_cancel) + { + m_mappings[0] = button::yes; + m_mappings[256] = button::no; + } + } + + command.push_back(text); + command.push_back("--title"); + command.push_back(title); + + // Must be after the above part + if (_choice == choice::ok_cancel) + command.insert(command.end(), { "--yes-label", "OK", "--no-label", "Cancel" }); + } + + if (flags(flag::is_verbose)) + std::cerr << "pfd: " << command << std::endl; + + m_async->start_process(command); +#endif +} + +inline button message::result() +{ + int exit_code; + auto ret = m_async->result(&exit_code); + // osascript will say "button returned:Cancel\n" + // and others will just say "Cancel\n" + if (exit_code < 0 || // this means cancel + internal::ends_with(ret, "Cancel\n")) + return button::cancel; + if (internal::ends_with(ret, "OK\n")) + return button::ok; + if (internal::ends_with(ret, "Yes\n")) + return button::yes; + if (internal::ends_with(ret, "No\n")) + return button::no; + if (internal::ends_with(ret, "Abort\n")) + return button::abort; + if (internal::ends_with(ret, "Retry\n")) + return button::retry; + if (internal::ends_with(ret, "Ignore\n")) + return button::ignore; + if (m_mappings.count(exit_code) != 0) + return m_mappings[exit_code]; + return exit_code == 0 ? button::ok : button::cancel; +} + +// open_file implementation + +inline open_file::open_file(std::string const &title, + std::string const &default_path /* = "" */, + std::vector filters /* = { "All Files", "*" } */, + opt options /* = opt::none */) + : file_dialog(type::open, title, default_path, filters, options) +{ +} + +inline open_file::open_file(std::string const &title, + std::string const &default_path, + std::vector filters, + bool allow_multiselect) + : open_file(title, default_path, filters, + (allow_multiselect ? opt::multiselect : opt::none)) +{ +} + +inline std::vector open_file::result() +{ + return vector_result(); +} + +// save_file implementation + +inline save_file::save_file(std::string const &title, + std::string const &default_path /* = "" */, + std::vector filters /* = { "All Files", "*" } */, + opt options /* = opt::none */) + : file_dialog(type::save, title, default_path, filters, options) +{ +} + +inline save_file::save_file(std::string const &title, + std::string const &default_path, + std::vector filters, + bool confirm_overwrite) + : save_file(title, default_path, filters, + (confirm_overwrite ? opt::none : opt::force_overwrite)) +{ +} + +inline std::string save_file::result() +{ + return string_result(); +} + +// select_folder implementation + +inline select_folder::select_folder(std::string const &title, + std::string const &default_path /* = "" */, + opt options /* = opt::none */) + : file_dialog(type::folder, title, default_path, {}, options) +{ +} + +inline std::string select_folder::result() +{ + return string_result(); +} + +#endif // PFD_SKIP_IMPLEMENTATION + +} // namespace pfd + diff --git a/subprojects/animationwindow/include/internal/windows_main_fix.h b/subprojects/animationwindow/include/internal/windows_main_fix.h new file mode 100644 index 000000000..c820f80f5 --- /dev/null +++ b/subprojects/animationwindow/include/internal/windows_main_fix.h @@ -0,0 +1,14 @@ +#pragma once + +// SDL needs a main function with "proper" arguments on Windows because it tries to define its own main function +// This is bad practice, but we want you to be able to use both main variants (e.g. with and without arguments) +// at will to avoid some confusion, and therefore need to work around the problem :) +// We therefore define a macro that replaces anything that looks like a main() function as the SDL_main function, with the proper arguments. + +#ifdef _WIN32 +#include +#ifdef main +#undef main +#endif +#define main(...) SDL_main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) +#endif \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/Button.h b/subprojects/animationwindow/include/widgets/Button.h new file mode 100644 index 000000000..99c737235 --- /dev/null +++ b/subprojects/animationwindow/include/widgets/Button.h @@ -0,0 +1,31 @@ +#pragma once + +#include "Widget.h" +#include "Point.h" +#include "Color.h" +#include + +namespace TDT4102 { + class Button : public TDT4102::Widget { + private: + std::string label; + bool lastRightMouseButtonState = false; + bool lastLeftMouseButtonState = false; + nk_color labelColor = nk_rgba(175, 175, 175, 255); + nk_color buttonColor = nk_rgba(50,50,50,255); + nk_color buttonColorHover = nk_rgba(40, 40, 40,255); + nk_color buttonColorActive = nk_rgba(35, 35, 35,255); + nk_color buttonColorBorder = nk_rgba(35, 35, 35,255); + + protected: + void update(nk_context* context) override; + public: + explicit Button(TDT4102::Point location, unsigned int width, unsigned int height, std::string label); + void setLabel(std::string newLabel); + void setLabelColor(Color newColor) {labelColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; + void setButtonColor(Color newColor) {buttonColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setButtonColorHover(Color newColor) {buttonColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setButtonColorActive(Color newColor) {buttonColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setButtonColorBorder(Color newColor) {buttonColorBorder = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/CheckBox.h b/subprojects/animationwindow/include/widgets/CheckBox.h new file mode 100644 index 000000000..26599ba7e --- /dev/null +++ b/subprojects/animationwindow/include/widgets/CheckBox.h @@ -0,0 +1,31 @@ +#pragma once + +#include "Widget.h" +#include "Point.h" +#include "Color.h" +#include + +namespace TDT4102 { + class CheckBox : public TDT4102::Widget { + private: + std::string label; + nk_bool isSelected_ = false; + bool lastRightMouseButtonState = false; + bool lastLeftMouseButtonState = false; + nk_color labelColor = nk_rgba(100, 100, 100, 255); + nk_color checkBoxColor = nk_rgba(150, 150, 150, 255); + nk_color checkBoxColorHover = nk_rgba(150, 150, 150, 255); + nk_color checkBoxColorActive = nk_rgba(150, 150, 150, 255); + + protected: + void update(nk_context* context) override; + public: + explicit CheckBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string label); + bool isSelected() const; + void setLabel(std::string newLabel); + void setLabelColor(Color newColor) {labelColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; + void setCheckBoxColor(Color newColor) {checkBoxColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setCheckBoxColorHover(Color newColor) {checkBoxColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setCheckBoxColorActive(Color newColor) {checkBoxColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/DropdownList.h b/subprojects/animationwindow/include/widgets/DropdownList.h new file mode 100644 index 000000000..56f34d25e --- /dev/null +++ b/subprojects/animationwindow/include/widgets/DropdownList.h @@ -0,0 +1,19 @@ +#pragma once + +#include "Widget.h" +#include +#include + +namespace TDT4102 { + class DropdownList : public TDT4102::Widget { + private: + std::vector options; + unsigned int selectedIndex = 0; + protected: + void update(nk_context* context) override; + public: + explicit DropdownList(TDT4102::Point location, unsigned int width, unsigned int height, std::vector &initialOptions); + std::string getSelectedValue() const; + void setOptions(std::vector &updatedOptionsList); + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/RadioButton.h b/subprojects/animationwindow/include/widgets/RadioButton.h new file mode 100644 index 000000000..c968c99c1 --- /dev/null +++ b/subprojects/animationwindow/include/widgets/RadioButton.h @@ -0,0 +1,31 @@ +#pragma once + +#include "Widget.h" +#include "Point.h" +#include "Color.h" +#include + +namespace TDT4102 { + class RadioButton : public TDT4102::Widget { + private: + std::string label; + nk_bool isSelected_ = false; + bool lastRightMouseButtonState = false; + bool lastLeftMouseButtonState = false; + nk_color labelColor = nk_rgba(100, 100, 100, 255); + nk_color radioColor = nk_rgba(150, 150, 150, 255); + nk_color radioColorHover = nk_rgba(150, 150, 150, 255); + nk_color radioColorActive = nk_rgba(150, 150, 150, 255); + + protected: + void update(nk_context* context) override; + public: + explicit RadioButton(TDT4102::Point location, unsigned int width, unsigned int height, std::string label); + bool isSelected() const; + void setLabel(std::string newLabel); + void setLabelColor(Color newColor) {labelColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; + void setRadioColor(Color newColor) {radioColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setRadioColorHover(Color newColor) {radioColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setRadioColorActive(Color newColor) {radioColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/Slider.h b/subprojects/animationwindow/include/widgets/Slider.h new file mode 100644 index 000000000..280f07115 --- /dev/null +++ b/subprojects/animationwindow/include/widgets/Slider.h @@ -0,0 +1,34 @@ +#pragma once + +#include "Widget.h" +#include "Point.h" +#include "Color.h" + +namespace TDT4102 { + class Slider : public TDT4102::Widget { + private: + int value; + int minValue; + int maxValue; + int stepValue; + nk_color sliderBarColor = nk_rgba(100, 100, 100, 255); + nk_color sliderBarColorActive = nk_rgba(100, 100, 100, 255); + nk_color sliderBarColorHover = nk_rgba(100, 100, 100, 255); + nk_color sliderBarColorFilled = nk_rgba(100, 100, 100, 255); + nk_color sliderCursorColor = nk_rgba(180, 180, 180, 255); + nk_color sliderCursorColorActive = nk_rgba(180, 180, 180, 255); + nk_color sliderCursorColorHover = nk_rgba(180, 180, 180, 255); + protected: + void update(nk_context* context) override; + public: + explicit Slider(TDT4102::Point location, unsigned int width, unsigned int height, int min = 0, int max = 100, int initialValue = 0, int step = 1); + int getValue() const; + void setSliderBarColor(Color newColor) {sliderBarColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; + void setSliderBarColorActive(Color newColor) {sliderBarColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setSliderBarColorHover(Color newColor) {sliderBarColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setSliderBarColorFilled(Color newColor) {sliderBarColorFilled = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setSliderCursorColor(Color newColor) {sliderCursorColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setSliderCursorColorHover(Color newColor) {sliderCursorColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setSliderCurserColorActive(Color newColor) {sliderCursorColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/TextBox.h b/subprojects/animationwindow/include/widgets/TextBox.h new file mode 100644 index 000000000..c4ed8e209 --- /dev/null +++ b/subprojects/animationwindow/include/widgets/TextBox.h @@ -0,0 +1,29 @@ +#pragma once + +#include "Widget.h" +#include "Point.h" +#include "Color.h" +#include + +namespace TDT4102 { + namespace internal { + const static unsigned int TEXT_BOX_CHARACTER_LIMIT = 1000; + } + + class TextBox : public TDT4102::Widget { + private: + std::string contents; + nk_color textColor = nk_rgba(175, 175, 175, 255); + nk_color boxColor = nk_rgba(50 , 50, 50, 255); + nk_color borderColor = nk_rgba(50, 50, 50, 255); + protected: + void update(nk_context* context) override; + public: + explicit TextBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText = ""); + std::string getText() const; + void setText(std::string updatedText); + void setTextColor(TDT4102::Color newColor) {textColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setBoxColor(TDT4102::Color newColor) {boxColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setBorderColor(TDT4102::Color newColor) {borderColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/TextInput.h b/subprojects/animationwindow/include/widgets/TextInput.h new file mode 100644 index 000000000..41edb7dfc --- /dev/null +++ b/subprojects/animationwindow/include/widgets/TextInput.h @@ -0,0 +1,34 @@ +#pragma once + +#include "Widget.h" +#include "Point.h" +#include "Color.h" +#include + +namespace TDT4102 { + namespace internal { + const static unsigned int TEXT_INPUT_CHARACTER_LIMIT = 1000; + } + + class TextInput : public TDT4102::Widget { + private: + std::string contents; + std::string previousContents; + nk_color textColor = nk_rgba(175, 175, 175, 255); + nk_color boxColor = nk_rgba(50 , 50, 50, 255); + nk_color boxColorHover = nk_rgba(50 , 50, 50, 255); + nk_color boxColorActive = nk_rgba(50 , 50, 50, 255); + nk_color borderColor = nk_rgba(50, 50, 50, 255); + protected: + void update(nk_context* context) override; + public: + explicit TextInput(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText = ""); + std::string getText() const; + void setText(std::string text); + void setTextColor(TDT4102::Color newColor) {textColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setBoxColor(TDT4102::Color newColor) {boxColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setBoxColorHover(Color newColor) {boxColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setBoxColorActive(Color newColor) {boxColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + void setBorderColor(TDT4102::Color newColor) {borderColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} + }; +} \ No newline at end of file diff --git a/subprojects/animationwindow/meson.build b/subprojects/animationwindow/meson.build new file mode 100644 index 000000000..ddc7f4081 --- /dev/null +++ b/subprojects/animationwindow/meson.build @@ -0,0 +1,43 @@ +project('animationwindow', ['c', 'cpp'], version: '0.01', default_options: ['cpp_std=c++20', 'c_std=c17', 'default_library=static', 'buildtype=debugoptimized']) + +if host_machine.system() == 'windows' + sdl2_dep = subproject('sdl2_windows').get_variable('sdl2_windows_dep') + sdl2image_dep = subproject('sdl2_image_windows').get_variable('sdl2_image_windows_dep') + sdl2mixer_dep = subproject('sdl2_mixer_windows').get_variable('sdl2_mixer_windows_dep') +else + sdl2_dep = dependency('sdl2') + sdl2image_dep = dependency('sdl2_image') + sdl2mixer_dep = dependency('SDL2_mixer') +endif + + +build_files = [ + 'src/internal/FontCache.cpp', + 'src/internal/KeyboardKeyConverter.cpp', + 'src/internal/nuklear_implementation.cpp', + 'src/widgets/Button.cpp', + 'src/widgets/RadioButton.cpp', + 'src/widgets/CheckBox.cpp', + 'src/widgets/TextInput.cpp', + 'src/widgets/TextBox.cpp', + 'src/widgets/DropdownList.cpp', + 'src/widgets/Slider.cpp', + 'src/AnimationWindow.cpp', + 'src/Color.cpp', + 'src/Image.cpp', + 'src/Audio.cpp', + 'src/Widget.cpp'] +incdir = include_directories('include') +animationwindow = static_library('animationwindow', build_files, include_directories: incdir, dependencies: [sdl2_dep, sdl2image_dep, sdl2mixer_dep], install: true) +install_subdir('include', install_dir: '.') +install_subdir('src', install_dir: '.') + +animationwindow_dep = declare_dependency( + link_with: animationwindow, + include_directories: incdir, + dependencies: [sdl2_dep, sdl2image_dep, sdl2mixer_dep] +) + +import('pkgconfig').generate(animationwindow) + +# ex = executable('prog', 'src/test.cpp', include_directories: incdir, dependencies: [sdl2_dep, imgui_dep], link_with: animationwindow) diff --git a/subprojects/animationwindow/src/AnimationWindow.cpp b/subprojects/animationwindow/src/AnimationWindow.cpp new file mode 100644 index 000000000..08f18aff9 --- /dev/null +++ b/subprojects/animationwindow/src/AnimationWindow.cpp @@ -0,0 +1,422 @@ +#define _USE_MATH_DEFINES +#include "AnimationWindow.h" + +#include +#include +#include +#include +#define SDL_MAIN_HANDLED +#include +#include + +#include +#include + +#include "internal/FontCache.h" +#include "internal/KeyboardKeyConverter.h" +#include "internal/nuklear_configured.h" +#include "widgets/Button.h" +static bool sdlHasBeenInitialised = false; + +TDT4102::AnimationWindow::AnimationWindow(int x, int y, int width, int height, const std::string& title) { + // Initialise SDL if it has not already been + if (!sdlHasBeenInitialised) { + if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_AUDIO) < 0) { + throw std::runtime_error("Failed to create an AnimationWindow: The SDL backend could not be initialised.\nError details: " + std::string(SDL_GetError())); + } + sdlHasBeenInitialised = true; + } + + // Open a new window + windowHandle = SDL_CreateWindow( + title.c_str(), x, y, width, height, SDL_WINDOW_SHOWN | SDL_WINDOW_RESIZABLE); + if (windowHandle == nullptr) { + throw std::runtime_error("Failed to create an AnimationWindow: The SDL backend could not open a new window.\nError details: " + std::string(SDL_GetError())); + } + + // Create a renderer + rendererHandle = SDL_CreateRenderer(windowHandle, -1, SDL_RENDERER_ACCELERATED | SDL_RENDERER_PRESENTVSYNC); + if (rendererHandle == nullptr) { + throw std::runtime_error("Failed to create an AnimationWindow: The SDL backend could not create a renderer.\nError details: " + std::string(SDL_GetError())); + } + + // Default window background colour + SDL_SetRenderDrawColor(rendererHandle, backgroundColor.redChannel, backgroundColor.greenChannel, backgroundColor.blueChannel, backgroundColor.alphaChannel); + SDL_RenderClear(rendererHandle); + + SDL_RendererInfo rendererInfo; + SDL_GetRendererInfo(rendererHandle, &rendererInfo); + + std::cout << "Created an SDL renderer with name: " << rendererInfo.name << std::endl; + + context = nk_sdl_init(windowHandle, rendererHandle); + fontCache.initialize(); + fontCache.setFont(context, Font::defaultFont, 18); + nk_clear(context); +} + +TDT4102::AnimationWindow::~AnimationWindow() { + destroy(); +} + +void TDT4102::AnimationWindow::destroy() { + this->destroyed = true; + + // Free SDL resources depending on how much ended up being initialised in the constructor + if (rendererHandle != nullptr) { + SDL_DestroyRenderer(rendererHandle); + rendererHandle = nullptr; + } + if (windowHandle != nullptr) { + SDL_DestroyWindow(windowHandle); + windowHandle = nullptr; + } + if (context != nullptr) { + nk_free(context); + context = nullptr; + } + // Needed for MacOS + // Window does not close unless the events are pumped + // after requesting that + pump_events(); +} + +void TDT4102::AnimationWindow::pump_events() { + SDL_Event event; + SDL_PumpEvents(); + + while (SDL_PollEvent(&event)) { + if (event.type == SDL_QUIT) { + closeRequested = true; + } else if (event.type == SDL_KEYDOWN) { + KeyboardKey pressedKey = TDT4102::internal::convertSDLKeyToKeyboardKey(event.key.keysym); + // Using [] syntax here intentionally such that new entries are created automatically if they don't exist inside the map + currentKeyStates[pressedKey] = true; + } else if (event.type == SDL_KEYUP) { + KeyboardKey releasedKey = TDT4102::internal::convertSDLKeyToKeyboardKey(event.key.keysym); + currentKeyStates[releasedKey] = false; + } else if (event.type == SDL_MOUSEBUTTONDOWN) { + if (event.button.button == SDL_BUTTON_LEFT) { + currentLeftMouseButtonState = true; + } else if (event.button.button == SDL_BUTTON_RIGHT) { + currentRightMouseButtonState = true; + } + } else if (event.type == SDL_MOUSEBUTTONUP) { + if (event.button.button == SDL_BUTTON_LEFT) { + currentLeftMouseButtonState = false; + } else if (event.button.button == SDL_BUTTON_RIGHT) { + currentRightMouseButtonState = false; + } + } else if (event.type == SDL_MOUSEWHEEL) { + deltaMouseWheel = event.wheel.preciseY; // The amount scrolled vertically, positive away from the user and negative toward the user + } + + if(!destroyed) { + nk_sdl_handle_event(&event); + } + + } +} + +void TDT4102::AnimationWindow::show_frame() { + SDL_RenderPresent(rendererHandle); + deltaMouseWheel = 0; + nk_input_begin(context); + pump_events(); + nk_input_end(context); +} + +void TDT4102::AnimationWindow::update_gui() { + for (Widget& widget : widgets) { + fontCache.setFont(context, Font::arial, 18); + if (widget.isVisible) { + startNuklearDraw(widget.position, widget.uniqueWidgetName, widget.width, widget.height); + widget.update(context); + endNuklearDraw(); + } + } +} + +void TDT4102::AnimationWindow::next_frame() { + update_gui(); + nk_sdl_render(NK_ANTI_ALIASING_ON); + + show_frame(); + + // Colour must be reset as a previously drawn element may have changed the current colour + if (!keepPreviousFrame) { + SDL_SetRenderDrawColor(rendererHandle, backgroundColor.redChannel, backgroundColor.greenChannel, backgroundColor.blueChannel, backgroundColor.alphaChannel); + SDL_RenderClear(rendererHandle); + } + + // Reset window name counters + textWindowCounter = 0; +} + +bool TDT4102::AnimationWindow::should_close() const { + return closeRequested; +} + +void TDT4102::AnimationWindow::close() { + closeRequested = true; +} + +void TDT4102::AnimationWindow::wait_for_close() { + // This forces text to render, and ensures it appears on the screenshot that will be shown perpetually + // update_gui(); + nk_sdl_render(NK_ANTI_ALIASING_ON); + + // take a screenshot such that the window contents can be redrawn + TDT4102::Point windowSize = getWindowDimensions(); + SDL_Surface* screenContents = SDL_CreateRGBSurface(0, windowSize.x, windowSize.y, 32, 0x00ff0000, 0x0000ff00, 0x000000ff, 0xff000000); + SDL_RenderReadPixels(rendererHandle, NULL, SDL_PIXELFORMAT_ARGB8888, screenContents->pixels, screenContents->pitch); + SDL_Texture* screenTexture = SDL_CreateTextureFromSurface(rendererHandle, screenContents); + + while (!should_close()) { + next_frame(); + + // Draw screen contents + SDL_Rect imageBounds{0, 0, windowSize.x, windowSize.y}; + SDL_RenderCopy(rendererHandle, screenTexture, nullptr, &imageBounds); + } + + // Free the screenshot when done + SDL_DestroyTexture(screenTexture); + SDL_FreeSurface(screenContents); + + // Force close the window + destroy(); +} + +void TDT4102::AnimationWindow::wait_for(double timeSeconds) { + usleep(int(1000000.0 * timeSeconds)); +} + +void TDT4102::AnimationWindow::keep_previous_frame(bool enabled) { + this->keepPreviousFrame = enabled; +} + +void TDT4102::AnimationWindow::draw_circle(TDT4102::Point centre, int radius, TDT4102::Color color, TDT4102::Color borderColour) { + /*struct nk_rect bounds {float(centre.x - radius), float(centre.y - radius), float(2 * radius), float(2 * radius)}; + nk_color circleColour {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; + nk_fill_circle(nk_window_get_canvas(context), bounds, circleColour);*/ + + SDL_Vertex centreVertex; + centreVertex.position = {float(centre.x), float(centre.y)}; + centreVertex.color = {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; + centreVertex.tex_coord = {0, 0}; + internal::circleCoordinateBuffer.at(0) = centreVertex; + + for (int i = 1; i <= internal::SLICES_PER_CIRCLE; i++) { + SDL_Vertex outerVertex; + float fraction = float(i) / float(internal::SLICES_PER_CIRCLE); + float angle = fraction * (M_PI * 2.0f); + outerVertex.position = {float(centre.x) + (float(radius) * float(std::cos(angle))), + float(centre.y) + (float(radius) * float(std::sin(angle)))}; + outerVertex.color = {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; + outerVertex.tex_coord = {0, 0}; + internal::circleCoordinateBuffer.at(i) = outerVertex; + + // Main circle index buffer + internal::circleIndexBuffer.at(3 * (i - 1) + 0) = 0; + internal::circleIndexBuffer.at(3 * (i - 1) + 1) = i - 1; + internal::circleIndexBuffer.at(3 * (i - 1) + 2) = i; + + // Border index buffer + if (borderColour != Color::transparent) { + internal::circleBorderBuffer.at(i - 1) = {int(outerVertex.position.x), int(outerVertex.position.y)}; + } + } + + // Correct the first triangle which connects the first and last vertex + internal::circleIndexBuffer.at(0) = 0; + internal::circleIndexBuffer.at(1) = internal::SLICES_PER_CIRCLE; + internal::circleIndexBuffer.at(2) = 1; + + internal::circleBorderBuffer.at(internal::SLICES_PER_CIRCLE) = internal::circleBorderBuffer.at(0); + + SDL_RenderGeometry(rendererHandle, nullptr, internal::circleCoordinateBuffer.data(), internal::circleCoordinateBuffer.size(), + internal::circleIndexBuffer.data(), internal::circleIndexBuffer.size()); + if (borderColour != Color::transparent) { + SDL_SetRenderDrawColor(rendererHandle, borderColour.redChannel, borderColour.greenChannel, borderColour.blueChannel, borderColour.alphaChannel); + SDL_RenderDrawLines(rendererHandle, internal::circleBorderBuffer.data(), internal::circleBorderBuffer.size()); + } +} + +void TDT4102::AnimationWindow::draw_rectangle(TDT4102::Point topLeftPoint, int width, int height, TDT4102::Color color, TDT4102::Color borderColor) { + SDL_Rect fillRect = {topLeftPoint.x, topLeftPoint.y, width, height}; + SDL_SetRenderDrawColor(rendererHandle, color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel); + SDL_RenderFillRect(rendererHandle, &fillRect); + if (borderColor != Color::transparent) { + SDL_SetRenderDrawColor(rendererHandle, borderColor.redChannel, borderColor.greenChannel, borderColor.blueChannel, borderColor.alphaChannel); + SDL_RenderDrawRect(rendererHandle, &fillRect); + } +} + +void TDT4102::AnimationWindow::draw_image(TDT4102::Point topLeftPoint, TDT4102::Image& image, int imageWidth, int imageHeight) { + image.draw(rendererHandle, topLeftPoint, imageWidth, imageHeight); +} + +void TDT4102::AnimationWindow::draw_text(TDT4102::Point topLeftPoint, std::string textToShow, TDT4102::Color color, unsigned int fontSize, TDT4102::Font font) { + textWindowCounter++; + std::stringstream windowName; + windowName << "text" << textWindowCounter; + startNuklearDraw(topLeftPoint, windowName.str(), textToShow.size()*fontSize, fontSize); + fontCache.setFont(context, font, fontSize); + nk_color textColour{color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; + nk_text_colored(context, textToShow.c_str(), textToShow.size(), NK_TEXT_ALIGN_LEFT, textColour); + endNuklearDraw(); +} + +void TDT4102::AnimationWindow::draw_line(TDT4102::Point start, TDT4102::Point end, TDT4102::Color color) { + SDL_SetRenderDrawColor(rendererHandle, color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel); + SDL_RenderDrawLine(rendererHandle, start.x, start.y, end.x, end.y); +} + +void TDT4102::AnimationWindow::draw_triangle(TDT4102::Point vertex0, TDT4102::Point vertex1, + TDT4102::Point vertex2, TDT4102::Color color) { + SDL_Vertex v0{{float(vertex0.x), float(vertex0.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + SDL_Vertex v1{{float(vertex1.x), float(vertex1.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + SDL_Vertex v2{{float(vertex2.x), float(vertex2.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + std::array vertexArray{v0, v1, v2}; + std::array indexArray{0, 1, 2}; + SDL_RenderGeometry(rendererHandle, nullptr, vertexArray.data(), 3, indexArray.data(), 3); +} + +void TDT4102::AnimationWindow::draw_quad(TDT4102::Point vertex0, TDT4102::Point vertex1, TDT4102::Point vertex2, + TDT4102::Point vertex3, TDT4102::Color color) { + SDL_Vertex v0{{float(vertex0.x), float(vertex0.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + SDL_Vertex v1{{float(vertex1.x), float(vertex1.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + SDL_Vertex v2{{float(vertex2.x), float(vertex2.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + SDL_Vertex v3{{float(vertex3.x), float(vertex3.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; + std::array vertexArray{v0, v1, v2, v3}; + std::array indexArray{0, 1, 2, 0, 2, 3}; + SDL_RenderGeometry(rendererHandle, nullptr, vertexArray.data(), 4, indexArray.data(), 6); +} + +void TDT4102::AnimationWindow::draw_arc(TDT4102::Point center, int width, int height, int start_degree, int end_degree, TDT4102::Color color) { + if (start_degree < 0 || start_degree > 360) { + throw std::invalid_argument("The start_degree parameter was set to " + std::to_string(start_degree) + ", but should be a value between 0 and 360"); + } + if (end_degree < 0 || end_degree > 360) { + throw std::invalid_argument("The end_degree parameter was set to " + std::to_string(end_degree) + ", but should be a value between 0 and 360"); + } + if (start_degree >= end_degree) { + std::swap(start_degree, end_degree); + } + + float startFraction = float(start_degree) / 360.0f; + float endFraction = float(end_degree) / 360.0f; + float stepFraction = (endFraction - startFraction) / float(internal::SLICES_PER_CIRCLE); + + for (int i = 0; i < internal::SLICES_PER_CIRCLE; i++) { + internal::circleBorderBuffer.at(i) = { + center.x + int(float(width) * std::cos((startFraction + float(i) * stepFraction) * 2.0f * M_PI)), + center.y + int(float(height) * -std::sin((startFraction + float(i) * stepFraction) * 2.0f * M_PI))}; + } + + SDL_SetRenderDrawColor(rendererHandle, color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel); + SDL_RenderDrawLines(rendererHandle, internal::circleBorderBuffer.data(), internal::SLICES_PER_CIRCLE); +} + +bool TDT4102::AnimationWindow::is_key_down(KeyboardKey key) const { + if (currentKeyStates.count(key) == 0) { + return false; + } + return currentKeyStates.at(key); +} + +TDT4102::Point TDT4102::AnimationWindow::get_mouse_coordinates() const { + int mouseX, mouseY; + SDL_GetMouseState(&mouseX, &mouseY); + return {mouseX, mouseY}; +} + +void TDT4102::AnimationWindow::add(TDT4102::Widget& widgetToAdd) { + // Make sure not to create a copy + widgets.emplace_back(widgetToAdd); +} + +void TDT4102::AnimationWindow::show_info_dialog(const std::string& message) const { + SDL_ShowSimpleMessageBox(SDL_MESSAGEBOX_INFORMATION, "Information", message.c_str(), windowHandle); +} + +void TDT4102::AnimationWindow::show_error_dialog(const std::string& message) const { + SDL_ShowSimpleMessageBox(SDL_MESSAGEBOX_ERROR, "Error", message.c_str(), windowHandle); +} + +TDT4102::Point TDT4102::AnimationWindow::getWindowDimensions() const { + TDT4102::Point dimensions; + SDL_GetRendererOutputSize(rendererHandle, &dimensions.x, &dimensions.y); + return dimensions; +} + +int TDT4102::AnimationWindow::width() const { + return getWindowDimensions().x; +} + +int TDT4102::AnimationWindow::height() const { + return getWindowDimensions().y; +} + +bool TDT4102::AnimationWindow::is_left_mouse_button_down() const { + return currentLeftMouseButtonState; +} + +bool TDT4102::AnimationWindow::is_right_mouse_button_down() const { + return currentRightMouseButtonState; +} + +float TDT4102::AnimationWindow::get_delta_mouse_wheel() const { + return deltaMouseWheel; +} + +void TDT4102::AnimationWindow::startNuklearDraw(TDT4102::Point location, std::string uniqueWindowName, unsigned int width, unsigned int height) { + // Make window transparent; we just want to see individual GUI elements + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->window.background, nk_rgba(0, 0, 0, 0)); + nk_style_push_style_item(context, &s->window.fixed_background, nk_style_item_color(nk_rgba(0, 0, 0, 0))); + + // Start drawing + TDT4102::Point windowSize = getWindowDimensions(); + // Compute a rectangle that spans the entire size of the window + // Some padding is needed to accomplish this. + const unsigned int drawAreaPadding = 20; + + // If no draw size was specified, use as much space as available inside the window + struct nk_rect drawAreaSize; + if (width == 0 && height == 0) { + drawAreaSize = nk_rect(float(location.x), float(location.y), float(windowSize.x - location.x + drawAreaPadding), float(windowSize.y - location.y + drawAreaPadding)); + } else { + drawAreaSize = nk_rect(float(location.x), float(location.y), float(width), float(height)); + } + + // Ensuring that all GUI elements have a reasonable minimum height + // in order to avoid visual artefacts + drawAreaSize.h = std::max(drawAreaSize.h, 50); + + nk_begin(context, uniqueWindowName.c_str(), drawAreaSize, NK_WINDOW_BACKGROUND); + + // Subtracting a small amount of distance to account for window padding + nk_layout_row_dynamic(context, drawAreaSize.h - 20, 1); + + // The window has now been drawn, so we reset the transparent drawing colour, as + // GUI elements should be drawn using their normal colours + nk_style_pop_color(context); + nk_style_pop_style_item(context); +} + +void TDT4102::AnimationWindow::endNuklearDraw() { + nk_end(context); +} + +void TDT4102::AnimationWindow::setBackgroundColor(TDT4102::Color newBackgroundColor) { + backgroundColor = newBackgroundColor; + SDL_SetRenderDrawColor(rendererHandle, backgroundColor.redChannel, backgroundColor.greenChannel, backgroundColor.blueChannel, backgroundColor.alphaChannel); + SDL_RenderClear(rendererHandle); +} + +void TDT4102::AnimationWindow::play_audio(TDT4102::Audio& audio, int loops) { + audio.play(loops); +} + diff --git a/subprojects/animationwindow/src/Audio.cpp b/subprojects/animationwindow/src/Audio.cpp new file mode 100644 index 000000000..b3352100a --- /dev/null +++ b/subprojects/animationwindow/src/Audio.cpp @@ -0,0 +1,69 @@ +#include "Audio.h" + + +TDT4102::Audio::Audio() {} + +TDT4102::Audio::Audio(const std::filesystem::path pathToAudioFile) { + src = pathToAudioFile; +} + +void TDT4102::Audio::load() { + if(!std::filesystem::exists(src)) { + throw std::runtime_error("The audio file located at: " + src.string() + "\ncould not be found."); + } + + if (Mix_OpenAudio(MIX_DEFAULT_FREQUENCY, MIX_DEFAULT_FORMAT, MIX_DEFAULT_CHANNELS, 2048) < 0) { + throw std::runtime_error("Failed to open the audio device.\nError details: " + std::string(Mix_GetError())); + } + + if (src.string().ends_with(".wav")) { // assume .wav is sound effect + sfx = Mix_LoadWAV(src.string().c_str()); + if (sfx == NULL) { + throw std::runtime_error("Failed to load sound effect. \nError details: " + std::string(Mix_GetError())); + } + } else if (src.string().ends_with(".mp3")) { // assume .mp3 is music + mus = Mix_LoadMUS(src.string().c_str()); + if (mus == NULL) { + throw std::runtime_error("Failed to load music. \nError details: " + std::string(Mix_GetError())); + } + isMusic = true; + } else { + throw std::runtime_error("Unrecognized audio format! Please only use .wav or .mp3 files"); + } + + ready = true; + +} + +void TDT4102::Audio::play(int loops) { + + if (loops < 0) { + throw std::runtime_error("Number of loops must be positive!"); + } + + if(!ready) { + load(); + } + if (isMusic) { + Mix_PlayMusic(mus, loops == 0 ? loops : loops--); + } else { + Mix_PlayChannel(-1, sfx, loops == 0 ? loops-- : loops); + } + + +} + +TDT4102::Audio::~Audio() { + if (sfx != nullptr) { + Mix_FreeChunk(sfx); + sfx = nullptr; + } + + if (mus != nullptr) { + Mix_FreeMusic(mus); + mus = nullptr; + } + Mix_CloseAudio(); + Mix_Quit(); +} + diff --git a/subprojects/animationwindow/src/Color.cpp b/subprojects/animationwindow/src/Color.cpp new file mode 100644 index 000000000..f7c0cede1 --- /dev/null +++ b/subprojects/animationwindow/src/Color.cpp @@ -0,0 +1,46 @@ +#include "Color.h" + +TDT4102::Color::Color(unsigned char redChannelValue, unsigned char greenChannelValue, unsigned char blueChannelValue, unsigned char transparencyValue) +: redChannel{redChannelValue}, + greenChannel{greenChannelValue}, + blueChannel{blueChannelValue}, + alphaChannel{transparencyValue} {} + +TDT4102::Color::Color(unsigned int hexadecimalColour) { + // You do NOT need to understand what is going on here =) + // This function has a lot of bit magic that is DEFINITELY not in the syllabus + // This is not a "correct" implementation of a function such as this, but it allows you to paste in + // a hex colour directly from a colour picker without having to account for the alpha channel. + // This would cause the transparency to be zero + unsigned int hexColour = hexadecimalColour; + if(hexColour <= 0x00FFFFFF) { + // The blue, green, and alpha channels will have been specified. + // We move these 3 8-bit channels to the left by 8 bits, which means they become the + // Red, green, and blue channels. + hexColour = hexColour << 8; + // Make the colour opaque by setting the transparency channel to 255 + hexColour |= 0xFF; + } + + // Doing some bitwise magic to separate the 32-bit colour value into 4 separate 8-bit colour channels + redChannel = (hexColour >> 24) & 0xFF; + greenChannel = (hexColour >> 16) & 0xFF; + blueChannel = (hexColour >> 8) & 0xFF; + alphaChannel = (hexColour >> 0) & 0xFF; +} + +bool TDT4102::Color::operator!=(Color otherColor) { + return + (otherColor.redChannel != redChannel) || + (otherColor.greenChannel != greenChannel) || + (otherColor.blueChannel != blueChannel) || + (otherColor.alphaChannel != alphaChannel); +} + +bool TDT4102::Color::operator==(Color otherColor) { + return + (otherColor.redChannel == redChannel) && + (otherColor.greenChannel == greenChannel) && + (otherColor.blueChannel == blueChannel) && + (otherColor.alphaChannel == alphaChannel); +} diff --git a/subprojects/animationwindow/src/Image.cpp b/subprojects/animationwindow/src/Image.cpp new file mode 100644 index 000000000..8655f9d04 --- /dev/null +++ b/subprojects/animationwindow/src/Image.cpp @@ -0,0 +1,43 @@ +#include "Image.h" +#include + +TDT4102::Image::Image() {} + +TDT4102::Image::Image(const std::filesystem::path pathToImageFile) { + src = pathToImageFile; +} + +void TDT4102::Image::load(SDL_Renderer* renderer) { + if(!std::filesystem::exists(src)) { + throw std::runtime_error("The image file located at: " + src.string() + "\ncould not be found."); + } + texture = IMG_LoadTexture(renderer, src.string().c_str()); + + if(width == 0 && height == 0) { + SDL_QueryTexture(texture, nullptr, nullptr, &width, &height); + } +} + +void TDT4102::Image::draw(SDL_Renderer *renderer, TDT4102::Point location, int imageWidth, int imageHeight) { + // We need a reference to SDL_Renderer to perform the loading operation + // This requires loading it once it gets used + if(texture == nullptr) { + load(renderer); + } + + SDL_Rect imageBounds {location.x, location.y, width, height}; + + if(imageWidth > 0 && imageHeight > 0) { + imageBounds.w = imageWidth; + imageBounds.h = imageHeight; + } + + SDL_RenderCopy(renderer, texture, nullptr, &imageBounds); +} + +TDT4102::Image::~Image() { + if (texture != nullptr) { + SDL_DestroyTexture(texture); + texture = nullptr; + } +} diff --git a/subprojects/animationwindow/src/Widget.cpp b/subprojects/animationwindow/src/Widget.cpp new file mode 100644 index 000000000..97f6ff272 --- /dev/null +++ b/subprojects/animationwindow/src/Widget.cpp @@ -0,0 +1,34 @@ +#include "Widget.h" + +void TDT4102::Widget::setCallback(std::function callback) { + this->callbackFunction = callback; +} + +void TDT4102::Widget::fire() { + if(callbackFunction != nullptr) { + callbackFunction(); + } +} + +TDT4102::Widget::Widget(TDT4102::Point location, unsigned int widgetWidth, unsigned int widgetHeight) + : position(location), width(widgetWidth), height(widgetHeight) { + uniqueWidgetName = "widget_" + std::to_string(internal::nextWidgetID); + internal::nextWidgetID++; +} + +void TDT4102::Widget::setVisible(bool visible) { + isVisible = visible; +} + +unsigned int TDT4102::Widget::getWidth() const { + return width; +} + +unsigned int TDT4102::Widget::getHeight() const { + return height; +} + +void TDT4102::Widget::setSize(unsigned int newWidth, unsigned int newHeight) { + width = newWidth; + height = newHeight; +} \ No newline at end of file diff --git a/subprojects/animationwindow/src/internal/FontCache.cpp b/subprojects/animationwindow/src/internal/FontCache.cpp new file mode 100644 index 000000000..1e23f620b --- /dev/null +++ b/subprojects/animationwindow/src/internal/FontCache.cpp @@ -0,0 +1,96 @@ +#include +#include +#include "internal/FontCache.h" + + +std::filesystem::path TDT4102::internal::FontCache::findTTFInDirectory(const std::filesystem::path &directoryToSearch, const std::string& fontFileName) { + try { + for(const std::filesystem::path& entryInDirectory : std::filesystem::recursive_directory_iterator{directoryToSearch}) { + if(entryInDirectory.filename().string() == fontFileName) { + return entryInDirectory; + } + } + } catch(const std::filesystem::filesystem_error& e) { + // Had a single case where the recursive directory iterator caused a crash + // This is a backup strategy, even though it would not work as the regular approach due to some + // fonts being buried within folders on some systems + for(const std::filesystem::path& entryInDirectory : std::filesystem::directory_iterator{directoryToSearch}) { + if(entryInDirectory.filename().string() == fontFileName) { + return entryInDirectory; + } + } + } + return std::filesystem::path {"nonexistent"}; +} + +std::filesystem::path TDT4102::internal::FontCache::findTTFFile(const std::string &fontFileName) { + for(const std::filesystem::path& directory : TTFSearchDirectories) { + // Only search font directories that exist on your system + if(!std::filesystem::exists(directory)) { + continue; + } + + std::filesystem::path foundFile = findTTFInDirectory(directory, fontFileName); + if(std::filesystem::exists(foundFile)) { + return foundFile; + } + } + return std::filesystem::path("DOES_NOT_EXIST"); +} + +void TDT4102::internal::FontCache::loadFont(nk_context *context, TDT4102::Font face, unsigned int size) { + struct nk_font_atlas *atlas; + struct nk_font_config config = nk_font_config(0); + struct nk_font *font; + + if(face == Font::defaultFont) { + // Load default fallback font + nk_sdl_font_stash_begin(&atlas); + font = nk_font_atlas_add_default(atlas, float(size), &config); + nk_sdl_font_stash_end(); + nk_style_set_font(context, &font->handle); + } else { + // Load a font from a TTF file + std::filesystem::path ttfFile = fontFileLocations.at(face); + std::cout << "Found TTF file: " << ttfFile.string() << std::endl; + + nk_sdl_font_stash_begin(&atlas); + font = nk_font_atlas_add_from_file(atlas, ttfFile.string().c_str(), float(size), &config); + nk_sdl_font_stash_end(); + } + + // Using [] on purpose to automatically create any missing map entries + loadedFonts[face][size] = font; + loadedAtlases[face][size] = atlas; +} + +void TDT4102::internal::FontCache::setFont(nk_context *context, TDT4102::Font face, unsigned int size) { + // We have not seen this font face with this size before. We therefore need to load it. + if(loadedFonts.count(face) == 0 || loadedFonts.at(face).count(size) == 0) { + loadFont(context, face, size); + } + + // Set the font as the main drawing font + nk_style_load_all_cursors(context, loadedAtlases.at(face).at(size)->cursors); + nk_style_set_font(context, &loadedFonts.at(face).at(size)->handle); +} + + +void TDT4102::internal::FontCache::initialize() { + for(const std::pair> &fontFaceAlternatives : TTFFilenames) { + bool suitableFontFound = false; + for(const std::string& fontFaceFile : fontFaceAlternatives.second) { + std::filesystem::path potentiallyFoundPath = findTTFFile(fontFaceFile); + if(!std::filesystem::exists(potentiallyFoundPath)) { + continue; + } + fontFileLocations[fontFaceAlternatives.first] = potentiallyFoundPath; + // If the path exists we know it succeeded + suitableFontFound = true; + break; + } + if(!suitableFontFound) { + throw std::runtime_error("No suitable font found for " + fontFaceAlternatives.second.at(0) + " on your system."); + } + } +} diff --git a/subprojects/animationwindow/src/internal/KeyboardKeyConverter.cpp b/subprojects/animationwindow/src/internal/KeyboardKeyConverter.cpp new file mode 100644 index 000000000..d53d0c7b9 --- /dev/null +++ b/subprojects/animationwindow/src/internal/KeyboardKeyConverter.cpp @@ -0,0 +1,409 @@ +#include "internal/KeyboardKeyConverter.h" +#include +#include +#include + +KeyboardKey TDT4102::internal::convertSDLKeyToKeyboardKey(SDL_Keysym key) { + switch(key.sym) { + case SDLK_UNKNOWN : + return KeyboardKey::UNKNOWN; + case SDLK_RETURN: + return KeyboardKey::ENTER; + case SDLK_ESCAPE: + return KeyboardKey::ESCAPE; + case SDLK_BACKSPACE: + return KeyboardKey::BACKSPACE; + case SDLK_TAB: + return KeyboardKey::TAB; + case SDLK_SPACE: + return KeyboardKey::SPACE; + case SDLK_EXCLAIM: + return KeyboardKey::EXCLAMATION_MARK; + case SDLK_QUOTEDBL: + return KeyboardKey::DOUBLE_QUOTE; + case SDLK_HASH: + return KeyboardKey::HASH; + case SDLK_PERCENT: + return KeyboardKey::PERCENT; + case SDLK_DOLLAR: + return KeyboardKey::DOLLAR; + case SDLK_AMPERSAND: + return KeyboardKey::AMPERSAND; + case SDLK_QUOTE: + return KeyboardKey::QUOTE; + case SDLK_LEFTPAREN: + return KeyboardKey::LEFT_PAREN; + case SDLK_RIGHTPAREN: + return KeyboardKey::RIGHT_PAREN; + case SDLK_ASTERISK: + return KeyboardKey::ASTERISK; + case SDLK_PLUS: + return KeyboardKey::PLUS; + case SDLK_COMMA: + return KeyboardKey::COMMA; + case SDLK_MINUS: + return KeyboardKey::MINUS; + case SDLK_PERIOD: + return KeyboardKey::PERIOD; + case SDLK_SLASH: + return KeyboardKey::SLASH; + case SDLK_0: + return KeyboardKey::KEY_0; + case SDLK_1: + return KeyboardKey::KEY_1; + case SDLK_2: + return KeyboardKey::KEY_2; + case SDLK_3: + return KeyboardKey::KEY_3; + case SDLK_4: + return KeyboardKey::KEY_4; + case SDLK_5: + return KeyboardKey::KEY_5; + case SDLK_6: + return KeyboardKey::KEY_6; + case SDLK_7: + return KeyboardKey::KEY_7; + case SDLK_8: + return KeyboardKey::KEY_8; + case SDLK_9: + return KeyboardKey::KEY_9; + case SDLK_COLON: + return KeyboardKey::COLON; + case SDLK_SEMICOLON: + return KeyboardKey::SEMICOLON; + case SDLK_LESS: + return KeyboardKey::LESS_THAN; + case SDLK_EQUALS: + return KeyboardKey::EQUALS; + case SDLK_GREATER: + return KeyboardKey::GREATER_THAN; + case SDLK_QUESTION: + return KeyboardKey::QUESTION_MARK; + case SDLK_AT: + return KeyboardKey::AT; + case SDLK_LEFTBRACKET: + return KeyboardKey::LEFT_BRACKET; + case SDLK_BACKSLASH: + return KeyboardKey::BACKSLASH; + case SDLK_RIGHTBRACKET: + return KeyboardKey::RIGHT_BRACKET; + case SDLK_CARET: + return KeyboardKey::CARET; + case SDLK_UNDERSCORE: + return KeyboardKey::UNDERSCORE; + case SDLK_BACKQUOTE: + return KeyboardKey::GRAVE; + case SDLK_a: + return KeyboardKey::A; + case SDLK_b: + return KeyboardKey::B; + case SDLK_c: + return KeyboardKey::C; + case SDLK_d: + return KeyboardKey::D; + case SDLK_e: + return KeyboardKey::E; + case SDLK_f: + return KeyboardKey::F; + case SDLK_g: + return KeyboardKey::G; + case SDLK_h: + return KeyboardKey::H; + case SDLK_i: + return KeyboardKey::I; + case SDLK_j: + return KeyboardKey::J; + case SDLK_k: + return KeyboardKey::K; + case SDLK_l: + return KeyboardKey::L; + case SDLK_m: + return KeyboardKey::M; + case SDLK_n: + return KeyboardKey::N; + case SDLK_o: + return KeyboardKey::O; + case SDLK_p: + return KeyboardKey::P; + case SDLK_q: + return KeyboardKey::Q; + case SDLK_r: + return KeyboardKey::R; + case SDLK_s: + return KeyboardKey::S; + case SDLK_t: + return KeyboardKey::T; + case SDLK_u: + return KeyboardKey::U; + case SDLK_v: + return KeyboardKey::V; + case SDLK_w: + return KeyboardKey::W; + case SDLK_x: + return KeyboardKey::X; + case SDLK_y: + return KeyboardKey::Y; + case SDLK_z: + return KeyboardKey::Z; + case SDLK_CAPSLOCK: + return KeyboardKey::CAPS_LOCK; + case SDLK_F1: + return KeyboardKey::F1; + case SDLK_F2: + return KeyboardKey::F2; + case SDLK_F3: + return KeyboardKey::F3; + case SDLK_F4: + return KeyboardKey::F4; + case SDLK_F5: + return KeyboardKey::F5; + case SDLK_F6: + return KeyboardKey::F6; + case SDLK_F7: + return KeyboardKey::F7; + case SDLK_F8: + return KeyboardKey::F8; + case SDLK_F9: + return KeyboardKey::F9; + case SDLK_F10: + return KeyboardKey::F10; + case SDLK_F11: + return KeyboardKey::F11; + case SDLK_F12: + return KeyboardKey::F12; + case SDLK_PRINTSCREEN: + return KeyboardKey::PRINT_SCREEN; + case SDLK_SCROLLLOCK: + return KeyboardKey::SCROLL_LOCK; + case SDLK_PAUSE: + return KeyboardKey::PAUSE; + case SDLK_INSERT: + return KeyboardKey::INSERT; + case SDLK_HOME: + return KeyboardKey::HOME; + case SDLK_PAGEUP: + return KeyboardKey::PAGE_UP; + case SDLK_DELETE: + return KeyboardKey::DELETE; + case SDLK_END: + return KeyboardKey::END; + case SDLK_PAGEDOWN: + return KeyboardKey::PAGE_DOWN; + case SDLK_RIGHT: + return KeyboardKey::RIGHT; + case SDLK_LEFT: + return KeyboardKey::LEFT; + case SDLK_DOWN: + return KeyboardKey::DOWN; + case SDLK_UP: + return KeyboardKey::UP; + case SDLK_NUMLOCKCLEAR: + return KeyboardKey::NUM_LOCK; + case SDLK_KP_DIVIDE: + return KeyboardKey::NUMPAD_SLASH; + case SDLK_KP_MULTIPLY: + return KeyboardKey::NUMPAD_ASTERISK; + case SDLK_KP_MINUS: + return KeyboardKey::NUMPAD_MINUS; + case SDLK_KP_PLUS: + return KeyboardKey::NUMPAD_PLUS; + case SDLK_KP_ENTER: + return KeyboardKey::NUMPAD_ENTER; + case SDLK_KP_1: + return KeyboardKey::NUMPAD_1; + case SDLK_KP_2: + return KeyboardKey::NUMPAD_2; + case SDLK_KP_3: + return KeyboardKey::NUMPAD_3; + case SDLK_KP_4: + return KeyboardKey::NUMPAD_4; + case SDLK_KP_5: + return KeyboardKey::NUMPAD_5; + case SDLK_KP_6: + return KeyboardKey::NUMPAD_6; + case SDLK_KP_7: + return KeyboardKey::NUMPAD_7; + case SDLK_KP_8: + return KeyboardKey::NUMPAD_8; + case SDLK_KP_9: + return KeyboardKey::NUMPAD_9; + case SDLK_KP_0: + return KeyboardKey::NUMPAD_0; + case SDLK_KP_PERIOD: + return KeyboardKey::NUMPAD_PERIOD; + + case SDLK_F13: + return KeyboardKey::F13; + case SDLK_F14: + return KeyboardKey::F14; + case SDLK_F15: + return KeyboardKey::F15; + case SDLK_F16: + return KeyboardKey::F16; + case SDLK_F17: + return KeyboardKey::F17; + case SDLK_F18: + return KeyboardKey::F18; + case SDLK_F19: + return KeyboardKey::F19; + case SDLK_F20: + return KeyboardKey::F20; + case SDLK_F21: + return KeyboardKey::F21; + case SDLK_F22: + return KeyboardKey::F22; + case SDLK_F23: + return KeyboardKey::F23; + case SDLK_F24: + return KeyboardKey::F24; + case SDLK_MUTE: + return KeyboardKey::AUDIO_MUTE; + case SDLK_VOLUMEUP: + return KeyboardKey::AUDIO_VOLUME_UP; + case SDLK_VOLUMEDOWN: + return KeyboardKey::AUDIO_VOLUME_DOWN; + case SDLK_KP_COMMA: + return KeyboardKey::NUMPAD_COMMA; + case SDLK_LCTRL: + return KeyboardKey::LEFT_CTRL; + case SDLK_LSHIFT: + return KeyboardKey::LEFT_SHIFT; + case SDLK_LALT: + return KeyboardKey::LEFT_ALT; + case SDLK_LGUI: + return KeyboardKey::SUPER_LEFT; + case SDLK_RCTRL: + return KeyboardKey::RIGHT_CTRL; + case SDLK_RSHIFT: + return KeyboardKey::RIGHT_SHIFT; + case SDLK_RALT: + return KeyboardKey::RIGHT_ALT; + case SDLK_RGUI: + return KeyboardKey::SUPER_RIGHT; + case SDLK_KP_EQUALS: + return KeyboardKey::NUMPAD_EQUALS; + + case SDLK_AUDIONEXT: + return KeyboardKey::AUDIO_NEXT; + case SDLK_AUDIOPREV: + return KeyboardKey::AUDIO_PREV; + case SDLK_AUDIOSTOP: + return KeyboardKey::AUDIO_STOP; + case SDLK_AUDIOPLAY: + return KeyboardKey::AUDIO_PLAY; + case SDLK_AUDIOMUTE: + return KeyboardKey::AUDIO_MUTE; + + // Norwegian keys. Assumes nordic keyboard layout + case 230: + return KeyboardKey::AE; + case 248: + return KeyboardKey::OO; + case 229: + return KeyboardKey::AA; + + + // Unsupported keys + case SDLK_KP_EQUALSAS400: + case SDLK_ALTERASE: + case SDLK_SYSREQ: + case SDLK_CANCEL: + case SDLK_CLEAR: + case SDLK_PRIOR: + case SDLK_RETURN2: + case SDLK_SEPARATOR: + case SDLK_OUT: + case SDLK_OPER: + case SDLK_CLEARAGAIN: + case SDLK_CRSEL: + case SDLK_EXSEL: + case SDLK_KP_00: + case SDLK_KP_000: + case SDLK_THOUSANDSSEPARATOR: + case SDLK_DECIMALSEPARATOR: + case SDLK_CURRENCYUNIT: + case SDLK_CURRENCYSUBUNIT: + case SDLK_KP_LEFTPAREN: + case SDLK_KP_RIGHTPAREN: + case SDLK_KP_LEFTBRACE: + case SDLK_KP_RIGHTBRACE: + case SDLK_KP_TAB: + case SDLK_KP_BACKSPACE: + case SDLK_KP_A: + case SDLK_KP_B: + case SDLK_KP_C: + case SDLK_KP_D: + case SDLK_KP_E: + case SDLK_KP_F: + case SDLK_KP_XOR: + case SDLK_KP_POWER: + case SDLK_KP_PERCENT: + case SDLK_KP_LESS: + case SDLK_KP_GREATER: + case SDLK_KP_AMPERSAND: + case SDLK_KP_DBLAMPERSAND: + case SDLK_KP_VERTICALBAR: + case SDLK_KP_DBLVERTICALBAR: + case SDLK_KP_COLON: + case SDLK_KP_HASH: + case SDLK_KP_SPACE: + case SDLK_KP_AT: + case SDLK_KP_EXCLAM: + case SDLK_KP_MEMSTORE: + case SDLK_KP_MEMRECALL: + case SDLK_KP_MEMCLEAR: + case SDLK_KP_MEMADD: + case SDLK_KP_MEMSUBTRACT: + case SDLK_KP_MEMMULTIPLY: + case SDLK_KP_MEMDIVIDE: + case SDLK_KP_PLUSMINUS: + case SDLK_KP_CLEAR: + case SDLK_KP_CLEARENTRY: + case SDLK_KP_BINARY: + case SDLK_KP_OCTAL: + case SDLK_KP_DECIMAL: + case SDLK_KP_HEXADECIMAL: + case SDLK_EXECUTE: + case SDLK_HELP: + case SDLK_MENU: + case SDLK_MODE: + case SDLK_SELECT: + case SDLK_STOP: + case SDLK_AGAIN: + case SDLK_UNDO: + case SDLK_CUT: + case SDLK_COPY: + case SDLK_PASTE: + case SDLK_FIND: + case SDLK_APPLICATION: + case SDLK_POWER: + case SDLK_MEDIASELECT: + case SDLK_WWW: + case SDLK_MAIL: + case SDLK_CALCULATOR: + case SDLK_COMPUTER: + case SDLK_AC_SEARCH: + case SDLK_AC_HOME: + case SDLK_AC_BACK: + case SDLK_AC_FORWARD: + case SDLK_AC_STOP: + case SDLK_AC_REFRESH: + case SDLK_AC_BOOKMARKS: + case SDLK_BRIGHTNESSDOWN: + case SDLK_BRIGHTNESSUP: + case SDLK_DISPLAYSWITCH: + case SDLK_KBDILLUMTOGGLE: + case SDLK_KBDILLUMDOWN: + case SDLK_KBDILLUMUP: + case SDLK_EJECT: + case SDLK_SLEEP: + case SDLK_APP1: + case SDLK_APP2: + case SDLK_AUDIOREWIND: + case SDLK_AUDIOFASTFORWARD: + return KeyboardKey::UNKNOWN; + + default: + return KeyboardKey::UNKNOWN; + } +} diff --git a/subprojects/animationwindow/src/internal/nuklear_implementation.cpp b/subprojects/animationwindow/src/internal/nuklear_implementation.cpp new file mode 100644 index 000000000..9e229c2c6 --- /dev/null +++ b/subprojects/animationwindow/src/internal/nuklear_implementation.cpp @@ -0,0 +1,3 @@ +#define NK_IMPLEMENTATION +#define NK_SDL_RENDERER_IMPLEMENTATION +#include "internal/nuklear_configured.h" \ No newline at end of file diff --git a/subprojects/animationwindow/src/widgets/Button.cpp b/subprojects/animationwindow/src/widgets/Button.cpp new file mode 100644 index 000000000..0398c3920 --- /dev/null +++ b/subprojects/animationwindow/src/widgets/Button.cpp @@ -0,0 +1,39 @@ +#include "widgets/Button.h" +#include + +TDT4102::Button::Button(TDT4102::Point location, unsigned int width, unsigned int height, std::string label) : + TDT4102::Widget(location, width, height), + label{std::move(label)} {} + +void TDT4102::Button::update(nk_context *context) { + + bool rightMouseIsDown = nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_RIGHT, context->current->layout->clip, true); + bool rightMouseIsBeingPressed = rightMouseIsDown && !lastRightMouseButtonState; + lastRightMouseButtonState = rightMouseIsDown; + + bool leftMouseIsDown = nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_LEFT, context->current->layout->clip, true); + bool leftMouseIsBeingPressed = leftMouseIsDown && !lastLeftMouseButtonState; + lastLeftMouseButtonState = leftMouseIsDown; + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->button.text_normal, labelColor); + nk_style_push_color(context, &s->button.text_hover, labelColor); + nk_style_push_color(context, &s->button.text_active, labelColor); + nk_style_push_color(context, &s->button.border_color, buttonColorBorder); + nk_style_push_style_item(context, &s->button.normal, nk_style_item_color(buttonColor)); + nk_style_push_style_item(context, &s->button.hover, nk_style_item_color(buttonColorHover)); + nk_style_push_style_item(context, &s->button.active, nk_style_item_color(buttonColorActive)); + if (nk_button_label(context, label.c_str()) || rightMouseIsBeingPressed || leftMouseIsBeingPressed) { + fire(); + } + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); +} + +void TDT4102::Button::setLabel(std::string newLabel) { + label = newLabel; +} diff --git a/subprojects/animationwindow/src/widgets/CheckBox.cpp b/subprojects/animationwindow/src/widgets/CheckBox.cpp new file mode 100644 index 000000000..0b9d463e2 --- /dev/null +++ b/subprojects/animationwindow/src/widgets/CheckBox.cpp @@ -0,0 +1,44 @@ +#include "widgets/CheckBox.h" + + +TDT4102::CheckBox::CheckBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string label) : + TDT4102::Widget(location, width, height), + label{std::move(label)} {} + +void TDT4102::CheckBox::update(nk_context *context) { + if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_RIGHT, context->current->layout->clip, true)) { + isSelected_ = false; + } + if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_LEFT, context->current->layout->clip, true)) { + isSelected_ = true; + } + + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->checkbox.text_normal, labelColor); + nk_style_push_color(context, &s->checkbox.text_hover, labelColor); + nk_style_push_color(context, &s->checkbox.text_active, labelColor); + nk_style_push_style_item(context, &s->checkbox.normal, nk_style_item_color(checkBoxColor)); + nk_style_push_style_item(context, &s->checkbox.hover, nk_style_item_color(checkBoxColorHover)); + nk_style_push_style_item(context, &s->checkbox.active, nk_style_item_color(checkBoxColorActive)); + + if (nk_checkbox_label(context, label.data(), &isSelected_)) { + isSelected_ = true; + fire(); + } + + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + +} + +void TDT4102::CheckBox::setLabel(std::string newLabel) { + label = newLabel; +} + +bool TDT4102::CheckBox::isSelected() const { + return (bool)isSelected_; +} diff --git a/subprojects/animationwindow/src/widgets/DropdownList.cpp b/subprojects/animationwindow/src/widgets/DropdownList.cpp new file mode 100644 index 000000000..c22eedf2f --- /dev/null +++ b/subprojects/animationwindow/src/widgets/DropdownList.cpp @@ -0,0 +1,33 @@ +#include "widgets/DropdownList.h" +#include + +TDT4102::DropdownList::DropdownList(TDT4102::Point location, unsigned int width, unsigned int height, std::vector &initialOptions) + : TDT4102::Widget(location, width, height) { + if(initialOptions.size() == 0) { + throw std::runtime_error("The list of options must contain at least one option to choose from!"); + } + options = initialOptions; + +} + +std::string TDT4102::DropdownList::getSelectedValue() const { + return options.at(selectedIndex); +} + +void TDT4102::DropdownList::update(nk_context *context) { + if (nk_combo_begin_label(context, options.at(selectedIndex).c_str(), nk_vec2(nk_widget_width(context), 200))) { + nk_layout_row_dynamic(context, 35, 1); + for(unsigned int i = 0; i < options.size(); i++) { + if (nk_combo_item_label(context, options.at(i).c_str(), NK_TEXT_LEFT)) { + // selection changed + selectedIndex = i; + fire(); + } + } + nk_combo_end(context); + } +} + +void TDT4102::DropdownList::setOptions(std::vector &updatedOptionsList) { + options = updatedOptionsList; +} \ No newline at end of file diff --git a/subprojects/animationwindow/src/widgets/RadioButton.cpp b/subprojects/animationwindow/src/widgets/RadioButton.cpp new file mode 100644 index 000000000..59d9616f0 --- /dev/null +++ b/subprojects/animationwindow/src/widgets/RadioButton.cpp @@ -0,0 +1,45 @@ +#include "widgets/RadioButton.h" + + +TDT4102::RadioButton::RadioButton(TDT4102::Point location, unsigned int width, unsigned int height, std::string label) : + TDT4102::Widget(location, width, height), + label{std::move(label)} {} + +void TDT4102::RadioButton::update(nk_context *context) { + if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_RIGHT, context->current->layout->clip, true)) { + isSelected_ = false; + } + if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_LEFT, context->current->layout->clip, true)) { + isSelected_ = true; + } + + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->option.text_normal, labelColor); + nk_style_push_color(context, &s->option.text_hover, labelColor); + nk_style_push_color(context, &s->option.text_active, labelColor); + nk_style_push_style_item(context, &s->option.normal, nk_style_item_color(radioColor)); + nk_style_push_style_item(context, &s->option.hover, nk_style_item_color(radioColorHover)); + nk_style_push_style_item(context, &s->option.active, nk_style_item_color(radioColorActive)); + + if (nk_radio_label(context, label.data(), &isSelected_)) { + isSelected_ = true; + fire(); + } + + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + +} + +void TDT4102::RadioButton::setLabel(std::string newLabel) { + label = newLabel; +} + +bool TDT4102::RadioButton::isSelected() const { + return (bool)isSelected_; +} + diff --git a/subprojects/animationwindow/src/widgets/Slider.cpp b/subprojects/animationwindow/src/widgets/Slider.cpp new file mode 100644 index 000000000..2a80404ae --- /dev/null +++ b/subprojects/animationwindow/src/widgets/Slider.cpp @@ -0,0 +1,38 @@ +#include "widgets/Slider.h" + +TDT4102::Slider::Slider(TDT4102::Point location, unsigned int width, unsigned int height, int min, int max, int initialValue, int step) + : TDT4102::Widget(location, width, height) { + minValue = min; + maxValue = max; + value = initialValue; + stepValue = step; +} + +int TDT4102::Slider::getValue() const { + return value; +} + +void TDT4102::Slider::update(nk_context *context) { + + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->slider.bar_normal, sliderBarColor); + nk_style_push_color(context, &s->slider.bar_hover, sliderBarColorHover); + nk_style_push_color(context, &s->slider.bar_active, sliderBarColorActive); + nk_style_push_color(context, &s->slider.bar_filled, sliderBarColorFilled); + nk_style_push_style_item(context, &s->slider.cursor_normal, nk_style_item_color(sliderCursorColor)); + nk_style_push_style_item(context, &s->slider.cursor_hover, nk_style_item_color(sliderCursorColorHover)); + nk_style_push_style_item(context, &s->slider.cursor_active, nk_style_item_color(sliderCursorColorActive)); + + if (nk_slider_int(context, minValue, &value, maxValue, stepValue)) { + fire(); + } + + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); +} + diff --git a/subprojects/animationwindow/src/widgets/TextBox.cpp b/subprojects/animationwindow/src/widgets/TextBox.cpp new file mode 100644 index 000000000..ac0a8fab6 --- /dev/null +++ b/subprojects/animationwindow/src/widgets/TextBox.cpp @@ -0,0 +1,29 @@ +#include "widgets/TextBox.h" + +void TDT4102::TextBox::update(nk_context *context) { + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->edit.text_normal, textColor); + nk_style_push_color(context, &s->edit.border_color, borderColor); + nk_style_push_style_item(context, &s->edit.normal, nk_style_item_color(boxColor)); + nk_edit_string_zero_terminated(context, NK_EDIT_READ_ONLY | NK_EDIT_MULTILINE, const_cast(contents.data()), internal::TEXT_BOX_CHARACTER_LIMIT, nk_filter_ascii); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_style_item(context); +} + +TDT4102::TextBox::TextBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText) + : TDT4102::Widget(location, width, height) { + contents = initialText; + contents.resize(internal::TEXT_BOX_CHARACTER_LIMIT); + +} + +std::string TDT4102::TextBox::getText() const { + return std::string(contents.data()); +} + +void TDT4102::TextBox::setText(std::string updatedText) { + contents = updatedText; + contents.resize(internal::TEXT_BOX_CHARACTER_LIMIT); +} + diff --git a/subprojects/animationwindow/src/widgets/TextInput.cpp b/subprojects/animationwindow/src/widgets/TextInput.cpp new file mode 100644 index 000000000..40e3ac435 --- /dev/null +++ b/subprojects/animationwindow/src/widgets/TextInput.cpp @@ -0,0 +1,49 @@ +#include "widgets/TextInput.h" + +void TDT4102::TextInput::update(nk_context *context) { + struct nk_style* s = &context->style; + nk_style_push_color(context, &s->edit.text_normal, textColor); + nk_style_push_color(context, &s->edit.text_hover, textColor); + nk_style_push_color(context, &s->edit.text_active, textColor); + nk_style_push_style_item(context, &s->edit.normal, nk_style_item_color(boxColor)); + nk_style_push_style_item(context, &s->edit.hover, nk_style_item_color(boxColorHover)); + nk_style_push_style_item(context, &s->edit.active, nk_style_item_color(boxColorActive)); + nk_edit_string_zero_terminated(context, NK_EDIT_SELECTABLE | NK_EDIT_ALWAYS_INSERT_MODE | NK_EDIT_BOX | NK_EDIT_SIMPLE | NK_EDIT_MULTILINE, const_cast(contents.data()), internal::TEXT_INPUT_CHARACTER_LIMIT, nk_filter_ascii); + + // Detect whether any editing of the string has occurred + // Nuklear only reports whether the text box has lost focus + if(contents != previousContents) { + fire(); + } + previousContents = contents; + + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_color(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); + nk_style_pop_style_item(context); +} + +TDT4102::TextInput::TextInput(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText) + : TDT4102::Widget(location, width, height) { + contents = initialText; + contents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); + + previousContents = initialText; + previousContents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); +} + +std::string TDT4102::TextInput::getText() const { + // The editing string contains a large number of zeroes at the end + // This chops those off + return std::string(contents.data()); +} + +void TDT4102::TextInput::setText(std::string updatedText) { + contents = updatedText; + contents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); + + previousContents = updatedText; + previousContents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); +} \ No newline at end of file diff --git a/subprojects/libjpeg-turbo.wrap b/subprojects/libjpeg-turbo.wrap new file mode 100644 index 000000000..500f3ec90 --- /dev/null +++ b/subprojects/libjpeg-turbo.wrap @@ -0,0 +1,12 @@ +[wrap-file] +directory = libjpeg-turbo-2.1.2 +source_url = https://sourceforge.net/projects/libjpeg-turbo/files/2.1.2/libjpeg-turbo-2.1.2.tar.gz +source_filename = libjpeg-turbo-2.1.2.tar.gz +source_hash = 09b96cb8cbff9ea556a9c2d173485fd19488844d55276ed4f42240e1e2073ce5 +patch_filename = libjpeg-turbo_2.1.2-2_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/libjpeg-turbo_2.1.2-2/get_patch +patch_hash = d213c13c0a386460b0cef7fd259f559c98dd2b9c3f9a43e8a99f85244c6dd9b5 + +[provide] +dependency_names = libjpeg + diff --git a/subprojects/libpng.wrap b/subprojects/libpng.wrap new file mode 100644 index 000000000..94435e86c --- /dev/null +++ b/subprojects/libpng.wrap @@ -0,0 +1,12 @@ +[wrap-file] +directory = libpng-1.6.37 +source_url = https://github.com/glennrp/libpng/archive/v1.6.37.tar.gz +source_filename = libpng-1.6.37.tar.gz +source_hash = ca74a0dace179a8422187671aee97dd3892b53e168627145271cad5b5ac81307 +patch_filename = libpng_1.6.37-5_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/libpng_1.6.37-5/get_patch +patch_hash = 822200906ad2e82dc8b44e79fe960e980ccad96263548c35eef721086a9926f1 + +[provide] +libpng = libpng_dep + diff --git a/subprojects/libtiff-4.wrap b/subprojects/libtiff-4.wrap new file mode 100644 index 000000000..319d8d9ae --- /dev/null +++ b/subprojects/libtiff-4.wrap @@ -0,0 +1,12 @@ +[wrap-file] +directory = tiff-4.1.0 +source_url = http://download.osgeo.org/libtiff/tiff-4.1.0.tar.gz +source_filename = tiff-4.1.0.tar.gz +source_hash = 5d29f32517dadb6dbcd1255ea5bbc93a2b54b94fbf83653b4d65c7d6775b8634 +patch_filename = libtiff_4.1.0-5_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/libtiff_4.1.0-5/get_patch +patch_hash = 224053e73d9bd8bc04eae41d997f2d16726fad6aff102f0ec3f3f99ca1ded405 + +[provide] +libtiff-4 = libtiff4_dep + diff --git a/subprojects/sdl2.wrap b/subprojects/sdl2.wrap new file mode 100644 index 000000000..53a71e2f8 --- /dev/null +++ b/subprojects/sdl2.wrap @@ -0,0 +1,12 @@ +[wrap-file] +directory = SDL2-2.26.0 +source_url = https://github.com/libsdl-org/SDL/releases/download/release-2.26.0/SDL2-2.26.0.tar.gz +source_filename = SDL2-2.26.0.tar.gz +source_hash = 8000d7169febce93c84b6bdf376631f8179132fd69f7015d4dadb8b9c2bdb295 +patch_filename = sdl2_2.26.0-1_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/sdl2_2.26.0-1/get_patch +patch_hash = 6fcfd727d71cf7837332723518d5e47ffd64f1e7630681cf4b50e99f2bf7676f +wrapdb_version = 2.26.0-1 + +[provide] +sdl2 = sdl2_dep diff --git a/subprojects/sdl2_image.wrap b/subprojects/sdl2_image.wrap new file mode 100644 index 000000000..97caeff02 --- /dev/null +++ b/subprojects/sdl2_image.wrap @@ -0,0 +1,12 @@ +[wrap-file] +directory = SDL2_image-2.6.2 +source_url = https://www.libsdl.org/projects/SDL_image/release/SDL2_image-2.6.2.tar.gz +source_filename = SDL2_image-2.6.2.tar.gz +source_hash = 48355fb4d8d00bac639cd1c4f4a7661c4afef2c212af60b340e06b7059814777 +patch_filename = sdl2_image_2.6.2-1_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/sdl2_image_2.6.2-1/get_patch +patch_hash = 07592dc80753ba0d0855753a7fa09f76718cb6b744305d85fb8e3738ac77b285 +wrapdb_version = 2.6.2-1 + +[provide] +sdl2_image = sdl2_image_dep diff --git a/subprojects/sdl2_image_windows/CHANGES.txt b/subprojects/sdl2_image_windows/CHANGES.txt new file mode 100644 index 000000000..eaa562a38 --- /dev/null +++ b/subprojects/sdl2_image_windows/CHANGES.txt @@ -0,0 +1,198 @@ +2.6.2: + * Updated autotools to use ax_compute_relative_paths, fixing homebrew on macOS + +2.6.1: + * Fixed loading grayscale PNGs when using stb_image + +2.6.0: + * Added support for building with CMake + * Added stb_image as the default backend for JPG and PNG images loading. + To use libpng and libjpg instead, configure using --disable-stb-image + * Added IMG_LoadSizedSVG_RW() + * Added support for AVIF images (https://github.com/AOMediaCodec/libavif) + * Added IMG_ReadXPMFromArrayToRGB888() + * Added support for JXL images (https://jpegxl.info/) + * Added support for QOI images (https://qoiformat.org/) + * Fixed XCF regression introduced in 2.0.5 + * Added support for loading animated GIFs + * LoadBMP() now loads files using SDL2 + * Allow using libwebpdecoder instead libwebp + +2.0.5: +Sam Lantinga - Wed Jun 19 07:30:51 PDT 2019 + * Updated external libraries libpng-1.6.32, libwebp-1.0.2 +Sam Lantinga - Tue Jun 11 00:17:01 PDT 2019 + * Fixed a number of security issues: + TALOS-2019-0820 + TALOS-2019-0821 + TALOS-2019-0841 + TALOS-2019-0842 + TALOS-2019-0843 + TALOS-2019-0844 +Sathyanarayanan Gunasekaran, Brian Palmer, Charlie Birks, Amadeus - Mon Jun 10 16:48:20 PDT 2019 + * Ported SDL_image to emscripten + +2.0.4: +Michał Janiszewski - Fri Sept 28 22:00:26 PST 2018 + * Fixed memory issues in the XCF loader +Ryan Gordon - Wed Sept 26 14:58:31 PST 2018 + * Fixed a number of security issues, including TALOS-2018-0645 + +2.0.3: +Ryan Gordon - Sun Jan 28 21:28:16 PST 2018 + * Fixed a number of security issues: + TALOS-2017-0488 + TALOS-2017-0489 + TALOS-2017-0490 + TALOS-2017-0491 + TALOS-2017-0497 + TALOS-2017-0498 + TALOS-2017-0499 +Sam Lantinga - Sun Jan 28 21:24:10 PST 2018 + * Added a dependency on SDL 2.0.8 + +2.0.2: +Sam Lantinga - Sat Oct 21 23:42:28 PDT 2017 + * Added simple SVG image support based on Nano SVG +Sam Lantinga - Sat Oct 21 22:14:34 PDT 2017 + * Updated external libraries jpeg-9b, libpng-1.6.32, libwebp-0.6.0, tiff-4.0.8 and zlib-1.2.11 +Yves Younan - Fri, Oct 6, 2017 3:38:38 PM + * Fixed security vulnerability in XCF image loader +Alexey - Tue Sep 12 00:41:53 PDT 2017 + * Added optional support for loading images using Windows Imaging Component +Fabian Greffrath - Tue Sep 12 00:15:56 PDT 2017 + * Added libpng save support for much smaller 8-bit images +Alexey - Mon Sep 11 23:50:31 PDT 2017 + * Added JPG save support when built with jpeglib + IMG_SaveJPG() and IMG_SaveJPG_RW() + +2.0.1: +Jeffrey Carpenter - Sat Nov 29 12:06:05 2014 + * Fixed image colorspace issue on iOS and Mac OS X +Sam Lantinga - Sun Jun 15 17:33:46 2014 + * Fixed support for transparency in XPM files +Davide Coppola - Thu Apr 17 17:30:12 2014 + * Fixed building JPEG support on Android +David Ludwig - Tue Apr 01 19:40:35 2014 + * Added support for building for Windows RT and Windows Phone +Timur - Wed Dec 11 21:24:36 2013 + * Fixed memory leak in webp image loading +Patrice Mandin - Thu Nov 07 19:15:28 2013 + * Fixed loading BMP files with large BITMAPINFOHEADER structures +Sam Lantinga - Fri Oct 11 21:54:20 2013 + * Fixed building with libpng 1.4 + +2.0.0: +Sam Lantinga - Sun Jun 2 22:25:31 PDT 2013 + * Added PNG save support based on miniz.c by Rich Geldreich + IMG_SavePNG(), IMG_SavePNG_RW() +Sam Lantinga - Sat Jun 1 19:11:26 PDT 2013 + * Updated for SDL 2.0 release +Sam Lantinga - Sat Mar 23 13:36:51 PDT 2013 + * Fixed bug setting colorkey for indexed PNG images +Torsten Stremlau - Sun Mar 10 10:19:25 PDT 2013 + * Added support for alpha and lossless WEBP images + +1.2.12: +mscott - 2012-02-06 19:40:23 PST + * Fixed image corruption when using ImageIO framework +Sylvain - Thu Nov 22 13:09:59 PST 2012 + * Added extended XPM color table (disabled by default in IMG_xpm.c) +Sam Lantinga - Thu Jan 19 23:18:09 EST 2012 + * Fixed regression in 1.2.11 loading 8-bit PNG images with libpng + +1.2.11: +Sam Lantinga - Sat Jan 14 17:54:38 EST 2012 + * Fixed loading 8-bit PNG images on Mac OS X +Sam Lantinga - Sat Dec 31 09:35:40 EST 2011 + * SDL_image is now under the zlib license +Michael Bonfils - Mon Nov 28 21:46:00 EST 2011 + * Added WEBP image support +Thomas Klausner - Wed Jan 19 19:31:25 PST 2011 + * Fixed compiling with libpng 1.4 +Sam Lantinga - Mon Jan 10 12:09:57 2011 -0800 + * Added Android.mk to build on the Android platform +Sam Lantinga - Mon May 10 22:42:53 PDT 2010 + * Fixed loading HAM6 images with stencil mask +Mark Tucker - Fri, 27 Nov 2009 12:38:21 -0500 + * Fixed bug loading 15 and 16 bit BMP images + +1.2.10: +Sam Lantinga - Sat Nov 14 11:22:14 PST 2009 + * Fixed bug loading multiple images + +1.2.9: +Sam Lantinga - Tue Nov 10 00:29:20 PST 2009 + * Fixed alpha premultiplication on Mac OS X and iPhone OS +Sam Lantinga - Sun Nov 8 07:52:11 PST 2009 + * Fixed checking for IMG_Init() return value in image loaders + +1.2.8: +Sam Lantinga - Sun Oct 4 13:12:54 PDT 2009 + * Added support for uncompressed PCX files +Mason Wheeler - 2009-06-10 06:29:45 PDT + * Added IMG_Init()/IMG_Quit() to prevent constantly loading and unloading DLLs +Couriersud - Mon, 12 Jan 2009 17:21:13 -0800 + * Added support for ICO and CUR image files +Eric Wing - Fri, 2 Jan 2009 02:01:16 -0800 + * Added ImageIO loading infrastructure for Mac OS X + * Added UIImage loading infrastructure for iPhone / iPod Touch + +1.2.7: +Sam Lantinga - Sun Nov 2 15:08:27 PST 2008 + * Fixed buffer overflow in BMP loading code, discovered by j00ru//vx +Sam Lantinga - Fri Dec 28 08:34:54 PST 2007 + * Fixed buffer overflow in GIF loading code, discovered by Michael Skladnikiewicz + +1.2.6: +Sam lantinga - Wed Jul 18 00:30:32 PDT 2007 + * Improved detection of libjpeg, libpng, and libtiff at configure time + * PNG and TIFF images are correctly identified even if dynamic libraries + to load them aren't available. + * Fixed loading of TIFF images using libtiff 3.6 +Sam Lantinga - Thu Jul 5 07:52:35 2007 + * Fixed static linking with libjpeg +Michael Koch - Tue Feb 13 10:09:17 2007 + * Fixed crash in IMG_ReadXPMFromArray() + +1.2.5: +Maurizio Monge - Sun May 14 13:57:32 PDT 2006 + * Fixed loading BMP palettes at unusual offsets +Sam Lantinga - Thu May 11 21:51:19 PDT 2006 + * Added support for dynamically loading libjpeg, libpng, and libtiff. +Sam Lantinga - Sun Apr 30 01:48:40 PDT 2006 + * Added gcc-fat.sh for generating Universal binaries on Mac OS X + * Updated libtool support to version 1.5.22 +Sam Lantinga - Sat Feb 4 15:17:44 PST 2006 + * Added support for XV thumbnail images +Gautier Portet - Fri, 19 Mar 2004 17:35:12 +0100 + * Added support for 32-bit BMP files with alpha + +1.2.4: +Pierre G. Richard - Fri, 30 Jul 2004 11:13:11 +0000 (UTC) + * Added support for RLE encoded BMP files +Marc Le Douarain - Fri, 26 Dec 2003 18:23:42 +0100 + * Added EHB and HAM mode support to the ILBM loader +Sam Lantinga - Wed Nov 19 00:23:44 PST 2003 + * Updated libtool support for new mingw32 DLL build process +Holger Schemel - Mon, 04 Aug 2003 21:50:52 +0200 + * Fixed crash loading certain PCX images +Kyle Davenport - Sat, 19 Apr 2003 17:13:31 -0500 + * Added .la files to the development RPM, fixing RPM build on RedHat 8 + +1.2.3: +Ryan C. Gordon - Sat, 8 Feb 2003 09:36:33 -0500 + * Fixed memory leak with non-seekable SDL_RWops +Marc Le Douarain - Sun, 22 Dec 2002 22:59:51 +0100 + * Added 24-bit support to the ILBM format loader +Sam Lantinga - Sun Oct 20 20:55:46 PDT 2002 + * Added shared library support for MacOS X +Pete Shinners - Thu Jun 20 10:05:54 PDT 2002 + * The JPEG loader can now load EXIF format JPEG images +Dag-Erling Smorgrav - Thu May 2 19:09:48 PDT 2002 + * The XCF loader now ignores invisible layers and channels + +1.2.2: +Sam Lantinga - Sat Apr 13 07:49:47 PDT 2002 + * Updated autogen.sh for new versions of automake + * Specify the SDL API calling convention (C by default) diff --git a/subprojects/sdl2_image_windows/LICENSE.txt b/subprojects/sdl2_image_windows/LICENSE.txt new file mode 100644 index 000000000..3931238c9 --- /dev/null +++ b/subprojects/sdl2_image_windows/LICENSE.txt @@ -0,0 +1,17 @@ +Copyright (C) 1997-2022 Sam Lantinga + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. diff --git a/subprojects/sdl2_image_windows/README.txt b/subprojects/sdl2_image_windows/README.txt new file mode 100644 index 000000000..109c9b696 --- /dev/null +++ b/subprojects/sdl2_image_windows/README.txt @@ -0,0 +1,38 @@ + +SDL_image 2.0 + +The latest version of this library is available from GitHub: +https://github.com/libsdl-org/SDL_image/releases + +This is a simple library to load images of various formats as SDL surfaces. +It can load BMP, GIF, JPEG, LBM, PCX, PNG, PNM (PPM/PGM/PBM), QOI, TGA, XCF, XPM, and simple SVG format images. It can also load AVIF, JPEG-XL, TIFF, and WebP images, depending on build options (see the note below for details.) + +API: +#include "SDL_image.h" + + SDL_Surface *IMG_Load(const char *file); +or + SDL_Surface *IMG_Load_RW(SDL_RWops *src, int freesrc); +or + SDL_Surface *IMG_LoadTyped_RW(SDL_RWops *src, int freesrc, char *type); + +where type is a string specifying the format (i.e. "PNG" or "pcx"). +Note that IMG_Load_RW cannot load TGA images. + +To create a surface from an XPM image included in C source, use: + + SDL_Surface *IMG_ReadXPMFromArray(char **xpm); + +An example program 'showimage' is included, with source in showimage.c + +Documentation is also available online at https://wiki.libsdl.org/SDL_image + +This library is under the zlib License, see the file "LICENSE.txt" for details. + +Note: +Support for AVIF, JPEG-XL, TIFF, and WebP are not included by default because of the size of the decode libraries, but you can get them by running external/download.sh +- When building with CMake, you can enable the appropriate SUPPORT_* options defined in CMakeLists.txt. +- When building with configure/make, you can build and install them normally and the configure script will detect and use them. +- When building with Visual Studio, you will need to build the libraries and then add the appropriate LOAD_* preprocessor define to the Visual Studio project. +- When building with Xcode, you can edit the config at the top of the project to enable them, and you will need to include the appropriate framework in your application. +- For Android, you can edit the config at the top of Android.mk to enable them. diff --git a/subprojects/sdl2_image_windows/copy.py b/subprojects/sdl2_image_windows/copy.py new file mode 100644 index 000000000..adbdd5caa --- /dev/null +++ b/subprojects/sdl2_image_windows/copy.py @@ -0,0 +1,4 @@ +#!/usr/bin/env python3 + +import sys, shutil +shutil.copyfile(sys.argv[1], sys.argv[2]) \ No newline at end of file diff --git a/subprojects/sdl2_image_windows/include/SDL2/SDL_image.h b/subprojects/sdl2_image_windows/include/SDL2/SDL_image.h new file mode 100644 index 000000000..3db23b2f5 --- /dev/null +++ b/subprojects/sdl2_image_windows/include/SDL2/SDL_image.h @@ -0,0 +1,2173 @@ +/* + SDL_image: An example image loading library for use with SDL + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_image.h + * + * Header file for SDL_image library + * + * A simple library to load images of various formats as SDL surfaces + */ +#ifndef SDL_IMAGE_H_ +#define SDL_IMAGE_H_ + +#include "SDL.h" +#include "SDL_version.h" +#include "begin_code.h" + +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Printable format: "%d.%d.%d", MAJOR, MINOR, PATCHLEVEL + */ +#define SDL_IMAGE_MAJOR_VERSION 2 +#define SDL_IMAGE_MINOR_VERSION 6 +#define SDL_IMAGE_PATCHLEVEL 2 + +/** + * This macro can be used to fill a version structure with the compile-time + * version of the SDL_image library. + */ +#define SDL_IMAGE_VERSION(X) \ +{ \ + (X)->major = SDL_IMAGE_MAJOR_VERSION; \ + (X)->minor = SDL_IMAGE_MINOR_VERSION; \ + (X)->patch = SDL_IMAGE_PATCHLEVEL; \ +} + +#if SDL_IMAGE_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 +/** + * This is the version number macro for the current SDL_image version. + * + * In versions higher than 2.9.0, the minor version overflows into + * the thousands digit: for example, 2.23.0 is encoded as 4300. + * This macro will not be available in SDL 3.x or SDL_image 3.x. + * + * Deprecated, use SDL_IMAGE_VERSION_ATLEAST or SDL_IMAGE_VERSION instead. + */ +#define SDL_IMAGE_COMPILEDVERSION \ + SDL_VERSIONNUM(SDL_IMAGE_MAJOR_VERSION, SDL_IMAGE_MINOR_VERSION, SDL_IMAGE_PATCHLEVEL) +#endif /* SDL_IMAGE_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 */ + +/** + * This macro will evaluate to true if compiled with SDL_image at least X.Y.Z. + */ +#define SDL_IMAGE_VERSION_ATLEAST(X, Y, Z) \ + ((SDL_IMAGE_MAJOR_VERSION >= X) && \ + (SDL_IMAGE_MAJOR_VERSION > X || SDL_IMAGE_MINOR_VERSION >= Y) && \ + (SDL_IMAGE_MAJOR_VERSION > X || SDL_IMAGE_MINOR_VERSION > Y || SDL_IMAGE_PATCHLEVEL >= Z)) + +/** + * This function gets the version of the dynamically linked SDL_image library. + * + * it should NOT be used to fill a version structure, instead you should use + * the SDL_IMAGE_VERSION() macro. + * + * \returns SDL_image version + */ +extern DECLSPEC const SDL_version * SDLCALL IMG_Linked_Version(void); + +/** + * Initialization flags + */ +typedef enum +{ + IMG_INIT_JPG = 0x00000001, + IMG_INIT_PNG = 0x00000002, + IMG_INIT_TIF = 0x00000004, + IMG_INIT_WEBP = 0x00000008, + IMG_INIT_JXL = 0x00000010, + IMG_INIT_AVIF = 0x00000020 +} IMG_InitFlags; + +/** + * Initialize SDL_image. + * + * This function loads dynamic libraries that SDL_image needs, and prepares + * them for use. This must be the first function you call in SDL_image, and if + * it fails you should not continue with the library. + * + * Flags should be one or more flags from IMG_InitFlags OR'd together. It + * returns the flags successfully initialized, or 0 on failure. + * + * Currently, these flags are: + * + * - `_INIT_JPG` + * - `_INIT_PNG` + * - `_INIT_TIF` + * - `_INIT_WEBP` + * - `_INIT_JXL` + * - `_INIT_AVIF` + * + * More flags may be added in a future SDL_image release. + * + * This function may need to load external shared libraries to support various + * codecs, which means this function can fail to initialize that support on an + * otherwise-reasonable system if the library isn't available; this is not + * just a question of exceptional circumstances like running out of memory at + * startup! + * + * Note that you may call this function more than once to initialize with + * additional flags. The return value will reflect both new flags that + * successfully initialized, and also include flags that had previously been + * initialized as well. + * + * As this will return previously-initialized flags, it's legal to call this + * with zero (no flags set). This is a safe no-op that can be used to query + * the current initialization state without changing it at all. + * + * Since this returns previously-initialized flags as well as new ones, and + * you can call this with zero, you should not check for a zero return value + * to determine an error condition. Instead, you should check to make sure all + * the flags you require are set in the return value. If you have a game with + * data in a specific format, this might be a fatal error. If you're a generic + * image displaying app, perhaps you are fine with only having JPG and PNG + * support and can live without WEBP, even if you request support for + * everything. + * + * Unlike other SDL satellite libraries, calls to IMG_Init do not stack; a + * single call to IMG_Quit() will deinitialize everything and does not have to + * be paired with a matching IMG_Init call. For that reason, it's considered + * best practices to have a single IMG_Init and IMG_Quit call in your program. + * While this isn't required, be aware of the risks of deviating from that + * behavior. + * + * After initializing SDL_image, the app may begin to load images into + * SDL_Surfaces or SDL_Textures. + * + * \param flags initialization flags, OR'd together. + * \returns all currently initialized flags. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_Quit + */ +extern DECLSPEC int SDLCALL IMG_Init(int flags); + +/** + * Deinitialize SDL_image. + * + * This should be the last function you call in SDL_image, after freeing all + * other resources. This will unload any shared libraries it is using for + * various codecs. + * + * After this call, a call to IMG_Init(0) will return 0 (no codecs loaded). + * + * You can safely call IMG_Init() to reload various codec support after this + * call. + * + * Unlike other SDL satellite libraries, calls to IMG_Init do not stack; a + * single call to IMG_Quit() will deinitialize everything and does not have to + * be paired with a matching IMG_Init call. For that reason, it's considered + * best practices to have a single IMG_Init and IMG_Quit call in your program. + * While this isn't required, be aware of the risks of deviating from that + * behavior. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_Init + */ +extern DECLSPEC void SDLCALL IMG_Quit(void); + +/** + * Load an image from an SDL data source into a software surface. + * + * An SDL_Surface is a buffer of pixels in memory accessible by the CPU. Use + * this if you plan to hand the data to something else or manipulate it + * further in code. + * + * There are no guarantees about what format the new SDL_Surface data will be; + * in many cases, SDL_image will attempt to supply a surface that exactly + * matches the provided image, but in others it might have to convert (either + * because the image is in a format that SDL doesn't directly support or + * because it's compressed data that could reasonably uncompress to various + * formats and SDL_image had to pick one). You can inspect an SDL_Surface for + * its specifics, and use SDL_ConvertSurface to then migrate to any supported + * format. + * + * If the image format supports a transparent pixel, SDL will set the colorkey + * for the surface. You can enable RLE acceleration on the surface afterwards + * by calling: SDL_SetColorKey(image, SDL_RLEACCEL, image->format->colorkey); + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_image reads everything it needs + * from the RWops during this call in any case. + * + * Even though this function accepts a file type, SDL_image may still try + * other decoders that are capable of detecting file type from the contents of + * the image data, but may rely on the caller-provided type string for formats + * that it cannot autodetect. If `type` is NULL, SDL_image will rely solely on + * its ability to guess the format. + * + * There is a separate function to read files from disk without having to deal + * with SDL_RWops: `IMG_Load("filename.jpg")` will call this function and + * manage those details for you, determining the file type from the filename's + * extension. + * + * There is also IMG_Load_RW(), which is equivalent to this function except + * that it will rely on SDL_image to determine what type of data it is + * loading, much like passing a NULL for type. + * + * If you are using SDL's 2D rendering API, there is an equivalent call to + * load images directly into an SDL_Texture for use by the GPU without using a + * software surface: call IMG_LoadTextureTyped_RW() instead. + * + * When done with the returned surface, the app should dispose of it with a + * call to SDL_FreeSurface(). + * + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \param type a filename extension that represent this data ("BMP", "GIF", + * "PNG", etc). + * \returns a new SDL surface, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_Load + * \sa IMG_Load_RW + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadTyped_RW(SDL_RWops *src, int freesrc, const char *type); + +/** + * Load an image from a filesystem path into a software surface. + * + * An SDL_Surface is a buffer of pixels in memory accessible by the CPU. Use + * this if you plan to hand the data to something else or manipulate it + * further in code. + * + * There are no guarantees about what format the new SDL_Surface data will be; + * in many cases, SDL_image will attempt to supply a surface that exactly + * matches the provided image, but in others it might have to convert (either + * because the image is in a format that SDL doesn't directly support or + * because it's compressed data that could reasonably uncompress to various + * formats and SDL_image had to pick one). You can inspect an SDL_Surface for + * its specifics, and use SDL_ConvertSurface to then migrate to any supported + * format. + * + * If the image format supports a transparent pixel, SDL will set the colorkey + * for the surface. You can enable RLE acceleration on the surface afterwards + * by calling: SDL_SetColorKey(image, SDL_RLEACCEL, image->format->colorkey); + * + * There is a separate function to read files from an SDL_RWops, if you need + * an i/o abstraction to provide data from anywhere instead of a simple + * filesystem read; that function is IMG_Load_RW(). + * + * If you are using SDL's 2D rendering API, there is an equivalent call to + * load images directly into an SDL_Texture for use by the GPU without using a + * software surface: call IMG_LoadTexture() instead. + * + * When done with the returned surface, the app should dispose of it with a + * call to SDL_FreeSurface(). + * + * \param file a path on the filesystem to load an image from. + * \returns a new SDL surface, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadTyped_RW + * \sa IMG_Load_RW + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_Load(const char *file); + +/** + * Load an image from an SDL data source into a software surface. + * + * An SDL_Surface is a buffer of pixels in memory accessible by the CPU. Use + * this if you plan to hand the data to something else or manipulate it + * further in code. + * + * There are no guarantees about what format the new SDL_Surface data will be; + * in many cases, SDL_image will attempt to supply a surface that exactly + * matches the provided image, but in others it might have to convert (either + * because the image is in a format that SDL doesn't directly support or + * because it's compressed data that could reasonably uncompress to various + * formats and SDL_image had to pick one). You can inspect an SDL_Surface for + * its specifics, and use SDL_ConvertSurface to then migrate to any supported + * format. + * + * If the image format supports a transparent pixel, SDL will set the colorkey + * for the surface. You can enable RLE acceleration on the surface afterwards + * by calling: SDL_SetColorKey(image, SDL_RLEACCEL, image->format->colorkey); + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_image reads everything it needs + * from the RWops during this call in any case. + * + * There is a separate function to read files from disk without having to deal + * with SDL_RWops: `IMG_Load("filename.jpg")` will call this function and + * manage those details for you, determining the file type from the filename's + * extension. + * + * There is also IMG_LoadTyped_RW(), which is equivalent to this function + * except a file extension (like "BMP", "JPG", etc) can be specified, in case + * SDL_image cannot autodetect the file format. + * + * If you are using SDL's 2D rendering API, there is an equivalent call to + * load images directly into an SDL_Texture for use by the GPU without using a + * software surface: call IMG_LoadTexture_RW() instead. + * + * When done with the returned surface, the app should dispose of it with a + * call to SDL_FreeSurface(). + * + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \returns a new SDL surface, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_Load + * \sa IMG_LoadTyped_RW + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_Load_RW(SDL_RWops *src, int freesrc); + +#if SDL_VERSION_ATLEAST(2,0,0) + +/** + * Load an image from a filesystem path into a GPU texture. + * + * An SDL_Texture represents an image in GPU memory, usable by SDL's 2D Render + * API. This can be significantly more efficient than using a CPU-bound + * SDL_Surface if you don't need to manipulate the image directly after + * loading it. + * + * If the loaded image has transparency or a colorkey, a texture with an alpha + * channel will be created. Otherwise, SDL_image will attempt to create an + * SDL_Texture in the most format that most reasonably represents the image + * data (but in many cases, this will just end up being 32-bit RGB or 32-bit + * RGBA). + * + * There is a separate function to read files from an SDL_RWops, if you need + * an i/o abstraction to provide data from anywhere instead of a simple + * filesystem read; that function is IMG_LoadTexture_RW(). + * + * If you would rather decode an image to an SDL_Surface (a buffer of pixels + * in CPU memory), call IMG_Load() instead. + * + * When done with the returned texture, the app should dispose of it with a + * call to SDL_DestroyTexture(). + * + * \param renderer the SDL_Renderer to use to create the GPU texture. + * \param file a path on the filesystem to load an image from. + * \returns a new texture, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadTextureTyped_RW + * \sa IMG_LoadTexture_RW + * \sa SDL_DestroyTexture + */ +extern DECLSPEC SDL_Texture * SDLCALL IMG_LoadTexture(SDL_Renderer *renderer, const char *file); + +/** + * Load an image from an SDL data source into a GPU texture. + * + * An SDL_Texture represents an image in GPU memory, usable by SDL's 2D Render + * API. This can be significantly more efficient than using a CPU-bound + * SDL_Surface if you don't need to manipulate the image directly after + * loading it. + * + * If the loaded image has transparency or a colorkey, a texture with an alpha + * channel will be created. Otherwise, SDL_image will attempt to create an + * SDL_Texture in the most format that most reasonably represents the image + * data (but in many cases, this will just end up being 32-bit RGB or 32-bit + * RGBA). + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_image reads everything it needs + * from the RWops during this call in any case. + * + * There is a separate function to read files from disk without having to deal + * with SDL_RWops: `IMG_LoadTexture(renderer, "filename.jpg")` will call this + * function and manage those details for you, determining the file type from + * the filename's extension. + * + * There is also IMG_LoadTextureTyped_RW(), which is equivalent to this + * function except a file extension (like "BMP", "JPG", etc) can be specified, + * in case SDL_image cannot autodetect the file format. + * + * If you would rather decode an image to an SDL_Surface (a buffer of pixels + * in CPU memory), call IMG_Load() instead. + * + * When done with the returned texture, the app should dispose of it with a + * call to SDL_DestroyTexture(). + * + * \param renderer the SDL_Renderer to use to create the GPU texture. + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \returns a new texture, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadTexture + * \sa IMG_LoadTextureTyped_RW + * \sa SDL_DestroyTexture + */ +extern DECLSPEC SDL_Texture * SDLCALL IMG_LoadTexture_RW(SDL_Renderer *renderer, SDL_RWops *src, int freesrc); + +/** + * Load an image from an SDL data source into a GPU texture. + * + * An SDL_Texture represents an image in GPU memory, usable by SDL's 2D Render + * API. This can be significantly more efficient than using a CPU-bound + * SDL_Surface if you don't need to manipulate the image directly after + * loading it. + * + * If the loaded image has transparency or a colorkey, a texture with an alpha + * channel will be created. Otherwise, SDL_image will attempt to create an + * SDL_Texture in the most format that most reasonably represents the image + * data (but in many cases, this will just end up being 32-bit RGB or 32-bit + * RGBA). + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_image reads everything it needs + * from the RWops during this call in any case. + * + * Even though this function accepts a file type, SDL_image may still try + * other decoders that are capable of detecting file type from the contents of + * the image data, but may rely on the caller-provided type string for formats + * that it cannot autodetect. If `type` is NULL, SDL_image will rely solely on + * its ability to guess the format. + * + * There is a separate function to read files from disk without having to deal + * with SDL_RWops: `IMG_LoadTexture("filename.jpg")` will call this function + * and manage those details for you, determining the file type from the + * filename's extension. + * + * There is also IMG_LoadTexture_RW(), which is equivalent to this function + * except that it will rely on SDL_image to determine what type of data it is + * loading, much like passing a NULL for type. + * + * If you would rather decode an image to an SDL_Surface (a buffer of pixels + * in CPU memory), call IMG_LoadTyped_RW() instead. + * + * When done with the returned texture, the app should dispose of it with a + * call to SDL_DestroyTexture(). + * + * \param renderer the SDL_Renderer to use to create the GPU texture. + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \param type a filename extension that represent this data ("BMP", "GIF", + * "PNG", etc). + * \returns a new texture, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadTexture + * \sa IMG_LoadTexture_RW + * \sa SDL_DestroyTexture + */ +extern DECLSPEC SDL_Texture * SDLCALL IMG_LoadTextureTyped_RW(SDL_Renderer *renderer, SDL_RWops *src, int freesrc, const char *type); +#endif /* SDL 2.0 */ + +/** + * Detect AVIF image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is AVIF data, zero otherwise. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isAVIF(SDL_RWops *src); + +/** + * Detect ICO image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is ICO data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isICO(SDL_RWops *src); + +/** + * Detect CUR image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is CUR data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isCUR(SDL_RWops *src); + +/** + * Detect BMP image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is BMP data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isBMP(SDL_RWops *src); + +/** + * Detect GIF image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is GIF data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isGIF(SDL_RWops *src); + +/** + * Detect JPG image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is JPG data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isJPG(SDL_RWops *src); + +/** + * Detect JXL image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is JXL data, zero otherwise. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isJXL(SDL_RWops *src); + +/** + * Detect LBM image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is LBM data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isLBM(SDL_RWops *src); + +/** + * Detect PCX image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is PCX data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isPCX(SDL_RWops *src); + +/** + * Detect PNG image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is PNG data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isPNG(SDL_RWops *src); + +/** + * Detect PNM image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is PNM data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isPNM(SDL_RWops *src); + +/** + * Detect SVG image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is SVG data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.2. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isSVG(SDL_RWops *src); + +/** + * Detect QOI image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is QOI data, zero otherwise. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isQOI(SDL_RWops *src); + +/** + * Detect TIFF image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is TIFF data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isTIF(SDL_RWops *src); + +/** + * Detect XCF image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is XCF data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXPM + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isXCF(SDL_RWops *src); + +/** + * Detect XPM image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is XPM data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXV + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isXPM(SDL_RWops *src); + +/** + * Detect XV image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is XV data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isWEBP + */ +extern DECLSPEC int SDLCALL IMG_isXV(SDL_RWops *src); + +/** + * Detect WEBP image data on a readable/seekable SDL_RWops. + * + * This function attempts to determine if a file is a given filetype, reading + * the least amount possible from the SDL_RWops (usually a few bytes). + * + * There is no distinction made between "not the filetype in question" and + * basic i/o errors. + * + * This function will always attempt to seek the RWops back to where it + * started when this function was called, but it will not report any errors in + * doing so, but assuming seeking works, this means you can immediately use + * this with a different IMG_isTYPE function, or load the image without + * further seeking. + * + * You do not need to call this function to load data; SDL_image can work to + * determine file type in many cases in its standard load functions. + * + * \param src a seekable/readable SDL_RWops to provide image data. + * \returns non-zero if this is WEBP data, zero otherwise. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_isAVIF + * \sa IMG_isICO + * \sa IMG_isCUR + * \sa IMG_isBMP + * \sa IMG_isGIF + * \sa IMG_isJPG + * \sa IMG_isJXL + * \sa IMG_isLBM + * \sa IMG_isPCX + * \sa IMG_isPNG + * \sa IMG_isPNM + * \sa IMG_isSVG + * \sa IMG_isQOI + * \sa IMG_isTIF + * \sa IMG_isXCF + * \sa IMG_isXPM + * \sa IMG_isXV + */ +extern DECLSPEC int SDLCALL IMG_isWEBP(SDL_RWops *src); + +/** + * Load a AVIF image directly. + * + * If you know you definitely have a AVIF image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadAVIF_RW(SDL_RWops *src); + +/** + * Load a ICO image directly. + * + * If you know you definitely have a ICO image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadICO_RW(SDL_RWops *src); + +/** + * Load a CUR image directly. + * + * If you know you definitely have a CUR image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadCUR_RW(SDL_RWops *src); + +/** + * Load a BMP image directly. + * + * If you know you definitely have a BMP image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadBMP_RW(SDL_RWops *src); + +/** + * Load a GIF image directly. + * + * If you know you definitely have a GIF image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadGIF_RW(SDL_RWops *src); + +/** + * Load a JPG image directly. + * + * If you know you definitely have a JPG image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadJPG_RW(SDL_RWops *src); + +/** + * Load a JXL image directly. + * + * If you know you definitely have a JXL image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadJXL_RW(SDL_RWops *src); + +/** + * Load a LBM image directly. + * + * If you know you definitely have a LBM image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadLBM_RW(SDL_RWops *src); + +/** + * Load a PCX image directly. + * + * If you know you definitely have a PCX image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadPCX_RW(SDL_RWops *src); + +/** + * Load a PNG image directly. + * + * If you know you definitely have a PNG image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadPNG_RW(SDL_RWops *src); + +/** + * Load a PNM image directly. + * + * If you know you definitely have a PNM image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadPNM_RW(SDL_RWops *src); + +/** + * Load a SVG image directly. + * + * If you know you definitely have a SVG image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.2. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadSVG_RW(SDL_RWops *src); + +/** + * Load a QOI image directly. + * + * If you know you definitely have a QOI image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadQOI_RW(SDL_RWops *src); + +/** + * Load a TGA image directly. + * + * If you know you definitely have a TGA image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadTGA_RW(SDL_RWops *src); + +/** + * Load a TIFF image directly. + * + * If you know you definitely have a TIFF image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadTIF_RW(SDL_RWops *src); + +/** + * Load a XCF image directly. + * + * If you know you definitely have a XCF image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadXCF_RW(SDL_RWops *src); + +/** + * Load a XPM image directly. + * + * If you know you definitely have a XPM image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXV_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadXPM_RW(SDL_RWops *src); + +/** + * Load a XV image directly. + * + * If you know you definitely have a XV image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadWEBP_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadXV_RW(SDL_RWops *src); + +/** + * Load a WEBP image directly. + * + * If you know you definitely have a WEBP image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops to load image data from. + * \returns SDL surface, or NULL on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_LoadAVIF_RW + * \sa IMG_LoadICO_RW + * \sa IMG_LoadCUR_RW + * \sa IMG_LoadBMP_RW + * \sa IMG_LoadGIF_RW + * \sa IMG_LoadJPG_RW + * \sa IMG_LoadJXL_RW + * \sa IMG_LoadLBM_RW + * \sa IMG_LoadPCX_RW + * \sa IMG_LoadPNG_RW + * \sa IMG_LoadPNM_RW + * \sa IMG_LoadSVG_RW + * \sa IMG_LoadQOI_RW + * \sa IMG_LoadTGA_RW + * \sa IMG_LoadTIF_RW + * \sa IMG_LoadXCF_RW + * \sa IMG_LoadXPM_RW + * \sa IMG_LoadXV_RW + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadWEBP_RW(SDL_RWops *src); + +/** + * Load an SVG image, scaled to a specific size. + * + * Since SVG files are resolution-independent, you specify the size you would + * like the output image to be and it will be generated at those dimensions. + * + * Either width or height may be 0 and the image will be auto-sized to + * preserve aspect ratio. + * + * When done with the returned surface, the app should dispose of it with a + * call to SDL_FreeSurface(). + * + * \param src an SDL_RWops to load SVG data from. + * \param width desired width of the generated surface, in pixels. + * \param height desired height of the generated surface, in pixels. + * \returns a new SDL surface, or NULL on error. + * + * \since This function is available since SDL_image 2.6.0. + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadSizedSVG_RW(SDL_RWops *src, int width, int height); + +/** + * Load an XPM image from a memory array. + * + * The returned surface will be an 8bpp indexed surface, if possible, + * otherwise it will be 32bpp. If you always want 32-bit data, use + * IMG_ReadXPMFromArrayToRGB888() instead. + * + * When done with the returned surface, the app should dispose of it with a + * call to SDL_FreeSurface(). + * + * \param xpm a null-terminated array of strings that comprise XPM data. + * \returns a new SDL surface, or NULL on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_ReadXPMFromArrayToRGB888 + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_ReadXPMFromArray(char **xpm); + +/** + * Load an XPM image from a memory array. + * + * The returned surface will always be a 32-bit RGB surface. If you want 8-bit + * indexed colors (and the XPM data allows it), use IMG_ReadXPMFromArray() + * instead. + * + * When done with the returned surface, the app should dispose of it with a + * call to SDL_FreeSurface(). + * + * \param xpm a null-terminated array of strings that comprise XPM data. + * \returns a new SDL surface, or NULL on error. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_ReadXPMFromArray + */ +extern DECLSPEC SDL_Surface * SDLCALL IMG_ReadXPMFromArrayToRGB888(char **xpm); + +/** + * Save an SDL_Surface into a PNG image file. + * + * If the file already exists, it will be overwritten. + * + * \param surface the SDL surface to save + * \param file path on the filesystem to write new file to. + * \returns 0 if successful, -1 on error + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_SavePNG_RW + * \sa IMG_SaveJPG + * \sa IMG_SaveJPG_RW + */ +extern DECLSPEC int SDLCALL IMG_SavePNG(SDL_Surface *surface, const char *file); + +/** + * Save an SDL_Surface into PNG image data, via an SDL_RWops. + * + * If you just want to save to a filename, you can use IMG_SavePNG() instead. + * + * \param surface the SDL surface to save + * \param dst the SDL_RWops to save the image data to. + * \returns 0 if successful, -1 on error. + * + * \since This function is available since SDL_image 2.0.0. + * + * \sa IMG_SavePNG + * \sa IMG_SaveJPG + * \sa IMG_SaveJPG_RW + */ +extern DECLSPEC int SDLCALL IMG_SavePNG_RW(SDL_Surface *surface, SDL_RWops *dst, int freedst); + +/** + * Save an SDL_Surface into a JPEG image file. + * + * If the file already exists, it will be overwritten. + * + * \param surface the SDL surface to save + * \param file path on the filesystem to write new file to. + * \param quality [0; 33] is Lowest quality, [34; 66] is Middle quality, [67; + * 100] is Highest quality + * \returns 0 if successful, -1 on error + * + * \since This function is available since SDL_image 2.0.2. + * + * \sa IMG_SaveJPG_RW + * \sa IMG_SavePNG + * \sa IMG_SavePNG_RW + */ +extern DECLSPEC int SDLCALL IMG_SaveJPG(SDL_Surface *surface, const char *file, int quality); + +/** + * Save an SDL_Surface into JPEG image data, via an SDL_RWops. + * + * If you just want to save to a filename, you can use IMG_SaveJPG() instead. + * + * \param surface the SDL surface to save + * \param dst the SDL_RWops to save the image data to. + * \returns 0 if successful, -1 on error. + * + * \since This function is available since SDL_image 2.0.2. + * + * \sa IMG_SaveJPG + * \sa IMG_SavePNG + * \sa IMG_SavePNG_RW + */ +extern DECLSPEC int SDLCALL IMG_SaveJPG_RW(SDL_Surface *surface, SDL_RWops *dst, int freedst, int quality); + +/** + * Animated image support + * Currently only animated GIFs are supported. + */ +typedef struct +{ + int w, h; + int count; + SDL_Surface **frames; + int *delays; +} IMG_Animation; + +/** + * Load an animation from a file. + * + * When done with the returned animation, the app should dispose of it with a + * call to IMG_FreeAnimation(). + * + * \param file path on the filesystem containing an animated image. + * \returns a new IMG_Animation, or NULL on error. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_FreeAnimation + */ +extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadAnimation(const char *file); + +/** + * Load an animation from an SDL_RWops. + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_image reads everything it needs + * from the RWops during this call in any case. + * + * When done with the returned animation, the app should dispose of it with a + * call to IMG_FreeAnimation(). + * + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \returns a new IMG_Animation, or NULL on error. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_FreeAnimation + */ +extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadAnimation_RW(SDL_RWops *src, int freesrc); + +/** + * Load an animation from an SDL datasource + * + * Even though this function accepts a file type, SDL_image may still try + * other decoders that are capable of detecting file type from the contents of + * the image data, but may rely on the caller-provided type string for formats + * that it cannot autodetect. If `type` is NULL, SDL_image will rely solely on + * its ability to guess the format. + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_image reads everything it needs + * from the RWops during this call in any case. + * + * When done with the returned animation, the app should dispose of it with a + * call to IMG_FreeAnimation(). + * + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \param type a filename extension that represent this data ("GIF", etc). + * \returns a new IMG_Animation, or NULL on error. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_LoadAnimation + * \sa IMG_LoadAnimation_RW + * \sa IMG_FreeAnimation + */ +extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadAnimationTyped_RW(SDL_RWops *src, int freesrc, const char *type); + +/** + * Dispose of an IMG_Animation and free its resources. + * + * The provided `anim` pointer is not valid once this call returns. + * + * \param anim IMG_Animation to dispose of. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_LoadAnimation + * \sa IMG_LoadAnimation_RW + * \sa IMG_LoadAnimationTyped_RW + */ +extern DECLSPEC void SDLCALL IMG_FreeAnimation(IMG_Animation *anim); + +/** + * Load a GIF animation directly. + * + * If you know you definitely have a GIF image, you can call this function, + * which will skip SDL_image's file format detection routines. Generally it's + * better to use the abstract interfaces; also, there is only an SDL_RWops + * interface available here. + * + * \param src an SDL_RWops that data will be read from. + * \returns a new IMG_Animation, or NULL on error. + * + * \since This function is available since SDL_image 2.6.0. + * + * \sa IMG_LoadAnimation + * \sa IMG_LoadAnimation_RW + * \sa IMG_LoadAnimationTyped_RW + * \sa IMG_FreeAnimation + */ +extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadGIFAnimation_RW(SDL_RWops *src); + +/** + * Report SDL_image errors + * + * \sa IMG_GetError + */ +#define IMG_SetError SDL_SetError + +/** + * Get last SDL_image error + * + * \sa IMG_SetError + */ +#define IMG_GetError SDL_GetError + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_IMAGE_H_ */ diff --git a/subprojects/sdl2_image_windows/meson.build b/subprojects/sdl2_image_windows/meson.build new file mode 100644 index 000000000..033e61f3a --- /dev/null +++ b/subprojects/sdl2_image_windows/meson.build @@ -0,0 +1,15 @@ +project('sdl2_image_windows', 'cpp') + +fs = import('fs') + +new_dir = join_paths('C:/TDT4102-mingw64','SDL2','sdl2_image_lib') +old_dir = join_paths(meson.current_source_dir(), 'lib') +#Ensuring backwards compatability in transition when SDL2 can be both places +dir_to_use = fs.exists(new_dir) ? new_dir : old_dir + +cxx = meson.get_compiler('cpp') +sdl2_image_windows_dep = declare_dependency( + dependencies : [cxx.find_library('SDL2_image', dirs : dir_to_use)], + include_directories : include_directories(join_paths('include', 'SDL2'))) + + \ No newline at end of file diff --git a/subprojects/sdl2_mixer.wrap b/subprojects/sdl2_mixer.wrap new file mode 100644 index 000000000..8159f0cb1 --- /dev/null +++ b/subprojects/sdl2_mixer.wrap @@ -0,0 +1,13 @@ +[wrap-file] +directory = SDL2_mixer-2.6.2 +source_url = https://www.libsdl.org/projects/SDL_mixer/release/SDL2_mixer-2.6.2.tar.gz +source_filename = SDL2_mixer-2.6.2.tar.gz +source_hash = 8cdea810366decba3c33d32b8071bccd1c309b2499a54946d92b48e6922aa371 +patch_filename = sdl2_mixer_2.6.2-4_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/sdl2_mixer_2.6.2-4/get_patch +patch_hash = 127025fa0666dd3ea66fb7c334182c393a748fb78810c6a44cdc1a85d619d934 +source_fallback_url = https://github.com/mesonbuild/wrapdb/releases/download/sdl2_mixer_2.6.2-4/SDL2_mixer-2.6.2.tar.gz +wrapdb_version = 2.6.2-4 + +[provide] +sdl2_mixer = sdl2_mixer_dep diff --git a/subprojects/sdl2_mixer_windows/LICENSE.txt b/subprojects/sdl2_mixer_windows/LICENSE.txt new file mode 100644 index 000000000..52d0ed38b --- /dev/null +++ b/subprojects/sdl2_mixer_windows/LICENSE.txt @@ -0,0 +1,17 @@ +Copyright (C) 1997-2025 Sam Lantinga + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. diff --git a/subprojects/sdl2_mixer_windows/README.txt b/subprojects/sdl2_mixer_windows/README.txt new file mode 100644 index 000000000..0a62a6ab8 --- /dev/null +++ b/subprojects/sdl2_mixer_windows/README.txt @@ -0,0 +1,31 @@ + +SDL_mixer 2.0 + +The latest version of this library is available from GitHub: +https://github.com/libsdl-org/SDL_mixer/releases + +Due to popular demand, here is a simple multi-channel audio mixer. +It supports 8 channels of 16 bit stereo audio, plus a single channel of music. It can load FLAC, MP3, Ogg, VOC, and WAV format audio. It can also load MIDI, MOD, and Opus audio, depending on build options (see the note below for details.) + +See the header file SDL_mixer.h and the examples playwave.c and playmus.c for documentation on this mixer library. This documentation is also available online at https://wiki.libsdl.org/SDL2_mixer + +The process of mixing MIDI files to wave output is very CPU intensive, so if playing regular WAVE files sound great, but playing MIDI files sound choppy, try using 8-bit audio, mono audio, or lower frequencies. + +If you have built with FluidSynth support, you'll need to set the SDL_SOUNDFONTS environment variable to a Sound Font 2 (.sf2) file containing the musical instruments you want to use for MIDI playback. +(On some Linux distributions you can install the fluid-soundfont-gm package) + +To play MIDI files using Timidity, you'll need to get a complete set of GUS patches from: +http://www.libsdl.org/projects/mixer/timidity/timidity.tar.gz +and unpack them in /usr/local/lib under UNIX, and C:\ under Win32. + +This library is under the zlib license, see the file "LICENSE.txt" for details. + +Note: +Support for software MIDI, MOD, and Opus are not included by default because of the size of the decode libraries, but you can get them by running external/download.sh +- When building with CMake, you can enable the appropriate SDL2MIXER_* options defined in CMakeLists.txt. SDL2MIXER_VENDORED allows switching between system and vendored libraries. +- When building with configure/make, you can build and install them normally and the configure script will detect and use them. +- When building with Visual Studio, you will need to build the libraries and then add the appropriate LOAD_* preprocessor define to the Visual Studio project. +- When building with Xcode, you can edit the config at the top of the project to enable them, and you will need to include the appropriate framework in your application. +- For Android, you can edit the config at the top of Android.mk to enable them. + +The default MP3 support is provided using minimp3. SDL_mixer also supports using libmpg123: you can enable it by passing --enable-music-mp3-mpg123 to configure. diff --git a/subprojects/sdl2_mixer_windows/copy.py b/subprojects/sdl2_mixer_windows/copy.py new file mode 100644 index 000000000..adbdd5caa --- /dev/null +++ b/subprojects/sdl2_mixer_windows/copy.py @@ -0,0 +1,4 @@ +#!/usr/bin/env python3 + +import sys, shutil +shutil.copyfile(sys.argv[1], sys.argv[2]) \ No newline at end of file diff --git a/subprojects/sdl2_mixer_windows/include/SDL2/SDL_mixer.h b/subprojects/sdl2_mixer_windows/include/SDL2/SDL_mixer.h new file mode 100644 index 000000000..ce8bdae59 --- /dev/null +++ b/subprojects/sdl2_mixer_windows/include/SDL2/SDL_mixer.h @@ -0,0 +1,2831 @@ +/* + SDL_mixer: An audio mixer library based on the SDL library + Copyright (C) 1997-2025 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_mixer.h + * + * Header file for SDL_mixer library + * + * A simple library to play and mix sounds and musics + */ +#ifndef SDL_MIXER_H_ +#define SDL_MIXER_H_ + +#include "SDL_stdinc.h" +#include "SDL_rwops.h" +#include "SDL_audio.h" +#include "SDL_endian.h" +#include "SDL_version.h" +#include "begin_code.h" + +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Printable format: "%d.%d.%d", MAJOR, MINOR, PATCHLEVEL + */ +#define SDL_MIXER_MAJOR_VERSION 2 +#define SDL_MIXER_MINOR_VERSION 8 +#define SDL_MIXER_PATCHLEVEL 1 + +/** + * This macro can be used to fill a version structure with the compile-time + * version of the SDL_mixer library. + */ +#define SDL_MIXER_VERSION(X) \ +{ \ + (X)->major = SDL_MIXER_MAJOR_VERSION; \ + (X)->minor = SDL_MIXER_MINOR_VERSION; \ + (X)->patch = SDL_MIXER_PATCHLEVEL; \ +} + +/* Backwards compatibility */ +#define MIX_MAJOR_VERSION SDL_MIXER_MAJOR_VERSION +#define MIX_MINOR_VERSION SDL_MIXER_MINOR_VERSION +#define MIX_PATCHLEVEL SDL_MIXER_PATCHLEVEL +#define MIX_VERSION(X) SDL_MIXER_VERSION(X) + +#if SDL_MIXER_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 + +/** + * This is the version number macro for the current SDL_mixer version. + * + * In versions higher than 2.9.0, the minor version overflows into the + * thousands digit: for example, 2.23.0 is encoded as 4300. This macro will + * not be available in SDL 3.x or SDL_mixer 3.x. + * + * Deprecated, use SDL_MIXER_VERSION_ATLEAST or SDL_MIXER_VERSION instead. + */ +#define SDL_MIXER_COMPILEDVERSION \ + SDL_VERSIONNUM(SDL_MIXER_MAJOR_VERSION, SDL_MIXER_MINOR_VERSION, SDL_MIXER_PATCHLEVEL) +#endif /* SDL_MIXER_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 */ + +/** + * This macro will evaluate to true if compiled with SDL_mixer at least X.Y.Z. + */ +#define SDL_MIXER_VERSION_ATLEAST(X, Y, Z) \ + ((SDL_MIXER_MAJOR_VERSION >= X) && \ + (SDL_MIXER_MAJOR_VERSION > X || SDL_MIXER_MINOR_VERSION >= Y) && \ + (SDL_MIXER_MAJOR_VERSION > X || SDL_MIXER_MINOR_VERSION > Y || SDL_MIXER_PATCHLEVEL >= Z)) + +/** + * Query the version of SDL_mixer that the program is linked against. + * + * This function gets the version of the dynamically linked SDL_mixer library. + * This is separate from the SDL_MIXER_VERSION() macro, which tells you what + * version of the SDL_mixer headers you compiled against. + * + * This returns static internal data; do not free or modify it! + * + * \returns a pointer to the version information. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC const SDL_version * SDLCALL Mix_Linked_Version(void); + +/** + * Initialization flags + */ +typedef enum MIX_InitFlags +{ + MIX_INIT_FLAC = 0x00000001, + MIX_INIT_MOD = 0x00000002, + MIX_INIT_MP3 = 0x00000008, + MIX_INIT_OGG = 0x00000010, + MIX_INIT_MID = 0x00000020, + MIX_INIT_OPUS = 0x00000040, + MIX_INIT_WAVPACK= 0x00000080 +} MIX_InitFlags; + +/** + * Initialize SDL_mixer. + * + * This function loads dynamic libraries that SDL_mixer needs, and prepares + * them for use. + * + * Note that, unlike other SDL libraries, this call is optional! If you load a + * music file, SDL_mixer will handle initialization on the fly. This function + * will let you know, up front, whether a specific format will be available + * for use. + * + * Flags should be one or more flags from MIX_InitFlags OR'd together. It + * returns the flags successfully initialized, or 0 on failure. + * + * Currently, these flags are: + * + * - `MIX_INIT_FLAC` + * - `MIX_INIT_MOD` + * - `MIX_INIT_MP3` + * - `MIX_INIT_OGG` + * - `MIX_INIT_MID` + * - `MIX_INIT_OPUS` + * - `MIX_INIT_WAVPACK` + * + * More flags may be added in a future SDL_mixer release. + * + * This function may need to load external shared libraries to support various + * codecs, which means this function can fail to initialize that support on an + * otherwise-reasonable system if the library isn't available; this is not + * just a question of exceptional circumstances like running out of memory at + * startup! + * + * Note that you may call this function more than once to initialize with + * additional flags. The return value will reflect both new flags that + * successfully initialized, and also include flags that had previously been + * initialized as well. + * + * As this will return previously-initialized flags, it's legal to call this + * with zero (no flags set). This is a safe no-op that can be used to query + * the current initialization state without changing it at all. + * + * Since this returns previously-initialized flags as well as new ones, and + * you can call this with zero, you should not check for a zero return value + * to determine an error condition. Instead, you should check to make sure all + * the flags you require are set in the return value. If you have a game with + * data in a specific format, this might be a fatal error. If you're a generic + * media player, perhaps you are fine with only having WAV and MP3 support and + * can live without Opus playback, even if you request support for everything. + * + * Unlike other SDL satellite libraries, calls to Mix_Init do not stack; a + * single call to Mix_Quit() will deinitialize everything and does not have to + * be paired with a matching Mix_Init call. For that reason, it's considered + * best practices to have a single Mix_Init and Mix_Quit call in your program. + * While this isn't required, be aware of the risks of deviating from that + * behavior. + * + * After initializing SDL_mixer, the next step is to open an audio device to + * prepare to play sound (with Mix_OpenAudio() or Mix_OpenAudioDevice()), and + * load audio data to play with that device. + * + * \param flags initialization flags, OR'd together. + * \returns all currently initialized flags. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_Quit + */ +extern DECLSPEC int SDLCALL Mix_Init(int flags); + +/** + * Deinitialize SDL_mixer. + * + * This should be the last function you call in SDL_mixer, after freeing all + * other resources and closing all audio devices. This will unload any shared + * libraries it is using for various codecs. + * + * After this call, a call to Mix_Init(0) will return 0 (no codecs loaded). + * + * You can safely call Mix_Init() to reload various codec support after this + * call. + * + * Unlike other SDL satellite libraries, calls to Mix_Init do not stack; a + * single call to Mix_Quit() will deinitialize everything and does not have to + * be paired with a matching Mix_Init call. For that reason, it's considered + * best practices to have a single Mix_Init and Mix_Quit call in your program. + * While this isn't required, be aware of the risks of deviating from that + * behavior. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_Init + */ +extern DECLSPEC void SDLCALL Mix_Quit(void); + + +/** + * The default mixer has 8 simultaneous mixing channels + */ +#ifndef MIX_CHANNELS +#define MIX_CHANNELS 8 +#endif + +/* Good default values for a PC soundcard */ +#define MIX_DEFAULT_FREQUENCY 44100 +#define MIX_DEFAULT_FORMAT AUDIO_S16SYS +#define MIX_DEFAULT_CHANNELS 2 +#define MIX_MAX_VOLUME SDL_MIX_MAXVOLUME /* Volume of a chunk */ + +/** + * The internal format for an audio chunk + */ +typedef struct Mix_Chunk { + int allocated; + Uint8 *abuf; + Uint32 alen; + Uint8 volume; /* Per-sample volume, 0-128 */ +} Mix_Chunk; + +/** + * The different fading types supported + */ +typedef enum Mix_Fading { + MIX_NO_FADING, + MIX_FADING_OUT, + MIX_FADING_IN +} Mix_Fading; + +/** + * These are types of music files (not libraries used to load them) + */ +typedef enum Mix_MusicType { + MUS_NONE, + MUS_CMD, + MUS_WAV, + MUS_MOD, + MUS_MID, + MUS_OGG, + MUS_MP3, + MUS_MP3_MAD_UNUSED, + MUS_FLAC, + MUS_MODPLUG_UNUSED, + MUS_OPUS, + MUS_WAVPACK, + MUS_GME +} Mix_MusicType; + +/** + * The internal format for a music chunk interpreted via codecs + */ +typedef struct Mix_Music Mix_Music; + +/** + * Open the default audio device for playback. + * + * An audio device is what generates sound, so the app must open one to make + * noise. + * + * This function will check if SDL's audio system is initialized, and if not, + * it will initialize it by calling `SDL_Init(SDL_INIT_AUDIO)` on your behalf. + * You are free to (and encouraged to!) initialize it yourself before calling + * this function, as this gives your program more control over the process. + * + * This function might cover all of an application's needs, but for those that + * need more flexibility, the more powerful version of this function is + * Mix_OpenAudioDevice(). This function is equivalent to calling: + * + * ```c + * Mix_OpenAudioDevice(frequency, format, nchannels, chunksize, NULL, + * SDL_AUDIO_ALLOW_FREQUENCY_CHANGE | + * SDL_AUDIO_ALLOW_CHANNELS_CHANGE); + * ``` + * + * If you aren't particularly concerned with the specifics of the audio + * device, and your data isn't in a specific format, the values you use here + * can just be reasonable defaults. SDL_mixer will convert audio data you feed + * it to the correct format on demand. + * + * That being said, if you have control of your audio data and you know its + * format ahead of time, you may save CPU time by opening the audio device in + * that exact format so SDL_mixer does not have to spend time converting + * anything behind the scenes, and can just pass the data straight through to + * the hardware. On some platforms, where the hardware only supports specific + * settings, you might have to be careful to make everything match, but your + * own data is often easier to control, so aim to open the device for what you + * need. + * + * The other reason to care about specific formats: if you plan to touch the + * mix buffer directly (with Mix_SetPostMix, a registered effect, or + * Mix_HookMusic), you might have code that expects it to be in a specific + * format, and you should specify that here. + * + * The audio device frequency is specified in Hz; in modern times, 48000 is + * often a reasonable default. + * + * The audio device format is one of SDL's AUDIO_* constants. AUDIO_S16SYS + * (16-bit audio) is probably a safe default. More modern systems may prefer + * AUDIO_F32SYS (32-bit floating point audio). + * + * The audio device channels are generally 1 for mono output, or 2 for stereo, + * but the brave can try surround sound configs with 4 (quad), 6 (5.1), 7 + * (6.1) or 8 (7.1). + * + * The audio device's chunk size is the number of sample frames (one sample + * per frame for mono output, two samples per frame in a stereo setup, etc) + * that are fed to the device at once. The lower the number, the lower the + * latency, but you risk dropouts if it gets too low. 2048 is often a + * reasonable default, but your app might want to experiment with 1024 or + * 4096. + * + * You may only have one audio device open at a time; if you want to change a + * setting, you must close the device and reopen it, which is not something + * you can do seamlessly during playback. + * + * This function does not allow you to select a specific audio device on the + * system, it always chooses the best default it can on your behalf (which, in + * many cases, is exactly what you want anyhow). If you must choose a specific + * device, you can do so with Mix_OpenAudioDevice() instead. + * + * If this function reports success, you are ready to start making noise! Load + * some audio data and start playing! + * + * The app can use Mix_QuerySpec() to determine the final device settings. + * + * When done with an audio device, probably at the end of the program, the app + * should dispose of the device with Mix_CloseAudio(). + * + * \param frequency the frequency to playback audio at (in Hz). + * \param format audio format, one of SDL's AUDIO_* values. + * \param channels number of channels (1 is mono, 2 is stereo, etc). + * \param chunksize audio buffer size in sample FRAMES (total samples divided + * by channel count). + * \returns 0 if successful, -1 on error. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_OpenAudioDevice + * \sa Mix_CloseAudio + */ +extern DECLSPEC int SDLCALL Mix_OpenAudio(int frequency, Uint16 format, int channels, int chunksize); + + +/** + * Open a specific audio device for playback. + * + * (A slightly simpler version of this function is available in + * Mix_OpenAudio(), which still might meet most applications' needs.) + * + * An audio device is what generates sound, so the app must open one to make + * noise. + * + * This function will check if SDL's audio system is initialized, and if not, + * it will initialize it by calling `SDL_Init(SDL_INIT_AUDIO)` on your behalf. + * You are free to (and encouraged to!) initialize it yourself before calling + * this function, as this gives your program more control over the process. + * + * If you aren't particularly concerned with the specifics of the audio + * device, and your data isn't in a specific format, the values you use here + * can just be reasonable defaults. SDL_mixer will convert audio data you feed + * it to the correct format on demand. + * + * That being said, if you have control of your audio data and you know its + * format ahead of time, you can save CPU time by opening the audio device in + * that exact format so SDL_mixer does not have to spend time converting + * anything behind the scenes, and can just pass the data straight through to + * the hardware. On some platforms, where the hardware only supports specific + * settings, you might have to be careful to make everything match, but your + * own data is often easier to control, so aim to open the device for what you + * need. + * + * The other reason to care about specific formats: if you plan to touch the + * mix buffer directly (with Mix_SetPostMix, a registered effect, or + * Mix_HookMusic), you might have code that expects it to be in a specific + * format, and you should specify that here. + * + * The audio device frequency is specified in Hz; in modern times, 48000 is + * often a reasonable default. + * + * The audio device format is one of SDL's AUDIO_* constants. AUDIO_S16SYS + * (16-bit audio) is probably a safe default. More modern systems may prefer + * AUDIO_F32SYS (32-bit floating point audio). + * + * The audio device channels are generally 1 for mono output, or 2 for stereo, + * but the brave can try surround sound configs with 4 (quad), 6 (5.1), 7 + * (6.1) or 8 (7.1). + * + * The audio device's chunk size is the number of sample frames (one sample + * per frame for mono output, two samples per frame in a stereo setup, etc) + * that are fed to the device at once. The lower the number, the lower the + * latency, but you risk dropouts if it gets too low. 2048 is often a + * reasonable default, but your app might want to experiment with 1024 or + * 4096. + * + * You may only have one audio device open at a time; if you want to change a + * setting, you must close the device and reopen it, which is not something + * you can do seamlessly during playback. + * + * This function allows you to select specific audio hardware on the system + * with the `device` parameter. If you specify NULL, SDL_mixer will choose the + * best default it can on your behalf (which, in many cases, is exactly what + * you want anyhow). SDL_mixer does not offer a mechanism to determine device + * names to open, but you can use SDL_GetNumAudioDevices() to get a count of + * available devices and then SDL_GetAudioDeviceName() in a loop to obtain a + * list. If you do this, be sure to call `SDL_Init(SDL_INIT_AUDIO)` first to + * initialize SDL's audio system! + * + * The `allowed_changes` parameter specifies what settings are flexible. These + * are the `SDL_AUDIO_ALLOW_*` flags from SDL. These tell SDL_mixer that the + * app doesn't mind if a specific setting changes. For example, the app might + * need stereo data in Sint16 format, but if the sample rate or chunk size + * changes, the app can handle that. In that case, the app would specify + * `SDL_AUDIO_ALLOW_FORMAT_CHANGE|SDL_AUDIO_ALLOW_SAMPLES_CHANGE`. In this + * case, if the system's hardware requires something other than the requested + * format, SDL_mixer can select what the hardware demands instead of the app. + * If the `SDL_AUDIO_ALLOW_` flag is not specified, SDL_mixer must convert + * data behind the scenes between what the app demands and what the hardware + * requires. If your app needs precisely what is requested, specify zero for + * `allowed_changes`. + * + * If changes were allowed, the app can use Mix_QuerySpec() to determine the + * final device settings. + * + * If this function reports success, you are ready to start making noise! Load + * some audio data and start playing! + * + * When done with an audio device, probably at the end of the program, the app + * should dispose of the device with Mix_CloseDevice(). + * + * \param frequency the frequency to playback audio at (in Hz). + * \param format audio format, one of SDL's AUDIO_* values. + * \param channels number of channels (1 is mono, 2 is stereo, etc). + * \param chunksize audio buffer size in sample FRAMES (total samples divided + * by channel count). + * \param device the device name to open, or NULL to choose a reasonable + * default. + * \param allowed_changes Allow change flags (see SDL_AUDIO_ALLOW_* flags). + * \returns 0 if successful, -1 on error. + * + * \since This function is available since SDL_mixer 2.0.2. + * + * \sa Mix_OpenAudio + * \sa Mix_CloseDevice + * \sa Mix_QuerySpec + */ +extern DECLSPEC int SDLCALL Mix_OpenAudioDevice(int frequency, Uint16 format, int channels, int chunksize, const char* device, int allowed_changes); + +/** + * Suspend or resume the whole audio output. + * + * \param pause_on 1 to pause audio output, or 0 to resume. + * + * \since This function is available since SDL_mixer 2.8.0. + */ +extern DECLSPEC void SDLCALL Mix_PauseAudio(int pause_on); + +/** + * Find out what the actual audio device parameters are. + * + * If Mix_OpenAudioDevice() was called with `allowed_changes` set to anything + * but zero, or Mix_OpenAudio() was used, some audio device settings may be + * different from the application's request. This function will report what + * the device is actually running at. + * + * Note this is only important if the app intends to touch the audio buffers + * being sent to the hardware directly. If an app just wants to play audio + * files and let SDL_mixer handle the low-level details, this function can + * probably be ignored. + * + * If the audio device is not opened, this function will return 0. + * + * \param frequency On return, will be filled with the audio device's + * frequency in Hz. + * \param format On return, will be filled with the audio device's format. + * \param channels On return, will be filled with the audio device's channel + * count. + * \returns 1 if the audio device has been opened, 0 otherwise. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_OpenAudio + * \sa Mix_OpenAudioDevice + */ +extern DECLSPEC int SDLCALL Mix_QuerySpec(int *frequency, Uint16 *format, int *channels); + +/** + * Dynamically change the number of channels managed by the mixer. + * + * SDL_mixer deals with "channels," which is not the same thing as the + * mono/stereo channels; they might be better described as "tracks," as each + * one corresponds to a separate source of audio data. Three different WAV + * files playing at the same time would be three separate SDL_mixer channels, + * for example. + * + * An app needs as many channels as it has audio data it wants to play + * simultaneously, mixing them into a single stream to send to the audio + * device. + * + * SDL_mixer allocates `MIX_CHANNELS` (currently 8) channels when you open an + * audio device, which may be more than an app needs, but if the app needs + * more or wants less, this function can change it. + * + * If decreasing the number of channels, any upper channels currently playing + * are stopped. This will deregister all effects on those channels and call + * any callback specified by Mix_ChannelFinished() for each removed channel. + * + * If `numchans` is less than zero, this will return the current number of + * channels without changing anything. + * + * \param numchans the new number of channels, or < 0 to query current channel + * count. + * \returns the new number of allocated channels. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_AllocateChannels(int numchans); + +/** + * Load a supported audio format into a chunk. + * + * SDL_mixer has two separate data structures for audio data. One it calls a + * "chunk," which is meant to be a file completely decoded into memory up + * front, and the other it calls "music" which is a file intended to be + * decoded on demand. Originally, simple formats like uncompressed WAV files + * were meant to be chunks and compressed things, like MP3s, were meant to be + * music, and you would stream one thing for a game's music and make repeating + * sound effects with the chunks. + * + * In modern times, this isn't split by format anymore, and most are + * interchangeable, so the question is what the app thinks is worth + * predecoding or not. Chunks might take more memory, but once they are loaded + * won't need to decode again, whereas music always needs to be decoded on the + * fly. Also, crucially, there are as many channels for chunks as the app can + * allocate, but SDL_mixer only offers a single "music" channel. + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_mixer reads everything it needs + * from the RWops during this call in any case. + * + * There is a separate function (a macro, before SDL_mixer 2.6.0) to read + * files from disk without having to deal with SDL_RWops: + * `Mix_LoadWAV("filename.wav")` will call this function and manage those + * details for you. + * + * When done with a chunk, the app should dispose of it with a call to + * Mix_FreeChunk(). + * + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \returns a new chunk, or NULL on error. + * + * \since This function is available since SDL_mixer 2.6.0 (and as a macro + * since 2.0.0). + * + * \sa Mix_LoadWAV + * \sa Mix_FreeChunk + */ +extern DECLSPEC Mix_Chunk * SDLCALL Mix_LoadWAV_RW(SDL_RWops *src, int freesrc); + +/** + * Load a supported audio format into a chunk. + * + * SDL_mixer has two separate data structures for audio data. One it calls a + * "chunk," which is meant to be a file completely decoded into memory up + * front, and the other it calls "music" which is a file intended to be + * decoded on demand. Originally, simple formats like uncompressed WAV files + * were meant to be chunks and compressed things, like MP3s, were meant to be + * music, and you would stream one thing for a game's music and make repeating + * sound effects with the chunks. + * + * In modern times, this isn't split by format anymore, and most are + * interchangeable, so the question is what the app thinks is worth + * predecoding or not. Chunks might take more memory, but once they are loaded + * won't need to decode again, whereas music always needs to be decoded on the + * fly. Also, crucially, there are as many channels for chunks as the app can + * allocate, but SDL_mixer only offers a single "music" channel. + * + * If you would rather use the abstract SDL_RWops interface to load data from + * somewhere other than the filesystem, you can use Mix_LoadWAV_RW() instead. + * + * When done with a chunk, the app should dispose of it with a call to + * Mix_FreeChunk(). + * + * Note that before SDL_mixer 2.6.0, this function was a macro that called + * Mix_LoadWAV_RW(), creating a RWops and setting `freesrc` to 1. This macro + * has since been promoted to a proper API function. Older binaries linked + * against a newer SDL_mixer will still call Mix_LoadWAV_RW directly, as they + * are using the macro, which was available since the dawn of time. + * + * \param file the filesystem path to load data from. + * \returns a new chunk, or NULL on error. + * + * \since This function is available since SDL_mixer 2.6.0 (and as a macro + * since 2.0.0). + * + * \sa Mix_LoadWAV_RW + * \sa Mix_FreeChunk + */ +extern DECLSPEC Mix_Chunk * SDLCALL Mix_LoadWAV(const char *file); + + +/** + * Load a supported audio format into a music object. + * + * SDL_mixer has two separate data structures for audio data. One it calls a + * "chunk," which is meant to be a file completely decoded into memory up + * front, and the other it calls "music" which is a file intended to be + * decoded on demand. Originally, simple formats like uncompressed WAV files + * were meant to be chunks and compressed things, like MP3s, were meant to be + * music, and you would stream one thing for a game's music and make repeating + * sound effects with the chunks. + * + * In modern times, this isn't split by format anymore, and most are + * interchangeable, so the question is what the app thinks is worth + * predecoding or not. Chunks might take more memory, but once they are loaded + * won't need to decode again, whereas music always needs to be decoded on the + * fly. Also, crucially, there are as many channels for chunks as the app can + * allocate, but SDL_mixer only offers a single "music" channel. + * + * When done with this music, the app should dispose of it with a call to + * Mix_FreeMusic(). + * + * \param file a file path from where to load music data. + * \returns a new music object, or NULL on error. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_FreeMusic + */ +extern DECLSPEC Mix_Music * SDLCALL Mix_LoadMUS(const char *file); + +/** + * Load a supported audio format into a music object. + * + * SDL_mixer has two separate data structures for audio data. One it calls a + * "chunk," which is meant to be a file completely decoded into memory up + * front, and the other it calls "music" which is a file intended to be + * decoded on demand. Originally, simple formats like uncompressed WAV files + * were meant to be chunks and compressed things, like MP3s, were meant to be + * music, and you would stream one thing for a game's music and make repeating + * sound effects with the chunks. + * + * In modern times, this isn't split by format anymore, and most are + * interchangeable, so the question is what the app thinks is worth + * predecoding or not. Chunks might take more memory, but once they are loaded + * won't need to decode again, whereas music always needs to be decoded on the + * fly. Also, crucially, there are as many channels for chunks as the app can + * allocate, but SDL_mixer only offers a single "music" channel. + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_mixer reads everything it needs + * from the RWops during this call in any case. + * + * As a convenience, there is a function to read files from disk without + * having to deal with SDL_RWops: `Mix_LoadMUS("filename.mp3")` will manage + * those details for you. + * + * This function attempts to guess the file format from incoming data. If the + * caller knows the format, or wants to force it, it should use + * Mix_LoadMUSType_RW() instead. + * + * When done with this music, the app should dispose of it with a call to + * Mix_FreeMusic(). + * + * \param src an SDL_RWops that data will be read from. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \returns a new music object, or NULL on error. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_FreeMusic + */ +extern DECLSPEC Mix_Music * SDLCALL Mix_LoadMUS_RW(SDL_RWops *src, int freesrc); + +/** + * Load an audio format into a music object, assuming a specific format. + * + * SDL_mixer has two separate data structures for audio data. One it calls a + * "chunk," which is meant to be a file completely decoded into memory up + * front, and the other it calls "music" which is a file intended to be + * decoded on demand. Originally, simple formats like uncompressed WAV files + * were meant to be chunks and compressed things, like MP3s, were meant to be + * music, and you would stream one thing for a game's music and make repeating + * sound effects with the chunks. + * + * In modern times, this isn't split by format anymore, and most are + * interchangeable, so the question is what the app thinks is worth + * predecoding or not. Chunks might take more memory, but once they are loaded + * won't need to decode again, whereas music always needs to be decoded on the + * fly. Also, crucially, there are as many channels for chunks as the app can + * allocate, but SDL_mixer only offers a single "music" channel. + * + * This function loads music data, and lets the application specify the type + * of music being loaded, which might be useful if SDL_mixer cannot figure it + * out from the data stream itself. + * + * Currently, the following types are supported: + * + * - `MUS_NONE` (SDL_mixer should guess, based on the data) + * - `MUS_WAV` (Microsoft WAV files) + * - `MUS_MOD` (Various tracker formats) + * - `MUS_MID` (MIDI files) + * - `MUS_OGG` (Ogg Vorbis files) + * - `MUS_MP3` (MP3 files) + * - `MUS_FLAC` (FLAC files) + * - `MUS_OPUS` (Opus files) + * - `MUS_WAVPACK` (WavPack files) + * + * If `freesrc` is non-zero, the RWops will be closed before returning, + * whether this function succeeds or not. SDL_mixer reads everything it needs + * from the RWops during this call in any case. + * + * As a convenience, there is a function to read files from disk without + * having to deal with SDL_RWops: `Mix_LoadMUS("filename.mp3")` will manage + * those details for you (but not let you specify the music type explicitly).. + * + * When done with this music, the app should dispose of it with a call to + * Mix_FreeMusic(). + * + * \param src an SDL_RWops that data will be read from. + * \param type the type of audio data provided by `src`. + * \param freesrc non-zero to close/free the SDL_RWops before returning, zero + * to leave it open. + * \returns a new music object, or NULL on error. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_FreeMusic + */ +extern DECLSPEC Mix_Music * SDLCALL Mix_LoadMUSType_RW(SDL_RWops *src, Mix_MusicType type, int freesrc); + +/** + * Load a WAV file from memory as quickly as possible. + * + * Unlike Mix_LoadWAV_RW, this function has several requirements, and unless + * you control all your audio data and know what you're doing, you should + * consider this function unsafe and not use it. + * + * - The provided audio data MUST be in Microsoft WAV format. + * - The provided audio data shouldn't use any strange WAV extensions. + * - The audio data MUST be in the exact same format as the audio device. This + * function will not attempt to convert it, or even verify it's in the right + * format. + * - The audio data must be valid; this function does not know the size of the + * memory buffer, so if the WAV data is corrupted, it can read past the end + * of the buffer, causing a crash. + * - The audio data must live at least as long as the returned Mix_Chunk, + * because SDL_mixer will use that data directly and not make a copy of it. + * + * This function will do NO error checking! Be extremely careful here! + * + * (Seriously, use Mix_LoadWAV_RW instead.) + * + * If this function is successful, the provided memory buffer must remain + * available until Mix_FreeChunk() is called on the returned chunk. + * + * \param mem memory buffer containing of a WAV file. + * \returns a new chunk, or NULL on error. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_LoadWAV_RW + * \sa Mix_FreeChunk + */ +extern DECLSPEC Mix_Chunk * SDLCALL Mix_QuickLoad_WAV(Uint8 *mem); + +/** + * Load a raw audio data from memory as quickly as possible. + * + * The audio data MUST be in the exact same format as the audio device. This + * function will not attempt to convert it, or even verify it's in the right + * format. + * + * If this function is successful, the provided memory buffer must remain + * available until Mix_FreeChunk() is called on the returned chunk. + * + * \param mem memory buffer containing raw PCM data. + * \param len length of buffer pointed to by `mem`, in bytes. + * \returns a new chunk, or NULL on error. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_FreeChunk + */ +extern DECLSPEC Mix_Chunk * SDLCALL Mix_QuickLoad_RAW(Uint8 *mem, Uint32 len); + +/** + * Free an audio chunk. + * + * An app should call this function when it is done with a Mix_Chunk and wants + * to dispose of its resources. + * + * SDL_mixer will stop any channels this chunk is currently playing on. This + * will deregister all effects on those channels and call any callback + * specified by Mix_ChannelFinished() for each removed channel. + * + * \param chunk the chunk to free. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_LoadWAV + * \sa Mix_LoadWAV_RW + * \sa Mix_QuickLoad_WAV + * \sa Mix_QuickLoad_RAW + */ +extern DECLSPEC void SDLCALL Mix_FreeChunk(Mix_Chunk *chunk); + +/** + * Free a music object. + * + * If this music is currently playing, it will be stopped. + * + * If this music is in the process of fading out (via Mix_FadeOutMusic()), + * this function will *block* until the fade completes. If you need to avoid + * this, be sure to call Mix_HaltMusic() before freeing the music. + * + * \param music the music object to free. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_LoadMUS + * \sa Mix_LoadMUS_RW + * \sa Mix_LoadMUSType_RW + */ +extern DECLSPEC void SDLCALL Mix_FreeMusic(Mix_Music *music); + +/** + * Get a list of chunk decoders that this build of SDL_mixer provides. + * + * This list can change between builds AND runs of the program, if external + * libraries that add functionality become available. You must successfully + * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, + * as decoders are activated at device open time. + * + * Appearing in this list doesn't promise your specific audio file will + * decode...but it's handy to know if you have, say, a functioning Ogg Vorbis + * install. + * + * These return values are static, read-only data; do not modify or free it. + * The pointers remain valid until you call Mix_CloseAudio(). + * + * \returns number of chunk decoders available. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GetChunkDecoder + * \sa Mix_HasChunkDecoder + */ +extern DECLSPEC int SDLCALL Mix_GetNumChunkDecoders(void); + +/** + * Get a chunk decoder's name. + * + * The requested decoder's index must be between zero and + * Mix_GetNumChunkDecoders()-1. It's safe to call this with an invalid index; + * this function will return NULL in that case. + * + * This list can change between builds AND runs of the program, if external + * libraries that add functionality become available. You must successfully + * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, + * as decoders are activated at device open time. + * + * \param index index of the chunk decoder. + * \returns the chunk decoder's name. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GetNumChunkDecoders + */ +extern DECLSPEC const char * SDLCALL Mix_GetChunkDecoder(int index); + +/** + * Check if a chunk decoder is available by name. + * + * This result can change between builds AND runs of the program, if external + * libraries that add functionality become available. You must successfully + * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, + * as decoders are activated at device open time. + * + * Decoder names are arbitrary but also obvious, so you have to know what + * you're looking for ahead of time, but usually it's the file extension in + * capital letters (some example names are "AIFF", "VOC", "WAV"). + * + * \param name the decoder name to query. + * \returns SDL_TRUE if a decoder by that name is available, SDL_FALSE + * otherwise. + * + * \since This function is available since SDL_mixer 2.0.2. + * + * \sa Mix_GetNumChunkDecoders + * \sa Mix_GetChunkDecoder + */ +extern DECLSPEC SDL_bool SDLCALL Mix_HasChunkDecoder(const char *name); + +/** + * Get a list of music decoders that this build of SDL_mixer provides. + * + * This list can change between builds AND runs of the program, if external + * libraries that add functionality become available. You must successfully + * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, + * as decoders are activated at device open time. + * + * Appearing in this list doesn't promise your specific audio file will + * decode...but it's handy to know if you have, say, a functioning Ogg Vorbis + * install. + * + * These return values are static, read-only data; do not modify or free it. + * The pointers remain valid until you call Mix_CloseAudio(). + * + * \returns number of music decoders available. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GetMusicDecoder + * \sa Mix_HasMusicDecoder + */ +extern DECLSPEC int SDLCALL Mix_GetNumMusicDecoders(void); + +/** + * Get a music decoder's name. + * + * The requested decoder's index must be between zero and + * Mix_GetNumMusicDecoders()-1. It's safe to call this with an invalid index; + * this function will return NULL in that case. + * + * This list can change between builds AND runs of the program, if external + * libraries that add functionality become available. You must successfully + * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, + * as decoders are activated at device open time. + * + * \param index index of the music decoder. + * \returns the music decoder's name. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GetNumMusicDecoders + */ +extern DECLSPEC const char * SDLCALL Mix_GetMusicDecoder(int index); + +/** + * Check if a music decoder is available by name. + * + * This result can change between builds AND runs of the program, if external + * libraries that add functionality become available. You must successfully + * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, + * as decoders are activated at device open time. + * + * Decoder names are arbitrary but also obvious, so you have to know what + * you're looking for ahead of time, but usually it's the file extension in + * capital letters (some example names are "MOD", "MP3", "FLAC"). + * + * \param name the decoder name to query. + * \returns SDL_TRUE if a decoder by that name is available, SDL_FALSE + * otherwise. + * + * \since This function is available since SDL_mixer 2.6.0 + * + * \sa Mix_GetNumMusicDecoders + * \sa Mix_GetMusicDecoder + */ +extern DECLSPEC SDL_bool SDLCALL Mix_HasMusicDecoder(const char *name); + +/** + * Find out the format of a mixer music. + * + * If `music` is NULL, this will query the currently playing music (and return + * MUS_NONE if nothing is currently playing). + * + * \param music the music object to query, or NULL for the currently-playing + * music. + * \returns the Mix_MusicType for the music object. + * + * \since This function is available since SDL_mixer 2.0.0 + */ +extern DECLSPEC Mix_MusicType SDLCALL Mix_GetMusicType(const Mix_Music *music); + +/** + * Get the title for a music object, or its filename. + * + * This returns format-specific metadata. Not all file formats supply this! + * + * If `music` is NULL, this will query the currently-playing music. + * + * If music's title tag is missing or empty, the filename will be returned. If + * you'd rather have the actual metadata or nothing, use + * Mix_GetMusicTitleTag() instead. + * + * Please note that if the music was loaded from an SDL_RWops instead of a + * filename, the filename returned will be an empty string (""). + * + * This function never returns NULL! If no data is available, it will return + * an empty string (""). + * + * \param music the music object to query, or NULL for the currently-playing + * music. + * \returns the music's title if available, or the filename if not, or "". + * + * \since This function is available since SDL_mixer 2.6.0. + * + * \sa Mix_GetMusicTitleTag + * \sa Mix_GetMusicArtistTag + * \sa Mix_GetMusicAlbumTag + * \sa Mix_GetMusicCopyrightTag + */ +extern DECLSPEC const char *SDLCALL Mix_GetMusicTitle(const Mix_Music *music); + +/** + * Get the title for a music object. + * + * This returns format-specific metadata. Not all file formats supply this! + * + * If `music` is NULL, this will query the currently-playing music. + * + * Unlike this function, Mix_GetMusicTitle() produce a string with the music's + * filename if a title isn't available, which might be preferable for some + * applications. + * + * This function never returns NULL! If no data is available, it will return + * an empty string (""). + * + * \param music the music object to query, or NULL for the currently-playing + * music. + * \returns the music's title if available, or "". + * + * \since This function is available since SDL_mixer 2.6.0. + * + * \sa Mix_GetMusicTitle + * \sa Mix_GetMusicArtistTag + * \sa Mix_GetMusicAlbumTag + * \sa Mix_GetMusicCopyrightTag + */ +extern DECLSPEC const char *SDLCALL Mix_GetMusicTitleTag(const Mix_Music *music); + +/** + * Get the artist name for a music object. + * + * This returns format-specific metadata. Not all file formats supply this! + * + * If `music` is NULL, this will query the currently-playing music. + * + * This function never returns NULL! If no data is available, it will return + * an empty string (""). + * + * \param music the music object to query, or NULL for the currently-playing + * music. + * \returns the music's artist name if available, or "". + * + * \since This function is available since SDL_mixer 2.6.0. + * + * \sa Mix_GetMusicTitleTag + * \sa Mix_GetMusicAlbumTag + * \sa Mix_GetMusicCopyrightTag + */ +extern DECLSPEC const char *SDLCALL Mix_GetMusicArtistTag(const Mix_Music *music); + +/** + * Get the album name for a music object. + * + * This returns format-specific metadata. Not all file formats supply this! + * + * If `music` is NULL, this will query the currently-playing music. + * + * This function never returns NULL! If no data is available, it will return + * an empty string (""). + * + * \param music the music object to query, or NULL for the currently-playing + * music. + * \returns the music's album name if available, or "". + * + * \since This function is available since SDL_mixer 2.6.0. + * + * \sa Mix_GetMusicTitleTag + * \sa Mix_GetMusicArtistTag + * \sa Mix_GetMusicCopyrightTag + */ +extern DECLSPEC const char *SDLCALL Mix_GetMusicAlbumTag(const Mix_Music *music); + +/** + * Get the copyright text for a music object. + * + * This returns format-specific metadata. Not all file formats supply this! + * + * If `music` is NULL, this will query the currently-playing music. + * + * This function never returns NULL! If no data is available, it will return + * an empty string (""). + * + * \param music the music object to query, or NULL for the currently-playing + * music. + * \returns the music's copyright text if available, or "". + * + * \since This function is available since SDL_mixer 2.6.0. + * + * \sa Mix_GetMusicTitleTag + * \sa Mix_GetMusicArtistTag + * \sa Mix_GetMusicAlbumTag + */ +extern DECLSPEC const char *SDLCALL Mix_GetMusicCopyrightTag(const Mix_Music *music); + +typedef void (SDLCALL *Mix_MixCallback)(void *udata, Uint8 *stream, int len); + +/** + * Set a function that is called after all mixing is performed. + * + * This can be used to provide real-time visual display of the audio stream or + * add a custom mixer filter for the stream data. + * + * The callback will fire every time SDL_mixer is ready to supply more data to + * the audio device, after it has finished all its mixing work. This runs + * inside an SDL audio callback, so it's important that the callback return + * quickly, or there could be problems in the audio playback. + * + * The data provided to the callback is in the format that the audio device + * was opened in, and it represents the exact waveform SDL_mixer has mixed + * from all playing chunks and music for playback. You are allowed to modify + * the data, but it cannot be resized (so you can't add a reverb effect that + * goes past the end of the buffer without saving some state between runs to + * add it into the next callback, or resample the buffer to a smaller size to + * speed it up, etc). + * + * The `arg` pointer supplied here is passed to the callback as-is, for + * whatever the callback might want to do with it (keep track of some ongoing + * state, settings, etc). + * + * Passing a NULL callback disables the post-mix callback until such a time as + * a new one callback is set. + * + * There is only one callback available. If you need to mix multiple inputs, + * be prepared to handle them from a single function. + * + * \param mix_func the callback function to become the new post-mix callback. + * \param arg a pointer that is passed, untouched, to the callback. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_HookMusic + */ +extern DECLSPEC void SDLCALL Mix_SetPostMix(Mix_MixCallback mix_func, void *arg); + +/** + * Add your own music player or additional mixer function. + * + * This works something like Mix_SetPostMix(), but it has some crucial + * differences. Note that an app can use this _and_ Mix_SetPostMix() at the + * same time. This allows an app to replace the built-in music playback, + * either with it's own music decoder or with some sort of + * procedurally-generated audio output. + * + * The supplied callback will fire every time SDL_mixer is preparing to supply + * more data to the audio device. This runs inside an SDL audio callback, so + * it's important that the callback return quickly, or there could be problems + * in the audio playback. + * + * Running this callback is the first thing SDL_mixer will do when starting to + * mix more audio. The buffer will contain silence upon entry, so the callback + * does not need to mix into existing data or initialize the buffer. + * + * Note that while a callback is set through this function, SDL_mixer will not + * mix any playing music; this callback is used instead. To disable this + * callback (and thus reenable built-in music playback) call this function + * with a NULL callback. + * + * The data written to by the callback is in the format that the audio device + * was opened in, and upon return from the callback, SDL_mixer will mix any + * playing chunks (but not music!) into the buffer. The callback cannot resize + * the buffer (so you must be prepared to provide exactly the amount of data + * demanded or leave it as silence). + * + * The `arg` pointer supplied here is passed to the callback as-is, for + * whatever the callback might want to do with it (keep track of some ongoing + * state, settings, etc). + * + * As there is only one music "channel" mixed, there is only one callback + * available. If you need to mix multiple inputs, be prepared to handle them + * from a single function. + * + * \param mix_func the callback function to become the new post-mix callback. + * \param arg a pointer that is passed, untouched, to the callback. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_SetPostMix + */ +extern DECLSPEC void SDLCALL Mix_HookMusic(Mix_MixCallback mix_func, void *arg); + +typedef void (SDLCALL *Mix_MusicFinishedCallback)(void); + +/** + * Set a callback that runs when a music object has stopped playing. + * + * This callback will fire when the currently-playing music has completed, or + * when it has been explicitly stopped from a call to Mix_HaltMusic. As such, + * this callback might fire from an arbitrary background thread at almost any + * time; try to limit what you do here. + * + * It is legal to start a new music object playing in this callback (or + * restart the one that just stopped). If the music finished normally, this + * can be used to loop the music without a gap in the audio playback. + * + * Do not call SDL_LockAudio() from this callback; you will either be inside + * the audio callback, or SDL_mixer will explicitly lock the audio before + * calling your callback. + * + * A NULL pointer will disable the callback. + * + * \param music_finished the callback function to become the new notification + * mechanism. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_HookMusicFinished(Mix_MusicFinishedCallback music_finished); + +/** + * Get a pointer to the user data for the current music hook. + * + * This returns the `arg` pointer last passed to Mix_HookMusic(), or NULL if + * that function has never been called. + * + * \returns pointer to the user data previously passed to Mix_HookMusic. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void * SDLCALL Mix_GetMusicHookData(void); + +typedef void (SDLCALL *Mix_ChannelFinishedCallback)(int channel); + +/** + * Set a callback that runs when a channel has finished playing. + * + * The callback may be called from the mixer's audio callback or it could be + * called as a result of Mix_HaltChannel(), etc. + * + * The callback has a single parameter, `channel`, which says what mixer + * channel has just stopped. + * + * Do not call SDL_LockAudio() from this callback; you will either be inside + * the audio callback, or SDL_mixer will explicitly lock the audio before + * calling your callback. + * + * A NULL pointer will disable the callback. + * + * \param channel_finished the callback function to become the new + * notification mechanism. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_ChannelFinished(Mix_ChannelFinishedCallback channel_finished); + + +#define MIX_CHANNEL_POST (-2) + +/** + * This is the format of a special effect callback: + * + * myeffect(int chan, void *stream, int len, void *udata); + * + * (chan) is the channel number that your effect is affecting. (stream) is the + * buffer of data to work upon. (len) is the size of (stream), and (udata) is + * a user-defined bit of data, which you pass as the last arg of + * Mix_RegisterEffect(), and is passed back unmolested to your callback. Your + * effect changes the contents of (stream) based on whatever parameters are + * significant, or just leaves it be, if you prefer. You can do whatever you + * like to the buffer, though, and it will continue in its changed state down + * the mixing pipeline, through any other effect functions, then finally to be + * mixed with the rest of the channels and music for the final output stream. + * + * DO NOT EVER call SDL_LockAudio() from your callback function! + */ +typedef void (SDLCALL *Mix_EffectFunc_t)(int chan, void *stream, int len, void *udata); + +/** + * This is a callback that signifies that a channel has finished all its loops + * and has completed playback. + * + * This gets called if the buffer plays out normally, or if you call + * Mix_HaltChannel(), implicitly stop a channel via Mix_AllocateChannels(), or + * unregister a callback while it's still playing. + * + * DO NOT EVER call SDL_LockAudio() from your callback function! + */ +typedef void (SDLCALL *Mix_EffectDone_t)(int chan, void *udata); + + +/** + * Register a special effect function. + * + * At mixing time, the channel data is copied into a buffer and passed through + * each registered effect function. After it passes through all the functions, + * it is mixed into the final output stream. The copy to buffer is performed + * once, then each effect function performs on the output of the previous + * effect. Understand that this extra copy to a buffer is not performed if + * there are no effects registered for a given chunk, which saves CPU cycles, + * and any given effect will be extra cycles, too, so it is crucial that your + * code run fast. Also note that the data that your function is given is in + * the format of the sound device, and not the format you gave to + * Mix_OpenAudio(), although they may in reality be the same. This is an + * unfortunate but necessary speed concern. Use Mix_QuerySpec() to determine + * if you can handle the data before you register your effect, and take + * appropriate actions. + * + * You may also specify a callback (Mix_EffectDone_t) that is called when the + * channel finishes playing. This gives you a more fine-grained control than + * Mix_ChannelFinished(), in case you need to free effect-specific resources, + * etc. If you don't need this, you can specify NULL. + * + * You may set the callbacks before or after calling Mix_PlayChannel(). + * + * Things like Mix_SetPanning() are just internal special effect functions, so + * if you are using that, you've already incurred the overhead of a copy to a + * separate buffer, and that these effects will be in the queue with any + * functions you've registered. The list of registered effects for a channel + * is reset when a chunk finishes playing, so you need to explicitly set them + * with each call to Mix_PlayChannel*(). + * + * You may also register a special effect function that is to be run after + * final mixing occurs. The rules for these callbacks are identical to those + * in Mix_RegisterEffect, but they are run after all the channels and the + * music have been mixed into a single stream, whereas channel-specific + * effects run on a given channel before any other mixing occurs. These global + * effect callbacks are call "posteffects". Posteffects only have their + * Mix_EffectDone_t function called when they are unregistered (since the main + * output stream is never "done" in the same sense as a channel). You must + * unregister them manually when you've had enough. Your callback will be told + * that the channel being mixed is `MIX_CHANNEL_POST` if the processing is + * considered a posteffect. + * + * After all these effects have finished processing, the callback registered + * through Mix_SetPostMix() runs, and then the stream goes to the audio + * device. + * + * DO NOT EVER call SDL_LockAudio() from your callback function! You are + * already running in the audio thread and the lock is already held! + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param chan the channel to register an effect to, or MIX_CHANNEL_POST. + * \param f effect the callback to run when more of this channel is to be + * mixed. + * \param d effect done callback. + * \param arg argument. + * \returns zero if error (no such channel), nonzero if added. Error messages + * can be retrieved from Mix_GetError(). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_RegisterEffect(int chan, Mix_EffectFunc_t f, Mix_EffectDone_t d, void *arg); + + +/** + * Explicitly unregister a special effect function. + * + * You may not need to call this at all, unless you need to stop an effect + * from processing in the middle of a chunk's playback. + * + * Posteffects are never implicitly unregistered as they are for channels (as + * the output stream does not have an end), but they may be explicitly + * unregistered through this function by specifying MIX_CHANNEL_POST for a + * channel. + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param channel the channel to unregister an effect on, or MIX_CHANNEL_POST. + * \param f effect the callback stop calling in future mixing iterations. + * \returns zero if error (no such channel or effect), nonzero if removed. + * Error messages can be retrieved from Mix_GetError(). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_UnregisterEffect(int channel, Mix_EffectFunc_t f); + +/** + * Explicitly unregister all special effect functions. + * + * You may not need to call this at all, unless you need to stop all effects + * from processing in the middle of a chunk's playback. + * + * Note that this will also shut off some internal effect processing, since + * Mix_SetPanning() and others may use this API under the hood. This is called + * internally when a channel completes playback. Posteffects are never + * implicitly unregistered as they are for channels, but they may be + * explicitly unregistered through this function by specifying + * MIX_CHANNEL_POST for a channel. + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param channel the channel to unregister all effects on, or + * MIX_CHANNEL_POST. + * \returns zero if error (no such channel), nonzero if all effects removed. + * Error messages can be retrieved from Mix_GetError(). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_UnregisterAllEffects(int channel); + + +#define MIX_EFFECTSMAXSPEED "MIX_EFFECTSMAXSPEED" + +/* + * These are the internally-defined mixing effects. They use the same API that + * effects defined in the application use, but are provided here as a + * convenience. Some effects can reduce their quality or use more memory in + * the name of speed; to enable this, make sure the environment variable + * MIX_EFFECTSMAXSPEED (see above) is defined before you call + * Mix_OpenAudio(). + */ + + +/** + * Set the panning of a channel. + * + * The left and right channels are specified as integers between 0 and 255, + * quietest to loudest, respectively. + * + * Technically, this is just individual volume control for a sample with two + * (stereo) channels, so it can be used for more than just panning. If you + * want real panning, call it like this: + * + * ```c + * Mix_SetPanning(channel, left, 255 - left); + * ``` + * + * Setting `channel` to MIX_CHANNEL_POST registers this as a posteffect, and + * the panning will be done to the final mixed stream before passing it on to + * the audio device. + * + * This uses the Mix_RegisterEffect() API internally, and returns without + * registering the effect function if the audio device is not configured for + * stereo output. Setting both `left` and `right` to 255 causes this effect to + * be unregistered, since that is the data's normal state. + * + * Note that an audio device in mono mode is a no-op, but this call will + * return successful in that case. Error messages can be retrieved from + * Mix_GetError(). + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param channel The mixer channel to pan or MIX_CHANNEL_POST. + * \param left Volume of stereo left channel, 0 is silence, 255 is full + * volume. + * \param right Volume of stereo right channel, 0 is silence, 255 is full + * volume. + * \returns zero if error (no such channel or Mix_RegisterEffect() fails), + * nonzero if panning effect enabled. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_SetPosition + * \sa Mix_SetDistance + */ +extern DECLSPEC int SDLCALL Mix_SetPanning(int channel, Uint8 left, Uint8 right); + + +/** + * Set the position of a channel. + * + * `angle` is an integer from 0 to 360, that specifies the location of the + * sound in relation to the listener. `angle` will be reduced as necessary + * (540 becomes 180 degrees, -100 becomes 260). Angle 0 is due north, and + * rotates clockwise as the value increases. For efficiency, the precision of + * this effect may be limited (angles 1 through 7 might all produce the same + * effect, 8 through 15 are equal, etc). `distance` is an integer between 0 + * and 255 that specifies the space between the sound and the listener. The + * larger the number, the further away the sound is. Using 255 does not + * guarantee that the channel will be removed from the mixing process or be + * completely silent. For efficiency, the precision of this effect may be + * limited (distance 0 through 5 might all produce the same effect, 6 through + * 10 are equal, etc). Setting `angle` and `distance` to 0 unregisters this + * effect, since the data would be unchanged. + * + * If you need more precise positional audio, consider using OpenAL for + * spatialized effects instead of SDL_mixer. This is only meant to be a basic + * effect for simple "3D" games. + * + * If the audio device is configured for mono output, then you won't get any + * effectiveness from the angle; however, distance attenuation on the channel + * will still occur. While this effect will function with stereo voices, it + * makes more sense to use voices with only one channel of sound, so when they + * are mixed through this effect, the positioning will sound correct. You can + * convert them to mono through SDL before giving them to the mixer in the + * first place if you like. + * + * Setting the channel to MIX_CHANNEL_POST registers this as a posteffect, and + * the positioning will be done to the final mixed stream before passing it on + * to the audio device. + * + * This is a convenience wrapper over Mix_SetDistance() and Mix_SetPanning(). + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param channel The mixer channel to position, or MIX_CHANNEL_POST. + * \param angle angle, in degrees. North is 0, and goes clockwise. + * \param distance distance; 0 is the listener, 255 is maxiumum distance away. + * \returns zero if error (no such channel or Mix_RegisterEffect() fails), + * nonzero if position effect is enabled. Error messages can be + * retrieved from Mix_GetError(). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetPosition(int channel, Sint16 angle, Uint8 distance); + + +/** + * Set the "distance" of a channel. + * + * `distance` is an integer from 0 to 255 that specifies the location of the + * sound in relation to the listener. Distance 0 is overlapping the listener, + * and 255 is as far away as possible. A distance of 255 does not guarantee + * silence; in such a case, you might want to try changing the chunk's volume, + * or just cull the sample from the mixing process with Mix_HaltChannel(). For + * efficiency, the precision of this effect may be limited (distances 1 + * through 7 might all produce the same effect, 8 through 15 are equal, etc). + * (distance) is an integer between 0 and 255 that specifies the space between + * the sound and the listener. The larger the number, the further away the + * sound is. Setting the distance to 0 unregisters this effect, since the data + * would be unchanged. If you need more precise positional audio, consider + * using OpenAL for spatialized effects instead of SDL_mixer. This is only + * meant to be a basic effect for simple "3D" games. + * + * Setting the channel to MIX_CHANNEL_POST registers this as a posteffect, and + * the distance attenuation will be done to the final mixed stream before + * passing it on to the audio device. + * + * This uses the Mix_RegisterEffect() API internally. + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param channel The mixer channel to attenuate, or MIX_CHANNEL_POST. + * \param distance distance; 0 is the listener, 255 is maxiumum distance away. + * \returns zero if error (no such channel or Mix_RegisterEffect() fails), + * nonzero if position effect is enabled. Error messages can be + * retrieved from Mix_GetError(). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetDistance(int channel, Uint8 distance); + + +/** + * Cause a channel to reverse its stereo. + * + * This is handy if the user has his speakers hooked up backwards, or you + * would like to have a trippy sound effect. + * + * Calling this function with `flip` set to non-zero reverses the chunks's + * usual channels. If `flip` is zero, the effect is unregistered. + * + * This uses the Mix_RegisterEffect() API internally, and thus is probably + * more CPU intensive than having the user just plug in his speakers + * correctly. Mix_SetReverseStereo() returns without registering the effect + * function if the audio device is not configured for stereo output. + * + * If you specify MIX_CHANNEL_POST for `channel`, then this effect is used on + * the final mixed stream before sending it on to the audio device (a + * posteffect). + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param channel The mixer channel to reverse, or MIX_CHANNEL_POST. + * \param flip non-zero to reverse stereo, zero to disable this effect. + * \returns zero if error (no such channel or Mix_RegisterEffect() fails), + * nonzero if reversing effect is enabled. Note that an audio device + * in mono mode is a no-op, but this call will return successful in + * that case. Error messages can be retrieved from Mix_GetError(). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetReverseStereo(int channel, int flip); + +/* end of effects API. */ + + + +/** + * Reserve the first channels for the application. + * + * While SDL_mixer will use up to the number of channels allocated by + * Mix_AllocateChannels(), this sets channels aside that will not be available + * when calling Mix_PlayChannel with a channel of -1 (play on the first unused + * channel). In this case, SDL_mixer will treat reserved channels as "used" + * whether anything is playing on them at the moment or not. + * + * This is useful if you've budgeted some channels for dedicated audio and the + * rest are just used as they are available. + * + * Calling this function will set channels 0 to `n - 1` to be reserved. This + * will not change channel allocations. The number of reserved channels will + * be clamped to the current number allocated. + * + * By default, no channels are reserved. + * + * \param num number of channels to reserve, starting at index zero. + * \returns the number of reserved channels. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_ReserveChannels(int num); + + +/* Channel grouping functions */ + +/** + * Assign a tag to a channel. + * + * A tag is an arbitary number that can be assigned to several mixer channels, + * to form groups of channels. + * + * If 'tag' is -1, the tag is removed (actually -1 is the tag used to + * represent the group of all the channels). + * + * This function replaces the requested channel's current tag; you may only + * have one tag per channel. + * + * You may not specify MAX_CHANNEL_POST for a channel. + * + * \param which the channel to set the tag on. + * \param tag an arbitrary value to assign a channel. + * \returns non-zero on success, zero on error (no such channel). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_GroupChannel(int which, int tag); + +/** + * Assign several consecutive channels to the same tag. + * + * A tag is an arbitary number that can be assigned to several mixer channels, + * to form groups of channels. + * + * If 'tag' is -1, the tag is removed (actually -1 is the tag used to + * represent the group of all the channels). + * + * This function replaces the requested channels' current tags; you may only + * have one tag per channel. + * + * You may not specify MAX_CHANNEL_POST for a channel. + * + * Note that this returns success and failure in the _opposite_ way from + * Mix_GroupChannel(). We regret the API design mistake. + * + * \param from the first channel to set the tag on. + * \param to the last channel to set the tag on, inclusive. + * \param tag an arbitrary value to assign a channel. + * \returns 0 if successful, negative on error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_GroupChannels(int from, int to, int tag); + +/** + * Finds the first available channel in a group of channels. + * + * A tag is an arbitary number that can be assigned to several mixer channels, + * to form groups of channels. + * + * This function searches all channels with a specified tag, and returns the + * channel number of the first one it finds that is currently unused. + * + * If no channels with the specified tag are unused, this function returns -1. + * + * \param tag an arbitrary value, assigned to channels, to search for. + * \returns first available channel, or -1 if none are available. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_GroupAvailable(int tag); + +/** + * Returns the number of channels in a group. + * + * If tag is -1, this will return the total number of channels allocated, + * regardless of what their tag might be. + * + * \param tag an arbitrary value, assigned to channels, to search for. + * \returns the number of channels assigned the specified tag. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_GroupCount(int tag); + +/** + * Find the "oldest" sample playing in a group of channels. + * + * Specifically, this function returns the channel number that is assigned the + * specified tag, is currently playing, and has the lowest start time, based + * on the value of SDL_GetTicks() when the channel started playing. + * + * If no channel with this tag is currently playing, this function returns -1. + * + * \param tag an arbitrary value, assigned to channels, to search through. + * \returns the "oldest" sample playing in a group of channels. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GroupNewer + */ +extern DECLSPEC int SDLCALL Mix_GroupOldest(int tag); + +/** + * Find the "most recent" sample playing in a group of channels. + * + * Specifically, this function returns the channel number that is assigned the + * specified tag, is currently playing, and has the highest start time, based + * on the value of SDL_GetTicks() when the channel started playing. + * + * If no channel with this tag is currently playing, this function returns -1. + * + * \param tag an arbitrary value, assigned to channels, to search through. + * \returns the "most recent" sample playing in a group of channels. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GroupOldest + */ +extern DECLSPEC int SDLCALL Mix_GroupNewer(int tag); + +/** + * Play an audio chunk on a specific channel. + * + * If the specified channel is -1, play on the first free channel (and return + * -1 without playing anything new if no free channel was available). + * + * If a specific channel was requested, and there is a chunk already playing + * there, that chunk will be halted and the new chunk will take its place. + * + * If `loops` is greater than zero, loop the sound that many times. If `loops` + * is -1, loop "infinitely" (~65000 times). + * + * Note that before SDL_mixer 2.6.0, this function was a macro that called + * Mix_PlayChannelTimed() with a fourth parameter ("ticks") of -1. This + * function still does the same thing, but promotes it to a proper API + * function. Older binaries linked against a newer SDL_mixer will still call + * Mix_PlayChannelTimed directly, as they are using the macro, which was + * available since the dawn of time. + * + * \param channel the channel on which to play the new chunk. + * \param chunk the new chunk to play. + * \param loops the number of times the chunk should loop, -1 to loop (not + * actually) infinitely. + * \returns which channel was used to play the sound, or -1 if sound could not + * be played. + * + * \since This function is available since SDL_mixer 2.6.0 (and as a macro + * since 2.0.0). + */ +extern DECLSPEC int SDLCALL Mix_PlayChannel(int channel, Mix_Chunk *chunk, int loops); + +/** + * Play an audio chunk on a specific channel for a maximum time. + * + * If the specified channel is -1, play on the first free channel (and return + * -1 without playing anything new if no free channel was available). + * + * If a specific channel was requested, and there is a chunk already playing + * there, that chunk will be halted and the new chunk will take its place. + * + * If `loops` is greater than zero, loop the sound that many times. If `loops` + * is -1, loop "infinitely" (~65000 times). + * + * `ticks` specifies the maximum number of milliseconds to play this chunk + * before halting it. If you want the chunk to play until all data has been + * mixed, specify -1. + * + * Note that this function does not block for the number of ticks requested; + * it just schedules the chunk to play and notes the maximum for the mixer to + * manage later, and returns immediately. + * + * \param channel the channel on which to play the new chunk. + * \param chunk the new chunk to play. + * \param loops the number of times the chunk should loop, -1 to loop (not + * actually) infinitely. + * \param ticks the maximum number of milliseconds of this chunk to mix for + * playback. + * \returns which channel was used to play the sound, or -1 if sound could not + * be played. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_PlayChannelTimed(int channel, Mix_Chunk *chunk, int loops, int ticks); + +/** + * Play a new music object. + * + * This will schedule the music object to begin mixing for playback. + * + * There is only ever one music object playing at a time; if this is called + * when another music object is playing, the currently-playing music is halted + * and the new music will replace it. + * + * Please note that if the currently-playing music is in the process of fading + * out (via Mix_FadeOutMusic()), this function will *block* until the fade + * completes. If you need to avoid this, be sure to call Mix_HaltMusic() + * before starting new music. + * + * \param music the new music object to schedule for mixing. + * \param loops the number of loops to play the music for (0 means "play once + * and stop"). + * \returns zero on success, -1 on error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_PlayMusic(Mix_Music *music, int loops); + +/** + * Play a new music object, fading in the audio. + * + * This will start the new music playing, much like Mix_PlayMusic() will, but + * will start the music playing at silence and fade in to its normal volume + * over the specified number of milliseconds. + * + * If there is already music playing, that music will be halted and the new + * music object will take its place. + * + * If `loops` is greater than zero, loop the music that many times. If `loops` + * is -1, loop "infinitely" (~65000 times). + * + * Fading music will change it's volume progressively, as if Mix_VolumeMusic() + * was called on it (which is to say: you probably shouldn't call + * Mix_VolumeMusic() on fading music). + * + * \param music the new music object to play. + * \param loops the number of times the chunk should loop, -1 to loop (not + * actually) infinitely. + * \param ms the number of milliseconds to spend fading in. + * \returns zero on success, -1 on error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_FadeInMusic(Mix_Music *music, int loops, int ms); + +/** + * Play a new music object, fading in the audio, from a starting position. + * + * This will start the new music playing, much like Mix_PlayMusic() will, but + * will start the music playing at silence and fade in to its normal volume + * over the specified number of milliseconds. + * + * If there is already music playing, that music will be halted and the new + * music object will take its place. + * + * If `loops` is greater than zero, loop the music that many times. If `loops` + * is -1, loop "infinitely" (~65000 times). + * + * Fading music will change it's volume progressively, as if Mix_VolumeMusic() + * was called on it (which is to say: you probably shouldn't call + * Mix_VolumeMusic() on fading music). + * + * This function allows the caller to start the music playback past the + * beginning of its audio data. You may specify a start position, in seconds, + * and the playback and fade-in will start there instead of with the first + * samples of the music. + * + * An app can specify a `position` of 0.0 to start at the beginning of the + * music (or just call Mix_FadeInMusic() instead). + * + * To convert from milliseconds, divide by 1000.0. + * + * \param music the new music object to play. + * \param loops the number of times the chunk should loop, -1 to loop (not + * actually) infinitely. + * \param ms the number of milliseconds to spend fading in. + * \param position the start position within the music, in seconds, where + * playback should start. + * \returns zero on success, -1 on error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_FadeInMusicPos(Mix_Music *music, int loops, int ms, double position); + +/** + * Play an audio chunk on a specific channel, fading in the audio. + * + * This will start the new sound playing, much like Mix_PlayChannel() will, + * but will start the sound playing at silence and fade in to its normal + * volume over the specified number of milliseconds. + * + * If the specified channel is -1, play on the first free channel (and return + * -1 without playing anything new if no free channel was available). + * + * If a specific channel was requested, and there is a chunk already playing + * there, that chunk will be halted and the new chunk will take its place. + * + * If `loops` is greater than zero, loop the sound that many times. If `loops` + * is -1, loop "infinitely" (~65000 times). + * + * A fading channel will change it's volume progressively, as if Mix_Volume() + * was called on it (which is to say: you probably shouldn't call Mix_Volume() + * on a fading channel). + * + * Note that before SDL_mixer 2.6.0, this function was a macro that called + * Mix_FadeInChannelTimed() with a fourth parameter ("ticks") of -1. This + * function still does the same thing, but promotes it to a proper API + * function. Older binaries linked against a newer SDL_mixer will still call + * Mix_FadeInChannelTimed directly, as they are using the macro, which was + * available since the dawn of time. + * + * \param channel the channel on which to play the new chunk, or -1 to find + * any available. + * \param chunk the new chunk to play. + * \param loops the number of times the chunk should loop, -1 to loop (not + * actually) infinitely. + * \param ms the number of milliseconds to spend fading in. + * \returns which channel was used to play the sound, or -1 if sound could not + * be played. + * + * \since This function is available since SDL_mixer 2.6.0 (and as a macro + * since 2.0.0). + */ +extern DECLSPEC int SDLCALL Mix_FadeInChannel(int channel, Mix_Chunk *chunk, int loops, int ms); + +/** + * Play an audio chunk on a specific channel, fading in the audio, for a + * maximum time. + * + * This will start the new sound playing, much like Mix_PlayChannel() will, + * but will start the sound playing at silence and fade in to its normal + * volume over the specified number of milliseconds. + * + * If the specified channel is -1, play on the first free channel (and return + * -1 without playing anything new if no free channel was available). + * + * If a specific channel was requested, and there is a chunk already playing + * there, that chunk will be halted and the new chunk will take its place. + * + * If `loops` is greater than zero, loop the sound that many times. If `loops` + * is -1, loop "infinitely" (~65000 times). + * + * `ticks` specifies the maximum number of milliseconds to play this chunk + * before halting it. If you want the chunk to play until all data has been + * mixed, specify -1. + * + * Note that this function does not block for the number of ticks requested; + * it just schedules the chunk to play and notes the maximum for the mixer to + * manage later, and returns immediately. + * + * A fading channel will change it's volume progressively, as if Mix_Volume() + * was called on it (which is to say: you probably shouldn't call Mix_Volume() + * on a fading channel). + * + * \param channel the channel on which to play the new chunk, or -1 to find + * any available. + * \param chunk the new chunk to play. + * \param loops the number of times the chunk should loop, -1 to loop (not + * actually) infinitely. + * \param ms the number of milliseconds to spend fading in. + * \param ticks the maximum number of milliseconds of this chunk to mix for + * playback. + * \returns which channel was used to play the sound, or -1 if sound could not + * be played. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_FadeInChannelTimed(int channel, Mix_Chunk *chunk, int loops, int ms, int ticks); + +/** + * Set the volume for a specific channel. + * + * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). + * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are + * clamped to MIX_MAX_VOLUME. + * + * Specifying a negative volume will not change the current volume; as such, + * this can be used to query the current volume without making changes, as + * this function returns the previous (in this case, still-current) value. + * + * If the specified channel is -1, this function sets the volume for all + * channels, and returns _the average_ of all channels' volumes prior to this + * call. + * + * The default volume for a channel is MIX_MAX_VOLUME (no attenuation). + * + * \param channel the channel on set/query the volume on, or -1 for all + * channels. + * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. + * \returns the previous volume. If the specified volume is -1, this returns + * the current volume. If `channel` is -1, this returns the average + * of all channels. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_Volume(int channel, int volume); + +/** + * Set the volume for a specific chunk. + * + * In addition to channels having a volume setting, individual chunks also + * maintain a separate volume. Both values are considered when mixing, so both + * affect the final attenuation of the sound. This lets an app adjust the + * volume for all instances of a sound in addition to specific instances of + * that sound. + * + * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). + * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are + * clamped to MIX_MAX_VOLUME. + * + * Specifying a negative volume will not change the current volume; as such, + * this can be used to query the current volume without making changes, as + * this function returns the previous (in this case, still-current) value. + * + * The default volume for a chunk is MIX_MAX_VOLUME (no attenuation). + * + * \param chunk the chunk whose volume to adjust. + * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. + * \returns the previous volume. If the specified volume is -1, this returns + * the current volume. If `chunk` is NULL, this returns -1. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_VolumeChunk(Mix_Chunk *chunk, int volume); + +/** + * Set the volume for the music channel. + * + * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). + * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are + * clamped to MIX_MAX_VOLUME. + * + * Specifying a negative volume will not change the current volume; as such, + * this can be used to query the current volume without making changes, as + * this function returns the previous (in this case, still-current) value. + * + * The default volume for music is MIX_MAX_VOLUME (no attenuation). + * + * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. + * \returns the previous volume. If the specified volume is -1, this returns + * the current volume. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_VolumeMusic(int volume); + +/** + * Query the current volume value for a music object. + * + * \param music the music object to query. + * \returns the music's current volume, between 0 and MIX_MAX_VOLUME (128). + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC int SDLCALL Mix_GetMusicVolume(Mix_Music *music); + +/** + * Set the master volume for all channels. + * + * SDL_mixer keeps a per-channel volume, a per-chunk volume, and a master + * volume, and considers all three when mixing audio. This function sets the + * master volume, which is applied to all playing channels when mixing. + * + * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). + * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are + * clamped to MIX_MAX_VOLUME. + * + * Specifying a negative volume will not change the current volume; as such, + * this can be used to query the current volume without making changes, as + * this function returns the previous (in this case, still-current) value. + * + * Note that the master volume does not affect any playing music; it is only + * applied when mixing chunks. Use Mix_VolumeMusic() for that.\ + * + * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. + * \returns the previous volume. If the specified volume is -1, this returns + * the current volume. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC int SDLCALL Mix_MasterVolume(int volume); + +/** + * Halt playing of a particular channel. + * + * This will stop further playback on that channel until a new chunk is + * started there. + * + * Specifying a channel of -1 will halt _all_ channels, except for any playing + * music. + * + * Any halted channels will have any currently-registered effects + * deregistered, and will call any callback specified by Mix_ChannelFinished() + * before this function returns. + * + * You may not specify MAX_CHANNEL_POST for a channel. + * + * \param channel channel to halt, or -1 to halt all channels. + * \returns 0 on success, or -1 on error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_HaltChannel(int channel); + +/** + * Halt playing of a group of channels by arbitrary tag. + * + * This will stop further playback on all channels with a specific tag, until + * a new chunk is started there. + * + * A tag is an arbitrary number that can be assigned to several mixer + * channels, to form groups of channels. + * + * The default tag for a channel is -1. + * + * Any halted channels will have any currently-registered effects + * deregistered, and will call any callback specified by Mix_ChannelFinished() + * before this function returns. + * + * \param tag an arbitrary value, assigned to channels, to search for. + * \returns zero, whether any channels were halted or not. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_HaltGroup(int tag); + +/** + * Halt playing of the music stream. + * + * This will stop further playback of music until a new music object is + * started there. + * + * Any halted music will call any callback specified by + * Mix_HookMusicFinished() before this function returns. + * + * \returns zero, regardless of whether any music was halted. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_HaltMusic(void); + +/** + * Change the expiration delay for a particular channel. + * + * The channel will halt after the 'ticks' milliseconds have elapsed, or + * remove the expiration if 'ticks' is -1. + * + * This overrides the value passed to the fourth parameter of + * Mix_PlayChannelTimed(). + * + * Specifying a channel of -1 will set an expiration for _all_ channels. + * + * Any halted channels will have any currently-registered effects + * deregistered, and will call any callback specified by Mix_ChannelFinished() + * once the halt occurs. + * + * Note that this function does not block for the number of ticks requested; + * it just schedules the chunk to expire and notes the time for the mixer to + * manage later, and returns immediately. + * + * \param channel the channel to change the expiration time on. + * \param ticks number of milliseconds from now to let channel play before + * halting, -1 to not halt. + * \returns the number of channels that changed expirations. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_ExpireChannel(int channel, int ticks); + +/** + * Halt a channel after fading it out for a specified time. + * + * This will begin a channel fading from its current volume to silence over + * `ms` milliseconds. After that time, the channel is halted. + * + * Any halted channels will have any currently-registered effects + * deregistered, and will call any callback specified by Mix_ChannelFinished() + * once the halt occurs. + * + * A fading channel will change it's volume progressively, as if Mix_Volume() + * was called on it (which is to say: you probably shouldn't call Mix_Volume() + * on a fading channel). + * + * Note that this function does not block for the number of milliseconds + * requested; it just schedules the chunk to fade and notes the time for the + * mixer to manage later, and returns immediately. + * + * \param which the channel to fade out. + * \param ms number of milliseconds to fade before halting the channel. + * \returns the number of channels scheduled to fade. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_FadeOutChannel(int which, int ms); + +/** + * Halt a playing group of channels by arbitrary tag, after fading them out + * for a specified time. + * + * This will begin fading a group of channels with a specific tag from their + * current volumes to silence over `ms` milliseconds. After that time, those + * channels are halted. + * + * A tag is an arbitrary number that can be assigned to several mixer + * channels, to form groups of channels. + * + * The default tag for a channel is -1. + * + * Any halted channels will have any currently-registered effects + * deregistered, and will call any callback specified by Mix_ChannelFinished() + * once the halt occurs. + * + * A fading channel will change it's volume progressively, as if Mix_Volume() + * was called on it (which is to say: you probably shouldn't call Mix_Volume() + * on a fading channel). + * + * Note that this function does not block for the number of milliseconds + * requested; it just schedules the group to fade and notes the time for the + * mixer to manage later, and returns immediately. + * + * \param tag an arbitrary value, assigned to channels, to search for. + * \param ms number of milliseconds to fade before halting the group. + * \returns the number of channels that were scheduled for fading. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_FadeOutGroup(int tag, int ms); + +/** + * Halt the music stream after fading it out for a specified time. + * + * This will begin the music fading from its current volume to silence over + * `ms` milliseconds. After that time, the music is halted. + * + * Any halted music will call any callback specified by + * Mix_HookMusicFinished() once the halt occurs. + * + * Fading music will change it's volume progressively, as if Mix_VolumeMusic() + * was called on it (which is to say: you probably shouldn't call + * Mix_VolumeMusic() on a fading channel). + * + * Note that this function does not block for the number of milliseconds + * requested; it just schedules the music to fade and notes the time for the + * mixer to manage later, and returns immediately. + * + * \param ms number of milliseconds to fade before halting the channel. + * \returns non-zero if music was scheduled to fade, zero otherwise. If no + * music is currently playing, this returns zero. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_FadeOutMusic(int ms); + +/** + * Query the fading status of the music stream. + * + * This reports one of three values: + * + * - `MIX_NO_FADING` + * - `MIX_FADING_OUT` + * - `MIX_FADING_IN` + * + * If music is not currently playing, this returns `MIX_NO_FADING`. + * + * \returns the current fading status of the music stream. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC Mix_Fading SDLCALL Mix_FadingMusic(void); + +/** + * Query the fading status of a channel. + * + * This reports one of three values: + * + * - `MIX_NO_FADING` + * - `MIX_FADING_OUT` + * - `MIX_FADING_IN` + * + * If nothing is currently playing on the channel, or an invalid channel is + * specified, this returns `MIX_NO_FADING`. + * + * You may not specify MAX_CHANNEL_POST for a channel. + * + * You may not specify -1 for all channels; only individual channels may be + * queried. + * + * \param which the channel to query. + * \returns the current fading status of the channel. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC Mix_Fading SDLCALL Mix_FadingChannel(int which); + +/** + * Pause a particular channel. + * + * Pausing a channel will prevent further playback of the assigned chunk but + * will maintain the chunk's current mixing position. When resumed, this + * channel will continue to mix the chunk where it left off. + * + * A paused channel can be resumed by calling Mix_Resume(). + * + * A paused channel with an expiration will not expire while paused (the + * expiration countdown will be adjusted once resumed). + * + * It is legal to halt a paused channel. Playing a new chunk on a paused + * channel will replace the current chunk and unpause the channel. + * + * Specifying a channel of -1 will pause _all_ channels. Any music is + * unaffected. + * + * You may not specify MAX_CHANNEL_POST for a channel. + * + * \param channel the channel to pause, or -1 to pause all channels. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_Pause(int channel); + +/** + * Resume a particular channel. + * + * It is legal to resume an unpaused or invalid channel; it causes no effect + * and reports no error. + * + * If the paused channel has an expiration, its expiration countdown resumes + * now, as well. + * + * Specifying a channel of -1 will resume _all_ paused channels. Any music is + * unaffected. + * + * \param channel the channel to resume, or -1 to resume all paused channels. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_Resume(int channel); + +/** + * Query whether a particular channel is paused. + * + * If an invalid channel is specified, this function returns zero. + * + * \param channel the channel to query, or -1 to query all channels. + * \return 1 if channel paused, 0 otherwise. If `channel` is -1, returns the + * number of paused channels. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_Paused(int channel); + +/** + * Pause the music stream. + * + * Pausing the music stream will prevent further playback of the assigned + * music object, but will maintain the object's current mixing position. When + * resumed, this channel will continue to mix the music where it left off. + * + * Paused music can be resumed by calling Mix_ResumeMusic(). + * + * It is legal to halt paused music. Playing a new music object when music is + * paused will replace the current music and unpause the music stream. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_PauseMusic(void); + +/** + * Resume the music stream. + * + * It is legal to resume an unpaused music stream; it causes no effect and + * reports no error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_ResumeMusic(void); + +/** + * Rewind the music stream. + * + * This causes the currently-playing music to start mixing from the beginning + * of the music, as if it were just started. + * + * It's a legal no-op to rewind the music stream when not playing. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC void SDLCALL Mix_RewindMusic(void); + +/** + * Query whether the music stream is paused. + * + * \return 1 if music is paused, 0 otherwise. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_PauseMusic + * \sa Mix_ResumeMusic + */ +extern DECLSPEC int SDLCALL Mix_PausedMusic(void); + +/** + * Jump to a given order in mod music. + * + * This only applies to MOD music formats. + * + * \param order order. + * \returns 0 if successful, or -1 if failed or isn't implemented. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC int SDLCALL Mix_ModMusicJumpToOrder(int order); + +/** + * Start a track in music object. + * + * This only applies to GME music formats. + * + * \param music the music object. + * \param track the track number to play. 0 is the first track. + * \returns 0 if successful, or -1 if failed or isn't implemented. + * + * \since This function is available since SDL_mixer 2.8.0. + */ +extern DECLSPEC int SDLCALL Mix_StartTrack(Mix_Music *music, int track); + +/** + * Get number of tracks in music object. + * + * This only applies to GME music formats. + * + * \param music the music object. + * \returns number of tracks if successful, or -1 if failed or isn't + * implemented. + * + * \since This function is available since SDL_mixer 2.8.0. + */ +extern DECLSPEC int SDLCALL Mix_GetNumTracks(Mix_Music *music); + +/** + * Set the current position in the music stream, in seconds. + * + * To convert from milliseconds, divide by 1000.0. + * + * This function is only implemented for MOD music formats (set pattern order + * number) and for WAV, OGG, FLAC, MP3, and MODPLUG music at the moment. + * + * \param position the new position, in seconds (as a double). + * \returns 0 if successful, or -1 if it failed or not implemented. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetMusicPosition(double position); + +/** + * Get the time current position of music stream, in seconds. + * + * To convert to milliseconds, multiply by 1000.0. + * + * \param music the music object to query. + * \returns -1.0 if this feature is not supported for some codec. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC double SDLCALL Mix_GetMusicPosition(Mix_Music *music); + +/** + * Get a music object's duration, in seconds. + * + * To convert to milliseconds, multiply by 1000.0. + * + * If NULL is passed, returns duration of current playing music. + * + * \param music the music object to query. + * \returns music duration in seconds, or -1.0 on error. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC double SDLCALL Mix_MusicDuration(Mix_Music *music); + +/** + * Get the loop start time position of music stream, in seconds. + * + * To convert to milliseconds, multiply by 1000.0. + * + * If NULL is passed, returns duration of current playing music. + * + * \param music the music object to query. + * \returns -1.0 if this feature is not used for this music or not supported + * for some codec. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC double SDLCALL Mix_GetMusicLoopStartTime(Mix_Music *music); + +/** + * Get the loop end time position of music stream, in seconds. + * + * To convert to milliseconds, multiply by 1000.0. + * + * If NULL is passed, returns duration of current playing music. + * + * \param music the music object to query. + * \returns -1.0 if this feature is not used for this music or not supported + * for some codec. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC double SDLCALL Mix_GetMusicLoopEndTime(Mix_Music *music); + +/** + * Get the loop time length of music stream, in seconds. + * + * To convert to milliseconds, multiply by 1000.0. + * + * If NULL is passed, returns duration of current playing music. + * + * \param music the music object to query. + * \returns -1.0 if this feature is not used for this music or not supported + * for some codec. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC double SDLCALL Mix_GetMusicLoopLengthTime(Mix_Music *music); + +/** + * Check the playing status of a specific channel. + * + * If the channel is currently playing, this function returns 1. Otherwise it + * returns 0. + * + * If the specified channel is -1, all channels are checked, and this function + * returns the number of channels currently playing. + * + * You may not specify MAX_CHANNEL_POST for a channel. + * + * Paused channels are treated as playing, even though they are not currently + * making forward progress in mixing. + * + * \param channel channel. + * \returns non-zero if channel is playing, zero otherwise. If `channel` is + * -1, return the total number of channel playings. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_Playing(int channel); + +/** + * Check the playing status of the music stream. + * + * If music is currently playing, this function returns 1. Otherwise it + * returns 0. + * + * Paused music is treated as playing, even though it is not currently making + * forward progress in mixing. + * + * \returns non-zero if music is playing, zero otherwise. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_PlayingMusic(void); + +/** + * Run an external command as the music stream. + * + * This halts any currently-playing music, and next time the music stream is + * played, SDL_mixer will spawn a process using the command line specified in + * `command`. This command is not subject to shell expansion, and beyond some + * basic splitting up of arguments, is passed to execvp() on most platforms, + * not system(). + * + * The command is responsible for generating sound; it is NOT mixed by + * SDL_mixer! SDL_mixer will kill the child process if asked to halt the + * music, but otherwise does not have any control over what the process does. + * + * You are strongly encouraged not to use this function without an extremely + * good reason. + * + * \param command command. + * \returns 0 if successful, -1 on error. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetMusicCMD(const char *command); + +/** + * This function does nothing, do not use. + * + * This was probably meant to expose a feature, but no codecs support it, so + * it only remains for binary compatibility. + * + * Calling this function is a legal no-op that returns -1. + * + * \param value this parameter is ignored. + * \returns -1. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetSynchroValue(int value); + +/** + * This function does nothing, do not use. + * + * This was probably meant to expose a feature, but no codecs support it, so + * it only remains for binary compatibility. + * + * Calling this function is a legal no-op that returns -1. + * + * \returns -1. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_GetSynchroValue(void); + +/** + * Set SoundFonts paths to use by supported MIDI backends. + * + * You may specify multiple paths in a single string by separating them with + * semicolons; they will be searched in the order listed. + * + * This function replaces any previously-specified paths. + * + * Passing a NULL path will remove any previously-specified paths. + * + * Note that unlike most SDL and SDL_mixer functions, this function returns + * zero if there's an error, not on success. We apologize for the API design + * inconsistency here. + * + * \param paths Paths on the filesystem where SoundFonts are available, + * separated by semicolons. + * \returns 1 if successful, 0 on error (out of memory). + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC int SDLCALL Mix_SetSoundFonts(const char *paths); + +/** + * Get SoundFonts paths to use by supported MIDI backends. + * + * There are several factors that determine what will be reported by this + * function: + * + * - If the boolean _SDL hint_ `"SDL_FORCE_SOUNDFONTS"` is set, AND the + * `"SDL_SOUNDFONTS"` _environment variable_ is also set, this function will + * return that environment variable regardless of whether + * Mix_SetSoundFounts() was ever called. + * - Otherwise, if Mix_SetSoundFonts() was successfully called with a non-NULL + * path, this function will return the string passed to that function. + * - Otherwise, if the `"SDL_SOUNDFONTS"` variable is set, this function will + * return that environment variable. + * - Otherwise, this function will search some common locations on the + * filesystem, and if it finds a SoundFont there, it will return that. + * - Failing everything else, this function returns NULL. + * + * This returns a pointer to internal (possibly read-only) memory, and it + * should not be modified or free'd by the caller. + * + * \returns semicolon-separated list of sound font paths. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC const char* SDLCALL Mix_GetSoundFonts(void); + +typedef int (SDLCALL *Mix_EachSoundFontCallback)(const char*, void*); + +/** + * Iterate SoundFonts paths to use by supported MIDI backends. + * + * This function will take the string reported by Mix_GetSoundFonts(), split + * it up into separate paths, as delimited by semicolons in the string, and + * call a callback function for each separate path. + * + * If there are no paths available, this returns 0 without calling the + * callback at all. + * + * If the callback returns non-zero, this function stops iterating and returns + * non-zero. If the callback returns 0, this function will continue iterating, + * calling the callback again for further paths. If the callback never returns + * 1, this function returns 0, so this can be used to decide if an available + * soundfont is acceptable for use. + * + * \param function the callback function to call once per path. + * \param data a pointer to pass to the callback for its own personal use. + * \returns non-zero if callback ever returned non-zero, 0 on error or the + * callback never returned non-zero. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_GetSoundFonts + */ +extern DECLSPEC int SDLCALL Mix_EachSoundFont(Mix_EachSoundFontCallback function, void *data); + +/** + * Set full path of the Timidity config file. + * + * For example, "/etc/timidity.cfg" + * + * This is obviously only useful if SDL_mixer is using Timidity internally to + * play MIDI files. + * + * \param path path to a Timidity config file. + * \returns 1 if successful, 0 on error. + * + * \since This function is available since SDL_mixer 2.6.0. + */ +extern DECLSPEC int SDLCALL Mix_SetTimidityCfg(const char *path); + +/** + * Get full path of a previously-specified Timidity config file. + * + * For example, "/etc/timidity.cfg" + * + * If a path has never been specified, this returns NULL. + * + * This returns a pointer to internal memory, and it should not be modified or + * free'd by the caller. + * + * \returns the previously-specified path, or NULL if not set. + * + * \since This function is available since SDL_mixer 2.6.0. + * + * \sa Mix_SetTimidityCfg + */ +extern DECLSPEC const char* SDLCALL Mix_GetTimidityCfg(void); + +/** + * Get the Mix_Chunk currently associated with a mixer channel. + * + * You may not specify MAX_CHANNEL_POST or -1 for a channel. + * + * \param channel the channel to query. + * \returns the associated chunk, if any, or NULL if it's an invalid channel. + * + * \since This function is available since SDL_mixer 2.0.0. + */ +extern DECLSPEC Mix_Chunk * SDLCALL Mix_GetChunk(int channel); + +/** + * Close the mixer, halting all playing audio. + * + * Any halted channels will have any currently-registered effects + * deregistered, and will call any callback specified by Mix_ChannelFinished() + * before this function returns. + * + * Any halted music will call any callback specified by + * Mix_HookMusicFinished() before this function returns. + * + * Do not start any new audio playing during callbacks in this function. + * + * This will close the audio device. Attempting to play new audio after this + * function returns will fail, until another successful call to + * Mix_OpenAudio() or Mix_OpenAudioDevice(). + * + * Note that (unlike Mix_OpenAudio optionally calling SDL_Init(SDL_INIT_AUDIO) + * on the app's behalf), this will _not_ deinitialize the SDL audio subsystem + * in any case. At some point after calling this function and Mix_Quit(), some + * part of the application should be responsible for calling SDL_Quit() to + * deinitialize all of SDL, including its audio subsystem. + * + * This function should be the last thing you call in SDL_mixer before + * Mix_Quit(). However, the following notes apply if you don't follow this + * advice: + * + * Note that this will not free any loaded chunks or music; you should dispose + * of those resources separately. It is probably poor form to dispose of them + * _after_ this function, but it is safe to call Mix_FreeChunk() and + * Mix_FreeMusic() after closing the device. + * + * Note that any chunks or music you don't free may or may not work if you + * call Mix_OpenAudio again, as the audio device may be in a new format and + * the existing chunks will not be converted to match. + * + * \since This function is available since SDL_mixer 2.0.0. + * + * \sa Mix_Quit + */ +extern DECLSPEC void SDLCALL Mix_CloseAudio(void); + +/* We'll use SDL for reporting errors */ + +/** + * Report SDL_mixer errors + * + * \sa Mix_GetError + */ +#define Mix_SetError SDL_SetError + +/** + * Get last SDL_mixer error + * + * \sa Mix_SetError + */ +#define Mix_GetError SDL_GetError + +/** + * Clear last SDL_mixer error + * + * \sa Mix_SetError + */ +#define Mix_ClearError SDL_ClearError + +/** + * Set OutOfMemory error + */ +#define Mix_OutOfMemory SDL_OutOfMemory + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif + +#include "close_code.h" + +#endif /* SDL_MIXER_H_ */ diff --git a/subprojects/sdl2_mixer_windows/meson.build b/subprojects/sdl2_mixer_windows/meson.build new file mode 100644 index 000000000..048838209 --- /dev/null +++ b/subprojects/sdl2_mixer_windows/meson.build @@ -0,0 +1,15 @@ +project('sdl2_mixer_windows', 'cpp') + +fs = import('fs') + +new_dir = join_paths('C:/TDT4102-mingw64','SDL2','sdl2_mixer_lib') +old_dir = join_paths(meson.current_source_dir(), 'lib') +#Ensuring backwards compatability in transition when SDL2 can be both places +dir_to_use = fs.exists(new_dir) ? new_dir : old_dir + +cxx = meson.get_compiler('cpp') +sdl2_mixer_windows_dep = declare_dependency( + dependencies : [cxx.find_library('SDL2_mixer', dirs : dir_to_use)], + include_directories : include_directories(join_paths('include', 'SDL2'))) + + \ No newline at end of file diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.gme.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.gme.txt new file mode 100644 index 000000000..5faba9d48 --- /dev/null +++ b/subprojects/sdl2_mixer_windows/optional/LICENSE.gme.txt @@ -0,0 +1,504 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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IN NO EVENT SHALL THE FOUNDATION +OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.opus.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.opus.txt new file mode 100644 index 000000000..c43fe9c05 --- /dev/null +++ b/subprojects/sdl2_mixer_windows/optional/LICENSE.opus.txt @@ -0,0 +1,48 @@ +The source code to this library used with SDL_mixer can be found here: +https://hg.libsdl.org/SDL_mixer/file/default/external +--- + +Copyright 2001-2011 Xiph.Org, Skype Limited, Octasic, + Jean-Marc Valin, Timothy B. Terriberry, + CSIRO, Gregory Maxwell, Mark Borgerding, + Erik de Castro Lopo + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + +- Redistributions of source code must retain the above copyright +notice, this list of conditions and the following disclaimer. + +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. + +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER +OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +Opus is subject to the royalty-free patent licenses which are +specified at: + +Xiph.Org Foundation: +https://datatracker.ietf.org/ipr/1524/ + +Microsoft Corporation: +https://datatracker.ietf.org/ipr/1914/ + +Broadcom Corporation: +https://datatracker.ietf.org/ipr/1526/ diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.opusfile.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.opusfile.txt new file mode 100644 index 000000000..e62a20bdd --- /dev/null +++ b/subprojects/sdl2_mixer_windows/optional/LICENSE.opusfile.txt @@ -0,0 +1,32 @@ +The source code to this library used with SDL_mixer can be found here: +https://hg.libsdl.org/SDL_mixer/file/default/external +--- + +Copyright (c) 1994-2013 Xiph.Org Foundation and contributors + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + +- Redistributions of source code must retain the above copyright +notice, this list of conditions and the following disclaimer. + +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. + +- Neither the name of the Xiph.Org Foundation nor the names of its +contributors may be used to endorse or promote products derived from +this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION +OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.wavpack.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.wavpack.txt new file mode 100644 index 000000000..60aa8cc2e --- /dev/null +++ b/subprojects/sdl2_mixer_windows/optional/LICENSE.wavpack.txt @@ -0,0 +1,25 @@ + Copyright (c) 1998 - 2022 David Bryant + All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Conifer Software nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.xmp.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.xmp.txt new file mode 100644 index 000000000..0b3f1418d --- /dev/null +++ b/subprojects/sdl2_mixer_windows/optional/LICENSE.xmp.txt @@ -0,0 +1,20 @@ +Extended Module Player +Copyright (C) 1996-2024 Claudio Matsuoka and Hipolito Carraro Jr + +Permission is hereby granted, free of charge, to any person obtaining a +copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation +the rights to use, copy, modify, merge, publish, distribute, sublicense, +and/or sell copies of the Software, and to permit persons to whom the +Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/subprojects/sdl2_windows/BUGS.txt b/subprojects/sdl2_windows/BUGS.txt new file mode 100644 index 000000000..b1463e777 --- /dev/null +++ b/subprojects/sdl2_windows/BUGS.txt @@ -0,0 +1,16 @@ + +Bugs are now managed in the SDL issue tracker, here: + + https://github.com/libsdl-org/SDL/issues + +You may report bugs there, and search to see if a given issue has already + been reported, discussed, and maybe even fixed. + + +You may also find help at the SDL forums/mailing list: + + https://discourse.libsdl.org/ + +Bug reports are welcome here, but we really appreciate if you use the issue + tracker, as bugs discussed on the mailing list may be forgotten or missed. + diff --git a/subprojects/sdl2_windows/COPYING.txt b/subprojects/sdl2_windows/COPYING.txt new file mode 100644 index 000000000..0e2bef3fc --- /dev/null +++ b/subprojects/sdl2_windows/COPYING.txt @@ -0,0 +1,20 @@ + +Simple DirectMedia Layer +Copyright (C) 1997-2020 Sam Lantinga + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + diff --git a/subprojects/sdl2_windows/CREDITS.txt b/subprojects/sdl2_windows/CREDITS.txt new file mode 100644 index 000000000..7e4086712 --- /dev/null +++ b/subprojects/sdl2_windows/CREDITS.txt @@ -0,0 +1,53 @@ + +Simple DirectMedia Layer CREDITS +Thanks to everyone who made this possible, including: + +* Cliff Matthews, for giving me a reason to start this project. :) + -- Executor rocks! *grin* + +* Ryan Gordon for helping everybody out and keeping the dream alive. :) + +* Gabriel Jacobo for his work on the Android port and generally helping out all around. + +* Philipp Wiesemann for his attention to detail reviewing the entire SDL code base and proposes patches. + +* Andreas Schiffler for his dedication to unit tests, Visual Studio projects, and managing the Google Summer of Code. + +* Mike Sartain for incorporating SDL into Team Fortress 2 and cheering me on at Valve. + +* Alfred Reynolds for the game controller API and general (in)sanity + +* Jørgen Tjernø for numerous magical Mac OS X fixes. + +* Pierre-Loup Griffais for his deep knowledge of OpenGL drivers. + +* Julian Winter for the SDL 2.0 website. + +* Sheena Smith for many months of great work on the SDL wiki creating the API documentation and style guides. + +* Paul Hunkin for his port of SDL to Android during the Google Summer of Code 2010. + +* Eli Gottlieb for his work on shaped windows during the Google Summer of Code 2010. + +* Jim Grandpre for his work on multi-touch and gesture recognition during + the Google Summer of Code 2010. + +* Edgar "bobbens" Simo for his force feedback API development during the + Google Summer of Code 2008. + +* Aaron Wishnick for his work on audio resampling and pitch shifting during + the Google Summer of Code 2008. + +* Holmes Futrell for his port of SDL to the iPhone and iPod Touch during the + Google Summer of Code 2008. + +* Jon Atkins for SDL_image, SDL_mixer and SDL_net documentation. + +* Everybody at Loki Software, Inc. for their great contributions! + + And a big hand to everyone else who has contributed over the years. + +THANKS! :) + + -- Sam Lantinga + diff --git a/subprojects/sdl2_windows/INSTALL.txt b/subprojects/sdl2_windows/INSTALL.txt new file mode 100644 index 000000000..11a4ca8b0 --- /dev/null +++ b/subprojects/sdl2_windows/INSTALL.txt @@ -0,0 +1,18 @@ + +The 32-bit files are in i686-w64-mingw32 +The 64-bit files are in x86_64-w64-mingw32 + +To install SDL for native development: + make native + +To install SDL for cross-compiling development: + make cross + +Look at the example programs in ./test, and check out online documentation: + http://wiki.libsdl.org/ + +Join the SDL developer mailing list if you want to join the community: + http://www.libsdl.org/mailing-list.php + +That's it! +Sam Lantinga diff --git a/subprojects/sdl2_windows/README-SDL.txt b/subprojects/sdl2_windows/README-SDL.txt new file mode 100644 index 000000000..8d92955a9 --- /dev/null +++ b/subprojects/sdl2_windows/README-SDL.txt @@ -0,0 +1,13 @@ + +Please distribute this file with the SDL runtime environment: + +The Simple DirectMedia Layer (SDL for short) is a cross-platform library +designed to make it easy to write multi-media software, such as games +and emulators. + +The Simple DirectMedia Layer library source code is available from: +https://www.libsdl.org/ + +This library is distributed under the terms of the zlib license: +http://www.zlib.net/zlib_license.html + diff --git a/subprojects/sdl2_windows/README.txt b/subprojects/sdl2_windows/README.txt new file mode 100644 index 000000000..431ba0e74 --- /dev/null +++ b/subprojects/sdl2_windows/README.txt @@ -0,0 +1,21 @@ + + Simple DirectMedia Layer + + (SDL) + + Version 2.0 + +--- +https://www.libsdl.org/ + +Simple DirectMedia Layer is a cross-platform development library designed +to provide low level access to audio, keyboard, mouse, joystick, and graphics +hardware via OpenGL and Direct3D. It is used by video playback software, +emulators, and popular games including Valve's award winning catalog +and many Humble Bundle games. + +More extensive documentation is available in the docs directory, starting +with README.md + +Enjoy! + Sam Lantinga (slouken@libsdl.org) diff --git a/subprojects/sdl2_windows/WhatsNew.txt b/subprojects/sdl2_windows/WhatsNew.txt new file mode 100644 index 000000000..a7cdf8462 --- /dev/null +++ b/subprojects/sdl2_windows/WhatsNew.txt @@ -0,0 +1,853 @@ + +This is a list of major changes in SDL's version history. + +--------------------------------------------------------------------------- +2.26.0: +--------------------------------------------------------------------------- + +General: +* Updated OpenGL headers to the latest API from The Khronos Group Inc. +* Added SDL_GetWindowSizeInPixels() to get the window size in pixels, which may differ from the window coordinate size for windows with high-DPI support +* Added simulated vsync synchronization for the software renderer +* Added the mouse position to SDL_MouseWheelEvent +* Added SDL_ResetHints() to reset all hints to their default values +* Added SDL_GetJoystickGUIDInfo() to get device information encoded in a joystick GUID +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_360 to control whether the HIDAPI driver for XBox 360 controllers should be used +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_PLAYER_LED to control whether the player LEDs should be lit to indicate which player is associated with an Xbox 360 controller +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_WIRELESS to control whether the HIDAPI driver for XBox 360 wireless controllers should be used +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE to control whether the HIDAPI driver for XBox One controllers should be used +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE_HOME_LED to control the brightness of the XBox One guide button LED +* Added support for PS3 controllers to the HIDAPI driver, enabled by default on macOS, controlled by the SDL_HINT_JOYSTICK_HIDAPI_PS3 hint +* Added support for Nintendo Wii controllers to the HIDAPI driver, not enabled by default, controlled by the SDL_HINT_JOYSTICK_HIDAPI_WII hint +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_WII_PLAYER_LED to control whether the player LED should be lit on the Nintendo Wii controllers +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS to control whether Nintendo Switch Joy-Con controllers will be in vertical mode when using the HIDAPI driver +* Added access to the individual left and right gyro sensors of the combined Joy-Cons controller +* Added a microsecond timestamp to SDL_SensorEvent and SDL_ControllerSensorEvent, when the hardware provides that information +* Added SDL_SensorGetDataWithTimestamp() and SDL_GameControllerGetSensorDataWithTimestamp() to retrieve the last sensor data with the associated microsecond timestamp +* Added the hint SDL_HINT_HIDAPI_IGNORE_DEVICES to have the SDL HID API ignore specific devices +* SDL_GetRevision() now includes more information about the SDL build, including the git commit hash if available + +Windows: +* Added the hint SDL_HINT_MOUSE_RELATIVE_SYSTEM_SCALE to control whether the system mouse acceleration curve is used for relative mouse motion + +macOS: +* Implemented vsync synchronization on macOS 12 + +Linux: +* Added SDL_SetPrimarySelectionText(), SDL_GetPrimarySelectionText(), and SDL_HasPrimarySelectionText() to interact with the X11 primary selection clipboard +* Added the hint SDL_HINT_VIDEO_WAYLAND_EMULATE_MOUSE_WARP to control whether mouse pointer warp emulation is enabled under Wayland + +Android: +* Enabled IME soft keyboard input +* Added version checking to make sure the SDL Java and C code are compatible + + +--------------------------------------------------------------------------- +2.24.0: +--------------------------------------------------------------------------- + +General: +* New version numbering scheme, similar to GLib and Flatpak. + * An even number in the minor version (second component) indicates a production-ready stable release such as 2.24.0, which would have been 2.0.24 under the old system. + * The patchlevel (micro version, third component) indicates a bugfix-only update: for example, 2.24.1 would be a bugfix-only release to fix bugs in 2.24.0, without adding new features. + * An odd number in the minor version indicates a prerelease such as 2.23.0. Stable distributions should not use these prereleases. + * The patchlevel indicates successive prereleases, for example 2.23.1 and 2.23.2 would be prereleases during development of the SDL 2.24.0 stable release. +* Added SDL_GetPointDisplayIndex() and SDL_GetRectDisplayIndex() to get the display associated with a point and rectangle in screen space +* Added SDL_bsearch(), SDL_crc16(), and SDL_utf8strnlen() to the stdlib routines +* Added SDL_CPUPauseInstruction() as a macro in SDL_atomic.h +* Added SDL_size_mul_overflow() and SDL_size_add_overflow() for better size overflow protection +* Added SDL_ResetHint() to reset a hint to the default value +* Added SDL_ResetKeyboard() to reset SDL's internal keyboard state, generating key up events for all currently pressed keys +* Added the hint SDL_HINT_MOUSE_RELATIVE_WARP_MOTION to control whether mouse warping generates motion events in relative mode. This hint defaults off. +* Added the hint SDL_HINT_TRACKPAD_IS_TOUCH_ONLY to control whether trackpads are treated as touch devices or mice. By default touchpads are treated as mouse input. +* The hint SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS now defaults on +* Added support for mini-gamepad mode for Nintendo Joy-Con controllers using the HIDAPI driver +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_COMBINE_JOY_CONS to control whether Joy-Con controllers are automatically merged into a unified gamepad when using the HIDAPI driver. This hint defaults on. +* The hint SDL_HINT_JOYSTICK_HIDAPI_SWITCH_HOME_LED can be set to a floating point value to set the brightness of the Home LED on Nintendo Switch controllers +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_JOYCON_HOME_LED to set the Home LED brightness for the Nintendo Joy-Con controllers. By default the Home LED is not modified. +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED to control whether the player LED should be lit on the Nintendo Joy-Con controllers +* Added support for Nintendo Online classic controllers using the HIDAPI driver +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC to control whether the HIDAPI driver for Nintendo Online classic controllers should be used +* Added support for the NVIDIA Shield Controller to the HIDAPI driver, supporting rumble and battery status +* Added support for NVIDIA SHIELD controller to the HIDAPI driver, and a hint SDL_HINT_JOYSTICK_HIDAPI_SHIELD to control whether this is used +* Added functions to get the platform dependent name for a joystick or game controller: + * SDL_JoystickPathForIndex() + * SDL_JoystickPath() + * SDL_GameControllerPathForIndex() + * SDL_GameControllerPath() +* Added SDL_GameControllerGetFirmwareVersion() and SDL_JoystickGetFirmwareVersion(), currently implemented for DualSense(tm) Wireless Controllers using HIDAPI +* Added SDL_JoystickAttachVirtualEx() for extended virtual controller support +* Added joystick event SDL_JOYBATTERYUPDATED for when battery status changes +* Added SDL_GUIDToString() and SDL_GUIDFromString() to convert between SDL GUID and string +* Added SDL_HasLSX() and SDL_HasLASX() to detect LoongArch SIMD support +* Added SDL_GetOriginalMemoryFunctions() +* Added SDL_GetDefaultAudioInfo() to get the name and format of the default audio device, currently implemented for PipeWire, PulseAudio, WASAPI, and DirectSound +* Added HIDAPI driver for the NVIDIA SHIELD controller (2017 model) to enable support for battery status and rumble +* Added support for opening audio devices with 3 or 5 channels (2.1, 4.1). All channel counts from Mono to 7.1 are now supported. +* Rewrote audio channel converters used by SDL_AudioCVT, based on the channel matrix coefficients used as the default for FAudio voices +* SDL log messages are no longer limited to 4K and can be any length +* Fixed a long-standing calling convention issue with dynapi affecting OpenWatcom or OS/2 builds + +Windows: +* Added initial support for building for Windows and Xbox with Microsoft's Game Development Kit (GDK), see docs/README-gdk.md for details +* Added a D3D12 renderer implementation and SDL_RenderGetD3D12Device() to retrieve the D3D12 device associated with it +* Added the hint SDL_HINT_WINDOWS_DPI_AWARENESS to set whether the application is DPI-aware. This hint must be set before initializing the video subsystem +* Added the hint SDL_HINT_WINDOWS_DPI_SCALING to control whether the SDL coordinates are in DPI-scaled points or pixels +* Added the hint SDL_HINT_DIRECTINPUT_ENABLED to control whether the DirectInput driver should be used +* Added support for SDL_GetAudioDeviceSpec to the DirectSound backend + +Linux: +* Support for XVidMode has been removed, mode changes are only supported using the XRandR extension +* Added the hint SDL_HINT_VIDEO_WAYLAND_MODE_EMULATION to control whether to expose a set of emulated modes in addition to the native resolution modes available on Wayland +* Added the hint SDL_HINT_KMSDRM_DEVICE_INDEX to specify which KMSDRM device to use if the default is not desired +* Added the hint SDL_HINT_LINUX_DIGITAL_HATS to control whether to treat hats as digital rather than checking to see if they may be analog +* Added the hint SDL_HINT_LINUX_HAT_DEADZONES to control whether to use deadzones on analog hats + +macOS: +* Bumped minimum OS deployment version to macOS 10.9 +* Added SDL_GL_FLOATBUFFERS to allow Cocoa GL contexts to use EDR +* Added the hint SDL_HINT_MAC_OPENGL_ASYNC_DISPATCH to control whether dispatching OpenGL context updates should block the dispatching thread until the main thread finishes processing. This hint defaults to blocking, which is the safer option on modern macOS. + + +--------------------------------------------------------------------------- +2.0.22: +--------------------------------------------------------------------------- + +General: +* Added SDL_RenderGetWindow() to get the window associated with a renderer +* Added floating point rectangle functions: + * SDL_PointInFRect() + * SDL_FRectEmpty() + * SDL_FRectEquals() + * SDL_FRectEqualsEpsilon() + * SDL_HasIntersectionF() + * SDL_IntersectFRect() + * SDL_UnionFRect() + * SDL_EncloseFPoints() + * SDL_IntersectFRectAndLine() +* Added SDL_IsTextInputShown() which returns whether the IME window is currently shown +* Added SDL_ClearComposition() to dismiss the composition window without disabling IME input +* Added SDL_TEXTEDITING_EXT event for handling long composition text, and a hint SDL_HINT_IME_SUPPORT_EXTENDED_TEXT to enable it +* Added the hint SDL_HINT_MOUSE_RELATIVE_MODE_CENTER to control whether the mouse should be constrained to the whole window or the center of the window when relative mode is enabled +* The mouse is now automatically captured when mouse buttons are pressed, and the hint SDL_HINT_MOUSE_AUTO_CAPTURE allows you to control this behavior +* Added the hint SDL_HINT_VIDEO_FOREIGN_WINDOW_OPENGL to let SDL know that a foreign window will be used with OpenGL +* Added the hint SDL_HINT_VIDEO_FOREIGN_WINDOW_VULKAN to let SDL know that a foreign window will be used with Vulkan +* Added the hint SDL_HINT_QUIT_ON_LAST_WINDOW_CLOSE to specify whether an SDL_QUIT event will be delivered when the last application window is closed +* Added the hint SDL_HINT_JOYSTICK_ROG_CHAKRAM to control whether ROG Chakram mice show up as joysticks + +Windows: +* Added support for SDL_BLENDOPERATION_MINIMUM and SDL_BLENDOPERATION_MAXIMUM to the D3D9 renderer + +Linux: +* Compiling with Wayland support requires libwayland-client version 1.18.0 or later +* Added the hint SDL_HINT_X11_WINDOW_TYPE to specify the _NET_WM_WINDOW_TYPE of SDL windows +* Added the hint SDL_HINT_VIDEO_WAYLAND_PREFER_LIBDECOR to allow using libdecor with compositors that support xdg-decoration + +Android: +* Added SDL_AndroidSendMessage() to send a custom command to the SDL java activity + + +--------------------------------------------------------------------------- +2.0.20: +--------------------------------------------------------------------------- + +General: +* SDL_RenderGeometryRaw() takes a pointer to SDL_Color, not int. You can cast color data in SDL_PIXELFORMAT_RGBA32 format (SDL_PIXELFORMAT_ABGR8888 on little endian systems) for this parameter. +* Improved accuracy of horizontal and vertical line drawing when using OpenGL or OpenGLES +* Added the hint SDL_HINT_RENDER_LINE_METHOD to control the method of line drawing used, to select speed, correctness, and compatibility. + +Windows: +* Fixed size of custom cursors + +Linux: +* Fixed hotplug controller detection, broken in 2.0.18 + + +--------------------------------------------------------------------------- +2.0.18: +--------------------------------------------------------------------------- + +General: +* The SDL wiki documentation and development headers are automatically kept in sync +* Each function has information about in which version of SDL it was introduced +* SDL-specific CMake options are now prefixed with 'SDL_'. Be sure to update your CMake build scripts accordingly! +* Added the hint SDL_HINT_APP_NAME to let SDL know the name of your application for various places it might show up in system information +* Added SDL_RenderGeometry() and SDL_RenderGeometryRaw() to allow rendering of arbitrary shapes using the SDL 2D render API +* Added SDL_SetTextureUserData() and SDL_GetTextureUserData() to associate application data with an SDL texture +* Added SDL_RenderWindowToLogical() and SDL_RenderLogicalToWindow() to convert between window coordinates and logical render coordinates +* Added SDL_RenderSetVSync() to change whether a renderer present is synchronized with vblank at runtime +* Added SDL_PremultiplyAlpha() to premultiply alpha on a block of SDL_PIXELFORMAT_ARGB8888 pixels +* Added a window event SDL_WINDOWEVENT_DISPLAY_CHANGED which is sent when a window changes what display it's centered on +* Added SDL_GetWindowICCProfile() to query a window's ICC profile, and a window event SDL_WINDOWEVENT_ICCPROF_CHANGED that is sent when it changes +* Added the hint SDL_HINT_VIDEO_EGL_ALLOW_TRANSPARENCY to allow EGL windows to be transparent instead of opaque +* SDL_WaitEvent() has been redesigned to use less CPU in most cases +* Added SDL_SetWindowMouseRect() and SDL_GetWindowMouseRect() to confine the mouse cursor to an area of a window +* You can now read precise mouse wheel motion using 'preciseX' and 'preciseY' event fields +* Added SDL_GameControllerHasRumble() and SDL_GameControllerHasRumbleTriggers() to query whether a game controller supports rumble +* Added SDL_JoystickHasRumble() and SDL_JoystickHasRumbleTriggers() to query whether a joystick supports rumble +* SDL's hidapi implementation is now available as a public API in SDL_hidapi.h + +Windows: +* Improved relative mouse motion over Windows Remote Desktop +* Added the hint SDL_HINT_IME_SHOW_UI to show native UI components instead of hiding them (defaults off) + +Windows/UWP: +* WGI is used instead of XInput for better controller support in UWP apps + +Linux: +* Added the hint SDL_HINT_SCREENSAVER_INHIBIT_ACTIVITY_NAME to set the activity that's displayed by the system when the screensaver is disabled +* Added the hint SDL_HINT_LINUX_JOYSTICK_CLASSIC to control whether /dev/input/js* or /dev/input/event* are used as joystick devices +* Added the hint SDL_HINT_JOYSTICK_DEVICE to allow the user to specify devices that will be opened in addition to the normal joystick detection +* Added SDL_LinuxSetThreadPriorityAndPolicy() for more control over a thread priority on Linux + +Android: +* Added support for audio output and capture using AAudio on Android 8.1 and newer +* Steam Controller support is disabled by default, and can be enabled by setting the hint SDL_HINT_JOYSTICK_HIDAPI_STEAM to "1" before calling SDL_Init() + +Apple Arcade: +* Added SDL_GameControllerGetAppleSFSymbolsNameForButton() and SDL_GameControllerGetAppleSFSymbolsNameForAxis() to support Apple Arcade titles + +iOS: +* Added documentation that the UIApplicationSupportsIndirectInputEvents key must be set to true in your application's Info.plist in order to get real Bluetooth mouse events. +* Steam Controller support is disabled by default, and can be enabled by setting the hint SDL_HINT_JOYSTICK_HIDAPI_STEAM to "1" before calling SDL_Init() + + +--------------------------------------------------------------------------- +2.0.16: +--------------------------------------------------------------------------- +General: +* Added SDL_FlashWindow() to get a user's attention +* Added SDL_GetAudioDeviceSpec() to get the preferred audio format of a device +* Added SDL_SetWindowAlwaysOnTop() to dynamically change the SDL_WINDOW_ALWAYS_ON_TOP flag for a window +* Added SDL_SetWindowKeyboardGrab() to support grabbing the keyboard independently of the mouse +* Added SDL_SoftStretchLinear() to do bilinear scaling between 32-bit software surfaces +* Added SDL_UpdateNVTexture() to update streaming NV12/21 textures +* Added SDL_GameControllerSendEffect() and SDL_JoystickSendEffect() to allow sending custom trigger effects to the DualSense controller +* Added SDL_GameControllerGetSensorDataRate() to get the sensor data rate for PlayStation and Nintendo Switch controllers +* Added support for the Amazon Luna game controller +* Added rumble support for the Google Stadia controller using the HIDAPI driver +* Added SDL_GameControllerType constants for the Amazon Luna and Google Stadia controllers +* Added analog rumble for Nintendo Switch Pro controllers using the HIDAPI driver +* Reduced CPU usage when using SDL_WaitEvent() and SDL_WaitEventTimeout() + +Windows: +* Added SDL_SetWindowsMessageHook() to set a function that is called for all Windows messages +* Added SDL_RenderGetD3D11Device() to get the D3D11 device used by the SDL renderer + +Linux: +* Greatly improved Wayland support +* Added support for audio output and capture using Pipewire +* Added the hint SDL_HINT_AUDIO_INCLUDE_MONITORS to control whether PulseAudio recording should include monitor devices +* Added the hint SDL_HINT_AUDIO_DEVICE_STREAM_ROLE to describe the role of your application for audio control panels + +Android: +* Added SDL_AndroidShowToast() to show a lightweight notification + +iOS: +* Added support for mouse relative mode on iOS 14.1 and newer +* Added support for the Xbox Series X controller + +tvOS: +* Added support for the Xbox Series X controller + + +--------------------------------------------------------------------------- +2.0.14: +--------------------------------------------------------------------------- +General: +* Added support for PS5 DualSense and Xbox Series X controllers to the HIDAPI controller driver +* Added game controller button constants for paddles and new buttons +* Added game controller functions to get additional information: + * SDL_GameControllerGetSerial() + * SDL_GameControllerHasAxis() + * SDL_GameControllerHasButton() + * SDL_GameControllerGetNumTouchpads() + * SDL_GameControllerGetNumTouchpadFingers() + * SDL_GameControllerGetTouchpadFinger() + * SDL_GameControllerHasSensor() + * SDL_GameControllerSetSensorEnabled() + * SDL_GameControllerIsSensorEnabled() + * SDL_GameControllerGetSensorData() + * SDL_GameControllerRumbleTriggers() + * SDL_GameControllerHasLED() + * SDL_GameControllerSetLED() +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_PS5 to control whether the HIDAPI driver for PS5 controllers should be used. +* Added joystick functions to get additional information: + * SDL_JoystickGetSerial() + * SDL_JoystickRumbleTriggers() + * SDL_JoystickHasLED() + * SDL_JoystickSetLED() +* Added an API to allow the application to create virtual joysticks: + * SDL_JoystickAttachVirtual() + * SDL_JoystickDetachVirtual() + * SDL_JoystickIsVirtual() + * SDL_JoystickSetVirtualAxis() + * SDL_JoystickSetVirtualButton() + * SDL_JoystickSetVirtualHat() +* Added SDL_LockSensors() and SDL_UnlockSensors() to guarantee exclusive access to the sensor list +* Added SDL_HAPTIC_STEERING_AXIS to play an effect on the steering wheel +* Added the hint SDL_HINT_MOUSE_RELATIVE_SCALING to control whether relative motion is scaled by the screen DPI or renderer logical size +* The default value for SDL_HINT_VIDEO_MINIMIZE_ON_FOCUS_LOSS is now false for better compatibility with modern window managers +* Added SDL_GetPreferredLocales() to get the application's current locale setting +* Added the hint SDL_HINT_PREFERRED_LOCALES to override your application's default locale setting +* Added SDL_OpenURL() to open a URL in the system's default browser +* Added SDL_HasSurfaceRLE() to tell whether a surface is currently using RLE encoding +* Added SDL_SIMDRealloc() to reallocate memory obtained from SDL_SIMDAlloc() +* Added SDL_GetErrorMsg() to get the last error in a thread-safe way +* Added SDL_crc32(), SDL_wcscasecmp(), SDL_wcsncasecmp(), SDL_trunc(), SDL_truncf() +* Added clearer names for RGB pixel formats, e.g. SDL_PIXELFORMAT_XRGB8888, SDL_PIXELFORMAT_XBGR8888, etc. + +Windows: +* Added the RAWINPUT controller driver to support more than 4 Xbox controllers simultaneously +* Added the hint SDL_HINT_JOYSTICK_RAWINPUT to control whether the RAWINPUT driver should be used +* Added the hint SDL_HINT_JOYSTICK_HIDAPI_CORRELATE_XINPUT to control whether XInput and WGI should be used to for complete controller functionality with the RAWINPUT driver. + +macOS: +* Added the SDL_WINDOW_METAL flag to specify that a window should be created with a Metal view +* Added SDL_Metal_GetLayer() to get the CAMetalLayer backing a Metal view +* Added SDL_Metal_GetDrawableSize() to get the size of a window's drawable, in pixels + +Linux: +* Added the hint SDL_HINT_AUDIO_DEVICE_APP_NAME to specify the name that shows up in PulseAudio for your application +* Added the hint SDL_HINT_AUDIO_DEVICE_STREAM_NAME to specify the name that shows up in PulseAudio associated with your audio stream +* Added the hint SDL_HINT_LINUX_JOYSTICK_DEADZONES to control whether HID defined dead zones should be respected on Linux +* Added the hint SDL_HINT_THREAD_PRIORITY_POLICY to specify the thread scheduler policy +* Added the hint SDL_HINT_THREAD_FORCE_REALTIME_TIME_CRITICAL to allow time critical threads to use a realtime scheduling policy + +Android: +* Added SDL_AndroidRequestPermission() to request a specific system permission +* Added the hint SDL_HINT_ANDROID_BLOCK_ON_PAUSE_PAUSEAUDIO to control whether audio will pause when the application goes intot he background + +OS/2: +* Added support for OS/2, see docs/README-os2.md for details + +Emscripten (running in a web browser): +* Added the hint SDL_HINT_EMSCRIPTEN_ASYNCIFY to control whether SDL should call emscripten_sleep internally + + +--------------------------------------------------------------------------- +2.0.12: +--------------------------------------------------------------------------- + +General: +* Added SDL_GetTextureScaleMode() and SDL_SetTextureScaleMode() to get and set the scaling mode used for a texture +* Added SDL_LockTextureToSurface(), similar to SDL_LockTexture() but the locked area is exposed as a SDL surface. +* Added new blend mode, SDL_BLENDMODE_MUL, which does a modulate and blend operation +* Added the hint SDL_HINT_DISPLAY_USABLE_BOUNDS to override the results of SDL_GetDisplayUsableBounds() for display index 0. +* Added the window underneath the finger to the SDL_TouchFingerEvent +* Added SDL_GameControllerTypeForIndex(), SDL_GameControllerGetType() to return the type of a game controller (Xbox 360, Xbox One, PS3, PS4, or Nintendo Switch Pro) +* Added the hint SDL_HINT_GAMECONTROLLERTYPE to override the automatic game controller type detection +* Added SDL_JoystickFromPlayerIndex() and SDL_GameControllerFromPlayerIndex() to get the device associated with a player index +* Added SDL_JoystickSetPlayerIndex() and SDL_GameControllerSetPlayerIndex() to set the player index associated with a device +* Added the hint SDL_HINT_GAMECONTROLLER_USE_BUTTON_LABELS to specify whether Nintendo Switch Pro controllers should use the buttons as labeled or swapped to match positional layout. The default is to use the buttons as labeled. +* Added support for Nintendo GameCube controllers to the HIDAPI driver, and a hint SDL_HINT_JOYSTICK_HIDAPI_GAMECUBE to control whether this is used. +* Improved support for Xbox 360 and Xbox One controllers when using the HIDAPI driver +* Added support for many game controllers, including: + * 8BitDo FC30 Pro + * 8BitDo M30 GamePad + * BDA PS4 Fightpad + * HORI Fighting Commander + * Hyperkin Duke + * Hyperkin X91 + * MOGA XP5-A Plus + * NACON GC-400ES + * NVIDIA Controller v01.04 + * PDP Versus Fighting Pad + * Razer Raion Fightpad for PS4 + * Razer Serval + * Stadia Controller + * SteelSeries Stratus Duo + * Victrix Pro Fight Stick for PS4 + * Xbox One Elite Series 2 +* Fixed blocking game controller rumble calls when using the HIDAPI driver +* Added SDL_zeroa() macro to zero an array of elements +* Added SDL_HasARMSIMD() which returns true if the CPU has ARM SIMD (ARMv6+) features + +Windows: +* Fixed crash when using the release SDL DLL with applications built with gcc +* Fixed performance regression in event handling introduced in 2.0.10 +* Added support for SDL_SetThreadPriority() for UWP applications + +Linux: +* Added the hint SDL_HINT_VIDEO_X11_WINDOW_VISUALID to specify the visual chosen for new X11 windows +* Added the hint SDL_HINT_VIDEO_X11_FORCE_EGL to specify whether X11 should use GLX or EGL by default + +iOS / tvOS / macOS: +* Added SDL_Metal_CreateView() and SDL_Metal_DestroyView() to create CAMetalLayer-backed NSView/UIView and attach it to the specified window. + +iOS/ tvOS: +* Added support for Bluetooth Steam Controllers as game controllers + +tvOS: +* Fixed support for surround sound on Apple TV + +Android: +* Added SDL_GetAndroidSDKVersion() to return the API level of the current device +* Added support for audio capture using OpenSL-ES +* Added support for Bluetooth Steam Controllers as game controllers +* Fixed rare crashes when the app goes into the background or terminates + + +--------------------------------------------------------------------------- +2.0.10: +--------------------------------------------------------------------------- + +General: +* The SDL_RW* macros have been turned into functions that are available only in 2.0.10 and onward +* Added SDL_SIMDGetAlignment(), SDL_SIMDAlloc(), and SDL_SIMDFree(), to allocate memory aligned for SIMD operations for the current CPU +* Added SDL_RenderDrawPointF(), SDL_RenderDrawPointsF(), SDL_RenderDrawLineF(), SDL_RenderDrawLinesF(), SDL_RenderDrawRectF(), SDL_RenderDrawRectsF(), SDL_RenderFillRectF(), SDL_RenderFillRectsF(), SDL_RenderCopyF(), SDL_RenderCopyExF(), to allow floating point precision in the SDL rendering API. +* Added SDL_GetTouchDeviceType() to get the type of a touch device, which can be a touch screen or a trackpad in relative or absolute coordinate mode. +* The SDL rendering API now uses batched rendering by default, for improved performance +* Added SDL_RenderFlush() to force batched render commands to execute, if you're going to mix SDL rendering with native rendering +* Added the hint SDL_HINT_RENDER_BATCHING to control whether batching should be used for the rendering API. This defaults to "1" if you don't specify what rendering driver to use when creating the renderer. +* Added the hint SDL_HINT_EVENT_LOGGING to enable logging of SDL events for debugging purposes +* Added the hint SDL_HINT_GAMECONTROLLERCONFIG_FILE to specify a file that will be loaded at joystick initialization with game controller bindings +* Added the hint SDL_HINT_MOUSE_TOUCH_EVENTS to control whether SDL will synthesize touch events from mouse events +* Improved handling of malformed WAVE and BMP files, fixing potential security exploits + +Linux: +* Removed the Mir video driver in favor of Wayland + +iOS / tvOS: +* Added support for Xbox and PS4 wireless controllers in iOS 13 and tvOS 13 +* Added support for text input using Bluetooth keyboards + +Android: +* Added low latency audio using OpenSL ES +* Removed SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH (replaced by SDL_HINT_MOUSE_TOUCH_EVENTS and SDL_HINT_TOUCH_MOUSE_EVENTS) + SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH=1, should be replaced by setting both previous hints to 0. + SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH=0, should be replaced by setting both previous hints to 1. +* Added the hint SDL_HINT_ANDROID_BLOCK_ON_PAUSE to set whether the event loop will block itself when the app is paused. + + +--------------------------------------------------------------------------- +2.0.9: +--------------------------------------------------------------------------- + +General: +* Added a new sensor API, initialized by passing SDL_INIT_SENSOR to SDL_Init(), and defined in SDL_sensor.h +* Added an event SDL_SENSORUPDATE which is sent when a sensor is updated +* Added SDL_GetDisplayOrientation() to return the current display orientation +* Added an event SDL_DISPLAYEVENT which is sent when the display orientation changes +* Added HIDAPI joystick drivers for more consistent support for Xbox, PS4 and Nintendo Switch Pro controller support across platforms. (Thanks to Valve for contributing the PS4 and Nintendo Switch Pro controller support) +* Added support for many other popular game controllers +* Added SDL_JoystickGetDevicePlayerIndex(), SDL_JoystickGetPlayerIndex(), and SDL_GameControllerGetPlayerIndex() to get the player index for a controller. For XInput controllers this returns the XInput index for the controller. +* Added SDL_GameControllerRumble() and SDL_JoystickRumble() which allow simple rumble without using the haptics API +* Added SDL_GameControllerMappingForDeviceIndex() to get the mapping for a controller before it's opened +* Added the hint SDL_HINT_MOUSE_DOUBLE_CLICK_TIME to control the mouse double-click time +* Added the hint SDL_HINT_MOUSE_DOUBLE_CLICK_RADIUS to control the mouse double-click radius, in pixels +* Added SDL_HasColorKey() to return whether a surface has a colorkey active +* Added SDL_HasAVX512F() to return whether the CPU has AVX-512F features +* Added SDL_IsTablet() to return whether the application is running on a tablet +* Added SDL_THREAD_PRIORITY_TIME_CRITICAL for threads that must run at the highest priority + +Mac OS X: +* Fixed black screen at start on Mac OS X Mojave + +Linux: +* Added SDL_LinuxSetThreadPriority() to allow adjusting the thread priority of native threads using RealtimeKit if available. + +iOS: +* Fixed Asian IME input + +Android: +* Updated required Android SDK to API 26, to match Google's new App Store requirements +* Added support for wired USB Xbox, PS4, and Nintendo Switch Pro controllers +* Added support for relative mouse mode on Android 7.0 and newer (except where it's broken, on Chromebooks and when in DeX mode with Samsung Experience 9.0) +* Added support for custom mouse cursors on Android 7.0 and newer +* Added the hint SDL_HINT_ANDROID_TRAP_BACK_BUTTON to control whether the back button will back out of the app (the default) or be passed to the application as SDL_SCANCODE_AC_BACK +* Added SDL_AndroidBackButton() to trigger the Android system back button behavior when handling the back button in the application +* Added SDL_IsChromebook() to return whether the app is running in the Chromebook Android runtime +* Added SDL_IsDeXMode() to return whether the app is running while docked in the Samsung DeX + + +--------------------------------------------------------------------------- +2.0.8: +--------------------------------------------------------------------------- + +General: +* Added SDL_fmod() and SDL_log10() +* Each of the SDL math functions now has the corresponding float version +* Added SDL_SetYUVConversionMode() and SDL_GetYUVConversionMode() to control the formula used when converting to and from YUV colorspace. The options are JPEG, BT.601, and BT.709 + +Windows: +* Implemented WASAPI support on Windows UWP and removed the deprecated XAudio2 implementation +* Added resampling support on WASAPI on Windows 7 and above + +Windows UWP: +* Added SDL_WinRTGetDeviceFamily() to find out what type of device your application is running on + +Mac OS X: +* Added support for the Vulkan SDK for Mac: + https://www.lunarg.com/lunarg-releases-vulkan-sdk-1-0-69-0-for-mac/ +* Added support for OpenGL ES using ANGLE when it's available + +Mac OS X / iOS / tvOS: +* Added a Metal 2D render implementation +* Added SDL_RenderGetMetalLayer() and SDL_RenderGetMetalCommandEncoder() to insert your own drawing into SDL rendering when using the Metal implementation + +iOS: +* Added the hint SDL_HINT_IOS_HIDE_HOME_INDICATOR to control whether the home indicator bar on iPhone X should be hidden. This defaults to dimming the indicator for fullscreen applications and showing the indicator for windowed applications. + +iOS / Android: +* Added the hint SDL_HINT_RETURN_KEY_HIDES_IME to control whether the return key on the software keyboard should hide the keyboard or send a key event (the default) + +Android: +* SDL now supports building with Android Studio and Gradle by default, and the old Ant project is available in android-project-ant +* SDL now requires the API 19 SDK to build, but can still target devices down to API 14 (Android 4.0.1) +* Added SDL_IsAndroidTV() to tell whether the application is running on Android TV + +Android / tvOS: +* Added the hint SDL_HINT_TV_REMOTE_AS_JOYSTICK to control whether TV remotes should be listed as joystick devices (the default) or send keyboard events. + +Linux: +* Added the hint SDL_HINT_VIDEO_X11_NET_WM_BYPASS_COMPOSITOR to control whether the X server should skip the compositor for the SDL application. This defaults to "1" +* Added the hint SDL_HINT_VIDEO_DOUBLE_BUFFER to control whether the Raspberry Pi and KMSDRM video drivers should use double or triple buffering (the default) + + +--------------------------------------------------------------------------- +2.0.7: +--------------------------------------------------------------------------- + +General: +* Added audio stream conversion functions: + SDL_NewAudioStream + SDL_AudioStreamPut + SDL_AudioStreamGet + SDL_AudioStreamAvailable + SDL_AudioStreamFlush + SDL_AudioStreamClear + SDL_FreeAudioStream +* Added functions to query and set the SDL memory allocation functions: + SDL_GetMemoryFunctions() + SDL_SetMemoryFunctions() + SDL_GetNumAllocations() +* Added locking functions for multi-threaded access to the joystick and game controller APIs: + SDL_LockJoysticks() + SDL_UnlockJoysticks() +* The following functions are now thread-safe: + SDL_SetEventFilter() + SDL_GetEventFilter() + SDL_AddEventWatch() + SDL_DelEventWatch() + + +General: +--------------------------------------------------------------------------- +2.0.6: +--------------------------------------------------------------------------- + +General: +* Added cross-platform Vulkan graphics support in SDL_vulkan.h + SDL_Vulkan_LoadLibrary() + SDL_Vulkan_GetVkGetInstanceProcAddr() + SDL_Vulkan_GetInstanceExtensions() + SDL_Vulkan_CreateSurface() + SDL_Vulkan_GetDrawableSize() + SDL_Vulkan_UnloadLibrary() + This is all the platform-specific code you need to bring up Vulkan on all SDL platforms. You can look at an example in test/testvulkan.c +* Added SDL_ComposeCustomBlendMode() to create custom blend modes for 2D rendering +* Added SDL_HasNEON() which returns whether the CPU has NEON instruction support +* Added support for many game controllers, including the Nintendo Switch Pro Controller +* Added support for inverted axes and separate axis directions in game controller mappings +* Added functions to return information about a joystick before it's opened: + SDL_JoystickGetDeviceVendor() + SDL_JoystickGetDeviceProduct() + SDL_JoystickGetDeviceProductVersion() + SDL_JoystickGetDeviceType() + SDL_JoystickGetDeviceInstanceID() +* Added functions to return information about an open joystick: + SDL_JoystickGetVendor() + SDL_JoystickGetProduct() + SDL_JoystickGetProductVersion() + SDL_JoystickGetType() + SDL_JoystickGetAxisInitialState() +* Added functions to return information about an open game controller: + SDL_GameControllerGetVendor() + SDL_GameControllerGetProduct() + SDL_GameControllerGetProductVersion() +* Added SDL_GameControllerNumMappings() and SDL_GameControllerMappingForIndex() to be able to enumerate the built-in game controller mappings +* Added SDL_LoadFile() and SDL_LoadFile_RW() to load a file into memory +* Added SDL_DuplicateSurface() to make a copy of a surface +* Added an experimental JACK audio driver +* Implemented non-power-of-two audio resampling, optionally using libsamplerate to perform the resampling +* Added the hint SDL_HINT_AUDIO_RESAMPLING_MODE to control the quality of resampling +* Added the hint SDL_HINT_RENDER_LOGICAL_SIZE_MODE to control the scaling policy for SDL_RenderSetLogicalSize(): + "0" or "letterbox" - Uses letterbox/sidebars to fit the entire rendering on screen (the default) + "1" or "overscan" - Will zoom the rendering so it fills the entire screen, allowing edges to be drawn offscreen +* Added the hints SDL_HINT_MOUSE_NORMAL_SPEED_SCALE and SDL_HINT_MOUSE_RELATIVE_SPEED_SCALE to scale the mouse speed when being read from raw mouse input +* Added the hint SDL_HINT_TOUCH_MOUSE_EVENTS to control whether SDL will synthesize mouse events from touch events + +Windows: +* The new default audio driver on Windows is WASAPI and supports hot-plugging devices and changing the default audio device +* The old XAudio2 audio driver is deprecated and will be removed in the next release +* Added hints SDL_HINT_WINDOWS_INTRESOURCE_ICON and SDL_HINT_WINDOWS_INTRESOURCE_ICON_SMALL to specify a custom icon resource ID for SDL windows +* The hint SDL_HINT_WINDOWS_DISABLE_THREAD_NAMING is now on by default for compatibility with .NET languages and various Windows debuggers +* Updated the GUID format for game controller mappings, older mappings will be automatically converted on load +* Implemented the SDL_WINDOW_ALWAYS_ON_TOP flag on Windows + +Linux: +* Added an experimental KMS/DRM video driver for embedded development + +iOS: +* Added a hint SDL_HINT_AUDIO_CATEGORY to control the audio category, determining whether the phone mute switch affects the audio + +--------------------------------------------------------------------------- +2.0.5: +--------------------------------------------------------------------------- + +General: +* Implemented audio capture support for some platforms +* Added SDL_DequeueAudio() to retrieve audio when buffer queuing is turned on for audio capture +* Added events for dragging and dropping text +* Added events for dragging and dropping multiple items +* By default the click raising a window will not be delivered to the SDL application. You can set the hint SDL_HINT_MOUSE_FOCUS_CLICKTHROUGH to "1" to allow that click through to the window. +* Saving a surface with an alpha channel as a BMP will use a newer BMP format that supports alpha information. You can set the hint SDL_HINT_BMP_SAVE_LEGACY_FORMAT to "1" to use the old format. +* Added SDL_GetHintBoolean() to get the boolean value of a hint +* Added SDL_RenderSetIntegerScale() to set whether to smoothly scale or use integral multiples of the viewport size when scaling the rendering output +* Added SDL_CreateRGBSurfaceWithFormat() and SDL_CreateRGBSurfaceWithFormatFrom() to create an SDL surface with a specific pixel format +* Added SDL_GetDisplayUsableBounds() which returns the area usable for windows. For example, on Mac OS X, this subtracts the area occupied by the menu bar and dock. +* Added SDL_GetWindowBordersSize() which returns the size of the window's borders around the client area +* Added a window event SDL_WINDOWEVENT_HIT_TEST when a window had a hit test that wasn't SDL_HITTEST_NORMAL (e.g. in the title bar or window frame) +* Added SDL_SetWindowResizable() to change whether a window is resizable +* Added SDL_SetWindowOpacity() and SDL_GetWindowOpacity() to affect the window transparency +* Added SDL_SetWindowModalFor() to set a window as modal for another window +* Added support for AUDIO_U16LSB and AUDIO_U16MSB to SDL_MixAudioFormat() +* Fixed flipped images when reading back from target textures when using the OpenGL renderer +* Fixed texture color modulation with SDL_BLENDMODE_NONE when using the OpenGL renderer +* Fixed bug where the alpha value of colorkeys was ignored when blitting in some cases + +Windows: +* Added a hint SDL_HINT_WINDOWS_DISABLE_THREAD_NAMING to prevent SDL from raising a debugger exception to name threads. This exception can cause problems with .NET applications when running under a debugger. +* The hint SDL_HINT_THREAD_STACK_SIZE is now supported on Windows +* Fixed XBox controller triggers automatically being pulled at startup +* The first icon from the executable is used as the default window icon at runtime +* Fixed SDL log messages being printed twice if SDL was built with C library support +* Reset dead keys when the SDL window loses focus, so dead keys pressed in SDL applications don't affect text input into other applications. + +Mac OS X: +* Fixed selecting the dummy video driver +* The caps lock key now generates a pressed event when pressed and a released event when released, instead of a press/release event pair when pressed. +* Fixed mouse wheel events on Mac OS X 10.12 +* The audio driver has been updated to use AVFoundation for better compatibility with newer versions of Mac OS X + +Linux: +* Added support for the Fcitx IME +* Added a window event SDL_WINDOWEVENT_TAKE_FOCUS when a window manager asks the SDL window whether it wants to take focus. +* Refresh rates are now rounded instead of truncated, e.g. 59.94 Hz is rounded up to 60 Hz instead of 59. +* Added initial support for touchscreens on Raspberry Pi + +OpenBSD: +* SDL_GetBasePath() is now implemented on OpenBSD + +iOS: +* Added support for dynamically loaded objects on iOS 8 and newer + +tvOS: +* Added support for Apple TV +* Added a hint SDL_HINT_APPLE_TV_REMOTE_ALLOW_ROTATION to control whether he Apple TV remote's joystick axes will automatically match the rotation of the remote. + +Android: +* Fixed SDL not resizing window when Android screen resolution changes +* Corrected the joystick Z axis reporting for the accelerometer + +Emscripten (running in a web browser): +* Many bug fixes and improvements + + +--------------------------------------------------------------------------- +2.0.4: +--------------------------------------------------------------------------- + +General: +* Added support for web applications using Emscripten, see docs/README-emscripten.md for more information +* Added support for web applications using Native Client (NaCl), see docs/README-nacl.md for more information +* Added an API to queue audio instead of using the audio callback: + SDL_QueueAudio(), SDL_GetQueuedAudioSize(), SDL_ClearQueuedAudio() +* Added events for audio device hot plug support: + SDL_AUDIODEVICEADDED, SDL_AUDIODEVICEREMOVED +* Added SDL_PointInRect() +* Added SDL_HasAVX2() to detect CPUs with AVX2 support +* Added SDL_SetWindowHitTest() to let apps treat parts of their SDL window like traditional window decorations (drag areas, resize areas) +* Added SDL_GetGrabbedWindow() to get the window that currently has input grab, if any +* Added SDL_RenderIsClipEnabled() to tell whether clipping is currently enabled in a renderer +* Added SDL_CaptureMouse() to capture the mouse to get events while the mouse is not in your window +* Added SDL_WarpMouseGlobal() to warp the mouse cursor in global screen space +* Added SDL_GetGlobalMouseState() to get the current mouse state outside of an SDL window +* Added a direction field to mouse wheel events to tell whether they are flipped (natural) or not +* Added GL_CONTEXT_RELEASE_BEHAVIOR GL attribute (maps to [WGL|GLX]_ARB_context_flush_control extension) +* Added EGL_KHR_create_context support to allow OpenGL ES version selection on some platforms +* Added NV12 and NV21 YUV texture support for OpenGL and OpenGL ES 2.0 renderers +* Added a Vivante video driver that is used on various SoC platforms +* Added an event SDL_RENDER_DEVICE_RESET that is sent from the D3D renderers when the D3D device is lost, and from Android's event loop when the GLES context had to be recreated +* Added a hint SDL_HINT_NO_SIGNAL_HANDLERS to disable SDL's built in signal handling +* Added a hint SDL_HINT_THREAD_STACK_SIZE to set the stack size of SDL's threads +* Added SDL_sqrtf(), SDL_tan(), and SDL_tanf() to the stdlib routines +* Improved support for WAV and BMP files with unusual chunks in them +* Renamed SDL_assert_data to SDL_AssertData and SDL_assert_state to SDL_AssertState +* Added a hint SDL_HINT_WINDOW_FRAME_USABLE_WHILE_CURSOR_HIDDEN to prevent window interaction while cursor is hidden +* Added SDL_GetDisplayDPI() to get the DPI information for a display +* Added SDL_JoystickCurrentPowerLevel() to get the battery level of a joystick +* Added SDL_JoystickFromInstanceID(), as a helper function, to get the SDL_Joystick* that an event is referring to. +* Added SDL_GameControllerFromInstanceID(), as a helper function, to get the SDL_GameController* that an event is referring to. + +Windows: +* Added support for Windows Phone 8.1 and Windows 10/UWP (Universal Windows Platform) +* Timer resolution is now 1 ms by default, adjustable with the SDL_HINT_TIMER_RESOLUTION hint +* SDLmain no longer depends on the C runtime, so you can use the same .lib in both Debug and Release builds +* Added SDL_SetWindowsMessageHook() to set a function to be called for every windows message before TranslateMessage() +* Added a hint SDL_HINT_WINDOWS_ENABLE_MESSAGELOOP to control whether SDL_PumpEvents() processes the Windows message loop +* You can distinguish between real mouse and touch events by looking for SDL_TOUCH_MOUSEID in the mouse event "which" field +* SDL_SysWMinfo now contains the window HDC +* Added support for Unicode command line options +* Prevent beeping when Alt-key combos are pressed +* SDL_SetTextInputRect() re-positions the OS-rendered IME +* Added a hint SDL_HINT_WINDOWS_NO_CLOSE_ON_ALT_F4 to prevent generating SDL_WINDOWEVENT_CLOSE events when Alt-F4 is pressed +* Added a hint SDL_HINT_XINPUT_USE_OLD_JOYSTICK_MAPPING to use the old axis and button mapping for XInput devices (deprecated) + +Mac OS X: +* Implemented drag-and-drop support +* Improved joystick hot-plug detection +* The SDL_WINDOWEVENT_EXPOSED window event is triggered in the appropriate situations +* Fixed relative mouse mode when the application loses/regains focus +* Fixed bugs related to transitioning to and from Spaces-aware fullscreen-desktop mode +* Fixed the refresh rate of display modes +* SDL_SysWMInfo is now ARC-compatible +* Added a hint SDL_HINT_MAC_BACKGROUND_APP to prevent forcing the application to become a foreground process + +Linux: +* Enabled building with Mir and Wayland support by default. +* Added IBus IME support +* Added a hint SDL_HINT_IME_INTERNAL_EDITING to control whether IBus should handle text editing internally instead of sending SDL_TEXTEDITING events +* Added a hint SDL_HINT_VIDEO_X11_NET_WM_PING to allow disabling _NET_WM_PING protocol handling in SDL_CreateWindow() +* Added support for multiple audio devices when using Pulseaudio +* Fixed duplicate mouse events when using relative mouse motion + +iOS: +* Added support for iOS 8 +* The SDL_WINDOW_ALLOW_HIGHDPI window flag now enables high-dpi support, and SDL_GL_GetDrawableSize() or SDL_GetRendererOutputSize() gets the window resolution in pixels +* SDL_GetWindowSize() and display mode sizes are in the "DPI-independent points" / "screen coordinates" coordinate space rather than pixels (matches OS X behavior) +* Added native resolution support for the iPhone 6 Plus +* Added support for MFi game controllers +* Added support for the hint SDL_HINT_ACCELEROMETER_AS_JOYSTICK +* Added sRGB OpenGL ES context support on iOS 7+ +* Added support for SDL_DisableScreenSaver(), SDL_EnableScreenSaver() and the hint SDL_HINT_VIDEO_ALLOW_SCREENSAVER +* SDL_SysWMinfo now contains the OpenGL ES framebuffer and color renderbuffer objects used by the window's active GLES view +* Fixed various rotation and orientation issues +* Fixed memory leaks + +Android: +* Added a hint SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH to prevent mouse events from being registered as touch events +* Added hints SDL_HINT_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION and SDL_HINT_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION +* Added support for SDL_DisableScreenSaver(), SDL_EnableScreenSaver() and the hint SDL_HINT_VIDEO_ALLOW_SCREENSAVER +* Added support for SDL_ShowMessageBox() and SDL_ShowSimpleMessageBox() + +Raspberry Pi: +* Added support for the Raspberry Pi 2 + + +--------------------------------------------------------------------------- +2.0.3: +--------------------------------------------------------------------------- + +Mac OS X: +* Fixed creating an OpenGL context by default on Mac OS X 10.6 + + +--------------------------------------------------------------------------- +2.0.2: +--------------------------------------------------------------------------- +General: +* Added SDL_GL_ResetAttributes() to reset OpenGL attributes to default values +* Added an API to load a database of game controller mappings from a file: + SDL_GameControllerAddMappingsFromFile(), SDL_GameControllerAddMappingsFromRW() +* Added game controller mappings for the PS4 and OUYA controllers +* Added SDL_GetDefaultAssertionHandler() and SDL_GetAssertionHandler() +* Added SDL_DetachThread() +* Added SDL_HasAVX() to determine if the CPU has AVX features +* Added SDL_vsscanf(), SDL_acos(), and SDL_asin() to the stdlib routines +* EGL can now create/manage OpenGL and OpenGL ES 1.x/2.x contexts, and share + them using SDL_GL_SHARE_WITH_CURRENT_CONTEXT +* Added a field "clicks" to the mouse button event which records whether the event is a single click, double click, etc. +* The screensaver is now disabled by default, and there is a hint SDL_HINT_VIDEO_ALLOW_SCREENSAVER that can change that behavior. +* Added a hint SDL_HINT_MOUSE_RELATIVE_MODE_WARP to specify whether mouse relative mode should be emulated using mouse warping. +* testgl2 does not need to link with libGL anymore +* Added testgles2 test program to demonstrate working with OpenGL ES 2.0 +* Added controllermap test program to visually map a game controller + +Windows: +* Support for OpenGL ES 2.x contexts using either WGL or EGL (natively via + the driver or emulated through ANGLE) +* Added a hint SDL_HINT_VIDEO_WIN_D3DCOMPILER to specify which D3D shader compiler to use for OpenGL ES 2 support through ANGLE +* Added a hint SDL_HINT_VIDEO_WINDOW_SHARE_PIXEL_FORMAT that is useful when creating multiple windows that should share the same OpenGL context. +* Added an event SDL_RENDER_TARGETS_RESET that is sent when D3D9 render targets are reset after the device has been restored. + +Mac OS X: +* Added a hint SDL_HINT_MAC_CTRL_CLICK_EMULATE_RIGHT_CLICK to control whether Ctrl+click should be treated as a right click on Mac OS X. This is off by default. + +Linux: +* Fixed fullscreen and focused behavior when receiving NotifyGrab events +* Added experimental Wayland and Mir support, disabled by default + +Android: +* Joystick support (minimum SDK version required to build SDL is now 12, + the required runtime version remains at 10, but on such devices joystick + support won't be available). +* Hotplugging support for joysticks +* Added a hint SDL_HINT_ACCELEROMETER_AS_JOYSTICK to control whether the accelerometer should be listed as a 3 axis joystick, which it will by default. + + +--------------------------------------------------------------------------- +2.0.1: +--------------------------------------------------------------------------- + +General: +* Added an API to get common filesystem paths in SDL_filesystem.h: + SDL_GetBasePath(), SDL_GetPrefPath() +* Added an API to do optimized YV12 and IYUV texture updates: + SDL_UpdateYUVTexture() +* Added an API to get the amount of RAM on the system: + SDL_GetSystemRAM() +* Added a macro to perform timestamp comparisons with SDL_GetTicks(): + SDL_TICKS_PASSED() +* Dramatically improved OpenGL ES 2.0 rendering performance +* Added OpenGL attribute SDL_GL_FRAMEBUFFER_SRGB_CAPABLE + +Windows: +* Created a static library configuration for the Visual Studio 2010 project +* Added a hint to create the Direct3D device with support for multi-threading: + SDL_HINT_RENDER_DIRECT3D_THREADSAFE +* Added a function to get the D3D9 adapter index for a display: + SDL_Direct3D9GetAdapterIndex() +* Added a function to get the D3D9 device for a D3D9 renderer: + SDL_RenderGetD3D9Device() +* Fixed building SDL with the mingw32 toolchain (mingw-w64 is preferred) +* Fixed crash when using two XInput controllers at the same time +* Fixed detecting a mixture of XInput and DirectInput controllers +* Fixed clearing a D3D render target larger than the window +* Improved support for format specifiers in SDL_snprintf() + +Mac OS X: +* Added support for retina displays: + Create your window with the SDL_WINDOW_ALLOW_HIGHDPI flag, and then use SDL_GL_GetDrawableSize() to find the actual drawable size. You are responsible for scaling mouse and drawing coordinates appropriately. +* Fixed mouse warping in fullscreen mode +* Right mouse click is emulated by holding the Ctrl key while left clicking + +Linux: +* Fixed float audio support with the PulseAudio driver +* Fixed missing line endpoints in the OpenGL renderer on some drivers +* X11 symbols are no longer defined to avoid collisions when linking statically + +iOS: +* Fixed status bar visibility on iOS 7 +* Flipped the accelerometer Y axis to match expected values + +Android: +IMPORTANT: You MUST get the updated SDLActivity.java to match C code +* Moved EGL initialization to native code +* Fixed the accelerometer axis rotation relative to the device rotation +* Fixed race conditions when handling the EGL context on pause/resume +* Touch devices are available for enumeration immediately after init + +Raspberry Pi: +* Added support for the Raspberry Pi, see README-raspberrypi.txt for details diff --git a/subprojects/sdl2_windows/copy.py b/subprojects/sdl2_windows/copy.py new file mode 100644 index 000000000..adbdd5caa --- /dev/null +++ b/subprojects/sdl2_windows/copy.py @@ -0,0 +1,4 @@ +#!/usr/bin/env python3 + +import sys, shutil +shutil.copyfile(sys.argv[1], sys.argv[2]) \ No newline at end of file diff --git a/subprojects/sdl2_windows/include/SDL2/SDL.h b/subprojects/sdl2_windows/include/SDL2/SDL.h new file mode 100644 index 000000000..12e7f31a2 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL.h @@ -0,0 +1,233 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL.h + * + * Main include header for the SDL library + */ + + +#ifndef SDL_h_ +#define SDL_h_ + +#include "SDL_main.h" +#include "SDL_stdinc.h" +#include "SDL_assert.h" +#include "SDL_atomic.h" +#include "SDL_audio.h" +#include "SDL_clipboard.h" +#include "SDL_cpuinfo.h" +#include "SDL_endian.h" +#include "SDL_error.h" +#include "SDL_events.h" +#include "SDL_filesystem.h" +#include "SDL_gamecontroller.h" +#include "SDL_guid.h" +#include "SDL_haptic.h" +#include "SDL_hidapi.h" +#include "SDL_hints.h" +#include "SDL_joystick.h" +#include "SDL_loadso.h" +#include "SDL_log.h" +#include "SDL_messagebox.h" +#include "SDL_metal.h" +#include "SDL_mutex.h" +#include "SDL_power.h" +#include "SDL_render.h" +#include "SDL_rwops.h" +#include "SDL_sensor.h" +#include "SDL_shape.h" +#include "SDL_system.h" +#include "SDL_thread.h" +#include "SDL_timer.h" +#include "SDL_version.h" +#include "SDL_video.h" +#include "SDL_locale.h" +#include "SDL_misc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* As of version 0.5, SDL is loaded dynamically into the application */ + +/** + * \name SDL_INIT_* + * + * These are the flags which may be passed to SDL_Init(). You should + * specify the subsystems which you will be using in your application. + */ +/* @{ */ +#define SDL_INIT_TIMER 0x00000001u +#define SDL_INIT_AUDIO 0x00000010u +#define SDL_INIT_VIDEO 0x00000020u /**< SDL_INIT_VIDEO implies SDL_INIT_EVENTS */ +#define SDL_INIT_JOYSTICK 0x00000200u /**< SDL_INIT_JOYSTICK implies SDL_INIT_EVENTS */ +#define SDL_INIT_HAPTIC 0x00001000u +#define SDL_INIT_GAMECONTROLLER 0x00002000u /**< SDL_INIT_GAMECONTROLLER implies SDL_INIT_JOYSTICK */ +#define SDL_INIT_EVENTS 0x00004000u +#define SDL_INIT_SENSOR 0x00008000u +#define SDL_INIT_NOPARACHUTE 0x00100000u /**< compatibility; this flag is ignored. */ +#define SDL_INIT_EVERYTHING ( \ + SDL_INIT_TIMER | SDL_INIT_AUDIO | SDL_INIT_VIDEO | SDL_INIT_EVENTS | \ + SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC | SDL_INIT_GAMECONTROLLER | SDL_INIT_SENSOR \ + ) +/* @} */ + +/** + * Initialize the SDL library. + * + * SDL_Init() simply forwards to calling SDL_InitSubSystem(). Therefore, the + * two may be used interchangeably. Though for readability of your code + * SDL_InitSubSystem() might be preferred. + * + * The file I/O (for example: SDL_RWFromFile) and threading (SDL_CreateThread) + * subsystems are initialized by default. Message boxes + * (SDL_ShowSimpleMessageBox) also attempt to work without initializing the + * video subsystem, in hopes of being useful in showing an error dialog when + * SDL_Init fails. You must specifically initialize other subsystems if you + * use them in your application. + * + * Logging (such as SDL_Log) works without initialization, too. + * + * `flags` may be any of the following OR'd together: + * + * - `SDL_INIT_TIMER`: timer subsystem + * - `SDL_INIT_AUDIO`: audio subsystem + * - `SDL_INIT_VIDEO`: video subsystem; automatically initializes the events + * subsystem + * - `SDL_INIT_JOYSTICK`: joystick subsystem; automatically initializes the + * events subsystem + * - `SDL_INIT_HAPTIC`: haptic (force feedback) subsystem + * - `SDL_INIT_GAMECONTROLLER`: controller subsystem; automatically + * initializes the joystick subsystem + * - `SDL_INIT_EVENTS`: events subsystem + * - `SDL_INIT_EVERYTHING`: all of the above subsystems + * - `SDL_INIT_NOPARACHUTE`: compatibility; this flag is ignored + * + * Subsystem initialization is ref-counted, you must call SDL_QuitSubSystem() + * for each SDL_InitSubSystem() to correctly shutdown a subsystem manually (or + * call SDL_Quit() to force shutdown). If a subsystem is already loaded then + * this call will increase the ref-count and return. + * + * \param flags subsystem initialization flags + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_InitSubSystem + * \sa SDL_Quit + * \sa SDL_SetMainReady + * \sa SDL_WasInit + */ +extern DECLSPEC int SDLCALL SDL_Init(Uint32 flags); + +/** + * Compatibility function to initialize the SDL library. + * + * In SDL2, this function and SDL_Init() are interchangeable. + * + * \param flags any of the flags used by SDL_Init(); see SDL_Init for details. + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Init + * \sa SDL_Quit + * \sa SDL_QuitSubSystem + */ +extern DECLSPEC int SDLCALL SDL_InitSubSystem(Uint32 flags); + +/** + * Shut down specific SDL subsystems. + * + * If you start a subsystem using a call to that subsystem's init function + * (for example SDL_VideoInit()) instead of SDL_Init() or SDL_InitSubSystem(), + * SDL_QuitSubSystem() and SDL_WasInit() will not work. You will need to use + * that subsystem's quit function (SDL_VideoQuit()) directly instead. But + * generally, you should not be using those functions directly anyhow; use + * SDL_Init() instead. + * + * You still need to call SDL_Quit() even if you close all open subsystems + * with SDL_QuitSubSystem(). + * + * \param flags any of the flags used by SDL_Init(); see SDL_Init for details. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_InitSubSystem + * \sa SDL_Quit + */ +extern DECLSPEC void SDLCALL SDL_QuitSubSystem(Uint32 flags); + +/** + * Get a mask of the specified subsystems which are currently initialized. + * + * \param flags any of the flags used by SDL_Init(); see SDL_Init for details. + * \returns a mask of all initialized subsystems if `flags` is 0, otherwise it + * returns the initialization status of the specified subsystems. + * + * The return value does not include SDL_INIT_NOPARACHUTE. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Init + * \sa SDL_InitSubSystem + */ +extern DECLSPEC Uint32 SDLCALL SDL_WasInit(Uint32 flags); + +/** + * Clean up all initialized subsystems. + * + * You should call this function even if you have already shutdown each + * initialized subsystem with SDL_QuitSubSystem(). It is safe to call this + * function even in the case of errors in initialization. + * + * If you start a subsystem using a call to that subsystem's init function + * (for example SDL_VideoInit()) instead of SDL_Init() or SDL_InitSubSystem(), + * then you must use that subsystem's quit function (SDL_VideoQuit()) to shut + * it down before calling SDL_Quit(). But generally, you should not be using + * those functions directly anyhow; use SDL_Init() instead. + * + * You can use this function with atexit() to ensure that it is run when your + * application is shutdown, but it is not wise to do this from a library or + * other dynamically loaded code. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Init + * \sa SDL_QuitSubSystem + */ +extern DECLSPEC void SDLCALL SDL_Quit(void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_assert.h b/subprojects/sdl2_windows/include/SDL2/SDL_assert.h new file mode 100644 index 000000000..e71cf9792 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_assert.h @@ -0,0 +1,326 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_assert_h_ +#define SDL_assert_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef SDL_ASSERT_LEVEL +#ifdef SDL_DEFAULT_ASSERT_LEVEL +#define SDL_ASSERT_LEVEL SDL_DEFAULT_ASSERT_LEVEL +#elif defined(_DEBUG) || defined(DEBUG) || \ + (defined(__GNUC__) && !defined(__OPTIMIZE__)) +#define SDL_ASSERT_LEVEL 2 +#else +#define SDL_ASSERT_LEVEL 1 +#endif +#endif /* SDL_ASSERT_LEVEL */ + +/* +These are macros and not first class functions so that the debugger breaks +on the assertion line and not in some random guts of SDL, and so each +assert can have unique static variables associated with it. +*/ + +#if defined(_MSC_VER) +/* Don't include intrin.h here because it contains C++ code */ + extern void __cdecl __debugbreak(void); + #define SDL_TriggerBreakpoint() __debugbreak() +#elif _SDL_HAS_BUILTIN(__builtin_debugtrap) + #define SDL_TriggerBreakpoint() __builtin_debugtrap() +#elif ( (!defined(__NACL__)) && ((defined(__GNUC__) || defined(__clang__)) && (defined(__i386__) || defined(__x86_64__))) ) + #define SDL_TriggerBreakpoint() __asm__ __volatile__ ( "int $3\n\t" ) +#elif ( defined(__APPLE__) && (defined(__arm64__) || defined(__aarch64__)) ) /* this might work on other ARM targets, but this is a known quantity... */ + #define SDL_TriggerBreakpoint() __asm__ __volatile__ ( "brk #22\n\t" ) +#elif defined(__APPLE__) && defined(__arm__) + #define SDL_TriggerBreakpoint() __asm__ __volatile__ ( "bkpt #22\n\t" ) +#elif defined(__386__) && defined(__WATCOMC__) + #define SDL_TriggerBreakpoint() { _asm { int 0x03 } } +#elif defined(HAVE_SIGNAL_H) && !defined(__WATCOMC__) + #include + #define SDL_TriggerBreakpoint() raise(SIGTRAP) +#else + /* How do we trigger breakpoints on this platform? */ + #define SDL_TriggerBreakpoint() +#endif + +#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) /* C99 supports __func__ as a standard. */ +# define SDL_FUNCTION __func__ +#elif ((defined(__GNUC__) && (__GNUC__ >= 2)) || defined(_MSC_VER) || defined (__WATCOMC__)) +# define SDL_FUNCTION __FUNCTION__ +#else +# define SDL_FUNCTION "???" +#endif +#define SDL_FILE __FILE__ +#define SDL_LINE __LINE__ + +/* +sizeof (x) makes the compiler still parse the expression even without +assertions enabled, so the code is always checked at compile time, but +doesn't actually generate code for it, so there are no side effects or +expensive checks at run time, just the constant size of what x WOULD be, +which presumably gets optimized out as unused. +This also solves the problem of... + + int somevalue = blah(); + SDL_assert(somevalue == 1); + +...which would cause compiles to complain that somevalue is unused if we +disable assertions. +*/ + +/* "while (0,0)" fools Microsoft's compiler's /W4 warning level into thinking + this condition isn't constant. And looks like an owl's face! */ +#ifdef _MSC_VER /* stupid /W4 warnings. */ +#define SDL_NULL_WHILE_LOOP_CONDITION (0,0) +#else +#define SDL_NULL_WHILE_LOOP_CONDITION (0) +#endif + +#define SDL_disabled_assert(condition) \ + do { (void) sizeof ((condition)); } while (SDL_NULL_WHILE_LOOP_CONDITION) + +typedef enum +{ + SDL_ASSERTION_RETRY, /**< Retry the assert immediately. */ + SDL_ASSERTION_BREAK, /**< Make the debugger trigger a breakpoint. */ + SDL_ASSERTION_ABORT, /**< Terminate the program. */ + SDL_ASSERTION_IGNORE, /**< Ignore the assert. */ + SDL_ASSERTION_ALWAYS_IGNORE /**< Ignore the assert from now on. */ +} SDL_AssertState; + +typedef struct SDL_AssertData +{ + int always_ignore; + unsigned int trigger_count; + const char *condition; + const char *filename; + int linenum; + const char *function; + const struct SDL_AssertData *next; +} SDL_AssertData; + +#if (SDL_ASSERT_LEVEL > 0) + +/* Never call this directly. Use the SDL_assert* macros. */ +extern DECLSPEC SDL_AssertState SDLCALL SDL_ReportAssertion(SDL_AssertData *, + const char *, + const char *, int) +#if defined(__clang__) +#if __has_feature(attribute_analyzer_noreturn) +/* this tells Clang's static analysis that we're a custom assert function, + and that the analyzer should assume the condition was always true past this + SDL_assert test. */ + __attribute__((analyzer_noreturn)) +#endif +#endif +; + +/* the do {} while(0) avoids dangling else problems: + if (x) SDL_assert(y); else blah(); + ... without the do/while, the "else" could attach to this macro's "if". + We try to handle just the minimum we need here in a macro...the loop, + the static vars, and break points. The heavy lifting is handled in + SDL_ReportAssertion(), in SDL_assert.c. +*/ +#define SDL_enabled_assert(condition) \ + do { \ + while ( !(condition) ) { \ + static struct SDL_AssertData sdl_assert_data = { \ + 0, 0, #condition, 0, 0, 0, 0 \ + }; \ + const SDL_AssertState sdl_assert_state = SDL_ReportAssertion(&sdl_assert_data, SDL_FUNCTION, SDL_FILE, SDL_LINE); \ + if (sdl_assert_state == SDL_ASSERTION_RETRY) { \ + continue; /* go again. */ \ + } else if (sdl_assert_state == SDL_ASSERTION_BREAK) { \ + SDL_TriggerBreakpoint(); \ + } \ + break; /* not retrying. */ \ + } \ + } while (SDL_NULL_WHILE_LOOP_CONDITION) + +#endif /* enabled assertions support code */ + +/* Enable various levels of assertions. */ +#if SDL_ASSERT_LEVEL == 0 /* assertions disabled */ +# define SDL_assert(condition) SDL_disabled_assert(condition) +# define SDL_assert_release(condition) SDL_disabled_assert(condition) +# define SDL_assert_paranoid(condition) SDL_disabled_assert(condition) +#elif SDL_ASSERT_LEVEL == 1 /* release settings. */ +# define SDL_assert(condition) SDL_disabled_assert(condition) +# define SDL_assert_release(condition) SDL_enabled_assert(condition) +# define SDL_assert_paranoid(condition) SDL_disabled_assert(condition) +#elif SDL_ASSERT_LEVEL == 2 /* normal settings. */ +# define SDL_assert(condition) SDL_enabled_assert(condition) +# define SDL_assert_release(condition) SDL_enabled_assert(condition) +# define SDL_assert_paranoid(condition) SDL_disabled_assert(condition) +#elif SDL_ASSERT_LEVEL == 3 /* paranoid settings. */ +# define SDL_assert(condition) SDL_enabled_assert(condition) +# define SDL_assert_release(condition) SDL_enabled_assert(condition) +# define SDL_assert_paranoid(condition) SDL_enabled_assert(condition) +#else +# error Unknown assertion level. +#endif + +/* this assertion is never disabled at any level. */ +#define SDL_assert_always(condition) SDL_enabled_assert(condition) + + +/** + * A callback that fires when an SDL assertion fails. + * + * \param data a pointer to the SDL_AssertData structure corresponding to the + * current assertion + * \param userdata what was passed as `userdata` to SDL_SetAssertionHandler() + * \returns an SDL_AssertState value indicating how to handle the failure. + */ +typedef SDL_AssertState (SDLCALL *SDL_AssertionHandler)( + const SDL_AssertData* data, void* userdata); + +/** + * Set an application-defined assertion handler. + * + * This function allows an application to show its own assertion UI and/or + * force the response to an assertion failure. If the application doesn't + * provide this, SDL will try to do the right thing, popping up a + * system-specific GUI dialog, and probably minimizing any fullscreen windows. + * + * This callback may fire from any thread, but it runs wrapped in a mutex, so + * it will only fire from one thread at a time. + * + * This callback is NOT reset to SDL's internal handler upon SDL_Quit()! + * + * \param handler the SDL_AssertionHandler function to call when an assertion + * fails or NULL for the default handler + * \param userdata a pointer that is passed to `handler` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetAssertionHandler + */ +extern DECLSPEC void SDLCALL SDL_SetAssertionHandler( + SDL_AssertionHandler handler, + void *userdata); + +/** + * Get the default assertion handler. + * + * This returns the function pointer that is called by default when an + * assertion is triggered. This is an internal function provided by SDL, that + * is used for assertions when SDL_SetAssertionHandler() hasn't been used to + * provide a different function. + * + * \returns the default SDL_AssertionHandler that is called when an assert + * triggers. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_GetAssertionHandler + */ +extern DECLSPEC SDL_AssertionHandler SDLCALL SDL_GetDefaultAssertionHandler(void); + +/** + * Get the current assertion handler. + * + * This returns the function pointer that is called when an assertion is + * triggered. This is either the value last passed to + * SDL_SetAssertionHandler(), or if no application-specified function is set, + * is equivalent to calling SDL_GetDefaultAssertionHandler(). + * + * The parameter `puserdata` is a pointer to a void*, which will store the + * "userdata" pointer that was passed to SDL_SetAssertionHandler(). This value + * will always be NULL for the default handler. If you don't care about this + * data, it is safe to pass a NULL pointer to this function to ignore it. + * + * \param puserdata pointer which is filled with the "userdata" pointer that + * was passed to SDL_SetAssertionHandler() + * \returns the SDL_AssertionHandler that is called when an assert triggers. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_SetAssertionHandler + */ +extern DECLSPEC SDL_AssertionHandler SDLCALL SDL_GetAssertionHandler(void **puserdata); + +/** + * Get a list of all assertion failures. + * + * This function gets all assertions triggered since the last call to + * SDL_ResetAssertionReport(), or the start of the program. + * + * The proper way to examine this data looks something like this: + * + * ```c + * const SDL_AssertData *item = SDL_GetAssertionReport(); + * while (item) { + * printf("'%s', %s (%s:%d), triggered %u times, always ignore: %s.\\n", + * item->condition, item->function, item->filename, + * item->linenum, item->trigger_count, + * item->always_ignore ? "yes" : "no"); + * item = item->next; + * } + * ``` + * + * \returns a list of all failed assertions or NULL if the list is empty. This + * memory should not be modified or freed by the application. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ResetAssertionReport + */ +extern DECLSPEC const SDL_AssertData * SDLCALL SDL_GetAssertionReport(void); + +/** + * Clear the list of all assertion failures. + * + * This function will clear the list of all assertions triggered up to that + * point. Immediately following this call, SDL_GetAssertionReport will return + * no items. In addition, any previously-triggered assertions will be reset to + * a trigger_count of zero, and their always_ignore state will be false. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetAssertionReport + */ +extern DECLSPEC void SDLCALL SDL_ResetAssertionReport(void); + + +/* these had wrong naming conventions until 2.0.4. Please update your app! */ +#define SDL_assert_state SDL_AssertState +#define SDL_assert_data SDL_AssertData + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_assert_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_atomic.h b/subprojects/sdl2_windows/include/SDL2/SDL_atomic.h new file mode 100644 index 000000000..f0c05f4bb --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_atomic.h @@ -0,0 +1,415 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_atomic.h + * + * Atomic operations. + * + * IMPORTANT: + * If you are not an expert in concurrent lockless programming, you should + * only be using the atomic lock and reference counting functions in this + * file. In all other cases you should be protecting your data structures + * with full mutexes. + * + * The list of "safe" functions to use are: + * SDL_AtomicLock() + * SDL_AtomicUnlock() + * SDL_AtomicIncRef() + * SDL_AtomicDecRef() + * + * Seriously, here be dragons! + * ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + * + * You can find out a little more about lockless programming and the + * subtle issues that can arise here: + * http://msdn.microsoft.com/en-us/library/ee418650%28v=vs.85%29.aspx + * + * There's also lots of good information here: + * http://www.1024cores.net/home/lock-free-algorithms + * http://preshing.com/ + * + * These operations may or may not actually be implemented using + * processor specific atomic operations. When possible they are + * implemented as true processor specific atomic operations. When that + * is not possible the are implemented using locks that *do* use the + * available atomic operations. + * + * All of the atomic operations that modify memory are full memory barriers. + */ + +#ifndef SDL_atomic_h_ +#define SDL_atomic_h_ + +#include "SDL_stdinc.h" +#include "SDL_platform.h" + +#include "begin_code.h" + +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \name SDL AtomicLock + * + * The atomic locks are efficient spinlocks using CPU instructions, + * but are vulnerable to starvation and can spin forever if a thread + * holding a lock has been terminated. For this reason you should + * minimize the code executed inside an atomic lock and never do + * expensive things like API or system calls while holding them. + * + * The atomic locks are not safe to lock recursively. + * + * Porting Note: + * The spin lock functions and type are required and can not be + * emulated because they are used in the atomic emulation code. + */ +/* @{ */ + +typedef int SDL_SpinLock; + +/** + * Try to lock a spin lock by setting it to a non-zero value. + * + * ***Please note that spinlocks are dangerous if you don't know what you're + * doing. Please be careful using any sort of spinlock!*** + * + * \param lock a pointer to a lock variable + * \returns SDL_TRUE if the lock succeeded, SDL_FALSE if the lock is already + * held. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AtomicLock + * \sa SDL_AtomicUnlock + */ +extern DECLSPEC SDL_bool SDLCALL SDL_AtomicTryLock(SDL_SpinLock *lock); + +/** + * Lock a spin lock by setting it to a non-zero value. + * + * ***Please note that spinlocks are dangerous if you don't know what you're + * doing. Please be careful using any sort of spinlock!*** + * + * \param lock a pointer to a lock variable + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AtomicTryLock + * \sa SDL_AtomicUnlock + */ +extern DECLSPEC void SDLCALL SDL_AtomicLock(SDL_SpinLock *lock); + +/** + * Unlock a spin lock by setting it to 0. + * + * Always returns immediately. + * + * ***Please note that spinlocks are dangerous if you don't know what you're + * doing. Please be careful using any sort of spinlock!*** + * + * \param lock a pointer to a lock variable + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AtomicLock + * \sa SDL_AtomicTryLock + */ +extern DECLSPEC void SDLCALL SDL_AtomicUnlock(SDL_SpinLock *lock); + +/* @} *//* SDL AtomicLock */ + + +/** + * The compiler barrier prevents the compiler from reordering + * reads and writes to globally visible variables across the call. + */ +#if defined(_MSC_VER) && (_MSC_VER > 1200) && !defined(__clang__) +void _ReadWriteBarrier(void); +#pragma intrinsic(_ReadWriteBarrier) +#define SDL_CompilerBarrier() _ReadWriteBarrier() +#elif (defined(__GNUC__) && !defined(__EMSCRIPTEN__)) || (defined(__SUNPRO_C) && (__SUNPRO_C >= 0x5120)) +/* This is correct for all CPUs when using GCC or Solaris Studio 12.1+. */ +#define SDL_CompilerBarrier() __asm__ __volatile__ ("" : : : "memory") +#elif defined(__WATCOMC__) +extern __inline void SDL_CompilerBarrier(void); +#pragma aux SDL_CompilerBarrier = "" parm [] modify exact []; +#else +#define SDL_CompilerBarrier() \ +{ SDL_SpinLock _tmp = 0; SDL_AtomicLock(&_tmp); SDL_AtomicUnlock(&_tmp); } +#endif + +/** + * Memory barriers are designed to prevent reads and writes from being + * reordered by the compiler and being seen out of order on multi-core CPUs. + * + * A typical pattern would be for thread A to write some data and a flag, and + * for thread B to read the flag and get the data. In this case you would + * insert a release barrier between writing the data and the flag, + * guaranteeing that the data write completes no later than the flag is + * written, and you would insert an acquire barrier between reading the flag + * and reading the data, to ensure that all the reads associated with the flag + * have completed. + * + * In this pattern you should always see a release barrier paired with an + * acquire barrier and you should gate the data reads/writes with a single + * flag variable. + * + * For more information on these semantics, take a look at the blog post: + * http://preshing.com/20120913/acquire-and-release-semantics + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC void SDLCALL SDL_MemoryBarrierReleaseFunction(void); +extern DECLSPEC void SDLCALL SDL_MemoryBarrierAcquireFunction(void); + +#if defined(__GNUC__) && (defined(__powerpc__) || defined(__ppc__)) +#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("lwsync" : : : "memory") +#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("lwsync" : : : "memory") +#elif defined(__GNUC__) && defined(__aarch64__) +#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("dmb ish" : : : "memory") +#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("dmb ish" : : : "memory") +#elif defined(__GNUC__) && defined(__arm__) +#if 0 /* defined(__LINUX__) || defined(__ANDROID__) */ +/* Information from: + https://chromium.googlesource.com/chromium/chromium/+/trunk/base/atomicops_internals_arm_gcc.h#19 + + The Linux kernel provides a helper function which provides the right code for a memory barrier, + hard-coded at address 0xffff0fa0 +*/ +typedef void (*SDL_KernelMemoryBarrierFunc)(); +#define SDL_MemoryBarrierRelease() ((SDL_KernelMemoryBarrierFunc)0xffff0fa0)() +#define SDL_MemoryBarrierAcquire() ((SDL_KernelMemoryBarrierFunc)0xffff0fa0)() +#elif 0 /* defined(__QNXNTO__) */ +#include + +#define SDL_MemoryBarrierRelease() __cpu_membarrier() +#define SDL_MemoryBarrierAcquire() __cpu_membarrier() +#else +#if defined(__ARM_ARCH_7__) || defined(__ARM_ARCH_7A__) || defined(__ARM_ARCH_7EM__) || defined(__ARM_ARCH_7R__) || defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7S__) || defined(__ARM_ARCH_8A__) +#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("dmb ish" : : : "memory") +#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("dmb ish" : : : "memory") +#elif defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6J__) || defined(__ARM_ARCH_6K__) || defined(__ARM_ARCH_6T2__) || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__) || defined(__ARM_ARCH_5TE__) +#ifdef __thumb__ +/* The mcr instruction isn't available in thumb mode, use real functions */ +#define SDL_MEMORY_BARRIER_USES_FUNCTION +#define SDL_MemoryBarrierRelease() SDL_MemoryBarrierReleaseFunction() +#define SDL_MemoryBarrierAcquire() SDL_MemoryBarrierAcquireFunction() +#else +#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("mcr p15, 0, %0, c7, c10, 5" : : "r"(0) : "memory") +#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("mcr p15, 0, %0, c7, c10, 5" : : "r"(0) : "memory") +#endif /* __thumb__ */ +#else +#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("" : : : "memory") +#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("" : : : "memory") +#endif /* __LINUX__ || __ANDROID__ */ +#endif /* __GNUC__ && __arm__ */ +#else +#if (defined(__SUNPRO_C) && (__SUNPRO_C >= 0x5120)) +/* This is correct for all CPUs on Solaris when using Solaris Studio 12.1+. */ +#include +#define SDL_MemoryBarrierRelease() __machine_rel_barrier() +#define SDL_MemoryBarrierAcquire() __machine_acq_barrier() +#else +/* This is correct for the x86 and x64 CPUs, and we'll expand this over time. */ +#define SDL_MemoryBarrierRelease() SDL_CompilerBarrier() +#define SDL_MemoryBarrierAcquire() SDL_CompilerBarrier() +#endif +#endif + +/* "REP NOP" is PAUSE, coded for tools that don't know it by that name. */ +#if (defined(__GNUC__) || defined(__clang__)) && (defined(__i386__) || defined(__x86_64__)) + #define SDL_CPUPauseInstruction() __asm__ __volatile__("pause\n") /* Some assemblers can't do REP NOP, so go with PAUSE. */ +#elif (defined(__arm__) && __ARM_ARCH >= 7) || defined(__aarch64__) + #define SDL_CPUPauseInstruction() __asm__ __volatile__("yield" ::: "memory") +#elif (defined(__powerpc__) || defined(__powerpc64__)) + #define SDL_CPUPauseInstruction() __asm__ __volatile__("or 27,27,27"); +#elif defined(_MSC_VER) && (defined(_M_IX86) || defined(_M_X64)) + #define SDL_CPUPauseInstruction() _mm_pause() /* this is actually "rep nop" and not a SIMD instruction. No inline asm in MSVC x86-64! */ +#elif defined(_MSC_VER) && (defined(_M_ARM) || defined(_M_ARM64)) + #define SDL_CPUPauseInstruction() __yield() +#elif defined(__WATCOMC__) && defined(__386__) + /* watcom assembler rejects PAUSE if CPU < i686, and it refuses REP NOP as an invalid combination. Hardcode the bytes. */ + extern __inline void SDL_CPUPauseInstruction(void); + #pragma aux SDL_CPUPauseInstruction = "db 0f3h,90h" +#else + #define SDL_CPUPauseInstruction() +#endif + + +/** + * \brief A type representing an atomic integer value. It is a struct + * so people don't accidentally use numeric operations on it. + */ +typedef struct { int value; } SDL_atomic_t; + +/** + * Set an atomic variable to a new value if it is currently an old value. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to an SDL_atomic_t variable to be modified + * \param oldval the old value + * \param newval the new value + * \returns SDL_TRUE if the atomic variable was set, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AtomicCASPtr + * \sa SDL_AtomicGet + * \sa SDL_AtomicSet + */ +extern DECLSPEC SDL_bool SDLCALL SDL_AtomicCAS(SDL_atomic_t *a, int oldval, int newval); + +/** + * Set an atomic variable to a value. + * + * This function also acts as a full memory barrier. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to an SDL_atomic_t variable to be modified + * \param v the desired value + * \returns the previous value of the atomic variable. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_AtomicGet + */ +extern DECLSPEC int SDLCALL SDL_AtomicSet(SDL_atomic_t *a, int v); + +/** + * Get the value of an atomic variable. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to an SDL_atomic_t variable + * \returns the current value of an atomic variable. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_AtomicSet + */ +extern DECLSPEC int SDLCALL SDL_AtomicGet(SDL_atomic_t *a); + +/** + * Add to an atomic variable. + * + * This function also acts as a full memory barrier. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to an SDL_atomic_t variable to be modified + * \param v the desired value to add + * \returns the previous value of the atomic variable. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_AtomicDecRef + * \sa SDL_AtomicIncRef + */ +extern DECLSPEC int SDLCALL SDL_AtomicAdd(SDL_atomic_t *a, int v); + +/** + * \brief Increment an atomic variable used as a reference count. + */ +#ifndef SDL_AtomicIncRef +#define SDL_AtomicIncRef(a) SDL_AtomicAdd(a, 1) +#endif + +/** + * \brief Decrement an atomic variable used as a reference count. + * + * \return SDL_TRUE if the variable reached zero after decrementing, + * SDL_FALSE otherwise + */ +#ifndef SDL_AtomicDecRef +#define SDL_AtomicDecRef(a) (SDL_AtomicAdd(a, -1) == 1) +#endif + +/** + * Set a pointer to a new value if it is currently an old value. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to a pointer + * \param oldval the old pointer value + * \param newval the new pointer value + * \returns SDL_TRUE if the pointer was set, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AtomicCAS + * \sa SDL_AtomicGetPtr + * \sa SDL_AtomicSetPtr + */ +extern DECLSPEC SDL_bool SDLCALL SDL_AtomicCASPtr(void **a, void *oldval, void *newval); + +/** + * Set a pointer to a value atomically. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to a pointer + * \param v the desired pointer value + * \returns the previous value of the pointer. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_AtomicCASPtr + * \sa SDL_AtomicGetPtr + */ +extern DECLSPEC void* SDLCALL SDL_AtomicSetPtr(void **a, void* v); + +/** + * Get the value of a pointer atomically. + * + * ***Note: If you don't know what this function is for, you shouldn't use + * it!*** + * + * \param a a pointer to a pointer + * \returns the current value of a pointer. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_AtomicCASPtr + * \sa SDL_AtomicSetPtr + */ +extern DECLSPEC void* SDLCALL SDL_AtomicGetPtr(void **a); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif + +#include "close_code.h" + +#endif /* SDL_atomic_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_audio.h b/subprojects/sdl2_windows/include/SDL2/SDL_audio.h new file mode 100644 index 000000000..c42de3ed9 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_audio.h @@ -0,0 +1,1500 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/* !!! FIXME: several functions in here need Doxygen comments. */ + +/** + * \file SDL_audio.h + * + * Access to the raw audio mixing buffer for the SDL library. + */ + +#ifndef SDL_audio_h_ +#define SDL_audio_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_endian.h" +#include "SDL_mutex.h" +#include "SDL_thread.h" +#include "SDL_rwops.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief Audio format flags. + * + * These are what the 16 bits in SDL_AudioFormat currently mean... + * (Unspecified bits are always zero). + * + * \verbatim + ++-----------------------sample is signed if set + || + || ++-----------sample is bigendian if set + || || + || || ++---sample is float if set + || || || + || || || +---sample bit size---+ + || || || | | + 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 + \endverbatim + * + * There are macros in SDL 2.0 and later to query these bits. + */ +typedef Uint16 SDL_AudioFormat; + +/** + * \name Audio flags + */ +/* @{ */ + +#define SDL_AUDIO_MASK_BITSIZE (0xFF) +#define SDL_AUDIO_MASK_DATATYPE (1<<8) +#define SDL_AUDIO_MASK_ENDIAN (1<<12) +#define SDL_AUDIO_MASK_SIGNED (1<<15) +#define SDL_AUDIO_BITSIZE(x) (x & SDL_AUDIO_MASK_BITSIZE) +#define SDL_AUDIO_ISFLOAT(x) (x & SDL_AUDIO_MASK_DATATYPE) +#define SDL_AUDIO_ISBIGENDIAN(x) (x & SDL_AUDIO_MASK_ENDIAN) +#define SDL_AUDIO_ISSIGNED(x) (x & SDL_AUDIO_MASK_SIGNED) +#define SDL_AUDIO_ISINT(x) (!SDL_AUDIO_ISFLOAT(x)) +#define SDL_AUDIO_ISLITTLEENDIAN(x) (!SDL_AUDIO_ISBIGENDIAN(x)) +#define SDL_AUDIO_ISUNSIGNED(x) (!SDL_AUDIO_ISSIGNED(x)) + +/** + * \name Audio format flags + * + * Defaults to LSB byte order. + */ +/* @{ */ +#define AUDIO_U8 0x0008 /**< Unsigned 8-bit samples */ +#define AUDIO_S8 0x8008 /**< Signed 8-bit samples */ +#define AUDIO_U16LSB 0x0010 /**< Unsigned 16-bit samples */ +#define AUDIO_S16LSB 0x8010 /**< Signed 16-bit samples */ +#define AUDIO_U16MSB 0x1010 /**< As above, but big-endian byte order */ +#define AUDIO_S16MSB 0x9010 /**< As above, but big-endian byte order */ +#define AUDIO_U16 AUDIO_U16LSB +#define AUDIO_S16 AUDIO_S16LSB +/* @} */ + +/** + * \name int32 support + */ +/* @{ */ +#define AUDIO_S32LSB 0x8020 /**< 32-bit integer samples */ +#define AUDIO_S32MSB 0x9020 /**< As above, but big-endian byte order */ +#define AUDIO_S32 AUDIO_S32LSB +/* @} */ + +/** + * \name float32 support + */ +/* @{ */ +#define AUDIO_F32LSB 0x8120 /**< 32-bit floating point samples */ +#define AUDIO_F32MSB 0x9120 /**< As above, but big-endian byte order */ +#define AUDIO_F32 AUDIO_F32LSB +/* @} */ + +/** + * \name Native audio byte ordering + */ +/* @{ */ +#if SDL_BYTEORDER == SDL_LIL_ENDIAN +#define AUDIO_U16SYS AUDIO_U16LSB +#define AUDIO_S16SYS AUDIO_S16LSB +#define AUDIO_S32SYS AUDIO_S32LSB +#define AUDIO_F32SYS AUDIO_F32LSB +#else +#define AUDIO_U16SYS AUDIO_U16MSB +#define AUDIO_S16SYS AUDIO_S16MSB +#define AUDIO_S32SYS AUDIO_S32MSB +#define AUDIO_F32SYS AUDIO_F32MSB +#endif +/* @} */ + +/** + * \name Allow change flags + * + * Which audio format changes are allowed when opening a device. + */ +/* @{ */ +#define SDL_AUDIO_ALLOW_FREQUENCY_CHANGE 0x00000001 +#define SDL_AUDIO_ALLOW_FORMAT_CHANGE 0x00000002 +#define SDL_AUDIO_ALLOW_CHANNELS_CHANGE 0x00000004 +#define SDL_AUDIO_ALLOW_SAMPLES_CHANGE 0x00000008 +#define SDL_AUDIO_ALLOW_ANY_CHANGE (SDL_AUDIO_ALLOW_FREQUENCY_CHANGE|SDL_AUDIO_ALLOW_FORMAT_CHANGE|SDL_AUDIO_ALLOW_CHANNELS_CHANGE|SDL_AUDIO_ALLOW_SAMPLES_CHANGE) +/* @} */ + +/* @} *//* Audio flags */ + +/** + * This function is called when the audio device needs more data. + * + * \param userdata An application-specific parameter saved in + * the SDL_AudioSpec structure + * \param stream A pointer to the audio data buffer. + * \param len The length of that buffer in bytes. + * + * Once the callback returns, the buffer will no longer be valid. + * Stereo samples are stored in a LRLRLR ordering. + * + * You can choose to avoid callbacks and use SDL_QueueAudio() instead, if + * you like. Just open your audio device with a NULL callback. + */ +typedef void (SDLCALL * SDL_AudioCallback) (void *userdata, Uint8 * stream, + int len); + +/** + * The calculated values in this structure are calculated by SDL_OpenAudio(). + * + * For multi-channel audio, the default SDL channel mapping is: + * 2: FL FR (stereo) + * 3: FL FR LFE (2.1 surround) + * 4: FL FR BL BR (quad) + * 5: FL FR LFE BL BR (4.1 surround) + * 6: FL FR FC LFE SL SR (5.1 surround - last two can also be BL BR) + * 7: FL FR FC LFE BC SL SR (6.1 surround) + * 8: FL FR FC LFE BL BR SL SR (7.1 surround) + */ +typedef struct SDL_AudioSpec +{ + int freq; /**< DSP frequency -- samples per second */ + SDL_AudioFormat format; /**< Audio data format */ + Uint8 channels; /**< Number of channels: 1 mono, 2 stereo */ + Uint8 silence; /**< Audio buffer silence value (calculated) */ + Uint16 samples; /**< Audio buffer size in sample FRAMES (total samples divided by channel count) */ + Uint16 padding; /**< Necessary for some compile environments */ + Uint32 size; /**< Audio buffer size in bytes (calculated) */ + SDL_AudioCallback callback; /**< Callback that feeds the audio device (NULL to use SDL_QueueAudio()). */ + void *userdata; /**< Userdata passed to callback (ignored for NULL callbacks). */ +} SDL_AudioSpec; + + +struct SDL_AudioCVT; +typedef void (SDLCALL * SDL_AudioFilter) (struct SDL_AudioCVT * cvt, + SDL_AudioFormat format); + +/** + * \brief Upper limit of filters in SDL_AudioCVT + * + * The maximum number of SDL_AudioFilter functions in SDL_AudioCVT is + * currently limited to 9. The SDL_AudioCVT.filters array has 10 pointers, + * one of which is the terminating NULL pointer. + */ +#define SDL_AUDIOCVT_MAX_FILTERS 9 + +/** + * \struct SDL_AudioCVT + * \brief A structure to hold a set of audio conversion filters and buffers. + * + * Note that various parts of the conversion pipeline can take advantage + * of SIMD operations (like SSE2, for example). SDL_AudioCVT doesn't require + * you to pass it aligned data, but can possibly run much faster if you + * set both its (buf) field to a pointer that is aligned to 16 bytes, and its + * (len) field to something that's a multiple of 16, if possible. + */ +#if defined(__GNUC__) && !defined(__CHERI_PURE_CAPABILITY__) +/* This structure is 84 bytes on 32-bit architectures, make sure GCC doesn't + pad it out to 88 bytes to guarantee ABI compatibility between compilers. + This is not a concern on CHERI architectures, where pointers must be stored + at aligned locations otherwise they will become invalid, and thus structs + containing pointers cannot be packed without giving a warning or error. + vvv + The next time we rev the ABI, make sure to size the ints and add padding. +*/ +#define SDL_AUDIOCVT_PACKED __attribute__((packed)) +#else +#define SDL_AUDIOCVT_PACKED +#endif +/* */ +typedef struct SDL_AudioCVT +{ + int needed; /**< Set to 1 if conversion possible */ + SDL_AudioFormat src_format; /**< Source audio format */ + SDL_AudioFormat dst_format; /**< Target audio format */ + double rate_incr; /**< Rate conversion increment */ + Uint8 *buf; /**< Buffer to hold entire audio data */ + int len; /**< Length of original audio buffer */ + int len_cvt; /**< Length of converted audio buffer */ + int len_mult; /**< buffer must be len*len_mult big */ + double len_ratio; /**< Given len, final size is len*len_ratio */ + SDL_AudioFilter filters[SDL_AUDIOCVT_MAX_FILTERS + 1]; /**< NULL-terminated list of filter functions */ + int filter_index; /**< Current audio conversion function */ +} SDL_AUDIOCVT_PACKED SDL_AudioCVT; + + +/* Function prototypes */ + +/** + * \name Driver discovery functions + * + * These functions return the list of built in audio drivers, in the + * order that they are normally initialized by default. + */ +/* @{ */ + +/** + * Use this function to get the number of built-in audio drivers. + * + * This function returns a hardcoded number. This never returns a negative + * value; if there are no drivers compiled into this build of SDL, this + * function returns zero. The presence of a driver in this list does not mean + * it will function, it just means SDL is capable of interacting with that + * interface. For example, a build of SDL might have esound support, but if + * there's no esound server available, SDL's esound driver would fail if used. + * + * By default, SDL tries all drivers, in its preferred order, until one is + * found to be usable. + * + * \returns the number of built-in audio drivers. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetAudioDriver + */ +extern DECLSPEC int SDLCALL SDL_GetNumAudioDrivers(void); + +/** + * Use this function to get the name of a built in audio driver. + * + * The list of audio drivers is given in the order that they are normally + * initialized by default; the drivers that seem more reasonable to choose + * first (as far as the SDL developers believe) are earlier in the list. + * + * The names of drivers are all simple, low-ASCII identifiers, like "alsa", + * "coreaudio" or "xaudio2". These never have Unicode characters, and are not + * meant to be proper names. + * + * \param index the index of the audio driver; the value ranges from 0 to + * SDL_GetNumAudioDrivers() - 1 + * \returns the name of the audio driver at the requested index, or NULL if an + * invalid index was specified. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumAudioDrivers + */ +extern DECLSPEC const char *SDLCALL SDL_GetAudioDriver(int index); +/* @} */ + +/** + * \name Initialization and cleanup + * + * \internal These functions are used internally, and should not be used unless + * you have a specific need to specify the audio driver you want to + * use. You should normally use SDL_Init() or SDL_InitSubSystem(). + */ +/* @{ */ + +/** + * Use this function to initialize a particular audio driver. + * + * This function is used internally, and should not be used unless you have a + * specific need to designate the audio driver you want to use. You should + * normally use SDL_Init() or SDL_InitSubSystem(). + * + * \param driver_name the name of the desired audio driver + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AudioQuit + */ +extern DECLSPEC int SDLCALL SDL_AudioInit(const char *driver_name); + +/** + * Use this function to shut down audio if you initialized it with + * SDL_AudioInit(). + * + * This function is used internally, and should not be used unless you have a + * specific need to specify the audio driver you want to use. You should + * normally use SDL_Quit() or SDL_QuitSubSystem(). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AudioInit + */ +extern DECLSPEC void SDLCALL SDL_AudioQuit(void); +/* @} */ + +/** + * Get the name of the current audio driver. + * + * The returned string points to internal static memory and thus never becomes + * invalid, even if you quit the audio subsystem and initialize a new driver + * (although such a case would return a different static string from another + * call to this function, of course). As such, you should not modify or free + * the returned string. + * + * \returns the name of the current audio driver or NULL if no driver has been + * initialized. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AudioInit + */ +extern DECLSPEC const char *SDLCALL SDL_GetCurrentAudioDriver(void); + +/** + * This function is a legacy means of opening the audio device. + * + * This function remains for compatibility with SDL 1.2, but also because it's + * slightly easier to use than the new functions in SDL 2.0. The new, more + * powerful, and preferred way to do this is SDL_OpenAudioDevice(). + * + * This function is roughly equivalent to: + * + * ```c + * SDL_OpenAudioDevice(NULL, 0, desired, obtained, SDL_AUDIO_ALLOW_ANY_CHANGE); + * ``` + * + * With two notable exceptions: + * + * - If `obtained` is NULL, we use `desired` (and allow no changes), which + * means desired will be modified to have the correct values for silence, + * etc, and SDL will convert any differences between your app's specific + * request and the hardware behind the scenes. + * - The return value is always success or failure, and not a device ID, which + * means you can only have one device open at a time with this function. + * + * \param desired an SDL_AudioSpec structure representing the desired output + * format. Please refer to the SDL_OpenAudioDevice + * documentation for details on how to prepare this structure. + * \param obtained an SDL_AudioSpec structure filled in with the actual + * parameters, or NULL. + * \returns 0 if successful, placing the actual hardware parameters in the + * structure pointed to by `obtained`. + * + * If `obtained` is NULL, the audio data passed to the callback + * function will be guaranteed to be in the requested format, and + * will be automatically converted to the actual hardware audio + * format if necessary. If `obtained` is NULL, `desired` will have + * fields modified. + * + * This function returns a negative error code on failure to open the + * audio device or failure to set up the audio thread; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CloseAudio + * \sa SDL_LockAudio + * \sa SDL_PauseAudio + * \sa SDL_UnlockAudio + */ +extern DECLSPEC int SDLCALL SDL_OpenAudio(SDL_AudioSpec * desired, + SDL_AudioSpec * obtained); + +/** + * SDL Audio Device IDs. + * + * A successful call to SDL_OpenAudio() is always device id 1, and legacy + * SDL audio APIs assume you want this device ID. SDL_OpenAudioDevice() calls + * always returns devices >= 2 on success. The legacy calls are good both + * for backwards compatibility and when you don't care about multiple, + * specific, or capture devices. + */ +typedef Uint32 SDL_AudioDeviceID; + +/** + * Get the number of built-in audio devices. + * + * This function is only valid after successfully initializing the audio + * subsystem. + * + * Note that audio capture support is not implemented as of SDL 2.0.4, so the + * `iscapture` parameter is for future expansion and should always be zero for + * now. + * + * This function will return -1 if an explicit list of devices can't be + * determined. Returning -1 is not an error. For example, if SDL is set up to + * talk to a remote audio server, it can't list every one available on the + * Internet, but it will still allow a specific host to be specified in + * SDL_OpenAudioDevice(). + * + * In many common cases, when this function returns a value <= 0, it can still + * successfully open the default device (NULL for first argument of + * SDL_OpenAudioDevice()). + * + * This function may trigger a complete redetect of available hardware. It + * should not be called for each iteration of a loop, but rather once at the + * start of a loop: + * + * ```c + * // Don't do this: + * for (int i = 0; i < SDL_GetNumAudioDevices(0); i++) + * + * // do this instead: + * const int count = SDL_GetNumAudioDevices(0); + * for (int i = 0; i < count; ++i) { do_something_here(); } + * ``` + * + * \param iscapture zero to request playback devices, non-zero to request + * recording devices + * \returns the number of available devices exposed by the current driver or + * -1 if an explicit list of devices can't be determined. A return + * value of -1 does not necessarily mean an error condition. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetAudioDeviceName + * \sa SDL_OpenAudioDevice + */ +extern DECLSPEC int SDLCALL SDL_GetNumAudioDevices(int iscapture); + +/** + * Get the human-readable name of a specific audio device. + * + * This function is only valid after successfully initializing the audio + * subsystem. The values returned by this function reflect the latest call to + * SDL_GetNumAudioDevices(); re-call that function to redetect available + * hardware. + * + * The string returned by this function is UTF-8 encoded, read-only, and + * managed internally. You are not to free it. If you need to keep the string + * for any length of time, you should make your own copy of it, as it will be + * invalid next time any of several other SDL functions are called. + * + * \param index the index of the audio device; valid values range from 0 to + * SDL_GetNumAudioDevices() - 1 + * \param iscapture non-zero to query the list of recording devices, zero to + * query the list of output devices. + * \returns the name of the audio device at the requested index, or NULL on + * error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumAudioDevices + * \sa SDL_GetDefaultAudioInfo + */ +extern DECLSPEC const char *SDLCALL SDL_GetAudioDeviceName(int index, + int iscapture); + +/** + * Get the preferred audio format of a specific audio device. + * + * This function is only valid after a successfully initializing the audio + * subsystem. The values returned by this function reflect the latest call to + * SDL_GetNumAudioDevices(); re-call that function to redetect available + * hardware. + * + * `spec` will be filled with the sample rate, sample format, and channel + * count. + * + * \param index the index of the audio device; valid values range from 0 to + * SDL_GetNumAudioDevices() - 1 + * \param iscapture non-zero to query the list of recording devices, zero to + * query the list of output devices. + * \param spec The SDL_AudioSpec to be initialized by this function. + * \returns 0 on success, nonzero on error + * + * \since This function is available since SDL 2.0.16. + * + * \sa SDL_GetNumAudioDevices + * \sa SDL_GetDefaultAudioInfo + */ +extern DECLSPEC int SDLCALL SDL_GetAudioDeviceSpec(int index, + int iscapture, + SDL_AudioSpec *spec); + + +/** + * Get the name and preferred format of the default audio device. + * + * Some (but not all!) platforms have an isolated mechanism to get information + * about the "default" device. This can actually be a completely different + * device that's not in the list you get from SDL_GetAudioDeviceSpec(). It can + * even be a network address! (This is discussed in SDL_OpenAudioDevice().) + * + * As a result, this call is not guaranteed to be performant, as it can query + * the sound server directly every time, unlike the other query functions. You + * should call this function sparingly! + * + * `spec` will be filled with the sample rate, sample format, and channel + * count, if a default device exists on the system. If `name` is provided, + * will be filled with either a dynamically-allocated UTF-8 string or NULL. + * + * \param name A pointer to be filled with the name of the default device (can + * be NULL). Please call SDL_free() when you are done with this + * pointer! + * \param spec The SDL_AudioSpec to be initialized by this function. + * \param iscapture non-zero to query the default recording device, zero to + * query the default output device. + * \returns 0 on success, nonzero on error + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GetAudioDeviceName + * \sa SDL_GetAudioDeviceSpec + * \sa SDL_OpenAudioDevice + */ +extern DECLSPEC int SDLCALL SDL_GetDefaultAudioInfo(char **name, + SDL_AudioSpec *spec, + int iscapture); + + +/** + * Open a specific audio device. + * + * SDL_OpenAudio(), unlike this function, always acts on device ID 1. As such, + * this function will never return a 1 so as not to conflict with the legacy + * function. + * + * Please note that SDL 2.0 before 2.0.5 did not support recording; as such, + * this function would fail if `iscapture` was not zero. Starting with SDL + * 2.0.5, recording is implemented and this value can be non-zero. + * + * Passing in a `device` name of NULL requests the most reasonable default + * (and is equivalent to what SDL_OpenAudio() does to choose a device). The + * `device` name is a UTF-8 string reported by SDL_GetAudioDeviceName(), but + * some drivers allow arbitrary and driver-specific strings, such as a + * hostname/IP address for a remote audio server, or a filename in the + * diskaudio driver. + * + * An opened audio device starts out paused, and should be enabled for playing + * by calling SDL_PauseAudioDevice(devid, 0) when you are ready for your audio + * callback function to be called. Since the audio driver may modify the + * requested size of the audio buffer, you should allocate any local mixing + * buffers after you open the audio device. + * + * The audio callback runs in a separate thread in most cases; you can prevent + * race conditions between your callback and other threads without fully + * pausing playback with SDL_LockAudioDevice(). For more information about the + * callback, see SDL_AudioSpec. + * + * Managing the audio spec via 'desired' and 'obtained': + * + * When filling in the desired audio spec structure: + * + * - `desired->freq` should be the frequency in sample-frames-per-second (Hz). + * - `desired->format` should be the audio format (`AUDIO_S16SYS`, etc). + * - `desired->samples` is the desired size of the audio buffer, in _sample + * frames_ (with stereo output, two samples--left and right--would make a + * single sample frame). This number should be a power of two, and may be + * adjusted by the audio driver to a value more suitable for the hardware. + * Good values seem to range between 512 and 8096 inclusive, depending on + * the application and CPU speed. Smaller values reduce latency, but can + * lead to underflow if the application is doing heavy processing and cannot + * fill the audio buffer in time. Note that the number of sample frames is + * directly related to time by the following formula: `ms = + * (sampleframes*1000)/freq` + * - `desired->size` is the size in _bytes_ of the audio buffer, and is + * calculated by SDL_OpenAudioDevice(). You don't initialize this. + * - `desired->silence` is the value used to set the buffer to silence, and is + * calculated by SDL_OpenAudioDevice(). You don't initialize this. + * - `desired->callback` should be set to a function that will be called when + * the audio device is ready for more data. It is passed a pointer to the + * audio buffer, and the length in bytes of the audio buffer. This function + * usually runs in a separate thread, and so you should protect data + * structures that it accesses by calling SDL_LockAudioDevice() and + * SDL_UnlockAudioDevice() in your code. Alternately, you may pass a NULL + * pointer here, and call SDL_QueueAudio() with some frequency, to queue + * more audio samples to be played (or for capture devices, call + * SDL_DequeueAudio() with some frequency, to obtain audio samples). + * - `desired->userdata` is passed as the first parameter to your callback + * function. If you passed a NULL callback, this value is ignored. + * + * `allowed_changes` can have the following flags OR'd together: + * + * - `SDL_AUDIO_ALLOW_FREQUENCY_CHANGE` + * - `SDL_AUDIO_ALLOW_FORMAT_CHANGE` + * - `SDL_AUDIO_ALLOW_CHANNELS_CHANGE` + * - `SDL_AUDIO_ALLOW_SAMPLES_CHANGE` + * - `SDL_AUDIO_ALLOW_ANY_CHANGE` + * + * These flags specify how SDL should behave when a device cannot offer a + * specific feature. If the application requests a feature that the hardware + * doesn't offer, SDL will always try to get the closest equivalent. + * + * For example, if you ask for float32 audio format, but the sound card only + * supports int16, SDL will set the hardware to int16. If you had set + * SDL_AUDIO_ALLOW_FORMAT_CHANGE, SDL will change the format in the `obtained` + * structure. If that flag was *not* set, SDL will prepare to convert your + * callback's float32 audio to int16 before feeding it to the hardware and + * will keep the originally requested format in the `obtained` structure. + * + * The resulting audio specs, varying depending on hardware and on what + * changes were allowed, will then be written back to `obtained`. + * + * If your application can only handle one specific data format, pass a zero + * for `allowed_changes` and let SDL transparently handle any differences. + * + * \param device a UTF-8 string reported by SDL_GetAudioDeviceName() or a + * driver-specific name as appropriate. NULL requests the most + * reasonable default device. + * \param iscapture non-zero to specify a device should be opened for + * recording, not playback + * \param desired an SDL_AudioSpec structure representing the desired output + * format; see SDL_OpenAudio() for more information + * \param obtained an SDL_AudioSpec structure filled in with the actual output + * format; see SDL_OpenAudio() for more information + * \param allowed_changes 0, or one or more flags OR'd together + * \returns a valid device ID that is > 0 on success or 0 on failure; call + * SDL_GetError() for more information. + * + * For compatibility with SDL 1.2, this will never return 1, since + * SDL reserves that ID for the legacy SDL_OpenAudio() function. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CloseAudioDevice + * \sa SDL_GetAudioDeviceName + * \sa SDL_LockAudioDevice + * \sa SDL_OpenAudio + * \sa SDL_PauseAudioDevice + * \sa SDL_UnlockAudioDevice + */ +extern DECLSPEC SDL_AudioDeviceID SDLCALL SDL_OpenAudioDevice( + const char *device, + int iscapture, + const SDL_AudioSpec *desired, + SDL_AudioSpec *obtained, + int allowed_changes); + + + +/** + * \name Audio state + * + * Get the current audio state. + */ +/* @{ */ +typedef enum +{ + SDL_AUDIO_STOPPED = 0, + SDL_AUDIO_PLAYING, + SDL_AUDIO_PAUSED +} SDL_AudioStatus; + +/** + * This function is a legacy means of querying the audio device. + * + * New programs might want to use SDL_GetAudioDeviceStatus() instead. This + * function is equivalent to calling... + * + * ```c + * SDL_GetAudioDeviceStatus(1); + * ``` + * + * ...and is only useful if you used the legacy SDL_OpenAudio() function. + * + * \returns the SDL_AudioStatus of the audio device opened by SDL_OpenAudio(). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetAudioDeviceStatus + */ +extern DECLSPEC SDL_AudioStatus SDLCALL SDL_GetAudioStatus(void); + +/** + * Use this function to get the current audio state of an audio device. + * + * \param dev the ID of an audio device previously opened with + * SDL_OpenAudioDevice() + * \returns the SDL_AudioStatus of the specified audio device. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PauseAudioDevice + */ +extern DECLSPEC SDL_AudioStatus SDLCALL SDL_GetAudioDeviceStatus(SDL_AudioDeviceID dev); +/* @} *//* Audio State */ + +/** + * \name Pause audio functions + * + * These functions pause and unpause the audio callback processing. + * They should be called with a parameter of 0 after opening the audio + * device to start playing sound. This is so you can safely initialize + * data for your callback function after opening the audio device. + * Silence will be written to the audio device during the pause. + */ +/* @{ */ + +/** + * This function is a legacy means of pausing the audio device. + * + * New programs might want to use SDL_PauseAudioDevice() instead. This + * function is equivalent to calling... + * + * ```c + * SDL_PauseAudioDevice(1, pause_on); + * ``` + * + * ...and is only useful if you used the legacy SDL_OpenAudio() function. + * + * \param pause_on non-zero to pause, 0 to unpause + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetAudioStatus + * \sa SDL_PauseAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_PauseAudio(int pause_on); + +/** + * Use this function to pause and unpause audio playback on a specified + * device. + * + * This function pauses and unpauses the audio callback processing for a given + * device. Newly-opened audio devices start in the paused state, so you must + * call this function with **pause_on**=0 after opening the specified audio + * device to start playing sound. This allows you to safely initialize data + * for your callback function after opening the audio device. Silence will be + * written to the audio device while paused, and the audio callback is + * guaranteed to not be called. Pausing one device does not prevent other + * unpaused devices from running their callbacks. + * + * Pausing state does not stack; even if you pause a device several times, a + * single unpause will start the device playing again, and vice versa. This is + * different from how SDL_LockAudioDevice() works. + * + * If you just need to protect a few variables from race conditions vs your + * callback, you shouldn't pause the audio device, as it will lead to dropouts + * in the audio playback. Instead, you should use SDL_LockAudioDevice(). + * + * \param dev a device opened by SDL_OpenAudioDevice() + * \param pause_on non-zero to pause, 0 to unpause + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LockAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_PauseAudioDevice(SDL_AudioDeviceID dev, + int pause_on); +/* @} *//* Pause audio functions */ + +/** + * Load the audio data of a WAVE file into memory. + * + * Loading a WAVE file requires `src`, `spec`, `audio_buf` and `audio_len` to + * be valid pointers. The entire data portion of the file is then loaded into + * memory and decoded if necessary. + * + * If `freesrc` is non-zero, the data source gets automatically closed and + * freed before the function returns. + * + * Supported formats are RIFF WAVE files with the formats PCM (8, 16, 24, and + * 32 bits), IEEE Float (32 bits), Microsoft ADPCM and IMA ADPCM (4 bits), and + * A-law and mu-law (8 bits). Other formats are currently unsupported and + * cause an error. + * + * If this function succeeds, the pointer returned by it is equal to `spec` + * and the pointer to the audio data allocated by the function is written to + * `audio_buf` and its length in bytes to `audio_len`. The SDL_AudioSpec + * members `freq`, `channels`, and `format` are set to the values of the audio + * data in the buffer. The `samples` member is set to a sane default and all + * others are set to zero. + * + * It's necessary to use SDL_FreeWAV() to free the audio data returned in + * `audio_buf` when it is no longer used. + * + * Because of the underspecification of the .WAV format, there are many + * problematic files in the wild that cause issues with strict decoders. To + * provide compatibility with these files, this decoder is lenient in regards + * to the truncation of the file, the fact chunk, and the size of the RIFF + * chunk. The hints `SDL_HINT_WAVE_RIFF_CHUNK_SIZE`, + * `SDL_HINT_WAVE_TRUNCATION`, and `SDL_HINT_WAVE_FACT_CHUNK` can be used to + * tune the behavior of the loading process. + * + * Any file that is invalid (due to truncation, corruption, or wrong values in + * the headers), too big, or unsupported causes an error. Additionally, any + * critical I/O error from the data source will terminate the loading process + * with an error. The function returns NULL on error and in all cases (with + * the exception of `src` being NULL), an appropriate error message will be + * set. + * + * It is required that the data source supports seeking. + * + * Example: + * + * ```c + * SDL_LoadWAV_RW(SDL_RWFromFile("sample.wav", "rb"), 1, &spec, &buf, &len); + * ``` + * + * Note that the SDL_LoadWAV macro does this same thing for you, but in a less + * messy way: + * + * ```c + * SDL_LoadWAV("sample.wav", &spec, &buf, &len); + * ``` + * + * \param src The data source for the WAVE data + * \param freesrc If non-zero, SDL will _always_ free the data source + * \param spec An SDL_AudioSpec that will be filled in with the wave file's + * format details + * \param audio_buf A pointer filled with the audio data, allocated by the + * function. + * \param audio_len A pointer filled with the length of the audio data buffer + * in bytes + * \returns This function, if successfully called, returns `spec`, which will + * be filled with the audio data format of the wave source data. + * `audio_buf` will be filled with a pointer to an allocated buffer + * containing the audio data, and `audio_len` is filled with the + * length of that audio buffer in bytes. + * + * This function returns NULL if the .WAV file cannot be opened, uses + * an unknown data format, or is corrupt; call SDL_GetError() for + * more information. + * + * When the application is done with the data returned in + * `audio_buf`, it should call SDL_FreeWAV() to dispose of it. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreeWAV + * \sa SDL_LoadWAV + */ +extern DECLSPEC SDL_AudioSpec *SDLCALL SDL_LoadWAV_RW(SDL_RWops * src, + int freesrc, + SDL_AudioSpec * spec, + Uint8 ** audio_buf, + Uint32 * audio_len); + +/** + * Loads a WAV from a file. + * Compatibility convenience function. + */ +#define SDL_LoadWAV(file, spec, audio_buf, audio_len) \ + SDL_LoadWAV_RW(SDL_RWFromFile(file, "rb"),1, spec,audio_buf,audio_len) + +/** + * Free data previously allocated with SDL_LoadWAV() or SDL_LoadWAV_RW(). + * + * After a WAVE file has been opened with SDL_LoadWAV() or SDL_LoadWAV_RW() + * its data can eventually be freed with SDL_FreeWAV(). It is safe to call + * this function with a NULL pointer. + * + * \param audio_buf a pointer to the buffer created by SDL_LoadWAV() or + * SDL_LoadWAV_RW() + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadWAV + * \sa SDL_LoadWAV_RW + */ +extern DECLSPEC void SDLCALL SDL_FreeWAV(Uint8 * audio_buf); + +/** + * Initialize an SDL_AudioCVT structure for conversion. + * + * Before an SDL_AudioCVT structure can be used to convert audio data it must + * be initialized with source and destination information. + * + * This function will zero out every field of the SDL_AudioCVT, so it must be + * called before the application fills in the final buffer information. + * + * Once this function has returned successfully, and reported that a + * conversion is necessary, the application fills in the rest of the fields in + * SDL_AudioCVT, now that it knows how large a buffer it needs to allocate, + * and then can call SDL_ConvertAudio() to complete the conversion. + * + * \param cvt an SDL_AudioCVT structure filled in with audio conversion + * information + * \param src_format the source format of the audio data; for more info see + * SDL_AudioFormat + * \param src_channels the number of channels in the source + * \param src_rate the frequency (sample-frames-per-second) of the source + * \param dst_format the destination format of the audio data; for more info + * see SDL_AudioFormat + * \param dst_channels the number of channels in the destination + * \param dst_rate the frequency (sample-frames-per-second) of the destination + * \returns 1 if the audio filter is prepared, 0 if no conversion is needed, + * or a negative error code on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ConvertAudio + */ +extern DECLSPEC int SDLCALL SDL_BuildAudioCVT(SDL_AudioCVT * cvt, + SDL_AudioFormat src_format, + Uint8 src_channels, + int src_rate, + SDL_AudioFormat dst_format, + Uint8 dst_channels, + int dst_rate); + +/** + * Convert audio data to a desired audio format. + * + * This function does the actual audio data conversion, after the application + * has called SDL_BuildAudioCVT() to prepare the conversion information and + * then filled in the buffer details. + * + * Once the application has initialized the `cvt` structure using + * SDL_BuildAudioCVT(), allocated an audio buffer and filled it with audio + * data in the source format, this function will convert the buffer, in-place, + * to the desired format. + * + * The data conversion may go through several passes; any given pass may + * possibly temporarily increase the size of the data. For example, SDL might + * expand 16-bit data to 32 bits before resampling to a lower frequency, + * shrinking the data size after having grown it briefly. Since the supplied + * buffer will be both the source and destination, converting as necessary + * in-place, the application must allocate a buffer that will fully contain + * the data during its largest conversion pass. After SDL_BuildAudioCVT() + * returns, the application should set the `cvt->len` field to the size, in + * bytes, of the source data, and allocate a buffer that is `cvt->len * + * cvt->len_mult` bytes long for the `buf` field. + * + * The source data should be copied into this buffer before the call to + * SDL_ConvertAudio(). Upon successful return, this buffer will contain the + * converted audio, and `cvt->len_cvt` will be the size of the converted data, + * in bytes. Any bytes in the buffer past `cvt->len_cvt` are undefined once + * this function returns. + * + * \param cvt an SDL_AudioCVT structure that was previously set up by + * SDL_BuildAudioCVT(). + * \returns 0 if the conversion was completed successfully or a negative error + * code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BuildAudioCVT + */ +extern DECLSPEC int SDLCALL SDL_ConvertAudio(SDL_AudioCVT * cvt); + +/* SDL_AudioStream is a new audio conversion interface. + The benefits vs SDL_AudioCVT: + - it can handle resampling data in chunks without generating + artifacts, when it doesn't have the complete buffer available. + - it can handle incoming data in any variable size. + - You push data as you have it, and pull it when you need it + */ +/* this is opaque to the outside world. */ +struct _SDL_AudioStream; +typedef struct _SDL_AudioStream SDL_AudioStream; + +/** + * Create a new audio stream. + * + * \param src_format The format of the source audio + * \param src_channels The number of channels of the source audio + * \param src_rate The sampling rate of the source audio + * \param dst_format The format of the desired audio output + * \param dst_channels The number of channels of the desired audio output + * \param dst_rate The sampling rate of the desired audio output + * \returns 0 on success, or -1 on error. + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_AudioStreamPut + * \sa SDL_AudioStreamGet + * \sa SDL_AudioStreamAvailable + * \sa SDL_AudioStreamFlush + * \sa SDL_AudioStreamClear + * \sa SDL_FreeAudioStream + */ +extern DECLSPEC SDL_AudioStream * SDLCALL SDL_NewAudioStream(const SDL_AudioFormat src_format, + const Uint8 src_channels, + const int src_rate, + const SDL_AudioFormat dst_format, + const Uint8 dst_channels, + const int dst_rate); + +/** + * Add data to be converted/resampled to the stream. + * + * \param stream The stream the audio data is being added to + * \param buf A pointer to the audio data to add + * \param len The number of bytes to write to the stream + * \returns 0 on success, or -1 on error. + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_NewAudioStream + * \sa SDL_AudioStreamGet + * \sa SDL_AudioStreamAvailable + * \sa SDL_AudioStreamFlush + * \sa SDL_AudioStreamClear + * \sa SDL_FreeAudioStream + */ +extern DECLSPEC int SDLCALL SDL_AudioStreamPut(SDL_AudioStream *stream, const void *buf, int len); + +/** + * Get converted/resampled data from the stream + * + * \param stream The stream the audio is being requested from + * \param buf A buffer to fill with audio data + * \param len The maximum number of bytes to fill + * \returns the number of bytes read from the stream, or -1 on error + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_NewAudioStream + * \sa SDL_AudioStreamPut + * \sa SDL_AudioStreamAvailable + * \sa SDL_AudioStreamFlush + * \sa SDL_AudioStreamClear + * \sa SDL_FreeAudioStream + */ +extern DECLSPEC int SDLCALL SDL_AudioStreamGet(SDL_AudioStream *stream, void *buf, int len); + +/** + * Get the number of converted/resampled bytes available. + * + * The stream may be buffering data behind the scenes until it has enough to + * resample correctly, so this number might be lower than what you expect, or + * even be zero. Add more data or flush the stream if you need the data now. + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_NewAudioStream + * \sa SDL_AudioStreamPut + * \sa SDL_AudioStreamGet + * \sa SDL_AudioStreamFlush + * \sa SDL_AudioStreamClear + * \sa SDL_FreeAudioStream + */ +extern DECLSPEC int SDLCALL SDL_AudioStreamAvailable(SDL_AudioStream *stream); + +/** + * Tell the stream that you're done sending data, and anything being buffered + * should be converted/resampled and made available immediately. + * + * It is legal to add more data to a stream after flushing, but there will be + * audio gaps in the output. Generally this is intended to signal the end of + * input, so the complete output becomes available. + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_NewAudioStream + * \sa SDL_AudioStreamPut + * \sa SDL_AudioStreamGet + * \sa SDL_AudioStreamAvailable + * \sa SDL_AudioStreamClear + * \sa SDL_FreeAudioStream + */ +extern DECLSPEC int SDLCALL SDL_AudioStreamFlush(SDL_AudioStream *stream); + +/** + * Clear any pending data in the stream without converting it + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_NewAudioStream + * \sa SDL_AudioStreamPut + * \sa SDL_AudioStreamGet + * \sa SDL_AudioStreamAvailable + * \sa SDL_AudioStreamFlush + * \sa SDL_FreeAudioStream + */ +extern DECLSPEC void SDLCALL SDL_AudioStreamClear(SDL_AudioStream *stream); + +/** + * Free an audio stream + * + * \since This function is available since SDL 2.0.7. + * + * \sa SDL_NewAudioStream + * \sa SDL_AudioStreamPut + * \sa SDL_AudioStreamGet + * \sa SDL_AudioStreamAvailable + * \sa SDL_AudioStreamFlush + * \sa SDL_AudioStreamClear + */ +extern DECLSPEC void SDLCALL SDL_FreeAudioStream(SDL_AudioStream *stream); + +#define SDL_MIX_MAXVOLUME 128 + +/** + * This function is a legacy means of mixing audio. + * + * This function is equivalent to calling... + * + * ```c + * SDL_MixAudioFormat(dst, src, format, len, volume); + * ``` + * + * ...where `format` is the obtained format of the audio device from the + * legacy SDL_OpenAudio() function. + * + * \param dst the destination for the mixed audio + * \param src the source audio buffer to be mixed + * \param len the length of the audio buffer in bytes + * \param volume ranges from 0 - 128, and should be set to SDL_MIX_MAXVOLUME + * for full audio volume + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_MixAudioFormat + */ +extern DECLSPEC void SDLCALL SDL_MixAudio(Uint8 * dst, const Uint8 * src, + Uint32 len, int volume); + +/** + * Mix audio data in a specified format. + * + * This takes an audio buffer `src` of `len` bytes of `format` data and mixes + * it into `dst`, performing addition, volume adjustment, and overflow + * clipping. The buffer pointed to by `dst` must also be `len` bytes of + * `format` data. + * + * This is provided for convenience -- you can mix your own audio data. + * + * Do not use this function for mixing together more than two streams of + * sample data. The output from repeated application of this function may be + * distorted by clipping, because there is no accumulator with greater range + * than the input (not to mention this being an inefficient way of doing it). + * + * It is a common misconception that this function is required to write audio + * data to an output stream in an audio callback. While you can do that, + * SDL_MixAudioFormat() is really only needed when you're mixing a single + * audio stream with a volume adjustment. + * + * \param dst the destination for the mixed audio + * \param src the source audio buffer to be mixed + * \param format the SDL_AudioFormat structure representing the desired audio + * format + * \param len the length of the audio buffer in bytes + * \param volume ranges from 0 - 128, and should be set to SDL_MIX_MAXVOLUME + * for full audio volume + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_MixAudioFormat(Uint8 * dst, + const Uint8 * src, + SDL_AudioFormat format, + Uint32 len, int volume); + +/** + * Queue more audio on non-callback devices. + * + * If you are looking to retrieve queued audio from a non-callback capture + * device, you want SDL_DequeueAudio() instead. SDL_QueueAudio() will return + * -1 to signify an error if you use it with capture devices. + * + * SDL offers two ways to feed audio to the device: you can either supply a + * callback that SDL triggers with some frequency to obtain more audio (pull + * method), or you can supply no callback, and then SDL will expect you to + * supply data at regular intervals (push method) with this function. + * + * There are no limits on the amount of data you can queue, short of + * exhaustion of address space. Queued data will drain to the device as + * necessary without further intervention from you. If the device needs audio + * but there is not enough queued, it will play silence to make up the + * difference. This means you will have skips in your audio playback if you + * aren't routinely queueing sufficient data. + * + * This function copies the supplied data, so you are safe to free it when the + * function returns. This function is thread-safe, but queueing to the same + * device from two threads at once does not promise which buffer will be + * queued first. + * + * You may not queue audio on a device that is using an application-supplied + * callback; doing so returns an error. You have to use the audio callback or + * queue audio with this function, but not both. + * + * You should not call SDL_LockAudio() on the device before queueing; SDL + * handles locking internally for this function. + * + * Note that SDL2 does not support planar audio. You will need to resample + * from planar audio formats into a non-planar one (see SDL_AudioFormat) + * before queuing audio. + * + * \param dev the device ID to which we will queue audio + * \param data the data to queue to the device for later playback + * \param len the number of bytes (not samples!) to which `data` points + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_ClearQueuedAudio + * \sa SDL_GetQueuedAudioSize + */ +extern DECLSPEC int SDLCALL SDL_QueueAudio(SDL_AudioDeviceID dev, const void *data, Uint32 len); + +/** + * Dequeue more audio on non-callback devices. + * + * If you are looking to queue audio for output on a non-callback playback + * device, you want SDL_QueueAudio() instead. SDL_DequeueAudio() will always + * return 0 if you use it with playback devices. + * + * SDL offers two ways to retrieve audio from a capture device: you can either + * supply a callback that SDL triggers with some frequency as the device + * records more audio data, (push method), or you can supply no callback, and + * then SDL will expect you to retrieve data at regular intervals (pull + * method) with this function. + * + * There are no limits on the amount of data you can queue, short of + * exhaustion of address space. Data from the device will keep queuing as + * necessary without further intervention from you. This means you will + * eventually run out of memory if you aren't routinely dequeueing data. + * + * Capture devices will not queue data when paused; if you are expecting to + * not need captured audio for some length of time, use SDL_PauseAudioDevice() + * to stop the capture device from queueing more data. This can be useful + * during, say, level loading times. When unpaused, capture devices will start + * queueing data from that point, having flushed any capturable data available + * while paused. + * + * This function is thread-safe, but dequeueing from the same device from two + * threads at once does not promise which thread will dequeue data first. + * + * You may not dequeue audio from a device that is using an + * application-supplied callback; doing so returns an error. You have to use + * the audio callback, or dequeue audio with this function, but not both. + * + * You should not call SDL_LockAudio() on the device before dequeueing; SDL + * handles locking internally for this function. + * + * \param dev the device ID from which we will dequeue audio + * \param data a pointer into where audio data should be copied + * \param len the number of bytes (not samples!) to which (data) points + * \returns the number of bytes dequeued, which could be less than requested; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_ClearQueuedAudio + * \sa SDL_GetQueuedAudioSize + */ +extern DECLSPEC Uint32 SDLCALL SDL_DequeueAudio(SDL_AudioDeviceID dev, void *data, Uint32 len); + +/** + * Get the number of bytes of still-queued audio. + * + * For playback devices: this is the number of bytes that have been queued for + * playback with SDL_QueueAudio(), but have not yet been sent to the hardware. + * + * Once we've sent it to the hardware, this function can not decide the exact + * byte boundary of what has been played. It's possible that we just gave the + * hardware several kilobytes right before you called this function, but it + * hasn't played any of it yet, or maybe half of it, etc. + * + * For capture devices, this is the number of bytes that have been captured by + * the device and are waiting for you to dequeue. This number may grow at any + * time, so this only informs of the lower-bound of available data. + * + * You may not queue or dequeue audio on a device that is using an + * application-supplied callback; calling this function on such a device + * always returns 0. You have to use the audio callback or queue audio, but + * not both. + * + * You should not call SDL_LockAudio() on the device before querying; SDL + * handles locking internally for this function. + * + * \param dev the device ID of which we will query queued audio size + * \returns the number of bytes (not samples!) of queued audio. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_ClearQueuedAudio + * \sa SDL_QueueAudio + * \sa SDL_DequeueAudio + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetQueuedAudioSize(SDL_AudioDeviceID dev); + +/** + * Drop any queued audio data waiting to be sent to the hardware. + * + * Immediately after this call, SDL_GetQueuedAudioSize() will return 0. For + * output devices, the hardware will start playing silence if more audio isn't + * queued. For capture devices, the hardware will start filling the empty + * queue with new data if the capture device isn't paused. + * + * This will not prevent playback of queued audio that's already been sent to + * the hardware, as we can not undo that, so expect there to be some fraction + * of a second of audio that might still be heard. This can be useful if you + * want to, say, drop any pending music or any unprocessed microphone input + * during a level change in your game. + * + * You may not queue or dequeue audio on a device that is using an + * application-supplied callback; calling this function on such a device + * always returns 0. You have to use the audio callback or queue audio, but + * not both. + * + * You should not call SDL_LockAudio() on the device before clearing the + * queue; SDL handles locking internally for this function. + * + * This function always succeeds and thus returns void. + * + * \param dev the device ID of which to clear the audio queue + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_GetQueuedAudioSize + * \sa SDL_QueueAudio + * \sa SDL_DequeueAudio + */ +extern DECLSPEC void SDLCALL SDL_ClearQueuedAudio(SDL_AudioDeviceID dev); + + +/** + * \name Audio lock functions + * + * The lock manipulated by these functions protects the callback function. + * During a SDL_LockAudio()/SDL_UnlockAudio() pair, you can be guaranteed that + * the callback function is not running. Do not call these from the callback + * function or you will cause deadlock. + */ +/* @{ */ + +/** + * This function is a legacy means of locking the audio device. + * + * New programs might want to use SDL_LockAudioDevice() instead. This function + * is equivalent to calling... + * + * ```c + * SDL_LockAudioDevice(1); + * ``` + * + * ...and is only useful if you used the legacy SDL_OpenAudio() function. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LockAudioDevice + * \sa SDL_UnlockAudio + * \sa SDL_UnlockAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_LockAudio(void); + +/** + * Use this function to lock out the audio callback function for a specified + * device. + * + * The lock manipulated by these functions protects the audio callback + * function specified in SDL_OpenAudioDevice(). During a + * SDL_LockAudioDevice()/SDL_UnlockAudioDevice() pair, you can be guaranteed + * that the callback function for that device is not running, even if the + * device is not paused. While a device is locked, any other unpaused, + * unlocked devices may still run their callbacks. + * + * Calling this function from inside your audio callback is unnecessary. SDL + * obtains this lock before calling your function, and releases it when the + * function returns. + * + * You should not hold the lock longer than absolutely necessary. If you hold + * it too long, you'll experience dropouts in your audio playback. Ideally, + * your application locks the device, sets a few variables and unlocks again. + * Do not do heavy work while holding the lock for a device. + * + * It is safe to lock the audio device multiple times, as long as you unlock + * it an equivalent number of times. The callback will not run until the + * device has been unlocked completely in this way. If your application fails + * to unlock the device appropriately, your callback will never run, you might + * hear repeating bursts of audio, and SDL_CloseAudioDevice() will probably + * deadlock. + * + * Internally, the audio device lock is a mutex; if you lock from two threads + * at once, not only will you block the audio callback, you'll block the other + * thread. + * + * \param dev the ID of the device to be locked + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_UnlockAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_LockAudioDevice(SDL_AudioDeviceID dev); + +/** + * This function is a legacy means of unlocking the audio device. + * + * New programs might want to use SDL_UnlockAudioDevice() instead. This + * function is equivalent to calling... + * + * ```c + * SDL_UnlockAudioDevice(1); + * ``` + * + * ...and is only useful if you used the legacy SDL_OpenAudio() function. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LockAudio + * \sa SDL_UnlockAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_UnlockAudio(void); + +/** + * Use this function to unlock the audio callback function for a specified + * device. + * + * This function should be paired with a previous SDL_LockAudioDevice() call. + * + * \param dev the ID of the device to be unlocked + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LockAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_UnlockAudioDevice(SDL_AudioDeviceID dev); +/* @} *//* Audio lock functions */ + +/** + * This function is a legacy means of closing the audio device. + * + * This function is equivalent to calling... + * + * ```c + * SDL_CloseAudioDevice(1); + * ``` + * + * ...and is only useful if you used the legacy SDL_OpenAudio() function. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_OpenAudio + */ +extern DECLSPEC void SDLCALL SDL_CloseAudio(void); + +/** + * Use this function to shut down audio processing and close the audio device. + * + * The application should close open audio devices once they are no longer + * needed. Calling this function will wait until the device's audio callback + * is not running, release the audio hardware and then clean up internal + * state. No further audio will play from this device once this function + * returns. + * + * This function may block briefly while pending audio data is played by the + * hardware, so that applications don't drop the last buffer of data they + * supplied. + * + * The device ID is invalid as soon as the device is closed, and is eligible + * for reuse in a new SDL_OpenAudioDevice() call immediately. + * + * \param dev an audio device previously opened with SDL_OpenAudioDevice() + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_OpenAudioDevice + */ +extern DECLSPEC void SDLCALL SDL_CloseAudioDevice(SDL_AudioDeviceID dev); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_audio_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_bits.h b/subprojects/sdl2_windows/include/SDL2/SDL_bits.h new file mode 100644 index 000000000..22cb85314 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_bits.h @@ -0,0 +1,126 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_bits.h + * + * Functions for fiddling with bits and bitmasks. + */ + +#ifndef SDL_bits_h_ +#define SDL_bits_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \file SDL_bits.h + */ + +/** + * Get the index of the most significant bit. Result is undefined when called + * with 0. This operation can also be stated as "count leading zeroes" and + * "log base 2". + * + * \return the index of the most significant bit, or -1 if the value is 0. + */ +#if defined(__WATCOMC__) && defined(__386__) +extern __inline int _SDL_bsr_watcom(Uint32); +#pragma aux _SDL_bsr_watcom = \ + "bsr eax, eax" \ + parm [eax] nomemory \ + value [eax] \ + modify exact [eax] nomemory; +#endif + +SDL_FORCE_INLINE int +SDL_MostSignificantBitIndex32(Uint32 x) +{ +#if defined(__GNUC__) && (__GNUC__ >= 4 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) + /* Count Leading Zeroes builtin in GCC. + * http://gcc.gnu.org/onlinedocs/gcc-4.3.4/gcc/Other-Builtins.html + */ + if (x == 0) { + return -1; + } + return 31 - __builtin_clz(x); +#elif defined(__WATCOMC__) && defined(__386__) + if (x == 0) { + return -1; + } + return _SDL_bsr_watcom(x); +#elif defined(_MSC_VER) + unsigned long index; + if (_BitScanReverse(&index, x)) { + return index; + } + return -1; +#else + /* Based off of Bit Twiddling Hacks by Sean Eron Anderson + * , released in the public domain. + * http://graphics.stanford.edu/~seander/bithacks.html#IntegerLog + */ + const Uint32 b[] = {0x2, 0xC, 0xF0, 0xFF00, 0xFFFF0000}; + const int S[] = {1, 2, 4, 8, 16}; + + int msbIndex = 0; + int i; + + if (x == 0) { + return -1; + } + + for (i = 4; i >= 0; i--) + { + if (x & b[i]) + { + x >>= S[i]; + msbIndex |= S[i]; + } + } + + return msbIndex; +#endif +} + +SDL_FORCE_INLINE SDL_bool +SDL_HasExactlyOneBitSet32(Uint32 x) +{ + if (x && !(x & (x - 1))) { + return SDL_TRUE; + } + return SDL_FALSE; +} + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_bits_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_blendmode.h b/subprojects/sdl2_windows/include/SDL2/SDL_blendmode.h new file mode 100644 index 000000000..08c9f9dd6 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_blendmode.h @@ -0,0 +1,198 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_blendmode.h + * + * Header file declaring the SDL_BlendMode enumeration + */ + +#ifndef SDL_blendmode_h_ +#define SDL_blendmode_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief The blend mode used in SDL_RenderCopy() and drawing operations. + */ +typedef enum +{ + SDL_BLENDMODE_NONE = 0x00000000, /**< no blending + dstRGBA = srcRGBA */ + SDL_BLENDMODE_BLEND = 0x00000001, /**< alpha blending + dstRGB = (srcRGB * srcA) + (dstRGB * (1-srcA)) + dstA = srcA + (dstA * (1-srcA)) */ + SDL_BLENDMODE_ADD = 0x00000002, /**< additive blending + dstRGB = (srcRGB * srcA) + dstRGB + dstA = dstA */ + SDL_BLENDMODE_MOD = 0x00000004, /**< color modulate + dstRGB = srcRGB * dstRGB + dstA = dstA */ + SDL_BLENDMODE_MUL = 0x00000008, /**< color multiply + dstRGB = (srcRGB * dstRGB) + (dstRGB * (1-srcA)) + dstA = (srcA * dstA) + (dstA * (1-srcA)) */ + SDL_BLENDMODE_INVALID = 0x7FFFFFFF + + /* Additional custom blend modes can be returned by SDL_ComposeCustomBlendMode() */ + +} SDL_BlendMode; + +/** + * \brief The blend operation used when combining source and destination pixel components + */ +typedef enum +{ + SDL_BLENDOPERATION_ADD = 0x1, /**< dst + src: supported by all renderers */ + SDL_BLENDOPERATION_SUBTRACT = 0x2, /**< dst - src : supported by D3D9, D3D11, OpenGL, OpenGLES */ + SDL_BLENDOPERATION_REV_SUBTRACT = 0x3, /**< src - dst : supported by D3D9, D3D11, OpenGL, OpenGLES */ + SDL_BLENDOPERATION_MINIMUM = 0x4, /**< min(dst, src) : supported by D3D9, D3D11 */ + SDL_BLENDOPERATION_MAXIMUM = 0x5 /**< max(dst, src) : supported by D3D9, D3D11 */ +} SDL_BlendOperation; + +/** + * \brief The normalized factor used to multiply pixel components + */ +typedef enum +{ + SDL_BLENDFACTOR_ZERO = 0x1, /**< 0, 0, 0, 0 */ + SDL_BLENDFACTOR_ONE = 0x2, /**< 1, 1, 1, 1 */ + SDL_BLENDFACTOR_SRC_COLOR = 0x3, /**< srcR, srcG, srcB, srcA */ + SDL_BLENDFACTOR_ONE_MINUS_SRC_COLOR = 0x4, /**< 1-srcR, 1-srcG, 1-srcB, 1-srcA */ + SDL_BLENDFACTOR_SRC_ALPHA = 0x5, /**< srcA, srcA, srcA, srcA */ + SDL_BLENDFACTOR_ONE_MINUS_SRC_ALPHA = 0x6, /**< 1-srcA, 1-srcA, 1-srcA, 1-srcA */ + SDL_BLENDFACTOR_DST_COLOR = 0x7, /**< dstR, dstG, dstB, dstA */ + SDL_BLENDFACTOR_ONE_MINUS_DST_COLOR = 0x8, /**< 1-dstR, 1-dstG, 1-dstB, 1-dstA */ + SDL_BLENDFACTOR_DST_ALPHA = 0x9, /**< dstA, dstA, dstA, dstA */ + SDL_BLENDFACTOR_ONE_MINUS_DST_ALPHA = 0xA /**< 1-dstA, 1-dstA, 1-dstA, 1-dstA */ +} SDL_BlendFactor; + +/** + * Compose a custom blend mode for renderers. + * + * The functions SDL_SetRenderDrawBlendMode and SDL_SetTextureBlendMode accept + * the SDL_BlendMode returned by this function if the renderer supports it. + * + * A blend mode controls how the pixels from a drawing operation (source) get + * combined with the pixels from the render target (destination). First, the + * components of the source and destination pixels get multiplied with their + * blend factors. Then, the blend operation takes the two products and + * calculates the result that will get stored in the render target. + * + * Expressed in pseudocode, it would look like this: + * + * ```c + * dstRGB = colorOperation(srcRGB * srcColorFactor, dstRGB * dstColorFactor); + * dstA = alphaOperation(srcA * srcAlphaFactor, dstA * dstAlphaFactor); + * ``` + * + * Where the functions `colorOperation(src, dst)` and `alphaOperation(src, + * dst)` can return one of the following: + * + * - `src + dst` + * - `src - dst` + * - `dst - src` + * - `min(src, dst)` + * - `max(src, dst)` + * + * The red, green, and blue components are always multiplied with the first, + * second, and third components of the SDL_BlendFactor, respectively. The + * fourth component is not used. + * + * The alpha component is always multiplied with the fourth component of the + * SDL_BlendFactor. The other components are not used in the alpha + * calculation. + * + * Support for these blend modes varies for each renderer. To check if a + * specific SDL_BlendMode is supported, create a renderer and pass it to + * either SDL_SetRenderDrawBlendMode or SDL_SetTextureBlendMode. They will + * return with an error if the blend mode is not supported. + * + * This list describes the support of custom blend modes for each renderer in + * SDL 2.0.6. All renderers support the four blend modes listed in the + * SDL_BlendMode enumeration. + * + * - **direct3d**: Supports all operations with all factors. However, some + * factors produce unexpected results with `SDL_BLENDOPERATION_MINIMUM` and + * `SDL_BLENDOPERATION_MAXIMUM`. + * - **direct3d11**: Same as Direct3D 9. + * - **opengl**: Supports the `SDL_BLENDOPERATION_ADD` operation with all + * factors. OpenGL versions 1.1, 1.2, and 1.3 do not work correctly with SDL + * 2.0.6. + * - **opengles**: Supports the `SDL_BLENDOPERATION_ADD` operation with all + * factors. Color and alpha factors need to be the same. OpenGL ES 1 + * implementation specific: May also support `SDL_BLENDOPERATION_SUBTRACT` + * and `SDL_BLENDOPERATION_REV_SUBTRACT`. May support color and alpha + * operations being different from each other. May support color and alpha + * factors being different from each other. + * - **opengles2**: Supports the `SDL_BLENDOPERATION_ADD`, + * `SDL_BLENDOPERATION_SUBTRACT`, `SDL_BLENDOPERATION_REV_SUBTRACT` + * operations with all factors. + * - **psp**: No custom blend mode support. + * - **software**: No custom blend mode support. + * + * Some renderers do not provide an alpha component for the default render + * target. The `SDL_BLENDFACTOR_DST_ALPHA` and + * `SDL_BLENDFACTOR_ONE_MINUS_DST_ALPHA` factors do not have an effect in this + * case. + * + * \param srcColorFactor the SDL_BlendFactor applied to the red, green, and + * blue components of the source pixels + * \param dstColorFactor the SDL_BlendFactor applied to the red, green, and + * blue components of the destination pixels + * \param colorOperation the SDL_BlendOperation used to combine the red, + * green, and blue components of the source and + * destination pixels + * \param srcAlphaFactor the SDL_BlendFactor applied to the alpha component of + * the source pixels + * \param dstAlphaFactor the SDL_BlendFactor applied to the alpha component of + * the destination pixels + * \param alphaOperation the SDL_BlendOperation used to combine the alpha + * component of the source and destination pixels + * \returns an SDL_BlendMode that represents the chosen factors and + * operations. + * + * \since This function is available since SDL 2.0.6. + * + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_GetRenderDrawBlendMode + * \sa SDL_SetTextureBlendMode + * \sa SDL_GetTextureBlendMode + */ +extern DECLSPEC SDL_BlendMode SDLCALL SDL_ComposeCustomBlendMode(SDL_BlendFactor srcColorFactor, + SDL_BlendFactor dstColorFactor, + SDL_BlendOperation colorOperation, + SDL_BlendFactor srcAlphaFactor, + SDL_BlendFactor dstAlphaFactor, + SDL_BlendOperation alphaOperation); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_blendmode_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_clipboard.h b/subprojects/sdl2_windows/include/SDL2/SDL_clipboard.h new file mode 100644 index 000000000..783c7c251 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_clipboard.h @@ -0,0 +1,141 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_clipboard.h + * + * Include file for SDL clipboard handling + */ + +#ifndef SDL_clipboard_h_ +#define SDL_clipboard_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* Function prototypes */ + +/** + * Put UTF-8 text into the clipboard. + * + * \param text the text to store in the clipboard + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetClipboardText + * \sa SDL_HasClipboardText + */ +extern DECLSPEC int SDLCALL SDL_SetClipboardText(const char *text); + +/** + * Get UTF-8 text from the clipboard, which must be freed with SDL_free(). + * + * This functions returns empty string if there was not enough memory left for + * a copy of the clipboard's content. + * + * \returns the clipboard text on success or an empty string on failure; call + * SDL_GetError() for more information. Caller must call SDL_free() + * on the returned pointer when done with it (even if there was an + * error). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HasClipboardText + * \sa SDL_SetClipboardText + */ +extern DECLSPEC char * SDLCALL SDL_GetClipboardText(void); + +/** + * Query whether the clipboard exists and contains a non-empty text string. + * + * \returns SDL_TRUE if the clipboard has text, or SDL_FALSE if it does not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetClipboardText + * \sa SDL_SetClipboardText + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasClipboardText(void); + +/** + * Put UTF-8 text into the primary selection. + * + * \param text the text to store in the primary selection + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.26.0. + * + * \sa SDL_GetPrimarySelectionText + * \sa SDL_HasPrimarySelectionText + */ +extern DECLSPEC int SDLCALL SDL_SetPrimarySelectionText(const char *text); + +/** + * Get UTF-8 text from the primary selection, which must be freed with + * SDL_free(). + * + * This functions returns empty string if there was not enough memory left for + * a copy of the primary selection's content. + * + * \returns the primary selection text on success or an empty string on + * failure; call SDL_GetError() for more information. Caller must + * call SDL_free() on the returned pointer when done with it (even if + * there was an error). + * + * \since This function is available since SDL 2.26.0. + * + * \sa SDL_HasPrimarySelectionText + * \sa SDL_SetPrimarySelectionText + */ +extern DECLSPEC char * SDLCALL SDL_GetPrimarySelectionText(void); + +/** + * Query whether the primary selection exists and contains a non-empty text + * string. + * + * \returns SDL_TRUE if the primary selection has text, or SDL_FALSE if it + * does not. + * + * \since This function is available since SDL 2.26.0. + * + * \sa SDL_GetPrimarySelectionText + * \sa SDL_SetPrimarySelectionText + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasPrimarySelectionText(void); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_clipboard_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_config.h b/subprojects/sdl2_windows/include/SDL2/SDL_config.h new file mode 100644 index 000000000..58e0b7ecb --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_config.h @@ -0,0 +1,331 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_config_windows_h_ +#define SDL_config_windows_h_ +#define SDL_config_h_ + +#include "SDL_platform.h" + +/* winsdkver.h defines _WIN32_MAXVER for SDK version detection. It is present since at least the Windows 7 SDK, + * but out of caution we'll only use it if the compiler supports __has_include() to confirm its presence. + * If your compiler doesn't support __has_include() but you have winsdkver.h, define HAVE_WINSDKVER_H. */ +#if !defined(HAVE_WINSDKVER_H) && defined(__has_include) +#if __has_include() +#define HAVE_WINSDKVER_H 1 +#endif +#endif + +#ifdef HAVE_WINSDKVER_H +#include +#endif + +/* sdkddkver.h defines more specific SDK version numbers. This is needed because older versions of the + * Windows 10 SDK have broken declarations for the C API for DirectX 12. */ +#if !defined(HAVE_SDKDDKVER_H) && defined(__has_include) +#if __has_include() +#define HAVE_SDKDDKVER_H 1 +#endif +#endif + +#ifdef HAVE_SDKDDKVER_H +#include +#endif + +/* This is a set of defines to configure the SDL features */ + +#if !defined(_STDINT_H_) && (!defined(HAVE_STDINT_H) || !_HAVE_STDINT_H) +/* Most everything except Visual Studio 2008 and earlier has stdint.h now */ +#if defined(_MSC_VER) && (_MSC_VER < 1600) +typedef signed __int8 int8_t; +typedef unsigned __int8 uint8_t; +typedef signed __int16 int16_t; +typedef unsigned __int16 uint16_t; +typedef signed __int32 int32_t; +typedef unsigned __int32 uint32_t; +typedef signed __int64 int64_t; +typedef unsigned __int64 uint64_t; +#ifndef _UINTPTR_T_DEFINED +#ifdef _WIN64 +typedef unsigned __int64 uintptr_t; +#else +typedef unsigned int uintptr_t; +#endif +#define _UINTPTR_T_DEFINED +#endif +#else +#define HAVE_STDINT_H 1 +#endif /* Visual Studio 2008 */ +#endif /* !_STDINT_H_ && !HAVE_STDINT_H */ + +#ifdef _WIN64 +# define SIZEOF_VOIDP 8 +#else +# define SIZEOF_VOIDP 4 +#endif + +#ifdef __clang__ +# define HAVE_GCC_ATOMICS 1 +#endif + +#define HAVE_DDRAW_H 1 +#define HAVE_DINPUT_H 1 +#define HAVE_DSOUND_H 1 +#ifndef __WATCOMC__ +#define HAVE_DXGI_H 1 +#define HAVE_XINPUT_H 1 +#if defined(_WIN32_MAXVER) && _WIN32_MAXVER >= 0x0A00 /* Windows 10 SDK */ +#define HAVE_WINDOWS_GAMING_INPUT_H 1 +#endif +#if defined(_WIN32_MAXVER) && _WIN32_MAXVER >= 0x0602 /* Windows 8 SDK */ +#define HAVE_D3D11_H 1 +#define HAVE_ROAPI_H 1 +#endif +#if defined(WDK_NTDDI_VERSION) && WDK_NTDDI_VERSION > 0x0A000008 /* 10.0.19041.0 */ +#define HAVE_D3D12_H 1 +#endif +#if defined(_WIN32_MAXVER) && _WIN32_MAXVER >= 0x0603 /* Windows 8.1 SDK */ +#define HAVE_SHELLSCALINGAPI_H 1 +#endif +#define HAVE_MMDEVICEAPI_H 1 +#define HAVE_AUDIOCLIENT_H 1 +#define HAVE_TPCSHRD_H 1 +#define HAVE_SENSORSAPI_H 1 +#endif +#if (defined(_M_IX86) || defined(_M_X64) || defined(_M_AMD64)) && (defined(_MSC_VER) && _MSC_VER >= 1600) +#define HAVE_IMMINTRIN_H 1 +#elif defined(__has_include) && (defined(__i386__) || defined(__x86_64)) +# if __has_include() +# define HAVE_IMMINTRIN_H 1 +# endif +#endif + +/* This is disabled by default to avoid C runtime dependencies and manifest requirements */ +#ifdef HAVE_LIBC +/* Useful headers */ +#define STDC_HEADERS 1 +#define HAVE_CTYPE_H 1 +#define HAVE_FLOAT_H 1 +#define HAVE_LIMITS_H 1 +#define HAVE_MATH_H 1 +#define HAVE_SIGNAL_H 1 +#define HAVE_STDIO_H 1 +#define HAVE_STRING_H 1 + +/* C library functions */ +#define HAVE_MALLOC 1 +#define HAVE_CALLOC 1 +#define HAVE_REALLOC 1 +#define HAVE_FREE 1 +#define HAVE_ALLOCA 1 +/* OpenWatcom requires specific calling conventions for qsort and bsearch */ +#ifndef __WATCOMC__ +#define HAVE_QSORT 1 +#define HAVE_BSEARCH 1 +#endif +#define HAVE_ABS 1 +#define HAVE_MEMSET 1 +#define HAVE_MEMCPY 1 +#define HAVE_MEMMOVE 1 +#define HAVE_MEMCMP 1 +#define HAVE_STRLEN 1 +#define HAVE__STRREV 1 +/* These functions have security warnings, so we won't use them */ +/* #undef HAVE__STRUPR */ +/* #undef HAVE__STRLWR */ +#define HAVE_STRCHR 1 +#define HAVE_STRRCHR 1 +#define HAVE_STRSTR 1 +/* #undef HAVE_STRTOK_R */ +/* These functions have security warnings, so we won't use them */ +/* #undef HAVE__LTOA */ +/* #undef HAVE__ULTOA */ +#define HAVE_STRTOL 1 +#define HAVE_STRTOUL 1 +#define HAVE_STRTOD 1 +#define HAVE_ATOI 1 +#define HAVE_ATOF 1 +#define HAVE_STRCMP 1 +#define HAVE_STRNCMP 1 +#define HAVE__STRICMP 1 +#define HAVE__STRNICMP 1 +#define HAVE__WCSICMP 1 +#define HAVE__WCSNICMP 1 +#define HAVE__WCSDUP 1 +#define HAVE_ACOS 1 +#define HAVE_ASIN 1 +#define HAVE_ATAN 1 +#define HAVE_ATAN2 1 +#define HAVE_CEIL 1 +#define HAVE_COS 1 +#define HAVE_EXP 1 +#define HAVE_FABS 1 +#define HAVE_FLOOR 1 +#define HAVE_FMOD 1 +#define HAVE_LOG 1 +#define HAVE_LOG10 1 +#define HAVE_POW 1 +#define HAVE_SIN 1 +#define HAVE_SQRT 1 +#define HAVE_TAN 1 +#ifndef __WATCOMC__ +#define HAVE_ACOSF 1 +#define HAVE_ASINF 1 +#define HAVE_ATANF 1 +#define HAVE_ATAN2F 1 +#define HAVE_CEILF 1 +#define HAVE__COPYSIGN 1 +#define HAVE_COSF 1 +#define HAVE_EXPF 1 +#define HAVE_FABSF 1 +#define HAVE_FLOORF 1 +#define HAVE_FMODF 1 +#define HAVE_LOGF 1 +#define HAVE_LOG10F 1 +#define HAVE_POWF 1 +#define HAVE_SINF 1 +#define HAVE_SQRTF 1 +#define HAVE_TANF 1 +#endif +#if defined(_MSC_VER) +/* These functions were added with the VC++ 2013 C runtime library */ +#if _MSC_VER >= 1800 +#define HAVE_STRTOLL 1 +#define HAVE_STRTOULL 1 +#define HAVE_VSSCANF 1 +#define HAVE_LROUND 1 +#define HAVE_LROUNDF 1 +#define HAVE_ROUND 1 +#define HAVE_ROUNDF 1 +#define HAVE_SCALBN 1 +#define HAVE_SCALBNF 1 +#define HAVE_TRUNC 1 +#define HAVE_TRUNCF 1 +#endif +/* This function is available with at least the VC++ 2008 C runtime library */ +#if _MSC_VER >= 1400 +#define HAVE__FSEEKI64 1 +#endif +#ifdef _USE_MATH_DEFINES +#define HAVE_M_PI 1 +#endif +#elif defined(__WATCOMC__) +#define HAVE__FSEEKI64 1 +#define HAVE_STRTOLL 1 +#define HAVE_STRTOULL 1 +#define HAVE_VSSCANF 1 +#define HAVE_ROUND 1 +#define HAVE_SCALBN 1 +#define HAVE_TRUNC 1 +#else +#define HAVE_M_PI 1 +#endif +#else +#define HAVE_STDARG_H 1 +#define HAVE_STDDEF_H 1 +#endif + +/* Enable various audio drivers */ +#if defined(HAVE_MMDEVICEAPI_H) && defined(HAVE_AUDIOCLIENT_H) +#define SDL_AUDIO_DRIVER_WASAPI 1 +#endif +#define SDL_AUDIO_DRIVER_DSOUND 1 +#define SDL_AUDIO_DRIVER_WINMM 1 +#define SDL_AUDIO_DRIVER_DISK 1 +#define SDL_AUDIO_DRIVER_DUMMY 1 + +/* Enable various input drivers */ +#define SDL_JOYSTICK_DINPUT 1 +#define SDL_JOYSTICK_HIDAPI 1 +#ifndef __WINRT__ +#define SDL_JOYSTICK_RAWINPUT 1 +#endif +#define SDL_JOYSTICK_VIRTUAL 1 +#ifdef HAVE_WINDOWS_GAMING_INPUT_H +#define SDL_JOYSTICK_WGI 1 +#endif +#define SDL_JOYSTICK_XINPUT 1 +#define SDL_HAPTIC_DINPUT 1 +#define SDL_HAPTIC_XINPUT 1 + +/* Enable the sensor driver */ +#ifdef HAVE_SENSORSAPI_H +#define SDL_SENSOR_WINDOWS 1 +#else +#define SDL_SENSOR_DUMMY 1 +#endif + +/* Enable various shared object loading systems */ +#define SDL_LOADSO_WINDOWS 1 + +/* Enable various threading systems */ +#define SDL_THREAD_GENERIC_COND_SUFFIX 1 +#define SDL_THREAD_WINDOWS 1 + +/* Enable various timer systems */ +#define SDL_TIMER_WINDOWS 1 + +/* Enable various video drivers */ +#define SDL_VIDEO_DRIVER_DUMMY 1 +#define SDL_VIDEO_DRIVER_WINDOWS 1 + +#ifndef SDL_VIDEO_RENDER_D3D +#define SDL_VIDEO_RENDER_D3D 1 +#endif +#if !defined(SDL_VIDEO_RENDER_D3D11) && defined(HAVE_D3D11_H) +#define SDL_VIDEO_RENDER_D3D11 1 +#endif +#if !defined(SDL_VIDEO_RENDER_D3D12) && defined(HAVE_D3D12_H) +#define SDL_VIDEO_RENDER_D3D12 1 +#endif + +/* Enable OpenGL support */ +#ifndef SDL_VIDEO_OPENGL +#define SDL_VIDEO_OPENGL 1 +#endif +#ifndef SDL_VIDEO_OPENGL_WGL +#define SDL_VIDEO_OPENGL_WGL 1 +#endif +#ifndef SDL_VIDEO_RENDER_OGL +#define SDL_VIDEO_RENDER_OGL 1 +#endif +#ifndef SDL_VIDEO_RENDER_OGL_ES2 +#define SDL_VIDEO_RENDER_OGL_ES2 1 +#endif +#ifndef SDL_VIDEO_OPENGL_ES2 +#define SDL_VIDEO_OPENGL_ES2 1 +#endif +#ifndef SDL_VIDEO_OPENGL_EGL +#define SDL_VIDEO_OPENGL_EGL 1 +#endif + +/* Enable Vulkan support */ +#define SDL_VIDEO_VULKAN 1 + +/* Enable system power support */ +#define SDL_POWER_WINDOWS 1 + +/* Enable filesystem support */ +#define SDL_FILESYSTEM_WINDOWS 1 + +#endif /* SDL_config_windows_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_cpuinfo.h b/subprojects/sdl2_windows/include/SDL2/SDL_cpuinfo.h new file mode 100644 index 000000000..b5ad0fcb8 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_cpuinfo.h @@ -0,0 +1,594 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_cpuinfo.h + * + * CPU feature detection for SDL. + */ + +#ifndef SDL_cpuinfo_h_ +#define SDL_cpuinfo_h_ + +#include "SDL_stdinc.h" + +/* Need to do this here because intrin.h has C++ code in it */ +/* Visual Studio 2005 has a bug where intrin.h conflicts with winnt.h */ +#if defined(_MSC_VER) && (_MSC_VER >= 1500) && (defined(_M_IX86) || defined(_M_X64)) +#ifdef __clang__ +/* As of Clang 11, '_m_prefetchw' is conflicting with the winnt.h's version, + so we define the needed '_m_prefetch' here as a pseudo-header, until the issue is fixed. */ + +#ifndef __PRFCHWINTRIN_H +#define __PRFCHWINTRIN_H + +static __inline__ void __attribute__((__always_inline__, __nodebug__)) +_m_prefetch(void *__P) +{ + __builtin_prefetch (__P, 0, 3 /* _MM_HINT_T0 */); +} + +#endif /* __PRFCHWINTRIN_H */ +#endif /* __clang__ */ +#include +#ifndef _WIN64 +#ifndef __MMX__ +#define __MMX__ +#endif +#ifndef __3dNOW__ +#define __3dNOW__ +#endif +#endif +#ifndef __SSE__ +#define __SSE__ +#endif +#ifndef __SSE2__ +#define __SSE2__ +#endif +#ifndef __SSE3__ +#define __SSE3__ +#endif +#elif defined(__MINGW64_VERSION_MAJOR) +#include +#if !defined(SDL_DISABLE_ARM_NEON_H) && defined(__ARM_NEON) +# include +#endif +#else +/* altivec.h redefining bool causes a number of problems, see bugs 3993 and 4392, so you need to explicitly define SDL_ENABLE_ALTIVEC_H to have it included. */ +#if defined(HAVE_ALTIVEC_H) && defined(__ALTIVEC__) && !defined(__APPLE_ALTIVEC__) && defined(SDL_ENABLE_ALTIVEC_H) +#include +#endif +#if !defined(SDL_DISABLE_ARM_NEON_H) +# if defined(__ARM_NEON) +# include +# elif defined(__WINDOWS__) || defined(__WINRT__) || defined(__GDK__) +/* Visual Studio doesn't define __ARM_ARCH, but _M_ARM (if set, always 7), and _M_ARM64 (if set, always 1). */ +# if defined(_M_ARM) +# include +# include +# define __ARM_NEON 1 /* Set __ARM_NEON so that it can be used elsewhere, at compile time */ +# endif +# if defined (_M_ARM64) +# include +# include +# define __ARM_NEON 1 /* Set __ARM_NEON so that it can be used elsewhere, at compile time */ +# define __ARM_ARCH 8 +# endif +# endif +#endif +#endif /* compiler version */ + +#if defined(__3dNOW__) && !defined(SDL_DISABLE_MM3DNOW_H) +#include +#endif +#if defined(__loongarch_sx) && !defined(SDL_DISABLE_LSX_H) +#include +#define __LSX__ +#endif +#if defined(__loongarch_asx) && !defined(SDL_DISABLE_LASX_H) +#include +#define __LASX__ +#endif +#if defined(HAVE_IMMINTRIN_H) && !defined(SDL_DISABLE_IMMINTRIN_H) +#include +#else +#if defined(__MMX__) && !defined(SDL_DISABLE_MMINTRIN_H) +#include +#endif +#if defined(__SSE__) && !defined(SDL_DISABLE_XMMINTRIN_H) +#include +#endif +#if defined(__SSE2__) && !defined(SDL_DISABLE_EMMINTRIN_H) +#include +#endif +#if defined(__SSE3__) && !defined(SDL_DISABLE_PMMINTRIN_H) +#include +#endif +#endif /* HAVE_IMMINTRIN_H */ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* This is a guess for the cacheline size used for padding. + * Most x86 processors have a 64 byte cache line. + * The 64-bit PowerPC processors have a 128 byte cache line. + * We'll use the larger value to be generally safe. + */ +#define SDL_CACHELINE_SIZE 128 + +/** + * Get the number of CPU cores available. + * + * \returns the total number of logical CPU cores. On CPUs that include + * technologies such as hyperthreading, the number of logical cores + * may be more than the number of physical cores. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_GetCPUCount(void); + +/** + * Determine the L1 cache line size of the CPU. + * + * This is useful for determining multi-threaded structure padding or SIMD + * prefetch sizes. + * + * \returns the L1 cache line size of the CPU, in bytes. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_GetCPUCacheLineSize(void); + +/** + * Determine whether the CPU has the RDTSC instruction. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has the RDTSC instruction or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasRDTSC(void); + +/** + * Determine whether the CPU has AltiVec features. + * + * This always returns false on CPUs that aren't using PowerPC instruction + * sets. + * + * \returns SDL_TRUE if the CPU has AltiVec features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasAltiVec(void); + +/** + * Determine whether the CPU has MMX features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has MMX features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasMMX(void); + +/** + * Determine whether the CPU has 3DNow! features. + * + * This always returns false on CPUs that aren't using AMD instruction sets. + * + * \returns SDL_TRUE if the CPU has 3DNow! features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_Has3DNow(void); + +/** + * Determine whether the CPU has SSE features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has SSE features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE(void); + +/** + * Determine whether the CPU has SSE2 features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has SSE2 features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE2(void); + +/** + * Determine whether the CPU has SSE3 features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has SSE3 features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE3(void); + +/** + * Determine whether the CPU has SSE4.1 features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has SSE4.1 features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE41(void); + +/** + * Determine whether the CPU has SSE4.2 features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has SSE4.2 features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE42(void); + +/** + * Determine whether the CPU has AVX features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has AVX features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX2 + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasAVX(void); + +/** + * Determine whether the CPU has AVX2 features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has AVX2 features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_Has3DNow + * \sa SDL_HasAltiVec + * \sa SDL_HasAVX + * \sa SDL_HasMMX + * \sa SDL_HasRDTSC + * \sa SDL_HasSSE + * \sa SDL_HasSSE2 + * \sa SDL_HasSSE3 + * \sa SDL_HasSSE41 + * \sa SDL_HasSSE42 + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasAVX2(void); + +/** + * Determine whether the CPU has AVX-512F (foundation) features. + * + * This always returns false on CPUs that aren't using Intel instruction sets. + * + * \returns SDL_TRUE if the CPU has AVX-512F features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.9. + * + * \sa SDL_HasAVX + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasAVX512F(void); + +/** + * Determine whether the CPU has ARM SIMD (ARMv6) features. + * + * This is different from ARM NEON, which is a different instruction set. + * + * This always returns false on CPUs that aren't using ARM instruction sets. + * + * \returns SDL_TRUE if the CPU has ARM SIMD features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_HasNEON + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasARMSIMD(void); + +/** + * Determine whether the CPU has NEON (ARM SIMD) features. + * + * This always returns false on CPUs that aren't using ARM instruction sets. + * + * \returns SDL_TRUE if the CPU has ARM NEON features or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasNEON(void); + +/** + * Determine whether the CPU has LSX (LOONGARCH SIMD) features. + * + * This always returns false on CPUs that aren't using LOONGARCH instruction + * sets. + * + * \returns SDL_TRUE if the CPU has LOONGARCH LSX features or SDL_FALSE if + * not. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasLSX(void); + +/** + * Determine whether the CPU has LASX (LOONGARCH SIMD) features. + * + * This always returns false on CPUs that aren't using LOONGARCH instruction + * sets. + * + * \returns SDL_TRUE if the CPU has LOONGARCH LASX features or SDL_FALSE if + * not. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasLASX(void); + +/** + * Get the amount of RAM configured in the system. + * + * \returns the amount of RAM configured in the system in MiB. + * + * \since This function is available since SDL 2.0.1. + */ +extern DECLSPEC int SDLCALL SDL_GetSystemRAM(void); + +/** + * Report the alignment this system needs for SIMD allocations. + * + * This will return the minimum number of bytes to which a pointer must be + * aligned to be compatible with SIMD instructions on the current machine. For + * example, if the machine supports SSE only, it will return 16, but if it + * supports AVX-512F, it'll return 64 (etc). This only reports values for + * instruction sets SDL knows about, so if your SDL build doesn't have + * SDL_HasAVX512F(), then it might return 16 for the SSE support it sees and + * not 64 for the AVX-512 instructions that exist but SDL doesn't know about. + * Plan accordingly. + * + * \returns the alignment in bytes needed for available, known SIMD + * instructions. + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC size_t SDLCALL SDL_SIMDGetAlignment(void); + +/** + * Allocate memory in a SIMD-friendly way. + * + * This will allocate a block of memory that is suitable for use with SIMD + * instructions. Specifically, it will be properly aligned and padded for the + * system's supported vector instructions. + * + * The memory returned will be padded such that it is safe to read or write an + * incomplete vector at the end of the memory block. This can be useful so you + * don't have to drop back to a scalar fallback at the end of your SIMD + * processing loop to deal with the final elements without overflowing the + * allocated buffer. + * + * You must free this memory with SDL_FreeSIMD(), not free() or SDL_free() or + * delete[], etc. + * + * Note that SDL will only deal with SIMD instruction sets it is aware of; for + * example, SDL 2.0.8 knows that SSE wants 16-byte vectors (SDL_HasSSE()), and + * AVX2 wants 32 bytes (SDL_HasAVX2()), but doesn't know that AVX-512 wants + * 64. To be clear: if you can't decide to use an instruction set with an + * SDL_Has*() function, don't use that instruction set with memory allocated + * through here. + * + * SDL_AllocSIMD(0) will return a non-NULL pointer, assuming the system isn't + * out of memory, but you are not allowed to dereference it (because you only + * own zero bytes of that buffer). + * + * \param len The length, in bytes, of the block to allocate. The actual + * allocated block might be larger due to padding, etc. + * \returns a pointer to the newly-allocated block, NULL if out of memory. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_SIMDGetAlignment + * \sa SDL_SIMDRealloc + * \sa SDL_SIMDFree + */ +extern DECLSPEC void * SDLCALL SDL_SIMDAlloc(const size_t len); + +/** + * Reallocate memory obtained from SDL_SIMDAlloc + * + * It is not valid to use this function on a pointer from anything but + * SDL_SIMDAlloc(). It can't be used on pointers from malloc, realloc, + * SDL_malloc, memalign, new[], etc. + * + * \param mem The pointer obtained from SDL_SIMDAlloc. This function also + * accepts NULL, at which point this function is the same as + * calling SDL_SIMDAlloc with a NULL pointer. + * \param len The length, in bytes, of the block to allocated. The actual + * allocated block might be larger due to padding, etc. Passing 0 + * will return a non-NULL pointer, assuming the system isn't out of + * memory. + * \returns a pointer to the newly-reallocated block, NULL if out of memory. + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_SIMDGetAlignment + * \sa SDL_SIMDAlloc + * \sa SDL_SIMDFree + */ +extern DECLSPEC void * SDLCALL SDL_SIMDRealloc(void *mem, const size_t len); + +/** + * Deallocate memory obtained from SDL_SIMDAlloc + * + * It is not valid to use this function on a pointer from anything but + * SDL_SIMDAlloc() or SDL_SIMDRealloc(). It can't be used on pointers from + * malloc, realloc, SDL_malloc, memalign, new[], etc. + * + * However, SDL_SIMDFree(NULL) is a legal no-op. + * + * The memory pointed to by `ptr` is no longer valid for access upon return, + * and may be returned to the system or reused by a future allocation. The + * pointer passed to this function is no longer safe to dereference once this + * function returns, and should be discarded. + * + * \param ptr The pointer, returned from SDL_SIMDAlloc or SDL_SIMDRealloc, to + * deallocate. NULL is a legal no-op. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_SIMDAlloc + * \sa SDL_SIMDRealloc + */ +extern DECLSPEC void SDLCALL SDL_SIMDFree(void *ptr); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_cpuinfo_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_egl.h b/subprojects/sdl2_windows/include/SDL2/SDL_egl.h new file mode 100644 index 000000000..e8bd657b2 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_egl.h @@ -0,0 +1,2352 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_egl.h + * + * This is a simple file to encapsulate the EGL API headers. + */ +#if !defined(_MSC_VER) && !defined(__ANDROID__) && !defined(SDL_USE_BUILTIN_OPENGL_DEFINITIONS) + +#if defined(__vita__) || defined(__psp2__) +#include +#endif + +#include +#include + +#else /* _MSC_VER */ + +/* EGL headers for Visual Studio */ + +#ifndef __khrplatform_h_ +#define __khrplatform_h_ + +/* +** Copyright (c) 2008-2018 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +/* Khronos platform-specific types and definitions. + * + * The master copy of khrplatform.h is maintained in the Khronos EGL + * Registry repository at https://github.com/KhronosGroup/EGL-Registry + * The last semantic modification to khrplatform.h was at commit ID: + * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 + * + * Adopters may modify this file to suit their platform. Adopters are + * encouraged to submit platform specific modifications to the Khronos + * group so that they can be included in future versions of this file. + * Please submit changes by filing pull requests or issues on + * the EGL Registry repository linked above. + * + * + * See the Implementer's Guidelines for information about where this file + * should be located on your system and for more details of its use: + * http://www.khronos.org/registry/implementers_guide.pdf + * + * This file should be included as + * #include + * by Khronos client API header files that use its types and defines. + * + * The types in khrplatform.h should only be used to define API-specific types. + * + * Types defined in khrplatform.h: + * khronos_int8_t signed 8 bit + * khronos_uint8_t unsigned 8 bit + * khronos_int16_t signed 16 bit + * khronos_uint16_t unsigned 16 bit + * khronos_int32_t signed 32 bit + * khronos_uint32_t unsigned 32 bit + * khronos_int64_t signed 64 bit + * khronos_uint64_t unsigned 64 bit + * khronos_intptr_t signed same number of bits as a pointer + * khronos_uintptr_t unsigned same number of bits as a pointer + * khronos_ssize_t signed size + * khronos_usize_t unsigned size + * khronos_float_t signed 32 bit floating point + * khronos_time_ns_t unsigned 64 bit time in nanoseconds + * khronos_utime_nanoseconds_t unsigned time interval or absolute time in + * nanoseconds + * khronos_stime_nanoseconds_t signed time interval in nanoseconds + * khronos_boolean_enum_t enumerated boolean type. This should + * only be used as a base type when a client API's boolean type is + * an enum. Client APIs which use an integer or other type for + * booleans cannot use this as the base type for their boolean. + * + * Tokens defined in khrplatform.h: + * + * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. + * + * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. + * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. + * + * Calling convention macros defined in this file: + * KHRONOS_APICALL + * KHRONOS_APIENTRY + * KHRONOS_APIATTRIBUTES + * + * These may be used in function prototypes as: + * + * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( + * int arg1, + * int arg2) KHRONOS_APIATTRIBUTES; + */ + +#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) +# define KHRONOS_STATIC 1 +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APICALL + *------------------------------------------------------------------------- + * This precedes the return type of the function in the function prototype. + */ +#if defined(KHRONOS_STATIC) + /* If the preprocessor constant KHRONOS_STATIC is defined, make the + * header compatible with static linking. */ +# define KHRONOS_APICALL +#elif defined(_WIN32) +# define KHRONOS_APICALL __declspec(dllimport) +#elif defined (__SYMBIAN32__) +# define KHRONOS_APICALL IMPORT_C +#elif defined(__ANDROID__) +# define KHRONOS_APICALL __attribute__((visibility("default"))) +#else +# define KHRONOS_APICALL +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIENTRY + *------------------------------------------------------------------------- + * This follows the return type of the function and precedes the function + * name in the function prototype. + */ +#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) + /* Win32 but not WinCE */ +# define KHRONOS_APIENTRY __stdcall +#else +# define KHRONOS_APIENTRY +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIATTRIBUTES + *------------------------------------------------------------------------- + * This follows the closing parenthesis of the function prototype arguments. + */ +#if defined (__ARMCC_2__) +#define KHRONOS_APIATTRIBUTES __softfp +#else +#define KHRONOS_APIATTRIBUTES +#endif + +/*------------------------------------------------------------------------- + * basic type definitions + *-----------------------------------------------------------------------*/ +#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) + + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 +/* + * To support platform where unsigned long cannot be used interchangeably with + * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. + * Ideally, we could just use (u)intptr_t everywhere, but this could result in + * ABI breakage if khronos_uintptr_t is changed from unsigned long to + * unsigned long long or similar (this results in different C++ name mangling). + * To avoid changes for existing platforms, we restrict usage of intptr_t to + * platforms where the size of a pointer is larger than the size of long. + */ +#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) +#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ +#define KHRONOS_USE_INTPTR_T +#endif +#endif + +#elif defined(__VMS ) || defined(__sgi) + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) + +/* + * Win32 + */ +typedef __int32 khronos_int32_t; +typedef unsigned __int32 khronos_uint32_t; +typedef __int64 khronos_int64_t; +typedef unsigned __int64 khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(__sun__) || defined(__digital__) + +/* + * Sun or Digital + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#if defined(__arch64__) || defined(_LP64) +typedef long int khronos_int64_t; +typedef unsigned long int khronos_uint64_t; +#else +typedef long long int khronos_int64_t; +typedef unsigned long long int khronos_uint64_t; +#endif /* __arch64__ */ +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif 0 + +/* + * Hypothetical platform with no float or int64 support + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#define KHRONOS_SUPPORT_INT64 0 +#define KHRONOS_SUPPORT_FLOAT 0 + +#else + +/* + * Generic fallback + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#endif + + +/* + * Types that are (so far) the same on all platforms + */ +typedef signed char khronos_int8_t; +typedef unsigned char khronos_uint8_t; +typedef signed short int khronos_int16_t; +typedef unsigned short int khronos_uint16_t; + +/* + * Types that differ between LLP64 and LP64 architectures - in LLP64, + * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears + * to be the only LLP64 architecture in current use. + */ +#ifdef KHRONOS_USE_INTPTR_T +typedef intptr_t khronos_intptr_t; +typedef uintptr_t khronos_uintptr_t; +#elif defined(_WIN64) +typedef signed long long int khronos_intptr_t; +typedef unsigned long long int khronos_uintptr_t; +#else +typedef signed long int khronos_intptr_t; +typedef unsigned long int khronos_uintptr_t; +#endif + +#if defined(_WIN64) +typedef signed long long int khronos_ssize_t; +typedef unsigned long long int khronos_usize_t; +#else +typedef signed long int khronos_ssize_t; +typedef unsigned long int khronos_usize_t; +#endif + +#if KHRONOS_SUPPORT_FLOAT +/* + * Float type + */ +typedef float khronos_float_t; +#endif + +#if KHRONOS_SUPPORT_INT64 +/* Time types + * + * These types can be used to represent a time interval in nanoseconds or + * an absolute Unadjusted System Time. Unadjusted System Time is the number + * of nanoseconds since some arbitrary system event (e.g. since the last + * time the system booted). The Unadjusted System Time is an unsigned + * 64 bit value that wraps back to 0 every 584 years. Time intervals + * may be either signed or unsigned. + */ +typedef khronos_uint64_t khronos_utime_nanoseconds_t; +typedef khronos_int64_t khronos_stime_nanoseconds_t; +#endif + +/* + * Dummy value used to pad enum types to 32 bits. + */ +#ifndef KHRONOS_MAX_ENUM +#define KHRONOS_MAX_ENUM 0x7FFFFFFF +#endif + +/* + * Enumerated boolean type + * + * Values other than zero should be considered to be true. Therefore + * comparisons should not be made against KHRONOS_TRUE. + */ +typedef enum { + KHRONOS_FALSE = 0, + KHRONOS_TRUE = 1, + KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM +} khronos_boolean_enum_t; + +#endif /* __khrplatform_h_ */ + + +#ifndef __eglplatform_h_ +#define __eglplatform_h_ + +/* +** Copyright 2007-2020 The Khronos Group Inc. +** SPDX-License-Identifier: Apache-2.0 +*/ + +/* Platform-specific types and definitions for egl.h + * + * Adopters may modify khrplatform.h and this file to suit their platform. + * You are encouraged to submit all modifications to the Khronos group so that + * they can be included in future versions of this file. Please submit changes + * by filing an issue or pull request on the public Khronos EGL Registry, at + * https://www.github.com/KhronosGroup/EGL-Registry/ + */ + +/*#include */ + +/* Macros used in EGL function prototype declarations. + * + * EGL functions should be prototyped as: + * + * EGLAPI return-type EGLAPIENTRY eglFunction(arguments); + * typedef return-type (EXPAPIENTRYP PFNEGLFUNCTIONPROC) (arguments); + * + * KHRONOS_APICALL and KHRONOS_APIENTRY are defined in KHR/khrplatform.h + */ + +#ifndef EGLAPI +#define EGLAPI KHRONOS_APICALL +#endif + +#ifndef EGLAPIENTRY +#define EGLAPIENTRY KHRONOS_APIENTRY +#endif +#define EGLAPIENTRYP EGLAPIENTRY* + +/* The types NativeDisplayType, NativeWindowType, and NativePixmapType + * are aliases of window-system-dependent types, such as X Display * or + * Windows Device Context. They must be defined in platform-specific + * code below. The EGL-prefixed versions of Native*Type are the same + * types, renamed in EGL 1.3 so all types in the API start with "EGL". + * + * Khronos STRONGLY RECOMMENDS that you use the default definitions + * provided below, since these changes affect both binary and source + * portability of applications using EGL running on different EGL + * implementations. + */ + +#if defined(EGL_NO_PLATFORM_SPECIFIC_TYPES) + +typedef void *EGLNativeDisplayType; +typedef void *EGLNativePixmapType; +typedef void *EGLNativeWindowType; + +#elif defined(_WIN32) || defined(__VC32__) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__) /* Win32 and WinCE */ +#ifndef WIN32_LEAN_AND_MEAN +#define WIN32_LEAN_AND_MEAN 1 +#endif +#include + +typedef HDC EGLNativeDisplayType; +typedef HBITMAP EGLNativePixmapType; +typedef HWND EGLNativeWindowType; + +#elif defined(__EMSCRIPTEN__) + +typedef int EGLNativeDisplayType; +typedef int EGLNativePixmapType; +typedef int EGLNativeWindowType; + +#elif defined(__WINSCW__) || defined(__SYMBIAN32__) /* Symbian */ + +typedef int EGLNativeDisplayType; +typedef void *EGLNativePixmapType; +typedef void *EGLNativeWindowType; + +#elif defined(WL_EGL_PLATFORM) + +typedef struct wl_display *EGLNativeDisplayType; +typedef struct wl_egl_pixmap *EGLNativePixmapType; +typedef struct wl_egl_window *EGLNativeWindowType; + +#elif defined(__GBM__) + +typedef struct gbm_device *EGLNativeDisplayType; +typedef struct gbm_bo *EGLNativePixmapType; +typedef void *EGLNativeWindowType; + +#elif defined(__ANDROID__) || defined(ANDROID) + +struct ANativeWindow; +struct egl_native_pixmap_t; + +typedef void* EGLNativeDisplayType; +typedef struct egl_native_pixmap_t* EGLNativePixmapType; +typedef struct ANativeWindow* EGLNativeWindowType; + +#elif defined(USE_OZONE) + +typedef intptr_t EGLNativeDisplayType; +typedef intptr_t EGLNativePixmapType; +typedef intptr_t EGLNativeWindowType; + +#elif defined(USE_X11) + +/* X11 (tentative) */ +#include +#include + +typedef Display *EGLNativeDisplayType; +typedef Pixmap EGLNativePixmapType; +typedef Window EGLNativeWindowType; + +#elif defined(__unix__) + +typedef void *EGLNativeDisplayType; +typedef khronos_uintptr_t EGLNativePixmapType; +typedef khronos_uintptr_t EGLNativeWindowType; + +#elif defined(__APPLE__) + +typedef int EGLNativeDisplayType; +typedef void *EGLNativePixmapType; +typedef void *EGLNativeWindowType; + +#elif defined(__HAIKU__) + +#include + +typedef void *EGLNativeDisplayType; +typedef khronos_uintptr_t EGLNativePixmapType; +typedef khronos_uintptr_t EGLNativeWindowType; + +#elif defined(__Fuchsia__) + +typedef void *EGLNativeDisplayType; +typedef khronos_uintptr_t EGLNativePixmapType; +typedef khronos_uintptr_t EGLNativeWindowType; + +#else +#error "Platform not recognized" +#endif + +/* EGL 1.2 types, renamed for consistency in EGL 1.3 */ +typedef EGLNativeDisplayType NativeDisplayType; +typedef EGLNativePixmapType NativePixmapType; +typedef EGLNativeWindowType NativeWindowType; + + +/* Define EGLint. This must be a signed integral type large enough to contain + * all legal attribute names and values passed into and out of EGL, whether + * their type is boolean, bitmask, enumerant (symbolic constant), integer, + * handle, or other. While in general a 32-bit integer will suffice, if + * handles are 64 bit types, then EGLint should be defined as a signed 64-bit + * integer type. + */ +typedef khronos_int32_t EGLint; + + +/* C++ / C typecast macros for special EGL handle values */ +#if defined(__cplusplus) +#define EGL_CAST(type, value) (static_cast(value)) +#else +#define EGL_CAST(type, value) ((type) (value)) +#endif + +#endif /* __eglplatform_h */ + + +#ifndef __egl_h_ +#define __egl_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright 2013-2020 The Khronos Group Inc. +** SPDX-License-Identifier: Apache-2.0 +** +** This header is generated from the Khronos EGL XML API Registry. +** The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** http://www.khronos.org/registry/egl +** +** Khronos $Git commit SHA1: 6fb1daea15 $ on $Git commit date: 2022-05-25 09:41:13 -0600 $ +*/ + +/*#include */ + +#ifndef EGL_EGL_PROTOTYPES +#define EGL_EGL_PROTOTYPES 1 +#endif + +/* Generated on date 20220525 */ + +/* Generated C header for: + * API: egl + * Versions considered: .* + * Versions emitted: .* + * Default extensions included: None + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef EGL_VERSION_1_0 +#define EGL_VERSION_1_0 1 +typedef unsigned int EGLBoolean; +typedef void *EGLDisplay; +/*#include */ +/*#include */ +typedef void *EGLConfig; +typedef void *EGLSurface; +typedef void *EGLContext; +typedef void (*__eglMustCastToProperFunctionPointerType)(void); +#define EGL_ALPHA_SIZE 0x3021 +#define EGL_BAD_ACCESS 0x3002 +#define EGL_BAD_ALLOC 0x3003 +#define EGL_BAD_ATTRIBUTE 0x3004 +#define EGL_BAD_CONFIG 0x3005 +#define EGL_BAD_CONTEXT 0x3006 +#define EGL_BAD_CURRENT_SURFACE 0x3007 +#define EGL_BAD_DISPLAY 0x3008 +#define EGL_BAD_MATCH 0x3009 +#define EGL_BAD_NATIVE_PIXMAP 0x300A +#define EGL_BAD_NATIVE_WINDOW 0x300B +#define EGL_BAD_PARAMETER 0x300C +#define EGL_BAD_SURFACE 0x300D +#define EGL_BLUE_SIZE 0x3022 +#define EGL_BUFFER_SIZE 0x3020 +#define EGL_CONFIG_CAVEAT 0x3027 +#define EGL_CONFIG_ID 0x3028 +#define EGL_CORE_NATIVE_ENGINE 0x305B +#define EGL_DEPTH_SIZE 0x3025 +#define EGL_DONT_CARE EGL_CAST(EGLint,-1) +#define EGL_DRAW 0x3059 +#define EGL_EXTENSIONS 0x3055 +#define EGL_FALSE 0 +#define EGL_GREEN_SIZE 0x3023 +#define EGL_HEIGHT 0x3056 +#define EGL_LARGEST_PBUFFER 0x3058 +#define EGL_LEVEL 0x3029 +#define EGL_MAX_PBUFFER_HEIGHT 0x302A +#define EGL_MAX_PBUFFER_PIXELS 0x302B +#define EGL_MAX_PBUFFER_WIDTH 0x302C +#define EGL_NATIVE_RENDERABLE 0x302D +#define EGL_NATIVE_VISUAL_ID 0x302E +#define EGL_NATIVE_VISUAL_TYPE 0x302F +#define EGL_NONE 0x3038 +#define EGL_NON_CONFORMANT_CONFIG 0x3051 +#define EGL_NOT_INITIALIZED 0x3001 +#define EGL_NO_CONTEXT EGL_CAST(EGLContext,0) +#define EGL_NO_DISPLAY EGL_CAST(EGLDisplay,0) +#define EGL_NO_SURFACE EGL_CAST(EGLSurface,0) +#define EGL_PBUFFER_BIT 0x0001 +#define EGL_PIXMAP_BIT 0x0002 +#define EGL_READ 0x305A +#define EGL_RED_SIZE 0x3024 +#define EGL_SAMPLES 0x3031 +#define EGL_SAMPLE_BUFFERS 0x3032 +#define EGL_SLOW_CONFIG 0x3050 +#define EGL_STENCIL_SIZE 0x3026 +#define EGL_SUCCESS 0x3000 +#define EGL_SURFACE_TYPE 0x3033 +#define EGL_TRANSPARENT_BLUE_VALUE 0x3035 +#define EGL_TRANSPARENT_GREEN_VALUE 0x3036 +#define EGL_TRANSPARENT_RED_VALUE 0x3037 +#define EGL_TRANSPARENT_RGB 0x3052 +#define EGL_TRANSPARENT_TYPE 0x3034 +#define EGL_TRUE 1 +#define EGL_VENDOR 0x3053 +#define EGL_VERSION 0x3054 +#define EGL_WIDTH 0x3057 +#define EGL_WINDOW_BIT 0x0004 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCHOOSECONFIGPROC) (EGLDisplay dpy, const EGLint *attrib_list, EGLConfig *configs, EGLint config_size, EGLint *num_config); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOPYBUFFERSPROC) (EGLDisplay dpy, EGLSurface surface, EGLNativePixmapType target); +typedef EGLContext (EGLAPIENTRYP PFNEGLCREATECONTEXTPROC) (EGLDisplay dpy, EGLConfig config, EGLContext share_context, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPBUFFERSURFACEPROC) (EGLDisplay dpy, EGLConfig config, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPIXMAPSURFACEPROC) (EGLDisplay dpy, EGLConfig config, EGLNativePixmapType pixmap, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEWINDOWSURFACEPROC) (EGLDisplay dpy, EGLConfig config, EGLNativeWindowType win, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYCONTEXTPROC) (EGLDisplay dpy, EGLContext ctx); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSURFACEPROC) (EGLDisplay dpy, EGLSurface surface); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCONFIGATTRIBPROC) (EGLDisplay dpy, EGLConfig config, EGLint attribute, EGLint *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCONFIGSPROC) (EGLDisplay dpy, EGLConfig *configs, EGLint config_size, EGLint *num_config); +typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETCURRENTDISPLAYPROC) (void); +typedef EGLSurface (EGLAPIENTRYP PFNEGLGETCURRENTSURFACEPROC) (EGLint readdraw); +typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETDISPLAYPROC) (EGLNativeDisplayType display_id); +typedef EGLint (EGLAPIENTRYP PFNEGLGETERRORPROC) (void); +typedef __eglMustCastToProperFunctionPointerType (EGLAPIENTRYP PFNEGLGETPROCADDRESSPROC) (const char *procname); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLINITIALIZEPROC) (EGLDisplay dpy, EGLint *major, EGLint *minor); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLMAKECURRENTPROC) (EGLDisplay dpy, EGLSurface draw, EGLSurface read, EGLContext ctx); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYCONTEXTPROC) (EGLDisplay dpy, EGLContext ctx, EGLint attribute, EGLint *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYSTRINGPROC) (EGLDisplay dpy, EGLint name); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSPROC) (EGLDisplay dpy, EGLSurface surface); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLTERMINATEPROC) (EGLDisplay dpy); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITGLPROC) (void); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITNATIVEPROC) (EGLint engine); +#if EGL_EGL_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglChooseConfig (EGLDisplay dpy, const EGLint *attrib_list, EGLConfig *configs, EGLint config_size, EGLint *num_config); +EGLAPI EGLBoolean EGLAPIENTRY eglCopyBuffers (EGLDisplay dpy, EGLSurface surface, EGLNativePixmapType target); +EGLAPI EGLContext EGLAPIENTRY eglCreateContext (EGLDisplay dpy, EGLConfig config, EGLContext share_context, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePbufferSurface (EGLDisplay dpy, EGLConfig config, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePixmapSurface (EGLDisplay dpy, EGLConfig config, EGLNativePixmapType pixmap, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreateWindowSurface (EGLDisplay dpy, EGLConfig config, EGLNativeWindowType win, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyContext (EGLDisplay dpy, EGLContext ctx); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySurface (EGLDisplay dpy, EGLSurface surface); +EGLAPI EGLBoolean EGLAPIENTRY eglGetConfigAttrib (EGLDisplay dpy, EGLConfig config, EGLint attribute, EGLint *value); +EGLAPI EGLBoolean EGLAPIENTRY eglGetConfigs (EGLDisplay dpy, EGLConfig *configs, EGLint config_size, EGLint *num_config); +EGLAPI EGLDisplay EGLAPIENTRY eglGetCurrentDisplay (void); +EGLAPI EGLSurface EGLAPIENTRY eglGetCurrentSurface (EGLint readdraw); +EGLAPI EGLDisplay EGLAPIENTRY eglGetDisplay (EGLNativeDisplayType display_id); +EGLAPI EGLint EGLAPIENTRY eglGetError (void); +EGLAPI __eglMustCastToProperFunctionPointerType EGLAPIENTRY eglGetProcAddress (const char *procname); +EGLAPI EGLBoolean EGLAPIENTRY eglInitialize (EGLDisplay dpy, EGLint *major, EGLint *minor); +EGLAPI EGLBoolean EGLAPIENTRY eglMakeCurrent (EGLDisplay dpy, EGLSurface draw, EGLSurface read, EGLContext ctx); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryContext (EGLDisplay dpy, EGLContext ctx, EGLint attribute, EGLint *value); +EGLAPI const char *EGLAPIENTRY eglQueryString (EGLDisplay dpy, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurface (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint *value); +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffers (EGLDisplay dpy, EGLSurface surface); +EGLAPI EGLBoolean EGLAPIENTRY eglTerminate (EGLDisplay dpy); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitGL (void); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitNative (EGLint engine); +#endif +#endif /* EGL_VERSION_1_0 */ + +#ifndef EGL_VERSION_1_1 +#define EGL_VERSION_1_1 1 +#define EGL_BACK_BUFFER 0x3084 +#define EGL_BIND_TO_TEXTURE_RGB 0x3039 +#define EGL_BIND_TO_TEXTURE_RGBA 0x303A +#define EGL_CONTEXT_LOST 0x300E +#define EGL_MIN_SWAP_INTERVAL 0x303B +#define EGL_MAX_SWAP_INTERVAL 0x303C +#define EGL_MIPMAP_TEXTURE 0x3082 +#define EGL_MIPMAP_LEVEL 0x3083 +#define EGL_NO_TEXTURE 0x305C +#define EGL_TEXTURE_2D 0x305F +#define EGL_TEXTURE_FORMAT 0x3080 +#define EGL_TEXTURE_RGB 0x305D +#define EGL_TEXTURE_RGBA 0x305E +#define EGL_TEXTURE_TARGET 0x3081 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLBINDTEXIMAGEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint buffer); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLRELEASETEXIMAGEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint buffer); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSURFACEATTRIBPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPINTERVALPROC) (EGLDisplay dpy, EGLint interval); +#if EGL_EGL_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglBindTexImage (EGLDisplay dpy, EGLSurface surface, EGLint buffer); +EGLAPI EGLBoolean EGLAPIENTRY eglReleaseTexImage (EGLDisplay dpy, EGLSurface surface, EGLint buffer); +EGLAPI EGLBoolean EGLAPIENTRY eglSurfaceAttrib (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint value); +EGLAPI EGLBoolean EGLAPIENTRY eglSwapInterval (EGLDisplay dpy, EGLint interval); +#endif +#endif /* EGL_VERSION_1_1 */ + +#ifndef EGL_VERSION_1_2 +#define EGL_VERSION_1_2 1 +typedef unsigned int EGLenum; +typedef void *EGLClientBuffer; +#define EGL_ALPHA_FORMAT 0x3088 +#define EGL_ALPHA_FORMAT_NONPRE 0x308B +#define EGL_ALPHA_FORMAT_PRE 0x308C +#define EGL_ALPHA_MASK_SIZE 0x303E +#define EGL_BUFFER_PRESERVED 0x3094 +#define EGL_BUFFER_DESTROYED 0x3095 +#define EGL_CLIENT_APIS 0x308D +#define EGL_COLORSPACE 0x3087 +#define EGL_COLORSPACE_sRGB 0x3089 +#define EGL_COLORSPACE_LINEAR 0x308A +#define EGL_COLOR_BUFFER_TYPE 0x303F +#define EGL_CONTEXT_CLIENT_TYPE 0x3097 +#define EGL_DISPLAY_SCALING 10000 +#define EGL_HORIZONTAL_RESOLUTION 0x3090 +#define EGL_LUMINANCE_BUFFER 0x308F +#define EGL_LUMINANCE_SIZE 0x303D +#define EGL_OPENGL_ES_BIT 0x0001 +#define EGL_OPENVG_BIT 0x0002 +#define EGL_OPENGL_ES_API 0x30A0 +#define EGL_OPENVG_API 0x30A1 +#define EGL_OPENVG_IMAGE 0x3096 +#define EGL_PIXEL_ASPECT_RATIO 0x3092 +#define EGL_RENDERABLE_TYPE 0x3040 +#define EGL_RENDER_BUFFER 0x3086 +#define EGL_RGB_BUFFER 0x308E +#define EGL_SINGLE_BUFFER 0x3085 +#define EGL_SWAP_BEHAVIOR 0x3093 +#define EGL_UNKNOWN EGL_CAST(EGLint,-1) +#define EGL_VERTICAL_RESOLUTION 0x3091 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLBINDAPIPROC) (EGLenum api); +typedef EGLenum (EGLAPIENTRYP PFNEGLQUERYAPIPROC) (void); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPBUFFERFROMCLIENTBUFFERPROC) (EGLDisplay dpy, EGLenum buftype, EGLClientBuffer buffer, EGLConfig config, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLRELEASETHREADPROC) (void); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITCLIENTPROC) (void); +#if EGL_EGL_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglBindAPI (EGLenum api); +EGLAPI EGLenum EGLAPIENTRY eglQueryAPI (void); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePbufferFromClientBuffer (EGLDisplay dpy, EGLenum buftype, EGLClientBuffer buffer, EGLConfig config, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglReleaseThread (void); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitClient (void); +#endif +#endif /* EGL_VERSION_1_2 */ + +#ifndef EGL_VERSION_1_3 +#define EGL_VERSION_1_3 1 +#define EGL_CONFORMANT 0x3042 +#define EGL_CONTEXT_CLIENT_VERSION 0x3098 +#define EGL_MATCH_NATIVE_PIXMAP 0x3041 +#define EGL_OPENGL_ES2_BIT 0x0004 +#define EGL_VG_ALPHA_FORMAT 0x3088 +#define EGL_VG_ALPHA_FORMAT_NONPRE 0x308B +#define EGL_VG_ALPHA_FORMAT_PRE 0x308C +#define EGL_VG_ALPHA_FORMAT_PRE_BIT 0x0040 +#define EGL_VG_COLORSPACE 0x3087 +#define EGL_VG_COLORSPACE_sRGB 0x3089 +#define EGL_VG_COLORSPACE_LINEAR 0x308A +#define EGL_VG_COLORSPACE_LINEAR_BIT 0x0020 +#endif /* EGL_VERSION_1_3 */ + +#ifndef EGL_VERSION_1_4 +#define EGL_VERSION_1_4 1 +#define EGL_DEFAULT_DISPLAY EGL_CAST(EGLNativeDisplayType,0) +#define EGL_MULTISAMPLE_RESOLVE_BOX_BIT 0x0200 +#define EGL_MULTISAMPLE_RESOLVE 0x3099 +#define EGL_MULTISAMPLE_RESOLVE_DEFAULT 0x309A +#define EGL_MULTISAMPLE_RESOLVE_BOX 0x309B +#define EGL_OPENGL_API 0x30A2 +#define EGL_OPENGL_BIT 0x0008 +#define EGL_SWAP_BEHAVIOR_PRESERVED_BIT 0x0400 +typedef EGLContext (EGLAPIENTRYP PFNEGLGETCURRENTCONTEXTPROC) (void); +#if EGL_EGL_PROTOTYPES +EGLAPI EGLContext EGLAPIENTRY eglGetCurrentContext (void); +#endif +#endif /* EGL_VERSION_1_4 */ + +#ifndef EGL_VERSION_1_5 +#define EGL_VERSION_1_5 1 +typedef void *EGLSync; +typedef intptr_t EGLAttrib; +typedef khronos_utime_nanoseconds_t EGLTime; +typedef void *EGLImage; +#define EGL_CONTEXT_MAJOR_VERSION 0x3098 +#define EGL_CONTEXT_MINOR_VERSION 0x30FB +#define EGL_CONTEXT_OPENGL_PROFILE_MASK 0x30FD +#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY 0x31BD +#define EGL_NO_RESET_NOTIFICATION 0x31BE +#define EGL_LOSE_CONTEXT_ON_RESET 0x31BF +#define EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT 0x00000001 +#define EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT 0x00000002 +#define EGL_CONTEXT_OPENGL_DEBUG 0x31B0 +#define EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE 0x31B1 +#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS 0x31B2 +#define EGL_OPENGL_ES3_BIT 0x00000040 +#define EGL_CL_EVENT_HANDLE 0x309C +#define EGL_SYNC_CL_EVENT 0x30FE +#define EGL_SYNC_CL_EVENT_COMPLETE 0x30FF +#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE 0x30F0 +#define EGL_SYNC_TYPE 0x30F7 +#define EGL_SYNC_STATUS 0x30F1 +#define EGL_SYNC_CONDITION 0x30F8 +#define EGL_SIGNALED 0x30F2 +#define EGL_UNSIGNALED 0x30F3 +#define EGL_SYNC_FLUSH_COMMANDS_BIT 0x0001 +#define EGL_FOREVER 0xFFFFFFFFFFFFFFFFull +#define EGL_TIMEOUT_EXPIRED 0x30F5 +#define EGL_CONDITION_SATISFIED 0x30F6 +#define EGL_NO_SYNC EGL_CAST(EGLSync,0) +#define EGL_SYNC_FENCE 0x30F9 +#define EGL_GL_COLORSPACE 0x309D +#define EGL_GL_COLORSPACE_SRGB 0x3089 +#define EGL_GL_COLORSPACE_LINEAR 0x308A +#define EGL_GL_RENDERBUFFER 0x30B9 +#define EGL_GL_TEXTURE_2D 0x30B1 +#define EGL_GL_TEXTURE_LEVEL 0x30BC +#define EGL_GL_TEXTURE_3D 0x30B2 +#define EGL_GL_TEXTURE_ZOFFSET 0x30BD +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x30B3 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x30B4 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x30B5 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x30B6 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x30B7 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x30B8 +#define EGL_IMAGE_PRESERVED 0x30D2 +#define EGL_NO_IMAGE EGL_CAST(EGLImage,0) +typedef EGLSync (EGLAPIENTRYP PFNEGLCREATESYNCPROC) (EGLDisplay dpy, EGLenum type, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCPROC) (EGLDisplay dpy, EGLSync sync); +typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCPROC) (EGLDisplay dpy, EGLSync sync, EGLint flags, EGLTime timeout); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBPROC) (EGLDisplay dpy, EGLSync sync, EGLint attribute, EGLAttrib *value); +typedef EGLImage (EGLAPIENTRYP PFNEGLCREATEIMAGEPROC) (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYIMAGEPROC) (EGLDisplay dpy, EGLImage image); +typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETPLATFORMDISPLAYPROC) (EGLenum platform, void *native_display, const EGLAttrib *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMWINDOWSURFACEPROC) (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLAttrib *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMPIXMAPSURFACEPROC) (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITSYNCPROC) (EGLDisplay dpy, EGLSync sync, EGLint flags); +#if EGL_EGL_PROTOTYPES +EGLAPI EGLSync EGLAPIENTRY eglCreateSync (EGLDisplay dpy, EGLenum type, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySync (EGLDisplay dpy, EGLSync sync); +EGLAPI EGLint EGLAPIENTRY eglClientWaitSync (EGLDisplay dpy, EGLSync sync, EGLint flags, EGLTime timeout); +EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttrib (EGLDisplay dpy, EGLSync sync, EGLint attribute, EGLAttrib *value); +EGLAPI EGLImage EGLAPIENTRY eglCreateImage (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyImage (EGLDisplay dpy, EGLImage image); +EGLAPI EGLDisplay EGLAPIENTRY eglGetPlatformDisplay (EGLenum platform, void *native_display, const EGLAttrib *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformWindowSurface (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLAttrib *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformPixmapSurface (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitSync (EGLDisplay dpy, EGLSync sync, EGLint flags); +#endif +#endif /* EGL_VERSION_1_5 */ + +#ifdef __cplusplus +} +#endif + +#endif /* __egl_h_ */ + + +#ifndef __eglext_h_ +#define __eglext_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright 2013-2020 The Khronos Group Inc. +** SPDX-License-Identifier: Apache-2.0 +** +** This header is generated from the Khronos EGL XML API Registry. +** The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** http://www.khronos.org/registry/egl +** +** Khronos $Git commit SHA1: 6fb1daea15 $ on $Git commit date: 2022-05-25 09:41:13 -0600 $ +*/ + +/*#include */ + +#define EGL_EGLEXT_VERSION 20220525 + +/* Generated C header for: + * API: egl + * Versions considered: .* + * Versions emitted: _nomatch_^ + * Default extensions included: egl + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef EGL_KHR_cl_event +#define EGL_KHR_cl_event 1 +#define EGL_CL_EVENT_HANDLE_KHR 0x309C +#define EGL_SYNC_CL_EVENT_KHR 0x30FE +#define EGL_SYNC_CL_EVENT_COMPLETE_KHR 0x30FF +#endif /* EGL_KHR_cl_event */ + +#ifndef EGL_KHR_cl_event2 +#define EGL_KHR_cl_event2 1 +typedef void *EGLSyncKHR; +typedef intptr_t EGLAttribKHR; +typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESYNC64KHRPROC) (EGLDisplay dpy, EGLenum type, const EGLAttribKHR *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateSync64KHR (EGLDisplay dpy, EGLenum type, const EGLAttribKHR *attrib_list); +#endif +#endif /* EGL_KHR_cl_event2 */ + +#ifndef EGL_KHR_client_get_all_proc_addresses +#define EGL_KHR_client_get_all_proc_addresses 1 +#endif /* EGL_KHR_client_get_all_proc_addresses */ + +#ifndef EGL_KHR_config_attribs +#define EGL_KHR_config_attribs 1 +#define EGL_CONFORMANT_KHR 0x3042 +#define EGL_VG_COLORSPACE_LINEAR_BIT_KHR 0x0020 +#define EGL_VG_ALPHA_FORMAT_PRE_BIT_KHR 0x0040 +#endif /* EGL_KHR_config_attribs */ + +#ifndef EGL_KHR_context_flush_control +#define EGL_KHR_context_flush_control 1 +#define EGL_CONTEXT_RELEASE_BEHAVIOR_NONE_KHR 0 +#define EGL_CONTEXT_RELEASE_BEHAVIOR_KHR 0x2097 +#define EGL_CONTEXT_RELEASE_BEHAVIOR_FLUSH_KHR 0x2098 +#endif /* EGL_KHR_context_flush_control */ + +#ifndef EGL_KHR_create_context +#define EGL_KHR_create_context 1 +#define EGL_CONTEXT_MAJOR_VERSION_KHR 0x3098 +#define EGL_CONTEXT_MINOR_VERSION_KHR 0x30FB +#define EGL_CONTEXT_FLAGS_KHR 0x30FC +#define EGL_CONTEXT_OPENGL_PROFILE_MASK_KHR 0x30FD +#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY_KHR 0x31BD +#define EGL_NO_RESET_NOTIFICATION_KHR 0x31BE +#define EGL_LOSE_CONTEXT_ON_RESET_KHR 0x31BF +#define EGL_CONTEXT_OPENGL_DEBUG_BIT_KHR 0x00000001 +#define EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE_BIT_KHR 0x00000002 +#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS_BIT_KHR 0x00000004 +#define EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT_KHR 0x00000001 +#define EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT_KHR 0x00000002 +#define EGL_OPENGL_ES3_BIT_KHR 0x00000040 +#endif /* EGL_KHR_create_context */ + +#ifndef EGL_KHR_create_context_no_error +#define EGL_KHR_create_context_no_error 1 +#define EGL_CONTEXT_OPENGL_NO_ERROR_KHR 0x31B3 +#endif /* EGL_KHR_create_context_no_error */ + +#ifndef EGL_KHR_debug +#define EGL_KHR_debug 1 +typedef void *EGLLabelKHR; +typedef void *EGLObjectKHR; +typedef void (EGLAPIENTRY *EGLDEBUGPROCKHR)(EGLenum error,const char *command,EGLint messageType,EGLLabelKHR threadLabel,EGLLabelKHR objectLabel,const char* message); +#define EGL_OBJECT_THREAD_KHR 0x33B0 +#define EGL_OBJECT_DISPLAY_KHR 0x33B1 +#define EGL_OBJECT_CONTEXT_KHR 0x33B2 +#define EGL_OBJECT_SURFACE_KHR 0x33B3 +#define EGL_OBJECT_IMAGE_KHR 0x33B4 +#define EGL_OBJECT_SYNC_KHR 0x33B5 +#define EGL_OBJECT_STREAM_KHR 0x33B6 +#define EGL_DEBUG_MSG_CRITICAL_KHR 0x33B9 +#define EGL_DEBUG_MSG_ERROR_KHR 0x33BA +#define EGL_DEBUG_MSG_WARN_KHR 0x33BB +#define EGL_DEBUG_MSG_INFO_KHR 0x33BC +#define EGL_DEBUG_CALLBACK_KHR 0x33B8 +typedef EGLint (EGLAPIENTRYP PFNEGLDEBUGMESSAGECONTROLKHRPROC) (EGLDEBUGPROCKHR callback, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEBUGKHRPROC) (EGLint attribute, EGLAttrib *value); +typedef EGLint (EGLAPIENTRYP PFNEGLLABELOBJECTKHRPROC) (EGLDisplay display, EGLenum objectType, EGLObjectKHR object, EGLLabelKHR label); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLint EGLAPIENTRY eglDebugMessageControlKHR (EGLDEBUGPROCKHR callback, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDebugKHR (EGLint attribute, EGLAttrib *value); +EGLAPI EGLint EGLAPIENTRY eglLabelObjectKHR (EGLDisplay display, EGLenum objectType, EGLObjectKHR object, EGLLabelKHR label); +#endif +#endif /* EGL_KHR_debug */ + +#ifndef EGL_KHR_display_reference +#define EGL_KHR_display_reference 1 +#define EGL_TRACK_REFERENCES_KHR 0x3352 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBKHRPROC) (EGLDisplay dpy, EGLint name, EGLAttrib *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribKHR (EGLDisplay dpy, EGLint name, EGLAttrib *value); +#endif +#endif /* EGL_KHR_display_reference */ + +#ifndef EGL_KHR_fence_sync +#define EGL_KHR_fence_sync 1 +typedef khronos_utime_nanoseconds_t EGLTimeKHR; +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE_KHR 0x30F0 +#define EGL_SYNC_CONDITION_KHR 0x30F8 +#define EGL_SYNC_FENCE_KHR 0x30F9 +typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESYNCKHRPROC) (EGLDisplay dpy, EGLenum type, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync); +typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags, EGLTimeKHR timeout); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint attribute, EGLint *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateSyncKHR (EGLDisplay dpy, EGLenum type, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySyncKHR (EGLDisplay dpy, EGLSyncKHR sync); +EGLAPI EGLint EGLAPIENTRY eglClientWaitSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags, EGLTimeKHR timeout); +EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttribKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint attribute, EGLint *value); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_fence_sync */ + +#ifndef EGL_KHR_get_all_proc_addresses +#define EGL_KHR_get_all_proc_addresses 1 +#endif /* EGL_KHR_get_all_proc_addresses */ + +#ifndef EGL_KHR_gl_colorspace +#define EGL_KHR_gl_colorspace 1 +#define EGL_GL_COLORSPACE_KHR 0x309D +#define EGL_GL_COLORSPACE_SRGB_KHR 0x3089 +#define EGL_GL_COLORSPACE_LINEAR_KHR 0x308A +#endif /* EGL_KHR_gl_colorspace */ + +#ifndef EGL_KHR_gl_renderbuffer_image +#define EGL_KHR_gl_renderbuffer_image 1 +#define EGL_GL_RENDERBUFFER_KHR 0x30B9 +#endif /* EGL_KHR_gl_renderbuffer_image */ + +#ifndef EGL_KHR_gl_texture_2D_image +#define EGL_KHR_gl_texture_2D_image 1 +#define EGL_GL_TEXTURE_2D_KHR 0x30B1 +#define EGL_GL_TEXTURE_LEVEL_KHR 0x30BC +#endif /* EGL_KHR_gl_texture_2D_image */ + +#ifndef EGL_KHR_gl_texture_3D_image +#define EGL_KHR_gl_texture_3D_image 1 +#define EGL_GL_TEXTURE_3D_KHR 0x30B2 +#define EGL_GL_TEXTURE_ZOFFSET_KHR 0x30BD +#endif /* EGL_KHR_gl_texture_3D_image */ + +#ifndef EGL_KHR_gl_texture_cubemap_image +#define EGL_KHR_gl_texture_cubemap_image 1 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_X_KHR 0x30B3 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_X_KHR 0x30B4 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Y_KHR 0x30B5 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_KHR 0x30B6 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Z_KHR 0x30B7 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_KHR 0x30B8 +#endif /* EGL_KHR_gl_texture_cubemap_image */ + +#ifndef EGL_KHR_image +#define EGL_KHR_image 1 +typedef void *EGLImageKHR; +#define EGL_NATIVE_PIXMAP_KHR 0x30B0 +#define EGL_NO_IMAGE_KHR EGL_CAST(EGLImageKHR,0) +typedef EGLImageKHR (EGLAPIENTRYP PFNEGLCREATEIMAGEKHRPROC) (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYIMAGEKHRPROC) (EGLDisplay dpy, EGLImageKHR image); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLImageKHR EGLAPIENTRY eglCreateImageKHR (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyImageKHR (EGLDisplay dpy, EGLImageKHR image); +#endif +#endif /* EGL_KHR_image */ + +#ifndef EGL_KHR_image_base +#define EGL_KHR_image_base 1 +#define EGL_IMAGE_PRESERVED_KHR 0x30D2 +#endif /* EGL_KHR_image_base */ + +#ifndef EGL_KHR_image_pixmap +#define EGL_KHR_image_pixmap 1 +#endif /* EGL_KHR_image_pixmap */ + +#ifndef EGL_KHR_lock_surface +#define EGL_KHR_lock_surface 1 +#define EGL_READ_SURFACE_BIT_KHR 0x0001 +#define EGL_WRITE_SURFACE_BIT_KHR 0x0002 +#define EGL_LOCK_SURFACE_BIT_KHR 0x0080 +#define EGL_OPTIMAL_FORMAT_BIT_KHR 0x0100 +#define EGL_MATCH_FORMAT_KHR 0x3043 +#define EGL_FORMAT_RGB_565_EXACT_KHR 0x30C0 +#define EGL_FORMAT_RGB_565_KHR 0x30C1 +#define EGL_FORMAT_RGBA_8888_EXACT_KHR 0x30C2 +#define EGL_FORMAT_RGBA_8888_KHR 0x30C3 +#define EGL_MAP_PRESERVE_PIXELS_KHR 0x30C4 +#define EGL_LOCK_USAGE_HINT_KHR 0x30C5 +#define EGL_BITMAP_POINTER_KHR 0x30C6 +#define EGL_BITMAP_PITCH_KHR 0x30C7 +#define EGL_BITMAP_ORIGIN_KHR 0x30C8 +#define EGL_BITMAP_PIXEL_RED_OFFSET_KHR 0x30C9 +#define EGL_BITMAP_PIXEL_GREEN_OFFSET_KHR 0x30CA +#define EGL_BITMAP_PIXEL_BLUE_OFFSET_KHR 0x30CB +#define EGL_BITMAP_PIXEL_ALPHA_OFFSET_KHR 0x30CC +#define EGL_BITMAP_PIXEL_LUMINANCE_OFFSET_KHR 0x30CD +#define EGL_LOWER_LEFT_KHR 0x30CE +#define EGL_UPPER_LEFT_KHR 0x30CF +typedef EGLBoolean (EGLAPIENTRYP PFNEGLLOCKSURFACEKHRPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNLOCKSURFACEKHRPROC) (EGLDisplay dpy, EGLSurface surface); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglLockSurfaceKHR (EGLDisplay dpy, EGLSurface surface, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglUnlockSurfaceKHR (EGLDisplay dpy, EGLSurface surface); +#endif +#endif /* EGL_KHR_lock_surface */ + +#ifndef EGL_KHR_lock_surface2 +#define EGL_KHR_lock_surface2 1 +#define EGL_BITMAP_PIXEL_SIZE_KHR 0x3110 +#endif /* EGL_KHR_lock_surface2 */ + +#ifndef EGL_KHR_lock_surface3 +#define EGL_KHR_lock_surface3 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACE64KHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLAttribKHR *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurface64KHR (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLAttribKHR *value); +#endif +#endif /* EGL_KHR_lock_surface3 */ + +#ifndef EGL_KHR_mutable_render_buffer +#define EGL_KHR_mutable_render_buffer 1 +#define EGL_MUTABLE_RENDER_BUFFER_BIT_KHR 0x1000 +#endif /* EGL_KHR_mutable_render_buffer */ + +#ifndef EGL_KHR_no_config_context +#define EGL_KHR_no_config_context 1 +#define EGL_NO_CONFIG_KHR EGL_CAST(EGLConfig,0) +#endif /* EGL_KHR_no_config_context */ + +#ifndef EGL_KHR_partial_update +#define EGL_KHR_partial_update 1 +#define EGL_BUFFER_AGE_KHR 0x313D +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETDAMAGEREGIONKHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSetDamageRegionKHR (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#endif +#endif /* EGL_KHR_partial_update */ + +#ifndef EGL_KHR_platform_android +#define EGL_KHR_platform_android 1 +#define EGL_PLATFORM_ANDROID_KHR 0x3141 +#endif /* EGL_KHR_platform_android */ + +#ifndef EGL_KHR_platform_gbm +#define EGL_KHR_platform_gbm 1 +#define EGL_PLATFORM_GBM_KHR 0x31D7 +#endif /* EGL_KHR_platform_gbm */ + +#ifndef EGL_KHR_platform_wayland +#define EGL_KHR_platform_wayland 1 +#define EGL_PLATFORM_WAYLAND_KHR 0x31D8 +#endif /* EGL_KHR_platform_wayland */ + +#ifndef EGL_KHR_platform_x11 +#define EGL_KHR_platform_x11 1 +#define EGL_PLATFORM_X11_KHR 0x31D5 +#define EGL_PLATFORM_X11_SCREEN_KHR 0x31D6 +#endif /* EGL_KHR_platform_x11 */ + +#ifndef EGL_KHR_reusable_sync +#define EGL_KHR_reusable_sync 1 +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_SYNC_STATUS_KHR 0x30F1 +#define EGL_SIGNALED_KHR 0x30F2 +#define EGL_UNSIGNALED_KHR 0x30F3 +#define EGL_TIMEOUT_EXPIRED_KHR 0x30F5 +#define EGL_CONDITION_SATISFIED_KHR 0x30F6 +#define EGL_SYNC_TYPE_KHR 0x30F7 +#define EGL_SYNC_REUSABLE_KHR 0x30FA +#define EGL_SYNC_FLUSH_COMMANDS_BIT_KHR 0x0001 +#define EGL_FOREVER_KHR 0xFFFFFFFFFFFFFFFFull +#define EGL_NO_SYNC_KHR EGL_CAST(EGLSyncKHR,0) +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSIGNALSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLenum mode); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSignalSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLenum mode); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_reusable_sync */ + +#ifndef EGL_KHR_stream +#define EGL_KHR_stream 1 +typedef void *EGLStreamKHR; +typedef khronos_uint64_t EGLuint64KHR; +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_NO_STREAM_KHR EGL_CAST(EGLStreamKHR,0) +#define EGL_CONSUMER_LATENCY_USEC_KHR 0x3210 +#define EGL_PRODUCER_FRAME_KHR 0x3212 +#define EGL_CONSUMER_FRAME_KHR 0x3213 +#define EGL_STREAM_STATE_KHR 0x3214 +#define EGL_STREAM_STATE_CREATED_KHR 0x3215 +#define EGL_STREAM_STATE_CONNECTING_KHR 0x3216 +#define EGL_STREAM_STATE_EMPTY_KHR 0x3217 +#define EGL_STREAM_STATE_NEW_FRAME_AVAILABLE_KHR 0x3218 +#define EGL_STREAM_STATE_OLD_FRAME_AVAILABLE_KHR 0x3219 +#define EGL_STREAM_STATE_DISCONNECTED_KHR 0x321A +#define EGL_BAD_STREAM_KHR 0x321B +#define EGL_BAD_STATE_KHR 0x321C +typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMKHRPROC) (EGLDisplay dpy, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSTREAMKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMU64KHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLuint64KHR *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamKHR (EGLDisplay dpy, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyStreamKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint *value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamu64KHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLuint64KHR *value); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_stream */ + +#ifndef EGL_KHR_stream_attrib +#define EGL_KHR_stream_attrib 1 +#ifdef KHRONOS_SUPPORT_INT64 +typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMATTRIBKHRPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERACQUIREATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERRELEASEATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamAttribKHR (EGLDisplay dpy, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglSetStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib *value); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerAcquireAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerReleaseAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_stream_attrib */ + +#ifndef EGL_KHR_stream_consumer_gltexture +#define EGL_KHR_stream_consumer_gltexture 1 +#ifdef EGL_KHR_stream +#define EGL_CONSUMER_ACQUIRE_TIMEOUT_USEC_KHR 0x321E +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERGLTEXTUREEXTERNALKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERACQUIREKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERRELEASEKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerGLTextureExternalKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerAcquireKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerReleaseKHR (EGLDisplay dpy, EGLStreamKHR stream); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_consumer_gltexture */ + +#ifndef EGL_KHR_stream_cross_process_fd +#define EGL_KHR_stream_cross_process_fd 1 +typedef int EGLNativeFileDescriptorKHR; +#ifdef EGL_KHR_stream +#define EGL_NO_FILE_DESCRIPTOR_KHR EGL_CAST(EGLNativeFileDescriptorKHR,-1) +typedef EGLNativeFileDescriptorKHR (EGLAPIENTRYP PFNEGLGETSTREAMFILEDESCRIPTORKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMFROMFILEDESCRIPTORKHRPROC) (EGLDisplay dpy, EGLNativeFileDescriptorKHR file_descriptor); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLNativeFileDescriptorKHR EGLAPIENTRY eglGetStreamFileDescriptorKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamFromFileDescriptorKHR (EGLDisplay dpy, EGLNativeFileDescriptorKHR file_descriptor); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_cross_process_fd */ + +#ifndef EGL_KHR_stream_fifo +#define EGL_KHR_stream_fifo 1 +#ifdef EGL_KHR_stream +#define EGL_STREAM_FIFO_LENGTH_KHR 0x31FC +#define EGL_STREAM_TIME_NOW_KHR 0x31FD +#define EGL_STREAM_TIME_CONSUMER_KHR 0x31FE +#define EGL_STREAM_TIME_PRODUCER_KHR 0x31FF +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMTIMEKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLTimeKHR *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamTimeKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLTimeKHR *value); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_fifo */ + +#ifndef EGL_KHR_stream_producer_aldatalocator +#define EGL_KHR_stream_producer_aldatalocator 1 +#ifdef EGL_KHR_stream +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_producer_aldatalocator */ + +#ifndef EGL_KHR_stream_producer_eglsurface +#define EGL_KHR_stream_producer_eglsurface 1 +#ifdef EGL_KHR_stream +#define EGL_STREAM_BIT_KHR 0x0800 +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATESTREAMPRODUCERSURFACEKHRPROC) (EGLDisplay dpy, EGLConfig config, EGLStreamKHR stream, const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSurface EGLAPIENTRY eglCreateStreamProducerSurfaceKHR (EGLDisplay dpy, EGLConfig config, EGLStreamKHR stream, const EGLint *attrib_list); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_producer_eglsurface */ + +#ifndef EGL_KHR_surfaceless_context +#define EGL_KHR_surfaceless_context 1 +#endif /* EGL_KHR_surfaceless_context */ + +#ifndef EGL_KHR_swap_buffers_with_damage +#define EGL_KHR_swap_buffers_with_damage 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSWITHDAMAGEKHRPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersWithDamageKHR (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); +#endif +#endif /* EGL_KHR_swap_buffers_with_damage */ + +#ifndef EGL_KHR_vg_parent_image +#define EGL_KHR_vg_parent_image 1 +#define EGL_VG_PARENT_IMAGE_KHR 0x30BA +#endif /* EGL_KHR_vg_parent_image */ + +#ifndef EGL_KHR_wait_sync +#define EGL_KHR_wait_sync 1 +typedef EGLint (EGLAPIENTRYP PFNEGLWAITSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLint EGLAPIENTRY eglWaitSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags); +#endif +#endif /* EGL_KHR_wait_sync */ + +#ifndef EGL_ANDROID_GLES_layers +#define EGL_ANDROID_GLES_layers 1 +#endif /* EGL_ANDROID_GLES_layers */ + +#ifndef EGL_ANDROID_blob_cache +#define EGL_ANDROID_blob_cache 1 +typedef khronos_ssize_t EGLsizeiANDROID; +typedef void (*EGLSetBlobFuncANDROID) (const void *key, EGLsizeiANDROID keySize, const void *value, EGLsizeiANDROID valueSize); +typedef EGLsizeiANDROID (*EGLGetBlobFuncANDROID) (const void *key, EGLsizeiANDROID keySize, void *value, EGLsizeiANDROID valueSize); +typedef void (EGLAPIENTRYP PFNEGLSETBLOBCACHEFUNCSANDROIDPROC) (EGLDisplay dpy, EGLSetBlobFuncANDROID set, EGLGetBlobFuncANDROID get); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI void EGLAPIENTRY eglSetBlobCacheFuncsANDROID (EGLDisplay dpy, EGLSetBlobFuncANDROID set, EGLGetBlobFuncANDROID get); +#endif +#endif /* EGL_ANDROID_blob_cache */ + +#ifndef EGL_ANDROID_create_native_client_buffer +#define EGL_ANDROID_create_native_client_buffer 1 +#define EGL_NATIVE_BUFFER_USAGE_ANDROID 0x3143 +#define EGL_NATIVE_BUFFER_USAGE_PROTECTED_BIT_ANDROID 0x00000001 +#define EGL_NATIVE_BUFFER_USAGE_RENDERBUFFER_BIT_ANDROID 0x00000002 +#define EGL_NATIVE_BUFFER_USAGE_TEXTURE_BIT_ANDROID 0x00000004 +typedef EGLClientBuffer (EGLAPIENTRYP PFNEGLCREATENATIVECLIENTBUFFERANDROIDPROC) (const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLClientBuffer EGLAPIENTRY eglCreateNativeClientBufferANDROID (const EGLint *attrib_list); +#endif +#endif /* EGL_ANDROID_create_native_client_buffer */ + +#ifndef EGL_ANDROID_framebuffer_target +#define EGL_ANDROID_framebuffer_target 1 +#define EGL_FRAMEBUFFER_TARGET_ANDROID 0x3147 +#endif /* EGL_ANDROID_framebuffer_target */ + +#ifndef EGL_ANDROID_front_buffer_auto_refresh +#define EGL_ANDROID_front_buffer_auto_refresh 1 +#define EGL_FRONT_BUFFER_AUTO_REFRESH_ANDROID 0x314C +#endif /* EGL_ANDROID_front_buffer_auto_refresh */ + +#ifndef EGL_ANDROID_get_frame_timestamps +#define EGL_ANDROID_get_frame_timestamps 1 +typedef khronos_stime_nanoseconds_t EGLnsecsANDROID; +#define EGL_TIMESTAMP_PENDING_ANDROID EGL_CAST(EGLnsecsANDROID,-2) +#define EGL_TIMESTAMP_INVALID_ANDROID EGL_CAST(EGLnsecsANDROID,-1) +#define EGL_TIMESTAMPS_ANDROID 0x3430 +#define EGL_COMPOSITE_DEADLINE_ANDROID 0x3431 +#define EGL_COMPOSITE_INTERVAL_ANDROID 0x3432 +#define EGL_COMPOSITE_TO_PRESENT_LATENCY_ANDROID 0x3433 +#define EGL_REQUESTED_PRESENT_TIME_ANDROID 0x3434 +#define EGL_RENDERING_COMPLETE_TIME_ANDROID 0x3435 +#define EGL_COMPOSITION_LATCH_TIME_ANDROID 0x3436 +#define EGL_FIRST_COMPOSITION_START_TIME_ANDROID 0x3437 +#define EGL_LAST_COMPOSITION_START_TIME_ANDROID 0x3438 +#define EGL_FIRST_COMPOSITION_GPU_FINISHED_TIME_ANDROID 0x3439 +#define EGL_DISPLAY_PRESENT_TIME_ANDROID 0x343A +#define EGL_DEQUEUE_READY_TIME_ANDROID 0x343B +#define EGL_READS_DONE_TIME_ANDROID 0x343C +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCOMPOSITORTIMINGSUPPORTEDANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLint name); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCOMPOSITORTIMINGANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numTimestamps, const EGLint *names, EGLnsecsANDROID *values); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETNEXTFRAMEIDANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR *frameId); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETFRAMETIMESTAMPSUPPORTEDANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLint timestamp); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETFRAMETIMESTAMPSANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR frameId, EGLint numTimestamps, const EGLint *timestamps, EGLnsecsANDROID *values); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglGetCompositorTimingSupportedANDROID (EGLDisplay dpy, EGLSurface surface, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglGetCompositorTimingANDROID (EGLDisplay dpy, EGLSurface surface, EGLint numTimestamps, const EGLint *names, EGLnsecsANDROID *values); +EGLAPI EGLBoolean EGLAPIENTRY eglGetNextFrameIdANDROID (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR *frameId); +EGLAPI EGLBoolean EGLAPIENTRY eglGetFrameTimestampSupportedANDROID (EGLDisplay dpy, EGLSurface surface, EGLint timestamp); +EGLAPI EGLBoolean EGLAPIENTRY eglGetFrameTimestampsANDROID (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR frameId, EGLint numTimestamps, const EGLint *timestamps, EGLnsecsANDROID *values); +#endif +#endif /* EGL_ANDROID_get_frame_timestamps */ + +#ifndef EGL_ANDROID_get_native_client_buffer +#define EGL_ANDROID_get_native_client_buffer 1 +struct AHardwareBuffer; +typedef EGLClientBuffer (EGLAPIENTRYP PFNEGLGETNATIVECLIENTBUFFERANDROIDPROC) (const struct AHardwareBuffer *buffer); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLClientBuffer EGLAPIENTRY eglGetNativeClientBufferANDROID (const struct AHardwareBuffer *buffer); +#endif +#endif /* EGL_ANDROID_get_native_client_buffer */ + +#ifndef EGL_ANDROID_image_native_buffer +#define EGL_ANDROID_image_native_buffer 1 +#define EGL_NATIVE_BUFFER_ANDROID 0x3140 +#endif /* EGL_ANDROID_image_native_buffer */ + +#ifndef EGL_ANDROID_native_fence_sync +#define EGL_ANDROID_native_fence_sync 1 +#define EGL_SYNC_NATIVE_FENCE_ANDROID 0x3144 +#define EGL_SYNC_NATIVE_FENCE_FD_ANDROID 0x3145 +#define EGL_SYNC_NATIVE_FENCE_SIGNALED_ANDROID 0x3146 +#define EGL_NO_NATIVE_FENCE_FD_ANDROID -1 +typedef EGLint (EGLAPIENTRYP PFNEGLDUPNATIVEFENCEFDANDROIDPROC) (EGLDisplay dpy, EGLSyncKHR sync); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLint EGLAPIENTRY eglDupNativeFenceFDANDROID (EGLDisplay dpy, EGLSyncKHR sync); +#endif +#endif /* EGL_ANDROID_native_fence_sync */ + +#ifndef EGL_ANDROID_presentation_time +#define EGL_ANDROID_presentation_time 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLPRESENTATIONTIMEANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLnsecsANDROID time); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglPresentationTimeANDROID (EGLDisplay dpy, EGLSurface surface, EGLnsecsANDROID time); +#endif +#endif /* EGL_ANDROID_presentation_time */ + +#ifndef EGL_ANDROID_recordable +#define EGL_ANDROID_recordable 1 +#define EGL_RECORDABLE_ANDROID 0x3142 +#endif /* EGL_ANDROID_recordable */ + +#ifndef EGL_ANGLE_d3d_share_handle_client_buffer +#define EGL_ANGLE_d3d_share_handle_client_buffer 1 +#define EGL_D3D_TEXTURE_2D_SHARE_HANDLE_ANGLE 0x3200 +#endif /* EGL_ANGLE_d3d_share_handle_client_buffer */ + +#ifndef EGL_ANGLE_device_d3d +#define EGL_ANGLE_device_d3d 1 +#define EGL_D3D9_DEVICE_ANGLE 0x33A0 +#define EGL_D3D11_DEVICE_ANGLE 0x33A1 +#endif /* EGL_ANGLE_device_d3d */ + +#ifndef EGL_ANGLE_query_surface_pointer +#define EGL_ANGLE_query_surface_pointer 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACEPOINTERANGLEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, void **value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurfacePointerANGLE (EGLDisplay dpy, EGLSurface surface, EGLint attribute, void **value); +#endif +#endif /* EGL_ANGLE_query_surface_pointer */ + +#ifndef EGL_ANGLE_surface_d3d_texture_2d_share_handle +#define EGL_ANGLE_surface_d3d_texture_2d_share_handle 1 +#endif /* EGL_ANGLE_surface_d3d_texture_2d_share_handle */ + +#ifndef EGL_ANGLE_sync_control_rate +#define EGL_ANGLE_sync_control_rate 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETMSCRATEANGLEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *numerator, EGLint *denominator); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglGetMscRateANGLE (EGLDisplay dpy, EGLSurface surface, EGLint *numerator, EGLint *denominator); +#endif +#endif /* EGL_ANGLE_sync_control_rate */ + +#ifndef EGL_ANGLE_window_fixed_size +#define EGL_ANGLE_window_fixed_size 1 +#define EGL_FIXED_SIZE_ANGLE 0x3201 +#endif /* EGL_ANGLE_window_fixed_size */ + +#ifndef EGL_ARM_image_format +#define EGL_ARM_image_format 1 +#define EGL_COLOR_COMPONENT_TYPE_UNSIGNED_INTEGER_ARM 0x3287 +#define EGL_COLOR_COMPONENT_TYPE_INTEGER_ARM 0x3288 +#endif /* EGL_ARM_image_format */ + +#ifndef EGL_ARM_implicit_external_sync +#define EGL_ARM_implicit_external_sync 1 +#define EGL_SYNC_PRIOR_COMMANDS_IMPLICIT_EXTERNAL_ARM 0x328A +#endif /* EGL_ARM_implicit_external_sync */ + +#ifndef EGL_ARM_pixmap_multisample_discard +#define EGL_ARM_pixmap_multisample_discard 1 +#define EGL_DISCARD_SAMPLES_ARM 0x3286 +#endif /* EGL_ARM_pixmap_multisample_discard */ + +#ifndef EGL_EXT_bind_to_front +#define EGL_EXT_bind_to_front 1 +#define EGL_FRONT_BUFFER_EXT 0x3464 +#endif /* EGL_EXT_bind_to_front */ + +#ifndef EGL_EXT_buffer_age +#define EGL_EXT_buffer_age 1 +#define EGL_BUFFER_AGE_EXT 0x313D +#endif /* EGL_EXT_buffer_age */ + +#ifndef EGL_EXT_client_extensions +#define EGL_EXT_client_extensions 1 +#endif /* EGL_EXT_client_extensions */ + +#ifndef EGL_EXT_client_sync +#define EGL_EXT_client_sync 1 +#define EGL_SYNC_CLIENT_EXT 0x3364 +#define EGL_SYNC_CLIENT_SIGNAL_EXT 0x3365 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCLIENTSIGNALSYNCEXTPROC) (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglClientSignalSyncEXT (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); +#endif +#endif /* EGL_EXT_client_sync */ + +#ifndef EGL_EXT_compositor +#define EGL_EXT_compositor 1 +#define EGL_PRIMARY_COMPOSITOR_CONTEXT_EXT 0x3460 +#define EGL_EXTERNAL_REF_ID_EXT 0x3461 +#define EGL_COMPOSITOR_DROP_NEWEST_FRAME_EXT 0x3462 +#define EGL_COMPOSITOR_KEEP_NEWEST_FRAME_EXT 0x3463 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETCONTEXTLISTEXTPROC) (const EGLint *external_ref_ids, EGLint num_entries); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETCONTEXTATTRIBUTESEXTPROC) (EGLint external_ref_id, const EGLint *context_attributes, EGLint num_entries); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETWINDOWLISTEXTPROC) (EGLint external_ref_id, const EGLint *external_win_ids, EGLint num_entries); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETWINDOWATTRIBUTESEXTPROC) (EGLint external_win_id, const EGLint *window_attributes, EGLint num_entries); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORBINDTEXWINDOWEXTPROC) (EGLint external_win_id); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETSIZEEXTPROC) (EGLint external_win_id, EGLint width, EGLint height); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSWAPPOLICYEXTPROC) (EGLint external_win_id, EGLint policy); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetContextListEXT (const EGLint *external_ref_ids, EGLint num_entries); +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetContextAttributesEXT (EGLint external_ref_id, const EGLint *context_attributes, EGLint num_entries); +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetWindowListEXT (EGLint external_ref_id, const EGLint *external_win_ids, EGLint num_entries); +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetWindowAttributesEXT (EGLint external_win_id, const EGLint *window_attributes, EGLint num_entries); +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorBindTexWindowEXT (EGLint external_win_id); +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetSizeEXT (EGLint external_win_id, EGLint width, EGLint height); +EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSwapPolicyEXT (EGLint external_win_id, EGLint policy); +#endif +#endif /* EGL_EXT_compositor */ + +#ifndef EGL_EXT_config_select_group +#define EGL_EXT_config_select_group 1 +#define EGL_CONFIG_SELECT_GROUP_EXT 0x34C0 +#endif /* EGL_EXT_config_select_group */ + +#ifndef EGL_EXT_create_context_robustness +#define EGL_EXT_create_context_robustness 1 +#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS_EXT 0x30BF +#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY_EXT 0x3138 +#define EGL_NO_RESET_NOTIFICATION_EXT 0x31BE +#define EGL_LOSE_CONTEXT_ON_RESET_EXT 0x31BF +#endif /* EGL_EXT_create_context_robustness */ + +#ifndef EGL_EXT_device_base +#define EGL_EXT_device_base 1 +typedef void *EGLDeviceEXT; +#define EGL_NO_DEVICE_EXT EGL_CAST(EGLDeviceEXT,0) +#define EGL_BAD_DEVICE_EXT 0x322B +#define EGL_DEVICE_EXT 0x322C +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICEATTRIBEXTPROC) (EGLDeviceEXT device, EGLint attribute, EGLAttrib *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYDEVICESTRINGEXTPROC) (EGLDeviceEXT device, EGLint name); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICESEXTPROC) (EGLint max_devices, EGLDeviceEXT *devices, EGLint *num_devices); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBEXTPROC) (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDeviceAttribEXT (EGLDeviceEXT device, EGLint attribute, EGLAttrib *value); +EGLAPI const char *EGLAPIENTRY eglQueryDeviceStringEXT (EGLDeviceEXT device, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDevicesEXT (EGLint max_devices, EGLDeviceEXT *devices, EGLint *num_devices); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribEXT (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +#endif +#endif /* EGL_EXT_device_base */ + +#ifndef EGL_EXT_device_drm +#define EGL_EXT_device_drm 1 +#define EGL_DRM_DEVICE_FILE_EXT 0x3233 +#define EGL_DRM_MASTER_FD_EXT 0x333C +#endif /* EGL_EXT_device_drm */ + +#ifndef EGL_EXT_device_drm_render_node +#define EGL_EXT_device_drm_render_node 1 +#define EGL_DRM_RENDER_NODE_FILE_EXT 0x3377 +#endif /* EGL_EXT_device_drm_render_node */ + +#ifndef EGL_EXT_device_enumeration +#define EGL_EXT_device_enumeration 1 +#endif /* EGL_EXT_device_enumeration */ + +#ifndef EGL_EXT_device_openwf +#define EGL_EXT_device_openwf 1 +#define EGL_OPENWF_DEVICE_ID_EXT 0x3237 +#define EGL_OPENWF_DEVICE_EXT 0x333D +#endif /* EGL_EXT_device_openwf */ + +#ifndef EGL_EXT_device_persistent_id +#define EGL_EXT_device_persistent_id 1 +#define EGL_DEVICE_UUID_EXT 0x335C +#define EGL_DRIVER_UUID_EXT 0x335D +#define EGL_DRIVER_NAME_EXT 0x335E +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICEBINARYEXTPROC) (EGLDeviceEXT device, EGLint name, EGLint max_size, void *value, EGLint *size); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDeviceBinaryEXT (EGLDeviceEXT device, EGLint name, EGLint max_size, void *value, EGLint *size); +#endif +#endif /* EGL_EXT_device_persistent_id */ + +#ifndef EGL_EXT_device_query +#define EGL_EXT_device_query 1 +#endif /* EGL_EXT_device_query */ + +#ifndef EGL_EXT_device_query_name +#define EGL_EXT_device_query_name 1 +#define EGL_RENDERER_EXT 0x335F +#endif /* EGL_EXT_device_query_name */ + +#ifndef EGL_EXT_explicit_device +#define EGL_EXT_explicit_device 1 +#endif /* EGL_EXT_explicit_device */ + +#ifndef EGL_EXT_gl_colorspace_bt2020_linear +#define EGL_EXT_gl_colorspace_bt2020_linear 1 +#define EGL_GL_COLORSPACE_BT2020_LINEAR_EXT 0x333F +#endif /* EGL_EXT_gl_colorspace_bt2020_linear */ + +#ifndef EGL_EXT_gl_colorspace_bt2020_pq +#define EGL_EXT_gl_colorspace_bt2020_pq 1 +#define EGL_GL_COLORSPACE_BT2020_PQ_EXT 0x3340 +#endif /* EGL_EXT_gl_colorspace_bt2020_pq */ + +#ifndef EGL_EXT_gl_colorspace_display_p3 +#define EGL_EXT_gl_colorspace_display_p3 1 +#define EGL_GL_COLORSPACE_DISPLAY_P3_EXT 0x3363 +#endif /* EGL_EXT_gl_colorspace_display_p3 */ + +#ifndef EGL_EXT_gl_colorspace_display_p3_linear +#define EGL_EXT_gl_colorspace_display_p3_linear 1 +#define EGL_GL_COLORSPACE_DISPLAY_P3_LINEAR_EXT 0x3362 +#endif /* EGL_EXT_gl_colorspace_display_p3_linear */ + +#ifndef EGL_EXT_gl_colorspace_display_p3_passthrough +#define EGL_EXT_gl_colorspace_display_p3_passthrough 1 +#define EGL_GL_COLORSPACE_DISPLAY_P3_PASSTHROUGH_EXT 0x3490 +#endif /* EGL_EXT_gl_colorspace_display_p3_passthrough */ + +#ifndef EGL_EXT_gl_colorspace_scrgb +#define EGL_EXT_gl_colorspace_scrgb 1 +#define EGL_GL_COLORSPACE_SCRGB_EXT 0x3351 +#endif /* EGL_EXT_gl_colorspace_scrgb */ + +#ifndef EGL_EXT_gl_colorspace_scrgb_linear +#define EGL_EXT_gl_colorspace_scrgb_linear 1 +#define EGL_GL_COLORSPACE_SCRGB_LINEAR_EXT 0x3350 +#endif /* EGL_EXT_gl_colorspace_scrgb_linear */ + +#ifndef EGL_EXT_image_dma_buf_import +#define EGL_EXT_image_dma_buf_import 1 +#define EGL_LINUX_DMA_BUF_EXT 0x3270 +#define EGL_LINUX_DRM_FOURCC_EXT 0x3271 +#define EGL_DMA_BUF_PLANE0_FD_EXT 0x3272 +#define EGL_DMA_BUF_PLANE0_OFFSET_EXT 0x3273 +#define EGL_DMA_BUF_PLANE0_PITCH_EXT 0x3274 +#define EGL_DMA_BUF_PLANE1_FD_EXT 0x3275 +#define EGL_DMA_BUF_PLANE1_OFFSET_EXT 0x3276 +#define EGL_DMA_BUF_PLANE1_PITCH_EXT 0x3277 +#define EGL_DMA_BUF_PLANE2_FD_EXT 0x3278 +#define EGL_DMA_BUF_PLANE2_OFFSET_EXT 0x3279 +#define EGL_DMA_BUF_PLANE2_PITCH_EXT 0x327A +#define EGL_YUV_COLOR_SPACE_HINT_EXT 0x327B +#define EGL_SAMPLE_RANGE_HINT_EXT 0x327C +#define EGL_YUV_CHROMA_HORIZONTAL_SITING_HINT_EXT 0x327D +#define EGL_YUV_CHROMA_VERTICAL_SITING_HINT_EXT 0x327E +#define EGL_ITU_REC601_EXT 0x327F +#define EGL_ITU_REC709_EXT 0x3280 +#define EGL_ITU_REC2020_EXT 0x3281 +#define EGL_YUV_FULL_RANGE_EXT 0x3282 +#define EGL_YUV_NARROW_RANGE_EXT 0x3283 +#define EGL_YUV_CHROMA_SITING_0_EXT 0x3284 +#define EGL_YUV_CHROMA_SITING_0_5_EXT 0x3285 +#endif /* EGL_EXT_image_dma_buf_import */ + +#ifndef EGL_EXT_image_dma_buf_import_modifiers +#define EGL_EXT_image_dma_buf_import_modifiers 1 +#define EGL_DMA_BUF_PLANE3_FD_EXT 0x3440 +#define EGL_DMA_BUF_PLANE3_OFFSET_EXT 0x3441 +#define EGL_DMA_BUF_PLANE3_PITCH_EXT 0x3442 +#define EGL_DMA_BUF_PLANE0_MODIFIER_LO_EXT 0x3443 +#define EGL_DMA_BUF_PLANE0_MODIFIER_HI_EXT 0x3444 +#define EGL_DMA_BUF_PLANE1_MODIFIER_LO_EXT 0x3445 +#define EGL_DMA_BUF_PLANE1_MODIFIER_HI_EXT 0x3446 +#define EGL_DMA_BUF_PLANE2_MODIFIER_LO_EXT 0x3447 +#define EGL_DMA_BUF_PLANE2_MODIFIER_HI_EXT 0x3448 +#define EGL_DMA_BUF_PLANE3_MODIFIER_LO_EXT 0x3449 +#define EGL_DMA_BUF_PLANE3_MODIFIER_HI_EXT 0x344A +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDMABUFFORMATSEXTPROC) (EGLDisplay dpy, EGLint max_formats, EGLint *formats, EGLint *num_formats); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDMABUFMODIFIERSEXTPROC) (EGLDisplay dpy, EGLint format, EGLint max_modifiers, EGLuint64KHR *modifiers, EGLBoolean *external_only, EGLint *num_modifiers); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDmaBufFormatsEXT (EGLDisplay dpy, EGLint max_formats, EGLint *formats, EGLint *num_formats); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDmaBufModifiersEXT (EGLDisplay dpy, EGLint format, EGLint max_modifiers, EGLuint64KHR *modifiers, EGLBoolean *external_only, EGLint *num_modifiers); +#endif +#endif /* EGL_EXT_image_dma_buf_import_modifiers */ + +#ifndef EGL_EXT_image_gl_colorspace +#define EGL_EXT_image_gl_colorspace 1 +#define EGL_GL_COLORSPACE_DEFAULT_EXT 0x314D +#endif /* EGL_EXT_image_gl_colorspace */ + +#ifndef EGL_EXT_image_implicit_sync_control +#define EGL_EXT_image_implicit_sync_control 1 +#define EGL_IMPORT_SYNC_TYPE_EXT 0x3470 +#define EGL_IMPORT_IMPLICIT_SYNC_EXT 0x3471 +#define EGL_IMPORT_EXPLICIT_SYNC_EXT 0x3472 +#endif /* EGL_EXT_image_implicit_sync_control */ + +#ifndef EGL_EXT_multiview_window +#define EGL_EXT_multiview_window 1 +#define EGL_MULTIVIEW_VIEW_COUNT_EXT 0x3134 +#endif /* EGL_EXT_multiview_window */ + +#ifndef EGL_EXT_output_base +#define EGL_EXT_output_base 1 +typedef void *EGLOutputLayerEXT; +typedef void *EGLOutputPortEXT; +#define EGL_NO_OUTPUT_LAYER_EXT EGL_CAST(EGLOutputLayerEXT,0) +#define EGL_NO_OUTPUT_PORT_EXT EGL_CAST(EGLOutputPortEXT,0) +#define EGL_BAD_OUTPUT_LAYER_EXT 0x322D +#define EGL_BAD_OUTPUT_PORT_EXT 0x322E +#define EGL_SWAP_INTERVAL_EXT 0x322F +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETOUTPUTLAYERSEXTPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputLayerEXT *layers, EGLint max_layers, EGLint *num_layers); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETOUTPUTPORTSEXTPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputPortEXT *ports, EGLint max_ports, EGLint *num_ports); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLOUTPUTLAYERATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYOUTPUTLAYERATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYOUTPUTLAYERSTRINGEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint name); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLOUTPUTPORTATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYOUTPUTPORTATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYOUTPUTPORTSTRINGEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint name); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglGetOutputLayersEXT (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputLayerEXT *layers, EGLint max_layers, EGLint *num_layers); +EGLAPI EGLBoolean EGLAPIENTRY eglGetOutputPortsEXT (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputPortEXT *ports, EGLint max_ports, EGLint *num_ports); +EGLAPI EGLBoolean EGLAPIENTRY eglOutputLayerAttribEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryOutputLayerAttribEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib *value); +EGLAPI const char *EGLAPIENTRY eglQueryOutputLayerStringEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglOutputPortAttribEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryOutputPortAttribEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib *value); +EGLAPI const char *EGLAPIENTRY eglQueryOutputPortStringEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint name); +#endif +#endif /* EGL_EXT_output_base */ + +#ifndef EGL_EXT_output_drm +#define EGL_EXT_output_drm 1 +#define EGL_DRM_CRTC_EXT 0x3234 +#define EGL_DRM_PLANE_EXT 0x3235 +#define EGL_DRM_CONNECTOR_EXT 0x3236 +#endif /* EGL_EXT_output_drm */ + +#ifndef EGL_EXT_output_openwf +#define EGL_EXT_output_openwf 1 +#define EGL_OPENWF_PIPELINE_ID_EXT 0x3238 +#define EGL_OPENWF_PORT_ID_EXT 0x3239 +#endif /* EGL_EXT_output_openwf */ + +#ifndef EGL_EXT_pixel_format_float +#define EGL_EXT_pixel_format_float 1 +#define EGL_COLOR_COMPONENT_TYPE_EXT 0x3339 +#define EGL_COLOR_COMPONENT_TYPE_FIXED_EXT 0x333A +#define EGL_COLOR_COMPONENT_TYPE_FLOAT_EXT 0x333B +#endif /* EGL_EXT_pixel_format_float */ + +#ifndef EGL_EXT_platform_base +#define EGL_EXT_platform_base 1 +typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETPLATFORMDISPLAYEXTPROC) (EGLenum platform, void *native_display, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMWINDOWSURFACEEXTPROC) (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMPIXMAPSURFACEEXTPROC) (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLDisplay EGLAPIENTRY eglGetPlatformDisplayEXT (EGLenum platform, void *native_display, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformWindowSurfaceEXT (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformPixmapSurfaceEXT (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLint *attrib_list); +#endif +#endif /* EGL_EXT_platform_base */ + +#ifndef EGL_EXT_platform_device +#define EGL_EXT_platform_device 1 +#define EGL_PLATFORM_DEVICE_EXT 0x313F +#endif /* EGL_EXT_platform_device */ + +#ifndef EGL_EXT_platform_wayland +#define EGL_EXT_platform_wayland 1 +#define EGL_PLATFORM_WAYLAND_EXT 0x31D8 +#endif /* EGL_EXT_platform_wayland */ + +#ifndef EGL_EXT_platform_x11 +#define EGL_EXT_platform_x11 1 +#define EGL_PLATFORM_X11_EXT 0x31D5 +#define EGL_PLATFORM_X11_SCREEN_EXT 0x31D6 +#endif /* EGL_EXT_platform_x11 */ + +#ifndef EGL_EXT_platform_xcb +#define EGL_EXT_platform_xcb 1 +#define EGL_PLATFORM_XCB_EXT 0x31DC +#define EGL_PLATFORM_XCB_SCREEN_EXT 0x31DE +#endif /* EGL_EXT_platform_xcb */ + +#ifndef EGL_EXT_present_opaque +#define EGL_EXT_present_opaque 1 +#define EGL_PRESENT_OPAQUE_EXT 0x31DF +#endif /* EGL_EXT_present_opaque */ + +#ifndef EGL_EXT_protected_content +#define EGL_EXT_protected_content 1 +#define EGL_PROTECTED_CONTENT_EXT 0x32C0 +#endif /* EGL_EXT_protected_content */ + +#ifndef EGL_EXT_protected_surface +#define EGL_EXT_protected_surface 1 +#endif /* EGL_EXT_protected_surface */ + +#ifndef EGL_EXT_stream_consumer_egloutput +#define EGL_EXT_stream_consumer_egloutput 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMEROUTPUTEXTPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLOutputLayerEXT layer); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerOutputEXT (EGLDisplay dpy, EGLStreamKHR stream, EGLOutputLayerEXT layer); +#endif +#endif /* EGL_EXT_stream_consumer_egloutput */ + +#ifndef EGL_EXT_surface_CTA861_3_metadata +#define EGL_EXT_surface_CTA861_3_metadata 1 +#define EGL_CTA861_3_MAX_CONTENT_LIGHT_LEVEL_EXT 0x3360 +#define EGL_CTA861_3_MAX_FRAME_AVERAGE_LEVEL_EXT 0x3361 +#endif /* EGL_EXT_surface_CTA861_3_metadata */ + +#ifndef EGL_EXT_surface_SMPTE2086_metadata +#define EGL_EXT_surface_SMPTE2086_metadata 1 +#define EGL_SMPTE2086_DISPLAY_PRIMARY_RX_EXT 0x3341 +#define EGL_SMPTE2086_DISPLAY_PRIMARY_RY_EXT 0x3342 +#define EGL_SMPTE2086_DISPLAY_PRIMARY_GX_EXT 0x3343 +#define EGL_SMPTE2086_DISPLAY_PRIMARY_GY_EXT 0x3344 +#define EGL_SMPTE2086_DISPLAY_PRIMARY_BX_EXT 0x3345 +#define EGL_SMPTE2086_DISPLAY_PRIMARY_BY_EXT 0x3346 +#define EGL_SMPTE2086_WHITE_POINT_X_EXT 0x3347 +#define EGL_SMPTE2086_WHITE_POINT_Y_EXT 0x3348 +#define EGL_SMPTE2086_MAX_LUMINANCE_EXT 0x3349 +#define EGL_SMPTE2086_MIN_LUMINANCE_EXT 0x334A +#define EGL_METADATA_SCALING_EXT 50000 +#endif /* EGL_EXT_surface_SMPTE2086_metadata */ + +#ifndef EGL_EXT_surface_compression +#define EGL_EXT_surface_compression 1 +#define EGL_SURFACE_COMPRESSION_EXT 0x34B0 +#define EGL_SURFACE_COMPRESSION_PLANE1_EXT 0x328E +#define EGL_SURFACE_COMPRESSION_PLANE2_EXT 0x328F +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_NONE_EXT 0x34B1 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_DEFAULT_EXT 0x34B2 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_1BPC_EXT 0x34B4 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_2BPC_EXT 0x34B5 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_3BPC_EXT 0x34B6 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_4BPC_EXT 0x34B7 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_5BPC_EXT 0x34B8 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_6BPC_EXT 0x34B9 +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_7BPC_EXT 0x34BA +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_8BPC_EXT 0x34BB +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_9BPC_EXT 0x34BC +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_10BPC_EXT 0x34BD +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_11BPC_EXT 0x34BE +#define EGL_SURFACE_COMPRESSION_FIXED_RATE_12BPC_EXT 0x34BF +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSUPPORTEDCOMPRESSIONRATESEXTPROC) (EGLDisplay dpy, EGLConfig config, const EGLAttrib *attrib_list, EGLint *rates, EGLint rate_size, EGLint *num_rates); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySupportedCompressionRatesEXT (EGLDisplay dpy, EGLConfig config, const EGLAttrib *attrib_list, EGLint *rates, EGLint rate_size, EGLint *num_rates); +#endif +#endif /* EGL_EXT_surface_compression */ + +#ifndef EGL_EXT_swap_buffers_with_damage +#define EGL_EXT_swap_buffers_with_damage 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSWITHDAMAGEEXTPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersWithDamageEXT (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); +#endif +#endif /* EGL_EXT_swap_buffers_with_damage */ + +#ifndef EGL_EXT_sync_reuse +#define EGL_EXT_sync_reuse 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNSIGNALSYNCEXTPROC) (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglUnsignalSyncEXT (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); +#endif +#endif /* EGL_EXT_sync_reuse */ + +#ifndef EGL_EXT_yuv_surface +#define EGL_EXT_yuv_surface 1 +#define EGL_YUV_ORDER_EXT 0x3301 +#define EGL_YUV_NUMBER_OF_PLANES_EXT 0x3311 +#define EGL_YUV_SUBSAMPLE_EXT 0x3312 +#define EGL_YUV_DEPTH_RANGE_EXT 0x3317 +#define EGL_YUV_CSC_STANDARD_EXT 0x330A +#define EGL_YUV_PLANE_BPP_EXT 0x331A +#define EGL_YUV_BUFFER_EXT 0x3300 +#define EGL_YUV_ORDER_YUV_EXT 0x3302 +#define EGL_YUV_ORDER_YVU_EXT 0x3303 +#define EGL_YUV_ORDER_YUYV_EXT 0x3304 +#define EGL_YUV_ORDER_UYVY_EXT 0x3305 +#define EGL_YUV_ORDER_YVYU_EXT 0x3306 +#define EGL_YUV_ORDER_VYUY_EXT 0x3307 +#define EGL_YUV_ORDER_AYUV_EXT 0x3308 +#define EGL_YUV_SUBSAMPLE_4_2_0_EXT 0x3313 +#define EGL_YUV_SUBSAMPLE_4_2_2_EXT 0x3314 +#define EGL_YUV_SUBSAMPLE_4_4_4_EXT 0x3315 +#define EGL_YUV_DEPTH_RANGE_LIMITED_EXT 0x3318 +#define EGL_YUV_DEPTH_RANGE_FULL_EXT 0x3319 +#define EGL_YUV_CSC_STANDARD_601_EXT 0x330B +#define EGL_YUV_CSC_STANDARD_709_EXT 0x330C +#define EGL_YUV_CSC_STANDARD_2020_EXT 0x330D +#define EGL_YUV_PLANE_BPP_0_EXT 0x331B +#define EGL_YUV_PLANE_BPP_8_EXT 0x331C +#define EGL_YUV_PLANE_BPP_10_EXT 0x331D +#endif /* EGL_EXT_yuv_surface */ + +#ifndef EGL_HI_clientpixmap +#define EGL_HI_clientpixmap 1 +struct EGLClientPixmapHI { + void *pData; + EGLint iWidth; + EGLint iHeight; + EGLint iStride; +}; +#define EGL_CLIENT_PIXMAP_POINTER_HI 0x8F74 +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPIXMAPSURFACEHIPROC) (EGLDisplay dpy, EGLConfig config, struct EGLClientPixmapHI *pixmap); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSurface EGLAPIENTRY eglCreatePixmapSurfaceHI (EGLDisplay dpy, EGLConfig config, struct EGLClientPixmapHI *pixmap); +#endif +#endif /* EGL_HI_clientpixmap */ + +#ifndef EGL_HI_colorformats +#define EGL_HI_colorformats 1 +#define EGL_COLOR_FORMAT_HI 0x8F70 +#define EGL_COLOR_RGB_HI 0x8F71 +#define EGL_COLOR_RGBA_HI 0x8F72 +#define EGL_COLOR_ARGB_HI 0x8F73 +#endif /* EGL_HI_colorformats */ + +#ifndef EGL_IMG_context_priority +#define EGL_IMG_context_priority 1 +#define EGL_CONTEXT_PRIORITY_LEVEL_IMG 0x3100 +#define EGL_CONTEXT_PRIORITY_HIGH_IMG 0x3101 +#define EGL_CONTEXT_PRIORITY_MEDIUM_IMG 0x3102 +#define EGL_CONTEXT_PRIORITY_LOW_IMG 0x3103 +#endif /* EGL_IMG_context_priority */ + +#ifndef EGL_IMG_image_plane_attribs +#define EGL_IMG_image_plane_attribs 1 +#define EGL_NATIVE_BUFFER_MULTIPLANE_SEPARATE_IMG 0x3105 +#define EGL_NATIVE_BUFFER_PLANE_OFFSET_IMG 0x3106 +#endif /* EGL_IMG_image_plane_attribs */ + +#ifndef EGL_MESA_drm_image +#define EGL_MESA_drm_image 1 +#define EGL_DRM_BUFFER_FORMAT_MESA 0x31D0 +#define EGL_DRM_BUFFER_USE_MESA 0x31D1 +#define EGL_DRM_BUFFER_FORMAT_ARGB32_MESA 0x31D2 +#define EGL_DRM_BUFFER_MESA 0x31D3 +#define EGL_DRM_BUFFER_STRIDE_MESA 0x31D4 +#define EGL_DRM_BUFFER_USE_SCANOUT_MESA 0x00000001 +#define EGL_DRM_BUFFER_USE_SHARE_MESA 0x00000002 +#define EGL_DRM_BUFFER_USE_CURSOR_MESA 0x00000004 +typedef EGLImageKHR (EGLAPIENTRYP PFNEGLCREATEDRMIMAGEMESAPROC) (EGLDisplay dpy, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDRMIMAGEMESAPROC) (EGLDisplay dpy, EGLImageKHR image, EGLint *name, EGLint *handle, EGLint *stride); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLImageKHR EGLAPIENTRY eglCreateDRMImageMESA (EGLDisplay dpy, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglExportDRMImageMESA (EGLDisplay dpy, EGLImageKHR image, EGLint *name, EGLint *handle, EGLint *stride); +#endif +#endif /* EGL_MESA_drm_image */ + +#ifndef EGL_MESA_image_dma_buf_export +#define EGL_MESA_image_dma_buf_export 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDMABUFIMAGEQUERYMESAPROC) (EGLDisplay dpy, EGLImageKHR image, int *fourcc, int *num_planes, EGLuint64KHR *modifiers); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDMABUFIMAGEMESAPROC) (EGLDisplay dpy, EGLImageKHR image, int *fds, EGLint *strides, EGLint *offsets); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglExportDMABUFImageQueryMESA (EGLDisplay dpy, EGLImageKHR image, int *fourcc, int *num_planes, EGLuint64KHR *modifiers); +EGLAPI EGLBoolean EGLAPIENTRY eglExportDMABUFImageMESA (EGLDisplay dpy, EGLImageKHR image, int *fds, EGLint *strides, EGLint *offsets); +#endif +#endif /* EGL_MESA_image_dma_buf_export */ + +#ifndef EGL_MESA_platform_gbm +#define EGL_MESA_platform_gbm 1 +#define EGL_PLATFORM_GBM_MESA 0x31D7 +#endif /* EGL_MESA_platform_gbm */ + +#ifndef EGL_MESA_platform_surfaceless +#define EGL_MESA_platform_surfaceless 1 +#define EGL_PLATFORM_SURFACELESS_MESA 0x31DD +#endif /* EGL_MESA_platform_surfaceless */ + +#ifndef EGL_MESA_query_driver +#define EGL_MESA_query_driver 1 +typedef char *(EGLAPIENTRYP PFNEGLGETDISPLAYDRIVERCONFIGPROC) (EGLDisplay dpy); +typedef const char *(EGLAPIENTRYP PFNEGLGETDISPLAYDRIVERNAMEPROC) (EGLDisplay dpy); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI char *EGLAPIENTRY eglGetDisplayDriverConfig (EGLDisplay dpy); +EGLAPI const char *EGLAPIENTRY eglGetDisplayDriverName (EGLDisplay dpy); +#endif +#endif /* EGL_MESA_query_driver */ + +#ifndef EGL_NOK_swap_region +#define EGL_NOK_swap_region 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSREGIONNOKPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersRegionNOK (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#endif +#endif /* EGL_NOK_swap_region */ + +#ifndef EGL_NOK_swap_region2 +#define EGL_NOK_swap_region2 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSREGION2NOKPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersRegion2NOK (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#endif +#endif /* EGL_NOK_swap_region2 */ + +#ifndef EGL_NOK_texture_from_pixmap +#define EGL_NOK_texture_from_pixmap 1 +#define EGL_Y_INVERTED_NOK 0x307F +#endif /* EGL_NOK_texture_from_pixmap */ + +#ifndef EGL_NV_3dvision_surface +#define EGL_NV_3dvision_surface 1 +#define EGL_AUTO_STEREO_NV 0x3136 +#endif /* EGL_NV_3dvision_surface */ + +#ifndef EGL_NV_context_priority_realtime +#define EGL_NV_context_priority_realtime 1 +#define EGL_CONTEXT_PRIORITY_REALTIME_NV 0x3357 +#endif /* EGL_NV_context_priority_realtime */ + +#ifndef EGL_NV_coverage_sample +#define EGL_NV_coverage_sample 1 +#define EGL_COVERAGE_BUFFERS_NV 0x30E0 +#define EGL_COVERAGE_SAMPLES_NV 0x30E1 +#endif /* EGL_NV_coverage_sample */ + +#ifndef EGL_NV_coverage_sample_resolve +#define EGL_NV_coverage_sample_resolve 1 +#define EGL_COVERAGE_SAMPLE_RESOLVE_NV 0x3131 +#define EGL_COVERAGE_SAMPLE_RESOLVE_DEFAULT_NV 0x3132 +#define EGL_COVERAGE_SAMPLE_RESOLVE_NONE_NV 0x3133 +#endif /* EGL_NV_coverage_sample_resolve */ + +#ifndef EGL_NV_cuda_event +#define EGL_NV_cuda_event 1 +#define EGL_CUDA_EVENT_HANDLE_NV 0x323B +#define EGL_SYNC_CUDA_EVENT_NV 0x323C +#define EGL_SYNC_CUDA_EVENT_COMPLETE_NV 0x323D +#endif /* EGL_NV_cuda_event */ + +#ifndef EGL_NV_depth_nonlinear +#define EGL_NV_depth_nonlinear 1 +#define EGL_DEPTH_ENCODING_NV 0x30E2 +#define EGL_DEPTH_ENCODING_NONE_NV 0 +#define EGL_DEPTH_ENCODING_NONLINEAR_NV 0x30E3 +#endif /* EGL_NV_depth_nonlinear */ + +#ifndef EGL_NV_device_cuda +#define EGL_NV_device_cuda 1 +#define EGL_CUDA_DEVICE_NV 0x323A +#endif /* EGL_NV_device_cuda */ + +#ifndef EGL_NV_native_query +#define EGL_NV_native_query 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEDISPLAYNVPROC) (EGLDisplay dpy, EGLNativeDisplayType *display_id); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEWINDOWNVPROC) (EGLDisplay dpy, EGLSurface surf, EGLNativeWindowType *window); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEPIXMAPNVPROC) (EGLDisplay dpy, EGLSurface surf, EGLNativePixmapType *pixmap); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativeDisplayNV (EGLDisplay dpy, EGLNativeDisplayType *display_id); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativeWindowNV (EGLDisplay dpy, EGLSurface surf, EGLNativeWindowType *window); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativePixmapNV (EGLDisplay dpy, EGLSurface surf, EGLNativePixmapType *pixmap); +#endif +#endif /* EGL_NV_native_query */ + +#ifndef EGL_NV_post_convert_rounding +#define EGL_NV_post_convert_rounding 1 +#endif /* EGL_NV_post_convert_rounding */ + +#ifndef EGL_NV_post_sub_buffer +#define EGL_NV_post_sub_buffer 1 +#define EGL_POST_SUB_BUFFER_SUPPORTED_NV 0x30BE +typedef EGLBoolean (EGLAPIENTRYP PFNEGLPOSTSUBBUFFERNVPROC) (EGLDisplay dpy, EGLSurface surface, EGLint x, EGLint y, EGLint width, EGLint height); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglPostSubBufferNV (EGLDisplay dpy, EGLSurface surface, EGLint x, EGLint y, EGLint width, EGLint height); +#endif +#endif /* EGL_NV_post_sub_buffer */ + +#ifndef EGL_NV_quadruple_buffer +#define EGL_NV_quadruple_buffer 1 +#define EGL_QUADRUPLE_BUFFER_NV 0x3231 +#endif /* EGL_NV_quadruple_buffer */ + +#ifndef EGL_NV_robustness_video_memory_purge +#define EGL_NV_robustness_video_memory_purge 1 +#define EGL_GENERATE_RESET_ON_VIDEO_MEMORY_PURGE_NV 0x334C +#endif /* EGL_NV_robustness_video_memory_purge */ + +#ifndef EGL_NV_stream_consumer_eglimage +#define EGL_NV_stream_consumer_eglimage 1 +#define EGL_STREAM_CONSUMER_IMAGE_NV 0x3373 +#define EGL_STREAM_IMAGE_ADD_NV 0x3374 +#define EGL_STREAM_IMAGE_REMOVE_NV 0x3375 +#define EGL_STREAM_IMAGE_AVAILABLE_NV 0x3376 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMIMAGECONSUMERCONNECTNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLint num_modifiers, const EGLuint64KHR *modifiers, const EGLAttrib *attrib_list); +typedef EGLint (EGLAPIENTRYP PFNEGLQUERYSTREAMCONSUMEREVENTNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLTime timeout, EGLenum *event, EGLAttrib *aux); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMACQUIREIMAGENVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLImage *pImage, EGLSync sync); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMRELEASEIMAGENVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLImage image, EGLSync sync); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamImageConsumerConnectNV (EGLDisplay dpy, EGLStreamKHR stream, EGLint num_modifiers, const EGLuint64KHR *modifiers, const EGLAttrib *attrib_list); +EGLAPI EGLint EGLAPIENTRY eglQueryStreamConsumerEventNV (EGLDisplay dpy, EGLStreamKHR stream, EGLTime timeout, EGLenum *event, EGLAttrib *aux); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamAcquireImageNV (EGLDisplay dpy, EGLStreamKHR stream, EGLImage *pImage, EGLSync sync); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamReleaseImageNV (EGLDisplay dpy, EGLStreamKHR stream, EGLImage image, EGLSync sync); +#endif +#endif /* EGL_NV_stream_consumer_eglimage */ + +#ifndef EGL_NV_stream_consumer_gltexture_yuv +#define EGL_NV_stream_consumer_gltexture_yuv 1 +#define EGL_YUV_PLANE0_TEXTURE_UNIT_NV 0x332C +#define EGL_YUV_PLANE1_TEXTURE_UNIT_NV 0x332D +#define EGL_YUV_PLANE2_TEXTURE_UNIT_NV 0x332E +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERGLTEXTUREEXTERNALATTRIBSNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerGLTextureExternalAttribsNV (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); +#endif +#endif /* EGL_NV_stream_consumer_gltexture_yuv */ + +#ifndef EGL_NV_stream_cross_display +#define EGL_NV_stream_cross_display 1 +#define EGL_STREAM_CROSS_DISPLAY_NV 0x334E +#endif /* EGL_NV_stream_cross_display */ + +#ifndef EGL_NV_stream_cross_object +#define EGL_NV_stream_cross_object 1 +#define EGL_STREAM_CROSS_OBJECT_NV 0x334D +#endif /* EGL_NV_stream_cross_object */ + +#ifndef EGL_NV_stream_cross_partition +#define EGL_NV_stream_cross_partition 1 +#define EGL_STREAM_CROSS_PARTITION_NV 0x323F +#endif /* EGL_NV_stream_cross_partition */ + +#ifndef EGL_NV_stream_cross_process +#define EGL_NV_stream_cross_process 1 +#define EGL_STREAM_CROSS_PROCESS_NV 0x3245 +#endif /* EGL_NV_stream_cross_process */ + +#ifndef EGL_NV_stream_cross_system +#define EGL_NV_stream_cross_system 1 +#define EGL_STREAM_CROSS_SYSTEM_NV 0x334F +#endif /* EGL_NV_stream_cross_system */ + +#ifndef EGL_NV_stream_dma +#define EGL_NV_stream_dma 1 +#define EGL_STREAM_DMA_NV 0x3371 +#define EGL_STREAM_DMA_SERVER_NV 0x3372 +#endif /* EGL_NV_stream_dma */ + +#ifndef EGL_NV_stream_fifo_next +#define EGL_NV_stream_fifo_next 1 +#define EGL_PENDING_FRAME_NV 0x3329 +#define EGL_STREAM_TIME_PENDING_NV 0x332A +#endif /* EGL_NV_stream_fifo_next */ + +#ifndef EGL_NV_stream_fifo_synchronous +#define EGL_NV_stream_fifo_synchronous 1 +#define EGL_STREAM_FIFO_SYNCHRONOUS_NV 0x3336 +#endif /* EGL_NV_stream_fifo_synchronous */ + +#ifndef EGL_NV_stream_flush +#define EGL_NV_stream_flush 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMFLUSHNVPROC) (EGLDisplay dpy, EGLStreamKHR stream); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamFlushNV (EGLDisplay dpy, EGLStreamKHR stream); +#endif +#endif /* EGL_NV_stream_flush */ + +#ifndef EGL_NV_stream_frame_limits +#define EGL_NV_stream_frame_limits 1 +#define EGL_PRODUCER_MAX_FRAME_HINT_NV 0x3337 +#define EGL_CONSUMER_MAX_FRAME_HINT_NV 0x3338 +#endif /* EGL_NV_stream_frame_limits */ + +#ifndef EGL_NV_stream_metadata +#define EGL_NV_stream_metadata 1 +#define EGL_MAX_STREAM_METADATA_BLOCKS_NV 0x3250 +#define EGL_MAX_STREAM_METADATA_BLOCK_SIZE_NV 0x3251 +#define EGL_MAX_STREAM_METADATA_TOTAL_SIZE_NV 0x3252 +#define EGL_PRODUCER_METADATA_NV 0x3253 +#define EGL_CONSUMER_METADATA_NV 0x3254 +#define EGL_PENDING_METADATA_NV 0x3328 +#define EGL_METADATA0_SIZE_NV 0x3255 +#define EGL_METADATA1_SIZE_NV 0x3256 +#define EGL_METADATA2_SIZE_NV 0x3257 +#define EGL_METADATA3_SIZE_NV 0x3258 +#define EGL_METADATA0_TYPE_NV 0x3259 +#define EGL_METADATA1_TYPE_NV 0x325A +#define EGL_METADATA2_TYPE_NV 0x325B +#define EGL_METADATA3_TYPE_NV 0x325C +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBNVPROC) (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETSTREAMMETADATANVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLint n, EGLint offset, EGLint size, const void *data); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMMETADATANVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum name, EGLint n, EGLint offset, EGLint size, void *data); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribNV (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +EGLAPI EGLBoolean EGLAPIENTRY eglSetStreamMetadataNV (EGLDisplay dpy, EGLStreamKHR stream, EGLint n, EGLint offset, EGLint size, const void *data); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamMetadataNV (EGLDisplay dpy, EGLStreamKHR stream, EGLenum name, EGLint n, EGLint offset, EGLint size, void *data); +#endif +#endif /* EGL_NV_stream_metadata */ + +#ifndef EGL_NV_stream_origin +#define EGL_NV_stream_origin 1 +#define EGL_STREAM_FRAME_ORIGIN_X_NV 0x3366 +#define EGL_STREAM_FRAME_ORIGIN_Y_NV 0x3367 +#define EGL_STREAM_FRAME_MAJOR_AXIS_NV 0x3368 +#define EGL_CONSUMER_AUTO_ORIENTATION_NV 0x3369 +#define EGL_PRODUCER_AUTO_ORIENTATION_NV 0x336A +#define EGL_LEFT_NV 0x336B +#define EGL_RIGHT_NV 0x336C +#define EGL_TOP_NV 0x336D +#define EGL_BOTTOM_NV 0x336E +#define EGL_X_AXIS_NV 0x336F +#define EGL_Y_AXIS_NV 0x3370 +#endif /* EGL_NV_stream_origin */ + +#ifndef EGL_NV_stream_remote +#define EGL_NV_stream_remote 1 +#define EGL_STREAM_STATE_INITIALIZING_NV 0x3240 +#define EGL_STREAM_TYPE_NV 0x3241 +#define EGL_STREAM_PROTOCOL_NV 0x3242 +#define EGL_STREAM_ENDPOINT_NV 0x3243 +#define EGL_STREAM_LOCAL_NV 0x3244 +#define EGL_STREAM_PRODUCER_NV 0x3247 +#define EGL_STREAM_CONSUMER_NV 0x3248 +#define EGL_STREAM_PROTOCOL_FD_NV 0x3246 +#endif /* EGL_NV_stream_remote */ + +#ifndef EGL_NV_stream_reset +#define EGL_NV_stream_reset 1 +#define EGL_SUPPORT_RESET_NV 0x3334 +#define EGL_SUPPORT_REUSE_NV 0x3335 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLRESETSTREAMNVPROC) (EGLDisplay dpy, EGLStreamKHR stream); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglResetStreamNV (EGLDisplay dpy, EGLStreamKHR stream); +#endif +#endif /* EGL_NV_stream_reset */ + +#ifndef EGL_NV_stream_socket +#define EGL_NV_stream_socket 1 +#define EGL_STREAM_PROTOCOL_SOCKET_NV 0x324B +#define EGL_SOCKET_HANDLE_NV 0x324C +#define EGL_SOCKET_TYPE_NV 0x324D +#endif /* EGL_NV_stream_socket */ + +#ifndef EGL_NV_stream_socket_inet +#define EGL_NV_stream_socket_inet 1 +#define EGL_SOCKET_TYPE_INET_NV 0x324F +#endif /* EGL_NV_stream_socket_inet */ + +#ifndef EGL_NV_stream_socket_unix +#define EGL_NV_stream_socket_unix 1 +#define EGL_SOCKET_TYPE_UNIX_NV 0x324E +#endif /* EGL_NV_stream_socket_unix */ + +#ifndef EGL_NV_stream_sync +#define EGL_NV_stream_sync 1 +#define EGL_SYNC_NEW_FRAME_NV 0x321F +typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESTREAMSYNCNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum type, const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateStreamSyncNV (EGLDisplay dpy, EGLStreamKHR stream, EGLenum type, const EGLint *attrib_list); +#endif +#endif /* EGL_NV_stream_sync */ + +#ifndef EGL_NV_sync +#define EGL_NV_sync 1 +typedef void *EGLSyncNV; +typedef khronos_utime_nanoseconds_t EGLTimeNV; +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE_NV 0x30E6 +#define EGL_SYNC_STATUS_NV 0x30E7 +#define EGL_SIGNALED_NV 0x30E8 +#define EGL_UNSIGNALED_NV 0x30E9 +#define EGL_SYNC_FLUSH_COMMANDS_BIT_NV 0x0001 +#define EGL_FOREVER_NV 0xFFFFFFFFFFFFFFFFull +#define EGL_ALREADY_SIGNALED_NV 0x30EA +#define EGL_TIMEOUT_EXPIRED_NV 0x30EB +#define EGL_CONDITION_SATISFIED_NV 0x30EC +#define EGL_SYNC_TYPE_NV 0x30ED +#define EGL_SYNC_CONDITION_NV 0x30EE +#define EGL_SYNC_FENCE_NV 0x30EF +#define EGL_NO_SYNC_NV EGL_CAST(EGLSyncNV,0) +typedef EGLSyncNV (EGLAPIENTRYP PFNEGLCREATEFENCESYNCNVPROC) (EGLDisplay dpy, EGLenum condition, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCNVPROC) (EGLSyncNV sync); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLFENCENVPROC) (EGLSyncNV sync); +typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCNVPROC) (EGLSyncNV sync, EGLint flags, EGLTimeNV timeout); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSIGNALSYNCNVPROC) (EGLSyncNV sync, EGLenum mode); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBNVPROC) (EGLSyncNV sync, EGLint attribute, EGLint *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncNV EGLAPIENTRY eglCreateFenceSyncNV (EGLDisplay dpy, EGLenum condition, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySyncNV (EGLSyncNV sync); +EGLAPI EGLBoolean EGLAPIENTRY eglFenceNV (EGLSyncNV sync); +EGLAPI EGLint EGLAPIENTRY eglClientWaitSyncNV (EGLSyncNV sync, EGLint flags, EGLTimeNV timeout); +EGLAPI EGLBoolean EGLAPIENTRY eglSignalSyncNV (EGLSyncNV sync, EGLenum mode); +EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttribNV (EGLSyncNV sync, EGLint attribute, EGLint *value); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_NV_sync */ + +#ifndef EGL_NV_system_time +#define EGL_NV_system_time 1 +typedef khronos_utime_nanoseconds_t EGLuint64NV; +#ifdef KHRONOS_SUPPORT_INT64 +typedef EGLuint64NV (EGLAPIENTRYP PFNEGLGETSYSTEMTIMEFREQUENCYNVPROC) (void); +typedef EGLuint64NV (EGLAPIENTRYP PFNEGLGETSYSTEMTIMENVPROC) (void); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLuint64NV EGLAPIENTRY eglGetSystemTimeFrequencyNV (void); +EGLAPI EGLuint64NV EGLAPIENTRY eglGetSystemTimeNV (void); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_NV_system_time */ + +#ifndef EGL_NV_triple_buffer +#define EGL_NV_triple_buffer 1 +#define EGL_TRIPLE_BUFFER_NV 0x3230 +#endif /* EGL_NV_triple_buffer */ + +#ifndef EGL_TIZEN_image_native_buffer +#define EGL_TIZEN_image_native_buffer 1 +#define EGL_NATIVE_BUFFER_TIZEN 0x32A0 +#endif /* EGL_TIZEN_image_native_buffer */ + +#ifndef EGL_TIZEN_image_native_surface +#define EGL_TIZEN_image_native_surface 1 +#define EGL_NATIVE_SURFACE_TIZEN 0x32A1 +#endif /* EGL_TIZEN_image_native_surface */ + +#ifndef EGL_WL_bind_wayland_display +#define EGL_WL_bind_wayland_display 1 +#define PFNEGLBINDWAYLANDDISPLAYWL PFNEGLBINDWAYLANDDISPLAYWLPROC +#define PFNEGLUNBINDWAYLANDDISPLAYWL PFNEGLUNBINDWAYLANDDISPLAYWLPROC +#define PFNEGLQUERYWAYLANDBUFFERWL PFNEGLQUERYWAYLANDBUFFERWLPROC +struct wl_display; +struct wl_resource; +#define EGL_WAYLAND_BUFFER_WL 0x31D5 +#define EGL_WAYLAND_PLANE_WL 0x31D6 +#define EGL_TEXTURE_Y_U_V_WL 0x31D7 +#define EGL_TEXTURE_Y_UV_WL 0x31D8 +#define EGL_TEXTURE_Y_XUXV_WL 0x31D9 +#define EGL_TEXTURE_EXTERNAL_WL 0x31DA +#define EGL_WAYLAND_Y_INVERTED_WL 0x31DB +typedef EGLBoolean (EGLAPIENTRYP PFNEGLBINDWAYLANDDISPLAYWLPROC) (EGLDisplay dpy, struct wl_display *display); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNBINDWAYLANDDISPLAYWLPROC) (EGLDisplay dpy, struct wl_display *display); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYWAYLANDBUFFERWLPROC) (EGLDisplay dpy, struct wl_resource *buffer, EGLint attribute, EGLint *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglBindWaylandDisplayWL (EGLDisplay dpy, struct wl_display *display); +EGLAPI EGLBoolean EGLAPIENTRY eglUnbindWaylandDisplayWL (EGLDisplay dpy, struct wl_display *display); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryWaylandBufferWL (EGLDisplay dpy, struct wl_resource *buffer, EGLint attribute, EGLint *value); +#endif +#endif /* EGL_WL_bind_wayland_display */ + +#ifndef EGL_WL_create_wayland_buffer_from_image +#define EGL_WL_create_wayland_buffer_from_image 1 +#define PFNEGLCREATEWAYLANDBUFFERFROMIMAGEWL PFNEGLCREATEWAYLANDBUFFERFROMIMAGEWLPROC +struct wl_buffer; +typedef struct wl_buffer *(EGLAPIENTRYP PFNEGLCREATEWAYLANDBUFFERFROMIMAGEWLPROC) (EGLDisplay dpy, EGLImageKHR image); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI struct wl_buffer *EGLAPIENTRY eglCreateWaylandBufferFromImageWL (EGLDisplay dpy, EGLImageKHR image); +#endif +#endif /* EGL_WL_create_wayland_buffer_from_image */ + +#ifdef __cplusplus +} +#endif + +#endif /* __eglext_h_ */ + +#endif /* _MSC_VER */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_endian.h b/subprojects/sdl2_windows/include/SDL2/SDL_endian.h new file mode 100644 index 000000000..c3f84317f --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_endian.h @@ -0,0 +1,348 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_endian.h + * + * Functions for reading and writing endian-specific values + */ + +#ifndef SDL_endian_h_ +#define SDL_endian_h_ + +#include "SDL_stdinc.h" + +#if defined(_MSC_VER) && (_MSC_VER >= 1400) +/* As of Clang 11, '_m_prefetchw' is conflicting with the winnt.h's version, + so we define the needed '_m_prefetch' here as a pseudo-header, until the issue is fixed. */ +#ifdef __clang__ +#ifndef __PRFCHWINTRIN_H +#define __PRFCHWINTRIN_H +static __inline__ void __attribute__((__always_inline__, __nodebug__)) +_m_prefetch(void *__P) +{ + __builtin_prefetch(__P, 0, 3 /* _MM_HINT_T0 */); +} +#endif /* __PRFCHWINTRIN_H */ +#endif /* __clang__ */ + +#include +#endif + +/** + * \name The two types of endianness + */ +/* @{ */ +#define SDL_LIL_ENDIAN 1234 +#define SDL_BIG_ENDIAN 4321 +/* @} */ + +#ifndef SDL_BYTEORDER /* Not defined in SDL_config.h? */ +#ifdef __linux__ +#include +#define SDL_BYTEORDER __BYTE_ORDER +#elif defined(__OpenBSD__) || defined(__DragonFly__) +#include +#define SDL_BYTEORDER BYTE_ORDER +#elif defined(__FreeBSD__) || defined(__NetBSD__) +#include +#define SDL_BYTEORDER BYTE_ORDER +/* predefs from newer gcc and clang versions: */ +#elif defined(__ORDER_LITTLE_ENDIAN__) && defined(__ORDER_BIG_ENDIAN__) && defined(__BYTE_ORDER__) +#if (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) +#define SDL_BYTEORDER SDL_LIL_ENDIAN +#elif (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) +#define SDL_BYTEORDER SDL_BIG_ENDIAN +#else +#error Unsupported endianness +#endif /**/ +#else +#if defined(__hppa__) || \ + defined(__m68k__) || defined(mc68000) || defined(_M_M68K) || \ + (defined(__MIPS__) && defined(__MIPSEB__)) || \ + defined(__ppc__) || defined(__POWERPC__) || defined(__powerpc__) || defined(__PPC__) || \ + defined(__sparc__) +#define SDL_BYTEORDER SDL_BIG_ENDIAN +#else +#define SDL_BYTEORDER SDL_LIL_ENDIAN +#endif +#endif /* __linux__ */ +#endif /* !SDL_BYTEORDER */ + +#ifndef SDL_FLOATWORDORDER /* Not defined in SDL_config.h? */ +/* predefs from newer gcc versions: */ +#if defined(__ORDER_LITTLE_ENDIAN__) && defined(__ORDER_BIG_ENDIAN__) && defined(__FLOAT_WORD_ORDER__) +#if (__FLOAT_WORD_ORDER__ == __ORDER_LITTLE_ENDIAN__) +#define SDL_FLOATWORDORDER SDL_LIL_ENDIAN +#elif (__FLOAT_WORD_ORDER__ == __ORDER_BIG_ENDIAN__) +#define SDL_FLOATWORDORDER SDL_BIG_ENDIAN +#else +#error Unsupported endianness +#endif /**/ +#elif defined(__MAVERICK__) +/* For Maverick, float words are always little-endian. */ +#define SDL_FLOATWORDORDER SDL_LIL_ENDIAN +#elif (defined(__arm__) || defined(__thumb__)) && !defined(__VFP_FP__) && !defined(__ARM_EABI__) +/* For FPA, float words are always big-endian. */ +#define SDL_FLOATWORDORDER SDL_BIG_ENDIAN +#else +/* By default, assume that floats words follow the memory system mode. */ +#define SDL_FLOATWORDORDER SDL_BYTEORDER +#endif /* __FLOAT_WORD_ORDER__ */ +#endif /* !SDL_FLOATWORDORDER */ + + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \file SDL_endian.h + */ + +/* various modern compilers may have builtin swap */ +#if defined(__GNUC__) || defined(__clang__) +# define HAS_BUILTIN_BSWAP16 (_SDL_HAS_BUILTIN(__builtin_bswap16)) || \ + (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)) +# define HAS_BUILTIN_BSWAP32 (_SDL_HAS_BUILTIN(__builtin_bswap32)) || \ + (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) +# define HAS_BUILTIN_BSWAP64 (_SDL_HAS_BUILTIN(__builtin_bswap64)) || \ + (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + + /* this one is broken */ +# define HAS_BROKEN_BSWAP (__GNUC__ == 2 && __GNUC_MINOR__ <= 95) +#else +# define HAS_BUILTIN_BSWAP16 0 +# define HAS_BUILTIN_BSWAP32 0 +# define HAS_BUILTIN_BSWAP64 0 +# define HAS_BROKEN_BSWAP 0 +#endif + +#if HAS_BUILTIN_BSWAP16 +#define SDL_Swap16(x) __builtin_bswap16(x) +#elif defined(_MSC_VER) && (_MSC_VER >= 1400) +#pragma intrinsic(_byteswap_ushort) +#define SDL_Swap16(x) _byteswap_ushort(x) +#elif defined(__i386__) && !HAS_BROKEN_BSWAP +SDL_FORCE_INLINE Uint16 +SDL_Swap16(Uint16 x) +{ + __asm__("xchgb %b0,%h0": "=q"(x):"0"(x)); + return x; +} +#elif defined(__x86_64__) +SDL_FORCE_INLINE Uint16 +SDL_Swap16(Uint16 x) +{ + __asm__("xchgb %b0,%h0": "=Q"(x):"0"(x)); + return x; +} +#elif (defined(__powerpc__) || defined(__ppc__)) +SDL_FORCE_INLINE Uint16 +SDL_Swap16(Uint16 x) +{ + int result; + + __asm__("rlwimi %0,%2,8,16,23": "=&r"(result):"0"(x >> 8), "r"(x)); + return (Uint16)result; +} +#elif (defined(__m68k__) && !defined(__mcoldfire__)) +SDL_FORCE_INLINE Uint16 +SDL_Swap16(Uint16 x) +{ + __asm__("rorw #8,%0": "=d"(x): "0"(x):"cc"); + return x; +} +#elif defined(__WATCOMC__) && defined(__386__) +extern __inline Uint16 SDL_Swap16(Uint16); +#pragma aux SDL_Swap16 = \ + "xchg al, ah" \ + parm [ax] \ + modify [ax]; +#else +SDL_FORCE_INLINE Uint16 +SDL_Swap16(Uint16 x) +{ + return SDL_static_cast(Uint16, ((x << 8) | (x >> 8))); +} +#endif + +#if HAS_BUILTIN_BSWAP32 +#define SDL_Swap32(x) __builtin_bswap32(x) +#elif defined(_MSC_VER) && (_MSC_VER >= 1400) +#pragma intrinsic(_byteswap_ulong) +#define SDL_Swap32(x) _byteswap_ulong(x) +#elif defined(__i386__) && !HAS_BROKEN_BSWAP +SDL_FORCE_INLINE Uint32 +SDL_Swap32(Uint32 x) +{ + __asm__("bswap %0": "=r"(x):"0"(x)); + return x; +} +#elif defined(__x86_64__) +SDL_FORCE_INLINE Uint32 +SDL_Swap32(Uint32 x) +{ + __asm__("bswapl %0": "=r"(x):"0"(x)); + return x; +} +#elif (defined(__powerpc__) || defined(__ppc__)) +SDL_FORCE_INLINE Uint32 +SDL_Swap32(Uint32 x) +{ + Uint32 result; + + __asm__("rlwimi %0,%2,24,16,23": "=&r"(result): "0" (x>>24), "r"(x)); + __asm__("rlwimi %0,%2,8,8,15" : "=&r"(result): "0" (result), "r"(x)); + __asm__("rlwimi %0,%2,24,0,7" : "=&r"(result): "0" (result), "r"(x)); + return result; +} +#elif (defined(__m68k__) && !defined(__mcoldfire__)) +SDL_FORCE_INLINE Uint32 +SDL_Swap32(Uint32 x) +{ + __asm__("rorw #8,%0\n\tswap %0\n\trorw #8,%0": "=d"(x): "0"(x):"cc"); + return x; +} +#elif defined(__WATCOMC__) && defined(__386__) +extern __inline Uint32 SDL_Swap32(Uint32); +#pragma aux SDL_Swap32 = \ + "bswap eax" \ + parm [eax] \ + modify [eax]; +#else +SDL_FORCE_INLINE Uint32 +SDL_Swap32(Uint32 x) +{ + return SDL_static_cast(Uint32, ((x << 24) | ((x << 8) & 0x00FF0000) | + ((x >> 8) & 0x0000FF00) | (x >> 24))); +} +#endif + +#if HAS_BUILTIN_BSWAP64 +#define SDL_Swap64(x) __builtin_bswap64(x) +#elif defined(_MSC_VER) && (_MSC_VER >= 1400) +#pragma intrinsic(_byteswap_uint64) +#define SDL_Swap64(x) _byteswap_uint64(x) +#elif defined(__i386__) && !HAS_BROKEN_BSWAP +SDL_FORCE_INLINE Uint64 +SDL_Swap64(Uint64 x) +{ + union { + struct { + Uint32 a, b; + } s; + Uint64 u; + } v; + v.u = x; + __asm__("bswapl %0 ; bswapl %1 ; xchgl %0,%1" + : "=r"(v.s.a), "=r"(v.s.b) + : "0" (v.s.a), "1"(v.s.b)); + return v.u; +} +#elif defined(__x86_64__) +SDL_FORCE_INLINE Uint64 +SDL_Swap64(Uint64 x) +{ + __asm__("bswapq %0": "=r"(x):"0"(x)); + return x; +} +#elif defined(__WATCOMC__) && defined(__386__) +extern __inline Uint64 SDL_Swap64(Uint64); +#pragma aux SDL_Swap64 = \ + "bswap eax" \ + "bswap edx" \ + "xchg eax,edx" \ + parm [eax edx] \ + modify [eax edx]; +#else +SDL_FORCE_INLINE Uint64 +SDL_Swap64(Uint64 x) +{ + Uint32 hi, lo; + + /* Separate into high and low 32-bit values and swap them */ + lo = SDL_static_cast(Uint32, x & 0xFFFFFFFF); + x >>= 32; + hi = SDL_static_cast(Uint32, x & 0xFFFFFFFF); + x = SDL_Swap32(lo); + x <<= 32; + x |= SDL_Swap32(hi); + return (x); +} +#endif + + +SDL_FORCE_INLINE float +SDL_SwapFloat(float x) +{ + union { + float f; + Uint32 ui32; + } swapper; + swapper.f = x; + swapper.ui32 = SDL_Swap32(swapper.ui32); + return swapper.f; +} + +/* remove extra macros */ +#undef HAS_BROKEN_BSWAP +#undef HAS_BUILTIN_BSWAP16 +#undef HAS_BUILTIN_BSWAP32 +#undef HAS_BUILTIN_BSWAP64 + +/** + * \name Swap to native + * Byteswap item from the specified endianness to the native endianness. + */ +/* @{ */ +#if SDL_BYTEORDER == SDL_LIL_ENDIAN +#define SDL_SwapLE16(X) (X) +#define SDL_SwapLE32(X) (X) +#define SDL_SwapLE64(X) (X) +#define SDL_SwapFloatLE(X) (X) +#define SDL_SwapBE16(X) SDL_Swap16(X) +#define SDL_SwapBE32(X) SDL_Swap32(X) +#define SDL_SwapBE64(X) SDL_Swap64(X) +#define SDL_SwapFloatBE(X) SDL_SwapFloat(X) +#else +#define SDL_SwapLE16(X) SDL_Swap16(X) +#define SDL_SwapLE32(X) SDL_Swap32(X) +#define SDL_SwapLE64(X) SDL_Swap64(X) +#define SDL_SwapFloatLE(X) SDL_SwapFloat(X) +#define SDL_SwapBE16(X) (X) +#define SDL_SwapBE32(X) (X) +#define SDL_SwapBE64(X) (X) +#define SDL_SwapFloatBE(X) (X) +#endif +/* @} *//* Swap to native */ + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_endian_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_error.h b/subprojects/sdl2_windows/include/SDL2/SDL_error.h new file mode 100644 index 000000000..5c961e428 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_error.h @@ -0,0 +1,163 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_error.h + * + * Simple error message routines for SDL. + */ + +#ifndef SDL_error_h_ +#define SDL_error_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* Public functions */ + + +/** + * Set the SDL error message for the current thread. + * + * Calling this function will replace any previous error message that was set. + * + * This function always returns -1, since SDL frequently uses -1 to signify an + * failing result, leading to this idiom: + * + * ```c + * if (error_code) { + * return SDL_SetError("This operation has failed: %d", error_code); + * } + * ``` + * + * \param fmt a printf()-style message format string + * \param ... additional parameters matching % tokens in the `fmt` string, if + * any + * \returns always -1. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ClearError + * \sa SDL_GetError + */ +extern DECLSPEC int SDLCALL SDL_SetError(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); + +/** + * Retrieve a message about the last error that occurred on the current + * thread. + * + * It is possible for multiple errors to occur before calling SDL_GetError(). + * Only the last error is returned. + * + * The message is only applicable when an SDL function has signaled an error. + * You must check the return values of SDL function calls to determine when to + * appropriately call SDL_GetError(). You should *not* use the results of + * SDL_GetError() to decide if an error has occurred! Sometimes SDL will set + * an error string even when reporting success. + * + * SDL will *not* clear the error string for successful API calls. You *must* + * check return values for failure cases before you can assume the error + * string applies. + * + * Error strings are set per-thread, so an error set in a different thread + * will not interfere with the current thread's operation. + * + * The returned string is internally allocated and must not be freed by the + * application. + * + * \returns a message with information about the specific error that occurred, + * or an empty string if there hasn't been an error message set since + * the last call to SDL_ClearError(). The message is only applicable + * when an SDL function has signaled an error. You must check the + * return values of SDL function calls to determine when to + * appropriately call SDL_GetError(). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ClearError + * \sa SDL_SetError + */ +extern DECLSPEC const char *SDLCALL SDL_GetError(void); + +/** + * Get the last error message that was set for the current thread. + * + * This allows the caller to copy the error string into a provided buffer, but + * otherwise operates exactly the same as SDL_GetError(). + * + * \param errstr A buffer to fill with the last error message that was set for + * the current thread + * \param maxlen The size of the buffer pointed to by the errstr parameter + * \returns the pointer passed in as the `errstr` parameter. + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_GetError + */ +extern DECLSPEC char * SDLCALL SDL_GetErrorMsg(char *errstr, int maxlen); + +/** + * Clear any previous error message for this thread. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetError + * \sa SDL_SetError + */ +extern DECLSPEC void SDLCALL SDL_ClearError(void); + +/** + * \name Internal error functions + * + * \internal + * Private error reporting function - used internally. + */ +/* @{ */ +#define SDL_OutOfMemory() SDL_Error(SDL_ENOMEM) +#define SDL_Unsupported() SDL_Error(SDL_UNSUPPORTED) +#define SDL_InvalidParamError(param) SDL_SetError("Parameter '%s' is invalid", (param)) +typedef enum +{ + SDL_ENOMEM, + SDL_EFREAD, + SDL_EFWRITE, + SDL_EFSEEK, + SDL_UNSUPPORTED, + SDL_LASTERROR +} SDL_errorcode; +/* SDL_Error() unconditionally returns -1. */ +extern DECLSPEC int SDLCALL SDL_Error(SDL_errorcode code); +/* @} *//* Internal error functions */ + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_error_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_events.h b/subprojects/sdl2_windows/include/SDL2/SDL_events.h new file mode 100644 index 000000000..55a343e08 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_events.h @@ -0,0 +1,1166 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_events.h + * + * Include file for SDL event handling. + */ + +#ifndef SDL_events_h_ +#define SDL_events_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_video.h" +#include "SDL_keyboard.h" +#include "SDL_mouse.h" +#include "SDL_joystick.h" +#include "SDL_gamecontroller.h" +#include "SDL_quit.h" +#include "SDL_gesture.h" +#include "SDL_touch.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* General keyboard/mouse state definitions */ +#define SDL_RELEASED 0 +#define SDL_PRESSED 1 + +/** + * The types of events that can be delivered. + */ +typedef enum +{ + SDL_FIRSTEVENT = 0, /**< Unused (do not remove) */ + + /* Application events */ + SDL_QUIT = 0x100, /**< User-requested quit */ + + /* These application events have special meaning on iOS, see README-ios.md for details */ + SDL_APP_TERMINATING, /**< The application is being terminated by the OS + Called on iOS in applicationWillTerminate() + Called on Android in onDestroy() + */ + SDL_APP_LOWMEMORY, /**< The application is low on memory, free memory if possible. + Called on iOS in applicationDidReceiveMemoryWarning() + Called on Android in onLowMemory() + */ + SDL_APP_WILLENTERBACKGROUND, /**< The application is about to enter the background + Called on iOS in applicationWillResignActive() + Called on Android in onPause() + */ + SDL_APP_DIDENTERBACKGROUND, /**< The application did enter the background and may not get CPU for some time + Called on iOS in applicationDidEnterBackground() + Called on Android in onPause() + */ + SDL_APP_WILLENTERFOREGROUND, /**< The application is about to enter the foreground + Called on iOS in applicationWillEnterForeground() + Called on Android in onResume() + */ + SDL_APP_DIDENTERFOREGROUND, /**< The application is now interactive + Called on iOS in applicationDidBecomeActive() + Called on Android in onResume() + */ + + SDL_LOCALECHANGED, /**< The user's locale preferences have changed. */ + + /* Display events */ + SDL_DISPLAYEVENT = 0x150, /**< Display state change */ + + /* Window events */ + SDL_WINDOWEVENT = 0x200, /**< Window state change */ + SDL_SYSWMEVENT, /**< System specific event */ + + /* Keyboard events */ + SDL_KEYDOWN = 0x300, /**< Key pressed */ + SDL_KEYUP, /**< Key released */ + SDL_TEXTEDITING, /**< Keyboard text editing (composition) */ + SDL_TEXTINPUT, /**< Keyboard text input */ + SDL_KEYMAPCHANGED, /**< Keymap changed due to a system event such as an + input language or keyboard layout change. + */ + SDL_TEXTEDITING_EXT, /**< Extended keyboard text editing (composition) */ + + /* Mouse events */ + SDL_MOUSEMOTION = 0x400, /**< Mouse moved */ + SDL_MOUSEBUTTONDOWN, /**< Mouse button pressed */ + SDL_MOUSEBUTTONUP, /**< Mouse button released */ + SDL_MOUSEWHEEL, /**< Mouse wheel motion */ + + /* Joystick events */ + SDL_JOYAXISMOTION = 0x600, /**< Joystick axis motion */ + SDL_JOYBALLMOTION, /**< Joystick trackball motion */ + SDL_JOYHATMOTION, /**< Joystick hat position change */ + SDL_JOYBUTTONDOWN, /**< Joystick button pressed */ + SDL_JOYBUTTONUP, /**< Joystick button released */ + SDL_JOYDEVICEADDED, /**< A new joystick has been inserted into the system */ + SDL_JOYDEVICEREMOVED, /**< An opened joystick has been removed */ + SDL_JOYBATTERYUPDATED, /**< Joystick battery level change */ + + /* Game controller events */ + SDL_CONTROLLERAXISMOTION = 0x650, /**< Game controller axis motion */ + SDL_CONTROLLERBUTTONDOWN, /**< Game controller button pressed */ + SDL_CONTROLLERBUTTONUP, /**< Game controller button released */ + SDL_CONTROLLERDEVICEADDED, /**< A new Game controller has been inserted into the system */ + SDL_CONTROLLERDEVICEREMOVED, /**< An opened Game controller has been removed */ + SDL_CONTROLLERDEVICEREMAPPED, /**< The controller mapping was updated */ + SDL_CONTROLLERTOUCHPADDOWN, /**< Game controller touchpad was touched */ + SDL_CONTROLLERTOUCHPADMOTION, /**< Game controller touchpad finger was moved */ + SDL_CONTROLLERTOUCHPADUP, /**< Game controller touchpad finger was lifted */ + SDL_CONTROLLERSENSORUPDATE, /**< Game controller sensor was updated */ + + /* Touch events */ + SDL_FINGERDOWN = 0x700, + SDL_FINGERUP, + SDL_FINGERMOTION, + + /* Gesture events */ + SDL_DOLLARGESTURE = 0x800, + SDL_DOLLARRECORD, + SDL_MULTIGESTURE, + + /* Clipboard events */ + SDL_CLIPBOARDUPDATE = 0x900, /**< The clipboard or primary selection changed */ + + /* Drag and drop events */ + SDL_DROPFILE = 0x1000, /**< The system requests a file open */ + SDL_DROPTEXT, /**< text/plain drag-and-drop event */ + SDL_DROPBEGIN, /**< A new set of drops is beginning (NULL filename) */ + SDL_DROPCOMPLETE, /**< Current set of drops is now complete (NULL filename) */ + + /* Audio hotplug events */ + SDL_AUDIODEVICEADDED = 0x1100, /**< A new audio device is available */ + SDL_AUDIODEVICEREMOVED, /**< An audio device has been removed. */ + + /* Sensor events */ + SDL_SENSORUPDATE = 0x1200, /**< A sensor was updated */ + + /* Render events */ + SDL_RENDER_TARGETS_RESET = 0x2000, /**< The render targets have been reset and their contents need to be updated */ + SDL_RENDER_DEVICE_RESET, /**< The device has been reset and all textures need to be recreated */ + + /* Internal events */ + SDL_POLLSENTINEL = 0x7F00, /**< Signals the end of an event poll cycle */ + + /** Events ::SDL_USEREVENT through ::SDL_LASTEVENT are for your use, + * and should be allocated with SDL_RegisterEvents() + */ + SDL_USEREVENT = 0x8000, + + /** + * This last event is only for bounding internal arrays + */ + SDL_LASTEVENT = 0xFFFF +} SDL_EventType; + +/** + * \brief Fields shared by every event + */ +typedef struct SDL_CommonEvent +{ + Uint32 type; + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ +} SDL_CommonEvent; + +/** + * \brief Display state change event data (event.display.*) + */ +typedef struct SDL_DisplayEvent +{ + Uint32 type; /**< ::SDL_DISPLAYEVENT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 display; /**< The associated display index */ + Uint8 event; /**< ::SDL_DisplayEventID */ + Uint8 padding1; + Uint8 padding2; + Uint8 padding3; + Sint32 data1; /**< event dependent data */ +} SDL_DisplayEvent; + +/** + * \brief Window state change event data (event.window.*) + */ +typedef struct SDL_WindowEvent +{ + Uint32 type; /**< ::SDL_WINDOWEVENT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The associated window */ + Uint8 event; /**< ::SDL_WindowEventID */ + Uint8 padding1; + Uint8 padding2; + Uint8 padding3; + Sint32 data1; /**< event dependent data */ + Sint32 data2; /**< event dependent data */ +} SDL_WindowEvent; + +/** + * \brief Keyboard button event structure (event.key.*) + */ +typedef struct SDL_KeyboardEvent +{ + Uint32 type; /**< ::SDL_KEYDOWN or ::SDL_KEYUP */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with keyboard focus, if any */ + Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ + Uint8 repeat; /**< Non-zero if this is a key repeat */ + Uint8 padding2; + Uint8 padding3; + SDL_Keysym keysym; /**< The key that was pressed or released */ +} SDL_KeyboardEvent; + +#define SDL_TEXTEDITINGEVENT_TEXT_SIZE (32) +/** + * \brief Keyboard text editing event structure (event.edit.*) + */ +typedef struct SDL_TextEditingEvent +{ + Uint32 type; /**< ::SDL_TEXTEDITING */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with keyboard focus, if any */ + char text[SDL_TEXTEDITINGEVENT_TEXT_SIZE]; /**< The editing text */ + Sint32 start; /**< The start cursor of selected editing text */ + Sint32 length; /**< The length of selected editing text */ +} SDL_TextEditingEvent; + +/** + * \brief Extended keyboard text editing event structure (event.editExt.*) when text would be + * truncated if stored in the text buffer SDL_TextEditingEvent + */ +typedef struct SDL_TextEditingExtEvent +{ + Uint32 type; /**< ::SDL_TEXTEDITING_EXT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with keyboard focus, if any */ + char* text; /**< The editing text, which should be freed with SDL_free(), and will not be NULL */ + Sint32 start; /**< The start cursor of selected editing text */ + Sint32 length; /**< The length of selected editing text */ +} SDL_TextEditingExtEvent; + +#define SDL_TEXTINPUTEVENT_TEXT_SIZE (32) +/** + * \brief Keyboard text input event structure (event.text.*) + */ +typedef struct SDL_TextInputEvent +{ + Uint32 type; /**< ::SDL_TEXTINPUT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with keyboard focus, if any */ + char text[SDL_TEXTINPUTEVENT_TEXT_SIZE]; /**< The input text */ +} SDL_TextInputEvent; + +/** + * \brief Mouse motion event structure (event.motion.*) + */ +typedef struct SDL_MouseMotionEvent +{ + Uint32 type; /**< ::SDL_MOUSEMOTION */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with mouse focus, if any */ + Uint32 which; /**< The mouse instance id, or SDL_TOUCH_MOUSEID */ + Uint32 state; /**< The current button state */ + Sint32 x; /**< X coordinate, relative to window */ + Sint32 y; /**< Y coordinate, relative to window */ + Sint32 xrel; /**< The relative motion in the X direction */ + Sint32 yrel; /**< The relative motion in the Y direction */ +} SDL_MouseMotionEvent; + +/** + * \brief Mouse button event structure (event.button.*) + */ +typedef struct SDL_MouseButtonEvent +{ + Uint32 type; /**< ::SDL_MOUSEBUTTONDOWN or ::SDL_MOUSEBUTTONUP */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with mouse focus, if any */ + Uint32 which; /**< The mouse instance id, or SDL_TOUCH_MOUSEID */ + Uint8 button; /**< The mouse button index */ + Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ + Uint8 clicks; /**< 1 for single-click, 2 for double-click, etc. */ + Uint8 padding1; + Sint32 x; /**< X coordinate, relative to window */ + Sint32 y; /**< Y coordinate, relative to window */ +} SDL_MouseButtonEvent; + +/** + * \brief Mouse wheel event structure (event.wheel.*) + */ +typedef struct SDL_MouseWheelEvent +{ + Uint32 type; /**< ::SDL_MOUSEWHEEL */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The window with mouse focus, if any */ + Uint32 which; /**< The mouse instance id, or SDL_TOUCH_MOUSEID */ + Sint32 x; /**< The amount scrolled horizontally, positive to the right and negative to the left */ + Sint32 y; /**< The amount scrolled vertically, positive away from the user and negative toward the user */ + Uint32 direction; /**< Set to one of the SDL_MOUSEWHEEL_* defines. When FLIPPED the values in X and Y will be opposite. Multiply by -1 to change them back */ + float preciseX; /**< The amount scrolled horizontally, positive to the right and negative to the left, with float precision (added in 2.0.18) */ + float preciseY; /**< The amount scrolled vertically, positive away from the user and negative toward the user, with float precision (added in 2.0.18) */ + Sint32 mouseX; /**< X coordinate, relative to window (added in 2.26.0) */ + Sint32 mouseY; /**< Y coordinate, relative to window (added in 2.26.0) */ +} SDL_MouseWheelEvent; + +/** + * \brief Joystick axis motion event structure (event.jaxis.*) + */ +typedef struct SDL_JoyAxisEvent +{ + Uint32 type; /**< ::SDL_JOYAXISMOTION */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Uint8 axis; /**< The joystick axis index */ + Uint8 padding1; + Uint8 padding2; + Uint8 padding3; + Sint16 value; /**< The axis value (range: -32768 to 32767) */ + Uint16 padding4; +} SDL_JoyAxisEvent; + +/** + * \brief Joystick trackball motion event structure (event.jball.*) + */ +typedef struct SDL_JoyBallEvent +{ + Uint32 type; /**< ::SDL_JOYBALLMOTION */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Uint8 ball; /**< The joystick trackball index */ + Uint8 padding1; + Uint8 padding2; + Uint8 padding3; + Sint16 xrel; /**< The relative motion in the X direction */ + Sint16 yrel; /**< The relative motion in the Y direction */ +} SDL_JoyBallEvent; + +/** + * \brief Joystick hat position change event structure (event.jhat.*) + */ +typedef struct SDL_JoyHatEvent +{ + Uint32 type; /**< ::SDL_JOYHATMOTION */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Uint8 hat; /**< The joystick hat index */ + Uint8 value; /**< The hat position value. + * \sa ::SDL_HAT_LEFTUP ::SDL_HAT_UP ::SDL_HAT_RIGHTUP + * \sa ::SDL_HAT_LEFT ::SDL_HAT_CENTERED ::SDL_HAT_RIGHT + * \sa ::SDL_HAT_LEFTDOWN ::SDL_HAT_DOWN ::SDL_HAT_RIGHTDOWN + * + * Note that zero means the POV is centered. + */ + Uint8 padding1; + Uint8 padding2; +} SDL_JoyHatEvent; + +/** + * \brief Joystick button event structure (event.jbutton.*) + */ +typedef struct SDL_JoyButtonEvent +{ + Uint32 type; /**< ::SDL_JOYBUTTONDOWN or ::SDL_JOYBUTTONUP */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Uint8 button; /**< The joystick button index */ + Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ + Uint8 padding1; + Uint8 padding2; +} SDL_JoyButtonEvent; + +/** + * \brief Joystick device event structure (event.jdevice.*) + */ +typedef struct SDL_JoyDeviceEvent +{ + Uint32 type; /**< ::SDL_JOYDEVICEADDED or ::SDL_JOYDEVICEREMOVED */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Sint32 which; /**< The joystick device index for the ADDED event, instance id for the REMOVED event */ +} SDL_JoyDeviceEvent; + +/** + * \brief Joysick battery level change event structure (event.jbattery.*) + */ +typedef struct SDL_JoyBatteryEvent +{ + Uint32 type; /**< ::SDL_JOYBATTERYUPDATED */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + SDL_JoystickPowerLevel level; /**< The joystick battery level */ +} SDL_JoyBatteryEvent; + +/** + * \brief Game controller axis motion event structure (event.caxis.*) + */ +typedef struct SDL_ControllerAxisEvent +{ + Uint32 type; /**< ::SDL_CONTROLLERAXISMOTION */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Uint8 axis; /**< The controller axis (SDL_GameControllerAxis) */ + Uint8 padding1; + Uint8 padding2; + Uint8 padding3; + Sint16 value; /**< The axis value (range: -32768 to 32767) */ + Uint16 padding4; +} SDL_ControllerAxisEvent; + + +/** + * \brief Game controller button event structure (event.cbutton.*) + */ +typedef struct SDL_ControllerButtonEvent +{ + Uint32 type; /**< ::SDL_CONTROLLERBUTTONDOWN or ::SDL_CONTROLLERBUTTONUP */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Uint8 button; /**< The controller button (SDL_GameControllerButton) */ + Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ + Uint8 padding1; + Uint8 padding2; +} SDL_ControllerButtonEvent; + + +/** + * \brief Controller device event structure (event.cdevice.*) + */ +typedef struct SDL_ControllerDeviceEvent +{ + Uint32 type; /**< ::SDL_CONTROLLERDEVICEADDED, ::SDL_CONTROLLERDEVICEREMOVED, or ::SDL_CONTROLLERDEVICEREMAPPED */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Sint32 which; /**< The joystick device index for the ADDED event, instance id for the REMOVED or REMAPPED event */ +} SDL_ControllerDeviceEvent; + +/** + * \brief Game controller touchpad event structure (event.ctouchpad.*) + */ +typedef struct SDL_ControllerTouchpadEvent +{ + Uint32 type; /**< ::SDL_CONTROLLERTOUCHPADDOWN or ::SDL_CONTROLLERTOUCHPADMOTION or ::SDL_CONTROLLERTOUCHPADUP */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Sint32 touchpad; /**< The index of the touchpad */ + Sint32 finger; /**< The index of the finger on the touchpad */ + float x; /**< Normalized in the range 0...1 with 0 being on the left */ + float y; /**< Normalized in the range 0...1 with 0 being at the top */ + float pressure; /**< Normalized in the range 0...1 */ +} SDL_ControllerTouchpadEvent; + +/** + * \brief Game controller sensor event structure (event.csensor.*) + */ +typedef struct SDL_ControllerSensorEvent +{ + Uint32 type; /**< ::SDL_CONTROLLERSENSORUPDATE */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_JoystickID which; /**< The joystick instance id */ + Sint32 sensor; /**< The type of the sensor, one of the values of ::SDL_SensorType */ + float data[3]; /**< Up to 3 values from the sensor, as defined in SDL_sensor.h */ + Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */ +} SDL_ControllerSensorEvent; + +/** + * \brief Audio device event structure (event.adevice.*) + */ +typedef struct SDL_AudioDeviceEvent +{ + Uint32 type; /**< ::SDL_AUDIODEVICEADDED, or ::SDL_AUDIODEVICEREMOVED */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 which; /**< The audio device index for the ADDED event (valid until next SDL_GetNumAudioDevices() call), SDL_AudioDeviceID for the REMOVED event */ + Uint8 iscapture; /**< zero if an output device, non-zero if a capture device. */ + Uint8 padding1; + Uint8 padding2; + Uint8 padding3; +} SDL_AudioDeviceEvent; + + +/** + * \brief Touch finger event structure (event.tfinger.*) + */ +typedef struct SDL_TouchFingerEvent +{ + Uint32 type; /**< ::SDL_FINGERMOTION or ::SDL_FINGERDOWN or ::SDL_FINGERUP */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_TouchID touchId; /**< The touch device id */ + SDL_FingerID fingerId; + float x; /**< Normalized in the range 0...1 */ + float y; /**< Normalized in the range 0...1 */ + float dx; /**< Normalized in the range -1...1 */ + float dy; /**< Normalized in the range -1...1 */ + float pressure; /**< Normalized in the range 0...1 */ + Uint32 windowID; /**< The window underneath the finger, if any */ +} SDL_TouchFingerEvent; + + +/** + * \brief Multiple Finger Gesture Event (event.mgesture.*) + */ +typedef struct SDL_MultiGestureEvent +{ + Uint32 type; /**< ::SDL_MULTIGESTURE */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_TouchID touchId; /**< The touch device id */ + float dTheta; + float dDist; + float x; + float y; + Uint16 numFingers; + Uint16 padding; +} SDL_MultiGestureEvent; + + +/** + * \brief Dollar Gesture Event (event.dgesture.*) + */ +typedef struct SDL_DollarGestureEvent +{ + Uint32 type; /**< ::SDL_DOLLARGESTURE or ::SDL_DOLLARRECORD */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_TouchID touchId; /**< The touch device id */ + SDL_GestureID gestureId; + Uint32 numFingers; + float error; + float x; /**< Normalized center of gesture */ + float y; /**< Normalized center of gesture */ +} SDL_DollarGestureEvent; + + +/** + * \brief An event used to request a file open by the system (event.drop.*) + * This event is enabled by default, you can disable it with SDL_EventState(). + * \note If this event is enabled, you must free the filename in the event. + */ +typedef struct SDL_DropEvent +{ + Uint32 type; /**< ::SDL_DROPBEGIN or ::SDL_DROPFILE or ::SDL_DROPTEXT or ::SDL_DROPCOMPLETE */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + char *file; /**< The file name, which should be freed with SDL_free(), is NULL on begin/complete */ + Uint32 windowID; /**< The window that was dropped on, if any */ +} SDL_DropEvent; + + +/** + * \brief Sensor event structure (event.sensor.*) + */ +typedef struct SDL_SensorEvent +{ + Uint32 type; /**< ::SDL_SENSORUPDATE */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Sint32 which; /**< The instance ID of the sensor */ + float data[6]; /**< Up to 6 values from the sensor - additional values can be queried using SDL_SensorGetData() */ + Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */ +} SDL_SensorEvent; + +/** + * \brief The "quit requested" event + */ +typedef struct SDL_QuitEvent +{ + Uint32 type; /**< ::SDL_QUIT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ +} SDL_QuitEvent; + +/** + * \brief OS Specific event + */ +typedef struct SDL_OSEvent +{ + Uint32 type; /**< ::SDL_QUIT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ +} SDL_OSEvent; + +/** + * \brief A user-defined event type (event.user.*) + */ +typedef struct SDL_UserEvent +{ + Uint32 type; /**< ::SDL_USEREVENT through ::SDL_LASTEVENT-1 */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + Uint32 windowID; /**< The associated window if any */ + Sint32 code; /**< User defined event code */ + void *data1; /**< User defined data pointer */ + void *data2; /**< User defined data pointer */ +} SDL_UserEvent; + + +struct SDL_SysWMmsg; +typedef struct SDL_SysWMmsg SDL_SysWMmsg; + +/** + * \brief A video driver dependent system event (event.syswm.*) + * This event is disabled by default, you can enable it with SDL_EventState() + * + * \note If you want to use this event, you should include SDL_syswm.h. + */ +typedef struct SDL_SysWMEvent +{ + Uint32 type; /**< ::SDL_SYSWMEVENT */ + Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ + SDL_SysWMmsg *msg; /**< driver dependent data, defined in SDL_syswm.h */ +} SDL_SysWMEvent; + +/** + * \brief General event structure + */ +typedef union SDL_Event +{ + Uint32 type; /**< Event type, shared with all events */ + SDL_CommonEvent common; /**< Common event data */ + SDL_DisplayEvent display; /**< Display event data */ + SDL_WindowEvent window; /**< Window event data */ + SDL_KeyboardEvent key; /**< Keyboard event data */ + SDL_TextEditingEvent edit; /**< Text editing event data */ + SDL_TextEditingExtEvent editExt; /**< Extended text editing event data */ + SDL_TextInputEvent text; /**< Text input event data */ + SDL_MouseMotionEvent motion; /**< Mouse motion event data */ + SDL_MouseButtonEvent button; /**< Mouse button event data */ + SDL_MouseWheelEvent wheel; /**< Mouse wheel event data */ + SDL_JoyAxisEvent jaxis; /**< Joystick axis event data */ + SDL_JoyBallEvent jball; /**< Joystick ball event data */ + SDL_JoyHatEvent jhat; /**< Joystick hat event data */ + SDL_JoyButtonEvent jbutton; /**< Joystick button event data */ + SDL_JoyDeviceEvent jdevice; /**< Joystick device change event data */ + SDL_JoyBatteryEvent jbattery; /**< Joystick battery event data */ + SDL_ControllerAxisEvent caxis; /**< Game Controller axis event data */ + SDL_ControllerButtonEvent cbutton; /**< Game Controller button event data */ + SDL_ControllerDeviceEvent cdevice; /**< Game Controller device event data */ + SDL_ControllerTouchpadEvent ctouchpad; /**< Game Controller touchpad event data */ + SDL_ControllerSensorEvent csensor; /**< Game Controller sensor event data */ + SDL_AudioDeviceEvent adevice; /**< Audio device event data */ + SDL_SensorEvent sensor; /**< Sensor event data */ + SDL_QuitEvent quit; /**< Quit request event data */ + SDL_UserEvent user; /**< Custom event data */ + SDL_SysWMEvent syswm; /**< System dependent window event data */ + SDL_TouchFingerEvent tfinger; /**< Touch finger event data */ + SDL_MultiGestureEvent mgesture; /**< Gesture event data */ + SDL_DollarGestureEvent dgesture; /**< Gesture event data */ + SDL_DropEvent drop; /**< Drag and drop event data */ + + /* This is necessary for ABI compatibility between Visual C++ and GCC. + Visual C++ will respect the push pack pragma and use 52 bytes (size of + SDL_TextEditingEvent, the largest structure for 32-bit and 64-bit + architectures) for this union, and GCC will use the alignment of the + largest datatype within the union, which is 8 bytes on 64-bit + architectures. + + So... we'll add padding to force the size to be 56 bytes for both. + + On architectures where pointers are 16 bytes, this needs rounding up to + the next multiple of 16, 64, and on architectures where pointers are + even larger the size of SDL_UserEvent will dominate as being 3 pointers. + */ + Uint8 padding[sizeof(void *) <= 8 ? 56 : sizeof(void *) == 16 ? 64 : 3 * sizeof(void *)]; +} SDL_Event; + +/* Make sure we haven't broken binary compatibility */ +SDL_COMPILE_TIME_ASSERT(SDL_Event, sizeof(SDL_Event) == sizeof(((SDL_Event *)NULL)->padding)); + + +/* Function prototypes */ + +/** + * Pump the event loop, gathering events from the input devices. + * + * This function updates the event queue and internal input device state. + * + * **WARNING**: This should only be run in the thread that initialized the + * video subsystem, and for extra safety, you should consider only doing those + * things on the main thread in any case. + * + * SDL_PumpEvents() gathers all the pending input information from devices and + * places it in the event queue. Without calls to SDL_PumpEvents() no events + * would ever be placed on the queue. Often the need for calls to + * SDL_PumpEvents() is hidden from the user since SDL_PollEvent() and + * SDL_WaitEvent() implicitly call SDL_PumpEvents(). However, if you are not + * polling or waiting for events (e.g. you are filtering them), then you must + * call SDL_PumpEvents() to force an event queue update. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PollEvent + * \sa SDL_WaitEvent + */ +extern DECLSPEC void SDLCALL SDL_PumpEvents(void); + +/* @{ */ +typedef enum +{ + SDL_ADDEVENT, + SDL_PEEKEVENT, + SDL_GETEVENT +} SDL_eventaction; + +/** + * Check the event queue for messages and optionally return them. + * + * `action` may be any of the following: + * + * - `SDL_ADDEVENT`: up to `numevents` events will be added to the back of the + * event queue. + * - `SDL_PEEKEVENT`: `numevents` events at the front of the event queue, + * within the specified minimum and maximum type, will be returned to the + * caller and will _not_ be removed from the queue. + * - `SDL_GETEVENT`: up to `numevents` events at the front of the event queue, + * within the specified minimum and maximum type, will be returned to the + * caller and will be removed from the queue. + * + * You may have to call SDL_PumpEvents() before calling this function. + * Otherwise, the events may not be ready to be filtered when you call + * SDL_PeepEvents(). + * + * This function is thread-safe. + * + * \param events destination buffer for the retrieved events + * \param numevents if action is SDL_ADDEVENT, the number of events to add + * back to the event queue; if action is SDL_PEEKEVENT or + * SDL_GETEVENT, the maximum number of events to retrieve + * \param action action to take; see [[#action|Remarks]] for details + * \param minType minimum value of the event type to be considered; + * SDL_FIRSTEVENT is a safe choice + * \param maxType maximum value of the event type to be considered; + * SDL_LASTEVENT is a safe choice + * \returns the number of events actually stored or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PollEvent + * \sa SDL_PumpEvents + * \sa SDL_PushEvent + */ +extern DECLSPEC int SDLCALL SDL_PeepEvents(SDL_Event * events, int numevents, + SDL_eventaction action, + Uint32 minType, Uint32 maxType); +/* @} */ + +/** + * Check for the existence of a certain event type in the event queue. + * + * If you need to check for a range of event types, use SDL_HasEvents() + * instead. + * + * \param type the type of event to be queried; see SDL_EventType for details + * \returns SDL_TRUE if events matching `type` are present, or SDL_FALSE if + * events matching `type` are not present. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HasEvents + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasEvent(Uint32 type); + + +/** + * Check for the existence of certain event types in the event queue. + * + * If you need to check for a single event type, use SDL_HasEvent() instead. + * + * \param minType the low end of event type to be queried, inclusive; see + * SDL_EventType for details + * \param maxType the high end of event type to be queried, inclusive; see + * SDL_EventType for details + * \returns SDL_TRUE if events with type >= `minType` and <= `maxType` are + * present, or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HasEvents + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasEvents(Uint32 minType, Uint32 maxType); + +/** + * Clear events of a specific type from the event queue. + * + * This will unconditionally remove any events from the queue that match + * `type`. If you need to remove a range of event types, use SDL_FlushEvents() + * instead. + * + * It's also normal to just ignore events you don't care about in your event + * loop without calling this function. + * + * This function only affects currently queued events. If you want to make + * sure that all pending OS events are flushed, you can call SDL_PumpEvents() + * on the main thread immediately before the flush call. + * + * \param type the type of event to be cleared; see SDL_EventType for details + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FlushEvents + */ +extern DECLSPEC void SDLCALL SDL_FlushEvent(Uint32 type); + +/** + * Clear events of a range of types from the event queue. + * + * This will unconditionally remove any events from the queue that are in the + * range of `minType` to `maxType`, inclusive. If you need to remove a single + * event type, use SDL_FlushEvent() instead. + * + * It's also normal to just ignore events you don't care about in your event + * loop without calling this function. + * + * This function only affects currently queued events. If you want to make + * sure that all pending OS events are flushed, you can call SDL_PumpEvents() + * on the main thread immediately before the flush call. + * + * \param minType the low end of event type to be cleared, inclusive; see + * SDL_EventType for details + * \param maxType the high end of event type to be cleared, inclusive; see + * SDL_EventType for details + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FlushEvent + */ +extern DECLSPEC void SDLCALL SDL_FlushEvents(Uint32 minType, Uint32 maxType); + +/** + * Poll for currently pending events. + * + * If `event` is not NULL, the next event is removed from the queue and stored + * in the SDL_Event structure pointed to by `event`. The 1 returned refers to + * this event, immediately stored in the SDL Event structure -- not an event + * to follow. + * + * If `event` is NULL, it simply returns 1 if there is an event in the queue, + * but will not remove it from the queue. + * + * As this function may implicitly call SDL_PumpEvents(), you can only call + * this function in the thread that set the video mode. + * + * SDL_PollEvent() is the favored way of receiving system events since it can + * be done from the main loop and does not suspend the main loop while waiting + * on an event to be posted. + * + * The common practice is to fully process the event queue once every frame, + * usually as a first step before updating the game's state: + * + * ```c + * while (game_is_still_running) { + * SDL_Event event; + * while (SDL_PollEvent(&event)) { // poll until all events are handled! + * // decide what to do with this event. + * } + * + * // update game state, draw the current frame + * } + * ``` + * + * \param event the SDL_Event structure to be filled with the next event from + * the queue, or NULL + * \returns 1 if there is a pending event or 0 if there are none available. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetEventFilter + * \sa SDL_PeepEvents + * \sa SDL_PushEvent + * \sa SDL_SetEventFilter + * \sa SDL_WaitEvent + * \sa SDL_WaitEventTimeout + */ +extern DECLSPEC int SDLCALL SDL_PollEvent(SDL_Event * event); + +/** + * Wait indefinitely for the next available event. + * + * If `event` is not NULL, the next event is removed from the queue and stored + * in the SDL_Event structure pointed to by `event`. + * + * As this function may implicitly call SDL_PumpEvents(), you can only call + * this function in the thread that initialized the video subsystem. + * + * \param event the SDL_Event structure to be filled in with the next event + * from the queue, or NULL + * \returns 1 on success or 0 if there was an error while waiting for events; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PollEvent + * \sa SDL_PumpEvents + * \sa SDL_WaitEventTimeout + */ +extern DECLSPEC int SDLCALL SDL_WaitEvent(SDL_Event * event); + +/** + * Wait until the specified timeout (in milliseconds) for the next available + * event. + * + * If `event` is not NULL, the next event is removed from the queue and stored + * in the SDL_Event structure pointed to by `event`. + * + * As this function may implicitly call SDL_PumpEvents(), you can only call + * this function in the thread that initialized the video subsystem. + * + * \param event the SDL_Event structure to be filled in with the next event + * from the queue, or NULL + * \param timeout the maximum number of milliseconds to wait for the next + * available event + * \returns 1 on success or 0 if there was an error while waiting for events; + * call SDL_GetError() for more information. This also returns 0 if + * the timeout elapsed without an event arriving. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PollEvent + * \sa SDL_PumpEvents + * \sa SDL_WaitEvent + */ +extern DECLSPEC int SDLCALL SDL_WaitEventTimeout(SDL_Event * event, + int timeout); + +/** + * Add an event to the event queue. + * + * The event queue can actually be used as a two way communication channel. + * Not only can events be read from the queue, but the user can also push + * their own events onto it. `event` is a pointer to the event structure you + * wish to push onto the queue. The event is copied into the queue, and the + * caller may dispose of the memory pointed to after SDL_PushEvent() returns. + * + * Note: Pushing device input events onto the queue doesn't modify the state + * of the device within SDL. + * + * This function is thread-safe, and can be called from other threads safely. + * + * Note: Events pushed onto the queue with SDL_PushEvent() get passed through + * the event filter but events added with SDL_PeepEvents() do not. + * + * For pushing application-specific events, please use SDL_RegisterEvents() to + * get an event type that does not conflict with other code that also wants + * its own custom event types. + * + * \param event the SDL_Event to be added to the queue + * \returns 1 on success, 0 if the event was filtered, or a negative error + * code on failure; call SDL_GetError() for more information. A + * common reason for error is the event queue being full. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PeepEvents + * \sa SDL_PollEvent + * \sa SDL_RegisterEvents + */ +extern DECLSPEC int SDLCALL SDL_PushEvent(SDL_Event * event); + +/** + * A function pointer used for callbacks that watch the event queue. + * + * \param userdata what was passed as `userdata` to SDL_SetEventFilter() + * or SDL_AddEventWatch, etc + * \param event the event that triggered the callback + * \returns 1 to permit event to be added to the queue, and 0 to disallow + * it. When used with SDL_AddEventWatch, the return value is ignored. + * + * \sa SDL_SetEventFilter + * \sa SDL_AddEventWatch + */ +typedef int (SDLCALL * SDL_EventFilter) (void *userdata, SDL_Event * event); + +/** + * Set up a filter to process all events before they change internal state and + * are posted to the internal event queue. + * + * If the filter function returns 1 when called, then the event will be added + * to the internal queue. If it returns 0, then the event will be dropped from + * the queue, but the internal state will still be updated. This allows + * selective filtering of dynamically arriving events. + * + * **WARNING**: Be very careful of what you do in the event filter function, + * as it may run in a different thread! + * + * On platforms that support it, if the quit event is generated by an + * interrupt signal (e.g. pressing Ctrl-C), it will be delivered to the + * application at the next event poll. + * + * There is one caveat when dealing with the ::SDL_QuitEvent event type. The + * event filter is only called when the window manager desires to close the + * application window. If the event filter returns 1, then the window will be + * closed, otherwise the window will remain open if possible. + * + * Note: Disabled events never make it to the event filter function; see + * SDL_EventState(). + * + * Note: If you just want to inspect events without filtering, you should use + * SDL_AddEventWatch() instead. + * + * Note: Events pushed onto the queue with SDL_PushEvent() get passed through + * the event filter, but events pushed onto the queue with SDL_PeepEvents() do + * not. + * + * \param filter An SDL_EventFilter function to call when an event happens + * \param userdata a pointer that is passed to `filter` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AddEventWatch + * \sa SDL_EventState + * \sa SDL_GetEventFilter + * \sa SDL_PeepEvents + * \sa SDL_PushEvent + */ +extern DECLSPEC void SDLCALL SDL_SetEventFilter(SDL_EventFilter filter, + void *userdata); + +/** + * Query the current event filter. + * + * This function can be used to "chain" filters, by saving the existing filter + * before replacing it with a function that will call that saved filter. + * + * \param filter the current callback function will be stored here + * \param userdata the pointer that is passed to the current event filter will + * be stored here + * \returns SDL_TRUE on success or SDL_FALSE if there is no event filter set. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetEventFilter + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetEventFilter(SDL_EventFilter * filter, + void **userdata); + +/** + * Add a callback to be triggered when an event is added to the event queue. + * + * `filter` will be called when an event happens, and its return value is + * ignored. + * + * **WARNING**: Be very careful of what you do in the event filter function, + * as it may run in a different thread! + * + * If the quit event is generated by a signal (e.g. SIGINT), it will bypass + * the internal queue and be delivered to the watch callback immediately, and + * arrive at the next event poll. + * + * Note: the callback is called for events posted by the user through + * SDL_PushEvent(), but not for disabled events, nor for events by a filter + * callback set with SDL_SetEventFilter(), nor for events posted by the user + * through SDL_PeepEvents(). + * + * \param filter an SDL_EventFilter function to call when an event happens. + * \param userdata a pointer that is passed to `filter` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DelEventWatch + * \sa SDL_SetEventFilter + */ +extern DECLSPEC void SDLCALL SDL_AddEventWatch(SDL_EventFilter filter, + void *userdata); + +/** + * Remove an event watch callback added with SDL_AddEventWatch(). + * + * This function takes the same input as SDL_AddEventWatch() to identify and + * delete the corresponding callback. + * + * \param filter the function originally passed to SDL_AddEventWatch() + * \param userdata the pointer originally passed to SDL_AddEventWatch() + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AddEventWatch + */ +extern DECLSPEC void SDLCALL SDL_DelEventWatch(SDL_EventFilter filter, + void *userdata); + +/** + * Run a specific filter function on the current event queue, removing any + * events for which the filter returns 0. + * + * See SDL_SetEventFilter() for more information. Unlike SDL_SetEventFilter(), + * this function does not change the filter permanently, it only uses the + * supplied filter until this function returns. + * + * \param filter the SDL_EventFilter function to call when an event happens + * \param userdata a pointer that is passed to `filter` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetEventFilter + * \sa SDL_SetEventFilter + */ +extern DECLSPEC void SDLCALL SDL_FilterEvents(SDL_EventFilter filter, + void *userdata); + +/* @{ */ +#define SDL_QUERY -1 +#define SDL_IGNORE 0 +#define SDL_DISABLE 0 +#define SDL_ENABLE 1 + +/** + * Set the state of processing events by type. + * + * `state` may be any of the following: + * + * - `SDL_QUERY`: returns the current processing state of the specified event + * - `SDL_IGNORE` (aka `SDL_DISABLE`): the event will automatically be dropped + * from the event queue and will not be filtered + * - `SDL_ENABLE`: the event will be processed normally + * + * \param type the type of event; see SDL_EventType for details + * \param state how to process the event + * \returns `SDL_DISABLE` or `SDL_ENABLE`, representing the processing state + * of the event before this function makes any changes to it. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetEventState + */ +extern DECLSPEC Uint8 SDLCALL SDL_EventState(Uint32 type, int state); +/* @} */ +#define SDL_GetEventState(type) SDL_EventState(type, SDL_QUERY) + +/** + * Allocate a set of user-defined events, and return the beginning event + * number for that set of events. + * + * Calling this function with `numevents` <= 0 is an error and will return + * (Uint32)-1. + * + * Note, (Uint32)-1 means the maximum unsigned 32-bit integer value (or + * 0xFFFFFFFF), but is clearer to write. + * + * \param numevents the number of events to be allocated + * \returns the beginning event number, or (Uint32)-1 if there are not enough + * user-defined events left. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PushEvent + */ +extern DECLSPEC Uint32 SDLCALL SDL_RegisterEvents(int numevents); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_events_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_filesystem.h b/subprojects/sdl2_windows/include/SDL2/SDL_filesystem.h new file mode 100644 index 000000000..1914f81d9 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_filesystem.h @@ -0,0 +1,149 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_filesystem.h + * + * \brief Include file for filesystem SDL API functions + */ + +#ifndef SDL_filesystem_h_ +#define SDL_filesystem_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" + +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Get the directory where the application was run from. + * + * This is not necessarily a fast call, so you should call this once near + * startup and save the string if you need it. + * + * **Mac OS X and iOS Specific Functionality**: If the application is in a + * ".app" bundle, this function returns the Resource directory (e.g. + * MyApp.app/Contents/Resources/). This behaviour can be overridden by adding + * a property to the Info.plist file. Adding a string key with the name + * SDL_FILESYSTEM_BASE_DIR_TYPE with a supported value will change the + * behaviour. + * + * Supported values for the SDL_FILESYSTEM_BASE_DIR_TYPE property (Given an + * application in /Applications/SDLApp/MyApp.app): + * + * - `resource`: bundle resource directory (the default). For example: + * `/Applications/SDLApp/MyApp.app/Contents/Resources` + * - `bundle`: the Bundle directory. For example: + * `/Applications/SDLApp/MyApp.app/` + * - `parent`: the containing directory of the bundle. For example: + * `/Applications/SDLApp/` + * + * **Nintendo 3DS Specific Functionality**: This function returns "romfs" + * directory of the application as it is uncommon to store resources outside + * the executable. As such it is not a writable directory. + * + * The returned path is guaranteed to end with a path separator ('\' on + * Windows, '/' on most other platforms). + * + * The pointer returned is owned by the caller. Please call SDL_free() on the + * pointer when done with it. + * + * \returns an absolute path in UTF-8 encoding to the application data + * directory. NULL will be returned on error or when the platform + * doesn't implement this functionality, call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.1. + * + * \sa SDL_GetPrefPath + */ +extern DECLSPEC char *SDLCALL SDL_GetBasePath(void); + +/** + * Get the user-and-app-specific path where files can be written. + * + * Get the "pref dir". This is meant to be where users can write personal + * files (preferences and save games, etc) that are specific to your + * application. This directory is unique per user, per application. + * + * This function will decide the appropriate location in the native + * filesystem, create the directory if necessary, and return a string of the + * absolute path to the directory in UTF-8 encoding. + * + * On Windows, the string might look like: + * + * `C:\\Users\\bob\\AppData\\Roaming\\My Company\\My Program Name\\` + * + * On Linux, the string might look like: + * + * `/home/bob/.local/share/My Program Name/` + * + * On Mac OS X, the string might look like: + * + * `/Users/bob/Library/Application Support/My Program Name/` + * + * You should assume the path returned by this function is the only safe place + * to write files (and that SDL_GetBasePath(), while it might be writable, or + * even the parent of the returned path, isn't where you should be writing + * things). + * + * Both the org and app strings may become part of a directory name, so please + * follow these rules: + * + * - Try to use the same org string (_including case-sensitivity_) for all + * your applications that use this function. + * - Always use a unique app string for each one, and make sure it never + * changes for an app once you've decided on it. + * - Unicode characters are legal, as long as it's UTF-8 encoded, but... + * - ...only use letters, numbers, and spaces. Avoid punctuation like "Game + * Name 2: Bad Guy's Revenge!" ... "Game Name 2" is sufficient. + * + * The returned path is guaranteed to end with a path separator ('\' on + * Windows, '/' on most other platforms). + * + * The pointer returned is owned by the caller. Please call SDL_free() on the + * pointer when done with it. + * + * \param org the name of your organization + * \param app the name of your application + * \returns a UTF-8 string of the user directory in platform-dependent + * notation. NULL if there's a problem (creating directory failed, + * etc.). + * + * \since This function is available since SDL 2.0.1. + * + * \sa SDL_GetBasePath + */ +extern DECLSPEC char *SDLCALL SDL_GetPrefPath(const char *org, const char *app); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_filesystem_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_gamecontroller.h b/subprojects/sdl2_windows/include/SDL2/SDL_gamecontroller.h new file mode 100644 index 000000000..4703b6394 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_gamecontroller.h @@ -0,0 +1,1074 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_gamecontroller.h + * + * Include file for SDL game controller event handling + */ + +#ifndef SDL_gamecontroller_h_ +#define SDL_gamecontroller_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_rwops.h" +#include "SDL_sensor.h" +#include "SDL_joystick.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \file SDL_gamecontroller.h + * + * In order to use these functions, SDL_Init() must have been called + * with the ::SDL_INIT_GAMECONTROLLER flag. This causes SDL to scan the system + * for game controllers, and load appropriate drivers. + * + * If you would like to receive controller updates while the application + * is in the background, you should set the following hint before calling + * SDL_Init(): SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS + */ + +/** + * The gamecontroller structure used to identify an SDL game controller + */ +struct _SDL_GameController; +typedef struct _SDL_GameController SDL_GameController; + +typedef enum +{ + SDL_CONTROLLER_TYPE_UNKNOWN = 0, + SDL_CONTROLLER_TYPE_XBOX360, + SDL_CONTROLLER_TYPE_XBOXONE, + SDL_CONTROLLER_TYPE_PS3, + SDL_CONTROLLER_TYPE_PS4, + SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_PRO, + SDL_CONTROLLER_TYPE_VIRTUAL, + SDL_CONTROLLER_TYPE_PS5, + SDL_CONTROLLER_TYPE_AMAZON_LUNA, + SDL_CONTROLLER_TYPE_GOOGLE_STADIA, + SDL_CONTROLLER_TYPE_NVIDIA_SHIELD, + SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_LEFT, + SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_RIGHT, + SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_PAIR +} SDL_GameControllerType; + +typedef enum +{ + SDL_CONTROLLER_BINDTYPE_NONE = 0, + SDL_CONTROLLER_BINDTYPE_BUTTON, + SDL_CONTROLLER_BINDTYPE_AXIS, + SDL_CONTROLLER_BINDTYPE_HAT +} SDL_GameControllerBindType; + +/** + * Get the SDL joystick layer binding for this controller button/axis mapping + */ +typedef struct SDL_GameControllerButtonBind +{ + SDL_GameControllerBindType bindType; + union + { + int button; + int axis; + struct { + int hat; + int hat_mask; + } hat; + } value; + +} SDL_GameControllerButtonBind; + + +/** + * To count the number of game controllers in the system for the following: + * + * ```c + * int nJoysticks = SDL_NumJoysticks(); + * int nGameControllers = 0; + * for (int i = 0; i < nJoysticks; i++) { + * if (SDL_IsGameController(i)) { + * nGameControllers++; + * } + * } + * ``` + * + * Using the SDL_HINT_GAMECONTROLLERCONFIG hint or the SDL_GameControllerAddMapping() you can add support for controllers SDL is unaware of or cause an existing controller to have a different binding. The format is: + * guid,name,mappings + * + * Where GUID is the string value from SDL_JoystickGetGUIDString(), name is the human readable string for the device and mappings are controller mappings to joystick ones. + * Under Windows there is a reserved GUID of "xinput" that covers any XInput devices. + * The mapping format for joystick is: + * bX - a joystick button, index X + * hX.Y - hat X with value Y + * aX - axis X of the joystick + * Buttons can be used as a controller axis and vice versa. + * + * This string shows an example of a valid mapping for a controller + * + * ```c + * "03000000341a00003608000000000000,PS3 Controller,a:b1,b:b2,y:b3,x:b0,start:b9,guide:b12,back:b8,dpup:h0.1,dpleft:h0.8,dpdown:h0.4,dpright:h0.2,leftshoulder:b4,rightshoulder:b5,leftstick:b10,rightstick:b11,leftx:a0,lefty:a1,rightx:a2,righty:a3,lefttrigger:b6,righttrigger:b7", + * ``` + */ + +/** + * Load a set of Game Controller mappings from a seekable SDL data stream. + * + * You can call this function several times, if needed, to load different + * database files. + * + * If a new mapping is loaded for an already known controller GUID, the later + * version will overwrite the one currently loaded. + * + * Mappings not belonging to the current platform or with no platform field + * specified will be ignored (i.e. mappings for Linux will be ignored in + * Windows, etc). + * + * This function will load the text database entirely in memory before + * processing it, so take this into consideration if you are in a memory + * constrained environment. + * + * \param rw the data stream for the mappings to be added + * \param freerw non-zero to close the stream after being read + * \returns the number of mappings added or -1 on error; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_GameControllerAddMapping + * \sa SDL_GameControllerAddMappingsFromFile + * \sa SDL_GameControllerMappingForGUID + */ +extern DECLSPEC int SDLCALL SDL_GameControllerAddMappingsFromRW(SDL_RWops * rw, int freerw); + +/** + * Load a set of mappings from a file, filtered by the current SDL_GetPlatform() + * + * Convenience macro. + */ +#define SDL_GameControllerAddMappingsFromFile(file) SDL_GameControllerAddMappingsFromRW(SDL_RWFromFile(file, "rb"), 1) + +/** + * Add support for controllers that SDL is unaware of or to cause an existing + * controller to have a different binding. + * + * The mapping string has the format "GUID,name,mapping", where GUID is the + * string value from SDL_JoystickGetGUIDString(), name is the human readable + * string for the device and mappings are controller mappings to joystick + * ones. Under Windows there is a reserved GUID of "xinput" that covers all + * XInput devices. The mapping format for joystick is: {| |bX |a joystick + * button, index X |- |hX.Y |hat X with value Y |- |aX |axis X of the joystick + * |} Buttons can be used as a controller axes and vice versa. + * + * This string shows an example of a valid mapping for a controller: + * + * ```c + * "341a3608000000000000504944564944,Afterglow PS3 Controller,a:b1,b:b2,y:b3,x:b0,start:b9,guide:b12,back:b8,dpup:h0.1,dpleft:h0.8,dpdown:h0.4,dpright:h0.2,leftshoulder:b4,rightshoulder:b5,leftstick:b10,rightstick:b11,leftx:a0,lefty:a1,rightx:a2,righty:a3,lefttrigger:b6,righttrigger:b7" + * ``` + * + * \param mappingString the mapping string + * \returns 1 if a new mapping is added, 0 if an existing mapping is updated, + * -1 on error; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerMapping + * \sa SDL_GameControllerMappingForGUID + */ +extern DECLSPEC int SDLCALL SDL_GameControllerAddMapping(const char* mappingString); + +/** + * Get the number of mappings installed. + * + * \returns the number of mappings. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerNumMappings(void); + +/** + * Get the mapping at a particular index. + * + * \returns the mapping string. Must be freed with SDL_free(). Returns NULL if + * the index is out of range. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC char * SDLCALL SDL_GameControllerMappingForIndex(int mapping_index); + +/** + * Get the game controller mapping string for a given GUID. + * + * The returned string must be freed with SDL_free(). + * + * \param guid a structure containing the GUID for which a mapping is desired + * \returns a mapping string or NULL on error; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetDeviceGUID + * \sa SDL_JoystickGetGUID + */ +extern DECLSPEC char * SDLCALL SDL_GameControllerMappingForGUID(SDL_JoystickGUID guid); + +/** + * Get the current mapping of a Game Controller. + * + * The returned string must be freed with SDL_free(). + * + * Details about mappings are discussed with SDL_GameControllerAddMapping(). + * + * \param gamecontroller the game controller you want to get the current + * mapping for + * \returns a string that has the controller's mapping or NULL if no mapping + * is available; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerAddMapping + * \sa SDL_GameControllerMappingForGUID + */ +extern DECLSPEC char * SDLCALL SDL_GameControllerMapping(SDL_GameController *gamecontroller); + +/** + * Check if the given joystick is supported by the game controller interface. + * + * `joystick_index` is the same as the `device_index` passed to + * SDL_JoystickOpen(). + * + * \param joystick_index the device_index of a device, up to + * SDL_NumJoysticks() + * \returns SDL_TRUE if the given joystick is supported by the game controller + * interface, SDL_FALSE if it isn't or it's an invalid index. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerNameForIndex + * \sa SDL_GameControllerOpen + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsGameController(int joystick_index); + +/** + * Get the implementation dependent name for the game controller. + * + * This function can be called before any controllers are opened. + * + * `joystick_index` is the same as the `device_index` passed to + * SDL_JoystickOpen(). + * + * \param joystick_index the device_index of a device, from zero to + * SDL_NumJoysticks()-1 + * \returns the implementation-dependent name for the game controller, or NULL + * if there is no name or the index is invalid. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerName + * \sa SDL_GameControllerOpen + * \sa SDL_IsGameController + */ +extern DECLSPEC const char *SDLCALL SDL_GameControllerNameForIndex(int joystick_index); + +/** + * Get the implementation dependent path for the game controller. + * + * This function can be called before any controllers are opened. + * + * `joystick_index` is the same as the `device_index` passed to + * SDL_JoystickOpen(). + * + * \param joystick_index the device_index of a device, from zero to + * SDL_NumJoysticks()-1 + * \returns the implementation-dependent path for the game controller, or NULL + * if there is no path or the index is invalid. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GameControllerPath + */ +extern DECLSPEC const char *SDLCALL SDL_GameControllerPathForIndex(int joystick_index); + +/** + * Get the type of a game controller. + * + * This can be called before any controllers are opened. + * + * \param joystick_index the device_index of a device, from zero to + * SDL_NumJoysticks()-1 + * \returns the controller type. + * + * \since This function is available since SDL 2.0.12. + */ +extern DECLSPEC SDL_GameControllerType SDLCALL SDL_GameControllerTypeForIndex(int joystick_index); + +/** + * Get the mapping of a game controller. + * + * This can be called before any controllers are opened. + * + * \param joystick_index the device_index of a device, from zero to + * SDL_NumJoysticks()-1 + * \returns the mapping string. Must be freed with SDL_free(). Returns NULL if + * no mapping is available. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC char *SDLCALL SDL_GameControllerMappingForDeviceIndex(int joystick_index); + +/** + * Open a game controller for use. + * + * `joystick_index` is the same as the `device_index` passed to + * SDL_JoystickOpen(). + * + * The index passed as an argument refers to the N'th game controller on the + * system. This index is not the value which will identify this controller in + * future controller events. The joystick's instance id (SDL_JoystickID) will + * be used there instead. + * + * \param joystick_index the device_index of a device, up to + * SDL_NumJoysticks() + * \returns a gamecontroller identifier or NULL if an error occurred; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerClose + * \sa SDL_GameControllerNameForIndex + * \sa SDL_IsGameController + */ +extern DECLSPEC SDL_GameController *SDLCALL SDL_GameControllerOpen(int joystick_index); + +/** + * Get the SDL_GameController associated with an instance id. + * + * \param joyid the instance id to get the SDL_GameController for + * \returns an SDL_GameController on success or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.4. + */ +extern DECLSPEC SDL_GameController *SDLCALL SDL_GameControllerFromInstanceID(SDL_JoystickID joyid); + +/** + * Get the SDL_GameController associated with a player index. + * + * Please note that the player index is _not_ the device index, nor is it the + * instance id! + * + * \param player_index the player index, which is not the device index or the + * instance id! + * \returns the SDL_GameController associated with a player index. + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_GameControllerGetPlayerIndex + * \sa SDL_GameControllerSetPlayerIndex + */ +extern DECLSPEC SDL_GameController *SDLCALL SDL_GameControllerFromPlayerIndex(int player_index); + +/** + * Get the implementation-dependent name for an opened game controller. + * + * This is the same name as returned by SDL_GameControllerNameForIndex(), but + * it takes a controller identifier instead of the (unstable) device index. + * + * \param gamecontroller a game controller identifier previously returned by + * SDL_GameControllerOpen() + * \returns the implementation dependent name for the game controller, or NULL + * if there is no name or the identifier passed is invalid. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerNameForIndex + * \sa SDL_GameControllerOpen + */ +extern DECLSPEC const char *SDLCALL SDL_GameControllerName(SDL_GameController *gamecontroller); + +/** + * Get the implementation-dependent path for an opened game controller. + * + * This is the same path as returned by SDL_GameControllerNameForIndex(), but + * it takes a controller identifier instead of the (unstable) device index. + * + * \param gamecontroller a game controller identifier previously returned by + * SDL_GameControllerOpen() + * \returns the implementation dependent path for the game controller, or NULL + * if there is no path or the identifier passed is invalid. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GameControllerPathForIndex + */ +extern DECLSPEC const char *SDLCALL SDL_GameControllerPath(SDL_GameController *gamecontroller); + +/** + * Get the type of this currently opened controller + * + * This is the same name as returned by SDL_GameControllerTypeForIndex(), but + * it takes a controller identifier instead of the (unstable) device index. + * + * \param gamecontroller the game controller object to query. + * \returns the controller type. + * + * \since This function is available since SDL 2.0.12. + */ +extern DECLSPEC SDL_GameControllerType SDLCALL SDL_GameControllerGetType(SDL_GameController *gamecontroller); + +/** + * Get the player index of an opened game controller. + * + * For XInput controllers this returns the XInput user index. + * + * \param gamecontroller the game controller object to query. + * \returns the player index for controller, or -1 if it's not available. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerGetPlayerIndex(SDL_GameController *gamecontroller); + +/** + * Set the player index of an opened game controller. + * + * \param gamecontroller the game controller object to adjust. + * \param player_index Player index to assign to this controller, or -1 to + * clear the player index and turn off player LEDs. + * + * \since This function is available since SDL 2.0.12. + */ +extern DECLSPEC void SDLCALL SDL_GameControllerSetPlayerIndex(SDL_GameController *gamecontroller, int player_index); + +/** + * Get the USB vendor ID of an opened controller, if available. + * + * If the vendor ID isn't available this function returns 0. + * + * \param gamecontroller the game controller object to query. + * \return the USB vendor ID, or zero if unavailable. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetVendor(SDL_GameController *gamecontroller); + +/** + * Get the USB product ID of an opened controller, if available. + * + * If the product ID isn't available this function returns 0. + * + * \param gamecontroller the game controller object to query. + * \return the USB product ID, or zero if unavailable. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetProduct(SDL_GameController *gamecontroller); + +/** + * Get the product version of an opened controller, if available. + * + * If the product version isn't available this function returns 0. + * + * \param gamecontroller the game controller object to query. + * \return the USB product version, or zero if unavailable. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetProductVersion(SDL_GameController *gamecontroller); + +/** + * Get the firmware version of an opened controller, if available. + * + * If the firmware version isn't available this function returns 0. + * + * \param gamecontroller the game controller object to query. + * \return the controller firmware version, or zero if unavailable. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetFirmwareVersion(SDL_GameController *gamecontroller); + +/** + * Get the serial number of an opened controller, if available. + * + * Returns the serial number of the controller, or NULL if it is not + * available. + * + * \param gamecontroller the game controller object to query. + * \return the serial number, or NULL if unavailable. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC const char * SDLCALL SDL_GameControllerGetSerial(SDL_GameController *gamecontroller); + +/** + * Check if a controller has been opened and is currently connected. + * + * \param gamecontroller a game controller identifier previously returned by + * SDL_GameControllerOpen() + * \returns SDL_TRUE if the controller has been opened and is currently + * connected, or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerClose + * \sa SDL_GameControllerOpen + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerGetAttached(SDL_GameController *gamecontroller); + +/** + * Get the Joystick ID from a Game Controller. + * + * This function will give you a SDL_Joystick object, which allows you to use + * the SDL_Joystick functions with a SDL_GameController object. This would be + * useful for getting a joystick's position at any given time, even if it + * hasn't moved (moving it would produce an event, which would have the axis' + * value). + * + * The pointer returned is owned by the SDL_GameController. You should not + * call SDL_JoystickClose() on it, for example, since doing so will likely + * cause SDL to crash. + * + * \param gamecontroller the game controller object that you want to get a + * joystick from + * \returns a SDL_Joystick object; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_Joystick *SDLCALL SDL_GameControllerGetJoystick(SDL_GameController *gamecontroller); + +/** + * Query or change current state of Game Controller events. + * + * If controller events are disabled, you must call SDL_GameControllerUpdate() + * yourself and check the state of the controller when you want controller + * information. + * + * Any number can be passed to SDL_GameControllerEventState(), but only -1, 0, + * and 1 will have any effect. Other numbers will just be returned. + * + * \param state can be one of `SDL_QUERY`, `SDL_IGNORE`, or `SDL_ENABLE` + * \returns the same value passed to the function, with exception to -1 + * (SDL_QUERY), which will return the current state. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickEventState + */ +extern DECLSPEC int SDLCALL SDL_GameControllerEventState(int state); + +/** + * Manually pump game controller updates if not using the loop. + * + * This function is called automatically by the event loop if events are + * enabled. Under such circumstances, it will not be necessary to call this + * function. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_GameControllerUpdate(void); + + +/** + * The list of axes available from a controller + * + * Thumbstick axis values range from SDL_JOYSTICK_AXIS_MIN to SDL_JOYSTICK_AXIS_MAX, + * and are centered within ~8000 of zero, though advanced UI will allow users to set + * or autodetect the dead zone, which varies between controllers. + * + * Trigger axis values range from 0 to SDL_JOYSTICK_AXIS_MAX. + */ +typedef enum +{ + SDL_CONTROLLER_AXIS_INVALID = -1, + SDL_CONTROLLER_AXIS_LEFTX, + SDL_CONTROLLER_AXIS_LEFTY, + SDL_CONTROLLER_AXIS_RIGHTX, + SDL_CONTROLLER_AXIS_RIGHTY, + SDL_CONTROLLER_AXIS_TRIGGERLEFT, + SDL_CONTROLLER_AXIS_TRIGGERRIGHT, + SDL_CONTROLLER_AXIS_MAX +} SDL_GameControllerAxis; + +/** + * Convert a string into SDL_GameControllerAxis enum. + * + * This function is called internally to translate SDL_GameController mapping + * strings for the underlying joystick device into the consistent + * SDL_GameController mapping. You do not normally need to call this function + * unless you are parsing SDL_GameController mappings in your own code. + * + * Note specially that "righttrigger" and "lefttrigger" map to + * `SDL_CONTROLLER_AXIS_TRIGGERRIGHT` and `SDL_CONTROLLER_AXIS_TRIGGERLEFT`, + * respectively. + * + * \param str string representing a SDL_GameController axis + * \returns the SDL_GameControllerAxis enum corresponding to the input string, + * or `SDL_CONTROLLER_AXIS_INVALID` if no match was found. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetStringForAxis + */ +extern DECLSPEC SDL_GameControllerAxis SDLCALL SDL_GameControllerGetAxisFromString(const char *str); + +/** + * Convert from an SDL_GameControllerAxis enum to a string. + * + * The caller should not SDL_free() the returned string. + * + * \param axis an enum value for a given SDL_GameControllerAxis + * \returns a string for the given axis, or NULL if an invalid axis is + * specified. The string returned is of the format used by + * SDL_GameController mapping strings. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetAxisFromString + */ +extern DECLSPEC const char* SDLCALL SDL_GameControllerGetStringForAxis(SDL_GameControllerAxis axis); + +/** + * Get the SDL joystick layer binding for a controller axis mapping. + * + * \param gamecontroller a game controller + * \param axis an axis enum value (one of the SDL_GameControllerAxis values) + * \returns a SDL_GameControllerButtonBind describing the bind. On failure + * (like the given Controller axis doesn't exist on the device), its + * `.bindType` will be `SDL_CONTROLLER_BINDTYPE_NONE`. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetBindForButton + */ +extern DECLSPEC SDL_GameControllerButtonBind SDLCALL +SDL_GameControllerGetBindForAxis(SDL_GameController *gamecontroller, + SDL_GameControllerAxis axis); + +/** + * Query whether a game controller has a given axis. + * + * This merely reports whether the controller's mapping defined this axis, as + * that is all the information SDL has about the physical device. + * + * \param gamecontroller a game controller + * \param axis an axis enum value (an SDL_GameControllerAxis value) + * \returns SDL_TRUE if the controller has this axis, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL +SDL_GameControllerHasAxis(SDL_GameController *gamecontroller, SDL_GameControllerAxis axis); + +/** + * Get the current state of an axis control on a game controller. + * + * The axis indices start at index 0. + * + * The state is a value ranging from -32768 to 32767. Triggers, however, range + * from 0 to 32767 (they never return a negative value). + * + * \param gamecontroller a game controller + * \param axis an axis index (one of the SDL_GameControllerAxis values) + * \returns axis state (including 0) on success or 0 (also) on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetButton + */ +extern DECLSPEC Sint16 SDLCALL +SDL_GameControllerGetAxis(SDL_GameController *gamecontroller, SDL_GameControllerAxis axis); + +/** + * The list of buttons available from a controller + */ +typedef enum +{ + SDL_CONTROLLER_BUTTON_INVALID = -1, + SDL_CONTROLLER_BUTTON_A, + SDL_CONTROLLER_BUTTON_B, + SDL_CONTROLLER_BUTTON_X, + SDL_CONTROLLER_BUTTON_Y, + SDL_CONTROLLER_BUTTON_BACK, + SDL_CONTROLLER_BUTTON_GUIDE, + SDL_CONTROLLER_BUTTON_START, + SDL_CONTROLLER_BUTTON_LEFTSTICK, + SDL_CONTROLLER_BUTTON_RIGHTSTICK, + SDL_CONTROLLER_BUTTON_LEFTSHOULDER, + SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, + SDL_CONTROLLER_BUTTON_DPAD_UP, + SDL_CONTROLLER_BUTTON_DPAD_DOWN, + SDL_CONTROLLER_BUTTON_DPAD_LEFT, + SDL_CONTROLLER_BUTTON_DPAD_RIGHT, + SDL_CONTROLLER_BUTTON_MISC1, /* Xbox Series X share button, PS5 microphone button, Nintendo Switch Pro capture button, Amazon Luna microphone button */ + SDL_CONTROLLER_BUTTON_PADDLE1, /* Xbox Elite paddle P1 */ + SDL_CONTROLLER_BUTTON_PADDLE2, /* Xbox Elite paddle P3 */ + SDL_CONTROLLER_BUTTON_PADDLE3, /* Xbox Elite paddle P2 */ + SDL_CONTROLLER_BUTTON_PADDLE4, /* Xbox Elite paddle P4 */ + SDL_CONTROLLER_BUTTON_TOUCHPAD, /* PS4/PS5 touchpad button */ + SDL_CONTROLLER_BUTTON_MAX +} SDL_GameControllerButton; + +/** + * Convert a string into an SDL_GameControllerButton enum. + * + * This function is called internally to translate SDL_GameController mapping + * strings for the underlying joystick device into the consistent + * SDL_GameController mapping. You do not normally need to call this function + * unless you are parsing SDL_GameController mappings in your own code. + * + * \param str string representing a SDL_GameController axis + * \returns the SDL_GameControllerButton enum corresponding to the input + * string, or `SDL_CONTROLLER_AXIS_INVALID` if no match was found. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_GameControllerButton SDLCALL SDL_GameControllerGetButtonFromString(const char *str); + +/** + * Convert from an SDL_GameControllerButton enum to a string. + * + * The caller should not SDL_free() the returned string. + * + * \param button an enum value for a given SDL_GameControllerButton + * \returns a string for the given button, or NULL if an invalid button is + * specified. The string returned is of the format used by + * SDL_GameController mapping strings. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetButtonFromString + */ +extern DECLSPEC const char* SDLCALL SDL_GameControllerGetStringForButton(SDL_GameControllerButton button); + +/** + * Get the SDL joystick layer binding for a controller button mapping. + * + * \param gamecontroller a game controller + * \param button an button enum value (an SDL_GameControllerButton value) + * \returns a SDL_GameControllerButtonBind describing the bind. On failure + * (like the given Controller button doesn't exist on the device), + * its `.bindType` will be `SDL_CONTROLLER_BINDTYPE_NONE`. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetBindForAxis + */ +extern DECLSPEC SDL_GameControllerButtonBind SDLCALL +SDL_GameControllerGetBindForButton(SDL_GameController *gamecontroller, + SDL_GameControllerButton button); + +/** + * Query whether a game controller has a given button. + * + * This merely reports whether the controller's mapping defined this button, + * as that is all the information SDL has about the physical device. + * + * \param gamecontroller a game controller + * \param button a button enum value (an SDL_GameControllerButton value) + * \returns SDL_TRUE if the controller has this button, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasButton(SDL_GameController *gamecontroller, + SDL_GameControllerButton button); + +/** + * Get the current state of a button on a game controller. + * + * \param gamecontroller a game controller + * \param button a button index (one of the SDL_GameControllerButton values) + * \returns 1 for pressed state or 0 for not pressed state or error; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerGetAxis + */ +extern DECLSPEC Uint8 SDLCALL SDL_GameControllerGetButton(SDL_GameController *gamecontroller, + SDL_GameControllerButton button); + +/** + * Get the number of touchpads on a game controller. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerGetNumTouchpads(SDL_GameController *gamecontroller); + +/** + * Get the number of supported simultaneous fingers on a touchpad on a game + * controller. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerGetNumTouchpadFingers(SDL_GameController *gamecontroller, int touchpad); + +/** + * Get the current state of a finger on a touchpad on a game controller. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerGetTouchpadFinger(SDL_GameController *gamecontroller, int touchpad, int finger, Uint8 *state, float *x, float *y, float *pressure); + +/** + * Return whether a game controller has a particular sensor. + * + * \param gamecontroller The controller to query + * \param type The type of sensor to query + * \returns SDL_TRUE if the sensor exists, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasSensor(SDL_GameController *gamecontroller, SDL_SensorType type); + +/** + * Set whether data reporting for a game controller sensor is enabled. + * + * \param gamecontroller The controller to update + * \param type The type of sensor to enable/disable + * \param enabled Whether data reporting should be enabled + * \returns 0 or -1 if an error occurred. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerSetSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type, SDL_bool enabled); + +/** + * Query whether sensor data reporting is enabled for a game controller. + * + * \param gamecontroller The controller to query + * \param type The type of sensor to query + * \returns SDL_TRUE if the sensor is enabled, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerIsSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type); + +/** + * Get the data rate (number of events per second) of a game controller + * sensor. + * + * \param gamecontroller The controller to query + * \param type The type of sensor to query + * \return the data rate, or 0.0f if the data rate is not available. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC float SDLCALL SDL_GameControllerGetSensorDataRate(SDL_GameController *gamecontroller, SDL_SensorType type); + +/** + * Get the current state of a game controller sensor. + * + * The number of values and interpretation of the data is sensor dependent. + * See SDL_sensor.h for the details for each type of sensor. + * + * \param gamecontroller The controller to query + * \param type The type of sensor to query + * \param data A pointer filled with the current sensor state + * \param num_values The number of values to write to data + * \return 0 or -1 if an error occurred. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values); + +/** + * Get the current state of a game controller sensor with the timestamp of the + * last update. + * + * The number of values and interpretation of the data is sensor dependent. + * See SDL_sensor.h for the details for each type of sensor. + * + * \param gamecontroller The controller to query + * \param type The type of sensor to query + * \param timestamp A pointer filled with the timestamp in microseconds of the + * current sensor reading if available, or 0 if not + * \param data A pointer filled with the current sensor state + * \param num_values The number of values to write to data + * \return 0 or -1 if an error occurred. + * + * \since This function is available since SDL 2.26.0. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values); + +/** + * Start a rumble effect on a game controller. + * + * Each call to this function cancels any previous rumble effect, and calling + * it with 0 intensity stops any rumbling. + * + * \param gamecontroller The controller to vibrate + * \param low_frequency_rumble The intensity of the low frequency (left) + * rumble motor, from 0 to 0xFFFF + * \param high_frequency_rumble The intensity of the high frequency (right) + * rumble motor, from 0 to 0xFFFF + * \param duration_ms The duration of the rumble effect, in milliseconds + * \returns 0, or -1 if rumble isn't supported on this controller + * + * \since This function is available since SDL 2.0.9. + * + * \sa SDL_GameControllerHasRumble + */ +extern DECLSPEC int SDLCALL SDL_GameControllerRumble(SDL_GameController *gamecontroller, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble, Uint32 duration_ms); + +/** + * Start a rumble effect in the game controller's triggers. + * + * Each call to this function cancels any previous trigger rumble effect, and + * calling it with 0 intensity stops any rumbling. + * + * Note that this is rumbling of the _triggers_ and not the game controller as + * a whole. This is currently only supported on Xbox One controllers. If you + * want the (more common) whole-controller rumble, use + * SDL_GameControllerRumble() instead. + * + * \param gamecontroller The controller to vibrate + * \param left_rumble The intensity of the left trigger rumble motor, from 0 + * to 0xFFFF + * \param right_rumble The intensity of the right trigger rumble motor, from 0 + * to 0xFFFF + * \param duration_ms The duration of the rumble effect, in milliseconds + * \returns 0, or -1 if trigger rumble isn't supported on this controller + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_GameControllerHasRumbleTriggers + */ +extern DECLSPEC int SDLCALL SDL_GameControllerRumbleTriggers(SDL_GameController *gamecontroller, Uint16 left_rumble, Uint16 right_rumble, Uint32 duration_ms); + +/** + * Query whether a game controller has an LED. + * + * \param gamecontroller The controller to query + * \returns SDL_TRUE, or SDL_FALSE if this controller does not have a + * modifiable LED + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasLED(SDL_GameController *gamecontroller); + +/** + * Query whether a game controller has rumble support. + * + * \param gamecontroller The controller to query + * \returns SDL_TRUE, or SDL_FALSE if this controller does not have rumble + * support + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_GameControllerRumble + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasRumble(SDL_GameController *gamecontroller); + +/** + * Query whether a game controller has rumble support on triggers. + * + * \param gamecontroller The controller to query + * \returns SDL_TRUE, or SDL_FALSE if this controller does not have trigger + * rumble support + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_GameControllerRumbleTriggers + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasRumbleTriggers(SDL_GameController *gamecontroller); + +/** + * Update a game controller's LED color. + * + * \param gamecontroller The controller to update + * \param red The intensity of the red LED + * \param green The intensity of the green LED + * \param blue The intensity of the blue LED + * \returns 0, or -1 if this controller does not have a modifiable LED + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerSetLED(SDL_GameController *gamecontroller, Uint8 red, Uint8 green, Uint8 blue); + +/** + * Send a controller specific effect packet + * + * \param gamecontroller The controller to affect + * \param data The data to send to the controller + * \param size The size of the data to send to the controller + * \returns 0, or -1 if this controller or driver doesn't support effect + * packets + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC int SDLCALL SDL_GameControllerSendEffect(SDL_GameController *gamecontroller, const void *data, int size); + +/** + * Close a game controller previously opened with SDL_GameControllerOpen(). + * + * \param gamecontroller a game controller identifier previously returned by + * SDL_GameControllerOpen() + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerOpen + */ +extern DECLSPEC void SDLCALL SDL_GameControllerClose(SDL_GameController *gamecontroller); + +/** + * Return the sfSymbolsName for a given button on a game controller on Apple + * platforms. + * + * \param gamecontroller the controller to query + * \param button a button on the game controller + * \returns the sfSymbolsName or NULL if the name can't be found + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_GameControllerGetAppleSFSymbolsNameForAxis + */ +extern DECLSPEC const char* SDLCALL SDL_GameControllerGetAppleSFSymbolsNameForButton(SDL_GameController *gamecontroller, SDL_GameControllerButton button); + +/** + * Return the sfSymbolsName for a given axis on a game controller on Apple + * platforms. + * + * \param gamecontroller the controller to query + * \param axis an axis on the game controller + * \returns the sfSymbolsName or NULL if the name can't be found + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_GameControllerGetAppleSFSymbolsNameForButton + */ +extern DECLSPEC const char* SDLCALL SDL_GameControllerGetAppleSFSymbolsNameForAxis(SDL_GameController *gamecontroller, SDL_GameControllerAxis axis); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_gamecontroller_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_gesture.h b/subprojects/sdl2_windows/include/SDL2/SDL_gesture.h new file mode 100644 index 000000000..e2caea2a9 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_gesture.h @@ -0,0 +1,117 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_gesture.h + * + * Include file for SDL gesture event handling. + */ + +#ifndef SDL_gesture_h_ +#define SDL_gesture_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_video.h" + +#include "SDL_touch.h" + + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +typedef Sint64 SDL_GestureID; + +/* Function prototypes */ + +/** + * Begin recording a gesture on a specified touch device or all touch devices. + * + * If the parameter `touchId` is -1 (i.e., all devices), this function will + * always return 1, regardless of whether there actually are any devices. + * + * \param touchId the touch device id, or -1 for all touch devices + * \returns 1 on success or 0 if the specified device could not be found. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTouchDevice + */ +extern DECLSPEC int SDLCALL SDL_RecordGesture(SDL_TouchID touchId); + + +/** + * Save all currently loaded Dollar Gesture templates. + * + * \param dst a SDL_RWops to save to + * \returns the number of saved templates on success or 0 on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadDollarTemplates + * \sa SDL_SaveDollarTemplate + */ +extern DECLSPEC int SDLCALL SDL_SaveAllDollarTemplates(SDL_RWops *dst); + +/** + * Save a currently loaded Dollar Gesture template. + * + * \param gestureId a gesture id + * \param dst a SDL_RWops to save to + * \returns 1 on success or 0 on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadDollarTemplates + * \sa SDL_SaveAllDollarTemplates + */ +extern DECLSPEC int SDLCALL SDL_SaveDollarTemplate(SDL_GestureID gestureId,SDL_RWops *dst); + + +/** + * Load Dollar Gesture templates from a file. + * + * \param touchId a touch id + * \param src a SDL_RWops to load from + * \returns the number of loaded templates on success or a negative error code + * (or 0) on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SaveAllDollarTemplates + * \sa SDL_SaveDollarTemplate + */ +extern DECLSPEC int SDLCALL SDL_LoadDollarTemplates(SDL_TouchID touchId, SDL_RWops *src); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_gesture_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_guid.h b/subprojects/sdl2_windows/include/SDL2/SDL_guid.h new file mode 100644 index 000000000..b971636a0 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_guid.h @@ -0,0 +1,100 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_guid.h + * + * Include file for handling ::SDL_GUID values. + */ + +#ifndef SDL_guid_h_ +#define SDL_guid_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * An SDL_GUID is a 128-bit identifier for an input device that + * identifies that device across runs of SDL programs on the same + * platform. If the device is detached and then re-attached to a + * different port, or if the base system is rebooted, the device + * should still report the same GUID. + * + * GUIDs are as precise as possible but are not guaranteed to + * distinguish physically distinct but equivalent devices. For + * example, two game controllers from the same vendor with the same + * product ID and revision may have the same GUID. + * + * GUIDs may be platform-dependent (i.e., the same device may report + * different GUIDs on different operating systems). + */ +typedef struct { + Uint8 data[16]; +} SDL_GUID; + +/* Function prototypes */ + +/** + * Get an ASCII string representation for a given ::SDL_GUID. + * + * You should supply at least 33 bytes for pszGUID. + * + * \param guid the ::SDL_GUID you wish to convert to string + * \param pszGUID buffer in which to write the ASCII string + * \param cbGUID the size of pszGUID + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GUIDFromString + */ +extern DECLSPEC void SDLCALL SDL_GUIDToString(SDL_GUID guid, char *pszGUID, int cbGUID); + +/** + * Convert a GUID string into a ::SDL_GUID structure. + * + * Performs no error checking. If this function is given a string containing + * an invalid GUID, the function will silently succeed, but the GUID generated + * will not be useful. + * + * \param pchGUID string containing an ASCII representation of a GUID + * \returns a ::SDL_GUID structure. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GUIDToString + */ +extern DECLSPEC SDL_GUID SDLCALL SDL_GUIDFromString(const char *pchGUID); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_guid_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_haptic.h b/subprojects/sdl2_windows/include/SDL2/SDL_haptic.h new file mode 100644 index 000000000..f240ae927 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_haptic.h @@ -0,0 +1,1341 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_haptic.h + * + * \brief The SDL haptic subsystem allows you to control haptic (force feedback) + * devices. + * + * The basic usage is as follows: + * - Initialize the subsystem (::SDL_INIT_HAPTIC). + * - Open a haptic device. + * - SDL_HapticOpen() to open from index. + * - SDL_HapticOpenFromJoystick() to open from an existing joystick. + * - Create an effect (::SDL_HapticEffect). + * - Upload the effect with SDL_HapticNewEffect(). + * - Run the effect with SDL_HapticRunEffect(). + * - (optional) Free the effect with SDL_HapticDestroyEffect(). + * - Close the haptic device with SDL_HapticClose(). + * + * \par Simple rumble example: + * \code + * SDL_Haptic *haptic; + * + * // Open the device + * haptic = SDL_HapticOpen( 0 ); + * if (haptic == NULL) + * return -1; + * + * // Initialize simple rumble + * if (SDL_HapticRumbleInit( haptic ) != 0) + * return -1; + * + * // Play effect at 50% strength for 2 seconds + * if (SDL_HapticRumblePlay( haptic, 0.5, 2000 ) != 0) + * return -1; + * SDL_Delay( 2000 ); + * + * // Clean up + * SDL_HapticClose( haptic ); + * \endcode + * + * \par Complete example: + * \code + * int test_haptic( SDL_Joystick * joystick ) { + * SDL_Haptic *haptic; + * SDL_HapticEffect effect; + * int effect_id; + * + * // Open the device + * haptic = SDL_HapticOpenFromJoystick( joystick ); + * if (haptic == NULL) return -1; // Most likely joystick isn't haptic + * + * // See if it can do sine waves + * if ((SDL_HapticQuery(haptic) & SDL_HAPTIC_SINE)==0) { + * SDL_HapticClose(haptic); // No sine effect + * return -1; + * } + * + * // Create the effect + * SDL_memset( &effect, 0, sizeof(SDL_HapticEffect) ); // 0 is safe default + * effect.type = SDL_HAPTIC_SINE; + * effect.periodic.direction.type = SDL_HAPTIC_POLAR; // Polar coordinates + * effect.periodic.direction.dir[0] = 18000; // Force comes from south + * effect.periodic.period = 1000; // 1000 ms + * effect.periodic.magnitude = 20000; // 20000/32767 strength + * effect.periodic.length = 5000; // 5 seconds long + * effect.periodic.attack_length = 1000; // Takes 1 second to get max strength + * effect.periodic.fade_length = 1000; // Takes 1 second to fade away + * + * // Upload the effect + * effect_id = SDL_HapticNewEffect( haptic, &effect ); + * + * // Test the effect + * SDL_HapticRunEffect( haptic, effect_id, 1 ); + * SDL_Delay( 5000); // Wait for the effect to finish + * + * // We destroy the effect, although closing the device also does this + * SDL_HapticDestroyEffect( haptic, effect_id ); + * + * // Close the device + * SDL_HapticClose(haptic); + * + * return 0; // Success + * } + * \endcode + */ + +#ifndef SDL_haptic_h_ +#define SDL_haptic_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_joystick.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/* FIXME: For SDL 2.1, adjust all the magnitude variables to be Uint16 (0xFFFF). + * + * At the moment the magnitude variables are mixed between signed/unsigned, and + * it is also not made clear that ALL of those variables expect a max of 0x7FFF. + * + * Some platforms may have higher precision than that (Linux FF, Windows XInput) + * so we should fix the inconsistency in favor of higher possible precision, + * adjusting for platforms that use different scales. + * -flibit + */ + +/** + * \typedef SDL_Haptic + * + * \brief The haptic structure used to identify an SDL haptic. + * + * \sa SDL_HapticOpen + * \sa SDL_HapticOpenFromJoystick + * \sa SDL_HapticClose + */ +struct _SDL_Haptic; +typedef struct _SDL_Haptic SDL_Haptic; + + +/** + * \name Haptic features + * + * Different haptic features a device can have. + */ +/* @{ */ + +/** + * \name Haptic effects + */ +/* @{ */ + +/** + * \brief Constant effect supported. + * + * Constant haptic effect. + * + * \sa SDL_HapticCondition + */ +#define SDL_HAPTIC_CONSTANT (1u<<0) + +/** + * \brief Sine wave effect supported. + * + * Periodic haptic effect that simulates sine waves. + * + * \sa SDL_HapticPeriodic + */ +#define SDL_HAPTIC_SINE (1u<<1) + +/** + * \brief Left/Right effect supported. + * + * Haptic effect for direct control over high/low frequency motors. + * + * \sa SDL_HapticLeftRight + * \warning this value was SDL_HAPTIC_SQUARE right before 2.0.0 shipped. Sorry, + * we ran out of bits, and this is important for XInput devices. + */ +#define SDL_HAPTIC_LEFTRIGHT (1u<<2) + +/* !!! FIXME: put this back when we have more bits in 2.1 */ +/* #define SDL_HAPTIC_SQUARE (1<<2) */ + +/** + * \brief Triangle wave effect supported. + * + * Periodic haptic effect that simulates triangular waves. + * + * \sa SDL_HapticPeriodic + */ +#define SDL_HAPTIC_TRIANGLE (1u<<3) + +/** + * \brief Sawtoothup wave effect supported. + * + * Periodic haptic effect that simulates saw tooth up waves. + * + * \sa SDL_HapticPeriodic + */ +#define SDL_HAPTIC_SAWTOOTHUP (1u<<4) + +/** + * \brief Sawtoothdown wave effect supported. + * + * Periodic haptic effect that simulates saw tooth down waves. + * + * \sa SDL_HapticPeriodic + */ +#define SDL_HAPTIC_SAWTOOTHDOWN (1u<<5) + +/** + * \brief Ramp effect supported. + * + * Ramp haptic effect. + * + * \sa SDL_HapticRamp + */ +#define SDL_HAPTIC_RAMP (1u<<6) + +/** + * \brief Spring effect supported - uses axes position. + * + * Condition haptic effect that simulates a spring. Effect is based on the + * axes position. + * + * \sa SDL_HapticCondition + */ +#define SDL_HAPTIC_SPRING (1u<<7) + +/** + * \brief Damper effect supported - uses axes velocity. + * + * Condition haptic effect that simulates dampening. Effect is based on the + * axes velocity. + * + * \sa SDL_HapticCondition + */ +#define SDL_HAPTIC_DAMPER (1u<<8) + +/** + * \brief Inertia effect supported - uses axes acceleration. + * + * Condition haptic effect that simulates inertia. Effect is based on the axes + * acceleration. + * + * \sa SDL_HapticCondition + */ +#define SDL_HAPTIC_INERTIA (1u<<9) + +/** + * \brief Friction effect supported - uses axes movement. + * + * Condition haptic effect that simulates friction. Effect is based on the + * axes movement. + * + * \sa SDL_HapticCondition + */ +#define SDL_HAPTIC_FRICTION (1u<<10) + +/** + * \brief Custom effect is supported. + * + * User defined custom haptic effect. + */ +#define SDL_HAPTIC_CUSTOM (1u<<11) + +/* @} *//* Haptic effects */ + +/* These last few are features the device has, not effects */ + +/** + * \brief Device can set global gain. + * + * Device supports setting the global gain. + * + * \sa SDL_HapticSetGain + */ +#define SDL_HAPTIC_GAIN (1u<<12) + +/** + * \brief Device can set autocenter. + * + * Device supports setting autocenter. + * + * \sa SDL_HapticSetAutocenter + */ +#define SDL_HAPTIC_AUTOCENTER (1u<<13) + +/** + * \brief Device can be queried for effect status. + * + * Device supports querying effect status. + * + * \sa SDL_HapticGetEffectStatus + */ +#define SDL_HAPTIC_STATUS (1u<<14) + +/** + * \brief Device can be paused. + * + * Devices supports being paused. + * + * \sa SDL_HapticPause + * \sa SDL_HapticUnpause + */ +#define SDL_HAPTIC_PAUSE (1u<<15) + + +/** + * \name Direction encodings + */ +/* @{ */ + +/** + * \brief Uses polar coordinates for the direction. + * + * \sa SDL_HapticDirection + */ +#define SDL_HAPTIC_POLAR 0 + +/** + * \brief Uses cartesian coordinates for the direction. + * + * \sa SDL_HapticDirection + */ +#define SDL_HAPTIC_CARTESIAN 1 + +/** + * \brief Uses spherical coordinates for the direction. + * + * \sa SDL_HapticDirection + */ +#define SDL_HAPTIC_SPHERICAL 2 + +/** + * \brief Use this value to play an effect on the steering wheel axis. This + * provides better compatibility across platforms and devices as SDL will guess + * the correct axis. + * \sa SDL_HapticDirection + */ +#define SDL_HAPTIC_STEERING_AXIS 3 + +/* @} *//* Direction encodings */ + +/* @} *//* Haptic features */ + +/* + * Misc defines. + */ + +/** + * \brief Used to play a device an infinite number of times. + * + * \sa SDL_HapticRunEffect + */ +#define SDL_HAPTIC_INFINITY 4294967295U + + +/** + * \brief Structure that represents a haptic direction. + * + * This is the direction where the force comes from, + * instead of the direction in which the force is exerted. + * + * Directions can be specified by: + * - ::SDL_HAPTIC_POLAR : Specified by polar coordinates. + * - ::SDL_HAPTIC_CARTESIAN : Specified by cartesian coordinates. + * - ::SDL_HAPTIC_SPHERICAL : Specified by spherical coordinates. + * + * Cardinal directions of the haptic device are relative to the positioning + * of the device. North is considered to be away from the user. + * + * The following diagram represents the cardinal directions: + * \verbatim + .--. + |__| .-------. + |=.| |.-----.| + |--| || || + | | |'-----'| + |__|~')_____(' + [ COMPUTER ] + + + North (0,-1) + ^ + | + | + (-1,0) West <----[ HAPTIC ]----> East (1,0) + | + | + v + South (0,1) + + + [ USER ] + \|||/ + (o o) + ---ooO-(_)-Ooo--- + \endverbatim + * + * If type is ::SDL_HAPTIC_POLAR, direction is encoded by hundredths of a + * degree starting north and turning clockwise. ::SDL_HAPTIC_POLAR only uses + * the first \c dir parameter. The cardinal directions would be: + * - North: 0 (0 degrees) + * - East: 9000 (90 degrees) + * - South: 18000 (180 degrees) + * - West: 27000 (270 degrees) + * + * If type is ::SDL_HAPTIC_CARTESIAN, direction is encoded by three positions + * (X axis, Y axis and Z axis (with 3 axes)). ::SDL_HAPTIC_CARTESIAN uses + * the first three \c dir parameters. The cardinal directions would be: + * - North: 0,-1, 0 + * - East: 1, 0, 0 + * - South: 0, 1, 0 + * - West: -1, 0, 0 + * + * The Z axis represents the height of the effect if supported, otherwise + * it's unused. In cartesian encoding (1, 2) would be the same as (2, 4), you + * can use any multiple you want, only the direction matters. + * + * If type is ::SDL_HAPTIC_SPHERICAL, direction is encoded by two rotations. + * The first two \c dir parameters are used. The \c dir parameters are as + * follows (all values are in hundredths of degrees): + * - Degrees from (1, 0) rotated towards (0, 1). + * - Degrees towards (0, 0, 1) (device needs at least 3 axes). + * + * + * Example of force coming from the south with all encodings (force coming + * from the south means the user will have to pull the stick to counteract): + * \code + * SDL_HapticDirection direction; + * + * // Cartesian directions + * direction.type = SDL_HAPTIC_CARTESIAN; // Using cartesian direction encoding. + * direction.dir[0] = 0; // X position + * direction.dir[1] = 1; // Y position + * // Assuming the device has 2 axes, we don't need to specify third parameter. + * + * // Polar directions + * direction.type = SDL_HAPTIC_POLAR; // We'll be using polar direction encoding. + * direction.dir[0] = 18000; // Polar only uses first parameter + * + * // Spherical coordinates + * direction.type = SDL_HAPTIC_SPHERICAL; // Spherical encoding + * direction.dir[0] = 9000; // Since we only have two axes we don't need more parameters. + * \endcode + * + * \sa SDL_HAPTIC_POLAR + * \sa SDL_HAPTIC_CARTESIAN + * \sa SDL_HAPTIC_SPHERICAL + * \sa SDL_HAPTIC_STEERING_AXIS + * \sa SDL_HapticEffect + * \sa SDL_HapticNumAxes + */ +typedef struct SDL_HapticDirection +{ + Uint8 type; /**< The type of encoding. */ + Sint32 dir[3]; /**< The encoded direction. */ +} SDL_HapticDirection; + + +/** + * \brief A structure containing a template for a Constant effect. + * + * This struct is exclusively for the ::SDL_HAPTIC_CONSTANT effect. + * + * A constant effect applies a constant force in the specified direction + * to the joystick. + * + * \sa SDL_HAPTIC_CONSTANT + * \sa SDL_HapticEffect + */ +typedef struct SDL_HapticConstant +{ + /* Header */ + Uint16 type; /**< ::SDL_HAPTIC_CONSTANT */ + SDL_HapticDirection direction; /**< Direction of the effect. */ + + /* Replay */ + Uint32 length; /**< Duration of the effect. */ + Uint16 delay; /**< Delay before starting the effect. */ + + /* Trigger */ + Uint16 button; /**< Button that triggers the effect. */ + Uint16 interval; /**< How soon it can be triggered again after button. */ + + /* Constant */ + Sint16 level; /**< Strength of the constant effect. */ + + /* Envelope */ + Uint16 attack_length; /**< Duration of the attack. */ + Uint16 attack_level; /**< Level at the start of the attack. */ + Uint16 fade_length; /**< Duration of the fade. */ + Uint16 fade_level; /**< Level at the end of the fade. */ +} SDL_HapticConstant; + +/** + * \brief A structure containing a template for a Periodic effect. + * + * The struct handles the following effects: + * - ::SDL_HAPTIC_SINE + * - ::SDL_HAPTIC_LEFTRIGHT + * - ::SDL_HAPTIC_TRIANGLE + * - ::SDL_HAPTIC_SAWTOOTHUP + * - ::SDL_HAPTIC_SAWTOOTHDOWN + * + * A periodic effect consists in a wave-shaped effect that repeats itself + * over time. The type determines the shape of the wave and the parameters + * determine the dimensions of the wave. + * + * Phase is given by hundredth of a degree meaning that giving the phase a value + * of 9000 will displace it 25% of its period. Here are sample values: + * - 0: No phase displacement. + * - 9000: Displaced 25% of its period. + * - 18000: Displaced 50% of its period. + * - 27000: Displaced 75% of its period. + * - 36000: Displaced 100% of its period, same as 0, but 0 is preferred. + * + * Examples: + * \verbatim + SDL_HAPTIC_SINE + __ __ __ __ + / \ / \ / \ / + / \__/ \__/ \__/ + + SDL_HAPTIC_SQUARE + __ __ __ __ __ + | | | | | | | | | | + | |__| |__| |__| |__| | + + SDL_HAPTIC_TRIANGLE + /\ /\ /\ /\ /\ + / \ / \ / \ / \ / + / \/ \/ \/ \/ + + SDL_HAPTIC_SAWTOOTHUP + /| /| /| /| /| /| /| + / | / | / | / | / | / | / | + / |/ |/ |/ |/ |/ |/ | + + SDL_HAPTIC_SAWTOOTHDOWN + \ |\ |\ |\ |\ |\ |\ | + \ | \ | \ | \ | \ | \ | \ | + \| \| \| \| \| \| \| + \endverbatim + * + * \sa SDL_HAPTIC_SINE + * \sa SDL_HAPTIC_LEFTRIGHT + * \sa SDL_HAPTIC_TRIANGLE + * \sa SDL_HAPTIC_SAWTOOTHUP + * \sa SDL_HAPTIC_SAWTOOTHDOWN + * \sa SDL_HapticEffect + */ +typedef struct SDL_HapticPeriodic +{ + /* Header */ + Uint16 type; /**< ::SDL_HAPTIC_SINE, ::SDL_HAPTIC_LEFTRIGHT, + ::SDL_HAPTIC_TRIANGLE, ::SDL_HAPTIC_SAWTOOTHUP or + ::SDL_HAPTIC_SAWTOOTHDOWN */ + SDL_HapticDirection direction; /**< Direction of the effect. */ + + /* Replay */ + Uint32 length; /**< Duration of the effect. */ + Uint16 delay; /**< Delay before starting the effect. */ + + /* Trigger */ + Uint16 button; /**< Button that triggers the effect. */ + Uint16 interval; /**< How soon it can be triggered again after button. */ + + /* Periodic */ + Uint16 period; /**< Period of the wave. */ + Sint16 magnitude; /**< Peak value; if negative, equivalent to 180 degrees extra phase shift. */ + Sint16 offset; /**< Mean value of the wave. */ + Uint16 phase; /**< Positive phase shift given by hundredth of a degree. */ + + /* Envelope */ + Uint16 attack_length; /**< Duration of the attack. */ + Uint16 attack_level; /**< Level at the start of the attack. */ + Uint16 fade_length; /**< Duration of the fade. */ + Uint16 fade_level; /**< Level at the end of the fade. */ +} SDL_HapticPeriodic; + +/** + * \brief A structure containing a template for a Condition effect. + * + * The struct handles the following effects: + * - ::SDL_HAPTIC_SPRING: Effect based on axes position. + * - ::SDL_HAPTIC_DAMPER: Effect based on axes velocity. + * - ::SDL_HAPTIC_INERTIA: Effect based on axes acceleration. + * - ::SDL_HAPTIC_FRICTION: Effect based on axes movement. + * + * Direction is handled by condition internals instead of a direction member. + * The condition effect specific members have three parameters. The first + * refers to the X axis, the second refers to the Y axis and the third + * refers to the Z axis. The right terms refer to the positive side of the + * axis and the left terms refer to the negative side of the axis. Please + * refer to the ::SDL_HapticDirection diagram for which side is positive and + * which is negative. + * + * \sa SDL_HapticDirection + * \sa SDL_HAPTIC_SPRING + * \sa SDL_HAPTIC_DAMPER + * \sa SDL_HAPTIC_INERTIA + * \sa SDL_HAPTIC_FRICTION + * \sa SDL_HapticEffect + */ +typedef struct SDL_HapticCondition +{ + /* Header */ + Uint16 type; /**< ::SDL_HAPTIC_SPRING, ::SDL_HAPTIC_DAMPER, + ::SDL_HAPTIC_INERTIA or ::SDL_HAPTIC_FRICTION */ + SDL_HapticDirection direction; /**< Direction of the effect - Not used ATM. */ + + /* Replay */ + Uint32 length; /**< Duration of the effect. */ + Uint16 delay; /**< Delay before starting the effect. */ + + /* Trigger */ + Uint16 button; /**< Button that triggers the effect. */ + Uint16 interval; /**< How soon it can be triggered again after button. */ + + /* Condition */ + Uint16 right_sat[3]; /**< Level when joystick is to the positive side; max 0xFFFF. */ + Uint16 left_sat[3]; /**< Level when joystick is to the negative side; max 0xFFFF. */ + Sint16 right_coeff[3]; /**< How fast to increase the force towards the positive side. */ + Sint16 left_coeff[3]; /**< How fast to increase the force towards the negative side. */ + Uint16 deadband[3]; /**< Size of the dead zone; max 0xFFFF: whole axis-range when 0-centered. */ + Sint16 center[3]; /**< Position of the dead zone. */ +} SDL_HapticCondition; + +/** + * \brief A structure containing a template for a Ramp effect. + * + * This struct is exclusively for the ::SDL_HAPTIC_RAMP effect. + * + * The ramp effect starts at start strength and ends at end strength. + * It augments in linear fashion. If you use attack and fade with a ramp + * the effects get added to the ramp effect making the effect become + * quadratic instead of linear. + * + * \sa SDL_HAPTIC_RAMP + * \sa SDL_HapticEffect + */ +typedef struct SDL_HapticRamp +{ + /* Header */ + Uint16 type; /**< ::SDL_HAPTIC_RAMP */ + SDL_HapticDirection direction; /**< Direction of the effect. */ + + /* Replay */ + Uint32 length; /**< Duration of the effect. */ + Uint16 delay; /**< Delay before starting the effect. */ + + /* Trigger */ + Uint16 button; /**< Button that triggers the effect. */ + Uint16 interval; /**< How soon it can be triggered again after button. */ + + /* Ramp */ + Sint16 start; /**< Beginning strength level. */ + Sint16 end; /**< Ending strength level. */ + + /* Envelope */ + Uint16 attack_length; /**< Duration of the attack. */ + Uint16 attack_level; /**< Level at the start of the attack. */ + Uint16 fade_length; /**< Duration of the fade. */ + Uint16 fade_level; /**< Level at the end of the fade. */ +} SDL_HapticRamp; + +/** + * \brief A structure containing a template for a Left/Right effect. + * + * This struct is exclusively for the ::SDL_HAPTIC_LEFTRIGHT effect. + * + * The Left/Right effect is used to explicitly control the large and small + * motors, commonly found in modern game controllers. The small (right) motor + * is high frequency, and the large (left) motor is low frequency. + * + * \sa SDL_HAPTIC_LEFTRIGHT + * \sa SDL_HapticEffect + */ +typedef struct SDL_HapticLeftRight +{ + /* Header */ + Uint16 type; /**< ::SDL_HAPTIC_LEFTRIGHT */ + + /* Replay */ + Uint32 length; /**< Duration of the effect in milliseconds. */ + + /* Rumble */ + Uint16 large_magnitude; /**< Control of the large controller motor. */ + Uint16 small_magnitude; /**< Control of the small controller motor. */ +} SDL_HapticLeftRight; + +/** + * \brief A structure containing a template for the ::SDL_HAPTIC_CUSTOM effect. + * + * This struct is exclusively for the ::SDL_HAPTIC_CUSTOM effect. + * + * A custom force feedback effect is much like a periodic effect, where the + * application can define its exact shape. You will have to allocate the + * data yourself. Data should consist of channels * samples Uint16 samples. + * + * If channels is one, the effect is rotated using the defined direction. + * Otherwise it uses the samples in data for the different axes. + * + * \sa SDL_HAPTIC_CUSTOM + * \sa SDL_HapticEffect + */ +typedef struct SDL_HapticCustom +{ + /* Header */ + Uint16 type; /**< ::SDL_HAPTIC_CUSTOM */ + SDL_HapticDirection direction; /**< Direction of the effect. */ + + /* Replay */ + Uint32 length; /**< Duration of the effect. */ + Uint16 delay; /**< Delay before starting the effect. */ + + /* Trigger */ + Uint16 button; /**< Button that triggers the effect. */ + Uint16 interval; /**< How soon it can be triggered again after button. */ + + /* Custom */ + Uint8 channels; /**< Axes to use, minimum of one. */ + Uint16 period; /**< Sample periods. */ + Uint16 samples; /**< Amount of samples. */ + Uint16 *data; /**< Should contain channels*samples items. */ + + /* Envelope */ + Uint16 attack_length; /**< Duration of the attack. */ + Uint16 attack_level; /**< Level at the start of the attack. */ + Uint16 fade_length; /**< Duration of the fade. */ + Uint16 fade_level; /**< Level at the end of the fade. */ +} SDL_HapticCustom; + +/** + * \brief The generic template for any haptic effect. + * + * All values max at 32767 (0x7FFF). Signed values also can be negative. + * Time values unless specified otherwise are in milliseconds. + * + * You can also pass ::SDL_HAPTIC_INFINITY to length instead of a 0-32767 + * value. Neither delay, interval, attack_length nor fade_length support + * ::SDL_HAPTIC_INFINITY. Fade will also not be used since effect never ends. + * + * Additionally, the ::SDL_HAPTIC_RAMP effect does not support a duration of + * ::SDL_HAPTIC_INFINITY. + * + * Button triggers may not be supported on all devices, it is advised to not + * use them if possible. Buttons start at index 1 instead of index 0 like + * the joystick. + * + * If both attack_length and fade_level are 0, the envelope is not used, + * otherwise both values are used. + * + * Common parts: + * \code + * // Replay - All effects have this + * Uint32 length; // Duration of effect (ms). + * Uint16 delay; // Delay before starting effect. + * + * // Trigger - All effects have this + * Uint16 button; // Button that triggers effect. + * Uint16 interval; // How soon before effect can be triggered again. + * + * // Envelope - All effects except condition effects have this + * Uint16 attack_length; // Duration of the attack (ms). + * Uint16 attack_level; // Level at the start of the attack. + * Uint16 fade_length; // Duration of the fade out (ms). + * Uint16 fade_level; // Level at the end of the fade. + * \endcode + * + * + * Here we have an example of a constant effect evolution in time: + * \verbatim + Strength + ^ + | + | effect level --> _________________ + | / \ + | / \ + | / \ + | / \ + | attack_level --> | \ + | | | <--- fade_level + | + +--------------------------------------------------> Time + [--] [---] + attack_length fade_length + + [------------------][-----------------------] + delay length + \endverbatim + * + * Note either the attack_level or the fade_level may be above the actual + * effect level. + * + * \sa SDL_HapticConstant + * \sa SDL_HapticPeriodic + * \sa SDL_HapticCondition + * \sa SDL_HapticRamp + * \sa SDL_HapticLeftRight + * \sa SDL_HapticCustom + */ +typedef union SDL_HapticEffect +{ + /* Common for all force feedback effects */ + Uint16 type; /**< Effect type. */ + SDL_HapticConstant constant; /**< Constant effect. */ + SDL_HapticPeriodic periodic; /**< Periodic effect. */ + SDL_HapticCondition condition; /**< Condition effect. */ + SDL_HapticRamp ramp; /**< Ramp effect. */ + SDL_HapticLeftRight leftright; /**< Left/Right effect. */ + SDL_HapticCustom custom; /**< Custom effect. */ +} SDL_HapticEffect; + + +/* Function prototypes */ + +/** + * Count the number of haptic devices attached to the system. + * + * \returns the number of haptic devices detected on the system or a negative + * error code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticName + */ +extern DECLSPEC int SDLCALL SDL_NumHaptics(void); + +/** + * Get the implementation dependent name of a haptic device. + * + * This can be called before any joysticks are opened. If no name can be + * found, this function returns NULL. + * + * \param device_index index of the device to query. + * \returns the name of the device or NULL on failure; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_NumHaptics + */ +extern DECLSPEC const char *SDLCALL SDL_HapticName(int device_index); + +/** + * Open a haptic device for use. + * + * The index passed as an argument refers to the N'th haptic device on this + * system. + * + * When opening a haptic device, its gain will be set to maximum and + * autocenter will be disabled. To modify these values use SDL_HapticSetGain() + * and SDL_HapticSetAutocenter(). + * + * \param device_index index of the device to open + * \returns the device identifier or NULL on failure; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticClose + * \sa SDL_HapticIndex + * \sa SDL_HapticOpenFromJoystick + * \sa SDL_HapticOpenFromMouse + * \sa SDL_HapticPause + * \sa SDL_HapticSetAutocenter + * \sa SDL_HapticSetGain + * \sa SDL_HapticStopAll + */ +extern DECLSPEC SDL_Haptic *SDLCALL SDL_HapticOpen(int device_index); + +/** + * Check if the haptic device at the designated index has been opened. + * + * \param device_index the index of the device to query + * \returns 1 if it has been opened, 0 if it hasn't or on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticIndex + * \sa SDL_HapticOpen + */ +extern DECLSPEC int SDLCALL SDL_HapticOpened(int device_index); + +/** + * Get the index of a haptic device. + * + * \param haptic the SDL_Haptic device to query + * \returns the index of the specified haptic device or a negative error code + * on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticOpen + * \sa SDL_HapticOpened + */ +extern DECLSPEC int SDLCALL SDL_HapticIndex(SDL_Haptic * haptic); + +/** + * Query whether or not the current mouse has haptic capabilities. + * + * \returns SDL_TRUE if the mouse is haptic or SDL_FALSE if it isn't. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticOpenFromMouse + */ +extern DECLSPEC int SDLCALL SDL_MouseIsHaptic(void); + +/** + * Try to open a haptic device from the current mouse. + * + * \returns the haptic device identifier or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticOpen + * \sa SDL_MouseIsHaptic + */ +extern DECLSPEC SDL_Haptic *SDLCALL SDL_HapticOpenFromMouse(void); + +/** + * Query if a joystick has haptic features. + * + * \param joystick the SDL_Joystick to test for haptic capabilities + * \returns SDL_TRUE if the joystick is haptic, SDL_FALSE if it isn't, or a + * negative error code on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticOpenFromJoystick + */ +extern DECLSPEC int SDLCALL SDL_JoystickIsHaptic(SDL_Joystick * joystick); + +/** + * Open a haptic device for use from a joystick device. + * + * You must still close the haptic device separately. It will not be closed + * with the joystick. + * + * When opened from a joystick you should first close the haptic device before + * closing the joystick device. If not, on some implementations the haptic + * device will also get unallocated and you'll be unable to use force feedback + * on that device. + * + * \param joystick the SDL_Joystick to create a haptic device from + * \returns a valid haptic device identifier on success or NULL on failure; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticClose + * \sa SDL_HapticOpen + * \sa SDL_JoystickIsHaptic + */ +extern DECLSPEC SDL_Haptic *SDLCALL SDL_HapticOpenFromJoystick(SDL_Joystick * + joystick); + +/** + * Close a haptic device previously opened with SDL_HapticOpen(). + * + * \param haptic the SDL_Haptic device to close + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticOpen + */ +extern DECLSPEC void SDLCALL SDL_HapticClose(SDL_Haptic * haptic); + +/** + * Get the number of effects a haptic device can store. + * + * On some platforms this isn't fully supported, and therefore is an + * approximation. Always check to see if your created effect was actually + * created and do not rely solely on SDL_HapticNumEffects(). + * + * \param haptic the SDL_Haptic device to query + * \returns the number of effects the haptic device can store or a negative + * error code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticNumEffectsPlaying + * \sa SDL_HapticQuery + */ +extern DECLSPEC int SDLCALL SDL_HapticNumEffects(SDL_Haptic * haptic); + +/** + * Get the number of effects a haptic device can play at the same time. + * + * This is not supported on all platforms, but will always return a value. + * + * \param haptic the SDL_Haptic device to query maximum playing effects + * \returns the number of effects the haptic device can play at the same time + * or a negative error code on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticNumEffects + * \sa SDL_HapticQuery + */ +extern DECLSPEC int SDLCALL SDL_HapticNumEffectsPlaying(SDL_Haptic * haptic); + +/** + * Get the haptic device's supported features in bitwise manner. + * + * \param haptic the SDL_Haptic device to query + * \returns a list of supported haptic features in bitwise manner (OR'd), or 0 + * on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticEffectSupported + * \sa SDL_HapticNumEffects + */ +extern DECLSPEC unsigned int SDLCALL SDL_HapticQuery(SDL_Haptic * haptic); + + +/** + * Get the number of haptic axes the device has. + * + * The number of haptic axes might be useful if working with the + * SDL_HapticDirection effect. + * + * \param haptic the SDL_Haptic device to query + * \returns the number of axes on success or a negative error code on failure; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_HapticNumAxes(SDL_Haptic * haptic); + +/** + * Check to see if an effect is supported by a haptic device. + * + * \param haptic the SDL_Haptic device to query + * \param effect the desired effect to query + * \returns SDL_TRUE if effect is supported, SDL_FALSE if it isn't, or a + * negative error code on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticNewEffect + * \sa SDL_HapticQuery + */ +extern DECLSPEC int SDLCALL SDL_HapticEffectSupported(SDL_Haptic * haptic, + SDL_HapticEffect * + effect); + +/** + * Create a new haptic effect on a specified device. + * + * \param haptic an SDL_Haptic device to create the effect on + * \param effect an SDL_HapticEffect structure containing the properties of + * the effect to create + * \returns the ID of the effect on success or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticDestroyEffect + * \sa SDL_HapticRunEffect + * \sa SDL_HapticUpdateEffect + */ +extern DECLSPEC int SDLCALL SDL_HapticNewEffect(SDL_Haptic * haptic, + SDL_HapticEffect * effect); + +/** + * Update the properties of an effect. + * + * Can be used dynamically, although behavior when dynamically changing + * direction may be strange. Specifically the effect may re-upload itself and + * start playing from the start. You also cannot change the type either when + * running SDL_HapticUpdateEffect(). + * + * \param haptic the SDL_Haptic device that has the effect + * \param effect the identifier of the effect to update + * \param data an SDL_HapticEffect structure containing the new effect + * properties to use + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticDestroyEffect + * \sa SDL_HapticNewEffect + * \sa SDL_HapticRunEffect + */ +extern DECLSPEC int SDLCALL SDL_HapticUpdateEffect(SDL_Haptic * haptic, + int effect, + SDL_HapticEffect * data); + +/** + * Run the haptic effect on its associated haptic device. + * + * To repeat the effect over and over indefinitely, set `iterations` to + * `SDL_HAPTIC_INFINITY`. (Repeats the envelope - attack and fade.) To make + * one instance of the effect last indefinitely (so the effect does not fade), + * set the effect's `length` in its structure/union to `SDL_HAPTIC_INFINITY` + * instead. + * + * \param haptic the SDL_Haptic device to run the effect on + * \param effect the ID of the haptic effect to run + * \param iterations the number of iterations to run the effect; use + * `SDL_HAPTIC_INFINITY` to repeat forever + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticDestroyEffect + * \sa SDL_HapticGetEffectStatus + * \sa SDL_HapticStopEffect + */ +extern DECLSPEC int SDLCALL SDL_HapticRunEffect(SDL_Haptic * haptic, + int effect, + Uint32 iterations); + +/** + * Stop the haptic effect on its associated haptic device. + * + * * + * + * \param haptic the SDL_Haptic device to stop the effect on + * \param effect the ID of the haptic effect to stop + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticDestroyEffect + * \sa SDL_HapticRunEffect + */ +extern DECLSPEC int SDLCALL SDL_HapticStopEffect(SDL_Haptic * haptic, + int effect); + +/** + * Destroy a haptic effect on the device. + * + * This will stop the effect if it's running. Effects are automatically + * destroyed when the device is closed. + * + * \param haptic the SDL_Haptic device to destroy the effect on + * \param effect the ID of the haptic effect to destroy + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticNewEffect + */ +extern DECLSPEC void SDLCALL SDL_HapticDestroyEffect(SDL_Haptic * haptic, + int effect); + +/** + * Get the status of the current effect on the specified haptic device. + * + * Device must support the SDL_HAPTIC_STATUS feature. + * + * \param haptic the SDL_Haptic device to query for the effect status on + * \param effect the ID of the haptic effect to query its status + * \returns 0 if it isn't playing, 1 if it is playing, or a negative error + * code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticRunEffect + * \sa SDL_HapticStopEffect + */ +extern DECLSPEC int SDLCALL SDL_HapticGetEffectStatus(SDL_Haptic * haptic, + int effect); + +/** + * Set the global gain of the specified haptic device. + * + * Device must support the SDL_HAPTIC_GAIN feature. + * + * The user may specify the maximum gain by setting the environment variable + * `SDL_HAPTIC_GAIN_MAX` which should be between 0 and 100. All calls to + * SDL_HapticSetGain() will scale linearly using `SDL_HAPTIC_GAIN_MAX` as the + * maximum. + * + * \param haptic the SDL_Haptic device to set the gain on + * \param gain value to set the gain to, should be between 0 and 100 (0 - 100) + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticQuery + */ +extern DECLSPEC int SDLCALL SDL_HapticSetGain(SDL_Haptic * haptic, int gain); + +/** + * Set the global autocenter of the device. + * + * Autocenter should be between 0 and 100. Setting it to 0 will disable + * autocentering. + * + * Device must support the SDL_HAPTIC_AUTOCENTER feature. + * + * \param haptic the SDL_Haptic device to set autocentering on + * \param autocenter value to set autocenter to (0-100) + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticQuery + */ +extern DECLSPEC int SDLCALL SDL_HapticSetAutocenter(SDL_Haptic * haptic, + int autocenter); + +/** + * Pause a haptic device. + * + * Device must support the `SDL_HAPTIC_PAUSE` feature. Call + * SDL_HapticUnpause() to resume playback. + * + * Do not modify the effects nor add new ones while the device is paused. That + * can cause all sorts of weird errors. + * + * \param haptic the SDL_Haptic device to pause + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticUnpause + */ +extern DECLSPEC int SDLCALL SDL_HapticPause(SDL_Haptic * haptic); + +/** + * Unpause a haptic device. + * + * Call to unpause after SDL_HapticPause(). + * + * \param haptic the SDL_Haptic device to unpause + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticPause + */ +extern DECLSPEC int SDLCALL SDL_HapticUnpause(SDL_Haptic * haptic); + +/** + * Stop all the currently playing effects on a haptic device. + * + * \param haptic the SDL_Haptic device to stop + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_HapticStopAll(SDL_Haptic * haptic); + +/** + * Check whether rumble is supported on a haptic device. + * + * \param haptic haptic device to check for rumble support + * \returns SDL_TRUE if effect is supported, SDL_FALSE if it isn't, or a + * negative error code on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticRumbleInit + * \sa SDL_HapticRumblePlay + * \sa SDL_HapticRumbleStop + */ +extern DECLSPEC int SDLCALL SDL_HapticRumbleSupported(SDL_Haptic * haptic); + +/** + * Initialize a haptic device for simple rumble playback. + * + * \param haptic the haptic device to initialize for simple rumble playback + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticOpen + * \sa SDL_HapticRumblePlay + * \sa SDL_HapticRumbleStop + * \sa SDL_HapticRumbleSupported + */ +extern DECLSPEC int SDLCALL SDL_HapticRumbleInit(SDL_Haptic * haptic); + +/** + * Run a simple rumble effect on a haptic device. + * + * \param haptic the haptic device to play the rumble effect on + * \param strength strength of the rumble to play as a 0-1 float value + * \param length length of the rumble to play in milliseconds + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticRumbleInit + * \sa SDL_HapticRumbleStop + * \sa SDL_HapticRumbleSupported + */ +extern DECLSPEC int SDLCALL SDL_HapticRumblePlay(SDL_Haptic * haptic, float strength, Uint32 length ); + +/** + * Stop the simple rumble on a haptic device. + * + * \param haptic the haptic device to stop the rumble effect on + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HapticRumbleInit + * \sa SDL_HapticRumblePlay + * \sa SDL_HapticRumbleSupported + */ +extern DECLSPEC int SDLCALL SDL_HapticRumbleStop(SDL_Haptic * haptic); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_haptic_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_hidapi.h b/subprojects/sdl2_windows/include/SDL2/SDL_hidapi.h new file mode 100644 index 000000000..354af5c52 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_hidapi.h @@ -0,0 +1,451 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_hidapi.h + * + * Header file for SDL HIDAPI functions. + * + * This is an adaptation of the original HIDAPI interface by Alan Ott, + * and includes source code licensed under the following BSD license: + * + Copyright (c) 2010, Alan Ott, Signal 11 Software + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Signal 11 Software nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. + * + * If you would like a version of SDL without this code, you can build SDL + * with SDL_HIDAPI_DISABLED defined to 1. You might want to do this for example + * on iOS or tvOS to avoid a dependency on the CoreBluetooth framework. + */ + +#ifndef SDL_hidapi_h_ +#define SDL_hidapi_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief A handle representing an open HID device + */ +struct SDL_hid_device_; +typedef struct SDL_hid_device_ SDL_hid_device; /**< opaque hidapi structure */ + +/** hidapi info structure */ +/** + * \brief Information about a connected HID device + */ +typedef struct SDL_hid_device_info +{ + /** Platform-specific device path */ + char *path; + /** Device Vendor ID */ + unsigned short vendor_id; + /** Device Product ID */ + unsigned short product_id; + /** Serial Number */ + wchar_t *serial_number; + /** Device Release Number in binary-coded decimal, + also known as Device Version Number */ + unsigned short release_number; + /** Manufacturer String */ + wchar_t *manufacturer_string; + /** Product string */ + wchar_t *product_string; + /** Usage Page for this Device/Interface + (Windows/Mac only). */ + unsigned short usage_page; + /** Usage for this Device/Interface + (Windows/Mac only).*/ + unsigned short usage; + /** The USB interface which this logical device + represents. + + * Valid on both Linux implementations in all cases. + * Valid on the Windows implementation only if the device + contains more than one interface. */ + int interface_number; + + /** Additional information about the USB interface. + Valid on libusb and Android implementations. */ + int interface_class; + int interface_subclass; + int interface_protocol; + + /** Pointer to the next device */ + struct SDL_hid_device_info *next; +} SDL_hid_device_info; + + +/** + * Initialize the HIDAPI library. + * + * This function initializes the HIDAPI library. Calling it is not strictly + * necessary, as it will be called automatically by SDL_hid_enumerate() and + * any of the SDL_hid_open_*() functions if it is needed. This function should + * be called at the beginning of execution however, if there is a chance of + * HIDAPI handles being opened by different threads simultaneously. + * + * Each call to this function should have a matching call to SDL_hid_exit() + * + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_hid_exit + */ +extern DECLSPEC int SDLCALL SDL_hid_init(void); + +/** + * Finalize the HIDAPI library. + * + * This function frees all of the static data associated with HIDAPI. It + * should be called at the end of execution to avoid memory leaks. + * + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_hid_init + */ +extern DECLSPEC int SDLCALL SDL_hid_exit(void); + +/** + * Check to see if devices may have been added or removed. + * + * Enumerating the HID devices is an expensive operation, so you can call this + * to see if there have been any system device changes since the last call to + * this function. A change in the counter returned doesn't necessarily mean + * that anything has changed, but you can call SDL_hid_enumerate() to get an + * updated device list. + * + * Calling this function for the first time may cause a thread or other system + * resource to be allocated to track device change notifications. + * + * \returns a change counter that is incremented with each potential device + * change, or 0 if device change detection isn't available. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_hid_enumerate + */ +extern DECLSPEC Uint32 SDLCALL SDL_hid_device_change_count(void); + +/** + * Enumerate the HID Devices. + * + * This function returns a linked list of all the HID devices attached to the + * system which match vendor_id and product_id. If `vendor_id` is set to 0 + * then any vendor matches. If `product_id` is set to 0 then any product + * matches. If `vendor_id` and `product_id` are both set to 0, then all HID + * devices will be returned. + * + * \param vendor_id The Vendor ID (VID) of the types of device to open. + * \param product_id The Product ID (PID) of the types of device to open. + * \returns a pointer to a linked list of type SDL_hid_device_info, containing + * information about the HID devices attached to the system, or NULL + * in the case of failure. Free this linked list by calling + * SDL_hid_free_enumeration(). + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_hid_device_change_count + */ +extern DECLSPEC SDL_hid_device_info * SDLCALL SDL_hid_enumerate(unsigned short vendor_id, unsigned short product_id); + +/** + * Free an enumeration Linked List + * + * This function frees a linked list created by SDL_hid_enumerate(). + * + * \param devs Pointer to a list of struct_device returned from + * SDL_hid_enumerate(). + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC void SDLCALL SDL_hid_free_enumeration(SDL_hid_device_info *devs); + +/** + * Open a HID device using a Vendor ID (VID), Product ID (PID) and optionally + * a serial number. + * + * If `serial_number` is NULL, the first device with the specified VID and PID + * is opened. + * + * \param vendor_id The Vendor ID (VID) of the device to open. + * \param product_id The Product ID (PID) of the device to open. + * \param serial_number The Serial Number of the device to open (Optionally + * NULL). + * \returns a pointer to a SDL_hid_device object on success or NULL on + * failure. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC SDL_hid_device * SDLCALL SDL_hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number); + +/** + * Open a HID device by its path name. + * + * The path name be determined by calling SDL_hid_enumerate(), or a + * platform-specific path name can be used (eg: /dev/hidraw0 on Linux). + * + * \param path The path name of the device to open + * \returns a pointer to a SDL_hid_device object on success or NULL on + * failure. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC SDL_hid_device * SDLCALL SDL_hid_open_path(const char *path, int bExclusive /* = false */); + +/** + * Write an Output report to a HID device. + * + * The first byte of `data` must contain the Report ID. For devices which only + * support a single report, this must be set to 0x0. The remaining bytes + * contain the report data. Since the Report ID is mandatory, calls to + * SDL_hid_write() will always contain one more byte than the report contains. + * For example, if a hid report is 16 bytes long, 17 bytes must be passed to + * SDL_hid_write(), the Report ID (or 0x0, for devices with a single report), + * followed by the report data (16 bytes). In this example, the length passed + * in would be 17. + * + * SDL_hid_write() will send the data on the first OUT endpoint, if one + * exists. If it does not, it will send the data through the Control Endpoint + * (Endpoint 0). + * + * \param dev A device handle returned from SDL_hid_open(). + * \param data The data to send, including the report number as the first + * byte. + * \param length The length in bytes of the data to send. + * \returns the actual number of bytes written and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_write(SDL_hid_device *dev, const unsigned char *data, size_t length); + +/** + * Read an Input report from a HID device with timeout. + * + * Input reports are returned to the host through the INTERRUPT IN endpoint. + * The first byte will contain the Report number if the device uses numbered + * reports. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param data A buffer to put the read data into. + * \param length The number of bytes to read. For devices with multiple + * reports, make sure to read an extra byte for the report + * number. + * \param milliseconds timeout in milliseconds or -1 for blocking wait. + * \returns the actual number of bytes read and -1 on error. If no packet was + * available to be read within the timeout period, this function + * returns 0. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_read_timeout(SDL_hid_device *dev, unsigned char *data, size_t length, int milliseconds); + +/** + * Read an Input report from a HID device. + * + * Input reports are returned to the host through the INTERRUPT IN endpoint. + * The first byte will contain the Report number if the device uses numbered + * reports. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param data A buffer to put the read data into. + * \param length The number of bytes to read. For devices with multiple + * reports, make sure to read an extra byte for the report + * number. + * \returns the actual number of bytes read and -1 on error. If no packet was + * available to be read and the handle is in non-blocking mode, this + * function returns 0. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_read(SDL_hid_device *dev, unsigned char *data, size_t length); + +/** + * Set the device handle to be non-blocking. + * + * In non-blocking mode calls to SDL_hid_read() will return immediately with a + * value of 0 if there is no data to be read. In blocking mode, SDL_hid_read() + * will wait (block) until there is data to read before returning. + * + * Nonblocking can be turned on and off at any time. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param nonblock enable or not the nonblocking reads - 1 to enable + * nonblocking - 0 to disable nonblocking. + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_set_nonblocking(SDL_hid_device *dev, int nonblock); + +/** + * Send a Feature report to the device. + * + * Feature reports are sent over the Control endpoint as a Set_Report + * transfer. The first byte of `data` must contain the Report ID. For devices + * which only support a single report, this must be set to 0x0. The remaining + * bytes contain the report data. Since the Report ID is mandatory, calls to + * SDL_hid_send_feature_report() will always contain one more byte than the + * report contains. For example, if a hid report is 16 bytes long, 17 bytes + * must be passed to SDL_hid_send_feature_report(): the Report ID (or 0x0, for + * devices which do not use numbered reports), followed by the report data (16 + * bytes). In this example, the length passed in would be 17. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param data The data to send, including the report number as the first + * byte. + * \param length The length in bytes of the data to send, including the report + * number. + * \returns the actual number of bytes written and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_send_feature_report(SDL_hid_device *dev, const unsigned char *data, size_t length); + +/** + * Get a feature report from a HID device. + * + * Set the first byte of `data` to the Report ID of the report to be read. + * Make sure to allow space for this extra byte in `data`. Upon return, the + * first byte will still contain the Report ID, and the report data will start + * in data[1]. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param data A buffer to put the read data into, including the Report ID. + * Set the first byte of `data` to the Report ID of the report to + * be read, or set it to zero if your device does not use numbered + * reports. + * \param length The number of bytes to read, including an extra byte for the + * report ID. The buffer can be longer than the actual report. + * \returns the number of bytes read plus one for the report ID (which is + * still in the first byte), or -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_get_feature_report(SDL_hid_device *dev, unsigned char *data, size_t length); + +/** + * Close a HID device. + * + * \param dev A device handle returned from SDL_hid_open(). + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC void SDLCALL SDL_hid_close(SDL_hid_device *dev); + +/** + * Get The Manufacturer String from a HID device. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param string A wide string buffer to put the data into. + * \param maxlen The length of the buffer in multiples of wchar_t. + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_get_manufacturer_string(SDL_hid_device *dev, wchar_t *string, size_t maxlen); + +/** + * Get The Product String from a HID device. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param string A wide string buffer to put the data into. + * \param maxlen The length of the buffer in multiples of wchar_t. + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_get_product_string(SDL_hid_device *dev, wchar_t *string, size_t maxlen); + +/** + * Get The Serial Number String from a HID device. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param string A wide string buffer to put the data into. + * \param maxlen The length of the buffer in multiples of wchar_t. + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_get_serial_number_string(SDL_hid_device *dev, wchar_t *string, size_t maxlen); + +/** + * Get a string from a HID device, based on its string index. + * + * \param dev A device handle returned from SDL_hid_open(). + * \param string_index The index of the string to get. + * \param string A wide string buffer to put the data into. + * \param maxlen The length of the buffer in multiples of wchar_t. + * \returns 0 on success and -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_hid_get_indexed_string(SDL_hid_device *dev, int string_index, wchar_t *string, size_t maxlen); + +/** + * Start or stop a BLE scan on iOS and tvOS to pair Steam Controllers + * + * \param active SDL_TRUE to start the scan, SDL_FALSE to stop the scan + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC void SDLCALL SDL_hid_ble_scan(SDL_bool active); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_hidapi_h_ */ + +/* vi: set sts=4 ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_hints.h b/subprojects/sdl2_windows/include/SDL2/SDL_hints.h new file mode 100644 index 000000000..76a74f0ff --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_hints.h @@ -0,0 +1,2569 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_hints.h + * + * Official documentation for SDL configuration variables + * + * This file contains functions to set and get configuration hints, + * as well as listing each of them alphabetically. + * + * The convention for naming hints is SDL_HINT_X, where "SDL_X" is + * the environment variable that can be used to override the default. + * + * In general these hints are just that - they may or may not be + * supported or applicable on any given platform, but they provide + * a way for an application or user to give the library a hint as + * to how they would like the library to work. + */ + +#ifndef SDL_hints_h_ +#define SDL_hints_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief A variable controlling whether the Android / iOS built-in + * accelerometer should be listed as a joystick device. + * + * This variable can be set to the following values: + * "0" - The accelerometer is not listed as a joystick + * "1" - The accelerometer is available as a 3 axis joystick (the default). + */ +#define SDL_HINT_ACCELEROMETER_AS_JOYSTICK "SDL_ACCELEROMETER_AS_JOYSTICK" + +/** + * \brief Specify the behavior of Alt+Tab while the keyboard is grabbed. + * + * By default, SDL emulates Alt+Tab functionality while the keyboard is grabbed + * and your window is full-screen. This prevents the user from getting stuck in + * your application if you've enabled keyboard grab. + * + * The variable can be set to the following values: + * "0" - SDL will not handle Alt+Tab. Your application is responsible + for handling Alt+Tab while the keyboard is grabbed. + * "1" - SDL will minimize your window when Alt+Tab is pressed (default) +*/ +#define SDL_HINT_ALLOW_ALT_TAB_WHILE_GRABBED "SDL_ALLOW_ALT_TAB_WHILE_GRABBED" + +/** + * \brief If set to "0" then never set the top most bit on a SDL Window, even if the video mode expects it. + * This is a debugging aid for developers and not expected to be used by end users. The default is "1" + * + * This variable can be set to the following values: + * "0" - don't allow topmost + * "1" - allow topmost + */ +#define SDL_HINT_ALLOW_TOPMOST "SDL_ALLOW_TOPMOST" + +/** + * \brief Android APK expansion main file version. Should be a string number like "1", "2" etc. + * + * Must be set together with SDL_HINT_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION. + * + * If both hints were set then SDL_RWFromFile() will look into expansion files + * after a given relative path was not found in the internal storage and assets. + * + * By default this hint is not set and the APK expansion files are not searched. + */ +#define SDL_HINT_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION "SDL_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION" + +/** + * \brief Android APK expansion patch file version. Should be a string number like "1", "2" etc. + * + * Must be set together with SDL_HINT_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION. + * + * If both hints were set then SDL_RWFromFile() will look into expansion files + * after a given relative path was not found in the internal storage and assets. + * + * By default this hint is not set and the APK expansion files are not searched. + */ +#define SDL_HINT_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION "SDL_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION" + +/** + * \brief A variable to control whether the event loop will block itself when the app is paused. + * + * The variable can be set to the following values: + * "0" - Non blocking. + * "1" - Blocking. (default) + * + * The value should be set before SDL is initialized. + */ +#define SDL_HINT_ANDROID_BLOCK_ON_PAUSE "SDL_ANDROID_BLOCK_ON_PAUSE" + +/** + * \brief A variable to control whether SDL will pause audio in background + * (Requires SDL_ANDROID_BLOCK_ON_PAUSE as "Non blocking") + * + * The variable can be set to the following values: + * "0" - Non paused. + * "1" - Paused. (default) + * + * The value should be set before SDL is initialized. + */ +#define SDL_HINT_ANDROID_BLOCK_ON_PAUSE_PAUSEAUDIO "SDL_ANDROID_BLOCK_ON_PAUSE_PAUSEAUDIO" + +/** + * \brief A variable to control whether we trap the Android back button to handle it manually. + * This is necessary for the right mouse button to work on some Android devices, or + * to be able to trap the back button for use in your code reliably. If set to true, + * the back button will show up as an SDL_KEYDOWN / SDL_KEYUP pair with a keycode of + * SDL_SCANCODE_AC_BACK. + * + * The variable can be set to the following values: + * "0" - Back button will be handled as usual for system. (default) + * "1" - Back button will be trapped, allowing you to handle the key press + * manually. (This will also let right mouse click work on systems + * where the right mouse button functions as back.) + * + * The value of this hint is used at runtime, so it can be changed at any time. + */ +#define SDL_HINT_ANDROID_TRAP_BACK_BUTTON "SDL_ANDROID_TRAP_BACK_BUTTON" + +/** + * \brief Specify an application name. + * + * This hint lets you specify the application name sent to the OS when + * required. For example, this will often appear in volume control applets for + * audio streams, and in lists of applications which are inhibiting the + * screensaver. You should use a string that describes your program ("My Game + * 2: The Revenge") + * + * Setting this to "" or leaving it unset will have SDL use a reasonable + * default: probably the application's name or "SDL Application" if SDL + * doesn't have any better information. + * + * Note that, for audio streams, this can be overridden with + * SDL_HINT_AUDIO_DEVICE_APP_NAME. + * + * On targets where this is not supported, this hint does nothing. + */ +#define SDL_HINT_APP_NAME "SDL_APP_NAME" + +/** + * \brief A variable controlling whether controllers used with the Apple TV + * generate UI events. + * + * When UI events are generated by controller input, the app will be + * backgrounded when the Apple TV remote's menu button is pressed, and when the + * pause or B buttons on gamepads are pressed. + * + * More information about properly making use of controllers for the Apple TV + * can be found here: + * https://developer.apple.com/tvos/human-interface-guidelines/remote-and-controllers/ + * + * This variable can be set to the following values: + * "0" - Controller input does not generate UI events (the default). + * "1" - Controller input generates UI events. + */ +#define SDL_HINT_APPLE_TV_CONTROLLER_UI_EVENTS "SDL_APPLE_TV_CONTROLLER_UI_EVENTS" + +/** + * \brief A variable controlling whether the Apple TV remote's joystick axes + * will automatically match the rotation of the remote. + * + * This variable can be set to the following values: + * "0" - Remote orientation does not affect joystick axes (the default). + * "1" - Joystick axes are based on the orientation of the remote. + */ +#define SDL_HINT_APPLE_TV_REMOTE_ALLOW_ROTATION "SDL_APPLE_TV_REMOTE_ALLOW_ROTATION" + +/** + * \brief A variable controlling the audio category on iOS and Mac OS X + * + * This variable can be set to the following values: + * + * "ambient" - Use the AVAudioSessionCategoryAmbient audio category, will be muted by the phone mute switch (default) + * "playback" - Use the AVAudioSessionCategoryPlayback category + * + * For more information, see Apple's documentation: + * https://developer.apple.com/library/content/documentation/Audio/Conceptual/AudioSessionProgrammingGuide/AudioSessionCategoriesandModes/AudioSessionCategoriesandModes.html + */ +#define SDL_HINT_AUDIO_CATEGORY "SDL_AUDIO_CATEGORY" + +/** + * \brief Specify an application name for an audio device. + * + * Some audio backends (such as PulseAudio) allow you to describe your audio + * stream. Among other things, this description might show up in a system + * control panel that lets the user adjust the volume on specific audio + * streams instead of using one giant master volume slider. + * + * This hints lets you transmit that information to the OS. The contents of + * this hint are used while opening an audio device. You should use a string + * that describes your program ("My Game 2: The Revenge") + * + * Setting this to "" or leaving it unset will have SDL use a reasonable + * default: this will be the name set with SDL_HINT_APP_NAME, if that hint is + * set. Otherwise, it'll probably the application's name or "SDL Application" + * if SDL doesn't have any better information. + * + * On targets where this is not supported, this hint does nothing. + */ +#define SDL_HINT_AUDIO_DEVICE_APP_NAME "SDL_AUDIO_DEVICE_APP_NAME" + +/** + * \brief Specify an application name for an audio device. + * + * Some audio backends (such as PulseAudio) allow you to describe your audio + * stream. Among other things, this description might show up in a system + * control panel that lets the user adjust the volume on specific audio + * streams instead of using one giant master volume slider. + * + * This hints lets you transmit that information to the OS. The contents of + * this hint are used while opening an audio device. You should use a string + * that describes your what your program is playing ("audio stream" is + * probably sufficient in many cases, but this could be useful for something + * like "team chat" if you have a headset playing VoIP audio separately). + * + * Setting this to "" or leaving it unset will have SDL use a reasonable + * default: "audio stream" or something similar. + * + * On targets where this is not supported, this hint does nothing. + */ +#define SDL_HINT_AUDIO_DEVICE_STREAM_NAME "SDL_AUDIO_DEVICE_STREAM_NAME" + +/** + * \brief Specify an application role for an audio device. + * + * Some audio backends (such as Pipewire) allow you to describe the role of + * your audio stream. Among other things, this description might show up in + * a system control panel or software for displaying and manipulating media + * playback/capture graphs. + * + * This hints lets you transmit that information to the OS. The contents of + * this hint are used while opening an audio device. You should use a string + * that describes your what your program is playing (Game, Music, Movie, + * etc...). + * + * Setting this to "" or leaving it unset will have SDL use a reasonable + * default: "Game" or something similar. + * + * On targets where this is not supported, this hint does nothing. + */ +#define SDL_HINT_AUDIO_DEVICE_STREAM_ROLE "SDL_AUDIO_DEVICE_STREAM_ROLE" + +/** + * \brief A variable controlling speed/quality tradeoff of audio resampling. + * + * If available, SDL can use libsamplerate ( http://www.mega-nerd.com/SRC/ ) + * to handle audio resampling. There are different resampling modes available + * that produce different levels of quality, using more CPU. + * + * If this hint isn't specified to a valid setting, or libsamplerate isn't + * available, SDL will use the default, internal resampling algorithm. + * + * As of SDL 2.26, SDL_ConvertAudio() respects this hint when libsamplerate is available. + * + * This hint is currently only checked at audio subsystem initialization. + * + * This variable can be set to the following values: + * + * "0" or "default" - Use SDL's internal resampling (Default when not set - low quality, fast) + * "1" or "fast" - Use fast, slightly higher quality resampling, if available + * "2" or "medium" - Use medium quality resampling, if available + * "3" or "best" - Use high quality resampling, if available + */ +#define SDL_HINT_AUDIO_RESAMPLING_MODE "SDL_AUDIO_RESAMPLING_MODE" + +/** + * \brief A variable controlling whether SDL updates joystick state when getting input events + * + * This variable can be set to the following values: + * + * "0" - You'll call SDL_JoystickUpdate() manually + * "1" - SDL will automatically call SDL_JoystickUpdate() (default) + * + * This hint can be toggled on and off at runtime. + */ +#define SDL_HINT_AUTO_UPDATE_JOYSTICKS "SDL_AUTO_UPDATE_JOYSTICKS" + +/** + * \brief A variable controlling whether SDL updates sensor state when getting input events + * + * This variable can be set to the following values: + * + * "0" - You'll call SDL_SensorUpdate() manually + * "1" - SDL will automatically call SDL_SensorUpdate() (default) + * + * This hint can be toggled on and off at runtime. + */ +#define SDL_HINT_AUTO_UPDATE_SENSORS "SDL_AUTO_UPDATE_SENSORS" + +/** + * \brief Prevent SDL from using version 4 of the bitmap header when saving BMPs. + * + * The bitmap header version 4 is required for proper alpha channel support and + * SDL will use it when required. Should this not be desired, this hint can + * force the use of the 40 byte header version which is supported everywhere. + * + * The variable can be set to the following values: + * "0" - Surfaces with a colorkey or an alpha channel are saved to a + * 32-bit BMP file with an alpha mask. SDL will use the bitmap + * header version 4 and set the alpha mask accordingly. + * "1" - Surfaces with a colorkey or an alpha channel are saved to a + * 32-bit BMP file without an alpha mask. The alpha channel data + * will be in the file, but applications are going to ignore it. + * + * The default value is "0". + */ +#define SDL_HINT_BMP_SAVE_LEGACY_FORMAT "SDL_BMP_SAVE_LEGACY_FORMAT" + +/** + * \brief Override for SDL_GetDisplayUsableBounds() + * + * If set, this hint will override the expected results for + * SDL_GetDisplayUsableBounds() for display index 0. Generally you don't want + * to do this, but this allows an embedded system to request that some of the + * screen be reserved for other uses when paired with a well-behaved + * application. + * + * The contents of this hint must be 4 comma-separated integers, the first + * is the bounds x, then y, width and height, in that order. + */ +#define SDL_HINT_DISPLAY_USABLE_BOUNDS "SDL_DISPLAY_USABLE_BOUNDS" + +/** + * \brief Disable giving back control to the browser automatically + * when running with asyncify + * + * With -s ASYNCIFY, SDL2 calls emscripten_sleep during operations + * such as refreshing the screen or polling events. + * + * This hint only applies to the emscripten platform + * + * The variable can be set to the following values: + * "0" - Disable emscripten_sleep calls (if you give back browser control manually or use asyncify for other purposes) + * "1" - Enable emscripten_sleep calls (the default) + */ +#define SDL_HINT_EMSCRIPTEN_ASYNCIFY "SDL_EMSCRIPTEN_ASYNCIFY" + +/** + * \brief override the binding element for keyboard inputs for Emscripten builds + * + * This hint only applies to the emscripten platform + * + * The variable can be one of + * "#window" - The javascript window object (this is the default) + * "#document" - The javascript document object + * "#screen" - the javascript window.screen object + * "#canvas" - the WebGL canvas element + * any other string without a leading # sign applies to the element on the page with that ID. + */ +#define SDL_HINT_EMSCRIPTEN_KEYBOARD_ELEMENT "SDL_EMSCRIPTEN_KEYBOARD_ELEMENT" + +/** + * \brief A variable that controls whether Steam Controllers should be exposed using the SDL joystick and game controller APIs + * + * The variable can be set to the following values: + * "0" - Do not scan for Steam Controllers + * "1" - Scan for Steam Controllers (the default) + * + * The default value is "1". This hint must be set before initializing the joystick subsystem. + */ +#define SDL_HINT_ENABLE_STEAM_CONTROLLERS "SDL_ENABLE_STEAM_CONTROLLERS" + +/** + * \brief A variable controlling verbosity of the logging of SDL events pushed onto the internal queue. + * + * This variable can be set to the following values, from least to most verbose: + * + * "0" - Don't log any events (default) + * "1" - Log most events (other than the really spammy ones). + * "2" - Include mouse and finger motion events. + * "3" - Include SDL_SysWMEvent events. + * + * This is generally meant to be used to debug SDL itself, but can be useful + * for application developers that need better visibility into what is going + * on in the event queue. Logged events are sent through SDL_Log(), which + * means by default they appear on stdout on most platforms or maybe + * OutputDebugString() on Windows, and can be funneled by the app with + * SDL_LogSetOutputFunction(), etc. + * + * This hint can be toggled on and off at runtime, if you only need to log + * events for a small subset of program execution. + */ +#define SDL_HINT_EVENT_LOGGING "SDL_EVENT_LOGGING" + +/** + * \brief A variable controlling whether raising the window should be done more forcefully + * + * This variable can be set to the following values: + * "0" - No forcing (the default) + * "1" - Extra level of forcing + * + * At present, this is only an issue under MS Windows, which makes it nearly impossible to + * programmatically move a window to the foreground, for "security" reasons. See + * http://stackoverflow.com/a/34414846 for a discussion. + */ +#define SDL_HINT_FORCE_RAISEWINDOW "SDL_HINT_FORCE_RAISEWINDOW" + +/** + * \brief A variable controlling how 3D acceleration is used to accelerate the SDL screen surface. + * + * SDL can try to accelerate the SDL screen surface by using streaming + * textures with a 3D rendering engine. This variable controls whether and + * how this is done. + * + * This variable can be set to the following values: + * "0" - Disable 3D acceleration + * "1" - Enable 3D acceleration, using the default renderer. + * "X" - Enable 3D acceleration, using X where X is one of the valid rendering drivers. (e.g. "direct3d", "opengl", etc.) + * + * By default SDL tries to make a best guess for each platform whether + * to use acceleration or not. + */ +#define SDL_HINT_FRAMEBUFFER_ACCELERATION "SDL_FRAMEBUFFER_ACCELERATION" + +/** + * \brief A variable that lets you manually hint extra gamecontroller db entries. + * + * The variable should be newline delimited rows of gamecontroller config data, see SDL_gamecontroller.h + * + * This hint must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) + * You can update mappings after the system is initialized with SDL_GameControllerMappingForGUID() and SDL_GameControllerAddMapping() + */ +#define SDL_HINT_GAMECONTROLLERCONFIG "SDL_GAMECONTROLLERCONFIG" + +/** + * \brief A variable that lets you provide a file with extra gamecontroller db entries. + * + * The file should contain lines of gamecontroller config data, see SDL_gamecontroller.h + * + * This hint must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) + * You can update mappings after the system is initialized with SDL_GameControllerMappingForGUID() and SDL_GameControllerAddMapping() + */ +#define SDL_HINT_GAMECONTROLLERCONFIG_FILE "SDL_GAMECONTROLLERCONFIG_FILE" + +/** + * \brief A variable that overrides the automatic controller type detection + * + * The variable should be comma separated entries, in the form: VID/PID=type + * + * The VID and PID should be hexadecimal with exactly 4 digits, e.g. 0x00fd + * + * The type should be one of: + * Xbox360 + * XboxOne + * PS3 + * PS4 + * PS5 + * SwitchPro + * + * This hint affects what driver is used, and must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) + */ +#define SDL_HINT_GAMECONTROLLERTYPE "SDL_GAMECONTROLLERTYPE" + +/** + * \brief A variable containing a list of devices to skip when scanning for game controllers. + * + * The format of the string is a comma separated list of USB VID/PID pairs + * in hexadecimal form, e.g. + * + * 0xAAAA/0xBBBB,0xCCCC/0xDDDD + * + * The variable can also take the form of @file, in which case the named + * file will be loaded and interpreted as the value of the variable. + */ +#define SDL_HINT_GAMECONTROLLER_IGNORE_DEVICES "SDL_GAMECONTROLLER_IGNORE_DEVICES" + +/** + * \brief If set, all devices will be skipped when scanning for game controllers except for the ones listed in this variable. + * + * The format of the string is a comma separated list of USB VID/PID pairs + * in hexadecimal form, e.g. + * + * 0xAAAA/0xBBBB,0xCCCC/0xDDDD + * + * The variable can also take the form of @file, in which case the named + * file will be loaded and interpreted as the value of the variable. + */ +#define SDL_HINT_GAMECONTROLLER_IGNORE_DEVICES_EXCEPT "SDL_GAMECONTROLLER_IGNORE_DEVICES_EXCEPT" + +/** + * \brief If set, game controller face buttons report their values according to their labels instead of their positional layout. + * + * For example, on Nintendo Switch controllers, normally you'd get: + * + * (Y) + * (X) (B) + * (A) + * + * but if this hint is set, you'll get: + * + * (X) + * (Y) (A) + * (B) + * + * The variable can be set to the following values: + * "0" - Report the face buttons by position, as though they were on an Xbox controller. + * "1" - Report the face buttons by label instead of position + * + * The default value is "1". This hint may be set at any time. + */ +#define SDL_HINT_GAMECONTROLLER_USE_BUTTON_LABELS "SDL_GAMECONTROLLER_USE_BUTTON_LABELS" + +/** + * \brief A variable controlling whether grabbing input grabs the keyboard + * + * This variable can be set to the following values: + * "0" - Grab will affect only the mouse + * "1" - Grab will affect mouse and keyboard + * + * By default SDL will not grab the keyboard so system shortcuts still work. + */ +#define SDL_HINT_GRAB_KEYBOARD "SDL_GRAB_KEYBOARD" + +/** + * \brief A variable containing a list of devices to ignore in SDL_hid_enumerate() + * + * For example, to ignore the Shanwan DS3 controller and any Valve controller, you might + * have the string "0x2563/0x0523,0x28de/0x0000" + */ +#define SDL_HINT_HIDAPI_IGNORE_DEVICES "SDL_HIDAPI_IGNORE_DEVICES" + +/** + * \brief A variable controlling whether the idle timer is disabled on iOS. + * + * When an iOS app does not receive touches for some time, the screen is + * dimmed automatically. For games where the accelerometer is the only input + * this is problematic. This functionality can be disabled by setting this + * hint. + * + * As of SDL 2.0.4, SDL_EnableScreenSaver() and SDL_DisableScreenSaver() + * accomplish the same thing on iOS. They should be preferred over this hint. + * + * This variable can be set to the following values: + * "0" - Enable idle timer + * "1" - Disable idle timer + */ +#define SDL_HINT_IDLE_TIMER_DISABLED "SDL_IOS_IDLE_TIMER_DISABLED" + +/** + * \brief A variable to control whether certain IMEs should handle text editing internally instead of sending SDL_TEXTEDITING events. + * + * The variable can be set to the following values: + * "0" - SDL_TEXTEDITING events are sent, and it is the application's + * responsibility to render the text from these events and + * differentiate it somehow from committed text. (default) + * "1" - If supported by the IME then SDL_TEXTEDITING events are not sent, + * and text that is being composed will be rendered in its own UI. + */ +#define SDL_HINT_IME_INTERNAL_EDITING "SDL_IME_INTERNAL_EDITING" + +/** + * \brief A variable to control whether certain IMEs should show native UI components (such as the Candidate List) instead of suppressing them. + * + * The variable can be set to the following values: + * "0" - Native UI components are not display. (default) + * "1" - Native UI components are displayed. + */ +#define SDL_HINT_IME_SHOW_UI "SDL_IME_SHOW_UI" + +/** + * \brief A variable to control if extended IME text support is enabled. + * If enabled then SDL_TextEditingExtEvent will be issued if the text would be truncated otherwise. + * Additionally SDL_TextInputEvent will be dispatched multiple times so that it is not truncated. + * + * The variable can be set to the following values: + * "0" - Legacy behavior. Text can be truncated, no heap allocations. (default) + * "1" - Modern behavior. + */ +#define SDL_HINT_IME_SUPPORT_EXTENDED_TEXT "SDL_IME_SUPPORT_EXTENDED_TEXT" + +/** + * \brief A variable controlling whether the home indicator bar on iPhone X + * should be hidden. + * + * This variable can be set to the following values: + * "0" - The indicator bar is not hidden (default for windowed applications) + * "1" - The indicator bar is hidden and is shown when the screen is touched (useful for movie playback applications) + * "2" - The indicator bar is dim and the first swipe makes it visible and the second swipe performs the "home" action (default for fullscreen applications) + */ +#define SDL_HINT_IOS_HIDE_HOME_INDICATOR "SDL_IOS_HIDE_HOME_INDICATOR" + +/** + * \brief A variable that lets you enable joystick (and gamecontroller) events even when your app is in the background. + * + * The variable can be set to the following values: + * "0" - Disable joystick & gamecontroller input events when the + * application is in the background. + * "1" - Enable joystick & gamecontroller input events when the + * application is in the background. + * + * The default value is "0". This hint may be set at any time. + */ +#define SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS "SDL_JOYSTICK_ALLOW_BACKGROUND_EVENTS" + +/** + * \brief A variable controlling whether the HIDAPI joystick drivers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI drivers are not used + * "1" - HIDAPI drivers are used (the default) + * + * This variable is the default for all drivers, but can be overridden by the hints for specific drivers below. + */ +#define SDL_HINT_JOYSTICK_HIDAPI "SDL_JOYSTICK_HIDAPI" + +/** + * \brief A variable controlling whether the HIDAPI driver for Nintendo GameCube controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_GAMECUBE "SDL_JOYSTICK_HIDAPI_GAMECUBE" + +/** + * \brief A variable controlling whether "low_frequency_rumble" and "high_frequency_rumble" is used to implement + * the GameCube controller's 3 rumble modes, Stop(0), Rumble(1), and StopHard(2) + * this is useful for applications that need full compatibility for things like ADSR envelopes. + * Stop is implemented by setting "low_frequency_rumble" to "0" and "high_frequency_rumble" ">0" + * Rumble is both at any arbitrary value, + * StopHard is implemented by setting both "low_frequency_rumble" and "high_frequency_rumble" to "0" + * + * This variable can be set to the following values: + * "0" - Normal rumble behavior is behavior is used (default) + * "1" - Proper GameCube controller rumble behavior is used + * + */ +#define SDL_HINT_JOYSTICK_GAMECUBE_RUMBLE_BRAKE "SDL_JOYSTICK_GAMECUBE_RUMBLE_BRAKE" + +/** + * \brief A variable controlling whether the HIDAPI driver for Nintendo Switch Joy-Cons should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS "SDL_JOYSTICK_HIDAPI_JOY_CONS" + +/** + * \brief A variable controlling whether Nintendo Switch Joy-Con controllers will be combined into a single Pro-like controller when using the HIDAPI driver + * + * This variable can be set to the following values: + * "0" - Left and right Joy-Con controllers will not be combined and each will be a mini-gamepad + * "1" - Left and right Joy-Con controllers will be combined into a single controller (the default) + */ +#define SDL_HINT_JOYSTICK_HIDAPI_COMBINE_JOY_CONS "SDL_JOYSTICK_HIDAPI_COMBINE_JOY_CONS" + +/** + * \brief A variable controlling whether Nintendo Switch Joy-Con controllers will be in vertical mode when using the HIDAPI driver + * + * This variable can be set to the following values: + * "0" - Left and right Joy-Con controllers will not be in vertical mode (the default) + * "1" - Left and right Joy-Con controllers will be in vertical mode + * + * This hint must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) + */ +#define SDL_HINT_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS "SDL_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS" + +/** + * \brief A variable controlling whether the HIDAPI driver for Amazon Luna controllers connected via Bluetooth should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_LUNA "SDL_JOYSTICK_HIDAPI_LUNA" + +/** + * \brief A variable controlling whether the HIDAPI driver for Nintendo Online classic controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC "SDL_JOYSTICK_HIDAPI_NINTENDO_CLASSIC" + +/** + * \brief A variable controlling whether the HIDAPI driver for NVIDIA SHIELD controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_SHIELD "SDL_JOYSTICK_HIDAPI_SHIELD" + +/** + * \brief A variable controlling whether the HIDAPI driver for PS3 controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI on macOS, and "0" on other platforms. + * + * It is not possible to use this driver on Windows, due to limitations in the default drivers + * installed. See https://github.com/ViGEm/DsHidMini for an alternative driver on Windows. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_PS3 "SDL_JOYSTICK_HIDAPI_PS3" + +/** + * \brief A variable controlling whether the HIDAPI driver for PS4 controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_PS4 "SDL_JOYSTICK_HIDAPI_PS4" + +/** + * \brief A variable controlling whether extended input reports should be used for PS4 controllers when using the HIDAPI driver. + * + * This variable can be set to the following values: + * "0" - extended reports are not enabled (the default) + * "1" - extended reports + * + * Extended input reports allow rumble on Bluetooth PS4 controllers, but + * break DirectInput handling for applications that don't use SDL. + * + * Once extended reports are enabled, they can not be disabled without + * power cycling the controller. + * + * For compatibility with applications written for versions of SDL prior + * to the introduction of PS5 controller support, this value will also + * control the state of extended reports on PS5 controllers when the + * SDL_HINT_JOYSTICK_HIDAPI_PS5_RUMBLE hint is not explicitly set. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_PS4_RUMBLE "SDL_JOYSTICK_HIDAPI_PS4_RUMBLE" + +/** + * \brief A variable controlling whether the HIDAPI driver for PS5 controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_PS5 "SDL_JOYSTICK_HIDAPI_PS5" + +/** + * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with a PS5 controller. + * + * This variable can be set to the following values: + * "0" - player LEDs are not enabled + * "1" - player LEDs are enabled (the default) + */ +#define SDL_HINT_JOYSTICK_HIDAPI_PS5_PLAYER_LED "SDL_JOYSTICK_HIDAPI_PS5_PLAYER_LED" + +/** + * \brief A variable controlling whether extended input reports should be used for PS5 controllers when using the HIDAPI driver. + * + * This variable can be set to the following values: + * "0" - extended reports are not enabled (the default) + * "1" - extended reports + * + * Extended input reports allow rumble on Bluetooth PS5 controllers, but + * break DirectInput handling for applications that don't use SDL. + * + * Once extended reports are enabled, they can not be disabled without + * power cycling the controller. + * + * For compatibility with applications written for versions of SDL prior + * to the introduction of PS5 controller support, this value defaults to + * the value of SDL_HINT_JOYSTICK_HIDAPI_PS4_RUMBLE. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_PS5_RUMBLE "SDL_JOYSTICK_HIDAPI_PS5_RUMBLE" + +/** + * \brief A variable controlling whether the HIDAPI driver for Google Stadia controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_STADIA "SDL_JOYSTICK_HIDAPI_STADIA" + +/** + * \brief A variable controlling whether the HIDAPI driver for Bluetooth Steam Controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used for Steam Controllers, which requires Bluetooth access + * and may prompt the user for permission on iOS and Android. + * + * The default is "0" + */ +#define SDL_HINT_JOYSTICK_HIDAPI_STEAM "SDL_JOYSTICK_HIDAPI_STEAM" + +/** + * \brief A variable controlling whether the HIDAPI driver for Nintendo Switch controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_SWITCH "SDL_JOYSTICK_HIDAPI_SWITCH" + +/** + * \brief A variable controlling whether the Home button LED should be turned on when a Nintendo Switch Pro controller is opened + * + * This variable can be set to the following values: + * "0" - home button LED is turned off + * "1" - home button LED is turned on + * + * By default the Home button LED state is not changed. This hint can also be set to a floating point value between 0.0 and 1.0 which controls the brightness of the Home button LED. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_SWITCH_HOME_LED "SDL_JOYSTICK_HIDAPI_SWITCH_HOME_LED" + +/** + * \brief A variable controlling whether the Home button LED should be turned on when a Nintendo Switch Joy-Con controller is opened + * + * This variable can be set to the following values: + * "0" - home button LED is turned off + * "1" - home button LED is turned on + * + * By default the Home button LED state is not changed. This hint can also be set to a floating point value between 0.0 and 1.0 which controls the brightness of the Home button LED. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_JOYCON_HOME_LED "SDL_JOYSTICK_HIDAPI_JOYCON_HOME_LED" + +/** + * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with a Nintendo Switch controller. + * + * This variable can be set to the following values: + * "0" - player LEDs are not enabled + * "1" - player LEDs are enabled (the default) + */ +#define SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED "SDL_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED" + +/** + * \brief A variable controlling whether the HIDAPI driver for Nintendo Wii and Wii U controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * This driver doesn't work with the dolphinbar, so the default is SDL_FALSE for now. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_WII "SDL_JOYSTICK_HIDAPI_WII" + +/** + * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with a Wii controller. + * + * This variable can be set to the following values: + * "0" - player LEDs are not enabled + * "1" - player LEDs are enabled (the default) + */ +#define SDL_HINT_JOYSTICK_HIDAPI_WII_PLAYER_LED "SDL_JOYSTICK_HIDAPI_WII_PLAYER_LED" + +/** + * \brief A variable controlling whether the HIDAPI driver for XBox controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is "0" on Windows, otherwise the value of SDL_HINT_JOYSTICK_HIDAPI + */ +#define SDL_HINT_JOYSTICK_HIDAPI_XBOX "SDL_JOYSTICK_HIDAPI_XBOX" + +/** + * \brief A variable controlling whether the HIDAPI driver for XBox 360 controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI_XBOX + */ +#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_360 "SDL_JOYSTICK_HIDAPI_XBOX_360" + +/** + * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with an Xbox 360 controller. + * + * This variable can be set to the following values: + * "0" - player LEDs are not enabled + * "1" - player LEDs are enabled (the default) + */ +#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_PLAYER_LED "SDL_JOYSTICK_HIDAPI_XBOX_360_PLAYER_LED" + +/** + * \brief A variable controlling whether the HIDAPI driver for XBox 360 wireless controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI_XBOX_360 + */ +#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_WIRELESS "SDL_JOYSTICK_HIDAPI_XBOX_360_WIRELESS" + +/** + * \brief A variable controlling whether the HIDAPI driver for XBox One controllers should be used. + * + * This variable can be set to the following values: + * "0" - HIDAPI driver is not used + * "1" - HIDAPI driver is used + * + * The default is the value of SDL_HINT_JOYSTICK_HIDAPI_XBOX + */ +#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE "SDL_JOYSTICK_HIDAPI_XBOX_ONE" + +/** + * \brief A variable controlling whether the Home button LED should be turned on when an Xbox One controller is opened + * + * This variable can be set to the following values: + * "0" - home button LED is turned off + * "1" - home button LED is turned on + * + * By default the Home button LED state is not changed. This hint can also be set to a floating point value between 0.0 and 1.0 which controls the brightness of the Home button LED. The default brightness is 0.4. + */ +#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE_HOME_LED "SDL_JOYSTICK_HIDAPI_XBOX_ONE_HOME_LED" + +/** + * \brief A variable controlling whether the RAWINPUT joystick drivers should be used for better handling XInput-capable devices. + * + * This variable can be set to the following values: + * "0" - RAWINPUT drivers are not used + * "1" - RAWINPUT drivers are used (the default) + */ +#define SDL_HINT_JOYSTICK_RAWINPUT "SDL_JOYSTICK_RAWINPUT" + +/** + * \brief A variable controlling whether the RAWINPUT driver should pull correlated data from XInput. + * + * This variable can be set to the following values: + * "0" - RAWINPUT driver will only use data from raw input APIs + * "1" - RAWINPUT driver will also pull data from XInput, providing + * better trigger axes, guide button presses, and rumble support + * for Xbox controllers + * + * The default is "1". This hint applies to any joysticks opened after setting the hint. + */ +#define SDL_HINT_JOYSTICK_RAWINPUT_CORRELATE_XINPUT "SDL_JOYSTICK_RAWINPUT_CORRELATE_XINPUT" + +/** + * \brief A variable controlling whether the ROG Chakram mice should show up as joysticks + * + * This variable can be set to the following values: + * "0" - ROG Chakram mice do not show up as joysticks (the default) + * "1" - ROG Chakram mice show up as joysticks + */ +#define SDL_HINT_JOYSTICK_ROG_CHAKRAM "SDL_JOYSTICK_ROG_CHAKRAM" + +/** + * \brief A variable controlling whether a separate thread should be used + * for handling joystick detection and raw input messages on Windows + * + * This variable can be set to the following values: + * "0" - A separate thread is not used (the default) + * "1" - A separate thread is used for handling raw input messages + * + */ +#define SDL_HINT_JOYSTICK_THREAD "SDL_JOYSTICK_THREAD" + +/** + * \brief Determines whether SDL enforces that DRM master is required in order + * to initialize the KMSDRM video backend. + * + * The DRM subsystem has a concept of a "DRM master" which is a DRM client that + * has the ability to set planes, set cursor, etc. When SDL is DRM master, it + * can draw to the screen using the SDL rendering APIs. Without DRM master, SDL + * is still able to process input and query attributes of attached displays, + * but it cannot change display state or draw to the screen directly. + * + * In some cases, it can be useful to have the KMSDRM backend even if it cannot + * be used for rendering. An app may want to use SDL for input processing while + * using another rendering API (such as an MMAL overlay on Raspberry Pi) or + * using its own code to render to DRM overlays that SDL doesn't support. + * + * This hint must be set before initializing the video subsystem. + * + * This variable can be set to the following values: + * "0" - SDL will allow usage of the KMSDRM backend without DRM master + * "1" - SDL Will require DRM master to use the KMSDRM backend (default) + */ +#define SDL_HINT_KMSDRM_REQUIRE_DRM_MASTER "SDL_KMSDRM_REQUIRE_DRM_MASTER" + +/** + * \brief A comma separated list of devices to open as joysticks + * + * This variable is currently only used by the Linux joystick driver. + */ +#define SDL_HINT_JOYSTICK_DEVICE "SDL_JOYSTICK_DEVICE" + +/** + * \brief A variable controlling whether joysticks on Linux will always treat 'hat' axis inputs (ABS_HAT0X - ABS_HAT3Y) as 8-way digital hats without checking whether they may be analog. + * + * This variable can be set to the following values: + * "0" - Only map hat axis inputs to digital hat outputs if the input axes appear to actually be digital (the default) + * "1" - Always handle the input axes numbered ABS_HAT0X to ABS_HAT3Y as digital hats + */ +#define SDL_HINT_LINUX_DIGITAL_HATS "SDL_LINUX_DIGITAL_HATS" + +/** + * \brief A variable controlling whether digital hats on Linux will apply deadzones to their underlying input axes or use unfiltered values. + * + * This variable can be set to the following values: + * "0" - Return digital hat values based on unfiltered input axis values + * "1" - Return digital hat values with deadzones on the input axes taken into account (the default) + */ +#define SDL_HINT_LINUX_HAT_DEADZONES "SDL_LINUX_HAT_DEADZONES" + +/** + * \brief A variable controlling whether to use the classic /dev/input/js* joystick interface or the newer /dev/input/event* joystick interface on Linux + * + * This variable can be set to the following values: + * "0" - Use /dev/input/event* + * "1" - Use /dev/input/js* + * + * By default the /dev/input/event* interfaces are used + */ +#define SDL_HINT_LINUX_JOYSTICK_CLASSIC "SDL_LINUX_JOYSTICK_CLASSIC" + +/** + * \brief A variable controlling whether joysticks on Linux adhere to their HID-defined deadzones or return unfiltered values. + * + * This variable can be set to the following values: + * "0" - Return unfiltered joystick axis values (the default) + * "1" - Return axis values with deadzones taken into account + */ +#define SDL_HINT_LINUX_JOYSTICK_DEADZONES "SDL_LINUX_JOYSTICK_DEADZONES" + +/** +* \brief When set don't force the SDL app to become a foreground process +* +* This hint only applies to Mac OS X. +* +*/ +#define SDL_HINT_MAC_BACKGROUND_APP "SDL_MAC_BACKGROUND_APP" + +/** + * \brief A variable that determines whether ctrl+click should generate a right-click event on Mac + * + * If present, holding ctrl while left clicking will generate a right click + * event when on Mac. + */ +#define SDL_HINT_MAC_CTRL_CLICK_EMULATE_RIGHT_CLICK "SDL_MAC_CTRL_CLICK_EMULATE_RIGHT_CLICK" + +/** + * \brief A variable controlling whether dispatching OpenGL context updates should block the dispatching thread until the main thread finishes processing + * + * This variable can be set to the following values: + * "0" - Dispatching OpenGL context updates will block the dispatching thread until the main thread finishes processing (default). + * "1" - Dispatching OpenGL context updates will allow the dispatching thread to continue execution. + * + * Generally you want the default, but if you have OpenGL code in a background thread on a Mac, and the main thread + * hangs because it's waiting for that background thread, but that background thread is also hanging because it's + * waiting for the main thread to do an update, this might fix your issue. + * + * This hint only applies to macOS. + * + * This hint is available since SDL 2.24.0. + * + */ +#define SDL_HINT_MAC_OPENGL_ASYNC_DISPATCH "SDL_MAC_OPENGL_ASYNC_DISPATCH" + +/** + * \brief A variable setting the double click radius, in pixels. + */ +#define SDL_HINT_MOUSE_DOUBLE_CLICK_RADIUS "SDL_MOUSE_DOUBLE_CLICK_RADIUS" + +/** + * \brief A variable setting the double click time, in milliseconds. + */ +#define SDL_HINT_MOUSE_DOUBLE_CLICK_TIME "SDL_MOUSE_DOUBLE_CLICK_TIME" + +/** + * \brief Allow mouse click events when clicking to focus an SDL window + * + * This variable can be set to the following values: + * "0" - Ignore mouse clicks that activate a window + * "1" - Generate events for mouse clicks that activate a window + * + * By default SDL will ignore mouse clicks that activate a window + */ +#define SDL_HINT_MOUSE_FOCUS_CLICKTHROUGH "SDL_MOUSE_FOCUS_CLICKTHROUGH" + +/** + * \brief A variable setting the speed scale for mouse motion, in floating point, when the mouse is not in relative mode + */ +#define SDL_HINT_MOUSE_NORMAL_SPEED_SCALE "SDL_MOUSE_NORMAL_SPEED_SCALE" + +/** + * \brief A variable controlling whether relative mouse mode constrains the mouse to the center of the window + * + * This variable can be set to the following values: + * "0" - Relative mouse mode constrains the mouse to the window + * "1" - Relative mouse mode constrains the mouse to the center of the window + * + * Constraining to the center of the window works better for FPS games and when the + * application is running over RDP. Constraining to the whole window works better + * for 2D games and increases the chance that the mouse will be in the correct + * position when using high DPI mice. + * + * By default SDL will constrain the mouse to the center of the window + */ +#define SDL_HINT_MOUSE_RELATIVE_MODE_CENTER "SDL_MOUSE_RELATIVE_MODE_CENTER" + +/** + * \brief A variable controlling whether relative mouse mode is implemented using mouse warping + * + * This variable can be set to the following values: + * "0" - Relative mouse mode uses raw input + * "1" - Relative mouse mode uses mouse warping + * + * By default SDL will use raw input for relative mouse mode + */ +#define SDL_HINT_MOUSE_RELATIVE_MODE_WARP "SDL_MOUSE_RELATIVE_MODE_WARP" + +/** + * \brief A variable controlling whether relative mouse motion is affected by renderer scaling + * + * This variable can be set to the following values: + * "0" - Relative motion is unaffected by DPI or renderer's logical size + * "1" - Relative motion is scaled according to DPI scaling and logical size + * + * By default relative mouse deltas are affected by DPI and renderer scaling + */ +#define SDL_HINT_MOUSE_RELATIVE_SCALING "SDL_MOUSE_RELATIVE_SCALING" + +/** + * \brief A variable setting the scale for mouse motion, in floating point, when the mouse is in relative mode + */ +#define SDL_HINT_MOUSE_RELATIVE_SPEED_SCALE "SDL_MOUSE_RELATIVE_SPEED_SCALE" + +/** + * \brief A variable controlling whether the system mouse acceleration curve is used for relative mouse motion. + * + * This variable can be set to the following values: + * "0" - Relative mouse motion will be unscaled (the default) + * "1" - Relative mouse motion will be scaled using the system mouse acceleration curve. + * + * If SDL_HINT_MOUSE_RELATIVE_SPEED_SCALE is set, that will override the system speed scale. + */ +#define SDL_HINT_MOUSE_RELATIVE_SYSTEM_SCALE "SDL_MOUSE_RELATIVE_SYSTEM_SCALE" + +/** + * \brief A variable controlling whether a motion event should be generated for mouse warping in relative mode. + * + * This variable can be set to the following values: + * "0" - Warping the mouse will not generate a motion event in relative mode + * "1" - Warping the mouse will generate a motion event in relative mode + * + * By default warping the mouse will not generate motion events in relative mode. This avoids the application having to filter out large relative motion due to warping. + */ +#define SDL_HINT_MOUSE_RELATIVE_WARP_MOTION "SDL_MOUSE_RELATIVE_WARP_MOTION" + +/** + * \brief A variable controlling whether mouse events should generate synthetic touch events + * + * This variable can be set to the following values: + * "0" - Mouse events will not generate touch events (default for desktop platforms) + * "1" - Mouse events will generate touch events (default for mobile platforms, such as Android and iOS) + */ +#define SDL_HINT_MOUSE_TOUCH_EVENTS "SDL_MOUSE_TOUCH_EVENTS" + +/** + * \brief A variable controlling whether the mouse is captured while mouse buttons are pressed + * + * This variable can be set to the following values: + * "0" - The mouse is not captured while mouse buttons are pressed + * "1" - The mouse is captured while mouse buttons are pressed + * + * By default the mouse is captured while mouse buttons are pressed so if the mouse is dragged + * outside the window, the application continues to receive mouse events until the button is + * released. + */ +#define SDL_HINT_MOUSE_AUTO_CAPTURE "SDL_MOUSE_AUTO_CAPTURE" + +/** + * \brief Tell SDL not to catch the SIGINT or SIGTERM signals. + * + * This hint only applies to Unix-like platforms, and should set before + * any calls to SDL_Init() + * + * The variable can be set to the following values: + * "0" - SDL will install a SIGINT and SIGTERM handler, and when it + * catches a signal, convert it into an SDL_QUIT event. + * "1" - SDL will not install a signal handler at all. + */ +#define SDL_HINT_NO_SIGNAL_HANDLERS "SDL_NO_SIGNAL_HANDLERS" + +/** + * \brief A variable controlling what driver to use for OpenGL ES contexts. + * + * On some platforms, currently Windows and X11, OpenGL drivers may support + * creating contexts with an OpenGL ES profile. By default SDL uses these + * profiles, when available, otherwise it attempts to load an OpenGL ES + * library, e.g. that provided by the ANGLE project. This variable controls + * whether SDL follows this default behaviour or will always load an + * OpenGL ES library. + * + * Circumstances where this is useful include + * - Testing an app with a particular OpenGL ES implementation, e.g ANGLE, + * or emulator, e.g. those from ARM, Imagination or Qualcomm. + * - Resolving OpenGL ES function addresses at link time by linking with + * the OpenGL ES library instead of querying them at run time with + * SDL_GL_GetProcAddress(). + * + * Caution: for an application to work with the default behaviour across + * different OpenGL drivers it must query the OpenGL ES function + * addresses at run time using SDL_GL_GetProcAddress(). + * + * This variable is ignored on most platforms because OpenGL ES is native + * or not supported. + * + * This variable can be set to the following values: + * "0" - Use ES profile of OpenGL, if available. (Default when not set.) + * "1" - Load OpenGL ES library using the default library names. + * + */ +#define SDL_HINT_OPENGL_ES_DRIVER "SDL_OPENGL_ES_DRIVER" + +/** + * \brief A variable controlling which orientations are allowed on iOS/Android. + * + * In some circumstances it is necessary to be able to explicitly control + * which UI orientations are allowed. + * + * This variable is a space delimited list of the following values: + * "LandscapeLeft", "LandscapeRight", "Portrait" "PortraitUpsideDown" + */ +#define SDL_HINT_ORIENTATIONS "SDL_IOS_ORIENTATIONS" + +/** + * \brief A variable controlling the use of a sentinel event when polling the event queue + * + * This variable can be set to the following values: + * "0" - Disable poll sentinels + * "1" - Enable poll sentinels + * + * When polling for events, SDL_PumpEvents is used to gather new events from devices. + * If a device keeps producing new events between calls to SDL_PumpEvents, a poll loop will + * become stuck until the new events stop. + * This is most noticeable when moving a high frequency mouse. + * + * By default, poll sentinels are enabled. + */ +#define SDL_HINT_POLL_SENTINEL "SDL_POLL_SENTINEL" + +/** + * \brief Override for SDL_GetPreferredLocales() + * + * If set, this will be favored over anything the OS might report for the + * user's preferred locales. Changing this hint at runtime will not generate + * a SDL_LOCALECHANGED event (but if you can change the hint, you can push + * your own event, if you want). + * + * The format of this hint is a comma-separated list of language and locale, + * combined with an underscore, as is a common format: "en_GB". Locale is + * optional: "en". So you might have a list like this: "en_GB,jp,es_PT" + */ +#define SDL_HINT_PREFERRED_LOCALES "SDL_PREFERRED_LOCALES" + +/** + * \brief A variable describing the content orientation on QtWayland-based platforms. + * + * On QtWayland platforms, windows are rotated client-side to allow for custom + * transitions. In order to correctly position overlays (e.g. volume bar) and + * gestures (e.g. events view, close/minimize gestures), the system needs to + * know in which orientation the application is currently drawing its contents. + * + * This does not cause the window to be rotated or resized, the application + * needs to take care of drawing the content in the right orientation (the + * framebuffer is always in portrait mode). + * + * This variable can be one of the following values: + * "primary" (default), "portrait", "landscape", "inverted-portrait", "inverted-landscape" + */ +#define SDL_HINT_QTWAYLAND_CONTENT_ORIENTATION "SDL_QTWAYLAND_CONTENT_ORIENTATION" + +/** + * \brief Flags to set on QtWayland windows to integrate with the native window manager. + * + * On QtWayland platforms, this hint controls the flags to set on the windows. + * For example, on Sailfish OS "OverridesSystemGestures" disables swipe gestures. + * + * This variable is a space-separated list of the following values (empty = no flags): + * "OverridesSystemGestures", "StaysOnTop", "BypassWindowManager" + */ +#define SDL_HINT_QTWAYLAND_WINDOW_FLAGS "SDL_QTWAYLAND_WINDOW_FLAGS" + +/** + * \brief A variable controlling whether the 2D render API is compatible or efficient. + * + * This variable can be set to the following values: + * + * "0" - Don't use batching to make rendering more efficient. + * "1" - Use batching, but might cause problems if app makes its own direct OpenGL calls. + * + * Up to SDL 2.0.9, the render API would draw immediately when requested. Now + * it batches up draw requests and sends them all to the GPU only when forced + * to (during SDL_RenderPresent, when changing render targets, by updating a + * texture that the batch needs, etc). This is significantly more efficient, + * but it can cause problems for apps that expect to render on top of the + * render API's output. As such, SDL will disable batching if a specific + * render backend is requested (since this might indicate that the app is + * planning to use the underlying graphics API directly). This hint can + * be used to explicitly request batching in this instance. It is a contract + * that you will either never use the underlying graphics API directly, or + * if you do, you will call SDL_RenderFlush() before you do so any current + * batch goes to the GPU before your work begins. Not following this contract + * will result in undefined behavior. + */ +#define SDL_HINT_RENDER_BATCHING "SDL_RENDER_BATCHING" + +/** + * \brief A variable controlling how the 2D render API renders lines + * + * This variable can be set to the following values: + * "0" - Use the default line drawing method (Bresenham's line algorithm as of SDL 2.0.20) + * "1" - Use the driver point API using Bresenham's line algorithm (correct, draws many points) + * "2" - Use the driver line API (occasionally misses line endpoints based on hardware driver quirks, was the default before 2.0.20) + * "3" - Use the driver geometry API (correct, draws thicker diagonal lines) + * + * This variable should be set when the renderer is created. + */ +#define SDL_HINT_RENDER_LINE_METHOD "SDL_RENDER_LINE_METHOD" + +/** + * \brief A variable controlling whether to enable Direct3D 11+'s Debug Layer. + * + * This variable does not have any effect on the Direct3D 9 based renderer. + * + * This variable can be set to the following values: + * "0" - Disable Debug Layer use + * "1" - Enable Debug Layer use + * + * By default, SDL does not use Direct3D Debug Layer. + */ +#define SDL_HINT_RENDER_DIRECT3D11_DEBUG "SDL_RENDER_DIRECT3D11_DEBUG" + +/** + * \brief A variable controlling whether the Direct3D device is initialized for thread-safe operations. + * + * This variable can be set to the following values: + * "0" - Thread-safety is not enabled (faster) + * "1" - Thread-safety is enabled + * + * By default the Direct3D device is created with thread-safety disabled. + */ +#define SDL_HINT_RENDER_DIRECT3D_THREADSAFE "SDL_RENDER_DIRECT3D_THREADSAFE" + +/** + * \brief A variable specifying which render driver to use. + * + * If the application doesn't pick a specific renderer to use, this variable + * specifies the name of the preferred renderer. If the preferred renderer + * can't be initialized, the normal default renderer is used. + * + * This variable is case insensitive and can be set to the following values: + * "direct3d" + * "direct3d11" + * "direct3d12" + * "opengl" + * "opengles2" + * "opengles" + * "metal" + * "software" + * + * The default varies by platform, but it's the first one in the list that + * is available on the current platform. + */ +#define SDL_HINT_RENDER_DRIVER "SDL_RENDER_DRIVER" + +/** + * \brief A variable controlling the scaling policy for SDL_RenderSetLogicalSize. + * + * This variable can be set to the following values: + * "0" or "letterbox" - Uses letterbox/sidebars to fit the entire rendering on screen + * "1" or "overscan" - Will zoom the rendering so it fills the entire screen, allowing edges to be drawn offscreen + * + * By default letterbox is used + */ +#define SDL_HINT_RENDER_LOGICAL_SIZE_MODE "SDL_RENDER_LOGICAL_SIZE_MODE" + +/** + * \brief A variable controlling whether the OpenGL render driver uses shaders if they are available. + * + * This variable can be set to the following values: + * "0" - Disable shaders + * "1" - Enable shaders + * + * By default shaders are used if OpenGL supports them. + */ +#define SDL_HINT_RENDER_OPENGL_SHADERS "SDL_RENDER_OPENGL_SHADERS" + +/** + * \brief A variable controlling the scaling quality + * + * This variable can be set to the following values: + * "0" or "nearest" - Nearest pixel sampling + * "1" or "linear" - Linear filtering (supported by OpenGL and Direct3D) + * "2" or "best" - Currently this is the same as "linear" + * + * By default nearest pixel sampling is used + */ +#define SDL_HINT_RENDER_SCALE_QUALITY "SDL_RENDER_SCALE_QUALITY" + +/** + * \brief A variable controlling whether updates to the SDL screen surface should be synchronized with the vertical refresh, to avoid tearing. + * + * This variable can be set to the following values: + * "0" - Disable vsync + * "1" - Enable vsync + * + * By default SDL does not sync screen surface updates with vertical refresh. + */ +#define SDL_HINT_RENDER_VSYNC "SDL_RENDER_VSYNC" + +/** + * \brief A variable controlling if VSYNC is automatically disable if doesn't reach the enough FPS + * + * This variable can be set to the following values: + * "0" - It will be using VSYNC as defined in the main flag. Default + * "1" - If VSYNC was previously enabled, then it will disable VSYNC if doesn't reach enough speed + * + * By default SDL does not enable the automatic VSYNC + */ +#define SDL_HINT_PS2_DYNAMIC_VSYNC "SDL_PS2_DYNAMIC_VSYNC" + +/** + * \brief A variable to control whether the return key on the soft keyboard + * should hide the soft keyboard on Android and iOS. + * + * The variable can be set to the following values: + * "0" - The return key will be handled as a key event. This is the behaviour of SDL <= 2.0.3. (default) + * "1" - The return key will hide the keyboard. + * + * The value of this hint is used at runtime, so it can be changed at any time. + */ +#define SDL_HINT_RETURN_KEY_HIDES_IME "SDL_RETURN_KEY_HIDES_IME" + +/** + * \brief Tell SDL which Dispmanx layer to use on a Raspberry PI + * + * Also known as Z-order. The variable can take a negative or positive value. + * The default is 10000. + */ +#define SDL_HINT_RPI_VIDEO_LAYER "SDL_RPI_VIDEO_LAYER" + +/** + * \brief Specify an "activity name" for screensaver inhibition. + * + * Some platforms, notably Linux desktops, list the applications which are + * inhibiting the screensaver or other power-saving features. + * + * This hint lets you specify the "activity name" sent to the OS when + * SDL_DisableScreenSaver() is used (or the screensaver is automatically + * disabled). The contents of this hint are used when the screensaver is + * disabled. You should use a string that describes what your program is doing + * (and, therefore, why the screensaver is disabled). For example, "Playing a + * game" or "Watching a video". + * + * Setting this to "" or leaving it unset will have SDL use a reasonable + * default: "Playing a game" or something similar. + * + * On targets where this is not supported, this hint does nothing. + */ +#define SDL_HINT_SCREENSAVER_INHIBIT_ACTIVITY_NAME "SDL_SCREENSAVER_INHIBIT_ACTIVITY_NAME" + +/** + * \brief Specifies whether SDL_THREAD_PRIORITY_TIME_CRITICAL should be treated as realtime. + * + * On some platforms, like Linux, a realtime priority thread may be subject to restrictions + * that require special handling by the application. This hint exists to let SDL know that + * the app is prepared to handle said restrictions. + * + * On Linux, SDL will apply the following configuration to any thread that becomes realtime: + * * The SCHED_RESET_ON_FORK bit will be set on the scheduling policy, + * * An RLIMIT_RTTIME budget will be configured to the rtkit specified limit. + * * Exceeding this limit will result in the kernel sending SIGKILL to the app, + * * Refer to the man pages for more information. + * + * This variable can be set to the following values: + * "0" - default platform specific behaviour + * "1" - Force SDL_THREAD_PRIORITY_TIME_CRITICAL to a realtime scheduling policy + */ +#define SDL_HINT_THREAD_FORCE_REALTIME_TIME_CRITICAL "SDL_THREAD_FORCE_REALTIME_TIME_CRITICAL" + +/** +* \brief A string specifying additional information to use with SDL_SetThreadPriority. +* +* By default SDL_SetThreadPriority will make appropriate system changes in order to +* apply a thread priority. For example on systems using pthreads the scheduler policy +* is changed automatically to a policy that works well with a given priority. +* Code which has specific requirements can override SDL's default behavior with this hint. +* +* pthread hint values are "current", "other", "fifo" and "rr". +* Currently no other platform hint values are defined but may be in the future. +* +* \note On Linux, the kernel may send SIGKILL to realtime tasks which exceed the distro +* configured execution budget for rtkit. This budget can be queried through RLIMIT_RTTIME +* after calling SDL_SetThreadPriority(). +*/ +#define SDL_HINT_THREAD_PRIORITY_POLICY "SDL_THREAD_PRIORITY_POLICY" + +/** +* \brief A string specifying SDL's threads stack size in bytes or "0" for the backend's default size +* +* Use this hint in case you need to set SDL's threads stack size to other than the default. +* This is specially useful if you build SDL against a non glibc libc library (such as musl) which +* provides a relatively small default thread stack size (a few kilobytes versus the default 8MB glibc uses). +* Support for this hint is currently available only in the pthread, Windows, and PSP backend. +* +* Instead of this hint, in 2.0.9 and later, you can use +* SDL_CreateThreadWithStackSize(). This hint only works with the classic +* SDL_CreateThread(). +*/ +#define SDL_HINT_THREAD_STACK_SIZE "SDL_THREAD_STACK_SIZE" + +/** + * \brief A variable that controls the timer resolution, in milliseconds. + * + * The higher resolution the timer, the more frequently the CPU services + * timer interrupts, and the more precise delays are, but this takes up + * power and CPU time. This hint is only used on Windows. + * + * See this blog post for more information: + * http://randomascii.wordpress.com/2013/07/08/windows-timer-resolution-megawatts-wasted/ + * + * If this variable is set to "0", the system timer resolution is not set. + * + * The default value is "1". This hint may be set at any time. + */ +#define SDL_HINT_TIMER_RESOLUTION "SDL_TIMER_RESOLUTION" + +/** + * \brief A variable controlling whether touch events should generate synthetic mouse events + * + * This variable can be set to the following values: + * "0" - Touch events will not generate mouse events + * "1" - Touch events will generate mouse events + * + * By default SDL will generate mouse events for touch events + */ +#define SDL_HINT_TOUCH_MOUSE_EVENTS "SDL_TOUCH_MOUSE_EVENTS" + +/** + * \brief A variable controlling which touchpad should generate synthetic mouse events + * + * This variable can be set to the following values: + * "0" - Only front touchpad should generate mouse events. Default + * "1" - Only back touchpad should generate mouse events. + * "2" - Both touchpads should generate mouse events. + * + * By default SDL will generate mouse events for all touch devices + */ +#define SDL_HINT_VITA_TOUCH_MOUSE_DEVICE "SDL_HINT_VITA_TOUCH_MOUSE_DEVICE" + +/** + * \brief A variable controlling whether the Android / tvOS remotes + * should be listed as joystick devices, instead of sending keyboard events. + * + * This variable can be set to the following values: + * "0" - Remotes send enter/escape/arrow key events + * "1" - Remotes are available as 2 axis, 2 button joysticks (the default). + */ +#define SDL_HINT_TV_REMOTE_AS_JOYSTICK "SDL_TV_REMOTE_AS_JOYSTICK" + +/** + * \brief A variable controlling whether the screensaver is enabled. + * + * This variable can be set to the following values: + * "0" - Disable screensaver + * "1" - Enable screensaver + * + * By default SDL will disable the screensaver. + */ +#define SDL_HINT_VIDEO_ALLOW_SCREENSAVER "SDL_VIDEO_ALLOW_SCREENSAVER" + +/** + * \brief Tell the video driver that we only want a double buffer. + * + * By default, most lowlevel 2D APIs will use a triple buffer scheme that + * wastes no CPU time on waiting for vsync after issuing a flip, but + * introduces a frame of latency. On the other hand, using a double buffer + * scheme instead is recommended for cases where low latency is an important + * factor because we save a whole frame of latency. + * We do so by waiting for vsync immediately after issuing a flip, usually just + * after eglSwapBuffers call in the backend's *_SwapWindow function. + * + * Since it's driver-specific, it's only supported where possible and + * implemented. Currently supported the following drivers: + * + * - KMSDRM (kmsdrm) + * - Raspberry Pi (raspberrypi) + */ +#define SDL_HINT_VIDEO_DOUBLE_BUFFER "SDL_VIDEO_DOUBLE_BUFFER" + +/** + * \brief A variable controlling whether the EGL window is allowed to be + * composited as transparent, rather than opaque. + * + * Most window systems will always render windows opaque, even if the surface + * format has an alpha channel. This is not always true, however, so by default + * SDL will try to enforce opaque composition. To override this behavior, you + * can set this hint to "1". + */ +#define SDL_HINT_VIDEO_EGL_ALLOW_TRANSPARENCY "SDL_VIDEO_EGL_ALLOW_TRANSPARENCY" + +/** + * \brief A variable controlling whether the graphics context is externally managed. + * + * This variable can be set to the following values: + * "0" - SDL will manage graphics contexts that are attached to windows. + * "1" - Disable graphics context management on windows. + * + * By default SDL will manage OpenGL contexts in certain situations. For example, on Android the + * context will be automatically saved and restored when pausing the application. Additionally, some + * platforms will assume usage of OpenGL if Vulkan isn't used. Setting this to "1" will prevent this + * behavior, which is desireable when the application manages the graphics context, such as + * an externally managed OpenGL context or attaching a Vulkan surface to the window. + */ +#define SDL_HINT_VIDEO_EXTERNAL_CONTEXT "SDL_VIDEO_EXTERNAL_CONTEXT" + +/** + * \brief If set to 1, then do not allow high-DPI windows. ("Retina" on Mac and iOS) + */ +#define SDL_HINT_VIDEO_HIGHDPI_DISABLED "SDL_VIDEO_HIGHDPI_DISABLED" + +/** + * \brief A variable that dictates policy for fullscreen Spaces on Mac OS X. + * + * This hint only applies to Mac OS X. + * + * The variable can be set to the following values: + * "0" - Disable Spaces support (FULLSCREEN_DESKTOP won't use them and + * SDL_WINDOW_RESIZABLE windows won't offer the "fullscreen" + * button on their titlebars). + * "1" - Enable Spaces support (FULLSCREEN_DESKTOP will use them and + * SDL_WINDOW_RESIZABLE windows will offer the "fullscreen" + * button on their titlebars). + * + * The default value is "1". This hint must be set before any windows are created. + */ +#define SDL_HINT_VIDEO_MAC_FULLSCREEN_SPACES "SDL_VIDEO_MAC_FULLSCREEN_SPACES" + +/** + * \brief Minimize your SDL_Window if it loses key focus when in fullscreen mode. Defaults to false. + * \warning Before SDL 2.0.14, this defaulted to true! In 2.0.14, we're + * seeing if "true" causes more problems than it solves in modern times. + * + */ +#define SDL_HINT_VIDEO_MINIMIZE_ON_FOCUS_LOSS "SDL_VIDEO_MINIMIZE_ON_FOCUS_LOSS" + +/** + * \brief A variable controlling whether the libdecor Wayland backend is allowed to be used. + * + * This variable can be set to the following values: + * "0" - libdecor use is disabled. + * "1" - libdecor use is enabled (default). + * + * libdecor is used over xdg-shell when xdg-decoration protocol is unavailable. + */ +#define SDL_HINT_VIDEO_WAYLAND_ALLOW_LIBDECOR "SDL_VIDEO_WAYLAND_ALLOW_LIBDECOR" + +/** + * \brief A variable controlling whether the libdecor Wayland backend is preferred over native decrations. + * + * When this hint is set, libdecor will be used to provide window decorations, even if xdg-decoration is + * available. (Note that, by default, libdecor will use xdg-decoration itself if available). + * + * This variable can be set to the following values: + * "0" - libdecor is enabled only if server-side decorations are unavailable. + * "1" - libdecor is always enabled if available. + * + * libdecor is used over xdg-shell when xdg-decoration protocol is unavailable. + */ +#define SDL_HINT_VIDEO_WAYLAND_PREFER_LIBDECOR "SDL_VIDEO_WAYLAND_PREFER_LIBDECOR" + +/** + * \brief A variable controlling whether video mode emulation is enabled under Wayland. + * + * When this hint is set, a standard set of emulated CVT video modes will be exposed for use by the application. + * If it is disabled, the only modes exposed will be the logical desktop size and, in the case of a scaled + * desktop, the native display resolution. + * + * This variable can be set to the following values: + * "0" - Video mode emulation is disabled. + * "1" - Video mode emulation is enabled. + * + * By default video mode emulation is enabled. + */ +#define SDL_HINT_VIDEO_WAYLAND_MODE_EMULATION "SDL_VIDEO_WAYLAND_MODE_EMULATION" + +/** + * \brief Enable or disable mouse pointer warp emulation, needed by some older games. + * + * When this hint is set, any SDL will emulate mouse warps using relative mouse mode. + * This is required for some older games (such as Source engine games), which warp the + * mouse to the centre of the screen rather than using relative mouse motion. Note that + * relative mouse mode may have different mouse acceleration behaviour than pointer warps. + * + * This variable can be set to the following values: + * "0" - All mouse warps fail, as mouse warping is not available under wayland. + * "1" - Some mouse warps will be emulated by forcing relative mouse mode. + * + * If not set, this is automatically enabled unless an application uses relative mouse + * mode directly. + */ +#define SDL_HINT_VIDEO_WAYLAND_EMULATE_MOUSE_WARP "SDL_VIDEO_WAYLAND_EMULATE_MOUSE_WARP" + +/** +* \brief A variable that is the address of another SDL_Window* (as a hex string formatted with "%p"). +* +* If this hint is set before SDL_CreateWindowFrom() and the SDL_Window* it is set to has +* SDL_WINDOW_OPENGL set (and running on WGL only, currently), then two things will occur on the newly +* created SDL_Window: +* +* 1. Its pixel format will be set to the same pixel format as this SDL_Window. This is +* needed for example when sharing an OpenGL context across multiple windows. +* +* 2. The flag SDL_WINDOW_OPENGL will be set on the new window so it can be used for +* OpenGL rendering. +* +* This variable can be set to the following values: +* The address (as a string "%p") of the SDL_Window* that new windows created with SDL_CreateWindowFrom() should +* share a pixel format with. +*/ +#define SDL_HINT_VIDEO_WINDOW_SHARE_PIXEL_FORMAT "SDL_VIDEO_WINDOW_SHARE_PIXEL_FORMAT" + +/** + * \brief When calling SDL_CreateWindowFrom(), make the window compatible with OpenGL. + * + * This variable can be set to the following values: + * "0" - Don't add any graphics flags to the SDL_WindowFlags + * "1" - Add SDL_WINDOW_OPENGL to the SDL_WindowFlags + * + * By default SDL will not make the foreign window compatible with OpenGL. + */ +#define SDL_HINT_VIDEO_FOREIGN_WINDOW_OPENGL "SDL_VIDEO_FOREIGN_WINDOW_OPENGL" + +/** + * \brief When calling SDL_CreateWindowFrom(), make the window compatible with Vulkan. + * + * This variable can be set to the following values: + * "0" - Don't add any graphics flags to the SDL_WindowFlags + * "1" - Add SDL_WINDOW_VULKAN to the SDL_WindowFlags + * + * By default SDL will not make the foreign window compatible with Vulkan. + */ +#define SDL_HINT_VIDEO_FOREIGN_WINDOW_VULKAN "SDL_VIDEO_FOREIGN_WINDOW_VULKAN" + +/** +* \brief A variable specifying which shader compiler to preload when using the Chrome ANGLE binaries +* +* SDL has EGL and OpenGL ES2 support on Windows via the ANGLE project. It +* can use two different sets of binaries, those compiled by the user from source +* or those provided by the Chrome browser. In the later case, these binaries require +* that SDL loads a DLL providing the shader compiler. +* +* This variable can be set to the following values: +* "d3dcompiler_46.dll" - default, best for Vista or later. +* "d3dcompiler_43.dll" - for XP support. +* "none" - do not load any library, useful if you compiled ANGLE from source and included the compiler in your binaries. +* +*/ +#define SDL_HINT_VIDEO_WIN_D3DCOMPILER "SDL_VIDEO_WIN_D3DCOMPILER" + +/** + * \brief A variable controlling whether X11 should use GLX or EGL by default + * + * This variable can be set to the following values: + * "0" - Use GLX + * "1" - Use EGL + * + * By default SDL will use GLX when both are present. + */ +#define SDL_HINT_VIDEO_X11_FORCE_EGL "SDL_VIDEO_X11_FORCE_EGL" + +/** + * \brief A variable controlling whether the X11 _NET_WM_BYPASS_COMPOSITOR hint should be used. + * + * This variable can be set to the following values: + * "0" - Disable _NET_WM_BYPASS_COMPOSITOR + * "1" - Enable _NET_WM_BYPASS_COMPOSITOR + * + * By default SDL will use _NET_WM_BYPASS_COMPOSITOR + * + */ +#define SDL_HINT_VIDEO_X11_NET_WM_BYPASS_COMPOSITOR "SDL_VIDEO_X11_NET_WM_BYPASS_COMPOSITOR" + +/** + * \brief A variable controlling whether the X11 _NET_WM_PING protocol should be supported. + * + * This variable can be set to the following values: + * "0" - Disable _NET_WM_PING + * "1" - Enable _NET_WM_PING + * + * By default SDL will use _NET_WM_PING, but for applications that know they + * will not always be able to respond to ping requests in a timely manner they can + * turn it off to avoid the window manager thinking the app is hung. + * The hint is checked in CreateWindow. + */ +#define SDL_HINT_VIDEO_X11_NET_WM_PING "SDL_VIDEO_X11_NET_WM_PING" + +/** + * \brief A variable forcing the visual ID chosen for new X11 windows + * + */ +#define SDL_HINT_VIDEO_X11_WINDOW_VISUALID "SDL_VIDEO_X11_WINDOW_VISUALID" + +/** + * \brief A no-longer-used variable controlling whether the X11 Xinerama extension should be used. + * + * Before SDL 2.0.24, this would let apps and users disable Xinerama support on X11. + * Now SDL never uses Xinerama, and does not check for this hint at all. + * The preprocessor define is left here for source compatibility. + */ +#define SDL_HINT_VIDEO_X11_XINERAMA "SDL_VIDEO_X11_XINERAMA" + +/** + * \brief A variable controlling whether the X11 XRandR extension should be used. + * + * This variable can be set to the following values: + * "0" - Disable XRandR + * "1" - Enable XRandR + * + * By default SDL will use XRandR. + */ +#define SDL_HINT_VIDEO_X11_XRANDR "SDL_VIDEO_X11_XRANDR" + +/** + * \brief A no-longer-used variable controlling whether the X11 VidMode extension should be used. + * + * Before SDL 2.0.24, this would let apps and users disable XVidMode support on X11. + * Now SDL never uses XVidMode, and does not check for this hint at all. + * The preprocessor define is left here for source compatibility. + */ +#define SDL_HINT_VIDEO_X11_XVIDMODE "SDL_VIDEO_X11_XVIDMODE" + +/** + * \brief Controls how the fact chunk affects the loading of a WAVE file. + * + * The fact chunk stores information about the number of samples of a WAVE + * file. The Standards Update from Microsoft notes that this value can be used + * to 'determine the length of the data in seconds'. This is especially useful + * for compressed formats (for which this is a mandatory chunk) if they produce + * multiple sample frames per block and truncating the block is not allowed. + * The fact chunk can exactly specify how many sample frames there should be + * in this case. + * + * Unfortunately, most application seem to ignore the fact chunk and so SDL + * ignores it by default as well. + * + * This variable can be set to the following values: + * + * "truncate" - Use the number of samples to truncate the wave data if + * the fact chunk is present and valid + * "strict" - Like "truncate", but raise an error if the fact chunk + * is invalid, not present for non-PCM formats, or if the + * data chunk doesn't have that many samples + * "ignorezero" - Like "truncate", but ignore fact chunk if the number of + * samples is zero + * "ignore" - Ignore fact chunk entirely (default) + */ +#define SDL_HINT_WAVE_FACT_CHUNK "SDL_WAVE_FACT_CHUNK" + +/** + * \brief Controls how the size of the RIFF chunk affects the loading of a WAVE file. + * + * The size of the RIFF chunk (which includes all the sub-chunks of the WAVE + * file) is not always reliable. In case the size is wrong, it's possible to + * just ignore it and step through the chunks until a fixed limit is reached. + * + * Note that files that have trailing data unrelated to the WAVE file or + * corrupt files may slow down the loading process without a reliable boundary. + * By default, SDL stops after 10000 chunks to prevent wasting time. Use the + * environment variable SDL_WAVE_CHUNK_LIMIT to adjust this value. + * + * This variable can be set to the following values: + * + * "force" - Always use the RIFF chunk size as a boundary for the chunk search + * "ignorezero" - Like "force", but a zero size searches up to 4 GiB (default) + * "ignore" - Ignore the RIFF chunk size and always search up to 4 GiB + * "maximum" - Search for chunks until the end of file (not recommended) + */ +#define SDL_HINT_WAVE_RIFF_CHUNK_SIZE "SDL_WAVE_RIFF_CHUNK_SIZE" + +/** + * \brief Controls how a truncated WAVE file is handled. + * + * A WAVE file is considered truncated if any of the chunks are incomplete or + * the data chunk size is not a multiple of the block size. By default, SDL + * decodes until the first incomplete block, as most applications seem to do. + * + * This variable can be set to the following values: + * + * "verystrict" - Raise an error if the file is truncated + * "strict" - Like "verystrict", but the size of the RIFF chunk is ignored + * "dropframe" - Decode until the first incomplete sample frame + * "dropblock" - Decode until the first incomplete block (default) + */ +#define SDL_HINT_WAVE_TRUNCATION "SDL_WAVE_TRUNCATION" + +/** + * \brief Tell SDL not to name threads on Windows with the 0x406D1388 Exception. + * The 0x406D1388 Exception is a trick used to inform Visual Studio of a + * thread's name, but it tends to cause problems with other debuggers, + * and the .NET runtime. Note that SDL 2.0.6 and later will still use + * the (safer) SetThreadDescription API, introduced in the Windows 10 + * Creators Update, if available. + * + * The variable can be set to the following values: + * "0" - SDL will raise the 0x406D1388 Exception to name threads. + * This is the default behavior of SDL <= 2.0.4. + * "1" - SDL will not raise this exception, and threads will be unnamed. (default) + * This is necessary with .NET languages or debuggers that aren't Visual Studio. + */ +#define SDL_HINT_WINDOWS_DISABLE_THREAD_NAMING "SDL_WINDOWS_DISABLE_THREAD_NAMING" + +/** + * \brief A variable controlling whether the windows message loop is processed by SDL + * + * This variable can be set to the following values: + * "0" - The window message loop is not run + * "1" - The window message loop is processed in SDL_PumpEvents() + * + * By default SDL will process the windows message loop + */ +#define SDL_HINT_WINDOWS_ENABLE_MESSAGELOOP "SDL_WINDOWS_ENABLE_MESSAGELOOP" + +/** + * \brief Force SDL to use Critical Sections for mutexes on Windows. + * On Windows 7 and newer, Slim Reader/Writer Locks are available. + * They offer better performance, allocate no kernel ressources and + * use less memory. SDL will fall back to Critical Sections on older + * OS versions or if forced to by this hint. + * + * This variable can be set to the following values: + * "0" - Use SRW Locks when available. If not, fall back to Critical Sections. (default) + * "1" - Force the use of Critical Sections in all cases. + * + */ +#define SDL_HINT_WINDOWS_FORCE_MUTEX_CRITICAL_SECTIONS "SDL_WINDOWS_FORCE_MUTEX_CRITICAL_SECTIONS" + +/** + * \brief Force SDL to use Kernel Semaphores on Windows. + * Kernel Semaphores are inter-process and require a context + * switch on every interaction. On Windows 8 and newer, the + * WaitOnAddress API is available. Using that and atomics to + * implement semaphores increases performance. + * SDL will fall back to Kernel Objects on older OS versions + * or if forced to by this hint. + * + * This variable can be set to the following values: + * "0" - Use Atomics and WaitOnAddress API when available. If not, fall back to Kernel Objects. (default) + * "1" - Force the use of Kernel Objects in all cases. + * + */ +#define SDL_HINT_WINDOWS_FORCE_SEMAPHORE_KERNEL "SDL_WINDOWS_FORCE_SEMAPHORE_KERNEL" + +/** + * \brief A variable to specify custom icon resource id from RC file on Windows platform + */ +#define SDL_HINT_WINDOWS_INTRESOURCE_ICON "SDL_WINDOWS_INTRESOURCE_ICON" +#define SDL_HINT_WINDOWS_INTRESOURCE_ICON_SMALL "SDL_WINDOWS_INTRESOURCE_ICON_SMALL" + +/** + * \brief Tell SDL not to generate window-close events for Alt+F4 on Windows. + * + * The variable can be set to the following values: + * "0" - SDL will generate a window-close event when it sees Alt+F4. + * "1" - SDL will only do normal key handling for Alt+F4. + */ +#define SDL_HINT_WINDOWS_NO_CLOSE_ON_ALT_F4 "SDL_WINDOWS_NO_CLOSE_ON_ALT_F4" + +/** + * \brief Use the D3D9Ex API introduced in Windows Vista, instead of normal D3D9. + * Direct3D 9Ex contains changes to state management that can eliminate device + * loss errors during scenarios like Alt+Tab or UAC prompts. D3D9Ex may require + * some changes to your application to cope with the new behavior, so this + * is disabled by default. + * + * This hint must be set before initializing the video subsystem. + * + * For more information on Direct3D 9Ex, see: + * - https://docs.microsoft.com/en-us/windows/win32/direct3darticles/graphics-apis-in-windows-vista#direct3d-9ex + * - https://docs.microsoft.com/en-us/windows/win32/direct3darticles/direct3d-9ex-improvements + * + * This variable can be set to the following values: + * "0" - Use the original Direct3D 9 API (default) + * "1" - Use the Direct3D 9Ex API on Vista and later (and fall back if D3D9Ex is unavailable) + * + */ +#define SDL_HINT_WINDOWS_USE_D3D9EX "SDL_WINDOWS_USE_D3D9EX" + +/** + * \brief Controls whether SDL will declare the process to be DPI aware. + * + * This hint must be set before initializing the video subsystem. + * + * The main purpose of declaring DPI awareness is to disable OS bitmap scaling of SDL windows on monitors with + * a DPI scale factor. + * + * This hint is equivalent to requesting DPI awareness via external means (e.g. calling SetProcessDpiAwarenessContext) + * and does not cause SDL to use a virtualized coordinate system, so it will generally give you 1 SDL coordinate = 1 pixel + * even on high-DPI displays. + * + * For more information, see: + * https://docs.microsoft.com/en-us/windows/win32/hidpi/high-dpi-desktop-application-development-on-windows + * + * This variable can be set to the following values: + * "" - Do not change the DPI awareness (default). + * "unaware" - Declare the process as DPI unaware. (Windows 8.1 and later). + * "system" - Request system DPI awareness. (Vista and later). + * "permonitor" - Request per-monitor DPI awareness. (Windows 8.1 and later). + * "permonitorv2" - Request per-monitor V2 DPI awareness. (Windows 10, version 1607 and later). + * The most visible difference from "permonitor" is that window title bar will be scaled + * to the visually correct size when dragging between monitors with different scale factors. + * This is the preferred DPI awareness level. + * + * If the requested DPI awareness is not available on the currently running OS, SDL will try to request the best + * available match. + */ +#define SDL_HINT_WINDOWS_DPI_AWARENESS "SDL_WINDOWS_DPI_AWARENESS" + +/** + * \brief Uses DPI-scaled points as the SDL coordinate system on Windows. + * + * This changes the SDL coordinate system units to be DPI-scaled points, rather than pixels everywhere. + * This means windows will be appropriately sized, even when created on high-DPI displays with scaling. + * + * e.g. requesting a 640x480 window from SDL, on a display with 125% scaling in Windows display settings, + * will create a window with an 800x600 client area (in pixels). + * + * Setting this to "1" implicitly requests process DPI awareness (setting SDL_WINDOWS_DPI_AWARENESS is unnecessary), + * and forces SDL_WINDOW_ALLOW_HIGHDPI on all windows. + * + * This variable can be set to the following values: + * "0" - SDL coordinates equal Windows coordinates. No automatic window resizing when dragging + * between monitors with different scale factors (unless this is performed by + * Windows itself, which is the case when the process is DPI unaware). + * "1" - SDL coordinates are in DPI-scaled points. Automatically resize windows as needed on + * displays with non-100% scale factors. + */ +#define SDL_HINT_WINDOWS_DPI_SCALING "SDL_WINDOWS_DPI_SCALING" + +/** + * \brief A variable controlling whether the window frame and title bar are interactive when the cursor is hidden + * + * This variable can be set to the following values: + * "0" - The window frame is not interactive when the cursor is hidden (no move, resize, etc) + * "1" - The window frame is interactive when the cursor is hidden + * + * By default SDL will allow interaction with the window frame when the cursor is hidden + */ +#define SDL_HINT_WINDOW_FRAME_USABLE_WHILE_CURSOR_HIDDEN "SDL_WINDOW_FRAME_USABLE_WHILE_CURSOR_HIDDEN" + +/** +* \brief A variable controlling whether the window is activated when the SDL_ShowWindow function is called +* +* This variable can be set to the following values: +* "0" - The window is activated when the SDL_ShowWindow function is called +* "1" - The window is not activated when the SDL_ShowWindow function is called +* +* By default SDL will activate the window when the SDL_ShowWindow function is called +*/ +#define SDL_HINT_WINDOW_NO_ACTIVATION_WHEN_SHOWN "SDL_WINDOW_NO_ACTIVATION_WHEN_SHOWN" + +/** \brief Allows back-button-press events on Windows Phone to be marked as handled + * + * Windows Phone devices typically feature a Back button. When pressed, + * the OS will emit back-button-press events, which apps are expected to + * handle in an appropriate manner. If apps do not explicitly mark these + * events as 'Handled', then the OS will invoke its default behavior for + * unhandled back-button-press events, which on Windows Phone 8 and 8.1 is to + * terminate the app (and attempt to switch to the previous app, or to the + * device's home screen). + * + * Setting the SDL_HINT_WINRT_HANDLE_BACK_BUTTON hint to "1" will cause SDL + * to mark back-button-press events as Handled, if and when one is sent to + * the app. + * + * Internally, Windows Phone sends back button events as parameters to + * special back-button-press callback functions. Apps that need to respond + * to back-button-press events are expected to register one or more + * callback functions for such, shortly after being launched (during the + * app's initialization phase). After the back button is pressed, the OS + * will invoke these callbacks. If the app's callback(s) do not explicitly + * mark the event as handled by the time they return, or if the app never + * registers one of these callback, the OS will consider the event + * un-handled, and it will apply its default back button behavior (terminate + * the app). + * + * SDL registers its own back-button-press callback with the Windows Phone + * OS. This callback will emit a pair of SDL key-press events (SDL_KEYDOWN + * and SDL_KEYUP), each with a scancode of SDL_SCANCODE_AC_BACK, after which + * it will check the contents of the hint, SDL_HINT_WINRT_HANDLE_BACK_BUTTON. + * If the hint's value is set to "1", the back button event's Handled + * property will get set to 'true'. If the hint's value is set to something + * else, or if it is unset, SDL will leave the event's Handled property + * alone. (By default, the OS sets this property to 'false', to note.) + * + * SDL apps can either set SDL_HINT_WINRT_HANDLE_BACK_BUTTON well before a + * back button is pressed, or can set it in direct-response to a back button + * being pressed. + * + * In order to get notified when a back button is pressed, SDL apps should + * register a callback function with SDL_AddEventWatch(), and have it listen + * for SDL_KEYDOWN events that have a scancode of SDL_SCANCODE_AC_BACK. + * (Alternatively, SDL_KEYUP events can be listened-for. Listening for + * either event type is suitable.) Any value of SDL_HINT_WINRT_HANDLE_BACK_BUTTON + * set by such a callback, will be applied to the OS' current + * back-button-press event. + * + * More details on back button behavior in Windows Phone apps can be found + * at the following page, on Microsoft's developer site: + * http://msdn.microsoft.com/en-us/library/windowsphone/develop/jj247550(v=vs.105).aspx + */ +#define SDL_HINT_WINRT_HANDLE_BACK_BUTTON "SDL_WINRT_HANDLE_BACK_BUTTON" + +/** \brief Label text for a WinRT app's privacy policy link + * + * Network-enabled WinRT apps must include a privacy policy. On Windows 8, 8.1, and RT, + * Microsoft mandates that this policy be available via the Windows Settings charm. + * SDL provides code to add a link there, with its label text being set via the + * optional hint, SDL_HINT_WINRT_PRIVACY_POLICY_LABEL. + * + * Please note that a privacy policy's contents are not set via this hint. A separate + * hint, SDL_HINT_WINRT_PRIVACY_POLICY_URL, is used to link to the actual text of the + * policy. + * + * The contents of this hint should be encoded as a UTF8 string. + * + * The default value is "Privacy Policy". This hint should only be set during app + * initialization, preferably before any calls to SDL_Init(). + * + * For additional information on linking to a privacy policy, see the documentation for + * SDL_HINT_WINRT_PRIVACY_POLICY_URL. + */ +#define SDL_HINT_WINRT_PRIVACY_POLICY_LABEL "SDL_WINRT_PRIVACY_POLICY_LABEL" + +/** + * \brief A URL to a WinRT app's privacy policy + * + * All network-enabled WinRT apps must make a privacy policy available to its + * users. On Windows 8, 8.1, and RT, Microsoft mandates that this policy be + * be available in the Windows Settings charm, as accessed from within the app. + * SDL provides code to add a URL-based link there, which can point to the app's + * privacy policy. + * + * To setup a URL to an app's privacy policy, set SDL_HINT_WINRT_PRIVACY_POLICY_URL + * before calling any SDL_Init() functions. The contents of the hint should + * be a valid URL. For example, "http://www.example.com". + * + * The default value is "", which will prevent SDL from adding a privacy policy + * link to the Settings charm. This hint should only be set during app init. + * + * The label text of an app's "Privacy Policy" link may be customized via another + * hint, SDL_HINT_WINRT_PRIVACY_POLICY_LABEL. + * + * Please note that on Windows Phone, Microsoft does not provide standard UI + * for displaying a privacy policy link, and as such, SDL_HINT_WINRT_PRIVACY_POLICY_URL + * will not get used on that platform. Network-enabled phone apps should display + * their privacy policy through some other, in-app means. + */ +#define SDL_HINT_WINRT_PRIVACY_POLICY_URL "SDL_WINRT_PRIVACY_POLICY_URL" + +/** + * \brief Mark X11 windows as override-redirect. + * + * If set, this _might_ increase framerate at the expense of the desktop + * not working as expected. Override-redirect windows aren't noticed by the + * window manager at all. + * + * You should probably only use this for fullscreen windows, and you probably + * shouldn't even use it for that. But it's here if you want to try! + */ +#define SDL_HINT_X11_FORCE_OVERRIDE_REDIRECT "SDL_X11_FORCE_OVERRIDE_REDIRECT" + +/** + * \brief A variable that lets you disable the detection and use of Xinput gamepad devices + * + * The variable can be set to the following values: + * "0" - Disable XInput detection (only uses direct input) + * "1" - Enable XInput detection (the default) + */ +#define SDL_HINT_XINPUT_ENABLED "SDL_XINPUT_ENABLED" + + /** + * \brief A variable that lets you disable the detection and use of DirectInput gamepad devices + * + * The variable can be set to the following values: + * "0" - Disable DirectInput detection (only uses XInput) + * "1" - Enable DirectInput detection (the default) + */ +#define SDL_HINT_DIRECTINPUT_ENABLED "SDL_DIRECTINPUT_ENABLED" + +/** + * \brief A variable that causes SDL to use the old axis and button mapping for XInput devices. + * + * This hint is for backwards compatibility only and will be removed in SDL 2.1 + * + * The default value is "0". This hint must be set before SDL_Init() + */ +#define SDL_HINT_XINPUT_USE_OLD_JOYSTICK_MAPPING "SDL_XINPUT_USE_OLD_JOYSTICK_MAPPING" + +/** + * \brief A variable that causes SDL to not ignore audio "monitors" + * + * This is currently only used for PulseAudio and ignored elsewhere. + * + * By default, SDL ignores audio devices that aren't associated with physical + * hardware. Changing this hint to "1" will expose anything SDL sees that + * appears to be an audio source or sink. This will add "devices" to the list + * that the user probably doesn't want or need, but it can be useful in + * scenarios where you want to hook up SDL to some sort of virtual device, + * etc. + * + * The default value is "0". This hint must be set before SDL_Init(). + * + * This hint is available since SDL 2.0.16. Before then, virtual devices are + * always ignored. + */ +#define SDL_HINT_AUDIO_INCLUDE_MONITORS "SDL_AUDIO_INCLUDE_MONITORS" + +/** + * \brief A variable that forces X11 windows to create as a custom type. + * + * This is currently only used for X11 and ignored elsewhere. + * + * During SDL_CreateWindow, SDL uses the _NET_WM_WINDOW_TYPE X11 property + * to report to the window manager the type of window it wants to create. + * This might be set to various things if SDL_WINDOW_TOOLTIP or + * SDL_WINDOW_POPUP_MENU, etc, were specified. For "normal" windows that + * haven't set a specific type, this hint can be used to specify a custom + * type. For example, a dock window might set this to + * "_NET_WM_WINDOW_TYPE_DOCK". + * + * If not set or set to "", this hint is ignored. This hint must be set + * before the SDL_CreateWindow() call that it is intended to affect. + * + * This hint is available since SDL 2.0.22. + */ +#define SDL_HINT_X11_WINDOW_TYPE "SDL_X11_WINDOW_TYPE" + +/** + * \brief A variable that decides whether to send SDL_QUIT when closing the final window. + * + * By default, SDL sends an SDL_QUIT event when there is only one window + * and it receives an SDL_WINDOWEVENT_CLOSE event, under the assumption most + * apps would also take the loss of this window as a signal to terminate the + * program. + * + * However, it's not unreasonable in some cases to have the program continue + * to live on, perhaps to create new windows later. + * + * Changing this hint to "0" will cause SDL to not send an SDL_QUIT event + * when the final window is requesting to close. Note that in this case, + * there are still other legitimate reasons one might get an SDL_QUIT + * event: choosing "Quit" from the macOS menu bar, sending a SIGINT (ctrl-c) + * on Unix, etc. + * + * The default value is "1". This hint can be changed at any time. + * + * This hint is available since SDL 2.0.22. Before then, you always get + * an SDL_QUIT event when closing the final window. + */ +#define SDL_HINT_QUIT_ON_LAST_WINDOW_CLOSE "SDL_QUIT_ON_LAST_WINDOW_CLOSE" + + +/** + * \brief A variable that decides what video backend to use. + * + * By default, SDL will try all available video backends in a reasonable + * order until it finds one that can work, but this hint allows the app + * or user to force a specific target, such as "x11" if, say, you are + * on Wayland but want to try talking to the X server instead. + * + * This functionality has existed since SDL 2.0.0 (indeed, before that) + * but before 2.0.22 this was an environment variable only. In 2.0.22, + * it was upgraded to a full SDL hint, so you can set the environment + * variable as usual or programatically set the hint with SDL_SetHint, + * which won't propagate to child processes. + * + * The default value is unset, in which case SDL will try to figure out + * the best video backend on your behalf. This hint needs to be set + * before SDL_Init() is called to be useful. + * + * This hint is available since SDL 2.0.22. Before then, you could set + * the environment variable to get the same effect. + */ +#define SDL_HINT_VIDEODRIVER "SDL_VIDEODRIVER" + +/** + * \brief A variable that decides what audio backend to use. + * + * By default, SDL will try all available audio backends in a reasonable + * order until it finds one that can work, but this hint allows the app + * or user to force a specific target, such as "alsa" if, say, you are + * on PulseAudio but want to try talking to the lower level instead. + * + * This functionality has existed since SDL 2.0.0 (indeed, before that) + * but before 2.0.22 this was an environment variable only. In 2.0.22, + * it was upgraded to a full SDL hint, so you can set the environment + * variable as usual or programatically set the hint with SDL_SetHint, + * which won't propagate to child processes. + * + * The default value is unset, in which case SDL will try to figure out + * the best audio backend on your behalf. This hint needs to be set + * before SDL_Init() is called to be useful. + * + * This hint is available since SDL 2.0.22. Before then, you could set + * the environment variable to get the same effect. + */ +#define SDL_HINT_AUDIODRIVER "SDL_AUDIODRIVER" + +/** + * \brief A variable that decides what KMSDRM device to use. + * + * Internally, SDL might open something like "/dev/dri/cardNN" to + * access KMSDRM functionality, where "NN" is a device index number. + * + * SDL makes a guess at the best index to use (usually zero), but the + * app or user can set this hint to a number between 0 and 99 to + * force selection. + * + * This hint is available since SDL 2.24.0. + */ +#define SDL_HINT_KMSDRM_DEVICE_INDEX "SDL_KMSDRM_DEVICE_INDEX" + + +/** + * \brief A variable that treats trackpads as touch devices. + * + * On macOS (and possibly other platforms in the future), SDL will report + * touches on a trackpad as mouse input, which is generally what users + * expect from this device; however, these are often actually full + * multitouch-capable touch devices, so it might be preferable to some apps + * to treat them as such. + * + * Setting this hint to true will make the trackpad input report as a + * multitouch device instead of a mouse. The default is false. + * + * Note that most platforms don't support this hint. As of 2.24.0, it + * only supports MacBooks' trackpads on macOS. Others may follow later. + * + * This hint is checked during SDL_Init and can not be changed after. + * + * This hint is available since SDL 2.24.0. + */ +#define SDL_HINT_TRACKPAD_IS_TOUCH_ONLY "SDL_TRACKPAD_IS_TOUCH_ONLY" + + +/** + * \brief An enumeration of hint priorities + */ +typedef enum +{ + SDL_HINT_DEFAULT, + SDL_HINT_NORMAL, + SDL_HINT_OVERRIDE +} SDL_HintPriority; + + +/** + * Set a hint with a specific priority. + * + * The priority controls the behavior when setting a hint that already has a + * value. Hints will replace existing hints of their priority and lower. + * Environment variables are considered to have override priority. + * + * \param name the hint to set + * \param value the value of the hint variable + * \param priority the SDL_HintPriority level for the hint + * \returns SDL_TRUE if the hint was set, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetHint + * \sa SDL_SetHint + */ +extern DECLSPEC SDL_bool SDLCALL SDL_SetHintWithPriority(const char *name, + const char *value, + SDL_HintPriority priority); + +/** + * Set a hint with normal priority. + * + * Hints will not be set if there is an existing override hint or environment + * variable that takes precedence. You can use SDL_SetHintWithPriority() to + * set the hint with override priority instead. + * + * \param name the hint to set + * \param value the value of the hint variable + * \returns SDL_TRUE if the hint was set, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetHint + * \sa SDL_SetHintWithPriority + */ +extern DECLSPEC SDL_bool SDLCALL SDL_SetHint(const char *name, + const char *value); + +/** + * Reset a hint to the default value. + * + * This will reset a hint to the value of the environment variable, or NULL if + * the environment isn't set. Callbacks will be called normally with this + * change. + * + * \param name the hint to set + * \returns SDL_TRUE if the hint was set, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GetHint + * \sa SDL_SetHint + */ +extern DECLSPEC SDL_bool SDLCALL SDL_ResetHint(const char *name); + +/** + * Reset all hints to the default values. + * + * This will reset all hints to the value of the associated environment + * variable, or NULL if the environment isn't set. Callbacks will be called + * normally with this change. + * + * \since This function is available since SDL 2.26.0. + * + * \sa SDL_GetHint + * \sa SDL_SetHint + * \sa SDL_ResetHint + */ +extern DECLSPEC void SDLCALL SDL_ResetHints(void); + +/** + * Get the value of a hint. + * + * \param name the hint to query + * \returns the string value of a hint or NULL if the hint isn't set. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetHint + * \sa SDL_SetHintWithPriority + */ +extern DECLSPEC const char * SDLCALL SDL_GetHint(const char *name); + +/** + * Get the boolean value of a hint variable. + * + * \param name the name of the hint to get the boolean value from + * \param default_value the value to return if the hint does not exist + * \returns the boolean value of a hint or the provided default value if the + * hint does not exist. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_GetHint + * \sa SDL_SetHint + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetHintBoolean(const char *name, SDL_bool default_value); + +/** + * Type definition of the hint callback function. + * + * \param userdata what was passed as `userdata` to SDL_AddHintCallback() + * \param name what was passed as `name` to SDL_AddHintCallback() + * \param oldValue the previous hint value + * \param newValue the new value hint is to be set to + */ +typedef void (SDLCALL *SDL_HintCallback)(void *userdata, const char *name, const char *oldValue, const char *newValue); + +/** + * Add a function to watch a particular hint. + * + * \param name the hint to watch + * \param callback An SDL_HintCallback function that will be called when the + * hint value changes + * \param userdata a pointer to pass to the callback function + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DelHintCallback + */ +extern DECLSPEC void SDLCALL SDL_AddHintCallback(const char *name, + SDL_HintCallback callback, + void *userdata); + +/** + * Remove a function watching a particular hint. + * + * \param name the hint being watched + * \param callback An SDL_HintCallback function that will be called when the + * hint value changes + * \param userdata a pointer being passed to the callback function + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AddHintCallback + */ +extern DECLSPEC void SDLCALL SDL_DelHintCallback(const char *name, + SDL_HintCallback callback, + void *userdata); + +/** + * Clear all hints. + * + * This function is automatically called during SDL_Quit(), and deletes all + * callbacks without calling them and frees all memory associated with hints. + * If you're calling this from application code you probably want to call + * SDL_ResetHints() instead. + * + * This function will be removed from the API the next time we rev the ABI. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ResetHints + */ +extern DECLSPEC void SDLCALL SDL_ClearHints(void); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_hints_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_joystick.h b/subprojects/sdl2_windows/include/SDL2/SDL_joystick.h new file mode 100644 index 000000000..72c6604df --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_joystick.h @@ -0,0 +1,1066 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_joystick.h + * + * Include file for SDL joystick event handling + * + * The term "device_index" identifies currently plugged in joystick devices between 0 and SDL_NumJoysticks(), with the exact joystick + * behind a device_index changing as joysticks are plugged and unplugged. + * + * The term "instance_id" is the current instantiation of a joystick device in the system, if the joystick is removed and then re-inserted + * then it will get a new instance_id, instance_id's are monotonically increasing identifiers of a joystick plugged in. + * + * The term "player_index" is the number assigned to a player on a specific + * controller. For XInput controllers this returns the XInput user index. + * Many joysticks will not be able to supply this information. + * + * The term JoystickGUID is a stable 128-bit identifier for a joystick device that does not change over time, it identifies class of + * the device (a X360 wired controller for example). This identifier is platform dependent. + */ + +#ifndef SDL_joystick_h_ +#define SDL_joystick_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_guid.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \file SDL_joystick.h + * + * In order to use these functions, SDL_Init() must have been called + * with the ::SDL_INIT_JOYSTICK flag. This causes SDL to scan the system + * for joysticks, and load appropriate drivers. + * + * If you would like to receive joystick updates while the application + * is in the background, you should set the following hint before calling + * SDL_Init(): SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS + */ + +/** + * The joystick structure used to identify an SDL joystick + */ +struct _SDL_Joystick; +typedef struct _SDL_Joystick SDL_Joystick; + +/* A structure that encodes the stable unique id for a joystick device */ +typedef SDL_GUID SDL_JoystickGUID; + +/** + * This is a unique ID for a joystick for the time it is connected to the system, + * and is never reused for the lifetime of the application. If the joystick is + * disconnected and reconnected, it will get a new ID. + * + * The ID value starts at 0 and increments from there. The value -1 is an invalid ID. + */ +typedef Sint32 SDL_JoystickID; + +typedef enum +{ + SDL_JOYSTICK_TYPE_UNKNOWN, + SDL_JOYSTICK_TYPE_GAMECONTROLLER, + SDL_JOYSTICK_TYPE_WHEEL, + SDL_JOYSTICK_TYPE_ARCADE_STICK, + SDL_JOYSTICK_TYPE_FLIGHT_STICK, + SDL_JOYSTICK_TYPE_DANCE_PAD, + SDL_JOYSTICK_TYPE_GUITAR, + SDL_JOYSTICK_TYPE_DRUM_KIT, + SDL_JOYSTICK_TYPE_ARCADE_PAD, + SDL_JOYSTICK_TYPE_THROTTLE +} SDL_JoystickType; + +typedef enum +{ + SDL_JOYSTICK_POWER_UNKNOWN = -1, + SDL_JOYSTICK_POWER_EMPTY, /* <= 5% */ + SDL_JOYSTICK_POWER_LOW, /* <= 20% */ + SDL_JOYSTICK_POWER_MEDIUM, /* <= 70% */ + SDL_JOYSTICK_POWER_FULL, /* <= 100% */ + SDL_JOYSTICK_POWER_WIRED, + SDL_JOYSTICK_POWER_MAX +} SDL_JoystickPowerLevel; + +/* Set max recognized G-force from accelerometer + See src/joystick/uikit/SDL_sysjoystick.m for notes on why this is needed + */ +#define SDL_IPHONE_MAX_GFORCE 5.0 + + +/* Function prototypes */ + +/** + * Locking for multi-threaded access to the joystick API + * + * If you are using the joystick API or handling events from multiple threads + * you should use these locking functions to protect access to the joysticks. + * + * In particular, you are guaranteed that the joystick list won't change, so + * the API functions that take a joystick index will be valid, and joystick + * and game controller events will not be delivered. + * + * As of SDL 2.26.0, you can take the joystick lock around reinitializing the + * joystick subsystem, to prevent other threads from seeing joysticks in an + * uninitialized state. However, all open joysticks will be closed and SDL + * functions called with them will fail. + * + * \since This function is available since SDL 2.0.7. + */ +extern DECLSPEC void SDLCALL SDL_LockJoysticks(void); + + +/** + * Unlocking for multi-threaded access to the joystick API + * + * If you are using the joystick API or handling events from multiple threads + * you should use these locking functions to protect access to the joysticks. + * + * In particular, you are guaranteed that the joystick list won't change, so + * the API functions that take a joystick index will be valid, and joystick + * and game controller events will not be delivered. + * + * \since This function is available since SDL 2.0.7. + */ +extern DECLSPEC void SDLCALL SDL_UnlockJoysticks(void); + +/** + * Count the number of joysticks attached to the system. + * + * \returns the number of attached joysticks on success or a negative error + * code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickName + * \sa SDL_JoystickPath + * \sa SDL_JoystickOpen + */ +extern DECLSPEC int SDLCALL SDL_NumJoysticks(void); + +/** + * Get the implementation dependent name of a joystick. + * + * This can be called before any joysticks are opened. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system) + * \returns the name of the selected joystick. If no name can be found, this + * function returns NULL; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickName + * \sa SDL_JoystickOpen + */ +extern DECLSPEC const char *SDLCALL SDL_JoystickNameForIndex(int device_index); + +/** + * Get the implementation dependent path of a joystick. + * + * This can be called before any joysticks are opened. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system) + * \returns the path of the selected joystick. If no path can be found, this + * function returns NULL; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_JoystickPath + * \sa SDL_JoystickOpen + */ +extern DECLSPEC const char *SDLCALL SDL_JoystickPathForIndex(int device_index); + +/** + * Get the player index of a joystick, or -1 if it's not available This can be + * called before any joysticks are opened. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_JoystickGetDevicePlayerIndex(int device_index); + +/** + * Get the implementation-dependent GUID for the joystick at a given device + * index. + * + * This function can be called before any joysticks are opened. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system + * \returns the GUID of the selected joystick. If called on an invalid index, + * this function returns a zero GUID + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetGUID + * \sa SDL_JoystickGetGUIDString + */ +extern DECLSPEC SDL_JoystickGUID SDLCALL SDL_JoystickGetDeviceGUID(int device_index); + +/** + * Get the USB vendor ID of a joystick, if available. + * + * This can be called before any joysticks are opened. If the vendor ID isn't + * available this function returns 0. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system + * \returns the USB vendor ID of the selected joystick. If called on an + * invalid index, this function returns zero + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetDeviceVendor(int device_index); + +/** + * Get the USB product ID of a joystick, if available. + * + * This can be called before any joysticks are opened. If the product ID isn't + * available this function returns 0. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system + * \returns the USB product ID of the selected joystick. If called on an + * invalid index, this function returns zero + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetDeviceProduct(int device_index); + +/** + * Get the product version of a joystick, if available. + * + * This can be called before any joysticks are opened. If the product version + * isn't available this function returns 0. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system + * \returns the product version of the selected joystick. If called on an + * invalid index, this function returns zero + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetDeviceProductVersion(int device_index); + +/** + * Get the type of a joystick, if available. + * + * This can be called before any joysticks are opened. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system + * \returns the SDL_JoystickType of the selected joystick. If called on an + * invalid index, this function returns `SDL_JOYSTICK_TYPE_UNKNOWN` + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC SDL_JoystickType SDLCALL SDL_JoystickGetDeviceType(int device_index); + +/** + * Get the instance ID of a joystick. + * + * This can be called before any joysticks are opened. If the index is out of + * range, this function will return -1. + * + * \param device_index the index of the joystick to query (the N'th joystick + * on the system + * \returns the instance id of the selected joystick. If called on an invalid + * index, this function returns zero + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC SDL_JoystickID SDLCALL SDL_JoystickGetDeviceInstanceID(int device_index); + +/** + * Open a joystick for use. + * + * The `device_index` argument refers to the N'th joystick presently + * recognized by SDL on the system. It is **NOT** the same as the instance ID + * used to identify the joystick in future events. See + * SDL_JoystickInstanceID() for more details about instance IDs. + * + * The joystick subsystem must be initialized before a joystick can be opened + * for use. + * + * \param device_index the index of the joystick to query + * \returns a joystick identifier or NULL if an error occurred; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickClose + * \sa SDL_JoystickInstanceID + */ +extern DECLSPEC SDL_Joystick *SDLCALL SDL_JoystickOpen(int device_index); + +/** + * Get the SDL_Joystick associated with an instance id. + * + * \param instance_id the instance id to get the SDL_Joystick for + * \returns an SDL_Joystick on success or NULL on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.4. + */ +extern DECLSPEC SDL_Joystick *SDLCALL SDL_JoystickFromInstanceID(SDL_JoystickID instance_id); + +/** + * Get the SDL_Joystick associated with a player index. + * + * \param player_index the player index to get the SDL_Joystick for + * \returns an SDL_Joystick on success or NULL on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.12. + */ +extern DECLSPEC SDL_Joystick *SDLCALL SDL_JoystickFromPlayerIndex(int player_index); + +/** + * Attach a new virtual joystick. + * + * \returns the joystick's device index, or -1 if an error occurred. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_JoystickAttachVirtual(SDL_JoystickType type, + int naxes, + int nbuttons, + int nhats); + +/** + * The structure that defines an extended virtual joystick description + * + * The caller must zero the structure and then initialize the version with `SDL_VIRTUAL_JOYSTICK_DESC_VERSION` before passing it to SDL_JoystickAttachVirtualEx() + * All other elements of this structure are optional and can be left 0. + * + * \sa SDL_JoystickAttachVirtualEx + */ +typedef struct SDL_VirtualJoystickDesc +{ + Uint16 version; /**< `SDL_VIRTUAL_JOYSTICK_DESC_VERSION` */ + Uint16 type; /**< `SDL_JoystickType` */ + Uint16 naxes; /**< the number of axes on this joystick */ + Uint16 nbuttons; /**< the number of buttons on this joystick */ + Uint16 nhats; /**< the number of hats on this joystick */ + Uint16 vendor_id; /**< the USB vendor ID of this joystick */ + Uint16 product_id; /**< the USB product ID of this joystick */ + Uint16 padding; /**< unused */ + Uint32 button_mask; /**< A mask of which buttons are valid for this controller + e.g. (1 << SDL_CONTROLLER_BUTTON_A) */ + Uint32 axis_mask; /**< A mask of which axes are valid for this controller + e.g. (1 << SDL_CONTROLLER_AXIS_LEFTX) */ + const char *name; /**< the name of the joystick */ + + void *userdata; /**< User data pointer passed to callbacks */ + void (SDLCALL *Update)(void *userdata); /**< Called when the joystick state should be updated */ + void (SDLCALL *SetPlayerIndex)(void *userdata, int player_index); /**< Called when the player index is set */ + int (SDLCALL *Rumble)(void *userdata, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble); /**< Implements SDL_JoystickRumble() */ + int (SDLCALL *RumbleTriggers)(void *userdata, Uint16 left_rumble, Uint16 right_rumble); /**< Implements SDL_JoystickRumbleTriggers() */ + int (SDLCALL *SetLED)(void *userdata, Uint8 red, Uint8 green, Uint8 blue); /**< Implements SDL_JoystickSetLED() */ + int (SDLCALL *SendEffect)(void *userdata, const void *data, int size); /**< Implements SDL_JoystickSendEffect() */ + +} SDL_VirtualJoystickDesc; + +/** + * \brief The current version of the SDL_VirtualJoystickDesc structure + */ +#define SDL_VIRTUAL_JOYSTICK_DESC_VERSION 1 + +/** + * Attach a new virtual joystick with extended properties. + * + * \returns the joystick's device index, or -1 if an error occurred. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC int SDLCALL SDL_JoystickAttachVirtualEx(const SDL_VirtualJoystickDesc *desc); + +/** + * Detach a virtual joystick. + * + * \param device_index a value previously returned from + * SDL_JoystickAttachVirtual() + * \returns 0 on success, or -1 if an error occurred. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_JoystickDetachVirtual(int device_index); + +/** + * Query whether or not the joystick at a given device index is virtual. + * + * \param device_index a joystick device index. + * \returns SDL_TRUE if the joystick is virtual, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_JoystickIsVirtual(int device_index); + +/** + * Set values on an opened, virtual-joystick's axis. + * + * Please note that values set here will not be applied until the next call to + * SDL_JoystickUpdate, which can either be called directly, or can be called + * indirectly through various other SDL APIs, including, but not limited to + * the following: SDL_PollEvent, SDL_PumpEvents, SDL_WaitEventTimeout, + * SDL_WaitEvent. + * + * Note that when sending trigger axes, you should scale the value to the full + * range of Sint16. For example, a trigger at rest would have the value of + * `SDL_JOYSTICK_AXIS_MIN`. + * + * \param joystick the virtual joystick on which to set state. + * \param axis the specific axis on the virtual joystick to set. + * \param value the new value for the specified axis. + * \returns 0 on success, -1 on error. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_JoystickSetVirtualAxis(SDL_Joystick *joystick, int axis, Sint16 value); + +/** + * Set values on an opened, virtual-joystick's button. + * + * Please note that values set here will not be applied until the next call to + * SDL_JoystickUpdate, which can either be called directly, or can be called + * indirectly through various other SDL APIs, including, but not limited to + * the following: SDL_PollEvent, SDL_PumpEvents, SDL_WaitEventTimeout, + * SDL_WaitEvent. + * + * \param joystick the virtual joystick on which to set state. + * \param button the specific button on the virtual joystick to set. + * \param value the new value for the specified button. + * \returns 0 on success, -1 on error. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_JoystickSetVirtualButton(SDL_Joystick *joystick, int button, Uint8 value); + +/** + * Set values on an opened, virtual-joystick's hat. + * + * Please note that values set here will not be applied until the next call to + * SDL_JoystickUpdate, which can either be called directly, or can be called + * indirectly through various other SDL APIs, including, but not limited to + * the following: SDL_PollEvent, SDL_PumpEvents, SDL_WaitEventTimeout, + * SDL_WaitEvent. + * + * \param joystick the virtual joystick on which to set state. + * \param hat the specific hat on the virtual joystick to set. + * \param value the new value for the specified hat. + * \returns 0 on success, -1 on error. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_JoystickSetVirtualHat(SDL_Joystick *joystick, int hat, Uint8 value); + +/** + * Get the implementation dependent name of a joystick. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the name of the selected joystick. If no name can be found, this + * function returns NULL; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickNameForIndex + * \sa SDL_JoystickOpen + */ +extern DECLSPEC const char *SDLCALL SDL_JoystickName(SDL_Joystick *joystick); + +/** + * Get the implementation dependent path of a joystick. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the path of the selected joystick. If no path can be found, this + * function returns NULL; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_JoystickPathForIndex + */ +extern DECLSPEC const char *SDLCALL SDL_JoystickPath(SDL_Joystick *joystick); + +/** + * Get the player index of an opened joystick. + * + * For XInput controllers this returns the XInput user index. Many joysticks + * will not be able to supply this information. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the player index, or -1 if it's not available. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_JoystickGetPlayerIndex(SDL_Joystick *joystick); + +/** + * Set the player index of an opened joystick. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \param player_index Player index to assign to this joystick, or -1 to clear + * the player index and turn off player LEDs. + * + * \since This function is available since SDL 2.0.12. + */ +extern DECLSPEC void SDLCALL SDL_JoystickSetPlayerIndex(SDL_Joystick *joystick, int player_index); + +/** + * Get the implementation-dependent GUID for the joystick. + * + * This function requires an open joystick. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the GUID of the given joystick. If called on an invalid index, + * this function returns a zero GUID; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetDeviceGUID + * \sa SDL_JoystickGetGUIDString + */ +extern DECLSPEC SDL_JoystickGUID SDLCALL SDL_JoystickGetGUID(SDL_Joystick *joystick); + +/** + * Get the USB vendor ID of an opened joystick, if available. + * + * If the vendor ID isn't available this function returns 0. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the USB vendor ID of the selected joystick, or 0 if unavailable. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetVendor(SDL_Joystick *joystick); + +/** + * Get the USB product ID of an opened joystick, if available. + * + * If the product ID isn't available this function returns 0. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the USB product ID of the selected joystick, or 0 if unavailable. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetProduct(SDL_Joystick *joystick); + +/** + * Get the product version of an opened joystick, if available. + * + * If the product version isn't available this function returns 0. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the product version of the selected joystick, or 0 if unavailable. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetProductVersion(SDL_Joystick *joystick); + +/** + * Get the firmware version of an opened joystick, if available. + * + * If the firmware version isn't available this function returns 0. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the firmware version of the selected joystick, or 0 if + * unavailable. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetFirmwareVersion(SDL_Joystick *joystick); + +/** + * Get the serial number of an opened joystick, if available. + * + * Returns the serial number of the joystick, or NULL if it is not available. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the serial number of the selected joystick, or NULL if + * unavailable. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC const char * SDLCALL SDL_JoystickGetSerial(SDL_Joystick *joystick); + +/** + * Get the type of an opened joystick. + * + * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() + * \returns the SDL_JoystickType of the selected joystick. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC SDL_JoystickType SDLCALL SDL_JoystickGetType(SDL_Joystick *joystick); + +/** + * Get an ASCII string representation for a given SDL_JoystickGUID. + * + * You should supply at least 33 bytes for pszGUID. + * + * \param guid the SDL_JoystickGUID you wish to convert to string + * \param pszGUID buffer in which to write the ASCII string + * \param cbGUID the size of pszGUID + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetDeviceGUID + * \sa SDL_JoystickGetGUID + * \sa SDL_JoystickGetGUIDFromString + */ +extern DECLSPEC void SDLCALL SDL_JoystickGetGUIDString(SDL_JoystickGUID guid, char *pszGUID, int cbGUID); + +/** + * Convert a GUID string into a SDL_JoystickGUID structure. + * + * Performs no error checking. If this function is given a string containing + * an invalid GUID, the function will silently succeed, but the GUID generated + * will not be useful. + * + * \param pchGUID string containing an ASCII representation of a GUID + * \returns a SDL_JoystickGUID structure. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetGUIDString + */ +extern DECLSPEC SDL_JoystickGUID SDLCALL SDL_JoystickGetGUIDFromString(const char *pchGUID); + +/** + * Get the device information encoded in a SDL_JoystickGUID structure + * + * \param guid the SDL_JoystickGUID you wish to get info about + * \param vendor A pointer filled in with the device VID, or 0 if not + * available + * \param product A pointer filled in with the device PID, or 0 if not + * available + * \param version A pointer filled in with the device version, or 0 if not + * available + * \param crc16 A pointer filled in with a CRC used to distinguish different + * products with the same VID/PID, or 0 if not available + * + * \since This function is available since SDL 2.26.0. + * + * \sa SDL_JoystickGetDeviceGUID + */ +extern DECLSPEC void SDLCALL SDL_GetJoystickGUIDInfo(SDL_JoystickGUID guid, Uint16 *vendor, Uint16 *product, Uint16 *version, Uint16 *crc16); + +/** + * Get the status of a specified joystick. + * + * \param joystick the joystick to query + * \returns SDL_TRUE if the joystick has been opened, SDL_FALSE if it has not; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickClose + * \sa SDL_JoystickOpen + */ +extern DECLSPEC SDL_bool SDLCALL SDL_JoystickGetAttached(SDL_Joystick *joystick); + +/** + * Get the instance ID of an opened joystick. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \returns the instance ID of the specified joystick on success or a negative + * error code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickOpen + */ +extern DECLSPEC SDL_JoystickID SDLCALL SDL_JoystickInstanceID(SDL_Joystick *joystick); + +/** + * Get the number of general axis controls on a joystick. + * + * Often, the directional pad on a game controller will either look like 4 + * separate buttons or a POV hat, and not axes, but all of this is up to the + * device and platform. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \returns the number of axis controls/number of axes on success or a + * negative error code on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetAxis + * \sa SDL_JoystickOpen + */ +extern DECLSPEC int SDLCALL SDL_JoystickNumAxes(SDL_Joystick *joystick); + +/** + * Get the number of trackballs on a joystick. + * + * Joystick trackballs have only relative motion events associated with them + * and their state cannot be polled. + * + * Most joysticks do not have trackballs. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \returns the number of trackballs on success or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetBall + */ +extern DECLSPEC int SDLCALL SDL_JoystickNumBalls(SDL_Joystick *joystick); + +/** + * Get the number of POV hats on a joystick. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \returns the number of POV hats on success or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetHat + * \sa SDL_JoystickOpen + */ +extern DECLSPEC int SDLCALL SDL_JoystickNumHats(SDL_Joystick *joystick); + +/** + * Get the number of buttons on a joystick. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \returns the number of buttons on success or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickGetButton + * \sa SDL_JoystickOpen + */ +extern DECLSPEC int SDLCALL SDL_JoystickNumButtons(SDL_Joystick *joystick); + +/** + * Update the current state of the open joysticks. + * + * This is called automatically by the event loop if any joystick events are + * enabled. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickEventState + */ +extern DECLSPEC void SDLCALL SDL_JoystickUpdate(void); + +/** + * Enable/disable joystick event polling. + * + * If joystick events are disabled, you must call SDL_JoystickUpdate() + * yourself and manually check the state of the joystick when you want + * joystick information. + * + * It is recommended that you leave joystick event handling enabled. + * + * **WARNING**: Calling this function may delete all events currently in SDL's + * event queue. + * + * \param state can be one of `SDL_QUERY`, `SDL_IGNORE`, or `SDL_ENABLE` + * \returns 1 if enabled, 0 if disabled, or a negative error code on failure; + * call SDL_GetError() for more information. + * + * If `state` is `SDL_QUERY` then the current state is returned, + * otherwise the new processing state is returned. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GameControllerEventState + */ +extern DECLSPEC int SDLCALL SDL_JoystickEventState(int state); + +#define SDL_JOYSTICK_AXIS_MAX 32767 +#define SDL_JOYSTICK_AXIS_MIN -32768 + +/** + * Get the current state of an axis control on a joystick. + * + * SDL makes no promises about what part of the joystick any given axis refers + * to. Your game should have some sort of configuration UI to let users + * specify what each axis should be bound to. Alternately, SDL's higher-level + * Game Controller API makes a great effort to apply order to this lower-level + * interface, so you know that a specific axis is the "left thumb stick," etc. + * + * The value returned by SDL_JoystickGetAxis() is a signed integer (-32768 to + * 32767) representing the current position of the axis. It may be necessary + * to impose certain tolerances on these values to account for jitter. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \param axis the axis to query; the axis indices start at index 0 + * \returns a 16-bit signed integer representing the current position of the + * axis or 0 on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickNumAxes + */ +extern DECLSPEC Sint16 SDLCALL SDL_JoystickGetAxis(SDL_Joystick *joystick, + int axis); + +/** + * Get the initial state of an axis control on a joystick. + * + * The state is a value ranging from -32768 to 32767. + * + * The axis indices start at index 0. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \param axis the axis to query; the axis indices start at index 0 + * \param state Upon return, the initial value is supplied here. + * \return SDL_TRUE if this axis has any initial value, or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_JoystickGetAxisInitialState(SDL_Joystick *joystick, + int axis, Sint16 *state); + +/** + * \name Hat positions + */ +/* @{ */ +#define SDL_HAT_CENTERED 0x00 +#define SDL_HAT_UP 0x01 +#define SDL_HAT_RIGHT 0x02 +#define SDL_HAT_DOWN 0x04 +#define SDL_HAT_LEFT 0x08 +#define SDL_HAT_RIGHTUP (SDL_HAT_RIGHT|SDL_HAT_UP) +#define SDL_HAT_RIGHTDOWN (SDL_HAT_RIGHT|SDL_HAT_DOWN) +#define SDL_HAT_LEFTUP (SDL_HAT_LEFT|SDL_HAT_UP) +#define SDL_HAT_LEFTDOWN (SDL_HAT_LEFT|SDL_HAT_DOWN) +/* @} */ + +/** + * Get the current state of a POV hat on a joystick. + * + * The returned value will be one of the following positions: + * + * - `SDL_HAT_CENTERED` + * - `SDL_HAT_UP` + * - `SDL_HAT_RIGHT` + * - `SDL_HAT_DOWN` + * - `SDL_HAT_LEFT` + * - `SDL_HAT_RIGHTUP` + * - `SDL_HAT_RIGHTDOWN` + * - `SDL_HAT_LEFTUP` + * - `SDL_HAT_LEFTDOWN` + * + * \param joystick an SDL_Joystick structure containing joystick information + * \param hat the hat index to get the state from; indices start at index 0 + * \returns the current hat position. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickNumHats + */ +extern DECLSPEC Uint8 SDLCALL SDL_JoystickGetHat(SDL_Joystick *joystick, + int hat); + +/** + * Get the ball axis change since the last poll. + * + * Trackballs can only return relative motion since the last call to + * SDL_JoystickGetBall(), these motion deltas are placed into `dx` and `dy`. + * + * Most joysticks do not have trackballs. + * + * \param joystick the SDL_Joystick to query + * \param ball the ball index to query; ball indices start at index 0 + * \param dx stores the difference in the x axis position since the last poll + * \param dy stores the difference in the y axis position since the last poll + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickNumBalls + */ +extern DECLSPEC int SDLCALL SDL_JoystickGetBall(SDL_Joystick *joystick, + int ball, int *dx, int *dy); + +/** + * Get the current state of a button on a joystick. + * + * \param joystick an SDL_Joystick structure containing joystick information + * \param button the button index to get the state from; indices start at + * index 0 + * \returns 1 if the specified button is pressed, 0 otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickNumButtons + */ +extern DECLSPEC Uint8 SDLCALL SDL_JoystickGetButton(SDL_Joystick *joystick, + int button); + +/** + * Start a rumble effect. + * + * Each call to this function cancels any previous rumble effect, and calling + * it with 0 intensity stops any rumbling. + * + * \param joystick The joystick to vibrate + * \param low_frequency_rumble The intensity of the low frequency (left) + * rumble motor, from 0 to 0xFFFF + * \param high_frequency_rumble The intensity of the high frequency (right) + * rumble motor, from 0 to 0xFFFF + * \param duration_ms The duration of the rumble effect, in milliseconds + * \returns 0, or -1 if rumble isn't supported on this joystick + * + * \since This function is available since SDL 2.0.9. + * + * \sa SDL_JoystickHasRumble + */ +extern DECLSPEC int SDLCALL SDL_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble, Uint32 duration_ms); + +/** + * Start a rumble effect in the joystick's triggers + * + * Each call to this function cancels any previous trigger rumble effect, and + * calling it with 0 intensity stops any rumbling. + * + * Note that this is rumbling of the _triggers_ and not the game controller as + * a whole. This is currently only supported on Xbox One controllers. If you + * want the (more common) whole-controller rumble, use SDL_JoystickRumble() + * instead. + * + * \param joystick The joystick to vibrate + * \param left_rumble The intensity of the left trigger rumble motor, from 0 + * to 0xFFFF + * \param right_rumble The intensity of the right trigger rumble motor, from 0 + * to 0xFFFF + * \param duration_ms The duration of the rumble effect, in milliseconds + * \returns 0, or -1 if trigger rumble isn't supported on this joystick + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_JoystickHasRumbleTriggers + */ +extern DECLSPEC int SDLCALL SDL_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble, Uint32 duration_ms); + +/** + * Query whether a joystick has an LED. + * + * An example of a joystick LED is the light on the back of a PlayStation 4's + * DualShock 4 controller. + * + * \param joystick The joystick to query + * \return SDL_TRUE if the joystick has a modifiable LED, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_JoystickHasLED(SDL_Joystick *joystick); + +/** + * Query whether a joystick has rumble support. + * + * \param joystick The joystick to query + * \return SDL_TRUE if the joystick has rumble, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_JoystickRumble + */ +extern DECLSPEC SDL_bool SDLCALL SDL_JoystickHasRumble(SDL_Joystick *joystick); + +/** + * Query whether a joystick has rumble support on triggers. + * + * \param joystick The joystick to query + * \return SDL_TRUE if the joystick has trigger rumble, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_JoystickRumbleTriggers + */ +extern DECLSPEC SDL_bool SDLCALL SDL_JoystickHasRumbleTriggers(SDL_Joystick *joystick); + +/** + * Update a joystick's LED color. + * + * An example of a joystick LED is the light on the back of a PlayStation 4's + * DualShock 4 controller. + * + * \param joystick The joystick to update + * \param red The intensity of the red LED + * \param green The intensity of the green LED + * \param blue The intensity of the blue LED + * \returns 0 on success, -1 if this joystick does not have a modifiable LED + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue); + +/** + * Send a joystick specific effect packet + * + * \param joystick The joystick to affect + * \param data The data to send to the joystick + * \param size The size of the data to send to the joystick + * \returns 0, or -1 if this joystick or driver doesn't support effect packets + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC int SDLCALL SDL_JoystickSendEffect(SDL_Joystick *joystick, const void *data, int size); + +/** + * Close a joystick previously opened with SDL_JoystickOpen(). + * + * \param joystick The joystick device to close + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_JoystickOpen + */ +extern DECLSPEC void SDLCALL SDL_JoystickClose(SDL_Joystick *joystick); + +/** + * Get the battery level of a joystick as SDL_JoystickPowerLevel. + * + * \param joystick the SDL_Joystick to query + * \returns the current battery level as SDL_JoystickPowerLevel on success or + * `SDL_JOYSTICK_POWER_UNKNOWN` if it is unknown + * + * \since This function is available since SDL 2.0.4. + */ +extern DECLSPEC SDL_JoystickPowerLevel SDLCALL SDL_JoystickCurrentPowerLevel(SDL_Joystick *joystick); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_joystick_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_keyboard.h b/subprojects/sdl2_windows/include/SDL2/SDL_keyboard.h new file mode 100644 index 000000000..e7663fb34 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_keyboard.h @@ -0,0 +1,353 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_keyboard.h + * + * Include file for SDL keyboard event handling + */ + +#ifndef SDL_keyboard_h_ +#define SDL_keyboard_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_keycode.h" +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief The SDL keysym structure, used in key events. + * + * \note If you are looking for translated character input, see the ::SDL_TEXTINPUT event. + */ +typedef struct SDL_Keysym +{ + SDL_Scancode scancode; /**< SDL physical key code - see ::SDL_Scancode for details */ + SDL_Keycode sym; /**< SDL virtual key code - see ::SDL_Keycode for details */ + Uint16 mod; /**< current key modifiers */ + Uint32 unused; +} SDL_Keysym; + +/* Function prototypes */ + +/** + * Query the window which currently has keyboard focus. + * + * \returns the window with keyboard focus. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_GetKeyboardFocus(void); + +/** + * Get a snapshot of the current state of the keyboard. + * + * The pointer returned is a pointer to an internal SDL array. It will be + * valid for the whole lifetime of the application and should not be freed by + * the caller. + * + * A array element with a value of 1 means that the key is pressed and a value + * of 0 means that it is not. Indexes into this array are obtained by using + * SDL_Scancode values. + * + * Use SDL_PumpEvents() to update the state array. + * + * This function gives you the current state after all events have been + * processed, so if a key or button has been pressed and released before you + * process events, then the pressed state will never show up in the + * SDL_GetKeyboardState() calls. + * + * Note: This function doesn't take into account whether shift has been + * pressed or not. + * + * \param numkeys if non-NULL, receives the length of the returned array + * \returns a pointer to an array of key states. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PumpEvents + * \sa SDL_ResetKeyboard + */ +extern DECLSPEC const Uint8 *SDLCALL SDL_GetKeyboardState(int *numkeys); + +/** + * Clear the state of the keyboard + * + * This function will generate key up events for all pressed keys. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GetKeyboardState + */ +extern DECLSPEC void SDLCALL SDL_ResetKeyboard(void); + +/** + * Get the current key modifier state for the keyboard. + * + * \returns an OR'd combination of the modifier keys for the keyboard. See + * SDL_Keymod for details. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetKeyboardState + * \sa SDL_SetModState + */ +extern DECLSPEC SDL_Keymod SDLCALL SDL_GetModState(void); + +/** + * Set the current key modifier state for the keyboard. + * + * The inverse of SDL_GetModState(), SDL_SetModState() allows you to impose + * modifier key states on your application. Simply pass your desired modifier + * states into `modstate`. This value may be a bitwise, OR'd combination of + * SDL_Keymod values. + * + * This does not change the keyboard state, only the key modifier flags that + * SDL reports. + * + * \param modstate the desired SDL_Keymod for the keyboard + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetModState + */ +extern DECLSPEC void SDLCALL SDL_SetModState(SDL_Keymod modstate); + +/** + * Get the key code corresponding to the given scancode according to the + * current keyboard layout. + * + * See SDL_Keycode for details. + * + * \param scancode the desired SDL_Scancode to query + * \returns the SDL_Keycode that corresponds to the given SDL_Scancode. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetKeyName + * \sa SDL_GetScancodeFromKey + */ +extern DECLSPEC SDL_Keycode SDLCALL SDL_GetKeyFromScancode(SDL_Scancode scancode); + +/** + * Get the scancode corresponding to the given key code according to the + * current keyboard layout. + * + * See SDL_Scancode for details. + * + * \param key the desired SDL_Keycode to query + * \returns the SDL_Scancode that corresponds to the given SDL_Keycode. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetKeyFromScancode + * \sa SDL_GetScancodeName + */ +extern DECLSPEC SDL_Scancode SDLCALL SDL_GetScancodeFromKey(SDL_Keycode key); + +/** + * Get a human-readable name for a scancode. + * + * See SDL_Scancode for details. + * + * **Warning**: The returned name is by design not stable across platforms, + * e.g. the name for `SDL_SCANCODE_LGUI` is "Left GUI" under Linux but "Left + * Windows" under Microsoft Windows, and some scancodes like + * `SDL_SCANCODE_NONUSBACKSLASH` don't have any name at all. There are even + * scancodes that share names, e.g. `SDL_SCANCODE_RETURN` and + * `SDL_SCANCODE_RETURN2` (both called "Return"). This function is therefore + * unsuitable for creating a stable cross-platform two-way mapping between + * strings and scancodes. + * + * \param scancode the desired SDL_Scancode to query + * \returns a pointer to the name for the scancode. If the scancode doesn't + * have a name this function returns an empty string (""). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetScancodeFromKey + * \sa SDL_GetScancodeFromName + */ +extern DECLSPEC const char *SDLCALL SDL_GetScancodeName(SDL_Scancode scancode); + +/** + * Get a scancode from a human-readable name. + * + * \param name the human-readable scancode name + * \returns the SDL_Scancode, or `SDL_SCANCODE_UNKNOWN` if the name wasn't + * recognized; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetKeyFromName + * \sa SDL_GetScancodeFromKey + * \sa SDL_GetScancodeName + */ +extern DECLSPEC SDL_Scancode SDLCALL SDL_GetScancodeFromName(const char *name); + +/** + * Get a human-readable name for a key. + * + * See SDL_Scancode and SDL_Keycode for details. + * + * \param key the desired SDL_Keycode to query + * \returns a pointer to a UTF-8 string that stays valid at least until the + * next call to this function. If you need it around any longer, you + * must copy it. If the key doesn't have a name, this function + * returns an empty string (""). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetKeyFromName + * \sa SDL_GetKeyFromScancode + * \sa SDL_GetScancodeFromKey + */ +extern DECLSPEC const char *SDLCALL SDL_GetKeyName(SDL_Keycode key); + +/** + * Get a key code from a human-readable name. + * + * \param name the human-readable key name + * \returns key code, or `SDLK_UNKNOWN` if the name wasn't recognized; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetKeyFromScancode + * \sa SDL_GetKeyName + * \sa SDL_GetScancodeFromName + */ +extern DECLSPEC SDL_Keycode SDLCALL SDL_GetKeyFromName(const char *name); + +/** + * Start accepting Unicode text input events. + * + * This function will start accepting Unicode text input events in the focused + * SDL window, and start emitting SDL_TextInputEvent (SDL_TEXTINPUT) and + * SDL_TextEditingEvent (SDL_TEXTEDITING) events. Please use this function in + * pair with SDL_StopTextInput(). + * + * On some platforms using this function activates the screen keyboard. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetTextInputRect + * \sa SDL_StopTextInput + */ +extern DECLSPEC void SDLCALL SDL_StartTextInput(void); + +/** + * Check whether or not Unicode text input events are enabled. + * + * \returns SDL_TRUE if text input events are enabled else SDL_FALSE. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_StartTextInput + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsTextInputActive(void); + +/** + * Stop receiving any text input events. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_StartTextInput + */ +extern DECLSPEC void SDLCALL SDL_StopTextInput(void); + +/** + * Dismiss the composition window/IME without disabling the subsystem. + * + * \since This function is available since SDL 2.0.22. + * + * \sa SDL_StartTextInput + * \sa SDL_StopTextInput + */ +extern DECLSPEC void SDLCALL SDL_ClearComposition(void); + +/** + * Returns if an IME Composite or Candidate window is currently shown. + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsTextInputShown(void); + +/** + * Set the rectangle used to type Unicode text inputs. + * + * To start text input in a given location, this function is intended to be + * called before SDL_StartTextInput, although some platforms support moving + * the rectangle even while text input (and a composition) is active. + * + * Note: If you want to use the system native IME window, try setting hint + * **SDL_HINT_IME_SHOW_UI** to **1**, otherwise this function won't give you + * any feedback. + * + * \param rect the SDL_Rect structure representing the rectangle to receive + * text (ignored if NULL) + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_StartTextInput + */ +extern DECLSPEC void SDLCALL SDL_SetTextInputRect(const SDL_Rect *rect); + +/** + * Check whether the platform has screen keyboard support. + * + * \returns SDL_TRUE if the platform has some screen keyboard support or + * SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_StartTextInput + * \sa SDL_IsScreenKeyboardShown + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasScreenKeyboardSupport(void); + +/** + * Check whether the screen keyboard is shown for given window. + * + * \param window the window for which screen keyboard should be queried + * \returns SDL_TRUE if screen keyboard is shown or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HasScreenKeyboardSupport + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsScreenKeyboardShown(SDL_Window *window); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_keyboard_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_keycode.h b/subprojects/sdl2_windows/include/SDL2/SDL_keycode.h new file mode 100644 index 000000000..65420f29f --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_keycode.h @@ -0,0 +1,358 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_keycode.h + * + * Defines constants which identify keyboard keys and modifiers. + */ + +#ifndef SDL_keycode_h_ +#define SDL_keycode_h_ + +#include "SDL_stdinc.h" +#include "SDL_scancode.h" + +/** + * \brief The SDL virtual key representation. + * + * Values of this type are used to represent keyboard keys using the current + * layout of the keyboard. These values include Unicode values representing + * the unmodified character that would be generated by pressing the key, or + * an SDLK_* constant for those keys that do not generate characters. + * + * A special exception is the number keys at the top of the keyboard which + * always map to SDLK_0...SDLK_9, regardless of layout. + */ +typedef Sint32 SDL_Keycode; + +#define SDLK_SCANCODE_MASK (1<<30) +#define SDL_SCANCODE_TO_KEYCODE(X) (X | SDLK_SCANCODE_MASK) + +typedef enum +{ + SDLK_UNKNOWN = 0, + + SDLK_RETURN = '\r', + SDLK_ESCAPE = '\x1B', + SDLK_BACKSPACE = '\b', + SDLK_TAB = '\t', + SDLK_SPACE = ' ', + SDLK_EXCLAIM = '!', + SDLK_QUOTEDBL = '"', + SDLK_HASH = '#', + SDLK_PERCENT = '%', + SDLK_DOLLAR = '$', + SDLK_AMPERSAND = '&', + SDLK_QUOTE = '\'', + SDLK_LEFTPAREN = '(', + SDLK_RIGHTPAREN = ')', + SDLK_ASTERISK = '*', + SDLK_PLUS = '+', + SDLK_COMMA = ',', + SDLK_MINUS = '-', + SDLK_PERIOD = '.', + SDLK_SLASH = '/', + SDLK_0 = '0', + SDLK_1 = '1', + SDLK_2 = '2', + SDLK_3 = '3', + SDLK_4 = '4', + SDLK_5 = '5', + SDLK_6 = '6', + SDLK_7 = '7', + SDLK_8 = '8', + SDLK_9 = '9', + SDLK_COLON = ':', + SDLK_SEMICOLON = ';', + SDLK_LESS = '<', + SDLK_EQUALS = '=', + SDLK_GREATER = '>', + SDLK_QUESTION = '?', + SDLK_AT = '@', + + /* + Skip uppercase letters + */ + + SDLK_LEFTBRACKET = '[', + SDLK_BACKSLASH = '\\', + SDLK_RIGHTBRACKET = ']', + SDLK_CARET = '^', + SDLK_UNDERSCORE = '_', + SDLK_BACKQUOTE = '`', + SDLK_a = 'a', + SDLK_b = 'b', + SDLK_c = 'c', + SDLK_d = 'd', + SDLK_e = 'e', + SDLK_f = 'f', + SDLK_g = 'g', + SDLK_h = 'h', + SDLK_i = 'i', + SDLK_j = 'j', + SDLK_k = 'k', + SDLK_l = 'l', + SDLK_m = 'm', + SDLK_n = 'n', + SDLK_o = 'o', + SDLK_p = 'p', + SDLK_q = 'q', + SDLK_r = 'r', + SDLK_s = 's', + SDLK_t = 't', + SDLK_u = 'u', + SDLK_v = 'v', + SDLK_w = 'w', + SDLK_x = 'x', + SDLK_y = 'y', + SDLK_z = 'z', + + SDLK_CAPSLOCK = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CAPSLOCK), + + SDLK_F1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F1), + SDLK_F2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F2), + SDLK_F3 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F3), + SDLK_F4 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F4), + SDLK_F5 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F5), + SDLK_F6 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F6), + SDLK_F7 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F7), + SDLK_F8 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F8), + SDLK_F9 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F9), + SDLK_F10 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F10), + SDLK_F11 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F11), + SDLK_F12 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F12), + + SDLK_PRINTSCREEN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PRINTSCREEN), + SDLK_SCROLLLOCK = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SCROLLLOCK), + SDLK_PAUSE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAUSE), + SDLK_INSERT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_INSERT), + SDLK_HOME = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_HOME), + SDLK_PAGEUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAGEUP), + SDLK_DELETE = '\x7F', + SDLK_END = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_END), + SDLK_PAGEDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAGEDOWN), + SDLK_RIGHT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RIGHT), + SDLK_LEFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LEFT), + SDLK_DOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DOWN), + SDLK_UP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_UP), + + SDLK_NUMLOCKCLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_NUMLOCKCLEAR), + SDLK_KP_DIVIDE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DIVIDE), + SDLK_KP_MULTIPLY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MULTIPLY), + SDLK_KP_MINUS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MINUS), + SDLK_KP_PLUS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PLUS), + SDLK_KP_ENTER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_ENTER), + SDLK_KP_1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_1), + SDLK_KP_2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_2), + SDLK_KP_3 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_3), + SDLK_KP_4 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_4), + SDLK_KP_5 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_5), + SDLK_KP_6 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_6), + SDLK_KP_7 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_7), + SDLK_KP_8 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_8), + SDLK_KP_9 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_9), + SDLK_KP_0 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_0), + SDLK_KP_PERIOD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PERIOD), + + SDLK_APPLICATION = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_APPLICATION), + SDLK_POWER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_POWER), + SDLK_KP_EQUALS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_EQUALS), + SDLK_F13 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F13), + SDLK_F14 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F14), + SDLK_F15 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F15), + SDLK_F16 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F16), + SDLK_F17 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F17), + SDLK_F18 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F18), + SDLK_F19 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F19), + SDLK_F20 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F20), + SDLK_F21 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F21), + SDLK_F22 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F22), + SDLK_F23 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F23), + SDLK_F24 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F24), + SDLK_EXECUTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_EXECUTE), + SDLK_HELP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_HELP), + SDLK_MENU = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MENU), + SDLK_SELECT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SELECT), + SDLK_STOP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_STOP), + SDLK_AGAIN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AGAIN), + SDLK_UNDO = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_UNDO), + SDLK_CUT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CUT), + SDLK_COPY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_COPY), + SDLK_PASTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PASTE), + SDLK_FIND = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_FIND), + SDLK_MUTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MUTE), + SDLK_VOLUMEUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_VOLUMEUP), + SDLK_VOLUMEDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_VOLUMEDOWN), + SDLK_KP_COMMA = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_COMMA), + SDLK_KP_EQUALSAS400 = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_EQUALSAS400), + + SDLK_ALTERASE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_ALTERASE), + SDLK_SYSREQ = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SYSREQ), + SDLK_CANCEL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CANCEL), + SDLK_CLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CLEAR), + SDLK_PRIOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PRIOR), + SDLK_RETURN2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RETURN2), + SDLK_SEPARATOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SEPARATOR), + SDLK_OUT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_OUT), + SDLK_OPER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_OPER), + SDLK_CLEARAGAIN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CLEARAGAIN), + SDLK_CRSEL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CRSEL), + SDLK_EXSEL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_EXSEL), + + SDLK_KP_00 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_00), + SDLK_KP_000 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_000), + SDLK_THOUSANDSSEPARATOR = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_THOUSANDSSEPARATOR), + SDLK_DECIMALSEPARATOR = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DECIMALSEPARATOR), + SDLK_CURRENCYUNIT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CURRENCYUNIT), + SDLK_CURRENCYSUBUNIT = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CURRENCYSUBUNIT), + SDLK_KP_LEFTPAREN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_LEFTPAREN), + SDLK_KP_RIGHTPAREN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_RIGHTPAREN), + SDLK_KP_LEFTBRACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_LEFTBRACE), + SDLK_KP_RIGHTBRACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_RIGHTBRACE), + SDLK_KP_TAB = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_TAB), + SDLK_KP_BACKSPACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_BACKSPACE), + SDLK_KP_A = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_A), + SDLK_KP_B = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_B), + SDLK_KP_C = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_C), + SDLK_KP_D = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_D), + SDLK_KP_E = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_E), + SDLK_KP_F = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_F), + SDLK_KP_XOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_XOR), + SDLK_KP_POWER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_POWER), + SDLK_KP_PERCENT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PERCENT), + SDLK_KP_LESS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_LESS), + SDLK_KP_GREATER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_GREATER), + SDLK_KP_AMPERSAND = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_AMPERSAND), + SDLK_KP_DBLAMPERSAND = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DBLAMPERSAND), + SDLK_KP_VERTICALBAR = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_VERTICALBAR), + SDLK_KP_DBLVERTICALBAR = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DBLVERTICALBAR), + SDLK_KP_COLON = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_COLON), + SDLK_KP_HASH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_HASH), + SDLK_KP_SPACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_SPACE), + SDLK_KP_AT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_AT), + SDLK_KP_EXCLAM = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_EXCLAM), + SDLK_KP_MEMSTORE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMSTORE), + SDLK_KP_MEMRECALL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMRECALL), + SDLK_KP_MEMCLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMCLEAR), + SDLK_KP_MEMADD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMADD), + SDLK_KP_MEMSUBTRACT = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMSUBTRACT), + SDLK_KP_MEMMULTIPLY = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMMULTIPLY), + SDLK_KP_MEMDIVIDE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMDIVIDE), + SDLK_KP_PLUSMINUS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PLUSMINUS), + SDLK_KP_CLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_CLEAR), + SDLK_KP_CLEARENTRY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_CLEARENTRY), + SDLK_KP_BINARY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_BINARY), + SDLK_KP_OCTAL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_OCTAL), + SDLK_KP_DECIMAL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DECIMAL), + SDLK_KP_HEXADECIMAL = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_HEXADECIMAL), + + SDLK_LCTRL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LCTRL), + SDLK_LSHIFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LSHIFT), + SDLK_LALT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LALT), + SDLK_LGUI = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LGUI), + SDLK_RCTRL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RCTRL), + SDLK_RSHIFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RSHIFT), + SDLK_RALT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RALT), + SDLK_RGUI = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RGUI), + + SDLK_MODE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MODE), + + SDLK_AUDIONEXT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIONEXT), + SDLK_AUDIOPREV = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOPREV), + SDLK_AUDIOSTOP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOSTOP), + SDLK_AUDIOPLAY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOPLAY), + SDLK_AUDIOMUTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOMUTE), + SDLK_MEDIASELECT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MEDIASELECT), + SDLK_WWW = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_WWW), + SDLK_MAIL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MAIL), + SDLK_CALCULATOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CALCULATOR), + SDLK_COMPUTER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_COMPUTER), + SDLK_AC_SEARCH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_SEARCH), + SDLK_AC_HOME = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_HOME), + SDLK_AC_BACK = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_BACK), + SDLK_AC_FORWARD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_FORWARD), + SDLK_AC_STOP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_STOP), + SDLK_AC_REFRESH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_REFRESH), + SDLK_AC_BOOKMARKS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_BOOKMARKS), + + SDLK_BRIGHTNESSDOWN = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_BRIGHTNESSDOWN), + SDLK_BRIGHTNESSUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_BRIGHTNESSUP), + SDLK_DISPLAYSWITCH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DISPLAYSWITCH), + SDLK_KBDILLUMTOGGLE = + SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KBDILLUMTOGGLE), + SDLK_KBDILLUMDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KBDILLUMDOWN), + SDLK_KBDILLUMUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KBDILLUMUP), + SDLK_EJECT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_EJECT), + SDLK_SLEEP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SLEEP), + SDLK_APP1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_APP1), + SDLK_APP2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_APP2), + + SDLK_AUDIOREWIND = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOREWIND), + SDLK_AUDIOFASTFORWARD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOFASTFORWARD), + + SDLK_SOFTLEFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SOFTLEFT), + SDLK_SOFTRIGHT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SOFTRIGHT), + SDLK_CALL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CALL), + SDLK_ENDCALL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_ENDCALL) +} SDL_KeyCode; + +/** + * \brief Enumeration of valid key mods (possibly OR'd together). + */ +typedef enum +{ + KMOD_NONE = 0x0000, + KMOD_LSHIFT = 0x0001, + KMOD_RSHIFT = 0x0002, + KMOD_LCTRL = 0x0040, + KMOD_RCTRL = 0x0080, + KMOD_LALT = 0x0100, + KMOD_RALT = 0x0200, + KMOD_LGUI = 0x0400, + KMOD_RGUI = 0x0800, + KMOD_NUM = 0x1000, + KMOD_CAPS = 0x2000, + KMOD_MODE = 0x4000, + KMOD_SCROLL = 0x8000, + + KMOD_CTRL = KMOD_LCTRL | KMOD_RCTRL, + KMOD_SHIFT = KMOD_LSHIFT | KMOD_RSHIFT, + KMOD_ALT = KMOD_LALT | KMOD_RALT, + KMOD_GUI = KMOD_LGUI | KMOD_RGUI, + + KMOD_RESERVED = KMOD_SCROLL /* This is for source-level compatibility with SDL 2.0.0. */ +} SDL_Keymod; + +#endif /* SDL_keycode_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_loadso.h b/subprojects/sdl2_windows/include/SDL2/SDL_loadso.h new file mode 100644 index 000000000..61857c813 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_loadso.h @@ -0,0 +1,115 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_loadso.h + * + * System dependent library loading routines + * + * Some things to keep in mind: + * \li These functions only work on C function names. Other languages may + * have name mangling and intrinsic language support that varies from + * compiler to compiler. + * \li Make sure you declare your function pointers with the same calling + * convention as the actual library function. Your code will crash + * mysteriously if you do not do this. + * \li Avoid namespace collisions. If you load a symbol from the library, + * it is not defined whether or not it goes into the global symbol + * namespace for the application. If it does and it conflicts with + * symbols in your code or other shared libraries, you will not get + * the results you expect. :) + */ + +#ifndef SDL_loadso_h_ +#define SDL_loadso_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Dynamically load a shared object. + * + * \param sofile a system-dependent name of the object file + * \returns an opaque pointer to the object handle or NULL if there was an + * error; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadFunction + * \sa SDL_UnloadObject + */ +extern DECLSPEC void *SDLCALL SDL_LoadObject(const char *sofile); + +/** + * Look up the address of the named function in a shared object. + * + * This function pointer is no longer valid after calling SDL_UnloadObject(). + * + * This function can only look up C function names. Other languages may have + * name mangling and intrinsic language support that varies from compiler to + * compiler. + * + * Make sure you declare your function pointers with the same calling + * convention as the actual library function. Your code will crash + * mysteriously if you do not do this. + * + * If the requested function doesn't exist, NULL is returned. + * + * \param handle a valid shared object handle returned by SDL_LoadObject() + * \param name the name of the function to look up + * \returns a pointer to the function or NULL if there was an error; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadObject + * \sa SDL_UnloadObject + */ +extern DECLSPEC void *SDLCALL SDL_LoadFunction(void *handle, + const char *name); + +/** + * Unload a shared object from memory. + * + * \param handle a valid shared object handle returned by SDL_LoadObject() + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadFunction + * \sa SDL_LoadObject + */ +extern DECLSPEC void SDLCALL SDL_UnloadObject(void *handle); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_loadso_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_locale.h b/subprojects/sdl2_windows/include/SDL2/SDL_locale.h new file mode 100644 index 000000000..751577994 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_locale.h @@ -0,0 +1,103 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_locale.h + * + * Include file for SDL locale services + */ + +#ifndef _SDL_locale_h +#define _SDL_locale_h + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +/* *INDENT-OFF* */ +extern "C" { +/* *INDENT-ON* */ +#endif + + +typedef struct SDL_Locale +{ + const char *language; /**< A language name, like "en" for English. */ + const char *country; /**< A country, like "US" for America. Can be NULL. */ +} SDL_Locale; + +/** + * Report the user's preferred locale. + * + * This returns an array of SDL_Locale structs, the final item zeroed out. + * When the caller is done with this array, it should call SDL_free() on the + * returned value; all the memory involved is allocated in a single block, so + * a single SDL_free() will suffice. + * + * Returned language strings are in the format xx, where 'xx' is an ISO-639 + * language specifier (such as "en" for English, "de" for German, etc). + * Country strings are in the format YY, where "YY" is an ISO-3166 country + * code (such as "US" for the United States, "CA" for Canada, etc). Country + * might be NULL if there's no specific guidance on them (so you might get { + * "en", "US" } for American English, but { "en", NULL } means "English + * language, generically"). Language strings are never NULL, except to + * terminate the array. + * + * Please note that not all of these strings are 2 characters; some are three + * or more. + * + * The returned list of locales are in the order of the user's preference. For + * example, a German citizen that is fluent in US English and knows enough + * Japanese to navigate around Tokyo might have a list like: { "de", "en_US", + * "jp", NULL }. Someone from England might prefer British English (where + * "color" is spelled "colour", etc), but will settle for anything like it: { + * "en_GB", "en", NULL }. + * + * This function returns NULL on error, including when the platform does not + * supply this information at all. + * + * This might be a "slow" call that has to query the operating system. It's + * best to ask for this once and save the results. However, this list can + * change, usually because the user has changed a system preference outside of + * your program; SDL will send an SDL_LOCALECHANGED event in this case, if + * possible, and you can call this function again to get an updated copy of + * preferred locales. + * + * \return array of locales, terminated with a locale with a NULL language + * field. Will return NULL on error. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_Locale * SDLCALL SDL_GetPreferredLocales(void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +/* *INDENT-OFF* */ +} +/* *INDENT-ON* */ +#endif +#include "close_code.h" + +#endif /* _SDL_locale_h */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_log.h b/subprojects/sdl2_windows/include/SDL2/SDL_log.h new file mode 100644 index 000000000..1d8b20b62 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_log.h @@ -0,0 +1,404 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_log.h + * + * Simple log messages with categories and priorities. + * + * By default logs are quiet, but if you're debugging SDL you might want: + * + * SDL_LogSetAllPriority(SDL_LOG_PRIORITY_WARN); + * + * Here's where the messages go on different platforms: + * Windows: debug output stream + * Android: log output + * Others: standard error output (stderr) + */ + +#ifndef SDL_log_h_ +#define SDL_log_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + + +/** + * \brief The maximum size of a log message prior to SDL 2.0.24 + * + * As of 2.0.24 there is no limit to the length of SDL log messages. + */ +#define SDL_MAX_LOG_MESSAGE 4096 + +/** + * \brief The predefined log categories + * + * By default the application category is enabled at the INFO level, + * the assert category is enabled at the WARN level, test is enabled + * at the VERBOSE level and all other categories are enabled at the + * CRITICAL level. + */ +typedef enum +{ + SDL_LOG_CATEGORY_APPLICATION, + SDL_LOG_CATEGORY_ERROR, + SDL_LOG_CATEGORY_ASSERT, + SDL_LOG_CATEGORY_SYSTEM, + SDL_LOG_CATEGORY_AUDIO, + SDL_LOG_CATEGORY_VIDEO, + SDL_LOG_CATEGORY_RENDER, + SDL_LOG_CATEGORY_INPUT, + SDL_LOG_CATEGORY_TEST, + + /* Reserved for future SDL library use */ + SDL_LOG_CATEGORY_RESERVED1, + SDL_LOG_CATEGORY_RESERVED2, + SDL_LOG_CATEGORY_RESERVED3, + SDL_LOG_CATEGORY_RESERVED4, + SDL_LOG_CATEGORY_RESERVED5, + SDL_LOG_CATEGORY_RESERVED6, + SDL_LOG_CATEGORY_RESERVED7, + SDL_LOG_CATEGORY_RESERVED8, + SDL_LOG_CATEGORY_RESERVED9, + SDL_LOG_CATEGORY_RESERVED10, + + /* Beyond this point is reserved for application use, e.g. + enum { + MYAPP_CATEGORY_AWESOME1 = SDL_LOG_CATEGORY_CUSTOM, + MYAPP_CATEGORY_AWESOME2, + MYAPP_CATEGORY_AWESOME3, + ... + }; + */ + SDL_LOG_CATEGORY_CUSTOM +} SDL_LogCategory; + +/** + * \brief The predefined log priorities + */ +typedef enum +{ + SDL_LOG_PRIORITY_VERBOSE = 1, + SDL_LOG_PRIORITY_DEBUG, + SDL_LOG_PRIORITY_INFO, + SDL_LOG_PRIORITY_WARN, + SDL_LOG_PRIORITY_ERROR, + SDL_LOG_PRIORITY_CRITICAL, + SDL_NUM_LOG_PRIORITIES +} SDL_LogPriority; + + +/** + * Set the priority of all log categories. + * + * \param priority the SDL_LogPriority to assign + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogSetPriority + */ +extern DECLSPEC void SDLCALL SDL_LogSetAllPriority(SDL_LogPriority priority); + +/** + * Set the priority of a particular log category. + * + * \param category the category to assign a priority to + * \param priority the SDL_LogPriority to assign + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogGetPriority + * \sa SDL_LogSetAllPriority + */ +extern DECLSPEC void SDLCALL SDL_LogSetPriority(int category, + SDL_LogPriority priority); + +/** + * Get the priority of a particular log category. + * + * \param category the category to query + * \returns the SDL_LogPriority for the requested category + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogSetPriority + */ +extern DECLSPEC SDL_LogPriority SDLCALL SDL_LogGetPriority(int category); + +/** + * Reset all priorities to default. + * + * This is called by SDL_Quit(). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogSetAllPriority + * \sa SDL_LogSetPriority + */ +extern DECLSPEC void SDLCALL SDL_LogResetPriorities(void); + +/** + * Log a message with SDL_LOG_CATEGORY_APPLICATION and SDL_LOG_PRIORITY_INFO. + * + * = * \param fmt a printf() style message format string + * + * \param ... additional parameters matching % tokens in the `fmt` string, if + * any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_Log(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); + +/** + * Log a message with SDL_LOG_PRIORITY_VERBOSE. + * + * \param category the category of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogVerbose(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * Log a message with SDL_LOG_PRIORITY_DEBUG. + * + * \param category the category of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogDebug(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * Log a message with SDL_LOG_PRIORITY_INFO. + * + * \param category the category of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogInfo(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * Log a message with SDL_LOG_PRIORITY_WARN. + * + * \param category the category of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + */ +extern DECLSPEC void SDLCALL SDL_LogWarn(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * Log a message with SDL_LOG_PRIORITY_ERROR. + * + * \param category the category of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogError(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * Log a message with SDL_LOG_PRIORITY_CRITICAL. + * + * \param category the category of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogCritical(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * Log a message with the specified category and priority. + * + * \param category the category of the message + * \param priority the priority of the message + * \param fmt a printf() style message format string + * \param ... additional parameters matching % tokens in the **fmt** string, + * if any + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessageV + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogMessage(int category, + SDL_LogPriority priority, + SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(3); + +/** + * Log a message with the specified category and priority. + * + * \param category the category of the message + * \param priority the priority of the message + * \param fmt a printf() style message format string + * \param ap a variable argument list + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Log + * \sa SDL_LogCritical + * \sa SDL_LogDebug + * \sa SDL_LogError + * \sa SDL_LogInfo + * \sa SDL_LogMessage + * \sa SDL_LogVerbose + * \sa SDL_LogWarn + */ +extern DECLSPEC void SDLCALL SDL_LogMessageV(int category, + SDL_LogPriority priority, + const char *fmt, va_list ap); + +/** + * The prototype for the log output callback function. + * + * This function is called by SDL when there is new text to be logged. + * + * \param userdata what was passed as `userdata` to SDL_LogSetOutputFunction() + * \param category the category of the message + * \param priority the priority of the message + * \param message the message being output + */ +typedef void (SDLCALL *SDL_LogOutputFunction)(void *userdata, int category, SDL_LogPriority priority, const char *message); + +/** + * Get the current log output function. + * + * \param callback an SDL_LogOutputFunction filled in with the current log + * callback + * \param userdata a pointer filled in with the pointer that is passed to + * `callback` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogSetOutputFunction + */ +extern DECLSPEC void SDLCALL SDL_LogGetOutputFunction(SDL_LogOutputFunction *callback, void **userdata); + +/** + * Replace the default log output function with one of your own. + * + * \param callback an SDL_LogOutputFunction to call instead of the default + * \param userdata a pointer that is passed to `callback` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LogGetOutputFunction + */ +extern DECLSPEC void SDLCALL SDL_LogSetOutputFunction(SDL_LogOutputFunction callback, void *userdata); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_log_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_main.h b/subprojects/sdl2_windows/include/SDL2/SDL_main.h new file mode 100644 index 000000000..113d11de0 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_main.h @@ -0,0 +1,275 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_main_h_ +#define SDL_main_h_ + +#include "SDL_stdinc.h" + +/** + * \file SDL_main.h + * + * Redefine main() on some platforms so that it is called by SDL. + */ + +#ifndef SDL_MAIN_HANDLED +#if defined(__WIN32__) +/* On Windows SDL provides WinMain(), which parses the command line and passes + the arguments to your main function. + + If you provide your own WinMain(), you may define SDL_MAIN_HANDLED + */ +#define SDL_MAIN_AVAILABLE + +#elif defined(__WINRT__) +/* On WinRT, SDL provides a main function that initializes CoreApplication, + creating an instance of IFrameworkView in the process. + + Please note that #include'ing SDL_main.h is not enough to get a main() + function working. In non-XAML apps, the file, + src/main/winrt/SDL_WinRT_main_NonXAML.cpp, or a copy of it, must be compiled + into the app itself. In XAML apps, the function, SDL_WinRTRunApp must be + called, with a pointer to the Direct3D-hosted XAML control passed in. +*/ +#define SDL_MAIN_NEEDED + +#elif defined(__GDK__) +/* On GDK, SDL provides a main function that initializes the game runtime. + + Please note that #include'ing SDL_main.h is not enough to get a main() + function working. You must either link against SDL2main or, if not possible, + call the SDL_GDKRunApp function from your entry point. +*/ +#define SDL_MAIN_NEEDED + +#elif defined(__IPHONEOS__) +/* On iOS SDL provides a main function that creates an application delegate + and starts the iOS application run loop. + + If you link with SDL dynamically on iOS, the main function can't be in a + shared library, so you need to link with libSDLmain.a, which includes a + stub main function that calls into the shared library to start execution. + + See src/video/uikit/SDL_uikitappdelegate.m for more details. + */ +#define SDL_MAIN_NEEDED + +#elif defined(__ANDROID__) +/* On Android SDL provides a Java class in SDLActivity.java that is the + main activity entry point. + + See docs/README-android.md for more details on extending that class. + */ +#define SDL_MAIN_NEEDED + +/* We need to export SDL_main so it can be launched from Java */ +#define SDLMAIN_DECLSPEC DECLSPEC + +#elif defined(__NACL__) +/* On NACL we use ppapi_simple to set up the application helper code, + then wait for the first PSE_INSTANCE_DIDCHANGEVIEW event before + starting the user main function. + All user code is run in a separate thread by ppapi_simple, thus + allowing for blocking io to take place via nacl_io +*/ +#define SDL_MAIN_NEEDED + +#elif defined(__PSP__) +/* On PSP SDL provides a main function that sets the module info, + activates the GPU and starts the thread required to be able to exit + the software. + + If you provide this yourself, you may define SDL_MAIN_HANDLED + */ +#define SDL_MAIN_AVAILABLE + +#elif defined(__PS2__) +#define SDL_MAIN_AVAILABLE + +#define SDL_PS2_SKIP_IOP_RESET() \ + void reset_IOP(); \ + void reset_IOP() {} + +#elif defined(__3DS__) +/* + On N3DS, SDL provides a main function that sets up the screens + and storage. + + If you provide this yourself, you may define SDL_MAIN_HANDLED +*/ +#define SDL_MAIN_AVAILABLE + +#endif +#endif /* SDL_MAIN_HANDLED */ + +#ifndef SDLMAIN_DECLSPEC +#define SDLMAIN_DECLSPEC +#endif + +/** + * \file SDL_main.h + * + * The application's main() function must be called with C linkage, + * and should be declared like this: + * \code + * #ifdef __cplusplus + * extern "C" + * #endif + * int main(int argc, char *argv[]) + * { + * } + * \endcode + */ + +#if defined(SDL_MAIN_NEEDED) || defined(SDL_MAIN_AVAILABLE) +#define main SDL_main +#endif + +#include "begin_code.h" +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The prototype for the application's main() function + */ +typedef int (*SDL_main_func)(int argc, char *argv[]); +extern SDLMAIN_DECLSPEC int SDL_main(int argc, char *argv[]); + + +/** + * Circumvent failure of SDL_Init() when not using SDL_main() as an entry + * point. + * + * This function is defined in SDL_main.h, along with the preprocessor rule to + * redefine main() as SDL_main(). Thus to ensure that your main() function + * will not be changed it is necessary to define SDL_MAIN_HANDLED before + * including SDL.h. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_Init + */ +extern DECLSPEC void SDLCALL SDL_SetMainReady(void); + +#if defined(__WIN32__) || defined(__GDK__) + +/** + * Register a win32 window class for SDL's use. + * + * This can be called to set the application window class at startup. It is + * safe to call this multiple times, as long as every call is eventually + * paired with a call to SDL_UnregisterApp, but a second registration attempt + * while a previous registration is still active will be ignored, other than + * to increment a counter. + * + * Most applications do not need to, and should not, call this directly; SDL + * will call it when initializing the video subsystem. + * + * \param name the window class name, in UTF-8 encoding. If NULL, SDL + * currently uses "SDL_app" but this isn't guaranteed. + * \param style the value to use in WNDCLASSEX::style. If `name` is NULL, SDL + * currently uses `(CS_BYTEALIGNCLIENT | CS_OWNDC)` regardless of + * what is specified here. + * \param hInst the HINSTANCE to use in WNDCLASSEX::hInstance. If zero, SDL + * will use `GetModuleHandle(NULL)` instead. + * \returns 0 on success, -1 on error. SDL_GetError() may have details. + * + * \since This function is available since SDL 2.0.2. + */ +extern DECLSPEC int SDLCALL SDL_RegisterApp(const char *name, Uint32 style, void *hInst); + +/** + * Deregister the win32 window class from an SDL_RegisterApp call. + * + * This can be called to undo the effects of SDL_RegisterApp. + * + * Most applications do not need to, and should not, call this directly; SDL + * will call it when deinitializing the video subsystem. + * + * It is safe to call this multiple times, as long as every call is eventually + * paired with a prior call to SDL_RegisterApp. The window class will only be + * deregistered when the registration counter in SDL_RegisterApp decrements to + * zero through calls to this function. + * + * \since This function is available since SDL 2.0.2. + */ +extern DECLSPEC void SDLCALL SDL_UnregisterApp(void); + +#endif /* defined(__WIN32__) || defined(__GDK__) */ + + +#ifdef __WINRT__ + +/** + * Initialize and launch an SDL/WinRT application. + * + * \param mainFunction the SDL app's C-style main(), an SDL_main_func + * \param reserved reserved for future use; should be NULL + * \returns 0 on success or -1 on failure; call SDL_GetError() to retrieve + * more information on the failure. + * + * \since This function is available since SDL 2.0.3. + */ +extern DECLSPEC int SDLCALL SDL_WinRTRunApp(SDL_main_func mainFunction, void * reserved); + +#endif /* __WINRT__ */ + +#if defined(__IPHONEOS__) + +/** + * Initializes and launches an SDL application. + * + * \param argc The argc parameter from the application's main() function + * \param argv The argv parameter from the application's main() function + * \param mainFunction The SDL app's C-style main(), an SDL_main_func + * \return the return value from mainFunction + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_UIKitRunApp(int argc, char *argv[], SDL_main_func mainFunction); + +#endif /* __IPHONEOS__ */ + +#ifdef __GDK__ + +/** + * Initialize and launch an SDL GDK application. + * + * \param mainFunction the SDL app's C-style main(), an SDL_main_func + * \param reserved reserved for future use; should be NULL + * \returns 0 on success or -1 on failure; call SDL_GetError() to retrieve + * more information on the failure. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC int SDLCALL SDL_GDKRunApp(SDL_main_func mainFunction, void *reserved); + +#endif /* __GDK__ */ + +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_main_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_messagebox.h b/subprojects/sdl2_windows/include/SDL2/SDL_messagebox.h new file mode 100644 index 000000000..d763534d2 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_messagebox.h @@ -0,0 +1,193 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_messagebox_h_ +#define SDL_messagebox_h_ + +#include "SDL_stdinc.h" +#include "SDL_video.h" /* For SDL_Window */ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * SDL_MessageBox flags. If supported will display warning icon, etc. + */ +typedef enum +{ + SDL_MESSAGEBOX_ERROR = 0x00000010, /**< error dialog */ + SDL_MESSAGEBOX_WARNING = 0x00000020, /**< warning dialog */ + SDL_MESSAGEBOX_INFORMATION = 0x00000040, /**< informational dialog */ + SDL_MESSAGEBOX_BUTTONS_LEFT_TO_RIGHT = 0x00000080, /**< buttons placed left to right */ + SDL_MESSAGEBOX_BUTTONS_RIGHT_TO_LEFT = 0x00000100 /**< buttons placed right to left */ +} SDL_MessageBoxFlags; + +/** + * Flags for SDL_MessageBoxButtonData. + */ +typedef enum +{ + SDL_MESSAGEBOX_BUTTON_RETURNKEY_DEFAULT = 0x00000001, /**< Marks the default button when return is hit */ + SDL_MESSAGEBOX_BUTTON_ESCAPEKEY_DEFAULT = 0x00000002 /**< Marks the default button when escape is hit */ +} SDL_MessageBoxButtonFlags; + +/** + * Individual button data. + */ +typedef struct +{ + Uint32 flags; /**< ::SDL_MessageBoxButtonFlags */ + int buttonid; /**< User defined button id (value returned via SDL_ShowMessageBox) */ + const char * text; /**< The UTF-8 button text */ +} SDL_MessageBoxButtonData; + +/** + * RGB value used in a message box color scheme + */ +typedef struct +{ + Uint8 r, g, b; +} SDL_MessageBoxColor; + +typedef enum +{ + SDL_MESSAGEBOX_COLOR_BACKGROUND, + SDL_MESSAGEBOX_COLOR_TEXT, + SDL_MESSAGEBOX_COLOR_BUTTON_BORDER, + SDL_MESSAGEBOX_COLOR_BUTTON_BACKGROUND, + SDL_MESSAGEBOX_COLOR_BUTTON_SELECTED, + SDL_MESSAGEBOX_COLOR_MAX +} SDL_MessageBoxColorType; + +/** + * A set of colors to use for message box dialogs + */ +typedef struct +{ + SDL_MessageBoxColor colors[SDL_MESSAGEBOX_COLOR_MAX]; +} SDL_MessageBoxColorScheme; + +/** + * MessageBox structure containing title, text, window, etc. + */ +typedef struct +{ + Uint32 flags; /**< ::SDL_MessageBoxFlags */ + SDL_Window *window; /**< Parent window, can be NULL */ + const char *title; /**< UTF-8 title */ + const char *message; /**< UTF-8 message text */ + + int numbuttons; + const SDL_MessageBoxButtonData *buttons; + + const SDL_MessageBoxColorScheme *colorScheme; /**< ::SDL_MessageBoxColorScheme, can be NULL to use system settings */ +} SDL_MessageBoxData; + +/** + * Create a modal message box. + * + * If your needs aren't complex, it might be easier to use + * SDL_ShowSimpleMessageBox. + * + * This function should be called on the thread that created the parent + * window, or on the main thread if the messagebox has no parent. It will + * block execution of that thread until the user clicks a button or closes the + * messagebox. + * + * This function may be called at any time, even before SDL_Init(). This makes + * it useful for reporting errors like a failure to create a renderer or + * OpenGL context. + * + * On X11, SDL rolls its own dialog box with X11 primitives instead of a + * formal toolkit like GTK+ or Qt. + * + * Note that if SDL_Init() would fail because there isn't any available video + * target, this function is likely to fail for the same reasons. If this is a + * concern, check the return value from this function and fall back to writing + * to stderr if you can. + * + * \param messageboxdata the SDL_MessageBoxData structure with title, text and + * other options + * \param buttonid the pointer to which user id of hit button should be copied + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ShowSimpleMessageBox + */ +extern DECLSPEC int SDLCALL SDL_ShowMessageBox(const SDL_MessageBoxData *messageboxdata, int *buttonid); + +/** + * Display a simple modal message box. + * + * If your needs aren't complex, this function is preferred over + * SDL_ShowMessageBox. + * + * `flags` may be any of the following: + * + * - `SDL_MESSAGEBOX_ERROR`: error dialog + * - `SDL_MESSAGEBOX_WARNING`: warning dialog + * - `SDL_MESSAGEBOX_INFORMATION`: informational dialog + * + * This function should be called on the thread that created the parent + * window, or on the main thread if the messagebox has no parent. It will + * block execution of that thread until the user clicks a button or closes the + * messagebox. + * + * This function may be called at any time, even before SDL_Init(). This makes + * it useful for reporting errors like a failure to create a renderer or + * OpenGL context. + * + * On X11, SDL rolls its own dialog box with X11 primitives instead of a + * formal toolkit like GTK+ or Qt. + * + * Note that if SDL_Init() would fail because there isn't any available video + * target, this function is likely to fail for the same reasons. If this is a + * concern, check the return value from this function and fall back to writing + * to stderr if you can. + * + * \param flags an SDL_MessageBoxFlags value + * \param title UTF-8 title text + * \param message UTF-8 message text + * \param window the parent window, or NULL for no parent + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ShowMessageBox + */ +extern DECLSPEC int SDLCALL SDL_ShowSimpleMessageBox(Uint32 flags, const char *title, const char *message, SDL_Window *window); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_messagebox_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_metal.h b/subprojects/sdl2_windows/include/SDL2/SDL_metal.h new file mode 100644 index 000000000..92854710e --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_metal.h @@ -0,0 +1,113 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_metal.h + * + * Header file for functions to creating Metal layers and views on SDL windows. + */ + +#ifndef SDL_metal_h_ +#define SDL_metal_h_ + +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief A handle to a CAMetalLayer-backed NSView (macOS) or UIView (iOS/tvOS). + * + * \note This can be cast directly to an NSView or UIView. + */ +typedef void *SDL_MetalView; + +/** + * \name Metal support functions + */ +/* @{ */ + +/** + * Create a CAMetalLayer-backed NSView/UIView and attach it to the specified + * window. + * + * On macOS, this does *not* associate a MTLDevice with the CAMetalLayer on + * its own. It is up to user code to do that. + * + * The returned handle can be casted directly to a NSView or UIView. To access + * the backing CAMetalLayer, call SDL_Metal_GetLayer(). + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_Metal_DestroyView + * \sa SDL_Metal_GetLayer + */ +extern DECLSPEC SDL_MetalView SDLCALL SDL_Metal_CreateView(SDL_Window * window); + +/** + * Destroy an existing SDL_MetalView object. + * + * This should be called before SDL_DestroyWindow, if SDL_Metal_CreateView was + * called after SDL_CreateWindow. + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_Metal_CreateView + */ +extern DECLSPEC void SDLCALL SDL_Metal_DestroyView(SDL_MetalView view); + +/** + * Get a pointer to the backing CAMetalLayer for the given view. + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_Metal_CreateView + */ +extern DECLSPEC void *SDLCALL SDL_Metal_GetLayer(SDL_MetalView view); + +/** + * Get the size of a window's underlying drawable in pixels (for use with + * setting viewport, scissor & etc). + * + * \param window SDL_Window from which the drawable size should be queried + * \param w Pointer to variable for storing the width in pixels, may be NULL + * \param h Pointer to variable for storing the height in pixels, may be NULL + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_GetWindowSize + * \sa SDL_CreateWindow + */ +extern DECLSPEC void SDLCALL SDL_Metal_GetDrawableSize(SDL_Window* window, int *w, + int *h); + +/* @} *//* Metal support functions */ + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_metal_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_misc.h b/subprojects/sdl2_windows/include/SDL2/SDL_misc.h new file mode 100644 index 000000000..261b6b871 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_misc.h @@ -0,0 +1,79 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_misc.h + * + * \brief Include file for SDL API functions that don't fit elsewhere. + */ + +#ifndef SDL_misc_h_ +#define SDL_misc_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" + +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Open a URL/URI in the browser or other appropriate external application. + * + * Open a URL in a separate, system-provided application. How this works will + * vary wildly depending on the platform. This will likely launch what makes + * sense to handle a specific URL's protocol (a web browser for `http://`, + * etc), but it might also be able to launch file managers for directories and + * other things. + * + * What happens when you open a URL varies wildly as well: your game window + * may lose focus (and may or may not lose focus if your game was fullscreen + * or grabbing input at the time). On mobile devices, your app will likely + * move to the background or your process might be paused. Any given platform + * may or may not handle a given URL. + * + * If this is unimplemented (or simply unavailable) for a platform, this will + * fail with an error. A successful result does not mean the URL loaded, just + * that we launched _something_ to handle it (or at least believe we did). + * + * All this to say: this function can be useful, but you should definitely + * test it on every platform you target. + * + * \param url A valid URL/URI to open. Use `file:///full/path/to/file` for + * local files, if supported. + * \returns 0 on success, or -1 on error; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC int SDLCALL SDL_OpenURL(const char *url); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_misc_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_mouse.h b/subprojects/sdl2_windows/include/SDL2/SDL_mouse.h new file mode 100644 index 000000000..b318c7038 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_mouse.h @@ -0,0 +1,465 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_mouse.h + * + * Include file for SDL mouse event handling. + */ + +#ifndef SDL_mouse_h_ +#define SDL_mouse_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct SDL_Cursor SDL_Cursor; /**< Implementation dependent */ + +/** + * \brief Cursor types for SDL_CreateSystemCursor(). + */ +typedef enum +{ + SDL_SYSTEM_CURSOR_ARROW, /**< Arrow */ + SDL_SYSTEM_CURSOR_IBEAM, /**< I-beam */ + SDL_SYSTEM_CURSOR_WAIT, /**< Wait */ + SDL_SYSTEM_CURSOR_CROSSHAIR, /**< Crosshair */ + SDL_SYSTEM_CURSOR_WAITARROW, /**< Small wait cursor (or Wait if not available) */ + SDL_SYSTEM_CURSOR_SIZENWSE, /**< Double arrow pointing northwest and southeast */ + SDL_SYSTEM_CURSOR_SIZENESW, /**< Double arrow pointing northeast and southwest */ + SDL_SYSTEM_CURSOR_SIZEWE, /**< Double arrow pointing west and east */ + SDL_SYSTEM_CURSOR_SIZENS, /**< Double arrow pointing north and south */ + SDL_SYSTEM_CURSOR_SIZEALL, /**< Four pointed arrow pointing north, south, east, and west */ + SDL_SYSTEM_CURSOR_NO, /**< Slashed circle or crossbones */ + SDL_SYSTEM_CURSOR_HAND, /**< Hand */ + SDL_NUM_SYSTEM_CURSORS +} SDL_SystemCursor; + +/** + * \brief Scroll direction types for the Scroll event + */ +typedef enum +{ + SDL_MOUSEWHEEL_NORMAL, /**< The scroll direction is normal */ + SDL_MOUSEWHEEL_FLIPPED /**< The scroll direction is flipped / natural */ +} SDL_MouseWheelDirection; + +/* Function prototypes */ + +/** + * Get the window which currently has mouse focus. + * + * \returns the window with mouse focus. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_GetMouseFocus(void); + +/** + * Retrieve the current state of the mouse. + * + * The current button state is returned as a button bitmask, which can be + * tested using the `SDL_BUTTON(X)` macros (where `X` is generally 1 for the + * left, 2 for middle, 3 for the right button), and `x` and `y` are set to the + * mouse cursor position relative to the focus window. You can pass NULL for + * either `x` or `y`. + * + * \param x the x coordinate of the mouse cursor position relative to the + * focus window + * \param y the y coordinate of the mouse cursor position relative to the + * focus window + * \returns a 32-bit button bitmask of the current button state. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetGlobalMouseState + * \sa SDL_GetRelativeMouseState + * \sa SDL_PumpEvents + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetMouseState(int *x, int *y); + +/** + * Get the current state of the mouse in relation to the desktop. + * + * This works similarly to SDL_GetMouseState(), but the coordinates will be + * reported relative to the top-left of the desktop. This can be useful if you + * need to track the mouse outside of a specific window and SDL_CaptureMouse() + * doesn't fit your needs. For example, it could be useful if you need to + * track the mouse while dragging a window, where coordinates relative to a + * window might not be in sync at all times. + * + * Note: SDL_GetMouseState() returns the mouse position as SDL understands it + * from the last pump of the event queue. This function, however, queries the + * OS for the current mouse position, and as such, might be a slightly less + * efficient function. Unless you know what you're doing and have a good + * reason to use this function, you probably want SDL_GetMouseState() instead. + * + * \param x filled in with the current X coord relative to the desktop; can be + * NULL + * \param y filled in with the current Y coord relative to the desktop; can be + * NULL + * \returns the current button state as a bitmask which can be tested using + * the SDL_BUTTON(X) macros. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_CaptureMouse + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetGlobalMouseState(int *x, int *y); + +/** + * Retrieve the relative state of the mouse. + * + * The current button state is returned as a button bitmask, which can be + * tested using the `SDL_BUTTON(X)` macros (where `X` is generally 1 for the + * left, 2 for middle, 3 for the right button), and `x` and `y` are set to the + * mouse deltas since the last call to SDL_GetRelativeMouseState() or since + * event initialization. You can pass NULL for either `x` or `y`. + * + * \param x a pointer filled with the last recorded x coordinate of the mouse + * \param y a pointer filled with the last recorded y coordinate of the mouse + * \returns a 32-bit button bitmask of the relative button state. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetMouseState + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetRelativeMouseState(int *x, int *y); + +/** + * Move the mouse cursor to the given position within the window. + * + * This function generates a mouse motion event if relative mode is not + * enabled. If relative mode is enabled, you can force mouse events for the + * warp by setting the SDL_HINT_MOUSE_RELATIVE_WARP_MOTION hint. + * + * Note that this function will appear to succeed, but not actually move the + * mouse when used over Microsoft Remote Desktop. + * + * \param window the window to move the mouse into, or NULL for the current + * mouse focus + * \param x the x coordinate within the window + * \param y the y coordinate within the window + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WarpMouseGlobal + */ +extern DECLSPEC void SDLCALL SDL_WarpMouseInWindow(SDL_Window * window, + int x, int y); + +/** + * Move the mouse to the given position in global screen space. + * + * This function generates a mouse motion event. + * + * A failure of this function usually means that it is unsupported by a + * platform. + * + * Note that this function will appear to succeed, but not actually move the + * mouse when used over Microsoft Remote Desktop. + * + * \param x the x coordinate + * \param y the y coordinate + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_WarpMouseInWindow + */ +extern DECLSPEC int SDLCALL SDL_WarpMouseGlobal(int x, int y); + +/** + * Set relative mouse mode. + * + * While the mouse is in relative mode, the cursor is hidden, and the driver + * will try to report continuous motion in the current window. Only relative + * motion events will be delivered, the mouse position will not change. + * + * Note that this function will not be able to provide continuous relative + * motion when used over Microsoft Remote Desktop, instead motion is limited + * to the bounds of the screen. + * + * This function will flush any pending mouse motion. + * + * \param enabled SDL_TRUE to enable relative mode, SDL_FALSE to disable. + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * If relative mode is not supported, this returns -1. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRelativeMouseMode + */ +extern DECLSPEC int SDLCALL SDL_SetRelativeMouseMode(SDL_bool enabled); + +/** + * Capture the mouse and to track input outside an SDL window. + * + * Capturing enables your app to obtain mouse events globally, instead of just + * within your window. Not all video targets support this function. When + * capturing is enabled, the current window will get all mouse events, but + * unlike relative mode, no change is made to the cursor and it is not + * restrained to your window. + * + * This function may also deny mouse input to other windows--both those in + * your application and others on the system--so you should use this function + * sparingly, and in small bursts. For example, you might want to track the + * mouse while the user is dragging something, until the user releases a mouse + * button. It is not recommended that you capture the mouse for long periods + * of time, such as the entire time your app is running. For that, you should + * probably use SDL_SetRelativeMouseMode() or SDL_SetWindowGrab(), depending + * on your goals. + * + * While captured, mouse events still report coordinates relative to the + * current (foreground) window, but those coordinates may be outside the + * bounds of the window (including negative values). Capturing is only allowed + * for the foreground window. If the window loses focus while capturing, the + * capture will be disabled automatically. + * + * While capturing is enabled, the current window will have the + * `SDL_WINDOW_MOUSE_CAPTURE` flag set. + * + * Please note that as of SDL 2.0.22, SDL will attempt to "auto capture" the + * mouse while the user is pressing a button; this is to try and make mouse + * behavior more consistent between platforms, and deal with the common case + * of a user dragging the mouse outside of the window. This means that if you + * are calling SDL_CaptureMouse() only to deal with this situation, you no + * longer have to (although it is safe to do so). If this causes problems for + * your app, you can disable auto capture by setting the + * `SDL_HINT_MOUSE_AUTO_CAPTURE` hint to zero. + * + * \param enabled SDL_TRUE to enable capturing, SDL_FALSE to disable. + * \returns 0 on success or -1 if not supported; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_GetGlobalMouseState + */ +extern DECLSPEC int SDLCALL SDL_CaptureMouse(SDL_bool enabled); + +/** + * Query whether relative mouse mode is enabled. + * + * \returns SDL_TRUE if relative mode is enabled or SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetRelativeMouseMode + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetRelativeMouseMode(void); + +/** + * Create a cursor using the specified bitmap data and mask (in MSB format). + * + * `mask` has to be in MSB (Most Significant Bit) format. + * + * The cursor width (`w`) must be a multiple of 8 bits. + * + * The cursor is created in black and white according to the following: + * + * - data=0, mask=1: white + * - data=1, mask=1: black + * - data=0, mask=0: transparent + * - data=1, mask=0: inverted color if possible, black if not. + * + * Cursors created with this function must be freed with SDL_FreeCursor(). + * + * If you want to have a color cursor, or create your cursor from an + * SDL_Surface, you should use SDL_CreateColorCursor(). Alternately, you can + * hide the cursor and draw your own as part of your game's rendering, but it + * will be bound to the framerate. + * + * Also, since SDL 2.0.0, SDL_CreateSystemCursor() is available, which + * provides twelve readily available system cursors to pick from. + * + * \param data the color value for each pixel of the cursor + * \param mask the mask value for each pixel of the cursor + * \param w the width of the cursor + * \param h the height of the cursor + * \param hot_x the X-axis location of the upper left corner of the cursor + * relative to the actual mouse position + * \param hot_y the Y-axis location of the upper left corner of the cursor + * relative to the actual mouse position + * \returns a new cursor with the specified parameters on success or NULL on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreeCursor + * \sa SDL_SetCursor + * \sa SDL_ShowCursor + */ +extern DECLSPEC SDL_Cursor *SDLCALL SDL_CreateCursor(const Uint8 * data, + const Uint8 * mask, + int w, int h, int hot_x, + int hot_y); + +/** + * Create a color cursor. + * + * \param surface an SDL_Surface structure representing the cursor image + * \param hot_x the x position of the cursor hot spot + * \param hot_y the y position of the cursor hot spot + * \returns the new cursor on success or NULL on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateCursor + * \sa SDL_FreeCursor + */ +extern DECLSPEC SDL_Cursor *SDLCALL SDL_CreateColorCursor(SDL_Surface *surface, + int hot_x, + int hot_y); + +/** + * Create a system cursor. + * + * \param id an SDL_SystemCursor enum value + * \returns a cursor on success or NULL on failure; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreeCursor + */ +extern DECLSPEC SDL_Cursor *SDLCALL SDL_CreateSystemCursor(SDL_SystemCursor id); + +/** + * Set the active cursor. + * + * This function sets the currently active cursor to the specified one. If the + * cursor is currently visible, the change will be immediately represented on + * the display. SDL_SetCursor(NULL) can be used to force cursor redraw, if + * this is desired for any reason. + * + * \param cursor a cursor to make active + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateCursor + * \sa SDL_GetCursor + * \sa SDL_ShowCursor + */ +extern DECLSPEC void SDLCALL SDL_SetCursor(SDL_Cursor * cursor); + +/** + * Get the active cursor. + * + * This function returns a pointer to the current cursor which is owned by the + * library. It is not necessary to free the cursor with SDL_FreeCursor(). + * + * \returns the active cursor or NULL if there is no mouse. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetCursor + */ +extern DECLSPEC SDL_Cursor *SDLCALL SDL_GetCursor(void); + +/** + * Get the default cursor. + * + * \returns the default cursor on success or NULL on failure. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSystemCursor + */ +extern DECLSPEC SDL_Cursor *SDLCALL SDL_GetDefaultCursor(void); + +/** + * Free a previously-created cursor. + * + * Use this function to free cursor resources created with SDL_CreateCursor(), + * SDL_CreateColorCursor() or SDL_CreateSystemCursor(). + * + * \param cursor the cursor to free + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateColorCursor + * \sa SDL_CreateCursor + * \sa SDL_CreateSystemCursor + */ +extern DECLSPEC void SDLCALL SDL_FreeCursor(SDL_Cursor * cursor); + +/** + * Toggle whether or not the cursor is shown. + * + * The cursor starts off displayed but can be turned off. Passing `SDL_ENABLE` + * displays the cursor and passing `SDL_DISABLE` hides it. + * + * The current state of the mouse cursor can be queried by passing + * `SDL_QUERY`; either `SDL_DISABLE` or `SDL_ENABLE` will be returned. + * + * \param toggle `SDL_ENABLE` to show the cursor, `SDL_DISABLE` to hide it, + * `SDL_QUERY` to query the current state without changing it. + * \returns `SDL_ENABLE` if the cursor is shown, or `SDL_DISABLE` if the + * cursor is hidden, or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateCursor + * \sa SDL_SetCursor + */ +extern DECLSPEC int SDLCALL SDL_ShowCursor(int toggle); + +/** + * Used as a mask when testing buttons in buttonstate. + * + * - Button 1: Left mouse button + * - Button 2: Middle mouse button + * - Button 3: Right mouse button + */ +#define SDL_BUTTON(X) (1 << ((X)-1)) +#define SDL_BUTTON_LEFT 1 +#define SDL_BUTTON_MIDDLE 2 +#define SDL_BUTTON_RIGHT 3 +#define SDL_BUTTON_X1 4 +#define SDL_BUTTON_X2 5 +#define SDL_BUTTON_LMASK SDL_BUTTON(SDL_BUTTON_LEFT) +#define SDL_BUTTON_MMASK SDL_BUTTON(SDL_BUTTON_MIDDLE) +#define SDL_BUTTON_RMASK SDL_BUTTON(SDL_BUTTON_RIGHT) +#define SDL_BUTTON_X1MASK SDL_BUTTON(SDL_BUTTON_X1) +#define SDL_BUTTON_X2MASK SDL_BUTTON(SDL_BUTTON_X2) + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_mouse_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_mutex.h b/subprojects/sdl2_windows/include/SDL2/SDL_mutex.h new file mode 100644 index 000000000..173468f6a --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_mutex.h @@ -0,0 +1,471 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_mutex_h_ +#define SDL_mutex_h_ + +/** + * \file SDL_mutex.h + * + * Functions to provide thread synchronization primitives. + */ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Synchronization functions which can time out return this value + * if they time out. + */ +#define SDL_MUTEX_TIMEDOUT 1 + +/** + * This is the timeout value which corresponds to never time out. + */ +#define SDL_MUTEX_MAXWAIT (~(Uint32)0) + + +/** + * \name Mutex functions + */ +/* @{ */ + +/* The SDL mutex structure, defined in SDL_sysmutex.c */ +struct SDL_mutex; +typedef struct SDL_mutex SDL_mutex; + +/** + * Create a new mutex. + * + * All newly-created mutexes begin in the _unlocked_ state. + * + * Calls to SDL_LockMutex() will not return while the mutex is locked by + * another thread. See SDL_TryLockMutex() to attempt to lock without blocking. + * + * SDL mutexes are reentrant. + * + * \returns the initialized and unlocked mutex or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DestroyMutex + * \sa SDL_LockMutex + * \sa SDL_TryLockMutex + * \sa SDL_UnlockMutex + */ +extern DECLSPEC SDL_mutex *SDLCALL SDL_CreateMutex(void); + +/** + * Lock the mutex. + * + * This will block until the mutex is available, which is to say it is in the + * unlocked state and the OS has chosen the caller as the next thread to lock + * it. Of all threads waiting to lock the mutex, only one may do so at a time. + * + * It is legal for the owning thread to lock an already-locked mutex. It must + * unlock it the same number of times before it is actually made available for + * other threads in the system (this is known as a "recursive mutex"). + * + * \param mutex the mutex to lock + * \return 0, or -1 on error. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_LockMutex(SDL_mutex * mutex); +#define SDL_mutexP(m) SDL_LockMutex(m) + +/** + * Try to lock a mutex without blocking. + * + * This works just like SDL_LockMutex(), but if the mutex is not available, + * this function returns `SDL_MUTEX_TIMEOUT` immediately. + * + * This technique is useful if you need exclusive access to a resource but + * don't want to wait for it, and will return to it to try again later. + * + * \param mutex the mutex to try to lock + * \returns 0, `SDL_MUTEX_TIMEDOUT`, or -1 on error; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateMutex + * \sa SDL_DestroyMutex + * \sa SDL_LockMutex + * \sa SDL_UnlockMutex + */ +extern DECLSPEC int SDLCALL SDL_TryLockMutex(SDL_mutex * mutex); + +/** + * Unlock the mutex. + * + * It is legal for the owning thread to lock an already-locked mutex. It must + * unlock it the same number of times before it is actually made available for + * other threads in the system (this is known as a "recursive mutex"). + * + * It is an error to unlock a mutex that has not been locked by the current + * thread, and doing so results in undefined behavior. + * + * It is also an error to unlock a mutex that isn't locked at all. + * + * \param mutex the mutex to unlock. + * \returns 0, or -1 on error. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_UnlockMutex(SDL_mutex * mutex); +#define SDL_mutexV(m) SDL_UnlockMutex(m) + +/** + * Destroy a mutex created with SDL_CreateMutex(). + * + * This function must be called on any mutex that is no longer needed. Failure + * to destroy a mutex will result in a system memory or resource leak. While + * it is safe to destroy a mutex that is _unlocked_, it is not safe to attempt + * to destroy a locked mutex, and may result in undefined behavior depending + * on the platform. + * + * \param mutex the mutex to destroy + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateMutex + * \sa SDL_LockMutex + * \sa SDL_TryLockMutex + * \sa SDL_UnlockMutex + */ +extern DECLSPEC void SDLCALL SDL_DestroyMutex(SDL_mutex * mutex); + +/* @} *//* Mutex functions */ + + +/** + * \name Semaphore functions + */ +/* @{ */ + +/* The SDL semaphore structure, defined in SDL_syssem.c */ +struct SDL_semaphore; +typedef struct SDL_semaphore SDL_sem; + +/** + * Create a semaphore. + * + * This function creates a new semaphore and initializes it with the value + * `initial_value`. Each wait operation on the semaphore will atomically + * decrement the semaphore value and potentially block if the semaphore value + * is 0. Each post operation will atomically increment the semaphore value and + * wake waiting threads and allow them to retry the wait operation. + * + * \param initial_value the starting value of the semaphore + * \returns a new semaphore or NULL on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DestroySemaphore + * \sa SDL_SemPost + * \sa SDL_SemTryWait + * \sa SDL_SemValue + * \sa SDL_SemWait + * \sa SDL_SemWaitTimeout + */ +extern DECLSPEC SDL_sem *SDLCALL SDL_CreateSemaphore(Uint32 initial_value); + +/** + * Destroy a semaphore. + * + * It is not safe to destroy a semaphore if there are threads currently + * waiting on it. + * + * \param sem the semaphore to destroy + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSemaphore + * \sa SDL_SemPost + * \sa SDL_SemTryWait + * \sa SDL_SemValue + * \sa SDL_SemWait + * \sa SDL_SemWaitTimeout + */ +extern DECLSPEC void SDLCALL SDL_DestroySemaphore(SDL_sem * sem); + +/** + * Wait until a semaphore has a positive value and then decrements it. + * + * This function suspends the calling thread until either the semaphore + * pointed to by `sem` has a positive value or the call is interrupted by a + * signal or error. If the call is successful it will atomically decrement the + * semaphore value. + * + * This function is the equivalent of calling SDL_SemWaitTimeout() with a time + * length of `SDL_MUTEX_MAXWAIT`. + * + * \param sem the semaphore wait on + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSemaphore + * \sa SDL_DestroySemaphore + * \sa SDL_SemPost + * \sa SDL_SemTryWait + * \sa SDL_SemValue + * \sa SDL_SemWait + * \sa SDL_SemWaitTimeout + */ +extern DECLSPEC int SDLCALL SDL_SemWait(SDL_sem * sem); + +/** + * See if a semaphore has a positive value and decrement it if it does. + * + * This function checks to see if the semaphore pointed to by `sem` has a + * positive value and atomically decrements the semaphore value if it does. If + * the semaphore doesn't have a positive value, the function immediately + * returns SDL_MUTEX_TIMEDOUT. + * + * \param sem the semaphore to wait on + * \returns 0 if the wait succeeds, `SDL_MUTEX_TIMEDOUT` if the wait would + * block, or a negative error code on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSemaphore + * \sa SDL_DestroySemaphore + * \sa SDL_SemPost + * \sa SDL_SemValue + * \sa SDL_SemWait + * \sa SDL_SemWaitTimeout + */ +extern DECLSPEC int SDLCALL SDL_SemTryWait(SDL_sem * sem); + +/** + * Wait until a semaphore has a positive value and then decrements it. + * + * This function suspends the calling thread until either the semaphore + * pointed to by `sem` has a positive value, the call is interrupted by a + * signal or error, or the specified time has elapsed. If the call is + * successful it will atomically decrement the semaphore value. + * + * \param sem the semaphore to wait on + * \param ms the length of the timeout, in milliseconds + * \returns 0 if the wait succeeds, `SDL_MUTEX_TIMEDOUT` if the wait does not + * succeed in the allotted time, or a negative error code on failure; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSemaphore + * \sa SDL_DestroySemaphore + * \sa SDL_SemPost + * \sa SDL_SemTryWait + * \sa SDL_SemValue + * \sa SDL_SemWait + */ +extern DECLSPEC int SDLCALL SDL_SemWaitTimeout(SDL_sem * sem, Uint32 ms); + +/** + * Atomically increment a semaphore's value and wake waiting threads. + * + * \param sem the semaphore to increment + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSemaphore + * \sa SDL_DestroySemaphore + * \sa SDL_SemTryWait + * \sa SDL_SemValue + * \sa SDL_SemWait + * \sa SDL_SemWaitTimeout + */ +extern DECLSPEC int SDLCALL SDL_SemPost(SDL_sem * sem); + +/** + * Get the current value of a semaphore. + * + * \param sem the semaphore to query + * \returns the current value of the semaphore. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSemaphore + */ +extern DECLSPEC Uint32 SDLCALL SDL_SemValue(SDL_sem * sem); + +/* @} *//* Semaphore functions */ + + +/** + * \name Condition variable functions + */ +/* @{ */ + +/* The SDL condition variable structure, defined in SDL_syscond.c */ +struct SDL_cond; +typedef struct SDL_cond SDL_cond; + +/** + * Create a condition variable. + * + * \returns a new condition variable or NULL on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CondBroadcast + * \sa SDL_CondSignal + * \sa SDL_CondWait + * \sa SDL_CondWaitTimeout + * \sa SDL_DestroyCond + */ +extern DECLSPEC SDL_cond *SDLCALL SDL_CreateCond(void); + +/** + * Destroy a condition variable. + * + * \param cond the condition variable to destroy + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CondBroadcast + * \sa SDL_CondSignal + * \sa SDL_CondWait + * \sa SDL_CondWaitTimeout + * \sa SDL_CreateCond + */ +extern DECLSPEC void SDLCALL SDL_DestroyCond(SDL_cond * cond); + +/** + * Restart one of the threads that are waiting on the condition variable. + * + * \param cond the condition variable to signal + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CondBroadcast + * \sa SDL_CondWait + * \sa SDL_CondWaitTimeout + * \sa SDL_CreateCond + * \sa SDL_DestroyCond + */ +extern DECLSPEC int SDLCALL SDL_CondSignal(SDL_cond * cond); + +/** + * Restart all threads that are waiting on the condition variable. + * + * \param cond the condition variable to signal + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CondSignal + * \sa SDL_CondWait + * \sa SDL_CondWaitTimeout + * \sa SDL_CreateCond + * \sa SDL_DestroyCond + */ +extern DECLSPEC int SDLCALL SDL_CondBroadcast(SDL_cond * cond); + +/** + * Wait until a condition variable is signaled. + * + * This function unlocks the specified `mutex` and waits for another thread to + * call SDL_CondSignal() or SDL_CondBroadcast() on the condition variable + * `cond`. Once the condition variable is signaled, the mutex is re-locked and + * the function returns. + * + * The mutex must be locked before calling this function. + * + * This function is the equivalent of calling SDL_CondWaitTimeout() with a + * time length of `SDL_MUTEX_MAXWAIT`. + * + * \param cond the condition variable to wait on + * \param mutex the mutex used to coordinate thread access + * \returns 0 when it is signaled or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CondBroadcast + * \sa SDL_CondSignal + * \sa SDL_CondWaitTimeout + * \sa SDL_CreateCond + * \sa SDL_DestroyCond + */ +extern DECLSPEC int SDLCALL SDL_CondWait(SDL_cond * cond, SDL_mutex * mutex); + +/** + * Wait until a condition variable is signaled or a certain time has passed. + * + * This function unlocks the specified `mutex` and waits for another thread to + * call SDL_CondSignal() or SDL_CondBroadcast() on the condition variable + * `cond`, or for the specified time to elapse. Once the condition variable is + * signaled or the time elapsed, the mutex is re-locked and the function + * returns. + * + * The mutex must be locked before calling this function. + * + * \param cond the condition variable to wait on + * \param mutex the mutex used to coordinate thread access + * \param ms the maximum time to wait, in milliseconds, or `SDL_MUTEX_MAXWAIT` + * to wait indefinitely + * \returns 0 if the condition variable is signaled, `SDL_MUTEX_TIMEDOUT` if + * the condition is not signaled in the allotted time, or a negative + * error code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CondBroadcast + * \sa SDL_CondSignal + * \sa SDL_CondWait + * \sa SDL_CreateCond + * \sa SDL_DestroyCond + */ +extern DECLSPEC int SDLCALL SDL_CondWaitTimeout(SDL_cond * cond, + SDL_mutex * mutex, Uint32 ms); + +/* @} *//* Condition variable functions */ + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_mutex_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_name.h b/subprojects/sdl2_windows/include/SDL2/SDL_name.h new file mode 100644 index 000000000..6ff35b46e --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_name.h @@ -0,0 +1,33 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDLname_h_ +#define SDLname_h_ + +#if defined(__STDC__) || defined(__cplusplus) +#define NeedFunctionPrototypes 1 +#endif + +#define SDL_NAME(X) SDL_##X + +#endif /* SDLname_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengl.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengl.h new file mode 100644 index 000000000..0f2b257ab --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengl.h @@ -0,0 +1,2132 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_opengl.h + * + * This is a simple file to encapsulate the OpenGL API headers. + */ + +/** + * \def NO_SDL_GLEXT + * + * Define this if you have your own version of glext.h and want to disable the + * version included in SDL_opengl.h. + */ + +#ifndef SDL_opengl_h_ +#define SDL_opengl_h_ + +#include "SDL_config.h" + +#ifndef __IPHONEOS__ /* No OpenGL on iOS. */ + +/* + * Mesa 3-D graphics library + * + * Copyright (C) 1999-2006 Brian Paul All Rights Reserved. + * Copyright (C) 2009 VMware, Inc. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR + * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, + * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + */ + + +#ifndef __gl_h_ +#define __gl_h_ + +#if defined(USE_MGL_NAMESPACE) +#include "gl_mangle.h" +#endif + + +/********************************************************************** + * Begin system-specific stuff. + */ + +#if defined(_WIN32) && !defined(__WIN32__) && !defined(__CYGWIN__) +#define __WIN32__ +#endif + +#if defined(__WIN32__) && !defined(__CYGWIN__) +# if (defined(_MSC_VER) || defined(__MINGW32__)) && defined(BUILD_GL32) /* tag specify we're building mesa as a DLL */ +# define GLAPI __declspec(dllexport) +# elif (defined(_MSC_VER) || defined(__MINGW32__)) && defined(_DLL) /* tag specifying we're building for DLL runtime support */ +# define GLAPI __declspec(dllimport) +# else /* for use with static link lib build of Win32 edition only */ +# define GLAPI extern +# endif /* _STATIC_MESA support */ +# if defined(__MINGW32__) && defined(GL_NO_STDCALL) || defined(UNDER_CE) /* The generated DLLs by MingW with STDCALL are not compatible with the ones done by Microsoft's compilers */ +# define GLAPIENTRY +# else +# define GLAPIENTRY __stdcall +# endif +#elif defined(__CYGWIN__) && defined(USE_OPENGL32) /* use native windows opengl32 */ +# define GLAPI extern +# define GLAPIENTRY __stdcall +#elif defined(__OS2__) || defined(__EMX__) /* native os/2 opengl */ +# define GLAPI extern +# define GLAPIENTRY _System +# define APIENTRY _System +# if defined(__GNUC__) && !defined(_System) +# define _System +# endif +#elif (defined(__GNUC__) && __GNUC__ >= 4) || (defined(__SUNPRO_C) && (__SUNPRO_C >= 0x590)) +# define GLAPI __attribute__((visibility("default"))) +# define GLAPIENTRY +#endif /* WIN32 && !CYGWIN */ + +/* + * WINDOWS: Include windows.h here to define APIENTRY. + * It is also useful when applications include this file by + * including only glut.h, since glut.h depends on windows.h. + * Applications needing to include windows.h with parms other + * than "WIN32_LEAN_AND_MEAN" may include windows.h before + * glut.h or gl.h. + */ +#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) +#ifndef WIN32_LEAN_AND_MEAN +#define WIN32_LEAN_AND_MEAN 1 +#endif +#ifndef NOMINMAX /* don't define min() and max(). */ +#define NOMINMAX +#endif +#include +#endif + +#ifndef GLAPI +#define GLAPI extern +#endif + +#ifndef GLAPIENTRY +#define GLAPIENTRY +#endif + +#ifndef APIENTRY +#define APIENTRY GLAPIENTRY +#endif + +/* "P" suffix to be used for a pointer to a function */ +#ifndef APIENTRYP +#define APIENTRYP APIENTRY * +#endif + +#ifndef GLAPIENTRYP +#define GLAPIENTRYP GLAPIENTRY * +#endif + +#if defined(PRAGMA_EXPORT_SUPPORTED) +#pragma export on +#endif + +/* + * End system-specific stuff. + **********************************************************************/ + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#define GL_VERSION_1_1 1 +#define GL_VERSION_1_2 1 +#define GL_VERSION_1_3 1 +#define GL_ARB_imaging 1 + + +/* + * Datatypes + */ +typedef unsigned int GLenum; +typedef unsigned char GLboolean; +typedef unsigned int GLbitfield; +typedef void GLvoid; +typedef signed char GLbyte; /* 1-byte signed */ +typedef short GLshort; /* 2-byte signed */ +typedef int GLint; /* 4-byte signed */ +typedef unsigned char GLubyte; /* 1-byte unsigned */ +typedef unsigned short GLushort; /* 2-byte unsigned */ +typedef unsigned int GLuint; /* 4-byte unsigned */ +typedef int GLsizei; /* 4-byte signed */ +typedef float GLfloat; /* single precision float */ +typedef float GLclampf; /* single precision float in [0,1] */ +typedef double GLdouble; /* double precision float */ +typedef double GLclampd; /* double precision float in [0,1] */ + + + +/* + * Constants + */ + +/* Boolean values */ +#define GL_FALSE 0 +#define GL_TRUE 1 + +/* Data types */ +#define GL_BYTE 0x1400 +#define GL_UNSIGNED_BYTE 0x1401 +#define GL_SHORT 0x1402 +#define GL_UNSIGNED_SHORT 0x1403 +#define GL_INT 0x1404 +#define GL_UNSIGNED_INT 0x1405 +#define GL_FLOAT 0x1406 +#define GL_2_BYTES 0x1407 +#define GL_3_BYTES 0x1408 +#define GL_4_BYTES 0x1409 +#define GL_DOUBLE 0x140A + +/* Primitives */ +#define GL_POINTS 0x0000 +#define GL_LINES 0x0001 +#define GL_LINE_LOOP 0x0002 +#define GL_LINE_STRIP 0x0003 +#define GL_TRIANGLES 0x0004 +#define GL_TRIANGLE_STRIP 0x0005 +#define GL_TRIANGLE_FAN 0x0006 +#define GL_QUADS 0x0007 +#define GL_QUAD_STRIP 0x0008 +#define GL_POLYGON 0x0009 + +/* Vertex Arrays */ +#define GL_VERTEX_ARRAY 0x8074 +#define GL_NORMAL_ARRAY 0x8075 +#define GL_COLOR_ARRAY 0x8076 +#define GL_INDEX_ARRAY 0x8077 +#define GL_TEXTURE_COORD_ARRAY 0x8078 +#define GL_EDGE_FLAG_ARRAY 0x8079 +#define GL_VERTEX_ARRAY_SIZE 0x807A +#define GL_VERTEX_ARRAY_TYPE 0x807B +#define GL_VERTEX_ARRAY_STRIDE 0x807C +#define GL_NORMAL_ARRAY_TYPE 0x807E +#define GL_NORMAL_ARRAY_STRIDE 0x807F +#define GL_COLOR_ARRAY_SIZE 0x8081 +#define GL_COLOR_ARRAY_TYPE 0x8082 +#define GL_COLOR_ARRAY_STRIDE 0x8083 +#define GL_INDEX_ARRAY_TYPE 0x8085 +#define GL_INDEX_ARRAY_STRIDE 0x8086 +#define GL_TEXTURE_COORD_ARRAY_SIZE 0x8088 +#define GL_TEXTURE_COORD_ARRAY_TYPE 0x8089 +#define GL_TEXTURE_COORD_ARRAY_STRIDE 0x808A +#define GL_EDGE_FLAG_ARRAY_STRIDE 0x808C +#define GL_VERTEX_ARRAY_POINTER 0x808E +#define GL_NORMAL_ARRAY_POINTER 0x808F +#define GL_COLOR_ARRAY_POINTER 0x8090 +#define GL_INDEX_ARRAY_POINTER 0x8091 +#define GL_TEXTURE_COORD_ARRAY_POINTER 0x8092 +#define GL_EDGE_FLAG_ARRAY_POINTER 0x8093 +#define GL_V2F 0x2A20 +#define GL_V3F 0x2A21 +#define GL_C4UB_V2F 0x2A22 +#define GL_C4UB_V3F 0x2A23 +#define GL_C3F_V3F 0x2A24 +#define GL_N3F_V3F 0x2A25 +#define GL_C4F_N3F_V3F 0x2A26 +#define GL_T2F_V3F 0x2A27 +#define GL_T4F_V4F 0x2A28 +#define GL_T2F_C4UB_V3F 0x2A29 +#define GL_T2F_C3F_V3F 0x2A2A +#define GL_T2F_N3F_V3F 0x2A2B +#define GL_T2F_C4F_N3F_V3F 0x2A2C +#define GL_T4F_C4F_N3F_V4F 0x2A2D + +/* Matrix Mode */ +#define GL_MATRIX_MODE 0x0BA0 +#define GL_MODELVIEW 0x1700 +#define GL_PROJECTION 0x1701 +#define GL_TEXTURE 0x1702 + +/* Points */ +#define GL_POINT_SMOOTH 0x0B10 +#define GL_POINT_SIZE 0x0B11 +#define GL_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_POINT_SIZE_RANGE 0x0B12 + +/* Lines */ +#define GL_LINE_SMOOTH 0x0B20 +#define GL_LINE_STIPPLE 0x0B24 +#define GL_LINE_STIPPLE_PATTERN 0x0B25 +#define GL_LINE_STIPPLE_REPEAT 0x0B26 +#define GL_LINE_WIDTH 0x0B21 +#define GL_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_LINE_WIDTH_RANGE 0x0B22 + +/* Polygons */ +#define GL_POINT 0x1B00 +#define GL_LINE 0x1B01 +#define GL_FILL 0x1B02 +#define GL_CW 0x0900 +#define GL_CCW 0x0901 +#define GL_FRONT 0x0404 +#define GL_BACK 0x0405 +#define GL_POLYGON_MODE 0x0B40 +#define GL_POLYGON_SMOOTH 0x0B41 +#define GL_POLYGON_STIPPLE 0x0B42 +#define GL_EDGE_FLAG 0x0B43 +#define GL_CULL_FACE 0x0B44 +#define GL_CULL_FACE_MODE 0x0B45 +#define GL_FRONT_FACE 0x0B46 +#define GL_POLYGON_OFFSET_FACTOR 0x8038 +#define GL_POLYGON_OFFSET_UNITS 0x2A00 +#define GL_POLYGON_OFFSET_POINT 0x2A01 +#define GL_POLYGON_OFFSET_LINE 0x2A02 +#define GL_POLYGON_OFFSET_FILL 0x8037 + +/* Display Lists */ +#define GL_COMPILE 0x1300 +#define GL_COMPILE_AND_EXECUTE 0x1301 +#define GL_LIST_BASE 0x0B32 +#define GL_LIST_INDEX 0x0B33 +#define GL_LIST_MODE 0x0B30 + +/* Depth buffer */ +#define GL_NEVER 0x0200 +#define GL_LESS 0x0201 +#define GL_EQUAL 0x0202 +#define GL_LEQUAL 0x0203 +#define GL_GREATER 0x0204 +#define GL_NOTEQUAL 0x0205 +#define GL_GEQUAL 0x0206 +#define GL_ALWAYS 0x0207 +#define GL_DEPTH_TEST 0x0B71 +#define GL_DEPTH_BITS 0x0D56 +#define GL_DEPTH_CLEAR_VALUE 0x0B73 +#define GL_DEPTH_FUNC 0x0B74 +#define GL_DEPTH_RANGE 0x0B70 +#define GL_DEPTH_WRITEMASK 0x0B72 +#define GL_DEPTH_COMPONENT 0x1902 + +/* Lighting */ +#define GL_LIGHTING 0x0B50 +#define GL_LIGHT0 0x4000 +#define GL_LIGHT1 0x4001 +#define GL_LIGHT2 0x4002 +#define GL_LIGHT3 0x4003 +#define GL_LIGHT4 0x4004 +#define GL_LIGHT5 0x4005 +#define GL_LIGHT6 0x4006 +#define GL_LIGHT7 0x4007 +#define GL_SPOT_EXPONENT 0x1205 +#define GL_SPOT_CUTOFF 0x1206 +#define GL_CONSTANT_ATTENUATION 0x1207 +#define GL_LINEAR_ATTENUATION 0x1208 +#define GL_QUADRATIC_ATTENUATION 0x1209 +#define GL_AMBIENT 0x1200 +#define GL_DIFFUSE 0x1201 +#define GL_SPECULAR 0x1202 +#define GL_SHININESS 0x1601 +#define GL_EMISSION 0x1600 +#define GL_POSITION 0x1203 +#define GL_SPOT_DIRECTION 0x1204 +#define GL_AMBIENT_AND_DIFFUSE 0x1602 +#define GL_COLOR_INDEXES 0x1603 +#define GL_LIGHT_MODEL_TWO_SIDE 0x0B52 +#define GL_LIGHT_MODEL_LOCAL_VIEWER 0x0B51 +#define GL_LIGHT_MODEL_AMBIENT 0x0B53 +#define GL_FRONT_AND_BACK 0x0408 +#define GL_SHADE_MODEL 0x0B54 +#define GL_FLAT 0x1D00 +#define GL_SMOOTH 0x1D01 +#define GL_COLOR_MATERIAL 0x0B57 +#define GL_COLOR_MATERIAL_FACE 0x0B55 +#define GL_COLOR_MATERIAL_PARAMETER 0x0B56 +#define GL_NORMALIZE 0x0BA1 + +/* User clipping planes */ +#define GL_CLIP_PLANE0 0x3000 +#define GL_CLIP_PLANE1 0x3001 +#define GL_CLIP_PLANE2 0x3002 +#define GL_CLIP_PLANE3 0x3003 +#define GL_CLIP_PLANE4 0x3004 +#define GL_CLIP_PLANE5 0x3005 + +/* Accumulation buffer */ +#define GL_ACCUM_RED_BITS 0x0D58 +#define GL_ACCUM_GREEN_BITS 0x0D59 +#define GL_ACCUM_BLUE_BITS 0x0D5A +#define GL_ACCUM_ALPHA_BITS 0x0D5B +#define GL_ACCUM_CLEAR_VALUE 0x0B80 +#define GL_ACCUM 0x0100 +#define GL_ADD 0x0104 +#define GL_LOAD 0x0101 +#define GL_MULT 0x0103 +#define GL_RETURN 0x0102 + +/* Alpha testing */ +#define GL_ALPHA_TEST 0x0BC0 +#define GL_ALPHA_TEST_REF 0x0BC2 +#define GL_ALPHA_TEST_FUNC 0x0BC1 + +/* Blending */ +#define GL_BLEND 0x0BE2 +#define GL_BLEND_SRC 0x0BE1 +#define GL_BLEND_DST 0x0BE0 +#define GL_ZERO 0 +#define GL_ONE 1 +#define GL_SRC_COLOR 0x0300 +#define GL_ONE_MINUS_SRC_COLOR 0x0301 +#define GL_SRC_ALPHA 0x0302 +#define GL_ONE_MINUS_SRC_ALPHA 0x0303 +#define GL_DST_ALPHA 0x0304 +#define GL_ONE_MINUS_DST_ALPHA 0x0305 +#define GL_DST_COLOR 0x0306 +#define GL_ONE_MINUS_DST_COLOR 0x0307 +#define GL_SRC_ALPHA_SATURATE 0x0308 + +/* Render Mode */ +#define GL_FEEDBACK 0x1C01 +#define GL_RENDER 0x1C00 +#define GL_SELECT 0x1C02 + +/* Feedback */ +#define GL_2D 0x0600 +#define GL_3D 0x0601 +#define GL_3D_COLOR 0x0602 +#define GL_3D_COLOR_TEXTURE 0x0603 +#define GL_4D_COLOR_TEXTURE 0x0604 +#define GL_POINT_TOKEN 0x0701 +#define GL_LINE_TOKEN 0x0702 +#define GL_LINE_RESET_TOKEN 0x0707 +#define GL_POLYGON_TOKEN 0x0703 +#define GL_BITMAP_TOKEN 0x0704 +#define GL_DRAW_PIXEL_TOKEN 0x0705 +#define GL_COPY_PIXEL_TOKEN 0x0706 +#define GL_PASS_THROUGH_TOKEN 0x0700 +#define GL_FEEDBACK_BUFFER_POINTER 0x0DF0 +#define GL_FEEDBACK_BUFFER_SIZE 0x0DF1 +#define GL_FEEDBACK_BUFFER_TYPE 0x0DF2 + +/* Selection */ +#define GL_SELECTION_BUFFER_POINTER 0x0DF3 +#define GL_SELECTION_BUFFER_SIZE 0x0DF4 + +/* Fog */ +#define GL_FOG 0x0B60 +#define GL_FOG_MODE 0x0B65 +#define GL_FOG_DENSITY 0x0B62 +#define GL_FOG_COLOR 0x0B66 +#define GL_FOG_INDEX 0x0B61 +#define GL_FOG_START 0x0B63 +#define GL_FOG_END 0x0B64 +#define GL_LINEAR 0x2601 +#define GL_EXP 0x0800 +#define GL_EXP2 0x0801 + +/* Logic Ops */ +#define GL_LOGIC_OP 0x0BF1 +#define GL_INDEX_LOGIC_OP 0x0BF1 +#define GL_COLOR_LOGIC_OP 0x0BF2 +#define GL_LOGIC_OP_MODE 0x0BF0 +#define GL_CLEAR 0x1500 +#define GL_SET 0x150F +#define GL_COPY 0x1503 +#define GL_COPY_INVERTED 0x150C +#define GL_NOOP 0x1505 +#define GL_INVERT 0x150A +#define GL_AND 0x1501 +#define GL_NAND 0x150E +#define GL_OR 0x1507 +#define GL_NOR 0x1508 +#define GL_XOR 0x1506 +#define GL_EQUIV 0x1509 +#define GL_AND_REVERSE 0x1502 +#define GL_AND_INVERTED 0x1504 +#define GL_OR_REVERSE 0x150B +#define GL_OR_INVERTED 0x150D + +/* Stencil */ +#define GL_STENCIL_BITS 0x0D57 +#define GL_STENCIL_TEST 0x0B90 +#define GL_STENCIL_CLEAR_VALUE 0x0B91 +#define GL_STENCIL_FUNC 0x0B92 +#define GL_STENCIL_VALUE_MASK 0x0B93 +#define GL_STENCIL_FAIL 0x0B94 +#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 +#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 +#define GL_STENCIL_REF 0x0B97 +#define GL_STENCIL_WRITEMASK 0x0B98 +#define GL_STENCIL_INDEX 0x1901 +#define GL_KEEP 0x1E00 +#define GL_REPLACE 0x1E01 +#define GL_INCR 0x1E02 +#define GL_DECR 0x1E03 + +/* Buffers, Pixel Drawing/Reading */ +#define GL_NONE 0 +#define GL_LEFT 0x0406 +#define GL_RIGHT 0x0407 +/*GL_FRONT 0x0404 */ +/*GL_BACK 0x0405 */ +/*GL_FRONT_AND_BACK 0x0408 */ +#define GL_FRONT_LEFT 0x0400 +#define GL_FRONT_RIGHT 0x0401 +#define GL_BACK_LEFT 0x0402 +#define GL_BACK_RIGHT 0x0403 +#define GL_AUX0 0x0409 +#define GL_AUX1 0x040A +#define GL_AUX2 0x040B +#define GL_AUX3 0x040C +#define GL_COLOR_INDEX 0x1900 +#define GL_RED 0x1903 +#define GL_GREEN 0x1904 +#define GL_BLUE 0x1905 +#define GL_ALPHA 0x1906 +#define GL_LUMINANCE 0x1909 +#define GL_LUMINANCE_ALPHA 0x190A +#define GL_ALPHA_BITS 0x0D55 +#define GL_RED_BITS 0x0D52 +#define GL_GREEN_BITS 0x0D53 +#define GL_BLUE_BITS 0x0D54 +#define GL_INDEX_BITS 0x0D51 +#define GL_SUBPIXEL_BITS 0x0D50 +#define GL_AUX_BUFFERS 0x0C00 +#define GL_READ_BUFFER 0x0C02 +#define GL_DRAW_BUFFER 0x0C01 +#define GL_DOUBLEBUFFER 0x0C32 +#define GL_STEREO 0x0C33 +#define GL_BITMAP 0x1A00 +#define GL_COLOR 0x1800 +#define GL_DEPTH 0x1801 +#define GL_STENCIL 0x1802 +#define GL_DITHER 0x0BD0 +#define GL_RGB 0x1907 +#define GL_RGBA 0x1908 + +/* Implementation limits */ +#define GL_MAX_LIST_NESTING 0x0B31 +#define GL_MAX_EVAL_ORDER 0x0D30 +#define GL_MAX_LIGHTS 0x0D31 +#define GL_MAX_CLIP_PLANES 0x0D32 +#define GL_MAX_TEXTURE_SIZE 0x0D33 +#define GL_MAX_PIXEL_MAP_TABLE 0x0D34 +#define GL_MAX_ATTRIB_STACK_DEPTH 0x0D35 +#define GL_MAX_MODELVIEW_STACK_DEPTH 0x0D36 +#define GL_MAX_NAME_STACK_DEPTH 0x0D37 +#define GL_MAX_PROJECTION_STACK_DEPTH 0x0D38 +#define GL_MAX_TEXTURE_STACK_DEPTH 0x0D39 +#define GL_MAX_VIEWPORT_DIMS 0x0D3A +#define GL_MAX_CLIENT_ATTRIB_STACK_DEPTH 0x0D3B + +/* Gets */ +#define GL_ATTRIB_STACK_DEPTH 0x0BB0 +#define GL_CLIENT_ATTRIB_STACK_DEPTH 0x0BB1 +#define GL_COLOR_CLEAR_VALUE 0x0C22 +#define GL_COLOR_WRITEMASK 0x0C23 +#define GL_CURRENT_INDEX 0x0B01 +#define GL_CURRENT_COLOR 0x0B00 +#define GL_CURRENT_NORMAL 0x0B02 +#define GL_CURRENT_RASTER_COLOR 0x0B04 +#define GL_CURRENT_RASTER_DISTANCE 0x0B09 +#define GL_CURRENT_RASTER_INDEX 0x0B05 +#define GL_CURRENT_RASTER_POSITION 0x0B07 +#define GL_CURRENT_RASTER_TEXTURE_COORDS 0x0B06 +#define GL_CURRENT_RASTER_POSITION_VALID 0x0B08 +#define GL_CURRENT_TEXTURE_COORDS 0x0B03 +#define GL_INDEX_CLEAR_VALUE 0x0C20 +#define GL_INDEX_MODE 0x0C30 +#define GL_INDEX_WRITEMASK 0x0C21 +#define GL_MODELVIEW_MATRIX 0x0BA6 +#define GL_MODELVIEW_STACK_DEPTH 0x0BA3 +#define GL_NAME_STACK_DEPTH 0x0D70 +#define GL_PROJECTION_MATRIX 0x0BA7 +#define GL_PROJECTION_STACK_DEPTH 0x0BA4 +#define GL_RENDER_MODE 0x0C40 +#define GL_RGBA_MODE 0x0C31 +#define GL_TEXTURE_MATRIX 0x0BA8 +#define GL_TEXTURE_STACK_DEPTH 0x0BA5 +#define GL_VIEWPORT 0x0BA2 + +/* Evaluators */ +#define GL_AUTO_NORMAL 0x0D80 +#define GL_MAP1_COLOR_4 0x0D90 +#define GL_MAP1_INDEX 0x0D91 +#define GL_MAP1_NORMAL 0x0D92 +#define GL_MAP1_TEXTURE_COORD_1 0x0D93 +#define GL_MAP1_TEXTURE_COORD_2 0x0D94 +#define GL_MAP1_TEXTURE_COORD_3 0x0D95 +#define GL_MAP1_TEXTURE_COORD_4 0x0D96 +#define GL_MAP1_VERTEX_3 0x0D97 +#define GL_MAP1_VERTEX_4 0x0D98 +#define GL_MAP2_COLOR_4 0x0DB0 +#define GL_MAP2_INDEX 0x0DB1 +#define GL_MAP2_NORMAL 0x0DB2 +#define GL_MAP2_TEXTURE_COORD_1 0x0DB3 +#define GL_MAP2_TEXTURE_COORD_2 0x0DB4 +#define GL_MAP2_TEXTURE_COORD_3 0x0DB5 +#define GL_MAP2_TEXTURE_COORD_4 0x0DB6 +#define GL_MAP2_VERTEX_3 0x0DB7 +#define GL_MAP2_VERTEX_4 0x0DB8 +#define GL_MAP1_GRID_DOMAIN 0x0DD0 +#define GL_MAP1_GRID_SEGMENTS 0x0DD1 +#define GL_MAP2_GRID_DOMAIN 0x0DD2 +#define GL_MAP2_GRID_SEGMENTS 0x0DD3 +#define GL_COEFF 0x0A00 +#define GL_ORDER 0x0A01 +#define GL_DOMAIN 0x0A02 + +/* Hints */ +#define GL_PERSPECTIVE_CORRECTION_HINT 0x0C50 +#define GL_POINT_SMOOTH_HINT 0x0C51 +#define GL_LINE_SMOOTH_HINT 0x0C52 +#define GL_POLYGON_SMOOTH_HINT 0x0C53 +#define GL_FOG_HINT 0x0C54 +#define GL_DONT_CARE 0x1100 +#define GL_FASTEST 0x1101 +#define GL_NICEST 0x1102 + +/* Scissor box */ +#define GL_SCISSOR_BOX 0x0C10 +#define GL_SCISSOR_TEST 0x0C11 + +/* Pixel Mode / Transfer */ +#define GL_MAP_COLOR 0x0D10 +#define GL_MAP_STENCIL 0x0D11 +#define GL_INDEX_SHIFT 0x0D12 +#define GL_INDEX_OFFSET 0x0D13 +#define GL_RED_SCALE 0x0D14 +#define GL_RED_BIAS 0x0D15 +#define GL_GREEN_SCALE 0x0D18 +#define GL_GREEN_BIAS 0x0D19 +#define GL_BLUE_SCALE 0x0D1A +#define GL_BLUE_BIAS 0x0D1B +#define GL_ALPHA_SCALE 0x0D1C +#define GL_ALPHA_BIAS 0x0D1D +#define GL_DEPTH_SCALE 0x0D1E +#define GL_DEPTH_BIAS 0x0D1F +#define GL_PIXEL_MAP_S_TO_S_SIZE 0x0CB1 +#define GL_PIXEL_MAP_I_TO_I_SIZE 0x0CB0 +#define GL_PIXEL_MAP_I_TO_R_SIZE 0x0CB2 +#define GL_PIXEL_MAP_I_TO_G_SIZE 0x0CB3 +#define GL_PIXEL_MAP_I_TO_B_SIZE 0x0CB4 +#define GL_PIXEL_MAP_I_TO_A_SIZE 0x0CB5 +#define GL_PIXEL_MAP_R_TO_R_SIZE 0x0CB6 +#define GL_PIXEL_MAP_G_TO_G_SIZE 0x0CB7 +#define GL_PIXEL_MAP_B_TO_B_SIZE 0x0CB8 +#define GL_PIXEL_MAP_A_TO_A_SIZE 0x0CB9 +#define GL_PIXEL_MAP_S_TO_S 0x0C71 +#define GL_PIXEL_MAP_I_TO_I 0x0C70 +#define GL_PIXEL_MAP_I_TO_R 0x0C72 +#define GL_PIXEL_MAP_I_TO_G 0x0C73 +#define GL_PIXEL_MAP_I_TO_B 0x0C74 +#define GL_PIXEL_MAP_I_TO_A 0x0C75 +#define GL_PIXEL_MAP_R_TO_R 0x0C76 +#define GL_PIXEL_MAP_G_TO_G 0x0C77 +#define GL_PIXEL_MAP_B_TO_B 0x0C78 +#define GL_PIXEL_MAP_A_TO_A 0x0C79 +#define GL_PACK_ALIGNMENT 0x0D05 +#define GL_PACK_LSB_FIRST 0x0D01 +#define GL_PACK_ROW_LENGTH 0x0D02 +#define GL_PACK_SKIP_PIXELS 0x0D04 +#define GL_PACK_SKIP_ROWS 0x0D03 +#define GL_PACK_SWAP_BYTES 0x0D00 +#define GL_UNPACK_ALIGNMENT 0x0CF5 +#define GL_UNPACK_LSB_FIRST 0x0CF1 +#define GL_UNPACK_ROW_LENGTH 0x0CF2 +#define GL_UNPACK_SKIP_PIXELS 0x0CF4 +#define GL_UNPACK_SKIP_ROWS 0x0CF3 +#define GL_UNPACK_SWAP_BYTES 0x0CF0 +#define GL_ZOOM_X 0x0D16 +#define GL_ZOOM_Y 0x0D17 + +/* Texture mapping */ +#define GL_TEXTURE_ENV 0x2300 +#define GL_TEXTURE_ENV_MODE 0x2200 +#define GL_TEXTURE_1D 0x0DE0 +#define GL_TEXTURE_2D 0x0DE1 +#define GL_TEXTURE_WRAP_S 0x2802 +#define GL_TEXTURE_WRAP_T 0x2803 +#define GL_TEXTURE_MAG_FILTER 0x2800 +#define GL_TEXTURE_MIN_FILTER 0x2801 +#define GL_TEXTURE_ENV_COLOR 0x2201 +#define GL_TEXTURE_GEN_S 0x0C60 +#define GL_TEXTURE_GEN_T 0x0C61 +#define GL_TEXTURE_GEN_R 0x0C62 +#define GL_TEXTURE_GEN_Q 0x0C63 +#define GL_TEXTURE_GEN_MODE 0x2500 +#define GL_TEXTURE_BORDER_COLOR 0x1004 +#define GL_TEXTURE_WIDTH 0x1000 +#define GL_TEXTURE_HEIGHT 0x1001 +#define GL_TEXTURE_BORDER 0x1005 +#define GL_TEXTURE_COMPONENTS 0x1003 +#define GL_TEXTURE_RED_SIZE 0x805C +#define GL_TEXTURE_GREEN_SIZE 0x805D +#define GL_TEXTURE_BLUE_SIZE 0x805E +#define GL_TEXTURE_ALPHA_SIZE 0x805F +#define GL_TEXTURE_LUMINANCE_SIZE 0x8060 +#define GL_TEXTURE_INTENSITY_SIZE 0x8061 +#define GL_NEAREST_MIPMAP_NEAREST 0x2700 +#define GL_NEAREST_MIPMAP_LINEAR 0x2702 +#define GL_LINEAR_MIPMAP_NEAREST 0x2701 +#define GL_LINEAR_MIPMAP_LINEAR 0x2703 +#define GL_OBJECT_LINEAR 0x2401 +#define GL_OBJECT_PLANE 0x2501 +#define GL_EYE_LINEAR 0x2400 +#define GL_EYE_PLANE 0x2502 +#define GL_SPHERE_MAP 0x2402 +#define GL_DECAL 0x2101 +#define GL_MODULATE 0x2100 +#define GL_NEAREST 0x2600 +#define GL_REPEAT 0x2901 +#define GL_CLAMP 0x2900 +#define GL_S 0x2000 +#define GL_T 0x2001 +#define GL_R 0x2002 +#define GL_Q 0x2003 + +/* Utility */ +#define GL_VENDOR 0x1F00 +#define GL_RENDERER 0x1F01 +#define GL_VERSION 0x1F02 +#define GL_EXTENSIONS 0x1F03 + +/* Errors */ +#define GL_NO_ERROR 0 +#define GL_INVALID_ENUM 0x0500 +#define GL_INVALID_VALUE 0x0501 +#define GL_INVALID_OPERATION 0x0502 +#define GL_STACK_OVERFLOW 0x0503 +#define GL_STACK_UNDERFLOW 0x0504 +#define GL_OUT_OF_MEMORY 0x0505 + +/* glPush/PopAttrib bits */ +#define GL_CURRENT_BIT 0x00000001 +#define GL_POINT_BIT 0x00000002 +#define GL_LINE_BIT 0x00000004 +#define GL_POLYGON_BIT 0x00000008 +#define GL_POLYGON_STIPPLE_BIT 0x00000010 +#define GL_PIXEL_MODE_BIT 0x00000020 +#define GL_LIGHTING_BIT 0x00000040 +#define GL_FOG_BIT 0x00000080 +#define GL_DEPTH_BUFFER_BIT 0x00000100 +#define GL_ACCUM_BUFFER_BIT 0x00000200 +#define GL_STENCIL_BUFFER_BIT 0x00000400 +#define GL_VIEWPORT_BIT 0x00000800 +#define GL_TRANSFORM_BIT 0x00001000 +#define GL_ENABLE_BIT 0x00002000 +#define GL_COLOR_BUFFER_BIT 0x00004000 +#define GL_HINT_BIT 0x00008000 +#define GL_EVAL_BIT 0x00010000 +#define GL_LIST_BIT 0x00020000 +#define GL_TEXTURE_BIT 0x00040000 +#define GL_SCISSOR_BIT 0x00080000 +#define GL_ALL_ATTRIB_BITS 0x000FFFFF + + +/* OpenGL 1.1 */ +#define GL_PROXY_TEXTURE_1D 0x8063 +#define GL_PROXY_TEXTURE_2D 0x8064 +#define GL_TEXTURE_PRIORITY 0x8066 +#define GL_TEXTURE_RESIDENT 0x8067 +#define GL_TEXTURE_BINDING_1D 0x8068 +#define GL_TEXTURE_BINDING_2D 0x8069 +#define GL_TEXTURE_INTERNAL_FORMAT 0x1003 +#define GL_ALPHA4 0x803B +#define GL_ALPHA8 0x803C +#define GL_ALPHA12 0x803D +#define GL_ALPHA16 0x803E +#define GL_LUMINANCE4 0x803F +#define GL_LUMINANCE8 0x8040 +#define GL_LUMINANCE12 0x8041 +#define GL_LUMINANCE16 0x8042 +#define GL_LUMINANCE4_ALPHA4 0x8043 +#define GL_LUMINANCE6_ALPHA2 0x8044 +#define GL_LUMINANCE8_ALPHA8 0x8045 +#define GL_LUMINANCE12_ALPHA4 0x8046 +#define GL_LUMINANCE12_ALPHA12 0x8047 +#define GL_LUMINANCE16_ALPHA16 0x8048 +#define GL_INTENSITY 0x8049 +#define GL_INTENSITY4 0x804A +#define GL_INTENSITY8 0x804B +#define GL_INTENSITY12 0x804C +#define GL_INTENSITY16 0x804D +#define GL_R3_G3_B2 0x2A10 +#define GL_RGB4 0x804F +#define GL_RGB5 0x8050 +#define GL_RGB8 0x8051 +#define GL_RGB10 0x8052 +#define GL_RGB12 0x8053 +#define GL_RGB16 0x8054 +#define GL_RGBA2 0x8055 +#define GL_RGBA4 0x8056 +#define GL_RGB5_A1 0x8057 +#define GL_RGBA8 0x8058 +#define GL_RGB10_A2 0x8059 +#define GL_RGBA12 0x805A +#define GL_RGBA16 0x805B +#define GL_CLIENT_PIXEL_STORE_BIT 0x00000001 +#define GL_CLIENT_VERTEX_ARRAY_BIT 0x00000002 +#define GL_ALL_CLIENT_ATTRIB_BITS 0xFFFFFFFF +#define GL_CLIENT_ALL_ATTRIB_BITS 0xFFFFFFFF + + + +/* + * Miscellaneous + */ + +GLAPI void GLAPIENTRY glClearIndex( GLfloat c ); + +GLAPI void GLAPIENTRY glClearColor( GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha ); + +GLAPI void GLAPIENTRY glClear( GLbitfield mask ); + +GLAPI void GLAPIENTRY glIndexMask( GLuint mask ); + +GLAPI void GLAPIENTRY glColorMask( GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha ); + +GLAPI void GLAPIENTRY glAlphaFunc( GLenum func, GLclampf ref ); + +GLAPI void GLAPIENTRY glBlendFunc( GLenum sfactor, GLenum dfactor ); + +GLAPI void GLAPIENTRY glLogicOp( GLenum opcode ); + +GLAPI void GLAPIENTRY glCullFace( GLenum mode ); + +GLAPI void GLAPIENTRY glFrontFace( GLenum mode ); + +GLAPI void GLAPIENTRY glPointSize( GLfloat size ); + +GLAPI void GLAPIENTRY glLineWidth( GLfloat width ); + +GLAPI void GLAPIENTRY glLineStipple( GLint factor, GLushort pattern ); + +GLAPI void GLAPIENTRY glPolygonMode( GLenum face, GLenum mode ); + +GLAPI void GLAPIENTRY glPolygonOffset( GLfloat factor, GLfloat units ); + +GLAPI void GLAPIENTRY glPolygonStipple( const GLubyte *mask ); + +GLAPI void GLAPIENTRY glGetPolygonStipple( GLubyte *mask ); + +GLAPI void GLAPIENTRY glEdgeFlag( GLboolean flag ); + +GLAPI void GLAPIENTRY glEdgeFlagv( const GLboolean *flag ); + +GLAPI void GLAPIENTRY glScissor( GLint x, GLint y, GLsizei width, GLsizei height); + +GLAPI void GLAPIENTRY glClipPlane( GLenum plane, const GLdouble *equation ); + +GLAPI void GLAPIENTRY glGetClipPlane( GLenum plane, GLdouble *equation ); + +GLAPI void GLAPIENTRY glDrawBuffer( GLenum mode ); + +GLAPI void GLAPIENTRY glReadBuffer( GLenum mode ); + +GLAPI void GLAPIENTRY glEnable( GLenum cap ); + +GLAPI void GLAPIENTRY glDisable( GLenum cap ); + +GLAPI GLboolean GLAPIENTRY glIsEnabled( GLenum cap ); + + +GLAPI void GLAPIENTRY glEnableClientState( GLenum cap ); /* 1.1 */ + +GLAPI void GLAPIENTRY glDisableClientState( GLenum cap ); /* 1.1 */ + + +GLAPI void GLAPIENTRY glGetBooleanv( GLenum pname, GLboolean *params ); + +GLAPI void GLAPIENTRY glGetDoublev( GLenum pname, GLdouble *params ); + +GLAPI void GLAPIENTRY glGetFloatv( GLenum pname, GLfloat *params ); + +GLAPI void GLAPIENTRY glGetIntegerv( GLenum pname, GLint *params ); + + +GLAPI void GLAPIENTRY glPushAttrib( GLbitfield mask ); + +GLAPI void GLAPIENTRY glPopAttrib( void ); + + +GLAPI void GLAPIENTRY glPushClientAttrib( GLbitfield mask ); /* 1.1 */ + +GLAPI void GLAPIENTRY glPopClientAttrib( void ); /* 1.1 */ + + +GLAPI GLint GLAPIENTRY glRenderMode( GLenum mode ); + +GLAPI GLenum GLAPIENTRY glGetError( void ); + +GLAPI const GLubyte * GLAPIENTRY glGetString( GLenum name ); + +GLAPI void GLAPIENTRY glFinish( void ); + +GLAPI void GLAPIENTRY glFlush( void ); + +GLAPI void GLAPIENTRY glHint( GLenum target, GLenum mode ); + + +/* + * Depth Buffer + */ + +GLAPI void GLAPIENTRY glClearDepth( GLclampd depth ); + +GLAPI void GLAPIENTRY glDepthFunc( GLenum func ); + +GLAPI void GLAPIENTRY glDepthMask( GLboolean flag ); + +GLAPI void GLAPIENTRY glDepthRange( GLclampd near_val, GLclampd far_val ); + + +/* + * Accumulation Buffer + */ + +GLAPI void GLAPIENTRY glClearAccum( GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha ); + +GLAPI void GLAPIENTRY glAccum( GLenum op, GLfloat value ); + + +/* + * Transformation + */ + +GLAPI void GLAPIENTRY glMatrixMode( GLenum mode ); + +GLAPI void GLAPIENTRY glOrtho( GLdouble left, GLdouble right, + GLdouble bottom, GLdouble top, + GLdouble near_val, GLdouble far_val ); + +GLAPI void GLAPIENTRY glFrustum( GLdouble left, GLdouble right, + GLdouble bottom, GLdouble top, + GLdouble near_val, GLdouble far_val ); + +GLAPI void GLAPIENTRY glViewport( GLint x, GLint y, + GLsizei width, GLsizei height ); + +GLAPI void GLAPIENTRY glPushMatrix( void ); + +GLAPI void GLAPIENTRY glPopMatrix( void ); + +GLAPI void GLAPIENTRY glLoadIdentity( void ); + +GLAPI void GLAPIENTRY glLoadMatrixd( const GLdouble *m ); +GLAPI void GLAPIENTRY glLoadMatrixf( const GLfloat *m ); + +GLAPI void GLAPIENTRY glMultMatrixd( const GLdouble *m ); +GLAPI void GLAPIENTRY glMultMatrixf( const GLfloat *m ); + +GLAPI void GLAPIENTRY glRotated( GLdouble angle, + GLdouble x, GLdouble y, GLdouble z ); +GLAPI void GLAPIENTRY glRotatef( GLfloat angle, + GLfloat x, GLfloat y, GLfloat z ); + +GLAPI void GLAPIENTRY glScaled( GLdouble x, GLdouble y, GLdouble z ); +GLAPI void GLAPIENTRY glScalef( GLfloat x, GLfloat y, GLfloat z ); + +GLAPI void GLAPIENTRY glTranslated( GLdouble x, GLdouble y, GLdouble z ); +GLAPI void GLAPIENTRY glTranslatef( GLfloat x, GLfloat y, GLfloat z ); + + +/* + * Display Lists + */ + +GLAPI GLboolean GLAPIENTRY glIsList( GLuint list ); + +GLAPI void GLAPIENTRY glDeleteLists( GLuint list, GLsizei range ); + +GLAPI GLuint GLAPIENTRY glGenLists( GLsizei range ); + +GLAPI void GLAPIENTRY glNewList( GLuint list, GLenum mode ); + +GLAPI void GLAPIENTRY glEndList( void ); + +GLAPI void GLAPIENTRY glCallList( GLuint list ); + +GLAPI void GLAPIENTRY glCallLists( GLsizei n, GLenum type, + const GLvoid *lists ); + +GLAPI void GLAPIENTRY glListBase( GLuint base ); + + +/* + * Drawing Functions + */ + +GLAPI void GLAPIENTRY glBegin( GLenum mode ); + +GLAPI void GLAPIENTRY glEnd( void ); + + +GLAPI void GLAPIENTRY glVertex2d( GLdouble x, GLdouble y ); +GLAPI void GLAPIENTRY glVertex2f( GLfloat x, GLfloat y ); +GLAPI void GLAPIENTRY glVertex2i( GLint x, GLint y ); +GLAPI void GLAPIENTRY glVertex2s( GLshort x, GLshort y ); + +GLAPI void GLAPIENTRY glVertex3d( GLdouble x, GLdouble y, GLdouble z ); +GLAPI void GLAPIENTRY glVertex3f( GLfloat x, GLfloat y, GLfloat z ); +GLAPI void GLAPIENTRY glVertex3i( GLint x, GLint y, GLint z ); +GLAPI void GLAPIENTRY glVertex3s( GLshort x, GLshort y, GLshort z ); + +GLAPI void GLAPIENTRY glVertex4d( GLdouble x, GLdouble y, GLdouble z, GLdouble w ); +GLAPI void GLAPIENTRY glVertex4f( GLfloat x, GLfloat y, GLfloat z, GLfloat w ); +GLAPI void GLAPIENTRY glVertex4i( GLint x, GLint y, GLint z, GLint w ); +GLAPI void GLAPIENTRY glVertex4s( GLshort x, GLshort y, GLshort z, GLshort w ); + +GLAPI void GLAPIENTRY glVertex2dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glVertex2fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glVertex2iv( const GLint *v ); +GLAPI void GLAPIENTRY glVertex2sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glVertex3dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glVertex3fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glVertex3iv( const GLint *v ); +GLAPI void GLAPIENTRY glVertex3sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glVertex4dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glVertex4fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glVertex4iv( const GLint *v ); +GLAPI void GLAPIENTRY glVertex4sv( const GLshort *v ); + + +GLAPI void GLAPIENTRY glNormal3b( GLbyte nx, GLbyte ny, GLbyte nz ); +GLAPI void GLAPIENTRY glNormal3d( GLdouble nx, GLdouble ny, GLdouble nz ); +GLAPI void GLAPIENTRY glNormal3f( GLfloat nx, GLfloat ny, GLfloat nz ); +GLAPI void GLAPIENTRY glNormal3i( GLint nx, GLint ny, GLint nz ); +GLAPI void GLAPIENTRY glNormal3s( GLshort nx, GLshort ny, GLshort nz ); + +GLAPI void GLAPIENTRY glNormal3bv( const GLbyte *v ); +GLAPI void GLAPIENTRY glNormal3dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glNormal3fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glNormal3iv( const GLint *v ); +GLAPI void GLAPIENTRY glNormal3sv( const GLshort *v ); + + +GLAPI void GLAPIENTRY glIndexd( GLdouble c ); +GLAPI void GLAPIENTRY glIndexf( GLfloat c ); +GLAPI void GLAPIENTRY glIndexi( GLint c ); +GLAPI void GLAPIENTRY glIndexs( GLshort c ); +GLAPI void GLAPIENTRY glIndexub( GLubyte c ); /* 1.1 */ + +GLAPI void GLAPIENTRY glIndexdv( const GLdouble *c ); +GLAPI void GLAPIENTRY glIndexfv( const GLfloat *c ); +GLAPI void GLAPIENTRY glIndexiv( const GLint *c ); +GLAPI void GLAPIENTRY glIndexsv( const GLshort *c ); +GLAPI void GLAPIENTRY glIndexubv( const GLubyte *c ); /* 1.1 */ + +GLAPI void GLAPIENTRY glColor3b( GLbyte red, GLbyte green, GLbyte blue ); +GLAPI void GLAPIENTRY glColor3d( GLdouble red, GLdouble green, GLdouble blue ); +GLAPI void GLAPIENTRY glColor3f( GLfloat red, GLfloat green, GLfloat blue ); +GLAPI void GLAPIENTRY glColor3i( GLint red, GLint green, GLint blue ); +GLAPI void GLAPIENTRY glColor3s( GLshort red, GLshort green, GLshort blue ); +GLAPI void GLAPIENTRY glColor3ub( GLubyte red, GLubyte green, GLubyte blue ); +GLAPI void GLAPIENTRY glColor3ui( GLuint red, GLuint green, GLuint blue ); +GLAPI void GLAPIENTRY glColor3us( GLushort red, GLushort green, GLushort blue ); + +GLAPI void GLAPIENTRY glColor4b( GLbyte red, GLbyte green, + GLbyte blue, GLbyte alpha ); +GLAPI void GLAPIENTRY glColor4d( GLdouble red, GLdouble green, + GLdouble blue, GLdouble alpha ); +GLAPI void GLAPIENTRY glColor4f( GLfloat red, GLfloat green, + GLfloat blue, GLfloat alpha ); +GLAPI void GLAPIENTRY glColor4i( GLint red, GLint green, + GLint blue, GLint alpha ); +GLAPI void GLAPIENTRY glColor4s( GLshort red, GLshort green, + GLshort blue, GLshort alpha ); +GLAPI void GLAPIENTRY glColor4ub( GLubyte red, GLubyte green, + GLubyte blue, GLubyte alpha ); +GLAPI void GLAPIENTRY glColor4ui( GLuint red, GLuint green, + GLuint blue, GLuint alpha ); +GLAPI void GLAPIENTRY glColor4us( GLushort red, GLushort green, + GLushort blue, GLushort alpha ); + + +GLAPI void GLAPIENTRY glColor3bv( const GLbyte *v ); +GLAPI void GLAPIENTRY glColor3dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glColor3fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glColor3iv( const GLint *v ); +GLAPI void GLAPIENTRY glColor3sv( const GLshort *v ); +GLAPI void GLAPIENTRY glColor3ubv( const GLubyte *v ); +GLAPI void GLAPIENTRY glColor3uiv( const GLuint *v ); +GLAPI void GLAPIENTRY glColor3usv( const GLushort *v ); + +GLAPI void GLAPIENTRY glColor4bv( const GLbyte *v ); +GLAPI void GLAPIENTRY glColor4dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glColor4fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glColor4iv( const GLint *v ); +GLAPI void GLAPIENTRY glColor4sv( const GLshort *v ); +GLAPI void GLAPIENTRY glColor4ubv( const GLubyte *v ); +GLAPI void GLAPIENTRY glColor4uiv( const GLuint *v ); +GLAPI void GLAPIENTRY glColor4usv( const GLushort *v ); + + +GLAPI void GLAPIENTRY glTexCoord1d( GLdouble s ); +GLAPI void GLAPIENTRY glTexCoord1f( GLfloat s ); +GLAPI void GLAPIENTRY glTexCoord1i( GLint s ); +GLAPI void GLAPIENTRY glTexCoord1s( GLshort s ); + +GLAPI void GLAPIENTRY glTexCoord2d( GLdouble s, GLdouble t ); +GLAPI void GLAPIENTRY glTexCoord2f( GLfloat s, GLfloat t ); +GLAPI void GLAPIENTRY glTexCoord2i( GLint s, GLint t ); +GLAPI void GLAPIENTRY glTexCoord2s( GLshort s, GLshort t ); + +GLAPI void GLAPIENTRY glTexCoord3d( GLdouble s, GLdouble t, GLdouble r ); +GLAPI void GLAPIENTRY glTexCoord3f( GLfloat s, GLfloat t, GLfloat r ); +GLAPI void GLAPIENTRY glTexCoord3i( GLint s, GLint t, GLint r ); +GLAPI void GLAPIENTRY glTexCoord3s( GLshort s, GLshort t, GLshort r ); + +GLAPI void GLAPIENTRY glTexCoord4d( GLdouble s, GLdouble t, GLdouble r, GLdouble q ); +GLAPI void GLAPIENTRY glTexCoord4f( GLfloat s, GLfloat t, GLfloat r, GLfloat q ); +GLAPI void GLAPIENTRY glTexCoord4i( GLint s, GLint t, GLint r, GLint q ); +GLAPI void GLAPIENTRY glTexCoord4s( GLshort s, GLshort t, GLshort r, GLshort q ); + +GLAPI void GLAPIENTRY glTexCoord1dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glTexCoord1fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glTexCoord1iv( const GLint *v ); +GLAPI void GLAPIENTRY glTexCoord1sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glTexCoord2dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glTexCoord2fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glTexCoord2iv( const GLint *v ); +GLAPI void GLAPIENTRY glTexCoord2sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glTexCoord3dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glTexCoord3fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glTexCoord3iv( const GLint *v ); +GLAPI void GLAPIENTRY glTexCoord3sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glTexCoord4dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glTexCoord4fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glTexCoord4iv( const GLint *v ); +GLAPI void GLAPIENTRY glTexCoord4sv( const GLshort *v ); + + +GLAPI void GLAPIENTRY glRasterPos2d( GLdouble x, GLdouble y ); +GLAPI void GLAPIENTRY glRasterPos2f( GLfloat x, GLfloat y ); +GLAPI void GLAPIENTRY glRasterPos2i( GLint x, GLint y ); +GLAPI void GLAPIENTRY glRasterPos2s( GLshort x, GLshort y ); + +GLAPI void GLAPIENTRY glRasterPos3d( GLdouble x, GLdouble y, GLdouble z ); +GLAPI void GLAPIENTRY glRasterPos3f( GLfloat x, GLfloat y, GLfloat z ); +GLAPI void GLAPIENTRY glRasterPos3i( GLint x, GLint y, GLint z ); +GLAPI void GLAPIENTRY glRasterPos3s( GLshort x, GLshort y, GLshort z ); + +GLAPI void GLAPIENTRY glRasterPos4d( GLdouble x, GLdouble y, GLdouble z, GLdouble w ); +GLAPI void GLAPIENTRY glRasterPos4f( GLfloat x, GLfloat y, GLfloat z, GLfloat w ); +GLAPI void GLAPIENTRY glRasterPos4i( GLint x, GLint y, GLint z, GLint w ); +GLAPI void GLAPIENTRY glRasterPos4s( GLshort x, GLshort y, GLshort z, GLshort w ); + +GLAPI void GLAPIENTRY glRasterPos2dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glRasterPos2fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glRasterPos2iv( const GLint *v ); +GLAPI void GLAPIENTRY glRasterPos2sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glRasterPos3dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glRasterPos3fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glRasterPos3iv( const GLint *v ); +GLAPI void GLAPIENTRY glRasterPos3sv( const GLshort *v ); + +GLAPI void GLAPIENTRY glRasterPos4dv( const GLdouble *v ); +GLAPI void GLAPIENTRY glRasterPos4fv( const GLfloat *v ); +GLAPI void GLAPIENTRY glRasterPos4iv( const GLint *v ); +GLAPI void GLAPIENTRY glRasterPos4sv( const GLshort *v ); + + +GLAPI void GLAPIENTRY glRectd( GLdouble x1, GLdouble y1, GLdouble x2, GLdouble y2 ); +GLAPI void GLAPIENTRY glRectf( GLfloat x1, GLfloat y1, GLfloat x2, GLfloat y2 ); +GLAPI void GLAPIENTRY glRecti( GLint x1, GLint y1, GLint x2, GLint y2 ); +GLAPI void GLAPIENTRY glRects( GLshort x1, GLshort y1, GLshort x2, GLshort y2 ); + + +GLAPI void GLAPIENTRY glRectdv( const GLdouble *v1, const GLdouble *v2 ); +GLAPI void GLAPIENTRY glRectfv( const GLfloat *v1, const GLfloat *v2 ); +GLAPI void GLAPIENTRY glRectiv( const GLint *v1, const GLint *v2 ); +GLAPI void GLAPIENTRY glRectsv( const GLshort *v1, const GLshort *v2 ); + + +/* + * Vertex Arrays (1.1) + */ + +GLAPI void GLAPIENTRY glVertexPointer( GLint size, GLenum type, + GLsizei stride, const GLvoid *ptr ); + +GLAPI void GLAPIENTRY glNormalPointer( GLenum type, GLsizei stride, + const GLvoid *ptr ); + +GLAPI void GLAPIENTRY glColorPointer( GLint size, GLenum type, + GLsizei stride, const GLvoid *ptr ); + +GLAPI void GLAPIENTRY glIndexPointer( GLenum type, GLsizei stride, + const GLvoid *ptr ); + +GLAPI void GLAPIENTRY glTexCoordPointer( GLint size, GLenum type, + GLsizei stride, const GLvoid *ptr ); + +GLAPI void GLAPIENTRY glEdgeFlagPointer( GLsizei stride, const GLvoid *ptr ); + +GLAPI void GLAPIENTRY glGetPointerv( GLenum pname, GLvoid **params ); + +GLAPI void GLAPIENTRY glArrayElement( GLint i ); + +GLAPI void GLAPIENTRY glDrawArrays( GLenum mode, GLint first, GLsizei count ); + +GLAPI void GLAPIENTRY glDrawElements( GLenum mode, GLsizei count, + GLenum type, const GLvoid *indices ); + +GLAPI void GLAPIENTRY glInterleavedArrays( GLenum format, GLsizei stride, + const GLvoid *pointer ); + +/* + * Lighting + */ + +GLAPI void GLAPIENTRY glShadeModel( GLenum mode ); + +GLAPI void GLAPIENTRY glLightf( GLenum light, GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glLighti( GLenum light, GLenum pname, GLint param ); +GLAPI void GLAPIENTRY glLightfv( GLenum light, GLenum pname, + const GLfloat *params ); +GLAPI void GLAPIENTRY glLightiv( GLenum light, GLenum pname, + const GLint *params ); + +GLAPI void GLAPIENTRY glGetLightfv( GLenum light, GLenum pname, + GLfloat *params ); +GLAPI void GLAPIENTRY glGetLightiv( GLenum light, GLenum pname, + GLint *params ); + +GLAPI void GLAPIENTRY glLightModelf( GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glLightModeli( GLenum pname, GLint param ); +GLAPI void GLAPIENTRY glLightModelfv( GLenum pname, const GLfloat *params ); +GLAPI void GLAPIENTRY glLightModeliv( GLenum pname, const GLint *params ); + +GLAPI void GLAPIENTRY glMaterialf( GLenum face, GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glMateriali( GLenum face, GLenum pname, GLint param ); +GLAPI void GLAPIENTRY glMaterialfv( GLenum face, GLenum pname, const GLfloat *params ); +GLAPI void GLAPIENTRY glMaterialiv( GLenum face, GLenum pname, const GLint *params ); + +GLAPI void GLAPIENTRY glGetMaterialfv( GLenum face, GLenum pname, GLfloat *params ); +GLAPI void GLAPIENTRY glGetMaterialiv( GLenum face, GLenum pname, GLint *params ); + +GLAPI void GLAPIENTRY glColorMaterial( GLenum face, GLenum mode ); + + +/* + * Raster functions + */ + +GLAPI void GLAPIENTRY glPixelZoom( GLfloat xfactor, GLfloat yfactor ); + +GLAPI void GLAPIENTRY glPixelStoref( GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glPixelStorei( GLenum pname, GLint param ); + +GLAPI void GLAPIENTRY glPixelTransferf( GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glPixelTransferi( GLenum pname, GLint param ); + +GLAPI void GLAPIENTRY glPixelMapfv( GLenum map, GLsizei mapsize, + const GLfloat *values ); +GLAPI void GLAPIENTRY glPixelMapuiv( GLenum map, GLsizei mapsize, + const GLuint *values ); +GLAPI void GLAPIENTRY glPixelMapusv( GLenum map, GLsizei mapsize, + const GLushort *values ); + +GLAPI void GLAPIENTRY glGetPixelMapfv( GLenum map, GLfloat *values ); +GLAPI void GLAPIENTRY glGetPixelMapuiv( GLenum map, GLuint *values ); +GLAPI void GLAPIENTRY glGetPixelMapusv( GLenum map, GLushort *values ); + +GLAPI void GLAPIENTRY glBitmap( GLsizei width, GLsizei height, + GLfloat xorig, GLfloat yorig, + GLfloat xmove, GLfloat ymove, + const GLubyte *bitmap ); + +GLAPI void GLAPIENTRY glReadPixels( GLint x, GLint y, + GLsizei width, GLsizei height, + GLenum format, GLenum type, + GLvoid *pixels ); + +GLAPI void GLAPIENTRY glDrawPixels( GLsizei width, GLsizei height, + GLenum format, GLenum type, + const GLvoid *pixels ); + +GLAPI void GLAPIENTRY glCopyPixels( GLint x, GLint y, + GLsizei width, GLsizei height, + GLenum type ); + +/* + * Stenciling + */ + +GLAPI void GLAPIENTRY glStencilFunc( GLenum func, GLint ref, GLuint mask ); + +GLAPI void GLAPIENTRY glStencilMask( GLuint mask ); + +GLAPI void GLAPIENTRY glStencilOp( GLenum fail, GLenum zfail, GLenum zpass ); + +GLAPI void GLAPIENTRY glClearStencil( GLint s ); + + + +/* + * Texture mapping + */ + +GLAPI void GLAPIENTRY glTexGend( GLenum coord, GLenum pname, GLdouble param ); +GLAPI void GLAPIENTRY glTexGenf( GLenum coord, GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glTexGeni( GLenum coord, GLenum pname, GLint param ); + +GLAPI void GLAPIENTRY glTexGendv( GLenum coord, GLenum pname, const GLdouble *params ); +GLAPI void GLAPIENTRY glTexGenfv( GLenum coord, GLenum pname, const GLfloat *params ); +GLAPI void GLAPIENTRY glTexGeniv( GLenum coord, GLenum pname, const GLint *params ); + +GLAPI void GLAPIENTRY glGetTexGendv( GLenum coord, GLenum pname, GLdouble *params ); +GLAPI void GLAPIENTRY glGetTexGenfv( GLenum coord, GLenum pname, GLfloat *params ); +GLAPI void GLAPIENTRY glGetTexGeniv( GLenum coord, GLenum pname, GLint *params ); + + +GLAPI void GLAPIENTRY glTexEnvf( GLenum target, GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glTexEnvi( GLenum target, GLenum pname, GLint param ); + +GLAPI void GLAPIENTRY glTexEnvfv( GLenum target, GLenum pname, const GLfloat *params ); +GLAPI void GLAPIENTRY glTexEnviv( GLenum target, GLenum pname, const GLint *params ); + +GLAPI void GLAPIENTRY glGetTexEnvfv( GLenum target, GLenum pname, GLfloat *params ); +GLAPI void GLAPIENTRY glGetTexEnviv( GLenum target, GLenum pname, GLint *params ); + + +GLAPI void GLAPIENTRY glTexParameterf( GLenum target, GLenum pname, GLfloat param ); +GLAPI void GLAPIENTRY glTexParameteri( GLenum target, GLenum pname, GLint param ); + +GLAPI void GLAPIENTRY glTexParameterfv( GLenum target, GLenum pname, + const GLfloat *params ); +GLAPI void GLAPIENTRY glTexParameteriv( GLenum target, GLenum pname, + const GLint *params ); + +GLAPI void GLAPIENTRY glGetTexParameterfv( GLenum target, + GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetTexParameteriv( GLenum target, + GLenum pname, GLint *params ); + +GLAPI void GLAPIENTRY glGetTexLevelParameterfv( GLenum target, GLint level, + GLenum pname, GLfloat *params ); +GLAPI void GLAPIENTRY glGetTexLevelParameteriv( GLenum target, GLint level, + GLenum pname, GLint *params ); + + +GLAPI void GLAPIENTRY glTexImage1D( GLenum target, GLint level, + GLint internalFormat, + GLsizei width, GLint border, + GLenum format, GLenum type, + const GLvoid *pixels ); + +GLAPI void GLAPIENTRY glTexImage2D( GLenum target, GLint level, + GLint internalFormat, + GLsizei width, GLsizei height, + GLint border, GLenum format, GLenum type, + const GLvoid *pixels ); + +GLAPI void GLAPIENTRY glGetTexImage( GLenum target, GLint level, + GLenum format, GLenum type, + GLvoid *pixels ); + + +/* 1.1 functions */ + +GLAPI void GLAPIENTRY glGenTextures( GLsizei n, GLuint *textures ); + +GLAPI void GLAPIENTRY glDeleteTextures( GLsizei n, const GLuint *textures); + +GLAPI void GLAPIENTRY glBindTexture( GLenum target, GLuint texture ); + +GLAPI void GLAPIENTRY glPrioritizeTextures( GLsizei n, + const GLuint *textures, + const GLclampf *priorities ); + +GLAPI GLboolean GLAPIENTRY glAreTexturesResident( GLsizei n, + const GLuint *textures, + GLboolean *residences ); + +GLAPI GLboolean GLAPIENTRY glIsTexture( GLuint texture ); + + +GLAPI void GLAPIENTRY glTexSubImage1D( GLenum target, GLint level, + GLint xoffset, + GLsizei width, GLenum format, + GLenum type, const GLvoid *pixels ); + + +GLAPI void GLAPIENTRY glTexSubImage2D( GLenum target, GLint level, + GLint xoffset, GLint yoffset, + GLsizei width, GLsizei height, + GLenum format, GLenum type, + const GLvoid *pixels ); + + +GLAPI void GLAPIENTRY glCopyTexImage1D( GLenum target, GLint level, + GLenum internalformat, + GLint x, GLint y, + GLsizei width, GLint border ); + + +GLAPI void GLAPIENTRY glCopyTexImage2D( GLenum target, GLint level, + GLenum internalformat, + GLint x, GLint y, + GLsizei width, GLsizei height, + GLint border ); + + +GLAPI void GLAPIENTRY glCopyTexSubImage1D( GLenum target, GLint level, + GLint xoffset, GLint x, GLint y, + GLsizei width ); + + +GLAPI void GLAPIENTRY glCopyTexSubImage2D( GLenum target, GLint level, + GLint xoffset, GLint yoffset, + GLint x, GLint y, + GLsizei width, GLsizei height ); + + +/* + * Evaluators + */ + +GLAPI void GLAPIENTRY glMap1d( GLenum target, GLdouble u1, GLdouble u2, + GLint stride, + GLint order, const GLdouble *points ); +GLAPI void GLAPIENTRY glMap1f( GLenum target, GLfloat u1, GLfloat u2, + GLint stride, + GLint order, const GLfloat *points ); + +GLAPI void GLAPIENTRY glMap2d( GLenum target, + GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, + GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, + const GLdouble *points ); +GLAPI void GLAPIENTRY glMap2f( GLenum target, + GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, + GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, + const GLfloat *points ); + +GLAPI void GLAPIENTRY glGetMapdv( GLenum target, GLenum query, GLdouble *v ); +GLAPI void GLAPIENTRY glGetMapfv( GLenum target, GLenum query, GLfloat *v ); +GLAPI void GLAPIENTRY glGetMapiv( GLenum target, GLenum query, GLint *v ); + +GLAPI void GLAPIENTRY glEvalCoord1d( GLdouble u ); +GLAPI void GLAPIENTRY glEvalCoord1f( GLfloat u ); + +GLAPI void GLAPIENTRY glEvalCoord1dv( const GLdouble *u ); +GLAPI void GLAPIENTRY glEvalCoord1fv( const GLfloat *u ); + +GLAPI void GLAPIENTRY glEvalCoord2d( GLdouble u, GLdouble v ); +GLAPI void GLAPIENTRY glEvalCoord2f( GLfloat u, GLfloat v ); + +GLAPI void GLAPIENTRY glEvalCoord2dv( const GLdouble *u ); +GLAPI void GLAPIENTRY glEvalCoord2fv( const GLfloat *u ); + +GLAPI void GLAPIENTRY glMapGrid1d( GLint un, GLdouble u1, GLdouble u2 ); +GLAPI void GLAPIENTRY glMapGrid1f( GLint un, GLfloat u1, GLfloat u2 ); + +GLAPI void GLAPIENTRY glMapGrid2d( GLint un, GLdouble u1, GLdouble u2, + GLint vn, GLdouble v1, GLdouble v2 ); +GLAPI void GLAPIENTRY glMapGrid2f( GLint un, GLfloat u1, GLfloat u2, + GLint vn, GLfloat v1, GLfloat v2 ); + +GLAPI void GLAPIENTRY glEvalPoint1( GLint i ); + +GLAPI void GLAPIENTRY glEvalPoint2( GLint i, GLint j ); + +GLAPI void GLAPIENTRY glEvalMesh1( GLenum mode, GLint i1, GLint i2 ); + +GLAPI void GLAPIENTRY glEvalMesh2( GLenum mode, GLint i1, GLint i2, GLint j1, GLint j2 ); + + +/* + * Fog + */ + +GLAPI void GLAPIENTRY glFogf( GLenum pname, GLfloat param ); + +GLAPI void GLAPIENTRY glFogi( GLenum pname, GLint param ); + +GLAPI void GLAPIENTRY glFogfv( GLenum pname, const GLfloat *params ); + +GLAPI void GLAPIENTRY glFogiv( GLenum pname, const GLint *params ); + + +/* + * Selection and Feedback + */ + +GLAPI void GLAPIENTRY glFeedbackBuffer( GLsizei size, GLenum type, GLfloat *buffer ); + +GLAPI void GLAPIENTRY glPassThrough( GLfloat token ); + +GLAPI void GLAPIENTRY glSelectBuffer( GLsizei size, GLuint *buffer ); + +GLAPI void GLAPIENTRY glInitNames( void ); + +GLAPI void GLAPIENTRY glLoadName( GLuint name ); + +GLAPI void GLAPIENTRY glPushName( GLuint name ); + +GLAPI void GLAPIENTRY glPopName( void ); + + + +/* + * OpenGL 1.2 + */ + +#define GL_RESCALE_NORMAL 0x803A +#define GL_CLAMP_TO_EDGE 0x812F +#define GL_MAX_ELEMENTS_VERTICES 0x80E8 +#define GL_MAX_ELEMENTS_INDICES 0x80E9 +#define GL_BGR 0x80E0 +#define GL_BGRA 0x80E1 +#define GL_UNSIGNED_BYTE_3_3_2 0x8032 +#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 +#define GL_UNSIGNED_SHORT_5_6_5 0x8363 +#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 +#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 +#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 +#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 +#define GL_UNSIGNED_INT_8_8_8_8 0x8035 +#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 +#define GL_UNSIGNED_INT_10_10_10_2 0x8036 +#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 +#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8 +#define GL_SINGLE_COLOR 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR 0x81FA +#define GL_TEXTURE_MIN_LOD 0x813A +#define GL_TEXTURE_MAX_LOD 0x813B +#define GL_TEXTURE_BASE_LEVEL 0x813C +#define GL_TEXTURE_MAX_LEVEL 0x813D +#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 +#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 +#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_ALIASED_POINT_SIZE_RANGE 0x846D +#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E +#define GL_PACK_SKIP_IMAGES 0x806B +#define GL_PACK_IMAGE_HEIGHT 0x806C +#define GL_UNPACK_SKIP_IMAGES 0x806D +#define GL_UNPACK_IMAGE_HEIGHT 0x806E +#define GL_TEXTURE_3D 0x806F +#define GL_PROXY_TEXTURE_3D 0x8070 +#define GL_TEXTURE_DEPTH 0x8071 +#define GL_TEXTURE_WRAP_R 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE 0x8073 +#define GL_TEXTURE_BINDING_3D 0x806A + +GLAPI void GLAPIENTRY glDrawRangeElements( GLenum mode, GLuint start, + GLuint end, GLsizei count, GLenum type, const GLvoid *indices ); + +GLAPI void GLAPIENTRY glTexImage3D( GLenum target, GLint level, + GLint internalFormat, + GLsizei width, GLsizei height, + GLsizei depth, GLint border, + GLenum format, GLenum type, + const GLvoid *pixels ); + +GLAPI void GLAPIENTRY glTexSubImage3D( GLenum target, GLint level, + GLint xoffset, GLint yoffset, + GLint zoffset, GLsizei width, + GLsizei height, GLsizei depth, + GLenum format, + GLenum type, const GLvoid *pixels); + +GLAPI void GLAPIENTRY glCopyTexSubImage3D( GLenum target, GLint level, + GLint xoffset, GLint yoffset, + GLint zoffset, GLint x, + GLint y, GLsizei width, + GLsizei height ); + +typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices); +typedef void (APIENTRYP PFNGLTEXIMAGE3DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); + + +/* + * GL_ARB_imaging + */ + +#define GL_CONSTANT_COLOR 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 +#define GL_CONSTANT_ALPHA 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 +#define GL_COLOR_TABLE 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 +#define GL_PROXY_COLOR_TABLE 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 +#define GL_COLOR_TABLE_SCALE 0x80D6 +#define GL_COLOR_TABLE_BIAS 0x80D7 +#define GL_COLOR_TABLE_FORMAT 0x80D8 +#define GL_COLOR_TABLE_WIDTH 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF +#define GL_CONVOLUTION_1D 0x8010 +#define GL_CONVOLUTION_2D 0x8011 +#define GL_SEPARABLE_2D 0x8012 +#define GL_CONVOLUTION_BORDER_MODE 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS 0x8015 +#define GL_REDUCE 0x8016 +#define GL_CONVOLUTION_FORMAT 0x8017 +#define GL_CONVOLUTION_WIDTH 0x8018 +#define GL_CONVOLUTION_HEIGHT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 +#define GL_CONSTANT_BORDER 0x8151 +#define GL_REPLICATE_BORDER 0x8153 +#define GL_CONVOLUTION_BORDER_COLOR 0x8154 +#define GL_COLOR_MATRIX 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS 0x80BB +#define GL_HISTOGRAM 0x8024 +#define GL_PROXY_HISTOGRAM 0x8025 +#define GL_HISTOGRAM_WIDTH 0x8026 +#define GL_HISTOGRAM_FORMAT 0x8027 +#define GL_HISTOGRAM_RED_SIZE 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C +#define GL_HISTOGRAM_SINK 0x802D +#define GL_MINMAX 0x802E +#define GL_MINMAX_FORMAT 0x802F +#define GL_MINMAX_SINK 0x8030 +#define GL_TABLE_TOO_LARGE 0x8031 +#define GL_BLEND_EQUATION 0x8009 +#define GL_MIN 0x8007 +#define GL_MAX 0x8008 +#define GL_FUNC_ADD 0x8006 +#define GL_FUNC_SUBTRACT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT 0x800B +#define GL_BLEND_COLOR 0x8005 + + +GLAPI void GLAPIENTRY glColorTable( GLenum target, GLenum internalformat, + GLsizei width, GLenum format, + GLenum type, const GLvoid *table ); + +GLAPI void GLAPIENTRY glColorSubTable( GLenum target, + GLsizei start, GLsizei count, + GLenum format, GLenum type, + const GLvoid *data ); + +GLAPI void GLAPIENTRY glColorTableParameteriv(GLenum target, GLenum pname, + const GLint *params); + +GLAPI void GLAPIENTRY glColorTableParameterfv(GLenum target, GLenum pname, + const GLfloat *params); + +GLAPI void GLAPIENTRY glCopyColorSubTable( GLenum target, GLsizei start, + GLint x, GLint y, GLsizei width ); + +GLAPI void GLAPIENTRY glCopyColorTable( GLenum target, GLenum internalformat, + GLint x, GLint y, GLsizei width ); + +GLAPI void GLAPIENTRY glGetColorTable( GLenum target, GLenum format, + GLenum type, GLvoid *table ); + +GLAPI void GLAPIENTRY glGetColorTableParameterfv( GLenum target, GLenum pname, + GLfloat *params ); + +GLAPI void GLAPIENTRY glGetColorTableParameteriv( GLenum target, GLenum pname, + GLint *params ); + +GLAPI void GLAPIENTRY glBlendEquation( GLenum mode ); + +GLAPI void GLAPIENTRY glBlendColor( GLclampf red, GLclampf green, + GLclampf blue, GLclampf alpha ); + +GLAPI void GLAPIENTRY glHistogram( GLenum target, GLsizei width, + GLenum internalformat, GLboolean sink ); + +GLAPI void GLAPIENTRY glResetHistogram( GLenum target ); + +GLAPI void GLAPIENTRY glGetHistogram( GLenum target, GLboolean reset, + GLenum format, GLenum type, + GLvoid *values ); + +GLAPI void GLAPIENTRY glGetHistogramParameterfv( GLenum target, GLenum pname, + GLfloat *params ); + +GLAPI void GLAPIENTRY glGetHistogramParameteriv( GLenum target, GLenum pname, + GLint *params ); + +GLAPI void GLAPIENTRY glMinmax( GLenum target, GLenum internalformat, + GLboolean sink ); + +GLAPI void GLAPIENTRY glResetMinmax( GLenum target ); + +GLAPI void GLAPIENTRY glGetMinmax( GLenum target, GLboolean reset, + GLenum format, GLenum types, + GLvoid *values ); + +GLAPI void GLAPIENTRY glGetMinmaxParameterfv( GLenum target, GLenum pname, + GLfloat *params ); + +GLAPI void GLAPIENTRY glGetMinmaxParameteriv( GLenum target, GLenum pname, + GLint *params ); + +GLAPI void GLAPIENTRY glConvolutionFilter1D( GLenum target, + GLenum internalformat, GLsizei width, GLenum format, GLenum type, + const GLvoid *image ); + +GLAPI void GLAPIENTRY glConvolutionFilter2D( GLenum target, + GLenum internalformat, GLsizei width, GLsizei height, GLenum format, + GLenum type, const GLvoid *image ); + +GLAPI void GLAPIENTRY glConvolutionParameterf( GLenum target, GLenum pname, + GLfloat params ); + +GLAPI void GLAPIENTRY glConvolutionParameterfv( GLenum target, GLenum pname, + const GLfloat *params ); + +GLAPI void GLAPIENTRY glConvolutionParameteri( GLenum target, GLenum pname, + GLint params ); + +GLAPI void GLAPIENTRY glConvolutionParameteriv( GLenum target, GLenum pname, + const GLint *params ); + +GLAPI void GLAPIENTRY glCopyConvolutionFilter1D( GLenum target, + GLenum internalformat, GLint x, GLint y, GLsizei width ); + +GLAPI void GLAPIENTRY glCopyConvolutionFilter2D( GLenum target, + GLenum internalformat, GLint x, GLint y, GLsizei width, + GLsizei height); + +GLAPI void GLAPIENTRY glGetConvolutionFilter( GLenum target, GLenum format, + GLenum type, GLvoid *image ); + +GLAPI void GLAPIENTRY glGetConvolutionParameterfv( GLenum target, GLenum pname, + GLfloat *params ); + +GLAPI void GLAPIENTRY glGetConvolutionParameteriv( GLenum target, GLenum pname, + GLint *params ); + +GLAPI void GLAPIENTRY glSeparableFilter2D( GLenum target, + GLenum internalformat, GLsizei width, GLsizei height, GLenum format, + GLenum type, const GLvoid *row, const GLvoid *column ); + +GLAPI void GLAPIENTRY glGetSeparableFilter( GLenum target, GLenum format, + GLenum type, GLvoid *row, GLvoid *column, GLvoid *span ); + + + + +/* + * OpenGL 1.3 + */ + +/* multitexture */ +#define GL_TEXTURE0 0x84C0 +#define GL_TEXTURE1 0x84C1 +#define GL_TEXTURE2 0x84C2 +#define GL_TEXTURE3 0x84C3 +#define GL_TEXTURE4 0x84C4 +#define GL_TEXTURE5 0x84C5 +#define GL_TEXTURE6 0x84C6 +#define GL_TEXTURE7 0x84C7 +#define GL_TEXTURE8 0x84C8 +#define GL_TEXTURE9 0x84C9 +#define GL_TEXTURE10 0x84CA +#define GL_TEXTURE11 0x84CB +#define GL_TEXTURE12 0x84CC +#define GL_TEXTURE13 0x84CD +#define GL_TEXTURE14 0x84CE +#define GL_TEXTURE15 0x84CF +#define GL_TEXTURE16 0x84D0 +#define GL_TEXTURE17 0x84D1 +#define GL_TEXTURE18 0x84D2 +#define GL_TEXTURE19 0x84D3 +#define GL_TEXTURE20 0x84D4 +#define GL_TEXTURE21 0x84D5 +#define GL_TEXTURE22 0x84D6 +#define GL_TEXTURE23 0x84D7 +#define GL_TEXTURE24 0x84D8 +#define GL_TEXTURE25 0x84D9 +#define GL_TEXTURE26 0x84DA +#define GL_TEXTURE27 0x84DB +#define GL_TEXTURE28 0x84DC +#define GL_TEXTURE29 0x84DD +#define GL_TEXTURE30 0x84DE +#define GL_TEXTURE31 0x84DF +#define GL_ACTIVE_TEXTURE 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE 0x84E1 +#define GL_MAX_TEXTURE_UNITS 0x84E2 +/* texture_cube_map */ +#define GL_NORMAL_MAP 0x8511 +#define GL_REFLECTION_MAP 0x8512 +#define GL_TEXTURE_CUBE_MAP 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C +/* texture_compression */ +#define GL_COMPRESSED_ALPHA 0x84E9 +#define GL_COMPRESSED_LUMINANCE 0x84EA +#define GL_COMPRESSED_LUMINANCE_ALPHA 0x84EB +#define GL_COMPRESSED_INTENSITY 0x84EC +#define GL_COMPRESSED_RGB 0x84ED +#define GL_COMPRESSED_RGBA 0x84EE +#define GL_TEXTURE_COMPRESSION_HINT 0x84EF +#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0 +#define GL_TEXTURE_COMPRESSED 0x86A1 +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 +/* multisample */ +#define GL_MULTISAMPLE 0x809D +#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE 0x809F +#define GL_SAMPLE_COVERAGE 0x80A0 +#define GL_SAMPLE_BUFFERS 0x80A8 +#define GL_SAMPLES 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT 0x80AB +#define GL_MULTISAMPLE_BIT 0x20000000 +/* transpose_matrix */ +#define GL_TRANSPOSE_MODELVIEW_MATRIX 0x84E3 +#define GL_TRANSPOSE_PROJECTION_MATRIX 0x84E4 +#define GL_TRANSPOSE_TEXTURE_MATRIX 0x84E5 +#define GL_TRANSPOSE_COLOR_MATRIX 0x84E6 +/* texture_env_combine */ +#define GL_COMBINE 0x8570 +#define GL_COMBINE_RGB 0x8571 +#define GL_COMBINE_ALPHA 0x8572 +#define GL_SOURCE0_RGB 0x8580 +#define GL_SOURCE1_RGB 0x8581 +#define GL_SOURCE2_RGB 0x8582 +#define GL_SOURCE0_ALPHA 0x8588 +#define GL_SOURCE1_ALPHA 0x8589 +#define GL_SOURCE2_ALPHA 0x858A +#define GL_OPERAND0_RGB 0x8590 +#define GL_OPERAND1_RGB 0x8591 +#define GL_OPERAND2_RGB 0x8592 +#define GL_OPERAND0_ALPHA 0x8598 +#define GL_OPERAND1_ALPHA 0x8599 +#define GL_OPERAND2_ALPHA 0x859A +#define GL_RGB_SCALE 0x8573 +#define GL_ADD_SIGNED 0x8574 +#define GL_INTERPOLATE 0x8575 +#define GL_SUBTRACT 0x84E7 +#define GL_CONSTANT 0x8576 +#define GL_PRIMARY_COLOR 0x8577 +#define GL_PREVIOUS 0x8578 +/* texture_env_dot3 */ +#define GL_DOT3_RGB 0x86AE +#define GL_DOT3_RGBA 0x86AF +/* texture_border_clamp */ +#define GL_CLAMP_TO_BORDER 0x812D + +GLAPI void GLAPIENTRY glActiveTexture( GLenum texture ); + +GLAPI void GLAPIENTRY glClientActiveTexture( GLenum texture ); + +GLAPI void GLAPIENTRY glCompressedTexImage1D( GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data ); + +GLAPI void GLAPIENTRY glCompressedTexImage2D( GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data ); + +GLAPI void GLAPIENTRY glCompressedTexImage3D( GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data ); + +GLAPI void GLAPIENTRY glCompressedTexSubImage1D( GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data ); + +GLAPI void GLAPIENTRY glCompressedTexSubImage2D( GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data ); + +GLAPI void GLAPIENTRY glCompressedTexSubImage3D( GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data ); + +GLAPI void GLAPIENTRY glGetCompressedTexImage( GLenum target, GLint lod, GLvoid *img ); + +GLAPI void GLAPIENTRY glMultiTexCoord1d( GLenum target, GLdouble s ); + +GLAPI void GLAPIENTRY glMultiTexCoord1dv( GLenum target, const GLdouble *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord1f( GLenum target, GLfloat s ); + +GLAPI void GLAPIENTRY glMultiTexCoord1fv( GLenum target, const GLfloat *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord1i( GLenum target, GLint s ); + +GLAPI void GLAPIENTRY glMultiTexCoord1iv( GLenum target, const GLint *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord1s( GLenum target, GLshort s ); + +GLAPI void GLAPIENTRY glMultiTexCoord1sv( GLenum target, const GLshort *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord2d( GLenum target, GLdouble s, GLdouble t ); + +GLAPI void GLAPIENTRY glMultiTexCoord2dv( GLenum target, const GLdouble *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord2f( GLenum target, GLfloat s, GLfloat t ); + +GLAPI void GLAPIENTRY glMultiTexCoord2fv( GLenum target, const GLfloat *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord2i( GLenum target, GLint s, GLint t ); + +GLAPI void GLAPIENTRY glMultiTexCoord2iv( GLenum target, const GLint *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord2s( GLenum target, GLshort s, GLshort t ); + +GLAPI void GLAPIENTRY glMultiTexCoord2sv( GLenum target, const GLshort *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord3d( GLenum target, GLdouble s, GLdouble t, GLdouble r ); + +GLAPI void GLAPIENTRY glMultiTexCoord3dv( GLenum target, const GLdouble *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord3f( GLenum target, GLfloat s, GLfloat t, GLfloat r ); + +GLAPI void GLAPIENTRY glMultiTexCoord3fv( GLenum target, const GLfloat *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord3i( GLenum target, GLint s, GLint t, GLint r ); + +GLAPI void GLAPIENTRY glMultiTexCoord3iv( GLenum target, const GLint *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord3s( GLenum target, GLshort s, GLshort t, GLshort r ); + +GLAPI void GLAPIENTRY glMultiTexCoord3sv( GLenum target, const GLshort *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord4d( GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q ); + +GLAPI void GLAPIENTRY glMultiTexCoord4dv( GLenum target, const GLdouble *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord4f( GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q ); + +GLAPI void GLAPIENTRY glMultiTexCoord4fv( GLenum target, const GLfloat *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord4i( GLenum target, GLint s, GLint t, GLint r, GLint q ); + +GLAPI void GLAPIENTRY glMultiTexCoord4iv( GLenum target, const GLint *v ); + +GLAPI void GLAPIENTRY glMultiTexCoord4s( GLenum target, GLshort s, GLshort t, GLshort r, GLshort q ); + +GLAPI void GLAPIENTRY glMultiTexCoord4sv( GLenum target, const GLshort *v ); + + +GLAPI void GLAPIENTRY glLoadTransposeMatrixd( const GLdouble m[16] ); + +GLAPI void GLAPIENTRY glLoadTransposeMatrixf( const GLfloat m[16] ); + +GLAPI void GLAPIENTRY glMultTransposeMatrixd( const GLdouble m[16] ); + +GLAPI void GLAPIENTRY glMultTransposeMatrixf( const GLfloat m[16] ); + +GLAPI void GLAPIENTRY glSampleCoverage( GLclampf value, GLboolean invert ); + + +typedef void (APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLSAMPLECOVERAGEPROC) (GLclampf value, GLboolean invert); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint level, GLvoid *img); + + + +/* + * GL_ARB_multitexture (ARB extension 1 and OpenGL 1.2.1) + */ +#ifndef GL_ARB_multitexture +#define GL_ARB_multitexture 1 + +#define GL_TEXTURE0_ARB 0x84C0 +#define GL_TEXTURE1_ARB 0x84C1 +#define GL_TEXTURE2_ARB 0x84C2 +#define GL_TEXTURE3_ARB 0x84C3 +#define GL_TEXTURE4_ARB 0x84C4 +#define GL_TEXTURE5_ARB 0x84C5 +#define GL_TEXTURE6_ARB 0x84C6 +#define GL_TEXTURE7_ARB 0x84C7 +#define GL_TEXTURE8_ARB 0x84C8 +#define GL_TEXTURE9_ARB 0x84C9 +#define GL_TEXTURE10_ARB 0x84CA +#define GL_TEXTURE11_ARB 0x84CB +#define GL_TEXTURE12_ARB 0x84CC +#define GL_TEXTURE13_ARB 0x84CD +#define GL_TEXTURE14_ARB 0x84CE +#define GL_TEXTURE15_ARB 0x84CF +#define GL_TEXTURE16_ARB 0x84D0 +#define GL_TEXTURE17_ARB 0x84D1 +#define GL_TEXTURE18_ARB 0x84D2 +#define GL_TEXTURE19_ARB 0x84D3 +#define GL_TEXTURE20_ARB 0x84D4 +#define GL_TEXTURE21_ARB 0x84D5 +#define GL_TEXTURE22_ARB 0x84D6 +#define GL_TEXTURE23_ARB 0x84D7 +#define GL_TEXTURE24_ARB 0x84D8 +#define GL_TEXTURE25_ARB 0x84D9 +#define GL_TEXTURE26_ARB 0x84DA +#define GL_TEXTURE27_ARB 0x84DB +#define GL_TEXTURE28_ARB 0x84DC +#define GL_TEXTURE29_ARB 0x84DD +#define GL_TEXTURE30_ARB 0x84DE +#define GL_TEXTURE31_ARB 0x84DF +#define GL_ACTIVE_TEXTURE_ARB 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 +#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 + +GLAPI void GLAPIENTRY glActiveTextureARB(GLenum texture); +GLAPI void GLAPIENTRY glClientActiveTextureARB(GLenum texture); +GLAPI void GLAPIENTRY glMultiTexCoord1dARB(GLenum target, GLdouble s); +GLAPI void GLAPIENTRY glMultiTexCoord1dvARB(GLenum target, const GLdouble *v); +GLAPI void GLAPIENTRY glMultiTexCoord1fARB(GLenum target, GLfloat s); +GLAPI void GLAPIENTRY glMultiTexCoord1fvARB(GLenum target, const GLfloat *v); +GLAPI void GLAPIENTRY glMultiTexCoord1iARB(GLenum target, GLint s); +GLAPI void GLAPIENTRY glMultiTexCoord1ivARB(GLenum target, const GLint *v); +GLAPI void GLAPIENTRY glMultiTexCoord1sARB(GLenum target, GLshort s); +GLAPI void GLAPIENTRY glMultiTexCoord1svARB(GLenum target, const GLshort *v); +GLAPI void GLAPIENTRY glMultiTexCoord2dARB(GLenum target, GLdouble s, GLdouble t); +GLAPI void GLAPIENTRY glMultiTexCoord2dvARB(GLenum target, const GLdouble *v); +GLAPI void GLAPIENTRY glMultiTexCoord2fARB(GLenum target, GLfloat s, GLfloat t); +GLAPI void GLAPIENTRY glMultiTexCoord2fvARB(GLenum target, const GLfloat *v); +GLAPI void GLAPIENTRY glMultiTexCoord2iARB(GLenum target, GLint s, GLint t); +GLAPI void GLAPIENTRY glMultiTexCoord2ivARB(GLenum target, const GLint *v); +GLAPI void GLAPIENTRY glMultiTexCoord2sARB(GLenum target, GLshort s, GLshort t); +GLAPI void GLAPIENTRY glMultiTexCoord2svARB(GLenum target, const GLshort *v); +GLAPI void GLAPIENTRY glMultiTexCoord3dARB(GLenum target, GLdouble s, GLdouble t, GLdouble r); +GLAPI void GLAPIENTRY glMultiTexCoord3dvARB(GLenum target, const GLdouble *v); +GLAPI void GLAPIENTRY glMultiTexCoord3fARB(GLenum target, GLfloat s, GLfloat t, GLfloat r); +GLAPI void GLAPIENTRY glMultiTexCoord3fvARB(GLenum target, const GLfloat *v); +GLAPI void GLAPIENTRY glMultiTexCoord3iARB(GLenum target, GLint s, GLint t, GLint r); +GLAPI void GLAPIENTRY glMultiTexCoord3ivARB(GLenum target, const GLint *v); +GLAPI void GLAPIENTRY glMultiTexCoord3sARB(GLenum target, GLshort s, GLshort t, GLshort r); +GLAPI void GLAPIENTRY glMultiTexCoord3svARB(GLenum target, const GLshort *v); +GLAPI void GLAPIENTRY glMultiTexCoord4dARB(GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +GLAPI void GLAPIENTRY glMultiTexCoord4dvARB(GLenum target, const GLdouble *v); +GLAPI void GLAPIENTRY glMultiTexCoord4fARB(GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +GLAPI void GLAPIENTRY glMultiTexCoord4fvARB(GLenum target, const GLfloat *v); +GLAPI void GLAPIENTRY glMultiTexCoord4iARB(GLenum target, GLint s, GLint t, GLint r, GLint q); +GLAPI void GLAPIENTRY glMultiTexCoord4ivARB(GLenum target, const GLint *v); +GLAPI void GLAPIENTRY glMultiTexCoord4sARB(GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +GLAPI void GLAPIENTRY glMultiTexCoord4svARB(GLenum target, const GLshort *v); + +typedef void (APIENTRYP PFNGLACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1DARBPROC) (GLenum target, GLdouble s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1FARBPROC) (GLenum target, GLfloat s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1IARBPROC) (GLenum target, GLint s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1SARBPROC) (GLenum target, GLshort s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2DARBPROC) (GLenum target, GLdouble s, GLdouble t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2FARBPROC) (GLenum target, GLfloat s, GLfloat t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2IARBPROC) (GLenum target, GLint s, GLint t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2SARBPROC) (GLenum target, GLshort s, GLshort t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3IARBPROC) (GLenum target, GLint s, GLint t, GLint r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4IARBPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVARBPROC) (GLenum target, const GLshort *v); + +#endif /* GL_ARB_multitexture */ + + + +/* + * Define this token if you want "old-style" header file behaviour (extensions + * defined in gl.h). Otherwise, extensions will be included from glext.h. + */ +#if !defined(NO_SDL_GLEXT) && !defined(GL_GLEXT_LEGACY) +#include "SDL_opengl_glext.h" +#endif /* GL_GLEXT_LEGACY */ + + + +/********************************************************************** + * Begin system-specific stuff + */ +#if defined(PRAGMA_EXPORT_SUPPORTED) +#pragma export off +#endif + +/* + * End system-specific stuff + **********************************************************************/ + + +#ifdef __cplusplus +} +#endif + +#endif /* __gl_h_ */ + +#endif /* !__IPHONEOS__ */ + +#endif /* SDL_opengl_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengl_glext.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengl_glext.h new file mode 100644 index 000000000..8527e1744 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengl_glext.h @@ -0,0 +1,13209 @@ +#ifndef __gl_glext_h_ +#define __gl_glext_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright 2013-2020 The Khronos Group Inc. +** SPDX-License-Identifier: MIT +** +** This header is generated from the Khronos OpenGL / OpenGL ES XML +** API Registry. The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** https://github.com/KhronosGroup/OpenGL-Registry +*/ + +#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__) +#ifndef WIN32_LEAN_AND_MEAN +#define WIN32_LEAN_AND_MEAN 1 +#endif +#include +#endif + +#ifndef APIENTRY +#define APIENTRY +#endif +#ifndef APIENTRYP +#define APIENTRYP APIENTRY * +#endif +#ifndef GLAPI +#define GLAPI extern +#endif + +#define GL_GLEXT_VERSION 20220530 + +/*#include */ +#ifndef __khrplatform_h_ +#define __khrplatform_h_ + +/* +** Copyright (c) 2008-2018 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +/* Khronos platform-specific types and definitions. + * + * The master copy of khrplatform.h is maintained in the Khronos EGL + * Registry repository at https://github.com/KhronosGroup/EGL-Registry + * The last semantic modification to khrplatform.h was at commit ID: + * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 + * + * Adopters may modify this file to suit their platform. Adopters are + * encouraged to submit platform specific modifications to the Khronos + * group so that they can be included in future versions of this file. + * Please submit changes by filing pull requests or issues on + * the EGL Registry repository linked above. + * + * + * See the Implementer's Guidelines for information about where this file + * should be located on your system and for more details of its use: + * http://www.khronos.org/registry/implementers_guide.pdf + * + * This file should be included as + * #include + * by Khronos client API header files that use its types and defines. + * + * The types in khrplatform.h should only be used to define API-specific types. + * + * Types defined in khrplatform.h: + * khronos_int8_t signed 8 bit + * khronos_uint8_t unsigned 8 bit + * khronos_int16_t signed 16 bit + * khronos_uint16_t unsigned 16 bit + * khronos_int32_t signed 32 bit + * khronos_uint32_t unsigned 32 bit + * khronos_int64_t signed 64 bit + * khronos_uint64_t unsigned 64 bit + * khronos_intptr_t signed same number of bits as a pointer + * khronos_uintptr_t unsigned same number of bits as a pointer + * khronos_ssize_t signed size + * khronos_usize_t unsigned size + * khronos_float_t signed 32 bit floating point + * khronos_time_ns_t unsigned 64 bit time in nanoseconds + * khronos_utime_nanoseconds_t unsigned time interval or absolute time in + * nanoseconds + * khronos_stime_nanoseconds_t signed time interval in nanoseconds + * khronos_boolean_enum_t enumerated boolean type. This should + * only be used as a base type when a client API's boolean type is + * an enum. Client APIs which use an integer or other type for + * booleans cannot use this as the base type for their boolean. + * + * Tokens defined in khrplatform.h: + * + * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. + * + * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. + * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. + * + * Calling convention macros defined in this file: + * KHRONOS_APICALL + * KHRONOS_APIENTRY + * KHRONOS_APIATTRIBUTES + * + * These may be used in function prototypes as: + * + * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( + * int arg1, + * int arg2) KHRONOS_APIATTRIBUTES; + */ + +#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) +# define KHRONOS_STATIC 1 +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APICALL + *------------------------------------------------------------------------- + * This precedes the return type of the function in the function prototype. + */ +#if defined(KHRONOS_STATIC) + /* If the preprocessor constant KHRONOS_STATIC is defined, make the + * header compatible with static linking. */ +# define KHRONOS_APICALL +#elif defined(_WIN32) +# define KHRONOS_APICALL __declspec(dllimport) +#elif defined (__SYMBIAN32__) +# define KHRONOS_APICALL IMPORT_C +#elif defined(__ANDROID__) +# define KHRONOS_APICALL __attribute__((visibility("default"))) +#else +# define KHRONOS_APICALL +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIENTRY + *------------------------------------------------------------------------- + * This follows the return type of the function and precedes the function + * name in the function prototype. + */ +#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) + /* Win32 but not WinCE */ +# define KHRONOS_APIENTRY __stdcall +#else +# define KHRONOS_APIENTRY +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIATTRIBUTES + *------------------------------------------------------------------------- + * This follows the closing parenthesis of the function prototype arguments. + */ +#if defined (__ARMCC_2__) +#define KHRONOS_APIATTRIBUTES __softfp +#else +#define KHRONOS_APIATTRIBUTES +#endif + +/*------------------------------------------------------------------------- + * basic type definitions + *-----------------------------------------------------------------------*/ +#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) + + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 +/* + * To support platform where unsigned long cannot be used interchangeably with + * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. + * Ideally, we could just use (u)intptr_t everywhere, but this could result in + * ABI breakage if khronos_uintptr_t is changed from unsigned long to + * unsigned long long or similar (this results in different C++ name mangling). + * To avoid changes for existing platforms, we restrict usage of intptr_t to + * platforms where the size of a pointer is larger than the size of long. + */ +#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) +#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ +#define KHRONOS_USE_INTPTR_T +#endif +#endif + +#elif defined(__VMS ) || defined(__sgi) + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) + +/* + * Win32 + */ +typedef __int32 khronos_int32_t; +typedef unsigned __int32 khronos_uint32_t; +typedef __int64 khronos_int64_t; +typedef unsigned __int64 khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(__sun__) || defined(__digital__) + +/* + * Sun or Digital + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#if defined(__arch64__) || defined(_LP64) +typedef long int khronos_int64_t; +typedef unsigned long int khronos_uint64_t; +#else +typedef long long int khronos_int64_t; +typedef unsigned long long int khronos_uint64_t; +#endif /* __arch64__ */ +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif 0 + +/* + * Hypothetical platform with no float or int64 support + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#define KHRONOS_SUPPORT_INT64 0 +#define KHRONOS_SUPPORT_FLOAT 0 + +#else + +/* + * Generic fallback + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#endif + + +/* + * Types that are (so far) the same on all platforms + */ +typedef signed char khronos_int8_t; +typedef unsigned char khronos_uint8_t; +typedef signed short int khronos_int16_t; +typedef unsigned short int khronos_uint16_t; + +/* + * Types that differ between LLP64 and LP64 architectures - in LLP64, + * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears + * to be the only LLP64 architecture in current use. + */ +#ifdef KHRONOS_USE_INTPTR_T +typedef intptr_t khronos_intptr_t; +typedef uintptr_t khronos_uintptr_t; +#elif defined(_WIN64) +typedef signed long long int khronos_intptr_t; +typedef unsigned long long int khronos_uintptr_t; +#else +typedef signed long int khronos_intptr_t; +typedef unsigned long int khronos_uintptr_t; +#endif + +#if defined(_WIN64) +typedef signed long long int khronos_ssize_t; +typedef unsigned long long int khronos_usize_t; +#else +typedef signed long int khronos_ssize_t; +typedef unsigned long int khronos_usize_t; +#endif + +#if KHRONOS_SUPPORT_FLOAT +/* + * Float type + */ +typedef float khronos_float_t; +#endif + +#if KHRONOS_SUPPORT_INT64 +/* Time types + * + * These types can be used to represent a time interval in nanoseconds or + * an absolute Unadjusted System Time. Unadjusted System Time is the number + * of nanoseconds since some arbitrary system event (e.g. since the last + * time the system booted). The Unadjusted System Time is an unsigned + * 64 bit value that wraps back to 0 every 584 years. Time intervals + * may be either signed or unsigned. + */ +typedef khronos_uint64_t khronos_utime_nanoseconds_t; +typedef khronos_int64_t khronos_stime_nanoseconds_t; +#endif + +/* + * Dummy value used to pad enum types to 32 bits. + */ +#ifndef KHRONOS_MAX_ENUM +#define KHRONOS_MAX_ENUM 0x7FFFFFFF +#endif + +/* + * Enumerated boolean type + * + * Values other than zero should be considered to be true. Therefore + * comparisons should not be made against KHRONOS_TRUE. + */ +typedef enum { + KHRONOS_FALSE = 0, + KHRONOS_TRUE = 1, + KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM +} khronos_boolean_enum_t; + +#endif /* __khrplatform_h_ */ + +/* Generated C header for: + * API: gl + * Profile: compatibility + * Versions considered: .* + * Versions emitted: 1\.[2-9]|[234]\.[0-9] + * Default extensions included: gl + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef GL_VERSION_1_2 +#define GL_VERSION_1_2 1 +#define GL_UNSIGNED_BYTE_3_3_2 0x8032 +#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 +#define GL_UNSIGNED_INT_8_8_8_8 0x8035 +#define GL_UNSIGNED_INT_10_10_10_2 0x8036 +#define GL_TEXTURE_BINDING_3D 0x806A +#define GL_PACK_SKIP_IMAGES 0x806B +#define GL_PACK_IMAGE_HEIGHT 0x806C +#define GL_UNPACK_SKIP_IMAGES 0x806D +#define GL_UNPACK_IMAGE_HEIGHT 0x806E +#define GL_TEXTURE_3D 0x806F +#define GL_PROXY_TEXTURE_3D 0x8070 +#define GL_TEXTURE_DEPTH 0x8071 +#define GL_TEXTURE_WRAP_R 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE 0x8073 +#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 +#define GL_UNSIGNED_SHORT_5_6_5 0x8363 +#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 +#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 +#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 +#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 +#define GL_BGR 0x80E0 +#define GL_BGRA 0x80E1 +#define GL_MAX_ELEMENTS_VERTICES 0x80E8 +#define GL_MAX_ELEMENTS_INDICES 0x80E9 +#define GL_CLAMP_TO_EDGE 0x812F +#define GL_TEXTURE_MIN_LOD 0x813A +#define GL_TEXTURE_MAX_LOD 0x813B +#define GL_TEXTURE_BASE_LEVEL 0x813C +#define GL_TEXTURE_MAX_LEVEL 0x813D +#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 +#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 +#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E +#define GL_RESCALE_NORMAL 0x803A +#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8 +#define GL_SINGLE_COLOR 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR 0x81FA +#define GL_ALIASED_POINT_SIZE_RANGE 0x846D +typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); +typedef void (APIENTRYP PFNGLTEXIMAGE3DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawRangeElements (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); +GLAPI void APIENTRY glTexImage3D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTexSubImage3D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glCopyTexSubImage3D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +#endif +#endif /* GL_VERSION_1_2 */ + +#ifndef GL_VERSION_1_3 +#define GL_VERSION_1_3 1 +#define GL_TEXTURE0 0x84C0 +#define GL_TEXTURE1 0x84C1 +#define GL_TEXTURE2 0x84C2 +#define GL_TEXTURE3 0x84C3 +#define GL_TEXTURE4 0x84C4 +#define GL_TEXTURE5 0x84C5 +#define GL_TEXTURE6 0x84C6 +#define GL_TEXTURE7 0x84C7 +#define GL_TEXTURE8 0x84C8 +#define GL_TEXTURE9 0x84C9 +#define GL_TEXTURE10 0x84CA +#define GL_TEXTURE11 0x84CB +#define GL_TEXTURE12 0x84CC +#define GL_TEXTURE13 0x84CD +#define GL_TEXTURE14 0x84CE +#define GL_TEXTURE15 0x84CF +#define GL_TEXTURE16 0x84D0 +#define GL_TEXTURE17 0x84D1 +#define GL_TEXTURE18 0x84D2 +#define GL_TEXTURE19 0x84D3 +#define GL_TEXTURE20 0x84D4 +#define GL_TEXTURE21 0x84D5 +#define GL_TEXTURE22 0x84D6 +#define GL_TEXTURE23 0x84D7 +#define GL_TEXTURE24 0x84D8 +#define GL_TEXTURE25 0x84D9 +#define GL_TEXTURE26 0x84DA +#define GL_TEXTURE27 0x84DB +#define GL_TEXTURE28 0x84DC +#define GL_TEXTURE29 0x84DD +#define GL_TEXTURE30 0x84DE +#define GL_TEXTURE31 0x84DF +#define GL_ACTIVE_TEXTURE 0x84E0 +#define GL_MULTISAMPLE 0x809D +#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE 0x809F +#define GL_SAMPLE_COVERAGE 0x80A0 +#define GL_SAMPLE_BUFFERS 0x80A8 +#define GL_SAMPLES 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT 0x80AB +#define GL_TEXTURE_CUBE_MAP 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C +#define GL_COMPRESSED_RGB 0x84ED +#define GL_COMPRESSED_RGBA 0x84EE +#define GL_TEXTURE_COMPRESSION_HINT 0x84EF +#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0 +#define GL_TEXTURE_COMPRESSED 0x86A1 +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 +#define GL_CLAMP_TO_BORDER 0x812D +#define GL_CLIENT_ACTIVE_TEXTURE 0x84E1 +#define GL_MAX_TEXTURE_UNITS 0x84E2 +#define GL_TRANSPOSE_MODELVIEW_MATRIX 0x84E3 +#define GL_TRANSPOSE_PROJECTION_MATRIX 0x84E4 +#define GL_TRANSPOSE_TEXTURE_MATRIX 0x84E5 +#define GL_TRANSPOSE_COLOR_MATRIX 0x84E6 +#define GL_MULTISAMPLE_BIT 0x20000000 +#define GL_NORMAL_MAP 0x8511 +#define GL_REFLECTION_MAP 0x8512 +#define GL_COMPRESSED_ALPHA 0x84E9 +#define GL_COMPRESSED_LUMINANCE 0x84EA +#define GL_COMPRESSED_LUMINANCE_ALPHA 0x84EB +#define GL_COMPRESSED_INTENSITY 0x84EC +#define GL_COMBINE 0x8570 +#define GL_COMBINE_RGB 0x8571 +#define GL_COMBINE_ALPHA 0x8572 +#define GL_SOURCE0_RGB 0x8580 +#define GL_SOURCE1_RGB 0x8581 +#define GL_SOURCE2_RGB 0x8582 +#define GL_SOURCE0_ALPHA 0x8588 +#define GL_SOURCE1_ALPHA 0x8589 +#define GL_SOURCE2_ALPHA 0x858A +#define GL_OPERAND0_RGB 0x8590 +#define GL_OPERAND1_RGB 0x8591 +#define GL_OPERAND2_RGB 0x8592 +#define GL_OPERAND0_ALPHA 0x8598 +#define GL_OPERAND1_ALPHA 0x8599 +#define GL_OPERAND2_ALPHA 0x859A +#define GL_RGB_SCALE 0x8573 +#define GL_ADD_SIGNED 0x8574 +#define GL_INTERPOLATE 0x8575 +#define GL_SUBTRACT 0x84E7 +#define GL_CONSTANT 0x8576 +#define GL_PRIMARY_COLOR 0x8577 +#define GL_PREVIOUS 0x8578 +#define GL_DOT3_RGB 0x86AE +#define GL_DOT3_RGBA 0x86AF +typedef void (APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLSAMPLECOVERAGEPROC) (GLfloat value, GLboolean invert); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint level, void *img); +typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1DPROC) (GLenum target, GLdouble s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1FPROC) (GLenum target, GLfloat s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1IPROC) (GLenum target, GLint s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1SPROC) (GLenum target, GLshort s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2DPROC) (GLenum target, GLdouble s, GLdouble t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2FPROC) (GLenum target, GLfloat s, GLfloat t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2IPROC) (GLenum target, GLint s, GLint t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2SPROC) (GLenum target, GLshort s, GLshort t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3DPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3FPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3IPROC) (GLenum target, GLint s, GLint t, GLint r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3SPROC) (GLenum target, GLshort s, GLshort t, GLshort r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4DPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4FPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4IPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4SPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXFPROC) (const GLfloat *m); +typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXDPROC) (const GLdouble *m); +typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXFPROC) (const GLfloat *m); +typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXDPROC) (const GLdouble *m); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glActiveTexture (GLenum texture); +GLAPI void APIENTRY glSampleCoverage (GLfloat value, GLboolean invert); +GLAPI void APIENTRY glCompressedTexImage3D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexImage2D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexImage1D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexSubImage3D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexSubImage1D (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glGetCompressedTexImage (GLenum target, GLint level, void *img); +GLAPI void APIENTRY glClientActiveTexture (GLenum texture); +GLAPI void APIENTRY glMultiTexCoord1d (GLenum target, GLdouble s); +GLAPI void APIENTRY glMultiTexCoord1dv (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord1f (GLenum target, GLfloat s); +GLAPI void APIENTRY glMultiTexCoord1fv (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord1i (GLenum target, GLint s); +GLAPI void APIENTRY glMultiTexCoord1iv (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord1s (GLenum target, GLshort s); +GLAPI void APIENTRY glMultiTexCoord1sv (GLenum target, const GLshort *v); +GLAPI void APIENTRY glMultiTexCoord2d (GLenum target, GLdouble s, GLdouble t); +GLAPI void APIENTRY glMultiTexCoord2dv (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord2f (GLenum target, GLfloat s, GLfloat t); +GLAPI void APIENTRY glMultiTexCoord2fv (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord2i (GLenum target, GLint s, GLint t); +GLAPI void APIENTRY glMultiTexCoord2iv (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord2s (GLenum target, GLshort s, GLshort t); +GLAPI void APIENTRY glMultiTexCoord2sv (GLenum target, const GLshort *v); +GLAPI void APIENTRY glMultiTexCoord3d (GLenum target, GLdouble s, GLdouble t, GLdouble r); +GLAPI void APIENTRY glMultiTexCoord3dv (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord3f (GLenum target, GLfloat s, GLfloat t, GLfloat r); +GLAPI void APIENTRY glMultiTexCoord3fv (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord3i (GLenum target, GLint s, GLint t, GLint r); +GLAPI void APIENTRY glMultiTexCoord3iv (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord3s (GLenum target, GLshort s, GLshort t, GLshort r); +GLAPI void APIENTRY glMultiTexCoord3sv (GLenum target, const GLshort *v); +GLAPI void APIENTRY glMultiTexCoord4d (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +GLAPI void APIENTRY glMultiTexCoord4dv (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord4f (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +GLAPI void APIENTRY glMultiTexCoord4fv (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord4i (GLenum target, GLint s, GLint t, GLint r, GLint q); +GLAPI void APIENTRY glMultiTexCoord4iv (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord4s (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +GLAPI void APIENTRY glMultiTexCoord4sv (GLenum target, const GLshort *v); +GLAPI void APIENTRY glLoadTransposeMatrixf (const GLfloat *m); +GLAPI void APIENTRY glLoadTransposeMatrixd (const GLdouble *m); +GLAPI void APIENTRY glMultTransposeMatrixf (const GLfloat *m); +GLAPI void APIENTRY glMultTransposeMatrixd (const GLdouble *m); +#endif +#endif /* GL_VERSION_1_3 */ + +#ifndef GL_VERSION_1_4 +#define GL_VERSION_1_4 1 +#define GL_BLEND_DST_RGB 0x80C8 +#define GL_BLEND_SRC_RGB 0x80C9 +#define GL_BLEND_DST_ALPHA 0x80CA +#define GL_BLEND_SRC_ALPHA 0x80CB +#define GL_POINT_FADE_THRESHOLD_SIZE 0x8128 +#define GL_DEPTH_COMPONENT16 0x81A5 +#define GL_DEPTH_COMPONENT24 0x81A6 +#define GL_DEPTH_COMPONENT32 0x81A7 +#define GL_MIRRORED_REPEAT 0x8370 +#define GL_MAX_TEXTURE_LOD_BIAS 0x84FD +#define GL_TEXTURE_LOD_BIAS 0x8501 +#define GL_INCR_WRAP 0x8507 +#define GL_DECR_WRAP 0x8508 +#define GL_TEXTURE_DEPTH_SIZE 0x884A +#define GL_TEXTURE_COMPARE_MODE 0x884C +#define GL_TEXTURE_COMPARE_FUNC 0x884D +#define GL_POINT_SIZE_MIN 0x8126 +#define GL_POINT_SIZE_MAX 0x8127 +#define GL_POINT_DISTANCE_ATTENUATION 0x8129 +#define GL_GENERATE_MIPMAP 0x8191 +#define GL_GENERATE_MIPMAP_HINT 0x8192 +#define GL_FOG_COORDINATE_SOURCE 0x8450 +#define GL_FOG_COORDINATE 0x8451 +#define GL_FRAGMENT_DEPTH 0x8452 +#define GL_CURRENT_FOG_COORDINATE 0x8453 +#define GL_FOG_COORDINATE_ARRAY_TYPE 0x8454 +#define GL_FOG_COORDINATE_ARRAY_STRIDE 0x8455 +#define GL_FOG_COORDINATE_ARRAY_POINTER 0x8456 +#define GL_FOG_COORDINATE_ARRAY 0x8457 +#define GL_COLOR_SUM 0x8458 +#define GL_CURRENT_SECONDARY_COLOR 0x8459 +#define GL_SECONDARY_COLOR_ARRAY_SIZE 0x845A +#define GL_SECONDARY_COLOR_ARRAY_TYPE 0x845B +#define GL_SECONDARY_COLOR_ARRAY_STRIDE 0x845C +#define GL_SECONDARY_COLOR_ARRAY_POINTER 0x845D +#define GL_SECONDARY_COLOR_ARRAY 0x845E +#define GL_TEXTURE_FILTER_CONTROL 0x8500 +#define GL_DEPTH_TEXTURE_MODE 0x884B +#define GL_COMPARE_R_TO_TEXTURE 0x884E +#define GL_BLEND_COLOR 0x8005 +#define GL_BLEND_EQUATION 0x8009 +#define GL_CONSTANT_COLOR 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 +#define GL_CONSTANT_ALPHA 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 +#define GL_FUNC_ADD 0x8006 +#define GL_FUNC_REVERSE_SUBTRACT 0x800B +#define GL_FUNC_SUBTRACT 0x800A +#define GL_MIN 0x8007 +#define GL_MAX 0x8008 +typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei drawcount); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount); +typedef void (APIENTRYP PFNGLPOINTPARAMETERFPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLPOINTPARAMETERFVPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLPOINTPARAMETERIPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLPOINTPARAMETERIVPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLFOGCOORDFPROC) (GLfloat coord); +typedef void (APIENTRYP PFNGLFOGCOORDFVPROC) (const GLfloat *coord); +typedef void (APIENTRYP PFNGLFOGCOORDDPROC) (GLdouble coord); +typedef void (APIENTRYP PFNGLFOGCOORDDVPROC) (const GLdouble *coord); +typedef void (APIENTRYP PFNGLFOGCOORDPOINTERPROC) (GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BPROC) (GLbyte red, GLbyte green, GLbyte blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BVPROC) (const GLbyte *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DPROC) (GLdouble red, GLdouble green, GLdouble blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DVPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FPROC) (GLfloat red, GLfloat green, GLfloat blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FVPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IPROC) (GLint red, GLint green, GLint blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IVPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SPROC) (GLshort red, GLshort green, GLshort blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SVPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBPROC) (GLubyte red, GLubyte green, GLubyte blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBVPROC) (const GLubyte *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIPROC) (GLuint red, GLuint green, GLuint blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIVPROC) (const GLuint *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USPROC) (GLushort red, GLushort green, GLushort blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USVPROC) (const GLushort *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTERPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLWINDOWPOS2DPROC) (GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLWINDOWPOS2DVPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2FPROC) (GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLWINDOWPOS2FVPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2IPROC) (GLint x, GLint y); +typedef void (APIENTRYP PFNGLWINDOWPOS2IVPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2SPROC) (GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLWINDOWPOS2SVPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3DPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLWINDOWPOS3DVPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3FPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLWINDOWPOS3FVPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3IPROC) (GLint x, GLint y, GLint z); +typedef void (APIENTRYP PFNGLWINDOWPOS3IVPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3SPROC) (GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLWINDOWPOS3SVPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLBLENDCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +typedef void (APIENTRYP PFNGLBLENDEQUATIONPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendFuncSeparate (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +GLAPI void APIENTRY glMultiDrawArrays (GLenum mode, const GLint *first, const GLsizei *count, GLsizei drawcount); +GLAPI void APIENTRY glMultiDrawElements (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount); +GLAPI void APIENTRY glPointParameterf (GLenum pname, GLfloat param); +GLAPI void APIENTRY glPointParameterfv (GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glPointParameteri (GLenum pname, GLint param); +GLAPI void APIENTRY glPointParameteriv (GLenum pname, const GLint *params); +GLAPI void APIENTRY glFogCoordf (GLfloat coord); +GLAPI void APIENTRY glFogCoordfv (const GLfloat *coord); +GLAPI void APIENTRY glFogCoordd (GLdouble coord); +GLAPI void APIENTRY glFogCoorddv (const GLdouble *coord); +GLAPI void APIENTRY glFogCoordPointer (GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glSecondaryColor3b (GLbyte red, GLbyte green, GLbyte blue); +GLAPI void APIENTRY glSecondaryColor3bv (const GLbyte *v); +GLAPI void APIENTRY glSecondaryColor3d (GLdouble red, GLdouble green, GLdouble blue); +GLAPI void APIENTRY glSecondaryColor3dv (const GLdouble *v); +GLAPI void APIENTRY glSecondaryColor3f (GLfloat red, GLfloat green, GLfloat blue); +GLAPI void APIENTRY glSecondaryColor3fv (const GLfloat *v); +GLAPI void APIENTRY glSecondaryColor3i (GLint red, GLint green, GLint blue); +GLAPI void APIENTRY glSecondaryColor3iv (const GLint *v); +GLAPI void APIENTRY glSecondaryColor3s (GLshort red, GLshort green, GLshort blue); +GLAPI void APIENTRY glSecondaryColor3sv (const GLshort *v); +GLAPI void APIENTRY glSecondaryColor3ub (GLubyte red, GLubyte green, GLubyte blue); +GLAPI void APIENTRY glSecondaryColor3ubv (const GLubyte *v); +GLAPI void APIENTRY glSecondaryColor3ui (GLuint red, GLuint green, GLuint blue); +GLAPI void APIENTRY glSecondaryColor3uiv (const GLuint *v); +GLAPI void APIENTRY glSecondaryColor3us (GLushort red, GLushort green, GLushort blue); +GLAPI void APIENTRY glSecondaryColor3usv (const GLushort *v); +GLAPI void APIENTRY glSecondaryColorPointer (GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glWindowPos2d (GLdouble x, GLdouble y); +GLAPI void APIENTRY glWindowPos2dv (const GLdouble *v); +GLAPI void APIENTRY glWindowPos2f (GLfloat x, GLfloat y); +GLAPI void APIENTRY glWindowPos2fv (const GLfloat *v); +GLAPI void APIENTRY glWindowPos2i (GLint x, GLint y); +GLAPI void APIENTRY glWindowPos2iv (const GLint *v); +GLAPI void APIENTRY glWindowPos2s (GLshort x, GLshort y); +GLAPI void APIENTRY glWindowPos2sv (const GLshort *v); +GLAPI void APIENTRY glWindowPos3d (GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glWindowPos3dv (const GLdouble *v); +GLAPI void APIENTRY glWindowPos3f (GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glWindowPos3fv (const GLfloat *v); +GLAPI void APIENTRY glWindowPos3i (GLint x, GLint y, GLint z); +GLAPI void APIENTRY glWindowPos3iv (const GLint *v); +GLAPI void APIENTRY glWindowPos3s (GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glWindowPos3sv (const GLshort *v); +GLAPI void APIENTRY glBlendColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +GLAPI void APIENTRY glBlendEquation (GLenum mode); +#endif +#endif /* GL_VERSION_1_4 */ + +#ifndef GL_VERSION_1_5 +#define GL_VERSION_1_5 1 +typedef khronos_ssize_t GLsizeiptr; +typedef khronos_intptr_t GLintptr; +#define GL_BUFFER_SIZE 0x8764 +#define GL_BUFFER_USAGE 0x8765 +#define GL_QUERY_COUNTER_BITS 0x8864 +#define GL_CURRENT_QUERY 0x8865 +#define GL_QUERY_RESULT 0x8866 +#define GL_QUERY_RESULT_AVAILABLE 0x8867 +#define GL_ARRAY_BUFFER 0x8892 +#define GL_ELEMENT_ARRAY_BUFFER 0x8893 +#define GL_ARRAY_BUFFER_BINDING 0x8894 +#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895 +#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F +#define GL_READ_ONLY 0x88B8 +#define GL_WRITE_ONLY 0x88B9 +#define GL_READ_WRITE 0x88BA +#define GL_BUFFER_ACCESS 0x88BB +#define GL_BUFFER_MAPPED 0x88BC +#define GL_BUFFER_MAP_POINTER 0x88BD +#define GL_STREAM_DRAW 0x88E0 +#define GL_STREAM_READ 0x88E1 +#define GL_STREAM_COPY 0x88E2 +#define GL_STATIC_DRAW 0x88E4 +#define GL_STATIC_READ 0x88E5 +#define GL_STATIC_COPY 0x88E6 +#define GL_DYNAMIC_DRAW 0x88E8 +#define GL_DYNAMIC_READ 0x88E9 +#define GL_DYNAMIC_COPY 0x88EA +#define GL_SAMPLES_PASSED 0x8914 +#define GL_SRC1_ALPHA 0x8589 +#define GL_VERTEX_ARRAY_BUFFER_BINDING 0x8896 +#define GL_NORMAL_ARRAY_BUFFER_BINDING 0x8897 +#define GL_COLOR_ARRAY_BUFFER_BINDING 0x8898 +#define GL_INDEX_ARRAY_BUFFER_BINDING 0x8899 +#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING 0x889A +#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING 0x889B +#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING 0x889C +#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING 0x889D +#define GL_WEIGHT_ARRAY_BUFFER_BINDING 0x889E +#define GL_FOG_COORD_SRC 0x8450 +#define GL_FOG_COORD 0x8451 +#define GL_CURRENT_FOG_COORD 0x8453 +#define GL_FOG_COORD_ARRAY_TYPE 0x8454 +#define GL_FOG_COORD_ARRAY_STRIDE 0x8455 +#define GL_FOG_COORD_ARRAY_POINTER 0x8456 +#define GL_FOG_COORD_ARRAY 0x8457 +#define GL_FOG_COORD_ARRAY_BUFFER_BINDING 0x889D +#define GL_SRC0_RGB 0x8580 +#define GL_SRC1_RGB 0x8581 +#define GL_SRC2_RGB 0x8582 +#define GL_SRC0_ALPHA 0x8588 +#define GL_SRC2_ALPHA 0x858A +typedef void (APIENTRYP PFNGLGENQUERIESPROC) (GLsizei n, GLuint *ids); +typedef void (APIENTRYP PFNGLDELETEQUERIESPROC) (GLsizei n, const GLuint *ids); +typedef GLboolean (APIENTRYP PFNGLISQUERYPROC) (GLuint id); +typedef void (APIENTRYP PFNGLBEGINQUERYPROC) (GLenum target, GLuint id); +typedef void (APIENTRYP PFNGLENDQUERYPROC) (GLenum target); +typedef void (APIENTRYP PFNGLGETQUERYIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTIVPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTUIVPROC) (GLuint id, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLBINDBUFFERPROC) (GLenum target, GLuint buffer); +typedef void (APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers); +typedef void (APIENTRYP PFNGLGENBUFFERSPROC) (GLsizei n, GLuint *buffers); +typedef GLboolean (APIENTRYP PFNGLISBUFFERPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLBUFFERDATAPROC) (GLenum target, GLsizeiptr size, const void *data, GLenum usage); +typedef void (APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); +typedef void (APIENTRYP PFNGLGETBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, void *data); +typedef void *(APIENTRYP PFNGLMAPBUFFERPROC) (GLenum target, GLenum access); +typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERPROC) (GLenum target); +typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVPROC) (GLenum target, GLenum pname, void **params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenQueries (GLsizei n, GLuint *ids); +GLAPI void APIENTRY glDeleteQueries (GLsizei n, const GLuint *ids); +GLAPI GLboolean APIENTRY glIsQuery (GLuint id); +GLAPI void APIENTRY glBeginQuery (GLenum target, GLuint id); +GLAPI void APIENTRY glEndQuery (GLenum target); +GLAPI void APIENTRY glGetQueryiv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetQueryObjectiv (GLuint id, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetQueryObjectuiv (GLuint id, GLenum pname, GLuint *params); +GLAPI void APIENTRY glBindBuffer (GLenum target, GLuint buffer); +GLAPI void APIENTRY glDeleteBuffers (GLsizei n, const GLuint *buffers); +GLAPI void APIENTRY glGenBuffers (GLsizei n, GLuint *buffers); +GLAPI GLboolean APIENTRY glIsBuffer (GLuint buffer); +GLAPI void APIENTRY glBufferData (GLenum target, GLsizeiptr size, const void *data, GLenum usage); +GLAPI void APIENTRY glBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); +GLAPI void APIENTRY glGetBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, void *data); +GLAPI void *APIENTRY glMapBuffer (GLenum target, GLenum access); +GLAPI GLboolean APIENTRY glUnmapBuffer (GLenum target); +GLAPI void APIENTRY glGetBufferParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetBufferPointerv (GLenum target, GLenum pname, void **params); +#endif +#endif /* GL_VERSION_1_5 */ + +#ifndef GL_VERSION_2_0 +#define GL_VERSION_2_0 1 +typedef char GLchar; +#define GL_BLEND_EQUATION_RGB 0x8009 +#define GL_VERTEX_ATTRIB_ARRAY_ENABLED 0x8622 +#define GL_VERTEX_ATTRIB_ARRAY_SIZE 0x8623 +#define GL_VERTEX_ATTRIB_ARRAY_STRIDE 0x8624 +#define GL_VERTEX_ATTRIB_ARRAY_TYPE 0x8625 +#define GL_CURRENT_VERTEX_ATTRIB 0x8626 +#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642 +#define GL_VERTEX_ATTRIB_ARRAY_POINTER 0x8645 +#define GL_STENCIL_BACK_FUNC 0x8800 +#define GL_STENCIL_BACK_FAIL 0x8801 +#define GL_STENCIL_BACK_PASS_DEPTH_FAIL 0x8802 +#define GL_STENCIL_BACK_PASS_DEPTH_PASS 0x8803 +#define GL_MAX_DRAW_BUFFERS 0x8824 +#define GL_DRAW_BUFFER0 0x8825 +#define GL_DRAW_BUFFER1 0x8826 +#define GL_DRAW_BUFFER2 0x8827 +#define GL_DRAW_BUFFER3 0x8828 +#define GL_DRAW_BUFFER4 0x8829 +#define GL_DRAW_BUFFER5 0x882A +#define GL_DRAW_BUFFER6 0x882B +#define GL_DRAW_BUFFER7 0x882C +#define GL_DRAW_BUFFER8 0x882D +#define GL_DRAW_BUFFER9 0x882E +#define GL_DRAW_BUFFER10 0x882F +#define GL_DRAW_BUFFER11 0x8830 +#define GL_DRAW_BUFFER12 0x8831 +#define GL_DRAW_BUFFER13 0x8832 +#define GL_DRAW_BUFFER14 0x8833 +#define GL_DRAW_BUFFER15 0x8834 +#define GL_BLEND_EQUATION_ALPHA 0x883D +#define GL_MAX_VERTEX_ATTRIBS 0x8869 +#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A +#define GL_MAX_TEXTURE_IMAGE_UNITS 0x8872 +#define GL_FRAGMENT_SHADER 0x8B30 +#define GL_VERTEX_SHADER 0x8B31 +#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS 0x8B49 +#define GL_MAX_VERTEX_UNIFORM_COMPONENTS 0x8B4A +#define GL_MAX_VARYING_FLOATS 0x8B4B +#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS 0x8B4C +#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS 0x8B4D +#define GL_SHADER_TYPE 0x8B4F +#define GL_FLOAT_VEC2 0x8B50 +#define GL_FLOAT_VEC3 0x8B51 +#define GL_FLOAT_VEC4 0x8B52 +#define GL_INT_VEC2 0x8B53 +#define GL_INT_VEC3 0x8B54 +#define GL_INT_VEC4 0x8B55 +#define GL_BOOL 0x8B56 +#define GL_BOOL_VEC2 0x8B57 +#define GL_BOOL_VEC3 0x8B58 +#define GL_BOOL_VEC4 0x8B59 +#define GL_FLOAT_MAT2 0x8B5A +#define GL_FLOAT_MAT3 0x8B5B +#define GL_FLOAT_MAT4 0x8B5C +#define GL_SAMPLER_1D 0x8B5D +#define GL_SAMPLER_2D 0x8B5E +#define GL_SAMPLER_3D 0x8B5F +#define GL_SAMPLER_CUBE 0x8B60 +#define GL_SAMPLER_1D_SHADOW 0x8B61 +#define GL_SAMPLER_2D_SHADOW 0x8B62 +#define GL_DELETE_STATUS 0x8B80 +#define GL_COMPILE_STATUS 0x8B81 +#define GL_LINK_STATUS 0x8B82 +#define GL_VALIDATE_STATUS 0x8B83 +#define GL_INFO_LOG_LENGTH 0x8B84 +#define GL_ATTACHED_SHADERS 0x8B85 +#define GL_ACTIVE_UNIFORMS 0x8B86 +#define GL_ACTIVE_UNIFORM_MAX_LENGTH 0x8B87 +#define GL_SHADER_SOURCE_LENGTH 0x8B88 +#define GL_ACTIVE_ATTRIBUTES 0x8B89 +#define GL_ACTIVE_ATTRIBUTE_MAX_LENGTH 0x8B8A +#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT 0x8B8B +#define GL_SHADING_LANGUAGE_VERSION 0x8B8C +#define GL_CURRENT_PROGRAM 0x8B8D +#define GL_POINT_SPRITE_COORD_ORIGIN 0x8CA0 +#define GL_LOWER_LEFT 0x8CA1 +#define GL_UPPER_LEFT 0x8CA2 +#define GL_STENCIL_BACK_REF 0x8CA3 +#define GL_STENCIL_BACK_VALUE_MASK 0x8CA4 +#define GL_STENCIL_BACK_WRITEMASK 0x8CA5 +#define GL_VERTEX_PROGRAM_TWO_SIDE 0x8643 +#define GL_POINT_SPRITE 0x8861 +#define GL_COORD_REPLACE 0x8862 +#define GL_MAX_TEXTURE_COORDS 0x8871 +typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEPROC) (GLenum modeRGB, GLenum modeAlpha); +typedef void (APIENTRYP PFNGLDRAWBUFFERSPROC) (GLsizei n, const GLenum *bufs); +typedef void (APIENTRYP PFNGLSTENCILOPSEPARATEPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +typedef void (APIENTRYP PFNGLSTENCILFUNCSEPARATEPROC) (GLenum face, GLenum func, GLint ref, GLuint mask); +typedef void (APIENTRYP PFNGLSTENCILMASKSEPARATEPROC) (GLenum face, GLuint mask); +typedef void (APIENTRYP PFNGLATTACHSHADERPROC) (GLuint program, GLuint shader); +typedef void (APIENTRYP PFNGLBINDATTRIBLOCATIONPROC) (GLuint program, GLuint index, const GLchar *name); +typedef void (APIENTRYP PFNGLCOMPILESHADERPROC) (GLuint shader); +typedef GLuint (APIENTRYP PFNGLCREATEPROGRAMPROC) (void); +typedef GLuint (APIENTRYP PFNGLCREATESHADERPROC) (GLenum type); +typedef void (APIENTRYP PFNGLDELETEPROGRAMPROC) (GLuint program); +typedef void (APIENTRYP PFNGLDELETESHADERPROC) (GLuint shader); +typedef void (APIENTRYP PFNGLDETACHSHADERPROC) (GLuint program, GLuint shader); +typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYPROC) (GLuint index); +typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYPROC) (GLuint index); +typedef void (APIENTRYP PFNGLGETACTIVEATTRIBPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +typedef void (APIENTRYP PFNGLGETATTACHEDSHADERSPROC) (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); +typedef GLint (APIENTRYP PFNGLGETATTRIBLOCATIONPROC) (GLuint program, const GLchar *name); +typedef void (APIENTRYP PFNGLGETPROGRAMIVPROC) (GLuint program, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMINFOLOGPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +typedef void (APIENTRYP PFNGLGETSHADERIVPROC) (GLuint shader, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETSHADERINFOLOGPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +typedef void (APIENTRYP PFNGLGETSHADERSOURCEPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); +typedef GLint (APIENTRYP PFNGLGETUNIFORMLOCATIONPROC) (GLuint program, const GLchar *name); +typedef void (APIENTRYP PFNGLGETUNIFORMFVPROC) (GLuint program, GLint location, GLfloat *params); +typedef void (APIENTRYP PFNGLGETUNIFORMIVPROC) (GLuint program, GLint location, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBDVPROC) (GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBFVPROC) (GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVPROC) (GLuint index, GLenum pname, void **pointer); +typedef GLboolean (APIENTRYP PFNGLISPROGRAMPROC) (GLuint program); +typedef GLboolean (APIENTRYP PFNGLISSHADERPROC) (GLuint shader); +typedef void (APIENTRYP PFNGLLINKPROGRAMPROC) (GLuint program); +typedef void (APIENTRYP PFNGLSHADERSOURCEPROC) (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); +typedef void (APIENTRYP PFNGLUSEPROGRAMPROC) (GLuint program); +typedef void (APIENTRYP PFNGLUNIFORM1FPROC) (GLint location, GLfloat v0); +typedef void (APIENTRYP PFNGLUNIFORM2FPROC) (GLint location, GLfloat v0, GLfloat v1); +typedef void (APIENTRYP PFNGLUNIFORM3FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (APIENTRYP PFNGLUNIFORM4FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (APIENTRYP PFNGLUNIFORM1IPROC) (GLint location, GLint v0); +typedef void (APIENTRYP PFNGLUNIFORM2IPROC) (GLint location, GLint v0, GLint v1); +typedef void (APIENTRYP PFNGLUNIFORM3IPROC) (GLint location, GLint v0, GLint v1, GLint v2); +typedef void (APIENTRYP PFNGLUNIFORM4IPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (APIENTRYP PFNGLUNIFORM1FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM2FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM3FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM4FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM1IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORM2IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORM3IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORM4IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLVALIDATEPROGRAMPROC) (GLuint program); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1DPROC) (GLuint index, GLdouble x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1FPROC) (GLuint index, GLfloat x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1FVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1SPROC) (GLuint index, GLshort x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1SVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2DPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2FPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2FVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2SPROC) (GLuint index, GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2SVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3FVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3SPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3SVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NBVPROC) (GLuint index, const GLbyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NIVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NSVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBVPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUIVPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUSVPROC) (GLuint index, const GLushort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4BVPROC) (GLuint index, const GLbyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4FVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4IVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4SPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4SVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBVPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4UIVPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4USVPROC) (GLuint index, const GLushort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendEquationSeparate (GLenum modeRGB, GLenum modeAlpha); +GLAPI void APIENTRY glDrawBuffers (GLsizei n, const GLenum *bufs); +GLAPI void APIENTRY glStencilOpSeparate (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +GLAPI void APIENTRY glStencilFuncSeparate (GLenum face, GLenum func, GLint ref, GLuint mask); +GLAPI void APIENTRY glStencilMaskSeparate (GLenum face, GLuint mask); +GLAPI void APIENTRY glAttachShader (GLuint program, GLuint shader); +GLAPI void APIENTRY glBindAttribLocation (GLuint program, GLuint index, const GLchar *name); +GLAPI void APIENTRY glCompileShader (GLuint shader); +GLAPI GLuint APIENTRY glCreateProgram (void); +GLAPI GLuint APIENTRY glCreateShader (GLenum type); +GLAPI void APIENTRY glDeleteProgram (GLuint program); +GLAPI void APIENTRY glDeleteShader (GLuint shader); +GLAPI void APIENTRY glDetachShader (GLuint program, GLuint shader); +GLAPI void APIENTRY glDisableVertexAttribArray (GLuint index); +GLAPI void APIENTRY glEnableVertexAttribArray (GLuint index); +GLAPI void APIENTRY glGetActiveAttrib (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +GLAPI void APIENTRY glGetActiveUniform (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +GLAPI void APIENTRY glGetAttachedShaders (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); +GLAPI GLint APIENTRY glGetAttribLocation (GLuint program, const GLchar *name); +GLAPI void APIENTRY glGetProgramiv (GLuint program, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetProgramInfoLog (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +GLAPI void APIENTRY glGetShaderiv (GLuint shader, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetShaderInfoLog (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +GLAPI void APIENTRY glGetShaderSource (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); +GLAPI GLint APIENTRY glGetUniformLocation (GLuint program, const GLchar *name); +GLAPI void APIENTRY glGetUniformfv (GLuint program, GLint location, GLfloat *params); +GLAPI void APIENTRY glGetUniformiv (GLuint program, GLint location, GLint *params); +GLAPI void APIENTRY glGetVertexAttribdv (GLuint index, GLenum pname, GLdouble *params); +GLAPI void APIENTRY glGetVertexAttribfv (GLuint index, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetVertexAttribiv (GLuint index, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVertexAttribPointerv (GLuint index, GLenum pname, void **pointer); +GLAPI GLboolean APIENTRY glIsProgram (GLuint program); +GLAPI GLboolean APIENTRY glIsShader (GLuint shader); +GLAPI void APIENTRY glLinkProgram (GLuint program); +GLAPI void APIENTRY glShaderSource (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); +GLAPI void APIENTRY glUseProgram (GLuint program); +GLAPI void APIENTRY glUniform1f (GLint location, GLfloat v0); +GLAPI void APIENTRY glUniform2f (GLint location, GLfloat v0, GLfloat v1); +GLAPI void APIENTRY glUniform3f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +GLAPI void APIENTRY glUniform4f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +GLAPI void APIENTRY glUniform1i (GLint location, GLint v0); +GLAPI void APIENTRY glUniform2i (GLint location, GLint v0, GLint v1); +GLAPI void APIENTRY glUniform3i (GLint location, GLint v0, GLint v1, GLint v2); +GLAPI void APIENTRY glUniform4i (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +GLAPI void APIENTRY glUniform1fv (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform2fv (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform3fv (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform4fv (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform1iv (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniform2iv (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniform3iv (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniform4iv (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniformMatrix2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glValidateProgram (GLuint program); +GLAPI void APIENTRY glVertexAttrib1d (GLuint index, GLdouble x); +GLAPI void APIENTRY glVertexAttrib1dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib1f (GLuint index, GLfloat x); +GLAPI void APIENTRY glVertexAttrib1fv (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib1s (GLuint index, GLshort x); +GLAPI void APIENTRY glVertexAttrib1sv (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib2d (GLuint index, GLdouble x, GLdouble y); +GLAPI void APIENTRY glVertexAttrib2dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib2f (GLuint index, GLfloat x, GLfloat y); +GLAPI void APIENTRY glVertexAttrib2fv (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib2s (GLuint index, GLshort x, GLshort y); +GLAPI void APIENTRY glVertexAttrib2sv (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib3d (GLuint index, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glVertexAttrib3dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib3f (GLuint index, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glVertexAttrib3fv (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib3s (GLuint index, GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glVertexAttrib3sv (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4Nbv (GLuint index, const GLbyte *v); +GLAPI void APIENTRY glVertexAttrib4Niv (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttrib4Nsv (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4Nub (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +GLAPI void APIENTRY glVertexAttrib4Nubv (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttrib4Nuiv (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttrib4Nusv (GLuint index, const GLushort *v); +GLAPI void APIENTRY glVertexAttrib4bv (GLuint index, const GLbyte *v); +GLAPI void APIENTRY glVertexAttrib4d (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glVertexAttrib4dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib4f (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glVertexAttrib4fv (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib4iv (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttrib4s (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void APIENTRY glVertexAttrib4sv (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4ubv (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttrib4uiv (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttrib4usv (GLuint index, const GLushort *v); +GLAPI void APIENTRY glVertexAttribPointer (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); +#endif +#endif /* GL_VERSION_2_0 */ + +#ifndef GL_VERSION_2_1 +#define GL_VERSION_2_1 1 +#define GL_PIXEL_PACK_BUFFER 0x88EB +#define GL_PIXEL_UNPACK_BUFFER 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING 0x88EF +#define GL_FLOAT_MAT2x3 0x8B65 +#define GL_FLOAT_MAT2x4 0x8B66 +#define GL_FLOAT_MAT3x2 0x8B67 +#define GL_FLOAT_MAT3x4 0x8B68 +#define GL_FLOAT_MAT4x2 0x8B69 +#define GL_FLOAT_MAT4x3 0x8B6A +#define GL_SRGB 0x8C40 +#define GL_SRGB8 0x8C41 +#define GL_SRGB_ALPHA 0x8C42 +#define GL_SRGB8_ALPHA8 0x8C43 +#define GL_COMPRESSED_SRGB 0x8C48 +#define GL_COMPRESSED_SRGB_ALPHA 0x8C49 +#define GL_CURRENT_RASTER_SECONDARY_COLOR 0x845F +#define GL_SLUMINANCE_ALPHA 0x8C44 +#define GL_SLUMINANCE8_ALPHA8 0x8C45 +#define GL_SLUMINANCE 0x8C46 +#define GL_SLUMINANCE8 0x8C47 +#define GL_COMPRESSED_SLUMINANCE 0x8C4A +#define GL_COMPRESSED_SLUMINANCE_ALPHA 0x8C4B +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glUniformMatrix2x3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix3x2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix2x4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix4x2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix3x4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix4x3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +#endif +#endif /* GL_VERSION_2_1 */ + +#ifndef GL_VERSION_3_0 +#define GL_VERSION_3_0 1 +typedef khronos_uint16_t GLhalf; +#define GL_COMPARE_REF_TO_TEXTURE 0x884E +#define GL_CLIP_DISTANCE0 0x3000 +#define GL_CLIP_DISTANCE1 0x3001 +#define GL_CLIP_DISTANCE2 0x3002 +#define GL_CLIP_DISTANCE3 0x3003 +#define GL_CLIP_DISTANCE4 0x3004 +#define GL_CLIP_DISTANCE5 0x3005 +#define GL_CLIP_DISTANCE6 0x3006 +#define GL_CLIP_DISTANCE7 0x3007 +#define GL_MAX_CLIP_DISTANCES 0x0D32 +#define GL_MAJOR_VERSION 0x821B +#define GL_MINOR_VERSION 0x821C +#define GL_NUM_EXTENSIONS 0x821D +#define GL_CONTEXT_FLAGS 0x821E +#define GL_COMPRESSED_RED 0x8225 +#define GL_COMPRESSED_RG 0x8226 +#define GL_CONTEXT_FLAG_FORWARD_COMPATIBLE_BIT 0x00000001 +#define GL_RGBA32F 0x8814 +#define GL_RGB32F 0x8815 +#define GL_RGBA16F 0x881A +#define GL_RGB16F 0x881B +#define GL_VERTEX_ATTRIB_ARRAY_INTEGER 0x88FD +#define GL_MAX_ARRAY_TEXTURE_LAYERS 0x88FF +#define GL_MIN_PROGRAM_TEXEL_OFFSET 0x8904 +#define GL_MAX_PROGRAM_TEXEL_OFFSET 0x8905 +#define GL_CLAMP_READ_COLOR 0x891C +#define GL_FIXED_ONLY 0x891D +#define GL_MAX_VARYING_COMPONENTS 0x8B4B +#define GL_TEXTURE_1D_ARRAY 0x8C18 +#define GL_PROXY_TEXTURE_1D_ARRAY 0x8C19 +#define GL_TEXTURE_2D_ARRAY 0x8C1A +#define GL_PROXY_TEXTURE_2D_ARRAY 0x8C1B +#define GL_TEXTURE_BINDING_1D_ARRAY 0x8C1C +#define GL_TEXTURE_BINDING_2D_ARRAY 0x8C1D +#define GL_R11F_G11F_B10F 0x8C3A +#define GL_UNSIGNED_INT_10F_11F_11F_REV 0x8C3B +#define GL_RGB9_E5 0x8C3D +#define GL_UNSIGNED_INT_5_9_9_9_REV 0x8C3E +#define GL_TEXTURE_SHARED_SIZE 0x8C3F +#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH 0x8C76 +#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE 0x8C7F +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS 0x8C80 +#define GL_TRANSFORM_FEEDBACK_VARYINGS 0x8C83 +#define GL_TRANSFORM_FEEDBACK_BUFFER_START 0x8C84 +#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE 0x8C85 +#define GL_PRIMITIVES_GENERATED 0x8C87 +#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN 0x8C88 +#define GL_RASTERIZER_DISCARD 0x8C89 +#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS 0x8C8A +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS 0x8C8B +#define GL_INTERLEAVED_ATTRIBS 0x8C8C +#define GL_SEPARATE_ATTRIBS 0x8C8D +#define GL_TRANSFORM_FEEDBACK_BUFFER 0x8C8E +#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING 0x8C8F +#define GL_RGBA32UI 0x8D70 +#define GL_RGB32UI 0x8D71 +#define GL_RGBA16UI 0x8D76 +#define GL_RGB16UI 0x8D77 +#define GL_RGBA8UI 0x8D7C +#define GL_RGB8UI 0x8D7D +#define GL_RGBA32I 0x8D82 +#define GL_RGB32I 0x8D83 +#define GL_RGBA16I 0x8D88 +#define GL_RGB16I 0x8D89 +#define GL_RGBA8I 0x8D8E +#define GL_RGB8I 0x8D8F +#define GL_RED_INTEGER 0x8D94 +#define GL_GREEN_INTEGER 0x8D95 +#define GL_BLUE_INTEGER 0x8D96 +#define GL_RGB_INTEGER 0x8D98 +#define GL_RGBA_INTEGER 0x8D99 +#define GL_BGR_INTEGER 0x8D9A +#define GL_BGRA_INTEGER 0x8D9B +#define GL_SAMPLER_1D_ARRAY 0x8DC0 +#define GL_SAMPLER_2D_ARRAY 0x8DC1 +#define GL_SAMPLER_1D_ARRAY_SHADOW 0x8DC3 +#define GL_SAMPLER_2D_ARRAY_SHADOW 0x8DC4 +#define GL_SAMPLER_CUBE_SHADOW 0x8DC5 +#define GL_UNSIGNED_INT_VEC2 0x8DC6 +#define GL_UNSIGNED_INT_VEC3 0x8DC7 +#define GL_UNSIGNED_INT_VEC4 0x8DC8 +#define GL_INT_SAMPLER_1D 0x8DC9 +#define GL_INT_SAMPLER_2D 0x8DCA +#define GL_INT_SAMPLER_3D 0x8DCB +#define GL_INT_SAMPLER_CUBE 0x8DCC +#define GL_INT_SAMPLER_1D_ARRAY 0x8DCE +#define GL_INT_SAMPLER_2D_ARRAY 0x8DCF +#define GL_UNSIGNED_INT_SAMPLER_1D 0x8DD1 +#define GL_UNSIGNED_INT_SAMPLER_2D 0x8DD2 +#define GL_UNSIGNED_INT_SAMPLER_3D 0x8DD3 +#define GL_UNSIGNED_INT_SAMPLER_CUBE 0x8DD4 +#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY 0x8DD6 +#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY 0x8DD7 +#define GL_QUERY_WAIT 0x8E13 +#define GL_QUERY_NO_WAIT 0x8E14 +#define GL_QUERY_BY_REGION_WAIT 0x8E15 +#define GL_QUERY_BY_REGION_NO_WAIT 0x8E16 +#define GL_BUFFER_ACCESS_FLAGS 0x911F +#define GL_BUFFER_MAP_LENGTH 0x9120 +#define GL_BUFFER_MAP_OFFSET 0x9121 +#define GL_DEPTH_COMPONENT32F 0x8CAC +#define GL_DEPTH32F_STENCIL8 0x8CAD +#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD +#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506 +#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210 +#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211 +#define GL_FRAMEBUFFER_ATTACHMENT_RED_SIZE 0x8212 +#define GL_FRAMEBUFFER_ATTACHMENT_GREEN_SIZE 0x8213 +#define GL_FRAMEBUFFER_ATTACHMENT_BLUE_SIZE 0x8214 +#define GL_FRAMEBUFFER_ATTACHMENT_ALPHA_SIZE 0x8215 +#define GL_FRAMEBUFFER_ATTACHMENT_DEPTH_SIZE 0x8216 +#define GL_FRAMEBUFFER_ATTACHMENT_STENCIL_SIZE 0x8217 +#define GL_FRAMEBUFFER_DEFAULT 0x8218 +#define GL_FRAMEBUFFER_UNDEFINED 0x8219 +#define GL_DEPTH_STENCIL_ATTACHMENT 0x821A +#define GL_MAX_RENDERBUFFER_SIZE 0x84E8 +#define GL_DEPTH_STENCIL 0x84F9 +#define GL_UNSIGNED_INT_24_8 0x84FA +#define GL_DEPTH24_STENCIL8 0x88F0 +#define GL_TEXTURE_STENCIL_SIZE 0x88F1 +#define GL_TEXTURE_RED_TYPE 0x8C10 +#define GL_TEXTURE_GREEN_TYPE 0x8C11 +#define GL_TEXTURE_BLUE_TYPE 0x8C12 +#define GL_TEXTURE_ALPHA_TYPE 0x8C13 +#define GL_TEXTURE_DEPTH_TYPE 0x8C16 +#define GL_UNSIGNED_NORMALIZED 0x8C17 +#define GL_FRAMEBUFFER_BINDING 0x8CA6 +#define GL_DRAW_FRAMEBUFFER_BINDING 0x8CA6 +#define GL_RENDERBUFFER_BINDING 0x8CA7 +#define GL_READ_FRAMEBUFFER 0x8CA8 +#define GL_DRAW_FRAMEBUFFER 0x8CA9 +#define GL_READ_FRAMEBUFFER_BINDING 0x8CAA +#define GL_RENDERBUFFER_SAMPLES 0x8CAB +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER 0x8CD4 +#define GL_FRAMEBUFFER_COMPLETE 0x8CD5 +#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6 +#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7 +#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER 0x8CDB +#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER 0x8CDC +#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD +#define GL_MAX_COLOR_ATTACHMENTS 0x8CDF +#define GL_COLOR_ATTACHMENT0 0x8CE0 +#define GL_COLOR_ATTACHMENT1 0x8CE1 +#define GL_COLOR_ATTACHMENT2 0x8CE2 +#define GL_COLOR_ATTACHMENT3 0x8CE3 +#define GL_COLOR_ATTACHMENT4 0x8CE4 +#define GL_COLOR_ATTACHMENT5 0x8CE5 +#define GL_COLOR_ATTACHMENT6 0x8CE6 +#define GL_COLOR_ATTACHMENT7 0x8CE7 +#define GL_COLOR_ATTACHMENT8 0x8CE8 +#define GL_COLOR_ATTACHMENT9 0x8CE9 +#define GL_COLOR_ATTACHMENT10 0x8CEA +#define GL_COLOR_ATTACHMENT11 0x8CEB +#define GL_COLOR_ATTACHMENT12 0x8CEC +#define GL_COLOR_ATTACHMENT13 0x8CED +#define GL_COLOR_ATTACHMENT14 0x8CEE +#define GL_COLOR_ATTACHMENT15 0x8CEF +#define GL_COLOR_ATTACHMENT16 0x8CF0 +#define GL_COLOR_ATTACHMENT17 0x8CF1 +#define GL_COLOR_ATTACHMENT18 0x8CF2 +#define GL_COLOR_ATTACHMENT19 0x8CF3 +#define GL_COLOR_ATTACHMENT20 0x8CF4 +#define GL_COLOR_ATTACHMENT21 0x8CF5 +#define GL_COLOR_ATTACHMENT22 0x8CF6 +#define GL_COLOR_ATTACHMENT23 0x8CF7 +#define GL_COLOR_ATTACHMENT24 0x8CF8 +#define GL_COLOR_ATTACHMENT25 0x8CF9 +#define GL_COLOR_ATTACHMENT26 0x8CFA +#define GL_COLOR_ATTACHMENT27 0x8CFB +#define GL_COLOR_ATTACHMENT28 0x8CFC +#define GL_COLOR_ATTACHMENT29 0x8CFD +#define GL_COLOR_ATTACHMENT30 0x8CFE +#define GL_COLOR_ATTACHMENT31 0x8CFF +#define GL_DEPTH_ATTACHMENT 0x8D00 +#define GL_STENCIL_ATTACHMENT 0x8D20 +#define GL_FRAMEBUFFER 0x8D40 +#define GL_RENDERBUFFER 0x8D41 +#define GL_RENDERBUFFER_WIDTH 0x8D42 +#define GL_RENDERBUFFER_HEIGHT 0x8D43 +#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44 +#define GL_STENCIL_INDEX1 0x8D46 +#define GL_STENCIL_INDEX4 0x8D47 +#define GL_STENCIL_INDEX8 0x8D48 +#define GL_STENCIL_INDEX16 0x8D49 +#define GL_RENDERBUFFER_RED_SIZE 0x8D50 +#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51 +#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52 +#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53 +#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54 +#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55 +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE 0x8D56 +#define GL_MAX_SAMPLES 0x8D57 +#define GL_INDEX 0x8222 +#define GL_TEXTURE_LUMINANCE_TYPE 0x8C14 +#define GL_TEXTURE_INTENSITY_TYPE 0x8C15 +#define GL_FRAMEBUFFER_SRGB 0x8DB9 +#define GL_HALF_FLOAT 0x140B +#define GL_MAP_READ_BIT 0x0001 +#define GL_MAP_WRITE_BIT 0x0002 +#define GL_MAP_INVALIDATE_RANGE_BIT 0x0004 +#define GL_MAP_INVALIDATE_BUFFER_BIT 0x0008 +#define GL_MAP_FLUSH_EXPLICIT_BIT 0x0010 +#define GL_MAP_UNSYNCHRONIZED_BIT 0x0020 +#define GL_COMPRESSED_RED_RGTC1 0x8DBB +#define GL_COMPRESSED_SIGNED_RED_RGTC1 0x8DBC +#define GL_COMPRESSED_RG_RGTC2 0x8DBD +#define GL_COMPRESSED_SIGNED_RG_RGTC2 0x8DBE +#define GL_RG 0x8227 +#define GL_RG_INTEGER 0x8228 +#define GL_R8 0x8229 +#define GL_R16 0x822A +#define GL_RG8 0x822B +#define GL_RG16 0x822C +#define GL_R16F 0x822D +#define GL_R32F 0x822E +#define GL_RG16F 0x822F +#define GL_RG32F 0x8230 +#define GL_R8I 0x8231 +#define GL_R8UI 0x8232 +#define GL_R16I 0x8233 +#define GL_R16UI 0x8234 +#define GL_R32I 0x8235 +#define GL_R32UI 0x8236 +#define GL_RG8I 0x8237 +#define GL_RG8UI 0x8238 +#define GL_RG16I 0x8239 +#define GL_RG16UI 0x823A +#define GL_RG32I 0x823B +#define GL_RG32UI 0x823C +#define GL_VERTEX_ARRAY_BINDING 0x85B5 +#define GL_CLAMP_VERTEX_COLOR 0x891A +#define GL_CLAMP_FRAGMENT_COLOR 0x891B +#define GL_ALPHA_INTEGER 0x8D97 +typedef void (APIENTRYP PFNGLCOLORMASKIPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +typedef void (APIENTRYP PFNGLGETBOOLEANI_VPROC) (GLenum target, GLuint index, GLboolean *data); +typedef void (APIENTRYP PFNGLGETINTEGERI_VPROC) (GLenum target, GLuint index, GLint *data); +typedef void (APIENTRYP PFNGLENABLEIPROC) (GLenum target, GLuint index); +typedef void (APIENTRYP PFNGLDISABLEIPROC) (GLenum target, GLuint index); +typedef GLboolean (APIENTRYP PFNGLISENABLEDIPROC) (GLenum target, GLuint index); +typedef void (APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKPROC) (GLenum primitiveMode); +typedef void (APIENTRYP PFNGLENDTRANSFORMFEEDBACKPROC) (void); +typedef void (APIENTRYP PFNGLBINDBUFFERRANGEPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLBINDBUFFERBASEPROC) (GLenum target, GLuint index, GLuint buffer); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSPROC) (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); +typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +typedef void (APIENTRYP PFNGLCLAMPCOLORPROC) (GLenum target, GLenum clamp); +typedef void (APIENTRYP PFNGLBEGINCONDITIONALRENDERPROC) (GLuint id, GLenum mode); +typedef void (APIENTRYP PFNGLENDCONDITIONALRENDERPROC) (void); +typedef void (APIENTRYP PFNGLVERTEXATTRIBIPOINTERPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIIVPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIUIVPROC) (GLuint index, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IPROC) (GLuint index, GLint x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IPROC) (GLuint index, GLint x, GLint y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IPROC) (GLuint index, GLint x, GLint y, GLint z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IPROC) (GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIPROC) (GLuint index, GLuint x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIPROC) (GLuint index, GLuint x, GLuint y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIPROC) (GLuint index, GLuint x, GLuint y, GLuint z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIPROC) (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIVPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIVPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIVPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIVPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4BVPROC) (GLuint index, const GLbyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4SVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UBVPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4USVPROC) (GLuint index, const GLushort *v); +typedef void (APIENTRYP PFNGLGETUNIFORMUIVPROC) (GLuint program, GLint location, GLuint *params); +typedef void (APIENTRYP PFNGLBINDFRAGDATALOCATIONPROC) (GLuint program, GLuint color, const GLchar *name); +typedef GLint (APIENTRYP PFNGLGETFRAGDATALOCATIONPROC) (GLuint program, const GLchar *name); +typedef void (APIENTRYP PFNGLUNIFORM1UIPROC) (GLint location, GLuint v0); +typedef void (APIENTRYP PFNGLUNIFORM2UIPROC) (GLint location, GLuint v0, GLuint v1); +typedef void (APIENTRYP PFNGLUNIFORM3UIPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (APIENTRYP PFNGLUNIFORM4UIPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (APIENTRYP PFNGLUNIFORM1UIVPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLUNIFORM2UIVPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLUNIFORM3UIVPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLUNIFORM4UIVPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLTEXPARAMETERIIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLTEXPARAMETERIUIVPROC) (GLenum target, GLenum pname, const GLuint *params); +typedef void (APIENTRYP PFNGLGETTEXPARAMETERIIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETTEXPARAMETERIUIVPROC) (GLenum target, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLCLEARBUFFERIVPROC) (GLenum buffer, GLint drawbuffer, const GLint *value); +typedef void (APIENTRYP PFNGLCLEARBUFFERUIVPROC) (GLenum buffer, GLint drawbuffer, const GLuint *value); +typedef void (APIENTRYP PFNGLCLEARBUFFERFVPROC) (GLenum buffer, GLint drawbuffer, const GLfloat *value); +typedef void (APIENTRYP PFNGLCLEARBUFFERFIPROC) (GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); +typedef const GLubyte *(APIENTRYP PFNGLGETSTRINGIPROC) (GLenum name, GLuint index); +typedef GLboolean (APIENTRYP PFNGLISRENDERBUFFERPROC) (GLuint renderbuffer); +typedef void (APIENTRYP PFNGLBINDRENDERBUFFERPROC) (GLenum target, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLDELETERENDERBUFFERSPROC) (GLsizei n, const GLuint *renderbuffers); +typedef void (APIENTRYP PFNGLGENRENDERBUFFERSPROC) (GLsizei n, GLuint *renderbuffers); +typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef GLboolean (APIENTRYP PFNGLISFRAMEBUFFERPROC) (GLuint framebuffer); +typedef void (APIENTRYP PFNGLBINDFRAMEBUFFERPROC) (GLenum target, GLuint framebuffer); +typedef void (APIENTRYP PFNGLDELETEFRAMEBUFFERSPROC) (GLsizei n, const GLuint *framebuffers); +typedef void (APIENTRYP PFNGLGENFRAMEBUFFERSPROC) (GLsizei n, GLuint *framebuffers); +typedef GLenum (APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSPROC) (GLenum target); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE1DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +typedef void (APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFERPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLenum target, GLenum attachment, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGENERATEMIPMAPPROC) (GLenum target); +typedef void (APIENTRYP PFNGLBLITFRAMEBUFFERPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +typedef void *(APIENTRYP PFNGLMAPBUFFERRANGEPROC) (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); +typedef void (APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEPROC) (GLenum target, GLintptr offset, GLsizeiptr length); +typedef void (APIENTRYP PFNGLBINDVERTEXARRAYPROC) (GLuint array); +typedef void (APIENTRYP PFNGLDELETEVERTEXARRAYSPROC) (GLsizei n, const GLuint *arrays); +typedef void (APIENTRYP PFNGLGENVERTEXARRAYSPROC) (GLsizei n, GLuint *arrays); +typedef GLboolean (APIENTRYP PFNGLISVERTEXARRAYPROC) (GLuint array); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorMaski (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +GLAPI void APIENTRY glGetBooleani_v (GLenum target, GLuint index, GLboolean *data); +GLAPI void APIENTRY glGetIntegeri_v (GLenum target, GLuint index, GLint *data); +GLAPI void APIENTRY glEnablei (GLenum target, GLuint index); +GLAPI void APIENTRY glDisablei (GLenum target, GLuint index); +GLAPI GLboolean APIENTRY glIsEnabledi (GLenum target, GLuint index); +GLAPI void APIENTRY glBeginTransformFeedback (GLenum primitiveMode); +GLAPI void APIENTRY glEndTransformFeedback (void); +GLAPI void APIENTRY glBindBufferRange (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glBindBufferBase (GLenum target, GLuint index, GLuint buffer); +GLAPI void APIENTRY glTransformFeedbackVaryings (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); +GLAPI void APIENTRY glGetTransformFeedbackVarying (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +GLAPI void APIENTRY glClampColor (GLenum target, GLenum clamp); +GLAPI void APIENTRY glBeginConditionalRender (GLuint id, GLenum mode); +GLAPI void APIENTRY glEndConditionalRender (void); +GLAPI void APIENTRY glVertexAttribIPointer (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glGetVertexAttribIiv (GLuint index, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVertexAttribIuiv (GLuint index, GLenum pname, GLuint *params); +GLAPI void APIENTRY glVertexAttribI1i (GLuint index, GLint x); +GLAPI void APIENTRY glVertexAttribI2i (GLuint index, GLint x, GLint y); +GLAPI void APIENTRY glVertexAttribI3i (GLuint index, GLint x, GLint y, GLint z); +GLAPI void APIENTRY glVertexAttribI4i (GLuint index, GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glVertexAttribI1ui (GLuint index, GLuint x); +GLAPI void APIENTRY glVertexAttribI2ui (GLuint index, GLuint x, GLuint y); +GLAPI void APIENTRY glVertexAttribI3ui (GLuint index, GLuint x, GLuint y, GLuint z); +GLAPI void APIENTRY glVertexAttribI4ui (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +GLAPI void APIENTRY glVertexAttribI1iv (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI2iv (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI3iv (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI4iv (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI1uiv (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI2uiv (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI3uiv (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI4uiv (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI4bv (GLuint index, const GLbyte *v); +GLAPI void APIENTRY glVertexAttribI4sv (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttribI4ubv (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttribI4usv (GLuint index, const GLushort *v); +GLAPI void APIENTRY glGetUniformuiv (GLuint program, GLint location, GLuint *params); +GLAPI void APIENTRY glBindFragDataLocation (GLuint program, GLuint color, const GLchar *name); +GLAPI GLint APIENTRY glGetFragDataLocation (GLuint program, const GLchar *name); +GLAPI void APIENTRY glUniform1ui (GLint location, GLuint v0); +GLAPI void APIENTRY glUniform2ui (GLint location, GLuint v0, GLuint v1); +GLAPI void APIENTRY glUniform3ui (GLint location, GLuint v0, GLuint v1, GLuint v2); +GLAPI void APIENTRY glUniform4ui (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +GLAPI void APIENTRY glUniform1uiv (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glUniform2uiv (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glUniform3uiv (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glUniform4uiv (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glTexParameterIiv (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glTexParameterIuiv (GLenum target, GLenum pname, const GLuint *params); +GLAPI void APIENTRY glGetTexParameterIiv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetTexParameterIuiv (GLenum target, GLenum pname, GLuint *params); +GLAPI void APIENTRY glClearBufferiv (GLenum buffer, GLint drawbuffer, const GLint *value); +GLAPI void APIENTRY glClearBufferuiv (GLenum buffer, GLint drawbuffer, const GLuint *value); +GLAPI void APIENTRY glClearBufferfv (GLenum buffer, GLint drawbuffer, const GLfloat *value); +GLAPI void APIENTRY glClearBufferfi (GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); +GLAPI const GLubyte *APIENTRY glGetStringi (GLenum name, GLuint index); +GLAPI GLboolean APIENTRY glIsRenderbuffer (GLuint renderbuffer); +GLAPI void APIENTRY glBindRenderbuffer (GLenum target, GLuint renderbuffer); +GLAPI void APIENTRY glDeleteRenderbuffers (GLsizei n, const GLuint *renderbuffers); +GLAPI void APIENTRY glGenRenderbuffers (GLsizei n, GLuint *renderbuffers); +GLAPI void APIENTRY glRenderbufferStorage (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetRenderbufferParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI GLboolean APIENTRY glIsFramebuffer (GLuint framebuffer); +GLAPI void APIENTRY glBindFramebuffer (GLenum target, GLuint framebuffer); +GLAPI void APIENTRY glDeleteFramebuffers (GLsizei n, const GLuint *framebuffers); +GLAPI void APIENTRY glGenFramebuffers (GLsizei n, GLuint *framebuffers); +GLAPI GLenum APIENTRY glCheckFramebufferStatus (GLenum target); +GLAPI void APIENTRY glFramebufferTexture1D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GLAPI void APIENTRY glFramebufferTexture2D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GLAPI void APIENTRY glFramebufferTexture3D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +GLAPI void APIENTRY glFramebufferRenderbuffer (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +GLAPI void APIENTRY glGetFramebufferAttachmentParameteriv (GLenum target, GLenum attachment, GLenum pname, GLint *params); +GLAPI void APIENTRY glGenerateMipmap (GLenum target); +GLAPI void APIENTRY glBlitFramebuffer (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +GLAPI void APIENTRY glRenderbufferStorageMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glFramebufferTextureLayer (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +GLAPI void *APIENTRY glMapBufferRange (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); +GLAPI void APIENTRY glFlushMappedBufferRange (GLenum target, GLintptr offset, GLsizeiptr length); +GLAPI void APIENTRY glBindVertexArray (GLuint array); +GLAPI void APIENTRY glDeleteVertexArrays (GLsizei n, const GLuint *arrays); +GLAPI void APIENTRY glGenVertexArrays (GLsizei n, GLuint *arrays); +GLAPI GLboolean APIENTRY glIsVertexArray (GLuint array); +#endif +#endif /* GL_VERSION_3_0 */ + +#ifndef GL_VERSION_3_1 +#define GL_VERSION_3_1 1 +#define GL_SAMPLER_2D_RECT 0x8B63 +#define GL_SAMPLER_2D_RECT_SHADOW 0x8B64 +#define GL_SAMPLER_BUFFER 0x8DC2 +#define GL_INT_SAMPLER_2D_RECT 0x8DCD +#define GL_INT_SAMPLER_BUFFER 0x8DD0 +#define GL_UNSIGNED_INT_SAMPLER_2D_RECT 0x8DD5 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER 0x8DD8 +#define GL_TEXTURE_BUFFER 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING 0x8C2D +#define GL_TEXTURE_RECTANGLE 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE 0x84F8 +#define GL_R8_SNORM 0x8F94 +#define GL_RG8_SNORM 0x8F95 +#define GL_RGB8_SNORM 0x8F96 +#define GL_RGBA8_SNORM 0x8F97 +#define GL_R16_SNORM 0x8F98 +#define GL_RG16_SNORM 0x8F99 +#define GL_RGB16_SNORM 0x8F9A +#define GL_RGBA16_SNORM 0x8F9B +#define GL_SIGNED_NORMALIZED 0x8F9C +#define GL_PRIMITIVE_RESTART 0x8F9D +#define GL_PRIMITIVE_RESTART_INDEX 0x8F9E +#define GL_COPY_READ_BUFFER 0x8F36 +#define GL_COPY_WRITE_BUFFER 0x8F37 +#define GL_UNIFORM_BUFFER 0x8A11 +#define GL_UNIFORM_BUFFER_BINDING 0x8A28 +#define GL_UNIFORM_BUFFER_START 0x8A29 +#define GL_UNIFORM_BUFFER_SIZE 0x8A2A +#define GL_MAX_VERTEX_UNIFORM_BLOCKS 0x8A2B +#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS 0x8A2C +#define GL_MAX_FRAGMENT_UNIFORM_BLOCKS 0x8A2D +#define GL_MAX_COMBINED_UNIFORM_BLOCKS 0x8A2E +#define GL_MAX_UNIFORM_BUFFER_BINDINGS 0x8A2F +#define GL_MAX_UNIFORM_BLOCK_SIZE 0x8A30 +#define GL_MAX_COMBINED_VERTEX_UNIFORM_COMPONENTS 0x8A31 +#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS 0x8A32 +#define GL_MAX_COMBINED_FRAGMENT_UNIFORM_COMPONENTS 0x8A33 +#define GL_UNIFORM_BUFFER_OFFSET_ALIGNMENT 0x8A34 +#define GL_ACTIVE_UNIFORM_BLOCK_MAX_NAME_LENGTH 0x8A35 +#define GL_ACTIVE_UNIFORM_BLOCKS 0x8A36 +#define GL_UNIFORM_TYPE 0x8A37 +#define GL_UNIFORM_SIZE 0x8A38 +#define GL_UNIFORM_NAME_LENGTH 0x8A39 +#define GL_UNIFORM_BLOCK_INDEX 0x8A3A +#define GL_UNIFORM_OFFSET 0x8A3B +#define GL_UNIFORM_ARRAY_STRIDE 0x8A3C +#define GL_UNIFORM_MATRIX_STRIDE 0x8A3D +#define GL_UNIFORM_IS_ROW_MAJOR 0x8A3E +#define GL_UNIFORM_BLOCK_BINDING 0x8A3F +#define GL_UNIFORM_BLOCK_DATA_SIZE 0x8A40 +#define GL_UNIFORM_BLOCK_NAME_LENGTH 0x8A41 +#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORMS 0x8A42 +#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORM_INDICES 0x8A43 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_VERTEX_SHADER 0x8A44 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_GEOMETRY_SHADER 0x8A45 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_FRAGMENT_SHADER 0x8A46 +#define GL_INVALID_INDEX 0xFFFFFFFFu +typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDPROC) (GLenum mode, GLint first, GLsizei count, GLsizei instancecount); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount); +typedef void (APIENTRYP PFNGLTEXBUFFERPROC) (GLenum target, GLenum internalformat, GLuint buffer); +typedef void (APIENTRYP PFNGLPRIMITIVERESTARTINDEXPROC) (GLuint index); +typedef void (APIENTRYP PFNGLCOPYBUFFERSUBDATAPROC) (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLGETUNIFORMINDICESPROC) (GLuint program, GLsizei uniformCount, const GLchar *const*uniformNames, GLuint *uniformIndices); +typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMSIVPROC) (GLuint program, GLsizei uniformCount, const GLuint *uniformIndices, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMNAMEPROC) (GLuint program, GLuint uniformIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformName); +typedef GLuint (APIENTRYP PFNGLGETUNIFORMBLOCKINDEXPROC) (GLuint program, const GLchar *uniformBlockName); +typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMBLOCKIVPROC) (GLuint program, GLuint uniformBlockIndex, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC) (GLuint program, GLuint uniformBlockIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformBlockName); +typedef void (APIENTRYP PFNGLUNIFORMBLOCKBINDINGPROC) (GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawArraysInstanced (GLenum mode, GLint first, GLsizei count, GLsizei instancecount); +GLAPI void APIENTRY glDrawElementsInstanced (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount); +GLAPI void APIENTRY glTexBuffer (GLenum target, GLenum internalformat, GLuint buffer); +GLAPI void APIENTRY glPrimitiveRestartIndex (GLuint index); +GLAPI void APIENTRY glCopyBufferSubData (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +GLAPI void APIENTRY glGetUniformIndices (GLuint program, GLsizei uniformCount, const GLchar *const*uniformNames, GLuint *uniformIndices); +GLAPI void APIENTRY glGetActiveUniformsiv (GLuint program, GLsizei uniformCount, const GLuint *uniformIndices, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetActiveUniformName (GLuint program, GLuint uniformIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformName); +GLAPI GLuint APIENTRY glGetUniformBlockIndex (GLuint program, const GLchar *uniformBlockName); +GLAPI void APIENTRY glGetActiveUniformBlockiv (GLuint program, GLuint uniformBlockIndex, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetActiveUniformBlockName (GLuint program, GLuint uniformBlockIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformBlockName); +GLAPI void APIENTRY glUniformBlockBinding (GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding); +#endif +#endif /* GL_VERSION_3_1 */ + +#ifndef GL_VERSION_3_2 +#define GL_VERSION_3_2 1 +typedef struct __GLsync *GLsync; +typedef khronos_uint64_t GLuint64; +typedef khronos_int64_t GLint64; +#define GL_CONTEXT_CORE_PROFILE_BIT 0x00000001 +#define GL_CONTEXT_COMPATIBILITY_PROFILE_BIT 0x00000002 +#define GL_LINES_ADJACENCY 0x000A +#define GL_LINE_STRIP_ADJACENCY 0x000B +#define GL_TRIANGLES_ADJACENCY 0x000C +#define GL_TRIANGLE_STRIP_ADJACENCY 0x000D +#define GL_PROGRAM_POINT_SIZE 0x8642 +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS 0x8C29 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED 0x8DA7 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS 0x8DA8 +#define GL_GEOMETRY_SHADER 0x8DD9 +#define GL_GEOMETRY_VERTICES_OUT 0x8916 +#define GL_GEOMETRY_INPUT_TYPE 0x8917 +#define GL_GEOMETRY_OUTPUT_TYPE 0x8918 +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS 0x8DDF +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS 0x8DE1 +#define GL_MAX_VERTEX_OUTPUT_COMPONENTS 0x9122 +#define GL_MAX_GEOMETRY_INPUT_COMPONENTS 0x9123 +#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS 0x9124 +#define GL_MAX_FRAGMENT_INPUT_COMPONENTS 0x9125 +#define GL_CONTEXT_PROFILE_MASK 0x9126 +#define GL_DEPTH_CLAMP 0x864F +#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION 0x8E4C +#define GL_FIRST_VERTEX_CONVENTION 0x8E4D +#define GL_LAST_VERTEX_CONVENTION 0x8E4E +#define GL_PROVOKING_VERTEX 0x8E4F +#define GL_TEXTURE_CUBE_MAP_SEAMLESS 0x884F +#define GL_MAX_SERVER_WAIT_TIMEOUT 0x9111 +#define GL_OBJECT_TYPE 0x9112 +#define GL_SYNC_CONDITION 0x9113 +#define GL_SYNC_STATUS 0x9114 +#define GL_SYNC_FLAGS 0x9115 +#define GL_SYNC_FENCE 0x9116 +#define GL_SYNC_GPU_COMMANDS_COMPLETE 0x9117 +#define GL_UNSIGNALED 0x9118 +#define GL_SIGNALED 0x9119 +#define GL_ALREADY_SIGNALED 0x911A +#define GL_TIMEOUT_EXPIRED 0x911B +#define GL_CONDITION_SATISFIED 0x911C +#define GL_WAIT_FAILED 0x911D +#define GL_TIMEOUT_IGNORED 0xFFFFFFFFFFFFFFFFull +#define GL_SYNC_FLUSH_COMMANDS_BIT 0x00000001 +#define GL_SAMPLE_POSITION 0x8E50 +#define GL_SAMPLE_MASK 0x8E51 +#define GL_SAMPLE_MASK_VALUE 0x8E52 +#define GL_MAX_SAMPLE_MASK_WORDS 0x8E59 +#define GL_TEXTURE_2D_MULTISAMPLE 0x9100 +#define GL_PROXY_TEXTURE_2D_MULTISAMPLE 0x9101 +#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9102 +#define GL_PROXY_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9103 +#define GL_TEXTURE_BINDING_2D_MULTISAMPLE 0x9104 +#define GL_TEXTURE_BINDING_2D_MULTISAMPLE_ARRAY 0x9105 +#define GL_TEXTURE_SAMPLES 0x9106 +#define GL_TEXTURE_FIXED_SAMPLE_LOCATIONS 0x9107 +#define GL_SAMPLER_2D_MULTISAMPLE 0x9108 +#define GL_INT_SAMPLER_2D_MULTISAMPLE 0x9109 +#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE 0x910A +#define GL_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910B +#define GL_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910C +#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910D +#define GL_MAX_COLOR_TEXTURE_SAMPLES 0x910E +#define GL_MAX_DEPTH_TEXTURE_SAMPLES 0x910F +#define GL_MAX_INTEGER_SAMPLES 0x9110 +typedef void (APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); +typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); +typedef void (APIENTRYP PFNGLPROVOKINGVERTEXPROC) (GLenum mode); +typedef GLsync (APIENTRYP PFNGLFENCESYNCPROC) (GLenum condition, GLbitfield flags); +typedef GLboolean (APIENTRYP PFNGLISSYNCPROC) (GLsync sync); +typedef void (APIENTRYP PFNGLDELETESYNCPROC) (GLsync sync); +typedef GLenum (APIENTRYP PFNGLCLIENTWAITSYNCPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); +typedef void (APIENTRYP PFNGLWAITSYNCPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); +typedef void (APIENTRYP PFNGLGETINTEGER64VPROC) (GLenum pname, GLint64 *data); +typedef void (APIENTRYP PFNGLGETSYNCIVPROC) (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); +typedef void (APIENTRYP PFNGLGETINTEGER64I_VPROC) (GLenum target, GLuint index, GLint64 *data); +typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERI64VPROC) (GLenum target, GLenum pname, GLint64 *params); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLTEXIMAGE2DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLTEXIMAGE3DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLGETMULTISAMPLEFVPROC) (GLenum pname, GLuint index, GLfloat *val); +typedef void (APIENTRYP PFNGLSAMPLEMASKIPROC) (GLuint maskNumber, GLbitfield mask); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawElementsBaseVertex (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); +GLAPI void APIENTRY glDrawRangeElementsBaseVertex (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); +GLAPI void APIENTRY glDrawElementsInstancedBaseVertex (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); +GLAPI void APIENTRY glMultiDrawElementsBaseVertex (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); +GLAPI void APIENTRY glProvokingVertex (GLenum mode); +GLAPI GLsync APIENTRY glFenceSync (GLenum condition, GLbitfield flags); +GLAPI GLboolean APIENTRY glIsSync (GLsync sync); +GLAPI void APIENTRY glDeleteSync (GLsync sync); +GLAPI GLenum APIENTRY glClientWaitSync (GLsync sync, GLbitfield flags, GLuint64 timeout); +GLAPI void APIENTRY glWaitSync (GLsync sync, GLbitfield flags, GLuint64 timeout); +GLAPI void APIENTRY glGetInteger64v (GLenum pname, GLint64 *data); +GLAPI void APIENTRY glGetSynciv (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); +GLAPI void APIENTRY glGetInteger64i_v (GLenum target, GLuint index, GLint64 *data); +GLAPI void APIENTRY glGetBufferParameteri64v (GLenum target, GLenum pname, GLint64 *params); +GLAPI void APIENTRY glFramebufferTexture (GLenum target, GLenum attachment, GLuint texture, GLint level); +GLAPI void APIENTRY glTexImage2DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glTexImage3DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glGetMultisamplefv (GLenum pname, GLuint index, GLfloat *val); +GLAPI void APIENTRY glSampleMaski (GLuint maskNumber, GLbitfield mask); +#endif +#endif /* GL_VERSION_3_2 */ + +#ifndef GL_VERSION_3_3 +#define GL_VERSION_3_3 1 +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR 0x88FE +#define GL_SRC1_COLOR 0x88F9 +#define GL_ONE_MINUS_SRC1_COLOR 0x88FA +#define GL_ONE_MINUS_SRC1_ALPHA 0x88FB +#define GL_MAX_DUAL_SOURCE_DRAW_BUFFERS 0x88FC +#define GL_ANY_SAMPLES_PASSED 0x8C2F +#define GL_SAMPLER_BINDING 0x8919 +#define GL_RGB10_A2UI 0x906F +#define GL_TEXTURE_SWIZZLE_R 0x8E42 +#define GL_TEXTURE_SWIZZLE_G 0x8E43 +#define GL_TEXTURE_SWIZZLE_B 0x8E44 +#define GL_TEXTURE_SWIZZLE_A 0x8E45 +#define GL_TEXTURE_SWIZZLE_RGBA 0x8E46 +#define GL_TIME_ELAPSED 0x88BF +#define GL_TIMESTAMP 0x8E28 +#define GL_INT_2_10_10_10_REV 0x8D9F +typedef void (APIENTRYP PFNGLBINDFRAGDATALOCATIONINDEXEDPROC) (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); +typedef GLint (APIENTRYP PFNGLGETFRAGDATAINDEXPROC) (GLuint program, const GLchar *name); +typedef void (APIENTRYP PFNGLGENSAMPLERSPROC) (GLsizei count, GLuint *samplers); +typedef void (APIENTRYP PFNGLDELETESAMPLERSPROC) (GLsizei count, const GLuint *samplers); +typedef GLboolean (APIENTRYP PFNGLISSAMPLERPROC) (GLuint sampler); +typedef void (APIENTRYP PFNGLBINDSAMPLERPROC) (GLuint unit, GLuint sampler); +typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIPROC) (GLuint sampler, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIVPROC) (GLuint sampler, GLenum pname, const GLint *param); +typedef void (APIENTRYP PFNGLSAMPLERPARAMETERFPROC) (GLuint sampler, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLSAMPLERPARAMETERFVPROC) (GLuint sampler, GLenum pname, const GLfloat *param); +typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIIVPROC) (GLuint sampler, GLenum pname, const GLint *param); +typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIUIVPROC) (GLuint sampler, GLenum pname, const GLuint *param); +typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERIVPROC) (GLuint sampler, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERIIVPROC) (GLuint sampler, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERFVPROC) (GLuint sampler, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVPROC) (GLuint sampler, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLQUERYCOUNTERPROC) (GLuint id, GLenum target); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTI64VPROC) (GLuint id, GLenum pname, GLint64 *params); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTUI64VPROC) (GLuint id, GLenum pname, GLuint64 *params); +typedef void (APIENTRYP PFNGLVERTEXATTRIBDIVISORPROC) (GLuint index, GLuint divisor); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP1UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP1UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP2UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP2UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP3UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP3UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP4UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBP4UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXP2UIPROC) (GLenum type, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXP2UIVPROC) (GLenum type, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXP3UIPROC) (GLenum type, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXP3UIVPROC) (GLenum type, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXP4UIPROC) (GLenum type, GLuint value); +typedef void (APIENTRYP PFNGLVERTEXP4UIVPROC) (GLenum type, const GLuint *value); +typedef void (APIENTRYP PFNGLTEXCOORDP1UIPROC) (GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLTEXCOORDP1UIVPROC) (GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLTEXCOORDP2UIPROC) (GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLTEXCOORDP2UIVPROC) (GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLTEXCOORDP3UIPROC) (GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLTEXCOORDP3UIVPROC) (GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLTEXCOORDP4UIPROC) (GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLTEXCOORDP4UIVPROC) (GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP1UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP1UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP2UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP2UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP3UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP3UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP4UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORDP4UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLNORMALP3UIPROC) (GLenum type, GLuint coords); +typedef void (APIENTRYP PFNGLNORMALP3UIVPROC) (GLenum type, const GLuint *coords); +typedef void (APIENTRYP PFNGLCOLORP3UIPROC) (GLenum type, GLuint color); +typedef void (APIENTRYP PFNGLCOLORP3UIVPROC) (GLenum type, const GLuint *color); +typedef void (APIENTRYP PFNGLCOLORP4UIPROC) (GLenum type, GLuint color); +typedef void (APIENTRYP PFNGLCOLORP4UIVPROC) (GLenum type, const GLuint *color); +typedef void (APIENTRYP PFNGLSECONDARYCOLORP3UIPROC) (GLenum type, GLuint color); +typedef void (APIENTRYP PFNGLSECONDARYCOLORP3UIVPROC) (GLenum type, const GLuint *color); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindFragDataLocationIndexed (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); +GLAPI GLint APIENTRY glGetFragDataIndex (GLuint program, const GLchar *name); +GLAPI void APIENTRY glGenSamplers (GLsizei count, GLuint *samplers); +GLAPI void APIENTRY glDeleteSamplers (GLsizei count, const GLuint *samplers); +GLAPI GLboolean APIENTRY glIsSampler (GLuint sampler); +GLAPI void APIENTRY glBindSampler (GLuint unit, GLuint sampler); +GLAPI void APIENTRY glSamplerParameteri (GLuint sampler, GLenum pname, GLint param); +GLAPI void APIENTRY glSamplerParameteriv (GLuint sampler, GLenum pname, const GLint *param); +GLAPI void APIENTRY glSamplerParameterf (GLuint sampler, GLenum pname, GLfloat param); +GLAPI void APIENTRY glSamplerParameterfv (GLuint sampler, GLenum pname, const GLfloat *param); +GLAPI void APIENTRY glSamplerParameterIiv (GLuint sampler, GLenum pname, const GLint *param); +GLAPI void APIENTRY glSamplerParameterIuiv (GLuint sampler, GLenum pname, const GLuint *param); +GLAPI void APIENTRY glGetSamplerParameteriv (GLuint sampler, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetSamplerParameterIiv (GLuint sampler, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetSamplerParameterfv (GLuint sampler, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetSamplerParameterIuiv (GLuint sampler, GLenum pname, GLuint *params); +GLAPI void APIENTRY glQueryCounter (GLuint id, GLenum target); +GLAPI void APIENTRY glGetQueryObjecti64v (GLuint id, GLenum pname, GLint64 *params); +GLAPI void APIENTRY glGetQueryObjectui64v (GLuint id, GLenum pname, GLuint64 *params); +GLAPI void APIENTRY glVertexAttribDivisor (GLuint index, GLuint divisor); +GLAPI void APIENTRY glVertexAttribP1ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); +GLAPI void APIENTRY glVertexAttribP1uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +GLAPI void APIENTRY glVertexAttribP2ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); +GLAPI void APIENTRY glVertexAttribP2uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +GLAPI void APIENTRY glVertexAttribP3ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); +GLAPI void APIENTRY glVertexAttribP3uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +GLAPI void APIENTRY glVertexAttribP4ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); +GLAPI void APIENTRY glVertexAttribP4uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); +GLAPI void APIENTRY glVertexP2ui (GLenum type, GLuint value); +GLAPI void APIENTRY glVertexP2uiv (GLenum type, const GLuint *value); +GLAPI void APIENTRY glVertexP3ui (GLenum type, GLuint value); +GLAPI void APIENTRY glVertexP3uiv (GLenum type, const GLuint *value); +GLAPI void APIENTRY glVertexP4ui (GLenum type, GLuint value); +GLAPI void APIENTRY glVertexP4uiv (GLenum type, const GLuint *value); +GLAPI void APIENTRY glTexCoordP1ui (GLenum type, GLuint coords); +GLAPI void APIENTRY glTexCoordP1uiv (GLenum type, const GLuint *coords); +GLAPI void APIENTRY glTexCoordP2ui (GLenum type, GLuint coords); +GLAPI void APIENTRY glTexCoordP2uiv (GLenum type, const GLuint *coords); +GLAPI void APIENTRY glTexCoordP3ui (GLenum type, GLuint coords); +GLAPI void APIENTRY glTexCoordP3uiv (GLenum type, const GLuint *coords); +GLAPI void APIENTRY glTexCoordP4ui (GLenum type, GLuint coords); +GLAPI void APIENTRY glTexCoordP4uiv (GLenum type, const GLuint *coords); +GLAPI void APIENTRY glMultiTexCoordP1ui (GLenum texture, GLenum type, GLuint coords); +GLAPI void APIENTRY glMultiTexCoordP1uiv (GLenum texture, GLenum type, const GLuint *coords); +GLAPI void APIENTRY glMultiTexCoordP2ui (GLenum texture, GLenum type, GLuint coords); +GLAPI void APIENTRY glMultiTexCoordP2uiv (GLenum texture, GLenum type, const GLuint *coords); +GLAPI void APIENTRY glMultiTexCoordP3ui (GLenum texture, GLenum type, GLuint coords); +GLAPI void APIENTRY glMultiTexCoordP3uiv (GLenum texture, GLenum type, const GLuint *coords); +GLAPI void APIENTRY glMultiTexCoordP4ui (GLenum texture, GLenum type, GLuint coords); +GLAPI void APIENTRY glMultiTexCoordP4uiv (GLenum texture, GLenum type, const GLuint *coords); +GLAPI void APIENTRY glNormalP3ui (GLenum type, GLuint coords); +GLAPI void APIENTRY glNormalP3uiv (GLenum type, const GLuint *coords); +GLAPI void APIENTRY glColorP3ui (GLenum type, GLuint color); +GLAPI void APIENTRY glColorP3uiv (GLenum type, const GLuint *color); +GLAPI void APIENTRY glColorP4ui (GLenum type, GLuint color); +GLAPI void APIENTRY glColorP4uiv (GLenum type, const GLuint *color); +GLAPI void APIENTRY glSecondaryColorP3ui (GLenum type, GLuint color); +GLAPI void APIENTRY glSecondaryColorP3uiv (GLenum type, const GLuint *color); +#endif +#endif /* GL_VERSION_3_3 */ + +#ifndef GL_VERSION_4_0 +#define GL_VERSION_4_0 1 +#define GL_SAMPLE_SHADING 0x8C36 +#define GL_MIN_SAMPLE_SHADING_VALUE 0x8C37 +#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5E +#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5F +#define GL_TEXTURE_CUBE_MAP_ARRAY 0x9009 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY 0x900A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY 0x900B +#define GL_SAMPLER_CUBE_MAP_ARRAY 0x900C +#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW 0x900D +#define GL_INT_SAMPLER_CUBE_MAP_ARRAY 0x900E +#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY 0x900F +#define GL_DRAW_INDIRECT_BUFFER 0x8F3F +#define GL_DRAW_INDIRECT_BUFFER_BINDING 0x8F43 +#define GL_GEOMETRY_SHADER_INVOCATIONS 0x887F +#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS 0x8E5A +#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET 0x8E5B +#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET 0x8E5C +#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS 0x8E5D +#define GL_MAX_VERTEX_STREAMS 0x8E71 +#define GL_DOUBLE_VEC2 0x8FFC +#define GL_DOUBLE_VEC3 0x8FFD +#define GL_DOUBLE_VEC4 0x8FFE +#define GL_DOUBLE_MAT2 0x8F46 +#define GL_DOUBLE_MAT3 0x8F47 +#define GL_DOUBLE_MAT4 0x8F48 +#define GL_DOUBLE_MAT2x3 0x8F49 +#define GL_DOUBLE_MAT2x4 0x8F4A +#define GL_DOUBLE_MAT3x2 0x8F4B +#define GL_DOUBLE_MAT3x4 0x8F4C +#define GL_DOUBLE_MAT4x2 0x8F4D +#define GL_DOUBLE_MAT4x3 0x8F4E +#define GL_ACTIVE_SUBROUTINES 0x8DE5 +#define GL_ACTIVE_SUBROUTINE_UNIFORMS 0x8DE6 +#define GL_ACTIVE_SUBROUTINE_UNIFORM_LOCATIONS 0x8E47 +#define GL_ACTIVE_SUBROUTINE_MAX_LENGTH 0x8E48 +#define GL_ACTIVE_SUBROUTINE_UNIFORM_MAX_LENGTH 0x8E49 +#define GL_MAX_SUBROUTINES 0x8DE7 +#define GL_MAX_SUBROUTINE_UNIFORM_LOCATIONS 0x8DE8 +#define GL_NUM_COMPATIBLE_SUBROUTINES 0x8E4A +#define GL_COMPATIBLE_SUBROUTINES 0x8E4B +#define GL_PATCHES 0x000E +#define GL_PATCH_VERTICES 0x8E72 +#define GL_PATCH_DEFAULT_INNER_LEVEL 0x8E73 +#define GL_PATCH_DEFAULT_OUTER_LEVEL 0x8E74 +#define GL_TESS_CONTROL_OUTPUT_VERTICES 0x8E75 +#define GL_TESS_GEN_MODE 0x8E76 +#define GL_TESS_GEN_SPACING 0x8E77 +#define GL_TESS_GEN_VERTEX_ORDER 0x8E78 +#define GL_TESS_GEN_POINT_MODE 0x8E79 +#define GL_ISOLINES 0x8E7A +#define GL_FRACTIONAL_ODD 0x8E7B +#define GL_FRACTIONAL_EVEN 0x8E7C +#define GL_MAX_PATCH_VERTICES 0x8E7D +#define GL_MAX_TESS_GEN_LEVEL 0x8E7E +#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E7F +#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E80 +#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS 0x8E81 +#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS 0x8E82 +#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS 0x8E83 +#define GL_MAX_TESS_PATCH_COMPONENTS 0x8E84 +#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS 0x8E85 +#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS 0x8E86 +#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS 0x8E89 +#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS 0x8E8A +#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS 0x886C +#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS 0x886D +#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E1E +#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E1F +#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_CONTROL_SHADER 0x84F0 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_EVALUATION_SHADER 0x84F1 +#define GL_TESS_EVALUATION_SHADER 0x8E87 +#define GL_TESS_CONTROL_SHADER 0x8E88 +#define GL_TRANSFORM_FEEDBACK 0x8E22 +#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED 0x8E23 +#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE 0x8E24 +#define GL_TRANSFORM_FEEDBACK_BINDING 0x8E25 +#define GL_MAX_TRANSFORM_FEEDBACK_BUFFERS 0x8E70 +typedef void (APIENTRYP PFNGLMINSAMPLESHADINGPROC) (GLfloat value); +typedef void (APIENTRYP PFNGLBLENDEQUATIONIPROC) (GLuint buf, GLenum mode); +typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEIPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (APIENTRYP PFNGLBLENDFUNCIPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEIPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +typedef void (APIENTRYP PFNGLDRAWARRAYSINDIRECTPROC) (GLenum mode, const void *indirect); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINDIRECTPROC) (GLenum mode, GLenum type, const void *indirect); +typedef void (APIENTRYP PFNGLUNIFORM1DPROC) (GLint location, GLdouble x); +typedef void (APIENTRYP PFNGLUNIFORM2DPROC) (GLint location, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLUNIFORM3DPROC) (GLint location, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLUNIFORM4DPROC) (GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLUNIFORM1DVPROC) (GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORM2DVPROC) (GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORM3DVPROC) (GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORM4DVPROC) (GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLGETUNIFORMDVPROC) (GLuint program, GLint location, GLdouble *params); +typedef GLint (APIENTRYP PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC) (GLuint program, GLenum shadertype, const GLchar *name); +typedef GLuint (APIENTRYP PFNGLGETSUBROUTINEINDEXPROC) (GLuint program, GLenum shadertype, const GLchar *name); +typedef void (APIENTRYP PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC) (GLuint program, GLenum shadertype, GLuint index, GLenum pname, GLint *values); +typedef void (APIENTRYP PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC) (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); +typedef void (APIENTRYP PFNGLGETACTIVESUBROUTINENAMEPROC) (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); +typedef void (APIENTRYP PFNGLUNIFORMSUBROUTINESUIVPROC) (GLenum shadertype, GLsizei count, const GLuint *indices); +typedef void (APIENTRYP PFNGLGETUNIFORMSUBROUTINEUIVPROC) (GLenum shadertype, GLint location, GLuint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMSTAGEIVPROC) (GLuint program, GLenum shadertype, GLenum pname, GLint *values); +typedef void (APIENTRYP PFNGLPATCHPARAMETERIPROC) (GLenum pname, GLint value); +typedef void (APIENTRYP PFNGLPATCHPARAMETERFVPROC) (GLenum pname, const GLfloat *values); +typedef void (APIENTRYP PFNGLBINDTRANSFORMFEEDBACKPROC) (GLenum target, GLuint id); +typedef void (APIENTRYP PFNGLDELETETRANSFORMFEEDBACKSPROC) (GLsizei n, const GLuint *ids); +typedef void (APIENTRYP PFNGLGENTRANSFORMFEEDBACKSPROC) (GLsizei n, GLuint *ids); +typedef GLboolean (APIENTRYP PFNGLISTRANSFORMFEEDBACKPROC) (GLuint id); +typedef void (APIENTRYP PFNGLPAUSETRANSFORMFEEDBACKPROC) (void); +typedef void (APIENTRYP PFNGLRESUMETRANSFORMFEEDBACKPROC) (void); +typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKPROC) (GLenum mode, GLuint id); +typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC) (GLenum mode, GLuint id, GLuint stream); +typedef void (APIENTRYP PFNGLBEGINQUERYINDEXEDPROC) (GLenum target, GLuint index, GLuint id); +typedef void (APIENTRYP PFNGLENDQUERYINDEXEDPROC) (GLenum target, GLuint index); +typedef void (APIENTRYP PFNGLGETQUERYINDEXEDIVPROC) (GLenum target, GLuint index, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMinSampleShading (GLfloat value); +GLAPI void APIENTRY glBlendEquationi (GLuint buf, GLenum mode); +GLAPI void APIENTRY glBlendEquationSeparatei (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +GLAPI void APIENTRY glBlendFunci (GLuint buf, GLenum src, GLenum dst); +GLAPI void APIENTRY glBlendFuncSeparatei (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +GLAPI void APIENTRY glDrawArraysIndirect (GLenum mode, const void *indirect); +GLAPI void APIENTRY glDrawElementsIndirect (GLenum mode, GLenum type, const void *indirect); +GLAPI void APIENTRY glUniform1d (GLint location, GLdouble x); +GLAPI void APIENTRY glUniform2d (GLint location, GLdouble x, GLdouble y); +GLAPI void APIENTRY glUniform3d (GLint location, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glUniform4d (GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glUniform1dv (GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glUniform2dv (GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glUniform3dv (GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glUniform4dv (GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix2dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix3dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix4dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix2x3dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix2x4dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix3x2dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix3x4dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix4x2dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glUniformMatrix4x3dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glGetUniformdv (GLuint program, GLint location, GLdouble *params); +GLAPI GLint APIENTRY glGetSubroutineUniformLocation (GLuint program, GLenum shadertype, const GLchar *name); +GLAPI GLuint APIENTRY glGetSubroutineIndex (GLuint program, GLenum shadertype, const GLchar *name); +GLAPI void APIENTRY glGetActiveSubroutineUniformiv (GLuint program, GLenum shadertype, GLuint index, GLenum pname, GLint *values); +GLAPI void APIENTRY glGetActiveSubroutineUniformName (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); +GLAPI void APIENTRY glGetActiveSubroutineName (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); +GLAPI void APIENTRY glUniformSubroutinesuiv (GLenum shadertype, GLsizei count, const GLuint *indices); +GLAPI void APIENTRY glGetUniformSubroutineuiv (GLenum shadertype, GLint location, GLuint *params); +GLAPI void APIENTRY glGetProgramStageiv (GLuint program, GLenum shadertype, GLenum pname, GLint *values); +GLAPI void APIENTRY glPatchParameteri (GLenum pname, GLint value); +GLAPI void APIENTRY glPatchParameterfv (GLenum pname, const GLfloat *values); +GLAPI void APIENTRY glBindTransformFeedback (GLenum target, GLuint id); +GLAPI void APIENTRY glDeleteTransformFeedbacks (GLsizei n, const GLuint *ids); +GLAPI void APIENTRY glGenTransformFeedbacks (GLsizei n, GLuint *ids); +GLAPI GLboolean APIENTRY glIsTransformFeedback (GLuint id); +GLAPI void APIENTRY glPauseTransformFeedback (void); +GLAPI void APIENTRY glResumeTransformFeedback (void); +GLAPI void APIENTRY glDrawTransformFeedback (GLenum mode, GLuint id); +GLAPI void APIENTRY glDrawTransformFeedbackStream (GLenum mode, GLuint id, GLuint stream); +GLAPI void APIENTRY glBeginQueryIndexed (GLenum target, GLuint index, GLuint id); +GLAPI void APIENTRY glEndQueryIndexed (GLenum target, GLuint index); +GLAPI void APIENTRY glGetQueryIndexediv (GLenum target, GLuint index, GLenum pname, GLint *params); +#endif +#endif /* GL_VERSION_4_0 */ + +#ifndef GL_VERSION_4_1 +#define GL_VERSION_4_1 1 +#define GL_FIXED 0x140C +#define GL_IMPLEMENTATION_COLOR_READ_TYPE 0x8B9A +#define GL_IMPLEMENTATION_COLOR_READ_FORMAT 0x8B9B +#define GL_LOW_FLOAT 0x8DF0 +#define GL_MEDIUM_FLOAT 0x8DF1 +#define GL_HIGH_FLOAT 0x8DF2 +#define GL_LOW_INT 0x8DF3 +#define GL_MEDIUM_INT 0x8DF4 +#define GL_HIGH_INT 0x8DF5 +#define GL_SHADER_COMPILER 0x8DFA +#define GL_SHADER_BINARY_FORMATS 0x8DF8 +#define GL_NUM_SHADER_BINARY_FORMATS 0x8DF9 +#define GL_MAX_VERTEX_UNIFORM_VECTORS 0x8DFB +#define GL_MAX_VARYING_VECTORS 0x8DFC +#define GL_MAX_FRAGMENT_UNIFORM_VECTORS 0x8DFD +#define GL_RGB565 0x8D62 +#define GL_PROGRAM_BINARY_RETRIEVABLE_HINT 0x8257 +#define GL_PROGRAM_BINARY_LENGTH 0x8741 +#define GL_NUM_PROGRAM_BINARY_FORMATS 0x87FE +#define GL_PROGRAM_BINARY_FORMATS 0x87FF +#define GL_VERTEX_SHADER_BIT 0x00000001 +#define GL_FRAGMENT_SHADER_BIT 0x00000002 +#define GL_GEOMETRY_SHADER_BIT 0x00000004 +#define GL_TESS_CONTROL_SHADER_BIT 0x00000008 +#define GL_TESS_EVALUATION_SHADER_BIT 0x00000010 +#define GL_ALL_SHADER_BITS 0xFFFFFFFF +#define GL_PROGRAM_SEPARABLE 0x8258 +#define GL_ACTIVE_PROGRAM 0x8259 +#define GL_PROGRAM_PIPELINE_BINDING 0x825A +#define GL_MAX_VIEWPORTS 0x825B +#define GL_VIEWPORT_SUBPIXEL_BITS 0x825C +#define GL_VIEWPORT_BOUNDS_RANGE 0x825D +#define GL_LAYER_PROVOKING_VERTEX 0x825E +#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX 0x825F +#define GL_UNDEFINED_VERTEX 0x8260 +typedef void (APIENTRYP PFNGLRELEASESHADERCOMPILERPROC) (void); +typedef void (APIENTRYP PFNGLSHADERBINARYPROC) (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); +typedef void (APIENTRYP PFNGLGETSHADERPRECISIONFORMATPROC) (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); +typedef void (APIENTRYP PFNGLDEPTHRANGEFPROC) (GLfloat n, GLfloat f); +typedef void (APIENTRYP PFNGLCLEARDEPTHFPROC) (GLfloat d); +typedef void (APIENTRYP PFNGLGETPROGRAMBINARYPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); +typedef void (APIENTRYP PFNGLPROGRAMBINARYPROC) (GLuint program, GLenum binaryFormat, const void *binary, GLsizei length); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETERIPROC) (GLuint program, GLenum pname, GLint value); +typedef void (APIENTRYP PFNGLUSEPROGRAMSTAGESPROC) (GLuint pipeline, GLbitfield stages, GLuint program); +typedef void (APIENTRYP PFNGLACTIVESHADERPROGRAMPROC) (GLuint pipeline, GLuint program); +typedef GLuint (APIENTRYP PFNGLCREATESHADERPROGRAMVPROC) (GLenum type, GLsizei count, const GLchar *const*strings); +typedef void (APIENTRYP PFNGLBINDPROGRAMPIPELINEPROC) (GLuint pipeline); +typedef void (APIENTRYP PFNGLDELETEPROGRAMPIPELINESPROC) (GLsizei n, const GLuint *pipelines); +typedef void (APIENTRYP PFNGLGENPROGRAMPIPELINESPROC) (GLsizei n, GLuint *pipelines); +typedef GLboolean (APIENTRYP PFNGLISPROGRAMPIPELINEPROC) (GLuint pipeline); +typedef void (APIENTRYP PFNGLGETPROGRAMPIPELINEIVPROC) (GLuint pipeline, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IPROC) (GLuint program, GLint location, GLint v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FPROC) (GLuint program, GLint location, GLfloat v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DPROC) (GLuint program, GLint location, GLdouble v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIPROC) (GLuint program, GLint location, GLuint v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IPROC) (GLuint program, GLint location, GLint v0, GLint v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DPROC) (GLuint program, GLint location, GLdouble v0, GLdouble v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DPROC) (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DPROC) (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2, GLdouble v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLVALIDATEPROGRAMPIPELINEPROC) (GLuint pipeline); +typedef void (APIENTRYP PFNGLGETPROGRAMPIPELINEINFOLOGPROC) (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DPROC) (GLuint index, GLdouble x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBLPOINTERPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLDVPROC) (GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLVIEWPORTARRAYVPROC) (GLuint first, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLVIEWPORTINDEXEDFPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +typedef void (APIENTRYP PFNGLVIEWPORTINDEXEDFVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLSCISSORARRAYVPROC) (GLuint first, GLsizei count, const GLint *v); +typedef void (APIENTRYP PFNGLSCISSORINDEXEDPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLSCISSORINDEXEDVPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLDEPTHRANGEARRAYVPROC) (GLuint first, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLDEPTHRANGEINDEXEDPROC) (GLuint index, GLdouble n, GLdouble f); +typedef void (APIENTRYP PFNGLGETFLOATI_VPROC) (GLenum target, GLuint index, GLfloat *data); +typedef void (APIENTRYP PFNGLGETDOUBLEI_VPROC) (GLenum target, GLuint index, GLdouble *data); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glReleaseShaderCompiler (void); +GLAPI void APIENTRY glShaderBinary (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); +GLAPI void APIENTRY glGetShaderPrecisionFormat (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); +GLAPI void APIENTRY glDepthRangef (GLfloat n, GLfloat f); +GLAPI void APIENTRY glClearDepthf (GLfloat d); +GLAPI void APIENTRY glGetProgramBinary (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); +GLAPI void APIENTRY glProgramBinary (GLuint program, GLenum binaryFormat, const void *binary, GLsizei length); +GLAPI void APIENTRY glProgramParameteri (GLuint program, GLenum pname, GLint value); +GLAPI void APIENTRY glUseProgramStages (GLuint pipeline, GLbitfield stages, GLuint program); +GLAPI void APIENTRY glActiveShaderProgram (GLuint pipeline, GLuint program); +GLAPI GLuint APIENTRY glCreateShaderProgramv (GLenum type, GLsizei count, const GLchar *const*strings); +GLAPI void APIENTRY glBindProgramPipeline (GLuint pipeline); +GLAPI void APIENTRY glDeleteProgramPipelines (GLsizei n, const GLuint *pipelines); +GLAPI void APIENTRY glGenProgramPipelines (GLsizei n, GLuint *pipelines); +GLAPI GLboolean APIENTRY glIsProgramPipeline (GLuint pipeline); +GLAPI void APIENTRY glGetProgramPipelineiv (GLuint pipeline, GLenum pname, GLint *params); +GLAPI void APIENTRY glProgramUniform1i (GLuint program, GLint location, GLint v0); +GLAPI void APIENTRY glProgramUniform1iv (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform1f (GLuint program, GLint location, GLfloat v0); +GLAPI void APIENTRY glProgramUniform1fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform1d (GLuint program, GLint location, GLdouble v0); +GLAPI void APIENTRY glProgramUniform1dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform1ui (GLuint program, GLint location, GLuint v0); +GLAPI void APIENTRY glProgramUniform1uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniform2i (GLuint program, GLint location, GLint v0, GLint v1); +GLAPI void APIENTRY glProgramUniform2iv (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform2f (GLuint program, GLint location, GLfloat v0, GLfloat v1); +GLAPI void APIENTRY glProgramUniform2fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform2d (GLuint program, GLint location, GLdouble v0, GLdouble v1); +GLAPI void APIENTRY glProgramUniform2dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform2ui (GLuint program, GLint location, GLuint v0, GLuint v1); +GLAPI void APIENTRY glProgramUniform2uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniform3i (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +GLAPI void APIENTRY glProgramUniform3iv (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform3f (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +GLAPI void APIENTRY glProgramUniform3fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform3d (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2); +GLAPI void APIENTRY glProgramUniform3dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform3ui (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +GLAPI void APIENTRY glProgramUniform3uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniform4i (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +GLAPI void APIENTRY glProgramUniform4iv (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform4f (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +GLAPI void APIENTRY glProgramUniform4fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform4d (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2, GLdouble v3); +GLAPI void APIENTRY glProgramUniform4dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform4ui (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +GLAPI void APIENTRY glProgramUniform4uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniformMatrix2fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix3fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix4fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix2dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix3dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix4dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix2x3fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix3x2fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix2x4fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix4x2fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix3x4fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix4x3fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix2x3dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix3x2dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix2x4dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix4x2dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix3x4dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix4x3dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glValidateProgramPipeline (GLuint pipeline); +GLAPI void APIENTRY glGetProgramPipelineInfoLog (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +GLAPI void APIENTRY glVertexAttribL1d (GLuint index, GLdouble x); +GLAPI void APIENTRY glVertexAttribL2d (GLuint index, GLdouble x, GLdouble y); +GLAPI void APIENTRY glVertexAttribL3d (GLuint index, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glVertexAttribL4d (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glVertexAttribL1dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribL2dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribL3dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribL4dv (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribLPointer (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glGetVertexAttribLdv (GLuint index, GLenum pname, GLdouble *params); +GLAPI void APIENTRY glViewportArrayv (GLuint first, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glViewportIndexedf (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +GLAPI void APIENTRY glViewportIndexedfv (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glScissorArrayv (GLuint first, GLsizei count, const GLint *v); +GLAPI void APIENTRY glScissorIndexed (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +GLAPI void APIENTRY glScissorIndexedv (GLuint index, const GLint *v); +GLAPI void APIENTRY glDepthRangeArrayv (GLuint first, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glDepthRangeIndexed (GLuint index, GLdouble n, GLdouble f); +GLAPI void APIENTRY glGetFloati_v (GLenum target, GLuint index, GLfloat *data); +GLAPI void APIENTRY glGetDoublei_v (GLenum target, GLuint index, GLdouble *data); +#endif +#endif /* GL_VERSION_4_1 */ + +#ifndef GL_VERSION_4_2 +#define GL_VERSION_4_2 1 +#define GL_COPY_READ_BUFFER_BINDING 0x8F36 +#define GL_COPY_WRITE_BUFFER_BINDING 0x8F37 +#define GL_TRANSFORM_FEEDBACK_ACTIVE 0x8E24 +#define GL_TRANSFORM_FEEDBACK_PAUSED 0x8E23 +#define GL_UNPACK_COMPRESSED_BLOCK_WIDTH 0x9127 +#define GL_UNPACK_COMPRESSED_BLOCK_HEIGHT 0x9128 +#define GL_UNPACK_COMPRESSED_BLOCK_DEPTH 0x9129 +#define GL_UNPACK_COMPRESSED_BLOCK_SIZE 0x912A +#define GL_PACK_COMPRESSED_BLOCK_WIDTH 0x912B +#define GL_PACK_COMPRESSED_BLOCK_HEIGHT 0x912C +#define GL_PACK_COMPRESSED_BLOCK_DEPTH 0x912D +#define GL_PACK_COMPRESSED_BLOCK_SIZE 0x912E +#define GL_NUM_SAMPLE_COUNTS 0x9380 +#define GL_MIN_MAP_BUFFER_ALIGNMENT 0x90BC +#define GL_ATOMIC_COUNTER_BUFFER 0x92C0 +#define GL_ATOMIC_COUNTER_BUFFER_BINDING 0x92C1 +#define GL_ATOMIC_COUNTER_BUFFER_START 0x92C2 +#define GL_ATOMIC_COUNTER_BUFFER_SIZE 0x92C3 +#define GL_ATOMIC_COUNTER_BUFFER_DATA_SIZE 0x92C4 +#define GL_ATOMIC_COUNTER_BUFFER_ACTIVE_ATOMIC_COUNTERS 0x92C5 +#define GL_ATOMIC_COUNTER_BUFFER_ACTIVE_ATOMIC_COUNTER_INDICES 0x92C6 +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_VERTEX_SHADER 0x92C7 +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TESS_CONTROL_SHADER 0x92C8 +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TESS_EVALUATION_SHADER 0x92C9 +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_GEOMETRY_SHADER 0x92CA +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_FRAGMENT_SHADER 0x92CB +#define GL_MAX_VERTEX_ATOMIC_COUNTER_BUFFERS 0x92CC +#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS 0x92CD +#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS 0x92CE +#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS 0x92CF +#define GL_MAX_FRAGMENT_ATOMIC_COUNTER_BUFFERS 0x92D0 +#define GL_MAX_COMBINED_ATOMIC_COUNTER_BUFFERS 0x92D1 +#define GL_MAX_VERTEX_ATOMIC_COUNTERS 0x92D2 +#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS 0x92D3 +#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS 0x92D4 +#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS 0x92D5 +#define GL_MAX_FRAGMENT_ATOMIC_COUNTERS 0x92D6 +#define GL_MAX_COMBINED_ATOMIC_COUNTERS 0x92D7 +#define GL_MAX_ATOMIC_COUNTER_BUFFER_SIZE 0x92D8 +#define GL_MAX_ATOMIC_COUNTER_BUFFER_BINDINGS 0x92DC +#define GL_ACTIVE_ATOMIC_COUNTER_BUFFERS 0x92D9 +#define GL_UNIFORM_ATOMIC_COUNTER_BUFFER_INDEX 0x92DA +#define GL_UNSIGNED_INT_ATOMIC_COUNTER 0x92DB +#define GL_VERTEX_ATTRIB_ARRAY_BARRIER_BIT 0x00000001 +#define GL_ELEMENT_ARRAY_BARRIER_BIT 0x00000002 +#define GL_UNIFORM_BARRIER_BIT 0x00000004 +#define GL_TEXTURE_FETCH_BARRIER_BIT 0x00000008 +#define GL_SHADER_IMAGE_ACCESS_BARRIER_BIT 0x00000020 +#define GL_COMMAND_BARRIER_BIT 0x00000040 +#define GL_PIXEL_BUFFER_BARRIER_BIT 0x00000080 +#define GL_TEXTURE_UPDATE_BARRIER_BIT 0x00000100 +#define GL_BUFFER_UPDATE_BARRIER_BIT 0x00000200 +#define GL_FRAMEBUFFER_BARRIER_BIT 0x00000400 +#define GL_TRANSFORM_FEEDBACK_BARRIER_BIT 0x00000800 +#define GL_ATOMIC_COUNTER_BARRIER_BIT 0x00001000 +#define GL_ALL_BARRIER_BITS 0xFFFFFFFF +#define GL_MAX_IMAGE_UNITS 0x8F38 +#define GL_MAX_COMBINED_IMAGE_UNITS_AND_FRAGMENT_OUTPUTS 0x8F39 +#define GL_IMAGE_BINDING_NAME 0x8F3A +#define GL_IMAGE_BINDING_LEVEL 0x8F3B +#define GL_IMAGE_BINDING_LAYERED 0x8F3C +#define GL_IMAGE_BINDING_LAYER 0x8F3D +#define GL_IMAGE_BINDING_ACCESS 0x8F3E +#define GL_IMAGE_1D 0x904C +#define GL_IMAGE_2D 0x904D +#define GL_IMAGE_3D 0x904E +#define GL_IMAGE_2D_RECT 0x904F +#define GL_IMAGE_CUBE 0x9050 +#define GL_IMAGE_BUFFER 0x9051 +#define GL_IMAGE_1D_ARRAY 0x9052 +#define GL_IMAGE_2D_ARRAY 0x9053 +#define GL_IMAGE_CUBE_MAP_ARRAY 0x9054 +#define GL_IMAGE_2D_MULTISAMPLE 0x9055 +#define GL_IMAGE_2D_MULTISAMPLE_ARRAY 0x9056 +#define GL_INT_IMAGE_1D 0x9057 +#define GL_INT_IMAGE_2D 0x9058 +#define GL_INT_IMAGE_3D 0x9059 +#define GL_INT_IMAGE_2D_RECT 0x905A +#define GL_INT_IMAGE_CUBE 0x905B +#define GL_INT_IMAGE_BUFFER 0x905C +#define GL_INT_IMAGE_1D_ARRAY 0x905D +#define GL_INT_IMAGE_2D_ARRAY 0x905E +#define GL_INT_IMAGE_CUBE_MAP_ARRAY 0x905F +#define GL_INT_IMAGE_2D_MULTISAMPLE 0x9060 +#define GL_INT_IMAGE_2D_MULTISAMPLE_ARRAY 0x9061 +#define GL_UNSIGNED_INT_IMAGE_1D 0x9062 +#define GL_UNSIGNED_INT_IMAGE_2D 0x9063 +#define GL_UNSIGNED_INT_IMAGE_3D 0x9064 +#define GL_UNSIGNED_INT_IMAGE_2D_RECT 0x9065 +#define GL_UNSIGNED_INT_IMAGE_CUBE 0x9066 +#define GL_UNSIGNED_INT_IMAGE_BUFFER 0x9067 +#define GL_UNSIGNED_INT_IMAGE_1D_ARRAY 0x9068 +#define GL_UNSIGNED_INT_IMAGE_2D_ARRAY 0x9069 +#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY 0x906A +#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE 0x906B +#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_ARRAY 0x906C +#define GL_MAX_IMAGE_SAMPLES 0x906D +#define GL_IMAGE_BINDING_FORMAT 0x906E +#define GL_IMAGE_FORMAT_COMPATIBILITY_TYPE 0x90C7 +#define GL_IMAGE_FORMAT_COMPATIBILITY_BY_SIZE 0x90C8 +#define GL_IMAGE_FORMAT_COMPATIBILITY_BY_CLASS 0x90C9 +#define GL_MAX_VERTEX_IMAGE_UNIFORMS 0x90CA +#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS 0x90CB +#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS 0x90CC +#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS 0x90CD +#define GL_MAX_FRAGMENT_IMAGE_UNIFORMS 0x90CE +#define GL_MAX_COMBINED_IMAGE_UNIFORMS 0x90CF +#define GL_COMPRESSED_RGBA_BPTC_UNORM 0x8E8C +#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM 0x8E8D +#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT 0x8E8E +#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT 0x8E8F +#define GL_TEXTURE_IMMUTABLE_FORMAT 0x912F +typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEPROC) (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); +typedef void (APIENTRYP PFNGLGETINTERNALFORMATIVPROC) (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint *params); +typedef void (APIENTRYP PFNGLGETACTIVEATOMICCOUNTERBUFFERIVPROC) (GLuint program, GLuint bufferIndex, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLBINDIMAGETEXTUREPROC) (GLuint unit, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLenum format); +typedef void (APIENTRYP PFNGLMEMORYBARRIERPROC) (GLbitfield barriers); +typedef void (APIENTRYP PFNGLTEXSTORAGE1DPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +typedef void (APIENTRYP PFNGLTEXSTORAGE2DPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLTEXSTORAGE3DPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDPROC) (GLenum mode, GLuint id, GLsizei instancecount); +typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKSTREAMINSTANCEDPROC) (GLenum mode, GLuint id, GLuint stream, GLsizei instancecount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawArraysInstancedBaseInstance (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); +GLAPI void APIENTRY glDrawElementsInstancedBaseInstance (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); +GLAPI void APIENTRY glDrawElementsInstancedBaseVertexBaseInstance (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); +GLAPI void APIENTRY glGetInternalformativ (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint *params); +GLAPI void APIENTRY glGetActiveAtomicCounterBufferiv (GLuint program, GLuint bufferIndex, GLenum pname, GLint *params); +GLAPI void APIENTRY glBindImageTexture (GLuint unit, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLenum format); +GLAPI void APIENTRY glMemoryBarrier (GLbitfield barriers); +GLAPI void APIENTRY glTexStorage1D (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +GLAPI void APIENTRY glTexStorage2D (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glTexStorage3D (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +GLAPI void APIENTRY glDrawTransformFeedbackInstanced (GLenum mode, GLuint id, GLsizei instancecount); +GLAPI void APIENTRY glDrawTransformFeedbackStreamInstanced (GLenum mode, GLuint id, GLuint stream, GLsizei instancecount); +#endif +#endif /* GL_VERSION_4_2 */ + +#ifndef GL_VERSION_4_3 +#define GL_VERSION_4_3 1 +typedef void (APIENTRY *GLDEBUGPROC)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam); +#define GL_NUM_SHADING_LANGUAGE_VERSIONS 0x82E9 +#define GL_VERTEX_ATTRIB_ARRAY_LONG 0x874E +#define GL_COMPRESSED_RGB8_ETC2 0x9274 +#define GL_COMPRESSED_SRGB8_ETC2 0x9275 +#define GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2 0x9276 +#define GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2 0x9277 +#define GL_COMPRESSED_RGBA8_ETC2_EAC 0x9278 +#define GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC 0x9279 +#define GL_COMPRESSED_R11_EAC 0x9270 +#define GL_COMPRESSED_SIGNED_R11_EAC 0x9271 +#define GL_COMPRESSED_RG11_EAC 0x9272 +#define GL_COMPRESSED_SIGNED_RG11_EAC 0x9273 +#define GL_PRIMITIVE_RESTART_FIXED_INDEX 0x8D69 +#define GL_ANY_SAMPLES_PASSED_CONSERVATIVE 0x8D6A +#define GL_MAX_ELEMENT_INDEX 0x8D6B +#define GL_COMPUTE_SHADER 0x91B9 +#define GL_MAX_COMPUTE_UNIFORM_BLOCKS 0x91BB +#define GL_MAX_COMPUTE_TEXTURE_IMAGE_UNITS 0x91BC +#define GL_MAX_COMPUTE_IMAGE_UNIFORMS 0x91BD +#define GL_MAX_COMPUTE_SHARED_MEMORY_SIZE 0x8262 +#define GL_MAX_COMPUTE_UNIFORM_COMPONENTS 0x8263 +#define GL_MAX_COMPUTE_ATOMIC_COUNTER_BUFFERS 0x8264 +#define GL_MAX_COMPUTE_ATOMIC_COUNTERS 0x8265 +#define GL_MAX_COMBINED_COMPUTE_UNIFORM_COMPONENTS 0x8266 +#define GL_MAX_COMPUTE_WORK_GROUP_INVOCATIONS 0x90EB +#define GL_MAX_COMPUTE_WORK_GROUP_COUNT 0x91BE +#define GL_MAX_COMPUTE_WORK_GROUP_SIZE 0x91BF +#define GL_COMPUTE_WORK_GROUP_SIZE 0x8267 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_COMPUTE_SHADER 0x90EC +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_COMPUTE_SHADER 0x90ED +#define GL_DISPATCH_INDIRECT_BUFFER 0x90EE +#define GL_DISPATCH_INDIRECT_BUFFER_BINDING 0x90EF +#define GL_COMPUTE_SHADER_BIT 0x00000020 +#define GL_DEBUG_OUTPUT_SYNCHRONOUS 0x8242 +#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH 0x8243 +#define GL_DEBUG_CALLBACK_FUNCTION 0x8244 +#define GL_DEBUG_CALLBACK_USER_PARAM 0x8245 +#define GL_DEBUG_SOURCE_API 0x8246 +#define GL_DEBUG_SOURCE_WINDOW_SYSTEM 0x8247 +#define GL_DEBUG_SOURCE_SHADER_COMPILER 0x8248 +#define GL_DEBUG_SOURCE_THIRD_PARTY 0x8249 +#define GL_DEBUG_SOURCE_APPLICATION 0x824A +#define GL_DEBUG_SOURCE_OTHER 0x824B +#define GL_DEBUG_TYPE_ERROR 0x824C +#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR 0x824D +#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR 0x824E +#define GL_DEBUG_TYPE_PORTABILITY 0x824F +#define GL_DEBUG_TYPE_PERFORMANCE 0x8250 +#define GL_DEBUG_TYPE_OTHER 0x8251 +#define GL_MAX_DEBUG_MESSAGE_LENGTH 0x9143 +#define GL_MAX_DEBUG_LOGGED_MESSAGES 0x9144 +#define GL_DEBUG_LOGGED_MESSAGES 0x9145 +#define GL_DEBUG_SEVERITY_HIGH 0x9146 +#define GL_DEBUG_SEVERITY_MEDIUM 0x9147 +#define GL_DEBUG_SEVERITY_LOW 0x9148 +#define GL_DEBUG_TYPE_MARKER 0x8268 +#define GL_DEBUG_TYPE_PUSH_GROUP 0x8269 +#define GL_DEBUG_TYPE_POP_GROUP 0x826A +#define GL_DEBUG_SEVERITY_NOTIFICATION 0x826B +#define GL_MAX_DEBUG_GROUP_STACK_DEPTH 0x826C +#define GL_DEBUG_GROUP_STACK_DEPTH 0x826D +#define GL_BUFFER 0x82E0 +#define GL_SHADER 0x82E1 +#define GL_PROGRAM 0x82E2 +#define GL_QUERY 0x82E3 +#define GL_PROGRAM_PIPELINE 0x82E4 +#define GL_SAMPLER 0x82E6 +#define GL_MAX_LABEL_LENGTH 0x82E8 +#define GL_DEBUG_OUTPUT 0x92E0 +#define GL_CONTEXT_FLAG_DEBUG_BIT 0x00000002 +#define GL_MAX_UNIFORM_LOCATIONS 0x826E +#define GL_FRAMEBUFFER_DEFAULT_WIDTH 0x9310 +#define GL_FRAMEBUFFER_DEFAULT_HEIGHT 0x9311 +#define GL_FRAMEBUFFER_DEFAULT_LAYERS 0x9312 +#define GL_FRAMEBUFFER_DEFAULT_SAMPLES 0x9313 +#define GL_FRAMEBUFFER_DEFAULT_FIXED_SAMPLE_LOCATIONS 0x9314 +#define GL_MAX_FRAMEBUFFER_WIDTH 0x9315 +#define GL_MAX_FRAMEBUFFER_HEIGHT 0x9316 +#define GL_MAX_FRAMEBUFFER_LAYERS 0x9317 +#define GL_MAX_FRAMEBUFFER_SAMPLES 0x9318 +#define GL_INTERNALFORMAT_SUPPORTED 0x826F +#define GL_INTERNALFORMAT_PREFERRED 0x8270 +#define GL_INTERNALFORMAT_RED_SIZE 0x8271 +#define GL_INTERNALFORMAT_GREEN_SIZE 0x8272 +#define GL_INTERNALFORMAT_BLUE_SIZE 0x8273 +#define GL_INTERNALFORMAT_ALPHA_SIZE 0x8274 +#define GL_INTERNALFORMAT_DEPTH_SIZE 0x8275 +#define GL_INTERNALFORMAT_STENCIL_SIZE 0x8276 +#define GL_INTERNALFORMAT_SHARED_SIZE 0x8277 +#define GL_INTERNALFORMAT_RED_TYPE 0x8278 +#define GL_INTERNALFORMAT_GREEN_TYPE 0x8279 +#define GL_INTERNALFORMAT_BLUE_TYPE 0x827A +#define GL_INTERNALFORMAT_ALPHA_TYPE 0x827B +#define GL_INTERNALFORMAT_DEPTH_TYPE 0x827C +#define GL_INTERNALFORMAT_STENCIL_TYPE 0x827D +#define GL_MAX_WIDTH 0x827E +#define GL_MAX_HEIGHT 0x827F +#define GL_MAX_DEPTH 0x8280 +#define GL_MAX_LAYERS 0x8281 +#define GL_MAX_COMBINED_DIMENSIONS 0x8282 +#define GL_COLOR_COMPONENTS 0x8283 +#define GL_DEPTH_COMPONENTS 0x8284 +#define GL_STENCIL_COMPONENTS 0x8285 +#define GL_COLOR_RENDERABLE 0x8286 +#define GL_DEPTH_RENDERABLE 0x8287 +#define GL_STENCIL_RENDERABLE 0x8288 +#define GL_FRAMEBUFFER_RENDERABLE 0x8289 +#define GL_FRAMEBUFFER_RENDERABLE_LAYERED 0x828A +#define GL_FRAMEBUFFER_BLEND 0x828B +#define GL_READ_PIXELS 0x828C +#define GL_READ_PIXELS_FORMAT 0x828D +#define GL_READ_PIXELS_TYPE 0x828E +#define GL_TEXTURE_IMAGE_FORMAT 0x828F +#define GL_TEXTURE_IMAGE_TYPE 0x8290 +#define GL_GET_TEXTURE_IMAGE_FORMAT 0x8291 +#define GL_GET_TEXTURE_IMAGE_TYPE 0x8292 +#define GL_MIPMAP 0x8293 +#define GL_MANUAL_GENERATE_MIPMAP 0x8294 +#define GL_AUTO_GENERATE_MIPMAP 0x8295 +#define GL_COLOR_ENCODING 0x8296 +#define GL_SRGB_READ 0x8297 +#define GL_SRGB_WRITE 0x8298 +#define GL_FILTER 0x829A +#define GL_VERTEX_TEXTURE 0x829B +#define GL_TESS_CONTROL_TEXTURE 0x829C +#define GL_TESS_EVALUATION_TEXTURE 0x829D +#define GL_GEOMETRY_TEXTURE 0x829E +#define GL_FRAGMENT_TEXTURE 0x829F +#define GL_COMPUTE_TEXTURE 0x82A0 +#define GL_TEXTURE_SHADOW 0x82A1 +#define GL_TEXTURE_GATHER 0x82A2 +#define GL_TEXTURE_GATHER_SHADOW 0x82A3 +#define GL_SHADER_IMAGE_LOAD 0x82A4 +#define GL_SHADER_IMAGE_STORE 0x82A5 +#define GL_SHADER_IMAGE_ATOMIC 0x82A6 +#define GL_IMAGE_TEXEL_SIZE 0x82A7 +#define GL_IMAGE_COMPATIBILITY_CLASS 0x82A8 +#define GL_IMAGE_PIXEL_FORMAT 0x82A9 +#define GL_IMAGE_PIXEL_TYPE 0x82AA +#define GL_SIMULTANEOUS_TEXTURE_AND_DEPTH_TEST 0x82AC +#define GL_SIMULTANEOUS_TEXTURE_AND_STENCIL_TEST 0x82AD +#define GL_SIMULTANEOUS_TEXTURE_AND_DEPTH_WRITE 0x82AE +#define GL_SIMULTANEOUS_TEXTURE_AND_STENCIL_WRITE 0x82AF +#define GL_TEXTURE_COMPRESSED_BLOCK_WIDTH 0x82B1 +#define GL_TEXTURE_COMPRESSED_BLOCK_HEIGHT 0x82B2 +#define GL_TEXTURE_COMPRESSED_BLOCK_SIZE 0x82B3 +#define GL_CLEAR_BUFFER 0x82B4 +#define GL_TEXTURE_VIEW 0x82B5 +#define GL_VIEW_COMPATIBILITY_CLASS 0x82B6 +#define GL_FULL_SUPPORT 0x82B7 +#define GL_CAVEAT_SUPPORT 0x82B8 +#define GL_IMAGE_CLASS_4_X_32 0x82B9 +#define GL_IMAGE_CLASS_2_X_32 0x82BA +#define GL_IMAGE_CLASS_1_X_32 0x82BB +#define GL_IMAGE_CLASS_4_X_16 0x82BC +#define GL_IMAGE_CLASS_2_X_16 0x82BD +#define GL_IMAGE_CLASS_1_X_16 0x82BE +#define GL_IMAGE_CLASS_4_X_8 0x82BF +#define GL_IMAGE_CLASS_2_X_8 0x82C0 +#define GL_IMAGE_CLASS_1_X_8 0x82C1 +#define GL_IMAGE_CLASS_11_11_10 0x82C2 +#define GL_IMAGE_CLASS_10_10_10_2 0x82C3 +#define GL_VIEW_CLASS_128_BITS 0x82C4 +#define GL_VIEW_CLASS_96_BITS 0x82C5 +#define GL_VIEW_CLASS_64_BITS 0x82C6 +#define GL_VIEW_CLASS_48_BITS 0x82C7 +#define GL_VIEW_CLASS_32_BITS 0x82C8 +#define GL_VIEW_CLASS_24_BITS 0x82C9 +#define GL_VIEW_CLASS_16_BITS 0x82CA +#define GL_VIEW_CLASS_8_BITS 0x82CB +#define GL_VIEW_CLASS_S3TC_DXT1_RGB 0x82CC +#define GL_VIEW_CLASS_S3TC_DXT1_RGBA 0x82CD +#define GL_VIEW_CLASS_S3TC_DXT3_RGBA 0x82CE +#define GL_VIEW_CLASS_S3TC_DXT5_RGBA 0x82CF +#define GL_VIEW_CLASS_RGTC1_RED 0x82D0 +#define GL_VIEW_CLASS_RGTC2_RG 0x82D1 +#define GL_VIEW_CLASS_BPTC_UNORM 0x82D2 +#define GL_VIEW_CLASS_BPTC_FLOAT 0x82D3 +#define GL_UNIFORM 0x92E1 +#define GL_UNIFORM_BLOCK 0x92E2 +#define GL_PROGRAM_INPUT 0x92E3 +#define GL_PROGRAM_OUTPUT 0x92E4 +#define GL_BUFFER_VARIABLE 0x92E5 +#define GL_SHADER_STORAGE_BLOCK 0x92E6 +#define GL_VERTEX_SUBROUTINE 0x92E8 +#define GL_TESS_CONTROL_SUBROUTINE 0x92E9 +#define GL_TESS_EVALUATION_SUBROUTINE 0x92EA +#define GL_GEOMETRY_SUBROUTINE 0x92EB +#define GL_FRAGMENT_SUBROUTINE 0x92EC +#define GL_COMPUTE_SUBROUTINE 0x92ED +#define GL_VERTEX_SUBROUTINE_UNIFORM 0x92EE +#define GL_TESS_CONTROL_SUBROUTINE_UNIFORM 0x92EF +#define GL_TESS_EVALUATION_SUBROUTINE_UNIFORM 0x92F0 +#define GL_GEOMETRY_SUBROUTINE_UNIFORM 0x92F1 +#define GL_FRAGMENT_SUBROUTINE_UNIFORM 0x92F2 +#define GL_COMPUTE_SUBROUTINE_UNIFORM 0x92F3 +#define GL_TRANSFORM_FEEDBACK_VARYING 0x92F4 +#define GL_ACTIVE_RESOURCES 0x92F5 +#define GL_MAX_NAME_LENGTH 0x92F6 +#define GL_MAX_NUM_ACTIVE_VARIABLES 0x92F7 +#define GL_MAX_NUM_COMPATIBLE_SUBROUTINES 0x92F8 +#define GL_NAME_LENGTH 0x92F9 +#define GL_TYPE 0x92FA +#define GL_ARRAY_SIZE 0x92FB +#define GL_OFFSET 0x92FC +#define GL_BLOCK_INDEX 0x92FD +#define GL_ARRAY_STRIDE 0x92FE +#define GL_MATRIX_STRIDE 0x92FF +#define GL_IS_ROW_MAJOR 0x9300 +#define GL_ATOMIC_COUNTER_BUFFER_INDEX 0x9301 +#define GL_BUFFER_BINDING 0x9302 +#define GL_BUFFER_DATA_SIZE 0x9303 +#define GL_NUM_ACTIVE_VARIABLES 0x9304 +#define GL_ACTIVE_VARIABLES 0x9305 +#define GL_REFERENCED_BY_VERTEX_SHADER 0x9306 +#define GL_REFERENCED_BY_TESS_CONTROL_SHADER 0x9307 +#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER 0x9308 +#define GL_REFERENCED_BY_GEOMETRY_SHADER 0x9309 +#define GL_REFERENCED_BY_FRAGMENT_SHADER 0x930A +#define GL_REFERENCED_BY_COMPUTE_SHADER 0x930B +#define GL_TOP_LEVEL_ARRAY_SIZE 0x930C +#define GL_TOP_LEVEL_ARRAY_STRIDE 0x930D +#define GL_LOCATION 0x930E +#define GL_LOCATION_INDEX 0x930F +#define GL_IS_PER_PATCH 0x92E7 +#define GL_SHADER_STORAGE_BUFFER 0x90D2 +#define GL_SHADER_STORAGE_BUFFER_BINDING 0x90D3 +#define GL_SHADER_STORAGE_BUFFER_START 0x90D4 +#define GL_SHADER_STORAGE_BUFFER_SIZE 0x90D5 +#define GL_MAX_VERTEX_SHADER_STORAGE_BLOCKS 0x90D6 +#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS 0x90D7 +#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS 0x90D8 +#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS 0x90D9 +#define GL_MAX_FRAGMENT_SHADER_STORAGE_BLOCKS 0x90DA +#define GL_MAX_COMPUTE_SHADER_STORAGE_BLOCKS 0x90DB +#define GL_MAX_COMBINED_SHADER_STORAGE_BLOCKS 0x90DC +#define GL_MAX_SHADER_STORAGE_BUFFER_BINDINGS 0x90DD +#define GL_MAX_SHADER_STORAGE_BLOCK_SIZE 0x90DE +#define GL_SHADER_STORAGE_BUFFER_OFFSET_ALIGNMENT 0x90DF +#define GL_SHADER_STORAGE_BARRIER_BIT 0x00002000 +#define GL_MAX_COMBINED_SHADER_OUTPUT_RESOURCES 0x8F39 +#define GL_DEPTH_STENCIL_TEXTURE_MODE 0x90EA +#define GL_TEXTURE_BUFFER_OFFSET 0x919D +#define GL_TEXTURE_BUFFER_SIZE 0x919E +#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT 0x919F +#define GL_TEXTURE_VIEW_MIN_LEVEL 0x82DB +#define GL_TEXTURE_VIEW_NUM_LEVELS 0x82DC +#define GL_TEXTURE_VIEW_MIN_LAYER 0x82DD +#define GL_TEXTURE_VIEW_NUM_LAYERS 0x82DE +#define GL_TEXTURE_IMMUTABLE_LEVELS 0x82DF +#define GL_VERTEX_ATTRIB_BINDING 0x82D4 +#define GL_VERTEX_ATTRIB_RELATIVE_OFFSET 0x82D5 +#define GL_VERTEX_BINDING_DIVISOR 0x82D6 +#define GL_VERTEX_BINDING_OFFSET 0x82D7 +#define GL_VERTEX_BINDING_STRIDE 0x82D8 +#define GL_MAX_VERTEX_ATTRIB_RELATIVE_OFFSET 0x82D9 +#define GL_MAX_VERTEX_ATTRIB_BINDINGS 0x82DA +#define GL_VERTEX_BINDING_BUFFER 0x8F4F +#define GL_DISPLAY_LIST 0x82E7 +typedef void (APIENTRYP PFNGLCLEARBUFFERDATAPROC) (GLenum target, GLenum internalformat, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLCLEARBUFFERSUBDATAPROC) (GLenum target, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLDISPATCHCOMPUTEPROC) (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z); +typedef void (APIENTRYP PFNGLDISPATCHCOMPUTEINDIRECTPROC) (GLintptr indirect); +typedef void (APIENTRYP PFNGLCOPYIMAGESUBDATAPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +typedef void (APIENTRYP PFNGLFRAMEBUFFERPARAMETERIPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETINTERNALFORMATI64VPROC) (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint64 *params); +typedef void (APIENTRYP PFNGLINVALIDATETEXSUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth); +typedef void (APIENTRYP PFNGLINVALIDATETEXIMAGEPROC) (GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLINVALIDATEBUFFERSUBDATAPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); +typedef void (APIENTRYP PFNGLINVALIDATEBUFFERDATAPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLINVALIDATEFRAMEBUFFERPROC) (GLenum target, GLsizei numAttachments, const GLenum *attachments); +typedef void (APIENTRYP PFNGLINVALIDATESUBFRAMEBUFFERPROC) (GLenum target, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTPROC) (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); +typedef void (APIENTRYP PFNGLGETPROGRAMINTERFACEIVPROC) (GLuint program, GLenum programInterface, GLenum pname, GLint *params); +typedef GLuint (APIENTRYP PFNGLGETPROGRAMRESOURCEINDEXPROC) (GLuint program, GLenum programInterface, const GLchar *name); +typedef void (APIENTRYP PFNGLGETPROGRAMRESOURCENAMEPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); +typedef void (APIENTRYP PFNGLGETPROGRAMRESOURCEIVPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLint *params); +typedef GLint (APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONPROC) (GLuint program, GLenum programInterface, const GLchar *name); +typedef GLint (APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONINDEXPROC) (GLuint program, GLenum programInterface, const GLchar *name); +typedef void (APIENTRYP PFNGLSHADERSTORAGEBLOCKBINDINGPROC) (GLuint program, GLuint storageBlockIndex, GLuint storageBlockBinding); +typedef void (APIENTRYP PFNGLTEXBUFFERRANGEPROC) (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLTEXSTORAGE2DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLTEXSTORAGE3DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLTEXTUREVIEWPROC) (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); +typedef void (APIENTRYP PFNGLBINDVERTEXBUFFERPROC) (GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); +typedef void (APIENTRYP PFNGLVERTEXATTRIBFORMATPROC) (GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXATTRIBIFORMATPROC) (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXATTRIBLFORMATPROC) (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXATTRIBBINDINGPROC) (GLuint attribindex, GLuint bindingindex); +typedef void (APIENTRYP PFNGLVERTEXBINDINGDIVISORPROC) (GLuint bindingindex, GLuint divisor); +typedef void (APIENTRYP PFNGLDEBUGMESSAGECONTROLPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); +typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKPROC) (GLDEBUGPROC callback, const void *userParam); +typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGPROC) (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); +typedef void (APIENTRYP PFNGLPUSHDEBUGGROUPPROC) (GLenum source, GLuint id, GLsizei length, const GLchar *message); +typedef void (APIENTRYP PFNGLPOPDEBUGGROUPPROC) (void); +typedef void (APIENTRYP PFNGLOBJECTLABELPROC) (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); +typedef void (APIENTRYP PFNGLGETOBJECTLABELPROC) (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); +typedef void (APIENTRYP PFNGLOBJECTPTRLABELPROC) (const void *ptr, GLsizei length, const GLchar *label); +typedef void (APIENTRYP PFNGLGETOBJECTPTRLABELPROC) (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glClearBufferData (GLenum target, GLenum internalformat, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glClearBufferSubData (GLenum target, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glDispatchCompute (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z); +GLAPI void APIENTRY glDispatchComputeIndirect (GLintptr indirect); +GLAPI void APIENTRY glCopyImageSubData (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +GLAPI void APIENTRY glFramebufferParameteri (GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glGetFramebufferParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetInternalformati64v (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint64 *params); +GLAPI void APIENTRY glInvalidateTexSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth); +GLAPI void APIENTRY glInvalidateTexImage (GLuint texture, GLint level); +GLAPI void APIENTRY glInvalidateBufferSubData (GLuint buffer, GLintptr offset, GLsizeiptr length); +GLAPI void APIENTRY glInvalidateBufferData (GLuint buffer); +GLAPI void APIENTRY glInvalidateFramebuffer (GLenum target, GLsizei numAttachments, const GLenum *attachments); +GLAPI void APIENTRY glInvalidateSubFramebuffer (GLenum target, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glMultiDrawArraysIndirect (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); +GLAPI void APIENTRY glMultiDrawElementsIndirect (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); +GLAPI void APIENTRY glGetProgramInterfaceiv (GLuint program, GLenum programInterface, GLenum pname, GLint *params); +GLAPI GLuint APIENTRY glGetProgramResourceIndex (GLuint program, GLenum programInterface, const GLchar *name); +GLAPI void APIENTRY glGetProgramResourceName (GLuint program, GLenum programInterface, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); +GLAPI void APIENTRY glGetProgramResourceiv (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLint *params); +GLAPI GLint APIENTRY glGetProgramResourceLocation (GLuint program, GLenum programInterface, const GLchar *name); +GLAPI GLint APIENTRY glGetProgramResourceLocationIndex (GLuint program, GLenum programInterface, const GLchar *name); +GLAPI void APIENTRY glShaderStorageBlockBinding (GLuint program, GLuint storageBlockIndex, GLuint storageBlockBinding); +GLAPI void APIENTRY glTexBufferRange (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glTexStorage2DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glTexStorage3DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glTextureView (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); +GLAPI void APIENTRY glBindVertexBuffer (GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); +GLAPI void APIENTRY glVertexAttribFormat (GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); +GLAPI void APIENTRY glVertexAttribIFormat (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +GLAPI void APIENTRY glVertexAttribLFormat (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +GLAPI void APIENTRY glVertexAttribBinding (GLuint attribindex, GLuint bindingindex); +GLAPI void APIENTRY glVertexBindingDivisor (GLuint bindingindex, GLuint divisor); +GLAPI void APIENTRY glDebugMessageControl (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +GLAPI void APIENTRY glDebugMessageInsert (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); +GLAPI void APIENTRY glDebugMessageCallback (GLDEBUGPROC callback, const void *userParam); +GLAPI GLuint APIENTRY glGetDebugMessageLog (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); +GLAPI void APIENTRY glPushDebugGroup (GLenum source, GLuint id, GLsizei length, const GLchar *message); +GLAPI void APIENTRY glPopDebugGroup (void); +GLAPI void APIENTRY glObjectLabel (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); +GLAPI void APIENTRY glGetObjectLabel (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); +GLAPI void APIENTRY glObjectPtrLabel (const void *ptr, GLsizei length, const GLchar *label); +GLAPI void APIENTRY glGetObjectPtrLabel (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); +#endif +#endif /* GL_VERSION_4_3 */ + +#ifndef GL_VERSION_4_4 +#define GL_VERSION_4_4 1 +#define GL_MAX_VERTEX_ATTRIB_STRIDE 0x82E5 +#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED 0x8221 +#define GL_TEXTURE_BUFFER_BINDING 0x8C2A +#define GL_MAP_PERSISTENT_BIT 0x0040 +#define GL_MAP_COHERENT_BIT 0x0080 +#define GL_DYNAMIC_STORAGE_BIT 0x0100 +#define GL_CLIENT_STORAGE_BIT 0x0200 +#define GL_CLIENT_MAPPED_BUFFER_BARRIER_BIT 0x00004000 +#define GL_BUFFER_IMMUTABLE_STORAGE 0x821F +#define GL_BUFFER_STORAGE_FLAGS 0x8220 +#define GL_CLEAR_TEXTURE 0x9365 +#define GL_LOCATION_COMPONENT 0x934A +#define GL_TRANSFORM_FEEDBACK_BUFFER_INDEX 0x934B +#define GL_TRANSFORM_FEEDBACK_BUFFER_STRIDE 0x934C +#define GL_QUERY_BUFFER 0x9192 +#define GL_QUERY_BUFFER_BARRIER_BIT 0x00008000 +#define GL_QUERY_BUFFER_BINDING 0x9193 +#define GL_QUERY_RESULT_NO_WAIT 0x9194 +#define GL_MIRROR_CLAMP_TO_EDGE 0x8743 +typedef void (APIENTRYP PFNGLBUFFERSTORAGEPROC) (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); +typedef void (APIENTRYP PFNGLCLEARTEXIMAGEPROC) (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLCLEARTEXSUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLBINDBUFFERSBASEPROC) (GLenum target, GLuint first, GLsizei count, const GLuint *buffers); +typedef void (APIENTRYP PFNGLBINDBUFFERSRANGEPROC) (GLenum target, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizeiptr *sizes); +typedef void (APIENTRYP PFNGLBINDTEXTURESPROC) (GLuint first, GLsizei count, const GLuint *textures); +typedef void (APIENTRYP PFNGLBINDSAMPLERSPROC) (GLuint first, GLsizei count, const GLuint *samplers); +typedef void (APIENTRYP PFNGLBINDIMAGETEXTURESPROC) (GLuint first, GLsizei count, const GLuint *textures); +typedef void (APIENTRYP PFNGLBINDVERTEXBUFFERSPROC) (GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBufferStorage (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); +GLAPI void APIENTRY glClearTexImage (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glClearTexSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glBindBuffersBase (GLenum target, GLuint first, GLsizei count, const GLuint *buffers); +GLAPI void APIENTRY glBindBuffersRange (GLenum target, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizeiptr *sizes); +GLAPI void APIENTRY glBindTextures (GLuint first, GLsizei count, const GLuint *textures); +GLAPI void APIENTRY glBindSamplers (GLuint first, GLsizei count, const GLuint *samplers); +GLAPI void APIENTRY glBindImageTextures (GLuint first, GLsizei count, const GLuint *textures); +GLAPI void APIENTRY glBindVertexBuffers (GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); +#endif +#endif /* GL_VERSION_4_4 */ + +#ifndef GL_VERSION_4_5 +#define GL_VERSION_4_5 1 +#define GL_CONTEXT_LOST 0x0507 +#define GL_NEGATIVE_ONE_TO_ONE 0x935E +#define GL_ZERO_TO_ONE 0x935F +#define GL_CLIP_ORIGIN 0x935C +#define GL_CLIP_DEPTH_MODE 0x935D +#define GL_QUERY_WAIT_INVERTED 0x8E17 +#define GL_QUERY_NO_WAIT_INVERTED 0x8E18 +#define GL_QUERY_BY_REGION_WAIT_INVERTED 0x8E19 +#define GL_QUERY_BY_REGION_NO_WAIT_INVERTED 0x8E1A +#define GL_MAX_CULL_DISTANCES 0x82F9 +#define GL_MAX_COMBINED_CLIP_AND_CULL_DISTANCES 0x82FA +#define GL_TEXTURE_TARGET 0x1006 +#define GL_QUERY_TARGET 0x82EA +#define GL_GUILTY_CONTEXT_RESET 0x8253 +#define GL_INNOCENT_CONTEXT_RESET 0x8254 +#define GL_UNKNOWN_CONTEXT_RESET 0x8255 +#define GL_RESET_NOTIFICATION_STRATEGY 0x8256 +#define GL_LOSE_CONTEXT_ON_RESET 0x8252 +#define GL_NO_RESET_NOTIFICATION 0x8261 +#define GL_CONTEXT_FLAG_ROBUST_ACCESS_BIT 0x00000004 +#define GL_COLOR_TABLE 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 +#define GL_PROXY_COLOR_TABLE 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 +#define GL_CONVOLUTION_1D 0x8010 +#define GL_CONVOLUTION_2D 0x8011 +#define GL_SEPARABLE_2D 0x8012 +#define GL_HISTOGRAM 0x8024 +#define GL_PROXY_HISTOGRAM 0x8025 +#define GL_MINMAX 0x802E +#define GL_CONTEXT_RELEASE_BEHAVIOR 0x82FB +#define GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH 0x82FC +typedef void (APIENTRYP PFNGLCLIPCONTROLPROC) (GLenum origin, GLenum depth); +typedef void (APIENTRYP PFNGLCREATETRANSFORMFEEDBACKSPROC) (GLsizei n, GLuint *ids); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKBUFFERBASEPROC) (GLuint xfb, GLuint index, GLuint buffer); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKBUFFERRANGEPROC) (GLuint xfb, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKIVPROC) (GLuint xfb, GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKI_VPROC) (GLuint xfb, GLenum pname, GLuint index, GLint *param); +typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKI64_VPROC) (GLuint xfb, GLenum pname, GLuint index, GLint64 *param); +typedef void (APIENTRYP PFNGLCREATEBUFFERSPROC) (GLsizei n, GLuint *buffers); +typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); +typedef void (APIENTRYP PFNGLNAMEDBUFFERDATAPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); +typedef void (APIENTRYP PFNGLNAMEDBUFFERSUBDATAPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +typedef void (APIENTRYP PFNGLCOPYNAMEDBUFFERSUBDATAPROC) (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERDATAPROC) (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERSUBDATAPROC) (GLuint buffer, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); +typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERPROC) (GLuint buffer, GLenum access); +typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERRANGEPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); +typedef GLboolean (APIENTRYP PFNGLUNMAPNAMEDBUFFERPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERIVPROC) (GLuint buffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERI64VPROC) (GLuint buffer, GLenum pname, GLint64 *params); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPOINTERVPROC) (GLuint buffer, GLenum pname, void **params); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERSUBDATAPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); +typedef void (APIENTRYP PFNGLCREATEFRAMEBUFFERSPROC) (GLsizei n, GLuint *framebuffers); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERRENDERBUFFERPROC) (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERPARAMETERIPROC) (GLuint framebuffer, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURELAYERPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERDRAWBUFFERPROC) (GLuint framebuffer, GLenum buf); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERDRAWBUFFERSPROC) (GLuint framebuffer, GLsizei n, const GLenum *bufs); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERREADBUFFERPROC) (GLuint framebuffer, GLenum src); +typedef void (APIENTRYP PFNGLINVALIDATENAMEDFRAMEBUFFERDATAPROC) (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments); +typedef void (APIENTRYP PFNGLINVALIDATENAMEDFRAMEBUFFERSUBDATAPROC) (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERIVPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLint *value); +typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERUIVPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLuint *value); +typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERFVPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLfloat *value); +typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERFIPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); +typedef void (APIENTRYP PFNGLBLITNAMEDFRAMEBUFFERPROC) (GLuint readFramebuffer, GLuint drawFramebuffer, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +typedef GLenum (APIENTRYP PFNGLCHECKNAMEDFRAMEBUFFERSTATUSPROC) (GLuint framebuffer, GLenum target); +typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVPROC) (GLuint framebuffer, GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLCREATERENDERBUFFERSPROC) (GLsizei n, GLuint *renderbuffers); +typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEPROC) (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEPROC) (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETNAMEDRENDERBUFFERPARAMETERIVPROC) (GLuint renderbuffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLCREATETEXTURESPROC) (GLenum target, GLsizei n, GLuint *textures); +typedef void (APIENTRYP PFNGLTEXTUREBUFFERPROC) (GLuint texture, GLenum internalformat, GLuint buffer); +typedef void (APIENTRYP PFNGLTEXTUREBUFFERRANGEPROC) (GLuint texture, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE1DPROC) (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DPROC) (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DPROC) (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DMULTISAMPLEPROC) (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DMULTISAMPLEPROC) (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE1DPROC) (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE2DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE3DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE1DPROC) (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE2DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE3DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE1DPROC) (GLuint texture, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE2DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE3DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFPROC) (GLuint texture, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFVPROC) (GLuint texture, GLenum pname, const GLfloat *param); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIPROC) (GLuint texture, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIIVPROC) (GLuint texture, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIUIVPROC) (GLuint texture, GLenum pname, const GLuint *params); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIVPROC) (GLuint texture, GLenum pname, const GLint *param); +typedef void (APIENTRYP PFNGLGENERATETEXTUREMIPMAPPROC) (GLuint texture); +typedef void (APIENTRYP PFNGLBINDTEXTUREUNITPROC) (GLuint unit, GLuint texture); +typedef void (APIENTRYP PFNGLGETTEXTUREIMAGEPROC) (GLuint texture, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXTUREIMAGEPROC) (GLuint texture, GLint level, GLsizei bufSize, void *pixels); +typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERFVPROC) (GLuint texture, GLint level, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERIVPROC) (GLuint texture, GLint level, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERFVPROC) (GLuint texture, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIIVPROC) (GLuint texture, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIUIVPROC) (GLuint texture, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIVPROC) (GLuint texture, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLCREATEVERTEXARRAYSPROC) (GLsizei n, GLuint *arrays); +typedef void (APIENTRYP PFNGLDISABLEVERTEXARRAYATTRIBPROC) (GLuint vaobj, GLuint index); +typedef void (APIENTRYP PFNGLENABLEVERTEXARRAYATTRIBPROC) (GLuint vaobj, GLuint index); +typedef void (APIENTRYP PFNGLVERTEXARRAYELEMENTBUFFERPROC) (GLuint vaobj, GLuint buffer); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXBUFFERPROC) (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXBUFFERSPROC) (GLuint vaobj, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); +typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBBINDINGPROC) (GLuint vaobj, GLuint attribindex, GLuint bindingindex); +typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBFORMATPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBIFORMATPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBLFORMATPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXARRAYBINDINGDIVISORPROC) (GLuint vaobj, GLuint bindingindex, GLuint divisor); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYIVPROC) (GLuint vaobj, GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYINDEXEDIVPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYINDEXED64IVPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint64 *param); +typedef void (APIENTRYP PFNGLCREATESAMPLERSPROC) (GLsizei n, GLuint *samplers); +typedef void (APIENTRYP PFNGLCREATEPROGRAMPIPELINESPROC) (GLsizei n, GLuint *pipelines); +typedef void (APIENTRYP PFNGLCREATEQUERIESPROC) (GLenum target, GLsizei n, GLuint *ids); +typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTI64VPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTIVPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTUI64VPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTUIVPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +typedef void (APIENTRYP PFNGLMEMORYBARRIERBYREGIONPROC) (GLbitfield barriers); +typedef void (APIENTRYP PFNGLGETTEXTURESUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, GLsizei bufSize, void *pixels); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXTURESUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei bufSize, void *pixels); +typedef GLenum (APIENTRYP PFNGLGETGRAPHICSRESETSTATUSPROC) (void); +typedef void (APIENTRYP PFNGLGETNCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint lod, GLsizei bufSize, void *pixels); +typedef void (APIENTRYP PFNGLGETNTEXIMAGEPROC) (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); +typedef void (APIENTRYP PFNGLGETNUNIFORMDVPROC) (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMFVPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMIVPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMUIVPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint *params); +typedef void (APIENTRYP PFNGLREADNPIXELSPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +typedef void (APIENTRYP PFNGLGETNMAPDVPROC) (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); +typedef void (APIENTRYP PFNGLGETNMAPFVPROC) (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); +typedef void (APIENTRYP PFNGLGETNMAPIVPROC) (GLenum target, GLenum query, GLsizei bufSize, GLint *v); +typedef void (APIENTRYP PFNGLGETNPIXELMAPFVPROC) (GLenum map, GLsizei bufSize, GLfloat *values); +typedef void (APIENTRYP PFNGLGETNPIXELMAPUIVPROC) (GLenum map, GLsizei bufSize, GLuint *values); +typedef void (APIENTRYP PFNGLGETNPIXELMAPUSVPROC) (GLenum map, GLsizei bufSize, GLushort *values); +typedef void (APIENTRYP PFNGLGETNPOLYGONSTIPPLEPROC) (GLsizei bufSize, GLubyte *pattern); +typedef void (APIENTRYP PFNGLGETNCOLORTABLEPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); +typedef void (APIENTRYP PFNGLGETNCONVOLUTIONFILTERPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); +typedef void (APIENTRYP PFNGLGETNSEPARABLEFILTERPROC) (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); +typedef void (APIENTRYP PFNGLGETNHISTOGRAMPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +typedef void (APIENTRYP PFNGLGETNMINMAXPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +typedef void (APIENTRYP PFNGLTEXTUREBARRIERPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glClipControl (GLenum origin, GLenum depth); +GLAPI void APIENTRY glCreateTransformFeedbacks (GLsizei n, GLuint *ids); +GLAPI void APIENTRY glTransformFeedbackBufferBase (GLuint xfb, GLuint index, GLuint buffer); +GLAPI void APIENTRY glTransformFeedbackBufferRange (GLuint xfb, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glGetTransformFeedbackiv (GLuint xfb, GLenum pname, GLint *param); +GLAPI void APIENTRY glGetTransformFeedbacki_v (GLuint xfb, GLenum pname, GLuint index, GLint *param); +GLAPI void APIENTRY glGetTransformFeedbacki64_v (GLuint xfb, GLenum pname, GLuint index, GLint64 *param); +GLAPI void APIENTRY glCreateBuffers (GLsizei n, GLuint *buffers); +GLAPI void APIENTRY glNamedBufferStorage (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); +GLAPI void APIENTRY glNamedBufferData (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); +GLAPI void APIENTRY glNamedBufferSubData (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +GLAPI void APIENTRY glCopyNamedBufferSubData (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +GLAPI void APIENTRY glClearNamedBufferData (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glClearNamedBufferSubData (GLuint buffer, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); +GLAPI void *APIENTRY glMapNamedBuffer (GLuint buffer, GLenum access); +GLAPI void *APIENTRY glMapNamedBufferRange (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); +GLAPI GLboolean APIENTRY glUnmapNamedBuffer (GLuint buffer); +GLAPI void APIENTRY glFlushMappedNamedBufferRange (GLuint buffer, GLintptr offset, GLsizeiptr length); +GLAPI void APIENTRY glGetNamedBufferParameteriv (GLuint buffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetNamedBufferParameteri64v (GLuint buffer, GLenum pname, GLint64 *params); +GLAPI void APIENTRY glGetNamedBufferPointerv (GLuint buffer, GLenum pname, void **params); +GLAPI void APIENTRY glGetNamedBufferSubData (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); +GLAPI void APIENTRY glCreateFramebuffers (GLsizei n, GLuint *framebuffers); +GLAPI void APIENTRY glNamedFramebufferRenderbuffer (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +GLAPI void APIENTRY glNamedFramebufferParameteri (GLuint framebuffer, GLenum pname, GLint param); +GLAPI void APIENTRY glNamedFramebufferTexture (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); +GLAPI void APIENTRY glNamedFramebufferTextureLayer (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); +GLAPI void APIENTRY glNamedFramebufferDrawBuffer (GLuint framebuffer, GLenum buf); +GLAPI void APIENTRY glNamedFramebufferDrawBuffers (GLuint framebuffer, GLsizei n, const GLenum *bufs); +GLAPI void APIENTRY glNamedFramebufferReadBuffer (GLuint framebuffer, GLenum src); +GLAPI void APIENTRY glInvalidateNamedFramebufferData (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments); +GLAPI void APIENTRY glInvalidateNamedFramebufferSubData (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glClearNamedFramebufferiv (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLint *value); +GLAPI void APIENTRY glClearNamedFramebufferuiv (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLuint *value); +GLAPI void APIENTRY glClearNamedFramebufferfv (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLfloat *value); +GLAPI void APIENTRY glClearNamedFramebufferfi (GLuint framebuffer, GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); +GLAPI void APIENTRY glBlitNamedFramebuffer (GLuint readFramebuffer, GLuint drawFramebuffer, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +GLAPI GLenum APIENTRY glCheckNamedFramebufferStatus (GLuint framebuffer, GLenum target); +GLAPI void APIENTRY glGetNamedFramebufferParameteriv (GLuint framebuffer, GLenum pname, GLint *param); +GLAPI void APIENTRY glGetNamedFramebufferAttachmentParameteriv (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); +GLAPI void APIENTRY glCreateRenderbuffers (GLsizei n, GLuint *renderbuffers); +GLAPI void APIENTRY glNamedRenderbufferStorage (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glNamedRenderbufferStorageMultisample (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetNamedRenderbufferParameteriv (GLuint renderbuffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glCreateTextures (GLenum target, GLsizei n, GLuint *textures); +GLAPI void APIENTRY glTextureBuffer (GLuint texture, GLenum internalformat, GLuint buffer); +GLAPI void APIENTRY glTextureBufferRange (GLuint texture, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glTextureStorage1D (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width); +GLAPI void APIENTRY glTextureStorage2D (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glTextureStorage3D (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +GLAPI void APIENTRY glTextureStorage2DMultisample (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glTextureStorage3DMultisample (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glTextureSubImage1D (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTextureSubImage2D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTextureSubImage3D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glCompressedTextureSubImage1D (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTextureSubImage2D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTextureSubImage3D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCopyTextureSubImage1D (GLuint texture, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glCopyTextureSubImage2D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glCopyTextureSubImage3D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glTextureParameterf (GLuint texture, GLenum pname, GLfloat param); +GLAPI void APIENTRY glTextureParameterfv (GLuint texture, GLenum pname, const GLfloat *param); +GLAPI void APIENTRY glTextureParameteri (GLuint texture, GLenum pname, GLint param); +GLAPI void APIENTRY glTextureParameterIiv (GLuint texture, GLenum pname, const GLint *params); +GLAPI void APIENTRY glTextureParameterIuiv (GLuint texture, GLenum pname, const GLuint *params); +GLAPI void APIENTRY glTextureParameteriv (GLuint texture, GLenum pname, const GLint *param); +GLAPI void APIENTRY glGenerateTextureMipmap (GLuint texture); +GLAPI void APIENTRY glBindTextureUnit (GLuint unit, GLuint texture); +GLAPI void APIENTRY glGetTextureImage (GLuint texture, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); +GLAPI void APIENTRY glGetCompressedTextureImage (GLuint texture, GLint level, GLsizei bufSize, void *pixels); +GLAPI void APIENTRY glGetTextureLevelParameterfv (GLuint texture, GLint level, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetTextureLevelParameteriv (GLuint texture, GLint level, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetTextureParameterfv (GLuint texture, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetTextureParameterIiv (GLuint texture, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetTextureParameterIuiv (GLuint texture, GLenum pname, GLuint *params); +GLAPI void APIENTRY glGetTextureParameteriv (GLuint texture, GLenum pname, GLint *params); +GLAPI void APIENTRY glCreateVertexArrays (GLsizei n, GLuint *arrays); +GLAPI void APIENTRY glDisableVertexArrayAttrib (GLuint vaobj, GLuint index); +GLAPI void APIENTRY glEnableVertexArrayAttrib (GLuint vaobj, GLuint index); +GLAPI void APIENTRY glVertexArrayElementBuffer (GLuint vaobj, GLuint buffer); +GLAPI void APIENTRY glVertexArrayVertexBuffer (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); +GLAPI void APIENTRY glVertexArrayVertexBuffers (GLuint vaobj, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); +GLAPI void APIENTRY glVertexArrayAttribBinding (GLuint vaobj, GLuint attribindex, GLuint bindingindex); +GLAPI void APIENTRY glVertexArrayAttribFormat (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); +GLAPI void APIENTRY glVertexArrayAttribIFormat (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +GLAPI void APIENTRY glVertexArrayAttribLFormat (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +GLAPI void APIENTRY glVertexArrayBindingDivisor (GLuint vaobj, GLuint bindingindex, GLuint divisor); +GLAPI void APIENTRY glGetVertexArrayiv (GLuint vaobj, GLenum pname, GLint *param); +GLAPI void APIENTRY glGetVertexArrayIndexediv (GLuint vaobj, GLuint index, GLenum pname, GLint *param); +GLAPI void APIENTRY glGetVertexArrayIndexed64iv (GLuint vaobj, GLuint index, GLenum pname, GLint64 *param); +GLAPI void APIENTRY glCreateSamplers (GLsizei n, GLuint *samplers); +GLAPI void APIENTRY glCreateProgramPipelines (GLsizei n, GLuint *pipelines); +GLAPI void APIENTRY glCreateQueries (GLenum target, GLsizei n, GLuint *ids); +GLAPI void APIENTRY glGetQueryBufferObjecti64v (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +GLAPI void APIENTRY glGetQueryBufferObjectiv (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +GLAPI void APIENTRY glGetQueryBufferObjectui64v (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +GLAPI void APIENTRY glGetQueryBufferObjectuiv (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); +GLAPI void APIENTRY glMemoryBarrierByRegion (GLbitfield barriers); +GLAPI void APIENTRY glGetTextureSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, GLsizei bufSize, void *pixels); +GLAPI void APIENTRY glGetCompressedTextureSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei bufSize, void *pixels); +GLAPI GLenum APIENTRY glGetGraphicsResetStatus (void); +GLAPI void APIENTRY glGetnCompressedTexImage (GLenum target, GLint lod, GLsizei bufSize, void *pixels); +GLAPI void APIENTRY glGetnTexImage (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); +GLAPI void APIENTRY glGetnUniformdv (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); +GLAPI void APIENTRY glGetnUniformfv (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +GLAPI void APIENTRY glGetnUniformiv (GLuint program, GLint location, GLsizei bufSize, GLint *params); +GLAPI void APIENTRY glGetnUniformuiv (GLuint program, GLint location, GLsizei bufSize, GLuint *params); +GLAPI void APIENTRY glReadnPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +GLAPI void APIENTRY glGetnMapdv (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); +GLAPI void APIENTRY glGetnMapfv (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); +GLAPI void APIENTRY glGetnMapiv (GLenum target, GLenum query, GLsizei bufSize, GLint *v); +GLAPI void APIENTRY glGetnPixelMapfv (GLenum map, GLsizei bufSize, GLfloat *values); +GLAPI void APIENTRY glGetnPixelMapuiv (GLenum map, GLsizei bufSize, GLuint *values); +GLAPI void APIENTRY glGetnPixelMapusv (GLenum map, GLsizei bufSize, GLushort *values); +GLAPI void APIENTRY glGetnPolygonStipple (GLsizei bufSize, GLubyte *pattern); +GLAPI void APIENTRY glGetnColorTable (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); +GLAPI void APIENTRY glGetnConvolutionFilter (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); +GLAPI void APIENTRY glGetnSeparableFilter (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); +GLAPI void APIENTRY glGetnHistogram (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +GLAPI void APIENTRY glGetnMinmax (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +GLAPI void APIENTRY glTextureBarrier (void); +#endif +#endif /* GL_VERSION_4_5 */ + +#ifndef GL_VERSION_4_6 +#define GL_VERSION_4_6 1 +#define GL_SHADER_BINARY_FORMAT_SPIR_V 0x9551 +#define GL_SPIR_V_BINARY 0x9552 +#define GL_PARAMETER_BUFFER 0x80EE +#define GL_PARAMETER_BUFFER_BINDING 0x80EF +#define GL_CONTEXT_FLAG_NO_ERROR_BIT 0x00000008 +#define GL_VERTICES_SUBMITTED 0x82EE +#define GL_PRIMITIVES_SUBMITTED 0x82EF +#define GL_VERTEX_SHADER_INVOCATIONS 0x82F0 +#define GL_TESS_CONTROL_SHADER_PATCHES 0x82F1 +#define GL_TESS_EVALUATION_SHADER_INVOCATIONS 0x82F2 +#define GL_GEOMETRY_SHADER_PRIMITIVES_EMITTED 0x82F3 +#define GL_FRAGMENT_SHADER_INVOCATIONS 0x82F4 +#define GL_COMPUTE_SHADER_INVOCATIONS 0x82F5 +#define GL_CLIPPING_INPUT_PRIMITIVES 0x82F6 +#define GL_CLIPPING_OUTPUT_PRIMITIVES 0x82F7 +#define GL_POLYGON_OFFSET_CLAMP 0x8E1B +#define GL_SPIR_V_EXTENSIONS 0x9553 +#define GL_NUM_SPIR_V_EXTENSIONS 0x9554 +#define GL_TEXTURE_MAX_ANISOTROPY 0x84FE +#define GL_MAX_TEXTURE_MAX_ANISOTROPY 0x84FF +#define GL_TRANSFORM_FEEDBACK_OVERFLOW 0x82EC +#define GL_TRANSFORM_FEEDBACK_STREAM_OVERFLOW 0x82ED +typedef void (APIENTRYP PFNGLSPECIALIZESHADERPROC) (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTCOUNTPROC) (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTPROC) (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +typedef void (APIENTRYP PFNGLPOLYGONOFFSETCLAMPPROC) (GLfloat factor, GLfloat units, GLfloat clamp); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSpecializeShader (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); +GLAPI void APIENTRY glMultiDrawArraysIndirectCount (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +GLAPI void APIENTRY glMultiDrawElementsIndirectCount (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +GLAPI void APIENTRY glPolygonOffsetClamp (GLfloat factor, GLfloat units, GLfloat clamp); +#endif +#endif /* GL_VERSION_4_6 */ + +#ifndef GL_ARB_ES2_compatibility +#define GL_ARB_ES2_compatibility 1 +#endif /* GL_ARB_ES2_compatibility */ + +#ifndef GL_ARB_ES3_1_compatibility +#define GL_ARB_ES3_1_compatibility 1 +#endif /* GL_ARB_ES3_1_compatibility */ + +#ifndef GL_ARB_ES3_2_compatibility +#define GL_ARB_ES3_2_compatibility 1 +#define GL_PRIMITIVE_BOUNDING_BOX_ARB 0x92BE +#define GL_MULTISAMPLE_LINE_WIDTH_RANGE_ARB 0x9381 +#define GL_MULTISAMPLE_LINE_WIDTH_GRANULARITY_ARB 0x9382 +typedef void (APIENTRYP PFNGLPRIMITIVEBOUNDINGBOXARBPROC) (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPrimitiveBoundingBoxARB (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); +#endif +#endif /* GL_ARB_ES3_2_compatibility */ + +#ifndef GL_ARB_ES3_compatibility +#define GL_ARB_ES3_compatibility 1 +#endif /* GL_ARB_ES3_compatibility */ + +#ifndef GL_ARB_arrays_of_arrays +#define GL_ARB_arrays_of_arrays 1 +#endif /* GL_ARB_arrays_of_arrays */ + +#ifndef GL_ARB_base_instance +#define GL_ARB_base_instance 1 +#endif /* GL_ARB_base_instance */ + +#ifndef GL_ARB_bindless_texture +#define GL_ARB_bindless_texture 1 +typedef khronos_uint64_t GLuint64EXT; +#define GL_UNSIGNED_INT64_ARB 0x140F +typedef GLuint64 (APIENTRYP PFNGLGETTEXTUREHANDLEARBPROC) (GLuint texture); +typedef GLuint64 (APIENTRYP PFNGLGETTEXTURESAMPLERHANDLEARBPROC) (GLuint texture, GLuint sampler); +typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLERESIDENTARBPROC) (GLuint64 handle); +typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLENONRESIDENTARBPROC) (GLuint64 handle); +typedef GLuint64 (APIENTRYP PFNGLGETIMAGEHANDLEARBPROC) (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); +typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLERESIDENTARBPROC) (GLuint64 handle, GLenum access); +typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLENONRESIDENTARBPROC) (GLuint64 handle); +typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64ARBPROC) (GLint location, GLuint64 value); +typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64ARBPROC) (GLuint program, GLint location, GLuint64 value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +typedef GLboolean (APIENTRYP PFNGLISTEXTUREHANDLERESIDENTARBPROC) (GLuint64 handle); +typedef GLboolean (APIENTRYP PFNGLISIMAGEHANDLERESIDENTARBPROC) (GLuint64 handle); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64ARBPROC) (GLuint index, GLuint64EXT x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64VARBPROC) (GLuint index, const GLuint64EXT *v); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLUI64VARBPROC) (GLuint index, GLenum pname, GLuint64EXT *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLuint64 APIENTRY glGetTextureHandleARB (GLuint texture); +GLAPI GLuint64 APIENTRY glGetTextureSamplerHandleARB (GLuint texture, GLuint sampler); +GLAPI void APIENTRY glMakeTextureHandleResidentARB (GLuint64 handle); +GLAPI void APIENTRY glMakeTextureHandleNonResidentARB (GLuint64 handle); +GLAPI GLuint64 APIENTRY glGetImageHandleARB (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); +GLAPI void APIENTRY glMakeImageHandleResidentARB (GLuint64 handle, GLenum access); +GLAPI void APIENTRY glMakeImageHandleNonResidentARB (GLuint64 handle); +GLAPI void APIENTRY glUniformHandleui64ARB (GLint location, GLuint64 value); +GLAPI void APIENTRY glUniformHandleui64vARB (GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glProgramUniformHandleui64ARB (GLuint program, GLint location, GLuint64 value); +GLAPI void APIENTRY glProgramUniformHandleui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +GLAPI GLboolean APIENTRY glIsTextureHandleResidentARB (GLuint64 handle); +GLAPI GLboolean APIENTRY glIsImageHandleResidentARB (GLuint64 handle); +GLAPI void APIENTRY glVertexAttribL1ui64ARB (GLuint index, GLuint64EXT x); +GLAPI void APIENTRY glVertexAttribL1ui64vARB (GLuint index, const GLuint64EXT *v); +GLAPI void APIENTRY glGetVertexAttribLui64vARB (GLuint index, GLenum pname, GLuint64EXT *params); +#endif +#endif /* GL_ARB_bindless_texture */ + +#ifndef GL_ARB_blend_func_extended +#define GL_ARB_blend_func_extended 1 +#endif /* GL_ARB_blend_func_extended */ + +#ifndef GL_ARB_buffer_storage +#define GL_ARB_buffer_storage 1 +#endif /* GL_ARB_buffer_storage */ + +#ifndef GL_ARB_cl_event +#define GL_ARB_cl_event 1 +struct _cl_context; +struct _cl_event; +#define GL_SYNC_CL_EVENT_ARB 0x8240 +#define GL_SYNC_CL_EVENT_COMPLETE_ARB 0x8241 +typedef GLsync (APIENTRYP PFNGLCREATESYNCFROMCLEVENTARBPROC) (struct _cl_context *context, struct _cl_event *event, GLbitfield flags); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLsync APIENTRY glCreateSyncFromCLeventARB (struct _cl_context *context, struct _cl_event *event, GLbitfield flags); +#endif +#endif /* GL_ARB_cl_event */ + +#ifndef GL_ARB_clear_buffer_object +#define GL_ARB_clear_buffer_object 1 +#endif /* GL_ARB_clear_buffer_object */ + +#ifndef GL_ARB_clear_texture +#define GL_ARB_clear_texture 1 +#endif /* GL_ARB_clear_texture */ + +#ifndef GL_ARB_clip_control +#define GL_ARB_clip_control 1 +#endif /* GL_ARB_clip_control */ + +#ifndef GL_ARB_color_buffer_float +#define GL_ARB_color_buffer_float 1 +#define GL_RGBA_FLOAT_MODE_ARB 0x8820 +#define GL_CLAMP_VERTEX_COLOR_ARB 0x891A +#define GL_CLAMP_FRAGMENT_COLOR_ARB 0x891B +#define GL_CLAMP_READ_COLOR_ARB 0x891C +#define GL_FIXED_ONLY_ARB 0x891D +typedef void (APIENTRYP PFNGLCLAMPCOLORARBPROC) (GLenum target, GLenum clamp); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glClampColorARB (GLenum target, GLenum clamp); +#endif +#endif /* GL_ARB_color_buffer_float */ + +#ifndef GL_ARB_compatibility +#define GL_ARB_compatibility 1 +#endif /* GL_ARB_compatibility */ + +#ifndef GL_ARB_compressed_texture_pixel_storage +#define GL_ARB_compressed_texture_pixel_storage 1 +#endif /* GL_ARB_compressed_texture_pixel_storage */ + +#ifndef GL_ARB_compute_shader +#define GL_ARB_compute_shader 1 +#endif /* GL_ARB_compute_shader */ + +#ifndef GL_ARB_compute_variable_group_size +#define GL_ARB_compute_variable_group_size 1 +#define GL_MAX_COMPUTE_VARIABLE_GROUP_INVOCATIONS_ARB 0x9344 +#define GL_MAX_COMPUTE_FIXED_GROUP_INVOCATIONS_ARB 0x90EB +#define GL_MAX_COMPUTE_VARIABLE_GROUP_SIZE_ARB 0x9345 +#define GL_MAX_COMPUTE_FIXED_GROUP_SIZE_ARB 0x91BF +typedef void (APIENTRYP PFNGLDISPATCHCOMPUTEGROUPSIZEARBPROC) (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z, GLuint group_size_x, GLuint group_size_y, GLuint group_size_z); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDispatchComputeGroupSizeARB (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z, GLuint group_size_x, GLuint group_size_y, GLuint group_size_z); +#endif +#endif /* GL_ARB_compute_variable_group_size */ + +#ifndef GL_ARB_conditional_render_inverted +#define GL_ARB_conditional_render_inverted 1 +#endif /* GL_ARB_conditional_render_inverted */ + +#ifndef GL_ARB_conservative_depth +#define GL_ARB_conservative_depth 1 +#endif /* GL_ARB_conservative_depth */ + +#ifndef GL_ARB_copy_buffer +#define GL_ARB_copy_buffer 1 +#endif /* GL_ARB_copy_buffer */ + +#ifndef GL_ARB_copy_image +#define GL_ARB_copy_image 1 +#endif /* GL_ARB_copy_image */ + +#ifndef GL_ARB_cull_distance +#define GL_ARB_cull_distance 1 +#endif /* GL_ARB_cull_distance */ + +#ifndef GL_ARB_debug_output +#define GL_ARB_debug_output 1 +typedef void (APIENTRY *GLDEBUGPROCARB)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam); +#define GL_DEBUG_OUTPUT_SYNCHRONOUS_ARB 0x8242 +#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH_ARB 0x8243 +#define GL_DEBUG_CALLBACK_FUNCTION_ARB 0x8244 +#define GL_DEBUG_CALLBACK_USER_PARAM_ARB 0x8245 +#define GL_DEBUG_SOURCE_API_ARB 0x8246 +#define GL_DEBUG_SOURCE_WINDOW_SYSTEM_ARB 0x8247 +#define GL_DEBUG_SOURCE_SHADER_COMPILER_ARB 0x8248 +#define GL_DEBUG_SOURCE_THIRD_PARTY_ARB 0x8249 +#define GL_DEBUG_SOURCE_APPLICATION_ARB 0x824A +#define GL_DEBUG_SOURCE_OTHER_ARB 0x824B +#define GL_DEBUG_TYPE_ERROR_ARB 0x824C +#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR_ARB 0x824D +#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR_ARB 0x824E +#define GL_DEBUG_TYPE_PORTABILITY_ARB 0x824F +#define GL_DEBUG_TYPE_PERFORMANCE_ARB 0x8250 +#define GL_DEBUG_TYPE_OTHER_ARB 0x8251 +#define GL_MAX_DEBUG_MESSAGE_LENGTH_ARB 0x9143 +#define GL_MAX_DEBUG_LOGGED_MESSAGES_ARB 0x9144 +#define GL_DEBUG_LOGGED_MESSAGES_ARB 0x9145 +#define GL_DEBUG_SEVERITY_HIGH_ARB 0x9146 +#define GL_DEBUG_SEVERITY_MEDIUM_ARB 0x9147 +#define GL_DEBUG_SEVERITY_LOW_ARB 0x9148 +typedef void (APIENTRYP PFNGLDEBUGMESSAGECONTROLARBPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTARBPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); +typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKARBPROC) (GLDEBUGPROCARB callback, const void *userParam); +typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGARBPROC) (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDebugMessageControlARB (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +GLAPI void APIENTRY glDebugMessageInsertARB (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); +GLAPI void APIENTRY glDebugMessageCallbackARB (GLDEBUGPROCARB callback, const void *userParam); +GLAPI GLuint APIENTRY glGetDebugMessageLogARB (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); +#endif +#endif /* GL_ARB_debug_output */ + +#ifndef GL_ARB_depth_buffer_float +#define GL_ARB_depth_buffer_float 1 +#endif /* GL_ARB_depth_buffer_float */ + +#ifndef GL_ARB_depth_clamp +#define GL_ARB_depth_clamp 1 +#endif /* GL_ARB_depth_clamp */ + +#ifndef GL_ARB_depth_texture +#define GL_ARB_depth_texture 1 +#define GL_DEPTH_COMPONENT16_ARB 0x81A5 +#define GL_DEPTH_COMPONENT24_ARB 0x81A6 +#define GL_DEPTH_COMPONENT32_ARB 0x81A7 +#define GL_TEXTURE_DEPTH_SIZE_ARB 0x884A +#define GL_DEPTH_TEXTURE_MODE_ARB 0x884B +#endif /* GL_ARB_depth_texture */ + +#ifndef GL_ARB_derivative_control +#define GL_ARB_derivative_control 1 +#endif /* GL_ARB_derivative_control */ + +#ifndef GL_ARB_direct_state_access +#define GL_ARB_direct_state_access 1 +#endif /* GL_ARB_direct_state_access */ + +#ifndef GL_ARB_draw_buffers +#define GL_ARB_draw_buffers 1 +#define GL_MAX_DRAW_BUFFERS_ARB 0x8824 +#define GL_DRAW_BUFFER0_ARB 0x8825 +#define GL_DRAW_BUFFER1_ARB 0x8826 +#define GL_DRAW_BUFFER2_ARB 0x8827 +#define GL_DRAW_BUFFER3_ARB 0x8828 +#define GL_DRAW_BUFFER4_ARB 0x8829 +#define GL_DRAW_BUFFER5_ARB 0x882A +#define GL_DRAW_BUFFER6_ARB 0x882B +#define GL_DRAW_BUFFER7_ARB 0x882C +#define GL_DRAW_BUFFER8_ARB 0x882D +#define GL_DRAW_BUFFER9_ARB 0x882E +#define GL_DRAW_BUFFER10_ARB 0x882F +#define GL_DRAW_BUFFER11_ARB 0x8830 +#define GL_DRAW_BUFFER12_ARB 0x8831 +#define GL_DRAW_BUFFER13_ARB 0x8832 +#define GL_DRAW_BUFFER14_ARB 0x8833 +#define GL_DRAW_BUFFER15_ARB 0x8834 +typedef void (APIENTRYP PFNGLDRAWBUFFERSARBPROC) (GLsizei n, const GLenum *bufs); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawBuffersARB (GLsizei n, const GLenum *bufs); +#endif +#endif /* GL_ARB_draw_buffers */ + +#ifndef GL_ARB_draw_buffers_blend +#define GL_ARB_draw_buffers_blend 1 +typedef void (APIENTRYP PFNGLBLENDEQUATIONIARBPROC) (GLuint buf, GLenum mode); +typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEIARBPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (APIENTRYP PFNGLBLENDFUNCIARBPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEIARBPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendEquationiARB (GLuint buf, GLenum mode); +GLAPI void APIENTRY glBlendEquationSeparateiARB (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +GLAPI void APIENTRY glBlendFunciARB (GLuint buf, GLenum src, GLenum dst); +GLAPI void APIENTRY glBlendFuncSeparateiARB (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +#endif +#endif /* GL_ARB_draw_buffers_blend */ + +#ifndef GL_ARB_draw_elements_base_vertex +#define GL_ARB_draw_elements_base_vertex 1 +#endif /* GL_ARB_draw_elements_base_vertex */ + +#ifndef GL_ARB_draw_indirect +#define GL_ARB_draw_indirect 1 +#endif /* GL_ARB_draw_indirect */ + +#ifndef GL_ARB_draw_instanced +#define GL_ARB_draw_instanced 1 +typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDARBPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDARBPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawArraysInstancedARB (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +GLAPI void APIENTRY glDrawElementsInstancedARB (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#endif +#endif /* GL_ARB_draw_instanced */ + +#ifndef GL_ARB_enhanced_layouts +#define GL_ARB_enhanced_layouts 1 +#endif /* GL_ARB_enhanced_layouts */ + +#ifndef GL_ARB_explicit_attrib_location +#define GL_ARB_explicit_attrib_location 1 +#endif /* GL_ARB_explicit_attrib_location */ + +#ifndef GL_ARB_explicit_uniform_location +#define GL_ARB_explicit_uniform_location 1 +#endif /* GL_ARB_explicit_uniform_location */ + +#ifndef GL_ARB_fragment_coord_conventions +#define GL_ARB_fragment_coord_conventions 1 +#endif /* GL_ARB_fragment_coord_conventions */ + +#ifndef GL_ARB_fragment_layer_viewport +#define GL_ARB_fragment_layer_viewport 1 +#endif /* GL_ARB_fragment_layer_viewport */ + +#ifndef GL_ARB_fragment_program +#define GL_ARB_fragment_program 1 +#define GL_FRAGMENT_PROGRAM_ARB 0x8804 +#define GL_PROGRAM_FORMAT_ASCII_ARB 0x8875 +#define GL_PROGRAM_LENGTH_ARB 0x8627 +#define GL_PROGRAM_FORMAT_ARB 0x8876 +#define GL_PROGRAM_BINDING_ARB 0x8677 +#define GL_PROGRAM_INSTRUCTIONS_ARB 0x88A0 +#define GL_MAX_PROGRAM_INSTRUCTIONS_ARB 0x88A1 +#define GL_PROGRAM_NATIVE_INSTRUCTIONS_ARB 0x88A2 +#define GL_MAX_PROGRAM_NATIVE_INSTRUCTIONS_ARB 0x88A3 +#define GL_PROGRAM_TEMPORARIES_ARB 0x88A4 +#define GL_MAX_PROGRAM_TEMPORARIES_ARB 0x88A5 +#define GL_PROGRAM_NATIVE_TEMPORARIES_ARB 0x88A6 +#define GL_MAX_PROGRAM_NATIVE_TEMPORARIES_ARB 0x88A7 +#define GL_PROGRAM_PARAMETERS_ARB 0x88A8 +#define GL_MAX_PROGRAM_PARAMETERS_ARB 0x88A9 +#define GL_PROGRAM_NATIVE_PARAMETERS_ARB 0x88AA +#define GL_MAX_PROGRAM_NATIVE_PARAMETERS_ARB 0x88AB +#define GL_PROGRAM_ATTRIBS_ARB 0x88AC +#define GL_MAX_PROGRAM_ATTRIBS_ARB 0x88AD +#define GL_PROGRAM_NATIVE_ATTRIBS_ARB 0x88AE +#define GL_MAX_PROGRAM_NATIVE_ATTRIBS_ARB 0x88AF +#define GL_MAX_PROGRAM_LOCAL_PARAMETERS_ARB 0x88B4 +#define GL_MAX_PROGRAM_ENV_PARAMETERS_ARB 0x88B5 +#define GL_PROGRAM_UNDER_NATIVE_LIMITS_ARB 0x88B6 +#define GL_PROGRAM_ALU_INSTRUCTIONS_ARB 0x8805 +#define GL_PROGRAM_TEX_INSTRUCTIONS_ARB 0x8806 +#define GL_PROGRAM_TEX_INDIRECTIONS_ARB 0x8807 +#define GL_PROGRAM_NATIVE_ALU_INSTRUCTIONS_ARB 0x8808 +#define GL_PROGRAM_NATIVE_TEX_INSTRUCTIONS_ARB 0x8809 +#define GL_PROGRAM_NATIVE_TEX_INDIRECTIONS_ARB 0x880A +#define GL_MAX_PROGRAM_ALU_INSTRUCTIONS_ARB 0x880B +#define GL_MAX_PROGRAM_TEX_INSTRUCTIONS_ARB 0x880C +#define GL_MAX_PROGRAM_TEX_INDIRECTIONS_ARB 0x880D +#define GL_MAX_PROGRAM_NATIVE_ALU_INSTRUCTIONS_ARB 0x880E +#define GL_MAX_PROGRAM_NATIVE_TEX_INSTRUCTIONS_ARB 0x880F +#define GL_MAX_PROGRAM_NATIVE_TEX_INDIRECTIONS_ARB 0x8810 +#define GL_PROGRAM_STRING_ARB 0x8628 +#define GL_PROGRAM_ERROR_POSITION_ARB 0x864B +#define GL_CURRENT_MATRIX_ARB 0x8641 +#define GL_TRANSPOSE_CURRENT_MATRIX_ARB 0x88B7 +#define GL_CURRENT_MATRIX_STACK_DEPTH_ARB 0x8640 +#define GL_MAX_PROGRAM_MATRICES_ARB 0x862F +#define GL_MAX_PROGRAM_MATRIX_STACK_DEPTH_ARB 0x862E +#define GL_MAX_TEXTURE_COORDS_ARB 0x8871 +#define GL_MAX_TEXTURE_IMAGE_UNITS_ARB 0x8872 +#define GL_PROGRAM_ERROR_STRING_ARB 0x8874 +#define GL_MATRIX0_ARB 0x88C0 +#define GL_MATRIX1_ARB 0x88C1 +#define GL_MATRIX2_ARB 0x88C2 +#define GL_MATRIX3_ARB 0x88C3 +#define GL_MATRIX4_ARB 0x88C4 +#define GL_MATRIX5_ARB 0x88C5 +#define GL_MATRIX6_ARB 0x88C6 +#define GL_MATRIX7_ARB 0x88C7 +#define GL_MATRIX8_ARB 0x88C8 +#define GL_MATRIX9_ARB 0x88C9 +#define GL_MATRIX10_ARB 0x88CA +#define GL_MATRIX11_ARB 0x88CB +#define GL_MATRIX12_ARB 0x88CC +#define GL_MATRIX13_ARB 0x88CD +#define GL_MATRIX14_ARB 0x88CE +#define GL_MATRIX15_ARB 0x88CF +#define GL_MATRIX16_ARB 0x88D0 +#define GL_MATRIX17_ARB 0x88D1 +#define GL_MATRIX18_ARB 0x88D2 +#define GL_MATRIX19_ARB 0x88D3 +#define GL_MATRIX20_ARB 0x88D4 +#define GL_MATRIX21_ARB 0x88D5 +#define GL_MATRIX22_ARB 0x88D6 +#define GL_MATRIX23_ARB 0x88D7 +#define GL_MATRIX24_ARB 0x88D8 +#define GL_MATRIX25_ARB 0x88D9 +#define GL_MATRIX26_ARB 0x88DA +#define GL_MATRIX27_ARB 0x88DB +#define GL_MATRIX28_ARB 0x88DC +#define GL_MATRIX29_ARB 0x88DD +#define GL_MATRIX30_ARB 0x88DE +#define GL_MATRIX31_ARB 0x88DF +typedef void (APIENTRYP PFNGLPROGRAMSTRINGARBPROC) (GLenum target, GLenum format, GLsizei len, const void *string); +typedef void (APIENTRYP PFNGLBINDPROGRAMARBPROC) (GLenum target, GLuint program); +typedef void (APIENTRYP PFNGLDELETEPROGRAMSARBPROC) (GLsizei n, const GLuint *programs); +typedef void (APIENTRYP PFNGLGENPROGRAMSARBPROC) (GLsizei n, GLuint *programs); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4DARBPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4DVARBPROC) (GLenum target, GLuint index, const GLdouble *params); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4FARBPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4FVARBPROC) (GLenum target, GLuint index, const GLfloat *params); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4DARBPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4DVARBPROC) (GLenum target, GLuint index, const GLdouble *params); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4FARBPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4FVARBPROC) (GLenum target, GLuint index, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERDVARBPROC) (GLenum target, GLuint index, GLdouble *params); +typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERFVARBPROC) (GLenum target, GLuint index, GLfloat *params); +typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERDVARBPROC) (GLenum target, GLuint index, GLdouble *params); +typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERFVARBPROC) (GLenum target, GLuint index, GLfloat *params); +typedef void (APIENTRYP PFNGLGETPROGRAMIVARBPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMSTRINGARBPROC) (GLenum target, GLenum pname, void *string); +typedef GLboolean (APIENTRYP PFNGLISPROGRAMARBPROC) (GLuint program); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramStringARB (GLenum target, GLenum format, GLsizei len, const void *string); +GLAPI void APIENTRY glBindProgramARB (GLenum target, GLuint program); +GLAPI void APIENTRY glDeleteProgramsARB (GLsizei n, const GLuint *programs); +GLAPI void APIENTRY glGenProgramsARB (GLsizei n, GLuint *programs); +GLAPI void APIENTRY glProgramEnvParameter4dARB (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glProgramEnvParameter4dvARB (GLenum target, GLuint index, const GLdouble *params); +GLAPI void APIENTRY glProgramEnvParameter4fARB (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glProgramEnvParameter4fvARB (GLenum target, GLuint index, const GLfloat *params); +GLAPI void APIENTRY glProgramLocalParameter4dARB (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glProgramLocalParameter4dvARB (GLenum target, GLuint index, const GLdouble *params); +GLAPI void APIENTRY glProgramLocalParameter4fARB (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glProgramLocalParameter4fvARB (GLenum target, GLuint index, const GLfloat *params); +GLAPI void APIENTRY glGetProgramEnvParameterdvARB (GLenum target, GLuint index, GLdouble *params); +GLAPI void APIENTRY glGetProgramEnvParameterfvARB (GLenum target, GLuint index, GLfloat *params); +GLAPI void APIENTRY glGetProgramLocalParameterdvARB (GLenum target, GLuint index, GLdouble *params); +GLAPI void APIENTRY glGetProgramLocalParameterfvARB (GLenum target, GLuint index, GLfloat *params); +GLAPI void APIENTRY glGetProgramivARB (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetProgramStringARB (GLenum target, GLenum pname, void *string); +GLAPI GLboolean APIENTRY glIsProgramARB (GLuint program); +#endif +#endif /* GL_ARB_fragment_program */ + +#ifndef GL_ARB_fragment_program_shadow +#define GL_ARB_fragment_program_shadow 1 +#endif /* GL_ARB_fragment_program_shadow */ + +#ifndef GL_ARB_fragment_shader +#define GL_ARB_fragment_shader 1 +#define GL_FRAGMENT_SHADER_ARB 0x8B30 +#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS_ARB 0x8B49 +#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT_ARB 0x8B8B +#endif /* GL_ARB_fragment_shader */ + +#ifndef GL_ARB_fragment_shader_interlock +#define GL_ARB_fragment_shader_interlock 1 +#endif /* GL_ARB_fragment_shader_interlock */ + +#ifndef GL_ARB_framebuffer_no_attachments +#define GL_ARB_framebuffer_no_attachments 1 +#endif /* GL_ARB_framebuffer_no_attachments */ + +#ifndef GL_ARB_framebuffer_object +#define GL_ARB_framebuffer_object 1 +#endif /* GL_ARB_framebuffer_object */ + +#ifndef GL_ARB_framebuffer_sRGB +#define GL_ARB_framebuffer_sRGB 1 +#endif /* GL_ARB_framebuffer_sRGB */ + +#ifndef GL_ARB_geometry_shader4 +#define GL_ARB_geometry_shader4 1 +#define GL_LINES_ADJACENCY_ARB 0x000A +#define GL_LINE_STRIP_ADJACENCY_ARB 0x000B +#define GL_TRIANGLES_ADJACENCY_ARB 0x000C +#define GL_TRIANGLE_STRIP_ADJACENCY_ARB 0x000D +#define GL_PROGRAM_POINT_SIZE_ARB 0x8642 +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_ARB 0x8C29 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_ARB 0x8DA7 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_ARB 0x8DA8 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_COUNT_ARB 0x8DA9 +#define GL_GEOMETRY_SHADER_ARB 0x8DD9 +#define GL_GEOMETRY_VERTICES_OUT_ARB 0x8DDA +#define GL_GEOMETRY_INPUT_TYPE_ARB 0x8DDB +#define GL_GEOMETRY_OUTPUT_TYPE_ARB 0x8DDC +#define GL_MAX_GEOMETRY_VARYING_COMPONENTS_ARB 0x8DDD +#define GL_MAX_VERTEX_VARYING_COMPONENTS_ARB 0x8DDE +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_ARB 0x8DDF +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_ARB 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_ARB 0x8DE1 +typedef void (APIENTRYP PFNGLPROGRAMPARAMETERIARBPROC) (GLuint program, GLenum pname, GLint value); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREFACEARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramParameteriARB (GLuint program, GLenum pname, GLint value); +GLAPI void APIENTRY glFramebufferTextureARB (GLenum target, GLenum attachment, GLuint texture, GLint level); +GLAPI void APIENTRY glFramebufferTextureLayerARB (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +GLAPI void APIENTRY glFramebufferTextureFaceARB (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); +#endif +#endif /* GL_ARB_geometry_shader4 */ + +#ifndef GL_ARB_get_program_binary +#define GL_ARB_get_program_binary 1 +#endif /* GL_ARB_get_program_binary */ + +#ifndef GL_ARB_get_texture_sub_image +#define GL_ARB_get_texture_sub_image 1 +#endif /* GL_ARB_get_texture_sub_image */ + +#ifndef GL_ARB_gl_spirv +#define GL_ARB_gl_spirv 1 +#define GL_SHADER_BINARY_FORMAT_SPIR_V_ARB 0x9551 +#define GL_SPIR_V_BINARY_ARB 0x9552 +typedef void (APIENTRYP PFNGLSPECIALIZESHADERARBPROC) (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSpecializeShaderARB (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); +#endif +#endif /* GL_ARB_gl_spirv */ + +#ifndef GL_ARB_gpu_shader5 +#define GL_ARB_gpu_shader5 1 +#endif /* GL_ARB_gpu_shader5 */ + +#ifndef GL_ARB_gpu_shader_fp64 +#define GL_ARB_gpu_shader_fp64 1 +#endif /* GL_ARB_gpu_shader_fp64 */ + +#ifndef GL_ARB_gpu_shader_int64 +#define GL_ARB_gpu_shader_int64 1 +#define GL_INT64_ARB 0x140E +#define GL_INT64_VEC2_ARB 0x8FE9 +#define GL_INT64_VEC3_ARB 0x8FEA +#define GL_INT64_VEC4_ARB 0x8FEB +#define GL_UNSIGNED_INT64_VEC2_ARB 0x8FF5 +#define GL_UNSIGNED_INT64_VEC3_ARB 0x8FF6 +#define GL_UNSIGNED_INT64_VEC4_ARB 0x8FF7 +typedef void (APIENTRYP PFNGLUNIFORM1I64ARBPROC) (GLint location, GLint64 x); +typedef void (APIENTRYP PFNGLUNIFORM2I64ARBPROC) (GLint location, GLint64 x, GLint64 y); +typedef void (APIENTRYP PFNGLUNIFORM3I64ARBPROC) (GLint location, GLint64 x, GLint64 y, GLint64 z); +typedef void (APIENTRYP PFNGLUNIFORM4I64ARBPROC) (GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); +typedef void (APIENTRYP PFNGLUNIFORM1I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM2I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM3I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM4I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM1UI64ARBPROC) (GLint location, GLuint64 x); +typedef void (APIENTRYP PFNGLUNIFORM2UI64ARBPROC) (GLint location, GLuint64 x, GLuint64 y); +typedef void (APIENTRYP PFNGLUNIFORM3UI64ARBPROC) (GLint location, GLuint64 x, GLuint64 y, GLuint64 z); +typedef void (APIENTRYP PFNGLUNIFORM4UI64ARBPROC) (GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); +typedef void (APIENTRYP PFNGLUNIFORM1UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM2UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM3UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLUNIFORM4UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLGETUNIFORMI64VARBPROC) (GLuint program, GLint location, GLint64 *params); +typedef void (APIENTRYP PFNGLGETUNIFORMUI64VARBPROC) (GLuint program, GLint location, GLuint64 *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMI64VARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLint64 *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMUI64VARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint64 *params); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64ARBPROC) (GLuint program, GLint location, GLint64 x); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64ARBPROC) (GLuint program, GLint location, GLint64 x, GLint64 y); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64ARBPROC) (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64ARBPROC) (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64ARBPROC) (GLuint program, GLint location, GLuint64 x); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64ARBPROC) (GLuint program, GLint location, GLuint64 x, GLuint64 y); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64ARBPROC) (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64ARBPROC) (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glUniform1i64ARB (GLint location, GLint64 x); +GLAPI void APIENTRY glUniform2i64ARB (GLint location, GLint64 x, GLint64 y); +GLAPI void APIENTRY glUniform3i64ARB (GLint location, GLint64 x, GLint64 y, GLint64 z); +GLAPI void APIENTRY glUniform4i64ARB (GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); +GLAPI void APIENTRY glUniform1i64vARB (GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glUniform2i64vARB (GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glUniform3i64vARB (GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glUniform4i64vARB (GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glUniform1ui64ARB (GLint location, GLuint64 x); +GLAPI void APIENTRY glUniform2ui64ARB (GLint location, GLuint64 x, GLuint64 y); +GLAPI void APIENTRY glUniform3ui64ARB (GLint location, GLuint64 x, GLuint64 y, GLuint64 z); +GLAPI void APIENTRY glUniform4ui64ARB (GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); +GLAPI void APIENTRY glUniform1ui64vARB (GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glUniform2ui64vARB (GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glUniform3ui64vARB (GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glUniform4ui64vARB (GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glGetUniformi64vARB (GLuint program, GLint location, GLint64 *params); +GLAPI void APIENTRY glGetUniformui64vARB (GLuint program, GLint location, GLuint64 *params); +GLAPI void APIENTRY glGetnUniformi64vARB (GLuint program, GLint location, GLsizei bufSize, GLint64 *params); +GLAPI void APIENTRY glGetnUniformui64vARB (GLuint program, GLint location, GLsizei bufSize, GLuint64 *params); +GLAPI void APIENTRY glProgramUniform1i64ARB (GLuint program, GLint location, GLint64 x); +GLAPI void APIENTRY glProgramUniform2i64ARB (GLuint program, GLint location, GLint64 x, GLint64 y); +GLAPI void APIENTRY glProgramUniform3i64ARB (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z); +GLAPI void APIENTRY glProgramUniform4i64ARB (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); +GLAPI void APIENTRY glProgramUniform1i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glProgramUniform2i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glProgramUniform3i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glProgramUniform4i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); +GLAPI void APIENTRY glProgramUniform1ui64ARB (GLuint program, GLint location, GLuint64 x); +GLAPI void APIENTRY glProgramUniform2ui64ARB (GLuint program, GLint location, GLuint64 x, GLuint64 y); +GLAPI void APIENTRY glProgramUniform3ui64ARB (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z); +GLAPI void APIENTRY glProgramUniform4ui64ARB (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); +GLAPI void APIENTRY glProgramUniform1ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glProgramUniform2ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glProgramUniform3ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glProgramUniform4ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); +#endif +#endif /* GL_ARB_gpu_shader_int64 */ + +#ifndef GL_ARB_half_float_pixel +#define GL_ARB_half_float_pixel 1 +typedef khronos_uint16_t GLhalfARB; +#define GL_HALF_FLOAT_ARB 0x140B +#endif /* GL_ARB_half_float_pixel */ + +#ifndef GL_ARB_half_float_vertex +#define GL_ARB_half_float_vertex 1 +#endif /* GL_ARB_half_float_vertex */ + +#ifndef GL_ARB_imaging +#define GL_ARB_imaging 1 +#define GL_CONVOLUTION_BORDER_MODE 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS 0x8015 +#define GL_REDUCE 0x8016 +#define GL_CONVOLUTION_FORMAT 0x8017 +#define GL_CONVOLUTION_WIDTH 0x8018 +#define GL_CONVOLUTION_HEIGHT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 +#define GL_HISTOGRAM_WIDTH 0x8026 +#define GL_HISTOGRAM_FORMAT 0x8027 +#define GL_HISTOGRAM_RED_SIZE 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C +#define GL_HISTOGRAM_SINK 0x802D +#define GL_MINMAX_FORMAT 0x802F +#define GL_MINMAX_SINK 0x8030 +#define GL_TABLE_TOO_LARGE 0x8031 +#define GL_COLOR_MATRIX 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS 0x80BB +#define GL_COLOR_TABLE_SCALE 0x80D6 +#define GL_COLOR_TABLE_BIAS 0x80D7 +#define GL_COLOR_TABLE_FORMAT 0x80D8 +#define GL_COLOR_TABLE_WIDTH 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF +#define GL_CONSTANT_BORDER 0x8151 +#define GL_REPLICATE_BORDER 0x8153 +#define GL_CONVOLUTION_BORDER_COLOR 0x8154 +typedef void (APIENTRYP PFNGLCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); +typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLCOPYCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPROC) (GLenum target, GLenum format, GLenum type, void *table); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLCOPYCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); +typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFPROC) (GLenum target, GLenum pname, GLfloat params); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIPROC) (GLenum target, GLenum pname, GLint params); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONFILTERPROC) (GLenum target, GLenum format, GLenum type, void *image); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETSEPARABLEFILTERPROC) (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); +typedef void (APIENTRYP PFNGLSEPARABLEFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); +typedef void (APIENTRYP PFNGLGETHISTOGRAMPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMINMAXPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLHISTOGRAMPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +typedef void (APIENTRYP PFNGLMINMAXPROC) (GLenum target, GLenum internalformat, GLboolean sink); +typedef void (APIENTRYP PFNGLRESETHISTOGRAMPROC) (GLenum target); +typedef void (APIENTRYP PFNGLRESETMINMAXPROC) (GLenum target); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorTable (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); +GLAPI void APIENTRY glColorTableParameterfv (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glColorTableParameteriv (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glCopyColorTable (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glGetColorTable (GLenum target, GLenum format, GLenum type, void *table); +GLAPI void APIENTRY glGetColorTableParameterfv (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetColorTableParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glColorSubTable (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glCopyColorSubTable (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glConvolutionFilter1D (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); +GLAPI void APIENTRY glConvolutionFilter2D (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); +GLAPI void APIENTRY glConvolutionParameterf (GLenum target, GLenum pname, GLfloat params); +GLAPI void APIENTRY glConvolutionParameterfv (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glConvolutionParameteri (GLenum target, GLenum pname, GLint params); +GLAPI void APIENTRY glConvolutionParameteriv (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glCopyConvolutionFilter1D (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glCopyConvolutionFilter2D (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetConvolutionFilter (GLenum target, GLenum format, GLenum type, void *image); +GLAPI void APIENTRY glGetConvolutionParameterfv (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetConvolutionParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetSeparableFilter (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); +GLAPI void APIENTRY glSeparableFilter2D (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); +GLAPI void APIENTRY glGetHistogram (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +GLAPI void APIENTRY glGetHistogramParameterfv (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetHistogramParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMinmax (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +GLAPI void APIENTRY glGetMinmaxParameterfv (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMinmaxParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glHistogram (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +GLAPI void APIENTRY glMinmax (GLenum target, GLenum internalformat, GLboolean sink); +GLAPI void APIENTRY glResetHistogram (GLenum target); +GLAPI void APIENTRY glResetMinmax (GLenum target); +#endif +#endif /* GL_ARB_imaging */ + +#ifndef GL_ARB_indirect_parameters +#define GL_ARB_indirect_parameters 1 +#define GL_PARAMETER_BUFFER_ARB 0x80EE +#define GL_PARAMETER_BUFFER_BINDING_ARB 0x80EF +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTCOUNTARBPROC) (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTARBPROC) (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiDrawArraysIndirectCountARB (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +GLAPI void APIENTRY glMultiDrawElementsIndirectCountARB (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +#endif +#endif /* GL_ARB_indirect_parameters */ + +#ifndef GL_ARB_instanced_arrays +#define GL_ARB_instanced_arrays 1 +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_ARB 0x88FE +typedef void (APIENTRYP PFNGLVERTEXATTRIBDIVISORARBPROC) (GLuint index, GLuint divisor); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexAttribDivisorARB (GLuint index, GLuint divisor); +#endif +#endif /* GL_ARB_instanced_arrays */ + +#ifndef GL_ARB_internalformat_query +#define GL_ARB_internalformat_query 1 +#endif /* GL_ARB_internalformat_query */ + +#ifndef GL_ARB_internalformat_query2 +#define GL_ARB_internalformat_query2 1 +#define GL_SRGB_DECODE_ARB 0x8299 +#define GL_VIEW_CLASS_EAC_R11 0x9383 +#define GL_VIEW_CLASS_EAC_RG11 0x9384 +#define GL_VIEW_CLASS_ETC2_RGB 0x9385 +#define GL_VIEW_CLASS_ETC2_RGBA 0x9386 +#define GL_VIEW_CLASS_ETC2_EAC_RGBA 0x9387 +#define GL_VIEW_CLASS_ASTC_4x4_RGBA 0x9388 +#define GL_VIEW_CLASS_ASTC_5x4_RGBA 0x9389 +#define GL_VIEW_CLASS_ASTC_5x5_RGBA 0x938A +#define GL_VIEW_CLASS_ASTC_6x5_RGBA 0x938B +#define GL_VIEW_CLASS_ASTC_6x6_RGBA 0x938C +#define GL_VIEW_CLASS_ASTC_8x5_RGBA 0x938D +#define GL_VIEW_CLASS_ASTC_8x6_RGBA 0x938E +#define GL_VIEW_CLASS_ASTC_8x8_RGBA 0x938F +#define GL_VIEW_CLASS_ASTC_10x5_RGBA 0x9390 +#define GL_VIEW_CLASS_ASTC_10x6_RGBA 0x9391 +#define GL_VIEW_CLASS_ASTC_10x8_RGBA 0x9392 +#define GL_VIEW_CLASS_ASTC_10x10_RGBA 0x9393 +#define GL_VIEW_CLASS_ASTC_12x10_RGBA 0x9394 +#define GL_VIEW_CLASS_ASTC_12x12_RGBA 0x9395 +#endif /* GL_ARB_internalformat_query2 */ + +#ifndef GL_ARB_invalidate_subdata +#define GL_ARB_invalidate_subdata 1 +#endif /* GL_ARB_invalidate_subdata */ + +#ifndef GL_ARB_map_buffer_alignment +#define GL_ARB_map_buffer_alignment 1 +#endif /* GL_ARB_map_buffer_alignment */ + +#ifndef GL_ARB_map_buffer_range +#define GL_ARB_map_buffer_range 1 +#endif /* GL_ARB_map_buffer_range */ + +#ifndef GL_ARB_matrix_palette +#define GL_ARB_matrix_palette 1 +#define GL_MATRIX_PALETTE_ARB 0x8840 +#define GL_MAX_MATRIX_PALETTE_STACK_DEPTH_ARB 0x8841 +#define GL_MAX_PALETTE_MATRICES_ARB 0x8842 +#define GL_CURRENT_PALETTE_MATRIX_ARB 0x8843 +#define GL_MATRIX_INDEX_ARRAY_ARB 0x8844 +#define GL_CURRENT_MATRIX_INDEX_ARB 0x8845 +#define GL_MATRIX_INDEX_ARRAY_SIZE_ARB 0x8846 +#define GL_MATRIX_INDEX_ARRAY_TYPE_ARB 0x8847 +#define GL_MATRIX_INDEX_ARRAY_STRIDE_ARB 0x8848 +#define GL_MATRIX_INDEX_ARRAY_POINTER_ARB 0x8849 +typedef void (APIENTRYP PFNGLCURRENTPALETTEMATRIXARBPROC) (GLint index); +typedef void (APIENTRYP PFNGLMATRIXINDEXUBVARBPROC) (GLint size, const GLubyte *indices); +typedef void (APIENTRYP PFNGLMATRIXINDEXUSVARBPROC) (GLint size, const GLushort *indices); +typedef void (APIENTRYP PFNGLMATRIXINDEXUIVARBPROC) (GLint size, const GLuint *indices); +typedef void (APIENTRYP PFNGLMATRIXINDEXPOINTERARBPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCurrentPaletteMatrixARB (GLint index); +GLAPI void APIENTRY glMatrixIndexubvARB (GLint size, const GLubyte *indices); +GLAPI void APIENTRY glMatrixIndexusvARB (GLint size, const GLushort *indices); +GLAPI void APIENTRY glMatrixIndexuivARB (GLint size, const GLuint *indices); +GLAPI void APIENTRY glMatrixIndexPointerARB (GLint size, GLenum type, GLsizei stride, const void *pointer); +#endif +#endif /* GL_ARB_matrix_palette */ + +#ifndef GL_ARB_multi_bind +#define GL_ARB_multi_bind 1 +#endif /* GL_ARB_multi_bind */ + +#ifndef GL_ARB_multi_draw_indirect +#define GL_ARB_multi_draw_indirect 1 +#endif /* GL_ARB_multi_draw_indirect */ + +#ifndef GL_ARB_multisample +#define GL_ARB_multisample 1 +#define GL_MULTISAMPLE_ARB 0x809D +#define GL_SAMPLE_ALPHA_TO_COVERAGE_ARB 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_ARB 0x809F +#define GL_SAMPLE_COVERAGE_ARB 0x80A0 +#define GL_SAMPLE_BUFFERS_ARB 0x80A8 +#define GL_SAMPLES_ARB 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE_ARB 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT_ARB 0x80AB +#define GL_MULTISAMPLE_BIT_ARB 0x20000000 +typedef void (APIENTRYP PFNGLSAMPLECOVERAGEARBPROC) (GLfloat value, GLboolean invert); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSampleCoverageARB (GLfloat value, GLboolean invert); +#endif +#endif /* GL_ARB_multisample */ + +#ifndef GL_ARB_multitexture +#define GL_ARB_multitexture 1 +#define GL_TEXTURE0_ARB 0x84C0 +#define GL_TEXTURE1_ARB 0x84C1 +#define GL_TEXTURE2_ARB 0x84C2 +#define GL_TEXTURE3_ARB 0x84C3 +#define GL_TEXTURE4_ARB 0x84C4 +#define GL_TEXTURE5_ARB 0x84C5 +#define GL_TEXTURE6_ARB 0x84C6 +#define GL_TEXTURE7_ARB 0x84C7 +#define GL_TEXTURE8_ARB 0x84C8 +#define GL_TEXTURE9_ARB 0x84C9 +#define GL_TEXTURE10_ARB 0x84CA +#define GL_TEXTURE11_ARB 0x84CB +#define GL_TEXTURE12_ARB 0x84CC +#define GL_TEXTURE13_ARB 0x84CD +#define GL_TEXTURE14_ARB 0x84CE +#define GL_TEXTURE15_ARB 0x84CF +#define GL_TEXTURE16_ARB 0x84D0 +#define GL_TEXTURE17_ARB 0x84D1 +#define GL_TEXTURE18_ARB 0x84D2 +#define GL_TEXTURE19_ARB 0x84D3 +#define GL_TEXTURE20_ARB 0x84D4 +#define GL_TEXTURE21_ARB 0x84D5 +#define GL_TEXTURE22_ARB 0x84D6 +#define GL_TEXTURE23_ARB 0x84D7 +#define GL_TEXTURE24_ARB 0x84D8 +#define GL_TEXTURE25_ARB 0x84D9 +#define GL_TEXTURE26_ARB 0x84DA +#define GL_TEXTURE27_ARB 0x84DB +#define GL_TEXTURE28_ARB 0x84DC +#define GL_TEXTURE29_ARB 0x84DD +#define GL_TEXTURE30_ARB 0x84DE +#define GL_TEXTURE31_ARB 0x84DF +#define GL_ACTIVE_TEXTURE_ARB 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 +#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 +typedef void (APIENTRYP PFNGLACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1DARBPROC) (GLenum target, GLdouble s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1FARBPROC) (GLenum target, GLfloat s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1IARBPROC) (GLenum target, GLint s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1SARBPROC) (GLenum target, GLshort s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2DARBPROC) (GLenum target, GLdouble s, GLdouble t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2FARBPROC) (GLenum target, GLfloat s, GLfloat t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2IARBPROC) (GLenum target, GLint s, GLint t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2SARBPROC) (GLenum target, GLshort s, GLshort t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3IARBPROC) (GLenum target, GLint s, GLint t, GLint r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4IARBPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVARBPROC) (GLenum target, const GLshort *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glActiveTextureARB (GLenum texture); +GLAPI void APIENTRY glClientActiveTextureARB (GLenum texture); +GLAPI void APIENTRY glMultiTexCoord1dARB (GLenum target, GLdouble s); +GLAPI void APIENTRY glMultiTexCoord1dvARB (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord1fARB (GLenum target, GLfloat s); +GLAPI void APIENTRY glMultiTexCoord1fvARB (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord1iARB (GLenum target, GLint s); +GLAPI void APIENTRY glMultiTexCoord1ivARB (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord1sARB (GLenum target, GLshort s); +GLAPI void APIENTRY glMultiTexCoord1svARB (GLenum target, const GLshort *v); +GLAPI void APIENTRY glMultiTexCoord2dARB (GLenum target, GLdouble s, GLdouble t); +GLAPI void APIENTRY glMultiTexCoord2dvARB (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord2fARB (GLenum target, GLfloat s, GLfloat t); +GLAPI void APIENTRY glMultiTexCoord2fvARB (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord2iARB (GLenum target, GLint s, GLint t); +GLAPI void APIENTRY glMultiTexCoord2ivARB (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord2sARB (GLenum target, GLshort s, GLshort t); +GLAPI void APIENTRY glMultiTexCoord2svARB (GLenum target, const GLshort *v); +GLAPI void APIENTRY glMultiTexCoord3dARB (GLenum target, GLdouble s, GLdouble t, GLdouble r); +GLAPI void APIENTRY glMultiTexCoord3dvARB (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord3fARB (GLenum target, GLfloat s, GLfloat t, GLfloat r); +GLAPI void APIENTRY glMultiTexCoord3fvARB (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord3iARB (GLenum target, GLint s, GLint t, GLint r); +GLAPI void APIENTRY glMultiTexCoord3ivARB (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord3sARB (GLenum target, GLshort s, GLshort t, GLshort r); +GLAPI void APIENTRY glMultiTexCoord3svARB (GLenum target, const GLshort *v); +GLAPI void APIENTRY glMultiTexCoord4dARB (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +GLAPI void APIENTRY glMultiTexCoord4dvARB (GLenum target, const GLdouble *v); +GLAPI void APIENTRY glMultiTexCoord4fARB (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +GLAPI void APIENTRY glMultiTexCoord4fvARB (GLenum target, const GLfloat *v); +GLAPI void APIENTRY glMultiTexCoord4iARB (GLenum target, GLint s, GLint t, GLint r, GLint q); +GLAPI void APIENTRY glMultiTexCoord4ivARB (GLenum target, const GLint *v); +GLAPI void APIENTRY glMultiTexCoord4sARB (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +GLAPI void APIENTRY glMultiTexCoord4svARB (GLenum target, const GLshort *v); +#endif +#endif /* GL_ARB_multitexture */ + +#ifndef GL_ARB_occlusion_query +#define GL_ARB_occlusion_query 1 +#define GL_QUERY_COUNTER_BITS_ARB 0x8864 +#define GL_CURRENT_QUERY_ARB 0x8865 +#define GL_QUERY_RESULT_ARB 0x8866 +#define GL_QUERY_RESULT_AVAILABLE_ARB 0x8867 +#define GL_SAMPLES_PASSED_ARB 0x8914 +typedef void (APIENTRYP PFNGLGENQUERIESARBPROC) (GLsizei n, GLuint *ids); +typedef void (APIENTRYP PFNGLDELETEQUERIESARBPROC) (GLsizei n, const GLuint *ids); +typedef GLboolean (APIENTRYP PFNGLISQUERYARBPROC) (GLuint id); +typedef void (APIENTRYP PFNGLBEGINQUERYARBPROC) (GLenum target, GLuint id); +typedef void (APIENTRYP PFNGLENDQUERYARBPROC) (GLenum target); +typedef void (APIENTRYP PFNGLGETQUERYIVARBPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTIVARBPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTUIVARBPROC) (GLuint id, GLenum pname, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenQueriesARB (GLsizei n, GLuint *ids); +GLAPI void APIENTRY glDeleteQueriesARB (GLsizei n, const GLuint *ids); +GLAPI GLboolean APIENTRY glIsQueryARB (GLuint id); +GLAPI void APIENTRY glBeginQueryARB (GLenum target, GLuint id); +GLAPI void APIENTRY glEndQueryARB (GLenum target); +GLAPI void APIENTRY glGetQueryivARB (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetQueryObjectivARB (GLuint id, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetQueryObjectuivARB (GLuint id, GLenum pname, GLuint *params); +#endif +#endif /* GL_ARB_occlusion_query */ + +#ifndef GL_ARB_occlusion_query2 +#define GL_ARB_occlusion_query2 1 +#endif /* GL_ARB_occlusion_query2 */ + +#ifndef GL_ARB_parallel_shader_compile +#define GL_ARB_parallel_shader_compile 1 +#define GL_MAX_SHADER_COMPILER_THREADS_ARB 0x91B0 +#define GL_COMPLETION_STATUS_ARB 0x91B1 +typedef void (APIENTRYP PFNGLMAXSHADERCOMPILERTHREADSARBPROC) (GLuint count); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMaxShaderCompilerThreadsARB (GLuint count); +#endif +#endif /* GL_ARB_parallel_shader_compile */ + +#ifndef GL_ARB_pipeline_statistics_query +#define GL_ARB_pipeline_statistics_query 1 +#define GL_VERTICES_SUBMITTED_ARB 0x82EE +#define GL_PRIMITIVES_SUBMITTED_ARB 0x82EF +#define GL_VERTEX_SHADER_INVOCATIONS_ARB 0x82F0 +#define GL_TESS_CONTROL_SHADER_PATCHES_ARB 0x82F1 +#define GL_TESS_EVALUATION_SHADER_INVOCATIONS_ARB 0x82F2 +#define GL_GEOMETRY_SHADER_PRIMITIVES_EMITTED_ARB 0x82F3 +#define GL_FRAGMENT_SHADER_INVOCATIONS_ARB 0x82F4 +#define GL_COMPUTE_SHADER_INVOCATIONS_ARB 0x82F5 +#define GL_CLIPPING_INPUT_PRIMITIVES_ARB 0x82F6 +#define GL_CLIPPING_OUTPUT_PRIMITIVES_ARB 0x82F7 +#endif /* GL_ARB_pipeline_statistics_query */ + +#ifndef GL_ARB_pixel_buffer_object +#define GL_ARB_pixel_buffer_object 1 +#define GL_PIXEL_PACK_BUFFER_ARB 0x88EB +#define GL_PIXEL_UNPACK_BUFFER_ARB 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING_ARB 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING_ARB 0x88EF +#endif /* GL_ARB_pixel_buffer_object */ + +#ifndef GL_ARB_point_parameters +#define GL_ARB_point_parameters 1 +#define GL_POINT_SIZE_MIN_ARB 0x8126 +#define GL_POINT_SIZE_MAX_ARB 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE_ARB 0x8128 +#define GL_POINT_DISTANCE_ATTENUATION_ARB 0x8129 +typedef void (APIENTRYP PFNGLPOINTPARAMETERFARBPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLPOINTPARAMETERFVARBPROC) (GLenum pname, const GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPointParameterfARB (GLenum pname, GLfloat param); +GLAPI void APIENTRY glPointParameterfvARB (GLenum pname, const GLfloat *params); +#endif +#endif /* GL_ARB_point_parameters */ + +#ifndef GL_ARB_point_sprite +#define GL_ARB_point_sprite 1 +#define GL_POINT_SPRITE_ARB 0x8861 +#define GL_COORD_REPLACE_ARB 0x8862 +#endif /* GL_ARB_point_sprite */ + +#ifndef GL_ARB_polygon_offset_clamp +#define GL_ARB_polygon_offset_clamp 1 +#endif /* GL_ARB_polygon_offset_clamp */ + +#ifndef GL_ARB_post_depth_coverage +#define GL_ARB_post_depth_coverage 1 +#endif /* GL_ARB_post_depth_coverage */ + +#ifndef GL_ARB_program_interface_query +#define GL_ARB_program_interface_query 1 +#endif /* GL_ARB_program_interface_query */ + +#ifndef GL_ARB_provoking_vertex +#define GL_ARB_provoking_vertex 1 +#endif /* GL_ARB_provoking_vertex */ + +#ifndef GL_ARB_query_buffer_object +#define GL_ARB_query_buffer_object 1 +#endif /* GL_ARB_query_buffer_object */ + +#ifndef GL_ARB_robust_buffer_access_behavior +#define GL_ARB_robust_buffer_access_behavior 1 +#endif /* GL_ARB_robust_buffer_access_behavior */ + +#ifndef GL_ARB_robustness +#define GL_ARB_robustness 1 +#define GL_CONTEXT_FLAG_ROBUST_ACCESS_BIT_ARB 0x00000004 +#define GL_LOSE_CONTEXT_ON_RESET_ARB 0x8252 +#define GL_GUILTY_CONTEXT_RESET_ARB 0x8253 +#define GL_INNOCENT_CONTEXT_RESET_ARB 0x8254 +#define GL_UNKNOWN_CONTEXT_RESET_ARB 0x8255 +#define GL_RESET_NOTIFICATION_STRATEGY_ARB 0x8256 +#define GL_NO_RESET_NOTIFICATION_ARB 0x8261 +typedef GLenum (APIENTRYP PFNGLGETGRAPHICSRESETSTATUSARBPROC) (void); +typedef void (APIENTRYP PFNGLGETNTEXIMAGEARBPROC) (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *img); +typedef void (APIENTRYP PFNGLREADNPIXELSARBPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +typedef void (APIENTRYP PFNGLGETNCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint lod, GLsizei bufSize, void *img); +typedef void (APIENTRYP PFNGLGETNUNIFORMFVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMIVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMUIVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint *params); +typedef void (APIENTRYP PFNGLGETNUNIFORMDVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); +typedef void (APIENTRYP PFNGLGETNMAPDVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); +typedef void (APIENTRYP PFNGLGETNMAPFVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); +typedef void (APIENTRYP PFNGLGETNMAPIVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLint *v); +typedef void (APIENTRYP PFNGLGETNPIXELMAPFVARBPROC) (GLenum map, GLsizei bufSize, GLfloat *values); +typedef void (APIENTRYP PFNGLGETNPIXELMAPUIVARBPROC) (GLenum map, GLsizei bufSize, GLuint *values); +typedef void (APIENTRYP PFNGLGETNPIXELMAPUSVARBPROC) (GLenum map, GLsizei bufSize, GLushort *values); +typedef void (APIENTRYP PFNGLGETNPOLYGONSTIPPLEARBPROC) (GLsizei bufSize, GLubyte *pattern); +typedef void (APIENTRYP PFNGLGETNCOLORTABLEARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); +typedef void (APIENTRYP PFNGLGETNCONVOLUTIONFILTERARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); +typedef void (APIENTRYP PFNGLGETNSEPARABLEFILTERARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); +typedef void (APIENTRYP PFNGLGETNHISTOGRAMARBPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +typedef void (APIENTRYP PFNGLGETNMINMAXARBPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLenum APIENTRY glGetGraphicsResetStatusARB (void); +GLAPI void APIENTRY glGetnTexImageARB (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *img); +GLAPI void APIENTRY glReadnPixelsARB (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +GLAPI void APIENTRY glGetnCompressedTexImageARB (GLenum target, GLint lod, GLsizei bufSize, void *img); +GLAPI void APIENTRY glGetnUniformfvARB (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +GLAPI void APIENTRY glGetnUniformivARB (GLuint program, GLint location, GLsizei bufSize, GLint *params); +GLAPI void APIENTRY glGetnUniformuivARB (GLuint program, GLint location, GLsizei bufSize, GLuint *params); +GLAPI void APIENTRY glGetnUniformdvARB (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); +GLAPI void APIENTRY glGetnMapdvARB (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); +GLAPI void APIENTRY glGetnMapfvARB (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); +GLAPI void APIENTRY glGetnMapivARB (GLenum target, GLenum query, GLsizei bufSize, GLint *v); +GLAPI void APIENTRY glGetnPixelMapfvARB (GLenum map, GLsizei bufSize, GLfloat *values); +GLAPI void APIENTRY glGetnPixelMapuivARB (GLenum map, GLsizei bufSize, GLuint *values); +GLAPI void APIENTRY glGetnPixelMapusvARB (GLenum map, GLsizei bufSize, GLushort *values); +GLAPI void APIENTRY glGetnPolygonStippleARB (GLsizei bufSize, GLubyte *pattern); +GLAPI void APIENTRY glGetnColorTableARB (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); +GLAPI void APIENTRY glGetnConvolutionFilterARB (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); +GLAPI void APIENTRY glGetnSeparableFilterARB (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); +GLAPI void APIENTRY glGetnHistogramARB (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +GLAPI void APIENTRY glGetnMinmaxARB (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); +#endif +#endif /* GL_ARB_robustness */ + +#ifndef GL_ARB_robustness_isolation +#define GL_ARB_robustness_isolation 1 +#endif /* GL_ARB_robustness_isolation */ + +#ifndef GL_ARB_sample_locations +#define GL_ARB_sample_locations 1 +#define GL_SAMPLE_LOCATION_SUBPIXEL_BITS_ARB 0x933D +#define GL_SAMPLE_LOCATION_PIXEL_GRID_WIDTH_ARB 0x933E +#define GL_SAMPLE_LOCATION_PIXEL_GRID_HEIGHT_ARB 0x933F +#define GL_PROGRAMMABLE_SAMPLE_LOCATION_TABLE_SIZE_ARB 0x9340 +#define GL_SAMPLE_LOCATION_ARB 0x8E50 +#define GL_PROGRAMMABLE_SAMPLE_LOCATION_ARB 0x9341 +#define GL_FRAMEBUFFER_PROGRAMMABLE_SAMPLE_LOCATIONS_ARB 0x9342 +#define GL_FRAMEBUFFER_SAMPLE_LOCATION_PIXEL_GRID_ARB 0x9343 +typedef void (APIENTRYP PFNGLFRAMEBUFFERSAMPLELOCATIONSFVARBPROC) (GLenum target, GLuint start, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLELOCATIONSFVARBPROC) (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLEVALUATEDEPTHVALUESARBPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferSampleLocationsfvARB (GLenum target, GLuint start, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glNamedFramebufferSampleLocationsfvARB (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glEvaluateDepthValuesARB (void); +#endif +#endif /* GL_ARB_sample_locations */ + +#ifndef GL_ARB_sample_shading +#define GL_ARB_sample_shading 1 +#define GL_SAMPLE_SHADING_ARB 0x8C36 +#define GL_MIN_SAMPLE_SHADING_VALUE_ARB 0x8C37 +typedef void (APIENTRYP PFNGLMINSAMPLESHADINGARBPROC) (GLfloat value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMinSampleShadingARB (GLfloat value); +#endif +#endif /* GL_ARB_sample_shading */ + +#ifndef GL_ARB_sampler_objects +#define GL_ARB_sampler_objects 1 +#endif /* GL_ARB_sampler_objects */ + +#ifndef GL_ARB_seamless_cube_map +#define GL_ARB_seamless_cube_map 1 +#endif /* GL_ARB_seamless_cube_map */ + +#ifndef GL_ARB_seamless_cubemap_per_texture +#define GL_ARB_seamless_cubemap_per_texture 1 +#endif /* GL_ARB_seamless_cubemap_per_texture */ + +#ifndef GL_ARB_separate_shader_objects +#define GL_ARB_separate_shader_objects 1 +#endif /* GL_ARB_separate_shader_objects */ + +#ifndef GL_ARB_shader_atomic_counter_ops +#define GL_ARB_shader_atomic_counter_ops 1 +#endif /* GL_ARB_shader_atomic_counter_ops */ + +#ifndef GL_ARB_shader_atomic_counters +#define GL_ARB_shader_atomic_counters 1 +#endif /* GL_ARB_shader_atomic_counters */ + +#ifndef GL_ARB_shader_ballot +#define GL_ARB_shader_ballot 1 +#endif /* GL_ARB_shader_ballot */ + +#ifndef GL_ARB_shader_bit_encoding +#define GL_ARB_shader_bit_encoding 1 +#endif /* GL_ARB_shader_bit_encoding */ + +#ifndef GL_ARB_shader_clock +#define GL_ARB_shader_clock 1 +#endif /* GL_ARB_shader_clock */ + +#ifndef GL_ARB_shader_draw_parameters +#define GL_ARB_shader_draw_parameters 1 +#endif /* GL_ARB_shader_draw_parameters */ + +#ifndef GL_ARB_shader_group_vote +#define GL_ARB_shader_group_vote 1 +#endif /* GL_ARB_shader_group_vote */ + +#ifndef GL_ARB_shader_image_load_store +#define GL_ARB_shader_image_load_store 1 +#endif /* GL_ARB_shader_image_load_store */ + +#ifndef GL_ARB_shader_image_size +#define GL_ARB_shader_image_size 1 +#endif /* GL_ARB_shader_image_size */ + +#ifndef GL_ARB_shader_objects +#define GL_ARB_shader_objects 1 +#ifdef __APPLE__ +typedef void *GLhandleARB; +#else +typedef unsigned int GLhandleARB; +#endif +typedef char GLcharARB; +#define GL_PROGRAM_OBJECT_ARB 0x8B40 +#define GL_SHADER_OBJECT_ARB 0x8B48 +#define GL_OBJECT_TYPE_ARB 0x8B4E +#define GL_OBJECT_SUBTYPE_ARB 0x8B4F +#define GL_FLOAT_VEC2_ARB 0x8B50 +#define GL_FLOAT_VEC3_ARB 0x8B51 +#define GL_FLOAT_VEC4_ARB 0x8B52 +#define GL_INT_VEC2_ARB 0x8B53 +#define GL_INT_VEC3_ARB 0x8B54 +#define GL_INT_VEC4_ARB 0x8B55 +#define GL_BOOL_ARB 0x8B56 +#define GL_BOOL_VEC2_ARB 0x8B57 +#define GL_BOOL_VEC3_ARB 0x8B58 +#define GL_BOOL_VEC4_ARB 0x8B59 +#define GL_FLOAT_MAT2_ARB 0x8B5A +#define GL_FLOAT_MAT3_ARB 0x8B5B +#define GL_FLOAT_MAT4_ARB 0x8B5C +#define GL_SAMPLER_1D_ARB 0x8B5D +#define GL_SAMPLER_2D_ARB 0x8B5E +#define GL_SAMPLER_3D_ARB 0x8B5F +#define GL_SAMPLER_CUBE_ARB 0x8B60 +#define GL_SAMPLER_1D_SHADOW_ARB 0x8B61 +#define GL_SAMPLER_2D_SHADOW_ARB 0x8B62 +#define GL_SAMPLER_2D_RECT_ARB 0x8B63 +#define GL_SAMPLER_2D_RECT_SHADOW_ARB 0x8B64 +#define GL_OBJECT_DELETE_STATUS_ARB 0x8B80 +#define GL_OBJECT_COMPILE_STATUS_ARB 0x8B81 +#define GL_OBJECT_LINK_STATUS_ARB 0x8B82 +#define GL_OBJECT_VALIDATE_STATUS_ARB 0x8B83 +#define GL_OBJECT_INFO_LOG_LENGTH_ARB 0x8B84 +#define GL_OBJECT_ATTACHED_OBJECTS_ARB 0x8B85 +#define GL_OBJECT_ACTIVE_UNIFORMS_ARB 0x8B86 +#define GL_OBJECT_ACTIVE_UNIFORM_MAX_LENGTH_ARB 0x8B87 +#define GL_OBJECT_SHADER_SOURCE_LENGTH_ARB 0x8B88 +typedef void (APIENTRYP PFNGLDELETEOBJECTARBPROC) (GLhandleARB obj); +typedef GLhandleARB (APIENTRYP PFNGLGETHANDLEARBPROC) (GLenum pname); +typedef void (APIENTRYP PFNGLDETACHOBJECTARBPROC) (GLhandleARB containerObj, GLhandleARB attachedObj); +typedef GLhandleARB (APIENTRYP PFNGLCREATESHADEROBJECTARBPROC) (GLenum shaderType); +typedef void (APIENTRYP PFNGLSHADERSOURCEARBPROC) (GLhandleARB shaderObj, GLsizei count, const GLcharARB **string, const GLint *length); +typedef void (APIENTRYP PFNGLCOMPILESHADERARBPROC) (GLhandleARB shaderObj); +typedef GLhandleARB (APIENTRYP PFNGLCREATEPROGRAMOBJECTARBPROC) (void); +typedef void (APIENTRYP PFNGLATTACHOBJECTARBPROC) (GLhandleARB containerObj, GLhandleARB obj); +typedef void (APIENTRYP PFNGLLINKPROGRAMARBPROC) (GLhandleARB programObj); +typedef void (APIENTRYP PFNGLUSEPROGRAMOBJECTARBPROC) (GLhandleARB programObj); +typedef void (APIENTRYP PFNGLVALIDATEPROGRAMARBPROC) (GLhandleARB programObj); +typedef void (APIENTRYP PFNGLUNIFORM1FARBPROC) (GLint location, GLfloat v0); +typedef void (APIENTRYP PFNGLUNIFORM2FARBPROC) (GLint location, GLfloat v0, GLfloat v1); +typedef void (APIENTRYP PFNGLUNIFORM3FARBPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (APIENTRYP PFNGLUNIFORM4FARBPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (APIENTRYP PFNGLUNIFORM1IARBPROC) (GLint location, GLint v0); +typedef void (APIENTRYP PFNGLUNIFORM2IARBPROC) (GLint location, GLint v0, GLint v1); +typedef void (APIENTRYP PFNGLUNIFORM3IARBPROC) (GLint location, GLint v0, GLint v1, GLint v2); +typedef void (APIENTRYP PFNGLUNIFORM4IARBPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (APIENTRYP PFNGLUNIFORM1FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM2FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM3FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM4FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORM1IVARBPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORM2IVARBPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORM3IVARBPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORM4IVARBPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX2FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX3FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLUNIFORMMATRIX4FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLGETOBJECTPARAMETERFVARBPROC) (GLhandleARB obj, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETOBJECTPARAMETERIVARBPROC) (GLhandleARB obj, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETINFOLOGARBPROC) (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *infoLog); +typedef void (APIENTRYP PFNGLGETATTACHEDOBJECTSARBPROC) (GLhandleARB containerObj, GLsizei maxCount, GLsizei *count, GLhandleARB *obj); +typedef GLint (APIENTRYP PFNGLGETUNIFORMLOCATIONARBPROC) (GLhandleARB programObj, const GLcharARB *name); +typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMARBPROC) (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); +typedef void (APIENTRYP PFNGLGETUNIFORMFVARBPROC) (GLhandleARB programObj, GLint location, GLfloat *params); +typedef void (APIENTRYP PFNGLGETUNIFORMIVARBPROC) (GLhandleARB programObj, GLint location, GLint *params); +typedef void (APIENTRYP PFNGLGETSHADERSOURCEARBPROC) (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *source); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDeleteObjectARB (GLhandleARB obj); +GLAPI GLhandleARB APIENTRY glGetHandleARB (GLenum pname); +GLAPI void APIENTRY glDetachObjectARB (GLhandleARB containerObj, GLhandleARB attachedObj); +GLAPI GLhandleARB APIENTRY glCreateShaderObjectARB (GLenum shaderType); +GLAPI void APIENTRY glShaderSourceARB (GLhandleARB shaderObj, GLsizei count, const GLcharARB **string, const GLint *length); +GLAPI void APIENTRY glCompileShaderARB (GLhandleARB shaderObj); +GLAPI GLhandleARB APIENTRY glCreateProgramObjectARB (void); +GLAPI void APIENTRY glAttachObjectARB (GLhandleARB containerObj, GLhandleARB obj); +GLAPI void APIENTRY glLinkProgramARB (GLhandleARB programObj); +GLAPI void APIENTRY glUseProgramObjectARB (GLhandleARB programObj); +GLAPI void APIENTRY glValidateProgramARB (GLhandleARB programObj); +GLAPI void APIENTRY glUniform1fARB (GLint location, GLfloat v0); +GLAPI void APIENTRY glUniform2fARB (GLint location, GLfloat v0, GLfloat v1); +GLAPI void APIENTRY glUniform3fARB (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +GLAPI void APIENTRY glUniform4fARB (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +GLAPI void APIENTRY glUniform1iARB (GLint location, GLint v0); +GLAPI void APIENTRY glUniform2iARB (GLint location, GLint v0, GLint v1); +GLAPI void APIENTRY glUniform3iARB (GLint location, GLint v0, GLint v1, GLint v2); +GLAPI void APIENTRY glUniform4iARB (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +GLAPI void APIENTRY glUniform1fvARB (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform2fvARB (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform3fvARB (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform4fvARB (GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glUniform1ivARB (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniform2ivARB (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniform3ivARB (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniform4ivARB (GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glUniformMatrix2fvARB (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix3fvARB (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glUniformMatrix4fvARB (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glGetObjectParameterfvARB (GLhandleARB obj, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetObjectParameterivARB (GLhandleARB obj, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetInfoLogARB (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *infoLog); +GLAPI void APIENTRY glGetAttachedObjectsARB (GLhandleARB containerObj, GLsizei maxCount, GLsizei *count, GLhandleARB *obj); +GLAPI GLint APIENTRY glGetUniformLocationARB (GLhandleARB programObj, const GLcharARB *name); +GLAPI void APIENTRY glGetActiveUniformARB (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); +GLAPI void APIENTRY glGetUniformfvARB (GLhandleARB programObj, GLint location, GLfloat *params); +GLAPI void APIENTRY glGetUniformivARB (GLhandleARB programObj, GLint location, GLint *params); +GLAPI void APIENTRY glGetShaderSourceARB (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *source); +#endif +#endif /* GL_ARB_shader_objects */ + +#ifndef GL_ARB_shader_precision +#define GL_ARB_shader_precision 1 +#endif /* GL_ARB_shader_precision */ + +#ifndef GL_ARB_shader_stencil_export +#define GL_ARB_shader_stencil_export 1 +#endif /* GL_ARB_shader_stencil_export */ + +#ifndef GL_ARB_shader_storage_buffer_object +#define GL_ARB_shader_storage_buffer_object 1 +#endif /* GL_ARB_shader_storage_buffer_object */ + +#ifndef GL_ARB_shader_subroutine +#define GL_ARB_shader_subroutine 1 +#endif /* GL_ARB_shader_subroutine */ + +#ifndef GL_ARB_shader_texture_image_samples +#define GL_ARB_shader_texture_image_samples 1 +#endif /* GL_ARB_shader_texture_image_samples */ + +#ifndef GL_ARB_shader_texture_lod +#define GL_ARB_shader_texture_lod 1 +#endif /* GL_ARB_shader_texture_lod */ + +#ifndef GL_ARB_shader_viewport_layer_array +#define GL_ARB_shader_viewport_layer_array 1 +#endif /* GL_ARB_shader_viewport_layer_array */ + +#ifndef GL_ARB_shading_language_100 +#define GL_ARB_shading_language_100 1 +#define GL_SHADING_LANGUAGE_VERSION_ARB 0x8B8C +#endif /* GL_ARB_shading_language_100 */ + +#ifndef GL_ARB_shading_language_420pack +#define GL_ARB_shading_language_420pack 1 +#endif /* GL_ARB_shading_language_420pack */ + +#ifndef GL_ARB_shading_language_include +#define GL_ARB_shading_language_include 1 +#define GL_SHADER_INCLUDE_ARB 0x8DAE +#define GL_NAMED_STRING_LENGTH_ARB 0x8DE9 +#define GL_NAMED_STRING_TYPE_ARB 0x8DEA +typedef void (APIENTRYP PFNGLNAMEDSTRINGARBPROC) (GLenum type, GLint namelen, const GLchar *name, GLint stringlen, const GLchar *string); +typedef void (APIENTRYP PFNGLDELETENAMEDSTRINGARBPROC) (GLint namelen, const GLchar *name); +typedef void (APIENTRYP PFNGLCOMPILESHADERINCLUDEARBPROC) (GLuint shader, GLsizei count, const GLchar *const*path, const GLint *length); +typedef GLboolean (APIENTRYP PFNGLISNAMEDSTRINGARBPROC) (GLint namelen, const GLchar *name); +typedef void (APIENTRYP PFNGLGETNAMEDSTRINGARBPROC) (GLint namelen, const GLchar *name, GLsizei bufSize, GLint *stringlen, GLchar *string); +typedef void (APIENTRYP PFNGLGETNAMEDSTRINGIVARBPROC) (GLint namelen, const GLchar *name, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glNamedStringARB (GLenum type, GLint namelen, const GLchar *name, GLint stringlen, const GLchar *string); +GLAPI void APIENTRY glDeleteNamedStringARB (GLint namelen, const GLchar *name); +GLAPI void APIENTRY glCompileShaderIncludeARB (GLuint shader, GLsizei count, const GLchar *const*path, const GLint *length); +GLAPI GLboolean APIENTRY glIsNamedStringARB (GLint namelen, const GLchar *name); +GLAPI void APIENTRY glGetNamedStringARB (GLint namelen, const GLchar *name, GLsizei bufSize, GLint *stringlen, GLchar *string); +GLAPI void APIENTRY glGetNamedStringivARB (GLint namelen, const GLchar *name, GLenum pname, GLint *params); +#endif +#endif /* GL_ARB_shading_language_include */ + +#ifndef GL_ARB_shading_language_packing +#define GL_ARB_shading_language_packing 1 +#endif /* GL_ARB_shading_language_packing */ + +#ifndef GL_ARB_shadow +#define GL_ARB_shadow 1 +#define GL_TEXTURE_COMPARE_MODE_ARB 0x884C +#define GL_TEXTURE_COMPARE_FUNC_ARB 0x884D +#define GL_COMPARE_R_TO_TEXTURE_ARB 0x884E +#endif /* GL_ARB_shadow */ + +#ifndef GL_ARB_shadow_ambient +#define GL_ARB_shadow_ambient 1 +#define GL_TEXTURE_COMPARE_FAIL_VALUE_ARB 0x80BF +#endif /* GL_ARB_shadow_ambient */ + +#ifndef GL_ARB_sparse_buffer +#define GL_ARB_sparse_buffer 1 +#define GL_SPARSE_STORAGE_BIT_ARB 0x0400 +#define GL_SPARSE_BUFFER_PAGE_SIZE_ARB 0x82F8 +typedef void (APIENTRYP PFNGLBUFFERPAGECOMMITMENTARBPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLboolean commit); +typedef void (APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); +typedef void (APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTARBPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBufferPageCommitmentARB (GLenum target, GLintptr offset, GLsizeiptr size, GLboolean commit); +GLAPI void APIENTRY glNamedBufferPageCommitmentEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); +GLAPI void APIENTRY glNamedBufferPageCommitmentARB (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); +#endif +#endif /* GL_ARB_sparse_buffer */ + +#ifndef GL_ARB_sparse_texture +#define GL_ARB_sparse_texture 1 +#define GL_TEXTURE_SPARSE_ARB 0x91A6 +#define GL_VIRTUAL_PAGE_SIZE_INDEX_ARB 0x91A7 +#define GL_NUM_SPARSE_LEVELS_ARB 0x91AA +#define GL_NUM_VIRTUAL_PAGE_SIZES_ARB 0x91A8 +#define GL_VIRTUAL_PAGE_SIZE_X_ARB 0x9195 +#define GL_VIRTUAL_PAGE_SIZE_Y_ARB 0x9196 +#define GL_VIRTUAL_PAGE_SIZE_Z_ARB 0x9197 +#define GL_MAX_SPARSE_TEXTURE_SIZE_ARB 0x9198 +#define GL_MAX_SPARSE_3D_TEXTURE_SIZE_ARB 0x9199 +#define GL_MAX_SPARSE_ARRAY_TEXTURE_LAYERS_ARB 0x919A +#define GL_SPARSE_TEXTURE_FULL_ARRAY_CUBE_MIPMAPS_ARB 0x91A9 +typedef void (APIENTRYP PFNGLTEXPAGECOMMITMENTARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexPageCommitmentARB (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); +#endif +#endif /* GL_ARB_sparse_texture */ + +#ifndef GL_ARB_sparse_texture2 +#define GL_ARB_sparse_texture2 1 +#endif /* GL_ARB_sparse_texture2 */ + +#ifndef GL_ARB_sparse_texture_clamp +#define GL_ARB_sparse_texture_clamp 1 +#endif /* GL_ARB_sparse_texture_clamp */ + +#ifndef GL_ARB_spirv_extensions +#define GL_ARB_spirv_extensions 1 +#endif /* GL_ARB_spirv_extensions */ + +#ifndef GL_ARB_stencil_texturing +#define GL_ARB_stencil_texturing 1 +#endif /* GL_ARB_stencil_texturing */ + +#ifndef GL_ARB_sync +#define GL_ARB_sync 1 +#endif /* GL_ARB_sync */ + +#ifndef GL_ARB_tessellation_shader +#define GL_ARB_tessellation_shader 1 +#endif /* GL_ARB_tessellation_shader */ + +#ifndef GL_ARB_texture_barrier +#define GL_ARB_texture_barrier 1 +#endif /* GL_ARB_texture_barrier */ + +#ifndef GL_ARB_texture_border_clamp +#define GL_ARB_texture_border_clamp 1 +#define GL_CLAMP_TO_BORDER_ARB 0x812D +#endif /* GL_ARB_texture_border_clamp */ + +#ifndef GL_ARB_texture_buffer_object +#define GL_ARB_texture_buffer_object 1 +#define GL_TEXTURE_BUFFER_ARB 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE_ARB 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER_ARB 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_ARB 0x8C2D +#define GL_TEXTURE_BUFFER_FORMAT_ARB 0x8C2E +typedef void (APIENTRYP PFNGLTEXBUFFERARBPROC) (GLenum target, GLenum internalformat, GLuint buffer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexBufferARB (GLenum target, GLenum internalformat, GLuint buffer); +#endif +#endif /* GL_ARB_texture_buffer_object */ + +#ifndef GL_ARB_texture_buffer_object_rgb32 +#define GL_ARB_texture_buffer_object_rgb32 1 +#endif /* GL_ARB_texture_buffer_object_rgb32 */ + +#ifndef GL_ARB_texture_buffer_range +#define GL_ARB_texture_buffer_range 1 +#endif /* GL_ARB_texture_buffer_range */ + +#ifndef GL_ARB_texture_compression +#define GL_ARB_texture_compression 1 +#define GL_COMPRESSED_ALPHA_ARB 0x84E9 +#define GL_COMPRESSED_LUMINANCE_ARB 0x84EA +#define GL_COMPRESSED_LUMINANCE_ALPHA_ARB 0x84EB +#define GL_COMPRESSED_INTENSITY_ARB 0x84EC +#define GL_COMPRESSED_RGB_ARB 0x84ED +#define GL_COMPRESSED_RGBA_ARB 0x84EE +#define GL_TEXTURE_COMPRESSION_HINT_ARB 0x84EF +#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE_ARB 0x86A0 +#define GL_TEXTURE_COMPRESSED_ARB 0x86A1 +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A3 +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DARBPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint level, void *img); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCompressedTexImage3DARB (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexImage2DARB (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexImage1DARB (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexSubImage3DARB (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexSubImage2DARB (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glCompressedTexSubImage1DARB (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); +GLAPI void APIENTRY glGetCompressedTexImageARB (GLenum target, GLint level, void *img); +#endif +#endif /* GL_ARB_texture_compression */ + +#ifndef GL_ARB_texture_compression_bptc +#define GL_ARB_texture_compression_bptc 1 +#define GL_COMPRESSED_RGBA_BPTC_UNORM_ARB 0x8E8C +#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB 0x8E8D +#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB 0x8E8E +#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB 0x8E8F +#endif /* GL_ARB_texture_compression_bptc */ + +#ifndef GL_ARB_texture_compression_rgtc +#define GL_ARB_texture_compression_rgtc 1 +#endif /* GL_ARB_texture_compression_rgtc */ + +#ifndef GL_ARB_texture_cube_map +#define GL_ARB_texture_cube_map 1 +#define GL_NORMAL_MAP_ARB 0x8511 +#define GL_REFLECTION_MAP_ARB 0x8512 +#define GL_TEXTURE_CUBE_MAP_ARB 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARB 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARB 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_ARB 0x851C +#endif /* GL_ARB_texture_cube_map */ + +#ifndef GL_ARB_texture_cube_map_array +#define GL_ARB_texture_cube_map_array 1 +#define GL_TEXTURE_CUBE_MAP_ARRAY_ARB 0x9009 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_ARB 0x900A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY_ARB 0x900B +#define GL_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900C +#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_ARB 0x900D +#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900E +#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900F +#endif /* GL_ARB_texture_cube_map_array */ + +#ifndef GL_ARB_texture_env_add +#define GL_ARB_texture_env_add 1 +#endif /* GL_ARB_texture_env_add */ + +#ifndef GL_ARB_texture_env_combine +#define GL_ARB_texture_env_combine 1 +#define GL_COMBINE_ARB 0x8570 +#define GL_COMBINE_RGB_ARB 0x8571 +#define GL_COMBINE_ALPHA_ARB 0x8572 +#define GL_SOURCE0_RGB_ARB 0x8580 +#define GL_SOURCE1_RGB_ARB 0x8581 +#define GL_SOURCE2_RGB_ARB 0x8582 +#define GL_SOURCE0_ALPHA_ARB 0x8588 +#define GL_SOURCE1_ALPHA_ARB 0x8589 +#define GL_SOURCE2_ALPHA_ARB 0x858A +#define GL_OPERAND0_RGB_ARB 0x8590 +#define GL_OPERAND1_RGB_ARB 0x8591 +#define GL_OPERAND2_RGB_ARB 0x8592 +#define GL_OPERAND0_ALPHA_ARB 0x8598 +#define GL_OPERAND1_ALPHA_ARB 0x8599 +#define GL_OPERAND2_ALPHA_ARB 0x859A +#define GL_RGB_SCALE_ARB 0x8573 +#define GL_ADD_SIGNED_ARB 0x8574 +#define GL_INTERPOLATE_ARB 0x8575 +#define GL_SUBTRACT_ARB 0x84E7 +#define GL_CONSTANT_ARB 0x8576 +#define GL_PRIMARY_COLOR_ARB 0x8577 +#define GL_PREVIOUS_ARB 0x8578 +#endif /* GL_ARB_texture_env_combine */ + +#ifndef GL_ARB_texture_env_crossbar +#define GL_ARB_texture_env_crossbar 1 +#endif /* GL_ARB_texture_env_crossbar */ + +#ifndef GL_ARB_texture_env_dot3 +#define GL_ARB_texture_env_dot3 1 +#define GL_DOT3_RGB_ARB 0x86AE +#define GL_DOT3_RGBA_ARB 0x86AF +#endif /* GL_ARB_texture_env_dot3 */ + +#ifndef GL_ARB_texture_filter_anisotropic +#define GL_ARB_texture_filter_anisotropic 1 +#endif /* GL_ARB_texture_filter_anisotropic */ + +#ifndef GL_ARB_texture_filter_minmax +#define GL_ARB_texture_filter_minmax 1 +#define GL_TEXTURE_REDUCTION_MODE_ARB 0x9366 +#define GL_WEIGHTED_AVERAGE_ARB 0x9367 +#endif /* GL_ARB_texture_filter_minmax */ + +#ifndef GL_ARB_texture_float +#define GL_ARB_texture_float 1 +#define GL_TEXTURE_RED_TYPE_ARB 0x8C10 +#define GL_TEXTURE_GREEN_TYPE_ARB 0x8C11 +#define GL_TEXTURE_BLUE_TYPE_ARB 0x8C12 +#define GL_TEXTURE_ALPHA_TYPE_ARB 0x8C13 +#define GL_TEXTURE_LUMINANCE_TYPE_ARB 0x8C14 +#define GL_TEXTURE_INTENSITY_TYPE_ARB 0x8C15 +#define GL_TEXTURE_DEPTH_TYPE_ARB 0x8C16 +#define GL_UNSIGNED_NORMALIZED_ARB 0x8C17 +#define GL_RGBA32F_ARB 0x8814 +#define GL_RGB32F_ARB 0x8815 +#define GL_ALPHA32F_ARB 0x8816 +#define GL_INTENSITY32F_ARB 0x8817 +#define GL_LUMINANCE32F_ARB 0x8818 +#define GL_LUMINANCE_ALPHA32F_ARB 0x8819 +#define GL_RGBA16F_ARB 0x881A +#define GL_RGB16F_ARB 0x881B +#define GL_ALPHA16F_ARB 0x881C +#define GL_INTENSITY16F_ARB 0x881D +#define GL_LUMINANCE16F_ARB 0x881E +#define GL_LUMINANCE_ALPHA16F_ARB 0x881F +#endif /* GL_ARB_texture_float */ + +#ifndef GL_ARB_texture_gather +#define GL_ARB_texture_gather 1 +#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET_ARB 0x8E5E +#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET_ARB 0x8E5F +#define GL_MAX_PROGRAM_TEXTURE_GATHER_COMPONENTS_ARB 0x8F9F +#endif /* GL_ARB_texture_gather */ + +#ifndef GL_ARB_texture_mirror_clamp_to_edge +#define GL_ARB_texture_mirror_clamp_to_edge 1 +#endif /* GL_ARB_texture_mirror_clamp_to_edge */ + +#ifndef GL_ARB_texture_mirrored_repeat +#define GL_ARB_texture_mirrored_repeat 1 +#define GL_MIRRORED_REPEAT_ARB 0x8370 +#endif /* GL_ARB_texture_mirrored_repeat */ + +#ifndef GL_ARB_texture_multisample +#define GL_ARB_texture_multisample 1 +#endif /* GL_ARB_texture_multisample */ + +#ifndef GL_ARB_texture_non_power_of_two +#define GL_ARB_texture_non_power_of_two 1 +#endif /* GL_ARB_texture_non_power_of_two */ + +#ifndef GL_ARB_texture_query_levels +#define GL_ARB_texture_query_levels 1 +#endif /* GL_ARB_texture_query_levels */ + +#ifndef GL_ARB_texture_query_lod +#define GL_ARB_texture_query_lod 1 +#endif /* GL_ARB_texture_query_lod */ + +#ifndef GL_ARB_texture_rectangle +#define GL_ARB_texture_rectangle 1 +#define GL_TEXTURE_RECTANGLE_ARB 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE_ARB 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE_ARB 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE_ARB 0x84F8 +#endif /* GL_ARB_texture_rectangle */ + +#ifndef GL_ARB_texture_rg +#define GL_ARB_texture_rg 1 +#endif /* GL_ARB_texture_rg */ + +#ifndef GL_ARB_texture_rgb10_a2ui +#define GL_ARB_texture_rgb10_a2ui 1 +#endif /* GL_ARB_texture_rgb10_a2ui */ + +#ifndef GL_ARB_texture_stencil8 +#define GL_ARB_texture_stencil8 1 +#endif /* GL_ARB_texture_stencil8 */ + +#ifndef GL_ARB_texture_storage +#define GL_ARB_texture_storage 1 +#endif /* GL_ARB_texture_storage */ + +#ifndef GL_ARB_texture_storage_multisample +#define GL_ARB_texture_storage_multisample 1 +#endif /* GL_ARB_texture_storage_multisample */ + +#ifndef GL_ARB_texture_swizzle +#define GL_ARB_texture_swizzle 1 +#endif /* GL_ARB_texture_swizzle */ + +#ifndef GL_ARB_texture_view +#define GL_ARB_texture_view 1 +#endif /* GL_ARB_texture_view */ + +#ifndef GL_ARB_timer_query +#define GL_ARB_timer_query 1 +#endif /* GL_ARB_timer_query */ + +#ifndef GL_ARB_transform_feedback2 +#define GL_ARB_transform_feedback2 1 +#endif /* GL_ARB_transform_feedback2 */ + +#ifndef GL_ARB_transform_feedback3 +#define GL_ARB_transform_feedback3 1 +#endif /* GL_ARB_transform_feedback3 */ + +#ifndef GL_ARB_transform_feedback_instanced +#define GL_ARB_transform_feedback_instanced 1 +#endif /* GL_ARB_transform_feedback_instanced */ + +#ifndef GL_ARB_transform_feedback_overflow_query +#define GL_ARB_transform_feedback_overflow_query 1 +#define GL_TRANSFORM_FEEDBACK_OVERFLOW_ARB 0x82EC +#define GL_TRANSFORM_FEEDBACK_STREAM_OVERFLOW_ARB 0x82ED +#endif /* GL_ARB_transform_feedback_overflow_query */ + +#ifndef GL_ARB_transpose_matrix +#define GL_ARB_transpose_matrix 1 +#define GL_TRANSPOSE_MODELVIEW_MATRIX_ARB 0x84E3 +#define GL_TRANSPOSE_PROJECTION_MATRIX_ARB 0x84E4 +#define GL_TRANSPOSE_TEXTURE_MATRIX_ARB 0x84E5 +#define GL_TRANSPOSE_COLOR_MATRIX_ARB 0x84E6 +typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXFARBPROC) (const GLfloat *m); +typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXDARBPROC) (const GLdouble *m); +typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXFARBPROC) (const GLfloat *m); +typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXDARBPROC) (const GLdouble *m); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glLoadTransposeMatrixfARB (const GLfloat *m); +GLAPI void APIENTRY glLoadTransposeMatrixdARB (const GLdouble *m); +GLAPI void APIENTRY glMultTransposeMatrixfARB (const GLfloat *m); +GLAPI void APIENTRY glMultTransposeMatrixdARB (const GLdouble *m); +#endif +#endif /* GL_ARB_transpose_matrix */ + +#ifndef GL_ARB_uniform_buffer_object +#define GL_ARB_uniform_buffer_object 1 +#endif /* GL_ARB_uniform_buffer_object */ + +#ifndef GL_ARB_vertex_array_bgra +#define GL_ARB_vertex_array_bgra 1 +#endif /* GL_ARB_vertex_array_bgra */ + +#ifndef GL_ARB_vertex_array_object +#define GL_ARB_vertex_array_object 1 +#endif /* GL_ARB_vertex_array_object */ + +#ifndef GL_ARB_vertex_attrib_64bit +#define GL_ARB_vertex_attrib_64bit 1 +#endif /* GL_ARB_vertex_attrib_64bit */ + +#ifndef GL_ARB_vertex_attrib_binding +#define GL_ARB_vertex_attrib_binding 1 +#endif /* GL_ARB_vertex_attrib_binding */ + +#ifndef GL_ARB_vertex_blend +#define GL_ARB_vertex_blend 1 +#define GL_MAX_VERTEX_UNITS_ARB 0x86A4 +#define GL_ACTIVE_VERTEX_UNITS_ARB 0x86A5 +#define GL_WEIGHT_SUM_UNITY_ARB 0x86A6 +#define GL_VERTEX_BLEND_ARB 0x86A7 +#define GL_CURRENT_WEIGHT_ARB 0x86A8 +#define GL_WEIGHT_ARRAY_TYPE_ARB 0x86A9 +#define GL_WEIGHT_ARRAY_STRIDE_ARB 0x86AA +#define GL_WEIGHT_ARRAY_SIZE_ARB 0x86AB +#define GL_WEIGHT_ARRAY_POINTER_ARB 0x86AC +#define GL_WEIGHT_ARRAY_ARB 0x86AD +#define GL_MODELVIEW0_ARB 0x1700 +#define GL_MODELVIEW1_ARB 0x850A +#define GL_MODELVIEW2_ARB 0x8722 +#define GL_MODELVIEW3_ARB 0x8723 +#define GL_MODELVIEW4_ARB 0x8724 +#define GL_MODELVIEW5_ARB 0x8725 +#define GL_MODELVIEW6_ARB 0x8726 +#define GL_MODELVIEW7_ARB 0x8727 +#define GL_MODELVIEW8_ARB 0x8728 +#define GL_MODELVIEW9_ARB 0x8729 +#define GL_MODELVIEW10_ARB 0x872A +#define GL_MODELVIEW11_ARB 0x872B +#define GL_MODELVIEW12_ARB 0x872C +#define GL_MODELVIEW13_ARB 0x872D +#define GL_MODELVIEW14_ARB 0x872E +#define GL_MODELVIEW15_ARB 0x872F +#define GL_MODELVIEW16_ARB 0x8730 +#define GL_MODELVIEW17_ARB 0x8731 +#define GL_MODELVIEW18_ARB 0x8732 +#define GL_MODELVIEW19_ARB 0x8733 +#define GL_MODELVIEW20_ARB 0x8734 +#define GL_MODELVIEW21_ARB 0x8735 +#define GL_MODELVIEW22_ARB 0x8736 +#define GL_MODELVIEW23_ARB 0x8737 +#define GL_MODELVIEW24_ARB 0x8738 +#define GL_MODELVIEW25_ARB 0x8739 +#define GL_MODELVIEW26_ARB 0x873A +#define GL_MODELVIEW27_ARB 0x873B +#define GL_MODELVIEW28_ARB 0x873C +#define GL_MODELVIEW29_ARB 0x873D +#define GL_MODELVIEW30_ARB 0x873E +#define GL_MODELVIEW31_ARB 0x873F +typedef void (APIENTRYP PFNGLWEIGHTBVARBPROC) (GLint size, const GLbyte *weights); +typedef void (APIENTRYP PFNGLWEIGHTSVARBPROC) (GLint size, const GLshort *weights); +typedef void (APIENTRYP PFNGLWEIGHTIVARBPROC) (GLint size, const GLint *weights); +typedef void (APIENTRYP PFNGLWEIGHTFVARBPROC) (GLint size, const GLfloat *weights); +typedef void (APIENTRYP PFNGLWEIGHTDVARBPROC) (GLint size, const GLdouble *weights); +typedef void (APIENTRYP PFNGLWEIGHTUBVARBPROC) (GLint size, const GLubyte *weights); +typedef void (APIENTRYP PFNGLWEIGHTUSVARBPROC) (GLint size, const GLushort *weights); +typedef void (APIENTRYP PFNGLWEIGHTUIVARBPROC) (GLint size, const GLuint *weights); +typedef void (APIENTRYP PFNGLWEIGHTPOINTERARBPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLVERTEXBLENDARBPROC) (GLint count); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glWeightbvARB (GLint size, const GLbyte *weights); +GLAPI void APIENTRY glWeightsvARB (GLint size, const GLshort *weights); +GLAPI void APIENTRY glWeightivARB (GLint size, const GLint *weights); +GLAPI void APIENTRY glWeightfvARB (GLint size, const GLfloat *weights); +GLAPI void APIENTRY glWeightdvARB (GLint size, const GLdouble *weights); +GLAPI void APIENTRY glWeightubvARB (GLint size, const GLubyte *weights); +GLAPI void APIENTRY glWeightusvARB (GLint size, const GLushort *weights); +GLAPI void APIENTRY glWeightuivARB (GLint size, const GLuint *weights); +GLAPI void APIENTRY glWeightPointerARB (GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glVertexBlendARB (GLint count); +#endif +#endif /* GL_ARB_vertex_blend */ + +#ifndef GL_ARB_vertex_buffer_object +#define GL_ARB_vertex_buffer_object 1 +typedef khronos_ssize_t GLsizeiptrARB; +typedef khronos_intptr_t GLintptrARB; +#define GL_BUFFER_SIZE_ARB 0x8764 +#define GL_BUFFER_USAGE_ARB 0x8765 +#define GL_ARRAY_BUFFER_ARB 0x8892 +#define GL_ELEMENT_ARRAY_BUFFER_ARB 0x8893 +#define GL_ARRAY_BUFFER_BINDING_ARB 0x8894 +#define GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB 0x8895 +#define GL_VERTEX_ARRAY_BUFFER_BINDING_ARB 0x8896 +#define GL_NORMAL_ARRAY_BUFFER_BINDING_ARB 0x8897 +#define GL_COLOR_ARRAY_BUFFER_BINDING_ARB 0x8898 +#define GL_INDEX_ARRAY_BUFFER_BINDING_ARB 0x8899 +#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING_ARB 0x889A +#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING_ARB 0x889B +#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING_ARB 0x889C +#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING_ARB 0x889D +#define GL_WEIGHT_ARRAY_BUFFER_BINDING_ARB 0x889E +#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING_ARB 0x889F +#define GL_READ_ONLY_ARB 0x88B8 +#define GL_WRITE_ONLY_ARB 0x88B9 +#define GL_READ_WRITE_ARB 0x88BA +#define GL_BUFFER_ACCESS_ARB 0x88BB +#define GL_BUFFER_MAPPED_ARB 0x88BC +#define GL_BUFFER_MAP_POINTER_ARB 0x88BD +#define GL_STREAM_DRAW_ARB 0x88E0 +#define GL_STREAM_READ_ARB 0x88E1 +#define GL_STREAM_COPY_ARB 0x88E2 +#define GL_STATIC_DRAW_ARB 0x88E4 +#define GL_STATIC_READ_ARB 0x88E5 +#define GL_STATIC_COPY_ARB 0x88E6 +#define GL_DYNAMIC_DRAW_ARB 0x88E8 +#define GL_DYNAMIC_READ_ARB 0x88E9 +#define GL_DYNAMIC_COPY_ARB 0x88EA +typedef void (APIENTRYP PFNGLBINDBUFFERARBPROC) (GLenum target, GLuint buffer); +typedef void (APIENTRYP PFNGLDELETEBUFFERSARBPROC) (GLsizei n, const GLuint *buffers); +typedef void (APIENTRYP PFNGLGENBUFFERSARBPROC) (GLsizei n, GLuint *buffers); +typedef GLboolean (APIENTRYP PFNGLISBUFFERARBPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLBUFFERDATAARBPROC) (GLenum target, GLsizeiptrARB size, const void *data, GLenum usage); +typedef void (APIENTRYP PFNGLBUFFERSUBDATAARBPROC) (GLenum target, GLintptrARB offset, GLsizeiptrARB size, const void *data); +typedef void (APIENTRYP PFNGLGETBUFFERSUBDATAARBPROC) (GLenum target, GLintptrARB offset, GLsizeiptrARB size, void *data); +typedef void *(APIENTRYP PFNGLMAPBUFFERARBPROC) (GLenum target, GLenum access); +typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERARBPROC) (GLenum target); +typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERIVARBPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVARBPROC) (GLenum target, GLenum pname, void **params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindBufferARB (GLenum target, GLuint buffer); +GLAPI void APIENTRY glDeleteBuffersARB (GLsizei n, const GLuint *buffers); +GLAPI void APIENTRY glGenBuffersARB (GLsizei n, GLuint *buffers); +GLAPI GLboolean APIENTRY glIsBufferARB (GLuint buffer); +GLAPI void APIENTRY glBufferDataARB (GLenum target, GLsizeiptrARB size, const void *data, GLenum usage); +GLAPI void APIENTRY glBufferSubDataARB (GLenum target, GLintptrARB offset, GLsizeiptrARB size, const void *data); +GLAPI void APIENTRY glGetBufferSubDataARB (GLenum target, GLintptrARB offset, GLsizeiptrARB size, void *data); +GLAPI void *APIENTRY glMapBufferARB (GLenum target, GLenum access); +GLAPI GLboolean APIENTRY glUnmapBufferARB (GLenum target); +GLAPI void APIENTRY glGetBufferParameterivARB (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetBufferPointervARB (GLenum target, GLenum pname, void **params); +#endif +#endif /* GL_ARB_vertex_buffer_object */ + +#ifndef GL_ARB_vertex_program +#define GL_ARB_vertex_program 1 +#define GL_COLOR_SUM_ARB 0x8458 +#define GL_VERTEX_PROGRAM_ARB 0x8620 +#define GL_VERTEX_ATTRIB_ARRAY_ENABLED_ARB 0x8622 +#define GL_VERTEX_ATTRIB_ARRAY_SIZE_ARB 0x8623 +#define GL_VERTEX_ATTRIB_ARRAY_STRIDE_ARB 0x8624 +#define GL_VERTEX_ATTRIB_ARRAY_TYPE_ARB 0x8625 +#define GL_CURRENT_VERTEX_ATTRIB_ARB 0x8626 +#define GL_VERTEX_PROGRAM_POINT_SIZE_ARB 0x8642 +#define GL_VERTEX_PROGRAM_TWO_SIDE_ARB 0x8643 +#define GL_VERTEX_ATTRIB_ARRAY_POINTER_ARB 0x8645 +#define GL_MAX_VERTEX_ATTRIBS_ARB 0x8869 +#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED_ARB 0x886A +#define GL_PROGRAM_ADDRESS_REGISTERS_ARB 0x88B0 +#define GL_MAX_PROGRAM_ADDRESS_REGISTERS_ARB 0x88B1 +#define GL_PROGRAM_NATIVE_ADDRESS_REGISTERS_ARB 0x88B2 +#define GL_MAX_PROGRAM_NATIVE_ADDRESS_REGISTERS_ARB 0x88B3 +typedef void (APIENTRYP PFNGLVERTEXATTRIB1DARBPROC) (GLuint index, GLdouble x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1DVARBPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1FARBPROC) (GLuint index, GLfloat x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1FVARBPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1SARBPROC) (GLuint index, GLshort x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1SVARBPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2DARBPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2DVARBPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2FARBPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2FVARBPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2SARBPROC) (GLuint index, GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2SVARBPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3DARBPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3DVARBPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3FARBPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3FVARBPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3SARBPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3SVARBPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NBVARBPROC) (GLuint index, const GLbyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NIVARBPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NSVARBPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBARBPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBVARBPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUIVARBPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUSVARBPROC) (GLuint index, const GLushort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4BVARBPROC) (GLuint index, const GLbyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4DARBPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4DVARBPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4FARBPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4FVARBPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4IVARBPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4SARBPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4SVARBPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBVARBPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4UIVARBPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4USVARBPROC) (GLuint index, const GLushort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERARBPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYARBPROC) (GLuint index); +typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYARBPROC) (GLuint index); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBDVARBPROC) (GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBFVARBPROC) (GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVARBPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVARBPROC) (GLuint index, GLenum pname, void **pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexAttrib1dARB (GLuint index, GLdouble x); +GLAPI void APIENTRY glVertexAttrib1dvARB (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib1fARB (GLuint index, GLfloat x); +GLAPI void APIENTRY glVertexAttrib1fvARB (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib1sARB (GLuint index, GLshort x); +GLAPI void APIENTRY glVertexAttrib1svARB (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib2dARB (GLuint index, GLdouble x, GLdouble y); +GLAPI void APIENTRY glVertexAttrib2dvARB (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib2fARB (GLuint index, GLfloat x, GLfloat y); +GLAPI void APIENTRY glVertexAttrib2fvARB (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib2sARB (GLuint index, GLshort x, GLshort y); +GLAPI void APIENTRY glVertexAttrib2svARB (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib3dARB (GLuint index, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glVertexAttrib3dvARB (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib3fARB (GLuint index, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glVertexAttrib3fvARB (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib3sARB (GLuint index, GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glVertexAttrib3svARB (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4NbvARB (GLuint index, const GLbyte *v); +GLAPI void APIENTRY glVertexAttrib4NivARB (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttrib4NsvARB (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4NubARB (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +GLAPI void APIENTRY glVertexAttrib4NubvARB (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttrib4NuivARB (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttrib4NusvARB (GLuint index, const GLushort *v); +GLAPI void APIENTRY glVertexAttrib4bvARB (GLuint index, const GLbyte *v); +GLAPI void APIENTRY glVertexAttrib4dARB (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glVertexAttrib4dvARB (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib4fARB (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glVertexAttrib4fvARB (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib4ivARB (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttrib4sARB (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void APIENTRY glVertexAttrib4svARB (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4ubvARB (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttrib4uivARB (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttrib4usvARB (GLuint index, const GLushort *v); +GLAPI void APIENTRY glVertexAttribPointerARB (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glEnableVertexAttribArrayARB (GLuint index); +GLAPI void APIENTRY glDisableVertexAttribArrayARB (GLuint index); +GLAPI void APIENTRY glGetVertexAttribdvARB (GLuint index, GLenum pname, GLdouble *params); +GLAPI void APIENTRY glGetVertexAttribfvARB (GLuint index, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetVertexAttribivARB (GLuint index, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVertexAttribPointervARB (GLuint index, GLenum pname, void **pointer); +#endif +#endif /* GL_ARB_vertex_program */ + +#ifndef GL_ARB_vertex_shader +#define GL_ARB_vertex_shader 1 +#define GL_VERTEX_SHADER_ARB 0x8B31 +#define GL_MAX_VERTEX_UNIFORM_COMPONENTS_ARB 0x8B4A +#define GL_MAX_VARYING_FLOATS_ARB 0x8B4B +#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS_ARB 0x8B4C +#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS_ARB 0x8B4D +#define GL_OBJECT_ACTIVE_ATTRIBUTES_ARB 0x8B89 +#define GL_OBJECT_ACTIVE_ATTRIBUTE_MAX_LENGTH_ARB 0x8B8A +typedef void (APIENTRYP PFNGLBINDATTRIBLOCATIONARBPROC) (GLhandleARB programObj, GLuint index, const GLcharARB *name); +typedef void (APIENTRYP PFNGLGETACTIVEATTRIBARBPROC) (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); +typedef GLint (APIENTRYP PFNGLGETATTRIBLOCATIONARBPROC) (GLhandleARB programObj, const GLcharARB *name); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindAttribLocationARB (GLhandleARB programObj, GLuint index, const GLcharARB *name); +GLAPI void APIENTRY glGetActiveAttribARB (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); +GLAPI GLint APIENTRY glGetAttribLocationARB (GLhandleARB programObj, const GLcharARB *name); +#endif +#endif /* GL_ARB_vertex_shader */ + +#ifndef GL_ARB_vertex_type_10f_11f_11f_rev +#define GL_ARB_vertex_type_10f_11f_11f_rev 1 +#endif /* GL_ARB_vertex_type_10f_11f_11f_rev */ + +#ifndef GL_ARB_vertex_type_2_10_10_10_rev +#define GL_ARB_vertex_type_2_10_10_10_rev 1 +#endif /* GL_ARB_vertex_type_2_10_10_10_rev */ + +#ifndef GL_ARB_viewport_array +#define GL_ARB_viewport_array 1 +typedef void (APIENTRYP PFNGLDEPTHRANGEARRAYDVNVPROC) (GLuint first, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLDEPTHRANGEINDEXEDDNVPROC) (GLuint index, GLdouble n, GLdouble f); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDepthRangeArraydvNV (GLuint first, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glDepthRangeIndexeddNV (GLuint index, GLdouble n, GLdouble f); +#endif +#endif /* GL_ARB_viewport_array */ + +#ifndef GL_ARB_window_pos +#define GL_ARB_window_pos 1 +typedef void (APIENTRYP PFNGLWINDOWPOS2DARBPROC) (GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLWINDOWPOS2DVARBPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2FARBPROC) (GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLWINDOWPOS2FVARBPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2IARBPROC) (GLint x, GLint y); +typedef void (APIENTRYP PFNGLWINDOWPOS2IVARBPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2SARBPROC) (GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLWINDOWPOS2SVARBPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3DARBPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLWINDOWPOS3DVARBPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3FARBPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLWINDOWPOS3FVARBPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3IARBPROC) (GLint x, GLint y, GLint z); +typedef void (APIENTRYP PFNGLWINDOWPOS3IVARBPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3SARBPROC) (GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLWINDOWPOS3SVARBPROC) (const GLshort *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glWindowPos2dARB (GLdouble x, GLdouble y); +GLAPI void APIENTRY glWindowPos2dvARB (const GLdouble *v); +GLAPI void APIENTRY glWindowPos2fARB (GLfloat x, GLfloat y); +GLAPI void APIENTRY glWindowPos2fvARB (const GLfloat *v); +GLAPI void APIENTRY glWindowPos2iARB (GLint x, GLint y); +GLAPI void APIENTRY glWindowPos2ivARB (const GLint *v); +GLAPI void APIENTRY glWindowPos2sARB (GLshort x, GLshort y); +GLAPI void APIENTRY glWindowPos2svARB (const GLshort *v); +GLAPI void APIENTRY glWindowPos3dARB (GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glWindowPos3dvARB (const GLdouble *v); +GLAPI void APIENTRY glWindowPos3fARB (GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glWindowPos3fvARB (const GLfloat *v); +GLAPI void APIENTRY glWindowPos3iARB (GLint x, GLint y, GLint z); +GLAPI void APIENTRY glWindowPos3ivARB (const GLint *v); +GLAPI void APIENTRY glWindowPos3sARB (GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glWindowPos3svARB (const GLshort *v); +#endif +#endif /* GL_ARB_window_pos */ + +#ifndef GL_KHR_blend_equation_advanced +#define GL_KHR_blend_equation_advanced 1 +#define GL_MULTIPLY_KHR 0x9294 +#define GL_SCREEN_KHR 0x9295 +#define GL_OVERLAY_KHR 0x9296 +#define GL_DARKEN_KHR 0x9297 +#define GL_LIGHTEN_KHR 0x9298 +#define GL_COLORDODGE_KHR 0x9299 +#define GL_COLORBURN_KHR 0x929A +#define GL_HARDLIGHT_KHR 0x929B +#define GL_SOFTLIGHT_KHR 0x929C +#define GL_DIFFERENCE_KHR 0x929E +#define GL_EXCLUSION_KHR 0x92A0 +#define GL_HSL_HUE_KHR 0x92AD +#define GL_HSL_SATURATION_KHR 0x92AE +#define GL_HSL_COLOR_KHR 0x92AF +#define GL_HSL_LUMINOSITY_KHR 0x92B0 +typedef void (APIENTRYP PFNGLBLENDBARRIERKHRPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendBarrierKHR (void); +#endif +#endif /* GL_KHR_blend_equation_advanced */ + +#ifndef GL_KHR_blend_equation_advanced_coherent +#define GL_KHR_blend_equation_advanced_coherent 1 +#define GL_BLEND_ADVANCED_COHERENT_KHR 0x9285 +#endif /* GL_KHR_blend_equation_advanced_coherent */ + +#ifndef GL_KHR_context_flush_control +#define GL_KHR_context_flush_control 1 +#endif /* GL_KHR_context_flush_control */ + +#ifndef GL_KHR_debug +#define GL_KHR_debug 1 +#endif /* GL_KHR_debug */ + +#ifndef GL_KHR_no_error +#define GL_KHR_no_error 1 +#define GL_CONTEXT_FLAG_NO_ERROR_BIT_KHR 0x00000008 +#endif /* GL_KHR_no_error */ + +#ifndef GL_KHR_parallel_shader_compile +#define GL_KHR_parallel_shader_compile 1 +#define GL_MAX_SHADER_COMPILER_THREADS_KHR 0x91B0 +#define GL_COMPLETION_STATUS_KHR 0x91B1 +typedef void (APIENTRYP PFNGLMAXSHADERCOMPILERTHREADSKHRPROC) (GLuint count); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMaxShaderCompilerThreadsKHR (GLuint count); +#endif +#endif /* GL_KHR_parallel_shader_compile */ + +#ifndef GL_KHR_robust_buffer_access_behavior +#define GL_KHR_robust_buffer_access_behavior 1 +#endif /* GL_KHR_robust_buffer_access_behavior */ + +#ifndef GL_KHR_robustness +#define GL_KHR_robustness 1 +#define GL_CONTEXT_ROBUST_ACCESS 0x90F3 +#endif /* GL_KHR_robustness */ + +#ifndef GL_KHR_shader_subgroup +#define GL_KHR_shader_subgroup 1 +#define GL_SUBGROUP_SIZE_KHR 0x9532 +#define GL_SUBGROUP_SUPPORTED_STAGES_KHR 0x9533 +#define GL_SUBGROUP_SUPPORTED_FEATURES_KHR 0x9534 +#define GL_SUBGROUP_QUAD_ALL_STAGES_KHR 0x9535 +#define GL_SUBGROUP_FEATURE_BASIC_BIT_KHR 0x00000001 +#define GL_SUBGROUP_FEATURE_VOTE_BIT_KHR 0x00000002 +#define GL_SUBGROUP_FEATURE_ARITHMETIC_BIT_KHR 0x00000004 +#define GL_SUBGROUP_FEATURE_BALLOT_BIT_KHR 0x00000008 +#define GL_SUBGROUP_FEATURE_SHUFFLE_BIT_KHR 0x00000010 +#define GL_SUBGROUP_FEATURE_SHUFFLE_RELATIVE_BIT_KHR 0x00000020 +#define GL_SUBGROUP_FEATURE_CLUSTERED_BIT_KHR 0x00000040 +#define GL_SUBGROUP_FEATURE_QUAD_BIT_KHR 0x00000080 +#endif /* GL_KHR_shader_subgroup */ + +#ifndef GL_KHR_texture_compression_astc_hdr +#define GL_KHR_texture_compression_astc_hdr 1 +#define GL_COMPRESSED_RGBA_ASTC_4x4_KHR 0x93B0 +#define GL_COMPRESSED_RGBA_ASTC_5x4_KHR 0x93B1 +#define GL_COMPRESSED_RGBA_ASTC_5x5_KHR 0x93B2 +#define GL_COMPRESSED_RGBA_ASTC_6x5_KHR 0x93B3 +#define GL_COMPRESSED_RGBA_ASTC_6x6_KHR 0x93B4 +#define GL_COMPRESSED_RGBA_ASTC_8x5_KHR 0x93B5 +#define GL_COMPRESSED_RGBA_ASTC_8x6_KHR 0x93B6 +#define GL_COMPRESSED_RGBA_ASTC_8x8_KHR 0x93B7 +#define GL_COMPRESSED_RGBA_ASTC_10x5_KHR 0x93B8 +#define GL_COMPRESSED_RGBA_ASTC_10x6_KHR 0x93B9 +#define GL_COMPRESSED_RGBA_ASTC_10x8_KHR 0x93BA +#define GL_COMPRESSED_RGBA_ASTC_10x10_KHR 0x93BB +#define GL_COMPRESSED_RGBA_ASTC_12x10_KHR 0x93BC +#define GL_COMPRESSED_RGBA_ASTC_12x12_KHR 0x93BD +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR 0x93D0 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR 0x93D1 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR 0x93D2 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR 0x93D3 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR 0x93D4 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR 0x93D5 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR 0x93D6 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR 0x93D7 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR 0x93D8 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR 0x93D9 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR 0x93DA +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR 0x93DB +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR 0x93DC +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR 0x93DD +#endif /* GL_KHR_texture_compression_astc_hdr */ + +#ifndef GL_KHR_texture_compression_astc_ldr +#define GL_KHR_texture_compression_astc_ldr 1 +#endif /* GL_KHR_texture_compression_astc_ldr */ + +#ifndef GL_KHR_texture_compression_astc_sliced_3d +#define GL_KHR_texture_compression_astc_sliced_3d 1 +#endif /* GL_KHR_texture_compression_astc_sliced_3d */ + +#ifndef GL_OES_byte_coordinates +#define GL_OES_byte_coordinates 1 +typedef void (APIENTRYP PFNGLMULTITEXCOORD1BOESPROC) (GLenum texture, GLbyte s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1BVOESPROC) (GLenum texture, const GLbyte *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2BOESPROC) (GLenum texture, GLbyte s, GLbyte t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2BVOESPROC) (GLenum texture, const GLbyte *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3BOESPROC) (GLenum texture, GLbyte s, GLbyte t, GLbyte r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3BVOESPROC) (GLenum texture, const GLbyte *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4BOESPROC) (GLenum texture, GLbyte s, GLbyte t, GLbyte r, GLbyte q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4BVOESPROC) (GLenum texture, const GLbyte *coords); +typedef void (APIENTRYP PFNGLTEXCOORD1BOESPROC) (GLbyte s); +typedef void (APIENTRYP PFNGLTEXCOORD1BVOESPROC) (const GLbyte *coords); +typedef void (APIENTRYP PFNGLTEXCOORD2BOESPROC) (GLbyte s, GLbyte t); +typedef void (APIENTRYP PFNGLTEXCOORD2BVOESPROC) (const GLbyte *coords); +typedef void (APIENTRYP PFNGLTEXCOORD3BOESPROC) (GLbyte s, GLbyte t, GLbyte r); +typedef void (APIENTRYP PFNGLTEXCOORD3BVOESPROC) (const GLbyte *coords); +typedef void (APIENTRYP PFNGLTEXCOORD4BOESPROC) (GLbyte s, GLbyte t, GLbyte r, GLbyte q); +typedef void (APIENTRYP PFNGLTEXCOORD4BVOESPROC) (const GLbyte *coords); +typedef void (APIENTRYP PFNGLVERTEX2BOESPROC) (GLbyte x, GLbyte y); +typedef void (APIENTRYP PFNGLVERTEX2BVOESPROC) (const GLbyte *coords); +typedef void (APIENTRYP PFNGLVERTEX3BOESPROC) (GLbyte x, GLbyte y, GLbyte z); +typedef void (APIENTRYP PFNGLVERTEX3BVOESPROC) (const GLbyte *coords); +typedef void (APIENTRYP PFNGLVERTEX4BOESPROC) (GLbyte x, GLbyte y, GLbyte z, GLbyte w); +typedef void (APIENTRYP PFNGLVERTEX4BVOESPROC) (const GLbyte *coords); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiTexCoord1bOES (GLenum texture, GLbyte s); +GLAPI void APIENTRY glMultiTexCoord1bvOES (GLenum texture, const GLbyte *coords); +GLAPI void APIENTRY glMultiTexCoord2bOES (GLenum texture, GLbyte s, GLbyte t); +GLAPI void APIENTRY glMultiTexCoord2bvOES (GLenum texture, const GLbyte *coords); +GLAPI void APIENTRY glMultiTexCoord3bOES (GLenum texture, GLbyte s, GLbyte t, GLbyte r); +GLAPI void APIENTRY glMultiTexCoord3bvOES (GLenum texture, const GLbyte *coords); +GLAPI void APIENTRY glMultiTexCoord4bOES (GLenum texture, GLbyte s, GLbyte t, GLbyte r, GLbyte q); +GLAPI void APIENTRY glMultiTexCoord4bvOES (GLenum texture, const GLbyte *coords); +GLAPI void APIENTRY glTexCoord1bOES (GLbyte s); +GLAPI void APIENTRY glTexCoord1bvOES (const GLbyte *coords); +GLAPI void APIENTRY glTexCoord2bOES (GLbyte s, GLbyte t); +GLAPI void APIENTRY glTexCoord2bvOES (const GLbyte *coords); +GLAPI void APIENTRY glTexCoord3bOES (GLbyte s, GLbyte t, GLbyte r); +GLAPI void APIENTRY glTexCoord3bvOES (const GLbyte *coords); +GLAPI void APIENTRY glTexCoord4bOES (GLbyte s, GLbyte t, GLbyte r, GLbyte q); +GLAPI void APIENTRY glTexCoord4bvOES (const GLbyte *coords); +GLAPI void APIENTRY glVertex2bOES (GLbyte x, GLbyte y); +GLAPI void APIENTRY glVertex2bvOES (const GLbyte *coords); +GLAPI void APIENTRY glVertex3bOES (GLbyte x, GLbyte y, GLbyte z); +GLAPI void APIENTRY glVertex3bvOES (const GLbyte *coords); +GLAPI void APIENTRY glVertex4bOES (GLbyte x, GLbyte y, GLbyte z, GLbyte w); +GLAPI void APIENTRY glVertex4bvOES (const GLbyte *coords); +#endif +#endif /* GL_OES_byte_coordinates */ + +#ifndef GL_OES_compressed_paletted_texture +#define GL_OES_compressed_paletted_texture 1 +#define GL_PALETTE4_RGB8_OES 0x8B90 +#define GL_PALETTE4_RGBA8_OES 0x8B91 +#define GL_PALETTE4_R5_G6_B5_OES 0x8B92 +#define GL_PALETTE4_RGBA4_OES 0x8B93 +#define GL_PALETTE4_RGB5_A1_OES 0x8B94 +#define GL_PALETTE8_RGB8_OES 0x8B95 +#define GL_PALETTE8_RGBA8_OES 0x8B96 +#define GL_PALETTE8_R5_G6_B5_OES 0x8B97 +#define GL_PALETTE8_RGBA4_OES 0x8B98 +#define GL_PALETTE8_RGB5_A1_OES 0x8B99 +#endif /* GL_OES_compressed_paletted_texture */ + +#ifndef GL_OES_fixed_point +#define GL_OES_fixed_point 1 +typedef khronos_int32_t GLfixed; +#define GL_FIXED_OES 0x140C +typedef void (APIENTRYP PFNGLALPHAFUNCXOESPROC) (GLenum func, GLfixed ref); +typedef void (APIENTRYP PFNGLCLEARCOLORXOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +typedef void (APIENTRYP PFNGLCLEARDEPTHXOESPROC) (GLfixed depth); +typedef void (APIENTRYP PFNGLCLIPPLANEXOESPROC) (GLenum plane, const GLfixed *equation); +typedef void (APIENTRYP PFNGLCOLOR4XOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +typedef void (APIENTRYP PFNGLDEPTHRANGEXOESPROC) (GLfixed n, GLfixed f); +typedef void (APIENTRYP PFNGLFOGXOESPROC) (GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLFOGXVOESPROC) (GLenum pname, const GLfixed *param); +typedef void (APIENTRYP PFNGLFRUSTUMXOESPROC) (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); +typedef void (APIENTRYP PFNGLGETCLIPPLANEXOESPROC) (GLenum plane, GLfixed *equation); +typedef void (APIENTRYP PFNGLGETFIXEDVOESPROC) (GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLGETTEXENVXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLGETTEXPARAMETERXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLLIGHTMODELXOESPROC) (GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLLIGHTMODELXVOESPROC) (GLenum pname, const GLfixed *param); +typedef void (APIENTRYP PFNGLLIGHTXOESPROC) (GLenum light, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLLIGHTXVOESPROC) (GLenum light, GLenum pname, const GLfixed *params); +typedef void (APIENTRYP PFNGLLINEWIDTHXOESPROC) (GLfixed width); +typedef void (APIENTRYP PFNGLLOADMATRIXXOESPROC) (const GLfixed *m); +typedef void (APIENTRYP PFNGLMATERIALXOESPROC) (GLenum face, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLMATERIALXVOESPROC) (GLenum face, GLenum pname, const GLfixed *param); +typedef void (APIENTRYP PFNGLMULTMATRIXXOESPROC) (const GLfixed *m); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4XOESPROC) (GLenum texture, GLfixed s, GLfixed t, GLfixed r, GLfixed q); +typedef void (APIENTRYP PFNGLNORMAL3XOESPROC) (GLfixed nx, GLfixed ny, GLfixed nz); +typedef void (APIENTRYP PFNGLORTHOXOESPROC) (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); +typedef void (APIENTRYP PFNGLPOINTPARAMETERXVOESPROC) (GLenum pname, const GLfixed *params); +typedef void (APIENTRYP PFNGLPOINTSIZEXOESPROC) (GLfixed size); +typedef void (APIENTRYP PFNGLPOLYGONOFFSETXOESPROC) (GLfixed factor, GLfixed units); +typedef void (APIENTRYP PFNGLROTATEXOESPROC) (GLfixed angle, GLfixed x, GLfixed y, GLfixed z); +typedef void (APIENTRYP PFNGLSCALEXOESPROC) (GLfixed x, GLfixed y, GLfixed z); +typedef void (APIENTRYP PFNGLTEXENVXOESPROC) (GLenum target, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLTEXENVXVOESPROC) (GLenum target, GLenum pname, const GLfixed *params); +typedef void (APIENTRYP PFNGLTEXPARAMETERXOESPROC) (GLenum target, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLTEXPARAMETERXVOESPROC) (GLenum target, GLenum pname, const GLfixed *params); +typedef void (APIENTRYP PFNGLTRANSLATEXOESPROC) (GLfixed x, GLfixed y, GLfixed z); +typedef void (APIENTRYP PFNGLACCUMXOESPROC) (GLenum op, GLfixed value); +typedef void (APIENTRYP PFNGLBITMAPXOESPROC) (GLsizei width, GLsizei height, GLfixed xorig, GLfixed yorig, GLfixed xmove, GLfixed ymove, const GLubyte *bitmap); +typedef void (APIENTRYP PFNGLBLENDCOLORXOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +typedef void (APIENTRYP PFNGLCLEARACCUMXOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +typedef void (APIENTRYP PFNGLCOLOR3XOESPROC) (GLfixed red, GLfixed green, GLfixed blue); +typedef void (APIENTRYP PFNGLCOLOR3XVOESPROC) (const GLfixed *components); +typedef void (APIENTRYP PFNGLCOLOR4XVOESPROC) (const GLfixed *components); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERXOESPROC) (GLenum target, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERXVOESPROC) (GLenum target, GLenum pname, const GLfixed *params); +typedef void (APIENTRYP PFNGLEVALCOORD1XOESPROC) (GLfixed u); +typedef void (APIENTRYP PFNGLEVALCOORD1XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLEVALCOORD2XOESPROC) (GLfixed u, GLfixed v); +typedef void (APIENTRYP PFNGLEVALCOORD2XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLFEEDBACKBUFFERXOESPROC) (GLsizei n, GLenum type, const GLfixed *buffer); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLGETLIGHTXOESPROC) (GLenum light, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLGETMAPXVOESPROC) (GLenum target, GLenum query, GLfixed *v); +typedef void (APIENTRYP PFNGLGETMATERIALXOESPROC) (GLenum face, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLGETPIXELMAPXVPROC) (GLenum map, GLint size, GLfixed *values); +typedef void (APIENTRYP PFNGLGETTEXGENXVOESPROC) (GLenum coord, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLGETTEXLEVELPARAMETERXVOESPROC) (GLenum target, GLint level, GLenum pname, GLfixed *params); +typedef void (APIENTRYP PFNGLINDEXXOESPROC) (GLfixed component); +typedef void (APIENTRYP PFNGLINDEXXVOESPROC) (const GLfixed *component); +typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXXOESPROC) (const GLfixed *m); +typedef void (APIENTRYP PFNGLMAP1XOESPROC) (GLenum target, GLfixed u1, GLfixed u2, GLint stride, GLint order, GLfixed points); +typedef void (APIENTRYP PFNGLMAP2XOESPROC) (GLenum target, GLfixed u1, GLfixed u2, GLint ustride, GLint uorder, GLfixed v1, GLfixed v2, GLint vstride, GLint vorder, GLfixed points); +typedef void (APIENTRYP PFNGLMAPGRID1XOESPROC) (GLint n, GLfixed u1, GLfixed u2); +typedef void (APIENTRYP PFNGLMAPGRID2XOESPROC) (GLint n, GLfixed u1, GLfixed u2, GLfixed v1, GLfixed v2); +typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXXOESPROC) (const GLfixed *m); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1XOESPROC) (GLenum texture, GLfixed s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1XVOESPROC) (GLenum texture, const GLfixed *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2XOESPROC) (GLenum texture, GLfixed s, GLfixed t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2XVOESPROC) (GLenum texture, const GLfixed *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3XOESPROC) (GLenum texture, GLfixed s, GLfixed t, GLfixed r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3XVOESPROC) (GLenum texture, const GLfixed *coords); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4XVOESPROC) (GLenum texture, const GLfixed *coords); +typedef void (APIENTRYP PFNGLNORMAL3XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLPASSTHROUGHXOESPROC) (GLfixed token); +typedef void (APIENTRYP PFNGLPIXELMAPXPROC) (GLenum map, GLint size, const GLfixed *values); +typedef void (APIENTRYP PFNGLPIXELSTOREXPROC) (GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLPIXELTRANSFERXOESPROC) (GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLPIXELZOOMXOESPROC) (GLfixed xfactor, GLfixed yfactor); +typedef void (APIENTRYP PFNGLPRIORITIZETEXTURESXOESPROC) (GLsizei n, const GLuint *textures, const GLfixed *priorities); +typedef void (APIENTRYP PFNGLRASTERPOS2XOESPROC) (GLfixed x, GLfixed y); +typedef void (APIENTRYP PFNGLRASTERPOS2XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLRASTERPOS3XOESPROC) (GLfixed x, GLfixed y, GLfixed z); +typedef void (APIENTRYP PFNGLRASTERPOS3XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLRASTERPOS4XOESPROC) (GLfixed x, GLfixed y, GLfixed z, GLfixed w); +typedef void (APIENTRYP PFNGLRASTERPOS4XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLRECTXOESPROC) (GLfixed x1, GLfixed y1, GLfixed x2, GLfixed y2); +typedef void (APIENTRYP PFNGLRECTXVOESPROC) (const GLfixed *v1, const GLfixed *v2); +typedef void (APIENTRYP PFNGLTEXCOORD1XOESPROC) (GLfixed s); +typedef void (APIENTRYP PFNGLTEXCOORD1XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLTEXCOORD2XOESPROC) (GLfixed s, GLfixed t); +typedef void (APIENTRYP PFNGLTEXCOORD2XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLTEXCOORD3XOESPROC) (GLfixed s, GLfixed t, GLfixed r); +typedef void (APIENTRYP PFNGLTEXCOORD3XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLTEXCOORD4XOESPROC) (GLfixed s, GLfixed t, GLfixed r, GLfixed q); +typedef void (APIENTRYP PFNGLTEXCOORD4XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLTEXGENXOESPROC) (GLenum coord, GLenum pname, GLfixed param); +typedef void (APIENTRYP PFNGLTEXGENXVOESPROC) (GLenum coord, GLenum pname, const GLfixed *params); +typedef void (APIENTRYP PFNGLVERTEX2XOESPROC) (GLfixed x); +typedef void (APIENTRYP PFNGLVERTEX2XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLVERTEX3XOESPROC) (GLfixed x, GLfixed y); +typedef void (APIENTRYP PFNGLVERTEX3XVOESPROC) (const GLfixed *coords); +typedef void (APIENTRYP PFNGLVERTEX4XOESPROC) (GLfixed x, GLfixed y, GLfixed z); +typedef void (APIENTRYP PFNGLVERTEX4XVOESPROC) (const GLfixed *coords); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glAlphaFuncxOES (GLenum func, GLfixed ref); +GLAPI void APIENTRY glClearColorxOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +GLAPI void APIENTRY glClearDepthxOES (GLfixed depth); +GLAPI void APIENTRY glClipPlanexOES (GLenum plane, const GLfixed *equation); +GLAPI void APIENTRY glColor4xOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +GLAPI void APIENTRY glDepthRangexOES (GLfixed n, GLfixed f); +GLAPI void APIENTRY glFogxOES (GLenum pname, GLfixed param); +GLAPI void APIENTRY glFogxvOES (GLenum pname, const GLfixed *param); +GLAPI void APIENTRY glFrustumxOES (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); +GLAPI void APIENTRY glGetClipPlanexOES (GLenum plane, GLfixed *equation); +GLAPI void APIENTRY glGetFixedvOES (GLenum pname, GLfixed *params); +GLAPI void APIENTRY glGetTexEnvxvOES (GLenum target, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glGetTexParameterxvOES (GLenum target, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glLightModelxOES (GLenum pname, GLfixed param); +GLAPI void APIENTRY glLightModelxvOES (GLenum pname, const GLfixed *param); +GLAPI void APIENTRY glLightxOES (GLenum light, GLenum pname, GLfixed param); +GLAPI void APIENTRY glLightxvOES (GLenum light, GLenum pname, const GLfixed *params); +GLAPI void APIENTRY glLineWidthxOES (GLfixed width); +GLAPI void APIENTRY glLoadMatrixxOES (const GLfixed *m); +GLAPI void APIENTRY glMaterialxOES (GLenum face, GLenum pname, GLfixed param); +GLAPI void APIENTRY glMaterialxvOES (GLenum face, GLenum pname, const GLfixed *param); +GLAPI void APIENTRY glMultMatrixxOES (const GLfixed *m); +GLAPI void APIENTRY glMultiTexCoord4xOES (GLenum texture, GLfixed s, GLfixed t, GLfixed r, GLfixed q); +GLAPI void APIENTRY glNormal3xOES (GLfixed nx, GLfixed ny, GLfixed nz); +GLAPI void APIENTRY glOrthoxOES (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); +GLAPI void APIENTRY glPointParameterxvOES (GLenum pname, const GLfixed *params); +GLAPI void APIENTRY glPointSizexOES (GLfixed size); +GLAPI void APIENTRY glPolygonOffsetxOES (GLfixed factor, GLfixed units); +GLAPI void APIENTRY glRotatexOES (GLfixed angle, GLfixed x, GLfixed y, GLfixed z); +GLAPI void APIENTRY glScalexOES (GLfixed x, GLfixed y, GLfixed z); +GLAPI void APIENTRY glTexEnvxOES (GLenum target, GLenum pname, GLfixed param); +GLAPI void APIENTRY glTexEnvxvOES (GLenum target, GLenum pname, const GLfixed *params); +GLAPI void APIENTRY glTexParameterxOES (GLenum target, GLenum pname, GLfixed param); +GLAPI void APIENTRY glTexParameterxvOES (GLenum target, GLenum pname, const GLfixed *params); +GLAPI void APIENTRY glTranslatexOES (GLfixed x, GLfixed y, GLfixed z); +GLAPI void APIENTRY glAccumxOES (GLenum op, GLfixed value); +GLAPI void APIENTRY glBitmapxOES (GLsizei width, GLsizei height, GLfixed xorig, GLfixed yorig, GLfixed xmove, GLfixed ymove, const GLubyte *bitmap); +GLAPI void APIENTRY glBlendColorxOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +GLAPI void APIENTRY glClearAccumxOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); +GLAPI void APIENTRY glColor3xOES (GLfixed red, GLfixed green, GLfixed blue); +GLAPI void APIENTRY glColor3xvOES (const GLfixed *components); +GLAPI void APIENTRY glColor4xvOES (const GLfixed *components); +GLAPI void APIENTRY glConvolutionParameterxOES (GLenum target, GLenum pname, GLfixed param); +GLAPI void APIENTRY glConvolutionParameterxvOES (GLenum target, GLenum pname, const GLfixed *params); +GLAPI void APIENTRY glEvalCoord1xOES (GLfixed u); +GLAPI void APIENTRY glEvalCoord1xvOES (const GLfixed *coords); +GLAPI void APIENTRY glEvalCoord2xOES (GLfixed u, GLfixed v); +GLAPI void APIENTRY glEvalCoord2xvOES (const GLfixed *coords); +GLAPI void APIENTRY glFeedbackBufferxOES (GLsizei n, GLenum type, const GLfixed *buffer); +GLAPI void APIENTRY glGetConvolutionParameterxvOES (GLenum target, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glGetHistogramParameterxvOES (GLenum target, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glGetLightxOES (GLenum light, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glGetMapxvOES (GLenum target, GLenum query, GLfixed *v); +GLAPI void APIENTRY glGetMaterialxOES (GLenum face, GLenum pname, GLfixed param); +GLAPI void APIENTRY glGetPixelMapxv (GLenum map, GLint size, GLfixed *values); +GLAPI void APIENTRY glGetTexGenxvOES (GLenum coord, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glGetTexLevelParameterxvOES (GLenum target, GLint level, GLenum pname, GLfixed *params); +GLAPI void APIENTRY glIndexxOES (GLfixed component); +GLAPI void APIENTRY glIndexxvOES (const GLfixed *component); +GLAPI void APIENTRY glLoadTransposeMatrixxOES (const GLfixed *m); +GLAPI void APIENTRY glMap1xOES (GLenum target, GLfixed u1, GLfixed u2, GLint stride, GLint order, GLfixed points); +GLAPI void APIENTRY glMap2xOES (GLenum target, GLfixed u1, GLfixed u2, GLint ustride, GLint uorder, GLfixed v1, GLfixed v2, GLint vstride, GLint vorder, GLfixed points); +GLAPI void APIENTRY glMapGrid1xOES (GLint n, GLfixed u1, GLfixed u2); +GLAPI void APIENTRY glMapGrid2xOES (GLint n, GLfixed u1, GLfixed u2, GLfixed v1, GLfixed v2); +GLAPI void APIENTRY glMultTransposeMatrixxOES (const GLfixed *m); +GLAPI void APIENTRY glMultiTexCoord1xOES (GLenum texture, GLfixed s); +GLAPI void APIENTRY glMultiTexCoord1xvOES (GLenum texture, const GLfixed *coords); +GLAPI void APIENTRY glMultiTexCoord2xOES (GLenum texture, GLfixed s, GLfixed t); +GLAPI void APIENTRY glMultiTexCoord2xvOES (GLenum texture, const GLfixed *coords); +GLAPI void APIENTRY glMultiTexCoord3xOES (GLenum texture, GLfixed s, GLfixed t, GLfixed r); +GLAPI void APIENTRY glMultiTexCoord3xvOES (GLenum texture, const GLfixed *coords); +GLAPI void APIENTRY glMultiTexCoord4xvOES (GLenum texture, const GLfixed *coords); +GLAPI void APIENTRY glNormal3xvOES (const GLfixed *coords); +GLAPI void APIENTRY glPassThroughxOES (GLfixed token); +GLAPI void APIENTRY glPixelMapx (GLenum map, GLint size, const GLfixed *values); +GLAPI void APIENTRY glPixelStorex (GLenum pname, GLfixed param); +GLAPI void APIENTRY glPixelTransferxOES (GLenum pname, GLfixed param); +GLAPI void APIENTRY glPixelZoomxOES (GLfixed xfactor, GLfixed yfactor); +GLAPI void APIENTRY glPrioritizeTexturesxOES (GLsizei n, const GLuint *textures, const GLfixed *priorities); +GLAPI void APIENTRY glRasterPos2xOES (GLfixed x, GLfixed y); +GLAPI void APIENTRY glRasterPos2xvOES (const GLfixed *coords); +GLAPI void APIENTRY glRasterPos3xOES (GLfixed x, GLfixed y, GLfixed z); +GLAPI void APIENTRY glRasterPos3xvOES (const GLfixed *coords); +GLAPI void APIENTRY glRasterPos4xOES (GLfixed x, GLfixed y, GLfixed z, GLfixed w); +GLAPI void APIENTRY glRasterPos4xvOES (const GLfixed *coords); +GLAPI void APIENTRY glRectxOES (GLfixed x1, GLfixed y1, GLfixed x2, GLfixed y2); +GLAPI void APIENTRY glRectxvOES (const GLfixed *v1, const GLfixed *v2); +GLAPI void APIENTRY glTexCoord1xOES (GLfixed s); +GLAPI void APIENTRY glTexCoord1xvOES (const GLfixed *coords); +GLAPI void APIENTRY glTexCoord2xOES (GLfixed s, GLfixed t); +GLAPI void APIENTRY glTexCoord2xvOES (const GLfixed *coords); +GLAPI void APIENTRY glTexCoord3xOES (GLfixed s, GLfixed t, GLfixed r); +GLAPI void APIENTRY glTexCoord3xvOES (const GLfixed *coords); +GLAPI void APIENTRY glTexCoord4xOES (GLfixed s, GLfixed t, GLfixed r, GLfixed q); +GLAPI void APIENTRY glTexCoord4xvOES (const GLfixed *coords); +GLAPI void APIENTRY glTexGenxOES (GLenum coord, GLenum pname, GLfixed param); +GLAPI void APIENTRY glTexGenxvOES (GLenum coord, GLenum pname, const GLfixed *params); +GLAPI void APIENTRY glVertex2xOES (GLfixed x); +GLAPI void APIENTRY glVertex2xvOES (const GLfixed *coords); +GLAPI void APIENTRY glVertex3xOES (GLfixed x, GLfixed y); +GLAPI void APIENTRY glVertex3xvOES (const GLfixed *coords); +GLAPI void APIENTRY glVertex4xOES (GLfixed x, GLfixed y, GLfixed z); +GLAPI void APIENTRY glVertex4xvOES (const GLfixed *coords); +#endif +#endif /* GL_OES_fixed_point */ + +#ifndef GL_OES_query_matrix +#define GL_OES_query_matrix 1 +typedef GLbitfield (APIENTRYP PFNGLQUERYMATRIXXOESPROC) (GLfixed *mantissa, GLint *exponent); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLbitfield APIENTRY glQueryMatrixxOES (GLfixed *mantissa, GLint *exponent); +#endif +#endif /* GL_OES_query_matrix */ + +#ifndef GL_OES_read_format +#define GL_OES_read_format 1 +#define GL_IMPLEMENTATION_COLOR_READ_TYPE_OES 0x8B9A +#define GL_IMPLEMENTATION_COLOR_READ_FORMAT_OES 0x8B9B +#endif /* GL_OES_read_format */ + +#ifndef GL_OES_single_precision +#define GL_OES_single_precision 1 +typedef void (APIENTRYP PFNGLCLEARDEPTHFOESPROC) (GLclampf depth); +typedef void (APIENTRYP PFNGLCLIPPLANEFOESPROC) (GLenum plane, const GLfloat *equation); +typedef void (APIENTRYP PFNGLDEPTHRANGEFOESPROC) (GLclampf n, GLclampf f); +typedef void (APIENTRYP PFNGLFRUSTUMFOESPROC) (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); +typedef void (APIENTRYP PFNGLGETCLIPPLANEFOESPROC) (GLenum plane, GLfloat *equation); +typedef void (APIENTRYP PFNGLORTHOFOESPROC) (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glClearDepthfOES (GLclampf depth); +GLAPI void APIENTRY glClipPlanefOES (GLenum plane, const GLfloat *equation); +GLAPI void APIENTRY glDepthRangefOES (GLclampf n, GLclampf f); +GLAPI void APIENTRY glFrustumfOES (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); +GLAPI void APIENTRY glGetClipPlanefOES (GLenum plane, GLfloat *equation); +GLAPI void APIENTRY glOrthofOES (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); +#endif +#endif /* GL_OES_single_precision */ + +#ifndef GL_3DFX_multisample +#define GL_3DFX_multisample 1 +#define GL_MULTISAMPLE_3DFX 0x86B2 +#define GL_SAMPLE_BUFFERS_3DFX 0x86B3 +#define GL_SAMPLES_3DFX 0x86B4 +#define GL_MULTISAMPLE_BIT_3DFX 0x20000000 +#endif /* GL_3DFX_multisample */ + +#ifndef GL_3DFX_tbuffer +#define GL_3DFX_tbuffer 1 +typedef void (APIENTRYP PFNGLTBUFFERMASK3DFXPROC) (GLuint mask); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTbufferMask3DFX (GLuint mask); +#endif +#endif /* GL_3DFX_tbuffer */ + +#ifndef GL_3DFX_texture_compression_FXT1 +#define GL_3DFX_texture_compression_FXT1 1 +#define GL_COMPRESSED_RGB_FXT1_3DFX 0x86B0 +#define GL_COMPRESSED_RGBA_FXT1_3DFX 0x86B1 +#endif /* GL_3DFX_texture_compression_FXT1 */ + +#ifndef GL_AMD_blend_minmax_factor +#define GL_AMD_blend_minmax_factor 1 +#define GL_FACTOR_MIN_AMD 0x901C +#define GL_FACTOR_MAX_AMD 0x901D +#endif /* GL_AMD_blend_minmax_factor */ + +#ifndef GL_AMD_conservative_depth +#define GL_AMD_conservative_depth 1 +#endif /* GL_AMD_conservative_depth */ + +#ifndef GL_AMD_debug_output +#define GL_AMD_debug_output 1 +typedef void (APIENTRY *GLDEBUGPROCAMD)(GLuint id,GLenum category,GLenum severity,GLsizei length,const GLchar *message,void *userParam); +#define GL_MAX_DEBUG_MESSAGE_LENGTH_AMD 0x9143 +#define GL_MAX_DEBUG_LOGGED_MESSAGES_AMD 0x9144 +#define GL_DEBUG_LOGGED_MESSAGES_AMD 0x9145 +#define GL_DEBUG_SEVERITY_HIGH_AMD 0x9146 +#define GL_DEBUG_SEVERITY_MEDIUM_AMD 0x9147 +#define GL_DEBUG_SEVERITY_LOW_AMD 0x9148 +#define GL_DEBUG_CATEGORY_API_ERROR_AMD 0x9149 +#define GL_DEBUG_CATEGORY_WINDOW_SYSTEM_AMD 0x914A +#define GL_DEBUG_CATEGORY_DEPRECATION_AMD 0x914B +#define GL_DEBUG_CATEGORY_UNDEFINED_BEHAVIOR_AMD 0x914C +#define GL_DEBUG_CATEGORY_PERFORMANCE_AMD 0x914D +#define GL_DEBUG_CATEGORY_SHADER_COMPILER_AMD 0x914E +#define GL_DEBUG_CATEGORY_APPLICATION_AMD 0x914F +#define GL_DEBUG_CATEGORY_OTHER_AMD 0x9150 +typedef void (APIENTRYP PFNGLDEBUGMESSAGEENABLEAMDPROC) (GLenum category, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTAMDPROC) (GLenum category, GLenum severity, GLuint id, GLsizei length, const GLchar *buf); +typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKAMDPROC) (GLDEBUGPROCAMD callback, void *userParam); +typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGAMDPROC) (GLuint count, GLsizei bufSize, GLenum *categories, GLuint *severities, GLuint *ids, GLsizei *lengths, GLchar *message); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDebugMessageEnableAMD (GLenum category, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +GLAPI void APIENTRY glDebugMessageInsertAMD (GLenum category, GLenum severity, GLuint id, GLsizei length, const GLchar *buf); +GLAPI void APIENTRY glDebugMessageCallbackAMD (GLDEBUGPROCAMD callback, void *userParam); +GLAPI GLuint APIENTRY glGetDebugMessageLogAMD (GLuint count, GLsizei bufSize, GLenum *categories, GLuint *severities, GLuint *ids, GLsizei *lengths, GLchar *message); +#endif +#endif /* GL_AMD_debug_output */ + +#ifndef GL_AMD_depth_clamp_separate +#define GL_AMD_depth_clamp_separate 1 +#define GL_DEPTH_CLAMP_NEAR_AMD 0x901E +#define GL_DEPTH_CLAMP_FAR_AMD 0x901F +#endif /* GL_AMD_depth_clamp_separate */ + +#ifndef GL_AMD_draw_buffers_blend +#define GL_AMD_draw_buffers_blend 1 +typedef void (APIENTRYP PFNGLBLENDFUNCINDEXEDAMDPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEINDEXEDAMDPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +typedef void (APIENTRYP PFNGLBLENDEQUATIONINDEXEDAMDPROC) (GLuint buf, GLenum mode); +typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEINDEXEDAMDPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendFuncIndexedAMD (GLuint buf, GLenum src, GLenum dst); +GLAPI void APIENTRY glBlendFuncSeparateIndexedAMD (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +GLAPI void APIENTRY glBlendEquationIndexedAMD (GLuint buf, GLenum mode); +GLAPI void APIENTRY glBlendEquationSeparateIndexedAMD (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +#endif +#endif /* GL_AMD_draw_buffers_blend */ + +#ifndef GL_AMD_framebuffer_multisample_advanced +#define GL_AMD_framebuffer_multisample_advanced 1 +#define GL_RENDERBUFFER_STORAGE_SAMPLES_AMD 0x91B2 +#define GL_MAX_COLOR_FRAMEBUFFER_SAMPLES_AMD 0x91B3 +#define GL_MAX_COLOR_FRAMEBUFFER_STORAGE_SAMPLES_AMD 0x91B4 +#define GL_MAX_DEPTH_STENCIL_FRAMEBUFFER_SAMPLES_AMD 0x91B5 +#define GL_NUM_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B6 +#define GL_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B7 +typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glRenderbufferStorageMultisampleAdvancedAMD (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glNamedRenderbufferStorageMultisampleAdvancedAMD (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +#endif +#endif /* GL_AMD_framebuffer_multisample_advanced */ + +#ifndef GL_AMD_framebuffer_sample_positions +#define GL_AMD_framebuffer_sample_positions 1 +#define GL_SUBSAMPLE_DISTANCE_AMD 0x883F +#define GL_PIXELS_PER_SAMPLE_PATTERN_X_AMD 0x91AE +#define GL_PIXELS_PER_SAMPLE_PATTERN_Y_AMD 0x91AF +#define GL_ALL_PIXELS_AMD 0xFFFFFFFF +typedef void (APIENTRYP PFNGLFRAMEBUFFERSAMPLEPOSITIONSFVAMDPROC) (GLenum target, GLuint numsamples, GLuint pixelindex, const GLfloat *values); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLEPOSITIONSFVAMDPROC) (GLuint framebuffer, GLuint numsamples, GLuint pixelindex, const GLfloat *values); +typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERFVAMDPROC) (GLenum target, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); +typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERFVAMDPROC) (GLuint framebuffer, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferSamplePositionsfvAMD (GLenum target, GLuint numsamples, GLuint pixelindex, const GLfloat *values); +GLAPI void APIENTRY glNamedFramebufferSamplePositionsfvAMD (GLuint framebuffer, GLuint numsamples, GLuint pixelindex, const GLfloat *values); +GLAPI void APIENTRY glGetFramebufferParameterfvAMD (GLenum target, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); +GLAPI void APIENTRY glGetNamedFramebufferParameterfvAMD (GLuint framebuffer, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); +#endif +#endif /* GL_AMD_framebuffer_sample_positions */ + +#ifndef GL_AMD_gcn_shader +#define GL_AMD_gcn_shader 1 +#endif /* GL_AMD_gcn_shader */ + +#ifndef GL_AMD_gpu_shader_half_float +#define GL_AMD_gpu_shader_half_float 1 +#define GL_FLOAT16_NV 0x8FF8 +#define GL_FLOAT16_VEC2_NV 0x8FF9 +#define GL_FLOAT16_VEC3_NV 0x8FFA +#define GL_FLOAT16_VEC4_NV 0x8FFB +#define GL_FLOAT16_MAT2_AMD 0x91C5 +#define GL_FLOAT16_MAT3_AMD 0x91C6 +#define GL_FLOAT16_MAT4_AMD 0x91C7 +#define GL_FLOAT16_MAT2x3_AMD 0x91C8 +#define GL_FLOAT16_MAT2x4_AMD 0x91C9 +#define GL_FLOAT16_MAT3x2_AMD 0x91CA +#define GL_FLOAT16_MAT3x4_AMD 0x91CB +#define GL_FLOAT16_MAT4x2_AMD 0x91CC +#define GL_FLOAT16_MAT4x3_AMD 0x91CD +#endif /* GL_AMD_gpu_shader_half_float */ + +#ifndef GL_AMD_gpu_shader_int16 +#define GL_AMD_gpu_shader_int16 1 +#endif /* GL_AMD_gpu_shader_int16 */ + +#ifndef GL_AMD_gpu_shader_int64 +#define GL_AMD_gpu_shader_int64 1 +typedef khronos_int64_t GLint64EXT; +#define GL_INT64_NV 0x140E +#define GL_UNSIGNED_INT64_NV 0x140F +#define GL_INT8_NV 0x8FE0 +#define GL_INT8_VEC2_NV 0x8FE1 +#define GL_INT8_VEC3_NV 0x8FE2 +#define GL_INT8_VEC4_NV 0x8FE3 +#define GL_INT16_NV 0x8FE4 +#define GL_INT16_VEC2_NV 0x8FE5 +#define GL_INT16_VEC3_NV 0x8FE6 +#define GL_INT16_VEC4_NV 0x8FE7 +#define GL_INT64_VEC2_NV 0x8FE9 +#define GL_INT64_VEC3_NV 0x8FEA +#define GL_INT64_VEC4_NV 0x8FEB +#define GL_UNSIGNED_INT8_NV 0x8FEC +#define GL_UNSIGNED_INT8_VEC2_NV 0x8FED +#define GL_UNSIGNED_INT8_VEC3_NV 0x8FEE +#define GL_UNSIGNED_INT8_VEC4_NV 0x8FEF +#define GL_UNSIGNED_INT16_NV 0x8FF0 +#define GL_UNSIGNED_INT16_VEC2_NV 0x8FF1 +#define GL_UNSIGNED_INT16_VEC3_NV 0x8FF2 +#define GL_UNSIGNED_INT16_VEC4_NV 0x8FF3 +#define GL_UNSIGNED_INT64_VEC2_NV 0x8FF5 +#define GL_UNSIGNED_INT64_VEC3_NV 0x8FF6 +#define GL_UNSIGNED_INT64_VEC4_NV 0x8FF7 +typedef void (APIENTRYP PFNGLUNIFORM1I64NVPROC) (GLint location, GLint64EXT x); +typedef void (APIENTRYP PFNGLUNIFORM2I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y); +typedef void (APIENTRYP PFNGLUNIFORM3I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (APIENTRYP PFNGLUNIFORM4I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (APIENTRYP PFNGLUNIFORM1I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM2I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM3I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM4I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM1UI64NVPROC) (GLint location, GLuint64EXT x); +typedef void (APIENTRYP PFNGLUNIFORM2UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y); +typedef void (APIENTRYP PFNGLUNIFORM3UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (APIENTRYP PFNGLUNIFORM4UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (APIENTRYP PFNGLUNIFORM1UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM2UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM3UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLUNIFORM4UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLGETUNIFORMI64VNVPROC) (GLuint program, GLint location, GLint64EXT *params); +typedef void (APIENTRYP PFNGLGETUNIFORMUI64VNVPROC) (GLuint program, GLint location, GLuint64EXT *params); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64NVPROC) (GLuint program, GLint location, GLint64EXT x); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glUniform1i64NV (GLint location, GLint64EXT x); +GLAPI void APIENTRY glUniform2i64NV (GLint location, GLint64EXT x, GLint64EXT y); +GLAPI void APIENTRY glUniform3i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +GLAPI void APIENTRY glUniform4i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +GLAPI void APIENTRY glUniform1i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glUniform2i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glUniform3i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glUniform4i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glUniform1ui64NV (GLint location, GLuint64EXT x); +GLAPI void APIENTRY glUniform2ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y); +GLAPI void APIENTRY glUniform3ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +GLAPI void APIENTRY glUniform4ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +GLAPI void APIENTRY glUniform1ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glUniform2ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glUniform3ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glUniform4ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glGetUniformi64vNV (GLuint program, GLint location, GLint64EXT *params); +GLAPI void APIENTRY glGetUniformui64vNV (GLuint program, GLint location, GLuint64EXT *params); +GLAPI void APIENTRY glProgramUniform1i64NV (GLuint program, GLint location, GLint64EXT x); +GLAPI void APIENTRY glProgramUniform2i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); +GLAPI void APIENTRY glProgramUniform3i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +GLAPI void APIENTRY glProgramUniform4i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +GLAPI void APIENTRY glProgramUniform1i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glProgramUniform2i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glProgramUniform3i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glProgramUniform4i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GLAPI void APIENTRY glProgramUniform1ui64NV (GLuint program, GLint location, GLuint64EXT x); +GLAPI void APIENTRY glProgramUniform2ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); +GLAPI void APIENTRY glProgramUniform3ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +GLAPI void APIENTRY glProgramUniform4ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +GLAPI void APIENTRY glProgramUniform1ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glProgramUniform2ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glProgramUniform3ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glProgramUniform4ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +#endif +#endif /* GL_AMD_gpu_shader_int64 */ + +#ifndef GL_AMD_interleaved_elements +#define GL_AMD_interleaved_elements 1 +#define GL_VERTEX_ELEMENT_SWIZZLE_AMD 0x91A4 +#define GL_VERTEX_ID_SWIZZLE_AMD 0x91A5 +typedef void (APIENTRYP PFNGLVERTEXATTRIBPARAMETERIAMDPROC) (GLuint index, GLenum pname, GLint param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexAttribParameteriAMD (GLuint index, GLenum pname, GLint param); +#endif +#endif /* GL_AMD_interleaved_elements */ + +#ifndef GL_AMD_multi_draw_indirect +#define GL_AMD_multi_draw_indirect 1 +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTAMDPROC) (GLenum mode, const void *indirect, GLsizei primcount, GLsizei stride); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTAMDPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei primcount, GLsizei stride); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiDrawArraysIndirectAMD (GLenum mode, const void *indirect, GLsizei primcount, GLsizei stride); +GLAPI void APIENTRY glMultiDrawElementsIndirectAMD (GLenum mode, GLenum type, const void *indirect, GLsizei primcount, GLsizei stride); +#endif +#endif /* GL_AMD_multi_draw_indirect */ + +#ifndef GL_AMD_name_gen_delete +#define GL_AMD_name_gen_delete 1 +#define GL_DATA_BUFFER_AMD 0x9151 +#define GL_PERFORMANCE_MONITOR_AMD 0x9152 +#define GL_QUERY_OBJECT_AMD 0x9153 +#define GL_VERTEX_ARRAY_OBJECT_AMD 0x9154 +#define GL_SAMPLER_OBJECT_AMD 0x9155 +typedef void (APIENTRYP PFNGLGENNAMESAMDPROC) (GLenum identifier, GLuint num, GLuint *names); +typedef void (APIENTRYP PFNGLDELETENAMESAMDPROC) (GLenum identifier, GLuint num, const GLuint *names); +typedef GLboolean (APIENTRYP PFNGLISNAMEAMDPROC) (GLenum identifier, GLuint name); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenNamesAMD (GLenum identifier, GLuint num, GLuint *names); +GLAPI void APIENTRY glDeleteNamesAMD (GLenum identifier, GLuint num, const GLuint *names); +GLAPI GLboolean APIENTRY glIsNameAMD (GLenum identifier, GLuint name); +#endif +#endif /* GL_AMD_name_gen_delete */ + +#ifndef GL_AMD_occlusion_query_event +#define GL_AMD_occlusion_query_event 1 +#define GL_OCCLUSION_QUERY_EVENT_MASK_AMD 0x874F +#define GL_QUERY_DEPTH_PASS_EVENT_BIT_AMD 0x00000001 +#define GL_QUERY_DEPTH_FAIL_EVENT_BIT_AMD 0x00000002 +#define GL_QUERY_STENCIL_FAIL_EVENT_BIT_AMD 0x00000004 +#define GL_QUERY_DEPTH_BOUNDS_FAIL_EVENT_BIT_AMD 0x00000008 +#define GL_QUERY_ALL_EVENT_BITS_AMD 0xFFFFFFFF +typedef void (APIENTRYP PFNGLQUERYOBJECTPARAMETERUIAMDPROC) (GLenum target, GLuint id, GLenum pname, GLuint param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glQueryObjectParameteruiAMD (GLenum target, GLuint id, GLenum pname, GLuint param); +#endif +#endif /* GL_AMD_occlusion_query_event */ + +#ifndef GL_AMD_performance_monitor +#define GL_AMD_performance_monitor 1 +#define GL_COUNTER_TYPE_AMD 0x8BC0 +#define GL_COUNTER_RANGE_AMD 0x8BC1 +#define GL_UNSIGNED_INT64_AMD 0x8BC2 +#define GL_PERCENTAGE_AMD 0x8BC3 +#define GL_PERFMON_RESULT_AVAILABLE_AMD 0x8BC4 +#define GL_PERFMON_RESULT_SIZE_AMD 0x8BC5 +#define GL_PERFMON_RESULT_AMD 0x8BC6 +typedef void (APIENTRYP PFNGLGETPERFMONITORGROUPSAMDPROC) (GLint *numGroups, GLsizei groupsSize, GLuint *groups); +typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERSAMDPROC) (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); +typedef void (APIENTRYP PFNGLGETPERFMONITORGROUPSTRINGAMDPROC) (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); +typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERSTRINGAMDPROC) (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); +typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERINFOAMDPROC) (GLuint group, GLuint counter, GLenum pname, void *data); +typedef void (APIENTRYP PFNGLGENPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); +typedef void (APIENTRYP PFNGLDELETEPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); +typedef void (APIENTRYP PFNGLSELECTPERFMONITORCOUNTERSAMDPROC) (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); +typedef void (APIENTRYP PFNGLBEGINPERFMONITORAMDPROC) (GLuint monitor); +typedef void (APIENTRYP PFNGLENDPERFMONITORAMDPROC) (GLuint monitor); +typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERDATAAMDPROC) (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetPerfMonitorGroupsAMD (GLint *numGroups, GLsizei groupsSize, GLuint *groups); +GLAPI void APIENTRY glGetPerfMonitorCountersAMD (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); +GLAPI void APIENTRY glGetPerfMonitorGroupStringAMD (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); +GLAPI void APIENTRY glGetPerfMonitorCounterStringAMD (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); +GLAPI void APIENTRY glGetPerfMonitorCounterInfoAMD (GLuint group, GLuint counter, GLenum pname, void *data); +GLAPI void APIENTRY glGenPerfMonitorsAMD (GLsizei n, GLuint *monitors); +GLAPI void APIENTRY glDeletePerfMonitorsAMD (GLsizei n, GLuint *monitors); +GLAPI void APIENTRY glSelectPerfMonitorCountersAMD (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); +GLAPI void APIENTRY glBeginPerfMonitorAMD (GLuint monitor); +GLAPI void APIENTRY glEndPerfMonitorAMD (GLuint monitor); +GLAPI void APIENTRY glGetPerfMonitorCounterDataAMD (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); +#endif +#endif /* GL_AMD_performance_monitor */ + +#ifndef GL_AMD_pinned_memory +#define GL_AMD_pinned_memory 1 +#define GL_EXTERNAL_VIRTUAL_MEMORY_BUFFER_AMD 0x9160 +#endif /* GL_AMD_pinned_memory */ + +#ifndef GL_AMD_query_buffer_object +#define GL_AMD_query_buffer_object 1 +#define GL_QUERY_BUFFER_AMD 0x9192 +#define GL_QUERY_BUFFER_BINDING_AMD 0x9193 +#define GL_QUERY_RESULT_NO_WAIT_AMD 0x9194 +#endif /* GL_AMD_query_buffer_object */ + +#ifndef GL_AMD_sample_positions +#define GL_AMD_sample_positions 1 +typedef void (APIENTRYP PFNGLSETMULTISAMPLEFVAMDPROC) (GLenum pname, GLuint index, const GLfloat *val); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSetMultisamplefvAMD (GLenum pname, GLuint index, const GLfloat *val); +#endif +#endif /* GL_AMD_sample_positions */ + +#ifndef GL_AMD_seamless_cubemap_per_texture +#define GL_AMD_seamless_cubemap_per_texture 1 +#endif /* GL_AMD_seamless_cubemap_per_texture */ + +#ifndef GL_AMD_shader_atomic_counter_ops +#define GL_AMD_shader_atomic_counter_ops 1 +#endif /* GL_AMD_shader_atomic_counter_ops */ + +#ifndef GL_AMD_shader_ballot +#define GL_AMD_shader_ballot 1 +#endif /* GL_AMD_shader_ballot */ + +#ifndef GL_AMD_shader_explicit_vertex_parameter +#define GL_AMD_shader_explicit_vertex_parameter 1 +#endif /* GL_AMD_shader_explicit_vertex_parameter */ + +#ifndef GL_AMD_shader_gpu_shader_half_float_fetch +#define GL_AMD_shader_gpu_shader_half_float_fetch 1 +#endif /* GL_AMD_shader_gpu_shader_half_float_fetch */ + +#ifndef GL_AMD_shader_image_load_store_lod +#define GL_AMD_shader_image_load_store_lod 1 +#endif /* GL_AMD_shader_image_load_store_lod */ + +#ifndef GL_AMD_shader_stencil_export +#define GL_AMD_shader_stencil_export 1 +#endif /* GL_AMD_shader_stencil_export */ + +#ifndef GL_AMD_shader_trinary_minmax +#define GL_AMD_shader_trinary_minmax 1 +#endif /* GL_AMD_shader_trinary_minmax */ + +#ifndef GL_AMD_sparse_texture +#define GL_AMD_sparse_texture 1 +#define GL_VIRTUAL_PAGE_SIZE_X_AMD 0x9195 +#define GL_VIRTUAL_PAGE_SIZE_Y_AMD 0x9196 +#define GL_VIRTUAL_PAGE_SIZE_Z_AMD 0x9197 +#define GL_MAX_SPARSE_TEXTURE_SIZE_AMD 0x9198 +#define GL_MAX_SPARSE_3D_TEXTURE_SIZE_AMD 0x9199 +#define GL_MAX_SPARSE_ARRAY_TEXTURE_LAYERS 0x919A +#define GL_MIN_SPARSE_LEVEL_AMD 0x919B +#define GL_MIN_LOD_WARNING_AMD 0x919C +#define GL_TEXTURE_STORAGE_SPARSE_BIT_AMD 0x00000001 +typedef void (APIENTRYP PFNGLTEXSTORAGESPARSEAMDPROC) (GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); +typedef void (APIENTRYP PFNGLTEXTURESTORAGESPARSEAMDPROC) (GLuint texture, GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexStorageSparseAMD (GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); +GLAPI void APIENTRY glTextureStorageSparseAMD (GLuint texture, GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); +#endif +#endif /* GL_AMD_sparse_texture */ + +#ifndef GL_AMD_stencil_operation_extended +#define GL_AMD_stencil_operation_extended 1 +#define GL_SET_AMD 0x874A +#define GL_REPLACE_VALUE_AMD 0x874B +#define GL_STENCIL_OP_VALUE_AMD 0x874C +#define GL_STENCIL_BACK_OP_VALUE_AMD 0x874D +typedef void (APIENTRYP PFNGLSTENCILOPVALUEAMDPROC) (GLenum face, GLuint value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glStencilOpValueAMD (GLenum face, GLuint value); +#endif +#endif /* GL_AMD_stencil_operation_extended */ + +#ifndef GL_AMD_texture_gather_bias_lod +#define GL_AMD_texture_gather_bias_lod 1 +#endif /* GL_AMD_texture_gather_bias_lod */ + +#ifndef GL_AMD_texture_texture4 +#define GL_AMD_texture_texture4 1 +#endif /* GL_AMD_texture_texture4 */ + +#ifndef GL_AMD_transform_feedback3_lines_triangles +#define GL_AMD_transform_feedback3_lines_triangles 1 +#endif /* GL_AMD_transform_feedback3_lines_triangles */ + +#ifndef GL_AMD_transform_feedback4 +#define GL_AMD_transform_feedback4 1 +#define GL_STREAM_RASTERIZATION_AMD 0x91A0 +#endif /* GL_AMD_transform_feedback4 */ + +#ifndef GL_AMD_vertex_shader_layer +#define GL_AMD_vertex_shader_layer 1 +#endif /* GL_AMD_vertex_shader_layer */ + +#ifndef GL_AMD_vertex_shader_tessellator +#define GL_AMD_vertex_shader_tessellator 1 +#define GL_SAMPLER_BUFFER_AMD 0x9001 +#define GL_INT_SAMPLER_BUFFER_AMD 0x9002 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER_AMD 0x9003 +#define GL_TESSELLATION_MODE_AMD 0x9004 +#define GL_TESSELLATION_FACTOR_AMD 0x9005 +#define GL_DISCRETE_AMD 0x9006 +#define GL_CONTINUOUS_AMD 0x9007 +typedef void (APIENTRYP PFNGLTESSELLATIONFACTORAMDPROC) (GLfloat factor); +typedef void (APIENTRYP PFNGLTESSELLATIONMODEAMDPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTessellationFactorAMD (GLfloat factor); +GLAPI void APIENTRY glTessellationModeAMD (GLenum mode); +#endif +#endif /* GL_AMD_vertex_shader_tessellator */ + +#ifndef GL_AMD_vertex_shader_viewport_index +#define GL_AMD_vertex_shader_viewport_index 1 +#endif /* GL_AMD_vertex_shader_viewport_index */ + +#ifndef GL_APPLE_aux_depth_stencil +#define GL_APPLE_aux_depth_stencil 1 +#define GL_AUX_DEPTH_STENCIL_APPLE 0x8A14 +#endif /* GL_APPLE_aux_depth_stencil */ + +#ifndef GL_APPLE_client_storage +#define GL_APPLE_client_storage 1 +#define GL_UNPACK_CLIENT_STORAGE_APPLE 0x85B2 +#endif /* GL_APPLE_client_storage */ + +#ifndef GL_APPLE_element_array +#define GL_APPLE_element_array 1 +#define GL_ELEMENT_ARRAY_APPLE 0x8A0C +#define GL_ELEMENT_ARRAY_TYPE_APPLE 0x8A0D +#define GL_ELEMENT_ARRAY_POINTER_APPLE 0x8A0E +typedef void (APIENTRYP PFNGLELEMENTPOINTERAPPLEPROC) (GLenum type, const void *pointer); +typedef void (APIENTRYP PFNGLDRAWELEMENTARRAYAPPLEPROC) (GLenum mode, GLint first, GLsizei count); +typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTARRAYAPPLEPROC) (GLenum mode, GLuint start, GLuint end, GLint first, GLsizei count); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTARRAYAPPLEPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); +typedef void (APIENTRYP PFNGLMULTIDRAWRANGEELEMENTARRAYAPPLEPROC) (GLenum mode, GLuint start, GLuint end, const GLint *first, const GLsizei *count, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glElementPointerAPPLE (GLenum type, const void *pointer); +GLAPI void APIENTRY glDrawElementArrayAPPLE (GLenum mode, GLint first, GLsizei count); +GLAPI void APIENTRY glDrawRangeElementArrayAPPLE (GLenum mode, GLuint start, GLuint end, GLint first, GLsizei count); +GLAPI void APIENTRY glMultiDrawElementArrayAPPLE (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); +GLAPI void APIENTRY glMultiDrawRangeElementArrayAPPLE (GLenum mode, GLuint start, GLuint end, const GLint *first, const GLsizei *count, GLsizei primcount); +#endif +#endif /* GL_APPLE_element_array */ + +#ifndef GL_APPLE_fence +#define GL_APPLE_fence 1 +#define GL_DRAW_PIXELS_APPLE 0x8A0A +#define GL_FENCE_APPLE 0x8A0B +typedef void (APIENTRYP PFNGLGENFENCESAPPLEPROC) (GLsizei n, GLuint *fences); +typedef void (APIENTRYP PFNGLDELETEFENCESAPPLEPROC) (GLsizei n, const GLuint *fences); +typedef void (APIENTRYP PFNGLSETFENCEAPPLEPROC) (GLuint fence); +typedef GLboolean (APIENTRYP PFNGLISFENCEAPPLEPROC) (GLuint fence); +typedef GLboolean (APIENTRYP PFNGLTESTFENCEAPPLEPROC) (GLuint fence); +typedef void (APIENTRYP PFNGLFINISHFENCEAPPLEPROC) (GLuint fence); +typedef GLboolean (APIENTRYP PFNGLTESTOBJECTAPPLEPROC) (GLenum object, GLuint name); +typedef void (APIENTRYP PFNGLFINISHOBJECTAPPLEPROC) (GLenum object, GLint name); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenFencesAPPLE (GLsizei n, GLuint *fences); +GLAPI void APIENTRY glDeleteFencesAPPLE (GLsizei n, const GLuint *fences); +GLAPI void APIENTRY glSetFenceAPPLE (GLuint fence); +GLAPI GLboolean APIENTRY glIsFenceAPPLE (GLuint fence); +GLAPI GLboolean APIENTRY glTestFenceAPPLE (GLuint fence); +GLAPI void APIENTRY glFinishFenceAPPLE (GLuint fence); +GLAPI GLboolean APIENTRY glTestObjectAPPLE (GLenum object, GLuint name); +GLAPI void APIENTRY glFinishObjectAPPLE (GLenum object, GLint name); +#endif +#endif /* GL_APPLE_fence */ + +#ifndef GL_APPLE_float_pixels +#define GL_APPLE_float_pixels 1 +#define GL_HALF_APPLE 0x140B +#define GL_RGBA_FLOAT32_APPLE 0x8814 +#define GL_RGB_FLOAT32_APPLE 0x8815 +#define GL_ALPHA_FLOAT32_APPLE 0x8816 +#define GL_INTENSITY_FLOAT32_APPLE 0x8817 +#define GL_LUMINANCE_FLOAT32_APPLE 0x8818 +#define GL_LUMINANCE_ALPHA_FLOAT32_APPLE 0x8819 +#define GL_RGBA_FLOAT16_APPLE 0x881A +#define GL_RGB_FLOAT16_APPLE 0x881B +#define GL_ALPHA_FLOAT16_APPLE 0x881C +#define GL_INTENSITY_FLOAT16_APPLE 0x881D +#define GL_LUMINANCE_FLOAT16_APPLE 0x881E +#define GL_LUMINANCE_ALPHA_FLOAT16_APPLE 0x881F +#define GL_COLOR_FLOAT_APPLE 0x8A0F +#endif /* GL_APPLE_float_pixels */ + +#ifndef GL_APPLE_flush_buffer_range +#define GL_APPLE_flush_buffer_range 1 +#define GL_BUFFER_SERIALIZED_MODIFY_APPLE 0x8A12 +#define GL_BUFFER_FLUSHING_UNMAP_APPLE 0x8A13 +typedef void (APIENTRYP PFNGLBUFFERPARAMETERIAPPLEPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEAPPLEPROC) (GLenum target, GLintptr offset, GLsizeiptr size); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBufferParameteriAPPLE (GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glFlushMappedBufferRangeAPPLE (GLenum target, GLintptr offset, GLsizeiptr size); +#endif +#endif /* GL_APPLE_flush_buffer_range */ + +#ifndef GL_APPLE_object_purgeable +#define GL_APPLE_object_purgeable 1 +#define GL_BUFFER_OBJECT_APPLE 0x85B3 +#define GL_RELEASED_APPLE 0x8A19 +#define GL_VOLATILE_APPLE 0x8A1A +#define GL_RETAINED_APPLE 0x8A1B +#define GL_UNDEFINED_APPLE 0x8A1C +#define GL_PURGEABLE_APPLE 0x8A1D +typedef GLenum (APIENTRYP PFNGLOBJECTPURGEABLEAPPLEPROC) (GLenum objectType, GLuint name, GLenum option); +typedef GLenum (APIENTRYP PFNGLOBJECTUNPURGEABLEAPPLEPROC) (GLenum objectType, GLuint name, GLenum option); +typedef void (APIENTRYP PFNGLGETOBJECTPARAMETERIVAPPLEPROC) (GLenum objectType, GLuint name, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLenum APIENTRY glObjectPurgeableAPPLE (GLenum objectType, GLuint name, GLenum option); +GLAPI GLenum APIENTRY glObjectUnpurgeableAPPLE (GLenum objectType, GLuint name, GLenum option); +GLAPI void APIENTRY glGetObjectParameterivAPPLE (GLenum objectType, GLuint name, GLenum pname, GLint *params); +#endif +#endif /* GL_APPLE_object_purgeable */ + +#ifndef GL_APPLE_rgb_422 +#define GL_APPLE_rgb_422 1 +#define GL_RGB_422_APPLE 0x8A1F +#define GL_UNSIGNED_SHORT_8_8_APPLE 0x85BA +#define GL_UNSIGNED_SHORT_8_8_REV_APPLE 0x85BB +#define GL_RGB_RAW_422_APPLE 0x8A51 +#endif /* GL_APPLE_rgb_422 */ + +#ifndef GL_APPLE_row_bytes +#define GL_APPLE_row_bytes 1 +#define GL_PACK_ROW_BYTES_APPLE 0x8A15 +#define GL_UNPACK_ROW_BYTES_APPLE 0x8A16 +#endif /* GL_APPLE_row_bytes */ + +#ifndef GL_APPLE_specular_vector +#define GL_APPLE_specular_vector 1 +#define GL_LIGHT_MODEL_SPECULAR_VECTOR_APPLE 0x85B0 +#endif /* GL_APPLE_specular_vector */ + +#ifndef GL_APPLE_texture_range +#define GL_APPLE_texture_range 1 +#define GL_TEXTURE_RANGE_LENGTH_APPLE 0x85B7 +#define GL_TEXTURE_RANGE_POINTER_APPLE 0x85B8 +#define GL_TEXTURE_STORAGE_HINT_APPLE 0x85BC +#define GL_STORAGE_PRIVATE_APPLE 0x85BD +#define GL_STORAGE_CACHED_APPLE 0x85BE +#define GL_STORAGE_SHARED_APPLE 0x85BF +typedef void (APIENTRYP PFNGLTEXTURERANGEAPPLEPROC) (GLenum target, GLsizei length, const void *pointer); +typedef void (APIENTRYP PFNGLGETTEXPARAMETERPOINTERVAPPLEPROC) (GLenum target, GLenum pname, void **params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTextureRangeAPPLE (GLenum target, GLsizei length, const void *pointer); +GLAPI void APIENTRY glGetTexParameterPointervAPPLE (GLenum target, GLenum pname, void **params); +#endif +#endif /* GL_APPLE_texture_range */ + +#ifndef GL_APPLE_transform_hint +#define GL_APPLE_transform_hint 1 +#define GL_TRANSFORM_HINT_APPLE 0x85B1 +#endif /* GL_APPLE_transform_hint */ + +#ifndef GL_APPLE_vertex_array_object +#define GL_APPLE_vertex_array_object 1 +#define GL_VERTEX_ARRAY_BINDING_APPLE 0x85B5 +typedef void (APIENTRYP PFNGLBINDVERTEXARRAYAPPLEPROC) (GLuint array); +typedef void (APIENTRYP PFNGLDELETEVERTEXARRAYSAPPLEPROC) (GLsizei n, const GLuint *arrays); +typedef void (APIENTRYP PFNGLGENVERTEXARRAYSAPPLEPROC) (GLsizei n, GLuint *arrays); +typedef GLboolean (APIENTRYP PFNGLISVERTEXARRAYAPPLEPROC) (GLuint array); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindVertexArrayAPPLE (GLuint array); +GLAPI void APIENTRY glDeleteVertexArraysAPPLE (GLsizei n, const GLuint *arrays); +GLAPI void APIENTRY glGenVertexArraysAPPLE (GLsizei n, GLuint *arrays); +GLAPI GLboolean APIENTRY glIsVertexArrayAPPLE (GLuint array); +#endif +#endif /* GL_APPLE_vertex_array_object */ + +#ifndef GL_APPLE_vertex_array_range +#define GL_APPLE_vertex_array_range 1 +#define GL_VERTEX_ARRAY_RANGE_APPLE 0x851D +#define GL_VERTEX_ARRAY_RANGE_LENGTH_APPLE 0x851E +#define GL_VERTEX_ARRAY_STORAGE_HINT_APPLE 0x851F +#define GL_VERTEX_ARRAY_RANGE_POINTER_APPLE 0x8521 +#define GL_STORAGE_CLIENT_APPLE 0x85B4 +typedef void (APIENTRYP PFNGLVERTEXARRAYRANGEAPPLEPROC) (GLsizei length, void *pointer); +typedef void (APIENTRYP PFNGLFLUSHVERTEXARRAYRANGEAPPLEPROC) (GLsizei length, void *pointer); +typedef void (APIENTRYP PFNGLVERTEXARRAYPARAMETERIAPPLEPROC) (GLenum pname, GLint param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexArrayRangeAPPLE (GLsizei length, void *pointer); +GLAPI void APIENTRY glFlushVertexArrayRangeAPPLE (GLsizei length, void *pointer); +GLAPI void APIENTRY glVertexArrayParameteriAPPLE (GLenum pname, GLint param); +#endif +#endif /* GL_APPLE_vertex_array_range */ + +#ifndef GL_APPLE_vertex_program_evaluators +#define GL_APPLE_vertex_program_evaluators 1 +#define GL_VERTEX_ATTRIB_MAP1_APPLE 0x8A00 +#define GL_VERTEX_ATTRIB_MAP2_APPLE 0x8A01 +#define GL_VERTEX_ATTRIB_MAP1_SIZE_APPLE 0x8A02 +#define GL_VERTEX_ATTRIB_MAP1_COEFF_APPLE 0x8A03 +#define GL_VERTEX_ATTRIB_MAP1_ORDER_APPLE 0x8A04 +#define GL_VERTEX_ATTRIB_MAP1_DOMAIN_APPLE 0x8A05 +#define GL_VERTEX_ATTRIB_MAP2_SIZE_APPLE 0x8A06 +#define GL_VERTEX_ATTRIB_MAP2_COEFF_APPLE 0x8A07 +#define GL_VERTEX_ATTRIB_MAP2_ORDER_APPLE 0x8A08 +#define GL_VERTEX_ATTRIB_MAP2_DOMAIN_APPLE 0x8A09 +typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBAPPLEPROC) (GLuint index, GLenum pname); +typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBAPPLEPROC) (GLuint index, GLenum pname); +typedef GLboolean (APIENTRYP PFNGLISVERTEXATTRIBENABLEDAPPLEPROC) (GLuint index, GLenum pname); +typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB1DAPPLEPROC) (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points); +typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB1FAPPLEPROC) (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points); +typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB2DAPPLEPROC) (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points); +typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB2FAPPLEPROC) (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glEnableVertexAttribAPPLE (GLuint index, GLenum pname); +GLAPI void APIENTRY glDisableVertexAttribAPPLE (GLuint index, GLenum pname); +GLAPI GLboolean APIENTRY glIsVertexAttribEnabledAPPLE (GLuint index, GLenum pname); +GLAPI void APIENTRY glMapVertexAttrib1dAPPLE (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points); +GLAPI void APIENTRY glMapVertexAttrib1fAPPLE (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points); +GLAPI void APIENTRY glMapVertexAttrib2dAPPLE (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points); +GLAPI void APIENTRY glMapVertexAttrib2fAPPLE (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points); +#endif +#endif /* GL_APPLE_vertex_program_evaluators */ + +#ifndef GL_APPLE_ycbcr_422 +#define GL_APPLE_ycbcr_422 1 +#define GL_YCBCR_422_APPLE 0x85B9 +#endif /* GL_APPLE_ycbcr_422 */ + +#ifndef GL_ATI_draw_buffers +#define GL_ATI_draw_buffers 1 +#define GL_MAX_DRAW_BUFFERS_ATI 0x8824 +#define GL_DRAW_BUFFER0_ATI 0x8825 +#define GL_DRAW_BUFFER1_ATI 0x8826 +#define GL_DRAW_BUFFER2_ATI 0x8827 +#define GL_DRAW_BUFFER3_ATI 0x8828 +#define GL_DRAW_BUFFER4_ATI 0x8829 +#define GL_DRAW_BUFFER5_ATI 0x882A +#define GL_DRAW_BUFFER6_ATI 0x882B +#define GL_DRAW_BUFFER7_ATI 0x882C +#define GL_DRAW_BUFFER8_ATI 0x882D +#define GL_DRAW_BUFFER9_ATI 0x882E +#define GL_DRAW_BUFFER10_ATI 0x882F +#define GL_DRAW_BUFFER11_ATI 0x8830 +#define GL_DRAW_BUFFER12_ATI 0x8831 +#define GL_DRAW_BUFFER13_ATI 0x8832 +#define GL_DRAW_BUFFER14_ATI 0x8833 +#define GL_DRAW_BUFFER15_ATI 0x8834 +typedef void (APIENTRYP PFNGLDRAWBUFFERSATIPROC) (GLsizei n, const GLenum *bufs); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawBuffersATI (GLsizei n, const GLenum *bufs); +#endif +#endif /* GL_ATI_draw_buffers */ + +#ifndef GL_ATI_element_array +#define GL_ATI_element_array 1 +#define GL_ELEMENT_ARRAY_ATI 0x8768 +#define GL_ELEMENT_ARRAY_TYPE_ATI 0x8769 +#define GL_ELEMENT_ARRAY_POINTER_ATI 0x876A +typedef void (APIENTRYP PFNGLELEMENTPOINTERATIPROC) (GLenum type, const void *pointer); +typedef void (APIENTRYP PFNGLDRAWELEMENTARRAYATIPROC) (GLenum mode, GLsizei count); +typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTARRAYATIPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glElementPointerATI (GLenum type, const void *pointer); +GLAPI void APIENTRY glDrawElementArrayATI (GLenum mode, GLsizei count); +GLAPI void APIENTRY glDrawRangeElementArrayATI (GLenum mode, GLuint start, GLuint end, GLsizei count); +#endif +#endif /* GL_ATI_element_array */ + +#ifndef GL_ATI_envmap_bumpmap +#define GL_ATI_envmap_bumpmap 1 +#define GL_BUMP_ROT_MATRIX_ATI 0x8775 +#define GL_BUMP_ROT_MATRIX_SIZE_ATI 0x8776 +#define GL_BUMP_NUM_TEX_UNITS_ATI 0x8777 +#define GL_BUMP_TEX_UNITS_ATI 0x8778 +#define GL_DUDV_ATI 0x8779 +#define GL_DU8DV8_ATI 0x877A +#define GL_BUMP_ENVMAP_ATI 0x877B +#define GL_BUMP_TARGET_ATI 0x877C +typedef void (APIENTRYP PFNGLTEXBUMPPARAMETERIVATIPROC) (GLenum pname, const GLint *param); +typedef void (APIENTRYP PFNGLTEXBUMPPARAMETERFVATIPROC) (GLenum pname, const GLfloat *param); +typedef void (APIENTRYP PFNGLGETTEXBUMPPARAMETERIVATIPROC) (GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETTEXBUMPPARAMETERFVATIPROC) (GLenum pname, GLfloat *param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexBumpParameterivATI (GLenum pname, const GLint *param); +GLAPI void APIENTRY glTexBumpParameterfvATI (GLenum pname, const GLfloat *param); +GLAPI void APIENTRY glGetTexBumpParameterivATI (GLenum pname, GLint *param); +GLAPI void APIENTRY glGetTexBumpParameterfvATI (GLenum pname, GLfloat *param); +#endif +#endif /* GL_ATI_envmap_bumpmap */ + +#ifndef GL_ATI_fragment_shader +#define GL_ATI_fragment_shader 1 +#define GL_FRAGMENT_SHADER_ATI 0x8920 +#define GL_REG_0_ATI 0x8921 +#define GL_REG_1_ATI 0x8922 +#define GL_REG_2_ATI 0x8923 +#define GL_REG_3_ATI 0x8924 +#define GL_REG_4_ATI 0x8925 +#define GL_REG_5_ATI 0x8926 +#define GL_REG_6_ATI 0x8927 +#define GL_REG_7_ATI 0x8928 +#define GL_REG_8_ATI 0x8929 +#define GL_REG_9_ATI 0x892A +#define GL_REG_10_ATI 0x892B +#define GL_REG_11_ATI 0x892C +#define GL_REG_12_ATI 0x892D +#define GL_REG_13_ATI 0x892E +#define GL_REG_14_ATI 0x892F +#define GL_REG_15_ATI 0x8930 +#define GL_REG_16_ATI 0x8931 +#define GL_REG_17_ATI 0x8932 +#define GL_REG_18_ATI 0x8933 +#define GL_REG_19_ATI 0x8934 +#define GL_REG_20_ATI 0x8935 +#define GL_REG_21_ATI 0x8936 +#define GL_REG_22_ATI 0x8937 +#define GL_REG_23_ATI 0x8938 +#define GL_REG_24_ATI 0x8939 +#define GL_REG_25_ATI 0x893A +#define GL_REG_26_ATI 0x893B +#define GL_REG_27_ATI 0x893C +#define GL_REG_28_ATI 0x893D +#define GL_REG_29_ATI 0x893E +#define GL_REG_30_ATI 0x893F +#define GL_REG_31_ATI 0x8940 +#define GL_CON_0_ATI 0x8941 +#define GL_CON_1_ATI 0x8942 +#define GL_CON_2_ATI 0x8943 +#define GL_CON_3_ATI 0x8944 +#define GL_CON_4_ATI 0x8945 +#define GL_CON_5_ATI 0x8946 +#define GL_CON_6_ATI 0x8947 +#define GL_CON_7_ATI 0x8948 +#define GL_CON_8_ATI 0x8949 +#define GL_CON_9_ATI 0x894A +#define GL_CON_10_ATI 0x894B +#define GL_CON_11_ATI 0x894C +#define GL_CON_12_ATI 0x894D +#define GL_CON_13_ATI 0x894E +#define GL_CON_14_ATI 0x894F +#define GL_CON_15_ATI 0x8950 +#define GL_CON_16_ATI 0x8951 +#define GL_CON_17_ATI 0x8952 +#define GL_CON_18_ATI 0x8953 +#define GL_CON_19_ATI 0x8954 +#define GL_CON_20_ATI 0x8955 +#define GL_CON_21_ATI 0x8956 +#define GL_CON_22_ATI 0x8957 +#define GL_CON_23_ATI 0x8958 +#define GL_CON_24_ATI 0x8959 +#define GL_CON_25_ATI 0x895A +#define GL_CON_26_ATI 0x895B +#define GL_CON_27_ATI 0x895C +#define GL_CON_28_ATI 0x895D +#define GL_CON_29_ATI 0x895E +#define GL_CON_30_ATI 0x895F +#define GL_CON_31_ATI 0x8960 +#define GL_MOV_ATI 0x8961 +#define GL_ADD_ATI 0x8963 +#define GL_MUL_ATI 0x8964 +#define GL_SUB_ATI 0x8965 +#define GL_DOT3_ATI 0x8966 +#define GL_DOT4_ATI 0x8967 +#define GL_MAD_ATI 0x8968 +#define GL_LERP_ATI 0x8969 +#define GL_CND_ATI 0x896A +#define GL_CND0_ATI 0x896B +#define GL_DOT2_ADD_ATI 0x896C +#define GL_SECONDARY_INTERPOLATOR_ATI 0x896D +#define GL_NUM_FRAGMENT_REGISTERS_ATI 0x896E +#define GL_NUM_FRAGMENT_CONSTANTS_ATI 0x896F +#define GL_NUM_PASSES_ATI 0x8970 +#define GL_NUM_INSTRUCTIONS_PER_PASS_ATI 0x8971 +#define GL_NUM_INSTRUCTIONS_TOTAL_ATI 0x8972 +#define GL_NUM_INPUT_INTERPOLATOR_COMPONENTS_ATI 0x8973 +#define GL_NUM_LOOPBACK_COMPONENTS_ATI 0x8974 +#define GL_COLOR_ALPHA_PAIRING_ATI 0x8975 +#define GL_SWIZZLE_STR_ATI 0x8976 +#define GL_SWIZZLE_STQ_ATI 0x8977 +#define GL_SWIZZLE_STR_DR_ATI 0x8978 +#define GL_SWIZZLE_STQ_DQ_ATI 0x8979 +#define GL_SWIZZLE_STRQ_ATI 0x897A +#define GL_SWIZZLE_STRQ_DQ_ATI 0x897B +#define GL_RED_BIT_ATI 0x00000001 +#define GL_GREEN_BIT_ATI 0x00000002 +#define GL_BLUE_BIT_ATI 0x00000004 +#define GL_2X_BIT_ATI 0x00000001 +#define GL_4X_BIT_ATI 0x00000002 +#define GL_8X_BIT_ATI 0x00000004 +#define GL_HALF_BIT_ATI 0x00000008 +#define GL_QUARTER_BIT_ATI 0x00000010 +#define GL_EIGHTH_BIT_ATI 0x00000020 +#define GL_SATURATE_BIT_ATI 0x00000040 +#define GL_COMP_BIT_ATI 0x00000002 +#define GL_NEGATE_BIT_ATI 0x00000004 +#define GL_BIAS_BIT_ATI 0x00000008 +typedef GLuint (APIENTRYP PFNGLGENFRAGMENTSHADERSATIPROC) (GLuint range); +typedef void (APIENTRYP PFNGLBINDFRAGMENTSHADERATIPROC) (GLuint id); +typedef void (APIENTRYP PFNGLDELETEFRAGMENTSHADERATIPROC) (GLuint id); +typedef void (APIENTRYP PFNGLBEGINFRAGMENTSHADERATIPROC) (void); +typedef void (APIENTRYP PFNGLENDFRAGMENTSHADERATIPROC) (void); +typedef void (APIENTRYP PFNGLPASSTEXCOORDATIPROC) (GLuint dst, GLuint coord, GLenum swizzle); +typedef void (APIENTRYP PFNGLSAMPLEMAPATIPROC) (GLuint dst, GLuint interp, GLenum swizzle); +typedef void (APIENTRYP PFNGLCOLORFRAGMENTOP1ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); +typedef void (APIENTRYP PFNGLCOLORFRAGMENTOP2ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); +typedef void (APIENTRYP PFNGLCOLORFRAGMENTOP3ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); +typedef void (APIENTRYP PFNGLALPHAFRAGMENTOP1ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); +typedef void (APIENTRYP PFNGLALPHAFRAGMENTOP2ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); +typedef void (APIENTRYP PFNGLALPHAFRAGMENTOP3ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); +typedef void (APIENTRYP PFNGLSETFRAGMENTSHADERCONSTANTATIPROC) (GLuint dst, const GLfloat *value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLuint APIENTRY glGenFragmentShadersATI (GLuint range); +GLAPI void APIENTRY glBindFragmentShaderATI (GLuint id); +GLAPI void APIENTRY glDeleteFragmentShaderATI (GLuint id); +GLAPI void APIENTRY glBeginFragmentShaderATI (void); +GLAPI void APIENTRY glEndFragmentShaderATI (void); +GLAPI void APIENTRY glPassTexCoordATI (GLuint dst, GLuint coord, GLenum swizzle); +GLAPI void APIENTRY glSampleMapATI (GLuint dst, GLuint interp, GLenum swizzle); +GLAPI void APIENTRY glColorFragmentOp1ATI (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); +GLAPI void APIENTRY glColorFragmentOp2ATI (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); +GLAPI void APIENTRY glColorFragmentOp3ATI (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); +GLAPI void APIENTRY glAlphaFragmentOp1ATI (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); +GLAPI void APIENTRY glAlphaFragmentOp2ATI (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); +GLAPI void APIENTRY glAlphaFragmentOp3ATI (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); +GLAPI void APIENTRY glSetFragmentShaderConstantATI (GLuint dst, const GLfloat *value); +#endif +#endif /* GL_ATI_fragment_shader */ + +#ifndef GL_ATI_map_object_buffer +#define GL_ATI_map_object_buffer 1 +typedef void *(APIENTRYP PFNGLMAPOBJECTBUFFERATIPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLUNMAPOBJECTBUFFERATIPROC) (GLuint buffer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void *APIENTRY glMapObjectBufferATI (GLuint buffer); +GLAPI void APIENTRY glUnmapObjectBufferATI (GLuint buffer); +#endif +#endif /* GL_ATI_map_object_buffer */ + +#ifndef GL_ATI_meminfo +#define GL_ATI_meminfo 1 +#define GL_VBO_FREE_MEMORY_ATI 0x87FB +#define GL_TEXTURE_FREE_MEMORY_ATI 0x87FC +#define GL_RENDERBUFFER_FREE_MEMORY_ATI 0x87FD +#endif /* GL_ATI_meminfo */ + +#ifndef GL_ATI_pixel_format_float +#define GL_ATI_pixel_format_float 1 +#define GL_RGBA_FLOAT_MODE_ATI 0x8820 +#define GL_COLOR_CLEAR_UNCLAMPED_VALUE_ATI 0x8835 +#endif /* GL_ATI_pixel_format_float */ + +#ifndef GL_ATI_pn_triangles +#define GL_ATI_pn_triangles 1 +#define GL_PN_TRIANGLES_ATI 0x87F0 +#define GL_MAX_PN_TRIANGLES_TESSELATION_LEVEL_ATI 0x87F1 +#define GL_PN_TRIANGLES_POINT_MODE_ATI 0x87F2 +#define GL_PN_TRIANGLES_NORMAL_MODE_ATI 0x87F3 +#define GL_PN_TRIANGLES_TESSELATION_LEVEL_ATI 0x87F4 +#define GL_PN_TRIANGLES_POINT_MODE_LINEAR_ATI 0x87F5 +#define GL_PN_TRIANGLES_POINT_MODE_CUBIC_ATI 0x87F6 +#define GL_PN_TRIANGLES_NORMAL_MODE_LINEAR_ATI 0x87F7 +#define GL_PN_TRIANGLES_NORMAL_MODE_QUADRATIC_ATI 0x87F8 +typedef void (APIENTRYP PFNGLPNTRIANGLESIATIPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLPNTRIANGLESFATIPROC) (GLenum pname, GLfloat param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPNTrianglesiATI (GLenum pname, GLint param); +GLAPI void APIENTRY glPNTrianglesfATI (GLenum pname, GLfloat param); +#endif +#endif /* GL_ATI_pn_triangles */ + +#ifndef GL_ATI_separate_stencil +#define GL_ATI_separate_stencil 1 +#define GL_STENCIL_BACK_FUNC_ATI 0x8800 +#define GL_STENCIL_BACK_FAIL_ATI 0x8801 +#define GL_STENCIL_BACK_PASS_DEPTH_FAIL_ATI 0x8802 +#define GL_STENCIL_BACK_PASS_DEPTH_PASS_ATI 0x8803 +typedef void (APIENTRYP PFNGLSTENCILOPSEPARATEATIPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +typedef void (APIENTRYP PFNGLSTENCILFUNCSEPARATEATIPROC) (GLenum frontfunc, GLenum backfunc, GLint ref, GLuint mask); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glStencilOpSeparateATI (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +GLAPI void APIENTRY glStencilFuncSeparateATI (GLenum frontfunc, GLenum backfunc, GLint ref, GLuint mask); +#endif +#endif /* GL_ATI_separate_stencil */ + +#ifndef GL_ATI_text_fragment_shader +#define GL_ATI_text_fragment_shader 1 +#define GL_TEXT_FRAGMENT_SHADER_ATI 0x8200 +#endif /* GL_ATI_text_fragment_shader */ + +#ifndef GL_ATI_texture_env_combine3 +#define GL_ATI_texture_env_combine3 1 +#define GL_MODULATE_ADD_ATI 0x8744 +#define GL_MODULATE_SIGNED_ADD_ATI 0x8745 +#define GL_MODULATE_SUBTRACT_ATI 0x8746 +#endif /* GL_ATI_texture_env_combine3 */ + +#ifndef GL_ATI_texture_float +#define GL_ATI_texture_float 1 +#define GL_RGBA_FLOAT32_ATI 0x8814 +#define GL_RGB_FLOAT32_ATI 0x8815 +#define GL_ALPHA_FLOAT32_ATI 0x8816 +#define GL_INTENSITY_FLOAT32_ATI 0x8817 +#define GL_LUMINANCE_FLOAT32_ATI 0x8818 +#define GL_LUMINANCE_ALPHA_FLOAT32_ATI 0x8819 +#define GL_RGBA_FLOAT16_ATI 0x881A +#define GL_RGB_FLOAT16_ATI 0x881B +#define GL_ALPHA_FLOAT16_ATI 0x881C +#define GL_INTENSITY_FLOAT16_ATI 0x881D +#define GL_LUMINANCE_FLOAT16_ATI 0x881E +#define GL_LUMINANCE_ALPHA_FLOAT16_ATI 0x881F +#endif /* GL_ATI_texture_float */ + +#ifndef GL_ATI_texture_mirror_once +#define GL_ATI_texture_mirror_once 1 +#define GL_MIRROR_CLAMP_ATI 0x8742 +#define GL_MIRROR_CLAMP_TO_EDGE_ATI 0x8743 +#endif /* GL_ATI_texture_mirror_once */ + +#ifndef GL_ATI_vertex_array_object +#define GL_ATI_vertex_array_object 1 +#define GL_STATIC_ATI 0x8760 +#define GL_DYNAMIC_ATI 0x8761 +#define GL_PRESERVE_ATI 0x8762 +#define GL_DISCARD_ATI 0x8763 +#define GL_OBJECT_BUFFER_SIZE_ATI 0x8764 +#define GL_OBJECT_BUFFER_USAGE_ATI 0x8765 +#define GL_ARRAY_OBJECT_BUFFER_ATI 0x8766 +#define GL_ARRAY_OBJECT_OFFSET_ATI 0x8767 +typedef GLuint (APIENTRYP PFNGLNEWOBJECTBUFFERATIPROC) (GLsizei size, const void *pointer, GLenum usage); +typedef GLboolean (APIENTRYP PFNGLISOBJECTBUFFERATIPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLUPDATEOBJECTBUFFERATIPROC) (GLuint buffer, GLuint offset, GLsizei size, const void *pointer, GLenum preserve); +typedef void (APIENTRYP PFNGLGETOBJECTBUFFERFVATIPROC) (GLuint buffer, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETOBJECTBUFFERIVATIPROC) (GLuint buffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLFREEOBJECTBUFFERATIPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLARRAYOBJECTATIPROC) (GLenum array, GLint size, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); +typedef void (APIENTRYP PFNGLGETARRAYOBJECTFVATIPROC) (GLenum array, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETARRAYOBJECTIVATIPROC) (GLenum array, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLVARIANTARRAYOBJECTATIPROC) (GLuint id, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); +typedef void (APIENTRYP PFNGLGETVARIANTARRAYOBJECTFVATIPROC) (GLuint id, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETVARIANTARRAYOBJECTIVATIPROC) (GLuint id, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLuint APIENTRY glNewObjectBufferATI (GLsizei size, const void *pointer, GLenum usage); +GLAPI GLboolean APIENTRY glIsObjectBufferATI (GLuint buffer); +GLAPI void APIENTRY glUpdateObjectBufferATI (GLuint buffer, GLuint offset, GLsizei size, const void *pointer, GLenum preserve); +GLAPI void APIENTRY glGetObjectBufferfvATI (GLuint buffer, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetObjectBufferivATI (GLuint buffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glFreeObjectBufferATI (GLuint buffer); +GLAPI void APIENTRY glArrayObjectATI (GLenum array, GLint size, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); +GLAPI void APIENTRY glGetArrayObjectfvATI (GLenum array, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetArrayObjectivATI (GLenum array, GLenum pname, GLint *params); +GLAPI void APIENTRY glVariantArrayObjectATI (GLuint id, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); +GLAPI void APIENTRY glGetVariantArrayObjectfvATI (GLuint id, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetVariantArrayObjectivATI (GLuint id, GLenum pname, GLint *params); +#endif +#endif /* GL_ATI_vertex_array_object */ + +#ifndef GL_ATI_vertex_attrib_array_object +#define GL_ATI_vertex_attrib_array_object 1 +typedef void (APIENTRYP PFNGLVERTEXATTRIBARRAYOBJECTATIPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLuint buffer, GLuint offset); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBARRAYOBJECTFVATIPROC) (GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBARRAYOBJECTIVATIPROC) (GLuint index, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexAttribArrayObjectATI (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLuint buffer, GLuint offset); +GLAPI void APIENTRY glGetVertexAttribArrayObjectfvATI (GLuint index, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetVertexAttribArrayObjectivATI (GLuint index, GLenum pname, GLint *params); +#endif +#endif /* GL_ATI_vertex_attrib_array_object */ + +#ifndef GL_ATI_vertex_streams +#define GL_ATI_vertex_streams 1 +#define GL_MAX_VERTEX_STREAMS_ATI 0x876B +#define GL_VERTEX_STREAM0_ATI 0x876C +#define GL_VERTEX_STREAM1_ATI 0x876D +#define GL_VERTEX_STREAM2_ATI 0x876E +#define GL_VERTEX_STREAM3_ATI 0x876F +#define GL_VERTEX_STREAM4_ATI 0x8770 +#define GL_VERTEX_STREAM5_ATI 0x8771 +#define GL_VERTEX_STREAM6_ATI 0x8772 +#define GL_VERTEX_STREAM7_ATI 0x8773 +#define GL_VERTEX_SOURCE_ATI 0x8774 +typedef void (APIENTRYP PFNGLVERTEXSTREAM1SATIPROC) (GLenum stream, GLshort x); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1SVATIPROC) (GLenum stream, const GLshort *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1IATIPROC) (GLenum stream, GLint x); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1IVATIPROC) (GLenum stream, const GLint *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1FATIPROC) (GLenum stream, GLfloat x); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1FVATIPROC) (GLenum stream, const GLfloat *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1DATIPROC) (GLenum stream, GLdouble x); +typedef void (APIENTRYP PFNGLVERTEXSTREAM1DVATIPROC) (GLenum stream, const GLdouble *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2SATIPROC) (GLenum stream, GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2SVATIPROC) (GLenum stream, const GLshort *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2IATIPROC) (GLenum stream, GLint x, GLint y); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2IVATIPROC) (GLenum stream, const GLint *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2FATIPROC) (GLenum stream, GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2FVATIPROC) (GLenum stream, const GLfloat *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2DATIPROC) (GLenum stream, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLVERTEXSTREAM2DVATIPROC) (GLenum stream, const GLdouble *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3SVATIPROC) (GLenum stream, const GLshort *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3IATIPROC) (GLenum stream, GLint x, GLint y, GLint z); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3IVATIPROC) (GLenum stream, const GLint *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3FVATIPROC) (GLenum stream, const GLfloat *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLVERTEXSTREAM3DVATIPROC) (GLenum stream, const GLdouble *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4SVATIPROC) (GLenum stream, const GLshort *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4IATIPROC) (GLenum stream, GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4IVATIPROC) (GLenum stream, const GLint *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4FVATIPROC) (GLenum stream, const GLfloat *coords); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLVERTEXSTREAM4DVATIPROC) (GLenum stream, const GLdouble *coords); +typedef void (APIENTRYP PFNGLNORMALSTREAM3BATIPROC) (GLenum stream, GLbyte nx, GLbyte ny, GLbyte nz); +typedef void (APIENTRYP PFNGLNORMALSTREAM3BVATIPROC) (GLenum stream, const GLbyte *coords); +typedef void (APIENTRYP PFNGLNORMALSTREAM3SATIPROC) (GLenum stream, GLshort nx, GLshort ny, GLshort nz); +typedef void (APIENTRYP PFNGLNORMALSTREAM3SVATIPROC) (GLenum stream, const GLshort *coords); +typedef void (APIENTRYP PFNGLNORMALSTREAM3IATIPROC) (GLenum stream, GLint nx, GLint ny, GLint nz); +typedef void (APIENTRYP PFNGLNORMALSTREAM3IVATIPROC) (GLenum stream, const GLint *coords); +typedef void (APIENTRYP PFNGLNORMALSTREAM3FATIPROC) (GLenum stream, GLfloat nx, GLfloat ny, GLfloat nz); +typedef void (APIENTRYP PFNGLNORMALSTREAM3FVATIPROC) (GLenum stream, const GLfloat *coords); +typedef void (APIENTRYP PFNGLNORMALSTREAM3DATIPROC) (GLenum stream, GLdouble nx, GLdouble ny, GLdouble nz); +typedef void (APIENTRYP PFNGLNORMALSTREAM3DVATIPROC) (GLenum stream, const GLdouble *coords); +typedef void (APIENTRYP PFNGLCLIENTACTIVEVERTEXSTREAMATIPROC) (GLenum stream); +typedef void (APIENTRYP PFNGLVERTEXBLENDENVIATIPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLVERTEXBLENDENVFATIPROC) (GLenum pname, GLfloat param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexStream1sATI (GLenum stream, GLshort x); +GLAPI void APIENTRY glVertexStream1svATI (GLenum stream, const GLshort *coords); +GLAPI void APIENTRY glVertexStream1iATI (GLenum stream, GLint x); +GLAPI void APIENTRY glVertexStream1ivATI (GLenum stream, const GLint *coords); +GLAPI void APIENTRY glVertexStream1fATI (GLenum stream, GLfloat x); +GLAPI void APIENTRY glVertexStream1fvATI (GLenum stream, const GLfloat *coords); +GLAPI void APIENTRY glVertexStream1dATI (GLenum stream, GLdouble x); +GLAPI void APIENTRY glVertexStream1dvATI (GLenum stream, const GLdouble *coords); +GLAPI void APIENTRY glVertexStream2sATI (GLenum stream, GLshort x, GLshort y); +GLAPI void APIENTRY glVertexStream2svATI (GLenum stream, const GLshort *coords); +GLAPI void APIENTRY glVertexStream2iATI (GLenum stream, GLint x, GLint y); +GLAPI void APIENTRY glVertexStream2ivATI (GLenum stream, const GLint *coords); +GLAPI void APIENTRY glVertexStream2fATI (GLenum stream, GLfloat x, GLfloat y); +GLAPI void APIENTRY glVertexStream2fvATI (GLenum stream, const GLfloat *coords); +GLAPI void APIENTRY glVertexStream2dATI (GLenum stream, GLdouble x, GLdouble y); +GLAPI void APIENTRY glVertexStream2dvATI (GLenum stream, const GLdouble *coords); +GLAPI void APIENTRY glVertexStream3sATI (GLenum stream, GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glVertexStream3svATI (GLenum stream, const GLshort *coords); +GLAPI void APIENTRY glVertexStream3iATI (GLenum stream, GLint x, GLint y, GLint z); +GLAPI void APIENTRY glVertexStream3ivATI (GLenum stream, const GLint *coords); +GLAPI void APIENTRY glVertexStream3fATI (GLenum stream, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glVertexStream3fvATI (GLenum stream, const GLfloat *coords); +GLAPI void APIENTRY glVertexStream3dATI (GLenum stream, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glVertexStream3dvATI (GLenum stream, const GLdouble *coords); +GLAPI void APIENTRY glVertexStream4sATI (GLenum stream, GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void APIENTRY glVertexStream4svATI (GLenum stream, const GLshort *coords); +GLAPI void APIENTRY glVertexStream4iATI (GLenum stream, GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glVertexStream4ivATI (GLenum stream, const GLint *coords); +GLAPI void APIENTRY glVertexStream4fATI (GLenum stream, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glVertexStream4fvATI (GLenum stream, const GLfloat *coords); +GLAPI void APIENTRY glVertexStream4dATI (GLenum stream, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glVertexStream4dvATI (GLenum stream, const GLdouble *coords); +GLAPI void APIENTRY glNormalStream3bATI (GLenum stream, GLbyte nx, GLbyte ny, GLbyte nz); +GLAPI void APIENTRY glNormalStream3bvATI (GLenum stream, const GLbyte *coords); +GLAPI void APIENTRY glNormalStream3sATI (GLenum stream, GLshort nx, GLshort ny, GLshort nz); +GLAPI void APIENTRY glNormalStream3svATI (GLenum stream, const GLshort *coords); +GLAPI void APIENTRY glNormalStream3iATI (GLenum stream, GLint nx, GLint ny, GLint nz); +GLAPI void APIENTRY glNormalStream3ivATI (GLenum stream, const GLint *coords); +GLAPI void APIENTRY glNormalStream3fATI (GLenum stream, GLfloat nx, GLfloat ny, GLfloat nz); +GLAPI void APIENTRY glNormalStream3fvATI (GLenum stream, const GLfloat *coords); +GLAPI void APIENTRY glNormalStream3dATI (GLenum stream, GLdouble nx, GLdouble ny, GLdouble nz); +GLAPI void APIENTRY glNormalStream3dvATI (GLenum stream, const GLdouble *coords); +GLAPI void APIENTRY glClientActiveVertexStreamATI (GLenum stream); +GLAPI void APIENTRY glVertexBlendEnviATI (GLenum pname, GLint param); +GLAPI void APIENTRY glVertexBlendEnvfATI (GLenum pname, GLfloat param); +#endif +#endif /* GL_ATI_vertex_streams */ + +#ifndef GL_EXT_422_pixels +#define GL_EXT_422_pixels 1 +#define GL_422_EXT 0x80CC +#define GL_422_REV_EXT 0x80CD +#define GL_422_AVERAGE_EXT 0x80CE +#define GL_422_REV_AVERAGE_EXT 0x80CF +#endif /* GL_EXT_422_pixels */ + +#ifndef GL_EXT_EGL_image_storage +#define GL_EXT_EGL_image_storage 1 +typedef void *GLeglImageOES; +typedef void (APIENTRYP PFNGLEGLIMAGETARGETTEXSTORAGEEXTPROC) (GLenum target, GLeglImageOES image, const GLint* attrib_list); +typedef void (APIENTRYP PFNGLEGLIMAGETARGETTEXTURESTORAGEEXTPROC) (GLuint texture, GLeglImageOES image, const GLint* attrib_list); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glEGLImageTargetTexStorageEXT (GLenum target, GLeglImageOES image, const GLint* attrib_list); +GLAPI void APIENTRY glEGLImageTargetTextureStorageEXT (GLuint texture, GLeglImageOES image, const GLint* attrib_list); +#endif +#endif /* GL_EXT_EGL_image_storage */ + +#ifndef GL_EXT_EGL_sync +#define GL_EXT_EGL_sync 1 +#endif /* GL_EXT_EGL_sync */ + +#ifndef GL_EXT_abgr +#define GL_EXT_abgr 1 +#define GL_ABGR_EXT 0x8000 +#endif /* GL_EXT_abgr */ + +#ifndef GL_EXT_bgra +#define GL_EXT_bgra 1 +#define GL_BGR_EXT 0x80E0 +#define GL_BGRA_EXT 0x80E1 +#endif /* GL_EXT_bgra */ + +#ifndef GL_EXT_bindable_uniform +#define GL_EXT_bindable_uniform 1 +#define GL_MAX_VERTEX_BINDABLE_UNIFORMS_EXT 0x8DE2 +#define GL_MAX_FRAGMENT_BINDABLE_UNIFORMS_EXT 0x8DE3 +#define GL_MAX_GEOMETRY_BINDABLE_UNIFORMS_EXT 0x8DE4 +#define GL_MAX_BINDABLE_UNIFORM_SIZE_EXT 0x8DED +#define GL_UNIFORM_BUFFER_EXT 0x8DEE +#define GL_UNIFORM_BUFFER_BINDING_EXT 0x8DEF +typedef void (APIENTRYP PFNGLUNIFORMBUFFEREXTPROC) (GLuint program, GLint location, GLuint buffer); +typedef GLint (APIENTRYP PFNGLGETUNIFORMBUFFERSIZEEXTPROC) (GLuint program, GLint location); +typedef GLintptr (APIENTRYP PFNGLGETUNIFORMOFFSETEXTPROC) (GLuint program, GLint location); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glUniformBufferEXT (GLuint program, GLint location, GLuint buffer); +GLAPI GLint APIENTRY glGetUniformBufferSizeEXT (GLuint program, GLint location); +GLAPI GLintptr APIENTRY glGetUniformOffsetEXT (GLuint program, GLint location); +#endif +#endif /* GL_EXT_bindable_uniform */ + +#ifndef GL_EXT_blend_color +#define GL_EXT_blend_color 1 +#define GL_CONSTANT_COLOR_EXT 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR_EXT 0x8002 +#define GL_CONSTANT_ALPHA_EXT 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA_EXT 0x8004 +#define GL_BLEND_COLOR_EXT 0x8005 +typedef void (APIENTRYP PFNGLBLENDCOLOREXTPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendColorEXT (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +#endif +#endif /* GL_EXT_blend_color */ + +#ifndef GL_EXT_blend_equation_separate +#define GL_EXT_blend_equation_separate 1 +#define GL_BLEND_EQUATION_RGB_EXT 0x8009 +#define GL_BLEND_EQUATION_ALPHA_EXT 0x883D +typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEEXTPROC) (GLenum modeRGB, GLenum modeAlpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendEquationSeparateEXT (GLenum modeRGB, GLenum modeAlpha); +#endif +#endif /* GL_EXT_blend_equation_separate */ + +#ifndef GL_EXT_blend_func_separate +#define GL_EXT_blend_func_separate 1 +#define GL_BLEND_DST_RGB_EXT 0x80C8 +#define GL_BLEND_SRC_RGB_EXT 0x80C9 +#define GL_BLEND_DST_ALPHA_EXT 0x80CA +#define GL_BLEND_SRC_ALPHA_EXT 0x80CB +typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEEXTPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendFuncSeparateEXT (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +#endif +#endif /* GL_EXT_blend_func_separate */ + +#ifndef GL_EXT_blend_logic_op +#define GL_EXT_blend_logic_op 1 +#endif /* GL_EXT_blend_logic_op */ + +#ifndef GL_EXT_blend_minmax +#define GL_EXT_blend_minmax 1 +#define GL_MIN_EXT 0x8007 +#define GL_MAX_EXT 0x8008 +#define GL_FUNC_ADD_EXT 0x8006 +#define GL_BLEND_EQUATION_EXT 0x8009 +typedef void (APIENTRYP PFNGLBLENDEQUATIONEXTPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendEquationEXT (GLenum mode); +#endif +#endif /* GL_EXT_blend_minmax */ + +#ifndef GL_EXT_blend_subtract +#define GL_EXT_blend_subtract 1 +#define GL_FUNC_SUBTRACT_EXT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT_EXT 0x800B +#endif /* GL_EXT_blend_subtract */ + +#ifndef GL_EXT_clip_volume_hint +#define GL_EXT_clip_volume_hint 1 +#define GL_CLIP_VOLUME_CLIPPING_HINT_EXT 0x80F0 +#endif /* GL_EXT_clip_volume_hint */ + +#ifndef GL_EXT_cmyka +#define GL_EXT_cmyka 1 +#define GL_CMYK_EXT 0x800C +#define GL_CMYKA_EXT 0x800D +#define GL_PACK_CMYK_HINT_EXT 0x800E +#define GL_UNPACK_CMYK_HINT_EXT 0x800F +#endif /* GL_EXT_cmyka */ + +#ifndef GL_EXT_color_subtable +#define GL_EXT_color_subtable 1 +typedef void (APIENTRYP PFNGLCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLCOPYCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorSubTableEXT (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glCopyColorSubTableEXT (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +#endif +#endif /* GL_EXT_color_subtable */ + +#ifndef GL_EXT_compiled_vertex_array +#define GL_EXT_compiled_vertex_array 1 +#define GL_ARRAY_ELEMENT_LOCK_FIRST_EXT 0x81A8 +#define GL_ARRAY_ELEMENT_LOCK_COUNT_EXT 0x81A9 +typedef void (APIENTRYP PFNGLLOCKARRAYSEXTPROC) (GLint first, GLsizei count); +typedef void (APIENTRYP PFNGLUNLOCKARRAYSEXTPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glLockArraysEXT (GLint first, GLsizei count); +GLAPI void APIENTRY glUnlockArraysEXT (void); +#endif +#endif /* GL_EXT_compiled_vertex_array */ + +#ifndef GL_EXT_convolution +#define GL_EXT_convolution 1 +#define GL_CONVOLUTION_1D_EXT 0x8010 +#define GL_CONVOLUTION_2D_EXT 0x8011 +#define GL_SEPARABLE_2D_EXT 0x8012 +#define GL_CONVOLUTION_BORDER_MODE_EXT 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE_EXT 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS_EXT 0x8015 +#define GL_REDUCE_EXT 0x8016 +#define GL_CONVOLUTION_FORMAT_EXT 0x8017 +#define GL_CONVOLUTION_WIDTH_EXT 0x8018 +#define GL_CONVOLUTION_HEIGHT_EXT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH_EXT 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT_EXT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE_EXT 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE_EXT 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE_EXT 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE_EXT 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS_EXT 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS_EXT 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS_EXT 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS_EXT 0x8023 +typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); +typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat params); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint params); +typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, void *image); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETSEPARABLEFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); +typedef void (APIENTRYP PFNGLSEPARABLEFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glConvolutionFilter1DEXT (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); +GLAPI void APIENTRY glConvolutionFilter2DEXT (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); +GLAPI void APIENTRY glConvolutionParameterfEXT (GLenum target, GLenum pname, GLfloat params); +GLAPI void APIENTRY glConvolutionParameterfvEXT (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glConvolutionParameteriEXT (GLenum target, GLenum pname, GLint params); +GLAPI void APIENTRY glConvolutionParameterivEXT (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glCopyConvolutionFilter1DEXT (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glCopyConvolutionFilter2DEXT (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetConvolutionFilterEXT (GLenum target, GLenum format, GLenum type, void *image); +GLAPI void APIENTRY glGetConvolutionParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetConvolutionParameterivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetSeparableFilterEXT (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); +GLAPI void APIENTRY glSeparableFilter2DEXT (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); +#endif +#endif /* GL_EXT_convolution */ + +#ifndef GL_EXT_coordinate_frame +#define GL_EXT_coordinate_frame 1 +#define GL_TANGENT_ARRAY_EXT 0x8439 +#define GL_BINORMAL_ARRAY_EXT 0x843A +#define GL_CURRENT_TANGENT_EXT 0x843B +#define GL_CURRENT_BINORMAL_EXT 0x843C +#define GL_TANGENT_ARRAY_TYPE_EXT 0x843E +#define GL_TANGENT_ARRAY_STRIDE_EXT 0x843F +#define GL_BINORMAL_ARRAY_TYPE_EXT 0x8440 +#define GL_BINORMAL_ARRAY_STRIDE_EXT 0x8441 +#define GL_TANGENT_ARRAY_POINTER_EXT 0x8442 +#define GL_BINORMAL_ARRAY_POINTER_EXT 0x8443 +#define GL_MAP1_TANGENT_EXT 0x8444 +#define GL_MAP2_TANGENT_EXT 0x8445 +#define GL_MAP1_BINORMAL_EXT 0x8446 +#define GL_MAP2_BINORMAL_EXT 0x8447 +typedef void (APIENTRYP PFNGLTANGENT3BEXTPROC) (GLbyte tx, GLbyte ty, GLbyte tz); +typedef void (APIENTRYP PFNGLTANGENT3BVEXTPROC) (const GLbyte *v); +typedef void (APIENTRYP PFNGLTANGENT3DEXTPROC) (GLdouble tx, GLdouble ty, GLdouble tz); +typedef void (APIENTRYP PFNGLTANGENT3DVEXTPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLTANGENT3FEXTPROC) (GLfloat tx, GLfloat ty, GLfloat tz); +typedef void (APIENTRYP PFNGLTANGENT3FVEXTPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLTANGENT3IEXTPROC) (GLint tx, GLint ty, GLint tz); +typedef void (APIENTRYP PFNGLTANGENT3IVEXTPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLTANGENT3SEXTPROC) (GLshort tx, GLshort ty, GLshort tz); +typedef void (APIENTRYP PFNGLTANGENT3SVEXTPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLBINORMAL3BEXTPROC) (GLbyte bx, GLbyte by, GLbyte bz); +typedef void (APIENTRYP PFNGLBINORMAL3BVEXTPROC) (const GLbyte *v); +typedef void (APIENTRYP PFNGLBINORMAL3DEXTPROC) (GLdouble bx, GLdouble by, GLdouble bz); +typedef void (APIENTRYP PFNGLBINORMAL3DVEXTPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLBINORMAL3FEXTPROC) (GLfloat bx, GLfloat by, GLfloat bz); +typedef void (APIENTRYP PFNGLBINORMAL3FVEXTPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLBINORMAL3IEXTPROC) (GLint bx, GLint by, GLint bz); +typedef void (APIENTRYP PFNGLBINORMAL3IVEXTPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLBINORMAL3SEXTPROC) (GLshort bx, GLshort by, GLshort bz); +typedef void (APIENTRYP PFNGLBINORMAL3SVEXTPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLTANGENTPOINTEREXTPROC) (GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLBINORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTangent3bEXT (GLbyte tx, GLbyte ty, GLbyte tz); +GLAPI void APIENTRY glTangent3bvEXT (const GLbyte *v); +GLAPI void APIENTRY glTangent3dEXT (GLdouble tx, GLdouble ty, GLdouble tz); +GLAPI void APIENTRY glTangent3dvEXT (const GLdouble *v); +GLAPI void APIENTRY glTangent3fEXT (GLfloat tx, GLfloat ty, GLfloat tz); +GLAPI void APIENTRY glTangent3fvEXT (const GLfloat *v); +GLAPI void APIENTRY glTangent3iEXT (GLint tx, GLint ty, GLint tz); +GLAPI void APIENTRY glTangent3ivEXT (const GLint *v); +GLAPI void APIENTRY glTangent3sEXT (GLshort tx, GLshort ty, GLshort tz); +GLAPI void APIENTRY glTangent3svEXT (const GLshort *v); +GLAPI void APIENTRY glBinormal3bEXT (GLbyte bx, GLbyte by, GLbyte bz); +GLAPI void APIENTRY glBinormal3bvEXT (const GLbyte *v); +GLAPI void APIENTRY glBinormal3dEXT (GLdouble bx, GLdouble by, GLdouble bz); +GLAPI void APIENTRY glBinormal3dvEXT (const GLdouble *v); +GLAPI void APIENTRY glBinormal3fEXT (GLfloat bx, GLfloat by, GLfloat bz); +GLAPI void APIENTRY glBinormal3fvEXT (const GLfloat *v); +GLAPI void APIENTRY glBinormal3iEXT (GLint bx, GLint by, GLint bz); +GLAPI void APIENTRY glBinormal3ivEXT (const GLint *v); +GLAPI void APIENTRY glBinormal3sEXT (GLshort bx, GLshort by, GLshort bz); +GLAPI void APIENTRY glBinormal3svEXT (const GLshort *v); +GLAPI void APIENTRY glTangentPointerEXT (GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glBinormalPointerEXT (GLenum type, GLsizei stride, const void *pointer); +#endif +#endif /* GL_EXT_coordinate_frame */ + +#ifndef GL_EXT_copy_texture +#define GL_EXT_copy_texture 1 +typedef void (APIENTRYP PFNGLCOPYTEXIMAGE1DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (APIENTRYP PFNGLCOPYTEXIMAGE2DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCopyTexImage1DEXT (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +GLAPI void APIENTRY glCopyTexImage2DEXT (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +GLAPI void APIENTRY glCopyTexSubImage1DEXT (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glCopyTexSubImage2DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glCopyTexSubImage3DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +#endif +#endif /* GL_EXT_copy_texture */ + +#ifndef GL_EXT_cull_vertex +#define GL_EXT_cull_vertex 1 +#define GL_CULL_VERTEX_EXT 0x81AA +#define GL_CULL_VERTEX_EYE_POSITION_EXT 0x81AB +#define GL_CULL_VERTEX_OBJECT_POSITION_EXT 0x81AC +typedef void (APIENTRYP PFNGLCULLPARAMETERDVEXTPROC) (GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLCULLPARAMETERFVEXTPROC) (GLenum pname, GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCullParameterdvEXT (GLenum pname, GLdouble *params); +GLAPI void APIENTRY glCullParameterfvEXT (GLenum pname, GLfloat *params); +#endif +#endif /* GL_EXT_cull_vertex */ + +#ifndef GL_EXT_debug_label +#define GL_EXT_debug_label 1 +#define GL_PROGRAM_PIPELINE_OBJECT_EXT 0x8A4F +#define GL_PROGRAM_OBJECT_EXT 0x8B40 +#define GL_SHADER_OBJECT_EXT 0x8B48 +#define GL_BUFFER_OBJECT_EXT 0x9151 +#define GL_QUERY_OBJECT_EXT 0x9153 +#define GL_VERTEX_ARRAY_OBJECT_EXT 0x9154 +typedef void (APIENTRYP PFNGLLABELOBJECTEXTPROC) (GLenum type, GLuint object, GLsizei length, const GLchar *label); +typedef void (APIENTRYP PFNGLGETOBJECTLABELEXTPROC) (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glLabelObjectEXT (GLenum type, GLuint object, GLsizei length, const GLchar *label); +GLAPI void APIENTRY glGetObjectLabelEXT (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); +#endif +#endif /* GL_EXT_debug_label */ + +#ifndef GL_EXT_debug_marker +#define GL_EXT_debug_marker 1 +typedef void (APIENTRYP PFNGLINSERTEVENTMARKEREXTPROC) (GLsizei length, const GLchar *marker); +typedef void (APIENTRYP PFNGLPUSHGROUPMARKEREXTPROC) (GLsizei length, const GLchar *marker); +typedef void (APIENTRYP PFNGLPOPGROUPMARKEREXTPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glInsertEventMarkerEXT (GLsizei length, const GLchar *marker); +GLAPI void APIENTRY glPushGroupMarkerEXT (GLsizei length, const GLchar *marker); +GLAPI void APIENTRY glPopGroupMarkerEXT (void); +#endif +#endif /* GL_EXT_debug_marker */ + +#ifndef GL_EXT_depth_bounds_test +#define GL_EXT_depth_bounds_test 1 +#define GL_DEPTH_BOUNDS_TEST_EXT 0x8890 +#define GL_DEPTH_BOUNDS_EXT 0x8891 +typedef void (APIENTRYP PFNGLDEPTHBOUNDSEXTPROC) (GLclampd zmin, GLclampd zmax); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDepthBoundsEXT (GLclampd zmin, GLclampd zmax); +#endif +#endif /* GL_EXT_depth_bounds_test */ + +#ifndef GL_EXT_direct_state_access +#define GL_EXT_direct_state_access 1 +#define GL_PROGRAM_MATRIX_EXT 0x8E2D +#define GL_TRANSPOSE_PROGRAM_MATRIX_EXT 0x8E2E +#define GL_PROGRAM_MATRIX_STACK_DEPTH_EXT 0x8E2F +typedef void (APIENTRYP PFNGLMATRIXLOADFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXLOADDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (APIENTRYP PFNGLMATRIXMULTFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXMULTDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (APIENTRYP PFNGLMATRIXLOADIDENTITYEXTPROC) (GLenum mode); +typedef void (APIENTRYP PFNGLMATRIXROTATEFEXTPROC) (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLMATRIXROTATEDEXTPROC) (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLMATRIXSCALEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLMATRIXSCALEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLMATRIXTRANSLATEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLMATRIXTRANSLATEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLMATRIXFRUSTUMEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +typedef void (APIENTRYP PFNGLMATRIXORTHOEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +typedef void (APIENTRYP PFNGLMATRIXPOPEXTPROC) (GLenum mode); +typedef void (APIENTRYP PFNGLMATRIXPUSHEXTPROC) (GLenum mode); +typedef void (APIENTRYP PFNGLCLIENTATTRIBDEFAULTEXTPROC) (GLbitfield mask); +typedef void (APIENTRYP PFNGLPUSHCLIENTATTRIBDEFAULTEXTPROC) (GLbitfield mask); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLCOPYTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (APIENTRYP PFNGLCOPYTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETTEXTUREIMAGEEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLBINDMULTITEXTUREEXTPROC) (GLenum texunit, GLenum target, GLuint texture); +typedef void (APIENTRYP PFNGLMULTITEXCOORDPOINTEREXTPROC) (GLenum texunit, GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLMULTITEXENVFEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLMULTITEXENVFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLMULTITEXENVIEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLMULTITEXENVIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLMULTITEXGENDEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLdouble param); +typedef void (APIENTRYP PFNGLMULTITEXGENDVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLdouble *params); +typedef void (APIENTRYP PFNGLMULTITEXGENFEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLMULTITEXGENFVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLMULTITEXGENIEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLMULTITEXGENIVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLGETMULTITEXENVFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMULTITEXENVIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMULTITEXGENDVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLGETMULTITEXGENFVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMULTITEXGENIVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLMULTITEXPARAMETERFEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLMULTITEXPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLCOPYMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (APIENTRYP PFNGLCOPYMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (APIENTRYP PFNGLCOPYMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLCOPYMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETMULTITEXIMAGEEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); +typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMULTITEXLEVELPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMULTITEXLEVELPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLMULTITEXIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLCOPYMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLENABLECLIENTSTATEINDEXEDEXTPROC) (GLenum array, GLuint index); +typedef void (APIENTRYP PFNGLDISABLECLIENTSTATEINDEXEDEXTPROC) (GLenum array, GLuint index); +typedef void (APIENTRYP PFNGLGETFLOATINDEXEDVEXTPROC) (GLenum target, GLuint index, GLfloat *data); +typedef void (APIENTRYP PFNGLGETDOUBLEINDEXEDVEXTPROC) (GLenum target, GLuint index, GLdouble *data); +typedef void (APIENTRYP PFNGLGETPOINTERINDEXEDVEXTPROC) (GLenum target, GLuint index, void **data); +typedef void (APIENTRYP PFNGLENABLEINDEXEDEXTPROC) (GLenum target, GLuint index); +typedef void (APIENTRYP PFNGLDISABLEINDEXEDEXTPROC) (GLenum target, GLuint index); +typedef GLboolean (APIENTRYP PFNGLISENABLEDINDEXEDEXTPROC) (GLenum target, GLuint index); +typedef void (APIENTRYP PFNGLGETINTEGERINDEXEDVEXTPROC) (GLenum target, GLuint index, GLint *data); +typedef void (APIENTRYP PFNGLGETBOOLEANINDEXEDVEXTPROC) (GLenum target, GLuint index, GLboolean *data); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTUREIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXTUREIMAGEEXTPROC) (GLuint texture, GLenum target, GLint lod, void *img); +typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); +typedef void (APIENTRYP PFNGLGETCOMPRESSEDMULTITEXIMAGEEXTPROC) (GLenum texunit, GLenum target, GLint lod, void *img); +typedef void (APIENTRYP PFNGLMATRIXLOADTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXLOADTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (APIENTRYP PFNGLMATRIXMULTTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXMULTTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (APIENTRYP PFNGLNAMEDBUFFERDATAEXTPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); +typedef void (APIENTRYP PFNGLNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFEREXTPROC) (GLuint buffer, GLenum access); +typedef GLboolean (APIENTRYP PFNGLUNMAPNAMEDBUFFEREXTPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERIVEXTPROC) (GLuint buffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPOINTERVEXTPROC) (GLuint buffer, GLenum pname, void **params); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FEXTPROC) (GLuint program, GLint location, GLfloat v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IEXTPROC) (GLuint program, GLint location, GLint v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (APIENTRYP PFNGLTEXTUREBUFFEREXTPROC) (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer); +typedef void (APIENTRYP PFNGLMULTITEXBUFFEREXTPROC) (GLenum texunit, GLenum target, GLenum internalformat, GLuint buffer); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIUIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLuint *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIUIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIUIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLuint *params); +typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERIIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERIUIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIEXTPROC) (GLuint program, GLint location, GLuint v0); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERS4FVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLfloat *params); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4IEXTPROC) (GLuint program, GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4IVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLint *params); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERSI4IVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLint *params); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIEXTPROC) (GLuint program, GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLuint *params); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERSI4UIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLuint *params); +typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERIIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLint *params); +typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERIUIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLuint *params); +typedef void (APIENTRYP PFNGLENABLECLIENTSTATEIEXTPROC) (GLenum array, GLuint index); +typedef void (APIENTRYP PFNGLDISABLECLIENTSTATEIEXTPROC) (GLenum array, GLuint index); +typedef void (APIENTRYP PFNGLGETFLOATI_VEXTPROC) (GLenum pname, GLuint index, GLfloat *params); +typedef void (APIENTRYP PFNGLGETDOUBLEI_VEXTPROC) (GLenum pname, GLuint index, GLdouble *params); +typedef void (APIENTRYP PFNGLGETPOINTERI_VEXTPROC) (GLenum pname, GLuint index, void **params); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMSTRINGEXTPROC) (GLuint program, GLenum target, GLenum format, GLsizei len, const void *string); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4DEXTPROC) (GLuint program, GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4DVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLdouble *params); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4FEXTPROC) (GLuint program, GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4FVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERDVEXTPROC) (GLuint program, GLenum target, GLuint index, GLdouble *params); +typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERFVEXTPROC) (GLuint program, GLenum target, GLuint index, GLfloat *params); +typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMIVEXTPROC) (GLuint program, GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMSTRINGEXTPROC) (GLuint program, GLenum target, GLenum pname, void *string); +typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEEXTPROC) (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETNAMEDRENDERBUFFERPARAMETERIVEXTPROC) (GLuint renderbuffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLECOVERAGEEXTPROC) (GLuint renderbuffer, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); +typedef GLenum (APIENTRYP PFNGLCHECKNAMEDFRAMEBUFFERSTATUSEXTPROC) (GLuint framebuffer, GLenum target); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURE1DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURE2DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURE3DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERRENDERBUFFEREXTPROC) (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGENERATETEXTUREMIPMAPEXTPROC) (GLuint texture, GLenum target); +typedef void (APIENTRYP PFNGLGENERATEMULTITEXMIPMAPEXTPROC) (GLenum texunit, GLenum target); +typedef void (APIENTRYP PFNGLFRAMEBUFFERDRAWBUFFEREXTPROC) (GLuint framebuffer, GLenum mode); +typedef void (APIENTRYP PFNGLFRAMEBUFFERDRAWBUFFERSEXTPROC) (GLuint framebuffer, GLsizei n, const GLenum *bufs); +typedef void (APIENTRYP PFNGLFRAMEBUFFERREADBUFFEREXTPROC) (GLuint framebuffer, GLenum mode); +typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLNAMEDCOPYBUFFERSUBDATAEXTPROC) (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREEXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURELAYEREXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREFACEEXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLenum face); +typedef void (APIENTRYP PFNGLTEXTURERENDERBUFFEREXTPROC) (GLuint texture, GLenum target, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLMULTITEXRENDERBUFFEREXTPROC) (GLenum texunit, GLenum target, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYCOLOROFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYEDGEFLAGOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYINDEXOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYNORMALOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYTEXCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYMULTITEXCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum texunit, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYFOGCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYSECONDARYCOLOROFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBIOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLENABLEVERTEXARRAYEXTPROC) (GLuint vaobj, GLenum array); +typedef void (APIENTRYP PFNGLDISABLEVERTEXARRAYEXTPROC) (GLuint vaobj, GLenum array); +typedef void (APIENTRYP PFNGLENABLEVERTEXARRAYATTRIBEXTPROC) (GLuint vaobj, GLuint index); +typedef void (APIENTRYP PFNGLDISABLEVERTEXARRAYATTRIBEXTPROC) (GLuint vaobj, GLuint index); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYINTEGERVEXTPROC) (GLuint vaobj, GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYPOINTERVEXTPROC) (GLuint vaobj, GLenum pname, void **param); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYINTEGERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint *param); +typedef void (APIENTRYP PFNGLGETVERTEXARRAYPOINTERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, void **param); +typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERRANGEEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); +typedef void (APIENTRYP PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); +typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEEXTPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); +typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERDATAEXTPROC) (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLenum internalformat, GLsizeiptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERPARAMETERIEXTPROC) (GLuint framebuffer, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DEXTPROC) (GLuint program, GLint location, GLdouble x); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +typedef void (APIENTRYP PFNGLTEXTUREBUFFERRANGEEXTPROC) (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE1DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DMULTISAMPLEEXTPROC) (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DMULTISAMPLEEXTPROC) (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +typedef void (APIENTRYP PFNGLVERTEXARRAYBINDVERTEXBUFFEREXTPROC) (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBFORMATEXTPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBIFORMATEXTPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBLFORMATEXTPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBBINDINGEXTPROC) (GLuint vaobj, GLuint attribindex, GLuint bindingindex); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXBINDINGDIVISOREXTPROC) (GLuint vaobj, GLuint bindingindex, GLuint divisor); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBLOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (APIENTRYP PFNGLTEXTUREPAGECOMMITMENTEXTPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); +typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBDIVISOREXTPROC) (GLuint vaobj, GLuint index, GLuint divisor); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMatrixLoadfEXT (GLenum mode, const GLfloat *m); +GLAPI void APIENTRY glMatrixLoaddEXT (GLenum mode, const GLdouble *m); +GLAPI void APIENTRY glMatrixMultfEXT (GLenum mode, const GLfloat *m); +GLAPI void APIENTRY glMatrixMultdEXT (GLenum mode, const GLdouble *m); +GLAPI void APIENTRY glMatrixLoadIdentityEXT (GLenum mode); +GLAPI void APIENTRY glMatrixRotatefEXT (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glMatrixRotatedEXT (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glMatrixScalefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glMatrixScaledEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glMatrixTranslatefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glMatrixTranslatedEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glMatrixFrustumEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +GLAPI void APIENTRY glMatrixOrthoEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +GLAPI void APIENTRY glMatrixPopEXT (GLenum mode); +GLAPI void APIENTRY glMatrixPushEXT (GLenum mode); +GLAPI void APIENTRY glClientAttribDefaultEXT (GLbitfield mask); +GLAPI void APIENTRY glPushClientAttribDefaultEXT (GLbitfield mask); +GLAPI void APIENTRY glTextureParameterfEXT (GLuint texture, GLenum target, GLenum pname, GLfloat param); +GLAPI void APIENTRY glTextureParameterfvEXT (GLuint texture, GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glTextureParameteriEXT (GLuint texture, GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glTextureParameterivEXT (GLuint texture, GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glTextureImage1DEXT (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTextureImage2DEXT (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTextureSubImage1DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTextureSubImage2DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glCopyTextureImage1DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +GLAPI void APIENTRY glCopyTextureImage2DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +GLAPI void APIENTRY glCopyTextureSubImage1DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glCopyTextureSubImage2DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetTextureImageEXT (GLuint texture, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); +GLAPI void APIENTRY glGetTextureParameterfvEXT (GLuint texture, GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetTextureParameterivEXT (GLuint texture, GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetTextureLevelParameterfvEXT (GLuint texture, GLenum target, GLint level, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetTextureLevelParameterivEXT (GLuint texture, GLenum target, GLint level, GLenum pname, GLint *params); +GLAPI void APIENTRY glTextureImage3DEXT (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTextureSubImage3DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glCopyTextureSubImage3DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glBindMultiTextureEXT (GLenum texunit, GLenum target, GLuint texture); +GLAPI void APIENTRY glMultiTexCoordPointerEXT (GLenum texunit, GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glMultiTexEnvfEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat param); +GLAPI void APIENTRY glMultiTexEnvfvEXT (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glMultiTexEnviEXT (GLenum texunit, GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glMultiTexEnvivEXT (GLenum texunit, GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glMultiTexGendEXT (GLenum texunit, GLenum coord, GLenum pname, GLdouble param); +GLAPI void APIENTRY glMultiTexGendvEXT (GLenum texunit, GLenum coord, GLenum pname, const GLdouble *params); +GLAPI void APIENTRY glMultiTexGenfEXT (GLenum texunit, GLenum coord, GLenum pname, GLfloat param); +GLAPI void APIENTRY glMultiTexGenfvEXT (GLenum texunit, GLenum coord, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glMultiTexGeniEXT (GLenum texunit, GLenum coord, GLenum pname, GLint param); +GLAPI void APIENTRY glMultiTexGenivEXT (GLenum texunit, GLenum coord, GLenum pname, const GLint *params); +GLAPI void APIENTRY glGetMultiTexEnvfvEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMultiTexEnvivEXT (GLenum texunit, GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMultiTexGendvEXT (GLenum texunit, GLenum coord, GLenum pname, GLdouble *params); +GLAPI void APIENTRY glGetMultiTexGenfvEXT (GLenum texunit, GLenum coord, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMultiTexGenivEXT (GLenum texunit, GLenum coord, GLenum pname, GLint *params); +GLAPI void APIENTRY glMultiTexParameteriEXT (GLenum texunit, GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glMultiTexParameterivEXT (GLenum texunit, GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glMultiTexParameterfEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat param); +GLAPI void APIENTRY glMultiTexParameterfvEXT (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glMultiTexImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glMultiTexImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glMultiTexSubImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glMultiTexSubImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glCopyMultiTexImage1DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +GLAPI void APIENTRY glCopyMultiTexImage2DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +GLAPI void APIENTRY glCopyMultiTexSubImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glCopyMultiTexSubImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetMultiTexImageEXT (GLenum texunit, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); +GLAPI void APIENTRY glGetMultiTexParameterfvEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMultiTexParameterivEXT (GLenum texunit, GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMultiTexLevelParameterfvEXT (GLenum texunit, GLenum target, GLint level, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMultiTexLevelParameterivEXT (GLenum texunit, GLenum target, GLint level, GLenum pname, GLint *params); +GLAPI void APIENTRY glMultiTexImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glMultiTexSubImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glCopyMultiTexSubImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glEnableClientStateIndexedEXT (GLenum array, GLuint index); +GLAPI void APIENTRY glDisableClientStateIndexedEXT (GLenum array, GLuint index); +GLAPI void APIENTRY glGetFloatIndexedvEXT (GLenum target, GLuint index, GLfloat *data); +GLAPI void APIENTRY glGetDoubleIndexedvEXT (GLenum target, GLuint index, GLdouble *data); +GLAPI void APIENTRY glGetPointerIndexedvEXT (GLenum target, GLuint index, void **data); +GLAPI void APIENTRY glEnableIndexedEXT (GLenum target, GLuint index); +GLAPI void APIENTRY glDisableIndexedEXT (GLenum target, GLuint index); +GLAPI GLboolean APIENTRY glIsEnabledIndexedEXT (GLenum target, GLuint index); +GLAPI void APIENTRY glGetIntegerIndexedvEXT (GLenum target, GLuint index, GLint *data); +GLAPI void APIENTRY glGetBooleanIndexedvEXT (GLenum target, GLuint index, GLboolean *data); +GLAPI void APIENTRY glCompressedTextureImage3DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedTextureImage2DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedTextureImage1DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedTextureSubImage3DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedTextureSubImage2DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedTextureSubImage1DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glGetCompressedTextureImageEXT (GLuint texture, GLenum target, GLint lod, void *img); +GLAPI void APIENTRY glCompressedMultiTexImage3DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedMultiTexImage2DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedMultiTexImage1DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedMultiTexSubImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedMultiTexSubImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glCompressedMultiTexSubImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); +GLAPI void APIENTRY glGetCompressedMultiTexImageEXT (GLenum texunit, GLenum target, GLint lod, void *img); +GLAPI void APIENTRY glMatrixLoadTransposefEXT (GLenum mode, const GLfloat *m); +GLAPI void APIENTRY glMatrixLoadTransposedEXT (GLenum mode, const GLdouble *m); +GLAPI void APIENTRY glMatrixMultTransposefEXT (GLenum mode, const GLfloat *m); +GLAPI void APIENTRY glMatrixMultTransposedEXT (GLenum mode, const GLdouble *m); +GLAPI void APIENTRY glNamedBufferDataEXT (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); +GLAPI void APIENTRY glNamedBufferSubDataEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +GLAPI void *APIENTRY glMapNamedBufferEXT (GLuint buffer, GLenum access); +GLAPI GLboolean APIENTRY glUnmapNamedBufferEXT (GLuint buffer); +GLAPI void APIENTRY glGetNamedBufferParameterivEXT (GLuint buffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetNamedBufferPointervEXT (GLuint buffer, GLenum pname, void **params); +GLAPI void APIENTRY glGetNamedBufferSubDataEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); +GLAPI void APIENTRY glProgramUniform1fEXT (GLuint program, GLint location, GLfloat v0); +GLAPI void APIENTRY glProgramUniform2fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1); +GLAPI void APIENTRY glProgramUniform3fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +GLAPI void APIENTRY glProgramUniform4fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +GLAPI void APIENTRY glProgramUniform1iEXT (GLuint program, GLint location, GLint v0); +GLAPI void APIENTRY glProgramUniform2iEXT (GLuint program, GLint location, GLint v0, GLint v1); +GLAPI void APIENTRY glProgramUniform3iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +GLAPI void APIENTRY glProgramUniform4iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +GLAPI void APIENTRY glProgramUniform1fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform2fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform3fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform4fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GLAPI void APIENTRY glProgramUniform1ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform2ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform3ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniform4ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GLAPI void APIENTRY glProgramUniformMatrix2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix2x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix3x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix2x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix4x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix3x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glProgramUniformMatrix4x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GLAPI void APIENTRY glTextureBufferEXT (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer); +GLAPI void APIENTRY glMultiTexBufferEXT (GLenum texunit, GLenum target, GLenum internalformat, GLuint buffer); +GLAPI void APIENTRY glTextureParameterIivEXT (GLuint texture, GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glTextureParameterIuivEXT (GLuint texture, GLenum target, GLenum pname, const GLuint *params); +GLAPI void APIENTRY glGetTextureParameterIivEXT (GLuint texture, GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetTextureParameterIuivEXT (GLuint texture, GLenum target, GLenum pname, GLuint *params); +GLAPI void APIENTRY glMultiTexParameterIivEXT (GLenum texunit, GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glMultiTexParameterIuivEXT (GLenum texunit, GLenum target, GLenum pname, const GLuint *params); +GLAPI void APIENTRY glGetMultiTexParameterIivEXT (GLenum texunit, GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMultiTexParameterIuivEXT (GLenum texunit, GLenum target, GLenum pname, GLuint *params); +GLAPI void APIENTRY glProgramUniform1uiEXT (GLuint program, GLint location, GLuint v0); +GLAPI void APIENTRY glProgramUniform2uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1); +GLAPI void APIENTRY glProgramUniform3uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +GLAPI void APIENTRY glProgramUniform4uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +GLAPI void APIENTRY glProgramUniform1uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniform2uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniform3uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glProgramUniform4uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glNamedProgramLocalParameters4fvEXT (GLuint program, GLenum target, GLuint index, GLsizei count, const GLfloat *params); +GLAPI void APIENTRY glNamedProgramLocalParameterI4iEXT (GLuint program, GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glNamedProgramLocalParameterI4ivEXT (GLuint program, GLenum target, GLuint index, const GLint *params); +GLAPI void APIENTRY glNamedProgramLocalParametersI4ivEXT (GLuint program, GLenum target, GLuint index, GLsizei count, const GLint *params); +GLAPI void APIENTRY glNamedProgramLocalParameterI4uiEXT (GLuint program, GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +GLAPI void APIENTRY glNamedProgramLocalParameterI4uivEXT (GLuint program, GLenum target, GLuint index, const GLuint *params); +GLAPI void APIENTRY glNamedProgramLocalParametersI4uivEXT (GLuint program, GLenum target, GLuint index, GLsizei count, const GLuint *params); +GLAPI void APIENTRY glGetNamedProgramLocalParameterIivEXT (GLuint program, GLenum target, GLuint index, GLint *params); +GLAPI void APIENTRY glGetNamedProgramLocalParameterIuivEXT (GLuint program, GLenum target, GLuint index, GLuint *params); +GLAPI void APIENTRY glEnableClientStateiEXT (GLenum array, GLuint index); +GLAPI void APIENTRY glDisableClientStateiEXT (GLenum array, GLuint index); +GLAPI void APIENTRY glGetFloati_vEXT (GLenum pname, GLuint index, GLfloat *params); +GLAPI void APIENTRY glGetDoublei_vEXT (GLenum pname, GLuint index, GLdouble *params); +GLAPI void APIENTRY glGetPointeri_vEXT (GLenum pname, GLuint index, void **params); +GLAPI void APIENTRY glNamedProgramStringEXT (GLuint program, GLenum target, GLenum format, GLsizei len, const void *string); +GLAPI void APIENTRY glNamedProgramLocalParameter4dEXT (GLuint program, GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glNamedProgramLocalParameter4dvEXT (GLuint program, GLenum target, GLuint index, const GLdouble *params); +GLAPI void APIENTRY glNamedProgramLocalParameter4fEXT (GLuint program, GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glNamedProgramLocalParameter4fvEXT (GLuint program, GLenum target, GLuint index, const GLfloat *params); +GLAPI void APIENTRY glGetNamedProgramLocalParameterdvEXT (GLuint program, GLenum target, GLuint index, GLdouble *params); +GLAPI void APIENTRY glGetNamedProgramLocalParameterfvEXT (GLuint program, GLenum target, GLuint index, GLfloat *params); +GLAPI void APIENTRY glGetNamedProgramivEXT (GLuint program, GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetNamedProgramStringEXT (GLuint program, GLenum target, GLenum pname, void *string); +GLAPI void APIENTRY glNamedRenderbufferStorageEXT (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetNamedRenderbufferParameterivEXT (GLuint renderbuffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glNamedRenderbufferStorageMultisampleEXT (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glNamedRenderbufferStorageMultisampleCoverageEXT (GLuint renderbuffer, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI GLenum APIENTRY glCheckNamedFramebufferStatusEXT (GLuint framebuffer, GLenum target); +GLAPI void APIENTRY glNamedFramebufferTexture1DEXT (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GLAPI void APIENTRY glNamedFramebufferTexture2DEXT (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GLAPI void APIENTRY glNamedFramebufferTexture3DEXT (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +GLAPI void APIENTRY glNamedFramebufferRenderbufferEXT (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +GLAPI void APIENTRY glGetNamedFramebufferAttachmentParameterivEXT (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); +GLAPI void APIENTRY glGenerateTextureMipmapEXT (GLuint texture, GLenum target); +GLAPI void APIENTRY glGenerateMultiTexMipmapEXT (GLenum texunit, GLenum target); +GLAPI void APIENTRY glFramebufferDrawBufferEXT (GLuint framebuffer, GLenum mode); +GLAPI void APIENTRY glFramebufferDrawBuffersEXT (GLuint framebuffer, GLsizei n, const GLenum *bufs); +GLAPI void APIENTRY glFramebufferReadBufferEXT (GLuint framebuffer, GLenum mode); +GLAPI void APIENTRY glGetFramebufferParameterivEXT (GLuint framebuffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glNamedCopyBufferSubDataEXT (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +GLAPI void APIENTRY glNamedFramebufferTextureEXT (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); +GLAPI void APIENTRY glNamedFramebufferTextureLayerEXT (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); +GLAPI void APIENTRY glNamedFramebufferTextureFaceEXT (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLenum face); +GLAPI void APIENTRY glTextureRenderbufferEXT (GLuint texture, GLenum target, GLuint renderbuffer); +GLAPI void APIENTRY glMultiTexRenderbufferEXT (GLenum texunit, GLenum target, GLuint renderbuffer); +GLAPI void APIENTRY glVertexArrayVertexOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayColorOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayEdgeFlagOffsetEXT (GLuint vaobj, GLuint buffer, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayIndexOffsetEXT (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayNormalOffsetEXT (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayTexCoordOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayMultiTexCoordOffsetEXT (GLuint vaobj, GLuint buffer, GLenum texunit, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayFogCoordOffsetEXT (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArraySecondaryColorOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayVertexAttribOffsetEXT (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glVertexArrayVertexAttribIOffsetEXT (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glEnableVertexArrayEXT (GLuint vaobj, GLenum array); +GLAPI void APIENTRY glDisableVertexArrayEXT (GLuint vaobj, GLenum array); +GLAPI void APIENTRY glEnableVertexArrayAttribEXT (GLuint vaobj, GLuint index); +GLAPI void APIENTRY glDisableVertexArrayAttribEXT (GLuint vaobj, GLuint index); +GLAPI void APIENTRY glGetVertexArrayIntegervEXT (GLuint vaobj, GLenum pname, GLint *param); +GLAPI void APIENTRY glGetVertexArrayPointervEXT (GLuint vaobj, GLenum pname, void **param); +GLAPI void APIENTRY glGetVertexArrayIntegeri_vEXT (GLuint vaobj, GLuint index, GLenum pname, GLint *param); +GLAPI void APIENTRY glGetVertexArrayPointeri_vEXT (GLuint vaobj, GLuint index, GLenum pname, void **param); +GLAPI void *APIENTRY glMapNamedBufferRangeEXT (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); +GLAPI void APIENTRY glFlushMappedNamedBufferRangeEXT (GLuint buffer, GLintptr offset, GLsizeiptr length); +GLAPI void APIENTRY glNamedBufferStorageEXT (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); +GLAPI void APIENTRY glClearNamedBufferDataEXT (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glClearNamedBufferSubDataEXT (GLuint buffer, GLenum internalformat, GLsizeiptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); +GLAPI void APIENTRY glNamedFramebufferParameteriEXT (GLuint framebuffer, GLenum pname, GLint param); +GLAPI void APIENTRY glGetNamedFramebufferParameterivEXT (GLuint framebuffer, GLenum pname, GLint *params); +GLAPI void APIENTRY glProgramUniform1dEXT (GLuint program, GLint location, GLdouble x); +GLAPI void APIENTRY glProgramUniform2dEXT (GLuint program, GLint location, GLdouble x, GLdouble y); +GLAPI void APIENTRY glProgramUniform3dEXT (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glProgramUniform4dEXT (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glProgramUniform1dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform2dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform3dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniform4dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix2dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix3dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix4dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix2x3dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix2x4dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix3x2dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix3x4dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix4x2dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glProgramUniformMatrix4x3dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); +GLAPI void APIENTRY glTextureBufferRangeEXT (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glTextureStorage1DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +GLAPI void APIENTRY glTextureStorage2DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glTextureStorage3DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +GLAPI void APIENTRY glTextureStorage2DMultisampleEXT (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glTextureStorage3DMultisampleEXT (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +GLAPI void APIENTRY glVertexArrayBindVertexBufferEXT (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); +GLAPI void APIENTRY glVertexArrayVertexAttribFormatEXT (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); +GLAPI void APIENTRY glVertexArrayVertexAttribIFormatEXT (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +GLAPI void APIENTRY glVertexArrayVertexAttribLFormatEXT (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); +GLAPI void APIENTRY glVertexArrayVertexAttribBindingEXT (GLuint vaobj, GLuint attribindex, GLuint bindingindex); +GLAPI void APIENTRY glVertexArrayVertexBindingDivisorEXT (GLuint vaobj, GLuint bindingindex, GLuint divisor); +GLAPI void APIENTRY glVertexArrayVertexAttribLOffsetEXT (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); +GLAPI void APIENTRY glTexturePageCommitmentEXT (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); +GLAPI void APIENTRY glVertexArrayVertexAttribDivisorEXT (GLuint vaobj, GLuint index, GLuint divisor); +#endif +#endif /* GL_EXT_direct_state_access */ + +#ifndef GL_EXT_draw_buffers2 +#define GL_EXT_draw_buffers2 1 +typedef void (APIENTRYP PFNGLCOLORMASKINDEXEDEXTPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorMaskIndexedEXT (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +#endif +#endif /* GL_EXT_draw_buffers2 */ + +#ifndef GL_EXT_draw_instanced +#define GL_EXT_draw_instanced 1 +typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount); +typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawArraysInstancedEXT (GLenum mode, GLint start, GLsizei count, GLsizei primcount); +GLAPI void APIENTRY glDrawElementsInstancedEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#endif +#endif /* GL_EXT_draw_instanced */ + +#ifndef GL_EXT_draw_range_elements +#define GL_EXT_draw_range_elements 1 +#define GL_MAX_ELEMENTS_VERTICES_EXT 0x80E8 +#define GL_MAX_ELEMENTS_INDICES_EXT 0x80E9 +typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSEXTPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawRangeElementsEXT (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); +#endif +#endif /* GL_EXT_draw_range_elements */ + +#ifndef GL_EXT_external_buffer +#define GL_EXT_external_buffer 1 +typedef void *GLeglClientBufferEXT; +typedef void (APIENTRYP PFNGLBUFFERSTORAGEEXTERNALEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEEXTERNALEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBufferStorageExternalEXT (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +GLAPI void APIENTRY glNamedBufferStorageExternalEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +#endif +#endif /* GL_EXT_external_buffer */ + +#ifndef GL_EXT_fog_coord +#define GL_EXT_fog_coord 1 +#define GL_FOG_COORDINATE_SOURCE_EXT 0x8450 +#define GL_FOG_COORDINATE_EXT 0x8451 +#define GL_FRAGMENT_DEPTH_EXT 0x8452 +#define GL_CURRENT_FOG_COORDINATE_EXT 0x8453 +#define GL_FOG_COORDINATE_ARRAY_TYPE_EXT 0x8454 +#define GL_FOG_COORDINATE_ARRAY_STRIDE_EXT 0x8455 +#define GL_FOG_COORDINATE_ARRAY_POINTER_EXT 0x8456 +#define GL_FOG_COORDINATE_ARRAY_EXT 0x8457 +typedef void (APIENTRYP PFNGLFOGCOORDFEXTPROC) (GLfloat coord); +typedef void (APIENTRYP PFNGLFOGCOORDFVEXTPROC) (const GLfloat *coord); +typedef void (APIENTRYP PFNGLFOGCOORDDEXTPROC) (GLdouble coord); +typedef void (APIENTRYP PFNGLFOGCOORDDVEXTPROC) (const GLdouble *coord); +typedef void (APIENTRYP PFNGLFOGCOORDPOINTEREXTPROC) (GLenum type, GLsizei stride, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFogCoordfEXT (GLfloat coord); +GLAPI void APIENTRY glFogCoordfvEXT (const GLfloat *coord); +GLAPI void APIENTRY glFogCoorddEXT (GLdouble coord); +GLAPI void APIENTRY glFogCoorddvEXT (const GLdouble *coord); +GLAPI void APIENTRY glFogCoordPointerEXT (GLenum type, GLsizei stride, const void *pointer); +#endif +#endif /* GL_EXT_fog_coord */ + +#ifndef GL_EXT_framebuffer_blit +#define GL_EXT_framebuffer_blit 1 +#define GL_READ_FRAMEBUFFER_EXT 0x8CA8 +#define GL_DRAW_FRAMEBUFFER_EXT 0x8CA9 +#define GL_DRAW_FRAMEBUFFER_BINDING_EXT 0x8CA6 +#define GL_READ_FRAMEBUFFER_BINDING_EXT 0x8CAA +typedef void (APIENTRYP PFNGLBLITFRAMEBUFFEREXTPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlitFramebufferEXT (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +#endif +#endif /* GL_EXT_framebuffer_blit */ + +#ifndef GL_EXT_framebuffer_multisample +#define GL_EXT_framebuffer_multisample 1 +#define GL_RENDERBUFFER_SAMPLES_EXT 0x8CAB +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_EXT 0x8D56 +#define GL_MAX_SAMPLES_EXT 0x8D57 +typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glRenderbufferStorageMultisampleEXT (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +#endif +#endif /* GL_EXT_framebuffer_multisample */ + +#ifndef GL_EXT_framebuffer_multisample_blit_scaled +#define GL_EXT_framebuffer_multisample_blit_scaled 1 +#define GL_SCALED_RESOLVE_FASTEST_EXT 0x90BA +#define GL_SCALED_RESOLVE_NICEST_EXT 0x90BB +#endif /* GL_EXT_framebuffer_multisample_blit_scaled */ + +#ifndef GL_EXT_framebuffer_object +#define GL_EXT_framebuffer_object 1 +#define GL_INVALID_FRAMEBUFFER_OPERATION_EXT 0x0506 +#define GL_MAX_RENDERBUFFER_SIZE_EXT 0x84E8 +#define GL_FRAMEBUFFER_BINDING_EXT 0x8CA6 +#define GL_RENDERBUFFER_BINDING_EXT 0x8CA7 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE_EXT 0x8CD0 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME_EXT 0x8CD1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL_EXT 0x8CD2 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE_EXT 0x8CD3 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_3D_ZOFFSET_EXT 0x8CD4 +#define GL_FRAMEBUFFER_COMPLETE_EXT 0x8CD5 +#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT_EXT 0x8CD6 +#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT_EXT 0x8CD7 +#define GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS_EXT 0x8CD9 +#define GL_FRAMEBUFFER_INCOMPLETE_FORMATS_EXT 0x8CDA +#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER_EXT 0x8CDB +#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER_EXT 0x8CDC +#define GL_FRAMEBUFFER_UNSUPPORTED_EXT 0x8CDD +#define GL_MAX_COLOR_ATTACHMENTS_EXT 0x8CDF +#define GL_COLOR_ATTACHMENT0_EXT 0x8CE0 +#define GL_COLOR_ATTACHMENT1_EXT 0x8CE1 +#define GL_COLOR_ATTACHMENT2_EXT 0x8CE2 +#define GL_COLOR_ATTACHMENT3_EXT 0x8CE3 +#define GL_COLOR_ATTACHMENT4_EXT 0x8CE4 +#define GL_COLOR_ATTACHMENT5_EXT 0x8CE5 +#define GL_COLOR_ATTACHMENT6_EXT 0x8CE6 +#define GL_COLOR_ATTACHMENT7_EXT 0x8CE7 +#define GL_COLOR_ATTACHMENT8_EXT 0x8CE8 +#define GL_COLOR_ATTACHMENT9_EXT 0x8CE9 +#define GL_COLOR_ATTACHMENT10_EXT 0x8CEA +#define GL_COLOR_ATTACHMENT11_EXT 0x8CEB +#define GL_COLOR_ATTACHMENT12_EXT 0x8CEC +#define GL_COLOR_ATTACHMENT13_EXT 0x8CED +#define GL_COLOR_ATTACHMENT14_EXT 0x8CEE +#define GL_COLOR_ATTACHMENT15_EXT 0x8CEF +#define GL_DEPTH_ATTACHMENT_EXT 0x8D00 +#define GL_STENCIL_ATTACHMENT_EXT 0x8D20 +#define GL_FRAMEBUFFER_EXT 0x8D40 +#define GL_RENDERBUFFER_EXT 0x8D41 +#define GL_RENDERBUFFER_WIDTH_EXT 0x8D42 +#define GL_RENDERBUFFER_HEIGHT_EXT 0x8D43 +#define GL_RENDERBUFFER_INTERNAL_FORMAT_EXT 0x8D44 +#define GL_STENCIL_INDEX1_EXT 0x8D46 +#define GL_STENCIL_INDEX4_EXT 0x8D47 +#define GL_STENCIL_INDEX8_EXT 0x8D48 +#define GL_STENCIL_INDEX16_EXT 0x8D49 +#define GL_RENDERBUFFER_RED_SIZE_EXT 0x8D50 +#define GL_RENDERBUFFER_GREEN_SIZE_EXT 0x8D51 +#define GL_RENDERBUFFER_BLUE_SIZE_EXT 0x8D52 +#define GL_RENDERBUFFER_ALPHA_SIZE_EXT 0x8D53 +#define GL_RENDERBUFFER_DEPTH_SIZE_EXT 0x8D54 +#define GL_RENDERBUFFER_STENCIL_SIZE_EXT 0x8D55 +typedef GLboolean (APIENTRYP PFNGLISRENDERBUFFEREXTPROC) (GLuint renderbuffer); +typedef void (APIENTRYP PFNGLBINDRENDERBUFFEREXTPROC) (GLenum target, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLDELETERENDERBUFFERSEXTPROC) (GLsizei n, const GLuint *renderbuffers); +typedef void (APIENTRYP PFNGLGENRENDERBUFFERSEXTPROC) (GLsizei n, GLuint *renderbuffers); +typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef GLboolean (APIENTRYP PFNGLISFRAMEBUFFEREXTPROC) (GLuint framebuffer); +typedef void (APIENTRYP PFNGLBINDFRAMEBUFFEREXTPROC) (GLenum target, GLuint framebuffer); +typedef void (APIENTRYP PFNGLDELETEFRAMEBUFFERSEXTPROC) (GLsizei n, const GLuint *framebuffers); +typedef void (APIENTRYP PFNGLGENFRAMEBUFFERSEXTPROC) (GLsizei n, GLuint *framebuffers); +typedef GLenum (APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC) (GLenum target); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE1DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +typedef void (APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC) (GLenum target, GLenum attachment, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGENERATEMIPMAPEXTPROC) (GLenum target); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLboolean APIENTRY glIsRenderbufferEXT (GLuint renderbuffer); +GLAPI void APIENTRY glBindRenderbufferEXT (GLenum target, GLuint renderbuffer); +GLAPI void APIENTRY glDeleteRenderbuffersEXT (GLsizei n, const GLuint *renderbuffers); +GLAPI void APIENTRY glGenRenderbuffersEXT (GLsizei n, GLuint *renderbuffers); +GLAPI void APIENTRY glRenderbufferStorageEXT (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glGetRenderbufferParameterivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI GLboolean APIENTRY glIsFramebufferEXT (GLuint framebuffer); +GLAPI void APIENTRY glBindFramebufferEXT (GLenum target, GLuint framebuffer); +GLAPI void APIENTRY glDeleteFramebuffersEXT (GLsizei n, const GLuint *framebuffers); +GLAPI void APIENTRY glGenFramebuffersEXT (GLsizei n, GLuint *framebuffers); +GLAPI GLenum APIENTRY glCheckFramebufferStatusEXT (GLenum target); +GLAPI void APIENTRY glFramebufferTexture1DEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GLAPI void APIENTRY glFramebufferTexture2DEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GLAPI void APIENTRY glFramebufferTexture3DEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +GLAPI void APIENTRY glFramebufferRenderbufferEXT (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +GLAPI void APIENTRY glGetFramebufferAttachmentParameterivEXT (GLenum target, GLenum attachment, GLenum pname, GLint *params); +GLAPI void APIENTRY glGenerateMipmapEXT (GLenum target); +#endif +#endif /* GL_EXT_framebuffer_object */ + +#ifndef GL_EXT_framebuffer_sRGB +#define GL_EXT_framebuffer_sRGB 1 +#define GL_FRAMEBUFFER_SRGB_EXT 0x8DB9 +#define GL_FRAMEBUFFER_SRGB_CAPABLE_EXT 0x8DBA +#endif /* GL_EXT_framebuffer_sRGB */ + +#ifndef GL_EXT_geometry_shader4 +#define GL_EXT_geometry_shader4 1 +#define GL_GEOMETRY_SHADER_EXT 0x8DD9 +#define GL_GEOMETRY_VERTICES_OUT_EXT 0x8DDA +#define GL_GEOMETRY_INPUT_TYPE_EXT 0x8DDB +#define GL_GEOMETRY_OUTPUT_TYPE_EXT 0x8DDC +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_EXT 0x8C29 +#define GL_MAX_GEOMETRY_VARYING_COMPONENTS_EXT 0x8DDD +#define GL_MAX_VERTEX_VARYING_COMPONENTS_EXT 0x8DDE +#define GL_MAX_VARYING_COMPONENTS_EXT 0x8B4B +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8DDF +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_EXT 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_EXT 0x8DE1 +#define GL_LINES_ADJACENCY_EXT 0x000A +#define GL_LINE_STRIP_ADJACENCY_EXT 0x000B +#define GL_TRIANGLES_ADJACENCY_EXT 0x000C +#define GL_TRIANGLE_STRIP_ADJACENCY_EXT 0x000D +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_EXT 0x8DA8 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_COUNT_EXT 0x8DA9 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_EXT 0x8DA7 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER_EXT 0x8CD4 +#define GL_PROGRAM_POINT_SIZE_EXT 0x8642 +typedef void (APIENTRYP PFNGLPROGRAMPARAMETERIEXTPROC) (GLuint program, GLenum pname, GLint value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramParameteriEXT (GLuint program, GLenum pname, GLint value); +#endif +#endif /* GL_EXT_geometry_shader4 */ + +#ifndef GL_EXT_gpu_program_parameters +#define GL_EXT_gpu_program_parameters 1 +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERS4FVEXTPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *params); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERS4FVEXTPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramEnvParameters4fvEXT (GLenum target, GLuint index, GLsizei count, const GLfloat *params); +GLAPI void APIENTRY glProgramLocalParameters4fvEXT (GLenum target, GLuint index, GLsizei count, const GLfloat *params); +#endif +#endif /* GL_EXT_gpu_program_parameters */ + +#ifndef GL_EXT_gpu_shader4 +#define GL_EXT_gpu_shader4 1 +#define GL_SAMPLER_1D_ARRAY_EXT 0x8DC0 +#define GL_SAMPLER_2D_ARRAY_EXT 0x8DC1 +#define GL_SAMPLER_BUFFER_EXT 0x8DC2 +#define GL_SAMPLER_1D_ARRAY_SHADOW_EXT 0x8DC3 +#define GL_SAMPLER_2D_ARRAY_SHADOW_EXT 0x8DC4 +#define GL_SAMPLER_CUBE_SHADOW_EXT 0x8DC5 +#define GL_UNSIGNED_INT_VEC2_EXT 0x8DC6 +#define GL_UNSIGNED_INT_VEC3_EXT 0x8DC7 +#define GL_UNSIGNED_INT_VEC4_EXT 0x8DC8 +#define GL_INT_SAMPLER_1D_EXT 0x8DC9 +#define GL_INT_SAMPLER_2D_EXT 0x8DCA +#define GL_INT_SAMPLER_3D_EXT 0x8DCB +#define GL_INT_SAMPLER_CUBE_EXT 0x8DCC +#define GL_INT_SAMPLER_2D_RECT_EXT 0x8DCD +#define GL_INT_SAMPLER_1D_ARRAY_EXT 0x8DCE +#define GL_INT_SAMPLER_2D_ARRAY_EXT 0x8DCF +#define GL_INT_SAMPLER_BUFFER_EXT 0x8DD0 +#define GL_UNSIGNED_INT_SAMPLER_1D_EXT 0x8DD1 +#define GL_UNSIGNED_INT_SAMPLER_2D_EXT 0x8DD2 +#define GL_UNSIGNED_INT_SAMPLER_3D_EXT 0x8DD3 +#define GL_UNSIGNED_INT_SAMPLER_CUBE_EXT 0x8DD4 +#define GL_UNSIGNED_INT_SAMPLER_2D_RECT_EXT 0x8DD5 +#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY_EXT 0x8DD6 +#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY_EXT 0x8DD7 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER_EXT 0x8DD8 +#define GL_MIN_PROGRAM_TEXEL_OFFSET_EXT 0x8904 +#define GL_MAX_PROGRAM_TEXEL_OFFSET_EXT 0x8905 +#define GL_VERTEX_ATTRIB_ARRAY_INTEGER_EXT 0x88FD +typedef void (APIENTRYP PFNGLGETUNIFORMUIVEXTPROC) (GLuint program, GLint location, GLuint *params); +typedef void (APIENTRYP PFNGLBINDFRAGDATALOCATIONEXTPROC) (GLuint program, GLuint color, const GLchar *name); +typedef GLint (APIENTRYP PFNGLGETFRAGDATALOCATIONEXTPROC) (GLuint program, const GLchar *name); +typedef void (APIENTRYP PFNGLUNIFORM1UIEXTPROC) (GLint location, GLuint v0); +typedef void (APIENTRYP PFNGLUNIFORM2UIEXTPROC) (GLint location, GLuint v0, GLuint v1); +typedef void (APIENTRYP PFNGLUNIFORM3UIEXTPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (APIENTRYP PFNGLUNIFORM4UIEXTPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (APIENTRYP PFNGLUNIFORM1UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLUNIFORM2UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLUNIFORM3UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLUNIFORM4UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IEXTPROC) (GLuint index, GLint x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IEXTPROC) (GLuint index, GLint x, GLint y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IEXTPROC) (GLuint index, GLint x, GLint y, GLint z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IEXTPROC) (GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIEXTPROC) (GLuint index, GLuint x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIEXTPROC) (GLuint index, GLuint x, GLuint y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIEXTPROC) (GLuint index, GLuint x, GLuint y, GLuint z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIEXTPROC) (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IVEXTPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IVEXTPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IVEXTPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IVEXTPROC) (GLuint index, const GLint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4BVEXTPROC) (GLuint index, const GLbyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4SVEXTPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UBVEXTPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBI4USVEXTPROC) (GLuint index, const GLushort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBIPOINTEREXTPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIIVEXTPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIUIVEXTPROC) (GLuint index, GLenum pname, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetUniformuivEXT (GLuint program, GLint location, GLuint *params); +GLAPI void APIENTRY glBindFragDataLocationEXT (GLuint program, GLuint color, const GLchar *name); +GLAPI GLint APIENTRY glGetFragDataLocationEXT (GLuint program, const GLchar *name); +GLAPI void APIENTRY glUniform1uiEXT (GLint location, GLuint v0); +GLAPI void APIENTRY glUniform2uiEXT (GLint location, GLuint v0, GLuint v1); +GLAPI void APIENTRY glUniform3uiEXT (GLint location, GLuint v0, GLuint v1, GLuint v2); +GLAPI void APIENTRY glUniform4uiEXT (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +GLAPI void APIENTRY glUniform1uivEXT (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glUniform2uivEXT (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glUniform3uivEXT (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glUniform4uivEXT (GLint location, GLsizei count, const GLuint *value); +GLAPI void APIENTRY glVertexAttribI1iEXT (GLuint index, GLint x); +GLAPI void APIENTRY glVertexAttribI2iEXT (GLuint index, GLint x, GLint y); +GLAPI void APIENTRY glVertexAttribI3iEXT (GLuint index, GLint x, GLint y, GLint z); +GLAPI void APIENTRY glVertexAttribI4iEXT (GLuint index, GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glVertexAttribI1uiEXT (GLuint index, GLuint x); +GLAPI void APIENTRY glVertexAttribI2uiEXT (GLuint index, GLuint x, GLuint y); +GLAPI void APIENTRY glVertexAttribI3uiEXT (GLuint index, GLuint x, GLuint y, GLuint z); +GLAPI void APIENTRY glVertexAttribI4uiEXT (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +GLAPI void APIENTRY glVertexAttribI1ivEXT (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI2ivEXT (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI3ivEXT (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI4ivEXT (GLuint index, const GLint *v); +GLAPI void APIENTRY glVertexAttribI1uivEXT (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI2uivEXT (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI3uivEXT (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI4uivEXT (GLuint index, const GLuint *v); +GLAPI void APIENTRY glVertexAttribI4bvEXT (GLuint index, const GLbyte *v); +GLAPI void APIENTRY glVertexAttribI4svEXT (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttribI4ubvEXT (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttribI4usvEXT (GLuint index, const GLushort *v); +GLAPI void APIENTRY glVertexAttribIPointerEXT (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glGetVertexAttribIivEXT (GLuint index, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVertexAttribIuivEXT (GLuint index, GLenum pname, GLuint *params); +#endif +#endif /* GL_EXT_gpu_shader4 */ + +#ifndef GL_EXT_histogram +#define GL_EXT_histogram 1 +#define GL_HISTOGRAM_EXT 0x8024 +#define GL_PROXY_HISTOGRAM_EXT 0x8025 +#define GL_HISTOGRAM_WIDTH_EXT 0x8026 +#define GL_HISTOGRAM_FORMAT_EXT 0x8027 +#define GL_HISTOGRAM_RED_SIZE_EXT 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE_EXT 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE_EXT 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE_EXT 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE_EXT 0x802C +#define GL_HISTOGRAM_SINK_EXT 0x802D +#define GL_MINMAX_EXT 0x802E +#define GL_MINMAX_FORMAT_EXT 0x802F +#define GL_MINMAX_SINK_EXT 0x8030 +#define GL_TABLE_TOO_LARGE_EXT 0x8031 +typedef void (APIENTRYP PFNGLGETHISTOGRAMEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMINMAXEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLHISTOGRAMEXTPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +typedef void (APIENTRYP PFNGLMINMAXEXTPROC) (GLenum target, GLenum internalformat, GLboolean sink); +typedef void (APIENTRYP PFNGLRESETHISTOGRAMEXTPROC) (GLenum target); +typedef void (APIENTRYP PFNGLRESETMINMAXEXTPROC) (GLenum target); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetHistogramEXT (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +GLAPI void APIENTRY glGetHistogramParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetHistogramParameterivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMinmaxEXT (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); +GLAPI void APIENTRY glGetMinmaxParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMinmaxParameterivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glHistogramEXT (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +GLAPI void APIENTRY glMinmaxEXT (GLenum target, GLenum internalformat, GLboolean sink); +GLAPI void APIENTRY glResetHistogramEXT (GLenum target); +GLAPI void APIENTRY glResetMinmaxEXT (GLenum target); +#endif +#endif /* GL_EXT_histogram */ + +#ifndef GL_EXT_index_array_formats +#define GL_EXT_index_array_formats 1 +#define GL_IUI_V2F_EXT 0x81AD +#define GL_IUI_V3F_EXT 0x81AE +#define GL_IUI_N3F_V2F_EXT 0x81AF +#define GL_IUI_N3F_V3F_EXT 0x81B0 +#define GL_T2F_IUI_V2F_EXT 0x81B1 +#define GL_T2F_IUI_V3F_EXT 0x81B2 +#define GL_T2F_IUI_N3F_V2F_EXT 0x81B3 +#define GL_T2F_IUI_N3F_V3F_EXT 0x81B4 +#endif /* GL_EXT_index_array_formats */ + +#ifndef GL_EXT_index_func +#define GL_EXT_index_func 1 +#define GL_INDEX_TEST_EXT 0x81B5 +#define GL_INDEX_TEST_FUNC_EXT 0x81B6 +#define GL_INDEX_TEST_REF_EXT 0x81B7 +typedef void (APIENTRYP PFNGLINDEXFUNCEXTPROC) (GLenum func, GLclampf ref); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glIndexFuncEXT (GLenum func, GLclampf ref); +#endif +#endif /* GL_EXT_index_func */ + +#ifndef GL_EXT_index_material +#define GL_EXT_index_material 1 +#define GL_INDEX_MATERIAL_EXT 0x81B8 +#define GL_INDEX_MATERIAL_PARAMETER_EXT 0x81B9 +#define GL_INDEX_MATERIAL_FACE_EXT 0x81BA +typedef void (APIENTRYP PFNGLINDEXMATERIALEXTPROC) (GLenum face, GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glIndexMaterialEXT (GLenum face, GLenum mode); +#endif +#endif /* GL_EXT_index_material */ + +#ifndef GL_EXT_index_texture +#define GL_EXT_index_texture 1 +#endif /* GL_EXT_index_texture */ + +#ifndef GL_EXT_light_texture +#define GL_EXT_light_texture 1 +#define GL_FRAGMENT_MATERIAL_EXT 0x8349 +#define GL_FRAGMENT_NORMAL_EXT 0x834A +#define GL_FRAGMENT_COLOR_EXT 0x834C +#define GL_ATTENUATION_EXT 0x834D +#define GL_SHADOW_ATTENUATION_EXT 0x834E +#define GL_TEXTURE_APPLICATION_MODE_EXT 0x834F +#define GL_TEXTURE_LIGHT_EXT 0x8350 +#define GL_TEXTURE_MATERIAL_FACE_EXT 0x8351 +#define GL_TEXTURE_MATERIAL_PARAMETER_EXT 0x8352 +typedef void (APIENTRYP PFNGLAPPLYTEXTUREEXTPROC) (GLenum mode); +typedef void (APIENTRYP PFNGLTEXTURELIGHTEXTPROC) (GLenum pname); +typedef void (APIENTRYP PFNGLTEXTUREMATERIALEXTPROC) (GLenum face, GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glApplyTextureEXT (GLenum mode); +GLAPI void APIENTRY glTextureLightEXT (GLenum pname); +GLAPI void APIENTRY glTextureMaterialEXT (GLenum face, GLenum mode); +#endif +#endif /* GL_EXT_light_texture */ + +#ifndef GL_EXT_memory_object +#define GL_EXT_memory_object 1 +#define GL_TEXTURE_TILING_EXT 0x9580 +#define GL_DEDICATED_MEMORY_OBJECT_EXT 0x9581 +#define GL_PROTECTED_MEMORY_OBJECT_EXT 0x959B +#define GL_NUM_TILING_TYPES_EXT 0x9582 +#define GL_TILING_TYPES_EXT 0x9583 +#define GL_OPTIMAL_TILING_EXT 0x9584 +#define GL_LINEAR_TILING_EXT 0x9585 +#define GL_NUM_DEVICE_UUIDS_EXT 0x9596 +#define GL_DEVICE_UUID_EXT 0x9597 +#define GL_DRIVER_UUID_EXT 0x9598 +#define GL_UUID_SIZE_EXT 16 +typedef void (APIENTRYP PFNGLGETUNSIGNEDBYTEVEXTPROC) (GLenum pname, GLubyte *data); +typedef void (APIENTRYP PFNGLGETUNSIGNEDBYTEI_VEXTPROC) (GLenum target, GLuint index, GLubyte *data); +typedef void (APIENTRYP PFNGLDELETEMEMORYOBJECTSEXTPROC) (GLsizei n, const GLuint *memoryObjects); +typedef GLboolean (APIENTRYP PFNGLISMEMORYOBJECTEXTPROC) (GLuint memoryObject); +typedef void (APIENTRYP PFNGLCREATEMEMORYOBJECTSEXTPROC) (GLsizei n, GLuint *memoryObjects); +typedef void (APIENTRYP PFNGLMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLGETMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLTEXSTORAGEMEM2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXSTORAGEMEM2DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXSTORAGEMEM3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXSTORAGEMEM3DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLBUFFERSTORAGEMEMEXTPROC) (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM2DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM2DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM3DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM3DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEMEMEXTPROC) (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXSTORAGEMEM1DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM1DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetUnsignedBytevEXT (GLenum pname, GLubyte *data); +GLAPI void APIENTRY glGetUnsignedBytei_vEXT (GLenum target, GLuint index, GLubyte *data); +GLAPI void APIENTRY glDeleteMemoryObjectsEXT (GLsizei n, const GLuint *memoryObjects); +GLAPI GLboolean APIENTRY glIsMemoryObjectEXT (GLuint memoryObject); +GLAPI void APIENTRY glCreateMemoryObjectsEXT (GLsizei n, GLuint *memoryObjects); +GLAPI void APIENTRY glMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, const GLint *params); +GLAPI void APIENTRY glGetMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, GLint *params); +GLAPI void APIENTRY glTexStorageMem2DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTexStorageMem2DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTexStorageMem3DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTexStorageMem3DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glBufferStorageMemEXT (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTextureStorageMem2DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTextureStorageMem2DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTextureStorageMem3DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTextureStorageMem3DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glNamedBufferStorageMemEXT (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTexStorageMem1DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTextureStorageMem1DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); +#endif +#endif /* GL_EXT_memory_object */ + +#ifndef GL_EXT_memory_object_fd +#define GL_EXT_memory_object_fd 1 +#define GL_HANDLE_TYPE_OPAQUE_FD_EXT 0x9586 +typedef void (APIENTRYP PFNGLIMPORTMEMORYFDEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glImportMemoryFdEXT (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); +#endif +#endif /* GL_EXT_memory_object_fd */ + +#ifndef GL_EXT_memory_object_win32 +#define GL_EXT_memory_object_win32 1 +#define GL_HANDLE_TYPE_OPAQUE_WIN32_EXT 0x9587 +#define GL_HANDLE_TYPE_OPAQUE_WIN32_KMT_EXT 0x9588 +#define GL_DEVICE_LUID_EXT 0x9599 +#define GL_DEVICE_NODE_MASK_EXT 0x959A +#define GL_LUID_SIZE_EXT 8 +#define GL_HANDLE_TYPE_D3D12_TILEPOOL_EXT 0x9589 +#define GL_HANDLE_TYPE_D3D12_RESOURCE_EXT 0x958A +#define GL_HANDLE_TYPE_D3D11_IMAGE_EXT 0x958B +#define GL_HANDLE_TYPE_D3D11_IMAGE_KMT_EXT 0x958C +typedef void (APIENTRYP PFNGLIMPORTMEMORYWIN32HANDLEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, void *handle); +typedef void (APIENTRYP PFNGLIMPORTMEMORYWIN32NAMEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, const void *name); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glImportMemoryWin32HandleEXT (GLuint memory, GLuint64 size, GLenum handleType, void *handle); +GLAPI void APIENTRY glImportMemoryWin32NameEXT (GLuint memory, GLuint64 size, GLenum handleType, const void *name); +#endif +#endif /* GL_EXT_memory_object_win32 */ + +#ifndef GL_EXT_misc_attribute +#define GL_EXT_misc_attribute 1 +#endif /* GL_EXT_misc_attribute */ + +#ifndef GL_EXT_multi_draw_arrays +#define GL_EXT_multi_draw_arrays 1 +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSEXTPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiDrawArraysEXT (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); +GLAPI void APIENTRY glMultiDrawElementsEXT (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); +#endif +#endif /* GL_EXT_multi_draw_arrays */ + +#ifndef GL_EXT_multisample +#define GL_EXT_multisample 1 +#define GL_MULTISAMPLE_EXT 0x809D +#define GL_SAMPLE_ALPHA_TO_MASK_EXT 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_EXT 0x809F +#define GL_SAMPLE_MASK_EXT 0x80A0 +#define GL_1PASS_EXT 0x80A1 +#define GL_2PASS_0_EXT 0x80A2 +#define GL_2PASS_1_EXT 0x80A3 +#define GL_4PASS_0_EXT 0x80A4 +#define GL_4PASS_1_EXT 0x80A5 +#define GL_4PASS_2_EXT 0x80A6 +#define GL_4PASS_3_EXT 0x80A7 +#define GL_SAMPLE_BUFFERS_EXT 0x80A8 +#define GL_SAMPLES_EXT 0x80A9 +#define GL_SAMPLE_MASK_VALUE_EXT 0x80AA +#define GL_SAMPLE_MASK_INVERT_EXT 0x80AB +#define GL_SAMPLE_PATTERN_EXT 0x80AC +#define GL_MULTISAMPLE_BIT_EXT 0x20000000 +typedef void (APIENTRYP PFNGLSAMPLEMASKEXTPROC) (GLclampf value, GLboolean invert); +typedef void (APIENTRYP PFNGLSAMPLEPATTERNEXTPROC) (GLenum pattern); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSampleMaskEXT (GLclampf value, GLboolean invert); +GLAPI void APIENTRY glSamplePatternEXT (GLenum pattern); +#endif +#endif /* GL_EXT_multisample */ + +#ifndef GL_EXT_multiview_tessellation_geometry_shader +#define GL_EXT_multiview_tessellation_geometry_shader 1 +#endif /* GL_EXT_multiview_tessellation_geometry_shader */ + +#ifndef GL_EXT_multiview_texture_multisample +#define GL_EXT_multiview_texture_multisample 1 +#endif /* GL_EXT_multiview_texture_multisample */ + +#ifndef GL_EXT_multiview_timer_query +#define GL_EXT_multiview_timer_query 1 +#endif /* GL_EXT_multiview_timer_query */ + +#ifndef GL_EXT_packed_depth_stencil +#define GL_EXT_packed_depth_stencil 1 +#define GL_DEPTH_STENCIL_EXT 0x84F9 +#define GL_UNSIGNED_INT_24_8_EXT 0x84FA +#define GL_DEPTH24_STENCIL8_EXT 0x88F0 +#define GL_TEXTURE_STENCIL_SIZE_EXT 0x88F1 +#endif /* GL_EXT_packed_depth_stencil */ + +#ifndef GL_EXT_packed_float +#define GL_EXT_packed_float 1 +#define GL_R11F_G11F_B10F_EXT 0x8C3A +#define GL_UNSIGNED_INT_10F_11F_11F_REV_EXT 0x8C3B +#define GL_RGBA_SIGNED_COMPONENTS_EXT 0x8C3C +#endif /* GL_EXT_packed_float */ + +#ifndef GL_EXT_packed_pixels +#define GL_EXT_packed_pixels 1 +#define GL_UNSIGNED_BYTE_3_3_2_EXT 0x8032 +#define GL_UNSIGNED_SHORT_4_4_4_4_EXT 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1_EXT 0x8034 +#define GL_UNSIGNED_INT_8_8_8_8_EXT 0x8035 +#define GL_UNSIGNED_INT_10_10_10_2_EXT 0x8036 +#endif /* GL_EXT_packed_pixels */ + +#ifndef GL_EXT_paletted_texture +#define GL_EXT_paletted_texture 1 +#define GL_COLOR_INDEX1_EXT 0x80E2 +#define GL_COLOR_INDEX2_EXT 0x80E3 +#define GL_COLOR_INDEX4_EXT 0x80E4 +#define GL_COLOR_INDEX8_EXT 0x80E5 +#define GL_COLOR_INDEX12_EXT 0x80E6 +#define GL_COLOR_INDEX16_EXT 0x80E7 +#define GL_TEXTURE_INDEX_SIZE_EXT 0x80ED +typedef void (APIENTRYP PFNGLCOLORTABLEEXTPROC) (GLenum target, GLenum internalFormat, GLsizei width, GLenum format, GLenum type, const void *table); +typedef void (APIENTRYP PFNGLGETCOLORTABLEEXTPROC) (GLenum target, GLenum format, GLenum type, void *data); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorTableEXT (GLenum target, GLenum internalFormat, GLsizei width, GLenum format, GLenum type, const void *table); +GLAPI void APIENTRY glGetColorTableEXT (GLenum target, GLenum format, GLenum type, void *data); +GLAPI void APIENTRY glGetColorTableParameterivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetColorTableParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); +#endif +#endif /* GL_EXT_paletted_texture */ + +#ifndef GL_EXT_pixel_buffer_object +#define GL_EXT_pixel_buffer_object 1 +#define GL_PIXEL_PACK_BUFFER_EXT 0x88EB +#define GL_PIXEL_UNPACK_BUFFER_EXT 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING_EXT 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING_EXT 0x88EF +#endif /* GL_EXT_pixel_buffer_object */ + +#ifndef GL_EXT_pixel_transform +#define GL_EXT_pixel_transform 1 +#define GL_PIXEL_TRANSFORM_2D_EXT 0x8330 +#define GL_PIXEL_MAG_FILTER_EXT 0x8331 +#define GL_PIXEL_MIN_FILTER_EXT 0x8332 +#define GL_PIXEL_CUBIC_WEIGHT_EXT 0x8333 +#define GL_CUBIC_EXT 0x8334 +#define GL_AVERAGE_EXT 0x8335 +#define GL_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8336 +#define GL_MAX_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8337 +#define GL_PIXEL_TRANSFORM_2D_MATRIX_EXT 0x8338 +typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPixelTransformParameteriEXT (GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glPixelTransformParameterfEXT (GLenum target, GLenum pname, GLfloat param); +GLAPI void APIENTRY glPixelTransformParameterivEXT (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glPixelTransformParameterfvEXT (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glGetPixelTransformParameterivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetPixelTransformParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); +#endif +#endif /* GL_EXT_pixel_transform */ + +#ifndef GL_EXT_pixel_transform_color_table +#define GL_EXT_pixel_transform_color_table 1 +#endif /* GL_EXT_pixel_transform_color_table */ + +#ifndef GL_EXT_point_parameters +#define GL_EXT_point_parameters 1 +#define GL_POINT_SIZE_MIN_EXT 0x8126 +#define GL_POINT_SIZE_MAX_EXT 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE_EXT 0x8128 +#define GL_DISTANCE_ATTENUATION_EXT 0x8129 +typedef void (APIENTRYP PFNGLPOINTPARAMETERFEXTPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLPOINTPARAMETERFVEXTPROC) (GLenum pname, const GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPointParameterfEXT (GLenum pname, GLfloat param); +GLAPI void APIENTRY glPointParameterfvEXT (GLenum pname, const GLfloat *params); +#endif +#endif /* GL_EXT_point_parameters */ + +#ifndef GL_EXT_polygon_offset +#define GL_EXT_polygon_offset 1 +#define GL_POLYGON_OFFSET_EXT 0x8037 +#define GL_POLYGON_OFFSET_FACTOR_EXT 0x8038 +#define GL_POLYGON_OFFSET_BIAS_EXT 0x8039 +typedef void (APIENTRYP PFNGLPOLYGONOFFSETEXTPROC) (GLfloat factor, GLfloat bias); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPolygonOffsetEXT (GLfloat factor, GLfloat bias); +#endif +#endif /* GL_EXT_polygon_offset */ + +#ifndef GL_EXT_polygon_offset_clamp +#define GL_EXT_polygon_offset_clamp 1 +#define GL_POLYGON_OFFSET_CLAMP_EXT 0x8E1B +typedef void (APIENTRYP PFNGLPOLYGONOFFSETCLAMPEXTPROC) (GLfloat factor, GLfloat units, GLfloat clamp); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPolygonOffsetClampEXT (GLfloat factor, GLfloat units, GLfloat clamp); +#endif +#endif /* GL_EXT_polygon_offset_clamp */ + +#ifndef GL_EXT_post_depth_coverage +#define GL_EXT_post_depth_coverage 1 +#endif /* GL_EXT_post_depth_coverage */ + +#ifndef GL_EXT_provoking_vertex +#define GL_EXT_provoking_vertex 1 +#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION_EXT 0x8E4C +#define GL_FIRST_VERTEX_CONVENTION_EXT 0x8E4D +#define GL_LAST_VERTEX_CONVENTION_EXT 0x8E4E +#define GL_PROVOKING_VERTEX_EXT 0x8E4F +typedef void (APIENTRYP PFNGLPROVOKINGVERTEXEXTPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProvokingVertexEXT (GLenum mode); +#endif +#endif /* GL_EXT_provoking_vertex */ + +#ifndef GL_EXT_raster_multisample +#define GL_EXT_raster_multisample 1 +#define GL_RASTER_MULTISAMPLE_EXT 0x9327 +#define GL_RASTER_SAMPLES_EXT 0x9328 +#define GL_MAX_RASTER_SAMPLES_EXT 0x9329 +#define GL_RASTER_FIXED_SAMPLE_LOCATIONS_EXT 0x932A +#define GL_MULTISAMPLE_RASTERIZATION_ALLOWED_EXT 0x932B +#define GL_EFFECTIVE_RASTER_SAMPLES_EXT 0x932C +typedef void (APIENTRYP PFNGLRASTERSAMPLESEXTPROC) (GLuint samples, GLboolean fixedsamplelocations); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glRasterSamplesEXT (GLuint samples, GLboolean fixedsamplelocations); +#endif +#endif /* GL_EXT_raster_multisample */ + +#ifndef GL_EXT_rescale_normal +#define GL_EXT_rescale_normal 1 +#define GL_RESCALE_NORMAL_EXT 0x803A +#endif /* GL_EXT_rescale_normal */ + +#ifndef GL_EXT_secondary_color +#define GL_EXT_secondary_color 1 +#define GL_COLOR_SUM_EXT 0x8458 +#define GL_CURRENT_SECONDARY_COLOR_EXT 0x8459 +#define GL_SECONDARY_COLOR_ARRAY_SIZE_EXT 0x845A +#define GL_SECONDARY_COLOR_ARRAY_TYPE_EXT 0x845B +#define GL_SECONDARY_COLOR_ARRAY_STRIDE_EXT 0x845C +#define GL_SECONDARY_COLOR_ARRAY_POINTER_EXT 0x845D +#define GL_SECONDARY_COLOR_ARRAY_EXT 0x845E +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BEXTPROC) (GLbyte red, GLbyte green, GLbyte blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BVEXTPROC) (const GLbyte *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DEXTPROC) (GLdouble red, GLdouble green, GLdouble blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DVEXTPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FEXTPROC) (GLfloat red, GLfloat green, GLfloat blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FVEXTPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IEXTPROC) (GLint red, GLint green, GLint blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IVEXTPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SEXTPROC) (GLshort red, GLshort green, GLshort blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SVEXTPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBEXTPROC) (GLubyte red, GLubyte green, GLubyte blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBVEXTPROC) (const GLubyte *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIEXTPROC) (GLuint red, GLuint green, GLuint blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIVEXTPROC) (const GLuint *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USEXTPROC) (GLushort red, GLushort green, GLushort blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USVEXTPROC) (const GLushort *v); +typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSecondaryColor3bEXT (GLbyte red, GLbyte green, GLbyte blue); +GLAPI void APIENTRY glSecondaryColor3bvEXT (const GLbyte *v); +GLAPI void APIENTRY glSecondaryColor3dEXT (GLdouble red, GLdouble green, GLdouble blue); +GLAPI void APIENTRY glSecondaryColor3dvEXT (const GLdouble *v); +GLAPI void APIENTRY glSecondaryColor3fEXT (GLfloat red, GLfloat green, GLfloat blue); +GLAPI void APIENTRY glSecondaryColor3fvEXT (const GLfloat *v); +GLAPI void APIENTRY glSecondaryColor3iEXT (GLint red, GLint green, GLint blue); +GLAPI void APIENTRY glSecondaryColor3ivEXT (const GLint *v); +GLAPI void APIENTRY glSecondaryColor3sEXT (GLshort red, GLshort green, GLshort blue); +GLAPI void APIENTRY glSecondaryColor3svEXT (const GLshort *v); +GLAPI void APIENTRY glSecondaryColor3ubEXT (GLubyte red, GLubyte green, GLubyte blue); +GLAPI void APIENTRY glSecondaryColor3ubvEXT (const GLubyte *v); +GLAPI void APIENTRY glSecondaryColor3uiEXT (GLuint red, GLuint green, GLuint blue); +GLAPI void APIENTRY glSecondaryColor3uivEXT (const GLuint *v); +GLAPI void APIENTRY glSecondaryColor3usEXT (GLushort red, GLushort green, GLushort blue); +GLAPI void APIENTRY glSecondaryColor3usvEXT (const GLushort *v); +GLAPI void APIENTRY glSecondaryColorPointerEXT (GLint size, GLenum type, GLsizei stride, const void *pointer); +#endif +#endif /* GL_EXT_secondary_color */ + +#ifndef GL_EXT_semaphore +#define GL_EXT_semaphore 1 +#define GL_LAYOUT_GENERAL_EXT 0x958D +#define GL_LAYOUT_COLOR_ATTACHMENT_EXT 0x958E +#define GL_LAYOUT_DEPTH_STENCIL_ATTACHMENT_EXT 0x958F +#define GL_LAYOUT_DEPTH_STENCIL_READ_ONLY_EXT 0x9590 +#define GL_LAYOUT_SHADER_READ_ONLY_EXT 0x9591 +#define GL_LAYOUT_TRANSFER_SRC_EXT 0x9592 +#define GL_LAYOUT_TRANSFER_DST_EXT 0x9593 +#define GL_LAYOUT_DEPTH_READ_ONLY_STENCIL_ATTACHMENT_EXT 0x9530 +#define GL_LAYOUT_DEPTH_ATTACHMENT_STENCIL_READ_ONLY_EXT 0x9531 +typedef void (APIENTRYP PFNGLGENSEMAPHORESEXTPROC) (GLsizei n, GLuint *semaphores); +typedef void (APIENTRYP PFNGLDELETESEMAPHORESEXTPROC) (GLsizei n, const GLuint *semaphores); +typedef GLboolean (APIENTRYP PFNGLISSEMAPHOREEXTPROC) (GLuint semaphore); +typedef void (APIENTRYP PFNGLSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, const GLuint64 *params); +typedef void (APIENTRYP PFNGLGETSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, GLuint64 *params); +typedef void (APIENTRYP PFNGLWAITSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); +typedef void (APIENTRYP PFNGLSIGNALSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenSemaphoresEXT (GLsizei n, GLuint *semaphores); +GLAPI void APIENTRY glDeleteSemaphoresEXT (GLsizei n, const GLuint *semaphores); +GLAPI GLboolean APIENTRY glIsSemaphoreEXT (GLuint semaphore); +GLAPI void APIENTRY glSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, const GLuint64 *params); +GLAPI void APIENTRY glGetSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, GLuint64 *params); +GLAPI void APIENTRY glWaitSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); +GLAPI void APIENTRY glSignalSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); +#endif +#endif /* GL_EXT_semaphore */ + +#ifndef GL_EXT_semaphore_fd +#define GL_EXT_semaphore_fd 1 +typedef void (APIENTRYP PFNGLIMPORTSEMAPHOREFDEXTPROC) (GLuint semaphore, GLenum handleType, GLint fd); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glImportSemaphoreFdEXT (GLuint semaphore, GLenum handleType, GLint fd); +#endif +#endif /* GL_EXT_semaphore_fd */ + +#ifndef GL_EXT_semaphore_win32 +#define GL_EXT_semaphore_win32 1 +#define GL_HANDLE_TYPE_D3D12_FENCE_EXT 0x9594 +#define GL_D3D12_FENCE_VALUE_EXT 0x9595 +typedef void (APIENTRYP PFNGLIMPORTSEMAPHOREWIN32HANDLEEXTPROC) (GLuint semaphore, GLenum handleType, void *handle); +typedef void (APIENTRYP PFNGLIMPORTSEMAPHOREWIN32NAMEEXTPROC) (GLuint semaphore, GLenum handleType, const void *name); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glImportSemaphoreWin32HandleEXT (GLuint semaphore, GLenum handleType, void *handle); +GLAPI void APIENTRY glImportSemaphoreWin32NameEXT (GLuint semaphore, GLenum handleType, const void *name); +#endif +#endif /* GL_EXT_semaphore_win32 */ + +#ifndef GL_EXT_separate_shader_objects +#define GL_EXT_separate_shader_objects 1 +#define GL_ACTIVE_PROGRAM_EXT 0x8B8D +typedef void (APIENTRYP PFNGLUSESHADERPROGRAMEXTPROC) (GLenum type, GLuint program); +typedef void (APIENTRYP PFNGLACTIVEPROGRAMEXTPROC) (GLuint program); +typedef GLuint (APIENTRYP PFNGLCREATESHADERPROGRAMEXTPROC) (GLenum type, const GLchar *string); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glUseShaderProgramEXT (GLenum type, GLuint program); +GLAPI void APIENTRY glActiveProgramEXT (GLuint program); +GLAPI GLuint APIENTRY glCreateShaderProgramEXT (GLenum type, const GLchar *string); +#endif +#endif /* GL_EXT_separate_shader_objects */ + +#ifndef GL_EXT_separate_specular_color +#define GL_EXT_separate_specular_color 1 +#define GL_LIGHT_MODEL_COLOR_CONTROL_EXT 0x81F8 +#define GL_SINGLE_COLOR_EXT 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR_EXT 0x81FA +#endif /* GL_EXT_separate_specular_color */ + +#ifndef GL_EXT_shader_framebuffer_fetch +#define GL_EXT_shader_framebuffer_fetch 1 +#define GL_FRAGMENT_SHADER_DISCARDS_SAMPLES_EXT 0x8A52 +#endif /* GL_EXT_shader_framebuffer_fetch */ + +#ifndef GL_EXT_shader_framebuffer_fetch_non_coherent +#define GL_EXT_shader_framebuffer_fetch_non_coherent 1 +typedef void (APIENTRYP PFNGLFRAMEBUFFERFETCHBARRIEREXTPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferFetchBarrierEXT (void); +#endif +#endif /* GL_EXT_shader_framebuffer_fetch_non_coherent */ + +#ifndef GL_EXT_shader_image_load_formatted +#define GL_EXT_shader_image_load_formatted 1 +#endif /* GL_EXT_shader_image_load_formatted */ + +#ifndef GL_EXT_shader_image_load_store +#define GL_EXT_shader_image_load_store 1 +#define GL_MAX_IMAGE_UNITS_EXT 0x8F38 +#define GL_MAX_COMBINED_IMAGE_UNITS_AND_FRAGMENT_OUTPUTS_EXT 0x8F39 +#define GL_IMAGE_BINDING_NAME_EXT 0x8F3A +#define GL_IMAGE_BINDING_LEVEL_EXT 0x8F3B +#define GL_IMAGE_BINDING_LAYERED_EXT 0x8F3C +#define GL_IMAGE_BINDING_LAYER_EXT 0x8F3D +#define GL_IMAGE_BINDING_ACCESS_EXT 0x8F3E +#define GL_IMAGE_1D_EXT 0x904C +#define GL_IMAGE_2D_EXT 0x904D +#define GL_IMAGE_3D_EXT 0x904E +#define GL_IMAGE_2D_RECT_EXT 0x904F +#define GL_IMAGE_CUBE_EXT 0x9050 +#define GL_IMAGE_BUFFER_EXT 0x9051 +#define GL_IMAGE_1D_ARRAY_EXT 0x9052 +#define GL_IMAGE_2D_ARRAY_EXT 0x9053 +#define GL_IMAGE_CUBE_MAP_ARRAY_EXT 0x9054 +#define GL_IMAGE_2D_MULTISAMPLE_EXT 0x9055 +#define GL_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x9056 +#define GL_INT_IMAGE_1D_EXT 0x9057 +#define GL_INT_IMAGE_2D_EXT 0x9058 +#define GL_INT_IMAGE_3D_EXT 0x9059 +#define GL_INT_IMAGE_2D_RECT_EXT 0x905A +#define GL_INT_IMAGE_CUBE_EXT 0x905B +#define GL_INT_IMAGE_BUFFER_EXT 0x905C +#define GL_INT_IMAGE_1D_ARRAY_EXT 0x905D +#define GL_INT_IMAGE_2D_ARRAY_EXT 0x905E +#define GL_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x905F +#define GL_INT_IMAGE_2D_MULTISAMPLE_EXT 0x9060 +#define GL_INT_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x9061 +#define GL_UNSIGNED_INT_IMAGE_1D_EXT 0x9062 +#define GL_UNSIGNED_INT_IMAGE_2D_EXT 0x9063 +#define GL_UNSIGNED_INT_IMAGE_3D_EXT 0x9064 +#define GL_UNSIGNED_INT_IMAGE_2D_RECT_EXT 0x9065 +#define GL_UNSIGNED_INT_IMAGE_CUBE_EXT 0x9066 +#define GL_UNSIGNED_INT_IMAGE_BUFFER_EXT 0x9067 +#define GL_UNSIGNED_INT_IMAGE_1D_ARRAY_EXT 0x9068 +#define GL_UNSIGNED_INT_IMAGE_2D_ARRAY_EXT 0x9069 +#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x906A +#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_EXT 0x906B +#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x906C +#define GL_MAX_IMAGE_SAMPLES_EXT 0x906D +#define GL_IMAGE_BINDING_FORMAT_EXT 0x906E +#define GL_VERTEX_ATTRIB_ARRAY_BARRIER_BIT_EXT 0x00000001 +#define GL_ELEMENT_ARRAY_BARRIER_BIT_EXT 0x00000002 +#define GL_UNIFORM_BARRIER_BIT_EXT 0x00000004 +#define GL_TEXTURE_FETCH_BARRIER_BIT_EXT 0x00000008 +#define GL_SHADER_IMAGE_ACCESS_BARRIER_BIT_EXT 0x00000020 +#define GL_COMMAND_BARRIER_BIT_EXT 0x00000040 +#define GL_PIXEL_BUFFER_BARRIER_BIT_EXT 0x00000080 +#define GL_TEXTURE_UPDATE_BARRIER_BIT_EXT 0x00000100 +#define GL_BUFFER_UPDATE_BARRIER_BIT_EXT 0x00000200 +#define GL_FRAMEBUFFER_BARRIER_BIT_EXT 0x00000400 +#define GL_TRANSFORM_FEEDBACK_BARRIER_BIT_EXT 0x00000800 +#define GL_ATOMIC_COUNTER_BARRIER_BIT_EXT 0x00001000 +#define GL_ALL_BARRIER_BITS_EXT 0xFFFFFFFF +typedef void (APIENTRYP PFNGLBINDIMAGETEXTUREEXTPROC) (GLuint index, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLint format); +typedef void (APIENTRYP PFNGLMEMORYBARRIEREXTPROC) (GLbitfield barriers); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindImageTextureEXT (GLuint index, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLint format); +GLAPI void APIENTRY glMemoryBarrierEXT (GLbitfield barriers); +#endif +#endif /* GL_EXT_shader_image_load_store */ + +#ifndef GL_EXT_shader_integer_mix +#define GL_EXT_shader_integer_mix 1 +#endif /* GL_EXT_shader_integer_mix */ + +#ifndef GL_EXT_shader_samples_identical +#define GL_EXT_shader_samples_identical 1 +#endif /* GL_EXT_shader_samples_identical */ + +#ifndef GL_EXT_shadow_funcs +#define GL_EXT_shadow_funcs 1 +#endif /* GL_EXT_shadow_funcs */ + +#ifndef GL_EXT_shared_texture_palette +#define GL_EXT_shared_texture_palette 1 +#define GL_SHARED_TEXTURE_PALETTE_EXT 0x81FB +#endif /* GL_EXT_shared_texture_palette */ + +#ifndef GL_EXT_sparse_texture2 +#define GL_EXT_sparse_texture2 1 +#endif /* GL_EXT_sparse_texture2 */ + +#ifndef GL_EXT_stencil_clear_tag +#define GL_EXT_stencil_clear_tag 1 +#define GL_STENCIL_TAG_BITS_EXT 0x88F2 +#define GL_STENCIL_CLEAR_TAG_VALUE_EXT 0x88F3 +typedef void (APIENTRYP PFNGLSTENCILCLEARTAGEXTPROC) (GLsizei stencilTagBits, GLuint stencilClearTag); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glStencilClearTagEXT (GLsizei stencilTagBits, GLuint stencilClearTag); +#endif +#endif /* GL_EXT_stencil_clear_tag */ + +#ifndef GL_EXT_stencil_two_side +#define GL_EXT_stencil_two_side 1 +#define GL_STENCIL_TEST_TWO_SIDE_EXT 0x8910 +#define GL_ACTIVE_STENCIL_FACE_EXT 0x8911 +typedef void (APIENTRYP PFNGLACTIVESTENCILFACEEXTPROC) (GLenum face); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glActiveStencilFaceEXT (GLenum face); +#endif +#endif /* GL_EXT_stencil_two_side */ + +#ifndef GL_EXT_stencil_wrap +#define GL_EXT_stencil_wrap 1 +#define GL_INCR_WRAP_EXT 0x8507 +#define GL_DECR_WRAP_EXT 0x8508 +#endif /* GL_EXT_stencil_wrap */ + +#ifndef GL_EXT_subtexture +#define GL_EXT_subtexture 1 +typedef void (APIENTRYP PFNGLTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexSubImage1DEXT (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTexSubImage2DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +#endif +#endif /* GL_EXT_subtexture */ + +#ifndef GL_EXT_texture +#define GL_EXT_texture 1 +#define GL_ALPHA4_EXT 0x803B +#define GL_ALPHA8_EXT 0x803C +#define GL_ALPHA12_EXT 0x803D +#define GL_ALPHA16_EXT 0x803E +#define GL_LUMINANCE4_EXT 0x803F +#define GL_LUMINANCE8_EXT 0x8040 +#define GL_LUMINANCE12_EXT 0x8041 +#define GL_LUMINANCE16_EXT 0x8042 +#define GL_LUMINANCE4_ALPHA4_EXT 0x8043 +#define GL_LUMINANCE6_ALPHA2_EXT 0x8044 +#define GL_LUMINANCE8_ALPHA8_EXT 0x8045 +#define GL_LUMINANCE12_ALPHA4_EXT 0x8046 +#define GL_LUMINANCE12_ALPHA12_EXT 0x8047 +#define GL_LUMINANCE16_ALPHA16_EXT 0x8048 +#define GL_INTENSITY_EXT 0x8049 +#define GL_INTENSITY4_EXT 0x804A +#define GL_INTENSITY8_EXT 0x804B +#define GL_INTENSITY12_EXT 0x804C +#define GL_INTENSITY16_EXT 0x804D +#define GL_RGB2_EXT 0x804E +#define GL_RGB4_EXT 0x804F +#define GL_RGB5_EXT 0x8050 +#define GL_RGB8_EXT 0x8051 +#define GL_RGB10_EXT 0x8052 +#define GL_RGB12_EXT 0x8053 +#define GL_RGB16_EXT 0x8054 +#define GL_RGBA2_EXT 0x8055 +#define GL_RGBA4_EXT 0x8056 +#define GL_RGB5_A1_EXT 0x8057 +#define GL_RGBA8_EXT 0x8058 +#define GL_RGB10_A2_EXT 0x8059 +#define GL_RGBA12_EXT 0x805A +#define GL_RGBA16_EXT 0x805B +#define GL_TEXTURE_RED_SIZE_EXT 0x805C +#define GL_TEXTURE_GREEN_SIZE_EXT 0x805D +#define GL_TEXTURE_BLUE_SIZE_EXT 0x805E +#define GL_TEXTURE_ALPHA_SIZE_EXT 0x805F +#define GL_TEXTURE_LUMINANCE_SIZE_EXT 0x8060 +#define GL_TEXTURE_INTENSITY_SIZE_EXT 0x8061 +#define GL_REPLACE_EXT 0x8062 +#define GL_PROXY_TEXTURE_1D_EXT 0x8063 +#define GL_PROXY_TEXTURE_2D_EXT 0x8064 +#define GL_TEXTURE_TOO_LARGE_EXT 0x8065 +#endif /* GL_EXT_texture */ + +#ifndef GL_EXT_texture3D +#define GL_EXT_texture3D 1 +#define GL_PACK_SKIP_IMAGES_EXT 0x806B +#define GL_PACK_IMAGE_HEIGHT_EXT 0x806C +#define GL_UNPACK_SKIP_IMAGES_EXT 0x806D +#define GL_UNPACK_IMAGE_HEIGHT_EXT 0x806E +#define GL_TEXTURE_3D_EXT 0x806F +#define GL_PROXY_TEXTURE_3D_EXT 0x8070 +#define GL_TEXTURE_DEPTH_EXT 0x8071 +#define GL_TEXTURE_WRAP_R_EXT 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE_EXT 0x8073 +typedef void (APIENTRYP PFNGLTEXIMAGE3DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexImage3DEXT (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTexSubImage3DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +#endif +#endif /* GL_EXT_texture3D */ + +#ifndef GL_EXT_texture_array +#define GL_EXT_texture_array 1 +#define GL_TEXTURE_1D_ARRAY_EXT 0x8C18 +#define GL_PROXY_TEXTURE_1D_ARRAY_EXT 0x8C19 +#define GL_TEXTURE_2D_ARRAY_EXT 0x8C1A +#define GL_PROXY_TEXTURE_2D_ARRAY_EXT 0x8C1B +#define GL_TEXTURE_BINDING_1D_ARRAY_EXT 0x8C1C +#define GL_TEXTURE_BINDING_2D_ARRAY_EXT 0x8C1D +#define GL_MAX_ARRAY_TEXTURE_LAYERS_EXT 0x88FF +#define GL_COMPARE_REF_DEPTH_TO_TEXTURE_EXT 0x884E +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYEREXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferTextureLayerEXT (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +#endif +#endif /* GL_EXT_texture_array */ + +#ifndef GL_EXT_texture_buffer_object +#define GL_EXT_texture_buffer_object 1 +#define GL_TEXTURE_BUFFER_EXT 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE_EXT 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER_EXT 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_EXT 0x8C2D +#define GL_TEXTURE_BUFFER_FORMAT_EXT 0x8C2E +typedef void (APIENTRYP PFNGLTEXBUFFEREXTPROC) (GLenum target, GLenum internalformat, GLuint buffer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexBufferEXT (GLenum target, GLenum internalformat, GLuint buffer); +#endif +#endif /* GL_EXT_texture_buffer_object */ + +#ifndef GL_EXT_texture_compression_latc +#define GL_EXT_texture_compression_latc 1 +#define GL_COMPRESSED_LUMINANCE_LATC1_EXT 0x8C70 +#define GL_COMPRESSED_SIGNED_LUMINANCE_LATC1_EXT 0x8C71 +#define GL_COMPRESSED_LUMINANCE_ALPHA_LATC2_EXT 0x8C72 +#define GL_COMPRESSED_SIGNED_LUMINANCE_ALPHA_LATC2_EXT 0x8C73 +#endif /* GL_EXT_texture_compression_latc */ + +#ifndef GL_EXT_texture_compression_rgtc +#define GL_EXT_texture_compression_rgtc 1 +#define GL_COMPRESSED_RED_RGTC1_EXT 0x8DBB +#define GL_COMPRESSED_SIGNED_RED_RGTC1_EXT 0x8DBC +#define GL_COMPRESSED_RED_GREEN_RGTC2_EXT 0x8DBD +#define GL_COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT 0x8DBE +#endif /* GL_EXT_texture_compression_rgtc */ + +#ifndef GL_EXT_texture_compression_s3tc +#define GL_EXT_texture_compression_s3tc 1 +#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 +#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 +#define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT 0x83F2 +#define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT 0x83F3 +#endif /* GL_EXT_texture_compression_s3tc */ + +#ifndef GL_EXT_texture_cube_map +#define GL_EXT_texture_cube_map 1 +#define GL_NORMAL_MAP_EXT 0x8511 +#define GL_REFLECTION_MAP_EXT 0x8512 +#define GL_TEXTURE_CUBE_MAP_EXT 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP_EXT 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_EXT 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_EXT 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_EXT 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_EXT 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_EXT 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_EXT 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP_EXT 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_EXT 0x851C +#endif /* GL_EXT_texture_cube_map */ + +#ifndef GL_EXT_texture_env_add +#define GL_EXT_texture_env_add 1 +#endif /* GL_EXT_texture_env_add */ + +#ifndef GL_EXT_texture_env_combine +#define GL_EXT_texture_env_combine 1 +#define GL_COMBINE_EXT 0x8570 +#define GL_COMBINE_RGB_EXT 0x8571 +#define GL_COMBINE_ALPHA_EXT 0x8572 +#define GL_RGB_SCALE_EXT 0x8573 +#define GL_ADD_SIGNED_EXT 0x8574 +#define GL_INTERPOLATE_EXT 0x8575 +#define GL_CONSTANT_EXT 0x8576 +#define GL_PRIMARY_COLOR_EXT 0x8577 +#define GL_PREVIOUS_EXT 0x8578 +#define GL_SOURCE0_RGB_EXT 0x8580 +#define GL_SOURCE1_RGB_EXT 0x8581 +#define GL_SOURCE2_RGB_EXT 0x8582 +#define GL_SOURCE0_ALPHA_EXT 0x8588 +#define GL_SOURCE1_ALPHA_EXT 0x8589 +#define GL_SOURCE2_ALPHA_EXT 0x858A +#define GL_OPERAND0_RGB_EXT 0x8590 +#define GL_OPERAND1_RGB_EXT 0x8591 +#define GL_OPERAND2_RGB_EXT 0x8592 +#define GL_OPERAND0_ALPHA_EXT 0x8598 +#define GL_OPERAND1_ALPHA_EXT 0x8599 +#define GL_OPERAND2_ALPHA_EXT 0x859A +#endif /* GL_EXT_texture_env_combine */ + +#ifndef GL_EXT_texture_env_dot3 +#define GL_EXT_texture_env_dot3 1 +#define GL_DOT3_RGB_EXT 0x8740 +#define GL_DOT3_RGBA_EXT 0x8741 +#endif /* GL_EXT_texture_env_dot3 */ + +#ifndef GL_EXT_texture_filter_anisotropic +#define GL_EXT_texture_filter_anisotropic 1 +#define GL_TEXTURE_MAX_ANISOTROPY_EXT 0x84FE +#define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF +#endif /* GL_EXT_texture_filter_anisotropic */ + +#ifndef GL_EXT_texture_filter_minmax +#define GL_EXT_texture_filter_minmax 1 +#define GL_TEXTURE_REDUCTION_MODE_EXT 0x9366 +#define GL_WEIGHTED_AVERAGE_EXT 0x9367 +#endif /* GL_EXT_texture_filter_minmax */ + +#ifndef GL_EXT_texture_integer +#define GL_EXT_texture_integer 1 +#define GL_RGBA32UI_EXT 0x8D70 +#define GL_RGB32UI_EXT 0x8D71 +#define GL_ALPHA32UI_EXT 0x8D72 +#define GL_INTENSITY32UI_EXT 0x8D73 +#define GL_LUMINANCE32UI_EXT 0x8D74 +#define GL_LUMINANCE_ALPHA32UI_EXT 0x8D75 +#define GL_RGBA16UI_EXT 0x8D76 +#define GL_RGB16UI_EXT 0x8D77 +#define GL_ALPHA16UI_EXT 0x8D78 +#define GL_INTENSITY16UI_EXT 0x8D79 +#define GL_LUMINANCE16UI_EXT 0x8D7A +#define GL_LUMINANCE_ALPHA16UI_EXT 0x8D7B +#define GL_RGBA8UI_EXT 0x8D7C +#define GL_RGB8UI_EXT 0x8D7D +#define GL_ALPHA8UI_EXT 0x8D7E +#define GL_INTENSITY8UI_EXT 0x8D7F +#define GL_LUMINANCE8UI_EXT 0x8D80 +#define GL_LUMINANCE_ALPHA8UI_EXT 0x8D81 +#define GL_RGBA32I_EXT 0x8D82 +#define GL_RGB32I_EXT 0x8D83 +#define GL_ALPHA32I_EXT 0x8D84 +#define GL_INTENSITY32I_EXT 0x8D85 +#define GL_LUMINANCE32I_EXT 0x8D86 +#define GL_LUMINANCE_ALPHA32I_EXT 0x8D87 +#define GL_RGBA16I_EXT 0x8D88 +#define GL_RGB16I_EXT 0x8D89 +#define GL_ALPHA16I_EXT 0x8D8A +#define GL_INTENSITY16I_EXT 0x8D8B +#define GL_LUMINANCE16I_EXT 0x8D8C +#define GL_LUMINANCE_ALPHA16I_EXT 0x8D8D +#define GL_RGBA8I_EXT 0x8D8E +#define GL_RGB8I_EXT 0x8D8F +#define GL_ALPHA8I_EXT 0x8D90 +#define GL_INTENSITY8I_EXT 0x8D91 +#define GL_LUMINANCE8I_EXT 0x8D92 +#define GL_LUMINANCE_ALPHA8I_EXT 0x8D93 +#define GL_RED_INTEGER_EXT 0x8D94 +#define GL_GREEN_INTEGER_EXT 0x8D95 +#define GL_BLUE_INTEGER_EXT 0x8D96 +#define GL_ALPHA_INTEGER_EXT 0x8D97 +#define GL_RGB_INTEGER_EXT 0x8D98 +#define GL_RGBA_INTEGER_EXT 0x8D99 +#define GL_BGR_INTEGER_EXT 0x8D9A +#define GL_BGRA_INTEGER_EXT 0x8D9B +#define GL_LUMINANCE_INTEGER_EXT 0x8D9C +#define GL_LUMINANCE_ALPHA_INTEGER_EXT 0x8D9D +#define GL_RGBA_INTEGER_MODE_EXT 0x8D9E +typedef void (APIENTRYP PFNGLTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, const GLuint *params); +typedef void (APIENTRYP PFNGLGETTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLCLEARCOLORIIEXTPROC) (GLint red, GLint green, GLint blue, GLint alpha); +typedef void (APIENTRYP PFNGLCLEARCOLORIUIEXTPROC) (GLuint red, GLuint green, GLuint blue, GLuint alpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexParameterIivEXT (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glTexParameterIuivEXT (GLenum target, GLenum pname, const GLuint *params); +GLAPI void APIENTRY glGetTexParameterIivEXT (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetTexParameterIuivEXT (GLenum target, GLenum pname, GLuint *params); +GLAPI void APIENTRY glClearColorIiEXT (GLint red, GLint green, GLint blue, GLint alpha); +GLAPI void APIENTRY glClearColorIuiEXT (GLuint red, GLuint green, GLuint blue, GLuint alpha); +#endif +#endif /* GL_EXT_texture_integer */ + +#ifndef GL_EXT_texture_lod_bias +#define GL_EXT_texture_lod_bias 1 +#define GL_MAX_TEXTURE_LOD_BIAS_EXT 0x84FD +#define GL_TEXTURE_FILTER_CONTROL_EXT 0x8500 +#define GL_TEXTURE_LOD_BIAS_EXT 0x8501 +#endif /* GL_EXT_texture_lod_bias */ + +#ifndef GL_EXT_texture_mirror_clamp +#define GL_EXT_texture_mirror_clamp 1 +#define GL_MIRROR_CLAMP_EXT 0x8742 +#define GL_MIRROR_CLAMP_TO_EDGE_EXT 0x8743 +#define GL_MIRROR_CLAMP_TO_BORDER_EXT 0x8912 +#endif /* GL_EXT_texture_mirror_clamp */ + +#ifndef GL_EXT_texture_object +#define GL_EXT_texture_object 1 +#define GL_TEXTURE_PRIORITY_EXT 0x8066 +#define GL_TEXTURE_RESIDENT_EXT 0x8067 +#define GL_TEXTURE_1D_BINDING_EXT 0x8068 +#define GL_TEXTURE_2D_BINDING_EXT 0x8069 +#define GL_TEXTURE_3D_BINDING_EXT 0x806A +typedef GLboolean (APIENTRYP PFNGLARETEXTURESRESIDENTEXTPROC) (GLsizei n, const GLuint *textures, GLboolean *residences); +typedef void (APIENTRYP PFNGLBINDTEXTUREEXTPROC) (GLenum target, GLuint texture); +typedef void (APIENTRYP PFNGLDELETETEXTURESEXTPROC) (GLsizei n, const GLuint *textures); +typedef void (APIENTRYP PFNGLGENTEXTURESEXTPROC) (GLsizei n, GLuint *textures); +typedef GLboolean (APIENTRYP PFNGLISTEXTUREEXTPROC) (GLuint texture); +typedef void (APIENTRYP PFNGLPRIORITIZETEXTURESEXTPROC) (GLsizei n, const GLuint *textures, const GLclampf *priorities); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLboolean APIENTRY glAreTexturesResidentEXT (GLsizei n, const GLuint *textures, GLboolean *residences); +GLAPI void APIENTRY glBindTextureEXT (GLenum target, GLuint texture); +GLAPI void APIENTRY glDeleteTexturesEXT (GLsizei n, const GLuint *textures); +GLAPI void APIENTRY glGenTexturesEXT (GLsizei n, GLuint *textures); +GLAPI GLboolean APIENTRY glIsTextureEXT (GLuint texture); +GLAPI void APIENTRY glPrioritizeTexturesEXT (GLsizei n, const GLuint *textures, const GLclampf *priorities); +#endif +#endif /* GL_EXT_texture_object */ + +#ifndef GL_EXT_texture_perturb_normal +#define GL_EXT_texture_perturb_normal 1 +#define GL_PERTURB_EXT 0x85AE +#define GL_TEXTURE_NORMAL_EXT 0x85AF +typedef void (APIENTRYP PFNGLTEXTURENORMALEXTPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTextureNormalEXT (GLenum mode); +#endif +#endif /* GL_EXT_texture_perturb_normal */ + +#ifndef GL_EXT_texture_sRGB +#define GL_EXT_texture_sRGB 1 +#define GL_SRGB_EXT 0x8C40 +#define GL_SRGB8_EXT 0x8C41 +#define GL_SRGB_ALPHA_EXT 0x8C42 +#define GL_SRGB8_ALPHA8_EXT 0x8C43 +#define GL_SLUMINANCE_ALPHA_EXT 0x8C44 +#define GL_SLUMINANCE8_ALPHA8_EXT 0x8C45 +#define GL_SLUMINANCE_EXT 0x8C46 +#define GL_SLUMINANCE8_EXT 0x8C47 +#define GL_COMPRESSED_SRGB_EXT 0x8C48 +#define GL_COMPRESSED_SRGB_ALPHA_EXT 0x8C49 +#define GL_COMPRESSED_SLUMINANCE_EXT 0x8C4A +#define GL_COMPRESSED_SLUMINANCE_ALPHA_EXT 0x8C4B +#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F +#endif /* GL_EXT_texture_sRGB */ + +#ifndef GL_EXT_texture_sRGB_R8 +#define GL_EXT_texture_sRGB_R8 1 +#define GL_SR8_EXT 0x8FBD +#endif /* GL_EXT_texture_sRGB_R8 */ + +#ifndef GL_EXT_texture_sRGB_RG8 +#define GL_EXT_texture_sRGB_RG8 1 +#define GL_SRG8_EXT 0x8FBE +#endif /* GL_EXT_texture_sRGB_RG8 */ + +#ifndef GL_EXT_texture_sRGB_decode +#define GL_EXT_texture_sRGB_decode 1 +#define GL_TEXTURE_SRGB_DECODE_EXT 0x8A48 +#define GL_DECODE_EXT 0x8A49 +#define GL_SKIP_DECODE_EXT 0x8A4A +#endif /* GL_EXT_texture_sRGB_decode */ + +#ifndef GL_EXT_texture_shadow_lod +#define GL_EXT_texture_shadow_lod 1 +#endif /* GL_EXT_texture_shadow_lod */ + +#ifndef GL_EXT_texture_shared_exponent +#define GL_EXT_texture_shared_exponent 1 +#define GL_RGB9_E5_EXT 0x8C3D +#define GL_UNSIGNED_INT_5_9_9_9_REV_EXT 0x8C3E +#define GL_TEXTURE_SHARED_SIZE_EXT 0x8C3F +#endif /* GL_EXT_texture_shared_exponent */ + +#ifndef GL_EXT_texture_snorm +#define GL_EXT_texture_snorm 1 +#define GL_ALPHA_SNORM 0x9010 +#define GL_LUMINANCE_SNORM 0x9011 +#define GL_LUMINANCE_ALPHA_SNORM 0x9012 +#define GL_INTENSITY_SNORM 0x9013 +#define GL_ALPHA8_SNORM 0x9014 +#define GL_LUMINANCE8_SNORM 0x9015 +#define GL_LUMINANCE8_ALPHA8_SNORM 0x9016 +#define GL_INTENSITY8_SNORM 0x9017 +#define GL_ALPHA16_SNORM 0x9018 +#define GL_LUMINANCE16_SNORM 0x9019 +#define GL_LUMINANCE16_ALPHA16_SNORM 0x901A +#define GL_INTENSITY16_SNORM 0x901B +#define GL_RED_SNORM 0x8F90 +#define GL_RG_SNORM 0x8F91 +#define GL_RGB_SNORM 0x8F92 +#define GL_RGBA_SNORM 0x8F93 +#endif /* GL_EXT_texture_snorm */ + +#ifndef GL_EXT_texture_storage +#define GL_EXT_texture_storage 1 +#define GL_TEXTURE_IMMUTABLE_FORMAT_EXT 0x912F +#define GL_RGBA32F_EXT 0x8814 +#define GL_RGB32F_EXT 0x8815 +#define GL_ALPHA32F_EXT 0x8816 +#define GL_LUMINANCE32F_EXT 0x8818 +#define GL_LUMINANCE_ALPHA32F_EXT 0x8819 +#define GL_RGBA16F_EXT 0x881A +#define GL_RGB16F_EXT 0x881B +#define GL_ALPHA16F_EXT 0x881C +#define GL_LUMINANCE16F_EXT 0x881E +#define GL_LUMINANCE_ALPHA16F_EXT 0x881F +#define GL_BGRA8_EXT 0x93A1 +#define GL_R8_EXT 0x8229 +#define GL_RG8_EXT 0x822B +#define GL_R32F_EXT 0x822E +#define GL_RG32F_EXT 0x8230 +#define GL_R16F_EXT 0x822D +#define GL_RG16F_EXT 0x822F +typedef void (APIENTRYP PFNGLTEXSTORAGE1DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +typedef void (APIENTRYP PFNGLTEXSTORAGE2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLTEXSTORAGE3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexStorage1DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +GLAPI void APIENTRY glTexStorage2DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +GLAPI void APIENTRY glTexStorage3DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +#endif +#endif /* GL_EXT_texture_storage */ + +#ifndef GL_EXT_texture_swizzle +#define GL_EXT_texture_swizzle 1 +#define GL_TEXTURE_SWIZZLE_R_EXT 0x8E42 +#define GL_TEXTURE_SWIZZLE_G_EXT 0x8E43 +#define GL_TEXTURE_SWIZZLE_B_EXT 0x8E44 +#define GL_TEXTURE_SWIZZLE_A_EXT 0x8E45 +#define GL_TEXTURE_SWIZZLE_RGBA_EXT 0x8E46 +#endif /* GL_EXT_texture_swizzle */ + +#ifndef GL_EXT_timer_query +#define GL_EXT_timer_query 1 +#define GL_TIME_ELAPSED_EXT 0x88BF +typedef void (APIENTRYP PFNGLGETQUERYOBJECTI64VEXTPROC) (GLuint id, GLenum pname, GLint64 *params); +typedef void (APIENTRYP PFNGLGETQUERYOBJECTUI64VEXTPROC) (GLuint id, GLenum pname, GLuint64 *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetQueryObjecti64vEXT (GLuint id, GLenum pname, GLint64 *params); +GLAPI void APIENTRY glGetQueryObjectui64vEXT (GLuint id, GLenum pname, GLuint64 *params); +#endif +#endif /* GL_EXT_timer_query */ + +#ifndef GL_EXT_transform_feedback +#define GL_EXT_transform_feedback 1 +#define GL_TRANSFORM_FEEDBACK_BUFFER_EXT 0x8C8E +#define GL_TRANSFORM_FEEDBACK_BUFFER_START_EXT 0x8C84 +#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE_EXT 0x8C85 +#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING_EXT 0x8C8F +#define GL_INTERLEAVED_ATTRIBS_EXT 0x8C8C +#define GL_SEPARATE_ATTRIBS_EXT 0x8C8D +#define GL_PRIMITIVES_GENERATED_EXT 0x8C87 +#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN_EXT 0x8C88 +#define GL_RASTERIZER_DISCARD_EXT 0x8C89 +#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS_EXT 0x8C8A +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS_EXT 0x8C8B +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS_EXT 0x8C80 +#define GL_TRANSFORM_FEEDBACK_VARYINGS_EXT 0x8C83 +#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE_EXT 0x8C7F +#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH_EXT 0x8C76 +typedef void (APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKEXTPROC) (GLenum primitiveMode); +typedef void (APIENTRYP PFNGLENDTRANSFORMFEEDBACKEXTPROC) (void); +typedef void (APIENTRYP PFNGLBINDBUFFERRANGEEXTPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLBINDBUFFEROFFSETEXTPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset); +typedef void (APIENTRYP PFNGLBINDBUFFERBASEEXTPROC) (GLenum target, GLuint index, GLuint buffer); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSEXTPROC) (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); +typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGEXTPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginTransformFeedbackEXT (GLenum primitiveMode); +GLAPI void APIENTRY glEndTransformFeedbackEXT (void); +GLAPI void APIENTRY glBindBufferRangeEXT (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glBindBufferOffsetEXT (GLenum target, GLuint index, GLuint buffer, GLintptr offset); +GLAPI void APIENTRY glBindBufferBaseEXT (GLenum target, GLuint index, GLuint buffer); +GLAPI void APIENTRY glTransformFeedbackVaryingsEXT (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); +GLAPI void APIENTRY glGetTransformFeedbackVaryingEXT (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +#endif +#endif /* GL_EXT_transform_feedback */ + +#ifndef GL_EXT_vertex_array +#define GL_EXT_vertex_array 1 +#define GL_VERTEX_ARRAY_EXT 0x8074 +#define GL_NORMAL_ARRAY_EXT 0x8075 +#define GL_COLOR_ARRAY_EXT 0x8076 +#define GL_INDEX_ARRAY_EXT 0x8077 +#define GL_TEXTURE_COORD_ARRAY_EXT 0x8078 +#define GL_EDGE_FLAG_ARRAY_EXT 0x8079 +#define GL_VERTEX_ARRAY_SIZE_EXT 0x807A +#define GL_VERTEX_ARRAY_TYPE_EXT 0x807B +#define GL_VERTEX_ARRAY_STRIDE_EXT 0x807C +#define GL_VERTEX_ARRAY_COUNT_EXT 0x807D +#define GL_NORMAL_ARRAY_TYPE_EXT 0x807E +#define GL_NORMAL_ARRAY_STRIDE_EXT 0x807F +#define GL_NORMAL_ARRAY_COUNT_EXT 0x8080 +#define GL_COLOR_ARRAY_SIZE_EXT 0x8081 +#define GL_COLOR_ARRAY_TYPE_EXT 0x8082 +#define GL_COLOR_ARRAY_STRIDE_EXT 0x8083 +#define GL_COLOR_ARRAY_COUNT_EXT 0x8084 +#define GL_INDEX_ARRAY_TYPE_EXT 0x8085 +#define GL_INDEX_ARRAY_STRIDE_EXT 0x8086 +#define GL_INDEX_ARRAY_COUNT_EXT 0x8087 +#define GL_TEXTURE_COORD_ARRAY_SIZE_EXT 0x8088 +#define GL_TEXTURE_COORD_ARRAY_TYPE_EXT 0x8089 +#define GL_TEXTURE_COORD_ARRAY_STRIDE_EXT 0x808A +#define GL_TEXTURE_COORD_ARRAY_COUNT_EXT 0x808B +#define GL_EDGE_FLAG_ARRAY_STRIDE_EXT 0x808C +#define GL_EDGE_FLAG_ARRAY_COUNT_EXT 0x808D +#define GL_VERTEX_ARRAY_POINTER_EXT 0x808E +#define GL_NORMAL_ARRAY_POINTER_EXT 0x808F +#define GL_COLOR_ARRAY_POINTER_EXT 0x8090 +#define GL_INDEX_ARRAY_POINTER_EXT 0x8091 +#define GL_TEXTURE_COORD_ARRAY_POINTER_EXT 0x8092 +#define GL_EDGE_FLAG_ARRAY_POINTER_EXT 0x8093 +typedef void (APIENTRYP PFNGLARRAYELEMENTEXTPROC) (GLint i); +typedef void (APIENTRYP PFNGLCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); +typedef void (APIENTRYP PFNGLDRAWARRAYSEXTPROC) (GLenum mode, GLint first, GLsizei count); +typedef void (APIENTRYP PFNGLEDGEFLAGPOINTEREXTPROC) (GLsizei stride, GLsizei count, const GLboolean *pointer); +typedef void (APIENTRYP PFNGLGETPOINTERVEXTPROC) (GLenum pname, void **params); +typedef void (APIENTRYP PFNGLINDEXPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const void *pointer); +typedef void (APIENTRYP PFNGLNORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const void *pointer); +typedef void (APIENTRYP PFNGLTEXCOORDPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); +typedef void (APIENTRYP PFNGLVERTEXPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glArrayElementEXT (GLint i); +GLAPI void APIENTRY glColorPointerEXT (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); +GLAPI void APIENTRY glDrawArraysEXT (GLenum mode, GLint first, GLsizei count); +GLAPI void APIENTRY glEdgeFlagPointerEXT (GLsizei stride, GLsizei count, const GLboolean *pointer); +GLAPI void APIENTRY glGetPointervEXT (GLenum pname, void **params); +GLAPI void APIENTRY glIndexPointerEXT (GLenum type, GLsizei stride, GLsizei count, const void *pointer); +GLAPI void APIENTRY glNormalPointerEXT (GLenum type, GLsizei stride, GLsizei count, const void *pointer); +GLAPI void APIENTRY glTexCoordPointerEXT (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); +GLAPI void APIENTRY glVertexPointerEXT (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); +#endif +#endif /* GL_EXT_vertex_array */ + +#ifndef GL_EXT_vertex_array_bgra +#define GL_EXT_vertex_array_bgra 1 +#endif /* GL_EXT_vertex_array_bgra */ + +#ifndef GL_EXT_vertex_attrib_64bit +#define GL_EXT_vertex_attrib_64bit 1 +#define GL_DOUBLE_VEC2_EXT 0x8FFC +#define GL_DOUBLE_VEC3_EXT 0x8FFD +#define GL_DOUBLE_VEC4_EXT 0x8FFE +#define GL_DOUBLE_MAT2_EXT 0x8F46 +#define GL_DOUBLE_MAT3_EXT 0x8F47 +#define GL_DOUBLE_MAT4_EXT 0x8F48 +#define GL_DOUBLE_MAT2x3_EXT 0x8F49 +#define GL_DOUBLE_MAT2x4_EXT 0x8F4A +#define GL_DOUBLE_MAT3x2_EXT 0x8F4B +#define GL_DOUBLE_MAT3x4_EXT 0x8F4C +#define GL_DOUBLE_MAT4x2_EXT 0x8F4D +#define GL_DOUBLE_MAT4x3_EXT 0x8F4E +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DEXTPROC) (GLuint index, GLdouble x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DEXTPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DEXTPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DEXTPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DVEXTPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DVEXTPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DVEXTPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DVEXTPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBLPOINTEREXTPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLDVEXTPROC) (GLuint index, GLenum pname, GLdouble *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexAttribL1dEXT (GLuint index, GLdouble x); +GLAPI void APIENTRY glVertexAttribL2dEXT (GLuint index, GLdouble x, GLdouble y); +GLAPI void APIENTRY glVertexAttribL3dEXT (GLuint index, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glVertexAttribL4dEXT (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glVertexAttribL1dvEXT (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribL2dvEXT (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribL3dvEXT (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribL4dvEXT (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribLPointerEXT (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glGetVertexAttribLdvEXT (GLuint index, GLenum pname, GLdouble *params); +#endif +#endif /* GL_EXT_vertex_attrib_64bit */ + +#ifndef GL_EXT_vertex_shader +#define GL_EXT_vertex_shader 1 +#define GL_VERTEX_SHADER_EXT 0x8780 +#define GL_VERTEX_SHADER_BINDING_EXT 0x8781 +#define GL_OP_INDEX_EXT 0x8782 +#define GL_OP_NEGATE_EXT 0x8783 +#define GL_OP_DOT3_EXT 0x8784 +#define GL_OP_DOT4_EXT 0x8785 +#define GL_OP_MUL_EXT 0x8786 +#define GL_OP_ADD_EXT 0x8787 +#define GL_OP_MADD_EXT 0x8788 +#define GL_OP_FRAC_EXT 0x8789 +#define GL_OP_MAX_EXT 0x878A +#define GL_OP_MIN_EXT 0x878B +#define GL_OP_SET_GE_EXT 0x878C +#define GL_OP_SET_LT_EXT 0x878D +#define GL_OP_CLAMP_EXT 0x878E +#define GL_OP_FLOOR_EXT 0x878F +#define GL_OP_ROUND_EXT 0x8790 +#define GL_OP_EXP_BASE_2_EXT 0x8791 +#define GL_OP_LOG_BASE_2_EXT 0x8792 +#define GL_OP_POWER_EXT 0x8793 +#define GL_OP_RECIP_EXT 0x8794 +#define GL_OP_RECIP_SQRT_EXT 0x8795 +#define GL_OP_SUB_EXT 0x8796 +#define GL_OP_CROSS_PRODUCT_EXT 0x8797 +#define GL_OP_MULTIPLY_MATRIX_EXT 0x8798 +#define GL_OP_MOV_EXT 0x8799 +#define GL_OUTPUT_VERTEX_EXT 0x879A +#define GL_OUTPUT_COLOR0_EXT 0x879B +#define GL_OUTPUT_COLOR1_EXT 0x879C +#define GL_OUTPUT_TEXTURE_COORD0_EXT 0x879D +#define GL_OUTPUT_TEXTURE_COORD1_EXT 0x879E +#define GL_OUTPUT_TEXTURE_COORD2_EXT 0x879F +#define GL_OUTPUT_TEXTURE_COORD3_EXT 0x87A0 +#define GL_OUTPUT_TEXTURE_COORD4_EXT 0x87A1 +#define GL_OUTPUT_TEXTURE_COORD5_EXT 0x87A2 +#define GL_OUTPUT_TEXTURE_COORD6_EXT 0x87A3 +#define GL_OUTPUT_TEXTURE_COORD7_EXT 0x87A4 +#define GL_OUTPUT_TEXTURE_COORD8_EXT 0x87A5 +#define GL_OUTPUT_TEXTURE_COORD9_EXT 0x87A6 +#define GL_OUTPUT_TEXTURE_COORD10_EXT 0x87A7 +#define GL_OUTPUT_TEXTURE_COORD11_EXT 0x87A8 +#define GL_OUTPUT_TEXTURE_COORD12_EXT 0x87A9 +#define GL_OUTPUT_TEXTURE_COORD13_EXT 0x87AA +#define GL_OUTPUT_TEXTURE_COORD14_EXT 0x87AB +#define GL_OUTPUT_TEXTURE_COORD15_EXT 0x87AC +#define GL_OUTPUT_TEXTURE_COORD16_EXT 0x87AD +#define GL_OUTPUT_TEXTURE_COORD17_EXT 0x87AE +#define GL_OUTPUT_TEXTURE_COORD18_EXT 0x87AF +#define GL_OUTPUT_TEXTURE_COORD19_EXT 0x87B0 +#define GL_OUTPUT_TEXTURE_COORD20_EXT 0x87B1 +#define GL_OUTPUT_TEXTURE_COORD21_EXT 0x87B2 +#define GL_OUTPUT_TEXTURE_COORD22_EXT 0x87B3 +#define GL_OUTPUT_TEXTURE_COORD23_EXT 0x87B4 +#define GL_OUTPUT_TEXTURE_COORD24_EXT 0x87B5 +#define GL_OUTPUT_TEXTURE_COORD25_EXT 0x87B6 +#define GL_OUTPUT_TEXTURE_COORD26_EXT 0x87B7 +#define GL_OUTPUT_TEXTURE_COORD27_EXT 0x87B8 +#define GL_OUTPUT_TEXTURE_COORD28_EXT 0x87B9 +#define GL_OUTPUT_TEXTURE_COORD29_EXT 0x87BA +#define GL_OUTPUT_TEXTURE_COORD30_EXT 0x87BB +#define GL_OUTPUT_TEXTURE_COORD31_EXT 0x87BC +#define GL_OUTPUT_FOG_EXT 0x87BD +#define GL_SCALAR_EXT 0x87BE +#define GL_VECTOR_EXT 0x87BF +#define GL_MATRIX_EXT 0x87C0 +#define GL_VARIANT_EXT 0x87C1 +#define GL_INVARIANT_EXT 0x87C2 +#define GL_LOCAL_CONSTANT_EXT 0x87C3 +#define GL_LOCAL_EXT 0x87C4 +#define GL_MAX_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87C5 +#define GL_MAX_VERTEX_SHADER_VARIANTS_EXT 0x87C6 +#define GL_MAX_VERTEX_SHADER_INVARIANTS_EXT 0x87C7 +#define GL_MAX_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87C8 +#define GL_MAX_VERTEX_SHADER_LOCALS_EXT 0x87C9 +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87CA +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_VARIANTS_EXT 0x87CB +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87CC +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_INVARIANTS_EXT 0x87CD +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_LOCALS_EXT 0x87CE +#define GL_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87CF +#define GL_VERTEX_SHADER_VARIANTS_EXT 0x87D0 +#define GL_VERTEX_SHADER_INVARIANTS_EXT 0x87D1 +#define GL_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87D2 +#define GL_VERTEX_SHADER_LOCALS_EXT 0x87D3 +#define GL_VERTEX_SHADER_OPTIMIZED_EXT 0x87D4 +#define GL_X_EXT 0x87D5 +#define GL_Y_EXT 0x87D6 +#define GL_Z_EXT 0x87D7 +#define GL_W_EXT 0x87D8 +#define GL_NEGATIVE_X_EXT 0x87D9 +#define GL_NEGATIVE_Y_EXT 0x87DA +#define GL_NEGATIVE_Z_EXT 0x87DB +#define GL_NEGATIVE_W_EXT 0x87DC +#define GL_ZERO_EXT 0x87DD +#define GL_ONE_EXT 0x87DE +#define GL_NEGATIVE_ONE_EXT 0x87DF +#define GL_NORMALIZED_RANGE_EXT 0x87E0 +#define GL_FULL_RANGE_EXT 0x87E1 +#define GL_CURRENT_VERTEX_EXT 0x87E2 +#define GL_MVP_MATRIX_EXT 0x87E3 +#define GL_VARIANT_VALUE_EXT 0x87E4 +#define GL_VARIANT_DATATYPE_EXT 0x87E5 +#define GL_VARIANT_ARRAY_STRIDE_EXT 0x87E6 +#define GL_VARIANT_ARRAY_TYPE_EXT 0x87E7 +#define GL_VARIANT_ARRAY_EXT 0x87E8 +#define GL_VARIANT_ARRAY_POINTER_EXT 0x87E9 +#define GL_INVARIANT_VALUE_EXT 0x87EA +#define GL_INVARIANT_DATATYPE_EXT 0x87EB +#define GL_LOCAL_CONSTANT_VALUE_EXT 0x87EC +#define GL_LOCAL_CONSTANT_DATATYPE_EXT 0x87ED +typedef void (APIENTRYP PFNGLBEGINVERTEXSHADEREXTPROC) (void); +typedef void (APIENTRYP PFNGLENDVERTEXSHADEREXTPROC) (void); +typedef void (APIENTRYP PFNGLBINDVERTEXSHADEREXTPROC) (GLuint id); +typedef GLuint (APIENTRYP PFNGLGENVERTEXSHADERSEXTPROC) (GLuint range); +typedef void (APIENTRYP PFNGLDELETEVERTEXSHADEREXTPROC) (GLuint id); +typedef void (APIENTRYP PFNGLSHADEROP1EXTPROC) (GLenum op, GLuint res, GLuint arg1); +typedef void (APIENTRYP PFNGLSHADEROP2EXTPROC) (GLenum op, GLuint res, GLuint arg1, GLuint arg2); +typedef void (APIENTRYP PFNGLSHADEROP3EXTPROC) (GLenum op, GLuint res, GLuint arg1, GLuint arg2, GLuint arg3); +typedef void (APIENTRYP PFNGLSWIZZLEEXTPROC) (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); +typedef void (APIENTRYP PFNGLWRITEMASKEXTPROC) (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); +typedef void (APIENTRYP PFNGLINSERTCOMPONENTEXTPROC) (GLuint res, GLuint src, GLuint num); +typedef void (APIENTRYP PFNGLEXTRACTCOMPONENTEXTPROC) (GLuint res, GLuint src, GLuint num); +typedef GLuint (APIENTRYP PFNGLGENSYMBOLSEXTPROC) (GLenum datatype, GLenum storagetype, GLenum range, GLuint components); +typedef void (APIENTRYP PFNGLSETINVARIANTEXTPROC) (GLuint id, GLenum type, const void *addr); +typedef void (APIENTRYP PFNGLSETLOCALCONSTANTEXTPROC) (GLuint id, GLenum type, const void *addr); +typedef void (APIENTRYP PFNGLVARIANTBVEXTPROC) (GLuint id, const GLbyte *addr); +typedef void (APIENTRYP PFNGLVARIANTSVEXTPROC) (GLuint id, const GLshort *addr); +typedef void (APIENTRYP PFNGLVARIANTIVEXTPROC) (GLuint id, const GLint *addr); +typedef void (APIENTRYP PFNGLVARIANTFVEXTPROC) (GLuint id, const GLfloat *addr); +typedef void (APIENTRYP PFNGLVARIANTDVEXTPROC) (GLuint id, const GLdouble *addr); +typedef void (APIENTRYP PFNGLVARIANTUBVEXTPROC) (GLuint id, const GLubyte *addr); +typedef void (APIENTRYP PFNGLVARIANTUSVEXTPROC) (GLuint id, const GLushort *addr); +typedef void (APIENTRYP PFNGLVARIANTUIVEXTPROC) (GLuint id, const GLuint *addr); +typedef void (APIENTRYP PFNGLVARIANTPOINTEREXTPROC) (GLuint id, GLenum type, GLuint stride, const void *addr); +typedef void (APIENTRYP PFNGLENABLEVARIANTCLIENTSTATEEXTPROC) (GLuint id); +typedef void (APIENTRYP PFNGLDISABLEVARIANTCLIENTSTATEEXTPROC) (GLuint id); +typedef GLuint (APIENTRYP PFNGLBINDLIGHTPARAMETEREXTPROC) (GLenum light, GLenum value); +typedef GLuint (APIENTRYP PFNGLBINDMATERIALPARAMETEREXTPROC) (GLenum face, GLenum value); +typedef GLuint (APIENTRYP PFNGLBINDTEXGENPARAMETEREXTPROC) (GLenum unit, GLenum coord, GLenum value); +typedef GLuint (APIENTRYP PFNGLBINDTEXTUREUNITPARAMETEREXTPROC) (GLenum unit, GLenum value); +typedef GLuint (APIENTRYP PFNGLBINDPARAMETEREXTPROC) (GLenum value); +typedef GLboolean (APIENTRYP PFNGLISVARIANTENABLEDEXTPROC) (GLuint id, GLenum cap); +typedef void (APIENTRYP PFNGLGETVARIANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); +typedef void (APIENTRYP PFNGLGETVARIANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); +typedef void (APIENTRYP PFNGLGETVARIANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); +typedef void (APIENTRYP PFNGLGETVARIANTPOINTERVEXTPROC) (GLuint id, GLenum value, void **data); +typedef void (APIENTRYP PFNGLGETINVARIANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); +typedef void (APIENTRYP PFNGLGETINVARIANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); +typedef void (APIENTRYP PFNGLGETINVARIANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); +typedef void (APIENTRYP PFNGLGETLOCALCONSTANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); +typedef void (APIENTRYP PFNGLGETLOCALCONSTANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); +typedef void (APIENTRYP PFNGLGETLOCALCONSTANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginVertexShaderEXT (void); +GLAPI void APIENTRY glEndVertexShaderEXT (void); +GLAPI void APIENTRY glBindVertexShaderEXT (GLuint id); +GLAPI GLuint APIENTRY glGenVertexShadersEXT (GLuint range); +GLAPI void APIENTRY glDeleteVertexShaderEXT (GLuint id); +GLAPI void APIENTRY glShaderOp1EXT (GLenum op, GLuint res, GLuint arg1); +GLAPI void APIENTRY glShaderOp2EXT (GLenum op, GLuint res, GLuint arg1, GLuint arg2); +GLAPI void APIENTRY glShaderOp3EXT (GLenum op, GLuint res, GLuint arg1, GLuint arg2, GLuint arg3); +GLAPI void APIENTRY glSwizzleEXT (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); +GLAPI void APIENTRY glWriteMaskEXT (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); +GLAPI void APIENTRY glInsertComponentEXT (GLuint res, GLuint src, GLuint num); +GLAPI void APIENTRY glExtractComponentEXT (GLuint res, GLuint src, GLuint num); +GLAPI GLuint APIENTRY glGenSymbolsEXT (GLenum datatype, GLenum storagetype, GLenum range, GLuint components); +GLAPI void APIENTRY glSetInvariantEXT (GLuint id, GLenum type, const void *addr); +GLAPI void APIENTRY glSetLocalConstantEXT (GLuint id, GLenum type, const void *addr); +GLAPI void APIENTRY glVariantbvEXT (GLuint id, const GLbyte *addr); +GLAPI void APIENTRY glVariantsvEXT (GLuint id, const GLshort *addr); +GLAPI void APIENTRY glVariantivEXT (GLuint id, const GLint *addr); +GLAPI void APIENTRY glVariantfvEXT (GLuint id, const GLfloat *addr); +GLAPI void APIENTRY glVariantdvEXT (GLuint id, const GLdouble *addr); +GLAPI void APIENTRY glVariantubvEXT (GLuint id, const GLubyte *addr); +GLAPI void APIENTRY glVariantusvEXT (GLuint id, const GLushort *addr); +GLAPI void APIENTRY glVariantuivEXT (GLuint id, const GLuint *addr); +GLAPI void APIENTRY glVariantPointerEXT (GLuint id, GLenum type, GLuint stride, const void *addr); +GLAPI void APIENTRY glEnableVariantClientStateEXT (GLuint id); +GLAPI void APIENTRY glDisableVariantClientStateEXT (GLuint id); +GLAPI GLuint APIENTRY glBindLightParameterEXT (GLenum light, GLenum value); +GLAPI GLuint APIENTRY glBindMaterialParameterEXT (GLenum face, GLenum value); +GLAPI GLuint APIENTRY glBindTexGenParameterEXT (GLenum unit, GLenum coord, GLenum value); +GLAPI GLuint APIENTRY glBindTextureUnitParameterEXT (GLenum unit, GLenum value); +GLAPI GLuint APIENTRY glBindParameterEXT (GLenum value); +GLAPI GLboolean APIENTRY glIsVariantEnabledEXT (GLuint id, GLenum cap); +GLAPI void APIENTRY glGetVariantBooleanvEXT (GLuint id, GLenum value, GLboolean *data); +GLAPI void APIENTRY glGetVariantIntegervEXT (GLuint id, GLenum value, GLint *data); +GLAPI void APIENTRY glGetVariantFloatvEXT (GLuint id, GLenum value, GLfloat *data); +GLAPI void APIENTRY glGetVariantPointervEXT (GLuint id, GLenum value, void **data); +GLAPI void APIENTRY glGetInvariantBooleanvEXT (GLuint id, GLenum value, GLboolean *data); +GLAPI void APIENTRY glGetInvariantIntegervEXT (GLuint id, GLenum value, GLint *data); +GLAPI void APIENTRY glGetInvariantFloatvEXT (GLuint id, GLenum value, GLfloat *data); +GLAPI void APIENTRY glGetLocalConstantBooleanvEXT (GLuint id, GLenum value, GLboolean *data); +GLAPI void APIENTRY glGetLocalConstantIntegervEXT (GLuint id, GLenum value, GLint *data); +GLAPI void APIENTRY glGetLocalConstantFloatvEXT (GLuint id, GLenum value, GLfloat *data); +#endif +#endif /* GL_EXT_vertex_shader */ + +#ifndef GL_EXT_vertex_weighting +#define GL_EXT_vertex_weighting 1 +#define GL_MODELVIEW0_STACK_DEPTH_EXT 0x0BA3 +#define GL_MODELVIEW1_STACK_DEPTH_EXT 0x8502 +#define GL_MODELVIEW0_MATRIX_EXT 0x0BA6 +#define GL_MODELVIEW1_MATRIX_EXT 0x8506 +#define GL_VERTEX_WEIGHTING_EXT 0x8509 +#define GL_MODELVIEW0_EXT 0x1700 +#define GL_MODELVIEW1_EXT 0x850A +#define GL_CURRENT_VERTEX_WEIGHT_EXT 0x850B +#define GL_VERTEX_WEIGHT_ARRAY_EXT 0x850C +#define GL_VERTEX_WEIGHT_ARRAY_SIZE_EXT 0x850D +#define GL_VERTEX_WEIGHT_ARRAY_TYPE_EXT 0x850E +#define GL_VERTEX_WEIGHT_ARRAY_STRIDE_EXT 0x850F +#define GL_VERTEX_WEIGHT_ARRAY_POINTER_EXT 0x8510 +typedef void (APIENTRYP PFNGLVERTEXWEIGHTFEXTPROC) (GLfloat weight); +typedef void (APIENTRYP PFNGLVERTEXWEIGHTFVEXTPROC) (const GLfloat *weight); +typedef void (APIENTRYP PFNGLVERTEXWEIGHTPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexWeightfEXT (GLfloat weight); +GLAPI void APIENTRY glVertexWeightfvEXT (const GLfloat *weight); +GLAPI void APIENTRY glVertexWeightPointerEXT (GLint size, GLenum type, GLsizei stride, const void *pointer); +#endif +#endif /* GL_EXT_vertex_weighting */ + +#ifndef GL_EXT_win32_keyed_mutex +#define GL_EXT_win32_keyed_mutex 1 +typedef GLboolean (APIENTRYP PFNGLACQUIREKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key, GLuint timeout); +typedef GLboolean (APIENTRYP PFNGLRELEASEKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLboolean APIENTRY glAcquireKeyedMutexWin32EXT (GLuint memory, GLuint64 key, GLuint timeout); +GLAPI GLboolean APIENTRY glReleaseKeyedMutexWin32EXT (GLuint memory, GLuint64 key); +#endif +#endif /* GL_EXT_win32_keyed_mutex */ + +#ifndef GL_EXT_window_rectangles +#define GL_EXT_window_rectangles 1 +#define GL_INCLUSIVE_EXT 0x8F10 +#define GL_EXCLUSIVE_EXT 0x8F11 +#define GL_WINDOW_RECTANGLE_EXT 0x8F12 +#define GL_WINDOW_RECTANGLE_MODE_EXT 0x8F13 +#define GL_MAX_WINDOW_RECTANGLES_EXT 0x8F14 +#define GL_NUM_WINDOW_RECTANGLES_EXT 0x8F15 +typedef void (APIENTRYP PFNGLWINDOWRECTANGLESEXTPROC) (GLenum mode, GLsizei count, const GLint *box); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glWindowRectanglesEXT (GLenum mode, GLsizei count, const GLint *box); +#endif +#endif /* GL_EXT_window_rectangles */ + +#ifndef GL_EXT_x11_sync_object +#define GL_EXT_x11_sync_object 1 +#define GL_SYNC_X11_FENCE_EXT 0x90E1 +typedef GLsync (APIENTRYP PFNGLIMPORTSYNCEXTPROC) (GLenum external_sync_type, GLintptr external_sync, GLbitfield flags); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLsync APIENTRY glImportSyncEXT (GLenum external_sync_type, GLintptr external_sync, GLbitfield flags); +#endif +#endif /* GL_EXT_x11_sync_object */ + +#ifndef GL_GREMEDY_frame_terminator +#define GL_GREMEDY_frame_terminator 1 +typedef void (APIENTRYP PFNGLFRAMETERMINATORGREMEDYPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFrameTerminatorGREMEDY (void); +#endif +#endif /* GL_GREMEDY_frame_terminator */ + +#ifndef GL_GREMEDY_string_marker +#define GL_GREMEDY_string_marker 1 +typedef void (APIENTRYP PFNGLSTRINGMARKERGREMEDYPROC) (GLsizei len, const void *string); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glStringMarkerGREMEDY (GLsizei len, const void *string); +#endif +#endif /* GL_GREMEDY_string_marker */ + +#ifndef GL_HP_convolution_border_modes +#define GL_HP_convolution_border_modes 1 +#define GL_IGNORE_BORDER_HP 0x8150 +#define GL_CONSTANT_BORDER_HP 0x8151 +#define GL_REPLICATE_BORDER_HP 0x8153 +#define GL_CONVOLUTION_BORDER_COLOR_HP 0x8154 +#endif /* GL_HP_convolution_border_modes */ + +#ifndef GL_HP_image_transform +#define GL_HP_image_transform 1 +#define GL_IMAGE_SCALE_X_HP 0x8155 +#define GL_IMAGE_SCALE_Y_HP 0x8156 +#define GL_IMAGE_TRANSLATE_X_HP 0x8157 +#define GL_IMAGE_TRANSLATE_Y_HP 0x8158 +#define GL_IMAGE_ROTATE_ANGLE_HP 0x8159 +#define GL_IMAGE_ROTATE_ORIGIN_X_HP 0x815A +#define GL_IMAGE_ROTATE_ORIGIN_Y_HP 0x815B +#define GL_IMAGE_MAG_FILTER_HP 0x815C +#define GL_IMAGE_MIN_FILTER_HP 0x815D +#define GL_IMAGE_CUBIC_WEIGHT_HP 0x815E +#define GL_CUBIC_HP 0x815F +#define GL_AVERAGE_HP 0x8160 +#define GL_IMAGE_TRANSFORM_2D_HP 0x8161 +#define GL_POST_IMAGE_TRANSFORM_COLOR_TABLE_HP 0x8162 +#define GL_PROXY_POST_IMAGE_TRANSFORM_COLOR_TABLE_HP 0x8163 +typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERIHPPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERFHPPROC) (GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glImageTransformParameteriHP (GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glImageTransformParameterfHP (GLenum target, GLenum pname, GLfloat param); +GLAPI void APIENTRY glImageTransformParameterivHP (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glImageTransformParameterfvHP (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glGetImageTransformParameterivHP (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetImageTransformParameterfvHP (GLenum target, GLenum pname, GLfloat *params); +#endif +#endif /* GL_HP_image_transform */ + +#ifndef GL_HP_occlusion_test +#define GL_HP_occlusion_test 1 +#define GL_OCCLUSION_TEST_HP 0x8165 +#define GL_OCCLUSION_TEST_RESULT_HP 0x8166 +#endif /* GL_HP_occlusion_test */ + +#ifndef GL_HP_texture_lighting +#define GL_HP_texture_lighting 1 +#define GL_TEXTURE_LIGHTING_MODE_HP 0x8167 +#define GL_TEXTURE_POST_SPECULAR_HP 0x8168 +#define GL_TEXTURE_PRE_SPECULAR_HP 0x8169 +#endif /* GL_HP_texture_lighting */ + +#ifndef GL_IBM_cull_vertex +#define GL_IBM_cull_vertex 1 +#define GL_CULL_VERTEX_IBM 103050 +#endif /* GL_IBM_cull_vertex */ + +#ifndef GL_IBM_multimode_draw_arrays +#define GL_IBM_multimode_draw_arrays 1 +typedef void (APIENTRYP PFNGLMULTIMODEDRAWARRAYSIBMPROC) (const GLenum *mode, const GLint *first, const GLsizei *count, GLsizei primcount, GLint modestride); +typedef void (APIENTRYP PFNGLMULTIMODEDRAWELEMENTSIBMPROC) (const GLenum *mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount, GLint modestride); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiModeDrawArraysIBM (const GLenum *mode, const GLint *first, const GLsizei *count, GLsizei primcount, GLint modestride); +GLAPI void APIENTRY glMultiModeDrawElementsIBM (const GLenum *mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount, GLint modestride); +#endif +#endif /* GL_IBM_multimode_draw_arrays */ + +#ifndef GL_IBM_rasterpos_clip +#define GL_IBM_rasterpos_clip 1 +#define GL_RASTER_POSITION_UNCLIPPED_IBM 0x19262 +#endif /* GL_IBM_rasterpos_clip */ + +#ifndef GL_IBM_static_data +#define GL_IBM_static_data 1 +#define GL_ALL_STATIC_DATA_IBM 103060 +#define GL_STATIC_VERTEX_ARRAY_IBM 103061 +typedef void (APIENTRYP PFNGLFLUSHSTATICDATAIBMPROC) (GLenum target); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFlushStaticDataIBM (GLenum target); +#endif +#endif /* GL_IBM_static_data */ + +#ifndef GL_IBM_texture_mirrored_repeat +#define GL_IBM_texture_mirrored_repeat 1 +#define GL_MIRRORED_REPEAT_IBM 0x8370 +#endif /* GL_IBM_texture_mirrored_repeat */ + +#ifndef GL_IBM_vertex_array_lists +#define GL_IBM_vertex_array_lists 1 +#define GL_VERTEX_ARRAY_LIST_IBM 103070 +#define GL_NORMAL_ARRAY_LIST_IBM 103071 +#define GL_COLOR_ARRAY_LIST_IBM 103072 +#define GL_INDEX_ARRAY_LIST_IBM 103073 +#define GL_TEXTURE_COORD_ARRAY_LIST_IBM 103074 +#define GL_EDGE_FLAG_ARRAY_LIST_IBM 103075 +#define GL_FOG_COORDINATE_ARRAY_LIST_IBM 103076 +#define GL_SECONDARY_COLOR_ARRAY_LIST_IBM 103077 +#define GL_VERTEX_ARRAY_LIST_STRIDE_IBM 103080 +#define GL_NORMAL_ARRAY_LIST_STRIDE_IBM 103081 +#define GL_COLOR_ARRAY_LIST_STRIDE_IBM 103082 +#define GL_INDEX_ARRAY_LIST_STRIDE_IBM 103083 +#define GL_TEXTURE_COORD_ARRAY_LIST_STRIDE_IBM 103084 +#define GL_EDGE_FLAG_ARRAY_LIST_STRIDE_IBM 103085 +#define GL_FOG_COORDINATE_ARRAY_LIST_STRIDE_IBM 103086 +#define GL_SECONDARY_COLOR_ARRAY_LIST_STRIDE_IBM 103087 +typedef void (APIENTRYP PFNGLCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLEDGEFLAGPOINTERLISTIBMPROC) (GLint stride, const GLboolean **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLFOGCOORDPOINTERLISTIBMPROC) (GLenum type, GLint stride, const void **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLINDEXPOINTERLISTIBMPROC) (GLenum type, GLint stride, const void **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLNORMALPOINTERLISTIBMPROC) (GLenum type, GLint stride, const void **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLTEXCOORDPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +typedef void (APIENTRYP PFNGLVERTEXPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +GLAPI void APIENTRY glSecondaryColorPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +GLAPI void APIENTRY glEdgeFlagPointerListIBM (GLint stride, const GLboolean **pointer, GLint ptrstride); +GLAPI void APIENTRY glFogCoordPointerListIBM (GLenum type, GLint stride, const void **pointer, GLint ptrstride); +GLAPI void APIENTRY glIndexPointerListIBM (GLenum type, GLint stride, const void **pointer, GLint ptrstride); +GLAPI void APIENTRY glNormalPointerListIBM (GLenum type, GLint stride, const void **pointer, GLint ptrstride); +GLAPI void APIENTRY glTexCoordPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +GLAPI void APIENTRY glVertexPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); +#endif +#endif /* GL_IBM_vertex_array_lists */ + +#ifndef GL_INGR_blend_func_separate +#define GL_INGR_blend_func_separate 1 +typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEINGRPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendFuncSeparateINGR (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +#endif +#endif /* GL_INGR_blend_func_separate */ + +#ifndef GL_INGR_color_clamp +#define GL_INGR_color_clamp 1 +#define GL_RED_MIN_CLAMP_INGR 0x8560 +#define GL_GREEN_MIN_CLAMP_INGR 0x8561 +#define GL_BLUE_MIN_CLAMP_INGR 0x8562 +#define GL_ALPHA_MIN_CLAMP_INGR 0x8563 +#define GL_RED_MAX_CLAMP_INGR 0x8564 +#define GL_GREEN_MAX_CLAMP_INGR 0x8565 +#define GL_BLUE_MAX_CLAMP_INGR 0x8566 +#define GL_ALPHA_MAX_CLAMP_INGR 0x8567 +#endif /* GL_INGR_color_clamp */ + +#ifndef GL_INGR_interlace_read +#define GL_INGR_interlace_read 1 +#define GL_INTERLACE_READ_INGR 0x8568 +#endif /* GL_INGR_interlace_read */ + +#ifndef GL_INTEL_blackhole_render +#define GL_INTEL_blackhole_render 1 +#define GL_BLACKHOLE_RENDER_INTEL 0x83FC +#endif /* GL_INTEL_blackhole_render */ + +#ifndef GL_INTEL_conservative_rasterization +#define GL_INTEL_conservative_rasterization 1 +#define GL_CONSERVATIVE_RASTERIZATION_INTEL 0x83FE +#endif /* GL_INTEL_conservative_rasterization */ + +#ifndef GL_INTEL_fragment_shader_ordering +#define GL_INTEL_fragment_shader_ordering 1 +#endif /* GL_INTEL_fragment_shader_ordering */ + +#ifndef GL_INTEL_framebuffer_CMAA +#define GL_INTEL_framebuffer_CMAA 1 +typedef void (APIENTRYP PFNGLAPPLYFRAMEBUFFERATTACHMENTCMAAINTELPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glApplyFramebufferAttachmentCMAAINTEL (void); +#endif +#endif /* GL_INTEL_framebuffer_CMAA */ + +#ifndef GL_INTEL_map_texture +#define GL_INTEL_map_texture 1 +#define GL_TEXTURE_MEMORY_LAYOUT_INTEL 0x83FF +#define GL_LAYOUT_DEFAULT_INTEL 0 +#define GL_LAYOUT_LINEAR_INTEL 1 +#define GL_LAYOUT_LINEAR_CPU_CACHED_INTEL 2 +typedef void (APIENTRYP PFNGLSYNCTEXTUREINTELPROC) (GLuint texture); +typedef void (APIENTRYP PFNGLUNMAPTEXTURE2DINTELPROC) (GLuint texture, GLint level); +typedef void *(APIENTRYP PFNGLMAPTEXTURE2DINTELPROC) (GLuint texture, GLint level, GLbitfield access, GLint *stride, GLenum *layout); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSyncTextureINTEL (GLuint texture); +GLAPI void APIENTRY glUnmapTexture2DINTEL (GLuint texture, GLint level); +GLAPI void *APIENTRY glMapTexture2DINTEL (GLuint texture, GLint level, GLbitfield access, GLint *stride, GLenum *layout); +#endif +#endif /* GL_INTEL_map_texture */ + +#ifndef GL_INTEL_parallel_arrays +#define GL_INTEL_parallel_arrays 1 +#define GL_PARALLEL_ARRAYS_INTEL 0x83F4 +#define GL_VERTEX_ARRAY_PARALLEL_POINTERS_INTEL 0x83F5 +#define GL_NORMAL_ARRAY_PARALLEL_POINTERS_INTEL 0x83F6 +#define GL_COLOR_ARRAY_PARALLEL_POINTERS_INTEL 0x83F7 +#define GL_TEXTURE_COORD_ARRAY_PARALLEL_POINTERS_INTEL 0x83F8 +typedef void (APIENTRYP PFNGLVERTEXPOINTERVINTELPROC) (GLint size, GLenum type, const void **pointer); +typedef void (APIENTRYP PFNGLNORMALPOINTERVINTELPROC) (GLenum type, const void **pointer); +typedef void (APIENTRYP PFNGLCOLORPOINTERVINTELPROC) (GLint size, GLenum type, const void **pointer); +typedef void (APIENTRYP PFNGLTEXCOORDPOINTERVINTELPROC) (GLint size, GLenum type, const void **pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexPointervINTEL (GLint size, GLenum type, const void **pointer); +GLAPI void APIENTRY glNormalPointervINTEL (GLenum type, const void **pointer); +GLAPI void APIENTRY glColorPointervINTEL (GLint size, GLenum type, const void **pointer); +GLAPI void APIENTRY glTexCoordPointervINTEL (GLint size, GLenum type, const void **pointer); +#endif +#endif /* GL_INTEL_parallel_arrays */ + +#ifndef GL_INTEL_performance_query +#define GL_INTEL_performance_query 1 +#define GL_PERFQUERY_SINGLE_CONTEXT_INTEL 0x00000000 +#define GL_PERFQUERY_GLOBAL_CONTEXT_INTEL 0x00000001 +#define GL_PERFQUERY_WAIT_INTEL 0x83FB +#define GL_PERFQUERY_FLUSH_INTEL 0x83FA +#define GL_PERFQUERY_DONOT_FLUSH_INTEL 0x83F9 +#define GL_PERFQUERY_COUNTER_EVENT_INTEL 0x94F0 +#define GL_PERFQUERY_COUNTER_DURATION_NORM_INTEL 0x94F1 +#define GL_PERFQUERY_COUNTER_DURATION_RAW_INTEL 0x94F2 +#define GL_PERFQUERY_COUNTER_THROUGHPUT_INTEL 0x94F3 +#define GL_PERFQUERY_COUNTER_RAW_INTEL 0x94F4 +#define GL_PERFQUERY_COUNTER_TIMESTAMP_INTEL 0x94F5 +#define GL_PERFQUERY_COUNTER_DATA_UINT32_INTEL 0x94F8 +#define GL_PERFQUERY_COUNTER_DATA_UINT64_INTEL 0x94F9 +#define GL_PERFQUERY_COUNTER_DATA_FLOAT_INTEL 0x94FA +#define GL_PERFQUERY_COUNTER_DATA_DOUBLE_INTEL 0x94FB +#define GL_PERFQUERY_COUNTER_DATA_BOOL32_INTEL 0x94FC +#define GL_PERFQUERY_QUERY_NAME_LENGTH_MAX_INTEL 0x94FD +#define GL_PERFQUERY_COUNTER_NAME_LENGTH_MAX_INTEL 0x94FE +#define GL_PERFQUERY_COUNTER_DESC_LENGTH_MAX_INTEL 0x94FF +#define GL_PERFQUERY_GPA_EXTENDED_COUNTERS_INTEL 0x9500 +typedef void (APIENTRYP PFNGLBEGINPERFQUERYINTELPROC) (GLuint queryHandle); +typedef void (APIENTRYP PFNGLCREATEPERFQUERYINTELPROC) (GLuint queryId, GLuint *queryHandle); +typedef void (APIENTRYP PFNGLDELETEPERFQUERYINTELPROC) (GLuint queryHandle); +typedef void (APIENTRYP PFNGLENDPERFQUERYINTELPROC) (GLuint queryHandle); +typedef void (APIENTRYP PFNGLGETFIRSTPERFQUERYIDINTELPROC) (GLuint *queryId); +typedef void (APIENTRYP PFNGLGETNEXTPERFQUERYIDINTELPROC) (GLuint queryId, GLuint *nextQueryId); +typedef void (APIENTRYP PFNGLGETPERFCOUNTERINFOINTELPROC) (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); +typedef void (APIENTRYP PFNGLGETPERFQUERYDATAINTELPROC) (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); +typedef void (APIENTRYP PFNGLGETPERFQUERYIDBYNAMEINTELPROC) (GLchar *queryName, GLuint *queryId); +typedef void (APIENTRYP PFNGLGETPERFQUERYINFOINTELPROC) (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginPerfQueryINTEL (GLuint queryHandle); +GLAPI void APIENTRY glCreatePerfQueryINTEL (GLuint queryId, GLuint *queryHandle); +GLAPI void APIENTRY glDeletePerfQueryINTEL (GLuint queryHandle); +GLAPI void APIENTRY glEndPerfQueryINTEL (GLuint queryHandle); +GLAPI void APIENTRY glGetFirstPerfQueryIdINTEL (GLuint *queryId); +GLAPI void APIENTRY glGetNextPerfQueryIdINTEL (GLuint queryId, GLuint *nextQueryId); +GLAPI void APIENTRY glGetPerfCounterInfoINTEL (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); +GLAPI void APIENTRY glGetPerfQueryDataINTEL (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); +GLAPI void APIENTRY glGetPerfQueryIdByNameINTEL (GLchar *queryName, GLuint *queryId); +GLAPI void APIENTRY glGetPerfQueryInfoINTEL (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); +#endif +#endif /* GL_INTEL_performance_query */ + +#ifndef GL_MESAX_texture_stack +#define GL_MESAX_texture_stack 1 +#define GL_TEXTURE_1D_STACK_MESAX 0x8759 +#define GL_TEXTURE_2D_STACK_MESAX 0x875A +#define GL_PROXY_TEXTURE_1D_STACK_MESAX 0x875B +#define GL_PROXY_TEXTURE_2D_STACK_MESAX 0x875C +#define GL_TEXTURE_1D_STACK_BINDING_MESAX 0x875D +#define GL_TEXTURE_2D_STACK_BINDING_MESAX 0x875E +#endif /* GL_MESAX_texture_stack */ + +#ifndef GL_MESA_framebuffer_flip_x +#define GL_MESA_framebuffer_flip_x 1 +#define GL_FRAMEBUFFER_FLIP_X_MESA 0x8BBC +#endif /* GL_MESA_framebuffer_flip_x */ + +#ifndef GL_MESA_framebuffer_flip_y +#define GL_MESA_framebuffer_flip_y 1 +#define GL_FRAMEBUFFER_FLIP_Y_MESA 0x8BBB +typedef void (APIENTRYP PFNGLFRAMEBUFFERPARAMETERIMESAPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVMESAPROC) (GLenum target, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferParameteriMESA (GLenum target, GLenum pname, GLint param); +GLAPI void APIENTRY glGetFramebufferParameterivMESA (GLenum target, GLenum pname, GLint *params); +#endif +#endif /* GL_MESA_framebuffer_flip_y */ + +#ifndef GL_MESA_framebuffer_swap_xy +#define GL_MESA_framebuffer_swap_xy 1 +#define GL_FRAMEBUFFER_SWAP_XY_MESA 0x8BBD +#endif /* GL_MESA_framebuffer_swap_xy */ + +#ifndef GL_MESA_pack_invert +#define GL_MESA_pack_invert 1 +#define GL_PACK_INVERT_MESA 0x8758 +#endif /* GL_MESA_pack_invert */ + +#ifndef GL_MESA_program_binary_formats +#define GL_MESA_program_binary_formats 1 +#define GL_PROGRAM_BINARY_FORMAT_MESA 0x875F +#endif /* GL_MESA_program_binary_formats */ + +#ifndef GL_MESA_resize_buffers +#define GL_MESA_resize_buffers 1 +typedef void (APIENTRYP PFNGLRESIZEBUFFERSMESAPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glResizeBuffersMESA (void); +#endif +#endif /* GL_MESA_resize_buffers */ + +#ifndef GL_MESA_shader_integer_functions +#define GL_MESA_shader_integer_functions 1 +#endif /* GL_MESA_shader_integer_functions */ + +#ifndef GL_MESA_tile_raster_order +#define GL_MESA_tile_raster_order 1 +#define GL_TILE_RASTER_ORDER_FIXED_MESA 0x8BB8 +#define GL_TILE_RASTER_ORDER_INCREASING_X_MESA 0x8BB9 +#define GL_TILE_RASTER_ORDER_INCREASING_Y_MESA 0x8BBA +#endif /* GL_MESA_tile_raster_order */ + +#ifndef GL_MESA_window_pos +#define GL_MESA_window_pos 1 +typedef void (APIENTRYP PFNGLWINDOWPOS2DMESAPROC) (GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLWINDOWPOS2DVMESAPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2FMESAPROC) (GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLWINDOWPOS2FVMESAPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2IMESAPROC) (GLint x, GLint y); +typedef void (APIENTRYP PFNGLWINDOWPOS2IVMESAPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS2SMESAPROC) (GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLWINDOWPOS2SVMESAPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3DMESAPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLWINDOWPOS3DVMESAPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3FMESAPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLWINDOWPOS3FVMESAPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3IMESAPROC) (GLint x, GLint y, GLint z); +typedef void (APIENTRYP PFNGLWINDOWPOS3IVMESAPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS3SMESAPROC) (GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLWINDOWPOS3SVMESAPROC) (const GLshort *v); +typedef void (APIENTRYP PFNGLWINDOWPOS4DMESAPROC) (GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLWINDOWPOS4DVMESAPROC) (const GLdouble *v); +typedef void (APIENTRYP PFNGLWINDOWPOS4FMESAPROC) (GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLWINDOWPOS4FVMESAPROC) (const GLfloat *v); +typedef void (APIENTRYP PFNGLWINDOWPOS4IMESAPROC) (GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLWINDOWPOS4IVMESAPROC) (const GLint *v); +typedef void (APIENTRYP PFNGLWINDOWPOS4SMESAPROC) (GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRYP PFNGLWINDOWPOS4SVMESAPROC) (const GLshort *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glWindowPos2dMESA (GLdouble x, GLdouble y); +GLAPI void APIENTRY glWindowPos2dvMESA (const GLdouble *v); +GLAPI void APIENTRY glWindowPos2fMESA (GLfloat x, GLfloat y); +GLAPI void APIENTRY glWindowPos2fvMESA (const GLfloat *v); +GLAPI void APIENTRY glWindowPos2iMESA (GLint x, GLint y); +GLAPI void APIENTRY glWindowPos2ivMESA (const GLint *v); +GLAPI void APIENTRY glWindowPos2sMESA (GLshort x, GLshort y); +GLAPI void APIENTRY glWindowPos2svMESA (const GLshort *v); +GLAPI void APIENTRY glWindowPos3dMESA (GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glWindowPos3dvMESA (const GLdouble *v); +GLAPI void APIENTRY glWindowPos3fMESA (GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glWindowPos3fvMESA (const GLfloat *v); +GLAPI void APIENTRY glWindowPos3iMESA (GLint x, GLint y, GLint z); +GLAPI void APIENTRY glWindowPos3ivMESA (const GLint *v); +GLAPI void APIENTRY glWindowPos3sMESA (GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glWindowPos3svMESA (const GLshort *v); +GLAPI void APIENTRY glWindowPos4dMESA (GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glWindowPos4dvMESA (const GLdouble *v); +GLAPI void APIENTRY glWindowPos4fMESA (GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glWindowPos4fvMESA (const GLfloat *v); +GLAPI void APIENTRY glWindowPos4iMESA (GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glWindowPos4ivMESA (const GLint *v); +GLAPI void APIENTRY glWindowPos4sMESA (GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void APIENTRY glWindowPos4svMESA (const GLshort *v); +#endif +#endif /* GL_MESA_window_pos */ + +#ifndef GL_MESA_ycbcr_texture +#define GL_MESA_ycbcr_texture 1 +#define GL_UNSIGNED_SHORT_8_8_MESA 0x85BA +#define GL_UNSIGNED_SHORT_8_8_REV_MESA 0x85BB +#define GL_YCBCR_MESA 0x8757 +#endif /* GL_MESA_ycbcr_texture */ + +#ifndef GL_NVX_blend_equation_advanced_multi_draw_buffers +#define GL_NVX_blend_equation_advanced_multi_draw_buffers 1 +#endif /* GL_NVX_blend_equation_advanced_multi_draw_buffers */ + +#ifndef GL_NVX_conditional_render +#define GL_NVX_conditional_render 1 +typedef void (APIENTRYP PFNGLBEGINCONDITIONALRENDERNVXPROC) (GLuint id); +typedef void (APIENTRYP PFNGLENDCONDITIONALRENDERNVXPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginConditionalRenderNVX (GLuint id); +GLAPI void APIENTRY glEndConditionalRenderNVX (void); +#endif +#endif /* GL_NVX_conditional_render */ + +#ifndef GL_NVX_gpu_memory_info +#define GL_NVX_gpu_memory_info 1 +#define GL_GPU_MEMORY_INFO_DEDICATED_VIDMEM_NVX 0x9047 +#define GL_GPU_MEMORY_INFO_TOTAL_AVAILABLE_MEMORY_NVX 0x9048 +#define GL_GPU_MEMORY_INFO_CURRENT_AVAILABLE_VIDMEM_NVX 0x9049 +#define GL_GPU_MEMORY_INFO_EVICTION_COUNT_NVX 0x904A +#define GL_GPU_MEMORY_INFO_EVICTED_MEMORY_NVX 0x904B +#endif /* GL_NVX_gpu_memory_info */ + +#ifndef GL_NVX_gpu_multicast2 +#define GL_NVX_gpu_multicast2 1 +#define GL_UPLOAD_GPU_MASK_NVX 0x954A +typedef void (APIENTRYP PFNGLUPLOADGPUMASKNVXPROC) (GLbitfield mask); +typedef void (APIENTRYP PFNGLMULTICASTVIEWPORTARRAYVNVXPROC) (GLuint gpu, GLuint first, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTICASTVIEWPORTPOSITIONWSCALENVXPROC) (GLuint gpu, GLuint index, GLfloat xcoeff, GLfloat ycoeff); +typedef void (APIENTRYP PFNGLMULTICASTSCISSORARRAYVNVXPROC) (GLuint gpu, GLuint first, GLsizei count, const GLint *v); +typedef GLuint (APIENTRYP PFNGLASYNCCOPYBUFFERSUBDATANVXPROC) (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *fenceValueArray, GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); +typedef GLuint (APIENTRYP PFNGLASYNCCOPYIMAGESUBDATANVXPROC) (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *waitValueArray, GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glUploadGpuMaskNVX (GLbitfield mask); +GLAPI void APIENTRY glMulticastViewportArrayvNVX (GLuint gpu, GLuint first, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glMulticastViewportPositionWScaleNVX (GLuint gpu, GLuint index, GLfloat xcoeff, GLfloat ycoeff); +GLAPI void APIENTRY glMulticastScissorArrayvNVX (GLuint gpu, GLuint first, GLsizei count, const GLint *v); +GLAPI GLuint APIENTRY glAsyncCopyBufferSubDataNVX (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *fenceValueArray, GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); +GLAPI GLuint APIENTRY glAsyncCopyImageSubDataNVX (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *waitValueArray, GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); +#endif +#endif /* GL_NVX_gpu_multicast2 */ + +#ifndef GL_NVX_linked_gpu_multicast +#define GL_NVX_linked_gpu_multicast 1 +#define GL_LGPU_SEPARATE_STORAGE_BIT_NVX 0x0800 +#define GL_MAX_LGPU_GPUS_NVX 0x92BA +typedef void (APIENTRYP PFNGLLGPUNAMEDBUFFERSUBDATANVXPROC) (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +typedef void (APIENTRYP PFNGLLGPUCOPYIMAGESUBDATANVXPROC) (GLuint sourceGpu, GLbitfield destinationGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srxY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); +typedef void (APIENTRYP PFNGLLGPUINTERLOCKNVXPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glLGPUNamedBufferSubDataNVX (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +GLAPI void APIENTRY glLGPUCopyImageSubDataNVX (GLuint sourceGpu, GLbitfield destinationGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srxY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); +GLAPI void APIENTRY glLGPUInterlockNVX (void); +#endif +#endif /* GL_NVX_linked_gpu_multicast */ + +#ifndef GL_NVX_progress_fence +#define GL_NVX_progress_fence 1 +typedef GLuint (APIENTRYP PFNGLCREATEPROGRESSFENCENVXPROC) (void); +typedef void (APIENTRYP PFNGLSIGNALSEMAPHOREUI64NVXPROC) (GLuint signalGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); +typedef void (APIENTRYP PFNGLWAITSEMAPHOREUI64NVXPROC) (GLuint waitGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); +typedef void (APIENTRYP PFNGLCLIENTWAITSEMAPHOREUI64NVXPROC) (GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLuint APIENTRY glCreateProgressFenceNVX (void); +GLAPI void APIENTRY glSignalSemaphoreui64NVX (GLuint signalGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); +GLAPI void APIENTRY glWaitSemaphoreui64NVX (GLuint waitGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); +GLAPI void APIENTRY glClientWaitSemaphoreui64NVX (GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); +#endif +#endif /* GL_NVX_progress_fence */ + +#ifndef GL_NV_alpha_to_coverage_dither_control +#define GL_NV_alpha_to_coverage_dither_control 1 +#define GL_ALPHA_TO_COVERAGE_DITHER_DEFAULT_NV 0x934D +#define GL_ALPHA_TO_COVERAGE_DITHER_ENABLE_NV 0x934E +#define GL_ALPHA_TO_COVERAGE_DITHER_DISABLE_NV 0x934F +#define GL_ALPHA_TO_COVERAGE_DITHER_MODE_NV 0x92BF +typedef void (APIENTRYP PFNGLALPHATOCOVERAGEDITHERCONTROLNVPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glAlphaToCoverageDitherControlNV (GLenum mode); +#endif +#endif /* GL_NV_alpha_to_coverage_dither_control */ + +#ifndef GL_NV_bindless_multi_draw_indirect +#define GL_NV_bindless_multi_draw_indirect 1 +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTBINDLESSNVPROC) (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTBINDLESSNVPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiDrawArraysIndirectBindlessNV (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); +GLAPI void APIENTRY glMultiDrawElementsIndirectBindlessNV (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); +#endif +#endif /* GL_NV_bindless_multi_draw_indirect */ + +#ifndef GL_NV_bindless_multi_draw_indirect_count +#define GL_NV_bindless_multi_draw_indirect_count 1 +typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTBINDLESSCOUNTNVPROC) (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); +typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTBINDLESSCOUNTNVPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMultiDrawArraysIndirectBindlessCountNV (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); +GLAPI void APIENTRY glMultiDrawElementsIndirectBindlessCountNV (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); +#endif +#endif /* GL_NV_bindless_multi_draw_indirect_count */ + +#ifndef GL_NV_bindless_texture +#define GL_NV_bindless_texture 1 +typedef GLuint64 (APIENTRYP PFNGLGETTEXTUREHANDLENVPROC) (GLuint texture); +typedef GLuint64 (APIENTRYP PFNGLGETTEXTURESAMPLERHANDLENVPROC) (GLuint texture, GLuint sampler); +typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); +typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLENONRESIDENTNVPROC) (GLuint64 handle); +typedef GLuint64 (APIENTRYP PFNGLGETIMAGEHANDLENVPROC) (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); +typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle, GLenum access); +typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLENONRESIDENTNVPROC) (GLuint64 handle); +typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64NVPROC) (GLint location, GLuint64 value); +typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64VNVPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64NVPROC) (GLuint program, GLint location, GLuint64 value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +typedef GLboolean (APIENTRYP PFNGLISTEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); +typedef GLboolean (APIENTRYP PFNGLISIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLuint64 APIENTRY glGetTextureHandleNV (GLuint texture); +GLAPI GLuint64 APIENTRY glGetTextureSamplerHandleNV (GLuint texture, GLuint sampler); +GLAPI void APIENTRY glMakeTextureHandleResidentNV (GLuint64 handle); +GLAPI void APIENTRY glMakeTextureHandleNonResidentNV (GLuint64 handle); +GLAPI GLuint64 APIENTRY glGetImageHandleNV (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); +GLAPI void APIENTRY glMakeImageHandleResidentNV (GLuint64 handle, GLenum access); +GLAPI void APIENTRY glMakeImageHandleNonResidentNV (GLuint64 handle); +GLAPI void APIENTRY glUniformHandleui64NV (GLint location, GLuint64 value); +GLAPI void APIENTRY glUniformHandleui64vNV (GLint location, GLsizei count, const GLuint64 *value); +GLAPI void APIENTRY glProgramUniformHandleui64NV (GLuint program, GLint location, GLuint64 value); +GLAPI void APIENTRY glProgramUniformHandleui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +GLAPI GLboolean APIENTRY glIsTextureHandleResidentNV (GLuint64 handle); +GLAPI GLboolean APIENTRY glIsImageHandleResidentNV (GLuint64 handle); +#endif +#endif /* GL_NV_bindless_texture */ + +#ifndef GL_NV_blend_equation_advanced +#define GL_NV_blend_equation_advanced 1 +#define GL_BLEND_OVERLAP_NV 0x9281 +#define GL_BLEND_PREMULTIPLIED_SRC_NV 0x9280 +#define GL_BLUE_NV 0x1905 +#define GL_COLORBURN_NV 0x929A +#define GL_COLORDODGE_NV 0x9299 +#define GL_CONJOINT_NV 0x9284 +#define GL_CONTRAST_NV 0x92A1 +#define GL_DARKEN_NV 0x9297 +#define GL_DIFFERENCE_NV 0x929E +#define GL_DISJOINT_NV 0x9283 +#define GL_DST_ATOP_NV 0x928F +#define GL_DST_IN_NV 0x928B +#define GL_DST_NV 0x9287 +#define GL_DST_OUT_NV 0x928D +#define GL_DST_OVER_NV 0x9289 +#define GL_EXCLUSION_NV 0x92A0 +#define GL_GREEN_NV 0x1904 +#define GL_HARDLIGHT_NV 0x929B +#define GL_HARDMIX_NV 0x92A9 +#define GL_HSL_COLOR_NV 0x92AF +#define GL_HSL_HUE_NV 0x92AD +#define GL_HSL_LUMINOSITY_NV 0x92B0 +#define GL_HSL_SATURATION_NV 0x92AE +#define GL_INVERT_OVG_NV 0x92B4 +#define GL_INVERT_RGB_NV 0x92A3 +#define GL_LIGHTEN_NV 0x9298 +#define GL_LINEARBURN_NV 0x92A5 +#define GL_LINEARDODGE_NV 0x92A4 +#define GL_LINEARLIGHT_NV 0x92A7 +#define GL_MINUS_CLAMPED_NV 0x92B3 +#define GL_MINUS_NV 0x929F +#define GL_MULTIPLY_NV 0x9294 +#define GL_OVERLAY_NV 0x9296 +#define GL_PINLIGHT_NV 0x92A8 +#define GL_PLUS_CLAMPED_ALPHA_NV 0x92B2 +#define GL_PLUS_CLAMPED_NV 0x92B1 +#define GL_PLUS_DARKER_NV 0x9292 +#define GL_PLUS_NV 0x9291 +#define GL_RED_NV 0x1903 +#define GL_SCREEN_NV 0x9295 +#define GL_SOFTLIGHT_NV 0x929C +#define GL_SRC_ATOP_NV 0x928E +#define GL_SRC_IN_NV 0x928A +#define GL_SRC_NV 0x9286 +#define GL_SRC_OUT_NV 0x928C +#define GL_SRC_OVER_NV 0x9288 +#define GL_UNCORRELATED_NV 0x9282 +#define GL_VIVIDLIGHT_NV 0x92A6 +#define GL_XOR_NV 0x1506 +typedef void (APIENTRYP PFNGLBLENDPARAMETERINVPROC) (GLenum pname, GLint value); +typedef void (APIENTRYP PFNGLBLENDBARRIERNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBlendParameteriNV (GLenum pname, GLint value); +GLAPI void APIENTRY glBlendBarrierNV (void); +#endif +#endif /* GL_NV_blend_equation_advanced */ + +#ifndef GL_NV_blend_equation_advanced_coherent +#define GL_NV_blend_equation_advanced_coherent 1 +#define GL_BLEND_ADVANCED_COHERENT_NV 0x9285 +#endif /* GL_NV_blend_equation_advanced_coherent */ + +#ifndef GL_NV_blend_minmax_factor +#define GL_NV_blend_minmax_factor 1 +#endif /* GL_NV_blend_minmax_factor */ + +#ifndef GL_NV_blend_square +#define GL_NV_blend_square 1 +#endif /* GL_NV_blend_square */ + +#ifndef GL_NV_clip_space_w_scaling +#define GL_NV_clip_space_w_scaling 1 +#define GL_VIEWPORT_POSITION_W_SCALE_NV 0x937C +#define GL_VIEWPORT_POSITION_W_SCALE_X_COEFF_NV 0x937D +#define GL_VIEWPORT_POSITION_W_SCALE_Y_COEFF_NV 0x937E +typedef void (APIENTRYP PFNGLVIEWPORTPOSITIONWSCALENVPROC) (GLuint index, GLfloat xcoeff, GLfloat ycoeff); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glViewportPositionWScaleNV (GLuint index, GLfloat xcoeff, GLfloat ycoeff); +#endif +#endif /* GL_NV_clip_space_w_scaling */ + +#ifndef GL_NV_command_list +#define GL_NV_command_list 1 +#define GL_TERMINATE_SEQUENCE_COMMAND_NV 0x0000 +#define GL_NOP_COMMAND_NV 0x0001 +#define GL_DRAW_ELEMENTS_COMMAND_NV 0x0002 +#define GL_DRAW_ARRAYS_COMMAND_NV 0x0003 +#define GL_DRAW_ELEMENTS_STRIP_COMMAND_NV 0x0004 +#define GL_DRAW_ARRAYS_STRIP_COMMAND_NV 0x0005 +#define GL_DRAW_ELEMENTS_INSTANCED_COMMAND_NV 0x0006 +#define GL_DRAW_ARRAYS_INSTANCED_COMMAND_NV 0x0007 +#define GL_ELEMENT_ADDRESS_COMMAND_NV 0x0008 +#define GL_ATTRIBUTE_ADDRESS_COMMAND_NV 0x0009 +#define GL_UNIFORM_ADDRESS_COMMAND_NV 0x000A +#define GL_BLEND_COLOR_COMMAND_NV 0x000B +#define GL_STENCIL_REF_COMMAND_NV 0x000C +#define GL_LINE_WIDTH_COMMAND_NV 0x000D +#define GL_POLYGON_OFFSET_COMMAND_NV 0x000E +#define GL_ALPHA_REF_COMMAND_NV 0x000F +#define GL_VIEWPORT_COMMAND_NV 0x0010 +#define GL_SCISSOR_COMMAND_NV 0x0011 +#define GL_FRONT_FACE_COMMAND_NV 0x0012 +typedef void (APIENTRYP PFNGLCREATESTATESNVPROC) (GLsizei n, GLuint *states); +typedef void (APIENTRYP PFNGLDELETESTATESNVPROC) (GLsizei n, const GLuint *states); +typedef GLboolean (APIENTRYP PFNGLISSTATENVPROC) (GLuint state); +typedef void (APIENTRYP PFNGLSTATECAPTURENVPROC) (GLuint state, GLenum mode); +typedef GLuint (APIENTRYP PFNGLGETCOMMANDHEADERNVPROC) (GLenum tokenID, GLuint size); +typedef GLushort (APIENTRYP PFNGLGETSTAGEINDEXNVPROC) (GLenum shadertype); +typedef void (APIENTRYP PFNGLDRAWCOMMANDSNVPROC) (GLenum primitiveMode, GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, GLuint count); +typedef void (APIENTRYP PFNGLDRAWCOMMANDSADDRESSNVPROC) (GLenum primitiveMode, const GLuint64 *indirects, const GLsizei *sizes, GLuint count); +typedef void (APIENTRYP PFNGLDRAWCOMMANDSSTATESNVPROC) (GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); +typedef void (APIENTRYP PFNGLDRAWCOMMANDSSTATESADDRESSNVPROC) (const GLuint64 *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); +typedef void (APIENTRYP PFNGLCREATECOMMANDLISTSNVPROC) (GLsizei n, GLuint *lists); +typedef void (APIENTRYP PFNGLDELETECOMMANDLISTSNVPROC) (GLsizei n, const GLuint *lists); +typedef GLboolean (APIENTRYP PFNGLISCOMMANDLISTNVPROC) (GLuint list); +typedef void (APIENTRYP PFNGLLISTDRAWCOMMANDSSTATESCLIENTNVPROC) (GLuint list, GLuint segment, const void **indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); +typedef void (APIENTRYP PFNGLCOMMANDLISTSEGMENTSNVPROC) (GLuint list, GLuint segments); +typedef void (APIENTRYP PFNGLCOMPILECOMMANDLISTNVPROC) (GLuint list); +typedef void (APIENTRYP PFNGLCALLCOMMANDLISTNVPROC) (GLuint list); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCreateStatesNV (GLsizei n, GLuint *states); +GLAPI void APIENTRY glDeleteStatesNV (GLsizei n, const GLuint *states); +GLAPI GLboolean APIENTRY glIsStateNV (GLuint state); +GLAPI void APIENTRY glStateCaptureNV (GLuint state, GLenum mode); +GLAPI GLuint APIENTRY glGetCommandHeaderNV (GLenum tokenID, GLuint size); +GLAPI GLushort APIENTRY glGetStageIndexNV (GLenum shadertype); +GLAPI void APIENTRY glDrawCommandsNV (GLenum primitiveMode, GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, GLuint count); +GLAPI void APIENTRY glDrawCommandsAddressNV (GLenum primitiveMode, const GLuint64 *indirects, const GLsizei *sizes, GLuint count); +GLAPI void APIENTRY glDrawCommandsStatesNV (GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); +GLAPI void APIENTRY glDrawCommandsStatesAddressNV (const GLuint64 *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); +GLAPI void APIENTRY glCreateCommandListsNV (GLsizei n, GLuint *lists); +GLAPI void APIENTRY glDeleteCommandListsNV (GLsizei n, const GLuint *lists); +GLAPI GLboolean APIENTRY glIsCommandListNV (GLuint list); +GLAPI void APIENTRY glListDrawCommandsStatesClientNV (GLuint list, GLuint segment, const void **indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); +GLAPI void APIENTRY glCommandListSegmentsNV (GLuint list, GLuint segments); +GLAPI void APIENTRY glCompileCommandListNV (GLuint list); +GLAPI void APIENTRY glCallCommandListNV (GLuint list); +#endif +#endif /* GL_NV_command_list */ + +#ifndef GL_NV_compute_program5 +#define GL_NV_compute_program5 1 +#define GL_COMPUTE_PROGRAM_NV 0x90FB +#define GL_COMPUTE_PROGRAM_PARAMETER_BUFFER_NV 0x90FC +#endif /* GL_NV_compute_program5 */ + +#ifndef GL_NV_compute_shader_derivatives +#define GL_NV_compute_shader_derivatives 1 +#endif /* GL_NV_compute_shader_derivatives */ + +#ifndef GL_NV_conditional_render +#define GL_NV_conditional_render 1 +#define GL_QUERY_WAIT_NV 0x8E13 +#define GL_QUERY_NO_WAIT_NV 0x8E14 +#define GL_QUERY_BY_REGION_WAIT_NV 0x8E15 +#define GL_QUERY_BY_REGION_NO_WAIT_NV 0x8E16 +typedef void (APIENTRYP PFNGLBEGINCONDITIONALRENDERNVPROC) (GLuint id, GLenum mode); +typedef void (APIENTRYP PFNGLENDCONDITIONALRENDERNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginConditionalRenderNV (GLuint id, GLenum mode); +GLAPI void APIENTRY glEndConditionalRenderNV (void); +#endif +#endif /* GL_NV_conditional_render */ + +#ifndef GL_NV_conservative_raster +#define GL_NV_conservative_raster 1 +#define GL_CONSERVATIVE_RASTERIZATION_NV 0x9346 +#define GL_SUBPIXEL_PRECISION_BIAS_X_BITS_NV 0x9347 +#define GL_SUBPIXEL_PRECISION_BIAS_Y_BITS_NV 0x9348 +#define GL_MAX_SUBPIXEL_PRECISION_BIAS_BITS_NV 0x9349 +typedef void (APIENTRYP PFNGLSUBPIXELPRECISIONBIASNVPROC) (GLuint xbits, GLuint ybits); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSubpixelPrecisionBiasNV (GLuint xbits, GLuint ybits); +#endif +#endif /* GL_NV_conservative_raster */ + +#ifndef GL_NV_conservative_raster_dilate +#define GL_NV_conservative_raster_dilate 1 +#define GL_CONSERVATIVE_RASTER_DILATE_NV 0x9379 +#define GL_CONSERVATIVE_RASTER_DILATE_RANGE_NV 0x937A +#define GL_CONSERVATIVE_RASTER_DILATE_GRANULARITY_NV 0x937B +typedef void (APIENTRYP PFNGLCONSERVATIVERASTERPARAMETERFNVPROC) (GLenum pname, GLfloat value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glConservativeRasterParameterfNV (GLenum pname, GLfloat value); +#endif +#endif /* GL_NV_conservative_raster_dilate */ + +#ifndef GL_NV_conservative_raster_pre_snap +#define GL_NV_conservative_raster_pre_snap 1 +#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_NV 0x9550 +#endif /* GL_NV_conservative_raster_pre_snap */ + +#ifndef GL_NV_conservative_raster_pre_snap_triangles +#define GL_NV_conservative_raster_pre_snap_triangles 1 +#define GL_CONSERVATIVE_RASTER_MODE_NV 0x954D +#define GL_CONSERVATIVE_RASTER_MODE_POST_SNAP_NV 0x954E +#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_TRIANGLES_NV 0x954F +typedef void (APIENTRYP PFNGLCONSERVATIVERASTERPARAMETERINVPROC) (GLenum pname, GLint param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glConservativeRasterParameteriNV (GLenum pname, GLint param); +#endif +#endif /* GL_NV_conservative_raster_pre_snap_triangles */ + +#ifndef GL_NV_conservative_raster_underestimation +#define GL_NV_conservative_raster_underestimation 1 +#endif /* GL_NV_conservative_raster_underestimation */ + +#ifndef GL_NV_copy_depth_to_color +#define GL_NV_copy_depth_to_color 1 +#define GL_DEPTH_STENCIL_TO_RGBA_NV 0x886E +#define GL_DEPTH_STENCIL_TO_BGRA_NV 0x886F +#endif /* GL_NV_copy_depth_to_color */ + +#ifndef GL_NV_copy_image +#define GL_NV_copy_image 1 +typedef void (APIENTRYP PFNGLCOPYIMAGESUBDATANVPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCopyImageSubDataNV (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); +#endif +#endif /* GL_NV_copy_image */ + +#ifndef GL_NV_deep_texture3D +#define GL_NV_deep_texture3D 1 +#define GL_MAX_DEEP_3D_TEXTURE_WIDTH_HEIGHT_NV 0x90D0 +#define GL_MAX_DEEP_3D_TEXTURE_DEPTH_NV 0x90D1 +#endif /* GL_NV_deep_texture3D */ + +#ifndef GL_NV_depth_buffer_float +#define GL_NV_depth_buffer_float 1 +#define GL_DEPTH_COMPONENT32F_NV 0x8DAB +#define GL_DEPTH32F_STENCIL8_NV 0x8DAC +#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV_NV 0x8DAD +#define GL_DEPTH_BUFFER_FLOAT_MODE_NV 0x8DAF +typedef void (APIENTRYP PFNGLDEPTHRANGEDNVPROC) (GLdouble zNear, GLdouble zFar); +typedef void (APIENTRYP PFNGLCLEARDEPTHDNVPROC) (GLdouble depth); +typedef void (APIENTRYP PFNGLDEPTHBOUNDSDNVPROC) (GLdouble zmin, GLdouble zmax); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDepthRangedNV (GLdouble zNear, GLdouble zFar); +GLAPI void APIENTRY glClearDepthdNV (GLdouble depth); +GLAPI void APIENTRY glDepthBoundsdNV (GLdouble zmin, GLdouble zmax); +#endif +#endif /* GL_NV_depth_buffer_float */ + +#ifndef GL_NV_depth_clamp +#define GL_NV_depth_clamp 1 +#define GL_DEPTH_CLAMP_NV 0x864F +#endif /* GL_NV_depth_clamp */ + +#ifndef GL_NV_draw_texture +#define GL_NV_draw_texture 1 +typedef void (APIENTRYP PFNGLDRAWTEXTURENVPROC) (GLuint texture, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawTextureNV (GLuint texture, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); +#endif +#endif /* GL_NV_draw_texture */ + +#ifndef GL_NV_draw_vulkan_image +#define GL_NV_draw_vulkan_image 1 +typedef void (APIENTRY *GLVULKANPROCNV)(void); +typedef void (APIENTRYP PFNGLDRAWVKIMAGENVPROC) (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); +typedef GLVULKANPROCNV (APIENTRYP PFNGLGETVKPROCADDRNVPROC) (const GLchar *name); +typedef void (APIENTRYP PFNGLWAITVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); +typedef void (APIENTRYP PFNGLSIGNALVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); +typedef void (APIENTRYP PFNGLSIGNALVKFENCENVPROC) (GLuint64 vkFence); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawVkImageNV (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); +GLAPI GLVULKANPROCNV APIENTRY glGetVkProcAddrNV (const GLchar *name); +GLAPI void APIENTRY glWaitVkSemaphoreNV (GLuint64 vkSemaphore); +GLAPI void APIENTRY glSignalVkSemaphoreNV (GLuint64 vkSemaphore); +GLAPI void APIENTRY glSignalVkFenceNV (GLuint64 vkFence); +#endif +#endif /* GL_NV_draw_vulkan_image */ + +#ifndef GL_NV_evaluators +#define GL_NV_evaluators 1 +#define GL_EVAL_2D_NV 0x86C0 +#define GL_EVAL_TRIANGULAR_2D_NV 0x86C1 +#define GL_MAP_TESSELLATION_NV 0x86C2 +#define GL_MAP_ATTRIB_U_ORDER_NV 0x86C3 +#define GL_MAP_ATTRIB_V_ORDER_NV 0x86C4 +#define GL_EVAL_FRACTIONAL_TESSELLATION_NV 0x86C5 +#define GL_EVAL_VERTEX_ATTRIB0_NV 0x86C6 +#define GL_EVAL_VERTEX_ATTRIB1_NV 0x86C7 +#define GL_EVAL_VERTEX_ATTRIB2_NV 0x86C8 +#define GL_EVAL_VERTEX_ATTRIB3_NV 0x86C9 +#define GL_EVAL_VERTEX_ATTRIB4_NV 0x86CA +#define GL_EVAL_VERTEX_ATTRIB5_NV 0x86CB +#define GL_EVAL_VERTEX_ATTRIB6_NV 0x86CC +#define GL_EVAL_VERTEX_ATTRIB7_NV 0x86CD +#define GL_EVAL_VERTEX_ATTRIB8_NV 0x86CE +#define GL_EVAL_VERTEX_ATTRIB9_NV 0x86CF +#define GL_EVAL_VERTEX_ATTRIB10_NV 0x86D0 +#define GL_EVAL_VERTEX_ATTRIB11_NV 0x86D1 +#define GL_EVAL_VERTEX_ATTRIB12_NV 0x86D2 +#define GL_EVAL_VERTEX_ATTRIB13_NV 0x86D3 +#define GL_EVAL_VERTEX_ATTRIB14_NV 0x86D4 +#define GL_EVAL_VERTEX_ATTRIB15_NV 0x86D5 +#define GL_MAX_MAP_TESSELLATION_NV 0x86D6 +#define GL_MAX_RATIONAL_EVAL_ORDER_NV 0x86D7 +typedef void (APIENTRYP PFNGLMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLint uorder, GLint vorder, GLboolean packed, const void *points); +typedef void (APIENTRYP PFNGLMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLboolean packed, void *points); +typedef void (APIENTRYP PFNGLGETMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETMAPATTRIBPARAMETERIVNVPROC) (GLenum target, GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETMAPATTRIBPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLEVALMAPSNVPROC) (GLenum target, GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMapControlPointsNV (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLint uorder, GLint vorder, GLboolean packed, const void *points); +GLAPI void APIENTRY glMapParameterivNV (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glMapParameterfvNV (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glGetMapControlPointsNV (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLboolean packed, void *points); +GLAPI void APIENTRY glGetMapParameterivNV (GLenum target, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMapParameterfvNV (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetMapAttribParameterivNV (GLenum target, GLuint index, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetMapAttribParameterfvNV (GLenum target, GLuint index, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glEvalMapsNV (GLenum target, GLenum mode); +#endif +#endif /* GL_NV_evaluators */ + +#ifndef GL_NV_explicit_multisample +#define GL_NV_explicit_multisample 1 +#define GL_SAMPLE_POSITION_NV 0x8E50 +#define GL_SAMPLE_MASK_NV 0x8E51 +#define GL_SAMPLE_MASK_VALUE_NV 0x8E52 +#define GL_TEXTURE_BINDING_RENDERBUFFER_NV 0x8E53 +#define GL_TEXTURE_RENDERBUFFER_DATA_STORE_BINDING_NV 0x8E54 +#define GL_TEXTURE_RENDERBUFFER_NV 0x8E55 +#define GL_SAMPLER_RENDERBUFFER_NV 0x8E56 +#define GL_INT_SAMPLER_RENDERBUFFER_NV 0x8E57 +#define GL_UNSIGNED_INT_SAMPLER_RENDERBUFFER_NV 0x8E58 +#define GL_MAX_SAMPLE_MASK_WORDS_NV 0x8E59 +typedef void (APIENTRYP PFNGLGETMULTISAMPLEFVNVPROC) (GLenum pname, GLuint index, GLfloat *val); +typedef void (APIENTRYP PFNGLSAMPLEMASKINDEXEDNVPROC) (GLuint index, GLbitfield mask); +typedef void (APIENTRYP PFNGLTEXRENDERBUFFERNVPROC) (GLenum target, GLuint renderbuffer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetMultisamplefvNV (GLenum pname, GLuint index, GLfloat *val); +GLAPI void APIENTRY glSampleMaskIndexedNV (GLuint index, GLbitfield mask); +GLAPI void APIENTRY glTexRenderbufferNV (GLenum target, GLuint renderbuffer); +#endif +#endif /* GL_NV_explicit_multisample */ + +#ifndef GL_NV_fence +#define GL_NV_fence 1 +#define GL_ALL_COMPLETED_NV 0x84F2 +#define GL_FENCE_STATUS_NV 0x84F3 +#define GL_FENCE_CONDITION_NV 0x84F4 +typedef void (APIENTRYP PFNGLDELETEFENCESNVPROC) (GLsizei n, const GLuint *fences); +typedef void (APIENTRYP PFNGLGENFENCESNVPROC) (GLsizei n, GLuint *fences); +typedef GLboolean (APIENTRYP PFNGLISFENCENVPROC) (GLuint fence); +typedef GLboolean (APIENTRYP PFNGLTESTFENCENVPROC) (GLuint fence); +typedef void (APIENTRYP PFNGLGETFENCEIVNVPROC) (GLuint fence, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLFINISHFENCENVPROC) (GLuint fence); +typedef void (APIENTRYP PFNGLSETFENCENVPROC) (GLuint fence, GLenum condition); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDeleteFencesNV (GLsizei n, const GLuint *fences); +GLAPI void APIENTRY glGenFencesNV (GLsizei n, GLuint *fences); +GLAPI GLboolean APIENTRY glIsFenceNV (GLuint fence); +GLAPI GLboolean APIENTRY glTestFenceNV (GLuint fence); +GLAPI void APIENTRY glGetFenceivNV (GLuint fence, GLenum pname, GLint *params); +GLAPI void APIENTRY glFinishFenceNV (GLuint fence); +GLAPI void APIENTRY glSetFenceNV (GLuint fence, GLenum condition); +#endif +#endif /* GL_NV_fence */ + +#ifndef GL_NV_fill_rectangle +#define GL_NV_fill_rectangle 1 +#define GL_FILL_RECTANGLE_NV 0x933C +#endif /* GL_NV_fill_rectangle */ + +#ifndef GL_NV_float_buffer +#define GL_NV_float_buffer 1 +#define GL_FLOAT_R_NV 0x8880 +#define GL_FLOAT_RG_NV 0x8881 +#define GL_FLOAT_RGB_NV 0x8882 +#define GL_FLOAT_RGBA_NV 0x8883 +#define GL_FLOAT_R16_NV 0x8884 +#define GL_FLOAT_R32_NV 0x8885 +#define GL_FLOAT_RG16_NV 0x8886 +#define GL_FLOAT_RG32_NV 0x8887 +#define GL_FLOAT_RGB16_NV 0x8888 +#define GL_FLOAT_RGB32_NV 0x8889 +#define GL_FLOAT_RGBA16_NV 0x888A +#define GL_FLOAT_RGBA32_NV 0x888B +#define GL_TEXTURE_FLOAT_COMPONENTS_NV 0x888C +#define GL_FLOAT_CLEAR_COLOR_VALUE_NV 0x888D +#define GL_FLOAT_RGBA_MODE_NV 0x888E +#endif /* GL_NV_float_buffer */ + +#ifndef GL_NV_fog_distance +#define GL_NV_fog_distance 1 +#define GL_FOG_DISTANCE_MODE_NV 0x855A +#define GL_EYE_RADIAL_NV 0x855B +#define GL_EYE_PLANE_ABSOLUTE_NV 0x855C +#endif /* GL_NV_fog_distance */ + +#ifndef GL_NV_fragment_coverage_to_color +#define GL_NV_fragment_coverage_to_color 1 +#define GL_FRAGMENT_COVERAGE_TO_COLOR_NV 0x92DD +#define GL_FRAGMENT_COVERAGE_COLOR_NV 0x92DE +typedef void (APIENTRYP PFNGLFRAGMENTCOVERAGECOLORNVPROC) (GLuint color); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFragmentCoverageColorNV (GLuint color); +#endif +#endif /* GL_NV_fragment_coverage_to_color */ + +#ifndef GL_NV_fragment_program +#define GL_NV_fragment_program 1 +#define GL_MAX_FRAGMENT_PROGRAM_LOCAL_PARAMETERS_NV 0x8868 +#define GL_FRAGMENT_PROGRAM_NV 0x8870 +#define GL_MAX_TEXTURE_COORDS_NV 0x8871 +#define GL_MAX_TEXTURE_IMAGE_UNITS_NV 0x8872 +#define GL_FRAGMENT_PROGRAM_BINDING_NV 0x8873 +#define GL_PROGRAM_ERROR_STRING_NV 0x8874 +typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4FNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4FVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, const GLfloat *v); +typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4DNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4DVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, const GLdouble *v); +typedef void (APIENTRYP PFNGLGETPROGRAMNAMEDPARAMETERFVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLfloat *params); +typedef void (APIENTRYP PFNGLGETPROGRAMNAMEDPARAMETERDVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLdouble *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramNamedParameter4fNV (GLuint id, GLsizei len, const GLubyte *name, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glProgramNamedParameter4fvNV (GLuint id, GLsizei len, const GLubyte *name, const GLfloat *v); +GLAPI void APIENTRY glProgramNamedParameter4dNV (GLuint id, GLsizei len, const GLubyte *name, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glProgramNamedParameter4dvNV (GLuint id, GLsizei len, const GLubyte *name, const GLdouble *v); +GLAPI void APIENTRY glGetProgramNamedParameterfvNV (GLuint id, GLsizei len, const GLubyte *name, GLfloat *params); +GLAPI void APIENTRY glGetProgramNamedParameterdvNV (GLuint id, GLsizei len, const GLubyte *name, GLdouble *params); +#endif +#endif /* GL_NV_fragment_program */ + +#ifndef GL_NV_fragment_program2 +#define GL_NV_fragment_program2 1 +#define GL_MAX_PROGRAM_EXEC_INSTRUCTIONS_NV 0x88F4 +#define GL_MAX_PROGRAM_CALL_DEPTH_NV 0x88F5 +#define GL_MAX_PROGRAM_IF_DEPTH_NV 0x88F6 +#define GL_MAX_PROGRAM_LOOP_DEPTH_NV 0x88F7 +#define GL_MAX_PROGRAM_LOOP_COUNT_NV 0x88F8 +#endif /* GL_NV_fragment_program2 */ + +#ifndef GL_NV_fragment_program4 +#define GL_NV_fragment_program4 1 +#endif /* GL_NV_fragment_program4 */ + +#ifndef GL_NV_fragment_program_option +#define GL_NV_fragment_program_option 1 +#endif /* GL_NV_fragment_program_option */ + +#ifndef GL_NV_fragment_shader_barycentric +#define GL_NV_fragment_shader_barycentric 1 +#endif /* GL_NV_fragment_shader_barycentric */ + +#ifndef GL_NV_fragment_shader_interlock +#define GL_NV_fragment_shader_interlock 1 +#endif /* GL_NV_fragment_shader_interlock */ + +#ifndef GL_NV_framebuffer_mixed_samples +#define GL_NV_framebuffer_mixed_samples 1 +#define GL_COVERAGE_MODULATION_TABLE_NV 0x9331 +#define GL_COLOR_SAMPLES_NV 0x8E20 +#define GL_DEPTH_SAMPLES_NV 0x932D +#define GL_STENCIL_SAMPLES_NV 0x932E +#define GL_MIXED_DEPTH_SAMPLES_SUPPORTED_NV 0x932F +#define GL_MIXED_STENCIL_SAMPLES_SUPPORTED_NV 0x9330 +#define GL_COVERAGE_MODULATION_NV 0x9332 +#define GL_COVERAGE_MODULATION_TABLE_SIZE_NV 0x9333 +typedef void (APIENTRYP PFNGLCOVERAGEMODULATIONTABLENVPROC) (GLsizei n, const GLfloat *v); +typedef void (APIENTRYP PFNGLGETCOVERAGEMODULATIONTABLENVPROC) (GLsizei bufSize, GLfloat *v); +typedef void (APIENTRYP PFNGLCOVERAGEMODULATIONNVPROC) (GLenum components); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCoverageModulationTableNV (GLsizei n, const GLfloat *v); +GLAPI void APIENTRY glGetCoverageModulationTableNV (GLsizei bufSize, GLfloat *v); +GLAPI void APIENTRY glCoverageModulationNV (GLenum components); +#endif +#endif /* GL_NV_framebuffer_mixed_samples */ + +#ifndef GL_NV_framebuffer_multisample_coverage +#define GL_NV_framebuffer_multisample_coverage 1 +#define GL_RENDERBUFFER_COVERAGE_SAMPLES_NV 0x8CAB +#define GL_RENDERBUFFER_COLOR_SAMPLES_NV 0x8E10 +#define GL_MAX_MULTISAMPLE_COVERAGE_MODES_NV 0x8E11 +#define GL_MULTISAMPLE_COVERAGE_MODES_NV 0x8E12 +typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glRenderbufferStorageMultisampleCoverageNV (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); +#endif +#endif /* GL_NV_framebuffer_multisample_coverage */ + +#ifndef GL_NV_geometry_program4 +#define GL_NV_geometry_program4 1 +#define GL_GEOMETRY_PROGRAM_NV 0x8C26 +#define GL_MAX_PROGRAM_OUTPUT_VERTICES_NV 0x8C27 +#define GL_MAX_PROGRAM_TOTAL_OUTPUT_COMPONENTS_NV 0x8C28 +typedef void (APIENTRYP PFNGLPROGRAMVERTEXLIMITNVPROC) (GLenum target, GLint limit); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREFACEEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramVertexLimitNV (GLenum target, GLint limit); +GLAPI void APIENTRY glFramebufferTextureEXT (GLenum target, GLenum attachment, GLuint texture, GLint level); +GLAPI void APIENTRY glFramebufferTextureFaceEXT (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); +#endif +#endif /* GL_NV_geometry_program4 */ + +#ifndef GL_NV_geometry_shader4 +#define GL_NV_geometry_shader4 1 +#endif /* GL_NV_geometry_shader4 */ + +#ifndef GL_NV_geometry_shader_passthrough +#define GL_NV_geometry_shader_passthrough 1 +#endif /* GL_NV_geometry_shader_passthrough */ + +#ifndef GL_NV_gpu_multicast +#define GL_NV_gpu_multicast 1 +#define GL_PER_GPU_STORAGE_BIT_NV 0x0800 +#define GL_MULTICAST_GPUS_NV 0x92BA +#define GL_RENDER_GPU_MASK_NV 0x9558 +#define GL_PER_GPU_STORAGE_NV 0x9548 +#define GL_MULTICAST_PROGRAMMABLE_SAMPLE_LOCATION_NV 0x9549 +typedef void (APIENTRYP PFNGLRENDERGPUMASKNVPROC) (GLbitfield mask); +typedef void (APIENTRYP PFNGLMULTICASTBUFFERSUBDATANVPROC) (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +typedef void (APIENTRYP PFNGLMULTICASTCOPYBUFFERSUBDATANVPROC) (GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLMULTICASTCOPYIMAGESUBDATANVPROC) (GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +typedef void (APIENTRYP PFNGLMULTICASTBLITFRAMEBUFFERNVPROC) (GLuint srcGpu, GLuint dstGpu, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +typedef void (APIENTRYP PFNGLMULTICASTFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLuint gpu, GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLMULTICASTBARRIERNVPROC) (void); +typedef void (APIENTRYP PFNGLMULTICASTWAITSYNCNVPROC) (GLuint signalGpu, GLbitfield waitGpuMask); +typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTIVNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTUIVNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTI64VNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLint64 *params); +typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTUI64VNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLuint64 *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glRenderGpuMaskNV (GLbitfield mask); +GLAPI void APIENTRY glMulticastBufferSubDataNV (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); +GLAPI void APIENTRY glMulticastCopyBufferSubDataNV (GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +GLAPI void APIENTRY glMulticastCopyImageSubDataNV (GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +GLAPI void APIENTRY glMulticastBlitFramebufferNV (GLuint srcGpu, GLuint dstGpu, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +GLAPI void APIENTRY glMulticastFramebufferSampleLocationsfvNV (GLuint gpu, GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glMulticastBarrierNV (void); +GLAPI void APIENTRY glMulticastWaitSyncNV (GLuint signalGpu, GLbitfield waitGpuMask); +GLAPI void APIENTRY glMulticastGetQueryObjectivNV (GLuint gpu, GLuint id, GLenum pname, GLint *params); +GLAPI void APIENTRY glMulticastGetQueryObjectuivNV (GLuint gpu, GLuint id, GLenum pname, GLuint *params); +GLAPI void APIENTRY glMulticastGetQueryObjecti64vNV (GLuint gpu, GLuint id, GLenum pname, GLint64 *params); +GLAPI void APIENTRY glMulticastGetQueryObjectui64vNV (GLuint gpu, GLuint id, GLenum pname, GLuint64 *params); +#endif +#endif /* GL_NV_gpu_multicast */ + +#ifndef GL_NV_gpu_program4 +#define GL_NV_gpu_program4 1 +#define GL_MIN_PROGRAM_TEXEL_OFFSET_NV 0x8904 +#define GL_MAX_PROGRAM_TEXEL_OFFSET_NV 0x8905 +#define GL_PROGRAM_ATTRIB_COMPONENTS_NV 0x8906 +#define GL_PROGRAM_RESULT_COMPONENTS_NV 0x8907 +#define GL_MAX_PROGRAM_ATTRIB_COMPONENTS_NV 0x8908 +#define GL_MAX_PROGRAM_RESULT_COMPONENTS_NV 0x8909 +#define GL_MAX_PROGRAM_GENERIC_ATTRIBS_NV 0x8DA5 +#define GL_MAX_PROGRAM_GENERIC_RESULTS_NV 0x8DA6 +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4INVPROC) (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4IVNVPROC) (GLenum target, GLuint index, const GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERSI4IVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4UINVPROC) (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4UIVNVPROC) (GLenum target, GLuint index, const GLuint *params); +typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERSI4UIVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLuint *params); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4INVPROC) (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4IVNVPROC) (GLenum target, GLuint index, const GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERSI4IVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4UINVPROC) (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4UIVNVPROC) (GLenum target, GLuint index, const GLuint *params); +typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERSI4UIVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLuint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERIIVNVPROC) (GLenum target, GLuint index, GLint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERIUIVNVPROC) (GLenum target, GLuint index, GLuint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERIIVNVPROC) (GLenum target, GLuint index, GLint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERIUIVNVPROC) (GLenum target, GLuint index, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramLocalParameterI4iNV (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glProgramLocalParameterI4ivNV (GLenum target, GLuint index, const GLint *params); +GLAPI void APIENTRY glProgramLocalParametersI4ivNV (GLenum target, GLuint index, GLsizei count, const GLint *params); +GLAPI void APIENTRY glProgramLocalParameterI4uiNV (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +GLAPI void APIENTRY glProgramLocalParameterI4uivNV (GLenum target, GLuint index, const GLuint *params); +GLAPI void APIENTRY glProgramLocalParametersI4uivNV (GLenum target, GLuint index, GLsizei count, const GLuint *params); +GLAPI void APIENTRY glProgramEnvParameterI4iNV (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +GLAPI void APIENTRY glProgramEnvParameterI4ivNV (GLenum target, GLuint index, const GLint *params); +GLAPI void APIENTRY glProgramEnvParametersI4ivNV (GLenum target, GLuint index, GLsizei count, const GLint *params); +GLAPI void APIENTRY glProgramEnvParameterI4uiNV (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +GLAPI void APIENTRY glProgramEnvParameterI4uivNV (GLenum target, GLuint index, const GLuint *params); +GLAPI void APIENTRY glProgramEnvParametersI4uivNV (GLenum target, GLuint index, GLsizei count, const GLuint *params); +GLAPI void APIENTRY glGetProgramLocalParameterIivNV (GLenum target, GLuint index, GLint *params); +GLAPI void APIENTRY glGetProgramLocalParameterIuivNV (GLenum target, GLuint index, GLuint *params); +GLAPI void APIENTRY glGetProgramEnvParameterIivNV (GLenum target, GLuint index, GLint *params); +GLAPI void APIENTRY glGetProgramEnvParameterIuivNV (GLenum target, GLuint index, GLuint *params); +#endif +#endif /* GL_NV_gpu_program4 */ + +#ifndef GL_NV_gpu_program5 +#define GL_NV_gpu_program5 1 +#define GL_MAX_GEOMETRY_PROGRAM_INVOCATIONS_NV 0x8E5A +#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET_NV 0x8E5B +#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET_NV 0x8E5C +#define GL_FRAGMENT_PROGRAM_INTERPOLATION_OFFSET_BITS_NV 0x8E5D +#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET_NV 0x8E5E +#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET_NV 0x8E5F +#define GL_MAX_PROGRAM_SUBROUTINE_PARAMETERS_NV 0x8F44 +#define GL_MAX_PROGRAM_SUBROUTINE_NUM_NV 0x8F45 +typedef void (APIENTRYP PFNGLPROGRAMSUBROUTINEPARAMETERSUIVNVPROC) (GLenum target, GLsizei count, const GLuint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMSUBROUTINEPARAMETERUIVNVPROC) (GLenum target, GLuint index, GLuint *param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramSubroutineParametersuivNV (GLenum target, GLsizei count, const GLuint *params); +GLAPI void APIENTRY glGetProgramSubroutineParameteruivNV (GLenum target, GLuint index, GLuint *param); +#endif +#endif /* GL_NV_gpu_program5 */ + +#ifndef GL_NV_gpu_program5_mem_extended +#define GL_NV_gpu_program5_mem_extended 1 +#endif /* GL_NV_gpu_program5_mem_extended */ + +#ifndef GL_NV_gpu_shader5 +#define GL_NV_gpu_shader5 1 +#endif /* GL_NV_gpu_shader5 */ + +#ifndef GL_NV_half_float +#define GL_NV_half_float 1 +typedef unsigned short GLhalfNV; +#define GL_HALF_FLOAT_NV 0x140B +typedef void (APIENTRYP PFNGLVERTEX2HNVPROC) (GLhalfNV x, GLhalfNV y); +typedef void (APIENTRYP PFNGLVERTEX2HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEX3HNVPROC) (GLhalfNV x, GLhalfNV y, GLhalfNV z); +typedef void (APIENTRYP PFNGLVERTEX3HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEX4HNVPROC) (GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); +typedef void (APIENTRYP PFNGLVERTEX4HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLNORMAL3HNVPROC) (GLhalfNV nx, GLhalfNV ny, GLhalfNV nz); +typedef void (APIENTRYP PFNGLNORMAL3HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLCOLOR3HNVPROC) (GLhalfNV red, GLhalfNV green, GLhalfNV blue); +typedef void (APIENTRYP PFNGLCOLOR3HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLCOLOR4HNVPROC) (GLhalfNV red, GLhalfNV green, GLhalfNV blue, GLhalfNV alpha); +typedef void (APIENTRYP PFNGLCOLOR4HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLTEXCOORD1HNVPROC) (GLhalfNV s); +typedef void (APIENTRYP PFNGLTEXCOORD1HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLTEXCOORD2HNVPROC) (GLhalfNV s, GLhalfNV t); +typedef void (APIENTRYP PFNGLTEXCOORD2HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLTEXCOORD3HNVPROC) (GLhalfNV s, GLhalfNV t, GLhalfNV r); +typedef void (APIENTRYP PFNGLTEXCOORD3HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLTEXCOORD4HNVPROC) (GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); +typedef void (APIENTRYP PFNGLTEXCOORD4HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1HNVPROC) (GLenum target, GLhalfNV s); +typedef void (APIENTRYP PFNGLMULTITEXCOORD1HVNVPROC) (GLenum target, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2HNVPROC) (GLenum target, GLhalfNV s, GLhalfNV t); +typedef void (APIENTRYP PFNGLMULTITEXCOORD2HVNVPROC) (GLenum target, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3HNVPROC) (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r); +typedef void (APIENTRYP PFNGLMULTITEXCOORD3HVNVPROC) (GLenum target, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4HNVPROC) (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); +typedef void (APIENTRYP PFNGLMULTITEXCOORD4HVNVPROC) (GLenum target, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLFOGCOORDHNVPROC) (GLhalfNV fog); +typedef void (APIENTRYP PFNGLFOGCOORDHVNVPROC) (const GLhalfNV *fog); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3HNVPROC) (GLhalfNV red, GLhalfNV green, GLhalfNV blue); +typedef void (APIENTRYP PFNGLSECONDARYCOLOR3HVNVPROC) (const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXWEIGHTHNVPROC) (GLhalfNV weight); +typedef void (APIENTRYP PFNGLVERTEXWEIGHTHVNVPROC) (const GLhalfNV *weight); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1HNVPROC) (GLuint index, GLhalfNV x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1HVNVPROC) (GLuint index, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2HNVPROC) (GLuint index, GLhalfNV x, GLhalfNV y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2HVNVPROC) (GLuint index, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3HNVPROC) (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3HVNVPROC) (GLuint index, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4HNVPROC) (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4HVNVPROC) (GLuint index, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS1HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS2HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS3HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS4HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertex2hNV (GLhalfNV x, GLhalfNV y); +GLAPI void APIENTRY glVertex2hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glVertex3hNV (GLhalfNV x, GLhalfNV y, GLhalfNV z); +GLAPI void APIENTRY glVertex3hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glVertex4hNV (GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); +GLAPI void APIENTRY glVertex4hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glNormal3hNV (GLhalfNV nx, GLhalfNV ny, GLhalfNV nz); +GLAPI void APIENTRY glNormal3hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glColor3hNV (GLhalfNV red, GLhalfNV green, GLhalfNV blue); +GLAPI void APIENTRY glColor3hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glColor4hNV (GLhalfNV red, GLhalfNV green, GLhalfNV blue, GLhalfNV alpha); +GLAPI void APIENTRY glColor4hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glTexCoord1hNV (GLhalfNV s); +GLAPI void APIENTRY glTexCoord1hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glTexCoord2hNV (GLhalfNV s, GLhalfNV t); +GLAPI void APIENTRY glTexCoord2hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glTexCoord3hNV (GLhalfNV s, GLhalfNV t, GLhalfNV r); +GLAPI void APIENTRY glTexCoord3hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glTexCoord4hNV (GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); +GLAPI void APIENTRY glTexCoord4hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glMultiTexCoord1hNV (GLenum target, GLhalfNV s); +GLAPI void APIENTRY glMultiTexCoord1hvNV (GLenum target, const GLhalfNV *v); +GLAPI void APIENTRY glMultiTexCoord2hNV (GLenum target, GLhalfNV s, GLhalfNV t); +GLAPI void APIENTRY glMultiTexCoord2hvNV (GLenum target, const GLhalfNV *v); +GLAPI void APIENTRY glMultiTexCoord3hNV (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r); +GLAPI void APIENTRY glMultiTexCoord3hvNV (GLenum target, const GLhalfNV *v); +GLAPI void APIENTRY glMultiTexCoord4hNV (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); +GLAPI void APIENTRY glMultiTexCoord4hvNV (GLenum target, const GLhalfNV *v); +GLAPI void APIENTRY glFogCoordhNV (GLhalfNV fog); +GLAPI void APIENTRY glFogCoordhvNV (const GLhalfNV *fog); +GLAPI void APIENTRY glSecondaryColor3hNV (GLhalfNV red, GLhalfNV green, GLhalfNV blue); +GLAPI void APIENTRY glSecondaryColor3hvNV (const GLhalfNV *v); +GLAPI void APIENTRY glVertexWeighthNV (GLhalfNV weight); +GLAPI void APIENTRY glVertexWeighthvNV (const GLhalfNV *weight); +GLAPI void APIENTRY glVertexAttrib1hNV (GLuint index, GLhalfNV x); +GLAPI void APIENTRY glVertexAttrib1hvNV (GLuint index, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttrib2hNV (GLuint index, GLhalfNV x, GLhalfNV y); +GLAPI void APIENTRY glVertexAttrib2hvNV (GLuint index, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttrib3hNV (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z); +GLAPI void APIENTRY glVertexAttrib3hvNV (GLuint index, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttrib4hNV (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); +GLAPI void APIENTRY glVertexAttrib4hvNV (GLuint index, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttribs1hvNV (GLuint index, GLsizei n, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttribs2hvNV (GLuint index, GLsizei n, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttribs3hvNV (GLuint index, GLsizei n, const GLhalfNV *v); +GLAPI void APIENTRY glVertexAttribs4hvNV (GLuint index, GLsizei n, const GLhalfNV *v); +#endif +#endif /* GL_NV_half_float */ + +#ifndef GL_NV_internalformat_sample_query +#define GL_NV_internalformat_sample_query 1 +#define GL_MULTISAMPLES_NV 0x9371 +#define GL_SUPERSAMPLE_SCALE_X_NV 0x9372 +#define GL_SUPERSAMPLE_SCALE_Y_NV 0x9373 +#define GL_CONFORMANT_NV 0x9374 +typedef void (APIENTRYP PFNGLGETINTERNALFORMATSAMPLEIVNVPROC) (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetInternalformatSampleivNV (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); +#endif +#endif /* GL_NV_internalformat_sample_query */ + +#ifndef GL_NV_light_max_exponent +#define GL_NV_light_max_exponent 1 +#define GL_MAX_SHININESS_NV 0x8504 +#define GL_MAX_SPOT_EXPONENT_NV 0x8505 +#endif /* GL_NV_light_max_exponent */ + +#ifndef GL_NV_memory_attachment +#define GL_NV_memory_attachment 1 +#define GL_ATTACHED_MEMORY_OBJECT_NV 0x95A4 +#define GL_ATTACHED_MEMORY_OFFSET_NV 0x95A5 +#define GL_MEMORY_ATTACHABLE_ALIGNMENT_NV 0x95A6 +#define GL_MEMORY_ATTACHABLE_SIZE_NV 0x95A7 +#define GL_MEMORY_ATTACHABLE_NV 0x95A8 +#define GL_DETACHED_MEMORY_INCARNATION_NV 0x95A9 +#define GL_DETACHED_TEXTURES_NV 0x95AA +#define GL_DETACHED_BUFFERS_NV 0x95AB +#define GL_MAX_DETACHED_TEXTURES_NV 0x95AC +#define GL_MAX_DETACHED_BUFFERS_NV 0x95AD +typedef void (APIENTRYP PFNGLGETMEMORYOBJECTDETACHEDRESOURCESUIVNVPROC) (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); +typedef void (APIENTRYP PFNGLRESETMEMORYOBJECTPARAMETERNVPROC) (GLuint memory, GLenum pname); +typedef void (APIENTRYP PFNGLTEXATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLBUFFERATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLTEXTUREATTACHMEMORYNVPROC) (GLuint texture, GLuint memory, GLuint64 offset); +typedef void (APIENTRYP PFNGLNAMEDBUFFERATTACHMEMORYNVPROC) (GLuint buffer, GLuint memory, GLuint64 offset); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetMemoryObjectDetachedResourcesuivNV (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); +GLAPI void APIENTRY glResetMemoryObjectParameterNV (GLuint memory, GLenum pname); +GLAPI void APIENTRY glTexAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glBufferAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glTextureAttachMemoryNV (GLuint texture, GLuint memory, GLuint64 offset); +GLAPI void APIENTRY glNamedBufferAttachMemoryNV (GLuint buffer, GLuint memory, GLuint64 offset); +#endif +#endif /* GL_NV_memory_attachment */ + +#ifndef GL_NV_memory_object_sparse +#define GL_NV_memory_object_sparse 1 +typedef void (APIENTRYP PFNGLBUFFERPAGECOMMITMENTMEMNVPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +typedef void (APIENTRYP PFNGLTEXPAGECOMMITMENTMEMNVPROC) (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +typedef void (APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTMEMNVPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +typedef void (APIENTRYP PFNGLTEXTUREPAGECOMMITMENTMEMNVPROC) (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBufferPageCommitmentMemNV (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +GLAPI void APIENTRY glTexPageCommitmentMemNV (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +GLAPI void APIENTRY glNamedBufferPageCommitmentMemNV (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +GLAPI void APIENTRY glTexturePageCommitmentMemNV (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +#endif +#endif /* GL_NV_memory_object_sparse */ + +#ifndef GL_NV_mesh_shader +#define GL_NV_mesh_shader 1 +#define GL_MESH_SHADER_NV 0x9559 +#define GL_TASK_SHADER_NV 0x955A +#define GL_MAX_MESH_UNIFORM_BLOCKS_NV 0x8E60 +#define GL_MAX_MESH_TEXTURE_IMAGE_UNITS_NV 0x8E61 +#define GL_MAX_MESH_IMAGE_UNIFORMS_NV 0x8E62 +#define GL_MAX_MESH_UNIFORM_COMPONENTS_NV 0x8E63 +#define GL_MAX_MESH_ATOMIC_COUNTER_BUFFERS_NV 0x8E64 +#define GL_MAX_MESH_ATOMIC_COUNTERS_NV 0x8E65 +#define GL_MAX_MESH_SHADER_STORAGE_BLOCKS_NV 0x8E66 +#define GL_MAX_COMBINED_MESH_UNIFORM_COMPONENTS_NV 0x8E67 +#define GL_MAX_TASK_UNIFORM_BLOCKS_NV 0x8E68 +#define GL_MAX_TASK_TEXTURE_IMAGE_UNITS_NV 0x8E69 +#define GL_MAX_TASK_IMAGE_UNIFORMS_NV 0x8E6A +#define GL_MAX_TASK_UNIFORM_COMPONENTS_NV 0x8E6B +#define GL_MAX_TASK_ATOMIC_COUNTER_BUFFERS_NV 0x8E6C +#define GL_MAX_TASK_ATOMIC_COUNTERS_NV 0x8E6D +#define GL_MAX_TASK_SHADER_STORAGE_BLOCKS_NV 0x8E6E +#define GL_MAX_COMBINED_TASK_UNIFORM_COMPONENTS_NV 0x8E6F +#define GL_MAX_MESH_WORK_GROUP_INVOCATIONS_NV 0x95A2 +#define GL_MAX_TASK_WORK_GROUP_INVOCATIONS_NV 0x95A3 +#define GL_MAX_MESH_TOTAL_MEMORY_SIZE_NV 0x9536 +#define GL_MAX_TASK_TOTAL_MEMORY_SIZE_NV 0x9537 +#define GL_MAX_MESH_OUTPUT_VERTICES_NV 0x9538 +#define GL_MAX_MESH_OUTPUT_PRIMITIVES_NV 0x9539 +#define GL_MAX_TASK_OUTPUT_COUNT_NV 0x953A +#define GL_MAX_DRAW_MESH_TASKS_COUNT_NV 0x953D +#define GL_MAX_MESH_VIEWS_NV 0x9557 +#define GL_MESH_OUTPUT_PER_VERTEX_GRANULARITY_NV 0x92DF +#define GL_MESH_OUTPUT_PER_PRIMITIVE_GRANULARITY_NV 0x9543 +#define GL_MAX_MESH_WORK_GROUP_SIZE_NV 0x953B +#define GL_MAX_TASK_WORK_GROUP_SIZE_NV 0x953C +#define GL_MESH_WORK_GROUP_SIZE_NV 0x953E +#define GL_TASK_WORK_GROUP_SIZE_NV 0x953F +#define GL_MESH_VERTICES_OUT_NV 0x9579 +#define GL_MESH_PRIMITIVES_OUT_NV 0x957A +#define GL_MESH_OUTPUT_TYPE_NV 0x957B +#define GL_UNIFORM_BLOCK_REFERENCED_BY_MESH_SHADER_NV 0x959C +#define GL_UNIFORM_BLOCK_REFERENCED_BY_TASK_SHADER_NV 0x959D +#define GL_REFERENCED_BY_MESH_SHADER_NV 0x95A0 +#define GL_REFERENCED_BY_TASK_SHADER_NV 0x95A1 +#define GL_MESH_SHADER_BIT_NV 0x00000040 +#define GL_TASK_SHADER_BIT_NV 0x00000080 +#define GL_MESH_SUBROUTINE_NV 0x957C +#define GL_TASK_SUBROUTINE_NV 0x957D +#define GL_MESH_SUBROUTINE_UNIFORM_NV 0x957E +#define GL_TASK_SUBROUTINE_UNIFORM_NV 0x957F +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_MESH_SHADER_NV 0x959E +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TASK_SHADER_NV 0x959F +typedef void (APIENTRYP PFNGLDRAWMESHTASKSNVPROC) (GLuint first, GLuint count); +typedef void (APIENTRYP PFNGLDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect); +typedef void (APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect, GLsizei drawcount, GLsizei stride); +typedef void (APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTCOUNTNVPROC) (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawMeshTasksNV (GLuint first, GLuint count); +GLAPI void APIENTRY glDrawMeshTasksIndirectNV (GLintptr indirect); +GLAPI void APIENTRY glMultiDrawMeshTasksIndirectNV (GLintptr indirect, GLsizei drawcount, GLsizei stride); +GLAPI void APIENTRY glMultiDrawMeshTasksIndirectCountNV (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +#endif +#endif /* GL_NV_mesh_shader */ + +#ifndef GL_NV_multisample_coverage +#define GL_NV_multisample_coverage 1 +#endif /* GL_NV_multisample_coverage */ + +#ifndef GL_NV_multisample_filter_hint +#define GL_NV_multisample_filter_hint 1 +#define GL_MULTISAMPLE_FILTER_HINT_NV 0x8534 +#endif /* GL_NV_multisample_filter_hint */ + +#ifndef GL_NV_occlusion_query +#define GL_NV_occlusion_query 1 +#define GL_PIXEL_COUNTER_BITS_NV 0x8864 +#define GL_CURRENT_OCCLUSION_QUERY_ID_NV 0x8865 +#define GL_PIXEL_COUNT_NV 0x8866 +#define GL_PIXEL_COUNT_AVAILABLE_NV 0x8867 +typedef void (APIENTRYP PFNGLGENOCCLUSIONQUERIESNVPROC) (GLsizei n, GLuint *ids); +typedef void (APIENTRYP PFNGLDELETEOCCLUSIONQUERIESNVPROC) (GLsizei n, const GLuint *ids); +typedef GLboolean (APIENTRYP PFNGLISOCCLUSIONQUERYNVPROC) (GLuint id); +typedef void (APIENTRYP PFNGLBEGINOCCLUSIONQUERYNVPROC) (GLuint id); +typedef void (APIENTRYP PFNGLENDOCCLUSIONQUERYNVPROC) (void); +typedef void (APIENTRYP PFNGLGETOCCLUSIONQUERYIVNVPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETOCCLUSIONQUERYUIVNVPROC) (GLuint id, GLenum pname, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenOcclusionQueriesNV (GLsizei n, GLuint *ids); +GLAPI void APIENTRY glDeleteOcclusionQueriesNV (GLsizei n, const GLuint *ids); +GLAPI GLboolean APIENTRY glIsOcclusionQueryNV (GLuint id); +GLAPI void APIENTRY glBeginOcclusionQueryNV (GLuint id); +GLAPI void APIENTRY glEndOcclusionQueryNV (void); +GLAPI void APIENTRY glGetOcclusionQueryivNV (GLuint id, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetOcclusionQueryuivNV (GLuint id, GLenum pname, GLuint *params); +#endif +#endif /* GL_NV_occlusion_query */ + +#ifndef GL_NV_packed_depth_stencil +#define GL_NV_packed_depth_stencil 1 +#define GL_DEPTH_STENCIL_NV 0x84F9 +#define GL_UNSIGNED_INT_24_8_NV 0x84FA +#endif /* GL_NV_packed_depth_stencil */ + +#ifndef GL_NV_parameter_buffer_object +#define GL_NV_parameter_buffer_object 1 +#define GL_MAX_PROGRAM_PARAMETER_BUFFER_BINDINGS_NV 0x8DA0 +#define GL_MAX_PROGRAM_PARAMETER_BUFFER_SIZE_NV 0x8DA1 +#define GL_VERTEX_PROGRAM_PARAMETER_BUFFER_NV 0x8DA2 +#define GL_GEOMETRY_PROGRAM_PARAMETER_BUFFER_NV 0x8DA3 +#define GL_FRAGMENT_PROGRAM_PARAMETER_BUFFER_NV 0x8DA4 +typedef void (APIENTRYP PFNGLPROGRAMBUFFERPARAMETERSFVNVPROC) (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLfloat *params); +typedef void (APIENTRYP PFNGLPROGRAMBUFFERPARAMETERSIIVNVPROC) (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLint *params); +typedef void (APIENTRYP PFNGLPROGRAMBUFFERPARAMETERSIUIVNVPROC) (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glProgramBufferParametersfvNV (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLfloat *params); +GLAPI void APIENTRY glProgramBufferParametersIivNV (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLint *params); +GLAPI void APIENTRY glProgramBufferParametersIuivNV (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLuint *params); +#endif +#endif /* GL_NV_parameter_buffer_object */ + +#ifndef GL_NV_parameter_buffer_object2 +#define GL_NV_parameter_buffer_object2 1 +#endif /* GL_NV_parameter_buffer_object2 */ + +#ifndef GL_NV_path_rendering +#define GL_NV_path_rendering 1 +#define GL_PATH_FORMAT_SVG_NV 0x9070 +#define GL_PATH_FORMAT_PS_NV 0x9071 +#define GL_STANDARD_FONT_NAME_NV 0x9072 +#define GL_SYSTEM_FONT_NAME_NV 0x9073 +#define GL_FILE_NAME_NV 0x9074 +#define GL_PATH_STROKE_WIDTH_NV 0x9075 +#define GL_PATH_END_CAPS_NV 0x9076 +#define GL_PATH_INITIAL_END_CAP_NV 0x9077 +#define GL_PATH_TERMINAL_END_CAP_NV 0x9078 +#define GL_PATH_JOIN_STYLE_NV 0x9079 +#define GL_PATH_MITER_LIMIT_NV 0x907A +#define GL_PATH_DASH_CAPS_NV 0x907B +#define GL_PATH_INITIAL_DASH_CAP_NV 0x907C +#define GL_PATH_TERMINAL_DASH_CAP_NV 0x907D +#define GL_PATH_DASH_OFFSET_NV 0x907E +#define GL_PATH_CLIENT_LENGTH_NV 0x907F +#define GL_PATH_FILL_MODE_NV 0x9080 +#define GL_PATH_FILL_MASK_NV 0x9081 +#define GL_PATH_FILL_COVER_MODE_NV 0x9082 +#define GL_PATH_STROKE_COVER_MODE_NV 0x9083 +#define GL_PATH_STROKE_MASK_NV 0x9084 +#define GL_COUNT_UP_NV 0x9088 +#define GL_COUNT_DOWN_NV 0x9089 +#define GL_PATH_OBJECT_BOUNDING_BOX_NV 0x908A +#define GL_CONVEX_HULL_NV 0x908B +#define GL_BOUNDING_BOX_NV 0x908D +#define GL_TRANSLATE_X_NV 0x908E +#define GL_TRANSLATE_Y_NV 0x908F +#define GL_TRANSLATE_2D_NV 0x9090 +#define GL_TRANSLATE_3D_NV 0x9091 +#define GL_AFFINE_2D_NV 0x9092 +#define GL_AFFINE_3D_NV 0x9094 +#define GL_TRANSPOSE_AFFINE_2D_NV 0x9096 +#define GL_TRANSPOSE_AFFINE_3D_NV 0x9098 +#define GL_UTF8_NV 0x909A +#define GL_UTF16_NV 0x909B +#define GL_BOUNDING_BOX_OF_BOUNDING_BOXES_NV 0x909C +#define GL_PATH_COMMAND_COUNT_NV 0x909D +#define GL_PATH_COORD_COUNT_NV 0x909E +#define GL_PATH_DASH_ARRAY_COUNT_NV 0x909F +#define GL_PATH_COMPUTED_LENGTH_NV 0x90A0 +#define GL_PATH_FILL_BOUNDING_BOX_NV 0x90A1 +#define GL_PATH_STROKE_BOUNDING_BOX_NV 0x90A2 +#define GL_SQUARE_NV 0x90A3 +#define GL_ROUND_NV 0x90A4 +#define GL_TRIANGULAR_NV 0x90A5 +#define GL_BEVEL_NV 0x90A6 +#define GL_MITER_REVERT_NV 0x90A7 +#define GL_MITER_TRUNCATE_NV 0x90A8 +#define GL_SKIP_MISSING_GLYPH_NV 0x90A9 +#define GL_USE_MISSING_GLYPH_NV 0x90AA +#define GL_PATH_ERROR_POSITION_NV 0x90AB +#define GL_ACCUM_ADJACENT_PAIRS_NV 0x90AD +#define GL_ADJACENT_PAIRS_NV 0x90AE +#define GL_FIRST_TO_REST_NV 0x90AF +#define GL_PATH_GEN_MODE_NV 0x90B0 +#define GL_PATH_GEN_COEFF_NV 0x90B1 +#define GL_PATH_GEN_COMPONENTS_NV 0x90B3 +#define GL_PATH_STENCIL_FUNC_NV 0x90B7 +#define GL_PATH_STENCIL_REF_NV 0x90B8 +#define GL_PATH_STENCIL_VALUE_MASK_NV 0x90B9 +#define GL_PATH_STENCIL_DEPTH_OFFSET_FACTOR_NV 0x90BD +#define GL_PATH_STENCIL_DEPTH_OFFSET_UNITS_NV 0x90BE +#define GL_PATH_COVER_DEPTH_FUNC_NV 0x90BF +#define GL_PATH_DASH_OFFSET_RESET_NV 0x90B4 +#define GL_MOVE_TO_RESETS_NV 0x90B5 +#define GL_MOVE_TO_CONTINUES_NV 0x90B6 +#define GL_CLOSE_PATH_NV 0x00 +#define GL_MOVE_TO_NV 0x02 +#define GL_RELATIVE_MOVE_TO_NV 0x03 +#define GL_LINE_TO_NV 0x04 +#define GL_RELATIVE_LINE_TO_NV 0x05 +#define GL_HORIZONTAL_LINE_TO_NV 0x06 +#define GL_RELATIVE_HORIZONTAL_LINE_TO_NV 0x07 +#define GL_VERTICAL_LINE_TO_NV 0x08 +#define GL_RELATIVE_VERTICAL_LINE_TO_NV 0x09 +#define GL_QUADRATIC_CURVE_TO_NV 0x0A +#define GL_RELATIVE_QUADRATIC_CURVE_TO_NV 0x0B +#define GL_CUBIC_CURVE_TO_NV 0x0C +#define GL_RELATIVE_CUBIC_CURVE_TO_NV 0x0D +#define GL_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0E +#define GL_RELATIVE_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0F +#define GL_SMOOTH_CUBIC_CURVE_TO_NV 0x10 +#define GL_RELATIVE_SMOOTH_CUBIC_CURVE_TO_NV 0x11 +#define GL_SMALL_CCW_ARC_TO_NV 0x12 +#define GL_RELATIVE_SMALL_CCW_ARC_TO_NV 0x13 +#define GL_SMALL_CW_ARC_TO_NV 0x14 +#define GL_RELATIVE_SMALL_CW_ARC_TO_NV 0x15 +#define GL_LARGE_CCW_ARC_TO_NV 0x16 +#define GL_RELATIVE_LARGE_CCW_ARC_TO_NV 0x17 +#define GL_LARGE_CW_ARC_TO_NV 0x18 +#define GL_RELATIVE_LARGE_CW_ARC_TO_NV 0x19 +#define GL_RESTART_PATH_NV 0xF0 +#define GL_DUP_FIRST_CUBIC_CURVE_TO_NV 0xF2 +#define GL_DUP_LAST_CUBIC_CURVE_TO_NV 0xF4 +#define GL_RECT_NV 0xF6 +#define GL_CIRCULAR_CCW_ARC_TO_NV 0xF8 +#define GL_CIRCULAR_CW_ARC_TO_NV 0xFA +#define GL_CIRCULAR_TANGENT_ARC_TO_NV 0xFC +#define GL_ARC_TO_NV 0xFE +#define GL_RELATIVE_ARC_TO_NV 0xFF +#define GL_BOLD_BIT_NV 0x01 +#define GL_ITALIC_BIT_NV 0x02 +#define GL_GLYPH_WIDTH_BIT_NV 0x01 +#define GL_GLYPH_HEIGHT_BIT_NV 0x02 +#define GL_GLYPH_HORIZONTAL_BEARING_X_BIT_NV 0x04 +#define GL_GLYPH_HORIZONTAL_BEARING_Y_BIT_NV 0x08 +#define GL_GLYPH_HORIZONTAL_BEARING_ADVANCE_BIT_NV 0x10 +#define GL_GLYPH_VERTICAL_BEARING_X_BIT_NV 0x20 +#define GL_GLYPH_VERTICAL_BEARING_Y_BIT_NV 0x40 +#define GL_GLYPH_VERTICAL_BEARING_ADVANCE_BIT_NV 0x80 +#define GL_GLYPH_HAS_KERNING_BIT_NV 0x100 +#define GL_FONT_X_MIN_BOUNDS_BIT_NV 0x00010000 +#define GL_FONT_Y_MIN_BOUNDS_BIT_NV 0x00020000 +#define GL_FONT_X_MAX_BOUNDS_BIT_NV 0x00040000 +#define GL_FONT_Y_MAX_BOUNDS_BIT_NV 0x00080000 +#define GL_FONT_UNITS_PER_EM_BIT_NV 0x00100000 +#define GL_FONT_ASCENDER_BIT_NV 0x00200000 +#define GL_FONT_DESCENDER_BIT_NV 0x00400000 +#define GL_FONT_HEIGHT_BIT_NV 0x00800000 +#define GL_FONT_MAX_ADVANCE_WIDTH_BIT_NV 0x01000000 +#define GL_FONT_MAX_ADVANCE_HEIGHT_BIT_NV 0x02000000 +#define GL_FONT_UNDERLINE_POSITION_BIT_NV 0x04000000 +#define GL_FONT_UNDERLINE_THICKNESS_BIT_NV 0x08000000 +#define GL_FONT_HAS_KERNING_BIT_NV 0x10000000 +#define GL_ROUNDED_RECT_NV 0xE8 +#define GL_RELATIVE_ROUNDED_RECT_NV 0xE9 +#define GL_ROUNDED_RECT2_NV 0xEA +#define GL_RELATIVE_ROUNDED_RECT2_NV 0xEB +#define GL_ROUNDED_RECT4_NV 0xEC +#define GL_RELATIVE_ROUNDED_RECT4_NV 0xED +#define GL_ROUNDED_RECT8_NV 0xEE +#define GL_RELATIVE_ROUNDED_RECT8_NV 0xEF +#define GL_RELATIVE_RECT_NV 0xF7 +#define GL_FONT_GLYPHS_AVAILABLE_NV 0x9368 +#define GL_FONT_TARGET_UNAVAILABLE_NV 0x9369 +#define GL_FONT_UNAVAILABLE_NV 0x936A +#define GL_FONT_UNINTELLIGIBLE_NV 0x936B +#define GL_CONIC_CURVE_TO_NV 0x1A +#define GL_RELATIVE_CONIC_CURVE_TO_NV 0x1B +#define GL_FONT_NUM_GLYPH_INDICES_BIT_NV 0x20000000 +#define GL_STANDARD_FONT_FORMAT_NV 0x936C +#define GL_2_BYTES_NV 0x1407 +#define GL_3_BYTES_NV 0x1408 +#define GL_4_BYTES_NV 0x1409 +#define GL_EYE_LINEAR_NV 0x2400 +#define GL_OBJECT_LINEAR_NV 0x2401 +#define GL_CONSTANT_NV 0x8576 +#define GL_PATH_FOG_GEN_MODE_NV 0x90AC +#define GL_PRIMARY_COLOR_NV 0x852C +#define GL_SECONDARY_COLOR_NV 0x852D +#define GL_PATH_GEN_COLOR_FORMAT_NV 0x90B2 +#define GL_PATH_PROJECTION_NV 0x1701 +#define GL_PATH_MODELVIEW_NV 0x1700 +#define GL_PATH_MODELVIEW_STACK_DEPTH_NV 0x0BA3 +#define GL_PATH_MODELVIEW_MATRIX_NV 0x0BA6 +#define GL_PATH_MAX_MODELVIEW_STACK_DEPTH_NV 0x0D36 +#define GL_PATH_TRANSPOSE_MODELVIEW_MATRIX_NV 0x84E3 +#define GL_PATH_PROJECTION_STACK_DEPTH_NV 0x0BA4 +#define GL_PATH_PROJECTION_MATRIX_NV 0x0BA7 +#define GL_PATH_MAX_PROJECTION_STACK_DEPTH_NV 0x0D38 +#define GL_PATH_TRANSPOSE_PROJECTION_MATRIX_NV 0x84E4 +#define GL_FRAGMENT_INPUT_NV 0x936D +typedef GLuint (APIENTRYP PFNGLGENPATHSNVPROC) (GLsizei range); +typedef void (APIENTRYP PFNGLDELETEPATHSNVPROC) (GLuint path, GLsizei range); +typedef GLboolean (APIENTRYP PFNGLISPATHNVPROC) (GLuint path); +typedef void (APIENTRYP PFNGLPATHCOMMANDSNVPROC) (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (APIENTRYP PFNGLPATHCOORDSNVPROC) (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (APIENTRYP PFNGLPATHSUBCOMMANDSNVPROC) (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (APIENTRYP PFNGLPATHSUBCOORDSNVPROC) (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (APIENTRYP PFNGLPATHSTRINGNVPROC) (GLuint path, GLenum format, GLsizei length, const void *pathString); +typedef void (APIENTRYP PFNGLPATHGLYPHSNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef void (APIENTRYP PFNGLPATHGLYPHRANGENVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef void (APIENTRYP PFNGLWEIGHTPATHSNVPROC) (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); +typedef void (APIENTRYP PFNGLCOPYPATHNVPROC) (GLuint resultPath, GLuint srcPath); +typedef void (APIENTRYP PFNGLINTERPOLATEPATHSNVPROC) (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); +typedef void (APIENTRYP PFNGLTRANSFORMPATHNVPROC) (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); +typedef void (APIENTRYP PFNGLPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, const GLint *value); +typedef void (APIENTRYP PFNGLPATHPARAMETERINVPROC) (GLuint path, GLenum pname, GLint value); +typedef void (APIENTRYP PFNGLPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, const GLfloat *value); +typedef void (APIENTRYP PFNGLPATHPARAMETERFNVPROC) (GLuint path, GLenum pname, GLfloat value); +typedef void (APIENTRYP PFNGLPATHDASHARRAYNVPROC) (GLuint path, GLsizei dashCount, const GLfloat *dashArray); +typedef void (APIENTRYP PFNGLPATHSTENCILFUNCNVPROC) (GLenum func, GLint ref, GLuint mask); +typedef void (APIENTRYP PFNGLPATHSTENCILDEPTHOFFSETNVPROC) (GLfloat factor, GLfloat units); +typedef void (APIENTRYP PFNGLSTENCILFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask); +typedef void (APIENTRYP PFNGLSTENCILSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask); +typedef void (APIENTRYP PFNGLSTENCILFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); +typedef void (APIENTRYP PFNGLSTENCILSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); +typedef void (APIENTRYP PFNGLPATHCOVERDEPTHFUNCNVPROC) (GLenum func); +typedef void (APIENTRYP PFNGLCOVERFILLPATHNVPROC) (GLuint path, GLenum coverMode); +typedef void (APIENTRYP PFNGLCOVERSTROKEPATHNVPROC) (GLuint path, GLenum coverMode); +typedef void (APIENTRYP PFNGLCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef void (APIENTRYP PFNGLCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef void (APIENTRYP PFNGLGETPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, GLint *value); +typedef void (APIENTRYP PFNGLGETPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, GLfloat *value); +typedef void (APIENTRYP PFNGLGETPATHCOMMANDSNVPROC) (GLuint path, GLubyte *commands); +typedef void (APIENTRYP PFNGLGETPATHCOORDSNVPROC) (GLuint path, GLfloat *coords); +typedef void (APIENTRYP PFNGLGETPATHDASHARRAYNVPROC) (GLuint path, GLfloat *dashArray); +typedef void (APIENTRYP PFNGLGETPATHMETRICSNVPROC) (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); +typedef void (APIENTRYP PFNGLGETPATHMETRICRANGENVPROC) (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); +typedef void (APIENTRYP PFNGLGETPATHSPACINGNVPROC) (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); +typedef GLboolean (APIENTRYP PFNGLISPOINTINFILLPATHNVPROC) (GLuint path, GLuint mask, GLfloat x, GLfloat y); +typedef GLboolean (APIENTRYP PFNGLISPOINTINSTROKEPATHNVPROC) (GLuint path, GLfloat x, GLfloat y); +typedef GLfloat (APIENTRYP PFNGLGETPATHLENGTHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments); +typedef GLboolean (APIENTRYP PFNGLPOINTALONGPATHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); +typedef void (APIENTRYP PFNGLMATRIXLOAD3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXLOAD3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXLOADTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXMULT3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXMULT3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (APIENTRYP PFNGLMATRIXMULTTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); +typedef void (APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask, GLenum coverMode); +typedef void (APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef void (APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef GLenum (APIENTRYP PFNGLPATHGLYPHINDEXRANGENVPROC) (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); +typedef GLenum (APIENTRYP PFNGLPATHGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef GLenum (APIENTRYP PFNGLPATHMEMORYGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef void (APIENTRYP PFNGLPROGRAMPATHFRAGMENTINPUTGENNVPROC) (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); +typedef void (APIENTRYP PFNGLGETPROGRAMRESOURCEFVNVPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); +typedef void (APIENTRYP PFNGLPATHCOLORGENNVPROC) (GLenum color, GLenum genMode, GLenum colorFormat, const GLfloat *coeffs); +typedef void (APIENTRYP PFNGLPATHTEXGENNVPROC) (GLenum texCoordSet, GLenum genMode, GLint components, const GLfloat *coeffs); +typedef void (APIENTRYP PFNGLPATHFOGGENNVPROC) (GLenum genMode); +typedef void (APIENTRYP PFNGLGETPATHCOLORGENIVNVPROC) (GLenum color, GLenum pname, GLint *value); +typedef void (APIENTRYP PFNGLGETPATHCOLORGENFVNVPROC) (GLenum color, GLenum pname, GLfloat *value); +typedef void (APIENTRYP PFNGLGETPATHTEXGENIVNVPROC) (GLenum texCoordSet, GLenum pname, GLint *value); +typedef void (APIENTRYP PFNGLGETPATHTEXGENFVNVPROC) (GLenum texCoordSet, GLenum pname, GLfloat *value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLuint APIENTRY glGenPathsNV (GLsizei range); +GLAPI void APIENTRY glDeletePathsNV (GLuint path, GLsizei range); +GLAPI GLboolean APIENTRY glIsPathNV (GLuint path); +GLAPI void APIENTRY glPathCommandsNV (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +GLAPI void APIENTRY glPathCoordsNV (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); +GLAPI void APIENTRY glPathSubCommandsNV (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +GLAPI void APIENTRY glPathSubCoordsNV (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); +GLAPI void APIENTRY glPathStringNV (GLuint path, GLenum format, GLsizei length, const void *pathString); +GLAPI void APIENTRY glPathGlyphsNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GLAPI void APIENTRY glPathGlyphRangeNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GLAPI void APIENTRY glWeightPathsNV (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); +GLAPI void APIENTRY glCopyPathNV (GLuint resultPath, GLuint srcPath); +GLAPI void APIENTRY glInterpolatePathsNV (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); +GLAPI void APIENTRY glTransformPathNV (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); +GLAPI void APIENTRY glPathParameterivNV (GLuint path, GLenum pname, const GLint *value); +GLAPI void APIENTRY glPathParameteriNV (GLuint path, GLenum pname, GLint value); +GLAPI void APIENTRY glPathParameterfvNV (GLuint path, GLenum pname, const GLfloat *value); +GLAPI void APIENTRY glPathParameterfNV (GLuint path, GLenum pname, GLfloat value); +GLAPI void APIENTRY glPathDashArrayNV (GLuint path, GLsizei dashCount, const GLfloat *dashArray); +GLAPI void APIENTRY glPathStencilFuncNV (GLenum func, GLint ref, GLuint mask); +GLAPI void APIENTRY glPathStencilDepthOffsetNV (GLfloat factor, GLfloat units); +GLAPI void APIENTRY glStencilFillPathNV (GLuint path, GLenum fillMode, GLuint mask); +GLAPI void APIENTRY glStencilStrokePathNV (GLuint path, GLint reference, GLuint mask); +GLAPI void APIENTRY glStencilFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); +GLAPI void APIENTRY glStencilStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); +GLAPI void APIENTRY glPathCoverDepthFuncNV (GLenum func); +GLAPI void APIENTRY glCoverFillPathNV (GLuint path, GLenum coverMode); +GLAPI void APIENTRY glCoverStrokePathNV (GLuint path, GLenum coverMode); +GLAPI void APIENTRY glCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GLAPI void APIENTRY glCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GLAPI void APIENTRY glGetPathParameterivNV (GLuint path, GLenum pname, GLint *value); +GLAPI void APIENTRY glGetPathParameterfvNV (GLuint path, GLenum pname, GLfloat *value); +GLAPI void APIENTRY glGetPathCommandsNV (GLuint path, GLubyte *commands); +GLAPI void APIENTRY glGetPathCoordsNV (GLuint path, GLfloat *coords); +GLAPI void APIENTRY glGetPathDashArrayNV (GLuint path, GLfloat *dashArray); +GLAPI void APIENTRY glGetPathMetricsNV (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); +GLAPI void APIENTRY glGetPathMetricRangeNV (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); +GLAPI void APIENTRY glGetPathSpacingNV (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); +GLAPI GLboolean APIENTRY glIsPointInFillPathNV (GLuint path, GLuint mask, GLfloat x, GLfloat y); +GLAPI GLboolean APIENTRY glIsPointInStrokePathNV (GLuint path, GLfloat x, GLfloat y); +GLAPI GLfloat APIENTRY glGetPathLengthNV (GLuint path, GLsizei startSegment, GLsizei numSegments); +GLAPI GLboolean APIENTRY glPointAlongPathNV (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); +GLAPI void APIENTRY glMatrixLoad3x2fNV (GLenum matrixMode, const GLfloat *m); +GLAPI void APIENTRY glMatrixLoad3x3fNV (GLenum matrixMode, const GLfloat *m); +GLAPI void APIENTRY glMatrixLoadTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); +GLAPI void APIENTRY glMatrixMult3x2fNV (GLenum matrixMode, const GLfloat *m); +GLAPI void APIENTRY glMatrixMult3x3fNV (GLenum matrixMode, const GLfloat *m); +GLAPI void APIENTRY glMatrixMultTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); +GLAPI void APIENTRY glStencilThenCoverFillPathNV (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); +GLAPI void APIENTRY glStencilThenCoverStrokePathNV (GLuint path, GLint reference, GLuint mask, GLenum coverMode); +GLAPI void APIENTRY glStencilThenCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GLAPI void APIENTRY glStencilThenCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GLAPI GLenum APIENTRY glPathGlyphIndexRangeNV (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); +GLAPI GLenum APIENTRY glPathGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GLAPI GLenum APIENTRY glPathMemoryGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GLAPI void APIENTRY glProgramPathFragmentInputGenNV (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); +GLAPI void APIENTRY glGetProgramResourcefvNV (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); +GLAPI void APIENTRY glPathColorGenNV (GLenum color, GLenum genMode, GLenum colorFormat, const GLfloat *coeffs); +GLAPI void APIENTRY glPathTexGenNV (GLenum texCoordSet, GLenum genMode, GLint components, const GLfloat *coeffs); +GLAPI void APIENTRY glPathFogGenNV (GLenum genMode); +GLAPI void APIENTRY glGetPathColorGenivNV (GLenum color, GLenum pname, GLint *value); +GLAPI void APIENTRY glGetPathColorGenfvNV (GLenum color, GLenum pname, GLfloat *value); +GLAPI void APIENTRY glGetPathTexGenivNV (GLenum texCoordSet, GLenum pname, GLint *value); +GLAPI void APIENTRY glGetPathTexGenfvNV (GLenum texCoordSet, GLenum pname, GLfloat *value); +#endif +#endif /* GL_NV_path_rendering */ + +#ifndef GL_NV_path_rendering_shared_edge +#define GL_NV_path_rendering_shared_edge 1 +#define GL_SHARED_EDGE_NV 0xC0 +#endif /* GL_NV_path_rendering_shared_edge */ + +#ifndef GL_NV_pixel_data_range +#define GL_NV_pixel_data_range 1 +#define GL_WRITE_PIXEL_DATA_RANGE_NV 0x8878 +#define GL_READ_PIXEL_DATA_RANGE_NV 0x8879 +#define GL_WRITE_PIXEL_DATA_RANGE_LENGTH_NV 0x887A +#define GL_READ_PIXEL_DATA_RANGE_LENGTH_NV 0x887B +#define GL_WRITE_PIXEL_DATA_RANGE_POINTER_NV 0x887C +#define GL_READ_PIXEL_DATA_RANGE_POINTER_NV 0x887D +typedef void (APIENTRYP PFNGLPIXELDATARANGENVPROC) (GLenum target, GLsizei length, const void *pointer); +typedef void (APIENTRYP PFNGLFLUSHPIXELDATARANGENVPROC) (GLenum target); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPixelDataRangeNV (GLenum target, GLsizei length, const void *pointer); +GLAPI void APIENTRY glFlushPixelDataRangeNV (GLenum target); +#endif +#endif /* GL_NV_pixel_data_range */ + +#ifndef GL_NV_point_sprite +#define GL_NV_point_sprite 1 +#define GL_POINT_SPRITE_NV 0x8861 +#define GL_COORD_REPLACE_NV 0x8862 +#define GL_POINT_SPRITE_R_MODE_NV 0x8863 +typedef void (APIENTRYP PFNGLPOINTPARAMETERINVPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLPOINTPARAMETERIVNVPROC) (GLenum pname, const GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPointParameteriNV (GLenum pname, GLint param); +GLAPI void APIENTRY glPointParameterivNV (GLenum pname, const GLint *params); +#endif +#endif /* GL_NV_point_sprite */ + +#ifndef GL_NV_present_video +#define GL_NV_present_video 1 +#define GL_FRAME_NV 0x8E26 +#define GL_FIELDS_NV 0x8E27 +#define GL_CURRENT_TIME_NV 0x8E28 +#define GL_NUM_FILL_STREAMS_NV 0x8E29 +#define GL_PRESENT_TIME_NV 0x8E2A +#define GL_PRESENT_DURATION_NV 0x8E2B +typedef void (APIENTRYP PFNGLPRESENTFRAMEKEYEDNVPROC) (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLuint key0, GLenum target1, GLuint fill1, GLuint key1); +typedef void (APIENTRYP PFNGLPRESENTFRAMEDUALFILLNVPROC) (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLenum target1, GLuint fill1, GLenum target2, GLuint fill2, GLenum target3, GLuint fill3); +typedef void (APIENTRYP PFNGLGETVIDEOIVNVPROC) (GLuint video_slot, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVIDEOUIVNVPROC) (GLuint video_slot, GLenum pname, GLuint *params); +typedef void (APIENTRYP PFNGLGETVIDEOI64VNVPROC) (GLuint video_slot, GLenum pname, GLint64EXT *params); +typedef void (APIENTRYP PFNGLGETVIDEOUI64VNVPROC) (GLuint video_slot, GLenum pname, GLuint64EXT *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPresentFrameKeyedNV (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLuint key0, GLenum target1, GLuint fill1, GLuint key1); +GLAPI void APIENTRY glPresentFrameDualFillNV (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLenum target1, GLuint fill1, GLenum target2, GLuint fill2, GLenum target3, GLuint fill3); +GLAPI void APIENTRY glGetVideoivNV (GLuint video_slot, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVideouivNV (GLuint video_slot, GLenum pname, GLuint *params); +GLAPI void APIENTRY glGetVideoi64vNV (GLuint video_slot, GLenum pname, GLint64EXT *params); +GLAPI void APIENTRY glGetVideoui64vNV (GLuint video_slot, GLenum pname, GLuint64EXT *params); +#endif +#endif /* GL_NV_present_video */ + +#ifndef GL_NV_primitive_restart +#define GL_NV_primitive_restart 1 +#define GL_PRIMITIVE_RESTART_NV 0x8558 +#define GL_PRIMITIVE_RESTART_INDEX_NV 0x8559 +typedef void (APIENTRYP PFNGLPRIMITIVERESTARTNVPROC) (void); +typedef void (APIENTRYP PFNGLPRIMITIVERESTARTINDEXNVPROC) (GLuint index); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPrimitiveRestartNV (void); +GLAPI void APIENTRY glPrimitiveRestartIndexNV (GLuint index); +#endif +#endif /* GL_NV_primitive_restart */ + +#ifndef GL_NV_primitive_shading_rate +#define GL_NV_primitive_shading_rate 1 +#define GL_SHADING_RATE_IMAGE_PER_PRIMITIVE_NV 0x95B1 +#define GL_SHADING_RATE_IMAGE_PALETTE_COUNT_NV 0x95B2 +#endif /* GL_NV_primitive_shading_rate */ + +#ifndef GL_NV_query_resource +#define GL_NV_query_resource 1 +#define GL_QUERY_RESOURCE_TYPE_VIDMEM_ALLOC_NV 0x9540 +#define GL_QUERY_RESOURCE_MEMTYPE_VIDMEM_NV 0x9542 +#define GL_QUERY_RESOURCE_SYS_RESERVED_NV 0x9544 +#define GL_QUERY_RESOURCE_TEXTURE_NV 0x9545 +#define GL_QUERY_RESOURCE_RENDERBUFFER_NV 0x9546 +#define GL_QUERY_RESOURCE_BUFFEROBJECT_NV 0x9547 +typedef GLint (APIENTRYP PFNGLQUERYRESOURCENVPROC) (GLenum queryType, GLint tagId, GLuint count, GLint *buffer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLint APIENTRY glQueryResourceNV (GLenum queryType, GLint tagId, GLuint count, GLint *buffer); +#endif +#endif /* GL_NV_query_resource */ + +#ifndef GL_NV_query_resource_tag +#define GL_NV_query_resource_tag 1 +typedef void (APIENTRYP PFNGLGENQUERYRESOURCETAGNVPROC) (GLsizei n, GLint *tagIds); +typedef void (APIENTRYP PFNGLDELETEQUERYRESOURCETAGNVPROC) (GLsizei n, const GLint *tagIds); +typedef void (APIENTRYP PFNGLQUERYRESOURCETAGNVPROC) (GLint tagId, const GLchar *tagString); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGenQueryResourceTagNV (GLsizei n, GLint *tagIds); +GLAPI void APIENTRY glDeleteQueryResourceTagNV (GLsizei n, const GLint *tagIds); +GLAPI void APIENTRY glQueryResourceTagNV (GLint tagId, const GLchar *tagString); +#endif +#endif /* GL_NV_query_resource_tag */ + +#ifndef GL_NV_register_combiners +#define GL_NV_register_combiners 1 +#define GL_REGISTER_COMBINERS_NV 0x8522 +#define GL_VARIABLE_A_NV 0x8523 +#define GL_VARIABLE_B_NV 0x8524 +#define GL_VARIABLE_C_NV 0x8525 +#define GL_VARIABLE_D_NV 0x8526 +#define GL_VARIABLE_E_NV 0x8527 +#define GL_VARIABLE_F_NV 0x8528 +#define GL_VARIABLE_G_NV 0x8529 +#define GL_CONSTANT_COLOR0_NV 0x852A +#define GL_CONSTANT_COLOR1_NV 0x852B +#define GL_SPARE0_NV 0x852E +#define GL_SPARE1_NV 0x852F +#define GL_DISCARD_NV 0x8530 +#define GL_E_TIMES_F_NV 0x8531 +#define GL_SPARE0_PLUS_SECONDARY_COLOR_NV 0x8532 +#define GL_UNSIGNED_IDENTITY_NV 0x8536 +#define GL_UNSIGNED_INVERT_NV 0x8537 +#define GL_EXPAND_NORMAL_NV 0x8538 +#define GL_EXPAND_NEGATE_NV 0x8539 +#define GL_HALF_BIAS_NORMAL_NV 0x853A +#define GL_HALF_BIAS_NEGATE_NV 0x853B +#define GL_SIGNED_IDENTITY_NV 0x853C +#define GL_SIGNED_NEGATE_NV 0x853D +#define GL_SCALE_BY_TWO_NV 0x853E +#define GL_SCALE_BY_FOUR_NV 0x853F +#define GL_SCALE_BY_ONE_HALF_NV 0x8540 +#define GL_BIAS_BY_NEGATIVE_ONE_HALF_NV 0x8541 +#define GL_COMBINER_INPUT_NV 0x8542 +#define GL_COMBINER_MAPPING_NV 0x8543 +#define GL_COMBINER_COMPONENT_USAGE_NV 0x8544 +#define GL_COMBINER_AB_DOT_PRODUCT_NV 0x8545 +#define GL_COMBINER_CD_DOT_PRODUCT_NV 0x8546 +#define GL_COMBINER_MUX_SUM_NV 0x8547 +#define GL_COMBINER_SCALE_NV 0x8548 +#define GL_COMBINER_BIAS_NV 0x8549 +#define GL_COMBINER_AB_OUTPUT_NV 0x854A +#define GL_COMBINER_CD_OUTPUT_NV 0x854B +#define GL_COMBINER_SUM_OUTPUT_NV 0x854C +#define GL_MAX_GENERAL_COMBINERS_NV 0x854D +#define GL_NUM_GENERAL_COMBINERS_NV 0x854E +#define GL_COLOR_SUM_CLAMP_NV 0x854F +#define GL_COMBINER0_NV 0x8550 +#define GL_COMBINER1_NV 0x8551 +#define GL_COMBINER2_NV 0x8552 +#define GL_COMBINER3_NV 0x8553 +#define GL_COMBINER4_NV 0x8554 +#define GL_COMBINER5_NV 0x8555 +#define GL_COMBINER6_NV 0x8556 +#define GL_COMBINER7_NV 0x8557 +typedef void (APIENTRYP PFNGLCOMBINERPARAMETERFVNVPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLCOMBINERPARAMETERFNVPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLCOMBINERPARAMETERIVNVPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLCOMBINERPARAMETERINVPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLCOMBINERINPUTNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +typedef void (APIENTRYP PFNGLCOMBINEROUTPUTNVPROC) (GLenum stage, GLenum portion, GLenum abOutput, GLenum cdOutput, GLenum sumOutput, GLenum scale, GLenum bias, GLboolean abDotProduct, GLboolean cdDotProduct, GLboolean muxSum); +typedef void (APIENTRYP PFNGLFINALCOMBINERINPUTNVPROC) (GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +typedef void (APIENTRYP PFNGLGETCOMBINERINPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETCOMBINERINPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETCOMBINEROUTPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETCOMBINEROUTPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETFINALCOMBINERINPUTPARAMETERFVNVPROC) (GLenum variable, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETFINALCOMBINERINPUTPARAMETERIVNVPROC) (GLenum variable, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCombinerParameterfvNV (GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glCombinerParameterfNV (GLenum pname, GLfloat param); +GLAPI void APIENTRY glCombinerParameterivNV (GLenum pname, const GLint *params); +GLAPI void APIENTRY glCombinerParameteriNV (GLenum pname, GLint param); +GLAPI void APIENTRY glCombinerInputNV (GLenum stage, GLenum portion, GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +GLAPI void APIENTRY glCombinerOutputNV (GLenum stage, GLenum portion, GLenum abOutput, GLenum cdOutput, GLenum sumOutput, GLenum scale, GLenum bias, GLboolean abDotProduct, GLboolean cdDotProduct, GLboolean muxSum); +GLAPI void APIENTRY glFinalCombinerInputNV (GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +GLAPI void APIENTRY glGetCombinerInputParameterfvNV (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetCombinerInputParameterivNV (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetCombinerOutputParameterfvNV (GLenum stage, GLenum portion, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetCombinerOutputParameterivNV (GLenum stage, GLenum portion, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetFinalCombinerInputParameterfvNV (GLenum variable, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetFinalCombinerInputParameterivNV (GLenum variable, GLenum pname, GLint *params); +#endif +#endif /* GL_NV_register_combiners */ + +#ifndef GL_NV_register_combiners2 +#define GL_NV_register_combiners2 1 +#define GL_PER_STAGE_CONSTANTS_NV 0x8535 +typedef void (APIENTRYP PFNGLCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCombinerStageParameterfvNV (GLenum stage, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glGetCombinerStageParameterfvNV (GLenum stage, GLenum pname, GLfloat *params); +#endif +#endif /* GL_NV_register_combiners2 */ + +#ifndef GL_NV_representative_fragment_test +#define GL_NV_representative_fragment_test 1 +#define GL_REPRESENTATIVE_FRAGMENT_TEST_NV 0x937F +#endif /* GL_NV_representative_fragment_test */ + +#ifndef GL_NV_robustness_video_memory_purge +#define GL_NV_robustness_video_memory_purge 1 +#define GL_PURGED_CONTEXT_RESET_NV 0x92BB +#endif /* GL_NV_robustness_video_memory_purge */ + +#ifndef GL_NV_sample_locations +#define GL_NV_sample_locations 1 +#define GL_SAMPLE_LOCATION_SUBPIXEL_BITS_NV 0x933D +#define GL_SAMPLE_LOCATION_PIXEL_GRID_WIDTH_NV 0x933E +#define GL_SAMPLE_LOCATION_PIXEL_GRID_HEIGHT_NV 0x933F +#define GL_PROGRAMMABLE_SAMPLE_LOCATION_TABLE_SIZE_NV 0x9340 +#define GL_SAMPLE_LOCATION_NV 0x8E50 +#define GL_PROGRAMMABLE_SAMPLE_LOCATION_NV 0x9341 +#define GL_FRAMEBUFFER_PROGRAMMABLE_SAMPLE_LOCATIONS_NV 0x9342 +#define GL_FRAMEBUFFER_SAMPLE_LOCATION_PIXEL_GRID_NV 0x9343 +typedef void (APIENTRYP PFNGLFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLenum target, GLuint start, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLRESOLVEDEPTHVALUESNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferSampleLocationsfvNV (GLenum target, GLuint start, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glNamedFramebufferSampleLocationsfvNV (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glResolveDepthValuesNV (void); +#endif +#endif /* GL_NV_sample_locations */ + +#ifndef GL_NV_sample_mask_override_coverage +#define GL_NV_sample_mask_override_coverage 1 +#endif /* GL_NV_sample_mask_override_coverage */ + +#ifndef GL_NV_scissor_exclusive +#define GL_NV_scissor_exclusive 1 +#define GL_SCISSOR_TEST_EXCLUSIVE_NV 0x9555 +#define GL_SCISSOR_BOX_EXCLUSIVE_NV 0x9556 +typedef void (APIENTRYP PFNGLSCISSOREXCLUSIVENVPROC) (GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRYP PFNGLSCISSOREXCLUSIVEARRAYVNVPROC) (GLuint first, GLsizei count, const GLint *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glScissorExclusiveNV (GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void APIENTRY glScissorExclusiveArrayvNV (GLuint first, GLsizei count, const GLint *v); +#endif +#endif /* GL_NV_scissor_exclusive */ + +#ifndef GL_NV_shader_atomic_counters +#define GL_NV_shader_atomic_counters 1 +#endif /* GL_NV_shader_atomic_counters */ + +#ifndef GL_NV_shader_atomic_float +#define GL_NV_shader_atomic_float 1 +#endif /* GL_NV_shader_atomic_float */ + +#ifndef GL_NV_shader_atomic_float64 +#define GL_NV_shader_atomic_float64 1 +#endif /* GL_NV_shader_atomic_float64 */ + +#ifndef GL_NV_shader_atomic_fp16_vector +#define GL_NV_shader_atomic_fp16_vector 1 +#endif /* GL_NV_shader_atomic_fp16_vector */ + +#ifndef GL_NV_shader_atomic_int64 +#define GL_NV_shader_atomic_int64 1 +#endif /* GL_NV_shader_atomic_int64 */ + +#ifndef GL_NV_shader_buffer_load +#define GL_NV_shader_buffer_load 1 +#define GL_BUFFER_GPU_ADDRESS_NV 0x8F1D +#define GL_GPU_ADDRESS_NV 0x8F34 +#define GL_MAX_SHADER_BUFFER_ADDRESS_NV 0x8F35 +typedef void (APIENTRYP PFNGLMAKEBUFFERRESIDENTNVPROC) (GLenum target, GLenum access); +typedef void (APIENTRYP PFNGLMAKEBUFFERNONRESIDENTNVPROC) (GLenum target); +typedef GLboolean (APIENTRYP PFNGLISBUFFERRESIDENTNVPROC) (GLenum target); +typedef void (APIENTRYP PFNGLMAKENAMEDBUFFERRESIDENTNVPROC) (GLuint buffer, GLenum access); +typedef void (APIENTRYP PFNGLMAKENAMEDBUFFERNONRESIDENTNVPROC) (GLuint buffer); +typedef GLboolean (APIENTRYP PFNGLISNAMEDBUFFERRESIDENTNVPROC) (GLuint buffer); +typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERUI64VNVPROC) (GLenum target, GLenum pname, GLuint64EXT *params); +typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERUI64VNVPROC) (GLuint buffer, GLenum pname, GLuint64EXT *params); +typedef void (APIENTRYP PFNGLGETINTEGERUI64VNVPROC) (GLenum value, GLuint64EXT *result); +typedef void (APIENTRYP PFNGLUNIFORMUI64NVPROC) (GLint location, GLuint64EXT value); +typedef void (APIENTRYP PFNGLUNIFORMUI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMUI64NVPROC) (GLuint program, GLint location, GLuint64EXT value); +typedef void (APIENTRYP PFNGLPROGRAMUNIFORMUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glMakeBufferResidentNV (GLenum target, GLenum access); +GLAPI void APIENTRY glMakeBufferNonResidentNV (GLenum target); +GLAPI GLboolean APIENTRY glIsBufferResidentNV (GLenum target); +GLAPI void APIENTRY glMakeNamedBufferResidentNV (GLuint buffer, GLenum access); +GLAPI void APIENTRY glMakeNamedBufferNonResidentNV (GLuint buffer); +GLAPI GLboolean APIENTRY glIsNamedBufferResidentNV (GLuint buffer); +GLAPI void APIENTRY glGetBufferParameterui64vNV (GLenum target, GLenum pname, GLuint64EXT *params); +GLAPI void APIENTRY glGetNamedBufferParameterui64vNV (GLuint buffer, GLenum pname, GLuint64EXT *params); +GLAPI void APIENTRY glGetIntegerui64vNV (GLenum value, GLuint64EXT *result); +GLAPI void APIENTRY glUniformui64NV (GLint location, GLuint64EXT value); +GLAPI void APIENTRY glUniformui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GLAPI void APIENTRY glProgramUniformui64NV (GLuint program, GLint location, GLuint64EXT value); +GLAPI void APIENTRY glProgramUniformui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +#endif +#endif /* GL_NV_shader_buffer_load */ + +#ifndef GL_NV_shader_buffer_store +#define GL_NV_shader_buffer_store 1 +#define GL_SHADER_GLOBAL_ACCESS_BARRIER_BIT_NV 0x00000010 +#endif /* GL_NV_shader_buffer_store */ + +#ifndef GL_NV_shader_storage_buffer_object +#define GL_NV_shader_storage_buffer_object 1 +#endif /* GL_NV_shader_storage_buffer_object */ + +#ifndef GL_NV_shader_subgroup_partitioned +#define GL_NV_shader_subgroup_partitioned 1 +#define GL_SUBGROUP_FEATURE_PARTITIONED_BIT_NV 0x00000100 +#endif /* GL_NV_shader_subgroup_partitioned */ + +#ifndef GL_NV_shader_texture_footprint +#define GL_NV_shader_texture_footprint 1 +#endif /* GL_NV_shader_texture_footprint */ + +#ifndef GL_NV_shader_thread_group +#define GL_NV_shader_thread_group 1 +#define GL_WARP_SIZE_NV 0x9339 +#define GL_WARPS_PER_SM_NV 0x933A +#define GL_SM_COUNT_NV 0x933B +#endif /* GL_NV_shader_thread_group */ + +#ifndef GL_NV_shader_thread_shuffle +#define GL_NV_shader_thread_shuffle 1 +#endif /* GL_NV_shader_thread_shuffle */ + +#ifndef GL_NV_shading_rate_image +#define GL_NV_shading_rate_image 1 +#define GL_SHADING_RATE_IMAGE_NV 0x9563 +#define GL_SHADING_RATE_NO_INVOCATIONS_NV 0x9564 +#define GL_SHADING_RATE_1_INVOCATION_PER_PIXEL_NV 0x9565 +#define GL_SHADING_RATE_1_INVOCATION_PER_1X2_PIXELS_NV 0x9566 +#define GL_SHADING_RATE_1_INVOCATION_PER_2X1_PIXELS_NV 0x9567 +#define GL_SHADING_RATE_1_INVOCATION_PER_2X2_PIXELS_NV 0x9568 +#define GL_SHADING_RATE_1_INVOCATION_PER_2X4_PIXELS_NV 0x9569 +#define GL_SHADING_RATE_1_INVOCATION_PER_4X2_PIXELS_NV 0x956A +#define GL_SHADING_RATE_1_INVOCATION_PER_4X4_PIXELS_NV 0x956B +#define GL_SHADING_RATE_2_INVOCATIONS_PER_PIXEL_NV 0x956C +#define GL_SHADING_RATE_4_INVOCATIONS_PER_PIXEL_NV 0x956D +#define GL_SHADING_RATE_8_INVOCATIONS_PER_PIXEL_NV 0x956E +#define GL_SHADING_RATE_16_INVOCATIONS_PER_PIXEL_NV 0x956F +#define GL_SHADING_RATE_IMAGE_BINDING_NV 0x955B +#define GL_SHADING_RATE_IMAGE_TEXEL_WIDTH_NV 0x955C +#define GL_SHADING_RATE_IMAGE_TEXEL_HEIGHT_NV 0x955D +#define GL_SHADING_RATE_IMAGE_PALETTE_SIZE_NV 0x955E +#define GL_MAX_COARSE_FRAGMENT_SAMPLES_NV 0x955F +#define GL_SHADING_RATE_SAMPLE_ORDER_DEFAULT_NV 0x95AE +#define GL_SHADING_RATE_SAMPLE_ORDER_PIXEL_MAJOR_NV 0x95AF +#define GL_SHADING_RATE_SAMPLE_ORDER_SAMPLE_MAJOR_NV 0x95B0 +typedef void (APIENTRYP PFNGLBINDSHADINGRATEIMAGENVPROC) (GLuint texture); +typedef void (APIENTRYP PFNGLGETSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint entry, GLenum *rate); +typedef void (APIENTRYP PFNGLGETSHADINGRATESAMPLELOCATIONIVNVPROC) (GLenum rate, GLuint samples, GLuint index, GLint *location); +typedef void (APIENTRYP PFNGLSHADINGRATEIMAGEBARRIERNVPROC) (GLboolean synchronize); +typedef void (APIENTRYP PFNGLSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); +typedef void (APIENTRYP PFNGLSHADINGRATESAMPLEORDERNVPROC) (GLenum order); +typedef void (APIENTRYP PFNGLSHADINGRATESAMPLEORDERCUSTOMNVPROC) (GLenum rate, GLuint samples, const GLint *locations); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindShadingRateImageNV (GLuint texture); +GLAPI void APIENTRY glGetShadingRateImagePaletteNV (GLuint viewport, GLuint entry, GLenum *rate); +GLAPI void APIENTRY glGetShadingRateSampleLocationivNV (GLenum rate, GLuint samples, GLuint index, GLint *location); +GLAPI void APIENTRY glShadingRateImageBarrierNV (GLboolean synchronize); +GLAPI void APIENTRY glShadingRateImagePaletteNV (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); +GLAPI void APIENTRY glShadingRateSampleOrderNV (GLenum order); +GLAPI void APIENTRY glShadingRateSampleOrderCustomNV (GLenum rate, GLuint samples, const GLint *locations); +#endif +#endif /* GL_NV_shading_rate_image */ + +#ifndef GL_NV_stereo_view_rendering +#define GL_NV_stereo_view_rendering 1 +#endif /* GL_NV_stereo_view_rendering */ + +#ifndef GL_NV_tessellation_program5 +#define GL_NV_tessellation_program5 1 +#define GL_MAX_PROGRAM_PATCH_ATTRIBS_NV 0x86D8 +#define GL_TESS_CONTROL_PROGRAM_NV 0x891E +#define GL_TESS_EVALUATION_PROGRAM_NV 0x891F +#define GL_TESS_CONTROL_PROGRAM_PARAMETER_BUFFER_NV 0x8C74 +#define GL_TESS_EVALUATION_PROGRAM_PARAMETER_BUFFER_NV 0x8C75 +#endif /* GL_NV_tessellation_program5 */ + +#ifndef GL_NV_texgen_emboss +#define GL_NV_texgen_emboss 1 +#define GL_EMBOSS_LIGHT_NV 0x855D +#define GL_EMBOSS_CONSTANT_NV 0x855E +#define GL_EMBOSS_MAP_NV 0x855F +#endif /* GL_NV_texgen_emboss */ + +#ifndef GL_NV_texgen_reflection +#define GL_NV_texgen_reflection 1 +#define GL_NORMAL_MAP_NV 0x8511 +#define GL_REFLECTION_MAP_NV 0x8512 +#endif /* GL_NV_texgen_reflection */ + +#ifndef GL_NV_texture_barrier +#define GL_NV_texture_barrier 1 +typedef void (APIENTRYP PFNGLTEXTUREBARRIERNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTextureBarrierNV (void); +#endif +#endif /* GL_NV_texture_barrier */ + +#ifndef GL_NV_texture_compression_vtc +#define GL_NV_texture_compression_vtc 1 +#endif /* GL_NV_texture_compression_vtc */ + +#ifndef GL_NV_texture_env_combine4 +#define GL_NV_texture_env_combine4 1 +#define GL_COMBINE4_NV 0x8503 +#define GL_SOURCE3_RGB_NV 0x8583 +#define GL_SOURCE3_ALPHA_NV 0x858B +#define GL_OPERAND3_RGB_NV 0x8593 +#define GL_OPERAND3_ALPHA_NV 0x859B +#endif /* GL_NV_texture_env_combine4 */ + +#ifndef GL_NV_texture_expand_normal +#define GL_NV_texture_expand_normal 1 +#define GL_TEXTURE_UNSIGNED_REMAP_MODE_NV 0x888F +#endif /* GL_NV_texture_expand_normal */ + +#ifndef GL_NV_texture_multisample +#define GL_NV_texture_multisample 1 +#define GL_TEXTURE_COVERAGE_SAMPLES_NV 0x9045 +#define GL_TEXTURE_COLOR_SAMPLES_NV 0x9046 +typedef void (APIENTRYP PFNGLTEXIMAGE2DMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +typedef void (APIENTRYP PFNGLTEXIMAGE3DMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE2DMULTISAMPLENVPROC) (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE3DMULTISAMPLENVPROC) (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE2DMULTISAMPLECOVERAGENVPROC) (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +typedef void (APIENTRYP PFNGLTEXTUREIMAGE3DMULTISAMPLECOVERAGENVPROC) (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexImage2DMultisampleCoverageNV (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +GLAPI void APIENTRY glTexImage3DMultisampleCoverageNV (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +GLAPI void APIENTRY glTextureImage2DMultisampleNV (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +GLAPI void APIENTRY glTextureImage3DMultisampleNV (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +GLAPI void APIENTRY glTextureImage2DMultisampleCoverageNV (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +GLAPI void APIENTRY glTextureImage3DMultisampleCoverageNV (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +#endif +#endif /* GL_NV_texture_multisample */ + +#ifndef GL_NV_texture_rectangle +#define GL_NV_texture_rectangle 1 +#define GL_TEXTURE_RECTANGLE_NV 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE_NV 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE_NV 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE_NV 0x84F8 +#endif /* GL_NV_texture_rectangle */ + +#ifndef GL_NV_texture_rectangle_compressed +#define GL_NV_texture_rectangle_compressed 1 +#endif /* GL_NV_texture_rectangle_compressed */ + +#ifndef GL_NV_texture_shader +#define GL_NV_texture_shader 1 +#define GL_OFFSET_TEXTURE_RECTANGLE_NV 0x864C +#define GL_OFFSET_TEXTURE_RECTANGLE_SCALE_NV 0x864D +#define GL_DOT_PRODUCT_TEXTURE_RECTANGLE_NV 0x864E +#define GL_RGBA_UNSIGNED_DOT_PRODUCT_MAPPING_NV 0x86D9 +#define GL_UNSIGNED_INT_S8_S8_8_8_NV 0x86DA +#define GL_UNSIGNED_INT_8_8_S8_S8_REV_NV 0x86DB +#define GL_DSDT_MAG_INTENSITY_NV 0x86DC +#define GL_SHADER_CONSISTENT_NV 0x86DD +#define GL_TEXTURE_SHADER_NV 0x86DE +#define GL_SHADER_OPERATION_NV 0x86DF +#define GL_CULL_MODES_NV 0x86E0 +#define GL_OFFSET_TEXTURE_MATRIX_NV 0x86E1 +#define GL_OFFSET_TEXTURE_SCALE_NV 0x86E2 +#define GL_OFFSET_TEXTURE_BIAS_NV 0x86E3 +#define GL_OFFSET_TEXTURE_2D_MATRIX_NV 0x86E1 +#define GL_OFFSET_TEXTURE_2D_SCALE_NV 0x86E2 +#define GL_OFFSET_TEXTURE_2D_BIAS_NV 0x86E3 +#define GL_PREVIOUS_TEXTURE_INPUT_NV 0x86E4 +#define GL_CONST_EYE_NV 0x86E5 +#define GL_PASS_THROUGH_NV 0x86E6 +#define GL_CULL_FRAGMENT_NV 0x86E7 +#define GL_OFFSET_TEXTURE_2D_NV 0x86E8 +#define GL_DEPENDENT_AR_TEXTURE_2D_NV 0x86E9 +#define GL_DEPENDENT_GB_TEXTURE_2D_NV 0x86EA +#define GL_DOT_PRODUCT_NV 0x86EC +#define GL_DOT_PRODUCT_DEPTH_REPLACE_NV 0x86ED +#define GL_DOT_PRODUCT_TEXTURE_2D_NV 0x86EE +#define GL_DOT_PRODUCT_TEXTURE_CUBE_MAP_NV 0x86F0 +#define GL_DOT_PRODUCT_DIFFUSE_CUBE_MAP_NV 0x86F1 +#define GL_DOT_PRODUCT_REFLECT_CUBE_MAP_NV 0x86F2 +#define GL_DOT_PRODUCT_CONST_EYE_REFLECT_CUBE_MAP_NV 0x86F3 +#define GL_HILO_NV 0x86F4 +#define GL_DSDT_NV 0x86F5 +#define GL_DSDT_MAG_NV 0x86F6 +#define GL_DSDT_MAG_VIB_NV 0x86F7 +#define GL_HILO16_NV 0x86F8 +#define GL_SIGNED_HILO_NV 0x86F9 +#define GL_SIGNED_HILO16_NV 0x86FA +#define GL_SIGNED_RGBA_NV 0x86FB +#define GL_SIGNED_RGBA8_NV 0x86FC +#define GL_SIGNED_RGB_NV 0x86FE +#define GL_SIGNED_RGB8_NV 0x86FF +#define GL_SIGNED_LUMINANCE_NV 0x8701 +#define GL_SIGNED_LUMINANCE8_NV 0x8702 +#define GL_SIGNED_LUMINANCE_ALPHA_NV 0x8703 +#define GL_SIGNED_LUMINANCE8_ALPHA8_NV 0x8704 +#define GL_SIGNED_ALPHA_NV 0x8705 +#define GL_SIGNED_ALPHA8_NV 0x8706 +#define GL_SIGNED_INTENSITY_NV 0x8707 +#define GL_SIGNED_INTENSITY8_NV 0x8708 +#define GL_DSDT8_NV 0x8709 +#define GL_DSDT8_MAG8_NV 0x870A +#define GL_DSDT8_MAG8_INTENSITY8_NV 0x870B +#define GL_SIGNED_RGB_UNSIGNED_ALPHA_NV 0x870C +#define GL_SIGNED_RGB8_UNSIGNED_ALPHA8_NV 0x870D +#define GL_HI_SCALE_NV 0x870E +#define GL_LO_SCALE_NV 0x870F +#define GL_DS_SCALE_NV 0x8710 +#define GL_DT_SCALE_NV 0x8711 +#define GL_MAGNITUDE_SCALE_NV 0x8712 +#define GL_VIBRANCE_SCALE_NV 0x8713 +#define GL_HI_BIAS_NV 0x8714 +#define GL_LO_BIAS_NV 0x8715 +#define GL_DS_BIAS_NV 0x8716 +#define GL_DT_BIAS_NV 0x8717 +#define GL_MAGNITUDE_BIAS_NV 0x8718 +#define GL_VIBRANCE_BIAS_NV 0x8719 +#define GL_TEXTURE_BORDER_VALUES_NV 0x871A +#define GL_TEXTURE_HI_SIZE_NV 0x871B +#define GL_TEXTURE_LO_SIZE_NV 0x871C +#define GL_TEXTURE_DS_SIZE_NV 0x871D +#define GL_TEXTURE_DT_SIZE_NV 0x871E +#define GL_TEXTURE_MAG_SIZE_NV 0x871F +#endif /* GL_NV_texture_shader */ + +#ifndef GL_NV_texture_shader2 +#define GL_NV_texture_shader2 1 +#define GL_DOT_PRODUCT_TEXTURE_3D_NV 0x86EF +#endif /* GL_NV_texture_shader2 */ + +#ifndef GL_NV_texture_shader3 +#define GL_NV_texture_shader3 1 +#define GL_OFFSET_PROJECTIVE_TEXTURE_2D_NV 0x8850 +#define GL_OFFSET_PROJECTIVE_TEXTURE_2D_SCALE_NV 0x8851 +#define GL_OFFSET_PROJECTIVE_TEXTURE_RECTANGLE_NV 0x8852 +#define GL_OFFSET_PROJECTIVE_TEXTURE_RECTANGLE_SCALE_NV 0x8853 +#define GL_OFFSET_HILO_TEXTURE_2D_NV 0x8854 +#define GL_OFFSET_HILO_TEXTURE_RECTANGLE_NV 0x8855 +#define GL_OFFSET_HILO_PROJECTIVE_TEXTURE_2D_NV 0x8856 +#define GL_OFFSET_HILO_PROJECTIVE_TEXTURE_RECTANGLE_NV 0x8857 +#define GL_DEPENDENT_HILO_TEXTURE_2D_NV 0x8858 +#define GL_DEPENDENT_RGB_TEXTURE_3D_NV 0x8859 +#define GL_DEPENDENT_RGB_TEXTURE_CUBE_MAP_NV 0x885A +#define GL_DOT_PRODUCT_PASS_THROUGH_NV 0x885B +#define GL_DOT_PRODUCT_TEXTURE_1D_NV 0x885C +#define GL_DOT_PRODUCT_AFFINE_DEPTH_REPLACE_NV 0x885D +#define GL_HILO8_NV 0x885E +#define GL_SIGNED_HILO8_NV 0x885F +#define GL_FORCE_BLUE_TO_ONE_NV 0x8860 +#endif /* GL_NV_texture_shader3 */ + +#ifndef GL_NV_timeline_semaphore +#define GL_NV_timeline_semaphore 1 +#define GL_TIMELINE_SEMAPHORE_VALUE_NV 0x9595 +#define GL_SEMAPHORE_TYPE_NV 0x95B3 +#define GL_SEMAPHORE_TYPE_BINARY_NV 0x95B4 +#define GL_SEMAPHORE_TYPE_TIMELINE_NV 0x95B5 +#define GL_MAX_TIMELINE_SEMAPHORE_VALUE_DIFFERENCE_NV 0x95B6 +typedef void (APIENTRYP PFNGLCREATESEMAPHORESNVPROC) (GLsizei n, GLuint *semaphores); +typedef void (APIENTRYP PFNGLSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLGETSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glCreateSemaphoresNV (GLsizei n, GLuint *semaphores); +GLAPI void APIENTRY glSemaphoreParameterivNV (GLuint semaphore, GLenum pname, const GLint *params); +GLAPI void APIENTRY glGetSemaphoreParameterivNV (GLuint semaphore, GLenum pname, GLint *params); +#endif +#endif /* GL_NV_timeline_semaphore */ + +#ifndef GL_NV_transform_feedback +#define GL_NV_transform_feedback 1 +#define GL_BACK_PRIMARY_COLOR_NV 0x8C77 +#define GL_BACK_SECONDARY_COLOR_NV 0x8C78 +#define GL_TEXTURE_COORD_NV 0x8C79 +#define GL_CLIP_DISTANCE_NV 0x8C7A +#define GL_VERTEX_ID_NV 0x8C7B +#define GL_PRIMITIVE_ID_NV 0x8C7C +#define GL_GENERIC_ATTRIB_NV 0x8C7D +#define GL_TRANSFORM_FEEDBACK_ATTRIBS_NV 0x8C7E +#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE_NV 0x8C7F +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS_NV 0x8C80 +#define GL_ACTIVE_VARYINGS_NV 0x8C81 +#define GL_ACTIVE_VARYING_MAX_LENGTH_NV 0x8C82 +#define GL_TRANSFORM_FEEDBACK_VARYINGS_NV 0x8C83 +#define GL_TRANSFORM_FEEDBACK_BUFFER_START_NV 0x8C84 +#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE_NV 0x8C85 +#define GL_TRANSFORM_FEEDBACK_RECORD_NV 0x8C86 +#define GL_PRIMITIVES_GENERATED_NV 0x8C87 +#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN_NV 0x8C88 +#define GL_RASTERIZER_DISCARD_NV 0x8C89 +#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS_NV 0x8C8A +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS_NV 0x8C8B +#define GL_INTERLEAVED_ATTRIBS_NV 0x8C8C +#define GL_SEPARATE_ATTRIBS_NV 0x8C8D +#define GL_TRANSFORM_FEEDBACK_BUFFER_NV 0x8C8E +#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING_NV 0x8C8F +#define GL_LAYER_NV 0x8DAA +#define GL_NEXT_BUFFER_NV -2 +#define GL_SKIP_COMPONENTS4_NV -3 +#define GL_SKIP_COMPONENTS3_NV -4 +#define GL_SKIP_COMPONENTS2_NV -5 +#define GL_SKIP_COMPONENTS1_NV -6 +typedef void (APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKNVPROC) (GLenum primitiveMode); +typedef void (APIENTRYP PFNGLENDTRANSFORMFEEDBACKNVPROC) (void); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKATTRIBSNVPROC) (GLsizei count, const GLint *attribs, GLenum bufferMode); +typedef void (APIENTRYP PFNGLBINDBUFFERRANGENVPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (APIENTRYP PFNGLBINDBUFFEROFFSETNVPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset); +typedef void (APIENTRYP PFNGLBINDBUFFERBASENVPROC) (GLenum target, GLuint index, GLuint buffer); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSNVPROC) (GLuint program, GLsizei count, const GLint *locations, GLenum bufferMode); +typedef void (APIENTRYP PFNGLACTIVEVARYINGNVPROC) (GLuint program, const GLchar *name); +typedef GLint (APIENTRYP PFNGLGETVARYINGLOCATIONNVPROC) (GLuint program, const GLchar *name); +typedef void (APIENTRYP PFNGLGETACTIVEVARYINGNVPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGNVPROC) (GLuint program, GLuint index, GLint *location); +typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKSTREAMATTRIBSNVPROC) (GLsizei count, const GLint *attribs, GLsizei nbuffers, const GLint *bufstreams, GLenum bufferMode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginTransformFeedbackNV (GLenum primitiveMode); +GLAPI void APIENTRY glEndTransformFeedbackNV (void); +GLAPI void APIENTRY glTransformFeedbackAttribsNV (GLsizei count, const GLint *attribs, GLenum bufferMode); +GLAPI void APIENTRY glBindBufferRangeNV (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +GLAPI void APIENTRY glBindBufferOffsetNV (GLenum target, GLuint index, GLuint buffer, GLintptr offset); +GLAPI void APIENTRY glBindBufferBaseNV (GLenum target, GLuint index, GLuint buffer); +GLAPI void APIENTRY glTransformFeedbackVaryingsNV (GLuint program, GLsizei count, const GLint *locations, GLenum bufferMode); +GLAPI void APIENTRY glActiveVaryingNV (GLuint program, const GLchar *name); +GLAPI GLint APIENTRY glGetVaryingLocationNV (GLuint program, const GLchar *name); +GLAPI void APIENTRY glGetActiveVaryingNV (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +GLAPI void APIENTRY glGetTransformFeedbackVaryingNV (GLuint program, GLuint index, GLint *location); +GLAPI void APIENTRY glTransformFeedbackStreamAttribsNV (GLsizei count, const GLint *attribs, GLsizei nbuffers, const GLint *bufstreams, GLenum bufferMode); +#endif +#endif /* GL_NV_transform_feedback */ + +#ifndef GL_NV_transform_feedback2 +#define GL_NV_transform_feedback2 1 +#define GL_TRANSFORM_FEEDBACK_NV 0x8E22 +#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED_NV 0x8E23 +#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE_NV 0x8E24 +#define GL_TRANSFORM_FEEDBACK_BINDING_NV 0x8E25 +typedef void (APIENTRYP PFNGLBINDTRANSFORMFEEDBACKNVPROC) (GLenum target, GLuint id); +typedef void (APIENTRYP PFNGLDELETETRANSFORMFEEDBACKSNVPROC) (GLsizei n, const GLuint *ids); +typedef void (APIENTRYP PFNGLGENTRANSFORMFEEDBACKSNVPROC) (GLsizei n, GLuint *ids); +typedef GLboolean (APIENTRYP PFNGLISTRANSFORMFEEDBACKNVPROC) (GLuint id); +typedef void (APIENTRYP PFNGLPAUSETRANSFORMFEEDBACKNVPROC) (void); +typedef void (APIENTRYP PFNGLRESUMETRANSFORMFEEDBACKNVPROC) (void); +typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKNVPROC) (GLenum mode, GLuint id); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBindTransformFeedbackNV (GLenum target, GLuint id); +GLAPI void APIENTRY glDeleteTransformFeedbacksNV (GLsizei n, const GLuint *ids); +GLAPI void APIENTRY glGenTransformFeedbacksNV (GLsizei n, GLuint *ids); +GLAPI GLboolean APIENTRY glIsTransformFeedbackNV (GLuint id); +GLAPI void APIENTRY glPauseTransformFeedbackNV (void); +GLAPI void APIENTRY glResumeTransformFeedbackNV (void); +GLAPI void APIENTRY glDrawTransformFeedbackNV (GLenum mode, GLuint id); +#endif +#endif /* GL_NV_transform_feedback2 */ + +#ifndef GL_NV_uniform_buffer_unified_memory +#define GL_NV_uniform_buffer_unified_memory 1 +#define GL_UNIFORM_BUFFER_UNIFIED_NV 0x936E +#define GL_UNIFORM_BUFFER_ADDRESS_NV 0x936F +#define GL_UNIFORM_BUFFER_LENGTH_NV 0x9370 +#endif /* GL_NV_uniform_buffer_unified_memory */ + +#ifndef GL_NV_vdpau_interop +#define GL_NV_vdpau_interop 1 +typedef GLintptr GLvdpauSurfaceNV; +#define GL_SURFACE_STATE_NV 0x86EB +#define GL_SURFACE_REGISTERED_NV 0x86FD +#define GL_SURFACE_MAPPED_NV 0x8700 +#define GL_WRITE_DISCARD_NV 0x88BE +typedef void (APIENTRYP PFNGLVDPAUINITNVPROC) (const void *vdpDevice, const void *getProcAddress); +typedef void (APIENTRYP PFNGLVDPAUFININVPROC) (void); +typedef GLvdpauSurfaceNV (APIENTRYP PFNGLVDPAUREGISTERVIDEOSURFACENVPROC) (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); +typedef GLvdpauSurfaceNV (APIENTRYP PFNGLVDPAUREGISTEROUTPUTSURFACENVPROC) (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); +typedef GLboolean (APIENTRYP PFNGLVDPAUISSURFACENVPROC) (GLvdpauSurfaceNV surface); +typedef void (APIENTRYP PFNGLVDPAUUNREGISTERSURFACENVPROC) (GLvdpauSurfaceNV surface); +typedef void (APIENTRYP PFNGLVDPAUGETSURFACEIVNVPROC) (GLvdpauSurfaceNV surface, GLenum pname, GLsizei count, GLsizei *length, GLint *values); +typedef void (APIENTRYP PFNGLVDPAUSURFACEACCESSNVPROC) (GLvdpauSurfaceNV surface, GLenum access); +typedef void (APIENTRYP PFNGLVDPAUMAPSURFACESNVPROC) (GLsizei numSurfaces, const GLvdpauSurfaceNV *surfaces); +typedef void (APIENTRYP PFNGLVDPAUUNMAPSURFACESNVPROC) (GLsizei numSurface, const GLvdpauSurfaceNV *surfaces); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVDPAUInitNV (const void *vdpDevice, const void *getProcAddress); +GLAPI void APIENTRY glVDPAUFiniNV (void); +GLAPI GLvdpauSurfaceNV APIENTRY glVDPAURegisterVideoSurfaceNV (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); +GLAPI GLvdpauSurfaceNV APIENTRY glVDPAURegisterOutputSurfaceNV (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); +GLAPI GLboolean APIENTRY glVDPAUIsSurfaceNV (GLvdpauSurfaceNV surface); +GLAPI void APIENTRY glVDPAUUnregisterSurfaceNV (GLvdpauSurfaceNV surface); +GLAPI void APIENTRY glVDPAUGetSurfaceivNV (GLvdpauSurfaceNV surface, GLenum pname, GLsizei count, GLsizei *length, GLint *values); +GLAPI void APIENTRY glVDPAUSurfaceAccessNV (GLvdpauSurfaceNV surface, GLenum access); +GLAPI void APIENTRY glVDPAUMapSurfacesNV (GLsizei numSurfaces, const GLvdpauSurfaceNV *surfaces); +GLAPI void APIENTRY glVDPAUUnmapSurfacesNV (GLsizei numSurface, const GLvdpauSurfaceNV *surfaces); +#endif +#endif /* GL_NV_vdpau_interop */ + +#ifndef GL_NV_vdpau_interop2 +#define GL_NV_vdpau_interop2 1 +typedef GLvdpauSurfaceNV (APIENTRYP PFNGLVDPAUREGISTERVIDEOSURFACEWITHPICTURESTRUCTURENVPROC) (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames, GLboolean isFrameStructure); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLvdpauSurfaceNV APIENTRY glVDPAURegisterVideoSurfaceWithPictureStructureNV (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames, GLboolean isFrameStructure); +#endif +#endif /* GL_NV_vdpau_interop2 */ + +#ifndef GL_NV_vertex_array_range +#define GL_NV_vertex_array_range 1 +#define GL_VERTEX_ARRAY_RANGE_NV 0x851D +#define GL_VERTEX_ARRAY_RANGE_LENGTH_NV 0x851E +#define GL_VERTEX_ARRAY_RANGE_VALID_NV 0x851F +#define GL_MAX_VERTEX_ARRAY_RANGE_ELEMENT_NV 0x8520 +#define GL_VERTEX_ARRAY_RANGE_POINTER_NV 0x8521 +typedef void (APIENTRYP PFNGLFLUSHVERTEXARRAYRANGENVPROC) (void); +typedef void (APIENTRYP PFNGLVERTEXARRAYRANGENVPROC) (GLsizei length, const void *pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFlushVertexArrayRangeNV (void); +GLAPI void APIENTRY glVertexArrayRangeNV (GLsizei length, const void *pointer); +#endif +#endif /* GL_NV_vertex_array_range */ + +#ifndef GL_NV_vertex_array_range2 +#define GL_NV_vertex_array_range2 1 +#define GL_VERTEX_ARRAY_RANGE_WITHOUT_FLUSH_NV 0x8533 +#endif /* GL_NV_vertex_array_range2 */ + +#ifndef GL_NV_vertex_attrib_integer_64bit +#define GL_NV_vertex_attrib_integer_64bit 1 +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1I64NVPROC) (GLuint index, GLint64EXT x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1I64VNVPROC) (GLuint index, const GLint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2I64VNVPROC) (GLuint index, const GLint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3I64VNVPROC) (GLuint index, const GLint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4I64VNVPROC) (GLuint index, const GLint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64NVPROC) (GLuint index, GLuint64EXT x); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64VNVPROC) (GLuint index, const GLuint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL2UI64VNVPROC) (GLuint index, const GLuint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL3UI64VNVPROC) (GLuint index, const GLuint64EXT *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBL4UI64VNVPROC) (GLuint index, const GLuint64EXT *v); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLI64VNVPROC) (GLuint index, GLenum pname, GLint64EXT *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLUI64VNVPROC) (GLuint index, GLenum pname, GLuint64EXT *params); +typedef void (APIENTRYP PFNGLVERTEXATTRIBLFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glVertexAttribL1i64NV (GLuint index, GLint64EXT x); +GLAPI void APIENTRY glVertexAttribL2i64NV (GLuint index, GLint64EXT x, GLint64EXT y); +GLAPI void APIENTRY glVertexAttribL3i64NV (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z); +GLAPI void APIENTRY glVertexAttribL4i64NV (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +GLAPI void APIENTRY glVertexAttribL1i64vNV (GLuint index, const GLint64EXT *v); +GLAPI void APIENTRY glVertexAttribL2i64vNV (GLuint index, const GLint64EXT *v); +GLAPI void APIENTRY glVertexAttribL3i64vNV (GLuint index, const GLint64EXT *v); +GLAPI void APIENTRY glVertexAttribL4i64vNV (GLuint index, const GLint64EXT *v); +GLAPI void APIENTRY glVertexAttribL1ui64NV (GLuint index, GLuint64EXT x); +GLAPI void APIENTRY glVertexAttribL2ui64NV (GLuint index, GLuint64EXT x, GLuint64EXT y); +GLAPI void APIENTRY glVertexAttribL3ui64NV (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +GLAPI void APIENTRY glVertexAttribL4ui64NV (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +GLAPI void APIENTRY glVertexAttribL1ui64vNV (GLuint index, const GLuint64EXT *v); +GLAPI void APIENTRY glVertexAttribL2ui64vNV (GLuint index, const GLuint64EXT *v); +GLAPI void APIENTRY glVertexAttribL3ui64vNV (GLuint index, const GLuint64EXT *v); +GLAPI void APIENTRY glVertexAttribL4ui64vNV (GLuint index, const GLuint64EXT *v); +GLAPI void APIENTRY glGetVertexAttribLi64vNV (GLuint index, GLenum pname, GLint64EXT *params); +GLAPI void APIENTRY glGetVertexAttribLui64vNV (GLuint index, GLenum pname, GLuint64EXT *params); +GLAPI void APIENTRY glVertexAttribLFormatNV (GLuint index, GLint size, GLenum type, GLsizei stride); +#endif +#endif /* GL_NV_vertex_attrib_integer_64bit */ + +#ifndef GL_NV_vertex_buffer_unified_memory +#define GL_NV_vertex_buffer_unified_memory 1 +#define GL_VERTEX_ATTRIB_ARRAY_UNIFIED_NV 0x8F1E +#define GL_ELEMENT_ARRAY_UNIFIED_NV 0x8F1F +#define GL_VERTEX_ATTRIB_ARRAY_ADDRESS_NV 0x8F20 +#define GL_VERTEX_ARRAY_ADDRESS_NV 0x8F21 +#define GL_NORMAL_ARRAY_ADDRESS_NV 0x8F22 +#define GL_COLOR_ARRAY_ADDRESS_NV 0x8F23 +#define GL_INDEX_ARRAY_ADDRESS_NV 0x8F24 +#define GL_TEXTURE_COORD_ARRAY_ADDRESS_NV 0x8F25 +#define GL_EDGE_FLAG_ARRAY_ADDRESS_NV 0x8F26 +#define GL_SECONDARY_COLOR_ARRAY_ADDRESS_NV 0x8F27 +#define GL_FOG_COORD_ARRAY_ADDRESS_NV 0x8F28 +#define GL_ELEMENT_ARRAY_ADDRESS_NV 0x8F29 +#define GL_VERTEX_ATTRIB_ARRAY_LENGTH_NV 0x8F2A +#define GL_VERTEX_ARRAY_LENGTH_NV 0x8F2B +#define GL_NORMAL_ARRAY_LENGTH_NV 0x8F2C +#define GL_COLOR_ARRAY_LENGTH_NV 0x8F2D +#define GL_INDEX_ARRAY_LENGTH_NV 0x8F2E +#define GL_TEXTURE_COORD_ARRAY_LENGTH_NV 0x8F2F +#define GL_EDGE_FLAG_ARRAY_LENGTH_NV 0x8F30 +#define GL_SECONDARY_COLOR_ARRAY_LENGTH_NV 0x8F31 +#define GL_FOG_COORD_ARRAY_LENGTH_NV 0x8F32 +#define GL_ELEMENT_ARRAY_LENGTH_NV 0x8F33 +#define GL_DRAW_INDIRECT_UNIFIED_NV 0x8F40 +#define GL_DRAW_INDIRECT_ADDRESS_NV 0x8F41 +#define GL_DRAW_INDIRECT_LENGTH_NV 0x8F42 +typedef void (APIENTRYP PFNGLBUFFERADDRESSRANGENVPROC) (GLenum pname, GLuint index, GLuint64EXT address, GLsizeiptr length); +typedef void (APIENTRYP PFNGLVERTEXFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLNORMALFORMATNVPROC) (GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLCOLORFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLINDEXFORMATNVPROC) (GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLTEXCOORDFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLEDGEFLAGFORMATNVPROC) (GLsizei stride); +typedef void (APIENTRYP PFNGLSECONDARYCOLORFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLFOGCOORDFORMATNVPROC) (GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLVERTEXATTRIBFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride); +typedef void (APIENTRYP PFNGLVERTEXATTRIBIFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride); +typedef void (APIENTRYP PFNGLGETINTEGERUI64I_VNVPROC) (GLenum value, GLuint index, GLuint64EXT *result); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBufferAddressRangeNV (GLenum pname, GLuint index, GLuint64EXT address, GLsizeiptr length); +GLAPI void APIENTRY glVertexFormatNV (GLint size, GLenum type, GLsizei stride); +GLAPI void APIENTRY glNormalFormatNV (GLenum type, GLsizei stride); +GLAPI void APIENTRY glColorFormatNV (GLint size, GLenum type, GLsizei stride); +GLAPI void APIENTRY glIndexFormatNV (GLenum type, GLsizei stride); +GLAPI void APIENTRY glTexCoordFormatNV (GLint size, GLenum type, GLsizei stride); +GLAPI void APIENTRY glEdgeFlagFormatNV (GLsizei stride); +GLAPI void APIENTRY glSecondaryColorFormatNV (GLint size, GLenum type, GLsizei stride); +GLAPI void APIENTRY glFogCoordFormatNV (GLenum type, GLsizei stride); +GLAPI void APIENTRY glVertexAttribFormatNV (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride); +GLAPI void APIENTRY glVertexAttribIFormatNV (GLuint index, GLint size, GLenum type, GLsizei stride); +GLAPI void APIENTRY glGetIntegerui64i_vNV (GLenum value, GLuint index, GLuint64EXT *result); +#endif +#endif /* GL_NV_vertex_buffer_unified_memory */ + +#ifndef GL_NV_vertex_program +#define GL_NV_vertex_program 1 +#define GL_VERTEX_PROGRAM_NV 0x8620 +#define GL_VERTEX_STATE_PROGRAM_NV 0x8621 +#define GL_ATTRIB_ARRAY_SIZE_NV 0x8623 +#define GL_ATTRIB_ARRAY_STRIDE_NV 0x8624 +#define GL_ATTRIB_ARRAY_TYPE_NV 0x8625 +#define GL_CURRENT_ATTRIB_NV 0x8626 +#define GL_PROGRAM_LENGTH_NV 0x8627 +#define GL_PROGRAM_STRING_NV 0x8628 +#define GL_MODELVIEW_PROJECTION_NV 0x8629 +#define GL_IDENTITY_NV 0x862A +#define GL_INVERSE_NV 0x862B +#define GL_TRANSPOSE_NV 0x862C +#define GL_INVERSE_TRANSPOSE_NV 0x862D +#define GL_MAX_TRACK_MATRIX_STACK_DEPTH_NV 0x862E +#define GL_MAX_TRACK_MATRICES_NV 0x862F +#define GL_MATRIX0_NV 0x8630 +#define GL_MATRIX1_NV 0x8631 +#define GL_MATRIX2_NV 0x8632 +#define GL_MATRIX3_NV 0x8633 +#define GL_MATRIX4_NV 0x8634 +#define GL_MATRIX5_NV 0x8635 +#define GL_MATRIX6_NV 0x8636 +#define GL_MATRIX7_NV 0x8637 +#define GL_CURRENT_MATRIX_STACK_DEPTH_NV 0x8640 +#define GL_CURRENT_MATRIX_NV 0x8641 +#define GL_VERTEX_PROGRAM_POINT_SIZE_NV 0x8642 +#define GL_VERTEX_PROGRAM_TWO_SIDE_NV 0x8643 +#define GL_PROGRAM_PARAMETER_NV 0x8644 +#define GL_ATTRIB_ARRAY_POINTER_NV 0x8645 +#define GL_PROGRAM_TARGET_NV 0x8646 +#define GL_PROGRAM_RESIDENT_NV 0x8647 +#define GL_TRACK_MATRIX_NV 0x8648 +#define GL_TRACK_MATRIX_TRANSFORM_NV 0x8649 +#define GL_VERTEX_PROGRAM_BINDING_NV 0x864A +#define GL_PROGRAM_ERROR_POSITION_NV 0x864B +#define GL_VERTEX_ATTRIB_ARRAY0_NV 0x8650 +#define GL_VERTEX_ATTRIB_ARRAY1_NV 0x8651 +#define GL_VERTEX_ATTRIB_ARRAY2_NV 0x8652 +#define GL_VERTEX_ATTRIB_ARRAY3_NV 0x8653 +#define GL_VERTEX_ATTRIB_ARRAY4_NV 0x8654 +#define GL_VERTEX_ATTRIB_ARRAY5_NV 0x8655 +#define GL_VERTEX_ATTRIB_ARRAY6_NV 0x8656 +#define GL_VERTEX_ATTRIB_ARRAY7_NV 0x8657 +#define GL_VERTEX_ATTRIB_ARRAY8_NV 0x8658 +#define GL_VERTEX_ATTRIB_ARRAY9_NV 0x8659 +#define GL_VERTEX_ATTRIB_ARRAY10_NV 0x865A +#define GL_VERTEX_ATTRIB_ARRAY11_NV 0x865B +#define GL_VERTEX_ATTRIB_ARRAY12_NV 0x865C +#define GL_VERTEX_ATTRIB_ARRAY13_NV 0x865D +#define GL_VERTEX_ATTRIB_ARRAY14_NV 0x865E +#define GL_VERTEX_ATTRIB_ARRAY15_NV 0x865F +#define GL_MAP1_VERTEX_ATTRIB0_4_NV 0x8660 +#define GL_MAP1_VERTEX_ATTRIB1_4_NV 0x8661 +#define GL_MAP1_VERTEX_ATTRIB2_4_NV 0x8662 +#define GL_MAP1_VERTEX_ATTRIB3_4_NV 0x8663 +#define GL_MAP1_VERTEX_ATTRIB4_4_NV 0x8664 +#define GL_MAP1_VERTEX_ATTRIB5_4_NV 0x8665 +#define GL_MAP1_VERTEX_ATTRIB6_4_NV 0x8666 +#define GL_MAP1_VERTEX_ATTRIB7_4_NV 0x8667 +#define GL_MAP1_VERTEX_ATTRIB8_4_NV 0x8668 +#define GL_MAP1_VERTEX_ATTRIB9_4_NV 0x8669 +#define GL_MAP1_VERTEX_ATTRIB10_4_NV 0x866A +#define GL_MAP1_VERTEX_ATTRIB11_4_NV 0x866B +#define GL_MAP1_VERTEX_ATTRIB12_4_NV 0x866C +#define GL_MAP1_VERTEX_ATTRIB13_4_NV 0x866D +#define GL_MAP1_VERTEX_ATTRIB14_4_NV 0x866E +#define GL_MAP1_VERTEX_ATTRIB15_4_NV 0x866F +#define GL_MAP2_VERTEX_ATTRIB0_4_NV 0x8670 +#define GL_MAP2_VERTEX_ATTRIB1_4_NV 0x8671 +#define GL_MAP2_VERTEX_ATTRIB2_4_NV 0x8672 +#define GL_MAP2_VERTEX_ATTRIB3_4_NV 0x8673 +#define GL_MAP2_VERTEX_ATTRIB4_4_NV 0x8674 +#define GL_MAP2_VERTEX_ATTRIB5_4_NV 0x8675 +#define GL_MAP2_VERTEX_ATTRIB6_4_NV 0x8676 +#define GL_MAP2_VERTEX_ATTRIB7_4_NV 0x8677 +#define GL_MAP2_VERTEX_ATTRIB8_4_NV 0x8678 +#define GL_MAP2_VERTEX_ATTRIB9_4_NV 0x8679 +#define GL_MAP2_VERTEX_ATTRIB10_4_NV 0x867A +#define GL_MAP2_VERTEX_ATTRIB11_4_NV 0x867B +#define GL_MAP2_VERTEX_ATTRIB12_4_NV 0x867C +#define GL_MAP2_VERTEX_ATTRIB13_4_NV 0x867D +#define GL_MAP2_VERTEX_ATTRIB14_4_NV 0x867E +#define GL_MAP2_VERTEX_ATTRIB15_4_NV 0x867F +typedef GLboolean (APIENTRYP PFNGLAREPROGRAMSRESIDENTNVPROC) (GLsizei n, const GLuint *programs, GLboolean *residences); +typedef void (APIENTRYP PFNGLBINDPROGRAMNVPROC) (GLenum target, GLuint id); +typedef void (APIENTRYP PFNGLDELETEPROGRAMSNVPROC) (GLsizei n, const GLuint *programs); +typedef void (APIENTRYP PFNGLEXECUTEPROGRAMNVPROC) (GLenum target, GLuint id, const GLfloat *params); +typedef void (APIENTRYP PFNGLGENPROGRAMSNVPROC) (GLsizei n, GLuint *programs); +typedef void (APIENTRYP PFNGLGETPROGRAMPARAMETERDVNVPROC) (GLenum target, GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLGETPROGRAMPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETPROGRAMIVNVPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETPROGRAMSTRINGNVPROC) (GLuint id, GLenum pname, GLubyte *program); +typedef void (APIENTRYP PFNGLGETTRACKMATRIXIVNVPROC) (GLenum target, GLuint address, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBDVNVPROC) (GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBFVNVPROC) (GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVNVPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVNVPROC) (GLuint index, GLenum pname, void **pointer); +typedef GLboolean (APIENTRYP PFNGLISPROGRAMNVPROC) (GLuint id); +typedef void (APIENTRYP PFNGLLOADPROGRAMNVPROC) (GLenum target, GLuint id, GLsizei len, const GLubyte *program); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4DNVPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4DVNVPROC) (GLenum target, GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4FNVPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4FVNVPROC) (GLenum target, GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETERS4DVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLPROGRAMPARAMETERS4FVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLREQUESTRESIDENTPROGRAMSNVPROC) (GLsizei n, const GLuint *programs); +typedef void (APIENTRYP PFNGLTRACKMATRIXNVPROC) (GLenum target, GLuint address, GLenum matrix, GLenum transform); +typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERNVPROC) (GLuint index, GLint fsize, GLenum type, GLsizei stride, const void *pointer); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1DNVPROC) (GLuint index, GLdouble x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1FNVPROC) (GLuint index, GLfloat x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1SNVPROC) (GLuint index, GLshort x); +typedef void (APIENTRYP PFNGLVERTEXATTRIB1SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2DNVPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2FNVPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2SNVPROC) (GLuint index, GLshort x, GLshort y); +typedef void (APIENTRYP PFNGLVERTEXATTRIB2SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (APIENTRYP PFNGLVERTEXATTRIB3SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBNVPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBVNVPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS1DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS1FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS1SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS2DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS2FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS2SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS3DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS3FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS3SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS4DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS4FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS4SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRYP PFNGLVERTEXATTRIBS4UBVNVPROC) (GLuint index, GLsizei count, const GLubyte *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLboolean APIENTRY glAreProgramsResidentNV (GLsizei n, const GLuint *programs, GLboolean *residences); +GLAPI void APIENTRY glBindProgramNV (GLenum target, GLuint id); +GLAPI void APIENTRY glDeleteProgramsNV (GLsizei n, const GLuint *programs); +GLAPI void APIENTRY glExecuteProgramNV (GLenum target, GLuint id, const GLfloat *params); +GLAPI void APIENTRY glGenProgramsNV (GLsizei n, GLuint *programs); +GLAPI void APIENTRY glGetProgramParameterdvNV (GLenum target, GLuint index, GLenum pname, GLdouble *params); +GLAPI void APIENTRY glGetProgramParameterfvNV (GLenum target, GLuint index, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetProgramivNV (GLuint id, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetProgramStringNV (GLuint id, GLenum pname, GLubyte *program); +GLAPI void APIENTRY glGetTrackMatrixivNV (GLenum target, GLuint address, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVertexAttribdvNV (GLuint index, GLenum pname, GLdouble *params); +GLAPI void APIENTRY glGetVertexAttribfvNV (GLuint index, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetVertexAttribivNV (GLuint index, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVertexAttribPointervNV (GLuint index, GLenum pname, void **pointer); +GLAPI GLboolean APIENTRY glIsProgramNV (GLuint id); +GLAPI void APIENTRY glLoadProgramNV (GLenum target, GLuint id, GLsizei len, const GLubyte *program); +GLAPI void APIENTRY glProgramParameter4dNV (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glProgramParameter4dvNV (GLenum target, GLuint index, const GLdouble *v); +GLAPI void APIENTRY glProgramParameter4fNV (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glProgramParameter4fvNV (GLenum target, GLuint index, const GLfloat *v); +GLAPI void APIENTRY glProgramParameters4dvNV (GLenum target, GLuint index, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glProgramParameters4fvNV (GLenum target, GLuint index, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glRequestResidentProgramsNV (GLsizei n, const GLuint *programs); +GLAPI void APIENTRY glTrackMatrixNV (GLenum target, GLuint address, GLenum matrix, GLenum transform); +GLAPI void APIENTRY glVertexAttribPointerNV (GLuint index, GLint fsize, GLenum type, GLsizei stride, const void *pointer); +GLAPI void APIENTRY glVertexAttrib1dNV (GLuint index, GLdouble x); +GLAPI void APIENTRY glVertexAttrib1dvNV (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib1fNV (GLuint index, GLfloat x); +GLAPI void APIENTRY glVertexAttrib1fvNV (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib1sNV (GLuint index, GLshort x); +GLAPI void APIENTRY glVertexAttrib1svNV (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib2dNV (GLuint index, GLdouble x, GLdouble y); +GLAPI void APIENTRY glVertexAttrib2dvNV (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib2fNV (GLuint index, GLfloat x, GLfloat y); +GLAPI void APIENTRY glVertexAttrib2fvNV (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib2sNV (GLuint index, GLshort x, GLshort y); +GLAPI void APIENTRY glVertexAttrib2svNV (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib3dNV (GLuint index, GLdouble x, GLdouble y, GLdouble z); +GLAPI void APIENTRY glVertexAttrib3dvNV (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib3fNV (GLuint index, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glVertexAttrib3fvNV (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib3sNV (GLuint index, GLshort x, GLshort y, GLshort z); +GLAPI void APIENTRY glVertexAttrib3svNV (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4dNV (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void APIENTRY glVertexAttrib4dvNV (GLuint index, const GLdouble *v); +GLAPI void APIENTRY glVertexAttrib4fNV (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glVertexAttrib4fvNV (GLuint index, const GLfloat *v); +GLAPI void APIENTRY glVertexAttrib4sNV (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void APIENTRY glVertexAttrib4svNV (GLuint index, const GLshort *v); +GLAPI void APIENTRY glVertexAttrib4ubNV (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +GLAPI void APIENTRY glVertexAttrib4ubvNV (GLuint index, const GLubyte *v); +GLAPI void APIENTRY glVertexAttribs1dvNV (GLuint index, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribs1fvNV (GLuint index, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glVertexAttribs1svNV (GLuint index, GLsizei count, const GLshort *v); +GLAPI void APIENTRY glVertexAttribs2dvNV (GLuint index, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribs2fvNV (GLuint index, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glVertexAttribs2svNV (GLuint index, GLsizei count, const GLshort *v); +GLAPI void APIENTRY glVertexAttribs3dvNV (GLuint index, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribs3fvNV (GLuint index, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glVertexAttribs3svNV (GLuint index, GLsizei count, const GLshort *v); +GLAPI void APIENTRY glVertexAttribs4dvNV (GLuint index, GLsizei count, const GLdouble *v); +GLAPI void APIENTRY glVertexAttribs4fvNV (GLuint index, GLsizei count, const GLfloat *v); +GLAPI void APIENTRY glVertexAttribs4svNV (GLuint index, GLsizei count, const GLshort *v); +GLAPI void APIENTRY glVertexAttribs4ubvNV (GLuint index, GLsizei count, const GLubyte *v); +#endif +#endif /* GL_NV_vertex_program */ + +#ifndef GL_NV_vertex_program1_1 +#define GL_NV_vertex_program1_1 1 +#endif /* GL_NV_vertex_program1_1 */ + +#ifndef GL_NV_vertex_program2 +#define GL_NV_vertex_program2 1 +#endif /* GL_NV_vertex_program2 */ + +#ifndef GL_NV_vertex_program2_option +#define GL_NV_vertex_program2_option 1 +#endif /* GL_NV_vertex_program2_option */ + +#ifndef GL_NV_vertex_program3 +#define GL_NV_vertex_program3 1 +#endif /* GL_NV_vertex_program3 */ + +#ifndef GL_NV_vertex_program4 +#define GL_NV_vertex_program4 1 +#define GL_VERTEX_ATTRIB_ARRAY_INTEGER_NV 0x88FD +#endif /* GL_NV_vertex_program4 */ + +#ifndef GL_NV_video_capture +#define GL_NV_video_capture 1 +#define GL_VIDEO_BUFFER_NV 0x9020 +#define GL_VIDEO_BUFFER_BINDING_NV 0x9021 +#define GL_FIELD_UPPER_NV 0x9022 +#define GL_FIELD_LOWER_NV 0x9023 +#define GL_NUM_VIDEO_CAPTURE_STREAMS_NV 0x9024 +#define GL_NEXT_VIDEO_CAPTURE_BUFFER_STATUS_NV 0x9025 +#define GL_VIDEO_CAPTURE_TO_422_SUPPORTED_NV 0x9026 +#define GL_LAST_VIDEO_CAPTURE_STATUS_NV 0x9027 +#define GL_VIDEO_BUFFER_PITCH_NV 0x9028 +#define GL_VIDEO_COLOR_CONVERSION_MATRIX_NV 0x9029 +#define GL_VIDEO_COLOR_CONVERSION_MAX_NV 0x902A +#define GL_VIDEO_COLOR_CONVERSION_MIN_NV 0x902B +#define GL_VIDEO_COLOR_CONVERSION_OFFSET_NV 0x902C +#define GL_VIDEO_BUFFER_INTERNAL_FORMAT_NV 0x902D +#define GL_PARTIAL_SUCCESS_NV 0x902E +#define GL_SUCCESS_NV 0x902F +#define GL_FAILURE_NV 0x9030 +#define GL_YCBYCR8_422_NV 0x9031 +#define GL_YCBAYCR8A_4224_NV 0x9032 +#define GL_Z6Y10Z6CB10Z6Y10Z6CR10_422_NV 0x9033 +#define GL_Z6Y10Z6CB10Z6A10Z6Y10Z6CR10Z6A10_4224_NV 0x9034 +#define GL_Z4Y12Z4CB12Z4Y12Z4CR12_422_NV 0x9035 +#define GL_Z4Y12Z4CB12Z4A12Z4Y12Z4CR12Z4A12_4224_NV 0x9036 +#define GL_Z4Y12Z4CB12Z4CR12_444_NV 0x9037 +#define GL_VIDEO_CAPTURE_FRAME_WIDTH_NV 0x9038 +#define GL_VIDEO_CAPTURE_FRAME_HEIGHT_NV 0x9039 +#define GL_VIDEO_CAPTURE_FIELD_UPPER_HEIGHT_NV 0x903A +#define GL_VIDEO_CAPTURE_FIELD_LOWER_HEIGHT_NV 0x903B +#define GL_VIDEO_CAPTURE_SURFACE_ORIGIN_NV 0x903C +typedef void (APIENTRYP PFNGLBEGINVIDEOCAPTURENVPROC) (GLuint video_capture_slot); +typedef void (APIENTRYP PFNGLBINDVIDEOCAPTURESTREAMBUFFERNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLintptrARB offset); +typedef void (APIENTRYP PFNGLBINDVIDEOCAPTURESTREAMTEXTURENVPROC) (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLenum target, GLuint texture); +typedef void (APIENTRYP PFNGLENDVIDEOCAPTURENVPROC) (GLuint video_capture_slot); +typedef void (APIENTRYP PFNGLGETVIDEOCAPTUREIVNVPROC) (GLuint video_capture_slot, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVIDEOCAPTURESTREAMIVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETVIDEOCAPTURESTREAMFVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETVIDEOCAPTURESTREAMDVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLdouble *params); +typedef GLenum (APIENTRYP PFNGLVIDEOCAPTURENVPROC) (GLuint video_capture_slot, GLuint *sequence_num, GLuint64EXT *capture_time); +typedef void (APIENTRYP PFNGLVIDEOCAPTURESTREAMPARAMETERIVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLVIDEOCAPTURESTREAMPARAMETERFVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLVIDEOCAPTURESTREAMPARAMETERDVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLdouble *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glBeginVideoCaptureNV (GLuint video_capture_slot); +GLAPI void APIENTRY glBindVideoCaptureStreamBufferNV (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLintptrARB offset); +GLAPI void APIENTRY glBindVideoCaptureStreamTextureNV (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLenum target, GLuint texture); +GLAPI void APIENTRY glEndVideoCaptureNV (GLuint video_capture_slot); +GLAPI void APIENTRY glGetVideoCaptureivNV (GLuint video_capture_slot, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVideoCaptureStreamivNV (GLuint video_capture_slot, GLuint stream, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetVideoCaptureStreamfvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetVideoCaptureStreamdvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, GLdouble *params); +GLAPI GLenum APIENTRY glVideoCaptureNV (GLuint video_capture_slot, GLuint *sequence_num, GLuint64EXT *capture_time); +GLAPI void APIENTRY glVideoCaptureStreamParameterivNV (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLint *params); +GLAPI void APIENTRY glVideoCaptureStreamParameterfvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glVideoCaptureStreamParameterdvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLdouble *params); +#endif +#endif /* GL_NV_video_capture */ + +#ifndef GL_NV_viewport_array2 +#define GL_NV_viewport_array2 1 +#endif /* GL_NV_viewport_array2 */ + +#ifndef GL_NV_viewport_swizzle +#define GL_NV_viewport_swizzle 1 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_X_NV 0x9350 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_X_NV 0x9351 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_Y_NV 0x9352 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Y_NV 0x9353 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_Z_NV 0x9354 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Z_NV 0x9355 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_W_NV 0x9356 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_W_NV 0x9357 +#define GL_VIEWPORT_SWIZZLE_X_NV 0x9358 +#define GL_VIEWPORT_SWIZZLE_Y_NV 0x9359 +#define GL_VIEWPORT_SWIZZLE_Z_NV 0x935A +#define GL_VIEWPORT_SWIZZLE_W_NV 0x935B +typedef void (APIENTRYP PFNGLVIEWPORTSWIZZLENVPROC) (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glViewportSwizzleNV (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); +#endif +#endif /* GL_NV_viewport_swizzle */ + +#ifndef GL_OML_interlace +#define GL_OML_interlace 1 +#define GL_INTERLACE_OML 0x8980 +#define GL_INTERLACE_READ_OML 0x8981 +#endif /* GL_OML_interlace */ + +#ifndef GL_OML_resample +#define GL_OML_resample 1 +#define GL_PACK_RESAMPLE_OML 0x8984 +#define GL_UNPACK_RESAMPLE_OML 0x8985 +#define GL_RESAMPLE_REPLICATE_OML 0x8986 +#define GL_RESAMPLE_ZERO_FILL_OML 0x8987 +#define GL_RESAMPLE_AVERAGE_OML 0x8988 +#define GL_RESAMPLE_DECIMATE_OML 0x8989 +#endif /* GL_OML_resample */ + +#ifndef GL_OML_subsample +#define GL_OML_subsample 1 +#define GL_FORMAT_SUBSAMPLE_24_24_OML 0x8982 +#define GL_FORMAT_SUBSAMPLE_244_244_OML 0x8983 +#endif /* GL_OML_subsample */ + +#ifndef GL_OVR_multiview +#define GL_OVR_multiview 1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_NUM_VIEWS_OVR 0x9630 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_BASE_VIEW_INDEX_OVR 0x9632 +#define GL_MAX_VIEWS_OVR 0x9631 +#define GL_FRAMEBUFFER_INCOMPLETE_VIEW_TARGETS_OVR 0x9633 +typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREMULTIVIEWOVRPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFramebufferTextureMultiviewOVR (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); +#endif +#endif /* GL_OVR_multiview */ + +#ifndef GL_OVR_multiview2 +#define GL_OVR_multiview2 1 +#endif /* GL_OVR_multiview2 */ + +#ifndef GL_PGI_misc_hints +#define GL_PGI_misc_hints 1 +#define GL_PREFER_DOUBLEBUFFER_HINT_PGI 0x1A1F8 +#define GL_CONSERVE_MEMORY_HINT_PGI 0x1A1FD +#define GL_RECLAIM_MEMORY_HINT_PGI 0x1A1FE +#define GL_NATIVE_GRAPHICS_HANDLE_PGI 0x1A202 +#define GL_NATIVE_GRAPHICS_BEGIN_HINT_PGI 0x1A203 +#define GL_NATIVE_GRAPHICS_END_HINT_PGI 0x1A204 +#define GL_ALWAYS_FAST_HINT_PGI 0x1A20C +#define GL_ALWAYS_SOFT_HINT_PGI 0x1A20D +#define GL_ALLOW_DRAW_OBJ_HINT_PGI 0x1A20E +#define GL_ALLOW_DRAW_WIN_HINT_PGI 0x1A20F +#define GL_ALLOW_DRAW_FRG_HINT_PGI 0x1A210 +#define GL_ALLOW_DRAW_MEM_HINT_PGI 0x1A211 +#define GL_STRICT_DEPTHFUNC_HINT_PGI 0x1A216 +#define GL_STRICT_LIGHTING_HINT_PGI 0x1A217 +#define GL_STRICT_SCISSOR_HINT_PGI 0x1A218 +#define GL_FULL_STIPPLE_HINT_PGI 0x1A219 +#define GL_CLIP_NEAR_HINT_PGI 0x1A220 +#define GL_CLIP_FAR_HINT_PGI 0x1A221 +#define GL_WIDE_LINE_HINT_PGI 0x1A222 +#define GL_BACK_NORMALS_HINT_PGI 0x1A223 +typedef void (APIENTRYP PFNGLHINTPGIPROC) (GLenum target, GLint mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glHintPGI (GLenum target, GLint mode); +#endif +#endif /* GL_PGI_misc_hints */ + +#ifndef GL_PGI_vertex_hints +#define GL_PGI_vertex_hints 1 +#define GL_VERTEX_DATA_HINT_PGI 0x1A22A +#define GL_VERTEX_CONSISTENT_HINT_PGI 0x1A22B +#define GL_MATERIAL_SIDE_HINT_PGI 0x1A22C +#define GL_MAX_VERTEX_HINT_PGI 0x1A22D +#define GL_COLOR3_BIT_PGI 0x00010000 +#define GL_COLOR4_BIT_PGI 0x00020000 +#define GL_EDGEFLAG_BIT_PGI 0x00040000 +#define GL_INDEX_BIT_PGI 0x00080000 +#define GL_MAT_AMBIENT_BIT_PGI 0x00100000 +#define GL_MAT_AMBIENT_AND_DIFFUSE_BIT_PGI 0x00200000 +#define GL_MAT_DIFFUSE_BIT_PGI 0x00400000 +#define GL_MAT_EMISSION_BIT_PGI 0x00800000 +#define GL_MAT_COLOR_INDEXES_BIT_PGI 0x01000000 +#define GL_MAT_SHININESS_BIT_PGI 0x02000000 +#define GL_MAT_SPECULAR_BIT_PGI 0x04000000 +#define GL_NORMAL_BIT_PGI 0x08000000 +#define GL_TEXCOORD1_BIT_PGI 0x10000000 +#define GL_TEXCOORD2_BIT_PGI 0x20000000 +#define GL_TEXCOORD3_BIT_PGI 0x40000000 +#define GL_TEXCOORD4_BIT_PGI 0x80000000 +#define GL_VERTEX23_BIT_PGI 0x00000004 +#define GL_VERTEX4_BIT_PGI 0x00000008 +#endif /* GL_PGI_vertex_hints */ + +#ifndef GL_REND_screen_coordinates +#define GL_REND_screen_coordinates 1 +#define GL_SCREEN_COORDINATES_REND 0x8490 +#define GL_INVERTED_SCREEN_W_REND 0x8491 +#endif /* GL_REND_screen_coordinates */ + +#ifndef GL_S3_s3tc +#define GL_S3_s3tc 1 +#define GL_RGB_S3TC 0x83A0 +#define GL_RGB4_S3TC 0x83A1 +#define GL_RGBA_S3TC 0x83A2 +#define GL_RGBA4_S3TC 0x83A3 +#define GL_RGBA_DXT5_S3TC 0x83A4 +#define GL_RGBA4_DXT5_S3TC 0x83A5 +#endif /* GL_S3_s3tc */ + +#ifndef GL_SGIS_detail_texture +#define GL_SGIS_detail_texture 1 +#define GL_DETAIL_TEXTURE_2D_SGIS 0x8095 +#define GL_DETAIL_TEXTURE_2D_BINDING_SGIS 0x8096 +#define GL_LINEAR_DETAIL_SGIS 0x8097 +#define GL_LINEAR_DETAIL_ALPHA_SGIS 0x8098 +#define GL_LINEAR_DETAIL_COLOR_SGIS 0x8099 +#define GL_DETAIL_TEXTURE_LEVEL_SGIS 0x809A +#define GL_DETAIL_TEXTURE_MODE_SGIS 0x809B +#define GL_DETAIL_TEXTURE_FUNC_POINTS_SGIS 0x809C +typedef void (APIENTRYP PFNGLDETAILTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat *points); +typedef void (APIENTRYP PFNGLGETDETAILTEXFUNCSGISPROC) (GLenum target, GLfloat *points); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDetailTexFuncSGIS (GLenum target, GLsizei n, const GLfloat *points); +GLAPI void APIENTRY glGetDetailTexFuncSGIS (GLenum target, GLfloat *points); +#endif +#endif /* GL_SGIS_detail_texture */ + +#ifndef GL_SGIS_fog_function +#define GL_SGIS_fog_function 1 +#define GL_FOG_FUNC_SGIS 0x812A +#define GL_FOG_FUNC_POINTS_SGIS 0x812B +#define GL_MAX_FOG_FUNC_POINTS_SGIS 0x812C +typedef void (APIENTRYP PFNGLFOGFUNCSGISPROC) (GLsizei n, const GLfloat *points); +typedef void (APIENTRYP PFNGLGETFOGFUNCSGISPROC) (GLfloat *points); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFogFuncSGIS (GLsizei n, const GLfloat *points); +GLAPI void APIENTRY glGetFogFuncSGIS (GLfloat *points); +#endif +#endif /* GL_SGIS_fog_function */ + +#ifndef GL_SGIS_generate_mipmap +#define GL_SGIS_generate_mipmap 1 +#define GL_GENERATE_MIPMAP_SGIS 0x8191 +#define GL_GENERATE_MIPMAP_HINT_SGIS 0x8192 +#endif /* GL_SGIS_generate_mipmap */ + +#ifndef GL_SGIS_multisample +#define GL_SGIS_multisample 1 +#define GL_MULTISAMPLE_SGIS 0x809D +#define GL_SAMPLE_ALPHA_TO_MASK_SGIS 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_SGIS 0x809F +#define GL_SAMPLE_MASK_SGIS 0x80A0 +#define GL_1PASS_SGIS 0x80A1 +#define GL_2PASS_0_SGIS 0x80A2 +#define GL_2PASS_1_SGIS 0x80A3 +#define GL_4PASS_0_SGIS 0x80A4 +#define GL_4PASS_1_SGIS 0x80A5 +#define GL_4PASS_2_SGIS 0x80A6 +#define GL_4PASS_3_SGIS 0x80A7 +#define GL_SAMPLE_BUFFERS_SGIS 0x80A8 +#define GL_SAMPLES_SGIS 0x80A9 +#define GL_SAMPLE_MASK_VALUE_SGIS 0x80AA +#define GL_SAMPLE_MASK_INVERT_SGIS 0x80AB +#define GL_SAMPLE_PATTERN_SGIS 0x80AC +typedef void (APIENTRYP PFNGLSAMPLEMASKSGISPROC) (GLclampf value, GLboolean invert); +typedef void (APIENTRYP PFNGLSAMPLEPATTERNSGISPROC) (GLenum pattern); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSampleMaskSGIS (GLclampf value, GLboolean invert); +GLAPI void APIENTRY glSamplePatternSGIS (GLenum pattern); +#endif +#endif /* GL_SGIS_multisample */ + +#ifndef GL_SGIS_pixel_texture +#define GL_SGIS_pixel_texture 1 +#define GL_PIXEL_TEXTURE_SGIS 0x8353 +#define GL_PIXEL_FRAGMENT_RGB_SOURCE_SGIS 0x8354 +#define GL_PIXEL_FRAGMENT_ALPHA_SOURCE_SGIS 0x8355 +#define GL_PIXEL_GROUP_COLOR_SGIS 0x8356 +typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERISGISPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERIVSGISPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERFSGISPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERFVSGISPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLGETPIXELTEXGENPARAMETERIVSGISPROC) (GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETPIXELTEXGENPARAMETERFVSGISPROC) (GLenum pname, GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPixelTexGenParameteriSGIS (GLenum pname, GLint param); +GLAPI void APIENTRY glPixelTexGenParameterivSGIS (GLenum pname, const GLint *params); +GLAPI void APIENTRY glPixelTexGenParameterfSGIS (GLenum pname, GLfloat param); +GLAPI void APIENTRY glPixelTexGenParameterfvSGIS (GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glGetPixelTexGenParameterivSGIS (GLenum pname, GLint *params); +GLAPI void APIENTRY glGetPixelTexGenParameterfvSGIS (GLenum pname, GLfloat *params); +#endif +#endif /* GL_SGIS_pixel_texture */ + +#ifndef GL_SGIS_point_line_texgen +#define GL_SGIS_point_line_texgen 1 +#define GL_EYE_DISTANCE_TO_POINT_SGIS 0x81F0 +#define GL_OBJECT_DISTANCE_TO_POINT_SGIS 0x81F1 +#define GL_EYE_DISTANCE_TO_LINE_SGIS 0x81F2 +#define GL_OBJECT_DISTANCE_TO_LINE_SGIS 0x81F3 +#define GL_EYE_POINT_SGIS 0x81F4 +#define GL_OBJECT_POINT_SGIS 0x81F5 +#define GL_EYE_LINE_SGIS 0x81F6 +#define GL_OBJECT_LINE_SGIS 0x81F7 +#endif /* GL_SGIS_point_line_texgen */ + +#ifndef GL_SGIS_point_parameters +#define GL_SGIS_point_parameters 1 +#define GL_POINT_SIZE_MIN_SGIS 0x8126 +#define GL_POINT_SIZE_MAX_SGIS 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE_SGIS 0x8128 +#define GL_DISTANCE_ATTENUATION_SGIS 0x8129 +typedef void (APIENTRYP PFNGLPOINTPARAMETERFSGISPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLPOINTPARAMETERFVSGISPROC) (GLenum pname, const GLfloat *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPointParameterfSGIS (GLenum pname, GLfloat param); +GLAPI void APIENTRY glPointParameterfvSGIS (GLenum pname, const GLfloat *params); +#endif +#endif /* GL_SGIS_point_parameters */ + +#ifndef GL_SGIS_sharpen_texture +#define GL_SGIS_sharpen_texture 1 +#define GL_LINEAR_SHARPEN_SGIS 0x80AD +#define GL_LINEAR_SHARPEN_ALPHA_SGIS 0x80AE +#define GL_LINEAR_SHARPEN_COLOR_SGIS 0x80AF +#define GL_SHARPEN_TEXTURE_FUNC_POINTS_SGIS 0x80B0 +typedef void (APIENTRYP PFNGLSHARPENTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat *points); +typedef void (APIENTRYP PFNGLGETSHARPENTEXFUNCSGISPROC) (GLenum target, GLfloat *points); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSharpenTexFuncSGIS (GLenum target, GLsizei n, const GLfloat *points); +GLAPI void APIENTRY glGetSharpenTexFuncSGIS (GLenum target, GLfloat *points); +#endif +#endif /* GL_SGIS_sharpen_texture */ + +#ifndef GL_SGIS_texture4D +#define GL_SGIS_texture4D 1 +#define GL_PACK_SKIP_VOLUMES_SGIS 0x8130 +#define GL_PACK_IMAGE_DEPTH_SGIS 0x8131 +#define GL_UNPACK_SKIP_VOLUMES_SGIS 0x8132 +#define GL_UNPACK_IMAGE_DEPTH_SGIS 0x8133 +#define GL_TEXTURE_4D_SGIS 0x8134 +#define GL_PROXY_TEXTURE_4D_SGIS 0x8135 +#define GL_TEXTURE_4DSIZE_SGIS 0x8136 +#define GL_TEXTURE_WRAP_Q_SGIS 0x8137 +#define GL_MAX_4D_TEXTURE_SIZE_SGIS 0x8138 +#define GL_TEXTURE_4D_BINDING_SGIS 0x814F +typedef void (APIENTRYP PFNGLTEXIMAGE4DSGISPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (APIENTRYP PFNGLTEXSUBIMAGE4DSGISPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint woffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLenum format, GLenum type, const void *pixels); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTexImage4DSGIS (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLint border, GLenum format, GLenum type, const void *pixels); +GLAPI void APIENTRY glTexSubImage4DSGIS (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint woffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLenum format, GLenum type, const void *pixels); +#endif +#endif /* GL_SGIS_texture4D */ + +#ifndef GL_SGIS_texture_border_clamp +#define GL_SGIS_texture_border_clamp 1 +#define GL_CLAMP_TO_BORDER_SGIS 0x812D +#endif /* GL_SGIS_texture_border_clamp */ + +#ifndef GL_SGIS_texture_color_mask +#define GL_SGIS_texture_color_mask 1 +#define GL_TEXTURE_COLOR_WRITEMASK_SGIS 0x81EF +typedef void (APIENTRYP PFNGLTEXTURECOLORMASKSGISPROC) (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTextureColorMaskSGIS (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); +#endif +#endif /* GL_SGIS_texture_color_mask */ + +#ifndef GL_SGIS_texture_edge_clamp +#define GL_SGIS_texture_edge_clamp 1 +#define GL_CLAMP_TO_EDGE_SGIS 0x812F +#endif /* GL_SGIS_texture_edge_clamp */ + +#ifndef GL_SGIS_texture_filter4 +#define GL_SGIS_texture_filter4 1 +#define GL_FILTER4_SGIS 0x8146 +#define GL_TEXTURE_FILTER4_SIZE_SGIS 0x8147 +typedef void (APIENTRYP PFNGLGETTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLfloat *weights); +typedef void (APIENTRYP PFNGLTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLsizei n, const GLfloat *weights); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetTexFilterFuncSGIS (GLenum target, GLenum filter, GLfloat *weights); +GLAPI void APIENTRY glTexFilterFuncSGIS (GLenum target, GLenum filter, GLsizei n, const GLfloat *weights); +#endif +#endif /* GL_SGIS_texture_filter4 */ + +#ifndef GL_SGIS_texture_lod +#define GL_SGIS_texture_lod 1 +#define GL_TEXTURE_MIN_LOD_SGIS 0x813A +#define GL_TEXTURE_MAX_LOD_SGIS 0x813B +#define GL_TEXTURE_BASE_LEVEL_SGIS 0x813C +#define GL_TEXTURE_MAX_LEVEL_SGIS 0x813D +#endif /* GL_SGIS_texture_lod */ + +#ifndef GL_SGIS_texture_select +#define GL_SGIS_texture_select 1 +#define GL_DUAL_ALPHA4_SGIS 0x8110 +#define GL_DUAL_ALPHA8_SGIS 0x8111 +#define GL_DUAL_ALPHA12_SGIS 0x8112 +#define GL_DUAL_ALPHA16_SGIS 0x8113 +#define GL_DUAL_LUMINANCE4_SGIS 0x8114 +#define GL_DUAL_LUMINANCE8_SGIS 0x8115 +#define GL_DUAL_LUMINANCE12_SGIS 0x8116 +#define GL_DUAL_LUMINANCE16_SGIS 0x8117 +#define GL_DUAL_INTENSITY4_SGIS 0x8118 +#define GL_DUAL_INTENSITY8_SGIS 0x8119 +#define GL_DUAL_INTENSITY12_SGIS 0x811A +#define GL_DUAL_INTENSITY16_SGIS 0x811B +#define GL_DUAL_LUMINANCE_ALPHA4_SGIS 0x811C +#define GL_DUAL_LUMINANCE_ALPHA8_SGIS 0x811D +#define GL_QUAD_ALPHA4_SGIS 0x811E +#define GL_QUAD_ALPHA8_SGIS 0x811F +#define GL_QUAD_LUMINANCE4_SGIS 0x8120 +#define GL_QUAD_LUMINANCE8_SGIS 0x8121 +#define GL_QUAD_INTENSITY4_SGIS 0x8122 +#define GL_QUAD_INTENSITY8_SGIS 0x8123 +#define GL_DUAL_TEXTURE_SELECT_SGIS 0x8124 +#define GL_QUAD_TEXTURE_SELECT_SGIS 0x8125 +#endif /* GL_SGIS_texture_select */ + +#ifndef GL_SGIX_async +#define GL_SGIX_async 1 +#define GL_ASYNC_MARKER_SGIX 0x8329 +typedef void (APIENTRYP PFNGLASYNCMARKERSGIXPROC) (GLuint marker); +typedef GLint (APIENTRYP PFNGLFINISHASYNCSGIXPROC) (GLuint *markerp); +typedef GLint (APIENTRYP PFNGLPOLLASYNCSGIXPROC) (GLuint *markerp); +typedef GLuint (APIENTRYP PFNGLGENASYNCMARKERSSGIXPROC) (GLsizei range); +typedef void (APIENTRYP PFNGLDELETEASYNCMARKERSSGIXPROC) (GLuint marker, GLsizei range); +typedef GLboolean (APIENTRYP PFNGLISASYNCMARKERSGIXPROC) (GLuint marker); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glAsyncMarkerSGIX (GLuint marker); +GLAPI GLint APIENTRY glFinishAsyncSGIX (GLuint *markerp); +GLAPI GLint APIENTRY glPollAsyncSGIX (GLuint *markerp); +GLAPI GLuint APIENTRY glGenAsyncMarkersSGIX (GLsizei range); +GLAPI void APIENTRY glDeleteAsyncMarkersSGIX (GLuint marker, GLsizei range); +GLAPI GLboolean APIENTRY glIsAsyncMarkerSGIX (GLuint marker); +#endif +#endif /* GL_SGIX_async */ + +#ifndef GL_SGIX_async_histogram +#define GL_SGIX_async_histogram 1 +#define GL_ASYNC_HISTOGRAM_SGIX 0x832C +#define GL_MAX_ASYNC_HISTOGRAM_SGIX 0x832D +#endif /* GL_SGIX_async_histogram */ + +#ifndef GL_SGIX_async_pixel +#define GL_SGIX_async_pixel 1 +#define GL_ASYNC_TEX_IMAGE_SGIX 0x835C +#define GL_ASYNC_DRAW_PIXELS_SGIX 0x835D +#define GL_ASYNC_READ_PIXELS_SGIX 0x835E +#define GL_MAX_ASYNC_TEX_IMAGE_SGIX 0x835F +#define GL_MAX_ASYNC_DRAW_PIXELS_SGIX 0x8360 +#define GL_MAX_ASYNC_READ_PIXELS_SGIX 0x8361 +#endif /* GL_SGIX_async_pixel */ + +#ifndef GL_SGIX_blend_alpha_minmax +#define GL_SGIX_blend_alpha_minmax 1 +#define GL_ALPHA_MIN_SGIX 0x8320 +#define GL_ALPHA_MAX_SGIX 0x8321 +#endif /* GL_SGIX_blend_alpha_minmax */ + +#ifndef GL_SGIX_calligraphic_fragment +#define GL_SGIX_calligraphic_fragment 1 +#define GL_CALLIGRAPHIC_FRAGMENT_SGIX 0x8183 +#endif /* GL_SGIX_calligraphic_fragment */ + +#ifndef GL_SGIX_clipmap +#define GL_SGIX_clipmap 1 +#define GL_LINEAR_CLIPMAP_LINEAR_SGIX 0x8170 +#define GL_TEXTURE_CLIPMAP_CENTER_SGIX 0x8171 +#define GL_TEXTURE_CLIPMAP_FRAME_SGIX 0x8172 +#define GL_TEXTURE_CLIPMAP_OFFSET_SGIX 0x8173 +#define GL_TEXTURE_CLIPMAP_VIRTUAL_DEPTH_SGIX 0x8174 +#define GL_TEXTURE_CLIPMAP_LOD_OFFSET_SGIX 0x8175 +#define GL_TEXTURE_CLIPMAP_DEPTH_SGIX 0x8176 +#define GL_MAX_CLIPMAP_DEPTH_SGIX 0x8177 +#define GL_MAX_CLIPMAP_VIRTUAL_DEPTH_SGIX 0x8178 +#define GL_NEAREST_CLIPMAP_NEAREST_SGIX 0x844D +#define GL_NEAREST_CLIPMAP_LINEAR_SGIX 0x844E +#define GL_LINEAR_CLIPMAP_NEAREST_SGIX 0x844F +#endif /* GL_SGIX_clipmap */ + +#ifndef GL_SGIX_convolution_accuracy +#define GL_SGIX_convolution_accuracy 1 +#define GL_CONVOLUTION_HINT_SGIX 0x8316 +#endif /* GL_SGIX_convolution_accuracy */ + +#ifndef GL_SGIX_depth_pass_instrument +#define GL_SGIX_depth_pass_instrument 1 +#endif /* GL_SGIX_depth_pass_instrument */ + +#ifndef GL_SGIX_depth_texture +#define GL_SGIX_depth_texture 1 +#define GL_DEPTH_COMPONENT16_SGIX 0x81A5 +#define GL_DEPTH_COMPONENT24_SGIX 0x81A6 +#define GL_DEPTH_COMPONENT32_SGIX 0x81A7 +#endif /* GL_SGIX_depth_texture */ + +#ifndef GL_SGIX_flush_raster +#define GL_SGIX_flush_raster 1 +typedef void (APIENTRYP PFNGLFLUSHRASTERSGIXPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFlushRasterSGIX (void); +#endif +#endif /* GL_SGIX_flush_raster */ + +#ifndef GL_SGIX_fog_offset +#define GL_SGIX_fog_offset 1 +#define GL_FOG_OFFSET_SGIX 0x8198 +#define GL_FOG_OFFSET_VALUE_SGIX 0x8199 +#endif /* GL_SGIX_fog_offset */ + +#ifndef GL_SGIX_fragment_lighting +#define GL_SGIX_fragment_lighting 1 +#define GL_FRAGMENT_LIGHTING_SGIX 0x8400 +#define GL_FRAGMENT_COLOR_MATERIAL_SGIX 0x8401 +#define GL_FRAGMENT_COLOR_MATERIAL_FACE_SGIX 0x8402 +#define GL_FRAGMENT_COLOR_MATERIAL_PARAMETER_SGIX 0x8403 +#define GL_MAX_FRAGMENT_LIGHTS_SGIX 0x8404 +#define GL_MAX_ACTIVE_LIGHTS_SGIX 0x8405 +#define GL_CURRENT_RASTER_NORMAL_SGIX 0x8406 +#define GL_LIGHT_ENV_MODE_SGIX 0x8407 +#define GL_FRAGMENT_LIGHT_MODEL_LOCAL_VIEWER_SGIX 0x8408 +#define GL_FRAGMENT_LIGHT_MODEL_TWO_SIDE_SGIX 0x8409 +#define GL_FRAGMENT_LIGHT_MODEL_AMBIENT_SGIX 0x840A +#define GL_FRAGMENT_LIGHT_MODEL_NORMAL_INTERPOLATION_SGIX 0x840B +#define GL_FRAGMENT_LIGHT0_SGIX 0x840C +#define GL_FRAGMENT_LIGHT1_SGIX 0x840D +#define GL_FRAGMENT_LIGHT2_SGIX 0x840E +#define GL_FRAGMENT_LIGHT3_SGIX 0x840F +#define GL_FRAGMENT_LIGHT4_SGIX 0x8410 +#define GL_FRAGMENT_LIGHT5_SGIX 0x8411 +#define GL_FRAGMENT_LIGHT6_SGIX 0x8412 +#define GL_FRAGMENT_LIGHT7_SGIX 0x8413 +typedef void (APIENTRYP PFNGLFRAGMENTCOLORMATERIALSGIXPROC) (GLenum face, GLenum mode); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTFSGIXPROC) (GLenum light, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTISGIXPROC) (GLenum light, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELFSGIXPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELFVSGIXPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELISGIXPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELIVSGIXPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLFRAGMENTMATERIALFSGIXPROC) (GLenum face, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLFRAGMENTMATERIALISGIXPROC) (GLenum face, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLGETFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLGETFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLLIGHTENVISGIXPROC) (GLenum pname, GLint param); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFragmentColorMaterialSGIX (GLenum face, GLenum mode); +GLAPI void APIENTRY glFragmentLightfSGIX (GLenum light, GLenum pname, GLfloat param); +GLAPI void APIENTRY glFragmentLightfvSGIX (GLenum light, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glFragmentLightiSGIX (GLenum light, GLenum pname, GLint param); +GLAPI void APIENTRY glFragmentLightivSGIX (GLenum light, GLenum pname, const GLint *params); +GLAPI void APIENTRY glFragmentLightModelfSGIX (GLenum pname, GLfloat param); +GLAPI void APIENTRY glFragmentLightModelfvSGIX (GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glFragmentLightModeliSGIX (GLenum pname, GLint param); +GLAPI void APIENTRY glFragmentLightModelivSGIX (GLenum pname, const GLint *params); +GLAPI void APIENTRY glFragmentMaterialfSGIX (GLenum face, GLenum pname, GLfloat param); +GLAPI void APIENTRY glFragmentMaterialfvSGIX (GLenum face, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glFragmentMaterialiSGIX (GLenum face, GLenum pname, GLint param); +GLAPI void APIENTRY glFragmentMaterialivSGIX (GLenum face, GLenum pname, const GLint *params); +GLAPI void APIENTRY glGetFragmentLightfvSGIX (GLenum light, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetFragmentLightivSGIX (GLenum light, GLenum pname, GLint *params); +GLAPI void APIENTRY glGetFragmentMaterialfvSGIX (GLenum face, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetFragmentMaterialivSGIX (GLenum face, GLenum pname, GLint *params); +GLAPI void APIENTRY glLightEnviSGIX (GLenum pname, GLint param); +#endif +#endif /* GL_SGIX_fragment_lighting */ + +#ifndef GL_SGIX_framezoom +#define GL_SGIX_framezoom 1 +#define GL_FRAMEZOOM_SGIX 0x818B +#define GL_FRAMEZOOM_FACTOR_SGIX 0x818C +#define GL_MAX_FRAMEZOOM_FACTOR_SGIX 0x818D +typedef void (APIENTRYP PFNGLFRAMEZOOMSGIXPROC) (GLint factor); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFrameZoomSGIX (GLint factor); +#endif +#endif /* GL_SGIX_framezoom */ + +#ifndef GL_SGIX_igloo_interface +#define GL_SGIX_igloo_interface 1 +typedef void (APIENTRYP PFNGLIGLOOINTERFACESGIXPROC) (GLenum pname, const void *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glIglooInterfaceSGIX (GLenum pname, const void *params); +#endif +#endif /* GL_SGIX_igloo_interface */ + +#ifndef GL_SGIX_instruments +#define GL_SGIX_instruments 1 +#define GL_INSTRUMENT_BUFFER_POINTER_SGIX 0x8180 +#define GL_INSTRUMENT_MEASUREMENTS_SGIX 0x8181 +typedef GLint (APIENTRYP PFNGLGETINSTRUMENTSSGIXPROC) (void); +typedef void (APIENTRYP PFNGLINSTRUMENTSBUFFERSGIXPROC) (GLsizei size, GLint *buffer); +typedef GLint (APIENTRYP PFNGLPOLLINSTRUMENTSSGIXPROC) (GLint *marker_p); +typedef void (APIENTRYP PFNGLREADINSTRUMENTSSGIXPROC) (GLint marker); +typedef void (APIENTRYP PFNGLSTARTINSTRUMENTSSGIXPROC) (void); +typedef void (APIENTRYP PFNGLSTOPINSTRUMENTSSGIXPROC) (GLint marker); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI GLint APIENTRY glGetInstrumentsSGIX (void); +GLAPI void APIENTRY glInstrumentsBufferSGIX (GLsizei size, GLint *buffer); +GLAPI GLint APIENTRY glPollInstrumentsSGIX (GLint *marker_p); +GLAPI void APIENTRY glReadInstrumentsSGIX (GLint marker); +GLAPI void APIENTRY glStartInstrumentsSGIX (void); +GLAPI void APIENTRY glStopInstrumentsSGIX (GLint marker); +#endif +#endif /* GL_SGIX_instruments */ + +#ifndef GL_SGIX_interlace +#define GL_SGIX_interlace 1 +#define GL_INTERLACE_SGIX 0x8094 +#endif /* GL_SGIX_interlace */ + +#ifndef GL_SGIX_ir_instrument1 +#define GL_SGIX_ir_instrument1 1 +#define GL_IR_INSTRUMENT1_SGIX 0x817F +#endif /* GL_SGIX_ir_instrument1 */ + +#ifndef GL_SGIX_list_priority +#define GL_SGIX_list_priority 1 +#define GL_LIST_PRIORITY_SGIX 0x8182 +typedef void (APIENTRYP PFNGLGETLISTPARAMETERFVSGIXPROC) (GLuint list, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETLISTPARAMETERIVSGIXPROC) (GLuint list, GLenum pname, GLint *params); +typedef void (APIENTRYP PFNGLLISTPARAMETERFSGIXPROC) (GLuint list, GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLLISTPARAMETERFVSGIXPROC) (GLuint list, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLLISTPARAMETERISGIXPROC) (GLuint list, GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLLISTPARAMETERIVSGIXPROC) (GLuint list, GLenum pname, const GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGetListParameterfvSGIX (GLuint list, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetListParameterivSGIX (GLuint list, GLenum pname, GLint *params); +GLAPI void APIENTRY glListParameterfSGIX (GLuint list, GLenum pname, GLfloat param); +GLAPI void APIENTRY glListParameterfvSGIX (GLuint list, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glListParameteriSGIX (GLuint list, GLenum pname, GLint param); +GLAPI void APIENTRY glListParameterivSGIX (GLuint list, GLenum pname, const GLint *params); +#endif +#endif /* GL_SGIX_list_priority */ + +#ifndef GL_SGIX_pixel_texture +#define GL_SGIX_pixel_texture 1 +#define GL_PIXEL_TEX_GEN_SGIX 0x8139 +#define GL_PIXEL_TEX_GEN_MODE_SGIX 0x832B +typedef void (APIENTRYP PFNGLPIXELTEXGENSGIXPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glPixelTexGenSGIX (GLenum mode); +#endif +#endif /* GL_SGIX_pixel_texture */ + +#ifndef GL_SGIX_pixel_tiles +#define GL_SGIX_pixel_tiles 1 +#define GL_PIXEL_TILE_BEST_ALIGNMENT_SGIX 0x813E +#define GL_PIXEL_TILE_CACHE_INCREMENT_SGIX 0x813F +#define GL_PIXEL_TILE_WIDTH_SGIX 0x8140 +#define GL_PIXEL_TILE_HEIGHT_SGIX 0x8141 +#define GL_PIXEL_TILE_GRID_WIDTH_SGIX 0x8142 +#define GL_PIXEL_TILE_GRID_HEIGHT_SGIX 0x8143 +#define GL_PIXEL_TILE_GRID_DEPTH_SGIX 0x8144 +#define GL_PIXEL_TILE_CACHE_SIZE_SGIX 0x8145 +#endif /* GL_SGIX_pixel_tiles */ + +#ifndef GL_SGIX_polynomial_ffd +#define GL_SGIX_polynomial_ffd 1 +#define GL_TEXTURE_DEFORMATION_BIT_SGIX 0x00000001 +#define GL_GEOMETRY_DEFORMATION_BIT_SGIX 0x00000002 +#define GL_GEOMETRY_DEFORMATION_SGIX 0x8194 +#define GL_TEXTURE_DEFORMATION_SGIX 0x8195 +#define GL_DEFORMATIONS_MASK_SGIX 0x8196 +#define GL_MAX_DEFORMATION_ORDER_SGIX 0x8197 +typedef void (APIENTRYP PFNGLDEFORMATIONMAP3DSGIXPROC) (GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, GLdouble w1, GLdouble w2, GLint wstride, GLint worder, const GLdouble *points); +typedef void (APIENTRYP PFNGLDEFORMATIONMAP3FSGIXPROC) (GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, GLfloat w1, GLfloat w2, GLint wstride, GLint worder, const GLfloat *points); +typedef void (APIENTRYP PFNGLDEFORMSGIXPROC) (GLbitfield mask); +typedef void (APIENTRYP PFNGLLOADIDENTITYDEFORMATIONMAPSGIXPROC) (GLbitfield mask); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDeformationMap3dSGIX (GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, GLdouble w1, GLdouble w2, GLint wstride, GLint worder, const GLdouble *points); +GLAPI void APIENTRY glDeformationMap3fSGIX (GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, GLfloat w1, GLfloat w2, GLint wstride, GLint worder, const GLfloat *points); +GLAPI void APIENTRY glDeformSGIX (GLbitfield mask); +GLAPI void APIENTRY glLoadIdentityDeformationMapSGIX (GLbitfield mask); +#endif +#endif /* GL_SGIX_polynomial_ffd */ + +#ifndef GL_SGIX_reference_plane +#define GL_SGIX_reference_plane 1 +#define GL_REFERENCE_PLANE_SGIX 0x817D +#define GL_REFERENCE_PLANE_EQUATION_SGIX 0x817E +typedef void (APIENTRYP PFNGLREFERENCEPLANESGIXPROC) (const GLdouble *equation); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glReferencePlaneSGIX (const GLdouble *equation); +#endif +#endif /* GL_SGIX_reference_plane */ + +#ifndef GL_SGIX_resample +#define GL_SGIX_resample 1 +#define GL_PACK_RESAMPLE_SGIX 0x842E +#define GL_UNPACK_RESAMPLE_SGIX 0x842F +#define GL_RESAMPLE_REPLICATE_SGIX 0x8433 +#define GL_RESAMPLE_ZERO_FILL_SGIX 0x8434 +#define GL_RESAMPLE_DECIMATE_SGIX 0x8430 +#endif /* GL_SGIX_resample */ + +#ifndef GL_SGIX_scalebias_hint +#define GL_SGIX_scalebias_hint 1 +#define GL_SCALEBIAS_HINT_SGIX 0x8322 +#endif /* GL_SGIX_scalebias_hint */ + +#ifndef GL_SGIX_shadow +#define GL_SGIX_shadow 1 +#define GL_TEXTURE_COMPARE_SGIX 0x819A +#define GL_TEXTURE_COMPARE_OPERATOR_SGIX 0x819B +#define GL_TEXTURE_LEQUAL_R_SGIX 0x819C +#define GL_TEXTURE_GEQUAL_R_SGIX 0x819D +#endif /* GL_SGIX_shadow */ + +#ifndef GL_SGIX_shadow_ambient +#define GL_SGIX_shadow_ambient 1 +#define GL_SHADOW_AMBIENT_SGIX 0x80BF +#endif /* GL_SGIX_shadow_ambient */ + +#ifndef GL_SGIX_sprite +#define GL_SGIX_sprite 1 +#define GL_SPRITE_SGIX 0x8148 +#define GL_SPRITE_MODE_SGIX 0x8149 +#define GL_SPRITE_AXIS_SGIX 0x814A +#define GL_SPRITE_TRANSLATION_SGIX 0x814B +#define GL_SPRITE_AXIAL_SGIX 0x814C +#define GL_SPRITE_OBJECT_ALIGNED_SGIX 0x814D +#define GL_SPRITE_EYE_ALIGNED_SGIX 0x814E +typedef void (APIENTRYP PFNGLSPRITEPARAMETERFSGIXPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRYP PFNGLSPRITEPARAMETERFVSGIXPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLSPRITEPARAMETERISGIXPROC) (GLenum pname, GLint param); +typedef void (APIENTRYP PFNGLSPRITEPARAMETERIVSGIXPROC) (GLenum pname, const GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glSpriteParameterfSGIX (GLenum pname, GLfloat param); +GLAPI void APIENTRY glSpriteParameterfvSGIX (GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glSpriteParameteriSGIX (GLenum pname, GLint param); +GLAPI void APIENTRY glSpriteParameterivSGIX (GLenum pname, const GLint *params); +#endif +#endif /* GL_SGIX_sprite */ + +#ifndef GL_SGIX_subsample +#define GL_SGIX_subsample 1 +#define GL_PACK_SUBSAMPLE_RATE_SGIX 0x85A0 +#define GL_UNPACK_SUBSAMPLE_RATE_SGIX 0x85A1 +#define GL_PIXEL_SUBSAMPLE_4444_SGIX 0x85A2 +#define GL_PIXEL_SUBSAMPLE_2424_SGIX 0x85A3 +#define GL_PIXEL_SUBSAMPLE_4242_SGIX 0x85A4 +#endif /* GL_SGIX_subsample */ + +#ifndef GL_SGIX_tag_sample_buffer +#define GL_SGIX_tag_sample_buffer 1 +typedef void (APIENTRYP PFNGLTAGSAMPLEBUFFERSGIXPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glTagSampleBufferSGIX (void); +#endif +#endif /* GL_SGIX_tag_sample_buffer */ + +#ifndef GL_SGIX_texture_add_env +#define GL_SGIX_texture_add_env 1 +#define GL_TEXTURE_ENV_BIAS_SGIX 0x80BE +#endif /* GL_SGIX_texture_add_env */ + +#ifndef GL_SGIX_texture_coordinate_clamp +#define GL_SGIX_texture_coordinate_clamp 1 +#define GL_TEXTURE_MAX_CLAMP_S_SGIX 0x8369 +#define GL_TEXTURE_MAX_CLAMP_T_SGIX 0x836A +#define GL_TEXTURE_MAX_CLAMP_R_SGIX 0x836B +#endif /* GL_SGIX_texture_coordinate_clamp */ + +#ifndef GL_SGIX_texture_lod_bias +#define GL_SGIX_texture_lod_bias 1 +#define GL_TEXTURE_LOD_BIAS_S_SGIX 0x818E +#define GL_TEXTURE_LOD_BIAS_T_SGIX 0x818F +#define GL_TEXTURE_LOD_BIAS_R_SGIX 0x8190 +#endif /* GL_SGIX_texture_lod_bias */ + +#ifndef GL_SGIX_texture_multi_buffer +#define GL_SGIX_texture_multi_buffer 1 +#define GL_TEXTURE_MULTI_BUFFER_HINT_SGIX 0x812E +#endif /* GL_SGIX_texture_multi_buffer */ + +#ifndef GL_SGIX_texture_scale_bias +#define GL_SGIX_texture_scale_bias 1 +#define GL_POST_TEXTURE_FILTER_BIAS_SGIX 0x8179 +#define GL_POST_TEXTURE_FILTER_SCALE_SGIX 0x817A +#define GL_POST_TEXTURE_FILTER_BIAS_RANGE_SGIX 0x817B +#define GL_POST_TEXTURE_FILTER_SCALE_RANGE_SGIX 0x817C +#endif /* GL_SGIX_texture_scale_bias */ + +#ifndef GL_SGIX_vertex_preclip +#define GL_SGIX_vertex_preclip 1 +#define GL_VERTEX_PRECLIP_SGIX 0x83EE +#define GL_VERTEX_PRECLIP_HINT_SGIX 0x83EF +#endif /* GL_SGIX_vertex_preclip */ + +#ifndef GL_SGIX_ycrcb +#define GL_SGIX_ycrcb 1 +#define GL_YCRCB_422_SGIX 0x81BB +#define GL_YCRCB_444_SGIX 0x81BC +#endif /* GL_SGIX_ycrcb */ + +#ifndef GL_SGIX_ycrcb_subsample +#define GL_SGIX_ycrcb_subsample 1 +#endif /* GL_SGIX_ycrcb_subsample */ + +#ifndef GL_SGIX_ycrcba +#define GL_SGIX_ycrcba 1 +#define GL_YCRCB_SGIX 0x8318 +#define GL_YCRCBA_SGIX 0x8319 +#endif /* GL_SGIX_ycrcba */ + +#ifndef GL_SGI_color_matrix +#define GL_SGI_color_matrix 1 +#define GL_COLOR_MATRIX_SGI 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE_SGI 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE_SGI 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE_SGI 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE_SGI 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS_SGI 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS_SGI 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS_SGI 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS_SGI 0x80BB +#endif /* GL_SGI_color_matrix */ + +#ifndef GL_SGI_color_table +#define GL_SGI_color_table 1 +#define GL_COLOR_TABLE_SGI 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D2 +#define GL_PROXY_COLOR_TABLE_SGI 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D5 +#define GL_COLOR_TABLE_SCALE_SGI 0x80D6 +#define GL_COLOR_TABLE_BIAS_SGI 0x80D7 +#define GL_COLOR_TABLE_FORMAT_SGI 0x80D8 +#define GL_COLOR_TABLE_WIDTH_SGI 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE_SGI 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE_SGI 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE_SGI 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE_SGI 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE_SGI 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE_SGI 0x80DF +typedef void (APIENTRYP PFNGLCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); +typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRYP PFNGLCOPYCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRYP PFNGLGETCOLORTABLESGIPROC) (GLenum target, GLenum format, GLenum type, void *table); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColorTableSGI (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); +GLAPI void APIENTRY glColorTableParameterfvSGI (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void APIENTRY glColorTableParameterivSGI (GLenum target, GLenum pname, const GLint *params); +GLAPI void APIENTRY glCopyColorTableSGI (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +GLAPI void APIENTRY glGetColorTableSGI (GLenum target, GLenum format, GLenum type, void *table); +GLAPI void APIENTRY glGetColorTableParameterfvSGI (GLenum target, GLenum pname, GLfloat *params); +GLAPI void APIENTRY glGetColorTableParameterivSGI (GLenum target, GLenum pname, GLint *params); +#endif +#endif /* GL_SGI_color_table */ + +#ifndef GL_SGI_texture_color_table +#define GL_SGI_texture_color_table 1 +#define GL_TEXTURE_COLOR_TABLE_SGI 0x80BC +#define GL_PROXY_TEXTURE_COLOR_TABLE_SGI 0x80BD +#endif /* GL_SGI_texture_color_table */ + +#ifndef GL_SUNX_constant_data +#define GL_SUNX_constant_data 1 +#define GL_UNPACK_CONSTANT_DATA_SUNX 0x81D5 +#define GL_TEXTURE_CONSTANT_DATA_SUNX 0x81D6 +typedef void (APIENTRYP PFNGLFINISHTEXTURESUNXPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glFinishTextureSUNX (void); +#endif +#endif /* GL_SUNX_constant_data */ + +#ifndef GL_SUN_convolution_border_modes +#define GL_SUN_convolution_border_modes 1 +#define GL_WRAP_BORDER_SUN 0x81D4 +#endif /* GL_SUN_convolution_border_modes */ + +#ifndef GL_SUN_global_alpha +#define GL_SUN_global_alpha 1 +#define GL_GLOBAL_ALPHA_SUN 0x81D9 +#define GL_GLOBAL_ALPHA_FACTOR_SUN 0x81DA +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORBSUNPROC) (GLbyte factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORSSUNPROC) (GLshort factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORISUNPROC) (GLint factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORFSUNPROC) (GLfloat factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORDSUNPROC) (GLdouble factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORUBSUNPROC) (GLubyte factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORUSSUNPROC) (GLushort factor); +typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORUISUNPROC) (GLuint factor); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glGlobalAlphaFactorbSUN (GLbyte factor); +GLAPI void APIENTRY glGlobalAlphaFactorsSUN (GLshort factor); +GLAPI void APIENTRY glGlobalAlphaFactoriSUN (GLint factor); +GLAPI void APIENTRY glGlobalAlphaFactorfSUN (GLfloat factor); +GLAPI void APIENTRY glGlobalAlphaFactordSUN (GLdouble factor); +GLAPI void APIENTRY glGlobalAlphaFactorubSUN (GLubyte factor); +GLAPI void APIENTRY glGlobalAlphaFactorusSUN (GLushort factor); +GLAPI void APIENTRY glGlobalAlphaFactoruiSUN (GLuint factor); +#endif +#endif /* GL_SUN_global_alpha */ + +#ifndef GL_SUN_mesh_array +#define GL_SUN_mesh_array 1 +#define GL_QUAD_MESH_SUN 0x8614 +#define GL_TRIANGLE_MESH_SUN 0x8615 +typedef void (APIENTRYP PFNGLDRAWMESHARRAYSSUNPROC) (GLenum mode, GLint first, GLsizei count, GLsizei width); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glDrawMeshArraysSUN (GLenum mode, GLint first, GLsizei count, GLsizei width); +#endif +#endif /* GL_SUN_mesh_array */ + +#ifndef GL_SUN_slice_accum +#define GL_SUN_slice_accum 1 +#define GL_SLICE_ACCUM_SUN 0x85CC +#endif /* GL_SUN_slice_accum */ + +#ifndef GL_SUN_triangle_list +#define GL_SUN_triangle_list 1 +#define GL_RESTART_SUN 0x0001 +#define GL_REPLACE_MIDDLE_SUN 0x0002 +#define GL_REPLACE_OLDEST_SUN 0x0003 +#define GL_TRIANGLE_LIST_SUN 0x81D7 +#define GL_REPLACEMENT_CODE_SUN 0x81D8 +#define GL_REPLACEMENT_CODE_ARRAY_SUN 0x85C0 +#define GL_REPLACEMENT_CODE_ARRAY_TYPE_SUN 0x85C1 +#define GL_REPLACEMENT_CODE_ARRAY_STRIDE_SUN 0x85C2 +#define GL_REPLACEMENT_CODE_ARRAY_POINTER_SUN 0x85C3 +#define GL_R1UI_V3F_SUN 0x85C4 +#define GL_R1UI_C4UB_V3F_SUN 0x85C5 +#define GL_R1UI_C3F_V3F_SUN 0x85C6 +#define GL_R1UI_N3F_V3F_SUN 0x85C7 +#define GL_R1UI_C4F_N3F_V3F_SUN 0x85C8 +#define GL_R1UI_T2F_V3F_SUN 0x85C9 +#define GL_R1UI_T2F_N3F_V3F_SUN 0x85CA +#define GL_R1UI_T2F_C4F_N3F_V3F_SUN 0x85CB +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUISUNPROC) (GLuint code); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUSSUNPROC) (GLushort code); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUBSUNPROC) (GLubyte code); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUIVSUNPROC) (const GLuint *code); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUSVSUNPROC) (const GLushort *code); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUBVSUNPROC) (const GLubyte *code); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEPOINTERSUNPROC) (GLenum type, GLsizei stride, const void **pointer); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glReplacementCodeuiSUN (GLuint code); +GLAPI void APIENTRY glReplacementCodeusSUN (GLushort code); +GLAPI void APIENTRY glReplacementCodeubSUN (GLubyte code); +GLAPI void APIENTRY glReplacementCodeuivSUN (const GLuint *code); +GLAPI void APIENTRY glReplacementCodeusvSUN (const GLushort *code); +GLAPI void APIENTRY glReplacementCodeubvSUN (const GLubyte *code); +GLAPI void APIENTRY glReplacementCodePointerSUN (GLenum type, GLsizei stride, const void **pointer); +#endif +#endif /* GL_SUN_triangle_list */ + +#ifndef GL_SUN_vertex +#define GL_SUN_vertex 1 +typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX2FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y); +typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX2FVSUNPROC) (const GLubyte *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX3FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX3FVSUNPROC) (const GLubyte *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLCOLOR3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLCOLOR3FVERTEX3FVSUNPROC) (const GLfloat *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLNORMAL3FVERTEX3FSUNPROC) (GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD2FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLTEXCOORD2FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD4FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLTEXCOORD4FVERTEX4FVSUNPROC) (const GLfloat *tc, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4UBVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4UBVERTEX3FVSUNPROC) (const GLfloat *tc, const GLubyte *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLTEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRYP PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUIVERTEX3FSUNPROC) (GLuint rc, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUIVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FSUNPROC) (GLuint rc, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FVSUNPROC) (const GLuint *rc, const GLubyte *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FSUNPROC) (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *c, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *tc, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *tc, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +#ifdef GL_GLEXT_PROTOTYPES +GLAPI void APIENTRY glColor4ubVertex2fSUN (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y); +GLAPI void APIENTRY glColor4ubVertex2fvSUN (const GLubyte *c, const GLfloat *v); +GLAPI void APIENTRY glColor4ubVertex3fSUN (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glColor4ubVertex3fvSUN (const GLubyte *c, const GLfloat *v); +GLAPI void APIENTRY glColor3fVertex3fSUN (GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glColor3fVertex3fvSUN (const GLfloat *c, const GLfloat *v); +GLAPI void APIENTRY glNormal3fVertex3fSUN (GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glNormal3fVertex3fvSUN (const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glColor4fNormal3fVertex3fSUN (GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glColor4fNormal3fVertex3fvSUN (const GLfloat *c, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glTexCoord2fVertex3fSUN (GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glTexCoord2fVertex3fvSUN (const GLfloat *tc, const GLfloat *v); +GLAPI void APIENTRY glTexCoord4fVertex4fSUN (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glTexCoord4fVertex4fvSUN (const GLfloat *tc, const GLfloat *v); +GLAPI void APIENTRY glTexCoord2fColor4ubVertex3fSUN (GLfloat s, GLfloat t, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glTexCoord2fColor4ubVertex3fvSUN (const GLfloat *tc, const GLubyte *c, const GLfloat *v); +GLAPI void APIENTRY glTexCoord2fColor3fVertex3fSUN (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glTexCoord2fColor3fVertex3fvSUN (const GLfloat *tc, const GLfloat *c, const GLfloat *v); +GLAPI void APIENTRY glTexCoord2fNormal3fVertex3fSUN (GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glTexCoord2fNormal3fVertex3fvSUN (const GLfloat *tc, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glTexCoord2fColor4fNormal3fVertex3fSUN (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glTexCoord2fColor4fNormal3fVertex3fvSUN (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glTexCoord4fColor4fNormal3fVertex4fSUN (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void APIENTRY glTexCoord4fColor4fNormal3fVertex4fvSUN (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiVertex3fSUN (GLuint rc, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiVertex3fvSUN (const GLuint *rc, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiColor4ubVertex3fSUN (GLuint rc, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiColor4ubVertex3fvSUN (const GLuint *rc, const GLubyte *c, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiColor3fVertex3fSUN (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiColor3fVertex3fvSUN (const GLuint *rc, const GLfloat *c, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiNormal3fVertex3fSUN (GLuint rc, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiColor4fNormal3fVertex3fSUN (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiColor4fNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiTexCoord2fVertex3fSUN (GLuint rc, GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiTexCoord2fVertex3fvSUN (const GLuint *rc, const GLfloat *tc, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiTexCoord2fNormal3fVertex3fSUN (GLuint rc, GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiTexCoord2fNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *tc, const GLfloat *n, const GLfloat *v); +GLAPI void APIENTRY glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fSUN (GLuint rc, GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +GLAPI void APIENTRY glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +#endif +#endif /* GL_SUN_vertex */ + +#ifndef GL_WIN_phong_shading +#define GL_WIN_phong_shading 1 +#define GL_PHONG_WIN 0x80EA +#define GL_PHONG_HINT_WIN 0x80EB +#endif /* GL_WIN_phong_shading */ + +#ifndef GL_WIN_specular_fog +#define GL_WIN_specular_fog 1 +#define GL_FOG_SPECULAR_TEXTURE_WIN 0x80EC +#endif /* GL_WIN_specular_fog */ + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles.h new file mode 100644 index 000000000..8511b9607 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengles.h @@ -0,0 +1,39 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_opengles.h + * + * This is a simple file to encapsulate the OpenGL ES 1.X API headers. + */ +#include "SDL_config.h" + +#ifdef __IPHONEOS__ +#include +#include +#else +#include +#include +#endif + +#ifndef APIENTRY +#define APIENTRY +#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2.h new file mode 100644 index 000000000..172fcb3f4 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2.h @@ -0,0 +1,52 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_opengles2.h + * + * This is a simple file to encapsulate the OpenGL ES 2.0 API headers. + */ +#include "SDL_config.h" + +#if !defined(_MSC_VER) && !defined(SDL_USE_BUILTIN_OPENGL_DEFINITIONS) + +#ifdef __IPHONEOS__ +#include +#include +#else +#include +#include +#include +#endif + +#else /* _MSC_VER */ + +/* OpenGL ES2 headers for Visual Studio */ +#include "SDL_opengles2_khrplatform.h" +#include "SDL_opengles2_gl2platform.h" +#include "SDL_opengles2_gl2.h" +#include "SDL_opengles2_gl2ext.h" + +#endif /* _MSC_VER */ + +#ifndef APIENTRY +#define APIENTRY GL_APIENTRY +#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2.h new file mode 100644 index 000000000..d13622aae --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2.h @@ -0,0 +1,656 @@ +#ifndef __gles2_gl2_h_ +#define __gles2_gl2_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright 2013-2020 The Khronos Group Inc. +** SPDX-License-Identifier: MIT +** +** This header is generated from the Khronos OpenGL / OpenGL ES XML +** API Registry. The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** https://github.com/KhronosGroup/OpenGL-Registry +*/ + +/*#include */ + +#ifndef GL_APIENTRYP +#define GL_APIENTRYP GL_APIENTRY* +#endif + +#ifndef GL_GLES_PROTOTYPES +#define GL_GLES_PROTOTYPES 1 +#endif + +/* Generated on date 20220530 */ + +/* Generated C header for: + * API: gles2 + * Profile: common + * Versions considered: 2\.[0-9] + * Versions emitted: .* + * Default extensions included: None + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef GL_ES_VERSION_2_0 +#define GL_ES_VERSION_2_0 1 +/*#include */ +typedef khronos_int8_t GLbyte; +typedef khronos_float_t GLclampf; +typedef khronos_int32_t GLfixed; +typedef khronos_int16_t GLshort; +typedef khronos_uint16_t GLushort; +typedef void GLvoid; +typedef struct __GLsync *GLsync; +typedef khronos_int64_t GLint64; +typedef khronos_uint64_t GLuint64; +typedef unsigned int GLenum; +typedef unsigned int GLuint; +typedef char GLchar; +typedef khronos_float_t GLfloat; +typedef khronos_ssize_t GLsizeiptr; +typedef khronos_intptr_t GLintptr; +typedef unsigned int GLbitfield; +typedef int GLint; +typedef unsigned char GLboolean; +typedef int GLsizei; +typedef khronos_uint8_t GLubyte; +#define GL_DEPTH_BUFFER_BIT 0x00000100 +#define GL_STENCIL_BUFFER_BIT 0x00000400 +#define GL_COLOR_BUFFER_BIT 0x00004000 +#define GL_FALSE 0 +#define GL_TRUE 1 +#define GL_POINTS 0x0000 +#define GL_LINES 0x0001 +#define GL_LINE_LOOP 0x0002 +#define GL_LINE_STRIP 0x0003 +#define GL_TRIANGLES 0x0004 +#define GL_TRIANGLE_STRIP 0x0005 +#define GL_TRIANGLE_FAN 0x0006 +#define GL_ZERO 0 +#define GL_ONE 1 +#define GL_SRC_COLOR 0x0300 +#define GL_ONE_MINUS_SRC_COLOR 0x0301 +#define GL_SRC_ALPHA 0x0302 +#define GL_ONE_MINUS_SRC_ALPHA 0x0303 +#define GL_DST_ALPHA 0x0304 +#define GL_ONE_MINUS_DST_ALPHA 0x0305 +#define GL_DST_COLOR 0x0306 +#define GL_ONE_MINUS_DST_COLOR 0x0307 +#define GL_SRC_ALPHA_SATURATE 0x0308 +#define GL_FUNC_ADD 0x8006 +#define GL_BLEND_EQUATION 0x8009 +#define GL_BLEND_EQUATION_RGB 0x8009 +#define GL_BLEND_EQUATION_ALPHA 0x883D +#define GL_FUNC_SUBTRACT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT 0x800B +#define GL_BLEND_DST_RGB 0x80C8 +#define GL_BLEND_SRC_RGB 0x80C9 +#define GL_BLEND_DST_ALPHA 0x80CA +#define GL_BLEND_SRC_ALPHA 0x80CB +#define GL_CONSTANT_COLOR 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 +#define GL_CONSTANT_ALPHA 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 +#define GL_BLEND_COLOR 0x8005 +#define GL_ARRAY_BUFFER 0x8892 +#define GL_ELEMENT_ARRAY_BUFFER 0x8893 +#define GL_ARRAY_BUFFER_BINDING 0x8894 +#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895 +#define GL_STREAM_DRAW 0x88E0 +#define GL_STATIC_DRAW 0x88E4 +#define GL_DYNAMIC_DRAW 0x88E8 +#define GL_BUFFER_SIZE 0x8764 +#define GL_BUFFER_USAGE 0x8765 +#define GL_CURRENT_VERTEX_ATTRIB 0x8626 +#define GL_FRONT 0x0404 +#define GL_BACK 0x0405 +#define GL_FRONT_AND_BACK 0x0408 +#define GL_TEXTURE_2D 0x0DE1 +#define GL_CULL_FACE 0x0B44 +#define GL_BLEND 0x0BE2 +#define GL_DITHER 0x0BD0 +#define GL_STENCIL_TEST 0x0B90 +#define GL_DEPTH_TEST 0x0B71 +#define GL_SCISSOR_TEST 0x0C11 +#define GL_POLYGON_OFFSET_FILL 0x8037 +#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E +#define GL_SAMPLE_COVERAGE 0x80A0 +#define GL_NO_ERROR 0 +#define GL_INVALID_ENUM 0x0500 +#define GL_INVALID_VALUE 0x0501 +#define GL_INVALID_OPERATION 0x0502 +#define GL_OUT_OF_MEMORY 0x0505 +#define GL_CW 0x0900 +#define GL_CCW 0x0901 +#define GL_LINE_WIDTH 0x0B21 +#define GL_ALIASED_POINT_SIZE_RANGE 0x846D +#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E +#define GL_CULL_FACE_MODE 0x0B45 +#define GL_FRONT_FACE 0x0B46 +#define GL_DEPTH_RANGE 0x0B70 +#define GL_DEPTH_WRITEMASK 0x0B72 +#define GL_DEPTH_CLEAR_VALUE 0x0B73 +#define GL_DEPTH_FUNC 0x0B74 +#define GL_STENCIL_CLEAR_VALUE 0x0B91 +#define GL_STENCIL_FUNC 0x0B92 +#define GL_STENCIL_FAIL 0x0B94 +#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 +#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 +#define GL_STENCIL_REF 0x0B97 +#define GL_STENCIL_VALUE_MASK 0x0B93 +#define GL_STENCIL_WRITEMASK 0x0B98 +#define GL_STENCIL_BACK_FUNC 0x8800 +#define GL_STENCIL_BACK_FAIL 0x8801 +#define GL_STENCIL_BACK_PASS_DEPTH_FAIL 0x8802 +#define GL_STENCIL_BACK_PASS_DEPTH_PASS 0x8803 +#define GL_STENCIL_BACK_REF 0x8CA3 +#define GL_STENCIL_BACK_VALUE_MASK 0x8CA4 +#define GL_STENCIL_BACK_WRITEMASK 0x8CA5 +#define GL_VIEWPORT 0x0BA2 +#define GL_SCISSOR_BOX 0x0C10 +#define GL_COLOR_CLEAR_VALUE 0x0C22 +#define GL_COLOR_WRITEMASK 0x0C23 +#define GL_UNPACK_ALIGNMENT 0x0CF5 +#define GL_PACK_ALIGNMENT 0x0D05 +#define GL_MAX_TEXTURE_SIZE 0x0D33 +#define GL_MAX_VIEWPORT_DIMS 0x0D3A +#define GL_SUBPIXEL_BITS 0x0D50 +#define GL_RED_BITS 0x0D52 +#define GL_GREEN_BITS 0x0D53 +#define GL_BLUE_BITS 0x0D54 +#define GL_ALPHA_BITS 0x0D55 +#define GL_DEPTH_BITS 0x0D56 +#define GL_STENCIL_BITS 0x0D57 +#define GL_POLYGON_OFFSET_UNITS 0x2A00 +#define GL_POLYGON_OFFSET_FACTOR 0x8038 +#define GL_TEXTURE_BINDING_2D 0x8069 +#define GL_SAMPLE_BUFFERS 0x80A8 +#define GL_SAMPLES 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT 0x80AB +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 +#define GL_DONT_CARE 0x1100 +#define GL_FASTEST 0x1101 +#define GL_NICEST 0x1102 +#define GL_GENERATE_MIPMAP_HINT 0x8192 +#define GL_BYTE 0x1400 +#define GL_UNSIGNED_BYTE 0x1401 +#define GL_SHORT 0x1402 +#define GL_UNSIGNED_SHORT 0x1403 +#define GL_INT 0x1404 +#define GL_UNSIGNED_INT 0x1405 +#define GL_FLOAT 0x1406 +#define GL_FIXED 0x140C +#define GL_DEPTH_COMPONENT 0x1902 +#define GL_ALPHA 0x1906 +#define GL_RGB 0x1907 +#define GL_RGBA 0x1908 +#define GL_LUMINANCE 0x1909 +#define GL_LUMINANCE_ALPHA 0x190A +#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 +#define GL_UNSIGNED_SHORT_5_6_5 0x8363 +#define GL_FRAGMENT_SHADER 0x8B30 +#define GL_VERTEX_SHADER 0x8B31 +#define GL_MAX_VERTEX_ATTRIBS 0x8869 +#define GL_MAX_VERTEX_UNIFORM_VECTORS 0x8DFB +#define GL_MAX_VARYING_VECTORS 0x8DFC +#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS 0x8B4D +#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS 0x8B4C +#define GL_MAX_TEXTURE_IMAGE_UNITS 0x8872 +#define GL_MAX_FRAGMENT_UNIFORM_VECTORS 0x8DFD +#define GL_SHADER_TYPE 0x8B4F +#define GL_DELETE_STATUS 0x8B80 +#define GL_LINK_STATUS 0x8B82 +#define GL_VALIDATE_STATUS 0x8B83 +#define GL_ATTACHED_SHADERS 0x8B85 +#define GL_ACTIVE_UNIFORMS 0x8B86 +#define GL_ACTIVE_UNIFORM_MAX_LENGTH 0x8B87 +#define GL_ACTIVE_ATTRIBUTES 0x8B89 +#define GL_ACTIVE_ATTRIBUTE_MAX_LENGTH 0x8B8A +#define GL_SHADING_LANGUAGE_VERSION 0x8B8C +#define GL_CURRENT_PROGRAM 0x8B8D +#define GL_NEVER 0x0200 +#define GL_LESS 0x0201 +#define GL_EQUAL 0x0202 +#define GL_LEQUAL 0x0203 +#define GL_GREATER 0x0204 +#define GL_NOTEQUAL 0x0205 +#define GL_GEQUAL 0x0206 +#define GL_ALWAYS 0x0207 +#define GL_KEEP 0x1E00 +#define GL_REPLACE 0x1E01 +#define GL_INCR 0x1E02 +#define GL_DECR 0x1E03 +#define GL_INVERT 0x150A +#define GL_INCR_WRAP 0x8507 +#define GL_DECR_WRAP 0x8508 +#define GL_VENDOR 0x1F00 +#define GL_RENDERER 0x1F01 +#define GL_VERSION 0x1F02 +#define GL_EXTENSIONS 0x1F03 +#define GL_NEAREST 0x2600 +#define GL_LINEAR 0x2601 +#define GL_NEAREST_MIPMAP_NEAREST 0x2700 +#define GL_LINEAR_MIPMAP_NEAREST 0x2701 +#define GL_NEAREST_MIPMAP_LINEAR 0x2702 +#define GL_LINEAR_MIPMAP_LINEAR 0x2703 +#define GL_TEXTURE_MAG_FILTER 0x2800 +#define GL_TEXTURE_MIN_FILTER 0x2801 +#define GL_TEXTURE_WRAP_S 0x2802 +#define GL_TEXTURE_WRAP_T 0x2803 +#define GL_TEXTURE 0x1702 +#define GL_TEXTURE_CUBE_MAP 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C +#define GL_TEXTURE0 0x84C0 +#define GL_TEXTURE1 0x84C1 +#define GL_TEXTURE2 0x84C2 +#define GL_TEXTURE3 0x84C3 +#define GL_TEXTURE4 0x84C4 +#define GL_TEXTURE5 0x84C5 +#define GL_TEXTURE6 0x84C6 +#define GL_TEXTURE7 0x84C7 +#define GL_TEXTURE8 0x84C8 +#define GL_TEXTURE9 0x84C9 +#define GL_TEXTURE10 0x84CA +#define GL_TEXTURE11 0x84CB +#define GL_TEXTURE12 0x84CC +#define GL_TEXTURE13 0x84CD +#define GL_TEXTURE14 0x84CE +#define GL_TEXTURE15 0x84CF +#define GL_TEXTURE16 0x84D0 +#define GL_TEXTURE17 0x84D1 +#define GL_TEXTURE18 0x84D2 +#define GL_TEXTURE19 0x84D3 +#define GL_TEXTURE20 0x84D4 +#define GL_TEXTURE21 0x84D5 +#define GL_TEXTURE22 0x84D6 +#define GL_TEXTURE23 0x84D7 +#define GL_TEXTURE24 0x84D8 +#define GL_TEXTURE25 0x84D9 +#define GL_TEXTURE26 0x84DA +#define GL_TEXTURE27 0x84DB +#define GL_TEXTURE28 0x84DC +#define GL_TEXTURE29 0x84DD +#define GL_TEXTURE30 0x84DE +#define GL_TEXTURE31 0x84DF +#define GL_ACTIVE_TEXTURE 0x84E0 +#define GL_REPEAT 0x2901 +#define GL_CLAMP_TO_EDGE 0x812F +#define GL_MIRRORED_REPEAT 0x8370 +#define GL_FLOAT_VEC2 0x8B50 +#define GL_FLOAT_VEC3 0x8B51 +#define GL_FLOAT_VEC4 0x8B52 +#define GL_INT_VEC2 0x8B53 +#define GL_INT_VEC3 0x8B54 +#define GL_INT_VEC4 0x8B55 +#define GL_BOOL 0x8B56 +#define GL_BOOL_VEC2 0x8B57 +#define GL_BOOL_VEC3 0x8B58 +#define GL_BOOL_VEC4 0x8B59 +#define GL_FLOAT_MAT2 0x8B5A +#define GL_FLOAT_MAT3 0x8B5B +#define GL_FLOAT_MAT4 0x8B5C +#define GL_SAMPLER_2D 0x8B5E +#define GL_SAMPLER_CUBE 0x8B60 +#define GL_VERTEX_ATTRIB_ARRAY_ENABLED 0x8622 +#define GL_VERTEX_ATTRIB_ARRAY_SIZE 0x8623 +#define GL_VERTEX_ATTRIB_ARRAY_STRIDE 0x8624 +#define GL_VERTEX_ATTRIB_ARRAY_TYPE 0x8625 +#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A +#define GL_VERTEX_ATTRIB_ARRAY_POINTER 0x8645 +#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F +#define GL_IMPLEMENTATION_COLOR_READ_TYPE 0x8B9A +#define GL_IMPLEMENTATION_COLOR_READ_FORMAT 0x8B9B +#define GL_COMPILE_STATUS 0x8B81 +#define GL_INFO_LOG_LENGTH 0x8B84 +#define GL_SHADER_SOURCE_LENGTH 0x8B88 +#define GL_SHADER_COMPILER 0x8DFA +#define GL_SHADER_BINARY_FORMATS 0x8DF8 +#define GL_NUM_SHADER_BINARY_FORMATS 0x8DF9 +#define GL_LOW_FLOAT 0x8DF0 +#define GL_MEDIUM_FLOAT 0x8DF1 +#define GL_HIGH_FLOAT 0x8DF2 +#define GL_LOW_INT 0x8DF3 +#define GL_MEDIUM_INT 0x8DF4 +#define GL_HIGH_INT 0x8DF5 +#define GL_FRAMEBUFFER 0x8D40 +#define GL_RENDERBUFFER 0x8D41 +#define GL_RGBA4 0x8056 +#define GL_RGB5_A1 0x8057 +#define GL_RGB565 0x8D62 +#define GL_DEPTH_COMPONENT16 0x81A5 +#define GL_STENCIL_INDEX8 0x8D48 +#define GL_RENDERBUFFER_WIDTH 0x8D42 +#define GL_RENDERBUFFER_HEIGHT 0x8D43 +#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44 +#define GL_RENDERBUFFER_RED_SIZE 0x8D50 +#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51 +#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52 +#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53 +#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54 +#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3 +#define GL_COLOR_ATTACHMENT0 0x8CE0 +#define GL_DEPTH_ATTACHMENT 0x8D00 +#define GL_STENCIL_ATTACHMENT 0x8D20 +#define GL_NONE 0 +#define GL_FRAMEBUFFER_COMPLETE 0x8CD5 +#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6 +#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7 +#define GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS 0x8CD9 +#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD +#define GL_FRAMEBUFFER_BINDING 0x8CA6 +#define GL_RENDERBUFFER_BINDING 0x8CA7 +#define GL_MAX_RENDERBUFFER_SIZE 0x84E8 +#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506 +typedef void (GL_APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture); +typedef void (GL_APIENTRYP PFNGLATTACHSHADERPROC) (GLuint program, GLuint shader); +typedef void (GL_APIENTRYP PFNGLBINDATTRIBLOCATIONPROC) (GLuint program, GLuint index, const GLchar *name); +typedef void (GL_APIENTRYP PFNGLBINDBUFFERPROC) (GLenum target, GLuint buffer); +typedef void (GL_APIENTRYP PFNGLBINDFRAMEBUFFERPROC) (GLenum target, GLuint framebuffer); +typedef void (GL_APIENTRYP PFNGLBINDRENDERBUFFERPROC) (GLenum target, GLuint renderbuffer); +typedef void (GL_APIENTRYP PFNGLBINDTEXTUREPROC) (GLenum target, GLuint texture); +typedef void (GL_APIENTRYP PFNGLBLENDCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONPROC) (GLenum mode); +typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONSEPARATEPROC) (GLenum modeRGB, GLenum modeAlpha); +typedef void (GL_APIENTRYP PFNGLBLENDFUNCPROC) (GLenum sfactor, GLenum dfactor); +typedef void (GL_APIENTRYP PFNGLBLENDFUNCSEPARATEPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +typedef void (GL_APIENTRYP PFNGLBUFFERDATAPROC) (GLenum target, GLsizeiptr size, const void *data, GLenum usage); +typedef void (GL_APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); +typedef GLenum (GL_APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSPROC) (GLenum target); +typedef void (GL_APIENTRYP PFNGLCLEARPROC) (GLbitfield mask); +typedef void (GL_APIENTRYP PFNGLCLEARCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +typedef void (GL_APIENTRYP PFNGLCLEARDEPTHFPROC) (GLfloat d); +typedef void (GL_APIENTRYP PFNGLCLEARSTENCILPROC) (GLint s); +typedef void (GL_APIENTRYP PFNGLCOLORMASKPROC) (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); +typedef void (GL_APIENTRYP PFNGLCOMPILESHADERPROC) (GLuint shader); +typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); +typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +typedef void (GL_APIENTRYP PFNGLCOPYTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (GL_APIENTRYP PFNGLCOPYTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef GLuint (GL_APIENTRYP PFNGLCREATEPROGRAMPROC) (void); +typedef GLuint (GL_APIENTRYP PFNGLCREATESHADERPROC) (GLenum type); +typedef void (GL_APIENTRYP PFNGLCULLFACEPROC) (GLenum mode); +typedef void (GL_APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers); +typedef void (GL_APIENTRYP PFNGLDELETEFRAMEBUFFERSPROC) (GLsizei n, const GLuint *framebuffers); +typedef void (GL_APIENTRYP PFNGLDELETEPROGRAMPROC) (GLuint program); +typedef void (GL_APIENTRYP PFNGLDELETERENDERBUFFERSPROC) (GLsizei n, const GLuint *renderbuffers); +typedef void (GL_APIENTRYP PFNGLDELETESHADERPROC) (GLuint shader); +typedef void (GL_APIENTRYP PFNGLDELETETEXTURESPROC) (GLsizei n, const GLuint *textures); +typedef void (GL_APIENTRYP PFNGLDEPTHFUNCPROC) (GLenum func); +typedef void (GL_APIENTRYP PFNGLDEPTHMASKPROC) (GLboolean flag); +typedef void (GL_APIENTRYP PFNGLDEPTHRANGEFPROC) (GLfloat n, GLfloat f); +typedef void (GL_APIENTRYP PFNGLDETACHSHADERPROC) (GLuint program, GLuint shader); +typedef void (GL_APIENTRYP PFNGLDISABLEPROC) (GLenum cap); +typedef void (GL_APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYPROC) (GLuint index); +typedef void (GL_APIENTRYP PFNGLDRAWARRAYSPROC) (GLenum mode, GLint first, GLsizei count); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices); +typedef void (GL_APIENTRYP PFNGLENABLEPROC) (GLenum cap); +typedef void (GL_APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYPROC) (GLuint index); +typedef void (GL_APIENTRYP PFNGLFINISHPROC) (void); +typedef void (GL_APIENTRYP PFNGLFLUSHPROC) (void); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFERPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GL_APIENTRYP PFNGLFRONTFACEPROC) (GLenum mode); +typedef void (GL_APIENTRYP PFNGLGENBUFFERSPROC) (GLsizei n, GLuint *buffers); +typedef void (GL_APIENTRYP PFNGLGENERATEMIPMAPPROC) (GLenum target); +typedef void (GL_APIENTRYP PFNGLGENFRAMEBUFFERSPROC) (GLsizei n, GLuint *framebuffers); +typedef void (GL_APIENTRYP PFNGLGENRENDERBUFFERSPROC) (GLsizei n, GLuint *renderbuffers); +typedef void (GL_APIENTRYP PFNGLGENTEXTURESPROC) (GLsizei n, GLuint *textures); +typedef void (GL_APIENTRYP PFNGLGETACTIVEATTRIBPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +typedef void (GL_APIENTRYP PFNGLGETACTIVEUNIFORMPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +typedef void (GL_APIENTRYP PFNGLGETATTACHEDSHADERSPROC) (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); +typedef GLint (GL_APIENTRYP PFNGLGETATTRIBLOCATIONPROC) (GLuint program, const GLchar *name); +typedef void (GL_APIENTRYP PFNGLGETBOOLEANVPROC) (GLenum pname, GLboolean *data); +typedef void (GL_APIENTRYP PFNGLGETBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef GLenum (GL_APIENTRYP PFNGLGETERRORPROC) (void); +typedef void (GL_APIENTRYP PFNGLGETFLOATVPROC) (GLenum pname, GLfloat *data); +typedef void (GL_APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLenum target, GLenum attachment, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETINTEGERVPROC) (GLenum pname, GLint *data); +typedef void (GL_APIENTRYP PFNGLGETPROGRAMIVPROC) (GLuint program, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETPROGRAMINFOLOGPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +typedef void (GL_APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETSHADERIVPROC) (GLuint shader, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETSHADERINFOLOGPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +typedef void (GL_APIENTRYP PFNGLGETSHADERPRECISIONFORMATPROC) (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); +typedef void (GL_APIENTRYP PFNGLGETSHADERSOURCEPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); +typedef const GLubyte *(GL_APIENTRYP PFNGLGETSTRINGPROC) (GLenum name); +typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETUNIFORMFVPROC) (GLuint program, GLint location, GLfloat *params); +typedef void (GL_APIENTRYP PFNGLGETUNIFORMIVPROC) (GLuint program, GLint location, GLint *params); +typedef GLint (GL_APIENTRYP PFNGLGETUNIFORMLOCATIONPROC) (GLuint program, const GLchar *name); +typedef void (GL_APIENTRYP PFNGLGETVERTEXATTRIBFVPROC) (GLuint index, GLenum pname, GLfloat *params); +typedef void (GL_APIENTRYP PFNGLGETVERTEXATTRIBIVPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVPROC) (GLuint index, GLenum pname, void **pointer); +typedef void (GL_APIENTRYP PFNGLHINTPROC) (GLenum target, GLenum mode); +typedef GLboolean (GL_APIENTRYP PFNGLISBUFFERPROC) (GLuint buffer); +typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDPROC) (GLenum cap); +typedef GLboolean (GL_APIENTRYP PFNGLISFRAMEBUFFERPROC) (GLuint framebuffer); +typedef GLboolean (GL_APIENTRYP PFNGLISPROGRAMPROC) (GLuint program); +typedef GLboolean (GL_APIENTRYP PFNGLISRENDERBUFFERPROC) (GLuint renderbuffer); +typedef GLboolean (GL_APIENTRYP PFNGLISSHADERPROC) (GLuint shader); +typedef GLboolean (GL_APIENTRYP PFNGLISTEXTUREPROC) (GLuint texture); +typedef void (GL_APIENTRYP PFNGLLINEWIDTHPROC) (GLfloat width); +typedef void (GL_APIENTRYP PFNGLLINKPROGRAMPROC) (GLuint program); +typedef void (GL_APIENTRYP PFNGLPIXELSTOREIPROC) (GLenum pname, GLint param); +typedef void (GL_APIENTRYP PFNGLPOLYGONOFFSETPROC) (GLfloat factor, GLfloat units); +typedef void (GL_APIENTRYP PFNGLREADPIXELSPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels); +typedef void (GL_APIENTRYP PFNGLRELEASESHADERCOMPILERPROC) (void); +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLSAMPLECOVERAGEPROC) (GLfloat value, GLboolean invert); +typedef void (GL_APIENTRYP PFNGLSCISSORPROC) (GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLSHADERBINARYPROC) (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); +typedef void (GL_APIENTRYP PFNGLSHADERSOURCEPROC) (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); +typedef void (GL_APIENTRYP PFNGLSTENCILFUNCPROC) (GLenum func, GLint ref, GLuint mask); +typedef void (GL_APIENTRYP PFNGLSTENCILFUNCSEPARATEPROC) (GLenum face, GLenum func, GLint ref, GLuint mask); +typedef void (GL_APIENTRYP PFNGLSTENCILMASKPROC) (GLuint mask); +typedef void (GL_APIENTRYP PFNGLSTENCILMASKSEPARATEPROC) (GLenum face, GLuint mask); +typedef void (GL_APIENTRYP PFNGLSTENCILOPPROC) (GLenum fail, GLenum zfail, GLenum zpass); +typedef void (GL_APIENTRYP PFNGLSTENCILOPSEPARATEPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +typedef void (GL_APIENTRYP PFNGLTEXIMAGE2DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERFPROC) (GLenum target, GLenum pname, GLfloat param); +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIPROC) (GLenum target, GLenum pname, GLint param); +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (GL_APIENTRYP PFNGLTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +typedef void (GL_APIENTRYP PFNGLUNIFORM1FPROC) (GLint location, GLfloat v0); +typedef void (GL_APIENTRYP PFNGLUNIFORM1FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM1IPROC) (GLint location, GLint v0); +typedef void (GL_APIENTRYP PFNGLUNIFORM1IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM2FPROC) (GLint location, GLfloat v0, GLfloat v1); +typedef void (GL_APIENTRYP PFNGLUNIFORM2FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM2IPROC) (GLint location, GLint v0, GLint v1); +typedef void (GL_APIENTRYP PFNGLUNIFORM2IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM3FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (GL_APIENTRYP PFNGLUNIFORM3FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM3IPROC) (GLint location, GLint v0, GLint v1, GLint v2); +typedef void (GL_APIENTRYP PFNGLUNIFORM3IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM4FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (GL_APIENTRYP PFNGLUNIFORM4FVPROC) (GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM4IPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (GL_APIENTRYP PFNGLUNIFORM4IVPROC) (GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUSEPROGRAMPROC) (GLuint program); +typedef void (GL_APIENTRYP PFNGLVALIDATEPROGRAMPROC) (GLuint program); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB1FPROC) (GLuint index, GLfloat x); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB1FVPROC) (GLuint index, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB2FPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB2FVPROC) (GLuint index, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB3FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB3FVPROC) (GLuint index, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB4FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB4FVPROC) (GLuint index, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); +typedef void (GL_APIENTRYP PFNGLVIEWPORTPROC) (GLint x, GLint y, GLsizei width, GLsizei height); +#if GL_GLES_PROTOTYPES +GL_APICALL void GL_APIENTRY glActiveTexture (GLenum texture); +GL_APICALL void GL_APIENTRY glAttachShader (GLuint program, GLuint shader); +GL_APICALL void GL_APIENTRY glBindAttribLocation (GLuint program, GLuint index, const GLchar *name); +GL_APICALL void GL_APIENTRY glBindBuffer (GLenum target, GLuint buffer); +GL_APICALL void GL_APIENTRY glBindFramebuffer (GLenum target, GLuint framebuffer); +GL_APICALL void GL_APIENTRY glBindRenderbuffer (GLenum target, GLuint renderbuffer); +GL_APICALL void GL_APIENTRY glBindTexture (GLenum target, GLuint texture); +GL_APICALL void GL_APIENTRY glBlendColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +GL_APICALL void GL_APIENTRY glBlendEquation (GLenum mode); +GL_APICALL void GL_APIENTRY glBlendEquationSeparate (GLenum modeRGB, GLenum modeAlpha); +GL_APICALL void GL_APIENTRY glBlendFunc (GLenum sfactor, GLenum dfactor); +GL_APICALL void GL_APIENTRY glBlendFuncSeparate (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +GL_APICALL void GL_APIENTRY glBufferData (GLenum target, GLsizeiptr size, const void *data, GLenum usage); +GL_APICALL void GL_APIENTRY glBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); +GL_APICALL GLenum GL_APIENTRY glCheckFramebufferStatus (GLenum target); +GL_APICALL void GL_APIENTRY glClear (GLbitfield mask); +GL_APICALL void GL_APIENTRY glClearColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +GL_APICALL void GL_APIENTRY glClearDepthf (GLfloat d); +GL_APICALL void GL_APIENTRY glClearStencil (GLint s); +GL_APICALL void GL_APIENTRY glColorMask (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); +GL_APICALL void GL_APIENTRY glCompileShader (GLuint shader); +GL_APICALL void GL_APIENTRY glCompressedTexImage2D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); +GL_APICALL void GL_APIENTRY glCompressedTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); +GL_APICALL void GL_APIENTRY glCopyTexImage2D (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +GL_APICALL void GL_APIENTRY glCopyTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GL_APICALL GLuint GL_APIENTRY glCreateProgram (void); +GL_APICALL GLuint GL_APIENTRY glCreateShader (GLenum type); +GL_APICALL void GL_APIENTRY glCullFace (GLenum mode); +GL_APICALL void GL_APIENTRY glDeleteBuffers (GLsizei n, const GLuint *buffers); +GL_APICALL void GL_APIENTRY glDeleteFramebuffers (GLsizei n, const GLuint *framebuffers); +GL_APICALL void GL_APIENTRY glDeleteProgram (GLuint program); +GL_APICALL void GL_APIENTRY glDeleteRenderbuffers (GLsizei n, const GLuint *renderbuffers); +GL_APICALL void GL_APIENTRY glDeleteShader (GLuint shader); +GL_APICALL void GL_APIENTRY glDeleteTextures (GLsizei n, const GLuint *textures); +GL_APICALL void GL_APIENTRY glDepthFunc (GLenum func); +GL_APICALL void GL_APIENTRY glDepthMask (GLboolean flag); +GL_APICALL void GL_APIENTRY glDepthRangef (GLfloat n, GLfloat f); +GL_APICALL void GL_APIENTRY glDetachShader (GLuint program, GLuint shader); +GL_APICALL void GL_APIENTRY glDisable (GLenum cap); +GL_APICALL void GL_APIENTRY glDisableVertexAttribArray (GLuint index); +GL_APICALL void GL_APIENTRY glDrawArrays (GLenum mode, GLint first, GLsizei count); +GL_APICALL void GL_APIENTRY glDrawElements (GLenum mode, GLsizei count, GLenum type, const void *indices); +GL_APICALL void GL_APIENTRY glEnable (GLenum cap); +GL_APICALL void GL_APIENTRY glEnableVertexAttribArray (GLuint index); +GL_APICALL void GL_APIENTRY glFinish (void); +GL_APICALL void GL_APIENTRY glFlush (void); +GL_APICALL void GL_APIENTRY glFramebufferRenderbuffer (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +GL_APICALL void GL_APIENTRY glFramebufferTexture2D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +GL_APICALL void GL_APIENTRY glFrontFace (GLenum mode); +GL_APICALL void GL_APIENTRY glGenBuffers (GLsizei n, GLuint *buffers); +GL_APICALL void GL_APIENTRY glGenerateMipmap (GLenum target); +GL_APICALL void GL_APIENTRY glGenFramebuffers (GLsizei n, GLuint *framebuffers); +GL_APICALL void GL_APIENTRY glGenRenderbuffers (GLsizei n, GLuint *renderbuffers); +GL_APICALL void GL_APIENTRY glGenTextures (GLsizei n, GLuint *textures); +GL_APICALL void GL_APIENTRY glGetActiveAttrib (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +GL_APICALL void GL_APIENTRY glGetActiveUniform (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); +GL_APICALL void GL_APIENTRY glGetAttachedShaders (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); +GL_APICALL GLint GL_APIENTRY glGetAttribLocation (GLuint program, const GLchar *name); +GL_APICALL void GL_APIENTRY glGetBooleanv (GLenum pname, GLboolean *data); +GL_APICALL void GL_APIENTRY glGetBufferParameteriv (GLenum target, GLenum pname, GLint *params); +GL_APICALL GLenum GL_APIENTRY glGetError (void); +GL_APICALL void GL_APIENTRY glGetFloatv (GLenum pname, GLfloat *data); +GL_APICALL void GL_APIENTRY glGetFramebufferAttachmentParameteriv (GLenum target, GLenum attachment, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetIntegerv (GLenum pname, GLint *data); +GL_APICALL void GL_APIENTRY glGetProgramiv (GLuint program, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetProgramInfoLog (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +GL_APICALL void GL_APIENTRY glGetRenderbufferParameteriv (GLenum target, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetShaderiv (GLuint shader, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetShaderInfoLog (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +GL_APICALL void GL_APIENTRY glGetShaderPrecisionFormat (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); +GL_APICALL void GL_APIENTRY glGetShaderSource (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); +GL_APICALL const GLubyte *GL_APIENTRY glGetString (GLenum name); +GL_APICALL void GL_APIENTRY glGetTexParameterfv (GLenum target, GLenum pname, GLfloat *params); +GL_APICALL void GL_APIENTRY glGetTexParameteriv (GLenum target, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetUniformfv (GLuint program, GLint location, GLfloat *params); +GL_APICALL void GL_APIENTRY glGetUniformiv (GLuint program, GLint location, GLint *params); +GL_APICALL GLint GL_APIENTRY glGetUniformLocation (GLuint program, const GLchar *name); +GL_APICALL void GL_APIENTRY glGetVertexAttribfv (GLuint index, GLenum pname, GLfloat *params); +GL_APICALL void GL_APIENTRY glGetVertexAttribiv (GLuint index, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetVertexAttribPointerv (GLuint index, GLenum pname, void **pointer); +GL_APICALL void GL_APIENTRY glHint (GLenum target, GLenum mode); +GL_APICALL GLboolean GL_APIENTRY glIsBuffer (GLuint buffer); +GL_APICALL GLboolean GL_APIENTRY glIsEnabled (GLenum cap); +GL_APICALL GLboolean GL_APIENTRY glIsFramebuffer (GLuint framebuffer); +GL_APICALL GLboolean GL_APIENTRY glIsProgram (GLuint program); +GL_APICALL GLboolean GL_APIENTRY glIsRenderbuffer (GLuint renderbuffer); +GL_APICALL GLboolean GL_APIENTRY glIsShader (GLuint shader); +GL_APICALL GLboolean GL_APIENTRY glIsTexture (GLuint texture); +GL_APICALL void GL_APIENTRY glLineWidth (GLfloat width); +GL_APICALL void GL_APIENTRY glLinkProgram (GLuint program); +GL_APICALL void GL_APIENTRY glPixelStorei (GLenum pname, GLint param); +GL_APICALL void GL_APIENTRY glPolygonOffset (GLfloat factor, GLfloat units); +GL_APICALL void GL_APIENTRY glReadPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels); +GL_APICALL void GL_APIENTRY glReleaseShaderCompiler (void); +GL_APICALL void GL_APIENTRY glRenderbufferStorage (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glSampleCoverage (GLfloat value, GLboolean invert); +GL_APICALL void GL_APIENTRY glScissor (GLint x, GLint y, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glShaderBinary (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); +GL_APICALL void GL_APIENTRY glShaderSource (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); +GL_APICALL void GL_APIENTRY glStencilFunc (GLenum func, GLint ref, GLuint mask); +GL_APICALL void GL_APIENTRY glStencilFuncSeparate (GLenum face, GLenum func, GLint ref, GLuint mask); +GL_APICALL void GL_APIENTRY glStencilMask (GLuint mask); +GL_APICALL void GL_APIENTRY glStencilMaskSeparate (GLenum face, GLuint mask); +GL_APICALL void GL_APIENTRY glStencilOp (GLenum fail, GLenum zfail, GLenum zpass); +GL_APICALL void GL_APIENTRY glStencilOpSeparate (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +GL_APICALL void GL_APIENTRY glTexImage2D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); +GL_APICALL void GL_APIENTRY glTexParameterf (GLenum target, GLenum pname, GLfloat param); +GL_APICALL void GL_APIENTRY glTexParameterfv (GLenum target, GLenum pname, const GLfloat *params); +GL_APICALL void GL_APIENTRY glTexParameteri (GLenum target, GLenum pname, GLint param); +GL_APICALL void GL_APIENTRY glTexParameteriv (GLenum target, GLenum pname, const GLint *params); +GL_APICALL void GL_APIENTRY glTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); +GL_APICALL void GL_APIENTRY glUniform1f (GLint location, GLfloat v0); +GL_APICALL void GL_APIENTRY glUniform1fv (GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniform1i (GLint location, GLint v0); +GL_APICALL void GL_APIENTRY glUniform1iv (GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glUniform2f (GLint location, GLfloat v0, GLfloat v1); +GL_APICALL void GL_APIENTRY glUniform2fv (GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniform2i (GLint location, GLint v0, GLint v1); +GL_APICALL void GL_APIENTRY glUniform2iv (GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glUniform3f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +GL_APICALL void GL_APIENTRY glUniform3fv (GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniform3i (GLint location, GLint v0, GLint v1, GLint v2); +GL_APICALL void GL_APIENTRY glUniform3iv (GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glUniform4f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +GL_APICALL void GL_APIENTRY glUniform4fv (GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniform4i (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +GL_APICALL void GL_APIENTRY glUniform4iv (GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glUniformMatrix2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUseProgram (GLuint program); +GL_APICALL void GL_APIENTRY glValidateProgram (GLuint program); +GL_APICALL void GL_APIENTRY glVertexAttrib1f (GLuint index, GLfloat x); +GL_APICALL void GL_APIENTRY glVertexAttrib1fv (GLuint index, const GLfloat *v); +GL_APICALL void GL_APIENTRY glVertexAttrib2f (GLuint index, GLfloat x, GLfloat y); +GL_APICALL void GL_APIENTRY glVertexAttrib2fv (GLuint index, const GLfloat *v); +GL_APICALL void GL_APIENTRY glVertexAttrib3f (GLuint index, GLfloat x, GLfloat y, GLfloat z); +GL_APICALL void GL_APIENTRY glVertexAttrib3fv (GLuint index, const GLfloat *v); +GL_APICALL void GL_APIENTRY glVertexAttrib4f (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GL_APICALL void GL_APIENTRY glVertexAttrib4fv (GLuint index, const GLfloat *v); +GL_APICALL void GL_APIENTRY glVertexAttribPointer (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); +GL_APICALL void GL_APIENTRY glViewport (GLint x, GLint y, GLsizei width, GLsizei height); +#endif +#endif /* GL_ES_VERSION_2_0 */ + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2ext.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2ext.h new file mode 100644 index 000000000..9448ce09f --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2ext.h @@ -0,0 +1,4033 @@ +#ifndef __gles2_gl2ext_h_ +#define __gles2_gl2ext_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright 2013-2020 The Khronos Group Inc. +** SPDX-License-Identifier: MIT +** +** This header is generated from the Khronos OpenGL / OpenGL ES XML +** API Registry. The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** https://github.com/KhronosGroup/OpenGL-Registry +*/ + +#ifndef GL_APIENTRYP +#define GL_APIENTRYP GL_APIENTRY* +#endif + +/* Generated on date 20220530 */ + +/* Generated C header for: + * API: gles2 + * Profile: common + * Versions considered: 2\.[0-9] + * Versions emitted: _nomatch_^ + * Default extensions included: gles2 + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef GL_KHR_blend_equation_advanced +#define GL_KHR_blend_equation_advanced 1 +#define GL_MULTIPLY_KHR 0x9294 +#define GL_SCREEN_KHR 0x9295 +#define GL_OVERLAY_KHR 0x9296 +#define GL_DARKEN_KHR 0x9297 +#define GL_LIGHTEN_KHR 0x9298 +#define GL_COLORDODGE_KHR 0x9299 +#define GL_COLORBURN_KHR 0x929A +#define GL_HARDLIGHT_KHR 0x929B +#define GL_SOFTLIGHT_KHR 0x929C +#define GL_DIFFERENCE_KHR 0x929E +#define GL_EXCLUSION_KHR 0x92A0 +#define GL_HSL_HUE_KHR 0x92AD +#define GL_HSL_SATURATION_KHR 0x92AE +#define GL_HSL_COLOR_KHR 0x92AF +#define GL_HSL_LUMINOSITY_KHR 0x92B0 +typedef void (GL_APIENTRYP PFNGLBLENDBARRIERKHRPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBlendBarrierKHR (void); +#endif +#endif /* GL_KHR_blend_equation_advanced */ + +#ifndef GL_KHR_blend_equation_advanced_coherent +#define GL_KHR_blend_equation_advanced_coherent 1 +#define GL_BLEND_ADVANCED_COHERENT_KHR 0x9285 +#endif /* GL_KHR_blend_equation_advanced_coherent */ + +#ifndef GL_KHR_context_flush_control +#define GL_KHR_context_flush_control 1 +#define GL_CONTEXT_RELEASE_BEHAVIOR_KHR 0x82FB +#define GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH_KHR 0x82FC +#endif /* GL_KHR_context_flush_control */ + +#ifndef GL_KHR_debug +#define GL_KHR_debug 1 +typedef void (GL_APIENTRY *GLDEBUGPROCKHR)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam); +#define GL_SAMPLER 0x82E6 +#define GL_DEBUG_OUTPUT_SYNCHRONOUS_KHR 0x8242 +#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH_KHR 0x8243 +#define GL_DEBUG_CALLBACK_FUNCTION_KHR 0x8244 +#define GL_DEBUG_CALLBACK_USER_PARAM_KHR 0x8245 +#define GL_DEBUG_SOURCE_API_KHR 0x8246 +#define GL_DEBUG_SOURCE_WINDOW_SYSTEM_KHR 0x8247 +#define GL_DEBUG_SOURCE_SHADER_COMPILER_KHR 0x8248 +#define GL_DEBUG_SOURCE_THIRD_PARTY_KHR 0x8249 +#define GL_DEBUG_SOURCE_APPLICATION_KHR 0x824A +#define GL_DEBUG_SOURCE_OTHER_KHR 0x824B +#define GL_DEBUG_TYPE_ERROR_KHR 0x824C +#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR_KHR 0x824D +#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR_KHR 0x824E +#define GL_DEBUG_TYPE_PORTABILITY_KHR 0x824F +#define GL_DEBUG_TYPE_PERFORMANCE_KHR 0x8250 +#define GL_DEBUG_TYPE_OTHER_KHR 0x8251 +#define GL_DEBUG_TYPE_MARKER_KHR 0x8268 +#define GL_DEBUG_TYPE_PUSH_GROUP_KHR 0x8269 +#define GL_DEBUG_TYPE_POP_GROUP_KHR 0x826A +#define GL_DEBUG_SEVERITY_NOTIFICATION_KHR 0x826B +#define GL_MAX_DEBUG_GROUP_STACK_DEPTH_KHR 0x826C +#define GL_DEBUG_GROUP_STACK_DEPTH_KHR 0x826D +#define GL_BUFFER_KHR 0x82E0 +#define GL_SHADER_KHR 0x82E1 +#define GL_PROGRAM_KHR 0x82E2 +#define GL_VERTEX_ARRAY_KHR 0x8074 +#define GL_QUERY_KHR 0x82E3 +#define GL_PROGRAM_PIPELINE_KHR 0x82E4 +#define GL_SAMPLER_KHR 0x82E6 +#define GL_MAX_LABEL_LENGTH_KHR 0x82E8 +#define GL_MAX_DEBUG_MESSAGE_LENGTH_KHR 0x9143 +#define GL_MAX_DEBUG_LOGGED_MESSAGES_KHR 0x9144 +#define GL_DEBUG_LOGGED_MESSAGES_KHR 0x9145 +#define GL_DEBUG_SEVERITY_HIGH_KHR 0x9146 +#define GL_DEBUG_SEVERITY_MEDIUM_KHR 0x9147 +#define GL_DEBUG_SEVERITY_LOW_KHR 0x9148 +#define GL_DEBUG_OUTPUT_KHR 0x92E0 +#define GL_CONTEXT_FLAG_DEBUG_BIT_KHR 0x00000002 +#define GL_STACK_OVERFLOW_KHR 0x0503 +#define GL_STACK_UNDERFLOW_KHR 0x0504 +typedef void (GL_APIENTRYP PFNGLDEBUGMESSAGECONTROLKHRPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +typedef void (GL_APIENTRYP PFNGLDEBUGMESSAGEINSERTKHRPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); +typedef void (GL_APIENTRYP PFNGLDEBUGMESSAGECALLBACKKHRPROC) (GLDEBUGPROCKHR callback, const void *userParam); +typedef GLuint (GL_APIENTRYP PFNGLGETDEBUGMESSAGELOGKHRPROC) (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); +typedef void (GL_APIENTRYP PFNGLPUSHDEBUGGROUPKHRPROC) (GLenum source, GLuint id, GLsizei length, const GLchar *message); +typedef void (GL_APIENTRYP PFNGLPOPDEBUGGROUPKHRPROC) (void); +typedef void (GL_APIENTRYP PFNGLOBJECTLABELKHRPROC) (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); +typedef void (GL_APIENTRYP PFNGLGETOBJECTLABELKHRPROC) (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); +typedef void (GL_APIENTRYP PFNGLOBJECTPTRLABELKHRPROC) (const void *ptr, GLsizei length, const GLchar *label); +typedef void (GL_APIENTRYP PFNGLGETOBJECTPTRLABELKHRPROC) (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); +typedef void (GL_APIENTRYP PFNGLGETPOINTERVKHRPROC) (GLenum pname, void **params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDebugMessageControlKHR (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); +GL_APICALL void GL_APIENTRY glDebugMessageInsertKHR (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); +GL_APICALL void GL_APIENTRY glDebugMessageCallbackKHR (GLDEBUGPROCKHR callback, const void *userParam); +GL_APICALL GLuint GL_APIENTRY glGetDebugMessageLogKHR (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); +GL_APICALL void GL_APIENTRY glPushDebugGroupKHR (GLenum source, GLuint id, GLsizei length, const GLchar *message); +GL_APICALL void GL_APIENTRY glPopDebugGroupKHR (void); +GL_APICALL void GL_APIENTRY glObjectLabelKHR (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); +GL_APICALL void GL_APIENTRY glGetObjectLabelKHR (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); +GL_APICALL void GL_APIENTRY glObjectPtrLabelKHR (const void *ptr, GLsizei length, const GLchar *label); +GL_APICALL void GL_APIENTRY glGetObjectPtrLabelKHR (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); +GL_APICALL void GL_APIENTRY glGetPointervKHR (GLenum pname, void **params); +#endif +#endif /* GL_KHR_debug */ + +#ifndef GL_KHR_no_error +#define GL_KHR_no_error 1 +#define GL_CONTEXT_FLAG_NO_ERROR_BIT_KHR 0x00000008 +#endif /* GL_KHR_no_error */ + +#ifndef GL_KHR_parallel_shader_compile +#define GL_KHR_parallel_shader_compile 1 +#define GL_MAX_SHADER_COMPILER_THREADS_KHR 0x91B0 +#define GL_COMPLETION_STATUS_KHR 0x91B1 +typedef void (GL_APIENTRYP PFNGLMAXSHADERCOMPILERTHREADSKHRPROC) (GLuint count); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glMaxShaderCompilerThreadsKHR (GLuint count); +#endif +#endif /* GL_KHR_parallel_shader_compile */ + +#ifndef GL_KHR_robust_buffer_access_behavior +#define GL_KHR_robust_buffer_access_behavior 1 +#endif /* GL_KHR_robust_buffer_access_behavior */ + +#ifndef GL_KHR_robustness +#define GL_KHR_robustness 1 +#define GL_CONTEXT_ROBUST_ACCESS_KHR 0x90F3 +#define GL_LOSE_CONTEXT_ON_RESET_KHR 0x8252 +#define GL_GUILTY_CONTEXT_RESET_KHR 0x8253 +#define GL_INNOCENT_CONTEXT_RESET_KHR 0x8254 +#define GL_UNKNOWN_CONTEXT_RESET_KHR 0x8255 +#define GL_RESET_NOTIFICATION_STRATEGY_KHR 0x8256 +#define GL_NO_RESET_NOTIFICATION_KHR 0x8261 +#define GL_CONTEXT_LOST_KHR 0x0507 +typedef GLenum (GL_APIENTRYP PFNGLGETGRAPHICSRESETSTATUSKHRPROC) (void); +typedef void (GL_APIENTRYP PFNGLREADNPIXELSKHRPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +typedef void (GL_APIENTRYP PFNGLGETNUNIFORMFVKHRPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +typedef void (GL_APIENTRYP PFNGLGETNUNIFORMIVKHRPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETNUNIFORMUIVKHRPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLenum GL_APIENTRY glGetGraphicsResetStatusKHR (void); +GL_APICALL void GL_APIENTRY glReadnPixelsKHR (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +GL_APICALL void GL_APIENTRY glGetnUniformfvKHR (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +GL_APICALL void GL_APIENTRY glGetnUniformivKHR (GLuint program, GLint location, GLsizei bufSize, GLint *params); +GL_APICALL void GL_APIENTRY glGetnUniformuivKHR (GLuint program, GLint location, GLsizei bufSize, GLuint *params); +#endif +#endif /* GL_KHR_robustness */ + +#ifndef GL_KHR_shader_subgroup +#define GL_KHR_shader_subgroup 1 +#define GL_SUBGROUP_SIZE_KHR 0x9532 +#define GL_SUBGROUP_SUPPORTED_STAGES_KHR 0x9533 +#define GL_SUBGROUP_SUPPORTED_FEATURES_KHR 0x9534 +#define GL_SUBGROUP_QUAD_ALL_STAGES_KHR 0x9535 +#define GL_SUBGROUP_FEATURE_BASIC_BIT_KHR 0x00000001 +#define GL_SUBGROUP_FEATURE_VOTE_BIT_KHR 0x00000002 +#define GL_SUBGROUP_FEATURE_ARITHMETIC_BIT_KHR 0x00000004 +#define GL_SUBGROUP_FEATURE_BALLOT_BIT_KHR 0x00000008 +#define GL_SUBGROUP_FEATURE_SHUFFLE_BIT_KHR 0x00000010 +#define GL_SUBGROUP_FEATURE_SHUFFLE_RELATIVE_BIT_KHR 0x00000020 +#define GL_SUBGROUP_FEATURE_CLUSTERED_BIT_KHR 0x00000040 +#define GL_SUBGROUP_FEATURE_QUAD_BIT_KHR 0x00000080 +#endif /* GL_KHR_shader_subgroup */ + +#ifndef GL_KHR_texture_compression_astc_hdr +#define GL_KHR_texture_compression_astc_hdr 1 +#define GL_COMPRESSED_RGBA_ASTC_4x4_KHR 0x93B0 +#define GL_COMPRESSED_RGBA_ASTC_5x4_KHR 0x93B1 +#define GL_COMPRESSED_RGBA_ASTC_5x5_KHR 0x93B2 +#define GL_COMPRESSED_RGBA_ASTC_6x5_KHR 0x93B3 +#define GL_COMPRESSED_RGBA_ASTC_6x6_KHR 0x93B4 +#define GL_COMPRESSED_RGBA_ASTC_8x5_KHR 0x93B5 +#define GL_COMPRESSED_RGBA_ASTC_8x6_KHR 0x93B6 +#define GL_COMPRESSED_RGBA_ASTC_8x8_KHR 0x93B7 +#define GL_COMPRESSED_RGBA_ASTC_10x5_KHR 0x93B8 +#define GL_COMPRESSED_RGBA_ASTC_10x6_KHR 0x93B9 +#define GL_COMPRESSED_RGBA_ASTC_10x8_KHR 0x93BA +#define GL_COMPRESSED_RGBA_ASTC_10x10_KHR 0x93BB +#define GL_COMPRESSED_RGBA_ASTC_12x10_KHR 0x93BC +#define GL_COMPRESSED_RGBA_ASTC_12x12_KHR 0x93BD +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR 0x93D0 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR 0x93D1 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR 0x93D2 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR 0x93D3 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR 0x93D4 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR 0x93D5 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR 0x93D6 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR 0x93D7 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR 0x93D8 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR 0x93D9 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR 0x93DA +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR 0x93DB +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR 0x93DC +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR 0x93DD +#endif /* GL_KHR_texture_compression_astc_hdr */ + +#ifndef GL_KHR_texture_compression_astc_ldr +#define GL_KHR_texture_compression_astc_ldr 1 +#endif /* GL_KHR_texture_compression_astc_ldr */ + +#ifndef GL_KHR_texture_compression_astc_sliced_3d +#define GL_KHR_texture_compression_astc_sliced_3d 1 +#endif /* GL_KHR_texture_compression_astc_sliced_3d */ + +#ifndef GL_OES_EGL_image +#define GL_OES_EGL_image 1 +typedef void *GLeglImageOES; +typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETTEXTURE2DOESPROC) (GLenum target, GLeglImageOES image); +typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETRENDERBUFFERSTORAGEOESPROC) (GLenum target, GLeglImageOES image); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glEGLImageTargetTexture2DOES (GLenum target, GLeglImageOES image); +GL_APICALL void GL_APIENTRY glEGLImageTargetRenderbufferStorageOES (GLenum target, GLeglImageOES image); +#endif +#endif /* GL_OES_EGL_image */ + +#ifndef GL_OES_EGL_image_external +#define GL_OES_EGL_image_external 1 +#define GL_TEXTURE_EXTERNAL_OES 0x8D65 +#define GL_TEXTURE_BINDING_EXTERNAL_OES 0x8D67 +#define GL_REQUIRED_TEXTURE_IMAGE_UNITS_OES 0x8D68 +#define GL_SAMPLER_EXTERNAL_OES 0x8D66 +#endif /* GL_OES_EGL_image_external */ + +#ifndef GL_OES_EGL_image_external_essl3 +#define GL_OES_EGL_image_external_essl3 1 +#endif /* GL_OES_EGL_image_external_essl3 */ + +#ifndef GL_OES_compressed_ETC1_RGB8_sub_texture +#define GL_OES_compressed_ETC1_RGB8_sub_texture 1 +#endif /* GL_OES_compressed_ETC1_RGB8_sub_texture */ + +#ifndef GL_OES_compressed_ETC1_RGB8_texture +#define GL_OES_compressed_ETC1_RGB8_texture 1 +#define GL_ETC1_RGB8_OES 0x8D64 +#endif /* GL_OES_compressed_ETC1_RGB8_texture */ + +#ifndef GL_OES_compressed_paletted_texture +#define GL_OES_compressed_paletted_texture 1 +#define GL_PALETTE4_RGB8_OES 0x8B90 +#define GL_PALETTE4_RGBA8_OES 0x8B91 +#define GL_PALETTE4_R5_G6_B5_OES 0x8B92 +#define GL_PALETTE4_RGBA4_OES 0x8B93 +#define GL_PALETTE4_RGB5_A1_OES 0x8B94 +#define GL_PALETTE8_RGB8_OES 0x8B95 +#define GL_PALETTE8_RGBA8_OES 0x8B96 +#define GL_PALETTE8_R5_G6_B5_OES 0x8B97 +#define GL_PALETTE8_RGBA4_OES 0x8B98 +#define GL_PALETTE8_RGB5_A1_OES 0x8B99 +#endif /* GL_OES_compressed_paletted_texture */ + +#ifndef GL_OES_copy_image +#define GL_OES_copy_image 1 +typedef void (GL_APIENTRYP PFNGLCOPYIMAGESUBDATAOESPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCopyImageSubDataOES (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +#endif +#endif /* GL_OES_copy_image */ + +#ifndef GL_OES_depth24 +#define GL_OES_depth24 1 +#define GL_DEPTH_COMPONENT24_OES 0x81A6 +#endif /* GL_OES_depth24 */ + +#ifndef GL_OES_depth32 +#define GL_OES_depth32 1 +#define GL_DEPTH_COMPONENT32_OES 0x81A7 +#endif /* GL_OES_depth32 */ + +#ifndef GL_OES_depth_texture +#define GL_OES_depth_texture 1 +#endif /* GL_OES_depth_texture */ + +#ifndef GL_OES_draw_buffers_indexed +#define GL_OES_draw_buffers_indexed 1 +#define GL_MIN 0x8007 +#define GL_MAX 0x8008 +typedef void (GL_APIENTRYP PFNGLENABLEIOESPROC) (GLenum target, GLuint index); +typedef void (GL_APIENTRYP PFNGLDISABLEIOESPROC) (GLenum target, GLuint index); +typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONIOESPROC) (GLuint buf, GLenum mode); +typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONSEPARATEIOESPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (GL_APIENTRYP PFNGLBLENDFUNCIOESPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (GL_APIENTRYP PFNGLBLENDFUNCSEPARATEIOESPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +typedef void (GL_APIENTRYP PFNGLCOLORMASKIOESPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDIOESPROC) (GLenum target, GLuint index); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glEnableiOES (GLenum target, GLuint index); +GL_APICALL void GL_APIENTRY glDisableiOES (GLenum target, GLuint index); +GL_APICALL void GL_APIENTRY glBlendEquationiOES (GLuint buf, GLenum mode); +GL_APICALL void GL_APIENTRY glBlendEquationSeparateiOES (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +GL_APICALL void GL_APIENTRY glBlendFunciOES (GLuint buf, GLenum src, GLenum dst); +GL_APICALL void GL_APIENTRY glBlendFuncSeparateiOES (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +GL_APICALL void GL_APIENTRY glColorMaskiOES (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +GL_APICALL GLboolean GL_APIENTRY glIsEnablediOES (GLenum target, GLuint index); +#endif +#endif /* GL_OES_draw_buffers_indexed */ + +#ifndef GL_OES_draw_elements_base_vertex +#define GL_OES_draw_elements_base_vertex 1 +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXOESPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); +typedef void (GL_APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXOESPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXOESPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); +typedef void (GL_APIENTRYP PFNGLMULTIDRAWELEMENTSBASEVERTEXEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawElementsBaseVertexOES (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); +GL_APICALL void GL_APIENTRY glDrawRangeElementsBaseVertexOES (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseVertexOES (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); +GL_APICALL void GL_APIENTRY glMultiDrawElementsBaseVertexEXT (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); +#endif +#endif /* GL_OES_draw_elements_base_vertex */ + +#ifndef GL_OES_element_index_uint +#define GL_OES_element_index_uint 1 +#endif /* GL_OES_element_index_uint */ + +#ifndef GL_OES_fbo_render_mipmap +#define GL_OES_fbo_render_mipmap 1 +#endif /* GL_OES_fbo_render_mipmap */ + +#ifndef GL_OES_fragment_precision_high +#define GL_OES_fragment_precision_high 1 +#endif /* GL_OES_fragment_precision_high */ + +#ifndef GL_OES_geometry_point_size +#define GL_OES_geometry_point_size 1 +#endif /* GL_OES_geometry_point_size */ + +#ifndef GL_OES_geometry_shader +#define GL_OES_geometry_shader 1 +#define GL_GEOMETRY_SHADER_OES 0x8DD9 +#define GL_GEOMETRY_SHADER_BIT_OES 0x00000004 +#define GL_GEOMETRY_LINKED_VERTICES_OUT_OES 0x8916 +#define GL_GEOMETRY_LINKED_INPUT_TYPE_OES 0x8917 +#define GL_GEOMETRY_LINKED_OUTPUT_TYPE_OES 0x8918 +#define GL_GEOMETRY_SHADER_INVOCATIONS_OES 0x887F +#define GL_LAYER_PROVOKING_VERTEX_OES 0x825E +#define GL_LINES_ADJACENCY_OES 0x000A +#define GL_LINE_STRIP_ADJACENCY_OES 0x000B +#define GL_TRIANGLES_ADJACENCY_OES 0x000C +#define GL_TRIANGLE_STRIP_ADJACENCY_OES 0x000D +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_OES 0x8DDF +#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS_OES 0x8A2C +#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS_OES 0x8A32 +#define GL_MAX_GEOMETRY_INPUT_COMPONENTS_OES 0x9123 +#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS_OES 0x9124 +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_OES 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_OES 0x8DE1 +#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS_OES 0x8E5A +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_OES 0x8C29 +#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS_OES 0x92CF +#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS_OES 0x92D5 +#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS_OES 0x90CD +#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS_OES 0x90D7 +#define GL_FIRST_VERTEX_CONVENTION_OES 0x8E4D +#define GL_LAST_VERTEX_CONVENTION_OES 0x8E4E +#define GL_UNDEFINED_VERTEX_OES 0x8260 +#define GL_PRIMITIVES_GENERATED_OES 0x8C87 +#define GL_FRAMEBUFFER_DEFAULT_LAYERS_OES 0x9312 +#define GL_MAX_FRAMEBUFFER_LAYERS_OES 0x9317 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_OES 0x8DA8 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_OES 0x8DA7 +#define GL_REFERENCED_BY_GEOMETRY_SHADER_OES 0x9309 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREOESPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferTextureOES (GLenum target, GLenum attachment, GLuint texture, GLint level); +#endif +#endif /* GL_OES_geometry_shader */ + +#ifndef GL_OES_get_program_binary +#define GL_OES_get_program_binary 1 +#define GL_PROGRAM_BINARY_LENGTH_OES 0x8741 +#define GL_NUM_PROGRAM_BINARY_FORMATS_OES 0x87FE +#define GL_PROGRAM_BINARY_FORMATS_OES 0x87FF +typedef void (GL_APIENTRYP PFNGLGETPROGRAMBINARYOESPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); +typedef void (GL_APIENTRYP PFNGLPROGRAMBINARYOESPROC) (GLuint program, GLenum binaryFormat, const void *binary, GLint length); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetProgramBinaryOES (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); +GL_APICALL void GL_APIENTRY glProgramBinaryOES (GLuint program, GLenum binaryFormat, const void *binary, GLint length); +#endif +#endif /* GL_OES_get_program_binary */ + +#ifndef GL_OES_gpu_shader5 +#define GL_OES_gpu_shader5 1 +#endif /* GL_OES_gpu_shader5 */ + +#ifndef GL_OES_mapbuffer +#define GL_OES_mapbuffer 1 +#define GL_WRITE_ONLY_OES 0x88B9 +#define GL_BUFFER_ACCESS_OES 0x88BB +#define GL_BUFFER_MAPPED_OES 0x88BC +#define GL_BUFFER_MAP_POINTER_OES 0x88BD +typedef void *(GL_APIENTRYP PFNGLMAPBUFFEROESPROC) (GLenum target, GLenum access); +typedef GLboolean (GL_APIENTRYP PFNGLUNMAPBUFFEROESPROC) (GLenum target); +typedef void (GL_APIENTRYP PFNGLGETBUFFERPOINTERVOESPROC) (GLenum target, GLenum pname, void **params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void *GL_APIENTRY glMapBufferOES (GLenum target, GLenum access); +GL_APICALL GLboolean GL_APIENTRY glUnmapBufferOES (GLenum target); +GL_APICALL void GL_APIENTRY glGetBufferPointervOES (GLenum target, GLenum pname, void **params); +#endif +#endif /* GL_OES_mapbuffer */ + +#ifndef GL_OES_packed_depth_stencil +#define GL_OES_packed_depth_stencil 1 +#define GL_DEPTH_STENCIL_OES 0x84F9 +#define GL_UNSIGNED_INT_24_8_OES 0x84FA +#define GL_DEPTH24_STENCIL8_OES 0x88F0 +#endif /* GL_OES_packed_depth_stencil */ + +#ifndef GL_OES_primitive_bounding_box +#define GL_OES_primitive_bounding_box 1 +#define GL_PRIMITIVE_BOUNDING_BOX_OES 0x92BE +typedef void (GL_APIENTRYP PFNGLPRIMITIVEBOUNDINGBOXOESPROC) (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glPrimitiveBoundingBoxOES (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); +#endif +#endif /* GL_OES_primitive_bounding_box */ + +#ifndef GL_OES_required_internalformat +#define GL_OES_required_internalformat 1 +#define GL_ALPHA8_OES 0x803C +#define GL_DEPTH_COMPONENT16_OES 0x81A5 +#define GL_LUMINANCE4_ALPHA4_OES 0x8043 +#define GL_LUMINANCE8_ALPHA8_OES 0x8045 +#define GL_LUMINANCE8_OES 0x8040 +#define GL_RGBA4_OES 0x8056 +#define GL_RGB5_A1_OES 0x8057 +#define GL_RGB565_OES 0x8D62 +#define GL_RGB8_OES 0x8051 +#define GL_RGBA8_OES 0x8058 +#define GL_RGB10_EXT 0x8052 +#define GL_RGB10_A2_EXT 0x8059 +#endif /* GL_OES_required_internalformat */ + +#ifndef GL_OES_rgb8_rgba8 +#define GL_OES_rgb8_rgba8 1 +#endif /* GL_OES_rgb8_rgba8 */ + +#ifndef GL_OES_sample_shading +#define GL_OES_sample_shading 1 +#define GL_SAMPLE_SHADING_OES 0x8C36 +#define GL_MIN_SAMPLE_SHADING_VALUE_OES 0x8C37 +typedef void (GL_APIENTRYP PFNGLMINSAMPLESHADINGOESPROC) (GLfloat value); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glMinSampleShadingOES (GLfloat value); +#endif +#endif /* GL_OES_sample_shading */ + +#ifndef GL_OES_sample_variables +#define GL_OES_sample_variables 1 +#endif /* GL_OES_sample_variables */ + +#ifndef GL_OES_shader_image_atomic +#define GL_OES_shader_image_atomic 1 +#endif /* GL_OES_shader_image_atomic */ + +#ifndef GL_OES_shader_io_blocks +#define GL_OES_shader_io_blocks 1 +#endif /* GL_OES_shader_io_blocks */ + +#ifndef GL_OES_shader_multisample_interpolation +#define GL_OES_shader_multisample_interpolation 1 +#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET_OES 0x8E5B +#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET_OES 0x8E5C +#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS_OES 0x8E5D +#endif /* GL_OES_shader_multisample_interpolation */ + +#ifndef GL_OES_standard_derivatives +#define GL_OES_standard_derivatives 1 +#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT_OES 0x8B8B +#endif /* GL_OES_standard_derivatives */ + +#ifndef GL_OES_stencil1 +#define GL_OES_stencil1 1 +#define GL_STENCIL_INDEX1_OES 0x8D46 +#endif /* GL_OES_stencil1 */ + +#ifndef GL_OES_stencil4 +#define GL_OES_stencil4 1 +#define GL_STENCIL_INDEX4_OES 0x8D47 +#endif /* GL_OES_stencil4 */ + +#ifndef GL_OES_surfaceless_context +#define GL_OES_surfaceless_context 1 +#define GL_FRAMEBUFFER_UNDEFINED_OES 0x8219 +#endif /* GL_OES_surfaceless_context */ + +#ifndef GL_OES_tessellation_point_size +#define GL_OES_tessellation_point_size 1 +#endif /* GL_OES_tessellation_point_size */ + +#ifndef GL_OES_tessellation_shader +#define GL_OES_tessellation_shader 1 +#define GL_PATCHES_OES 0x000E +#define GL_PATCH_VERTICES_OES 0x8E72 +#define GL_TESS_CONTROL_OUTPUT_VERTICES_OES 0x8E75 +#define GL_TESS_GEN_MODE_OES 0x8E76 +#define GL_TESS_GEN_SPACING_OES 0x8E77 +#define GL_TESS_GEN_VERTEX_ORDER_OES 0x8E78 +#define GL_TESS_GEN_POINT_MODE_OES 0x8E79 +#define GL_ISOLINES_OES 0x8E7A +#define GL_QUADS_OES 0x0007 +#define GL_FRACTIONAL_ODD_OES 0x8E7B +#define GL_FRACTIONAL_EVEN_OES 0x8E7C +#define GL_MAX_PATCH_VERTICES_OES 0x8E7D +#define GL_MAX_TESS_GEN_LEVEL_OES 0x8E7E +#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS_OES 0x8E7F +#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS_OES 0x8E80 +#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS_OES 0x8E81 +#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS_OES 0x8E82 +#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS_OES 0x8E83 +#define GL_MAX_TESS_PATCH_COMPONENTS_OES 0x8E84 +#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS_OES 0x8E85 +#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS_OES 0x8E86 +#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS_OES 0x8E89 +#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS_OES 0x8E8A +#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS_OES 0x886C +#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS_OES 0x886D +#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS_OES 0x8E1E +#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS_OES 0x8E1F +#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS_OES 0x92CD +#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS_OES 0x92CE +#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS_OES 0x92D3 +#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS_OES 0x92D4 +#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS_OES 0x90CB +#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS_OES 0x90CC +#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS_OES 0x90D8 +#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS_OES 0x90D9 +#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED_OES 0x8221 +#define GL_IS_PER_PATCH_OES 0x92E7 +#define GL_REFERENCED_BY_TESS_CONTROL_SHADER_OES 0x9307 +#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER_OES 0x9308 +#define GL_TESS_CONTROL_SHADER_OES 0x8E88 +#define GL_TESS_EVALUATION_SHADER_OES 0x8E87 +#define GL_TESS_CONTROL_SHADER_BIT_OES 0x00000008 +#define GL_TESS_EVALUATION_SHADER_BIT_OES 0x00000010 +typedef void (GL_APIENTRYP PFNGLPATCHPARAMETERIOESPROC) (GLenum pname, GLint value); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glPatchParameteriOES (GLenum pname, GLint value); +#endif +#endif /* GL_OES_tessellation_shader */ + +#ifndef GL_OES_texture_3D +#define GL_OES_texture_3D 1 +#define GL_TEXTURE_WRAP_R_OES 0x8072 +#define GL_TEXTURE_3D_OES 0x806F +#define GL_TEXTURE_BINDING_3D_OES 0x806A +#define GL_MAX_3D_TEXTURE_SIZE_OES 0x8073 +#define GL_SAMPLER_3D_OES 0x8B5F +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_3D_ZOFFSET_OES 0x8CD4 +typedef void (GL_APIENTRYP PFNGLTEXIMAGE3DOESPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +typedef void (GL_APIENTRYP PFNGLTEXSUBIMAGE3DOESPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +typedef void (GL_APIENTRYP PFNGLCOPYTEXSUBIMAGE3DOESPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DOESPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); +typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DOESPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DOESPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexImage3DOES (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); +GL_APICALL void GL_APIENTRY glTexSubImage3DOES (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); +GL_APICALL void GL_APIENTRY glCopyTexSubImage3DOES (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glCompressedTexImage3DOES (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); +GL_APICALL void GL_APIENTRY glCompressedTexSubImage3DOES (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); +GL_APICALL void GL_APIENTRY glFramebufferTexture3DOES (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +#endif +#endif /* GL_OES_texture_3D */ + +#ifndef GL_OES_texture_border_clamp +#define GL_OES_texture_border_clamp 1 +#define GL_TEXTURE_BORDER_COLOR_OES 0x1004 +#define GL_CLAMP_TO_BORDER_OES 0x812D +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIIVOESPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIUIVOESPROC) (GLenum target, GLenum pname, const GLuint *params); +typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIIVOESPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIUIVOESPROC) (GLenum target, GLenum pname, GLuint *params); +typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIIVOESPROC) (GLuint sampler, GLenum pname, const GLint *param); +typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIUIVOESPROC) (GLuint sampler, GLenum pname, const GLuint *param); +typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIIVOESPROC) (GLuint sampler, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVOESPROC) (GLuint sampler, GLenum pname, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexParameterIivOES (GLenum target, GLenum pname, const GLint *params); +GL_APICALL void GL_APIENTRY glTexParameterIuivOES (GLenum target, GLenum pname, const GLuint *params); +GL_APICALL void GL_APIENTRY glGetTexParameterIivOES (GLenum target, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetTexParameterIuivOES (GLenum target, GLenum pname, GLuint *params); +GL_APICALL void GL_APIENTRY glSamplerParameterIivOES (GLuint sampler, GLenum pname, const GLint *param); +GL_APICALL void GL_APIENTRY glSamplerParameterIuivOES (GLuint sampler, GLenum pname, const GLuint *param); +GL_APICALL void GL_APIENTRY glGetSamplerParameterIivOES (GLuint sampler, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetSamplerParameterIuivOES (GLuint sampler, GLenum pname, GLuint *params); +#endif +#endif /* GL_OES_texture_border_clamp */ + +#ifndef GL_OES_texture_buffer +#define GL_OES_texture_buffer 1 +#define GL_TEXTURE_BUFFER_OES 0x8C2A +#define GL_TEXTURE_BUFFER_BINDING_OES 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE_OES 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER_OES 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_OES 0x8C2D +#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT_OES 0x919F +#define GL_SAMPLER_BUFFER_OES 0x8DC2 +#define GL_INT_SAMPLER_BUFFER_OES 0x8DD0 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER_OES 0x8DD8 +#define GL_IMAGE_BUFFER_OES 0x9051 +#define GL_INT_IMAGE_BUFFER_OES 0x905C +#define GL_UNSIGNED_INT_IMAGE_BUFFER_OES 0x9067 +#define GL_TEXTURE_BUFFER_OFFSET_OES 0x919D +#define GL_TEXTURE_BUFFER_SIZE_OES 0x919E +typedef void (GL_APIENTRYP PFNGLTEXBUFFEROESPROC) (GLenum target, GLenum internalformat, GLuint buffer); +typedef void (GL_APIENTRYP PFNGLTEXBUFFERRANGEOESPROC) (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexBufferOES (GLenum target, GLenum internalformat, GLuint buffer); +GL_APICALL void GL_APIENTRY glTexBufferRangeOES (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +#endif +#endif /* GL_OES_texture_buffer */ + +#ifndef GL_OES_texture_compression_astc +#define GL_OES_texture_compression_astc 1 +#define GL_COMPRESSED_RGBA_ASTC_3x3x3_OES 0x93C0 +#define GL_COMPRESSED_RGBA_ASTC_4x3x3_OES 0x93C1 +#define GL_COMPRESSED_RGBA_ASTC_4x4x3_OES 0x93C2 +#define GL_COMPRESSED_RGBA_ASTC_4x4x4_OES 0x93C3 +#define GL_COMPRESSED_RGBA_ASTC_5x4x4_OES 0x93C4 +#define GL_COMPRESSED_RGBA_ASTC_5x5x4_OES 0x93C5 +#define GL_COMPRESSED_RGBA_ASTC_5x5x5_OES 0x93C6 +#define GL_COMPRESSED_RGBA_ASTC_6x5x5_OES 0x93C7 +#define GL_COMPRESSED_RGBA_ASTC_6x6x5_OES 0x93C8 +#define GL_COMPRESSED_RGBA_ASTC_6x6x6_OES 0x93C9 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_3x3x3_OES 0x93E0 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x3x3_OES 0x93E1 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4x3_OES 0x93E2 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4x4_OES 0x93E3 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4x4_OES 0x93E4 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5x4_OES 0x93E5 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5x5_OES 0x93E6 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5x5_OES 0x93E7 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6x5_OES 0x93E8 +#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6x6_OES 0x93E9 +#endif /* GL_OES_texture_compression_astc */ + +#ifndef GL_OES_texture_cube_map_array +#define GL_OES_texture_cube_map_array 1 +#define GL_TEXTURE_CUBE_MAP_ARRAY_OES 0x9009 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_OES 0x900A +#define GL_SAMPLER_CUBE_MAP_ARRAY_OES 0x900C +#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_OES 0x900D +#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_OES 0x900E +#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_OES 0x900F +#define GL_IMAGE_CUBE_MAP_ARRAY_OES 0x9054 +#define GL_INT_IMAGE_CUBE_MAP_ARRAY_OES 0x905F +#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_OES 0x906A +#endif /* GL_OES_texture_cube_map_array */ + +#ifndef GL_OES_texture_float +#define GL_OES_texture_float 1 +#endif /* GL_OES_texture_float */ + +#ifndef GL_OES_texture_float_linear +#define GL_OES_texture_float_linear 1 +#endif /* GL_OES_texture_float_linear */ + +#ifndef GL_OES_texture_half_float +#define GL_OES_texture_half_float 1 +#define GL_HALF_FLOAT_OES 0x8D61 +#endif /* GL_OES_texture_half_float */ + +#ifndef GL_OES_texture_half_float_linear +#define GL_OES_texture_half_float_linear 1 +#endif /* GL_OES_texture_half_float_linear */ + +#ifndef GL_OES_texture_npot +#define GL_OES_texture_npot 1 +#endif /* GL_OES_texture_npot */ + +#ifndef GL_OES_texture_stencil8 +#define GL_OES_texture_stencil8 1 +#define GL_STENCIL_INDEX_OES 0x1901 +#define GL_STENCIL_INDEX8_OES 0x8D48 +#endif /* GL_OES_texture_stencil8 */ + +#ifndef GL_OES_texture_storage_multisample_2d_array +#define GL_OES_texture_storage_multisample_2d_array 1 +#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY_OES 0x9102 +#define GL_TEXTURE_BINDING_2D_MULTISAMPLE_ARRAY_OES 0x9105 +#define GL_SAMPLER_2D_MULTISAMPLE_ARRAY_OES 0x910B +#define GL_INT_SAMPLER_2D_MULTISAMPLE_ARRAY_OES 0x910C +#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE_ARRAY_OES 0x910D +typedef void (GL_APIENTRYP PFNGLTEXSTORAGE3DMULTISAMPLEOESPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexStorage3DMultisampleOES (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); +#endif +#endif /* GL_OES_texture_storage_multisample_2d_array */ + +#ifndef GL_OES_texture_view +#define GL_OES_texture_view 1 +#define GL_TEXTURE_VIEW_MIN_LEVEL_OES 0x82DB +#define GL_TEXTURE_VIEW_NUM_LEVELS_OES 0x82DC +#define GL_TEXTURE_VIEW_MIN_LAYER_OES 0x82DD +#define GL_TEXTURE_VIEW_NUM_LAYERS_OES 0x82DE +#define GL_TEXTURE_IMMUTABLE_LEVELS 0x82DF +typedef void (GL_APIENTRYP PFNGLTEXTUREVIEWOESPROC) (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTextureViewOES (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); +#endif +#endif /* GL_OES_texture_view */ + +#ifndef GL_OES_vertex_array_object +#define GL_OES_vertex_array_object 1 +#define GL_VERTEX_ARRAY_BINDING_OES 0x85B5 +typedef void (GL_APIENTRYP PFNGLBINDVERTEXARRAYOESPROC) (GLuint array); +typedef void (GL_APIENTRYP PFNGLDELETEVERTEXARRAYSOESPROC) (GLsizei n, const GLuint *arrays); +typedef void (GL_APIENTRYP PFNGLGENVERTEXARRAYSOESPROC) (GLsizei n, GLuint *arrays); +typedef GLboolean (GL_APIENTRYP PFNGLISVERTEXARRAYOESPROC) (GLuint array); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBindVertexArrayOES (GLuint array); +GL_APICALL void GL_APIENTRY glDeleteVertexArraysOES (GLsizei n, const GLuint *arrays); +GL_APICALL void GL_APIENTRY glGenVertexArraysOES (GLsizei n, GLuint *arrays); +GL_APICALL GLboolean GL_APIENTRY glIsVertexArrayOES (GLuint array); +#endif +#endif /* GL_OES_vertex_array_object */ + +#ifndef GL_OES_vertex_half_float +#define GL_OES_vertex_half_float 1 +#endif /* GL_OES_vertex_half_float */ + +#ifndef GL_OES_vertex_type_10_10_10_2 +#define GL_OES_vertex_type_10_10_10_2 1 +#define GL_UNSIGNED_INT_10_10_10_2_OES 0x8DF6 +#define GL_INT_10_10_10_2_OES 0x8DF7 +#endif /* GL_OES_vertex_type_10_10_10_2 */ + +#ifndef GL_OES_viewport_array +#define GL_OES_viewport_array 1 +#define GL_MAX_VIEWPORTS_OES 0x825B +#define GL_VIEWPORT_SUBPIXEL_BITS_OES 0x825C +#define GL_VIEWPORT_BOUNDS_RANGE_OES 0x825D +#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX_OES 0x825F +typedef void (GL_APIENTRYP PFNGLVIEWPORTARRAYVOESPROC) (GLuint first, GLsizei count, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFOESPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFVOESPROC) (GLuint index, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLSCISSORARRAYVOESPROC) (GLuint first, GLsizei count, const GLint *v); +typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDOESPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDVOESPROC) (GLuint index, const GLint *v); +typedef void (GL_APIENTRYP PFNGLDEPTHRANGEARRAYFVOESPROC) (GLuint first, GLsizei count, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLDEPTHRANGEINDEXEDFOESPROC) (GLuint index, GLfloat n, GLfloat f); +typedef void (GL_APIENTRYP PFNGLGETFLOATI_VOESPROC) (GLenum target, GLuint index, GLfloat *data); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glViewportArrayvOES (GLuint first, GLsizei count, const GLfloat *v); +GL_APICALL void GL_APIENTRY glViewportIndexedfOES (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +GL_APICALL void GL_APIENTRY glViewportIndexedfvOES (GLuint index, const GLfloat *v); +GL_APICALL void GL_APIENTRY glScissorArrayvOES (GLuint first, GLsizei count, const GLint *v); +GL_APICALL void GL_APIENTRY glScissorIndexedOES (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glScissorIndexedvOES (GLuint index, const GLint *v); +GL_APICALL void GL_APIENTRY glDepthRangeArrayfvOES (GLuint first, GLsizei count, const GLfloat *v); +GL_APICALL void GL_APIENTRY glDepthRangeIndexedfOES (GLuint index, GLfloat n, GLfloat f); +GL_APICALL void GL_APIENTRY glGetFloati_vOES (GLenum target, GLuint index, GLfloat *data); +#endif +#endif /* GL_OES_viewport_array */ + +#ifndef GL_AMD_compressed_3DC_texture +#define GL_AMD_compressed_3DC_texture 1 +#define GL_3DC_X_AMD 0x87F9 +#define GL_3DC_XY_AMD 0x87FA +#endif /* GL_AMD_compressed_3DC_texture */ + +#ifndef GL_AMD_compressed_ATC_texture +#define GL_AMD_compressed_ATC_texture 1 +#define GL_ATC_RGB_AMD 0x8C92 +#define GL_ATC_RGBA_EXPLICIT_ALPHA_AMD 0x8C93 +#define GL_ATC_RGBA_INTERPOLATED_ALPHA_AMD 0x87EE +#endif /* GL_AMD_compressed_ATC_texture */ + +#ifndef GL_AMD_framebuffer_multisample_advanced +#define GL_AMD_framebuffer_multisample_advanced 1 +#define GL_RENDERBUFFER_STORAGE_SAMPLES_AMD 0x91B2 +#define GL_MAX_COLOR_FRAMEBUFFER_SAMPLES_AMD 0x91B3 +#define GL_MAX_COLOR_FRAMEBUFFER_STORAGE_SAMPLES_AMD 0x91B4 +#define GL_MAX_DEPTH_STENCIL_FRAMEBUFFER_SAMPLES_AMD 0x91B5 +#define GL_NUM_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B6 +#define GL_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B7 +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleAdvancedAMD (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glNamedRenderbufferStorageMultisampleAdvancedAMD (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); +#endif +#endif /* GL_AMD_framebuffer_multisample_advanced */ + +#ifndef GL_AMD_performance_monitor +#define GL_AMD_performance_monitor 1 +#define GL_COUNTER_TYPE_AMD 0x8BC0 +#define GL_COUNTER_RANGE_AMD 0x8BC1 +#define GL_UNSIGNED_INT64_AMD 0x8BC2 +#define GL_PERCENTAGE_AMD 0x8BC3 +#define GL_PERFMON_RESULT_AVAILABLE_AMD 0x8BC4 +#define GL_PERFMON_RESULT_SIZE_AMD 0x8BC5 +#define GL_PERFMON_RESULT_AMD 0x8BC6 +typedef void (GL_APIENTRYP PFNGLGETPERFMONITORGROUPSAMDPROC) (GLint *numGroups, GLsizei groupsSize, GLuint *groups); +typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERSAMDPROC) (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); +typedef void (GL_APIENTRYP PFNGLGETPERFMONITORGROUPSTRINGAMDPROC) (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); +typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERSTRINGAMDPROC) (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); +typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERINFOAMDPROC) (GLuint group, GLuint counter, GLenum pname, void *data); +typedef void (GL_APIENTRYP PFNGLGENPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); +typedef void (GL_APIENTRYP PFNGLDELETEPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); +typedef void (GL_APIENTRYP PFNGLSELECTPERFMONITORCOUNTERSAMDPROC) (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); +typedef void (GL_APIENTRYP PFNGLBEGINPERFMONITORAMDPROC) (GLuint monitor); +typedef void (GL_APIENTRYP PFNGLENDPERFMONITORAMDPROC) (GLuint monitor); +typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERDATAAMDPROC) (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetPerfMonitorGroupsAMD (GLint *numGroups, GLsizei groupsSize, GLuint *groups); +GL_APICALL void GL_APIENTRY glGetPerfMonitorCountersAMD (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); +GL_APICALL void GL_APIENTRY glGetPerfMonitorGroupStringAMD (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); +GL_APICALL void GL_APIENTRY glGetPerfMonitorCounterStringAMD (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); +GL_APICALL void GL_APIENTRY glGetPerfMonitorCounterInfoAMD (GLuint group, GLuint counter, GLenum pname, void *data); +GL_APICALL void GL_APIENTRY glGenPerfMonitorsAMD (GLsizei n, GLuint *monitors); +GL_APICALL void GL_APIENTRY glDeletePerfMonitorsAMD (GLsizei n, GLuint *monitors); +GL_APICALL void GL_APIENTRY glSelectPerfMonitorCountersAMD (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); +GL_APICALL void GL_APIENTRY glBeginPerfMonitorAMD (GLuint monitor); +GL_APICALL void GL_APIENTRY glEndPerfMonitorAMD (GLuint monitor); +GL_APICALL void GL_APIENTRY glGetPerfMonitorCounterDataAMD (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); +#endif +#endif /* GL_AMD_performance_monitor */ + +#ifndef GL_AMD_program_binary_Z400 +#define GL_AMD_program_binary_Z400 1 +#define GL_Z400_BINARY_AMD 0x8740 +#endif /* GL_AMD_program_binary_Z400 */ + +#ifndef GL_ANDROID_extension_pack_es31a +#define GL_ANDROID_extension_pack_es31a 1 +#endif /* GL_ANDROID_extension_pack_es31a */ + +#ifndef GL_ANGLE_depth_texture +#define GL_ANGLE_depth_texture 1 +#endif /* GL_ANGLE_depth_texture */ + +#ifndef GL_ANGLE_framebuffer_blit +#define GL_ANGLE_framebuffer_blit 1 +#define GL_READ_FRAMEBUFFER_ANGLE 0x8CA8 +#define GL_DRAW_FRAMEBUFFER_ANGLE 0x8CA9 +#define GL_DRAW_FRAMEBUFFER_BINDING_ANGLE 0x8CA6 +#define GL_READ_FRAMEBUFFER_BINDING_ANGLE 0x8CAA +typedef void (GL_APIENTRYP PFNGLBLITFRAMEBUFFERANGLEPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBlitFramebufferANGLE (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +#endif +#endif /* GL_ANGLE_framebuffer_blit */ + +#ifndef GL_ANGLE_framebuffer_multisample +#define GL_ANGLE_framebuffer_multisample 1 +#define GL_RENDERBUFFER_SAMPLES_ANGLE 0x8CAB +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_ANGLE 0x8D56 +#define GL_MAX_SAMPLES_ANGLE 0x8D57 +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEANGLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleANGLE (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +#endif +#endif /* GL_ANGLE_framebuffer_multisample */ + +#ifndef GL_ANGLE_instanced_arrays +#define GL_ANGLE_instanced_arrays 1 +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_ANGLE 0x88FE +typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDANGLEPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDANGLEPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISORANGLEPROC) (GLuint index, GLuint divisor); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawArraysInstancedANGLE (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedANGLE (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +GL_APICALL void GL_APIENTRY glVertexAttribDivisorANGLE (GLuint index, GLuint divisor); +#endif +#endif /* GL_ANGLE_instanced_arrays */ + +#ifndef GL_ANGLE_pack_reverse_row_order +#define GL_ANGLE_pack_reverse_row_order 1 +#define GL_PACK_REVERSE_ROW_ORDER_ANGLE 0x93A4 +#endif /* GL_ANGLE_pack_reverse_row_order */ + +#ifndef GL_ANGLE_program_binary +#define GL_ANGLE_program_binary 1 +#define GL_PROGRAM_BINARY_ANGLE 0x93A6 +#endif /* GL_ANGLE_program_binary */ + +#ifndef GL_ANGLE_texture_compression_dxt3 +#define GL_ANGLE_texture_compression_dxt3 1 +#define GL_COMPRESSED_RGBA_S3TC_DXT3_ANGLE 0x83F2 +#endif /* GL_ANGLE_texture_compression_dxt3 */ + +#ifndef GL_ANGLE_texture_compression_dxt5 +#define GL_ANGLE_texture_compression_dxt5 1 +#define GL_COMPRESSED_RGBA_S3TC_DXT5_ANGLE 0x83F3 +#endif /* GL_ANGLE_texture_compression_dxt5 */ + +#ifndef GL_ANGLE_texture_usage +#define GL_ANGLE_texture_usage 1 +#define GL_TEXTURE_USAGE_ANGLE 0x93A2 +#define GL_FRAMEBUFFER_ATTACHMENT_ANGLE 0x93A3 +#endif /* GL_ANGLE_texture_usage */ + +#ifndef GL_ANGLE_translated_shader_source +#define GL_ANGLE_translated_shader_source 1 +#define GL_TRANSLATED_SHADER_SOURCE_LENGTH_ANGLE 0x93A0 +typedef void (GL_APIENTRYP PFNGLGETTRANSLATEDSHADERSOURCEANGLEPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetTranslatedShaderSourceANGLE (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); +#endif +#endif /* GL_ANGLE_translated_shader_source */ + +#ifndef GL_APPLE_clip_distance +#define GL_APPLE_clip_distance 1 +#define GL_MAX_CLIP_DISTANCES_APPLE 0x0D32 +#define GL_CLIP_DISTANCE0_APPLE 0x3000 +#define GL_CLIP_DISTANCE1_APPLE 0x3001 +#define GL_CLIP_DISTANCE2_APPLE 0x3002 +#define GL_CLIP_DISTANCE3_APPLE 0x3003 +#define GL_CLIP_DISTANCE4_APPLE 0x3004 +#define GL_CLIP_DISTANCE5_APPLE 0x3005 +#define GL_CLIP_DISTANCE6_APPLE 0x3006 +#define GL_CLIP_DISTANCE7_APPLE 0x3007 +#endif /* GL_APPLE_clip_distance */ + +#ifndef GL_APPLE_color_buffer_packed_float +#define GL_APPLE_color_buffer_packed_float 1 +#endif /* GL_APPLE_color_buffer_packed_float */ + +#ifndef GL_APPLE_copy_texture_levels +#define GL_APPLE_copy_texture_levels 1 +typedef void (GL_APIENTRYP PFNGLCOPYTEXTURELEVELSAPPLEPROC) (GLuint destinationTexture, GLuint sourceTexture, GLint sourceBaseLevel, GLsizei sourceLevelCount); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCopyTextureLevelsAPPLE (GLuint destinationTexture, GLuint sourceTexture, GLint sourceBaseLevel, GLsizei sourceLevelCount); +#endif +#endif /* GL_APPLE_copy_texture_levels */ + +#ifndef GL_APPLE_framebuffer_multisample +#define GL_APPLE_framebuffer_multisample 1 +#define GL_RENDERBUFFER_SAMPLES_APPLE 0x8CAB +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_APPLE 0x8D56 +#define GL_MAX_SAMPLES_APPLE 0x8D57 +#define GL_READ_FRAMEBUFFER_APPLE 0x8CA8 +#define GL_DRAW_FRAMEBUFFER_APPLE 0x8CA9 +#define GL_DRAW_FRAMEBUFFER_BINDING_APPLE 0x8CA6 +#define GL_READ_FRAMEBUFFER_BINDING_APPLE 0x8CAA +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEAPPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLRESOLVEMULTISAMPLEFRAMEBUFFERAPPLEPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleAPPLE (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glResolveMultisampleFramebufferAPPLE (void); +#endif +#endif /* GL_APPLE_framebuffer_multisample */ + +#ifndef GL_APPLE_rgb_422 +#define GL_APPLE_rgb_422 1 +#define GL_RGB_422_APPLE 0x8A1F +#define GL_UNSIGNED_SHORT_8_8_APPLE 0x85BA +#define GL_UNSIGNED_SHORT_8_8_REV_APPLE 0x85BB +#define GL_RGB_RAW_422_APPLE 0x8A51 +#endif /* GL_APPLE_rgb_422 */ + +#ifndef GL_APPLE_sync +#define GL_APPLE_sync 1 +#define GL_SYNC_OBJECT_APPLE 0x8A53 +#define GL_MAX_SERVER_WAIT_TIMEOUT_APPLE 0x9111 +#define GL_OBJECT_TYPE_APPLE 0x9112 +#define GL_SYNC_CONDITION_APPLE 0x9113 +#define GL_SYNC_STATUS_APPLE 0x9114 +#define GL_SYNC_FLAGS_APPLE 0x9115 +#define GL_SYNC_FENCE_APPLE 0x9116 +#define GL_SYNC_GPU_COMMANDS_COMPLETE_APPLE 0x9117 +#define GL_UNSIGNALED_APPLE 0x9118 +#define GL_SIGNALED_APPLE 0x9119 +#define GL_ALREADY_SIGNALED_APPLE 0x911A +#define GL_TIMEOUT_EXPIRED_APPLE 0x911B +#define GL_CONDITION_SATISFIED_APPLE 0x911C +#define GL_WAIT_FAILED_APPLE 0x911D +#define GL_SYNC_FLUSH_COMMANDS_BIT_APPLE 0x00000001 +#define GL_TIMEOUT_IGNORED_APPLE 0xFFFFFFFFFFFFFFFFull +typedef GLsync (GL_APIENTRYP PFNGLFENCESYNCAPPLEPROC) (GLenum condition, GLbitfield flags); +typedef GLboolean (GL_APIENTRYP PFNGLISSYNCAPPLEPROC) (GLsync sync); +typedef void (GL_APIENTRYP PFNGLDELETESYNCAPPLEPROC) (GLsync sync); +typedef GLenum (GL_APIENTRYP PFNGLCLIENTWAITSYNCAPPLEPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); +typedef void (GL_APIENTRYP PFNGLWAITSYNCAPPLEPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); +typedef void (GL_APIENTRYP PFNGLGETINTEGER64VAPPLEPROC) (GLenum pname, GLint64 *params); +typedef void (GL_APIENTRYP PFNGLGETSYNCIVAPPLEPROC) (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLsync GL_APIENTRY glFenceSyncAPPLE (GLenum condition, GLbitfield flags); +GL_APICALL GLboolean GL_APIENTRY glIsSyncAPPLE (GLsync sync); +GL_APICALL void GL_APIENTRY glDeleteSyncAPPLE (GLsync sync); +GL_APICALL GLenum GL_APIENTRY glClientWaitSyncAPPLE (GLsync sync, GLbitfield flags, GLuint64 timeout); +GL_APICALL void GL_APIENTRY glWaitSyncAPPLE (GLsync sync, GLbitfield flags, GLuint64 timeout); +GL_APICALL void GL_APIENTRY glGetInteger64vAPPLE (GLenum pname, GLint64 *params); +GL_APICALL void GL_APIENTRY glGetSyncivAPPLE (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); +#endif +#endif /* GL_APPLE_sync */ + +#ifndef GL_APPLE_texture_format_BGRA8888 +#define GL_APPLE_texture_format_BGRA8888 1 +#define GL_BGRA_EXT 0x80E1 +#define GL_BGRA8_EXT 0x93A1 +#endif /* GL_APPLE_texture_format_BGRA8888 */ + +#ifndef GL_APPLE_texture_max_level +#define GL_APPLE_texture_max_level 1 +#define GL_TEXTURE_MAX_LEVEL_APPLE 0x813D +#endif /* GL_APPLE_texture_max_level */ + +#ifndef GL_APPLE_texture_packed_float +#define GL_APPLE_texture_packed_float 1 +#define GL_UNSIGNED_INT_10F_11F_11F_REV_APPLE 0x8C3B +#define GL_UNSIGNED_INT_5_9_9_9_REV_APPLE 0x8C3E +#define GL_R11F_G11F_B10F_APPLE 0x8C3A +#define GL_RGB9_E5_APPLE 0x8C3D +#endif /* GL_APPLE_texture_packed_float */ + +#ifndef GL_ARM_mali_program_binary +#define GL_ARM_mali_program_binary 1 +#define GL_MALI_PROGRAM_BINARY_ARM 0x8F61 +#endif /* GL_ARM_mali_program_binary */ + +#ifndef GL_ARM_mali_shader_binary +#define GL_ARM_mali_shader_binary 1 +#define GL_MALI_SHADER_BINARY_ARM 0x8F60 +#endif /* GL_ARM_mali_shader_binary */ + +#ifndef GL_ARM_rgba8 +#define GL_ARM_rgba8 1 +#endif /* GL_ARM_rgba8 */ + +#ifndef GL_ARM_shader_framebuffer_fetch +#define GL_ARM_shader_framebuffer_fetch 1 +#define GL_FETCH_PER_SAMPLE_ARM 0x8F65 +#define GL_FRAGMENT_SHADER_FRAMEBUFFER_FETCH_MRT_ARM 0x8F66 +#endif /* GL_ARM_shader_framebuffer_fetch */ + +#ifndef GL_ARM_shader_framebuffer_fetch_depth_stencil +#define GL_ARM_shader_framebuffer_fetch_depth_stencil 1 +#endif /* GL_ARM_shader_framebuffer_fetch_depth_stencil */ + +#ifndef GL_ARM_texture_unnormalized_coordinates +#define GL_ARM_texture_unnormalized_coordinates 1 +#define GL_TEXTURE_UNNORMALIZED_COORDINATES_ARM 0x8F6A +#endif /* GL_ARM_texture_unnormalized_coordinates */ + +#ifndef GL_DMP_program_binary +#define GL_DMP_program_binary 1 +#define GL_SMAPHS30_PROGRAM_BINARY_DMP 0x9251 +#define GL_SMAPHS_PROGRAM_BINARY_DMP 0x9252 +#define GL_DMP_PROGRAM_BINARY_DMP 0x9253 +#endif /* GL_DMP_program_binary */ + +#ifndef GL_DMP_shader_binary +#define GL_DMP_shader_binary 1 +#define GL_SHADER_BINARY_DMP 0x9250 +#endif /* GL_DMP_shader_binary */ + +#ifndef GL_EXT_EGL_image_array +#define GL_EXT_EGL_image_array 1 +#endif /* GL_EXT_EGL_image_array */ + +#ifndef GL_EXT_EGL_image_storage +#define GL_EXT_EGL_image_storage 1 +typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETTEXSTORAGEEXTPROC) (GLenum target, GLeglImageOES image, const GLint* attrib_list); +typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETTEXTURESTORAGEEXTPROC) (GLuint texture, GLeglImageOES image, const GLint* attrib_list); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glEGLImageTargetTexStorageEXT (GLenum target, GLeglImageOES image, const GLint* attrib_list); +GL_APICALL void GL_APIENTRY glEGLImageTargetTextureStorageEXT (GLuint texture, GLeglImageOES image, const GLint* attrib_list); +#endif +#endif /* GL_EXT_EGL_image_storage */ + +#ifndef GL_EXT_EGL_image_storage_compression +#define GL_EXT_EGL_image_storage_compression 1 +#define GL_SURFACE_COMPRESSION_EXT 0x96C0 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_NONE_EXT 0x96C1 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_DEFAULT_EXT 0x96C2 +#endif /* GL_EXT_EGL_image_storage_compression */ + +#ifndef GL_EXT_YUV_target +#define GL_EXT_YUV_target 1 +#define GL_SAMPLER_EXTERNAL_2D_Y2Y_EXT 0x8BE7 +#endif /* GL_EXT_YUV_target */ + +#ifndef GL_EXT_base_instance +#define GL_EXT_base_instance 1 +typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEEXTPROC) (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawArraysInstancedBaseInstanceEXT (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseInstanceEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseVertexBaseInstanceEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); +#endif +#endif /* GL_EXT_base_instance */ + +#ifndef GL_EXT_blend_func_extended +#define GL_EXT_blend_func_extended 1 +#define GL_SRC1_COLOR_EXT 0x88F9 +#define GL_SRC1_ALPHA_EXT 0x8589 +#define GL_ONE_MINUS_SRC1_COLOR_EXT 0x88FA +#define GL_ONE_MINUS_SRC1_ALPHA_EXT 0x88FB +#define GL_SRC_ALPHA_SATURATE_EXT 0x0308 +#define GL_LOCATION_INDEX_EXT 0x930F +#define GL_MAX_DUAL_SOURCE_DRAW_BUFFERS_EXT 0x88FC +typedef void (GL_APIENTRYP PFNGLBINDFRAGDATALOCATIONINDEXEDEXTPROC) (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); +typedef void (GL_APIENTRYP PFNGLBINDFRAGDATALOCATIONEXTPROC) (GLuint program, GLuint color, const GLchar *name); +typedef GLint (GL_APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONINDEXEXTPROC) (GLuint program, GLenum programInterface, const GLchar *name); +typedef GLint (GL_APIENTRYP PFNGLGETFRAGDATAINDEXEXTPROC) (GLuint program, const GLchar *name); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBindFragDataLocationIndexedEXT (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); +GL_APICALL void GL_APIENTRY glBindFragDataLocationEXT (GLuint program, GLuint color, const GLchar *name); +GL_APICALL GLint GL_APIENTRY glGetProgramResourceLocationIndexEXT (GLuint program, GLenum programInterface, const GLchar *name); +GL_APICALL GLint GL_APIENTRY glGetFragDataIndexEXT (GLuint program, const GLchar *name); +#endif +#endif /* GL_EXT_blend_func_extended */ + +#ifndef GL_EXT_blend_minmax +#define GL_EXT_blend_minmax 1 +#define GL_MIN_EXT 0x8007 +#define GL_MAX_EXT 0x8008 +#endif /* GL_EXT_blend_minmax */ + +#ifndef GL_EXT_buffer_storage +#define GL_EXT_buffer_storage 1 +#define GL_MAP_READ_BIT 0x0001 +#define GL_MAP_WRITE_BIT 0x0002 +#define GL_MAP_PERSISTENT_BIT_EXT 0x0040 +#define GL_MAP_COHERENT_BIT_EXT 0x0080 +#define GL_DYNAMIC_STORAGE_BIT_EXT 0x0100 +#define GL_CLIENT_STORAGE_BIT_EXT 0x0200 +#define GL_CLIENT_MAPPED_BUFFER_BARRIER_BIT_EXT 0x00004000 +#define GL_BUFFER_IMMUTABLE_STORAGE_EXT 0x821F +#define GL_BUFFER_STORAGE_FLAGS_EXT 0x8220 +typedef void (GL_APIENTRYP PFNGLBUFFERSTORAGEEXTPROC) (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBufferStorageEXT (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); +#endif +#endif /* GL_EXT_buffer_storage */ + +#ifndef GL_EXT_clear_texture +#define GL_EXT_clear_texture 1 +typedef void (GL_APIENTRYP PFNGLCLEARTEXIMAGEEXTPROC) (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); +typedef void (GL_APIENTRYP PFNGLCLEARTEXSUBIMAGEEXTPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glClearTexImageEXT (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); +GL_APICALL void GL_APIENTRY glClearTexSubImageEXT (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); +#endif +#endif /* GL_EXT_clear_texture */ + +#ifndef GL_EXT_clip_control +#define GL_EXT_clip_control 1 +#define GL_LOWER_LEFT_EXT 0x8CA1 +#define GL_UPPER_LEFT_EXT 0x8CA2 +#define GL_NEGATIVE_ONE_TO_ONE_EXT 0x935E +#define GL_ZERO_TO_ONE_EXT 0x935F +#define GL_CLIP_ORIGIN_EXT 0x935C +#define GL_CLIP_DEPTH_MODE_EXT 0x935D +typedef void (GL_APIENTRYP PFNGLCLIPCONTROLEXTPROC) (GLenum origin, GLenum depth); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glClipControlEXT (GLenum origin, GLenum depth); +#endif +#endif /* GL_EXT_clip_control */ + +#ifndef GL_EXT_clip_cull_distance +#define GL_EXT_clip_cull_distance 1 +#define GL_MAX_CLIP_DISTANCES_EXT 0x0D32 +#define GL_MAX_CULL_DISTANCES_EXT 0x82F9 +#define GL_MAX_COMBINED_CLIP_AND_CULL_DISTANCES_EXT 0x82FA +#define GL_CLIP_DISTANCE0_EXT 0x3000 +#define GL_CLIP_DISTANCE1_EXT 0x3001 +#define GL_CLIP_DISTANCE2_EXT 0x3002 +#define GL_CLIP_DISTANCE3_EXT 0x3003 +#define GL_CLIP_DISTANCE4_EXT 0x3004 +#define GL_CLIP_DISTANCE5_EXT 0x3005 +#define GL_CLIP_DISTANCE6_EXT 0x3006 +#define GL_CLIP_DISTANCE7_EXT 0x3007 +#endif /* GL_EXT_clip_cull_distance */ + +#ifndef GL_EXT_color_buffer_float +#define GL_EXT_color_buffer_float 1 +#endif /* GL_EXT_color_buffer_float */ + +#ifndef GL_EXT_color_buffer_half_float +#define GL_EXT_color_buffer_half_float 1 +#define GL_RGBA16F_EXT 0x881A +#define GL_RGB16F_EXT 0x881B +#define GL_RG16F_EXT 0x822F +#define GL_R16F_EXT 0x822D +#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE_EXT 0x8211 +#define GL_UNSIGNED_NORMALIZED_EXT 0x8C17 +#endif /* GL_EXT_color_buffer_half_float */ + +#ifndef GL_EXT_conservative_depth +#define GL_EXT_conservative_depth 1 +#endif /* GL_EXT_conservative_depth */ + +#ifndef GL_EXT_copy_image +#define GL_EXT_copy_image 1 +typedef void (GL_APIENTRYP PFNGLCOPYIMAGESUBDATAEXTPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCopyImageSubDataEXT (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); +#endif +#endif /* GL_EXT_copy_image */ + +#ifndef GL_EXT_debug_label +#define GL_EXT_debug_label 1 +#define GL_PROGRAM_PIPELINE_OBJECT_EXT 0x8A4F +#define GL_PROGRAM_OBJECT_EXT 0x8B40 +#define GL_SHADER_OBJECT_EXT 0x8B48 +#define GL_BUFFER_OBJECT_EXT 0x9151 +#define GL_QUERY_OBJECT_EXT 0x9153 +#define GL_VERTEX_ARRAY_OBJECT_EXT 0x9154 +#define GL_TRANSFORM_FEEDBACK 0x8E22 +typedef void (GL_APIENTRYP PFNGLLABELOBJECTEXTPROC) (GLenum type, GLuint object, GLsizei length, const GLchar *label); +typedef void (GL_APIENTRYP PFNGLGETOBJECTLABELEXTPROC) (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glLabelObjectEXT (GLenum type, GLuint object, GLsizei length, const GLchar *label); +GL_APICALL void GL_APIENTRY glGetObjectLabelEXT (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); +#endif +#endif /* GL_EXT_debug_label */ + +#ifndef GL_EXT_debug_marker +#define GL_EXT_debug_marker 1 +typedef void (GL_APIENTRYP PFNGLINSERTEVENTMARKEREXTPROC) (GLsizei length, const GLchar *marker); +typedef void (GL_APIENTRYP PFNGLPUSHGROUPMARKEREXTPROC) (GLsizei length, const GLchar *marker); +typedef void (GL_APIENTRYP PFNGLPOPGROUPMARKEREXTPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glInsertEventMarkerEXT (GLsizei length, const GLchar *marker); +GL_APICALL void GL_APIENTRY glPushGroupMarkerEXT (GLsizei length, const GLchar *marker); +GL_APICALL void GL_APIENTRY glPopGroupMarkerEXT (void); +#endif +#endif /* GL_EXT_debug_marker */ + +#ifndef GL_EXT_depth_clamp +#define GL_EXT_depth_clamp 1 +#define GL_DEPTH_CLAMP_EXT 0x864F +#endif /* GL_EXT_depth_clamp */ + +#ifndef GL_EXT_discard_framebuffer +#define GL_EXT_discard_framebuffer 1 +#define GL_COLOR_EXT 0x1800 +#define GL_DEPTH_EXT 0x1801 +#define GL_STENCIL_EXT 0x1802 +typedef void (GL_APIENTRYP PFNGLDISCARDFRAMEBUFFEREXTPROC) (GLenum target, GLsizei numAttachments, const GLenum *attachments); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDiscardFramebufferEXT (GLenum target, GLsizei numAttachments, const GLenum *attachments); +#endif +#endif /* GL_EXT_discard_framebuffer */ + +#ifndef GL_EXT_disjoint_timer_query +#define GL_EXT_disjoint_timer_query 1 +#define GL_QUERY_COUNTER_BITS_EXT 0x8864 +#define GL_CURRENT_QUERY_EXT 0x8865 +#define GL_QUERY_RESULT_EXT 0x8866 +#define GL_QUERY_RESULT_AVAILABLE_EXT 0x8867 +#define GL_TIME_ELAPSED_EXT 0x88BF +#define GL_TIMESTAMP_EXT 0x8E28 +#define GL_GPU_DISJOINT_EXT 0x8FBB +typedef void (GL_APIENTRYP PFNGLGENQUERIESEXTPROC) (GLsizei n, GLuint *ids); +typedef void (GL_APIENTRYP PFNGLDELETEQUERIESEXTPROC) (GLsizei n, const GLuint *ids); +typedef GLboolean (GL_APIENTRYP PFNGLISQUERYEXTPROC) (GLuint id); +typedef void (GL_APIENTRYP PFNGLBEGINQUERYEXTPROC) (GLenum target, GLuint id); +typedef void (GL_APIENTRYP PFNGLENDQUERYEXTPROC) (GLenum target); +typedef void (GL_APIENTRYP PFNGLQUERYCOUNTEREXTPROC) (GLuint id, GLenum target); +typedef void (GL_APIENTRYP PFNGLGETQUERYIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTIVEXTPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTUIVEXTPROC) (GLuint id, GLenum pname, GLuint *params); +typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTI64VEXTPROC) (GLuint id, GLenum pname, GLint64 *params); +typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTUI64VEXTPROC) (GLuint id, GLenum pname, GLuint64 *params); +typedef void (GL_APIENTRYP PFNGLGETINTEGER64VEXTPROC) (GLenum pname, GLint64 *data); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGenQueriesEXT (GLsizei n, GLuint *ids); +GL_APICALL void GL_APIENTRY glDeleteQueriesEXT (GLsizei n, const GLuint *ids); +GL_APICALL GLboolean GL_APIENTRY glIsQueryEXT (GLuint id); +GL_APICALL void GL_APIENTRY glBeginQueryEXT (GLenum target, GLuint id); +GL_APICALL void GL_APIENTRY glEndQueryEXT (GLenum target); +GL_APICALL void GL_APIENTRY glQueryCounterEXT (GLuint id, GLenum target); +GL_APICALL void GL_APIENTRY glGetQueryivEXT (GLenum target, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetQueryObjectivEXT (GLuint id, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetQueryObjectuivEXT (GLuint id, GLenum pname, GLuint *params); +GL_APICALL void GL_APIENTRY glGetQueryObjecti64vEXT (GLuint id, GLenum pname, GLint64 *params); +GL_APICALL void GL_APIENTRY glGetQueryObjectui64vEXT (GLuint id, GLenum pname, GLuint64 *params); +GL_APICALL void GL_APIENTRY glGetInteger64vEXT (GLenum pname, GLint64 *data); +#endif +#endif /* GL_EXT_disjoint_timer_query */ + +#ifndef GL_EXT_draw_buffers +#define GL_EXT_draw_buffers 1 +#define GL_MAX_COLOR_ATTACHMENTS_EXT 0x8CDF +#define GL_MAX_DRAW_BUFFERS_EXT 0x8824 +#define GL_DRAW_BUFFER0_EXT 0x8825 +#define GL_DRAW_BUFFER1_EXT 0x8826 +#define GL_DRAW_BUFFER2_EXT 0x8827 +#define GL_DRAW_BUFFER3_EXT 0x8828 +#define GL_DRAW_BUFFER4_EXT 0x8829 +#define GL_DRAW_BUFFER5_EXT 0x882A +#define GL_DRAW_BUFFER6_EXT 0x882B +#define GL_DRAW_BUFFER7_EXT 0x882C +#define GL_DRAW_BUFFER8_EXT 0x882D +#define GL_DRAW_BUFFER9_EXT 0x882E +#define GL_DRAW_BUFFER10_EXT 0x882F +#define GL_DRAW_BUFFER11_EXT 0x8830 +#define GL_DRAW_BUFFER12_EXT 0x8831 +#define GL_DRAW_BUFFER13_EXT 0x8832 +#define GL_DRAW_BUFFER14_EXT 0x8833 +#define GL_DRAW_BUFFER15_EXT 0x8834 +#define GL_COLOR_ATTACHMENT0_EXT 0x8CE0 +#define GL_COLOR_ATTACHMENT1_EXT 0x8CE1 +#define GL_COLOR_ATTACHMENT2_EXT 0x8CE2 +#define GL_COLOR_ATTACHMENT3_EXT 0x8CE3 +#define GL_COLOR_ATTACHMENT4_EXT 0x8CE4 +#define GL_COLOR_ATTACHMENT5_EXT 0x8CE5 +#define GL_COLOR_ATTACHMENT6_EXT 0x8CE6 +#define GL_COLOR_ATTACHMENT7_EXT 0x8CE7 +#define GL_COLOR_ATTACHMENT8_EXT 0x8CE8 +#define GL_COLOR_ATTACHMENT9_EXT 0x8CE9 +#define GL_COLOR_ATTACHMENT10_EXT 0x8CEA +#define GL_COLOR_ATTACHMENT11_EXT 0x8CEB +#define GL_COLOR_ATTACHMENT12_EXT 0x8CEC +#define GL_COLOR_ATTACHMENT13_EXT 0x8CED +#define GL_COLOR_ATTACHMENT14_EXT 0x8CEE +#define GL_COLOR_ATTACHMENT15_EXT 0x8CEF +typedef void (GL_APIENTRYP PFNGLDRAWBUFFERSEXTPROC) (GLsizei n, const GLenum *bufs); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawBuffersEXT (GLsizei n, const GLenum *bufs); +#endif +#endif /* GL_EXT_draw_buffers */ + +#ifndef GL_EXT_draw_buffers_indexed +#define GL_EXT_draw_buffers_indexed 1 +typedef void (GL_APIENTRYP PFNGLENABLEIEXTPROC) (GLenum target, GLuint index); +typedef void (GL_APIENTRYP PFNGLDISABLEIEXTPROC) (GLenum target, GLuint index); +typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONIEXTPROC) (GLuint buf, GLenum mode); +typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONSEPARATEIEXTPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (GL_APIENTRYP PFNGLBLENDFUNCIEXTPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (GL_APIENTRYP PFNGLBLENDFUNCSEPARATEIEXTPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +typedef void (GL_APIENTRYP PFNGLCOLORMASKIEXTPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDIEXTPROC) (GLenum target, GLuint index); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glEnableiEXT (GLenum target, GLuint index); +GL_APICALL void GL_APIENTRY glDisableiEXT (GLenum target, GLuint index); +GL_APICALL void GL_APIENTRY glBlendEquationiEXT (GLuint buf, GLenum mode); +GL_APICALL void GL_APIENTRY glBlendEquationSeparateiEXT (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +GL_APICALL void GL_APIENTRY glBlendFunciEXT (GLuint buf, GLenum src, GLenum dst); +GL_APICALL void GL_APIENTRY glBlendFuncSeparateiEXT (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +GL_APICALL void GL_APIENTRY glColorMaskiEXT (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +GL_APICALL GLboolean GL_APIENTRY glIsEnablediEXT (GLenum target, GLuint index); +#endif +#endif /* GL_EXT_draw_buffers_indexed */ + +#ifndef GL_EXT_draw_elements_base_vertex +#define GL_EXT_draw_elements_base_vertex 1 +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); +typedef void (GL_APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXEXTPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawElementsBaseVertexEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); +GL_APICALL void GL_APIENTRY glDrawRangeElementsBaseVertexEXT (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseVertexEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); +#endif +#endif /* GL_EXT_draw_elements_base_vertex */ + +#ifndef GL_EXT_draw_instanced +#define GL_EXT_draw_instanced 1 +typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawArraysInstancedEXT (GLenum mode, GLint start, GLsizei count, GLsizei primcount); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#endif +#endif /* GL_EXT_draw_instanced */ + +#ifndef GL_EXT_draw_transform_feedback +#define GL_EXT_draw_transform_feedback 1 +typedef void (GL_APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKEXTPROC) (GLenum mode, GLuint id); +typedef void (GL_APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDEXTPROC) (GLenum mode, GLuint id, GLsizei instancecount); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawTransformFeedbackEXT (GLenum mode, GLuint id); +GL_APICALL void GL_APIENTRY glDrawTransformFeedbackInstancedEXT (GLenum mode, GLuint id, GLsizei instancecount); +#endif +#endif /* GL_EXT_draw_transform_feedback */ + +#ifndef GL_EXT_external_buffer +#define GL_EXT_external_buffer 1 +typedef void *GLeglClientBufferEXT; +typedef void (GL_APIENTRYP PFNGLBUFFERSTORAGEEXTERNALEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERSTORAGEEXTERNALEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBufferStorageExternalEXT (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +GL_APICALL void GL_APIENTRY glNamedBufferStorageExternalEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); +#endif +#endif /* GL_EXT_external_buffer */ + +#ifndef GL_EXT_float_blend +#define GL_EXT_float_blend 1 +#endif /* GL_EXT_float_blend */ + +#ifndef GL_EXT_fragment_shading_rate +#define GL_EXT_fragment_shading_rate 1 +#define GL_SHADING_RATE_1X1_PIXELS_EXT 0x96A6 +#define GL_SHADING_RATE_1X2_PIXELS_EXT 0x96A7 +#define GL_SHADING_RATE_2X1_PIXELS_EXT 0x96A8 +#define GL_SHADING_RATE_2X2_PIXELS_EXT 0x96A9 +#define GL_SHADING_RATE_1X4_PIXELS_EXT 0x96AA +#define GL_SHADING_RATE_4X1_PIXELS_EXT 0x96AB +#define GL_SHADING_RATE_4X2_PIXELS_EXT 0x96AC +#define GL_SHADING_RATE_2X4_PIXELS_EXT 0x96AD +#define GL_SHADING_RATE_4X4_PIXELS_EXT 0x96AE +#define GL_SHADING_RATE_EXT 0x96D0 +#define GL_SHADING_RATE_ATTACHMENT_EXT 0x96D1 +#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_KEEP_EXT 0x96D2 +#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_REPLACE_EXT 0x96D3 +#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_MIN_EXT 0x96D4 +#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_MAX_EXT 0x96D5 +#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_MUL_EXT 0x96D6 +#define GL_MIN_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_WIDTH_EXT 0x96D7 +#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_WIDTH_EXT 0x96D8 +#define GL_MIN_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_HEIGHT_EXT 0x96D9 +#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_HEIGHT_EXT 0x96DA +#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_ASPECT_RATIO_EXT 0x96DB +#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_LAYERS_EXT 0x96DC +#define GL_FRAGMENT_SHADING_RATE_WITH_SHADER_DEPTH_STENCIL_WRITES_SUPPORTED_EXT 0x96DD +#define GL_FRAGMENT_SHADING_RATE_WITH_SAMPLE_MASK_SUPPORTED_EXT 0x96DE +#define GL_FRAGMENT_SHADING_RATE_ATTACHMENT_WITH_DEFAULT_FRAMEBUFFER_SUPPORTED_EXT 0x96DF +#define GL_FRAGMENT_SHADING_RATE_NON_TRIVIAL_COMBINERS_SUPPORTED_EXT 0x8F6F +typedef void (GL_APIENTRYP PFNGLGETFRAGMENTSHADINGRATESEXTPROC) (GLsizei samples, GLsizei maxCount, GLsizei *count, GLenum *shadingRates); +typedef void (GL_APIENTRYP PFNGLSHADINGRATEEXTPROC) (GLenum rate); +typedef void (GL_APIENTRYP PFNGLSHADINGRATECOMBINEROPSEXTPROC) (GLenum combinerOp0, GLenum combinerOp1); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERSHADINGRATEEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint baseLayer, GLsizei numLayers, GLsizei texelWidth, GLsizei texelHeight); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetFragmentShadingRatesEXT (GLsizei samples, GLsizei maxCount, GLsizei *count, GLenum *shadingRates); +GL_APICALL void GL_APIENTRY glShadingRateEXT (GLenum rate); +GL_APICALL void GL_APIENTRY glShadingRateCombinerOpsEXT (GLenum combinerOp0, GLenum combinerOp1); +GL_APICALL void GL_APIENTRY glFramebufferShadingRateEXT (GLenum target, GLenum attachment, GLuint texture, GLint baseLayer, GLsizei numLayers, GLsizei texelWidth, GLsizei texelHeight); +#endif +#endif /* GL_EXT_fragment_shading_rate */ + +#ifndef GL_EXT_geometry_point_size +#define GL_EXT_geometry_point_size 1 +#endif /* GL_EXT_geometry_point_size */ + +#ifndef GL_EXT_geometry_shader +#define GL_EXT_geometry_shader 1 +#define GL_GEOMETRY_SHADER_EXT 0x8DD9 +#define GL_GEOMETRY_SHADER_BIT_EXT 0x00000004 +#define GL_GEOMETRY_LINKED_VERTICES_OUT_EXT 0x8916 +#define GL_GEOMETRY_LINKED_INPUT_TYPE_EXT 0x8917 +#define GL_GEOMETRY_LINKED_OUTPUT_TYPE_EXT 0x8918 +#define GL_GEOMETRY_SHADER_INVOCATIONS_EXT 0x887F +#define GL_LAYER_PROVOKING_VERTEX_EXT 0x825E +#define GL_LINES_ADJACENCY_EXT 0x000A +#define GL_LINE_STRIP_ADJACENCY_EXT 0x000B +#define GL_TRIANGLES_ADJACENCY_EXT 0x000C +#define GL_TRIANGLE_STRIP_ADJACENCY_EXT 0x000D +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8DDF +#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS_EXT 0x8A2C +#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8A32 +#define GL_MAX_GEOMETRY_INPUT_COMPONENTS_EXT 0x9123 +#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS_EXT 0x9124 +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_EXT 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_EXT 0x8DE1 +#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS_EXT 0x8E5A +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_EXT 0x8C29 +#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS_EXT 0x92CF +#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS_EXT 0x92D5 +#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS_EXT 0x90CD +#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS_EXT 0x90D7 +#define GL_FIRST_VERTEX_CONVENTION_EXT 0x8E4D +#define GL_LAST_VERTEX_CONVENTION_EXT 0x8E4E +#define GL_UNDEFINED_VERTEX_EXT 0x8260 +#define GL_PRIMITIVES_GENERATED_EXT 0x8C87 +#define GL_FRAMEBUFFER_DEFAULT_LAYERS_EXT 0x9312 +#define GL_MAX_FRAMEBUFFER_LAYERS_EXT 0x9317 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_EXT 0x8DA8 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_EXT 0x8DA7 +#define GL_REFERENCED_BY_GEOMETRY_SHADER_EXT 0x9309 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferTextureEXT (GLenum target, GLenum attachment, GLuint texture, GLint level); +#endif +#endif /* GL_EXT_geometry_shader */ + +#ifndef GL_EXT_gpu_shader5 +#define GL_EXT_gpu_shader5 1 +#endif /* GL_EXT_gpu_shader5 */ + +#ifndef GL_EXT_instanced_arrays +#define GL_EXT_instanced_arrays 1 +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_EXT 0x88FE +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glVertexAttribDivisorEXT (GLuint index, GLuint divisor); +#endif +#endif /* GL_EXT_instanced_arrays */ + +#ifndef GL_EXT_map_buffer_range +#define GL_EXT_map_buffer_range 1 +#define GL_MAP_READ_BIT_EXT 0x0001 +#define GL_MAP_WRITE_BIT_EXT 0x0002 +#define GL_MAP_INVALIDATE_RANGE_BIT_EXT 0x0004 +#define GL_MAP_INVALIDATE_BUFFER_BIT_EXT 0x0008 +#define GL_MAP_FLUSH_EXPLICIT_BIT_EXT 0x0010 +#define GL_MAP_UNSYNCHRONIZED_BIT_EXT 0x0020 +typedef void *(GL_APIENTRYP PFNGLMAPBUFFERRANGEEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); +typedef void (GL_APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr length); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void *GL_APIENTRY glMapBufferRangeEXT (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); +GL_APICALL void GL_APIENTRY glFlushMappedBufferRangeEXT (GLenum target, GLintptr offset, GLsizeiptr length); +#endif +#endif /* GL_EXT_map_buffer_range */ + +#ifndef GL_EXT_memory_object +#define GL_EXT_memory_object 1 +#define GL_TEXTURE_TILING_EXT 0x9580 +#define GL_DEDICATED_MEMORY_OBJECT_EXT 0x9581 +#define GL_PROTECTED_MEMORY_OBJECT_EXT 0x959B +#define GL_NUM_TILING_TYPES_EXT 0x9582 +#define GL_TILING_TYPES_EXT 0x9583 +#define GL_OPTIMAL_TILING_EXT 0x9584 +#define GL_LINEAR_TILING_EXT 0x9585 +#define GL_NUM_DEVICE_UUIDS_EXT 0x9596 +#define GL_DEVICE_UUID_EXT 0x9597 +#define GL_DRIVER_UUID_EXT 0x9598 +#define GL_UUID_SIZE_EXT 16 +typedef void (GL_APIENTRYP PFNGLGETUNSIGNEDBYTEVEXTPROC) (GLenum pname, GLubyte *data); +typedef void (GL_APIENTRYP PFNGLGETUNSIGNEDBYTEI_VEXTPROC) (GLenum target, GLuint index, GLubyte *data); +typedef void (GL_APIENTRYP PFNGLDELETEMEMORYOBJECTSEXTPROC) (GLsizei n, const GLuint *memoryObjects); +typedef GLboolean (GL_APIENTRYP PFNGLISMEMORYOBJECTEXTPROC) (GLuint memoryObject); +typedef void (GL_APIENTRYP PFNGLCREATEMEMORYOBJECTSEXTPROC) (GLsizei n, GLuint *memoryObjects); +typedef void (GL_APIENTRYP PFNGLMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, const GLint *params); +typedef void (GL_APIENTRYP PFNGLGETMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM2DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM3DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLBUFFERSTORAGEMEMEXTPROC) (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM2DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM2DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM3DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM3DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERSTORAGEMEMEXTPROC) (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetUnsignedBytevEXT (GLenum pname, GLubyte *data); +GL_APICALL void GL_APIENTRY glGetUnsignedBytei_vEXT (GLenum target, GLuint index, GLubyte *data); +GL_APICALL void GL_APIENTRY glDeleteMemoryObjectsEXT (GLsizei n, const GLuint *memoryObjects); +GL_APICALL GLboolean GL_APIENTRY glIsMemoryObjectEXT (GLuint memoryObject); +GL_APICALL void GL_APIENTRY glCreateMemoryObjectsEXT (GLsizei n, GLuint *memoryObjects); +GL_APICALL void GL_APIENTRY glMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, const GLint *params); +GL_APICALL void GL_APIENTRY glGetMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glTexStorageMem2DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTexStorageMem2DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTexStorageMem3DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTexStorageMem3DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glBufferStorageMemEXT (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTextureStorageMem2DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTextureStorageMem2DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTextureStorageMem3DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTextureStorageMem3DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glNamedBufferStorageMemEXT (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); +#endif +#endif /* GL_EXT_memory_object */ + +#ifndef GL_EXT_memory_object_fd +#define GL_EXT_memory_object_fd 1 +#define GL_HANDLE_TYPE_OPAQUE_FD_EXT 0x9586 +typedef void (GL_APIENTRYP PFNGLIMPORTMEMORYFDEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glImportMemoryFdEXT (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); +#endif +#endif /* GL_EXT_memory_object_fd */ + +#ifndef GL_EXT_memory_object_win32 +#define GL_EXT_memory_object_win32 1 +#define GL_HANDLE_TYPE_OPAQUE_WIN32_EXT 0x9587 +#define GL_HANDLE_TYPE_OPAQUE_WIN32_KMT_EXT 0x9588 +#define GL_DEVICE_LUID_EXT 0x9599 +#define GL_DEVICE_NODE_MASK_EXT 0x959A +#define GL_LUID_SIZE_EXT 8 +#define GL_HANDLE_TYPE_D3D12_TILEPOOL_EXT 0x9589 +#define GL_HANDLE_TYPE_D3D12_RESOURCE_EXT 0x958A +#define GL_HANDLE_TYPE_D3D11_IMAGE_EXT 0x958B +#define GL_HANDLE_TYPE_D3D11_IMAGE_KMT_EXT 0x958C +typedef void (GL_APIENTRYP PFNGLIMPORTMEMORYWIN32HANDLEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, void *handle); +typedef void (GL_APIENTRYP PFNGLIMPORTMEMORYWIN32NAMEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, const void *name); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glImportMemoryWin32HandleEXT (GLuint memory, GLuint64 size, GLenum handleType, void *handle); +GL_APICALL void GL_APIENTRY glImportMemoryWin32NameEXT (GLuint memory, GLuint64 size, GLenum handleType, const void *name); +#endif +#endif /* GL_EXT_memory_object_win32 */ + +#ifndef GL_EXT_multi_draw_arrays +#define GL_EXT_multi_draw_arrays 1 +typedef void (GL_APIENTRYP PFNGLMULTIDRAWARRAYSEXTPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); +typedef void (GL_APIENTRYP PFNGLMULTIDRAWELEMENTSEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glMultiDrawArraysEXT (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); +GL_APICALL void GL_APIENTRY glMultiDrawElementsEXT (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); +#endif +#endif /* GL_EXT_multi_draw_arrays */ + +#ifndef GL_EXT_multi_draw_indirect +#define GL_EXT_multi_draw_indirect 1 +typedef void (GL_APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTEXTPROC) (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); +typedef void (GL_APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTEXTPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glMultiDrawArraysIndirectEXT (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); +GL_APICALL void GL_APIENTRY glMultiDrawElementsIndirectEXT (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); +#endif +#endif /* GL_EXT_multi_draw_indirect */ + +#ifndef GL_EXT_multisampled_compatibility +#define GL_EXT_multisampled_compatibility 1 +#define GL_MULTISAMPLE_EXT 0x809D +#define GL_SAMPLE_ALPHA_TO_ONE_EXT 0x809F +#endif /* GL_EXT_multisampled_compatibility */ + +#ifndef GL_EXT_multisampled_render_to_texture +#define GL_EXT_multisampled_render_to_texture 1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_SAMPLES_EXT 0x8D6C +#define GL_RENDERBUFFER_SAMPLES_EXT 0x8CAB +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_EXT 0x8D56 +#define GL_MAX_SAMPLES_EXT 0x8D57 +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DMULTISAMPLEEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleEXT (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glFramebufferTexture2DMultisampleEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); +#endif +#endif /* GL_EXT_multisampled_render_to_texture */ + +#ifndef GL_EXT_multisampled_render_to_texture2 +#define GL_EXT_multisampled_render_to_texture2 1 +#endif /* GL_EXT_multisampled_render_to_texture2 */ + +#ifndef GL_EXT_multiview_draw_buffers +#define GL_EXT_multiview_draw_buffers 1 +#define GL_COLOR_ATTACHMENT_EXT 0x90F0 +#define GL_MULTIVIEW_EXT 0x90F1 +#define GL_DRAW_BUFFER_EXT 0x0C01 +#define GL_READ_BUFFER_EXT 0x0C02 +#define GL_MAX_MULTIVIEW_BUFFERS_EXT 0x90F2 +typedef void (GL_APIENTRYP PFNGLREADBUFFERINDEXEDEXTPROC) (GLenum src, GLint index); +typedef void (GL_APIENTRYP PFNGLDRAWBUFFERSINDEXEDEXTPROC) (GLint n, const GLenum *location, const GLint *indices); +typedef void (GL_APIENTRYP PFNGLGETINTEGERI_VEXTPROC) (GLenum target, GLuint index, GLint *data); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glReadBufferIndexedEXT (GLenum src, GLint index); +GL_APICALL void GL_APIENTRY glDrawBuffersIndexedEXT (GLint n, const GLenum *location, const GLint *indices); +GL_APICALL void GL_APIENTRY glGetIntegeri_vEXT (GLenum target, GLuint index, GLint *data); +#endif +#endif /* GL_EXT_multiview_draw_buffers */ + +#ifndef GL_EXT_multiview_tessellation_geometry_shader +#define GL_EXT_multiview_tessellation_geometry_shader 1 +#endif /* GL_EXT_multiview_tessellation_geometry_shader */ + +#ifndef GL_EXT_multiview_texture_multisample +#define GL_EXT_multiview_texture_multisample 1 +#endif /* GL_EXT_multiview_texture_multisample */ + +#ifndef GL_EXT_multiview_timer_query +#define GL_EXT_multiview_timer_query 1 +#endif /* GL_EXT_multiview_timer_query */ + +#ifndef GL_EXT_occlusion_query_boolean +#define GL_EXT_occlusion_query_boolean 1 +#define GL_ANY_SAMPLES_PASSED_EXT 0x8C2F +#define GL_ANY_SAMPLES_PASSED_CONSERVATIVE_EXT 0x8D6A +#endif /* GL_EXT_occlusion_query_boolean */ + +#ifndef GL_EXT_polygon_offset_clamp +#define GL_EXT_polygon_offset_clamp 1 +#define GL_POLYGON_OFFSET_CLAMP_EXT 0x8E1B +typedef void (GL_APIENTRYP PFNGLPOLYGONOFFSETCLAMPEXTPROC) (GLfloat factor, GLfloat units, GLfloat clamp); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glPolygonOffsetClampEXT (GLfloat factor, GLfloat units, GLfloat clamp); +#endif +#endif /* GL_EXT_polygon_offset_clamp */ + +#ifndef GL_EXT_post_depth_coverage +#define GL_EXT_post_depth_coverage 1 +#endif /* GL_EXT_post_depth_coverage */ + +#ifndef GL_EXT_primitive_bounding_box +#define GL_EXT_primitive_bounding_box 1 +#define GL_PRIMITIVE_BOUNDING_BOX_EXT 0x92BE +typedef void (GL_APIENTRYP PFNGLPRIMITIVEBOUNDINGBOXEXTPROC) (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glPrimitiveBoundingBoxEXT (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); +#endif +#endif /* GL_EXT_primitive_bounding_box */ + +#ifndef GL_EXT_protected_textures +#define GL_EXT_protected_textures 1 +#define GL_CONTEXT_FLAG_PROTECTED_CONTENT_BIT_EXT 0x00000010 +#define GL_TEXTURE_PROTECTED_EXT 0x8BFA +#endif /* GL_EXT_protected_textures */ + +#ifndef GL_EXT_pvrtc_sRGB +#define GL_EXT_pvrtc_sRGB 1 +#define GL_COMPRESSED_SRGB_PVRTC_2BPPV1_EXT 0x8A54 +#define GL_COMPRESSED_SRGB_PVRTC_4BPPV1_EXT 0x8A55 +#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_2BPPV1_EXT 0x8A56 +#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_4BPPV1_EXT 0x8A57 +#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_2BPPV2_IMG 0x93F0 +#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_4BPPV2_IMG 0x93F1 +#endif /* GL_EXT_pvrtc_sRGB */ + +#ifndef GL_EXT_raster_multisample +#define GL_EXT_raster_multisample 1 +#define GL_RASTER_MULTISAMPLE_EXT 0x9327 +#define GL_RASTER_SAMPLES_EXT 0x9328 +#define GL_MAX_RASTER_SAMPLES_EXT 0x9329 +#define GL_RASTER_FIXED_SAMPLE_LOCATIONS_EXT 0x932A +#define GL_MULTISAMPLE_RASTERIZATION_ALLOWED_EXT 0x932B +#define GL_EFFECTIVE_RASTER_SAMPLES_EXT 0x932C +typedef void (GL_APIENTRYP PFNGLRASTERSAMPLESEXTPROC) (GLuint samples, GLboolean fixedsamplelocations); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRasterSamplesEXT (GLuint samples, GLboolean fixedsamplelocations); +#endif +#endif /* GL_EXT_raster_multisample */ + +#ifndef GL_EXT_read_format_bgra +#define GL_EXT_read_format_bgra 1 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV_EXT 0x8365 +#define GL_UNSIGNED_SHORT_1_5_5_5_REV_EXT 0x8366 +#endif /* GL_EXT_read_format_bgra */ + +#ifndef GL_EXT_render_snorm +#define GL_EXT_render_snorm 1 +#define GL_R8_SNORM 0x8F94 +#define GL_RG8_SNORM 0x8F95 +#define GL_RGBA8_SNORM 0x8F97 +#define GL_R16_SNORM_EXT 0x8F98 +#define GL_RG16_SNORM_EXT 0x8F99 +#define GL_RGBA16_SNORM_EXT 0x8F9B +#endif /* GL_EXT_render_snorm */ + +#ifndef GL_EXT_robustness +#define GL_EXT_robustness 1 +#define GL_GUILTY_CONTEXT_RESET_EXT 0x8253 +#define GL_INNOCENT_CONTEXT_RESET_EXT 0x8254 +#define GL_UNKNOWN_CONTEXT_RESET_EXT 0x8255 +#define GL_CONTEXT_ROBUST_ACCESS_EXT 0x90F3 +#define GL_RESET_NOTIFICATION_STRATEGY_EXT 0x8256 +#define GL_LOSE_CONTEXT_ON_RESET_EXT 0x8252 +#define GL_NO_RESET_NOTIFICATION_EXT 0x8261 +typedef GLenum (GL_APIENTRYP PFNGLGETGRAPHICSRESETSTATUSEXTPROC) (void); +typedef void (GL_APIENTRYP PFNGLREADNPIXELSEXTPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +typedef void (GL_APIENTRYP PFNGLGETNUNIFORMFVEXTPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +typedef void (GL_APIENTRYP PFNGLGETNUNIFORMIVEXTPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLenum GL_APIENTRY glGetGraphicsResetStatusEXT (void); +GL_APICALL void GL_APIENTRY glReadnPixelsEXT (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); +GL_APICALL void GL_APIENTRY glGetnUniformfvEXT (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); +GL_APICALL void GL_APIENTRY glGetnUniformivEXT (GLuint program, GLint location, GLsizei bufSize, GLint *params); +#endif +#endif /* GL_EXT_robustness */ + +#ifndef GL_EXT_sRGB +#define GL_EXT_sRGB 1 +#define GL_SRGB_EXT 0x8C40 +#define GL_SRGB_ALPHA_EXT 0x8C42 +#define GL_SRGB8_ALPHA8_EXT 0x8C43 +#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING_EXT 0x8210 +#endif /* GL_EXT_sRGB */ + +#ifndef GL_EXT_sRGB_write_control +#define GL_EXT_sRGB_write_control 1 +#define GL_FRAMEBUFFER_SRGB_EXT 0x8DB9 +#endif /* GL_EXT_sRGB_write_control */ + +#ifndef GL_EXT_semaphore +#define GL_EXT_semaphore 1 +#define GL_LAYOUT_GENERAL_EXT 0x958D +#define GL_LAYOUT_COLOR_ATTACHMENT_EXT 0x958E +#define GL_LAYOUT_DEPTH_STENCIL_ATTACHMENT_EXT 0x958F +#define GL_LAYOUT_DEPTH_STENCIL_READ_ONLY_EXT 0x9590 +#define GL_LAYOUT_SHADER_READ_ONLY_EXT 0x9591 +#define GL_LAYOUT_TRANSFER_SRC_EXT 0x9592 +#define GL_LAYOUT_TRANSFER_DST_EXT 0x9593 +#define GL_LAYOUT_DEPTH_READ_ONLY_STENCIL_ATTACHMENT_EXT 0x9530 +#define GL_LAYOUT_DEPTH_ATTACHMENT_STENCIL_READ_ONLY_EXT 0x9531 +typedef void (GL_APIENTRYP PFNGLGENSEMAPHORESEXTPROC) (GLsizei n, GLuint *semaphores); +typedef void (GL_APIENTRYP PFNGLDELETESEMAPHORESEXTPROC) (GLsizei n, const GLuint *semaphores); +typedef GLboolean (GL_APIENTRYP PFNGLISSEMAPHOREEXTPROC) (GLuint semaphore); +typedef void (GL_APIENTRYP PFNGLSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, const GLuint64 *params); +typedef void (GL_APIENTRYP PFNGLGETSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, GLuint64 *params); +typedef void (GL_APIENTRYP PFNGLWAITSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); +typedef void (GL_APIENTRYP PFNGLSIGNALSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGenSemaphoresEXT (GLsizei n, GLuint *semaphores); +GL_APICALL void GL_APIENTRY glDeleteSemaphoresEXT (GLsizei n, const GLuint *semaphores); +GL_APICALL GLboolean GL_APIENTRY glIsSemaphoreEXT (GLuint semaphore); +GL_APICALL void GL_APIENTRY glSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, const GLuint64 *params); +GL_APICALL void GL_APIENTRY glGetSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, GLuint64 *params); +GL_APICALL void GL_APIENTRY glWaitSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); +GL_APICALL void GL_APIENTRY glSignalSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); +#endif +#endif /* GL_EXT_semaphore */ + +#ifndef GL_EXT_semaphore_fd +#define GL_EXT_semaphore_fd 1 +typedef void (GL_APIENTRYP PFNGLIMPORTSEMAPHOREFDEXTPROC) (GLuint semaphore, GLenum handleType, GLint fd); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glImportSemaphoreFdEXT (GLuint semaphore, GLenum handleType, GLint fd); +#endif +#endif /* GL_EXT_semaphore_fd */ + +#ifndef GL_EXT_semaphore_win32 +#define GL_EXT_semaphore_win32 1 +#define GL_HANDLE_TYPE_D3D12_FENCE_EXT 0x9594 +#define GL_D3D12_FENCE_VALUE_EXT 0x9595 +typedef void (GL_APIENTRYP PFNGLIMPORTSEMAPHOREWIN32HANDLEEXTPROC) (GLuint semaphore, GLenum handleType, void *handle); +typedef void (GL_APIENTRYP PFNGLIMPORTSEMAPHOREWIN32NAMEEXTPROC) (GLuint semaphore, GLenum handleType, const void *name); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glImportSemaphoreWin32HandleEXT (GLuint semaphore, GLenum handleType, void *handle); +GL_APICALL void GL_APIENTRY glImportSemaphoreWin32NameEXT (GLuint semaphore, GLenum handleType, const void *name); +#endif +#endif /* GL_EXT_semaphore_win32 */ + +#ifndef GL_EXT_separate_depth_stencil +#define GL_EXT_separate_depth_stencil 1 +#endif /* GL_EXT_separate_depth_stencil */ + +#ifndef GL_EXT_separate_shader_objects +#define GL_EXT_separate_shader_objects 1 +#define GL_ACTIVE_PROGRAM_EXT 0x8259 +#define GL_VERTEX_SHADER_BIT_EXT 0x00000001 +#define GL_FRAGMENT_SHADER_BIT_EXT 0x00000002 +#define GL_ALL_SHADER_BITS_EXT 0xFFFFFFFF +#define GL_PROGRAM_SEPARABLE_EXT 0x8258 +#define GL_PROGRAM_PIPELINE_BINDING_EXT 0x825A +typedef void (GL_APIENTRYP PFNGLACTIVESHADERPROGRAMEXTPROC) (GLuint pipeline, GLuint program); +typedef void (GL_APIENTRYP PFNGLBINDPROGRAMPIPELINEEXTPROC) (GLuint pipeline); +typedef GLuint (GL_APIENTRYP PFNGLCREATESHADERPROGRAMVEXTPROC) (GLenum type, GLsizei count, const GLchar **strings); +typedef void (GL_APIENTRYP PFNGLDELETEPROGRAMPIPELINESEXTPROC) (GLsizei n, const GLuint *pipelines); +typedef void (GL_APIENTRYP PFNGLGENPROGRAMPIPELINESEXTPROC) (GLsizei n, GLuint *pipelines); +typedef void (GL_APIENTRYP PFNGLGETPROGRAMPIPELINEINFOLOGEXTPROC) (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +typedef void (GL_APIENTRYP PFNGLGETPROGRAMPIPELINEIVEXTPROC) (GLuint pipeline, GLenum pname, GLint *params); +typedef GLboolean (GL_APIENTRYP PFNGLISPROGRAMPIPELINEEXTPROC) (GLuint pipeline); +typedef void (GL_APIENTRYP PFNGLPROGRAMPARAMETERIEXTPROC) (GLuint program, GLenum pname, GLint value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1FEXTPROC) (GLuint program, GLint location, GLfloat v0); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1IEXTPROC) (GLuint program, GLint location, GLint v0); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUSEPROGRAMSTAGESEXTPROC) (GLuint pipeline, GLbitfield stages, GLuint program); +typedef void (GL_APIENTRYP PFNGLVALIDATEPROGRAMPIPELINEEXTPROC) (GLuint pipeline); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UIEXTPROC) (GLuint program, GLint location, GLuint v0); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glActiveShaderProgramEXT (GLuint pipeline, GLuint program); +GL_APICALL void GL_APIENTRY glBindProgramPipelineEXT (GLuint pipeline); +GL_APICALL GLuint GL_APIENTRY glCreateShaderProgramvEXT (GLenum type, GLsizei count, const GLchar **strings); +GL_APICALL void GL_APIENTRY glDeleteProgramPipelinesEXT (GLsizei n, const GLuint *pipelines); +GL_APICALL void GL_APIENTRY glGenProgramPipelinesEXT (GLsizei n, GLuint *pipelines); +GL_APICALL void GL_APIENTRY glGetProgramPipelineInfoLogEXT (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); +GL_APICALL void GL_APIENTRY glGetProgramPipelineivEXT (GLuint pipeline, GLenum pname, GLint *params); +GL_APICALL GLboolean GL_APIENTRY glIsProgramPipelineEXT (GLuint pipeline); +GL_APICALL void GL_APIENTRY glProgramParameteriEXT (GLuint program, GLenum pname, GLint value); +GL_APICALL void GL_APIENTRY glProgramUniform1fEXT (GLuint program, GLint location, GLfloat v0); +GL_APICALL void GL_APIENTRY glProgramUniform1fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniform1iEXT (GLuint program, GLint location, GLint v0); +GL_APICALL void GL_APIENTRY glProgramUniform1ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glProgramUniform2fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1); +GL_APICALL void GL_APIENTRY glProgramUniform2fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniform2iEXT (GLuint program, GLint location, GLint v0, GLint v1); +GL_APICALL void GL_APIENTRY glProgramUniform2ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glProgramUniform3fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +GL_APICALL void GL_APIENTRY glProgramUniform3fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniform3iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +GL_APICALL void GL_APIENTRY glProgramUniform3ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glProgramUniform4fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +GL_APICALL void GL_APIENTRY glProgramUniform4fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniform4iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +GL_APICALL void GL_APIENTRY glProgramUniform4ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUseProgramStagesEXT (GLuint pipeline, GLbitfield stages, GLuint program); +GL_APICALL void GL_APIENTRY glValidateProgramPipelineEXT (GLuint pipeline); +GL_APICALL void GL_APIENTRY glProgramUniform1uiEXT (GLuint program, GLint location, GLuint v0); +GL_APICALL void GL_APIENTRY glProgramUniform2uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1); +GL_APICALL void GL_APIENTRY glProgramUniform3uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +GL_APICALL void GL_APIENTRY glProgramUniform4uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +GL_APICALL void GL_APIENTRY glProgramUniform1uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GL_APICALL void GL_APIENTRY glProgramUniform2uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GL_APICALL void GL_APIENTRY glProgramUniform3uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GL_APICALL void GL_APIENTRY glProgramUniform4uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix2x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix3x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix2x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix4x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix3x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glProgramUniformMatrix4x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +#endif +#endif /* GL_EXT_separate_shader_objects */ + +#ifndef GL_EXT_shader_framebuffer_fetch +#define GL_EXT_shader_framebuffer_fetch 1 +#define GL_FRAGMENT_SHADER_DISCARDS_SAMPLES_EXT 0x8A52 +#endif /* GL_EXT_shader_framebuffer_fetch */ + +#ifndef GL_EXT_shader_framebuffer_fetch_non_coherent +#define GL_EXT_shader_framebuffer_fetch_non_coherent 1 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFETCHBARRIEREXTPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferFetchBarrierEXT (void); +#endif +#endif /* GL_EXT_shader_framebuffer_fetch_non_coherent */ + +#ifndef GL_EXT_shader_group_vote +#define GL_EXT_shader_group_vote 1 +#endif /* GL_EXT_shader_group_vote */ + +#ifndef GL_EXT_shader_implicit_conversions +#define GL_EXT_shader_implicit_conversions 1 +#endif /* GL_EXT_shader_implicit_conversions */ + +#ifndef GL_EXT_shader_integer_mix +#define GL_EXT_shader_integer_mix 1 +#endif /* GL_EXT_shader_integer_mix */ + +#ifndef GL_EXT_shader_io_blocks +#define GL_EXT_shader_io_blocks 1 +#endif /* GL_EXT_shader_io_blocks */ + +#ifndef GL_EXT_shader_non_constant_global_initializers +#define GL_EXT_shader_non_constant_global_initializers 1 +#endif /* GL_EXT_shader_non_constant_global_initializers */ + +#ifndef GL_EXT_shader_pixel_local_storage +#define GL_EXT_shader_pixel_local_storage 1 +#define GL_MAX_SHADER_PIXEL_LOCAL_STORAGE_FAST_SIZE_EXT 0x8F63 +#define GL_MAX_SHADER_PIXEL_LOCAL_STORAGE_SIZE_EXT 0x8F67 +#define GL_SHADER_PIXEL_LOCAL_STORAGE_EXT 0x8F64 +#endif /* GL_EXT_shader_pixel_local_storage */ + +#ifndef GL_EXT_shader_pixel_local_storage2 +#define GL_EXT_shader_pixel_local_storage2 1 +#define GL_MAX_SHADER_COMBINED_LOCAL_STORAGE_FAST_SIZE_EXT 0x9650 +#define GL_MAX_SHADER_COMBINED_LOCAL_STORAGE_SIZE_EXT 0x9651 +#define GL_FRAMEBUFFER_INCOMPLETE_INSUFFICIENT_SHADER_COMBINED_LOCAL_STORAGE_EXT 0x9652 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERPIXELLOCALSTORAGESIZEEXTPROC) (GLuint target, GLsizei size); +typedef GLsizei (GL_APIENTRYP PFNGLGETFRAMEBUFFERPIXELLOCALSTORAGESIZEEXTPROC) (GLuint target); +typedef void (GL_APIENTRYP PFNGLCLEARPIXELLOCALSTORAGEUIEXTPROC) (GLsizei offset, GLsizei n, const GLuint *values); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferPixelLocalStorageSizeEXT (GLuint target, GLsizei size); +GL_APICALL GLsizei GL_APIENTRY glGetFramebufferPixelLocalStorageSizeEXT (GLuint target); +GL_APICALL void GL_APIENTRY glClearPixelLocalStorageuiEXT (GLsizei offset, GLsizei n, const GLuint *values); +#endif +#endif /* GL_EXT_shader_pixel_local_storage2 */ + +#ifndef GL_EXT_shader_samples_identical +#define GL_EXT_shader_samples_identical 1 +#endif /* GL_EXT_shader_samples_identical */ + +#ifndef GL_EXT_shader_texture_lod +#define GL_EXT_shader_texture_lod 1 +#endif /* GL_EXT_shader_texture_lod */ + +#ifndef GL_EXT_shadow_samplers +#define GL_EXT_shadow_samplers 1 +#define GL_TEXTURE_COMPARE_MODE_EXT 0x884C +#define GL_TEXTURE_COMPARE_FUNC_EXT 0x884D +#define GL_COMPARE_REF_TO_TEXTURE_EXT 0x884E +#define GL_SAMPLER_2D_SHADOW_EXT 0x8B62 +#endif /* GL_EXT_shadow_samplers */ + +#ifndef GL_EXT_sparse_texture +#define GL_EXT_sparse_texture 1 +#define GL_TEXTURE_SPARSE_EXT 0x91A6 +#define GL_VIRTUAL_PAGE_SIZE_INDEX_EXT 0x91A7 +#define GL_NUM_SPARSE_LEVELS_EXT 0x91AA +#define GL_NUM_VIRTUAL_PAGE_SIZES_EXT 0x91A8 +#define GL_VIRTUAL_PAGE_SIZE_X_EXT 0x9195 +#define GL_VIRTUAL_PAGE_SIZE_Y_EXT 0x9196 +#define GL_VIRTUAL_PAGE_SIZE_Z_EXT 0x9197 +#define GL_TEXTURE_2D_ARRAY 0x8C1A +#define GL_TEXTURE_3D 0x806F +#define GL_MAX_SPARSE_TEXTURE_SIZE_EXT 0x9198 +#define GL_MAX_SPARSE_3D_TEXTURE_SIZE_EXT 0x9199 +#define GL_MAX_SPARSE_ARRAY_TEXTURE_LAYERS_EXT 0x919A +#define GL_SPARSE_TEXTURE_FULL_ARRAY_CUBE_MIPMAPS_EXT 0x91A9 +typedef void (GL_APIENTRYP PFNGLTEXPAGECOMMITMENTEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexPageCommitmentEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); +#endif +#endif /* GL_EXT_sparse_texture */ + +#ifndef GL_EXT_sparse_texture2 +#define GL_EXT_sparse_texture2 1 +#endif /* GL_EXT_sparse_texture2 */ + +#ifndef GL_EXT_tessellation_point_size +#define GL_EXT_tessellation_point_size 1 +#endif /* GL_EXT_tessellation_point_size */ + +#ifndef GL_EXT_tessellation_shader +#define GL_EXT_tessellation_shader 1 +#define GL_PATCHES_EXT 0x000E +#define GL_PATCH_VERTICES_EXT 0x8E72 +#define GL_TESS_CONTROL_OUTPUT_VERTICES_EXT 0x8E75 +#define GL_TESS_GEN_MODE_EXT 0x8E76 +#define GL_TESS_GEN_SPACING_EXT 0x8E77 +#define GL_TESS_GEN_VERTEX_ORDER_EXT 0x8E78 +#define GL_TESS_GEN_POINT_MODE_EXT 0x8E79 +#define GL_ISOLINES_EXT 0x8E7A +#define GL_QUADS_EXT 0x0007 +#define GL_FRACTIONAL_ODD_EXT 0x8E7B +#define GL_FRACTIONAL_EVEN_EXT 0x8E7C +#define GL_MAX_PATCH_VERTICES_EXT 0x8E7D +#define GL_MAX_TESS_GEN_LEVEL_EXT 0x8E7E +#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS_EXT 0x8E7F +#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS_EXT 0x8E80 +#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS_EXT 0x8E81 +#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS_EXT 0x8E82 +#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS_EXT 0x8E83 +#define GL_MAX_TESS_PATCH_COMPONENTS_EXT 0x8E84 +#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS_EXT 0x8E85 +#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS_EXT 0x8E86 +#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS_EXT 0x8E89 +#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS_EXT 0x8E8A +#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS_EXT 0x886C +#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS_EXT 0x886D +#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS_EXT 0x8E1E +#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS_EXT 0x8E1F +#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS_EXT 0x92CD +#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS_EXT 0x92CE +#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS_EXT 0x92D3 +#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS_EXT 0x92D4 +#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS_EXT 0x90CB +#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS_EXT 0x90CC +#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS_EXT 0x90D8 +#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS_EXT 0x90D9 +#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED 0x8221 +#define GL_IS_PER_PATCH_EXT 0x92E7 +#define GL_REFERENCED_BY_TESS_CONTROL_SHADER_EXT 0x9307 +#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER_EXT 0x9308 +#define GL_TESS_CONTROL_SHADER_EXT 0x8E88 +#define GL_TESS_EVALUATION_SHADER_EXT 0x8E87 +#define GL_TESS_CONTROL_SHADER_BIT_EXT 0x00000008 +#define GL_TESS_EVALUATION_SHADER_BIT_EXT 0x00000010 +typedef void (GL_APIENTRYP PFNGLPATCHPARAMETERIEXTPROC) (GLenum pname, GLint value); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glPatchParameteriEXT (GLenum pname, GLint value); +#endif +#endif /* GL_EXT_tessellation_shader */ + +#ifndef GL_EXT_texture_border_clamp +#define GL_EXT_texture_border_clamp 1 +#define GL_TEXTURE_BORDER_COLOR_EXT 0x1004 +#define GL_CLAMP_TO_BORDER_EXT 0x812D +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, const GLuint *params); +typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, GLuint *params); +typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIIVEXTPROC) (GLuint sampler, GLenum pname, const GLint *param); +typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIUIVEXTPROC) (GLuint sampler, GLenum pname, const GLuint *param); +typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIIVEXTPROC) (GLuint sampler, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVEXTPROC) (GLuint sampler, GLenum pname, GLuint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexParameterIivEXT (GLenum target, GLenum pname, const GLint *params); +GL_APICALL void GL_APIENTRY glTexParameterIuivEXT (GLenum target, GLenum pname, const GLuint *params); +GL_APICALL void GL_APIENTRY glGetTexParameterIivEXT (GLenum target, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetTexParameterIuivEXT (GLenum target, GLenum pname, GLuint *params); +GL_APICALL void GL_APIENTRY glSamplerParameterIivEXT (GLuint sampler, GLenum pname, const GLint *param); +GL_APICALL void GL_APIENTRY glSamplerParameterIuivEXT (GLuint sampler, GLenum pname, const GLuint *param); +GL_APICALL void GL_APIENTRY glGetSamplerParameterIivEXT (GLuint sampler, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glGetSamplerParameterIuivEXT (GLuint sampler, GLenum pname, GLuint *params); +#endif +#endif /* GL_EXT_texture_border_clamp */ + +#ifndef GL_EXT_texture_buffer +#define GL_EXT_texture_buffer 1 +#define GL_TEXTURE_BUFFER_EXT 0x8C2A +#define GL_TEXTURE_BUFFER_BINDING_EXT 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE_EXT 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER_EXT 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_EXT 0x8C2D +#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT_EXT 0x919F +#define GL_SAMPLER_BUFFER_EXT 0x8DC2 +#define GL_INT_SAMPLER_BUFFER_EXT 0x8DD0 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER_EXT 0x8DD8 +#define GL_IMAGE_BUFFER_EXT 0x9051 +#define GL_INT_IMAGE_BUFFER_EXT 0x905C +#define GL_UNSIGNED_INT_IMAGE_BUFFER_EXT 0x9067 +#define GL_TEXTURE_BUFFER_OFFSET_EXT 0x919D +#define GL_TEXTURE_BUFFER_SIZE_EXT 0x919E +typedef void (GL_APIENTRYP PFNGLTEXBUFFEREXTPROC) (GLenum target, GLenum internalformat, GLuint buffer); +typedef void (GL_APIENTRYP PFNGLTEXBUFFERRANGEEXTPROC) (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexBufferEXT (GLenum target, GLenum internalformat, GLuint buffer); +GL_APICALL void GL_APIENTRY glTexBufferRangeEXT (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); +#endif +#endif /* GL_EXT_texture_buffer */ + +#ifndef GL_EXT_texture_compression_astc_decode_mode +#define GL_EXT_texture_compression_astc_decode_mode 1 +#define GL_TEXTURE_ASTC_DECODE_PRECISION_EXT 0x8F69 +#endif /* GL_EXT_texture_compression_astc_decode_mode */ + +#ifndef GL_EXT_texture_compression_bptc +#define GL_EXT_texture_compression_bptc 1 +#define GL_COMPRESSED_RGBA_BPTC_UNORM_EXT 0x8E8C +#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_EXT 0x8E8D +#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_EXT 0x8E8E +#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_EXT 0x8E8F +#endif /* GL_EXT_texture_compression_bptc */ + +#ifndef GL_EXT_texture_compression_dxt1 +#define GL_EXT_texture_compression_dxt1 1 +#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 +#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 +#endif /* GL_EXT_texture_compression_dxt1 */ + +#ifndef GL_EXT_texture_compression_rgtc +#define GL_EXT_texture_compression_rgtc 1 +#define GL_COMPRESSED_RED_RGTC1_EXT 0x8DBB +#define GL_COMPRESSED_SIGNED_RED_RGTC1_EXT 0x8DBC +#define GL_COMPRESSED_RED_GREEN_RGTC2_EXT 0x8DBD +#define GL_COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT 0x8DBE +#endif /* GL_EXT_texture_compression_rgtc */ + +#ifndef GL_EXT_texture_compression_s3tc +#define GL_EXT_texture_compression_s3tc 1 +#define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT 0x83F2 +#define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT 0x83F3 +#endif /* GL_EXT_texture_compression_s3tc */ + +#ifndef GL_EXT_texture_compression_s3tc_srgb +#define GL_EXT_texture_compression_s3tc_srgb 1 +#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F +#endif /* GL_EXT_texture_compression_s3tc_srgb */ + +#ifndef GL_EXT_texture_cube_map_array +#define GL_EXT_texture_cube_map_array 1 +#define GL_TEXTURE_CUBE_MAP_ARRAY_EXT 0x9009 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_EXT 0x900A +#define GL_SAMPLER_CUBE_MAP_ARRAY_EXT 0x900C +#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_EXT 0x900D +#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_EXT 0x900E +#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_EXT 0x900F +#define GL_IMAGE_CUBE_MAP_ARRAY_EXT 0x9054 +#define GL_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x905F +#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x906A +#endif /* GL_EXT_texture_cube_map_array */ + +#ifndef GL_EXT_texture_filter_anisotropic +#define GL_EXT_texture_filter_anisotropic 1 +#define GL_TEXTURE_MAX_ANISOTROPY_EXT 0x84FE +#define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF +#endif /* GL_EXT_texture_filter_anisotropic */ + +#ifndef GL_EXT_texture_filter_minmax +#define GL_EXT_texture_filter_minmax 1 +#define GL_TEXTURE_REDUCTION_MODE_EXT 0x9366 +#define GL_WEIGHTED_AVERAGE_EXT 0x9367 +#endif /* GL_EXT_texture_filter_minmax */ + +#ifndef GL_EXT_texture_format_BGRA8888 +#define GL_EXT_texture_format_BGRA8888 1 +#endif /* GL_EXT_texture_format_BGRA8888 */ + +#ifndef GL_EXT_texture_format_sRGB_override +#define GL_EXT_texture_format_sRGB_override 1 +#define GL_TEXTURE_FORMAT_SRGB_OVERRIDE_EXT 0x8FBF +#endif /* GL_EXT_texture_format_sRGB_override */ + +#ifndef GL_EXT_texture_mirror_clamp_to_edge +#define GL_EXT_texture_mirror_clamp_to_edge 1 +#define GL_MIRROR_CLAMP_TO_EDGE_EXT 0x8743 +#endif /* GL_EXT_texture_mirror_clamp_to_edge */ + +#ifndef GL_EXT_texture_norm16 +#define GL_EXT_texture_norm16 1 +#define GL_R16_EXT 0x822A +#define GL_RG16_EXT 0x822C +#define GL_RGBA16_EXT 0x805B +#define GL_RGB16_EXT 0x8054 +#define GL_RGB16_SNORM_EXT 0x8F9A +#endif /* GL_EXT_texture_norm16 */ + +#ifndef GL_EXT_texture_query_lod +#define GL_EXT_texture_query_lod 1 +#endif /* GL_EXT_texture_query_lod */ + +#ifndef GL_EXT_texture_rg +#define GL_EXT_texture_rg 1 +#define GL_RED_EXT 0x1903 +#define GL_RG_EXT 0x8227 +#define GL_R8_EXT 0x8229 +#define GL_RG8_EXT 0x822B +#endif /* GL_EXT_texture_rg */ + +#ifndef GL_EXT_texture_sRGB_R8 +#define GL_EXT_texture_sRGB_R8 1 +#define GL_SR8_EXT 0x8FBD +#endif /* GL_EXT_texture_sRGB_R8 */ + +#ifndef GL_EXT_texture_sRGB_RG8 +#define GL_EXT_texture_sRGB_RG8 1 +#define GL_SRG8_EXT 0x8FBE +#endif /* GL_EXT_texture_sRGB_RG8 */ + +#ifndef GL_EXT_texture_sRGB_decode +#define GL_EXT_texture_sRGB_decode 1 +#define GL_TEXTURE_SRGB_DECODE_EXT 0x8A48 +#define GL_DECODE_EXT 0x8A49 +#define GL_SKIP_DECODE_EXT 0x8A4A +#endif /* GL_EXT_texture_sRGB_decode */ + +#ifndef GL_EXT_texture_shadow_lod +#define GL_EXT_texture_shadow_lod 1 +#endif /* GL_EXT_texture_shadow_lod */ + +#ifndef GL_EXT_texture_storage +#define GL_EXT_texture_storage 1 +#define GL_TEXTURE_IMMUTABLE_FORMAT_EXT 0x912F +#define GL_ALPHA8_EXT 0x803C +#define GL_LUMINANCE8_EXT 0x8040 +#define GL_LUMINANCE8_ALPHA8_EXT 0x8045 +#define GL_RGBA32F_EXT 0x8814 +#define GL_RGB32F_EXT 0x8815 +#define GL_ALPHA32F_EXT 0x8816 +#define GL_LUMINANCE32F_EXT 0x8818 +#define GL_LUMINANCE_ALPHA32F_EXT 0x8819 +#define GL_ALPHA16F_EXT 0x881C +#define GL_LUMINANCE16F_EXT 0x881E +#define GL_LUMINANCE_ALPHA16F_EXT 0x881F +#define GL_R32F_EXT 0x822E +#define GL_RG32F_EXT 0x8230 +typedef void (GL_APIENTRYP PFNGLTEXSTORAGE1DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGE2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGE3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGE1DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGE2DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGE3DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexStorage1DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +GL_APICALL void GL_APIENTRY glTexStorage2DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glTexStorage3DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +GL_APICALL void GL_APIENTRY glTextureStorage1DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); +GL_APICALL void GL_APIENTRY glTextureStorage2DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glTextureStorage3DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); +#endif +#endif /* GL_EXT_texture_storage */ + +#ifndef GL_EXT_texture_storage_compression +#define GL_EXT_texture_storage_compression 1 +#define GL_NUM_SURFACE_COMPRESSION_FIXED_RATES_EXT 0x8F6E +#define GL_SURFACE_COMPRESSION_FIXED_RATE_1BPC_EXT 0x96C4 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_2BPC_EXT 0x96C5 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_3BPC_EXT 0x96C6 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_4BPC_EXT 0x96C7 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_5BPC_EXT 0x96C8 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_6BPC_EXT 0x96C9 +#define GL_SURFACE_COMPRESSION_FIXED_RATE_7BPC_EXT 0x96CA +#define GL_SURFACE_COMPRESSION_FIXED_RATE_8BPC_EXT 0x96CB +#define GL_SURFACE_COMPRESSION_FIXED_RATE_9BPC_EXT 0x96CC +#define GL_SURFACE_COMPRESSION_FIXED_RATE_10BPC_EXT 0x96CD +#define GL_SURFACE_COMPRESSION_FIXED_RATE_11BPC_EXT 0x96CE +#define GL_SURFACE_COMPRESSION_FIXED_RATE_12BPC_EXT 0x96CF +typedef void (GL_APIENTRYP PFNGLTEXSTORAGEATTRIBS2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, const GLint* attrib_list); +typedef void (GL_APIENTRYP PFNGLTEXSTORAGEATTRIBS3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, const GLint* attrib_list); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexStorageAttribs2DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, const GLint* attrib_list); +GL_APICALL void GL_APIENTRY glTexStorageAttribs3DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, const GLint* attrib_list); +#endif +#endif /* GL_EXT_texture_storage_compression */ + +#ifndef GL_EXT_texture_type_2_10_10_10_REV +#define GL_EXT_texture_type_2_10_10_10_REV 1 +#define GL_UNSIGNED_INT_2_10_10_10_REV_EXT 0x8368 +#endif /* GL_EXT_texture_type_2_10_10_10_REV */ + +#ifndef GL_EXT_texture_view +#define GL_EXT_texture_view 1 +#define GL_TEXTURE_VIEW_MIN_LEVEL_EXT 0x82DB +#define GL_TEXTURE_VIEW_NUM_LEVELS_EXT 0x82DC +#define GL_TEXTURE_VIEW_MIN_LAYER_EXT 0x82DD +#define GL_TEXTURE_VIEW_NUM_LAYERS_EXT 0x82DE +typedef void (GL_APIENTRYP PFNGLTEXTUREVIEWEXTPROC) (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTextureViewEXT (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); +#endif +#endif /* GL_EXT_texture_view */ + +#ifndef GL_EXT_unpack_subimage +#define GL_EXT_unpack_subimage 1 +#define GL_UNPACK_ROW_LENGTH_EXT 0x0CF2 +#define GL_UNPACK_SKIP_ROWS_EXT 0x0CF3 +#define GL_UNPACK_SKIP_PIXELS_EXT 0x0CF4 +#endif /* GL_EXT_unpack_subimage */ + +#ifndef GL_EXT_win32_keyed_mutex +#define GL_EXT_win32_keyed_mutex 1 +typedef GLboolean (GL_APIENTRYP PFNGLACQUIREKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key, GLuint timeout); +typedef GLboolean (GL_APIENTRYP PFNGLRELEASEKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLboolean GL_APIENTRY glAcquireKeyedMutexWin32EXT (GLuint memory, GLuint64 key, GLuint timeout); +GL_APICALL GLboolean GL_APIENTRY glReleaseKeyedMutexWin32EXT (GLuint memory, GLuint64 key); +#endif +#endif /* GL_EXT_win32_keyed_mutex */ + +#ifndef GL_EXT_window_rectangles +#define GL_EXT_window_rectangles 1 +#define GL_INCLUSIVE_EXT 0x8F10 +#define GL_EXCLUSIVE_EXT 0x8F11 +#define GL_WINDOW_RECTANGLE_EXT 0x8F12 +#define GL_WINDOW_RECTANGLE_MODE_EXT 0x8F13 +#define GL_MAX_WINDOW_RECTANGLES_EXT 0x8F14 +#define GL_NUM_WINDOW_RECTANGLES_EXT 0x8F15 +typedef void (GL_APIENTRYP PFNGLWINDOWRECTANGLESEXTPROC) (GLenum mode, GLsizei count, const GLint *box); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glWindowRectanglesEXT (GLenum mode, GLsizei count, const GLint *box); +#endif +#endif /* GL_EXT_window_rectangles */ + +#ifndef GL_FJ_shader_binary_GCCSO +#define GL_FJ_shader_binary_GCCSO 1 +#define GL_GCCSO_SHADER_BINARY_FJ 0x9260 +#endif /* GL_FJ_shader_binary_GCCSO */ + +#ifndef GL_IMG_bindless_texture +#define GL_IMG_bindless_texture 1 +typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTUREHANDLEIMGPROC) (GLuint texture); +typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTURESAMPLERHANDLEIMGPROC) (GLuint texture, GLuint sampler); +typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64IMGPROC) (GLint location, GLuint64 value); +typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64VIMGPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64IMGPROC) (GLuint program, GLint location, GLuint64 value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VIMGPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLuint64 GL_APIENTRY glGetTextureHandleIMG (GLuint texture); +GL_APICALL GLuint64 GL_APIENTRY glGetTextureSamplerHandleIMG (GLuint texture, GLuint sampler); +GL_APICALL void GL_APIENTRY glUniformHandleui64IMG (GLint location, GLuint64 value); +GL_APICALL void GL_APIENTRY glUniformHandleui64vIMG (GLint location, GLsizei count, const GLuint64 *value); +GL_APICALL void GL_APIENTRY glProgramUniformHandleui64IMG (GLuint program, GLint location, GLuint64 value); +GL_APICALL void GL_APIENTRY glProgramUniformHandleui64vIMG (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +#endif +#endif /* GL_IMG_bindless_texture */ + +#ifndef GL_IMG_framebuffer_downsample +#define GL_IMG_framebuffer_downsample 1 +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_AND_DOWNSAMPLE_IMG 0x913C +#define GL_NUM_DOWNSAMPLE_SCALES_IMG 0x913D +#define GL_DOWNSAMPLE_SCALES_IMG 0x913E +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_SCALE_IMG 0x913F +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DDOWNSAMPLEIMGPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint xscale, GLint yscale); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERDOWNSAMPLEIMGPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer, GLint xscale, GLint yscale); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferTexture2DDownsampleIMG (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint xscale, GLint yscale); +GL_APICALL void GL_APIENTRY glFramebufferTextureLayerDownsampleIMG (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer, GLint xscale, GLint yscale); +#endif +#endif /* GL_IMG_framebuffer_downsample */ + +#ifndef GL_IMG_multisampled_render_to_texture +#define GL_IMG_multisampled_render_to_texture 1 +#define GL_RENDERBUFFER_SAMPLES_IMG 0x9133 +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_IMG 0x9134 +#define GL_MAX_SAMPLES_IMG 0x9135 +#define GL_TEXTURE_SAMPLES_IMG 0x9136 +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEIMGPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DMULTISAMPLEIMGPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleIMG (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glFramebufferTexture2DMultisampleIMG (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); +#endif +#endif /* GL_IMG_multisampled_render_to_texture */ + +#ifndef GL_IMG_program_binary +#define GL_IMG_program_binary 1 +#define GL_SGX_PROGRAM_BINARY_IMG 0x9130 +#endif /* GL_IMG_program_binary */ + +#ifndef GL_IMG_read_format +#define GL_IMG_read_format 1 +#define GL_BGRA_IMG 0x80E1 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV_IMG 0x8365 +#endif /* GL_IMG_read_format */ + +#ifndef GL_IMG_shader_binary +#define GL_IMG_shader_binary 1 +#define GL_SGX_BINARY_IMG 0x8C0A +#endif /* GL_IMG_shader_binary */ + +#ifndef GL_IMG_texture_compression_pvrtc +#define GL_IMG_texture_compression_pvrtc 1 +#define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG 0x8C00 +#define GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG 0x8C01 +#define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02 +#define GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG 0x8C03 +#endif /* GL_IMG_texture_compression_pvrtc */ + +#ifndef GL_IMG_texture_compression_pvrtc2 +#define GL_IMG_texture_compression_pvrtc2 1 +#define GL_COMPRESSED_RGBA_PVRTC_2BPPV2_IMG 0x9137 +#define GL_COMPRESSED_RGBA_PVRTC_4BPPV2_IMG 0x9138 +#endif /* GL_IMG_texture_compression_pvrtc2 */ + +#ifndef GL_IMG_texture_filter_cubic +#define GL_IMG_texture_filter_cubic 1 +#define GL_CUBIC_IMG 0x9139 +#define GL_CUBIC_MIPMAP_NEAREST_IMG 0x913A +#define GL_CUBIC_MIPMAP_LINEAR_IMG 0x913B +#endif /* GL_IMG_texture_filter_cubic */ + +#ifndef GL_INTEL_blackhole_render +#define GL_INTEL_blackhole_render 1 +#define GL_BLACKHOLE_RENDER_INTEL 0x83FC +#endif /* GL_INTEL_blackhole_render */ + +#ifndef GL_INTEL_conservative_rasterization +#define GL_INTEL_conservative_rasterization 1 +#define GL_CONSERVATIVE_RASTERIZATION_INTEL 0x83FE +#endif /* GL_INTEL_conservative_rasterization */ + +#ifndef GL_INTEL_framebuffer_CMAA +#define GL_INTEL_framebuffer_CMAA 1 +typedef void (GL_APIENTRYP PFNGLAPPLYFRAMEBUFFERATTACHMENTCMAAINTELPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glApplyFramebufferAttachmentCMAAINTEL (void); +#endif +#endif /* GL_INTEL_framebuffer_CMAA */ + +#ifndef GL_INTEL_performance_query +#define GL_INTEL_performance_query 1 +#define GL_PERFQUERY_SINGLE_CONTEXT_INTEL 0x00000000 +#define GL_PERFQUERY_GLOBAL_CONTEXT_INTEL 0x00000001 +#define GL_PERFQUERY_WAIT_INTEL 0x83FB +#define GL_PERFQUERY_FLUSH_INTEL 0x83FA +#define GL_PERFQUERY_DONOT_FLUSH_INTEL 0x83F9 +#define GL_PERFQUERY_COUNTER_EVENT_INTEL 0x94F0 +#define GL_PERFQUERY_COUNTER_DURATION_NORM_INTEL 0x94F1 +#define GL_PERFQUERY_COUNTER_DURATION_RAW_INTEL 0x94F2 +#define GL_PERFQUERY_COUNTER_THROUGHPUT_INTEL 0x94F3 +#define GL_PERFQUERY_COUNTER_RAW_INTEL 0x94F4 +#define GL_PERFQUERY_COUNTER_TIMESTAMP_INTEL 0x94F5 +#define GL_PERFQUERY_COUNTER_DATA_UINT32_INTEL 0x94F8 +#define GL_PERFQUERY_COUNTER_DATA_UINT64_INTEL 0x94F9 +#define GL_PERFQUERY_COUNTER_DATA_FLOAT_INTEL 0x94FA +#define GL_PERFQUERY_COUNTER_DATA_DOUBLE_INTEL 0x94FB +#define GL_PERFQUERY_COUNTER_DATA_BOOL32_INTEL 0x94FC +#define GL_PERFQUERY_QUERY_NAME_LENGTH_MAX_INTEL 0x94FD +#define GL_PERFQUERY_COUNTER_NAME_LENGTH_MAX_INTEL 0x94FE +#define GL_PERFQUERY_COUNTER_DESC_LENGTH_MAX_INTEL 0x94FF +#define GL_PERFQUERY_GPA_EXTENDED_COUNTERS_INTEL 0x9500 +typedef void (GL_APIENTRYP PFNGLBEGINPERFQUERYINTELPROC) (GLuint queryHandle); +typedef void (GL_APIENTRYP PFNGLCREATEPERFQUERYINTELPROC) (GLuint queryId, GLuint *queryHandle); +typedef void (GL_APIENTRYP PFNGLDELETEPERFQUERYINTELPROC) (GLuint queryHandle); +typedef void (GL_APIENTRYP PFNGLENDPERFQUERYINTELPROC) (GLuint queryHandle); +typedef void (GL_APIENTRYP PFNGLGETFIRSTPERFQUERYIDINTELPROC) (GLuint *queryId); +typedef void (GL_APIENTRYP PFNGLGETNEXTPERFQUERYIDINTELPROC) (GLuint queryId, GLuint *nextQueryId); +typedef void (GL_APIENTRYP PFNGLGETPERFCOUNTERINFOINTELPROC) (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); +typedef void (GL_APIENTRYP PFNGLGETPERFQUERYDATAINTELPROC) (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); +typedef void (GL_APIENTRYP PFNGLGETPERFQUERYIDBYNAMEINTELPROC) (GLchar *queryName, GLuint *queryId); +typedef void (GL_APIENTRYP PFNGLGETPERFQUERYINFOINTELPROC) (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBeginPerfQueryINTEL (GLuint queryHandle); +GL_APICALL void GL_APIENTRY glCreatePerfQueryINTEL (GLuint queryId, GLuint *queryHandle); +GL_APICALL void GL_APIENTRY glDeletePerfQueryINTEL (GLuint queryHandle); +GL_APICALL void GL_APIENTRY glEndPerfQueryINTEL (GLuint queryHandle); +GL_APICALL void GL_APIENTRY glGetFirstPerfQueryIdINTEL (GLuint *queryId); +GL_APICALL void GL_APIENTRY glGetNextPerfQueryIdINTEL (GLuint queryId, GLuint *nextQueryId); +GL_APICALL void GL_APIENTRY glGetPerfCounterInfoINTEL (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); +GL_APICALL void GL_APIENTRY glGetPerfQueryDataINTEL (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); +GL_APICALL void GL_APIENTRY glGetPerfQueryIdByNameINTEL (GLchar *queryName, GLuint *queryId); +GL_APICALL void GL_APIENTRY glGetPerfQueryInfoINTEL (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); +#endif +#endif /* GL_INTEL_performance_query */ + +#ifndef GL_MESA_bgra +#define GL_MESA_bgra 1 +#define GL_BGR_EXT 0x80E0 +#endif /* GL_MESA_bgra */ + +#ifndef GL_MESA_framebuffer_flip_x +#define GL_MESA_framebuffer_flip_x 1 +#define GL_FRAMEBUFFER_FLIP_X_MESA 0x8BBC +#endif /* GL_MESA_framebuffer_flip_x */ + +#ifndef GL_MESA_framebuffer_flip_y +#define GL_MESA_framebuffer_flip_y 1 +#define GL_FRAMEBUFFER_FLIP_Y_MESA 0x8BBB +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERPARAMETERIMESAPROC) (GLenum target, GLenum pname, GLint param); +typedef void (GL_APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVMESAPROC) (GLenum target, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferParameteriMESA (GLenum target, GLenum pname, GLint param); +GL_APICALL void GL_APIENTRY glGetFramebufferParameterivMESA (GLenum target, GLenum pname, GLint *params); +#endif +#endif /* GL_MESA_framebuffer_flip_y */ + +#ifndef GL_MESA_framebuffer_swap_xy +#define GL_MESA_framebuffer_swap_xy 1 +#define GL_FRAMEBUFFER_SWAP_XY_MESA 0x8BBD +#endif /* GL_MESA_framebuffer_swap_xy */ + +#ifndef GL_MESA_program_binary_formats +#define GL_MESA_program_binary_formats 1 +#define GL_PROGRAM_BINARY_FORMAT_MESA 0x875F +#endif /* GL_MESA_program_binary_formats */ + +#ifndef GL_MESA_shader_integer_functions +#define GL_MESA_shader_integer_functions 1 +#endif /* GL_MESA_shader_integer_functions */ + +#ifndef GL_NVX_blend_equation_advanced_multi_draw_buffers +#define GL_NVX_blend_equation_advanced_multi_draw_buffers 1 +#endif /* GL_NVX_blend_equation_advanced_multi_draw_buffers */ + +#ifndef GL_NV_bindless_texture +#define GL_NV_bindless_texture 1 +typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTUREHANDLENVPROC) (GLuint texture); +typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTURESAMPLERHANDLENVPROC) (GLuint texture, GLuint sampler); +typedef void (GL_APIENTRYP PFNGLMAKETEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); +typedef void (GL_APIENTRYP PFNGLMAKETEXTUREHANDLENONRESIDENTNVPROC) (GLuint64 handle); +typedef GLuint64 (GL_APIENTRYP PFNGLGETIMAGEHANDLENVPROC) (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); +typedef void (GL_APIENTRYP PFNGLMAKEIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle, GLenum access); +typedef void (GL_APIENTRYP PFNGLMAKEIMAGEHANDLENONRESIDENTNVPROC) (GLuint64 handle); +typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64NVPROC) (GLint location, GLuint64 value); +typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64VNVPROC) (GLint location, GLsizei count, const GLuint64 *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64NVPROC) (GLuint program, GLint location, GLuint64 value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +typedef GLboolean (GL_APIENTRYP PFNGLISTEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); +typedef GLboolean (GL_APIENTRYP PFNGLISIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLuint64 GL_APIENTRY glGetTextureHandleNV (GLuint texture); +GL_APICALL GLuint64 GL_APIENTRY glGetTextureSamplerHandleNV (GLuint texture, GLuint sampler); +GL_APICALL void GL_APIENTRY glMakeTextureHandleResidentNV (GLuint64 handle); +GL_APICALL void GL_APIENTRY glMakeTextureHandleNonResidentNV (GLuint64 handle); +GL_APICALL GLuint64 GL_APIENTRY glGetImageHandleNV (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); +GL_APICALL void GL_APIENTRY glMakeImageHandleResidentNV (GLuint64 handle, GLenum access); +GL_APICALL void GL_APIENTRY glMakeImageHandleNonResidentNV (GLuint64 handle); +GL_APICALL void GL_APIENTRY glUniformHandleui64NV (GLint location, GLuint64 value); +GL_APICALL void GL_APIENTRY glUniformHandleui64vNV (GLint location, GLsizei count, const GLuint64 *value); +GL_APICALL void GL_APIENTRY glProgramUniformHandleui64NV (GLuint program, GLint location, GLuint64 value); +GL_APICALL void GL_APIENTRY glProgramUniformHandleui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64 *values); +GL_APICALL GLboolean GL_APIENTRY glIsTextureHandleResidentNV (GLuint64 handle); +GL_APICALL GLboolean GL_APIENTRY glIsImageHandleResidentNV (GLuint64 handle); +#endif +#endif /* GL_NV_bindless_texture */ + +#ifndef GL_NV_blend_equation_advanced +#define GL_NV_blend_equation_advanced 1 +#define GL_BLEND_OVERLAP_NV 0x9281 +#define GL_BLEND_PREMULTIPLIED_SRC_NV 0x9280 +#define GL_BLUE_NV 0x1905 +#define GL_COLORBURN_NV 0x929A +#define GL_COLORDODGE_NV 0x9299 +#define GL_CONJOINT_NV 0x9284 +#define GL_CONTRAST_NV 0x92A1 +#define GL_DARKEN_NV 0x9297 +#define GL_DIFFERENCE_NV 0x929E +#define GL_DISJOINT_NV 0x9283 +#define GL_DST_ATOP_NV 0x928F +#define GL_DST_IN_NV 0x928B +#define GL_DST_NV 0x9287 +#define GL_DST_OUT_NV 0x928D +#define GL_DST_OVER_NV 0x9289 +#define GL_EXCLUSION_NV 0x92A0 +#define GL_GREEN_NV 0x1904 +#define GL_HARDLIGHT_NV 0x929B +#define GL_HARDMIX_NV 0x92A9 +#define GL_HSL_COLOR_NV 0x92AF +#define GL_HSL_HUE_NV 0x92AD +#define GL_HSL_LUMINOSITY_NV 0x92B0 +#define GL_HSL_SATURATION_NV 0x92AE +#define GL_INVERT_OVG_NV 0x92B4 +#define GL_INVERT_RGB_NV 0x92A3 +#define GL_LIGHTEN_NV 0x9298 +#define GL_LINEARBURN_NV 0x92A5 +#define GL_LINEARDODGE_NV 0x92A4 +#define GL_LINEARLIGHT_NV 0x92A7 +#define GL_MINUS_CLAMPED_NV 0x92B3 +#define GL_MINUS_NV 0x929F +#define GL_MULTIPLY_NV 0x9294 +#define GL_OVERLAY_NV 0x9296 +#define GL_PINLIGHT_NV 0x92A8 +#define GL_PLUS_CLAMPED_ALPHA_NV 0x92B2 +#define GL_PLUS_CLAMPED_NV 0x92B1 +#define GL_PLUS_DARKER_NV 0x9292 +#define GL_PLUS_NV 0x9291 +#define GL_RED_NV 0x1903 +#define GL_SCREEN_NV 0x9295 +#define GL_SOFTLIGHT_NV 0x929C +#define GL_SRC_ATOP_NV 0x928E +#define GL_SRC_IN_NV 0x928A +#define GL_SRC_NV 0x9286 +#define GL_SRC_OUT_NV 0x928C +#define GL_SRC_OVER_NV 0x9288 +#define GL_UNCORRELATED_NV 0x9282 +#define GL_VIVIDLIGHT_NV 0x92A6 +#define GL_XOR_NV 0x1506 +typedef void (GL_APIENTRYP PFNGLBLENDPARAMETERINVPROC) (GLenum pname, GLint value); +typedef void (GL_APIENTRYP PFNGLBLENDBARRIERNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBlendParameteriNV (GLenum pname, GLint value); +GL_APICALL void GL_APIENTRY glBlendBarrierNV (void); +#endif +#endif /* GL_NV_blend_equation_advanced */ + +#ifndef GL_NV_blend_equation_advanced_coherent +#define GL_NV_blend_equation_advanced_coherent 1 +#define GL_BLEND_ADVANCED_COHERENT_NV 0x9285 +#endif /* GL_NV_blend_equation_advanced_coherent */ + +#ifndef GL_NV_blend_minmax_factor +#define GL_NV_blend_minmax_factor 1 +#define GL_FACTOR_MIN_AMD 0x901C +#define GL_FACTOR_MAX_AMD 0x901D +#endif /* GL_NV_blend_minmax_factor */ + +#ifndef GL_NV_clip_space_w_scaling +#define GL_NV_clip_space_w_scaling 1 +#define GL_VIEWPORT_POSITION_W_SCALE_NV 0x937C +#define GL_VIEWPORT_POSITION_W_SCALE_X_COEFF_NV 0x937D +#define GL_VIEWPORT_POSITION_W_SCALE_Y_COEFF_NV 0x937E +typedef void (GL_APIENTRYP PFNGLVIEWPORTPOSITIONWSCALENVPROC) (GLuint index, GLfloat xcoeff, GLfloat ycoeff); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glViewportPositionWScaleNV (GLuint index, GLfloat xcoeff, GLfloat ycoeff); +#endif +#endif /* GL_NV_clip_space_w_scaling */ + +#ifndef GL_NV_compute_shader_derivatives +#define GL_NV_compute_shader_derivatives 1 +#endif /* GL_NV_compute_shader_derivatives */ + +#ifndef GL_NV_conditional_render +#define GL_NV_conditional_render 1 +#define GL_QUERY_WAIT_NV 0x8E13 +#define GL_QUERY_NO_WAIT_NV 0x8E14 +#define GL_QUERY_BY_REGION_WAIT_NV 0x8E15 +#define GL_QUERY_BY_REGION_NO_WAIT_NV 0x8E16 +typedef void (GL_APIENTRYP PFNGLBEGINCONDITIONALRENDERNVPROC) (GLuint id, GLenum mode); +typedef void (GL_APIENTRYP PFNGLENDCONDITIONALRENDERNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBeginConditionalRenderNV (GLuint id, GLenum mode); +GL_APICALL void GL_APIENTRY glEndConditionalRenderNV (void); +#endif +#endif /* GL_NV_conditional_render */ + +#ifndef GL_NV_conservative_raster +#define GL_NV_conservative_raster 1 +#define GL_CONSERVATIVE_RASTERIZATION_NV 0x9346 +#define GL_SUBPIXEL_PRECISION_BIAS_X_BITS_NV 0x9347 +#define GL_SUBPIXEL_PRECISION_BIAS_Y_BITS_NV 0x9348 +#define GL_MAX_SUBPIXEL_PRECISION_BIAS_BITS_NV 0x9349 +typedef void (GL_APIENTRYP PFNGLSUBPIXELPRECISIONBIASNVPROC) (GLuint xbits, GLuint ybits); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glSubpixelPrecisionBiasNV (GLuint xbits, GLuint ybits); +#endif +#endif /* GL_NV_conservative_raster */ + +#ifndef GL_NV_conservative_raster_pre_snap +#define GL_NV_conservative_raster_pre_snap 1 +#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_NV 0x9550 +#endif /* GL_NV_conservative_raster_pre_snap */ + +#ifndef GL_NV_conservative_raster_pre_snap_triangles +#define GL_NV_conservative_raster_pre_snap_triangles 1 +#define GL_CONSERVATIVE_RASTER_MODE_NV 0x954D +#define GL_CONSERVATIVE_RASTER_MODE_POST_SNAP_NV 0x954E +#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_TRIANGLES_NV 0x954F +typedef void (GL_APIENTRYP PFNGLCONSERVATIVERASTERPARAMETERINVPROC) (GLenum pname, GLint param); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glConservativeRasterParameteriNV (GLenum pname, GLint param); +#endif +#endif /* GL_NV_conservative_raster_pre_snap_triangles */ + +#ifndef GL_NV_copy_buffer +#define GL_NV_copy_buffer 1 +#define GL_COPY_READ_BUFFER_NV 0x8F36 +#define GL_COPY_WRITE_BUFFER_NV 0x8F37 +typedef void (GL_APIENTRYP PFNGLCOPYBUFFERSUBDATANVPROC) (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCopyBufferSubDataNV (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +#endif +#endif /* GL_NV_copy_buffer */ + +#ifndef GL_NV_coverage_sample +#define GL_NV_coverage_sample 1 +#define GL_COVERAGE_COMPONENT_NV 0x8ED0 +#define GL_COVERAGE_COMPONENT4_NV 0x8ED1 +#define GL_COVERAGE_ATTACHMENT_NV 0x8ED2 +#define GL_COVERAGE_BUFFERS_NV 0x8ED3 +#define GL_COVERAGE_SAMPLES_NV 0x8ED4 +#define GL_COVERAGE_ALL_FRAGMENTS_NV 0x8ED5 +#define GL_COVERAGE_EDGE_FRAGMENTS_NV 0x8ED6 +#define GL_COVERAGE_AUTOMATIC_NV 0x8ED7 +#define GL_COVERAGE_BUFFER_BIT_NV 0x00008000 +typedef void (GL_APIENTRYP PFNGLCOVERAGEMASKNVPROC) (GLboolean mask); +typedef void (GL_APIENTRYP PFNGLCOVERAGEOPERATIONNVPROC) (GLenum operation); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCoverageMaskNV (GLboolean mask); +GL_APICALL void GL_APIENTRY glCoverageOperationNV (GLenum operation); +#endif +#endif /* GL_NV_coverage_sample */ + +#ifndef GL_NV_depth_nonlinear +#define GL_NV_depth_nonlinear 1 +#define GL_DEPTH_COMPONENT16_NONLINEAR_NV 0x8E2C +#endif /* GL_NV_depth_nonlinear */ + +#ifndef GL_NV_draw_buffers +#define GL_NV_draw_buffers 1 +#define GL_MAX_DRAW_BUFFERS_NV 0x8824 +#define GL_DRAW_BUFFER0_NV 0x8825 +#define GL_DRAW_BUFFER1_NV 0x8826 +#define GL_DRAW_BUFFER2_NV 0x8827 +#define GL_DRAW_BUFFER3_NV 0x8828 +#define GL_DRAW_BUFFER4_NV 0x8829 +#define GL_DRAW_BUFFER5_NV 0x882A +#define GL_DRAW_BUFFER6_NV 0x882B +#define GL_DRAW_BUFFER7_NV 0x882C +#define GL_DRAW_BUFFER8_NV 0x882D +#define GL_DRAW_BUFFER9_NV 0x882E +#define GL_DRAW_BUFFER10_NV 0x882F +#define GL_DRAW_BUFFER11_NV 0x8830 +#define GL_DRAW_BUFFER12_NV 0x8831 +#define GL_DRAW_BUFFER13_NV 0x8832 +#define GL_DRAW_BUFFER14_NV 0x8833 +#define GL_DRAW_BUFFER15_NV 0x8834 +#define GL_COLOR_ATTACHMENT0_NV 0x8CE0 +#define GL_COLOR_ATTACHMENT1_NV 0x8CE1 +#define GL_COLOR_ATTACHMENT2_NV 0x8CE2 +#define GL_COLOR_ATTACHMENT3_NV 0x8CE3 +#define GL_COLOR_ATTACHMENT4_NV 0x8CE4 +#define GL_COLOR_ATTACHMENT5_NV 0x8CE5 +#define GL_COLOR_ATTACHMENT6_NV 0x8CE6 +#define GL_COLOR_ATTACHMENT7_NV 0x8CE7 +#define GL_COLOR_ATTACHMENT8_NV 0x8CE8 +#define GL_COLOR_ATTACHMENT9_NV 0x8CE9 +#define GL_COLOR_ATTACHMENT10_NV 0x8CEA +#define GL_COLOR_ATTACHMENT11_NV 0x8CEB +#define GL_COLOR_ATTACHMENT12_NV 0x8CEC +#define GL_COLOR_ATTACHMENT13_NV 0x8CED +#define GL_COLOR_ATTACHMENT14_NV 0x8CEE +#define GL_COLOR_ATTACHMENT15_NV 0x8CEF +typedef void (GL_APIENTRYP PFNGLDRAWBUFFERSNVPROC) (GLsizei n, const GLenum *bufs); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawBuffersNV (GLsizei n, const GLenum *bufs); +#endif +#endif /* GL_NV_draw_buffers */ + +#ifndef GL_NV_draw_instanced +#define GL_NV_draw_instanced 1 +typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDNVPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDNVPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawArraysInstancedNV (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +GL_APICALL void GL_APIENTRY glDrawElementsInstancedNV (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); +#endif +#endif /* GL_NV_draw_instanced */ + +#ifndef GL_NV_draw_vulkan_image +#define GL_NV_draw_vulkan_image 1 +typedef void (GL_APIENTRY *GLVULKANPROCNV)(void); +typedef void (GL_APIENTRYP PFNGLDRAWVKIMAGENVPROC) (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); +typedef GLVULKANPROCNV (GL_APIENTRYP PFNGLGETVKPROCADDRNVPROC) (const GLchar *name); +typedef void (GL_APIENTRYP PFNGLWAITVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); +typedef void (GL_APIENTRYP PFNGLSIGNALVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); +typedef void (GL_APIENTRYP PFNGLSIGNALVKFENCENVPROC) (GLuint64 vkFence); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawVkImageNV (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); +GL_APICALL GLVULKANPROCNV GL_APIENTRY glGetVkProcAddrNV (const GLchar *name); +GL_APICALL void GL_APIENTRY glWaitVkSemaphoreNV (GLuint64 vkSemaphore); +GL_APICALL void GL_APIENTRY glSignalVkSemaphoreNV (GLuint64 vkSemaphore); +GL_APICALL void GL_APIENTRY glSignalVkFenceNV (GLuint64 vkFence); +#endif +#endif /* GL_NV_draw_vulkan_image */ + +#ifndef GL_NV_explicit_attrib_location +#define GL_NV_explicit_attrib_location 1 +#endif /* GL_NV_explicit_attrib_location */ + +#ifndef GL_NV_fbo_color_attachments +#define GL_NV_fbo_color_attachments 1 +#define GL_MAX_COLOR_ATTACHMENTS_NV 0x8CDF +#endif /* GL_NV_fbo_color_attachments */ + +#ifndef GL_NV_fence +#define GL_NV_fence 1 +#define GL_ALL_COMPLETED_NV 0x84F2 +#define GL_FENCE_STATUS_NV 0x84F3 +#define GL_FENCE_CONDITION_NV 0x84F4 +typedef void (GL_APIENTRYP PFNGLDELETEFENCESNVPROC) (GLsizei n, const GLuint *fences); +typedef void (GL_APIENTRYP PFNGLGENFENCESNVPROC) (GLsizei n, GLuint *fences); +typedef GLboolean (GL_APIENTRYP PFNGLISFENCENVPROC) (GLuint fence); +typedef GLboolean (GL_APIENTRYP PFNGLTESTFENCENVPROC) (GLuint fence); +typedef void (GL_APIENTRYP PFNGLGETFENCEIVNVPROC) (GLuint fence, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLFINISHFENCENVPROC) (GLuint fence); +typedef void (GL_APIENTRYP PFNGLSETFENCENVPROC) (GLuint fence, GLenum condition); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDeleteFencesNV (GLsizei n, const GLuint *fences); +GL_APICALL void GL_APIENTRY glGenFencesNV (GLsizei n, GLuint *fences); +GL_APICALL GLboolean GL_APIENTRY glIsFenceNV (GLuint fence); +GL_APICALL GLboolean GL_APIENTRY glTestFenceNV (GLuint fence); +GL_APICALL void GL_APIENTRY glGetFenceivNV (GLuint fence, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glFinishFenceNV (GLuint fence); +GL_APICALL void GL_APIENTRY glSetFenceNV (GLuint fence, GLenum condition); +#endif +#endif /* GL_NV_fence */ + +#ifndef GL_NV_fill_rectangle +#define GL_NV_fill_rectangle 1 +#define GL_FILL_RECTANGLE_NV 0x933C +#endif /* GL_NV_fill_rectangle */ + +#ifndef GL_NV_fragment_coverage_to_color +#define GL_NV_fragment_coverage_to_color 1 +#define GL_FRAGMENT_COVERAGE_TO_COLOR_NV 0x92DD +#define GL_FRAGMENT_COVERAGE_COLOR_NV 0x92DE +typedef void (GL_APIENTRYP PFNGLFRAGMENTCOVERAGECOLORNVPROC) (GLuint color); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFragmentCoverageColorNV (GLuint color); +#endif +#endif /* GL_NV_fragment_coverage_to_color */ + +#ifndef GL_NV_fragment_shader_barycentric +#define GL_NV_fragment_shader_barycentric 1 +#endif /* GL_NV_fragment_shader_barycentric */ + +#ifndef GL_NV_fragment_shader_interlock +#define GL_NV_fragment_shader_interlock 1 +#endif /* GL_NV_fragment_shader_interlock */ + +#ifndef GL_NV_framebuffer_blit +#define GL_NV_framebuffer_blit 1 +#define GL_READ_FRAMEBUFFER_NV 0x8CA8 +#define GL_DRAW_FRAMEBUFFER_NV 0x8CA9 +#define GL_DRAW_FRAMEBUFFER_BINDING_NV 0x8CA6 +#define GL_READ_FRAMEBUFFER_BINDING_NV 0x8CAA +typedef void (GL_APIENTRYP PFNGLBLITFRAMEBUFFERNVPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBlitFramebufferNV (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +#endif +#endif /* GL_NV_framebuffer_blit */ + +#ifndef GL_NV_framebuffer_mixed_samples +#define GL_NV_framebuffer_mixed_samples 1 +#define GL_COVERAGE_MODULATION_TABLE_NV 0x9331 +#define GL_COLOR_SAMPLES_NV 0x8E20 +#define GL_DEPTH_SAMPLES_NV 0x932D +#define GL_STENCIL_SAMPLES_NV 0x932E +#define GL_MIXED_DEPTH_SAMPLES_SUPPORTED_NV 0x932F +#define GL_MIXED_STENCIL_SAMPLES_SUPPORTED_NV 0x9330 +#define GL_COVERAGE_MODULATION_NV 0x9332 +#define GL_COVERAGE_MODULATION_TABLE_SIZE_NV 0x9333 +typedef void (GL_APIENTRYP PFNGLCOVERAGEMODULATIONTABLENVPROC) (GLsizei n, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLGETCOVERAGEMODULATIONTABLENVPROC) (GLsizei bufSize, GLfloat *v); +typedef void (GL_APIENTRYP PFNGLCOVERAGEMODULATIONNVPROC) (GLenum components); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCoverageModulationTableNV (GLsizei n, const GLfloat *v); +GL_APICALL void GL_APIENTRY glGetCoverageModulationTableNV (GLsizei bufSize, GLfloat *v); +GL_APICALL void GL_APIENTRY glCoverageModulationNV (GLenum components); +#endif +#endif /* GL_NV_framebuffer_mixed_samples */ + +#ifndef GL_NV_framebuffer_multisample +#define GL_NV_framebuffer_multisample 1 +#define GL_RENDERBUFFER_SAMPLES_NV 0x8CAB +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_NV 0x8D56 +#define GL_MAX_SAMPLES_NV 0x8D57 +typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLENVPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleNV (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +#endif +#endif /* GL_NV_framebuffer_multisample */ + +#ifndef GL_NV_generate_mipmap_sRGB +#define GL_NV_generate_mipmap_sRGB 1 +#endif /* GL_NV_generate_mipmap_sRGB */ + +#ifndef GL_NV_geometry_shader_passthrough +#define GL_NV_geometry_shader_passthrough 1 +#endif /* GL_NV_geometry_shader_passthrough */ + +#ifndef GL_NV_gpu_shader5 +#define GL_NV_gpu_shader5 1 +typedef khronos_int64_t GLint64EXT; +typedef khronos_uint64_t GLuint64EXT; +#define GL_INT64_NV 0x140E +#define GL_UNSIGNED_INT64_NV 0x140F +#define GL_INT8_NV 0x8FE0 +#define GL_INT8_VEC2_NV 0x8FE1 +#define GL_INT8_VEC3_NV 0x8FE2 +#define GL_INT8_VEC4_NV 0x8FE3 +#define GL_INT16_NV 0x8FE4 +#define GL_INT16_VEC2_NV 0x8FE5 +#define GL_INT16_VEC3_NV 0x8FE6 +#define GL_INT16_VEC4_NV 0x8FE7 +#define GL_INT64_VEC2_NV 0x8FE9 +#define GL_INT64_VEC3_NV 0x8FEA +#define GL_INT64_VEC4_NV 0x8FEB +#define GL_UNSIGNED_INT8_NV 0x8FEC +#define GL_UNSIGNED_INT8_VEC2_NV 0x8FED +#define GL_UNSIGNED_INT8_VEC3_NV 0x8FEE +#define GL_UNSIGNED_INT8_VEC4_NV 0x8FEF +#define GL_UNSIGNED_INT16_NV 0x8FF0 +#define GL_UNSIGNED_INT16_VEC2_NV 0x8FF1 +#define GL_UNSIGNED_INT16_VEC3_NV 0x8FF2 +#define GL_UNSIGNED_INT16_VEC4_NV 0x8FF3 +#define GL_UNSIGNED_INT64_VEC2_NV 0x8FF5 +#define GL_UNSIGNED_INT64_VEC3_NV 0x8FF6 +#define GL_UNSIGNED_INT64_VEC4_NV 0x8FF7 +#define GL_FLOAT16_NV 0x8FF8 +#define GL_FLOAT16_VEC2_NV 0x8FF9 +#define GL_FLOAT16_VEC3_NV 0x8FFA +#define GL_FLOAT16_VEC4_NV 0x8FFB +#define GL_PATCHES 0x000E +typedef void (GL_APIENTRYP PFNGLUNIFORM1I64NVPROC) (GLint location, GLint64EXT x); +typedef void (GL_APIENTRYP PFNGLUNIFORM2I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y); +typedef void (GL_APIENTRYP PFNGLUNIFORM3I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (GL_APIENTRYP PFNGLUNIFORM4I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (GL_APIENTRYP PFNGLUNIFORM1I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM2I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM3I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM4I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM1UI64NVPROC) (GLint location, GLuint64EXT x); +typedef void (GL_APIENTRYP PFNGLUNIFORM2UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y); +typedef void (GL_APIENTRYP PFNGLUNIFORM3UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (GL_APIENTRYP PFNGLUNIFORM4UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (GL_APIENTRYP PFNGLUNIFORM1UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM2UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM3UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLUNIFORM4UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLGETUNIFORMI64VNVPROC) (GLuint program, GLint location, GLint64EXT *params); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1I64NVPROC) (GLuint program, GLint location, GLint64EXT x); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glUniform1i64NV (GLint location, GLint64EXT x); +GL_APICALL void GL_APIENTRY glUniform2i64NV (GLint location, GLint64EXT x, GLint64EXT y); +GL_APICALL void GL_APIENTRY glUniform3i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +GL_APICALL void GL_APIENTRY glUniform4i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +GL_APICALL void GL_APIENTRY glUniform1i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform2i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform3i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform4i64vNV (GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform1ui64NV (GLint location, GLuint64EXT x); +GL_APICALL void GL_APIENTRY glUniform2ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y); +GL_APICALL void GL_APIENTRY glUniform3ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +GL_APICALL void GL_APIENTRY glUniform4ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +GL_APICALL void GL_APIENTRY glUniform1ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform2ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform3ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glUniform4ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glGetUniformi64vNV (GLuint program, GLint location, GLint64EXT *params); +GL_APICALL void GL_APIENTRY glProgramUniform1i64NV (GLuint program, GLint location, GLint64EXT x); +GL_APICALL void GL_APIENTRY glProgramUniform2i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); +GL_APICALL void GL_APIENTRY glProgramUniform3i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +GL_APICALL void GL_APIENTRY glProgramUniform4i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +GL_APICALL void GL_APIENTRY glProgramUniform1i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform2i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform3i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform4i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform1ui64NV (GLuint program, GLint location, GLuint64EXT x); +GL_APICALL void GL_APIENTRY glProgramUniform2ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); +GL_APICALL void GL_APIENTRY glProgramUniform3ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +GL_APICALL void GL_APIENTRY glProgramUniform4ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +GL_APICALL void GL_APIENTRY glProgramUniform1ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform2ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform3ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +GL_APICALL void GL_APIENTRY glProgramUniform4ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); +#endif +#endif /* GL_NV_gpu_shader5 */ + +#ifndef GL_NV_image_formats +#define GL_NV_image_formats 1 +#endif /* GL_NV_image_formats */ + +#ifndef GL_NV_instanced_arrays +#define GL_NV_instanced_arrays 1 +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_NV 0x88FE +typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISORNVPROC) (GLuint index, GLuint divisor); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glVertexAttribDivisorNV (GLuint index, GLuint divisor); +#endif +#endif /* GL_NV_instanced_arrays */ + +#ifndef GL_NV_internalformat_sample_query +#define GL_NV_internalformat_sample_query 1 +#define GL_TEXTURE_2D_MULTISAMPLE 0x9100 +#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9102 +#define GL_MULTISAMPLES_NV 0x9371 +#define GL_SUPERSAMPLE_SCALE_X_NV 0x9372 +#define GL_SUPERSAMPLE_SCALE_Y_NV 0x9373 +#define GL_CONFORMANT_NV 0x9374 +typedef void (GL_APIENTRYP PFNGLGETINTERNALFORMATSAMPLEIVNVPROC) (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetInternalformatSampleivNV (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); +#endif +#endif /* GL_NV_internalformat_sample_query */ + +#ifndef GL_NV_memory_attachment +#define GL_NV_memory_attachment 1 +#define GL_ATTACHED_MEMORY_OBJECT_NV 0x95A4 +#define GL_ATTACHED_MEMORY_OFFSET_NV 0x95A5 +#define GL_MEMORY_ATTACHABLE_ALIGNMENT_NV 0x95A6 +#define GL_MEMORY_ATTACHABLE_SIZE_NV 0x95A7 +#define GL_MEMORY_ATTACHABLE_NV 0x95A8 +#define GL_DETACHED_MEMORY_INCARNATION_NV 0x95A9 +#define GL_DETACHED_TEXTURES_NV 0x95AA +#define GL_DETACHED_BUFFERS_NV 0x95AB +#define GL_MAX_DETACHED_TEXTURES_NV 0x95AC +#define GL_MAX_DETACHED_BUFFERS_NV 0x95AD +typedef void (GL_APIENTRYP PFNGLGETMEMORYOBJECTDETACHEDRESOURCESUIVNVPROC) (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); +typedef void (GL_APIENTRYP PFNGLRESETMEMORYOBJECTPARAMETERNVPROC) (GLuint memory, GLenum pname); +typedef void (GL_APIENTRYP PFNGLTEXATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLBUFFERATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLTEXTUREATTACHMEMORYNVPROC) (GLuint texture, GLuint memory, GLuint64 offset); +typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERATTACHMEMORYNVPROC) (GLuint buffer, GLuint memory, GLuint64 offset); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetMemoryObjectDetachedResourcesuivNV (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); +GL_APICALL void GL_APIENTRY glResetMemoryObjectParameterNV (GLuint memory, GLenum pname); +GL_APICALL void GL_APIENTRY glTexAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glBufferAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glTextureAttachMemoryNV (GLuint texture, GLuint memory, GLuint64 offset); +GL_APICALL void GL_APIENTRY glNamedBufferAttachMemoryNV (GLuint buffer, GLuint memory, GLuint64 offset); +#endif +#endif /* GL_NV_memory_attachment */ + +#ifndef GL_NV_memory_object_sparse +#define GL_NV_memory_object_sparse 1 +typedef void (GL_APIENTRYP PFNGLBUFFERPAGECOMMITMENTMEMNVPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +typedef void (GL_APIENTRYP PFNGLTEXPAGECOMMITMENTMEMNVPROC) (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTMEMNVPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +typedef void (GL_APIENTRYP PFNGLTEXTUREPAGECOMMITMENTMEMNVPROC) (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBufferPageCommitmentMemNV (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +GL_APICALL void GL_APIENTRY glTexPageCommitmentMemNV (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +GL_APICALL void GL_APIENTRY glNamedBufferPageCommitmentMemNV (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); +GL_APICALL void GL_APIENTRY glTexturePageCommitmentMemNV (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); +#endif +#endif /* GL_NV_memory_object_sparse */ + +#ifndef GL_NV_mesh_shader +#define GL_NV_mesh_shader 1 +#define GL_MESH_SHADER_NV 0x9559 +#define GL_TASK_SHADER_NV 0x955A +#define GL_MAX_MESH_UNIFORM_BLOCKS_NV 0x8E60 +#define GL_MAX_MESH_TEXTURE_IMAGE_UNITS_NV 0x8E61 +#define GL_MAX_MESH_IMAGE_UNIFORMS_NV 0x8E62 +#define GL_MAX_MESH_UNIFORM_COMPONENTS_NV 0x8E63 +#define GL_MAX_MESH_ATOMIC_COUNTER_BUFFERS_NV 0x8E64 +#define GL_MAX_MESH_ATOMIC_COUNTERS_NV 0x8E65 +#define GL_MAX_MESH_SHADER_STORAGE_BLOCKS_NV 0x8E66 +#define GL_MAX_COMBINED_MESH_UNIFORM_COMPONENTS_NV 0x8E67 +#define GL_MAX_TASK_UNIFORM_BLOCKS_NV 0x8E68 +#define GL_MAX_TASK_TEXTURE_IMAGE_UNITS_NV 0x8E69 +#define GL_MAX_TASK_IMAGE_UNIFORMS_NV 0x8E6A +#define GL_MAX_TASK_UNIFORM_COMPONENTS_NV 0x8E6B +#define GL_MAX_TASK_ATOMIC_COUNTER_BUFFERS_NV 0x8E6C +#define GL_MAX_TASK_ATOMIC_COUNTERS_NV 0x8E6D +#define GL_MAX_TASK_SHADER_STORAGE_BLOCKS_NV 0x8E6E +#define GL_MAX_COMBINED_TASK_UNIFORM_COMPONENTS_NV 0x8E6F +#define GL_MAX_MESH_WORK_GROUP_INVOCATIONS_NV 0x95A2 +#define GL_MAX_TASK_WORK_GROUP_INVOCATIONS_NV 0x95A3 +#define GL_MAX_MESH_TOTAL_MEMORY_SIZE_NV 0x9536 +#define GL_MAX_TASK_TOTAL_MEMORY_SIZE_NV 0x9537 +#define GL_MAX_MESH_OUTPUT_VERTICES_NV 0x9538 +#define GL_MAX_MESH_OUTPUT_PRIMITIVES_NV 0x9539 +#define GL_MAX_TASK_OUTPUT_COUNT_NV 0x953A +#define GL_MAX_DRAW_MESH_TASKS_COUNT_NV 0x953D +#define GL_MAX_MESH_VIEWS_NV 0x9557 +#define GL_MESH_OUTPUT_PER_VERTEX_GRANULARITY_NV 0x92DF +#define GL_MESH_OUTPUT_PER_PRIMITIVE_GRANULARITY_NV 0x9543 +#define GL_MAX_MESH_WORK_GROUP_SIZE_NV 0x953B +#define GL_MAX_TASK_WORK_GROUP_SIZE_NV 0x953C +#define GL_MESH_WORK_GROUP_SIZE_NV 0x953E +#define GL_TASK_WORK_GROUP_SIZE_NV 0x953F +#define GL_MESH_VERTICES_OUT_NV 0x9579 +#define GL_MESH_PRIMITIVES_OUT_NV 0x957A +#define GL_MESH_OUTPUT_TYPE_NV 0x957B +#define GL_UNIFORM_BLOCK_REFERENCED_BY_MESH_SHADER_NV 0x959C +#define GL_UNIFORM_BLOCK_REFERENCED_BY_TASK_SHADER_NV 0x959D +#define GL_REFERENCED_BY_MESH_SHADER_NV 0x95A0 +#define GL_REFERENCED_BY_TASK_SHADER_NV 0x95A1 +#define GL_MESH_SHADER_BIT_NV 0x00000040 +#define GL_TASK_SHADER_BIT_NV 0x00000080 +#define GL_MESH_SUBROUTINE_NV 0x957C +#define GL_TASK_SUBROUTINE_NV 0x957D +#define GL_MESH_SUBROUTINE_UNIFORM_NV 0x957E +#define GL_TASK_SUBROUTINE_UNIFORM_NV 0x957F +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_MESH_SHADER_NV 0x959E +#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TASK_SHADER_NV 0x959F +typedef void (GL_APIENTRYP PFNGLDRAWMESHTASKSNVPROC) (GLuint first, GLuint count); +typedef void (GL_APIENTRYP PFNGLDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect); +typedef void (GL_APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect, GLsizei drawcount, GLsizei stride); +typedef void (GL_APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTCOUNTNVPROC) (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glDrawMeshTasksNV (GLuint first, GLuint count); +GL_APICALL void GL_APIENTRY glDrawMeshTasksIndirectNV (GLintptr indirect); +GL_APICALL void GL_APIENTRY glMultiDrawMeshTasksIndirectNV (GLintptr indirect, GLsizei drawcount, GLsizei stride); +GL_APICALL void GL_APIENTRY glMultiDrawMeshTasksIndirectCountNV (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); +#endif +#endif /* GL_NV_mesh_shader */ + +#ifndef GL_NV_non_square_matrices +#define GL_NV_non_square_matrices 1 +#define GL_FLOAT_MAT2x3_NV 0x8B65 +#define GL_FLOAT_MAT2x4_NV 0x8B66 +#define GL_FLOAT_MAT3x2_NV 0x8B67 +#define GL_FLOAT_MAT3x4_NV 0x8B68 +#define GL_FLOAT_MAT4x2_NV 0x8B69 +#define GL_FLOAT_MAT4x3_NV 0x8B6A +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX2X3FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX3X2FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX2X4FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX4X2FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX3X4FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX4X3FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glUniformMatrix2x3fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix3x2fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix2x4fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix4x2fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix3x4fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +GL_APICALL void GL_APIENTRY glUniformMatrix4x3fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +#endif +#endif /* GL_NV_non_square_matrices */ + +#ifndef GL_NV_path_rendering +#define GL_NV_path_rendering 1 +typedef double GLdouble; +#define GL_PATH_FORMAT_SVG_NV 0x9070 +#define GL_PATH_FORMAT_PS_NV 0x9071 +#define GL_STANDARD_FONT_NAME_NV 0x9072 +#define GL_SYSTEM_FONT_NAME_NV 0x9073 +#define GL_FILE_NAME_NV 0x9074 +#define GL_PATH_STROKE_WIDTH_NV 0x9075 +#define GL_PATH_END_CAPS_NV 0x9076 +#define GL_PATH_INITIAL_END_CAP_NV 0x9077 +#define GL_PATH_TERMINAL_END_CAP_NV 0x9078 +#define GL_PATH_JOIN_STYLE_NV 0x9079 +#define GL_PATH_MITER_LIMIT_NV 0x907A +#define GL_PATH_DASH_CAPS_NV 0x907B +#define GL_PATH_INITIAL_DASH_CAP_NV 0x907C +#define GL_PATH_TERMINAL_DASH_CAP_NV 0x907D +#define GL_PATH_DASH_OFFSET_NV 0x907E +#define GL_PATH_CLIENT_LENGTH_NV 0x907F +#define GL_PATH_FILL_MODE_NV 0x9080 +#define GL_PATH_FILL_MASK_NV 0x9081 +#define GL_PATH_FILL_COVER_MODE_NV 0x9082 +#define GL_PATH_STROKE_COVER_MODE_NV 0x9083 +#define GL_PATH_STROKE_MASK_NV 0x9084 +#define GL_COUNT_UP_NV 0x9088 +#define GL_COUNT_DOWN_NV 0x9089 +#define GL_PATH_OBJECT_BOUNDING_BOX_NV 0x908A +#define GL_CONVEX_HULL_NV 0x908B +#define GL_BOUNDING_BOX_NV 0x908D +#define GL_TRANSLATE_X_NV 0x908E +#define GL_TRANSLATE_Y_NV 0x908F +#define GL_TRANSLATE_2D_NV 0x9090 +#define GL_TRANSLATE_3D_NV 0x9091 +#define GL_AFFINE_2D_NV 0x9092 +#define GL_AFFINE_3D_NV 0x9094 +#define GL_TRANSPOSE_AFFINE_2D_NV 0x9096 +#define GL_TRANSPOSE_AFFINE_3D_NV 0x9098 +#define GL_UTF8_NV 0x909A +#define GL_UTF16_NV 0x909B +#define GL_BOUNDING_BOX_OF_BOUNDING_BOXES_NV 0x909C +#define GL_PATH_COMMAND_COUNT_NV 0x909D +#define GL_PATH_COORD_COUNT_NV 0x909E +#define GL_PATH_DASH_ARRAY_COUNT_NV 0x909F +#define GL_PATH_COMPUTED_LENGTH_NV 0x90A0 +#define GL_PATH_FILL_BOUNDING_BOX_NV 0x90A1 +#define GL_PATH_STROKE_BOUNDING_BOX_NV 0x90A2 +#define GL_SQUARE_NV 0x90A3 +#define GL_ROUND_NV 0x90A4 +#define GL_TRIANGULAR_NV 0x90A5 +#define GL_BEVEL_NV 0x90A6 +#define GL_MITER_REVERT_NV 0x90A7 +#define GL_MITER_TRUNCATE_NV 0x90A8 +#define GL_SKIP_MISSING_GLYPH_NV 0x90A9 +#define GL_USE_MISSING_GLYPH_NV 0x90AA +#define GL_PATH_ERROR_POSITION_NV 0x90AB +#define GL_ACCUM_ADJACENT_PAIRS_NV 0x90AD +#define GL_ADJACENT_PAIRS_NV 0x90AE +#define GL_FIRST_TO_REST_NV 0x90AF +#define GL_PATH_GEN_MODE_NV 0x90B0 +#define GL_PATH_GEN_COEFF_NV 0x90B1 +#define GL_PATH_GEN_COMPONENTS_NV 0x90B3 +#define GL_PATH_STENCIL_FUNC_NV 0x90B7 +#define GL_PATH_STENCIL_REF_NV 0x90B8 +#define GL_PATH_STENCIL_VALUE_MASK_NV 0x90B9 +#define GL_PATH_STENCIL_DEPTH_OFFSET_FACTOR_NV 0x90BD +#define GL_PATH_STENCIL_DEPTH_OFFSET_UNITS_NV 0x90BE +#define GL_PATH_COVER_DEPTH_FUNC_NV 0x90BF +#define GL_PATH_DASH_OFFSET_RESET_NV 0x90B4 +#define GL_MOVE_TO_RESETS_NV 0x90B5 +#define GL_MOVE_TO_CONTINUES_NV 0x90B6 +#define GL_CLOSE_PATH_NV 0x00 +#define GL_MOVE_TO_NV 0x02 +#define GL_RELATIVE_MOVE_TO_NV 0x03 +#define GL_LINE_TO_NV 0x04 +#define GL_RELATIVE_LINE_TO_NV 0x05 +#define GL_HORIZONTAL_LINE_TO_NV 0x06 +#define GL_RELATIVE_HORIZONTAL_LINE_TO_NV 0x07 +#define GL_VERTICAL_LINE_TO_NV 0x08 +#define GL_RELATIVE_VERTICAL_LINE_TO_NV 0x09 +#define GL_QUADRATIC_CURVE_TO_NV 0x0A +#define GL_RELATIVE_QUADRATIC_CURVE_TO_NV 0x0B +#define GL_CUBIC_CURVE_TO_NV 0x0C +#define GL_RELATIVE_CUBIC_CURVE_TO_NV 0x0D +#define GL_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0E +#define GL_RELATIVE_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0F +#define GL_SMOOTH_CUBIC_CURVE_TO_NV 0x10 +#define GL_RELATIVE_SMOOTH_CUBIC_CURVE_TO_NV 0x11 +#define GL_SMALL_CCW_ARC_TO_NV 0x12 +#define GL_RELATIVE_SMALL_CCW_ARC_TO_NV 0x13 +#define GL_SMALL_CW_ARC_TO_NV 0x14 +#define GL_RELATIVE_SMALL_CW_ARC_TO_NV 0x15 +#define GL_LARGE_CCW_ARC_TO_NV 0x16 +#define GL_RELATIVE_LARGE_CCW_ARC_TO_NV 0x17 +#define GL_LARGE_CW_ARC_TO_NV 0x18 +#define GL_RELATIVE_LARGE_CW_ARC_TO_NV 0x19 +#define GL_RESTART_PATH_NV 0xF0 +#define GL_DUP_FIRST_CUBIC_CURVE_TO_NV 0xF2 +#define GL_DUP_LAST_CUBIC_CURVE_TO_NV 0xF4 +#define GL_RECT_NV 0xF6 +#define GL_CIRCULAR_CCW_ARC_TO_NV 0xF8 +#define GL_CIRCULAR_CW_ARC_TO_NV 0xFA +#define GL_CIRCULAR_TANGENT_ARC_TO_NV 0xFC +#define GL_ARC_TO_NV 0xFE +#define GL_RELATIVE_ARC_TO_NV 0xFF +#define GL_BOLD_BIT_NV 0x01 +#define GL_ITALIC_BIT_NV 0x02 +#define GL_GLYPH_WIDTH_BIT_NV 0x01 +#define GL_GLYPH_HEIGHT_BIT_NV 0x02 +#define GL_GLYPH_HORIZONTAL_BEARING_X_BIT_NV 0x04 +#define GL_GLYPH_HORIZONTAL_BEARING_Y_BIT_NV 0x08 +#define GL_GLYPH_HORIZONTAL_BEARING_ADVANCE_BIT_NV 0x10 +#define GL_GLYPH_VERTICAL_BEARING_X_BIT_NV 0x20 +#define GL_GLYPH_VERTICAL_BEARING_Y_BIT_NV 0x40 +#define GL_GLYPH_VERTICAL_BEARING_ADVANCE_BIT_NV 0x80 +#define GL_GLYPH_HAS_KERNING_BIT_NV 0x100 +#define GL_FONT_X_MIN_BOUNDS_BIT_NV 0x00010000 +#define GL_FONT_Y_MIN_BOUNDS_BIT_NV 0x00020000 +#define GL_FONT_X_MAX_BOUNDS_BIT_NV 0x00040000 +#define GL_FONT_Y_MAX_BOUNDS_BIT_NV 0x00080000 +#define GL_FONT_UNITS_PER_EM_BIT_NV 0x00100000 +#define GL_FONT_ASCENDER_BIT_NV 0x00200000 +#define GL_FONT_DESCENDER_BIT_NV 0x00400000 +#define GL_FONT_HEIGHT_BIT_NV 0x00800000 +#define GL_FONT_MAX_ADVANCE_WIDTH_BIT_NV 0x01000000 +#define GL_FONT_MAX_ADVANCE_HEIGHT_BIT_NV 0x02000000 +#define GL_FONT_UNDERLINE_POSITION_BIT_NV 0x04000000 +#define GL_FONT_UNDERLINE_THICKNESS_BIT_NV 0x08000000 +#define GL_FONT_HAS_KERNING_BIT_NV 0x10000000 +#define GL_ROUNDED_RECT_NV 0xE8 +#define GL_RELATIVE_ROUNDED_RECT_NV 0xE9 +#define GL_ROUNDED_RECT2_NV 0xEA +#define GL_RELATIVE_ROUNDED_RECT2_NV 0xEB +#define GL_ROUNDED_RECT4_NV 0xEC +#define GL_RELATIVE_ROUNDED_RECT4_NV 0xED +#define GL_ROUNDED_RECT8_NV 0xEE +#define GL_RELATIVE_ROUNDED_RECT8_NV 0xEF +#define GL_RELATIVE_RECT_NV 0xF7 +#define GL_FONT_GLYPHS_AVAILABLE_NV 0x9368 +#define GL_FONT_TARGET_UNAVAILABLE_NV 0x9369 +#define GL_FONT_UNAVAILABLE_NV 0x936A +#define GL_FONT_UNINTELLIGIBLE_NV 0x936B +#define GL_CONIC_CURVE_TO_NV 0x1A +#define GL_RELATIVE_CONIC_CURVE_TO_NV 0x1B +#define GL_FONT_NUM_GLYPH_INDICES_BIT_NV 0x20000000 +#define GL_STANDARD_FONT_FORMAT_NV 0x936C +#define GL_PATH_PROJECTION_NV 0x1701 +#define GL_PATH_MODELVIEW_NV 0x1700 +#define GL_PATH_MODELVIEW_STACK_DEPTH_NV 0x0BA3 +#define GL_PATH_MODELVIEW_MATRIX_NV 0x0BA6 +#define GL_PATH_MAX_MODELVIEW_STACK_DEPTH_NV 0x0D36 +#define GL_PATH_TRANSPOSE_MODELVIEW_MATRIX_NV 0x84E3 +#define GL_PATH_PROJECTION_STACK_DEPTH_NV 0x0BA4 +#define GL_PATH_PROJECTION_MATRIX_NV 0x0BA7 +#define GL_PATH_MAX_PROJECTION_STACK_DEPTH_NV 0x0D38 +#define GL_PATH_TRANSPOSE_PROJECTION_MATRIX_NV 0x84E4 +#define GL_FRAGMENT_INPUT_NV 0x936D +typedef GLuint (GL_APIENTRYP PFNGLGENPATHSNVPROC) (GLsizei range); +typedef void (GL_APIENTRYP PFNGLDELETEPATHSNVPROC) (GLuint path, GLsizei range); +typedef GLboolean (GL_APIENTRYP PFNGLISPATHNVPROC) (GLuint path); +typedef void (GL_APIENTRYP PFNGLPATHCOMMANDSNVPROC) (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (GL_APIENTRYP PFNGLPATHCOORDSNVPROC) (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (GL_APIENTRYP PFNGLPATHSUBCOMMANDSNVPROC) (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (GL_APIENTRYP PFNGLPATHSUBCOORDSNVPROC) (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); +typedef void (GL_APIENTRYP PFNGLPATHSTRINGNVPROC) (GLuint path, GLenum format, GLsizei length, const void *pathString); +typedef void (GL_APIENTRYP PFNGLPATHGLYPHSNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef void (GL_APIENTRYP PFNGLPATHGLYPHRANGENVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef void (GL_APIENTRYP PFNGLWEIGHTPATHSNVPROC) (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); +typedef void (GL_APIENTRYP PFNGLCOPYPATHNVPROC) (GLuint resultPath, GLuint srcPath); +typedef void (GL_APIENTRYP PFNGLINTERPOLATEPATHSNVPROC) (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); +typedef void (GL_APIENTRYP PFNGLTRANSFORMPATHNVPROC) (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); +typedef void (GL_APIENTRYP PFNGLPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, const GLint *value); +typedef void (GL_APIENTRYP PFNGLPATHPARAMETERINVPROC) (GLuint path, GLenum pname, GLint value); +typedef void (GL_APIENTRYP PFNGLPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, const GLfloat *value); +typedef void (GL_APIENTRYP PFNGLPATHPARAMETERFNVPROC) (GLuint path, GLenum pname, GLfloat value); +typedef void (GL_APIENTRYP PFNGLPATHDASHARRAYNVPROC) (GLuint path, GLsizei dashCount, const GLfloat *dashArray); +typedef void (GL_APIENTRYP PFNGLPATHSTENCILFUNCNVPROC) (GLenum func, GLint ref, GLuint mask); +typedef void (GL_APIENTRYP PFNGLPATHSTENCILDEPTHOFFSETNVPROC) (GLfloat factor, GLfloat units); +typedef void (GL_APIENTRYP PFNGLSTENCILFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask); +typedef void (GL_APIENTRYP PFNGLSTENCILSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask); +typedef void (GL_APIENTRYP PFNGLSTENCILFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); +typedef void (GL_APIENTRYP PFNGLSTENCILSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); +typedef void (GL_APIENTRYP PFNGLPATHCOVERDEPTHFUNCNVPROC) (GLenum func); +typedef void (GL_APIENTRYP PFNGLCOVERFILLPATHNVPROC) (GLuint path, GLenum coverMode); +typedef void (GL_APIENTRYP PFNGLCOVERSTROKEPATHNVPROC) (GLuint path, GLenum coverMode); +typedef void (GL_APIENTRYP PFNGLCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef void (GL_APIENTRYP PFNGLCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef void (GL_APIENTRYP PFNGLGETPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, GLint *value); +typedef void (GL_APIENTRYP PFNGLGETPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, GLfloat *value); +typedef void (GL_APIENTRYP PFNGLGETPATHCOMMANDSNVPROC) (GLuint path, GLubyte *commands); +typedef void (GL_APIENTRYP PFNGLGETPATHCOORDSNVPROC) (GLuint path, GLfloat *coords); +typedef void (GL_APIENTRYP PFNGLGETPATHDASHARRAYNVPROC) (GLuint path, GLfloat *dashArray); +typedef void (GL_APIENTRYP PFNGLGETPATHMETRICSNVPROC) (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); +typedef void (GL_APIENTRYP PFNGLGETPATHMETRICRANGENVPROC) (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); +typedef void (GL_APIENTRYP PFNGLGETPATHSPACINGNVPROC) (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); +typedef GLboolean (GL_APIENTRYP PFNGLISPOINTINFILLPATHNVPROC) (GLuint path, GLuint mask, GLfloat x, GLfloat y); +typedef GLboolean (GL_APIENTRYP PFNGLISPOINTINSTROKEPATHNVPROC) (GLuint path, GLfloat x, GLfloat y); +typedef GLfloat (GL_APIENTRYP PFNGLGETPATHLENGTHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments); +typedef GLboolean (GL_APIENTRYP PFNGLPOINTALONGPATHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); +typedef void (GL_APIENTRYP PFNGLMATRIXLOAD3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXLOAD3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXLOADTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULT3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULT3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULTTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); +typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask, GLenum coverMode); +typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +typedef GLenum (GL_APIENTRYP PFNGLPATHGLYPHINDEXRANGENVPROC) (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); +typedef GLenum (GL_APIENTRYP PFNGLPATHGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef GLenum (GL_APIENTRYP PFNGLPATHMEMORYGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +typedef void (GL_APIENTRYP PFNGLPROGRAMPATHFRAGMENTINPUTGENNVPROC) (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); +typedef void (GL_APIENTRYP PFNGLGETPROGRAMRESOURCEFVNVPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); +typedef void (GL_APIENTRYP PFNGLMATRIXFRUSTUMEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +typedef void (GL_APIENTRYP PFNGLMATRIXLOADIDENTITYEXTPROC) (GLenum mode); +typedef void (GL_APIENTRYP PFNGLMATRIXLOADTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXLOADTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (GL_APIENTRYP PFNGLMATRIXLOADFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXLOADDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULTTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULTTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULTFEXTPROC) (GLenum mode, const GLfloat *m); +typedef void (GL_APIENTRYP PFNGLMATRIXMULTDEXTPROC) (GLenum mode, const GLdouble *m); +typedef void (GL_APIENTRYP PFNGLMATRIXORTHOEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +typedef void (GL_APIENTRYP PFNGLMATRIXPOPEXTPROC) (GLenum mode); +typedef void (GL_APIENTRYP PFNGLMATRIXPUSHEXTPROC) (GLenum mode); +typedef void (GL_APIENTRYP PFNGLMATRIXROTATEFEXTPROC) (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); +typedef void (GL_APIENTRYP PFNGLMATRIXROTATEDEXTPROC) (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); +typedef void (GL_APIENTRYP PFNGLMATRIXSCALEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +typedef void (GL_APIENTRYP PFNGLMATRIXSCALEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +typedef void (GL_APIENTRYP PFNGLMATRIXTRANSLATEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +typedef void (GL_APIENTRYP PFNGLMATRIXTRANSLATEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL GLuint GL_APIENTRY glGenPathsNV (GLsizei range); +GL_APICALL void GL_APIENTRY glDeletePathsNV (GLuint path, GLsizei range); +GL_APICALL GLboolean GL_APIENTRY glIsPathNV (GLuint path); +GL_APICALL void GL_APIENTRY glPathCommandsNV (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +GL_APICALL void GL_APIENTRY glPathCoordsNV (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); +GL_APICALL void GL_APIENTRY glPathSubCommandsNV (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); +GL_APICALL void GL_APIENTRY glPathSubCoordsNV (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); +GL_APICALL void GL_APIENTRY glPathStringNV (GLuint path, GLenum format, GLsizei length, const void *pathString); +GL_APICALL void GL_APIENTRY glPathGlyphsNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GL_APICALL void GL_APIENTRY glPathGlyphRangeNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GL_APICALL void GL_APIENTRY glWeightPathsNV (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); +GL_APICALL void GL_APIENTRY glCopyPathNV (GLuint resultPath, GLuint srcPath); +GL_APICALL void GL_APIENTRY glInterpolatePathsNV (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); +GL_APICALL void GL_APIENTRY glTransformPathNV (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); +GL_APICALL void GL_APIENTRY glPathParameterivNV (GLuint path, GLenum pname, const GLint *value); +GL_APICALL void GL_APIENTRY glPathParameteriNV (GLuint path, GLenum pname, GLint value); +GL_APICALL void GL_APIENTRY glPathParameterfvNV (GLuint path, GLenum pname, const GLfloat *value); +GL_APICALL void GL_APIENTRY glPathParameterfNV (GLuint path, GLenum pname, GLfloat value); +GL_APICALL void GL_APIENTRY glPathDashArrayNV (GLuint path, GLsizei dashCount, const GLfloat *dashArray); +GL_APICALL void GL_APIENTRY glPathStencilFuncNV (GLenum func, GLint ref, GLuint mask); +GL_APICALL void GL_APIENTRY glPathStencilDepthOffsetNV (GLfloat factor, GLfloat units); +GL_APICALL void GL_APIENTRY glStencilFillPathNV (GLuint path, GLenum fillMode, GLuint mask); +GL_APICALL void GL_APIENTRY glStencilStrokePathNV (GLuint path, GLint reference, GLuint mask); +GL_APICALL void GL_APIENTRY glStencilFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); +GL_APICALL void GL_APIENTRY glStencilStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); +GL_APICALL void GL_APIENTRY glPathCoverDepthFuncNV (GLenum func); +GL_APICALL void GL_APIENTRY glCoverFillPathNV (GLuint path, GLenum coverMode); +GL_APICALL void GL_APIENTRY glCoverStrokePathNV (GLuint path, GLenum coverMode); +GL_APICALL void GL_APIENTRY glCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GL_APICALL void GL_APIENTRY glCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GL_APICALL void GL_APIENTRY glGetPathParameterivNV (GLuint path, GLenum pname, GLint *value); +GL_APICALL void GL_APIENTRY glGetPathParameterfvNV (GLuint path, GLenum pname, GLfloat *value); +GL_APICALL void GL_APIENTRY glGetPathCommandsNV (GLuint path, GLubyte *commands); +GL_APICALL void GL_APIENTRY glGetPathCoordsNV (GLuint path, GLfloat *coords); +GL_APICALL void GL_APIENTRY glGetPathDashArrayNV (GLuint path, GLfloat *dashArray); +GL_APICALL void GL_APIENTRY glGetPathMetricsNV (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); +GL_APICALL void GL_APIENTRY glGetPathMetricRangeNV (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); +GL_APICALL void GL_APIENTRY glGetPathSpacingNV (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); +GL_APICALL GLboolean GL_APIENTRY glIsPointInFillPathNV (GLuint path, GLuint mask, GLfloat x, GLfloat y); +GL_APICALL GLboolean GL_APIENTRY glIsPointInStrokePathNV (GLuint path, GLfloat x, GLfloat y); +GL_APICALL GLfloat GL_APIENTRY glGetPathLengthNV (GLuint path, GLsizei startSegment, GLsizei numSegments); +GL_APICALL GLboolean GL_APIENTRY glPointAlongPathNV (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); +GL_APICALL void GL_APIENTRY glMatrixLoad3x2fNV (GLenum matrixMode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixLoad3x3fNV (GLenum matrixMode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixLoadTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixMult3x2fNV (GLenum matrixMode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixMult3x3fNV (GLenum matrixMode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixMultTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glStencilThenCoverFillPathNV (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); +GL_APICALL void GL_APIENTRY glStencilThenCoverStrokePathNV (GLuint path, GLint reference, GLuint mask, GLenum coverMode); +GL_APICALL void GL_APIENTRY glStencilThenCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GL_APICALL void GL_APIENTRY glStencilThenCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); +GL_APICALL GLenum GL_APIENTRY glPathGlyphIndexRangeNV (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); +GL_APICALL GLenum GL_APIENTRY glPathGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GL_APICALL GLenum GL_APIENTRY glPathMemoryGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); +GL_APICALL void GL_APIENTRY glProgramPathFragmentInputGenNV (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); +GL_APICALL void GL_APIENTRY glGetProgramResourcefvNV (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); +GL_APICALL void GL_APIENTRY glMatrixFrustumEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +GL_APICALL void GL_APIENTRY glMatrixLoadIdentityEXT (GLenum mode); +GL_APICALL void GL_APIENTRY glMatrixLoadTransposefEXT (GLenum mode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixLoadTransposedEXT (GLenum mode, const GLdouble *m); +GL_APICALL void GL_APIENTRY glMatrixLoadfEXT (GLenum mode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixLoaddEXT (GLenum mode, const GLdouble *m); +GL_APICALL void GL_APIENTRY glMatrixMultTransposefEXT (GLenum mode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixMultTransposedEXT (GLenum mode, const GLdouble *m); +GL_APICALL void GL_APIENTRY glMatrixMultfEXT (GLenum mode, const GLfloat *m); +GL_APICALL void GL_APIENTRY glMatrixMultdEXT (GLenum mode, const GLdouble *m); +GL_APICALL void GL_APIENTRY glMatrixOrthoEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +GL_APICALL void GL_APIENTRY glMatrixPopEXT (GLenum mode); +GL_APICALL void GL_APIENTRY glMatrixPushEXT (GLenum mode); +GL_APICALL void GL_APIENTRY glMatrixRotatefEXT (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); +GL_APICALL void GL_APIENTRY glMatrixRotatedEXT (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); +GL_APICALL void GL_APIENTRY glMatrixScalefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +GL_APICALL void GL_APIENTRY glMatrixScaledEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +GL_APICALL void GL_APIENTRY glMatrixTranslatefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); +GL_APICALL void GL_APIENTRY glMatrixTranslatedEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); +#endif +#endif /* GL_NV_path_rendering */ + +#ifndef GL_NV_path_rendering_shared_edge +#define GL_NV_path_rendering_shared_edge 1 +#define GL_SHARED_EDGE_NV 0xC0 +#endif /* GL_NV_path_rendering_shared_edge */ + +#ifndef GL_NV_pixel_buffer_object +#define GL_NV_pixel_buffer_object 1 +#define GL_PIXEL_PACK_BUFFER_NV 0x88EB +#define GL_PIXEL_UNPACK_BUFFER_NV 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING_NV 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING_NV 0x88EF +#endif /* GL_NV_pixel_buffer_object */ + +#ifndef GL_NV_polygon_mode +#define GL_NV_polygon_mode 1 +#define GL_POLYGON_MODE_NV 0x0B40 +#define GL_POLYGON_OFFSET_POINT_NV 0x2A01 +#define GL_POLYGON_OFFSET_LINE_NV 0x2A02 +#define GL_POINT_NV 0x1B00 +#define GL_LINE_NV 0x1B01 +#define GL_FILL_NV 0x1B02 +typedef void (GL_APIENTRYP PFNGLPOLYGONMODENVPROC) (GLenum face, GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glPolygonModeNV (GLenum face, GLenum mode); +#endif +#endif /* GL_NV_polygon_mode */ + +#ifndef GL_NV_primitive_shading_rate +#define GL_NV_primitive_shading_rate 1 +#define GL_SHADING_RATE_IMAGE_PER_PRIMITIVE_NV 0x95B1 +#define GL_SHADING_RATE_IMAGE_PALETTE_COUNT_NV 0x95B2 +#endif /* GL_NV_primitive_shading_rate */ + +#ifndef GL_NV_read_buffer +#define GL_NV_read_buffer 1 +#define GL_READ_BUFFER_NV 0x0C02 +typedef void (GL_APIENTRYP PFNGLREADBUFFERNVPROC) (GLenum mode); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glReadBufferNV (GLenum mode); +#endif +#endif /* GL_NV_read_buffer */ + +#ifndef GL_NV_read_buffer_front +#define GL_NV_read_buffer_front 1 +#endif /* GL_NV_read_buffer_front */ + +#ifndef GL_NV_read_depth +#define GL_NV_read_depth 1 +#endif /* GL_NV_read_depth */ + +#ifndef GL_NV_read_depth_stencil +#define GL_NV_read_depth_stencil 1 +#endif /* GL_NV_read_depth_stencil */ + +#ifndef GL_NV_read_stencil +#define GL_NV_read_stencil 1 +#endif /* GL_NV_read_stencil */ + +#ifndef GL_NV_representative_fragment_test +#define GL_NV_representative_fragment_test 1 +#define GL_REPRESENTATIVE_FRAGMENT_TEST_NV 0x937F +#endif /* GL_NV_representative_fragment_test */ + +#ifndef GL_NV_sRGB_formats +#define GL_NV_sRGB_formats 1 +#define GL_SLUMINANCE_NV 0x8C46 +#define GL_SLUMINANCE_ALPHA_NV 0x8C44 +#define GL_SRGB8_NV 0x8C41 +#define GL_SLUMINANCE8_NV 0x8C47 +#define GL_SLUMINANCE8_ALPHA8_NV 0x8C45 +#define GL_COMPRESSED_SRGB_S3TC_DXT1_NV 0x8C4C +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_NV 0x8C4D +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_NV 0x8C4E +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_NV 0x8C4F +#define GL_ETC1_SRGB8_NV 0x88EE +#endif /* GL_NV_sRGB_formats */ + +#ifndef GL_NV_sample_locations +#define GL_NV_sample_locations 1 +#define GL_SAMPLE_LOCATION_SUBPIXEL_BITS_NV 0x933D +#define GL_SAMPLE_LOCATION_PIXEL_GRID_WIDTH_NV 0x933E +#define GL_SAMPLE_LOCATION_PIXEL_GRID_HEIGHT_NV 0x933F +#define GL_PROGRAMMABLE_SAMPLE_LOCATION_TABLE_SIZE_NV 0x9340 +#define GL_SAMPLE_LOCATION_NV 0x8E50 +#define GL_PROGRAMMABLE_SAMPLE_LOCATION_NV 0x9341 +#define GL_FRAMEBUFFER_PROGRAMMABLE_SAMPLE_LOCATIONS_NV 0x9342 +#define GL_FRAMEBUFFER_SAMPLE_LOCATION_PIXEL_GRID_NV 0x9343 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLenum target, GLuint start, GLsizei count, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLRESOLVEDEPTHVALUESNVPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferSampleLocationsfvNV (GLenum target, GLuint start, GLsizei count, const GLfloat *v); +GL_APICALL void GL_APIENTRY glNamedFramebufferSampleLocationsfvNV (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); +GL_APICALL void GL_APIENTRY glResolveDepthValuesNV (void); +#endif +#endif /* GL_NV_sample_locations */ + +#ifndef GL_NV_sample_mask_override_coverage +#define GL_NV_sample_mask_override_coverage 1 +#endif /* GL_NV_sample_mask_override_coverage */ + +#ifndef GL_NV_scissor_exclusive +#define GL_NV_scissor_exclusive 1 +#define GL_SCISSOR_TEST_EXCLUSIVE_NV 0x9555 +#define GL_SCISSOR_BOX_EXCLUSIVE_NV 0x9556 +typedef void (GL_APIENTRYP PFNGLSCISSOREXCLUSIVENVPROC) (GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLSCISSOREXCLUSIVEARRAYVNVPROC) (GLuint first, GLsizei count, const GLint *v); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glScissorExclusiveNV (GLint x, GLint y, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glScissorExclusiveArrayvNV (GLuint first, GLsizei count, const GLint *v); +#endif +#endif /* GL_NV_scissor_exclusive */ + +#ifndef GL_NV_shader_atomic_fp16_vector +#define GL_NV_shader_atomic_fp16_vector 1 +#endif /* GL_NV_shader_atomic_fp16_vector */ + +#ifndef GL_NV_shader_noperspective_interpolation +#define GL_NV_shader_noperspective_interpolation 1 +#endif /* GL_NV_shader_noperspective_interpolation */ + +#ifndef GL_NV_shader_subgroup_partitioned +#define GL_NV_shader_subgroup_partitioned 1 +#define GL_SUBGROUP_FEATURE_PARTITIONED_BIT_NV 0x00000100 +#endif /* GL_NV_shader_subgroup_partitioned */ + +#ifndef GL_NV_shader_texture_footprint +#define GL_NV_shader_texture_footprint 1 +#endif /* GL_NV_shader_texture_footprint */ + +#ifndef GL_NV_shading_rate_image +#define GL_NV_shading_rate_image 1 +#define GL_SHADING_RATE_IMAGE_NV 0x9563 +#define GL_SHADING_RATE_NO_INVOCATIONS_NV 0x9564 +#define GL_SHADING_RATE_1_INVOCATION_PER_PIXEL_NV 0x9565 +#define GL_SHADING_RATE_1_INVOCATION_PER_1X2_PIXELS_NV 0x9566 +#define GL_SHADING_RATE_1_INVOCATION_PER_2X1_PIXELS_NV 0x9567 +#define GL_SHADING_RATE_1_INVOCATION_PER_2X2_PIXELS_NV 0x9568 +#define GL_SHADING_RATE_1_INVOCATION_PER_2X4_PIXELS_NV 0x9569 +#define GL_SHADING_RATE_1_INVOCATION_PER_4X2_PIXELS_NV 0x956A +#define GL_SHADING_RATE_1_INVOCATION_PER_4X4_PIXELS_NV 0x956B +#define GL_SHADING_RATE_2_INVOCATIONS_PER_PIXEL_NV 0x956C +#define GL_SHADING_RATE_4_INVOCATIONS_PER_PIXEL_NV 0x956D +#define GL_SHADING_RATE_8_INVOCATIONS_PER_PIXEL_NV 0x956E +#define GL_SHADING_RATE_16_INVOCATIONS_PER_PIXEL_NV 0x956F +#define GL_SHADING_RATE_IMAGE_BINDING_NV 0x955B +#define GL_SHADING_RATE_IMAGE_TEXEL_WIDTH_NV 0x955C +#define GL_SHADING_RATE_IMAGE_TEXEL_HEIGHT_NV 0x955D +#define GL_SHADING_RATE_IMAGE_PALETTE_SIZE_NV 0x955E +#define GL_MAX_COARSE_FRAGMENT_SAMPLES_NV 0x955F +#define GL_SHADING_RATE_SAMPLE_ORDER_DEFAULT_NV 0x95AE +#define GL_SHADING_RATE_SAMPLE_ORDER_PIXEL_MAJOR_NV 0x95AF +#define GL_SHADING_RATE_SAMPLE_ORDER_SAMPLE_MAJOR_NV 0x95B0 +typedef void (GL_APIENTRYP PFNGLBINDSHADINGRATEIMAGENVPROC) (GLuint texture); +typedef void (GL_APIENTRYP PFNGLGETSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint entry, GLenum *rate); +typedef void (GL_APIENTRYP PFNGLGETSHADINGRATESAMPLELOCATIONIVNVPROC) (GLenum rate, GLuint samples, GLuint index, GLint *location); +typedef void (GL_APIENTRYP PFNGLSHADINGRATEIMAGEBARRIERNVPROC) (GLboolean synchronize); +typedef void (GL_APIENTRYP PFNGLSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); +typedef void (GL_APIENTRYP PFNGLSHADINGRATESAMPLEORDERNVPROC) (GLenum order); +typedef void (GL_APIENTRYP PFNGLSHADINGRATESAMPLEORDERCUSTOMNVPROC) (GLenum rate, GLuint samples, const GLint *locations); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glBindShadingRateImageNV (GLuint texture); +GL_APICALL void GL_APIENTRY glGetShadingRateImagePaletteNV (GLuint viewport, GLuint entry, GLenum *rate); +GL_APICALL void GL_APIENTRY glGetShadingRateSampleLocationivNV (GLenum rate, GLuint samples, GLuint index, GLint *location); +GL_APICALL void GL_APIENTRY glShadingRateImageBarrierNV (GLboolean synchronize); +GL_APICALL void GL_APIENTRY glShadingRateImagePaletteNV (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); +GL_APICALL void GL_APIENTRY glShadingRateSampleOrderNV (GLenum order); +GL_APICALL void GL_APIENTRY glShadingRateSampleOrderCustomNV (GLenum rate, GLuint samples, const GLint *locations); +#endif +#endif /* GL_NV_shading_rate_image */ + +#ifndef GL_NV_shadow_samplers_array +#define GL_NV_shadow_samplers_array 1 +#define GL_SAMPLER_2D_ARRAY_SHADOW_NV 0x8DC4 +#endif /* GL_NV_shadow_samplers_array */ + +#ifndef GL_NV_shadow_samplers_cube +#define GL_NV_shadow_samplers_cube 1 +#define GL_SAMPLER_CUBE_SHADOW_NV 0x8DC5 +#endif /* GL_NV_shadow_samplers_cube */ + +#ifndef GL_NV_stereo_view_rendering +#define GL_NV_stereo_view_rendering 1 +#endif /* GL_NV_stereo_view_rendering */ + +#ifndef GL_NV_texture_border_clamp +#define GL_NV_texture_border_clamp 1 +#define GL_TEXTURE_BORDER_COLOR_NV 0x1004 +#define GL_CLAMP_TO_BORDER_NV 0x812D +#endif /* GL_NV_texture_border_clamp */ + +#ifndef GL_NV_texture_compression_s3tc_update +#define GL_NV_texture_compression_s3tc_update 1 +#endif /* GL_NV_texture_compression_s3tc_update */ + +#ifndef GL_NV_texture_npot_2D_mipmap +#define GL_NV_texture_npot_2D_mipmap 1 +#endif /* GL_NV_texture_npot_2D_mipmap */ + +#ifndef GL_NV_timeline_semaphore +#define GL_NV_timeline_semaphore 1 +#define GL_TIMELINE_SEMAPHORE_VALUE_NV 0x9595 +#define GL_SEMAPHORE_TYPE_NV 0x95B3 +#define GL_SEMAPHORE_TYPE_BINARY_NV 0x95B4 +#define GL_SEMAPHORE_TYPE_TIMELINE_NV 0x95B5 +#define GL_MAX_TIMELINE_SEMAPHORE_VALUE_DIFFERENCE_NV 0x95B6 +typedef void (GL_APIENTRYP PFNGLCREATESEMAPHORESNVPROC) (GLsizei n, GLuint *semaphores); +typedef void (GL_APIENTRYP PFNGLSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, const GLint *params); +typedef void (GL_APIENTRYP PFNGLGETSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, GLint *params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glCreateSemaphoresNV (GLsizei n, GLuint *semaphores); +GL_APICALL void GL_APIENTRY glSemaphoreParameterivNV (GLuint semaphore, GLenum pname, const GLint *params); +GL_APICALL void GL_APIENTRY glGetSemaphoreParameterivNV (GLuint semaphore, GLenum pname, GLint *params); +#endif +#endif /* GL_NV_timeline_semaphore */ + +#ifndef GL_NV_viewport_array +#define GL_NV_viewport_array 1 +#define GL_MAX_VIEWPORTS_NV 0x825B +#define GL_VIEWPORT_SUBPIXEL_BITS_NV 0x825C +#define GL_VIEWPORT_BOUNDS_RANGE_NV 0x825D +#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX_NV 0x825F +typedef void (GL_APIENTRYP PFNGLVIEWPORTARRAYVNVPROC) (GLuint first, GLsizei count, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFVNVPROC) (GLuint index, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLSCISSORARRAYVNVPROC) (GLuint first, GLsizei count, const GLint *v); +typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDNVPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDVNVPROC) (GLuint index, const GLint *v); +typedef void (GL_APIENTRYP PFNGLDEPTHRANGEARRAYFVNVPROC) (GLuint first, GLsizei count, const GLfloat *v); +typedef void (GL_APIENTRYP PFNGLDEPTHRANGEINDEXEDFNVPROC) (GLuint index, GLfloat n, GLfloat f); +typedef void (GL_APIENTRYP PFNGLGETFLOATI_VNVPROC) (GLenum target, GLuint index, GLfloat *data); +typedef void (GL_APIENTRYP PFNGLENABLEINVPROC) (GLenum target, GLuint index); +typedef void (GL_APIENTRYP PFNGLDISABLEINVPROC) (GLenum target, GLuint index); +typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDINVPROC) (GLenum target, GLuint index); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glViewportArrayvNV (GLuint first, GLsizei count, const GLfloat *v); +GL_APICALL void GL_APIENTRY glViewportIndexedfNV (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +GL_APICALL void GL_APIENTRY glViewportIndexedfvNV (GLuint index, const GLfloat *v); +GL_APICALL void GL_APIENTRY glScissorArrayvNV (GLuint first, GLsizei count, const GLint *v); +GL_APICALL void GL_APIENTRY glScissorIndexedNV (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +GL_APICALL void GL_APIENTRY glScissorIndexedvNV (GLuint index, const GLint *v); +GL_APICALL void GL_APIENTRY glDepthRangeArrayfvNV (GLuint first, GLsizei count, const GLfloat *v); +GL_APICALL void GL_APIENTRY glDepthRangeIndexedfNV (GLuint index, GLfloat n, GLfloat f); +GL_APICALL void GL_APIENTRY glGetFloati_vNV (GLenum target, GLuint index, GLfloat *data); +GL_APICALL void GL_APIENTRY glEnableiNV (GLenum target, GLuint index); +GL_APICALL void GL_APIENTRY glDisableiNV (GLenum target, GLuint index); +GL_APICALL GLboolean GL_APIENTRY glIsEnablediNV (GLenum target, GLuint index); +#endif +#endif /* GL_NV_viewport_array */ + +#ifndef GL_NV_viewport_array2 +#define GL_NV_viewport_array2 1 +#endif /* GL_NV_viewport_array2 */ + +#ifndef GL_NV_viewport_swizzle +#define GL_NV_viewport_swizzle 1 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_X_NV 0x9350 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_X_NV 0x9351 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_Y_NV 0x9352 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Y_NV 0x9353 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_Z_NV 0x9354 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Z_NV 0x9355 +#define GL_VIEWPORT_SWIZZLE_POSITIVE_W_NV 0x9356 +#define GL_VIEWPORT_SWIZZLE_NEGATIVE_W_NV 0x9357 +#define GL_VIEWPORT_SWIZZLE_X_NV 0x9358 +#define GL_VIEWPORT_SWIZZLE_Y_NV 0x9359 +#define GL_VIEWPORT_SWIZZLE_Z_NV 0x935A +#define GL_VIEWPORT_SWIZZLE_W_NV 0x935B +typedef void (GL_APIENTRYP PFNGLVIEWPORTSWIZZLENVPROC) (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glViewportSwizzleNV (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); +#endif +#endif /* GL_NV_viewport_swizzle */ + +#ifndef GL_OVR_multiview +#define GL_OVR_multiview 1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_NUM_VIEWS_OVR 0x9630 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_BASE_VIEW_INDEX_OVR 0x9632 +#define GL_MAX_VIEWS_OVR 0x9631 +#define GL_FRAMEBUFFER_INCOMPLETE_VIEW_TARGETS_OVR 0x9633 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREMULTIVIEWOVRPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferTextureMultiviewOVR (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); +#endif +#endif /* GL_OVR_multiview */ + +#ifndef GL_OVR_multiview2 +#define GL_OVR_multiview2 1 +#endif /* GL_OVR_multiview2 */ + +#ifndef GL_OVR_multiview_multisampled_render_to_texture +#define GL_OVR_multiview_multisampled_render_to_texture 1 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREMULTISAMPLEMULTIVIEWOVRPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLsizei samples, GLint baseViewIndex, GLsizei numViews); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferTextureMultisampleMultiviewOVR (GLenum target, GLenum attachment, GLuint texture, GLint level, GLsizei samples, GLint baseViewIndex, GLsizei numViews); +#endif +#endif /* GL_OVR_multiview_multisampled_render_to_texture */ + +#ifndef GL_QCOM_YUV_texture_gather +#define GL_QCOM_YUV_texture_gather 1 +#endif /* GL_QCOM_YUV_texture_gather */ + +#ifndef GL_QCOM_alpha_test +#define GL_QCOM_alpha_test 1 +#define GL_ALPHA_TEST_QCOM 0x0BC0 +#define GL_ALPHA_TEST_FUNC_QCOM 0x0BC1 +#define GL_ALPHA_TEST_REF_QCOM 0x0BC2 +typedef void (GL_APIENTRYP PFNGLALPHAFUNCQCOMPROC) (GLenum func, GLclampf ref); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glAlphaFuncQCOM (GLenum func, GLclampf ref); +#endif +#endif /* GL_QCOM_alpha_test */ + +#ifndef GL_QCOM_binning_control +#define GL_QCOM_binning_control 1 +#define GL_BINNING_CONTROL_HINT_QCOM 0x8FB0 +#define GL_CPU_OPTIMIZED_QCOM 0x8FB1 +#define GL_GPU_OPTIMIZED_QCOM 0x8FB2 +#define GL_RENDER_DIRECT_TO_FRAMEBUFFER_QCOM 0x8FB3 +#endif /* GL_QCOM_binning_control */ + +#ifndef GL_QCOM_driver_control +#define GL_QCOM_driver_control 1 +typedef void (GL_APIENTRYP PFNGLGETDRIVERCONTROLSQCOMPROC) (GLint *num, GLsizei size, GLuint *driverControls); +typedef void (GL_APIENTRYP PFNGLGETDRIVERCONTROLSTRINGQCOMPROC) (GLuint driverControl, GLsizei bufSize, GLsizei *length, GLchar *driverControlString); +typedef void (GL_APIENTRYP PFNGLENABLEDRIVERCONTROLQCOMPROC) (GLuint driverControl); +typedef void (GL_APIENTRYP PFNGLDISABLEDRIVERCONTROLQCOMPROC) (GLuint driverControl); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glGetDriverControlsQCOM (GLint *num, GLsizei size, GLuint *driverControls); +GL_APICALL void GL_APIENTRY glGetDriverControlStringQCOM (GLuint driverControl, GLsizei bufSize, GLsizei *length, GLchar *driverControlString); +GL_APICALL void GL_APIENTRY glEnableDriverControlQCOM (GLuint driverControl); +GL_APICALL void GL_APIENTRY glDisableDriverControlQCOM (GLuint driverControl); +#endif +#endif /* GL_QCOM_driver_control */ + +#ifndef GL_QCOM_extended_get +#define GL_QCOM_extended_get 1 +#define GL_TEXTURE_WIDTH_QCOM 0x8BD2 +#define GL_TEXTURE_HEIGHT_QCOM 0x8BD3 +#define GL_TEXTURE_DEPTH_QCOM 0x8BD4 +#define GL_TEXTURE_INTERNAL_FORMAT_QCOM 0x8BD5 +#define GL_TEXTURE_FORMAT_QCOM 0x8BD6 +#define GL_TEXTURE_TYPE_QCOM 0x8BD7 +#define GL_TEXTURE_IMAGE_VALID_QCOM 0x8BD8 +#define GL_TEXTURE_NUM_LEVELS_QCOM 0x8BD9 +#define GL_TEXTURE_TARGET_QCOM 0x8BDA +#define GL_TEXTURE_OBJECT_VALID_QCOM 0x8BDB +#define GL_STATE_RESTORE 0x8BDC +typedef void (GL_APIENTRYP PFNGLEXTGETTEXTURESQCOMPROC) (GLuint *textures, GLint maxTextures, GLint *numTextures); +typedef void (GL_APIENTRYP PFNGLEXTGETBUFFERSQCOMPROC) (GLuint *buffers, GLint maxBuffers, GLint *numBuffers); +typedef void (GL_APIENTRYP PFNGLEXTGETRENDERBUFFERSQCOMPROC) (GLuint *renderbuffers, GLint maxRenderbuffers, GLint *numRenderbuffers); +typedef void (GL_APIENTRYP PFNGLEXTGETFRAMEBUFFERSQCOMPROC) (GLuint *framebuffers, GLint maxFramebuffers, GLint *numFramebuffers); +typedef void (GL_APIENTRYP PFNGLEXTGETTEXLEVELPARAMETERIVQCOMPROC) (GLuint texture, GLenum face, GLint level, GLenum pname, GLint *params); +typedef void (GL_APIENTRYP PFNGLEXTTEXOBJECTSTATEOVERRIDEIQCOMPROC) (GLenum target, GLenum pname, GLint param); +typedef void (GL_APIENTRYP PFNGLEXTGETTEXSUBIMAGEQCOMPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, void *texels); +typedef void (GL_APIENTRYP PFNGLEXTGETBUFFERPOINTERVQCOMPROC) (GLenum target, void **params); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glExtGetTexturesQCOM (GLuint *textures, GLint maxTextures, GLint *numTextures); +GL_APICALL void GL_APIENTRY glExtGetBuffersQCOM (GLuint *buffers, GLint maxBuffers, GLint *numBuffers); +GL_APICALL void GL_APIENTRY glExtGetRenderbuffersQCOM (GLuint *renderbuffers, GLint maxRenderbuffers, GLint *numRenderbuffers); +GL_APICALL void GL_APIENTRY glExtGetFramebuffersQCOM (GLuint *framebuffers, GLint maxFramebuffers, GLint *numFramebuffers); +GL_APICALL void GL_APIENTRY glExtGetTexLevelParameterivQCOM (GLuint texture, GLenum face, GLint level, GLenum pname, GLint *params); +GL_APICALL void GL_APIENTRY glExtTexObjectStateOverrideiQCOM (GLenum target, GLenum pname, GLint param); +GL_APICALL void GL_APIENTRY glExtGetTexSubImageQCOM (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, void *texels); +GL_APICALL void GL_APIENTRY glExtGetBufferPointervQCOM (GLenum target, void **params); +#endif +#endif /* GL_QCOM_extended_get */ + +#ifndef GL_QCOM_extended_get2 +#define GL_QCOM_extended_get2 1 +typedef void (GL_APIENTRYP PFNGLEXTGETSHADERSQCOMPROC) (GLuint *shaders, GLint maxShaders, GLint *numShaders); +typedef void (GL_APIENTRYP PFNGLEXTGETPROGRAMSQCOMPROC) (GLuint *programs, GLint maxPrograms, GLint *numPrograms); +typedef GLboolean (GL_APIENTRYP PFNGLEXTISPROGRAMBINARYQCOMPROC) (GLuint program); +typedef void (GL_APIENTRYP PFNGLEXTGETPROGRAMBINARYSOURCEQCOMPROC) (GLuint program, GLenum shadertype, GLchar *source, GLint *length); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glExtGetShadersQCOM (GLuint *shaders, GLint maxShaders, GLint *numShaders); +GL_APICALL void GL_APIENTRY glExtGetProgramsQCOM (GLuint *programs, GLint maxPrograms, GLint *numPrograms); +GL_APICALL GLboolean GL_APIENTRY glExtIsProgramBinaryQCOM (GLuint program); +GL_APICALL void GL_APIENTRY glExtGetProgramBinarySourceQCOM (GLuint program, GLenum shadertype, GLchar *source, GLint *length); +#endif +#endif /* GL_QCOM_extended_get2 */ + +#ifndef GL_QCOM_frame_extrapolation +#define GL_QCOM_frame_extrapolation 1 +typedef void (GL_APIENTRYP PFNGLEXTRAPOLATETEX2DQCOMPROC) (GLuint src1, GLuint src2, GLuint output, GLfloat scaleFactor); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glExtrapolateTex2DQCOM (GLuint src1, GLuint src2, GLuint output, GLfloat scaleFactor); +#endif +#endif /* GL_QCOM_frame_extrapolation */ + +#ifndef GL_QCOM_framebuffer_foveated +#define GL_QCOM_framebuffer_foveated 1 +#define GL_FOVEATION_ENABLE_BIT_QCOM 0x00000001 +#define GL_FOVEATION_SCALED_BIN_METHOD_BIT_QCOM 0x00000002 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFOVEATIONCONFIGQCOMPROC) (GLuint framebuffer, GLuint numLayers, GLuint focalPointsPerLayer, GLuint requestedFeatures, GLuint *providedFeatures); +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFOVEATIONPARAMETERSQCOMPROC) (GLuint framebuffer, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferFoveationConfigQCOM (GLuint framebuffer, GLuint numLayers, GLuint focalPointsPerLayer, GLuint requestedFeatures, GLuint *providedFeatures); +GL_APICALL void GL_APIENTRY glFramebufferFoveationParametersQCOM (GLuint framebuffer, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); +#endif +#endif /* GL_QCOM_framebuffer_foveated */ + +#ifndef GL_QCOM_motion_estimation +#define GL_QCOM_motion_estimation 1 +#define GL_MOTION_ESTIMATION_SEARCH_BLOCK_X_QCOM 0x8C90 +#define GL_MOTION_ESTIMATION_SEARCH_BLOCK_Y_QCOM 0x8C91 +typedef void (GL_APIENTRYP PFNGLTEXESTIMATEMOTIONQCOMPROC) (GLuint ref, GLuint target, GLuint output); +typedef void (GL_APIENTRYP PFNGLTEXESTIMATEMOTIONREGIONSQCOMPROC) (GLuint ref, GLuint target, GLuint output, GLuint mask); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTexEstimateMotionQCOM (GLuint ref, GLuint target, GLuint output); +GL_APICALL void GL_APIENTRY glTexEstimateMotionRegionsQCOM (GLuint ref, GLuint target, GLuint output, GLuint mask); +#endif +#endif /* GL_QCOM_motion_estimation */ + +#ifndef GL_QCOM_perfmon_global_mode +#define GL_QCOM_perfmon_global_mode 1 +#define GL_PERFMON_GLOBAL_MODE_QCOM 0x8FA0 +#endif /* GL_QCOM_perfmon_global_mode */ + +#ifndef GL_QCOM_render_shared_exponent +#define GL_QCOM_render_shared_exponent 1 +#endif /* GL_QCOM_render_shared_exponent */ + +#ifndef GL_QCOM_shader_framebuffer_fetch_noncoherent +#define GL_QCOM_shader_framebuffer_fetch_noncoherent 1 +#define GL_FRAMEBUFFER_FETCH_NONCOHERENT_QCOM 0x96A2 +typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFETCHBARRIERQCOMPROC) (void); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glFramebufferFetchBarrierQCOM (void); +#endif +#endif /* GL_QCOM_shader_framebuffer_fetch_noncoherent */ + +#ifndef GL_QCOM_shader_framebuffer_fetch_rate +#define GL_QCOM_shader_framebuffer_fetch_rate 1 +#endif /* GL_QCOM_shader_framebuffer_fetch_rate */ + +#ifndef GL_QCOM_shading_rate +#define GL_QCOM_shading_rate 1 +#define GL_SHADING_RATE_QCOM 0x96A4 +#define GL_SHADING_RATE_PRESERVE_ASPECT_RATIO_QCOM 0x96A5 +#define GL_SHADING_RATE_1X1_PIXELS_QCOM 0x96A6 +#define GL_SHADING_RATE_1X2_PIXELS_QCOM 0x96A7 +#define GL_SHADING_RATE_2X1_PIXELS_QCOM 0x96A8 +#define GL_SHADING_RATE_2X2_PIXELS_QCOM 0x96A9 +#define GL_SHADING_RATE_4X2_PIXELS_QCOM 0x96AC +#define GL_SHADING_RATE_4X4_PIXELS_QCOM 0x96AE +typedef void (GL_APIENTRYP PFNGLSHADINGRATEQCOMPROC) (GLenum rate); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glShadingRateQCOM (GLenum rate); +#endif +#endif /* GL_QCOM_shading_rate */ + +#ifndef GL_QCOM_texture_foveated +#define GL_QCOM_texture_foveated 1 +#define GL_TEXTURE_FOVEATED_FEATURE_BITS_QCOM 0x8BFB +#define GL_TEXTURE_FOVEATED_MIN_PIXEL_DENSITY_QCOM 0x8BFC +#define GL_TEXTURE_FOVEATED_FEATURE_QUERY_QCOM 0x8BFD +#define GL_TEXTURE_FOVEATED_NUM_FOCAL_POINTS_QUERY_QCOM 0x8BFE +#define GL_FRAMEBUFFER_INCOMPLETE_FOVEATION_QCOM 0x8BFF +typedef void (GL_APIENTRYP PFNGLTEXTUREFOVEATIONPARAMETERSQCOMPROC) (GLuint texture, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glTextureFoveationParametersQCOM (GLuint texture, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); +#endif +#endif /* GL_QCOM_texture_foveated */ + +#ifndef GL_QCOM_texture_foveated2 +#define GL_QCOM_texture_foveated2 1 +#define GL_TEXTURE_FOVEATED_CUTOFF_DENSITY_QCOM 0x96A0 +#endif /* GL_QCOM_texture_foveated2 */ + +#ifndef GL_QCOM_texture_foveated_subsampled_layout +#define GL_QCOM_texture_foveated_subsampled_layout 1 +#define GL_FOVEATION_SUBSAMPLED_LAYOUT_METHOD_BIT_QCOM 0x00000004 +#define GL_MAX_SHADER_SUBSAMPLED_IMAGE_UNITS_QCOM 0x8FA1 +#endif /* GL_QCOM_texture_foveated_subsampled_layout */ + +#ifndef GL_QCOM_tiled_rendering +#define GL_QCOM_tiled_rendering 1 +#define GL_COLOR_BUFFER_BIT0_QCOM 0x00000001 +#define GL_COLOR_BUFFER_BIT1_QCOM 0x00000002 +#define GL_COLOR_BUFFER_BIT2_QCOM 0x00000004 +#define GL_COLOR_BUFFER_BIT3_QCOM 0x00000008 +#define GL_COLOR_BUFFER_BIT4_QCOM 0x00000010 +#define GL_COLOR_BUFFER_BIT5_QCOM 0x00000020 +#define GL_COLOR_BUFFER_BIT6_QCOM 0x00000040 +#define GL_COLOR_BUFFER_BIT7_QCOM 0x00000080 +#define GL_DEPTH_BUFFER_BIT0_QCOM 0x00000100 +#define GL_DEPTH_BUFFER_BIT1_QCOM 0x00000200 +#define GL_DEPTH_BUFFER_BIT2_QCOM 0x00000400 +#define GL_DEPTH_BUFFER_BIT3_QCOM 0x00000800 +#define GL_DEPTH_BUFFER_BIT4_QCOM 0x00001000 +#define GL_DEPTH_BUFFER_BIT5_QCOM 0x00002000 +#define GL_DEPTH_BUFFER_BIT6_QCOM 0x00004000 +#define GL_DEPTH_BUFFER_BIT7_QCOM 0x00008000 +#define GL_STENCIL_BUFFER_BIT0_QCOM 0x00010000 +#define GL_STENCIL_BUFFER_BIT1_QCOM 0x00020000 +#define GL_STENCIL_BUFFER_BIT2_QCOM 0x00040000 +#define GL_STENCIL_BUFFER_BIT3_QCOM 0x00080000 +#define GL_STENCIL_BUFFER_BIT4_QCOM 0x00100000 +#define GL_STENCIL_BUFFER_BIT5_QCOM 0x00200000 +#define GL_STENCIL_BUFFER_BIT6_QCOM 0x00400000 +#define GL_STENCIL_BUFFER_BIT7_QCOM 0x00800000 +#define GL_MULTISAMPLE_BUFFER_BIT0_QCOM 0x01000000 +#define GL_MULTISAMPLE_BUFFER_BIT1_QCOM 0x02000000 +#define GL_MULTISAMPLE_BUFFER_BIT2_QCOM 0x04000000 +#define GL_MULTISAMPLE_BUFFER_BIT3_QCOM 0x08000000 +#define GL_MULTISAMPLE_BUFFER_BIT4_QCOM 0x10000000 +#define GL_MULTISAMPLE_BUFFER_BIT5_QCOM 0x20000000 +#define GL_MULTISAMPLE_BUFFER_BIT6_QCOM 0x40000000 +#define GL_MULTISAMPLE_BUFFER_BIT7_QCOM 0x80000000 +typedef void (GL_APIENTRYP PFNGLSTARTTILINGQCOMPROC) (GLuint x, GLuint y, GLuint width, GLuint height, GLbitfield preserveMask); +typedef void (GL_APIENTRYP PFNGLENDTILINGQCOMPROC) (GLbitfield preserveMask); +#ifdef GL_GLEXT_PROTOTYPES +GL_APICALL void GL_APIENTRY glStartTilingQCOM (GLuint x, GLuint y, GLuint width, GLuint height, GLbitfield preserveMask); +GL_APICALL void GL_APIENTRY glEndTilingQCOM (GLbitfield preserveMask); +#endif +#endif /* GL_QCOM_tiled_rendering */ + +#ifndef GL_QCOM_writeonly_rendering +#define GL_QCOM_writeonly_rendering 1 +#define GL_WRITEONLY_RENDERING_QCOM 0x8823 +#endif /* GL_QCOM_writeonly_rendering */ + +#ifndef GL_VIV_shader_binary +#define GL_VIV_shader_binary 1 +#define GL_SHADER_BINARY_VIV 0x8FC4 +#endif /* GL_VIV_shader_binary */ + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2platform.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2platform.h new file mode 100644 index 000000000..426796ef2 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2platform.h @@ -0,0 +1,27 @@ +#ifndef __gl2platform_h_ +#define __gl2platform_h_ + +/* +** Copyright 2017-2020 The Khronos Group Inc. +** SPDX-License-Identifier: Apache-2.0 +*/ + +/* Platform-specific types and definitions for OpenGL ES 2.X gl2.h + * + * Adopters may modify khrplatform.h and this file to suit their platform. + * Please contribute modifications back to Khronos as pull requests on the + * public github repository: + * https://github.com/KhronosGroup/OpenGL-Registry + */ + +/*#include */ + +#ifndef GL_APICALL +#define GL_APICALL KHRONOS_APICALL +#endif + +#ifndef GL_APIENTRY +#define GL_APIENTRY KHRONOS_APIENTRY +#endif + +#endif /* __gl2platform_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_khrplatform.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_khrplatform.h new file mode 100644 index 000000000..01646449c --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_khrplatform.h @@ -0,0 +1,311 @@ +#ifndef __khrplatform_h_ +#define __khrplatform_h_ + +/* +** Copyright (c) 2008-2018 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +/* Khronos platform-specific types and definitions. + * + * The master copy of khrplatform.h is maintained in the Khronos EGL + * Registry repository at https://github.com/KhronosGroup/EGL-Registry + * The last semantic modification to khrplatform.h was at commit ID: + * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 + * + * Adopters may modify this file to suit their platform. Adopters are + * encouraged to submit platform specific modifications to the Khronos + * group so that they can be included in future versions of this file. + * Please submit changes by filing pull requests or issues on + * the EGL Registry repository linked above. + * + * + * See the Implementer's Guidelines for information about where this file + * should be located on your system and for more details of its use: + * http://www.khronos.org/registry/implementers_guide.pdf + * + * This file should be included as + * #include + * by Khronos client API header files that use its types and defines. + * + * The types in khrplatform.h should only be used to define API-specific types. + * + * Types defined in khrplatform.h: + * khronos_int8_t signed 8 bit + * khronos_uint8_t unsigned 8 bit + * khronos_int16_t signed 16 bit + * khronos_uint16_t unsigned 16 bit + * khronos_int32_t signed 32 bit + * khronos_uint32_t unsigned 32 bit + * khronos_int64_t signed 64 bit + * khronos_uint64_t unsigned 64 bit + * khronos_intptr_t signed same number of bits as a pointer + * khronos_uintptr_t unsigned same number of bits as a pointer + * khronos_ssize_t signed size + * khronos_usize_t unsigned size + * khronos_float_t signed 32 bit floating point + * khronos_time_ns_t unsigned 64 bit time in nanoseconds + * khronos_utime_nanoseconds_t unsigned time interval or absolute time in + * nanoseconds + * khronos_stime_nanoseconds_t signed time interval in nanoseconds + * khronos_boolean_enum_t enumerated boolean type. This should + * only be used as a base type when a client API's boolean type is + * an enum. Client APIs which use an integer or other type for + * booleans cannot use this as the base type for their boolean. + * + * Tokens defined in khrplatform.h: + * + * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. + * + * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. + * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. + * + * Calling convention macros defined in this file: + * KHRONOS_APICALL + * KHRONOS_APIENTRY + * KHRONOS_APIATTRIBUTES + * + * These may be used in function prototypes as: + * + * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( + * int arg1, + * int arg2) KHRONOS_APIATTRIBUTES; + */ + +#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) +# define KHRONOS_STATIC 1 +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APICALL + *------------------------------------------------------------------------- + * This precedes the return type of the function in the function prototype. + */ +#if defined(KHRONOS_STATIC) + /* If the preprocessor constant KHRONOS_STATIC is defined, make the + * header compatible with static linking. */ +# define KHRONOS_APICALL +#elif defined(_WIN32) +# define KHRONOS_APICALL __declspec(dllimport) +#elif defined (__SYMBIAN32__) +# define KHRONOS_APICALL IMPORT_C +#elif defined(__ANDROID__) +# define KHRONOS_APICALL __attribute__((visibility("default"))) +#else +# define KHRONOS_APICALL +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIENTRY + *------------------------------------------------------------------------- + * This follows the return type of the function and precedes the function + * name in the function prototype. + */ +#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) + /* Win32 but not WinCE */ +# define KHRONOS_APIENTRY __stdcall +#else +# define KHRONOS_APIENTRY +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIATTRIBUTES + *------------------------------------------------------------------------- + * This follows the closing parenthesis of the function prototype arguments. + */ +#if defined (__ARMCC_2__) +#define KHRONOS_APIATTRIBUTES __softfp +#else +#define KHRONOS_APIATTRIBUTES +#endif + +/*------------------------------------------------------------------------- + * basic type definitions + *-----------------------------------------------------------------------*/ +#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) + + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 +/* + * To support platform where unsigned long cannot be used interchangeably with + * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. + * Ideally, we could just use (u)intptr_t everywhere, but this could result in + * ABI breakage if khronos_uintptr_t is changed from unsigned long to + * unsigned long long or similar (this results in different C++ name mangling). + * To avoid changes for existing platforms, we restrict usage of intptr_t to + * platforms where the size of a pointer is larger than the size of long. + */ +#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) +#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ +#define KHRONOS_USE_INTPTR_T +#endif +#endif + +#elif defined(__VMS ) || defined(__sgi) + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) + +/* + * Win32 + */ +typedef __int32 khronos_int32_t; +typedef unsigned __int32 khronos_uint32_t; +typedef __int64 khronos_int64_t; +typedef unsigned __int64 khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(__sun__) || defined(__digital__) + +/* + * Sun or Digital + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#if defined(__arch64__) || defined(_LP64) +typedef long int khronos_int64_t; +typedef unsigned long int khronos_uint64_t; +#else +typedef long long int khronos_int64_t; +typedef unsigned long long int khronos_uint64_t; +#endif /* __arch64__ */ +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif 0 + +/* + * Hypothetical platform with no float or int64 support + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#define KHRONOS_SUPPORT_INT64 0 +#define KHRONOS_SUPPORT_FLOAT 0 + +#else + +/* + * Generic fallback + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#endif + + +/* + * Types that are (so far) the same on all platforms + */ +typedef signed char khronos_int8_t; +typedef unsigned char khronos_uint8_t; +typedef signed short int khronos_int16_t; +typedef unsigned short int khronos_uint16_t; + +/* + * Types that differ between LLP64 and LP64 architectures - in LLP64, + * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears + * to be the only LLP64 architecture in current use. + */ +#ifdef KHRONOS_USE_INTPTR_T +typedef intptr_t khronos_intptr_t; +typedef uintptr_t khronos_uintptr_t; +#elif defined(_WIN64) +typedef signed long long int khronos_intptr_t; +typedef unsigned long long int khronos_uintptr_t; +#else +typedef signed long int khronos_intptr_t; +typedef unsigned long int khronos_uintptr_t; +#endif + +#if defined(_WIN64) +typedef signed long long int khronos_ssize_t; +typedef unsigned long long int khronos_usize_t; +#else +typedef signed long int khronos_ssize_t; +typedef unsigned long int khronos_usize_t; +#endif + +#if KHRONOS_SUPPORT_FLOAT +/* + * Float type + */ +typedef float khronos_float_t; +#endif + +#if KHRONOS_SUPPORT_INT64 +/* Time types + * + * These types can be used to represent a time interval in nanoseconds or + * an absolute Unadjusted System Time. Unadjusted System Time is the number + * of nanoseconds since some arbitrary system event (e.g. since the last + * time the system booted). The Unadjusted System Time is an unsigned + * 64 bit value that wraps back to 0 every 584 years. Time intervals + * may be either signed or unsigned. + */ +typedef khronos_uint64_t khronos_utime_nanoseconds_t; +typedef khronos_int64_t khronos_stime_nanoseconds_t; +#endif + +/* + * Dummy value used to pad enum types to 32 bits. + */ +#ifndef KHRONOS_MAX_ENUM +#define KHRONOS_MAX_ENUM 0x7FFFFFFF +#endif + +/* + * Enumerated boolean type + * + * Values other than zero should be considered to be true. Therefore + * comparisons should not be made against KHRONOS_TRUE. + */ +typedef enum { + KHRONOS_FALSE = 0, + KHRONOS_TRUE = 1, + KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM +} khronos_boolean_enum_t; + +#endif /* __khrplatform_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_pixels.h b/subprojects/sdl2_windows/include/SDL2/SDL_pixels.h new file mode 100644 index 000000000..5d2c0c898 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_pixels.h @@ -0,0 +1,644 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_pixels.h + * + * Header for the enumerated pixel format definitions. + */ + +#ifndef SDL_pixels_h_ +#define SDL_pixels_h_ + +#include "SDL_stdinc.h" +#include "SDL_endian.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \name Transparency definitions + * + * These define alpha as the opacity of a surface. + */ +/* @{ */ +#define SDL_ALPHA_OPAQUE 255 +#define SDL_ALPHA_TRANSPARENT 0 +/* @} */ + +/** Pixel type. */ +typedef enum +{ + SDL_PIXELTYPE_UNKNOWN, + SDL_PIXELTYPE_INDEX1, + SDL_PIXELTYPE_INDEX4, + SDL_PIXELTYPE_INDEX8, + SDL_PIXELTYPE_PACKED8, + SDL_PIXELTYPE_PACKED16, + SDL_PIXELTYPE_PACKED32, + SDL_PIXELTYPE_ARRAYU8, + SDL_PIXELTYPE_ARRAYU16, + SDL_PIXELTYPE_ARRAYU32, + SDL_PIXELTYPE_ARRAYF16, + SDL_PIXELTYPE_ARRAYF32 +} SDL_PixelType; + +/** Bitmap pixel order, high bit -> low bit. */ +typedef enum +{ + SDL_BITMAPORDER_NONE, + SDL_BITMAPORDER_4321, + SDL_BITMAPORDER_1234 +} SDL_BitmapOrder; + +/** Packed component order, high bit -> low bit. */ +typedef enum +{ + SDL_PACKEDORDER_NONE, + SDL_PACKEDORDER_XRGB, + SDL_PACKEDORDER_RGBX, + SDL_PACKEDORDER_ARGB, + SDL_PACKEDORDER_RGBA, + SDL_PACKEDORDER_XBGR, + SDL_PACKEDORDER_BGRX, + SDL_PACKEDORDER_ABGR, + SDL_PACKEDORDER_BGRA +} SDL_PackedOrder; + +/** Array component order, low byte -> high byte. */ +/* !!! FIXME: in 2.1, make these not overlap differently with + !!! FIXME: SDL_PACKEDORDER_*, so we can simplify SDL_ISPIXELFORMAT_ALPHA */ +typedef enum +{ + SDL_ARRAYORDER_NONE, + SDL_ARRAYORDER_RGB, + SDL_ARRAYORDER_RGBA, + SDL_ARRAYORDER_ARGB, + SDL_ARRAYORDER_BGR, + SDL_ARRAYORDER_BGRA, + SDL_ARRAYORDER_ABGR +} SDL_ArrayOrder; + +/** Packed component layout. */ +typedef enum +{ + SDL_PACKEDLAYOUT_NONE, + SDL_PACKEDLAYOUT_332, + SDL_PACKEDLAYOUT_4444, + SDL_PACKEDLAYOUT_1555, + SDL_PACKEDLAYOUT_5551, + SDL_PACKEDLAYOUT_565, + SDL_PACKEDLAYOUT_8888, + SDL_PACKEDLAYOUT_2101010, + SDL_PACKEDLAYOUT_1010102 +} SDL_PackedLayout; + +#define SDL_DEFINE_PIXELFOURCC(A, B, C, D) SDL_FOURCC(A, B, C, D) + +#define SDL_DEFINE_PIXELFORMAT(type, order, layout, bits, bytes) \ + ((1 << 28) | ((type) << 24) | ((order) << 20) | ((layout) << 16) | \ + ((bits) << 8) | ((bytes) << 0)) + +#define SDL_PIXELFLAG(X) (((X) >> 28) & 0x0F) +#define SDL_PIXELTYPE(X) (((X) >> 24) & 0x0F) +#define SDL_PIXELORDER(X) (((X) >> 20) & 0x0F) +#define SDL_PIXELLAYOUT(X) (((X) >> 16) & 0x0F) +#define SDL_BITSPERPIXEL(X) (((X) >> 8) & 0xFF) +#define SDL_BYTESPERPIXEL(X) \ + (SDL_ISPIXELFORMAT_FOURCC(X) ? \ + ((((X) == SDL_PIXELFORMAT_YUY2) || \ + ((X) == SDL_PIXELFORMAT_UYVY) || \ + ((X) == SDL_PIXELFORMAT_YVYU)) ? 2 : 1) : (((X) >> 0) & 0xFF)) + +#define SDL_ISPIXELFORMAT_INDEXED(format) \ + (!SDL_ISPIXELFORMAT_FOURCC(format) && \ + ((SDL_PIXELTYPE(format) == SDL_PIXELTYPE_INDEX1) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_INDEX4) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_INDEX8))) + +#define SDL_ISPIXELFORMAT_PACKED(format) \ + (!SDL_ISPIXELFORMAT_FOURCC(format) && \ + ((SDL_PIXELTYPE(format) == SDL_PIXELTYPE_PACKED8) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_PACKED16) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_PACKED32))) + +#define SDL_ISPIXELFORMAT_ARRAY(format) \ + (!SDL_ISPIXELFORMAT_FOURCC(format) && \ + ((SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYU8) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYU16) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYU32) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYF16) || \ + (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYF32))) + +#define SDL_ISPIXELFORMAT_ALPHA(format) \ + ((SDL_ISPIXELFORMAT_PACKED(format) && \ + ((SDL_PIXELORDER(format) == SDL_PACKEDORDER_ARGB) || \ + (SDL_PIXELORDER(format) == SDL_PACKEDORDER_RGBA) || \ + (SDL_PIXELORDER(format) == SDL_PACKEDORDER_ABGR) || \ + (SDL_PIXELORDER(format) == SDL_PACKEDORDER_BGRA))) || \ + (SDL_ISPIXELFORMAT_ARRAY(format) && \ + ((SDL_PIXELORDER(format) == SDL_ARRAYORDER_ARGB) || \ + (SDL_PIXELORDER(format) == SDL_ARRAYORDER_RGBA) || \ + (SDL_PIXELORDER(format) == SDL_ARRAYORDER_ABGR) || \ + (SDL_PIXELORDER(format) == SDL_ARRAYORDER_BGRA)))) + +/* The flag is set to 1 because 0x1? is not in the printable ASCII range */ +#define SDL_ISPIXELFORMAT_FOURCC(format) \ + ((format) && (SDL_PIXELFLAG(format) != 1)) + +/* Note: If you modify this list, update SDL_GetPixelFormatName() */ +typedef enum +{ + SDL_PIXELFORMAT_UNKNOWN, + SDL_PIXELFORMAT_INDEX1LSB = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX1, SDL_BITMAPORDER_4321, 0, + 1, 0), + SDL_PIXELFORMAT_INDEX1MSB = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX1, SDL_BITMAPORDER_1234, 0, + 1, 0), + SDL_PIXELFORMAT_INDEX4LSB = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX4, SDL_BITMAPORDER_4321, 0, + 4, 0), + SDL_PIXELFORMAT_INDEX4MSB = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX4, SDL_BITMAPORDER_1234, 0, + 4, 0), + SDL_PIXELFORMAT_INDEX8 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX8, 0, 0, 8, 1), + SDL_PIXELFORMAT_RGB332 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED8, SDL_PACKEDORDER_XRGB, + SDL_PACKEDLAYOUT_332, 8, 1), + SDL_PIXELFORMAT_XRGB4444 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XRGB, + SDL_PACKEDLAYOUT_4444, 12, 2), + SDL_PIXELFORMAT_RGB444 = SDL_PIXELFORMAT_XRGB4444, + SDL_PIXELFORMAT_XBGR4444 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XBGR, + SDL_PACKEDLAYOUT_4444, 12, 2), + SDL_PIXELFORMAT_BGR444 = SDL_PIXELFORMAT_XBGR4444, + SDL_PIXELFORMAT_XRGB1555 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XRGB, + SDL_PACKEDLAYOUT_1555, 15, 2), + SDL_PIXELFORMAT_RGB555 = SDL_PIXELFORMAT_XRGB1555, + SDL_PIXELFORMAT_XBGR1555 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XBGR, + SDL_PACKEDLAYOUT_1555, 15, 2), + SDL_PIXELFORMAT_BGR555 = SDL_PIXELFORMAT_XBGR1555, + SDL_PIXELFORMAT_ARGB4444 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ARGB, + SDL_PACKEDLAYOUT_4444, 16, 2), + SDL_PIXELFORMAT_RGBA4444 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_RGBA, + SDL_PACKEDLAYOUT_4444, 16, 2), + SDL_PIXELFORMAT_ABGR4444 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ABGR, + SDL_PACKEDLAYOUT_4444, 16, 2), + SDL_PIXELFORMAT_BGRA4444 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_BGRA, + SDL_PACKEDLAYOUT_4444, 16, 2), + SDL_PIXELFORMAT_ARGB1555 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ARGB, + SDL_PACKEDLAYOUT_1555, 16, 2), + SDL_PIXELFORMAT_RGBA5551 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_RGBA, + SDL_PACKEDLAYOUT_5551, 16, 2), + SDL_PIXELFORMAT_ABGR1555 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ABGR, + SDL_PACKEDLAYOUT_1555, 16, 2), + SDL_PIXELFORMAT_BGRA5551 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_BGRA, + SDL_PACKEDLAYOUT_5551, 16, 2), + SDL_PIXELFORMAT_RGB565 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XRGB, + SDL_PACKEDLAYOUT_565, 16, 2), + SDL_PIXELFORMAT_BGR565 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XBGR, + SDL_PACKEDLAYOUT_565, 16, 2), + SDL_PIXELFORMAT_RGB24 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_ARRAYU8, SDL_ARRAYORDER_RGB, 0, + 24, 3), + SDL_PIXELFORMAT_BGR24 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_ARRAYU8, SDL_ARRAYORDER_BGR, 0, + 24, 3), + SDL_PIXELFORMAT_XRGB8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_XRGB, + SDL_PACKEDLAYOUT_8888, 24, 4), + SDL_PIXELFORMAT_RGB888 = SDL_PIXELFORMAT_XRGB8888, + SDL_PIXELFORMAT_RGBX8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_RGBX, + SDL_PACKEDLAYOUT_8888, 24, 4), + SDL_PIXELFORMAT_XBGR8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_XBGR, + SDL_PACKEDLAYOUT_8888, 24, 4), + SDL_PIXELFORMAT_BGR888 = SDL_PIXELFORMAT_XBGR8888, + SDL_PIXELFORMAT_BGRX8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_BGRX, + SDL_PACKEDLAYOUT_8888, 24, 4), + SDL_PIXELFORMAT_ARGB8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_ARGB, + SDL_PACKEDLAYOUT_8888, 32, 4), + SDL_PIXELFORMAT_RGBA8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_RGBA, + SDL_PACKEDLAYOUT_8888, 32, 4), + SDL_PIXELFORMAT_ABGR8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_ABGR, + SDL_PACKEDLAYOUT_8888, 32, 4), + SDL_PIXELFORMAT_BGRA8888 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_BGRA, + SDL_PACKEDLAYOUT_8888, 32, 4), + SDL_PIXELFORMAT_ARGB2101010 = + SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_ARGB, + SDL_PACKEDLAYOUT_2101010, 32, 4), + + /* Aliases for RGBA byte arrays of color data, for the current platform */ +#if SDL_BYTEORDER == SDL_BIG_ENDIAN + SDL_PIXELFORMAT_RGBA32 = SDL_PIXELFORMAT_RGBA8888, + SDL_PIXELFORMAT_ARGB32 = SDL_PIXELFORMAT_ARGB8888, + SDL_PIXELFORMAT_BGRA32 = SDL_PIXELFORMAT_BGRA8888, + SDL_PIXELFORMAT_ABGR32 = SDL_PIXELFORMAT_ABGR8888, +#else + SDL_PIXELFORMAT_RGBA32 = SDL_PIXELFORMAT_ABGR8888, + SDL_PIXELFORMAT_ARGB32 = SDL_PIXELFORMAT_BGRA8888, + SDL_PIXELFORMAT_BGRA32 = SDL_PIXELFORMAT_ARGB8888, + SDL_PIXELFORMAT_ABGR32 = SDL_PIXELFORMAT_RGBA8888, +#endif + + SDL_PIXELFORMAT_YV12 = /**< Planar mode: Y + V + U (3 planes) */ + SDL_DEFINE_PIXELFOURCC('Y', 'V', '1', '2'), + SDL_PIXELFORMAT_IYUV = /**< Planar mode: Y + U + V (3 planes) */ + SDL_DEFINE_PIXELFOURCC('I', 'Y', 'U', 'V'), + SDL_PIXELFORMAT_YUY2 = /**< Packed mode: Y0+U0+Y1+V0 (1 plane) */ + SDL_DEFINE_PIXELFOURCC('Y', 'U', 'Y', '2'), + SDL_PIXELFORMAT_UYVY = /**< Packed mode: U0+Y0+V0+Y1 (1 plane) */ + SDL_DEFINE_PIXELFOURCC('U', 'Y', 'V', 'Y'), + SDL_PIXELFORMAT_YVYU = /**< Packed mode: Y0+V0+Y1+U0 (1 plane) */ + SDL_DEFINE_PIXELFOURCC('Y', 'V', 'Y', 'U'), + SDL_PIXELFORMAT_NV12 = /**< Planar mode: Y + U/V interleaved (2 planes) */ + SDL_DEFINE_PIXELFOURCC('N', 'V', '1', '2'), + SDL_PIXELFORMAT_NV21 = /**< Planar mode: Y + V/U interleaved (2 planes) */ + SDL_DEFINE_PIXELFOURCC('N', 'V', '2', '1'), + SDL_PIXELFORMAT_EXTERNAL_OES = /**< Android video texture format */ + SDL_DEFINE_PIXELFOURCC('O', 'E', 'S', ' ') +} SDL_PixelFormatEnum; + +/** + * The bits of this structure can be directly reinterpreted as an integer-packed + * color which uses the SDL_PIXELFORMAT_RGBA32 format (SDL_PIXELFORMAT_ABGR8888 + * on little-endian systems and SDL_PIXELFORMAT_RGBA8888 on big-endian systems). + */ +typedef struct SDL_Color +{ + Uint8 r; + Uint8 g; + Uint8 b; + Uint8 a; +} SDL_Color; +#define SDL_Colour SDL_Color + +typedef struct SDL_Palette +{ + int ncolors; + SDL_Color *colors; + Uint32 version; + int refcount; +} SDL_Palette; + +/** + * \note Everything in the pixel format structure is read-only. + */ +typedef struct SDL_PixelFormat +{ + Uint32 format; + SDL_Palette *palette; + Uint8 BitsPerPixel; + Uint8 BytesPerPixel; + Uint8 padding[2]; + Uint32 Rmask; + Uint32 Gmask; + Uint32 Bmask; + Uint32 Amask; + Uint8 Rloss; + Uint8 Gloss; + Uint8 Bloss; + Uint8 Aloss; + Uint8 Rshift; + Uint8 Gshift; + Uint8 Bshift; + Uint8 Ashift; + int refcount; + struct SDL_PixelFormat *next; +} SDL_PixelFormat; + +/** + * Get the human readable name of a pixel format. + * + * \param format the pixel format to query + * \returns the human readable name of the specified pixel format or + * `SDL_PIXELFORMAT_UNKNOWN` if the format isn't recognized. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC const char* SDLCALL SDL_GetPixelFormatName(Uint32 format); + +/** + * Convert one of the enumerated pixel formats to a bpp value and RGBA masks. + * + * \param format one of the SDL_PixelFormatEnum values + * \param bpp a bits per pixel value; usually 15, 16, or 32 + * \param Rmask a pointer filled in with the red mask for the format + * \param Gmask a pointer filled in with the green mask for the format + * \param Bmask a pointer filled in with the blue mask for the format + * \param Amask a pointer filled in with the alpha mask for the format + * \returns SDL_TRUE on success or SDL_FALSE if the conversion wasn't + * possible; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_MasksToPixelFormatEnum + */ +extern DECLSPEC SDL_bool SDLCALL SDL_PixelFormatEnumToMasks(Uint32 format, + int *bpp, + Uint32 * Rmask, + Uint32 * Gmask, + Uint32 * Bmask, + Uint32 * Amask); + +/** + * Convert a bpp value and RGBA masks to an enumerated pixel format. + * + * This will return `SDL_PIXELFORMAT_UNKNOWN` if the conversion wasn't + * possible. + * + * \param bpp a bits per pixel value; usually 15, 16, or 32 + * \param Rmask the red mask for the format + * \param Gmask the green mask for the format + * \param Bmask the blue mask for the format + * \param Amask the alpha mask for the format + * \returns one of the SDL_PixelFormatEnum values + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_PixelFormatEnumToMasks + */ +extern DECLSPEC Uint32 SDLCALL SDL_MasksToPixelFormatEnum(int bpp, + Uint32 Rmask, + Uint32 Gmask, + Uint32 Bmask, + Uint32 Amask); + +/** + * Create an SDL_PixelFormat structure corresponding to a pixel format. + * + * Returned structure may come from a shared global cache (i.e. not newly + * allocated), and hence should not be modified, especially the palette. Weird + * errors such as `Blit combination not supported` may occur. + * + * \param pixel_format one of the SDL_PixelFormatEnum values + * \returns the new SDL_PixelFormat structure or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreeFormat + */ +extern DECLSPEC SDL_PixelFormat * SDLCALL SDL_AllocFormat(Uint32 pixel_format); + +/** + * Free an SDL_PixelFormat structure allocated by SDL_AllocFormat(). + * + * \param format the SDL_PixelFormat structure to free + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocFormat + */ +extern DECLSPEC void SDLCALL SDL_FreeFormat(SDL_PixelFormat *format); + +/** + * Create a palette structure with the specified number of color entries. + * + * The palette entries are initialized to white. + * + * \param ncolors represents the number of color entries in the color palette + * \returns a new SDL_Palette structure on success or NULL on failure (e.g. if + * there wasn't enough memory); call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreePalette + */ +extern DECLSPEC SDL_Palette *SDLCALL SDL_AllocPalette(int ncolors); + +/** + * Set the palette for a pixel format structure. + * + * \param format the SDL_PixelFormat structure that will use the palette + * \param palette the SDL_Palette structure that will be used + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocPalette + * \sa SDL_FreePalette + */ +extern DECLSPEC int SDLCALL SDL_SetPixelFormatPalette(SDL_PixelFormat * format, + SDL_Palette *palette); + +/** + * Set a range of colors in a palette. + * + * \param palette the SDL_Palette structure to modify + * \param colors an array of SDL_Color structures to copy into the palette + * \param firstcolor the index of the first palette entry to modify + * \param ncolors the number of entries to modify + * \returns 0 on success or a negative error code if not all of the colors + * could be set; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocPalette + * \sa SDL_CreateRGBSurface + */ +extern DECLSPEC int SDLCALL SDL_SetPaletteColors(SDL_Palette * palette, + const SDL_Color * colors, + int firstcolor, int ncolors); + +/** + * Free a palette created with SDL_AllocPalette(). + * + * \param palette the SDL_Palette structure to be freed + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocPalette + */ +extern DECLSPEC void SDLCALL SDL_FreePalette(SDL_Palette * palette); + +/** + * Map an RGB triple to an opaque pixel value for a given pixel format. + * + * This function maps the RGB color value to the specified pixel format and + * returns the pixel value best approximating the given RGB color value for + * the given pixel format. + * + * If the format has a palette (8-bit) the index of the closest matching color + * in the palette will be returned. + * + * If the specified pixel format has an alpha component it will be returned as + * all 1 bits (fully opaque). + * + * If the pixel format bpp (color depth) is less than 32-bpp then the unused + * upper bits of the return value can safely be ignored (e.g., with a 16-bpp + * format the return value can be assigned to a Uint16, and similarly a Uint8 + * for an 8-bpp format). + * + * \param format an SDL_PixelFormat structure describing the pixel format + * \param r the red component of the pixel in the range 0-255 + * \param g the green component of the pixel in the range 0-255 + * \param b the blue component of the pixel in the range 0-255 + * \returns a pixel value + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRGB + * \sa SDL_GetRGBA + * \sa SDL_MapRGBA + */ +extern DECLSPEC Uint32 SDLCALL SDL_MapRGB(const SDL_PixelFormat * format, + Uint8 r, Uint8 g, Uint8 b); + +/** + * Map an RGBA quadruple to a pixel value for a given pixel format. + * + * This function maps the RGBA color value to the specified pixel format and + * returns the pixel value best approximating the given RGBA color value for + * the given pixel format. + * + * If the specified pixel format has no alpha component the alpha value will + * be ignored (as it will be in formats with a palette). + * + * If the format has a palette (8-bit) the index of the closest matching color + * in the palette will be returned. + * + * If the pixel format bpp (color depth) is less than 32-bpp then the unused + * upper bits of the return value can safely be ignored (e.g., with a 16-bpp + * format the return value can be assigned to a Uint16, and similarly a Uint8 + * for an 8-bpp format). + * + * \param format an SDL_PixelFormat structure describing the format of the + * pixel + * \param r the red component of the pixel in the range 0-255 + * \param g the green component of the pixel in the range 0-255 + * \param b the blue component of the pixel in the range 0-255 + * \param a the alpha component of the pixel in the range 0-255 + * \returns a pixel value + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRGB + * \sa SDL_GetRGBA + * \sa SDL_MapRGB + */ +extern DECLSPEC Uint32 SDLCALL SDL_MapRGBA(const SDL_PixelFormat * format, + Uint8 r, Uint8 g, Uint8 b, + Uint8 a); + +/** + * Get RGB values from a pixel in the specified format. + * + * This function uses the entire 8-bit [0..255] range when converting color + * components from pixel formats with less than 8-bits per RGB component + * (e.g., a completely white pixel in 16-bit RGB565 format would return [0xff, + * 0xff, 0xff] not [0xf8, 0xfc, 0xf8]). + * + * \param pixel a pixel value + * \param format an SDL_PixelFormat structure describing the format of the + * pixel + * \param r a pointer filled in with the red component + * \param g a pointer filled in with the green component + * \param b a pointer filled in with the blue component + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRGBA + * \sa SDL_MapRGB + * \sa SDL_MapRGBA + */ +extern DECLSPEC void SDLCALL SDL_GetRGB(Uint32 pixel, + const SDL_PixelFormat * format, + Uint8 * r, Uint8 * g, Uint8 * b); + +/** + * Get RGBA values from a pixel in the specified format. + * + * This function uses the entire 8-bit [0..255] range when converting color + * components from pixel formats with less than 8-bits per RGB component + * (e.g., a completely white pixel in 16-bit RGB565 format would return [0xff, + * 0xff, 0xff] not [0xf8, 0xfc, 0xf8]). + * + * If the surface has no alpha component, the alpha will be returned as 0xff + * (100% opaque). + * + * \param pixel a pixel value + * \param format an SDL_PixelFormat structure describing the format of the + * pixel + * \param r a pointer filled in with the red component + * \param g a pointer filled in with the green component + * \param b a pointer filled in with the blue component + * \param a a pointer filled in with the alpha component + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRGB + * \sa SDL_MapRGB + * \sa SDL_MapRGBA + */ +extern DECLSPEC void SDLCALL SDL_GetRGBA(Uint32 pixel, + const SDL_PixelFormat * format, + Uint8 * r, Uint8 * g, Uint8 * b, + Uint8 * a); + +/** + * Calculate a 256 entry gamma ramp for a gamma value. + * + * \param gamma a gamma value where 0.0 is black and 1.0 is identity + * \param ramp an array of 256 values filled in with the gamma ramp + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowGammaRamp + */ +extern DECLSPEC void SDLCALL SDL_CalculateGammaRamp(float gamma, Uint16 * ramp); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_pixels_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_platform.h b/subprojects/sdl2_windows/include/SDL2/SDL_platform.h new file mode 100644 index 000000000..a8e3ac225 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_platform.h @@ -0,0 +1,261 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_platform.h + * + * Try to get a standard set of platform defines. + */ + +#ifndef SDL_platform_h_ +#define SDL_platform_h_ + +#if defined(_AIX) +#undef __AIX__ +#define __AIX__ 1 +#endif +#if defined(__HAIKU__) +#undef __HAIKU__ +#define __HAIKU__ 1 +#endif +#if defined(bsdi) || defined(__bsdi) || defined(__bsdi__) +#undef __BSDI__ +#define __BSDI__ 1 +#endif +#if defined(_arch_dreamcast) +#undef __DREAMCAST__ +#define __DREAMCAST__ 1 +#endif +#if defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || defined(__DragonFly__) +#undef __FREEBSD__ +#define __FREEBSD__ 1 +#endif +#if defined(hpux) || defined(__hpux) || defined(__hpux__) +#undef __HPUX__ +#define __HPUX__ 1 +#endif +#if defined(sgi) || defined(__sgi) || defined(__sgi__) || defined(_SGI_SOURCE) +#undef __IRIX__ +#define __IRIX__ 1 +#endif +#if (defined(linux) || defined(__linux) || defined(__linux__)) +#undef __LINUX__ +#define __LINUX__ 1 +#endif +#if defined(ANDROID) || defined(__ANDROID__) +#undef __ANDROID__ +#undef __LINUX__ /* do we need to do this? */ +#define __ANDROID__ 1 +#endif +#if defined(__NGAGE__) +#undef __NGAGE__ +#define __NGAGE__ 1 +#endif + +#if defined(__APPLE__) +/* lets us know what version of Mac OS X we're compiling on */ +#include +#include + +/* Fix building with older SDKs that don't define these + See this for more information: + https://stackoverflow.com/questions/12132933/preprocessor-macro-for-os-x-targets +*/ +#ifndef TARGET_OS_MACCATALYST +#define TARGET_OS_MACCATALYST 0 +#endif +#ifndef TARGET_OS_IOS +#define TARGET_OS_IOS 0 +#endif +#ifndef TARGET_OS_IPHONE +#define TARGET_OS_IPHONE 0 +#endif +#ifndef TARGET_OS_TV +#define TARGET_OS_TV 0 +#endif +#ifndef TARGET_OS_SIMULATOR +#define TARGET_OS_SIMULATOR 0 +#endif + +#if TARGET_OS_TV +#undef __TVOS__ +#define __TVOS__ 1 +#endif +#if TARGET_OS_IPHONE +/* if compiling for iOS */ +#undef __IPHONEOS__ +#define __IPHONEOS__ 1 +#undef __MACOSX__ +#else +/* if not compiling for iOS */ +#undef __MACOSX__ +#define __MACOSX__ 1 +#if MAC_OS_X_VERSION_MIN_REQUIRED < 1070 +# error SDL for Mac OS X only supports deploying on 10.7 and above. +#endif /* MAC_OS_X_VERSION_MIN_REQUIRED < 1070 */ +#endif /* TARGET_OS_IPHONE */ +#endif /* defined(__APPLE__) */ + +#if defined(__NetBSD__) +#undef __NETBSD__ +#define __NETBSD__ 1 +#endif +#if defined(__OpenBSD__) +#undef __OPENBSD__ +#define __OPENBSD__ 1 +#endif +#if defined(__OS2__) || defined(__EMX__) +#undef __OS2__ +#define __OS2__ 1 +#endif +#if defined(osf) || defined(__osf) || defined(__osf__) || defined(_OSF_SOURCE) +#undef __OSF__ +#define __OSF__ 1 +#endif +#if defined(__QNXNTO__) +#undef __QNXNTO__ +#define __QNXNTO__ 1 +#endif +#if defined(riscos) || defined(__riscos) || defined(__riscos__) +#undef __RISCOS__ +#define __RISCOS__ 1 +#endif +#if defined(__sun) && defined(__SVR4) +#undef __SOLARIS__ +#define __SOLARIS__ 1 +#endif + +#if defined(WIN32) || defined(_WIN32) || defined(__CYGWIN__) || defined(__MINGW32__) +/* Try to find out if we're compiling for WinRT, GDK or non-WinRT/GDK */ +#if defined(_MSC_VER) && defined(__has_include) +#if __has_include() +#define HAVE_WINAPIFAMILY_H 1 +#else +#define HAVE_WINAPIFAMILY_H 0 +#endif + +/* If _USING_V110_SDK71_ is defined it means we are using the Windows XP toolset. */ +#elif defined(_MSC_VER) && (_MSC_VER >= 1700 && !_USING_V110_SDK71_) /* _MSC_VER == 1700 for Visual Studio 2012 */ +#define HAVE_WINAPIFAMILY_H 1 +#else +#define HAVE_WINAPIFAMILY_H 0 +#endif + +#if HAVE_WINAPIFAMILY_H +#include +#define WINAPI_FAMILY_WINRT (!WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP) && WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP)) +#else +#define WINAPI_FAMILY_WINRT 0 +#endif /* HAVE_WINAPIFAMILY_H */ + +#if WINAPI_FAMILY_WINRT +#undef __WINRT__ +#define __WINRT__ 1 +#elif defined(_GAMING_DESKTOP) /* GDK project configuration always defines _GAMING_XXX */ +#undef __WINGDK__ +#define __WINGDK__ 1 +#elif defined(_GAMING_XBOX_XBOXONE) +#undef __XBOXONE__ +#define __XBOXONE__ 1 +#elif defined(_GAMING_XBOX_SCARLETT) +#undef __XBOXSERIES__ +#define __XBOXSERIES__ 1 +#else +#undef __WINDOWS__ +#define __WINDOWS__ 1 +#endif +#endif /* defined(WIN32) || defined(_WIN32) || defined(__CYGWIN__) */ + +#if defined(__WINDOWS__) +#undef __WIN32__ +#define __WIN32__ 1 +#endif +/* This is to support generic "any GDK" separate from a platform-specific GDK */ +#if defined(__WINGDK__) || defined(__XBOXONE__) || defined(__XBOXSERIES__) +#undef __GDK__ +#define __GDK__ 1 +#endif +#if defined(__PSP__) +#undef __PSP__ +#define __PSP__ 1 +#endif +#if defined(PS2) +#define __PS2__ 1 +#endif + +/* The NACL compiler defines __native_client__ and __pnacl__ + * Ref: http://www.chromium.org/nativeclient/pnacl/stability-of-the-pnacl-bitcode-abi + */ +#if defined(__native_client__) +#undef __LINUX__ +#undef __NACL__ +#define __NACL__ 1 +#endif +#if defined(__pnacl__) +#undef __LINUX__ +#undef __PNACL__ +#define __PNACL__ 1 +/* PNACL with newlib supports static linking only */ +#define __SDL_NOGETPROCADDR__ +#endif + +#if defined(__vita__) +#define __VITA__ 1 +#endif + +#if defined(__3DS__) +#undef __3DS__ +#define __3DS__ 1 +#endif + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Get the name of the platform. + * + * Here are the names returned for some (but not all) supported platforms: + * + * - "Windows" + * - "Mac OS X" + * - "Linux" + * - "iOS" + * - "Android" + * + * \returns the name of the platform. If the correct platform name is not + * available, returns a string beginning with the text "Unknown". + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC const char * SDLCALL SDL_GetPlatform (void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_platform_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_power.h b/subprojects/sdl2_windows/include/SDL2/SDL_power.h new file mode 100644 index 000000000..ecb3f4b02 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_power.h @@ -0,0 +1,88 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_power_h_ +#define SDL_power_h_ + +/** + * \file SDL_power.h + * + * Header for the SDL power management routines. + */ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The basic state for the system's power supply. + */ +typedef enum +{ + SDL_POWERSTATE_UNKNOWN, /**< cannot determine power status */ + SDL_POWERSTATE_ON_BATTERY, /**< Not plugged in, running on the battery */ + SDL_POWERSTATE_NO_BATTERY, /**< Plugged in, no battery available */ + SDL_POWERSTATE_CHARGING, /**< Plugged in, charging battery */ + SDL_POWERSTATE_CHARGED /**< Plugged in, battery charged */ +} SDL_PowerState; + + +/** + * Get the current power supply details. + * + * You should never take a battery status as absolute truth. Batteries + * (especially failing batteries) are delicate hardware, and the values + * reported here are best estimates based on what that hardware reports. It's + * not uncommon for older batteries to lose stored power much faster than it + * reports, or completely drain when reporting it has 20 percent left, etc. + * + * Battery status can change at any time; if you are concerned with power + * state, you should call this function frequently, and perhaps ignore changes + * until they seem to be stable for a few seconds. + * + * It's possible a platform can only report battery percentage or time left + * but not both. + * + * \param secs seconds of battery life left, you can pass a NULL here if you + * don't care, will return -1 if we can't determine a value, or + * we're not running on a battery + * \param pct percentage of battery life left, between 0 and 100, you can pass + * a NULL here if you don't care, will return -1 if we can't + * determine a value, or we're not running on a battery + * \returns an SDL_PowerState enum representing the current battery state. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_PowerState SDLCALL SDL_GetPowerInfo(int *secs, int *pct); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_power_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_quit.h b/subprojects/sdl2_windows/include/SDL2/SDL_quit.h new file mode 100644 index 000000000..4090f7f19 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_quit.h @@ -0,0 +1,58 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_quit.h + * + * Include file for SDL quit event handling. + */ + +#ifndef SDL_quit_h_ +#define SDL_quit_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +/** + * \file SDL_quit.h + * + * An ::SDL_QUIT event is generated when the user tries to close the application + * window. If it is ignored or filtered out, the window will remain open. + * If it is not ignored or filtered, it is queued normally and the window + * is allowed to close. When the window is closed, screen updates will + * complete, but have no effect. + * + * SDL_Init() installs signal handlers for SIGINT (keyboard interrupt) + * and SIGTERM (system termination request), if handlers do not already + * exist, that generate ::SDL_QUIT events as well. There is no way + * to determine the cause of an ::SDL_QUIT event, but setting a signal + * handler in your application will override the default generation of + * quit events for that signal. + * + * \sa SDL_Quit() + */ + +/* There are no functions directly affecting the quit event */ + +#define SDL_QuitRequested() \ + (SDL_PumpEvents(), (SDL_PeepEvents(NULL,0,SDL_PEEKEVENT,SDL_QUIT,SDL_QUIT) > 0)) + +#endif /* SDL_quit_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_rect.h b/subprojects/sdl2_windows/include/SDL2/SDL_rect.h new file mode 100644 index 000000000..6c641c581 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_rect.h @@ -0,0 +1,376 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_rect.h + * + * Header file for SDL_rect definition and management functions. + */ + +#ifndef SDL_rect_h_ +#define SDL_rect_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_pixels.h" +#include "SDL_rwops.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The structure that defines a point (integer) + * + * \sa SDL_EnclosePoints + * \sa SDL_PointInRect + */ +typedef struct SDL_Point +{ + int x; + int y; +} SDL_Point; + +/** + * The structure that defines a point (floating point) + * + * \sa SDL_EncloseFPoints + * \sa SDL_PointInFRect + */ +typedef struct SDL_FPoint +{ + float x; + float y; +} SDL_FPoint; + + +/** + * A rectangle, with the origin at the upper left (integer). + * + * \sa SDL_RectEmpty + * \sa SDL_RectEquals + * \sa SDL_HasIntersection + * \sa SDL_IntersectRect + * \sa SDL_IntersectRectAndLine + * \sa SDL_UnionRect + * \sa SDL_EnclosePoints + */ +typedef struct SDL_Rect +{ + int x, y; + int w, h; +} SDL_Rect; + + +/** + * A rectangle, with the origin at the upper left (floating point). + * + * \sa SDL_FRectEmpty + * \sa SDL_FRectEquals + * \sa SDL_FRectEqualsEpsilon + * \sa SDL_HasIntersectionF + * \sa SDL_IntersectFRect + * \sa SDL_IntersectFRectAndLine + * \sa SDL_UnionFRect + * \sa SDL_EncloseFPoints + * \sa SDL_PointInFRect + */ +typedef struct SDL_FRect +{ + float x; + float y; + float w; + float h; +} SDL_FRect; + + +/** + * Returns true if point resides inside a rectangle. + */ +SDL_FORCE_INLINE SDL_bool SDL_PointInRect(const SDL_Point *p, const SDL_Rect *r) +{ + return ( (p->x >= r->x) && (p->x < (r->x + r->w)) && + (p->y >= r->y) && (p->y < (r->y + r->h)) ) ? SDL_TRUE : SDL_FALSE; +} + +/** + * Returns true if the rectangle has no area. + */ +SDL_FORCE_INLINE SDL_bool SDL_RectEmpty(const SDL_Rect *r) +{ + return ((!r) || (r->w <= 0) || (r->h <= 0)) ? SDL_TRUE : SDL_FALSE; +} + +/** + * Returns true if the two rectangles are equal. + */ +SDL_FORCE_INLINE SDL_bool SDL_RectEquals(const SDL_Rect *a, const SDL_Rect *b) +{ + return (a && b && (a->x == b->x) && (a->y == b->y) && + (a->w == b->w) && (a->h == b->h)) ? SDL_TRUE : SDL_FALSE; +} + +/** + * Determine whether two rectangles intersect. + * + * If either pointer is NULL the function will return SDL_FALSE. + * + * \param A an SDL_Rect structure representing the first rectangle + * \param B an SDL_Rect structure representing the second rectangle + * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_IntersectRect + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasIntersection(const SDL_Rect * A, + const SDL_Rect * B); + +/** + * Calculate the intersection of two rectangles. + * + * If `result` is NULL then this function will return SDL_FALSE. + * + * \param A an SDL_Rect structure representing the first rectangle + * \param B an SDL_Rect structure representing the second rectangle + * \param result an SDL_Rect structure filled in with the intersection of + * rectangles `A` and `B` + * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HasIntersection + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IntersectRect(const SDL_Rect * A, + const SDL_Rect * B, + SDL_Rect * result); + +/** + * Calculate the union of two rectangles. + * + * \param A an SDL_Rect structure representing the first rectangle + * \param B an SDL_Rect structure representing the second rectangle + * \param result an SDL_Rect structure filled in with the union of rectangles + * `A` and `B` + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_UnionRect(const SDL_Rect * A, + const SDL_Rect * B, + SDL_Rect * result); + +/** + * Calculate a minimal rectangle enclosing a set of points. + * + * If `clip` is not NULL then only points inside of the clipping rectangle are + * considered. + * + * \param points an array of SDL_Point structures representing points to be + * enclosed + * \param count the number of structures in the `points` array + * \param clip an SDL_Rect used for clipping or NULL to enclose all points + * \param result an SDL_Rect structure filled in with the minimal enclosing + * rectangle + * \returns SDL_TRUE if any points were enclosed or SDL_FALSE if all the + * points were outside of the clipping rectangle. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_EnclosePoints(const SDL_Point * points, + int count, + const SDL_Rect * clip, + SDL_Rect * result); + +/** + * Calculate the intersection of a rectangle and line segment. + * + * This function is used to clip a line segment to a rectangle. A line segment + * contained entirely within the rectangle or that does not intersect will + * remain unchanged. A line segment that crosses the rectangle at either or + * both ends will be clipped to the boundary of the rectangle and the new + * coordinates saved in `X1`, `Y1`, `X2`, and/or `Y2` as necessary. + * + * \param rect an SDL_Rect structure representing the rectangle to intersect + * \param X1 a pointer to the starting X-coordinate of the line + * \param Y1 a pointer to the starting Y-coordinate of the line + * \param X2 a pointer to the ending X-coordinate of the line + * \param Y2 a pointer to the ending Y-coordinate of the line + * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IntersectRectAndLine(const SDL_Rect * + rect, int *X1, + int *Y1, int *X2, + int *Y2); + + +/* SDL_FRect versions... */ + +/** + * Returns true if point resides inside a rectangle. + */ +SDL_FORCE_INLINE SDL_bool SDL_PointInFRect(const SDL_FPoint *p, const SDL_FRect *r) +{ + return ( (p->x >= r->x) && (p->x < (r->x + r->w)) && + (p->y >= r->y) && (p->y < (r->y + r->h)) ) ? SDL_TRUE : SDL_FALSE; +} + +/** + * Returns true if the rectangle has no area. + */ +SDL_FORCE_INLINE SDL_bool SDL_FRectEmpty(const SDL_FRect *r) +{ + return ((!r) || (r->w <= 0.0f) || (r->h <= 0.0f)) ? SDL_TRUE : SDL_FALSE; +} + +/** + * Returns true if the two rectangles are equal, within some given epsilon. + * + * \since This function is available since SDL 2.0.22. + */ +SDL_FORCE_INLINE SDL_bool SDL_FRectEqualsEpsilon(const SDL_FRect *a, const SDL_FRect *b, const float epsilon) +{ + return (a && b && ((a == b) || + ((SDL_fabsf(a->x - b->x) <= epsilon) && + (SDL_fabsf(a->y - b->y) <= epsilon) && + (SDL_fabsf(a->w - b->w) <= epsilon) && + (SDL_fabsf(a->h - b->h) <= epsilon)))) + ? SDL_TRUE : SDL_FALSE; +} + +/** + * Returns true if the two rectangles are equal, using a default epsilon. + * + * \since This function is available since SDL 2.0.22. + */ +SDL_FORCE_INLINE SDL_bool SDL_FRectEquals(const SDL_FRect *a, const SDL_FRect *b) +{ + return SDL_FRectEqualsEpsilon(a, b, SDL_FLT_EPSILON); +} + +/** + * Determine whether two rectangles intersect with float precision. + * + * If either pointer is NULL the function will return SDL_FALSE. + * + * \param A an SDL_FRect structure representing the first rectangle + * \param B an SDL_FRect structure representing the second rectangle + * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.22. + * + * \sa SDL_IntersectRect + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasIntersectionF(const SDL_FRect * A, + const SDL_FRect * B); + +/** + * Calculate the intersection of two rectangles with float precision. + * + * If `result` is NULL then this function will return SDL_FALSE. + * + * \param A an SDL_FRect structure representing the first rectangle + * \param B an SDL_FRect structure representing the second rectangle + * \param result an SDL_FRect structure filled in with the intersection of + * rectangles `A` and `B` + * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.22. + * + * \sa SDL_HasIntersectionF + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IntersectFRect(const SDL_FRect * A, + const SDL_FRect * B, + SDL_FRect * result); + +/** + * Calculate the union of two rectangles with float precision. + * + * \param A an SDL_FRect structure representing the first rectangle + * \param B an SDL_FRect structure representing the second rectangle + * \param result an SDL_FRect structure filled in with the union of rectangles + * `A` and `B` + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC void SDLCALL SDL_UnionFRect(const SDL_FRect * A, + const SDL_FRect * B, + SDL_FRect * result); + +/** + * Calculate a minimal rectangle enclosing a set of points with float + * precision. + * + * If `clip` is not NULL then only points inside of the clipping rectangle are + * considered. + * + * \param points an array of SDL_FPoint structures representing points to be + * enclosed + * \param count the number of structures in the `points` array + * \param clip an SDL_FRect used for clipping or NULL to enclose all points + * \param result an SDL_FRect structure filled in with the minimal enclosing + * rectangle + * \returns SDL_TRUE if any points were enclosed or SDL_FALSE if all the + * points were outside of the clipping rectangle. + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_EncloseFPoints(const SDL_FPoint * points, + int count, + const SDL_FRect * clip, + SDL_FRect * result); + +/** + * Calculate the intersection of a rectangle and line segment with float + * precision. + * + * This function is used to clip a line segment to a rectangle. A line segment + * contained entirely within the rectangle or that does not intersect will + * remain unchanged. A line segment that crosses the rectangle at either or + * both ends will be clipped to the boundary of the rectangle and the new + * coordinates saved in `X1`, `Y1`, `X2`, and/or `Y2` as necessary. + * + * \param rect an SDL_FRect structure representing the rectangle to intersect + * \param X1 a pointer to the starting X-coordinate of the line + * \param Y1 a pointer to the starting Y-coordinate of the line + * \param X2 a pointer to the ending X-coordinate of the line + * \param Y2 a pointer to the ending Y-coordinate of the line + * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IntersectFRectAndLine(const SDL_FRect * + rect, float *X1, + float *Y1, float *X2, + float *Y2); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_rect_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_render.h b/subprojects/sdl2_windows/include/SDL2/SDL_render.h new file mode 100644 index 000000000..5b7b059af --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_render.h @@ -0,0 +1,1919 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_render.h + * + * Header file for SDL 2D rendering functions. + * + * This API supports the following features: + * * single pixel points + * * single pixel lines + * * filled rectangles + * * texture images + * + * The primitives may be drawn in opaque, blended, or additive modes. + * + * The texture images may be drawn in opaque, blended, or additive modes. + * They can have an additional color tint or alpha modulation applied to + * them, and may also be stretched with linear interpolation. + * + * This API is designed to accelerate simple 2D operations. You may + * want more functionality such as polygons and particle effects and + * in that case you should use SDL's OpenGL/Direct3D support or one + * of the many good 3D engines. + * + * These functions must be called from the main thread. + * See this bug for details: http://bugzilla.libsdl.org/show_bug.cgi?id=1995 + */ + +#ifndef SDL_render_h_ +#define SDL_render_h_ + +#include "SDL_stdinc.h" +#include "SDL_rect.h" +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Flags used when creating a rendering context + */ +typedef enum +{ + SDL_RENDERER_SOFTWARE = 0x00000001, /**< The renderer is a software fallback */ + SDL_RENDERER_ACCELERATED = 0x00000002, /**< The renderer uses hardware + acceleration */ + SDL_RENDERER_PRESENTVSYNC = 0x00000004, /**< Present is synchronized + with the refresh rate */ + SDL_RENDERER_TARGETTEXTURE = 0x00000008 /**< The renderer supports + rendering to texture */ +} SDL_RendererFlags; + +/** + * Information on the capabilities of a render driver or context. + */ +typedef struct SDL_RendererInfo +{ + const char *name; /**< The name of the renderer */ + Uint32 flags; /**< Supported ::SDL_RendererFlags */ + Uint32 num_texture_formats; /**< The number of available texture formats */ + Uint32 texture_formats[16]; /**< The available texture formats */ + int max_texture_width; /**< The maximum texture width */ + int max_texture_height; /**< The maximum texture height */ +} SDL_RendererInfo; + +/** + * Vertex structure + */ +typedef struct SDL_Vertex +{ + SDL_FPoint position; /**< Vertex position, in SDL_Renderer coordinates */ + SDL_Color color; /**< Vertex color */ + SDL_FPoint tex_coord; /**< Normalized texture coordinates, if needed */ +} SDL_Vertex; + +/** + * The scaling mode for a texture. + */ +typedef enum +{ + SDL_ScaleModeNearest, /**< nearest pixel sampling */ + SDL_ScaleModeLinear, /**< linear filtering */ + SDL_ScaleModeBest /**< anisotropic filtering */ +} SDL_ScaleMode; + +/** + * The access pattern allowed for a texture. + */ +typedef enum +{ + SDL_TEXTUREACCESS_STATIC, /**< Changes rarely, not lockable */ + SDL_TEXTUREACCESS_STREAMING, /**< Changes frequently, lockable */ + SDL_TEXTUREACCESS_TARGET /**< Texture can be used as a render target */ +} SDL_TextureAccess; + +/** + * The texture channel modulation used in SDL_RenderCopy(). + */ +typedef enum +{ + SDL_TEXTUREMODULATE_NONE = 0x00000000, /**< No modulation */ + SDL_TEXTUREMODULATE_COLOR = 0x00000001, /**< srcC = srcC * color */ + SDL_TEXTUREMODULATE_ALPHA = 0x00000002 /**< srcA = srcA * alpha */ +} SDL_TextureModulate; + +/** + * Flip constants for SDL_RenderCopyEx + */ +typedef enum +{ + SDL_FLIP_NONE = 0x00000000, /**< Do not flip */ + SDL_FLIP_HORIZONTAL = 0x00000001, /**< flip horizontally */ + SDL_FLIP_VERTICAL = 0x00000002 /**< flip vertically */ +} SDL_RendererFlip; + +/** + * A structure representing rendering state + */ +struct SDL_Renderer; +typedef struct SDL_Renderer SDL_Renderer; + +/** + * An efficient driver-specific representation of pixel data + */ +struct SDL_Texture; +typedef struct SDL_Texture SDL_Texture; + +/* Function prototypes */ + +/** + * Get the number of 2D rendering drivers available for the current display. + * + * A render driver is a set of code that handles rendering and texture + * management on a particular display. Normally there is only one, but some + * drivers may have several available with different capabilities. + * + * There may be none if SDL was compiled without render support. + * + * \returns a number >= 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + * \sa SDL_GetRenderDriverInfo + */ +extern DECLSPEC int SDLCALL SDL_GetNumRenderDrivers(void); + +/** + * Get info about a specific 2D rendering driver for the current display. + * + * \param index the index of the driver to query information about + * \param info an SDL_RendererInfo structure to be filled with information on + * the rendering driver + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + * \sa SDL_GetNumRenderDrivers + */ +extern DECLSPEC int SDLCALL SDL_GetRenderDriverInfo(int index, + SDL_RendererInfo * info); + +/** + * Create a window and default renderer. + * + * \param width the width of the window + * \param height the height of the window + * \param window_flags the flags used to create the window (see + * SDL_CreateWindow()) + * \param window a pointer filled with the window, or NULL on error + * \param renderer a pointer filled with the renderer, or NULL on error + * \returns 0 on success, or -1 on error; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + * \sa SDL_CreateWindow + */ +extern DECLSPEC int SDLCALL SDL_CreateWindowAndRenderer( + int width, int height, Uint32 window_flags, + SDL_Window **window, SDL_Renderer **renderer); + + +/** + * Create a 2D rendering context for a window. + * + * \param window the window where rendering is displayed + * \param index the index of the rendering driver to initialize, or -1 to + * initialize the first one supporting the requested flags + * \param flags 0, or one or more SDL_RendererFlags OR'd together + * \returns a valid rendering context or NULL if there was an error; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateSoftwareRenderer + * \sa SDL_DestroyRenderer + * \sa SDL_GetNumRenderDrivers + * \sa SDL_GetRendererInfo + */ +extern DECLSPEC SDL_Renderer * SDLCALL SDL_CreateRenderer(SDL_Window * window, + int index, Uint32 flags); + +/** + * Create a 2D software rendering context for a surface. + * + * Two other API which can be used to create SDL_Renderer: + * SDL_CreateRenderer() and SDL_CreateWindowAndRenderer(). These can _also_ + * create a software renderer, but they are intended to be used with an + * SDL_Window as the final destination and not an SDL_Surface. + * + * \param surface the SDL_Surface structure representing the surface where + * rendering is done + * \returns a valid rendering context or NULL if there was an error; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + * \sa SDL_CreateWindowRenderer + * \sa SDL_DestroyRenderer + */ +extern DECLSPEC SDL_Renderer * SDLCALL SDL_CreateSoftwareRenderer(SDL_Surface * surface); + +/** + * Get the renderer associated with a window. + * + * \param window the window to query + * \returns the rendering context on success or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + */ +extern DECLSPEC SDL_Renderer * SDLCALL SDL_GetRenderer(SDL_Window * window); + +/** + * Get the window associated with a renderer. + * + * \param renderer the renderer to query + * \returns the window on success or NULL on failure; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_RenderGetWindow(SDL_Renderer *renderer); + +/** + * Get information about a rendering context. + * + * \param renderer the rendering context + * \param info an SDL_RendererInfo structure filled with information about the + * current renderer + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + */ +extern DECLSPEC int SDLCALL SDL_GetRendererInfo(SDL_Renderer * renderer, + SDL_RendererInfo * info); + +/** + * Get the output size in pixels of a rendering context. + * + * Due to high-dpi displays, you might end up with a rendering context that + * has more pixels than the window that contains it, so use this instead of + * SDL_GetWindowSize() to decide how much drawing area you have. + * + * \param renderer the rendering context + * \param w an int filled with the width + * \param h an int filled with the height + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRenderer + */ +extern DECLSPEC int SDLCALL SDL_GetRendererOutputSize(SDL_Renderer * renderer, + int *w, int *h); + +/** + * Create a texture for a rendering context. + * + * You can set the texture scaling method by setting + * `SDL_HINT_RENDER_SCALE_QUALITY` before creating the texture. + * + * \param renderer the rendering context + * \param format one of the enumerated values in SDL_PixelFormatEnum + * \param access one of the enumerated values in SDL_TextureAccess + * \param w the width of the texture in pixels + * \param h the height of the texture in pixels + * \returns a pointer to the created texture or NULL if no rendering context + * was active, the format was unsupported, or the width or height + * were out of range; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateTextureFromSurface + * \sa SDL_DestroyTexture + * \sa SDL_QueryTexture + * \sa SDL_UpdateTexture + */ +extern DECLSPEC SDL_Texture * SDLCALL SDL_CreateTexture(SDL_Renderer * renderer, + Uint32 format, + int access, int w, + int h); + +/** + * Create a texture from an existing surface. + * + * The surface is not modified or freed by this function. + * + * The SDL_TextureAccess hint for the created texture is + * `SDL_TEXTUREACCESS_STATIC`. + * + * The pixel format of the created texture may be different from the pixel + * format of the surface. Use SDL_QueryTexture() to query the pixel format of + * the texture. + * + * \param renderer the rendering context + * \param surface the SDL_Surface structure containing pixel data used to fill + * the texture + * \returns the created texture or NULL on failure; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateTexture + * \sa SDL_DestroyTexture + * \sa SDL_QueryTexture + */ +extern DECLSPEC SDL_Texture * SDLCALL SDL_CreateTextureFromSurface(SDL_Renderer * renderer, SDL_Surface * surface); + +/** + * Query the attributes of a texture. + * + * \param texture the texture to query + * \param format a pointer filled in with the raw format of the texture; the + * actual format may differ, but pixel transfers will use this + * format (one of the SDL_PixelFormatEnum values). This argument + * can be NULL if you don't need this information. + * \param access a pointer filled in with the actual access to the texture + * (one of the SDL_TextureAccess values). This argument can be + * NULL if you don't need this information. + * \param w a pointer filled in with the width of the texture in pixels. This + * argument can be NULL if you don't need this information. + * \param h a pointer filled in with the height of the texture in pixels. This + * argument can be NULL if you don't need this information. + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateTexture + */ +extern DECLSPEC int SDLCALL SDL_QueryTexture(SDL_Texture * texture, + Uint32 * format, int *access, + int *w, int *h); + +/** + * Set an additional color value multiplied into render copy operations. + * + * When this texture is rendered, during the copy operation each source color + * channel is modulated by the appropriate color value according to the + * following formula: + * + * `srcC = srcC * (color / 255)` + * + * Color modulation is not always supported by the renderer; it will return -1 + * if color modulation is not supported. + * + * \param texture the texture to update + * \param r the red color value multiplied into copy operations + * \param g the green color value multiplied into copy operations + * \param b the blue color value multiplied into copy operations + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTextureColorMod + * \sa SDL_SetTextureAlphaMod + */ +extern DECLSPEC int SDLCALL SDL_SetTextureColorMod(SDL_Texture * texture, + Uint8 r, Uint8 g, Uint8 b); + + +/** + * Get the additional color value multiplied into render copy operations. + * + * \param texture the texture to query + * \param r a pointer filled in with the current red color value + * \param g a pointer filled in with the current green color value + * \param b a pointer filled in with the current blue color value + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTextureAlphaMod + * \sa SDL_SetTextureColorMod + */ +extern DECLSPEC int SDLCALL SDL_GetTextureColorMod(SDL_Texture * texture, + Uint8 * r, Uint8 * g, + Uint8 * b); + +/** + * Set an additional alpha value multiplied into render copy operations. + * + * When this texture is rendered, during the copy operation the source alpha + * value is modulated by this alpha value according to the following formula: + * + * `srcA = srcA * (alpha / 255)` + * + * Alpha modulation is not always supported by the renderer; it will return -1 + * if alpha modulation is not supported. + * + * \param texture the texture to update + * \param alpha the source alpha value multiplied into copy operations + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTextureAlphaMod + * \sa SDL_SetTextureColorMod + */ +extern DECLSPEC int SDLCALL SDL_SetTextureAlphaMod(SDL_Texture * texture, + Uint8 alpha); + +/** + * Get the additional alpha value multiplied into render copy operations. + * + * \param texture the texture to query + * \param alpha a pointer filled in with the current alpha value + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTextureColorMod + * \sa SDL_SetTextureAlphaMod + */ +extern DECLSPEC int SDLCALL SDL_GetTextureAlphaMod(SDL_Texture * texture, + Uint8 * alpha); + +/** + * Set the blend mode for a texture, used by SDL_RenderCopy(). + * + * If the blend mode is not supported, the closest supported mode is chosen + * and this function returns -1. + * + * \param texture the texture to update + * \param blendMode the SDL_BlendMode to use for texture blending + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTextureBlendMode + * \sa SDL_RenderCopy + */ +extern DECLSPEC int SDLCALL SDL_SetTextureBlendMode(SDL_Texture * texture, + SDL_BlendMode blendMode); + +/** + * Get the blend mode used for texture copy operations. + * + * \param texture the texture to query + * \param blendMode a pointer filled in with the current SDL_BlendMode + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetTextureBlendMode + */ +extern DECLSPEC int SDLCALL SDL_GetTextureBlendMode(SDL_Texture * texture, + SDL_BlendMode *blendMode); + +/** + * Set the scale mode used for texture scale operations. + * + * If the scale mode is not supported, the closest supported mode is chosen. + * + * \param texture The texture to update. + * \param scaleMode the SDL_ScaleMode to use for texture scaling. + * \returns 0 on success, or -1 if the texture is not valid. + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_GetTextureScaleMode + */ +extern DECLSPEC int SDLCALL SDL_SetTextureScaleMode(SDL_Texture * texture, + SDL_ScaleMode scaleMode); + +/** + * Get the scale mode used for texture scale operations. + * + * \param texture the texture to query. + * \param scaleMode a pointer filled in with the current scale mode. + * \return 0 on success, or -1 if the texture is not valid. + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_SetTextureScaleMode + */ +extern DECLSPEC int SDLCALL SDL_GetTextureScaleMode(SDL_Texture * texture, + SDL_ScaleMode *scaleMode); + +/** + * Associate a user-specified pointer with a texture. + * + * \param texture the texture to update. + * \param userdata the pointer to associate with the texture. + * \returns 0 on success, or -1 if the texture is not valid. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_GetTextureUserData + */ +extern DECLSPEC int SDLCALL SDL_SetTextureUserData(SDL_Texture * texture, + void *userdata); + +/** + * Get the user-specified pointer associated with a texture + * + * \param texture the texture to query. + * \return the pointer associated with the texture, or NULL if the texture is + * not valid. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_SetTextureUserData + */ +extern DECLSPEC void * SDLCALL SDL_GetTextureUserData(SDL_Texture * texture); + +/** + * Update the given texture rectangle with new pixel data. + * + * The pixel data must be in the pixel format of the texture. Use + * SDL_QueryTexture() to query the pixel format of the texture. + * + * This is a fairly slow function, intended for use with static textures that + * do not change often. + * + * If the texture is intended to be updated often, it is preferred to create + * the texture as streaming and use the locking functions referenced below. + * While this function will work with streaming textures, for optimization + * reasons you may not get the pixels back if you lock the texture afterward. + * + * \param texture the texture to update + * \param rect an SDL_Rect structure representing the area to update, or NULL + * to update the entire texture + * \param pixels the raw pixel data in the format of the texture + * \param pitch the number of bytes in a row of pixel data, including padding + * between lines + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateTexture + * \sa SDL_LockTexture + * \sa SDL_UnlockTexture + */ +extern DECLSPEC int SDLCALL SDL_UpdateTexture(SDL_Texture * texture, + const SDL_Rect * rect, + const void *pixels, int pitch); + +/** + * Update a rectangle within a planar YV12 or IYUV texture with new pixel + * data. + * + * You can use SDL_UpdateTexture() as long as your pixel data is a contiguous + * block of Y and U/V planes in the proper order, but this function is + * available if your pixel data is not contiguous. + * + * \param texture the texture to update + * \param rect a pointer to the rectangle of pixels to update, or NULL to + * update the entire texture + * \param Yplane the raw pixel data for the Y plane + * \param Ypitch the number of bytes between rows of pixel data for the Y + * plane + * \param Uplane the raw pixel data for the U plane + * \param Upitch the number of bytes between rows of pixel data for the U + * plane + * \param Vplane the raw pixel data for the V plane + * \param Vpitch the number of bytes between rows of pixel data for the V + * plane + * \returns 0 on success or -1 if the texture is not valid; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.1. + * + * \sa SDL_UpdateTexture + */ +extern DECLSPEC int SDLCALL SDL_UpdateYUVTexture(SDL_Texture * texture, + const SDL_Rect * rect, + const Uint8 *Yplane, int Ypitch, + const Uint8 *Uplane, int Upitch, + const Uint8 *Vplane, int Vpitch); + +/** + * Update a rectangle within a planar NV12 or NV21 texture with new pixels. + * + * You can use SDL_UpdateTexture() as long as your pixel data is a contiguous + * block of NV12/21 planes in the proper order, but this function is available + * if your pixel data is not contiguous. + * + * \param texture the texture to update + * \param rect a pointer to the rectangle of pixels to update, or NULL to + * update the entire texture. + * \param Yplane the raw pixel data for the Y plane. + * \param Ypitch the number of bytes between rows of pixel data for the Y + * plane. + * \param UVplane the raw pixel data for the UV plane. + * \param UVpitch the number of bytes between rows of pixel data for the UV + * plane. + * \return 0 on success, or -1 if the texture is not valid. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC int SDLCALL SDL_UpdateNVTexture(SDL_Texture * texture, + const SDL_Rect * rect, + const Uint8 *Yplane, int Ypitch, + const Uint8 *UVplane, int UVpitch); + +/** + * Lock a portion of the texture for **write-only** pixel access. + * + * As an optimization, the pixels made available for editing don't necessarily + * contain the old texture data. This is a write-only operation, and if you + * need to keep a copy of the texture data you should do that at the + * application level. + * + * You must use SDL_UnlockTexture() to unlock the pixels and apply any + * changes. + * + * \param texture the texture to lock for access, which was created with + * `SDL_TEXTUREACCESS_STREAMING` + * \param rect an SDL_Rect structure representing the area to lock for access; + * NULL to lock the entire texture + * \param pixels this is filled in with a pointer to the locked pixels, + * appropriately offset by the locked area + * \param pitch this is filled in with the pitch of the locked pixels; the + * pitch is the length of one row in bytes + * \returns 0 on success or a negative error code if the texture is not valid + * or was not created with `SDL_TEXTUREACCESS_STREAMING`; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_UnlockTexture + */ +extern DECLSPEC int SDLCALL SDL_LockTexture(SDL_Texture * texture, + const SDL_Rect * rect, + void **pixels, int *pitch); + +/** + * Lock a portion of the texture for **write-only** pixel access, and expose + * it as a SDL surface. + * + * Besides providing an SDL_Surface instead of raw pixel data, this function + * operates like SDL_LockTexture. + * + * As an optimization, the pixels made available for editing don't necessarily + * contain the old texture data. This is a write-only operation, and if you + * need to keep a copy of the texture data you should do that at the + * application level. + * + * You must use SDL_UnlockTexture() to unlock the pixels and apply any + * changes. + * + * The returned surface is freed internally after calling SDL_UnlockTexture() + * or SDL_DestroyTexture(). The caller should not free it. + * + * \param texture the texture to lock for access, which was created with + * `SDL_TEXTUREACCESS_STREAMING` + * \param rect a pointer to the rectangle to lock for access. If the rect is + * NULL, the entire texture will be locked + * \param surface this is filled in with an SDL surface representing the + * locked area + * \returns 0 on success, or -1 if the texture is not valid or was not created + * with `SDL_TEXTUREACCESS_STREAMING` + * + * \since This function is available since SDL 2.0.12. + * + * \sa SDL_LockTexture + * \sa SDL_UnlockTexture + */ +extern DECLSPEC int SDLCALL SDL_LockTextureToSurface(SDL_Texture *texture, + const SDL_Rect *rect, + SDL_Surface **surface); + +/** + * Unlock a texture, uploading the changes to video memory, if needed. + * + * **Warning**: Please note that SDL_LockTexture() is intended to be + * write-only; it will not guarantee the previous contents of the texture will + * be provided. You must fully initialize any area of a texture that you lock + * before unlocking it, as the pixels might otherwise be uninitialized memory. + * + * Which is to say: locking and immediately unlocking a texture can result in + * corrupted textures, depending on the renderer in use. + * + * \param texture a texture locked by SDL_LockTexture() + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LockTexture + */ +extern DECLSPEC void SDLCALL SDL_UnlockTexture(SDL_Texture * texture); + +/** + * Determine whether a renderer supports the use of render targets. + * + * \param renderer the renderer that will be checked + * \returns SDL_TRUE if supported or SDL_FALSE if not. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetRenderTarget + */ +extern DECLSPEC SDL_bool SDLCALL SDL_RenderTargetSupported(SDL_Renderer *renderer); + +/** + * Set a texture as the current rendering target. + * + * Before using this function, you should check the + * `SDL_RENDERER_TARGETTEXTURE` bit in the flags of SDL_RendererInfo to see if + * render targets are supported. + * + * The default render target is the window for which the renderer was created. + * To stop rendering to a texture and render to the window again, call this + * function with a NULL `texture`. + * + * \param renderer the rendering context + * \param texture the targeted texture, which must be created with the + * `SDL_TEXTUREACCESS_TARGET` flag, or NULL to render to the + * window instead of a texture. + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRenderTarget + */ +extern DECLSPEC int SDLCALL SDL_SetRenderTarget(SDL_Renderer *renderer, + SDL_Texture *texture); + +/** + * Get the current render target. + * + * The default render target is the window for which the renderer was created, + * and is reported a NULL here. + * + * \param renderer the rendering context + * \returns the current render target or NULL for the default render target. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetRenderTarget + */ +extern DECLSPEC SDL_Texture * SDLCALL SDL_GetRenderTarget(SDL_Renderer *renderer); + +/** + * Set a device independent resolution for rendering. + * + * This function uses the viewport and scaling functionality to allow a fixed + * logical resolution for rendering, regardless of the actual output + * resolution. If the actual output resolution doesn't have the same aspect + * ratio the output rendering will be centered within the output display. + * + * If the output display is a window, mouse and touch events in the window + * will be filtered and scaled so they seem to arrive within the logical + * resolution. The SDL_HINT_MOUSE_RELATIVE_SCALING hint controls whether + * relative motion events are also scaled. + * + * If this function results in scaling or subpixel drawing by the rendering + * backend, it will be handled using the appropriate quality hints. + * + * \param renderer the renderer for which resolution should be set + * \param w the width of the logical resolution + * \param h the height of the logical resolution + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderGetLogicalSize + */ +extern DECLSPEC int SDLCALL SDL_RenderSetLogicalSize(SDL_Renderer * renderer, int w, int h); + +/** + * Get device independent resolution for rendering. + * + * When using the main rendering target (eg no target texture is set): this + * may return 0 for `w` and `h` if the SDL_Renderer has never had its logical + * size set by SDL_RenderSetLogicalSize(). Otherwise it returns the logical + * width and height. + * + * When using a target texture: Never return 0 for `w` and `h` at first. Then + * it returns the logical width and height that are set. + * + * \param renderer a rendering context + * \param w an int to be filled with the width + * \param h an int to be filled with the height + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderSetLogicalSize + */ +extern DECLSPEC void SDLCALL SDL_RenderGetLogicalSize(SDL_Renderer * renderer, int *w, int *h); + +/** + * Set whether to force integer scales for resolution-independent rendering. + * + * This function restricts the logical viewport to integer values - that is, + * when a resolution is between two multiples of a logical size, the viewport + * size is rounded down to the lower multiple. + * + * \param renderer the renderer for which integer scaling should be set + * \param enable enable or disable the integer scaling for rendering + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_RenderGetIntegerScale + * \sa SDL_RenderSetLogicalSize + */ +extern DECLSPEC int SDLCALL SDL_RenderSetIntegerScale(SDL_Renderer * renderer, + SDL_bool enable); + +/** + * Get whether integer scales are forced for resolution-independent rendering. + * + * \param renderer the renderer from which integer scaling should be queried + * \returns SDL_TRUE if integer scales are forced or SDL_FALSE if not and on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_RenderSetIntegerScale + */ +extern DECLSPEC SDL_bool SDLCALL SDL_RenderGetIntegerScale(SDL_Renderer * renderer); + +/** + * Set the drawing area for rendering on the current target. + * + * When the window is resized, the viewport is reset to fill the entire new + * window size. + * + * \param renderer the rendering context + * \param rect the SDL_Rect structure representing the drawing area, or NULL + * to set the viewport to the entire target + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderGetViewport + */ +extern DECLSPEC int SDLCALL SDL_RenderSetViewport(SDL_Renderer * renderer, + const SDL_Rect * rect); + +/** + * Get the drawing area for the current target. + * + * \param renderer the rendering context + * \param rect an SDL_Rect structure filled in with the current drawing area + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderSetViewport + */ +extern DECLSPEC void SDLCALL SDL_RenderGetViewport(SDL_Renderer * renderer, + SDL_Rect * rect); + +/** + * Set the clip rectangle for rendering on the specified target. + * + * \param renderer the rendering context for which clip rectangle should be + * set + * \param rect an SDL_Rect structure representing the clip area, relative to + * the viewport, or NULL to disable clipping + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderGetClipRect + * \sa SDL_RenderIsClipEnabled + */ +extern DECLSPEC int SDLCALL SDL_RenderSetClipRect(SDL_Renderer * renderer, + const SDL_Rect * rect); + +/** + * Get the clip rectangle for the current target. + * + * \param renderer the rendering context from which clip rectangle should be + * queried + * \param rect an SDL_Rect structure filled in with the current clipping area + * or an empty rectangle if clipping is disabled + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderIsClipEnabled + * \sa SDL_RenderSetClipRect + */ +extern DECLSPEC void SDLCALL SDL_RenderGetClipRect(SDL_Renderer * renderer, + SDL_Rect * rect); + +/** + * Get whether clipping is enabled on the given renderer. + * + * \param renderer the renderer from which clip state should be queried + * \returns SDL_TRUE if clipping is enabled or SDL_FALSE if not; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_RenderGetClipRect + * \sa SDL_RenderSetClipRect + */ +extern DECLSPEC SDL_bool SDLCALL SDL_RenderIsClipEnabled(SDL_Renderer * renderer); + + +/** + * Set the drawing scale for rendering on the current target. + * + * The drawing coordinates are scaled by the x/y scaling factors before they + * are used by the renderer. This allows resolution independent drawing with a + * single coordinate system. + * + * If this results in scaling or subpixel drawing by the rendering backend, it + * will be handled using the appropriate quality hints. For best results use + * integer scaling factors. + * + * \param renderer a rendering context + * \param scaleX the horizontal scaling factor + * \param scaleY the vertical scaling factor + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderGetScale + * \sa SDL_RenderSetLogicalSize + */ +extern DECLSPEC int SDLCALL SDL_RenderSetScale(SDL_Renderer * renderer, + float scaleX, float scaleY); + +/** + * Get the drawing scale for the current target. + * + * \param renderer the renderer from which drawing scale should be queried + * \param scaleX a pointer filled in with the horizontal scaling factor + * \param scaleY a pointer filled in with the vertical scaling factor + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderSetScale + */ +extern DECLSPEC void SDLCALL SDL_RenderGetScale(SDL_Renderer * renderer, + float *scaleX, float *scaleY); + +/** + * Get logical coordinates of point in renderer when given real coordinates of + * point in window. + * + * Logical coordinates will differ from real coordinates when render is scaled + * and logical renderer size set + * + * \param renderer the renderer from which the logical coordinates should be + * calculated + * \param windowX the real X coordinate in the window + * \param windowY the real Y coordinate in the window + * \param logicalX the pointer filled with the logical x coordinate + * \param logicalY the pointer filled with the logical y coordinate + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_RenderGetScale + * \sa SDL_RenderSetScale + * \sa SDL_RenderGetLogicalSize + * \sa SDL_RenderSetLogicalSize + */ +extern DECLSPEC void SDLCALL SDL_RenderWindowToLogical(SDL_Renderer * renderer, + int windowX, int windowY, + float *logicalX, float *logicalY); + + +/** + * Get real coordinates of point in window when given logical coordinates of + * point in renderer. + * + * Logical coordinates will differ from real coordinates when render is scaled + * and logical renderer size set + * + * \param renderer the renderer from which the window coordinates should be + * calculated + * \param logicalX the logical x coordinate + * \param logicalY the logical y coordinate + * \param windowX the pointer filled with the real X coordinate in the window + * \param windowY the pointer filled with the real Y coordinate in the window + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_RenderGetScale + * \sa SDL_RenderSetScale + * \sa SDL_RenderGetLogicalSize + * \sa SDL_RenderSetLogicalSize + */ +extern DECLSPEC void SDLCALL SDL_RenderLogicalToWindow(SDL_Renderer * renderer, + float logicalX, float logicalY, + int *windowX, int *windowY); + +/** + * Set the color used for drawing operations (Rect, Line and Clear). + * + * Set the color for drawing or filling rectangles, lines, and points, and for + * SDL_RenderClear(). + * + * \param renderer the rendering context + * \param r the red value used to draw on the rendering target + * \param g the green value used to draw on the rendering target + * \param b the blue value used to draw on the rendering target + * \param a the alpha value used to draw on the rendering target; usually + * `SDL_ALPHA_OPAQUE` (255). Use SDL_SetRenderDrawBlendMode to + * specify how the alpha channel is used + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRenderDrawColor + * \sa SDL_RenderClear + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + */ +extern DECLSPEC int SDLCALL SDL_SetRenderDrawColor(SDL_Renderer * renderer, + Uint8 r, Uint8 g, Uint8 b, + Uint8 a); + +/** + * Get the color used for drawing operations (Rect, Line and Clear). + * + * \param renderer the rendering context + * \param r a pointer filled in with the red value used to draw on the + * rendering target + * \param g a pointer filled in with the green value used to draw on the + * rendering target + * \param b a pointer filled in with the blue value used to draw on the + * rendering target + * \param a a pointer filled in with the alpha value used to draw on the + * rendering target; usually `SDL_ALPHA_OPAQUE` (255) + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_GetRenderDrawColor(SDL_Renderer * renderer, + Uint8 * r, Uint8 * g, Uint8 * b, + Uint8 * a); + +/** + * Set the blend mode used for drawing operations (Fill and Line). + * + * If the blend mode is not supported, the closest supported mode is chosen. + * + * \param renderer the rendering context + * \param blendMode the SDL_BlendMode to use for blending + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRenderDrawBlendMode + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + */ +extern DECLSPEC int SDLCALL SDL_SetRenderDrawBlendMode(SDL_Renderer * renderer, + SDL_BlendMode blendMode); + +/** + * Get the blend mode used for drawing operations. + * + * \param renderer the rendering context + * \param blendMode a pointer filled in with the current SDL_BlendMode + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetRenderDrawBlendMode + */ +extern DECLSPEC int SDLCALL SDL_GetRenderDrawBlendMode(SDL_Renderer * renderer, + SDL_BlendMode *blendMode); + +/** + * Clear the current rendering target with the drawing color. + * + * This function clears the entire rendering target, ignoring the viewport and + * the clip rectangle. + * + * \param renderer the rendering context + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderClear(SDL_Renderer * renderer); + +/** + * Draw a point on the current rendering target. + * + * SDL_RenderDrawPoint() draws a single point. If you want to draw multiple, + * use SDL_RenderDrawPoints() instead. + * + * \param renderer the rendering context + * \param x the x coordinate of the point + * \param y the y coordinate of the point + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawPoint(SDL_Renderer * renderer, + int x, int y); + +/** + * Draw multiple points on the current rendering target. + * + * \param renderer the rendering context + * \param points an array of SDL_Point structures that represent the points to + * draw + * \param count the number of points to draw + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawPoints(SDL_Renderer * renderer, + const SDL_Point * points, + int count); + +/** + * Draw a line on the current rendering target. + * + * SDL_RenderDrawLine() draws the line to include both end points. If you want + * to draw multiple, connecting lines use SDL_RenderDrawLines() instead. + * + * \param renderer the rendering context + * \param x1 the x coordinate of the start point + * \param y1 the y coordinate of the start point + * \param x2 the x coordinate of the end point + * \param y2 the y coordinate of the end point + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawLine(SDL_Renderer * renderer, + int x1, int y1, int x2, int y2); + +/** + * Draw a series of connected lines on the current rendering target. + * + * \param renderer the rendering context + * \param points an array of SDL_Point structures representing points along + * the lines + * \param count the number of points, drawing count-1 lines + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawLines(SDL_Renderer * renderer, + const SDL_Point * points, + int count); + +/** + * Draw a rectangle on the current rendering target. + * + * \param renderer the rendering context + * \param rect an SDL_Rect structure representing the rectangle to draw, or + * NULL to outline the entire rendering target + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawRect(SDL_Renderer * renderer, + const SDL_Rect * rect); + +/** + * Draw some number of rectangles on the current rendering target. + * + * \param renderer the rendering context + * \param rects an array of SDL_Rect structures representing the rectangles to + * be drawn + * \param count the number of rectangles + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawRects(SDL_Renderer * renderer, + const SDL_Rect * rects, + int count); + +/** + * Fill a rectangle on the current rendering target with the drawing color. + * + * The current drawing color is set by SDL_SetRenderDrawColor(), and the + * color's alpha value is ignored unless blending is enabled with the + * appropriate call to SDL_SetRenderDrawBlendMode(). + * + * \param renderer the rendering context + * \param rect the SDL_Rect structure representing the rectangle to fill, or + * NULL for the entire rendering target + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRects + * \sa SDL_RenderPresent + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC int SDLCALL SDL_RenderFillRect(SDL_Renderer * renderer, + const SDL_Rect * rect); + +/** + * Fill some number of rectangles on the current rendering target with the + * drawing color. + * + * \param renderer the rendering context + * \param rects an array of SDL_Rect structures representing the rectangles to + * be filled + * \param count the number of rectangles + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderPresent + */ +extern DECLSPEC int SDLCALL SDL_RenderFillRects(SDL_Renderer * renderer, + const SDL_Rect * rects, + int count); + +/** + * Copy a portion of the texture to the current rendering target. + * + * The texture is blended with the destination based on its blend mode set + * with SDL_SetTextureBlendMode(). + * + * The texture color is affected based on its color modulation set by + * SDL_SetTextureColorMod(). + * + * The texture alpha is affected based on its alpha modulation set by + * SDL_SetTextureAlphaMod(). + * + * \param renderer the rendering context + * \param texture the source texture + * \param srcrect the source SDL_Rect structure or NULL for the entire texture + * \param dstrect the destination SDL_Rect structure or NULL for the entire + * rendering target; the texture will be stretched to fill the + * given rectangle + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderCopyEx + * \sa SDL_SetTextureAlphaMod + * \sa SDL_SetTextureBlendMode + * \sa SDL_SetTextureColorMod + */ +extern DECLSPEC int SDLCALL SDL_RenderCopy(SDL_Renderer * renderer, + SDL_Texture * texture, + const SDL_Rect * srcrect, + const SDL_Rect * dstrect); + +/** + * Copy a portion of the texture to the current rendering, with optional + * rotation and flipping. + * + * Copy a portion of the texture to the current rendering target, optionally + * rotating it by angle around the given center and also flipping it + * top-bottom and/or left-right. + * + * The texture is blended with the destination based on its blend mode set + * with SDL_SetTextureBlendMode(). + * + * The texture color is affected based on its color modulation set by + * SDL_SetTextureColorMod(). + * + * The texture alpha is affected based on its alpha modulation set by + * SDL_SetTextureAlphaMod(). + * + * \param renderer the rendering context + * \param texture the source texture + * \param srcrect the source SDL_Rect structure or NULL for the entire texture + * \param dstrect the destination SDL_Rect structure or NULL for the entire + * rendering target + * \param angle an angle in degrees that indicates the rotation that will be + * applied to dstrect, rotating it in a clockwise direction + * \param center a pointer to a point indicating the point around which + * dstrect will be rotated (if NULL, rotation will be done + * around `dstrect.w / 2`, `dstrect.h / 2`) + * \param flip a SDL_RendererFlip value stating which flipping actions should + * be performed on the texture + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderCopy + * \sa SDL_SetTextureAlphaMod + * \sa SDL_SetTextureBlendMode + * \sa SDL_SetTextureColorMod + */ +extern DECLSPEC int SDLCALL SDL_RenderCopyEx(SDL_Renderer * renderer, + SDL_Texture * texture, + const SDL_Rect * srcrect, + const SDL_Rect * dstrect, + const double angle, + const SDL_Point *center, + const SDL_RendererFlip flip); + + +/** + * Draw a point on the current rendering target at subpixel precision. + * + * \param renderer The renderer which should draw a point. + * \param x The x coordinate of the point. + * \param y The y coordinate of the point. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawPointF(SDL_Renderer * renderer, + float x, float y); + +/** + * Draw multiple points on the current rendering target at subpixel precision. + * + * \param renderer The renderer which should draw multiple points. + * \param points The points to draw + * \param count The number of points to draw + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawPointsF(SDL_Renderer * renderer, + const SDL_FPoint * points, + int count); + +/** + * Draw a line on the current rendering target at subpixel precision. + * + * \param renderer The renderer which should draw a line. + * \param x1 The x coordinate of the start point. + * \param y1 The y coordinate of the start point. + * \param x2 The x coordinate of the end point. + * \param y2 The y coordinate of the end point. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawLineF(SDL_Renderer * renderer, + float x1, float y1, float x2, float y2); + +/** + * Draw a series of connected lines on the current rendering target at + * subpixel precision. + * + * \param renderer The renderer which should draw multiple lines. + * \param points The points along the lines + * \param count The number of points, drawing count-1 lines + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawLinesF(SDL_Renderer * renderer, + const SDL_FPoint * points, + int count); + +/** + * Draw a rectangle on the current rendering target at subpixel precision. + * + * \param renderer The renderer which should draw a rectangle. + * \param rect A pointer to the destination rectangle, or NULL to outline the + * entire rendering target. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawRectF(SDL_Renderer * renderer, + const SDL_FRect * rect); + +/** + * Draw some number of rectangles on the current rendering target at subpixel + * precision. + * + * \param renderer The renderer which should draw multiple rectangles. + * \param rects A pointer to an array of destination rectangles. + * \param count The number of rectangles. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderDrawRectsF(SDL_Renderer * renderer, + const SDL_FRect * rects, + int count); + +/** + * Fill a rectangle on the current rendering target with the drawing color at + * subpixel precision. + * + * \param renderer The renderer which should fill a rectangle. + * \param rect A pointer to the destination rectangle, or NULL for the entire + * rendering target. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderFillRectF(SDL_Renderer * renderer, + const SDL_FRect * rect); + +/** + * Fill some number of rectangles on the current rendering target with the + * drawing color at subpixel precision. + * + * \param renderer The renderer which should fill multiple rectangles. + * \param rects A pointer to an array of destination rectangles. + * \param count The number of rectangles. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderFillRectsF(SDL_Renderer * renderer, + const SDL_FRect * rects, + int count); + +/** + * Copy a portion of the texture to the current rendering target at subpixel + * precision. + * + * \param renderer The renderer which should copy parts of a texture. + * \param texture The source texture. + * \param srcrect A pointer to the source rectangle, or NULL for the entire + * texture. + * \param dstrect A pointer to the destination rectangle, or NULL for the + * entire rendering target. + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderCopyF(SDL_Renderer * renderer, + SDL_Texture * texture, + const SDL_Rect * srcrect, + const SDL_FRect * dstrect); + +/** + * Copy a portion of the source texture to the current rendering target, with + * rotation and flipping, at subpixel precision. + * + * \param renderer The renderer which should copy parts of a texture. + * \param texture The source texture. + * \param srcrect A pointer to the source rectangle, or NULL for the entire + * texture. + * \param dstrect A pointer to the destination rectangle, or NULL for the + * entire rendering target. + * \param angle An angle in degrees that indicates the rotation that will be + * applied to dstrect, rotating it in a clockwise direction + * \param center A pointer to a point indicating the point around which + * dstrect will be rotated (if NULL, rotation will be done + * around dstrect.w/2, dstrect.h/2). + * \param flip An SDL_RendererFlip value stating which flipping actions should + * be performed on the texture + * \return 0 on success, or -1 on error + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderCopyExF(SDL_Renderer * renderer, + SDL_Texture * texture, + const SDL_Rect * srcrect, + const SDL_FRect * dstrect, + const double angle, + const SDL_FPoint *center, + const SDL_RendererFlip flip); + +/** + * Render a list of triangles, optionally using a texture and indices into the + * vertex array Color and alpha modulation is done per vertex + * (SDL_SetTextureColorMod and SDL_SetTextureAlphaMod are ignored). + * + * \param renderer The rendering context. + * \param texture (optional) The SDL texture to use. + * \param vertices Vertices. + * \param num_vertices Number of vertices. + * \param indices (optional) An array of integer indices into the 'vertices' + * array, if NULL all vertices will be rendered in sequential + * order. + * \param num_indices Number of indices. + * \return 0 on success, or -1 if the operation is not supported + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_RenderGeometryRaw + * \sa SDL_Vertex + */ +extern DECLSPEC int SDLCALL SDL_RenderGeometry(SDL_Renderer *renderer, + SDL_Texture *texture, + const SDL_Vertex *vertices, int num_vertices, + const int *indices, int num_indices); + +/** + * Render a list of triangles, optionally using a texture and indices into the + * vertex arrays Color and alpha modulation is done per vertex + * (SDL_SetTextureColorMod and SDL_SetTextureAlphaMod are ignored). + * + * \param renderer The rendering context. + * \param texture (optional) The SDL texture to use. + * \param xy Vertex positions + * \param xy_stride Byte size to move from one element to the next element + * \param color Vertex colors (as SDL_Color) + * \param color_stride Byte size to move from one element to the next element + * \param uv Vertex normalized texture coordinates + * \param uv_stride Byte size to move from one element to the next element + * \param num_vertices Number of vertices. + * \param indices (optional) An array of indices into the 'vertices' arrays, + * if NULL all vertices will be rendered in sequential order. + * \param num_indices Number of indices. + * \param size_indices Index size: 1 (byte), 2 (short), 4 (int) + * \return 0 on success, or -1 if the operation is not supported + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_RenderGeometry + * \sa SDL_Vertex + */ +extern DECLSPEC int SDLCALL SDL_RenderGeometryRaw(SDL_Renderer *renderer, + SDL_Texture *texture, + const float *xy, int xy_stride, + const SDL_Color *color, int color_stride, + const float *uv, int uv_stride, + int num_vertices, + const void *indices, int num_indices, int size_indices); + +/** + * Read pixels from the current rendering target to an array of pixels. + * + * **WARNING**: This is a very slow operation, and should not be used + * frequently. If you're using this on the main rendering target, it should be + * called after rendering and before SDL_RenderPresent(). + * + * `pitch` specifies the number of bytes between rows in the destination + * `pixels` data. This allows you to write to a subrectangle or have padded + * rows in the destination. Generally, `pitch` should equal the number of + * pixels per row in the `pixels` data times the number of bytes per pixel, + * but it might contain additional padding (for example, 24bit RGB Windows + * Bitmap data pads all rows to multiples of 4 bytes). + * + * \param renderer the rendering context + * \param rect an SDL_Rect structure representing the area to read, or NULL + * for the entire render target + * \param format an SDL_PixelFormatEnum value of the desired format of the + * pixel data, or 0 to use the format of the rendering target + * \param pixels a pointer to the pixel data to copy into + * \param pitch the pitch of the `pixels` parameter + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_RenderReadPixels(SDL_Renderer * renderer, + const SDL_Rect * rect, + Uint32 format, + void *pixels, int pitch); + +/** + * Update the screen with any rendering performed since the previous call. + * + * SDL's rendering functions operate on a backbuffer; that is, calling a + * rendering function such as SDL_RenderDrawLine() does not directly put a + * line on the screen, but rather updates the backbuffer. As such, you compose + * your entire scene and *present* the composed backbuffer to the screen as a + * complete picture. + * + * Therefore, when using SDL's rendering API, one does all drawing intended + * for the frame, and then calls this function once per frame to present the + * final drawing to the user. + * + * The backbuffer should be considered invalidated after each present; do not + * assume that previous contents will exist between frames. You are strongly + * encouraged to call SDL_RenderClear() to initialize the backbuffer before + * starting each new frame's drawing, even if you plan to overwrite every + * pixel. + * + * \param renderer the rendering context + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RenderClear + * \sa SDL_RenderDrawLine + * \sa SDL_RenderDrawLines + * \sa SDL_RenderDrawPoint + * \sa SDL_RenderDrawPoints + * \sa SDL_RenderDrawRect + * \sa SDL_RenderDrawRects + * \sa SDL_RenderFillRect + * \sa SDL_RenderFillRects + * \sa SDL_SetRenderDrawBlendMode + * \sa SDL_SetRenderDrawColor + */ +extern DECLSPEC void SDLCALL SDL_RenderPresent(SDL_Renderer * renderer); + +/** + * Destroy the specified texture. + * + * Passing NULL or an otherwise invalid texture will set the SDL error message + * to "Invalid texture". + * + * \param texture the texture to destroy + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateTexture + * \sa SDL_CreateTextureFromSurface + */ +extern DECLSPEC void SDLCALL SDL_DestroyTexture(SDL_Texture * texture); + +/** + * Destroy the rendering context for a window and free associated textures. + * + * If `renderer` is NULL, this function will return immediately after setting + * the SDL error message to "Invalid renderer". See SDL_GetError(). + * + * \param renderer the rendering context + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRenderer + */ +extern DECLSPEC void SDLCALL SDL_DestroyRenderer(SDL_Renderer * renderer); + +/** + * Force the rendering context to flush any pending commands to the underlying + * rendering API. + * + * You do not need to (and in fact, shouldn't) call this function unless you + * are planning to call into OpenGL/Direct3D/Metal/whatever directly in + * addition to using an SDL_Renderer. + * + * This is for a very-specific case: if you are using SDL's render API, you + * asked for a specific renderer backend (OpenGL, Direct3D, etc), you set + * SDL_HINT_RENDER_BATCHING to "1", and you plan to make OpenGL/D3D/whatever + * calls in addition to SDL render API calls. If all of this applies, you + * should call SDL_RenderFlush() between calls to SDL's render API and the + * low-level API you're using in cooperation. + * + * In all other cases, you can ignore this function. This is only here to get + * maximum performance out of a specific situation. In all other cases, SDL + * will do the right thing, perhaps at a performance loss. + * + * This function is first available in SDL 2.0.10, and is not needed in 2.0.9 + * and earlier, as earlier versions did not queue rendering commands at all, + * instead flushing them to the OS immediately. + * + * \param renderer the rendering context + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC int SDLCALL SDL_RenderFlush(SDL_Renderer * renderer); + + +/** + * Bind an OpenGL/ES/ES2 texture to the current context. + * + * This is for use with OpenGL instructions when rendering OpenGL primitives + * directly. + * + * If not NULL, `texw` and `texh` will be filled with the width and height + * values suitable for the provided texture. In most cases, both will be 1.0, + * however, on systems that support the GL_ARB_texture_rectangle extension, + * these values will actually be the pixel width and height used to create the + * texture, so this factor needs to be taken into account when providing + * texture coordinates to OpenGL. + * + * You need a renderer to create an SDL_Texture, therefore you can only use + * this function with an implicit OpenGL context from SDL_CreateRenderer(), + * not with your own OpenGL context. If you need control over your OpenGL + * context, you need to write your own texture-loading methods. + * + * Also note that SDL may upload RGB textures as BGR (or vice-versa), and + * re-order the color channels in the shaders phase, so the uploaded texture + * may have swapped color channels. + * + * \param texture the texture to bind to the current OpenGL/ES/ES2 context + * \param texw a pointer to a float value which will be filled with the + * texture width or NULL if you don't need that value + * \param texh a pointer to a float value which will be filled with the + * texture height or NULL if you don't need that value + * \returns 0 on success, or -1 if the operation is not supported; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_MakeCurrent + * \sa SDL_GL_UnbindTexture + */ +extern DECLSPEC int SDLCALL SDL_GL_BindTexture(SDL_Texture *texture, float *texw, float *texh); + +/** + * Unbind an OpenGL/ES/ES2 texture from the current context. + * + * See SDL_GL_BindTexture() for examples on how to use these functions + * + * \param texture the texture to unbind from the current OpenGL/ES/ES2 context + * \returns 0 on success, or -1 if the operation is not supported + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_BindTexture + * \sa SDL_GL_MakeCurrent + */ +extern DECLSPEC int SDLCALL SDL_GL_UnbindTexture(SDL_Texture *texture); + +/** + * Get the CAMetalLayer associated with the given Metal renderer. + * + * This function returns `void *`, so SDL doesn't have to include Metal's + * headers, but it can be safely cast to a `CAMetalLayer *`. + * + * \param renderer The renderer to query + * \returns a `CAMetalLayer *` on success, or NULL if the renderer isn't a + * Metal renderer + * + * \since This function is available since SDL 2.0.8. + * + * \sa SDL_RenderGetMetalCommandEncoder + */ +extern DECLSPEC void *SDLCALL SDL_RenderGetMetalLayer(SDL_Renderer * renderer); + +/** + * Get the Metal command encoder for the current frame + * + * This function returns `void *`, so SDL doesn't have to include Metal's + * headers, but it can be safely cast to an `id`. + * + * Note that as of SDL 2.0.18, this will return NULL if Metal refuses to give + * SDL a drawable to render to, which might happen if the window is + * hidden/minimized/offscreen. This doesn't apply to command encoders for + * render targets, just the window's backbacker. Check your return values! + * + * \param renderer The renderer to query + * \returns an `id` on success, or NULL if the + * renderer isn't a Metal renderer or there was an error. + * + * \since This function is available since SDL 2.0.8. + * + * \sa SDL_RenderGetMetalLayer + */ +extern DECLSPEC void *SDLCALL SDL_RenderGetMetalCommandEncoder(SDL_Renderer * renderer); + +/** + * Toggle VSync of the given renderer. + * + * \param renderer The renderer to toggle + * \param vsync 1 for on, 0 for off. All other values are reserved + * \returns a 0 int on success, or non-zero on failure + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_RenderSetVSync(SDL_Renderer* renderer, int vsync); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_render_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_revision.h b/subprojects/sdl2_windows/include/SDL2/SDL_revision.h new file mode 100644 index 000000000..f3633e94f --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_revision.h @@ -0,0 +1,7 @@ +/* Generated by updaterev.sh, do not edit */ +#ifdef SDL_VENDOR_INFO +#define SDL_REVISION "SDL-release-2.26.1-0-gf17058b56 (" SDL_VENDOR_INFO ")" +#else +#define SDL_REVISION "SDL-release-2.26.1-0-gf17058b56" +#endif +#define SDL_REVISION_NUMBER 0 diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_rwops.h b/subprojects/sdl2_windows/include/SDL2/SDL_rwops.h new file mode 100644 index 000000000..3960f567c --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_rwops.h @@ -0,0 +1,841 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_rwops.h + * + * This file provides a general interface for SDL to read and write + * data streams. It can easily be extended to files, memory, etc. + */ + +#ifndef SDL_rwops_h_ +#define SDL_rwops_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* RWops Types */ +#define SDL_RWOPS_UNKNOWN 0U /**< Unknown stream type */ +#define SDL_RWOPS_WINFILE 1U /**< Win32 file */ +#define SDL_RWOPS_STDFILE 2U /**< Stdio file */ +#define SDL_RWOPS_JNIFILE 3U /**< Android asset */ +#define SDL_RWOPS_MEMORY 4U /**< Memory stream */ +#define SDL_RWOPS_MEMORY_RO 5U /**< Read-Only memory stream */ + +/** + * This is the read/write operation structure -- very basic. + */ +typedef struct SDL_RWops +{ + /** + * Return the size of the file in this rwops, or -1 if unknown + */ + Sint64 (SDLCALL * size) (struct SDL_RWops * context); + + /** + * Seek to \c offset relative to \c whence, one of stdio's whence values: + * RW_SEEK_SET, RW_SEEK_CUR, RW_SEEK_END + * + * \return the final offset in the data stream, or -1 on error. + */ + Sint64 (SDLCALL * seek) (struct SDL_RWops * context, Sint64 offset, + int whence); + + /** + * Read up to \c maxnum objects each of size \c size from the data + * stream to the area pointed at by \c ptr. + * + * \return the number of objects read, or 0 at error or end of file. + */ + size_t (SDLCALL * read) (struct SDL_RWops * context, void *ptr, + size_t size, size_t maxnum); + + /** + * Write exactly \c num objects each of size \c size from the area + * pointed at by \c ptr to data stream. + * + * \return the number of objects written, or 0 at error or end of file. + */ + size_t (SDLCALL * write) (struct SDL_RWops * context, const void *ptr, + size_t size, size_t num); + + /** + * Close and free an allocated SDL_RWops structure. + * + * \return 0 if successful or -1 on write error when flushing data. + */ + int (SDLCALL * close) (struct SDL_RWops * context); + + Uint32 type; + union + { +#if defined(__ANDROID__) + struct + { + void *asset; + } androidio; +#elif defined(__WIN32__) || defined(__GDK__) + struct + { + SDL_bool append; + void *h; + struct + { + void *data; + size_t size; + size_t left; + } buffer; + } windowsio; +#endif + +#ifdef HAVE_STDIO_H + struct + { + SDL_bool autoclose; + FILE *fp; + } stdio; +#endif + struct + { + Uint8 *base; + Uint8 *here; + Uint8 *stop; + } mem; + struct + { + void *data1; + void *data2; + } unknown; + } hidden; + +} SDL_RWops; + + +/** + * \name RWFrom functions + * + * Functions to create SDL_RWops structures from various data streams. + */ +/* @{ */ + +/** + * Use this function to create a new SDL_RWops structure for reading from + * and/or writing to a named file. + * + * The `mode` string is treated roughly the same as in a call to the C + * library's fopen(), even if SDL doesn't happen to use fopen() behind the + * scenes. + * + * Available `mode` strings: + * + * - "r": Open a file for reading. The file must exist. + * - "w": Create an empty file for writing. If a file with the same name + * already exists its content is erased and the file is treated as a new + * empty file. + * - "a": Append to a file. Writing operations append data at the end of the + * file. The file is created if it does not exist. + * - "r+": Open a file for update both reading and writing. The file must + * exist. + * - "w+": Create an empty file for both reading and writing. If a file with + * the same name already exists its content is erased and the file is + * treated as a new empty file. + * - "a+": Open a file for reading and appending. All writing operations are + * performed at the end of the file, protecting the previous content to be + * overwritten. You can reposition (fseek, rewind) the internal pointer to + * anywhere in the file for reading, but writing operations will move it + * back to the end of file. The file is created if it does not exist. + * + * **NOTE**: In order to open a file as a binary file, a "b" character has to + * be included in the `mode` string. This additional "b" character can either + * be appended at the end of the string (thus making the following compound + * modes: "rb", "wb", "ab", "r+b", "w+b", "a+b") or be inserted between the + * letter and the "+" sign for the mixed modes ("rb+", "wb+", "ab+"). + * Additional characters may follow the sequence, although they should have no + * effect. For example, "t" is sometimes appended to make explicit the file is + * a text file. + * + * This function supports Unicode filenames, but they must be encoded in UTF-8 + * format, regardless of the underlying operating system. + * + * As a fallback, SDL_RWFromFile() will transparently open a matching filename + * in an Android app's `assets`. + * + * Closing the SDL_RWops will close the file handle SDL is holding internally. + * + * \param file a UTF-8 string representing the filename to open + * \param mode an ASCII string representing the mode to be used for opening + * the file. + * \returns a pointer to the SDL_RWops structure that is created, or NULL on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + * \sa SDL_RWtell + * \sa SDL_RWwrite + */ +extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromFile(const char *file, + const char *mode); + +#ifdef HAVE_STDIO_H + +extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromFP(FILE * fp, SDL_bool autoclose); + +#else + +/** + * Use this function to create an SDL_RWops structure from a standard I/O file + * pointer (stdio.h's `FILE*`). + * + * This function is not available on Windows, since files opened in an + * application on that platform cannot be used by a dynamically linked + * library. + * + * On some platforms, the first parameter is a `void*`, on others, it's a + * `FILE*`, depending on what system headers are available to SDL. It is + * always intended to be the `FILE*` type from the C runtime's stdio.h. + * + * \param fp the `FILE*` that feeds the SDL_RWops stream + * \param autoclose SDL_TRUE to close the `FILE*` when closing the SDL_RWops, + * SDL_FALSE to leave the `FILE*` open when the RWops is + * closed + * \returns a pointer to the SDL_RWops structure that is created, or NULL on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + * \sa SDL_RWtell + * \sa SDL_RWwrite + */ +extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromFP(void * fp, + SDL_bool autoclose); +#endif + +/** + * Use this function to prepare a read-write memory buffer for use with + * SDL_RWops. + * + * This function sets up an SDL_RWops struct based on a memory area of a + * certain size, for both read and write access. + * + * This memory buffer is not copied by the RWops; the pointer you provide must + * remain valid until you close the stream. Closing the stream will not free + * the original buffer. + * + * If you need to make sure the RWops never writes to the memory buffer, you + * should use SDL_RWFromConstMem() with a read-only buffer of memory instead. + * + * \param mem a pointer to a buffer to feed an SDL_RWops stream + * \param size the buffer size, in bytes + * \returns a pointer to a new SDL_RWops structure, or NULL if it fails; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + * \sa SDL_RWtell + * \sa SDL_RWwrite + */ +extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromMem(void *mem, int size); + +/** + * Use this function to prepare a read-only memory buffer for use with RWops. + * + * This function sets up an SDL_RWops struct based on a memory area of a + * certain size. It assumes the memory area is not writable. + * + * Attempting to write to this RWops stream will report an error without + * writing to the memory buffer. + * + * This memory buffer is not copied by the RWops; the pointer you provide must + * remain valid until you close the stream. Closing the stream will not free + * the original buffer. + * + * If you need to write to a memory buffer, you should use SDL_RWFromMem() + * with a writable buffer of memory instead. + * + * \param mem a pointer to a read-only buffer to feed an SDL_RWops stream + * \param size the buffer size, in bytes + * \returns a pointer to a new SDL_RWops structure, or NULL if it fails; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + * \sa SDL_RWtell + */ +extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromConstMem(const void *mem, + int size); + +/* @} *//* RWFrom functions */ + + +/** + * Use this function to allocate an empty, unpopulated SDL_RWops structure. + * + * Applications do not need to use this function unless they are providing + * their own SDL_RWops implementation. If you just need a SDL_RWops to + * read/write a common data source, you should use the built-in + * implementations in SDL, like SDL_RWFromFile() or SDL_RWFromMem(), etc. + * + * You must free the returned pointer with SDL_FreeRW(). Depending on your + * operating system and compiler, there may be a difference between the + * malloc() and free() your program uses and the versions SDL calls + * internally. Trying to mix the two can cause crashing such as segmentation + * faults. Since all SDL_RWops must free themselves when their **close** + * method is called, all SDL_RWops must be allocated through this function, so + * they can all be freed correctly with SDL_FreeRW(). + * + * \returns a pointer to the allocated memory on success, or NULL on failure; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreeRW + */ +extern DECLSPEC SDL_RWops *SDLCALL SDL_AllocRW(void); + +/** + * Use this function to free an SDL_RWops structure allocated by + * SDL_AllocRW(). + * + * Applications do not need to use this function unless they are providing + * their own SDL_RWops implementation. If you just need a SDL_RWops to + * read/write a common data source, you should use the built-in + * implementations in SDL, like SDL_RWFromFile() or SDL_RWFromMem(), etc, and + * call the **close** method on those SDL_RWops pointers when you are done + * with them. + * + * Only use SDL_FreeRW() on pointers returned by SDL_AllocRW(). The pointer is + * invalid as soon as this function returns. Any extra memory allocated during + * creation of the SDL_RWops is not freed by SDL_FreeRW(); the programmer must + * be responsible for managing that memory in their **close** method. + * + * \param area the SDL_RWops structure to be freed + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocRW + */ +extern DECLSPEC void SDLCALL SDL_FreeRW(SDL_RWops * area); + +#define RW_SEEK_SET 0 /**< Seek from the beginning of data */ +#define RW_SEEK_CUR 1 /**< Seek relative to current read point */ +#define RW_SEEK_END 2 /**< Seek relative to the end of data */ + +/** + * Use this function to get the size of the data stream in an SDL_RWops. + * + * Prior to SDL 2.0.10, this function was a macro. + * + * \param context the SDL_RWops to get the size of the data stream from + * \returns the size of the data stream in the SDL_RWops on success, -1 if + * unknown or a negative error code on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC Sint64 SDLCALL SDL_RWsize(SDL_RWops *context); + +/** + * Seek within an SDL_RWops data stream. + * + * This function seeks to byte `offset`, relative to `whence`. + * + * `whence` may be any of the following values: + * + * - `RW_SEEK_SET`: seek from the beginning of data + * - `RW_SEEK_CUR`: seek relative to current read point + * - `RW_SEEK_END`: seek relative to the end of data + * + * If this stream can not seek, it will return -1. + * + * SDL_RWseek() is actually a wrapper function that calls the SDL_RWops's + * `seek` method appropriately, to simplify application development. + * + * Prior to SDL 2.0.10, this function was a macro. + * + * \param context a pointer to an SDL_RWops structure + * \param offset an offset in bytes, relative to **whence** location; can be + * negative + * \param whence any of `RW_SEEK_SET`, `RW_SEEK_CUR`, `RW_SEEK_END` + * \returns the final offset in the data stream after the seek or -1 on error. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWtell + * \sa SDL_RWwrite + */ +extern DECLSPEC Sint64 SDLCALL SDL_RWseek(SDL_RWops *context, + Sint64 offset, int whence); + +/** + * Determine the current read/write offset in an SDL_RWops data stream. + * + * SDL_RWtell is actually a wrapper function that calls the SDL_RWops's `seek` + * method, with an offset of 0 bytes from `RW_SEEK_CUR`, to simplify + * application development. + * + * Prior to SDL 2.0.10, this function was a macro. + * + * \param context a SDL_RWops data stream object from which to get the current + * offset + * \returns the current offset in the stream, or -1 if the information can not + * be determined. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + * \sa SDL_RWwrite + */ +extern DECLSPEC Sint64 SDLCALL SDL_RWtell(SDL_RWops *context); + +/** + * Read from a data source. + * + * This function reads up to `maxnum` objects each of size `size` from the + * data source to the area pointed at by `ptr`. This function may read less + * objects than requested. It will return zero when there has been an error or + * the data stream is completely read. + * + * SDL_RWread() is actually a function wrapper that calls the SDL_RWops's + * `read` method appropriately, to simplify application development. + * + * Prior to SDL 2.0.10, this function was a macro. + * + * \param context a pointer to an SDL_RWops structure + * \param ptr a pointer to a buffer to read data into + * \param size the size of each object to read, in bytes + * \param maxnum the maximum number of objects to be read + * \returns the number of objects read, or 0 at error or end of file; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWseek + * \sa SDL_RWwrite + */ +extern DECLSPEC size_t SDLCALL SDL_RWread(SDL_RWops *context, + void *ptr, size_t size, + size_t maxnum); + +/** + * Write to an SDL_RWops data stream. + * + * This function writes exactly `num` objects each of size `size` from the + * area pointed at by `ptr` to the stream. If this fails for any reason, it'll + * return less than `num` to demonstrate how far the write progressed. On + * success, it returns `num`. + * + * SDL_RWwrite is actually a function wrapper that calls the SDL_RWops's + * `write` method appropriately, to simplify application development. + * + * Prior to SDL 2.0.10, this function was a macro. + * + * \param context a pointer to an SDL_RWops structure + * \param ptr a pointer to a buffer containing data to write + * \param size the size of an object to write, in bytes + * \param num the number of objects to write + * \returns the number of objects written, which will be less than **num** on + * error; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_RWclose + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + */ +extern DECLSPEC size_t SDLCALL SDL_RWwrite(SDL_RWops *context, + const void *ptr, size_t size, + size_t num); + +/** + * Close and free an allocated SDL_RWops structure. + * + * SDL_RWclose() closes and cleans up the SDL_RWops stream. It releases any + * resources used by the stream and frees the SDL_RWops itself with + * SDL_FreeRW(). This returns 0 on success, or -1 if the stream failed to + * flush to its output (e.g. to disk). + * + * Note that if this fails to flush the stream to disk, this function reports + * an error, but the SDL_RWops is still invalid once this function returns. + * + * Prior to SDL 2.0.10, this function was a macro. + * + * \param context SDL_RWops structure to close + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.10. + * + * \sa SDL_RWFromConstMem + * \sa SDL_RWFromFile + * \sa SDL_RWFromFP + * \sa SDL_RWFromMem + * \sa SDL_RWread + * \sa SDL_RWseek + * \sa SDL_RWwrite + */ +extern DECLSPEC int SDLCALL SDL_RWclose(SDL_RWops *context); + +/** + * Load all the data from an SDL data stream. + * + * The data is allocated with a zero byte at the end (null terminated) for + * convenience. This extra byte is not included in the value reported via + * `datasize`. + * + * The data should be freed with SDL_free(). + * + * \param src the SDL_RWops to read all available data from + * \param datasize if not NULL, will store the number of bytes read + * \param freesrc if non-zero, calls SDL_RWclose() on `src` before returning + * \returns the data, or NULL if there was an error. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC void *SDLCALL SDL_LoadFile_RW(SDL_RWops *src, + size_t *datasize, + int freesrc); + +/** + * Load all the data from a file path. + * + * The data is allocated with a zero byte at the end (null terminated) for + * convenience. This extra byte is not included in the value reported via + * `datasize`. + * + * The data should be freed with SDL_free(). + * + * Prior to SDL 2.0.10, this function was a macro wrapping around + * SDL_LoadFile_RW. + * + * \param file the path to read all available data from + * \param datasize if not NULL, will store the number of bytes read + * \returns the data, or NULL if there was an error. + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC void *SDLCALL SDL_LoadFile(const char *file, size_t *datasize); + +/** + * \name Read endian functions + * + * Read an item of the specified endianness and return in native format. + */ +/* @{ */ + +/** + * Use this function to read a byte from an SDL_RWops. + * + * \param src the SDL_RWops to read from + * \returns the read byte on success or 0 on failure; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteU8 + */ +extern DECLSPEC Uint8 SDLCALL SDL_ReadU8(SDL_RWops * src); + +/** + * Use this function to read 16 bits of little-endian data from an SDL_RWops + * and return in native format. + * + * SDL byteswaps the data only if necessary, so the data returned will be in + * the native byte order. + * + * \param src the stream from which to read data + * \returns 16 bits of data in the native byte order of the platform. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadBE16 + */ +extern DECLSPEC Uint16 SDLCALL SDL_ReadLE16(SDL_RWops * src); + +/** + * Use this function to read 16 bits of big-endian data from an SDL_RWops and + * return in native format. + * + * SDL byteswaps the data only if necessary, so the data returned will be in + * the native byte order. + * + * \param src the stream from which to read data + * \returns 16 bits of data in the native byte order of the platform. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadLE16 + */ +extern DECLSPEC Uint16 SDLCALL SDL_ReadBE16(SDL_RWops * src); + +/** + * Use this function to read 32 bits of little-endian data from an SDL_RWops + * and return in native format. + * + * SDL byteswaps the data only if necessary, so the data returned will be in + * the native byte order. + * + * \param src the stream from which to read data + * \returns 32 bits of data in the native byte order of the platform. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadBE32 + */ +extern DECLSPEC Uint32 SDLCALL SDL_ReadLE32(SDL_RWops * src); + +/** + * Use this function to read 32 bits of big-endian data from an SDL_RWops and + * return in native format. + * + * SDL byteswaps the data only if necessary, so the data returned will be in + * the native byte order. + * + * \param src the stream from which to read data + * \returns 32 bits of data in the native byte order of the platform. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadLE32 + */ +extern DECLSPEC Uint32 SDLCALL SDL_ReadBE32(SDL_RWops * src); + +/** + * Use this function to read 64 bits of little-endian data from an SDL_RWops + * and return in native format. + * + * SDL byteswaps the data only if necessary, so the data returned will be in + * the native byte order. + * + * \param src the stream from which to read data + * \returns 64 bits of data in the native byte order of the platform. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadBE64 + */ +extern DECLSPEC Uint64 SDLCALL SDL_ReadLE64(SDL_RWops * src); + +/** + * Use this function to read 64 bits of big-endian data from an SDL_RWops and + * return in native format. + * + * SDL byteswaps the data only if necessary, so the data returned will be in + * the native byte order. + * + * \param src the stream from which to read data + * \returns 64 bits of data in the native byte order of the platform. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadLE64 + */ +extern DECLSPEC Uint64 SDLCALL SDL_ReadBE64(SDL_RWops * src); +/* @} *//* Read endian functions */ + +/** + * \name Write endian functions + * + * Write an item of native format to the specified endianness. + */ +/* @{ */ + +/** + * Use this function to write a byte to an SDL_RWops. + * + * \param dst the SDL_RWops to write to + * \param value the byte value to write + * \returns 1 on success or 0 on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ReadU8 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteU8(SDL_RWops * dst, Uint8 value); + +/** + * Use this function to write 16 bits in native format to a SDL_RWops as + * little-endian data. + * + * SDL byteswaps the data only if necessary, so the application always + * specifies native format, and the data written will be in little-endian + * format. + * + * \param dst the stream to which data will be written + * \param value the data to be written, in native format + * \returns 1 on successful write, 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteBE16 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteLE16(SDL_RWops * dst, Uint16 value); + +/** + * Use this function to write 16 bits in native format to a SDL_RWops as + * big-endian data. + * + * SDL byteswaps the data only if necessary, so the application always + * specifies native format, and the data written will be in big-endian format. + * + * \param dst the stream to which data will be written + * \param value the data to be written, in native format + * \returns 1 on successful write, 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteLE16 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteBE16(SDL_RWops * dst, Uint16 value); + +/** + * Use this function to write 32 bits in native format to a SDL_RWops as + * little-endian data. + * + * SDL byteswaps the data only if necessary, so the application always + * specifies native format, and the data written will be in little-endian + * format. + * + * \param dst the stream to which data will be written + * \param value the data to be written, in native format + * \returns 1 on successful write, 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteBE32 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteLE32(SDL_RWops * dst, Uint32 value); + +/** + * Use this function to write 32 bits in native format to a SDL_RWops as + * big-endian data. + * + * SDL byteswaps the data only if necessary, so the application always + * specifies native format, and the data written will be in big-endian format. + * + * \param dst the stream to which data will be written + * \param value the data to be written, in native format + * \returns 1 on successful write, 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteLE32 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteBE32(SDL_RWops * dst, Uint32 value); + +/** + * Use this function to write 64 bits in native format to a SDL_RWops as + * little-endian data. + * + * SDL byteswaps the data only if necessary, so the application always + * specifies native format, and the data written will be in little-endian + * format. + * + * \param dst the stream to which data will be written + * \param value the data to be written, in native format + * \returns 1 on successful write, 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteBE64 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteLE64(SDL_RWops * dst, Uint64 value); + +/** + * Use this function to write 64 bits in native format to a SDL_RWops as + * big-endian data. + * + * SDL byteswaps the data only if necessary, so the application always + * specifies native format, and the data written will be in big-endian format. + * + * \param dst the stream to which data will be written + * \param value the data to be written, in native format + * \returns 1 on successful write, 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WriteLE64 + */ +extern DECLSPEC size_t SDLCALL SDL_WriteBE64(SDL_RWops * dst, Uint64 value); +/* @} *//* Write endian functions */ + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_rwops_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_scancode.h b/subprojects/sdl2_windows/include/SDL2/SDL_scancode.h new file mode 100644 index 000000000..17e8fe2fd --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_scancode.h @@ -0,0 +1,438 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_scancode.h + * + * Defines keyboard scancodes. + */ + +#ifndef SDL_scancode_h_ +#define SDL_scancode_h_ + +#include "SDL_stdinc.h" + +/** + * \brief The SDL keyboard scancode representation. + * + * Values of this type are used to represent keyboard keys, among other places + * in the \link SDL_Keysym::scancode key.keysym.scancode \endlink field of the + * SDL_Event structure. + * + * The values in this enumeration are based on the USB usage page standard: + * https://www.usb.org/sites/default/files/documents/hut1_12v2.pdf + */ +typedef enum +{ + SDL_SCANCODE_UNKNOWN = 0, + + /** + * \name Usage page 0x07 + * + * These values are from usage page 0x07 (USB keyboard page). + */ + /* @{ */ + + SDL_SCANCODE_A = 4, + SDL_SCANCODE_B = 5, + SDL_SCANCODE_C = 6, + SDL_SCANCODE_D = 7, + SDL_SCANCODE_E = 8, + SDL_SCANCODE_F = 9, + SDL_SCANCODE_G = 10, + SDL_SCANCODE_H = 11, + SDL_SCANCODE_I = 12, + SDL_SCANCODE_J = 13, + SDL_SCANCODE_K = 14, + SDL_SCANCODE_L = 15, + SDL_SCANCODE_M = 16, + SDL_SCANCODE_N = 17, + SDL_SCANCODE_O = 18, + SDL_SCANCODE_P = 19, + SDL_SCANCODE_Q = 20, + SDL_SCANCODE_R = 21, + SDL_SCANCODE_S = 22, + SDL_SCANCODE_T = 23, + SDL_SCANCODE_U = 24, + SDL_SCANCODE_V = 25, + SDL_SCANCODE_W = 26, + SDL_SCANCODE_X = 27, + SDL_SCANCODE_Y = 28, + SDL_SCANCODE_Z = 29, + + SDL_SCANCODE_1 = 30, + SDL_SCANCODE_2 = 31, + SDL_SCANCODE_3 = 32, + SDL_SCANCODE_4 = 33, + SDL_SCANCODE_5 = 34, + SDL_SCANCODE_6 = 35, + SDL_SCANCODE_7 = 36, + SDL_SCANCODE_8 = 37, + SDL_SCANCODE_9 = 38, + SDL_SCANCODE_0 = 39, + + SDL_SCANCODE_RETURN = 40, + SDL_SCANCODE_ESCAPE = 41, + SDL_SCANCODE_BACKSPACE = 42, + SDL_SCANCODE_TAB = 43, + SDL_SCANCODE_SPACE = 44, + + SDL_SCANCODE_MINUS = 45, + SDL_SCANCODE_EQUALS = 46, + SDL_SCANCODE_LEFTBRACKET = 47, + SDL_SCANCODE_RIGHTBRACKET = 48, + SDL_SCANCODE_BACKSLASH = 49, /**< Located at the lower left of the return + * key on ISO keyboards and at the right end + * of the QWERTY row on ANSI keyboards. + * Produces REVERSE SOLIDUS (backslash) and + * VERTICAL LINE in a US layout, REVERSE + * SOLIDUS and VERTICAL LINE in a UK Mac + * layout, NUMBER SIGN and TILDE in a UK + * Windows layout, DOLLAR SIGN and POUND SIGN + * in a Swiss German layout, NUMBER SIGN and + * APOSTROPHE in a German layout, GRAVE + * ACCENT and POUND SIGN in a French Mac + * layout, and ASTERISK and MICRO SIGN in a + * French Windows layout. + */ + SDL_SCANCODE_NONUSHASH = 50, /**< ISO USB keyboards actually use this code + * instead of 49 for the same key, but all + * OSes I've seen treat the two codes + * identically. So, as an implementor, unless + * your keyboard generates both of those + * codes and your OS treats them differently, + * you should generate SDL_SCANCODE_BACKSLASH + * instead of this code. As a user, you + * should not rely on this code because SDL + * will never generate it with most (all?) + * keyboards. + */ + SDL_SCANCODE_SEMICOLON = 51, + SDL_SCANCODE_APOSTROPHE = 52, + SDL_SCANCODE_GRAVE = 53, /**< Located in the top left corner (on both ANSI + * and ISO keyboards). Produces GRAVE ACCENT and + * TILDE in a US Windows layout and in US and UK + * Mac layouts on ANSI keyboards, GRAVE ACCENT + * and NOT SIGN in a UK Windows layout, SECTION + * SIGN and PLUS-MINUS SIGN in US and UK Mac + * layouts on ISO keyboards, SECTION SIGN and + * DEGREE SIGN in a Swiss German layout (Mac: + * only on ISO keyboards), CIRCUMFLEX ACCENT and + * DEGREE SIGN in a German layout (Mac: only on + * ISO keyboards), SUPERSCRIPT TWO and TILDE in a + * French Windows layout, COMMERCIAL AT and + * NUMBER SIGN in a French Mac layout on ISO + * keyboards, and LESS-THAN SIGN and GREATER-THAN + * SIGN in a Swiss German, German, or French Mac + * layout on ANSI keyboards. + */ + SDL_SCANCODE_COMMA = 54, + SDL_SCANCODE_PERIOD = 55, + SDL_SCANCODE_SLASH = 56, + + SDL_SCANCODE_CAPSLOCK = 57, + + SDL_SCANCODE_F1 = 58, + SDL_SCANCODE_F2 = 59, + SDL_SCANCODE_F3 = 60, + SDL_SCANCODE_F4 = 61, + SDL_SCANCODE_F5 = 62, + SDL_SCANCODE_F6 = 63, + SDL_SCANCODE_F7 = 64, + SDL_SCANCODE_F8 = 65, + SDL_SCANCODE_F9 = 66, + SDL_SCANCODE_F10 = 67, + SDL_SCANCODE_F11 = 68, + SDL_SCANCODE_F12 = 69, + + SDL_SCANCODE_PRINTSCREEN = 70, + SDL_SCANCODE_SCROLLLOCK = 71, + SDL_SCANCODE_PAUSE = 72, + SDL_SCANCODE_INSERT = 73, /**< insert on PC, help on some Mac keyboards (but + does send code 73, not 117) */ + SDL_SCANCODE_HOME = 74, + SDL_SCANCODE_PAGEUP = 75, + SDL_SCANCODE_DELETE = 76, + SDL_SCANCODE_END = 77, + SDL_SCANCODE_PAGEDOWN = 78, + SDL_SCANCODE_RIGHT = 79, + SDL_SCANCODE_LEFT = 80, + SDL_SCANCODE_DOWN = 81, + SDL_SCANCODE_UP = 82, + + SDL_SCANCODE_NUMLOCKCLEAR = 83, /**< num lock on PC, clear on Mac keyboards + */ + SDL_SCANCODE_KP_DIVIDE = 84, + SDL_SCANCODE_KP_MULTIPLY = 85, + SDL_SCANCODE_KP_MINUS = 86, + SDL_SCANCODE_KP_PLUS = 87, + SDL_SCANCODE_KP_ENTER = 88, + SDL_SCANCODE_KP_1 = 89, + SDL_SCANCODE_KP_2 = 90, + SDL_SCANCODE_KP_3 = 91, + SDL_SCANCODE_KP_4 = 92, + SDL_SCANCODE_KP_5 = 93, + SDL_SCANCODE_KP_6 = 94, + SDL_SCANCODE_KP_7 = 95, + SDL_SCANCODE_KP_8 = 96, + SDL_SCANCODE_KP_9 = 97, + SDL_SCANCODE_KP_0 = 98, + SDL_SCANCODE_KP_PERIOD = 99, + + SDL_SCANCODE_NONUSBACKSLASH = 100, /**< This is the additional key that ISO + * keyboards have over ANSI ones, + * located between left shift and Y. + * Produces GRAVE ACCENT and TILDE in a + * US or UK Mac layout, REVERSE SOLIDUS + * (backslash) and VERTICAL LINE in a + * US or UK Windows layout, and + * LESS-THAN SIGN and GREATER-THAN SIGN + * in a Swiss German, German, or French + * layout. */ + SDL_SCANCODE_APPLICATION = 101, /**< windows contextual menu, compose */ + SDL_SCANCODE_POWER = 102, /**< The USB document says this is a status flag, + * not a physical key - but some Mac keyboards + * do have a power key. */ + SDL_SCANCODE_KP_EQUALS = 103, + SDL_SCANCODE_F13 = 104, + SDL_SCANCODE_F14 = 105, + SDL_SCANCODE_F15 = 106, + SDL_SCANCODE_F16 = 107, + SDL_SCANCODE_F17 = 108, + SDL_SCANCODE_F18 = 109, + SDL_SCANCODE_F19 = 110, + SDL_SCANCODE_F20 = 111, + SDL_SCANCODE_F21 = 112, + SDL_SCANCODE_F22 = 113, + SDL_SCANCODE_F23 = 114, + SDL_SCANCODE_F24 = 115, + SDL_SCANCODE_EXECUTE = 116, + SDL_SCANCODE_HELP = 117, /**< AL Integrated Help Center */ + SDL_SCANCODE_MENU = 118, /**< Menu (show menu) */ + SDL_SCANCODE_SELECT = 119, + SDL_SCANCODE_STOP = 120, /**< AC Stop */ + SDL_SCANCODE_AGAIN = 121, /**< AC Redo/Repeat */ + SDL_SCANCODE_UNDO = 122, /**< AC Undo */ + SDL_SCANCODE_CUT = 123, /**< AC Cut */ + SDL_SCANCODE_COPY = 124, /**< AC Copy */ + SDL_SCANCODE_PASTE = 125, /**< AC Paste */ + SDL_SCANCODE_FIND = 126, /**< AC Find */ + SDL_SCANCODE_MUTE = 127, + SDL_SCANCODE_VOLUMEUP = 128, + SDL_SCANCODE_VOLUMEDOWN = 129, +/* not sure whether there's a reason to enable these */ +/* SDL_SCANCODE_LOCKINGCAPSLOCK = 130, */ +/* SDL_SCANCODE_LOCKINGNUMLOCK = 131, */ +/* SDL_SCANCODE_LOCKINGSCROLLLOCK = 132, */ + SDL_SCANCODE_KP_COMMA = 133, + SDL_SCANCODE_KP_EQUALSAS400 = 134, + + SDL_SCANCODE_INTERNATIONAL1 = 135, /**< used on Asian keyboards, see + footnotes in USB doc */ + SDL_SCANCODE_INTERNATIONAL2 = 136, + SDL_SCANCODE_INTERNATIONAL3 = 137, /**< Yen */ + SDL_SCANCODE_INTERNATIONAL4 = 138, + SDL_SCANCODE_INTERNATIONAL5 = 139, + SDL_SCANCODE_INTERNATIONAL6 = 140, + SDL_SCANCODE_INTERNATIONAL7 = 141, + SDL_SCANCODE_INTERNATIONAL8 = 142, + SDL_SCANCODE_INTERNATIONAL9 = 143, + SDL_SCANCODE_LANG1 = 144, /**< Hangul/English toggle */ + SDL_SCANCODE_LANG2 = 145, /**< Hanja conversion */ + SDL_SCANCODE_LANG3 = 146, /**< Katakana */ + SDL_SCANCODE_LANG4 = 147, /**< Hiragana */ + SDL_SCANCODE_LANG5 = 148, /**< Zenkaku/Hankaku */ + SDL_SCANCODE_LANG6 = 149, /**< reserved */ + SDL_SCANCODE_LANG7 = 150, /**< reserved */ + SDL_SCANCODE_LANG8 = 151, /**< reserved */ + SDL_SCANCODE_LANG9 = 152, /**< reserved */ + + SDL_SCANCODE_ALTERASE = 153, /**< Erase-Eaze */ + SDL_SCANCODE_SYSREQ = 154, + SDL_SCANCODE_CANCEL = 155, /**< AC Cancel */ + SDL_SCANCODE_CLEAR = 156, + SDL_SCANCODE_PRIOR = 157, + SDL_SCANCODE_RETURN2 = 158, + SDL_SCANCODE_SEPARATOR = 159, + SDL_SCANCODE_OUT = 160, + SDL_SCANCODE_OPER = 161, + SDL_SCANCODE_CLEARAGAIN = 162, + SDL_SCANCODE_CRSEL = 163, + SDL_SCANCODE_EXSEL = 164, + + SDL_SCANCODE_KP_00 = 176, + SDL_SCANCODE_KP_000 = 177, + SDL_SCANCODE_THOUSANDSSEPARATOR = 178, + SDL_SCANCODE_DECIMALSEPARATOR = 179, + SDL_SCANCODE_CURRENCYUNIT = 180, + SDL_SCANCODE_CURRENCYSUBUNIT = 181, + SDL_SCANCODE_KP_LEFTPAREN = 182, + SDL_SCANCODE_KP_RIGHTPAREN = 183, + SDL_SCANCODE_KP_LEFTBRACE = 184, + SDL_SCANCODE_KP_RIGHTBRACE = 185, + SDL_SCANCODE_KP_TAB = 186, + SDL_SCANCODE_KP_BACKSPACE = 187, + SDL_SCANCODE_KP_A = 188, + SDL_SCANCODE_KP_B = 189, + SDL_SCANCODE_KP_C = 190, + SDL_SCANCODE_KP_D = 191, + SDL_SCANCODE_KP_E = 192, + SDL_SCANCODE_KP_F = 193, + SDL_SCANCODE_KP_XOR = 194, + SDL_SCANCODE_KP_POWER = 195, + SDL_SCANCODE_KP_PERCENT = 196, + SDL_SCANCODE_KP_LESS = 197, + SDL_SCANCODE_KP_GREATER = 198, + SDL_SCANCODE_KP_AMPERSAND = 199, + SDL_SCANCODE_KP_DBLAMPERSAND = 200, + SDL_SCANCODE_KP_VERTICALBAR = 201, + SDL_SCANCODE_KP_DBLVERTICALBAR = 202, + SDL_SCANCODE_KP_COLON = 203, + SDL_SCANCODE_KP_HASH = 204, + SDL_SCANCODE_KP_SPACE = 205, + SDL_SCANCODE_KP_AT = 206, + SDL_SCANCODE_KP_EXCLAM = 207, + SDL_SCANCODE_KP_MEMSTORE = 208, + SDL_SCANCODE_KP_MEMRECALL = 209, + SDL_SCANCODE_KP_MEMCLEAR = 210, + SDL_SCANCODE_KP_MEMADD = 211, + SDL_SCANCODE_KP_MEMSUBTRACT = 212, + SDL_SCANCODE_KP_MEMMULTIPLY = 213, + SDL_SCANCODE_KP_MEMDIVIDE = 214, + SDL_SCANCODE_KP_PLUSMINUS = 215, + SDL_SCANCODE_KP_CLEAR = 216, + SDL_SCANCODE_KP_CLEARENTRY = 217, + SDL_SCANCODE_KP_BINARY = 218, + SDL_SCANCODE_KP_OCTAL = 219, + SDL_SCANCODE_KP_DECIMAL = 220, + SDL_SCANCODE_KP_HEXADECIMAL = 221, + + SDL_SCANCODE_LCTRL = 224, + SDL_SCANCODE_LSHIFT = 225, + SDL_SCANCODE_LALT = 226, /**< alt, option */ + SDL_SCANCODE_LGUI = 227, /**< windows, command (apple), meta */ + SDL_SCANCODE_RCTRL = 228, + SDL_SCANCODE_RSHIFT = 229, + SDL_SCANCODE_RALT = 230, /**< alt gr, option */ + SDL_SCANCODE_RGUI = 231, /**< windows, command (apple), meta */ + + SDL_SCANCODE_MODE = 257, /**< I'm not sure if this is really not covered + * by any of the above, but since there's a + * special KMOD_MODE for it I'm adding it here + */ + + /* @} *//* Usage page 0x07 */ + + /** + * \name Usage page 0x0C + * + * These values are mapped from usage page 0x0C (USB consumer page). + * See https://usb.org/sites/default/files/hut1_2.pdf + * + * There are way more keys in the spec than we can represent in the + * current scancode range, so pick the ones that commonly come up in + * real world usage. + */ + /* @{ */ + + SDL_SCANCODE_AUDIONEXT = 258, + SDL_SCANCODE_AUDIOPREV = 259, + SDL_SCANCODE_AUDIOSTOP = 260, + SDL_SCANCODE_AUDIOPLAY = 261, + SDL_SCANCODE_AUDIOMUTE = 262, + SDL_SCANCODE_MEDIASELECT = 263, + SDL_SCANCODE_WWW = 264, /**< AL Internet Browser */ + SDL_SCANCODE_MAIL = 265, + SDL_SCANCODE_CALCULATOR = 266, /**< AL Calculator */ + SDL_SCANCODE_COMPUTER = 267, + SDL_SCANCODE_AC_SEARCH = 268, /**< AC Search */ + SDL_SCANCODE_AC_HOME = 269, /**< AC Home */ + SDL_SCANCODE_AC_BACK = 270, /**< AC Back */ + SDL_SCANCODE_AC_FORWARD = 271, /**< AC Forward */ + SDL_SCANCODE_AC_STOP = 272, /**< AC Stop */ + SDL_SCANCODE_AC_REFRESH = 273, /**< AC Refresh */ + SDL_SCANCODE_AC_BOOKMARKS = 274, /**< AC Bookmarks */ + + /* @} *//* Usage page 0x0C */ + + /** + * \name Walther keys + * + * These are values that Christian Walther added (for mac keyboard?). + */ + /* @{ */ + + SDL_SCANCODE_BRIGHTNESSDOWN = 275, + SDL_SCANCODE_BRIGHTNESSUP = 276, + SDL_SCANCODE_DISPLAYSWITCH = 277, /**< display mirroring/dual display + switch, video mode switch */ + SDL_SCANCODE_KBDILLUMTOGGLE = 278, + SDL_SCANCODE_KBDILLUMDOWN = 279, + SDL_SCANCODE_KBDILLUMUP = 280, + SDL_SCANCODE_EJECT = 281, + SDL_SCANCODE_SLEEP = 282, /**< SC System Sleep */ + + SDL_SCANCODE_APP1 = 283, + SDL_SCANCODE_APP2 = 284, + + /* @} *//* Walther keys */ + + /** + * \name Usage page 0x0C (additional media keys) + * + * These values are mapped from usage page 0x0C (USB consumer page). + */ + /* @{ */ + + SDL_SCANCODE_AUDIOREWIND = 285, + SDL_SCANCODE_AUDIOFASTFORWARD = 286, + + /* @} *//* Usage page 0x0C (additional media keys) */ + + /** + * \name Mobile keys + * + * These are values that are often used on mobile phones. + */ + /* @{ */ + + SDL_SCANCODE_SOFTLEFT = 287, /**< Usually situated below the display on phones and + used as a multi-function feature key for selecting + a software defined function shown on the bottom left + of the display. */ + SDL_SCANCODE_SOFTRIGHT = 288, /**< Usually situated below the display on phones and + used as a multi-function feature key for selecting + a software defined function shown on the bottom right + of the display. */ + SDL_SCANCODE_CALL = 289, /**< Used for accepting phone calls. */ + SDL_SCANCODE_ENDCALL = 290, /**< Used for rejecting phone calls. */ + + /* @} *//* Mobile keys */ + + /* Add any other keys here. */ + + SDL_NUM_SCANCODES = 512 /**< not a key, just marks the number of scancodes + for array bounds */ +} SDL_Scancode; + +#endif /* SDL_scancode_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_sensor.h b/subprojects/sdl2_windows/include/SDL2/SDL_sensor.h new file mode 100644 index 000000000..684d2c6eb --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_sensor.h @@ -0,0 +1,322 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_sensor.h + * + * Include file for SDL sensor event handling + * + */ + +#ifndef SDL_sensor_h_ +#define SDL_sensor_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +/* *INDENT-OFF* */ +extern "C" { +/* *INDENT-ON* */ +#endif + +/** + * \brief SDL_sensor.h + * + * In order to use these functions, SDL_Init() must have been called + * with the ::SDL_INIT_SENSOR flag. This causes SDL to scan the system + * for sensors, and load appropriate drivers. + */ + +struct _SDL_Sensor; +typedef struct _SDL_Sensor SDL_Sensor; + +/** + * This is a unique ID for a sensor for the time it is connected to the system, + * and is never reused for the lifetime of the application. + * + * The ID value starts at 0 and increments from there. The value -1 is an invalid ID. + */ +typedef Sint32 SDL_SensorID; + +/* The different sensors defined by SDL + * + * Additional sensors may be available, using platform dependent semantics. + * + * Hare are the additional Android sensors: + * https://developer.android.com/reference/android/hardware/SensorEvent.html#values + */ +typedef enum +{ + SDL_SENSOR_INVALID = -1, /**< Returned for an invalid sensor */ + SDL_SENSOR_UNKNOWN, /**< Unknown sensor type */ + SDL_SENSOR_ACCEL, /**< Accelerometer */ + SDL_SENSOR_GYRO, /**< Gyroscope */ + SDL_SENSOR_ACCEL_L, /**< Accelerometer for left Joy-Con controller and Wii nunchuk */ + SDL_SENSOR_GYRO_L, /**< Gyroscope for left Joy-Con controller */ + SDL_SENSOR_ACCEL_R, /**< Accelerometer for right Joy-Con controller */ + SDL_SENSOR_GYRO_R /**< Gyroscope for right Joy-Con controller */ +} SDL_SensorType; + +/** + * Accelerometer sensor + * + * The accelerometer returns the current acceleration in SI meters per + * second squared. This measurement includes the force of gravity, so + * a device at rest will have an value of SDL_STANDARD_GRAVITY away + * from the center of the earth. + * + * values[0]: Acceleration on the x axis + * values[1]: Acceleration on the y axis + * values[2]: Acceleration on the z axis + * + * For phones held in portrait mode and game controllers held in front of you, + * the axes are defined as follows: + * -X ... +X : left ... right + * -Y ... +Y : bottom ... top + * -Z ... +Z : farther ... closer + * + * The axis data is not changed when the phone is rotated. + * + * \sa SDL_GetDisplayOrientation() + */ +#define SDL_STANDARD_GRAVITY 9.80665f + +/** + * Gyroscope sensor + * + * The gyroscope returns the current rate of rotation in radians per second. + * The rotation is positive in the counter-clockwise direction. That is, + * an observer looking from a positive location on one of the axes would + * see positive rotation on that axis when it appeared to be rotating + * counter-clockwise. + * + * values[0]: Angular speed around the x axis (pitch) + * values[1]: Angular speed around the y axis (yaw) + * values[2]: Angular speed around the z axis (roll) + * + * For phones held in portrait mode and game controllers held in front of you, + * the axes are defined as follows: + * -X ... +X : left ... right + * -Y ... +Y : bottom ... top + * -Z ... +Z : farther ... closer + * + * The axis data is not changed when the phone or controller is rotated. + * + * \sa SDL_GetDisplayOrientation() + */ + +/* Function prototypes */ + +/** + * Locking for multi-threaded access to the sensor API + * + * If you are using the sensor API or handling events from multiple threads + * you should use these locking functions to protect access to the sensors. + * + * In particular, you are guaranteed that the sensor list won't change, so the + * API functions that take a sensor index will be valid, and sensor events + * will not be delivered. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC void SDLCALL SDL_LockSensors(void); +extern DECLSPEC void SDLCALL SDL_UnlockSensors(void); + +/** + * Count the number of sensors attached to the system right now. + * + * \returns the number of sensors detected. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_NumSensors(void); + +/** + * Get the implementation dependent name of a sensor. + * + * \param device_index The sensor to obtain name from + * \returns the sensor name, or NULL if `device_index` is out of range. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC const char *SDLCALL SDL_SensorGetDeviceName(int device_index); + +/** + * Get the type of a sensor. + * + * \param device_index The sensor to get the type from + * \returns the SDL_SensorType, or `SDL_SENSOR_INVALID` if `device_index` is + * out of range. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_SensorType SDLCALL SDL_SensorGetDeviceType(int device_index); + +/** + * Get the platform dependent type of a sensor. + * + * \param device_index The sensor to check + * \returns the sensor platform dependent type, or -1 if `device_index` is out + * of range. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_SensorGetDeviceNonPortableType(int device_index); + +/** + * Get the instance ID of a sensor. + * + * \param device_index The sensor to get instance id from + * \returns the sensor instance ID, or -1 if `device_index` is out of range. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_SensorID SDLCALL SDL_SensorGetDeviceInstanceID(int device_index); + +/** + * Open a sensor for use. + * + * \param device_index The sensor to open + * \returns an SDL_Sensor sensor object, or NULL if an error occurred. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_Sensor *SDLCALL SDL_SensorOpen(int device_index); + +/** + * Return the SDL_Sensor associated with an instance id. + * + * \param instance_id The sensor from instance id + * \returns an SDL_Sensor object. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_Sensor *SDLCALL SDL_SensorFromInstanceID(SDL_SensorID instance_id); + +/** + * Get the implementation dependent name of a sensor + * + * \param sensor The SDL_Sensor object + * \returns the sensor name, or NULL if `sensor` is NULL. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC const char *SDLCALL SDL_SensorGetName(SDL_Sensor *sensor); + +/** + * Get the type of a sensor. + * + * \param sensor The SDL_Sensor object to inspect + * \returns the SDL_SensorType type, or `SDL_SENSOR_INVALID` if `sensor` is + * NULL. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_SensorType SDLCALL SDL_SensorGetType(SDL_Sensor *sensor); + +/** + * Get the platform dependent type of a sensor. + * + * \param sensor The SDL_Sensor object to inspect + * \returns the sensor platform dependent type, or -1 if `sensor` is NULL. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_SensorGetNonPortableType(SDL_Sensor *sensor); + +/** + * Get the instance ID of a sensor. + * + * \param sensor The SDL_Sensor object to inspect + * \returns the sensor instance ID, or -1 if `sensor` is NULL. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_SensorID SDLCALL SDL_SensorGetInstanceID(SDL_Sensor *sensor); + +/** + * Get the current state of an opened sensor. + * + * The number of values and interpretation of the data is sensor dependent. + * + * \param sensor The SDL_Sensor object to query + * \param data A pointer filled with the current sensor state + * \param num_values The number of values to write to data + * \returns 0 or -1 if an error occurred. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor *sensor, float *data, int num_values); + +/** + * Get the current state of an opened sensor with the timestamp of the last + * update. + * + * The number of values and interpretation of the data is sensor dependent. + * + * \param sensor The SDL_Sensor object to query + * \param timestamp A pointer filled with the timestamp in microseconds of the + * current sensor reading if available, or 0 if not + * \param data A pointer filled with the current sensor state + * \param num_values The number of values to write to data + * \returns 0 or -1 if an error occurred. + * + * \since This function is available since SDL 2.26.0. + */ +extern DECLSPEC int SDLCALL SDL_SensorGetDataWithTimestamp(SDL_Sensor *sensor, Uint64 *timestamp, float *data, int num_values); + +/** + * Close a sensor previously opened with SDL_SensorOpen(). + * + * \param sensor The SDL_Sensor object to close + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC void SDLCALL SDL_SensorClose(SDL_Sensor *sensor); + +/** + * Update the current state of the open sensors. + * + * This is called automatically by the event loop if sensor events are + * enabled. + * + * This needs to be called from the thread that initialized the sensor + * subsystem. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC void SDLCALL SDL_SensorUpdate(void); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +/* *INDENT-OFF* */ +} +/* *INDENT-ON* */ +#endif +#include "close_code.h" + +#endif /* SDL_sensor_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_shape.h b/subprojects/sdl2_windows/include/SDL2/SDL_shape.h new file mode 100644 index 000000000..1bca9270e --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_shape.h @@ -0,0 +1,155 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_shape_h_ +#define SDL_shape_h_ + +#include "SDL_stdinc.h" +#include "SDL_pixels.h" +#include "SDL_rect.h" +#include "SDL_surface.h" +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** \file SDL_shape.h + * + * Header file for the shaped window API. + */ + +#define SDL_NONSHAPEABLE_WINDOW -1 +#define SDL_INVALID_SHAPE_ARGUMENT -2 +#define SDL_WINDOW_LACKS_SHAPE -3 + +/** + * Create a window that can be shaped with the specified position, dimensions, + * and flags. + * + * \param title The title of the window, in UTF-8 encoding. + * \param x The x position of the window, ::SDL_WINDOWPOS_CENTERED, or + * ::SDL_WINDOWPOS_UNDEFINED. + * \param y The y position of the window, ::SDL_WINDOWPOS_CENTERED, or + * ::SDL_WINDOWPOS_UNDEFINED. + * \param w The width of the window. + * \param h The height of the window. + * \param flags The flags for the window, a mask of SDL_WINDOW_BORDERLESS with + * any of the following: ::SDL_WINDOW_OPENGL, + * ::SDL_WINDOW_INPUT_GRABBED, ::SDL_WINDOW_HIDDEN, + * ::SDL_WINDOW_RESIZABLE, ::SDL_WINDOW_MAXIMIZED, + * ::SDL_WINDOW_MINIMIZED, ::SDL_WINDOW_BORDERLESS is always set, + * and ::SDL_WINDOW_FULLSCREEN is always unset. + * \return the window created, or NULL if window creation failed. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DestroyWindow + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_CreateShapedWindow(const char *title,unsigned int x,unsigned int y,unsigned int w,unsigned int h,Uint32 flags); + +/** + * Return whether the given window is a shaped window. + * + * \param window The window to query for being shaped. + * \return SDL_TRUE if the window is a window that can be shaped, SDL_FALSE if + * the window is unshaped or NULL. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateShapedWindow + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsShapedWindow(const SDL_Window *window); + +/** \brief An enum denoting the specific type of contents present in an SDL_WindowShapeParams union. */ +typedef enum { + /** \brief The default mode, a binarized alpha cutoff of 1. */ + ShapeModeDefault, + /** \brief A binarized alpha cutoff with a given integer value. */ + ShapeModeBinarizeAlpha, + /** \brief A binarized alpha cutoff with a given integer value, but with the opposite comparison. */ + ShapeModeReverseBinarizeAlpha, + /** \brief A color key is applied. */ + ShapeModeColorKey +} WindowShapeMode; + +#define SDL_SHAPEMODEALPHA(mode) (mode == ShapeModeDefault || mode == ShapeModeBinarizeAlpha || mode == ShapeModeReverseBinarizeAlpha) + +/** \brief A union containing parameters for shaped windows. */ +typedef union { + /** \brief A cutoff alpha value for binarization of the window shape's alpha channel. */ + Uint8 binarizationCutoff; + SDL_Color colorKey; +} SDL_WindowShapeParams; + +/** \brief A struct that tags the SDL_WindowShapeParams union with an enum describing the type of its contents. */ +typedef struct SDL_WindowShapeMode { + /** \brief The mode of these window-shape parameters. */ + WindowShapeMode mode; + /** \brief Window-shape parameters. */ + SDL_WindowShapeParams parameters; +} SDL_WindowShapeMode; + +/** + * Set the shape and parameters of a shaped window. + * + * \param window The shaped window whose parameters should be set. + * \param shape A surface encoding the desired shape for the window. + * \param shape_mode The parameters to set for the shaped window. + * \return 0 on success, SDL_INVALID_SHAPE_ARGUMENT on an invalid shape + * argument, or SDL_NONSHAPEABLE_WINDOW if the SDL_Window given does + * not reference a valid shaped window. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WindowShapeMode + * \sa SDL_GetShapedWindowMode + */ +extern DECLSPEC int SDLCALL SDL_SetWindowShape(SDL_Window *window,SDL_Surface *shape,SDL_WindowShapeMode *shape_mode); + +/** + * Get the shape parameters of a shaped window. + * + * \param window The shaped window whose parameters should be retrieved. + * \param shape_mode An empty shape-mode structure to fill, or NULL to check + * whether the window has a shape. + * \return 0 if the window has a shape and, provided shape_mode was not NULL, + * shape_mode has been filled with the mode data, + * SDL_NONSHAPEABLE_WINDOW if the SDL_Window given is not a shaped + * window, or SDL_WINDOW_LACKS_SHAPE if the SDL_Window given is a + * shapeable window currently lacking a shape. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_WindowShapeMode + * \sa SDL_SetWindowShape + */ +extern DECLSPEC int SDLCALL SDL_GetShapedWindowMode(SDL_Window *window,SDL_WindowShapeMode *shape_mode); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_shape_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_stdinc.h b/subprojects/sdl2_windows/include/SDL2/SDL_stdinc.h new file mode 100644 index 000000000..70dba7db6 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_stdinc.h @@ -0,0 +1,830 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_stdinc.h + * + * This is a general header that includes C language support. + */ + +#ifndef SDL_stdinc_h_ +#define SDL_stdinc_h_ + +#include "SDL_config.h" + +#ifdef __APPLE__ +#ifndef _DARWIN_C_SOURCE +#define _DARWIN_C_SOURCE 1 /* for memset_pattern4() */ +#endif +#endif + +#ifdef HAVE_SYS_TYPES_H +#include +#endif +#ifdef HAVE_STDIO_H +#include +#endif +#if defined(STDC_HEADERS) +# include +# include +# include +#else +# if defined(HAVE_STDLIB_H) +# include +# elif defined(HAVE_MALLOC_H) +# include +# endif +# if defined(HAVE_STDDEF_H) +# include +# endif +# if defined(HAVE_STDARG_H) +# include +# endif +#endif +#ifdef HAVE_STRING_H +# if !defined(STDC_HEADERS) && defined(HAVE_MEMORY_H) +# include +# endif +# include +#endif +#ifdef HAVE_STRINGS_H +# include +#endif +#ifdef HAVE_WCHAR_H +# include +#endif +#if defined(HAVE_INTTYPES_H) +# include +#elif defined(HAVE_STDINT_H) +# include +#endif +#ifdef HAVE_CTYPE_H +# include +#endif +#ifdef HAVE_MATH_H +# if defined(_MSC_VER) +/* Defining _USE_MATH_DEFINES is required to get M_PI to be defined on + Visual Studio. See http://msdn.microsoft.com/en-us/library/4hwaceh6.aspx + for more information. +*/ +# define _USE_MATH_DEFINES +# endif +# include +#endif +#ifdef HAVE_FLOAT_H +# include +#endif +#if defined(HAVE_ALLOCA) && !defined(alloca) +# if defined(HAVE_ALLOCA_H) +# include +# elif defined(__GNUC__) +# define alloca __builtin_alloca +# elif defined(_MSC_VER) +# include +# define alloca _alloca +# elif defined(__WATCOMC__) +# include +# elif defined(__BORLANDC__) +# include +# elif defined(__DMC__) +# include +# elif defined(__AIX__) +#pragma alloca +# elif defined(__MRC__) +void *alloca(unsigned); +# else +char *alloca(); +# endif +#endif + +#ifdef SIZE_MAX +# define SDL_SIZE_MAX SIZE_MAX +#else +# define SDL_SIZE_MAX ((size_t) -1) +#endif + +/** + * Check if the compiler supports a given builtin. + * Supported by virtually all clang versions and recent gcc. Use this + * instead of checking the clang version if possible. + */ +#ifdef __has_builtin +#define _SDL_HAS_BUILTIN(x) __has_builtin(x) +#else +#define _SDL_HAS_BUILTIN(x) 0 +#endif + +/** + * The number of elements in an array. + */ +#define SDL_arraysize(array) (sizeof(array)/sizeof(array[0])) +#define SDL_TABLESIZE(table) SDL_arraysize(table) + +/** + * Macro useful for building other macros with strings in them + * + * e.g. #define LOG_ERROR(X) OutputDebugString(SDL_STRINGIFY_ARG(__FUNCTION__) ": " X "\n") + */ +#define SDL_STRINGIFY_ARG(arg) #arg + +/** + * \name Cast operators + * + * Use proper C++ casts when compiled as C++ to be compatible with the option + * -Wold-style-cast of GCC (and -Werror=old-style-cast in GCC 4.2 and above). + */ +/* @{ */ +#ifdef __cplusplus +#define SDL_reinterpret_cast(type, expression) reinterpret_cast(expression) +#define SDL_static_cast(type, expression) static_cast(expression) +#define SDL_const_cast(type, expression) const_cast(expression) +#else +#define SDL_reinterpret_cast(type, expression) ((type)(expression)) +#define SDL_static_cast(type, expression) ((type)(expression)) +#define SDL_const_cast(type, expression) ((type)(expression)) +#endif +/* @} *//* Cast operators */ + +/* Define a four character code as a Uint32 */ +#define SDL_FOURCC(A, B, C, D) \ + ((SDL_static_cast(Uint32, SDL_static_cast(Uint8, (A))) << 0) | \ + (SDL_static_cast(Uint32, SDL_static_cast(Uint8, (B))) << 8) | \ + (SDL_static_cast(Uint32, SDL_static_cast(Uint8, (C))) << 16) | \ + (SDL_static_cast(Uint32, SDL_static_cast(Uint8, (D))) << 24)) + +/** + * \name Basic data types + */ +/* @{ */ + +#ifdef __CC_ARM +/* ARM's compiler throws warnings if we use an enum: like "SDL_bool x = a < b;" */ +#define SDL_FALSE 0 +#define SDL_TRUE 1 +typedef int SDL_bool; +#else +typedef enum +{ + SDL_FALSE = 0, + SDL_TRUE = 1 +} SDL_bool; +#endif + +/** + * \brief A signed 8-bit integer type. + */ +#define SDL_MAX_SINT8 ((Sint8)0x7F) /* 127 */ +#define SDL_MIN_SINT8 ((Sint8)(~0x7F)) /* -128 */ +typedef int8_t Sint8; +/** + * \brief An unsigned 8-bit integer type. + */ +#define SDL_MAX_UINT8 ((Uint8)0xFF) /* 255 */ +#define SDL_MIN_UINT8 ((Uint8)0x00) /* 0 */ +typedef uint8_t Uint8; +/** + * \brief A signed 16-bit integer type. + */ +#define SDL_MAX_SINT16 ((Sint16)0x7FFF) /* 32767 */ +#define SDL_MIN_SINT16 ((Sint16)(~0x7FFF)) /* -32768 */ +typedef int16_t Sint16; +/** + * \brief An unsigned 16-bit integer type. + */ +#define SDL_MAX_UINT16 ((Uint16)0xFFFF) /* 65535 */ +#define SDL_MIN_UINT16 ((Uint16)0x0000) /* 0 */ +typedef uint16_t Uint16; +/** + * \brief A signed 32-bit integer type. + */ +#define SDL_MAX_SINT32 ((Sint32)0x7FFFFFFF) /* 2147483647 */ +#define SDL_MIN_SINT32 ((Sint32)(~0x7FFFFFFF)) /* -2147483648 */ +typedef int32_t Sint32; +/** + * \brief An unsigned 32-bit integer type. + */ +#define SDL_MAX_UINT32 ((Uint32)0xFFFFFFFFu) /* 4294967295 */ +#define SDL_MIN_UINT32 ((Uint32)0x00000000) /* 0 */ +typedef uint32_t Uint32; + +/** + * \brief A signed 64-bit integer type. + */ +#define SDL_MAX_SINT64 ((Sint64)0x7FFFFFFFFFFFFFFFll) /* 9223372036854775807 */ +#define SDL_MIN_SINT64 ((Sint64)(~0x7FFFFFFFFFFFFFFFll)) /* -9223372036854775808 */ +typedef int64_t Sint64; +/** + * \brief An unsigned 64-bit integer type. + */ +#define SDL_MAX_UINT64 ((Uint64)0xFFFFFFFFFFFFFFFFull) /* 18446744073709551615 */ +#define SDL_MIN_UINT64 ((Uint64)(0x0000000000000000ull)) /* 0 */ +typedef uint64_t Uint64; + +/* @} *//* Basic data types */ + +/** + * \name Floating-point constants + */ +/* @{ */ + +#ifdef FLT_EPSILON +#define SDL_FLT_EPSILON FLT_EPSILON +#else +#define SDL_FLT_EPSILON 1.1920928955078125e-07F /* 0x0.000002p0 */ +#endif + +/* @} *//* Floating-point constants */ + +/* Make sure we have macros for printing width-based integers. + * should define these but this is not true all platforms. + * (for example win32) */ +#ifndef SDL_PRIs64 +#ifdef PRIs64 +#define SDL_PRIs64 PRIs64 +#elif defined(__WIN32__) || defined(__GDK__) +#define SDL_PRIs64 "I64d" +#elif defined(__LINUX__) && defined(__LP64__) +#define SDL_PRIs64 "ld" +#else +#define SDL_PRIs64 "lld" +#endif +#endif +#ifndef SDL_PRIu64 +#ifdef PRIu64 +#define SDL_PRIu64 PRIu64 +#elif defined(__WIN32__) || defined(__GDK__) +#define SDL_PRIu64 "I64u" +#elif defined(__LINUX__) && defined(__LP64__) +#define SDL_PRIu64 "lu" +#else +#define SDL_PRIu64 "llu" +#endif +#endif +#ifndef SDL_PRIx64 +#ifdef PRIx64 +#define SDL_PRIx64 PRIx64 +#elif defined(__WIN32__) || defined(__GDK__) +#define SDL_PRIx64 "I64x" +#elif defined(__LINUX__) && defined(__LP64__) +#define SDL_PRIx64 "lx" +#else +#define SDL_PRIx64 "llx" +#endif +#endif +#ifndef SDL_PRIX64 +#ifdef PRIX64 +#define SDL_PRIX64 PRIX64 +#elif defined(__WIN32__) || defined(__GDK__) +#define SDL_PRIX64 "I64X" +#elif defined(__LINUX__) && defined(__LP64__) +#define SDL_PRIX64 "lX" +#else +#define SDL_PRIX64 "llX" +#endif +#endif +#ifndef SDL_PRIs32 +#ifdef PRId32 +#define SDL_PRIs32 PRId32 +#else +#define SDL_PRIs32 "d" +#endif +#endif +#ifndef SDL_PRIu32 +#ifdef PRIu32 +#define SDL_PRIu32 PRIu32 +#else +#define SDL_PRIu32 "u" +#endif +#endif +#ifndef SDL_PRIx32 +#ifdef PRIx32 +#define SDL_PRIx32 PRIx32 +#else +#define SDL_PRIx32 "x" +#endif +#endif +#ifndef SDL_PRIX32 +#ifdef PRIX32 +#define SDL_PRIX32 PRIX32 +#else +#define SDL_PRIX32 "X" +#endif +#endif + +/* Annotations to help code analysis tools */ +#ifdef SDL_DISABLE_ANALYZE_MACROS +#define SDL_IN_BYTECAP(x) +#define SDL_INOUT_Z_CAP(x) +#define SDL_OUT_Z_CAP(x) +#define SDL_OUT_CAP(x) +#define SDL_OUT_BYTECAP(x) +#define SDL_OUT_Z_BYTECAP(x) +#define SDL_PRINTF_FORMAT_STRING +#define SDL_SCANF_FORMAT_STRING +#define SDL_PRINTF_VARARG_FUNC( fmtargnumber ) +#define SDL_SCANF_VARARG_FUNC( fmtargnumber ) +#else +#if defined(_MSC_VER) && (_MSC_VER >= 1600) /* VS 2010 and above */ +#include + +#define SDL_IN_BYTECAP(x) _In_bytecount_(x) +#define SDL_INOUT_Z_CAP(x) _Inout_z_cap_(x) +#define SDL_OUT_Z_CAP(x) _Out_z_cap_(x) +#define SDL_OUT_CAP(x) _Out_cap_(x) +#define SDL_OUT_BYTECAP(x) _Out_bytecap_(x) +#define SDL_OUT_Z_BYTECAP(x) _Out_z_bytecap_(x) + +#define SDL_PRINTF_FORMAT_STRING _Printf_format_string_ +#define SDL_SCANF_FORMAT_STRING _Scanf_format_string_impl_ +#else +#define SDL_IN_BYTECAP(x) +#define SDL_INOUT_Z_CAP(x) +#define SDL_OUT_Z_CAP(x) +#define SDL_OUT_CAP(x) +#define SDL_OUT_BYTECAP(x) +#define SDL_OUT_Z_BYTECAP(x) +#define SDL_PRINTF_FORMAT_STRING +#define SDL_SCANF_FORMAT_STRING +#endif +#if defined(__GNUC__) +#define SDL_PRINTF_VARARG_FUNC( fmtargnumber ) __attribute__ (( format( __printf__, fmtargnumber, fmtargnumber+1 ))) +#define SDL_SCANF_VARARG_FUNC( fmtargnumber ) __attribute__ (( format( __scanf__, fmtargnumber, fmtargnumber+1 ))) +#else +#define SDL_PRINTF_VARARG_FUNC( fmtargnumber ) +#define SDL_SCANF_VARARG_FUNC( fmtargnumber ) +#endif +#endif /* SDL_DISABLE_ANALYZE_MACROS */ + +#ifndef SDL_COMPILE_TIME_ASSERT +#if defined(__cplusplus) +#if (__cplusplus >= 201103L) +#define SDL_COMPILE_TIME_ASSERT(name, x) static_assert(x, #x) +#endif +#elif defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) +#define SDL_COMPILE_TIME_ASSERT(name, x) _Static_assert(x, #x) +#endif +#endif /* !SDL_COMPILE_TIME_ASSERT */ + +#ifndef SDL_COMPILE_TIME_ASSERT +/* universal, but may trigger -Wunused-local-typedefs */ +#define SDL_COMPILE_TIME_ASSERT(name, x) \ + typedef int SDL_compile_time_assert_ ## name[(x) * 2 - 1] +#endif + +/** \cond */ +#ifndef DOXYGEN_SHOULD_IGNORE_THIS +SDL_COMPILE_TIME_ASSERT(uint8, sizeof(Uint8) == 1); +SDL_COMPILE_TIME_ASSERT(sint8, sizeof(Sint8) == 1); +SDL_COMPILE_TIME_ASSERT(uint16, sizeof(Uint16) == 2); +SDL_COMPILE_TIME_ASSERT(sint16, sizeof(Sint16) == 2); +SDL_COMPILE_TIME_ASSERT(uint32, sizeof(Uint32) == 4); +SDL_COMPILE_TIME_ASSERT(sint32, sizeof(Sint32) == 4); +SDL_COMPILE_TIME_ASSERT(uint64, sizeof(Uint64) == 8); +SDL_COMPILE_TIME_ASSERT(sint64, sizeof(Sint64) == 8); +#endif /* DOXYGEN_SHOULD_IGNORE_THIS */ +/** \endcond */ + +/* Check to make sure enums are the size of ints, for structure packing. + For both Watcom C/C++ and Borland C/C++ the compiler option that makes + enums having the size of an int must be enabled. + This is "-b" for Borland C/C++ and "-ei" for Watcom C/C++ (v11). +*/ + +/** \cond */ +#ifndef DOXYGEN_SHOULD_IGNORE_THIS +#if !defined(__ANDROID__) && !defined(__VITA__) && !defined(__3DS__) + /* TODO: include/SDL_stdinc.h:174: error: size of array 'SDL_dummy_enum' is negative */ +typedef enum +{ + DUMMY_ENUM_VALUE +} SDL_DUMMY_ENUM; + +SDL_COMPILE_TIME_ASSERT(enum, sizeof(SDL_DUMMY_ENUM) == sizeof(int)); +#endif +#endif /* DOXYGEN_SHOULD_IGNORE_THIS */ +/** \endcond */ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef HAVE_ALLOCA +#define SDL_stack_alloc(type, count) (type*)alloca(sizeof(type)*(count)) +#define SDL_stack_free(data) +#else +#define SDL_stack_alloc(type, count) (type*)SDL_malloc(sizeof(type)*(count)) +#define SDL_stack_free(data) SDL_free(data) +#endif + +extern DECLSPEC void *SDLCALL SDL_malloc(size_t size); +extern DECLSPEC void *SDLCALL SDL_calloc(size_t nmemb, size_t size); +extern DECLSPEC void *SDLCALL SDL_realloc(void *mem, size_t size); +extern DECLSPEC void SDLCALL SDL_free(void *mem); + +typedef void *(SDLCALL *SDL_malloc_func)(size_t size); +typedef void *(SDLCALL *SDL_calloc_func)(size_t nmemb, size_t size); +typedef void *(SDLCALL *SDL_realloc_func)(void *mem, size_t size); +typedef void (SDLCALL *SDL_free_func)(void *mem); + +/** + * Get the original set of SDL memory functions + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC void SDLCALL SDL_GetOriginalMemoryFunctions(SDL_malloc_func *malloc_func, + SDL_calloc_func *calloc_func, + SDL_realloc_func *realloc_func, + SDL_free_func *free_func); + +/** + * Get the current set of SDL memory functions + * + * \since This function is available since SDL 2.0.7. + */ +extern DECLSPEC void SDLCALL SDL_GetMemoryFunctions(SDL_malloc_func *malloc_func, + SDL_calloc_func *calloc_func, + SDL_realloc_func *realloc_func, + SDL_free_func *free_func); + +/** + * Replace SDL's memory allocation functions with a custom set + * + * \since This function is available since SDL 2.0.7. + */ +extern DECLSPEC int SDLCALL SDL_SetMemoryFunctions(SDL_malloc_func malloc_func, + SDL_calloc_func calloc_func, + SDL_realloc_func realloc_func, + SDL_free_func free_func); + +/** + * Get the number of outstanding (unfreed) allocations + * + * \since This function is available since SDL 2.0.7. + */ +extern DECLSPEC int SDLCALL SDL_GetNumAllocations(void); + +extern DECLSPEC char *SDLCALL SDL_getenv(const char *name); +extern DECLSPEC int SDLCALL SDL_setenv(const char *name, const char *value, int overwrite); + +extern DECLSPEC void SDLCALL SDL_qsort(void *base, size_t nmemb, size_t size, int (SDLCALL *compare) (const void *, const void *)); +extern DECLSPEC void * SDLCALL SDL_bsearch(const void *key, const void *base, size_t nmemb, size_t size, int (SDLCALL *compare) (const void *, const void *)); + +extern DECLSPEC int SDLCALL SDL_abs(int x); + +/* NOTE: these double-evaluate their arguments, so you should never have side effects in the parameters */ +#define SDL_min(x, y) (((x) < (y)) ? (x) : (y)) +#define SDL_max(x, y) (((x) > (y)) ? (x) : (y)) +#define SDL_clamp(x, a, b) (((x) < (a)) ? (a) : (((x) > (b)) ? (b) : (x))) + +extern DECLSPEC int SDLCALL SDL_isalpha(int x); +extern DECLSPEC int SDLCALL SDL_isalnum(int x); +extern DECLSPEC int SDLCALL SDL_isblank(int x); +extern DECLSPEC int SDLCALL SDL_iscntrl(int x); +extern DECLSPEC int SDLCALL SDL_isdigit(int x); +extern DECLSPEC int SDLCALL SDL_isxdigit(int x); +extern DECLSPEC int SDLCALL SDL_ispunct(int x); +extern DECLSPEC int SDLCALL SDL_isspace(int x); +extern DECLSPEC int SDLCALL SDL_isupper(int x); +extern DECLSPEC int SDLCALL SDL_islower(int x); +extern DECLSPEC int SDLCALL SDL_isprint(int x); +extern DECLSPEC int SDLCALL SDL_isgraph(int x); +extern DECLSPEC int SDLCALL SDL_toupper(int x); +extern DECLSPEC int SDLCALL SDL_tolower(int x); + +extern DECLSPEC Uint16 SDLCALL SDL_crc16(Uint16 crc, const void *data, size_t len); +extern DECLSPEC Uint32 SDLCALL SDL_crc32(Uint32 crc, const void *data, size_t len); + +extern DECLSPEC void *SDLCALL SDL_memset(SDL_OUT_BYTECAP(len) void *dst, int c, size_t len); + +#define SDL_zero(x) SDL_memset(&(x), 0, sizeof((x))) +#define SDL_zerop(x) SDL_memset((x), 0, sizeof(*(x))) +#define SDL_zeroa(x) SDL_memset((x), 0, sizeof((x))) + +#define SDL_copyp(dst, src) \ + { SDL_COMPILE_TIME_ASSERT(SDL_copyp, sizeof (*(dst)) == sizeof (*(src))); } \ + SDL_memcpy((dst), (src), sizeof (*(src))) + + +/* Note that memset() is a byte assignment and this is a 32-bit assignment, so they're not directly equivalent. */ +SDL_FORCE_INLINE void SDL_memset4(void *dst, Uint32 val, size_t dwords) +{ +#ifdef __APPLE__ + memset_pattern4(dst, &val, dwords * 4); +#elif defined(__GNUC__) && defined(__i386__) + int u0, u1, u2; + __asm__ __volatile__ ( + "cld \n\t" + "rep ; stosl \n\t" + : "=&D" (u0), "=&a" (u1), "=&c" (u2) + : "0" (dst), "1" (val), "2" (SDL_static_cast(Uint32, dwords)) + : "memory" + ); +#else + size_t _n = (dwords + 3) / 4; + Uint32 *_p = SDL_static_cast(Uint32 *, dst); + Uint32 _val = (val); + if (dwords == 0) { + return; + } + switch (dwords % 4) { + case 0: do { *_p++ = _val; SDL_FALLTHROUGH; + case 3: *_p++ = _val; SDL_FALLTHROUGH; + case 2: *_p++ = _val; SDL_FALLTHROUGH; + case 1: *_p++ = _val; + } while ( --_n ); + } +#endif +} + +extern DECLSPEC void *SDLCALL SDL_memcpy(SDL_OUT_BYTECAP(len) void *dst, SDL_IN_BYTECAP(len) const void *src, size_t len); + +extern DECLSPEC void *SDLCALL SDL_memmove(SDL_OUT_BYTECAP(len) void *dst, SDL_IN_BYTECAP(len) const void *src, size_t len); +extern DECLSPEC int SDLCALL SDL_memcmp(const void *s1, const void *s2, size_t len); + +extern DECLSPEC size_t SDLCALL SDL_wcslen(const wchar_t *wstr); +extern DECLSPEC size_t SDLCALL SDL_wcslcpy(SDL_OUT_Z_CAP(maxlen) wchar_t *dst, const wchar_t *src, size_t maxlen); +extern DECLSPEC size_t SDLCALL SDL_wcslcat(SDL_INOUT_Z_CAP(maxlen) wchar_t *dst, const wchar_t *src, size_t maxlen); +extern DECLSPEC wchar_t *SDLCALL SDL_wcsdup(const wchar_t *wstr); +extern DECLSPEC wchar_t *SDLCALL SDL_wcsstr(const wchar_t *haystack, const wchar_t *needle); + +extern DECLSPEC int SDLCALL SDL_wcscmp(const wchar_t *str1, const wchar_t *str2); +extern DECLSPEC int SDLCALL SDL_wcsncmp(const wchar_t *str1, const wchar_t *str2, size_t maxlen); +extern DECLSPEC int SDLCALL SDL_wcscasecmp(const wchar_t *str1, const wchar_t *str2); +extern DECLSPEC int SDLCALL SDL_wcsncasecmp(const wchar_t *str1, const wchar_t *str2, size_t len); + +extern DECLSPEC size_t SDLCALL SDL_strlen(const char *str); +extern DECLSPEC size_t SDLCALL SDL_strlcpy(SDL_OUT_Z_CAP(maxlen) char *dst, const char *src, size_t maxlen); +extern DECLSPEC size_t SDLCALL SDL_utf8strlcpy(SDL_OUT_Z_CAP(dst_bytes) char *dst, const char *src, size_t dst_bytes); +extern DECLSPEC size_t SDLCALL SDL_strlcat(SDL_INOUT_Z_CAP(maxlen) char *dst, const char *src, size_t maxlen); +extern DECLSPEC char *SDLCALL SDL_strdup(const char *str); +extern DECLSPEC char *SDLCALL SDL_strrev(char *str); +extern DECLSPEC char *SDLCALL SDL_strupr(char *str); +extern DECLSPEC char *SDLCALL SDL_strlwr(char *str); +extern DECLSPEC char *SDLCALL SDL_strchr(const char *str, int c); +extern DECLSPEC char *SDLCALL SDL_strrchr(const char *str, int c); +extern DECLSPEC char *SDLCALL SDL_strstr(const char *haystack, const char *needle); +extern DECLSPEC char *SDLCALL SDL_strcasestr(const char *haystack, const char *needle); +extern DECLSPEC char *SDLCALL SDL_strtokr(char *s1, const char *s2, char **saveptr); +extern DECLSPEC size_t SDLCALL SDL_utf8strlen(const char *str); +extern DECLSPEC size_t SDLCALL SDL_utf8strnlen(const char *str, size_t bytes); + +extern DECLSPEC char *SDLCALL SDL_itoa(int value, char *str, int radix); +extern DECLSPEC char *SDLCALL SDL_uitoa(unsigned int value, char *str, int radix); +extern DECLSPEC char *SDLCALL SDL_ltoa(long value, char *str, int radix); +extern DECLSPEC char *SDLCALL SDL_ultoa(unsigned long value, char *str, int radix); +extern DECLSPEC char *SDLCALL SDL_lltoa(Sint64 value, char *str, int radix); +extern DECLSPEC char *SDLCALL SDL_ulltoa(Uint64 value, char *str, int radix); + +extern DECLSPEC int SDLCALL SDL_atoi(const char *str); +extern DECLSPEC double SDLCALL SDL_atof(const char *str); +extern DECLSPEC long SDLCALL SDL_strtol(const char *str, char **endp, int base); +extern DECLSPEC unsigned long SDLCALL SDL_strtoul(const char *str, char **endp, int base); +extern DECLSPEC Sint64 SDLCALL SDL_strtoll(const char *str, char **endp, int base); +extern DECLSPEC Uint64 SDLCALL SDL_strtoull(const char *str, char **endp, int base); +extern DECLSPEC double SDLCALL SDL_strtod(const char *str, char **endp); + +extern DECLSPEC int SDLCALL SDL_strcmp(const char *str1, const char *str2); +extern DECLSPEC int SDLCALL SDL_strncmp(const char *str1, const char *str2, size_t maxlen); +extern DECLSPEC int SDLCALL SDL_strcasecmp(const char *str1, const char *str2); +extern DECLSPEC int SDLCALL SDL_strncasecmp(const char *str1, const char *str2, size_t len); + +extern DECLSPEC int SDLCALL SDL_sscanf(const char *text, SDL_SCANF_FORMAT_STRING const char *fmt, ...) SDL_SCANF_VARARG_FUNC(2); +extern DECLSPEC int SDLCALL SDL_vsscanf(const char *text, const char *fmt, va_list ap); +extern DECLSPEC int SDLCALL SDL_snprintf(SDL_OUT_Z_CAP(maxlen) char *text, size_t maxlen, SDL_PRINTF_FORMAT_STRING const char *fmt, ... ) SDL_PRINTF_VARARG_FUNC(3); +extern DECLSPEC int SDLCALL SDL_vsnprintf(SDL_OUT_Z_CAP(maxlen) char *text, size_t maxlen, const char *fmt, va_list ap); +extern DECLSPEC int SDLCALL SDL_asprintf(char **strp, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); +extern DECLSPEC int SDLCALL SDL_vasprintf(char **strp, const char *fmt, va_list ap); + +#ifndef HAVE_M_PI +#ifndef M_PI +#define M_PI 3.14159265358979323846264338327950288 /**< pi */ +#endif +#endif + +/** + * Use this function to compute arc cosine of `x`. + * + * The definition of `y = acos(x)` is `x = cos(y)`. + * + * Domain: `-1 <= x <= 1` + * + * Range: `0 <= y <= Pi` + * + * \param x floating point value, in radians. + * \returns arc cosine of `x`. + * + * \since This function is available since SDL 2.0.2. + */ +extern DECLSPEC double SDLCALL SDL_acos(double x); +extern DECLSPEC float SDLCALL SDL_acosf(float x); +extern DECLSPEC double SDLCALL SDL_asin(double x); +extern DECLSPEC float SDLCALL SDL_asinf(float x); +extern DECLSPEC double SDLCALL SDL_atan(double x); +extern DECLSPEC float SDLCALL SDL_atanf(float x); +extern DECLSPEC double SDLCALL SDL_atan2(double y, double x); +extern DECLSPEC float SDLCALL SDL_atan2f(float y, float x); +extern DECLSPEC double SDLCALL SDL_ceil(double x); +extern DECLSPEC float SDLCALL SDL_ceilf(float x); +extern DECLSPEC double SDLCALL SDL_copysign(double x, double y); +extern DECLSPEC float SDLCALL SDL_copysignf(float x, float y); +extern DECLSPEC double SDLCALL SDL_cos(double x); +extern DECLSPEC float SDLCALL SDL_cosf(float x); +extern DECLSPEC double SDLCALL SDL_exp(double x); +extern DECLSPEC float SDLCALL SDL_expf(float x); +extern DECLSPEC double SDLCALL SDL_fabs(double x); +extern DECLSPEC float SDLCALL SDL_fabsf(float x); +extern DECLSPEC double SDLCALL SDL_floor(double x); +extern DECLSPEC float SDLCALL SDL_floorf(float x); +extern DECLSPEC double SDLCALL SDL_trunc(double x); +extern DECLSPEC float SDLCALL SDL_truncf(float x); +extern DECLSPEC double SDLCALL SDL_fmod(double x, double y); +extern DECLSPEC float SDLCALL SDL_fmodf(float x, float y); +extern DECLSPEC double SDLCALL SDL_log(double x); +extern DECLSPEC float SDLCALL SDL_logf(float x); +extern DECLSPEC double SDLCALL SDL_log10(double x); +extern DECLSPEC float SDLCALL SDL_log10f(float x); +extern DECLSPEC double SDLCALL SDL_pow(double x, double y); +extern DECLSPEC float SDLCALL SDL_powf(float x, float y); +extern DECLSPEC double SDLCALL SDL_round(double x); +extern DECLSPEC float SDLCALL SDL_roundf(float x); +extern DECLSPEC long SDLCALL SDL_lround(double x); +extern DECLSPEC long SDLCALL SDL_lroundf(float x); +extern DECLSPEC double SDLCALL SDL_scalbn(double x, int n); +extern DECLSPEC float SDLCALL SDL_scalbnf(float x, int n); +extern DECLSPEC double SDLCALL SDL_sin(double x); +extern DECLSPEC float SDLCALL SDL_sinf(float x); +extern DECLSPEC double SDLCALL SDL_sqrt(double x); +extern DECLSPEC float SDLCALL SDL_sqrtf(float x); +extern DECLSPEC double SDLCALL SDL_tan(double x); +extern DECLSPEC float SDLCALL SDL_tanf(float x); + +/* The SDL implementation of iconv() returns these error codes */ +#define SDL_ICONV_ERROR (size_t)-1 +#define SDL_ICONV_E2BIG (size_t)-2 +#define SDL_ICONV_EILSEQ (size_t)-3 +#define SDL_ICONV_EINVAL (size_t)-4 + +/* SDL_iconv_* are now always real symbols/types, not macros or inlined. */ +typedef struct _SDL_iconv_t *SDL_iconv_t; +extern DECLSPEC SDL_iconv_t SDLCALL SDL_iconv_open(const char *tocode, + const char *fromcode); +extern DECLSPEC int SDLCALL SDL_iconv_close(SDL_iconv_t cd); +extern DECLSPEC size_t SDLCALL SDL_iconv(SDL_iconv_t cd, const char **inbuf, + size_t * inbytesleft, char **outbuf, + size_t * outbytesleft); + +/** + * This function converts a string between encodings in one pass, returning a + * string that must be freed with SDL_free() or NULL on error. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC char *SDLCALL SDL_iconv_string(const char *tocode, + const char *fromcode, + const char *inbuf, + size_t inbytesleft); +#define SDL_iconv_utf8_locale(S) SDL_iconv_string("", "UTF-8", S, SDL_strlen(S)+1) +#define SDL_iconv_utf8_ucs2(S) (Uint16 *)SDL_iconv_string("UCS-2-INTERNAL", "UTF-8", S, SDL_strlen(S)+1) +#define SDL_iconv_utf8_ucs4(S) (Uint32 *)SDL_iconv_string("UCS-4-INTERNAL", "UTF-8", S, SDL_strlen(S)+1) +#define SDL_iconv_wchar_utf8(S) SDL_iconv_string("UTF-8", "WCHAR_T", (char *)S, (SDL_wcslen(S)+1)*sizeof(wchar_t)) + +/* force builds using Clang's static analysis tools to use literal C runtime + here, since there are possibly tests that are ineffective otherwise. */ +#if defined(__clang_analyzer__) && !defined(SDL_DISABLE_ANALYZE_MACROS) + +/* The analyzer knows about strlcpy even when the system doesn't provide it */ +#ifndef HAVE_STRLCPY +size_t strlcpy(char* dst, const char* src, size_t size); +#endif + +/* The analyzer knows about strlcat even when the system doesn't provide it */ +#ifndef HAVE_STRLCAT +size_t strlcat(char* dst, const char* src, size_t size); +#endif + +#define SDL_malloc malloc +#define SDL_calloc calloc +#define SDL_realloc realloc +#define SDL_free free +#define SDL_memset memset +#define SDL_memcpy memcpy +#define SDL_memmove memmove +#define SDL_memcmp memcmp +#define SDL_strlcpy strlcpy +#define SDL_strlcat strlcat +#define SDL_strlen strlen +#define SDL_wcslen wcslen +#define SDL_wcslcpy wcslcpy +#define SDL_wcslcat wcslcat +#define SDL_strdup strdup +#define SDL_wcsdup wcsdup +#define SDL_strchr strchr +#define SDL_strrchr strrchr +#define SDL_strstr strstr +#define SDL_wcsstr wcsstr +#define SDL_strtokr strtok_r +#define SDL_strcmp strcmp +#define SDL_wcscmp wcscmp +#define SDL_strncmp strncmp +#define SDL_wcsncmp wcsncmp +#define SDL_strcasecmp strcasecmp +#define SDL_strncasecmp strncasecmp +#define SDL_sscanf sscanf +#define SDL_vsscanf vsscanf +#define SDL_snprintf snprintf +#define SDL_vsnprintf vsnprintf +#endif + +SDL_FORCE_INLINE void *SDL_memcpy4(SDL_OUT_BYTECAP(dwords*4) void *dst, SDL_IN_BYTECAP(dwords*4) const void *src, size_t dwords) +{ + return SDL_memcpy(dst, src, dwords * 4); +} + +/** + * If a * b would overflow, return -1. Otherwise store a * b via ret + * and return 0. + * + * \since This function is available since SDL 2.24.0. + */ +SDL_FORCE_INLINE int SDL_size_mul_overflow (size_t a, + size_t b, + size_t *ret) +{ + if (a != 0 && b > SDL_SIZE_MAX / a) { + return -1; + } + *ret = a * b; + return 0; +} + +#if _SDL_HAS_BUILTIN(__builtin_mul_overflow) +/* This needs to be wrapped in an inline rather than being a direct #define, + * because __builtin_mul_overflow() is type-generic, but we want to be + * consistent about interpreting a and b as size_t. */ +SDL_FORCE_INLINE int _SDL_size_mul_overflow_builtin (size_t a, + size_t b, + size_t *ret) +{ + return __builtin_mul_overflow(a, b, ret) == 0 ? 0 : -1; +} +#define SDL_size_mul_overflow(a, b, ret) (_SDL_size_mul_overflow_builtin(a, b, ret)) +#endif + +/** + * If a + b would overflow, return -1. Otherwise store a + b via ret + * and return 0. + * + * \since This function is available since SDL 2.24.0. + */ +SDL_FORCE_INLINE int SDL_size_add_overflow (size_t a, + size_t b, + size_t *ret) +{ + if (b > SDL_SIZE_MAX - a) { + return -1; + } + *ret = a + b; + return 0; +} + +#if _SDL_HAS_BUILTIN(__builtin_add_overflow) +/* This needs to be wrapped in an inline rather than being a direct #define, + * the same as the call to __builtin_mul_overflow() above. */ +SDL_FORCE_INLINE int _SDL_size_add_overflow_builtin (size_t a, + size_t b, + size_t *ret) +{ + return __builtin_add_overflow(a, b, ret) == 0 ? 0 : -1; +} +#define SDL_size_add_overflow(a, b, ret) (_SDL_size_add_overflow_builtin(a, b, ret)) +#endif + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_stdinc_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_surface.h b/subprojects/sdl2_windows/include/SDL2/SDL_surface.h new file mode 100644 index 000000000..838de654e --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_surface.h @@ -0,0 +1,997 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_surface.h + * + * Header file for ::SDL_Surface definition and management functions. + */ + +#ifndef SDL_surface_h_ +#define SDL_surface_h_ + +#include "SDL_stdinc.h" +#include "SDL_pixels.h" +#include "SDL_rect.h" +#include "SDL_blendmode.h" +#include "SDL_rwops.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \name Surface flags + * + * These are the currently supported flags for the ::SDL_Surface. + * + * \internal + * Used internally (read-only). + */ +/* @{ */ +#define SDL_SWSURFACE 0 /**< Just here for compatibility */ +#define SDL_PREALLOC 0x00000001 /**< Surface uses preallocated memory */ +#define SDL_RLEACCEL 0x00000002 /**< Surface is RLE encoded */ +#define SDL_DONTFREE 0x00000004 /**< Surface is referenced internally */ +#define SDL_SIMD_ALIGNED 0x00000008 /**< Surface uses aligned memory */ +/* @} *//* Surface flags */ + +/** + * Evaluates to true if the surface needs to be locked before access. + */ +#define SDL_MUSTLOCK(S) (((S)->flags & SDL_RLEACCEL) != 0) + +typedef struct SDL_BlitMap SDL_BlitMap; /* this is an opaque type. */ + +/** + * \brief A collection of pixels used in software blitting. + * + * \note This structure should be treated as read-only, except for \c pixels, + * which, if not NULL, contains the raw pixel data for the surface. + */ +typedef struct SDL_Surface +{ + Uint32 flags; /**< Read-only */ + SDL_PixelFormat *format; /**< Read-only */ + int w, h; /**< Read-only */ + int pitch; /**< Read-only */ + void *pixels; /**< Read-write */ + + /** Application data associated with the surface */ + void *userdata; /**< Read-write */ + + /** information needed for surfaces requiring locks */ + int locked; /**< Read-only */ + + /** list of BlitMap that hold a reference to this surface */ + void *list_blitmap; /**< Private */ + + /** clipping information */ + SDL_Rect clip_rect; /**< Read-only */ + + /** info for fast blit mapping to other surfaces */ + SDL_BlitMap *map; /**< Private */ + + /** Reference count -- used when freeing surface */ + int refcount; /**< Read-mostly */ +} SDL_Surface; + +/** + * \brief The type of function used for surface blitting functions. + */ +typedef int (SDLCALL *SDL_blit) (struct SDL_Surface * src, SDL_Rect * srcrect, + struct SDL_Surface * dst, SDL_Rect * dstrect); + +/** + * \brief The formula used for converting between YUV and RGB + */ +typedef enum +{ + SDL_YUV_CONVERSION_JPEG, /**< Full range JPEG */ + SDL_YUV_CONVERSION_BT601, /**< BT.601 (the default) */ + SDL_YUV_CONVERSION_BT709, /**< BT.709 */ + SDL_YUV_CONVERSION_AUTOMATIC /**< BT.601 for SD content, BT.709 for HD content */ +} SDL_YUV_CONVERSION_MODE; + +/** + * Allocate a new RGB surface. + * + * If `depth` is 4 or 8 bits, an empty palette is allocated for the surface. + * If `depth` is greater than 8 bits, the pixel format is set using the + * [RGBA]mask parameters. + * + * The [RGBA]mask parameters are the bitmasks used to extract that color from + * a pixel. For instance, `Rmask` being 0xFF000000 means the red data is + * stored in the most significant byte. Using zeros for the RGB masks sets a + * default value, based on the depth. For example: + * + * ```c++ + * SDL_CreateRGBSurface(0,w,h,32,0,0,0,0); + * ``` + * + * However, using zero for the Amask results in an Amask of 0. + * + * By default surfaces with an alpha mask are set up for blending as with: + * + * ```c++ + * SDL_SetSurfaceBlendMode(surface, SDL_BLENDMODE_BLEND) + * ``` + * + * You can change this by calling SDL_SetSurfaceBlendMode() and selecting a + * different `blendMode`. + * + * \param flags the flags are unused and should be set to 0 + * \param width the width of the surface + * \param height the height of the surface + * \param depth the depth of the surface in bits + * \param Rmask the red mask for the pixels + * \param Gmask the green mask for the pixels + * \param Bmask the blue mask for the pixels + * \param Amask the alpha mask for the pixels + * \returns the new SDL_Surface structure that is created or NULL if it fails; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRGBSurfaceFrom + * \sa SDL_CreateRGBSurfaceWithFormat + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurface + (Uint32 flags, int width, int height, int depth, + Uint32 Rmask, Uint32 Gmask, Uint32 Bmask, Uint32 Amask); + + +/* !!! FIXME for 2.1: why does this ask for depth? Format provides that. */ + +/** + * Allocate a new RGB surface with a specific pixel format. + * + * This function operates mostly like SDL_CreateRGBSurface(), except instead + * of providing pixel color masks, you provide it with a predefined format + * from SDL_PixelFormatEnum. + * + * \param flags the flags are unused and should be set to 0 + * \param width the width of the surface + * \param height the height of the surface + * \param depth the depth of the surface in bits + * \param format the SDL_PixelFormatEnum for the new surface's pixel format. + * \returns the new SDL_Surface structure that is created or NULL if it fails; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_CreateRGBSurface + * \sa SDL_CreateRGBSurfaceFrom + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurfaceWithFormat + (Uint32 flags, int width, int height, int depth, Uint32 format); + +/** + * Allocate a new RGB surface with existing pixel data. + * + * This function operates mostly like SDL_CreateRGBSurface(), except it does + * not allocate memory for the pixel data, instead the caller provides an + * existing buffer of data for the surface to use. + * + * No copy is made of the pixel data. Pixel data is not managed automatically; + * you must free the surface before you free the pixel data. + * + * \param pixels a pointer to existing pixel data + * \param width the width of the surface + * \param height the height of the surface + * \param depth the depth of the surface in bits + * \param pitch the pitch of the surface in bytes + * \param Rmask the red mask for the pixels + * \param Gmask the green mask for the pixels + * \param Bmask the blue mask for the pixels + * \param Amask the alpha mask for the pixels + * \returns the new SDL_Surface structure that is created or NULL if it fails; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRGBSurface + * \sa SDL_CreateRGBSurfaceWithFormat + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurfaceFrom(void *pixels, + int width, + int height, + int depth, + int pitch, + Uint32 Rmask, + Uint32 Gmask, + Uint32 Bmask, + Uint32 Amask); + +/* !!! FIXME for 2.1: why does this ask for depth? Format provides that. */ + +/** + * Allocate a new RGB surface with with a specific pixel format and existing + * pixel data. + * + * This function operates mostly like SDL_CreateRGBSurfaceFrom(), except + * instead of providing pixel color masks, you provide it with a predefined + * format from SDL_PixelFormatEnum. + * + * No copy is made of the pixel data. Pixel data is not managed automatically; + * you must free the surface before you free the pixel data. + * + * \param pixels a pointer to existing pixel data + * \param width the width of the surface + * \param height the height of the surface + * \param depth the depth of the surface in bits + * \param pitch the pitch of the surface in bytes + * \param format the SDL_PixelFormatEnum for the new surface's pixel format. + * \returns the new SDL_Surface structure that is created or NULL if it fails; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_CreateRGBSurfaceFrom + * \sa SDL_CreateRGBSurfaceWithFormat + * \sa SDL_FreeSurface + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurfaceWithFormatFrom + (void *pixels, int width, int height, int depth, int pitch, Uint32 format); + +/** + * Free an RGB surface. + * + * It is safe to pass NULL to this function. + * + * \param surface the SDL_Surface to free. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateRGBSurface + * \sa SDL_CreateRGBSurfaceFrom + * \sa SDL_LoadBMP + * \sa SDL_LoadBMP_RW + */ +extern DECLSPEC void SDLCALL SDL_FreeSurface(SDL_Surface * surface); + +/** + * Set the palette used by a surface. + * + * A single palette can be shared with many surfaces. + * + * \param surface the SDL_Surface structure to update + * \param palette the SDL_Palette structure to use + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_SetSurfacePalette(SDL_Surface * surface, + SDL_Palette * palette); + +/** + * Set up a surface for directly accessing the pixels. + * + * Between calls to SDL_LockSurface() / SDL_UnlockSurface(), you can write to + * and read from `surface->pixels`, using the pixel format stored in + * `surface->format`. Once you are done accessing the surface, you should use + * SDL_UnlockSurface() to release it. + * + * Not all surfaces require locking. If `SDL_MUSTLOCK(surface)` evaluates to + * 0, then you can read and write to the surface at any time, and the pixel + * format of the surface will not change. + * + * \param surface the SDL_Surface structure to be locked + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_MUSTLOCK + * \sa SDL_UnlockSurface + */ +extern DECLSPEC int SDLCALL SDL_LockSurface(SDL_Surface * surface); + +/** + * Release a surface after directly accessing the pixels. + * + * \param surface the SDL_Surface structure to be unlocked + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LockSurface + */ +extern DECLSPEC void SDLCALL SDL_UnlockSurface(SDL_Surface * surface); + +/** + * Load a BMP image from a seekable SDL data stream. + * + * The new surface should be freed with SDL_FreeSurface(). Not doing so will + * result in a memory leak. + * + * src is an open SDL_RWops buffer, typically loaded with SDL_RWFromFile. + * Alternitavely, you might also use the macro SDL_LoadBMP to load a bitmap + * from a file, convert it to an SDL_Surface and then close the file. + * + * \param src the data stream for the surface + * \param freesrc non-zero to close the stream after being read + * \returns a pointer to a new SDL_Surface structure or NULL if there was an + * error; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FreeSurface + * \sa SDL_RWFromFile + * \sa SDL_LoadBMP + * \sa SDL_SaveBMP_RW + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_LoadBMP_RW(SDL_RWops * src, + int freesrc); + +/** + * Load a surface from a file. + * + * Convenience macro. + */ +#define SDL_LoadBMP(file) SDL_LoadBMP_RW(SDL_RWFromFile(file, "rb"), 1) + +/** + * Save a surface to a seekable SDL data stream in BMP format. + * + * Surfaces with a 24-bit, 32-bit and paletted 8-bit format get saved in the + * BMP directly. Other RGB formats with 8-bit or higher get converted to a + * 24-bit surface or, if they have an alpha mask or a colorkey, to a 32-bit + * surface before they are saved. YUV and paletted 1-bit and 4-bit formats are + * not supported. + * + * \param surface the SDL_Surface structure containing the image to be saved + * \param dst a data stream to save to + * \param freedst non-zero to close the stream after being written + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_LoadBMP_RW + * \sa SDL_SaveBMP + */ +extern DECLSPEC int SDLCALL SDL_SaveBMP_RW + (SDL_Surface * surface, SDL_RWops * dst, int freedst); + +/** + * Save a surface to a file. + * + * Convenience macro. + */ +#define SDL_SaveBMP(surface, file) \ + SDL_SaveBMP_RW(surface, SDL_RWFromFile(file, "wb"), 1) + +/** + * Set the RLE acceleration hint for a surface. + * + * If RLE is enabled, color key and alpha blending blits are much faster, but + * the surface must be locked before directly accessing the pixels. + * + * \param surface the SDL_Surface structure to optimize + * \param flag 0 to disable, non-zero to enable RLE acceleration + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + * \sa SDL_LockSurface + * \sa SDL_UnlockSurface + */ +extern DECLSPEC int SDLCALL SDL_SetSurfaceRLE(SDL_Surface * surface, + int flag); + +/** + * Returns whether the surface is RLE enabled + * + * It is safe to pass a NULL `surface` here; it will return SDL_FALSE. + * + * \param surface the SDL_Surface structure to query + * \returns SDL_TRUE if the surface is RLE enabled, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + * + * \sa SDL_SetSurfaceRLE + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasSurfaceRLE(SDL_Surface * surface); + +/** + * Set the color key (transparent pixel) in a surface. + * + * The color key defines a pixel value that will be treated as transparent in + * a blit. For example, one can use this to specify that cyan pixels should be + * considered transparent, and therefore not rendered. + * + * It is a pixel of the format used by the surface, as generated by + * SDL_MapRGB(). + * + * RLE acceleration can substantially speed up blitting of images with large + * horizontal runs of transparent pixels. See SDL_SetSurfaceRLE() for details. + * + * \param surface the SDL_Surface structure to update + * \param flag SDL_TRUE to enable color key, SDL_FALSE to disable color key + * \param key the transparent pixel + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + * \sa SDL_GetColorKey + */ +extern DECLSPEC int SDLCALL SDL_SetColorKey(SDL_Surface * surface, + int flag, Uint32 key); + +/** + * Returns whether the surface has a color key + * + * It is safe to pass a NULL `surface` here; it will return SDL_FALSE. + * + * \param surface the SDL_Surface structure to query + * \return SDL_TRUE if the surface has a color key, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.9. + * + * \sa SDL_SetColorKey + * \sa SDL_GetColorKey + */ +extern DECLSPEC SDL_bool SDLCALL SDL_HasColorKey(SDL_Surface * surface); + +/** + * Get the color key (transparent pixel) for a surface. + * + * The color key is a pixel of the format used by the surface, as generated by + * SDL_MapRGB(). + * + * If the surface doesn't have color key enabled this function returns -1. + * + * \param surface the SDL_Surface structure to query + * \param key a pointer filled in with the transparent pixel + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + * \sa SDL_SetColorKey + */ +extern DECLSPEC int SDLCALL SDL_GetColorKey(SDL_Surface * surface, + Uint32 * key); + +/** + * Set an additional color value multiplied into blit operations. + * + * When this surface is blitted, during the blit operation each source color + * channel is modulated by the appropriate color value according to the + * following formula: + * + * `srcC = srcC * (color / 255)` + * + * \param surface the SDL_Surface structure to update + * \param r the red color value multiplied into blit operations + * \param g the green color value multiplied into blit operations + * \param b the blue color value multiplied into blit operations + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetSurfaceColorMod + * \sa SDL_SetSurfaceAlphaMod + */ +extern DECLSPEC int SDLCALL SDL_SetSurfaceColorMod(SDL_Surface * surface, + Uint8 r, Uint8 g, Uint8 b); + + +/** + * Get the additional color value multiplied into blit operations. + * + * \param surface the SDL_Surface structure to query + * \param r a pointer filled in with the current red color value + * \param g a pointer filled in with the current green color value + * \param b a pointer filled in with the current blue color value + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetSurfaceAlphaMod + * \sa SDL_SetSurfaceColorMod + */ +extern DECLSPEC int SDLCALL SDL_GetSurfaceColorMod(SDL_Surface * surface, + Uint8 * r, Uint8 * g, + Uint8 * b); + +/** + * Set an additional alpha value used in blit operations. + * + * When this surface is blitted, during the blit operation the source alpha + * value is modulated by this alpha value according to the following formula: + * + * `srcA = srcA * (alpha / 255)` + * + * \param surface the SDL_Surface structure to update + * \param alpha the alpha value multiplied into blit operations + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetSurfaceAlphaMod + * \sa SDL_SetSurfaceColorMod + */ +extern DECLSPEC int SDLCALL SDL_SetSurfaceAlphaMod(SDL_Surface * surface, + Uint8 alpha); + +/** + * Get the additional alpha value used in blit operations. + * + * \param surface the SDL_Surface structure to query + * \param alpha a pointer filled in with the current alpha value + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetSurfaceColorMod + * \sa SDL_SetSurfaceAlphaMod + */ +extern DECLSPEC int SDLCALL SDL_GetSurfaceAlphaMod(SDL_Surface * surface, + Uint8 * alpha); + +/** + * Set the blend mode used for blit operations. + * + * To copy a surface to another surface (or texture) without blending with the + * existing data, the blendmode of the SOURCE surface should be set to + * `SDL_BLENDMODE_NONE`. + * + * \param surface the SDL_Surface structure to update + * \param blendMode the SDL_BlendMode to use for blit blending + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetSurfaceBlendMode + */ +extern DECLSPEC int SDLCALL SDL_SetSurfaceBlendMode(SDL_Surface * surface, + SDL_BlendMode blendMode); + +/** + * Get the blend mode used for blit operations. + * + * \param surface the SDL_Surface structure to query + * \param blendMode a pointer filled in with the current SDL_BlendMode + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetSurfaceBlendMode + */ +extern DECLSPEC int SDLCALL SDL_GetSurfaceBlendMode(SDL_Surface * surface, + SDL_BlendMode *blendMode); + +/** + * Set the clipping rectangle for a surface. + * + * When `surface` is the destination of a blit, only the area within the clip + * rectangle is drawn into. + * + * Note that blits are automatically clipped to the edges of the source and + * destination surfaces. + * + * \param surface the SDL_Surface structure to be clipped + * \param rect the SDL_Rect structure representing the clipping rectangle, or + * NULL to disable clipping + * \returns SDL_TRUE if the rectangle intersects the surface, otherwise + * SDL_FALSE and blits will be completely clipped. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + * \sa SDL_GetClipRect + */ +extern DECLSPEC SDL_bool SDLCALL SDL_SetClipRect(SDL_Surface * surface, + const SDL_Rect * rect); + +/** + * Get the clipping rectangle for a surface. + * + * When `surface` is the destination of a blit, only the area within the clip + * rectangle is drawn into. + * + * \param surface the SDL_Surface structure representing the surface to be + * clipped + * \param rect an SDL_Rect structure filled in with the clipping rectangle for + * the surface + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + * \sa SDL_SetClipRect + */ +extern DECLSPEC void SDLCALL SDL_GetClipRect(SDL_Surface * surface, + SDL_Rect * rect); + +/* + * Creates a new surface identical to the existing surface. + * + * The returned surface should be freed with SDL_FreeSurface(). + * + * \param surface the surface to duplicate. + * \returns a copy of the surface, or NULL on failure; call SDL_GetError() for + * more information. + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_DuplicateSurface(SDL_Surface * surface); + +/** + * Copy an existing surface to a new surface of the specified format. + * + * This function is used to optimize images for faster *repeat* blitting. This + * is accomplished by converting the original and storing the result as a new + * surface. The new, optimized surface can then be used as the source for + * future blits, making them faster. + * + * \param src the existing SDL_Surface structure to convert + * \param fmt the SDL_PixelFormat structure that the new surface is optimized + * for + * \param flags the flags are unused and should be set to 0; this is a + * leftover from SDL 1.2's API + * \returns the new SDL_Surface structure that is created or NULL if it fails; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocFormat + * \sa SDL_ConvertSurfaceFormat + * \sa SDL_CreateRGBSurface + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_ConvertSurface + (SDL_Surface * src, const SDL_PixelFormat * fmt, Uint32 flags); + +/** + * Copy an existing surface to a new surface of the specified format enum. + * + * This function operates just like SDL_ConvertSurface(), but accepts an + * SDL_PixelFormatEnum value instead of an SDL_PixelFormat structure. As such, + * it might be easier to call but it doesn't have access to palette + * information for the destination surface, in case that would be important. + * + * \param src the existing SDL_Surface structure to convert + * \param pixel_format the SDL_PixelFormatEnum that the new surface is + * optimized for + * \param flags the flags are unused and should be set to 0; this is a + * leftover from SDL 1.2's API + * \returns the new SDL_Surface structure that is created or NULL if it fails; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AllocFormat + * \sa SDL_ConvertSurface + * \sa SDL_CreateRGBSurface + */ +extern DECLSPEC SDL_Surface *SDLCALL SDL_ConvertSurfaceFormat + (SDL_Surface * src, Uint32 pixel_format, Uint32 flags); + +/** + * Copy a block of pixels of one format to another format. + * + * \param width the width of the block to copy, in pixels + * \param height the height of the block to copy, in pixels + * \param src_format an SDL_PixelFormatEnum value of the `src` pixels format + * \param src a pointer to the source pixels + * \param src_pitch the pitch of the source pixels, in bytes + * \param dst_format an SDL_PixelFormatEnum value of the `dst` pixels format + * \param dst a pointer to be filled in with new pixel data + * \param dst_pitch the pitch of the destination pixels, in bytes + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_ConvertPixels(int width, int height, + Uint32 src_format, + const void * src, int src_pitch, + Uint32 dst_format, + void * dst, int dst_pitch); + +/** + * Premultiply the alpha on a block of pixels. + * + * This is safe to use with src == dst, but not for other overlapping areas. + * + * This function is currently only implemented for SDL_PIXELFORMAT_ARGB8888. + * + * \param width the width of the block to convert, in pixels + * \param height the height of the block to convert, in pixels + * \param src_format an SDL_PixelFormatEnum value of the `src` pixels format + * \param src a pointer to the source pixels + * \param src_pitch the pitch of the source pixels, in bytes + * \param dst_format an SDL_PixelFormatEnum value of the `dst` pixels format + * \param dst a pointer to be filled in with premultiplied pixel data + * \param dst_pitch the pitch of the destination pixels, in bytes + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_PremultiplyAlpha(int width, int height, + Uint32 src_format, + const void * src, int src_pitch, + Uint32 dst_format, + void * dst, int dst_pitch); + +/** + * Perform a fast fill of a rectangle with a specific color. + * + * `color` should be a pixel of the format used by the surface, and can be + * generated by SDL_MapRGB() or SDL_MapRGBA(). If the color value contains an + * alpha component then the destination is simply filled with that alpha + * information, no blending takes place. + * + * If there is a clip rectangle set on the destination (set via + * SDL_SetClipRect()), then this function will fill based on the intersection + * of the clip rectangle and `rect`. + * + * \param dst the SDL_Surface structure that is the drawing target + * \param rect the SDL_Rect structure representing the rectangle to fill, or + * NULL to fill the entire surface + * \param color the color to fill with + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FillRects + */ +extern DECLSPEC int SDLCALL SDL_FillRect + (SDL_Surface * dst, const SDL_Rect * rect, Uint32 color); + +/** + * Perform a fast fill of a set of rectangles with a specific color. + * + * `color` should be a pixel of the format used by the surface, and can be + * generated by SDL_MapRGB() or SDL_MapRGBA(). If the color value contains an + * alpha component then the destination is simply filled with that alpha + * information, no blending takes place. + * + * If there is a clip rectangle set on the destination (set via + * SDL_SetClipRect()), then this function will fill based on the intersection + * of the clip rectangle and `rect`. + * + * \param dst the SDL_Surface structure that is the drawing target + * \param rects an array of SDL_Rects representing the rectangles to fill. + * \param count the number of rectangles in the array + * \param color the color to fill with + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_FillRect + */ +extern DECLSPEC int SDLCALL SDL_FillRects + (SDL_Surface * dst, const SDL_Rect * rects, int count, Uint32 color); + +/* !!! FIXME: merge this documentation with the wiki */ +/** + * Performs a fast blit from the source surface to the destination surface. + * + * This assumes that the source and destination rectangles are + * the same size. If either \c srcrect or \c dstrect are NULL, the entire + * surface (\c src or \c dst) is copied. The final blit rectangles are saved + * in \c srcrect and \c dstrect after all clipping is performed. + * + * \returns 0 if the blit is successful, otherwise it returns -1. + * + * The blit function should not be called on a locked surface. + * + * The blit semantics for surfaces with and without blending and colorkey + * are defined as follows: + * \verbatim + RGBA->RGB: + Source surface blend mode set to SDL_BLENDMODE_BLEND: + alpha-blend (using the source alpha-channel and per-surface alpha) + SDL_SRCCOLORKEY ignored. + Source surface blend mode set to SDL_BLENDMODE_NONE: + copy RGB. + if SDL_SRCCOLORKEY set, only copy the pixels matching the + RGB values of the source color key, ignoring alpha in the + comparison. + + RGB->RGBA: + Source surface blend mode set to SDL_BLENDMODE_BLEND: + alpha-blend (using the source per-surface alpha) + Source surface blend mode set to SDL_BLENDMODE_NONE: + copy RGB, set destination alpha to source per-surface alpha value. + both: + if SDL_SRCCOLORKEY set, only copy the pixels matching the + source color key. + + RGBA->RGBA: + Source surface blend mode set to SDL_BLENDMODE_BLEND: + alpha-blend (using the source alpha-channel and per-surface alpha) + SDL_SRCCOLORKEY ignored. + Source surface blend mode set to SDL_BLENDMODE_NONE: + copy all of RGBA to the destination. + if SDL_SRCCOLORKEY set, only copy the pixels matching the + RGB values of the source color key, ignoring alpha in the + comparison. + + RGB->RGB: + Source surface blend mode set to SDL_BLENDMODE_BLEND: + alpha-blend (using the source per-surface alpha) + Source surface blend mode set to SDL_BLENDMODE_NONE: + copy RGB. + both: + if SDL_SRCCOLORKEY set, only copy the pixels matching the + source color key. + \endverbatim + * + * You should call SDL_BlitSurface() unless you know exactly how SDL + * blitting works internally and how to use the other blit functions. + */ +#define SDL_BlitSurface SDL_UpperBlit + +/** + * Perform a fast blit from the source surface to the destination surface. + * + * SDL_UpperBlit() has been replaced by SDL_BlitSurface(), which is merely a + * macro for this function with a less confusing name. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + */ +extern DECLSPEC int SDLCALL SDL_UpperBlit + (SDL_Surface * src, const SDL_Rect * srcrect, + SDL_Surface * dst, SDL_Rect * dstrect); + +/** + * Perform low-level surface blitting only. + * + * This is a semi-private blit function and it performs low-level surface + * blitting, assuming the input rectangles have already been clipped. + * + * Unless you know what you're doing, you should be using SDL_BlitSurface() + * instead. + * + * \param src the SDL_Surface structure to be copied from + * \param srcrect the SDL_Rect structure representing the rectangle to be + * copied, or NULL to copy the entire surface + * \param dst the SDL_Surface structure that is the blit target + * \param dstrect the SDL_Rect structure representing the rectangle that is + * copied into + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitSurface + */ +extern DECLSPEC int SDLCALL SDL_LowerBlit + (SDL_Surface * src, SDL_Rect * srcrect, + SDL_Surface * dst, SDL_Rect * dstrect); + + +/** + * Perform a fast, low quality, stretch blit between two surfaces of the same + * format. + * + * Please use SDL_BlitScaled() instead. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_SoftStretch(SDL_Surface * src, + const SDL_Rect * srcrect, + SDL_Surface * dst, + const SDL_Rect * dstrect); + +/** + * Perform bilinear scaling between two surfaces of the same format, 32BPP. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC int SDLCALL SDL_SoftStretchLinear(SDL_Surface * src, + const SDL_Rect * srcrect, + SDL_Surface * dst, + const SDL_Rect * dstrect); + + +#define SDL_BlitScaled SDL_UpperBlitScaled + +/** + * Perform a scaled surface copy to a destination surface. + * + * SDL_UpperBlitScaled() has been replaced by SDL_BlitScaled(), which is + * merely a macro for this function with a less confusing name. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitScaled + */ +extern DECLSPEC int SDLCALL SDL_UpperBlitScaled + (SDL_Surface * src, const SDL_Rect * srcrect, + SDL_Surface * dst, SDL_Rect * dstrect); + +/** + * Perform low-level surface scaled blitting only. + * + * This is a semi-private function and it performs low-level surface blitting, + * assuming the input rectangles have already been clipped. + * + * \param src the SDL_Surface structure to be copied from + * \param srcrect the SDL_Rect structure representing the rectangle to be + * copied + * \param dst the SDL_Surface structure that is the blit target + * \param dstrect the SDL_Rect structure representing the rectangle that is + * copied into + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_BlitScaled + */ +extern DECLSPEC int SDLCALL SDL_LowerBlitScaled + (SDL_Surface * src, SDL_Rect * srcrect, + SDL_Surface * dst, SDL_Rect * dstrect); + +/** + * Set the YUV conversion mode + * + * \since This function is available since SDL 2.0.8. + */ +extern DECLSPEC void SDLCALL SDL_SetYUVConversionMode(SDL_YUV_CONVERSION_MODE mode); + +/** + * Get the YUV conversion mode + * + * \since This function is available since SDL 2.0.8. + */ +extern DECLSPEC SDL_YUV_CONVERSION_MODE SDLCALL SDL_GetYUVConversionMode(void); + +/** + * Get the YUV conversion mode, returning the correct mode for the resolution + * when the current conversion mode is SDL_YUV_CONVERSION_AUTOMATIC + * + * \since This function is available since SDL 2.0.8. + */ +extern DECLSPEC SDL_YUV_CONVERSION_MODE SDLCALL SDL_GetYUVConversionModeForResolution(int width, int height); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_surface_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_system.h b/subprojects/sdl2_windows/include/SDL2/SDL_system.h new file mode 100644 index 000000000..0edca635b --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_system.h @@ -0,0 +1,623 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_system.h + * + * Include file for platform specific SDL API functions + */ + +#ifndef SDL_system_h_ +#define SDL_system_h_ + +#include "SDL_stdinc.h" +#include "SDL_keyboard.h" +#include "SDL_render.h" +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + + +/* Platform specific functions for Windows */ +#if defined(__WIN32__) || defined(__GDK__) + +typedef void (SDLCALL * SDL_WindowsMessageHook)(void *userdata, void *hWnd, unsigned int message, Uint64 wParam, Sint64 lParam); + +/** + * Set a callback for every Windows message, run before TranslateMessage(). + * + * \param callback The SDL_WindowsMessageHook function to call. + * \param userdata a pointer to pass to every iteration of `callback` + * + * \since This function is available since SDL 2.0.4. + */ +extern DECLSPEC void SDLCALL SDL_SetWindowsMessageHook(SDL_WindowsMessageHook callback, void *userdata); + +#endif /* defined(__WIN32__) || defined(__GDK__) */ + +#if defined(__WIN32__) || defined(__WINGDK__) + +/** + * Get the D3D9 adapter index that matches the specified display index. + * + * The returned adapter index can be passed to `IDirect3D9::CreateDevice` and + * controls on which monitor a full screen application will appear. + * + * \param displayIndex the display index for which to get the D3D9 adapter + * index + * \returns the D3D9 adapter index on success or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.1. + */ +extern DECLSPEC int SDLCALL SDL_Direct3D9GetAdapterIndex( int displayIndex ); + +typedef struct IDirect3DDevice9 IDirect3DDevice9; + +/** + * Get the D3D9 device associated with a renderer. + * + * Once you are done using the device, you should release it to avoid a + * resource leak. + * + * \param renderer the renderer from which to get the associated D3D device + * \returns the D3D9 device associated with given renderer or NULL if it is + * not a D3D9 renderer; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.1. + */ +extern DECLSPEC IDirect3DDevice9* SDLCALL SDL_RenderGetD3D9Device(SDL_Renderer * renderer); + +typedef struct ID3D11Device ID3D11Device; + +/** + * Get the D3D11 device associated with a renderer. + * + * Once you are done using the device, you should release it to avoid a + * resource leak. + * + * \param renderer the renderer from which to get the associated D3D11 device + * \returns the D3D11 device associated with given renderer or NULL if it is + * not a D3D11 renderer; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC ID3D11Device* SDLCALL SDL_RenderGetD3D11Device(SDL_Renderer * renderer); + +#endif /* defined(__WIN32__) || defined(__WINGDK__) */ + +#if defined(__WIN32__) || defined(__GDK__) + +typedef struct ID3D12Device ID3D12Device; + +/** + * Get the D3D12 device associated with a renderer. + * + * Once you are done using the device, you should release it to avoid a + * resource leak. + * + * \param renderer the renderer from which to get the associated D3D12 device + * \returns the D3D12 device associated with given renderer or NULL if it is + * not a D3D12 renderer; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC ID3D12Device* SDLCALL SDL_RenderGetD3D12Device(SDL_Renderer* renderer); + +#endif /* defined(__WIN32__) || defined(__GDK__) */ + +#if defined(__WIN32__) || defined(__WINGDK__) + +/** + * Get the DXGI Adapter and Output indices for the specified display index. + * + * The DXGI Adapter and Output indices can be passed to `EnumAdapters` and + * `EnumOutputs` respectively to get the objects required to create a DX10 or + * DX11 device and swap chain. + * + * Before SDL 2.0.4 this function did not return a value. Since SDL 2.0.4 it + * returns an SDL_bool. + * + * \param displayIndex the display index for which to get both indices + * \param adapterIndex a pointer to be filled in with the adapter index + * \param outputIndex a pointer to be filled in with the output index + * \returns SDL_TRUE on success or SDL_FALSE on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.2. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_DXGIGetOutputInfo( int displayIndex, int *adapterIndex, int *outputIndex ); + +#endif /* defined(__WIN32__) || defined(__WINGDK__) */ + +/* Platform specific functions for Linux */ +#ifdef __LINUX__ + +/** + * Sets the UNIX nice value for a thread. + * + * This uses setpriority() if possible, and RealtimeKit if available. + * + * \param threadID the Unix thread ID to change priority of. + * \param priority The new, Unix-specific, priority value. + * \returns 0 on success, or -1 on error. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC int SDLCALL SDL_LinuxSetThreadPriority(Sint64 threadID, int priority); + +/** + * Sets the priority (not nice level) and scheduling policy for a thread. + * + * This uses setpriority() if possible, and RealtimeKit if available. + * + * \param threadID The Unix thread ID to change priority of. + * \param sdlPriority The new SDL_ThreadPriority value. + * \param schedPolicy The new scheduling policy (SCHED_FIFO, SCHED_RR, + * SCHED_OTHER, etc...) + * \returns 0 on success, or -1 on error. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC int SDLCALL SDL_LinuxSetThreadPriorityAndPolicy(Sint64 threadID, int sdlPriority, int schedPolicy); + +#endif /* __LINUX__ */ + +/* Platform specific functions for iOS */ +#ifdef __IPHONEOS__ + +#define SDL_iOSSetAnimationCallback(window, interval, callback, callbackParam) SDL_iPhoneSetAnimationCallback(window, interval, callback, callbackParam) + +/** + * Use this function to set the animation callback on Apple iOS. + * + * The function prototype for `callback` is: + * + * ```c + * void callback(void* callbackParam); + * ``` + * + * Where its parameter, `callbackParam`, is what was passed as `callbackParam` + * to SDL_iPhoneSetAnimationCallback(). + * + * This function is only available on Apple iOS. + * + * For more information see: + * https://github.com/libsdl-org/SDL/blob/main/docs/README-ios.md + * + * This functions is also accessible using the macro + * SDL_iOSSetAnimationCallback() since SDL 2.0.4. + * + * \param window the window for which the animation callback should be set + * \param interval the number of frames after which **callback** will be + * called + * \param callback the function to call for every frame. + * \param callbackParam a pointer that is passed to `callback`. + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_iPhoneSetEventPump + */ +extern DECLSPEC int SDLCALL SDL_iPhoneSetAnimationCallback(SDL_Window * window, int interval, void (SDLCALL *callback)(void*), void *callbackParam); + +#define SDL_iOSSetEventPump(enabled) SDL_iPhoneSetEventPump(enabled) + +/** + * Use this function to enable or disable the SDL event pump on Apple iOS. + * + * This function is only available on Apple iOS. + * + * This functions is also accessible using the macro SDL_iOSSetEventPump() + * since SDL 2.0.4. + * + * \param enabled SDL_TRUE to enable the event pump, SDL_FALSE to disable it + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_iPhoneSetAnimationCallback + */ +extern DECLSPEC void SDLCALL SDL_iPhoneSetEventPump(SDL_bool enabled); + +#endif /* __IPHONEOS__ */ + + +/* Platform specific functions for Android */ +#ifdef __ANDROID__ + +/** + * Get the Android Java Native Interface Environment of the current thread. + * + * This is the JNIEnv one needs to access the Java virtual machine from native + * code, and is needed for many Android APIs to be usable from C. + * + * The prototype of the function in SDL's code actually declare a void* return + * type, even if the implementation returns a pointer to a JNIEnv. The + * rationale being that the SDL headers can avoid including jni.h. + * + * \returns a pointer to Java native interface object (JNIEnv) to which the + * current thread is attached, or 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AndroidGetActivity + */ +extern DECLSPEC void * SDLCALL SDL_AndroidGetJNIEnv(void); + +/** + * Retrieve the Java instance of the Android activity class. + * + * The prototype of the function in SDL's code actually declares a void* + * return type, even if the implementation returns a jobject. The rationale + * being that the SDL headers can avoid including jni.h. + * + * The jobject returned by the function is a local reference and must be + * released by the caller. See the PushLocalFrame() and PopLocalFrame() or + * DeleteLocalRef() functions of the Java native interface: + * + * https://docs.oracle.com/javase/1.5.0/docs/guide/jni/spec/functions.html + * + * \returns the jobject representing the instance of the Activity class of the + * Android application, or NULL on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AndroidGetJNIEnv + */ +extern DECLSPEC void * SDLCALL SDL_AndroidGetActivity(void); + +/** + * Query Android API level of the current device. + * + * - API level 31: Android 12 + * - API level 30: Android 11 + * - API level 29: Android 10 + * - API level 28: Android 9 + * - API level 27: Android 8.1 + * - API level 26: Android 8.0 + * - API level 25: Android 7.1 + * - API level 24: Android 7.0 + * - API level 23: Android 6.0 + * - API level 22: Android 5.1 + * - API level 21: Android 5.0 + * - API level 20: Android 4.4W + * - API level 19: Android 4.4 + * - API level 18: Android 4.3 + * - API level 17: Android 4.2 + * - API level 16: Android 4.1 + * - API level 15: Android 4.0.3 + * - API level 14: Android 4.0 + * - API level 13: Android 3.2 + * - API level 12: Android 3.1 + * - API level 11: Android 3.0 + * - API level 10: Android 2.3.3 + * + * \returns the Android API level. + * + * \since This function is available since SDL 2.0.12. + */ +extern DECLSPEC int SDLCALL SDL_GetAndroidSDKVersion(void); + +/** + * Query if the application is running on Android TV. + * + * \returns SDL_TRUE if this is Android TV, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.8. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsAndroidTV(void); + +/** + * Query if the application is running on a Chromebook. + * + * \returns SDL_TRUE if this is a Chromebook, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsChromebook(void); + +/** + * Query if the application is running on a Samsung DeX docking station. + * + * \returns SDL_TRUE if this is a DeX docking station, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsDeXMode(void); + +/** + * Trigger the Android system back button behavior. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC void SDLCALL SDL_AndroidBackButton(void); + +/** + See the official Android developer guide for more information: + http://developer.android.com/guide/topics/data/data-storage.html +*/ +#define SDL_ANDROID_EXTERNAL_STORAGE_READ 0x01 +#define SDL_ANDROID_EXTERNAL_STORAGE_WRITE 0x02 + +/** + * Get the path used for internal storage for this application. + * + * This path is unique to your application and cannot be written to by other + * applications. + * + * Your internal storage path is typically: + * `/data/data/your.app.package/files`. + * + * \returns the path used for internal storage or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AndroidGetExternalStorageState + */ +extern DECLSPEC const char * SDLCALL SDL_AndroidGetInternalStoragePath(void); + +/** + * Get the current state of external storage. + * + * The current state of external storage, a bitmask of these values: + * `SDL_ANDROID_EXTERNAL_STORAGE_READ`, `SDL_ANDROID_EXTERNAL_STORAGE_WRITE`. + * + * If external storage is currently unavailable, this will return 0. + * + * \returns the current state of external storage on success or 0 on failure; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AndroidGetExternalStoragePath + */ +extern DECLSPEC int SDLCALL SDL_AndroidGetExternalStorageState(void); + +/** + * Get the path used for external storage for this application. + * + * This path is unique to your application, but is public and can be written + * to by other applications. + * + * Your external storage path is typically: + * `/storage/sdcard0/Android/data/your.app.package/files`. + * + * \returns the path used for external storage for this application on success + * or NULL on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AndroidGetExternalStorageState + */ +extern DECLSPEC const char * SDLCALL SDL_AndroidGetExternalStoragePath(void); + +/** + * Request permissions at runtime. + * + * This blocks the calling thread until the permission is granted or denied. + * + * \param permission The permission to request. + * \returns SDL_TRUE if the permission was granted, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.14. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_AndroidRequestPermission(const char *permission); + +/** + * Shows an Android toast notification. + * + * Toasts are a sort of lightweight notification that are unique to Android. + * + * https://developer.android.com/guide/topics/ui/notifiers/toasts + * + * Shows toast in UI thread. + * + * For the `gravity` parameter, choose a value from here, or -1 if you don't + * have a preference: + * + * https://developer.android.com/reference/android/view/Gravity + * + * \param message text message to be shown + * \param duration 0=short, 1=long + * \param gravity where the notification should appear on the screen. + * \param xoffset set this parameter only when gravity >=0 + * \param yoffset set this parameter only when gravity >=0 + * \returns 0 if success, -1 if any error occurs. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC int SDLCALL SDL_AndroidShowToast(const char* message, int duration, int gravity, int xoffset, int yoffset); + +/** + * Send a user command to SDLActivity. + * + * Override "boolean onUnhandledMessage(Message msg)" to handle the message. + * + * \param command user command that must be greater or equal to 0x8000 + * \param param user parameter + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC int SDLCALL SDL_AndroidSendMessage(Uint32 command, int param); + +#endif /* __ANDROID__ */ + +/* Platform specific functions for WinRT */ +#ifdef __WINRT__ + +/** + * \brief WinRT / Windows Phone path types + */ +typedef enum +{ + /** \brief The installed app's root directory. + Files here are likely to be read-only. */ + SDL_WINRT_PATH_INSTALLED_LOCATION, + + /** \brief The app's local data store. Files may be written here */ + SDL_WINRT_PATH_LOCAL_FOLDER, + + /** \brief The app's roaming data store. Unsupported on Windows Phone. + Files written here may be copied to other machines via a network + connection. + */ + SDL_WINRT_PATH_ROAMING_FOLDER, + + /** \brief The app's temporary data store. Unsupported on Windows Phone. + Files written here may be deleted at any time. */ + SDL_WINRT_PATH_TEMP_FOLDER +} SDL_WinRT_Path; + + +/** + * \brief WinRT Device Family + */ +typedef enum +{ + /** \brief Unknown family */ + SDL_WINRT_DEVICEFAMILY_UNKNOWN, + + /** \brief Desktop family*/ + SDL_WINRT_DEVICEFAMILY_DESKTOP, + + /** \brief Mobile family (for example smartphone) */ + SDL_WINRT_DEVICEFAMILY_MOBILE, + + /** \brief XBox family */ + SDL_WINRT_DEVICEFAMILY_XBOX, +} SDL_WinRT_DeviceFamily; + + +/** + * Retrieve a WinRT defined path on the local file system. + * + * Not all paths are available on all versions of Windows. This is especially + * true on Windows Phone. Check the documentation for the given SDL_WinRT_Path + * for more information on which path types are supported where. + * + * Documentation on most app-specific path types on WinRT can be found on + * MSDN, at the URL: + * + * https://msdn.microsoft.com/en-us/library/windows/apps/hh464917.aspx + * + * \param pathType the type of path to retrieve, one of SDL_WinRT_Path + * \returns a UCS-2 string (16-bit, wide-char) containing the path, or NULL if + * the path is not available for any reason; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.3. + * + * \sa SDL_WinRTGetFSPathUTF8 + */ +extern DECLSPEC const wchar_t * SDLCALL SDL_WinRTGetFSPathUNICODE(SDL_WinRT_Path pathType); + +/** + * Retrieve a WinRT defined path on the local file system. + * + * Not all paths are available on all versions of Windows. This is especially + * true on Windows Phone. Check the documentation for the given SDL_WinRT_Path + * for more information on which path types are supported where. + * + * Documentation on most app-specific path types on WinRT can be found on + * MSDN, at the URL: + * + * https://msdn.microsoft.com/en-us/library/windows/apps/hh464917.aspx + * + * \param pathType the type of path to retrieve, one of SDL_WinRT_Path + * \returns a UTF-8 string (8-bit, multi-byte) containing the path, or NULL if + * the path is not available for any reason; call SDL_GetError() for + * more information. + * + * \since This function is available since SDL 2.0.3. + * + * \sa SDL_WinRTGetFSPathUNICODE + */ +extern DECLSPEC const char * SDLCALL SDL_WinRTGetFSPathUTF8(SDL_WinRT_Path pathType); + +/** + * Detects the device family of WinRT platform at runtime. + * + * \returns a value from the SDL_WinRT_DeviceFamily enum. + * + * \since This function is available since SDL 2.0.8. + */ +extern DECLSPEC SDL_WinRT_DeviceFamily SDLCALL SDL_WinRTGetDeviceFamily(); + +#endif /* __WINRT__ */ + +/** + * Query if the current device is a tablet. + * + * If SDL can't determine this, it will return SDL_FALSE. + * + * \returns SDL_TRUE if the device is a tablet, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.9. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsTablet(void); + +/* Functions used by iOS application delegates to notify SDL about state changes */ +extern DECLSPEC void SDLCALL SDL_OnApplicationWillTerminate(void); +extern DECLSPEC void SDLCALL SDL_OnApplicationDidReceiveMemoryWarning(void); +extern DECLSPEC void SDLCALL SDL_OnApplicationWillResignActive(void); +extern DECLSPEC void SDLCALL SDL_OnApplicationDidEnterBackground(void); +extern DECLSPEC void SDLCALL SDL_OnApplicationWillEnterForeground(void); +extern DECLSPEC void SDLCALL SDL_OnApplicationDidBecomeActive(void); +#ifdef __IPHONEOS__ +extern DECLSPEC void SDLCALL SDL_OnApplicationDidChangeStatusBarOrientation(void); +#endif + +/* Functions used only by GDK */ +#if defined(__GDK__) +typedef struct XTaskQueueObject * XTaskQueueHandle; + +/** + * Gets a reference to the global async task queue handle for GDK, + * initializing if needed. + * + * Once you are done with the task queue, you should call + * XTaskQueueCloseHandle to reduce the reference count to avoid a resource + * leak. + * + * \param outTaskQueue a pointer to be filled in with task queue handle. + * \returns 0 if success, -1 if any error occurs. + * + * \since This function is available since SDL 2.24.0. + */ +extern DECLSPEC int SDLCALL SDL_GDKGetTaskQueue(XTaskQueueHandle * outTaskQueue); + +#endif + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_system_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_syswm.h b/subprojects/sdl2_windows/include/SDL2/SDL_syswm.h new file mode 100644 index 000000000..45f8e7540 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_syswm.h @@ -0,0 +1,386 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_syswm.h + * + * Include file for SDL custom system window manager hooks. + */ + +#ifndef SDL_syswm_h_ +#define SDL_syswm_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_video.h" +#include "SDL_version.h" + +/** + * \brief SDL_syswm.h + * + * Your application has access to a special type of event ::SDL_SYSWMEVENT, + * which contains window-manager specific information and arrives whenever + * an unhandled window event occurs. This event is ignored by default, but + * you can enable it with SDL_EventState(). + */ +struct SDL_SysWMinfo; + +#if !defined(SDL_PROTOTYPES_ONLY) + +#if defined(SDL_VIDEO_DRIVER_WINDOWS) +#ifndef WIN32_LEAN_AND_MEAN +#define WIN32_LEAN_AND_MEAN +#endif +#ifndef NOMINMAX /* don't define min() and max(). */ +#define NOMINMAX +#endif +#include +#endif + +#if defined(SDL_VIDEO_DRIVER_WINRT) +#include +#endif + +/* This is the structure for custom window manager events */ +#if defined(SDL_VIDEO_DRIVER_X11) +#if defined(__APPLE__) && defined(__MACH__) +/* conflicts with Quickdraw.h */ +#define Cursor X11Cursor +#endif + +#include +#include + +#if defined(__APPLE__) && defined(__MACH__) +/* matches the re-define above */ +#undef Cursor +#endif + +#endif /* defined(SDL_VIDEO_DRIVER_X11) */ + +#if defined(SDL_VIDEO_DRIVER_DIRECTFB) +#include +#endif + +#if defined(SDL_VIDEO_DRIVER_COCOA) +#ifdef __OBJC__ +@class NSWindow; +#else +typedef struct _NSWindow NSWindow; +#endif +#endif + +#if defined(SDL_VIDEO_DRIVER_UIKIT) +#ifdef __OBJC__ +#include +#else +typedef struct _UIWindow UIWindow; +typedef struct _UIViewController UIViewController; +#endif +typedef Uint32 GLuint; +#endif + +#if defined(SDL_VIDEO_VULKAN) || defined(SDL_VIDEO_METAL) +#define SDL_METALVIEW_TAG 255 +#endif + +#if defined(SDL_VIDEO_DRIVER_ANDROID) +typedef struct ANativeWindow ANativeWindow; +typedef void *EGLSurface; +#endif + +#if defined(SDL_VIDEO_DRIVER_VIVANTE) +#include "SDL_egl.h" +#endif + +#if defined(SDL_VIDEO_DRIVER_OS2) +#define INCL_WIN +#include +#endif +#endif /* SDL_PROTOTYPES_ONLY */ + +#if defined(SDL_VIDEO_DRIVER_KMSDRM) +struct gbm_device; +#endif + + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +#if !defined(SDL_PROTOTYPES_ONLY) +/** + * These are the various supported windowing subsystems + */ +typedef enum +{ + SDL_SYSWM_UNKNOWN, + SDL_SYSWM_WINDOWS, + SDL_SYSWM_X11, + SDL_SYSWM_DIRECTFB, + SDL_SYSWM_COCOA, + SDL_SYSWM_UIKIT, + SDL_SYSWM_WAYLAND, + SDL_SYSWM_MIR, /* no longer available, left for API/ABI compatibility. Remove in 2.1! */ + SDL_SYSWM_WINRT, + SDL_SYSWM_ANDROID, + SDL_SYSWM_VIVANTE, + SDL_SYSWM_OS2, + SDL_SYSWM_HAIKU, + SDL_SYSWM_KMSDRM, + SDL_SYSWM_RISCOS +} SDL_SYSWM_TYPE; + +/** + * The custom event structure. + */ +struct SDL_SysWMmsg +{ + SDL_version version; + SDL_SYSWM_TYPE subsystem; + union + { +#if defined(SDL_VIDEO_DRIVER_WINDOWS) + struct { + HWND hwnd; /**< The window for the message */ + UINT msg; /**< The type of message */ + WPARAM wParam; /**< WORD message parameter */ + LPARAM lParam; /**< LONG message parameter */ + } win; +#endif +#if defined(SDL_VIDEO_DRIVER_X11) + struct { + XEvent event; + } x11; +#endif +#if defined(SDL_VIDEO_DRIVER_DIRECTFB) + struct { + DFBEvent event; + } dfb; +#endif +#if defined(SDL_VIDEO_DRIVER_COCOA) + struct + { + /* Latest version of Xcode clang complains about empty structs in C v. C++: + error: empty struct has size 0 in C, size 1 in C++ + */ + int dummy; + /* No Cocoa window events yet */ + } cocoa; +#endif +#if defined(SDL_VIDEO_DRIVER_UIKIT) + struct + { + int dummy; + /* No UIKit window events yet */ + } uikit; +#endif +#if defined(SDL_VIDEO_DRIVER_VIVANTE) + struct + { + int dummy; + /* No Vivante window events yet */ + } vivante; +#endif +#if defined(SDL_VIDEO_DRIVER_OS2) + struct + { + BOOL fFrame; /**< TRUE if hwnd is a frame window */ + HWND hwnd; /**< The window receiving the message */ + ULONG msg; /**< The message identifier */ + MPARAM mp1; /**< The first first message parameter */ + MPARAM mp2; /**< The second first message parameter */ + } os2; +#endif + /* Can't have an empty union */ + int dummy; + } msg; +}; + +/** + * The custom window manager information structure. + * + * When this structure is returned, it holds information about which + * low level system it is using, and will be one of SDL_SYSWM_TYPE. + */ +struct SDL_SysWMinfo +{ + SDL_version version; + SDL_SYSWM_TYPE subsystem; + union + { +#if defined(SDL_VIDEO_DRIVER_WINDOWS) + struct + { + HWND window; /**< The window handle */ + HDC hdc; /**< The window device context */ + HINSTANCE hinstance; /**< The instance handle */ + } win; +#endif +#if defined(SDL_VIDEO_DRIVER_WINRT) + struct + { + IInspectable * window; /**< The WinRT CoreWindow */ + } winrt; +#endif +#if defined(SDL_VIDEO_DRIVER_X11) + struct + { + Display *display; /**< The X11 display */ + Window window; /**< The X11 window */ + } x11; +#endif +#if defined(SDL_VIDEO_DRIVER_DIRECTFB) + struct + { + IDirectFB *dfb; /**< The directfb main interface */ + IDirectFBWindow *window; /**< The directfb window handle */ + IDirectFBSurface *surface; /**< The directfb client surface */ + } dfb; +#endif +#if defined(SDL_VIDEO_DRIVER_COCOA) + struct + { +#if defined(__OBJC__) && defined(__has_feature) + #if __has_feature(objc_arc) + NSWindow __unsafe_unretained *window; /**< The Cocoa window */ + #else + NSWindow *window; /**< The Cocoa window */ + #endif +#else + NSWindow *window; /**< The Cocoa window */ +#endif + } cocoa; +#endif +#if defined(SDL_VIDEO_DRIVER_UIKIT) + struct + { +#if defined(__OBJC__) && defined(__has_feature) + #if __has_feature(objc_arc) + UIWindow __unsafe_unretained *window; /**< The UIKit window */ + #else + UIWindow *window; /**< The UIKit window */ + #endif +#else + UIWindow *window; /**< The UIKit window */ +#endif + GLuint framebuffer; /**< The GL view's Framebuffer Object. It must be bound when rendering to the screen using GL. */ + GLuint colorbuffer; /**< The GL view's color Renderbuffer Object. It must be bound when SDL_GL_SwapWindow is called. */ + GLuint resolveFramebuffer; /**< The Framebuffer Object which holds the resolve color Renderbuffer, when MSAA is used. */ + } uikit; +#endif +#if defined(SDL_VIDEO_DRIVER_WAYLAND) + struct + { + struct wl_display *display; /**< Wayland display */ + struct wl_surface *surface; /**< Wayland surface */ + void *shell_surface; /**< DEPRECATED Wayland shell_surface (window manager handle) */ + struct wl_egl_window *egl_window; /**< Wayland EGL window (native window) */ + struct xdg_surface *xdg_surface; /**< Wayland xdg surface (window manager handle) */ + struct xdg_toplevel *xdg_toplevel; /**< Wayland xdg toplevel role */ + struct xdg_popup *xdg_popup; /**< Wayland xdg popup role */ + struct xdg_positioner *xdg_positioner; /**< Wayland xdg positioner, for popup */ + } wl; +#endif +#if defined(SDL_VIDEO_DRIVER_MIR) /* no longer available, left for API/ABI compatibility. Remove in 2.1! */ + struct + { + void *connection; /**< Mir display server connection */ + void *surface; /**< Mir surface */ + } mir; +#endif + +#if defined(SDL_VIDEO_DRIVER_ANDROID) + struct + { + ANativeWindow *window; + EGLSurface surface; + } android; +#endif + +#if defined(SDL_VIDEO_DRIVER_OS2) + struct + { + HWND hwnd; /**< The window handle */ + HWND hwndFrame; /**< The frame window handle */ + } os2; +#endif + +#if defined(SDL_VIDEO_DRIVER_VIVANTE) + struct + { + EGLNativeDisplayType display; + EGLNativeWindowType window; + } vivante; +#endif + +#if defined(SDL_VIDEO_DRIVER_KMSDRM) + struct + { + int dev_index; /**< Device index (ex: the X in /dev/dri/cardX) */ + int drm_fd; /**< DRM FD (unavailable on Vulkan windows) */ + struct gbm_device *gbm_dev; /**< GBM device (unavailable on Vulkan windows) */ + } kmsdrm; +#endif + + /* Make sure this union is always 64 bytes (8 64-bit pointers). */ + /* Be careful not to overflow this if you add a new target! */ + Uint8 dummy[64]; + } info; +}; + +#endif /* SDL_PROTOTYPES_ONLY */ + +typedef struct SDL_SysWMinfo SDL_SysWMinfo; + + +/** + * Get driver-specific information about a window. + * + * You must include SDL_syswm.h for the declaration of SDL_SysWMinfo. + * + * The caller must initialize the `info` structure's version by using + * `SDL_VERSION(&info.version)`, and then this function will fill in the rest + * of the structure with information about the given window. + * + * \param window the window about which information is being requested + * \param info an SDL_SysWMinfo structure filled in with window information + * \returns SDL_TRUE if the function is implemented and the `version` member + * of the `info` struct is valid, or SDL_FALSE if the information + * could not be retrieved; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowWMInfo(SDL_Window * window, + SDL_SysWMinfo * info); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_syswm_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test.h b/subprojects/sdl2_windows/include/SDL2/SDL_test.h new file mode 100644 index 000000000..8cc9d616a --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test.h @@ -0,0 +1,69 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +#ifndef SDL_test_h_ +#define SDL_test_h_ + +#include "SDL.h" +#include "SDL_test_assert.h" +#include "SDL_test_common.h" +#include "SDL_test_compare.h" +#include "SDL_test_crc32.h" +#include "SDL_test_font.h" +#include "SDL_test_fuzzer.h" +#include "SDL_test_harness.h" +#include "SDL_test_images.h" +#include "SDL_test_log.h" +#include "SDL_test_md5.h" +#include "SDL_test_memory.h" +#include "SDL_test_random.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* Global definitions */ + +/* + * Note: Maximum size of SDLTest log message is less than SDL's limit + * to ensure we can fit additional information such as the timestamp. + */ +#define SDLTEST_MAX_LOGMESSAGE_LENGTH 3584 + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_assert.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_assert.h new file mode 100644 index 000000000..734230529 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_assert.h @@ -0,0 +1,105 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_assert.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + * + * Assert API for test code and test cases + * + */ + +#ifndef SDL_test_assert_h_ +#define SDL_test_assert_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief Fails the assert. + */ +#define ASSERT_FAIL 0 + +/** + * \brief Passes the assert. + */ +#define ASSERT_PASS 1 + +/** + * \brief Assert that logs and break execution flow on failures. + * + * \param assertCondition Evaluated condition or variable to assert; fail (==0) or pass (!=0). + * \param assertDescription Message to log with the assert describing it. + */ +void SDLTest_Assert(int assertCondition, SDL_PRINTF_FORMAT_STRING const char *assertDescription, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * \brief Assert for test cases that logs but does not break execution flow on failures. Updates assertion counters. + * + * \param assertCondition Evaluated condition or variable to assert; fail (==0) or pass (!=0). + * \param assertDescription Message to log with the assert describing it. + * + * \returns the assertCondition so it can be used to externally to break execution flow if desired. + */ +int SDLTest_AssertCheck(int assertCondition, SDL_PRINTF_FORMAT_STRING const char *assertDescription, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * \brief Explicitly pass without checking an assertion condition. Updates assertion counter. + * + * \param assertDescription Message to log with the assert describing it. + */ +void SDLTest_AssertPass(SDL_PRINTF_FORMAT_STRING const char *assertDescription, ...) SDL_PRINTF_VARARG_FUNC(1); + +/** + * \brief Resets the assert summary counters to zero. + */ +void SDLTest_ResetAssertSummary(void); + +/** + * \brief Logs summary of all assertions (total, pass, fail) since last reset as INFO or ERROR. + */ +void SDLTest_LogAssertSummary(void); + + +/** + * \brief Converts the current assert summary state to a test result. + * + * \returns TEST_RESULT_PASSED, TEST_RESULT_FAILED, or TEST_RESULT_NO_ASSERT + */ +int SDLTest_AssertSummaryToTestResult(void); + +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_assert_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_common.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_common.h new file mode 100644 index 000000000..b86520d32 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_common.h @@ -0,0 +1,236 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_common.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* Ported from original test\common.h file. */ + +#ifndef SDL_test_common_h_ +#define SDL_test_common_h_ + +#include "SDL.h" + +#if defined(__PSP__) +#define DEFAULT_WINDOW_WIDTH 480 +#define DEFAULT_WINDOW_HEIGHT 272 +#elif defined(__VITA__) +#define DEFAULT_WINDOW_WIDTH 960 +#define DEFAULT_WINDOW_HEIGHT 544 +#else +#define DEFAULT_WINDOW_WIDTH 640 +#define DEFAULT_WINDOW_HEIGHT 480 +#endif + +#define VERBOSE_VIDEO 0x00000001 +#define VERBOSE_MODES 0x00000002 +#define VERBOSE_RENDER 0x00000004 +#define VERBOSE_EVENT 0x00000008 +#define VERBOSE_AUDIO 0x00000010 +#define VERBOSE_MOTION 0x00000020 + +typedef struct +{ + /* SDL init flags */ + char **argv; + Uint32 flags; + Uint32 verbose; + + /* Video info */ + const char *videodriver; + int display; + const char *window_title; + const char *window_icon; + Uint32 window_flags; + SDL_bool flash_on_focus_loss; + int window_x; + int window_y; + int window_w; + int window_h; + int window_minW; + int window_minH; + int window_maxW; + int window_maxH; + int logical_w; + int logical_h; + float scale; + int depth; + int refresh_rate; + int num_windows; + SDL_Window **windows; + + /* Renderer info */ + const char *renderdriver; + Uint32 render_flags; + SDL_bool skip_renderer; + SDL_Renderer **renderers; + SDL_Texture **targets; + + /* Audio info */ + const char *audiodriver; + SDL_AudioSpec audiospec; + + /* GL settings */ + int gl_red_size; + int gl_green_size; + int gl_blue_size; + int gl_alpha_size; + int gl_buffer_size; + int gl_depth_size; + int gl_stencil_size; + int gl_double_buffer; + int gl_accum_red_size; + int gl_accum_green_size; + int gl_accum_blue_size; + int gl_accum_alpha_size; + int gl_stereo; + int gl_multisamplebuffers; + int gl_multisamplesamples; + int gl_retained_backing; + int gl_accelerated; + int gl_major_version; + int gl_minor_version; + int gl_debug; + int gl_profile_mask; + + /* Additional fields added in 2.0.18 */ + SDL_Rect confine; + +} SDLTest_CommonState; + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* Function prototypes */ + +/** + * \brief Parse command line parameters and create common state. + * + * \param argv Array of command line parameters + * \param flags Flags indicating which subsystem to initialize (i.e. SDL_INIT_VIDEO | SDL_INIT_AUDIO) + * + * \returns a newly allocated common state object. + */ +SDLTest_CommonState *SDLTest_CommonCreateState(char **argv, Uint32 flags); + +/** + * \brief Process one common argument. + * + * \param state The common state describing the test window to create. + * \param index The index of the argument to process in argv[]. + * + * \returns the number of arguments processed (i.e. 1 for --fullscreen, 2 for --video [videodriver], or -1 on error. + */ +int SDLTest_CommonArg(SDLTest_CommonState * state, int index); + + +/** + * \brief Logs command line usage info. + * + * This logs the appropriate command line options for the subsystems in use + * plus other common options, and then any application-specific options. + * This uses the SDL_Log() function and splits up output to be friendly to + * 80-character-wide terminals. + * + * \param state The common state describing the test window for the app. + * \param argv0 argv[0], as passed to main/SDL_main. + * \param options an array of strings for application specific options. The last element of the array should be NULL. + */ +void SDLTest_CommonLogUsage(SDLTest_CommonState * state, const char *argv0, const char **options); + +/** + * \brief Returns common usage information + * + * You should (probably) be using SDLTest_CommonLogUsage() instead, but this + * function remains for binary compatibility. Strings returned from this + * function are valid until SDLTest_CommonQuit() is called, in which case + * those strings' memory is freed and can no longer be used. + * + * \param state The common state describing the test window to create. + * \returns a string with usage information + */ +const char *SDLTest_CommonUsage(SDLTest_CommonState * state); + +/** + * \brief Open test window. + * + * \param state The common state describing the test window to create. + * + * \returns SDL_TRUE if initialization succeeded, false otherwise + */ +SDL_bool SDLTest_CommonInit(SDLTest_CommonState * state); + +/** + * \brief Easy argument handling when test app doesn't need any custom args. + * + * \param state The common state describing the test window to create. + * \param argc argc, as supplied to SDL_main + * \param argv argv, as supplied to SDL_main + * + * \returns SDL_FALSE if app should quit, true otherwise. + */ +SDL_bool SDLTest_CommonDefaultArgs(SDLTest_CommonState * state, const int argc, char **argv); + +/** + * \brief Common event handler for test windows. + * + * \param state The common state used to create test window. + * \param event The event to handle. + * \param done Flag indicating we are done. + * + */ +void SDLTest_CommonEvent(SDLTest_CommonState * state, SDL_Event * event, int *done); + +/** + * \brief Close test window. + * + * \param state The common state used to create test window. + * + */ +void SDLTest_CommonQuit(SDLTest_CommonState * state); + +/** + * \brief Draws various window information (position, size, etc.) to the renderer. + * + * \param renderer The renderer to draw to. + * \param window The window whose information should be displayed. + * \param usedHeight Returns the height used, so the caller can draw more below. + * + */ +void SDLTest_CommonDrawWindowInfo(SDL_Renderer * renderer, SDL_Window * window, int * usedHeight); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_common_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_compare.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_compare.h new file mode 100644 index 000000000..8a7a07008 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_compare.h @@ -0,0 +1,69 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_compare.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + + Defines comparison functions (i.e. for surfaces). + +*/ + +#ifndef SDL_test_compare_h_ +#define SDL_test_compare_h_ + +#include "SDL.h" + +#include "SDL_test_images.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief Compares a surface and with reference image data for equality + * + * \param surface Surface used in comparison + * \param referenceSurface Test Surface used in comparison + * \param allowable_error Allowable difference (=sum of squared difference for each RGB component) in blending accuracy. + * + * \returns 0 if comparison succeeded, >0 (=number of pixels for which the comparison failed) if comparison failed, -1 if any of the surfaces were NULL, -2 if the surface sizes differ. + */ +int SDLTest_CompareSurfaces(SDL_Surface *surface, SDL_Surface *referenceSurface, int allowable_error); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_compare_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_crc32.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_crc32.h new file mode 100644 index 000000000..049da7406 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_crc32.h @@ -0,0 +1,124 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_crc32.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + + Implements CRC32 calculations (default output is Perl String::CRC32 compatible). + +*/ + +#ifndef SDL_test_crc32_h_ +#define SDL_test_crc32_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + + +/* ------------ Definitions --------- */ + +/* Definition shared by all CRC routines */ + +#ifndef CrcUint32 + #define CrcUint32 unsigned int +#endif +#ifndef CrcUint8 + #define CrcUint8 unsigned char +#endif + +#ifdef ORIGINAL_METHOD + #define CRC32_POLY 0x04c11db7 /* AUTODIN II, Ethernet, & FDDI */ +#else + #define CRC32_POLY 0xEDB88320 /* Perl String::CRC32 compatible */ +#endif + +/** + * Data structure for CRC32 (checksum) computation + */ + typedef struct { + CrcUint32 crc32_table[256]; /* CRC table */ + } SDLTest_Crc32Context; + +/* ---------- Function Prototypes ------------- */ + +/** + * \brief Initialize the CRC context + * + * Note: The function initializes the crc table required for all crc calculations. + * + * \param crcContext pointer to context variable + * + * \returns 0 for OK, -1 on error + * + */ + int SDLTest_Crc32Init(SDLTest_Crc32Context * crcContext); + + +/** + * \brief calculate a crc32 from a data block + * + * \param crcContext pointer to context variable + * \param inBuf input buffer to checksum + * \param inLen length of input buffer + * \param crc32 pointer to Uint32 to store the final CRC into + * + * \returns 0 for OK, -1 on error + * + */ +int SDLTest_Crc32Calc(SDLTest_Crc32Context * crcContext, CrcUint8 *inBuf, CrcUint32 inLen, CrcUint32 *crc32); + +/* Same routine broken down into three steps */ +int SDLTest_Crc32CalcStart(SDLTest_Crc32Context * crcContext, CrcUint32 *crc32); +int SDLTest_Crc32CalcEnd(SDLTest_Crc32Context * crcContext, CrcUint32 *crc32); +int SDLTest_Crc32CalcBuffer(SDLTest_Crc32Context * crcContext, CrcUint8 *inBuf, CrcUint32 inLen, CrcUint32 *crc32); + + +/** + * \brief clean up CRC context + * + * \param crcContext pointer to context variable + * + * \returns 0 for OK, -1 on error + * +*/ + +int SDLTest_Crc32Done(SDLTest_Crc32Context * crcContext); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_crc32_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_font.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_font.h new file mode 100644 index 000000000..6e7247dd7 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_font.h @@ -0,0 +1,168 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_font.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +#ifndef SDL_test_font_h_ +#define SDL_test_font_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* Function prototypes */ + +#define FONT_CHARACTER_SIZE 8 +#define FONT_LINE_HEIGHT (FONT_CHARACTER_SIZE + 2) + +/** + * \brief Draw a string in the currently set font. + * + * \param renderer The renderer to draw on. + * \param x The X coordinate of the upper left corner of the character. + * \param y The Y coordinate of the upper left corner of the character. + * \param c The character to draw. + * + * \returns 0 on success, -1 on failure. + */ +int SDLTest_DrawCharacter(SDL_Renderer *renderer, int x, int y, Uint32 c); + +/** + * \brief Draw a UTF-8 string in the currently set font. + * + * The font currently only supports characters in the Basic Latin and Latin-1 Supplement sets. + * + * \param renderer The renderer to draw on. + * \param x The X coordinate of the upper left corner of the string. + * \param y The Y coordinate of the upper left corner of the string. + * \param s The string to draw. + * + * \returns 0 on success, -1 on failure. + */ +int SDLTest_DrawString(SDL_Renderer *renderer, int x, int y, const char *s); + +/** + * \brief Data used for multi-line text output + */ +typedef struct SDLTest_TextWindow +{ + SDL_Rect rect; + int current; + int numlines; + char **lines; +} SDLTest_TextWindow; + +/** + * \brief Create a multi-line text output window + * + * \param x The X coordinate of the upper left corner of the window. + * \param y The Y coordinate of the upper left corner of the window. + * \param w The width of the window (currently ignored) + * \param h The height of the window (currently ignored) + * + * \returns the new window, or NULL on failure. + * + * \since This function is available since SDL 2.24.0 + */ +SDLTest_TextWindow *SDLTest_TextWindowCreate(int x, int y, int w, int h); + +/** + * \brief Display a multi-line text output window + * + * This function should be called every frame to display the text + * + * \param textwin The text output window + * \param renderer The renderer to use for display + * + * \since This function is available since SDL 2.24.0 + */ +void SDLTest_TextWindowDisplay(SDLTest_TextWindow *textwin, SDL_Renderer *renderer); + +/** + * \brief Add text to a multi-line text output window + * + * Adds UTF-8 text to the end of the current text. The newline character starts a + * new line of text. The backspace character deletes the last character or, if the + * line is empty, deletes the line and goes to the end of the previous line. + * + * \param textwin The text output window + * \param fmt A printf() style format string + * \param ... additional parameters matching % tokens in the `fmt` string, if any + * + * \since This function is available since SDL 2.24.0 + */ +void SDLTest_TextWindowAddText(SDLTest_TextWindow *textwin, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); + +/** + * \brief Add text to a multi-line text output window + * + * Adds UTF-8 text to the end of the current text. The newline character starts a + * new line of text. The backspace character deletes the last character or, if the + * line is empty, deletes the line and goes to the end of the previous line. + * + * \param textwin The text output window + * \param text The text to add to the window + * \param len The length, in bytes, of the text to add to the window + * + * \since This function is available since SDL 2.24.0 + */ +void SDLTest_TextWindowAddTextWithLength(SDLTest_TextWindow *textwin, const char *text, size_t len); + +/** + * \brief Clear the text in a multi-line text output window + * + * \param textwin The text output window + * + * \since This function is available since SDL 2.24.0 + */ +void SDLTest_TextWindowClear(SDLTest_TextWindow *textwin); + +/** + * \brief Free the storage associated with a multi-line text output window + * + * \param textwin The text output window + * + * \since This function is available since SDL 2.24.0 + */ +void SDLTest_TextWindowDestroy(SDLTest_TextWindow *textwin); + +/** + * \brief Cleanup textures used by font drawing functions. + */ +void SDLTest_CleanupTextDrawing(void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_font_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_fuzzer.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_fuzzer.h new file mode 100644 index 000000000..bbe8eb874 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_fuzzer.h @@ -0,0 +1,386 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_fuzzer.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + + Data generators for fuzzing test data in a reproducible way. + +*/ + +#ifndef SDL_test_fuzzer_h_ +#define SDL_test_fuzzer_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + + +/* + Based on GSOC code by Markus Kauppila +*/ + + +/** + * \file + * Note: The fuzzer implementation uses a static instance of random context + * internally which makes it thread-UNsafe. + */ + +/** + * Initializes the fuzzer for a test + * + * \param execKey Execution "Key" that initializes the random number generator uniquely for the test. + * + */ +void SDLTest_FuzzerInit(Uint64 execKey); + + +/** + * Returns a random Uint8 + * + * \returns a generated integer + */ +Uint8 SDLTest_RandomUint8(void); + +/** + * Returns a random Sint8 + * + * \returns a generated signed integer + */ +Sint8 SDLTest_RandomSint8(void); + + +/** + * Returns a random Uint16 + * + * \returns a generated integer + */ +Uint16 SDLTest_RandomUint16(void); + +/** + * Returns a random Sint16 + * + * \returns a generated signed integer + */ +Sint16 SDLTest_RandomSint16(void); + + +/** + * Returns a random integer + * + * \returns a generated integer + */ +Sint32 SDLTest_RandomSint32(void); + + +/** + * Returns a random positive integer + * + * \returns a generated integer + */ +Uint32 SDLTest_RandomUint32(void); + +/** + * Returns random Uint64. + * + * \returns a generated integer + */ +Uint64 SDLTest_RandomUint64(void); + + +/** + * Returns random Sint64. + * + * \returns a generated signed integer + */ +Sint64 SDLTest_RandomSint64(void); + +/** + * \returns a random float in range [0.0 - 1.0] + */ +float SDLTest_RandomUnitFloat(void); + +/** + * \returns a random double in range [0.0 - 1.0] + */ +double SDLTest_RandomUnitDouble(void); + +/** + * \returns a random float. + * + */ +float SDLTest_RandomFloat(void); + +/** + * \returns a random double. + * + */ +double SDLTest_RandomDouble(void); + +/** + * Returns a random boundary value for Uint8 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomUint8BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 + * RandomUint8BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 + * RandomUint8BoundaryValue(0, 99, SDL_FALSE) returns 100 + * RandomUint8BoundaryValue(0, 255, SDL_FALSE) returns 0 (error set) + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or 0 with error set + */ +Uint8 SDLTest_RandomUint8BoundaryValue(Uint8 boundary1, Uint8 boundary2, SDL_bool validDomain); + +/** + * Returns a random boundary value for Uint16 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomUint16BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 + * RandomUint16BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 + * RandomUint16BoundaryValue(0, 99, SDL_FALSE) returns 100 + * RandomUint16BoundaryValue(0, 0xFFFF, SDL_FALSE) returns 0 (error set) + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or 0 with error set + */ +Uint16 SDLTest_RandomUint16BoundaryValue(Uint16 boundary1, Uint16 boundary2, SDL_bool validDomain); + +/** + * Returns a random boundary value for Uint32 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomUint32BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 + * RandomUint32BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 + * RandomUint32BoundaryValue(0, 99, SDL_FALSE) returns 100 + * RandomUint32BoundaryValue(0, 0xFFFFFFFF, SDL_FALSE) returns 0 (with error set) + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or 0 with error set + */ +Uint32 SDLTest_RandomUint32BoundaryValue(Uint32 boundary1, Uint32 boundary2, SDL_bool validDomain); + +/** + * Returns a random boundary value for Uint64 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomUint64BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 + * RandomUint64BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 + * RandomUint64BoundaryValue(0, 99, SDL_FALSE) returns 100 + * RandomUint64BoundaryValue(0, 0xFFFFFFFFFFFFFFFF, SDL_FALSE) returns 0 (with error set) + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or 0 with error set + */ +Uint64 SDLTest_RandomUint64BoundaryValue(Uint64 boundary1, Uint64 boundary2, SDL_bool validDomain); + +/** + * Returns a random boundary value for Sint8 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomSint8BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 + * RandomSint8BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 + * RandomSint8BoundaryValue(SINT8_MIN, 99, SDL_FALSE) returns 100 + * RandomSint8BoundaryValue(SINT8_MIN, SINT8_MAX, SDL_FALSE) returns SINT8_MIN (== error value) with error set + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or SINT8_MIN with error set + */ +Sint8 SDLTest_RandomSint8BoundaryValue(Sint8 boundary1, Sint8 boundary2, SDL_bool validDomain); + + +/** + * Returns a random boundary value for Sint16 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomSint16BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 + * RandomSint16BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 + * RandomSint16BoundaryValue(SINT16_MIN, 99, SDL_FALSE) returns 100 + * RandomSint16BoundaryValue(SINT16_MIN, SINT16_MAX, SDL_FALSE) returns SINT16_MIN (== error value) with error set + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or SINT16_MIN with error set + */ +Sint16 SDLTest_RandomSint16BoundaryValue(Sint16 boundary1, Sint16 boundary2, SDL_bool validDomain); + +/** + * Returns a random boundary value for Sint32 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomSint32BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 + * RandomSint32BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 + * RandomSint32BoundaryValue(SINT32_MIN, 99, SDL_FALSE) returns 100 + * RandomSint32BoundaryValue(SINT32_MIN, SINT32_MAX, SDL_FALSE) returns SINT32_MIN (== error value) + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or SINT32_MIN with error set + */ +Sint32 SDLTest_RandomSint32BoundaryValue(Sint32 boundary1, Sint32 boundary2, SDL_bool validDomain); + +/** + * Returns a random boundary value for Sint64 within the given boundaries. + * Boundaries are inclusive, see the usage examples below. If validDomain + * is true, the function will only return valid boundaries, otherwise non-valid + * boundaries are also possible. + * If boundary1 > boundary2, the values are swapped + * + * Usage examples: + * RandomSint64BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 + * RandomSint64BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 + * RandomSint64BoundaryValue(SINT64_MIN, 99, SDL_FALSE) returns 100 + * RandomSint64BoundaryValue(SINT64_MIN, SINT64_MAX, SDL_FALSE) returns SINT64_MIN (== error value) and error set + * + * \param boundary1 Lower boundary limit + * \param boundary2 Upper boundary limit + * \param validDomain Should the generated boundary be valid (=within the bounds) or not? + * + * \returns a random boundary value for the given range and domain or SINT64_MIN with error set + */ +Sint64 SDLTest_RandomSint64BoundaryValue(Sint64 boundary1, Sint64 boundary2, SDL_bool validDomain); + + +/** + * Returns integer in range [min, max] (inclusive). + * Min and max values can be negative values. + * If Max in smaller than min, then the values are swapped. + * Min and max are the same value, that value will be returned. + * + * \param min Minimum inclusive value of returned random number + * \param max Maximum inclusive value of returned random number + * + * \returns a generated random integer in range + */ +Sint32 SDLTest_RandomIntegerInRange(Sint32 min, Sint32 max); + + +/** + * Generates random null-terminated string. The minimum length for + * the string is 1 character, maximum length for the string is 255 + * characters and it can contain ASCII characters from 32 to 126. + * + * Note: Returned string needs to be deallocated. + * + * \returns a newly allocated random string; or NULL if length was invalid or string could not be allocated. + */ +char * SDLTest_RandomAsciiString(void); + + +/** + * Generates random null-terminated string. The maximum length for + * the string is defined by the maxLength parameter. + * String can contain ASCII characters from 32 to 126. + * + * Note: Returned string needs to be deallocated. + * + * \param maxLength The maximum length of the generated string. + * + * \returns a newly allocated random string; or NULL if maxLength was invalid or string could not be allocated. + */ +char * SDLTest_RandomAsciiStringWithMaximumLength(int maxLength); + + +/** + * Generates random null-terminated string. The length for + * the string is defined by the size parameter. + * String can contain ASCII characters from 32 to 126. + * + * Note: Returned string needs to be deallocated. + * + * \param size The length of the generated string + * + * \returns a newly allocated random string; or NULL if size was invalid or string could not be allocated. + */ +char * SDLTest_RandomAsciiStringOfSize(int size); + +/** + * Get the invocation count for the fuzzer since last ...FuzzerInit. + * + * \returns the invocation count. + */ +int SDLTest_GetFuzzerInvocationCount(void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_fuzzer_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_harness.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_harness.h new file mode 100644 index 000000000..1fd4236be --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_harness.h @@ -0,0 +1,134 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_harness.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + Defines types for test case definitions and the test execution harness API. + + Based on original GSOC code by Markus Kauppila +*/ + +#ifndef SDL_test_h_arness_h +#define SDL_test_h_arness_h + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + + +/* ! Definitions for test case structures */ +#define TEST_ENABLED 1 +#define TEST_DISABLED 0 + +/* ! Definition of all the possible test return values of the test case method */ +#define TEST_ABORTED -1 +#define TEST_STARTED 0 +#define TEST_COMPLETED 1 +#define TEST_SKIPPED 2 + +/* ! Definition of all the possible test results for the harness */ +#define TEST_RESULT_PASSED 0 +#define TEST_RESULT_FAILED 1 +#define TEST_RESULT_NO_ASSERT 2 +#define TEST_RESULT_SKIPPED 3 +#define TEST_RESULT_SETUP_FAILURE 4 + +/* !< Function pointer to a test case setup function (run before every test) */ +typedef void (*SDLTest_TestCaseSetUpFp)(void *arg); + +/* !< Function pointer to a test case function */ +typedef int (*SDLTest_TestCaseFp)(void *arg); + +/* !< Function pointer to a test case teardown function (run after every test) */ +typedef void (*SDLTest_TestCaseTearDownFp)(void *arg); + +/** + * Holds information about a single test case. + */ +typedef struct SDLTest_TestCaseReference { + /* !< Func2Stress */ + SDLTest_TestCaseFp testCase; + /* !< Short name (or function name) "Func2Stress" */ + const char *name; + /* !< Long name or full description "This test pushes func2() to the limit." */ + const char *description; + /* !< Set to TEST_ENABLED or TEST_DISABLED (test won't be run) */ + int enabled; +} SDLTest_TestCaseReference; + +/** + * Holds information about a test suite (multiple test cases). + */ +typedef struct SDLTest_TestSuiteReference { + /* !< "PlatformSuite" */ + const char *name; + /* !< The function that is run before each test. NULL skips. */ + SDLTest_TestCaseSetUpFp testSetUp; + /* !< The test cases that are run as part of the suite. Last item should be NULL. */ + const SDLTest_TestCaseReference **testCases; + /* !< The function that is run after each test. NULL skips. */ + SDLTest_TestCaseTearDownFp testTearDown; +} SDLTest_TestSuiteReference; + + +/** + * \brief Generates a random run seed string for the harness. The generated seed will contain alphanumeric characters (0-9A-Z). + * + * Note: The returned string needs to be deallocated by the caller. + * + * \param length The length of the seed string to generate + * + * \returns the generated seed string + */ +char *SDLTest_GenerateRunSeed(const int length); + +/** + * \brief Execute a test suite using the given run seed and execution key. + * + * \param testSuites Suites containing the test case. + * \param userRunSeed Custom run seed provided by user, or NULL to autogenerate one. + * \param userExecKey Custom execution key provided by user, or 0 to autogenerate one. + * \param filter Filter specification. NULL disables. Case sensitive. + * \param testIterations Number of iterations to run each test case. + * + * \returns the test run result: 0 when all tests passed, 1 if any tests failed. + */ +int SDLTest_RunSuites(SDLTest_TestSuiteReference *testSuites[], const char *userRunSeed, Uint64 userExecKey, const char *filter, int testIterations); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_h_arness_h */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_images.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_images.h new file mode 100644 index 000000000..e2bfc3600 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_images.h @@ -0,0 +1,78 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_images.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + + Defines some images for tests. + +*/ + +#ifndef SDL_test_images_h_ +#define SDL_test_images_h_ + +#include "SDL.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + *Type for test images. + */ +typedef struct SDLTest_SurfaceImage_s { + int width; + int height; + unsigned int bytes_per_pixel; /* 3:RGB, 4:RGBA */ + const char *pixel_data; +} SDLTest_SurfaceImage_t; + +/* Test images */ +SDL_Surface *SDLTest_ImageBlit(void); +SDL_Surface *SDLTest_ImageBlitColor(void); +SDL_Surface *SDLTest_ImageBlitAlpha(void); +SDL_Surface *SDLTest_ImageBlitBlendAdd(void); +SDL_Surface *SDLTest_ImageBlitBlend(void); +SDL_Surface *SDLTest_ImageBlitBlendMod(void); +SDL_Surface *SDLTest_ImageBlitBlendNone(void); +SDL_Surface *SDLTest_ImageBlitBlendAll(void); +SDL_Surface *SDLTest_ImageFace(void); +SDL_Surface *SDLTest_ImagePrimitives(void); +SDL_Surface *SDLTest_ImagePrimitivesBlend(void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_images_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_log.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_log.h new file mode 100644 index 000000000..e3d39ad27 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_log.h @@ -0,0 +1,67 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_log.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + * + * Wrapper to log in the TEST category + * + */ + +#ifndef SDL_test_log_h_ +#define SDL_test_log_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief Prints given message with a timestamp in the TEST category and INFO priority. + * + * \param fmt Message to be logged + */ +void SDLTest_Log(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); + +/** + * \brief Prints given message with a timestamp in the TEST category and the ERROR priority. + * + * \param fmt Message to be logged + */ +void SDLTest_LogError(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_log_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_md5.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_md5.h new file mode 100644 index 000000000..17b1d2be7 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_md5.h @@ -0,0 +1,129 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_md5.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + *********************************************************************** + ** Header file for implementation of MD5 ** + ** RSA Data Security, Inc. MD5 Message-Digest Algorithm ** + ** Created: 2/17/90 RLR ** + ** Revised: 12/27/90 SRD,AJ,BSK,JT Reference C version ** + ** Revised (for MD5): RLR 4/27/91 ** + ** -- G modified to have y&~z instead of y&z ** + ** -- FF, GG, HH modified to add in last register done ** + ** -- Access pattern: round 2 works mod 5, round 3 works mod 3 ** + ** -- distinct additive constant for each step ** + ** -- round 4 added, working mod 7 ** + *********************************************************************** +*/ + +/* + *********************************************************************** + ** Message-digest routines: ** + ** To form the message digest for a message M ** + ** (1) Initialize a context buffer mdContext using MD5Init ** + ** (2) Call MD5Update on mdContext and M ** + ** (3) Call MD5Final on mdContext ** + ** The message digest is now in mdContext->digest[0...15] ** + *********************************************************************** +*/ + +#ifndef SDL_test_md5_h_ +#define SDL_test_md5_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* ------------ Definitions --------- */ + +/* typedef a 32-bit type */ + typedef unsigned long int MD5UINT4; + +/* Data structure for MD5 (Message-Digest) computation */ + typedef struct { + MD5UINT4 i[2]; /* number of _bits_ handled mod 2^64 */ + MD5UINT4 buf[4]; /* scratch buffer */ + unsigned char in[64]; /* input buffer */ + unsigned char digest[16]; /* actual digest after Md5Final call */ + } SDLTest_Md5Context; + +/* ---------- Function Prototypes ------------- */ + +/** + * \brief initialize the context + * + * \param mdContext pointer to context variable + * + * Note: The function initializes the message-digest context + * mdContext. Call before each new use of the context - + * all fields are set to zero. + */ + void SDLTest_Md5Init(SDLTest_Md5Context * mdContext); + + +/** + * \brief update digest from variable length data + * + * \param mdContext pointer to context variable + * \param inBuf pointer to data array/string + * \param inLen length of data array/string + * + * Note: The function updates the message-digest context to account + * for the presence of each of the characters inBuf[0..inLen-1] + * in the message whose digest is being computed. +*/ + + void SDLTest_Md5Update(SDLTest_Md5Context * mdContext, unsigned char *inBuf, + unsigned int inLen); + + +/** + * \brief complete digest computation + * + * \param mdContext pointer to context variable + * + * Note: The function terminates the message-digest computation and + * ends with the desired message digest in mdContext.digest[0..15]. + * Always call before using the digest[] variable. +*/ + + void SDLTest_Md5Final(SDLTest_Md5Context * mdContext); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_md5_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_memory.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_memory.h new file mode 100644 index 000000000..cc2edc1b9 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_memory.h @@ -0,0 +1,63 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_memory.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +#ifndef SDL_test_memory_h_ +#define SDL_test_memory_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + + +/** + * \brief Start tracking SDL memory allocations + * + * \note This should be called before any other SDL functions for complete tracking coverage + */ +int SDLTest_TrackAllocations(void); + +/** + * \brief Print a log of any outstanding allocations + * + * \note This can be called after SDL_Quit() + */ +void SDLTest_LogAllocations(void); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_memory_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_random.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_random.h new file mode 100644 index 000000000..b1d6060cb --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_test_random.h @@ -0,0 +1,115 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_test_random.h + * + * Include file for SDL test framework. + * + * This code is a part of the SDL2_test library, not the main SDL library. + */ + +/* + + A "32-bit Multiply with carry random number generator. Very fast. + Includes a list of recommended multipliers. + + multiply-with-carry generator: x(n) = a*x(n-1) + carry mod 2^32. + period: (a*2^31)-1 + +*/ + +#ifndef SDL_test_random_h_ +#define SDL_test_random_h_ + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* --- Definitions */ + +/* + * Macros that return a random number in a specific format. + */ +#define SDLTest_RandomInt(c) ((int)SDLTest_Random(c)) + +/* + * Context structure for the random number generator state. + */ + typedef struct { + unsigned int a; + unsigned int x; + unsigned int c; + unsigned int ah; + unsigned int al; + } SDLTest_RandomContext; + + +/* --- Function prototypes */ + +/** + * \brief Initialize random number generator with two integers. + * + * Note: The random sequence of numbers returned by ...Random() is the + * same for the same two integers and has a period of 2^31. + * + * \param rndContext pointer to context structure + * \param xi integer that defines the random sequence + * \param ci integer that defines the random sequence + * + */ + void SDLTest_RandomInit(SDLTest_RandomContext * rndContext, unsigned int xi, + unsigned int ci); + +/** + * \brief Initialize random number generator based on current system time. + * + * \param rndContext pointer to context structure + * + */ + void SDLTest_RandomInitTime(SDLTest_RandomContext *rndContext); + + +/** + * \brief Initialize random number generator based on current system time. + * + * Note: ...RandomInit() or ...RandomInitTime() must have been called + * before using this function. + * + * \param rndContext pointer to context structure + * + * \returns a random number (32bit unsigned integer) + * + */ + unsigned int SDLTest_Random(SDLTest_RandomContext *rndContext); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_test_random_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_thread.h b/subprojects/sdl2_windows/include/SDL2/SDL_thread.h new file mode 100644 index 000000000..7364f8137 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_thread.h @@ -0,0 +1,464 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_thread_h_ +#define SDL_thread_h_ + +/** + * \file SDL_thread.h + * + * Header for the SDL thread management routines. + */ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +/* Thread synchronization primitives */ +#include "SDL_atomic.h" +#include "SDL_mutex.h" + +#if defined(__WIN32__) || defined(__GDK__) +#include /* _beginthreadex() and _endthreadex() */ +#endif +#if defined(__OS2__) /* for _beginthread() and _endthread() */ +#ifndef __EMX__ +#include +#else +#include +#endif +#endif + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* The SDL thread structure, defined in SDL_thread.c */ +struct SDL_Thread; +typedef struct SDL_Thread SDL_Thread; + +/* The SDL thread ID */ +typedef unsigned long SDL_threadID; + +/* Thread local storage ID, 0 is the invalid ID */ +typedef unsigned int SDL_TLSID; + +/** + * The SDL thread priority. + * + * SDL will make system changes as necessary in order to apply the thread priority. + * Code which attempts to control thread state related to priority should be aware + * that calling SDL_SetThreadPriority may alter such state. + * SDL_HINT_THREAD_PRIORITY_POLICY can be used to control aspects of this behavior. + * + * \note On many systems you require special privileges to set high or time critical priority. + */ +typedef enum { + SDL_THREAD_PRIORITY_LOW, + SDL_THREAD_PRIORITY_NORMAL, + SDL_THREAD_PRIORITY_HIGH, + SDL_THREAD_PRIORITY_TIME_CRITICAL +} SDL_ThreadPriority; + +/** + * The function passed to SDL_CreateThread(). + * + * \param data what was passed as `data` to SDL_CreateThread() + * \returns a value that can be reported through SDL_WaitThread(). + */ +typedef int (SDLCALL * SDL_ThreadFunction) (void *data); + + +#if defined(__WIN32__) || defined(__GDK__) +/** + * \file SDL_thread.h + * + * We compile SDL into a DLL. This means, that it's the DLL which + * creates a new thread for the calling process with the SDL_CreateThread() + * API. There is a problem with this, that only the RTL of the SDL2.DLL will + * be initialized for those threads, and not the RTL of the calling + * application! + * + * To solve this, we make a little hack here. + * + * We'll always use the caller's _beginthread() and _endthread() APIs to + * start a new thread. This way, if it's the SDL2.DLL which uses this API, + * then the RTL of SDL2.DLL will be used to create the new thread, and if it's + * the application, then the RTL of the application will be used. + * + * So, in short: + * Always use the _beginthread() and _endthread() of the calling runtime + * library! + */ +#define SDL_PASSED_BEGINTHREAD_ENDTHREAD + +typedef uintptr_t (__cdecl * pfnSDL_CurrentBeginThread) + (void *, unsigned, unsigned (__stdcall *func)(void *), + void * /*arg*/, unsigned, unsigned * /* threadID */); +typedef void (__cdecl * pfnSDL_CurrentEndThread) (unsigned code); + +#ifndef SDL_beginthread +#define SDL_beginthread _beginthreadex +#endif +#ifndef SDL_endthread +#define SDL_endthread _endthreadex +#endif + +extern DECLSPEC SDL_Thread *SDLCALL +SDL_CreateThread(SDL_ThreadFunction fn, const char *name, void *data, + pfnSDL_CurrentBeginThread pfnBeginThread, + pfnSDL_CurrentEndThread pfnEndThread); + +extern DECLSPEC SDL_Thread *SDLCALL +SDL_CreateThreadWithStackSize(SDL_ThreadFunction fn, + const char *name, const size_t stacksize, void *data, + pfnSDL_CurrentBeginThread pfnBeginThread, + pfnSDL_CurrentEndThread pfnEndThread); + + +#if defined(SDL_CreateThread) && SDL_DYNAMIC_API +#undef SDL_CreateThread +#define SDL_CreateThread(fn, name, data) SDL_CreateThread_REAL(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#undef SDL_CreateThreadWithStackSize +#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize_REAL(fn, name, stacksize, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#else +#define SDL_CreateThread(fn, name, data) SDL_CreateThread(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize(fn, name, data, (pfnSDL_CurrentBeginThread)_beginthreadex, (pfnSDL_CurrentEndThread)SDL_endthread) +#endif + +#elif defined(__OS2__) +/* + * just like the windows case above: We compile SDL2 + * into a dll with Watcom's runtime statically linked. + */ +#define SDL_PASSED_BEGINTHREAD_ENDTHREAD + +typedef int (*pfnSDL_CurrentBeginThread)(void (*func)(void *), void *, unsigned, void * /*arg*/); +typedef void (*pfnSDL_CurrentEndThread)(void); + +#ifndef SDL_beginthread +#define SDL_beginthread _beginthread +#endif +#ifndef SDL_endthread +#define SDL_endthread _endthread +#endif + +extern DECLSPEC SDL_Thread *SDLCALL +SDL_CreateThread(SDL_ThreadFunction fn, const char *name, void *data, + pfnSDL_CurrentBeginThread pfnBeginThread, + pfnSDL_CurrentEndThread pfnEndThread); +extern DECLSPEC SDL_Thread *SDLCALL +SDL_CreateThreadWithStackSize(SDL_ThreadFunction fn, const char *name, const size_t stacksize, void *data, + pfnSDL_CurrentBeginThread pfnBeginThread, + pfnSDL_CurrentEndThread pfnEndThread); + +#if defined(SDL_CreateThread) && SDL_DYNAMIC_API +#undef SDL_CreateThread +#define SDL_CreateThread(fn, name, data) SDL_CreateThread_REAL(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#undef SDL_CreateThreadWithStackSize +#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize_REAL(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#else +#define SDL_CreateThread(fn, name, data) SDL_CreateThread(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize(fn, name, stacksize, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) +#endif + +#else + +/** + * Create a new thread with a default stack size. + * + * This is equivalent to calling: + * + * ```c + * SDL_CreateThreadWithStackSize(fn, name, 0, data); + * ``` + * + * \param fn the SDL_ThreadFunction function to call in the new thread + * \param name the name of the thread + * \param data a pointer that is passed to `fn` + * \returns an opaque pointer to the new thread object on success, NULL if the + * new thread could not be created; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateThreadWithStackSize + * \sa SDL_WaitThread + */ +extern DECLSPEC SDL_Thread *SDLCALL +SDL_CreateThread(SDL_ThreadFunction fn, const char *name, void *data); + +/** + * Create a new thread with a specific stack size. + * + * SDL makes an attempt to report `name` to the system, so that debuggers can + * display it. Not all platforms support this. + * + * Thread naming is a little complicated: Most systems have very small limits + * for the string length (Haiku has 32 bytes, Linux currently has 16, Visual + * C++ 6.0 has _nine_!), and possibly other arbitrary rules. You'll have to + * see what happens with your system's debugger. The name should be UTF-8 (but + * using the naming limits of C identifiers is a better bet). There are no + * requirements for thread naming conventions, so long as the string is + * null-terminated UTF-8, but these guidelines are helpful in choosing a name: + * + * https://stackoverflow.com/questions/149932/naming-conventions-for-threads + * + * If a system imposes requirements, SDL will try to munge the string for it + * (truncate, etc), but the original string contents will be available from + * SDL_GetThreadName(). + * + * The size (in bytes) of the new stack can be specified. Zero means "use the + * system default" which might be wildly different between platforms. x86 + * Linux generally defaults to eight megabytes, an embedded device might be a + * few kilobytes instead. You generally need to specify a stack that is a + * multiple of the system's page size (in many cases, this is 4 kilobytes, but + * check your system documentation). + * + * In SDL 2.1, stack size will be folded into the original SDL_CreateThread + * function, but for backwards compatibility, this is currently a separate + * function. + * + * \param fn the SDL_ThreadFunction function to call in the new thread + * \param name the name of the thread + * \param stacksize the size, in bytes, to allocate for the new thread stack. + * \param data a pointer that is passed to `fn` + * \returns an opaque pointer to the new thread object on success, NULL if the + * new thread could not be created; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.9. + * + * \sa SDL_WaitThread + */ +extern DECLSPEC SDL_Thread *SDLCALL +SDL_CreateThreadWithStackSize(SDL_ThreadFunction fn, const char *name, const size_t stacksize, void *data); + +#endif + +/** + * Get the thread name as it was specified in SDL_CreateThread(). + * + * This is internal memory, not to be freed by the caller, and remains valid + * until the specified thread is cleaned up by SDL_WaitThread(). + * + * \param thread the thread to query + * \returns a pointer to a UTF-8 string that names the specified thread, or + * NULL if it doesn't have a name. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateThread + */ +extern DECLSPEC const char *SDLCALL SDL_GetThreadName(SDL_Thread *thread); + +/** + * Get the thread identifier for the current thread. + * + * This thread identifier is as reported by the underlying operating system. + * If SDL is running on a platform that does not support threads the return + * value will always be zero. + * + * This function also returns a valid thread ID when called from the main + * thread. + * + * \returns the ID of the current thread. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetThreadID + */ +extern DECLSPEC SDL_threadID SDLCALL SDL_ThreadID(void); + +/** + * Get the thread identifier for the specified thread. + * + * This thread identifier is as reported by the underlying operating system. + * If SDL is running on a platform that does not support threads the return + * value will always be zero. + * + * \param thread the thread to query + * \returns the ID of the specified thread, or the ID of the current thread if + * `thread` is NULL. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ThreadID + */ +extern DECLSPEC SDL_threadID SDLCALL SDL_GetThreadID(SDL_Thread * thread); + +/** + * Set the priority for the current thread. + * + * Note that some platforms will not let you alter the priority (or at least, + * promote the thread to a higher priority) at all, and some require you to be + * an administrator account. Be prepared for this to fail. + * + * \param priority the SDL_ThreadPriority to set + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC int SDLCALL SDL_SetThreadPriority(SDL_ThreadPriority priority); + +/** + * Wait for a thread to finish. + * + * Threads that haven't been detached will remain (as a "zombie") until this + * function cleans them up. Not doing so is a resource leak. + * + * Once a thread has been cleaned up through this function, the SDL_Thread + * that references it becomes invalid and should not be referenced again. As + * such, only one thread may call SDL_WaitThread() on another. + * + * The return code for the thread function is placed in the area pointed to by + * `status`, if `status` is not NULL. + * + * You may not wait on a thread that has been used in a call to + * SDL_DetachThread(). Use either that function or this one, but not both, or + * behavior is undefined. + * + * It is safe to pass a NULL thread to this function; it is a no-op. + * + * Note that the thread pointer is freed by this function and is not valid + * afterward. + * + * \param thread the SDL_Thread pointer that was returned from the + * SDL_CreateThread() call that started this thread + * \param status pointer to an integer that will receive the value returned + * from the thread function by its 'return', or NULL to not + * receive such value back. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateThread + * \sa SDL_DetachThread + */ +extern DECLSPEC void SDLCALL SDL_WaitThread(SDL_Thread * thread, int *status); + +/** + * Let a thread clean up on exit without intervention. + * + * A thread may be "detached" to signify that it should not remain until + * another thread has called SDL_WaitThread() on it. Detaching a thread is + * useful for long-running threads that nothing needs to synchronize with or + * further manage. When a detached thread is done, it simply goes away. + * + * There is no way to recover the return code of a detached thread. If you + * need this, don't detach the thread and instead use SDL_WaitThread(). + * + * Once a thread is detached, you should usually assume the SDL_Thread isn't + * safe to reference again, as it will become invalid immediately upon the + * detached thread's exit, instead of remaining until someone has called + * SDL_WaitThread() to finally clean it up. As such, don't detach the same + * thread more than once. + * + * If a thread has already exited when passed to SDL_DetachThread(), it will + * stop waiting for a call to SDL_WaitThread() and clean up immediately. It is + * not safe to detach a thread that might be used with SDL_WaitThread(). + * + * You may not call SDL_WaitThread() on a thread that has been detached. Use + * either that function or this one, but not both, or behavior is undefined. + * + * It is safe to pass NULL to this function; it is a no-op. + * + * \param thread the SDL_Thread pointer that was returned from the + * SDL_CreateThread() call that started this thread + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_CreateThread + * \sa SDL_WaitThread + */ +extern DECLSPEC void SDLCALL SDL_DetachThread(SDL_Thread * thread); + +/** + * Create a piece of thread-local storage. + * + * This creates an identifier that is globally visible to all threads but + * refers to data that is thread-specific. + * + * \returns the newly created thread local storage identifier or 0 on error. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_TLSGet + * \sa SDL_TLSSet + */ +extern DECLSPEC SDL_TLSID SDLCALL SDL_TLSCreate(void); + +/** + * Get the current thread's value associated with a thread local storage ID. + * + * \param id the thread local storage ID + * \returns the value associated with the ID for the current thread or NULL if + * no value has been set; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_TLSCreate + * \sa SDL_TLSSet + */ +extern DECLSPEC void * SDLCALL SDL_TLSGet(SDL_TLSID id); + +/** + * Set the current thread's value associated with a thread local storage ID. + * + * The function prototype for `destructor` is: + * + * ```c + * void destructor(void *value) + * ``` + * + * where its parameter `value` is what was passed as `value` to SDL_TLSSet(). + * + * \param id the thread local storage ID + * \param value the value to associate with the ID for the current thread + * \param destructor a function called when the thread exits, to free the + * value + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_TLSCreate + * \sa SDL_TLSGet + */ +extern DECLSPEC int SDLCALL SDL_TLSSet(SDL_TLSID id, const void *value, void (SDLCALL *destructor)(void*)); + +/** + * Cleanup all TLS data for this thread. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC void SDLCALL SDL_TLSCleanup(void); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_thread_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_timer.h b/subprojects/sdl2_windows/include/SDL2/SDL_timer.h new file mode 100644 index 000000000..62f81d42d --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_timer.h @@ -0,0 +1,222 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SDL_timer_h_ +#define SDL_timer_h_ + +/** + * \file SDL_timer.h + * + * Header for the SDL time management routines. + */ + +#include "SDL_stdinc.h" +#include "SDL_error.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Get the number of milliseconds since SDL library initialization. + * + * This value wraps if the program runs for more than ~49 days. + * + * This function is not recommended as of SDL 2.0.18; use SDL_GetTicks64() + * instead, where the value doesn't wrap every ~49 days. There are places in + * SDL where we provide a 32-bit timestamp that can not change without + * breaking binary compatibility, though, so this function isn't officially + * deprecated. + * + * \returns an unsigned 32-bit value representing the number of milliseconds + * since the SDL library initialized. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_TICKS_PASSED + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetTicks(void); + +/** + * Get the number of milliseconds since SDL library initialization. + * + * Note that you should not use the SDL_TICKS_PASSED macro with values + * returned by this function, as that macro does clever math to compensate for + * the 32-bit overflow every ~49 days that SDL_GetTicks() suffers from. 64-bit + * values from this function can be safely compared directly. + * + * For example, if you want to wait 100 ms, you could do this: + * + * ```c + * const Uint64 timeout = SDL_GetTicks64() + 100; + * while (SDL_GetTicks64() < timeout) { + * // ... do work until timeout has elapsed + * } + * ``` + * + * \returns an unsigned 64-bit value representing the number of milliseconds + * since the SDL library initialized. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC Uint64 SDLCALL SDL_GetTicks64(void); + +/** + * Compare 32-bit SDL ticks values, and return true if `A` has passed `B`. + * + * This should be used with results from SDL_GetTicks(), as this macro + * attempts to deal with the 32-bit counter wrapping back to zero every ~49 + * days, but should _not_ be used with SDL_GetTicks64(), which does not have + * that problem. + * + * For example, with SDL_GetTicks(), if you want to wait 100 ms, you could + * do this: + * + * ```c + * const Uint32 timeout = SDL_GetTicks() + 100; + * while (!SDL_TICKS_PASSED(SDL_GetTicks(), timeout)) { + * // ... do work until timeout has elapsed + * } + * ``` + * + * Note that this does not handle tick differences greater + * than 2^31 so take care when using the above kind of code + * with large timeout delays (tens of days). + */ +#define SDL_TICKS_PASSED(A, B) ((Sint32)((B) - (A)) <= 0) + +/** + * Get the current value of the high resolution counter. + * + * This function is typically used for profiling. + * + * The counter values are only meaningful relative to each other. Differences + * between values can be converted to times by using + * SDL_GetPerformanceFrequency(). + * + * \returns the current counter value. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetPerformanceFrequency + */ +extern DECLSPEC Uint64 SDLCALL SDL_GetPerformanceCounter(void); + +/** + * Get the count per second of the high resolution counter. + * + * \returns a platform-specific count per second. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetPerformanceCounter + */ +extern DECLSPEC Uint64 SDLCALL SDL_GetPerformanceFrequency(void); + +/** + * Wait a specified number of milliseconds before returning. + * + * This function waits a specified number of milliseconds before returning. It + * waits at least the specified time, but possibly longer due to OS + * scheduling. + * + * \param ms the number of milliseconds to delay + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_Delay(Uint32 ms); + +/** + * Function prototype for the timer callback function. + * + * The callback function is passed the current timer interval and returns + * the next timer interval. If the returned value is the same as the one + * passed in, the periodic alarm continues, otherwise a new alarm is + * scheduled. If the callback returns 0, the periodic alarm is cancelled. + */ +typedef Uint32 (SDLCALL * SDL_TimerCallback) (Uint32 interval, void *param); + +/** + * Definition of the timer ID type. + */ +typedef int SDL_TimerID; + +/** + * Call a callback function at a future time. + * + * If you use this function, you must pass `SDL_INIT_TIMER` to SDL_Init(). + * + * The callback function is passed the current timer interval and the user + * supplied parameter from the SDL_AddTimer() call and should return the next + * timer interval. If the value returned from the callback is 0, the timer is + * canceled. + * + * The callback is run on a separate thread. + * + * Timers take into account the amount of time it took to execute the + * callback. For example, if the callback took 250 ms to execute and returned + * 1000 (ms), the timer would only wait another 750 ms before its next + * iteration. + * + * Timing may be inexact due to OS scheduling. Be sure to note the current + * time with SDL_GetTicks() or SDL_GetPerformanceCounter() in case your + * callback needs to adjust for variances. + * + * \param interval the timer delay, in milliseconds, passed to `callback` + * \param callback the SDL_TimerCallback function to call when the specified + * `interval` elapses + * \param param a pointer that is passed to `callback` + * \returns a timer ID or 0 if an error occurs; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RemoveTimer + */ +extern DECLSPEC SDL_TimerID SDLCALL SDL_AddTimer(Uint32 interval, + SDL_TimerCallback callback, + void *param); + +/** + * Remove a timer created with SDL_AddTimer(). + * + * \param id the ID of the timer to remove + * \returns SDL_TRUE if the timer is removed or SDL_FALSE if the timer wasn't + * found. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_AddTimer + */ +extern DECLSPEC SDL_bool SDLCALL SDL_RemoveTimer(SDL_TimerID id); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_timer_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_touch.h b/subprojects/sdl2_windows/include/SDL2/SDL_touch.h new file mode 100644 index 000000000..95924135e --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_touch.h @@ -0,0 +1,150 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_touch.h + * + * Include file for SDL touch event handling. + */ + +#ifndef SDL_touch_h_ +#define SDL_touch_h_ + +#include "SDL_stdinc.h" +#include "SDL_error.h" +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +typedef Sint64 SDL_TouchID; +typedef Sint64 SDL_FingerID; + +typedef enum +{ + SDL_TOUCH_DEVICE_INVALID = -1, + SDL_TOUCH_DEVICE_DIRECT, /* touch screen with window-relative coordinates */ + SDL_TOUCH_DEVICE_INDIRECT_ABSOLUTE, /* trackpad with absolute device coordinates */ + SDL_TOUCH_DEVICE_INDIRECT_RELATIVE /* trackpad with screen cursor-relative coordinates */ +} SDL_TouchDeviceType; + +typedef struct SDL_Finger +{ + SDL_FingerID id; + float x; + float y; + float pressure; +} SDL_Finger; + +/* Used as the device ID for mouse events simulated with touch input */ +#define SDL_TOUCH_MOUSEID ((Uint32)-1) + +/* Used as the SDL_TouchID for touch events simulated with mouse input */ +#define SDL_MOUSE_TOUCHID ((Sint64)-1) + + +/** + * Get the number of registered touch devices. + * + * On some platforms SDL first sees the touch device if it was actually used. + * Therefore SDL_GetNumTouchDevices() may return 0 although devices are + * available. After using all devices at least once the number will be + * correct. + * + * This was fixed for Android in SDL 2.0.1. + * + * \returns the number of registered touch devices. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTouchDevice + */ +extern DECLSPEC int SDLCALL SDL_GetNumTouchDevices(void); + +/** + * Get the touch ID with the given index. + * + * \param index the touch device index + * \returns the touch ID with the given index on success or 0 if the index is + * invalid; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumTouchDevices + */ +extern DECLSPEC SDL_TouchID SDLCALL SDL_GetTouchDevice(int index); + +/** + * Get the touch device name as reported from the driver or NULL if the index + * is invalid. + * + * \since This function is available since SDL 2.0.22. + */ +extern DECLSPEC const char* SDLCALL SDL_GetTouchName(int index); + +/** + * Get the type of the given touch device. + * + * \since This function is available since SDL 2.0.10. + */ +extern DECLSPEC SDL_TouchDeviceType SDLCALL SDL_GetTouchDeviceType(SDL_TouchID touchID); + +/** + * Get the number of active fingers for a given touch device. + * + * \param touchID the ID of a touch device + * \returns the number of active fingers for a given touch device on success + * or 0 on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetTouchFinger + */ +extern DECLSPEC int SDLCALL SDL_GetNumTouchFingers(SDL_TouchID touchID); + +/** + * Get the finger object for specified touch device ID and finger index. + * + * The returned resource is owned by SDL and should not be deallocated. + * + * \param touchID the ID of the requested touch device + * \param index the index of the requested finger + * \returns a pointer to the SDL_Finger object or NULL if no object at the + * given ID and index could be found. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_RecordGesture + */ +extern DECLSPEC SDL_Finger * SDLCALL SDL_GetTouchFinger(SDL_TouchID touchID, int index); + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_touch_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_types.h b/subprojects/sdl2_windows/include/SDL2/SDL_types.h new file mode 100644 index 000000000..355fb501a --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_types.h @@ -0,0 +1,29 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_types.h + * + * \deprecated + */ + +/* DEPRECATED */ +#include "SDL_stdinc.h" diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_version.h b/subprojects/sdl2_windows/include/SDL2/SDL_version.h new file mode 100644 index 000000000..786b112ee --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_version.h @@ -0,0 +1,204 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_version.h + * + * This header defines the current SDL version. + */ + +#ifndef SDL_version_h_ +#define SDL_version_h_ + +#include "SDL_stdinc.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Information about the version of SDL in use. + * + * Represents the library's version as three levels: major revision + * (increments with massive changes, additions, and enhancements), + * minor revision (increments with backwards-compatible changes to the + * major revision), and patchlevel (increments with fixes to the minor + * revision). + * + * \sa SDL_VERSION + * \sa SDL_GetVersion + */ +typedef struct SDL_version +{ + Uint8 major; /**< major version */ + Uint8 minor; /**< minor version */ + Uint8 patch; /**< update version */ +} SDL_version; + +/* Printable format: "%d.%d.%d", MAJOR, MINOR, PATCHLEVEL +*/ +#define SDL_MAJOR_VERSION 2 +#define SDL_MINOR_VERSION 26 +#define SDL_PATCHLEVEL 1 + +/** + * Macro to determine SDL version program was compiled against. + * + * This macro fills in a SDL_version structure with the version of the + * library you compiled against. This is determined by what header the + * compiler uses. Note that if you dynamically linked the library, you might + * have a slightly newer or older version at runtime. That version can be + * determined with SDL_GetVersion(), which, unlike SDL_VERSION(), + * is not a macro. + * + * \param x A pointer to a SDL_version struct to initialize. + * + * \sa SDL_version + * \sa SDL_GetVersion + */ +#define SDL_VERSION(x) \ +{ \ + (x)->major = SDL_MAJOR_VERSION; \ + (x)->minor = SDL_MINOR_VERSION; \ + (x)->patch = SDL_PATCHLEVEL; \ +} + +/* TODO: Remove this whole block in SDL 3 */ +#if SDL_MAJOR_VERSION < 3 +/** + * This macro turns the version numbers into a numeric value: + * \verbatim + (1,2,3) -> (1203) + \endverbatim + * + * This assumes that there will never be more than 100 patchlevels. + * + * In versions higher than 2.9.0, the minor version overflows into + * the thousands digit: for example, 2.23.0 is encoded as 4300, + * and 2.255.99 would be encoded as 25799. + * This macro will not be available in SDL 3.x. + */ +#define SDL_VERSIONNUM(X, Y, Z) \ + ((X)*1000 + (Y)*100 + (Z)) + +/** + * This is the version number macro for the current SDL version. + * + * In versions higher than 2.9.0, the minor version overflows into + * the thousands digit: for example, 2.23.0 is encoded as 4300. + * This macro will not be available in SDL 3.x. + * + * Deprecated, use SDL_VERSION_ATLEAST or SDL_VERSION instead. + */ +#define SDL_COMPILEDVERSION \ + SDL_VERSIONNUM(SDL_MAJOR_VERSION, SDL_MINOR_VERSION, SDL_PATCHLEVEL) +#endif /* SDL_MAJOR_VERSION < 3 */ + +/** + * This macro will evaluate to true if compiled with SDL at least X.Y.Z. + */ +#define SDL_VERSION_ATLEAST(X, Y, Z) \ + ((SDL_MAJOR_VERSION >= X) && \ + (SDL_MAJOR_VERSION > X || SDL_MINOR_VERSION >= Y) && \ + (SDL_MAJOR_VERSION > X || SDL_MINOR_VERSION > Y || SDL_PATCHLEVEL >= Z)) + +/** + * Get the version of SDL that is linked against your program. + * + * If you are linking to SDL dynamically, then it is possible that the current + * version will be different than the version you compiled against. This + * function returns the current version, while SDL_VERSION() is a macro that + * tells you what version you compiled with. + * + * This function may be called safely at any time, even before SDL_Init(). + * + * \param ver the SDL_version structure that contains the version information + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRevision + */ +extern DECLSPEC void SDLCALL SDL_GetVersion(SDL_version * ver); + +/** + * Get the code revision of SDL that is linked against your program. + * + * This value is the revision of the code you are linked with and may be + * different from the code you are compiling with, which is found in the + * constant SDL_REVISION. + * + * The revision is arbitrary string (a hash value) uniquely identifying the + * exact revision of the SDL library in use, and is only useful in comparing + * against other revisions. It is NOT an incrementing number. + * + * If SDL wasn't built from a git repository with the appropriate tools, this + * will return an empty string. + * + * Prior to SDL 2.0.16, before development moved to GitHub, this returned a + * hash for a Mercurial repository. + * + * You shouldn't use this function for anything but logging it for debugging + * purposes. The string is not intended to be reliable in any way. + * + * \returns an arbitrary string, uniquely identifying the exact revision of + * the SDL library in use. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetVersion + */ +extern DECLSPEC const char *SDLCALL SDL_GetRevision(void); + +/** + * Obsolete function, do not use. + * + * When SDL was hosted in a Mercurial repository, and was built carefully, + * this would return the revision number that the build was created from. This + * number was not reliable for several reasons, but more importantly, SDL is + * now hosted in a git repository, which does not offer numbers at all, only + * hashes. This function only ever returns zero now. Don't use it. + * + * Before SDL 2.0.16, this might have returned an unreliable, but non-zero + * number. + * + * \deprecated Use SDL_GetRevision() instead; if SDL was carefully built, it + * will return a git hash. + * + * \returns zero, always, in modern SDL releases. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetRevision + */ +extern SDL_DEPRECATED DECLSPEC int SDLCALL SDL_GetRevisionNumber(void); + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_version_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_video.h b/subprojects/sdl2_windows/include/SDL2/SDL_video.h new file mode 100644 index 000000000..b2f1509f7 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_video.h @@ -0,0 +1,2150 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_video.h + * + * Header file for SDL video functions. + */ + +#ifndef SDL_video_h_ +#define SDL_video_h_ + +#include "SDL_stdinc.h" +#include "SDL_pixels.h" +#include "SDL_rect.h" +#include "SDL_surface.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \brief The structure that defines a display mode + * + * \sa SDL_GetNumDisplayModes() + * \sa SDL_GetDisplayMode() + * \sa SDL_GetDesktopDisplayMode() + * \sa SDL_GetCurrentDisplayMode() + * \sa SDL_GetClosestDisplayMode() + * \sa SDL_SetWindowDisplayMode() + * \sa SDL_GetWindowDisplayMode() + */ +typedef struct +{ + Uint32 format; /**< pixel format */ + int w; /**< width, in screen coordinates */ + int h; /**< height, in screen coordinates */ + int refresh_rate; /**< refresh rate (or zero for unspecified) */ + void *driverdata; /**< driver-specific data, initialize to 0 */ +} SDL_DisplayMode; + +/** + * \brief The type used to identify a window + * + * \sa SDL_CreateWindow() + * \sa SDL_CreateWindowFrom() + * \sa SDL_DestroyWindow() + * \sa SDL_FlashWindow() + * \sa SDL_GetWindowData() + * \sa SDL_GetWindowFlags() + * \sa SDL_GetWindowGrab() + * \sa SDL_GetWindowKeyboardGrab() + * \sa SDL_GetWindowMouseGrab() + * \sa SDL_GetWindowPosition() + * \sa SDL_GetWindowSize() + * \sa SDL_GetWindowTitle() + * \sa SDL_HideWindow() + * \sa SDL_MaximizeWindow() + * \sa SDL_MinimizeWindow() + * \sa SDL_RaiseWindow() + * \sa SDL_RestoreWindow() + * \sa SDL_SetWindowData() + * \sa SDL_SetWindowFullscreen() + * \sa SDL_SetWindowGrab() + * \sa SDL_SetWindowKeyboardGrab() + * \sa SDL_SetWindowMouseGrab() + * \sa SDL_SetWindowIcon() + * \sa SDL_SetWindowPosition() + * \sa SDL_SetWindowSize() + * \sa SDL_SetWindowBordered() + * \sa SDL_SetWindowResizable() + * \sa SDL_SetWindowTitle() + * \sa SDL_ShowWindow() + */ +typedef struct SDL_Window SDL_Window; + +/** + * \brief The flags on a window + * + * \sa SDL_GetWindowFlags() + */ +typedef enum +{ + SDL_WINDOW_FULLSCREEN = 0x00000001, /**< fullscreen window */ + SDL_WINDOW_OPENGL = 0x00000002, /**< window usable with OpenGL context */ + SDL_WINDOW_SHOWN = 0x00000004, /**< window is visible */ + SDL_WINDOW_HIDDEN = 0x00000008, /**< window is not visible */ + SDL_WINDOW_BORDERLESS = 0x00000010, /**< no window decoration */ + SDL_WINDOW_RESIZABLE = 0x00000020, /**< window can be resized */ + SDL_WINDOW_MINIMIZED = 0x00000040, /**< window is minimized */ + SDL_WINDOW_MAXIMIZED = 0x00000080, /**< window is maximized */ + SDL_WINDOW_MOUSE_GRABBED = 0x00000100, /**< window has grabbed mouse input */ + SDL_WINDOW_INPUT_FOCUS = 0x00000200, /**< window has input focus */ + SDL_WINDOW_MOUSE_FOCUS = 0x00000400, /**< window has mouse focus */ + SDL_WINDOW_FULLSCREEN_DESKTOP = ( SDL_WINDOW_FULLSCREEN | 0x00001000 ), + SDL_WINDOW_FOREIGN = 0x00000800, /**< window not created by SDL */ + SDL_WINDOW_ALLOW_HIGHDPI = 0x00002000, /**< window should be created in high-DPI mode if supported. + On macOS NSHighResolutionCapable must be set true in the + application's Info.plist for this to have any effect. */ + SDL_WINDOW_MOUSE_CAPTURE = 0x00004000, /**< window has mouse captured (unrelated to MOUSE_GRABBED) */ + SDL_WINDOW_ALWAYS_ON_TOP = 0x00008000, /**< window should always be above others */ + SDL_WINDOW_SKIP_TASKBAR = 0x00010000, /**< window should not be added to the taskbar */ + SDL_WINDOW_UTILITY = 0x00020000, /**< window should be treated as a utility window */ + SDL_WINDOW_TOOLTIP = 0x00040000, /**< window should be treated as a tooltip */ + SDL_WINDOW_POPUP_MENU = 0x00080000, /**< window should be treated as a popup menu */ + SDL_WINDOW_KEYBOARD_GRABBED = 0x00100000, /**< window has grabbed keyboard input */ + SDL_WINDOW_VULKAN = 0x10000000, /**< window usable for Vulkan surface */ + SDL_WINDOW_METAL = 0x20000000, /**< window usable for Metal view */ + + SDL_WINDOW_INPUT_GRABBED = SDL_WINDOW_MOUSE_GRABBED /**< equivalent to SDL_WINDOW_MOUSE_GRABBED for compatibility */ +} SDL_WindowFlags; + +/** + * \brief Used to indicate that you don't care what the window position is. + */ +#define SDL_WINDOWPOS_UNDEFINED_MASK 0x1FFF0000u +#define SDL_WINDOWPOS_UNDEFINED_DISPLAY(X) (SDL_WINDOWPOS_UNDEFINED_MASK|(X)) +#define SDL_WINDOWPOS_UNDEFINED SDL_WINDOWPOS_UNDEFINED_DISPLAY(0) +#define SDL_WINDOWPOS_ISUNDEFINED(X) \ + (((X)&0xFFFF0000) == SDL_WINDOWPOS_UNDEFINED_MASK) + +/** + * \brief Used to indicate that the window position should be centered. + */ +#define SDL_WINDOWPOS_CENTERED_MASK 0x2FFF0000u +#define SDL_WINDOWPOS_CENTERED_DISPLAY(X) (SDL_WINDOWPOS_CENTERED_MASK|(X)) +#define SDL_WINDOWPOS_CENTERED SDL_WINDOWPOS_CENTERED_DISPLAY(0) +#define SDL_WINDOWPOS_ISCENTERED(X) \ + (((X)&0xFFFF0000) == SDL_WINDOWPOS_CENTERED_MASK) + +/** + * \brief Event subtype for window events + */ +typedef enum +{ + SDL_WINDOWEVENT_NONE, /**< Never used */ + SDL_WINDOWEVENT_SHOWN, /**< Window has been shown */ + SDL_WINDOWEVENT_HIDDEN, /**< Window has been hidden */ + SDL_WINDOWEVENT_EXPOSED, /**< Window has been exposed and should be + redrawn */ + SDL_WINDOWEVENT_MOVED, /**< Window has been moved to data1, data2 + */ + SDL_WINDOWEVENT_RESIZED, /**< Window has been resized to data1xdata2 */ + SDL_WINDOWEVENT_SIZE_CHANGED, /**< The window size has changed, either as + a result of an API call or through the + system or user changing the window size. */ + SDL_WINDOWEVENT_MINIMIZED, /**< Window has been minimized */ + SDL_WINDOWEVENT_MAXIMIZED, /**< Window has been maximized */ + SDL_WINDOWEVENT_RESTORED, /**< Window has been restored to normal size + and position */ + SDL_WINDOWEVENT_ENTER, /**< Window has gained mouse focus */ + SDL_WINDOWEVENT_LEAVE, /**< Window has lost mouse focus */ + SDL_WINDOWEVENT_FOCUS_GAINED, /**< Window has gained keyboard focus */ + SDL_WINDOWEVENT_FOCUS_LOST, /**< Window has lost keyboard focus */ + SDL_WINDOWEVENT_CLOSE, /**< The window manager requests that the window be closed */ + SDL_WINDOWEVENT_TAKE_FOCUS, /**< Window is being offered a focus (should SetWindowInputFocus() on itself or a subwindow, or ignore) */ + SDL_WINDOWEVENT_HIT_TEST, /**< Window had a hit test that wasn't SDL_HITTEST_NORMAL. */ + SDL_WINDOWEVENT_ICCPROF_CHANGED,/**< The ICC profile of the window's display has changed. */ + SDL_WINDOWEVENT_DISPLAY_CHANGED /**< Window has been moved to display data1. */ +} SDL_WindowEventID; + +/** + * \brief Event subtype for display events + */ +typedef enum +{ + SDL_DISPLAYEVENT_NONE, /**< Never used */ + SDL_DISPLAYEVENT_ORIENTATION, /**< Display orientation has changed to data1 */ + SDL_DISPLAYEVENT_CONNECTED, /**< Display has been added to the system */ + SDL_DISPLAYEVENT_DISCONNECTED /**< Display has been removed from the system */ +} SDL_DisplayEventID; + +/** + * \brief Display orientation + */ +typedef enum +{ + SDL_ORIENTATION_UNKNOWN, /**< The display orientation can't be determined */ + SDL_ORIENTATION_LANDSCAPE, /**< The display is in landscape mode, with the right side up, relative to portrait mode */ + SDL_ORIENTATION_LANDSCAPE_FLIPPED, /**< The display is in landscape mode, with the left side up, relative to portrait mode */ + SDL_ORIENTATION_PORTRAIT, /**< The display is in portrait mode */ + SDL_ORIENTATION_PORTRAIT_FLIPPED /**< The display is in portrait mode, upside down */ +} SDL_DisplayOrientation; + +/** + * \brief Window flash operation + */ +typedef enum +{ + SDL_FLASH_CANCEL, /**< Cancel any window flash state */ + SDL_FLASH_BRIEFLY, /**< Flash the window briefly to get attention */ + SDL_FLASH_UNTIL_FOCUSED /**< Flash the window until it gets focus */ +} SDL_FlashOperation; + +/** + * \brief An opaque handle to an OpenGL context. + */ +typedef void *SDL_GLContext; + +/** + * \brief OpenGL configuration attributes + */ +typedef enum +{ + SDL_GL_RED_SIZE, + SDL_GL_GREEN_SIZE, + SDL_GL_BLUE_SIZE, + SDL_GL_ALPHA_SIZE, + SDL_GL_BUFFER_SIZE, + SDL_GL_DOUBLEBUFFER, + SDL_GL_DEPTH_SIZE, + SDL_GL_STENCIL_SIZE, + SDL_GL_ACCUM_RED_SIZE, + SDL_GL_ACCUM_GREEN_SIZE, + SDL_GL_ACCUM_BLUE_SIZE, + SDL_GL_ACCUM_ALPHA_SIZE, + SDL_GL_STEREO, + SDL_GL_MULTISAMPLEBUFFERS, + SDL_GL_MULTISAMPLESAMPLES, + SDL_GL_ACCELERATED_VISUAL, + SDL_GL_RETAINED_BACKING, + SDL_GL_CONTEXT_MAJOR_VERSION, + SDL_GL_CONTEXT_MINOR_VERSION, + SDL_GL_CONTEXT_EGL, + SDL_GL_CONTEXT_FLAGS, + SDL_GL_CONTEXT_PROFILE_MASK, + SDL_GL_SHARE_WITH_CURRENT_CONTEXT, + SDL_GL_FRAMEBUFFER_SRGB_CAPABLE, + SDL_GL_CONTEXT_RELEASE_BEHAVIOR, + SDL_GL_CONTEXT_RESET_NOTIFICATION, + SDL_GL_CONTEXT_NO_ERROR, + SDL_GL_FLOATBUFFERS +} SDL_GLattr; + +typedef enum +{ + SDL_GL_CONTEXT_PROFILE_CORE = 0x0001, + SDL_GL_CONTEXT_PROFILE_COMPATIBILITY = 0x0002, + SDL_GL_CONTEXT_PROFILE_ES = 0x0004 /**< GLX_CONTEXT_ES2_PROFILE_BIT_EXT */ +} SDL_GLprofile; + +typedef enum +{ + SDL_GL_CONTEXT_DEBUG_FLAG = 0x0001, + SDL_GL_CONTEXT_FORWARD_COMPATIBLE_FLAG = 0x0002, + SDL_GL_CONTEXT_ROBUST_ACCESS_FLAG = 0x0004, + SDL_GL_CONTEXT_RESET_ISOLATION_FLAG = 0x0008 +} SDL_GLcontextFlag; + +typedef enum +{ + SDL_GL_CONTEXT_RELEASE_BEHAVIOR_NONE = 0x0000, + SDL_GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH = 0x0001 +} SDL_GLcontextReleaseFlag; + +typedef enum +{ + SDL_GL_CONTEXT_RESET_NO_NOTIFICATION = 0x0000, + SDL_GL_CONTEXT_RESET_LOSE_CONTEXT = 0x0001 +} SDL_GLContextResetNotification; + +/* Function prototypes */ + +/** + * Get the number of video drivers compiled into SDL. + * + * \returns a number >= 1 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetVideoDriver + */ +extern DECLSPEC int SDLCALL SDL_GetNumVideoDrivers(void); + +/** + * Get the name of a built in video driver. + * + * The video drivers are presented in the order in which they are normally + * checked during initialization. + * + * \param index the index of a video driver + * \returns the name of the video driver with the given **index**. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumVideoDrivers + */ +extern DECLSPEC const char *SDLCALL SDL_GetVideoDriver(int index); + +/** + * Initialize the video subsystem, optionally specifying a video driver. + * + * This function initializes the video subsystem, setting up a connection to + * the window manager, etc, and determines the available display modes and + * pixel formats, but does not initialize a window or graphics mode. + * + * If you use this function and you haven't used the SDL_INIT_VIDEO flag with + * either SDL_Init() or SDL_InitSubSystem(), you should call SDL_VideoQuit() + * before calling SDL_Quit(). + * + * It is safe to call this function multiple times. SDL_VideoInit() will call + * SDL_VideoQuit() itself if the video subsystem has already been initialized. + * + * You can use SDL_GetNumVideoDrivers() and SDL_GetVideoDriver() to find a + * specific `driver_name`. + * + * \param driver_name the name of a video driver to initialize, or NULL for + * the default driver + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumVideoDrivers + * \sa SDL_GetVideoDriver + * \sa SDL_InitSubSystem + * \sa SDL_VideoQuit + */ +extern DECLSPEC int SDLCALL SDL_VideoInit(const char *driver_name); + +/** + * Shut down the video subsystem, if initialized with SDL_VideoInit(). + * + * This function closes all windows, and restores the original video mode. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_VideoInit + */ +extern DECLSPEC void SDLCALL SDL_VideoQuit(void); + +/** + * Get the name of the currently initialized video driver. + * + * \returns the name of the current video driver or NULL if no driver has been + * initialized. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumVideoDrivers + * \sa SDL_GetVideoDriver + */ +extern DECLSPEC const char *SDLCALL SDL_GetCurrentVideoDriver(void); + +/** + * Get the number of available video displays. + * + * \returns a number >= 1 or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetDisplayBounds + */ +extern DECLSPEC int SDLCALL SDL_GetNumVideoDisplays(void); + +/** + * Get the name of a display in UTF-8 encoding. + * + * \param displayIndex the index of display from which the name should be + * queried + * \returns the name of a display or NULL for an invalid display index or + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC const char * SDLCALL SDL_GetDisplayName(int displayIndex); + +/** + * Get the desktop area represented by a display. + * + * The primary display (`displayIndex` zero) is always located at 0,0. + * + * \param displayIndex the index of the display to query + * \param rect the SDL_Rect structure filled in with the display bounds + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetDisplayBounds(int displayIndex, SDL_Rect * rect); + +/** + * Get the usable desktop area represented by a display. + * + * The primary display (`displayIndex` zero) is always located at 0,0. + * + * This is the same area as SDL_GetDisplayBounds() reports, but with portions + * reserved by the system removed. For example, on Apple's macOS, this + * subtracts the area occupied by the menu bar and dock. + * + * Setting a window to be fullscreen generally bypasses these unusable areas, + * so these are good guidelines for the maximum space available to a + * non-fullscreen window. + * + * The parameter `rect` is ignored if it is NULL. + * + * This function also returns -1 if the parameter `displayIndex` is out of + * range. + * + * \param displayIndex the index of the display to query the usable bounds + * from + * \param rect the SDL_Rect structure filled in with the display bounds + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_GetDisplayBounds + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetDisplayUsableBounds(int displayIndex, SDL_Rect * rect); + +/** + * Get the dots/pixels-per-inch for a display. + * + * Diagonal, horizontal and vertical DPI can all be optionally returned if the + * appropriate parameter is non-NULL. + * + * A failure of this function usually means that either no DPI information is + * available or the `displayIndex` is out of range. + * + * **WARNING**: This reports the DPI that the hardware reports, and it is not + * always reliable! It is almost always better to use SDL_GetWindowSize() to + * find the window size, which might be in logical points instead of pixels, + * and then SDL_GL_GetDrawableSize(), SDL_Vulkan_GetDrawableSize(), + * SDL_Metal_GetDrawableSize(), or SDL_GetRendererOutputSize(), and compare + * the two values to get an actual scaling value between the two. We will be + * rethinking how high-dpi details should be managed in SDL3 to make things + * more consistent, reliable, and clear. + * + * \param displayIndex the index of the display from which DPI information + * should be queried + * \param ddpi a pointer filled in with the diagonal DPI of the display; may + * be NULL + * \param hdpi a pointer filled in with the horizontal DPI of the display; may + * be NULL + * \param vdpi a pointer filled in with the vertical DPI of the display; may + * be NULL + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetDisplayDPI(int displayIndex, float * ddpi, float * hdpi, float * vdpi); + +/** + * Get the orientation of a display. + * + * \param displayIndex the index of the display to query + * \returns The SDL_DisplayOrientation enum value of the display, or + * `SDL_ORIENTATION_UNKNOWN` if it isn't available. + * + * \since This function is available since SDL 2.0.9. + * + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC SDL_DisplayOrientation SDLCALL SDL_GetDisplayOrientation(int displayIndex); + +/** + * Get the number of available display modes. + * + * The `displayIndex` needs to be in the range from 0 to + * SDL_GetNumVideoDisplays() - 1. + * + * \param displayIndex the index of the display to query + * \returns a number >= 1 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetDisplayMode + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetNumDisplayModes(int displayIndex); + +/** + * Get information about a specific display mode. + * + * The display modes are sorted in this priority: + * + * - width -> largest to smallest + * - height -> largest to smallest + * - bits per pixel -> more colors to fewer colors + * - packed pixel layout -> largest to smallest + * - refresh rate -> highest to lowest + * + * \param displayIndex the index of the display to query + * \param modeIndex the index of the display mode to query + * \param mode an SDL_DisplayMode structure filled in with the mode at + * `modeIndex` + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetNumDisplayModes + */ +extern DECLSPEC int SDLCALL SDL_GetDisplayMode(int displayIndex, int modeIndex, + SDL_DisplayMode * mode); + +/** + * Get information about the desktop's display mode. + * + * There's a difference between this function and SDL_GetCurrentDisplayMode() + * when SDL runs fullscreen and has changed the resolution. In that case this + * function will return the previous native display mode, and not the current + * display mode. + * + * \param displayIndex the index of the display to query + * \param mode an SDL_DisplayMode structure filled in with the current display + * mode + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetCurrentDisplayMode + * \sa SDL_GetDisplayMode + * \sa SDL_SetWindowDisplayMode + */ +extern DECLSPEC int SDLCALL SDL_GetDesktopDisplayMode(int displayIndex, SDL_DisplayMode * mode); + +/** + * Get information about the current display mode. + * + * There's a difference between this function and SDL_GetDesktopDisplayMode() + * when SDL runs fullscreen and has changed the resolution. In that case this + * function will return the current display mode, and not the previous native + * display mode. + * + * \param displayIndex the index of the display to query + * \param mode an SDL_DisplayMode structure filled in with the current display + * mode + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetDesktopDisplayMode + * \sa SDL_GetDisplayMode + * \sa SDL_GetNumVideoDisplays + * \sa SDL_SetWindowDisplayMode + */ +extern DECLSPEC int SDLCALL SDL_GetCurrentDisplayMode(int displayIndex, SDL_DisplayMode * mode); + + +/** + * Get the closest match to the requested display mode. + * + * The available display modes are scanned and `closest` is filled in with the + * closest mode matching the requested mode and returned. The mode format and + * refresh rate default to the desktop mode if they are set to 0. The modes + * are scanned with size being first priority, format being second priority, + * and finally checking the refresh rate. If all the available modes are too + * small, then NULL is returned. + * + * \param displayIndex the index of the display to query + * \param mode an SDL_DisplayMode structure containing the desired display + * mode + * \param closest an SDL_DisplayMode structure filled in with the closest + * match of the available display modes + * \returns the passed in value `closest` or NULL if no matching video mode + * was available; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetDisplayMode + * \sa SDL_GetNumDisplayModes + */ +extern DECLSPEC SDL_DisplayMode * SDLCALL SDL_GetClosestDisplayMode(int displayIndex, const SDL_DisplayMode * mode, SDL_DisplayMode * closest); + +/** + * Get the index of the display containing a point + * + * \param point the point to query + * \returns the index of the display containing the point or a negative error + * code on failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GetDisplayBounds + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetPointDisplayIndex(const SDL_Point * point); + +/** + * Get the index of the display primarily containing a rect + * + * \param rect the rect to query + * \returns the index of the display entirely containing the rect or closest + * to the center of the rect on success or a negative error code on + * failure; call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.24.0. + * + * \sa SDL_GetDisplayBounds + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetRectDisplayIndex(const SDL_Rect * rect); + +/** + * Get the index of the display associated with a window. + * + * \param window the window to query + * \returns the index of the display containing the center of the window on + * success or a negative error code on failure; call SDL_GetError() + * for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetDisplayBounds + * \sa SDL_GetNumVideoDisplays + */ +extern DECLSPEC int SDLCALL SDL_GetWindowDisplayIndex(SDL_Window * window); + +/** + * Set the display mode to use when a window is visible at fullscreen. + * + * This only affects the display mode used when the window is fullscreen. To + * change the window size when the window is not fullscreen, use + * SDL_SetWindowSize(). + * + * \param window the window to affect + * \param mode the SDL_DisplayMode structure representing the mode to use, or + * NULL to use the window's dimensions and the desktop's format + * and refresh rate + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowDisplayMode + * \sa SDL_SetWindowFullscreen + */ +extern DECLSPEC int SDLCALL SDL_SetWindowDisplayMode(SDL_Window * window, + const SDL_DisplayMode * mode); + +/** + * Query the display mode to use when a window is visible at fullscreen. + * + * \param window the window to query + * \param mode an SDL_DisplayMode structure filled in with the fullscreen + * display mode + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowDisplayMode + * \sa SDL_SetWindowFullscreen + */ +extern DECLSPEC int SDLCALL SDL_GetWindowDisplayMode(SDL_Window * window, + SDL_DisplayMode * mode); + +/** + * Get the raw ICC profile data for the screen the window is currently on. + * + * Data returned should be freed with SDL_free. + * + * \param window the window to query + * \param size the size of the ICC profile + * \returns the raw ICC profile data on success or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.18. + */ +extern DECLSPEC void* SDLCALL SDL_GetWindowICCProfile(SDL_Window * window, size_t* size); + +/** + * Get the pixel format associated with the window. + * + * \param window the window to query + * \returns the pixel format of the window on success or + * SDL_PIXELFORMAT_UNKNOWN on failure; call SDL_GetError() for more + * information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetWindowPixelFormat(SDL_Window * window); + +/** + * Create a window with the specified position, dimensions, and flags. + * + * `flags` may be any of the following OR'd together: + * + * - `SDL_WINDOW_FULLSCREEN`: fullscreen window + * - `SDL_WINDOW_FULLSCREEN_DESKTOP`: fullscreen window at desktop resolution + * - `SDL_WINDOW_OPENGL`: window usable with an OpenGL context + * - `SDL_WINDOW_VULKAN`: window usable with a Vulkan instance + * - `SDL_WINDOW_METAL`: window usable with a Metal instance + * - `SDL_WINDOW_HIDDEN`: window is not visible + * - `SDL_WINDOW_BORDERLESS`: no window decoration + * - `SDL_WINDOW_RESIZABLE`: window can be resized + * - `SDL_WINDOW_MINIMIZED`: window is minimized + * - `SDL_WINDOW_MAXIMIZED`: window is maximized + * - `SDL_WINDOW_INPUT_GRABBED`: window has grabbed input focus + * - `SDL_WINDOW_ALLOW_HIGHDPI`: window should be created in high-DPI mode if + * supported (>= SDL 2.0.1) + * + * `SDL_WINDOW_SHOWN` is ignored by SDL_CreateWindow(). The SDL_Window is + * implicitly shown if SDL_WINDOW_HIDDEN is not set. `SDL_WINDOW_SHOWN` may be + * queried later using SDL_GetWindowFlags(). + * + * On Apple's macOS, you **must** set the NSHighResolutionCapable Info.plist + * property to YES, otherwise you will not receive a High-DPI OpenGL canvas. + * + * If the window is created with the `SDL_WINDOW_ALLOW_HIGHDPI` flag, its size + * in pixels may differ from its size in screen coordinates on platforms with + * high-DPI support (e.g. iOS and macOS). Use SDL_GetWindowSize() to query the + * client area's size in screen coordinates, and SDL_GL_GetDrawableSize() or + * SDL_GetRendererOutputSize() to query the drawable size in pixels. Note that + * when this flag is set, the drawable size can vary after the window is + * created and should be queried after major window events such as when the + * window is resized or moved between displays. + * + * If the window is set fullscreen, the width and height parameters `w` and + * `h` will not be used. However, invalid size parameters (e.g. too large) may + * still fail. Window size is actually limited to 16384 x 16384 for all + * platforms at window creation. + * + * If the window is created with any of the SDL_WINDOW_OPENGL or + * SDL_WINDOW_VULKAN flags, then the corresponding LoadLibrary function + * (SDL_GL_LoadLibrary or SDL_Vulkan_LoadLibrary) is called and the + * corresponding UnloadLibrary function is called by SDL_DestroyWindow(). + * + * If SDL_WINDOW_VULKAN is specified and there isn't a working Vulkan driver, + * SDL_CreateWindow() will fail because SDL_Vulkan_LoadLibrary() will fail. + * + * If SDL_WINDOW_METAL is specified on an OS that does not support Metal, + * SDL_CreateWindow() will fail. + * + * On non-Apple devices, SDL requires you to either not link to the Vulkan + * loader or link to a dynamic library version. This limitation may be removed + * in a future version of SDL. + * + * \param title the title of the window, in UTF-8 encoding + * \param x the x position of the window, `SDL_WINDOWPOS_CENTERED`, or + * `SDL_WINDOWPOS_UNDEFINED` + * \param y the y position of the window, `SDL_WINDOWPOS_CENTERED`, or + * `SDL_WINDOWPOS_UNDEFINED` + * \param w the width of the window, in screen coordinates + * \param h the height of the window, in screen coordinates + * \param flags 0, or one or more SDL_WindowFlags OR'd together + * \returns the window that was created or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateWindowFrom + * \sa SDL_DestroyWindow + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_CreateWindow(const char *title, + int x, int y, int w, + int h, Uint32 flags); + +/** + * Create an SDL window from an existing native window. + * + * In some cases (e.g. OpenGL) and on some platforms (e.g. Microsoft Windows) + * the hint `SDL_HINT_VIDEO_WINDOW_SHARE_PIXEL_FORMAT` needs to be configured + * before using SDL_CreateWindowFrom(). + * + * \param data a pointer to driver-dependent window creation data, typically + * your native window cast to a void* + * \returns the window that was created or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateWindow + * \sa SDL_DestroyWindow + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_CreateWindowFrom(const void *data); + +/** + * Get the numeric ID of a window. + * + * The numeric ID is what SDL_WindowEvent references, and is necessary to map + * these events to specific SDL_Window objects. + * + * \param window the window to query + * \returns the ID of the window on success or 0 on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowFromID + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetWindowID(SDL_Window * window); + +/** + * Get a window from a stored ID. + * + * The numeric ID is what SDL_WindowEvent references, and is necessary to map + * these events to specific SDL_Window objects. + * + * \param id the ID of the window + * \returns the window associated with `id` or NULL if it doesn't exist; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowID + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_GetWindowFromID(Uint32 id); + +/** + * Get the window flags. + * + * \param window the window to query + * \returns a mask of the SDL_WindowFlags associated with `window` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateWindow + * \sa SDL_HideWindow + * \sa SDL_MaximizeWindow + * \sa SDL_MinimizeWindow + * \sa SDL_SetWindowFullscreen + * \sa SDL_SetWindowGrab + * \sa SDL_ShowWindow + */ +extern DECLSPEC Uint32 SDLCALL SDL_GetWindowFlags(SDL_Window * window); + +/** + * Set the title of a window. + * + * This string is expected to be in UTF-8 encoding. + * + * \param window the window to change + * \param title the desired window title in UTF-8 format + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowTitle + */ +extern DECLSPEC void SDLCALL SDL_SetWindowTitle(SDL_Window * window, + const char *title); + +/** + * Get the title of a window. + * + * \param window the window to query + * \returns the title of the window in UTF-8 format or "" if there is no + * title. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowTitle + */ +extern DECLSPEC const char *SDLCALL SDL_GetWindowTitle(SDL_Window * window); + +/** + * Set the icon for a window. + * + * \param window the window to change + * \param icon an SDL_Surface structure containing the icon for the window + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_SetWindowIcon(SDL_Window * window, + SDL_Surface * icon); + +/** + * Associate an arbitrary named pointer with a window. + * + * `name` is case-sensitive. + * + * \param window the window to associate with the pointer + * \param name the name of the pointer + * \param userdata the associated pointer + * \returns the previous value associated with `name`. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowData + */ +extern DECLSPEC void* SDLCALL SDL_SetWindowData(SDL_Window * window, + const char *name, + void *userdata); + +/** + * Retrieve the data pointer associated with a window. + * + * \param window the window to query + * \param name the name of the pointer + * \returns the value associated with `name`. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowData + */ +extern DECLSPEC void *SDLCALL SDL_GetWindowData(SDL_Window * window, + const char *name); + +/** + * Set the position of a window. + * + * The window coordinate origin is the upper left of the display. + * + * \param window the window to reposition + * \param x the x coordinate of the window in screen coordinates, or + * `SDL_WINDOWPOS_CENTERED` or `SDL_WINDOWPOS_UNDEFINED` + * \param y the y coordinate of the window in screen coordinates, or + * `SDL_WINDOWPOS_CENTERED` or `SDL_WINDOWPOS_UNDEFINED` + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowPosition + */ +extern DECLSPEC void SDLCALL SDL_SetWindowPosition(SDL_Window * window, + int x, int y); + +/** + * Get the position of a window. + * + * If you do not need the value for one of the positions a NULL may be passed + * in the `x` or `y` parameter. + * + * \param window the window to query + * \param x a pointer filled in with the x position of the window, in screen + * coordinates, may be NULL + * \param y a pointer filled in with the y position of the window, in screen + * coordinates, may be NULL + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowPosition + */ +extern DECLSPEC void SDLCALL SDL_GetWindowPosition(SDL_Window * window, + int *x, int *y); + +/** + * Set the size of a window's client area. + * + * The window size in screen coordinates may differ from the size in pixels, + * if the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a platform + * with high-dpi support (e.g. iOS or macOS). Use SDL_GL_GetDrawableSize() or + * SDL_GetRendererOutputSize() to get the real client area size in pixels. + * + * Fullscreen windows automatically match the size of the display mode, and + * you should use SDL_SetWindowDisplayMode() to change their size. + * + * \param window the window to change + * \param w the width of the window in pixels, in screen coordinates, must be + * > 0 + * \param h the height of the window in pixels, in screen coordinates, must be + * > 0 + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowSize + * \sa SDL_SetWindowDisplayMode + */ +extern DECLSPEC void SDLCALL SDL_SetWindowSize(SDL_Window * window, int w, + int h); + +/** + * Get the size of a window's client area. + * + * NULL can safely be passed as the `w` or `h` parameter if the width or + * height value is not desired. + * + * The window size in screen coordinates may differ from the size in pixels, + * if the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a platform + * with high-dpi support (e.g. iOS or macOS). Use SDL_GL_GetDrawableSize(), + * SDL_Vulkan_GetDrawableSize(), or SDL_GetRendererOutputSize() to get the + * real client area size in pixels. + * + * \param window the window to query the width and height from + * \param w a pointer filled in with the width of the window, in screen + * coordinates, may be NULL + * \param h a pointer filled in with the height of the window, in screen + * coordinates, may be NULL + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_GetDrawableSize + * \sa SDL_Vulkan_GetDrawableSize + * \sa SDL_SetWindowSize + */ +extern DECLSPEC void SDLCALL SDL_GetWindowSize(SDL_Window * window, int *w, + int *h); + +/** + * Get the size of a window's borders (decorations) around the client area. + * + * Note: If this function fails (returns -1), the size values will be + * initialized to 0, 0, 0, 0 (if a non-NULL pointer is provided), as if the + * window in question was borderless. + * + * Note: This function may fail on systems where the window has not yet been + * decorated by the display server (for example, immediately after calling + * SDL_CreateWindow). It is recommended that you wait at least until the + * window has been presented and composited, so that the window system has a + * chance to decorate the window and provide the border dimensions to SDL. + * + * This function also returns -1 if getting the information is not supported. + * + * \param window the window to query the size values of the border + * (decorations) from + * \param top pointer to variable for storing the size of the top border; NULL + * is permitted + * \param left pointer to variable for storing the size of the left border; + * NULL is permitted + * \param bottom pointer to variable for storing the size of the bottom + * border; NULL is permitted + * \param right pointer to variable for storing the size of the right border; + * NULL is permitted + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_GetWindowSize + */ +extern DECLSPEC int SDLCALL SDL_GetWindowBordersSize(SDL_Window * window, + int *top, int *left, + int *bottom, int *right); + +/** + * Get the size of a window in pixels. + * + * This may differ from SDL_GetWindowSize() if we're rendering to a high-DPI + * drawable, i.e. the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a + * platform with high-DPI support (Apple calls this "Retina"), and not + * disabled by the `SDL_HINT_VIDEO_HIGHDPI_DISABLED` hint. + * + * \param window the window from which the drawable size should be queried + * \param w a pointer to variable for storing the width in pixels, may be NULL + * \param h a pointer to variable for storing the height in pixels, may be + * NULL + * + * \since This function is available since SDL 2.26.0. + * + * \sa SDL_CreateWindow + * \sa SDL_GetWindowSize + */ +extern DECLSPEC void SDLCALL SDL_GetWindowSizeInPixels(SDL_Window * window, + int *w, int *h); + +/** + * Set the minimum size of a window's client area. + * + * \param window the window to change + * \param min_w the minimum width of the window in pixels + * \param min_h the minimum height of the window in pixels + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowMinimumSize + * \sa SDL_SetWindowMaximumSize + */ +extern DECLSPEC void SDLCALL SDL_SetWindowMinimumSize(SDL_Window * window, + int min_w, int min_h); + +/** + * Get the minimum size of a window's client area. + * + * \param window the window to query + * \param w a pointer filled in with the minimum width of the window, may be + * NULL + * \param h a pointer filled in with the minimum height of the window, may be + * NULL + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowMaximumSize + * \sa SDL_SetWindowMinimumSize + */ +extern DECLSPEC void SDLCALL SDL_GetWindowMinimumSize(SDL_Window * window, + int *w, int *h); + +/** + * Set the maximum size of a window's client area. + * + * \param window the window to change + * \param max_w the maximum width of the window in pixels + * \param max_h the maximum height of the window in pixels + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowMaximumSize + * \sa SDL_SetWindowMinimumSize + */ +extern DECLSPEC void SDLCALL SDL_SetWindowMaximumSize(SDL_Window * window, + int max_w, int max_h); + +/** + * Get the maximum size of a window's client area. + * + * \param window the window to query + * \param w a pointer filled in with the maximum width of the window, may be + * NULL + * \param h a pointer filled in with the maximum height of the window, may be + * NULL + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowMinimumSize + * \sa SDL_SetWindowMaximumSize + */ +extern DECLSPEC void SDLCALL SDL_GetWindowMaximumSize(SDL_Window * window, + int *w, int *h); + +/** + * Set the border state of a window. + * + * This will add or remove the window's `SDL_WINDOW_BORDERLESS` flag and add + * or remove the border from the actual window. This is a no-op if the + * window's border already matches the requested state. + * + * You can't change the border state of a fullscreen window. + * + * \param window the window of which to change the border state + * \param bordered SDL_FALSE to remove border, SDL_TRUE to add border + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowFlags + */ +extern DECLSPEC void SDLCALL SDL_SetWindowBordered(SDL_Window * window, + SDL_bool bordered); + +/** + * Set the user-resizable state of a window. + * + * This will add or remove the window's `SDL_WINDOW_RESIZABLE` flag and + * allow/disallow user resizing of the window. This is a no-op if the window's + * resizable state already matches the requested state. + * + * You can't change the resizable state of a fullscreen window. + * + * \param window the window of which to change the resizable state + * \param resizable SDL_TRUE to allow resizing, SDL_FALSE to disallow + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_GetWindowFlags + */ +extern DECLSPEC void SDLCALL SDL_SetWindowResizable(SDL_Window * window, + SDL_bool resizable); + +/** + * Set the window to always be above the others. + * + * This will add or remove the window's `SDL_WINDOW_ALWAYS_ON_TOP` flag. This + * will bring the window to the front and keep the window above the rest. + * + * \param window The window of which to change the always on top state + * \param on_top SDL_TRUE to set the window always on top, SDL_FALSE to + * disable + * + * \since This function is available since SDL 2.0.16. + * + * \sa SDL_GetWindowFlags + */ +extern DECLSPEC void SDLCALL SDL_SetWindowAlwaysOnTop(SDL_Window * window, + SDL_bool on_top); + +/** + * Show a window. + * + * \param window the window to show + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_HideWindow + * \sa SDL_RaiseWindow + */ +extern DECLSPEC void SDLCALL SDL_ShowWindow(SDL_Window * window); + +/** + * Hide a window. + * + * \param window the window to hide + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_ShowWindow + */ +extern DECLSPEC void SDLCALL SDL_HideWindow(SDL_Window * window); + +/** + * Raise a window above other windows and set the input focus. + * + * \param window the window to raise + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_RaiseWindow(SDL_Window * window); + +/** + * Make a window as large as possible. + * + * \param window the window to maximize + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_MinimizeWindow + * \sa SDL_RestoreWindow + */ +extern DECLSPEC void SDLCALL SDL_MaximizeWindow(SDL_Window * window); + +/** + * Minimize a window to an iconic representation. + * + * \param window the window to minimize + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_MaximizeWindow + * \sa SDL_RestoreWindow + */ +extern DECLSPEC void SDLCALL SDL_MinimizeWindow(SDL_Window * window); + +/** + * Restore the size and position of a minimized or maximized window. + * + * \param window the window to restore + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_MaximizeWindow + * \sa SDL_MinimizeWindow + */ +extern DECLSPEC void SDLCALL SDL_RestoreWindow(SDL_Window * window); + +/** + * Set a window's fullscreen state. + * + * `flags` may be `SDL_WINDOW_FULLSCREEN`, for "real" fullscreen with a + * videomode change; `SDL_WINDOW_FULLSCREEN_DESKTOP` for "fake" fullscreen + * that takes the size of the desktop; and 0 for windowed mode. + * + * \param window the window to change + * \param flags `SDL_WINDOW_FULLSCREEN`, `SDL_WINDOW_FULLSCREEN_DESKTOP` or 0 + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowDisplayMode + * \sa SDL_SetWindowDisplayMode + */ +extern DECLSPEC int SDLCALL SDL_SetWindowFullscreen(SDL_Window * window, + Uint32 flags); + +/** + * Get the SDL surface associated with the window. + * + * A new surface will be created with the optimal format for the window, if + * necessary. This surface will be freed when the window is destroyed. Do not + * free this surface. + * + * This surface will be invalidated if the window is resized. After resizing a + * window this function must be called again to return a valid surface. + * + * You may not combine this with 3D or the rendering API on this window. + * + * This function is affected by `SDL_HINT_FRAMEBUFFER_ACCELERATION`. + * + * \param window the window to query + * \returns the surface associated with the window, or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_UpdateWindowSurface + * \sa SDL_UpdateWindowSurfaceRects + */ +extern DECLSPEC SDL_Surface * SDLCALL SDL_GetWindowSurface(SDL_Window * window); + +/** + * Copy the window surface to the screen. + * + * This is the function you use to reflect any changes to the surface on the + * screen. + * + * This function is equivalent to the SDL 1.2 API SDL_Flip(). + * + * \param window the window to update + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowSurface + * \sa SDL_UpdateWindowSurfaceRects + */ +extern DECLSPEC int SDLCALL SDL_UpdateWindowSurface(SDL_Window * window); + +/** + * Copy areas of the window surface to the screen. + * + * This is the function you use to reflect changes to portions of the surface + * on the screen. + * + * This function is equivalent to the SDL 1.2 API SDL_UpdateRects(). + * + * \param window the window to update + * \param rects an array of SDL_Rect structures representing areas of the + * surface to copy + * \param numrects the number of rectangles + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowSurface + * \sa SDL_UpdateWindowSurface + */ +extern DECLSPEC int SDLCALL SDL_UpdateWindowSurfaceRects(SDL_Window * window, + const SDL_Rect * rects, + int numrects); + +/** + * Set a window's input grab mode. + * + * When input is grabbed, the mouse is confined to the window. This function + * will also grab the keyboard if `SDL_HINT_GRAB_KEYBOARD` is set. To grab the + * keyboard without also grabbing the mouse, use SDL_SetWindowKeyboardGrab(). + * + * If the caller enables a grab while another window is currently grabbed, the + * other window loses its grab in favor of the caller's window. + * + * \param window the window for which the input grab mode should be set + * \param grabbed SDL_TRUE to grab input or SDL_FALSE to release input + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetGrabbedWindow + * \sa SDL_GetWindowGrab + */ +extern DECLSPEC void SDLCALL SDL_SetWindowGrab(SDL_Window * window, + SDL_bool grabbed); + +/** + * Set a window's keyboard grab mode. + * + * Keyboard grab enables capture of system keyboard shortcuts like Alt+Tab or + * the Meta/Super key. Note that not all system keyboard shortcuts can be + * captured by applications (one example is Ctrl+Alt+Del on Windows). + * + * This is primarily intended for specialized applications such as VNC clients + * or VM frontends. Normal games should not use keyboard grab. + * + * When keyboard grab is enabled, SDL will continue to handle Alt+Tab when the + * window is full-screen to ensure the user is not trapped in your + * application. If you have a custom keyboard shortcut to exit fullscreen + * mode, you may suppress this behavior with + * `SDL_HINT_ALLOW_ALT_TAB_WHILE_GRABBED`. + * + * If the caller enables a grab while another window is currently grabbed, the + * other window loses its grab in favor of the caller's window. + * + * \param window The window for which the keyboard grab mode should be set. + * \param grabbed This is SDL_TRUE to grab keyboard, and SDL_FALSE to release. + * + * \since This function is available since SDL 2.0.16. + * + * \sa SDL_GetWindowKeyboardGrab + * \sa SDL_SetWindowMouseGrab + * \sa SDL_SetWindowGrab + */ +extern DECLSPEC void SDLCALL SDL_SetWindowKeyboardGrab(SDL_Window * window, + SDL_bool grabbed); + +/** + * Set a window's mouse grab mode. + * + * Mouse grab confines the mouse cursor to the window. + * + * \param window The window for which the mouse grab mode should be set. + * \param grabbed This is SDL_TRUE to grab mouse, and SDL_FALSE to release. + * + * \since This function is available since SDL 2.0.16. + * + * \sa SDL_GetWindowMouseGrab + * \sa SDL_SetWindowKeyboardGrab + * \sa SDL_SetWindowGrab + */ +extern DECLSPEC void SDLCALL SDL_SetWindowMouseGrab(SDL_Window * window, + SDL_bool grabbed); + +/** + * Get a window's input grab mode. + * + * \param window the window to query + * \returns SDL_TRUE if input is grabbed, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowGrab + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowGrab(SDL_Window * window); + +/** + * Get a window's keyboard grab mode. + * + * \param window the window to query + * \returns SDL_TRUE if keyboard is grabbed, and SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.16. + * + * \sa SDL_SetWindowKeyboardGrab + * \sa SDL_GetWindowGrab + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowKeyboardGrab(SDL_Window * window); + +/** + * Get a window's mouse grab mode. + * + * \param window the window to query + * \returns SDL_TRUE if mouse is grabbed, and SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.16. + * + * \sa SDL_SetWindowKeyboardGrab + * \sa SDL_GetWindowGrab + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowMouseGrab(SDL_Window * window); + +/** + * Get the window that currently has an input grab enabled. + * + * \returns the window if input is grabbed or NULL otherwise. + * + * \since This function is available since SDL 2.0.4. + * + * \sa SDL_GetWindowGrab + * \sa SDL_SetWindowGrab + */ +extern DECLSPEC SDL_Window * SDLCALL SDL_GetGrabbedWindow(void); + +/** + * Confines the cursor to the specified area of a window. + * + * Note that this does NOT grab the cursor, it only defines the area a cursor + * is restricted to when the window has mouse focus. + * + * \param window The window that will be associated with the barrier. + * \param rect A rectangle area in window-relative coordinates. If NULL the + * barrier for the specified window will be destroyed. + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_GetWindowMouseRect + * \sa SDL_SetWindowMouseGrab + */ +extern DECLSPEC int SDLCALL SDL_SetWindowMouseRect(SDL_Window * window, const SDL_Rect * rect); + +/** + * Get the mouse confinement rectangle of a window. + * + * \param window The window to query + * \returns A pointer to the mouse confinement rectangle of a window, or NULL + * if there isn't one. + * + * \since This function is available since SDL 2.0.18. + * + * \sa SDL_SetWindowMouseRect + */ +extern DECLSPEC const SDL_Rect * SDLCALL SDL_GetWindowMouseRect(SDL_Window * window); + +/** + * Set the brightness (gamma multiplier) for a given window's display. + * + * Despite the name and signature, this method sets the brightness of the + * entire display, not an individual window. A window is considered to be + * owned by the display that contains the window's center pixel. (The index of + * this display can be retrieved using SDL_GetWindowDisplayIndex().) The + * brightness set will not follow the window if it is moved to another + * display. + * + * Many platforms will refuse to set the display brightness in modern times. + * You are better off using a shader to adjust gamma during rendering, or + * something similar. + * + * \param window the window used to select the display whose brightness will + * be changed + * \param brightness the brightness (gamma multiplier) value to set where 0.0 + * is completely dark and 1.0 is normal brightness + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowBrightness + * \sa SDL_SetWindowGammaRamp + */ +extern DECLSPEC int SDLCALL SDL_SetWindowBrightness(SDL_Window * window, float brightness); + +/** + * Get the brightness (gamma multiplier) for a given window's display. + * + * Despite the name and signature, this method retrieves the brightness of the + * entire display, not an individual window. A window is considered to be + * owned by the display that contains the window's center pixel. (The index of + * this display can be retrieved using SDL_GetWindowDisplayIndex().) + * + * \param window the window used to select the display whose brightness will + * be queried + * \returns the brightness for the display where 0.0 is completely dark and + * 1.0 is normal brightness. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowBrightness + */ +extern DECLSPEC float SDLCALL SDL_GetWindowBrightness(SDL_Window * window); + +/** + * Set the opacity for a window. + * + * The parameter `opacity` will be clamped internally between 0.0f + * (transparent) and 1.0f (opaque). + * + * This function also returns -1 if setting the opacity isn't supported. + * + * \param window the window which will be made transparent or opaque + * \param opacity the opacity value (0.0f - transparent, 1.0f - opaque) + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_GetWindowOpacity + */ +extern DECLSPEC int SDLCALL SDL_SetWindowOpacity(SDL_Window * window, float opacity); + +/** + * Get the opacity of a window. + * + * If transparency isn't supported on this platform, opacity will be reported + * as 1.0f without error. + * + * The parameter `opacity` is ignored if it is NULL. + * + * This function also returns -1 if an invalid window was provided. + * + * \param window the window to get the current opacity value from + * \param out_opacity the float filled in (0.0f - transparent, 1.0f - opaque) + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_SetWindowOpacity + */ +extern DECLSPEC int SDLCALL SDL_GetWindowOpacity(SDL_Window * window, float * out_opacity); + +/** + * Set the window as a modal for another window. + * + * \param modal_window the window that should be set modal + * \param parent_window the parent window for the modal window + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + */ +extern DECLSPEC int SDLCALL SDL_SetWindowModalFor(SDL_Window * modal_window, SDL_Window * parent_window); + +/** + * Explicitly set input focus to the window. + * + * You almost certainly want SDL_RaiseWindow() instead of this function. Use + * this with caution, as you might give focus to a window that is completely + * obscured by other windows. + * + * \param window the window that should get the input focus + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.5. + * + * \sa SDL_RaiseWindow + */ +extern DECLSPEC int SDLCALL SDL_SetWindowInputFocus(SDL_Window * window); + +/** + * Set the gamma ramp for the display that owns a given window. + * + * Set the gamma translation table for the red, green, and blue channels of + * the video hardware. Each table is an array of 256 16-bit quantities, + * representing a mapping between the input and output for that channel. The + * input is the index into the array, and the output is the 16-bit gamma value + * at that index, scaled to the output color precision. + * + * Despite the name and signature, this method sets the gamma ramp of the + * entire display, not an individual window. A window is considered to be + * owned by the display that contains the window's center pixel. (The index of + * this display can be retrieved using SDL_GetWindowDisplayIndex().) The gamma + * ramp set will not follow the window if it is moved to another display. + * + * \param window the window used to select the display whose gamma ramp will + * be changed + * \param red a 256 element array of 16-bit quantities representing the + * translation table for the red channel, or NULL + * \param green a 256 element array of 16-bit quantities representing the + * translation table for the green channel, or NULL + * \param blue a 256 element array of 16-bit quantities representing the + * translation table for the blue channel, or NULL + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GetWindowGammaRamp + */ +extern DECLSPEC int SDLCALL SDL_SetWindowGammaRamp(SDL_Window * window, + const Uint16 * red, + const Uint16 * green, + const Uint16 * blue); + +/** + * Get the gamma ramp for a given window's display. + * + * Despite the name and signature, this method retrieves the gamma ramp of the + * entire display, not an individual window. A window is considered to be + * owned by the display that contains the window's center pixel. (The index of + * this display can be retrieved using SDL_GetWindowDisplayIndex().) + * + * \param window the window used to select the display whose gamma ramp will + * be queried + * \param red a 256 element array of 16-bit quantities filled in with the + * translation table for the red channel, or NULL + * \param green a 256 element array of 16-bit quantities filled in with the + * translation table for the green channel, or NULL + * \param blue a 256 element array of 16-bit quantities filled in with the + * translation table for the blue channel, or NULL + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_SetWindowGammaRamp + */ +extern DECLSPEC int SDLCALL SDL_GetWindowGammaRamp(SDL_Window * window, + Uint16 * red, + Uint16 * green, + Uint16 * blue); + +/** + * Possible return values from the SDL_HitTest callback. + * + * \sa SDL_HitTest + */ +typedef enum +{ + SDL_HITTEST_NORMAL, /**< Region is normal. No special properties. */ + SDL_HITTEST_DRAGGABLE, /**< Region can drag entire window. */ + SDL_HITTEST_RESIZE_TOPLEFT, + SDL_HITTEST_RESIZE_TOP, + SDL_HITTEST_RESIZE_TOPRIGHT, + SDL_HITTEST_RESIZE_RIGHT, + SDL_HITTEST_RESIZE_BOTTOMRIGHT, + SDL_HITTEST_RESIZE_BOTTOM, + SDL_HITTEST_RESIZE_BOTTOMLEFT, + SDL_HITTEST_RESIZE_LEFT +} SDL_HitTestResult; + +/** + * Callback used for hit-testing. + * + * \param win the SDL_Window where hit-testing was set on + * \param area an SDL_Point which should be hit-tested + * \param data what was passed as `callback_data` to SDL_SetWindowHitTest() + * \return an SDL_HitTestResult value. + * + * \sa SDL_SetWindowHitTest + */ +typedef SDL_HitTestResult (SDLCALL *SDL_HitTest)(SDL_Window *win, + const SDL_Point *area, + void *data); + +/** + * Provide a callback that decides if a window region has special properties. + * + * Normally windows are dragged and resized by decorations provided by the + * system window manager (a title bar, borders, etc), but for some apps, it + * makes sense to drag them from somewhere else inside the window itself; for + * example, one might have a borderless window that wants to be draggable from + * any part, or simulate its own title bar, etc. + * + * This function lets the app provide a callback that designates pieces of a + * given window as special. This callback is run during event processing if we + * need to tell the OS to treat a region of the window specially; the use of + * this callback is known as "hit testing." + * + * Mouse input may not be delivered to your application if it is within a + * special area; the OS will often apply that input to moving the window or + * resizing the window and not deliver it to the application. + * + * Specifying NULL for a callback disables hit-testing. Hit-testing is + * disabled by default. + * + * Platforms that don't support this functionality will return -1 + * unconditionally, even if you're attempting to disable hit-testing. + * + * Your callback may fire at any time, and its firing does not indicate any + * specific behavior (for example, on Windows, this certainly might fire when + * the OS is deciding whether to drag your window, but it fires for lots of + * other reasons, too, some unrelated to anything you probably care about _and + * when the mouse isn't actually at the location it is testing_). Since this + * can fire at any time, you should try to keep your callback efficient, + * devoid of allocations, etc. + * + * \param window the window to set hit-testing on + * \param callback the function to call when doing a hit-test + * \param callback_data an app-defined void pointer passed to **callback** + * \returns 0 on success or -1 on error (including unsupported); call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.4. + */ +extern DECLSPEC int SDLCALL SDL_SetWindowHitTest(SDL_Window * window, + SDL_HitTest callback, + void *callback_data); + +/** + * Request a window to demand attention from the user. + * + * \param window the window to be flashed + * \param operation the flash operation + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.16. + */ +extern DECLSPEC int SDLCALL SDL_FlashWindow(SDL_Window * window, SDL_FlashOperation operation); + +/** + * Destroy a window. + * + * If `window` is NULL, this function will return immediately after setting + * the SDL error message to "Invalid window". See SDL_GetError(). + * + * \param window the window to destroy + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_CreateWindow + * \sa SDL_CreateWindowFrom + */ +extern DECLSPEC void SDLCALL SDL_DestroyWindow(SDL_Window * window); + + +/** + * Check whether the screensaver is currently enabled. + * + * The screensaver is disabled by default since SDL 2.0.2. Before SDL 2.0.2 + * the screensaver was enabled by default. + * + * The default can also be changed using `SDL_HINT_VIDEO_ALLOW_SCREENSAVER`. + * + * \returns SDL_TRUE if the screensaver is enabled, SDL_FALSE if it is + * disabled. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DisableScreenSaver + * \sa SDL_EnableScreenSaver + */ +extern DECLSPEC SDL_bool SDLCALL SDL_IsScreenSaverEnabled(void); + +/** + * Allow the screen to be blanked by a screen saver. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_DisableScreenSaver + * \sa SDL_IsScreenSaverEnabled + */ +extern DECLSPEC void SDLCALL SDL_EnableScreenSaver(void); + +/** + * Prevent the screen from being blanked by a screen saver. + * + * If you disable the screensaver, it is automatically re-enabled when SDL + * quits. + * + * The screensaver is disabled by default since SDL 2.0.2. Before SDL 2.0.2 + * the screensaver was enabled by default. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_EnableScreenSaver + * \sa SDL_IsScreenSaverEnabled + */ +extern DECLSPEC void SDLCALL SDL_DisableScreenSaver(void); + + +/** + * \name OpenGL support functions + */ +/* @{ */ + +/** + * Dynamically load an OpenGL library. + * + * This should be done after initializing the video driver, but before + * creating any OpenGL windows. If no OpenGL library is loaded, the default + * library will be loaded upon creation of the first OpenGL window. + * + * If you do this, you need to retrieve all of the GL functions used in your + * program from the dynamic library using SDL_GL_GetProcAddress(). + * + * \param path the platform dependent OpenGL library name, or NULL to open the + * default OpenGL library + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_GetProcAddress + * \sa SDL_GL_UnloadLibrary + */ +extern DECLSPEC int SDLCALL SDL_GL_LoadLibrary(const char *path); + +/** + * Get an OpenGL function by name. + * + * If the GL library is loaded at runtime with SDL_GL_LoadLibrary(), then all + * GL functions must be retrieved this way. Usually this is used to retrieve + * function pointers to OpenGL extensions. + * + * There are some quirks to looking up OpenGL functions that require some + * extra care from the application. If you code carefully, you can handle + * these quirks without any platform-specific code, though: + * + * - On Windows, function pointers are specific to the current GL context; + * this means you need to have created a GL context and made it current + * before calling SDL_GL_GetProcAddress(). If you recreate your context or + * create a second context, you should assume that any existing function + * pointers aren't valid to use with it. This is (currently) a + * Windows-specific limitation, and in practice lots of drivers don't suffer + * this limitation, but it is still the way the wgl API is documented to + * work and you should expect crashes if you don't respect it. Store a copy + * of the function pointers that comes and goes with context lifespan. + * - On X11, function pointers returned by this function are valid for any + * context, and can even be looked up before a context is created at all. + * This means that, for at least some common OpenGL implementations, if you + * look up a function that doesn't exist, you'll get a non-NULL result that + * is _NOT_ safe to call. You must always make sure the function is actually + * available for a given GL context before calling it, by checking for the + * existence of the appropriate extension with SDL_GL_ExtensionSupported(), + * or verifying that the version of OpenGL you're using offers the function + * as core functionality. + * - Some OpenGL drivers, on all platforms, *will* return NULL if a function + * isn't supported, but you can't count on this behavior. Check for + * extensions you use, and if you get a NULL anyway, act as if that + * extension wasn't available. This is probably a bug in the driver, but you + * can code defensively for this scenario anyhow. + * - Just because you're on Linux/Unix, don't assume you'll be using X11. + * Next-gen display servers are waiting to replace it, and may or may not + * make the same promises about function pointers. + * - OpenGL function pointers must be declared `APIENTRY` as in the example + * code. This will ensure the proper calling convention is followed on + * platforms where this matters (Win32) thereby avoiding stack corruption. + * + * \param proc the name of an OpenGL function + * \returns a pointer to the named OpenGL function. The returned pointer + * should be cast to the appropriate function signature. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_ExtensionSupported + * \sa SDL_GL_LoadLibrary + * \sa SDL_GL_UnloadLibrary + */ +extern DECLSPEC void *SDLCALL SDL_GL_GetProcAddress(const char *proc); + +/** + * Unload the OpenGL library previously loaded by SDL_GL_LoadLibrary(). + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_LoadLibrary + */ +extern DECLSPEC void SDLCALL SDL_GL_UnloadLibrary(void); + +/** + * Check if an OpenGL extension is supported for the current context. + * + * This function operates on the current GL context; you must have created a + * context and it must be current before calling this function. Do not assume + * that all contexts you create will have the same set of extensions + * available, or that recreating an existing context will offer the same + * extensions again. + * + * While it's probably not a massive overhead, this function is not an O(1) + * operation. Check the extensions you care about after creating the GL + * context and save that information somewhere instead of calling the function + * every time you need to know. + * + * \param extension the name of the extension to check + * \returns SDL_TRUE if the extension is supported, SDL_FALSE otherwise. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_bool SDLCALL SDL_GL_ExtensionSupported(const char + *extension); + +/** + * Reset all previously set OpenGL context attributes to their default values. + * + * \since This function is available since SDL 2.0.2. + * + * \sa SDL_GL_GetAttribute + * \sa SDL_GL_SetAttribute + */ +extern DECLSPEC void SDLCALL SDL_GL_ResetAttributes(void); + +/** + * Set an OpenGL window attribute before window creation. + * + * This function sets the OpenGL attribute `attr` to `value`. The requested + * attributes should be set before creating an OpenGL window. You should use + * SDL_GL_GetAttribute() to check the values after creating the OpenGL + * context, since the values obtained can differ from the requested ones. + * + * \param attr an SDL_GLattr enum value specifying the OpenGL attribute to set + * \param value the desired value for the attribute + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_GetAttribute + * \sa SDL_GL_ResetAttributes + */ +extern DECLSPEC int SDLCALL SDL_GL_SetAttribute(SDL_GLattr attr, int value); + +/** + * Get the actual value for an attribute from the current context. + * + * \param attr an SDL_GLattr enum value specifying the OpenGL attribute to get + * \param value a pointer filled in with the current value of `attr` + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_ResetAttributes + * \sa SDL_GL_SetAttribute + */ +extern DECLSPEC int SDLCALL SDL_GL_GetAttribute(SDL_GLattr attr, int *value); + +/** + * Create an OpenGL context for an OpenGL window, and make it current. + * + * Windows users new to OpenGL should note that, for historical reasons, GL + * functions added after OpenGL version 1.1 are not available by default. + * Those functions must be loaded at run-time, either with an OpenGL + * extension-handling library or with SDL_GL_GetProcAddress() and its related + * functions. + * + * SDL_GLContext is an alias for `void *`. It's opaque to the application. + * + * \param window the window to associate with the context + * \returns the OpenGL context associated with `window` or NULL on error; call + * SDL_GetError() for more details. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_DeleteContext + * \sa SDL_GL_MakeCurrent + */ +extern DECLSPEC SDL_GLContext SDLCALL SDL_GL_CreateContext(SDL_Window * + window); + +/** + * Set up an OpenGL context for rendering into an OpenGL window. + * + * The context must have been created with a compatible window. + * + * \param window the window to associate with the context + * \param context the OpenGL context to associate with the window + * \returns 0 on success or a negative error code on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_CreateContext + */ +extern DECLSPEC int SDLCALL SDL_GL_MakeCurrent(SDL_Window * window, + SDL_GLContext context); + +/** + * Get the currently active OpenGL window. + * + * \returns the currently active OpenGL window on success or NULL on failure; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC SDL_Window* SDLCALL SDL_GL_GetCurrentWindow(void); + +/** + * Get the currently active OpenGL context. + * + * \returns the currently active OpenGL context or NULL on failure; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_MakeCurrent + */ +extern DECLSPEC SDL_GLContext SDLCALL SDL_GL_GetCurrentContext(void); + +/** + * Get the size of a window's underlying drawable in pixels. + * + * This returns info useful for calling glViewport(). + * + * This may differ from SDL_GetWindowSize() if we're rendering to a high-DPI + * drawable, i.e. the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a + * platform with high-DPI support (Apple calls this "Retina"), and not + * disabled by the `SDL_HINT_VIDEO_HIGHDPI_DISABLED` hint. + * + * \param window the window from which the drawable size should be queried + * \param w a pointer to variable for storing the width in pixels, may be NULL + * \param h a pointer to variable for storing the height in pixels, may be + * NULL + * + * \since This function is available since SDL 2.0.1. + * + * \sa SDL_CreateWindow + * \sa SDL_GetWindowSize + */ +extern DECLSPEC void SDLCALL SDL_GL_GetDrawableSize(SDL_Window * window, int *w, + int *h); + +/** + * Set the swap interval for the current OpenGL context. + * + * Some systems allow specifying -1 for the interval, to enable adaptive + * vsync. Adaptive vsync works the same as vsync, but if you've already missed + * the vertical retrace for a given frame, it swaps buffers immediately, which + * might be less jarring for the user during occasional framerate drops. If an + * application requests adaptive vsync and the system does not support it, + * this function will fail and return -1. In such a case, you should probably + * retry the call with 1 for the interval. + * + * Adaptive vsync is implemented for some glX drivers with + * GLX_EXT_swap_control_tear, and for some Windows drivers with + * WGL_EXT_swap_control_tear. + * + * Read more on the Khronos wiki: + * https://www.khronos.org/opengl/wiki/Swap_Interval#Adaptive_Vsync + * + * \param interval 0 for immediate updates, 1 for updates synchronized with + * the vertical retrace, -1 for adaptive vsync + * \returns 0 on success or -1 if setting the swap interval is not supported; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_GetSwapInterval + */ +extern DECLSPEC int SDLCALL SDL_GL_SetSwapInterval(int interval); + +/** + * Get the swap interval for the current OpenGL context. + * + * If the system can't determine the swap interval, or there isn't a valid + * current context, this function will return 0 as a safe default. + * + * \returns 0 if there is no vertical retrace synchronization, 1 if the buffer + * swap is synchronized with the vertical retrace, and -1 if late + * swaps happen immediately instead of waiting for the next retrace; + * call SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_SetSwapInterval + */ +extern DECLSPEC int SDLCALL SDL_GL_GetSwapInterval(void); + +/** + * Update a window with OpenGL rendering. + * + * This is used with double-buffered OpenGL contexts, which are the default. + * + * On macOS, make sure you bind 0 to the draw framebuffer before swapping the + * window, otherwise nothing will happen. If you aren't using + * glBindFramebuffer(), this is the default and you won't have to do anything + * extra. + * + * \param window the window to change + * + * \since This function is available since SDL 2.0.0. + */ +extern DECLSPEC void SDLCALL SDL_GL_SwapWindow(SDL_Window * window); + +/** + * Delete an OpenGL context. + * + * \param context the OpenGL context to be deleted + * + * \since This function is available since SDL 2.0.0. + * + * \sa SDL_GL_CreateContext + */ +extern DECLSPEC void SDLCALL SDL_GL_DeleteContext(SDL_GLContext context); + +/* @} *//* OpenGL support functions */ + + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_video_h_ */ + +/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_vulkan.h b/subprojects/sdl2_windows/include/SDL2/SDL_vulkan.h new file mode 100644 index 000000000..ab86a0b86 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/SDL_vulkan.h @@ -0,0 +1,215 @@ +/* + Simple DirectMedia Layer + Copyright (C) 2017, Mark Callow + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file SDL_vulkan.h + * + * Header file for functions to creating Vulkan surfaces on SDL windows. + */ + +#ifndef SDL_vulkan_h_ +#define SDL_vulkan_h_ + +#include "SDL_video.h" + +#include "begin_code.h" +/* Set up for C function definitions, even when using C++ */ +#ifdef __cplusplus +extern "C" { +#endif + +/* Avoid including vulkan.h, don't define VkInstance if it's already included */ +#ifdef VULKAN_H_ +#define NO_SDL_VULKAN_TYPEDEFS +#endif +#ifndef NO_SDL_VULKAN_TYPEDEFS +#define VK_DEFINE_HANDLE(object) typedef struct object##_T* object; + +#if defined(__LP64__) || defined(_WIN64) || defined(__x86_64__) || defined(_M_X64) || defined(__ia64) || defined (_M_IA64) || defined(__aarch64__) || defined(__powerpc64__) +#define VK_DEFINE_NON_DISPATCHABLE_HANDLE(object) typedef struct object##_T *object; +#else +#define VK_DEFINE_NON_DISPATCHABLE_HANDLE(object) typedef uint64_t object; +#endif + +VK_DEFINE_HANDLE(VkInstance) +VK_DEFINE_NON_DISPATCHABLE_HANDLE(VkSurfaceKHR) + +#endif /* !NO_SDL_VULKAN_TYPEDEFS */ + +typedef VkInstance SDL_vulkanInstance; +typedef VkSurfaceKHR SDL_vulkanSurface; /* for compatibility with Tizen */ + +/** + * \name Vulkan support functions + * + * \note SDL_Vulkan_GetInstanceExtensions & SDL_Vulkan_CreateSurface API + * is compatable with Tizen's implementation of Vulkan in SDL. + */ +/* @{ */ + +/** + * Dynamically load the Vulkan loader library. + * + * This should be called after initializing the video driver, but before + * creating any Vulkan windows. If no Vulkan loader library is loaded, the + * default library will be loaded upon creation of the first Vulkan window. + * + * It is fairly common for Vulkan applications to link with libvulkan instead + * of explicitly loading it at run time. This will work with SDL provided the + * application links to a dynamic library and both it and SDL use the same + * search path. + * + * If you specify a non-NULL `path`, an application should retrieve all of the + * Vulkan functions it uses from the dynamic library using + * SDL_Vulkan_GetVkGetInstanceProcAddr unless you can guarantee `path` points + * to the same vulkan loader library the application linked to. + * + * On Apple devices, if `path` is NULL, SDL will attempt to find the + * `vkGetInstanceProcAddr` address within all the Mach-O images of the current + * process. This is because it is fairly common for Vulkan applications to + * link with libvulkan (and historically MoltenVK was provided as a static + * library). If it is not found, on macOS, SDL will attempt to load + * `vulkan.framework/vulkan`, `libvulkan.1.dylib`, + * `MoltenVK.framework/MoltenVK`, and `libMoltenVK.dylib`, in that order. On + * iOS, SDL will attempt to load `libMoltenVK.dylib`. Applications using a + * dynamic framework or .dylib must ensure it is included in its application + * bundle. + * + * On non-Apple devices, application linking with a static libvulkan is not + * supported. Either do not link to the Vulkan loader or link to a dynamic + * library version. + * + * \param path The platform dependent Vulkan loader library name or NULL + * \returns 0 on success or -1 if the library couldn't be loaded; call + * SDL_GetError() for more information. + * + * \since This function is available since SDL 2.0.6. + * + * \sa SDL_Vulkan_GetVkInstanceProcAddr + * \sa SDL_Vulkan_UnloadLibrary + */ +extern DECLSPEC int SDLCALL SDL_Vulkan_LoadLibrary(const char *path); + +/** + * Get the address of the `vkGetInstanceProcAddr` function. + * + * This should be called after either calling SDL_Vulkan_LoadLibrary() or + * creating an SDL_Window with the `SDL_WINDOW_VULKAN` flag. + * + * \returns the function pointer for `vkGetInstanceProcAddr` or NULL on error. + * + * \since This function is available since SDL 2.0.6. + */ +extern DECLSPEC void *SDLCALL SDL_Vulkan_GetVkGetInstanceProcAddr(void); + +/** + * Unload the Vulkan library previously loaded by SDL_Vulkan_LoadLibrary() + * + * \since This function is available since SDL 2.0.6. + * + * \sa SDL_Vulkan_LoadLibrary + */ +extern DECLSPEC void SDLCALL SDL_Vulkan_UnloadLibrary(void); + +/** + * Get the names of the Vulkan instance extensions needed to create a surface + * with SDL_Vulkan_CreateSurface. + * + * If `pNames` is NULL, then the number of required Vulkan instance extensions + * is returned in `pCount`. Otherwise, `pCount` must point to a variable set + * to the number of elements in the `pNames` array, and on return the variable + * is overwritten with the number of names actually written to `pNames`. If + * `pCount` is less than the number of required extensions, at most `pCount` + * structures will be written. If `pCount` is smaller than the number of + * required extensions, SDL_FALSE will be returned instead of SDL_TRUE, to + * indicate that not all the required extensions were returned. + * + * The `window` parameter is currently needed to be valid as of SDL 2.0.8, + * however, this parameter will likely be removed in future releases + * + * \param window A window for which the required Vulkan instance extensions + * should be retrieved (will be deprecated in a future release) + * \param pCount A pointer to an unsigned int corresponding to the number of + * extensions to be returned + * \param pNames NULL or a pointer to an array to be filled with required + * Vulkan instance extensions + * \returns SDL_TRUE on success, SDL_FALSE on error. + * + * \since This function is available since SDL 2.0.6. + * + * \sa SDL_Vulkan_CreateSurface + */ +extern DECLSPEC SDL_bool SDLCALL SDL_Vulkan_GetInstanceExtensions(SDL_Window *window, + unsigned int *pCount, + const char **pNames); + +/** + * Create a Vulkan rendering surface for a window. + * + * The `window` must have been created with the `SDL_WINDOW_VULKAN` flag and + * `instance` must have been created with extensions returned by + * SDL_Vulkan_GetInstanceExtensions() enabled. + * + * \param window The window to which to attach the Vulkan surface + * \param instance The Vulkan instance handle + * \param surface A pointer to a VkSurfaceKHR handle to output the newly + * created surface + * \returns SDL_TRUE on success, SDL_FALSE on error. + * + * \since This function is available since SDL 2.0.6. + * + * \sa SDL_Vulkan_GetInstanceExtensions + * \sa SDL_Vulkan_GetDrawableSize + */ +extern DECLSPEC SDL_bool SDLCALL SDL_Vulkan_CreateSurface(SDL_Window *window, + VkInstance instance, + VkSurfaceKHR* surface); + +/** + * Get the size of the window's underlying drawable dimensions in pixels. + * + * This may differ from SDL_GetWindowSize() if we're rendering to a high-DPI + * drawable, i.e. the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a + * platform with high-DPI support (Apple calls this "Retina"), and not + * disabled by the `SDL_HINT_VIDEO_HIGHDPI_DISABLED` hint. + * + * \param window an SDL_Window for which the size is to be queried + * \param w Pointer to the variable to write the width to or NULL + * \param h Pointer to the variable to write the height to or NULL + * + * \since This function is available since SDL 2.0.6. + * + * \sa SDL_GetWindowSize + * \sa SDL_CreateWindow + * \sa SDL_Vulkan_CreateSurface + */ +extern DECLSPEC void SDLCALL SDL_Vulkan_GetDrawableSize(SDL_Window * window, + int *w, int *h); + +/* @} *//* Vulkan support functions */ + +/* Ends C function definitions when using C++ */ +#ifdef __cplusplus +} +#endif +#include "close_code.h" + +#endif /* SDL_vulkan_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/begin_code.h b/subprojects/sdl2_windows/include/SDL2/begin_code.h new file mode 100644 index 000000000..b3e69e85c --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/begin_code.h @@ -0,0 +1,187 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file begin_code.h + * + * This file sets things up for C dynamic library function definitions, + * static inlined functions, and structures aligned at 4-byte alignment. + * If you don't like ugly C preprocessor code, don't look at this file. :) + */ + +/* This shouldn't be nested -- included it around code only. */ +#ifdef _begin_code_h +#error Nested inclusion of begin_code.h +#endif +#define _begin_code_h + +#ifndef SDL_DEPRECATED +# if defined(__GNUC__) && (__GNUC__ >= 4) /* technically, this arrived in gcc 3.1, but oh well. */ +# define SDL_DEPRECATED __attribute__((deprecated)) +# else +# define SDL_DEPRECATED +# endif +#endif + +#ifndef SDL_UNUSED +# ifdef __GNUC__ +# define SDL_UNUSED __attribute__((unused)) +# else +# define SDL_UNUSED +# endif +#endif + +/* Some compilers use a special export keyword */ +#ifndef DECLSPEC +# if defined(__WIN32__) || defined(__WINRT__) || defined(__CYGWIN__) || defined(__GDK__) +# ifdef DLL_EXPORT +# define DECLSPEC __declspec(dllexport) +# else +# define DECLSPEC +# endif +# elif defined(__OS2__) +# ifdef BUILD_SDL +# define DECLSPEC __declspec(dllexport) +# else +# define DECLSPEC +# endif +# else +# if defined(__GNUC__) && __GNUC__ >= 4 +# define DECLSPEC __attribute__ ((visibility("default"))) +# else +# define DECLSPEC +# endif +# endif +#endif + +/* By default SDL uses the C calling convention */ +#ifndef SDLCALL +#if (defined(__WIN32__) || defined(__WINRT__) || defined(__GDK__)) && !defined(__GNUC__) +#define SDLCALL __cdecl +#elif defined(__OS2__) || defined(__EMX__) +#define SDLCALL _System +# if defined (__GNUC__) && !defined(_System) +# define _System /* for old EMX/GCC compat. */ +# endif +#else +#define SDLCALL +#endif +#endif /* SDLCALL */ + +/* Removed DECLSPEC on Symbian OS because SDL cannot be a DLL in EPOC */ +#ifdef __SYMBIAN32__ +#undef DECLSPEC +#define DECLSPEC +#endif /* __SYMBIAN32__ */ + +/* Force structure packing at 4 byte alignment. + This is necessary if the header is included in code which has structure + packing set to an alternate value, say for loading structures from disk. + The packing is reset to the previous value in close_code.h + */ +#if defined(_MSC_VER) || defined(__MWERKS__) || defined(__BORLANDC__) +#ifdef _MSC_VER +#pragma warning(disable: 4103) +#endif +#ifdef __clang__ +#pragma clang diagnostic ignored "-Wpragma-pack" +#endif +#ifdef __BORLANDC__ +#pragma nopackwarning +#endif +#ifdef _WIN64 +/* Use 8-byte alignment on 64-bit architectures, so pointers are aligned */ +#pragma pack(push,8) +#else +#pragma pack(push,4) +#endif +#endif /* Compiler needs structure packing set */ + +#ifndef SDL_INLINE +#if defined(__GNUC__) +#define SDL_INLINE __inline__ +#elif defined(_MSC_VER) || defined(__BORLANDC__) || \ + defined(__DMC__) || defined(__SC__) || \ + defined(__WATCOMC__) || defined(__LCC__) || \ + defined(__DECC) || defined(__CC_ARM) +#define SDL_INLINE __inline +#ifndef __inline__ +#define __inline__ __inline +#endif +#else +#define SDL_INLINE inline +#ifndef __inline__ +#define __inline__ inline +#endif +#endif +#endif /* SDL_INLINE not defined */ + +#ifndef SDL_FORCE_INLINE +#if defined(_MSC_VER) +#define SDL_FORCE_INLINE __forceinline +#elif ( (defined(__GNUC__) && (__GNUC__ >= 4)) || defined(__clang__) ) +#define SDL_FORCE_INLINE __attribute__((always_inline)) static __inline__ +#else +#define SDL_FORCE_INLINE static SDL_INLINE +#endif +#endif /* SDL_FORCE_INLINE not defined */ + +#ifndef SDL_NORETURN +#if defined(__GNUC__) +#define SDL_NORETURN __attribute__((noreturn)) +#elif defined(_MSC_VER) +#define SDL_NORETURN __declspec(noreturn) +#else +#define SDL_NORETURN +#endif +#endif /* SDL_NORETURN not defined */ + +/* Apparently this is needed by several Windows compilers */ +#if !defined(__MACH__) +#ifndef NULL +#ifdef __cplusplus +#define NULL 0 +#else +#define NULL ((void *)0) +#endif +#endif /* NULL */ +#endif /* ! Mac OS X - breaks precompiled headers */ + +#ifndef SDL_FALLTHROUGH +#if (defined(__cplusplus) && __cplusplus >= 201703L) || \ + (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 202000L) +#define SDL_FALLTHROUGH [[fallthrough]] +#else +#if defined(__has_attribute) +#define _HAS_FALLTHROUGH __has_attribute(__fallthrough__) +#else +#define _HAS_FALLTHROUGH 0 +#endif /* __has_attribute */ +#if _HAS_FALLTHROUGH && \ + ((defined(__GNUC__) && __GNUC__ >= 7) || \ + (defined(__clang_major__) && __clang_major__ >= 10)) +#define SDL_FALLTHROUGH __attribute__((__fallthrough__)) +#else +#define SDL_FALLTHROUGH do {} while (0) /* fallthrough */ +#endif /* _HAS_FALLTHROUGH */ +#undef _HAS_FALLTHROUGH +#endif /* C++17 or C2x */ +#endif /* SDL_FALLTHROUGH not defined */ diff --git a/subprojects/sdl2_windows/include/SDL2/close_code.h b/subprojects/sdl2_windows/include/SDL2/close_code.h new file mode 100644 index 000000000..dc73432f6 --- /dev/null +++ b/subprojects/sdl2_windows/include/SDL2/close_code.h @@ -0,0 +1,40 @@ +/* + Simple DirectMedia Layer + Copyright (C) 1997-2022 Sam Lantinga + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ + +/** + * \file close_code.h + * + * This file reverses the effects of begin_code.h and should be included + * after you finish any function and structure declarations in your headers + */ + +#ifndef _begin_code_h +#error close_code.h included without matching begin_code.h +#endif +#undef _begin_code_h + +/* Reset structure packing at previous byte alignment */ +#if defined(_MSC_VER) || defined(__MWERKS__) || defined(__BORLANDC__) +#ifdef __BORLANDC__ +#pragma nopackwarning +#endif +#pragma pack(pop) +#endif /* Compiler needs structure packing set */ diff --git a/subprojects/sdl2_windows/meson.build b/subprojects/sdl2_windows/meson.build new file mode 100644 index 000000000..09d8f7699 --- /dev/null +++ b/subprojects/sdl2_windows/meson.build @@ -0,0 +1,16 @@ +project('sdl2_windows', 'cpp') + +fs = import('fs') + +new_dir = join_paths('C:/TDT4102-mingw64','SDL2','sdl2_lib') +old_dir = join_paths(meson.current_source_dir(), 'lib') +#Ensuring backwards compatability in transition when SDL2 can be both places +dir_to_use = fs.exists(new_dir) ? new_dir : old_dir + +cxx = meson.get_compiler('cpp') +sdl2_windows_dep = declare_dependency( + dependencies : [cxx.find_library('SDL2main', dirs : dir_to_use), + cxx.find_library('SDL2', dirs : dir_to_use)], + link_args: ['-lmingw32'], + include_directories : include_directories(join_paths('include', 'SDL2'))) + diff --git a/subprojects/sdl2_windows/share/aclocal/sdl2.m4 b/subprojects/sdl2_windows/share/aclocal/sdl2.m4 new file mode 100644 index 000000000..75b60f6ea --- /dev/null +++ b/subprojects/sdl2_windows/share/aclocal/sdl2.m4 @@ -0,0 +1,214 @@ +# Configure paths for SDL +# Sam Lantinga 9/21/99 +# stolen from Manish Singh +# stolen back from Frank Belew +# stolen from Manish Singh +# Shamelessly stolen from Owen Taylor +# +# Changelog: +# * also look for SDL2.framework under Mac OS X +# * removed HP/UX 9 support. +# * updated for newer autoconf. + +# serial 2 + +dnl AM_PATH_SDL2([MINIMUM-VERSION, [ACTION-IF-FOUND [, ACTION-IF-NOT-FOUND]]]) +dnl Test for SDL, and define SDL_CFLAGS and SDL_LIBS +dnl +AC_DEFUN([AM_PATH_SDL2], +[dnl +dnl Get the cflags and libraries from the sdl2-config script +dnl +AC_ARG_WITH(sdl-prefix,[ --with-sdl-prefix=PFX Prefix where SDL is installed (optional)], + sdl_prefix="$withval", sdl_prefix="") +AC_ARG_WITH(sdl-exec-prefix,[ --with-sdl-exec-prefix=PFX Exec prefix where SDL is installed (optional)], + sdl_exec_prefix="$withval", sdl_exec_prefix="") +AC_ARG_ENABLE(sdltest, [ --disable-sdltest Do not try to compile and run a test SDL program], + , enable_sdltest=yes) +AC_ARG_ENABLE(sdlframework, [ --disable-sdlframework Do not search for SDL2.framework], + , search_sdl_framework=yes) + +AC_ARG_VAR(SDL2_FRAMEWORK, [Path to SDL2.framework]) + + min_sdl_version=ifelse([$1], ,2.0.0,$1) + + if test "x$sdl_prefix$sdl_exec_prefix" = x ; then + PKG_CHECK_MODULES([SDL], [sdl2 >= $min_sdl_version], + [sdl_pc=yes], + [sdl_pc=no]) + else + sdl_pc=no + if test x$sdl_exec_prefix != x ; then + sdl_config_args="$sdl_config_args --exec-prefix=$sdl_exec_prefix" + if test x${SDL2_CONFIG+set} != xset ; then + SDL2_CONFIG=$sdl_exec_prefix/bin/sdl2-config + fi + fi + if test x$sdl_prefix != x ; then + sdl_config_args="$sdl_config_args --prefix=$sdl_prefix" + if test x${SDL2_CONFIG+set} != xset ; then + SDL2_CONFIG=$sdl_prefix/bin/sdl2-config + fi + fi + fi + + if test "x$sdl_pc" = xyes ; then + no_sdl="" + SDL2_CONFIG="pkg-config sdl2" + else + as_save_PATH="$PATH" + if test "x$prefix" != xNONE && test "$cross_compiling" != yes; then + PATH="$prefix/bin:$prefix/usr/bin:$PATH" + fi + AC_PATH_PROG(SDL2_CONFIG, sdl2-config, no, [$PATH]) + PATH="$as_save_PATH" + no_sdl="" + + if test "$SDL2_CONFIG" = "no" -a "x$search_sdl_framework" = "xyes"; then + AC_MSG_CHECKING(for SDL2.framework) + if test "x$SDL2_FRAMEWORK" != x; then + sdl_framework=$SDL2_FRAMEWORK + else + for d in / ~/ /System/; do + if test -d "${d}Library/Frameworks/SDL2.framework"; then + sdl_framework="${d}Library/Frameworks/SDL2.framework" + fi + done + fi + + if test x"$sdl_framework" != x && test -d "$sdl_framework"; then + AC_MSG_RESULT($sdl_framework) + sdl_framework_dir=`dirname $sdl_framework` + SDL_CFLAGS="-F$sdl_framework_dir -Wl,-framework,SDL2 -I$sdl_framework/include" + SDL_LIBS="-F$sdl_framework_dir -Wl,-framework,SDL2" + else + no_sdl=yes + fi + fi + + if test "$SDL2_CONFIG" != "no"; then + if test "x$sdl_pc" = "xno"; then + AC_MSG_CHECKING(for SDL - version >= $min_sdl_version) + SDL_CFLAGS=`$SDL2_CONFIG $sdl_config_args --cflags` + SDL_LIBS=`$SDL2_CONFIG $sdl_config_args --libs` + fi + + sdl_major_version=`$SDL2_CONFIG $sdl_config_args --version | \ + sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\1/'` + sdl_minor_version=`$SDL2_CONFIG $sdl_config_args --version | \ + sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\2/'` + sdl_micro_version=`$SDL2_CONFIG $sdl_config_args --version | \ + sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\3/'` + if test "x$enable_sdltest" = "xyes" ; then + ac_save_CFLAGS="$CFLAGS" + ac_save_CXXFLAGS="$CXXFLAGS" + ac_save_LIBS="$LIBS" + CFLAGS="$CFLAGS $SDL_CFLAGS" + CXXFLAGS="$CXXFLAGS $SDL_CFLAGS" + LIBS="$LIBS $SDL_LIBS" +dnl +dnl Now check if the installed SDL is sufficiently new. (Also sanity +dnl checks the results of sdl2-config to some extent +dnl + rm -f conf.sdltest + AC_RUN_IFELSE([AC_LANG_SOURCE([[ +#include +#include +#include "SDL.h" + +int main (int argc, char *argv[]) +{ + int major, minor, micro; + FILE *fp = fopen("conf.sdltest", "w"); + + if (fp) fclose(fp); + + if (sscanf("$min_sdl_version", "%d.%d.%d", &major, &minor, µ) != 3) { + printf("%s, bad version string\n", "$min_sdl_version"); + exit(1); + } + + if (($sdl_major_version > major) || + (($sdl_major_version == major) && ($sdl_minor_version > minor)) || + (($sdl_major_version == major) && ($sdl_minor_version == minor) && ($sdl_micro_version >= micro))) + { + return 0; + } + else + { + printf("\n*** 'sdl2-config --version' returned %d.%d.%d, but the minimum version\n", $sdl_major_version, $sdl_minor_version, $sdl_micro_version); + printf("*** of SDL required is %d.%d.%d. If sdl2-config is correct, then it is\n", major, minor, micro); + printf("*** best to upgrade to the required version.\n"); + printf("*** If sdl2-config was wrong, set the environment variable SDL2_CONFIG\n"); + printf("*** to point to the correct copy of sdl2-config, and remove the file\n"); + printf("*** config.cache before re-running configure\n"); + return 1; + } +} + +]])], [], [no_sdl=yes], [echo $ac_n "cross compiling; assumed OK... $ac_c"]) + CFLAGS="$ac_save_CFLAGS" + CXXFLAGS="$ac_save_CXXFLAGS" + LIBS="$ac_save_LIBS" + + fi + if test "x$sdl_pc" = "xno"; then + if test "x$no_sdl" = "xyes"; then + AC_MSG_RESULT(no) + else + AC_MSG_RESULT(yes) + fi + fi + fi + fi + if test "x$no_sdl" = x ; then + ifelse([$2], , :, [$2]) + else + if test "$SDL2_CONFIG" = "no" ; then + echo "*** The sdl2-config script installed by SDL could not be found" + echo "*** If SDL was installed in PREFIX, make sure PREFIX/bin is in" + echo "*** your path, or set the SDL2_CONFIG environment variable to the" + echo "*** full path to sdl2-config." + else + if test -f conf.sdltest ; then + : + else + echo "*** Could not run SDL test program, checking why..." + CFLAGS="$CFLAGS $SDL_CFLAGS" + CXXFLAGS="$CXXFLAGS $SDL_CFLAGS" + LIBS="$LIBS $SDL_LIBS" + AC_LINK_IFELSE([AC_LANG_PROGRAM([[ +#include +#include "SDL.h" + +int main(int argc, char *argv[]) +{ return 0; } +#undef main +#define main K_and_R_C_main +]], [[ return 0; ]])], + [ echo "*** The test program compiled, but did not run. This usually means" + echo "*** that the run-time linker is not finding SDL or finding the wrong" + echo "*** version of SDL. If it is not finding SDL, you'll need to set your" + echo "*** LD_LIBRARY_PATH environment variable, or edit /etc/ld.so.conf to point" + echo "*** to the installed location Also, make sure you have run ldconfig if that" + echo "*** is required on your system" + echo "***" + echo "*** If you have an old version installed, it is best to remove it, although" + echo "*** you may also be able to get things to work by modifying LD_LIBRARY_PATH"], + [ echo "*** The test program failed to compile or link. See the file config.log for the" + echo "*** exact error that occured. This usually means SDL was incorrectly installed" + echo "*** or that you have moved SDL since it was installed. In the latter case, you" + echo "*** may want to edit the sdl2-config script: $SDL2_CONFIG" ]) + CFLAGS="$ac_save_CFLAGS" + CXXFLAGS="$ac_save_CXXFLAGS" + LIBS="$ac_save_LIBS" + fi + fi + SDL_CFLAGS="" + SDL_LIBS="" + ifelse([$3], , :, [$3]) + fi + AC_SUBST(SDL_CFLAGS) + AC_SUBST(SDL_LIBS) + rm -f conf.sdltest +]) diff --git a/subprojects/std_lib_facilities/meson.build b/subprojects/std_lib_facilities/meson.build new file mode 100644 index 000000000..dfefbc90a --- /dev/null +++ b/subprojects/std_lib_facilities/meson.build @@ -0,0 +1,7 @@ +project('std_lib_facilities', ['c', 'cpp'], version: '0.01', default_options: ['cpp_std=c++20', 'c_std=c17', 'default_library=static', 'buildtype=debugoptimized']) + +incdir = include_directories('.') +install_subdir('include', install_dir: '.') + +std_lib_facilities_dep = declare_dependency(include_directories: incdir) + diff --git a/subprojects/std_lib_facilities/std_lib_facilities.h b/subprojects/std_lib_facilities/std_lib_facilities.h new file mode 100644 index 000000000..21654d0ab --- /dev/null +++ b/subprojects/std_lib_facilities/std_lib_facilities.h @@ -0,0 +1,175 @@ +/** @file */ +/* + std_lib_facilities.h +*/ + +/* + simple "Programming: Principles and Practice using C++ (second edition)" + course header to be used for the first few weeks. It provides the most common + standard headers (in the global namespace) and minimal exception/error + support. + + Students: please don't try to understand the details of headers just + yet. All will be explained. This header is primarily used so that you don't + have to understand every concept all at once. + + By Chapter 10, you don't need this file and after Chapter 21, you'll + understand it + + Revised April 25, 2010: simple_error() added + + Revised November 25 2013: remove support for pre-C++11 compilers, use + C++11: Revised November 28 2013: add a few container algorithms + Revised June 8 2014: added #ifndef to workaround Microsoft C++11 + weakness + + Revised for TDT4102, NTNU, 21 December 2018: + - more std libs included. + + Revised on 30.08.2022: + - Removed std::list and std::forward_list includes + - Removed keep_window_open() functions + - Use TDT4102 namespace +*/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// C++23 +#if __cplusplus >= 202302L +#include +#endif + +//------------------------------------------------------------------------------ + +using Unicode = long; + +//------------------------------------------------------------------------------ + +// Create an empty namespace so we can use it +namespace TDT4102 { + +} + +using namespace std; +using namespace TDT4102; + +template +string to_string(const T& t) { + ostringstream os; + os << t; + return os.str(); +} + +struct Range_error : out_of_range { // enhanced vector range error reporting + int index; + Range_error(int i) : out_of_range("Range error: " + to_string(i)), index(i) {} +}; + +struct Exit : runtime_error { + Exit() : runtime_error("Exit") {} +}; + +// error() simply disguises throws: +[[noreturn]] inline void error(const string& s) { + throw runtime_error(s); +} + +[[noreturn]] inline void error(const string& s, const string& s2) { + error(s + s2); +} + +[[noreturn]] inline void error(const string& s, int i) { + ostringstream os; + os << s << ": " << i; + error(os.str()); +} + +template +char* as_bytes(T& i) // needed for binary I/O +{ + void* addr = &i; // get the address of the first byte + // of memory used to store the object + return static_cast(addr); // treat that memory as bytes +} + +// error function to be used (only) until error() is introduced in Chapter 5: +[[noreturn]] inline void simple_error(string s) // write ``error: s and exit program +{ + cerr << "error: " << s << '\n'; + exit(1); +} + +// make std::min() and std::max() accessible on systems with antisocial macros: +#undef min +#undef max + +// run-time checked narrowing cast (type conversion). +template +R narrow_cast(const A& a) { + R r = R(a); + if (A(r) != a) + error(string("info loss")); + return r; +} + +// random number generators. See 24.7. +inline int randint(int min, int max) { + auto seed = std::chrono::system_clock::now().time_since_epoch().count(); + static default_random_engine ran{static_cast(seed)}; + return uniform_int_distribution<>{min, max}(ran); +} + +inline int randint(int max) { + return randint(0, max); +} + +// container algorithms. See 21.9. + +template +using Value_type = typename C::value_type; + +template +using Iterator = typename C::iterator; + +template +// requires Container() +void sort(C& c) { + std::sort(c.begin(), c.end()); +} + +template +// requires Container() && Binary_Predicate>() +void sort(C& c, Pred p) { + std::sort(c.begin(), c.end(), p); +} + +template +// requires Container() && Equality_comparable() +Iterator find(C& c, Val v) { + return std::find(c.begin(), c.end(), v); +} + +template +// requires Container() && Predicate>() +Iterator find_if(C& c, Pred p) { + return std::find_if(c.begin(), c.end(), p); +} diff --git a/subprojects/zlib.wrap b/subprojects/zlib.wrap new file mode 100644 index 000000000..3c7b5757d --- /dev/null +++ b/subprojects/zlib.wrap @@ -0,0 +1,12 @@ +[wrap-file] +directory = zlib-1.2.12 +source_url = http://zlib.net/fossils/zlib-1.2.12.tar.gz +source_filename = zlib-1.2.12.tar.gz +source_hash = 91844808532e5ce316b3c010929493c0244f3d37593afd6de04f71821d5136d9 +patch_filename = zlib_1.2.12-1_patch.zip +patch_url = https://wrapdb.mesonbuild.com/v2/zlib_1.2.12-1/get_patch +patch_hash = 8ec8344f3fe7b06ad4be768fd416694bc56cb4545ce78b0f1c18b3e72b3ec936 + +[provide] +zlib = zlib_dep + From 826ab51f271cef4783312270c173b8ed36dd9c12 Mon Sep 17 00:00:00 2001 From: Anttra Date: Wed, 21 Jan 2026 13:45:28 +0100 Subject: [PATCH 078/109] updated to use vortex_utils_ros --- navigation/eskf/CMakeLists.txt | 2 ++ navigation/eskf/package.xml | 1 + navigation/eskf/src/eskf.cpp | 43 ++++++++++++++++++-------------- navigation/eskf/src/eskf_ros.cpp | 2 +- 4 files changed, 28 insertions(+), 20 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index da3bc2cd4..842da274f 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -21,6 +21,7 @@ find_package(tf2_msgs REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(vortex_msgs REQUIRED) find_package(vortex_utils REQUIRED) +find_package(vortex_utils_ros REQUIRED) find_package(spdlog REQUIRED) find_package(fmt REQUIRED) @@ -51,6 +52,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC tf2_geometry_msgs vortex_msgs vortex_utils + vortex_utils_ros spdlog fmt ) diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index 588855609..f8472c188 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -16,6 +16,7 @@ tf2 vortex_msgs vortex_utils + vortex_utils_ros ament_cmake diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 3a034cb0b..54254bceb 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -197,6 +197,7 @@ void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { } void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { + // Detect VO dropouts and reset anchor if gap is too large if (last_vo_stamp_sec_ > 0.0) { const double gap = visual_meas.stamp_sec - last_vo_stamp_sec_; if (gap > vo_reset_gap_sec_) { @@ -205,20 +206,38 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { } last_vo_stamp_sec_ = visual_meas.stamp_sec; + // reinitialize VO->nav anchor using current nominal state as reference if (!have_vo_anchor_) { - q_nav_vo_ = (current_nom_state_.quat * visual_meas.quat.inverse()).normalized(); + q_nav_vo_ = + (current_nom_state_.quat * visual_meas.quat.inverse()).normalized(); p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * visual_meas.pos; have_vo_anchor_ = true; return; } + // Map VO pose into nav frame using anchor const Eigen::Vector3d p_meas_nav = p_nav_vo_ + q_nav_vo_ * visual_meas.pos; - const Eigen::Quaterniond q_meas_nav = (q_nav_vo_ * visual_meas.quat).normalized(); + const Eigen::Quaterniond q_meas_nav = + (q_nav_vo_ * visual_meas.quat).normalized(); - Eigen::Vector3d pos_err_vec = p_meas_nav - current_nom_state_.pos; - double error_mag = pos_err_vec.norm(); + // Innovation + Eigen::Matrix y; + y.head<3>() = p_meas_nav - current_nom_state_.pos; + + Eigen::Quaterniond q_err = + (current_nom_state_.quat.inverse() * q_meas_nav).normalized(); + const Eigen::Vector3d dtheta = + (q_err.w() < 0.0) ? (-2.0 * q_err.vec()) : (2.0 * q_err.vec()); + y.segment<3>(3) = dtheta; + + Eigen::Matrix H = Eigen::Matrix::Zero(); + H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); // position + H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); // attitude ES - spdlog::info("ESKF: Visual Update. Error: {:.3f}m", error_mag); + Eigen::Matrix18d P = current_error_state_.covariance; + const Eigen::Matrix R = visual_meas.R; + + Eigen::Matrix S = H * P * H.transpose() + R; const double nis = y.transpose() * S.inverse() * y; // chi2 threshold for 6 dof: ~12.59 (95%), ~16.81 (99%) @@ -227,20 +246,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { return; } - Eigen::Matrix y; - y.head<3>() = pos_err_vec; - - Eigen::Quaterniond q_err = current_nom_state_.quat.inverse() * q_meas_nav; - q_err.normalize(); - y.segment<3>(3) = (q_err.w() < 0) ? -2.0 * q_err.vec() : 2.0 * q_err.vec(); - - Eigen::Matrix H = Eigen::Matrix::Zero(); - H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); - H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); - - Eigen::Matrix18d P = current_error_state_.covariance; - Eigen::Matrix R = visual_meas.R; - Eigen::Matrix S = H * P * H.transpose() + R; Eigen::Matrix K = P * H.transpose() * S.inverse(); current_error_state_.set_from_vector(K * y); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 90eebe784..7fa4ad533 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -1,7 +1,7 @@ #include "eskf/eskf_ros.hpp" #include #include -#include +#include #include "eskf/typedefs.hpp" auto start_message{R"( From 61869893984458eaa0fbb8b7672fc16b6d026d96 Mon Sep 17 00:00:00 2001 From: Anttra Date: Mon, 2 Feb 2026 07:56:27 +0100 Subject: [PATCH 079/109] refactor: renamed from valve to visual egomotion, VO using parameters from YAML. ESKF changes: anchor transform, velocity update from consecutive VO measurements, smart anchor reset, NIS rejections for VO, quaternion error using log map, measurement noise floors, tuned values --- navigation/eskf/CMakeLists.txt | 2 + navigation/eskf/config/eskf_params.yaml | 2 + navigation/eskf/include/eskf/eskf.hpp | 55 +++- navigation/eskf/include/eskf/eskf_ros.hpp | 35 ++- navigation/eskf/package.xml | 1 + navigation/eskf/src/eskf.cpp | 235 ++++++++++++++++-- navigation/eskf/src/eskf_ros.cpp | 129 +++++++++- .../config/valve_egomotion.yaml | 18 -- .../launch/valve_egomotion.launch.py | 38 --- .../CMakeLists.txt | 22 +- .../config/visual_egomotion.yaml | 19 ++ .../visual_egomotion/visual_egomotion.hpp} | 6 +- .../visual_egomotion_ros.hpp} | 43 ++-- .../launch/visual_egomotion.launch.py | 37 +++ .../package.xml | 4 +- .../src/visual_egomotion.cpp} | 17 +- .../src/visual_egomotion_ros.cpp} | 159 +++++++----- 17 files changed, 618 insertions(+), 204 deletions(-) delete mode 100644 navigation/valve_egomotion/config/valve_egomotion.yaml delete mode 100644 navigation/valve_egomotion/launch/valve_egomotion.launch.py rename navigation/{valve_egomotion => visual_egomotion}/CMakeLists.txt (67%) create mode 100644 navigation/visual_egomotion/config/visual_egomotion.yaml rename navigation/{valve_egomotion/include/valve_egomotion/valve_egomotion.hpp => visual_egomotion/include/visual_egomotion/visual_egomotion.hpp} (95%) rename navigation/{valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp => visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp} (73%) create mode 100644 navigation/visual_egomotion/launch/visual_egomotion.launch.py rename navigation/{valve_egomotion => visual_egomotion}/package.xml (79%) rename navigation/{valve_egomotion/src/valve_egomotion.cpp => visual_egomotion/src/visual_egomotion.cpp} (93%) rename navigation/{valve_egomotion/src/valve_egomotion_ros.cpp => visual_egomotion/src/visual_egomotion_ros.cpp} (63%) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 842da274f..2525dd37b 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -13,6 +13,7 @@ find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) find_package(nav_msgs REQUIRED) +find_package(std_srvs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2 REQUIRED) @@ -45,6 +46,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC rclcpp_components geometry_msgs nav_msgs + std_srvs Eigen3 tf2 tf2_ros diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 384801fd9..a53a151a0 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -7,3 +7,5 @@ eskf_node: diag_Q_std: [0.1, 0.1, 0.1, 0.05, 0.05, 0.05, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + vo_reset_gap_sec: 20.0 + disable_nis_gating: true \ No newline at end of file diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 661972d81..57725bb53 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -5,6 +5,13 @@ #include #include "typedefs.hpp" +struct VoDebug { + double pos_innov_norm = 0.0; // [m] + double ang_innov_norm = 0.0; // [rad] + double nis_pose = 0.0; // [-] + bool have = false; +}; + class ESKF { public: ESKF(const EskfParams& params); @@ -25,12 +32,44 @@ class ESKF { inline StateQuat get_nominal_state() const { return current_nom_state_; } inline double get_nis() const { return nis_; } - bool have_vo_anchor_ = false; + bool have_vo_anchor = false; Eigen::Quaterniond q_nav_vo_{1, 0, 0, 0}; Eigen::Vector3d p_nav_vo_{0, 0, 0}; - double last_vo_stamp_sec_ = -1.0; - double vo_reset_gap_sec_ = 0.5; + double last_vo_stamp_sec_ = 0.0; + double vo_reset_gap_sec_ = 20.0; + + int consecutive_vo_rejects_ = 0; + bool disable_nis_gating_ = false; + + const VoDebug& debug_vo() const { return debug_vo_; } + + /** + * @brief Enable/disable NIS gating + * When disabled, all measurements are accepted (for debugging) + */ + void set_nis_gating_enabled(bool enabled); + + /** + * @brief Force anchor reset on next VO measurement + */ + void force_anchor_reset(); + + /** + * @brief Get consecutive rejection count + */ + int get_consecutive_vo_rejects() const; + + /** + * @brief Check if VO anchor is valid + */ + bool is_anchor_valid() const; + + /** + * @brief Set dropout detection gap threshold + */ + void set_vo_reset_gap(double gap_sec); + private: // @brief Predict the nominal state @@ -91,6 +130,16 @@ class ESKF { // Member variable for the current nominal state StateQuat current_nom_state_{}; + + void vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, + const Eigen::Matrix3d& Rv); + + bool have_vo_prev{false}; + double prev_vo_stamp_sec{0.0}; + Eigen::Vector3d prev_p_meas_nav_{Eigen::Vector3d::Zero()}; + // Debug + VoDebug debug_vo_; + }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index c3f024722..ae667b476 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -15,6 +15,13 @@ #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" +#include +#include +#include +#include +#include +#include + class ESKFNode : public rclcpp::Node { public: explicit ESKFNode( @@ -41,6 +48,8 @@ class ESKFNode : public rclcpp::Node { // @brief Set the parameters for the eskf void set_parameters(); + void setup_services(); + rclcpp::Subscription::SharedPtr imu_sub_; rclcpp::Subscription< @@ -53,17 +62,39 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr nis_pub_; + rclcpp::Publisher::SharedPtr pub_imu_dt_; + rclcpp::Publisher::SharedPtr pub_vo_pos_norm_; + rclcpp::Publisher::SharedPtr pub_vo_ang_norm_; + rclcpp::Publisher::SharedPtr pub_vo_nis_; + + rclcpp::Publisher::SharedPtr pub_vo_rejects_; + rclcpp::Publisher::SharedPtr pub_vo_anchor_valid_; + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; std::unique_ptr eskf_; - bool first_imu_msg_received_ = false; - Eigen::Matrix3d R_imu_eskf_{}; rclcpp::Time last_imu_time_{}; + + bool first_imu_msg_received_ = false; + + static inline void pub_f64( + const rclcpp::Publisher::SharedPtr& pub, + double v) { + if (!pub) return; + std_msgs::msg::Float64 m; + m.data = v; + pub->publish(m); + } + + rclcpp::Service::SharedPtr toggle_gating_srv_; + rclcpp::Service::SharedPtr reset_anchor_srv_; + + }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/package.xml b/navigation/eskf/package.xml index f8472c188..47d97c30b 100644 --- a/navigation/eskf/package.xml +++ b/navigation/eskf/package.xml @@ -12,6 +12,7 @@ rclcpp geometry_msgs nav_msgs + std_srvs eigen tf2 vortex_msgs diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 54254bceb..5aacb6a1b 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -12,8 +12,59 @@ double compute_nis(const Eigen::Vector3d& innovation, return innovation.transpose() * S_inv * innovation; } +static double compute_nisN(const Eigen::VectorXd& innovation, + const Eigen::MatrixXd& S) { + return innovation.transpose() * S.inverse() * innovation; +} + +namespace vo_config { + // NIS thresholds, 99% confidence + constexpr double NIS_GATE_3DOF = 11.345; + constexpr double NIS_GATE_6DOF = 16.812; + + // after this many consecutive rejections, reset anchor + constexpr int CONSECUTIVE_REJECTS_FOR_RESET = 5; + + // Measurement noise floors + constexpr double POS_NOISE_FLOOR_M = 0.05; // 5 cm minimum position uncertainty + constexpr double ATT_NOISE_FLOOR_RAD = 0.02; // ~2 degrees minimum orientation uncertainty + constexpr double VEL_NOISE_FLOOR_MS = 0.2; // 20 cm/s minimum velocity uncertainty + + constexpr double VO_RESET_GAP_SEC = 15.0; + + // damping normalized + constexpr double VELOCITY_UPDATE_ALPHA = 0.4; +} + ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { current_error_state_.covariance = params.P; + + // VO history for finite-difference velocity update + have_vo_prev = false; + prev_vo_stamp_sec = 0.0; + prev_p_meas_nav_.setZero(); +} + +static Eigen::Vector3d compute_quaternion_error(const Eigen::Quaterniond& q_meas, + const Eigen::Quaterniond& q_est) { + Eigen::Quaterniond q_err = (q_meas * q_est.inverse()).normalized(); + + // Ensure shortest path by keeping w >= 0 + if (q_err.w() < 0.0) { + q_err.coeffs() = -q_err.coeffs(); + } + + // Convert to rotation vector using log map + const double w = q_err.w(); + const Eigen::Vector3d v(q_err.x(), q_err.y(), q_err.z()); + const double v_norm = v.norm(); + + if (v_norm < 1e-10) { + return 2.0 * v; + } + + const double theta = 2.0 * std::atan2(v_norm, w); + return (theta / v_norm) * v; } std::pair ESKF::van_loan_discretization( @@ -192,67 +243,203 @@ void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { // for testing the visual odom return; - // measurement_update(dvl_meas); - // injection_and_reset(); + //measurement_update(dvl_meas); + //injection_and_reset(); +} + +void ESKF::vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, + const Eigen::Matrix3d& Rv) { + // Measurement: h(x) = v_nav + Eigen::Matrix H = Eigen::Matrix::Zero(); + H.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); + + const Eigen::Matrix18d P = current_error_state_.covariance; + const Eigen::Vector3d y = v_meas_nav - current_nom_state_.vel; + + const Eigen::Matrix3d S = H * P * H.transpose() + Rv; + const double nis = compute_nis(y, S); + + // NIS gating + const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_3DOF; + if (nis > gate) { + spdlog::debug("VO velocity rejected: NIS={:.2f} > {:.2f}", nis, gate); + return; + } + + // Kalman gain with damping to let IMU "breathe" + Eigen::Matrix K = P * H.transpose() * S.inverse(); + K *= vo_config::VELOCITY_UPDATE_ALPHA; + + current_error_state_.set_from_vector(K * y); + + // Joseph form (use undamped K for covariance) + Eigen::Matrix K_full = P * H.transpose() * S.inverse(); + const Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K_full * H; + current_error_state_.covariance = + I_KH * P * I_KH.transpose() + K_full * Rv * K_full.transpose(); + + injection_and_reset(); } void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { - // Detect VO dropouts and reset anchor if gap is too large + // reset anchor if gap too large if (last_vo_stamp_sec_ > 0.0) { const double gap = visual_meas.stamp_sec - last_vo_stamp_sec_; if (gap > vo_reset_gap_sec_) { - have_vo_anchor_ = false; + spdlog::info("VO dropout detected ({:.2f}s), resetting anchor", gap); + have_vo_anchor = false; + have_vo_prev = false; + consecutive_vo_rejects_ = 0; } } last_vo_stamp_sec_ = visual_meas.stamp_sec; - // reinitialize VO->nav anchor using current nominal state as reference - if (!have_vo_anchor_) { + // if too many consecutive rejections, reset anchor + const bool need_smart_reset = + (consecutive_vo_rejects_ >= vo_config::CONSECUTIVE_REJECTS_FOR_RESET); + + if (!have_vo_anchor || need_smart_reset) { + if (need_smart_reset) { + spdlog::warn("Smart anchor reset: {} consecutive rejections", + consecutive_vo_rejects_); + } + + // Initialize anchor: maps from VO frame to Nav frame + // p_nav = p_nav_vo + R(q_nav_vo) * p_vo + // q_nav = q_nav_vo * q_vo q_nav_vo_ = (current_nom_state_.quat * visual_meas.quat.inverse()).normalized(); p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * visual_meas.pos; - have_vo_anchor_ = true; + + have_vo_anchor = true; + have_vo_prev = false; + consecutive_vo_rejects_ = 0; + debug_vo_.have = false; + + spdlog::info("VO anchor initialized at pos=[{:.2f}, {:.2f}, {:.2f}]", + p_nav_vo_.x(), p_nav_vo_.y(), p_nav_vo_.z()); return; } - // Map VO pose into nav frame using anchor + // transform VO measurement to navigation frame const Eigen::Vector3d p_meas_nav = p_nav_vo_ + q_nav_vo_ * visual_meas.pos; const Eigen::Quaterniond q_meas_nav = (q_nav_vo_ * visual_meas.quat).normalized(); - // Innovation + // finite-difference velocity update + if (have_vo_prev) { + const double dt = visual_meas.stamp_sec - prev_vo_stamp_sec; + if (dt > 0.02 && dt < 15) { + const Eigen::Vector3d v_meas_nav = (p_meas_nav - prev_p_meas_nav_) / dt; + + Eigen::Matrix3d Rp = visual_meas.R.topLeftCorner<3, 3>(); + Eigen::Matrix3d Rv = 2.0 * Rp / (dt * dt); + + // noise floor + const double v_floor_sq = + vo_config::VEL_NOISE_FLOOR_MS * vo_config::VEL_NOISE_FLOOR_MS; + for (int i = 0; i < 3; ++i) { + Rv(i, i) = std::max(Rv(i, i), v_floor_sq); + } + + vo_velocity_update_(v_meas_nav, Rv); + } + } + prev_vo_stamp_sec = visual_meas.stamp_sec; + prev_p_meas_nav_ = p_meas_nav; + have_vo_prev = true; + + // compute pose innovation Eigen::Matrix y; + + // position innovation y.head<3>() = p_meas_nav - current_nom_state_.pos; - Eigen::Quaterniond q_err = - (current_nom_state_.quat.inverse() * q_meas_nav).normalized(); - const Eigen::Vector3d dtheta = - (q_err.w() < 0.0) ? (-2.0 * q_err.vec()) : (2.0 * q_err.vec()); - y.segment<3>(3) = dtheta; + y.segment<3>(3) = compute_quaternion_error(q_meas_nav, current_nom_state_.quat); + // measurement Jacobian Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); // position - H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); // attitude ES + H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); // attitude error-state - Eigen::Matrix18d P = current_error_state_.covariance; - const Eigen::Matrix R = visual_meas.R; - - Eigen::Matrix S = H * P * H.transpose() + R; + // measurement noise floors + Eigen::Matrix R = visual_meas.R; + + const double p_floor_sq = + vo_config::POS_NOISE_FLOOR_M * vo_config::POS_NOISE_FLOOR_M; + const double a_floor_sq = + vo_config::ATT_NOISE_FLOOR_RAD * vo_config::ATT_NOISE_FLOOR_RAD; + + for (int i = 0; i < 3; ++i) { + R(i, i) = std::max(R(i, i), p_floor_sq); + } + for (int i = 3; i < 6; ++i) { + R(i, i) = std::max(R(i, i), a_floor_sq); + } - const double nis = y.transpose() * S.inverse() * y; - // chi2 threshold for 6 dof: ~12.59 (95%), ~16.81 (99%) - if (nis > 16.81) { - spdlog::warn("VO rejected by NIS: nis={:.2f}", nis); + // innovation covariance and NIS + const Eigen::Matrix18d P = current_error_state_.covariance; + const Eigen::Matrix S = H * P * H.transpose() + R; + const double nis = compute_nisN(y, S); + + // Debug output + debug_vo_.pos_innov_norm = y.head<3>().norm(); + debug_vo_.ang_innov_norm = y.segment<3>(3).norm(); + debug_vo_.nis_pose = nis; + debug_vo_.have = true; + + // NIS Gating + const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_6DOF; + + if (nis > gate) { + consecutive_vo_rejects_++; + + spdlog::warn("VO pose REJECTED: NIS={:.1f} (gate={:.1f}), " + "pos_err={:.3f}m, att_err={:.1f}deg, rejects={}", + nis, gate, + y.head<3>().norm(), + y.segment<3>(3).norm() * 180.0 / M_PI, + consecutive_vo_rejects_); return; } + // update Eigen::Matrix K = P * H.transpose() * S.inverse(); - current_error_state_.set_from_vector(K * y); + // Joseph form covariance update Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K * H; current_error_state_.covariance = I_KH * P * I_KH.transpose() + K * R * K.transpose(); injection_and_reset(); + + consecutive_vo_rejects_ = 0; + + spdlog::debug("VO pose ACCEPTED: NIS={:.1f}, pos_corr={:.3f}m, att_corr={:.2f}deg", + nis, y.head<3>().norm(), y.segment<3>(3).norm() * 180.0 / M_PI); +} + +void ESKF::set_nis_gating_enabled(bool enabled) { + disable_nis_gating_ = !enabled; + spdlog::info("NIS gating {}", enabled ? "ENABLED" : "DISABLED (accepting all)"); +} + +void ESKF::force_anchor_reset() { + have_vo_anchor = false; + have_vo_prev = false; + consecutive_vo_rejects_ = 0; + spdlog::info("VO anchor reset forced"); +} + +int ESKF::get_consecutive_vo_rejects() const { + return consecutive_vo_rejects_; +} + +bool ESKF::is_anchor_valid() const { + return have_vo_anchor; +} + +void ESKF::set_vo_reset_gap(double gap_sec) { + vo_reset_gap_sec_ = gap_sec; } diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 7fa4ad533..2522b6bed 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -3,6 +3,7 @@ #include #include #include "eskf/typedefs.hpp" +#include auto start_message{R"( ________ ______ ___ ____ ________ @@ -13,6 +14,33 @@ auto start_message{R"( |________| \______.'|____||____||_____| )"}; +static inline void pub_f64( + const rclcpp::Publisher::SharedPtr& pub, + double v) { + if (!pub) return; + std_msgs::msg::Float64 m; + m.data = v; + pub->publish(m); +} + +static inline void pub_i32( + const rclcpp::Publisher::SharedPtr& pub, + int v) { + if (!pub) return; + std_msgs::msg::Int32 m; + m.data = v; + pub->publish(m); +} + +static inline void pub_bool( + const rclcpp::Publisher::SharedPtr& pub, + bool v) { + if (!pub) return; + std_msgs::msg::Bool m; + m.data = v; + pub->publish(m); +} + ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) : Node("eskf_node", options) { // time_step = std::chrono::milliseconds(1); @@ -23,6 +51,8 @@ ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) set_parameters(); + setup_services(); + spdlog::info(start_message); } @@ -50,12 +80,31 @@ void ESKFNode::set_subscribers_and_publisher() { nis_pub_ = create_publisher( "dvl/nis", vortex::utils::qos_profiles::reliable_profile()); + pub_imu_dt_ = create_publisher( + "eskf/debug/imu_dt", vortex::utils::qos_profiles::reliable_profile()); + + pub_vo_pos_norm_ = create_publisher( + "eskf/debug/vo_pos_innov_norm", vortex::utils::qos_profiles::reliable_profile()); + + pub_vo_ang_norm_ = create_publisher( + "eskf/debug/vo_ang_innov_norm", vortex::utils::qos_profiles::reliable_profile()); + + pub_vo_nis_ = create_publisher( + "eskf/debug/vo_nis", vortex::utils::qos_profiles::reliable_profile()); + + pub_vo_rejects_ = create_publisher( + "eskf/debug/vo_consecutive_rejects", vortex::utils::qos_profiles::reliable_profile()); + + pub_vo_anchor_valid_ = create_publisher( + "eskf/debug/vo_anchor_valid", vortex::utils::qos_profiles::reliable_profile()); + + this->declare_parameter("pose_topic", "/landmark/pose_cov"); std::string pose_topic = this->get_parameter("pose_topic").as_string(); visualEgomotion_sub_ = this->create_subscription( - pose_topic, qos_sensor_data, - std::bind(&ESKFNode::visualEgomotion_callback, this, std::placeholders::_1)); + pose_topic, qos_sensor_data, + std::bind(&ESKFNode::visualEgomotion_callback, this, std::placeholders::_1)); } void ESKFNode::set_parameters() { @@ -75,10 +124,10 @@ void ESKFNode::set_parameters() { } Eigen::Matrix12d Q = Eigen::Map(diag_Q_std.data()) - .array() - .square() - .matrix() - .asDiagonal(); + .array() + .square() + .matrix() + .asDiagonal(); std::vector diag_p_init = this->declare_parameter>("diag_p_init"); @@ -89,6 +138,55 @@ void ESKFNode::set_parameters() { EskfParams eskf_params{.Q = Q, .P = P}; eskf_ = std::make_unique(eskf_params); + + this->declare_parameter("vo_reset_gap_sec", 1.0); + double vo_gap = this->get_parameter("vo_reset_gap_sec").as_double(); + eskf_->set_vo_reset_gap(vo_gap); + + this->declare_parameter("disable_nis_gating", false); + bool disable_gating = this->get_parameter("disable_nis_gating").as_bool(); + eskf_->set_nis_gating_enabled(!disable_gating); + + if (disable_gating) { // For testing + RCLCPP_WARN(this->get_logger(), + "NIS gating disabled"); + } + + RCLCPP_INFO(this->get_logger(), "VO reset gap: %.2f s", vo_gap); +} + +void ESKFNode::setup_services() { + toggle_gating_srv_ = this->create_service( + "~/toggle_nis_gating", + [this](const std::shared_ptr request, + std::shared_ptr response) { + if (eskf_) { + eskf_->set_nis_gating_enabled(request->data); + response->success = true; + response->message = request->data ? + "NIS gating ENABLED (proper rejection)" : + "NIS gating DISABLED (accepting all - DEBUG ONLY!)"; + RCLCPP_INFO(this->get_logger(), "%s", response->message.c_str()); + } else { + response->success = false; + response->message = "ESKF not initialized"; + } + }); + + reset_anchor_srv_ = this->create_service( + "~/force_anchor_reset", + [this](const std::shared_ptr, + std::shared_ptr response) { + if (eskf_) { + eskf_->force_anchor_reset(); + response->success = true; + response->message = "VO anchor will reset on next measurement"; + RCLCPP_INFO(this->get_logger(), "Anchor reset forced via service"); + } else { + response->success = false; + response->message = "ESKF not initialized"; + } + }); } void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { @@ -126,8 +224,8 @@ void ESKFNode::dvl_callback( msg->twist.twist.linear.z; dvl_measurement.cov << msg->twist.covariance[0], msg->twist.covariance[1], - msg->twist.covariance[2], msg->twist.covariance[6], - msg->twist.covariance[7], msg->twist.covariance[8], + msg->twist.covariance[2], msg->twist.covariance[6], + msg->twist.covariance[7], msg->twist.covariance[8], msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; @@ -145,8 +243,8 @@ void ESKFNode::visualEgomotion_callback( VisualMeasurement visual_meas{}; visual_meas.pos << msg->pose.pose.position.x, - msg->pose.pose.position.y, - msg->pose.pose.position.z; + msg->pose.pose.position.y, + msg->pose.pose.position.z; visual_meas.quat = Eigen::Quaterniond( msg->pose.pose.orientation.w, @@ -160,6 +258,17 @@ void ESKFNode::visualEgomotion_callback( visual_meas.stamp_sec = rclcpp::Time(msg->header.stamp).seconds(); eskf_->visualEgomotion_update(visual_meas); + + const auto& dbg = eskf_->debug_vo(); + if (dbg.have) { + pub_f64(pub_vo_pos_norm_, dbg.pos_innov_norm); + pub_f64(pub_vo_ang_norm_, dbg.ang_innov_norm); + pub_f64(pub_vo_nis_, dbg.nis_pose); + } + + pub_i32(pub_vo_rejects_, eskf_->get_consecutive_vo_rejects()); + pub_bool(pub_vo_anchor_valid_, eskf_->is_anchor_valid()); + publish_odom(); } diff --git a/navigation/valve_egomotion/config/valve_egomotion.yaml b/navigation/valve_egomotion/config/valve_egomotion.yaml deleted file mode 100644 index e6cc30b86..000000000 --- a/navigation/valve_egomotion/config/valve_egomotion.yaml +++ /dev/null @@ -1,18 +0,0 @@ -orientation_bridge: - ros__parameters: - base_frame: "Orca/camera_front" - map_frame: "Orca/camera_front" - marker_frame: valve_marker_0 - marker_pose_topic: /aruco_detector/marker_pose - publish_tf: false - use_tf: false - - # Sliding window - win.size: 15 - win.age_sec: 0.6 - win.huber_deg: 3.0 - win.gate_deg: 10.0 - win.use_mad: true - - pub_rate_hz: 30.0 - rpy_std_fallback_deg: 1.5 diff --git a/navigation/valve_egomotion/launch/valve_egomotion.launch.py b/navigation/valve_egomotion/launch/valve_egomotion.launch.py deleted file mode 100644 index 6b02155d4..000000000 --- a/navigation/valve_egomotion/launch/valve_egomotion.launch.py +++ /dev/null @@ -1,38 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node - -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time') - - return LaunchDescription([ - DeclareLaunchArgument('valve_topic', default_value='/aruco_detector/landmarks'), - DeclareLaunchArgument('use_sim_time', default_value='false'), - - Node( - package='valve_egomotion', - executable='valve_egomotion_node', - name='valve_egomotion', - parameters=[{ - 'valve_topic': LaunchConfiguration('valve_topic'), - 'use_sim_time': use_sim_time, - 'ref_frame': 'vo_ref', - 'base_frame': 'base_link', - 'cam_frame': 'Orca/camera_front', - 'max_age_sec': 10.0, - 'window_size': 20, - 'publish_tf': False, - }], - output='screen' - ), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='base_to_cam', - arguments=['0.2', '0', '0', '0', '0', '0', 'base_link', 'Orca/camera_front'], - parameters=[{'use_sim_time': use_sim_time}], - output='screen' - ), - ]) diff --git a/navigation/valve_egomotion/CMakeLists.txt b/navigation/visual_egomotion/CMakeLists.txt similarity index 67% rename from navigation/valve_egomotion/CMakeLists.txt rename to navigation/visual_egomotion/CMakeLists.txt index 4f1da5ffb..7170ab4be 100644 --- a/navigation/valve_egomotion/CMakeLists.txt +++ b/navigation/visual_egomotion/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(valve_egomotion) +project(visual_egomotion) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) @@ -15,25 +15,25 @@ find_package(vortex_msgs REQUIRED) include_directories(include) -add_library(valve_egomotion_core - src/valve_egomotion.cpp +add_library(visual_egomotion_core + src/visual_egomotion.cpp ) -ament_target_dependencies(valve_egomotion_core +ament_target_dependencies(visual_egomotion_core rclcpp tf2 ) -target_include_directories(valve_egomotion_core PUBLIC +target_include_directories(visual_egomotion_core PUBLIC $ $ ) -add_executable(valve_egomotion_node - src/valve_egomotion_ros.cpp +add_executable(visual_egomotion_node + src/visual_egomotion_ros.cpp ) -target_link_libraries(valve_egomotion_node valve_egomotion_core) +target_link_libraries(visual_egomotion_node visual_egomotion_core) -ament_target_dependencies(valve_egomotion_node +ament_target_dependencies(visual_egomotion_node rclcpp geometry_msgs tf2 @@ -43,8 +43,8 @@ ament_target_dependencies(valve_egomotion_node ) install(TARGETS - valve_egomotion_core - valve_egomotion_node + visual_egomotion_core + visual_egomotion_node ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME} diff --git a/navigation/visual_egomotion/config/visual_egomotion.yaml b/navigation/visual_egomotion/config/visual_egomotion.yaml new file mode 100644 index 000000000..46e88bf4a --- /dev/null +++ b/navigation/visual_egomotion/config/visual_egomotion.yaml @@ -0,0 +1,19 @@ +visual_egomotion: + ros__parameters: + visual_topic: /aruco_detector/landmarks + use_sim_time: true + + ref_frame: vo_ref + base_frame: base_link + cam_frame: Orca/camera_front + + max_age_sec: 15.0 # Sliding-window + window_size: 20 + + publish_tf: false + pub_rate_hz: 20.0 + lost_timeout_sec: 15.0 + anchor_id: -1 + huber_threshold_deg: 2.5 + gate_threshold_deg: 15.0 + use_mad: false diff --git a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp similarity index 95% rename from navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp rename to navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp index f38eb7c1c..f1015a3c9 100644 --- a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp @@ -9,11 +9,11 @@ #include #include -namespace valve_egomotion { +namespace visual_egomotion { /** * Sliding-window smoother for the relative pose T_ref<-base measured from a - * valve/marker. + * visual/marker. * * Notes: * - Keeps a time/size bounded buffer. @@ -68,4 +68,4 @@ class SlidingWindowSO3Mean { std::deque buf_; }; -} // namespace valve_egomotion \ No newline at end of file +} // namespace visual_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp similarity index 73% rename from navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp rename to navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp index 5a998d150..3ed87b2ef 100644 --- a/navigation/valve_egomotion/include/valve_egomotion/valve_egomotion_ros.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp @@ -16,9 +16,9 @@ #include #include -#include "valve_egomotion/valve_egomotion.hpp" +#include "visual_egomotion/visual_egomotion.hpp" -namespace valve_egomotion { +namespace visual_egomotion { /** * ROS2 node: @@ -28,9 +28,9 @@ namespace valve_egomotion { * - computes T_ref<-base = T_base<-marker0 * (T_base<-marker_now)^-1 * - smoothes in a window and publishes PoseWithCovarianceStamped in ref_frame */ -class ValveEgomotionNode final : public rclcpp::Node { +class VisualEgomotionNode final : public rclcpp::Node { public: - explicit ValveEgomotionNode( + explicit VisualEgomotionNode( const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); private: @@ -38,21 +38,28 @@ class ValveEgomotionNode final : public rclcpp::Node { void onPublishTimer(); // Params - std::string valve_topic_; + std::string visual_topic_; std::string ref_frame_; std::string base_frame_; std::string cam_frame_; - bool publish_tf_ = false; - double pub_rate_hz_ = 30.0; - double lost_timeout_sec_ = 0.5; - + bool publish_tf_; + double pub_rate_hz_; + double lost_timeout_sec_; + rclcpp::Time last_pub_det_stamp; + // Anchor selection - int anchor_id_{-1}; + int anchor_id_; uint16_t last_used_marker_id_{0xFFFF}; size_t multi_skip_count_{0}; + // Anchor and timing + bool have_ref = false; + tf2::Transform T_base_marker0_; + rclcpp::Time last_det_stamp; + rclcpp::Time last_pub_stamp; + // TF - std::unique_ptr tf_buffer_; + std::unique_ptr tf_buffer; std::shared_ptr tf_listener_; std::shared_ptr tf_broadcaster_; @@ -64,16 +71,14 @@ class ValveEgomotionNode final : public rclcpp::Node { rclcpp::TimerBase::SharedPtr pub_timer_; // Estimator - SlidingWindowSO3Mean smoother_; - - // Anchor and timing - bool have_ref_ = false; - tf2::Transform T_base_marker0_; - rclcpp::Time last_det_stamp_; - rclcpp::Time last_pub_stamp_; + std::unique_ptr smoother_; bool have_last_ref_base_ = false; tf2::Transform last_T_ref_base_; + + void set_subscribers_and_publisher(); + void set_parameters(); + }; -} // namespace valve_egomotion \ No newline at end of file +} // namespace visual_egomotion \ No newline at end of file diff --git a/navigation/visual_egomotion/launch/visual_egomotion.launch.py b/navigation/visual_egomotion/launch/visual_egomotion.launch.py new file mode 100644 index 000000000..3ee91a32c --- /dev/null +++ b/navigation/visual_egomotion/launch/visual_egomotion.launch.py @@ -0,0 +1,37 @@ +from os import path + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +visual_egomotion_params = path.join( + get_package_share_directory("visual_egomotion"), + "config", + "visual_egomotion.yaml", +) + +def generate_launch_description(): + visual_egomotion_node = Node( + package="visual_egomotion", + executable="visual_egomotion_node", + name="visual_egomotion", + parameters=[visual_egomotion_params], + output="screen", + ) + + base_to_cam_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="base_to_cam", + arguments=[ + "0.2", "0", "0", + "0", "0", "0", + "base_link", "Orca/camera_front", + ], + output="screen", + ) + + return LaunchDescription([ + visual_egomotion_node, + base_to_cam_tf, + ]) \ No newline at end of file diff --git a/navigation/valve_egomotion/package.xml b/navigation/visual_egomotion/package.xml similarity index 79% rename from navigation/valve_egomotion/package.xml rename to navigation/visual_egomotion/package.xml index 8bb19ead8..12a4c1035 100644 --- a/navigation/valve_egomotion/package.xml +++ b/navigation/visual_egomotion/package.xml @@ -1,8 +1,8 @@ - valve_egomotion + visual_egomotion 0.1.0 - Compute AUV pose from valve detections and publish to ESKF + Compute AUV pose from visual detections and publish to ESKF Anton Tran MIT diff --git a/navigation/valve_egomotion/src/valve_egomotion.cpp b/navigation/visual_egomotion/src/visual_egomotion.cpp similarity index 93% rename from navigation/valve_egomotion/src/valve_egomotion.cpp rename to navigation/visual_egomotion/src/visual_egomotion.cpp index 3298a1ec5..88871141d 100644 --- a/navigation/valve_egomotion/src/valve_egomotion.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion.cpp @@ -1,9 +1,9 @@ -#include "valve_egomotion/valve_egomotion.hpp" +#include "visual_egomotion/visual_egomotion.hpp" #include #include -namespace valve_egomotion { +namespace visual_egomotion { SlidingWindowSO3Mean::SlidingWindowSO3Mean(Config cfg) : cfg_(cfg) {} @@ -121,10 +121,10 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, for (double& v : cov6x6) v /= denom; - const double pos_floor = 1e-6; - const double rot_floor = 1e-6; - cov6x6[0] += pos_floor; - cov6x6[7] += pos_floor; + const double pos_floor = std::pow(0.05, 2); + const double rot_floor = std::pow(5.0*M_PI/180.0, 2); + cov6x6[0] += pos_floor; + cov6x6[7] += pos_floor; cov6x6[14] += pos_floor; cov6x6[21] += rot_floor; cov6x6[28] += rot_floor; @@ -138,7 +138,7 @@ tf2::Vector3 SlidingWindowSO3Mean::logMapSO3(const tf2::Quaternion& q) { const double th = 2.0 * std::acos(w); const double s = std::sqrt(std::max(0.0, 1.0 - w * w)); - // Small-angle: log(q) ≈ 2*v where q ≈ [v, 1] + // Small-angle: log(q) approx 2*v where q approx [v, 1] if (s < 1e-9) { return tf2::Vector3(2 * q.getX(), 2 * q.getY(), 2 * q.getZ()); } @@ -159,7 +159,6 @@ tf2::Quaternion SlidingWindowSO3Mean::expMapSO3(const tf2::Vector3& w) { double SlidingWindowSO3Mean::angularDist(const tf2::Quaternion& q1, const tf2::Quaternion& q2) { - // Use abs(dot) to account for q and -q representing same rotation const double d = std::abs(static_cast(q1.dot(q2))); return 2.0 * std::acos(std::clamp(d, -1.0, 1.0)); } @@ -173,4 +172,4 @@ T SlidingWindowSO3Mean::median(std::vector v) { template double SlidingWindowSO3Mean::median(std::vector); -} // namespace valve_egomotion \ No newline at end of file +} // namespace visual_egomotion \ No newline at end of file diff --git a/navigation/valve_egomotion/src/valve_egomotion_ros.cpp b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp similarity index 63% rename from navigation/valve_egomotion/src/valve_egomotion_ros.cpp rename to navigation/visual_egomotion/src/visual_egomotion_ros.cpp index 6a666402f..ae82a7a32 100644 --- a/navigation/valve_egomotion/src/valve_egomotion_ros.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp @@ -1,76 +1,98 @@ -#include "valve_egomotion/valve_egomotion_ros.hpp" +#include "visual_egomotion/visual_egomotion_ros.hpp" #include #include #include +#include -namespace valve_egomotion { - -ValveEgomotionNode::ValveEgomotionNode(const rclcpp::NodeOptions& options) - : rclcpp::Node("valve_egomotion", options), smoother_([&]() { - SlidingWindowSO3Mean::Config cfg; - cfg.win_size = this->declare_parameter("window_size", 20); - cfg.win_age_sec = this->declare_parameter("max_age_sec", 1.0); - cfg.huber_threshold_deg = - this->declare_parameter("huber_threshold_deg", 2.5); - cfg.gate_threshold_deg = - this->declare_parameter("gate_threshold_deg", 15.0); - cfg.use_mad_gate = this->declare_parameter("use_mad", false); - return cfg; - }()) { - valve_topic_ = this->declare_parameter( - "valve_topic", "/aruco_detector/landmarks"); - ref_frame_ = this->declare_parameter("ref_frame", "vo_ref"); - base_frame_ = - this->declare_parameter("base_frame", "base_link"); - cam_frame_ = - this->declare_parameter("cam_frame", "Orca/camera_front"); - - publish_tf_ = this->declare_parameter("publish_tf", false); - pub_rate_hz_ = this->declare_parameter("pub_rate_hz", 30.0); - lost_timeout_sec_ = - this->declare_parameter("lost_timeout_sec", 0.5); - - anchor_id_ = this->declare_parameter("anchor_id", -1); +namespace visual_egomotion { - pub_pose_cov_ = - this->create_publisher( - "/landmark/pose_cov", rclcpp::QoS(10)); - - tf_buffer_ = std::make_unique(this->get_clock()); - tf_listener_ = std::make_shared(*tf_buffer_); - tf_broadcaster_ = std::make_shared(this); +VisualEgomotionNode::VisualEgomotionNode(const rclcpp::NodeOptions& options) + : rclcpp::Node("visual_egomotion", options) +{ + set_subscribers_and_publisher(); + set_parameters(); - sub_landmarks_ = this->create_subscription( - valve_topic_, rclcpp::SensorDataQoS(), - std::bind(&ValveEgomotionNode::onLandmarks, this, - std::placeholders::_1)); + SlidingWindowSO3Mean::Config cfg; + cfg.win_size = this->get_parameter("window_size").as_int(); + cfg.win_age_sec = this->get_parameter("max_age_sec").as_double(); + cfg.huber_threshold_deg = this->get_parameter("huber_threshold_deg").as_double(); + cfg.gate_threshold_deg = this->get_parameter("gate_threshold_deg").as_double(); + cfg.use_mad_gate = this->get_parameter("use_mad").as_bool(); + smoother_ = std::make_unique(cfg); - last_det_stamp_ = this->now(); - last_pub_stamp_ = this->now(); + last_det_stamp = this->now(); + last_pub_stamp = this->now(); + last_pub_det_stamp = rclcpp::Time(0, 0, this->get_clock()->get_clock_type()); const auto period = std::chrono::duration(1.0 / std::max(1.0, pub_rate_hz_)); pub_timer_ = this->create_wall_timer( std::chrono::duration_cast(period), - std::bind(&ValveEgomotionNode::onPublishTimer, this)); + std::bind(&VisualEgomotionNode::onPublishTimer, this)); RCLCPP_INFO( this->get_logger(), - "ValveEgomotionNode online. Sub: %s, base: %s, cam: %s, ref: %s", - valve_topic_.c_str(), base_frame_.c_str(), cam_frame_.c_str(), + "VisualEgomotionNode online. Sub: %s, base: %s, cam: %s, ref: %s", + visual_topic_.c_str(), base_frame_.c_str(), cam_frame_.c_str(), ref_frame_.c_str()); } -void ValveEgomotionNode::onLandmarks( +void VisualEgomotionNode::set_subscribers_and_publisher() +{ + this->declare_parameter("visual_topic"); + visual_topic_ = this->get_parameter("visual_topic").as_string(); + + pub_pose_cov_ = + this->create_publisher( + "/landmark/pose_cov", rclcpp::QoS(10)); + + tf_buffer = std::make_unique(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer); + tf_broadcaster_ = std::make_shared(this); + + sub_landmarks_ = this->create_subscription( + visual_topic_, rclcpp::SensorDataQoS(), + std::bind(&VisualEgomotionNode::onLandmarks, this, std::placeholders::_1)); +} + +void VisualEgomotionNode::set_parameters() +{ + this->declare_parameter("ref_frame"); + this->declare_parameter("base_frame"); + this->declare_parameter("cam_frame"); + + this->declare_parameter("publish_tf"); + this->declare_parameter("pub_rate_hz"); + this->declare_parameter("lost_timeout_sec"); + this->declare_parameter("anchor_id"); + + // smoother params + this->declare_parameter("window_size"); + this->declare_parameter("max_age_sec"); + this->declare_parameter("huber_threshold_deg"); + this->declare_parameter("gate_threshold_deg"); + this->declare_parameter("use_mad"); + + // get + ref_frame_ = this->get_parameter("ref_frame").as_string(); + base_frame_ = this->get_parameter("base_frame").as_string(); + cam_frame_ = this->get_parameter("cam_frame").as_string(); + + publish_tf_ = this->get_parameter("publish_tf").as_bool(); + pub_rate_hz_ = this->get_parameter("pub_rate_hz").as_double(); + lost_timeout_sec_ = this->get_parameter("lost_timeout_sec").as_double(); + + anchor_id_ = this->get_parameter("anchor_id").as_int(); +} + +void VisualEgomotionNode::onLandmarks( const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { if (!msg || msg->landmarks.empty()) return; - // Runtime-updateable this->get_parameter("anchor_id", anchor_id_); - // Collect ARUCO_MARKER detections (board disabled for now) const vortex_msgs::msg::Landmark* board = nullptr; std::vector markers; markers.reserve(msg->landmarks.size()); @@ -102,7 +124,7 @@ void ValveEgomotionNode::onLandmarks( if (anchor_id_ >= 0) { aid = static_cast(anchor_id_); have_aid = true; - } else if (have_ref_ && last_used_marker_id_ != 0xFFFF) { + } else if (have_ref && last_used_marker_id_ != 0xFFFF) { aid = last_used_marker_id_; have_aid = true; } @@ -150,7 +172,7 @@ void ValveEgomotionNode::onLandmarks( tf2::Transform T_base_cam; try { - const auto ts = tf_buffer_->lookupTransform(base_frame_, cam_frame_, + const auto ts = tf_buffer->lookupTransform(base_frame_, cam_frame_, tf2::TimePointZero); tf2::fromMsg(ts.transform, T_base_cam); } catch (const tf2::TransformException& ex) { @@ -162,12 +184,12 @@ void ValveEgomotionNode::onLandmarks( const tf2::Transform T_base_landmark_now = T_base_cam * T_cam_landmark; - if (have_ref_ && chosen != board && last_used_marker_id_ != 0xFFFF && + if (have_ref && chosen != board && last_used_marker_id_ != 0xFFFF && chosen_id != last_used_marker_id_) { tf2::Transform T_ref_base_curr; std::array tmp_cov; - if (smoother_.estimate(this->now(), T_ref_base_curr, tmp_cov)) { + if (smoother_->estimate(this->now(), T_ref_base_curr, tmp_cov)) { last_T_ref_base_ = T_ref_base_curr; have_last_ref_base_ = true; } else if (have_last_ref_base_) { @@ -187,9 +209,9 @@ void ValveEgomotionNode::onLandmarks( last_used_marker_id_, chosen_id); } - if (!have_ref_) { + if (!have_ref) { T_base_marker0_ = T_base_landmark_now; - have_ref_ = true; + have_ref = true; if (chosen != board) { last_used_marker_id_ = chosen_id; @@ -219,32 +241,39 @@ void ValveEgomotionNode::onLandmarks( last_T_ref_base_ = T_ref_base_meas; have_last_ref_base_ = true; - smoother_.addSample(msg->header.stamp, T_ref_base_meas, 1.0); - smoother_.prune(this->now()); - last_det_stamp_ = msg->header.stamp; + smoother_->addSample(msg->header.stamp, T_ref_base_meas, 1.0); + smoother_->prune(this->now()); + last_det_stamp = msg->header.stamp; } -void ValveEgomotionNode::onPublishTimer() { +void VisualEgomotionNode::onPublishTimer() { const rclcpp::Time now = this->now(); - if (!have_ref_) + if (!have_ref) return; - if ((now - last_det_stamp_).seconds() > lost_timeout_sec_) + //if ((now - last_det_stamp).seconds() > lost_timeout_sec_) + if ((now - last_det_stamp).seconds() > lost_timeout_sec_) { + have_ref = false; return; + } + // return; + + if (last_det_stamp == last_pub_det_stamp) return; tf2::Transform T_est; std::array cov; - if (!smoother_.estimate(now, T_est, cov)) + if (!smoother_->estimate(now, T_est, cov)) return; geometry_msgs::msg::PoseWithCovarianceStamped pc; pc.header.frame_id = ref_frame_; - pc.header.stamp = last_det_stamp_; + pc.header.stamp = last_det_stamp; tf2::toMsg(T_est, pc.pose.pose); std::copy(cov.begin(), cov.end(), pc.pose.covariance.begin()); pub_pose_cov_->publish(pc); + last_pub_det_stamp = last_det_stamp; if (publish_tf_) { geometry_msgs::msg::TransformStamped tfs; tfs.header = pc.header; @@ -253,14 +282,14 @@ void ValveEgomotionNode::onPublishTimer() { tf_broadcaster_->sendTransform(tfs); } - last_pub_stamp_ = now; + last_pub_stamp = now; } -} // namespace valve_egomotion +} // namespace visual_egomotion int main(int argc, char** argv) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + rclcpp::spin(std::make_shared(rclcpp::NodeOptions{})); rclcpp::shutdown(); return 0; } \ No newline at end of file From 6535f82f64e5cc267b916029c30a3fd62233486a Mon Sep 17 00:00:00 2001 From: Anttra Date: Tue, 3 Feb 2026 02:48:38 +0100 Subject: [PATCH 080/109] modified smart anchoring to deterministicly pick lowest id --- .../src/visual_egomotion_ros.cpp | 50 ++----------------- 1 file changed, 3 insertions(+), 47 deletions(-) diff --git a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp index ae82a7a32..ef6b726fc 100644 --- a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp @@ -113,53 +113,9 @@ void VisualEgomotionNode::onLandmarks( chosen = board; chosen_id = 0; } else { - if (markers.size() == 1) { - chosen = markers[0]; - chosen_id = chosen->subtype; - } else { - // Multi-marker: choose by explicit anchor_id, else implicit locked id - uint16_t aid = 0xFFFF; - bool have_aid = false; - - if (anchor_id_ >= 0) { - aid = static_cast(anchor_id_); - have_aid = true; - } else if (have_ref && last_used_marker_id_ != 0xFFFF) { - aid = last_used_marker_id_; - have_aid = true; - } - - if (!have_aid) { - if ((++multi_skip_count_ % 20) == 1) { - std::ostringstream oss; - oss << "Multi-marker frame and no anchor yet. Seen ids: "; - for (auto* m : markers) - oss << m->subtype << " "; - RCLCPP_WARN(this->get_logger(), "%s", oss.str().c_str()); - } - return; - } - - for (auto* m : markers) { - if (m->subtype == aid) { - chosen = m; - chosen_id = aid; - break; - } - } - - if (!chosen) { - if ((++multi_skip_count_ % 20) == 1) { - std::ostringstream oss; - oss << "Multi-marker frame: anchor_id=" << aid - << " not present. Seen ids: "; - for (auto* m : markers) - oss << m->subtype << " "; - RCLCPP_WARN(this->get_logger(), "%s", oss.str().c_str()); - } - return; - } - } + auto it = std::min_element(markers.begin(), markers.end(), [](const auto* a, const auto* b) { return a->subtype < b->subtype; }); + chosen = *it; + chosen_id = chosen->subtype; } RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 500, From 7e77a46e1b46c027523184fca66dae6e4f8ca338 Mon Sep 17 00:00:00 2001 From: Anttra Date: Tue, 3 Feb 2026 02:54:12 +0100 Subject: [PATCH 081/109] refactor: deleted anchor_id_ --- navigation/visual_egomotion/config/visual_egomotion.yaml | 1 - .../include/visual_egomotion/visual_egomotion_ros.hpp | 1 - navigation/visual_egomotion/src/visual_egomotion_ros.cpp | 8 ++------ 3 files changed, 2 insertions(+), 8 deletions(-) diff --git a/navigation/visual_egomotion/config/visual_egomotion.yaml b/navigation/visual_egomotion/config/visual_egomotion.yaml index 46e88bf4a..3c8f549ed 100644 --- a/navigation/visual_egomotion/config/visual_egomotion.yaml +++ b/navigation/visual_egomotion/config/visual_egomotion.yaml @@ -13,7 +13,6 @@ visual_egomotion: publish_tf: false pub_rate_hz: 20.0 lost_timeout_sec: 15.0 - anchor_id: -1 huber_threshold_deg: 2.5 gate_threshold_deg: 15.0 use_mad: false diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp index 3ed87b2ef..bf9760d40 100644 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp @@ -48,7 +48,6 @@ class VisualEgomotionNode final : public rclcpp::Node { rclcpp::Time last_pub_det_stamp; // Anchor selection - int anchor_id_; uint16_t last_used_marker_id_{0xFFFF}; size_t multi_skip_count_{0}; diff --git a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp index ef6b726fc..4a50703ba 100644 --- a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp @@ -65,7 +65,6 @@ void VisualEgomotionNode::set_parameters() this->declare_parameter("publish_tf"); this->declare_parameter("pub_rate_hz"); this->declare_parameter("lost_timeout_sec"); - this->declare_parameter("anchor_id"); // smoother params this->declare_parameter("window_size"); @@ -83,7 +82,6 @@ void VisualEgomotionNode::set_parameters() pub_rate_hz_ = this->get_parameter("pub_rate_hz").as_double(); lost_timeout_sec_ = this->get_parameter("lost_timeout_sec").as_double(); - anchor_id_ = this->get_parameter("anchor_id").as_int(); } void VisualEgomotionNode::onLandmarks( @@ -91,8 +89,6 @@ void VisualEgomotionNode::onLandmarks( if (!msg || msg->landmarks.empty()) return; - this->get_parameter("anchor_id", anchor_id_); - const vortex_msgs::msg::Landmark* board = nullptr; std::vector markers; markers.reserve(msg->landmarks.size()); @@ -119,9 +115,9 @@ void VisualEgomotionNode::onLandmarks( } RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 500, - "Chosen=%s id=%u (anchor_id=%d) markers=%zu", + "Chosen=%s id=%u (anchored=%d) markers=%zu", (chosen == board) ? "BOARD" : "MARKER", chosen_id, - anchor_id_, markers.size()); + last_used_marker_id_, markers.size()); tf2::Transform T_cam_landmark; tf2::fromMsg(chosen->pose.pose, T_cam_landmark); From e7715cd3d6b8f7254f41c411fcdc428b2de818ba Mon Sep 17 00:00:00 2001 From: Anttra Date: Thu, 5 Feb 2026 14:31:55 +0100 Subject: [PATCH 082/109] removed mad, renamed some variables in visual egomotion --- .../config/visual_egomotion.yaml | 4 +-- .../visual_egomotion/visual_egomotion.hpp | 1 - .../visual_egomotion/visual_egomotion_ros.hpp | 4 +-- .../visual_egomotion/src/visual_egomotion.cpp | 17 ++------- .../src/visual_egomotion_ros.cpp | 36 +++++++++---------- 5 files changed, 22 insertions(+), 40 deletions(-) diff --git a/navigation/visual_egomotion/config/visual_egomotion.yaml b/navigation/visual_egomotion/config/visual_egomotion.yaml index 3c8f549ed..5ab82e825 100644 --- a/navigation/visual_egomotion/config/visual_egomotion.yaml +++ b/navigation/visual_egomotion/config/visual_egomotion.yaml @@ -7,7 +7,8 @@ visual_egomotion: base_frame: base_link cam_frame: Orca/camera_front - max_age_sec: 15.0 # Sliding-window + # Sliding-window + max_age_sec: 15.0 window_size: 20 publish_tf: false @@ -15,4 +16,3 @@ visual_egomotion: lost_timeout_sec: 15.0 huber_threshold_deg: 2.5 gate_threshold_deg: 15.0 - use_mad: false diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp index f1015a3c9..ed7201b9f 100644 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp @@ -31,7 +31,6 @@ class SlidingWindowSO3Mean { double win_age_sec = 1.0; double huber_threshold_deg = 2.5; double gate_threshold_deg = 15.0; - bool use_mad_gate = false; }; struct Sample { diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp index bf9760d40..9c5ee791c 100644 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp @@ -48,12 +48,12 @@ class VisualEgomotionNode final : public rclcpp::Node { rclcpp::Time last_pub_det_stamp; // Anchor selection - uint16_t last_used_marker_id_{0xFFFF}; + uint16_t current_marker_id_{0xFFFF}; size_t multi_skip_count_{0}; // Anchor and timing bool have_ref = false; - tf2::Transform T_base_marker0_; + tf2::Transform T_anchor_; // Transform landmark anchor to base rclcpp::Time last_det_stamp; rclcpp::Time last_pub_stamp; diff --git a/navigation/visual_egomotion/src/visual_egomotion.cpp b/navigation/visual_egomotion/src/visual_egomotion.cpp index 88871141d..f33f40e2c 100644 --- a/navigation/visual_egomotion/src/visual_egomotion.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion.cpp @@ -41,19 +41,6 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, double gate = cfg_.gate_threshold_deg * M_PI / 180.0; const double huber = cfg_.huber_threshold_deg * M_PI / 180.0; - if (cfg_.use_mad_gate && buf_.size() >= 5) { - std::vector dists; - dists.reserve(buf_.size()); - for (const auto& s : buf_) { - dists.push_back(angularDist(q_avg, s.T_ref_base.getRotation())); - } - const double med = median(dists); - for (auto& d : dists) - d = std::abs(d - med); - const double mad = median(dists); - gate = std::min(gate, med + 3.0 * mad); - } - // Robust mean on SO(3) using log/exp in the tangent space at q_avg for (int i = 0; i < 5; ++i) { tf2::Vector3 sum_p(0, 0, 0); @@ -107,8 +94,8 @@ bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, const tf2::Vector3 dp = s.T_ref_base.getOrigin() - p_avg; const tf2::Vector3 dq = logMapSO3(q_avg.inverse() * q_i); - cov6x6[0] += dp.x() * dp.x(); - cov6x6[7] += dp.y() * dp.y(); + cov6x6[0] += dp.x() * dp.x(); + cov6x6[7] += dp.y() * dp.y(); cov6x6[14] += dp.z() * dp.z(); cov6x6[21] += dq.x() * dq.x(); cov6x6[28] += dq.y() * dq.y(); diff --git a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp index 4a50703ba..1a2433856 100644 --- a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp @@ -18,7 +18,6 @@ VisualEgomotionNode::VisualEgomotionNode(const rclcpp::NodeOptions& options) cfg.win_age_sec = this->get_parameter("max_age_sec").as_double(); cfg.huber_threshold_deg = this->get_parameter("huber_threshold_deg").as_double(); cfg.gate_threshold_deg = this->get_parameter("gate_threshold_deg").as_double(); - cfg.use_mad_gate = this->get_parameter("use_mad").as_bool(); smoother_ = std::make_unique(cfg); last_det_stamp = this->now(); @@ -33,7 +32,7 @@ VisualEgomotionNode::VisualEgomotionNode(const rclcpp::NodeOptions& options) RCLCPP_INFO( this->get_logger(), - "VisualEgomotionNode online. Sub: %s, base: %s, cam: %s, ref: %s", + "VisualEgomotion online. Sub: %s, base: %s, cam: %s, ref: %s", visual_topic_.c_str(), base_frame_.c_str(), cam_frame_.c_str(), ref_frame_.c_str()); } @@ -71,7 +70,6 @@ void VisualEgomotionNode::set_parameters() this->declare_parameter("max_age_sec"); this->declare_parameter("huber_threshold_deg"); this->declare_parameter("gate_threshold_deg"); - this->declare_parameter("use_mad"); // get ref_frame_ = this->get_parameter("ref_frame").as_string(); @@ -117,7 +115,7 @@ void VisualEgomotionNode::onLandmarks( RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 500, "Chosen=%s id=%u (anchored=%d) markers=%zu", (chosen == board) ? "BOARD" : "MARKER", chosen_id, - last_used_marker_id_, markers.size()); + current_marker_id_, markers.size()); tf2::Transform T_cam_landmark; tf2::fromMsg(chosen->pose.pose, T_cam_landmark); @@ -134,10 +132,10 @@ void VisualEgomotionNode::onLandmarks( return; } - const tf2::Transform T_base_landmark_now = T_base_cam * T_cam_landmark; + const tf2::Transform T_base_current_landmark_ = T_base_cam * T_cam_landmark; - if (have_ref && chosen != board && last_used_marker_id_ != 0xFFFF && - chosen_id != last_used_marker_id_) { + if (have_ref && chosen != board && current_marker_id_ != 0xFFFF && + chosen_id != current_marker_id_) { tf2::Transform T_ref_base_curr; std::array tmp_cov; @@ -148,25 +146,25 @@ void VisualEgomotionNode::onLandmarks( T_ref_base_curr = last_T_ref_base_; } else { T_ref_base_curr = - T_base_marker0_ * T_base_landmark_now.inverse(); + T_anchor_ * T_base_current_landmark_.inverse(); last_T_ref_base_ = T_ref_base_curr; have_last_ref_base_ = true; } // Re-anchor so T_ref<-base stays the same under the new marker - T_base_marker0_ = T_ref_base_curr * T_base_landmark_now; + T_anchor_ = T_ref_base_curr * T_base_current_landmark_; RCLCPP_WARN(this->get_logger(), - "Marker switch %u -> %u: re-anchored to preserve continuity", - last_used_marker_id_, chosen_id); + "Marker switch %u -> %u", + current_marker_id_, chosen_id); } if (!have_ref) { - T_base_marker0_ = T_base_landmark_now; + T_anchor_ = T_base_current_landmark_; have_ref = true; if (chosen != board) { - last_used_marker_id_ = chosen_id; + current_marker_id_ = chosen_id; } if (chosen == board) { @@ -177,18 +175,18 @@ void VisualEgomotionNode::onLandmarks( } } else { if (chosen != board) { - const bool changed = (last_used_marker_id_ != 0xFFFF) && - (chosen_id != last_used_marker_id_); + const bool changed = (current_marker_id_ != 0xFFFF) && + (chosen_id != current_marker_id_); if (changed) { RCLCPP_INFO(this->get_logger(), "Using marker id=%u (prev=%u)", - chosen_id, last_used_marker_id_); + chosen_id, current_marker_id_); } - last_used_marker_id_ = chosen_id; + current_marker_id_ = chosen_id; } } const tf2::Transform T_ref_base_meas = - T_base_marker0_ * T_base_landmark_now.inverse(); + T_anchor_ * T_base_current_landmark_.inverse(); last_T_ref_base_ = T_ref_base_meas; have_last_ref_base_ = true; @@ -203,12 +201,10 @@ void VisualEgomotionNode::onPublishTimer() { if (!have_ref) return; - //if ((now - last_det_stamp).seconds() > lost_timeout_sec_) if ((now - last_det_stamp).seconds() > lost_timeout_sec_) { have_ref = false; return; } - // return; if (last_det_stamp == last_pub_det_stamp) return; From 363b8556ed5b1d33df6b43e2cb64af0c4a3e2042 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Fri, 6 Feb 2026 12:42:19 +0100 Subject: [PATCH 083/109] code for debugging+NEES/RMSE test file + fix for odom ang vel output --- navigation/eskf/config/eskf_params.yaml | 15 +- navigation/eskf/include/eskf/eskf_ros.hpp | 13 +- navigation/eskf/src/eskf_ros.cpp | 76 +++++++-- navigation/eskf/test/eskf_consistency_test.py | 149 ++++++++++++++++++ 4 files changed, 229 insertions(+), 24 deletions(-) create mode 100644 navigation/eskf/test/eskf_consistency_test.py diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 9352e3f6e..a5cb7d161 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -5,9 +5,12 @@ eskf_node: odom_topic: odom_ESKF diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] - imu_acc_frame: [ -1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, -1.0 ] - imu_gyro_frame: [ 1.0, 0.0, 0.0, - 0.0, -1.0, 0.0, - 0.0, 0.0, 1.0 ] + imu_frame: [ -1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, -1.0 ] + dvl_frame: [ 0.0, 1.0, 0.0, + -1.0, 0.0, 0.0, + 0.0, 0.0, 1.0 ] + # dvl_frame: [ 1.0, 0.0, 0.0, + # 0.0, 1.0, 0.0, + # 0.0, 0.0, 1.0 ] \ No newline at end of file diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 9b8384608..2407a685d 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -49,6 +49,12 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr nis_pub_; + // temp debug + rclcpp::Publisher::SharedPtr imu_rotated_pub_; + rclcpp::Publisher::SharedPtr dvl_rotated_pub_; + + // end temp debug + std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; @@ -57,11 +63,14 @@ class ESKFNode : public rclcpp::Node { bool first_imu_msg_received_ = false; - Eigen::Matrix3d R_imu_acc_eskf_{}; + Eigen::Matrix3d R_imu_eskf_{}; - Eigen::Matrix3d R_imu_gyro_eskf_{}; + Eigen::Matrix3d R_dvl_eskf_{}; rclcpp::Time last_imu_time_{}; + + // Latest gyro measurement (used for publishing odom output of eskf) + Eigen::Vector3d latest_gyro_measurement_{}; }; #endif // ESKF__ESKF_ROS_HPP_ diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 4a55fbbb4..c885fa857 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -51,6 +51,13 @@ void ESKFNode::set_subscribers_and_publisher() { odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); + // temp debug + imu_rotated_pub_ = this->create_publisher( + "eskf/imu_rotated", vortex::utils::qos_profiles::sensor_data_profile()); + + dvl_rotated_pub_ = this->create_publisher( + "eskf/dvl_rotated", vortex::utils::qos_profiles::sensor_data_profile()); + #ifndef NDEBUG nis_pub_ = create_publisher( "eskf/nis", vortex::utils::qos_profiles::reliable_profile()); @@ -58,17 +65,18 @@ void ESKFNode::set_subscribers_and_publisher() { } void ESKFNode::set_parameters() { - std::vector R_imu_acc_correction; - this->declare_parameter>("imu_acc_frame"); - R_imu_acc_correction = get_parameter("imu_acc_frame").as_double_array(); - R_imu_acc_eskf_ = Eigen::Map>( - R_imu_acc_correction.data()); - - std::vector R_imu_gyro_correction; - this->declare_parameter>("imu_gyro_frame"); - R_imu_gyro_correction = get_parameter("imu_gyro_frame").as_double_array(); - R_imu_gyro_eskf_ = Eigen::Map>( - R_imu_gyro_correction.data()); + + std::vector R_imu_correction; + this->declare_parameter>("imu_frame"); + R_imu_correction = get_parameter("imu_frame").as_double_array(); + R_imu_eskf_ = Eigen::Map>( + R_imu_correction.data()); + + std::vector R_dvl_correction; + this->declare_parameter>("dvl_frame"); + R_dvl_correction = get_parameter("dvl_frame").as_double_array(); + R_dvl_eskf_ = Eigen::Map>( + R_dvl_correction.data()); std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -114,12 +122,31 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { msg->linear_acceleration.z); ImuMeasurement imu_measurement{}; - imu_measurement.accel = R_imu_acc_eskf_ * raw_accel; + imu_measurement.accel = R_imu_eskf_ * raw_accel; Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - imu_measurement.gyro = R_imu_gyro_eskf_ * raw_gyro; + imu_measurement.gyro = R_imu_eskf_ * raw_gyro; + // imu_measurement.gyro = raw_gyro; + + // used for publishing odom output of eskf + latest_gyro_measurement_ = imu_measurement.gyro; + + // temp debug + // ========================================== + sensor_msgs::msg::Imu imu_msg_out = *msg; // Copy header and covariances + + // Overwrite vectors with corrected data + imu_msg_out.linear_acceleration.x = imu_measurement.accel.x(); + imu_msg_out.linear_acceleration.y = imu_measurement.accel.y(); + imu_msg_out.linear_acceleration.z = imu_measurement.accel.z(); + + imu_msg_out.angular_velocity.x = imu_measurement.gyro.x(); + imu_msg_out.angular_velocity.y = imu_measurement.gyro.y(); + imu_msg_out.angular_velocity.z = imu_measurement.gyro.z(); + imu_rotated_pub_->publish(imu_msg_out); + // eskf_->imu_update(imu_measurement, dt); } @@ -136,8 +163,24 @@ void ESKFNode::dvl_callback( msg->twist.covariance[8], msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; + // Apply the rotation correction to the DVL measurement + dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement; + dvl_sensor.measurement_noise = R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); + + // temp debug + // ========================================== + geometry_msgs::msg::TwistWithCovarianceStamped dvl_msg_out = *msg; // Copy header + + // 1. Update Linear Velocity + dvl_msg_out.twist.twist.linear.x = dvl_sensor.measurement.x(); + dvl_msg_out.twist.twist.linear.y = dvl_sensor.measurement.y(); + dvl_msg_out.twist.twist.linear.z = dvl_sensor.measurement.z(); + + dvl_rotated_pub_->publish(dvl_msg_out); + eskf_->dvl_update(dvl_sensor); + #ifndef NDEBUG // Publish NIS in Debug mode std_msgs::msg::Float64 nis_msg; @@ -165,9 +208,10 @@ void ESKFNode::publish_odom() { odom_msg.twist.twist.linear.z = nom_state.vel.z(); // Add bias values to the angular velocity field of twist - odom_msg.twist.twist.angular.x = nom_state.accel_bias.x(); - odom_msg.twist.twist.angular.y = nom_state.accel_bias.y(); - odom_msg.twist.twist.angular.z = nom_state.accel_bias.z(); + Eigen::Vector3d body_angular_vel = latest_gyro_measurement_ - nom_state.gyro_bias; + odom_msg.twist.twist.angular.x = body_angular_vel.x(); + odom_msg.twist.twist.angular.y = body_angular_vel.y(); + odom_msg.twist.twist.angular.z = body_angular_vel.z(); // If you also want to include gyro bias, you could add it to the covariance // matrix or publish a separate topic for biases diff --git a/navigation/eskf/test/eskf_consistency_test.py b/navigation/eskf/test/eskf_consistency_test.py new file mode 100644 index 000000000..5919c5738 --- /dev/null +++ b/navigation/eskf/test/eskf_consistency_test.py @@ -0,0 +1,149 @@ +import rclpy +from rclpy.node import Node +from nav_msgs.msg import Odometry +from std_msgs.msg import Float64 +import message_filters +import numpy as np +from scipy.spatial.transform import Rotation as R + +# --- IMPORT YOUR EXISTING QOS FUNCTION --- +try: + from vortex.utils.qos_profiles import sensor_data_profile +except ImportError: + # Fallback for testing without the vortex library + from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy + def sensor_data_profile(depth=5): + return QoSProfile(reliability=ReliabilityPolicy.BEST_EFFORT, history=HistoryPolicy.KEEP_LAST, depth=depth) + +class EskfValidator(Node): + def __init__(self): + super().__init__('eskf_validator') + + self.est_topic = '/odom_ESKF' + self.gt_topic = '/orca/odom' + + # --- Publishers (Foxglove Visualizers) --- + # RMSE (Running Root Mean Square Error) + self.pub_rmse_pos = self.create_publisher(Float64, 'eskf_metrics/rmse/position', 10) + self.pub_rmse_ori = self.create_publisher(Float64, 'eskf_metrics/rmse/orientation_rad', 10) + self.pub_rmse_vel = self.create_publisher(Float64, 'eskf_metrics/rmse/velocity', 10) + + # NEES (Normalized Estimation Error Squared) + self.pub_nees_pos = self.create_publisher(Float64, 'eskf_metrics/nees/position', 10) + self.pub_nees_ori = self.create_publisher(Float64, 'eskf_metrics/nees/orientation', 10) + + # --- State for Running RMSE --- + self.n_samples = 0 + self.sse_pos = 0.0 # Sum of Squared Errors + self.sse_ori = 0.0 + self.sse_vel = 0.0 + + # --- Subscribers --- + self.get_logger().info(f"Subscribing to {self.est_topic} and {self.gt_topic}...") + qos = sensor_data_profile(depth=5) + + self.sub_est = message_filters.Subscriber(self, Odometry, self.est_topic, qos_profile=qos) + self.sub_gt = message_filters.Subscriber(self, Odometry, self.gt_topic, qos_profile=qos) + + self.ts = message_filters.ApproximateTimeSynchronizer( + [self.sub_est, self.sub_gt], queue_size=10, slop=0.1 + ) + self.ts.registerCallback(self.callback) + + def callback(self, est_msg, gt_msg): + self.n_samples += 1 + + # =========================== + # 1. POSITION (Euclidean) + # =========================== + p_est = np.array([est_msg.pose.pose.position.x, est_msg.pose.pose.position.y, est_msg.pose.pose.position.z]) + p_gt = np.array([gt_msg.pose.pose.position.x, gt_msg.pose.pose.position.y, gt_msg.pose.pose.position.z]) + + err_pos_vec = p_est - p_gt + err_pos_norm = np.linalg.norm(err_pos_vec) + + # Update RMSE + self.sse_pos += err_pos_norm**2 + self.publish_float(self.pub_rmse_pos, np.sqrt(self.sse_pos / self.n_samples)) + + # =========================== + # 2. ORIENTATION (Quaternion) + # =========================== + # Extract Quaternions (x, y, z, w) + q_est = [est_msg.pose.pose.orientation.x, est_msg.pose.pose.orientation.y, est_msg.pose.pose.orientation.z, est_msg.pose.pose.orientation.w] + q_gt = [gt_msg.pose.pose.orientation.x, gt_msg.pose.pose.orientation.y, gt_msg.pose.pose.orientation.z, gt_msg.pose.pose.orientation.w] + + # Convert to Rotation objects + r_est = R.from_quat(q_est) + r_gt = R.from_quat(q_gt) + + # Calculate Error Rotation: R_err = R_gt^T * R_est + # This gives the relative rotation needed to go from GT to Est + r_err = r_gt.inv() * r_est + + # Convert to Rotation Vector (magnitude is the angle error in radians) + err_ori_vec = r_err.as_rotvec() + err_ori_norm = np.linalg.norm(err_ori_vec) + + # Update RMSE + self.sse_ori += err_ori_norm**2 + self.publish_float(self.pub_rmse_ori, np.sqrt(self.sse_ori / self.n_samples)) + + # =========================== + # 3. VELOCITY (Euclidean) + # =========================== + v_est = np.array([est_msg.twist.twist.linear.x, est_msg.twist.twist.linear.y, est_msg.twist.twist.linear.z]) + v_gt = np.array([gt_msg.twist.twist.linear.x, gt_msg.twist.twist.linear.y, gt_msg.twist.twist.linear.z]) + + err_vel_vec = v_est - v_gt + self.sse_vel += np.linalg.norm(err_vel_vec)**2 + self.publish_float(self.pub_rmse_vel, np.sqrt(self.sse_vel / self.n_samples)) + + # Note: Standard Odometry does NOT contain Linear Acceleration. + # If you need Accel RMSE, you must subscribe to the IMU topic separately. + + # =========================== + # 4. NEES CALCULATION + # =========================== + # NEES = error^T * Covariance^-1 * error + + # Reshape the 36-float array into 6x6 matrix + cov_pose = np.array(est_msg.pose.covariance).reshape(6, 6) + + # --- Position NEES (Top-Left 3x3) --- + cov_pos = cov_pose[0:3, 0:3] + try: + cov_pos_inv = np.linalg.inv(cov_pos) + nees_pos = err_pos_vec.T @ cov_pos_inv @ err_pos_vec + self.publish_float(self.pub_nees_pos, nees_pos) + except np.linalg.LinAlgError: + pass # Singular matrix, skip + + # --- Orientation NEES (Bottom-Right 3x3) --- + # Note: We use the rotation vector error (err_ori_vec) calculated earlier + cov_ori = cov_pose[3:6, 3:6] + try: + cov_ori_inv = np.linalg.inv(cov_ori) + nees_ori = err_ori_vec.T @ cov_ori_inv @ err_ori_vec + self.publish_float(self.pub_nees_ori, nees_ori) + except np.linalg.LinAlgError: + pass + + def publish_float(self, publisher, value): + msg = Float64() + msg.data = float(value) + publisher.publish(msg) + +def main(args=None): + rclpy.init(args=args) + node = EskfValidator() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file From a4619d6bb89369873e04890d06337fac2d47d15e Mon Sep 17 00:00:00 2001 From: Anttra Date: Sat, 7 Feb 2026 10:08:23 +0100 Subject: [PATCH 084/109] removed now redundant VO debugging --- navigation/eskf/config/eskf_params.yaml | 2 ++ navigation/eskf/include/eskf/eskf.hpp | 10 +-------- navigation/eskf/src/eskf.cpp | 21 ++++--------------- navigation/eskf/src/eskf_ros.cpp | 7 ------- .../visual_egomotion/visual_egomotion_ros.hpp | 2 +- .../src/visual_egomotion_ros.cpp | 8 +++---- 6 files changed, 12 insertions(+), 38 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index a53a151a0..19ca35a7b 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -7,5 +7,7 @@ eskf_node: diag_Q_std: [0.1, 0.1, 0.1, 0.05, 0.05, 0.05, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] + + use_vo: false vo_reset_gap_sec: 20.0 disable_nis_gating: true \ No newline at end of file diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 57725bb53..18bcc81b6 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -5,13 +5,6 @@ #include #include "typedefs.hpp" -struct VoDebug { - double pos_innov_norm = 0.0; // [m] - double ang_innov_norm = 0.0; // [rad] - double nis_pose = 0.0; // [-] - bool have = false; -}; - class ESKF { public: ESKF(const EskfParams& params); @@ -40,6 +33,7 @@ class ESKF { double vo_reset_gap_sec_ = 20.0; int consecutive_vo_rejects_ = 0; + bool use_vo = false; bool disable_nis_gating_ = false; const VoDebug& debug_vo() const { return debug_vo_; } @@ -137,8 +131,6 @@ class ESKF { bool have_vo_prev{false}; double prev_vo_stamp_sec{0.0}; Eigen::Vector3d prev_p_meas_nav_{Eigen::Vector3d::Zero()}; - // Debug - VoDebug debug_vo_; }; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 5aacb6a1b..cc6ef5558 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -249,7 +249,7 @@ void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { void ESKF::vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, const Eigen::Matrix3d& Rv) { - // Measurement: h(x) = v_nav + if (!use_vo) { return; } Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -259,20 +259,17 @@ void ESKF::vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, const Eigen::Matrix3d S = H * P * H.transpose() + Rv; const double nis = compute_nis(y, S); - // NIS gating const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_3DOF; if (nis > gate) { spdlog::debug("VO velocity rejected: NIS={:.2f} > {:.2f}", nis, gate); return; } - // Kalman gain with damping to let IMU "breathe" Eigen::Matrix K = P * H.transpose() * S.inverse(); K *= vo_config::VELOCITY_UPDATE_ALPHA; current_error_state_.set_from_vector(K * y); - // Joseph form (use undamped K for covariance) Eigen::Matrix K_full = P * H.transpose() * S.inverse(); const Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K_full * H; current_error_state_.covariance = @@ -282,7 +279,8 @@ void ESKF::vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, } void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { - // reset anchor if gap too large + if (!use_vo) { return; } + if (last_vo_stamp_sec_ > 0.0) { const double gap = visual_meas.stamp_sec - last_vo_stamp_sec_; if (gap > vo_reset_gap_sec_) { @@ -294,7 +292,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { } last_vo_stamp_sec_ = visual_meas.stamp_sec; - // if too many consecutive rejections, reset anchor const bool need_smart_reset = (consecutive_vo_rejects_ >= vo_config::CONSECUTIVE_REJECTS_FOR_RESET); @@ -304,7 +301,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { consecutive_vo_rejects_); } - // Initialize anchor: maps from VO frame to Nav frame // p_nav = p_nav_vo + R(q_nav_vo) * p_vo // q_nav = q_nav_vo * q_vo q_nav_vo_ = @@ -314,7 +310,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { have_vo_anchor = true; have_vo_prev = false; consecutive_vo_rejects_ = 0; - debug_vo_.have = false; spdlog::info("VO anchor initialized at pos=[{:.2f}, {:.2f}, {:.2f}]", p_nav_vo_.x(), p_nav_vo_.y(), p_nav_vo_.z()); @@ -382,12 +377,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { const Eigen::Matrix S = H * P * H.transpose() + R; const double nis = compute_nisN(y, S); - // Debug output - debug_vo_.pos_innov_norm = y.head<3>().norm(); - debug_vo_.ang_innov_norm = y.segment<3>(3).norm(); - debug_vo_.nis_pose = nis; - debug_vo_.have = true; - // NIS Gating const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_6DOF; @@ -415,11 +404,9 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { injection_and_reset(); consecutive_vo_rejects_ = 0; - - spdlog::debug("VO pose ACCEPTED: NIS={:.1f}, pos_corr={:.3f}m, att_corr={:.2f}deg", - nis, y.head<3>().norm(), y.segment<3>(3).norm() * 180.0 / M_PI); } + void ESKF::set_nis_gating_enabled(bool enabled) { disable_nis_gating_ = !enabled; spdlog::info("NIS gating {}", enabled ? "ENABLED" : "DISABLED (accepting all)"); diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 2522b6bed..ec69d5aea 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -259,13 +259,6 @@ void ESKFNode::visualEgomotion_callback( eskf_->visualEgomotion_update(visual_meas); - const auto& dbg = eskf_->debug_vo(); - if (dbg.have) { - pub_f64(pub_vo_pos_norm_, dbg.pos_innov_norm); - pub_f64(pub_vo_ang_norm_, dbg.ang_innov_norm); - pub_f64(pub_vo_nis_, dbg.nis_pose); - } - pub_i32(pub_vo_rejects_, eskf_->get_consecutive_vo_rejects()); pub_bool(pub_vo_anchor_valid_, eskf_->is_anchor_valid()); diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp index 9c5ee791c..68e60c5fb 100644 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp @@ -53,7 +53,7 @@ class VisualEgomotionNode final : public rclcpp::Node { // Anchor and timing bool have_ref = false; - tf2::Transform T_anchor_; // Transform landmark anchor to base + tf2::Transform T_base_anchor_; // Transform landmark anchor to base rclcpp::Time last_det_stamp; rclcpp::Time last_pub_stamp; diff --git a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp index 1a2433856..a859c9796 100644 --- a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp +++ b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp @@ -146,13 +146,13 @@ void VisualEgomotionNode::onLandmarks( T_ref_base_curr = last_T_ref_base_; } else { T_ref_base_curr = - T_anchor_ * T_base_current_landmark_.inverse(); + T_base_anchor_ * T_base_current_landmark_.inverse(); last_T_ref_base_ = T_ref_base_curr; have_last_ref_base_ = true; } // Re-anchor so T_ref<-base stays the same under the new marker - T_anchor_ = T_ref_base_curr * T_base_current_landmark_; + T_base_anchor_ = T_ref_base_curr * T_base_current_landmark_; RCLCPP_WARN(this->get_logger(), "Marker switch %u -> %u", @@ -160,7 +160,7 @@ void VisualEgomotionNode::onLandmarks( } if (!have_ref) { - T_anchor_ = T_base_current_landmark_; + T_base_anchor_ = T_base_current_landmark_; have_ref = true; if (chosen != board) { @@ -186,7 +186,7 @@ void VisualEgomotionNode::onLandmarks( } const tf2::Transform T_ref_base_meas = - T_anchor_ * T_base_current_landmark_.inverse(); + T_base_anchor_ * T_base_current_landmark_.inverse(); last_T_ref_base_ = T_ref_base_meas; have_last_ref_base_ = true; From fc3738f755fb8b10eba3db8ae1b873c80b90ac82 Mon Sep 17 00:00:00 2001 From: Anttra Date: Sat, 7 Feb 2026 10:17:08 +0100 Subject: [PATCH 085/109] removed residual definitions from pose cov innov debug --- navigation/eskf/include/eskf/eskf_ros.hpp | 5 ---- navigation/eskf/src/eskf_ros.cpp | 36 ++++++++--------------- 2 files changed, 12 insertions(+), 29 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index ae667b476..71ba4843c 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -62,11 +62,6 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr nis_pub_; - rclcpp::Publisher::SharedPtr pub_imu_dt_; - rclcpp::Publisher::SharedPtr pub_vo_pos_norm_; - rclcpp::Publisher::SharedPtr pub_vo_ang_norm_; - rclcpp::Publisher::SharedPtr pub_vo_nis_; - rclcpp::Publisher::SharedPtr pub_vo_rejects_; rclcpp::Publisher::SharedPtr pub_vo_anchor_valid_; diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index ec69d5aea..c7eded3b9 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -80,18 +80,6 @@ void ESKFNode::set_subscribers_and_publisher() { nis_pub_ = create_publisher( "dvl/nis", vortex::utils::qos_profiles::reliable_profile()); - pub_imu_dt_ = create_publisher( - "eskf/debug/imu_dt", vortex::utils::qos_profiles::reliable_profile()); - - pub_vo_pos_norm_ = create_publisher( - "eskf/debug/vo_pos_innov_norm", vortex::utils::qos_profiles::reliable_profile()); - - pub_vo_ang_norm_ = create_publisher( - "eskf/debug/vo_ang_innov_norm", vortex::utils::qos_profiles::reliable_profile()); - - pub_vo_nis_ = create_publisher( - "eskf/debug/vo_nis", vortex::utils::qos_profiles::reliable_profile()); - pub_vo_rejects_ = create_publisher( "eskf/debug/vo_consecutive_rejects", vortex::utils::qos_profiles::reliable_profile()); @@ -164,8 +152,8 @@ void ESKFNode::setup_services() { eskf_->set_nis_gating_enabled(request->data); response->success = true; response->message = request->data ? - "NIS gating ENABLED (proper rejection)" : - "NIS gating DISABLED (accepting all - DEBUG ONLY!)"; + "NIS gating ENABLED" : + "NIS gating DISABLED"; RCLCPP_INFO(this->get_logger(), "%s", response->message.c_str()); } else { response->success = false; @@ -258,7 +246,7 @@ void ESKFNode::visualEgomotion_callback( visual_meas.stamp_sec = rclcpp::Time(msg->header.stamp).seconds(); eskf_->visualEgomotion_update(visual_meas); - + pub_i32(pub_vo_rejects_, eskf_->get_consecutive_vo_rejects()); pub_bool(pub_vo_anchor_valid_, eskf_->is_anchor_valid()); @@ -269,22 +257,22 @@ void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; StateQuat nom_state = eskf_->get_nominal_state(); - odom_msg.pose.pose.position.x = nom_state.pos.x(); - odom_msg.pose.pose.position.y = nom_state.pos.y(); - odom_msg.pose.pose.position.z = nom_state.pos.z(); + odom_msg.pose.pose.position.x = nom_state.pos.x(); + odom_msg.pose.pose.position.y = nom_state.pos.y(); + odom_msg.pose.pose.position.z = nom_state.pos.z(); odom_msg.pose.pose.orientation.w = nom_state.quat.w(); odom_msg.pose.pose.orientation.x = nom_state.quat.x(); odom_msg.pose.pose.orientation.y = nom_state.quat.y(); odom_msg.pose.pose.orientation.z = nom_state.quat.z(); - odom_msg.twist.twist.linear.x = nom_state.vel.x(); - odom_msg.twist.twist.linear.y = nom_state.vel.y(); - odom_msg.twist.twist.linear.z = nom_state.vel.z(); + odom_msg.twist.twist.linear.x = nom_state.vel.x(); + odom_msg.twist.twist.linear.y = nom_state.vel.y(); + odom_msg.twist.twist.linear.z = nom_state.vel.z(); - odom_msg.twist.twist.angular.x = nom_state.accel_bias.x(); - odom_msg.twist.twist.angular.y = nom_state.accel_bias.y(); - odom_msg.twist.twist.angular.z = nom_state.accel_bias.z(); + odom_msg.twist.twist.angular.x = nom_state.accel_bias.x(); + odom_msg.twist.twist.angular.y = nom_state.accel_bias.y(); + odom_msg.twist.twist.angular.z = nom_state.accel_bias.z(); // TODO: Covariance out From 5678dfa40ff637a3261d0e235a77110b224621bf Mon Sep 17 00:00:00 2001 From: Anttra Date: Tue, 10 Feb 2026 09:28:03 +0100 Subject: [PATCH 086/109] incomplete refactor: switching to desktop --- navigation/eskf/include/eskf/eskf.hpp | 6 ++---- navigation/eskf/src/eskf.cpp | 8 +++++--- navigation/eskf/src/eskf_ros.cpp | 11 ++++++++++- .../visual_egomotion/config/visual_egomotion.yaml | 3 +++ .../include/visual_egomotion/visual_egomotion_ros.hpp | 4 ++-- 5 files changed, 22 insertions(+), 10 deletions(-) diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 18bcc81b6..4c72b6e3d 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -33,12 +33,10 @@ class ESKF { double vo_reset_gap_sec_ = 20.0; int consecutive_vo_rejects_ = 0; - bool use_vo = false; + bool use_vo; //= false; bool disable_nis_gating_ = false; - const VoDebug& debug_vo() const { return debug_vo_; } - - /** + /** * @brief Enable/disable NIS gating * When disabled, all measurements are accepted (for debugging) */ diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index cc6ef5558..4f33e3903 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -344,7 +344,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { prev_p_meas_nav_ = p_meas_nav; have_vo_prev = true; - // compute pose innovation Eigen::Matrix y; // position innovation @@ -377,7 +376,6 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { const Eigen::Matrix S = H * P * H.transpose() + R; const double nis = compute_nisN(y, S); - // NIS Gating const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_6DOF; if (nis > gate) { @@ -406,10 +404,14 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { consecutive_vo_rejects_ = 0; } +void ESKF::set_vo_enabled(bool enabled) { + use_vo = enabled; + spdlog::info("VO gating {}", enabled ? "ENABLED" : "DISABLED"); +} void ESKF::set_nis_gating_enabled(bool enabled) { disable_nis_gating_ = !enabled; - spdlog::info("NIS gating {}", enabled ? "ENABLED" : "DISABLED (accepting all)"); + spdlog::info("NIS gating {}", enabled ? "ENABLED" : "DISABLED"); } void ESKF::force_anchor_reset() { diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index c7eded3b9..2b495826c 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -127,7 +127,16 @@ void ESKFNode::set_parameters() { eskf_ = std::make_unique(eskf_params); - this->declare_parameter("vo_reset_gap_sec", 1.0); + this->declare_parameter("use_vo", false); + bool use_vo = this->declare_parameter("use_vo").as_bool(); + eskf_->set_vo_enabled(!use_vo); + + if (use_vo) { + RCLCPP_WARN(this->get_logger(), + "VO disabled"); + } + + this->declare_parameter("vo_reset_gap_sec", 1.0); double vo_gap = this->get_parameter("vo_reset_gap_sec").as_double(); eskf_->set_vo_reset_gap(vo_gap); diff --git a/navigation/visual_egomotion/config/visual_egomotion.yaml b/navigation/visual_egomotion/config/visual_egomotion.yaml index 5ab82e825..78de791ee 100644 --- a/navigation/visual_egomotion/config/visual_egomotion.yaml +++ b/navigation/visual_egomotion/config/visual_egomotion.yaml @@ -16,3 +16,6 @@ visual_egomotion: lost_timeout_sec: 15.0 huber_threshold_deg: 2.5 gate_threshold_deg: 15.0 + + have_ref: false + bool have_last_ref_base_: false \ No newline at end of file diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp index 68e60c5fb..435f8f67b 100644 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp +++ b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp @@ -52,7 +52,7 @@ class VisualEgomotionNode final : public rclcpp::Node { size_t multi_skip_count_{0}; // Anchor and timing - bool have_ref = false; + bool have_ref; tf2::Transform T_base_anchor_; // Transform landmark anchor to base rclcpp::Time last_det_stamp; rclcpp::Time last_pub_stamp; @@ -72,7 +72,7 @@ class VisualEgomotionNode final : public rclcpp::Node { // Estimator std::unique_ptr smoother_; - bool have_last_ref_base_ = false; + bool have_last_ref_base_; tf2::Transform last_T_ref_base_; void set_subscribers_and_publisher(); From ce403fa6d5ca8001a8cedd2595dd26972d1fd2a2 Mon Sep 17 00:00:00 2001 From: Ahmed Date: Tue, 10 Feb 2026 19:20:04 +0100 Subject: [PATCH 087/109] removing debugging topics, fixing the initial orientation, and the rot matrix for imu --- navigation/eskf/config/eskf_params.yaml | 9 ++--- navigation/eskf/include/eskf/eskf.hpp | 2 +- navigation/eskf/include/eskf/eskf_ros.hpp | 6 --- navigation/eskf/src/eskf.cpp | 14 ++++++- navigation/eskf/src/eskf_ros.cpp | 38 ++----------------- navigation/eskf/test/eskf_consistency_test.py | 22 +++++++++++ 6 files changed, 42 insertions(+), 49 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index a5cb7d161..076e1f65b 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -8,9 +8,6 @@ eskf_node: imu_frame: [ -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0 ] - dvl_frame: [ 0.0, 1.0, 0.0, - -1.0, 0.0, 0.0, - 0.0, 0.0, 1.0 ] - # dvl_frame: [ 1.0, 0.0, 0.0, - # 0.0, 1.0, 0.0, - # 0.0, 0.0, 1.0 ] \ No newline at end of file + dvl_frame: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] \ No newline at end of file diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 66fe42c0d..cd96ff190 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -77,7 +77,7 @@ class ESKF { StateQuat current_nom_state_{}; // gravity - Eigen::Vector3d g_{0.0, 0.0, 9.82}; + Eigen::Vector3d g_{0.0, 0.0, -9.82841}; // accelometer noise parameters float accm_std_{0.0}; diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 2407a685d..2e2630a10 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -49,12 +49,6 @@ class ESKFNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr nis_pub_; - // temp debug - rclcpp::Publisher::SharedPtr imu_rotated_pub_; - rclcpp::Publisher::SharedPtr dvl_rotated_pub_; - - // end temp debug - std::chrono::milliseconds time_step; rclcpp::TimerBase::SharedPtr odom_pub_timer_; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 1073a50cf..7b5016771 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -11,7 +11,19 @@ double compute_nis(const Eigen::Vector3d& innovation, return innovation.transpose() * S_inv * innovation; } -ESKF::ESKF(const EskfParams& params) : Q_(params.Q) {} +ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { + // Initialize Covariance + current_error_state_.covariance = params.P; + + // // Initialize Nominal Quaternion to Identity + // current_nom_state_.quat = Eigen::Quaterniond::Identity(); + + // 2. Initialize Quaternion: -90 degrees Yaw because of initial drone_orientation + Eigen::AngleAxisd init_rotation(-M_PI / 2.0, Eigen::Vector3d::UnitZ()); + + current_nom_state_.quat = Eigen::Quaterniond(init_rotation); + current_nom_state_.quat.normalize(); +} std::pair ESKF::van_loan_discretization( const Eigen::Matrix15d& A_c, diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index c885fa857..289625ff3 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -51,13 +51,6 @@ void ESKFNode::set_subscribers_and_publisher() { odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); - // temp debug - imu_rotated_pub_ = this->create_publisher( - "eskf/imu_rotated", vortex::utils::qos_profiles::sensor_data_profile()); - - dvl_rotated_pub_ = this->create_publisher( - "eskf/dvl_rotated", vortex::utils::qos_profiles::sensor_data_profile()); - #ifndef NDEBUG nis_pub_ = create_publisher( "eskf/nis", vortex::utils::qos_profiles::reliable_profile()); @@ -127,27 +120,13 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - imu_measurement.gyro = R_imu_eskf_ * raw_gyro; - // imu_measurement.gyro = raw_gyro; + // currently the gyro and the accelorometer are rotated differently. should be changed with the actual drone. + // imu_measurement.gyro = R_imu_eskf_ * raw_gyro; + imu_measurement.gyro = raw_gyro; // used for publishing odom output of eskf latest_gyro_measurement_ = imu_measurement.gyro; - // temp debug - // ========================================== - sensor_msgs::msg::Imu imu_msg_out = *msg; // Copy header and covariances - - // Overwrite vectors with corrected data - imu_msg_out.linear_acceleration.x = imu_measurement.accel.x(); - imu_msg_out.linear_acceleration.y = imu_measurement.accel.y(); - imu_msg_out.linear_acceleration.z = imu_measurement.accel.z(); - - imu_msg_out.angular_velocity.x = imu_measurement.gyro.x(); - imu_msg_out.angular_velocity.y = imu_measurement.gyro.y(); - imu_msg_out.angular_velocity.z = imu_measurement.gyro.z(); - imu_rotated_pub_->publish(imu_msg_out); - // - eskf_->imu_update(imu_measurement, dt); } @@ -167,17 +146,6 @@ void ESKFNode::dvl_callback( dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement; dvl_sensor.measurement_noise = R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); - // temp debug - // ========================================== - geometry_msgs::msg::TwistWithCovarianceStamped dvl_msg_out = *msg; // Copy header - - // 1. Update Linear Velocity - dvl_msg_out.twist.twist.linear.x = dvl_sensor.measurement.x(); - dvl_msg_out.twist.twist.linear.y = dvl_sensor.measurement.y(); - dvl_msg_out.twist.twist.linear.z = dvl_sensor.measurement.z(); - - dvl_rotated_pub_->publish(dvl_msg_out); - eskf_->dvl_update(dvl_sensor); diff --git a/navigation/eskf/test/eskf_consistency_test.py b/navigation/eskf/test/eskf_consistency_test.py index 5919c5738..a7d1495b0 100644 --- a/navigation/eskf/test/eskf_consistency_test.py +++ b/navigation/eskf/test/eskf_consistency_test.py @@ -2,6 +2,7 @@ from rclpy.node import Node from nav_msgs.msg import Odometry from std_msgs.msg import Float64 +from std_msgs.msg import Float64MultiArray import message_filters import numpy as np from scipy.spatial.transform import Rotation as R @@ -28,6 +29,10 @@ def __init__(self): self.pub_rmse_ori = self.create_publisher(Float64, 'eskf_metrics/rmse/orientation_rad', 10) self.pub_rmse_vel = self.create_publisher(Float64, 'eskf_metrics/rmse/velocity', 10) + # Euler Angles (for visual comparison) + self.pub_euler_est = self.create_publisher(Float64MultiArray, 'debug/euler/est', 10) + self.pub_euler_gt = self.create_publisher(Float64MultiArray, 'debug/euler/gt', 10) + # NEES (Normalized Estimation Error Squared) self.pub_nees_pos = self.create_publisher(Float64, 'eskf_metrics/nees/position', 10) self.pub_nees_ori = self.create_publisher(Float64, 'eskf_metrics/nees/orientation', 10) @@ -77,6 +82,23 @@ def callback(self, est_msg, gt_msg): r_est = R.from_quat(q_est) r_gt = R.from_quat(q_gt) + # --------------------------------------------------------- + # Extract Euler Angles (Roll, Pitch, Yaw) + # Using 'xyz' sequence (standard for ROS aerospace/underwater) + # degrees=True makes it easier to read in plots (0-360 or +/-180) + # --------------------------------------------------------- + euler_est = r_est.as_euler('xyz', degrees=True) # [roll, pitch, yaw] + euler_gt = r_gt.as_euler('xyz', degrees=True) # [roll, pitch, yaw] + + # Publish Estimated Euler + msg_euler_est = Float64MultiArray() + msg_euler_est.data = euler_est.tolist() + self.pub_euler_est.publish(msg_euler_est) + + # Publish GT Euler + msg_euler_gt = Float64MultiArray() + msg_euler_gt.data = euler_gt.tolist() + self.pub_euler_gt.publish(msg_euler_gt) # Calculate Error Rotation: R_err = R_gt^T * R_est # This gives the relative rotation needed to go from GT to Est r_err = r_gt.inv() * r_est From a7282ea090bc44aaf2f28d85e6e1639a76ce8ab5 Mon Sep 17 00:00:00 2001 From: AntTra Date: Wed, 11 Feb 2026 13:37:28 +0100 Subject: [PATCH 088/109] refactor: removed visual_egomotion package, typedefs added VoConfig struct, builds VoConf struct from params, vo_update to landmark_update, renamed several other variable names, fixed landmark callback to use LandmarkArray, removed unused params --- navigation/eskf/config/eskf_params.yaml | 29 +- navigation/eskf/include/eskf/eskf.hpp | 171 +++++------ navigation/eskf/include/eskf/eskf_ros.hpp | 100 +++++-- navigation/eskf/include/eskf/typedefs.hpp | 21 +- navigation/eskf/src/eskf.cpp | 278 ++++++++++++------ navigation/eskf/src/eskf_ros.cpp | 236 ++++++++------- navigation/visual_egomotion/CMakeLists.txt | 65 ---- .../config/visual_egomotion.yaml | 21 -- .../visual_egomotion/visual_egomotion.hpp | 70 ----- .../visual_egomotion/visual_egomotion_ros.hpp | 83 ------ .../launch/visual_egomotion.launch.py | 37 --- navigation/visual_egomotion/package.xml | 21 -- .../visual_egomotion/src/visual_egomotion.cpp | 162 ---------- .../src/visual_egomotion_ros.cpp | 243 --------------- 14 files changed, 524 insertions(+), 1013 deletions(-) delete mode 100644 navigation/visual_egomotion/CMakeLists.txt delete mode 100644 navigation/visual_egomotion/config/visual_egomotion.yaml delete mode 100644 navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp delete mode 100644 navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp delete mode 100644 navigation/visual_egomotion/launch/visual_egomotion.launch.py delete mode 100644 navigation/visual_egomotion/package.xml delete mode 100644 navigation/visual_egomotion/src/visual_egomotion.cpp delete mode 100644 navigation/visual_egomotion/src/visual_egomotion_ros.cpp diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 19ca35a7b..b5f7fd756 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -8,6 +8,29 @@ eskf_node: diag_p_init: [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001] imu_frame: [0.0, 0.0, -1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 0.0] - use_vo: false - vo_reset_gap_sec: 20.0 - disable_nis_gating: true \ No newline at end of file + vo: + use_vo: true + landmarks_topic: /aruco_detector/landmarks + + base_frame: base_link + camera_frame: Orca/camera_front + + nis_gate_pose: 16.812 + nis_gate_velocity: 11.345 + disable_gating: false + dropout_timeout_sec: 20.0 + rejects_limit: 5 + + pos_floor: 0.05 + att_floor: 0.02 + vel_floor: 0.2 + vel_alpha: 0.5 + dt_min: 0.02 + dt_max: 15.0 + + # Sliding-window smoother + use_sw: true + window_size: 20 + max_age: 15.0 + huber_deg: 2.5 + gate_deg: 15.0 diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp index 4c72b6e3d..bac672c42 100644 --- a/navigation/eskf/include/eskf/eskf.hpp +++ b/navigation/eskf/include/eskf/eskf.hpp @@ -4,132 +4,139 @@ #include #include #include "typedefs.hpp" - +#include + +/** + * @brief Error-State Kalman Filter for AUV state estimation. + * + * Fuses IMU, DVL, and visual landmark measurements to estimate + * position, velocity, and orientation. Landmark processing includes + * anchor-based relative positioning with a sliding-window smoother. + */ class ESKF { public: ESKF(const EskfParams& params); - // @brief Update the nominal state and error state - // @param imu_meas: IMU measurement - // @param dt: Time step + /** + * @brief IMU prediction step (propagates nominal and error state) + * + * @param imu_meas Accelerometer and gyroscope readings + * @param dt Time since last IMU sample [s] + */ void imu_update(const ImuMeasurement& imu_meas, const double dt); - // @brief Update the nominal state and error state - // @param dvl_meas: DVL measurement + /** + * @brief DVL velocity measurement update + * + * @param dvl_meas Body-frame velocity with covariance + */ void dvl_update(const DvlMeasurement& dvl_meas); - // @brief Update the nominal state and error state - // @param visual_meas: Visual measurement - void visualEgomotion_update(const VisualMeasurement& visual_meas); + /** + * @brief Landmark-based pose + velocity update + * + * Transforms the marker observation into the navigation frame via the + * VO anchor, optionally smooths with the sliding window, derives a + * velocity measurement, and performs a 6-DoF EKF update. + * + * @param visual_meas Marker pose in base frame with covariance + */ + void landmark_update(const VisualMeasurement& visual_meas); inline StateQuat get_nominal_state() const { return current_nom_state_; } - inline double get_nis() const { return nis_; } - bool have_vo_anchor = false; - Eigen::Quaterniond q_nav_vo_{1, 0, 0, 0}; - Eigen::Vector3d p_nav_vo_{0, 0, 0}; - double last_vo_stamp_sec_ = 0.0; - double vo_reset_gap_sec_ = 20.0; + /** + * @brief Load all VO tuning knobs at once + */ + void set_vo_config(const VoConfig& cfg); - int consecutive_vo_rejects_ = 0; - bool use_vo; //= false; - bool disable_nis_gating_ = false; + void set_vo_enabled(bool enabled); /** - * @brief Enable/disable NIS gating - * When disabled, all measurements are accepted (for debugging) + * @brief Enable/disable NIS gating (disable for debugging) */ void set_nis_gating_enabled(bool enabled); - /** + /** * @brief Force anchor reset on next VO measurement */ void force_anchor_reset(); - - /** - * @brief Get consecutive rejection count - */ - int get_consecutive_vo_rejects() const; - - /** - * @brief Check if VO anchor is valid - */ - bool is_anchor_valid() const; - + /** - * @brief Set dropout detection gap threshold + * @brief Re-anchor when the tracked marker ID changes + * + * @param new_marker_pos New marker position in base frame + * @param new_marker_quat New marker orientation in base frame */ - void set_vo_reset_gap(double gap_sec); + void handle_marker_switch(const Eigen::Vector3d& new_marker_pos, + const Eigen::Quaterniond& new_marker_quat); + int get_consecutive_rejects() const; + bool is_anchor_valid() const; private: - // @brief Predict the nominal state - // @param imu_meas: IMU measurement - // @param dt: Time step - // @return Predicted nominal state - void nominal_state_discrete(const ImuMeasurement& imu_meas, - const double dt); - - // @brief Predict the error state - // @param imu_meas: IMU measurement - // @param dt: Time step - // @return Predicted error state - void error_state_prediction(const ImuMeasurement& imu_meas, - const double dt); - - // @brief Calculate the NIS - // @param innovation: Innovation vector - // @param S: Innovation covariance matrix - void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - - // @brief Update the error state - // @param dvl_meas: DVL measurement + void nominal_state_discrete(const ImuMeasurement& imu_meas, const double dt); + void error_state_prediction(const ImuMeasurement& imu_meas, const double dt); void measurement_update(const DvlMeasurement& dvl_meas); - - // @brief Inject the error state into the nominal state and reset the error void injection_and_reset(); - // @brief Van Loan discretization - // @param A_c: Continuous state transition matrix - // @param G_c: Continuous input matrix - // @return Discrete state transition matrix and discrete input matrix std::pair van_loan_discretization( const Eigen::Matrix18d& A_c, const Eigen::Matrix18x12d& G_c, const double dt); - // @brief Calculate the measurement matrix jakobian - // @return Measurement matrix Eigen::Matrix3x19d calculate_hx(); - - // @brief Calculate the full measurement matrix - // @return Measurement matrix Eigen::Matrix3x18d calculate_h_jacobian(); - - // @brief Calculate the measurement - // @return Measurement Eigen::Vector3d calculate_h(); + void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); + + Eigen::Matrix12d Q_{}; + double nis_{}; + StateEuler current_error_state_{}; + StateQuat current_nom_state_{}; - // Process noise covariance matrix - Eigen::Matrix12d Q_{}; + bool use_vo_; + bool disable_gating_; - // Normalized Innovation Squared - double nis_{}; + VoConfig vo_cfg_; - // Member variable for the current error state - StateEuler current_error_state_{}; + // True once the first marker has been seen + bool have_anchor_; - // Member variable for the current nominal state - StateQuat current_nom_state_{}; + // Rotation from VO frame to nav frame + Eigen::Quaterniond q_nav_vo_; + + // Translation from VO frame to nav frame + Eigen::Vector3d p_nav_vo_; + + double last_stamp_; + + //Consecutive NIS-rejected VO updates + int consecutive_rejects_; + + // VO velocity from finite differences + void landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, + const Eigen::Matrix3d& Rv); + bool have_prev_; + double prev_stamp_; + Eigen::Vector3d prev_p_nav_; - void vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, - const Eigen::Matrix3d& Rv); + // Sliding-window SO(3) smoother + struct Sample { + double stamp; + Eigen::Vector3d pos; + Eigen::Quaterniond quat; + }; + std::deque sw_buf_; - bool have_vo_prev{false}; - double prev_vo_stamp_sec{0.0}; - Eigen::Vector3d prev_p_meas_nav_{Eigen::Vector3d::Zero()}; + void sw_add(double stamp, const Eigen::Vector3d& p, const Eigen::Quaterniond& q); + void sw_prune(double now); + bool sw_estimate(Eigen::Vector3d& p_out, Eigen::Quaterniond& q_out); + Eigen::Vector3d log_quat(const Eigen::Quaterniond& q); + Eigen::Quaterniond exp_rotvec(const Eigen::Vector3d& w); + double angle_dist(const Eigen::Quaterniond& a, const Eigen::Quaterniond& b); }; #endif // ESKF_HPP diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp index 71ba4843c..9668d046b 100644 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/eskf_ros.hpp @@ -2,6 +2,10 @@ #define ESKF_ROS_HPP #include +#include + +#include + #include #include #include @@ -10,72 +14,101 @@ #include #include #include +#include #include +#include +#include + +#include +#include + +#include +#include + #include "eskf/eskf.hpp" #include "eskf/typedefs.hpp" #include "spdlog/spdlog.h" -#include -#include -#include -#include -#include -#include - +/** + * @brief ROS2 wrapper for the Error-State Kalman Filter. + * + * Subscribes to IMU, DVL, and landmark topics, loads parameters from + * the YAML config, and publishes filtered odometry. Provides services + * for toggling NIS gating and forcing anchor resets at runtime. + */ class ESKFNode : public rclcpp::Node { public: + static constexpr uint16_t INVALID_ID = 0xFFFF; + explicit ESKFNode( const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); private: - // @brief Callback function for the imu topic - // @param msg: Imu message containing the imu data + /** + * @brief Callback for IMU messages + * + * @param msg Imu message containing accelerometer and gyroscope data + */ void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); - // @brief Callback function for the dvl topic - // @param msg: TwistWithCovarianceStamped message containing the dvl data + /** + * @brief Callback for DVL messages + * + * @param msg TwistWithCovarianceStamped containing body-frame velocity + */ void dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); - void visualEgomotion_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - // @brief Publish the odometry message + /** + * @brief Callback for landmark detections + * + * Selects lowest-ID marker, looks up base<-cam TF, builds a + * VisualMeasurement, and forwards it to ESKF::landmark_update. + * + * @param msg Array of detected ArUco landmarks + */ + void landmark_callback(const vortex_msgs::msg::LandmarkArray::SharedPtr msg); + + /** + * @brief Publish filtered odometry from the current nominal state + */ void publish_odom(); - // @brief Set the subscriber and publisher for the node void set_subscribers_and_publisher(); - - // @brief Set the parameters for the eskf void set_parameters(); - void setup_services(); - - rclcpp::Subscription::SharedPtr imu_sub_; + /** + * @brief Subscribes to IMU data + */ + rclcpp::Subscription::SharedPtr imu_sub_; + /** + * @brief Subscribes to DVL twist data + */ rclcpp::Subscription< geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; - + /** + * @brief Subscribes to detected ArUco landmarks + */ rclcpp::Subscription< - geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr visualEgomotion_sub_; + vortex_msgs::msg::LandmarkArray>::SharedPtr landmark_sub_; + /** + * @brief Publishes filtered odometry + */ rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Publisher::SharedPtr nis_pub_; rclcpp::Publisher::SharedPtr pub_vo_rejects_; rclcpp::Publisher::SharedPtr pub_vo_anchor_valid_; - std::chrono::milliseconds time_step; - rclcpp::TimerBase::SharedPtr odom_pub_timer_; std::unique_ptr eskf_; - Eigen::Matrix3d R_imu_eskf_{}; - + Eigen::Matrix3d R_imu_eskf_{}; /**< Rotation from IMU frame to ESKF frame */ rclcpp::Time last_imu_time_{}; - - bool first_imu_msg_received_ = false; + bool first_imu_msg_received_; static inline void pub_f64( const rclcpp::Publisher::SharedPtr& pub, @@ -86,10 +119,17 @@ class ESKFNode : public rclcpp::Node { pub->publish(m); } + std::unique_ptr tf_buffer_; + std::shared_ptr tf_listener_; + rclcpp::Service::SharedPtr toggle_gating_srv_; rclcpp::Service::SharedPtr reset_anchor_srv_; - + bool use_vo_; + std::string vo_base_frame_; + std::string vo_cam_frame_; + uint16_t last_marker_id_; + bool have_last_marker_; }; #endif // ESKF_ROS_HPP diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 430dc0742..8573af3ac 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -125,7 +125,26 @@ struct VisualMeasurement { Eigen::Vector3d pos; Eigen::Quaterniond quat; Eigen::Matrix R; - double stamp_sec = 0.0; + double stamp_ = 0.0; +}; + +struct VoConfig { + double nis_gate_pose; + double nis_gate_vel; + double dropout_timeout_sec; + double pos_floor; + double att_floor; + double vel_floor; + double vel_alpha; + double dt_min; + double dt_max; + double sw_max_age; + double sw_huber_deg; + double sw_gate_deg; + int sw_window_size; + int rejects_limit; + bool use_sw; + }; namespace Eigen { diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 4f33e3903..658876fef 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -6,43 +6,36 @@ #include #include "eskf/typedefs.hpp" -double compute_nis(const Eigen::Vector3d& innovation, +static double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S) { Eigen::Matrix3d S_inv = S.inverse(); return innovation.transpose() * S_inv * innovation; } -static double compute_nisN(const Eigen::VectorXd& innovation, +static double compute_nis(const Eigen::VectorXd& innovation, const Eigen::MatrixXd& S) { return innovation.transpose() * S.inverse() * innovation; } - -namespace vo_config { - // NIS thresholds, 99% confidence - constexpr double NIS_GATE_3DOF = 11.345; - constexpr double NIS_GATE_6DOF = 16.812; - - // after this many consecutive rejections, reset anchor - constexpr int CONSECUTIVE_REJECTS_FOR_RESET = 5; - - // Measurement noise floors - constexpr double POS_NOISE_FLOOR_M = 0.05; // 5 cm minimum position uncertainty - constexpr double ATT_NOISE_FLOOR_RAD = 0.02; // ~2 degrees minimum orientation uncertainty - constexpr double VEL_NOISE_FLOOR_MS = 0.2; // 20 cm/s minimum velocity uncertainty - - constexpr double VO_RESET_GAP_SEC = 15.0; - - // damping normalized - constexpr double VELOCITY_UPDATE_ALPHA = 0.4; -} ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { current_error_state_.covariance = params.P; - // VO history for finite-difference velocity update - have_vo_prev = false; - prev_vo_stamp_sec = 0.0; - prev_p_meas_nav_.setZero(); + use_vo_ = false; + disable_gating_ = false; + consecutive_rejects_ = 0; + + have_anchor_ = false; + q_nav_vo_ = Eigen::Quaterniond::Identity(); + p_nav_vo_ = Eigen::Vector3d::Zero(); + + last_stamp_= 0.0; + have_prev_ = false; + prev_stamp_ = 0.0; + prev_p_nav_ = Eigen::Vector3d::Zero(); + + vo_cfg_ = {}; + + nis_ = 0.0; } static Eigen::Vector3d compute_quaternion_error(const Eigen::Quaterniond& q_meas, @@ -67,6 +60,93 @@ static Eigen::Vector3d compute_quaternion_error(const Eigen::Quaterniond& q_meas return (theta / v_norm) * v; } +Eigen::Vector3d ESKF::log_quat(const Eigen::Quaterniond& q) { + const double w = std::clamp(static_cast(q.w()), -1.0, 1.0); + const double theta = 2.0 * std::acos(w); + const double s = std::sqrt(std::max(0.0, 1.0 - w * w)); + + if (s < 1e-9) { + return Eigen::Vector3d(2 * q.x(), 2 * q.y(), 2 * q.z()); + } + return Eigen::Vector3d(q.x(), q.y(), q.z()) * (theta / s); +} + +Eigen::Quaterniond ESKF::exp_rotvec(const Eigen::Vector3d& w) { + const double theta = w.norm(); + if (theta < 1e-9) { + return Eigen::Quaterniond(1.0, 0.5 * w.x(), 0.5 * w.y(), 0.5 * w.z()).normalized(); + } + const Eigen::Vector3d a = w / theta; + const double s = std::sin(0.5 * theta); + return Eigen::Quaterniond(std::cos(0.5 * theta), a.x() * s, a.y() * s, a.z() * s); +} + +double ESKF::angle_dist(const Eigen::Quaterniond& a, const Eigen::Quaterniond& b) { + const double d = std::abs(a.dot(b)); + return 2.0 * std::acos(std::clamp(d, -1.0, 1.0)); +} + + +void ESKF::sw_add(double stamp, const Eigen::Vector3d& p, const Eigen::Quaterniond& q) { + sw_buf_.push_back({stamp, p, q}); +} + +void ESKF::sw_prune(double now) { + while (!sw_buf_.empty() && (now - sw_buf_.front().stamp) > vo_cfg_.sw_max_age) { + sw_buf_.pop_front(); + } + while (static_cast(sw_buf_.size()) > vo_cfg_.sw_window_size) { + sw_buf_.pop_front(); + } +} + +bool ESKF::sw_estimate(Eigen::Vector3d& p_out, Eigen::Quaterniond& q_out) { + if (sw_buf_.empty()) return false; + + q_out = sw_buf_.back().quat; + p_out = Eigen::Vector3d::Zero(); + + double gate = vo_cfg_.sw_gate_deg * M_PI / 180.0; + const double huber = vo_cfg_.sw_huber_deg * M_PI / 180.0; + + // Iterative mean + for (int iter = 0; iter < 5; ++iter) { + Eigen::Vector3d sum_p = Eigen::Vector3d::Zero(); + Eigen::Vector3d sum_w = Eigen::Vector3d::Zero(); + double w_total = 0.0; + + for (const auto& s : sw_buf_) { + const double dist = angle_dist(q_out, s.quat); + if (dist > gate) continue; + + const Eigen::Vector3d w_i = log_quat(q_out.inverse() * s.quat); + + double weight = 1.0; + if (huber > 0.0) { + const double a = w_i.norm(); + if (a > huber && a > 1e-12) { + weight = huber / a; + } + } + + sum_p += s.pos * weight; + sum_w += w_i * weight; + w_total += weight; + } + + if (w_total < 1e-9) return false; + + p_out = sum_p / w_total; + + const Eigen::Vector3d dw = sum_w / w_total; + q_out = (q_out * exp_rotvec(dw)).normalized(); + + if (dw.norm() < 1e-4) break; + } + + return true; +} + std::pair ESKF::van_loan_discretization( const Eigen::Matrix18d& A_c, const Eigen::Matrix18x12d& G_c, @@ -247,9 +327,8 @@ void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { //injection_and_reset(); } -void ESKF::vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, +void ESKF::landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, const Eigen::Matrix3d& Rv) { - if (!use_vo) { return; } Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); @@ -259,57 +338,53 @@ void ESKF::vo_velocity_update_(const Eigen::Vector3d& v_meas_nav, const Eigen::Matrix3d S = H * P * H.transpose() + Rv; const double nis = compute_nis(y, S); - const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_3DOF; + const double gate = disable_gating_ ? 1e9 : vo_cfg_.nis_gate_vel; if (nis > gate) { - spdlog::debug("VO velocity rejected: NIS={:.2f} > {:.2f}", nis, gate); + spdlog::debug("VO velocity rejected: NIS={:.2f}", nis); return; } Eigen::Matrix K = P * H.transpose() * S.inverse(); - K *= vo_config::VELOCITY_UPDATE_ALPHA; + K *= vo_cfg_.vel_alpha; current_error_state_.set_from_vector(K * y); Eigen::Matrix K_full = P * H.transpose() * S.inverse(); - const Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K_full * H; - current_error_state_.covariance = - I_KH * P * I_KH.transpose() + K_full * Rv * K_full.transpose(); + Eigen::Matrix18d I_KH = Eigen::Matrix18d::Identity() - K_full * H; + current_error_state_.covariance = I_KH * P * I_KH.transpose() + K_full * Rv * K_full.transpose(); injection_and_reset(); } -void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { - if (!use_vo) { return; } +void ESKF::landmark_update(const VisualMeasurement& visual_meas) { + if (!use_vo_) { return; } - if (last_vo_stamp_sec_ > 0.0) { - const double gap = visual_meas.stamp_sec - last_vo_stamp_sec_; - if (gap > vo_reset_gap_sec_) { + if (last_stamp_ > 0.0) { + const double gap = visual_meas.stamp_ - last_stamp_; + if (gap > vo_cfg_.dropout_timeout_sec) { spdlog::info("VO dropout detected ({:.2f}s), resetting anchor", gap); - have_vo_anchor = false; - have_vo_prev = false; - consecutive_vo_rejects_ = 0; + have_anchor_ = false; + have_prev_ = false; + consecutive_rejects_ = 0; + sw_buf_.clear(); } } - last_vo_stamp_sec_ = visual_meas.stamp_sec; + last_stamp_ = visual_meas.stamp_; - const bool need_smart_reset = - (consecutive_vo_rejects_ >= vo_config::CONSECUTIVE_REJECTS_FOR_RESET); + const bool need_reset = (consecutive_rejects_ >= vo_cfg_.rejects_limit); - if (!have_vo_anchor || need_smart_reset) { - if (need_smart_reset) { - spdlog::warn("Smart anchor reset: {} consecutive rejections", - consecutive_vo_rejects_); + if (!have_anchor_ || need_reset) { + if (need_reset) { + spdlog::warn("Smart anchor reset: {} consecutive rejections", consecutive_rejects_); } - // p_nav = p_nav_vo + R(q_nav_vo) * p_vo - // q_nav = q_nav_vo * q_vo - q_nav_vo_ = - (current_nom_state_.quat * visual_meas.quat.inverse()).normalized(); + q_nav_vo_ = (current_nom_state_.quat * visual_meas.quat.inverse()).normalized(); p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * visual_meas.pos; - have_vo_anchor = true; - have_vo_prev = false; - consecutive_vo_rejects_ = 0; + have_anchor_ = true; + have_prev_ = false; + consecutive_rejects_ = 0; + sw_buf_.clear(); spdlog::info("VO anchor initialized at pos=[{:.2f}, {:.2f}, {:.2f}]", p_nav_vo_.x(), p_nav_vo_.y(), p_nav_vo_.z()); @@ -317,39 +392,47 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { } // transform VO measurement to navigation frame - const Eigen::Vector3d p_meas_nav = p_nav_vo_ + q_nav_vo_ * visual_meas.pos; - const Eigen::Quaterniond q_meas_nav = + Eigen::Vector3d p_nav = p_nav_vo_ + q_nav_vo_ * visual_meas.pos; + Eigen::Quaterniond q_nav = (q_nav_vo_ * visual_meas.quat).normalized(); - // finite-difference velocity update - if (have_vo_prev) { - const double dt = visual_meas.stamp_sec - prev_vo_stamp_sec; - if (dt > 0.02 && dt < 15) { - const Eigen::Vector3d v_meas_nav = (p_meas_nav - prev_p_meas_nav_) / dt; + if (vo_cfg_.use_sw) { + sw_add(visual_meas.stamp_, p_nav, q_nav); + sw_prune(visual_meas.stamp_); + + Eigen::Vector3d p_smooth; + Eigen::Quaterniond q_smooth; + if (sw_estimate(p_smooth, q_smooth)) { + p_nav = p_smooth; + q_nav = q_smooth; + } + } + + if (have_prev_) { + const double dt = visual_meas.stamp_ - prev_stamp_; + if (dt > vo_cfg_.dt_min && dt < vo_cfg_.dt_max) { + const Eigen::Vector3d v_meas_nav = (p_nav - prev_p_nav_) / dt; Eigen::Matrix3d Rp = visual_meas.R.topLeftCorner<3, 3>(); Eigen::Matrix3d Rv = 2.0 * Rp / (dt * dt); - // noise floor - const double v_floor_sq = - vo_config::VEL_NOISE_FLOOR_MS * vo_config::VEL_NOISE_FLOOR_MS; + const double v_floor_sq = vo_cfg_.vel_floor * vo_cfg_.vel_floor; for (int i = 0; i < 3; ++i) { Rv(i, i) = std::max(Rv(i, i), v_floor_sq); } - vo_velocity_update_(v_meas_nav, Rv); + landmark_vel_update_(v_meas_nav, Rv); } } - prev_vo_stamp_sec = visual_meas.stamp_sec; - prev_p_meas_nav_ = p_meas_nav; - have_vo_prev = true; + prev_stamp_ = visual_meas.stamp_; + prev_p_nav_ = p_nav; + have_prev_ = true; Eigen::Matrix y; - - // position innovation - y.head<3>() = p_meas_nav - current_nom_state_.pos; - y.segment<3>(3) = compute_quaternion_error(q_meas_nav, current_nom_state_.quat); + // position innovation + y.head<3>() = p_nav - current_nom_state_.pos; + y.segment<3>(3) = compute_quaternion_error(q_nav, current_nom_state_.quat); // measurement Jacobian Eigen::Matrix H = Eigen::Matrix::Zero(); @@ -359,10 +442,8 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { // measurement noise floors Eigen::Matrix R = visual_meas.R; - const double p_floor_sq = - vo_config::POS_NOISE_FLOOR_M * vo_config::POS_NOISE_FLOOR_M; - const double a_floor_sq = - vo_config::ATT_NOISE_FLOOR_RAD * vo_config::ATT_NOISE_FLOOR_RAD; + const double p_floor_sq = vo_cfg_.pos_floor * vo_cfg_.pos_floor; + const double a_floor_sq = vo_cfg_.att_floor * vo_cfg_.att_floor; for (int i = 0; i < 3; ++i) { R(i, i) = std::max(R(i, i), p_floor_sq); @@ -374,23 +455,22 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { // innovation covariance and NIS const Eigen::Matrix18d P = current_error_state_.covariance; const Eigen::Matrix S = H * P * H.transpose() + R; - const double nis = compute_nisN(y, S); + const double nis = compute_nis(Eigen::VectorXd(y), Eigen::MatrixXd(S)); - const double gate = disable_nis_gating_ ? 1e9 : vo_config::NIS_GATE_6DOF; + const double gate = disable_gating_ ? 1e9 : vo_cfg_.nis_gate_pose; if (nis > gate) { - consecutive_vo_rejects_++; + consecutive_rejects_++; spdlog::warn("VO pose REJECTED: NIS={:.1f} (gate={:.1f}), " "pos_err={:.3f}m, att_err={:.1f}deg, rejects={}", nis, gate, y.head<3>().norm(), y.segment<3>(3).norm() * 180.0 / M_PI, - consecutive_vo_rejects_); + consecutive_rejects_); return; } - // update Eigen::Matrix K = P * H.transpose() * S.inverse(); current_error_state_.set_from_vector(K * y); @@ -400,35 +480,41 @@ void ESKF::visualEgomotion_update(const VisualMeasurement& visual_meas) { I_KH * P * I_KH.transpose() + K * R * K.transpose(); injection_and_reset(); - - consecutive_vo_rejects_ = 0; + consecutive_rejects_ = 0; } void ESKF::set_vo_enabled(bool enabled) { - use_vo = enabled; + use_vo_ = enabled; spdlog::info("VO gating {}", enabled ? "ENABLED" : "DISABLED"); } void ESKF::set_nis_gating_enabled(bool enabled) { - disable_nis_gating_ = !enabled; + disable_gating_ = !enabled; spdlog::info("NIS gating {}", enabled ? "ENABLED" : "DISABLED"); } +void ESKF::handle_marker_switch(const Eigen::Vector3d& p_base, const Eigen::Quaterniond& q_base) { + q_nav_vo_ = (current_nom_state_.quat * q_base.inverse()).normalized(); + p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * p_base; + sw_buf_.clear(); + spdlog::info("Marker switch: anchor updated"); +} + void ESKF::force_anchor_reset() { - have_vo_anchor = false; - have_vo_prev = false; - consecutive_vo_rejects_ = 0; - spdlog::info("VO anchor reset forced"); + have_anchor_ = false; + have_prev_ = false; + consecutive_rejects_ = 0; + sw_buf_.clear(); } -int ESKF::get_consecutive_vo_rejects() const { - return consecutive_vo_rejects_; +int ESKF::get_consecutive_rejects() const { + return consecutive_rejects_; } bool ESKF::is_anchor_valid() const { - return have_vo_anchor; + return have_anchor_; } -void ESKF::set_vo_reset_gap(double gap_sec) { - vo_reset_gap_sec_ = gap_sec; -} +void ESKF::set_vo_config(const VoConfig& cfg) { + vo_cfg_ = cfg; +} \ No newline at end of file diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 2b495826c..53333abc4 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -14,43 +14,18 @@ auto start_message{R"( |________| \______.'|____||____||_____| )"}; -static inline void pub_f64( - const rclcpp::Publisher::SharedPtr& pub, - double v) { - if (!pub) return; - std_msgs::msg::Float64 m; - m.data = v; - pub->publish(m); -} - -static inline void pub_i32( - const rclcpp::Publisher::SharedPtr& pub, - int v) { - if (!pub) return; - std_msgs::msg::Int32 m; - m.data = v; - pub->publish(m); -} - -static inline void pub_bool( - const rclcpp::Publisher::SharedPtr& pub, - bool v) { - if (!pub) return; - std_msgs::msg::Bool m; - m.data = v; - pub->publish(m); -} - ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) - : Node("eskf_node", options) { + : Node("eskf_node", options), + first_imu_msg_received_(false), + use_vo_(false), + last_marker_id_(INVALID_ID), + have_last_marker_(false) { // time_step = std::chrono::milliseconds(1); // odom_pub_timer_ = this->create_wall_timer( // time_step, std::bind(&ESKFNode::publish_odom, this)); set_subscribers_and_publisher(); - set_parameters(); - setup_services(); spdlog::info(start_message); @@ -85,14 +60,6 @@ void ESKFNode::set_subscribers_and_publisher() { pub_vo_anchor_valid_ = create_publisher( "eskf/debug/vo_anchor_valid", vortex::utils::qos_profiles::reliable_profile()); - - - this->declare_parameter("pose_topic", "/landmark/pose_cov"); - std::string pose_topic = this->get_parameter("pose_topic").as_string(); - - visualEgomotion_sub_ = this->create_subscription( - pose_topic, qos_sensor_data, - std::bind(&ESKFNode::visualEgomotion_callback, this, std::placeholders::_1)); } void ESKFNode::set_parameters() { @@ -127,62 +94,88 @@ void ESKFNode::set_parameters() { eskf_ = std::make_unique(eskf_params); - this->declare_parameter("use_vo", false); - bool use_vo = this->declare_parameter("use_vo").as_bool(); - eskf_->set_vo_enabled(!use_vo); - - if (use_vo) { - RCLCPP_WARN(this->get_logger(), - "VO disabled"); + this->declare_parameter("vo.use_vo"); + this->declare_parameter("vo.landmarks_topic"); + this->declare_parameter("vo.base_frame"); + this->declare_parameter("vo.camera_frame"); + this->declare_parameter("vo.disable_gating"); + + this->declare_parameter("vo.nis_gate_pose"); + this->declare_parameter("vo.nis_gate_velocity"); + this->declare_parameter("vo.dropout_timeout_sec"); + this->declare_parameter("vo.rejects_limit"); + this->declare_parameter("vo.pos_floor"); + this->declare_parameter("vo.att_floor"); + this->declare_parameter("vo.vel_floor"); + this->declare_parameter("vo.vel_alpha"); + this->declare_parameter("vo.dt_min"); + this->declare_parameter("vo.dt_max"); + this->declare_parameter("vo.use_sw"); + this->declare_parameter("vo.window_size"); + this->declare_parameter("vo.max_age"); + this->declare_parameter("vo.huber_deg"); + this->declare_parameter("vo.gate_deg"); + + use_vo_ = this->get_parameter("vo.use_vo").as_bool(); + vo_base_frame_ = this->get_parameter("vo.base_frame").as_string(); + vo_cam_frame_ = this->get_parameter("vo.camera_frame").as_string(); + + VoConfig vo_cfg; + vo_cfg.nis_gate_pose = this->get_parameter("vo.nis_gate_pose").as_double(); + vo_cfg.nis_gate_vel = this->get_parameter("vo.nis_gate_velocity").as_double(); + vo_cfg.dropout_timeout_sec = this->get_parameter("vo.dropout_timeout_sec").as_double(); + vo_cfg.rejects_limit = this->get_parameter("vo.rejects_limit").as_int(); + vo_cfg.pos_floor = this->get_parameter("vo.pos_floor").as_double(); + vo_cfg.att_floor = this->get_parameter("vo.att_floor").as_double(); + vo_cfg.vel_floor = this->get_parameter("vo.vel_floor").as_double(); + vo_cfg.vel_alpha = this->get_parameter("vo.vel_alpha").as_double(); + vo_cfg.dt_min = this->get_parameter("vo.dt_min").as_double(); + vo_cfg.dt_max = this->get_parameter("vo.dt_max").as_double(); + vo_cfg.use_sw = this->get_parameter("vo.use_sw").as_bool(); + vo_cfg.sw_window_size = this->get_parameter("vo.window_size").as_int(); + vo_cfg.sw_max_age = this->get_parameter("vo.max_age").as_double(); + vo_cfg.sw_huber_deg = this->get_parameter("vo.huber_deg").as_double(); + vo_cfg.sw_gate_deg = this->get_parameter("vo.gate_deg").as_double(); + + eskf_->set_vo_enabled(use_vo_); + eskf_->set_nis_gating_enabled(!this->get_parameter("vo.disable_gating").as_bool()); + eskf_->set_vo_config(vo_cfg); + + if (use_vo_) { + tf_buffer_ = std::make_unique(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + + std::string landmarks_topic = this->get_parameter("vo.landmarks_topic").as_string(); + landmark_sub_ = this->create_subscription( + landmarks_topic, rclcpp::SensorDataQoS(), + std::bind(&ESKFNode::landmark_callback, this, std::placeholders::_1)); + + RCLCPP_INFO(this->get_logger(), "VO enabled: %s -> %s", + vo_cam_frame_.c_str(), vo_base_frame_.c_str()); } - this->declare_parameter("vo_reset_gap_sec", 1.0); - double vo_gap = this->get_parameter("vo_reset_gap_sec").as_double(); - eskf_->set_vo_reset_gap(vo_gap); - - this->declare_parameter("disable_nis_gating", false); - bool disable_gating = this->get_parameter("disable_nis_gating").as_bool(); - eskf_->set_nis_gating_enabled(!disable_gating); - - if (disable_gating) { // For testing - RCLCPP_WARN(this->get_logger(), - "NIS gating disabled"); + if (this->get_parameter("vo.disable_gating").as_bool()) { + RCLCPP_WARN(this->get_logger(), "NIS gating disabled"); } - - RCLCPP_INFO(this->get_logger(), "VO reset gap: %.2f s", vo_gap); } void ESKFNode::setup_services() { toggle_gating_srv_ = this->create_service( "~/toggle_nis_gating", - [this](const std::shared_ptr request, - std::shared_ptr response) { - if (eskf_) { - eskf_->set_nis_gating_enabled(request->data); - response->success = true; - response->message = request->data ? - "NIS gating ENABLED" : - "NIS gating DISABLED"; - RCLCPP_INFO(this->get_logger(), "%s", response->message.c_str()); - } else { - response->success = false; - response->message = "ESKF not initialized"; - } + [this](const std::shared_ptr req, + std::shared_ptr res) { + eskf_->set_nis_gating_enabled(req->data); + res->success = true; + res->message = req->data ? "NIS gating enabled" : "NIS gating disabled"; }); reset_anchor_srv_ = this->create_service( "~/force_anchor_reset", [this](const std::shared_ptr, - std::shared_ptr response) { - if (eskf_) { - eskf_->force_anchor_reset(); - response->success = true; - response->message = "VO anchor will reset on next measurement"; - RCLCPP_INFO(this->get_logger(), "Anchor reset forced via service"); - } else { - response->success = false; - response->message = "ESKF not initialized"; - } + std::shared_ptr res) { + eskf_->force_anchor_reset(); + res->success = true; + res->message = "Anchor reset"; }); } @@ -235,29 +228,74 @@ void ESKFNode::dvl_callback( publish_odom(); } -void ESKFNode::visualEgomotion_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { - VisualMeasurement visual_meas{}; +void ESKFNode::landmark_callback( + const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { + if (!msg || msg->landmarks.empty()) return; + + std::vector markers; + for (const auto& lm : msg->landmarks) { + if (lm.type == vortex_msgs::msg::Landmark::ARUCO_MARKER) { + markers.push_back(&lm); + } + } + if (markers.empty()) return; + + auto it = std::min_element(markers.begin(), markers.end(), + [](const auto* a, const auto* b) { return a->subtype < b->subtype; }); + const auto* chosen = *it; + uint16_t chosen_id = chosen->subtype; + + geometry_msgs::msg::TransformStamped tf_msg; + try { + tf_msg = tf_buffer_->lookupTransform(vo_base_frame_, vo_cam_frame_, tf2::TimePointZero); + } catch (const tf2::TransformException& ex) { + RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, + "TF %s <- %s: %s", vo_base_frame_.c_str(), vo_cam_frame_.c_str(), ex.what()); + return; + } - visual_meas.pos << msg->pose.pose.position.x, - msg->pose.pose.position.y, - msg->pose.pose.position.z; + Eigen::Vector3d t_base_cam(tf_msg.transform.translation.x, + tf_msg.transform.translation.y, + tf_msg.transform.translation.z); + Eigen::Quaterniond q_base_cam(tf_msg.transform.rotation.w, + tf_msg.transform.rotation.x, + tf_msg.transform.rotation.y, + tf_msg.transform.rotation.z); + + Eigen::Vector3d t_cam_marker(chosen->pose.pose.position.x, + chosen->pose.pose.position.y, + chosen->pose.pose.position.z); + Eigen::Quaterniond q_cam_marker(chosen->pose.pose.orientation.w, + chosen->pose.pose.orientation.x, + chosen->pose.pose.orientation.y, + chosen->pose.pose.orientation.z); + + Eigen::Vector3d t_base_marker = t_base_cam + q_base_cam * t_cam_marker; + Eigen::Quaterniond q_base_marker = (q_base_cam * q_cam_marker).normalized(); + + if (have_last_marker_ && chosen_id != last_marker_id_) { + RCLCPP_INFO(this->get_logger(), "Marker switch %u -> %u", last_marker_id_, chosen_id); + eskf_->handle_marker_switch(t_base_marker, q_base_marker); + } + last_marker_id_ = chosen_id; + have_last_marker_ = true; - visual_meas.quat = Eigen::Quaterniond( - msg->pose.pose.orientation.w, - msg->pose.pose.orientation.x, - msg->pose.pose.orientation.y, - msg->pose.pose.orientation.z); + VisualMeasurement meas; + meas.pos = t_base_marker; + meas.quat = q_base_marker; + meas.stamp_ = rclcpp::Time(msg->header.stamp).seconds(); + meas.R = Eigen::Map>( + chosen->pose.covariance.data()); - visual_meas.R = Eigen::Map>( - msg->pose.covariance.data()); + eskf_->landmark_update(meas); - visual_meas.stamp_sec = rclcpp::Time(msg->header.stamp).seconds(); + std_msgs::msg::Int32 rejects_msg; + rejects_msg.data = eskf_->get_consecutive_rejects(); + pub_vo_rejects_->publish(rejects_msg); - eskf_->visualEgomotion_update(visual_meas); - - pub_i32(pub_vo_rejects_, eskf_->get_consecutive_vo_rejects()); - pub_bool(pub_vo_anchor_valid_, eskf_->is_anchor_valid()); + std_msgs::msg::Bool anchor_msg; + anchor_msg.data = eskf_->is_anchor_valid(); + pub_vo_anchor_valid_->publish(anchor_msg); publish_odom(); } diff --git a/navigation/visual_egomotion/CMakeLists.txt b/navigation/visual_egomotion/CMakeLists.txt deleted file mode 100644 index 7170ab4be..000000000 --- a/navigation/visual_egomotion/CMakeLists.txt +++ /dev/null @@ -1,65 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(visual_egomotion) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(vortex_msgs REQUIRED) - -include_directories(include) - -add_library(visual_egomotion_core - src/visual_egomotion.cpp -) -ament_target_dependencies(visual_egomotion_core - rclcpp - tf2 -) - -target_include_directories(visual_egomotion_core PUBLIC - $ - $ -) - -add_executable(visual_egomotion_node - src/visual_egomotion_ros.cpp -) -target_link_libraries(visual_egomotion_node visual_egomotion_core) - -ament_target_dependencies(visual_egomotion_node - rclcpp - geometry_msgs - tf2 - tf2_ros - tf2_geometry_msgs - vortex_msgs -) - -install(TARGETS - visual_egomotion_core - visual_egomotion_node - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) - -install(DIRECTORY include/ - DESTINATION include -) - -install(DIRECTORY launch - DESTINATION share/${PROJECT_NAME} -) - -install(DIRECTORY config - DESTINATION share/${PROJECT_NAME} -) - -ament_package() diff --git a/navigation/visual_egomotion/config/visual_egomotion.yaml b/navigation/visual_egomotion/config/visual_egomotion.yaml deleted file mode 100644 index 78de791ee..000000000 --- a/navigation/visual_egomotion/config/visual_egomotion.yaml +++ /dev/null @@ -1,21 +0,0 @@ -visual_egomotion: - ros__parameters: - visual_topic: /aruco_detector/landmarks - use_sim_time: true - - ref_frame: vo_ref - base_frame: base_link - cam_frame: Orca/camera_front - - # Sliding-window - max_age_sec: 15.0 - window_size: 20 - - publish_tf: false - pub_rate_hz: 20.0 - lost_timeout_sec: 15.0 - huber_threshold_deg: 2.5 - gate_threshold_deg: 15.0 - - have_ref: false - bool have_last_ref_base_: false \ No newline at end of file diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp deleted file mode 100644 index ed7201b9f..000000000 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion.hpp +++ /dev/null @@ -1,70 +0,0 @@ -#pragma once - -#include -#include -#include - -#include -#include -#include -#include - -namespace visual_egomotion { - -/** - * Sliding-window smoother for the relative pose T_ref<-base measured from a - * visual/marker. - * - * Notes: - * - Keeps a time/size bounded buffer. - * - Uses robust iterative averaging on SO(3) (log/exp maps) + arithmetic mean - * in R^3. - * - Outputs a diagonal 6x6 covariance (x,y,z, roll,pitch,yaw) as a cheap - * confidence proxy. - * - * This class has no ROS publishers/subscribers and is unit-testable. - */ -class SlidingWindowSO3Mean { - public: - struct Config { - int win_size = 20; - double win_age_sec = 1.0; - double huber_threshold_deg = 2.5; - double gate_threshold_deg = 15.0; - }; - - struct Sample { - rclcpp::Time stamp; - tf2::Transform T_ref_base; - double weight = 1.0; - }; - - explicit SlidingWindowSO3Mean(Config cfg); - - void clear(); - bool empty() const { return buf_.empty(); } - size_t size() const { return buf_.size(); } - - void addSample(const rclcpp::Time& stamp, - const tf2::Transform& T_ref_base, - double weight = 1.0); - void prune(const rclcpp::Time& now); - - bool estimate(const rclcpp::Time& now, - tf2::Transform& T_est, - std::array& cov6x6) const; - - private: - static tf2::Vector3 logMapSO3(const tf2::Quaternion& q); - static tf2::Quaternion expMapSO3(const tf2::Vector3& w); - static double angularDist(const tf2::Quaternion& q1, - const tf2::Quaternion& q2); - - template - static T median(std::vector v); - - Config cfg_; - std::deque buf_; -}; - -} // namespace visual_egomotion \ No newline at end of file diff --git a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp b/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp deleted file mode 100644 index 435f8f67b..000000000 --- a/navigation/visual_egomotion/include/visual_egomotion/visual_egomotion_ros.hpp +++ /dev/null @@ -1,83 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "visual_egomotion/visual_egomotion.hpp" - -namespace visual_egomotion { - -/** - * ROS2 node: - * - subscribes to PoseArray of marker poses in camera frame - * - looks up T_base<-cam - * - defines an initial anchor marker0 in base frame - * - computes T_ref<-base = T_base<-marker0 * (T_base<-marker_now)^-1 - * - smoothes in a window and publishes PoseWithCovarianceStamped in ref_frame - */ -class VisualEgomotionNode final : public rclcpp::Node { - public: - explicit VisualEgomotionNode( - const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); - - private: - void onLandmarks(const vortex_msgs::msg::LandmarkArray::SharedPtr msg); - void onPublishTimer(); - - // Params - std::string visual_topic_; - std::string ref_frame_; - std::string base_frame_; - std::string cam_frame_; - bool publish_tf_; - double pub_rate_hz_; - double lost_timeout_sec_; - rclcpp::Time last_pub_det_stamp; - - // Anchor selection - uint16_t current_marker_id_{0xFFFF}; - size_t multi_skip_count_{0}; - - // Anchor and timing - bool have_ref; - tf2::Transform T_base_anchor_; // Transform landmark anchor to base - rclcpp::Time last_det_stamp; - rclcpp::Time last_pub_stamp; - - // TF - std::unique_ptr tf_buffer; - std::shared_ptr tf_listener_; - std::shared_ptr tf_broadcaster_; - - // ROS I/O - rclcpp::Subscription::SharedPtr - sub_landmarks_; - rclcpp::Publisher::SharedPtr - pub_pose_cov_; - rclcpp::TimerBase::SharedPtr pub_timer_; - - // Estimator - std::unique_ptr smoother_; - - bool have_last_ref_base_; - tf2::Transform last_T_ref_base_; - - void set_subscribers_and_publisher(); - void set_parameters(); - -}; - -} // namespace visual_egomotion \ No newline at end of file diff --git a/navigation/visual_egomotion/launch/visual_egomotion.launch.py b/navigation/visual_egomotion/launch/visual_egomotion.launch.py deleted file mode 100644 index 3ee91a32c..000000000 --- a/navigation/visual_egomotion/launch/visual_egomotion.launch.py +++ /dev/null @@ -1,37 +0,0 @@ -from os import path - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node - -visual_egomotion_params = path.join( - get_package_share_directory("visual_egomotion"), - "config", - "visual_egomotion.yaml", -) - -def generate_launch_description(): - visual_egomotion_node = Node( - package="visual_egomotion", - executable="visual_egomotion_node", - name="visual_egomotion", - parameters=[visual_egomotion_params], - output="screen", - ) - - base_to_cam_tf = Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_to_cam", - arguments=[ - "0.2", "0", "0", - "0", "0", "0", - "base_link", "Orca/camera_front", - ], - output="screen", - ) - - return LaunchDescription([ - visual_egomotion_node, - base_to_cam_tf, - ]) \ No newline at end of file diff --git a/navigation/visual_egomotion/package.xml b/navigation/visual_egomotion/package.xml deleted file mode 100644 index 12a4c1035..000000000 --- a/navigation/visual_egomotion/package.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - visual_egomotion - 0.1.0 - Compute AUV pose from visual detections and publish to ESKF - Anton Tran - MIT - - ament_cmake - - rclcpp - tf2 - tf2_ros - tf2_geometry_msgs - geometry_msgs - vortex_msgs - - - ament_cmake - - diff --git a/navigation/visual_egomotion/src/visual_egomotion.cpp b/navigation/visual_egomotion/src/visual_egomotion.cpp deleted file mode 100644 index f33f40e2c..000000000 --- a/navigation/visual_egomotion/src/visual_egomotion.cpp +++ /dev/null @@ -1,162 +0,0 @@ -#include "visual_egomotion/visual_egomotion.hpp" - -#include -#include - -namespace visual_egomotion { - -SlidingWindowSO3Mean::SlidingWindowSO3Mean(Config cfg) : cfg_(cfg) {} - -void SlidingWindowSO3Mean::clear() { - buf_.clear(); -} - -void SlidingWindowSO3Mean::addSample(const rclcpp::Time& stamp, - const tf2::Transform& T_ref_base, - double weight) { - buf_.push_back(Sample{stamp, T_ref_base, weight}); -} - -void SlidingWindowSO3Mean::prune(const rclcpp::Time& now) { - while (!buf_.empty() && - (now - buf_.front().stamp).seconds() > cfg_.win_age_sec) { - buf_.pop_front(); - } - while (static_cast(buf_.size()) > cfg_.win_size) { - buf_.pop_front(); - } -} - -bool SlidingWindowSO3Mean::estimate(const rclcpp::Time& now, - tf2::Transform& T_est, - std::array& cov6x6) const { - (void)now; - if (buf_.empty()) - return false; - - // Init around the newest sample rotation; translation init at origin - tf2::Quaternion q_avg = buf_.back().T_ref_base.getRotation(); - tf2::Vector3 p_avg(0, 0, 0); - - double gate = cfg_.gate_threshold_deg * M_PI / 180.0; - const double huber = cfg_.huber_threshold_deg * M_PI / 180.0; - - // Robust mean on SO(3) using log/exp in the tangent space at q_avg - for (int i = 0; i < 5; ++i) { - tf2::Vector3 sum_p(0, 0, 0); - tf2::Vector3 sum_w(0, 0, 0); - double w_total = 0.0; - - for (const auto& s : buf_) { - const tf2::Quaternion q_i = s.T_ref_base.getRotation(); - const double dist = angularDist(q_avg, q_i); - if (dist > gate) - continue; - - const tf2::Vector3 w_i = logMapSO3(q_avg.inverse() * q_i); - - double w = s.weight; - if (huber > 0.0) { - const double a = w_i.length(); - if (a > huber && a > 1e-12) - w *= (huber / a); - } - - sum_p += s.T_ref_base.getOrigin() * w; - sum_w += w_i * w; - w_total += w; - } - - if (w_total < 1e-9) - return false; - - p_avg = sum_p / w_total; - - const tf2::Vector3 dw = sum_w / w_total; - q_avg = (q_avg * expMapSO3(dw)).normalized(); - - if (dw.length() < 1e-4) - break; - } - - T_est.setOrigin(p_avg); - T_est.setRotation(q_avg); - - // Diagonal covariance proxy - cov6x6.fill(0.0); - double inliers = 0.0; - - for (const auto& s : buf_) { - const tf2::Quaternion q_i = s.T_ref_base.getRotation(); - if (angularDist(q_avg, q_i) > gate) - continue; - - const tf2::Vector3 dp = s.T_ref_base.getOrigin() - p_avg; - const tf2::Vector3 dq = logMapSO3(q_avg.inverse() * q_i); - - cov6x6[0] += dp.x() * dp.x(); - cov6x6[7] += dp.y() * dp.y(); - cov6x6[14] += dp.z() * dp.z(); - cov6x6[21] += dq.x() * dq.x(); - cov6x6[28] += dq.y() * dq.y(); - cov6x6[35] += dq.z() * dq.z(); - - inliers += 1.0; - } - - const double denom = std::max(1.0, inliers); - for (double& v : cov6x6) - v /= denom; - - const double pos_floor = std::pow(0.05, 2); - const double rot_floor = std::pow(5.0*M_PI/180.0, 2); - cov6x6[0] += pos_floor; - cov6x6[7] += pos_floor; - cov6x6[14] += pos_floor; - cov6x6[21] += rot_floor; - cov6x6[28] += rot_floor; - cov6x6[35] += rot_floor; - - return true; -} - -tf2::Vector3 SlidingWindowSO3Mean::logMapSO3(const tf2::Quaternion& q) { - const double w = std::clamp(static_cast(q.getW()), -1.0, 1.0); - const double th = 2.0 * std::acos(w); - const double s = std::sqrt(std::max(0.0, 1.0 - w * w)); - - // Small-angle: log(q) approx 2*v where q approx [v, 1] - if (s < 1e-9) { - return tf2::Vector3(2 * q.getX(), 2 * q.getY(), 2 * q.getZ()); - } - return tf2::Vector3(q.getX(), q.getY(), q.getZ()) * (th / s); -} - -tf2::Quaternion SlidingWindowSO3Mean::expMapSO3(const tf2::Vector3& w) { - const double th = w.length(); - if (th < 1e-9) { - return tf2::Quaternion(0.5 * w.x(), 0.5 * w.y(), 0.5 * w.z(), 1.0) - .normalized(); - } - const tf2::Vector3 a = w / th; - return tf2::Quaternion(a.x() * std::sin(0.5 * th), - a.y() * std::sin(0.5 * th), - a.z() * std::sin(0.5 * th), std::cos(0.5 * th)); -} - -double SlidingWindowSO3Mean::angularDist(const tf2::Quaternion& q1, - const tf2::Quaternion& q2) { - const double d = std::abs(static_cast(q1.dot(q2))); - return 2.0 * std::acos(std::clamp(d, -1.0, 1.0)); -} - -template -T SlidingWindowSO3Mean::median(std::vector v) { - const size_t n = v.size() / 2; - std::nth_element(v.begin(), v.begin() + n, v.end()); - return v[n]; -} - -template double SlidingWindowSO3Mean::median(std::vector); - -} // namespace visual_egomotion \ No newline at end of file diff --git a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp b/navigation/visual_egomotion/src/visual_egomotion_ros.cpp deleted file mode 100644 index a859c9796..000000000 --- a/navigation/visual_egomotion/src/visual_egomotion_ros.cpp +++ /dev/null @@ -1,243 +0,0 @@ -#include "visual_egomotion/visual_egomotion_ros.hpp" - -#include -#include -#include -#include - -namespace visual_egomotion { - -VisualEgomotionNode::VisualEgomotionNode(const rclcpp::NodeOptions& options) - : rclcpp::Node("visual_egomotion", options) -{ - set_subscribers_and_publisher(); - set_parameters(); - - SlidingWindowSO3Mean::Config cfg; - cfg.win_size = this->get_parameter("window_size").as_int(); - cfg.win_age_sec = this->get_parameter("max_age_sec").as_double(); - cfg.huber_threshold_deg = this->get_parameter("huber_threshold_deg").as_double(); - cfg.gate_threshold_deg = this->get_parameter("gate_threshold_deg").as_double(); - smoother_ = std::make_unique(cfg); - - last_det_stamp = this->now(); - last_pub_stamp = this->now(); - last_pub_det_stamp = rclcpp::Time(0, 0, this->get_clock()->get_clock_type()); - - const auto period = - std::chrono::duration(1.0 / std::max(1.0, pub_rate_hz_)); - pub_timer_ = this->create_wall_timer( - std::chrono::duration_cast(period), - std::bind(&VisualEgomotionNode::onPublishTimer, this)); - - RCLCPP_INFO( - this->get_logger(), - "VisualEgomotion online. Sub: %s, base: %s, cam: %s, ref: %s", - visual_topic_.c_str(), base_frame_.c_str(), cam_frame_.c_str(), - ref_frame_.c_str()); -} - -void VisualEgomotionNode::set_subscribers_and_publisher() -{ - this->declare_parameter("visual_topic"); - visual_topic_ = this->get_parameter("visual_topic").as_string(); - - pub_pose_cov_ = - this->create_publisher( - "/landmark/pose_cov", rclcpp::QoS(10)); - - tf_buffer = std::make_unique(this->get_clock()); - tf_listener_ = std::make_shared(*tf_buffer); - tf_broadcaster_ = std::make_shared(this); - - sub_landmarks_ = this->create_subscription( - visual_topic_, rclcpp::SensorDataQoS(), - std::bind(&VisualEgomotionNode::onLandmarks, this, std::placeholders::_1)); -} - -void VisualEgomotionNode::set_parameters() -{ - this->declare_parameter("ref_frame"); - this->declare_parameter("base_frame"); - this->declare_parameter("cam_frame"); - - this->declare_parameter("publish_tf"); - this->declare_parameter("pub_rate_hz"); - this->declare_parameter("lost_timeout_sec"); - - // smoother params - this->declare_parameter("window_size"); - this->declare_parameter("max_age_sec"); - this->declare_parameter("huber_threshold_deg"); - this->declare_parameter("gate_threshold_deg"); - - // get - ref_frame_ = this->get_parameter("ref_frame").as_string(); - base_frame_ = this->get_parameter("base_frame").as_string(); - cam_frame_ = this->get_parameter("cam_frame").as_string(); - - publish_tf_ = this->get_parameter("publish_tf").as_bool(); - pub_rate_hz_ = this->get_parameter("pub_rate_hz").as_double(); - lost_timeout_sec_ = this->get_parameter("lost_timeout_sec").as_double(); - -} - -void VisualEgomotionNode::onLandmarks( - const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { - if (!msg || msg->landmarks.empty()) - return; - - const vortex_msgs::msg::Landmark* board = nullptr; - std::vector markers; - markers.reserve(msg->landmarks.size()); - - for (const auto& lm : msg->landmarks) { - if (lm.type == vortex_msgs::msg::Landmark::ARUCO_MARKER) { - markers.push_back(&lm); - } - } - - if (!board && markers.empty()) - return; - - const vortex_msgs::msg::Landmark* chosen = nullptr; - uint16_t chosen_id = 0xFFFF; - - if (board) { - chosen = board; - chosen_id = 0; - } else { - auto it = std::min_element(markers.begin(), markers.end(), [](const auto* a, const auto* b) { return a->subtype < b->subtype; }); - chosen = *it; - chosen_id = chosen->subtype; - } - - RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 500, - "Chosen=%s id=%u (anchored=%d) markers=%zu", - (chosen == board) ? "BOARD" : "MARKER", chosen_id, - current_marker_id_, markers.size()); - - tf2::Transform T_cam_landmark; - tf2::fromMsg(chosen->pose.pose, T_cam_landmark); - - tf2::Transform T_base_cam; - try { - const auto ts = tf_buffer->lookupTransform(base_frame_, cam_frame_, - tf2::TimePointZero); - tf2::fromMsg(ts.transform, T_base_cam); - } catch (const tf2::TransformException& ex) { - RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, - "Waiting for TF %s <- %s: %s", base_frame_.c_str(), - cam_frame_.c_str(), ex.what()); - return; - } - - const tf2::Transform T_base_current_landmark_ = T_base_cam * T_cam_landmark; - - if (have_ref && chosen != board && current_marker_id_ != 0xFFFF && - chosen_id != current_marker_id_) { - tf2::Transform T_ref_base_curr; - std::array tmp_cov; - - if (smoother_->estimate(this->now(), T_ref_base_curr, tmp_cov)) { - last_T_ref_base_ = T_ref_base_curr; - have_last_ref_base_ = true; - } else if (have_last_ref_base_) { - T_ref_base_curr = last_T_ref_base_; - } else { - T_ref_base_curr = - T_base_anchor_ * T_base_current_landmark_.inverse(); - last_T_ref_base_ = T_ref_base_curr; - have_last_ref_base_ = true; - } - - // Re-anchor so T_ref<-base stays the same under the new marker - T_base_anchor_ = T_ref_base_curr * T_base_current_landmark_; - - RCLCPP_WARN(this->get_logger(), - "Marker switch %u -> %u", - current_marker_id_, chosen_id); - } - - if (!have_ref) { - T_base_anchor_ = T_base_current_landmark_; - have_ref = true; - - if (chosen != board) { - current_marker_id_ = chosen_id; - } - - if (chosen == board) { - RCLCPP_INFO(this->get_logger(), "Anchor set to ARUCO_BOARD"); - } else { - RCLCPP_INFO(this->get_logger(), "Anchor set to ARUCO_MARKER id=%u", - chosen_id); - } - } else { - if (chosen != board) { - const bool changed = (current_marker_id_ != 0xFFFF) && - (chosen_id != current_marker_id_); - if (changed) { - RCLCPP_INFO(this->get_logger(), "Using marker id=%u (prev=%u)", - chosen_id, current_marker_id_); - } - current_marker_id_ = chosen_id; - } - } - - const tf2::Transform T_ref_base_meas = - T_base_anchor_ * T_base_current_landmark_.inverse(); - - last_T_ref_base_ = T_ref_base_meas; - have_last_ref_base_ = true; - - smoother_->addSample(msg->header.stamp, T_ref_base_meas, 1.0); - smoother_->prune(this->now()); - last_det_stamp = msg->header.stamp; -} - -void VisualEgomotionNode::onPublishTimer() { - const rclcpp::Time now = this->now(); - - if (!have_ref) - return; - if ((now - last_det_stamp).seconds() > lost_timeout_sec_) { - have_ref = false; - return; - } - - if (last_det_stamp == last_pub_det_stamp) return; - - tf2::Transform T_est; - std::array cov; - - if (!smoother_->estimate(now, T_est, cov)) - return; - - geometry_msgs::msg::PoseWithCovarianceStamped pc; - pc.header.frame_id = ref_frame_; - pc.header.stamp = last_det_stamp; - tf2::toMsg(T_est, pc.pose.pose); - std::copy(cov.begin(), cov.end(), pc.pose.covariance.begin()); - pub_pose_cov_->publish(pc); - - last_pub_det_stamp = last_det_stamp; - if (publish_tf_) { - geometry_msgs::msg::TransformStamped tfs; - tfs.header = pc.header; - tfs.child_frame_id = base_frame_ + "/refined"; - tfs.transform = tf2::toMsg(T_est); - tf_broadcaster_->sendTransform(tfs); - } - - last_pub_stamp = now; -} - -} // namespace visual_egomotion - -int main(int argc, char** argv) { - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared(rclcpp::NodeOptions{})); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file From 2710fc644f5d1f3900c9392935cac0a864251571 Mon Sep 17 00:00:00 2001 From: AntTra Date: Wed, 11 Feb 2026 14:53:06 +0100 Subject: [PATCH 089/109] reactivated dvl, dropout_timeout_sec to dropout_timeout as its self explanatory, adjusted huber and gate weights for sliding window under movement --- navigation/eskf/config/eskf_params.yaml | 8 ++++---- navigation/eskf/include/eskf/typedefs.hpp | 2 +- navigation/eskf/src/eskf.cpp | 6 +++--- navigation/eskf/src/eskf_ros.cpp | 4 ++-- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index b5f7fd756..59f731ff1 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -17,8 +17,8 @@ eskf_node: nis_gate_pose: 16.812 nis_gate_velocity: 11.345 - disable_gating: false - dropout_timeout_sec: 20.0 + disable_gating: true + dropout_timeout: 10.0 rejects_limit: 5 pos_floor: 0.05 @@ -32,5 +32,5 @@ eskf_node: use_sw: true window_size: 20 max_age: 15.0 - huber_deg: 2.5 - gate_deg: 15.0 + huber_deg: 20.0 + gate_deg: 60.0 diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp index 8573af3ac..cf4331577 100644 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ b/navigation/eskf/include/eskf/typedefs.hpp @@ -131,7 +131,7 @@ struct VisualMeasurement { struct VoConfig { double nis_gate_pose; double nis_gate_vel; - double dropout_timeout_sec; + double dropout_timeout; double pos_floor; double att_floor; double vel_floor; diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 658876fef..834a3c917 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -321,10 +321,10 @@ void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { void ESKF::dvl_update(const DvlMeasurement& dvl_meas) { // for testing the visual odom - return; + //return; - //measurement_update(dvl_meas); - //injection_and_reset(); + measurement_update(dvl_meas); + injection_and_reset(); } void ESKF::landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp index 53333abc4..8abdfb3a8 100644 --- a/navigation/eskf/src/eskf_ros.cpp +++ b/navigation/eskf/src/eskf_ros.cpp @@ -102,7 +102,7 @@ void ESKFNode::set_parameters() { this->declare_parameter("vo.nis_gate_pose"); this->declare_parameter("vo.nis_gate_velocity"); - this->declare_parameter("vo.dropout_timeout_sec"); + this->declare_parameter("vo.dropout_timeout"); this->declare_parameter("vo.rejects_limit"); this->declare_parameter("vo.pos_floor"); this->declare_parameter("vo.att_floor"); @@ -123,7 +123,7 @@ void ESKFNode::set_parameters() { VoConfig vo_cfg; vo_cfg.nis_gate_pose = this->get_parameter("vo.nis_gate_pose").as_double(); vo_cfg.nis_gate_vel = this->get_parameter("vo.nis_gate_velocity").as_double(); - vo_cfg.dropout_timeout_sec = this->get_parameter("vo.dropout_timeout_sec").as_double(); + vo_cfg.dropout_timeout = this->get_parameter("vo.dropout_timeout").as_double(); vo_cfg.rejects_limit = this->get_parameter("vo.rejects_limit").as_int(); vo_cfg.pos_floor = this->get_parameter("vo.pos_floor").as_double(); vo_cfg.att_floor = this->get_parameter("vo.att_floor").as_double(); From 65ce9e8d0f764fa100e6bf7cb0aa8deec4eb99d9 Mon Sep 17 00:00:00 2001 From: AntTra Date: Wed, 11 Feb 2026 15:52:18 +0100 Subject: [PATCH 090/109] edited params, added comments in eskf --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/src/eskf.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 59f731ff1..15bc722b9 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -24,7 +24,7 @@ eskf_node: pos_floor: 0.05 att_floor: 0.02 vel_floor: 0.2 - vel_alpha: 0.5 + vel_alpha: 0.5 # gain scaling factor dt_min: 0.02 dt_max: 15.0 diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp index 834a3c917..1a266566a 100644 --- a/navigation/eskf/src/eskf.cpp +++ b/navigation/eskf/src/eskf.cpp @@ -60,7 +60,7 @@ static Eigen::Vector3d compute_quaternion_error(const Eigen::Quaterniond& q_meas return (theta / v_norm) * v; } -Eigen::Vector3d ESKF::log_quat(const Eigen::Quaterniond& q) { +Eigen::Vector3d ESKF::log_quat(const Eigen::Quaterniond& q) { // quat to rotvec const double w = std::clamp(static_cast(q.w()), -1.0, 1.0); const double theta = 2.0 * std::acos(w); const double s = std::sqrt(std::max(0.0, 1.0 - w * w)); @@ -71,7 +71,7 @@ Eigen::Vector3d ESKF::log_quat(const Eigen::Quaterniond& q) { return Eigen::Vector3d(q.x(), q.y(), q.z()) * (theta / s); } -Eigen::Quaterniond ESKF::exp_rotvec(const Eigen::Vector3d& w) { +Eigen::Quaterniond ESKF::exp_rotvec(const Eigen::Vector3d& w) { // rotvec to quat const double theta = w.norm(); if (theta < 1e-9) { return Eigen::Quaterniond(1.0, 0.5 * w.x(), 0.5 * w.y(), 0.5 * w.z()).normalized(); From c537667e22ed5ac345af5e7fb314d5ed4692fabe Mon Sep 17 00:00:00 2001 From: Anttra Date: Wed, 11 Feb 2026 17:56:30 +0100 Subject: [PATCH 091/109] chore: removed subprojects --- .../animationwindow/include/AnimationWindow.h | 137 - subprojects/animationwindow/include/Audio.h | 29 - subprojects/animationwindow/include/Color.h | 335 - subprojects/animationwindow/include/Font.h | 22 - subprojects/animationwindow/include/Image.h | 28 - .../animationwindow/include/KeyboardKey.h | 72 - .../animationwindow/include/MessageType.h | 7 - subprojects/animationwindow/include/Point.h | 8 - subprojects/animationwindow/include/Widget.h | 39 - .../include/internal/FontCache.h | 57 - .../include/internal/KeyboardKeyConverter.h | 10 - .../include/internal/nuklear.h | 30009 ---------------- .../include/internal/nuklear_configured.h | 20 - .../include/internal/nuklear_sdl_renderer.h | 378 - .../include/internal/portable-file-dialogs.h | 1647 - .../include/internal/windows_main_fix.h | 14 - .../animationwindow/include/widgets/Button.h | 31 - .../include/widgets/CheckBox.h | 31 - .../include/widgets/DropdownList.h | 19 - .../include/widgets/RadioButton.h | 31 - .../animationwindow/include/widgets/Slider.h | 34 - .../animationwindow/include/widgets/TextBox.h | 29 - .../include/widgets/TextInput.h | 34 - subprojects/animationwindow/meson.build | 43 - 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a/subprojects/animationwindow/include/AnimationWindow.h b/subprojects/animationwindow/include/AnimationWindow.h deleted file mode 100644 index 7fcde3637..000000000 --- a/subprojects/animationwindow/include/AnimationWindow.h +++ /dev/null @@ -1,137 +0,0 @@ -#pragma once - -#include - -#include -#include -#include -#include - -#include "Color.h" -#include "Font.h" -#include "Image.h" -#include "Audio.h" -#include "KeyboardKey.h" -#include "Point.h" -#include "Widget.h" -#include "internal/FontCache.h" -#include "internal/nuklear_configured.h" -#include "internal/windows_main_fix.h" -#include "MessageType.h" - -namespace TDT4102 { -// Forward declaration of Widget class -class Widget; -namespace internal { -// These variables set the rate at which this window should draw frames. - -static const double activeFramesPerSecond = 60.0; -static const double activeSecondsPerFrame = 1.0 / activeFramesPerSecond; - -static const double idleFramesPerSecond = 15.0; -static const double idleSecondsPerFrame = 1.0 / idleFramesPerSecond; - -// Higher number of vertices means better circle approximation -// Lower number of vertices results in better speed -static const int SLICES_PER_CIRCLE = 45; -[[maybe_unused]] static std::array circleCoordinateBuffer; -[[maybe_unused]] static std::array circleIndexBuffer; -[[maybe_unused]] static std::array circleBorderBuffer; -} // namespace internal - -class AnimationWindow { - private: - void show_frame(); - void update_gui(); - void pump_events(); - TDT4102::Point getWindowDimensions() const; - void startNuklearDraw(TDT4102::Point location, std::string uniqueWindowName, unsigned int width = 0, unsigned int height = 0); - void endNuklearDraw(); - void destroy(); - bool destroyed = false; - - // If set to true, new shapes will be drawn on top of the old ones. Can create some neat effects. - // However, note that GUI elements such as buttons will not draw themselves correctly if you use this. - bool keepPreviousFrame = false; - - bool closeRequested = false; - - std::vector> widgets; - - TDT4102::Color backgroundColor = TDT4102::Color::white; - - // SDL related context - SDL_Window* windowHandle = nullptr; - SDL_Renderer* rendererHandle = nullptr; - - // Nuklear related context - nk_context* context = nullptr; - TDT4102::internal::FontCache fontCache; - unsigned int textWindowCounter = 0; - - // Input related context - std::unordered_map currentKeyStates; - bool currentLeftMouseButtonState = false; - bool currentRightMouseButtonState = false; - float deltaMouseWheel = 0; - - public: - explicit AnimationWindow(int x = 50, int y = 50, int width = 1024, int height = 768, const std::string& title = "Animation Window"); - ~AnimationWindow(); - - // When you have finished drawing a frame, call this function to display it (usually at the end of your main while loop) - void next_frame(); - - // Returns true if someone has clicked the close button of the window - bool should_close() const; - - // See the comment above talking about the keepPreviousFrame variable :) - void keep_previous_frame(bool enabled); - - // Run the application until someone closes the window. - // Using this function makes sure GUI elements such as buttons are interactive and are drawn. - void wait_for_close(); - - // Close window immediately the next time next_frame() or wait_for_close() is called - void close(); - - // Pauses execution for a specified amount of time - static void wait_for(double timeSeconds); - - // These functions should hopefully be rather self-explanatory. - // They allow you to draw a variety of different shapes. - void draw_circle(TDT4102::Point centre, int radius, TDT4102::Color color = TDT4102::Color::dark_blue, TDT4102::Color borderColor = TDT4102::Color::transparent); - void draw_rectangle(TDT4102::Point topLeftPoint, int width, int height, TDT4102::Color color = TDT4102::Color::dark_green, TDT4102::Color borderColor = TDT4102::Color::transparent); - void draw_image(TDT4102::Point topLeftPoint, TDT4102::Image& image, int imageWidth = 0, int imageHeight = 0); - void draw_text(TDT4102::Point bottomLeftPoint, std::string textToShow, TDT4102::Color color = TDT4102::Color::black, unsigned int fontSize = 20, TDT4102::Font font = TDT4102::Font::arial); - void draw_line(TDT4102::Point start, TDT4102::Point end, TDT4102::Color color = TDT4102::Color::black); - void draw_triangle(TDT4102::Point vertex0, TDT4102::Point vertex1, TDT4102::Point vertex2, TDT4102::Color color = TDT4102::Color::yellow); - void draw_quad(TDT4102::Point vertex0, TDT4102::Point vertex1, TDT4102::Point vertex2, TDT4102::Point vertex3, TDT4102::Color color = TDT4102::Color::cyan); - void draw_arc(TDT4102::Point center, int width, int height, int start_degree, int end_degree, TDT4102::Color color = TDT4102::Color::black); - - // And these functions are for handling input - bool is_key_down(KeyboardKey key) const; - TDT4102::Point get_mouse_coordinates() const; - bool is_left_mouse_button_down() const; - bool is_right_mouse_button_down() const; - - // Add a GUI widget to the window such that it becomes visible and the user can interact with it - void add(TDT4102::Widget& widgetToAdd); - - // Show an information dialog message to the user - void show_info_dialog(const std::string& message) const; - // Show an alert message to the user - void show_error_dialog(const std::string& message) const; - - // Getters for the window dimensions - int width() const; - int height() const; - - void setBackgroundColor(TDT4102::Color newBackgroundColor); - - float get_delta_mouse_wheel() const; - - // - void play_audio(TDT4102::Audio& audio, int loops = 0); -}; -} // namespace TDT4102 diff --git a/subprojects/animationwindow/include/Audio.h b/subprojects/animationwindow/include/Audio.h deleted file mode 100644 index 44324bb62..000000000 --- a/subprojects/animationwindow/include/Audio.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include -#include -#include - -namespace TDT4102 { - struct Audio { - // Allow the audio to be read out and played despite being private - friend class AnimationWindow; - - public: - explicit Audio(); - explicit Audio(std::filesystem::path pathToAudioFile); - ~Audio(); - - - private: - Mix_Chunk *sfx = nullptr; - Mix_Music *mus = nullptr; - bool ready = false; // flag to load audio before playing - bool isMusic = false; - - std::filesystem::path src = "non existent file"; - - void load(); - void play(int loops = 0); - }; -} diff --git a/subprojects/animationwindow/include/Color.h b/subprojects/animationwindow/include/Color.h deleted file mode 100644 index 5a5212a33..000000000 --- a/subprojects/animationwindow/include/Color.h +++ /dev/null @@ -1,335 +0,0 @@ -#pragma once - -namespace TDT4102 { - struct Color { - // Colour channel fields - unsigned char redChannel = 0; - unsigned char greenChannel = 0; - unsigned char blueChannel = 0; - unsigned char alphaChannel = 255; // The alpha channel is used for transparency - - // The easiest way of using this colour class is to use one of the default colours specified above - // However, you can also specify your own if you so desire. We recommend you use a colour picker for finding the colour you want - // Many colour picker tools allow you to view values for the red, green, and blue channels, or produce a string of 6 numbers and letters (A to F). - // Use the first constructor for the former format, where each value must be between 0 and 255 - // You can also specify a transparency value in the same range if you want, where 0 means completely transparent, and 255 means completely opaque - // If your colour picker produces a 6 character hexadecimal string, use the second constructor instead. - - explicit Color(unsigned char red, unsigned char green, unsigned char blue, unsigned char transparency = 255); - explicit Color(unsigned int hexadecimalColour); - explicit Color() = default; - - bool operator!=(Color otherColor); - bool operator==(Color otherColor); - - // Predefined colour values - // The first set originates from the Graph_lib library used in the course book - const static Color transparent; - const static Color red; - const static Color blue; - const static Color green; - const static Color yellow; - const static Color white; - const static Color black; - const static Color magenta; - const static Color cyan; - const static Color dark_red; - const static Color dark_green; - const static Color dark_blue; - const static Color dark_magenta; - const static Color dark_cyan; - const static Color mid_gray; - const static Color dark_gray; - const static Color light_gray; - - // A second set of colours used from colours used in CSS (intended for web pages) - // You can find the colour visualised here: https://developer.mozilla.org/en-US/docs/Web/CSS/color_value/color_keywords - const static Color silver; - const static Color gray; - const static Color maroon; - const static Color purple; - const static Color fuchsia; - const static Color lime; - const static Color olive; - const static Color navy; - const static Color teal; - const static Color aqua; - const static Color orange; - const static Color alice_blue; - const static Color antique_white; - const static Color aquamarine; - const static Color azure; - const static Color beige; - const static Color bisque; - const static Color blanched_almond; - const static Color blue_violet; - const static Color brown; - const static Color burly_wood; - const static Color cadet_blue; - const static Color chart_reuse; - const static Color chocolate; - const static Color coral; - const static Color cornflower_blue; - const static Color corn_silk; - const static Color crimson; - const static Color dark_goldenrod; - const static Color dark_grey; - const static Color dark_khaki; - const static Color dark_olivegreen; - const static Color dark_orange; - const static Color dark_orchid; - const static Color dark_salmon; - const static Color dark_seagreen; - const static Color dark_slateblue; - const static Color dark_slategray; - const static Color dark_slategrey; - const static Color dark_turquoise; - const static Color dark_violet; - const static Color dark_yellow; - const static Color deep_pink; - const static Color deep_skyblue; - const static Color dim_gray; - const static Color dim_grey; - const static Color dodger_blue; - const static Color firebrick; - const static Color floral_white; - const static Color forest_green; - const static Color gainsboro; - const static Color ghost_white; - const static Color gold; - const static Color goldenrod; - const static Color green_yellow; - const static Color grey; - const static Color honeydew; - const static Color hot_pink; - const static Color indian_red; - const static Color indigo; - const static Color ivory; - const static Color khaki; - const static Color lavender; - const static Color lavender_blush; - const static Color lawn_green; - const static Color lemon_chiffon; - const static Color light_blue; - const static Color light_coral; - const static Color light_cyan; - const static Color light_goldenrodyellow; - const static Color light_green; - const static Color light_grey; - const static Color light_pink; - const static Color light_salmon; - const static Color light_sea_green; - const static Color light_sky_blue; - const static Color light_slate_gray; - const static Color light_slate_grey; - const static Color light_steel_blue; - const static Color light_yellow; - const static Color lime_green; - const static Color linen; - const static Color medium_aquamarine; - const static Color medium_blue; - const static Color medium_orchid; - const static Color medium_purple; - const static Color medium_sea_green; - const static Color medium_slate_blue; - const static Color medium_spring_green; - const static Color medium_turquoise; - const static Color medium_violet_red; - const static Color midnight_blue; - const static Color mint_cream; - const static Color misty_rose; - const static Color moccasin; - const static Color navajo_white; - const static Color old_lace; - const static Color olivedrab; - const static Color orange_red; - const static Color orchid; - const static Color pale_goldenrod; - const static Color pale_green; - const static Color pale_turquoise; - const static Color pale_violet_red; - const static Color papayawhip; - const static Color peachpuff; - const static Color peru; - const static Color pink; - const static Color plum; - const static Color powder_blue; - const static Color rosy_brown; - const static Color royal_blue; - const static Color saddle_brown; - const static Color salmon; - const static Color sandy_brown; - const static Color sea_green; - const static Color sea_shell; - const static Color sienna; - const static Color sky_blue; - const static Color slate_blue; - const static Color slate_gray; - const static Color slate_grey; - const static Color snow; - const static Color spring_green; - const static Color steel_blue; - const static Color tan; - const static Color thistle; - const static Color tomato; - const static Color turquoise; - const static Color violet; - const static Color wheat; - const static Color white_smoke; - const static Color yellow_green; - const static Color rebecca_purple; - }; - - inline const TDT4102::Color TDT4102::Color::transparent = [] { return TDT4102::Color{0, 0, 0, 0};}(); - inline const TDT4102::Color TDT4102::Color::silver = [] { return TDT4102::Color{0xc0c0c0};}(); - inline const TDT4102::Color TDT4102::Color::black = [] { return TDT4102::Color{0x000000};}(); - inline const TDT4102::Color TDT4102::Color::gray = [] { return TDT4102::Color{0x808080};}(); - inline const TDT4102::Color TDT4102::Color::white = [] { return TDT4102::Color{0xffffff};}(); - inline const TDT4102::Color TDT4102::Color::maroon = [] { return TDT4102::Color{0x800000};}(); - inline const TDT4102::Color TDT4102::Color::red = [] { return TDT4102::Color{0xff0000};}(); - inline const TDT4102::Color TDT4102::Color::purple = [] { return TDT4102::Color{0x800080};}(); - inline const TDT4102::Color TDT4102::Color::fuchsia = [] { return TDT4102::Color{0xff00ff};}(); - inline const TDT4102::Color TDT4102::Color::magenta = [] { return TDT4102::Color{0xff00ff};}(); - inline const TDT4102::Color TDT4102::Color::green = [] { return TDT4102::Color{0x008000};}(); - inline const TDT4102::Color TDT4102::Color::lime = [] { return TDT4102::Color{0x00ff00};}(); - inline const TDT4102::Color TDT4102::Color::olive = [] { return TDT4102::Color{0x808000};}(); - inline const TDT4102::Color TDT4102::Color::yellow = [] { return TDT4102::Color{0xffff00};}(); - inline const TDT4102::Color TDT4102::Color::navy = [] { return TDT4102::Color{0x000080};}(); - inline const TDT4102::Color TDT4102::Color::blue = [] { return TDT4102::Color{0x0000ff};}(); - inline const TDT4102::Color TDT4102::Color::teal = [] { return TDT4102::Color{0x008080};}(); - inline const TDT4102::Color TDT4102::Color::aqua = [] { return TDT4102::Color{0x00ffff};}(); - inline const TDT4102::Color TDT4102::Color::orange = [] { return TDT4102::Color{0xffa500};}(); - inline const TDT4102::Color TDT4102::Color::mid_gray = [] { return TDT4102::Color{0x6a6c6e};}(); - inline const TDT4102::Color TDT4102::Color::alice_blue = [] { return TDT4102::Color{0xf0f8ff};}(); - inline const TDT4102::Color TDT4102::Color::antique_white = [] { return TDT4102::Color{0xfaebd7};}(); - inline const TDT4102::Color TDT4102::Color::aquamarine = [] { return TDT4102::Color{0x7fffd4};}(); - inline const TDT4102::Color TDT4102::Color::azure = [] { return TDT4102::Color{0xf0ffff};}(); - inline const TDT4102::Color TDT4102::Color::beige = [] { return TDT4102::Color{0xf5f5dc};}(); - inline const TDT4102::Color TDT4102::Color::bisque = [] { return TDT4102::Color{0xffe4c4};}(); - inline const TDT4102::Color TDT4102::Color::blanched_almond = [] { return TDT4102::Color{0xffebcd};}(); - inline const TDT4102::Color TDT4102::Color::blue_violet = [] { return TDT4102::Color{0x8a2be2};}(); - inline const TDT4102::Color TDT4102::Color::brown = [] { return TDT4102::Color{0xa52a2a};}(); - inline const TDT4102::Color TDT4102::Color::burly_wood = [] { return TDT4102::Color{0xdeb887};}(); - inline const TDT4102::Color TDT4102::Color::cadet_blue = [] { return TDT4102::Color{0x5f9ea0};}(); - inline const TDT4102::Color TDT4102::Color::chart_reuse = [] { return TDT4102::Color{0x7fff00};}(); - inline const TDT4102::Color TDT4102::Color::chocolate = [] { return TDT4102::Color{0xd2691e};}(); - inline const TDT4102::Color TDT4102::Color::coral = [] { return TDT4102::Color{0xff7f50};}(); - inline const TDT4102::Color TDT4102::Color::cornflower_blue = [] { return TDT4102::Color{0x6495ed};}(); - inline const TDT4102::Color TDT4102::Color::corn_silk = [] { return TDT4102::Color{0xfff8dc};}(); - inline const TDT4102::Color TDT4102::Color::crimson = [] { return TDT4102::Color{0xdc143c};}(); - inline const TDT4102::Color TDT4102::Color::cyan = [] { return TDT4102::Color{0x00ffff};}(); - inline const TDT4102::Color TDT4102::Color::dark_blue = [] { return TDT4102::Color{0x00008b};}(); - inline const TDT4102::Color TDT4102::Color::dark_cyan = [] { return TDT4102::Color{0x008b8b};}(); - inline const TDT4102::Color TDT4102::Color::dark_goldenrod = [] { return TDT4102::Color{0xb8860b};}(); - inline const TDT4102::Color TDT4102::Color::dark_gray = [] { return TDT4102::Color{0xa9a9a9};}(); - inline const TDT4102::Color TDT4102::Color::dark_green = [] { return TDT4102::Color{0x006400};}(); - inline const TDT4102::Color TDT4102::Color::dark_grey = [] { return TDT4102::Color{0xa9a9a9};}(); - inline const TDT4102::Color TDT4102::Color::dark_khaki = [] { return TDT4102::Color{0xbdb76b};}(); - inline const TDT4102::Color TDT4102::Color::dark_magenta = [] { return TDT4102::Color{0x8b008b};}(); - inline const TDT4102::Color TDT4102::Color::dark_olivegreen = [] { return TDT4102::Color{0x556b2f};}(); - inline const TDT4102::Color TDT4102::Color::dark_orange = [] { return TDT4102::Color{0xff8c00};}(); - inline const TDT4102::Color TDT4102::Color::dark_orchid = [] { return TDT4102::Color{0x9932cc};}(); - inline const TDT4102::Color TDT4102::Color::dark_red = [] { return TDT4102::Color{0x8b0000};}(); - inline const TDT4102::Color TDT4102::Color::dark_salmon = [] { return TDT4102::Color{0xe9967a};}(); - inline const TDT4102::Color TDT4102::Color::dark_seagreen = [] { return TDT4102::Color{0x8fbc8f};}(); - inline const TDT4102::Color TDT4102::Color::dark_slateblue = [] { return TDT4102::Color{0x483d8b};}(); - inline const TDT4102::Color TDT4102::Color::dark_slategray = [] { return TDT4102::Color{0x2f4f4f};}(); - inline const TDT4102::Color TDT4102::Color::dark_slategrey = [] { return TDT4102::Color{0x2f4f4f};}(); - inline const TDT4102::Color TDT4102::Color::dark_turquoise = [] { return TDT4102::Color{0x00ced1};}(); - inline const TDT4102::Color TDT4102::Color::dark_violet = [] { return TDT4102::Color{0x9400d3};}(); - inline const TDT4102::Color TDT4102::Color::dark_yellow = [] { return TDT4102::Color{0xffcc00};}(); - inline const TDT4102::Color TDT4102::Color::deep_pink = [] { return TDT4102::Color{0xff1493};}(); - inline const TDT4102::Color TDT4102::Color::deep_skyblue = [] { return TDT4102::Color{0x00bfff};}(); - inline const TDT4102::Color TDT4102::Color::dim_gray = [] { return TDT4102::Color{0x696969};}(); - inline const TDT4102::Color TDT4102::Color::dim_grey = [] { return TDT4102::Color{0x696969};}(); - inline const TDT4102::Color TDT4102::Color::dodger_blue = [] { return TDT4102::Color{0x1e90ff};}(); - inline const TDT4102::Color TDT4102::Color::firebrick = [] { return TDT4102::Color{0xb22222};}(); - inline const TDT4102::Color TDT4102::Color::floral_white = [] { return TDT4102::Color{0xfffaf0};}(); - inline const TDT4102::Color TDT4102::Color::forest_green = [] { return TDT4102::Color{0x228b22};}(); - inline const TDT4102::Color TDT4102::Color::gainsboro = [] { return TDT4102::Color{0xdcdcdc};}(); - inline const TDT4102::Color TDT4102::Color::ghost_white = [] { return TDT4102::Color{0xf8f8ff};}(); - inline const TDT4102::Color TDT4102::Color::gold = [] { return TDT4102::Color{0xffd700};}(); - inline const TDT4102::Color TDT4102::Color::goldenrod = [] { return TDT4102::Color{0xdaa520};}(); - inline const TDT4102::Color TDT4102::Color::green_yellow = [] { return TDT4102::Color{0xadff2f};}(); - inline const TDT4102::Color TDT4102::Color::grey = [] { return TDT4102::Color{0x808080};}(); - inline const TDT4102::Color TDT4102::Color::honeydew = [] { return TDT4102::Color{0xf0fff0};}(); - inline const TDT4102::Color TDT4102::Color::hot_pink = [] { return TDT4102::Color{0xff69b4};}(); - inline const TDT4102::Color TDT4102::Color::indian_red = [] { return TDT4102::Color{0xcd5c5c};}(); - inline const TDT4102::Color TDT4102::Color::indigo = [] { return TDT4102::Color{0x4b0082};}(); - inline const TDT4102::Color TDT4102::Color::ivory = [] { return TDT4102::Color{0xfffff0};}(); - inline const TDT4102::Color TDT4102::Color::khaki = [] { return TDT4102::Color{0xf0e68c};}(); - inline const TDT4102::Color TDT4102::Color::lavender = [] { return TDT4102::Color{0xe6e6fa};}(); - inline const TDT4102::Color TDT4102::Color::lavender_blush = [] { return TDT4102::Color{0xfff0f5};}(); - inline const TDT4102::Color TDT4102::Color::lawn_green = [] { return TDT4102::Color{0x7cfc00};}(); - inline const TDT4102::Color TDT4102::Color::lemon_chiffon = [] { return TDT4102::Color{0xfffacd};}(); - inline const TDT4102::Color TDT4102::Color::light_blue = [] { return TDT4102::Color{0xadd8e6};}(); - inline const TDT4102::Color TDT4102::Color::light_coral = [] { return TDT4102::Color{0xf08080};}(); - inline const TDT4102::Color TDT4102::Color::light_cyan = [] { return TDT4102::Color{0xe0ffff};}(); - inline const TDT4102::Color TDT4102::Color::light_goldenrodyellow = [] { return TDT4102::Color{0xfafad2};}(); - inline const TDT4102::Color TDT4102::Color::light_gray = [] { return TDT4102::Color{0xd3d3d3};}(); - inline const TDT4102::Color TDT4102::Color::light_green = [] { return TDT4102::Color{0x90ee90};}(); - inline const TDT4102::Color TDT4102::Color::light_grey = [] { return TDT4102::Color{0xd3d3d3};}(); - inline const TDT4102::Color TDT4102::Color::light_pink = [] { return TDT4102::Color{0xffb6c1};}(); - inline const TDT4102::Color TDT4102::Color::light_salmon = [] { return TDT4102::Color{0xffa07a};}(); - inline const TDT4102::Color TDT4102::Color::light_sea_green = [] { return TDT4102::Color{0x20b2aa};}(); - inline const TDT4102::Color TDT4102::Color::light_sky_blue = [] { return TDT4102::Color{0x87cefa};}(); - inline const TDT4102::Color TDT4102::Color::light_slate_gray = [] { return TDT4102::Color{0x778899};}(); - inline const TDT4102::Color TDT4102::Color::light_slate_grey = [] { return TDT4102::Color{0x778899};}(); - inline const TDT4102::Color TDT4102::Color::light_steel_blue = [] { return TDT4102::Color{0xb0c4de};}(); - inline const TDT4102::Color TDT4102::Color::light_yellow = [] { return TDT4102::Color{0xffffe0};}(); - inline const TDT4102::Color TDT4102::Color::lime_green = [] { return TDT4102::Color{0x32cd32};}(); - inline const TDT4102::Color TDT4102::Color::linen = [] { return TDT4102::Color{0xfaf0e6};}(); - inline const TDT4102::Color TDT4102::Color::medium_aquamarine = [] { return TDT4102::Color{0x66cdaa};}(); - inline const TDT4102::Color TDT4102::Color::medium_blue = [] { return TDT4102::Color{0x0000cd};}(); - inline const TDT4102::Color TDT4102::Color::medium_orchid = [] { return TDT4102::Color{0xba55d3};}(); - inline const TDT4102::Color TDT4102::Color::medium_purple = [] { return TDT4102::Color{0x9370db};}(); - inline const TDT4102::Color TDT4102::Color::medium_sea_green = [] { return TDT4102::Color{0x3cb371};}(); - inline const TDT4102::Color TDT4102::Color::medium_slate_blue = [] { return TDT4102::Color{0x7b68ee};}(); - inline const TDT4102::Color TDT4102::Color::medium_spring_green = [] { return TDT4102::Color{0x00fa9a};}(); - inline const TDT4102::Color TDT4102::Color::medium_turquoise = [] { return TDT4102::Color{0x48d1cc};}(); - inline const TDT4102::Color TDT4102::Color::medium_violet_red = [] { return TDT4102::Color{0xc71585};}(); - inline const TDT4102::Color TDT4102::Color::midnight_blue = [] { return TDT4102::Color{0x191970};}(); - inline const TDT4102::Color TDT4102::Color::mint_cream = [] { return TDT4102::Color{0xf5fffa};}(); - inline const TDT4102::Color TDT4102::Color::misty_rose = [] { return TDT4102::Color{0xffe4e1};}(); - inline const TDT4102::Color TDT4102::Color::moccasin = [] { return TDT4102::Color{0xffe4b5};}(); - inline const TDT4102::Color TDT4102::Color::navajo_white = [] { return TDT4102::Color{0xffdead};}(); - inline const TDT4102::Color TDT4102::Color::old_lace = [] { return TDT4102::Color{0xfdf5e6};}(); - inline const TDT4102::Color TDT4102::Color::olivedrab = [] { return TDT4102::Color{0x6b8e23};}(); - inline const TDT4102::Color TDT4102::Color::orange_red = [] { return TDT4102::Color{0xff4500};}(); - inline const TDT4102::Color TDT4102::Color::orchid = [] { return TDT4102::Color{0xda70d6};}(); - inline const TDT4102::Color TDT4102::Color::pale_goldenrod = [] { return TDT4102::Color{0xeee8aa};}(); - inline const TDT4102::Color TDT4102::Color::pale_green = [] { return TDT4102::Color{0x98fb98};}(); - inline const TDT4102::Color TDT4102::Color::pale_turquoise = [] { return TDT4102::Color{0xafeeee};}(); - inline const TDT4102::Color TDT4102::Color::pale_violet_red = [] { return TDT4102::Color{0xdb7093};}(); - inline const TDT4102::Color TDT4102::Color::papayawhip = [] { return TDT4102::Color{0xffefd5};}(); - inline const TDT4102::Color TDT4102::Color::peachpuff = [] { return TDT4102::Color{0xffdab9};}(); - inline const TDT4102::Color TDT4102::Color::peru = [] { return TDT4102::Color{0xcd853f};}(); - inline const TDT4102::Color TDT4102::Color::pink = [] { return TDT4102::Color{0xffc0cb};}(); - inline const TDT4102::Color TDT4102::Color::plum = [] { return TDT4102::Color{0xdda0dd};}(); - inline const TDT4102::Color TDT4102::Color::powder_blue = [] { return TDT4102::Color{0xb0e0e6};}(); - inline const TDT4102::Color TDT4102::Color::rosy_brown = [] { return TDT4102::Color{0xbc8f8f};}(); - inline const TDT4102::Color TDT4102::Color::royal_blue = [] { return TDT4102::Color{0x4169e1};}(); - inline const TDT4102::Color TDT4102::Color::saddle_brown = [] { return TDT4102::Color{0x8b4513};}(); - inline const TDT4102::Color TDT4102::Color::salmon = [] { return TDT4102::Color{0xfa8072};}(); - inline const TDT4102::Color TDT4102::Color::sandy_brown = [] { return TDT4102::Color{0xf4a460};}(); - inline const TDT4102::Color TDT4102::Color::sea_green = [] { return TDT4102::Color{0x2e8b57};}(); - inline const TDT4102::Color TDT4102::Color::sea_shell = [] { return TDT4102::Color{0xfff5ee};}(); - inline const TDT4102::Color TDT4102::Color::sienna = [] { return TDT4102::Color{0xa0522d};}(); - inline const TDT4102::Color TDT4102::Color::sky_blue = [] { return TDT4102::Color{0x87ceeb};}(); - inline const TDT4102::Color TDT4102::Color::slate_blue = [] { return TDT4102::Color{0x6a5acd};}(); - inline const TDT4102::Color TDT4102::Color::slate_gray = [] { return TDT4102::Color{0x708090};}(); - inline const TDT4102::Color TDT4102::Color::slate_grey = [] { return TDT4102::Color{0x708090};}(); - inline const TDT4102::Color TDT4102::Color::snow = [] { return TDT4102::Color{0xfffafa};}(); - inline const TDT4102::Color TDT4102::Color::spring_green = [] { return TDT4102::Color{0x00ff7f};}(); - inline const TDT4102::Color TDT4102::Color::steel_blue = [] { return TDT4102::Color{0x4682b4};}(); - inline const TDT4102::Color TDT4102::Color::tan = [] { return TDT4102::Color{0xd2b48c};}(); - inline const TDT4102::Color TDT4102::Color::thistle = [] { return TDT4102::Color{0xd8bfd8};}(); - inline const TDT4102::Color TDT4102::Color::tomato = [] { return TDT4102::Color{0xff6347};}(); - inline const TDT4102::Color TDT4102::Color::turquoise = [] { return TDT4102::Color{0x40e0d0};}(); - inline const TDT4102::Color TDT4102::Color::violet = [] { return TDT4102::Color{0xee82ee};}(); - inline const TDT4102::Color TDT4102::Color::wheat = [] { return TDT4102::Color{0xf5deb3};}(); - inline const TDT4102::Color TDT4102::Color::white_smoke = [] { return TDT4102::Color{0xf5f5f5};}(); - inline const TDT4102::Color TDT4102::Color::yellow_green = [] { return TDT4102::Color{0x9acd32};}(); - inline const TDT4102::Color TDT4102::Color::rebecca_purple = [] { return TDT4102::Color{0x663399};}(); -} - diff --git a/subprojects/animationwindow/include/Font.h b/subprojects/animationwindow/include/Font.h deleted file mode 100644 index a0adc34bf..000000000 --- a/subprojects/animationwindow/include/Font.h +++ /dev/null @@ -1,22 +0,0 @@ -#pragma once - -namespace TDT4102 { - enum class Font { - defaultFont, - - arial, - arial_bold, - arial_italic, - arial_bold_italic, - - courier, - courier_bold, - courier_italic, - courier_bold_italic, - - times, - times_bold, - times_italic, - times_bold_italic - }; -} diff --git a/subprojects/animationwindow/include/Image.h b/subprojects/animationwindow/include/Image.h deleted file mode 100644 index 621e96f9b..000000000 --- a/subprojects/animationwindow/include/Image.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#include -#include "Point.h" -#include -#include "SDL_render.h" - -namespace TDT4102 { - struct Image { - // Allow the texture to be read out and drawn despite being private - friend class AnimationWindow; - - public: - explicit Image(); - explicit Image(std::filesystem::path pathToImageFile); - ~Image(); - - int width = 0; - int height = 0; - private: - - SDL_Texture *texture = nullptr; - std::filesystem::path src = "non existent file"; - - void load(SDL_Renderer* renderer); - void draw(SDL_Renderer* renderer, TDT4102::Point location, int imageWidth = 0, int imageHeight = 0); - }; -} diff --git a/subprojects/animationwindow/include/KeyboardKey.h b/subprojects/animationwindow/include/KeyboardKey.h deleted file mode 100644 index ed983a529..000000000 --- a/subprojects/animationwindow/include/KeyboardKey.h +++ /dev/null @@ -1,72 +0,0 @@ -#pragma once - -enum class KeyboardKey { - A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, - KEY_1, KEY_2, KEY_3, KEY_4, KEY_5, KEY_6, KEY_7, KEY_8, KEY_9, KEY_0, - NUMPAD_1, NUMPAD_2, NUMPAD_3, NUMPAD_4, NUMPAD_5, NUMPAD_6, NUMPAD_7, NUMPAD_8, NUMPAD_9, NUMPAD_0, - NUMPAD_COMMA, NUMPAD_SLASH, NUMPAD_ASTERISK, NUMPAD_MINUS, NUMPAD_PLUS, NUMPAD_ENTER, NUMPAD_PERIOD, NUMPAD_EQUALS, - AUDIO_MUTE, AUDIO_NEXT, AUDIO_PLAY, AUDIO_PREV, AUDIO_STOP, AUDIO_VOLUME_UP, AUDIO_VOLUME_DOWN, - F1, F2, F3, F4, F5, F6, F7, F8, F9, F10, F11, F12, F13, F14, F15, F16, F17, F18, F19, F20, F21, F22, F23, F24, - - // Norwegian keys - AA, AE, OO, - - BACKSPACE, - TAB, - ENTER, - PAUSE, - SCROLL_LOCK, - CAPS_LOCK, - NUM_LOCK, - ESCAPE, - HOME, - LEFT, - UP, - RIGHT, - DOWN, - PAGE_UP, - PAGE_DOWN, - END, - PRINT_SCREEN, - INSERT, - MENU, - LEFT_SHIFT, - RIGHT_SHIFT, - LEFT_CTRL, - RIGHT_CTRL, - SUPER_LEFT, - SUPER_RIGHT, - LEFT_ALT, - RIGHT_ALT, - DELETE, - UNDERSCORE, - AMPERSAND, - ASTERISK, - AT, - CARET, - COLON, - DOLLAR, - EXCLAMATION_MARK, - GREATER_THAN, - LESS_THAN, - HASH, - LEFT_PAREN, - RIGHT_PAREN, - PERCENT, - QUOTE, - DOUBLE_QUOTE, - PLUS, - SEMICOLON, - LEFT_BRACKET, - RIGHT_BRACKET, - PERIOD, - MINUS, - SPACE, - EQUALS, - BACKSLASH, - GRAVE, - COMMA, - SLASH, - QUESTION_MARK, - UNKNOWN -}; \ No newline at end of file diff --git a/subprojects/animationwindow/include/MessageType.h b/subprojects/animationwindow/include/MessageType.h deleted file mode 100644 index 14314ed66..000000000 --- a/subprojects/animationwindow/include/MessageType.h +++ /dev/null @@ -1,7 +0,0 @@ -#pragma once - -namespace TDT4102 { - enum class MessageType { - INFO, ERROR, WARNING, QUESTION - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/Point.h b/subprojects/animationwindow/include/Point.h deleted file mode 100644 index 1828fb4ab..000000000 --- a/subprojects/animationwindow/include/Point.h +++ /dev/null @@ -1,8 +0,0 @@ -#pragma once - -namespace TDT4102 { - struct Point { - int x = 0; - int y = 0; - }; -} diff --git a/subprojects/animationwindow/include/Widget.h b/subprojects/animationwindow/include/Widget.h deleted file mode 100644 index a18db1df1..000000000 --- a/subprojects/animationwindow/include/Widget.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#include -#include -#include "internal/nuklear_configured.h" -#include "Point.h" -#include "internal/windows_main_fix.h" - -namespace TDT4102 { - namespace internal { - [[maybe_unused]] static unsigned int nextWidgetID = 0; - } - - class AnimationWindow; - - class Widget { - friend class TDT4102::AnimationWindow; - private: - std::function callbackFunction; - TDT4102::Point position; - unsigned int width = 0; - unsigned int height = 0; - bool isVisible = true; - // Each window in Nuklear needs a unique name, so we generate a unique one for each widget - std::string uniqueWidgetName; - - protected: - void fire(); - virtual void update(nk_context* context) = 0; - explicit Widget(TDT4102::Point position, unsigned int width, unsigned int height); - public: - void setCallback(std::function callback); - virtual ~Widget() {} - void setVisible(bool isVisible); - unsigned int getWidth() const; - unsigned int getHeight() const; - void setSize(unsigned int newWidth, unsigned int newHeight); - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/internal/FontCache.h b/subprojects/animationwindow/include/internal/FontCache.h deleted file mode 100644 index e6a3aff45..000000000 --- a/subprojects/animationwindow/include/internal/FontCache.h +++ /dev/null @@ -1,57 +0,0 @@ -#pragma once - -#include -#include -#include -#include "Font.h" -#include "nuklear_configured.h" - -namespace TDT4102::internal { - // The root directories containing fonts that should be searched for the TTF files - // Paths are checked for existence before they are searched, and are thus effectively platform independent - static const std::vector TTFSearchDirectories = { - // Windows - "C:/Windows/Fonts", - - // MacOS - "/System/Library/Fonts", - "/Library/Fonts", - - // Linux - "/usr/share/fonts", - "/usr/local/share/fonts" - }; - - static const std::unordered_map> TTFFilenames { - {Font::arial, {"Arial.ttf", "arial.ttf", "LiberationSans.ttf", "LiberationSans-Regular.ttf", "DejaVuSans.ttf"}}, - {Font::arial_bold, {"Arial_Bold.ttf", "arialb.ttf", "arialbd.ttf", "Arial Bold.ttf", "LiberationSans-Bold.ttf", "DejaVuSans-Bold.ttf"}}, - {Font::arial_bold_italic, {"Arial_Bold_Italic.ttf", "arialbi.ttf", "Arial Bold Italic.ttf", "LiberationSans-BoldItalic.ttf", "DejaVuSans-BoldOblique.ttf"}}, - {Font::arial_italic, {"Arial_Italic.ttf", "ariali.ttf", "Arial Italic.ttf", "LiberationSans-Italic.ttf", "DejaVuSans-Oblique.ttf"}}, - - {Font::courier, {"Courier_New.ttf", "cour.ttf", "Courier New.ttf", "LiberationMono.ttf", "LiberationMono-Regular.ttf", "DejaVuSansMono.ttf"}}, - {Font::courier_bold, {"Courier_New_Bold.ttf", "courbd.ttf", "Courier New Bold.ttf", "LiberationMono-Bold.ttf", "DejaVuSansMono-Bold.ttf"}}, - {Font::courier_bold_italic, {"Courier_New_Bold_Italic.ttf", "courbi.ttf", "Courier New Bold Italic.ttf", "LiberationMono-BoldItalic.ttf", "DejaVuSansMono-BoldOblique.ttf"}}, - {Font::courier_italic, {"Courier_New_Italic.ttf", "couri.ttf", "Courier New Bold Italic.ttf", "LiberationMono-Italic.ttf", "DejaVuSansMono-Oblique.ttf"}}, - - {Font::times, {"Times_New_Roman.ttf", "times.ttf", "Times New Roman.ttf", "LiberationSerif.ttf", "LiberationSerif-Regular.ttf", "DejaVuSerif.ttf"}}, - {Font::times_bold, {"Times_New_Roman_Bold.ttf", "timesb.ttf", "timesbd.ttf", "Times New Roman Bold.ttf", "LiberationSerif-Bold.ttf", "DejaVuSerif-Bold.ttf"}}, - {Font::times_bold_italic, {"Times_New_Roman_Bold_Italic.ttf", "timesbi.ttf", "Times New Roman Bold Italic.ttf", "LiberationSerif-BoldItalic.ttf", "DejaVuSerif-BoldItalic.ttf"}}, - {Font::times_italic, {"Times_New_Roman_Italic.ttf", "timesi.ttf", "Times New Roman Italic.ttf", "LiberationSerif-Italic.ttf", "DejaVuSerif-Italic.ttf"}} - }; - - class FontCache { - // Map for keeping track where source TTF files are stored on disk - std::unordered_map fontFileLocations; - - // Maps a font face and size to a loaded font - std::unordered_map> loadedFonts; - std::unordered_map> loadedAtlases; - - std::filesystem::path findTTFInDirectory(const std::filesystem::path &directoryToSearch, const std::string &fontFileName); - std::filesystem::path findTTFFile(const std::string &filename); - void loadFont(nk_context *context, TDT4102::Font face, unsigned int size); - public: - void initialize(); - void setFont(nk_context* context, TDT4102::Font face, unsigned int size); - }; -} diff --git a/subprojects/animationwindow/include/internal/KeyboardKeyConverter.h b/subprojects/animationwindow/include/internal/KeyboardKeyConverter.h deleted file mode 100644 index d6b2e4109..000000000 --- a/subprojects/animationwindow/include/internal/KeyboardKeyConverter.h +++ /dev/null @@ -1,10 +0,0 @@ -#pragma once - -#include "KeyboardKey.h" -#include "SDL.h" - -namespace TDT4102 { - namespace internal { - KeyboardKey convertSDLKeyToKeyboardKey(SDL_Keysym key); - } -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/internal/nuklear.h b/subprojects/animationwindow/include/internal/nuklear.h deleted file mode 100644 index aef8f7fe9..000000000 --- a/subprojects/animationwindow/include/internal/nuklear.h +++ /dev/null @@ -1,30009 +0,0 @@ -/* -/// # Nuklear -/// ![](https://cloud.githubusercontent.com/assets/8057201/11761525/ae06f0ca-a0c6-11e5-819d-5610b25f6ef4.gif) -/// -/// ## Contents -/// 1. About section -/// 2. Highlights section -/// 3. Features section -/// 4. Usage section -/// 1. Flags section -/// 2. Constants section -/// 3. Dependencies section -/// 5. Example section -/// 6. API section -/// 1. Context section -/// 2. Input section -/// 3. Drawing section -/// 4. Window section -/// 5. Layouting section -/// 6. Groups section -/// 7. Tree section -/// 8. Properties section -/// 7. License section -/// 8. Changelog section -/// 9. Gallery section -/// 10. Credits section -/// -/// ## About -/// This is a minimal state immediate mode graphical user interface toolkit -/// written in ANSI C and licensed under public domain. It was designed as a simple -/// embeddable user interface for application and does not have any dependencies, -/// a default renderbackend or OS window and input handling but instead provides a very modular -/// library approach by using simple input state for input and draw -/// commands describing primitive shapes as output. So instead of providing a -/// layered library that tries to abstract over a number of platform and -/// render backends it only focuses on the actual UI. -/// -/// ## Highlights -/// - Graphical user interface toolkit -/// - Single header library -/// - Written in C89 (a.k.a. ANSI C or ISO C90) -/// - Small codebase (~18kLOC) -/// - Focus on portability, efficiency and simplicity -/// - No dependencies (not even the standard library if not wanted) -/// - Fully skinnable and customizable -/// - Low memory footprint with total memory control if needed or wanted -/// - UTF-8 support -/// - No global or hidden state -/// - Customizable library modules (you can compile and use only what you need) -/// - Optional font baker and vertex buffer output -/// -/// ## Features -/// - Absolutely no platform dependent code -/// - Memory management control ranging from/to -/// - Ease of use by allocating everything from standard library -/// - Control every byte of memory inside the library -/// - Font handling control ranging from/to -/// - Use your own font implementation for everything -/// - Use this libraries internal font baking and handling API -/// - Drawing output control ranging from/to -/// - Simple shapes for more high level APIs which already have drawing capabilities -/// - Hardware accessible anti-aliased vertex buffer output -/// - Customizable colors and properties ranging from/to -/// - Simple changes to color by filling a simple color table -/// - Complete control with ability to use skinning to decorate widgets -/// - Bendable UI library with widget ranging from/to -/// - Basic widgets like buttons, checkboxes, slider, ... -/// - Advanced widget like abstract comboboxes, contextual menus,... -/// - Compile time configuration to only compile what you need -/// - Subset which can be used if you do not want to link or use the standard library -/// - Can be easily modified to only update on user input instead of frame updates -/// -/// ## Usage -/// This library is self contained in one single header file and can be used either -/// in header only mode or in implementation mode. The header only mode is used -/// by default when included and allows including this header in other headers -/// and does not contain the actual implementation.

-/// -/// The implementation mode requires to define the preprocessor macro -/// NK_IMPLEMENTATION in *one* .c/.cpp file before #including this file, e.g.: -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~C -/// #define NK_IMPLEMENTATION -/// #include "nuklear.h" -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Also optionally define the symbols listed in the section "OPTIONAL DEFINES" -/// below in header and implementation mode if you want to use additional functionality -/// or need more control over the library. -/// -/// !!! WARNING -/// Every time nuklear is included define the same compiler flags. This very important not doing so could lead to compiler errors or even worse stack corruptions. -/// -/// ### Flags -/// Flag | Description -/// --------------------------------|------------------------------------------ -/// NK_PRIVATE | If defined declares all functions as static, so they can only be accessed inside the file that contains the implementation -/// NK_INCLUDE_FIXED_TYPES | If defined it will include header `` for fixed sized types otherwise nuklear tries to select the correct type. If that fails it will throw a compiler error and you have to select the correct types yourself. -/// NK_INCLUDE_DEFAULT_ALLOCATOR | If defined it will include header `` and provide additional functions to use this library without caring for memory allocation control and therefore ease memory management. -/// NK_INCLUDE_STANDARD_IO | If defined it will include header `` and provide additional functions depending on file loading. -/// NK_INCLUDE_STANDARD_VARARGS | If defined it will include header and provide additional functions depending on file loading. -/// NK_INCLUDE_STANDARD_BOOL | If defined it will include header `` for nk_bool otherwise nuklear defines nk_bool as int. -/// NK_INCLUDE_VERTEX_BUFFER_OUTPUT | Defining this adds a vertex draw command list backend to this library, which allows you to convert queue commands into vertex draw commands. This is mainly if you need a hardware accessible format for OpenGL, DirectX, Vulkan, Metal,... -/// NK_INCLUDE_FONT_BAKING | Defining this adds `stb_truetype` and `stb_rect_pack` implementation to this library and provides font baking and rendering. If you already have font handling or do not want to use this font handler you don't have to define it. -/// NK_INCLUDE_DEFAULT_FONT | Defining this adds the default font: ProggyClean.ttf into this library which can be loaded into a font atlas and allows using this library without having a truetype font -/// NK_INCLUDE_COMMAND_USERDATA | Defining this adds a userdata pointer into each command. Can be useful for example if you want to provide custom shaders depending on the used widget. Can be combined with the style structures. -/// NK_BUTTON_TRIGGER_ON_RELEASE | Different platforms require button clicks occurring either on buttons being pressed (up to down) or released (down to up). By default this library will react on buttons being pressed, but if you define this it will only trigger if a button is released. -/// NK_ZERO_COMMAND_MEMORY | Defining this will zero out memory for each drawing command added to a drawing queue (inside nk_command_buffer_push). Zeroing command memory is very useful for fast checking (using memcmp) if command buffers are equal and avoid drawing frames when nothing on screen has changed since previous frame. -/// NK_UINT_DRAW_INDEX | Defining this will set the size of vertex index elements when using NK_VERTEX_BUFFER_OUTPUT to 32bit instead of the default of 16bit -/// NK_KEYSTATE_BASED_INPUT | Define this if your backend uses key state for each frame rather than key press/release events -/// -/// !!! WARNING -/// The following flags will pull in the standard C library: -/// - NK_INCLUDE_DEFAULT_ALLOCATOR -/// - NK_INCLUDE_STANDARD_IO -/// - NK_INCLUDE_STANDARD_VARARGS -/// -/// !!! WARNING -/// The following flags if defined need to be defined for both header and implementation: -/// - NK_INCLUDE_FIXED_TYPES -/// - NK_INCLUDE_DEFAULT_ALLOCATOR -/// - NK_INCLUDE_STANDARD_VARARGS -/// - NK_INCLUDE_STANDARD_BOOL -/// - NK_INCLUDE_VERTEX_BUFFER_OUTPUT -/// - NK_INCLUDE_FONT_BAKING -/// - NK_INCLUDE_DEFAULT_FONT -/// - NK_INCLUDE_STANDARD_VARARGS -/// - NK_INCLUDE_COMMAND_USERDATA -/// - NK_UINT_DRAW_INDEX -/// -/// ### Constants -/// Define | Description -/// --------------------------------|--------------------------------------- -/// NK_BUFFER_DEFAULT_INITIAL_SIZE | Initial buffer size allocated by all buffers while using the default allocator functions included by defining NK_INCLUDE_DEFAULT_ALLOCATOR. If you don't want to allocate the default 4k memory then redefine it. -/// NK_MAX_NUMBER_BUFFER | Maximum buffer size for the conversion buffer between float and string Under normal circumstances this should be more than sufficient. -/// NK_INPUT_MAX | Defines the max number of bytes which can be added as text input in one frame. Under normal circumstances this should be more than sufficient. -/// -/// !!! WARNING -/// The following constants if defined need to be defined for both header and implementation: -/// - NK_MAX_NUMBER_BUFFER -/// - NK_BUFFER_DEFAULT_INITIAL_SIZE -/// - NK_INPUT_MAX -/// -/// ### Dependencies -/// Function | Description -/// ------------|--------------------------------------------------------------- -/// NK_ASSERT | If you don't define this, nuklear will use with assert(). -/// NK_MEMSET | You can define this to 'memset' or your own memset implementation replacement. If not nuklear will use its own version. -/// NK_MEMCPY | You can define this to 'memcpy' or your own memcpy implementation replacement. If not nuklear will use its own version. -/// NK_INV_SQRT | You can define this to your own inverse sqrt implementation replacement. If not nuklear will use its own slow and not highly accurate version. -/// NK_SIN | You can define this to 'sinf' or your own sine implementation replacement. If not nuklear will use its own approximation implementation. -/// NK_COS | You can define this to 'cosf' or your own cosine implementation replacement. If not nuklear will use its own approximation implementation. -/// NK_STRTOD | You can define this to `strtod` or your own string to double conversion implementation replacement. If not defined nuklear will use its own imprecise and possibly unsafe version (does not handle nan or infinity!). -/// NK_DTOA | You can define this to `dtoa` or your own double to string conversion implementation replacement. If not defined nuklear will use its own imprecise and possibly unsafe version (does not handle nan or infinity!). -/// NK_VSNPRINTF| If you define `NK_INCLUDE_STANDARD_VARARGS` as well as `NK_INCLUDE_STANDARD_IO` and want to be safe define this to `vsnprintf` on compilers supporting later versions of C or C++. By default nuklear will check for your stdlib version in C as well as compiler version in C++. if `vsnprintf` is available it will define it to `vsnprintf` directly. If not defined and if you have older versions of C or C++ it will be defined to `vsprintf` which is unsafe. -/// -/// !!! WARNING -/// The following dependencies will pull in the standard C library if not redefined: -/// - NK_ASSERT -/// -/// !!! WARNING -/// The following dependencies if defined need to be defined for both header and implementation: -/// - NK_ASSERT -/// -/// !!! WARNING -/// The following dependencies if defined need to be defined only for the implementation part: -/// - NK_MEMSET -/// - NK_MEMCPY -/// - NK_SQRT -/// - NK_SIN -/// - NK_COS -/// - NK_STRTOD -/// - NK_DTOA -/// - NK_VSNPRINTF -/// -/// ## Example -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// // init gui state -/// enum {EASY, HARD}; -/// static int op = EASY; -/// static float value = 0.6f; -/// static int i = 20; -/// struct nk_context ctx; -/// -/// nk_init_fixed(&ctx, calloc(1, MAX_MEMORY), MAX_MEMORY, &font); -/// if (nk_begin(&ctx, "Show", nk_rect(50, 50, 220, 220), -/// NK_WINDOW_BORDER|NK_WINDOW_MOVABLE|NK_WINDOW_CLOSABLE)) { -/// // fixed widget pixel width -/// nk_layout_row_static(&ctx, 30, 80, 1); -/// if (nk_button_label(&ctx, "button")) { -/// // event handling -/// } -/// -/// // fixed widget window ratio width -/// nk_layout_row_dynamic(&ctx, 30, 2); -/// if (nk_option_label(&ctx, "easy", op == EASY)) op = EASY; -/// if (nk_option_label(&ctx, "hard", op == HARD)) op = HARD; -/// -/// // custom widget pixel width -/// nk_layout_row_begin(&ctx, NK_STATIC, 30, 2); -/// { -/// nk_layout_row_push(&ctx, 50); -/// nk_label(&ctx, "Volume:", NK_TEXT_LEFT); -/// nk_layout_row_push(&ctx, 110); -/// nk_slider_float(&ctx, 0, &value, 1.0f, 0.1f); -/// } -/// nk_layout_row_end(&ctx); -/// } -/// nk_end(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// ![](https://cloud.githubusercontent.com/assets/8057201/10187981/584ecd68-675c-11e5-897c-822ef534a876.png) -/// -/// ## API -/// -*/ -#ifndef NK_SINGLE_FILE - #define NK_SINGLE_FILE -#endif - -#ifndef NK_NUKLEAR_H_ -#define NK_NUKLEAR_H_ - -#ifdef __cplusplus -extern "C" { -#endif -/* - * ============================================================== - * - * CONSTANTS - * - * =============================================================== - */ -#define NK_UNDEFINED (-1.0f) -#define NK_UTF_INVALID 0xFFFD /* internal invalid utf8 rune */ -#define NK_UTF_SIZE 4 /* describes the number of bytes a glyph consists of*/ -#ifndef NK_INPUT_MAX - #define NK_INPUT_MAX 16 -#endif -#ifndef NK_MAX_NUMBER_BUFFER - #define NK_MAX_NUMBER_BUFFER 64 -#endif -#ifndef NK_SCROLLBAR_HIDING_TIMEOUT - #define NK_SCROLLBAR_HIDING_TIMEOUT 4.0f -#endif -/* - * ============================================================== - * - * HELPER - * - * =============================================================== - */ -#ifndef NK_API - #ifdef NK_PRIVATE - #if (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199409L)) - #define NK_API static inline - #elif defined(__cplusplus) - #define NK_API static inline - #else - #define NK_API static - #endif - #else - #define NK_API extern - #endif -#endif -#ifndef NK_LIB - #ifdef NK_SINGLE_FILE - #define NK_LIB static - #else - #define NK_LIB extern - #endif -#endif - -#define NK_INTERN static -#define NK_STORAGE static -#define NK_GLOBAL static - -#define NK_FLAG(x) (1 << (x)) -#define NK_STRINGIFY(x) #x -#define NK_MACRO_STRINGIFY(x) NK_STRINGIFY(x) -#define NK_STRING_JOIN_IMMEDIATE(arg1, arg2) arg1 ## arg2 -#define NK_STRING_JOIN_DELAY(arg1, arg2) NK_STRING_JOIN_IMMEDIATE(arg1, arg2) -#define NK_STRING_JOIN(arg1, arg2) NK_STRING_JOIN_DELAY(arg1, arg2) - -#ifdef _MSC_VER - #define NK_UNIQUE_NAME(name) NK_STRING_JOIN(name,__COUNTER__) -#else - #define NK_UNIQUE_NAME(name) NK_STRING_JOIN(name,__LINE__) -#endif - -#ifndef NK_STATIC_ASSERT - #define NK_STATIC_ASSERT(exp) typedef char NK_UNIQUE_NAME(_dummy_array)[(exp)?1:-1] -#endif - -#ifndef NK_FILE_LINE -#ifdef _MSC_VER - #define NK_FILE_LINE __FILE__ ":" NK_MACRO_STRINGIFY(__COUNTER__) -#else - #define NK_FILE_LINE __FILE__ ":" NK_MACRO_STRINGIFY(__LINE__) -#endif -#endif - -#define NK_MIN(a,b) ((a) < (b) ? (a) : (b)) -#define NK_MAX(a,b) ((a) < (b) ? (b) : (a)) -#define NK_CLAMP(i,v,x) (NK_MAX(NK_MIN(v,x), i)) - -#ifdef NK_INCLUDE_STANDARD_VARARGS - #include - #if defined(_MSC_VER) && (_MSC_VER >= 1600) /* VS 2010 and above */ - #include - #define NK_PRINTF_FORMAT_STRING _Printf_format_string_ - #else - #define NK_PRINTF_FORMAT_STRING - #endif - #if defined(__GNUC__) - #define NK_PRINTF_VARARG_FUNC(fmtargnumber) __attribute__((format(__printf__, fmtargnumber, fmtargnumber+1))) - #define NK_PRINTF_VALIST_FUNC(fmtargnumber) __attribute__((format(__printf__, fmtargnumber, 0))) - #else - #define NK_PRINTF_VARARG_FUNC(fmtargnumber) - #define NK_PRINTF_VALIST_FUNC(fmtargnumber) - #endif -#endif - -/* - * =============================================================== - * - * BASIC - * - * =============================================================== - */ -#ifdef NK_INCLUDE_FIXED_TYPES - #include - #define NK_INT8 int8_t - #define NK_UINT8 uint8_t - #define NK_INT16 int16_t - #define NK_UINT16 uint16_t - #define NK_INT32 int32_t - #define NK_UINT32 uint32_t - #define NK_SIZE_TYPE uintptr_t - #define NK_POINTER_TYPE uintptr_t -#else - #ifndef NK_INT8 - #define NK_INT8 signed char - #endif - #ifndef NK_UINT8 - #define NK_UINT8 unsigned char - #endif - #ifndef NK_INT16 - #define NK_INT16 signed short - #endif - #ifndef NK_UINT16 - #define NK_UINT16 unsigned short - #endif - #ifndef NK_INT32 - #if defined(_MSC_VER) - #define NK_INT32 __int32 - #else - #define NK_INT32 signed int - #endif - #endif - #ifndef NK_UINT32 - #if defined(_MSC_VER) - #define NK_UINT32 unsigned __int32 - #else - #define NK_UINT32 unsigned int - #endif - #endif - #ifndef NK_SIZE_TYPE - #if defined(_WIN64) && defined(_MSC_VER) - #define NK_SIZE_TYPE unsigned __int64 - #elif (defined(_WIN32) || defined(WIN32)) && defined(_MSC_VER) - #define NK_SIZE_TYPE unsigned __int32 - #elif defined(__GNUC__) || defined(__clang__) - #if defined(__x86_64__) || defined(__ppc64__) - #define NK_SIZE_TYPE unsigned long - #else - #define NK_SIZE_TYPE unsigned int - #endif - #else - #define NK_SIZE_TYPE unsigned long - #endif - #endif - #ifndef NK_POINTER_TYPE - #if defined(_WIN64) && defined(_MSC_VER) - #define NK_POINTER_TYPE unsigned __int64 - #elif (defined(_WIN32) || defined(WIN32)) && defined(_MSC_VER) - #define NK_POINTER_TYPE unsigned __int32 - #elif defined(__GNUC__) || defined(__clang__) - #if defined(__x86_64__) || defined(__ppc64__) - #define NK_POINTER_TYPE unsigned long - #else - #define NK_POINTER_TYPE unsigned int - #endif - #else - #define NK_POINTER_TYPE unsigned long - #endif - #endif -#endif - -#ifndef NK_BOOL - #ifdef NK_INCLUDE_STANDARD_BOOL - #include - #define NK_BOOL bool - #else - #define NK_BOOL int /* could be char, use int for drop-in replacement backwards compatibility */ - #endif -#endif - -typedef NK_INT8 nk_char; -typedef NK_UINT8 nk_uchar; -typedef NK_UINT8 nk_byte; -typedef NK_INT16 nk_short; -typedef NK_UINT16 nk_ushort; -typedef NK_INT32 nk_int; -typedef NK_UINT32 nk_uint; -typedef NK_SIZE_TYPE nk_size; -typedef NK_POINTER_TYPE nk_ptr; -typedef NK_BOOL nk_bool; - -typedef nk_uint nk_hash; -typedef nk_uint nk_flags; -typedef nk_uint nk_rune; - -/* Make sure correct type size: - * This will fire with a negative subscript error if the type sizes - * are set incorrectly by the compiler, and compile out if not */ -NK_STATIC_ASSERT(sizeof(nk_short) == 2); -NK_STATIC_ASSERT(sizeof(nk_ushort) == 2); -NK_STATIC_ASSERT(sizeof(nk_uint) == 4); -NK_STATIC_ASSERT(sizeof(nk_int) == 4); -NK_STATIC_ASSERT(sizeof(nk_byte) == 1); -NK_STATIC_ASSERT(sizeof(nk_flags) >= 4); -NK_STATIC_ASSERT(sizeof(nk_rune) >= 4); -NK_STATIC_ASSERT(sizeof(nk_size) >= sizeof(void*)); -NK_STATIC_ASSERT(sizeof(nk_ptr) >= sizeof(void*)); -#ifdef NK_INCLUDE_STANDARD_BOOL -NK_STATIC_ASSERT(sizeof(nk_bool) == sizeof(bool)); -#else -NK_STATIC_ASSERT(sizeof(nk_bool) >= 2); -#endif - -/* ============================================================================ - * - * API - * - * =========================================================================== */ -struct nk_buffer; -struct nk_allocator; -struct nk_command_buffer; -struct nk_draw_command; -struct nk_convert_config; -struct nk_style_item; -struct nk_text_edit; -struct nk_draw_list; -struct nk_user_font; -struct nk_panel; -struct nk_context; -struct nk_draw_vertex_layout_element; -struct nk_style_button; -struct nk_style_toggle; -struct nk_style_selectable; -struct nk_style_slide; -struct nk_style_progress; -struct nk_style_scrollbar; -struct nk_style_edit; -struct nk_style_property; -struct nk_style_chart; -struct nk_style_combo; -struct nk_style_tab; -struct nk_style_window_header; -struct nk_style_window; - -enum {nk_false, nk_true}; -struct nk_color {nk_byte r,g,b,a;}; -struct nk_colorf {float r,g,b,a;}; -struct nk_vec2 {float x,y;}; -struct nk_vec2i {short x, y;}; -struct nk_rect {float x,y,w,h;}; -struct nk_recti {short x,y,w,h;}; -typedef char nk_glyph[NK_UTF_SIZE]; -typedef union {void *ptr; int id;} nk_handle; -struct nk_image {nk_handle handle; nk_ushort w, h; nk_ushort region[4];}; -struct nk_nine_slice {struct nk_image img; nk_ushort l, t, r, b;}; -struct nk_cursor {struct nk_image img; struct nk_vec2 size, offset;}; -struct nk_scroll {nk_uint x, y;}; - -enum nk_heading {NK_UP, NK_RIGHT, NK_DOWN, NK_LEFT}; -enum nk_button_behavior {NK_BUTTON_DEFAULT, NK_BUTTON_REPEATER}; -enum nk_modify {NK_FIXED = nk_false, NK_MODIFIABLE = nk_true}; -enum nk_orientation {NK_VERTICAL, NK_HORIZONTAL}; -enum nk_collapse_states {NK_MINIMIZED = nk_false, NK_MAXIMIZED = nk_true}; -enum nk_show_states {NK_HIDDEN = nk_false, NK_SHOWN = nk_true}; -enum nk_chart_type {NK_CHART_LINES, NK_CHART_COLUMN, NK_CHART_MAX}; -enum nk_chart_event {NK_CHART_HOVERING = 0x01, NK_CHART_CLICKED = 0x02}; -enum nk_color_format {NK_RGB, NK_RGBA}; -enum nk_popup_type {NK_POPUP_STATIC, NK_POPUP_DYNAMIC}; -enum nk_layout_format {NK_DYNAMIC, NK_STATIC}; -enum nk_tree_type {NK_TREE_NODE, NK_TREE_TAB}; - -typedef void*(*nk_plugin_alloc)(nk_handle, void *old, nk_size); -typedef void (*nk_plugin_free)(nk_handle, void *old); -typedef nk_bool(*nk_plugin_filter)(const struct nk_text_edit*, nk_rune unicode); -typedef void(*nk_plugin_paste)(nk_handle, struct nk_text_edit*); -typedef void(*nk_plugin_copy)(nk_handle, const char*, int len); - -struct nk_allocator { - nk_handle userdata; - nk_plugin_alloc alloc; - nk_plugin_free free; -}; -enum nk_symbol_type { - NK_SYMBOL_NONE, - NK_SYMBOL_X, - NK_SYMBOL_UNDERSCORE, - NK_SYMBOL_CIRCLE_SOLID, - NK_SYMBOL_CIRCLE_OUTLINE, - NK_SYMBOL_RECT_SOLID, - NK_SYMBOL_RECT_OUTLINE, - NK_SYMBOL_TRIANGLE_UP, - NK_SYMBOL_TRIANGLE_DOWN, - NK_SYMBOL_TRIANGLE_LEFT, - NK_SYMBOL_TRIANGLE_RIGHT, - NK_SYMBOL_PLUS, - NK_SYMBOL_MINUS, - NK_SYMBOL_MAX -}; -/* ============================================================================= - * - * CONTEXT - * - * =============================================================================*/ -/*/// ### Context -/// Contexts are the main entry point and the majestro of nuklear and contain all required state. -/// They are used for window, memory, input, style, stack, commands and time management and need -/// to be passed into all nuklear GUI specific functions. -/// -/// #### Usage -/// To use a context it first has to be initialized which can be achieved by calling -/// one of either `nk_init_default`, `nk_init_fixed`, `nk_init`, `nk_init_custom`. -/// Each takes in a font handle and a specific way of handling memory. Memory control -/// hereby ranges from standard library to just specifying a fixed sized block of memory -/// which nuklear has to manage itself from. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// // [...] -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// --------------------|------------------------------------------------------- -/// __nk_init_default__ | Initializes context with standard library memory allocation (malloc,free) -/// __nk_init_fixed__ | Initializes context from single fixed size memory block -/// __nk_init__ | Initializes context with memory allocator callbacks for alloc and free -/// __nk_init_custom__ | Initializes context from two buffers. One for draw commands the other for window/panel/table allocations -/// __nk_clear__ | Called at the end of the frame to reset and prepare the context for the next frame -/// __nk_free__ | Shutdown and free all memory allocated inside the context -/// __nk_set_user_data__| Utility function to pass user data to draw command - */ -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -/*/// #### nk_init_default -/// Initializes a `nk_context` struct with a default standard library allocator. -/// Should be used if you don't want to be bothered with memory management in nuklear. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_init_default(struct nk_context *ctx, const struct nk_user_font *font); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|--------------------------------------------------------------- -/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct -/// __font__ | Must point to a previously initialized font handle for more info look at font documentation -/// -/// Returns either `false(0)` on failure or `true(1)` on success. -/// -*/ -NK_API nk_bool nk_init_default(struct nk_context*, const struct nk_user_font*); -#endif -/*/// #### nk_init_fixed -/// Initializes a `nk_context` struct from single fixed size memory block -/// Should be used if you want complete control over nuklear's memory management. -/// Especially recommended for system with little memory or systems with virtual memory. -/// For the later case you can just allocate for example 16MB of virtual memory -/// and only the required amount of memory will actually be committed. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_init_fixed(struct nk_context *ctx, void *memory, nk_size size, const struct nk_user_font *font); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// !!! Warning -/// make sure the passed memory block is aligned correctly for `nk_draw_commands`. -/// -/// Parameter | Description -/// ------------|-------------------------------------------------------------- -/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct -/// __memory__ | Must point to a previously allocated memory block -/// __size__ | Must contain the total size of __memory__ -/// __font__ | Must point to a previously initialized font handle for more info look at font documentation -/// -/// Returns either `false(0)` on failure or `true(1)` on success. -*/ -NK_API nk_bool nk_init_fixed(struct nk_context*, void *memory, nk_size size, const struct nk_user_font*); -/*/// #### nk_init -/// Initializes a `nk_context` struct with memory allocation callbacks for nuklear to allocate -/// memory from. Used internally for `nk_init_default` and provides a kitchen sink allocation -/// interface to nuklear. Can be useful for cases like monitoring memory consumption. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_init(struct nk_context *ctx, struct nk_allocator *alloc, const struct nk_user_font *font); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|--------------------------------------------------------------- -/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct -/// __alloc__ | Must point to a previously allocated memory allocator -/// __font__ | Must point to a previously initialized font handle for more info look at font documentation -/// -/// Returns either `false(0)` on failure or `true(1)` on success. -*/ -NK_API nk_bool nk_init(struct nk_context*, struct nk_allocator*, const struct nk_user_font*); -/*/// #### nk_init_custom -/// Initializes a `nk_context` struct from two different either fixed or growing -/// buffers. The first buffer is for allocating draw commands while the second buffer is -/// used for allocating windows, panels and state tables. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_init_custom(struct nk_context *ctx, struct nk_buffer *cmds, struct nk_buffer *pool, const struct nk_user_font *font); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|--------------------------------------------------------------- -/// __ctx__ | Must point to an either stack or heap allocated `nk_context` struct -/// __cmds__ | Must point to a previously initialized memory buffer either fixed or dynamic to store draw commands into -/// __pool__ | Must point to a previously initialized memory buffer either fixed or dynamic to store windows, panels and tables -/// __font__ | Must point to a previously initialized font handle for more info look at font documentation -/// -/// Returns either `false(0)` on failure or `true(1)` on success. -*/ -NK_API nk_bool nk_init_custom(struct nk_context*, struct nk_buffer *cmds, struct nk_buffer *pool, const struct nk_user_font*); -/*/// #### nk_clear -/// Resets the context state at the end of the frame. This includes mostly -/// garbage collector tasks like removing windows or table not called and therefore -/// used anymore. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_clear(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -*/ -NK_API void nk_clear(struct nk_context*); -/*/// #### nk_free -/// Frees all memory allocated by nuklear. Not needed if context was -/// initialized with `nk_init_fixed`. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_free(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -*/ -NK_API void nk_free(struct nk_context*); -#ifdef NK_INCLUDE_COMMAND_USERDATA -/*/// #### nk_set_user_data -/// Sets the currently passed userdata passed down into each draw command. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_set_user_data(struct nk_context *ctx, nk_handle data); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|-------------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __data__ | Handle with either pointer or index to be passed into every draw commands -*/ -NK_API void nk_set_user_data(struct nk_context*, nk_handle handle); -#endif -/* ============================================================================= - * - * INPUT - * - * =============================================================================*/ -/*/// ### Input -/// The input API is responsible for holding the current input state composed of -/// mouse, key and text input states. -/// It is worth noting that no direct OS or window handling is done in nuklear. -/// Instead all input state has to be provided by platform specific code. This on one hand -/// expects more work from the user and complicates usage but on the other hand -/// provides simple abstraction over a big number of platforms, libraries and other -/// already provided functionality. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_input_begin(&ctx); -/// while (GetEvent(&evt)) { -/// if (evt.type == MOUSE_MOVE) -/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); -/// else if (evt.type == [...]) { -/// // [...] -/// } -/// } nk_input_end(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Usage -/// Input state needs to be provided to nuklear by first calling `nk_input_begin` -/// which resets internal state like delta mouse position and button transitions. -/// After `nk_input_begin` all current input state needs to be provided. This includes -/// mouse motion, button and key pressed and released, text input and scrolling. -/// Both event- or state-based input handling are supported by this API -/// and should work without problems. Finally after all input state has been -/// mirrored `nk_input_end` needs to be called to finish input process. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// Event evt; -/// nk_input_begin(&ctx); -/// while (GetEvent(&evt)) { -/// if (evt.type == MOUSE_MOVE) -/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); -/// else if (evt.type == [...]) { -/// // [...] -/// } -/// } -/// nk_input_end(&ctx); -/// // [...] -/// nk_clear(&ctx); -/// } nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// --------------------|------------------------------------------------------- -/// __nk_input_begin__ | Begins the input mirroring process. Needs to be called before all other `nk_input_xxx` calls -/// __nk_input_motion__ | Mirrors mouse cursor position -/// __nk_input_key__ | Mirrors key state with either pressed or released -/// __nk_input_button__ | Mirrors mouse button state with either pressed or released -/// __nk_input_scroll__ | Mirrors mouse scroll values -/// __nk_input_char__ | Adds a single ASCII text character into an internal text buffer -/// __nk_input_glyph__ | Adds a single multi-byte UTF-8 character into an internal text buffer -/// __nk_input_unicode__| Adds a single unicode rune into an internal text buffer -/// __nk_input_end__ | Ends the input mirroring process by calculating state changes. Don't call any `nk_input_xxx` function referenced above after this call -*/ -enum nk_keys { - NK_KEY_NONE, - NK_KEY_SHIFT, - NK_KEY_CTRL, - NK_KEY_DEL, - NK_KEY_ENTER, - NK_KEY_TAB, - NK_KEY_BACKSPACE, - NK_KEY_COPY, - NK_KEY_CUT, - NK_KEY_PASTE, - NK_KEY_UP, - NK_KEY_DOWN, - NK_KEY_LEFT, - NK_KEY_RIGHT, - /* Shortcuts: text field */ - NK_KEY_TEXT_INSERT_MODE, - NK_KEY_TEXT_REPLACE_MODE, - NK_KEY_TEXT_RESET_MODE, - NK_KEY_TEXT_LINE_START, - NK_KEY_TEXT_LINE_END, - NK_KEY_TEXT_START, - NK_KEY_TEXT_END, - NK_KEY_TEXT_UNDO, - NK_KEY_TEXT_REDO, - NK_KEY_TEXT_SELECT_ALL, - NK_KEY_TEXT_WORD_LEFT, - NK_KEY_TEXT_WORD_RIGHT, - /* Shortcuts: scrollbar */ - NK_KEY_SCROLL_START, - NK_KEY_SCROLL_END, - NK_KEY_SCROLL_DOWN, - NK_KEY_SCROLL_UP, - NK_KEY_MAX -}; -enum nk_buttons { - NK_BUTTON_LEFT, - NK_BUTTON_MIDDLE, - NK_BUTTON_RIGHT, - NK_BUTTON_DOUBLE, - NK_BUTTON_MAX -}; -/*/// #### nk_input_begin -/// Begins the input mirroring process by resetting text, scroll -/// mouse, previous mouse position and movement as well as key state transitions, -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_begin(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -*/ -NK_API void nk_input_begin(struct nk_context*); -/*/// #### nk_input_motion -/// Mirrors current mouse position to nuklear -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_motion(struct nk_context *ctx, int x, int y); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __x__ | Must hold an integer describing the current mouse cursor x-position -/// __y__ | Must hold an integer describing the current mouse cursor y-position -*/ -NK_API void nk_input_motion(struct nk_context*, int x, int y); -/*/// #### nk_input_key -/// Mirrors the state of a specific key to nuklear -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_key(struct nk_context*, enum nk_keys key, nk_bool down); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __key__ | Must be any value specified in enum `nk_keys` that needs to be mirrored -/// __down__ | Must be 0 for key is up and 1 for key is down -*/ -NK_API void nk_input_key(struct nk_context*, enum nk_keys, nk_bool down); -/*/// #### nk_input_button -/// Mirrors the state of a specific mouse button to nuklear -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_button(struct nk_context *ctx, enum nk_buttons btn, int x, int y, nk_bool down); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __btn__ | Must be any value specified in enum `nk_buttons` that needs to be mirrored -/// __x__ | Must contain an integer describing mouse cursor x-position on click up/down -/// __y__ | Must contain an integer describing mouse cursor y-position on click up/down -/// __down__ | Must be 0 for key is up and 1 for key is down -*/ -NK_API void nk_input_button(struct nk_context*, enum nk_buttons, int x, int y, nk_bool down); -/*/// #### nk_input_scroll -/// Copies the last mouse scroll value to nuklear. Is generally -/// a scroll value. So does not have to come from mouse and could also originate -/// TODO finish this sentence -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_scroll(struct nk_context *ctx, struct nk_vec2 val); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __val__ | vector with both X- as well as Y-scroll value -*/ -NK_API void nk_input_scroll(struct nk_context*, struct nk_vec2 val); -/*/// #### nk_input_char -/// Copies a single ASCII character into an internal text buffer -/// This is basically a helper function to quickly push ASCII characters into -/// nuklear. -/// -/// !!! Note -/// Stores up to NK_INPUT_MAX bytes between `nk_input_begin` and `nk_input_end`. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_char(struct nk_context *ctx, char c); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __c__ | Must be a single ASCII character preferable one that can be printed -*/ -NK_API void nk_input_char(struct nk_context*, char); -/*/// #### nk_input_glyph -/// Converts an encoded unicode rune into UTF-8 and copies the result into an -/// internal text buffer. -/// -/// !!! Note -/// Stores up to NK_INPUT_MAX bytes between `nk_input_begin` and `nk_input_end`. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_glyph(struct nk_context *ctx, const nk_glyph g); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __g__ | UTF-32 unicode codepoint -*/ -NK_API void nk_input_glyph(struct nk_context*, const nk_glyph); -/*/// #### nk_input_unicode -/// Converts a unicode rune into UTF-8 and copies the result -/// into an internal text buffer. -/// !!! Note -/// Stores up to NK_INPUT_MAX bytes between `nk_input_begin` and `nk_input_end`. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_unicode(struct nk_context*, nk_rune rune); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -/// __rune__ | UTF-32 unicode codepoint -*/ -NK_API void nk_input_unicode(struct nk_context*, nk_rune); -/*/// #### nk_input_end -/// End the input mirroring process by resetting mouse grabbing -/// state to ensure the mouse cursor is not grabbed indefinitely. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_input_end(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to a previously initialized `nk_context` struct -*/ -NK_API void nk_input_end(struct nk_context*); -/* ============================================================================= - * - * DRAWING - * - * =============================================================================*/ -/*/// ### Drawing -/// This library was designed to be render backend agnostic so it does -/// not draw anything to screen directly. Instead all drawn shapes, widgets -/// are made of, are buffered into memory and make up a command queue. -/// Each frame therefore fills the command buffer with draw commands -/// that then need to be executed by the user and his own render backend. -/// After that the command buffer needs to be cleared and a new frame can be -/// started. It is probably important to note that the command buffer is the main -/// drawing API and the optional vertex buffer API only takes this format and -/// converts it into a hardware accessible format. -/// -/// #### Usage -/// To draw all draw commands accumulated over a frame you need your own render -/// backend able to draw a number of 2D primitives. This includes at least -/// filled and stroked rectangles, circles, text, lines, triangles and scissors. -/// As soon as this criterion is met you can iterate over each draw command -/// and execute each draw command in a interpreter like fashion: -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// switch (cmd->type) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case //...: -/// //[...] -/// } -/// } -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// In program flow context draw commands need to be executed after input has been -/// gathered and the complete UI with windows and their contained widgets have -/// been executed and before calling `nk_clear` which frees all previously -/// allocated draw commands. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// Event evt; -/// nk_input_begin(&ctx); -/// while (GetEvent(&evt)) { -/// if (evt.type == MOUSE_MOVE) -/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); -/// else if (evt.type == [...]) { -/// [...] -/// } -/// } -/// nk_input_end(&ctx); -/// // -/// // [...] -/// // -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// switch (cmd->type) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case ...: -/// // [...] -/// } -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// You probably noticed that you have to draw all of the UI each frame which is -/// quite wasteful. While the actual UI updating loop is quite fast rendering -/// without actually needing it is not. So there are multiple things you could do. -/// -/// First is only update on input. This of course is only an option if your -/// application only depends on the UI and does not require any outside calculations. -/// If you actually only update on input make sure to update the UI two times each -/// frame and call `nk_clear` directly after the first pass and only draw in -/// the second pass. In addition it is recommended to also add additional timers -/// to make sure the UI is not drawn more than a fixed number of frames per second. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// // [...wait for input ] -/// // [...do two UI passes ...] -/// do_ui(...) -/// nk_clear(&ctx); -/// do_ui(...) -/// // -/// // draw -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// switch (cmd->type) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case ...: -/// //[...] -/// } -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// The second probably more applicable trick is to only draw if anything changed. -/// It is not really useful for applications with continuous draw loop but -/// quite useful for desktop applications. To actually get nuklear to only -/// draw on changes you first have to define `NK_ZERO_COMMAND_MEMORY` and -/// allocate a memory buffer that will store each unique drawing output. -/// After each frame you compare the draw command memory inside the library -/// with your allocated buffer by memcmp. If memcmp detects differences -/// you have to copy the command buffer into the allocated buffer -/// and then draw like usual (this example uses fixed memory but you could -/// use dynamically allocated memory). -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// //[... other defines ...] -/// #define NK_ZERO_COMMAND_MEMORY -/// #include "nuklear.h" -/// // -/// // setup context -/// struct nk_context ctx; -/// void *last = calloc(1,64*1024); -/// void *buf = calloc(1,64*1024); -/// nk_init_fixed(&ctx, buf, 64*1024); -/// // -/// // loop -/// while (1) { -/// // [...input...] -/// // [...ui...] -/// void *cmds = nk_buffer_memory(&ctx.memory); -/// if (memcmp(cmds, last, ctx.memory.allocated)) { -/// memcpy(last,cmds,ctx.memory.allocated); -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// switch (cmd->type) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case ...: -/// // [...] -/// } -/// } -/// } -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Finally while using draw commands makes sense for higher abstracted platforms like -/// X11 and Win32 or drawing libraries it is often desirable to use graphics -/// hardware directly. Therefore it is possible to just define -/// `NK_INCLUDE_VERTEX_BUFFER_OUTPUT` which includes optional vertex output. -/// To access the vertex output you first have to convert all draw commands into -/// vertexes by calling `nk_convert` which takes in your preferred vertex format. -/// After successfully converting all draw commands just iterate over and execute all -/// vertex draw commands: -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// // fill configuration -/// struct your_vertex -/// { -/// float pos[2]; // important to keep it to 2 floats -/// float uv[2]; -/// unsigned char col[4]; -/// }; -/// struct nk_convert_config cfg = {}; -/// static const struct nk_draw_vertex_layout_element vertex_layout[] = { -/// {NK_VERTEX_POSITION, NK_FORMAT_FLOAT, NK_OFFSETOF(struct your_vertex, pos)}, -/// {NK_VERTEX_TEXCOORD, NK_FORMAT_FLOAT, NK_OFFSETOF(struct your_vertex, uv)}, -/// {NK_VERTEX_COLOR, NK_FORMAT_R8G8B8A8, NK_OFFSETOF(struct your_vertex, col)}, -/// {NK_VERTEX_LAYOUT_END} -/// }; -/// cfg.shape_AA = NK_ANTI_ALIASING_ON; -/// cfg.line_AA = NK_ANTI_ALIASING_ON; -/// cfg.vertex_layout = vertex_layout; -/// cfg.vertex_size = sizeof(struct your_vertex); -/// cfg.vertex_alignment = NK_ALIGNOF(struct your_vertex); -/// cfg.circle_segment_count = 22; -/// cfg.curve_segment_count = 22; -/// cfg.arc_segment_count = 22; -/// cfg.global_alpha = 1.0f; -/// cfg.null = dev->null; -/// // -/// // setup buffers and convert -/// struct nk_buffer cmds, verts, idx; -/// nk_buffer_init_default(&cmds); -/// nk_buffer_init_default(&verts); -/// nk_buffer_init_default(&idx); -/// nk_convert(&ctx, &cmds, &verts, &idx, &cfg); -/// // -/// // draw -/// nk_draw_foreach(cmd, &ctx, &cmds) { -/// if (!cmd->elem_count) continue; -/// //[...] -/// } -/// nk_buffer_free(&cms); -/// nk_buffer_free(&verts); -/// nk_buffer_free(&idx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// --------------------|------------------------------------------------------- -/// __nk__begin__ | Returns the first draw command in the context draw command list to be drawn -/// __nk__next__ | Increments the draw command iterator to the next command inside the context draw command list -/// __nk_foreach__ | Iterates over each draw command inside the context draw command list -/// __nk_convert__ | Converts from the abstract draw commands list into a hardware accessible vertex format -/// __nk_draw_begin__ | Returns the first vertex command in the context vertex draw list to be executed -/// __nk__draw_next__ | Increments the vertex command iterator to the next command inside the context vertex command list -/// __nk__draw_end__ | Returns the end of the vertex draw list -/// __nk_draw_foreach__ | Iterates over each vertex draw command inside the vertex draw list -*/ -enum nk_anti_aliasing {NK_ANTI_ALIASING_OFF, NK_ANTI_ALIASING_ON}; -enum nk_convert_result { - NK_CONVERT_SUCCESS = 0, - NK_CONVERT_INVALID_PARAM = 1, - NK_CONVERT_COMMAND_BUFFER_FULL = NK_FLAG(1), - NK_CONVERT_VERTEX_BUFFER_FULL = NK_FLAG(2), - NK_CONVERT_ELEMENT_BUFFER_FULL = NK_FLAG(3) -}; -struct nk_draw_null_texture { - nk_handle texture; /* texture handle to a texture with a white pixel */ - struct nk_vec2 uv; /* coordinates to a white pixel in the texture */ -}; -struct nk_convert_config { - float global_alpha; /* global alpha value */ - enum nk_anti_aliasing line_AA; /* line anti-aliasing flag can be turned off if you are tight on memory */ - enum nk_anti_aliasing shape_AA; /* shape anti-aliasing flag can be turned off if you are tight on memory */ - unsigned circle_segment_count; /* number of segments used for circles: default to 22 */ - unsigned arc_segment_count; /* number of segments used for arcs: default to 22 */ - unsigned curve_segment_count; /* number of segments used for curves: default to 22 */ - struct nk_draw_null_texture null; /* handle to texture with a white pixel for shape drawing */ - const struct nk_draw_vertex_layout_element *vertex_layout; /* describes the vertex output format and packing */ - nk_size vertex_size; /* sizeof one vertex for vertex packing */ - nk_size vertex_alignment; /* vertex alignment: Can be obtained by NK_ALIGNOF */ -}; -/*/// #### nk__begin -/// Returns a draw command list iterator to iterate all draw -/// commands accumulated over one frame. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// const struct nk_command* nk__begin(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | must point to an previously initialized `nk_context` struct at the end of a frame -/// -/// Returns draw command pointer pointing to the first command inside the draw command list -*/ -NK_API const struct nk_command* nk__begin(struct nk_context*); -/*/// #### nk__next -/// Returns draw command pointer pointing to the next command inside the draw command list -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// const struct nk_command* nk__next(struct nk_context*, const struct nk_command*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -/// __cmd__ | Must point to an previously a draw command either returned by `nk__begin` or `nk__next` -/// -/// Returns draw command pointer pointing to the next command inside the draw command list -*/ -NK_API const struct nk_command* nk__next(struct nk_context*, const struct nk_command*); -/*/// #### nk_foreach -/// Iterates over each draw command inside the context draw command list -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// #define nk_foreach(c, ctx) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -/// __cmd__ | Command pointer initialized to NULL -/// -/// Iterates over each draw command inside the context draw command list -*/ -#define nk_foreach(c, ctx) for((c) = nk__begin(ctx); (c) != 0; (c) = nk__next(ctx,c)) -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT -/*/// #### nk_convert -/// Converts all internal draw commands into vertex draw commands and fills -/// three buffers with vertexes, vertex draw commands and vertex indices. The vertex format -/// as well as some other configuration values have to be configured by filling out a -/// `nk_convert_config` struct. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_flags nk_convert(struct nk_context *ctx, struct nk_buffer *cmds, -/// struct nk_buffer *vertices, struct nk_buffer *elements, const struct nk_convert_config*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -/// __cmds__ | Must point to a previously initialized buffer to hold converted vertex draw commands -/// __vertices__| Must point to a previously initialized buffer to hold all produced vertices -/// __elements__| Must point to a previously initialized buffer to hold all produced vertex indices -/// __config__ | Must point to a filled out `nk_config` struct to configure the conversion process -/// -/// Returns one of enum nk_convert_result error codes -/// -/// Parameter | Description -/// --------------------------------|----------------------------------------------------------- -/// NK_CONVERT_SUCCESS | Signals a successful draw command to vertex buffer conversion -/// NK_CONVERT_INVALID_PARAM | An invalid argument was passed in the function call -/// NK_CONVERT_COMMAND_BUFFER_FULL | The provided buffer for storing draw commands is full or failed to allocate more memory -/// NK_CONVERT_VERTEX_BUFFER_FULL | The provided buffer for storing vertices is full or failed to allocate more memory -/// NK_CONVERT_ELEMENT_BUFFER_FULL | The provided buffer for storing indices is full or failed to allocate more memory -*/ -NK_API nk_flags nk_convert(struct nk_context*, struct nk_buffer *cmds, struct nk_buffer *vertices, struct nk_buffer *elements, const struct nk_convert_config*); -/*/// #### nk__draw_begin -/// Returns a draw vertex command buffer iterator to iterate over the vertex draw command buffer -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// const struct nk_draw_command* nk__draw_begin(const struct nk_context*, const struct nk_buffer*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer -/// -/// Returns vertex draw command pointer pointing to the first command inside the vertex draw command buffer -*/ -NK_API const struct nk_draw_command* nk__draw_begin(const struct nk_context*, const struct nk_buffer*); -/*/// #### nk__draw_end -/// Returns the vertex draw command at the end of the vertex draw command buffer -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// const struct nk_draw_command* nk__draw_end(const struct nk_context *ctx, const struct nk_buffer *buf); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer -/// -/// Returns vertex draw command pointer pointing to the end of the last vertex draw command inside the vertex draw command buffer -*/ -NK_API const struct nk_draw_command* nk__draw_end(const struct nk_context*, const struct nk_buffer*); -/*/// #### nk__draw_next -/// Increments the vertex draw command buffer iterator -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// const struct nk_draw_command* nk__draw_next(const struct nk_draw_command*, const struct nk_buffer*, const struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __cmd__ | Must point to an previously either by `nk__draw_begin` or `nk__draw_next` returned vertex draw command -/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -/// -/// Returns vertex draw command pointer pointing to the end of the last vertex draw command inside the vertex draw command buffer -*/ -NK_API const struct nk_draw_command* nk__draw_next(const struct nk_draw_command*, const struct nk_buffer*, const struct nk_context*); -/*/// #### nk_draw_foreach -/// Iterates over each vertex draw command inside a vertex draw command buffer -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// #define nk_draw_foreach(cmd,ctx, b) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __cmd__ | `nk_draw_command`iterator set to NULL -/// __buf__ | Must point to an previously by `nk_convert` filled out vertex draw command buffer -/// __ctx__ | Must point to an previously initialized `nk_context` struct at the end of a frame -*/ -#define nk_draw_foreach(cmd,ctx, b) for((cmd)=nk__draw_begin(ctx, b); (cmd)!=0; (cmd)=nk__draw_next(cmd, b, ctx)) -#endif -/* ============================================================================= - * - * WINDOW - * - * ============================================================================= -/// ### Window -/// Windows are the main persistent state used inside nuklear and are life time -/// controlled by simply "retouching" (i.e. calling) each window each frame. -/// All widgets inside nuklear can only be added inside the function pair `nk_begin_xxx` -/// and `nk_end`. Calling any widgets outside these two functions will result in an -/// assert in debug or no state change in release mode.

-/// -/// Each window holds frame persistent state like position, size, flags, state tables, -/// and some garbage collected internal persistent widget state. Each window -/// is linked into a window stack list which determines the drawing and overlapping -/// order. The topmost window thereby is the currently active window.

-/// -/// To change window position inside the stack occurs either automatically by -/// user input by being clicked on or programmatically by calling `nk_window_focus`. -/// Windows by default are visible unless explicitly being defined with flag -/// `NK_WINDOW_HIDDEN`, the user clicked the close button on windows with flag -/// `NK_WINDOW_CLOSABLE` or if a window was explicitly hidden by calling -/// `nk_window_show`. To explicitly close and destroy a window call `nk_window_close`.

-/// -/// #### Usage -/// To create and keep a window you have to call one of the two `nk_begin_xxx` -/// functions to start window declarations and `nk_end` at the end. Furthermore it -/// is recommended to check the return value of `nk_begin_xxx` and only process -/// widgets inside the window if the value is not 0. Either way you have to call -/// `nk_end` at the end of window declarations. Furthermore, do not attempt to -/// nest `nk_begin_xxx` calls which will hopefully result in an assert or if not -/// in a segmentation fault. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // [... widgets ...] -/// } -/// nk_end(ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// In the grand concept window and widget declarations need to occur after input -/// handling and before drawing to screen. Not doing so can result in higher -/// latency or at worst invalid behavior. Furthermore make sure that `nk_clear` -/// is called at the end of the frame. While nuklear's default platform backends -/// already call `nk_clear` for you if you write your own backend not calling -/// `nk_clear` can cause asserts or even worse undefined behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// Event evt; -/// nk_input_begin(&ctx); -/// while (GetEvent(&evt)) { -/// if (evt.type == MOUSE_MOVE) -/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); -/// else if (evt.type == [...]) { -/// nk_input_xxx(...); -/// } -/// } -/// nk_input_end(&ctx); -/// -/// if (nk_begin_xxx(...) { -/// //[...] -/// } -/// nk_end(ctx); -/// -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case //...: -/// //[...] -/// } -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// ------------------------------------|---------------------------------------- -/// nk_begin | Starts a new window; needs to be called every frame for every window (unless hidden) or otherwise the window gets removed -/// nk_begin_titled | Extended window start with separated title and identifier to allow multiple windows with same name but not title -/// nk_end | Needs to be called at the end of the window building process to process scaling, scrollbars and general cleanup -// -/// nk_window_find | Finds and returns the window with give name -/// nk_window_get_bounds | Returns a rectangle with screen position and size of the currently processed window. -/// nk_window_get_position | Returns the position of the currently processed window -/// nk_window_get_size | Returns the size with width and height of the currently processed window -/// nk_window_get_width | Returns the width of the currently processed window -/// nk_window_get_height | Returns the height of the currently processed window -/// nk_window_get_panel | Returns the underlying panel which contains all processing state of the current window -/// nk_window_get_content_region | Returns the position and size of the currently visible and non-clipped space inside the currently processed window -/// nk_window_get_content_region_min | Returns the upper rectangle position of the currently visible and non-clipped space inside the currently processed window -/// nk_window_get_content_region_max | Returns the upper rectangle position of the currently visible and non-clipped space inside the currently processed window -/// nk_window_get_content_region_size | Returns the size of the currently visible and non-clipped space inside the currently processed window -/// nk_window_get_canvas | Returns the draw command buffer. Can be used to draw custom widgets -/// nk_window_get_scroll | Gets the scroll offset of the current window -/// nk_window_has_focus | Returns if the currently processed window is currently active -/// nk_window_is_collapsed | Returns if the window with given name is currently minimized/collapsed -/// nk_window_is_closed | Returns if the currently processed window was closed -/// nk_window_is_hidden | Returns if the currently processed window was hidden -/// nk_window_is_active | Same as nk_window_has_focus for some reason -/// nk_window_is_hovered | Returns if the currently processed window is currently being hovered by mouse -/// nk_window_is_any_hovered | Return if any window currently hovered -/// nk_item_is_any_active | Returns if any window or widgets is currently hovered or active -// -/// nk_window_set_bounds | Updates position and size of the currently processed window -/// nk_window_set_position | Updates position of the currently process window -/// nk_window_set_size | Updates the size of the currently processed window -/// nk_window_set_focus | Set the currently processed window as active window -/// nk_window_set_scroll | Sets the scroll offset of the current window -// -/// nk_window_close | Closes the window with given window name which deletes the window at the end of the frame -/// nk_window_collapse | Collapses the window with given window name -/// nk_window_collapse_if | Collapses the window with given window name if the given condition was met -/// nk_window_show | Hides a visible or reshows a hidden window -/// nk_window_show_if | Hides/shows a window depending on condition -*/ -/* -/// #### nk_panel_flags -/// Flag | Description -/// ----------------------------|---------------------------------------- -/// NK_WINDOW_BORDER | Draws a border around the window to visually separate window from the background -/// NK_WINDOW_MOVABLE | The movable flag indicates that a window can be moved by user input or by dragging the window header -/// NK_WINDOW_SCALABLE | The scalable flag indicates that a window can be scaled by user input by dragging a scaler icon at the button of the window -/// NK_WINDOW_CLOSABLE | Adds a closable icon into the header -/// NK_WINDOW_MINIMIZABLE | Adds a minimize icon into the header -/// NK_WINDOW_NO_SCROLLBAR | Removes the scrollbar from the window -/// NK_WINDOW_TITLE | Forces a header at the top at the window showing the title -/// NK_WINDOW_SCROLL_AUTO_HIDE | Automatically hides the window scrollbar if no user interaction: also requires delta time in `nk_context` to be set each frame -/// NK_WINDOW_BACKGROUND | Always keep window in the background -/// NK_WINDOW_SCALE_LEFT | Puts window scaler in the left-bottom corner instead right-bottom -/// NK_WINDOW_NO_INPUT | Prevents window of scaling, moving or getting focus -/// -/// #### nk_collapse_states -/// State | Description -/// ----------------|----------------------------------------------------------- -/// __NK_MINIMIZED__| UI section is collased and not visible until maximized -/// __NK_MAXIMIZED__| UI section is extended and visible until minimized -///

-*/ -enum nk_panel_flags { - NK_WINDOW_BORDER = NK_FLAG(0), - NK_WINDOW_MOVABLE = NK_FLAG(1), - NK_WINDOW_SCALABLE = NK_FLAG(2), - NK_WINDOW_CLOSABLE = NK_FLAG(3), - NK_WINDOW_MINIMIZABLE = NK_FLAG(4), - NK_WINDOW_NO_SCROLLBAR = NK_FLAG(5), - NK_WINDOW_TITLE = NK_FLAG(6), - NK_WINDOW_SCROLL_AUTO_HIDE = NK_FLAG(7), - NK_WINDOW_BACKGROUND = NK_FLAG(8), - NK_WINDOW_SCALE_LEFT = NK_FLAG(9), - NK_WINDOW_NO_INPUT = NK_FLAG(10) -}; -/*/// #### nk_begin -/// Starts a new window; needs to be called every frame for every -/// window (unless hidden) or otherwise the window gets removed -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_begin(struct nk_context *ctx, const char *title, struct nk_rect bounds, nk_flags flags); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __title__ | Window title and identifier. Needs to be persistent over frames to identify the window -/// __bounds__ | Initial position and window size. However if you do not define `NK_WINDOW_SCALABLE` or `NK_WINDOW_MOVABLE` you can set window position and size every frame -/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different window behaviors -/// -/// Returns `true(1)` if the window can be filled up with widgets from this point -/// until `nk_end` or `false(0)` otherwise for example if minimized -*/ -NK_API nk_bool nk_begin(struct nk_context *ctx, const char *title, struct nk_rect bounds, nk_flags flags); -/*/// #### nk_begin_titled -/// Extended window start with separated title and identifier to allow multiple -/// windows with same title but not name -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_begin_titled(struct nk_context *ctx, const char *name, const char *title, struct nk_rect bounds, nk_flags flags); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Window identifier. Needs to be persistent over frames to identify the window -/// __title__ | Window title displayed inside header if flag `NK_WINDOW_TITLE` or either `NK_WINDOW_CLOSABLE` or `NK_WINDOW_MINIMIZED` was set -/// __bounds__ | Initial position and window size. However if you do not define `NK_WINDOW_SCALABLE` or `NK_WINDOW_MOVABLE` you can set window position and size every frame -/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different window behaviors -/// -/// Returns `true(1)` if the window can be filled up with widgets from this point -/// until `nk_end` or `false(0)` otherwise for example if minimized -*/ -NK_API nk_bool nk_begin_titled(struct nk_context *ctx, const char *name, const char *title, struct nk_rect bounds, nk_flags flags); -/*/// #### nk_end -/// Needs to be called at the end of the window building process to process scaling, scrollbars and general cleanup. -/// All widget calls after this functions will result in asserts or no state changes -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_end(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -*/ -NK_API void nk_end(struct nk_context *ctx); -/*/// #### nk_window_find -/// Finds and returns a window from passed name -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_window *nk_window_find(struct nk_context *ctx, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Window identifier -/// -/// Returns a `nk_window` struct pointing to the identified window or NULL if -/// no window with the given name was found -*/ -NK_API struct nk_window *nk_window_find(struct nk_context *ctx, const char *name); -/*/// #### nk_window_get_bounds -/// Returns a rectangle with screen position and size of the currently processed window -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_rect nk_window_get_bounds(const struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns a `nk_rect` struct with window upper left window position and size -*/ -NK_API struct nk_rect nk_window_get_bounds(const struct nk_context *ctx); -/*/// #### nk_window_get_position -/// Returns the position of the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_window_get_position(const struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns a `nk_vec2` struct with window upper left position -*/ -NK_API struct nk_vec2 nk_window_get_position(const struct nk_context *ctx); -/*/// #### nk_window_get_size -/// Returns the size with width and height of the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_window_get_size(const struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns a `nk_vec2` struct with window width and height -*/ -NK_API struct nk_vec2 nk_window_get_size(const struct nk_context*); -/*/// #### nk_window_get_width -/// Returns the width of the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// float nk_window_get_width(const struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns the current window width -*/ -NK_API float nk_window_get_width(const struct nk_context*); -/*/// #### nk_window_get_height -/// Returns the height of the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// float nk_window_get_height(const struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns the current window height -*/ -NK_API float nk_window_get_height(const struct nk_context*); -/*/// #### nk_window_get_panel -/// Returns the underlying panel which contains all processing state of the current window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// !!! WARNING -/// Do not keep the returned panel pointer around, it is only valid until `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_panel* nk_window_get_panel(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns a pointer to window internal `nk_panel` state. -*/ -NK_API struct nk_panel* nk_window_get_panel(struct nk_context*); -/*/// #### nk_window_get_content_region -/// Returns the position and size of the currently visible and non-clipped space -/// inside the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_rect nk_window_get_content_region(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `nk_rect` struct with screen position and size (no scrollbar offset) -/// of the visible space inside the current window -*/ -NK_API struct nk_rect nk_window_get_content_region(struct nk_context*); -/*/// #### nk_window_get_content_region_min -/// Returns the upper left position of the currently visible and non-clipped -/// space inside the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_window_get_content_region_min(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// returns `nk_vec2` struct with upper left screen position (no scrollbar offset) -/// of the visible space inside the current window -*/ -NK_API struct nk_vec2 nk_window_get_content_region_min(struct nk_context*); -/*/// #### nk_window_get_content_region_max -/// Returns the lower right screen position of the currently visible and -/// non-clipped space inside the currently processed window. -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_window_get_content_region_max(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `nk_vec2` struct with lower right screen position (no scrollbar offset) -/// of the visible space inside the current window -*/ -NK_API struct nk_vec2 nk_window_get_content_region_max(struct nk_context*); -/*/// #### nk_window_get_content_region_size -/// Returns the size of the currently visible and non-clipped space inside the -/// currently processed window -/// -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_window_get_content_region_size(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `nk_vec2` struct with size the visible space inside the current window -*/ -NK_API struct nk_vec2 nk_window_get_content_region_size(struct nk_context*); -/*/// #### nk_window_get_canvas -/// Returns the draw command buffer. Can be used to draw custom widgets -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// !!! WARNING -/// Do not keep the returned command buffer pointer around it is only valid until `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_command_buffer* nk_window_get_canvas(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns a pointer to window internal `nk_command_buffer` struct used as -/// drawing canvas. Can be used to do custom drawing. -*/ -NK_API struct nk_command_buffer* nk_window_get_canvas(struct nk_context*); -/*/// #### nk_window_get_scroll -/// Gets the scroll offset for the current window -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_get_scroll(struct nk_context *ctx, nk_uint *offset_x, nk_uint *offset_y); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// -------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __offset_x__ | A pointer to the x offset output (or NULL to ignore) -/// __offset_y__ | A pointer to the y offset output (or NULL to ignore) -*/ -NK_API void nk_window_get_scroll(struct nk_context*, nk_uint *offset_x, nk_uint *offset_y); -/*/// #### nk_window_has_focus -/// Returns if the currently processed window is currently active -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_has_focus(const struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `false(0)` if current window is not active or `true(1)` if it is -*/ -NK_API nk_bool nk_window_has_focus(const struct nk_context*); -/*/// #### nk_window_is_hovered -/// Return if the current window is being hovered -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_is_hovered(struct nk_context *ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `true(1)` if current window is hovered or `false(0)` otherwise -*/ -NK_API nk_bool nk_window_is_hovered(struct nk_context*); -/*/// #### nk_window_is_collapsed -/// Returns if the window with given name is currently minimized/collapsed -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_is_collapsed(struct nk_context *ctx, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of window you want to check if it is collapsed -/// -/// Returns `true(1)` if current window is minimized and `false(0)` if window not -/// found or is not minimized -*/ -NK_API nk_bool nk_window_is_collapsed(struct nk_context *ctx, const char *name); -/*/// #### nk_window_is_closed -/// Returns if the window with given name was closed by calling `nk_close` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_is_closed(struct nk_context *ctx, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of window you want to check if it is closed -/// -/// Returns `true(1)` if current window was closed or `false(0)` window not found or not closed -*/ -NK_API nk_bool nk_window_is_closed(struct nk_context*, const char*); -/*/// #### nk_window_is_hidden -/// Returns if the window with given name is hidden -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_is_hidden(struct nk_context *ctx, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of window you want to check if it is hidden -/// -/// Returns `true(1)` if current window is hidden or `false(0)` window not found or visible -*/ -NK_API nk_bool nk_window_is_hidden(struct nk_context*, const char*); -/*/// #### nk_window_is_active -/// Same as nk_window_has_focus for some reason -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_is_active(struct nk_context *ctx, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of window you want to check if it is active -/// -/// Returns `true(1)` if current window is active or `false(0)` window not found or not active -*/ -NK_API nk_bool nk_window_is_active(struct nk_context*, const char*); -/*/// #### nk_window_is_any_hovered -/// Returns if the any window is being hovered -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_window_is_any_hovered(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `true(1)` if any window is hovered or `false(0)` otherwise -*/ -NK_API nk_bool nk_window_is_any_hovered(struct nk_context*); -/*/// #### nk_item_is_any_active -/// Returns if the any window is being hovered or any widget is currently active. -/// Can be used to decide if input should be processed by UI or your specific input handling. -/// Example could be UI and 3D camera to move inside a 3D space. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_item_is_any_active(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// -/// Returns `true(1)` if any window is hovered or any item is active or `false(0)` otherwise -*/ -NK_API nk_bool nk_item_is_any_active(struct nk_context*); -/*/// #### nk_window_set_bounds -/// Updates position and size of window with passed in name -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_set_bounds(struct nk_context*, const char *name, struct nk_rect bounds); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to modify both position and size -/// __bounds__ | Must point to a `nk_rect` struct with the new position and size -*/ -NK_API void nk_window_set_bounds(struct nk_context*, const char *name, struct nk_rect bounds); -/*/// #### nk_window_set_position -/// Updates position of window with passed name -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_set_position(struct nk_context*, const char *name, struct nk_vec2 pos); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to modify both position -/// __pos__ | Must point to a `nk_vec2` struct with the new position -*/ -NK_API void nk_window_set_position(struct nk_context*, const char *name, struct nk_vec2 pos); -/*/// #### nk_window_set_size -/// Updates size of window with passed in name -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_set_size(struct nk_context*, const char *name, struct nk_vec2); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to modify both window size -/// __size__ | Must point to a `nk_vec2` struct with new window size -*/ -NK_API void nk_window_set_size(struct nk_context*, const char *name, struct nk_vec2); -/*/// #### nk_window_set_focus -/// Sets the window with given name as active -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_set_focus(struct nk_context*, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to set focus on -*/ -NK_API void nk_window_set_focus(struct nk_context*, const char *name); -/*/// #### nk_window_set_scroll -/// Sets the scroll offset for the current window -/// !!! WARNING -/// Only call this function between calls `nk_begin_xxx` and `nk_end` -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_set_scroll(struct nk_context *ctx, nk_uint offset_x, nk_uint offset_y); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// -------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __offset_x__ | The x offset to scroll to -/// __offset_y__ | The y offset to scroll to -*/ -NK_API void nk_window_set_scroll(struct nk_context*, nk_uint offset_x, nk_uint offset_y); -/*/// #### nk_window_close -/// Closes a window and marks it for being freed at the end of the frame -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_close(struct nk_context *ctx, const char *name); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to close -*/ -NK_API void nk_window_close(struct nk_context *ctx, const char *name); -/*/// #### nk_window_collapse -/// Updates collapse state of a window with given name -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_collapse(struct nk_context*, const char *name, enum nk_collapse_states state); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to close -/// __state__ | value out of nk_collapse_states section -*/ -NK_API void nk_window_collapse(struct nk_context*, const char *name, enum nk_collapse_states state); -/*/// #### nk_window_collapse_if -/// Updates collapse state of a window with given name if given condition is met -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_collapse_if(struct nk_context*, const char *name, enum nk_collapse_states, int cond); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to either collapse or maximize -/// __state__ | value out of nk_collapse_states section the window should be put into -/// __cond__ | condition that has to be met to actually commit the collapse state change -*/ -NK_API void nk_window_collapse_if(struct nk_context*, const char *name, enum nk_collapse_states, int cond); -/*/// #### nk_window_show -/// updates visibility state of a window with given name -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_show(struct nk_context*, const char *name, enum nk_show_states); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to either collapse or maximize -/// __state__ | state with either visible or hidden to modify the window with -*/ -NK_API void nk_window_show(struct nk_context*, const char *name, enum nk_show_states); -/*/// #### nk_window_show_if -/// Updates visibility state of a window with given name if a given condition is met -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_window_show_if(struct nk_context*, const char *name, enum nk_show_states, int cond); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __name__ | Identifier of the window to either hide or show -/// __state__ | state with either visible or hidden to modify the window with -/// __cond__ | condition that has to be met to actually commit the visbility state change -*/ -NK_API void nk_window_show_if(struct nk_context*, const char *name, enum nk_show_states, int cond); -/* ============================================================================= - * - * LAYOUT - * - * ============================================================================= -/// ### Layouting -/// Layouting in general describes placing widget inside a window with position and size. -/// While in this particular implementation there are five different APIs for layouting -/// each with different trade offs between control and ease of use.

-/// -/// All layouting methods in this library are based around the concept of a row. -/// A row has a height the window content grows by and a number of columns and each -/// layouting method specifies how each widget is placed inside the row. -/// After a row has been allocated by calling a layouting functions and then -/// filled with widgets will advance an internal pointer over the allocated row.

-/// -/// To actually define a layout you just call the appropriate layouting function -/// and each subsequent widget call will place the widget as specified. Important -/// here is that if you define more widgets then columns defined inside the layout -/// functions it will allocate the next row without you having to make another layouting

-/// call. -/// -/// Biggest limitation with using all these APIs outside the `nk_layout_space_xxx` API -/// is that you have to define the row height for each. However the row height -/// often depends on the height of the font.

-/// -/// To fix that internally nuklear uses a minimum row height that is set to the -/// height plus padding of currently active font and overwrites the row height -/// value if zero.

-/// -/// If you manually want to change the minimum row height then -/// use nk_layout_set_min_row_height, and use nk_layout_reset_min_row_height to -/// reset it back to be derived from font height.

-/// -/// Also if you change the font in nuklear it will automatically change the minimum -/// row height for you and. This means if you change the font but still want -/// a minimum row height smaller than the font you have to repush your value.

-/// -/// For actually more advanced UI I would even recommend using the `nk_layout_space_xxx` -/// layouting method in combination with a cassowary constraint solver (there are -/// some versions on github with permissive license model) to take over all control over widget -/// layouting yourself. However for quick and dirty layouting using all the other layouting -/// functions should be fine. -/// -/// #### Usage -/// 1. __nk_layout_row_dynamic__

-/// The easiest layouting function is `nk_layout_row_dynamic`. It provides each -/// widgets with same horizontal space inside the row and dynamically grows -/// if the owning window grows in width. So the number of columns dictates -/// the size of each widget dynamically by formula: -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// widget_width = (window_width - padding - spacing) * (1/colum_count) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Just like all other layouting APIs if you define more widget than columns this -/// library will allocate a new row and keep all layouting parameters previously -/// defined. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // first row with height: 30 composed of two widgets -/// nk_layout_row_dynamic(&ctx, 30, 2); -/// nk_widget(...); -/// nk_widget(...); -/// // -/// // second row with same parameter as defined above -/// nk_widget(...); -/// nk_widget(...); -/// // -/// // third row uses 0 for height which will use auto layouting -/// nk_layout_row_dynamic(&ctx, 0, 2); -/// nk_widget(...); -/// nk_widget(...); -/// } -/// nk_end(...); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// 2. __nk_layout_row_static__

-/// Another easy layouting function is `nk_layout_row_static`. It provides each -/// widget with same horizontal pixel width inside the row and does not grow -/// if the owning window scales smaller or bigger. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // first row with height: 30 composed of two widgets with width: 80 -/// nk_layout_row_static(&ctx, 30, 80, 2); -/// nk_widget(...); -/// nk_widget(...); -/// // -/// // second row with same parameter as defined above -/// nk_widget(...); -/// nk_widget(...); -/// // -/// // third row uses 0 for height which will use auto layouting -/// nk_layout_row_static(&ctx, 0, 80, 2); -/// nk_widget(...); -/// nk_widget(...); -/// } -/// nk_end(...); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// 3. __nk_layout_row_xxx__

-/// A little bit more advanced layouting API are functions `nk_layout_row_begin`, -/// `nk_layout_row_push` and `nk_layout_row_end`. They allow to directly -/// specify each column pixel or window ratio in a row. It supports either -/// directly setting per column pixel width or widget window ratio but not -/// both. Furthermore it is a immediate mode API so each value is directly -/// pushed before calling a widget. Therefore the layout is not automatically -/// repeating like the last two layouting functions. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // first row with height: 25 composed of two widgets with width 60 and 40 -/// nk_layout_row_begin(ctx, NK_STATIC, 25, 2); -/// nk_layout_row_push(ctx, 60); -/// nk_widget(...); -/// nk_layout_row_push(ctx, 40); -/// nk_widget(...); -/// nk_layout_row_end(ctx); -/// // -/// // second row with height: 25 composed of two widgets with window ratio 0.25 and 0.75 -/// nk_layout_row_begin(ctx, NK_DYNAMIC, 25, 2); -/// nk_layout_row_push(ctx, 0.25f); -/// nk_widget(...); -/// nk_layout_row_push(ctx, 0.75f); -/// nk_widget(...); -/// nk_layout_row_end(ctx); -/// // -/// // third row with auto generated height: composed of two widgets with window ratio 0.25 and 0.75 -/// nk_layout_row_begin(ctx, NK_DYNAMIC, 0, 2); -/// nk_layout_row_push(ctx, 0.25f); -/// nk_widget(...); -/// nk_layout_row_push(ctx, 0.75f); -/// nk_widget(...); -/// nk_layout_row_end(ctx); -/// } -/// nk_end(...); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// 4. __nk_layout_row__

-/// The array counterpart to API nk_layout_row_xxx is the single nk_layout_row -/// functions. Instead of pushing either pixel or window ratio for every widget -/// it allows to define it by array. The trade of for less control is that -/// `nk_layout_row` is automatically repeating. Otherwise the behavior is the -/// same. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // two rows with height: 30 composed of two widgets with width 60 and 40 -/// const float size[] = {60,40}; -/// nk_layout_row(ctx, NK_STATIC, 30, 2, ratio); -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// // -/// // two rows with height: 30 composed of two widgets with window ratio 0.25 and 0.75 -/// const float ratio[] = {0.25, 0.75}; -/// nk_layout_row(ctx, NK_DYNAMIC, 30, 2, ratio); -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// // -/// // two rows with auto generated height composed of two widgets with window ratio 0.25 and 0.75 -/// const float ratio[] = {0.25, 0.75}; -/// nk_layout_row(ctx, NK_DYNAMIC, 30, 2, ratio); -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// } -/// nk_end(...); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// 5. __nk_layout_row_template_xxx__

-/// The most complex and second most flexible API is a simplified flexbox version without -/// line wrapping and weights for dynamic widgets. It is an immediate mode API but -/// unlike `nk_layout_row_xxx` it has auto repeat behavior and needs to be called -/// before calling the templated widgets. -/// The row template layout has three different per widget size specifier. The first -/// one is the `nk_layout_row_template_push_static` with fixed widget pixel width. -/// They do not grow if the row grows and will always stay the same. -/// The second size specifier is `nk_layout_row_template_push_variable` -/// which defines a minimum widget size but it also can grow if more space is available -/// not taken by other widgets. -/// Finally there are dynamic widgets with `nk_layout_row_template_push_dynamic` -/// which are completely flexible and unlike variable widgets can even shrink -/// to zero if not enough space is provided. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // two rows with height: 30 composed of three widgets -/// nk_layout_row_template_begin(ctx, 30); -/// nk_layout_row_template_push_dynamic(ctx); -/// nk_layout_row_template_push_variable(ctx, 80); -/// nk_layout_row_template_push_static(ctx, 80); -/// nk_layout_row_template_end(ctx); -/// // -/// // first row -/// nk_widget(...); // dynamic widget can go to zero if not enough space -/// nk_widget(...); // variable widget with min 80 pixel but can grow bigger if enough space -/// nk_widget(...); // static widget with fixed 80 pixel width -/// // -/// // second row same layout -/// nk_widget(...); -/// nk_widget(...); -/// nk_widget(...); -/// } -/// nk_end(...); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// 6. __nk_layout_space_xxx__

-/// Finally the most flexible API directly allows you to place widgets inside the -/// window. The space layout API is an immediate mode API which does not support -/// row auto repeat and directly sets position and size of a widget. Position -/// and size hereby can be either specified as ratio of allocated space or -/// allocated space local position and pixel size. Since this API is quite -/// powerful there are a number of utility functions to get the available space -/// and convert between local allocated space and screen space. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_begin_xxx(...) { -/// // static row with height: 500 (you can set column count to INT_MAX if you don't want to be bothered) -/// nk_layout_space_begin(ctx, NK_STATIC, 500, INT_MAX); -/// nk_layout_space_push(ctx, nk_rect(0,0,150,200)); -/// nk_widget(...); -/// nk_layout_space_push(ctx, nk_rect(200,200,100,200)); -/// nk_widget(...); -/// nk_layout_space_end(ctx); -/// // -/// // dynamic row with height: 500 (you can set column count to INT_MAX if you don't want to be bothered) -/// nk_layout_space_begin(ctx, NK_DYNAMIC, 500, INT_MAX); -/// nk_layout_space_push(ctx, nk_rect(0.5,0.5,0.1,0.1)); -/// nk_widget(...); -/// nk_layout_space_push(ctx, nk_rect(0.7,0.6,0.1,0.1)); -/// nk_widget(...); -/// } -/// nk_end(...); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// ----------------------------------------|------------------------------------ -/// nk_layout_set_min_row_height | Set the currently used minimum row height to a specified value -/// nk_layout_reset_min_row_height | Resets the currently used minimum row height to font height -/// nk_layout_widget_bounds | Calculates current width a static layout row can fit inside a window -/// nk_layout_ratio_from_pixel | Utility functions to calculate window ratio from pixel size -// -/// nk_layout_row_dynamic | Current layout is divided into n same sized growing columns -/// nk_layout_row_static | Current layout is divided into n same fixed sized columns -/// nk_layout_row_begin | Starts a new row with given height and number of columns -/// nk_layout_row_push | Pushes another column with given size or window ratio -/// nk_layout_row_end | Finished previously started row -/// nk_layout_row | Specifies row columns in array as either window ratio or size -// -/// nk_layout_row_template_begin | Begins the row template declaration -/// nk_layout_row_template_push_dynamic | Adds a dynamic column that dynamically grows and can go to zero if not enough space -/// nk_layout_row_template_push_variable | Adds a variable column that dynamically grows but does not shrink below specified pixel width -/// nk_layout_row_template_push_static | Adds a static column that does not grow and will always have the same size -/// nk_layout_row_template_end | Marks the end of the row template -// -/// nk_layout_space_begin | Begins a new layouting space that allows to specify each widgets position and size -/// nk_layout_space_push | Pushes position and size of the next widget in own coordinate space either as pixel or ratio -/// nk_layout_space_end | Marks the end of the layouting space -// -/// nk_layout_space_bounds | Callable after nk_layout_space_begin and returns total space allocated -/// nk_layout_space_to_screen | Converts vector from nk_layout_space coordinate space into screen space -/// nk_layout_space_to_local | Converts vector from screen space into nk_layout_space coordinates -/// nk_layout_space_rect_to_screen | Converts rectangle from nk_layout_space coordinate space into screen space -/// nk_layout_space_rect_to_local | Converts rectangle from screen space into nk_layout_space coordinates -*/ -/*/// #### nk_layout_set_min_row_height -/// Sets the currently used minimum row height. -/// !!! WARNING -/// The passed height needs to include both your preferred row height -/// as well as padding. No internal padding is added. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_set_min_row_height(struct nk_context*, float height); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __height__ | New minimum row height to be used for auto generating the row height -*/ -NK_API void nk_layout_set_min_row_height(struct nk_context*, float height); -/*/// #### nk_layout_reset_min_row_height -/// Reset the currently used minimum row height back to `font_height + text_padding + padding` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_reset_min_row_height(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -*/ -NK_API void nk_layout_reset_min_row_height(struct nk_context*); -/*/// #### nk_layout_widget_bounds -/// Returns the width of the next row allocate by one of the layouting functions -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_rect nk_layout_widget_bounds(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// -/// Return `nk_rect` with both position and size of the next row -*/ -NK_API struct nk_rect nk_layout_widget_bounds(struct nk_context*); -/*/// #### nk_layout_ratio_from_pixel -/// Utility functions to calculate window ratio from pixel size -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// float nk_layout_ratio_from_pixel(struct nk_context*, float pixel_width); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __pixel__ | Pixel_width to convert to window ratio -/// -/// Returns `nk_rect` with both position and size of the next row -*/ -NK_API float nk_layout_ratio_from_pixel(struct nk_context*, float pixel_width); -/*/// #### nk_layout_row_dynamic -/// Sets current row layout to share horizontal space -/// between @cols number of widgets evenly. Once called all subsequent widget -/// calls greater than @cols will allocate a new row with same layout. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_dynamic(struct nk_context *ctx, float height, int cols); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __height__ | Holds height of each widget in row or zero for auto layouting -/// __columns__ | Number of widget inside row -*/ -NK_API void nk_layout_row_dynamic(struct nk_context *ctx, float height, int cols); -/*/// #### nk_layout_row_static -/// Sets current row layout to fill @cols number of widgets -/// in row with same @item_width horizontal size. Once called all subsequent widget -/// calls greater than @cols will allocate a new row with same layout. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_static(struct nk_context *ctx, float height, int item_width, int cols); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __height__ | Holds height of each widget in row or zero for auto layouting -/// __width__ | Holds pixel width of each widget in the row -/// __columns__ | Number of widget inside row -*/ -NK_API void nk_layout_row_static(struct nk_context *ctx, float height, int item_width, int cols); -/*/// #### nk_layout_row_begin -/// Starts a new dynamic or fixed row with given height and columns. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_begin(struct nk_context *ctx, enum nk_layout_format fmt, float row_height, int cols); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __fmt__ | either `NK_DYNAMIC` for window ratio or `NK_STATIC` for fixed size columns -/// __height__ | holds height of each widget in row or zero for auto layouting -/// __columns__ | Number of widget inside row -*/ -NK_API void nk_layout_row_begin(struct nk_context *ctx, enum nk_layout_format fmt, float row_height, int cols); -/*/// #### nk_layout_row_push -/// Specifies either window ratio or width of a single column -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_push(struct nk_context*, float value); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __value__ | either a window ratio or fixed width depending on @fmt in previous `nk_layout_row_begin` call -*/ -NK_API void nk_layout_row_push(struct nk_context*, float value); -/*/// #### nk_layout_row_end -/// Finished previously started row -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_end(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -*/ -NK_API void nk_layout_row_end(struct nk_context*); -/*/// #### nk_layout_row -/// Specifies row columns in array as either window ratio or size -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row(struct nk_context*, enum nk_layout_format, float height, int cols, const float *ratio); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __fmt__ | Either `NK_DYNAMIC` for window ratio or `NK_STATIC` for fixed size columns -/// __height__ | Holds height of each widget in row or zero for auto layouting -/// __columns__ | Number of widget inside row -*/ -NK_API void nk_layout_row(struct nk_context*, enum nk_layout_format, float height, int cols, const float *ratio); -/*/// #### nk_layout_row_template_begin -/// Begins the row template declaration -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_template_begin(struct nk_context*, float row_height); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __height__ | Holds height of each widget in row or zero for auto layouting -*/ -NK_API void nk_layout_row_template_begin(struct nk_context*, float row_height); -/*/// #### nk_layout_row_template_push_dynamic -/// Adds a dynamic column that dynamically grows and can go to zero if not enough space -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_template_push_dynamic(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __height__ | Holds height of each widget in row or zero for auto layouting -*/ -NK_API void nk_layout_row_template_push_dynamic(struct nk_context*); -/*/// #### nk_layout_row_template_push_variable -/// Adds a variable column that dynamically grows but does not shrink below specified pixel width -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_template_push_variable(struct nk_context*, float min_width); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __width__ | Holds the minimum pixel width the next column must always be -*/ -NK_API void nk_layout_row_template_push_variable(struct nk_context*, float min_width); -/*/// #### nk_layout_row_template_push_static -/// Adds a static column that does not grow and will always have the same size -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_template_push_static(struct nk_context*, float width); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __width__ | Holds the absolute pixel width value the next column must be -*/ -NK_API void nk_layout_row_template_push_static(struct nk_context*, float width); -/*/// #### nk_layout_row_template_end -/// Marks the end of the row template -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_row_template_end(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -*/ -NK_API void nk_layout_row_template_end(struct nk_context*); -/*/// #### nk_layout_space_begin -/// Begins a new layouting space that allows to specify each widgets position and size. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_space_begin(struct nk_context*, enum nk_layout_format, float height, int widget_count); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_begin_xxx` -/// __fmt__ | Either `NK_DYNAMIC` for window ratio or `NK_STATIC` for fixed size columns -/// __height__ | Holds height of each widget in row or zero for auto layouting -/// __columns__ | Number of widgets inside row -*/ -NK_API void nk_layout_space_begin(struct nk_context*, enum nk_layout_format, float height, int widget_count); -/*/// #### nk_layout_space_push -/// Pushes position and size of the next widget in own coordinate space either as pixel or ratio -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_space_push(struct nk_context *ctx, struct nk_rect bounds); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// __bounds__ | Position and size in laoyut space local coordinates -*/ -NK_API void nk_layout_space_push(struct nk_context*, struct nk_rect bounds); -/*/// #### nk_layout_space_end -/// Marks the end of the layout space -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_layout_space_end(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -*/ -NK_API void nk_layout_space_end(struct nk_context*); -/*/// #### nk_layout_space_bounds -/// Utility function to calculate total space allocated for `nk_layout_space` -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_rect nk_layout_space_bounds(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// -/// Returns `nk_rect` holding the total space allocated -*/ -NK_API struct nk_rect nk_layout_space_bounds(struct nk_context*); -/*/// #### nk_layout_space_to_screen -/// Converts vector from nk_layout_space coordinate space into screen space -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_layout_space_to_screen(struct nk_context*, struct nk_vec2); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// __vec__ | Position to convert from layout space into screen coordinate space -/// -/// Returns transformed `nk_vec2` in screen space coordinates -*/ -NK_API struct nk_vec2 nk_layout_space_to_screen(struct nk_context*, struct nk_vec2); -/*/// #### nk_layout_space_to_local -/// Converts vector from layout space into screen space -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_vec2 nk_layout_space_to_local(struct nk_context*, struct nk_vec2); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// __vec__ | Position to convert from screen space into layout coordinate space -/// -/// Returns transformed `nk_vec2` in layout space coordinates -*/ -NK_API struct nk_vec2 nk_layout_space_to_local(struct nk_context*, struct nk_vec2); -/*/// #### nk_layout_space_rect_to_screen -/// Converts rectangle from screen space into layout space -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_rect nk_layout_space_rect_to_screen(struct nk_context*, struct nk_rect); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// __bounds__ | Rectangle to convert from layout space into screen space -/// -/// Returns transformed `nk_rect` in screen space coordinates -*/ -NK_API struct nk_rect nk_layout_space_rect_to_screen(struct nk_context*, struct nk_rect); -/*/// #### nk_layout_space_rect_to_local -/// Converts rectangle from layout space into screen space -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_rect nk_layout_space_rect_to_local(struct nk_context*, struct nk_rect); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// __bounds__ | Rectangle to convert from layout space into screen space -/// -/// Returns transformed `nk_rect` in layout space coordinates -*/ -NK_API struct nk_rect nk_layout_space_rect_to_local(struct nk_context*, struct nk_rect); - -/*/// #### nk_spacer -/// Spacer is a dummy widget that consumes space as usual but doesn't draw anything -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_spacer(struct nk_context* ); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after call `nk_layout_space_begin` -/// -*/ -NK_API void nk_spacer(struct nk_context* ); - - -/* ============================================================================= - * - * GROUP - * - * ============================================================================= -/// ### Groups -/// Groups are basically windows inside windows. They allow to subdivide space -/// in a window to layout widgets as a group. Almost all more complex widget -/// layouting requirements can be solved using groups and basic layouting -/// fuctionality. Groups just like windows are identified by an unique name and -/// internally keep track of scrollbar offsets by default. However additional -/// versions are provided to directly manage the scrollbar. -/// -/// #### Usage -/// To create a group you have to call one of the three `nk_group_begin_xxx` -/// functions to start group declarations and `nk_group_end` at the end. Furthermore it -/// is required to check the return value of `nk_group_begin_xxx` and only process -/// widgets inside the window if the value is not 0. -/// Nesting groups is possible and even encouraged since many layouting schemes -/// can only be achieved by nesting. Groups, unlike windows, need `nk_group_end` -/// to be only called if the corresponding `nk_group_begin_xxx` call does not return 0: -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_group_begin_xxx(ctx, ...) { -/// // [... widgets ...] -/// nk_group_end(ctx); -/// } -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// In the grand concept groups can be called after starting a window -/// with `nk_begin_xxx` and before calling `nk_end`: -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// // Input -/// Event evt; -/// nk_input_begin(&ctx); -/// while (GetEvent(&evt)) { -/// if (evt.type == MOUSE_MOVE) -/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); -/// else if (evt.type == [...]) { -/// nk_input_xxx(...); -/// } -/// } -/// nk_input_end(&ctx); -/// // -/// // Window -/// if (nk_begin_xxx(...) { -/// // [...widgets...] -/// nk_layout_row_dynamic(...); -/// if (nk_group_begin_xxx(ctx, ...) { -/// //[... widgets ...] -/// nk_group_end(ctx); -/// } -/// } -/// nk_end(ctx); -/// // -/// // Draw -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// switch (cmd->type) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case ...: -/// // [...] -/// } -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// #### Reference -/// Function | Description -/// --------------------------------|------------------------------------------- -/// nk_group_begin | Start a new group with internal scrollbar handling -/// nk_group_begin_titled | Start a new group with separated name and title and internal scrollbar handling -/// nk_group_end | Ends a group. Should only be called if nk_group_begin returned non-zero -/// nk_group_scrolled_offset_begin | Start a new group with manual separated handling of scrollbar x- and y-offset -/// nk_group_scrolled_begin | Start a new group with manual scrollbar handling -/// nk_group_scrolled_end | Ends a group with manual scrollbar handling. Should only be called if nk_group_begin returned non-zero -/// nk_group_get_scroll | Gets the scroll offset for the given group -/// nk_group_set_scroll | Sets the scroll offset for the given group -*/ -/*/// #### nk_group_begin -/// Starts a new widget group. Requires a previous layouting function to specify a pos/size. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_group_begin(struct nk_context*, const char *title, nk_flags); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __title__ | Must be an unique identifier for this group that is also used for the group header -/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different group behaviors -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_group_begin(struct nk_context*, const char *title, nk_flags); -/*/// #### nk_group_begin_titled -/// Starts a new widget group. Requires a previous layouting function to specify a pos/size. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_group_begin_titled(struct nk_context*, const char *name, const char *title, nk_flags); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __id__ | Must be an unique identifier for this group -/// __title__ | Group header title -/// __flags__ | Window flags defined in the nk_panel_flags section with a number of different group behaviors -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_group_begin_titled(struct nk_context*, const char *name, const char *title, nk_flags); -/*/// #### nk_group_end -/// Ends a widget group -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_group_end(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -*/ -NK_API void nk_group_end(struct nk_context*); -/*/// #### nk_group_scrolled_offset_begin -/// starts a new widget group. requires a previous layouting function to specify -/// a size. Does not keep track of scrollbar. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_group_scrolled_offset_begin(struct nk_context*, nk_uint *x_offset, nk_uint *y_offset, const char *title, nk_flags flags); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __x_offset__| Scrollbar x-offset to offset all widgets inside the group horizontally. -/// __y_offset__| Scrollbar y-offset to offset all widgets inside the group vertically -/// __title__ | Window unique group title used to both identify and display in the group header -/// __flags__ | Window flags from the nk_panel_flags section -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_group_scrolled_offset_begin(struct nk_context*, nk_uint *x_offset, nk_uint *y_offset, const char *title, nk_flags flags); -/*/// #### nk_group_scrolled_begin -/// Starts a new widget group. requires a previous -/// layouting function to specify a size. Does not keep track of scrollbar. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_group_scrolled_begin(struct nk_context*, struct nk_scroll *off, const char *title, nk_flags); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __off__ | Both x- and y- scroll offset. Allows for manual scrollbar control -/// __title__ | Window unique group title used to both identify and display in the group header -/// __flags__ | Window flags from nk_panel_flags section -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_group_scrolled_begin(struct nk_context*, struct nk_scroll *off, const char *title, nk_flags); -/*/// #### nk_group_scrolled_end -/// Ends a widget group after calling nk_group_scrolled_offset_begin or nk_group_scrolled_begin. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_group_scrolled_end(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -*/ -NK_API void nk_group_scrolled_end(struct nk_context*); -/*/// #### nk_group_get_scroll -/// Gets the scroll position of the given group. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_group_get_scroll(struct nk_context*, const char *id, nk_uint *x_offset, nk_uint *y_offset); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// -------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __id__ | The id of the group to get the scroll position of -/// __x_offset__ | A pointer to the x offset output (or NULL to ignore) -/// __y_offset__ | A pointer to the y offset output (or NULL to ignore) -*/ -NK_API void nk_group_get_scroll(struct nk_context*, const char *id, nk_uint *x_offset, nk_uint *y_offset); -/*/// #### nk_group_set_scroll -/// Sets the scroll position of the given group. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_group_set_scroll(struct nk_context*, const char *id, nk_uint x_offset, nk_uint y_offset); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// -------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __id__ | The id of the group to scroll -/// __x_offset__ | The x offset to scroll to -/// __y_offset__ | The y offset to scroll to -*/ -NK_API void nk_group_set_scroll(struct nk_context*, const char *id, nk_uint x_offset, nk_uint y_offset); -/* ============================================================================= - * - * TREE - * - * ============================================================================= -/// ### Tree -/// Trees represent two different concept. First the concept of a collapsible -/// UI section that can be either in a hidden or visible state. They allow the UI -/// user to selectively minimize the current set of visible UI to comprehend. -/// The second concept are tree widgets for visual UI representation of trees.

-/// -/// Trees thereby can be nested for tree representations and multiple nested -/// collapsible UI sections. All trees are started by calling of the -/// `nk_tree_xxx_push_tree` functions and ended by calling one of the -/// `nk_tree_xxx_pop_xxx()` functions. Each starting functions takes a title label -/// and optionally an image to be displayed and the initial collapse state from -/// the nk_collapse_states section.

-/// -/// The runtime state of the tree is either stored outside the library by the caller -/// or inside which requires a unique ID. The unique ID can either be generated -/// automatically from `__FILE__` and `__LINE__` with function `nk_tree_push`, -/// by `__FILE__` and a user provided ID generated for example by loop index with -/// function `nk_tree_push_id` or completely provided from outside by user with -/// function `nk_tree_push_hashed`. -/// -/// #### Usage -/// To create a tree you have to call one of the seven `nk_tree_xxx_push_xxx` -/// functions to start a collapsible UI section and `nk_tree_xxx_pop` to mark the -/// end. -/// Each starting function will either return `false(0)` if the tree is collapsed -/// or hidden and therefore does not need to be filled with content or `true(1)` -/// if visible and required to be filled. -/// -/// !!! Note -/// The tree header does not require and layouting function and instead -/// calculates a auto height based on the currently used font size -/// -/// The tree ending functions only need to be called if the tree content is -/// actually visible. So make sure the tree push function is guarded by `if` -/// and the pop call is only taken if the tree is visible. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// if (nk_tree_push(ctx, NK_TREE_TAB, "Tree", NK_MINIMIZED)) { -/// nk_layout_row_dynamic(...); -/// nk_widget(...); -/// nk_tree_pop(ctx); -/// } -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// ----------------------------|------------------------------------------- -/// nk_tree_push | Start a collapsible UI section with internal state management -/// nk_tree_push_id | Start a collapsible UI section with internal state management callable in a look -/// nk_tree_push_hashed | Start a collapsible UI section with internal state management with full control over internal unique ID use to store state -/// nk_tree_image_push | Start a collapsible UI section with image and label header -/// nk_tree_image_push_id | Start a collapsible UI section with image and label header and internal state management callable in a look -/// nk_tree_image_push_hashed | Start a collapsible UI section with image and label header and internal state management with full control over internal unique ID use to store state -/// nk_tree_pop | Ends a collapsible UI section -// -/// nk_tree_state_push | Start a collapsible UI section with external state management -/// nk_tree_state_image_push | Start a collapsible UI section with image and label header and external state management -/// nk_tree_state_pop | Ends a collapsabale UI section -/// -/// #### nk_tree_type -/// Flag | Description -/// ----------------|---------------------------------------- -/// NK_TREE_NODE | Highlighted tree header to mark a collapsible UI section -/// NK_TREE_TAB | Non-highlighted tree header closer to tree representations -*/ -/*/// #### nk_tree_push -/// Starts a collapsible UI section with internal state management -/// !!! WARNING -/// To keep track of the runtime tree collapsible state this function uses -/// defines `__FILE__` and `__LINE__` to generate a unique ID. If you want -/// to call this function in a loop please use `nk_tree_push_id` or -/// `nk_tree_push_hashed` instead. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// #define nk_tree_push(ctx, type, title, state) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __title__ | Label printed in the tree header -/// __state__ | Initial tree state value out of nk_collapse_states -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -#define nk_tree_push(ctx, type, title, state) nk_tree_push_hashed(ctx, type, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),__LINE__) -/*/// #### nk_tree_push_id -/// Starts a collapsible UI section with internal state management callable in a look -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// #define nk_tree_push_id(ctx, type, title, state, id) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __title__ | Label printed in the tree header -/// __state__ | Initial tree state value out of nk_collapse_states -/// __id__ | Loop counter index if this function is called in a loop -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -#define nk_tree_push_id(ctx, type, title, state, id) nk_tree_push_hashed(ctx, type, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),id) -/*/// #### nk_tree_push_hashed -/// Start a collapsible UI section with internal state management with full -/// control over internal unique ID used to store state -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_tree_push_hashed(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __title__ | Label printed in the tree header -/// __state__ | Initial tree state value out of nk_collapse_states -/// __hash__ | Memory block or string to generate the ID from -/// __len__ | Size of passed memory block or string in __hash__ -/// __seed__ | Seeding value if this function is called in a loop or default to `0` -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_tree_push_hashed(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); -/*/// #### nk_tree_image_push -/// Start a collapsible UI section with image and label header -/// !!! WARNING -/// To keep track of the runtime tree collapsible state this function uses -/// defines `__FILE__` and `__LINE__` to generate a unique ID. If you want -/// to call this function in a loop please use `nk_tree_image_push_id` or -/// `nk_tree_image_push_hashed` instead. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// #define nk_tree_image_push(ctx, type, img, title, state) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __img__ | Image to display inside the header on the left of the label -/// __title__ | Label printed in the tree header -/// __state__ | Initial tree state value out of nk_collapse_states -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -#define nk_tree_image_push(ctx, type, img, title, state) nk_tree_image_push_hashed(ctx, type, img, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),__LINE__) -/*/// #### nk_tree_image_push_id -/// Start a collapsible UI section with image and label header and internal state -/// management callable in a look -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// #define nk_tree_image_push_id(ctx, type, img, title, state, id) -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __img__ | Image to display inside the header on the left of the label -/// __title__ | Label printed in the tree header -/// __state__ | Initial tree state value out of nk_collapse_states -/// __id__ | Loop counter index if this function is called in a loop -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -#define nk_tree_image_push_id(ctx, type, img, title, state, id) nk_tree_image_push_hashed(ctx, type, img, title, state, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),id) -/*/// #### nk_tree_image_push_hashed -/// Start a collapsible UI section with internal state management with full -/// control over internal unique ID used to store state -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_tree_image_push_hashed(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __img__ | Image to display inside the header on the left of the label -/// __title__ | Label printed in the tree header -/// __state__ | Initial tree state value out of nk_collapse_states -/// __hash__ | Memory block or string to generate the ID from -/// __len__ | Size of passed memory block or string in __hash__ -/// __seed__ | Seeding value if this function is called in a loop or default to `0` -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_tree_image_push_hashed(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states initial_state, const char *hash, int len,int seed); -/*/// #### nk_tree_pop -/// Ends a collapsabale UI section -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_tree_pop(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` -*/ -NK_API void nk_tree_pop(struct nk_context*); -/*/// #### nk_tree_state_push -/// Start a collapsible UI section with external state management -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_tree_state_push(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states *state); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __title__ | Label printed in the tree header -/// __state__ | Persistent state to update -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_tree_state_push(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states *state); -/*/// #### nk_tree_state_image_push -/// Start a collapsible UI section with image and label header and external state management -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// nk_bool nk_tree_state_image_push(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states *state); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` -/// __img__ | Image to display inside the header on the left of the label -/// __type__ | Value from the nk_tree_type section to visually mark a tree node header as either a collapseable UI section or tree node -/// __title__ | Label printed in the tree header -/// __state__ | Persistent state to update -/// -/// Returns `true(1)` if visible and fillable with widgets or `false(0)` otherwise -*/ -NK_API nk_bool nk_tree_state_image_push(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states *state); -/*/// #### nk_tree_state_pop -/// Ends a collapsabale UI section -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_tree_state_pop(struct nk_context*); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// ------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling `nk_tree_xxx_push_xxx` -*/ -NK_API void nk_tree_state_pop(struct nk_context*); - -#define nk_tree_element_push(ctx, type, title, state, sel) nk_tree_element_push_hashed(ctx, type, title, state, sel, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),__LINE__) -#define nk_tree_element_push_id(ctx, type, title, state, sel, id) nk_tree_element_push_hashed(ctx, type, title, state, sel, NK_FILE_LINE,nk_strlen(NK_FILE_LINE),id) -NK_API nk_bool nk_tree_element_push_hashed(struct nk_context*, enum nk_tree_type, const char *title, enum nk_collapse_states initial_state, nk_bool *selected, const char *hash, int len, int seed); -NK_API nk_bool nk_tree_element_image_push_hashed(struct nk_context*, enum nk_tree_type, struct nk_image, const char *title, enum nk_collapse_states initial_state, nk_bool *selected, const char *hash, int len,int seed); -NK_API void nk_tree_element_pop(struct nk_context*); - -/* ============================================================================= - * - * LIST VIEW - * - * ============================================================================= */ -struct nk_list_view { -/* public: */ - int begin, end, count; -/* private: */ - int total_height; - struct nk_context *ctx; - nk_uint *scroll_pointer; - nk_uint scroll_value; -}; -NK_API nk_bool nk_list_view_begin(struct nk_context*, struct nk_list_view *out, const char *id, nk_flags, int row_height, int row_count); -NK_API void nk_list_view_end(struct nk_list_view*); -/* ============================================================================= - * - * WIDGET - * - * ============================================================================= */ -enum nk_widget_layout_states { - NK_WIDGET_INVALID, /* The widget cannot be seen and is completely out of view */ - NK_WIDGET_VALID, /* The widget is completely inside the window and can be updated and drawn */ - NK_WIDGET_ROM /* The widget is partially visible and cannot be updated */ -}; -enum nk_widget_states { - NK_WIDGET_STATE_MODIFIED = NK_FLAG(1), - NK_WIDGET_STATE_INACTIVE = NK_FLAG(2), /* widget is neither active nor hovered */ - NK_WIDGET_STATE_ENTERED = NK_FLAG(3), /* widget has been hovered on the current frame */ - NK_WIDGET_STATE_HOVER = NK_FLAG(4), /* widget is being hovered */ - NK_WIDGET_STATE_ACTIVED = NK_FLAG(5),/* widget is currently activated */ - NK_WIDGET_STATE_LEFT = NK_FLAG(6), /* widget is from this frame on not hovered anymore */ - NK_WIDGET_STATE_HOVERED = NK_WIDGET_STATE_HOVER|NK_WIDGET_STATE_MODIFIED, /* widget is being hovered */ - NK_WIDGET_STATE_ACTIVE = NK_WIDGET_STATE_ACTIVED|NK_WIDGET_STATE_MODIFIED /* widget is currently activated */ -}; -NK_API enum nk_widget_layout_states nk_widget(struct nk_rect*, const struct nk_context*); -NK_API enum nk_widget_layout_states nk_widget_fitting(struct nk_rect*, struct nk_context*, struct nk_vec2); -NK_API struct nk_rect nk_widget_bounds(struct nk_context*); -NK_API struct nk_vec2 nk_widget_position(struct nk_context*); -NK_API struct nk_vec2 nk_widget_size(struct nk_context*); -NK_API float nk_widget_width(struct nk_context*); -NK_API float nk_widget_height(struct nk_context*); -NK_API nk_bool nk_widget_is_hovered(struct nk_context*); -NK_API nk_bool nk_widget_is_mouse_clicked(struct nk_context*, enum nk_buttons); -NK_API nk_bool nk_widget_has_mouse_click_down(struct nk_context*, enum nk_buttons, nk_bool down); -NK_API void nk_spacing(struct nk_context*, int cols); -/* ============================================================================= - * - * TEXT - * - * ============================================================================= */ -enum nk_text_align { - NK_TEXT_ALIGN_LEFT = 0x01, - NK_TEXT_ALIGN_CENTERED = 0x02, - NK_TEXT_ALIGN_RIGHT = 0x04, - NK_TEXT_ALIGN_TOP = 0x08, - NK_TEXT_ALIGN_MIDDLE = 0x10, - NK_TEXT_ALIGN_BOTTOM = 0x20 -}; -enum nk_text_alignment { - NK_TEXT_LEFT = NK_TEXT_ALIGN_MIDDLE|NK_TEXT_ALIGN_LEFT, - NK_TEXT_CENTERED = NK_TEXT_ALIGN_MIDDLE|NK_TEXT_ALIGN_CENTERED, - NK_TEXT_RIGHT = NK_TEXT_ALIGN_MIDDLE|NK_TEXT_ALIGN_RIGHT -}; -NK_API void nk_text(struct nk_context*, const char*, int, nk_flags); -NK_API void nk_text_colored(struct nk_context*, const char*, int, nk_flags, struct nk_color); -NK_API void nk_text_wrap(struct nk_context*, const char*, int); -NK_API void nk_text_wrap_colored(struct nk_context*, const char*, int, struct nk_color); -NK_API void nk_label(struct nk_context*, const char*, nk_flags align); -NK_API void nk_label_colored(struct nk_context*, const char*, nk_flags align, struct nk_color); -NK_API void nk_label_wrap(struct nk_context*, const char*); -NK_API void nk_label_colored_wrap(struct nk_context*, const char*, struct nk_color); -NK_API void nk_image(struct nk_context*, struct nk_image); -NK_API void nk_image_color(struct nk_context*, struct nk_image, struct nk_color); -#ifdef NK_INCLUDE_STANDARD_VARARGS -NK_API void nk_labelf(struct nk_context*, nk_flags, NK_PRINTF_FORMAT_STRING const char*, ...) NK_PRINTF_VARARG_FUNC(3); -NK_API void nk_labelf_colored(struct nk_context*, nk_flags, struct nk_color, NK_PRINTF_FORMAT_STRING const char*,...) NK_PRINTF_VARARG_FUNC(4); -NK_API void nk_labelf_wrap(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*,...) NK_PRINTF_VARARG_FUNC(2); -NK_API void nk_labelf_colored_wrap(struct nk_context*, struct nk_color, NK_PRINTF_FORMAT_STRING const char*,...) NK_PRINTF_VARARG_FUNC(3); -NK_API void nk_labelfv(struct nk_context*, nk_flags, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(3); -NK_API void nk_labelfv_colored(struct nk_context*, nk_flags, struct nk_color, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(4); -NK_API void nk_labelfv_wrap(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(2); -NK_API void nk_labelfv_colored_wrap(struct nk_context*, struct nk_color, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(3); -NK_API void nk_value_bool(struct nk_context*, const char *prefix, int); -NK_API void nk_value_int(struct nk_context*, const char *prefix, int); -NK_API void nk_value_uint(struct nk_context*, const char *prefix, unsigned int); -NK_API void nk_value_float(struct nk_context*, const char *prefix, float); -NK_API void nk_value_color_byte(struct nk_context*, const char *prefix, struct nk_color); -NK_API void nk_value_color_float(struct nk_context*, const char *prefix, struct nk_color); -NK_API void nk_value_color_hex(struct nk_context*, const char *prefix, struct nk_color); -#endif -/* ============================================================================= - * - * BUTTON - * - * ============================================================================= */ -NK_API nk_bool nk_button_text(struct nk_context*, const char *title, int len); -NK_API nk_bool nk_button_label(struct nk_context*, const char *title); -NK_API nk_bool nk_button_color(struct nk_context*, struct nk_color); -NK_API nk_bool nk_button_symbol(struct nk_context*, enum nk_symbol_type); -NK_API nk_bool nk_button_image(struct nk_context*, struct nk_image img); -NK_API nk_bool nk_button_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags text_alignment); -NK_API nk_bool nk_button_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); -NK_API nk_bool nk_button_image_label(struct nk_context*, struct nk_image img, const char*, nk_flags text_alignment); -NK_API nk_bool nk_button_image_text(struct nk_context*, struct nk_image img, const char*, int, nk_flags alignment); -NK_API nk_bool nk_button_text_styled(struct nk_context*, const struct nk_style_button*, const char *title, int len); -NK_API nk_bool nk_button_label_styled(struct nk_context*, const struct nk_style_button*, const char *title); -NK_API nk_bool nk_button_symbol_styled(struct nk_context*, const struct nk_style_button*, enum nk_symbol_type); -NK_API nk_bool nk_button_image_styled(struct nk_context*, const struct nk_style_button*, struct nk_image img); -NK_API nk_bool nk_button_symbol_text_styled(struct nk_context*,const struct nk_style_button*, enum nk_symbol_type, const char*, int, nk_flags alignment); -NK_API nk_bool nk_button_symbol_label_styled(struct nk_context *ctx, const struct nk_style_button *style, enum nk_symbol_type symbol, const char *title, nk_flags align); -NK_API nk_bool nk_button_image_label_styled(struct nk_context*,const struct nk_style_button*, struct nk_image img, const char*, nk_flags text_alignment); -NK_API nk_bool nk_button_image_text_styled(struct nk_context*,const struct nk_style_button*, struct nk_image img, const char*, int, nk_flags alignment); -NK_API void nk_button_set_behavior(struct nk_context*, enum nk_button_behavior); -NK_API nk_bool nk_button_push_behavior(struct nk_context*, enum nk_button_behavior); -NK_API nk_bool nk_button_pop_behavior(struct nk_context*); -/* ============================================================================= - * - * CHECKBOX - * - * ============================================================================= */ -NK_API nk_bool nk_check_label(struct nk_context*, const char*, nk_bool active); -NK_API nk_bool nk_check_text(struct nk_context*, const char*, int, nk_bool active); -NK_API unsigned nk_check_flags_label(struct nk_context*, const char*, unsigned int flags, unsigned int value); -NK_API unsigned nk_check_flags_text(struct nk_context*, const char*, int, unsigned int flags, unsigned int value); -NK_API nk_bool nk_checkbox_label(struct nk_context*, const char*, nk_bool *active); -NK_API nk_bool nk_checkbox_text(struct nk_context*, const char*, int, nk_bool *active); -NK_API nk_bool nk_checkbox_flags_label(struct nk_context*, const char*, unsigned int *flags, unsigned int value); -NK_API nk_bool nk_checkbox_flags_text(struct nk_context*, const char*, int, unsigned int *flags, unsigned int value); -/* ============================================================================= - * - * RADIO BUTTON - * - * ============================================================================= */ -NK_API nk_bool nk_radio_label(struct nk_context*, const char*, nk_bool *active); -NK_API nk_bool nk_radio_text(struct nk_context*, const char*, int, nk_bool *active); -NK_API nk_bool nk_option_label(struct nk_context*, const char*, nk_bool active); -NK_API nk_bool nk_option_text(struct nk_context*, const char*, int, nk_bool active); -/* ============================================================================= - * - * SELECTABLE - * - * ============================================================================= */ -NK_API nk_bool nk_selectable_label(struct nk_context*, const char*, nk_flags align, nk_bool *value); -NK_API nk_bool nk_selectable_text(struct nk_context*, const char*, int, nk_flags align, nk_bool *value); -NK_API nk_bool nk_selectable_image_label(struct nk_context*,struct nk_image, const char*, nk_flags align, nk_bool *value); -NK_API nk_bool nk_selectable_image_text(struct nk_context*,struct nk_image, const char*, int, nk_flags align, nk_bool *value); -NK_API nk_bool nk_selectable_symbol_label(struct nk_context*,enum nk_symbol_type, const char*, nk_flags align, nk_bool *value); -NK_API nk_bool nk_selectable_symbol_text(struct nk_context*,enum nk_symbol_type, const char*, int, nk_flags align, nk_bool *value); - -NK_API nk_bool nk_select_label(struct nk_context*, const char*, nk_flags align, nk_bool value); -NK_API nk_bool nk_select_text(struct nk_context*, const char*, int, nk_flags align, nk_bool value); -NK_API nk_bool nk_select_image_label(struct nk_context*, struct nk_image,const char*, nk_flags align, nk_bool value); -NK_API nk_bool nk_select_image_text(struct nk_context*, struct nk_image,const char*, int, nk_flags align, nk_bool value); -NK_API nk_bool nk_select_symbol_label(struct nk_context*,enum nk_symbol_type, const char*, nk_flags align, nk_bool value); -NK_API nk_bool nk_select_symbol_text(struct nk_context*,enum nk_symbol_type, const char*, int, nk_flags align, nk_bool value); - -/* ============================================================================= - * - * SLIDER - * - * ============================================================================= */ -NK_API float nk_slide_float(struct nk_context*, float min, float val, float max, float step); -NK_API int nk_slide_int(struct nk_context*, int min, int val, int max, int step); -NK_API nk_bool nk_slider_float(struct nk_context*, float min, float *val, float max, float step); -NK_API nk_bool nk_slider_int(struct nk_context*, int min, int *val, int max, int step); -/* ============================================================================= - * - * PROGRESSBAR - * - * ============================================================================= */ -NK_API nk_bool nk_progress(struct nk_context*, nk_size *cur, nk_size max, nk_bool modifyable); -NK_API nk_size nk_prog(struct nk_context*, nk_size cur, nk_size max, nk_bool modifyable); - -/* ============================================================================= - * - * COLOR PICKER - * - * ============================================================================= */ -NK_API struct nk_colorf nk_color_picker(struct nk_context*, struct nk_colorf, enum nk_color_format); -NK_API nk_bool nk_color_pick(struct nk_context*, struct nk_colorf*, enum nk_color_format); -/* ============================================================================= - * - * PROPERTIES - * - * ============================================================================= -/// ### Properties -/// Properties are the main value modification widgets in Nuklear. Changing a value -/// can be achieved by dragging, adding/removing incremental steps on button click -/// or by directly typing a number. -/// -/// #### Usage -/// Each property requires a unique name for identification that is also used for -/// displaying a label. If you want to use the same name multiple times make sure -/// add a '#' before your name. The '#' will not be shown but will generate a -/// unique ID. Each property also takes in a minimum and maximum value. If you want -/// to make use of the complete number range of a type just use the provided -/// type limits from `limits.h`. For example `INT_MIN` and `INT_MAX` for -/// `nk_property_int` and `nk_propertyi`. In additional each property takes in -/// a increment value that will be added or subtracted if either the increment -/// decrement button is clicked. Finally there is a value for increment per pixel -/// dragged that is added or subtracted from the value. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// int value = 0; -/// struct nk_context ctx; -/// nk_init_xxx(&ctx, ...); -/// while (1) { -/// // Input -/// Event evt; -/// nk_input_begin(&ctx); -/// while (GetEvent(&evt)) { -/// if (evt.type == MOUSE_MOVE) -/// nk_input_motion(&ctx, evt.motion.x, evt.motion.y); -/// else if (evt.type == [...]) { -/// nk_input_xxx(...); -/// } -/// } -/// nk_input_end(&ctx); -/// // -/// // Window -/// if (nk_begin_xxx(...) { -/// // Property -/// nk_layout_row_dynamic(...); -/// nk_property_int(ctx, "ID", INT_MIN, &value, INT_MAX, 1, 1); -/// } -/// nk_end(ctx); -/// // -/// // Draw -/// const struct nk_command *cmd = 0; -/// nk_foreach(cmd, &ctx) { -/// switch (cmd->type) { -/// case NK_COMMAND_LINE: -/// your_draw_line_function(...) -/// break; -/// case NK_COMMAND_RECT -/// your_draw_rect_function(...) -/// break; -/// case ...: -/// // [...] -/// } -/// nk_clear(&ctx); -/// } -/// nk_free(&ctx); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// #### Reference -/// Function | Description -/// --------------------|------------------------------------------- -/// nk_property_int | Integer property directly modifying a passed in value -/// nk_property_float | Float property directly modifying a passed in value -/// nk_property_double | Double property directly modifying a passed in value -/// nk_propertyi | Integer property returning the modified int value -/// nk_propertyf | Float property returning the modified float value -/// nk_propertyd | Double property returning the modified double value -/// -*/ -/*/// #### nk_property_int -/// Integer property directly modifying a passed in value -/// !!! WARNING -/// To generate a unique property ID using the same label make sure to insert -/// a `#` at the beginning. It will not be shown but guarantees correct behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_property_int(struct nk_context *ctx, const char *name, int min, int *val, int max, int step, float inc_per_pixel); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// --------------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function -/// __name__ | String used both as a label as well as a unique identifier -/// __min__ | Minimum value not allowed to be underflown -/// __val__ | Integer pointer to be modified -/// __max__ | Maximum value not allowed to be overflown -/// __step__ | Increment added and subtracted on increment and decrement button -/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging -*/ -NK_API void nk_property_int(struct nk_context*, const char *name, int min, int *val, int max, int step, float inc_per_pixel); -/*/// #### nk_property_float -/// Float property directly modifying a passed in value -/// !!! WARNING -/// To generate a unique property ID using the same label make sure to insert -/// a `#` at the beginning. It will not be shown but guarantees correct behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_property_float(struct nk_context *ctx, const char *name, float min, float *val, float max, float step, float inc_per_pixel); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// --------------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function -/// __name__ | String used both as a label as well as a unique identifier -/// __min__ | Minimum value not allowed to be underflown -/// __val__ | Float pointer to be modified -/// __max__ | Maximum value not allowed to be overflown -/// __step__ | Increment added and subtracted on increment and decrement button -/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging -*/ -NK_API void nk_property_float(struct nk_context*, const char *name, float min, float *val, float max, float step, float inc_per_pixel); -/*/// #### nk_property_double -/// Double property directly modifying a passed in value -/// !!! WARNING -/// To generate a unique property ID using the same label make sure to insert -/// a `#` at the beginning. It will not be shown but guarantees correct behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// void nk_property_double(struct nk_context *ctx, const char *name, double min, double *val, double max, double step, double inc_per_pixel); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// --------------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function -/// __name__ | String used both as a label as well as a unique identifier -/// __min__ | Minimum value not allowed to be underflown -/// __val__ | Double pointer to be modified -/// __max__ | Maximum value not allowed to be overflown -/// __step__ | Increment added and subtracted on increment and decrement button -/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging -*/ -NK_API void nk_property_double(struct nk_context*, const char *name, double min, double *val, double max, double step, float inc_per_pixel); -/*/// #### nk_propertyi -/// Integer property modifying a passed in value and returning the new value -/// !!! WARNING -/// To generate a unique property ID using the same label make sure to insert -/// a `#` at the beginning. It will not be shown but guarantees correct behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// int nk_propertyi(struct nk_context *ctx, const char *name, int min, int val, int max, int step, float inc_per_pixel); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// --------------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function -/// __name__ | String used both as a label as well as a unique identifier -/// __min__ | Minimum value not allowed to be underflown -/// __val__ | Current integer value to be modified and returned -/// __max__ | Maximum value not allowed to be overflown -/// __step__ | Increment added and subtracted on increment and decrement button -/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging -/// -/// Returns the new modified integer value -*/ -NK_API int nk_propertyi(struct nk_context*, const char *name, int min, int val, int max, int step, float inc_per_pixel); -/*/// #### nk_propertyf -/// Float property modifying a passed in value and returning the new value -/// !!! WARNING -/// To generate a unique property ID using the same label make sure to insert -/// a `#` at the beginning. It will not be shown but guarantees correct behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// float nk_propertyf(struct nk_context *ctx, const char *name, float min, float val, float max, float step, float inc_per_pixel); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// --------------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function -/// __name__ | String used both as a label as well as a unique identifier -/// __min__ | Minimum value not allowed to be underflown -/// __val__ | Current float value to be modified and returned -/// __max__ | Maximum value not allowed to be overflown -/// __step__ | Increment added and subtracted on increment and decrement button -/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging -/// -/// Returns the new modified float value -*/ -NK_API float nk_propertyf(struct nk_context*, const char *name, float min, float val, float max, float step, float inc_per_pixel); -/*/// #### nk_propertyd -/// Float property modifying a passed in value and returning the new value -/// !!! WARNING -/// To generate a unique property ID using the same label make sure to insert -/// a `#` at the beginning. It will not be shown but guarantees correct behavior. -/// -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~c -/// float nk_propertyd(struct nk_context *ctx, const char *name, double min, double val, double max, double step, double inc_per_pixel); -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// -/// Parameter | Description -/// --------------------|----------------------------------------------------------- -/// __ctx__ | Must point to an previously initialized `nk_context` struct after calling a layouting function -/// __name__ | String used both as a label as well as a unique identifier -/// __min__ | Minimum value not allowed to be underflown -/// __val__ | Current double value to be modified and returned -/// __max__ | Maximum value not allowed to be overflown -/// __step__ | Increment added and subtracted on increment and decrement button -/// __inc_per_pixel__ | Value per pixel added or subtracted on dragging -/// -/// Returns the new modified double value -*/ -NK_API double nk_propertyd(struct nk_context*, const char *name, double min, double val, double max, double step, float inc_per_pixel); -/* ============================================================================= - * - * TEXT EDIT - * - * ============================================================================= */ -enum nk_edit_flags { - NK_EDIT_DEFAULT = 0, - NK_EDIT_READ_ONLY = NK_FLAG(0), - NK_EDIT_AUTO_SELECT = NK_FLAG(1), - NK_EDIT_SIG_ENTER = NK_FLAG(2), - NK_EDIT_ALLOW_TAB = NK_FLAG(3), - NK_EDIT_NO_CURSOR = NK_FLAG(4), - NK_EDIT_SELECTABLE = NK_FLAG(5), - NK_EDIT_CLIPBOARD = NK_FLAG(6), - NK_EDIT_CTRL_ENTER_NEWLINE = NK_FLAG(7), - NK_EDIT_NO_HORIZONTAL_SCROLL = NK_FLAG(8), - NK_EDIT_ALWAYS_INSERT_MODE = NK_FLAG(9), - NK_EDIT_MULTILINE = NK_FLAG(10), - NK_EDIT_GOTO_END_ON_ACTIVATE = NK_FLAG(11) -}; -enum nk_edit_types { - NK_EDIT_SIMPLE = NK_EDIT_ALWAYS_INSERT_MODE, - NK_EDIT_FIELD = NK_EDIT_SIMPLE|NK_EDIT_SELECTABLE|NK_EDIT_CLIPBOARD, - NK_EDIT_BOX = NK_EDIT_ALWAYS_INSERT_MODE| NK_EDIT_SELECTABLE| NK_EDIT_MULTILINE|NK_EDIT_ALLOW_TAB|NK_EDIT_CLIPBOARD, - NK_EDIT_EDITOR = NK_EDIT_SELECTABLE|NK_EDIT_MULTILINE|NK_EDIT_ALLOW_TAB| NK_EDIT_CLIPBOARD -}; -enum nk_edit_events { - NK_EDIT_ACTIVE = NK_FLAG(0), /* edit widget is currently being modified */ - NK_EDIT_INACTIVE = NK_FLAG(1), /* edit widget is not active and is not being modified */ - NK_EDIT_ACTIVATED = NK_FLAG(2), /* edit widget went from state inactive to state active */ - NK_EDIT_DEACTIVATED = NK_FLAG(3), /* edit widget went from state active to state inactive */ - NK_EDIT_COMMITED = NK_FLAG(4) /* edit widget has received an enter and lost focus */ -}; -NK_API nk_flags nk_edit_string(struct nk_context*, nk_flags, char *buffer, int *len, int max, nk_plugin_filter); -NK_API nk_flags nk_edit_string_zero_terminated(struct nk_context*, nk_flags, char *buffer, int max, nk_plugin_filter); -NK_API nk_flags nk_edit_buffer(struct nk_context*, nk_flags, struct nk_text_edit*, nk_plugin_filter); -NK_API void nk_edit_focus(struct nk_context*, nk_flags flags); -NK_API void nk_edit_unfocus(struct nk_context*); -/* ============================================================================= - * - * CHART - * - * ============================================================================= */ -NK_API nk_bool nk_chart_begin(struct nk_context*, enum nk_chart_type, int num, float min, float max); -NK_API nk_bool nk_chart_begin_colored(struct nk_context*, enum nk_chart_type, struct nk_color, struct nk_color active, int num, float min, float max); -NK_API void nk_chart_add_slot(struct nk_context *ctx, const enum nk_chart_type, int count, float min_value, float max_value); -NK_API void nk_chart_add_slot_colored(struct nk_context *ctx, const enum nk_chart_type, struct nk_color, struct nk_color active, int count, float min_value, float max_value); -NK_API nk_flags nk_chart_push(struct nk_context*, float); -NK_API nk_flags nk_chart_push_slot(struct nk_context*, float, int); -NK_API void nk_chart_end(struct nk_context*); -NK_API void nk_plot(struct nk_context*, enum nk_chart_type, const float *values, int count, int offset); -NK_API void nk_plot_function(struct nk_context*, enum nk_chart_type, void *userdata, float(*value_getter)(void* user, int index), int count, int offset); -/* ============================================================================= - * - * POPUP - * - * ============================================================================= */ -NK_API nk_bool nk_popup_begin(struct nk_context*, enum nk_popup_type, const char*, nk_flags, struct nk_rect bounds); -NK_API void nk_popup_close(struct nk_context*); -NK_API void nk_popup_end(struct nk_context*); -NK_API void nk_popup_get_scroll(struct nk_context*, nk_uint *offset_x, nk_uint *offset_y); -NK_API void nk_popup_set_scroll(struct nk_context*, nk_uint offset_x, nk_uint offset_y); -/* ============================================================================= - * - * COMBOBOX - * - * ============================================================================= */ -NK_API int nk_combo(struct nk_context*, const char **items, int count, int selected, int item_height, struct nk_vec2 size); -NK_API int nk_combo_separator(struct nk_context*, const char *items_separated_by_separator, int separator, int selected, int count, int item_height, struct nk_vec2 size); -NK_API int nk_combo_string(struct nk_context*, const char *items_separated_by_zeros, int selected, int count, int item_height, struct nk_vec2 size); -NK_API int nk_combo_callback(struct nk_context*, void(*item_getter)(void*, int, const char**), void *userdata, int selected, int count, int item_height, struct nk_vec2 size); -NK_API void nk_combobox(struct nk_context*, const char **items, int count, int *selected, int item_height, struct nk_vec2 size); -NK_API void nk_combobox_string(struct nk_context*, const char *items_separated_by_zeros, int *selected, int count, int item_height, struct nk_vec2 size); -NK_API void nk_combobox_separator(struct nk_context*, const char *items_separated_by_separator, int separator, int *selected, int count, int item_height, struct nk_vec2 size); -NK_API void nk_combobox_callback(struct nk_context*, void(*item_getter)(void*, int, const char**), void*, int *selected, int count, int item_height, struct nk_vec2 size); -/* ============================================================================= - * - * ABSTRACT COMBOBOX - * - * ============================================================================= */ -NK_API nk_bool nk_combo_begin_text(struct nk_context*, const char *selected, int, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_label(struct nk_context*, const char *selected, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_color(struct nk_context*, struct nk_color color, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_symbol(struct nk_context*, enum nk_symbol_type, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_symbol_label(struct nk_context*, const char *selected, enum nk_symbol_type, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_symbol_text(struct nk_context*, const char *selected, int, enum nk_symbol_type, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_image(struct nk_context*, struct nk_image img, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_image_label(struct nk_context*, const char *selected, struct nk_image, struct nk_vec2 size); -NK_API nk_bool nk_combo_begin_image_text(struct nk_context*, const char *selected, int, struct nk_image, struct nk_vec2 size); -NK_API nk_bool nk_combo_item_label(struct nk_context*, const char*, nk_flags alignment); -NK_API nk_bool nk_combo_item_text(struct nk_context*, const char*,int, nk_flags alignment); -NK_API nk_bool nk_combo_item_image_label(struct nk_context*, struct nk_image, const char*, nk_flags alignment); -NK_API nk_bool nk_combo_item_image_text(struct nk_context*, struct nk_image, const char*, int,nk_flags alignment); -NK_API nk_bool nk_combo_item_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags alignment); -NK_API nk_bool nk_combo_item_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); -NK_API void nk_combo_close(struct nk_context*); -NK_API void nk_combo_end(struct nk_context*); -/* ============================================================================= - * - * CONTEXTUAL - * - * ============================================================================= */ -NK_API nk_bool nk_contextual_begin(struct nk_context*, nk_flags, struct nk_vec2, struct nk_rect trigger_bounds); -NK_API nk_bool nk_contextual_item_text(struct nk_context*, const char*, int,nk_flags align); -NK_API nk_bool nk_contextual_item_label(struct nk_context*, const char*, nk_flags align); -NK_API nk_bool nk_contextual_item_image_label(struct nk_context*, struct nk_image, const char*, nk_flags alignment); -NK_API nk_bool nk_contextual_item_image_text(struct nk_context*, struct nk_image, const char*, int len, nk_flags alignment); -NK_API nk_bool nk_contextual_item_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags alignment); -NK_API nk_bool nk_contextual_item_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); -NK_API void nk_contextual_close(struct nk_context*); -NK_API void nk_contextual_end(struct nk_context*); -/* ============================================================================= - * - * TOOLTIP - * - * ============================================================================= */ -NK_API void nk_tooltip(struct nk_context*, const char*); -#ifdef NK_INCLUDE_STANDARD_VARARGS -NK_API void nk_tooltipf(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*, ...) NK_PRINTF_VARARG_FUNC(2); -NK_API void nk_tooltipfv(struct nk_context*, NK_PRINTF_FORMAT_STRING const char*, va_list) NK_PRINTF_VALIST_FUNC(2); -#endif -NK_API nk_bool nk_tooltip_begin(struct nk_context*, float width); -NK_API void nk_tooltip_end(struct nk_context*); -/* ============================================================================= - * - * MENU - * - * ============================================================================= */ -NK_API void nk_menubar_begin(struct nk_context*); -NK_API void nk_menubar_end(struct nk_context*); -NK_API nk_bool nk_menu_begin_text(struct nk_context*, const char* title, int title_len, nk_flags align, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_label(struct nk_context*, const char*, nk_flags align, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_image(struct nk_context*, const char*, struct nk_image, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_image_text(struct nk_context*, const char*, int,nk_flags align,struct nk_image, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_image_label(struct nk_context*, const char*, nk_flags align,struct nk_image, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_symbol(struct nk_context*, const char*, enum nk_symbol_type, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_symbol_text(struct nk_context*, const char*, int,nk_flags align,enum nk_symbol_type, struct nk_vec2 size); -NK_API nk_bool nk_menu_begin_symbol_label(struct nk_context*, const char*, nk_flags align,enum nk_symbol_type, struct nk_vec2 size); -NK_API nk_bool nk_menu_item_text(struct nk_context*, const char*, int,nk_flags align); -NK_API nk_bool nk_menu_item_label(struct nk_context*, const char*, nk_flags alignment); -NK_API nk_bool nk_menu_item_image_label(struct nk_context*, struct nk_image, const char*, nk_flags alignment); -NK_API nk_bool nk_menu_item_image_text(struct nk_context*, struct nk_image, const char*, int len, nk_flags alignment); -NK_API nk_bool nk_menu_item_symbol_text(struct nk_context*, enum nk_symbol_type, const char*, int, nk_flags alignment); -NK_API nk_bool nk_menu_item_symbol_label(struct nk_context*, enum nk_symbol_type, const char*, nk_flags alignment); -NK_API void nk_menu_close(struct nk_context*); -NK_API void nk_menu_end(struct nk_context*); -/* ============================================================================= - * - * STYLE - * - * ============================================================================= */ -enum nk_style_colors { - NK_COLOR_TEXT, - NK_COLOR_WINDOW, - NK_COLOR_HEADER, - NK_COLOR_BORDER, - NK_COLOR_BUTTON, - NK_COLOR_BUTTON_HOVER, - NK_COLOR_BUTTON_ACTIVE, - NK_COLOR_TOGGLE, - NK_COLOR_TOGGLE_HOVER, - NK_COLOR_TOGGLE_CURSOR, - NK_COLOR_SELECT, - NK_COLOR_SELECT_ACTIVE, - NK_COLOR_SLIDER, - NK_COLOR_SLIDER_CURSOR, - NK_COLOR_SLIDER_CURSOR_HOVER, - NK_COLOR_SLIDER_CURSOR_ACTIVE, - NK_COLOR_PROPERTY, - NK_COLOR_EDIT, - NK_COLOR_EDIT_CURSOR, - NK_COLOR_COMBO, - NK_COLOR_CHART, - NK_COLOR_CHART_COLOR, - NK_COLOR_CHART_COLOR_HIGHLIGHT, - NK_COLOR_SCROLLBAR, - NK_COLOR_SCROLLBAR_CURSOR, - NK_COLOR_SCROLLBAR_CURSOR_HOVER, - NK_COLOR_SCROLLBAR_CURSOR_ACTIVE, - NK_COLOR_TAB_HEADER, - NK_COLOR_COUNT -}; -enum nk_style_cursor { - NK_CURSOR_ARROW, - NK_CURSOR_TEXT, - NK_CURSOR_MOVE, - NK_CURSOR_RESIZE_VERTICAL, - NK_CURSOR_RESIZE_HORIZONTAL, - NK_CURSOR_RESIZE_TOP_LEFT_DOWN_RIGHT, - NK_CURSOR_RESIZE_TOP_RIGHT_DOWN_LEFT, - NK_CURSOR_COUNT -}; -NK_API void nk_style_default(struct nk_context*); -NK_API void nk_style_from_table(struct nk_context*, const struct nk_color*); -NK_API void nk_style_load_cursor(struct nk_context*, enum nk_style_cursor, const struct nk_cursor*); -NK_API void nk_style_load_all_cursors(struct nk_context*, struct nk_cursor*); -NK_API const char* nk_style_get_color_by_name(enum nk_style_colors); -NK_API void nk_style_set_font(struct nk_context*, const struct nk_user_font*); -NK_API nk_bool nk_style_set_cursor(struct nk_context*, enum nk_style_cursor); -NK_API void nk_style_show_cursor(struct nk_context*); -NK_API void nk_style_hide_cursor(struct nk_context*); - -NK_API nk_bool nk_style_push_font(struct nk_context*, const struct nk_user_font*); -NK_API nk_bool nk_style_push_float(struct nk_context*, float*, float); -NK_API nk_bool nk_style_push_vec2(struct nk_context*, struct nk_vec2*, struct nk_vec2); -NK_API nk_bool nk_style_push_style_item(struct nk_context*, struct nk_style_item*, struct nk_style_item); -NK_API nk_bool nk_style_push_flags(struct nk_context*, nk_flags*, nk_flags); -NK_API nk_bool nk_style_push_color(struct nk_context*, struct nk_color*, struct nk_color); - -NK_API nk_bool nk_style_pop_font(struct nk_context*); -NK_API nk_bool nk_style_pop_float(struct nk_context*); -NK_API nk_bool nk_style_pop_vec2(struct nk_context*); -NK_API nk_bool nk_style_pop_style_item(struct nk_context*); -NK_API nk_bool nk_style_pop_flags(struct nk_context*); -NK_API nk_bool nk_style_pop_color(struct nk_context*); -/* ============================================================================= - * - * COLOR - * - * ============================================================================= */ -NK_API struct nk_color nk_rgb(int r, int g, int b); -NK_API struct nk_color nk_rgb_iv(const int *rgb); -NK_API struct nk_color nk_rgb_bv(const nk_byte* rgb); -NK_API struct nk_color nk_rgb_f(float r, float g, float b); -NK_API struct nk_color nk_rgb_fv(const float *rgb); -NK_API struct nk_color nk_rgb_cf(struct nk_colorf c); -NK_API struct nk_color nk_rgb_hex(const char *rgb); - -NK_API struct nk_color nk_rgba(int r, int g, int b, int a); -NK_API struct nk_color nk_rgba_u32(nk_uint); -NK_API struct nk_color nk_rgba_iv(const int *rgba); -NK_API struct nk_color nk_rgba_bv(const nk_byte *rgba); -NK_API struct nk_color nk_rgba_f(float r, float g, float b, float a); -NK_API struct nk_color nk_rgba_fv(const float *rgba); -NK_API struct nk_color nk_rgba_cf(struct nk_colorf c); -NK_API struct nk_color nk_rgba_hex(const char *rgb); - -NK_API struct nk_colorf nk_hsva_colorf(float h, float s, float v, float a); -NK_API struct nk_colorf nk_hsva_colorfv(float *c); -NK_API void nk_colorf_hsva_f(float *out_h, float *out_s, float *out_v, float *out_a, struct nk_colorf in); -NK_API void nk_colorf_hsva_fv(float *hsva, struct nk_colorf in); - -NK_API struct nk_color nk_hsv(int h, int s, int v); -NK_API struct nk_color nk_hsv_iv(const int *hsv); -NK_API struct nk_color nk_hsv_bv(const nk_byte *hsv); -NK_API struct nk_color nk_hsv_f(float h, float s, float v); -NK_API struct nk_color nk_hsv_fv(const float *hsv); - -NK_API struct nk_color nk_hsva(int h, int s, int v, int a); -NK_API struct nk_color nk_hsva_iv(const int *hsva); -NK_API struct nk_color nk_hsva_bv(const nk_byte *hsva); -NK_API struct nk_color nk_hsva_f(float h, float s, float v, float a); -NK_API struct nk_color nk_hsva_fv(const float *hsva); - -/* color (conversion nuklear --> user) */ -NK_API void nk_color_f(float *r, float *g, float *b, float *a, struct nk_color); -NK_API void nk_color_fv(float *rgba_out, struct nk_color); -NK_API struct nk_colorf nk_color_cf(struct nk_color); -NK_API void nk_color_d(double *r, double *g, double *b, double *a, struct nk_color); -NK_API void nk_color_dv(double *rgba_out, struct nk_color); - -NK_API nk_uint nk_color_u32(struct nk_color); -NK_API void nk_color_hex_rgba(char *output, struct nk_color); -NK_API void nk_color_hex_rgb(char *output, struct nk_color); - -NK_API void nk_color_hsv_i(int *out_h, int *out_s, int *out_v, struct nk_color); -NK_API void nk_color_hsv_b(nk_byte *out_h, nk_byte *out_s, nk_byte *out_v, struct nk_color); -NK_API void nk_color_hsv_iv(int *hsv_out, struct nk_color); -NK_API void nk_color_hsv_bv(nk_byte *hsv_out, struct nk_color); -NK_API void nk_color_hsv_f(float *out_h, float *out_s, float *out_v, struct nk_color); -NK_API void nk_color_hsv_fv(float *hsv_out, struct nk_color); - -NK_API void nk_color_hsva_i(int *h, int *s, int *v, int *a, struct nk_color); -NK_API void nk_color_hsva_b(nk_byte *h, nk_byte *s, nk_byte *v, nk_byte *a, struct nk_color); -NK_API void nk_color_hsva_iv(int *hsva_out, struct nk_color); -NK_API void nk_color_hsva_bv(nk_byte *hsva_out, struct nk_color); -NK_API void nk_color_hsva_f(float *out_h, float *out_s, float *out_v, float *out_a, struct nk_color); -NK_API void nk_color_hsva_fv(float *hsva_out, struct nk_color); -/* ============================================================================= - * - * IMAGE - * - * ============================================================================= */ -NK_API nk_handle nk_handle_ptr(void*); -NK_API nk_handle nk_handle_id(int); -NK_API struct nk_image nk_image_handle(nk_handle); -NK_API struct nk_image nk_image_ptr(void*); -NK_API struct nk_image nk_image_id(int); -NK_API nk_bool nk_image_is_subimage(const struct nk_image* img); -NK_API struct nk_image nk_subimage_ptr(void*, nk_ushort w, nk_ushort h, struct nk_rect sub_region); -NK_API struct nk_image nk_subimage_id(int, nk_ushort w, nk_ushort h, struct nk_rect sub_region); -NK_API struct nk_image nk_subimage_handle(nk_handle, nk_ushort w, nk_ushort h, struct nk_rect sub_region); -/* ============================================================================= - * - * 9-SLICE - * - * ============================================================================= */ -NK_API struct nk_nine_slice nk_nine_slice_handle(nk_handle, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); -NK_API struct nk_nine_slice nk_nine_slice_ptr(void*, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); -NK_API struct nk_nine_slice nk_nine_slice_id(int, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); -NK_API int nk_nine_slice_is_sub9slice(const struct nk_nine_slice* img); -NK_API struct nk_nine_slice nk_sub9slice_ptr(void*, nk_ushort w, nk_ushort h, struct nk_rect sub_region, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); -NK_API struct nk_nine_slice nk_sub9slice_id(int, nk_ushort w, nk_ushort h, struct nk_rect sub_region, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); -NK_API struct nk_nine_slice nk_sub9slice_handle(nk_handle, nk_ushort w, nk_ushort h, struct nk_rect sub_region, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b); -/* ============================================================================= - * - * MATH - * - * ============================================================================= */ -NK_API nk_hash nk_murmur_hash(const void *key, int len, nk_hash seed); -NK_API void nk_triangle_from_direction(struct nk_vec2 *result, struct nk_rect r, float pad_x, float pad_y, enum nk_heading); - -NK_API struct nk_vec2 nk_vec2(float x, float y); -NK_API struct nk_vec2 nk_vec2i(int x, int y); -NK_API struct nk_vec2 nk_vec2v(const float *xy); -NK_API struct nk_vec2 nk_vec2iv(const int *xy); - -NK_API struct nk_rect nk_get_null_rect(void); -NK_API struct nk_rect nk_rect(float x, float y, float w, float h); -NK_API struct nk_rect nk_recti(int x, int y, int w, int h); -NK_API struct nk_rect nk_recta(struct nk_vec2 pos, struct nk_vec2 size); -NK_API struct nk_rect nk_rectv(const float *xywh); -NK_API struct nk_rect nk_rectiv(const int *xywh); -NK_API struct nk_vec2 nk_rect_pos(struct nk_rect); -NK_API struct nk_vec2 nk_rect_size(struct nk_rect); -/* ============================================================================= - * - * STRING - * - * ============================================================================= */ -NK_API int nk_strlen(const char *str); -NK_API int nk_stricmp(const char *s1, const char *s2); -NK_API int nk_stricmpn(const char *s1, const char *s2, int n); -NK_API int nk_strtoi(const char *str, const char **endptr); -NK_API float nk_strtof(const char *str, const char **endptr); -#ifndef NK_STRTOD -#define NK_STRTOD nk_strtod -NK_API double nk_strtod(const char *str, const char **endptr); -#endif -NK_API int nk_strfilter(const char *text, const char *regexp); -NK_API int nk_strmatch_fuzzy_string(char const *str, char const *pattern, int *out_score); -NK_API int nk_strmatch_fuzzy_text(const char *txt, int txt_len, const char *pattern, int *out_score); -/* ============================================================================= - * - * UTF-8 - * - * ============================================================================= */ -NK_API int nk_utf_decode(const char*, nk_rune*, int); -NK_API int nk_utf_encode(nk_rune, char*, int); -NK_API int nk_utf_len(const char*, int byte_len); -NK_API const char* nk_utf_at(const char *buffer, int length, int index, nk_rune *unicode, int *len); -/* =============================================================== - * - * FONT - * - * ===============================================================*/ -/* Font handling in this library was designed to be quite customizable and lets - you decide what you want to use and what you want to provide. There are three - different ways to use the font atlas. The first two will use your font - handling scheme and only requires essential data to run nuklear. The next - slightly more advanced features is font handling with vertex buffer output. - Finally the most complex API wise is using nuklear's font baking API. - - 1.) Using your own implementation without vertex buffer output - -------------------------------------------------------------- - So first up the easiest way to do font handling is by just providing a - `nk_user_font` struct which only requires the height in pixel of the used - font and a callback to calculate the width of a string. This way of handling - fonts is best fitted for using the normal draw shape command API where you - do all the text drawing yourself and the library does not require any kind - of deeper knowledge about which font handling mechanism you use. - IMPORTANT: the `nk_user_font` pointer provided to nuklear has to persist - over the complete life time! I know this sucks but it is currently the only - way to switch between fonts. - - float your_text_width_calculation(nk_handle handle, float height, const char *text, int len) - { - your_font_type *type = handle.ptr; - float text_width = ...; - return text_width; - } - - struct nk_user_font font; - font.userdata.ptr = &your_font_class_or_struct; - font.height = your_font_height; - font.width = your_text_width_calculation; - - struct nk_context ctx; - nk_init_default(&ctx, &font); - - 2.) Using your own implementation with vertex buffer output - -------------------------------------------------------------- - While the first approach works fine if you don't want to use the optional - vertex buffer output it is not enough if you do. To get font handling working - for these cases you have to provide two additional parameters inside the - `nk_user_font`. First a texture atlas handle used to draw text as subimages - of a bigger font atlas texture and a callback to query a character's glyph - information (offset, size, ...). So it is still possible to provide your own - font and use the vertex buffer output. - - float your_text_width_calculation(nk_handle handle, float height, const char *text, int len) - { - your_font_type *type = handle.ptr; - float text_width = ...; - return text_width; - } - void query_your_font_glyph(nk_handle handle, float font_height, struct nk_user_font_glyph *glyph, nk_rune codepoint, nk_rune next_codepoint) - { - your_font_type *type = handle.ptr; - glyph.width = ...; - glyph.height = ...; - glyph.xadvance = ...; - glyph.uv[0].x = ...; - glyph.uv[0].y = ...; - glyph.uv[1].x = ...; - glyph.uv[1].y = ...; - glyph.offset.x = ...; - glyph.offset.y = ...; - } - - struct nk_user_font font; - font.userdata.ptr = &your_font_class_or_struct; - font.height = your_font_height; - font.width = your_text_width_calculation; - font.query = query_your_font_glyph; - font.texture.id = your_font_texture; - - struct nk_context ctx; - nk_init_default(&ctx, &font); - - 3.) Nuklear font baker - ------------------------------------ - The final approach if you do not have a font handling functionality or don't - want to use it in this library is by using the optional font baker. - The font baker APIs can be used to create a font plus font atlas texture - and can be used with or without the vertex buffer output. - - It still uses the `nk_user_font` struct and the two different approaches - previously stated still work. The font baker is not located inside - `nk_context` like all other systems since it can be understood as more of - an extension to nuklear and does not really depend on any `nk_context` state. - - Font baker need to be initialized first by one of the nk_font_atlas_init_xxx - functions. If you don't care about memory just call the default version - `nk_font_atlas_init_default` which will allocate all memory from the standard library. - If you want to control memory allocation but you don't care if the allocated - memory is temporary and therefore can be freed directly after the baking process - is over or permanent you can call `nk_font_atlas_init`. - - After successfully initializing the font baker you can add Truetype(.ttf) fonts from - different sources like memory or from file by calling one of the `nk_font_atlas_add_xxx`. - functions. Adding font will permanently store each font, font config and ttf memory block(!) - inside the font atlas and allows to reuse the font atlas. If you don't want to reuse - the font baker by for example adding additional fonts you can call - `nk_font_atlas_cleanup` after the baking process is over (after calling nk_font_atlas_end). - - As soon as you added all fonts you wanted you can now start the baking process - for every selected glyph to image by calling `nk_font_atlas_bake`. - The baking process returns image memory, width and height which can be used to - either create your own image object or upload it to any graphics library. - No matter which case you finally have to call `nk_font_atlas_end` which - will free all temporary memory including the font atlas image so make sure - you created our texture beforehand. `nk_font_atlas_end` requires a handle - to your font texture or object and optionally fills a `struct nk_draw_null_texture` - which can be used for the optional vertex output. If you don't want it just - set the argument to `NULL`. - - At this point you are done and if you don't want to reuse the font atlas you - can call `nk_font_atlas_cleanup` to free all truetype blobs and configuration - memory. Finally if you don't use the font atlas and any of it's fonts anymore - you need to call `nk_font_atlas_clear` to free all memory still being used. - - struct nk_font_atlas atlas; - nk_font_atlas_init_default(&atlas); - nk_font_atlas_begin(&atlas); - nk_font *font = nk_font_atlas_add_from_file(&atlas, "Path/To/Your/TTF_Font.ttf", 13, 0); - nk_font *font2 = nk_font_atlas_add_from_file(&atlas, "Path/To/Your/TTF_Font2.ttf", 16, 0); - const void* img = nk_font_atlas_bake(&atlas, &img_width, &img_height, NK_FONT_ATLAS_RGBA32); - nk_font_atlas_end(&atlas, nk_handle_id(texture), 0); - - struct nk_context ctx; - nk_init_default(&ctx, &font->handle); - while (1) { - - } - nk_font_atlas_clear(&atlas); - - The font baker API is probably the most complex API inside this library and - I would suggest reading some of my examples `example/` to get a grip on how - to use the font atlas. There are a number of details I left out. For example - how to merge fonts, configure a font with `nk_font_config` to use other languages, - use another texture coordinate format and a lot more: - - struct nk_font_config cfg = nk_font_config(font_pixel_height); - cfg.merge_mode = nk_false or nk_true; - cfg.range = nk_font_korean_glyph_ranges(); - cfg.coord_type = NK_COORD_PIXEL; - nk_font *font = nk_font_atlas_add_from_file(&atlas, "Path/To/Your/TTF_Font.ttf", 13, &cfg); - -*/ -struct nk_user_font_glyph; -typedef float(*nk_text_width_f)(nk_handle, float h, const char*, int len); -typedef void(*nk_query_font_glyph_f)(nk_handle handle, float font_height, - struct nk_user_font_glyph *glyph, - nk_rune codepoint, nk_rune next_codepoint); - -#if defined(NK_INCLUDE_VERTEX_BUFFER_OUTPUT) || defined(NK_INCLUDE_SOFTWARE_FONT) -struct nk_user_font_glyph { - struct nk_vec2 uv[2]; - /* texture coordinates */ - struct nk_vec2 offset; - /* offset between top left and glyph */ - float width, height; - /* size of the glyph */ - float xadvance; - /* offset to the next glyph */ -}; -#endif - -struct nk_user_font { - nk_handle userdata; - /* user provided font handle */ - float height; - /* max height of the font */ - nk_text_width_f width; - /* font string width in pixel callback */ -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT - nk_query_font_glyph_f query; - /* font glyph callback to query drawing info */ - nk_handle texture; - /* texture handle to the used font atlas or texture */ -#endif -}; - -#ifdef NK_INCLUDE_FONT_BAKING -enum nk_font_coord_type { - NK_COORD_UV, /* texture coordinates inside font glyphs are clamped between 0-1 */ - NK_COORD_PIXEL /* texture coordinates inside font glyphs are in absolute pixel */ -}; - -struct nk_font; -struct nk_baked_font { - float height; - /* height of the font */ - float ascent, descent; - /* font glyphs ascent and descent */ - nk_rune glyph_offset; - /* glyph array offset inside the font glyph baking output array */ - nk_rune glyph_count; - /* number of glyphs of this font inside the glyph baking array output */ - const nk_rune *ranges; - /* font codepoint ranges as pairs of (from/to) and 0 as last element */ -}; - -struct nk_font_config { - struct nk_font_config *next; - /* NOTE: only used internally */ - void *ttf_blob; - /* pointer to loaded TTF file memory block. - * NOTE: not needed for nk_font_atlas_add_from_memory and nk_font_atlas_add_from_file. */ - nk_size ttf_size; - /* size of the loaded TTF file memory block - * NOTE: not needed for nk_font_atlas_add_from_memory and nk_font_atlas_add_from_file. */ - - unsigned char ttf_data_owned_by_atlas; - /* used inside font atlas: default to: 0*/ - unsigned char merge_mode; - /* merges this font into the last font */ - unsigned char pixel_snap; - /* align every character to pixel boundary (if true set oversample (1,1)) */ - unsigned char oversample_v, oversample_h; - /* rasterize at high quality for sub-pixel position */ - unsigned char padding[3]; - - float size; - /* baked pixel height of the font */ - enum nk_font_coord_type coord_type; - /* texture coordinate format with either pixel or UV coordinates */ - struct nk_vec2 spacing; - /* extra pixel spacing between glyphs */ - const nk_rune *range; - /* list of unicode ranges (2 values per range, zero terminated) */ - struct nk_baked_font *font; - /* font to setup in the baking process: NOTE: not needed for font atlas */ - nk_rune fallback_glyph; - /* fallback glyph to use if a given rune is not found */ - struct nk_font_config *n; - struct nk_font_config *p; -}; - -struct nk_font_glyph { - nk_rune codepoint; - float xadvance; - float x0, y0, x1, y1, w, h; - float u0, v0, u1, v1; -}; - -struct nk_font { - struct nk_font *next; - struct nk_user_font handle; - struct nk_baked_font info; - float scale; - struct nk_font_glyph *glyphs; - const struct nk_font_glyph *fallback; - nk_rune fallback_codepoint; - nk_handle texture; - struct nk_font_config *config; -}; - -enum nk_font_atlas_format { - NK_FONT_ATLAS_ALPHA8, - NK_FONT_ATLAS_RGBA32 -}; - -struct nk_font_atlas { - void *pixel; - int tex_width; - int tex_height; - - struct nk_allocator permanent; - struct nk_allocator temporary; - - struct nk_recti custom; - struct nk_cursor cursors[NK_CURSOR_COUNT]; - - int glyph_count; - struct nk_font_glyph *glyphs; - struct nk_font *default_font; - struct nk_font *fonts; - struct nk_font_config *config; - int font_num; -}; - -/* some language glyph codepoint ranges */ -NK_API const nk_rune *nk_font_default_glyph_ranges(void); -NK_API const nk_rune *nk_font_chinese_glyph_ranges(void); -NK_API const nk_rune *nk_font_cyrillic_glyph_ranges(void); -NK_API const nk_rune *nk_font_korean_glyph_ranges(void); - -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void nk_font_atlas_init_default(struct nk_font_atlas*); -#endif -NK_API void nk_font_atlas_init(struct nk_font_atlas*, struct nk_allocator*); -NK_API void nk_font_atlas_init_custom(struct nk_font_atlas*, struct nk_allocator *persistent, struct nk_allocator *transient); -NK_API void nk_font_atlas_begin(struct nk_font_atlas*); -NK_API struct nk_font_config nk_font_config(float pixel_height); -NK_API struct nk_font *nk_font_atlas_add(struct nk_font_atlas*, const struct nk_font_config*); -#ifdef NK_INCLUDE_DEFAULT_FONT -NK_API struct nk_font* nk_font_atlas_add_default(struct nk_font_atlas*, float height, const struct nk_font_config*); -#endif -NK_API struct nk_font* nk_font_atlas_add_from_memory(struct nk_font_atlas *atlas, void *memory, nk_size size, float height, const struct nk_font_config *config); -#ifdef NK_INCLUDE_STANDARD_IO -NK_API struct nk_font* nk_font_atlas_add_from_file(struct nk_font_atlas *atlas, const char *file_path, float height, const struct nk_font_config*); -#endif -NK_API struct nk_font *nk_font_atlas_add_compressed(struct nk_font_atlas*, void *memory, nk_size size, float height, const struct nk_font_config*); -NK_API struct nk_font* nk_font_atlas_add_compressed_base85(struct nk_font_atlas*, const char *data, float height, const struct nk_font_config *config); -NK_API const void* nk_font_atlas_bake(struct nk_font_atlas*, int *width, int *height, enum nk_font_atlas_format); -NK_API void nk_font_atlas_end(struct nk_font_atlas*, nk_handle tex, struct nk_draw_null_texture*); -NK_API const struct nk_font_glyph* nk_font_find_glyph(struct nk_font*, nk_rune unicode); -NK_API void nk_font_atlas_cleanup(struct nk_font_atlas *atlas); -NK_API void nk_font_atlas_clear(struct nk_font_atlas*); - -#endif - -/* ============================================================== - * - * MEMORY BUFFER - * - * ===============================================================*/ -/* A basic (double)-buffer with linear allocation and resetting as only - freeing policy. The buffer's main purpose is to control all memory management - inside the GUI toolkit and still leave memory control as much as possible in - the hand of the user while also making sure the library is easy to use if - not as much control is needed. - In general all memory inside this library can be provided from the user in - three different ways. - - The first way and the one providing most control is by just passing a fixed - size memory block. In this case all control lies in the hand of the user - since he can exactly control where the memory comes from and how much memory - the library should consume. Of course using the fixed size API removes the - ability to automatically resize a buffer if not enough memory is provided so - you have to take over the resizing. While being a fixed sized buffer sounds - quite limiting, it is very effective in this library since the actual memory - consumption is quite stable and has a fixed upper bound for a lot of cases. - - If you don't want to think about how much memory the library should allocate - at all time or have a very dynamic UI with unpredictable memory consumption - habits but still want control over memory allocation you can use the dynamic - allocator based API. The allocator consists of two callbacks for allocating - and freeing memory and optional userdata so you can plugin your own allocator. - - The final and easiest way can be used by defining - NK_INCLUDE_DEFAULT_ALLOCATOR which uses the standard library memory - allocation functions malloc and free and takes over complete control over - memory in this library. -*/ -struct nk_memory_status { - void *memory; - unsigned int type; - nk_size size; - nk_size allocated; - nk_size needed; - nk_size calls; -}; - -enum nk_allocation_type { - NK_BUFFER_FIXED, - NK_BUFFER_DYNAMIC -}; - -enum nk_buffer_allocation_type { - NK_BUFFER_FRONT, - NK_BUFFER_BACK, - NK_BUFFER_MAX -}; - -struct nk_buffer_marker { - nk_bool active; - nk_size offset; -}; - -struct nk_memory {void *ptr;nk_size size;}; -struct nk_buffer { - struct nk_buffer_marker marker[NK_BUFFER_MAX]; - /* buffer marker to free a buffer to a certain offset */ - struct nk_allocator pool; - /* allocator callback for dynamic buffers */ - enum nk_allocation_type type; - /* memory management type */ - struct nk_memory memory; - /* memory and size of the current memory block */ - float grow_factor; - /* growing factor for dynamic memory management */ - nk_size allocated; - /* total amount of memory allocated */ - nk_size needed; - /* totally consumed memory given that enough memory is present */ - nk_size calls; - /* number of allocation calls */ - nk_size size; - /* current size of the buffer */ -}; - -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void nk_buffer_init_default(struct nk_buffer*); -#endif -NK_API void nk_buffer_init(struct nk_buffer*, const struct nk_allocator*, nk_size size); -NK_API void nk_buffer_init_fixed(struct nk_buffer*, void *memory, nk_size size); -NK_API void nk_buffer_info(struct nk_memory_status*, struct nk_buffer*); -NK_API void nk_buffer_push(struct nk_buffer*, enum nk_buffer_allocation_type type, const void *memory, nk_size size, nk_size align); -NK_API void nk_buffer_mark(struct nk_buffer*, enum nk_buffer_allocation_type type); -NK_API void nk_buffer_reset(struct nk_buffer*, enum nk_buffer_allocation_type type); -NK_API void nk_buffer_clear(struct nk_buffer*); -NK_API void nk_buffer_free(struct nk_buffer*); -NK_API void *nk_buffer_memory(struct nk_buffer*); -NK_API const void *nk_buffer_memory_const(const struct nk_buffer*); -NK_API nk_size nk_buffer_total(struct nk_buffer*); - -/* ============================================================== - * - * STRING - * - * ===============================================================*/ -/* Basic string buffer which is only used in context with the text editor - * to manage and manipulate dynamic or fixed size string content. This is _NOT_ - * the default string handling method. The only instance you should have any contact - * with this API is if you interact with an `nk_text_edit` object inside one of the - * copy and paste functions and even there only for more advanced cases. */ -struct nk_str { - struct nk_buffer buffer; - int len; /* in codepoints/runes/glyphs */ -}; - -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void nk_str_init_default(struct nk_str*); -#endif -NK_API void nk_str_init(struct nk_str*, const struct nk_allocator*, nk_size size); -NK_API void nk_str_init_fixed(struct nk_str*, void *memory, nk_size size); -NK_API void nk_str_clear(struct nk_str*); -NK_API void nk_str_free(struct nk_str*); - -NK_API int nk_str_append_text_char(struct nk_str*, const char*, int); -NK_API int nk_str_append_str_char(struct nk_str*, const char*); -NK_API int nk_str_append_text_utf8(struct nk_str*, const char*, int); -NK_API int nk_str_append_str_utf8(struct nk_str*, const char*); -NK_API int nk_str_append_text_runes(struct nk_str*, const nk_rune*, int); -NK_API int nk_str_append_str_runes(struct nk_str*, const nk_rune*); - -NK_API int nk_str_insert_at_char(struct nk_str*, int pos, const char*, int); -NK_API int nk_str_insert_at_rune(struct nk_str*, int pos, const char*, int); - -NK_API int nk_str_insert_text_char(struct nk_str*, int pos, const char*, int); -NK_API int nk_str_insert_str_char(struct nk_str*, int pos, const char*); -NK_API int nk_str_insert_text_utf8(struct nk_str*, int pos, const char*, int); -NK_API int nk_str_insert_str_utf8(struct nk_str*, int pos, const char*); -NK_API int nk_str_insert_text_runes(struct nk_str*, int pos, const nk_rune*, int); -NK_API int nk_str_insert_str_runes(struct nk_str*, int pos, const nk_rune*); - -NK_API void nk_str_remove_chars(struct nk_str*, int len); -NK_API void nk_str_remove_runes(struct nk_str *str, int len); -NK_API void nk_str_delete_chars(struct nk_str*, int pos, int len); -NK_API void nk_str_delete_runes(struct nk_str*, int pos, int len); - -NK_API char *nk_str_at_char(struct nk_str*, int pos); -NK_API char *nk_str_at_rune(struct nk_str*, int pos, nk_rune *unicode, int *len); -NK_API nk_rune nk_str_rune_at(const struct nk_str*, int pos); -NK_API const char *nk_str_at_char_const(const struct nk_str*, int pos); -NK_API const char *nk_str_at_const(const struct nk_str*, int pos, nk_rune *unicode, int *len); - -NK_API char *nk_str_get(struct nk_str*); -NK_API const char *nk_str_get_const(const struct nk_str*); -NK_API int nk_str_len(struct nk_str*); -NK_API int nk_str_len_char(struct nk_str*); - -/*=============================================================== - * - * TEXT EDITOR - * - * ===============================================================*/ -/* Editing text in this library is handled by either `nk_edit_string` or - * `nk_edit_buffer`. But like almost everything in this library there are multiple - * ways of doing it and a balance between control and ease of use with memory - * as well as functionality controlled by flags. - * - * This library generally allows three different levels of memory control: - * First of is the most basic way of just providing a simple char array with - * string length. This method is probably the easiest way of handling simple - * user text input. Main upside is complete control over memory while the biggest - * downside in comparison with the other two approaches is missing undo/redo. - * - * For UIs that require undo/redo the second way was created. It is based on - * a fixed size nk_text_edit struct, which has an internal undo/redo stack. - * This is mainly useful if you want something more like a text editor but don't want - * to have a dynamically growing buffer. - * - * The final way is using a dynamically growing nk_text_edit struct, which - * has both a default version if you don't care where memory comes from and an - * allocator version if you do. While the text editor is quite powerful for its - * complexity I would not recommend editing gigabytes of data with it. - * It is rather designed for uses cases which make sense for a GUI library not for - * an full blown text editor. - */ -#ifndef NK_TEXTEDIT_UNDOSTATECOUNT -#define NK_TEXTEDIT_UNDOSTATECOUNT 99 -#endif - -#ifndef NK_TEXTEDIT_UNDOCHARCOUNT -#define NK_TEXTEDIT_UNDOCHARCOUNT 999 -#endif - -struct nk_text_edit; -struct nk_clipboard { - nk_handle userdata; - nk_plugin_paste paste; - nk_plugin_copy copy; -}; - -struct nk_text_undo_record { - int where; - short insert_length; - short delete_length; - short char_storage; -}; - -struct nk_text_undo_state { - struct nk_text_undo_record undo_rec[NK_TEXTEDIT_UNDOSTATECOUNT]; - nk_rune undo_char[NK_TEXTEDIT_UNDOCHARCOUNT]; - short undo_point; - short redo_point; - short undo_char_point; - short redo_char_point; -}; - -enum nk_text_edit_type { - NK_TEXT_EDIT_SINGLE_LINE, - NK_TEXT_EDIT_MULTI_LINE -}; - -enum nk_text_edit_mode { - NK_TEXT_EDIT_MODE_VIEW, - NK_TEXT_EDIT_MODE_INSERT, - NK_TEXT_EDIT_MODE_REPLACE -}; - -struct nk_text_edit { - struct nk_clipboard clip; - struct nk_str string; - nk_plugin_filter filter; - struct nk_vec2 scrollbar; - - int cursor; - int select_start; - int select_end; - unsigned char mode; - unsigned char cursor_at_end_of_line; - unsigned char initialized; - unsigned char has_preferred_x; - unsigned char single_line; - unsigned char active; - unsigned char padding1; - float preferred_x; - struct nk_text_undo_state undo; -}; - -/* filter function */ -NK_API nk_bool nk_filter_default(const struct nk_text_edit*, nk_rune unicode); -NK_API nk_bool nk_filter_ascii(const struct nk_text_edit*, nk_rune unicode); -NK_API nk_bool nk_filter_float(const struct nk_text_edit*, nk_rune unicode); -NK_API nk_bool nk_filter_decimal(const struct nk_text_edit*, nk_rune unicode); -NK_API nk_bool nk_filter_hex(const struct nk_text_edit*, nk_rune unicode); -NK_API nk_bool nk_filter_oct(const struct nk_text_edit*, nk_rune unicode); -NK_API nk_bool nk_filter_binary(const struct nk_text_edit*, nk_rune unicode); - -/* text editor */ -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void nk_textedit_init_default(struct nk_text_edit*); -#endif -NK_API void nk_textedit_init(struct nk_text_edit*, struct nk_allocator*, nk_size size); -NK_API void nk_textedit_init_fixed(struct nk_text_edit*, void *memory, nk_size size); -NK_API void nk_textedit_free(struct nk_text_edit*); -NK_API void nk_textedit_text(struct nk_text_edit*, const char*, int total_len); -NK_API void nk_textedit_delete(struct nk_text_edit*, int where, int len); -NK_API void nk_textedit_delete_selection(struct nk_text_edit*); -NK_API void nk_textedit_select_all(struct nk_text_edit*); -NK_API nk_bool nk_textedit_cut(struct nk_text_edit*); -NK_API nk_bool nk_textedit_paste(struct nk_text_edit*, char const*, int len); -NK_API void nk_textedit_undo(struct nk_text_edit*); -NK_API void nk_textedit_redo(struct nk_text_edit*); - -/* =============================================================== - * - * DRAWING - * - * ===============================================================*/ -/* This library was designed to be render backend agnostic so it does - not draw anything to screen. Instead all drawn shapes, widgets - are made of, are buffered into memory and make up a command queue. - Each frame therefore fills the command buffer with draw commands - that then need to be executed by the user and his own render backend. - After that the command buffer needs to be cleared and a new frame can be - started. It is probably important to note that the command buffer is the main - drawing API and the optional vertex buffer API only takes this format and - converts it into a hardware accessible format. - - To use the command queue to draw your own widgets you can access the - command buffer of each window by calling `nk_window_get_canvas` after - previously having called `nk_begin`: - - void draw_red_rectangle_widget(struct nk_context *ctx) - { - struct nk_command_buffer *canvas; - struct nk_input *input = &ctx->input; - canvas = nk_window_get_canvas(ctx); - - struct nk_rect space; - enum nk_widget_layout_states state; - state = nk_widget(&space, ctx); - if (!state) return; - - if (state != NK_WIDGET_ROM) - update_your_widget_by_user_input(...); - nk_fill_rect(canvas, space, 0, nk_rgb(255,0,0)); - } - - if (nk_begin(...)) { - nk_layout_row_dynamic(ctx, 25, 1); - draw_red_rectangle_widget(ctx); - } - nk_end(..) - - Important to know if you want to create your own widgets is the `nk_widget` - call. It allocates space on the panel reserved for this widget to be used, - but also returns the state of the widget space. If your widget is not seen and does - not have to be updated it is '0' and you can just return. If it only has - to be drawn the state will be `NK_WIDGET_ROM` otherwise you can do both - update and draw your widget. The reason for separating is to only draw and - update what is actually necessary which is crucial for performance. -*/ -enum nk_command_type { - NK_COMMAND_NOP, - NK_COMMAND_SCISSOR, - NK_COMMAND_LINE, - NK_COMMAND_CURVE, - NK_COMMAND_RECT, - NK_COMMAND_RECT_FILLED, - NK_COMMAND_RECT_MULTI_COLOR, - NK_COMMAND_CIRCLE, - NK_COMMAND_CIRCLE_FILLED, - NK_COMMAND_ARC, - NK_COMMAND_ARC_FILLED, - NK_COMMAND_TRIANGLE, - NK_COMMAND_TRIANGLE_FILLED, - NK_COMMAND_POLYGON, - NK_COMMAND_POLYGON_FILLED, - NK_COMMAND_POLYLINE, - NK_COMMAND_TEXT, - NK_COMMAND_IMAGE, - NK_COMMAND_CUSTOM -}; - -/* command base and header of every command inside the buffer */ -struct nk_command { - enum nk_command_type type; - nk_size next; -#ifdef NK_INCLUDE_COMMAND_USERDATA - nk_handle userdata; -#endif -}; - -struct nk_command_scissor { - struct nk_command header; - short x, y; - unsigned short w, h; -}; - -struct nk_command_line { - struct nk_command header; - unsigned short line_thickness; - struct nk_vec2i begin; - struct nk_vec2i end; - struct nk_color color; -}; - -struct nk_command_curve { - struct nk_command header; - unsigned short line_thickness; - struct nk_vec2i begin; - struct nk_vec2i end; - struct nk_vec2i ctrl[2]; - struct nk_color color; -}; - -struct nk_command_rect { - struct nk_command header; - unsigned short rounding; - unsigned short line_thickness; - short x, y; - unsigned short w, h; - struct nk_color color; -}; - -struct nk_command_rect_filled { - struct nk_command header; - unsigned short rounding; - short x, y; - unsigned short w, h; - struct nk_color color; -}; - -struct nk_command_rect_multi_color { - struct nk_command header; - short x, y; - unsigned short w, h; - struct nk_color left; - struct nk_color top; - struct nk_color bottom; - struct nk_color right; -}; - -struct nk_command_triangle { - struct nk_command header; - unsigned short line_thickness; - struct nk_vec2i a; - struct nk_vec2i b; - struct nk_vec2i c; - struct nk_color color; -}; - -struct nk_command_triangle_filled { - struct nk_command header; - struct nk_vec2i a; - struct nk_vec2i b; - struct nk_vec2i c; - struct nk_color color; -}; - -struct nk_command_circle { - struct nk_command header; - short x, y; - unsigned short line_thickness; - unsigned short w, h; - struct nk_color color; -}; - -struct nk_command_circle_filled { - struct nk_command header; - short x, y; - unsigned short w, h; - struct nk_color color; -}; - -struct nk_command_arc { - struct nk_command header; - short cx, cy; - unsigned short r; - unsigned short line_thickness; - float a[2]; - struct nk_color color; -}; - -struct nk_command_arc_filled { - struct nk_command header; - short cx, cy; - unsigned short r; - float a[2]; - struct nk_color color; -}; - -struct nk_command_polygon { - struct nk_command header; - struct nk_color color; - unsigned short line_thickness; - unsigned short point_count; - struct nk_vec2i points[1]; -}; - -struct nk_command_polygon_filled { - struct nk_command header; - struct nk_color color; - unsigned short point_count; - struct nk_vec2i points[1]; -}; - -struct nk_command_polyline { - struct nk_command header; - struct nk_color color; - unsigned short line_thickness; - unsigned short point_count; - struct nk_vec2i points[1]; -}; - -struct nk_command_image { - struct nk_command header; - short x, y; - unsigned short w, h; - struct nk_image img; - struct nk_color col; -}; - -typedef void (*nk_command_custom_callback)(void *canvas, short x,short y, - unsigned short w, unsigned short h, nk_handle callback_data); -struct nk_command_custom { - struct nk_command header; - short x, y; - unsigned short w, h; - nk_handle callback_data; - nk_command_custom_callback callback; -}; - -struct nk_command_text { - struct nk_command header; - const struct nk_user_font *font; - struct nk_color background; - struct nk_color foreground; - short x, y; - unsigned short w, h; - float height; - int length; - char string[1]; -}; - -enum nk_command_clipping { - NK_CLIPPING_OFF = nk_false, - NK_CLIPPING_ON = nk_true -}; - -struct nk_command_buffer { - struct nk_buffer *base; - struct nk_rect clip; - int use_clipping; - nk_handle userdata; - nk_size begin, end, last; -}; - -/* shape outlines */ -NK_API void nk_stroke_line(struct nk_command_buffer *b, float x0, float y0, float x1, float y1, float line_thickness, struct nk_color); -NK_API void nk_stroke_curve(struct nk_command_buffer*, float, float, float, float, float, float, float, float, float line_thickness, struct nk_color); -NK_API void nk_stroke_rect(struct nk_command_buffer*, struct nk_rect, float rounding, float line_thickness, struct nk_color); -NK_API void nk_stroke_circle(struct nk_command_buffer*, struct nk_rect, float line_thickness, struct nk_color); -NK_API void nk_stroke_arc(struct nk_command_buffer*, float cx, float cy, float radius, float a_min, float a_max, float line_thickness, struct nk_color); -NK_API void nk_stroke_triangle(struct nk_command_buffer*, float, float, float, float, float, float, float line_thichness, struct nk_color); -NK_API void nk_stroke_polyline(struct nk_command_buffer*, float *points, int point_count, float line_thickness, struct nk_color col); -NK_API void nk_stroke_polygon(struct nk_command_buffer*, float*, int point_count, float line_thickness, struct nk_color); - -/* filled shades */ -NK_API void nk_fill_rect(struct nk_command_buffer*, struct nk_rect, float rounding, struct nk_color); -NK_API void nk_fill_rect_multi_color(struct nk_command_buffer*, struct nk_rect, struct nk_color left, struct nk_color top, struct nk_color right, struct nk_color bottom); -NK_API void nk_fill_circle(struct nk_command_buffer*, struct nk_rect, struct nk_color); -NK_API void nk_fill_arc(struct nk_command_buffer*, float cx, float cy, float radius, float a_min, float a_max, struct nk_color); -NK_API void nk_fill_triangle(struct nk_command_buffer*, float x0, float y0, float x1, float y1, float x2, float y2, struct nk_color); -NK_API void nk_fill_polygon(struct nk_command_buffer*, float*, int point_count, struct nk_color); - -/* misc */ -NK_API void nk_draw_image(struct nk_command_buffer*, struct nk_rect, const struct nk_image*, struct nk_color); -NK_API void nk_draw_nine_slice(struct nk_command_buffer*, struct nk_rect, const struct nk_nine_slice*, struct nk_color); -NK_API void nk_draw_text(struct nk_command_buffer*, struct nk_rect, const char *text, int len, const struct nk_user_font*, struct nk_color, struct nk_color); -NK_API void nk_push_scissor(struct nk_command_buffer*, struct nk_rect); -NK_API void nk_push_custom(struct nk_command_buffer*, struct nk_rect, nk_command_custom_callback, nk_handle usr); - -/* =============================================================== - * - * INPUT - * - * ===============================================================*/ -struct nk_mouse_button { - nk_bool down; - unsigned int clicked; - struct nk_vec2 clicked_pos; -}; -struct nk_mouse { - struct nk_mouse_button buttons[NK_BUTTON_MAX]; - struct nk_vec2 pos; -#ifdef NK_BUTTON_TRIGGER_ON_RELEASE - struct nk_vec2 down_pos; -#endif - struct nk_vec2 prev; - struct nk_vec2 delta; - struct nk_vec2 scroll_delta; - unsigned char grab; - unsigned char grabbed; - unsigned char ungrab; -}; - -struct nk_key { - nk_bool down; - unsigned int clicked; -}; -struct nk_keyboard { - struct nk_key keys[NK_KEY_MAX]; - char text[NK_INPUT_MAX]; - int text_len; -}; - -struct nk_input { - struct nk_keyboard keyboard; - struct nk_mouse mouse; -}; - -NK_API nk_bool nk_input_has_mouse_click(const struct nk_input*, enum nk_buttons); -NK_API nk_bool nk_input_has_mouse_click_in_rect(const struct nk_input*, enum nk_buttons, struct nk_rect); -NK_API nk_bool nk_input_has_mouse_click_in_button_rect(const struct nk_input*, enum nk_buttons, struct nk_rect); -NK_API nk_bool nk_input_has_mouse_click_down_in_rect(const struct nk_input*, enum nk_buttons, struct nk_rect, nk_bool down); -NK_API nk_bool nk_input_is_mouse_click_in_rect(const struct nk_input*, enum nk_buttons, struct nk_rect); -NK_API nk_bool nk_input_is_mouse_click_down_in_rect(const struct nk_input *i, enum nk_buttons id, struct nk_rect b, nk_bool down); -NK_API nk_bool nk_input_any_mouse_click_in_rect(const struct nk_input*, struct nk_rect); -NK_API nk_bool nk_input_is_mouse_prev_hovering_rect(const struct nk_input*, struct nk_rect); -NK_API nk_bool nk_input_is_mouse_hovering_rect(const struct nk_input*, struct nk_rect); -NK_API nk_bool nk_input_mouse_clicked(const struct nk_input*, enum nk_buttons, struct nk_rect); -NK_API nk_bool nk_input_is_mouse_down(const struct nk_input*, enum nk_buttons); -NK_API nk_bool nk_input_is_mouse_pressed(const struct nk_input*, enum nk_buttons); -NK_API nk_bool nk_input_is_mouse_released(const struct nk_input*, enum nk_buttons); -NK_API nk_bool nk_input_is_key_pressed(const struct nk_input*, enum nk_keys); -NK_API nk_bool nk_input_is_key_released(const struct nk_input*, enum nk_keys); -NK_API nk_bool nk_input_is_key_down(const struct nk_input*, enum nk_keys); - -/* =============================================================== - * - * DRAW LIST - * - * ===============================================================*/ -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT -/* The optional vertex buffer draw list provides a 2D drawing context - with antialiasing functionality which takes basic filled or outlined shapes - or a path and outputs vertexes, elements and draw commands. - The actual draw list API is not required to be used directly while using this - library since converting the default library draw command output is done by - just calling `nk_convert` but I decided to still make this library accessible - since it can be useful. - - The draw list is based on a path buffering and polygon and polyline - rendering API which allows a lot of ways to draw 2D content to screen. - In fact it is probably more powerful than needed but allows even more crazy - things than this library provides by default. -*/ -#ifdef NK_UINT_DRAW_INDEX -typedef nk_uint nk_draw_index; -#else -typedef nk_ushort nk_draw_index; -#endif -enum nk_draw_list_stroke { - NK_STROKE_OPEN = nk_false, - /* build up path has no connection back to the beginning */ - NK_STROKE_CLOSED = nk_true - /* build up path has a connection back to the beginning */ -}; - -enum nk_draw_vertex_layout_attribute { - NK_VERTEX_POSITION, - NK_VERTEX_COLOR, - NK_VERTEX_TEXCOORD, - NK_VERTEX_ATTRIBUTE_COUNT -}; - -enum nk_draw_vertex_layout_format { - NK_FORMAT_SCHAR, - NK_FORMAT_SSHORT, - NK_FORMAT_SINT, - NK_FORMAT_UCHAR, - NK_FORMAT_USHORT, - NK_FORMAT_UINT, - NK_FORMAT_FLOAT, - NK_FORMAT_DOUBLE, - -NK_FORMAT_COLOR_BEGIN, - NK_FORMAT_R8G8B8 = NK_FORMAT_COLOR_BEGIN, - NK_FORMAT_R16G15B16, - NK_FORMAT_R32G32B32, - - NK_FORMAT_R8G8B8A8, - NK_FORMAT_B8G8R8A8, - NK_FORMAT_R16G15B16A16, - NK_FORMAT_R32G32B32A32, - NK_FORMAT_R32G32B32A32_FLOAT, - NK_FORMAT_R32G32B32A32_DOUBLE, - - NK_FORMAT_RGB32, - NK_FORMAT_RGBA32, -NK_FORMAT_COLOR_END = NK_FORMAT_RGBA32, - NK_FORMAT_COUNT -}; - -#define NK_VERTEX_LAYOUT_END NK_VERTEX_ATTRIBUTE_COUNT,NK_FORMAT_COUNT,0 -struct nk_draw_vertex_layout_element { - enum nk_draw_vertex_layout_attribute attribute; - enum nk_draw_vertex_layout_format format; - nk_size offset; -}; - -struct nk_draw_command { - unsigned int elem_count; - /* number of elements in the current draw batch */ - struct nk_rect clip_rect; - /* current screen clipping rectangle */ - nk_handle texture; - /* current texture to set */ -#ifdef NK_INCLUDE_COMMAND_USERDATA - nk_handle userdata; -#endif -}; - -struct nk_draw_list { - struct nk_rect clip_rect; - struct nk_vec2 circle_vtx[12]; - struct nk_convert_config config; - - struct nk_buffer *buffer; - struct nk_buffer *vertices; - struct nk_buffer *elements; - - unsigned int element_count; - unsigned int vertex_count; - unsigned int cmd_count; - nk_size cmd_offset; - - unsigned int path_count; - unsigned int path_offset; - - enum nk_anti_aliasing line_AA; - enum nk_anti_aliasing shape_AA; - -#ifdef NK_INCLUDE_COMMAND_USERDATA - nk_handle userdata; -#endif -}; - -/* draw list */ -NK_API void nk_draw_list_init(struct nk_draw_list*); -NK_API void nk_draw_list_setup(struct nk_draw_list*, const struct nk_convert_config*, struct nk_buffer *cmds, struct nk_buffer *vertices, struct nk_buffer *elements, enum nk_anti_aliasing line_aa,enum nk_anti_aliasing shape_aa); - -/* drawing */ -#define nk_draw_list_foreach(cmd, can, b) for((cmd)=nk__draw_list_begin(can, b); (cmd)!=0; (cmd)=nk__draw_list_next(cmd, b, can)) -NK_API const struct nk_draw_command* nk__draw_list_begin(const struct nk_draw_list*, const struct nk_buffer*); -NK_API const struct nk_draw_command* nk__draw_list_next(const struct nk_draw_command*, const struct nk_buffer*, const struct nk_draw_list*); -NK_API const struct nk_draw_command* nk__draw_list_end(const struct nk_draw_list*, const struct nk_buffer*); - -/* path */ -NK_API void nk_draw_list_path_clear(struct nk_draw_list*); -NK_API void nk_draw_list_path_line_to(struct nk_draw_list*, struct nk_vec2 pos); -NK_API void nk_draw_list_path_arc_to_fast(struct nk_draw_list*, struct nk_vec2 center, float radius, int a_min, int a_max); -NK_API void nk_draw_list_path_arc_to(struct nk_draw_list*, struct nk_vec2 center, float radius, float a_min, float a_max, unsigned int segments); -NK_API void nk_draw_list_path_rect_to(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, float rounding); -NK_API void nk_draw_list_path_curve_to(struct nk_draw_list*, struct nk_vec2 p2, struct nk_vec2 p3, struct nk_vec2 p4, unsigned int num_segments); -NK_API void nk_draw_list_path_fill(struct nk_draw_list*, struct nk_color); -NK_API void nk_draw_list_path_stroke(struct nk_draw_list*, struct nk_color, enum nk_draw_list_stroke closed, float thickness); - -/* stroke */ -NK_API void nk_draw_list_stroke_line(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, struct nk_color, float thickness); -NK_API void nk_draw_list_stroke_rect(struct nk_draw_list*, struct nk_rect rect, struct nk_color, float rounding, float thickness); -NK_API void nk_draw_list_stroke_triangle(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, struct nk_vec2 c, struct nk_color, float thickness); -NK_API void nk_draw_list_stroke_circle(struct nk_draw_list*, struct nk_vec2 center, float radius, struct nk_color, unsigned int segs, float thickness); -NK_API void nk_draw_list_stroke_curve(struct nk_draw_list*, struct nk_vec2 p0, struct nk_vec2 cp0, struct nk_vec2 cp1, struct nk_vec2 p1, struct nk_color, unsigned int segments, float thickness); -NK_API void nk_draw_list_stroke_poly_line(struct nk_draw_list*, const struct nk_vec2 *pnts, const unsigned int cnt, struct nk_color, enum nk_draw_list_stroke, float thickness, enum nk_anti_aliasing); - -/* fill */ -NK_API void nk_draw_list_fill_rect(struct nk_draw_list*, struct nk_rect rect, struct nk_color, float rounding); -NK_API void nk_draw_list_fill_rect_multi_color(struct nk_draw_list*, struct nk_rect rect, struct nk_color left, struct nk_color top, struct nk_color right, struct nk_color bottom); -NK_API void nk_draw_list_fill_triangle(struct nk_draw_list*, struct nk_vec2 a, struct nk_vec2 b, struct nk_vec2 c, struct nk_color); -NK_API void nk_draw_list_fill_circle(struct nk_draw_list*, struct nk_vec2 center, float radius, struct nk_color col, unsigned int segs); -NK_API void nk_draw_list_fill_poly_convex(struct nk_draw_list*, const struct nk_vec2 *points, const unsigned int count, struct nk_color, enum nk_anti_aliasing); - -/* misc */ -NK_API void nk_draw_list_add_image(struct nk_draw_list*, struct nk_image texture, struct nk_rect rect, struct nk_color); -NK_API void nk_draw_list_add_text(struct nk_draw_list*, const struct nk_user_font*, struct nk_rect, const char *text, int len, float font_height, struct nk_color); -#ifdef NK_INCLUDE_COMMAND_USERDATA -NK_API void nk_draw_list_push_userdata(struct nk_draw_list*, nk_handle userdata); -#endif - -#endif - -/* =============================================================== - * - * GUI - * - * ===============================================================*/ -enum nk_style_item_type { - NK_STYLE_ITEM_COLOR, - NK_STYLE_ITEM_IMAGE, - NK_STYLE_ITEM_NINE_SLICE -}; - -union nk_style_item_data { - struct nk_color color; - struct nk_image image; - struct nk_nine_slice slice; -}; - -struct nk_style_item { - enum nk_style_item_type type; - union nk_style_item_data data; -}; - -struct nk_style_text { - struct nk_color color; - struct nk_vec2 padding; -}; - -struct nk_style_button { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* text */ - struct nk_color text_background; - struct nk_color text_normal; - struct nk_color text_hover; - struct nk_color text_active; - nk_flags text_alignment; - - /* properties */ - float border; - float rounding; - struct nk_vec2 padding; - struct nk_vec2 image_padding; - struct nk_vec2 touch_padding; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle userdata); - void(*draw_end)(struct nk_command_buffer*, nk_handle userdata); -}; - -struct nk_style_toggle { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* cursor */ - struct nk_style_item cursor_normal; - struct nk_style_item cursor_hover; - - /* text */ - struct nk_color text_normal; - struct nk_color text_hover; - struct nk_color text_active; - struct nk_color text_background; - nk_flags text_alignment; - - /* properties */ - struct nk_vec2 padding; - struct nk_vec2 touch_padding; - float spacing; - float border; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle); - void(*draw_end)(struct nk_command_buffer*, nk_handle); -}; - -struct nk_style_selectable { - /* background (inactive) */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item pressed; - - /* background (active) */ - struct nk_style_item normal_active; - struct nk_style_item hover_active; - struct nk_style_item pressed_active; - - /* text color (inactive) */ - struct nk_color text_normal; - struct nk_color text_hover; - struct nk_color text_pressed; - - /* text color (active) */ - struct nk_color text_normal_active; - struct nk_color text_hover_active; - struct nk_color text_pressed_active; - struct nk_color text_background; - nk_flags text_alignment; - - /* properties */ - float rounding; - struct nk_vec2 padding; - struct nk_vec2 touch_padding; - struct nk_vec2 image_padding; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle); - void(*draw_end)(struct nk_command_buffer*, nk_handle); -}; - -struct nk_style_slider { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* background bar */ - struct nk_color bar_normal; - struct nk_color bar_hover; - struct nk_color bar_active; - struct nk_color bar_filled; - - /* cursor */ - struct nk_style_item cursor_normal; - struct nk_style_item cursor_hover; - struct nk_style_item cursor_active; - - /* properties */ - float border; - float rounding; - float bar_height; - struct nk_vec2 padding; - struct nk_vec2 spacing; - struct nk_vec2 cursor_size; - - /* optional buttons */ - int show_buttons; - struct nk_style_button inc_button; - struct nk_style_button dec_button; - enum nk_symbol_type inc_symbol; - enum nk_symbol_type dec_symbol; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle); - void(*draw_end)(struct nk_command_buffer*, nk_handle); -}; - -struct nk_style_progress { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* cursor */ - struct nk_style_item cursor_normal; - struct nk_style_item cursor_hover; - struct nk_style_item cursor_active; - struct nk_color cursor_border_color; - - /* properties */ - float rounding; - float border; - float cursor_border; - float cursor_rounding; - struct nk_vec2 padding; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle); - void(*draw_end)(struct nk_command_buffer*, nk_handle); -}; - -struct nk_style_scrollbar { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* cursor */ - struct nk_style_item cursor_normal; - struct nk_style_item cursor_hover; - struct nk_style_item cursor_active; - struct nk_color cursor_border_color; - - /* properties */ - float border; - float rounding; - float border_cursor; - float rounding_cursor; - struct nk_vec2 padding; - - /* optional buttons */ - int show_buttons; - struct nk_style_button inc_button; - struct nk_style_button dec_button; - enum nk_symbol_type inc_symbol; - enum nk_symbol_type dec_symbol; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle); - void(*draw_end)(struct nk_command_buffer*, nk_handle); -}; - -struct nk_style_edit { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - struct nk_style_scrollbar scrollbar; - - /* cursor */ - struct nk_color cursor_normal; - struct nk_color cursor_hover; - struct nk_color cursor_text_normal; - struct nk_color cursor_text_hover; - - /* text (unselected) */ - struct nk_color text_normal; - struct nk_color text_hover; - struct nk_color text_active; - - /* text (selected) */ - struct nk_color selected_normal; - struct nk_color selected_hover; - struct nk_color selected_text_normal; - struct nk_color selected_text_hover; - - /* properties */ - float border; - float rounding; - float cursor_size; - struct nk_vec2 scrollbar_size; - struct nk_vec2 padding; - float row_padding; -}; - -struct nk_style_property { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* text */ - struct nk_color label_normal; - struct nk_color label_hover; - struct nk_color label_active; - - /* symbols */ - enum nk_symbol_type sym_left; - enum nk_symbol_type sym_right; - - /* properties */ - float border; - float rounding; - struct nk_vec2 padding; - - struct nk_style_edit edit; - struct nk_style_button inc_button; - struct nk_style_button dec_button; - - /* optional user callbacks */ - nk_handle userdata; - void(*draw_begin)(struct nk_command_buffer*, nk_handle); - void(*draw_end)(struct nk_command_buffer*, nk_handle); -}; - -struct nk_style_chart { - /* colors */ - struct nk_style_item background; - struct nk_color border_color; - struct nk_color selected_color; - struct nk_color color; - - /* properties */ - float border; - float rounding; - struct nk_vec2 padding; -}; - -struct nk_style_combo { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - struct nk_color border_color; - - /* label */ - struct nk_color label_normal; - struct nk_color label_hover; - struct nk_color label_active; - - /* symbol */ - struct nk_color symbol_normal; - struct nk_color symbol_hover; - struct nk_color symbol_active; - - /* button */ - struct nk_style_button button; - enum nk_symbol_type sym_normal; - enum nk_symbol_type sym_hover; - enum nk_symbol_type sym_active; - - /* properties */ - float border; - float rounding; - struct nk_vec2 content_padding; - struct nk_vec2 button_padding; - struct nk_vec2 spacing; -}; - -struct nk_style_tab { - /* background */ - struct nk_style_item background; - struct nk_color border_color; - struct nk_color text; - - /* button */ - struct nk_style_button tab_maximize_button; - struct nk_style_button tab_minimize_button; - struct nk_style_button node_maximize_button; - struct nk_style_button node_minimize_button; - enum nk_symbol_type sym_minimize; - enum nk_symbol_type sym_maximize; - - /* properties */ - float border; - float rounding; - float indent; - struct nk_vec2 padding; - struct nk_vec2 spacing; -}; - -enum nk_style_header_align { - NK_HEADER_LEFT, - NK_HEADER_RIGHT -}; -struct nk_style_window_header { - /* background */ - struct nk_style_item normal; - struct nk_style_item hover; - struct nk_style_item active; - - /* button */ - struct nk_style_button close_button; - struct nk_style_button minimize_button; - enum nk_symbol_type close_symbol; - enum nk_symbol_type minimize_symbol; - enum nk_symbol_type maximize_symbol; - - /* title */ - struct nk_color label_normal; - struct nk_color label_hover; - struct nk_color label_active; - - /* properties */ - enum nk_style_header_align align; - struct nk_vec2 padding; - struct nk_vec2 label_padding; - struct nk_vec2 spacing; -}; - -struct nk_style_window { - struct nk_style_window_header header; - struct nk_style_item fixed_background; - struct nk_color background; - - struct nk_color border_color; - struct nk_color popup_border_color; - struct nk_color combo_border_color; - struct nk_color contextual_border_color; - struct nk_color menu_border_color; - struct nk_color group_border_color; - struct nk_color tooltip_border_color; - struct nk_style_item scaler; - - float border; - float combo_border; - float contextual_border; - float menu_border; - float group_border; - float tooltip_border; - float popup_border; - float min_row_height_padding; - - float rounding; - struct nk_vec2 spacing; - struct nk_vec2 scrollbar_size; - struct nk_vec2 min_size; - - struct nk_vec2 padding; - struct nk_vec2 group_padding; - struct nk_vec2 popup_padding; - struct nk_vec2 combo_padding; - struct nk_vec2 contextual_padding; - struct nk_vec2 menu_padding; - struct nk_vec2 tooltip_padding; -}; - -struct nk_style { - const struct nk_user_font *font; - const struct nk_cursor *cursors[NK_CURSOR_COUNT]; - const struct nk_cursor *cursor_active; - struct nk_cursor *cursor_last; - int cursor_visible; - - struct nk_style_text text; - struct nk_style_button button; - struct nk_style_button contextual_button; - struct nk_style_button menu_button; - struct nk_style_toggle option; - struct nk_style_toggle checkbox; - struct nk_style_selectable selectable; - struct nk_style_slider slider; - struct nk_style_progress progress; - struct nk_style_property property; - struct nk_style_edit edit; - struct nk_style_chart chart; - struct nk_style_scrollbar scrollh; - struct nk_style_scrollbar scrollv; - struct nk_style_tab tab; - struct nk_style_combo combo; - struct nk_style_window window; -}; - -NK_API struct nk_style_item nk_style_item_color(struct nk_color); -NK_API struct nk_style_item nk_style_item_image(struct nk_image img); -NK_API struct nk_style_item nk_style_item_nine_slice(struct nk_nine_slice slice); -NK_API struct nk_style_item nk_style_item_hide(void); - -/*============================================================== - * PANEL - * =============================================================*/ -#ifndef NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS -#define NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS 16 -#endif -#ifndef NK_CHART_MAX_SLOT -#define NK_CHART_MAX_SLOT 4 -#endif - -enum nk_panel_type { - NK_PANEL_NONE = 0, - NK_PANEL_WINDOW = NK_FLAG(0), - NK_PANEL_GROUP = NK_FLAG(1), - NK_PANEL_POPUP = NK_FLAG(2), - NK_PANEL_CONTEXTUAL = NK_FLAG(4), - NK_PANEL_COMBO = NK_FLAG(5), - NK_PANEL_MENU = NK_FLAG(6), - NK_PANEL_TOOLTIP = NK_FLAG(7) -}; -enum nk_panel_set { - NK_PANEL_SET_NONBLOCK = NK_PANEL_CONTEXTUAL|NK_PANEL_COMBO|NK_PANEL_MENU|NK_PANEL_TOOLTIP, - NK_PANEL_SET_POPUP = NK_PANEL_SET_NONBLOCK|NK_PANEL_POPUP, - NK_PANEL_SET_SUB = NK_PANEL_SET_POPUP|NK_PANEL_GROUP -}; - -struct nk_chart_slot { - enum nk_chart_type type; - struct nk_color color; - struct nk_color highlight; - float min, max, range; - int count; - struct nk_vec2 last; - int index; -}; - -struct nk_chart { - int slot; - float x, y, w, h; - struct nk_chart_slot slots[NK_CHART_MAX_SLOT]; -}; - -enum nk_panel_row_layout_type { - NK_LAYOUT_DYNAMIC_FIXED = 0, - NK_LAYOUT_DYNAMIC_ROW, - NK_LAYOUT_DYNAMIC_FREE, - NK_LAYOUT_DYNAMIC, - NK_LAYOUT_STATIC_FIXED, - NK_LAYOUT_STATIC_ROW, - NK_LAYOUT_STATIC_FREE, - NK_LAYOUT_STATIC, - NK_LAYOUT_TEMPLATE, - NK_LAYOUT_COUNT -}; -struct nk_row_layout { - enum nk_panel_row_layout_type type; - int index; - float height; - float min_height; - int columns; - const float *ratio; - float item_width; - float item_height; - float item_offset; - float filled; - struct nk_rect item; - int tree_depth; - float templates[NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS]; -}; - -struct nk_popup_buffer { - nk_size begin; - nk_size parent; - nk_size last; - nk_size end; - nk_bool active; -}; - -struct nk_menu_state { - float x, y, w, h; - struct nk_scroll offset; -}; - -struct nk_panel { - enum nk_panel_type type; - nk_flags flags; - struct nk_rect bounds; - nk_uint *offset_x; - nk_uint *offset_y; - float at_x, at_y, max_x; - float footer_height; - float header_height; - float border; - unsigned int has_scrolling; - struct nk_rect clip; - struct nk_menu_state menu; - struct nk_row_layout row; - struct nk_chart chart; - struct nk_command_buffer *buffer; - struct nk_panel *parent; -}; - -/*============================================================== - * WINDOW - * =============================================================*/ -#ifndef NK_WINDOW_MAX_NAME -#define NK_WINDOW_MAX_NAME 64 -#endif - -struct nk_table; -enum nk_window_flags { - NK_WINDOW_PRIVATE = NK_FLAG(11), - NK_WINDOW_DYNAMIC = NK_WINDOW_PRIVATE, - /* special window type growing up in height while being filled to a certain maximum height */ - NK_WINDOW_ROM = NK_FLAG(12), - /* sets window widgets into a read only mode and does not allow input changes */ - NK_WINDOW_NOT_INTERACTIVE = NK_WINDOW_ROM|NK_WINDOW_NO_INPUT, - /* prevents all interaction caused by input to either window or widgets inside */ - NK_WINDOW_HIDDEN = NK_FLAG(13), - /* Hides window and stops any window interaction and drawing */ - NK_WINDOW_CLOSED = NK_FLAG(14), - /* Directly closes and frees the window at the end of the frame */ - NK_WINDOW_MINIMIZED = NK_FLAG(15), - /* marks the window as minimized */ - NK_WINDOW_REMOVE_ROM = NK_FLAG(16) - /* Removes read only mode at the end of the window */ -}; - -struct nk_popup_state { - struct nk_window *win; - enum nk_panel_type type; - struct nk_popup_buffer buf; - nk_hash name; - nk_bool active; - unsigned combo_count; - unsigned con_count, con_old; - unsigned active_con; - struct nk_rect header; -}; - -struct nk_edit_state { - nk_hash name; - unsigned int seq; - unsigned int old; - int active, prev; - int cursor; - int sel_start; - int sel_end; - struct nk_scroll scrollbar; - unsigned char mode; - unsigned char single_line; -}; - -struct nk_property_state { - int active, prev; - char buffer[NK_MAX_NUMBER_BUFFER]; - int length; - int cursor; - int select_start; - int select_end; - nk_hash name; - unsigned int seq; - unsigned int old; - int state; -}; - -struct nk_window { - unsigned int seq; - nk_hash name; - char name_string[NK_WINDOW_MAX_NAME]; - nk_flags flags; - - struct nk_rect bounds; - struct nk_scroll scrollbar; - struct nk_command_buffer buffer; - struct nk_panel *layout; - float scrollbar_hiding_timer; - - /* persistent widget state */ - struct nk_property_state property; - struct nk_popup_state popup; - struct nk_edit_state edit; - unsigned int scrolled; - - struct nk_table *tables; - unsigned int table_count; - - /* window list hooks */ - struct nk_window *next; - struct nk_window *prev; - struct nk_window *parent; -}; - -/*============================================================== - * STACK - * =============================================================*/ -/* The style modifier stack can be used to temporarily change a - * property inside `nk_style`. For example if you want a special - * red button you can temporarily push the old button color onto a stack - * draw the button with a red color and then you just pop the old color - * back from the stack: - * - * nk_style_push_style_item(ctx, &ctx->style.button.normal, nk_style_item_color(nk_rgb(255,0,0))); - * nk_style_push_style_item(ctx, &ctx->style.button.hover, nk_style_item_color(nk_rgb(255,0,0))); - * nk_style_push_style_item(ctx, &ctx->style.button.active, nk_style_item_color(nk_rgb(255,0,0))); - * nk_style_push_vec2(ctx, &cx->style.button.padding, nk_vec2(2,2)); - * - * nk_button(...); - * - * nk_style_pop_style_item(ctx); - * nk_style_pop_style_item(ctx); - * nk_style_pop_style_item(ctx); - * nk_style_pop_vec2(ctx); - * - * Nuklear has a stack for style_items, float properties, vector properties, - * flags, colors, fonts and for button_behavior. Each has it's own fixed size stack - * which can be changed at compile time. - */ -#ifndef NK_BUTTON_BEHAVIOR_STACK_SIZE -#define NK_BUTTON_BEHAVIOR_STACK_SIZE 8 -#endif - -#ifndef NK_FONT_STACK_SIZE -#define NK_FONT_STACK_SIZE 8 -#endif - -#ifndef NK_STYLE_ITEM_STACK_SIZE -#define NK_STYLE_ITEM_STACK_SIZE 16 -#endif - -#ifndef NK_FLOAT_STACK_SIZE -#define NK_FLOAT_STACK_SIZE 32 -#endif - -#ifndef NK_VECTOR_STACK_SIZE -#define NK_VECTOR_STACK_SIZE 16 -#endif - -#ifndef NK_FLAGS_STACK_SIZE -#define NK_FLAGS_STACK_SIZE 32 -#endif - -#ifndef NK_COLOR_STACK_SIZE -#define NK_COLOR_STACK_SIZE 32 -#endif - -#define NK_CONFIGURATION_STACK_TYPE(prefix, name, type)\ - struct nk_config_stack_##name##_element {\ - prefix##_##type *address;\ - prefix##_##type old_value;\ - } -#define NK_CONFIG_STACK(type,size)\ - struct nk_config_stack_##type {\ - int head;\ - struct nk_config_stack_##type##_element elements[size];\ - } - -#define nk_float float -NK_CONFIGURATION_STACK_TYPE(struct nk, style_item, style_item); -NK_CONFIGURATION_STACK_TYPE(nk ,float, float); -NK_CONFIGURATION_STACK_TYPE(struct nk, vec2, vec2); -NK_CONFIGURATION_STACK_TYPE(nk ,flags, flags); -NK_CONFIGURATION_STACK_TYPE(struct nk, color, color); -NK_CONFIGURATION_STACK_TYPE(const struct nk, user_font, user_font*); -NK_CONFIGURATION_STACK_TYPE(enum nk, button_behavior, button_behavior); - -NK_CONFIG_STACK(style_item, NK_STYLE_ITEM_STACK_SIZE); -NK_CONFIG_STACK(float, NK_FLOAT_STACK_SIZE); -NK_CONFIG_STACK(vec2, NK_VECTOR_STACK_SIZE); -NK_CONFIG_STACK(flags, NK_FLAGS_STACK_SIZE); -NK_CONFIG_STACK(color, NK_COLOR_STACK_SIZE); -NK_CONFIG_STACK(user_font, NK_FONT_STACK_SIZE); -NK_CONFIG_STACK(button_behavior, NK_BUTTON_BEHAVIOR_STACK_SIZE); - -struct nk_configuration_stacks { - struct nk_config_stack_style_item style_items; - struct nk_config_stack_float floats; - struct nk_config_stack_vec2 vectors; - struct nk_config_stack_flags flags; - struct nk_config_stack_color colors; - struct nk_config_stack_user_font fonts; - struct nk_config_stack_button_behavior button_behaviors; -}; - -/*============================================================== - * CONTEXT - * =============================================================*/ -#define NK_VALUE_PAGE_CAPACITY \ - (((NK_MAX(sizeof(struct nk_window),sizeof(struct nk_panel)) / sizeof(nk_uint))) / 2) - -struct nk_table { - unsigned int seq; - unsigned int size; - nk_hash keys[NK_VALUE_PAGE_CAPACITY]; - nk_uint values[NK_VALUE_PAGE_CAPACITY]; - struct nk_table *next, *prev; -}; - -union nk_page_data { - struct nk_table tbl; - struct nk_panel pan; - struct nk_window win; -}; - -struct nk_page_element { - union nk_page_data data; - struct nk_page_element *next; - struct nk_page_element *prev; -}; - -struct nk_page { - unsigned int size; - struct nk_page *next; - struct nk_page_element win[1]; -}; - -struct nk_pool { - struct nk_allocator alloc; - enum nk_allocation_type type; - unsigned int page_count; - struct nk_page *pages; - struct nk_page_element *freelist; - unsigned capacity; - nk_size size; - nk_size cap; -}; - -struct nk_context { -/* public: can be accessed freely */ - struct nk_input input; - struct nk_style style; - struct nk_buffer memory; - struct nk_clipboard clip; - nk_flags last_widget_state; - enum nk_button_behavior button_behavior; - struct nk_configuration_stacks stacks; - float delta_time_seconds; - -/* private: - should only be accessed if you - know what you are doing */ -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT - struct nk_draw_list draw_list; -#endif -#ifdef NK_INCLUDE_COMMAND_USERDATA - nk_handle userdata; -#endif - /* text editor objects are quite big because of an internal - * undo/redo stack. Therefore it does not make sense to have one for - * each window for temporary use cases, so I only provide *one* instance - * for all windows. This works because the content is cleared anyway */ - struct nk_text_edit text_edit; - /* draw buffer used for overlay drawing operation like cursor */ - struct nk_command_buffer overlay; - - /* windows */ - int build; - int use_pool; - struct nk_pool pool; - struct nk_window *begin; - struct nk_window *end; - struct nk_window *active; - struct nk_window *current; - struct nk_page_element *freelist; - unsigned int count; - unsigned int seq; -}; - -/* ============================================================== - * MATH - * =============================================================== */ -#define NK_PI 3.141592654f -#define NK_UTF_INVALID 0xFFFD -#define NK_MAX_FLOAT_PRECISION 2 - -#define NK_UNUSED(x) ((void)(x)) -#define NK_SATURATE(x) (NK_MAX(0, NK_MIN(1.0f, x))) -#define NK_LEN(a) (sizeof(a)/sizeof(a)[0]) -#define NK_ABS(a) (((a) < 0) ? -(a) : (a)) -#define NK_BETWEEN(x, a, b) ((a) <= (x) && (x) < (b)) -#define NK_INBOX(px, py, x, y, w, h)\ - (NK_BETWEEN(px,x,x+w) && NK_BETWEEN(py,y,y+h)) -#define NK_INTERSECT(x0, y0, w0, h0, x1, y1, w1, h1) \ - ((x1 < (x0 + w0)) && (x0 < (x1 + w1)) && \ - (y1 < (y0 + h0)) && (y0 < (y1 + h1))) -#define NK_CONTAINS(x, y, w, h, bx, by, bw, bh)\ - (NK_INBOX(x,y, bx, by, bw, bh) && NK_INBOX(x+w,y+h, bx, by, bw, bh)) - -#define nk_vec2_sub(a, b) nk_vec2((a).x - (b).x, (a).y - (b).y) -#define nk_vec2_add(a, b) nk_vec2((a).x + (b).x, (a).y + (b).y) -#define nk_vec2_len_sqr(a) ((a).x*(a).x+(a).y*(a).y) -#define nk_vec2_muls(a, t) nk_vec2((a).x * (t), (a).y * (t)) - -#define nk_ptr_add(t, p, i) ((t*)((void*)((nk_byte*)(p) + (i)))) -#define nk_ptr_add_const(t, p, i) ((const t*)((const void*)((const nk_byte*)(p) + (i)))) -#define nk_zero_struct(s) nk_zero(&s, sizeof(s)) - -/* ============================================================== - * ALIGNMENT - * =============================================================== */ -/* Pointer to Integer type conversion for pointer alignment */ -#if defined(__PTRDIFF_TYPE__) /* This case should work for GCC*/ -# define NK_UINT_TO_PTR(x) ((void*)(__PTRDIFF_TYPE__)(x)) -# define NK_PTR_TO_UINT(x) ((nk_size)(__PTRDIFF_TYPE__)(x)) -#elif !defined(__GNUC__) /* works for compilers other than LLVM */ -# define NK_UINT_TO_PTR(x) ((void*)&((char*)0)[x]) -# define NK_PTR_TO_UINT(x) ((nk_size)(((char*)x)-(char*)0)) -#elif defined(NK_USE_FIXED_TYPES) /* used if we have */ -# define NK_UINT_TO_PTR(x) ((void*)(uintptr_t)(x)) -# define NK_PTR_TO_UINT(x) ((uintptr_t)(x)) -#else /* generates warning but works */ -# define NK_UINT_TO_PTR(x) ((void*)(x)) -# define NK_PTR_TO_UINT(x) ((nk_size)(x)) -#endif - -#define NK_ALIGN_PTR(x, mask)\ - (NK_UINT_TO_PTR((NK_PTR_TO_UINT((nk_byte*)(x) + (mask-1)) & ~(mask-1)))) -#define NK_ALIGN_PTR_BACK(x, mask)\ - (NK_UINT_TO_PTR((NK_PTR_TO_UINT((nk_byte*)(x)) & ~(mask-1)))) - -#if (defined(__GNUC__) && __GNUC__ >= 4) || defined(__clang__) -#define NK_OFFSETOF(st,m) (__builtin_offsetof(st,m)) -#else -#define NK_OFFSETOF(st,m) ((nk_ptr)&(((st*)0)->m)) -#endif - -#ifdef __cplusplus -} -#endif - -#ifdef __cplusplus -template struct nk_alignof; -template struct nk_helper{enum {value = size_diff};}; -template struct nk_helper{enum {value = nk_alignof::value};}; -template struct nk_alignof{struct Big {T x; char c;}; enum { - diff = sizeof(Big) - sizeof(T), value = nk_helper::value};}; -#define NK_ALIGNOF(t) (nk_alignof::value) -#else -#define NK_ALIGNOF(t) NK_OFFSETOF(struct {char c; t _h;}, _h) -#endif - -#define NK_CONTAINER_OF(ptr,type,member)\ - (type*)((void*)((char*)(1 ? (ptr): &((type*)0)->member) - NK_OFFSETOF(type, member))) - - - -#endif /* NK_NUKLEAR_H_ */ - -#ifdef NK_IMPLEMENTATION - -#ifndef NK_INTERNAL_H -#define NK_INTERNAL_H - -#ifndef NK_POOL_DEFAULT_CAPACITY -#define NK_POOL_DEFAULT_CAPACITY 16 -#endif - -#ifndef NK_DEFAULT_COMMAND_BUFFER_SIZE -#define NK_DEFAULT_COMMAND_BUFFER_SIZE (4*1024) -#endif - -#ifndef NK_BUFFER_DEFAULT_INITIAL_SIZE -#define NK_BUFFER_DEFAULT_INITIAL_SIZE (4*1024) -#endif - -/* standard library headers */ -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -#include /* malloc, free */ -#endif -#ifdef NK_INCLUDE_STANDARD_IO -#include /* fopen, fclose,... */ -#endif -#ifdef NK_INCLUDE_STANDARD_VARARGS -#include /* valist, va_start, va_end, ... */ -#endif -#ifndef NK_ASSERT -#include -#define NK_ASSERT(expr) assert(expr) -#endif - -#define NK_DEFAULT (-1) - -#ifndef NK_VSNPRINTF -/* If your compiler does support `vsnprintf` I would highly recommend - * defining this to vsnprintf instead since `vsprintf` is basically - * unbelievable unsafe and should *NEVER* be used. But I have to support - * it since C89 only provides this unsafe version. */ - #if (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) ||\ - (defined(__cplusplus) && (__cplusplus >= 201103L)) || \ - (defined(_POSIX_C_SOURCE) && (_POSIX_C_SOURCE >= 200112L)) ||\ - (defined(_XOPEN_SOURCE) && (_XOPEN_SOURCE >= 500)) ||\ - defined(_ISOC99_SOURCE) || defined(_BSD_SOURCE) - #define NK_VSNPRINTF(s,n,f,a) vsnprintf(s,n,f,a) - #else - #define NK_VSNPRINTF(s,n,f,a) vsprintf(s,f,a) - #endif -#endif - -#define NK_SCHAR_MIN (-127) -#define NK_SCHAR_MAX 127 -#define NK_UCHAR_MIN 0 -#define NK_UCHAR_MAX 256 -#define NK_SSHORT_MIN (-32767) -#define NK_SSHORT_MAX 32767 -#define NK_USHORT_MIN 0 -#define NK_USHORT_MAX 65535 -#define NK_SINT_MIN (-2147483647) -#define NK_SINT_MAX 2147483647 -#define NK_UINT_MIN 0 -#define NK_UINT_MAX 4294967295u - -/* Make sure correct type size: - * This will fire with a negative subscript error if the type sizes - * are set incorrectly by the compiler, and compile out if not */ -NK_STATIC_ASSERT(sizeof(nk_size) >= sizeof(void*)); -NK_STATIC_ASSERT(sizeof(nk_ptr) == sizeof(void*)); -NK_STATIC_ASSERT(sizeof(nk_flags) >= 4); -NK_STATIC_ASSERT(sizeof(nk_rune) >= 4); -NK_STATIC_ASSERT(sizeof(nk_ushort) == 2); -NK_STATIC_ASSERT(sizeof(nk_short) == 2); -NK_STATIC_ASSERT(sizeof(nk_uint) == 4); -NK_STATIC_ASSERT(sizeof(nk_int) == 4); -NK_STATIC_ASSERT(sizeof(nk_byte) == 1); -#ifdef NK_INCLUDE_STANDARD_BOOL -NK_STATIC_ASSERT(sizeof(nk_bool) == sizeof(bool)); -#else -NK_STATIC_ASSERT(sizeof(nk_bool) == 4); -#endif - -NK_GLOBAL const struct nk_rect nk_null_rect = {-8192.0f, -8192.0f, 16384, 16384}; -#define NK_FLOAT_PRECISION 0.00000000000001 - -NK_GLOBAL const struct nk_color nk_red = {255,0,0,255}; -NK_GLOBAL const struct nk_color nk_green = {0,255,0,255}; -NK_GLOBAL const struct nk_color nk_blue = {0,0,255,255}; -NK_GLOBAL const struct nk_color nk_white = {255,255,255,255}; -NK_GLOBAL const struct nk_color nk_black = {0,0,0,255}; -NK_GLOBAL const struct nk_color nk_yellow = {255,255,0,255}; - -/* widget */ -#define nk_widget_state_reset(s)\ - if ((*(s)) & NK_WIDGET_STATE_MODIFIED)\ - (*(s)) = NK_WIDGET_STATE_INACTIVE|NK_WIDGET_STATE_MODIFIED;\ - else (*(s)) = NK_WIDGET_STATE_INACTIVE; - -/* math */ -#ifndef NK_INV_SQRT -NK_LIB float nk_inv_sqrt(float n); -#endif -#ifndef NK_SIN -NK_LIB float nk_sin(float x); -#endif -#ifndef NK_COS -NK_LIB float nk_cos(float x); -#endif -NK_LIB nk_uint nk_round_up_pow2(nk_uint v); -NK_LIB struct nk_rect nk_shrink_rect(struct nk_rect r, float amount); -NK_LIB struct nk_rect nk_pad_rect(struct nk_rect r, struct nk_vec2 pad); -NK_LIB void nk_unify(struct nk_rect *clip, const struct nk_rect *a, float x0, float y0, float x1, float y1); -NK_LIB double nk_pow(double x, int n); -NK_LIB int nk_ifloord(double x); -NK_LIB int nk_ifloorf(float x); -NK_LIB int nk_iceilf(float x); -NK_LIB int nk_log10(double n); - -/* util */ -enum {NK_DO_NOT_STOP_ON_NEW_LINE, NK_STOP_ON_NEW_LINE}; -NK_LIB nk_bool nk_is_lower(int c); -NK_LIB nk_bool nk_is_upper(int c); -NK_LIB int nk_to_upper(int c); -NK_LIB int nk_to_lower(int c); - -#ifndef NK_MEMCPY -NK_LIB void* nk_memcopy(void *dst, const void *src, nk_size n); -#endif -#ifndef NK_MEMSET -NK_LIB void nk_memset(void *ptr, int c0, nk_size size); -#endif -NK_LIB void nk_zero(void *ptr, nk_size size); -NK_LIB char *nk_itoa(char *s, long n); -NK_LIB int nk_string_float_limit(char *string, int prec); -#ifndef NK_DTOA -NK_LIB char *nk_dtoa(char *s, double n); -#endif -NK_LIB int nk_text_clamp(const struct nk_user_font *font, const char *text, int text_len, float space, int *glyphs, float *text_width, nk_rune *sep_list, int sep_count); -NK_LIB struct nk_vec2 nk_text_calculate_text_bounds(const struct nk_user_font *font, const char *begin, int byte_len, float row_height, const char **remaining, struct nk_vec2 *out_offset, int *glyphs, int op); -#ifdef NK_INCLUDE_STANDARD_VARARGS -NK_LIB int nk_strfmt(char *buf, int buf_size, const char *fmt, va_list args); -#endif -#ifdef NK_INCLUDE_STANDARD_IO -NK_LIB char *nk_file_load(const char* path, nk_size* siz, struct nk_allocator *alloc); -#endif - -/* buffer */ -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_LIB void* nk_malloc(nk_handle unused, void *old,nk_size size); -NK_LIB void nk_mfree(nk_handle unused, void *ptr); -#endif -NK_LIB void* nk_buffer_align(void *unaligned, nk_size align, nk_size *alignment, enum nk_buffer_allocation_type type); -NK_LIB void* nk_buffer_alloc(struct nk_buffer *b, enum nk_buffer_allocation_type type, nk_size size, nk_size align); -NK_LIB void* nk_buffer_realloc(struct nk_buffer *b, nk_size capacity, nk_size *size); - -/* draw */ -NK_LIB void nk_command_buffer_init(struct nk_command_buffer *cb, struct nk_buffer *b, enum nk_command_clipping clip); -NK_LIB void nk_command_buffer_reset(struct nk_command_buffer *b); -NK_LIB void* nk_command_buffer_push(struct nk_command_buffer* b, enum nk_command_type t, nk_size size); -NK_LIB void nk_draw_symbol(struct nk_command_buffer *out, enum nk_symbol_type type, struct nk_rect content, struct nk_color background, struct nk_color foreground, float border_width, const struct nk_user_font *font); - -/* buffering */ -NK_LIB void nk_start_buffer(struct nk_context *ctx, struct nk_command_buffer *b); -NK_LIB void nk_start(struct nk_context *ctx, struct nk_window *win); -NK_LIB void nk_start_popup(struct nk_context *ctx, struct nk_window *win); -NK_LIB void nk_finish_popup(struct nk_context *ctx, struct nk_window*); -NK_LIB void nk_finish_buffer(struct nk_context *ctx, struct nk_command_buffer *b); -NK_LIB void nk_finish(struct nk_context *ctx, struct nk_window *w); -NK_LIB void nk_build(struct nk_context *ctx); - -/* text editor */ -NK_LIB void nk_textedit_clear_state(struct nk_text_edit *state, enum nk_text_edit_type type, nk_plugin_filter filter); -NK_LIB void nk_textedit_click(struct nk_text_edit *state, float x, float y, const struct nk_user_font *font, float row_height); -NK_LIB void nk_textedit_drag(struct nk_text_edit *state, float x, float y, const struct nk_user_font *font, float row_height); -NK_LIB void nk_textedit_key(struct nk_text_edit *state, enum nk_keys key, int shift_mod, const struct nk_user_font *font, float row_height); - -/* window */ -enum nk_window_insert_location { - NK_INSERT_BACK, /* inserts window into the back of list (front of screen) */ - NK_INSERT_FRONT /* inserts window into the front of list (back of screen) */ -}; -NK_LIB void *nk_create_window(struct nk_context *ctx); -NK_LIB void nk_remove_window(struct nk_context*, struct nk_window*); -NK_LIB void nk_free_window(struct nk_context *ctx, struct nk_window *win); -NK_LIB struct nk_window *nk_find_window(struct nk_context *ctx, nk_hash hash, const char *name); -NK_LIB void nk_insert_window(struct nk_context *ctx, struct nk_window *win, enum nk_window_insert_location loc); - -/* pool */ -NK_LIB void nk_pool_init(struct nk_pool *pool, struct nk_allocator *alloc, unsigned int capacity); -NK_LIB void nk_pool_free(struct nk_pool *pool); -NK_LIB void nk_pool_init_fixed(struct nk_pool *pool, void *memory, nk_size size); -NK_LIB struct nk_page_element *nk_pool_alloc(struct nk_pool *pool); - -/* page-element */ -NK_LIB struct nk_page_element* nk_create_page_element(struct nk_context *ctx); -NK_LIB void nk_link_page_element_into_freelist(struct nk_context *ctx, struct nk_page_element *elem); -NK_LIB void nk_free_page_element(struct nk_context *ctx, struct nk_page_element *elem); - -/* table */ -NK_LIB struct nk_table* nk_create_table(struct nk_context *ctx); -NK_LIB void nk_remove_table(struct nk_window *win, struct nk_table *tbl); -NK_LIB void nk_free_table(struct nk_context *ctx, struct nk_table *tbl); -NK_LIB void nk_push_table(struct nk_window *win, struct nk_table *tbl); -NK_LIB nk_uint *nk_add_value(struct nk_context *ctx, struct nk_window *win, nk_hash name, nk_uint value); -NK_LIB nk_uint *nk_find_value(struct nk_window *win, nk_hash name); - -/* panel */ -NK_LIB void *nk_create_panel(struct nk_context *ctx); -NK_LIB void nk_free_panel(struct nk_context*, struct nk_panel *pan); -NK_LIB nk_bool nk_panel_has_header(nk_flags flags, const char *title); -NK_LIB struct nk_vec2 nk_panel_get_padding(const struct nk_style *style, enum nk_panel_type type); -NK_LIB float nk_panel_get_border(const struct nk_style *style, nk_flags flags, enum nk_panel_type type); -NK_LIB struct nk_color nk_panel_get_border_color(const struct nk_style *style, enum nk_panel_type type); -NK_LIB nk_bool nk_panel_is_sub(enum nk_panel_type type); -NK_LIB nk_bool nk_panel_is_nonblock(enum nk_panel_type type); -NK_LIB nk_bool nk_panel_begin(struct nk_context *ctx, const char *title, enum nk_panel_type panel_type); -NK_LIB void nk_panel_end(struct nk_context *ctx); - -/* layout */ -NK_LIB float nk_layout_row_calculate_usable_space(const struct nk_style *style, enum nk_panel_type type, float total_space, int columns); -NK_LIB void nk_panel_layout(const struct nk_context *ctx, struct nk_window *win, float height, int cols); -NK_LIB void nk_row_layout(struct nk_context *ctx, enum nk_layout_format fmt, float height, int cols, int width); -NK_LIB void nk_panel_alloc_row(const struct nk_context *ctx, struct nk_window *win); -NK_LIB void nk_layout_widget_space(struct nk_rect *bounds, const struct nk_context *ctx, struct nk_window *win, int modify); -NK_LIB void nk_panel_alloc_space(struct nk_rect *bounds, const struct nk_context *ctx); -NK_LIB void nk_layout_peek(struct nk_rect *bounds, struct nk_context *ctx); - -/* popup */ -NK_LIB nk_bool nk_nonblock_begin(struct nk_context *ctx, nk_flags flags, struct nk_rect body, struct nk_rect header, enum nk_panel_type panel_type); - -/* text */ -struct nk_text { - struct nk_vec2 padding; - struct nk_color background; - struct nk_color text; -}; -NK_LIB void nk_widget_text(struct nk_command_buffer *o, struct nk_rect b, const char *string, int len, const struct nk_text *t, nk_flags a, const struct nk_user_font *f); -NK_LIB void nk_widget_text_wrap(struct nk_command_buffer *o, struct nk_rect b, const char *string, int len, const struct nk_text *t, const struct nk_user_font *f); - -/* button */ -NK_LIB nk_bool nk_button_behavior(nk_flags *state, struct nk_rect r, const struct nk_input *i, enum nk_button_behavior behavior); -NK_LIB const struct nk_style_item* nk_draw_button(struct nk_command_buffer *out, const struct nk_rect *bounds, nk_flags state, const struct nk_style_button *style); -NK_LIB nk_bool nk_do_button(nk_flags *state, struct nk_command_buffer *out, struct nk_rect r, const struct nk_style_button *style, const struct nk_input *in, enum nk_button_behavior behavior, struct nk_rect *content); -NK_LIB void nk_draw_button_text(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, const struct nk_style_button *style, const char *txt, int len, nk_flags text_alignment, const struct nk_user_font *font); -NK_LIB nk_bool nk_do_button_text(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, const char *string, int len, nk_flags align, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_input *in, const struct nk_user_font *font); -NK_LIB void nk_draw_button_symbol(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, const struct nk_style_button *style, enum nk_symbol_type type, const struct nk_user_font *font); -NK_LIB nk_bool nk_do_button_symbol(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, enum nk_symbol_type symbol, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_input *in, const struct nk_user_font *font); -NK_LIB void nk_draw_button_image(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, const struct nk_style_button *style, const struct nk_image *img); -NK_LIB nk_bool nk_do_button_image(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, struct nk_image img, enum nk_button_behavior b, const struct nk_style_button *style, const struct nk_input *in); -NK_LIB void nk_draw_button_text_symbol(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *label, const struct nk_rect *symbol, nk_flags state, const struct nk_style_button *style, const char *str, int len, enum nk_symbol_type type, const struct nk_user_font *font); -NK_LIB nk_bool nk_do_button_text_symbol(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, enum nk_symbol_type symbol, const char *str, int len, nk_flags align, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_user_font *font, const struct nk_input *in); -NK_LIB void nk_draw_button_text_image(struct nk_command_buffer *out, const struct nk_rect *bounds, const struct nk_rect *label, const struct nk_rect *image, nk_flags state, const struct nk_style_button *style, const char *str, int len, const struct nk_user_font *font, const struct nk_image *img); -NK_LIB nk_bool nk_do_button_text_image(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, struct nk_image img, const char* str, int len, nk_flags align, enum nk_button_behavior behavior, const struct nk_style_button *style, const struct nk_user_font *font, const struct nk_input *in); - -/* toggle */ -enum nk_toggle_type { - NK_TOGGLE_CHECK, - NK_TOGGLE_OPTION -}; -NK_LIB nk_bool nk_toggle_behavior(const struct nk_input *in, struct nk_rect select, nk_flags *state, nk_bool active); -NK_LIB void nk_draw_checkbox(struct nk_command_buffer *out, nk_flags state, const struct nk_style_toggle *style, nk_bool active, const struct nk_rect *label, const struct nk_rect *selector, const struct nk_rect *cursors, const char *string, int len, const struct nk_user_font *font); -NK_LIB void nk_draw_option(struct nk_command_buffer *out, nk_flags state, const struct nk_style_toggle *style, nk_bool active, const struct nk_rect *label, const struct nk_rect *selector, const struct nk_rect *cursors, const char *string, int len, const struct nk_user_font *font); -NK_LIB nk_bool nk_do_toggle(nk_flags *state, struct nk_command_buffer *out, struct nk_rect r, nk_bool *active, const char *str, int len, enum nk_toggle_type type, const struct nk_style_toggle *style, const struct nk_input *in, const struct nk_user_font *font); - -/* progress */ -NK_LIB nk_size nk_progress_behavior(nk_flags *state, struct nk_input *in, struct nk_rect r, struct nk_rect cursor, nk_size max, nk_size value, nk_bool modifiable); -NK_LIB void nk_draw_progress(struct nk_command_buffer *out, nk_flags state, const struct nk_style_progress *style, const struct nk_rect *bounds, const struct nk_rect *scursor, nk_size value, nk_size max); -NK_LIB nk_size nk_do_progress(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, nk_size value, nk_size max, nk_bool modifiable, const struct nk_style_progress *style, struct nk_input *in); - -/* slider */ -NK_LIB float nk_slider_behavior(nk_flags *state, struct nk_rect *logical_cursor, struct nk_rect *visual_cursor, struct nk_input *in, struct nk_rect bounds, float slider_min, float slider_max, float slider_value, float slider_step, float slider_steps); -NK_LIB void nk_draw_slider(struct nk_command_buffer *out, nk_flags state, const struct nk_style_slider *style, const struct nk_rect *bounds, const struct nk_rect *visual_cursor, float min, float value, float max); -NK_LIB float nk_do_slider(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, float min, float val, float max, float step, const struct nk_style_slider *style, struct nk_input *in, const struct nk_user_font *font); - -/* scrollbar */ -NK_LIB float nk_scrollbar_behavior(nk_flags *state, struct nk_input *in, int has_scrolling, const struct nk_rect *scroll, const struct nk_rect *cursor, const struct nk_rect *empty0, const struct nk_rect *empty1, float scroll_offset, float target, float scroll_step, enum nk_orientation o); -NK_LIB void nk_draw_scrollbar(struct nk_command_buffer *out, nk_flags state, const struct nk_style_scrollbar *style, const struct nk_rect *bounds, const struct nk_rect *scroll); -NK_LIB float nk_do_scrollbarv(nk_flags *state, struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, float offset, float target, float step, float button_pixel_inc, const struct nk_style_scrollbar *style, struct nk_input *in, const struct nk_user_font *font); -NK_LIB float nk_do_scrollbarh(nk_flags *state, struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, float offset, float target, float step, float button_pixel_inc, const struct nk_style_scrollbar *style, struct nk_input *in, const struct nk_user_font *font); - -/* selectable */ -NK_LIB void nk_draw_selectable(struct nk_command_buffer *out, nk_flags state, const struct nk_style_selectable *style, nk_bool active, const struct nk_rect *bounds, const struct nk_rect *icon, const struct nk_image *img, enum nk_symbol_type sym, const char *string, int len, nk_flags align, const struct nk_user_font *font); -NK_LIB nk_bool nk_do_selectable(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, const struct nk_style_selectable *style, const struct nk_input *in, const struct nk_user_font *font); -NK_LIB nk_bool nk_do_selectable_image(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, const struct nk_image *img, const struct nk_style_selectable *style, const struct nk_input *in, const struct nk_user_font *font); - -/* edit */ -NK_LIB void nk_edit_draw_text(struct nk_command_buffer *out, const struct nk_style_edit *style, float pos_x, float pos_y, float x_offset, const char *text, int byte_len, float row_height, const struct nk_user_font *font, struct nk_color background, struct nk_color foreground, nk_bool is_selected); -NK_LIB nk_flags nk_do_edit(nk_flags *state, struct nk_command_buffer *out, struct nk_rect bounds, nk_flags flags, nk_plugin_filter filter, struct nk_text_edit *edit, const struct nk_style_edit *style, struct nk_input *in, const struct nk_user_font *font); - -/* color-picker */ -NK_LIB nk_bool nk_color_picker_behavior(nk_flags *state, const struct nk_rect *bounds, const struct nk_rect *matrix, const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, struct nk_colorf *color, const struct nk_input *in); -NK_LIB void nk_draw_color_picker(struct nk_command_buffer *o, const struct nk_rect *matrix, const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, struct nk_colorf col); -NK_LIB nk_bool nk_do_color_picker(nk_flags *state, struct nk_command_buffer *out, struct nk_colorf *col, enum nk_color_format fmt, struct nk_rect bounds, struct nk_vec2 padding, const struct nk_input *in, const struct nk_user_font *font); - -/* property */ -enum nk_property_status { - NK_PROPERTY_DEFAULT, - NK_PROPERTY_EDIT, - NK_PROPERTY_DRAG -}; -enum nk_property_filter { - NK_FILTER_INT, - NK_FILTER_FLOAT -}; -enum nk_property_kind { - NK_PROPERTY_INT, - NK_PROPERTY_FLOAT, - NK_PROPERTY_DOUBLE -}; -union nk_property { - int i; - float f; - double d; -}; -struct nk_property_variant { - enum nk_property_kind kind; - union nk_property value; - union nk_property min_value; - union nk_property max_value; - union nk_property step; -}; -NK_LIB struct nk_property_variant nk_property_variant_int(int value, int min_value, int max_value, int step); -NK_LIB struct nk_property_variant nk_property_variant_float(float value, float min_value, float max_value, float step); -NK_LIB struct nk_property_variant nk_property_variant_double(double value, double min_value, double max_value, double step); - -NK_LIB void nk_drag_behavior(nk_flags *state, const struct nk_input *in, struct nk_rect drag, struct nk_property_variant *variant, float inc_per_pixel); -NK_LIB void nk_property_behavior(nk_flags *ws, const struct nk_input *in, struct nk_rect property, struct nk_rect label, struct nk_rect edit, struct nk_rect empty, int *state, struct nk_property_variant *variant, float inc_per_pixel); -NK_LIB void nk_draw_property(struct nk_command_buffer *out, const struct nk_style_property *style, const struct nk_rect *bounds, const struct nk_rect *label, nk_flags state, const char *name, int len, const struct nk_user_font *font); -NK_LIB void nk_do_property(nk_flags *ws, struct nk_command_buffer *out, struct nk_rect property, const char *name, struct nk_property_variant *variant, float inc_per_pixel, char *buffer, int *len, int *state, int *cursor, int *select_begin, int *select_end, const struct nk_style_property *style, enum nk_property_filter filter, struct nk_input *in, const struct nk_user_font *font, struct nk_text_edit *text_edit, enum nk_button_behavior behavior); -NK_LIB void nk_property(struct nk_context *ctx, const char *name, struct nk_property_variant *variant, float inc_per_pixel, const enum nk_property_filter filter); - -#ifdef NK_INCLUDE_FONT_BAKING - -#define STB_RECT_PACK_IMPLEMENTATION -#define STB_TRUETYPE_IMPLEMENTATION - -/* Allow consumer to define own STBTT_malloc/STBTT_free, and use the font atlas' allocator otherwise */ -#ifndef STBTT_malloc -static void* -nk_stbtt_malloc(nk_size size, void *user_data) { - struct nk_allocator *alloc = (struct nk_allocator *) user_data; - return alloc->alloc(alloc->userdata, 0, size); -} - -static void -nk_stbtt_free(void *ptr, void *user_data) { - struct nk_allocator *alloc = (struct nk_allocator *) user_data; - alloc->free(alloc->userdata, ptr); -} - -#define STBTT_malloc(x,u) nk_stbtt_malloc(x,u) -#define STBTT_free(x,u) nk_stbtt_free(x,u) - -#endif /* STBTT_malloc */ - -#endif /* NK_INCLUDE_FONT_BAKING */ - -#endif - - - - - -/* =============================================================== - * - * MATH - * - * ===============================================================*/ -/* Since nuklear is supposed to work on all systems providing floating point - math without any dependencies I also had to implement my own math functions - for sqrt, sin and cos. Since the actual highly accurate implementations for - the standard library functions are quite complex and I do not need high - precision for my use cases I use approximations. - - Sqrt - ---- - For square root nuklear uses the famous fast inverse square root: - https://en.wikipedia.org/wiki/Fast_inverse_square_root with - slightly tweaked magic constant. While on today's hardware it is - probably not faster it is still fast and accurate enough for - nuklear's use cases. IMPORTANT: this requires float format IEEE 754 - - Sine/Cosine - ----------- - All constants inside both function are generated Remez's minimax - approximations for value range 0...2*PI. The reason why I decided to - approximate exactly that range is that nuklear only needs sine and - cosine to generate circles which only requires that exact range. - In addition I used Remez instead of Taylor for additional precision: - www.lolengine.net/blog/2011/12/21/better-function-approximations. - - The tool I used to generate constants for both sine and cosine - (it can actually approximate a lot more functions) can be - found here: www.lolengine.net/wiki/oss/lolremez -*/ -#ifndef NK_INV_SQRT -#define NK_INV_SQRT nk_inv_sqrt -NK_LIB float -nk_inv_sqrt(float n) -{ - float x2; - const float threehalfs = 1.5f; - union {nk_uint i; float f;} conv = {0}; - conv.f = n; - x2 = n * 0.5f; - conv.i = 0x5f375A84 - (conv.i >> 1); - conv.f = conv.f * (threehalfs - (x2 * conv.f * conv.f)); - return conv.f; -} -#endif -#ifndef NK_SIN -#define NK_SIN nk_sin -NK_LIB float -nk_sin(float x) -{ - NK_STORAGE const float a0 = +1.91059300966915117e-31f; - NK_STORAGE const float a1 = +1.00086760103908896f; - NK_STORAGE const float a2 = -1.21276126894734565e-2f; - NK_STORAGE const float a3 = -1.38078780785773762e-1f; - NK_STORAGE const float a4 = -2.67353392911981221e-2f; - NK_STORAGE const float a5 = +2.08026600266304389e-2f; - NK_STORAGE const float a6 = -3.03996055049204407e-3f; - NK_STORAGE const float a7 = +1.38235642404333740e-4f; - return a0 + x*(a1 + x*(a2 + x*(a3 + x*(a4 + x*(a5 + x*(a6 + x*a7)))))); -} -#endif -#ifndef NK_COS -#define NK_COS nk_cos -NK_LIB float -nk_cos(float x) -{ - /* New implementation. Also generated using lolremez. */ - /* Old version significantly deviated from expected results. */ - NK_STORAGE const float a0 = 9.9995999154986614e-1f; - NK_STORAGE const float a1 = 1.2548995793001028e-3f; - NK_STORAGE const float a2 = -5.0648546280678015e-1f; - NK_STORAGE const float a3 = 1.2942246466519995e-2f; - NK_STORAGE const float a4 = 2.8668384702547972e-2f; - NK_STORAGE const float a5 = 7.3726485210586547e-3f; - NK_STORAGE const float a6 = -3.8510875386947414e-3f; - NK_STORAGE const float a7 = 4.7196604604366623e-4f; - NK_STORAGE const float a8 = -1.8776444013090451e-5f; - return a0 + x*(a1 + x*(a2 + x*(a3 + x*(a4 + x*(a5 + x*(a6 + x*(a7 + x*a8))))))); -} -#endif -NK_LIB nk_uint -nk_round_up_pow2(nk_uint v) -{ - v--; - v |= v >> 1; - v |= v >> 2; - v |= v >> 4; - v |= v >> 8; - v |= v >> 16; - v++; - return v; -} -NK_LIB double -nk_pow(double x, int n) -{ - /* check the sign of n */ - double r = 1; - int plus = n >= 0; - n = (plus) ? n : -n; - while (n > 0) { - if ((n & 1) == 1) - r *= x; - n /= 2; - x *= x; - } - return plus ? r : 1.0 / r; -} -NK_LIB int -nk_ifloord(double x) -{ - x = (double)((int)x - ((x < 0.0) ? 1 : 0)); - return (int)x; -} -NK_LIB int -nk_ifloorf(float x) -{ - x = (float)((int)x - ((x < 0.0f) ? 1 : 0)); - return (int)x; -} -NK_LIB int -nk_iceilf(float x) -{ - if (x >= 0) { - int i = (int)x; - return (x > i) ? i+1: i; - } else { - int t = (int)x; - float r = x - (float)t; - return (r > 0.0f) ? t+1: t; - } -} -NK_LIB int -nk_log10(double n) -{ - int neg; - int ret; - int exp = 0; - - neg = (n < 0) ? 1 : 0; - ret = (neg) ? (int)-n : (int)n; - while ((ret / 10) > 0) { - ret /= 10; - exp++; - } - if (neg) exp = -exp; - return exp; -} -NK_API struct nk_rect -nk_get_null_rect(void) -{ - return nk_null_rect; -} -NK_API struct nk_rect -nk_rect(float x, float y, float w, float h) -{ - struct nk_rect r; - r.x = x; r.y = y; - r.w = w; r.h = h; - return r; -} -NK_API struct nk_rect -nk_recti(int x, int y, int w, int h) -{ - struct nk_rect r; - r.x = (float)x; - r.y = (float)y; - r.w = (float)w; - r.h = (float)h; - return r; -} -NK_API struct nk_rect -nk_recta(struct nk_vec2 pos, struct nk_vec2 size) -{ - return nk_rect(pos.x, pos.y, size.x, size.y); -} -NK_API struct nk_rect -nk_rectv(const float *r) -{ - return nk_rect(r[0], r[1], r[2], r[3]); -} -NK_API struct nk_rect -nk_rectiv(const int *r) -{ - return nk_recti(r[0], r[1], r[2], r[3]); -} -NK_API struct nk_vec2 -nk_rect_pos(struct nk_rect r) -{ - struct nk_vec2 ret; - ret.x = r.x; ret.y = r.y; - return ret; -} -NK_API struct nk_vec2 -nk_rect_size(struct nk_rect r) -{ - struct nk_vec2 ret; - ret.x = r.w; ret.y = r.h; - return ret; -} -NK_LIB struct nk_rect -nk_shrink_rect(struct nk_rect r, float amount) -{ - struct nk_rect res; - r.w = NK_MAX(r.w, 2 * amount); - r.h = NK_MAX(r.h, 2 * amount); - res.x = r.x + amount; - res.y = r.y + amount; - res.w = r.w - 2 * amount; - res.h = r.h - 2 * amount; - return res; -} -NK_LIB struct nk_rect -nk_pad_rect(struct nk_rect r, struct nk_vec2 pad) -{ - r.w = NK_MAX(r.w, 2 * pad.x); - r.h = NK_MAX(r.h, 2 * pad.y); - r.x += pad.x; r.y += pad.y; - r.w -= 2 * pad.x; - r.h -= 2 * pad.y; - return r; -} -NK_API struct nk_vec2 -nk_vec2(float x, float y) -{ - struct nk_vec2 ret; - ret.x = x; ret.y = y; - return ret; -} -NK_API struct nk_vec2 -nk_vec2i(int x, int y) -{ - struct nk_vec2 ret; - ret.x = (float)x; - ret.y = (float)y; - return ret; -} -NK_API struct nk_vec2 -nk_vec2v(const float *v) -{ - return nk_vec2(v[0], v[1]); -} -NK_API struct nk_vec2 -nk_vec2iv(const int *v) -{ - return nk_vec2i(v[0], v[1]); -} -NK_LIB void -nk_unify(struct nk_rect *clip, const struct nk_rect *a, float x0, float y0, - float x1, float y1) -{ - NK_ASSERT(a); - NK_ASSERT(clip); - clip->x = NK_MAX(a->x, x0); - clip->y = NK_MAX(a->y, y0); - clip->w = NK_MIN(a->x + a->w, x1) - clip->x; - clip->h = NK_MIN(a->y + a->h, y1) - clip->y; - clip->w = NK_MAX(0, clip->w); - clip->h = NK_MAX(0, clip->h); -} - -NK_API void -nk_triangle_from_direction(struct nk_vec2 *result, struct nk_rect r, - float pad_x, float pad_y, enum nk_heading direction) -{ - float w_half, h_half; - NK_ASSERT(result); - - r.w = NK_MAX(2 * pad_x, r.w); - r.h = NK_MAX(2 * pad_y, r.h); - r.w = r.w - 2 * pad_x; - r.h = r.h - 2 * pad_y; - - r.x = r.x + pad_x; - r.y = r.y + pad_y; - - w_half = r.w / 2.0f; - h_half = r.h / 2.0f; - - if (direction == NK_UP) { - result[0] = nk_vec2(r.x + w_half, r.y); - result[1] = nk_vec2(r.x + r.w, r.y + r.h); - result[2] = nk_vec2(r.x, r.y + r.h); - } else if (direction == NK_RIGHT) { - result[0] = nk_vec2(r.x, r.y); - result[1] = nk_vec2(r.x + r.w, r.y + h_half); - result[2] = nk_vec2(r.x, r.y + r.h); - } else if (direction == NK_DOWN) { - result[0] = nk_vec2(r.x, r.y); - result[1] = nk_vec2(r.x + r.w, r.y); - result[2] = nk_vec2(r.x + w_half, r.y + r.h); - } else { - result[0] = nk_vec2(r.x, r.y + h_half); - result[1] = nk_vec2(r.x + r.w, r.y); - result[2] = nk_vec2(r.x + r.w, r.y + r.h); - } -} - - - - - -/* =============================================================== - * - * UTIL - * - * ===============================================================*/ -NK_INTERN int nk_str_match_here(const char *regexp, const char *text); -NK_INTERN int nk_str_match_star(int c, const char *regexp, const char *text); -NK_LIB nk_bool nk_is_lower(int c) {return (c >= 'a' && c <= 'z') || (c >= 0xE0 && c <= 0xFF);} -NK_LIB nk_bool nk_is_upper(int c){return (c >= 'A' && c <= 'Z') || (c >= 0xC0 && c <= 0xDF);} -NK_LIB int nk_to_upper(int c) {return (c >= 'a' && c <= 'z') ? (c - ('a' - 'A')) : c;} -NK_LIB int nk_to_lower(int c) {return (c >= 'A' && c <= 'Z') ? (c - ('a' + 'A')) : c;} - -#ifndef NK_MEMCPY -#define NK_MEMCPY nk_memcopy -NK_LIB void* -nk_memcopy(void *dst0, const void *src0, nk_size length) -{ - nk_ptr t; - char *dst = (char*)dst0; - const char *src = (const char*)src0; - if (length == 0 || dst == src) - goto done; - - #define nk_word int - #define nk_wsize sizeof(nk_word) - #define nk_wmask (nk_wsize-1) - #define NK_TLOOP(s) if (t) NK_TLOOP1(s) - #define NK_TLOOP1(s) do { s; } while (--t) - - if (dst < src) { - t = (nk_ptr)src; /* only need low bits */ - if ((t | (nk_ptr)dst) & nk_wmask) { - if ((t ^ (nk_ptr)dst) & nk_wmask || length < nk_wsize) - t = length; - else - t = nk_wsize - (t & nk_wmask); - length -= t; - NK_TLOOP1(*dst++ = *src++); - } - t = length / nk_wsize; - NK_TLOOP(*(nk_word*)(void*)dst = *(const nk_word*)(const void*)src; - src += nk_wsize; dst += nk_wsize); - t = length & nk_wmask; - NK_TLOOP(*dst++ = *src++); - } else { - src += length; - dst += length; - t = (nk_ptr)src; - if ((t | (nk_ptr)dst) & nk_wmask) { - if ((t ^ (nk_ptr)dst) & nk_wmask || length <= nk_wsize) - t = length; - else - t &= nk_wmask; - length -= t; - NK_TLOOP1(*--dst = *--src); - } - t = length / nk_wsize; - NK_TLOOP(src -= nk_wsize; dst -= nk_wsize; - *(nk_word*)(void*)dst = *(const nk_word*)(const void*)src); - t = length & nk_wmask; - NK_TLOOP(*--dst = *--src); - } - #undef nk_word - #undef nk_wsize - #undef nk_wmask - #undef NK_TLOOP - #undef NK_TLOOP1 -done: - return (dst0); -} -#endif -#ifndef NK_MEMSET -#define NK_MEMSET nk_memset -NK_LIB void -nk_memset(void *ptr, int c0, nk_size size) -{ - #define nk_word unsigned - #define nk_wsize sizeof(nk_word) - #define nk_wmask (nk_wsize - 1) - nk_byte *dst = (nk_byte*)ptr; - unsigned c = 0; - nk_size t = 0; - - if ((c = (nk_byte)c0) != 0) { - c = (c << 8) | c; /* at least 16-bits */ - if (sizeof(unsigned int) > 2) - c = (c << 16) | c; /* at least 32-bits*/ - } - - /* too small of a word count */ - dst = (nk_byte*)ptr; - if (size < 3 * nk_wsize) { - while (size--) *dst++ = (nk_byte)c0; - return; - } - - /* align destination */ - if ((t = NK_PTR_TO_UINT(dst) & nk_wmask) != 0) { - t = nk_wsize -t; - size -= t; - do { - *dst++ = (nk_byte)c0; - } while (--t != 0); - } - - /* fill word */ - t = size / nk_wsize; - do { - *(nk_word*)((void*)dst) = c; - dst += nk_wsize; - } while (--t != 0); - - /* fill trailing bytes */ - t = (size & nk_wmask); - if (t != 0) { - do { - *dst++ = (nk_byte)c0; - } while (--t != 0); - } - - #undef nk_word - #undef nk_wsize - #undef nk_wmask -} -#endif -NK_LIB void -nk_zero(void *ptr, nk_size size) -{ - NK_ASSERT(ptr); - NK_MEMSET(ptr, 0, size); -} -NK_API int -nk_strlen(const char *str) -{ - int siz = 0; - NK_ASSERT(str); - while (str && *str++ != '\0') siz++; - return siz; -} -NK_API int -nk_strtoi(const char *str, const char **endptr) -{ - int neg = 1; - const char *p = str; - int value = 0; - - NK_ASSERT(str); - if (!str) return 0; - - /* skip whitespace */ - while (*p == ' ') p++; - if (*p == '-') { - neg = -1; - p++; - } - while (*p && *p >= '0' && *p <= '9') { - value = value * 10 + (int) (*p - '0'); - p++; - } - if (endptr) - *endptr = p; - return neg*value; -} -NK_API double -nk_strtod(const char *str, const char **endptr) -{ - double m; - double neg = 1.0; - const char *p = str; - double value = 0; - double number = 0; - - NK_ASSERT(str); - if (!str) return 0; - - /* skip whitespace */ - while (*p == ' ') p++; - if (*p == '-') { - neg = -1.0; - p++; - } - - while (*p && *p != '.' && *p != 'e') { - value = value * 10.0 + (double) (*p - '0'); - p++; - } - - if (*p == '.') { - p++; - for(m = 0.1; *p && *p != 'e'; p++ ) { - value = value + (double) (*p - '0') * m; - m *= 0.1; - } - } - if (*p == 'e') { - int i, pow, div; - p++; - if (*p == '-') { - div = nk_true; - p++; - } else if (*p == '+') { - div = nk_false; - p++; - } else div = nk_false; - - for (pow = 0; *p; p++) - pow = pow * 10 + (int) (*p - '0'); - - for (m = 1.0, i = 0; i < pow; i++) - m *= 10.0; - - if (div) - value /= m; - else value *= m; - } - number = value * neg; - if (endptr) - *endptr = p; - return number; -} -NK_API float -nk_strtof(const char *str, const char **endptr) -{ - float float_value; - double double_value; - double_value = NK_STRTOD(str, endptr); - float_value = (float)double_value; - return float_value; -} -NK_API int -nk_stricmp(const char *s1, const char *s2) -{ - nk_int c1,c2,d; - do { - c1 = *s1++; - c2 = *s2++; - d = c1 - c2; - while (d) { - if (c1 <= 'Z' && c1 >= 'A') { - d += ('a' - 'A'); - if (!d) break; - } - if (c2 <= 'Z' && c2 >= 'A') { - d -= ('a' - 'A'); - if (!d) break; - } - return ((d >= 0) << 1) - 1; - } - } while (c1); - return 0; -} -NK_API int -nk_stricmpn(const char *s1, const char *s2, int n) -{ - int c1,c2,d; - NK_ASSERT(n >= 0); - do { - c1 = *s1++; - c2 = *s2++; - if (!n--) return 0; - - d = c1 - c2; - while (d) { - if (c1 <= 'Z' && c1 >= 'A') { - d += ('a' - 'A'); - if (!d) break; - } - if (c2 <= 'Z' && c2 >= 'A') { - d -= ('a' - 'A'); - if (!d) break; - } - return ((d >= 0) << 1) - 1; - } - } while (c1); - return 0; -} -NK_INTERN int -nk_str_match_here(const char *regexp, const char *text) -{ - if (regexp[0] == '\0') - return 1; - if (regexp[1] == '*') - return nk_str_match_star(regexp[0], regexp+2, text); - if (regexp[0] == '$' && regexp[1] == '\0') - return *text == '\0'; - if (*text!='\0' && (regexp[0]=='.' || regexp[0]==*text)) - return nk_str_match_here(regexp+1, text+1); - return 0; -} -NK_INTERN int -nk_str_match_star(int c, const char *regexp, const char *text) -{ - do {/* a '* matches zero or more instances */ - if (nk_str_match_here(regexp, text)) - return 1; - } while (*text != '\0' && (*text++ == c || c == '.')); - return 0; -} -NK_API int -nk_strfilter(const char *text, const char *regexp) -{ - /* - c matches any literal character c - . matches any single character - ^ matches the beginning of the input string - $ matches the end of the input string - * matches zero or more occurrences of the previous character*/ - if (regexp[0] == '^') - return nk_str_match_here(regexp+1, text); - do { /* must look even if string is empty */ - if (nk_str_match_here(regexp, text)) - return 1; - } while (*text++ != '\0'); - return 0; -} -NK_API int -nk_strmatch_fuzzy_text(const char *str, int str_len, - const char *pattern, int *out_score) -{ - /* Returns true if each character in pattern is found sequentially within str - * if found then out_score is also set. Score value has no intrinsic meaning. - * Range varies with pattern. Can only compare scores with same search pattern. */ - - /* bonus for adjacent matches */ - #define NK_ADJACENCY_BONUS 5 - /* bonus if match occurs after a separator */ - #define NK_SEPARATOR_BONUS 10 - /* bonus if match is uppercase and prev is lower */ - #define NK_CAMEL_BONUS 10 - /* penalty applied for every letter in str before the first match */ - #define NK_LEADING_LETTER_PENALTY (-3) - /* maximum penalty for leading letters */ - #define NK_MAX_LEADING_LETTER_PENALTY (-9) - /* penalty for every letter that doesn't matter */ - #define NK_UNMATCHED_LETTER_PENALTY (-1) - - /* loop variables */ - int score = 0; - char const * pattern_iter = pattern; - int str_iter = 0; - int prev_matched = nk_false; - int prev_lower = nk_false; - /* true so if first letter match gets separator bonus*/ - int prev_separator = nk_true; - - /* use "best" matched letter if multiple string letters match the pattern */ - char const * best_letter = 0; - int best_letter_score = 0; - - /* loop over strings */ - NK_ASSERT(str); - NK_ASSERT(pattern); - if (!str || !str_len || !pattern) return 0; - while (str_iter < str_len) - { - const char pattern_letter = *pattern_iter; - const char str_letter = str[str_iter]; - - int next_match = *pattern_iter != '\0' && - nk_to_lower(pattern_letter) == nk_to_lower(str_letter); - int rematch = best_letter && nk_to_upper(*best_letter) == nk_to_upper(str_letter); - - int advanced = next_match && best_letter; - int pattern_repeat = best_letter && *pattern_iter != '\0'; - pattern_repeat = pattern_repeat && - nk_to_lower(*best_letter) == nk_to_lower(pattern_letter); - - if (advanced || pattern_repeat) { - score += best_letter_score; - best_letter = 0; - best_letter_score = 0; - } - - if (next_match || rematch) - { - int new_score = 0; - /* Apply penalty for each letter before the first pattern match */ - if (pattern_iter == pattern) { - int count = (int)(&str[str_iter] - str); - int penalty = NK_LEADING_LETTER_PENALTY * count; - if (penalty < NK_MAX_LEADING_LETTER_PENALTY) - penalty = NK_MAX_LEADING_LETTER_PENALTY; - - score += penalty; - } - - /* apply bonus for consecutive bonuses */ - if (prev_matched) - new_score += NK_ADJACENCY_BONUS; - - /* apply bonus for matches after a separator */ - if (prev_separator) - new_score += NK_SEPARATOR_BONUS; - - /* apply bonus across camel case boundaries */ - if (prev_lower && nk_is_upper(str_letter)) - new_score += NK_CAMEL_BONUS; - - /* update pattern iter IFF the next pattern letter was matched */ - if (next_match) - ++pattern_iter; - - /* update best letter in str which may be for a "next" letter or a rematch */ - if (new_score >= best_letter_score) { - /* apply penalty for now skipped letter */ - if (best_letter != 0) - score += NK_UNMATCHED_LETTER_PENALTY; - - best_letter = &str[str_iter]; - best_letter_score = new_score; - } - prev_matched = nk_true; - } else { - score += NK_UNMATCHED_LETTER_PENALTY; - prev_matched = nk_false; - } - - /* separators should be more easily defined */ - prev_lower = nk_is_lower(str_letter) != 0; - prev_separator = str_letter == '_' || str_letter == ' '; - - ++str_iter; - } - - /* apply score for last match */ - if (best_letter) - score += best_letter_score; - - /* did not match full pattern */ - if (*pattern_iter != '\0') - return nk_false; - - if (out_score) - *out_score = score; - return nk_true; -} -NK_API int -nk_strmatch_fuzzy_string(char const *str, char const *pattern, int *out_score) -{ - return nk_strmatch_fuzzy_text(str, nk_strlen(str), pattern, out_score); -} -NK_LIB int -nk_string_float_limit(char *string, int prec) -{ - int dot = 0; - char *c = string; - while (*c) { - if (*c == '.') { - dot = 1; - c++; - continue; - } - if (dot == (prec+1)) { - *c = 0; - break; - } - if (dot > 0) dot++; - c++; - } - return (int)(c - string); -} -NK_INTERN void -nk_strrev_ascii(char *s) -{ - int len = nk_strlen(s); - int end = len / 2; - int i = 0; - char t; - for (; i < end; ++i) { - t = s[i]; - s[i] = s[len - 1 - i]; - s[len -1 - i] = t; - } -} -NK_LIB char* -nk_itoa(char *s, long n) -{ - long i = 0; - if (n == 0) { - s[i++] = '0'; - s[i] = 0; - return s; - } - if (n < 0) { - s[i++] = '-'; - n = -n; - } - while (n > 0) { - s[i++] = (char)('0' + (n % 10)); - n /= 10; - } - s[i] = 0; - if (s[0] == '-') - ++s; - - nk_strrev_ascii(s); - return s; -} -#ifndef NK_DTOA -#define NK_DTOA nk_dtoa -NK_LIB char* -nk_dtoa(char *s, double n) -{ - int useExp = 0; - int digit = 0, m = 0, m1 = 0; - char *c = s; - int neg = 0; - - NK_ASSERT(s); - if (!s) return 0; - - if (n == 0.0) { - s[0] = '0'; s[1] = '\0'; - return s; - } - - neg = (n < 0); - if (neg) n = -n; - - /* calculate magnitude */ - m = nk_log10(n); - useExp = (m >= 14 || (neg && m >= 9) || m <= -9); - if (neg) *(c++) = '-'; - - /* set up for scientific notation */ - if (useExp) { - if (m < 0) - m -= 1; - n = n / (double)nk_pow(10.0, m); - m1 = m; - m = 0; - } - if (m < 1.0) { - m = 0; - } - - /* convert the number */ - while (n > NK_FLOAT_PRECISION || m >= 0) { - double weight = nk_pow(10.0, m); - if (weight > 0) { - double t = (double)n / weight; - digit = nk_ifloord(t); - n -= ((double)digit * weight); - *(c++) = (char)('0' + (char)digit); - } - if (m == 0 && n > 0) - *(c++) = '.'; - m--; - } - - if (useExp) { - /* convert the exponent */ - int i, j; - *(c++) = 'e'; - if (m1 > 0) { - *(c++) = '+'; - } else { - *(c++) = '-'; - m1 = -m1; - } - m = 0; - while (m1 > 0) { - *(c++) = (char)('0' + (char)(m1 % 10)); - m1 /= 10; - m++; - } - c -= m; - for (i = 0, j = m-1; i= buf_size) break; - iter++; - - /* flag arguments */ - while (*iter) { - if (*iter == '-') flag |= NK_ARG_FLAG_LEFT; - else if (*iter == '+') flag |= NK_ARG_FLAG_PLUS; - else if (*iter == ' ') flag |= NK_ARG_FLAG_SPACE; - else if (*iter == '#') flag |= NK_ARG_FLAG_NUM; - else if (*iter == '0') flag |= NK_ARG_FLAG_ZERO; - else break; - iter++; - } - - /* width argument */ - width = NK_DEFAULT; - if (*iter >= '1' && *iter <= '9') { - const char *end; - width = nk_strtoi(iter, &end); - if (end == iter) - width = -1; - else iter = end; - } else if (*iter == '*') { - width = va_arg(args, int); - iter++; - } - - /* precision argument */ - precision = NK_DEFAULT; - if (*iter == '.') { - iter++; - if (*iter == '*') { - precision = va_arg(args, int); - iter++; - } else { - const char *end; - precision = nk_strtoi(iter, &end); - if (end == iter) - precision = -1; - else iter = end; - } - } - - /* length modifier */ - if (*iter == 'h') { - if (*(iter+1) == 'h') { - arg_type = NK_ARG_TYPE_CHAR; - iter++; - } else arg_type = NK_ARG_TYPE_SHORT; - iter++; - } else if (*iter == 'l') { - arg_type = NK_ARG_TYPE_LONG; - iter++; - } else arg_type = NK_ARG_TYPE_DEFAULT; - - /* specifier */ - if (*iter == '%') { - NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); - NK_ASSERT(precision == NK_DEFAULT); - NK_ASSERT(width == NK_DEFAULT); - if (len < buf_size) - buf[len++] = '%'; - } else if (*iter == 's') { - /* string */ - const char *str = va_arg(args, const char*); - NK_ASSERT(str != buf && "buffer and argument are not allowed to overlap!"); - NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); - NK_ASSERT(precision == NK_DEFAULT); - NK_ASSERT(width == NK_DEFAULT); - if (str == buf) return -1; - while (str && *str && len < buf_size) - buf[len++] = *str++; - } else if (*iter == 'n') { - /* current length callback */ - signed int *n = va_arg(args, int*); - NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); - NK_ASSERT(precision == NK_DEFAULT); - NK_ASSERT(width == NK_DEFAULT); - if (n) *n = len; - } else if (*iter == 'c' || *iter == 'i' || *iter == 'd') { - /* signed integer */ - long value = 0; - const char *num_iter; - int num_len, num_print, padding; - int cur_precision = NK_MAX(precision, 1); - int cur_width = NK_MAX(width, 0); - - /* retrieve correct value type */ - if (arg_type == NK_ARG_TYPE_CHAR) - value = (signed char)va_arg(args, int); - else if (arg_type == NK_ARG_TYPE_SHORT) - value = (signed short)va_arg(args, int); - else if (arg_type == NK_ARG_TYPE_LONG) - value = va_arg(args, signed long); - else if (*iter == 'c') - value = (unsigned char)va_arg(args, int); - else value = va_arg(args, signed int); - - /* convert number to string */ - nk_itoa(number_buffer, value); - num_len = nk_strlen(number_buffer); - padding = NK_MAX(cur_width - NK_MAX(cur_precision, num_len), 0); - if ((flag & NK_ARG_FLAG_PLUS) || (flag & NK_ARG_FLAG_SPACE)) - padding = NK_MAX(padding-1, 0); - - /* fill left padding up to a total of `width` characters */ - if (!(flag & NK_ARG_FLAG_LEFT)) { - while (padding-- > 0 && (len < buf_size)) { - if ((flag & NK_ARG_FLAG_ZERO) && (precision == NK_DEFAULT)) - buf[len++] = '0'; - else buf[len++] = ' '; - } - } - - /* copy string value representation into buffer */ - if ((flag & NK_ARG_FLAG_PLUS) && value >= 0 && len < buf_size) - buf[len++] = '+'; - else if ((flag & NK_ARG_FLAG_SPACE) && value >= 0 && len < buf_size) - buf[len++] = ' '; - - /* fill up to precision number of digits with '0' */ - num_print = NK_MAX(cur_precision, num_len); - while (precision && (num_print > num_len) && (len < buf_size)) { - buf[len++] = '0'; - num_print--; - } - - /* copy string value representation into buffer */ - num_iter = number_buffer; - while (precision && *num_iter && len < buf_size) - buf[len++] = *num_iter++; - - /* fill right padding up to width characters */ - if (flag & NK_ARG_FLAG_LEFT) { - while ((padding-- > 0) && (len < buf_size)) - buf[len++] = ' '; - } - } else if (*iter == 'o' || *iter == 'x' || *iter == 'X' || *iter == 'u') { - /* unsigned integer */ - unsigned long value = 0; - int num_len = 0, num_print, padding = 0; - int cur_precision = NK_MAX(precision, 1); - int cur_width = NK_MAX(width, 0); - unsigned int base = (*iter == 'o') ? 8: (*iter == 'u')? 10: 16; - - /* print oct/hex/dec value */ - const char *upper_output_format = "0123456789ABCDEF"; - const char *lower_output_format = "0123456789abcdef"; - const char *output_format = (*iter == 'x') ? - lower_output_format: upper_output_format; - - /* retrieve correct value type */ - if (arg_type == NK_ARG_TYPE_CHAR) - value = (unsigned char)va_arg(args, int); - else if (arg_type == NK_ARG_TYPE_SHORT) - value = (unsigned short)va_arg(args, int); - else if (arg_type == NK_ARG_TYPE_LONG) - value = va_arg(args, unsigned long); - else value = va_arg(args, unsigned int); - - do { - /* convert decimal number into hex/oct number */ - int digit = output_format[value % base]; - if (num_len < NK_MAX_NUMBER_BUFFER) - number_buffer[num_len++] = (char)digit; - value /= base; - } while (value > 0); - - num_print = NK_MAX(cur_precision, num_len); - padding = NK_MAX(cur_width - NK_MAX(cur_precision, num_len), 0); - if (flag & NK_ARG_FLAG_NUM) - padding = NK_MAX(padding-1, 0); - - /* fill left padding up to a total of `width` characters */ - if (!(flag & NK_ARG_FLAG_LEFT)) { - while ((padding-- > 0) && (len < buf_size)) { - if ((flag & NK_ARG_FLAG_ZERO) && (precision == NK_DEFAULT)) - buf[len++] = '0'; - else buf[len++] = ' '; - } - } - - /* fill up to precision number of digits */ - if (num_print && (flag & NK_ARG_FLAG_NUM)) { - if ((*iter == 'o') && (len < buf_size)) { - buf[len++] = '0'; - } else if ((*iter == 'x') && ((len+1) < buf_size)) { - buf[len++] = '0'; - buf[len++] = 'x'; - } else if ((*iter == 'X') && ((len+1) < buf_size)) { - buf[len++] = '0'; - buf[len++] = 'X'; - } - } - while (precision && (num_print > num_len) && (len < buf_size)) { - buf[len++] = '0'; - num_print--; - } - - /* reverse number direction */ - while (num_len > 0) { - if (precision && (len < buf_size)) - buf[len++] = number_buffer[num_len-1]; - num_len--; - } - - /* fill right padding up to width characters */ - if (flag & NK_ARG_FLAG_LEFT) { - while ((padding-- > 0) && (len < buf_size)) - buf[len++] = ' '; - } - } else if (*iter == 'f') { - /* floating point */ - const char *num_iter; - int cur_precision = (precision < 0) ? 6: precision; - int prefix, cur_width = NK_MAX(width, 0); - double value = va_arg(args, double); - int num_len = 0, frac_len = 0, dot = 0; - int padding = 0; - - NK_ASSERT(arg_type == NK_ARG_TYPE_DEFAULT); - NK_DTOA(number_buffer, value); - num_len = nk_strlen(number_buffer); - - /* calculate padding */ - num_iter = number_buffer; - while (*num_iter && *num_iter != '.') - num_iter++; - - prefix = (*num_iter == '.')?(int)(num_iter - number_buffer)+1:0; - padding = NK_MAX(cur_width - (prefix + NK_MIN(cur_precision, num_len - prefix)) , 0); - if ((flag & NK_ARG_FLAG_PLUS) || (flag & NK_ARG_FLAG_SPACE)) - padding = NK_MAX(padding-1, 0); - - /* fill left padding up to a total of `width` characters */ - if (!(flag & NK_ARG_FLAG_LEFT)) { - while (padding-- > 0 && (len < buf_size)) { - if (flag & NK_ARG_FLAG_ZERO) - buf[len++] = '0'; - else buf[len++] = ' '; - } - } - - /* copy string value representation into buffer */ - num_iter = number_buffer; - if ((flag & NK_ARG_FLAG_PLUS) && (value >= 0) && (len < buf_size)) - buf[len++] = '+'; - else if ((flag & NK_ARG_FLAG_SPACE) && (value >= 0) && (len < buf_size)) - buf[len++] = ' '; - while (*num_iter) { - if (dot) frac_len++; - if (len < buf_size) - buf[len++] = *num_iter; - if (*num_iter == '.') dot = 1; - if (frac_len >= cur_precision) break; - num_iter++; - } - - /* fill number up to precision */ - while (frac_len < cur_precision) { - if (!dot && len < buf_size) { - buf[len++] = '.'; - dot = 1; - } - if (len < buf_size) - buf[len++] = '0'; - frac_len++; - } - - /* fill right padding up to width characters */ - if (flag & NK_ARG_FLAG_LEFT) { - while ((padding-- > 0) && (len < buf_size)) - buf[len++] = ' '; - } - } else { - /* Specifier not supported: g,G,e,E,p,z */ - NK_ASSERT(0 && "specifier is not supported!"); - return result; - } - } - buf[(len >= buf_size)?(buf_size-1):len] = 0; - result = (len >= buf_size)?-1:len; - return result; -} -#endif -NK_LIB int -nk_strfmt(char *buf, int buf_size, const char *fmt, va_list args) -{ - int result = -1; - NK_ASSERT(buf); - NK_ASSERT(buf_size); - if (!buf || !buf_size || !fmt) return 0; -#ifdef NK_INCLUDE_STANDARD_IO - result = NK_VSNPRINTF(buf, (nk_size)buf_size, fmt, args); - result = (result >= buf_size) ? -1: result; - buf[buf_size-1] = 0; -#else - result = nk_vsnprintf(buf, buf_size, fmt, args); -#endif - return result; -} -#endif -NK_API nk_hash -nk_murmur_hash(const void * key, int len, nk_hash seed) -{ - /* 32-Bit MurmurHash3: https://code.google.com/p/smhasher/wiki/MurmurHash3*/ - #define NK_ROTL(x,r) ((x) << (r) | ((x) >> (32 - r))) - - nk_uint h1 = seed; - nk_uint k1; - const nk_byte *data = (const nk_byte*)key; - const nk_byte *keyptr = data; - nk_byte *k1ptr; - const int bsize = sizeof(k1); - const int nblocks = len/4; - - const nk_uint c1 = 0xcc9e2d51; - const nk_uint c2 = 0x1b873593; - const nk_byte *tail; - int i; - - /* body */ - if (!key) return 0; - for (i = 0; i < nblocks; ++i, keyptr += bsize) { - k1ptr = (nk_byte*)&k1; - k1ptr[0] = keyptr[0]; - k1ptr[1] = keyptr[1]; - k1ptr[2] = keyptr[2]; - k1ptr[3] = keyptr[3]; - - k1 *= c1; - k1 = NK_ROTL(k1,15); - k1 *= c2; - - h1 ^= k1; - h1 = NK_ROTL(h1,13); - h1 = h1*5+0xe6546b64; - } - - /* tail */ - tail = (const nk_byte*)(data + nblocks*4); - k1 = 0; - switch (len & 3) { - case 3: k1 ^= (nk_uint)(tail[2] << 16); /* fallthrough */ - case 2: k1 ^= (nk_uint)(tail[1] << 8u); /* fallthrough */ - case 1: k1 ^= tail[0]; - k1 *= c1; - k1 = NK_ROTL(k1,15); - k1 *= c2; - h1 ^= k1; - break; - default: break; - } - - /* finalization */ - h1 ^= (nk_uint)len; - /* fmix32 */ - h1 ^= h1 >> 16; - h1 *= 0x85ebca6b; - h1 ^= h1 >> 13; - h1 *= 0xc2b2ae35; - h1 ^= h1 >> 16; - - #undef NK_ROTL - return h1; -} -#ifdef NK_INCLUDE_STANDARD_IO -NK_LIB char* -nk_file_load(const char* path, nk_size* siz, struct nk_allocator *alloc) -{ - char *buf; - FILE *fd; - long ret; - - NK_ASSERT(path); - NK_ASSERT(siz); - NK_ASSERT(alloc); - if (!path || !siz || !alloc) - return 0; - - fd = fopen(path, "rb"); - if (!fd) return 0; - fseek(fd, 0, SEEK_END); - ret = ftell(fd); - if (ret < 0) { - fclose(fd); - return 0; - } - *siz = (nk_size)ret; - fseek(fd, 0, SEEK_SET); - buf = (char*)alloc->alloc(alloc->userdata,0, *siz); - NK_ASSERT(buf); - if (!buf) { - fclose(fd); - return 0; - } - *siz = (nk_size)fread(buf, 1,*siz, fd); - fclose(fd); - return buf; -} -#endif -NK_LIB int -nk_text_clamp(const struct nk_user_font *font, const char *text, - int text_len, float space, int *glyphs, float *text_width, - nk_rune *sep_list, int sep_count) -{ - int i = 0; - int glyph_len = 0; - float last_width = 0; - nk_rune unicode = 0; - float width = 0; - int len = 0; - int g = 0; - float s; - - int sep_len = 0; - int sep_g = 0; - float sep_width = 0; - sep_count = NK_MAX(sep_count,0); - - glyph_len = nk_utf_decode(text, &unicode, text_len); - while (glyph_len && (width < space) && (len < text_len)) { - len += glyph_len; - s = font->width(font->userdata, font->height, text, len); - for (i = 0; i < sep_count; ++i) { - if (unicode != sep_list[i]) continue; - sep_width = last_width = width; - sep_g = g+1; - sep_len = len; - break; - } - if (i == sep_count){ - last_width = sep_width = width; - sep_g = g+1; - } - width = s; - glyph_len = nk_utf_decode(&text[len], &unicode, text_len - len); - g++; - } - if (len >= text_len) { - *glyphs = g; - *text_width = last_width; - return len; - } else { - *glyphs = sep_g; - *text_width = sep_width; - return (!sep_len) ? len: sep_len; - } -} -NK_LIB struct nk_vec2 -nk_text_calculate_text_bounds(const struct nk_user_font *font, - const char *begin, int byte_len, float row_height, const char **remaining, - struct nk_vec2 *out_offset, int *glyphs, int op) -{ - float line_height = row_height; - struct nk_vec2 text_size = nk_vec2(0,0); - float line_width = 0.0f; - - float glyph_width; - int glyph_len = 0; - nk_rune unicode = 0; - int text_len = 0; - if (!begin || byte_len <= 0 || !font) - return nk_vec2(0,row_height); - - glyph_len = nk_utf_decode(begin, &unicode, byte_len); - if (!glyph_len) return text_size; - glyph_width = font->width(font->userdata, font->height, begin, glyph_len); - - *glyphs = 0; - while ((text_len < byte_len) && glyph_len) { - if (unicode == '\n') { - text_size.x = NK_MAX(text_size.x, line_width); - text_size.y += line_height; - line_width = 0; - *glyphs+=1; - if (op == NK_STOP_ON_NEW_LINE) - break; - - text_len++; - glyph_len = nk_utf_decode(begin + text_len, &unicode, byte_len-text_len); - continue; - } - - if (unicode == '\r') { - text_len++; - *glyphs+=1; - glyph_len = nk_utf_decode(begin + text_len, &unicode, byte_len-text_len); - continue; - } - - *glyphs = *glyphs + 1; - text_len += glyph_len; - line_width += (float)glyph_width; - glyph_len = nk_utf_decode(begin + text_len, &unicode, byte_len-text_len); - glyph_width = font->width(font->userdata, font->height, begin+text_len, glyph_len); - continue; - } - - if (text_size.x < line_width) - text_size.x = line_width; - if (out_offset) - *out_offset = nk_vec2(line_width, text_size.y + line_height); - if (line_width > 0 || text_size.y == 0.0f) - text_size.y += line_height; - if (remaining) - *remaining = begin+text_len; - return text_size; -} - - - - - -/* ============================================================== - * - * COLOR - * - * ===============================================================*/ -NK_INTERN int -nk_parse_hex(const char *p, int length) -{ - int i = 0; - int len = 0; - while (len < length) { - i <<= 4; - if (p[len] >= 'a' && p[len] <= 'f') - i += ((p[len] - 'a') + 10); - else if (p[len] >= 'A' && p[len] <= 'F') - i += ((p[len] - 'A') + 10); - else i += (p[len] - '0'); - len++; - } - return i; -} -NK_API struct nk_color -nk_rgba(int r, int g, int b, int a) -{ - struct nk_color ret; - ret.r = (nk_byte)NK_CLAMP(0, r, 255); - ret.g = (nk_byte)NK_CLAMP(0, g, 255); - ret.b = (nk_byte)NK_CLAMP(0, b, 255); - ret.a = (nk_byte)NK_CLAMP(0, a, 255); - return ret; -} -NK_API struct nk_color -nk_rgb_hex(const char *rgb) -{ - struct nk_color col; - const char *c = rgb; - if (*c == '#') c++; - col.r = (nk_byte)nk_parse_hex(c, 2); - col.g = (nk_byte)nk_parse_hex(c+2, 2); - col.b = (nk_byte)nk_parse_hex(c+4, 2); - col.a = 255; - return col; -} -NK_API struct nk_color -nk_rgba_hex(const char *rgb) -{ - struct nk_color col; - const char *c = rgb; - if (*c == '#') c++; - col.r = (nk_byte)nk_parse_hex(c, 2); - col.g = (nk_byte)nk_parse_hex(c+2, 2); - col.b = (nk_byte)nk_parse_hex(c+4, 2); - col.a = (nk_byte)nk_parse_hex(c+6, 2); - return col; -} -NK_API void -nk_color_hex_rgba(char *output, struct nk_color col) -{ - #define NK_TO_HEX(i) ((i) <= 9 ? '0' + (i): 'A' - 10 + (i)) - output[0] = (char)NK_TO_HEX((col.r & 0xF0) >> 4); - output[1] = (char)NK_TO_HEX((col.r & 0x0F)); - output[2] = (char)NK_TO_HEX((col.g & 0xF0) >> 4); - output[3] = (char)NK_TO_HEX((col.g & 0x0F)); - output[4] = (char)NK_TO_HEX((col.b & 0xF0) >> 4); - output[5] = (char)NK_TO_HEX((col.b & 0x0F)); - output[6] = (char)NK_TO_HEX((col.a & 0xF0) >> 4); - output[7] = (char)NK_TO_HEX((col.a & 0x0F)); - output[8] = '\0'; - #undef NK_TO_HEX -} -NK_API void -nk_color_hex_rgb(char *output, struct nk_color col) -{ - #define NK_TO_HEX(i) ((i) <= 9 ? '0' + (i): 'A' - 10 + (i)) - output[0] = (char)NK_TO_HEX((col.r & 0xF0) >> 4); - output[1] = (char)NK_TO_HEX((col.r & 0x0F)); - output[2] = (char)NK_TO_HEX((col.g & 0xF0) >> 4); - output[3] = (char)NK_TO_HEX((col.g & 0x0F)); - output[4] = (char)NK_TO_HEX((col.b & 0xF0) >> 4); - output[5] = (char)NK_TO_HEX((col.b & 0x0F)); - output[6] = '\0'; - #undef NK_TO_HEX -} -NK_API struct nk_color -nk_rgba_iv(const int *c) -{ - return nk_rgba(c[0], c[1], c[2], c[3]); -} -NK_API struct nk_color -nk_rgba_bv(const nk_byte *c) -{ - return nk_rgba(c[0], c[1], c[2], c[3]); -} -NK_API struct nk_color -nk_rgb(int r, int g, int b) -{ - struct nk_color ret; - ret.r = (nk_byte)NK_CLAMP(0, r, 255); - ret.g = (nk_byte)NK_CLAMP(0, g, 255); - ret.b = (nk_byte)NK_CLAMP(0, b, 255); - ret.a = (nk_byte)255; - return ret; -} -NK_API struct nk_color -nk_rgb_iv(const int *c) -{ - return nk_rgb(c[0], c[1], c[2]); -} -NK_API struct nk_color -nk_rgb_bv(const nk_byte* c) -{ - return nk_rgb(c[0], c[1], c[2]); -} -NK_API struct nk_color -nk_rgba_u32(nk_uint in) -{ - struct nk_color ret; - ret.r = (in & 0xFF); - ret.g = ((in >> 8) & 0xFF); - ret.b = ((in >> 16) & 0xFF); - ret.a = (nk_byte)((in >> 24) & 0xFF); - return ret; -} -NK_API struct nk_color -nk_rgba_f(float r, float g, float b, float a) -{ - struct nk_color ret; - ret.r = (nk_byte)(NK_SATURATE(r) * 255.0f); - ret.g = (nk_byte)(NK_SATURATE(g) * 255.0f); - ret.b = (nk_byte)(NK_SATURATE(b) * 255.0f); - ret.a = (nk_byte)(NK_SATURATE(a) * 255.0f); - return ret; -} -NK_API struct nk_color -nk_rgba_fv(const float *c) -{ - return nk_rgba_f(c[0], c[1], c[2], c[3]); -} -NK_API struct nk_color -nk_rgba_cf(struct nk_colorf c) -{ - return nk_rgba_f(c.r, c.g, c.b, c.a); -} -NK_API struct nk_color -nk_rgb_f(float r, float g, float b) -{ - struct nk_color ret; - ret.r = (nk_byte)(NK_SATURATE(r) * 255.0f); - ret.g = (nk_byte)(NK_SATURATE(g) * 255.0f); - ret.b = (nk_byte)(NK_SATURATE(b) * 255.0f); - ret.a = 255; - return ret; -} -NK_API struct nk_color -nk_rgb_fv(const float *c) -{ - return nk_rgb_f(c[0], c[1], c[2]); -} -NK_API struct nk_color -nk_rgb_cf(struct nk_colorf c) -{ - return nk_rgb_f(c.r, c.g, c.b); -} -NK_API struct nk_color -nk_hsv(int h, int s, int v) -{ - return nk_hsva(h, s, v, 255); -} -NK_API struct nk_color -nk_hsv_iv(const int *c) -{ - return nk_hsv(c[0], c[1], c[2]); -} -NK_API struct nk_color -nk_hsv_bv(const nk_byte *c) -{ - return nk_hsv(c[0], c[1], c[2]); -} -NK_API struct nk_color -nk_hsv_f(float h, float s, float v) -{ - return nk_hsva_f(h, s, v, 1.0f); -} -NK_API struct nk_color -nk_hsv_fv(const float *c) -{ - return nk_hsv_f(c[0], c[1], c[2]); -} -NK_API struct nk_color -nk_hsva(int h, int s, int v, int a) -{ - float hf = ((float)NK_CLAMP(0, h, 255)) / 255.0f; - float sf = ((float)NK_CLAMP(0, s, 255)) / 255.0f; - float vf = ((float)NK_CLAMP(0, v, 255)) / 255.0f; - float af = ((float)NK_CLAMP(0, a, 255)) / 255.0f; - return nk_hsva_f(hf, sf, vf, af); -} -NK_API struct nk_color -nk_hsva_iv(const int *c) -{ - return nk_hsva(c[0], c[1], c[2], c[3]); -} -NK_API struct nk_color -nk_hsva_bv(const nk_byte *c) -{ - return nk_hsva(c[0], c[1], c[2], c[3]); -} -NK_API struct nk_colorf -nk_hsva_colorf(float h, float s, float v, float a) -{ - int i; - float p, q, t, f; - struct nk_colorf out = {0,0,0,0}; - if (s <= 0.0f) { - out.r = v; out.g = v; out.b = v; out.a = a; - return out; - } - h = h / (60.0f/360.0f); - i = (int)h; - f = h - (float)i; - p = v * (1.0f - s); - q = v * (1.0f - (s * f)); - t = v * (1.0f - s * (1.0f - f)); - - switch (i) { - case 0: default: out.r = v; out.g = t; out.b = p; break; - case 1: out.r = q; out.g = v; out.b = p; break; - case 2: out.r = p; out.g = v; out.b = t; break; - case 3: out.r = p; out.g = q; out.b = v; break; - case 4: out.r = t; out.g = p; out.b = v; break; - case 5: out.r = v; out.g = p; out.b = q; break;} - out.a = a; - return out; -} -NK_API struct nk_colorf -nk_hsva_colorfv(float *c) -{ - return nk_hsva_colorf(c[0], c[1], c[2], c[3]); -} -NK_API struct nk_color -nk_hsva_f(float h, float s, float v, float a) -{ - struct nk_colorf c = nk_hsva_colorf(h, s, v, a); - return nk_rgba_f(c.r, c.g, c.b, c.a); -} -NK_API struct nk_color -nk_hsva_fv(const float *c) -{ - return nk_hsva_f(c[0], c[1], c[2], c[3]); -} -NK_API nk_uint -nk_color_u32(struct nk_color in) -{ - nk_uint out = (nk_uint)in.r; - out |= ((nk_uint)in.g << 8); - out |= ((nk_uint)in.b << 16); - out |= ((nk_uint)in.a << 24); - return out; -} -NK_API void -nk_color_f(float *r, float *g, float *b, float *a, struct nk_color in) -{ - NK_STORAGE const float s = 1.0f/255.0f; - *r = (float)in.r * s; - *g = (float)in.g * s; - *b = (float)in.b * s; - *a = (float)in.a * s; -} -NK_API void -nk_color_fv(float *c, struct nk_color in) -{ - nk_color_f(&c[0], &c[1], &c[2], &c[3], in); -} -NK_API struct nk_colorf -nk_color_cf(struct nk_color in) -{ - struct nk_colorf o; - nk_color_f(&o.r, &o.g, &o.b, &o.a, in); - return o; -} -NK_API void -nk_color_d(double *r, double *g, double *b, double *a, struct nk_color in) -{ - NK_STORAGE const double s = 1.0/255.0; - *r = (double)in.r * s; - *g = (double)in.g * s; - *b = (double)in.b * s; - *a = (double)in.a * s; -} -NK_API void -nk_color_dv(double *c, struct nk_color in) -{ - nk_color_d(&c[0], &c[1], &c[2], &c[3], in); -} -NK_API void -nk_color_hsv_f(float *out_h, float *out_s, float *out_v, struct nk_color in) -{ - float a; - nk_color_hsva_f(out_h, out_s, out_v, &a, in); -} -NK_API void -nk_color_hsv_fv(float *out, struct nk_color in) -{ - float a; - nk_color_hsva_f(&out[0], &out[1], &out[2], &a, in); -} -NK_API void -nk_colorf_hsva_f(float *out_h, float *out_s, - float *out_v, float *out_a, struct nk_colorf in) -{ - float chroma; - float K = 0.0f; - if (in.g < in.b) { - const float t = in.g; in.g = in.b; in.b = t; - K = -1.f; - } - if (in.r < in.g) { - const float t = in.r; in.r = in.g; in.g = t; - K = -2.f/6.0f - K; - } - chroma = in.r - ((in.g < in.b) ? in.g: in.b); - *out_h = NK_ABS(K + (in.g - in.b)/(6.0f * chroma + 1e-20f)); - *out_s = chroma / (in.r + 1e-20f); - *out_v = in.r; - *out_a = in.a; - -} -NK_API void -nk_colorf_hsva_fv(float *hsva, struct nk_colorf in) -{ - nk_colorf_hsva_f(&hsva[0], &hsva[1], &hsva[2], &hsva[3], in); -} -NK_API void -nk_color_hsva_f(float *out_h, float *out_s, - float *out_v, float *out_a, struct nk_color in) -{ - struct nk_colorf col; - nk_color_f(&col.r,&col.g,&col.b,&col.a, in); - nk_colorf_hsva_f(out_h, out_s, out_v, out_a, col); -} -NK_API void -nk_color_hsva_fv(float *out, struct nk_color in) -{ - nk_color_hsva_f(&out[0], &out[1], &out[2], &out[3], in); -} -NK_API void -nk_color_hsva_i(int *out_h, int *out_s, int *out_v, - int *out_a, struct nk_color in) -{ - float h,s,v,a; - nk_color_hsva_f(&h, &s, &v, &a, in); - *out_h = (nk_byte)(h * 255.0f); - *out_s = (nk_byte)(s * 255.0f); - *out_v = (nk_byte)(v * 255.0f); - *out_a = (nk_byte)(a * 255.0f); -} -NK_API void -nk_color_hsva_iv(int *out, struct nk_color in) -{ - nk_color_hsva_i(&out[0], &out[1], &out[2], &out[3], in); -} -NK_API void -nk_color_hsva_bv(nk_byte *out, struct nk_color in) -{ - int tmp[4]; - nk_color_hsva_i(&tmp[0], &tmp[1], &tmp[2], &tmp[3], in); - out[0] = (nk_byte)tmp[0]; - out[1] = (nk_byte)tmp[1]; - out[2] = (nk_byte)tmp[2]; - out[3] = (nk_byte)tmp[3]; -} -NK_API void -nk_color_hsva_b(nk_byte *h, nk_byte *s, nk_byte *v, nk_byte *a, struct nk_color in) -{ - int tmp[4]; - nk_color_hsva_i(&tmp[0], &tmp[1], &tmp[2], &tmp[3], in); - *h = (nk_byte)tmp[0]; - *s = (nk_byte)tmp[1]; - *v = (nk_byte)tmp[2]; - *a = (nk_byte)tmp[3]; -} -NK_API void -nk_color_hsv_i(int *out_h, int *out_s, int *out_v, struct nk_color in) -{ - int a; - nk_color_hsva_i(out_h, out_s, out_v, &a, in); -} -NK_API void -nk_color_hsv_b(nk_byte *out_h, nk_byte *out_s, nk_byte *out_v, struct nk_color in) -{ - int tmp[4]; - nk_color_hsva_i(&tmp[0], &tmp[1], &tmp[2], &tmp[3], in); - *out_h = (nk_byte)tmp[0]; - *out_s = (nk_byte)tmp[1]; - *out_v = (nk_byte)tmp[2]; -} -NK_API void -nk_color_hsv_iv(int *out, struct nk_color in) -{ - nk_color_hsv_i(&out[0], &out[1], &out[2], in); -} -NK_API void -nk_color_hsv_bv(nk_byte *out, struct nk_color in) -{ - int tmp[4]; - nk_color_hsv_i(&tmp[0], &tmp[1], &tmp[2], in); - out[0] = (nk_byte)tmp[0]; - out[1] = (nk_byte)tmp[1]; - out[2] = (nk_byte)tmp[2]; -} - - - - - -/* =============================================================== - * - * UTF-8 - * - * ===============================================================*/ -NK_GLOBAL const nk_byte nk_utfbyte[NK_UTF_SIZE+1] = {0x80, 0, 0xC0, 0xE0, 0xF0}; -NK_GLOBAL const nk_byte nk_utfmask[NK_UTF_SIZE+1] = {0xC0, 0x80, 0xE0, 0xF0, 0xF8}; -NK_GLOBAL const nk_uint nk_utfmin[NK_UTF_SIZE+1] = {0, 0, 0x80, 0x800, 0x10000}; -NK_GLOBAL const nk_uint nk_utfmax[NK_UTF_SIZE+1] = {0x10FFFF, 0x7F, 0x7FF, 0xFFFF, 0x10FFFF}; - -NK_INTERN int -nk_utf_validate(nk_rune *u, int i) -{ - NK_ASSERT(u); - if (!u) return 0; - if (!NK_BETWEEN(*u, nk_utfmin[i], nk_utfmax[i]) || - NK_BETWEEN(*u, 0xD800, 0xDFFF)) - *u = NK_UTF_INVALID; - for (i = 1; *u > nk_utfmax[i]; ++i); - return i; -} -NK_INTERN nk_rune -nk_utf_decode_byte(char c, int *i) -{ - NK_ASSERT(i); - if (!i) return 0; - for(*i = 0; *i < (int)NK_LEN(nk_utfmask); ++(*i)) { - if (((nk_byte)c & nk_utfmask[*i]) == nk_utfbyte[*i]) - return (nk_byte)(c & ~nk_utfmask[*i]); - } - return 0; -} -NK_API int -nk_utf_decode(const char *c, nk_rune *u, int clen) -{ - int i, j, len, type=0; - nk_rune udecoded; - - NK_ASSERT(c); - NK_ASSERT(u); - - if (!c || !u) return 0; - if (!clen) return 0; - *u = NK_UTF_INVALID; - - udecoded = nk_utf_decode_byte(c[0], &len); - if (!NK_BETWEEN(len, 1, NK_UTF_SIZE)) - return 1; - - for (i = 1, j = 1; i < clen && j < len; ++i, ++j) { - udecoded = (udecoded << 6) | nk_utf_decode_byte(c[i], &type); - if (type != 0) - return j; - } - if (j < len) - return 0; - *u = udecoded; - nk_utf_validate(u, len); - return len; -} -NK_INTERN char -nk_utf_encode_byte(nk_rune u, int i) -{ - return (char)((nk_utfbyte[i]) | ((nk_byte)u & ~nk_utfmask[i])); -} -NK_API int -nk_utf_encode(nk_rune u, char *c, int clen) -{ - int len, i; - len = nk_utf_validate(&u, 0); - if (clen < len || !len || len > NK_UTF_SIZE) - return 0; - - for (i = len - 1; i != 0; --i) { - c[i] = nk_utf_encode_byte(u, 0); - u >>= 6; - } - c[0] = nk_utf_encode_byte(u, len); - return len; -} -NK_API int -nk_utf_len(const char *str, int len) -{ - const char *text; - int glyphs = 0; - int text_len; - int glyph_len; - int src_len = 0; - nk_rune unicode; - - NK_ASSERT(str); - if (!str || !len) return 0; - - text = str; - text_len = len; - glyph_len = nk_utf_decode(text, &unicode, text_len); - while (glyph_len && src_len < len) { - glyphs++; - src_len = src_len + glyph_len; - glyph_len = nk_utf_decode(text + src_len, &unicode, text_len - src_len); - } - return glyphs; -} -NK_API const char* -nk_utf_at(const char *buffer, int length, int index, - nk_rune *unicode, int *len) -{ - int i = 0; - int src_len = 0; - int glyph_len = 0; - const char *text; - int text_len; - - NK_ASSERT(buffer); - NK_ASSERT(unicode); - NK_ASSERT(len); - - if (!buffer || !unicode || !len) return 0; - if (index < 0) { - *unicode = NK_UTF_INVALID; - *len = 0; - return 0; - } - - text = buffer; - text_len = length; - glyph_len = nk_utf_decode(text, unicode, text_len); - while (glyph_len) { - if (i == index) { - *len = glyph_len; - break; - } - - i++; - src_len = src_len + glyph_len; - glyph_len = nk_utf_decode(text + src_len, unicode, text_len - src_len); - } - if (i != index) return 0; - return buffer + src_len; -} - - - - - -/* ============================================================== - * - * BUFFER - * - * ===============================================================*/ -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_LIB void* -nk_malloc(nk_handle unused, void *old,nk_size size) -{ - NK_UNUSED(unused); - NK_UNUSED(old); - return malloc(size); -} -NK_LIB void -nk_mfree(nk_handle unused, void *ptr) -{ - NK_UNUSED(unused); - free(ptr); -} -NK_API void -nk_buffer_init_default(struct nk_buffer *buffer) -{ - struct nk_allocator alloc; - alloc.userdata.ptr = 0; - alloc.alloc = nk_malloc; - alloc.free = nk_mfree; - nk_buffer_init(buffer, &alloc, NK_BUFFER_DEFAULT_INITIAL_SIZE); -} -#endif - -NK_API void -nk_buffer_init(struct nk_buffer *b, const struct nk_allocator *a, - nk_size initial_size) -{ - NK_ASSERT(b); - NK_ASSERT(a); - NK_ASSERT(initial_size); - if (!b || !a || !initial_size) return; - - nk_zero(b, sizeof(*b)); - b->type = NK_BUFFER_DYNAMIC; - b->memory.ptr = a->alloc(a->userdata,0, initial_size); - b->memory.size = initial_size; - b->size = initial_size; - b->grow_factor = 2.0f; - b->pool = *a; -} -NK_API void -nk_buffer_init_fixed(struct nk_buffer *b, void *m, nk_size size) -{ - NK_ASSERT(b); - NK_ASSERT(m); - NK_ASSERT(size); - if (!b || !m || !size) return; - - nk_zero(b, sizeof(*b)); - b->type = NK_BUFFER_FIXED; - b->memory.ptr = m; - b->memory.size = size; - b->size = size; -} -NK_LIB void* -nk_buffer_align(void *unaligned, - nk_size align, nk_size *alignment, - enum nk_buffer_allocation_type type) -{ - void *memory = 0; - switch (type) { - default: - case NK_BUFFER_MAX: - case NK_BUFFER_FRONT: - if (align) { - memory = NK_ALIGN_PTR(unaligned, align); - *alignment = (nk_size)((nk_byte*)memory - (nk_byte*)unaligned); - } else { - memory = unaligned; - *alignment = 0; - } - break; - case NK_BUFFER_BACK: - if (align) { - memory = NK_ALIGN_PTR_BACK(unaligned, align); - *alignment = (nk_size)((nk_byte*)unaligned - (nk_byte*)memory); - } else { - memory = unaligned; - *alignment = 0; - } - break; - } - return memory; -} -NK_LIB void* -nk_buffer_realloc(struct nk_buffer *b, nk_size capacity, nk_size *size) -{ - void *temp; - nk_size buffer_size; - - NK_ASSERT(b); - NK_ASSERT(size); - if (!b || !size || !b->pool.alloc || !b->pool.free) - return 0; - - buffer_size = b->memory.size; - temp = b->pool.alloc(b->pool.userdata, b->memory.ptr, capacity); - NK_ASSERT(temp); - if (!temp) return 0; - - *size = capacity; - if (temp != b->memory.ptr) { - NK_MEMCPY(temp, b->memory.ptr, buffer_size); - b->pool.free(b->pool.userdata, b->memory.ptr); - } - - if (b->size == buffer_size) { - /* no back buffer so just set correct size */ - b->size = capacity; - return temp; - } else { - /* copy back buffer to the end of the new buffer */ - void *dst, *src; - nk_size back_size; - back_size = buffer_size - b->size; - dst = nk_ptr_add(void, temp, capacity - back_size); - src = nk_ptr_add(void, temp, b->size); - NK_MEMCPY(dst, src, back_size); - b->size = capacity - back_size; - } - return temp; -} -NK_LIB void* -nk_buffer_alloc(struct nk_buffer *b, enum nk_buffer_allocation_type type, - nk_size size, nk_size align) -{ - int full; - nk_size alignment; - void *unaligned; - void *memory; - - NK_ASSERT(b); - NK_ASSERT(size); - if (!b || !size) return 0; - b->needed += size; - - /* calculate total size with needed alignment + size */ - if (type == NK_BUFFER_FRONT) - unaligned = nk_ptr_add(void, b->memory.ptr, b->allocated); - else unaligned = nk_ptr_add(void, b->memory.ptr, b->size - size); - memory = nk_buffer_align(unaligned, align, &alignment, type); - - /* check if buffer has enough memory*/ - if (type == NK_BUFFER_FRONT) - full = ((b->allocated + size + alignment) > b->size); - else full = ((b->size - NK_MIN(b->size,(size + alignment))) <= b->allocated); - - if (full) { - nk_size capacity; - if (b->type != NK_BUFFER_DYNAMIC) - return 0; - NK_ASSERT(b->pool.alloc && b->pool.free); - if (b->type != NK_BUFFER_DYNAMIC || !b->pool.alloc || !b->pool.free) - return 0; - - /* buffer is full so allocate bigger buffer if dynamic */ - capacity = (nk_size)((float)b->memory.size * b->grow_factor); - capacity = NK_MAX(capacity, nk_round_up_pow2((nk_uint)(b->allocated + size))); - b->memory.ptr = nk_buffer_realloc(b, capacity, &b->memory.size); - if (!b->memory.ptr) return 0; - - /* align newly allocated pointer */ - if (type == NK_BUFFER_FRONT) - unaligned = nk_ptr_add(void, b->memory.ptr, b->allocated); - else unaligned = nk_ptr_add(void, b->memory.ptr, b->size - size); - memory = nk_buffer_align(unaligned, align, &alignment, type); - } - if (type == NK_BUFFER_FRONT) - b->allocated += size + alignment; - else b->size -= (size + alignment); - b->needed += alignment; - b->calls++; - return memory; -} -NK_API void -nk_buffer_push(struct nk_buffer *b, enum nk_buffer_allocation_type type, - const void *memory, nk_size size, nk_size align) -{ - void *mem = nk_buffer_alloc(b, type, size, align); - if (!mem) return; - NK_MEMCPY(mem, memory, size); -} -NK_API void -nk_buffer_mark(struct nk_buffer *buffer, enum nk_buffer_allocation_type type) -{ - NK_ASSERT(buffer); - if (!buffer) return; - buffer->marker[type].active = nk_true; - if (type == NK_BUFFER_BACK) - buffer->marker[type].offset = buffer->size; - else buffer->marker[type].offset = buffer->allocated; -} -NK_API void -nk_buffer_reset(struct nk_buffer *buffer, enum nk_buffer_allocation_type type) -{ - NK_ASSERT(buffer); - if (!buffer) return; - if (type == NK_BUFFER_BACK) { - /* reset back buffer either back to marker or empty */ - buffer->needed -= (buffer->memory.size - buffer->marker[type].offset); - if (buffer->marker[type].active) - buffer->size = buffer->marker[type].offset; - else buffer->size = buffer->memory.size; - buffer->marker[type].active = nk_false; - } else { - /* reset front buffer either back to back marker or empty */ - buffer->needed -= (buffer->allocated - buffer->marker[type].offset); - if (buffer->marker[type].active) - buffer->allocated = buffer->marker[type].offset; - else buffer->allocated = 0; - buffer->marker[type].active = nk_false; - } -} -NK_API void -nk_buffer_clear(struct nk_buffer *b) -{ - NK_ASSERT(b); - if (!b) return; - b->allocated = 0; - b->size = b->memory.size; - b->calls = 0; - b->needed = 0; -} -NK_API void -nk_buffer_free(struct nk_buffer *b) -{ - NK_ASSERT(b); - if (!b || !b->memory.ptr) return; - if (b->type == NK_BUFFER_FIXED) return; - if (!b->pool.free) return; - NK_ASSERT(b->pool.free); - b->pool.free(b->pool.userdata, b->memory.ptr); -} -NK_API void -nk_buffer_info(struct nk_memory_status *s, struct nk_buffer *b) -{ - NK_ASSERT(b); - NK_ASSERT(s); - if (!s || !b) return; - s->allocated = b->allocated; - s->size = b->memory.size; - s->needed = b->needed; - s->memory = b->memory.ptr; - s->calls = b->calls; -} -NK_API void* -nk_buffer_memory(struct nk_buffer *buffer) -{ - NK_ASSERT(buffer); - if (!buffer) return 0; - return buffer->memory.ptr; -} -NK_API const void* -nk_buffer_memory_const(const struct nk_buffer *buffer) -{ - NK_ASSERT(buffer); - if (!buffer) return 0; - return buffer->memory.ptr; -} -NK_API nk_size -nk_buffer_total(struct nk_buffer *buffer) -{ - NK_ASSERT(buffer); - if (!buffer) return 0; - return buffer->memory.size; -} - - - - - -/* =============================================================== - * - * STRING - * - * ===============================================================*/ -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void -nk_str_init_default(struct nk_str *str) -{ - struct nk_allocator alloc; - alloc.userdata.ptr = 0; - alloc.alloc = nk_malloc; - alloc.free = nk_mfree; - nk_buffer_init(&str->buffer, &alloc, 32); - str->len = 0; -} -#endif - -NK_API void -nk_str_init(struct nk_str *str, const struct nk_allocator *alloc, nk_size size) -{ - nk_buffer_init(&str->buffer, alloc, size); - str->len = 0; -} -NK_API void -nk_str_init_fixed(struct nk_str *str, void *memory, nk_size size) -{ - nk_buffer_init_fixed(&str->buffer, memory, size); - str->len = 0; -} -NK_API int -nk_str_append_text_char(struct nk_str *s, const char *str, int len) -{ - char *mem; - NK_ASSERT(s); - NK_ASSERT(str); - if (!s || !str || !len) return 0; - mem = (char*)nk_buffer_alloc(&s->buffer, NK_BUFFER_FRONT, (nk_size)len * sizeof(char), 0); - if (!mem) return 0; - NK_MEMCPY(mem, str, (nk_size)len * sizeof(char)); - s->len += nk_utf_len(str, len); - return len; -} -NK_API int -nk_str_append_str_char(struct nk_str *s, const char *str) -{ - return nk_str_append_text_char(s, str, nk_strlen(str)); -} -NK_API int -nk_str_append_text_utf8(struct nk_str *str, const char *text, int len) -{ - int i = 0; - int byte_len = 0; - nk_rune unicode; - if (!str || !text || !len) return 0; - for (i = 0; i < len; ++i) - byte_len += nk_utf_decode(text+byte_len, &unicode, 4); - nk_str_append_text_char(str, text, byte_len); - return len; -} -NK_API int -nk_str_append_str_utf8(struct nk_str *str, const char *text) -{ - int runes = 0; - int byte_len = 0; - int num_runes = 0; - int glyph_len = 0; - nk_rune unicode; - if (!str || !text) return 0; - - glyph_len = byte_len = nk_utf_decode(text+byte_len, &unicode, 4); - while (unicode != '\0' && glyph_len) { - glyph_len = nk_utf_decode(text+byte_len, &unicode, 4); - byte_len += glyph_len; - num_runes++; - } - nk_str_append_text_char(str, text, byte_len); - return runes; -} -NK_API int -nk_str_append_text_runes(struct nk_str *str, const nk_rune *text, int len) -{ - int i = 0; - int byte_len = 0; - nk_glyph glyph; - - NK_ASSERT(str); - if (!str || !text || !len) return 0; - for (i = 0; i < len; ++i) { - byte_len = nk_utf_encode(text[i], glyph, NK_UTF_SIZE); - if (!byte_len) break; - nk_str_append_text_char(str, glyph, byte_len); - } - return len; -} -NK_API int -nk_str_append_str_runes(struct nk_str *str, const nk_rune *runes) -{ - int i = 0; - nk_glyph glyph; - int byte_len; - NK_ASSERT(str); - if (!str || !runes) return 0; - while (runes[i] != '\0') { - byte_len = nk_utf_encode(runes[i], glyph, NK_UTF_SIZE); - nk_str_append_text_char(str, glyph, byte_len); - i++; - } - return i; -} -NK_API int -nk_str_insert_at_char(struct nk_str *s, int pos, const char *str, int len) -{ - int i; - void *mem; - char *src; - char *dst; - - int copylen; - NK_ASSERT(s); - NK_ASSERT(str); - NK_ASSERT(len >= 0); - if (!s || !str || !len || (nk_size)pos > s->buffer.allocated) return 0; - if ((s->buffer.allocated + (nk_size)len >= s->buffer.memory.size) && - (s->buffer.type == NK_BUFFER_FIXED)) return 0; - - copylen = (int)s->buffer.allocated - pos; - if (!copylen) { - nk_str_append_text_char(s, str, len); - return 1; - } - mem = nk_buffer_alloc(&s->buffer, NK_BUFFER_FRONT, (nk_size)len * sizeof(char), 0); - if (!mem) return 0; - - /* memmove */ - NK_ASSERT(((int)pos + (int)len + ((int)copylen - 1)) >= 0); - NK_ASSERT(((int)pos + ((int)copylen - 1)) >= 0); - dst = nk_ptr_add(char, s->buffer.memory.ptr, pos + len + (copylen - 1)); - src = nk_ptr_add(char, s->buffer.memory.ptr, pos + (copylen-1)); - for (i = 0; i < copylen; ++i) *dst-- = *src--; - mem = nk_ptr_add(void, s->buffer.memory.ptr, pos); - NK_MEMCPY(mem, str, (nk_size)len * sizeof(char)); - s->len = nk_utf_len((char *)s->buffer.memory.ptr, (int)s->buffer.allocated); - return 1; -} -NK_API int -nk_str_insert_at_rune(struct nk_str *str, int pos, const char *cstr, int len) -{ - int glyph_len; - nk_rune unicode; - const char *begin; - const char *buffer; - - NK_ASSERT(str); - NK_ASSERT(cstr); - NK_ASSERT(len); - if (!str || !cstr || !len) return 0; - begin = nk_str_at_rune(str, pos, &unicode, &glyph_len); - if (!str->len) - return nk_str_append_text_char(str, cstr, len); - buffer = nk_str_get_const(str); - if (!begin) return 0; - return nk_str_insert_at_char(str, (int)(begin - buffer), cstr, len); -} -NK_API int -nk_str_insert_text_char(struct nk_str *str, int pos, const char *text, int len) -{ - return nk_str_insert_text_utf8(str, pos, text, len); -} -NK_API int -nk_str_insert_str_char(struct nk_str *str, int pos, const char *text) -{ - return nk_str_insert_text_utf8(str, pos, text, nk_strlen(text)); -} -NK_API int -nk_str_insert_text_utf8(struct nk_str *str, int pos, const char *text, int len) -{ - int i = 0; - int byte_len = 0; - nk_rune unicode; - - NK_ASSERT(str); - NK_ASSERT(text); - if (!str || !text || !len) return 0; - for (i = 0; i < len; ++i) - byte_len += nk_utf_decode(text+byte_len, &unicode, 4); - nk_str_insert_at_rune(str, pos, text, byte_len); - return len; -} -NK_API int -nk_str_insert_str_utf8(struct nk_str *str, int pos, const char *text) -{ - int runes = 0; - int byte_len = 0; - int num_runes = 0; - int glyph_len = 0; - nk_rune unicode; - if (!str || !text) return 0; - - glyph_len = byte_len = nk_utf_decode(text+byte_len, &unicode, 4); - while (unicode != '\0' && glyph_len) { - glyph_len = nk_utf_decode(text+byte_len, &unicode, 4); - byte_len += glyph_len; - num_runes++; - } - nk_str_insert_at_rune(str, pos, text, byte_len); - return runes; -} -NK_API int -nk_str_insert_text_runes(struct nk_str *str, int pos, const nk_rune *runes, int len) -{ - int i = 0; - int byte_len = 0; - nk_glyph glyph; - - NK_ASSERT(str); - if (!str || !runes || !len) return 0; - for (i = 0; i < len; ++i) { - byte_len = nk_utf_encode(runes[i], glyph, NK_UTF_SIZE); - if (!byte_len) break; - nk_str_insert_at_rune(str, pos+i, glyph, byte_len); - } - return len; -} -NK_API int -nk_str_insert_str_runes(struct nk_str *str, int pos, const nk_rune *runes) -{ - int i = 0; - nk_glyph glyph; - int byte_len; - NK_ASSERT(str); - if (!str || !runes) return 0; - while (runes[i] != '\0') { - byte_len = nk_utf_encode(runes[i], glyph, NK_UTF_SIZE); - nk_str_insert_at_rune(str, pos+i, glyph, byte_len); - i++; - } - return i; -} -NK_API void -nk_str_remove_chars(struct nk_str *s, int len) -{ - NK_ASSERT(s); - NK_ASSERT(len >= 0); - if (!s || len < 0 || (nk_size)len > s->buffer.allocated) return; - NK_ASSERT(((int)s->buffer.allocated - (int)len) >= 0); - s->buffer.allocated -= (nk_size)len; - s->len = nk_utf_len((char *)s->buffer.memory.ptr, (int)s->buffer.allocated); -} -NK_API void -nk_str_remove_runes(struct nk_str *str, int len) -{ - int index; - const char *begin; - const char *end; - nk_rune unicode; - - NK_ASSERT(str); - NK_ASSERT(len >= 0); - if (!str || len < 0) return; - if (len >= str->len) { - str->len = 0; - return; - } - - index = str->len - len; - begin = nk_str_at_rune(str, index, &unicode, &len); - end = (const char*)str->buffer.memory.ptr + str->buffer.allocated; - nk_str_remove_chars(str, (int)(end-begin)+1); -} -NK_API void -nk_str_delete_chars(struct nk_str *s, int pos, int len) -{ - NK_ASSERT(s); - if (!s || !len || (nk_size)pos > s->buffer.allocated || - (nk_size)(pos + len) > s->buffer.allocated) return; - - if ((nk_size)(pos + len) < s->buffer.allocated) { - /* memmove */ - char *dst = nk_ptr_add(char, s->buffer.memory.ptr, pos); - char *src = nk_ptr_add(char, s->buffer.memory.ptr, pos + len); - NK_MEMCPY(dst, src, s->buffer.allocated - (nk_size)(pos + len)); - NK_ASSERT(((int)s->buffer.allocated - (int)len) >= 0); - s->buffer.allocated -= (nk_size)len; - } else nk_str_remove_chars(s, len); - s->len = nk_utf_len((char *)s->buffer.memory.ptr, (int)s->buffer.allocated); -} -NK_API void -nk_str_delete_runes(struct nk_str *s, int pos, int len) -{ - char *temp; - nk_rune unicode; - char *begin; - char *end; - int unused; - - NK_ASSERT(s); - NK_ASSERT(s->len >= pos + len); - if (s->len < pos + len) - len = NK_CLAMP(0, (s->len - pos), s->len); - if (!len) return; - - temp = (char *)s->buffer.memory.ptr; - begin = nk_str_at_rune(s, pos, &unicode, &unused); - if (!begin) return; - s->buffer.memory.ptr = begin; - end = nk_str_at_rune(s, len, &unicode, &unused); - s->buffer.memory.ptr = temp; - if (!end) return; - nk_str_delete_chars(s, (int)(begin - temp), (int)(end - begin)); -} -NK_API char* -nk_str_at_char(struct nk_str *s, int pos) -{ - NK_ASSERT(s); - if (!s || pos > (int)s->buffer.allocated) return 0; - return nk_ptr_add(char, s->buffer.memory.ptr, pos); -} -NK_API char* -nk_str_at_rune(struct nk_str *str, int pos, nk_rune *unicode, int *len) -{ - int i = 0; - int src_len = 0; - int glyph_len = 0; - char *text; - int text_len; - - NK_ASSERT(str); - NK_ASSERT(unicode); - NK_ASSERT(len); - - if (!str || !unicode || !len) return 0; - if (pos < 0) { - *unicode = 0; - *len = 0; - return 0; - } - - text = (char*)str->buffer.memory.ptr; - text_len = (int)str->buffer.allocated; - glyph_len = nk_utf_decode(text, unicode, text_len); - while (glyph_len) { - if (i == pos) { - *len = glyph_len; - break; - } - - i++; - src_len = src_len + glyph_len; - glyph_len = nk_utf_decode(text + src_len, unicode, text_len - src_len); - } - if (i != pos) return 0; - return text + src_len; -} -NK_API const char* -nk_str_at_char_const(const struct nk_str *s, int pos) -{ - NK_ASSERT(s); - if (!s || pos > (int)s->buffer.allocated) return 0; - return nk_ptr_add(char, s->buffer.memory.ptr, pos); -} -NK_API const char* -nk_str_at_const(const struct nk_str *str, int pos, nk_rune *unicode, int *len) -{ - int i = 0; - int src_len = 0; - int glyph_len = 0; - char *text; - int text_len; - - NK_ASSERT(str); - NK_ASSERT(unicode); - NK_ASSERT(len); - - if (!str || !unicode || !len) return 0; - if (pos < 0) { - *unicode = 0; - *len = 0; - return 0; - } - - text = (char*)str->buffer.memory.ptr; - text_len = (int)str->buffer.allocated; - glyph_len = nk_utf_decode(text, unicode, text_len); - while (glyph_len) { - if (i == pos) { - *len = glyph_len; - break; - } - - i++; - src_len = src_len + glyph_len; - glyph_len = nk_utf_decode(text + src_len, unicode, text_len - src_len); - } - if (i != pos) return 0; - return text + src_len; -} -NK_API nk_rune -nk_str_rune_at(const struct nk_str *str, int pos) -{ - int len; - nk_rune unicode = 0; - nk_str_at_const(str, pos, &unicode, &len); - return unicode; -} -NK_API char* -nk_str_get(struct nk_str *s) -{ - NK_ASSERT(s); - if (!s || !s->len || !s->buffer.allocated) return 0; - return (char*)s->buffer.memory.ptr; -} -NK_API const char* -nk_str_get_const(const struct nk_str *s) -{ - NK_ASSERT(s); - if (!s || !s->len || !s->buffer.allocated) return 0; - return (const char*)s->buffer.memory.ptr; -} -NK_API int -nk_str_len(struct nk_str *s) -{ - NK_ASSERT(s); - if (!s || !s->len || !s->buffer.allocated) return 0; - return s->len; -} -NK_API int -nk_str_len_char(struct nk_str *s) -{ - NK_ASSERT(s); - if (!s || !s->len || !s->buffer.allocated) return 0; - return (int)s->buffer.allocated; -} -NK_API void -nk_str_clear(struct nk_str *str) -{ - NK_ASSERT(str); - nk_buffer_clear(&str->buffer); - str->len = 0; -} -NK_API void -nk_str_free(struct nk_str *str) -{ - NK_ASSERT(str); - nk_buffer_free(&str->buffer); - str->len = 0; -} - - - - - -/* ============================================================== - * - * DRAW - * - * ===============================================================*/ -NK_LIB void -nk_command_buffer_init(struct nk_command_buffer *cb, - struct nk_buffer *b, enum nk_command_clipping clip) -{ - NK_ASSERT(cb); - NK_ASSERT(b); - if (!cb || !b) return; - cb->base = b; - cb->use_clipping = (int)clip; - cb->begin = b->allocated; - cb->end = b->allocated; - cb->last = b->allocated; -} -NK_LIB void -nk_command_buffer_reset(struct nk_command_buffer *b) -{ - NK_ASSERT(b); - if (!b) return; - b->begin = 0; - b->end = 0; - b->last = 0; - b->clip = nk_null_rect; -#ifdef NK_INCLUDE_COMMAND_USERDATA - b->userdata.ptr = 0; -#endif -} -NK_LIB void* -nk_command_buffer_push(struct nk_command_buffer* b, - enum nk_command_type t, nk_size size) -{ - NK_STORAGE const nk_size align = NK_ALIGNOF(struct nk_command); - struct nk_command *cmd; - nk_size alignment; - void *unaligned; - void *memory; - - NK_ASSERT(b); - NK_ASSERT(b->base); - if (!b) return 0; - cmd = (struct nk_command*)nk_buffer_alloc(b->base,NK_BUFFER_FRONT,size,align); - if (!cmd) return 0; - - /* make sure the offset to the next command is aligned */ - b->last = (nk_size)((nk_byte*)cmd - (nk_byte*)b->base->memory.ptr); - unaligned = (nk_byte*)cmd + size; - memory = NK_ALIGN_PTR(unaligned, align); - alignment = (nk_size)((nk_byte*)memory - (nk_byte*)unaligned); -#ifdef NK_ZERO_COMMAND_MEMORY - NK_MEMSET(cmd, 0, size + alignment); -#endif - - cmd->type = t; - cmd->next = b->base->allocated + alignment; -#ifdef NK_INCLUDE_COMMAND_USERDATA - cmd->userdata = b->userdata; -#endif - b->end = cmd->next; - return cmd; -} -NK_API void -nk_push_scissor(struct nk_command_buffer *b, struct nk_rect r) -{ - struct nk_command_scissor *cmd; - NK_ASSERT(b); - if (!b) return; - - b->clip.x = r.x; - b->clip.y = r.y; - b->clip.w = r.w; - b->clip.h = r.h; - cmd = (struct nk_command_scissor*) - nk_command_buffer_push(b, NK_COMMAND_SCISSOR, sizeof(*cmd)); - - if (!cmd) return; - cmd->x = (short)r.x; - cmd->y = (short)r.y; - cmd->w = (unsigned short)NK_MAX(0, r.w); - cmd->h = (unsigned short)NK_MAX(0, r.h); -} -NK_API void -nk_stroke_line(struct nk_command_buffer *b, float x0, float y0, - float x1, float y1, float line_thickness, struct nk_color c) -{ - struct nk_command_line *cmd; - NK_ASSERT(b); - if (!b || line_thickness <= 0) return; - cmd = (struct nk_command_line*) - nk_command_buffer_push(b, NK_COMMAND_LINE, sizeof(*cmd)); - if (!cmd) return; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->begin.x = (short)x0; - cmd->begin.y = (short)y0; - cmd->end.x = (short)x1; - cmd->end.y = (short)y1; - cmd->color = c; -} -NK_API void -nk_stroke_curve(struct nk_command_buffer *b, float ax, float ay, - float ctrl0x, float ctrl0y, float ctrl1x, float ctrl1y, - float bx, float by, float line_thickness, struct nk_color col) -{ - struct nk_command_curve *cmd; - NK_ASSERT(b); - if (!b || col.a == 0 || line_thickness <= 0) return; - - cmd = (struct nk_command_curve*) - nk_command_buffer_push(b, NK_COMMAND_CURVE, sizeof(*cmd)); - if (!cmd) return; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->begin.x = (short)ax; - cmd->begin.y = (short)ay; - cmd->ctrl[0].x = (short)ctrl0x; - cmd->ctrl[0].y = (short)ctrl0y; - cmd->ctrl[1].x = (short)ctrl1x; - cmd->ctrl[1].y = (short)ctrl1y; - cmd->end.x = (short)bx; - cmd->end.y = (short)by; - cmd->color = col; -} -NK_API void -nk_stroke_rect(struct nk_command_buffer *b, struct nk_rect rect, - float rounding, float line_thickness, struct nk_color c) -{ - struct nk_command_rect *cmd; - NK_ASSERT(b); - if (!b || c.a == 0 || rect.w == 0 || rect.h == 0 || line_thickness <= 0) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, - clip->x, clip->y, clip->w, clip->h)) return; - } - cmd = (struct nk_command_rect*) - nk_command_buffer_push(b, NK_COMMAND_RECT, sizeof(*cmd)); - if (!cmd) return; - cmd->rounding = (unsigned short)rounding; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->x = (short)rect.x; - cmd->y = (short)rect.y; - cmd->w = (unsigned short)NK_MAX(0, rect.w); - cmd->h = (unsigned short)NK_MAX(0, rect.h); - cmd->color = c; -} -NK_API void -nk_fill_rect(struct nk_command_buffer *b, struct nk_rect rect, - float rounding, struct nk_color c) -{ - struct nk_command_rect_filled *cmd; - NK_ASSERT(b); - if (!b || c.a == 0 || rect.w == 0 || rect.h == 0) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, - clip->x, clip->y, clip->w, clip->h)) return; - } - - cmd = (struct nk_command_rect_filled*) - nk_command_buffer_push(b, NK_COMMAND_RECT_FILLED, sizeof(*cmd)); - if (!cmd) return; - cmd->rounding = (unsigned short)rounding; - cmd->x = (short)rect.x; - cmd->y = (short)rect.y; - cmd->w = (unsigned short)NK_MAX(0, rect.w); - cmd->h = (unsigned short)NK_MAX(0, rect.h); - cmd->color = c; -} -NK_API void -nk_fill_rect_multi_color(struct nk_command_buffer *b, struct nk_rect rect, - struct nk_color left, struct nk_color top, struct nk_color right, - struct nk_color bottom) -{ - struct nk_command_rect_multi_color *cmd; - NK_ASSERT(b); - if (!b || rect.w == 0 || rect.h == 0) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, - clip->x, clip->y, clip->w, clip->h)) return; - } - - cmd = (struct nk_command_rect_multi_color*) - nk_command_buffer_push(b, NK_COMMAND_RECT_MULTI_COLOR, sizeof(*cmd)); - if (!cmd) return; - cmd->x = (short)rect.x; - cmd->y = (short)rect.y; - cmd->w = (unsigned short)NK_MAX(0, rect.w); - cmd->h = (unsigned short)NK_MAX(0, rect.h); - cmd->left = left; - cmd->top = top; - cmd->right = right; - cmd->bottom = bottom; -} -NK_API void -nk_stroke_circle(struct nk_command_buffer *b, struct nk_rect r, - float line_thickness, struct nk_color c) -{ - struct nk_command_circle *cmd; - if (!b || r.w == 0 || r.h == 0 || line_thickness <= 0) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INTERSECT(r.x, r.y, r.w, r.h, clip->x, clip->y, clip->w, clip->h)) - return; - } - - cmd = (struct nk_command_circle*) - nk_command_buffer_push(b, NK_COMMAND_CIRCLE, sizeof(*cmd)); - if (!cmd) return; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->x = (short)r.x; - cmd->y = (short)r.y; - cmd->w = (unsigned short)NK_MAX(r.w, 0); - cmd->h = (unsigned short)NK_MAX(r.h, 0); - cmd->color = c; -} -NK_API void -nk_fill_circle(struct nk_command_buffer *b, struct nk_rect r, struct nk_color c) -{ - struct nk_command_circle_filled *cmd; - NK_ASSERT(b); - if (!b || c.a == 0 || r.w == 0 || r.h == 0) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INTERSECT(r.x, r.y, r.w, r.h, clip->x, clip->y, clip->w, clip->h)) - return; - } - - cmd = (struct nk_command_circle_filled*) - nk_command_buffer_push(b, NK_COMMAND_CIRCLE_FILLED, sizeof(*cmd)); - if (!cmd) return; - cmd->x = (short)r.x; - cmd->y = (short)r.y; - cmd->w = (unsigned short)NK_MAX(r.w, 0); - cmd->h = (unsigned short)NK_MAX(r.h, 0); - cmd->color = c; -} -NK_API void -nk_stroke_arc(struct nk_command_buffer *b, float cx, float cy, float radius, - float a_min, float a_max, float line_thickness, struct nk_color c) -{ - struct nk_command_arc *cmd; - if (!b || c.a == 0 || line_thickness <= 0) return; - cmd = (struct nk_command_arc*) - nk_command_buffer_push(b, NK_COMMAND_ARC, sizeof(*cmd)); - if (!cmd) return; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->cx = (short)cx; - cmd->cy = (short)cy; - cmd->r = (unsigned short)radius; - cmd->a[0] = a_min; - cmd->a[1] = a_max; - cmd->color = c; -} -NK_API void -nk_fill_arc(struct nk_command_buffer *b, float cx, float cy, float radius, - float a_min, float a_max, struct nk_color c) -{ - struct nk_command_arc_filled *cmd; - NK_ASSERT(b); - if (!b || c.a == 0) return; - cmd = (struct nk_command_arc_filled*) - nk_command_buffer_push(b, NK_COMMAND_ARC_FILLED, sizeof(*cmd)); - if (!cmd) return; - cmd->cx = (short)cx; - cmd->cy = (short)cy; - cmd->r = (unsigned short)radius; - cmd->a[0] = a_min; - cmd->a[1] = a_max; - cmd->color = c; -} -NK_API void -nk_stroke_triangle(struct nk_command_buffer *b, float x0, float y0, float x1, - float y1, float x2, float y2, float line_thickness, struct nk_color c) -{ - struct nk_command_triangle *cmd; - NK_ASSERT(b); - if (!b || c.a == 0 || line_thickness <= 0) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INBOX(x0, y0, clip->x, clip->y, clip->w, clip->h) && - !NK_INBOX(x1, y1, clip->x, clip->y, clip->w, clip->h) && - !NK_INBOX(x2, y2, clip->x, clip->y, clip->w, clip->h)) - return; - } - - cmd = (struct nk_command_triangle*) - nk_command_buffer_push(b, NK_COMMAND_TRIANGLE, sizeof(*cmd)); - if (!cmd) return; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->a.x = (short)x0; - cmd->a.y = (short)y0; - cmd->b.x = (short)x1; - cmd->b.y = (short)y1; - cmd->c.x = (short)x2; - cmd->c.y = (short)y2; - cmd->color = c; -} -NK_API void -nk_fill_triangle(struct nk_command_buffer *b, float x0, float y0, float x1, - float y1, float x2, float y2, struct nk_color c) -{ - struct nk_command_triangle_filled *cmd; - NK_ASSERT(b); - if (!b || c.a == 0) return; - if (!b) return; - if (b->use_clipping) { - const struct nk_rect *clip = &b->clip; - if (!NK_INBOX(x0, y0, clip->x, clip->y, clip->w, clip->h) && - !NK_INBOX(x1, y1, clip->x, clip->y, clip->w, clip->h) && - !NK_INBOX(x2, y2, clip->x, clip->y, clip->w, clip->h)) - return; - } - - cmd = (struct nk_command_triangle_filled*) - nk_command_buffer_push(b, NK_COMMAND_TRIANGLE_FILLED, sizeof(*cmd)); - if (!cmd) return; - cmd->a.x = (short)x0; - cmd->a.y = (short)y0; - cmd->b.x = (short)x1; - cmd->b.y = (short)y1; - cmd->c.x = (short)x2; - cmd->c.y = (short)y2; - cmd->color = c; -} -NK_API void -nk_stroke_polygon(struct nk_command_buffer *b, float *points, int point_count, - float line_thickness, struct nk_color col) -{ - int i; - nk_size size = 0; - struct nk_command_polygon *cmd; - - NK_ASSERT(b); - if (!b || col.a == 0 || line_thickness <= 0) return; - size = sizeof(*cmd) + sizeof(short) * 2 * (nk_size)point_count; - cmd = (struct nk_command_polygon*) nk_command_buffer_push(b, NK_COMMAND_POLYGON, size); - if (!cmd) return; - cmd->color = col; - cmd->line_thickness = (unsigned short)line_thickness; - cmd->point_count = (unsigned short)point_count; - for (i = 0; i < point_count; ++i) { - cmd->points[i].x = (short)points[i*2]; - cmd->points[i].y = (short)points[i*2+1]; - } -} -NK_API void -nk_fill_polygon(struct nk_command_buffer *b, float *points, int point_count, - struct nk_color col) -{ - int i; - nk_size size = 0; - struct nk_command_polygon_filled *cmd; - - NK_ASSERT(b); - if (!b || col.a == 0) return; - size = sizeof(*cmd) + sizeof(short) * 2 * (nk_size)point_count; - cmd = (struct nk_command_polygon_filled*) - nk_command_buffer_push(b, NK_COMMAND_POLYGON_FILLED, size); - if (!cmd) return; - cmd->color = col; - cmd->point_count = (unsigned short)point_count; - for (i = 0; i < point_count; ++i) { - cmd->points[i].x = (short)points[i*2+0]; - cmd->points[i].y = (short)points[i*2+1]; - } -} -NK_API void -nk_stroke_polyline(struct nk_command_buffer *b, float *points, int point_count, - float line_thickness, struct nk_color col) -{ - int i; - nk_size size = 0; - struct nk_command_polyline *cmd; - - NK_ASSERT(b); - if (!b || col.a == 0 || line_thickness <= 0) return; - size = sizeof(*cmd) + sizeof(short) * 2 * (nk_size)point_count; - cmd = (struct nk_command_polyline*) nk_command_buffer_push(b, NK_COMMAND_POLYLINE, size); - if (!cmd) return; - cmd->color = col; - cmd->point_count = (unsigned short)point_count; - cmd->line_thickness = (unsigned short)line_thickness; - for (i = 0; i < point_count; ++i) { - cmd->points[i].x = (short)points[i*2]; - cmd->points[i].y = (short)points[i*2+1]; - } -} -NK_API void -nk_draw_image(struct nk_command_buffer *b, struct nk_rect r, - const struct nk_image *img, struct nk_color col) -{ - struct nk_command_image *cmd; - NK_ASSERT(b); - if (!b) return; - if (b->use_clipping) { - const struct nk_rect *c = &b->clip; - if (c->w == 0 || c->h == 0 || !NK_INTERSECT(r.x, r.y, r.w, r.h, c->x, c->y, c->w, c->h)) - return; - } - - cmd = (struct nk_command_image*) - nk_command_buffer_push(b, NK_COMMAND_IMAGE, sizeof(*cmd)); - if (!cmd) return; - cmd->x = (short)r.x; - cmd->y = (short)r.y; - cmd->w = (unsigned short)NK_MAX(0, r.w); - cmd->h = (unsigned short)NK_MAX(0, r.h); - cmd->img = *img; - cmd->col = col; -} -NK_API void -nk_draw_nine_slice(struct nk_command_buffer *b, struct nk_rect r, - const struct nk_nine_slice *slc, struct nk_color col) -{ - struct nk_image img; - const struct nk_image *slcimg = (const struct nk_image*)slc; - nk_ushort rgnX, rgnY, rgnW, rgnH; - rgnX = slcimg->region[0]; - rgnY = slcimg->region[1]; - rgnW = slcimg->region[2]; - rgnH = slcimg->region[3]; - - /* top-left */ - img.handle = slcimg->handle; - img.w = slcimg->w; - img.h = slcimg->h; - img.region[0] = rgnX; - img.region[1] = rgnY; - img.region[2] = slc->l; - img.region[3] = slc->t; - - nk_draw_image(b, - nk_rect(r.x, r.y, (float)slc->l, (float)slc->t), - &img, col); - -#define IMG_RGN(x, y, w, h) img.region[0] = (nk_ushort)(x); img.region[1] = (nk_ushort)(y); img.region[2] = (nk_ushort)(w); img.region[3] = (nk_ushort)(h); - - /* top-center */ - IMG_RGN(rgnX + slc->l, rgnY, rgnW - slc->l - slc->r, slc->t); - nk_draw_image(b, - nk_rect(r.x + (float)slc->l, r.y, (float)(r.w - slc->l - slc->r), (float)slc->t), - &img, col); - - /* top-right */ - IMG_RGN(rgnX + rgnW - slc->r, rgnY, slc->r, slc->t); - nk_draw_image(b, - nk_rect(r.x + r.w - (float)slc->r, r.y, (float)slc->r, (float)slc->t), - &img, col); - - /* center-left */ - IMG_RGN(rgnX, rgnY + slc->t, slc->l, rgnH - slc->t - slc->b); - nk_draw_image(b, - nk_rect(r.x, r.y + (float)slc->t, (float)slc->l, (float)(r.h - slc->t - slc->b)), - &img, col); - - /* center */ - IMG_RGN(rgnX + slc->l, rgnY + slc->t, rgnW - slc->l - slc->r, rgnH - slc->t - slc->b); - nk_draw_image(b, - nk_rect(r.x + (float)slc->l, r.y + (float)slc->t, (float)(r.w - slc->l - slc->r), (float)(r.h - slc->t - slc->b)), - &img, col); - - /* center-right */ - IMG_RGN(rgnX + rgnW - slc->r, rgnY + slc->t, slc->r, rgnH - slc->t - slc->b); - nk_draw_image(b, - nk_rect(r.x + r.w - (float)slc->r, r.y + (float)slc->t, (float)slc->r, (float)(r.h - slc->t - slc->b)), - &img, col); - - /* bottom-left */ - IMG_RGN(rgnX, rgnY + rgnH - slc->b, slc->l, slc->b); - nk_draw_image(b, - nk_rect(r.x, r.y + r.h - (float)slc->b, (float)slc->l, (float)slc->b), - &img, col); - - /* bottom-center */ - IMG_RGN(rgnX + slc->l, rgnY + rgnH - slc->b, rgnW - slc->l - slc->r, slc->b); - nk_draw_image(b, - nk_rect(r.x + (float)slc->l, r.y + r.h - (float)slc->b, (float)(r.w - slc->l - slc->r), (float)slc->b), - &img, col); - - /* bottom-right */ - IMG_RGN(rgnX + rgnW - slc->r, rgnY + rgnH - slc->b, slc->r, slc->b); - nk_draw_image(b, - nk_rect(r.x + r.w - (float)slc->r, r.y + r.h - (float)slc->b, (float)slc->r, (float)slc->b), - &img, col); - -#undef IMG_RGN -} -NK_API void -nk_push_custom(struct nk_command_buffer *b, struct nk_rect r, - nk_command_custom_callback cb, nk_handle usr) -{ - struct nk_command_custom *cmd; - NK_ASSERT(b); - if (!b) return; - if (b->use_clipping) { - const struct nk_rect *c = &b->clip; - if (c->w == 0 || c->h == 0 || !NK_INTERSECT(r.x, r.y, r.w, r.h, c->x, c->y, c->w, c->h)) - return; - } - - cmd = (struct nk_command_custom*) - nk_command_buffer_push(b, NK_COMMAND_CUSTOM, sizeof(*cmd)); - if (!cmd) return; - cmd->x = (short)r.x; - cmd->y = (short)r.y; - cmd->w = (unsigned short)NK_MAX(0, r.w); - cmd->h = (unsigned short)NK_MAX(0, r.h); - cmd->callback_data = usr; - cmd->callback = cb; -} -NK_API void -nk_draw_text(struct nk_command_buffer *b, struct nk_rect r, - const char *string, int length, const struct nk_user_font *font, - struct nk_color bg, struct nk_color fg) -{ - float text_width = 0; - struct nk_command_text *cmd; - - NK_ASSERT(b); - NK_ASSERT(font); - if (!b || !string || !length || (bg.a == 0 && fg.a == 0)) return; - if (b->use_clipping) { - const struct nk_rect *c = &b->clip; - if (c->w == 0 || c->h == 0 || !NK_INTERSECT(r.x, r.y, r.w, r.h, c->x, c->y, c->w, c->h)) - return; - } - - /* make sure text fits inside bounds */ - text_width = font->width(font->userdata, font->height, string, length); - if (text_width > r.w){ - int glyphs = 0; - float txt_width = (float)text_width; - length = nk_text_clamp(font, string, length, r.w, &glyphs, &txt_width, 0,0); - } - - if (!length) return; - cmd = (struct nk_command_text*) - nk_command_buffer_push(b, NK_COMMAND_TEXT, sizeof(*cmd) + (nk_size)(length + 1)); - if (!cmd) return; - cmd->x = (short)r.x; - cmd->y = (short)r.y; - cmd->w = (unsigned short)r.w; - cmd->h = (unsigned short)r.h; - cmd->background = bg; - cmd->foreground = fg; - cmd->font = font; - cmd->length = length; - cmd->height = font->height; - NK_MEMCPY(cmd->string, string, (nk_size)length); - cmd->string[length] = '\0'; -} - - - - - -/* =============================================================== - * - * VERTEX - * - * ===============================================================*/ -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT -NK_API void -nk_draw_list_init(struct nk_draw_list *list) -{ - nk_size i = 0; - NK_ASSERT(list); - if (!list) return; - nk_zero(list, sizeof(*list)); - for (i = 0; i < NK_LEN(list->circle_vtx); ++i) { - const float a = ((float)i / (float)NK_LEN(list->circle_vtx)) * 2 * NK_PI; - list->circle_vtx[i].x = (float)NK_COS(a); - list->circle_vtx[i].y = (float)NK_SIN(a); - } -} -NK_API void -nk_draw_list_setup(struct nk_draw_list *canvas, const struct nk_convert_config *config, - struct nk_buffer *cmds, struct nk_buffer *vertices, struct nk_buffer *elements, - enum nk_anti_aliasing line_aa, enum nk_anti_aliasing shape_aa) -{ - NK_ASSERT(canvas); - NK_ASSERT(config); - NK_ASSERT(cmds); - NK_ASSERT(vertices); - NK_ASSERT(elements); - if (!canvas || !config || !cmds || !vertices || !elements) - return; - - canvas->buffer = cmds; - canvas->config = *config; - canvas->elements = elements; - canvas->vertices = vertices; - canvas->line_AA = line_aa; - canvas->shape_AA = shape_aa; - canvas->clip_rect = nk_null_rect; - - canvas->cmd_offset = 0; - canvas->element_count = 0; - canvas->vertex_count = 0; - canvas->cmd_offset = 0; - canvas->cmd_count = 0; - canvas->path_count = 0; -} -NK_API const struct nk_draw_command* -nk__draw_list_begin(const struct nk_draw_list *canvas, const struct nk_buffer *buffer) -{ - nk_byte *memory; - nk_size offset; - const struct nk_draw_command *cmd; - - NK_ASSERT(buffer); - if (!buffer || !buffer->size || !canvas->cmd_count) - return 0; - - memory = (nk_byte*)buffer->memory.ptr; - offset = buffer->memory.size - canvas->cmd_offset; - cmd = nk_ptr_add(const struct nk_draw_command, memory, offset); - return cmd; -} -NK_API const struct nk_draw_command* -nk__draw_list_end(const struct nk_draw_list *canvas, const struct nk_buffer *buffer) -{ - nk_size size; - nk_size offset; - nk_byte *memory; - const struct nk_draw_command *end; - - NK_ASSERT(buffer); - NK_ASSERT(canvas); - if (!buffer || !canvas) - return 0; - - memory = (nk_byte*)buffer->memory.ptr; - size = buffer->memory.size; - offset = size - canvas->cmd_offset; - end = nk_ptr_add(const struct nk_draw_command, memory, offset); - end -= (canvas->cmd_count-1); - return end; -} -NK_API const struct nk_draw_command* -nk__draw_list_next(const struct nk_draw_command *cmd, - const struct nk_buffer *buffer, const struct nk_draw_list *canvas) -{ - const struct nk_draw_command *end; - NK_ASSERT(buffer); - NK_ASSERT(canvas); - if (!cmd || !buffer || !canvas) - return 0; - - end = nk__draw_list_end(canvas, buffer); - if (cmd <= end) return 0; - return (cmd-1); -} -NK_INTERN struct nk_vec2* -nk_draw_list_alloc_path(struct nk_draw_list *list, int count) -{ - struct nk_vec2 *points; - NK_STORAGE const nk_size point_align = NK_ALIGNOF(struct nk_vec2); - NK_STORAGE const nk_size point_size = sizeof(struct nk_vec2); - points = (struct nk_vec2*) - nk_buffer_alloc(list->buffer, NK_BUFFER_FRONT, - point_size * (nk_size)count, point_align); - - if (!points) return 0; - if (!list->path_offset) { - void *memory = nk_buffer_memory(list->buffer); - list->path_offset = (unsigned int)((nk_byte*)points - (nk_byte*)memory); - } - list->path_count += (unsigned int)count; - return points; -} -NK_INTERN struct nk_vec2 -nk_draw_list_path_last(struct nk_draw_list *list) -{ - void *memory; - struct nk_vec2 *point; - NK_ASSERT(list->path_count); - memory = nk_buffer_memory(list->buffer); - point = nk_ptr_add(struct nk_vec2, memory, list->path_offset); - point += (list->path_count-1); - return *point; -} -NK_INTERN struct nk_draw_command* -nk_draw_list_push_command(struct nk_draw_list *list, struct nk_rect clip, - nk_handle texture) -{ - NK_STORAGE const nk_size cmd_align = NK_ALIGNOF(struct nk_draw_command); - NK_STORAGE const nk_size cmd_size = sizeof(struct nk_draw_command); - struct nk_draw_command *cmd; - - NK_ASSERT(list); - cmd = (struct nk_draw_command*) - nk_buffer_alloc(list->buffer, NK_BUFFER_BACK, cmd_size, cmd_align); - - if (!cmd) return 0; - if (!list->cmd_count) { - nk_byte *memory = (nk_byte*)nk_buffer_memory(list->buffer); - nk_size total = nk_buffer_total(list->buffer); - memory = nk_ptr_add(nk_byte, memory, total); - list->cmd_offset = (nk_size)(memory - (nk_byte*)cmd); - } - - cmd->elem_count = 0; - cmd->clip_rect = clip; - cmd->texture = texture; -#ifdef NK_INCLUDE_COMMAND_USERDATA - cmd->userdata = list->userdata; -#endif - - list->cmd_count++; - list->clip_rect = clip; - return cmd; -} -NK_INTERN struct nk_draw_command* -nk_draw_list_command_last(struct nk_draw_list *list) -{ - void *memory; - nk_size size; - struct nk_draw_command *cmd; - NK_ASSERT(list->cmd_count); - - memory = nk_buffer_memory(list->buffer); - size = nk_buffer_total(list->buffer); - cmd = nk_ptr_add(struct nk_draw_command, memory, size - list->cmd_offset); - return (cmd - (list->cmd_count-1)); -} -NK_INTERN void -nk_draw_list_add_clip(struct nk_draw_list *list, struct nk_rect rect) -{ - NK_ASSERT(list); - if (!list) return; - if (!list->cmd_count) { - nk_draw_list_push_command(list, rect, list->config.null.texture); - } else { - struct nk_draw_command *prev = nk_draw_list_command_last(list); - if (prev->elem_count == 0) - prev->clip_rect = rect; - nk_draw_list_push_command(list, rect, prev->texture); - } -} -NK_INTERN void -nk_draw_list_push_image(struct nk_draw_list *list, nk_handle texture) -{ - NK_ASSERT(list); - if (!list) return; - if (!list->cmd_count) { - nk_draw_list_push_command(list, nk_null_rect, texture); - } else { - struct nk_draw_command *prev = nk_draw_list_command_last(list); - if (prev->elem_count == 0) { - prev->texture = texture; - #ifdef NK_INCLUDE_COMMAND_USERDATA - prev->userdata = list->userdata; - #endif - } else if (prev->texture.id != texture.id - #ifdef NK_INCLUDE_COMMAND_USERDATA - || prev->userdata.id != list->userdata.id - #endif - ) nk_draw_list_push_command(list, prev->clip_rect, texture); - } -} -#ifdef NK_INCLUDE_COMMAND_USERDATA -NK_API void -nk_draw_list_push_userdata(struct nk_draw_list *list, nk_handle userdata) -{ - list->userdata = userdata; -} -#endif -NK_INTERN void* -nk_draw_list_alloc_vertices(struct nk_draw_list *list, nk_size count) -{ - void *vtx; - NK_ASSERT(list); - if (!list) return 0; - vtx = nk_buffer_alloc(list->vertices, NK_BUFFER_FRONT, - list->config.vertex_size*count, list->config.vertex_alignment); - if (!vtx) return 0; - list->vertex_count += (unsigned int)count; - - /* This assert triggers because your are drawing a lot of stuff and nuklear - * defined `nk_draw_index` as `nk_ushort` to safe space be default. - * - * So you reached the maximum number of indices or rather vertexes. - * To solve this issue please change typedef `nk_draw_index` to `nk_uint` - * and don't forget to specify the new element size in your drawing - * backend (OpenGL, DirectX, ...). For example in OpenGL for `glDrawElements` - * instead of specifying `GL_UNSIGNED_SHORT` you have to define `GL_UNSIGNED_INT`. - * Sorry for the inconvenience. */ - if(sizeof(nk_draw_index)==2) NK_ASSERT((list->vertex_count < NK_USHORT_MAX && - "To many vertices for 16-bit vertex indices. Please read comment above on how to solve this problem")); - return vtx; -} -NK_INTERN nk_draw_index* -nk_draw_list_alloc_elements(struct nk_draw_list *list, nk_size count) -{ - nk_draw_index *ids; - struct nk_draw_command *cmd; - NK_STORAGE const nk_size elem_align = NK_ALIGNOF(nk_draw_index); - NK_STORAGE const nk_size elem_size = sizeof(nk_draw_index); - NK_ASSERT(list); - if (!list) return 0; - - ids = (nk_draw_index*) - nk_buffer_alloc(list->elements, NK_BUFFER_FRONT, elem_size*count, elem_align); - if (!ids) return 0; - cmd = nk_draw_list_command_last(list); - list->element_count += (unsigned int)count; - cmd->elem_count += (unsigned int)count; - return ids; -} -NK_INTERN int -nk_draw_vertex_layout_element_is_end_of_layout( - const struct nk_draw_vertex_layout_element *element) -{ - return (element->attribute == NK_VERTEX_ATTRIBUTE_COUNT || - element->format == NK_FORMAT_COUNT); -} -NK_INTERN void -nk_draw_vertex_color(void *attr, const float *vals, - enum nk_draw_vertex_layout_format format) -{ - /* if this triggers you tried to provide a value format for a color */ - float val[4]; - NK_ASSERT(format >= NK_FORMAT_COLOR_BEGIN); - NK_ASSERT(format <= NK_FORMAT_COLOR_END); - if (format < NK_FORMAT_COLOR_BEGIN || format > NK_FORMAT_COLOR_END) return; - - val[0] = NK_SATURATE(vals[0]); - val[1] = NK_SATURATE(vals[1]); - val[2] = NK_SATURATE(vals[2]); - val[3] = NK_SATURATE(vals[3]); - - switch (format) { - default: NK_ASSERT(0 && "Invalid vertex layout color format"); break; - case NK_FORMAT_R8G8B8A8: - case NK_FORMAT_R8G8B8: { - struct nk_color col = nk_rgba_fv(val); - NK_MEMCPY(attr, &col.r, sizeof(col)); - } break; - case NK_FORMAT_B8G8R8A8: { - struct nk_color col = nk_rgba_fv(val); - struct nk_color bgra = nk_rgba(col.b, col.g, col.r, col.a); - NK_MEMCPY(attr, &bgra, sizeof(bgra)); - } break; - case NK_FORMAT_R16G15B16: { - nk_ushort col[3]; - col[0] = (nk_ushort)(val[0]*(float)NK_USHORT_MAX); - col[1] = (nk_ushort)(val[1]*(float)NK_USHORT_MAX); - col[2] = (nk_ushort)(val[2]*(float)NK_USHORT_MAX); - NK_MEMCPY(attr, col, sizeof(col)); - } break; - case NK_FORMAT_R16G15B16A16: { - nk_ushort col[4]; - col[0] = (nk_ushort)(val[0]*(float)NK_USHORT_MAX); - col[1] = (nk_ushort)(val[1]*(float)NK_USHORT_MAX); - col[2] = (nk_ushort)(val[2]*(float)NK_USHORT_MAX); - col[3] = (nk_ushort)(val[3]*(float)NK_USHORT_MAX); - NK_MEMCPY(attr, col, sizeof(col)); - } break; - case NK_FORMAT_R32G32B32: { - nk_uint col[3]; - col[0] = (nk_uint)(val[0]*(float)NK_UINT_MAX); - col[1] = (nk_uint)(val[1]*(float)NK_UINT_MAX); - col[2] = (nk_uint)(val[2]*(float)NK_UINT_MAX); - NK_MEMCPY(attr, col, sizeof(col)); - } break; - case NK_FORMAT_R32G32B32A32: { - nk_uint col[4]; - col[0] = (nk_uint)(val[0]*(float)NK_UINT_MAX); - col[1] = (nk_uint)(val[1]*(float)NK_UINT_MAX); - col[2] = (nk_uint)(val[2]*(float)NK_UINT_MAX); - col[3] = (nk_uint)(val[3]*(float)NK_UINT_MAX); - NK_MEMCPY(attr, col, sizeof(col)); - } break; - case NK_FORMAT_R32G32B32A32_FLOAT: - NK_MEMCPY(attr, val, sizeof(float)*4); - break; - case NK_FORMAT_R32G32B32A32_DOUBLE: { - double col[4]; - col[0] = (double)val[0]; - col[1] = (double)val[1]; - col[2] = (double)val[2]; - col[3] = (double)val[3]; - NK_MEMCPY(attr, col, sizeof(col)); - } break; - case NK_FORMAT_RGB32: - case NK_FORMAT_RGBA32: { - struct nk_color col = nk_rgba_fv(val); - nk_uint color = nk_color_u32(col); - NK_MEMCPY(attr, &color, sizeof(color)); - } break; } -} -NK_INTERN void -nk_draw_vertex_element(void *dst, const float *values, int value_count, - enum nk_draw_vertex_layout_format format) -{ - int value_index; - void *attribute = dst; - /* if this triggers you tried to provide a color format for a value */ - NK_ASSERT(format < NK_FORMAT_COLOR_BEGIN); - if (format >= NK_FORMAT_COLOR_BEGIN && format <= NK_FORMAT_COLOR_END) return; - for (value_index = 0; value_index < value_count; ++value_index) { - switch (format) { - default: NK_ASSERT(0 && "invalid vertex layout format"); break; - case NK_FORMAT_SCHAR: { - char value = (char)NK_CLAMP((float)NK_SCHAR_MIN, values[value_index], (float)NK_SCHAR_MAX); - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(char)); - } break; - case NK_FORMAT_SSHORT: { - nk_short value = (nk_short)NK_CLAMP((float)NK_SSHORT_MIN, values[value_index], (float)NK_SSHORT_MAX); - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(value)); - } break; - case NK_FORMAT_SINT: { - nk_int value = (nk_int)NK_CLAMP((float)NK_SINT_MIN, values[value_index], (float)NK_SINT_MAX); - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(nk_int)); - } break; - case NK_FORMAT_UCHAR: { - unsigned char value = (unsigned char)NK_CLAMP((float)NK_UCHAR_MIN, values[value_index], (float)NK_UCHAR_MAX); - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(unsigned char)); - } break; - case NK_FORMAT_USHORT: { - nk_ushort value = (nk_ushort)NK_CLAMP((float)NK_USHORT_MIN, values[value_index], (float)NK_USHORT_MAX); - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(value)); - } break; - case NK_FORMAT_UINT: { - nk_uint value = (nk_uint)NK_CLAMP((float)NK_UINT_MIN, values[value_index], (float)NK_UINT_MAX); - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(nk_uint)); - } break; - case NK_FORMAT_FLOAT: - NK_MEMCPY(attribute, &values[value_index], sizeof(values[value_index])); - attribute = (void*)((char*)attribute + sizeof(float)); - break; - case NK_FORMAT_DOUBLE: { - double value = (double)values[value_index]; - NK_MEMCPY(attribute, &value, sizeof(value)); - attribute = (void*)((char*)attribute + sizeof(double)); - } break; - } - } -} -NK_INTERN void* -nk_draw_vertex(void *dst, const struct nk_convert_config *config, - struct nk_vec2 pos, struct nk_vec2 uv, struct nk_colorf color) -{ - void *result = (void*)((char*)dst + config->vertex_size); - const struct nk_draw_vertex_layout_element *elem_iter = config->vertex_layout; - while (!nk_draw_vertex_layout_element_is_end_of_layout(elem_iter)) { - void *address = (void*)((char*)dst + elem_iter->offset); - switch (elem_iter->attribute) { - case NK_VERTEX_ATTRIBUTE_COUNT: - default: NK_ASSERT(0 && "wrong element attribute"); break; - case NK_VERTEX_POSITION: nk_draw_vertex_element(address, &pos.x, 2, elem_iter->format); break; - case NK_VERTEX_TEXCOORD: nk_draw_vertex_element(address, &uv.x, 2, elem_iter->format); break; - case NK_VERTEX_COLOR: nk_draw_vertex_color(address, &color.r, elem_iter->format); break; - } - elem_iter++; - } - return result; -} -NK_API void -nk_draw_list_stroke_poly_line(struct nk_draw_list *list, const struct nk_vec2 *points, - const unsigned int points_count, struct nk_color color, enum nk_draw_list_stroke closed, - float thickness, enum nk_anti_aliasing aliasing) -{ - nk_size count; - int thick_line; - struct nk_colorf col; - struct nk_colorf col_trans; - NK_ASSERT(list); - if (!list || points_count < 2) return; - - color.a = (nk_byte)((float)color.a * list->config.global_alpha); - count = points_count; - if (!closed) count = points_count-1; - thick_line = thickness > 1.0f; - -#ifdef NK_INCLUDE_COMMAND_USERDATA - nk_draw_list_push_userdata(list, list->userdata); -#endif - - color.a = (nk_byte)((float)color.a * list->config.global_alpha); - nk_color_fv(&col.r, color); - col_trans = col; - col_trans.a = 0; - - if (aliasing == NK_ANTI_ALIASING_ON) { - /* ANTI-ALIASED STROKE */ - const float AA_SIZE = 1.0f; - NK_STORAGE const nk_size pnt_align = NK_ALIGNOF(struct nk_vec2); - NK_STORAGE const nk_size pnt_size = sizeof(struct nk_vec2); - - /* allocate vertices and elements */ - nk_size i1 = 0; - nk_size vertex_offset; - nk_size index = list->vertex_count; - - const nk_size idx_count = (thick_line) ? (count * 18) : (count * 12); - const nk_size vtx_count = (thick_line) ? (points_count * 4): (points_count *3); - - void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); - nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); - - nk_size size; - struct nk_vec2 *normals, *temp; - if (!vtx || !ids) return; - - /* temporary allocate normals + points */ - vertex_offset = (nk_size)((nk_byte*)vtx - (nk_byte*)list->vertices->memory.ptr); - nk_buffer_mark(list->vertices, NK_BUFFER_FRONT); - size = pnt_size * ((thick_line) ? 5 : 3) * points_count; - normals = (struct nk_vec2*) nk_buffer_alloc(list->vertices, NK_BUFFER_FRONT, size, pnt_align); - if (!normals) return; - temp = normals + points_count; - - /* make sure vertex pointer is still correct */ - vtx = (void*)((nk_byte*)list->vertices->memory.ptr + vertex_offset); - - /* calculate normals */ - for (i1 = 0; i1 < count; ++i1) { - const nk_size i2 = ((i1 + 1) == points_count) ? 0 : (i1 + 1); - struct nk_vec2 diff = nk_vec2_sub(points[i2], points[i1]); - float len; - - /* vec2 inverted length */ - len = nk_vec2_len_sqr(diff); - if (len != 0.0f) - len = NK_INV_SQRT(len); - else len = 1.0f; - - diff = nk_vec2_muls(diff, len); - normals[i1].x = diff.y; - normals[i1].y = -diff.x; - } - - if (!closed) - normals[points_count-1] = normals[points_count-2]; - - if (!thick_line) { - nk_size idx1, i; - if (!closed) { - struct nk_vec2 d; - temp[0] = nk_vec2_add(points[0], nk_vec2_muls(normals[0], AA_SIZE)); - temp[1] = nk_vec2_sub(points[0], nk_vec2_muls(normals[0], AA_SIZE)); - d = nk_vec2_muls(normals[points_count-1], AA_SIZE); - temp[(points_count-1) * 2 + 0] = nk_vec2_add(points[points_count-1], d); - temp[(points_count-1) * 2 + 1] = nk_vec2_sub(points[points_count-1], d); - } - - /* fill elements */ - idx1 = index; - for (i1 = 0; i1 < count; i1++) { - struct nk_vec2 dm; - float dmr2; - nk_size i2 = ((i1 + 1) == points_count) ? 0 : (i1 + 1); - nk_size idx2 = ((i1+1) == points_count) ? index: (idx1 + 3); - - /* average normals */ - dm = nk_vec2_muls(nk_vec2_add(normals[i1], normals[i2]), 0.5f); - dmr2 = dm.x * dm.x + dm.y* dm.y; - if (dmr2 > 0.000001f) { - float scale = 1.0f/dmr2; - scale = NK_MIN(100.0f, scale); - dm = nk_vec2_muls(dm, scale); - } - - dm = nk_vec2_muls(dm, AA_SIZE); - temp[i2*2+0] = nk_vec2_add(points[i2], dm); - temp[i2*2+1] = nk_vec2_sub(points[i2], dm); - - ids[0] = (nk_draw_index)(idx2 + 0); ids[1] = (nk_draw_index)(idx1+0); - ids[2] = (nk_draw_index)(idx1 + 2); ids[3] = (nk_draw_index)(idx1+2); - ids[4] = (nk_draw_index)(idx2 + 2); ids[5] = (nk_draw_index)(idx2+0); - ids[6] = (nk_draw_index)(idx2 + 1); ids[7] = (nk_draw_index)(idx1+1); - ids[8] = (nk_draw_index)(idx1 + 0); ids[9] = (nk_draw_index)(idx1+0); - ids[10]= (nk_draw_index)(idx2 + 0); ids[11]= (nk_draw_index)(idx2+1); - ids += 12; - idx1 = idx2; - } - - /* fill vertices */ - for (i = 0; i < points_count; ++i) { - const struct nk_vec2 uv = list->config.null.uv; - vtx = nk_draw_vertex(vtx, &list->config, points[i], uv, col); - vtx = nk_draw_vertex(vtx, &list->config, temp[i*2+0], uv, col_trans); - vtx = nk_draw_vertex(vtx, &list->config, temp[i*2+1], uv, col_trans); - } - } else { - nk_size idx1, i; - const float half_inner_thickness = (thickness - AA_SIZE) * 0.5f; - if (!closed) { - struct nk_vec2 d1 = nk_vec2_muls(normals[0], half_inner_thickness + AA_SIZE); - struct nk_vec2 d2 = nk_vec2_muls(normals[0], half_inner_thickness); - - temp[0] = nk_vec2_add(points[0], d1); - temp[1] = nk_vec2_add(points[0], d2); - temp[2] = nk_vec2_sub(points[0], d2); - temp[3] = nk_vec2_sub(points[0], d1); - - d1 = nk_vec2_muls(normals[points_count-1], half_inner_thickness + AA_SIZE); - d2 = nk_vec2_muls(normals[points_count-1], half_inner_thickness); - - temp[(points_count-1)*4+0] = nk_vec2_add(points[points_count-1], d1); - temp[(points_count-1)*4+1] = nk_vec2_add(points[points_count-1], d2); - temp[(points_count-1)*4+2] = nk_vec2_sub(points[points_count-1], d2); - temp[(points_count-1)*4+3] = nk_vec2_sub(points[points_count-1], d1); - } - - /* add all elements */ - idx1 = index; - for (i1 = 0; i1 < count; ++i1) { - struct nk_vec2 dm_out, dm_in; - const nk_size i2 = ((i1+1) == points_count) ? 0: (i1 + 1); - nk_size idx2 = ((i1+1) == points_count) ? index: (idx1 + 4); - - /* average normals */ - struct nk_vec2 dm = nk_vec2_muls(nk_vec2_add(normals[i1], normals[i2]), 0.5f); - float dmr2 = dm.x * dm.x + dm.y* dm.y; - if (dmr2 > 0.000001f) { - float scale = 1.0f/dmr2; - scale = NK_MIN(100.0f, scale); - dm = nk_vec2_muls(dm, scale); - } - - dm_out = nk_vec2_muls(dm, ((half_inner_thickness) + AA_SIZE)); - dm_in = nk_vec2_muls(dm, half_inner_thickness); - temp[i2*4+0] = nk_vec2_add(points[i2], dm_out); - temp[i2*4+1] = nk_vec2_add(points[i2], dm_in); - temp[i2*4+2] = nk_vec2_sub(points[i2], dm_in); - temp[i2*4+3] = nk_vec2_sub(points[i2], dm_out); - - /* add indexes */ - ids[0] = (nk_draw_index)(idx2 + 1); ids[1] = (nk_draw_index)(idx1+1); - ids[2] = (nk_draw_index)(idx1 + 2); ids[3] = (nk_draw_index)(idx1+2); - ids[4] = (nk_draw_index)(idx2 + 2); ids[5] = (nk_draw_index)(idx2+1); - ids[6] = (nk_draw_index)(idx2 + 1); ids[7] = (nk_draw_index)(idx1+1); - ids[8] = (nk_draw_index)(idx1 + 0); ids[9] = (nk_draw_index)(idx1+0); - ids[10]= (nk_draw_index)(idx2 + 0); ids[11] = (nk_draw_index)(idx2+1); - ids[12]= (nk_draw_index)(idx2 + 2); ids[13] = (nk_draw_index)(idx1+2); - ids[14]= (nk_draw_index)(idx1 + 3); ids[15] = (nk_draw_index)(idx1+3); - ids[16]= (nk_draw_index)(idx2 + 3); ids[17] = (nk_draw_index)(idx2+2); - ids += 18; - idx1 = idx2; - } - - /* add vertices */ - for (i = 0; i < points_count; ++i) { - const struct nk_vec2 uv = list->config.null.uv; - vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+0], uv, col_trans); - vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+1], uv, col); - vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+2], uv, col); - vtx = nk_draw_vertex(vtx, &list->config, temp[i*4+3], uv, col_trans); - } - } - /* free temporary normals + points */ - nk_buffer_reset(list->vertices, NK_BUFFER_FRONT); - } else { - /* NON ANTI-ALIASED STROKE */ - nk_size i1 = 0; - nk_size idx = list->vertex_count; - const nk_size idx_count = count * 6; - const nk_size vtx_count = count * 4; - void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); - nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); - if (!vtx || !ids) return; - - for (i1 = 0; i1 < count; ++i1) { - float dx, dy; - const struct nk_vec2 uv = list->config.null.uv; - const nk_size i2 = ((i1+1) == points_count) ? 0 : i1 + 1; - const struct nk_vec2 p1 = points[i1]; - const struct nk_vec2 p2 = points[i2]; - struct nk_vec2 diff = nk_vec2_sub(p2, p1); - float len; - - /* vec2 inverted length */ - len = nk_vec2_len_sqr(diff); - if (len != 0.0f) - len = NK_INV_SQRT(len); - else len = 1.0f; - diff = nk_vec2_muls(diff, len); - - /* add vertices */ - dx = diff.x * (thickness * 0.5f); - dy = diff.y * (thickness * 0.5f); - - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p1.x + dy, p1.y - dx), uv, col); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p2.x + dy, p2.y - dx), uv, col); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p2.x - dy, p2.y + dx), uv, col); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(p1.x - dy, p1.y + dx), uv, col); - - ids[0] = (nk_draw_index)(idx+0); ids[1] = (nk_draw_index)(idx+1); - ids[2] = (nk_draw_index)(idx+2); ids[3] = (nk_draw_index)(idx+0); - ids[4] = (nk_draw_index)(idx+2); ids[5] = (nk_draw_index)(idx+3); - - ids += 6; - idx += 4; - } - } -} -NK_API void -nk_draw_list_fill_poly_convex(struct nk_draw_list *list, - const struct nk_vec2 *points, const unsigned int points_count, - struct nk_color color, enum nk_anti_aliasing aliasing) -{ - struct nk_colorf col; - struct nk_colorf col_trans; - - NK_STORAGE const nk_size pnt_align = NK_ALIGNOF(struct nk_vec2); - NK_STORAGE const nk_size pnt_size = sizeof(struct nk_vec2); - NK_ASSERT(list); - if (!list || points_count < 3) return; - -#ifdef NK_INCLUDE_COMMAND_USERDATA - nk_draw_list_push_userdata(list, list->userdata); -#endif - - color.a = (nk_byte)((float)color.a * list->config.global_alpha); - nk_color_fv(&col.r, color); - col_trans = col; - col_trans.a = 0; - - if (aliasing == NK_ANTI_ALIASING_ON) { - nk_size i = 0; - nk_size i0 = 0; - nk_size i1 = 0; - - const float AA_SIZE = 1.0f; - nk_size vertex_offset = 0; - nk_size index = list->vertex_count; - - const nk_size idx_count = (points_count-2)*3 + points_count*6; - const nk_size vtx_count = (points_count*2); - - void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); - nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); - - nk_size size = 0; - struct nk_vec2 *normals = 0; - unsigned int vtx_inner_idx = (unsigned int)(index + 0); - unsigned int vtx_outer_idx = (unsigned int)(index + 1); - if (!vtx || !ids) return; - - /* temporary allocate normals */ - vertex_offset = (nk_size)((nk_byte*)vtx - (nk_byte*)list->vertices->memory.ptr); - nk_buffer_mark(list->vertices, NK_BUFFER_FRONT); - size = pnt_size * points_count; - normals = (struct nk_vec2*) nk_buffer_alloc(list->vertices, NK_BUFFER_FRONT, size, pnt_align); - if (!normals) return; - vtx = (void*)((nk_byte*)list->vertices->memory.ptr + vertex_offset); - - /* add elements */ - for (i = 2; i < points_count; i++) { - ids[0] = (nk_draw_index)(vtx_inner_idx); - ids[1] = (nk_draw_index)(vtx_inner_idx + ((i-1) << 1)); - ids[2] = (nk_draw_index)(vtx_inner_idx + (i << 1)); - ids += 3; - } - - /* compute normals */ - for (i0 = points_count-1, i1 = 0; i1 < points_count; i0 = i1++) { - struct nk_vec2 p0 = points[i0]; - struct nk_vec2 p1 = points[i1]; - struct nk_vec2 diff = nk_vec2_sub(p1, p0); - - /* vec2 inverted length */ - float len = nk_vec2_len_sqr(diff); - if (len != 0.0f) - len = NK_INV_SQRT(len); - else len = 1.0f; - diff = nk_vec2_muls(diff, len); - - normals[i0].x = diff.y; - normals[i0].y = -diff.x; - } - - /* add vertices + indexes */ - for (i0 = points_count-1, i1 = 0; i1 < points_count; i0 = i1++) { - const struct nk_vec2 uv = list->config.null.uv; - struct nk_vec2 n0 = normals[i0]; - struct nk_vec2 n1 = normals[i1]; - struct nk_vec2 dm = nk_vec2_muls(nk_vec2_add(n0, n1), 0.5f); - float dmr2 = dm.x*dm.x + dm.y*dm.y; - if (dmr2 > 0.000001f) { - float scale = 1.0f / dmr2; - scale = NK_MIN(scale, 100.0f); - dm = nk_vec2_muls(dm, scale); - } - dm = nk_vec2_muls(dm, AA_SIZE * 0.5f); - - /* add vertices */ - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2_sub(points[i1], dm), uv, col); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2_add(points[i1], dm), uv, col_trans); - - /* add indexes */ - ids[0] = (nk_draw_index)(vtx_inner_idx+(i1<<1)); - ids[1] = (nk_draw_index)(vtx_inner_idx+(i0<<1)); - ids[2] = (nk_draw_index)(vtx_outer_idx+(i0<<1)); - ids[3] = (nk_draw_index)(vtx_outer_idx+(i0<<1)); - ids[4] = (nk_draw_index)(vtx_outer_idx+(i1<<1)); - ids[5] = (nk_draw_index)(vtx_inner_idx+(i1<<1)); - ids += 6; - } - /* free temporary normals + points */ - nk_buffer_reset(list->vertices, NK_BUFFER_FRONT); - } else { - nk_size i = 0; - nk_size index = list->vertex_count; - const nk_size idx_count = (points_count-2)*3; - const nk_size vtx_count = points_count; - void *vtx = nk_draw_list_alloc_vertices(list, vtx_count); - nk_draw_index *ids = nk_draw_list_alloc_elements(list, idx_count); - - if (!vtx || !ids) return; - for (i = 0; i < vtx_count; ++i) - vtx = nk_draw_vertex(vtx, &list->config, points[i], list->config.null.uv, col); - for (i = 2; i < points_count; ++i) { - ids[0] = (nk_draw_index)index; - ids[1] = (nk_draw_index)(index+ i - 1); - ids[2] = (nk_draw_index)(index+i); - ids += 3; - } - } -} -NK_API void -nk_draw_list_path_clear(struct nk_draw_list *list) -{ - NK_ASSERT(list); - if (!list) return; - nk_buffer_reset(list->buffer, NK_BUFFER_FRONT); - list->path_count = 0; - list->path_offset = 0; -} -NK_API void -nk_draw_list_path_line_to(struct nk_draw_list *list, struct nk_vec2 pos) -{ - struct nk_vec2 *points = 0; - struct nk_draw_command *cmd = 0; - NK_ASSERT(list); - if (!list) return; - if (!list->cmd_count) - nk_draw_list_add_clip(list, nk_null_rect); - - cmd = nk_draw_list_command_last(list); - if (cmd && cmd->texture.ptr != list->config.null.texture.ptr) - nk_draw_list_push_image(list, list->config.null.texture); - - points = nk_draw_list_alloc_path(list, 1); - if (!points) return; - points[0] = pos; -} -NK_API void -nk_draw_list_path_arc_to_fast(struct nk_draw_list *list, struct nk_vec2 center, - float radius, int a_min, int a_max) -{ - int a = 0; - NK_ASSERT(list); - if (!list) return; - if (a_min <= a_max) { - for (a = a_min; a <= a_max; a++) { - const struct nk_vec2 c = list->circle_vtx[(nk_size)a % NK_LEN(list->circle_vtx)]; - const float x = center.x + c.x * radius; - const float y = center.y + c.y * radius; - nk_draw_list_path_line_to(list, nk_vec2(x, y)); - } - } -} -NK_API void -nk_draw_list_path_arc_to(struct nk_draw_list *list, struct nk_vec2 center, - float radius, float a_min, float a_max, unsigned int segments) -{ - unsigned int i = 0; - NK_ASSERT(list); - if (!list) return; - if (radius == 0.0f) return; - - /* This algorithm for arc drawing relies on these two trigonometric identities[1]: - sin(a + b) = sin(a) * cos(b) + cos(a) * sin(b) - cos(a + b) = cos(a) * cos(b) - sin(a) * sin(b) - - Two coordinates (x, y) of a point on a circle centered on - the origin can be written in polar form as: - x = r * cos(a) - y = r * sin(a) - where r is the radius of the circle, - a is the angle between (x, y) and the origin. - - This allows us to rotate the coordinates around the - origin by an angle b using the following transformation: - x' = r * cos(a + b) = x * cos(b) - y * sin(b) - y' = r * sin(a + b) = y * cos(b) + x * sin(b) - - [1] https://en.wikipedia.org/wiki/List_of_trigonometric_identities#Angle_sum_and_difference_identities - */ - {const float d_angle = (a_max - a_min) / (float)segments; - const float sin_d = (float)NK_SIN(d_angle); - const float cos_d = (float)NK_COS(d_angle); - - float cx = (float)NK_COS(a_min) * radius; - float cy = (float)NK_SIN(a_min) * radius; - for(i = 0; i <= segments; ++i) { - float new_cx, new_cy; - const float x = center.x + cx; - const float y = center.y + cy; - nk_draw_list_path_line_to(list, nk_vec2(x, y)); - - new_cx = cx * cos_d - cy * sin_d; - new_cy = cy * cos_d + cx * sin_d; - cx = new_cx; - cy = new_cy; - }} -} -NK_API void -nk_draw_list_path_rect_to(struct nk_draw_list *list, struct nk_vec2 a, - struct nk_vec2 b, float rounding) -{ - float r; - NK_ASSERT(list); - if (!list) return; - r = rounding; - r = NK_MIN(r, ((b.x-a.x) < 0) ? -(b.x-a.x): (b.x-a.x)); - r = NK_MIN(r, ((b.y-a.y) < 0) ? -(b.y-a.y): (b.y-a.y)); - - if (r == 0.0f) { - nk_draw_list_path_line_to(list, a); - nk_draw_list_path_line_to(list, nk_vec2(b.x,a.y)); - nk_draw_list_path_line_to(list, b); - nk_draw_list_path_line_to(list, nk_vec2(a.x,b.y)); - } else { - nk_draw_list_path_arc_to_fast(list, nk_vec2(a.x + r, a.y + r), r, 6, 9); - nk_draw_list_path_arc_to_fast(list, nk_vec2(b.x - r, a.y + r), r, 9, 12); - nk_draw_list_path_arc_to_fast(list, nk_vec2(b.x - r, b.y - r), r, 0, 3); - nk_draw_list_path_arc_to_fast(list, nk_vec2(a.x + r, b.y - r), r, 3, 6); - } -} -NK_API void -nk_draw_list_path_curve_to(struct nk_draw_list *list, struct nk_vec2 p2, - struct nk_vec2 p3, struct nk_vec2 p4, unsigned int num_segments) -{ - float t_step; - unsigned int i_step; - struct nk_vec2 p1; - - NK_ASSERT(list); - NK_ASSERT(list->path_count); - if (!list || !list->path_count) return; - num_segments = NK_MAX(num_segments, 1); - - p1 = nk_draw_list_path_last(list); - t_step = 1.0f/(float)num_segments; - for (i_step = 1; i_step <= num_segments; ++i_step) { - float t = t_step * (float)i_step; - float u = 1.0f - t; - float w1 = u*u*u; - float w2 = 3*u*u*t; - float w3 = 3*u*t*t; - float w4 = t * t *t; - float x = w1 * p1.x + w2 * p2.x + w3 * p3.x + w4 * p4.x; - float y = w1 * p1.y + w2 * p2.y + w3 * p3.y + w4 * p4.y; - nk_draw_list_path_line_to(list, nk_vec2(x,y)); - } -} -NK_API void -nk_draw_list_path_fill(struct nk_draw_list *list, struct nk_color color) -{ - struct nk_vec2 *points; - NK_ASSERT(list); - if (!list) return; - points = (struct nk_vec2*)nk_buffer_memory(list->buffer); - nk_draw_list_fill_poly_convex(list, points, list->path_count, color, list->config.shape_AA); - nk_draw_list_path_clear(list); -} -NK_API void -nk_draw_list_path_stroke(struct nk_draw_list *list, struct nk_color color, - enum nk_draw_list_stroke closed, float thickness) -{ - struct nk_vec2 *points; - NK_ASSERT(list); - if (!list) return; - points = (struct nk_vec2*)nk_buffer_memory(list->buffer); - nk_draw_list_stroke_poly_line(list, points, list->path_count, color, - closed, thickness, list->config.line_AA); - nk_draw_list_path_clear(list); -} -NK_API void -nk_draw_list_stroke_line(struct nk_draw_list *list, struct nk_vec2 a, - struct nk_vec2 b, struct nk_color col, float thickness) -{ - NK_ASSERT(list); - if (!list || !col.a) return; - if (list->line_AA == NK_ANTI_ALIASING_ON) { - nk_draw_list_path_line_to(list, a); - nk_draw_list_path_line_to(list, b); - } else { - nk_draw_list_path_line_to(list, nk_vec2_sub(a,nk_vec2(0.5f,0.5f))); - nk_draw_list_path_line_to(list, nk_vec2_sub(b,nk_vec2(0.5f,0.5f))); - } - nk_draw_list_path_stroke(list, col, NK_STROKE_OPEN, thickness); -} -NK_API void -nk_draw_list_fill_rect(struct nk_draw_list *list, struct nk_rect rect, - struct nk_color col, float rounding) -{ - NK_ASSERT(list); - if (!list || !col.a) return; - - if (list->line_AA == NK_ANTI_ALIASING_ON) { - nk_draw_list_path_rect_to(list, nk_vec2(rect.x, rect.y), - nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); - } else { - nk_draw_list_path_rect_to(list, nk_vec2(rect.x-0.5f, rect.y-0.5f), - nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); - } nk_draw_list_path_fill(list, col); -} -NK_API void -nk_draw_list_stroke_rect(struct nk_draw_list *list, struct nk_rect rect, - struct nk_color col, float rounding, float thickness) -{ - NK_ASSERT(list); - if (!list || !col.a) return; - if (list->line_AA == NK_ANTI_ALIASING_ON) { - nk_draw_list_path_rect_to(list, nk_vec2(rect.x, rect.y), - nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); - } else { - nk_draw_list_path_rect_to(list, nk_vec2(rect.x-0.5f, rect.y-0.5f), - nk_vec2(rect.x + rect.w, rect.y + rect.h), rounding); - } nk_draw_list_path_stroke(list, col, NK_STROKE_CLOSED, thickness); -} -NK_API void -nk_draw_list_fill_rect_multi_color(struct nk_draw_list *list, struct nk_rect rect, - struct nk_color left, struct nk_color top, struct nk_color right, - struct nk_color bottom) -{ - void *vtx; - struct nk_colorf col_left, col_top; - struct nk_colorf col_right, col_bottom; - nk_draw_index *idx; - nk_draw_index index; - - nk_color_fv(&col_left.r, left); - nk_color_fv(&col_right.r, right); - nk_color_fv(&col_top.r, top); - nk_color_fv(&col_bottom.r, bottom); - - NK_ASSERT(list); - if (!list) return; - - nk_draw_list_push_image(list, list->config.null.texture); - index = (nk_draw_index)list->vertex_count; - vtx = nk_draw_list_alloc_vertices(list, 4); - idx = nk_draw_list_alloc_elements(list, 6); - if (!vtx || !idx) return; - - idx[0] = (nk_draw_index)(index+0); idx[1] = (nk_draw_index)(index+1); - idx[2] = (nk_draw_index)(index+2); idx[3] = (nk_draw_index)(index+0); - idx[4] = (nk_draw_index)(index+2); idx[5] = (nk_draw_index)(index+3); - - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x, rect.y), list->config.null.uv, col_left); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x + rect.w, rect.y), list->config.null.uv, col_top); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x + rect.w, rect.y + rect.h), list->config.null.uv, col_right); - vtx = nk_draw_vertex(vtx, &list->config, nk_vec2(rect.x, rect.y + rect.h), list->config.null.uv, col_bottom); -} -NK_API void -nk_draw_list_fill_triangle(struct nk_draw_list *list, struct nk_vec2 a, - struct nk_vec2 b, struct nk_vec2 c, struct nk_color col) -{ - NK_ASSERT(list); - if (!list || !col.a) return; - nk_draw_list_path_line_to(list, a); - nk_draw_list_path_line_to(list, b); - nk_draw_list_path_line_to(list, c); - nk_draw_list_path_fill(list, col); -} -NK_API void -nk_draw_list_stroke_triangle(struct nk_draw_list *list, struct nk_vec2 a, - struct nk_vec2 b, struct nk_vec2 c, struct nk_color col, float thickness) -{ - NK_ASSERT(list); - if (!list || !col.a) return; - nk_draw_list_path_line_to(list, a); - nk_draw_list_path_line_to(list, b); - nk_draw_list_path_line_to(list, c); - nk_draw_list_path_stroke(list, col, NK_STROKE_CLOSED, thickness); -} -NK_API void -nk_draw_list_fill_circle(struct nk_draw_list *list, struct nk_vec2 center, - float radius, struct nk_color col, unsigned int segs) -{ - float a_max; - NK_ASSERT(list); - if (!list || !col.a) return; - a_max = NK_PI * 2.0f * ((float)segs - 1.0f) / (float)segs; - nk_draw_list_path_arc_to(list, center, radius, 0.0f, a_max, segs); - nk_draw_list_path_fill(list, col); -} -NK_API void -nk_draw_list_stroke_circle(struct nk_draw_list *list, struct nk_vec2 center, - float radius, struct nk_color col, unsigned int segs, float thickness) -{ - float a_max; - NK_ASSERT(list); - if (!list || !col.a) return; - a_max = NK_PI * 2.0f * ((float)segs - 1.0f) / (float)segs; - nk_draw_list_path_arc_to(list, center, radius, 0.0f, a_max, segs); - nk_draw_list_path_stroke(list, col, NK_STROKE_CLOSED, thickness); -} -NK_API void -nk_draw_list_stroke_curve(struct nk_draw_list *list, struct nk_vec2 p0, - struct nk_vec2 cp0, struct nk_vec2 cp1, struct nk_vec2 p1, - struct nk_color col, unsigned int segments, float thickness) -{ - NK_ASSERT(list); - if (!list || !col.a) return; - nk_draw_list_path_line_to(list, p0); - nk_draw_list_path_curve_to(list, cp0, cp1, p1, segments); - nk_draw_list_path_stroke(list, col, NK_STROKE_OPEN, thickness); -} -NK_INTERN void -nk_draw_list_push_rect_uv(struct nk_draw_list *list, struct nk_vec2 a, - struct nk_vec2 c, struct nk_vec2 uva, struct nk_vec2 uvc, - struct nk_color color) -{ - void *vtx; - struct nk_vec2 uvb; - struct nk_vec2 uvd; - struct nk_vec2 b; - struct nk_vec2 d; - - struct nk_colorf col; - nk_draw_index *idx; - nk_draw_index index; - NK_ASSERT(list); - if (!list) return; - - nk_color_fv(&col.r, color); - uvb = nk_vec2(uvc.x, uva.y); - uvd = nk_vec2(uva.x, uvc.y); - b = nk_vec2(c.x, a.y); - d = nk_vec2(a.x, c.y); - - index = (nk_draw_index)list->vertex_count; - vtx = nk_draw_list_alloc_vertices(list, 4); - idx = nk_draw_list_alloc_elements(list, 6); - if (!vtx || !idx) return; - - idx[0] = (nk_draw_index)(index+0); idx[1] = (nk_draw_index)(index+1); - idx[2] = (nk_draw_index)(index+2); idx[3] = (nk_draw_index)(index+0); - idx[4] = (nk_draw_index)(index+2); idx[5] = (nk_draw_index)(index+3); - - vtx = nk_draw_vertex(vtx, &list->config, a, uva, col); - vtx = nk_draw_vertex(vtx, &list->config, b, uvb, col); - vtx = nk_draw_vertex(vtx, &list->config, c, uvc, col); - vtx = nk_draw_vertex(vtx, &list->config, d, uvd, col); -} -NK_API void -nk_draw_list_add_image(struct nk_draw_list *list, struct nk_image texture, - struct nk_rect rect, struct nk_color color) -{ - NK_ASSERT(list); - if (!list) return; - /* push new command with given texture */ - nk_draw_list_push_image(list, texture.handle); - if (nk_image_is_subimage(&texture)) { - /* add region inside of the texture */ - struct nk_vec2 uv[2]; - uv[0].x = (float)texture.region[0]/(float)texture.w; - uv[0].y = (float)texture.region[1]/(float)texture.h; - uv[1].x = (float)(texture.region[0] + texture.region[2])/(float)texture.w; - uv[1].y = (float)(texture.region[1] + texture.region[3])/(float)texture.h; - nk_draw_list_push_rect_uv(list, nk_vec2(rect.x, rect.y), - nk_vec2(rect.x + rect.w, rect.y + rect.h), uv[0], uv[1], color); - } else nk_draw_list_push_rect_uv(list, nk_vec2(rect.x, rect.y), - nk_vec2(rect.x + rect.w, rect.y + rect.h), - nk_vec2(0.0f, 0.0f), nk_vec2(1.0f, 1.0f),color); -} -NK_API void -nk_draw_list_add_text(struct nk_draw_list *list, const struct nk_user_font *font, - struct nk_rect rect, const char *text, int len, float font_height, - struct nk_color fg) -{ - float x = 0; - int text_len = 0; - nk_rune unicode = 0; - nk_rune next = 0; - int glyph_len = 0; - int next_glyph_len = 0; - struct nk_user_font_glyph g; - - NK_ASSERT(list); - if (!list || !len || !text) return; - if (!NK_INTERSECT(rect.x, rect.y, rect.w, rect.h, - list->clip_rect.x, list->clip_rect.y, list->clip_rect.w, list->clip_rect.h)) return; - - nk_draw_list_push_image(list, font->texture); - x = rect.x; - glyph_len = nk_utf_decode(text, &unicode, len); - if (!glyph_len) return; - - /* draw every glyph image */ - fg.a = (nk_byte)((float)fg.a * list->config.global_alpha); - while (text_len < len && glyph_len) { - float gx, gy, gh, gw; - float char_width = 0; - if (unicode == NK_UTF_INVALID) break; - - /* query currently drawn glyph information */ - next_glyph_len = nk_utf_decode(text + text_len + glyph_len, &next, (int)len - text_len); - font->query(font->userdata, font_height, &g, unicode, - (next == NK_UTF_INVALID) ? '\0' : next); - - /* calculate and draw glyph drawing rectangle and image */ - gx = x + g.offset.x; - gy = rect.y + g.offset.y; - gw = g.width; gh = g.height; - char_width = g.xadvance; - nk_draw_list_push_rect_uv(list, nk_vec2(gx,gy), nk_vec2(gx + gw, gy+ gh), - g.uv[0], g.uv[1], fg); - - /* offset next glyph */ - text_len += glyph_len; - x += char_width; - glyph_len = next_glyph_len; - unicode = next; - } -} -NK_API nk_flags -nk_convert(struct nk_context *ctx, struct nk_buffer *cmds, - struct nk_buffer *vertices, struct nk_buffer *elements, - const struct nk_convert_config *config) -{ - nk_flags res = NK_CONVERT_SUCCESS; - const struct nk_command *cmd; - NK_ASSERT(ctx); - NK_ASSERT(cmds); - NK_ASSERT(vertices); - NK_ASSERT(elements); - NK_ASSERT(config); - NK_ASSERT(config->vertex_layout); - NK_ASSERT(config->vertex_size); - if (!ctx || !cmds || !vertices || !elements || !config || !config->vertex_layout) - return NK_CONVERT_INVALID_PARAM; - - nk_draw_list_setup(&ctx->draw_list, config, cmds, vertices, elements, - config->line_AA, config->shape_AA); - nk_foreach(cmd, ctx) - { -#ifdef NK_INCLUDE_COMMAND_USERDATA - ctx->draw_list.userdata = cmd->userdata; -#endif - switch (cmd->type) { - case NK_COMMAND_NOP: break; - case NK_COMMAND_SCISSOR: { - const struct nk_command_scissor *s = (const struct nk_command_scissor*)cmd; - nk_draw_list_add_clip(&ctx->draw_list, nk_rect(s->x, s->y, s->w, s->h)); - } break; - case NK_COMMAND_LINE: { - const struct nk_command_line *l = (const struct nk_command_line*)cmd; - nk_draw_list_stroke_line(&ctx->draw_list, nk_vec2(l->begin.x, l->begin.y), - nk_vec2(l->end.x, l->end.y), l->color, l->line_thickness); - } break; - case NK_COMMAND_CURVE: { - const struct nk_command_curve *q = (const struct nk_command_curve*)cmd; - nk_draw_list_stroke_curve(&ctx->draw_list, nk_vec2(q->begin.x, q->begin.y), - nk_vec2(q->ctrl[0].x, q->ctrl[0].y), nk_vec2(q->ctrl[1].x, - q->ctrl[1].y), nk_vec2(q->end.x, q->end.y), q->color, - config->curve_segment_count, q->line_thickness); - } break; - case NK_COMMAND_RECT: { - const struct nk_command_rect *r = (const struct nk_command_rect*)cmd; - nk_draw_list_stroke_rect(&ctx->draw_list, nk_rect(r->x, r->y, r->w, r->h), - r->color, (float)r->rounding, r->line_thickness); - } break; - case NK_COMMAND_RECT_FILLED: { - const struct nk_command_rect_filled *r = (const struct nk_command_rect_filled*)cmd; - nk_draw_list_fill_rect(&ctx->draw_list, nk_rect(r->x, r->y, r->w, r->h), - r->color, (float)r->rounding); - } break; - case NK_COMMAND_RECT_MULTI_COLOR: { - const struct nk_command_rect_multi_color *r = (const struct nk_command_rect_multi_color*)cmd; - nk_draw_list_fill_rect_multi_color(&ctx->draw_list, nk_rect(r->x, r->y, r->w, r->h), - r->left, r->top, r->right, r->bottom); - } break; - case NK_COMMAND_CIRCLE: { - const struct nk_command_circle *c = (const struct nk_command_circle*)cmd; - nk_draw_list_stroke_circle(&ctx->draw_list, nk_vec2((float)c->x + (float)c->w/2, - (float)c->y + (float)c->h/2), (float)c->w/2, c->color, - config->circle_segment_count, c->line_thickness); - } break; - case NK_COMMAND_CIRCLE_FILLED: { - const struct nk_command_circle_filled *c = (const struct nk_command_circle_filled *)cmd; - nk_draw_list_fill_circle(&ctx->draw_list, nk_vec2((float)c->x + (float)c->w/2, - (float)c->y + (float)c->h/2), (float)c->w/2, c->color, - config->circle_segment_count); - } break; - case NK_COMMAND_ARC: { - const struct nk_command_arc *c = (const struct nk_command_arc*)cmd; - nk_draw_list_path_line_to(&ctx->draw_list, nk_vec2(c->cx, c->cy)); - nk_draw_list_path_arc_to(&ctx->draw_list, nk_vec2(c->cx, c->cy), c->r, - c->a[0], c->a[1], config->arc_segment_count); - nk_draw_list_path_stroke(&ctx->draw_list, c->color, NK_STROKE_CLOSED, c->line_thickness); - } break; - case NK_COMMAND_ARC_FILLED: { - const struct nk_command_arc_filled *c = (const struct nk_command_arc_filled*)cmd; - nk_draw_list_path_line_to(&ctx->draw_list, nk_vec2(c->cx, c->cy)); - nk_draw_list_path_arc_to(&ctx->draw_list, nk_vec2(c->cx, c->cy), c->r, - c->a[0], c->a[1], config->arc_segment_count); - nk_draw_list_path_fill(&ctx->draw_list, c->color); - } break; - case NK_COMMAND_TRIANGLE: { - const struct nk_command_triangle *t = (const struct nk_command_triangle*)cmd; - nk_draw_list_stroke_triangle(&ctx->draw_list, nk_vec2(t->a.x, t->a.y), - nk_vec2(t->b.x, t->b.y), nk_vec2(t->c.x, t->c.y), t->color, - t->line_thickness); - } break; - case NK_COMMAND_TRIANGLE_FILLED: { - const struct nk_command_triangle_filled *t = (const struct nk_command_triangle_filled*)cmd; - nk_draw_list_fill_triangle(&ctx->draw_list, nk_vec2(t->a.x, t->a.y), - nk_vec2(t->b.x, t->b.y), nk_vec2(t->c.x, t->c.y), t->color); - } break; - case NK_COMMAND_POLYGON: { - int i; - const struct nk_command_polygon*p = (const struct nk_command_polygon*)cmd; - for (i = 0; i < p->point_count; ++i) { - struct nk_vec2 pnt = nk_vec2((float)p->points[i].x, (float)p->points[i].y); - nk_draw_list_path_line_to(&ctx->draw_list, pnt); - } - nk_draw_list_path_stroke(&ctx->draw_list, p->color, NK_STROKE_CLOSED, p->line_thickness); - } break; - case NK_COMMAND_POLYGON_FILLED: { - int i; - const struct nk_command_polygon_filled *p = (const struct nk_command_polygon_filled*)cmd; - for (i = 0; i < p->point_count; ++i) { - struct nk_vec2 pnt = nk_vec2((float)p->points[i].x, (float)p->points[i].y); - nk_draw_list_path_line_to(&ctx->draw_list, pnt); - } - nk_draw_list_path_fill(&ctx->draw_list, p->color); - } break; - case NK_COMMAND_POLYLINE: { - int i; - const struct nk_command_polyline *p = (const struct nk_command_polyline*)cmd; - for (i = 0; i < p->point_count; ++i) { - struct nk_vec2 pnt = nk_vec2((float)p->points[i].x, (float)p->points[i].y); - nk_draw_list_path_line_to(&ctx->draw_list, pnt); - } - nk_draw_list_path_stroke(&ctx->draw_list, p->color, NK_STROKE_OPEN, p->line_thickness); - } break; - case NK_COMMAND_TEXT: { - const struct nk_command_text *t = (const struct nk_command_text*)cmd; - nk_draw_list_add_text(&ctx->draw_list, t->font, nk_rect(t->x, t->y, t->w, t->h), - t->string, t->length, t->height, t->foreground); - } break; - case NK_COMMAND_IMAGE: { - const struct nk_command_image *i = (const struct nk_command_image*)cmd; - nk_draw_list_add_image(&ctx->draw_list, i->img, nk_rect(i->x, i->y, i->w, i->h), i->col); - } break; - case NK_COMMAND_CUSTOM: { - const struct nk_command_custom *c = (const struct nk_command_custom*)cmd; - c->callback(&ctx->draw_list, c->x, c->y, c->w, c->h, c->callback_data); - } break; - default: break; - } - } - res |= (cmds->needed > cmds->allocated + (cmds->memory.size - cmds->size)) ? NK_CONVERT_COMMAND_BUFFER_FULL: 0; - res |= (vertices->needed > vertices->allocated) ? NK_CONVERT_VERTEX_BUFFER_FULL: 0; - res |= (elements->needed > elements->allocated) ? NK_CONVERT_ELEMENT_BUFFER_FULL: 0; - return res; -} -NK_API const struct nk_draw_command* -nk__draw_begin(const struct nk_context *ctx, - const struct nk_buffer *buffer) -{ - return nk__draw_list_begin(&ctx->draw_list, buffer); -} -NK_API const struct nk_draw_command* -nk__draw_end(const struct nk_context *ctx, const struct nk_buffer *buffer) -{ - return nk__draw_list_end(&ctx->draw_list, buffer); -} -NK_API const struct nk_draw_command* -nk__draw_next(const struct nk_draw_command *cmd, - const struct nk_buffer *buffer, const struct nk_context *ctx) -{ - return nk__draw_list_next(cmd, buffer, &ctx->draw_list); -} -#endif - - -/* stb_rect_pack.h - v1.01 - public domain - rectangle packing */ -/* Sean Barrett 2014 */ -/* */ -/* Useful for e.g. packing rectangular textures into an atlas. */ -/* Does not do rotation. */ -/* */ -/* Before #including, */ -/* */ -/* #define STB_RECT_PACK_IMPLEMENTATION */ -/* */ -/* in the file that you want to have the implementation. */ -/* */ -/* Not necessarily the awesomest packing method, but better than */ -/* the totally naive one in stb_truetype (which is primarily what */ -/* this is meant to replace). */ -/* */ -/* Has only had a few tests run, may have issues. */ -/* */ -/* More docs to come. */ -/* */ -/* No memory allocations; uses qsort() and assert() from stdlib. */ -/* Can override those by defining STBRP_SORT and STBRP_ASSERT. */ -/* */ -/* This library currently uses the Skyline Bottom-Left algorithm. */ -/* */ -/* Please note: better rectangle packers are welcome! Please */ -/* implement them to the same API, but with a different init */ -/* function. */ -/* */ -/* Credits */ -/* */ -/* Library */ -/* Sean Barrett */ -/* Minor features */ -/* Martins Mozeiko */ -/* github:IntellectualKitty */ -/* */ -/* Bugfixes / warning fixes */ -/* Jeremy Jaussaud */ -/* Fabian Giesen */ -/* */ -/* Version history: */ -/* */ -/* 1.01 (2021-07-11) always use large rect mode, expose STBRP__MAXVAL in public section */ -/* 1.00 (2019-02-25) avoid small space waste; gracefully fail too-wide rectangles */ -/* 0.99 (2019-02-07) warning fixes */ -/* 0.11 (2017-03-03) return packing success/fail result */ -/* 0.10 (2016-10-25) remove cast-away-const to avoid warnings */ -/* 0.09 (2016-08-27) fix compiler warnings */ -/* 0.08 (2015-09-13) really fix bug with empty rects (w=0 or h=0) */ -/* 0.07 (2015-09-13) fix bug with empty rects (w=0 or h=0) */ -/* 0.06 (2015-04-15) added STBRP_SORT to allow replacing qsort */ -/* 0.05: added STBRP_ASSERT to allow replacing assert */ -/* 0.04: fixed minor bug in STBRP_LARGE_RECTS support */ -/* 0.01: initial release */ -/* */ -/* LICENSE */ -/* */ -/* See end of file for license information. */ - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* INCLUDE SECTION */ -/* */ - -#ifndef STB_INCLUDE_STB_RECT_PACK_H -#define STB_INCLUDE_STB_RECT_PACK_H - -#define STB_RECT_PACK_VERSION 1 - -#ifdef STBRP_STATIC -#define STBRP_DEF static -#else -#define STBRP_DEF extern -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -typedef struct stbrp_context stbrp_context; -typedef struct stbrp_node stbrp_node; -typedef struct stbrp_rect stbrp_rect; - -typedef int stbrp_coord; - -#define STBRP__MAXVAL 0x7fffffff -/* Mostly for internal use, but this is the maximum supported coordinate value. */ - -STBRP_DEF int stbrp_pack_rects (stbrp_context *context, stbrp_rect *rects, int num_rects); -/* Assign packed locations to rectangles. The rectangles are of type */ -/* 'stbrp_rect' defined below, stored in the array 'rects', and there */ -/* are 'num_rects' many of them. */ -/* */ -/* Rectangles which are successfully packed have the 'was_packed' flag */ -/* set to a non-zero value and 'x' and 'y' store the minimum location */ -/* on each axis (i.e. bottom-left in cartesian coordinates, top-left */ -/* if you imagine y increasing downwards). Rectangles which do not fit */ -/* have the 'was_packed' flag set to 0. */ -/* */ -/* You should not try to access the 'rects' array from another thread */ -/* while this function is running, as the function temporarily reorders */ -/* the array while it executes. */ -/* */ -/* To pack into another rectangle, you need to call stbrp_init_target */ -/* again. To continue packing into the same rectangle, you can call */ -/* this function again. Calling this multiple times with multiple rect */ -/* arrays will probably produce worse packing results than calling it */ -/* a single time with the full rectangle array, but the option is */ -/* available. */ -/* */ -/* The function returns 1 if all of the rectangles were successfully */ -/* packed and 0 otherwise. */ - -struct stbrp_rect -{ - /* reserved for your use: */ - int id; - - /* input: */ - stbrp_coord w, h; - - /* output: */ - stbrp_coord x, y; - int was_packed; /* non-zero if valid packing */ - -}; /* 16 bytes, nominally */ - - -STBRP_DEF void stbrp_init_target (stbrp_context *context, int width, int height, stbrp_node *nodes, int num_nodes); -/* Initialize a rectangle packer to: */ -/* pack a rectangle that is 'width' by 'height' in dimensions */ -/* using temporary storage provided by the array 'nodes', which is 'num_nodes' long */ -/* */ -/* You must call this function every time you start packing into a new target. */ -/* */ -/* There is no "shutdown" function. The 'nodes' memory must stay valid for */ -/* the following stbrp_pack_rects() call (or calls), but can be freed after */ -/* the call (or calls) finish. */ -/* */ -/* Note: to guarantee best results, either: */ -/* 1. make sure 'num_nodes' >= 'width' */ -/* or 2. call stbrp_allow_out_of_mem() defined below with 'allow_out_of_mem = 1' */ -/* */ -/* If you don't do either of the above things, widths will be quantized to multiples */ -/* of small integers to guarantee the algorithm doesn't run out of temporary storage. */ -/* */ -/* If you do #2, then the non-quantized algorithm will be used, but the algorithm */ -/* may run out of temporary storage and be unable to pack some rectangles. */ - -STBRP_DEF void stbrp_setup_allow_out_of_mem (stbrp_context *context, int allow_out_of_mem); -/* Optionally call this function after init but before doing any packing to */ -/* change the handling of the out-of-temp-memory scenario, described above. */ -/* If you call init again, this will be reset to the default (false). */ - - -STBRP_DEF void stbrp_setup_heuristic (stbrp_context *context, int heuristic); -/* Optionally select which packing heuristic the library should use. Different */ -/* heuristics will produce better/worse results for different data sets. */ -/* If you call init again, this will be reset to the default. */ - -enum -{ - STBRP_HEURISTIC_Skyline_default=0, - STBRP_HEURISTIC_Skyline_BL_sortHeight = STBRP_HEURISTIC_Skyline_default, - STBRP_HEURISTIC_Skyline_BF_sortHeight -}; - - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* the details of the following structures don't matter to you, but they must */ -/* be visible so you can handle the memory allocations for them */ - -struct stbrp_node -{ - stbrp_coord x,y; - stbrp_node *next; -}; - -struct stbrp_context -{ - int width; - int height; - int align; - int init_mode; - int heuristic; - int num_nodes; - stbrp_node *active_head; - stbrp_node *free_head; - stbrp_node extra[2]; /* we allocate two extra nodes so optimal user-node-count is 'width' not 'width+2' */ -}; - -#ifdef __cplusplus -} -#endif - -#endif - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* IMPLEMENTATION SECTION */ -/* */ - -#ifdef STB_RECT_PACK_IMPLEMENTATION -#ifndef STBRP_SORT -#include -#define STBRP_SORT qsort -#endif - -#ifndef STBRP_ASSERT -#include -#define STBRP_ASSERT assert -#endif - -#ifdef _MSC_VER -#define STBRP__NOTUSED(v) (void)(v) -#define STBRP__CDECL __cdecl -#else -#define STBRP__NOTUSED(v) (void)sizeof(v) -#define STBRP__CDECL -#endif - -enum -{ - STBRP__INIT_skyline = 1 -}; - -STBRP_DEF void stbrp_setup_heuristic(stbrp_context *context, int heuristic) -{ - switch (context->init_mode) { - case STBRP__INIT_skyline: - STBRP_ASSERT(heuristic == STBRP_HEURISTIC_Skyline_BL_sortHeight || heuristic == STBRP_HEURISTIC_Skyline_BF_sortHeight); - context->heuristic = heuristic; - break; - default: - STBRP_ASSERT(0); - } -} - -STBRP_DEF void stbrp_setup_allow_out_of_mem(stbrp_context *context, int allow_out_of_mem) -{ - if (allow_out_of_mem) - /* if it's ok to run out of memory, then don't bother aligning them; */ - /* this gives better packing, but may fail due to OOM (even though */ - /* the rectangles easily fit). @TODO a smarter approach would be to only */ - /* quantize once we've hit OOM, then we could get rid of this parameter. */ - context->align = 1; - else { - /* if it's not ok to run out of memory, then quantize the widths */ - /* so that num_nodes is always enough nodes. */ - /* */ - /* I.e. num_nodes * align >= width */ - /* align >= width / num_nodes */ - /* align = ceil(width/num_nodes) */ - - context->align = (context->width + context->num_nodes-1) / context->num_nodes; - } -} - -STBRP_DEF void stbrp_init_target(stbrp_context *context, int width, int height, stbrp_node *nodes, int num_nodes) -{ - int i; - - for (i=0; i < num_nodes-1; ++i) - nodes[i].next = &nodes[i+1]; - nodes[i].next = NULL; - context->init_mode = STBRP__INIT_skyline; - context->heuristic = STBRP_HEURISTIC_Skyline_default; - context->free_head = &nodes[0]; - context->active_head = &context->extra[0]; - context->width = width; - context->height = height; - context->num_nodes = num_nodes; - stbrp_setup_allow_out_of_mem(context, 0); - - /* node 0 is the full width, node 1 is the sentinel (lets us not store width explicitly) */ - context->extra[0].x = 0; - context->extra[0].y = 0; - context->extra[0].next = &context->extra[1]; - context->extra[1].x = (stbrp_coord) width; - context->extra[1].y = (1<<30); - context->extra[1].next = NULL; -} - -/* find minimum y position if it starts at x1 */ -static int stbrp__skyline_find_min_y(stbrp_context *c, stbrp_node *first, int x0, int width, int *pwaste) -{ - stbrp_node *node = first; - int x1 = x0 + width; - int min_y, visited_width, waste_area; - - STBRP__NOTUSED(c); - - STBRP_ASSERT(first->x <= x0); - - #if 0 - /* skip in case we're past the node */ - while (node->next->x <= x0) - ++node; - #else - STBRP_ASSERT(node->next->x > x0); /* we ended up handling this in the caller for efficiency */ - #endif - - STBRP_ASSERT(node->x <= x0); - - min_y = 0; - waste_area = 0; - visited_width = 0; - while (node->x < x1) { - if (node->y > min_y) { - /* raise min_y higher. */ - /* we've accounted for all waste up to min_y, */ - /* but we'll now add more waste for everything we've visted */ - waste_area += visited_width * (node->y - min_y); - min_y = node->y; - /* the first time through, visited_width might be reduced */ - if (node->x < x0) - visited_width += node->next->x - x0; - else - visited_width += node->next->x - node->x; - } else { - /* add waste area */ - int under_width = node->next->x - node->x; - if (under_width + visited_width > width) - under_width = width - visited_width; - waste_area += under_width * (min_y - node->y); - visited_width += under_width; - } - node = node->next; - } - - *pwaste = waste_area; - return min_y; -} - -typedef struct -{ - int x,y; - stbrp_node **prev_link; -} stbrp__findresult; - -static stbrp__findresult stbrp__skyline_find_best_pos(stbrp_context *c, int width, int height) -{ - int best_waste = (1<<30), best_x, best_y = (1 << 30); - stbrp__findresult fr; - stbrp_node **prev, *node, *tail, **best = NULL; - - /* align to multiple of c->align */ - width = (width + c->align - 1); - width -= width % c->align; - STBRP_ASSERT(width % c->align == 0); - - /* if it can't possibly fit, bail immediately */ - if (width > c->width || height > c->height) { - fr.prev_link = NULL; - fr.x = fr.y = 0; - return fr; - } - - node = c->active_head; - prev = &c->active_head; - while (node->x + width <= c->width) { - int y,waste; - y = stbrp__skyline_find_min_y(c, node, node->x, width, &waste); - if (c->heuristic == STBRP_HEURISTIC_Skyline_BL_sortHeight) { /* actually just want to test BL */ - /* bottom left */ - if (y < best_y) { - best_y = y; - best = prev; - } - } else { - /* best-fit */ - if (y + height <= c->height) { - /* can only use it if it first vertically */ - if (y < best_y || (y == best_y && waste < best_waste)) { - best_y = y; - best_waste = waste; - best = prev; - } - } - } - prev = &node->next; - node = node->next; - } - - best_x = (best == NULL) ? 0 : (*best)->x; - - /* if doing best-fit (BF), we also have to try aligning right edge to each node position */ - /* */ - /* e.g, if fitting */ - /* */ - /* ____________________ */ - /* |____________________| */ - /* */ - /* into */ - /* */ - /* | | */ - /* | ____________| */ - /* |____________| */ - /* */ - /* then right-aligned reduces waste, but bottom-left BL is always chooses left-aligned */ - /* */ - /* This makes BF take about 2x the time */ - - if (c->heuristic == STBRP_HEURISTIC_Skyline_BF_sortHeight) { - tail = c->active_head; - node = c->active_head; - prev = &c->active_head; - /* find first node that's admissible */ - while (tail->x < width) - tail = tail->next; - while (tail) { - int xpos = tail->x - width; - int y,waste; - STBRP_ASSERT(xpos >= 0); - /* find the left position that matches this */ - while (node->next->x <= xpos) { - prev = &node->next; - node = node->next; - } - STBRP_ASSERT(node->next->x > xpos && node->x <= xpos); - y = stbrp__skyline_find_min_y(c, node, xpos, width, &waste); - if (y + height <= c->height) { - if (y <= best_y) { - if (y < best_y || waste < best_waste || (waste==best_waste && xpos < best_x)) { - best_x = xpos; - STBRP_ASSERT(y <= best_y); - best_y = y; - best_waste = waste; - best = prev; - } - } - } - tail = tail->next; - } - } - - fr.prev_link = best; - fr.x = best_x; - fr.y = best_y; - return fr; -} - -static stbrp__findresult stbrp__skyline_pack_rectangle(stbrp_context *context, int width, int height) -{ - /* find best position according to heuristic */ - stbrp__findresult res = stbrp__skyline_find_best_pos(context, width, height); - stbrp_node *node, *cur; - - /* bail if: */ - /* 1. it failed */ - /* 2. the best node doesn't fit (we don't always check this) */ - /* 3. we're out of memory */ - if (res.prev_link == NULL || res.y + height > context->height || context->free_head == NULL) { - res.prev_link = NULL; - return res; - } - - /* on success, create new node */ - node = context->free_head; - node->x = (stbrp_coord) res.x; - node->y = (stbrp_coord) (res.y + height); - - context->free_head = node->next; - - /* insert the new node into the right starting point, and */ - /* let 'cur' point to the remaining nodes needing to be */ - /* stiched back in */ - - cur = *res.prev_link; - if (cur->x < res.x) { - /* preserve the existing one, so start testing with the next one */ - stbrp_node *next = cur->next; - cur->next = node; - cur = next; - } else { - *res.prev_link = node; - } - - /* from here, traverse cur and free the nodes, until we get to one */ - /* that shouldn't be freed */ - while (cur->next && cur->next->x <= res.x + width) { - stbrp_node *next = cur->next; - /* move the current node to the free list */ - cur->next = context->free_head; - context->free_head = cur; - cur = next; - } - - /* stitch the list back in */ - node->next = cur; - - if (cur->x < res.x + width) - cur->x = (stbrp_coord) (res.x + width); - -#ifdef _DEBUG - cur = context->active_head; - while (cur->x < context->width) { - STBRP_ASSERT(cur->x < cur->next->x); - cur = cur->next; - } - STBRP_ASSERT(cur->next == NULL); - - { - int count=0; - cur = context->active_head; - while (cur) { - cur = cur->next; - ++count; - } - cur = context->free_head; - while (cur) { - cur = cur->next; - ++count; - } - STBRP_ASSERT(count == context->num_nodes+2); - } -#endif - - return res; -} - -static int STBRP__CDECL rect_height_compare(const void *a, const void *b) -{ - const stbrp_rect *p = (const stbrp_rect *) a; - const stbrp_rect *q = (const stbrp_rect *) b; - if (p->h > q->h) - return -1; - if (p->h < q->h) - return 1; - return (p->w > q->w) ? -1 : (p->w < q->w); -} - -static int STBRP__CDECL rect_original_order(const void *a, const void *b) -{ - const stbrp_rect *p = (const stbrp_rect *) a; - const stbrp_rect *q = (const stbrp_rect *) b; - return (p->was_packed < q->was_packed) ? -1 : (p->was_packed > q->was_packed); -} - -STBRP_DEF int stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int num_rects) -{ - int i, all_rects_packed = 1; - - /* we use the 'was_packed' field internally to allow sorting/unsorting */ - for (i=0; i < num_rects; ++i) { - rects[i].was_packed = i; - } - - /* sort according to heuristic */ - STBRP_SORT(rects, num_rects, sizeof(rects[0]), rect_height_compare); - - for (i=0; i < num_rects; ++i) { - if (rects[i].w == 0 || rects[i].h == 0) { - rects[i].x = rects[i].y = 0; /* empty rect needs no space */ - } else { - stbrp__findresult fr = stbrp__skyline_pack_rectangle(context, rects[i].w, rects[i].h); - if (fr.prev_link) { - rects[i].x = (stbrp_coord) fr.x; - rects[i].y = (stbrp_coord) fr.y; - } else { - rects[i].x = rects[i].y = STBRP__MAXVAL; - } - } - } - - /* unsort */ - STBRP_SORT(rects, num_rects, sizeof(rects[0]), rect_original_order); - - /* set was_packed flags and all_rects_packed status */ - for (i=0; i < num_rects; ++i) { - rects[i].was_packed = !(rects[i].x == STBRP__MAXVAL && rects[i].y == STBRP__MAXVAL); - if (!rects[i].was_packed) - all_rects_packed = 0; - } - - /* return the all_rects_packed status */ - return all_rects_packed; -} -#endif - -/* ------------------------------------------------------------------------------- -This software is available under 2 licenses -- choose whichever you prefer. ------------------------------------------------------------------------------- -ALTERNATIVE A - MIT License -Copyright (c) 2017 Sean Barrett -Permission is hereby granted, free of charge, to any person obtaining a copy of -this software and associated documentation files (the "Software"), to deal in -the Software without restriction, including without limitation the rights to -use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies -of the Software, and to permit persons to whom the Software is furnished to do -so, subject to the following conditions: -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. ------------------------------------------------------------------------------- -ALTERNATIVE B - Public Domain (www.unlicense.org) -This is free and unencumbered software released into the public domain. -Anyone is free to copy, modify, publish, use, compile, sell, or distribute this -software, either in source code form or as a compiled binary, for any purpose, -commercial or non-commercial, and by any means. -In jurisdictions that recognize copyright laws, the author or authors of this -software dedicate any and all copyright interest in the software to the public -domain. We make this dedication for the benefit of the public at large and to -the detriment of our heirs and successors. We intend this dedication to be an -overt act of relinquishment in perpetuity of all present and future rights to -this software under copyright law. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN -ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION -WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. ------------------------------------------------------------------------------- -*/ - -/* stb_truetype.h - v1.26 - public domain */ -/* authored from 2009-2021 by Sean Barrett / RAD Game Tools */ -/* */ -/* ======================================================================= */ -/* */ -/* NO SECURITY GUARANTEE -- DO NOT USE THIS ON UNTRUSTED FONT FILES */ -/* */ -/* This library does no range checking of the offsets found in the file, */ -/* meaning an attacker can use it to read arbitrary memory. */ -/* */ -/* ======================================================================= */ -/* */ -/* This library processes TrueType files: */ -/* parse files */ -/* extract glyph metrics */ -/* extract glyph shapes */ -/* render glyphs to one-channel bitmaps with antialiasing (box filter) */ -/* render glyphs to one-channel SDF bitmaps (signed-distance field/function) */ -/* */ -/* Todo: */ -/* non-MS cmaps */ -/* crashproof on bad data */ -/* hinting? (no longer patented) */ -/* cleartype-style AA? */ -/* optimize: use simple memory allocator for intermediates */ -/* optimize: build edge-list directly from curves */ -/* optimize: rasterize directly from curves? */ -/* */ -/* ADDITIONAL CONTRIBUTORS */ -/* */ -/* Mikko Mononen: compound shape support, more cmap formats */ -/* Tor Andersson: kerning, subpixel rendering */ -/* Dougall Johnson: OpenType / Type 2 font handling */ -/* Daniel Ribeiro Maciel: basic GPOS-based kerning */ -/* */ -/* Misc other: */ -/* Ryan Gordon */ -/* Simon Glass */ -/* github:IntellectualKitty */ -/* Imanol Celaya */ -/* Daniel Ribeiro Maciel */ -/* */ -/* Bug/warning reports/fixes: */ -/* "Zer" on mollyrocket Fabian "ryg" Giesen github:NiLuJe */ -/* Cass Everitt Martins Mozeiko github:aloucks */ -/* stoiko (Haemimont Games) Cap Petschulat github:oyvindjam */ -/* Brian Hook Omar Cornut github:vassvik */ -/* Walter van Niftrik Ryan Griege */ -/* David Gow Peter LaValle */ -/* David Given Sergey Popov */ -/* Ivan-Assen Ivanov Giumo X. Clanjor */ -/* Anthony Pesch Higor Euripedes */ -/* Johan Duparc Thomas Fields */ -/* Hou Qiming Derek Vinyard */ -/* Rob Loach Cort Stratton */ -/* Kenney Phillis Jr. Brian Costabile */ -/* Ken Voskuil (kaesve) */ -/* */ -/* VERSION HISTORY */ -/* */ -/* 1.26 (2021-08-28) fix broken rasterizer */ -/* 1.25 (2021-07-11) many fixes */ -/* 1.24 (2020-02-05) fix warning */ -/* 1.23 (2020-02-02) query SVG data for glyphs; query whole kerning table (but only kern not GPOS) */ -/* 1.22 (2019-08-11) minimize missing-glyph duplication; fix kerning if both 'GPOS' and 'kern' are defined */ -/* 1.21 (2019-02-25) fix warning */ -/* 1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics() */ -/* 1.19 (2018-02-11) GPOS kerning, STBTT_fmod */ -/* 1.18 (2018-01-29) add missing function */ -/* 1.17 (2017-07-23) make more arguments const; doc fix */ -/* 1.16 (2017-07-12) SDF support */ -/* 1.15 (2017-03-03) make more arguments const */ -/* 1.14 (2017-01-16) num-fonts-in-TTC function */ -/* 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts */ -/* 1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual */ -/* 1.11 (2016-04-02) fix unused-variable warning */ -/* 1.10 (2016-04-02) user-defined fabs(); rare memory leak; remove duplicate typedef */ -/* 1.09 (2016-01-16) warning fix; avoid crash on outofmem; use allocation userdata properly */ -/* 1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges */ -/* 1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints; */ -/* variant PackFontRanges to pack and render in separate phases; */ -/* fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?); */ -/* fixed an assert() bug in the new rasterizer */ -/* replace assert() with STBTT_assert() in new rasterizer */ -/* */ -/* Full history can be found at the end of this file. */ -/* */ -/* LICENSE */ -/* */ -/* See end of file for license information. */ -/* */ -/* USAGE */ -/* */ -/* Include this file in whatever places need to refer to it. In ONE C/C++ */ -/* file, write: */ -/* #define STB_TRUETYPE_IMPLEMENTATION */ -/* before the #include of this file. This expands out the actual */ -/* implementation into that C/C++ file. */ -/* */ -/* To make the implementation private to the file that generates the implementation, */ -/* #define STBTT_STATIC */ -/* */ -/* Simple 3D API (don't ship this, but it's fine for tools and quick start) */ -/* stbtt_BakeFontBitmap() -- bake a font to a bitmap for use as texture */ -/* stbtt_GetBakedQuad() -- compute quad to draw for a given char */ -/* */ -/* Improved 3D API (more shippable): */ -/* #include "stb_rect_pack.h" -- optional, but you really want it */ -/* stbtt_PackBegin() */ -/* stbtt_PackSetOversampling() -- for improved quality on small fonts */ -/* stbtt_PackFontRanges() -- pack and renders */ -/* stbtt_PackEnd() */ -/* stbtt_GetPackedQuad() */ -/* */ -/* "Load" a font file from a memory buffer (you have to keep the buffer loaded) */ -/* stbtt_InitFont() */ -/* stbtt_GetFontOffsetForIndex() -- indexing for TTC font collections */ -/* stbtt_GetNumberOfFonts() -- number of fonts for TTC font collections */ -/* */ -/* Render a unicode codepoint to a bitmap */ -/* stbtt_GetCodepointBitmap() -- allocates and returns a bitmap */ -/* stbtt_MakeCodepointBitmap() -- renders into bitmap you provide */ -/* stbtt_GetCodepointBitmapBox() -- how big the bitmap must be */ -/* */ -/* Character advance/positioning */ -/* stbtt_GetCodepointHMetrics() */ -/* stbtt_GetFontVMetrics() */ -/* stbtt_GetFontVMetricsOS2() */ -/* stbtt_GetCodepointKernAdvance() */ -/* */ -/* Starting with version 1.06, the rasterizer was replaced with a new, */ -/* faster and generally-more-precise rasterizer. The new rasterizer more */ -/* accurately measures pixel coverage for anti-aliasing, except in the case */ -/* where multiple shapes overlap, in which case it overestimates the AA pixel */ -/* coverage. Thus, anti-aliasing of intersecting shapes may look wrong. If */ -/* this turns out to be a problem, you can re-enable the old rasterizer with */ -/* #define STBTT_RASTERIZER_VERSION 1 */ -/* which will incur about a 15% speed hit. */ -/* */ -/* ADDITIONAL DOCUMENTATION */ -/* */ -/* Immediately after this block comment are a series of sample programs. */ -/* */ -/* After the sample programs is the "header file" section. This section */ -/* includes documentation for each API function. */ -/* */ -/* Some important concepts to understand to use this library: */ -/* */ -/* Codepoint */ -/* Characters are defined by unicode codepoints, e.g. 65 is */ -/* uppercase A, 231 is lowercase c with a cedilla, 0x7e30 is */ -/* the hiragana for "ma". */ -/* */ -/* Glyph */ -/* A visual character shape (every codepoint is rendered as */ -/* some glyph) */ -/* */ -/* Glyph index */ -/* A font-specific integer ID representing a glyph */ -/* */ -/* Baseline */ -/* Glyph shapes are defined relative to a baseline, which is the */ -/* bottom of uppercase characters. Characters extend both above */ -/* and below the baseline. */ -/* */ -/* Current Point */ -/* As you draw text to the screen, you keep track of a "current point" */ -/* which is the origin of each character. The current point's vertical */ -/* position is the baseline. Even "baked fonts" use this model. */ -/* */ -/* Vertical Font Metrics */ -/* The vertical qualities of the font, used to vertically position */ -/* and space the characters. See docs for stbtt_GetFontVMetrics. */ -/* */ -/* Font Size in Pixels or Points */ -/* The preferred interface for specifying font sizes in stb_truetype */ -/* is to specify how tall the font's vertical extent should be in pixels. */ -/* If that sounds good enough, skip the next paragraph. */ -/* */ -/* Most font APIs instead use "points", which are a common typographic */ -/* measurement for describing font size, defined as 72 points per inch. */ -/* stb_truetype provides a point API for compatibility. However, true */ -/* "per inch" conventions don't make much sense on computer displays */ -/* since different monitors have different number of pixels per */ -/* inch. For example, Windows traditionally uses a convention that */ -/* there are 96 pixels per inch, thus making 'inch' measurements have */ -/* nothing to do with inches, and thus effectively defining a point to */ -/* be 1.333 pixels. Additionally, the TrueType font data provides */ -/* an explicit scale factor to scale a given font's glyphs to points, */ -/* but the author has observed that this scale factor is often wrong */ -/* for non-commercial fonts, thus making fonts scaled in points */ -/* according to the TrueType spec incoherently sized in practice. */ -/* */ -/* DETAILED USAGE: */ -/* */ -/* Scale: */ -/* Select how high you want the font to be, in points or pixels. */ -/* Call ScaleForPixelHeight or ScaleForMappingEmToPixels to compute */ -/* a scale factor SF that will be used by all other functions. */ -/* */ -/* Baseline: */ -/* You need to select a y-coordinate that is the baseline of where */ -/* your text will appear. Call GetFontBoundingBox to get the baseline-relative */ -/* bounding box for all characters. SF*-y0 will be the distance in pixels */ -/* that the worst-case character could extend above the baseline, so if */ -/* you want the top edge of characters to appear at the top of the */ -/* screen where y=0, then you would set the baseline to SF*-y0. */ -/* */ -/* Current point: */ -/* Set the current point where the first character will appear. The */ -/* first character could extend left of the current point; this is font */ -/* dependent. You can either choose a current point that is the leftmost */ -/* point and hope, or add some padding, or check the bounding box or */ -/* left-side-bearing of the first character to be displayed and set */ -/* the current point based on that. */ -/* */ -/* Displaying a character: */ -/* Compute the bounding box of the character. It will contain signed values */ -/* relative to . I.e. if it returns x0,y0,x1,y1, */ -/* then the character should be displayed in the rectangle from */ -/* to = 32 && *text < 128) { - stbtt_aligned_quad q; - stbtt_GetBakedQuad(cdata, 512,512, *text-32, &x,&y,&q,1);/* 1=opengl & d3d10+,0=d3d9 */ - glTexCoord2f(q.s0,q.t0); glVertex2f(q.x0,q.y0); - glTexCoord2f(q.s1,q.t0); glVertex2f(q.x1,q.y0); - glTexCoord2f(q.s1,q.t1); glVertex2f(q.x1,q.y1); - glTexCoord2f(q.s0,q.t1); glVertex2f(q.x0,q.y1); - } - ++text; - } - glEnd(); -} -#endif -/* */ -/* */ -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* Complete program (this compiles): get a single bitmap, print as ASCII art */ -/* */ -#if 0 -#include -#define STB_TRUETYPE_IMPLEMENTATION /* force following include to generate implementation */ -#include "stb_truetype.h" - -char ttf_buffer[1<<25]; - -int main(int argc, char **argv) -{ - stbtt_fontinfo font; - unsigned char *bitmap; - int w,h,i,j,c = (argc > 1 ? atoi(argv[1]) : 'a'), s = (argc > 2 ? atoi(argv[2]) : 20); - - fread(ttf_buffer, 1, 1<<25, fopen(argc > 3 ? argv[3] : "c:/windows/fonts/arialbd.ttf", "rb")); - - stbtt_InitFont(&font, ttf_buffer, stbtt_GetFontOffsetForIndex(ttf_buffer,0)); - bitmap = stbtt_GetCodepointBitmap(&font, 0,stbtt_ScaleForPixelHeight(&font, s), c, &w, &h, 0,0); - - for (j=0; j < h; ++j) { - for (i=0; i < w; ++i) - putchar(" .:ioVM@"[bitmap[j*w+i]>>5]); - putchar('\n'); - } - return 0; -} -#endif -/* */ -/* Output: */ -/* */ -/* .ii. */ -/* @@@@@@. */ -/* V@Mio@@o */ -/* :i. V@V */ -/* :oM@@M */ -/* :@@@MM@M */ -/* @@o o@M */ -/* :@@. M@M */ -/* @@@o@@@@ */ -/* :M@@V:@@. */ -/* */ -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* Complete program: print "Hello World!" banner, with bugs */ -/* */ -#if 0 -char buffer[24<<20]; -unsigned char screen[20][79]; - -int main(int arg, char **argv) -{ - stbtt_fontinfo font; - int i,j,ascent,baseline,ch=0; - float scale, xpos=2; /* leave a little padding in case the character extends left */ - char *text = "Heljo World!"; /* intentionally misspelled to show 'lj' brokenness */ - - fread(buffer, 1, 1000000, fopen("c:/windows/fonts/arialbd.ttf", "rb")); - stbtt_InitFont(&font, buffer, 0); - - scale = stbtt_ScaleForPixelHeight(&font, 15); - stbtt_GetFontVMetrics(&font, &ascent,0,0); - baseline = (int) (ascent*scale); - - while (text[ch]) { - int advance,lsb,x0,y0,x1,y1; - float x_shift = xpos - (float) floor(xpos); - stbtt_GetCodepointHMetrics(&font, text[ch], &advance, &lsb); - stbtt_GetCodepointBitmapBoxSubpixel(&font, text[ch], scale,scale,x_shift,0, &x0,&y0,&x1,&y1); - stbtt_MakeCodepointBitmapSubpixel(&font, &screen[baseline + y0][(int) xpos + x0], x1-x0,y1-y0, 79, scale,scale,x_shift,0, text[ch]); - /* note that this stomps the old data, so where character boxes overlap (e.g. 'lj') it's wrong */ - /* because this API is really for baking character bitmaps into textures. if you want to render */ - /* a sequence of characters, you really need to render each bitmap to a temp buffer, then */ - /* "alpha blend" that into the working buffer */ - xpos += (advance * scale); - if (text[ch+1]) - xpos += scale*stbtt_GetCodepointKernAdvance(&font, text[ch],text[ch+1]); - ++ch; - } - - for (j=0; j < 20; ++j) { - for (i=0; i < 78; ++i) - putchar(" .:ioVM@"[screen[j][i]>>5]); - putchar('\n'); - } - - return 0; -} -#endif - - -/* //////////////////////////////////////////////////////////////////////////// */ -/* //////////////////////////////////////////////////////////////////////////// */ -/* // */ -/* // INTEGRATION WITH YOUR CODEBASE */ -/* // */ -/* // The following sections allow you to supply alternate definitions */ -/* // of C library functions used by stb_truetype, e.g. if you don't */ -/* // link with the C runtime library. */ - -#ifdef STB_TRUETYPE_IMPLEMENTATION - /* #define your own (u)stbtt_int8/16/32 before including to override this */ - #ifndef stbtt_uint8 - typedef unsigned char stbtt_uint8; - typedef signed char stbtt_int8; - typedef unsigned short stbtt_uint16; - typedef signed short stbtt_int16; - typedef unsigned int stbtt_uint32; - typedef signed int stbtt_int32; - #endif - - typedef char stbtt__check_size32[sizeof(stbtt_int32)==4 ? 1 : -1]; - typedef char stbtt__check_size16[sizeof(stbtt_int16)==2 ? 1 : -1]; - - /* e.g. #define your own STBTT_ifloor/STBTT_iceil() to avoid math.h */ - #ifndef STBTT_ifloor - #include - #define STBTT_ifloor(x) ((int) floor(x)) - #define STBTT_iceil(x) ((int) ceil(x)) - #endif - - #ifndef STBTT_sqrt - #include - #define STBTT_sqrt(x) sqrt(x) - #define STBTT_pow(x,y) pow(x,y) - #endif - - #ifndef STBTT_fmod - #include - #define STBTT_fmod(x,y) fmod(x,y) - #endif - - #ifndef STBTT_cos - #include - #define STBTT_cos(x) cos(x) - #define STBTT_acos(x) acos(x) - #endif - - #ifndef STBTT_fabs - #include - #define STBTT_fabs(x) fabs(x) - #endif - - /* #define your own functions "STBTT_malloc" / "STBTT_free" to avoid malloc.h */ - #ifndef STBTT_malloc - #include - #define STBTT_malloc(x,u) ((void)(u),malloc(x)) - #define STBTT_free(x,u) ((void)(u),free(x)) - #endif - - #ifndef STBTT_assert - #include - #define STBTT_assert(x) assert(x) - #endif - - #ifndef STBTT_strlen - #include - #define STBTT_strlen(x) strlen(x) - #endif - - #ifndef STBTT_memcpy - #include - #define STBTT_memcpy memcpy - #define STBTT_memset memset - #endif -#endif - -/* ///////////////////////////////////////////////////////////////////////////// */ -/* ///////////////////////////////////////////////////////////////////////////// */ -/* // */ -/* // INTERFACE */ -/* // */ -/* // */ - -#ifndef __STB_INCLUDE_STB_TRUETYPE_H__ -#define __STB_INCLUDE_STB_TRUETYPE_H__ - -#ifdef STBTT_STATIC -#define STBTT_DEF static -#else -#define STBTT_DEF extern -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/* private structure */ -typedef struct -{ - unsigned char *data; - int cursor; - int size; -} stbtt__buf; - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* TEXTURE BAKING API */ -/* */ -/* If you use this API, you only have to call two functions ever. */ -/* */ - -typedef struct -{ - unsigned short x0,y0,x1,y1; /* coordinates of bbox in bitmap */ - float xoff,yoff,xadvance; -} stbtt_bakedchar; - -STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset, /* font location (use offset=0 for plain .ttf) */ - float pixel_height, /* height of font in pixels */ - unsigned char *pixels, int pw, int ph, /* bitmap to be filled in */ - int first_char, int num_chars, /* characters to bake */ - stbtt_bakedchar *chardata); /* you allocate this, it's num_chars long */ -/* if return is positive, the first unused row of the bitmap */ -/* if return is negative, returns the negative of the number of characters that fit */ -/* if return is 0, no characters fit and no rows were used */ -/* This uses a very crappy packing. */ - -typedef struct -{ - float x0,y0,s0,t0; /* top-left */ - float x1,y1,s1,t1; /* bottom-right */ -} stbtt_aligned_quad; - -STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, /* same data as above */ - int char_index, /* character to display */ - float *xpos, float *ypos, /* pointers to current position in screen pixel space */ - stbtt_aligned_quad *q, /* output: quad to draw */ - int opengl_fillrule); /* true if opengl fill rule; false if DX9 or earlier */ -/* Call GetBakedQuad with char_index = 'character - first_char', and it */ -/* creates the quad you need to draw and advances the current position. */ -/* */ -/* The coordinate system used assumes y increases downwards. */ -/* */ -/* Characters will extend both above and below the current position; */ -/* see discussion of "BASELINE" above. */ -/* */ -/* It's inefficient; you might want to c&p it and optimize it. */ - -STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap); -/* Query the font vertical metrics without having to create a font first. */ - - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* NEW TEXTURE BAKING API */ -/* */ -/* This provides options for packing multiple fonts into one atlas, not */ -/* perfectly but better than nothing. */ - -typedef struct -{ - unsigned short x0,y0,x1,y1; /* coordinates of bbox in bitmap */ - float xoff,yoff,xadvance; - float xoff2,yoff2; -} stbtt_packedchar; - -typedef struct stbtt_pack_context stbtt_pack_context; -typedef struct stbtt_fontinfo stbtt_fontinfo; -#ifndef STB_RECT_PACK_VERSION -typedef struct stbrp_rect stbrp_rect; -#endif - -STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int width, int height, int stride_in_bytes, int padding, void *alloc_context); -/* Initializes a packing context stored in the passed-in stbtt_pack_context. */ -/* Future calls using this context will pack characters into the bitmap passed */ -/* in here: a 1-channel bitmap that is width * height. stride_in_bytes is */ -/* the distance from one row to the next (or 0 to mean they are packed tightly */ -/* together). "padding" is the amount of padding to leave between each */ -/* character (normally you want '1' for bitmaps you'll use as textures with */ -/* bilinear filtering). */ -/* */ -/* Returns 0 on failure, 1 on success. */ - -STBTT_DEF void stbtt_PackEnd (stbtt_pack_context *spc); -/* Cleans up the packing context and frees all memory. */ - -#define STBTT_POINT_SIZE(x) (-(x)) - -STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size, - int first_unicode_char_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range); -/* Creates character bitmaps from the font_index'th font found in fontdata (use */ -/* font_index=0 if you don't know what that is). It creates num_chars_in_range */ -/* bitmaps for characters with unicode values starting at first_unicode_char_in_range */ -/* and increasing. Data for how to render them is stored in chardata_for_range; */ -/* pass these to stbtt_GetPackedQuad to get back renderable quads. */ -/* */ -/* font_size is the full height of the character from ascender to descender, */ -/* as computed by stbtt_ScaleForPixelHeight. To use a point size as computed */ -/* by stbtt_ScaleForMappingEmToPixels, wrap the point size in STBTT_POINT_SIZE() */ -/* and pass that result as 'font_size': */ -/* ..., 20 , ... // font max minus min y is 20 pixels tall */ -/* ..., STBTT_POINT_SIZE(20), ... // 'M' is 20 pixels tall */ - -typedef struct -{ - float font_size; - int first_unicode_codepoint_in_range; /* if non-zero, then the chars are continuous, and this is the first codepoint */ - int *array_of_unicode_codepoints; /* if non-zero, then this is an array of unicode codepoints */ - int num_chars; - stbtt_packedchar *chardata_for_range; /* output */ - unsigned char h_oversample, v_oversample; /* don't set these, they're used internally */ -} stbtt_pack_range; - -STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges); -/* Creates character bitmaps from multiple ranges of characters stored in */ -/* ranges. This will usually create a better-packed bitmap than multiple */ -/* calls to stbtt_PackFontRange. Note that you can call this multiple */ -/* times within a single PackBegin/PackEnd. */ - -STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample); -/* Oversampling a font increases the quality by allowing higher-quality subpixel */ -/* positioning, and is especially valuable at smaller text sizes. */ -/* */ -/* This function sets the amount of oversampling for all following calls to */ -/* stbtt_PackFontRange(s) or stbtt_PackFontRangesGatherRects for a given */ -/* pack context. The default (no oversampling) is achieved by h_oversample=1 */ -/* and v_oversample=1. The total number of pixels required is */ -/* h_oversample*v_oversample larger than the default; for example, 2x2 */ -/* oversampling requires 4x the storage of 1x1. For best results, render */ -/* oversampled textures with bilinear filtering. Look at the readme in */ -/* stb/tests/oversample for information about oversampled fonts */ -/* */ -/* To use with PackFontRangesGather etc., you must set it before calls */ -/* call to PackFontRangesGatherRects. */ - -STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip); -/* If skip != 0, this tells stb_truetype to skip any codepoints for which */ -/* there is no corresponding glyph. If skip=0, which is the default, then */ -/* codepoints without a glyph recived the font's "missing character" glyph, */ -/* typically an empty box by convention. */ - -STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, /* same data as above */ - int char_index, /* character to display */ - float *xpos, float *ypos, /* pointers to current position in screen pixel space */ - stbtt_aligned_quad *q, /* output: quad to draw */ - int align_to_integer); - -STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects); -STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects); -STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects); -/* Calling these functions in sequence is roughly equivalent to calling */ -/* stbtt_PackFontRanges(). If you more control over the packing of multiple */ -/* fonts, or if you want to pack custom data into a font texture, take a look */ -/* at the source to of stbtt_PackFontRanges() and create a custom version */ -/* using these functions, e.g. call GatherRects multiple times, */ -/* building up a single array of rects, then call PackRects once, */ -/* then call RenderIntoRects repeatedly. This may result in a */ -/* better packing than calling PackFontRanges multiple times */ -/* (or it may not). */ - -/* this is an opaque structure that you shouldn't mess with which holds */ -/* all the context needed from PackBegin to PackEnd. */ -struct stbtt_pack_context { - void *user_allocator_context; - void *pack_info; - int width; - int height; - int stride_in_bytes; - int padding; - int skip_missing; - unsigned int h_oversample, v_oversample; - unsigned char *pixels; - void *nodes; -}; - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* FONT LOADING */ -/* */ -/* */ - -STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data); -/* This function will determine the number of fonts in a font file. TrueType */ -/* collection (.ttc) files may contain multiple fonts, while TrueType font */ -/* (.ttf) files only contain one font. The number of fonts can be used for */ -/* indexing with the previous function where the index is between zero and one */ -/* less than the total fonts. If an error occurs, -1 is returned. */ - -STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index); -/* Each .ttf/.ttc file may have more than one font. Each font has a sequential */ -/* index number starting from 0. Call this function to get the font offset for */ -/* a given index; it returns -1 if the index is out of range. A regular .ttf */ -/* file will only define one font and it always be at offset 0, so it will */ -/* return '0' for index 0, and -1 for all other indices. */ - -/* The following structure is defined publicly so you can declare one on */ -/* the stack or as a global or etc, but you should treat it as opaque. */ -struct stbtt_fontinfo -{ - void * userdata; - unsigned char * data; /* pointer to .ttf file */ - int fontstart; /* offset of start of font */ - - int numGlyphs; /* number of glyphs, needed for range checking */ - - int loca,head,glyf,hhea,hmtx,kern,gpos,svg; /* table locations as offset from start of .ttf */ - int index_map; /* a cmap mapping for our chosen character encoding */ - int indexToLocFormat; /* format needed to map from glyph index to glyph */ - - stbtt__buf cff; /* cff font data */ - stbtt__buf charstrings; /* the charstring index */ - stbtt__buf gsubrs; /* global charstring subroutines index */ - stbtt__buf subrs; /* private charstring subroutines index */ - stbtt__buf fontdicts; /* array of font dicts */ - stbtt__buf fdselect; /* map from glyph to fontdict */ -}; - -STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset); -/* Given an offset into the file that defines a font, this function builds */ -/* the necessary cached info for the rest of the system. You must allocate */ -/* the stbtt_fontinfo yourself, and stbtt_InitFont will fill it out. You don't */ -/* need to do anything special to free it, because the contents are pure */ -/* value data with no additional data structures. Returns 0 on failure. */ - - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* CHARACTER TO GLYPH-INDEX CONVERSIOn */ - -STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint); -/* If you're going to perform multiple operations on the same character */ -/* and you want a speed-up, call this function with the character you're */ -/* going to process, then use glyph-based functions instead of the */ -/* codepoint-based functions. */ -/* Returns 0 if the character codepoint is not defined in the font. */ - - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* CHARACTER PROPERTIES */ -/* */ - -STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float pixels); -/* computes a scale factor to produce a font whose "height" is 'pixels' tall. */ -/* Height is measured as the distance from the highest ascender to the lowest */ -/* descender; in other words, it's equivalent to calling stbtt_GetFontVMetrics */ -/* and computing: */ -/* scale = pixels / (ascent - descent) */ -/* so if you prefer to measure height by the ascent only, use a similar calculation. */ - -STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels); -/* computes a scale factor to produce a font whose EM size is mapped to */ -/* 'pixels' tall. This is probably what traditional APIs compute, but */ -/* I'm not positive. */ - -STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap); -/* ascent is the coordinate above the baseline the font extends; descent */ -/* is the coordinate below the baseline the font extends (i.e. it is typically negative) */ -/* lineGap is the spacing between one row's descent and the next row's ascent... */ -/* so you should advance the vertical position by "*ascent - *descent + *lineGap" */ -/* these are expressed in unscaled coordinates, so you must multiply by */ -/* the scale factor for a given size */ - -STBTT_DEF int stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap); -/* analogous to GetFontVMetrics, but returns the "typographic" values from the OS/2 */ -/* table (specific to MS/Windows TTF files). */ -/* */ -/* Returns 1 on success (table present), 0 on failure. */ - -STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1); -/* the bounding box around all possible characters */ - -STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing); -/* leftSideBearing is the offset from the current horizontal position to the left edge of the character */ -/* advanceWidth is the offset from the current horizontal position to the next horizontal position */ -/* these are expressed in unscaled coordinates */ - -STBTT_DEF int stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2); -/* an additional amount to add to the 'advance' value between ch1 and ch2 */ - -STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1); -/* Gets the bounding box of the visible part of the glyph, in unscaled coordinates */ - -STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing); -STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2); -STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1); -/* as above, but takes one or more glyph indices for greater efficiency */ - -typedef struct stbtt_kerningentry -{ - int glyph1; /* use stbtt_FindGlyphIndex */ - int glyph2; - int advance; -} stbtt_kerningentry; - -STBTT_DEF int stbtt_GetKerningTableLength(const stbtt_fontinfo *info); -STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length); -/* Retrieves a complete list of all of the kerning pairs provided by the font */ -/* stbtt_GetKerningTable never writes more than table_length entries and returns how many entries it did write. */ -/* The table will be sorted by (a.glyph1 == b.glyph1)?(a.glyph2 < b.glyph2):(a.glyph1 < b.glyph1) */ - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* GLYPH SHAPES (you probably don't need these, but they have to go before */ -/* the bitmaps for C declaration-order reasons) */ -/* */ - -#ifndef STBTT_vmove /* you can predefine these to use different values (but why?) */ - enum { - STBTT_vmove=1, - STBTT_vline, - STBTT_vcurve, - STBTT_vcubic - }; -#endif - -#ifndef stbtt_vertex /* you can predefine this to use different values */ - /* (we share this with other code at RAD) */ - #define stbtt_vertex_type short /* can't use stbtt_int16 because that's not visible in the header file */ - typedef struct - { - stbtt_vertex_type x,y,cx,cy,cx1,cy1; - unsigned char type,padding; - } stbtt_vertex; -#endif - -STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index); -/* returns non-zero if nothing is drawn for this glyph */ - -STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices); -STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **vertices); -/* returns # of vertices and fills *vertices with the pointer to them */ -/* these are expressed in "unscaled" coordinates */ -/* */ -/* The shape is a series of contours. Each one starts with */ -/* a STBTT_moveto, then consists of a series of mixed */ -/* STBTT_lineto and STBTT_curveto segments. A lineto */ -/* draws a line from previous endpoint to its x,y; a curveto */ -/* draws a quadratic bezier from previous endpoint to */ -/* its x,y, using cx,cy as the bezier control point. */ - -STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *vertices); -/* frees the data allocated above */ - -STBTT_DEF unsigned char *stbtt_FindSVGDoc(const stbtt_fontinfo *info, int gl); -STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg); -STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg); -/* fills svg with the character's SVG data. */ -/* returns data size or 0 if SVG not found. */ - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* BITMAP RENDERING */ -/* */ - -STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata); -/* frees the bitmap allocated below */ - -STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff); -/* allocates a large-enough single-channel 8bpp bitmap and renders the */ -/* specified character/glyph at the specified scale into it, with */ -/* antialiasing. 0 is no coverage (transparent), 255 is fully covered (opaque). */ -/* *width & *height are filled out with the width & height of the bitmap, */ -/* which is stored left-to-right, top-to-bottom. */ -/* */ -/* xoff/yoff are the offset it pixel space from the glyph origin to the top-left of the bitmap */ - -STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff); -/* the same as stbtt_GetCodepoitnBitmap, but you can specify a subpixel */ -/* shift for the character */ - -STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint); -/* the same as stbtt_GetCodepointBitmap, but you pass in storage for the bitmap */ -/* in the form of 'output', with row spacing of 'out_stride' bytes. the bitmap */ -/* is clipped to out_w/out_h bytes. Call stbtt_GetCodepointBitmapBox to get the */ -/* width and height and positioning info for it first. */ - -STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint); -/* same as stbtt_MakeCodepointBitmap, but you can specify a subpixel */ -/* shift for the character */ - -STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint); -/* same as stbtt_MakeCodepointBitmapSubpixel, but prefiltering */ -/* is performed (see stbtt_PackSetOversampling) */ - -STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1); -/* get the bbox of the bitmap centered around the glyph origin; so the */ -/* bitmap width is ix1-ix0, height is iy1-iy0, and location to place */ -/* the bitmap top left is (leftSideBearing*scale,iy0). */ -/* (Note that the bitmap uses y-increases-down, but the shape uses */ -/* y-increases-up, so CodepointBitmapBox and CodepointBox are inverted.) */ - -STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1); -/* same as stbtt_GetCodepointBitmapBox, but you can specify a subpixel */ -/* shift for the character */ - -/* the following functions are equivalent to the above functions, but operate */ -/* on glyph indices instead of Unicode codepoints (for efficiency) */ -STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff); -STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff); -STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph); -STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph); -STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int glyph); -STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1); -STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1); - - -/* @TODO: don't expose this structure */ -typedef struct -{ - int w,h,stride; - unsigned char *pixels; -} stbtt__bitmap; - -/* rasterize a shape with quadratic beziers into a bitmap */ -STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, /* 1-channel bitmap to draw into */ - float flatness_in_pixels, /* allowable error of curve in pixels */ - stbtt_vertex *vertices, /* array of vertices defining shape */ - int num_verts, /* number of vertices in above array */ - float scale_x, float scale_y, /* scale applied to input vertices */ - float shift_x, float shift_y, /* translation applied to input vertices */ - int x_off, int y_off, /* another translation applied to input */ - int invert, /* if non-zero, vertically flip shape */ - void *userdata); /* context for to STBTT_MALLOC */ - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* Signed Distance Function (or Field) rendering */ - -STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata); -/* frees the SDF bitmap allocated below */ - -STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff); -STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff); -/* These functions compute a discretized SDF field for a single character, suitable for storing */ -/* in a single-channel texture, sampling with bilinear filtering, and testing against */ -/* larger than some threshold to produce scalable fonts. */ -/* info -- the font */ -/* scale -- controls the size of the resulting SDF bitmap, same as it would be creating a regular bitmap */ -/* glyph/codepoint -- the character to generate the SDF for */ -/* padding -- extra "pixels" around the character which are filled with the distance to the character (not 0), */ -/* which allows effects like bit outlines */ -/* onedge_value -- value 0-255 to test the SDF against to reconstruct the character (i.e. the isocontour of the character) */ -/* pixel_dist_scale -- what value the SDF should increase by when moving one SDF "pixel" away from the edge (on the 0..255 scale) */ -/* if positive, > onedge_value is inside; if negative, < onedge_value is inside */ -/* width,height -- output height & width of the SDF bitmap (including padding) */ -/* xoff,yoff -- output origin of the character */ -/* return value -- a 2D array of bytes 0..255, width*height in size */ -/* */ -/* pixel_dist_scale & onedge_value are a scale & bias that allows you to make */ -/* optimal use of the limited 0..255 for your application, trading off precision */ -/* and special effects. SDF values outside the range 0..255 are clamped to 0..255. */ -/* */ -/* Example: */ -/* scale = stbtt_ScaleForPixelHeight(22) */ -/* padding = 5 */ -/* onedge_value = 180 */ -/* pixel_dist_scale = 180/5.0 = 36.0 */ -/* */ -/* This will create an SDF bitmap in which the character is about 22 pixels */ -/* high but the whole bitmap is about 22+5+5=32 pixels high. To produce a filled */ -/* shape, sample the SDF at each pixel and fill the pixel if the SDF value */ -/* is greater than or equal to 180/255. (You'll actually want to antialias, */ -/* which is beyond the scope of this example.) Additionally, you can compute */ -/* offset outlines (e.g. to stroke the character border inside & outside, */ -/* or only outside). For example, to fill outside the character up to 3 SDF */ -/* pixels, you would compare against (180-36.0*3)/255 = 72/255. The above */ -/* choice of variables maps a range from 5 pixels outside the shape to */ -/* 2 pixels inside the shape to 0..255; this is intended primarily for apply */ -/* outside effects only (the interior range is needed to allow proper */ -/* antialiasing of the font at *smaller* sizes) */ -/* */ -/* The function computes the SDF analytically at each SDF pixel, not by e.g. */ -/* building a higher-res bitmap and approximating it. In theory the quality */ -/* should be as high as possible for an SDF of this size & representation, but */ -/* unclear if this is true in practice (perhaps building a higher-res bitmap */ -/* and computing from that can allow drop-out prevention). */ -/* */ -/* The algorithm has not been optimized at all, so expect it to be slow */ -/* if computing lots of characters or very large sizes. */ - - - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* Finding the right font... */ -/* */ -/* You should really just solve this offline, keep your own tables */ -/* of what font is what, and don't try to get it out of the .ttf file. */ -/* That's because getting it out of the .ttf file is really hard, because */ -/* the names in the file can appear in many possible encodings, in many */ -/* possible languages, and e.g. if you need a case-insensitive comparison, */ -/* the details of that depend on the encoding & language in a complex way */ -/* (actually underspecified in truetype, but also gigantic). */ -/* */ -/* But you can use the provided functions in two possible ways: */ -/* stbtt_FindMatchingFont() will use *case-sensitive* comparisons on */ -/* unicode-encoded names to try to find the font you want; */ -/* you can run this before calling stbtt_InitFont() */ -/* */ -/* stbtt_GetFontNameString() lets you get any of the various strings */ -/* from the file yourself and do your own comparisons on them. */ -/* You have to have called stbtt_InitFont() first. */ - - -STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags); -/* returns the offset (not index) of the font that matches, or -1 if none */ -/* if you use STBTT_MACSTYLE_DONTCARE, use a font name like "Arial Bold". */ -/* if you use any other flag, use a font name like "Arial"; this checks */ -/* the 'macStyle' header field; i don't know if fonts set this consistently */ -#define STBTT_MACSTYLE_DONTCARE 0 -#define STBTT_MACSTYLE_BOLD 1 -#define STBTT_MACSTYLE_ITALIC 2 -#define STBTT_MACSTYLE_UNDERSCORE 4 -#define STBTT_MACSTYLE_NONE 8 /* <= not same as 0, this makes us check the bitfield is 0 */ - -STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2); -/* returns 1/0 whether the first string interpreted as utf8 is identical to */ -/* the second string interpreted as big-endian utf16... useful for strings from next func */ - -STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID); -/* returns the string (which may be big-endian double byte, e.g. for unicode) */ -/* and puts the length in bytes in *length. */ -/* */ -/* some of the values for the IDs are below; for more see the truetype spec: */ -/* http://developer.apple.com/textfonts/TTRefMan/RM06/Chap6name.html */ -/* http://www.microsoft.com/typography/otspec/name.htm */ - -enum { /* platformID */ - STBTT_PLATFORM_ID_UNICODE =0, - STBTT_PLATFORM_ID_MAC =1, - STBTT_PLATFORM_ID_ISO =2, - STBTT_PLATFORM_ID_MICROSOFT =3 -}; - -enum { /* encodingID for STBTT_PLATFORM_ID_UNICODE */ - STBTT_UNICODE_EID_UNICODE_1_0 =0, - STBTT_UNICODE_EID_UNICODE_1_1 =1, - STBTT_UNICODE_EID_ISO_10646 =2, - STBTT_UNICODE_EID_UNICODE_2_0_BMP=3, - STBTT_UNICODE_EID_UNICODE_2_0_FULL=4 -}; - -enum { /* encodingID for STBTT_PLATFORM_ID_MICROSOFT */ - STBTT_MS_EID_SYMBOL =0, - STBTT_MS_EID_UNICODE_BMP =1, - STBTT_MS_EID_SHIFTJIS =2, - STBTT_MS_EID_UNICODE_FULL =10 -}; - -enum { /* encodingID for STBTT_PLATFORM_ID_MAC; same as Script Manager codes */ - STBTT_MAC_EID_ROMAN =0, STBTT_MAC_EID_ARABIC =4, - STBTT_MAC_EID_JAPANESE =1, STBTT_MAC_EID_HEBREW =5, - STBTT_MAC_EID_CHINESE_TRAD =2, STBTT_MAC_EID_GREEK =6, - STBTT_MAC_EID_KOREAN =3, STBTT_MAC_EID_RUSSIAN =7 -}; - -enum { /* languageID for STBTT_PLATFORM_ID_MICROSOFT; same as LCID... */ - /* problematic because there are e.g. 16 english LCIDs and 16 arabic LCIDs */ - STBTT_MS_LANG_ENGLISH =0x0409, STBTT_MS_LANG_ITALIAN =0x0410, - STBTT_MS_LANG_CHINESE =0x0804, STBTT_MS_LANG_JAPANESE =0x0411, - STBTT_MS_LANG_DUTCH =0x0413, STBTT_MS_LANG_KOREAN =0x0412, - STBTT_MS_LANG_FRENCH =0x040c, STBTT_MS_LANG_RUSSIAN =0x0419, - STBTT_MS_LANG_GERMAN =0x0407, STBTT_MS_LANG_SPANISH =0x0409, - STBTT_MS_LANG_HEBREW =0x040d, STBTT_MS_LANG_SWEDISH =0x041D -}; - -enum { /* languageID for STBTT_PLATFORM_ID_MAC */ - STBTT_MAC_LANG_ENGLISH =0 , STBTT_MAC_LANG_JAPANESE =11, - STBTT_MAC_LANG_ARABIC =12, STBTT_MAC_LANG_KOREAN =23, - STBTT_MAC_LANG_DUTCH =4 , STBTT_MAC_LANG_RUSSIAN =32, - STBTT_MAC_LANG_FRENCH =1 , STBTT_MAC_LANG_SPANISH =6 , - STBTT_MAC_LANG_GERMAN =2 , STBTT_MAC_LANG_SWEDISH =5 , - STBTT_MAC_LANG_HEBREW =10, STBTT_MAC_LANG_CHINESE_SIMPLIFIED =33, - STBTT_MAC_LANG_ITALIAN =3 , STBTT_MAC_LANG_CHINESE_TRAD =19 -}; - -#ifdef __cplusplus -} -#endif - -#endif /* __STB_INCLUDE_STB_TRUETYPE_H__ */ - -/* ///////////////////////////////////////////////////////////////////////////// */ -/* ///////////////////////////////////////////////////////////////////////////// */ -/* // */ -/* // IMPLEMENTATION */ -/* // */ -/* // */ - -#ifdef STB_TRUETYPE_IMPLEMENTATION - -#ifndef STBTT_MAX_OVERSAMPLE -#define STBTT_MAX_OVERSAMPLE 8 -#endif - -#if STBTT_MAX_OVERSAMPLE > 255 -#error "STBTT_MAX_OVERSAMPLE cannot be > 255" -#endif - -typedef int stbtt__test_oversample_pow2[(STBTT_MAX_OVERSAMPLE & (STBTT_MAX_OVERSAMPLE-1)) == 0 ? 1 : -1]; - -#ifndef STBTT_RASTERIZER_VERSION -#define STBTT_RASTERIZER_VERSION 2 -#endif - -#ifdef _MSC_VER -#define STBTT__NOTUSED(v) (void)(v) -#else -#define STBTT__NOTUSED(v) (void)sizeof(v) -#endif - -/* //////////////////////////////////////////////////////////////////////// */ -/* */ -/* stbtt__buf helpers to parse data from file */ -/* */ - -static stbtt_uint8 stbtt__buf_get8(stbtt__buf *b) -{ - if (b->cursor >= b->size) - return 0; - return b->data[b->cursor++]; -} - -static stbtt_uint8 stbtt__buf_peek8(stbtt__buf *b) -{ - if (b->cursor >= b->size) - return 0; - return b->data[b->cursor]; -} - -static void stbtt__buf_seek(stbtt__buf *b, int o) -{ - STBTT_assert(!(o > b->size || o < 0)); - b->cursor = (o > b->size || o < 0) ? b->size : o; -} - -static void stbtt__buf_skip(stbtt__buf *b, int o) -{ - stbtt__buf_seek(b, b->cursor + o); -} - -static stbtt_uint32 stbtt__buf_get(stbtt__buf *b, int n) -{ - stbtt_uint32 v = 0; - int i; - STBTT_assert(n >= 1 && n <= 4); - for (i = 0; i < n; i++) - v = (v << 8) | stbtt__buf_get8(b); - return v; -} - -static stbtt__buf stbtt__new_buf(const void *p, size_t size) -{ - stbtt__buf r; - STBTT_assert(size < 0x40000000); - r.data = (stbtt_uint8*) p; - r.size = (int) size; - r.cursor = 0; - return r; -} - -#define stbtt__buf_get16(b) stbtt__buf_get((b), 2) -#define stbtt__buf_get32(b) stbtt__buf_get((b), 4) - -static stbtt__buf stbtt__buf_range(const stbtt__buf *b, int o, int s) -{ - stbtt__buf r = stbtt__new_buf(NULL, 0); - if (o < 0 || s < 0 || o > b->size || s > b->size - o) return r; - r.data = b->data + o; - r.size = s; - return r; -} - -static stbtt__buf stbtt__cff_get_index(stbtt__buf *b) -{ - int count, start, offsize; - start = b->cursor; - count = stbtt__buf_get16(b); - if (count) { - offsize = stbtt__buf_get8(b); - STBTT_assert(offsize >= 1 && offsize <= 4); - stbtt__buf_skip(b, offsize * count); - stbtt__buf_skip(b, stbtt__buf_get(b, offsize) - 1); - } - return stbtt__buf_range(b, start, b->cursor - start); -} - -static stbtt_uint32 stbtt__cff_int(stbtt__buf *b) -{ - int b0 = stbtt__buf_get8(b); - if (b0 >= 32 && b0 <= 246) return b0 - 139; - else if (b0 >= 247 && b0 <= 250) return (b0 - 247)*256 + stbtt__buf_get8(b) + 108; - else if (b0 >= 251 && b0 <= 254) return -(b0 - 251)*256 - stbtt__buf_get8(b) - 108; - else if (b0 == 28) return stbtt__buf_get16(b); - else if (b0 == 29) return stbtt__buf_get32(b); - STBTT_assert(0); - return 0; -} - -static void stbtt__cff_skip_operand(stbtt__buf *b) { - int v, b0 = stbtt__buf_peek8(b); - STBTT_assert(b0 >= 28); - if (b0 == 30) { - stbtt__buf_skip(b, 1); - while (b->cursor < b->size) { - v = stbtt__buf_get8(b); - if ((v & 0xF) == 0xF || (v >> 4) == 0xF) - break; - } - } else { - stbtt__cff_int(b); - } -} - -static stbtt__buf stbtt__dict_get(stbtt__buf *b, int key) -{ - stbtt__buf_seek(b, 0); - while (b->cursor < b->size) { - int start = b->cursor, end, op; - while (stbtt__buf_peek8(b) >= 28) - stbtt__cff_skip_operand(b); - end = b->cursor; - op = stbtt__buf_get8(b); - if (op == 12) op = stbtt__buf_get8(b) | 0x100; - if (op == key) return stbtt__buf_range(b, start, end-start); - } - return stbtt__buf_range(b, 0, 0); -} - -static void stbtt__dict_get_ints(stbtt__buf *b, int key, int outcount, stbtt_uint32 *out) -{ - int i; - stbtt__buf operands = stbtt__dict_get(b, key); - for (i = 0; i < outcount && operands.cursor < operands.size; i++) - out[i] = stbtt__cff_int(&operands); -} - -static int stbtt__cff_index_count(stbtt__buf *b) -{ - stbtt__buf_seek(b, 0); - return stbtt__buf_get16(b); -} - -static stbtt__buf stbtt__cff_index_get(stbtt__buf b, int i) -{ - int count, offsize, start, end; - stbtt__buf_seek(&b, 0); - count = stbtt__buf_get16(&b); - offsize = stbtt__buf_get8(&b); - STBTT_assert(i >= 0 && i < count); - STBTT_assert(offsize >= 1 && offsize <= 4); - stbtt__buf_skip(&b, i*offsize); - start = stbtt__buf_get(&b, offsize); - end = stbtt__buf_get(&b, offsize); - return stbtt__buf_range(&b, 2+(count+1)*offsize+start, end - start); -} - -/* //////////////////////////////////////////////////////////////////////// */ -/* */ -/* accessors to parse data from file */ -/* */ - -/* on platforms that don't allow misaligned reads, if we want to allow */ -/* truetype fonts that aren't padded to alignment, define ALLOW_UNALIGNED_TRUETYPE */ - -#define ttBYTE(p) (* (stbtt_uint8 *) (p)) -#define ttCHAR(p) (* (stbtt_int8 *) (p)) -#define ttFixed(p) ttLONG(p) - -static stbtt_uint16 ttUSHORT(stbtt_uint8 *p) { return p[0]*256 + p[1]; } -static stbtt_int16 ttSHORT(stbtt_uint8 *p) { return p[0]*256 + p[1]; } -static stbtt_uint32 ttULONG(stbtt_uint8 *p) { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; } -static stbtt_int32 ttLONG(stbtt_uint8 *p) { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; } - -#define stbtt_tag4(p,c0,c1,c2,c3) ((p)[0] == (c0) && (p)[1] == (c1) && (p)[2] == (c2) && (p)[3] == (c3)) -#define stbtt_tag(p,str) stbtt_tag4(p,str[0],str[1],str[2],str[3]) - -static int stbtt__isfont(stbtt_uint8 *font) -{ - /* check the version number */ - if (stbtt_tag4(font, '1',0,0,0)) return 1; /* TrueType 1 */ - if (stbtt_tag(font, "typ1")) return 1; /* TrueType with type 1 font -- we don't support this! */ - if (stbtt_tag(font, "OTTO")) return 1; /* OpenType with CFF */ - if (stbtt_tag4(font, 0,1,0,0)) return 1; /* OpenType 1.0 */ - if (stbtt_tag(font, "true")) return 1; /* Apple specification for TrueType fonts */ - return 0; -} - -/* @OPTIMIZE: binary search */ -static stbtt_uint32 stbtt__find_table(stbtt_uint8 *data, stbtt_uint32 fontstart, const char *tag) -{ - stbtt_int32 num_tables = ttUSHORT(data+fontstart+4); - stbtt_uint32 tabledir = fontstart + 12; - stbtt_int32 i; - for (i=0; i < num_tables; ++i) { - stbtt_uint32 loc = tabledir + 16*i; - if (stbtt_tag(data+loc+0, tag)) - return ttULONG(data+loc+8); - } - return 0; -} - -static int stbtt_GetFontOffsetForIndex_internal(unsigned char *font_collection, int index) -{ - /* if it's just a font, there's only one valid index */ - if (stbtt__isfont(font_collection)) - return index == 0 ? 0 : -1; - - /* check if it's a TTC */ - if (stbtt_tag(font_collection, "ttcf")) { - /* version 1? */ - if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) { - stbtt_int32 n = ttLONG(font_collection+8); - if (index >= n) - return -1; - return ttULONG(font_collection+12+index*4); - } - } - return -1; -} - -static int stbtt_GetNumberOfFonts_internal(unsigned char *font_collection) -{ - /* if it's just a font, there's only one valid font */ - if (stbtt__isfont(font_collection)) - return 1; - - /* check if it's a TTC */ - if (stbtt_tag(font_collection, "ttcf")) { - /* version 1? */ - if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) { - return ttLONG(font_collection+8); - } - } - return 0; -} - -static stbtt__buf stbtt__get_subrs(stbtt__buf cff, stbtt__buf fontdict) -{ - stbtt_uint32 subrsoff = 0, private_loc[2] = { 0, 0 }; - stbtt__buf pdict; - stbtt__dict_get_ints(&fontdict, 18, 2, private_loc); - if (!private_loc[1] || !private_loc[0]) return stbtt__new_buf(NULL, 0); - pdict = stbtt__buf_range(&cff, private_loc[1], private_loc[0]); - stbtt__dict_get_ints(&pdict, 19, 1, &subrsoff); - if (!subrsoff) return stbtt__new_buf(NULL, 0); - stbtt__buf_seek(&cff, private_loc[1]+subrsoff); - return stbtt__cff_get_index(&cff); -} - -/* since most people won't use this, find this table the first time it's needed */ -static int stbtt__get_svg(stbtt_fontinfo *info) -{ - stbtt_uint32 t; - if (info->svg < 0) { - t = stbtt__find_table(info->data, info->fontstart, "SVG "); - if (t) { - stbtt_uint32 offset = ttULONG(info->data + t + 2); - info->svg = t + offset; - } else { - info->svg = 0; - } - } - return info->svg; -} - -static int stbtt_InitFont_internal(stbtt_fontinfo *info, unsigned char *data, int fontstart) -{ - stbtt_uint32 cmap, t; - stbtt_int32 i,numTables; - - info->data = data; - info->fontstart = fontstart; - info->cff = stbtt__new_buf(NULL, 0); - - cmap = stbtt__find_table(data, fontstart, "cmap"); /* required */ - info->loca = stbtt__find_table(data, fontstart, "loca"); /* required */ - info->head = stbtt__find_table(data, fontstart, "head"); /* required */ - info->glyf = stbtt__find_table(data, fontstart, "glyf"); /* required */ - info->hhea = stbtt__find_table(data, fontstart, "hhea"); /* required */ - info->hmtx = stbtt__find_table(data, fontstart, "hmtx"); /* required */ - info->kern = stbtt__find_table(data, fontstart, "kern"); /* not required */ - info->gpos = stbtt__find_table(data, fontstart, "GPOS"); /* not required */ - - if (!cmap || !info->head || !info->hhea || !info->hmtx) - return 0; - if (info->glyf) { - /* required for truetype */ - if (!info->loca) return 0; - } else { - /* initialization for CFF / Type2 fonts (OTF) */ - stbtt__buf b, topdict, topdictidx; - stbtt_uint32 cstype = 2, charstrings = 0, fdarrayoff = 0, fdselectoff = 0; - stbtt_uint32 cff; - - cff = stbtt__find_table(data, fontstart, "CFF "); - if (!cff) return 0; - - info->fontdicts = stbtt__new_buf(NULL, 0); - info->fdselect = stbtt__new_buf(NULL, 0); - - /* @TODO this should use size from table (not 512MB) */ - info->cff = stbtt__new_buf(data+cff, 512*1024*1024); - b = info->cff; - - /* read the header */ - stbtt__buf_skip(&b, 2); - stbtt__buf_seek(&b, stbtt__buf_get8(&b)); /* hdrsize */ - - /* @TODO the name INDEX could list multiple fonts, */ - /* but we just use the first one. */ - stbtt__cff_get_index(&b); /* name INDEX */ - topdictidx = stbtt__cff_get_index(&b); - topdict = stbtt__cff_index_get(topdictidx, 0); - stbtt__cff_get_index(&b); /* string INDEX */ - info->gsubrs = stbtt__cff_get_index(&b); - - stbtt__dict_get_ints(&topdict, 17, 1, &charstrings); - stbtt__dict_get_ints(&topdict, 0x100 | 6, 1, &cstype); - stbtt__dict_get_ints(&topdict, 0x100 | 36, 1, &fdarrayoff); - stbtt__dict_get_ints(&topdict, 0x100 | 37, 1, &fdselectoff); - info->subrs = stbtt__get_subrs(b, topdict); - - /* we only support Type 2 charstrings */ - if (cstype != 2) return 0; - if (charstrings == 0) return 0; - - if (fdarrayoff) { - /* looks like a CID font */ - if (!fdselectoff) return 0; - stbtt__buf_seek(&b, fdarrayoff); - info->fontdicts = stbtt__cff_get_index(&b); - info->fdselect = stbtt__buf_range(&b, fdselectoff, b.size-fdselectoff); - } - - stbtt__buf_seek(&b, charstrings); - info->charstrings = stbtt__cff_get_index(&b); - } - - t = stbtt__find_table(data, fontstart, "maxp"); - if (t) - info->numGlyphs = ttUSHORT(data+t+4); - else - info->numGlyphs = 0xffff; - - info->svg = -1; - - /* find a cmap encoding table we understand *now* to avoid searching */ - /* later. (todo: could make this installable) */ - /* the same regardless of glyph. */ - numTables = ttUSHORT(data + cmap + 2); - info->index_map = 0; - for (i=0; i < numTables; ++i) { - stbtt_uint32 encoding_record = cmap + 4 + 8 * i; - /* find an encoding we understand: */ - switch(ttUSHORT(data+encoding_record)) { - case STBTT_PLATFORM_ID_MICROSOFT: - switch (ttUSHORT(data+encoding_record+2)) { - case STBTT_MS_EID_UNICODE_BMP: - case STBTT_MS_EID_UNICODE_FULL: - /* MS/Unicode */ - info->index_map = cmap + ttULONG(data+encoding_record+4); - break; - } - break; - case STBTT_PLATFORM_ID_UNICODE: - /* Mac/iOS has these */ - /* all the encodingIDs are unicode, so we don't bother to check it */ - info->index_map = cmap + ttULONG(data+encoding_record+4); - break; - } - } - if (info->index_map == 0) - return 0; - - info->indexToLocFormat = ttUSHORT(data+info->head + 50); - return 1; -} - -STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint) -{ - stbtt_uint8 *data = info->data; - stbtt_uint32 index_map = info->index_map; - - stbtt_uint16 format = ttUSHORT(data + index_map + 0); - if (format == 0) { /* apple byte encoding */ - stbtt_int32 bytes = ttUSHORT(data + index_map + 2); - if (unicode_codepoint < bytes-6) - return ttBYTE(data + index_map + 6 + unicode_codepoint); - return 0; - } else if (format == 6) { - stbtt_uint32 first = ttUSHORT(data + index_map + 6); - stbtt_uint32 count = ttUSHORT(data + index_map + 8); - if ((stbtt_uint32) unicode_codepoint >= first && (stbtt_uint32) unicode_codepoint < first+count) - return ttUSHORT(data + index_map + 10 + (unicode_codepoint - first)*2); - return 0; - } else if (format == 2) { - STBTT_assert(0); /* @TODO: high-byte mapping for japanese/chinese/korean */ - return 0; - } else if (format == 4) { /* standard mapping for windows fonts: binary search collection of ranges */ - stbtt_uint16 segcount = ttUSHORT(data+index_map+6) >> 1; - stbtt_uint16 searchRange = ttUSHORT(data+index_map+8) >> 1; - stbtt_uint16 entrySelector = ttUSHORT(data+index_map+10); - stbtt_uint16 rangeShift = ttUSHORT(data+index_map+12) >> 1; - - /* do a binary search of the segments */ - stbtt_uint32 endCount = index_map + 14; - stbtt_uint32 search = endCount; - - if (unicode_codepoint > 0xffff) - return 0; - - /* they lie from endCount .. endCount + segCount */ - /* but searchRange is the nearest power of two, so... */ - if (unicode_codepoint >= ttUSHORT(data + search + rangeShift*2)) - search += rangeShift*2; - - /* now decrement to bias correctly to find smallest */ - search -= 2; - while (entrySelector) { - stbtt_uint16 end; - searchRange >>= 1; - end = ttUSHORT(data + search + searchRange*2); - if (unicode_codepoint > end) - search += searchRange*2; - --entrySelector; - } - search += 2; - - { - stbtt_uint16 offset, start, last; - stbtt_uint16 item = (stbtt_uint16) ((search - endCount) >> 1); - - start = ttUSHORT(data + index_map + 14 + segcount*2 + 2 + 2*item); - last = ttUSHORT(data + endCount + 2*item); - if (unicode_codepoint < start || unicode_codepoint > last) - return 0; - - offset = ttUSHORT(data + index_map + 14 + segcount*6 + 2 + 2*item); - if (offset == 0) - return (stbtt_uint16) (unicode_codepoint + ttSHORT(data + index_map + 14 + segcount*4 + 2 + 2*item)); - - return ttUSHORT(data + offset + (unicode_codepoint-start)*2 + index_map + 14 + segcount*6 + 2 + 2*item); - } - } else if (format == 12 || format == 13) { - stbtt_uint32 ngroups = ttULONG(data+index_map+12); - stbtt_int32 low,high; - low = 0; high = (stbtt_int32)ngroups; - /* Binary search the right group. */ - while (low < high) { - stbtt_int32 mid = low + ((high-low) >> 1); /* rounds down, so low <= mid < high */ - stbtt_uint32 start_char = ttULONG(data+index_map+16+mid*12); - stbtt_uint32 end_char = ttULONG(data+index_map+16+mid*12+4); - if ((stbtt_uint32) unicode_codepoint < start_char) - high = mid; - else if ((stbtt_uint32) unicode_codepoint > end_char) - low = mid+1; - else { - stbtt_uint32 start_glyph = ttULONG(data+index_map+16+mid*12+8); - if (format == 12) - return start_glyph + unicode_codepoint-start_char; - else /* format == 13 */ - return start_glyph; - } - } - return 0; /* not found */ - } - /* @TODO */ - STBTT_assert(0); - return 0; -} - -STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices) -{ - return stbtt_GetGlyphShape(info, stbtt_FindGlyphIndex(info, unicode_codepoint), vertices); -} - -static void stbtt_setvertex(stbtt_vertex *v, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy) -{ - v->type = type; - v->x = (stbtt_int16) x; - v->y = (stbtt_int16) y; - v->cx = (stbtt_int16) cx; - v->cy = (stbtt_int16) cy; -} - -static int stbtt__GetGlyfOffset(const stbtt_fontinfo *info, int glyph_index) -{ - int g1,g2; - - STBTT_assert(!info->cff.size); - - if (glyph_index >= info->numGlyphs) return -1; /* glyph index out of range */ - if (info->indexToLocFormat >= 2) return -1; /* unknown index->glyph map format */ - - if (info->indexToLocFormat == 0) { - g1 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2) * 2; - g2 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2 + 2) * 2; - } else { - g1 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4); - g2 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4 + 4); - } - - return g1==g2 ? -1 : g1; /* if length is 0, return -1 */ -} - -static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1); - -STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1) -{ - if (info->cff.size) { - stbtt__GetGlyphInfoT2(info, glyph_index, x0, y0, x1, y1); - } else { - int g = stbtt__GetGlyfOffset(info, glyph_index); - if (g < 0) return 0; - - if (x0) *x0 = ttSHORT(info->data + g + 2); - if (y0) *y0 = ttSHORT(info->data + g + 4); - if (x1) *x1 = ttSHORT(info->data + g + 6); - if (y1) *y1 = ttSHORT(info->data + g + 8); - } - return 1; -} - -STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1) -{ - return stbtt_GetGlyphBox(info, stbtt_FindGlyphIndex(info,codepoint), x0,y0,x1,y1); -} - -STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index) -{ - stbtt_int16 numberOfContours; - int g; - if (info->cff.size) - return stbtt__GetGlyphInfoT2(info, glyph_index, NULL, NULL, NULL, NULL) == 0; - g = stbtt__GetGlyfOffset(info, glyph_index); - if (g < 0) return 1; - numberOfContours = ttSHORT(info->data + g); - return numberOfContours == 0; -} - -static int stbtt__close_shape(stbtt_vertex *vertices, int num_vertices, int was_off, int start_off, - stbtt_int32 sx, stbtt_int32 sy, stbtt_int32 scx, stbtt_int32 scy, stbtt_int32 cx, stbtt_int32 cy) -{ - if (start_off) { - if (was_off) - stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+scx)>>1, (cy+scy)>>1, cx,cy); - stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, sx,sy,scx,scy); - } else { - if (was_off) - stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve,sx,sy,cx,cy); - else - stbtt_setvertex(&vertices[num_vertices++], STBTT_vline,sx,sy,0,0); - } - return num_vertices; -} - -static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices) -{ - stbtt_int16 numberOfContours; - stbtt_uint8 *endPtsOfContours; - stbtt_uint8 *data = info->data; - stbtt_vertex *vertices=0; - int num_vertices=0; - int g = stbtt__GetGlyfOffset(info, glyph_index); - - *pvertices = NULL; - - if (g < 0) return 0; - - numberOfContours = ttSHORT(data + g); - - if (numberOfContours > 0) { - stbtt_uint8 flags=0,flagcount; - stbtt_int32 ins, i,j=0,m,n, next_move, was_off=0, off, start_off=0; - stbtt_int32 x,y,cx,cy,sx,sy, scx,scy; - stbtt_uint8 *points; - endPtsOfContours = (data + g + 10); - ins = ttUSHORT(data + g + 10 + numberOfContours * 2); - points = data + g + 10 + numberOfContours * 2 + 2 + ins; - - n = 1+ttUSHORT(endPtsOfContours + numberOfContours*2-2); - - m = n + 2*numberOfContours; /* a loose bound on how many vertices we might need */ - vertices = (stbtt_vertex *) STBTT_malloc(m * sizeof(vertices[0]), info->userdata); - if (vertices == 0) - return 0; - - next_move = 0; - flagcount=0; - - /* in first pass, we load uninterpreted data into the allocated array */ - /* above, shifted to the end of the array so we won't overwrite it when */ - /* we create our final data starting from the front */ - - off = m - n; /* starting offset for uninterpreted data, regardless of how m ends up being calculated */ - - /* first load flags */ - - for (i=0; i < n; ++i) { - if (flagcount == 0) { - flags = *points++; - if (flags & 8) - flagcount = *points++; - } else - --flagcount; - vertices[off+i].type = flags; - } - - /* now load x coordinates */ - x=0; - for (i=0; i < n; ++i) { - flags = vertices[off+i].type; - if (flags & 2) { - stbtt_int16 dx = *points++; - x += (flags & 16) ? dx : -dx; /* ??? */ - } else { - if (!(flags & 16)) { - x = x + (stbtt_int16) (points[0]*256 + points[1]); - points += 2; - } - } - vertices[off+i].x = (stbtt_int16) x; - } - - /* now load y coordinates */ - y=0; - for (i=0; i < n; ++i) { - flags = vertices[off+i].type; - if (flags & 4) { - stbtt_int16 dy = *points++; - y += (flags & 32) ? dy : -dy; /* ??? */ - } else { - if (!(flags & 32)) { - y = y + (stbtt_int16) (points[0]*256 + points[1]); - points += 2; - } - } - vertices[off+i].y = (stbtt_int16) y; - } - - /* now convert them to our format */ - num_vertices=0; - sx = sy = cx = cy = scx = scy = 0; - for (i=0; i < n; ++i) { - flags = vertices[off+i].type; - x = (stbtt_int16) vertices[off+i].x; - y = (stbtt_int16) vertices[off+i].y; - - if (next_move == i) { - if (i != 0) - num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy); - - /* now start the new one */ - start_off = !(flags & 1); - if (start_off) { - /* if we start off with an off-curve point, then when we need to find a point on the curve */ - /* where we can start, and we need to save some state for when we wraparound. */ - scx = x; - scy = y; - if (!(vertices[off+i+1].type & 1)) { - /* next point is also a curve point, so interpolate an on-point curve */ - sx = (x + (stbtt_int32) vertices[off+i+1].x) >> 1; - sy = (y + (stbtt_int32) vertices[off+i+1].y) >> 1; - } else { - /* otherwise just use the next point as our start point */ - sx = (stbtt_int32) vertices[off+i+1].x; - sy = (stbtt_int32) vertices[off+i+1].y; - ++i; /* we're using point i+1 as the starting point, so skip it */ - } - } else { - sx = x; - sy = y; - } - stbtt_setvertex(&vertices[num_vertices++], STBTT_vmove,sx,sy,0,0); - was_off = 0; - next_move = 1 + ttUSHORT(endPtsOfContours+j*2); - ++j; - } else { - if (!(flags & 1)) { /* if it's a curve */ - if (was_off) /* two off-curve control points in a row means interpolate an on-curve midpoint */ - stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+x)>>1, (cy+y)>>1, cx, cy); - cx = x; - cy = y; - was_off = 1; - } else { - if (was_off) - stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, x,y, cx, cy); - else - stbtt_setvertex(&vertices[num_vertices++], STBTT_vline, x,y,0,0); - was_off = 0; - } - } - } - num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy); - } else if (numberOfContours < 0) { - /* Compound shapes. */ - int more = 1; - stbtt_uint8 *comp = data + g + 10; - num_vertices = 0; - vertices = 0; - while (more) { - stbtt_uint16 flags, gidx; - int comp_num_verts = 0, i; - stbtt_vertex *comp_verts = 0, *tmp = 0; - float mtx[6] = {1,0,0,1,0,0}, m, n; - - flags = ttSHORT(comp); comp+=2; - gidx = ttSHORT(comp); comp+=2; - - if (flags & 2) { /* XY values */ - if (flags & 1) { /* shorts */ - mtx[4] = ttSHORT(comp); comp+=2; - mtx[5] = ttSHORT(comp); comp+=2; - } else { - mtx[4] = ttCHAR(comp); comp+=1; - mtx[5] = ttCHAR(comp); comp+=1; - } - } - else { - /* @TODO handle matching point */ - STBTT_assert(0); - } - if (flags & (1<<3)) { /* WE_HAVE_A_SCALE */ - mtx[0] = mtx[3] = ttSHORT(comp)/16384.0f; comp+=2; - mtx[1] = mtx[2] = 0; - } else if (flags & (1<<6)) { /* WE_HAVE_AN_X_AND_YSCALE */ - mtx[0] = ttSHORT(comp)/16384.0f; comp+=2; - mtx[1] = mtx[2] = 0; - mtx[3] = ttSHORT(comp)/16384.0f; comp+=2; - } else if (flags & (1<<7)) { /* WE_HAVE_A_TWO_BY_TWO */ - mtx[0] = ttSHORT(comp)/16384.0f; comp+=2; - mtx[1] = ttSHORT(comp)/16384.0f; comp+=2; - mtx[2] = ttSHORT(comp)/16384.0f; comp+=2; - mtx[3] = ttSHORT(comp)/16384.0f; comp+=2; - } - - /* Find transformation scales. */ - m = (float) STBTT_sqrt(mtx[0]*mtx[0] + mtx[1]*mtx[1]); - n = (float) STBTT_sqrt(mtx[2]*mtx[2] + mtx[3]*mtx[3]); - - /* Get indexed glyph. */ - comp_num_verts = stbtt_GetGlyphShape(info, gidx, &comp_verts); - if (comp_num_verts > 0) { - /* Transform vertices. */ - for (i = 0; i < comp_num_verts; ++i) { - stbtt_vertex* v = &comp_verts[i]; - stbtt_vertex_type x,y; - x=v->x; y=v->y; - v->x = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4])); - v->y = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5])); - x=v->cx; y=v->cy; - v->cx = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4])); - v->cy = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5])); - } - /* Append vertices. */ - tmp = (stbtt_vertex*)STBTT_malloc((num_vertices+comp_num_verts)*sizeof(stbtt_vertex), info->userdata); - if (!tmp) { - if (vertices) STBTT_free(vertices, info->userdata); - if (comp_verts) STBTT_free(comp_verts, info->userdata); - return 0; - } - if (num_vertices > 0 && vertices) STBTT_memcpy(tmp, vertices, num_vertices*sizeof(stbtt_vertex)); - STBTT_memcpy(tmp+num_vertices, comp_verts, comp_num_verts*sizeof(stbtt_vertex)); - if (vertices) STBTT_free(vertices, info->userdata); - vertices = tmp; - STBTT_free(comp_verts, info->userdata); - num_vertices += comp_num_verts; - } - /* More components ? */ - more = flags & (1<<5); - } - } else { - /* numberOfCounters == 0, do nothing */ - } - - *pvertices = vertices; - return num_vertices; -} - -typedef struct -{ - int bounds; - int started; - float first_x, first_y; - float x, y; - stbtt_int32 min_x, max_x, min_y, max_y; - - stbtt_vertex *pvertices; - int num_vertices; -} stbtt__csctx; - -#define STBTT__CSCTX_INIT(bounds) {bounds,0, 0,0, 0,0, 0,0,0,0, NULL, 0} - -static void stbtt__track_vertex(stbtt__csctx *c, stbtt_int32 x, stbtt_int32 y) -{ - if (x > c->max_x || !c->started) c->max_x = x; - if (y > c->max_y || !c->started) c->max_y = y; - if (x < c->min_x || !c->started) c->min_x = x; - if (y < c->min_y || !c->started) c->min_y = y; - c->started = 1; -} - -static void stbtt__csctx_v(stbtt__csctx *c, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy, stbtt_int32 cx1, stbtt_int32 cy1) -{ - if (c->bounds) { - stbtt__track_vertex(c, x, y); - if (type == STBTT_vcubic) { - stbtt__track_vertex(c, cx, cy); - stbtt__track_vertex(c, cx1, cy1); - } - } else { - stbtt_setvertex(&c->pvertices[c->num_vertices], type, x, y, cx, cy); - c->pvertices[c->num_vertices].cx1 = (stbtt_int16) cx1; - c->pvertices[c->num_vertices].cy1 = (stbtt_int16) cy1; - } - c->num_vertices++; -} - -static void stbtt__csctx_close_shape(stbtt__csctx *ctx) -{ - if (ctx->first_x != ctx->x || ctx->first_y != ctx->y) - stbtt__csctx_v(ctx, STBTT_vline, (int)ctx->first_x, (int)ctx->first_y, 0, 0, 0, 0); -} - -static void stbtt__csctx_rmove_to(stbtt__csctx *ctx, float dx, float dy) -{ - stbtt__csctx_close_shape(ctx); - ctx->first_x = ctx->x = ctx->x + dx; - ctx->first_y = ctx->y = ctx->y + dy; - stbtt__csctx_v(ctx, STBTT_vmove, (int)ctx->x, (int)ctx->y, 0, 0, 0, 0); -} - -static void stbtt__csctx_rline_to(stbtt__csctx *ctx, float dx, float dy) -{ - ctx->x += dx; - ctx->y += dy; - stbtt__csctx_v(ctx, STBTT_vline, (int)ctx->x, (int)ctx->y, 0, 0, 0, 0); -} - -static void stbtt__csctx_rccurve_to(stbtt__csctx *ctx, float dx1, float dy1, float dx2, float dy2, float dx3, float dy3) -{ - float cx1 = ctx->x + dx1; - float cy1 = ctx->y + dy1; - float cx2 = cx1 + dx2; - float cy2 = cy1 + dy2; - ctx->x = cx2 + dx3; - ctx->y = cy2 + dy3; - stbtt__csctx_v(ctx, STBTT_vcubic, (int)ctx->x, (int)ctx->y, (int)cx1, (int)cy1, (int)cx2, (int)cy2); -} - -static stbtt__buf stbtt__get_subr(stbtt__buf idx, int n) -{ - int count = stbtt__cff_index_count(&idx); - int bias = 107; - if (count >= 33900) - bias = 32768; - else if (count >= 1240) - bias = 1131; - n += bias; - if (n < 0 || n >= count) - return stbtt__new_buf(NULL, 0); - return stbtt__cff_index_get(idx, n); -} - -static stbtt__buf stbtt__cid_get_glyph_subrs(const stbtt_fontinfo *info, int glyph_index) -{ - stbtt__buf fdselect = info->fdselect; - int nranges, start, end, v, fmt, fdselector = -1, i; - - stbtt__buf_seek(&fdselect, 0); - fmt = stbtt__buf_get8(&fdselect); - if (fmt == 0) { - /* untested */ - stbtt__buf_skip(&fdselect, glyph_index); - fdselector = stbtt__buf_get8(&fdselect); - } else if (fmt == 3) { - nranges = stbtt__buf_get16(&fdselect); - start = stbtt__buf_get16(&fdselect); - for (i = 0; i < nranges; i++) { - v = stbtt__buf_get8(&fdselect); - end = stbtt__buf_get16(&fdselect); - if (glyph_index >= start && glyph_index < end) { - fdselector = v; - break; - } - start = end; - } - } - if (fdselector == -1) stbtt__new_buf(NULL, 0); - return stbtt__get_subrs(info->cff, stbtt__cff_index_get(info->fontdicts, fdselector)); -} - -static int stbtt__run_charstring(const stbtt_fontinfo *info, int glyph_index, stbtt__csctx *c) -{ - int in_header = 1, maskbits = 0, subr_stack_height = 0, sp = 0, v, i, b0; - int has_subrs = 0, clear_stack; - float s[48]; - stbtt__buf subr_stack[10], subrs = info->subrs, b; - float f; - -#define STBTT__CSERR(s) (0) - - /* this currently ignores the initial width value, which isn't needed if we have hmtx */ - b = stbtt__cff_index_get(info->charstrings, glyph_index); - while (b.cursor < b.size) { - i = 0; - clear_stack = 1; - b0 = stbtt__buf_get8(&b); - switch (b0) { - /* @TODO implement hinting */ - case 0x13: /* hintmask */ - case 0x14: /* cntrmask */ - if (in_header) - maskbits += (sp / 2); /* implicit "vstem" */ - in_header = 0; - stbtt__buf_skip(&b, (maskbits + 7) / 8); - break; - - case 0x01: /* hstem */ - case 0x03: /* vstem */ - case 0x12: /* hstemhm */ - case 0x17: /* vstemhm */ - maskbits += (sp / 2); - break; - - case 0x15: /* rmoveto */ - in_header = 0; - if (sp < 2) return STBTT__CSERR("rmoveto stack"); - stbtt__csctx_rmove_to(c, s[sp-2], s[sp-1]); - break; - case 0x04: /* vmoveto */ - in_header = 0; - if (sp < 1) return STBTT__CSERR("vmoveto stack"); - stbtt__csctx_rmove_to(c, 0, s[sp-1]); - break; - case 0x16: /* hmoveto */ - in_header = 0; - if (sp < 1) return STBTT__CSERR("hmoveto stack"); - stbtt__csctx_rmove_to(c, s[sp-1], 0); - break; - - case 0x05: /* rlineto */ - if (sp < 2) return STBTT__CSERR("rlineto stack"); - for (; i + 1 < sp; i += 2) - stbtt__csctx_rline_to(c, s[i], s[i+1]); - break; - - /* hlineto/vlineto and vhcurveto/hvcurveto alternate horizontal and vertical */ - /* starting from a different place. */ - - case 0x07: /* vlineto */ - if (sp < 1) return STBTT__CSERR("vlineto stack"); - goto vlineto; - case 0x06: /* hlineto */ - if (sp < 1) return STBTT__CSERR("hlineto stack"); - for (;;) { - if (i >= sp) break; - stbtt__csctx_rline_to(c, s[i], 0); - i++; - vlineto: - if (i >= sp) break; - stbtt__csctx_rline_to(c, 0, s[i]); - i++; - } - break; - - case 0x1F: /* hvcurveto */ - if (sp < 4) return STBTT__CSERR("hvcurveto stack"); - goto hvcurveto; - case 0x1E: /* vhcurveto */ - if (sp < 4) return STBTT__CSERR("vhcurveto stack"); - for (;;) { - if (i + 3 >= sp) break; - stbtt__csctx_rccurve_to(c, 0, s[i], s[i+1], s[i+2], s[i+3], (sp - i == 5) ? s[i + 4] : 0.0f); - i += 4; - hvcurveto: - if (i + 3 >= sp) break; - stbtt__csctx_rccurve_to(c, s[i], 0, s[i+1], s[i+2], (sp - i == 5) ? s[i+4] : 0.0f, s[i+3]); - i += 4; - } - break; - - case 0x08: /* rrcurveto */ - if (sp < 6) return STBTT__CSERR("rcurveline stack"); - for (; i + 5 < sp; i += 6) - stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]); - break; - - case 0x18: /* rcurveline */ - if (sp < 8) return STBTT__CSERR("rcurveline stack"); - for (; i + 5 < sp - 2; i += 6) - stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]); - if (i + 1 >= sp) return STBTT__CSERR("rcurveline stack"); - stbtt__csctx_rline_to(c, s[i], s[i+1]); - break; - - case 0x19: /* rlinecurve */ - if (sp < 8) return STBTT__CSERR("rlinecurve stack"); - for (; i + 1 < sp - 6; i += 2) - stbtt__csctx_rline_to(c, s[i], s[i+1]); - if (i + 5 >= sp) return STBTT__CSERR("rlinecurve stack"); - stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]); - break; - - case 0x1A: /* vvcurveto */ - case 0x1B: /* hhcurveto */ - if (sp < 4) return STBTT__CSERR("(vv|hh)curveto stack"); - f = 0.0; - if (sp & 1) { f = s[i]; i++; } - for (; i + 3 < sp; i += 4) { - if (b0 == 0x1B) - stbtt__csctx_rccurve_to(c, s[i], f, s[i+1], s[i+2], s[i+3], 0.0); - else - stbtt__csctx_rccurve_to(c, f, s[i], s[i+1], s[i+2], 0.0, s[i+3]); - f = 0.0; - } - break; - - case 0x0A: /* callsubr */ - if (!has_subrs) { - if (info->fdselect.size) - subrs = stbtt__cid_get_glyph_subrs(info, glyph_index); - has_subrs = 1; - } - /* FALLTHROUGH */ - case 0x1D: /* callgsubr */ - if (sp < 1) return STBTT__CSERR("call(g|)subr stack"); - v = (int) s[--sp]; - if (subr_stack_height >= 10) return STBTT__CSERR("recursion limit"); - subr_stack[subr_stack_height++] = b; - b = stbtt__get_subr(b0 == 0x0A ? subrs : info->gsubrs, v); - if (b.size == 0) return STBTT__CSERR("subr not found"); - b.cursor = 0; - clear_stack = 0; - break; - - case 0x0B: /* return */ - if (subr_stack_height <= 0) return STBTT__CSERR("return outside subr"); - b = subr_stack[--subr_stack_height]; - clear_stack = 0; - break; - - case 0x0E: /* endchar */ - stbtt__csctx_close_shape(c); - return 1; - - case 0x0C: { /* two-byte escape */ - float dx1, dx2, dx3, dx4, dx5, dx6, dy1, dy2, dy3, dy4, dy5, dy6; - float dx, dy; - int b1 = stbtt__buf_get8(&b); - switch (b1) { - /* @TODO These "flex" implementations ignore the flex-depth and resolution, */ - /* and always draw beziers. */ - case 0x22: /* hflex */ - if (sp < 7) return STBTT__CSERR("hflex stack"); - dx1 = s[0]; - dx2 = s[1]; - dy2 = s[2]; - dx3 = s[3]; - dx4 = s[4]; - dx5 = s[5]; - dx6 = s[6]; - stbtt__csctx_rccurve_to(c, dx1, 0, dx2, dy2, dx3, 0); - stbtt__csctx_rccurve_to(c, dx4, 0, dx5, -dy2, dx6, 0); - break; - - case 0x23: /* flex */ - if (sp < 13) return STBTT__CSERR("flex stack"); - dx1 = s[0]; - dy1 = s[1]; - dx2 = s[2]; - dy2 = s[3]; - dx3 = s[4]; - dy3 = s[5]; - dx4 = s[6]; - dy4 = s[7]; - dx5 = s[8]; - dy5 = s[9]; - dx6 = s[10]; - dy6 = s[11]; - /* fd is s[12] */ - stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, dy3); - stbtt__csctx_rccurve_to(c, dx4, dy4, dx5, dy5, dx6, dy6); - break; - - case 0x24: /* hflex1 */ - if (sp < 9) return STBTT__CSERR("hflex1 stack"); - dx1 = s[0]; - dy1 = s[1]; - dx2 = s[2]; - dy2 = s[3]; - dx3 = s[4]; - dx4 = s[5]; - dx5 = s[6]; - dy5 = s[7]; - dx6 = s[8]; - stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, 0); - stbtt__csctx_rccurve_to(c, dx4, 0, dx5, dy5, dx6, -(dy1+dy2+dy5)); - break; - - case 0x25: /* flex1 */ - if (sp < 11) return STBTT__CSERR("flex1 stack"); - dx1 = s[0]; - dy1 = s[1]; - dx2 = s[2]; - dy2 = s[3]; - dx3 = s[4]; - dy3 = s[5]; - dx4 = s[6]; - dy4 = s[7]; - dx5 = s[8]; - dy5 = s[9]; - dx6 = dy6 = s[10]; - dx = dx1+dx2+dx3+dx4+dx5; - dy = dy1+dy2+dy3+dy4+dy5; - if (STBTT_fabs(dx) > STBTT_fabs(dy)) - dy6 = -dy; - else - dx6 = -dx; - stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, dy3); - stbtt__csctx_rccurve_to(c, dx4, dy4, dx5, dy5, dx6, dy6); - break; - - default: - return STBTT__CSERR("unimplemented"); - } - } break; - - default: - if (b0 != 255 && b0 != 28 && b0 < 32) - return STBTT__CSERR("reserved operator"); - - /* push immediate */ - if (b0 == 255) { - f = (float)(stbtt_int32)stbtt__buf_get32(&b) / 0x10000; - } else { - stbtt__buf_skip(&b, -1); - f = (float)(stbtt_int16)stbtt__cff_int(&b); - } - if (sp >= 48) return STBTT__CSERR("push stack overflow"); - s[sp++] = f; - clear_stack = 0; - break; - } - if (clear_stack) sp = 0; - } - return STBTT__CSERR("no endchar"); - -#undef STBTT__CSERR -} - -static int stbtt__GetGlyphShapeT2(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices) -{ - /* runs the charstring twice, once to count and once to output (to avoid realloc) */ - stbtt__csctx count_ctx = STBTT__CSCTX_INIT(1); - stbtt__csctx output_ctx = STBTT__CSCTX_INIT(0); - if (stbtt__run_charstring(info, glyph_index, &count_ctx)) { - *pvertices = (stbtt_vertex*)STBTT_malloc(count_ctx.num_vertices*sizeof(stbtt_vertex), info->userdata); - output_ctx.pvertices = *pvertices; - if (stbtt__run_charstring(info, glyph_index, &output_ctx)) { - STBTT_assert(output_ctx.num_vertices == count_ctx.num_vertices); - return output_ctx.num_vertices; - } - } - *pvertices = NULL; - return 0; -} - -static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1) -{ - stbtt__csctx c = STBTT__CSCTX_INIT(1); - int r = stbtt__run_charstring(info, glyph_index, &c); - if (x0) *x0 = r ? c.min_x : 0; - if (y0) *y0 = r ? c.min_y : 0; - if (x1) *x1 = r ? c.max_x : 0; - if (y1) *y1 = r ? c.max_y : 0; - return r ? c.num_vertices : 0; -} - -STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices) -{ - if (!info->cff.size) - return stbtt__GetGlyphShapeTT(info, glyph_index, pvertices); - else - return stbtt__GetGlyphShapeT2(info, glyph_index, pvertices); -} - -STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing) -{ - stbtt_uint16 numOfLongHorMetrics = ttUSHORT(info->data+info->hhea + 34); - if (glyph_index < numOfLongHorMetrics) { - if (advanceWidth) *advanceWidth = ttSHORT(info->data + info->hmtx + 4*glyph_index); - if (leftSideBearing) *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*glyph_index + 2); - } else { - if (advanceWidth) *advanceWidth = ttSHORT(info->data + info->hmtx + 4*(numOfLongHorMetrics-1)); - if (leftSideBearing) *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*numOfLongHorMetrics + 2*(glyph_index - numOfLongHorMetrics)); - } -} - -STBTT_DEF int stbtt_GetKerningTableLength(const stbtt_fontinfo *info) -{ - stbtt_uint8 *data = info->data + info->kern; - - /* we only look at the first table. it must be 'horizontal' and format 0. */ - if (!info->kern) - return 0; - if (ttUSHORT(data+2) < 1) /* number of tables, need at least 1 */ - return 0; - if (ttUSHORT(data+8) != 1) /* horizontal flag must be set in format */ - return 0; - - return ttUSHORT(data+10); -} - -STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length) -{ - stbtt_uint8 *data = info->data + info->kern; - int k, length; - - /* we only look at the first table. it must be 'horizontal' and format 0. */ - if (!info->kern) - return 0; - if (ttUSHORT(data+2) < 1) /* number of tables, need at least 1 */ - return 0; - if (ttUSHORT(data+8) != 1) /* horizontal flag must be set in format */ - return 0; - - length = ttUSHORT(data+10); - if (table_length < length) - length = table_length; - - for (k = 0; k < length; k++) - { - table[k].glyph1 = ttUSHORT(data+18+(k*6)); - table[k].glyph2 = ttUSHORT(data+20+(k*6)); - table[k].advance = ttSHORT(data+22+(k*6)); - } - - return length; -} - -static int stbtt__GetGlyphKernInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) -{ - stbtt_uint8 *data = info->data + info->kern; - stbtt_uint32 needle, straw; - int l, r, m; - - /* we only look at the first table. it must be 'horizontal' and format 0. */ - if (!info->kern) - return 0; - if (ttUSHORT(data+2) < 1) /* number of tables, need at least 1 */ - return 0; - if (ttUSHORT(data+8) != 1) /* horizontal flag must be set in format */ - return 0; - - l = 0; - r = ttUSHORT(data+10) - 1; - needle = glyph1 << 16 | glyph2; - while (l <= r) { - m = (l + r) >> 1; - straw = ttULONG(data+18+(m*6)); /* note: unaligned read */ - if (needle < straw) - r = m - 1; - else if (needle > straw) - l = m + 1; - else - return ttSHORT(data+22+(m*6)); - } - return 0; -} - -static stbtt_int32 stbtt__GetCoverageIndex(stbtt_uint8 *coverageTable, int glyph) -{ - stbtt_uint16 coverageFormat = ttUSHORT(coverageTable); - switch (coverageFormat) { - case 1: { - stbtt_uint16 glyphCount = ttUSHORT(coverageTable + 2); - - /* Binary search. */ - stbtt_int32 l=0, r=glyphCount-1, m; - int straw, needle=glyph; - while (l <= r) { - stbtt_uint8 *glyphArray = coverageTable + 4; - stbtt_uint16 glyphID; - m = (l + r) >> 1; - glyphID = ttUSHORT(glyphArray + 2 * m); - straw = glyphID; - if (needle < straw) - r = m - 1; - else if (needle > straw) - l = m + 1; - else { - return m; - } - } - break; - } - - case 2: { - stbtt_uint16 rangeCount = ttUSHORT(coverageTable + 2); - stbtt_uint8 *rangeArray = coverageTable + 4; - - /* Binary search. */ - stbtt_int32 l=0, r=rangeCount-1, m; - int strawStart, strawEnd, needle=glyph; - while (l <= r) { - stbtt_uint8 *rangeRecord; - m = (l + r) >> 1; - rangeRecord = rangeArray + 6 * m; - strawStart = ttUSHORT(rangeRecord); - strawEnd = ttUSHORT(rangeRecord + 2); - if (needle < strawStart) - r = m - 1; - else if (needle > strawEnd) - l = m + 1; - else { - stbtt_uint16 startCoverageIndex = ttUSHORT(rangeRecord + 4); - return startCoverageIndex + glyph - strawStart; - } - } - break; - } - - default: return -1; /* unsupported */ - } - - return -1; -} - -static stbtt_int32 stbtt__GetGlyphClass(stbtt_uint8 *classDefTable, int glyph) -{ - stbtt_uint16 classDefFormat = ttUSHORT(classDefTable); - switch (classDefFormat) - { - case 1: { - stbtt_uint16 startGlyphID = ttUSHORT(classDefTable + 2); - stbtt_uint16 glyphCount = ttUSHORT(classDefTable + 4); - stbtt_uint8 *classDef1ValueArray = classDefTable + 6; - - if (glyph >= startGlyphID && glyph < startGlyphID + glyphCount) - return (stbtt_int32)ttUSHORT(classDef1ValueArray + 2 * (glyph - startGlyphID)); - break; - } - - case 2: { - stbtt_uint16 classRangeCount = ttUSHORT(classDefTable + 2); - stbtt_uint8 *classRangeRecords = classDefTable + 4; - - /* Binary search. */ - stbtt_int32 l=0, r=classRangeCount-1, m; - int strawStart, strawEnd, needle=glyph; - while (l <= r) { - stbtt_uint8 *classRangeRecord; - m = (l + r) >> 1; - classRangeRecord = classRangeRecords + 6 * m; - strawStart = ttUSHORT(classRangeRecord); - strawEnd = ttUSHORT(classRangeRecord + 2); - if (needle < strawStart) - r = m - 1; - else if (needle > strawEnd) - l = m + 1; - else - return (stbtt_int32)ttUSHORT(classRangeRecord + 4); - } - break; - } - - default: - return -1; /* Unsupported definition type, return an error. */ - } - - /* "All glyphs not assigned to a class fall into class 0". (OpenType spec) */ - return 0; -} - -/* Define to STBTT_assert(x) if you want to break on unimplemented formats. */ -#define STBTT_GPOS_TODO_assert(x) - -static stbtt_int32 stbtt__GetGlyphGPOSInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) -{ - stbtt_uint16 lookupListOffset; - stbtt_uint8 *lookupList; - stbtt_uint16 lookupCount; - stbtt_uint8 *data; - stbtt_int32 i, sti; - - if (!info->gpos) return 0; - - data = info->data + info->gpos; - - if (ttUSHORT(data+0) != 1) return 0; /* Major version 1 */ - if (ttUSHORT(data+2) != 0) return 0; /* Minor version 0 */ - - lookupListOffset = ttUSHORT(data+8); - lookupList = data + lookupListOffset; - lookupCount = ttUSHORT(lookupList); - - for (i=0; i= pairSetCount) return 0; - - needle=glyph2; - r=pairValueCount-1; - l=0; - - /* Binary search. */ - while (l <= r) { - stbtt_uint16 secondGlyph; - stbtt_uint8 *pairValue; - m = (l + r) >> 1; - pairValue = pairValueArray + (2 + valueRecordPairSizeInBytes) * m; - secondGlyph = ttUSHORT(pairValue); - straw = secondGlyph; - if (needle < straw) - r = m - 1; - else if (needle > straw) - l = m + 1; - else { - stbtt_int16 xAdvance = ttSHORT(pairValue + 2); - return xAdvance; - } - } - } else - return 0; - break; - } - - case 2: { - stbtt_uint16 valueFormat1 = ttUSHORT(table + 4); - stbtt_uint16 valueFormat2 = ttUSHORT(table + 6); - if (valueFormat1 == 4 && valueFormat2 == 0) { /* Support more formats? */ - stbtt_uint16 classDef1Offset = ttUSHORT(table + 8); - stbtt_uint16 classDef2Offset = ttUSHORT(table + 10); - int glyph1class = stbtt__GetGlyphClass(table + classDef1Offset, glyph1); - int glyph2class = stbtt__GetGlyphClass(table + classDef2Offset, glyph2); - - stbtt_uint16 class1Count = ttUSHORT(table + 12); - stbtt_uint16 class2Count = ttUSHORT(table + 14); - stbtt_uint8 *class1Records, *class2Records; - stbtt_int16 xAdvance; - - if (glyph1class < 0 || glyph1class >= class1Count) return 0; /* malformed */ - if (glyph2class < 0 || glyph2class >= class2Count) return 0; /* malformed */ - - class1Records = table + 16; - class2Records = class1Records + 2 * (glyph1class * class2Count); - xAdvance = ttSHORT(class2Records + 2 * glyph2class); - return xAdvance; - } else - return 0; - break; - } - - default: - return 0; /* Unsupported position format */ - } - } - } - - return 0; -} - -STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int g1, int g2) -{ - int xAdvance = 0; - - if (info->gpos) - xAdvance += stbtt__GetGlyphGPOSInfoAdvance(info, g1, g2); - else if (info->kern) - xAdvance += stbtt__GetGlyphKernInfoAdvance(info, g1, g2); - - return xAdvance; -} - -STBTT_DEF int stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2) -{ - if (!info->kern && !info->gpos) /* if no kerning table, don't waste time looking up both codepoint->glyphs */ - return 0; - return stbtt_GetGlyphKernAdvance(info, stbtt_FindGlyphIndex(info,ch1), stbtt_FindGlyphIndex(info,ch2)); -} - -STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing) -{ - stbtt_GetGlyphHMetrics(info, stbtt_FindGlyphIndex(info,codepoint), advanceWidth, leftSideBearing); -} - -STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap) -{ - if (ascent ) *ascent = ttSHORT(info->data+info->hhea + 4); - if (descent) *descent = ttSHORT(info->data+info->hhea + 6); - if (lineGap) *lineGap = ttSHORT(info->data+info->hhea + 8); -} - -STBTT_DEF int stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap) -{ - int tab = stbtt__find_table(info->data, info->fontstart, "OS/2"); - if (!tab) - return 0; - if (typoAscent ) *typoAscent = ttSHORT(info->data+tab + 68); - if (typoDescent) *typoDescent = ttSHORT(info->data+tab + 70); - if (typoLineGap) *typoLineGap = ttSHORT(info->data+tab + 72); - return 1; -} - -STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1) -{ - *x0 = ttSHORT(info->data + info->head + 36); - *y0 = ttSHORT(info->data + info->head + 38); - *x1 = ttSHORT(info->data + info->head + 40); - *y1 = ttSHORT(info->data + info->head + 42); -} - -STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float height) -{ - int fheight = ttSHORT(info->data + info->hhea + 4) - ttSHORT(info->data + info->hhea + 6); - return (float) height / fheight; -} - -STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels) -{ - int unitsPerEm = ttUSHORT(info->data + info->head + 18); - return pixels / unitsPerEm; -} - -STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *v) -{ - STBTT_free(v, info->userdata); -} - -STBTT_DEF stbtt_uint8 *stbtt_FindSVGDoc(const stbtt_fontinfo *info, int gl) -{ - int i; - stbtt_uint8 *data = info->data; - stbtt_uint8 *svg_doc_list = data + stbtt__get_svg((stbtt_fontinfo *) info); - - int numEntries = ttUSHORT(svg_doc_list); - stbtt_uint8 *svg_docs = svg_doc_list + 2; - - for(i=0; i= ttUSHORT(svg_doc)) && (gl <= ttUSHORT(svg_doc + 2))) - return svg_doc; - } - return 0; -} - -STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg) -{ - stbtt_uint8 *data = info->data; - stbtt_uint8 *svg_doc; - - if (info->svg == 0) - return 0; - - svg_doc = stbtt_FindSVGDoc(info, gl); - if (svg_doc != NULL) { - *svg = (char *) data + info->svg + ttULONG(svg_doc + 4); - return ttULONG(svg_doc + 8); - } else { - return 0; - } -} - -STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg) -{ - return stbtt_GetGlyphSVG(info, stbtt_FindGlyphIndex(info, unicode_codepoint), svg); -} - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* antialiasing software rasterizer */ -/* */ - -STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1) -{ - int x0=0,y0=0,x1,y1; /* =0 suppresses compiler warning */ - if (!stbtt_GetGlyphBox(font, glyph, &x0,&y0,&x1,&y1)) { - /* e.g. space character */ - if (ix0) *ix0 = 0; - if (iy0) *iy0 = 0; - if (ix1) *ix1 = 0; - if (iy1) *iy1 = 0; - } else { - /* move to integral bboxes (treating pixels as little squares, what pixels get touched)? */ - if (ix0) *ix0 = STBTT_ifloor( x0 * scale_x + shift_x); - if (iy0) *iy0 = STBTT_ifloor(-y1 * scale_y + shift_y); - if (ix1) *ix1 = STBTT_iceil ( x1 * scale_x + shift_x); - if (iy1) *iy1 = STBTT_iceil (-y0 * scale_y + shift_y); - } -} - -STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1) -{ - stbtt_GetGlyphBitmapBoxSubpixel(font, glyph, scale_x, scale_y,0.0f,0.0f, ix0, iy0, ix1, iy1); -} - -STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1) -{ - stbtt_GetGlyphBitmapBoxSubpixel(font, stbtt_FindGlyphIndex(font,codepoint), scale_x, scale_y,shift_x,shift_y, ix0,iy0,ix1,iy1); -} - -STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1) -{ - stbtt_GetCodepointBitmapBoxSubpixel(font, codepoint, scale_x, scale_y,0.0f,0.0f, ix0,iy0,ix1,iy1); -} - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* Rasterizer */ - -typedef struct stbtt__hheap_chunk -{ - struct stbtt__hheap_chunk *next; -} stbtt__hheap_chunk; - -typedef struct stbtt__hheap -{ - struct stbtt__hheap_chunk *head; - void *first_free; - int num_remaining_in_head_chunk; -} stbtt__hheap; - -static void *stbtt__hheap_alloc(stbtt__hheap *hh, size_t size, void *userdata) -{ - if (hh->first_free) { - void *p = hh->first_free; - hh->first_free = * (void **) p; - return p; - } else { - if (hh->num_remaining_in_head_chunk == 0) { - int count = (size < 32 ? 2000 : size < 128 ? 800 : 100); - stbtt__hheap_chunk *c = (stbtt__hheap_chunk *) STBTT_malloc(sizeof(stbtt__hheap_chunk) + size * count, userdata); - if (c == NULL) - return NULL; - c->next = hh->head; - hh->head = c; - hh->num_remaining_in_head_chunk = count; - } - --hh->num_remaining_in_head_chunk; - return (char *) (hh->head) + sizeof(stbtt__hheap_chunk) + size * hh->num_remaining_in_head_chunk; - } -} - -static void stbtt__hheap_free(stbtt__hheap *hh, void *p) -{ - *(void **) p = hh->first_free; - hh->first_free = p; -} - -static void stbtt__hheap_cleanup(stbtt__hheap *hh, void *userdata) -{ - stbtt__hheap_chunk *c = hh->head; - while (c) { - stbtt__hheap_chunk *n = c->next; - STBTT_free(c, userdata); - c = n; - } -} - -typedef struct stbtt__edge { - float x0,y0, x1,y1; - int invert; -} stbtt__edge; - - -typedef struct stbtt__active_edge -{ - struct stbtt__active_edge *next; - #if STBTT_RASTERIZER_VERSION==1 - int x,dx; - float ey; - int direction; - #elif STBTT_RASTERIZER_VERSION==2 - float fx,fdx,fdy; - float direction; - float sy; - float ey; - #else - #error "Unrecognized value of STBTT_RASTERIZER_VERSION" - #endif -} stbtt__active_edge; - -#if STBTT_RASTERIZER_VERSION == 1 -#define STBTT_FIXSHIFT 10 -#define STBTT_FIX (1 << STBTT_FIXSHIFT) -#define STBTT_FIXMASK (STBTT_FIX-1) - -static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata) -{ - stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata); - float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0); - STBTT_assert(z != NULL); - if (!z) return z; - - /* round dx down to avoid overshooting */ - if (dxdy < 0) - z->dx = -STBTT_ifloor(STBTT_FIX * -dxdy); - else - z->dx = STBTT_ifloor(STBTT_FIX * dxdy); - - z->x = STBTT_ifloor(STBTT_FIX * e->x0 + z->dx * (start_point - e->y0)); /* use z->dx so when we offset later it's by the same amount */ - z->x -= off_x * STBTT_FIX; - - z->ey = e->y1; - z->next = 0; - z->direction = e->invert ? 1 : -1; - return z; -} -#elif STBTT_RASTERIZER_VERSION == 2 -static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata) -{ - stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata); - float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0); - STBTT_assert(z != NULL); - /* STBTT_assert(e->y0 <= start_point); */ - if (!z) return z; - z->fdx = dxdy; - z->fdy = dxdy != 0.0f ? (1.0f/dxdy) : 0.0f; - z->fx = e->x0 + dxdy * (start_point - e->y0); - z->fx -= off_x; - z->direction = e->invert ? 1.0f : -1.0f; - z->sy = e->y0; - z->ey = e->y1; - z->next = 0; - return z; -} -#else -#error "Unrecognized value of STBTT_RASTERIZER_VERSION" -#endif - -#if STBTT_RASTERIZER_VERSION == 1 -/* note: this routine clips fills that extend off the edges... ideally this */ -/* wouldn't happen, but it could happen if the truetype glyph bounding boxes */ -/* are wrong, or if the user supplies a too-small bitmap */ -static void stbtt__fill_active_edges(unsigned char *scanline, int len, stbtt__active_edge *e, int max_weight) -{ - /* non-zero winding fill */ - int x0=0, w=0; - - while (e) { - if (w == 0) { - /* if we're currently at zero, we need to record the edge start point */ - x0 = e->x; w += e->direction; - } else { - int x1 = e->x; w += e->direction; - /* if we went to zero, we need to draw */ - if (w == 0) { - int i = x0 >> STBTT_FIXSHIFT; - int j = x1 >> STBTT_FIXSHIFT; - - if (i < len && j >= 0) { - if (i == j) { - /* x0,x1 are the same pixel, so compute combined coverage */ - scanline[i] = scanline[i] + (stbtt_uint8) ((x1 - x0) * max_weight >> STBTT_FIXSHIFT); - } else { - if (i >= 0) /* add antialiasing for x0 */ - scanline[i] = scanline[i] + (stbtt_uint8) (((STBTT_FIX - (x0 & STBTT_FIXMASK)) * max_weight) >> STBTT_FIXSHIFT); - else - i = -1; /* clip */ - - if (j < len) /* add antialiasing for x1 */ - scanline[j] = scanline[j] + (stbtt_uint8) (((x1 & STBTT_FIXMASK) * max_weight) >> STBTT_FIXSHIFT); - else - j = len; /* clip */ - - for (++i; i < j; ++i) /* fill pixels between x0 and x1 */ - scanline[i] = scanline[i] + (stbtt_uint8) max_weight; - } - } - } - } - - e = e->next; - } -} - -static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata) -{ - stbtt__hheap hh = { 0, 0, 0 }; - stbtt__active_edge *active = NULL; - int y,j=0; - int max_weight = (255 / vsubsample); /* weight per vertical scanline */ - int s; /* vertical subsample index */ - unsigned char scanline_data[512], *scanline; - - if (result->w > 512) - scanline = (unsigned char *) STBTT_malloc(result->w, userdata); - else - scanline = scanline_data; - - y = off_y * vsubsample; - e[n].y0 = (off_y + result->h) * (float) vsubsample + 1; - - while (j < result->h) { - STBTT_memset(scanline, 0, result->w); - for (s=0; s < vsubsample; ++s) { - /* find center of pixel for this scanline */ - float scan_y = y + 0.5f; - stbtt__active_edge **step = &active; - - /* update all active edges; */ - /* remove all active edges that terminate before the center of this scanline */ - while (*step) { - stbtt__active_edge * z = *step; - if (z->ey <= scan_y) { - *step = z->next; /* delete from list */ - STBTT_assert(z->direction); - z->direction = 0; - stbtt__hheap_free(&hh, z); - } else { - z->x += z->dx; /* advance to position for current scanline */ - step = &((*step)->next); /* advance through list */ - } - } - - /* resort the list if needed */ - for(;;) { - int changed=0; - step = &active; - while (*step && (*step)->next) { - if ((*step)->x > (*step)->next->x) { - stbtt__active_edge *t = *step; - stbtt__active_edge *q = t->next; - - t->next = q->next; - q->next = t; - *step = q; - changed = 1; - } - step = &(*step)->next; - } - if (!changed) break; - } - - /* insert all edges that start before the center of this scanline -- omit ones that also end on this scanline */ - while (e->y0 <= scan_y) { - if (e->y1 > scan_y) { - stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y, userdata); - if (z != NULL) { - /* find insertion point */ - if (active == NULL) - active = z; - else if (z->x < active->x) { - /* insert at front */ - z->next = active; - active = z; - } else { - /* find thing to insert AFTER */ - stbtt__active_edge *p = active; - while (p->next && p->next->x < z->x) - p = p->next; - /* at this point, p->next->x is NOT < z->x */ - z->next = p->next; - p->next = z; - } - } - } - ++e; - } - - /* now process all active edges in XOR fashion */ - if (active) - stbtt__fill_active_edges(scanline, result->w, active, max_weight); - - ++y; - } - STBTT_memcpy(result->pixels + j * result->stride, scanline, result->w); - ++j; - } - - stbtt__hheap_cleanup(&hh, userdata); - - if (scanline != scanline_data) - STBTT_free(scanline, userdata); -} - -#elif STBTT_RASTERIZER_VERSION == 2 - -/* the edge passed in here does not cross the vertical line at x or the vertical line at x+1 */ -/* (i.e. it has already been clipped to those) */ -static void stbtt__handle_clipped_edge(float *scanline, int x, stbtt__active_edge *e, float x0, float y0, float x1, float y1) -{ - if (y0 == y1) return; - STBTT_assert(y0 < y1); - STBTT_assert(e->sy <= e->ey); - if (y0 > e->ey) return; - if (y1 < e->sy) return; - if (y0 < e->sy) { - x0 += (x1-x0) * (e->sy - y0) / (y1-y0); - y0 = e->sy; - } - if (y1 > e->ey) { - x1 += (x1-x0) * (e->ey - y1) / (y1-y0); - y1 = e->ey; - } - - if (x0 == x) - STBTT_assert(x1 <= x+1); - else if (x0 == x+1) - STBTT_assert(x1 >= x); - else if (x0 <= x) - STBTT_assert(x1 <= x); - else if (x0 >= x+1) - STBTT_assert(x1 >= x+1); - else - STBTT_assert(x1 >= x && x1 <= x+1); - - if (x0 <= x && x1 <= x) - scanline[x] += e->direction * (y1-y0); - else if (x0 >= x+1 && x1 >= x+1) - ; - else { - STBTT_assert(x0 >= x && x0 <= x+1 && x1 >= x && x1 <= x+1); - scanline[x] += e->direction * (y1-y0) * (1-((x0-x)+(x1-x))/2); /* coverage = 1 - average x position */ - } -} - -static float stbtt__sized_trapezoid_area(float height, float top_width, float bottom_width) -{ - STBTT_assert(top_width >= 0); - STBTT_assert(bottom_width >= 0); - return (top_width + bottom_width) / 2.0f * height; -} - -static float stbtt__position_trapezoid_area(float height, float tx0, float tx1, float bx0, float bx1) -{ - return stbtt__sized_trapezoid_area(height, tx1 - tx0, bx1 - bx0); -} - -static float stbtt__sized_triangle_area(float height, float width) -{ - return height * width / 2; -} - -static void stbtt__fill_active_edges_new(float *scanline, float *scanline_fill, int len, stbtt__active_edge *e, float y_top) -{ - float y_bottom = y_top+1; - - while (e) { - /* brute force every pixel */ - - /* compute intersection points with top & bottom */ - STBTT_assert(e->ey >= y_top); - - if (e->fdx == 0) { - float x0 = e->fx; - if (x0 < len) { - if (x0 >= 0) { - stbtt__handle_clipped_edge(scanline,(int) x0,e, x0,y_top, x0,y_bottom); - stbtt__handle_clipped_edge(scanline_fill-1,(int) x0+1,e, x0,y_top, x0,y_bottom); - } else { - stbtt__handle_clipped_edge(scanline_fill-1,0,e, x0,y_top, x0,y_bottom); - } - } - } else { - float x0 = e->fx; - float dx = e->fdx; - float xb = x0 + dx; - float x_top, x_bottom; - float sy0,sy1; - float dy = e->fdy; - STBTT_assert(e->sy <= y_bottom && e->ey >= y_top); - - /* compute endpoints of line segment clipped to this scanline (if the */ - /* line segment starts on this scanline. x0 is the intersection of the */ - /* line with y_top, but that may be off the line segment. */ - if (e->sy > y_top) { - x_top = x0 + dx * (e->sy - y_top); - sy0 = e->sy; - } else { - x_top = x0; - sy0 = y_top; - } - if (e->ey < y_bottom) { - x_bottom = x0 + dx * (e->ey - y_top); - sy1 = e->ey; - } else { - x_bottom = xb; - sy1 = y_bottom; - } - - if (x_top >= 0 && x_bottom >= 0 && x_top < len && x_bottom < len) { - /* from here on, we don't have to range check x values */ - - if ((int) x_top == (int) x_bottom) { - float height; - /* simple case, only spans one pixel */ - int x = (int) x_top; - height = (sy1 - sy0) * e->direction; - STBTT_assert(x >= 0 && x < len); - scanline[x] += stbtt__position_trapezoid_area(height, x_top, x+1.0f, x_bottom, x+1.0f); - scanline_fill[x] += height; /* everything right of this pixel is filled */ - } else { - int x,x1,x2; - float y_crossing, y_final, step, sign, area; - /* covers 2+ pixels */ - if (x_top > x_bottom) { - /* flip scanline vertically; signed area is the same */ - float t; - sy0 = y_bottom - (sy0 - y_top); - sy1 = y_bottom - (sy1 - y_top); - t = sy0, sy0 = sy1, sy1 = t; - t = x_bottom, x_bottom = x_top, x_top = t; - dx = -dx; - dy = -dy; - t = x0, x0 = xb, xb = t; - } - STBTT_assert(dy >= 0); - STBTT_assert(dx >= 0); - - x1 = (int) x_top; - x2 = (int) x_bottom; - /* compute intersection with y axis at x1+1 */ - y_crossing = y_top + dy * (x1+1 - x0); - - /* compute intersection with y axis at x2 */ - y_final = y_top + dy * (x2 - x0); - - /* x1 x_top x2 x_bottom */ - /* y_top +------|-----+------------+------------+--------|---+------------+ */ - /* | | | | | | */ - /* | | | | | | */ - /* sy0 | Txxxxx|............|............|............|............| */ - /* y_crossing | *xxxxx.......|............|............|............| */ - /* | | xxxxx..|............|............|............| */ - /* | | /- xx*xxxx........|............|............| */ - /* | | dy < | xxxxxx..|............|............| */ - /* y_final | | \- | xx*xxx.........|............| */ - /* sy1 | | | | xxxxxB...|............| */ - /* | | | | | | */ - /* | | | | | | */ - /* y_bottom +------------+------------+------------+------------+------------+ */ - /* */ - /* goal is to measure the area covered by '.' in each pixel */ - - /* if x2 is right at the right edge of x1, y_crossing can blow up, github #1057 */ - /* @TODO: maybe test against sy1 rather than y_bottom? */ - if (y_crossing > y_bottom) - y_crossing = y_bottom; - - sign = e->direction; - - /* area of the rectangle covered from sy0..y_crossing */ - area = sign * (y_crossing-sy0); - - /* area of the triangle (x_top,sy0), (x1+1,sy0), (x1+1,y_crossing) */ - scanline[x1] += stbtt__sized_triangle_area(area, x1+1 - x_top); - - /* check if final y_crossing is blown up; no test case for this */ - if (y_final > y_bottom) { - y_final = y_bottom; - dy = (y_final - y_crossing ) / (x2 - (x1+1)); /* if denom=0, y_final = y_crossing, so y_final <= y_bottom */ - } - - /* in second pixel, area covered by line segment found in first pixel */ - /* is always a rectangle 1 wide * the height of that line segment; this */ - /* is exactly what the variable 'area' stores. it also gets a contribution */ - /* from the line segment within it. the THIRD pixel will get the first */ - /* pixel's rectangle contribution, the second pixel's rectangle contribution, */ - /* and its own contribution. the 'own contribution' is the same in every pixel except */ - /* the leftmost and rightmost, a trapezoid that slides down in each pixel. */ - /* the second pixel's contribution to the third pixel will be the */ - /* rectangle 1 wide times the height change in the second pixel, which is dy. */ - - step = sign * dy * 1; /* dy is dy/dx, change in y for every 1 change in x, */ - /* which multiplied by 1-pixel-width is how much pixel area changes for each step in x */ - /* so the area advances by 'step' every time */ - - for (x = x1+1; x < x2; ++x) { - scanline[x] += area + step/2; /* area of trapezoid is 1*step/2 */ - area += step; - } - STBTT_assert(STBTT_fabs(area) <= 1.01f); /* accumulated error from area += step unless we round step down */ - STBTT_assert(sy1 > y_final-0.01f); - - /* area covered in the last pixel is the rectangle from all the pixels to the left, */ - /* plus the trapezoid filled by the line segment in this pixel all the way to the right edge */ - scanline[x2] += area + sign * stbtt__position_trapezoid_area(sy1-y_final, (float) x2, x2+1.0f, x_bottom, x2+1.0f); - - /* the rest of the line is filled based on the total height of the line segment in this pixel */ - scanline_fill[x2] += sign * (sy1-sy0); - } - } else { - /* if edge goes outside of box we're drawing, we require */ - /* clipping logic. since this does not match the intended use */ - /* of this library, we use a different, very slow brute */ - /* force implementation */ - /* note though that this does happen some of the time because */ - /* x_top and x_bottom can be extrapolated at the top & bottom of */ - /* the shape and actually lie outside the bounding box */ - int x; - for (x=0; x < len; ++x) { - /* cases: */ - /* */ - /* there can be up to two intersections with the pixel. any intersection */ - /* with left or right edges can be handled by splitting into two (or three) */ - /* regions. intersections with top & bottom do not necessitate case-wise logic. */ - /* */ - /* the old way of doing this found the intersections with the left & right edges, */ - /* then used some simple logic to produce up to three segments in sorted order */ - /* from top-to-bottom. however, this had a problem: if an x edge was epsilon */ - /* across the x border, then the corresponding y position might not be distinct */ - /* from the other y segment, and it might ignored as an empty segment. to avoid */ - /* that, we need to explicitly produce segments based on x positions. */ - - /* rename variables to clearly-defined pairs */ - float y0 = y_top; - float x1 = (float) (x); - float x2 = (float) (x+1); - float x3 = xb; - float y3 = y_bottom; - - /* x = e->x + e->dx * (y-y_top) */ - /* (y-y_top) = (x - e->x) / e->dx */ - /* y = (x - e->x) / e->dx + y_top */ - float y1 = (x - x0) / dx + y_top; - float y2 = (x+1 - x0) / dx + y_top; - - if (x0 < x1 && x3 > x2) { /* three segments descending down-right */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); - stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x2,y2); - stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3); - } else if (x3 < x1 && x0 > x2) { /* three segments descending down-left */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2); - stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x1,y1); - stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3); - } else if (x0 < x1 && x3 > x1) { /* two segments across x, down-right */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); - stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3); - } else if (x3 < x1 && x0 > x1) { /* two segments across x, down-left */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); - stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3); - } else if (x0 < x2 && x3 > x2) { /* two segments across x+1, down-right */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2); - stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3); - } else if (x3 < x2 && x0 > x2) { /* two segments across x+1, down-left */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2); - stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3); - } else { /* one segment */ - stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x3,y3); - } - } - } - } - e = e->next; - } -} - -/* directly AA rasterize edges w/o supersampling */ -static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata) -{ - stbtt__hheap hh = { 0, 0, 0 }; - stbtt__active_edge *active = NULL; - int y,j=0, i; - float scanline_data[129], *scanline, *scanline2; - - STBTT__NOTUSED(vsubsample); - - if (result->w > 64) - scanline = (float *) STBTT_malloc((result->w*2+1) * sizeof(float), userdata); - else - scanline = scanline_data; - - scanline2 = scanline + result->w; - - y = off_y; - e[n].y0 = (float) (off_y + result->h) + 1; - - while (j < result->h) { - /* find center of pixel for this scanline */ - float scan_y_top = y + 0.0f; - float scan_y_bottom = y + 1.0f; - stbtt__active_edge **step = &active; - - STBTT_memset(scanline , 0, result->w*sizeof(scanline[0])); - STBTT_memset(scanline2, 0, (result->w+1)*sizeof(scanline[0])); - - /* update all active edges; */ - /* remove all active edges that terminate before the top of this scanline */ - while (*step) { - stbtt__active_edge * z = *step; - if (z->ey <= scan_y_top) { - *step = z->next; /* delete from list */ - STBTT_assert(z->direction); - z->direction = 0; - stbtt__hheap_free(&hh, z); - } else { - step = &((*step)->next); /* advance through list */ - } - } - - /* insert all edges that start before the bottom of this scanline */ - while (e->y0 <= scan_y_bottom) { - if (e->y0 != e->y1) { - stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y_top, userdata); - if (z != NULL) { - if (j == 0 && off_y != 0) { - if (z->ey < scan_y_top) { - /* this can happen due to subpixel positioning and some kind of fp rounding error i think */ - z->ey = scan_y_top; - } - } - STBTT_assert(z->ey >= scan_y_top); /* if we get really unlucky a tiny bit of an edge can be out of bounds */ - /* insert at front */ - z->next = active; - active = z; - } - } - ++e; - } - - /* now process all active edges */ - if (active) - stbtt__fill_active_edges_new(scanline, scanline2+1, result->w, active, scan_y_top); - - { - float sum = 0; - for (i=0; i < result->w; ++i) { - float k; - int m; - sum += scanline2[i]; - k = scanline[i] + sum; - k = (float) STBTT_fabs(k)*255 + 0.5f; - m = (int) k; - if (m > 255) m = 255; - result->pixels[j*result->stride + i] = (unsigned char) m; - } - } - /* advance all the edges */ - step = &active; - while (*step) { - stbtt__active_edge *z = *step; - z->fx += z->fdx; /* advance to position for current scanline */ - step = &((*step)->next); /* advance through list */ - } - - ++y; - ++j; - } - - stbtt__hheap_cleanup(&hh, userdata); - - if (scanline != scanline_data) - STBTT_free(scanline, userdata); -} -#else -#error "Unrecognized value of STBTT_RASTERIZER_VERSION" -#endif - -#define STBTT__COMPARE(a,b) ((a)->y0 < (b)->y0) - -static void stbtt__sort_edges_ins_sort(stbtt__edge *p, int n) -{ - int i,j; - for (i=1; i < n; ++i) { - stbtt__edge t = p[i], *a = &t; - j = i; - while (j > 0) { - stbtt__edge *b = &p[j-1]; - int c = STBTT__COMPARE(a,b); - if (!c) break; - p[j] = p[j-1]; - --j; - } - if (i != j) - p[j] = t; - } -} - -static void stbtt__sort_edges_quicksort(stbtt__edge *p, int n) -{ - /* threshold for transitioning to insertion sort */ - while (n > 12) { - stbtt__edge t; - int c01,c12,c,m,i,j; - - /* compute median of three */ - m = n >> 1; - c01 = STBTT__COMPARE(&p[0],&p[m]); - c12 = STBTT__COMPARE(&p[m],&p[n-1]); - /* if 0 >= mid >= end, or 0 < mid < end, then use mid */ - if (c01 != c12) { - /* otherwise, we'll need to swap something else to middle */ - int z; - c = STBTT__COMPARE(&p[0],&p[n-1]); - /* 0>mid && midn => n; 0 0 */ - /* 0n: 0>n => 0; 0 n */ - z = (c == c12) ? 0 : n-1; - t = p[z]; - p[z] = p[m]; - p[m] = t; - } - /* now p[m] is the median-of-three */ - /* swap it to the beginning so it won't move around */ - t = p[0]; - p[0] = p[m]; - p[m] = t; - - /* partition loop */ - i=1; - j=n-1; - for(;;) { - /* handling of equality is crucial here */ - /* for sentinels & efficiency with duplicates */ - for (;;++i) { - if (!STBTT__COMPARE(&p[i], &p[0])) break; - } - for (;;--j) { - if (!STBTT__COMPARE(&p[0], &p[j])) break; - } - /* make sure we haven't crossed */ - if (i >= j) break; - t = p[i]; - p[i] = p[j]; - p[j] = t; - - ++i; - --j; - } - /* recurse on smaller side, iterate on larger */ - if (j < (n-i)) { - stbtt__sort_edges_quicksort(p,j); - p = p+i; - n = n-i; - } else { - stbtt__sort_edges_quicksort(p+i, n-i); - n = j; - } - } -} - -static void stbtt__sort_edges(stbtt__edge *p, int n) -{ - stbtt__sort_edges_quicksort(p, n); - stbtt__sort_edges_ins_sort(p, n); -} - -typedef struct -{ - float x,y; -} stbtt__point; - -static void stbtt__rasterize(stbtt__bitmap *result, stbtt__point *pts, int *wcount, int windings, float scale_x, float scale_y, float shift_x, float shift_y, int off_x, int off_y, int invert, void *userdata) -{ - float y_scale_inv = invert ? -scale_y : scale_y; - stbtt__edge *e; - int n,i,j,k,m; -#if STBTT_RASTERIZER_VERSION == 1 - int vsubsample = result->h < 8 ? 15 : 5; -#elif STBTT_RASTERIZER_VERSION == 2 - int vsubsample = 1; -#else - #error "Unrecognized value of STBTT_RASTERIZER_VERSION" -#endif - /* vsubsample should divide 255 evenly; otherwise we won't reach full opacity */ - - /* now we have to blow out the windings into explicit edge lists */ - n = 0; - for (i=0; i < windings; ++i) - n += wcount[i]; - - e = (stbtt__edge *) STBTT_malloc(sizeof(*e) * (n+1), userdata); /* add an extra one as a sentinel */ - if (e == 0) return; - n = 0; - - m=0; - for (i=0; i < windings; ++i) { - stbtt__point *p = pts + m; - m += wcount[i]; - j = wcount[i]-1; - for (k=0; k < wcount[i]; j=k++) { - int a=k,b=j; - /* skip the edge if horizontal */ - if (p[j].y == p[k].y) - continue; - /* add edge from j to k to the list */ - e[n].invert = 0; - if (invert ? p[j].y > p[k].y : p[j].y < p[k].y) { - e[n].invert = 1; - a=j,b=k; - } - e[n].x0 = p[a].x * scale_x + shift_x; - e[n].y0 = (p[a].y * y_scale_inv + shift_y) * vsubsample; - e[n].x1 = p[b].x * scale_x + shift_x; - e[n].y1 = (p[b].y * y_scale_inv + shift_y) * vsubsample; - ++n; - } - } - - /* now sort the edges by their highest point (should snap to integer, and then by x) */ - /* STBTT_sort(e, n, sizeof(e[0]), stbtt__edge_compare); */ - stbtt__sort_edges(e, n); - - /* now, traverse the scanlines and find the intersections on each scanline, use xor winding rule */ - stbtt__rasterize_sorted_edges(result, e, n, vsubsample, off_x, off_y, userdata); - - STBTT_free(e, userdata); -} - -static void stbtt__add_point(stbtt__point *points, int n, float x, float y) -{ - if (!points) return; /* during first pass, it's unallocated */ - points[n].x = x; - points[n].y = y; -} - -/* tessellate until threshold p is happy... @TODO warped to compensate for non-linear stretching */ -static int stbtt__tesselate_curve(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float objspace_flatness_squared, int n) -{ - /* midpoint */ - float mx = (x0 + 2*x1 + x2)/4; - float my = (y0 + 2*y1 + y2)/4; - /* versus directly drawn line */ - float dx = (x0+x2)/2 - mx; - float dy = (y0+y2)/2 - my; - if (n > 16) /* 65536 segments on one curve better be enough! */ - return 1; - if (dx*dx+dy*dy > objspace_flatness_squared) { /* half-pixel error allowed... need to be smaller if AA */ - stbtt__tesselate_curve(points, num_points, x0,y0, (x0+x1)/2.0f,(y0+y1)/2.0f, mx,my, objspace_flatness_squared,n+1); - stbtt__tesselate_curve(points, num_points, mx,my, (x1+x2)/2.0f,(y1+y2)/2.0f, x2,y2, objspace_flatness_squared,n+1); - } else { - stbtt__add_point(points, *num_points,x2,y2); - *num_points = *num_points+1; - } - return 1; -} - -static void stbtt__tesselate_cubic(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float x3, float y3, float objspace_flatness_squared, int n) -{ - /* @TODO this "flatness" calculation is just made-up nonsense that seems to work well enough */ - float dx0 = x1-x0; - float dy0 = y1-y0; - float dx1 = x2-x1; - float dy1 = y2-y1; - float dx2 = x3-x2; - float dy2 = y3-y2; - float dx = x3-x0; - float dy = y3-y0; - float longlen = (float) (STBTT_sqrt(dx0*dx0+dy0*dy0)+STBTT_sqrt(dx1*dx1+dy1*dy1)+STBTT_sqrt(dx2*dx2+dy2*dy2)); - float shortlen = (float) STBTT_sqrt(dx*dx+dy*dy); - float flatness_squared = longlen*longlen-shortlen*shortlen; - - if (n > 16) /* 65536 segments on one curve better be enough! */ - return; - - if (flatness_squared > objspace_flatness_squared) { - float x01 = (x0+x1)/2; - float y01 = (y0+y1)/2; - float x12 = (x1+x2)/2; - float y12 = (y1+y2)/2; - float x23 = (x2+x3)/2; - float y23 = (y2+y3)/2; - - float xa = (x01+x12)/2; - float ya = (y01+y12)/2; - float xb = (x12+x23)/2; - float yb = (y12+y23)/2; - - float mx = (xa+xb)/2; - float my = (ya+yb)/2; - - stbtt__tesselate_cubic(points, num_points, x0,y0, x01,y01, xa,ya, mx,my, objspace_flatness_squared,n+1); - stbtt__tesselate_cubic(points, num_points, mx,my, xb,yb, x23,y23, x3,y3, objspace_flatness_squared,n+1); - } else { - stbtt__add_point(points, *num_points,x3,y3); - *num_points = *num_points+1; - } -} - -/* returns number of contours */ -static stbtt__point *stbtt_FlattenCurves(stbtt_vertex *vertices, int num_verts, float objspace_flatness, int **contour_lengths, int *num_contours, void *userdata) -{ - stbtt__point *points=0; - int num_points=0; - - float objspace_flatness_squared = objspace_flatness * objspace_flatness; - int i,n=0,start=0, pass; - - /* count how many "moves" there are to get the contour count */ - for (i=0; i < num_verts; ++i) - if (vertices[i].type == STBTT_vmove) - ++n; - - *num_contours = n; - if (n == 0) return 0; - - *contour_lengths = (int *) STBTT_malloc(sizeof(**contour_lengths) * n, userdata); - - if (*contour_lengths == 0) { - *num_contours = 0; - return 0; - } - - /* make two passes through the points so we don't need to realloc */ - for (pass=0; pass < 2; ++pass) { - float x=0,y=0; - if (pass == 1) { - points = (stbtt__point *) STBTT_malloc(num_points * sizeof(points[0]), userdata); - if (points == NULL) goto error; - } - num_points = 0; - n= -1; - for (i=0; i < num_verts; ++i) { - switch (vertices[i].type) { - case STBTT_vmove: - /* start the next contour */ - if (n >= 0) - (*contour_lengths)[n] = num_points - start; - ++n; - start = num_points; - - x = vertices[i].x, y = vertices[i].y; - stbtt__add_point(points, num_points++, x,y); - break; - case STBTT_vline: - x = vertices[i].x, y = vertices[i].y; - stbtt__add_point(points, num_points++, x, y); - break; - case STBTT_vcurve: - stbtt__tesselate_curve(points, &num_points, x,y, - vertices[i].cx, vertices[i].cy, - vertices[i].x, vertices[i].y, - objspace_flatness_squared, 0); - x = vertices[i].x, y = vertices[i].y; - break; - case STBTT_vcubic: - stbtt__tesselate_cubic(points, &num_points, x,y, - vertices[i].cx, vertices[i].cy, - vertices[i].cx1, vertices[i].cy1, - vertices[i].x, vertices[i].y, - objspace_flatness_squared, 0); - x = vertices[i].x, y = vertices[i].y; - break; - } - } - (*contour_lengths)[n] = num_points - start; - } - - return points; -error: - STBTT_free(points, userdata); - STBTT_free(*contour_lengths, userdata); - *contour_lengths = 0; - *num_contours = 0; - return NULL; -} - -STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, float flatness_in_pixels, stbtt_vertex *vertices, int num_verts, float scale_x, float scale_y, float shift_x, float shift_y, int x_off, int y_off, int invert, void *userdata) -{ - float scale = scale_x > scale_y ? scale_y : scale_x; - int winding_count = 0; - int *winding_lengths = NULL; - stbtt__point *windings = stbtt_FlattenCurves(vertices, num_verts, flatness_in_pixels / scale, &winding_lengths, &winding_count, userdata); - if (windings) { - stbtt__rasterize(result, windings, winding_lengths, winding_count, scale_x, scale_y, shift_x, shift_y, x_off, y_off, invert, userdata); - STBTT_free(winding_lengths, userdata); - STBTT_free(windings, userdata); - } -} - -STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata) -{ - STBTT_free(bitmap, userdata); -} - -STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff) -{ - int ix0,iy0,ix1,iy1; - stbtt__bitmap gbm; - stbtt_vertex *vertices; - int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices); - - if (scale_x == 0) scale_x = scale_y; - if (scale_y == 0) { - if (scale_x == 0) { - STBTT_free(vertices, info->userdata); - return NULL; - } - scale_y = scale_x; - } - - stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,&ix1,&iy1); - - /* now we get the size */ - gbm.w = (ix1 - ix0); - gbm.h = (iy1 - iy0); - gbm.pixels = NULL; /* in case we error */ - - if (width ) *width = gbm.w; - if (height) *height = gbm.h; - if (xoff ) *xoff = ix0; - if (yoff ) *yoff = iy0; - - if (gbm.w && gbm.h) { - gbm.pixels = (unsigned char *) STBTT_malloc(gbm.w * gbm.h, info->userdata); - if (gbm.pixels) { - gbm.stride = gbm.w; - - stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0, iy0, 1, info->userdata); - } - } - STBTT_free(vertices, info->userdata); - return gbm.pixels; -} - -STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff) -{ - return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y, 0.0f, 0.0f, glyph, width, height, xoff, yoff); -} - -STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph) -{ - int ix0,iy0; - stbtt_vertex *vertices; - int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices); - stbtt__bitmap gbm; - - stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,0,0); - gbm.pixels = output; - gbm.w = out_w; - gbm.h = out_h; - gbm.stride = out_stride; - - if (gbm.w && gbm.h) - stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0,iy0, 1, info->userdata); - - STBTT_free(vertices, info->userdata); -} - -STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph) -{ - stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, glyph); -} - -STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff) -{ - return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y,shift_x,shift_y, stbtt_FindGlyphIndex(info,codepoint), width,height,xoff,yoff); -} - -STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint) -{ - stbtt_MakeGlyphBitmapSubpixelPrefilter(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, oversample_x, oversample_y, sub_x, sub_y, stbtt_FindGlyphIndex(info,codepoint)); -} - -STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint) -{ - stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, stbtt_FindGlyphIndex(info,codepoint)); -} - -STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff) -{ - return stbtt_GetCodepointBitmapSubpixel(info, scale_x, scale_y, 0.0f,0.0f, codepoint, width,height,xoff,yoff); -} - -STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint) -{ - stbtt_MakeCodepointBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, codepoint); -} - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* bitmap baking */ -/* */ -/* This is SUPER-CRAPPY packing to keep source code small */ - -static int stbtt_BakeFontBitmap_internal(unsigned char *data, int offset, /* font location (use offset=0 for plain .ttf) */ - float pixel_height, /* height of font in pixels */ - unsigned char *pixels, int pw, int ph, /* bitmap to be filled in */ - int first_char, int num_chars, /* characters to bake */ - stbtt_bakedchar *chardata) -{ - float scale; - int x,y,bottom_y, i; - stbtt_fontinfo f; - f.userdata = NULL; - if (!stbtt_InitFont(&f, data, offset)) - return -1; - STBTT_memset(pixels, 0, pw*ph); /* background of 0 around pixels */ - x=y=1; - bottom_y = 1; - - scale = stbtt_ScaleForPixelHeight(&f, pixel_height); - - for (i=0; i < num_chars; ++i) { - int advance, lsb, x0,y0,x1,y1,gw,gh; - int g = stbtt_FindGlyphIndex(&f, first_char + i); - stbtt_GetGlyphHMetrics(&f, g, &advance, &lsb); - stbtt_GetGlyphBitmapBox(&f, g, scale,scale, &x0,&y0,&x1,&y1); - gw = x1-x0; - gh = y1-y0; - if (x + gw + 1 >= pw) - y = bottom_y, x = 1; /* advance to next row */ - if (y + gh + 1 >= ph) /* check if it fits vertically AFTER potentially moving to next row */ - return -i; - STBTT_assert(x+gw < pw); - STBTT_assert(y+gh < ph); - stbtt_MakeGlyphBitmap(&f, pixels+x+y*pw, gw,gh,pw, scale,scale, g); - chardata[i].x0 = (stbtt_int16) x; - chardata[i].y0 = (stbtt_int16) y; - chardata[i].x1 = (stbtt_int16) (x + gw); - chardata[i].y1 = (stbtt_int16) (y + gh); - chardata[i].xadvance = scale * advance; - chardata[i].xoff = (float) x0; - chardata[i].yoff = (float) y0; - x = x + gw + 1; - if (y+gh+1 > bottom_y) - bottom_y = y+gh+1; - } - return bottom_y; -} - -STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int opengl_fillrule) -{ - float d3d_bias = opengl_fillrule ? 0 : -0.5f; - float ipw = 1.0f / pw, iph = 1.0f / ph; - const stbtt_bakedchar *b = chardata + char_index; - int round_x = STBTT_ifloor((*xpos + b->xoff) + 0.5f); - int round_y = STBTT_ifloor((*ypos + b->yoff) + 0.5f); - - q->x0 = round_x + d3d_bias; - q->y0 = round_y + d3d_bias; - q->x1 = round_x + b->x1 - b->x0 + d3d_bias; - q->y1 = round_y + b->y1 - b->y0 + d3d_bias; - - q->s0 = b->x0 * ipw; - q->t0 = b->y0 * iph; - q->s1 = b->x1 * ipw; - q->t1 = b->y1 * iph; - - *xpos += b->xadvance; -} - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* rectangle packing replacement routines if you don't have stb_rect_pack.h */ -/* */ - -#ifndef STB_RECT_PACK_VERSION - -typedef int stbrp_coord; - -/* ////////////////////////////////////////////////////////////////////////////////// */ -/* // */ -/* // */ -/* COMPILER WARNING ?!?!? // */ -/* // */ -/* // */ -/* if you get a compile warning due to these symbols being defined more than // */ -/* once, move #include "stb_rect_pack.h" before #include "stb_truetype.h" // */ -/* // */ -/* ////////////////////////////////////////////////////////////////////////////////// */ - -typedef struct -{ - int width,height; - int x,y,bottom_y; -} stbrp_context; - -typedef struct -{ - unsigned char x; -} stbrp_node; - -struct stbrp_rect -{ - stbrp_coord x,y; - int id,w,h,was_packed; -}; - -static void stbrp_init_target(stbrp_context *con, int pw, int ph, stbrp_node *nodes, int num_nodes) -{ - con->width = pw; - con->height = ph; - con->x = 0; - con->y = 0; - con->bottom_y = 0; - STBTT__NOTUSED(nodes); - STBTT__NOTUSED(num_nodes); -} - -static void stbrp_pack_rects(stbrp_context *con, stbrp_rect *rects, int num_rects) -{ - int i; - for (i=0; i < num_rects; ++i) { - if (con->x + rects[i].w > con->width) { - con->x = 0; - con->y = con->bottom_y; - } - if (con->y + rects[i].h > con->height) - break; - rects[i].x = con->x; - rects[i].y = con->y; - rects[i].was_packed = 1; - con->x += rects[i].w; - if (con->y + rects[i].h > con->bottom_y) - con->bottom_y = con->y + rects[i].h; - } - for ( ; i < num_rects; ++i) - rects[i].was_packed = 0; -} -#endif - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* bitmap baking */ -/* */ -/* This is SUPER-AWESOME (tm Ryan Gordon) packing using stb_rect_pack.h. If */ -/* stb_rect_pack.h isn't available, it uses the BakeFontBitmap strategy. */ - -STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int pw, int ph, int stride_in_bytes, int padding, void *alloc_context) -{ - stbrp_context *context = (stbrp_context *) STBTT_malloc(sizeof(*context) ,alloc_context); - int num_nodes = pw - padding; - stbrp_node *nodes = (stbrp_node *) STBTT_malloc(sizeof(*nodes ) * num_nodes,alloc_context); - - if (context == NULL || nodes == NULL) { - if (context != NULL) STBTT_free(context, alloc_context); - if (nodes != NULL) STBTT_free(nodes , alloc_context); - return 0; - } - - spc->user_allocator_context = alloc_context; - spc->width = pw; - spc->height = ph; - spc->pixels = pixels; - spc->pack_info = context; - spc->nodes = nodes; - spc->padding = padding; - spc->stride_in_bytes = stride_in_bytes != 0 ? stride_in_bytes : pw; - spc->h_oversample = 1; - spc->v_oversample = 1; - spc->skip_missing = 0; - - stbrp_init_target(context, pw-padding, ph-padding, nodes, num_nodes); - - if (pixels) - STBTT_memset(pixels, 0, pw*ph); /* background of 0 around pixels */ - - return 1; -} - -STBTT_DEF void stbtt_PackEnd (stbtt_pack_context *spc) -{ - STBTT_free(spc->nodes , spc->user_allocator_context); - STBTT_free(spc->pack_info, spc->user_allocator_context); -} - -STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample) -{ - STBTT_assert(h_oversample <= STBTT_MAX_OVERSAMPLE); - STBTT_assert(v_oversample <= STBTT_MAX_OVERSAMPLE); - if (h_oversample <= STBTT_MAX_OVERSAMPLE) - spc->h_oversample = h_oversample; - if (v_oversample <= STBTT_MAX_OVERSAMPLE) - spc->v_oversample = v_oversample; -} - -STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip) -{ - spc->skip_missing = skip; -} - -#define STBTT__OVER_MASK (STBTT_MAX_OVERSAMPLE-1) - -static void stbtt__h_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width) -{ - unsigned char buffer[STBTT_MAX_OVERSAMPLE]; - int safe_w = w - kernel_width; - int j; - STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); /* suppress bogus warning from VS2013 -analyze */ - for (j=0; j < h; ++j) { - int i; - unsigned int total; - STBTT_memset(buffer, 0, kernel_width); - - total = 0; - - /* make kernel_width a constant in common cases so compiler can optimize out the divide */ - switch (kernel_width) { - case 2: - for (i=0; i <= safe_w; ++i) { - total += pixels[i] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; - pixels[i] = (unsigned char) (total / 2); - } - break; - case 3: - for (i=0; i <= safe_w; ++i) { - total += pixels[i] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; - pixels[i] = (unsigned char) (total / 3); - } - break; - case 4: - for (i=0; i <= safe_w; ++i) { - total += pixels[i] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; - pixels[i] = (unsigned char) (total / 4); - } - break; - case 5: - for (i=0; i <= safe_w; ++i) { - total += pixels[i] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; - pixels[i] = (unsigned char) (total / 5); - } - break; - default: - for (i=0; i <= safe_w; ++i) { - total += pixels[i] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i]; - pixels[i] = (unsigned char) (total / kernel_width); - } - break; - } - - for (; i < w; ++i) { - STBTT_assert(pixels[i] == 0); - total -= buffer[i & STBTT__OVER_MASK]; - pixels[i] = (unsigned char) (total / kernel_width); - } - - pixels += stride_in_bytes; - } -} - -static void stbtt__v_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width) -{ - unsigned char buffer[STBTT_MAX_OVERSAMPLE]; - int safe_h = h - kernel_width; - int j; - STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); /* suppress bogus warning from VS2013 -analyze */ - for (j=0; j < w; ++j) { - int i; - unsigned int total; - STBTT_memset(buffer, 0, kernel_width); - - total = 0; - - /* make kernel_width a constant in common cases so compiler can optimize out the divide */ - switch (kernel_width) { - case 2: - for (i=0; i <= safe_h; ++i) { - total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; - pixels[i*stride_in_bytes] = (unsigned char) (total / 2); - } - break; - case 3: - for (i=0; i <= safe_h; ++i) { - total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; - pixels[i*stride_in_bytes] = (unsigned char) (total / 3); - } - break; - case 4: - for (i=0; i <= safe_h; ++i) { - total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; - pixels[i*stride_in_bytes] = (unsigned char) (total / 4); - } - break; - case 5: - for (i=0; i <= safe_h; ++i) { - total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; - pixels[i*stride_in_bytes] = (unsigned char) (total / 5); - } - break; - default: - for (i=0; i <= safe_h; ++i) { - total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK]; - buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes]; - pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width); - } - break; - } - - for (; i < h; ++i) { - STBTT_assert(pixels[i*stride_in_bytes] == 0); - total -= buffer[i & STBTT__OVER_MASK]; - pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width); - } - - pixels += 1; - } -} - -static float stbtt__oversample_shift(int oversample) -{ - if (!oversample) - return 0.0f; - - /* The prefilter is a box filter of width "oversample", */ - /* which shifts phase by (oversample - 1)/2 pixels in */ - /* oversampled space. We want to shift in the opposite */ - /* direction to counter this. */ - return (float)-(oversample - 1) / (2.0f * (float)oversample); -} - -/* rects array must be big enough to accommodate all characters in the given ranges */ -STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects) -{ - int i,j,k; - int missing_glyph_added = 0; - - k=0; - for (i=0; i < num_ranges; ++i) { - float fh = ranges[i].font_size; - float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh); - ranges[i].h_oversample = (unsigned char) spc->h_oversample; - ranges[i].v_oversample = (unsigned char) spc->v_oversample; - for (j=0; j < ranges[i].num_chars; ++j) { - int x0,y0,x1,y1; - int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j]; - int glyph = stbtt_FindGlyphIndex(info, codepoint); - if (glyph == 0 && (spc->skip_missing || missing_glyph_added)) { - rects[k].w = rects[k].h = 0; - } else { - stbtt_GetGlyphBitmapBoxSubpixel(info,glyph, - scale * spc->h_oversample, - scale * spc->v_oversample, - 0,0, - &x0,&y0,&x1,&y1); - rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1); - rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1); - if (glyph == 0) - missing_glyph_added = 1; - } - ++k; - } - } - - return k; -} - -STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int prefilter_x, int prefilter_y, float *sub_x, float *sub_y, int glyph) -{ - stbtt_MakeGlyphBitmapSubpixel(info, - output, - out_w - (prefilter_x - 1), - out_h - (prefilter_y - 1), - out_stride, - scale_x, - scale_y, - shift_x, - shift_y, - glyph); - - if (prefilter_x > 1) - stbtt__h_prefilter(output, out_w, out_h, out_stride, prefilter_x); - - if (prefilter_y > 1) - stbtt__v_prefilter(output, out_w, out_h, out_stride, prefilter_y); - - *sub_x = stbtt__oversample_shift(prefilter_x); - *sub_y = stbtt__oversample_shift(prefilter_y); -} - -/* rects array must be big enough to accommodate all characters in the given ranges */ -STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects) -{ - int i,j,k, missing_glyph = -1, return_value = 1; - - /* save current values */ - int old_h_over = spc->h_oversample; - int old_v_over = spc->v_oversample; - - k = 0; - for (i=0; i < num_ranges; ++i) { - float fh = ranges[i].font_size; - float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh); - float recip_h,recip_v,sub_x,sub_y; - spc->h_oversample = ranges[i].h_oversample; - spc->v_oversample = ranges[i].v_oversample; - recip_h = 1.0f / spc->h_oversample; - recip_v = 1.0f / spc->v_oversample; - sub_x = stbtt__oversample_shift(spc->h_oversample); - sub_y = stbtt__oversample_shift(spc->v_oversample); - for (j=0; j < ranges[i].num_chars; ++j) { - stbrp_rect *r = &rects[k]; - if (r->was_packed && r->w != 0 && r->h != 0) { - stbtt_packedchar *bc = &ranges[i].chardata_for_range[j]; - int advance, lsb, x0,y0,x1,y1; - int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j]; - int glyph = stbtt_FindGlyphIndex(info, codepoint); - stbrp_coord pad = (stbrp_coord) spc->padding; - - /* pad on left and top */ - r->x += pad; - r->y += pad; - r->w -= pad; - r->h -= pad; - stbtt_GetGlyphHMetrics(info, glyph, &advance, &lsb); - stbtt_GetGlyphBitmapBox(info, glyph, - scale * spc->h_oversample, - scale * spc->v_oversample, - &x0,&y0,&x1,&y1); - stbtt_MakeGlyphBitmapSubpixel(info, - spc->pixels + r->x + r->y*spc->stride_in_bytes, - r->w - spc->h_oversample+1, - r->h - spc->v_oversample+1, - spc->stride_in_bytes, - scale * spc->h_oversample, - scale * spc->v_oversample, - 0,0, - glyph); - - if (spc->h_oversample > 1) - stbtt__h_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes, - r->w, r->h, spc->stride_in_bytes, - spc->h_oversample); - - if (spc->v_oversample > 1) - stbtt__v_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes, - r->w, r->h, spc->stride_in_bytes, - spc->v_oversample); - - bc->x0 = (stbtt_int16) r->x; - bc->y0 = (stbtt_int16) r->y; - bc->x1 = (stbtt_int16) (r->x + r->w); - bc->y1 = (stbtt_int16) (r->y + r->h); - bc->xadvance = scale * advance; - bc->xoff = (float) x0 * recip_h + sub_x; - bc->yoff = (float) y0 * recip_v + sub_y; - bc->xoff2 = (x0 + r->w) * recip_h + sub_x; - bc->yoff2 = (y0 + r->h) * recip_v + sub_y; - - if (glyph == 0) - missing_glyph = j; - } else if (spc->skip_missing) { - return_value = 0; - } else if (r->was_packed && r->w == 0 && r->h == 0 && missing_glyph >= 0) { - ranges[i].chardata_for_range[j] = ranges[i].chardata_for_range[missing_glyph]; - } else { - return_value = 0; /* if any fail, report failure */ - } - - ++k; - } - } - - /* restore original values */ - spc->h_oversample = old_h_over; - spc->v_oversample = old_v_over; - - return return_value; -} - -STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects) -{ - stbrp_pack_rects((stbrp_context *) spc->pack_info, rects, num_rects); -} - -STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges) -{ - stbtt_fontinfo info; - int i,j,n, return_value = 1; - /* stbrp_context *context = (stbrp_context *) spc->pack_info; */ - stbrp_rect *rects; - - /* flag all characters as NOT packed */ - for (i=0; i < num_ranges; ++i) - for (j=0; j < ranges[i].num_chars; ++j) - ranges[i].chardata_for_range[j].x0 = - ranges[i].chardata_for_range[j].y0 = - ranges[i].chardata_for_range[j].x1 = - ranges[i].chardata_for_range[j].y1 = 0; - - n = 0; - for (i=0; i < num_ranges; ++i) - n += ranges[i].num_chars; - - rects = (stbrp_rect *) STBTT_malloc(sizeof(*rects) * n, spc->user_allocator_context); - if (rects == NULL) - return 0; - - info.userdata = spc->user_allocator_context; - stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata,font_index)); - - n = stbtt_PackFontRangesGatherRects(spc, &info, ranges, num_ranges, rects); - - stbtt_PackFontRangesPackRects(spc, rects, n); - - return_value = stbtt_PackFontRangesRenderIntoRects(spc, &info, ranges, num_ranges, rects); - - STBTT_free(rects, spc->user_allocator_context); - return return_value; -} - -STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size, - int first_unicode_codepoint_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range) -{ - stbtt_pack_range range; - range.first_unicode_codepoint_in_range = first_unicode_codepoint_in_range; - range.array_of_unicode_codepoints = NULL; - range.num_chars = num_chars_in_range; - range.chardata_for_range = chardata_for_range; - range.font_size = font_size; - return stbtt_PackFontRanges(spc, fontdata, font_index, &range, 1); -} - -STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap) -{ - int i_ascent, i_descent, i_lineGap; - float scale; - stbtt_fontinfo info; - stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata, index)); - scale = size > 0 ? stbtt_ScaleForPixelHeight(&info, size) : stbtt_ScaleForMappingEmToPixels(&info, -size); - stbtt_GetFontVMetrics(&info, &i_ascent, &i_descent, &i_lineGap); - *ascent = (float) i_ascent * scale; - *descent = (float) i_descent * scale; - *lineGap = (float) i_lineGap * scale; -} - -STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer) -{ - float ipw = 1.0f / pw, iph = 1.0f / ph; - const stbtt_packedchar *b = chardata + char_index; - - if (align_to_integer) { - float x = (float) STBTT_ifloor((*xpos + b->xoff) + 0.5f); - float y = (float) STBTT_ifloor((*ypos + b->yoff) + 0.5f); - q->x0 = x; - q->y0 = y; - q->x1 = x + b->xoff2 - b->xoff; - q->y1 = y + b->yoff2 - b->yoff; - } else { - q->x0 = *xpos + b->xoff; - q->y0 = *ypos + b->yoff; - q->x1 = *xpos + b->xoff2; - q->y1 = *ypos + b->yoff2; - } - - q->s0 = b->x0 * ipw; - q->t0 = b->y0 * iph; - q->s1 = b->x1 * ipw; - q->t1 = b->y1 * iph; - - *xpos += b->xadvance; -} - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* sdf computation */ -/* */ - -#define STBTT_min(a,b) ((a) < (b) ? (a) : (b)) -#define STBTT_max(a,b) ((a) < (b) ? (b) : (a)) - -static int stbtt__ray_intersect_bezier(float orig[2], float ray[2], float q0[2], float q1[2], float q2[2], float hits[2][2]) -{ - float q0perp = q0[1]*ray[0] - q0[0]*ray[1]; - float q1perp = q1[1]*ray[0] - q1[0]*ray[1]; - float q2perp = q2[1]*ray[0] - q2[0]*ray[1]; - float roperp = orig[1]*ray[0] - orig[0]*ray[1]; - - float a = q0perp - 2*q1perp + q2perp; - float b = q1perp - q0perp; - float c = q0perp - roperp; - - float s0 = 0., s1 = 0.; - int num_s = 0; - - if (a != 0.0) { - float discr = b*b - a*c; - if (discr > 0.0) { - float rcpna = -1 / a; - float d = (float) STBTT_sqrt(discr); - s0 = (b+d) * rcpna; - s1 = (b-d) * rcpna; - if (s0 >= 0.0 && s0 <= 1.0) - num_s = 1; - if (d > 0.0 && s1 >= 0.0 && s1 <= 1.0) { - if (num_s == 0) s0 = s1; - ++num_s; - } - } - } else { - /* 2*b*s + c = 0 */ - /* s = -c / (2*b) */ - s0 = c / (-2 * b); - if (s0 >= 0.0 && s0 <= 1.0) - num_s = 1; - } - - if (num_s == 0) - return 0; - else { - float rcp_len2 = 1 / (ray[0]*ray[0] + ray[1]*ray[1]); - float rayn_x = ray[0] * rcp_len2, rayn_y = ray[1] * rcp_len2; - - float q0d = q0[0]*rayn_x + q0[1]*rayn_y; - float q1d = q1[0]*rayn_x + q1[1]*rayn_y; - float q2d = q2[0]*rayn_x + q2[1]*rayn_y; - float rod = orig[0]*rayn_x + orig[1]*rayn_y; - - float q10d = q1d - q0d; - float q20d = q2d - q0d; - float q0rd = q0d - rod; - - hits[0][0] = q0rd + s0*(2.0f - 2.0f*s0)*q10d + s0*s0*q20d; - hits[0][1] = a*s0+b; - - if (num_s > 1) { - hits[1][0] = q0rd + s1*(2.0f - 2.0f*s1)*q10d + s1*s1*q20d; - hits[1][1] = a*s1+b; - return 2; - } else { - return 1; - } - } -} - -static int equal(float *a, float *b) -{ - return (a[0] == b[0] && a[1] == b[1]); -} - -static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex *verts) -{ - int i; - float orig[2], ray[2] = { 1, 0 }; - float y_frac; - int winding = 0; - - /* make sure y never passes through a vertex of the shape */ - y_frac = (float) STBTT_fmod(y, 1.0f); - if (y_frac < 0.01f) - y += 0.01f; - else if (y_frac > 0.99f) - y -= 0.01f; - - orig[0] = x; - orig[1] = y; - - /* test a ray from (-infinity,y) to (x,y) */ - for (i=0; i < nverts; ++i) { - if (verts[i].type == STBTT_vline) { - int x0 = (int) verts[i-1].x, y0 = (int) verts[i-1].y; - int x1 = (int) verts[i ].x, y1 = (int) verts[i ].y; - if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) { - float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0; - if (x_inter < x) - winding += (y0 < y1) ? 1 : -1; - } - } - if (verts[i].type == STBTT_vcurve) { - int x0 = (int) verts[i-1].x , y0 = (int) verts[i-1].y ; - int x1 = (int) verts[i ].cx, y1 = (int) verts[i ].cy; - int x2 = (int) verts[i ].x , y2 = (int) verts[i ].y ; - int ax = STBTT_min(x0,STBTT_min(x1,x2)), ay = STBTT_min(y0,STBTT_min(y1,y2)); - int by = STBTT_max(y0,STBTT_max(y1,y2)); - if (y > ay && y < by && x > ax) { - float q0[2],q1[2],q2[2]; - float hits[2][2]; - q0[0] = (float)x0; - q0[1] = (float)y0; - q1[0] = (float)x1; - q1[1] = (float)y1; - q2[0] = (float)x2; - q2[1] = (float)y2; - if (equal(q0,q1) || equal(q1,q2)) { - x0 = (int)verts[i-1].x; - y0 = (int)verts[i-1].y; - x1 = (int)verts[i ].x; - y1 = (int)verts[i ].y; - if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) { - float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0; - if (x_inter < x) - winding += (y0 < y1) ? 1 : -1; - } - } else { - int num_hits = stbtt__ray_intersect_bezier(orig, ray, q0, q1, q2, hits); - if (num_hits >= 1) - if (hits[0][0] < 0) - winding += (hits[0][1] < 0 ? -1 : 1); - if (num_hits >= 2) - if (hits[1][0] < 0) - winding += (hits[1][1] < 0 ? -1 : 1); - } - } - } - } - return winding; -} - -static float stbtt__cuberoot( float x ) -{ - if (x<0) - return -(float) STBTT_pow(-x,1.0f/3.0f); - else - return (float) STBTT_pow( x,1.0f/3.0f); -} - -/* x^3 + a*x^2 + b*x + c = 0 */ -static int stbtt__solve_cubic(float a, float b, float c, float* r) -{ - float s = -a / 3; - float p = b - a*a / 3; - float q = a * (2*a*a - 9*b) / 27 + c; - float p3 = p*p*p; - float d = q*q + 4*p3 / 27; - if (d >= 0) { - float z = (float) STBTT_sqrt(d); - float u = (-q + z) / 2; - float v = (-q - z) / 2; - u = stbtt__cuberoot(u); - v = stbtt__cuberoot(v); - r[0] = s + u + v; - return 1; - } else { - float u = (float) STBTT_sqrt(-p/3); - float v = (float) STBTT_acos(-STBTT_sqrt(-27/p3) * q / 2) / 3; /* p3 must be negative, since d is negative */ - float m = (float) STBTT_cos(v); - float n = (float) STBTT_cos(v-3.141592/2)*1.732050808f; - r[0] = s + u * 2 * m; - r[1] = s - u * (m + n); - r[2] = s - u * (m - n); - - /* STBTT_assert( STBTT_fabs(((r[0]+a)*r[0]+b)*r[0]+c) < 0.05f); // these asserts may not be safe at all scales, though they're in bezier t parameter units so maybe? */ - /* STBTT_assert( STBTT_fabs(((r[1]+a)*r[1]+b)*r[1]+c) < 0.05f); */ - /* STBTT_assert( STBTT_fabs(((r[2]+a)*r[2]+b)*r[2]+c) < 0.05f); */ - return 3; - } -} - -STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff) -{ - float scale_x = scale, scale_y = scale; - int ix0,iy0,ix1,iy1; - int w,h; - unsigned char *data; - - if (scale == 0) return NULL; - - stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale, scale, 0.0f,0.0f, &ix0,&iy0,&ix1,&iy1); - - /* if empty, return NULL */ - if (ix0 == ix1 || iy0 == iy1) - return NULL; - - ix0 -= padding; - iy0 -= padding; - ix1 += padding; - iy1 += padding; - - w = (ix1 - ix0); - h = (iy1 - iy0); - - if (width ) *width = w; - if (height) *height = h; - if (xoff ) *xoff = ix0; - if (yoff ) *yoff = iy0; - - /* invert for y-downwards bitmaps */ - scale_y = -scale_y; - - { - int x,y,i,j; - float *precompute; - stbtt_vertex *verts; - int num_verts = stbtt_GetGlyphShape(info, glyph, &verts); - data = (unsigned char *) STBTT_malloc(w * h, info->userdata); - precompute = (float *) STBTT_malloc(num_verts * sizeof(float), info->userdata); - - for (i=0,j=num_verts-1; i < num_verts; j=i++) { - if (verts[i].type == STBTT_vline) { - float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y; - float x1 = verts[j].x*scale_x, y1 = verts[j].y*scale_y; - float dist = (float) STBTT_sqrt((x1-x0)*(x1-x0) + (y1-y0)*(y1-y0)); - precompute[i] = (dist == 0) ? 0.0f : 1.0f / dist; - } else if (verts[i].type == STBTT_vcurve) { - float x2 = verts[j].x *scale_x, y2 = verts[j].y *scale_y; - float x1 = verts[i].cx*scale_x, y1 = verts[i].cy*scale_y; - float x0 = verts[i].x *scale_x, y0 = verts[i].y *scale_y; - float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2; - float len2 = bx*bx + by*by; - if (len2 != 0.0f) - precompute[i] = 1.0f / (bx*bx + by*by); - else - precompute[i] = 0.0f; - } else - precompute[i] = 0.0f; - } - - for (y=iy0; y < iy1; ++y) { - for (x=ix0; x < ix1; ++x) { - float val; - float min_dist = 999999.0f; - float sx = (float) x + 0.5f; - float sy = (float) y + 0.5f; - float x_gspace = (sx / scale_x); - float y_gspace = (sy / scale_y); - - int winding = stbtt__compute_crossings_x(x_gspace, y_gspace, num_verts, verts); /* @OPTIMIZE: this could just be a rasterization, but needs to be line vs. non-tesselated curves so a new path */ - - for (i=0; i < num_verts; ++i) { - float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y; - - if (verts[i].type == STBTT_vline && precompute[i] != 0.0f) { - float x1 = verts[i-1].x*scale_x, y1 = verts[i-1].y*scale_y; - - float dist,dist2 = (x0-sx)*(x0-sx) + (y0-sy)*(y0-sy); - if (dist2 < min_dist*min_dist) - min_dist = (float) STBTT_sqrt(dist2); - - /* coarse culling against bbox */ - /* if (sx > STBTT_min(x0,x1)-min_dist && sx < STBTT_max(x0,x1)+min_dist && */ - /* sy > STBTT_min(y0,y1)-min_dist && sy < STBTT_max(y0,y1)+min_dist) */ - dist = (float) STBTT_fabs((x1-x0)*(y0-sy) - (y1-y0)*(x0-sx)) * precompute[i]; - STBTT_assert(i != 0); - if (dist < min_dist) { - /* check position along line */ - /* x' = x0 + t*(x1-x0), y' = y0 + t*(y1-y0) */ - /* minimize (x'-sx)*(x'-sx)+(y'-sy)*(y'-sy) */ - float dx = x1-x0, dy = y1-y0; - float px = x0-sx, py = y0-sy; - /* minimize (px+t*dx)^2 + (py+t*dy)^2 = px*px + 2*px*dx*t + t^2*dx*dx + py*py + 2*py*dy*t + t^2*dy*dy */ - /* derivative: 2*px*dx + 2*py*dy + (2*dx*dx+2*dy*dy)*t, set to 0 and solve */ - float t = -(px*dx + py*dy) / (dx*dx + dy*dy); - if (t >= 0.0f && t <= 1.0f) - min_dist = dist; - } - } else if (verts[i].type == STBTT_vcurve) { - float x2 = verts[i-1].x *scale_x, y2 = verts[i-1].y *scale_y; - float x1 = verts[i ].cx*scale_x, y1 = verts[i ].cy*scale_y; - float box_x0 = STBTT_min(STBTT_min(x0,x1),x2); - float box_y0 = STBTT_min(STBTT_min(y0,y1),y2); - float box_x1 = STBTT_max(STBTT_max(x0,x1),x2); - float box_y1 = STBTT_max(STBTT_max(y0,y1),y2); - /* coarse culling against bbox to avoid computing cubic unnecessarily */ - if (sx > box_x0-min_dist && sx < box_x1+min_dist && sy > box_y0-min_dist && sy < box_y1+min_dist) { - int num=0; - float ax = x1-x0, ay = y1-y0; - float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2; - float mx = x0 - sx, my = y0 - sy; - float res[3] = {0.f,0.f,0.f}; - float px,py,t,it,dist2; - float a_inv = precompute[i]; - if (a_inv == 0.0) { /* if a_inv is 0, it's 2nd degree so use quadratic formula */ - float a = 3*(ax*bx + ay*by); - float b = 2*(ax*ax + ay*ay) + (mx*bx+my*by); - float c = mx*ax+my*ay; - if (a == 0.0) { /* if a is 0, it's linear */ - if (b != 0.0) { - res[num++] = -c/b; - } - } else { - float discriminant = b*b - 4*a*c; - if (discriminant < 0) - num = 0; - else { - float root = (float) STBTT_sqrt(discriminant); - res[0] = (-b - root)/(2*a); - res[1] = (-b + root)/(2*a); - num = 2; /* don't bother distinguishing 1-solution case, as code below will still work */ - } - } - } else { - float b = 3*(ax*bx + ay*by) * a_inv; /* could precompute this as it doesn't depend on sample point */ - float c = (2*(ax*ax + ay*ay) + (mx*bx+my*by)) * a_inv; - float d = (mx*ax+my*ay) * a_inv; - num = stbtt__solve_cubic(b, c, d, res); - } - dist2 = (x0-sx)*(x0-sx) + (y0-sy)*(y0-sy); - if (dist2 < min_dist*min_dist) - min_dist = (float) STBTT_sqrt(dist2); - - if (num >= 1 && res[0] >= 0.0f && res[0] <= 1.0f) { - t = res[0], it = 1.0f - t; - px = it*it*x0 + 2*t*it*x1 + t*t*x2; - py = it*it*y0 + 2*t*it*y1 + t*t*y2; - dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); - if (dist2 < min_dist * min_dist) - min_dist = (float) STBTT_sqrt(dist2); - } - if (num >= 2 && res[1] >= 0.0f && res[1] <= 1.0f) { - t = res[1], it = 1.0f - t; - px = it*it*x0 + 2*t*it*x1 + t*t*x2; - py = it*it*y0 + 2*t*it*y1 + t*t*y2; - dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); - if (dist2 < min_dist * min_dist) - min_dist = (float) STBTT_sqrt(dist2); - } - if (num >= 3 && res[2] >= 0.0f && res[2] <= 1.0f) { - t = res[2], it = 1.0f - t; - px = it*it*x0 + 2*t*it*x1 + t*t*x2; - py = it*it*y0 + 2*t*it*y1 + t*t*y2; - dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); - if (dist2 < min_dist * min_dist) - min_dist = (float) STBTT_sqrt(dist2); - } - } - } - } - if (winding == 0) - min_dist = -min_dist; /* if outside the shape, value is negative */ - val = onedge_value + pixel_dist_scale * min_dist; - if (val < 0) - val = 0; - else if (val > 255) - val = 255; - data[(y-iy0)*w+(x-ix0)] = (unsigned char) val; - } - } - STBTT_free(precompute, info->userdata); - STBTT_free(verts, info->userdata); - } - return data; -} - -STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff) -{ - return stbtt_GetGlyphSDF(info, scale, stbtt_FindGlyphIndex(info, codepoint), padding, onedge_value, pixel_dist_scale, width, height, xoff, yoff); -} - -STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata) -{ - STBTT_free(bitmap, userdata); -} - -/* //////////////////////////////////////////////////////////////////////////// */ -/* */ -/* font name matching -- recommended not to use this */ -/* */ - -/* check if a utf8 string contains a prefix which is the utf16 string; if so return length of matching utf8 string */ -static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(stbtt_uint8 *s1, stbtt_int32 len1, stbtt_uint8 *s2, stbtt_int32 len2) -{ - stbtt_int32 i=0; - - /* convert utf16 to utf8 and compare the results while converting */ - while (len2) { - stbtt_uint16 ch = s2[0]*256 + s2[1]; - if (ch < 0x80) { - if (i >= len1) return -1; - if (s1[i++] != ch) return -1; - } else if (ch < 0x800) { - if (i+1 >= len1) return -1; - if (s1[i++] != 0xc0 + (ch >> 6)) return -1; - if (s1[i++] != 0x80 + (ch & 0x3f)) return -1; - } else if (ch >= 0xd800 && ch < 0xdc00) { - stbtt_uint32 c; - stbtt_uint16 ch2 = s2[2]*256 + s2[3]; - if (i+3 >= len1) return -1; - c = ((ch - 0xd800) << 10) + (ch2 - 0xdc00) + 0x10000; - if (s1[i++] != 0xf0 + (c >> 18)) return -1; - if (s1[i++] != 0x80 + ((c >> 12) & 0x3f)) return -1; - if (s1[i++] != 0x80 + ((c >> 6) & 0x3f)) return -1; - if (s1[i++] != 0x80 + ((c ) & 0x3f)) return -1; - s2 += 2; /* plus another 2 below */ - len2 -= 2; - } else if (ch >= 0xdc00 && ch < 0xe000) { - return -1; - } else { - if (i+2 >= len1) return -1; - if (s1[i++] != 0xe0 + (ch >> 12)) return -1; - if (s1[i++] != 0x80 + ((ch >> 6) & 0x3f)) return -1; - if (s1[i++] != 0x80 + ((ch ) & 0x3f)) return -1; - } - s2 += 2; - len2 -= 2; - } - return i; -} - -static int stbtt_CompareUTF8toUTF16_bigendian_internal(char *s1, int len1, char *s2, int len2) -{ - return len1 == stbtt__CompareUTF8toUTF16_bigendian_prefix((stbtt_uint8*) s1, len1, (stbtt_uint8*) s2, len2); -} - -/* returns results in whatever encoding you request... but note that 2-byte encodings */ -/* will be BIG-ENDIAN... use stbtt_CompareUTF8toUTF16_bigendian() to compare */ -STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID) -{ - stbtt_int32 i,count,stringOffset; - stbtt_uint8 *fc = font->data; - stbtt_uint32 offset = font->fontstart; - stbtt_uint32 nm = stbtt__find_table(fc, offset, "name"); - if (!nm) return NULL; - - count = ttUSHORT(fc+nm+2); - stringOffset = nm + ttUSHORT(fc+nm+4); - for (i=0; i < count; ++i) { - stbtt_uint32 loc = nm + 6 + 12 * i; - if (platformID == ttUSHORT(fc+loc+0) && encodingID == ttUSHORT(fc+loc+2) - && languageID == ttUSHORT(fc+loc+4) && nameID == ttUSHORT(fc+loc+6)) { - *length = ttUSHORT(fc+loc+8); - return (const char *) (fc+stringOffset+ttUSHORT(fc+loc+10)); - } - } - return NULL; -} - -static int stbtt__matchpair(stbtt_uint8 *fc, stbtt_uint32 nm, stbtt_uint8 *name, stbtt_int32 nlen, stbtt_int32 target_id, stbtt_int32 next_id) -{ - stbtt_int32 i; - stbtt_int32 count = ttUSHORT(fc+nm+2); - stbtt_int32 stringOffset = nm + ttUSHORT(fc+nm+4); - - for (i=0; i < count; ++i) { - stbtt_uint32 loc = nm + 6 + 12 * i; - stbtt_int32 id = ttUSHORT(fc+loc+6); - if (id == target_id) { - /* find the encoding */ - stbtt_int32 platform = ttUSHORT(fc+loc+0), encoding = ttUSHORT(fc+loc+2), language = ttUSHORT(fc+loc+4); - - /* is this a Unicode encoding? */ - if (platform == 0 || (platform == 3 && encoding == 1) || (platform == 3 && encoding == 10)) { - stbtt_int32 slen = ttUSHORT(fc+loc+8); - stbtt_int32 off = ttUSHORT(fc+loc+10); - - /* check if there's a prefix match */ - stbtt_int32 matchlen = stbtt__CompareUTF8toUTF16_bigendian_prefix(name, nlen, fc+stringOffset+off,slen); - if (matchlen >= 0) { - /* check for target_id+1 immediately following, with same encoding & language */ - if (i+1 < count && ttUSHORT(fc+loc+12+6) == next_id && ttUSHORT(fc+loc+12) == platform && ttUSHORT(fc+loc+12+2) == encoding && ttUSHORT(fc+loc+12+4) == language) { - slen = ttUSHORT(fc+loc+12+8); - off = ttUSHORT(fc+loc+12+10); - if (slen == 0) { - if (matchlen == nlen) - return 1; - } else if (matchlen < nlen && name[matchlen] == ' ') { - ++matchlen; - if (stbtt_CompareUTF8toUTF16_bigendian_internal((char*) (name+matchlen), nlen-matchlen, (char*)(fc+stringOffset+off),slen)) - return 1; - } - } else { - /* if nothing immediately following */ - if (matchlen == nlen) - return 1; - } - } - } - - /* @TODO handle other encodings */ - } - } - return 0; -} - -static int stbtt__matches(stbtt_uint8 *fc, stbtt_uint32 offset, stbtt_uint8 *name, stbtt_int32 flags) -{ - stbtt_int32 nlen = (stbtt_int32) STBTT_strlen((char *) name); - stbtt_uint32 nm,hd; - if (!stbtt__isfont(fc+offset)) return 0; - - /* check italics/bold/underline flags in macStyle... */ - if (flags) { - hd = stbtt__find_table(fc, offset, "head"); - if ((ttUSHORT(fc+hd+44) & 7) != (flags & 7)) return 0; - } - - nm = stbtt__find_table(fc, offset, "name"); - if (!nm) return 0; - - if (flags) { - /* if we checked the macStyle flags, then just check the family and ignore the subfamily */ - if (stbtt__matchpair(fc, nm, name, nlen, 16, -1)) return 1; - if (stbtt__matchpair(fc, nm, name, nlen, 1, -1)) return 1; - if (stbtt__matchpair(fc, nm, name, nlen, 3, -1)) return 1; - } else { - if (stbtt__matchpair(fc, nm, name, nlen, 16, 17)) return 1; - if (stbtt__matchpair(fc, nm, name, nlen, 1, 2)) return 1; - if (stbtt__matchpair(fc, nm, name, nlen, 3, -1)) return 1; - } - - return 0; -} - -static int stbtt_FindMatchingFont_internal(unsigned char *font_collection, char *name_utf8, stbtt_int32 flags) -{ - stbtt_int32 i; - for (i=0;;++i) { - stbtt_int32 off = stbtt_GetFontOffsetForIndex(font_collection, i); - if (off < 0) return off; - if (stbtt__matches((stbtt_uint8 *) font_collection, off, (stbtt_uint8*) name_utf8, flags)) - return off; - } -} - -#if defined(__GNUC__) || defined(__clang__) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wcast-qual" -#endif - -STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset, - float pixel_height, unsigned char *pixels, int pw, int ph, - int first_char, int num_chars, stbtt_bakedchar *chardata) -{ - return stbtt_BakeFontBitmap_internal((unsigned char *) data, offset, pixel_height, pixels, pw, ph, first_char, num_chars, chardata); -} - -STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index) -{ - return stbtt_GetFontOffsetForIndex_internal((unsigned char *) data, index); -} - -STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data) -{ - return stbtt_GetNumberOfFonts_internal((unsigned char *) data); -} - -STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset) -{ - return stbtt_InitFont_internal(info, (unsigned char *) data, offset); -} - -STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags) -{ - return stbtt_FindMatchingFont_internal((unsigned char *) fontdata, (char *) name, flags); -} - -STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2) -{ - return stbtt_CompareUTF8toUTF16_bigendian_internal((char *) s1, len1, (char *) s2, len2); -} - -#if defined(__GNUC__) || defined(__clang__) -#pragma GCC diagnostic pop -#endif - -#endif /* STB_TRUETYPE_IMPLEMENTATION */ - - -/* FULL VERSION HISTORY */ -/* */ -/* 1.25 (2021-07-11) many fixes */ -/* 1.24 (2020-02-05) fix warning */ -/* 1.23 (2020-02-02) query SVG data for glyphs; query whole kerning table (but only kern not GPOS) */ -/* 1.22 (2019-08-11) minimize missing-glyph duplication; fix kerning if both 'GPOS' and 'kern' are defined */ -/* 1.21 (2019-02-25) fix warning */ -/* 1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics() */ -/* 1.19 (2018-02-11) OpenType GPOS kerning (horizontal only), STBTT_fmod */ -/* 1.18 (2018-01-29) add missing function */ -/* 1.17 (2017-07-23) make more arguments const; doc fix */ -/* 1.16 (2017-07-12) SDF support */ -/* 1.15 (2017-03-03) make more arguments const */ -/* 1.14 (2017-01-16) num-fonts-in-TTC function */ -/* 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts */ -/* 1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual */ -/* 1.11 (2016-04-02) fix unused-variable warning */ -/* 1.10 (2016-04-02) allow user-defined fabs() replacement */ -/* fix memory leak if fontsize=0.0 */ -/* fix warning from duplicate typedef */ -/* 1.09 (2016-01-16) warning fix; avoid crash on outofmem; use alloc userdata for PackFontRanges */ -/* 1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges */ -/* 1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints; */ -/* allow PackFontRanges to pack and render in separate phases; */ -/* fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?); */ -/* fixed an assert() bug in the new rasterizer */ -/* replace assert() with STBTT_assert() in new rasterizer */ -/* 1.06 (2015-07-14) performance improvements (~35% faster on x86 and x64 on test machine) */ -/* also more precise AA rasterizer, except if shapes overlap */ -/* remove need for STBTT_sort */ -/* 1.05 (2015-04-15) fix misplaced definitions for STBTT_STATIC */ -/* 1.04 (2015-04-15) typo in example */ -/* 1.03 (2015-04-12) STBTT_STATIC, fix memory leak in new packing, various fixes */ -/* 1.02 (2014-12-10) fix various warnings & compile issues w/ stb_rect_pack, C++ */ -/* 1.01 (2014-12-08) fix subpixel position when oversampling to exactly match */ -/* non-oversampled; STBTT_POINT_SIZE for packed case only */ -/* 1.00 (2014-12-06) add new PackBegin etc. API, w/ support for oversampling */ -/* 0.99 (2014-09-18) fix multiple bugs with subpixel rendering (ryg) */ -/* 0.9 (2014-08-07) support certain mac/iOS fonts without an MS platformID */ -/* 0.8b (2014-07-07) fix a warning */ -/* 0.8 (2014-05-25) fix a few more warnings */ -/* 0.7 (2013-09-25) bugfix: subpixel glyph bug fixed in 0.5 had come back */ -/* 0.6c (2012-07-24) improve documentation */ -/* 0.6b (2012-07-20) fix a few more warnings */ -/* 0.6 (2012-07-17) fix warnings; added stbtt_ScaleForMappingEmToPixels, */ -/* stbtt_GetFontBoundingBox, stbtt_IsGlyphEmpty */ -/* 0.5 (2011-12-09) bugfixes: */ -/* subpixel glyph renderer computed wrong bounding box */ -/* first vertex of shape can be off-curve (FreeSans) */ -/* 0.4b (2011-12-03) fixed an error in the font baking example */ -/* 0.4 (2011-12-01) kerning, subpixel rendering (tor) */ -/* bugfixes for: */ -/* codepoint-to-glyph conversion using table fmt=12 */ -/* codepoint-to-glyph conversion using table fmt=4 */ -/* stbtt_GetBakedQuad with non-square texture (Zer) */ -/* updated Hello World! sample to use kerning and subpixel */ -/* fixed some warnings */ -/* 0.3 (2009-06-24) cmap fmt=12, compound shapes (MM) */ -/* userdata, malloc-from-userdata, non-zero fill (stb) */ -/* 0.2 (2009-03-11) Fix unsigned/signed char warnings */ -/* 0.1 (2009-03-09) First public release */ -/* */ - -/* ------------------------------------------------------------------------------- -This software is available under 2 licenses -- choose whichever you prefer. ------------------------------------------------------------------------------- -ALTERNATIVE A - MIT License -Copyright (c) 2017 Sean Barrett -Permission is hereby granted, free of charge, to any person obtaining a copy of -this software and associated documentation files (the "Software"), to deal in -the Software without restriction, including without limitation the rights to -use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies -of the Software, and to permit persons to whom the Software is furnished to do -so, subject to the following conditions: -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. ------------------------------------------------------------------------------- -ALTERNATIVE B - Public Domain (www.unlicense.org) -This is free and unencumbered software released into the public domain. -Anyone is free to copy, modify, publish, use, compile, sell, or distribute this -software, either in source code form or as a compiled binary, for any purpose, -commercial or non-commercial, and by any means. -In jurisdictions that recognize copyright laws, the author or authors of this -software dedicate any and all copyright interest in the software to the public -domain. We make this dedication for the benefit of the public at large and to -the detriment of our heirs and successors. We intend this dedication to be an -overt act of relinquishment in perpetuity of all present and future rights to -this software under copyright law. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN -ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION -WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. ------------------------------------------------------------------------------- -*/ - - - - -#ifdef NK_INCLUDE_FONT_BAKING -/* ------------------------------------------------------------- - * - * RECT PACK - * - * --------------------------------------------------------------*/ - - - -/* - * ============================================================== - * - * TRUETYPE - * - * =============================================================== - */ -#define STBTT_MAX_OVERSAMPLE 8 - - -/* ------------------------------------------------------------- - * - * FONT BAKING - * - * --------------------------------------------------------------*/ -struct nk_font_bake_data { - struct stbtt_fontinfo info; - struct stbrp_rect *rects; - stbtt_pack_range *ranges; - nk_rune range_count; -}; - -struct nk_font_baker { - struct nk_allocator alloc; - struct stbtt_pack_context spc; - struct nk_font_bake_data *build; - stbtt_packedchar *packed_chars; - struct stbrp_rect *rects; - stbtt_pack_range *ranges; -}; - -NK_GLOBAL const nk_size nk_rect_align = NK_ALIGNOF(struct stbrp_rect); -NK_GLOBAL const nk_size nk_range_align = NK_ALIGNOF(stbtt_pack_range); -NK_GLOBAL const nk_size nk_char_align = NK_ALIGNOF(stbtt_packedchar); -NK_GLOBAL const nk_size nk_build_align = NK_ALIGNOF(struct nk_font_bake_data); -NK_GLOBAL const nk_size nk_baker_align = NK_ALIGNOF(struct nk_font_baker); - -NK_INTERN int -nk_range_count(const nk_rune *range) -{ - const nk_rune *iter = range; - NK_ASSERT(range); - if (!range) return 0; - while (*(iter++) != 0); - return (iter == range) ? 0 : (int)((iter - range)/2); -} -NK_INTERN int -nk_range_glyph_count(const nk_rune *range, int count) -{ - int i = 0; - int total_glyphs = 0; - for (i = 0; i < count; ++i) { - int diff; - nk_rune f = range[(i*2)+0]; - nk_rune t = range[(i*2)+1]; - NK_ASSERT(t >= f); - diff = (int)((t - f) + 1); - total_glyphs += diff; - } - return total_glyphs; -} -NK_API const nk_rune* -nk_font_default_glyph_ranges(void) -{ - NK_STORAGE const nk_rune ranges[] = {0x0020, 0x00FF, 0}; - return ranges; -} -NK_API const nk_rune* -nk_font_chinese_glyph_ranges(void) -{ - NK_STORAGE const nk_rune ranges[] = { - 0x0020, 0x00FF, - 0x3000, 0x30FF, - 0x31F0, 0x31FF, - 0xFF00, 0xFFEF, - 0x4e00, 0x9FAF, - 0 - }; - return ranges; -} -NK_API const nk_rune* -nk_font_cyrillic_glyph_ranges(void) -{ - NK_STORAGE const nk_rune ranges[] = { - 0x0020, 0x00FF, - 0x0400, 0x052F, - 0x2DE0, 0x2DFF, - 0xA640, 0xA69F, - 0 - }; - return ranges; -} -NK_API const nk_rune* -nk_font_korean_glyph_ranges(void) -{ - NK_STORAGE const nk_rune ranges[] = { - 0x0020, 0x00FF, - 0x3131, 0x3163, - 0xAC00, 0xD79D, - 0 - }; - return ranges; -} -NK_INTERN void -nk_font_baker_memory(nk_size *temp, int *glyph_count, - struct nk_font_config *config_list, int count) -{ - int range_count = 0; - int total_range_count = 0; - struct nk_font_config *iter, *i; - - NK_ASSERT(config_list); - NK_ASSERT(glyph_count); - if (!config_list) { - *temp = 0; - *glyph_count = 0; - return; - } - *glyph_count = 0; - for (iter = config_list; iter; iter = iter->next) { - i = iter; - do {if (!i->range) iter->range = nk_font_default_glyph_ranges(); - range_count = nk_range_count(i->range); - total_range_count += range_count; - *glyph_count += nk_range_glyph_count(i->range, range_count); - } while ((i = i->n) != iter); - } - *temp = (nk_size)*glyph_count * sizeof(struct stbrp_rect); - *temp += (nk_size)total_range_count * sizeof(stbtt_pack_range); - *temp += (nk_size)*glyph_count * sizeof(stbtt_packedchar); - *temp += (nk_size)count * sizeof(struct nk_font_bake_data); - *temp += sizeof(struct nk_font_baker); - *temp += nk_rect_align + nk_range_align + nk_char_align; - *temp += nk_build_align + nk_baker_align; -} -NK_INTERN struct nk_font_baker* -nk_font_baker(void *memory, int glyph_count, int count, struct nk_allocator *alloc) -{ - struct nk_font_baker *baker; - if (!memory) return 0; - /* setup baker inside a memory block */ - baker = (struct nk_font_baker*)NK_ALIGN_PTR(memory, nk_baker_align); - baker->build = (struct nk_font_bake_data*)NK_ALIGN_PTR((baker + 1), nk_build_align); - baker->packed_chars = (stbtt_packedchar*)NK_ALIGN_PTR((baker->build + count), nk_char_align); - baker->rects = (struct stbrp_rect*)NK_ALIGN_PTR((baker->packed_chars + glyph_count), nk_rect_align); - baker->ranges = (stbtt_pack_range*)NK_ALIGN_PTR((baker->rects + glyph_count), nk_range_align); - baker->alloc = *alloc; - return baker; -} -NK_INTERN int -nk_font_bake_pack(struct nk_font_baker *baker, - nk_size *image_memory, int *width, int *height, struct nk_recti *custom, - const struct nk_font_config *config_list, int count, - struct nk_allocator *alloc) -{ - NK_STORAGE const nk_size max_height = 1024 * 32; - const struct nk_font_config *config_iter, *it; - int total_glyph_count = 0; - int total_range_count = 0; - int range_count = 0; - int i = 0; - - NK_ASSERT(image_memory); - NK_ASSERT(width); - NK_ASSERT(height); - NK_ASSERT(config_list); - NK_ASSERT(count); - NK_ASSERT(alloc); - - if (!image_memory || !width || !height || !config_list || !count) return nk_false; - for (config_iter = config_list; config_iter; config_iter = config_iter->next) { - it = config_iter; - do {range_count = nk_range_count(it->range); - total_range_count += range_count; - total_glyph_count += nk_range_glyph_count(it->range, range_count); - } while ((it = it->n) != config_iter); - } - /* setup font baker from temporary memory */ - for (config_iter = config_list; config_iter; config_iter = config_iter->next) { - it = config_iter; - do { - struct stbtt_fontinfo *font_info = &baker->build[i++].info; - font_info->userdata = alloc; - - if (!stbtt_InitFont(font_info, (const unsigned char*)it->ttf_blob, 0)) - return nk_false; - } while ((it = it->n) != config_iter); - } - *height = 0; - *width = (total_glyph_count > 1000) ? 1024 : 512; - stbtt_PackBegin(&baker->spc, 0, (int)*width, (int)max_height, 0, 1, alloc); - { - int input_i = 0; - int range_n = 0; - int rect_n = 0; - int char_n = 0; - - if (custom) { - /* pack custom user data first so it will be in the upper left corner*/ - struct stbrp_rect custom_space; - nk_zero(&custom_space, sizeof(custom_space)); - custom_space.w = (stbrp_coord)(custom->w); - custom_space.h = (stbrp_coord)(custom->h); - - stbtt_PackSetOversampling(&baker->spc, 1, 1); - stbrp_pack_rects((struct stbrp_context*)baker->spc.pack_info, &custom_space, 1); - *height = NK_MAX(*height, (int)(custom_space.y + custom_space.h)); - - custom->x = (short)custom_space.x; - custom->y = (short)custom_space.y; - custom->w = (short)custom_space.w; - custom->h = (short)custom_space.h; - } - - /* first font pass: pack all glyphs */ - for (input_i = 0, config_iter = config_list; input_i < count && config_iter; - config_iter = config_iter->next) { - it = config_iter; - do {int n = 0; - int glyph_count; - const nk_rune *in_range; - const struct nk_font_config *cfg = it; - struct nk_font_bake_data *tmp = &baker->build[input_i++]; - - /* count glyphs + ranges in current font */ - glyph_count = 0; range_count = 0; - for (in_range = cfg->range; in_range[0] && in_range[1]; in_range += 2) { - glyph_count += (int)(in_range[1] - in_range[0]) + 1; - range_count++; - } - - /* setup ranges */ - tmp->ranges = baker->ranges + range_n; - tmp->range_count = (nk_rune)range_count; - range_n += range_count; - for (i = 0; i < range_count; ++i) { - in_range = &cfg->range[i * 2]; - tmp->ranges[i].font_size = cfg->size; - tmp->ranges[i].first_unicode_codepoint_in_range = (int)in_range[0]; - tmp->ranges[i].num_chars = (int)(in_range[1]- in_range[0]) + 1; - tmp->ranges[i].chardata_for_range = baker->packed_chars + char_n; - char_n += tmp->ranges[i].num_chars; - } - - /* pack */ - tmp->rects = baker->rects + rect_n; - rect_n += glyph_count; - stbtt_PackSetOversampling(&baker->spc, cfg->oversample_h, cfg->oversample_v); - n = stbtt_PackFontRangesGatherRects(&baker->spc, &tmp->info, - tmp->ranges, (int)tmp->range_count, tmp->rects); - stbrp_pack_rects((struct stbrp_context*)baker->spc.pack_info, tmp->rects, (int)n); - - /* texture height */ - for (i = 0; i < n; ++i) { - if (tmp->rects[i].was_packed) - *height = NK_MAX(*height, tmp->rects[i].y + tmp->rects[i].h); - } - } while ((it = it->n) != config_iter); - } - NK_ASSERT(rect_n == total_glyph_count); - NK_ASSERT(char_n == total_glyph_count); - NK_ASSERT(range_n == total_range_count); - } - *height = (int)nk_round_up_pow2((nk_uint)*height); - *image_memory = (nk_size)(*width) * (nk_size)(*height); - return nk_true; -} -NK_INTERN void -nk_font_bake(struct nk_font_baker *baker, void *image_memory, int width, int height, - struct nk_font_glyph *glyphs, int glyphs_count, - const struct nk_font_config *config_list, int font_count) -{ - int input_i = 0; - nk_rune glyph_n = 0; - const struct nk_font_config *config_iter; - const struct nk_font_config *it; - - NK_ASSERT(image_memory); - NK_ASSERT(width); - NK_ASSERT(height); - NK_ASSERT(config_list); - NK_ASSERT(baker); - NK_ASSERT(font_count); - NK_ASSERT(glyphs_count); - if (!image_memory || !width || !height || !config_list || - !font_count || !glyphs || !glyphs_count) - return; - - /* second font pass: render glyphs */ - nk_zero(image_memory, (nk_size)((nk_size)width * (nk_size)height)); - baker->spc.pixels = (unsigned char*)image_memory; - baker->spc.height = (int)height; - for (input_i = 0, config_iter = config_list; input_i < font_count && config_iter; - config_iter = config_iter->next) { - it = config_iter; - do {const struct nk_font_config *cfg = it; - struct nk_font_bake_data *tmp = &baker->build[input_i++]; - stbtt_PackSetOversampling(&baker->spc, cfg->oversample_h, cfg->oversample_v); - stbtt_PackFontRangesRenderIntoRects(&baker->spc, &tmp->info, tmp->ranges, (int)tmp->range_count, tmp->rects); - } while ((it = it->n) != config_iter); - } stbtt_PackEnd(&baker->spc); - - /* third pass: setup font and glyphs */ - for (input_i = 0, config_iter = config_list; input_i < font_count && config_iter; - config_iter = config_iter->next) { - it = config_iter; - do {nk_size i = 0; - int char_idx = 0; - nk_rune glyph_count = 0; - const struct nk_font_config *cfg = it; - struct nk_font_bake_data *tmp = &baker->build[input_i++]; - struct nk_baked_font *dst_font = cfg->font; - - float font_scale = stbtt_ScaleForPixelHeight(&tmp->info, cfg->size); - int unscaled_ascent, unscaled_descent, unscaled_line_gap; - stbtt_GetFontVMetrics(&tmp->info, &unscaled_ascent, &unscaled_descent, - &unscaled_line_gap); - - /* fill baked font */ - if (!cfg->merge_mode) { - dst_font->ranges = cfg->range; - dst_font->height = cfg->size; - dst_font->ascent = ((float)unscaled_ascent * font_scale); - dst_font->descent = ((float)unscaled_descent * font_scale); - dst_font->glyph_offset = glyph_n; - /* - Need to zero this, or it will carry over from a previous - bake, and cause a segfault when accessing glyphs[]. - */ - dst_font->glyph_count = 0; - } - - /* fill own baked font glyph array */ - for (i = 0; i < tmp->range_count; ++i) { - stbtt_pack_range *range = &tmp->ranges[i]; - for (char_idx = 0; char_idx < range->num_chars; char_idx++) - { - nk_rune codepoint = 0; - float dummy_x = 0, dummy_y = 0; - stbtt_aligned_quad q; - struct nk_font_glyph *glyph; - - /* query glyph bounds from stb_truetype */ - const stbtt_packedchar *pc = &range->chardata_for_range[char_idx]; - if (!pc->x0 && !pc->x1 && !pc->y0 && !pc->y1) continue; - codepoint = (nk_rune)(range->first_unicode_codepoint_in_range + char_idx); - stbtt_GetPackedQuad(range->chardata_for_range, (int)width, - (int)height, char_idx, &dummy_x, &dummy_y, &q, 0); - - /* fill own glyph type with data */ - glyph = &glyphs[dst_font->glyph_offset + dst_font->glyph_count + (unsigned int)glyph_count]; - glyph->codepoint = codepoint; - glyph->x0 = q.x0; glyph->y0 = q.y0; - glyph->x1 = q.x1; glyph->y1 = q.y1; - glyph->y0 += (dst_font->ascent + 0.5f); - glyph->y1 += (dst_font->ascent + 0.5f); - glyph->w = glyph->x1 - glyph->x0 + 0.5f; - glyph->h = glyph->y1 - glyph->y0; - - if (cfg->coord_type == NK_COORD_PIXEL) { - glyph->u0 = q.s0 * (float)width; - glyph->v0 = q.t0 * (float)height; - glyph->u1 = q.s1 * (float)width; - glyph->v1 = q.t1 * (float)height; - } else { - glyph->u0 = q.s0; - glyph->v0 = q.t0; - glyph->u1 = q.s1; - glyph->v1 = q.t1; - } - glyph->xadvance = (pc->xadvance + cfg->spacing.x); - if (cfg->pixel_snap) - glyph->xadvance = (float)(int)(glyph->xadvance + 0.5f); - glyph_count++; - } - } - dst_font->glyph_count += glyph_count; - glyph_n += glyph_count; - } while ((it = it->n) != config_iter); - } -} -NK_INTERN void -nk_font_bake_custom_data(void *img_memory, int img_width, int img_height, - struct nk_recti img_dst, const char *texture_data_mask, int tex_width, - int tex_height, char white, char black) -{ - nk_byte *pixels; - int y = 0; - int x = 0; - int n = 0; - - NK_ASSERT(img_memory); - NK_ASSERT(img_width); - NK_ASSERT(img_height); - NK_ASSERT(texture_data_mask); - NK_UNUSED(tex_height); - if (!img_memory || !img_width || !img_height || !texture_data_mask) - return; - - pixels = (nk_byte*)img_memory; - for (y = 0, n = 0; y < tex_height; ++y) { - for (x = 0; x < tex_width; ++x, ++n) { - const int off0 = ((img_dst.x + x) + (img_dst.y + y) * img_width); - const int off1 = off0 + 1 + tex_width; - pixels[off0] = (texture_data_mask[n] == white) ? 0xFF : 0x00; - pixels[off1] = (texture_data_mask[n] == black) ? 0xFF : 0x00; - } - } -} -NK_INTERN void -nk_font_bake_convert(void *out_memory, int img_width, int img_height, - const void *in_memory) -{ - int n = 0; - nk_rune *dst; - const nk_byte *src; - - NK_ASSERT(out_memory); - NK_ASSERT(in_memory); - NK_ASSERT(img_width); - NK_ASSERT(img_height); - if (!out_memory || !in_memory || !img_height || !img_width) return; - - dst = (nk_rune*)out_memory; - src = (const nk_byte*)in_memory; - for (n = (int)(img_width * img_height); n > 0; n--) - *dst++ = ((nk_rune)(*src++) << 24) | 0x00FFFFFF; -} - -/* ------------------------------------------------------------- - * - * FONT - * - * --------------------------------------------------------------*/ -NK_INTERN float -nk_font_text_width(nk_handle handle, float height, const char *text, int len) -{ - nk_rune unicode; - int text_len = 0; - float text_width = 0; - int glyph_len = 0; - float scale = 0; - - struct nk_font *font = (struct nk_font*)handle.ptr; - NK_ASSERT(font); - NK_ASSERT(font->glyphs); - if (!font || !text || !len) - return 0; - - scale = height/font->info.height; - glyph_len = text_len = nk_utf_decode(text, &unicode, (int)len); - if (!glyph_len) return 0; - while (text_len <= (int)len && glyph_len) { - const struct nk_font_glyph *g; - if (unicode == NK_UTF_INVALID) break; - - /* query currently drawn glyph information */ - g = nk_font_find_glyph(font, unicode); - text_width += g->xadvance * scale; - - /* offset next glyph */ - glyph_len = nk_utf_decode(text + text_len, &unicode, (int)len - text_len); - text_len += glyph_len; - } - return text_width; -} -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT -NK_INTERN void -nk_font_query_font_glyph(nk_handle handle, float height, - struct nk_user_font_glyph *glyph, nk_rune codepoint, nk_rune next_codepoint) -{ - float scale; - const struct nk_font_glyph *g; - struct nk_font *font; - - NK_ASSERT(glyph); - NK_UNUSED(next_codepoint); - - font = (struct nk_font*)handle.ptr; - NK_ASSERT(font); - NK_ASSERT(font->glyphs); - if (!font || !glyph) - return; - - scale = height/font->info.height; - g = nk_font_find_glyph(font, codepoint); - glyph->width = (g->x1 - g->x0) * scale; - glyph->height = (g->y1 - g->y0) * scale; - glyph->offset = nk_vec2(g->x0 * scale, g->y0 * scale); - glyph->xadvance = (g->xadvance * scale); - glyph->uv[0] = nk_vec2(g->u0, g->v0); - glyph->uv[1] = nk_vec2(g->u1, g->v1); -} -#endif -NK_API const struct nk_font_glyph* -nk_font_find_glyph(struct nk_font *font, nk_rune unicode) -{ - int i = 0; - int count; - int total_glyphs = 0; - const struct nk_font_glyph *glyph = 0; - const struct nk_font_config *iter = 0; - - NK_ASSERT(font); - NK_ASSERT(font->glyphs); - NK_ASSERT(font->info.ranges); - if (!font || !font->glyphs) return 0; - - glyph = font->fallback; - iter = font->config; - do {count = nk_range_count(iter->range); - for (i = 0; i < count; ++i) { - nk_rune f = iter->range[(i*2)+0]; - nk_rune t = iter->range[(i*2)+1]; - int diff = (int)((t - f) + 1); - if (unicode >= f && unicode <= t) - return &font->glyphs[((nk_rune)total_glyphs + (unicode - f))]; - total_glyphs += diff; - } - } while ((iter = iter->n) != font->config); - return glyph; -} -NK_INTERN void -nk_font_init(struct nk_font *font, float pixel_height, - nk_rune fallback_codepoint, struct nk_font_glyph *glyphs, - const struct nk_baked_font *baked_font, nk_handle atlas) -{ - struct nk_baked_font baked; - NK_ASSERT(font); - NK_ASSERT(glyphs); - NK_ASSERT(baked_font); - if (!font || !glyphs || !baked_font) - return; - - baked = *baked_font; - font->fallback = 0; - font->info = baked; - font->scale = (float)pixel_height / (float)font->info.height; - font->glyphs = &glyphs[baked_font->glyph_offset]; - font->texture = atlas; - font->fallback_codepoint = fallback_codepoint; - font->fallback = nk_font_find_glyph(font, fallback_codepoint); - - font->handle.height = font->info.height * font->scale; - font->handle.width = nk_font_text_width; - font->handle.userdata.ptr = font; -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT - font->handle.query = nk_font_query_font_glyph; - font->handle.texture = font->texture; -#endif -} - -/* --------------------------------------------------------------------------- - * - * DEFAULT FONT - * - * ProggyClean.ttf - * Copyright (c) 2004, 2005 Tristan Grimmer - * MIT license (see License.txt in http://www.upperbounds.net/download/ProggyClean.ttf.zip) - * Download and more information at http://upperbounds.net - *-----------------------------------------------------------------------------*/ -#ifdef __clang__ -#pragma clang diagnostic push -#pragma clang diagnostic ignored "-Woverlength-strings" -#elif defined(__GNUC__) || defined(__GNUG__) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Woverlength-strings" -#endif - -#ifdef NK_INCLUDE_DEFAULT_FONT - -NK_GLOBAL const char nk_proggy_clean_ttf_compressed_data_base85[11980+1] = - "7])#######hV0qs'/###[),##/l:$#Q6>##5[n42>c-TH`->>#/e>11NNV=Bv(*:.F?uu#(gRU.o0XGH`$vhLG1hxt9?W`#,5LsCp#-i>.r$<$6pD>Lb';9Crc6tgXmKVeU2cD4Eo3R/" - 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" - " - X.X X.X - " - " - XX XX - " -}; - -#ifdef __clang__ -#pragma clang diagnostic pop -#elif defined(__GNUC__) || defined(__GNUG__) -#pragma GCC diagnostic pop -#endif - -NK_GLOBAL unsigned char *nk__barrier; -NK_GLOBAL unsigned char *nk__barrier2; -NK_GLOBAL unsigned char *nk__barrier3; -NK_GLOBAL unsigned char *nk__barrier4; -NK_GLOBAL unsigned char *nk__dout; - -NK_INTERN unsigned int -nk_decompress_length(unsigned char *input) -{ - return (unsigned int)((input[8] << 24) + (input[9] << 16) + (input[10] << 8) + input[11]); -} -NK_INTERN void -nk__match(unsigned char *data, unsigned int length) -{ - /* INVERSE of memmove... write each byte before copying the next...*/ - NK_ASSERT (nk__dout + length <= nk__barrier); - if (nk__dout + length > nk__barrier) { nk__dout += length; return; } - if (data < nk__barrier4) { nk__dout = nk__barrier+1; return; } - while (length--) *nk__dout++ = *data++; -} -NK_INTERN void -nk__lit(unsigned char *data, unsigned int length) -{ - NK_ASSERT (nk__dout + length <= nk__barrier); - if (nk__dout + length > nk__barrier) { nk__dout += length; return; } - if (data < nk__barrier2) { nk__dout = nk__barrier+1; return; } - NK_MEMCPY(nk__dout, data, length); - nk__dout += length; -} -NK_INTERN unsigned char* -nk_decompress_token(unsigned char *i) -{ - #define nk__in2(x) ((i[x] << 8) + i[(x)+1]) - #define nk__in3(x) ((i[x] << 16) + nk__in2((x)+1)) - #define nk__in4(x) ((i[x] << 24) + nk__in3((x)+1)) - - if (*i >= 0x20) { /* use fewer if's for cases that expand small */ - if (*i >= 0x80) nk__match(nk__dout-i[1]-1, (unsigned int)i[0] - 0x80 + 1), i += 2; - else if (*i >= 0x40) nk__match(nk__dout-(nk__in2(0) - 0x4000 + 1), (unsigned int)i[2]+1), i += 3; - else /* *i >= 0x20 */ nk__lit(i+1, (unsigned int)i[0] - 0x20 + 1), i += 1 + (i[0] - 0x20 + 1); - } else { /* more ifs for cases that expand large, since overhead is amortized */ - if (*i >= 0x18) nk__match(nk__dout-(unsigned int)(nk__in3(0) - 0x180000 + 1), (unsigned int)i[3]+1), i += 4; - else if (*i >= 0x10) nk__match(nk__dout-(unsigned int)(nk__in3(0) - 0x100000 + 1), (unsigned int)nk__in2(3)+1), i += 5; - else if (*i >= 0x08) nk__lit(i+2, (unsigned int)nk__in2(0) - 0x0800 + 1), i += 2 + (nk__in2(0) - 0x0800 + 1); - else if (*i == 0x07) nk__lit(i+3, (unsigned int)nk__in2(1) + 1), i += 3 + (nk__in2(1) + 1); - else if (*i == 0x06) nk__match(nk__dout-(unsigned int)(nk__in3(1)+1), i[4]+1u), i += 5; - else if (*i == 0x04) nk__match(nk__dout-(unsigned int)(nk__in3(1)+1), (unsigned int)nk__in2(4)+1u), i += 6; - } - return i; -} -NK_INTERN unsigned int -nk_adler32(unsigned int adler32, unsigned char *buffer, unsigned int buflen) -{ - const unsigned long ADLER_MOD = 65521; - unsigned long s1 = adler32 & 0xffff, s2 = adler32 >> 16; - unsigned long blocklen, i; - - blocklen = buflen % 5552; - while (buflen) { - for (i=0; i + 7 < blocklen; i += 8) { - s1 += buffer[0]; s2 += s1; - s1 += buffer[1]; s2 += s1; - s1 += buffer[2]; s2 += s1; - s1 += buffer[3]; s2 += s1; - s1 += buffer[4]; s2 += s1; - s1 += buffer[5]; s2 += s1; - s1 += buffer[6]; s2 += s1; - s1 += buffer[7]; s2 += s1; - buffer += 8; - } - for (; i < blocklen; ++i) { - s1 += *buffer++; s2 += s1; - } - - s1 %= ADLER_MOD; s2 %= ADLER_MOD; - buflen -= (unsigned int)blocklen; - blocklen = 5552; - } - return (unsigned int)(s2 << 16) + (unsigned int)s1; -} -NK_INTERN unsigned int -nk_decompress(unsigned char *output, unsigned char *i, unsigned int length) -{ - unsigned int olen; - if (nk__in4(0) != 0x57bC0000) return 0; - if (nk__in4(4) != 0) return 0; /* error! stream is > 4GB */ - olen = nk_decompress_length(i); - nk__barrier2 = i; - nk__barrier3 = i+length; - nk__barrier = output + olen; - nk__barrier4 = output; - i += 16; - - nk__dout = output; - for (;;) { - unsigned char *old_i = i; - i = nk_decompress_token(i); - if (i == old_i) { - if (*i == 0x05 && i[1] == 0xfa) { - NK_ASSERT(nk__dout == output + olen); - if (nk__dout != output + olen) return 0; - if (nk_adler32(1, output, olen) != (unsigned int) nk__in4(2)) - return 0; - return olen; - } else { - NK_ASSERT(0); /* NOTREACHED */ - return 0; - } - } - NK_ASSERT(nk__dout <= output + olen); - if (nk__dout > output + olen) - return 0; - } -} -NK_INTERN unsigned int -nk_decode_85_byte(char c) -{ - return (unsigned int)((c >= '\\') ? c-36 : c-35); -} -NK_INTERN void -nk_decode_85(unsigned char* dst, const unsigned char* src) -{ - while (*src) - { - unsigned int tmp = - nk_decode_85_byte((char)src[0]) + - 85 * (nk_decode_85_byte((char)src[1]) + - 85 * (nk_decode_85_byte((char)src[2]) + - 85 * (nk_decode_85_byte((char)src[3]) + - 85 * nk_decode_85_byte((char)src[4])))); - - /* we can't assume little-endianess. */ - dst[0] = (unsigned char)((tmp >> 0) & 0xFF); - dst[1] = (unsigned char)((tmp >> 8) & 0xFF); - dst[2] = (unsigned char)((tmp >> 16) & 0xFF); - dst[3] = (unsigned char)((tmp >> 24) & 0xFF); - - src += 5; - dst += 4; - } -} - -/* ------------------------------------------------------------- - * - * FONT ATLAS - * - * --------------------------------------------------------------*/ -NK_API struct nk_font_config -nk_font_config(float pixel_height) -{ - struct nk_font_config cfg; - nk_zero_struct(cfg); - cfg.ttf_blob = 0; - cfg.ttf_size = 0; - cfg.ttf_data_owned_by_atlas = 0; - cfg.size = pixel_height; - cfg.oversample_h = 3; - cfg.oversample_v = 1; - cfg.pixel_snap = 0; - cfg.coord_type = NK_COORD_UV; - cfg.spacing = nk_vec2(0,0); - cfg.range = nk_font_default_glyph_ranges(); - cfg.merge_mode = 0; - cfg.fallback_glyph = '?'; - cfg.font = 0; - cfg.n = 0; - return cfg; -} -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void -nk_font_atlas_init_default(struct nk_font_atlas *atlas) -{ - NK_ASSERT(atlas); - if (!atlas) return; - nk_zero_struct(*atlas); - atlas->temporary.userdata.ptr = 0; - atlas->temporary.alloc = nk_malloc; - atlas->temporary.free = nk_mfree; - atlas->permanent.userdata.ptr = 0; - atlas->permanent.alloc = nk_malloc; - atlas->permanent.free = nk_mfree; -} -#endif -NK_API void -nk_font_atlas_init(struct nk_font_atlas *atlas, struct nk_allocator *alloc) -{ - NK_ASSERT(atlas); - NK_ASSERT(alloc); - if (!atlas || !alloc) return; - nk_zero_struct(*atlas); - atlas->permanent = *alloc; - atlas->temporary = *alloc; -} -NK_API void -nk_font_atlas_init_custom(struct nk_font_atlas *atlas, - struct nk_allocator *permanent, struct nk_allocator *temporary) -{ - NK_ASSERT(atlas); - NK_ASSERT(permanent); - NK_ASSERT(temporary); - if (!atlas || !permanent || !temporary) return; - nk_zero_struct(*atlas); - atlas->permanent = *permanent; - atlas->temporary = *temporary; -} -NK_API void -nk_font_atlas_begin(struct nk_font_atlas *atlas) -{ - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc && atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc && atlas->permanent.free); - if (!atlas || !atlas->permanent.alloc || !atlas->permanent.free || - !atlas->temporary.alloc || !atlas->temporary.free) return; - if (atlas->glyphs) { - atlas->permanent.free(atlas->permanent.userdata, atlas->glyphs); - atlas->glyphs = 0; - } - if (atlas->pixel) { - atlas->permanent.free(atlas->permanent.userdata, atlas->pixel); - atlas->pixel = 0; - } -} -NK_API struct nk_font* -nk_font_atlas_add(struct nk_font_atlas *atlas, const struct nk_font_config *config) -{ - struct nk_font *font = 0; - struct nk_font_config *cfg; - - NK_ASSERT(atlas); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - - NK_ASSERT(config); - NK_ASSERT(config->ttf_blob); - NK_ASSERT(config->ttf_size); - NK_ASSERT(config->size > 0.0f); - - if (!atlas || !config || !config->ttf_blob || !config->ttf_size || config->size <= 0.0f|| - !atlas->permanent.alloc || !atlas->permanent.free || - !atlas->temporary.alloc || !atlas->temporary.free) - return 0; - - /* allocate font config */ - cfg = (struct nk_font_config*) - atlas->permanent.alloc(atlas->permanent.userdata,0, sizeof(struct nk_font_config)); - NK_MEMCPY(cfg, config, sizeof(*config)); - cfg->n = cfg; - cfg->p = cfg; - - if (!config->merge_mode) { - /* insert font config into list */ - if (!atlas->config) { - atlas->config = cfg; - cfg->next = 0; - } else { - struct nk_font_config *i = atlas->config; - while (i->next) i = i->next; - i->next = cfg; - cfg->next = 0; - } - /* allocate new font */ - font = (struct nk_font*) - atlas->permanent.alloc(atlas->permanent.userdata,0, sizeof(struct nk_font)); - NK_ASSERT(font); - nk_zero(font, sizeof(*font)); - if (!font) return 0; - font->config = cfg; - - /* insert font into list */ - if (!atlas->fonts) { - atlas->fonts = font; - font->next = 0; - } else { - struct nk_font *i = atlas->fonts; - while (i->next) i = i->next; - i->next = font; - font->next = 0; - } - cfg->font = &font->info; - } else { - /* extend previously added font */ - struct nk_font *f = 0; - struct nk_font_config *c = 0; - NK_ASSERT(atlas->font_num); - f = atlas->fonts; - c = f->config; - cfg->font = &f->info; - - cfg->n = c; - cfg->p = c->p; - c->p->n = cfg; - c->p = cfg; - } - /* create own copy of .TTF font blob */ - if (!config->ttf_data_owned_by_atlas) { - cfg->ttf_blob = atlas->permanent.alloc(atlas->permanent.userdata,0, cfg->ttf_size); - NK_ASSERT(cfg->ttf_blob); - if (!cfg->ttf_blob) { - atlas->font_num++; - return 0; - } - NK_MEMCPY(cfg->ttf_blob, config->ttf_blob, cfg->ttf_size); - cfg->ttf_data_owned_by_atlas = 1; - } - atlas->font_num++; - return font; -} -NK_API struct nk_font* -nk_font_atlas_add_from_memory(struct nk_font_atlas *atlas, void *memory, - nk_size size, float height, const struct nk_font_config *config) -{ - struct nk_font_config cfg; - NK_ASSERT(memory); - NK_ASSERT(size); - - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - if (!atlas || !atlas->temporary.alloc || !atlas->temporary.free || !memory || !size || - !atlas->permanent.alloc || !atlas->permanent.free) - return 0; - - cfg = (config) ? *config: nk_font_config(height); - cfg.ttf_blob = memory; - cfg.ttf_size = size; - cfg.size = height; - cfg.ttf_data_owned_by_atlas = 0; - return nk_font_atlas_add(atlas, &cfg); -} -#ifdef NK_INCLUDE_STANDARD_IO -NK_API struct nk_font* -nk_font_atlas_add_from_file(struct nk_font_atlas *atlas, const char *file_path, - float height, const struct nk_font_config *config) -{ - nk_size size; - char *memory; - struct nk_font_config cfg; - - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - - if (!atlas || !file_path) return 0; - memory = nk_file_load(file_path, &size, &atlas->permanent); - if (!memory) return 0; - - cfg = (config) ? *config: nk_font_config(height); - cfg.ttf_blob = memory; - cfg.ttf_size = size; - cfg.size = height; - cfg.ttf_data_owned_by_atlas = 1; - return nk_font_atlas_add(atlas, &cfg); -} -#endif -NK_API struct nk_font* -nk_font_atlas_add_compressed(struct nk_font_atlas *atlas, - void *compressed_data, nk_size compressed_size, float height, - const struct nk_font_config *config) -{ - unsigned int decompressed_size; - void *decompressed_data; - struct nk_font_config cfg; - - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - - NK_ASSERT(compressed_data); - NK_ASSERT(compressed_size); - if (!atlas || !compressed_data || !atlas->temporary.alloc || !atlas->temporary.free || - !atlas->permanent.alloc || !atlas->permanent.free) - return 0; - - decompressed_size = nk_decompress_length((unsigned char*)compressed_data); - decompressed_data = atlas->permanent.alloc(atlas->permanent.userdata,0,decompressed_size); - NK_ASSERT(decompressed_data); - if (!decompressed_data) return 0; - nk_decompress((unsigned char*)decompressed_data, (unsigned char*)compressed_data, - (unsigned int)compressed_size); - - cfg = (config) ? *config: nk_font_config(height); - cfg.ttf_blob = decompressed_data; - cfg.ttf_size = decompressed_size; - cfg.size = height; - cfg.ttf_data_owned_by_atlas = 1; - return nk_font_atlas_add(atlas, &cfg); -} -NK_API struct nk_font* -nk_font_atlas_add_compressed_base85(struct nk_font_atlas *atlas, - const char *data_base85, float height, const struct nk_font_config *config) -{ - int compressed_size; - void *compressed_data; - struct nk_font *font; - - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - - NK_ASSERT(data_base85); - if (!atlas || !data_base85 || !atlas->temporary.alloc || !atlas->temporary.free || - !atlas->permanent.alloc || !atlas->permanent.free) - return 0; - - compressed_size = (((int)nk_strlen(data_base85) + 4) / 5) * 4; - compressed_data = atlas->temporary.alloc(atlas->temporary.userdata,0, (nk_size)compressed_size); - NK_ASSERT(compressed_data); - if (!compressed_data) return 0; - nk_decode_85((unsigned char*)compressed_data, (const unsigned char*)data_base85); - font = nk_font_atlas_add_compressed(atlas, compressed_data, - (nk_size)compressed_size, height, config); - atlas->temporary.free(atlas->temporary.userdata, compressed_data); - return font; -} - -#ifdef NK_INCLUDE_DEFAULT_FONT -NK_API struct nk_font* -nk_font_atlas_add_default(struct nk_font_atlas *atlas, - float pixel_height, const struct nk_font_config *config) -{ - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - return nk_font_atlas_add_compressed_base85(atlas, - nk_proggy_clean_ttf_compressed_data_base85, pixel_height, config); -} -#endif -NK_API const void* -nk_font_atlas_bake(struct nk_font_atlas *atlas, int *width, int *height, - enum nk_font_atlas_format fmt) -{ - int i = 0; - void *tmp = 0; - nk_size tmp_size, img_size; - struct nk_font *font_iter; - struct nk_font_baker *baker; - - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - - NK_ASSERT(width); - NK_ASSERT(height); - if (!atlas || !width || !height || - !atlas->temporary.alloc || !atlas->temporary.free || - !atlas->permanent.alloc || !atlas->permanent.free) - return 0; - -#ifdef NK_INCLUDE_DEFAULT_FONT - /* no font added so just use default font */ - if (!atlas->font_num) - atlas->default_font = nk_font_atlas_add_default(atlas, 13.0f, 0); -#endif - NK_ASSERT(atlas->font_num); - if (!atlas->font_num) return 0; - - /* allocate temporary baker memory required for the baking process */ - nk_font_baker_memory(&tmp_size, &atlas->glyph_count, atlas->config, atlas->font_num); - tmp = atlas->temporary.alloc(atlas->temporary.userdata,0, tmp_size); - NK_ASSERT(tmp); - if (!tmp) goto failed; - NK_MEMSET(tmp,0,tmp_size); - - /* allocate glyph memory for all fonts */ - baker = nk_font_baker(tmp, atlas->glyph_count, atlas->font_num, &atlas->temporary); - atlas->glyphs = (struct nk_font_glyph*)atlas->permanent.alloc( - atlas->permanent.userdata,0, sizeof(struct nk_font_glyph)*(nk_size)atlas->glyph_count); - NK_ASSERT(atlas->glyphs); - if (!atlas->glyphs) - goto failed; - - /* pack all glyphs into a tight fit space */ - atlas->custom.w = (NK_CURSOR_DATA_W*2)+1; - atlas->custom.h = NK_CURSOR_DATA_H + 1; - if (!nk_font_bake_pack(baker, &img_size, width, height, &atlas->custom, - atlas->config, atlas->font_num, &atlas->temporary)) - goto failed; - - /* allocate memory for the baked image font atlas */ - atlas->pixel = atlas->temporary.alloc(atlas->temporary.userdata,0, img_size); - NK_ASSERT(atlas->pixel); - if (!atlas->pixel) - goto failed; - - /* bake glyphs and custom white pixel into image */ - nk_font_bake(baker, atlas->pixel, *width, *height, - atlas->glyphs, atlas->glyph_count, atlas->config, atlas->font_num); - nk_font_bake_custom_data(atlas->pixel, *width, *height, atlas->custom, - nk_custom_cursor_data, NK_CURSOR_DATA_W, NK_CURSOR_DATA_H, '.', 'X'); - - if (fmt == NK_FONT_ATLAS_RGBA32) { - /* convert alpha8 image into rgba32 image */ - void *img_rgba = atlas->temporary.alloc(atlas->temporary.userdata,0, - (nk_size)(*width * *height * 4)); - NK_ASSERT(img_rgba); - if (!img_rgba) goto failed; - nk_font_bake_convert(img_rgba, *width, *height, atlas->pixel); - atlas->temporary.free(atlas->temporary.userdata, atlas->pixel); - atlas->pixel = img_rgba; - } - atlas->tex_width = *width; - atlas->tex_height = *height; - - /* initialize each font */ - for (font_iter = atlas->fonts; font_iter; font_iter = font_iter->next) { - struct nk_font *font = font_iter; - struct nk_font_config *config = font->config; - nk_font_init(font, config->size, config->fallback_glyph, atlas->glyphs, - config->font, nk_handle_ptr(0)); - } - - /* initialize each cursor */ - {NK_STORAGE const struct nk_vec2 nk_cursor_data[NK_CURSOR_COUNT][3] = { - /* Pos Size Offset */ - {{ 0, 3}, {12,19}, { 0, 0}}, - {{13, 0}, { 7,16}, { 4, 8}}, - {{31, 0}, {23,23}, {11,11}}, - {{21, 0}, { 9, 23}, { 5,11}}, - {{55,18}, {23, 9}, {11, 5}}, - {{73, 0}, {17,17}, { 9, 9}}, - {{55, 0}, {17,17}, { 9, 9}} - }; - for (i = 0; i < NK_CURSOR_COUNT; ++i) { - struct nk_cursor *cursor = &atlas->cursors[i]; - cursor->img.w = (unsigned short)*width; - cursor->img.h = (unsigned short)*height; - cursor->img.region[0] = (unsigned short)(atlas->custom.x + nk_cursor_data[i][0].x); - cursor->img.region[1] = (unsigned short)(atlas->custom.y + nk_cursor_data[i][0].y); - cursor->img.region[2] = (unsigned short)nk_cursor_data[i][1].x; - cursor->img.region[3] = (unsigned short)nk_cursor_data[i][1].y; - cursor->size = nk_cursor_data[i][1]; - cursor->offset = nk_cursor_data[i][2]; - }} - /* free temporary memory */ - atlas->temporary.free(atlas->temporary.userdata, tmp); - return atlas->pixel; - -failed: - /* error so cleanup all memory */ - if (tmp) atlas->temporary.free(atlas->temporary.userdata, tmp); - if (atlas->glyphs) { - atlas->permanent.free(atlas->permanent.userdata, atlas->glyphs); - atlas->glyphs = 0; - } - if (atlas->pixel) { - atlas->temporary.free(atlas->temporary.userdata, atlas->pixel); - atlas->pixel = 0; - } - return 0; -} -NK_API void -nk_font_atlas_end(struct nk_font_atlas *atlas, nk_handle texture, - struct nk_draw_null_texture *null) -{ - int i = 0; - struct nk_font *font_iter; - NK_ASSERT(atlas); - if (!atlas) { - if (!null) return; - null->texture = texture; - null->uv = nk_vec2(0.5f,0.5f); - } - if (null) { - null->texture = texture; - null->uv.x = (atlas->custom.x + 0.5f)/(float)atlas->tex_width; - null->uv.y = (atlas->custom.y + 0.5f)/(float)atlas->tex_height; - } - for (font_iter = atlas->fonts; font_iter; font_iter = font_iter->next) { - font_iter->texture = texture; -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT - font_iter->handle.texture = texture; -#endif - } - for (i = 0; i < NK_CURSOR_COUNT; ++i) - atlas->cursors[i].img.handle = texture; - - atlas->temporary.free(atlas->temporary.userdata, atlas->pixel); - atlas->pixel = 0; - atlas->tex_width = 0; - atlas->tex_height = 0; - atlas->custom.x = 0; - atlas->custom.y = 0; - atlas->custom.w = 0; - atlas->custom.h = 0; -} -NK_API void -nk_font_atlas_cleanup(struct nk_font_atlas *atlas) -{ - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - if (!atlas || !atlas->permanent.alloc || !atlas->permanent.free) return; - if (atlas->config) { - struct nk_font_config *iter; - for (iter = atlas->config; iter; iter = iter->next) { - struct nk_font_config *i; - for (i = iter->n; i != iter; i = i->n) { - atlas->permanent.free(atlas->permanent.userdata, i->ttf_blob); - i->ttf_blob = 0; - } - atlas->permanent.free(atlas->permanent.userdata, iter->ttf_blob); - iter->ttf_blob = 0; - } - } -} -NK_API void -nk_font_atlas_clear(struct nk_font_atlas *atlas) -{ - NK_ASSERT(atlas); - NK_ASSERT(atlas->temporary.alloc); - NK_ASSERT(atlas->temporary.free); - NK_ASSERT(atlas->permanent.alloc); - NK_ASSERT(atlas->permanent.free); - if (!atlas || !atlas->permanent.alloc || !atlas->permanent.free) return; - - if (atlas->config) { - struct nk_font_config *iter, *next; - for (iter = atlas->config; iter; iter = next) { - struct nk_font_config *i, *n; - for (i = iter->n; i != iter; i = n) { - n = i->n; - if (i->ttf_blob) - atlas->permanent.free(atlas->permanent.userdata, i->ttf_blob); - atlas->permanent.free(atlas->permanent.userdata, i); - } - next = iter->next; - if (i->ttf_blob) - atlas->permanent.free(atlas->permanent.userdata, iter->ttf_blob); - atlas->permanent.free(atlas->permanent.userdata, iter); - } - atlas->config = 0; - } - if (atlas->fonts) { - struct nk_font *iter, *next; - for (iter = atlas->fonts; iter; iter = next) { - next = iter->next; - atlas->permanent.free(atlas->permanent.userdata, iter); - } - atlas->fonts = 0; - } - if (atlas->glyphs) - atlas->permanent.free(atlas->permanent.userdata, atlas->glyphs); - nk_zero_struct(*atlas); -} -#endif - - - - - -/* =============================================================== - * - * INPUT - * - * ===============================================================*/ -NK_API void -nk_input_begin(struct nk_context *ctx) -{ - int i; - struct nk_input *in; - NK_ASSERT(ctx); - if (!ctx) return; - in = &ctx->input; - for (i = 0; i < NK_BUTTON_MAX; ++i) - in->mouse.buttons[i].clicked = 0; - - in->keyboard.text_len = 0; - in->mouse.scroll_delta = nk_vec2(0,0); - in->mouse.prev.x = in->mouse.pos.x; - in->mouse.prev.y = in->mouse.pos.y; - in->mouse.delta.x = 0; - in->mouse.delta.y = 0; - for (i = 0; i < NK_KEY_MAX; i++) - in->keyboard.keys[i].clicked = 0; -} -NK_API void -nk_input_end(struct nk_context *ctx) -{ - struct nk_input *in; - NK_ASSERT(ctx); - if (!ctx) return; - in = &ctx->input; - if (in->mouse.grab) - in->mouse.grab = 0; - if (in->mouse.ungrab) { - in->mouse.grabbed = 0; - in->mouse.ungrab = 0; - in->mouse.grab = 0; - } -} -NK_API void -nk_input_motion(struct nk_context *ctx, int x, int y) -{ - struct nk_input *in; - NK_ASSERT(ctx); - if (!ctx) return; - in = &ctx->input; - in->mouse.pos.x = (float)x; - in->mouse.pos.y = (float)y; - in->mouse.delta.x = in->mouse.pos.x - in->mouse.prev.x; - in->mouse.delta.y = in->mouse.pos.y - in->mouse.prev.y; -} -NK_API void -nk_input_key(struct nk_context *ctx, enum nk_keys key, nk_bool down) -{ - struct nk_input *in; - NK_ASSERT(ctx); - if (!ctx) return; - in = &ctx->input; -#ifdef NK_KEYSTATE_BASED_INPUT - if (in->keyboard.keys[key].down != down) - in->keyboard.keys[key].clicked++; -#else - in->keyboard.keys[key].clicked++; -#endif - in->keyboard.keys[key].down = down; -} -NK_API void -nk_input_button(struct nk_context *ctx, enum nk_buttons id, int x, int y, nk_bool down) -{ - struct nk_mouse_button *btn; - struct nk_input *in; - NK_ASSERT(ctx); - if (!ctx) return; - in = &ctx->input; - if (in->mouse.buttons[id].down == down) return; - - btn = &in->mouse.buttons[id]; - btn->clicked_pos.x = (float)x; - btn->clicked_pos.y = (float)y; - btn->down = down; - btn->clicked++; -#ifdef NK_BUTTON_TRIGGER_ON_RELEASE - if (down == 1 && id == NK_BUTTON_LEFT) - { - in->mouse.down_pos.x = btn->clicked_pos.x; - in->mouse.down_pos.y = btn->clicked_pos.y; - } -#endif -} -NK_API void -nk_input_scroll(struct nk_context *ctx, struct nk_vec2 val) -{ - NK_ASSERT(ctx); - if (!ctx) return; - ctx->input.mouse.scroll_delta.x += val.x; - ctx->input.mouse.scroll_delta.y += val.y; -} -NK_API void -nk_input_glyph(struct nk_context *ctx, const nk_glyph glyph) -{ - int len = 0; - nk_rune unicode; - struct nk_input *in; - - NK_ASSERT(ctx); - if (!ctx) return; - in = &ctx->input; - - len = nk_utf_decode(glyph, &unicode, NK_UTF_SIZE); - if (len && ((in->keyboard.text_len + len) < NK_INPUT_MAX)) { - nk_utf_encode(unicode, &in->keyboard.text[in->keyboard.text_len], - NK_INPUT_MAX - in->keyboard.text_len); - in->keyboard.text_len += len; - } -} -NK_API void -nk_input_char(struct nk_context *ctx, char c) -{ - nk_glyph glyph; - NK_ASSERT(ctx); - if (!ctx) return; - glyph[0] = c; - nk_input_glyph(ctx, glyph); -} -NK_API void -nk_input_unicode(struct nk_context *ctx, nk_rune unicode) -{ - nk_glyph rune; - NK_ASSERT(ctx); - if (!ctx) return; - nk_utf_encode(unicode, rune, NK_UTF_SIZE); - nk_input_glyph(ctx, rune); -} -NK_API nk_bool -nk_input_has_mouse_click(const struct nk_input *i, enum nk_buttons id) -{ - const struct nk_mouse_button *btn; - if (!i) return nk_false; - btn = &i->mouse.buttons[id]; - return (btn->clicked && btn->down == nk_false) ? nk_true : nk_false; -} -NK_API nk_bool -nk_input_has_mouse_click_in_rect(const struct nk_input *i, enum nk_buttons id, - struct nk_rect b) -{ - const struct nk_mouse_button *btn; - if (!i) return nk_false; - btn = &i->mouse.buttons[id]; - if (!NK_INBOX(btn->clicked_pos.x,btn->clicked_pos.y,b.x,b.y,b.w,b.h)) - return nk_false; - return nk_true; -} -NK_API nk_bool -nk_input_has_mouse_click_in_button_rect(const struct nk_input *i, enum nk_buttons id, - struct nk_rect b) -{ - const struct nk_mouse_button *btn; - if (!i) return nk_false; - btn = &i->mouse.buttons[id]; -#ifdef NK_BUTTON_TRIGGER_ON_RELEASE - if (!NK_INBOX(btn->clicked_pos.x,btn->clicked_pos.y,b.x,b.y,b.w,b.h) - || !NK_INBOX(i->mouse.down_pos.x,i->mouse.down_pos.y,b.x,b.y,b.w,b.h)) -#else - if (!NK_INBOX(btn->clicked_pos.x,btn->clicked_pos.y,b.x,b.y,b.w,b.h)) -#endif - return nk_false; - return nk_true; -} -NK_API nk_bool -nk_input_has_mouse_click_down_in_rect(const struct nk_input *i, enum nk_buttons id, - struct nk_rect b, nk_bool down) -{ - const struct nk_mouse_button *btn; - if (!i) return nk_false; - btn = &i->mouse.buttons[id]; - return nk_input_has_mouse_click_in_rect(i, id, b) && (btn->down == down); -} -NK_API nk_bool -nk_input_is_mouse_click_in_rect(const struct nk_input *i, enum nk_buttons id, - struct nk_rect b) -{ - const struct nk_mouse_button *btn; - if (!i) return nk_false; - btn = &i->mouse.buttons[id]; - return (nk_input_has_mouse_click_down_in_rect(i, id, b, nk_false) && - btn->clicked) ? nk_true : nk_false; -} -NK_API nk_bool -nk_input_is_mouse_click_down_in_rect(const struct nk_input *i, enum nk_buttons id, - struct nk_rect b, nk_bool down) -{ - const struct nk_mouse_button *btn; - if (!i) return nk_false; - btn = &i->mouse.buttons[id]; - return (nk_input_has_mouse_click_down_in_rect(i, id, b, down) && - btn->clicked) ? nk_true : nk_false; -} -NK_API nk_bool -nk_input_any_mouse_click_in_rect(const struct nk_input *in, struct nk_rect b) -{ - int i, down = 0; - for (i = 0; i < NK_BUTTON_MAX; ++i) - down = down || nk_input_is_mouse_click_in_rect(in, (enum nk_buttons)i, b); - return down; -} -NK_API nk_bool -nk_input_is_mouse_hovering_rect(const struct nk_input *i, struct nk_rect rect) -{ - if (!i) return nk_false; - return NK_INBOX(i->mouse.pos.x, i->mouse.pos.y, rect.x, rect.y, rect.w, rect.h); -} -NK_API nk_bool -nk_input_is_mouse_prev_hovering_rect(const struct nk_input *i, struct nk_rect rect) -{ - if (!i) return nk_false; - return NK_INBOX(i->mouse.prev.x, i->mouse.prev.y, rect.x, rect.y, rect.w, rect.h); -} -NK_API nk_bool -nk_input_mouse_clicked(const struct nk_input *i, enum nk_buttons id, struct nk_rect rect) -{ - if (!i) return nk_false; - if (!nk_input_is_mouse_hovering_rect(i, rect)) return nk_false; - return nk_input_is_mouse_click_in_rect(i, id, rect); -} -NK_API nk_bool -nk_input_is_mouse_down(const struct nk_input *i, enum nk_buttons id) -{ - if (!i) return nk_false; - return i->mouse.buttons[id].down; -} -NK_API nk_bool -nk_input_is_mouse_pressed(const struct nk_input *i, enum nk_buttons id) -{ - const struct nk_mouse_button *b; - if (!i) return nk_false; - b = &i->mouse.buttons[id]; - if (b->down && b->clicked) - return nk_true; - return nk_false; -} -NK_API nk_bool -nk_input_is_mouse_released(const struct nk_input *i, enum nk_buttons id) -{ - if (!i) return nk_false; - return (!i->mouse.buttons[id].down && i->mouse.buttons[id].clicked); -} -NK_API nk_bool -nk_input_is_key_pressed(const struct nk_input *i, enum nk_keys key) -{ - const struct nk_key *k; - if (!i) return nk_false; - k = &i->keyboard.keys[key]; - if ((k->down && k->clicked) || (!k->down && k->clicked >= 2)) - return nk_true; - return nk_false; -} -NK_API nk_bool -nk_input_is_key_released(const struct nk_input *i, enum nk_keys key) -{ - const struct nk_key *k; - if (!i) return nk_false; - k = &i->keyboard.keys[key]; - if ((!k->down && k->clicked) || (k->down && k->clicked >= 2)) - return nk_true; - return nk_false; -} -NK_API nk_bool -nk_input_is_key_down(const struct nk_input *i, enum nk_keys key) -{ - const struct nk_key *k; - if (!i) return nk_false; - k = &i->keyboard.keys[key]; - if (k->down) return nk_true; - return nk_false; -} - - - - - -/* =============================================================== - * - * STYLE - * - * ===============================================================*/ -NK_API void nk_style_default(struct nk_context *ctx){nk_style_from_table(ctx, 0);} -#define NK_COLOR_MAP(NK_COLOR)\ - NK_COLOR(NK_COLOR_TEXT, 175,175,175,255) \ - NK_COLOR(NK_COLOR_WINDOW, 45, 45, 45, 255) \ - NK_COLOR(NK_COLOR_HEADER, 40, 40, 40, 255) \ - NK_COLOR(NK_COLOR_BORDER, 65, 65, 65, 255) \ - NK_COLOR(NK_COLOR_BUTTON, 50, 50, 50, 255) \ - NK_COLOR(NK_COLOR_BUTTON_HOVER, 40, 40, 40, 255) \ - NK_COLOR(NK_COLOR_BUTTON_ACTIVE, 35, 35, 35, 255) \ - NK_COLOR(NK_COLOR_TOGGLE, 100,100,100,255) \ - NK_COLOR(NK_COLOR_TOGGLE_HOVER, 120,120,120,255) \ - NK_COLOR(NK_COLOR_TOGGLE_CURSOR, 45, 45, 45, 255) \ - NK_COLOR(NK_COLOR_SELECT, 45, 45, 45, 255) \ - NK_COLOR(NK_COLOR_SELECT_ACTIVE, 35, 35, 35,255) \ - NK_COLOR(NK_COLOR_SLIDER, 38, 38, 38, 255) \ - NK_COLOR(NK_COLOR_SLIDER_CURSOR, 100,100,100,255) \ - NK_COLOR(NK_COLOR_SLIDER_CURSOR_HOVER, 120,120,120,255) \ - NK_COLOR(NK_COLOR_SLIDER_CURSOR_ACTIVE, 150,150,150,255) \ - NK_COLOR(NK_COLOR_PROPERTY, 38, 38, 38, 255) \ - NK_COLOR(NK_COLOR_EDIT, 38, 38, 38, 255) \ - NK_COLOR(NK_COLOR_EDIT_CURSOR, 175,175,175,255) \ - NK_COLOR(NK_COLOR_COMBO, 45, 45, 45, 255) \ - NK_COLOR(NK_COLOR_CHART, 120,120,120,255) \ - NK_COLOR(NK_COLOR_CHART_COLOR, 45, 45, 45, 255) \ - NK_COLOR(NK_COLOR_CHART_COLOR_HIGHLIGHT, 255, 0, 0, 255) \ - NK_COLOR(NK_COLOR_SCROLLBAR, 40, 40, 40, 255) \ - NK_COLOR(NK_COLOR_SCROLLBAR_CURSOR, 100,100,100,255) \ - NK_COLOR(NK_COLOR_SCROLLBAR_CURSOR_HOVER, 120,120,120,255) \ - NK_COLOR(NK_COLOR_SCROLLBAR_CURSOR_ACTIVE, 150,150,150,255) \ - NK_COLOR(NK_COLOR_TAB_HEADER, 40, 40, 40,255) - -NK_GLOBAL const struct nk_color -nk_default_color_style[NK_COLOR_COUNT] = { -#define NK_COLOR(a,b,c,d,e) {b,c,d,e}, - NK_COLOR_MAP(NK_COLOR) -#undef NK_COLOR -}; -NK_GLOBAL const char *nk_color_names[NK_COLOR_COUNT] = { -#define NK_COLOR(a,b,c,d,e) #a, - NK_COLOR_MAP(NK_COLOR) -#undef NK_COLOR -}; - -NK_API const char* -nk_style_get_color_by_name(enum nk_style_colors c) -{ - return nk_color_names[c]; -} -NK_API struct nk_style_item -nk_style_item_color(struct nk_color col) -{ - struct nk_style_item i; - i.type = NK_STYLE_ITEM_COLOR; - i.data.color = col; - return i; -} -NK_API struct nk_style_item -nk_style_item_image(struct nk_image img) -{ - struct nk_style_item i; - i.type = NK_STYLE_ITEM_IMAGE; - i.data.image = img; - return i; -} -NK_API struct nk_style_item -nk_style_item_nine_slice(struct nk_nine_slice slice) -{ - struct nk_style_item i; - i.type = NK_STYLE_ITEM_NINE_SLICE; - i.data.slice = slice; - return i; -} -NK_API struct nk_style_item -nk_style_item_hide(void) -{ - struct nk_style_item i; - i.type = NK_STYLE_ITEM_COLOR; - i.data.color = nk_rgba(0,0,0,0); - return i; -} -NK_API void -nk_style_from_table(struct nk_context *ctx, const struct nk_color *table) -{ - struct nk_style *style; - struct nk_style_text *text; - struct nk_style_button *button; - struct nk_style_toggle *toggle; - struct nk_style_selectable *select; - struct nk_style_slider *slider; - struct nk_style_progress *prog; - struct nk_style_scrollbar *scroll; - struct nk_style_edit *edit; - struct nk_style_property *property; - struct nk_style_combo *combo; - struct nk_style_chart *chart; - struct nk_style_tab *tab; - struct nk_style_window *win; - - NK_ASSERT(ctx); - if (!ctx) return; - style = &ctx->style; - table = (!table) ? nk_default_color_style: table; - - /* default text */ - text = &style->text; - text->color = table[NK_COLOR_TEXT]; - text->padding = nk_vec2(0,0); - - /* default button */ - button = &style->button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_BUTTON]); - button->hover = nk_style_item_color(table[NK_COLOR_BUTTON_HOVER]); - button->active = nk_style_item_color(table[NK_COLOR_BUTTON_ACTIVE]); - button->border_color = table[NK_COLOR_BORDER]; - button->text_background = table[NK_COLOR_BUTTON]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(2.0f,2.0f); - button->image_padding = nk_vec2(0.0f,0.0f); - button->touch_padding = nk_vec2(0.0f, 0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 1.0f; - button->rounding = 4.0f; - button->draw_begin = 0; - button->draw_end = 0; - - /* contextual button */ - button = &style->contextual_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->hover = nk_style_item_color(table[NK_COLOR_BUTTON_HOVER]); - button->active = nk_style_item_color(table[NK_COLOR_BUTTON_ACTIVE]); - button->border_color = table[NK_COLOR_WINDOW]; - button->text_background = table[NK_COLOR_WINDOW]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(2.0f,2.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - - /* menu button */ - button = &style->menu_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->hover = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->active = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->border_color = table[NK_COLOR_WINDOW]; - button->text_background = table[NK_COLOR_WINDOW]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(2.0f,2.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 1.0f; - button->draw_begin = 0; - button->draw_end = 0; - - /* checkbox toggle */ - toggle = &style->checkbox; - nk_zero_struct(*toggle); - toggle->normal = nk_style_item_color(table[NK_COLOR_TOGGLE]); - toggle->hover = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); - toggle->active = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); - toggle->cursor_normal = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); - toggle->cursor_hover = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); - toggle->userdata = nk_handle_ptr(0); - toggle->text_background = table[NK_COLOR_WINDOW]; - toggle->text_normal = table[NK_COLOR_TEXT]; - toggle->text_hover = table[NK_COLOR_TEXT]; - toggle->text_active = table[NK_COLOR_TEXT]; - toggle->padding = nk_vec2(2.0f, 2.0f); - toggle->touch_padding = nk_vec2(0,0); - toggle->border_color = nk_rgba(0,0,0,0); - toggle->border = 0.0f; - toggle->spacing = 4; - - /* option toggle */ - toggle = &style->option; - nk_zero_struct(*toggle); - toggle->normal = nk_style_item_color(table[NK_COLOR_TOGGLE]); - toggle->hover = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); - toggle->active = nk_style_item_color(table[NK_COLOR_TOGGLE_HOVER]); - toggle->cursor_normal = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); - toggle->cursor_hover = nk_style_item_color(table[NK_COLOR_TOGGLE_CURSOR]); - toggle->userdata = nk_handle_ptr(0); - toggle->text_background = table[NK_COLOR_WINDOW]; - toggle->text_normal = table[NK_COLOR_TEXT]; - toggle->text_hover = table[NK_COLOR_TEXT]; - toggle->text_active = table[NK_COLOR_TEXT]; - toggle->padding = nk_vec2(3.0f, 3.0f); - toggle->touch_padding = nk_vec2(0,0); - toggle->border_color = nk_rgba(0,0,0,0); - toggle->border = 0.0f; - toggle->spacing = 4; - - /* selectable */ - select = &style->selectable; - nk_zero_struct(*select); - select->normal = nk_style_item_color(table[NK_COLOR_SELECT]); - select->hover = nk_style_item_color(table[NK_COLOR_SELECT]); - select->pressed = nk_style_item_color(table[NK_COLOR_SELECT]); - select->normal_active = nk_style_item_color(table[NK_COLOR_SELECT_ACTIVE]); - select->hover_active = nk_style_item_color(table[NK_COLOR_SELECT_ACTIVE]); - select->pressed_active = nk_style_item_color(table[NK_COLOR_SELECT_ACTIVE]); - select->text_normal = table[NK_COLOR_TEXT]; - select->text_hover = table[NK_COLOR_TEXT]; - select->text_pressed = table[NK_COLOR_TEXT]; - select->text_normal_active = table[NK_COLOR_TEXT]; - select->text_hover_active = table[NK_COLOR_TEXT]; - select->text_pressed_active = table[NK_COLOR_TEXT]; - select->padding = nk_vec2(2.0f,2.0f); - select->image_padding = nk_vec2(2.0f,2.0f); - select->touch_padding = nk_vec2(0,0); - select->userdata = nk_handle_ptr(0); - select->rounding = 0.0f; - select->draw_begin = 0; - select->draw_end = 0; - - /* slider */ - slider = &style->slider; - nk_zero_struct(*slider); - slider->normal = nk_style_item_hide(); - slider->hover = nk_style_item_hide(); - slider->active = nk_style_item_hide(); - slider->bar_normal = table[NK_COLOR_SLIDER]; - slider->bar_hover = table[NK_COLOR_SLIDER]; - slider->bar_active = table[NK_COLOR_SLIDER]; - slider->bar_filled = table[NK_COLOR_SLIDER_CURSOR]; - slider->cursor_normal = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR]); - slider->cursor_hover = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_HOVER]); - slider->cursor_active = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_ACTIVE]); - slider->inc_symbol = NK_SYMBOL_TRIANGLE_RIGHT; - slider->dec_symbol = NK_SYMBOL_TRIANGLE_LEFT; - slider->cursor_size = nk_vec2(16,16); - slider->padding = nk_vec2(2,2); - slider->spacing = nk_vec2(2,2); - slider->userdata = nk_handle_ptr(0); - slider->show_buttons = nk_false; - slider->bar_height = 8; - slider->rounding = 0; - slider->draw_begin = 0; - slider->draw_end = 0; - - /* slider buttons */ - button = &style->slider.inc_button; - button->normal = nk_style_item_color(nk_rgb(40,40,40)); - button->hover = nk_style_item_color(nk_rgb(42,42,42)); - button->active = nk_style_item_color(nk_rgb(44,44,44)); - button->border_color = nk_rgb(65,65,65); - button->text_background = nk_rgb(40,40,40); - button->text_normal = nk_rgb(175,175,175); - button->text_hover = nk_rgb(175,175,175); - button->text_active = nk_rgb(175,175,175); - button->padding = nk_vec2(8.0f,8.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 1.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - style->slider.dec_button = style->slider.inc_button; - - /* progressbar */ - prog = &style->progress; - nk_zero_struct(*prog); - prog->normal = nk_style_item_color(table[NK_COLOR_SLIDER]); - prog->hover = nk_style_item_color(table[NK_COLOR_SLIDER]); - prog->active = nk_style_item_color(table[NK_COLOR_SLIDER]); - prog->cursor_normal = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR]); - prog->cursor_hover = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_HOVER]); - prog->cursor_active = nk_style_item_color(table[NK_COLOR_SLIDER_CURSOR_ACTIVE]); - prog->border_color = nk_rgba(0,0,0,0); - prog->cursor_border_color = nk_rgba(0,0,0,0); - prog->userdata = nk_handle_ptr(0); - prog->padding = nk_vec2(4,4); - prog->rounding = 0; - prog->border = 0; - prog->cursor_rounding = 0; - prog->cursor_border = 0; - prog->draw_begin = 0; - prog->draw_end = 0; - - /* scrollbars */ - scroll = &style->scrollh; - nk_zero_struct(*scroll); - scroll->normal = nk_style_item_color(table[NK_COLOR_SCROLLBAR]); - scroll->hover = nk_style_item_color(table[NK_COLOR_SCROLLBAR]); - scroll->active = nk_style_item_color(table[NK_COLOR_SCROLLBAR]); - scroll->cursor_normal = nk_style_item_color(table[NK_COLOR_SCROLLBAR_CURSOR]); - scroll->cursor_hover = nk_style_item_color(table[NK_COLOR_SCROLLBAR_CURSOR_HOVER]); - scroll->cursor_active = nk_style_item_color(table[NK_COLOR_SCROLLBAR_CURSOR_ACTIVE]); - scroll->dec_symbol = NK_SYMBOL_CIRCLE_SOLID; - scroll->inc_symbol = NK_SYMBOL_CIRCLE_SOLID; - scroll->userdata = nk_handle_ptr(0); - scroll->border_color = table[NK_COLOR_SCROLLBAR]; - scroll->cursor_border_color = table[NK_COLOR_SCROLLBAR]; - scroll->padding = nk_vec2(0,0); - scroll->show_buttons = nk_false; - scroll->border = 0; - scroll->rounding = 0; - scroll->border_cursor = 0; - scroll->rounding_cursor = 0; - scroll->draw_begin = 0; - scroll->draw_end = 0; - style->scrollv = style->scrollh; - - /* scrollbars buttons */ - button = &style->scrollh.inc_button; - button->normal = nk_style_item_color(nk_rgb(40,40,40)); - button->hover = nk_style_item_color(nk_rgb(42,42,42)); - button->active = nk_style_item_color(nk_rgb(44,44,44)); - button->border_color = nk_rgb(65,65,65); - button->text_background = nk_rgb(40,40,40); - button->text_normal = nk_rgb(175,175,175); - button->text_hover = nk_rgb(175,175,175); - button->text_active = nk_rgb(175,175,175); - button->padding = nk_vec2(4.0f,4.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 1.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - style->scrollh.dec_button = style->scrollh.inc_button; - style->scrollv.inc_button = style->scrollh.inc_button; - style->scrollv.dec_button = style->scrollh.inc_button; - - /* edit */ - edit = &style->edit; - nk_zero_struct(*edit); - edit->normal = nk_style_item_color(table[NK_COLOR_EDIT]); - edit->hover = nk_style_item_color(table[NK_COLOR_EDIT]); - edit->active = nk_style_item_color(table[NK_COLOR_EDIT]); - edit->cursor_normal = table[NK_COLOR_TEXT]; - edit->cursor_hover = table[NK_COLOR_TEXT]; - edit->cursor_text_normal= table[NK_COLOR_EDIT]; - edit->cursor_text_hover = table[NK_COLOR_EDIT]; - edit->border_color = table[NK_COLOR_BORDER]; - edit->text_normal = table[NK_COLOR_TEXT]; - edit->text_hover = table[NK_COLOR_TEXT]; - edit->text_active = table[NK_COLOR_TEXT]; - edit->selected_normal = table[NK_COLOR_TEXT]; - edit->selected_hover = table[NK_COLOR_TEXT]; - edit->selected_text_normal = table[NK_COLOR_EDIT]; - edit->selected_text_hover = table[NK_COLOR_EDIT]; - edit->scrollbar_size = nk_vec2(10,10); - edit->scrollbar = style->scrollv; - edit->padding = nk_vec2(4,4); - edit->row_padding = 2; - edit->cursor_size = 4; - edit->border = 1; - edit->rounding = 0; - - /* property */ - property = &style->property; - nk_zero_struct(*property); - property->normal = nk_style_item_color(table[NK_COLOR_PROPERTY]); - property->hover = nk_style_item_color(table[NK_COLOR_PROPERTY]); - property->active = nk_style_item_color(table[NK_COLOR_PROPERTY]); - property->border_color = table[NK_COLOR_BORDER]; - property->label_normal = table[NK_COLOR_TEXT]; - property->label_hover = table[NK_COLOR_TEXT]; - property->label_active = table[NK_COLOR_TEXT]; - property->sym_left = NK_SYMBOL_TRIANGLE_LEFT; - property->sym_right = NK_SYMBOL_TRIANGLE_RIGHT; - property->userdata = nk_handle_ptr(0); - property->padding = nk_vec2(4,4); - property->border = 1; - property->rounding = 10; - property->draw_begin = 0; - property->draw_end = 0; - - /* property buttons */ - button = &style->property.dec_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_PROPERTY]); - button->hover = nk_style_item_color(table[NK_COLOR_PROPERTY]); - button->active = nk_style_item_color(table[NK_COLOR_PROPERTY]); - button->border_color = nk_rgba(0,0,0,0); - button->text_background = table[NK_COLOR_PROPERTY]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(0.0f,0.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - style->property.inc_button = style->property.dec_button; - - /* property edit */ - edit = &style->property.edit; - nk_zero_struct(*edit); - edit->normal = nk_style_item_color(table[NK_COLOR_PROPERTY]); - edit->hover = nk_style_item_color(table[NK_COLOR_PROPERTY]); - edit->active = nk_style_item_color(table[NK_COLOR_PROPERTY]); - edit->border_color = nk_rgba(0,0,0,0); - edit->cursor_normal = table[NK_COLOR_TEXT]; - edit->cursor_hover = table[NK_COLOR_TEXT]; - edit->cursor_text_normal= table[NK_COLOR_EDIT]; - edit->cursor_text_hover = table[NK_COLOR_EDIT]; - edit->text_normal = table[NK_COLOR_TEXT]; - edit->text_hover = table[NK_COLOR_TEXT]; - edit->text_active = table[NK_COLOR_TEXT]; - edit->selected_normal = table[NK_COLOR_TEXT]; - edit->selected_hover = table[NK_COLOR_TEXT]; - edit->selected_text_normal = table[NK_COLOR_EDIT]; - edit->selected_text_hover = table[NK_COLOR_EDIT]; - edit->padding = nk_vec2(0,0); - edit->cursor_size = 8; - edit->border = 0; - edit->rounding = 0; - - /* chart */ - chart = &style->chart; - nk_zero_struct(*chart); - chart->background = nk_style_item_color(table[NK_COLOR_CHART]); - chart->border_color = table[NK_COLOR_BORDER]; - chart->selected_color = table[NK_COLOR_CHART_COLOR_HIGHLIGHT]; - chart->color = table[NK_COLOR_CHART_COLOR]; - chart->padding = nk_vec2(4,4); - chart->border = 0; - chart->rounding = 0; - - /* combo */ - combo = &style->combo; - combo->normal = nk_style_item_color(table[NK_COLOR_COMBO]); - combo->hover = nk_style_item_color(table[NK_COLOR_COMBO]); - combo->active = nk_style_item_color(table[NK_COLOR_COMBO]); - combo->border_color = table[NK_COLOR_BORDER]; - combo->label_normal = table[NK_COLOR_TEXT]; - combo->label_hover = table[NK_COLOR_TEXT]; - combo->label_active = table[NK_COLOR_TEXT]; - combo->sym_normal = NK_SYMBOL_TRIANGLE_DOWN; - combo->sym_hover = NK_SYMBOL_TRIANGLE_DOWN; - combo->sym_active = NK_SYMBOL_TRIANGLE_DOWN; - combo->content_padding = nk_vec2(4,4); - combo->button_padding = nk_vec2(0,4); - combo->spacing = nk_vec2(4,0); - combo->border = 1; - combo->rounding = 0; - - /* combo button */ - button = &style->combo.button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_COMBO]); - button->hover = nk_style_item_color(table[NK_COLOR_COMBO]); - button->active = nk_style_item_color(table[NK_COLOR_COMBO]); - button->border_color = nk_rgba(0,0,0,0); - button->text_background = table[NK_COLOR_COMBO]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(2.0f,2.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - - /* tab */ - tab = &style->tab; - tab->background = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); - tab->border_color = table[NK_COLOR_BORDER]; - tab->text = table[NK_COLOR_TEXT]; - tab->sym_minimize = NK_SYMBOL_TRIANGLE_RIGHT; - tab->sym_maximize = NK_SYMBOL_TRIANGLE_DOWN; - tab->padding = nk_vec2(4,4); - tab->spacing = nk_vec2(4,4); - tab->indent = 10.0f; - tab->border = 1; - tab->rounding = 0; - - /* tab button */ - button = &style->tab.tab_minimize_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); - button->hover = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); - button->active = nk_style_item_color(table[NK_COLOR_TAB_HEADER]); - button->border_color = nk_rgba(0,0,0,0); - button->text_background = table[NK_COLOR_TAB_HEADER]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(2.0f,2.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - style->tab.tab_maximize_button =*button; - - /* node button */ - button = &style->tab.node_minimize_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->hover = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->active = nk_style_item_color(table[NK_COLOR_WINDOW]); - button->border_color = nk_rgba(0,0,0,0); - button->text_background = table[NK_COLOR_TAB_HEADER]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(2.0f,2.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - style->tab.node_maximize_button =*button; - - /* window header */ - win = &style->window; - win->header.align = NK_HEADER_RIGHT; - win->header.close_symbol = NK_SYMBOL_X; - win->header.minimize_symbol = NK_SYMBOL_MINUS; - win->header.maximize_symbol = NK_SYMBOL_PLUS; - win->header.normal = nk_style_item_color(table[NK_COLOR_HEADER]); - win->header.hover = nk_style_item_color(table[NK_COLOR_HEADER]); - win->header.active = nk_style_item_color(table[NK_COLOR_HEADER]); - win->header.label_normal = table[NK_COLOR_TEXT]; - win->header.label_hover = table[NK_COLOR_TEXT]; - win->header.label_active = table[NK_COLOR_TEXT]; - win->header.label_padding = nk_vec2(4,4); - win->header.padding = nk_vec2(4,4); - win->header.spacing = nk_vec2(0,0); - - /* window header close button */ - button = &style->window.header.close_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_HEADER]); - button->hover = nk_style_item_color(table[NK_COLOR_HEADER]); - button->active = nk_style_item_color(table[NK_COLOR_HEADER]); - button->border_color = nk_rgba(0,0,0,0); - button->text_background = table[NK_COLOR_HEADER]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(0.0f,0.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - - /* window header minimize button */ - button = &style->window.header.minimize_button; - nk_zero_struct(*button); - button->normal = nk_style_item_color(table[NK_COLOR_HEADER]); - button->hover = nk_style_item_color(table[NK_COLOR_HEADER]); - button->active = nk_style_item_color(table[NK_COLOR_HEADER]); - button->border_color = nk_rgba(0,0,0,0); - button->text_background = table[NK_COLOR_HEADER]; - button->text_normal = table[NK_COLOR_TEXT]; - button->text_hover = table[NK_COLOR_TEXT]; - button->text_active = table[NK_COLOR_TEXT]; - button->padding = nk_vec2(0.0f,0.0f); - button->touch_padding = nk_vec2(0.0f,0.0f); - button->userdata = nk_handle_ptr(0); - button->text_alignment = NK_TEXT_CENTERED; - button->border = 0.0f; - button->rounding = 0.0f; - button->draw_begin = 0; - button->draw_end = 0; - - /* window */ - win->background = table[NK_COLOR_WINDOW]; - win->fixed_background = nk_style_item_color(table[NK_COLOR_WINDOW]); - win->border_color = table[NK_COLOR_BORDER]; - win->popup_border_color = table[NK_COLOR_BORDER]; - win->combo_border_color = table[NK_COLOR_BORDER]; - win->contextual_border_color = table[NK_COLOR_BORDER]; - win->menu_border_color = table[NK_COLOR_BORDER]; - win->group_border_color = table[NK_COLOR_BORDER]; - win->tooltip_border_color = table[NK_COLOR_BORDER]; - win->scaler = nk_style_item_color(table[NK_COLOR_TEXT]); - - win->rounding = 0.0f; - win->spacing = nk_vec2(4,4); - win->scrollbar_size = nk_vec2(10,10); - win->min_size = nk_vec2(64,64); - - win->combo_border = 1.0f; - win->contextual_border = 1.0f; - win->menu_border = 1.0f; - win->group_border = 1.0f; - win->tooltip_border = 1.0f; - win->popup_border = 1.0f; - win->border = 2.0f; - win->min_row_height_padding = 8; - - win->padding = nk_vec2(4,4); - win->group_padding = nk_vec2(4,4); - win->popup_padding = nk_vec2(4,4); - win->combo_padding = nk_vec2(4,4); - win->contextual_padding = nk_vec2(4,4); - win->menu_padding = nk_vec2(4,4); - win->tooltip_padding = nk_vec2(4,4); -} -NK_API void -nk_style_set_font(struct nk_context *ctx, const struct nk_user_font *font) -{ - struct nk_style *style; - NK_ASSERT(ctx); - - if (!ctx) return; - style = &ctx->style; - style->font = font; - ctx->stacks.fonts.head = 0; - if (ctx->current) - nk_layout_reset_min_row_height(ctx); -} -NK_API nk_bool -nk_style_push_font(struct nk_context *ctx, const struct nk_user_font *font) -{ - struct nk_config_stack_user_font *font_stack; - struct nk_config_stack_user_font_element *element; - - NK_ASSERT(ctx); - if (!ctx) return 0; - - font_stack = &ctx->stacks.fonts; - NK_ASSERT(font_stack->head < (int)NK_LEN(font_stack->elements)); - if (font_stack->head >= (int)NK_LEN(font_stack->elements)) - return 0; - - element = &font_stack->elements[font_stack->head++]; - element->address = &ctx->style.font; - element->old_value = ctx->style.font; - ctx->style.font = font; - return 1; -} -NK_API nk_bool -nk_style_pop_font(struct nk_context *ctx) -{ - struct nk_config_stack_user_font *font_stack; - struct nk_config_stack_user_font_element *element; - - NK_ASSERT(ctx); - if (!ctx) return 0; - - font_stack = &ctx->stacks.fonts; - NK_ASSERT(font_stack->head > 0); - if (font_stack->head < 1) - return 0; - - element = &font_stack->elements[--font_stack->head]; - *element->address = element->old_value; - return 1; -} -#define NK_STYLE_PUSH_IMPLEMENATION(prefix, type, stack) \ -nk_style_push_##type(struct nk_context *ctx, prefix##_##type *address, prefix##_##type value)\ -{\ - struct nk_config_stack_##type * type_stack;\ - struct nk_config_stack_##type##_element *element;\ - NK_ASSERT(ctx);\ - if (!ctx) return 0;\ - type_stack = &ctx->stacks.stack;\ - NK_ASSERT(type_stack->head < (int)NK_LEN(type_stack->elements));\ - if (type_stack->head >= (int)NK_LEN(type_stack->elements))\ - return 0;\ - element = &type_stack->elements[type_stack->head++];\ - element->address = address;\ - element->old_value = *address;\ - *address = value;\ - return 1;\ -} -#define NK_STYLE_POP_IMPLEMENATION(type, stack) \ -nk_style_pop_##type(struct nk_context *ctx)\ -{\ - struct nk_config_stack_##type *type_stack;\ - struct nk_config_stack_##type##_element *element;\ - NK_ASSERT(ctx);\ - if (!ctx) return 0;\ - type_stack = &ctx->stacks.stack;\ - NK_ASSERT(type_stack->head > 0);\ - if (type_stack->head < 1)\ - return 0;\ - element = &type_stack->elements[--type_stack->head];\ - *element->address = element->old_value;\ - return 1;\ -} -NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(struct nk, style_item, style_items) -NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(nk,float, floats) -NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(struct nk, vec2, vectors) -NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(nk,flags, flags) -NK_API nk_bool NK_STYLE_PUSH_IMPLEMENATION(struct nk,color, colors) - -NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(style_item, style_items) -NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(float,floats) -NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(vec2, vectors) -NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(flags,flags) -NK_API nk_bool NK_STYLE_POP_IMPLEMENATION(color,colors) - -NK_API nk_bool -nk_style_set_cursor(struct nk_context *ctx, enum nk_style_cursor c) -{ - struct nk_style *style; - NK_ASSERT(ctx); - if (!ctx) return 0; - style = &ctx->style; - if (style->cursors[c]) { - style->cursor_active = style->cursors[c]; - return 1; - } - return 0; -} -NK_API void -nk_style_show_cursor(struct nk_context *ctx) -{ - ctx->style.cursor_visible = nk_true; -} -NK_API void -nk_style_hide_cursor(struct nk_context *ctx) -{ - ctx->style.cursor_visible = nk_false; -} -NK_API void -nk_style_load_cursor(struct nk_context *ctx, enum nk_style_cursor cursor, - const struct nk_cursor *c) -{ - struct nk_style *style; - NK_ASSERT(ctx); - if (!ctx) return; - style = &ctx->style; - style->cursors[cursor] = c; -} -NK_API void -nk_style_load_all_cursors(struct nk_context *ctx, struct nk_cursor *cursors) -{ - int i = 0; - struct nk_style *style; - NK_ASSERT(ctx); - if (!ctx) return; - style = &ctx->style; - for (i = 0; i < NK_CURSOR_COUNT; ++i) - style->cursors[i] = &cursors[i]; - style->cursor_visible = nk_true; -} - - - - - -/* ============================================================== - * - * CONTEXT - * - * ===============================================================*/ -NK_INTERN void -nk_setup(struct nk_context *ctx, const struct nk_user_font *font) -{ - NK_ASSERT(ctx); - if (!ctx) return; - nk_zero_struct(*ctx); - nk_style_default(ctx); - ctx->seq = 1; - if (font) ctx->style.font = font; -#ifdef NK_INCLUDE_VERTEX_BUFFER_OUTPUT - nk_draw_list_init(&ctx->draw_list); -#endif -} -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API nk_bool -nk_init_default(struct nk_context *ctx, const struct nk_user_font *font) -{ - struct nk_allocator alloc; - alloc.userdata.ptr = 0; - alloc.alloc = nk_malloc; - alloc.free = nk_mfree; - return nk_init(ctx, &alloc, font); -} -#endif -NK_API nk_bool -nk_init_fixed(struct nk_context *ctx, void *memory, nk_size size, - const struct nk_user_font *font) -{ - NK_ASSERT(memory); - if (!memory) return 0; - nk_setup(ctx, font); - nk_buffer_init_fixed(&ctx->memory, memory, size); - ctx->use_pool = nk_false; - return 1; -} -NK_API nk_bool -nk_init_custom(struct nk_context *ctx, struct nk_buffer *cmds, - struct nk_buffer *pool, const struct nk_user_font *font) -{ - NK_ASSERT(cmds); - NK_ASSERT(pool); - if (!cmds || !pool) return 0; - - nk_setup(ctx, font); - ctx->memory = *cmds; - if (pool->type == NK_BUFFER_FIXED) { - /* take memory from buffer and alloc fixed pool */ - nk_pool_init_fixed(&ctx->pool, pool->memory.ptr, pool->memory.size); - } else { - /* create dynamic pool from buffer allocator */ - struct nk_allocator *alloc = &pool->pool; - nk_pool_init(&ctx->pool, alloc, NK_POOL_DEFAULT_CAPACITY); - } - ctx->use_pool = nk_true; - return 1; -} -NK_API nk_bool -nk_init(struct nk_context *ctx, struct nk_allocator *alloc, - const struct nk_user_font *font) -{ - NK_ASSERT(alloc); - if (!alloc) return 0; - nk_setup(ctx, font); - nk_buffer_init(&ctx->memory, alloc, NK_DEFAULT_COMMAND_BUFFER_SIZE); - nk_pool_init(&ctx->pool, alloc, NK_POOL_DEFAULT_CAPACITY); - ctx->use_pool = nk_true; - return 1; -} -#ifdef NK_INCLUDE_COMMAND_USERDATA -NK_API void -nk_set_user_data(struct nk_context *ctx, nk_handle handle) -{ - if (!ctx) return; - ctx->userdata = handle; - if (ctx->current) - ctx->current->buffer.userdata = handle; -} -#endif -NK_API void -nk_free(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - if (!ctx) return; - nk_buffer_free(&ctx->memory); - if (ctx->use_pool) - nk_pool_free(&ctx->pool); - - nk_zero(&ctx->input, sizeof(ctx->input)); - nk_zero(&ctx->style, sizeof(ctx->style)); - nk_zero(&ctx->memory, sizeof(ctx->memory)); - - ctx->seq = 0; - ctx->build = 0; - ctx->begin = 0; - ctx->end = 0; - ctx->active = 0; - ctx->current = 0; - ctx->freelist = 0; - ctx->count = 0; -} -NK_API void -nk_clear(struct nk_context *ctx) -{ - struct nk_window *iter; - struct nk_window *next; - NK_ASSERT(ctx); - - if (!ctx) return; - if (ctx->use_pool) - nk_buffer_clear(&ctx->memory); - else nk_buffer_reset(&ctx->memory, NK_BUFFER_FRONT); - - ctx->build = 0; - ctx->memory.calls = 0; - ctx->last_widget_state = 0; - ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_ARROW]; - NK_MEMSET(&ctx->overlay, 0, sizeof(ctx->overlay)); - - /* garbage collector */ - iter = ctx->begin; - while (iter) { - /* make sure valid minimized windows do not get removed */ - if ((iter->flags & NK_WINDOW_MINIMIZED) && - !(iter->flags & NK_WINDOW_CLOSED) && - iter->seq == ctx->seq) { - iter = iter->next; - continue; - } - /* remove hotness from hidden or closed windows*/ - if (((iter->flags & NK_WINDOW_HIDDEN) || - (iter->flags & NK_WINDOW_CLOSED)) && - iter == ctx->active) { - ctx->active = iter->prev; - ctx->end = iter->prev; - if (!ctx->end) - ctx->begin = 0; - if (ctx->active) - ctx->active->flags &= ~(unsigned)NK_WINDOW_ROM; - } - /* free unused popup windows */ - if (iter->popup.win && iter->popup.win->seq != ctx->seq) { - nk_free_window(ctx, iter->popup.win); - iter->popup.win = 0; - } - /* remove unused window state tables */ - {struct nk_table *n, *it = iter->tables; - while (it) { - n = it->next; - if (it->seq != ctx->seq) { - nk_remove_table(iter, it); - nk_zero(it, sizeof(union nk_page_data)); - nk_free_table(ctx, it); - if (it == iter->tables) - iter->tables = n; - } it = n; - }} - /* window itself is not used anymore so free */ - if (iter->seq != ctx->seq || iter->flags & NK_WINDOW_CLOSED) { - next = iter->next; - nk_remove_window(ctx, iter); - nk_free_window(ctx, iter); - iter = next; - } else iter = iter->next; - } - ctx->seq++; -} -NK_LIB void -nk_start_buffer(struct nk_context *ctx, struct nk_command_buffer *buffer) -{ - NK_ASSERT(ctx); - NK_ASSERT(buffer); - if (!ctx || !buffer) return; - buffer->begin = ctx->memory.allocated; - buffer->end = buffer->begin; - buffer->last = buffer->begin; - buffer->clip = nk_null_rect; -} -NK_LIB void -nk_start(struct nk_context *ctx, struct nk_window *win) -{ - NK_ASSERT(ctx); - NK_ASSERT(win); - nk_start_buffer(ctx, &win->buffer); -} -NK_LIB void -nk_start_popup(struct nk_context *ctx, struct nk_window *win) -{ - struct nk_popup_buffer *buf; - NK_ASSERT(ctx); - NK_ASSERT(win); - if (!ctx || !win) return; - - /* save buffer fill state for popup */ - buf = &win->popup.buf; - buf->begin = win->buffer.end; - buf->end = win->buffer.end; - buf->parent = win->buffer.last; - buf->last = buf->begin; - buf->active = nk_true; -} -NK_LIB void -nk_finish_popup(struct nk_context *ctx, struct nk_window *win) -{ - struct nk_popup_buffer *buf; - NK_ASSERT(ctx); - NK_ASSERT(win); - if (!ctx || !win) return; - - buf = &win->popup.buf; - buf->last = win->buffer.last; - buf->end = win->buffer.end; -} -NK_LIB void -nk_finish_buffer(struct nk_context *ctx, struct nk_command_buffer *buffer) -{ - NK_ASSERT(ctx); - NK_ASSERT(buffer); - if (!ctx || !buffer) return; - buffer->end = ctx->memory.allocated; -} -NK_LIB void -nk_finish(struct nk_context *ctx, struct nk_window *win) -{ - struct nk_popup_buffer *buf; - struct nk_command *parent_last; - void *memory; - - NK_ASSERT(ctx); - NK_ASSERT(win); - if (!ctx || !win) return; - nk_finish_buffer(ctx, &win->buffer); - if (!win->popup.buf.active) return; - - buf = &win->popup.buf; - memory = ctx->memory.memory.ptr; - parent_last = nk_ptr_add(struct nk_command, memory, buf->parent); - parent_last->next = buf->end; -} -NK_LIB void -nk_build(struct nk_context *ctx) -{ - struct nk_window *it = 0; - struct nk_command *cmd = 0; - nk_byte *buffer = 0; - - /* draw cursor overlay */ - if (!ctx->style.cursor_active) - ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_ARROW]; - if (ctx->style.cursor_active && !ctx->input.mouse.grabbed && ctx->style.cursor_visible) { - struct nk_rect mouse_bounds; - const struct nk_cursor *cursor = ctx->style.cursor_active; - nk_command_buffer_init(&ctx->overlay, &ctx->memory, NK_CLIPPING_OFF); - nk_start_buffer(ctx, &ctx->overlay); - - mouse_bounds.x = ctx->input.mouse.pos.x - cursor->offset.x; - mouse_bounds.y = ctx->input.mouse.pos.y - cursor->offset.y; - mouse_bounds.w = cursor->size.x; - mouse_bounds.h = cursor->size.y; - - nk_draw_image(&ctx->overlay, mouse_bounds, &cursor->img, nk_white); - nk_finish_buffer(ctx, &ctx->overlay); - } - /* build one big draw command list out of all window buffers */ - it = ctx->begin; - buffer = (nk_byte*)ctx->memory.memory.ptr; - while (it != 0) { - struct nk_window *next = it->next; - if (it->buffer.last == it->buffer.begin || (it->flags & NK_WINDOW_HIDDEN)|| - it->seq != ctx->seq) - goto cont; - - cmd = nk_ptr_add(struct nk_command, buffer, it->buffer.last); - while (next && ((next->buffer.last == next->buffer.begin) || - (next->flags & NK_WINDOW_HIDDEN) || next->seq != ctx->seq)) - next = next->next; /* skip empty command buffers */ - - if (next) cmd->next = next->buffer.begin; - cont: it = next; - } - /* append all popup draw commands into lists */ - it = ctx->begin; - while (it != 0) { - struct nk_window *next = it->next; - struct nk_popup_buffer *buf; - if (!it->popup.buf.active) - goto skip; - - buf = &it->popup.buf; - cmd->next = buf->begin; - cmd = nk_ptr_add(struct nk_command, buffer, buf->last); - buf->active = nk_false; - skip: it = next; - } - if (cmd) { - /* append overlay commands */ - if (ctx->overlay.end != ctx->overlay.begin) - cmd->next = ctx->overlay.begin; - else cmd->next = ctx->memory.allocated; - } -} -NK_API const struct nk_command* -nk__begin(struct nk_context *ctx) -{ - struct nk_window *iter; - nk_byte *buffer; - NK_ASSERT(ctx); - if (!ctx) return 0; - if (!ctx->count) return 0; - - buffer = (nk_byte*)ctx->memory.memory.ptr; - if (!ctx->build) { - nk_build(ctx); - ctx->build = nk_true; - } - iter = ctx->begin; - while (iter && ((iter->buffer.begin == iter->buffer.end) || - (iter->flags & NK_WINDOW_HIDDEN) || iter->seq != ctx->seq)) - iter = iter->next; - if (!iter) return 0; - return nk_ptr_add_const(struct nk_command, buffer, iter->buffer.begin); -} - -NK_API const struct nk_command* -nk__next(struct nk_context *ctx, const struct nk_command *cmd) -{ - nk_byte *buffer; - const struct nk_command *next; - NK_ASSERT(ctx); - if (!ctx || !cmd || !ctx->count) return 0; - if (cmd->next >= ctx->memory.allocated) return 0; - buffer = (nk_byte*)ctx->memory.memory.ptr; - next = nk_ptr_add_const(struct nk_command, buffer, cmd->next); - return next; -} - - - - - - -/* =============================================================== - * - * POOL - * - * ===============================================================*/ -NK_LIB void -nk_pool_init(struct nk_pool *pool, struct nk_allocator *alloc, - unsigned int capacity) -{ - NK_ASSERT(capacity >= 1); - nk_zero(pool, sizeof(*pool)); - pool->alloc = *alloc; - pool->capacity = capacity; - pool->type = NK_BUFFER_DYNAMIC; - pool->pages = 0; -} -NK_LIB void -nk_pool_free(struct nk_pool *pool) -{ - struct nk_page *iter; - if (!pool) return; - iter = pool->pages; - if (pool->type == NK_BUFFER_FIXED) return; - while (iter) { - struct nk_page *next = iter->next; - pool->alloc.free(pool->alloc.userdata, iter); - iter = next; - } -} -NK_LIB void -nk_pool_init_fixed(struct nk_pool *pool, void *memory, nk_size size) -{ - nk_zero(pool, sizeof(*pool)); - NK_ASSERT(size >= sizeof(struct nk_page)); - if (size < sizeof(struct nk_page)) return; - /* first nk_page_element is embedded in nk_page, additional elements follow in adjacent space */ - pool->capacity = (unsigned)(1 + (size - sizeof(struct nk_page)) / sizeof(struct nk_page_element)); - pool->pages = (struct nk_page*)memory; - pool->type = NK_BUFFER_FIXED; - pool->size = size; -} -NK_LIB struct nk_page_element* -nk_pool_alloc(struct nk_pool *pool) -{ - if (!pool->pages || pool->pages->size >= pool->capacity) { - /* allocate new page */ - struct nk_page *page; - if (pool->type == NK_BUFFER_FIXED) { - NK_ASSERT(pool->pages); - if (!pool->pages) return 0; - NK_ASSERT(pool->pages->size < pool->capacity); - return 0; - } else { - nk_size size = sizeof(struct nk_page); - size += (pool->capacity - 1) * sizeof(struct nk_page_element); - page = (struct nk_page*)pool->alloc.alloc(pool->alloc.userdata,0, size); - page->next = pool->pages; - pool->pages = page; - page->size = 0; - } - } return &pool->pages->win[pool->pages->size++]; -} - - - - - -/* =============================================================== - * - * PAGE ELEMENT - * - * ===============================================================*/ -NK_LIB struct nk_page_element* -nk_create_page_element(struct nk_context *ctx) -{ - struct nk_page_element *elem; - if (ctx->freelist) { - /* unlink page element from free list */ - elem = ctx->freelist; - ctx->freelist = elem->next; - } else if (ctx->use_pool) { - /* allocate page element from memory pool */ - elem = nk_pool_alloc(&ctx->pool); - NK_ASSERT(elem); - if (!elem) return 0; - } else { - /* allocate new page element from back of fixed size memory buffer */ - NK_STORAGE const nk_size size = sizeof(struct nk_page_element); - NK_STORAGE const nk_size align = NK_ALIGNOF(struct nk_page_element); - elem = (struct nk_page_element*)nk_buffer_alloc(&ctx->memory, NK_BUFFER_BACK, size, align); - NK_ASSERT(elem); - if (!elem) return 0; - } - nk_zero_struct(*elem); - elem->next = 0; - elem->prev = 0; - return elem; -} -NK_LIB void -nk_link_page_element_into_freelist(struct nk_context *ctx, - struct nk_page_element *elem) -{ - /* link table into freelist */ - if (!ctx->freelist) { - ctx->freelist = elem; - } else { - elem->next = ctx->freelist; - ctx->freelist = elem; - } -} -NK_LIB void -nk_free_page_element(struct nk_context *ctx, struct nk_page_element *elem) -{ - /* we have a pool so just add to free list */ - if (ctx->use_pool) { - nk_link_page_element_into_freelist(ctx, elem); - return; - } - /* if possible remove last element from back of fixed memory buffer */ - {void *elem_end = (void*)(elem + 1); - void *buffer_end = (nk_byte*)ctx->memory.memory.ptr + ctx->memory.size; - if (elem_end == buffer_end) - ctx->memory.size -= sizeof(struct nk_page_element); - else nk_link_page_element_into_freelist(ctx, elem);} -} - - - - - -/* =============================================================== - * - * TABLE - * - * ===============================================================*/ -NK_LIB struct nk_table* -nk_create_table(struct nk_context *ctx) -{ - struct nk_page_element *elem; - elem = nk_create_page_element(ctx); - if (!elem) return 0; - nk_zero_struct(*elem); - return &elem->data.tbl; -} -NK_LIB void -nk_free_table(struct nk_context *ctx, struct nk_table *tbl) -{ - union nk_page_data *pd = NK_CONTAINER_OF(tbl, union nk_page_data, tbl); - struct nk_page_element *pe = NK_CONTAINER_OF(pd, struct nk_page_element, data); - nk_free_page_element(ctx, pe); -} -NK_LIB void -nk_push_table(struct nk_window *win, struct nk_table *tbl) -{ - if (!win->tables) { - win->tables = tbl; - tbl->next = 0; - tbl->prev = 0; - tbl->size = 0; - win->table_count = 1; - return; - } - win->tables->prev = tbl; - tbl->next = win->tables; - tbl->prev = 0; - tbl->size = 0; - win->tables = tbl; - win->table_count++; -} -NK_LIB void -nk_remove_table(struct nk_window *win, struct nk_table *tbl) -{ - if (win->tables == tbl) - win->tables = tbl->next; - if (tbl->next) - tbl->next->prev = tbl->prev; - if (tbl->prev) - tbl->prev->next = tbl->next; - tbl->next = 0; - tbl->prev = 0; -} -NK_LIB nk_uint* -nk_add_value(struct nk_context *ctx, struct nk_window *win, - nk_hash name, nk_uint value) -{ - NK_ASSERT(ctx); - NK_ASSERT(win); - if (!win || !ctx) return 0; - if (!win->tables || win->tables->size >= NK_VALUE_PAGE_CAPACITY) { - struct nk_table *tbl = nk_create_table(ctx); - NK_ASSERT(tbl); - if (!tbl) return 0; - nk_push_table(win, tbl); - } - win->tables->seq = win->seq; - win->tables->keys[win->tables->size] = name; - win->tables->values[win->tables->size] = value; - return &win->tables->values[win->tables->size++]; -} -NK_LIB nk_uint* -nk_find_value(struct nk_window *win, nk_hash name) -{ - struct nk_table *iter = win->tables; - while (iter) { - unsigned int i = 0; - unsigned int size = iter->size; - for (i = 0; i < size; ++i) { - if (iter->keys[i] == name) { - iter->seq = win->seq; - return &iter->values[i]; - } - } size = NK_VALUE_PAGE_CAPACITY; - iter = iter->next; - } - return 0; -} - - - - - -/* =============================================================== - * - * PANEL - * - * ===============================================================*/ -NK_LIB void* -nk_create_panel(struct nk_context *ctx) -{ - struct nk_page_element *elem; - elem = nk_create_page_element(ctx); - if (!elem) return 0; - nk_zero_struct(*elem); - return &elem->data.pan; -} -NK_LIB void -nk_free_panel(struct nk_context *ctx, struct nk_panel *pan) -{ - union nk_page_data *pd = NK_CONTAINER_OF(pan, union nk_page_data, pan); - struct nk_page_element *pe = NK_CONTAINER_OF(pd, struct nk_page_element, data); - nk_free_page_element(ctx, pe); -} -NK_LIB nk_bool -nk_panel_has_header(nk_flags flags, const char *title) -{ - nk_bool active = 0; - active = (flags & (NK_WINDOW_CLOSABLE|NK_WINDOW_MINIMIZABLE)); - active = active || (flags & NK_WINDOW_TITLE); - active = active && !(flags & NK_WINDOW_HIDDEN) && title; - return active; -} -NK_LIB struct nk_vec2 -nk_panel_get_padding(const struct nk_style *style, enum nk_panel_type type) -{ - switch (type) { - default: - case NK_PANEL_WINDOW: return style->window.padding; - case NK_PANEL_GROUP: return style->window.group_padding; - case NK_PANEL_POPUP: return style->window.popup_padding; - case NK_PANEL_CONTEXTUAL: return style->window.contextual_padding; - case NK_PANEL_COMBO: return style->window.combo_padding; - case NK_PANEL_MENU: return style->window.menu_padding; - case NK_PANEL_TOOLTIP: return style->window.menu_padding;} -} -NK_LIB float -nk_panel_get_border(const struct nk_style *style, nk_flags flags, - enum nk_panel_type type) -{ - if (flags & NK_WINDOW_BORDER) { - switch (type) { - default: - case NK_PANEL_WINDOW: return style->window.border; - case NK_PANEL_GROUP: return style->window.group_border; - case NK_PANEL_POPUP: return style->window.popup_border; - case NK_PANEL_CONTEXTUAL: return style->window.contextual_border; - case NK_PANEL_COMBO: return style->window.combo_border; - case NK_PANEL_MENU: return style->window.menu_border; - case NK_PANEL_TOOLTIP: return style->window.menu_border; - }} else return 0; -} -NK_LIB struct nk_color -nk_panel_get_border_color(const struct nk_style *style, enum nk_panel_type type) -{ - switch (type) { - default: - case NK_PANEL_WINDOW: return style->window.border_color; - case NK_PANEL_GROUP: return style->window.group_border_color; - case NK_PANEL_POPUP: return style->window.popup_border_color; - case NK_PANEL_CONTEXTUAL: return style->window.contextual_border_color; - case NK_PANEL_COMBO: return style->window.combo_border_color; - case NK_PANEL_MENU: return style->window.menu_border_color; - case NK_PANEL_TOOLTIP: return style->window.menu_border_color;} -} -NK_LIB nk_bool -nk_panel_is_sub(enum nk_panel_type type) -{ - return (type & NK_PANEL_SET_SUB)?1:0; -} -NK_LIB nk_bool -nk_panel_is_nonblock(enum nk_panel_type type) -{ - return (type & NK_PANEL_SET_NONBLOCK)?1:0; -} -NK_LIB nk_bool -nk_panel_begin(struct nk_context *ctx, const char *title, enum nk_panel_type panel_type) -{ - struct nk_input *in; - struct nk_window *win; - struct nk_panel *layout; - struct nk_command_buffer *out; - const struct nk_style *style; - const struct nk_user_font *font; - - struct nk_vec2 scrollbar_size; - struct nk_vec2 panel_padding; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) return 0; - nk_zero(ctx->current->layout, sizeof(*ctx->current->layout)); - if ((ctx->current->flags & NK_WINDOW_HIDDEN) || (ctx->current->flags & NK_WINDOW_CLOSED)) { - nk_zero(ctx->current->layout, sizeof(struct nk_panel)); - ctx->current->layout->type = panel_type; - return 0; - } - /* pull state into local stack */ - style = &ctx->style; - font = style->font; - win = ctx->current; - layout = win->layout; - out = &win->buffer; - in = (win->flags & NK_WINDOW_NO_INPUT) ? 0: &ctx->input; -#ifdef NK_INCLUDE_COMMAND_USERDATA - win->buffer.userdata = ctx->userdata; -#endif - /* pull style configuration into local stack */ - scrollbar_size = style->window.scrollbar_size; - panel_padding = nk_panel_get_padding(style, panel_type); - - /* window movement */ - if ((win->flags & NK_WINDOW_MOVABLE) && !(win->flags & NK_WINDOW_ROM)) { - nk_bool left_mouse_down; - unsigned int left_mouse_clicked; - int left_mouse_click_in_cursor; - - /* calculate draggable window space */ - struct nk_rect header; - header.x = win->bounds.x; - header.y = win->bounds.y; - header.w = win->bounds.w; - if (nk_panel_has_header(win->flags, title)) { - header.h = font->height + 2.0f * style->window.header.padding.y; - header.h += 2.0f * style->window.header.label_padding.y; - } else header.h = panel_padding.y; - - /* window movement by dragging */ - left_mouse_down = in->mouse.buttons[NK_BUTTON_LEFT].down; - left_mouse_clicked = in->mouse.buttons[NK_BUTTON_LEFT].clicked; - left_mouse_click_in_cursor = nk_input_has_mouse_click_down_in_rect(in, - NK_BUTTON_LEFT, header, nk_true); - if (left_mouse_down && left_mouse_click_in_cursor && !left_mouse_clicked) { - win->bounds.x = win->bounds.x + in->mouse.delta.x; - win->bounds.y = win->bounds.y + in->mouse.delta.y; - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x += in->mouse.delta.x; - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.y += in->mouse.delta.y; - ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_MOVE]; - } - } - - /* setup panel */ - layout->type = panel_type; - layout->flags = win->flags; - layout->bounds = win->bounds; - layout->bounds.x += panel_padding.x; - layout->bounds.w -= 2*panel_padding.x; - if (win->flags & NK_WINDOW_BORDER) { - layout->border = nk_panel_get_border(style, win->flags, panel_type); - layout->bounds = nk_shrink_rect(layout->bounds, layout->border); - } else layout->border = 0; - layout->at_y = layout->bounds.y; - layout->at_x = layout->bounds.x; - layout->max_x = 0; - layout->header_height = 0; - layout->footer_height = 0; - nk_layout_reset_min_row_height(ctx); - layout->row.index = 0; - layout->row.columns = 0; - layout->row.ratio = 0; - layout->row.item_width = 0; - layout->row.tree_depth = 0; - layout->row.height = panel_padding.y; - layout->has_scrolling = nk_true; - if (!(win->flags & NK_WINDOW_NO_SCROLLBAR)) - layout->bounds.w -= scrollbar_size.x; - if (!nk_panel_is_nonblock(panel_type)) { - layout->footer_height = 0; - if (!(win->flags & NK_WINDOW_NO_SCROLLBAR) || win->flags & NK_WINDOW_SCALABLE) - layout->footer_height = scrollbar_size.y; - layout->bounds.h -= layout->footer_height; - } - - /* panel header */ - if (nk_panel_has_header(win->flags, title)) - { - struct nk_text text; - struct nk_rect header; - const struct nk_style_item *background = 0; - - /* calculate header bounds */ - header.x = win->bounds.x; - header.y = win->bounds.y; - header.w = win->bounds.w; - header.h = font->height + 2.0f * style->window.header.padding.y; - header.h += (2.0f * style->window.header.label_padding.y); - - /* shrink panel by header */ - layout->header_height = header.h; - layout->bounds.y += header.h; - layout->bounds.h -= header.h; - layout->at_y += header.h; - - /* select correct header background and text color */ - if (ctx->active == win) { - background = &style->window.header.active; - text.text = style->window.header.label_active; - } else if (nk_input_is_mouse_hovering_rect(&ctx->input, header)) { - background = &style->window.header.hover; - text.text = style->window.header.label_hover; - } else { - background = &style->window.header.normal; - text.text = style->window.header.label_normal; - } - - /* draw header background */ - header.h += 1.0f; - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - text.background = nk_rgba(0,0,0,0); - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - text.background = background->data.color; - nk_fill_rect(out, header, 0, background->data.color); - break; - } - - /* window close button */ - {struct nk_rect button; - button.y = header.y + style->window.header.padding.y; - button.h = header.h - 2 * style->window.header.padding.y; - button.w = button.h; - if (win->flags & NK_WINDOW_CLOSABLE) { - nk_flags ws = 0; - if (style->window.header.align == NK_HEADER_RIGHT) { - button.x = (header.w + header.x) - (button.w + style->window.header.padding.x); - header.w -= button.w + style->window.header.spacing.x + style->window.header.padding.x; - } else { - button.x = header.x + style->window.header.padding.x; - header.x += button.w + style->window.header.spacing.x + style->window.header.padding.x; - } - - if (nk_do_button_symbol(&ws, &win->buffer, button, - style->window.header.close_symbol, NK_BUTTON_DEFAULT, - &style->window.header.close_button, in, style->font) && !(win->flags & NK_WINDOW_ROM)) - { - layout->flags |= NK_WINDOW_HIDDEN; - layout->flags &= (nk_flags)~NK_WINDOW_MINIMIZED; - } - } - - /* window minimize button */ - if (win->flags & NK_WINDOW_MINIMIZABLE) { - nk_flags ws = 0; - if (style->window.header.align == NK_HEADER_RIGHT) { - button.x = (header.w + header.x) - button.w; - if (!(win->flags & NK_WINDOW_CLOSABLE)) { - button.x -= style->window.header.padding.x; - header.w -= style->window.header.padding.x; - } - header.w -= button.w + style->window.header.spacing.x; - } else { - button.x = header.x; - header.x += button.w + style->window.header.spacing.x + style->window.header.padding.x; - } - if (nk_do_button_symbol(&ws, &win->buffer, button, (layout->flags & NK_WINDOW_MINIMIZED)? - style->window.header.maximize_symbol: style->window.header.minimize_symbol, - NK_BUTTON_DEFAULT, &style->window.header.minimize_button, in, style->font) && !(win->flags & NK_WINDOW_ROM)) - layout->flags = (layout->flags & NK_WINDOW_MINIMIZED) ? - layout->flags & (nk_flags)~NK_WINDOW_MINIMIZED: - layout->flags | NK_WINDOW_MINIMIZED; - }} - - {/* window header title */ - int text_len = nk_strlen(title); - struct nk_rect label = {0,0,0,0}; - float t = font->width(font->userdata, font->height, title, text_len); - text.padding = nk_vec2(0,0); - - label.x = header.x + style->window.header.padding.x; - label.x += style->window.header.label_padding.x; - label.y = header.y + style->window.header.label_padding.y; - label.h = font->height + 2 * style->window.header.label_padding.y; - label.w = t + 2 * style->window.header.spacing.x; - label.w = NK_CLAMP(0, label.w, header.x + header.w - label.x); - nk_widget_text(out, label, (const char*)title, text_len, &text, NK_TEXT_LEFT, font);} - } - - /* draw window background */ - if (!(layout->flags & NK_WINDOW_MINIMIZED) && !(layout->flags & NK_WINDOW_DYNAMIC)) { - struct nk_rect body; - body.x = win->bounds.x; - body.w = win->bounds.w; - body.y = (win->bounds.y + layout->header_height); - body.h = (win->bounds.h - layout->header_height); - - switch(style->window.fixed_background.type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, body, &style->window.fixed_background.data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, body, &style->window.fixed_background.data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, body, 0, style->window.fixed_background.data.color); - break; - } - } - - /* set clipping rectangle */ - {struct nk_rect clip; - layout->clip = layout->bounds; - nk_unify(&clip, &win->buffer.clip, layout->clip.x, layout->clip.y, - layout->clip.x + layout->clip.w, layout->clip.y + layout->clip.h); - nk_push_scissor(out, clip); - layout->clip = clip;} - return !(layout->flags & NK_WINDOW_HIDDEN) && !(layout->flags & NK_WINDOW_MINIMIZED); -} -NK_LIB void -nk_panel_end(struct nk_context *ctx) -{ - struct nk_input *in; - struct nk_window *window; - struct nk_panel *layout; - const struct nk_style *style; - struct nk_command_buffer *out; - - struct nk_vec2 scrollbar_size; - struct nk_vec2 panel_padding; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - window = ctx->current; - layout = window->layout; - style = &ctx->style; - out = &window->buffer; - in = (layout->flags & NK_WINDOW_ROM || layout->flags & NK_WINDOW_NO_INPUT) ? 0 :&ctx->input; - if (!nk_panel_is_sub(layout->type)) - nk_push_scissor(out, nk_null_rect); - - /* cache configuration data */ - scrollbar_size = style->window.scrollbar_size; - panel_padding = nk_panel_get_padding(style, layout->type); - - /* update the current cursor Y-position to point over the last added widget */ - layout->at_y += layout->row.height; - - /* dynamic panels */ - if (layout->flags & NK_WINDOW_DYNAMIC && !(layout->flags & NK_WINDOW_MINIMIZED)) - { - /* update panel height to fit dynamic growth */ - struct nk_rect empty_space; - if (layout->at_y < (layout->bounds.y + layout->bounds.h)) - layout->bounds.h = layout->at_y - layout->bounds.y; - - /* fill top empty space */ - empty_space.x = window->bounds.x; - empty_space.y = layout->bounds.y; - empty_space.h = panel_padding.y; - empty_space.w = window->bounds.w; - nk_fill_rect(out, empty_space, 0, style->window.background); - - /* fill left empty space */ - empty_space.x = window->bounds.x; - empty_space.y = layout->bounds.y; - empty_space.w = panel_padding.x + layout->border; - empty_space.h = layout->bounds.h; - nk_fill_rect(out, empty_space, 0, style->window.background); - - /* fill right empty space */ - empty_space.x = layout->bounds.x + layout->bounds.w; - empty_space.y = layout->bounds.y; - empty_space.w = panel_padding.x + layout->border; - empty_space.h = layout->bounds.h; - if (*layout->offset_y == 0 && !(layout->flags & NK_WINDOW_NO_SCROLLBAR)) - empty_space.w += scrollbar_size.x; - nk_fill_rect(out, empty_space, 0, style->window.background); - - /* fill bottom empty space */ - if (layout->footer_height > 0) { - empty_space.x = window->bounds.x; - empty_space.y = layout->bounds.y + layout->bounds.h; - empty_space.w = window->bounds.w; - empty_space.h = layout->footer_height; - nk_fill_rect(out, empty_space, 0, style->window.background); - } - } - - /* scrollbars */ - if (!(layout->flags & NK_WINDOW_NO_SCROLLBAR) && - !(layout->flags & NK_WINDOW_MINIMIZED) && - window->scrollbar_hiding_timer < NK_SCROLLBAR_HIDING_TIMEOUT) - { - struct nk_rect scroll; - int scroll_has_scrolling; - float scroll_target; - float scroll_offset; - float scroll_step; - float scroll_inc; - - /* mouse wheel scrolling */ - if (nk_panel_is_sub(layout->type)) - { - /* sub-window mouse wheel scrolling */ - struct nk_window *root_window = window; - struct nk_panel *root_panel = window->layout; - while (root_panel->parent) - root_panel = root_panel->parent; - while (root_window->parent) - root_window = root_window->parent; - - /* only allow scrolling if parent window is active */ - scroll_has_scrolling = 0; - if ((root_window == ctx->active) && layout->has_scrolling) { - /* and panel is being hovered and inside clip rect*/ - if (nk_input_is_mouse_hovering_rect(in, layout->bounds) && - NK_INTERSECT(layout->bounds.x, layout->bounds.y, layout->bounds.w, layout->bounds.h, - root_panel->clip.x, root_panel->clip.y, root_panel->clip.w, root_panel->clip.h)) - { - /* deactivate all parent scrolling */ - root_panel = window->layout; - while (root_panel->parent) { - root_panel->has_scrolling = nk_false; - root_panel = root_panel->parent; - } - root_panel->has_scrolling = nk_false; - scroll_has_scrolling = nk_true; - } - } - } else if (!nk_panel_is_sub(layout->type)) { - /* window mouse wheel scrolling */ - scroll_has_scrolling = (window == ctx->active) && layout->has_scrolling; - if (in && (in->mouse.scroll_delta.y > 0 || in->mouse.scroll_delta.x > 0) && scroll_has_scrolling) - window->scrolled = nk_true; - else window->scrolled = nk_false; - } else scroll_has_scrolling = nk_false; - - { - /* vertical scrollbar */ - nk_flags state = 0; - scroll.x = layout->bounds.x + layout->bounds.w + panel_padding.x; - scroll.y = layout->bounds.y; - scroll.w = scrollbar_size.x; - scroll.h = layout->bounds.h; - - scroll_offset = (float)*layout->offset_y; - scroll_step = scroll.h * 0.10f; - scroll_inc = scroll.h * 0.01f; - scroll_target = (float)(int)(layout->at_y - scroll.y); - scroll_offset = nk_do_scrollbarv(&state, out, scroll, scroll_has_scrolling, - scroll_offset, scroll_target, scroll_step, scroll_inc, - &ctx->style.scrollv, in, style->font); - *layout->offset_y = (nk_uint)scroll_offset; - if (in && scroll_has_scrolling) - in->mouse.scroll_delta.y = 0; - } - { - /* horizontal scrollbar */ - nk_flags state = 0; - scroll.x = layout->bounds.x; - scroll.y = layout->bounds.y + layout->bounds.h; - scroll.w = layout->bounds.w; - scroll.h = scrollbar_size.y; - - scroll_offset = (float)*layout->offset_x; - scroll_target = (float)(int)(layout->max_x - scroll.x); - scroll_step = layout->max_x * 0.05f; - scroll_inc = layout->max_x * 0.005f; - scroll_offset = nk_do_scrollbarh(&state, out, scroll, scroll_has_scrolling, - scroll_offset, scroll_target, scroll_step, scroll_inc, - &ctx->style.scrollh, in, style->font); - *layout->offset_x = (nk_uint)scroll_offset; - } - } - - /* hide scroll if no user input */ - if (window->flags & NK_WINDOW_SCROLL_AUTO_HIDE) { - int has_input = ctx->input.mouse.delta.x != 0 || ctx->input.mouse.delta.y != 0 || ctx->input.mouse.scroll_delta.y != 0; - int is_window_hovered = nk_window_is_hovered(ctx); - int any_item_active = (ctx->last_widget_state & NK_WIDGET_STATE_MODIFIED); - if ((!has_input && is_window_hovered) || (!is_window_hovered && !any_item_active)) - window->scrollbar_hiding_timer += ctx->delta_time_seconds; - else window->scrollbar_hiding_timer = 0; - } else window->scrollbar_hiding_timer = 0; - - /* window border */ - if (layout->flags & NK_WINDOW_BORDER) - { - struct nk_color border_color = nk_panel_get_border_color(style, layout->type); - const float padding_y = (layout->flags & NK_WINDOW_MINIMIZED) - ? (style->window.border + window->bounds.y + layout->header_height) - : ((layout->flags & NK_WINDOW_DYNAMIC) - ? (layout->bounds.y + layout->bounds.h + layout->footer_height) - : (window->bounds.y + window->bounds.h)); - struct nk_rect b = window->bounds; - b.h = padding_y - window->bounds.y; - nk_stroke_rect(out, b, 0, layout->border, border_color); - } - - /* scaler */ - if ((layout->flags & NK_WINDOW_SCALABLE) && in && !(layout->flags & NK_WINDOW_MINIMIZED)) - { - /* calculate scaler bounds */ - struct nk_rect scaler; - scaler.w = scrollbar_size.x; - scaler.h = scrollbar_size.y; - scaler.y = layout->bounds.y + layout->bounds.h; - if (layout->flags & NK_WINDOW_SCALE_LEFT) - scaler.x = layout->bounds.x - panel_padding.x * 0.5f; - else scaler.x = layout->bounds.x + layout->bounds.w + panel_padding.x; - if (layout->flags & NK_WINDOW_NO_SCROLLBAR) - scaler.x -= scaler.w; - - /* draw scaler */ - {const struct nk_style_item *item = &style->window.scaler; - if (item->type == NK_STYLE_ITEM_IMAGE) - nk_draw_image(out, scaler, &item->data.image, nk_white); - else { - if (layout->flags & NK_WINDOW_SCALE_LEFT) { - nk_fill_triangle(out, scaler.x, scaler.y, scaler.x, - scaler.y + scaler.h, scaler.x + scaler.w, - scaler.y + scaler.h, item->data.color); - } else { - nk_fill_triangle(out, scaler.x + scaler.w, scaler.y, scaler.x + scaler.w, - scaler.y + scaler.h, scaler.x, scaler.y + scaler.h, item->data.color); - } - }} - - /* do window scaling */ - if (!(window->flags & NK_WINDOW_ROM)) { - struct nk_vec2 window_size = style->window.min_size; - int left_mouse_down = in->mouse.buttons[NK_BUTTON_LEFT].down; - int left_mouse_click_in_scaler = nk_input_has_mouse_click_down_in_rect(in, - NK_BUTTON_LEFT, scaler, nk_true); - - if (left_mouse_down && left_mouse_click_in_scaler) { - float delta_x = in->mouse.delta.x; - if (layout->flags & NK_WINDOW_SCALE_LEFT) { - delta_x = -delta_x; - window->bounds.x += in->mouse.delta.x; - } - /* dragging in x-direction */ - if (window->bounds.w + delta_x >= window_size.x) { - if ((delta_x < 0) || (delta_x > 0 && in->mouse.pos.x >= scaler.x)) { - window->bounds.w = window->bounds.w + delta_x; - scaler.x += in->mouse.delta.x; - } - } - /* dragging in y-direction (only possible if static window) */ - if (!(layout->flags & NK_WINDOW_DYNAMIC)) { - if (window_size.y < window->bounds.h + in->mouse.delta.y) { - if ((in->mouse.delta.y < 0) || (in->mouse.delta.y > 0 && in->mouse.pos.y >= scaler.y)) { - window->bounds.h = window->bounds.h + in->mouse.delta.y; - scaler.y += in->mouse.delta.y; - } - } - } - ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_RESIZE_TOP_RIGHT_DOWN_LEFT]; - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = scaler.x + scaler.w/2.0f; - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.y = scaler.y + scaler.h/2.0f; - } - } - } - if (!nk_panel_is_sub(layout->type)) { - /* window is hidden so clear command buffer */ - if (layout->flags & NK_WINDOW_HIDDEN) - nk_command_buffer_reset(&window->buffer); - /* window is visible and not tab */ - else nk_finish(ctx, window); - } - - /* NK_WINDOW_REMOVE_ROM flag was set so remove NK_WINDOW_ROM */ - if (layout->flags & NK_WINDOW_REMOVE_ROM) { - layout->flags &= ~(nk_flags)NK_WINDOW_ROM; - layout->flags &= ~(nk_flags)NK_WINDOW_REMOVE_ROM; - } - window->flags = layout->flags; - - /* property garbage collector */ - if (window->property.active && window->property.old != window->property.seq && - window->property.active == window->property.prev) { - nk_zero(&window->property, sizeof(window->property)); - } else { - window->property.old = window->property.seq; - window->property.prev = window->property.active; - window->property.seq = 0; - } - /* edit garbage collector */ - if (window->edit.active && window->edit.old != window->edit.seq && - window->edit.active == window->edit.prev) { - nk_zero(&window->edit, sizeof(window->edit)); - } else { - window->edit.old = window->edit.seq; - window->edit.prev = window->edit.active; - window->edit.seq = 0; - } - /* contextual garbage collector */ - if (window->popup.active_con && window->popup.con_old != window->popup.con_count) { - window->popup.con_count = 0; - window->popup.con_old = 0; - window->popup.active_con = 0; - } else { - window->popup.con_old = window->popup.con_count; - window->popup.con_count = 0; - } - window->popup.combo_count = 0; - /* helper to make sure you have a 'nk_tree_push' for every 'nk_tree_pop' */ - NK_ASSERT(!layout->row.tree_depth); -} - - - - - -/* =============================================================== - * - * WINDOW - * - * ===============================================================*/ -NK_LIB void* -nk_create_window(struct nk_context *ctx) -{ - struct nk_page_element *elem; - elem = nk_create_page_element(ctx); - if (!elem) return 0; - elem->data.win.seq = ctx->seq; - return &elem->data.win; -} -NK_LIB void -nk_free_window(struct nk_context *ctx, struct nk_window *win) -{ - /* unlink windows from list */ - struct nk_table *it = win->tables; - if (win->popup.win) { - nk_free_window(ctx, win->popup.win); - win->popup.win = 0; - } - win->next = 0; - win->prev = 0; - - while (it) { - /*free window state tables */ - struct nk_table *n = it->next; - nk_remove_table(win, it); - nk_free_table(ctx, it); - if (it == win->tables) - win->tables = n; - it = n; - } - - /* link windows into freelist */ - {union nk_page_data *pd = NK_CONTAINER_OF(win, union nk_page_data, win); - struct nk_page_element *pe = NK_CONTAINER_OF(pd, struct nk_page_element, data); - nk_free_page_element(ctx, pe);} -} -NK_LIB struct nk_window* -nk_find_window(struct nk_context *ctx, nk_hash hash, const char *name) -{ - struct nk_window *iter; - iter = ctx->begin; - while (iter) { - NK_ASSERT(iter != iter->next); - if (iter->name == hash) { - int max_len = nk_strlen(iter->name_string); - if (!nk_stricmpn(iter->name_string, name, max_len)) - return iter; - } - iter = iter->next; - } - return 0; -} -NK_LIB void -nk_insert_window(struct nk_context *ctx, struct nk_window *win, - enum nk_window_insert_location loc) -{ - const struct nk_window *iter; - NK_ASSERT(ctx); - NK_ASSERT(win); - if (!win || !ctx) return; - - iter = ctx->begin; - while (iter) { - NK_ASSERT(iter != iter->next); - NK_ASSERT(iter != win); - if (iter == win) return; - iter = iter->next; - } - - if (!ctx->begin) { - win->next = 0; - win->prev = 0; - ctx->begin = win; - ctx->end = win; - ctx->count = 1; - return; - } - if (loc == NK_INSERT_BACK) { - struct nk_window *end; - end = ctx->end; - end->flags |= NK_WINDOW_ROM; - end->next = win; - win->prev = ctx->end; - win->next = 0; - ctx->end = win; - ctx->active = ctx->end; - ctx->end->flags &= ~(nk_flags)NK_WINDOW_ROM; - } else { - /*ctx->end->flags |= NK_WINDOW_ROM;*/ - ctx->begin->prev = win; - win->next = ctx->begin; - win->prev = 0; - ctx->begin = win; - ctx->begin->flags &= ~(nk_flags)NK_WINDOW_ROM; - } - ctx->count++; -} -NK_LIB void -nk_remove_window(struct nk_context *ctx, struct nk_window *win) -{ - if (win == ctx->begin || win == ctx->end) { - if (win == ctx->begin) { - ctx->begin = win->next; - if (win->next) - win->next->prev = 0; - } - if (win == ctx->end) { - ctx->end = win->prev; - if (win->prev) - win->prev->next = 0; - } - } else { - if (win->next) - win->next->prev = win->prev; - if (win->prev) - win->prev->next = win->next; - } - if (win == ctx->active || !ctx->active) { - ctx->active = ctx->end; - if (ctx->end) - ctx->end->flags &= ~(nk_flags)NK_WINDOW_ROM; - } - win->next = 0; - win->prev = 0; - ctx->count--; -} -NK_API nk_bool -nk_begin(struct nk_context *ctx, const char *title, - struct nk_rect bounds, nk_flags flags) -{ - return nk_begin_titled(ctx, title, title, bounds, flags); -} -NK_API nk_bool -nk_begin_titled(struct nk_context *ctx, const char *name, const char *title, - struct nk_rect bounds, nk_flags flags) -{ - struct nk_window *win; - struct nk_style *style; - nk_hash name_hash; - int name_len; - int ret = 0; - - NK_ASSERT(ctx); - NK_ASSERT(name); - NK_ASSERT(title); - NK_ASSERT(ctx->style.font && ctx->style.font->width && "if this triggers you forgot to add a font"); - NK_ASSERT(!ctx->current && "if this triggers you missed a `nk_end` call"); - if (!ctx || ctx->current || !title || !name) - return 0; - - /* find or create window */ - style = &ctx->style; - name_len = (int)nk_strlen(name); - name_hash = nk_murmur_hash(name, (int)name_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, name_hash, name); - if (!win) { - /* create new window */ - nk_size name_length = (nk_size)name_len; - win = (struct nk_window*)nk_create_window(ctx); - NK_ASSERT(win); - if (!win) return 0; - - if (flags & NK_WINDOW_BACKGROUND) - nk_insert_window(ctx, win, NK_INSERT_FRONT); - else nk_insert_window(ctx, win, NK_INSERT_BACK); - nk_command_buffer_init(&win->buffer, &ctx->memory, NK_CLIPPING_ON); - - win->flags = flags; - win->bounds = bounds; - win->name = name_hash; - name_length = NK_MIN(name_length, NK_WINDOW_MAX_NAME-1); - NK_MEMCPY(win->name_string, name, name_length); - win->name_string[name_length] = 0; - win->popup.win = 0; - if (!ctx->active) - ctx->active = win; - } else { - /* update window */ - win->flags &= ~(nk_flags)(NK_WINDOW_PRIVATE-1); - win->flags |= flags; - if (!(win->flags & (NK_WINDOW_MOVABLE | NK_WINDOW_SCALABLE))) - win->bounds = bounds; - /* If this assert triggers you either: - * - * I.) Have more than one window with the same name or - * II.) You forgot to actually draw the window. - * More specific you did not call `nk_clear` (nk_clear will be - * automatically called for you if you are using one of the - * provided demo backends). */ - NK_ASSERT(win->seq != ctx->seq); - win->seq = ctx->seq; - if (!ctx->active && !(win->flags & NK_WINDOW_HIDDEN)) { - ctx->active = win; - ctx->end = win; - } - } - if (win->flags & NK_WINDOW_HIDDEN) { - ctx->current = win; - win->layout = 0; - return 0; - } else nk_start(ctx, win); - - /* window overlapping */ - if (!(win->flags & NK_WINDOW_HIDDEN) && !(win->flags & NK_WINDOW_NO_INPUT)) - { - int inpanel, ishovered; - struct nk_window *iter = win; - float h = ctx->style.font->height + 2.0f * style->window.header.padding.y + - (2.0f * style->window.header.label_padding.y); - struct nk_rect win_bounds = (!(win->flags & NK_WINDOW_MINIMIZED))? - win->bounds: nk_rect(win->bounds.x, win->bounds.y, win->bounds.w, h); - - /* activate window if hovered and no other window is overlapping this window */ - inpanel = nk_input_has_mouse_click_down_in_rect(&ctx->input, NK_BUTTON_LEFT, win_bounds, nk_true); - inpanel = inpanel && ctx->input.mouse.buttons[NK_BUTTON_LEFT].clicked; - ishovered = nk_input_is_mouse_hovering_rect(&ctx->input, win_bounds); - if ((win != ctx->active) && ishovered && !ctx->input.mouse.buttons[NK_BUTTON_LEFT].down) { - iter = win->next; - while (iter) { - struct nk_rect iter_bounds = (!(iter->flags & NK_WINDOW_MINIMIZED))? - iter->bounds: nk_rect(iter->bounds.x, iter->bounds.y, iter->bounds.w, h); - if (NK_INTERSECT(win_bounds.x, win_bounds.y, win_bounds.w, win_bounds.h, - iter_bounds.x, iter_bounds.y, iter_bounds.w, iter_bounds.h) && - (!(iter->flags & NK_WINDOW_HIDDEN))) - break; - - if (iter->popup.win && iter->popup.active && !(iter->flags & NK_WINDOW_HIDDEN) && - NK_INTERSECT(win->bounds.x, win_bounds.y, win_bounds.w, win_bounds.h, - iter->popup.win->bounds.x, iter->popup.win->bounds.y, - iter->popup.win->bounds.w, iter->popup.win->bounds.h)) - break; - iter = iter->next; - } - } - - /* activate window if clicked */ - if (iter && inpanel && (win != ctx->end)) { - iter = win->next; - while (iter) { - /* try to find a panel with higher priority in the same position */ - struct nk_rect iter_bounds = (!(iter->flags & NK_WINDOW_MINIMIZED))? - iter->bounds: nk_rect(iter->bounds.x, iter->bounds.y, iter->bounds.w, h); - if (NK_INBOX(ctx->input.mouse.pos.x, ctx->input.mouse.pos.y, - iter_bounds.x, iter_bounds.y, iter_bounds.w, iter_bounds.h) && - !(iter->flags & NK_WINDOW_HIDDEN)) - break; - if (iter->popup.win && iter->popup.active && !(iter->flags & NK_WINDOW_HIDDEN) && - NK_INTERSECT(win_bounds.x, win_bounds.y, win_bounds.w, win_bounds.h, - iter->popup.win->bounds.x, iter->popup.win->bounds.y, - iter->popup.win->bounds.w, iter->popup.win->bounds.h)) - break; - iter = iter->next; - } - } - if (iter && !(win->flags & NK_WINDOW_ROM) && (win->flags & NK_WINDOW_BACKGROUND)) { - win->flags |= (nk_flags)NK_WINDOW_ROM; - iter->flags &= ~(nk_flags)NK_WINDOW_ROM; - ctx->active = iter; - if (!(iter->flags & NK_WINDOW_BACKGROUND)) { - /* current window is active in that position so transfer to top - * at the highest priority in stack */ - nk_remove_window(ctx, iter); - nk_insert_window(ctx, iter, NK_INSERT_BACK); - } - } else { - if (!iter && ctx->end != win) { - if (!(win->flags & NK_WINDOW_BACKGROUND)) { - /* current window is active in that position so transfer to top - * at the highest priority in stack */ - nk_remove_window(ctx, win); - nk_insert_window(ctx, win, NK_INSERT_BACK); - } - win->flags &= ~(nk_flags)NK_WINDOW_ROM; - ctx->active = win; - } - if (ctx->end != win && !(win->flags & NK_WINDOW_BACKGROUND)) - win->flags |= NK_WINDOW_ROM; - } - } - win->layout = (struct nk_panel*)nk_create_panel(ctx); - ctx->current = win; - ret = nk_panel_begin(ctx, title, NK_PANEL_WINDOW); - win->layout->offset_x = &win->scrollbar.x; - win->layout->offset_y = &win->scrollbar.y; - return ret; -} -NK_API void -nk_end(struct nk_context *ctx) -{ - struct nk_panel *layout; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current && "if this triggers you forgot to call `nk_begin`"); - if (!ctx || !ctx->current) - return; - - layout = ctx->current->layout; - if (!layout || (layout->type == NK_PANEL_WINDOW && (ctx->current->flags & NK_WINDOW_HIDDEN))) { - ctx->current = 0; - return; - } - nk_panel_end(ctx); - nk_free_panel(ctx, ctx->current->layout); - ctx->current = 0; -} -NK_API struct nk_rect -nk_window_get_bounds(const struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return nk_rect(0,0,0,0); - return ctx->current->bounds; -} -NK_API struct nk_vec2 -nk_window_get_position(const struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return nk_vec2(0,0); - return nk_vec2(ctx->current->bounds.x, ctx->current->bounds.y); -} -NK_API struct nk_vec2 -nk_window_get_size(const struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return nk_vec2(0,0); - return nk_vec2(ctx->current->bounds.w, ctx->current->bounds.h); -} -NK_API float -nk_window_get_width(const struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return 0; - return ctx->current->bounds.w; -} -NK_API float -nk_window_get_height(const struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return 0; - return ctx->current->bounds.h; -} -NK_API struct nk_rect -nk_window_get_content_region(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return nk_rect(0,0,0,0); - return ctx->current->layout->clip; -} -NK_API struct nk_vec2 -nk_window_get_content_region_min(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current) return nk_vec2(0,0); - return nk_vec2(ctx->current->layout->clip.x, ctx->current->layout->clip.y); -} -NK_API struct nk_vec2 -nk_window_get_content_region_max(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current) return nk_vec2(0,0); - return nk_vec2(ctx->current->layout->clip.x + ctx->current->layout->clip.w, - ctx->current->layout->clip.y + ctx->current->layout->clip.h); -} -NK_API struct nk_vec2 -nk_window_get_content_region_size(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current) return nk_vec2(0,0); - return nk_vec2(ctx->current->layout->clip.w, ctx->current->layout->clip.h); -} -NK_API struct nk_command_buffer* -nk_window_get_canvas(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current) return 0; - return &ctx->current->buffer; -} -NK_API struct nk_panel* -nk_window_get_panel(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return 0; - return ctx->current->layout; -} -NK_API void -nk_window_get_scroll(struct nk_context *ctx, nk_uint *offset_x, nk_uint *offset_y) -{ - struct nk_window *win; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return ; - win = ctx->current; - if (offset_x) - *offset_x = win->scrollbar.x; - if (offset_y) - *offset_y = win->scrollbar.y; -} -NK_API nk_bool -nk_window_has_focus(const struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current) return 0; - return ctx->current == ctx->active; -} -NK_API nk_bool -nk_window_is_hovered(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current || (ctx->current->flags & NK_WINDOW_HIDDEN)) - return 0; - else { - struct nk_rect actual_bounds = ctx->current->bounds; - if (ctx->begin->flags & NK_WINDOW_MINIMIZED) { - actual_bounds.h = ctx->current->layout->header_height; - } - return nk_input_is_mouse_hovering_rect(&ctx->input, actual_bounds); - } -} -NK_API nk_bool -nk_window_is_any_hovered(struct nk_context *ctx) -{ - struct nk_window *iter; - NK_ASSERT(ctx); - if (!ctx) return 0; - iter = ctx->begin; - while (iter) { - /* check if window is being hovered */ - if(!(iter->flags & NK_WINDOW_HIDDEN)) { - /* check if window popup is being hovered */ - if (iter->popup.active && iter->popup.win && nk_input_is_mouse_hovering_rect(&ctx->input, iter->popup.win->bounds)) - return 1; - - if (iter->flags & NK_WINDOW_MINIMIZED) { - struct nk_rect header = iter->bounds; - header.h = ctx->style.font->height + 2 * ctx->style.window.header.padding.y; - if (nk_input_is_mouse_hovering_rect(&ctx->input, header)) - return 1; - } else if (nk_input_is_mouse_hovering_rect(&ctx->input, iter->bounds)) { - return 1; - } - } - iter = iter->next; - } - return 0; -} -NK_API nk_bool -nk_item_is_any_active(struct nk_context *ctx) -{ - int any_hovered = nk_window_is_any_hovered(ctx); - int any_active = (ctx->last_widget_state & NK_WIDGET_STATE_MODIFIED); - return any_hovered || any_active; -} -NK_API nk_bool -nk_window_is_collapsed(struct nk_context *ctx, const char *name) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return 0; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (!win) return 0; - return win->flags & NK_WINDOW_MINIMIZED; -} -NK_API nk_bool -nk_window_is_closed(struct nk_context *ctx, const char *name) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return 1; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (!win) return 1; - return (win->flags & NK_WINDOW_CLOSED); -} -NK_API nk_bool -nk_window_is_hidden(struct nk_context *ctx, const char *name) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return 1; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (!win) return 1; - return (win->flags & NK_WINDOW_HIDDEN); -} -NK_API nk_bool -nk_window_is_active(struct nk_context *ctx, const char *name) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return 0; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (!win) return 0; - return win == ctx->active; -} -NK_API struct nk_window* -nk_window_find(struct nk_context *ctx, const char *name) -{ - int title_len; - nk_hash title_hash; - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - return nk_find_window(ctx, title_hash, name); -} -NK_API void -nk_window_close(struct nk_context *ctx, const char *name) -{ - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return; - win = nk_window_find(ctx, name); - if (!win) return; - NK_ASSERT(ctx->current != win && "You cannot close a currently active window"); - if (ctx->current == win) return; - win->flags |= NK_WINDOW_HIDDEN; - win->flags |= NK_WINDOW_CLOSED; -} -NK_API void -nk_window_set_bounds(struct nk_context *ctx, - const char *name, struct nk_rect bounds) -{ - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return; - win = nk_window_find(ctx, name); - if (!win) return; - NK_ASSERT(ctx->current != win && "You cannot update a currently in procecss window"); - win->bounds = bounds; -} -NK_API void -nk_window_set_position(struct nk_context *ctx, - const char *name, struct nk_vec2 pos) -{ - struct nk_window *win = nk_window_find(ctx, name); - if (!win) return; - win->bounds.x = pos.x; - win->bounds.y = pos.y; -} -NK_API void -nk_window_set_size(struct nk_context *ctx, - const char *name, struct nk_vec2 size) -{ - struct nk_window *win = nk_window_find(ctx, name); - if (!win) return; - win->bounds.w = size.x; - win->bounds.h = size.y; -} -NK_API void -nk_window_set_scroll(struct nk_context *ctx, nk_uint offset_x, nk_uint offset_y) -{ - struct nk_window *win; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return; - win = ctx->current; - win->scrollbar.x = offset_x; - win->scrollbar.y = offset_y; -} -NK_API void -nk_window_collapse(struct nk_context *ctx, const char *name, - enum nk_collapse_states c) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (!win) return; - if (c == NK_MINIMIZED) - win->flags |= NK_WINDOW_MINIMIZED; - else win->flags &= ~(nk_flags)NK_WINDOW_MINIMIZED; -} -NK_API void -nk_window_collapse_if(struct nk_context *ctx, const char *name, - enum nk_collapse_states c, int cond) -{ - NK_ASSERT(ctx); - if (!ctx || !cond) return; - nk_window_collapse(ctx, name, c); -} -NK_API void -nk_window_show(struct nk_context *ctx, const char *name, enum nk_show_states s) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (!win) return; - if (s == NK_HIDDEN) { - win->flags |= NK_WINDOW_HIDDEN; - } else win->flags &= ~(nk_flags)NK_WINDOW_HIDDEN; -} -NK_API void -nk_window_show_if(struct nk_context *ctx, const char *name, - enum nk_show_states s, int cond) -{ - NK_ASSERT(ctx); - if (!ctx || !cond) return; - nk_window_show(ctx, name, s); -} - -NK_API void -nk_window_set_focus(struct nk_context *ctx, const char *name) -{ - int title_len; - nk_hash title_hash; - struct nk_window *win; - NK_ASSERT(ctx); - if (!ctx) return; - - title_len = (int)nk_strlen(name); - title_hash = nk_murmur_hash(name, (int)title_len, NK_WINDOW_TITLE); - win = nk_find_window(ctx, title_hash, name); - if (win && ctx->end != win) { - nk_remove_window(ctx, win); - nk_insert_window(ctx, win, NK_INSERT_BACK); - } - ctx->active = win; -} - - - - -/* =============================================================== - * - * POPUP - * - * ===============================================================*/ -NK_API nk_bool -nk_popup_begin(struct nk_context *ctx, enum nk_popup_type type, - const char *title, nk_flags flags, struct nk_rect rect) -{ - struct nk_window *popup; - struct nk_window *win; - struct nk_panel *panel; - - int title_len; - nk_hash title_hash; - nk_size allocated; - - NK_ASSERT(ctx); - NK_ASSERT(title); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - panel = win->layout; - NK_ASSERT(!(panel->type & NK_PANEL_SET_POPUP) && "popups are not allowed to have popups"); - (void)panel; - title_len = (int)nk_strlen(title); - title_hash = nk_murmur_hash(title, (int)title_len, NK_PANEL_POPUP); - - popup = win->popup.win; - if (!popup) { - popup = (struct nk_window*)nk_create_window(ctx); - popup->parent = win; - win->popup.win = popup; - win->popup.active = 0; - win->popup.type = NK_PANEL_POPUP; - } - - /* make sure we have correct popup */ - if (win->popup.name != title_hash) { - if (!win->popup.active) { - nk_zero(popup, sizeof(*popup)); - win->popup.name = title_hash; - win->popup.active = 1; - win->popup.type = NK_PANEL_POPUP; - } else return 0; - } - - /* popup position is local to window */ - ctx->current = popup; - rect.x += win->layout->clip.x; - rect.y += win->layout->clip.y; - - /* setup popup data */ - popup->parent = win; - popup->bounds = rect; - popup->seq = ctx->seq; - popup->layout = (struct nk_panel*)nk_create_panel(ctx); - popup->flags = flags; - popup->flags |= NK_WINDOW_BORDER; - if (type == NK_POPUP_DYNAMIC) - popup->flags |= NK_WINDOW_DYNAMIC; - - popup->buffer = win->buffer; - nk_start_popup(ctx, win); - allocated = ctx->memory.allocated; - nk_push_scissor(&popup->buffer, nk_null_rect); - - if (nk_panel_begin(ctx, title, NK_PANEL_POPUP)) { - /* popup is running therefore invalidate parent panels */ - struct nk_panel *root; - root = win->layout; - while (root) { - root->flags |= NK_WINDOW_ROM; - root->flags &= ~(nk_flags)NK_WINDOW_REMOVE_ROM; - root = root->parent; - } - win->popup.active = 1; - popup->layout->offset_x = &popup->scrollbar.x; - popup->layout->offset_y = &popup->scrollbar.y; - popup->layout->parent = win->layout; - return 1; - } else { - /* popup was closed/is invalid so cleanup */ - struct nk_panel *root; - root = win->layout; - while (root) { - root->flags |= NK_WINDOW_REMOVE_ROM; - root = root->parent; - } - win->popup.buf.active = 0; - win->popup.active = 0; - ctx->memory.allocated = allocated; - ctx->current = win; - nk_free_panel(ctx, popup->layout); - popup->layout = 0; - return 0; - } -} -NK_LIB nk_bool -nk_nonblock_begin(struct nk_context *ctx, - nk_flags flags, struct nk_rect body, struct nk_rect header, - enum nk_panel_type panel_type) -{ - struct nk_window *popup; - struct nk_window *win; - struct nk_panel *panel; - int is_active = nk_true; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - /* popups cannot have popups */ - win = ctx->current; - panel = win->layout; - NK_ASSERT(!(panel->type & NK_PANEL_SET_POPUP)); - (void)panel; - popup = win->popup.win; - if (!popup) { - /* create window for nonblocking popup */ - popup = (struct nk_window*)nk_create_window(ctx); - popup->parent = win; - win->popup.win = popup; - win->popup.type = panel_type; - nk_command_buffer_init(&popup->buffer, &ctx->memory, NK_CLIPPING_ON); - } else { - /* close the popup if user pressed outside or in the header */ - int pressed, in_body, in_header; -#ifdef NK_BUTTON_TRIGGER_ON_RELEASE - pressed = nk_input_is_mouse_released(&ctx->input, NK_BUTTON_LEFT); -#else - pressed = nk_input_is_mouse_pressed(&ctx->input, NK_BUTTON_LEFT); -#endif - in_body = nk_input_is_mouse_hovering_rect(&ctx->input, body); - in_header = nk_input_is_mouse_hovering_rect(&ctx->input, header); - if (pressed && (!in_body || in_header)) - is_active = nk_false; - } - win->popup.header = header; - - if (!is_active) { - /* remove read only mode from all parent panels */ - struct nk_panel *root = win->layout; - while (root) { - root->flags |= NK_WINDOW_REMOVE_ROM; - root = root->parent; - } - return is_active; - } - popup->bounds = body; - popup->parent = win; - popup->layout = (struct nk_panel*)nk_create_panel(ctx); - popup->flags = flags; - popup->flags |= NK_WINDOW_BORDER; - popup->flags |= NK_WINDOW_DYNAMIC; - popup->seq = ctx->seq; - win->popup.active = 1; - NK_ASSERT(popup->layout); - - nk_start_popup(ctx, win); - popup->buffer = win->buffer; - nk_push_scissor(&popup->buffer, nk_null_rect); - ctx->current = popup; - - nk_panel_begin(ctx, 0, panel_type); - win->buffer = popup->buffer; - popup->layout->parent = win->layout; - popup->layout->offset_x = &popup->scrollbar.x; - popup->layout->offset_y = &popup->scrollbar.y; - - /* set read only mode to all parent panels */ - {struct nk_panel *root; - root = win->layout; - while (root) { - root->flags |= NK_WINDOW_ROM; - root = root->parent; - }} - return is_active; -} -NK_API void -nk_popup_close(struct nk_context *ctx) -{ - struct nk_window *popup; - NK_ASSERT(ctx); - if (!ctx || !ctx->current) return; - - popup = ctx->current; - NK_ASSERT(popup->parent); - NK_ASSERT(popup->layout->type & NK_PANEL_SET_POPUP); - popup->flags |= NK_WINDOW_HIDDEN; -} -NK_API void -nk_popup_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_window *popup; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - popup = ctx->current; - if (!popup->parent) return; - win = popup->parent; - if (popup->flags & NK_WINDOW_HIDDEN) { - struct nk_panel *root; - root = win->layout; - while (root) { - root->flags |= NK_WINDOW_REMOVE_ROM; - root = root->parent; - } - win->popup.active = 0; - } - nk_push_scissor(&popup->buffer, nk_null_rect); - nk_end(ctx); - - win->buffer = popup->buffer; - nk_finish_popup(ctx, win); - ctx->current = win; - nk_push_scissor(&win->buffer, win->layout->clip); -} -NK_API void -nk_popup_get_scroll(struct nk_context *ctx, nk_uint *offset_x, nk_uint *offset_y) -{ - struct nk_window *popup; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - popup = ctx->current; - if (offset_x) - *offset_x = popup->scrollbar.x; - if (offset_y) - *offset_y = popup->scrollbar.y; -} -NK_API void -nk_popup_set_scroll(struct nk_context *ctx, nk_uint offset_x, nk_uint offset_y) -{ - struct nk_window *popup; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - popup = ctx->current; - popup->scrollbar.x = offset_x; - popup->scrollbar.y = offset_y; -} - - - - -/* ============================================================== - * - * CONTEXTUAL - * - * ===============================================================*/ -NK_API nk_bool -nk_contextual_begin(struct nk_context *ctx, nk_flags flags, struct nk_vec2 size, - struct nk_rect trigger_bounds) -{ - struct nk_window *win; - struct nk_window *popup; - struct nk_rect body; - - NK_STORAGE const struct nk_rect null_rect = {-1,-1,0,0}; - int is_clicked = 0; - int is_open = 0; - int ret = 0; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - ++win->popup.con_count; - if (ctx->current != ctx->active) - return 0; - - /* check if currently active contextual is active */ - popup = win->popup.win; - is_open = (popup && win->popup.type == NK_PANEL_CONTEXTUAL); - is_clicked = nk_input_mouse_clicked(&ctx->input, NK_BUTTON_RIGHT, trigger_bounds); - if (win->popup.active_con && win->popup.con_count != win->popup.active_con) - return 0; - if (!is_open && win->popup.active_con) - win->popup.active_con = 0; - if ((!is_open && !is_clicked)) - return 0; - - /* calculate contextual position on click */ - win->popup.active_con = win->popup.con_count; - if (is_clicked) { - body.x = ctx->input.mouse.pos.x; - body.y = ctx->input.mouse.pos.y; - } else { - body.x = popup->bounds.x; - body.y = popup->bounds.y; - } - body.w = size.x; - body.h = size.y; - - /* start nonblocking contextual popup */ - ret = nk_nonblock_begin(ctx, flags|NK_WINDOW_NO_SCROLLBAR, body, - null_rect, NK_PANEL_CONTEXTUAL); - if (ret) win->popup.type = NK_PANEL_CONTEXTUAL; - else { - win->popup.active_con = 0; - win->popup.type = NK_PANEL_NONE; - if (win->popup.win) - win->popup.win->flags = 0; - } - return ret; -} -NK_API nk_bool -nk_contextual_item_text(struct nk_context *ctx, const char *text, int len, - nk_flags alignment) -{ - struct nk_window *win; - const struct nk_input *in; - const struct nk_style *style; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - state = nk_widget_fitting(&bounds, ctx, style->contextual_button.padding); - if (!state) return nk_false; - - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_text(&ctx->last_widget_state, &win->buffer, bounds, - text, len, alignment, NK_BUTTON_DEFAULT, &style->contextual_button, in, style->font)) { - nk_contextual_close(ctx); - return nk_true; - } - return nk_false; -} -NK_API nk_bool -nk_contextual_item_label(struct nk_context *ctx, const char *label, nk_flags align) -{ - return nk_contextual_item_text(ctx, label, nk_strlen(label), align); -} -NK_API nk_bool -nk_contextual_item_image_text(struct nk_context *ctx, struct nk_image img, - const char *text, int len, nk_flags align) -{ - struct nk_window *win; - const struct nk_input *in; - const struct nk_style *style; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - state = nk_widget_fitting(&bounds, ctx, style->contextual_button.padding); - if (!state) return nk_false; - - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_text_image(&ctx->last_widget_state, &win->buffer, bounds, - img, text, len, align, NK_BUTTON_DEFAULT, &style->contextual_button, style->font, in)){ - nk_contextual_close(ctx); - return nk_true; - } - return nk_false; -} -NK_API nk_bool -nk_contextual_item_image_label(struct nk_context *ctx, struct nk_image img, - const char *label, nk_flags align) -{ - return nk_contextual_item_image_text(ctx, img, label, nk_strlen(label), align); -} -NK_API nk_bool -nk_contextual_item_symbol_text(struct nk_context *ctx, enum nk_symbol_type symbol, - const char *text, int len, nk_flags align) -{ - struct nk_window *win; - const struct nk_input *in; - const struct nk_style *style; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - state = nk_widget_fitting(&bounds, ctx, style->contextual_button.padding); - if (!state) return nk_false; - - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_text_symbol(&ctx->last_widget_state, &win->buffer, bounds, - symbol, text, len, align, NK_BUTTON_DEFAULT, &style->contextual_button, style->font, in)) { - nk_contextual_close(ctx); - return nk_true; - } - return nk_false; -} -NK_API nk_bool -nk_contextual_item_symbol_label(struct nk_context *ctx, enum nk_symbol_type symbol, - const char *text, nk_flags align) -{ - return nk_contextual_item_symbol_text(ctx, symbol, text, nk_strlen(text), align); -} -NK_API void -nk_contextual_close(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) return; - nk_popup_close(ctx); -} -NK_API void -nk_contextual_end(struct nk_context *ctx) -{ - struct nk_window *popup; - struct nk_panel *panel; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return; - - popup = ctx->current; - panel = popup->layout; - NK_ASSERT(popup->parent); - NK_ASSERT(panel->type & NK_PANEL_SET_POPUP); - if (panel->flags & NK_WINDOW_DYNAMIC) { - /* Close behavior - This is a bit of a hack solution since we do not know before we end our popup - how big it will be. We therefore do not directly know when a - click outside the non-blocking popup must close it at that direct frame. - Instead it will be closed in the next frame.*/ - struct nk_rect body = {0,0,0,0}; - if (panel->at_y < (panel->bounds.y + panel->bounds.h)) { - struct nk_vec2 padding = nk_panel_get_padding(&ctx->style, panel->type); - body = panel->bounds; - body.y = (panel->at_y + panel->footer_height + panel->border + padding.y + panel->row.height); - body.h = (panel->bounds.y + panel->bounds.h) - body.y; - } - {int pressed = nk_input_is_mouse_pressed(&ctx->input, NK_BUTTON_LEFT); - int in_body = nk_input_is_mouse_hovering_rect(&ctx->input, body); - if (pressed && in_body) - popup->flags |= NK_WINDOW_HIDDEN; - } - } - if (popup->flags & NK_WINDOW_HIDDEN) - popup->seq = 0; - nk_popup_end(ctx); - return; -} - - - - - -/* =============================================================== - * - * MENU - * - * ===============================================================*/ -NK_API void -nk_menubar_begin(struct nk_context *ctx) -{ - struct nk_panel *layout; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - layout = ctx->current->layout; - NK_ASSERT(layout->at_y == layout->bounds.y); - /* if this assert triggers you allocated space between nk_begin and nk_menubar_begin. - If you want a menubar the first nuklear function after `nk_begin` has to be a - `nk_menubar_begin` call. Inside the menubar you then have to allocate space for - widgets (also supports multiple rows). - Example: - if (nk_begin(...)) { - nk_menubar_begin(...); - nk_layout_xxxx(...); - nk_button(...); - nk_layout_xxxx(...); - nk_button(...); - nk_menubar_end(...); - } - nk_end(...); - */ - if (layout->flags & NK_WINDOW_HIDDEN || layout->flags & NK_WINDOW_MINIMIZED) - return; - - layout->menu.x = layout->at_x; - layout->menu.y = layout->at_y + layout->row.height; - layout->menu.w = layout->bounds.w; - layout->menu.offset.x = *layout->offset_x; - layout->menu.offset.y = *layout->offset_y; - *layout->offset_y = 0; -} -NK_API void -nk_menubar_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - struct nk_command_buffer *out; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - out = &win->buffer; - layout = win->layout; - if (layout->flags & NK_WINDOW_HIDDEN || layout->flags & NK_WINDOW_MINIMIZED) - return; - - layout->menu.h = layout->at_y - layout->menu.y; - layout->menu.h += layout->row.height + ctx->style.window.spacing.y; - - layout->bounds.y += layout->menu.h; - layout->bounds.h -= layout->menu.h; - - *layout->offset_x = layout->menu.offset.x; - *layout->offset_y = layout->menu.offset.y; - layout->at_y = layout->bounds.y - layout->row.height; - - layout->clip.y = layout->bounds.y; - layout->clip.h = layout->bounds.h; - nk_push_scissor(out, layout->clip); -} -NK_INTERN int -nk_menu_begin(struct nk_context *ctx, struct nk_window *win, - const char *id, int is_clicked, struct nk_rect header, struct nk_vec2 size) -{ - int is_open = 0; - int is_active = 0; - struct nk_rect body; - struct nk_window *popup; - nk_hash hash = nk_murmur_hash(id, (int)nk_strlen(id), NK_PANEL_MENU); - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - body.x = header.x; - body.w = size.x; - body.y = header.y + header.h; - body.h = size.y; - - popup = win->popup.win; - is_open = popup ? nk_true : nk_false; - is_active = (popup && (win->popup.name == hash) && win->popup.type == NK_PANEL_MENU); - if ((is_clicked && is_open && !is_active) || (is_open && !is_active) || - (!is_open && !is_active && !is_clicked)) return 0; - if (!nk_nonblock_begin(ctx, NK_WINDOW_NO_SCROLLBAR, body, header, NK_PANEL_MENU)) - return 0; - - win->popup.type = NK_PANEL_MENU; - win->popup.name = hash; - return 1; -} -NK_API nk_bool -nk_menu_begin_text(struct nk_context *ctx, const char *title, int len, - nk_flags align, struct nk_vec2 size) -{ - struct nk_window *win; - const struct nk_input *in; - struct nk_rect header; - int is_clicked = nk_false; - nk_flags state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - state = nk_widget(&header, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || win->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_text(&ctx->last_widget_state, &win->buffer, header, - title, len, align, NK_BUTTON_DEFAULT, &ctx->style.menu_button, in, ctx->style.font)) - is_clicked = nk_true; - return nk_menu_begin(ctx, win, title, is_clicked, header, size); -} -NK_API nk_bool nk_menu_begin_label(struct nk_context *ctx, - const char *text, nk_flags align, struct nk_vec2 size) -{ - return nk_menu_begin_text(ctx, text, nk_strlen(text), align, size); -} -NK_API nk_bool -nk_menu_begin_image(struct nk_context *ctx, const char *id, struct nk_image img, - struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_rect header; - const struct nk_input *in; - int is_clicked = nk_false; - nk_flags state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - state = nk_widget(&header, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_image(&ctx->last_widget_state, &win->buffer, header, - img, NK_BUTTON_DEFAULT, &ctx->style.menu_button, in)) - is_clicked = nk_true; - return nk_menu_begin(ctx, win, id, is_clicked, header, size); -} -NK_API nk_bool -nk_menu_begin_symbol(struct nk_context *ctx, const char *id, - enum nk_symbol_type sym, struct nk_vec2 size) -{ - struct nk_window *win; - const struct nk_input *in; - struct nk_rect header; - int is_clicked = nk_false; - nk_flags state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - state = nk_widget(&header, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_symbol(&ctx->last_widget_state, &win->buffer, header, - sym, NK_BUTTON_DEFAULT, &ctx->style.menu_button, in, ctx->style.font)) - is_clicked = nk_true; - return nk_menu_begin(ctx, win, id, is_clicked, header, size); -} -NK_API nk_bool -nk_menu_begin_image_text(struct nk_context *ctx, const char *title, int len, - nk_flags align, struct nk_image img, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_rect header; - const struct nk_input *in; - int is_clicked = nk_false; - nk_flags state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - state = nk_widget(&header, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_text_image(&ctx->last_widget_state, &win->buffer, - header, img, title, len, align, NK_BUTTON_DEFAULT, &ctx->style.menu_button, - ctx->style.font, in)) - is_clicked = nk_true; - return nk_menu_begin(ctx, win, title, is_clicked, header, size); -} -NK_API nk_bool -nk_menu_begin_image_label(struct nk_context *ctx, - const char *title, nk_flags align, struct nk_image img, struct nk_vec2 size) -{ - return nk_menu_begin_image_text(ctx, title, nk_strlen(title), align, img, size); -} -NK_API nk_bool -nk_menu_begin_symbol_text(struct nk_context *ctx, const char *title, int len, - nk_flags align, enum nk_symbol_type sym, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_rect header; - const struct nk_input *in; - int is_clicked = nk_false; - nk_flags state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - state = nk_widget(&header, ctx); - if (!state) return 0; - - in = (state == NK_WIDGET_ROM || win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - if (nk_do_button_text_symbol(&ctx->last_widget_state, &win->buffer, - header, sym, title, len, align, NK_BUTTON_DEFAULT, &ctx->style.menu_button, - ctx->style.font, in)) is_clicked = nk_true; - return nk_menu_begin(ctx, win, title, is_clicked, header, size); -} -NK_API nk_bool -nk_menu_begin_symbol_label(struct nk_context *ctx, - const char *title, nk_flags align, enum nk_symbol_type sym, struct nk_vec2 size ) -{ - return nk_menu_begin_symbol_text(ctx, title, nk_strlen(title), align,sym,size); -} -NK_API nk_bool -nk_menu_item_text(struct nk_context *ctx, const char *title, int len, nk_flags align) -{ - return nk_contextual_item_text(ctx, title, len, align); -} -NK_API nk_bool -nk_menu_item_label(struct nk_context *ctx, const char *label, nk_flags align) -{ - return nk_contextual_item_label(ctx, label, align); -} -NK_API nk_bool -nk_menu_item_image_label(struct nk_context *ctx, struct nk_image img, - const char *label, nk_flags align) -{ - return nk_contextual_item_image_label(ctx, img, label, align); -} -NK_API nk_bool -nk_menu_item_image_text(struct nk_context *ctx, struct nk_image img, - const char *text, int len, nk_flags align) -{ - return nk_contextual_item_image_text(ctx, img, text, len, align); -} -NK_API nk_bool nk_menu_item_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, - const char *text, int len, nk_flags align) -{ - return nk_contextual_item_symbol_text(ctx, sym, text, len, align); -} -NK_API nk_bool nk_menu_item_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, - const char *label, nk_flags align) -{ - return nk_contextual_item_symbol_label(ctx, sym, label, align); -} -NK_API void nk_menu_close(struct nk_context *ctx) -{ - nk_contextual_close(ctx); -} -NK_API void -nk_menu_end(struct nk_context *ctx) -{ - nk_contextual_end(ctx); -} - - - - - -/* =============================================================== - * - * LAYOUT - * - * ===============================================================*/ -NK_API void -nk_layout_set_min_row_height(struct nk_context *ctx, float height) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - layout->row.min_height = height; -} -NK_API void -nk_layout_reset_min_row_height(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - layout->row.min_height = ctx->style.font->height; - layout->row.min_height += ctx->style.text.padding.y*2; - layout->row.min_height += ctx->style.window.min_row_height_padding*2; -} -NK_LIB float -nk_layout_row_calculate_usable_space(const struct nk_style *style, enum nk_panel_type type, - float total_space, int columns) -{ - float panel_spacing; - float panel_space; - - struct nk_vec2 spacing; - - NK_UNUSED(type); - - spacing = style->window.spacing; - - /* calculate the usable panel space */ - panel_spacing = (float)NK_MAX(columns - 1, 0) * spacing.x; - panel_space = total_space - panel_spacing; - return panel_space; -} -NK_LIB void -nk_panel_layout(const struct nk_context *ctx, struct nk_window *win, - float height, int cols) -{ - struct nk_panel *layout; - const struct nk_style *style; - struct nk_command_buffer *out; - - struct nk_vec2 item_spacing; - struct nk_color color; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - /* prefetch some configuration data */ - layout = win->layout; - style = &ctx->style; - out = &win->buffer; - color = style->window.background; - item_spacing = style->window.spacing; - - /* if one of these triggers you forgot to add an `if` condition around either - a window, group, popup, combobox or contextual menu `begin` and `end` block. - Example: - if (nk_begin(...) {...} nk_end(...); or - if (nk_group_begin(...) { nk_group_end(...);} */ - NK_ASSERT(!(layout->flags & NK_WINDOW_MINIMIZED)); - NK_ASSERT(!(layout->flags & NK_WINDOW_HIDDEN)); - NK_ASSERT(!(layout->flags & NK_WINDOW_CLOSED)); - - /* update the current row and set the current row layout */ - layout->row.index = 0; - layout->at_y += layout->row.height; - layout->row.columns = cols; - if (height == 0.0f) - layout->row.height = NK_MAX(height, layout->row.min_height) + item_spacing.y; - else layout->row.height = height + item_spacing.y; - - layout->row.item_offset = 0; - if (layout->flags & NK_WINDOW_DYNAMIC) { - /* draw background for dynamic panels */ - struct nk_rect background; - background.x = win->bounds.x; - background.w = win->bounds.w; - background.y = layout->at_y - 1.0f; - background.h = layout->row.height + 1.0f; - nk_fill_rect(out, background, 0, color); - } -} -NK_LIB void -nk_row_layout(struct nk_context *ctx, enum nk_layout_format fmt, - float height, int cols, int width) -{ - /* update the current row and set the current row layout */ - struct nk_window *win; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - nk_panel_layout(ctx, win, height, cols); - if (fmt == NK_DYNAMIC) - win->layout->row.type = NK_LAYOUT_DYNAMIC_FIXED; - else win->layout->row.type = NK_LAYOUT_STATIC_FIXED; - - win->layout->row.ratio = 0; - win->layout->row.filled = 0; - win->layout->row.item_offset = 0; - win->layout->row.item_width = (float)width; -} -NK_API float -nk_layout_ratio_from_pixel(struct nk_context *ctx, float pixel_width) -{ - struct nk_window *win; - NK_ASSERT(ctx); - NK_ASSERT(pixel_width); - if (!ctx || !ctx->current || !ctx->current->layout) return 0; - win = ctx->current; - return NK_CLAMP(0.0f, pixel_width/win->bounds.x, 1.0f); -} -NK_API void -nk_layout_row_dynamic(struct nk_context *ctx, float height, int cols) -{ - nk_row_layout(ctx, NK_DYNAMIC, height, cols, 0); -} -NK_API void -nk_layout_row_static(struct nk_context *ctx, float height, int item_width, int cols) -{ - nk_row_layout(ctx, NK_STATIC, height, cols, item_width); -} -NK_API void -nk_layout_row_begin(struct nk_context *ctx, enum nk_layout_format fmt, - float row_height, int cols) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - nk_panel_layout(ctx, win, row_height, cols); - if (fmt == NK_DYNAMIC) - layout->row.type = NK_LAYOUT_DYNAMIC_ROW; - else layout->row.type = NK_LAYOUT_STATIC_ROW; - - layout->row.ratio = 0; - layout->row.filled = 0; - layout->row.item_width = 0; - layout->row.item_offset = 0; - layout->row.columns = cols; -} -NK_API void -nk_layout_row_push(struct nk_context *ctx, float ratio_or_width) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - NK_ASSERT(layout->row.type == NK_LAYOUT_STATIC_ROW || layout->row.type == NK_LAYOUT_DYNAMIC_ROW); - if (layout->row.type != NK_LAYOUT_STATIC_ROW && layout->row.type != NK_LAYOUT_DYNAMIC_ROW) - return; - - if (layout->row.type == NK_LAYOUT_DYNAMIC_ROW) { - float ratio = ratio_or_width; - if ((ratio + layout->row.filled) > 1.0f) return; - if (ratio > 0.0f) - layout->row.item_width = NK_SATURATE(ratio); - else layout->row.item_width = 1.0f - layout->row.filled; - } else layout->row.item_width = ratio_or_width; -} -NK_API void -nk_layout_row_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - NK_ASSERT(layout->row.type == NK_LAYOUT_STATIC_ROW || layout->row.type == NK_LAYOUT_DYNAMIC_ROW); - if (layout->row.type != NK_LAYOUT_STATIC_ROW && layout->row.type != NK_LAYOUT_DYNAMIC_ROW) - return; - layout->row.item_width = 0; - layout->row.item_offset = 0; -} -NK_API void -nk_layout_row(struct nk_context *ctx, enum nk_layout_format fmt, - float height, int cols, const float *ratio) -{ - int i; - int n_undef = 0; - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - nk_panel_layout(ctx, win, height, cols); - if (fmt == NK_DYNAMIC) { - /* calculate width of undefined widget ratios */ - float r = 0; - layout->row.ratio = ratio; - for (i = 0; i < cols; ++i) { - if (ratio[i] < 0.0f) - n_undef++; - else r += ratio[i]; - } - r = NK_SATURATE(1.0f - r); - layout->row.type = NK_LAYOUT_DYNAMIC; - layout->row.item_width = (r > 0 && n_undef > 0) ? (r / (float)n_undef):0; - } else { - layout->row.ratio = ratio; - layout->row.type = NK_LAYOUT_STATIC; - layout->row.item_width = 0; - layout->row.item_offset = 0; - } - layout->row.item_offset = 0; - layout->row.filled = 0; -} -NK_API void -nk_layout_row_template_begin(struct nk_context *ctx, float height) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - nk_panel_layout(ctx, win, height, 1); - layout->row.type = NK_LAYOUT_TEMPLATE; - layout->row.columns = 0; - layout->row.ratio = 0; - layout->row.item_width = 0; - layout->row.item_height = 0; - layout->row.item_offset = 0; - layout->row.filled = 0; - layout->row.item.x = 0; - layout->row.item.y = 0; - layout->row.item.w = 0; - layout->row.item.h = 0; -} -NK_API void -nk_layout_row_template_push_dynamic(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); - NK_ASSERT(layout->row.columns < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); - if (layout->row.type != NK_LAYOUT_TEMPLATE) return; - if (layout->row.columns >= NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS) return; - layout->row.templates[layout->row.columns++] = -1.0f; -} -NK_API void -nk_layout_row_template_push_variable(struct nk_context *ctx, float min_width) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); - NK_ASSERT(layout->row.columns < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); - if (layout->row.type != NK_LAYOUT_TEMPLATE) return; - if (layout->row.columns >= NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS) return; - layout->row.templates[layout->row.columns++] = -min_width; -} -NK_API void -nk_layout_row_template_push_static(struct nk_context *ctx, float width) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); - NK_ASSERT(layout->row.columns < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); - if (layout->row.type != NK_LAYOUT_TEMPLATE) return; - if (layout->row.columns >= NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS) return; - layout->row.templates[layout->row.columns++] = width; -} -NK_API void -nk_layout_row_template_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - - int i = 0; - int variable_count = 0; - int min_variable_count = 0; - float min_fixed_width = 0.0f; - float total_fixed_width = 0.0f; - float max_variable_width = 0.0f; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - NK_ASSERT(layout->row.type == NK_LAYOUT_TEMPLATE); - if (layout->row.type != NK_LAYOUT_TEMPLATE) return; - for (i = 0; i < layout->row.columns; ++i) { - float width = layout->row.templates[i]; - if (width >= 0.0f) { - total_fixed_width += width; - min_fixed_width += width; - } else if (width < -1.0f) { - width = -width; - total_fixed_width += width; - max_variable_width = NK_MAX(max_variable_width, width); - variable_count++; - } else { - min_variable_count++; - variable_count++; - } - } - if (variable_count) { - float space = nk_layout_row_calculate_usable_space(&ctx->style, layout->type, - layout->bounds.w, layout->row.columns); - float var_width = (NK_MAX(space-min_fixed_width,0.0f)) / (float)variable_count; - int enough_space = var_width >= max_variable_width; - if (!enough_space) - var_width = (NK_MAX(space-total_fixed_width,0)) / (float)min_variable_count; - for (i = 0; i < layout->row.columns; ++i) { - float *width = &layout->row.templates[i]; - *width = (*width >= 0.0f)? *width: (*width < -1.0f && !enough_space)? -(*width): var_width; - } - } -} -NK_API void -nk_layout_space_begin(struct nk_context *ctx, enum nk_layout_format fmt, - float height, int widget_count) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - nk_panel_layout(ctx, win, height, widget_count); - if (fmt == NK_STATIC) - layout->row.type = NK_LAYOUT_STATIC_FREE; - else layout->row.type = NK_LAYOUT_DYNAMIC_FREE; - - layout->row.ratio = 0; - layout->row.filled = 0; - layout->row.item_width = 0; - layout->row.item_offset = 0; -} -NK_API void -nk_layout_space_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - layout->row.item_width = 0; - layout->row.item_height = 0; - layout->row.item_offset = 0; - nk_zero(&layout->row.item, sizeof(layout->row.item)); -} -NK_API void -nk_layout_space_push(struct nk_context *ctx, struct nk_rect rect) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - layout->row.item = rect; -} -NK_API struct nk_rect -nk_layout_space_bounds(struct nk_context *ctx) -{ - struct nk_rect ret; - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - win = ctx->current; - layout = win->layout; - - ret.x = layout->clip.x; - ret.y = layout->clip.y; - ret.w = layout->clip.w; - ret.h = layout->row.height; - return ret; -} -NK_API struct nk_rect -nk_layout_widget_bounds(struct nk_context *ctx) -{ - struct nk_rect ret; - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - win = ctx->current; - layout = win->layout; - - ret.x = layout->at_x; - ret.y = layout->at_y; - ret.w = layout->bounds.w - NK_MAX(layout->at_x - layout->bounds.x,0); - ret.h = layout->row.height; - return ret; -} -NK_API struct nk_vec2 -nk_layout_space_to_screen(struct nk_context *ctx, struct nk_vec2 ret) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - win = ctx->current; - layout = win->layout; - - ret.x += layout->at_x - (float)*layout->offset_x; - ret.y += layout->at_y - (float)*layout->offset_y; - return ret; -} -NK_API struct nk_vec2 -nk_layout_space_to_local(struct nk_context *ctx, struct nk_vec2 ret) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - win = ctx->current; - layout = win->layout; - - ret.x += -layout->at_x + (float)*layout->offset_x; - ret.y += -layout->at_y + (float)*layout->offset_y; - return ret; -} -NK_API struct nk_rect -nk_layout_space_rect_to_screen(struct nk_context *ctx, struct nk_rect ret) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - win = ctx->current; - layout = win->layout; - - ret.x += layout->at_x - (float)*layout->offset_x; - ret.y += layout->at_y - (float)*layout->offset_y; - return ret; -} -NK_API struct nk_rect -nk_layout_space_rect_to_local(struct nk_context *ctx, struct nk_rect ret) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - win = ctx->current; - layout = win->layout; - - ret.x += -layout->at_x + (float)*layout->offset_x; - ret.y += -layout->at_y + (float)*layout->offset_y; - return ret; -} -NK_LIB void -nk_panel_alloc_row(const struct nk_context *ctx, struct nk_window *win) -{ - struct nk_panel *layout = win->layout; - struct nk_vec2 spacing = ctx->style.window.spacing; - const float row_height = layout->row.height - spacing.y; - nk_panel_layout(ctx, win, row_height, layout->row.columns); -} -NK_LIB void -nk_layout_widget_space(struct nk_rect *bounds, const struct nk_context *ctx, - struct nk_window *win, int modify) -{ - struct nk_panel *layout; - const struct nk_style *style; - - struct nk_vec2 spacing; - - float item_offset = 0; - float item_width = 0; - float item_spacing = 0; - float panel_space = 0; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - style = &ctx->style; - NK_ASSERT(bounds); - - spacing = style->window.spacing; - panel_space = nk_layout_row_calculate_usable_space(&ctx->style, layout->type, - layout->bounds.w, layout->row.columns); - - #define NK_FRAC(x) (x - (float)(int)x) /* will be used to remove fookin gaps */ - /* calculate the width of one item inside the current layout space */ - switch (layout->row.type) { - case NK_LAYOUT_DYNAMIC_FIXED: { - /* scaling fixed size widgets item width */ - float w = NK_MAX(1.0f,panel_space) / (float)layout->row.columns; - item_offset = (float)layout->row.index * w; - item_width = w + NK_FRAC(item_offset); - item_spacing = (float)layout->row.index * spacing.x; - } break; - case NK_LAYOUT_DYNAMIC_ROW: { - /* scaling single ratio widget width */ - float w = layout->row.item_width * panel_space; - item_offset = layout->row.item_offset; - item_width = w + NK_FRAC(item_offset); - item_spacing = 0; - - if (modify) { - layout->row.item_offset += w + spacing.x; - layout->row.filled += layout->row.item_width; - layout->row.index = 0; - } - } break; - case NK_LAYOUT_DYNAMIC_FREE: { - /* panel width depended free widget placing */ - bounds->x = layout->at_x + (layout->bounds.w * layout->row.item.x); - bounds->x -= (float)*layout->offset_x; - bounds->y = layout->at_y + (layout->row.height * layout->row.item.y); - bounds->y -= (float)*layout->offset_y; - bounds->w = layout->bounds.w * layout->row.item.w + NK_FRAC(bounds->x); - bounds->h = layout->row.height * layout->row.item.h + NK_FRAC(bounds->y); - return; - } - case NK_LAYOUT_DYNAMIC: { - /* scaling arrays of panel width ratios for every widget */ - float ratio, w; - NK_ASSERT(layout->row.ratio); - ratio = (layout->row.ratio[layout->row.index] < 0) ? - layout->row.item_width : layout->row.ratio[layout->row.index]; - - w = (ratio * panel_space); - item_spacing = (float)layout->row.index * spacing.x; - item_offset = layout->row.item_offset; - item_width = w + NK_FRAC(item_offset); - - if (modify) { - layout->row.item_offset += w; - layout->row.filled += ratio; - } - } break; - case NK_LAYOUT_STATIC_FIXED: { - /* non-scaling fixed widgets item width */ - item_width = layout->row.item_width; - item_offset = (float)layout->row.index * item_width; - item_spacing = (float)layout->row.index * spacing.x; - } break; - case NK_LAYOUT_STATIC_ROW: { - /* scaling single ratio widget width */ - item_width = layout->row.item_width; - item_offset = layout->row.item_offset; - item_spacing = (float)layout->row.index * spacing.x; - if (modify) layout->row.item_offset += item_width; - } break; - case NK_LAYOUT_STATIC_FREE: { - /* free widget placing */ - bounds->x = layout->at_x + layout->row.item.x; - bounds->w = layout->row.item.w; - if (((bounds->x + bounds->w) > layout->max_x) && modify) - layout->max_x = (bounds->x + bounds->w); - bounds->x -= (float)*layout->offset_x; - bounds->y = layout->at_y + layout->row.item.y; - bounds->y -= (float)*layout->offset_y; - bounds->h = layout->row.item.h; - return; - } - case NK_LAYOUT_STATIC: { - /* non-scaling array of panel pixel width for every widget */ - item_spacing = (float)layout->row.index * spacing.x; - item_width = layout->row.ratio[layout->row.index]; - item_offset = layout->row.item_offset; - if (modify) layout->row.item_offset += item_width; - } break; - case NK_LAYOUT_TEMPLATE: { - /* stretchy row layout with combined dynamic/static widget width*/ - float w; - NK_ASSERT(layout->row.index < layout->row.columns); - NK_ASSERT(layout->row.index < NK_MAX_LAYOUT_ROW_TEMPLATE_COLUMNS); - w = layout->row.templates[layout->row.index]; - item_offset = layout->row.item_offset; - item_width = w + NK_FRAC(item_offset); - item_spacing = (float)layout->row.index * spacing.x; - if (modify) layout->row.item_offset += w; - } break; - #undef NK_FRAC - default: NK_ASSERT(0); break; - }; - - /* set the bounds of the newly allocated widget */ - bounds->w = item_width; - bounds->h = layout->row.height - spacing.y; - bounds->y = layout->at_y - (float)*layout->offset_y; - bounds->x = layout->at_x + item_offset + item_spacing; - if (((bounds->x + bounds->w) > layout->max_x) && modify) - layout->max_x = bounds->x + bounds->w; - bounds->x -= (float)*layout->offset_x; -} -NK_LIB void -nk_panel_alloc_space(struct nk_rect *bounds, const struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - /* check if the end of the row has been hit and begin new row if so */ - win = ctx->current; - layout = win->layout; - if (layout->row.index >= layout->row.columns) - nk_panel_alloc_row(ctx, win); - - /* calculate widget position and size */ - nk_layout_widget_space(bounds, ctx, win, nk_true); - layout->row.index++; -} -NK_LIB void -nk_layout_peek(struct nk_rect *bounds, struct nk_context *ctx) -{ - float y; - int index; - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) { - *bounds = nk_rect(0,0,0,0); - return; - } - - win = ctx->current; - layout = win->layout; - y = layout->at_y; - index = layout->row.index; - if (layout->row.index >= layout->row.columns) { - layout->at_y += layout->row.height; - layout->row.index = 0; - } - nk_layout_widget_space(bounds, ctx, win, nk_false); - if (!layout->row.index) { - bounds->x -= layout->row.item_offset; - } - layout->at_y = y; - layout->row.index = index; -} -NK_API void -nk_spacer(struct nk_context *ctx ) -{ - struct nk_rect dummy_rect = { 0, 0, 0, 0 }; - nk_panel_alloc_space( &dummy_rect, ctx ); -} - - - - -/* =============================================================== - * - * TREE - * - * ===============================================================*/ -NK_INTERN int -nk_tree_state_base(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image *img, const char *title, enum nk_collapse_states *state) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_style *style; - struct nk_command_buffer *out; - const struct nk_input *in; - const struct nk_style_button *button; - enum nk_symbol_type symbol; - float row_height; - - struct nk_vec2 item_spacing; - struct nk_rect header = {0,0,0,0}; - struct nk_rect sym = {0,0,0,0}; - struct nk_text text; - - nk_flags ws = 0; - enum nk_widget_layout_states widget_state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - /* cache some data */ - win = ctx->current; - layout = win->layout; - out = &win->buffer; - style = &ctx->style; - item_spacing = style->window.spacing; - - /* calculate header bounds and draw background */ - row_height = style->font->height + 2 * style->tab.padding.y; - nk_layout_set_min_row_height(ctx, row_height); - nk_layout_row_dynamic(ctx, row_height, 1); - nk_layout_reset_min_row_height(ctx); - - widget_state = nk_widget(&header, ctx); - if (type == NK_TREE_TAB) { - const struct nk_style_item *background = &style->tab.background; - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, header, 0, style->tab.border_color); - nk_fill_rect(out, nk_shrink_rect(header, style->tab.border), - style->tab.rounding, background->data.color); - break; - } - } else text.background = style->window.background; - - /* update node state */ - in = (!(layout->flags & NK_WINDOW_ROM)) ? &ctx->input: 0; - in = (in && widget_state == NK_WIDGET_VALID) ? &ctx->input : 0; - if (nk_button_behavior(&ws, header, in, NK_BUTTON_DEFAULT)) - *state = (*state == NK_MAXIMIZED) ? NK_MINIMIZED : NK_MAXIMIZED; - - /* select correct button style */ - if (*state == NK_MAXIMIZED) { - symbol = style->tab.sym_maximize; - if (type == NK_TREE_TAB) - button = &style->tab.tab_maximize_button; - else button = &style->tab.node_maximize_button; - } else { - symbol = style->tab.sym_minimize; - if (type == NK_TREE_TAB) - button = &style->tab.tab_minimize_button; - else button = &style->tab.node_minimize_button; - } - - {/* draw triangle button */ - sym.w = sym.h = style->font->height; - sym.y = header.y + style->tab.padding.y; - sym.x = header.x + style->tab.padding.x; - nk_do_button_symbol(&ws, &win->buffer, sym, symbol, NK_BUTTON_DEFAULT, - button, 0, style->font); - - if (img) { - /* draw optional image icon */ - sym.x = sym.x + sym.w + 4 * item_spacing.x; - nk_draw_image(&win->buffer, sym, img, nk_white); - sym.w = style->font->height + style->tab.spacing.x;} - } - - {/* draw label */ - struct nk_rect label; - header.w = NK_MAX(header.w, sym.w + item_spacing.x); - label.x = sym.x + sym.w + item_spacing.x; - label.y = sym.y; - label.w = header.w - (sym.w + item_spacing.y + style->tab.indent); - label.h = style->font->height; - text.text = style->tab.text; - text.padding = nk_vec2(0,0); - nk_widget_text(out, label, title, nk_strlen(title), &text, - NK_TEXT_LEFT, style->font);} - - /* increase x-axis cursor widget position pointer */ - if (*state == NK_MAXIMIZED) { - layout->at_x = header.x + (float)*layout->offset_x + style->tab.indent; - layout->bounds.w = NK_MAX(layout->bounds.w, style->tab.indent); - layout->bounds.w -= (style->tab.indent + style->window.padding.x); - layout->row.tree_depth++; - return nk_true; - } else return nk_false; -} -NK_INTERN int -nk_tree_base(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image *img, const char *title, enum nk_collapse_states initial_state, - const char *hash, int len, int line) -{ - struct nk_window *win = ctx->current; - int title_len = 0; - nk_hash tree_hash = 0; - nk_uint *state = 0; - - /* retrieve tree state from internal widget state tables */ - if (!hash) { - title_len = (int)nk_strlen(title); - tree_hash = nk_murmur_hash(title, (int)title_len, (nk_hash)line); - } else tree_hash = nk_murmur_hash(hash, len, (nk_hash)line); - state = nk_find_value(win, tree_hash); - if (!state) { - state = nk_add_value(ctx, win, tree_hash, 0); - *state = initial_state; - } - return nk_tree_state_base(ctx, type, img, title, (enum nk_collapse_states*)state); -} -NK_API nk_bool -nk_tree_state_push(struct nk_context *ctx, enum nk_tree_type type, - const char *title, enum nk_collapse_states *state) -{ - return nk_tree_state_base(ctx, type, 0, title, state); -} -NK_API nk_bool -nk_tree_state_image_push(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image img, const char *title, enum nk_collapse_states *state) -{ - return nk_tree_state_base(ctx, type, &img, title, state); -} -NK_API void -nk_tree_state_pop(struct nk_context *ctx) -{ - struct nk_window *win = 0; - struct nk_panel *layout = 0; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - layout->at_x -= ctx->style.tab.indent + (float)*layout->offset_x; - layout->bounds.w += ctx->style.tab.indent + ctx->style.window.padding.x; - NK_ASSERT(layout->row.tree_depth); - layout->row.tree_depth--; -} -NK_API nk_bool -nk_tree_push_hashed(struct nk_context *ctx, enum nk_tree_type type, - const char *title, enum nk_collapse_states initial_state, - const char *hash, int len, int line) -{ - return nk_tree_base(ctx, type, 0, title, initial_state, hash, len, line); -} -NK_API nk_bool -nk_tree_image_push_hashed(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image img, const char *title, enum nk_collapse_states initial_state, - const char *hash, int len,int seed) -{ - return nk_tree_base(ctx, type, &img, title, initial_state, hash, len, seed); -} -NK_API void -nk_tree_pop(struct nk_context *ctx) -{ - nk_tree_state_pop(ctx); -} -NK_INTERN int -nk_tree_element_image_push_hashed_base(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image *img, const char *title, int title_len, - enum nk_collapse_states *state, nk_bool *selected) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_style *style; - struct nk_command_buffer *out; - const struct nk_input *in; - const struct nk_style_button *button; - enum nk_symbol_type symbol; - float row_height; - struct nk_vec2 padding; - - int text_len; - float text_width; - - struct nk_vec2 item_spacing; - struct nk_rect header = {0,0,0,0}; - struct nk_rect sym = {0,0,0,0}; - - nk_flags ws = 0; - enum nk_widget_layout_states widget_state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - /* cache some data */ - win = ctx->current; - layout = win->layout; - out = &win->buffer; - style = &ctx->style; - item_spacing = style->window.spacing; - padding = style->selectable.padding; - - /* calculate header bounds and draw background */ - row_height = style->font->height + 2 * style->tab.padding.y; - nk_layout_set_min_row_height(ctx, row_height); - nk_layout_row_dynamic(ctx, row_height, 1); - nk_layout_reset_min_row_height(ctx); - - widget_state = nk_widget(&header, ctx); - if (type == NK_TREE_TAB) { - const struct nk_style_item *background = &style->tab.background; - - switch (background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, header, 0, style->tab.border_color); - nk_fill_rect(out, nk_shrink_rect(header, style->tab.border), - style->tab.rounding, background->data.color); - break; - } - } - - in = (!(layout->flags & NK_WINDOW_ROM)) ? &ctx->input: 0; - in = (in && widget_state == NK_WIDGET_VALID) ? &ctx->input : 0; - - /* select correct button style */ - if (*state == NK_MAXIMIZED) { - symbol = style->tab.sym_maximize; - if (type == NK_TREE_TAB) - button = &style->tab.tab_maximize_button; - else button = &style->tab.node_maximize_button; - } else { - symbol = style->tab.sym_minimize; - if (type == NK_TREE_TAB) - button = &style->tab.tab_minimize_button; - else button = &style->tab.node_minimize_button; - } - {/* draw triangle button */ - sym.w = sym.h = style->font->height; - sym.y = header.y + style->tab.padding.y; - sym.x = header.x + style->tab.padding.x; - if (nk_do_button_symbol(&ws, &win->buffer, sym, symbol, NK_BUTTON_DEFAULT, button, in, style->font)) - *state = (*state == NK_MAXIMIZED) ? NK_MINIMIZED : NK_MAXIMIZED;} - - /* draw label */ - {nk_flags dummy = 0; - struct nk_rect label; - /* calculate size of the text and tooltip */ - text_len = nk_strlen(title); - text_width = style->font->width(style->font->userdata, style->font->height, title, text_len); - text_width += (4 * padding.x); - - header.w = NK_MAX(header.w, sym.w + item_spacing.x); - label.x = sym.x + sym.w + item_spacing.x; - label.y = sym.y; - label.w = NK_MIN(header.w - (sym.w + item_spacing.y + style->tab.indent), text_width); - label.h = style->font->height; - - if (img) { - nk_do_selectable_image(&dummy, &win->buffer, label, title, title_len, NK_TEXT_LEFT, - selected, img, &style->selectable, in, style->font); - } else nk_do_selectable(&dummy, &win->buffer, label, title, title_len, NK_TEXT_LEFT, - selected, &style->selectable, in, style->font); - } - /* increase x-axis cursor widget position pointer */ - if (*state == NK_MAXIMIZED) { - layout->at_x = header.x + (float)*layout->offset_x + style->tab.indent; - layout->bounds.w = NK_MAX(layout->bounds.w, style->tab.indent); - layout->bounds.w -= (style->tab.indent + style->window.padding.x); - layout->row.tree_depth++; - return nk_true; - } else return nk_false; -} -NK_INTERN int -nk_tree_element_base(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image *img, const char *title, enum nk_collapse_states initial_state, - nk_bool *selected, const char *hash, int len, int line) -{ - struct nk_window *win = ctx->current; - int title_len = 0; - nk_hash tree_hash = 0; - nk_uint *state = 0; - - /* retrieve tree state from internal widget state tables */ - if (!hash) { - title_len = (int)nk_strlen(title); - tree_hash = nk_murmur_hash(title, (int)title_len, (nk_hash)line); - } else tree_hash = nk_murmur_hash(hash, len, (nk_hash)line); - state = nk_find_value(win, tree_hash); - if (!state) { - state = nk_add_value(ctx, win, tree_hash, 0); - *state = initial_state; - } return nk_tree_element_image_push_hashed_base(ctx, type, img, title, - nk_strlen(title), (enum nk_collapse_states*)state, selected); -} -NK_API nk_bool -nk_tree_element_push_hashed(struct nk_context *ctx, enum nk_tree_type type, - const char *title, enum nk_collapse_states initial_state, - nk_bool *selected, const char *hash, int len, int seed) -{ - return nk_tree_element_base(ctx, type, 0, title, initial_state, selected, hash, len, seed); -} -NK_API nk_bool -nk_tree_element_image_push_hashed(struct nk_context *ctx, enum nk_tree_type type, - struct nk_image img, const char *title, enum nk_collapse_states initial_state, - nk_bool *selected, const char *hash, int len,int seed) -{ - return nk_tree_element_base(ctx, type, &img, title, initial_state, selected, hash, len, seed); -} -NK_API void -nk_tree_element_pop(struct nk_context *ctx) -{ - nk_tree_state_pop(ctx); -} - - - - - -/* =============================================================== - * - * GROUP - * - * ===============================================================*/ -NK_API nk_bool -nk_group_scrolled_offset_begin(struct nk_context *ctx, - nk_uint *x_offset, nk_uint *y_offset, const char *title, nk_flags flags) -{ - struct nk_rect bounds; - struct nk_window panel; - struct nk_window *win; - - win = ctx->current; - nk_panel_alloc_space(&bounds, ctx); - {const struct nk_rect *c = &win->layout->clip; - if (!NK_INTERSECT(c->x, c->y, c->w, c->h, bounds.x, bounds.y, bounds.w, bounds.h) && - !(flags & NK_WINDOW_MOVABLE)) { - return 0; - }} - if (win->flags & NK_WINDOW_ROM) - flags |= NK_WINDOW_ROM; - - /* initialize a fake window to create the panel from */ - nk_zero(&panel, sizeof(panel)); - panel.bounds = bounds; - panel.flags = flags; - panel.scrollbar.x = *x_offset; - panel.scrollbar.y = *y_offset; - panel.buffer = win->buffer; - panel.layout = (struct nk_panel*)nk_create_panel(ctx); - ctx->current = &panel; - nk_panel_begin(ctx, (flags & NK_WINDOW_TITLE) ? title: 0, NK_PANEL_GROUP); - - win->buffer = panel.buffer; - win->buffer.clip = panel.layout->clip; - panel.layout->offset_x = x_offset; - panel.layout->offset_y = y_offset; - panel.layout->parent = win->layout; - win->layout = panel.layout; - - ctx->current = win; - if ((panel.layout->flags & NK_WINDOW_CLOSED) || - (panel.layout->flags & NK_WINDOW_MINIMIZED)) - { - nk_flags f = panel.layout->flags; - nk_group_scrolled_end(ctx); - if (f & NK_WINDOW_CLOSED) - return NK_WINDOW_CLOSED; - if (f & NK_WINDOW_MINIMIZED) - return NK_WINDOW_MINIMIZED; - } - return 1; -} -NK_API void -nk_group_scrolled_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_panel *parent; - struct nk_panel *g; - - struct nk_rect clip; - struct nk_window pan; - struct nk_vec2 panel_padding; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return; - - /* make sure nk_group_begin was called correctly */ - NK_ASSERT(ctx->current); - win = ctx->current; - NK_ASSERT(win->layout); - g = win->layout; - NK_ASSERT(g->parent); - parent = g->parent; - - /* dummy window */ - nk_zero_struct(pan); - panel_padding = nk_panel_get_padding(&ctx->style, NK_PANEL_GROUP); - pan.bounds.y = g->bounds.y - (g->header_height + g->menu.h); - pan.bounds.x = g->bounds.x - panel_padding.x; - pan.bounds.w = g->bounds.w + 2 * panel_padding.x; - pan.bounds.h = g->bounds.h + g->header_height + g->menu.h; - if (g->flags & NK_WINDOW_BORDER) { - pan.bounds.x -= g->border; - pan.bounds.y -= g->border; - pan.bounds.w += 2*g->border; - pan.bounds.h += 2*g->border; - } - if (!(g->flags & NK_WINDOW_NO_SCROLLBAR)) { - pan.bounds.w += ctx->style.window.scrollbar_size.x; - pan.bounds.h += ctx->style.window.scrollbar_size.y; - } - pan.scrollbar.x = *g->offset_x; - pan.scrollbar.y = *g->offset_y; - pan.flags = g->flags; - pan.buffer = win->buffer; - pan.layout = g; - pan.parent = win; - ctx->current = &pan; - - /* make sure group has correct clipping rectangle */ - nk_unify(&clip, &parent->clip, pan.bounds.x, pan.bounds.y, - pan.bounds.x + pan.bounds.w, pan.bounds.y + pan.bounds.h + panel_padding.x); - nk_push_scissor(&pan.buffer, clip); - nk_end(ctx); - - win->buffer = pan.buffer; - nk_push_scissor(&win->buffer, parent->clip); - ctx->current = win; - win->layout = parent; - g->bounds = pan.bounds; - return; -} -NK_API nk_bool -nk_group_scrolled_begin(struct nk_context *ctx, - struct nk_scroll *scroll, const char *title, nk_flags flags) -{ - return nk_group_scrolled_offset_begin(ctx, &scroll->x, &scroll->y, title, flags); -} -NK_API nk_bool -nk_group_begin_titled(struct nk_context *ctx, const char *id, - const char *title, nk_flags flags) -{ - int id_len; - nk_hash id_hash; - struct nk_window *win; - nk_uint *x_offset; - nk_uint *y_offset; - - NK_ASSERT(ctx); - NK_ASSERT(id); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !id) - return 0; - - /* find persistent group scrollbar value */ - win = ctx->current; - id_len = (int)nk_strlen(id); - id_hash = nk_murmur_hash(id, (int)id_len, NK_PANEL_GROUP); - x_offset = nk_find_value(win, id_hash); - if (!x_offset) { - x_offset = nk_add_value(ctx, win, id_hash, 0); - y_offset = nk_add_value(ctx, win, id_hash+1, 0); - - NK_ASSERT(x_offset); - NK_ASSERT(y_offset); - if (!x_offset || !y_offset) return 0; - *x_offset = *y_offset = 0; - } else y_offset = nk_find_value(win, id_hash+1); - return nk_group_scrolled_offset_begin(ctx, x_offset, y_offset, title, flags); -} -NK_API nk_bool -nk_group_begin(struct nk_context *ctx, const char *title, nk_flags flags) -{ - return nk_group_begin_titled(ctx, title, title, flags); -} -NK_API void -nk_group_end(struct nk_context *ctx) -{ - nk_group_scrolled_end(ctx); -} -NK_API void -nk_group_get_scroll(struct nk_context *ctx, const char *id, nk_uint *x_offset, nk_uint *y_offset) -{ - int id_len; - nk_hash id_hash; - struct nk_window *win; - nk_uint *x_offset_ptr; - nk_uint *y_offset_ptr; - - NK_ASSERT(ctx); - NK_ASSERT(id); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !id) - return; - - /* find persistent group scrollbar value */ - win = ctx->current; - id_len = (int)nk_strlen(id); - id_hash = nk_murmur_hash(id, (int)id_len, NK_PANEL_GROUP); - x_offset_ptr = nk_find_value(win, id_hash); - if (!x_offset_ptr) { - x_offset_ptr = nk_add_value(ctx, win, id_hash, 0); - y_offset_ptr = nk_add_value(ctx, win, id_hash+1, 0); - - NK_ASSERT(x_offset_ptr); - NK_ASSERT(y_offset_ptr); - if (!x_offset_ptr || !y_offset_ptr) return; - *x_offset_ptr = *y_offset_ptr = 0; - } else y_offset_ptr = nk_find_value(win, id_hash+1); - if (x_offset) - *x_offset = *x_offset_ptr; - if (y_offset) - *y_offset = *y_offset_ptr; -} -NK_API void -nk_group_set_scroll(struct nk_context *ctx, const char *id, nk_uint x_offset, nk_uint y_offset) -{ - int id_len; - nk_hash id_hash; - struct nk_window *win; - nk_uint *x_offset_ptr; - nk_uint *y_offset_ptr; - - NK_ASSERT(ctx); - NK_ASSERT(id); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !id) - return; - - /* find persistent group scrollbar value */ - win = ctx->current; - id_len = (int)nk_strlen(id); - id_hash = nk_murmur_hash(id, (int)id_len, NK_PANEL_GROUP); - x_offset_ptr = nk_find_value(win, id_hash); - if (!x_offset_ptr) { - x_offset_ptr = nk_add_value(ctx, win, id_hash, 0); - y_offset_ptr = nk_add_value(ctx, win, id_hash+1, 0); - - NK_ASSERT(x_offset_ptr); - NK_ASSERT(y_offset_ptr); - if (!x_offset_ptr || !y_offset_ptr) return; - *x_offset_ptr = *y_offset_ptr = 0; - } else y_offset_ptr = nk_find_value(win, id_hash+1); - *x_offset_ptr = x_offset; - *y_offset_ptr = y_offset; -} - - - - -/* =============================================================== - * - * LIST VIEW - * - * ===============================================================*/ -NK_API nk_bool -nk_list_view_begin(struct nk_context *ctx, struct nk_list_view *view, - const char *title, nk_flags flags, int row_height, int row_count) -{ - int title_len; - nk_hash title_hash; - nk_uint *x_offset; - nk_uint *y_offset; - - int result; - struct nk_window *win; - struct nk_panel *layout; - const struct nk_style *style; - struct nk_vec2 item_spacing; - - NK_ASSERT(ctx); - NK_ASSERT(view); - NK_ASSERT(title); - if (!ctx || !view || !title) return 0; - - win = ctx->current; - style = &ctx->style; - item_spacing = style->window.spacing; - row_height += NK_MAX(0, (int)item_spacing.y); - - /* find persistent list view scrollbar offset */ - title_len = (int)nk_strlen(title); - title_hash = nk_murmur_hash(title, (int)title_len, NK_PANEL_GROUP); - x_offset = nk_find_value(win, title_hash); - if (!x_offset) { - x_offset = nk_add_value(ctx, win, title_hash, 0); - y_offset = nk_add_value(ctx, win, title_hash+1, 0); - - NK_ASSERT(x_offset); - NK_ASSERT(y_offset); - if (!x_offset || !y_offset) return 0; - *x_offset = *y_offset = 0; - } else y_offset = nk_find_value(win, title_hash+1); - view->scroll_value = *y_offset; - view->scroll_pointer = y_offset; - - *y_offset = 0; - result = nk_group_scrolled_offset_begin(ctx, x_offset, y_offset, title, flags); - win = ctx->current; - layout = win->layout; - - view->total_height = row_height * NK_MAX(row_count,1); - view->begin = (int)NK_MAX(((float)view->scroll_value / (float)row_height), 0.0f); - view->count = (int)NK_MAX(nk_iceilf((layout->clip.h)/(float)row_height),0); - view->count = NK_MIN(view->count, row_count - view->begin); - view->end = view->begin + view->count; - view->ctx = ctx; - return result; -} -NK_API void -nk_list_view_end(struct nk_list_view *view) -{ - struct nk_context *ctx; - struct nk_window *win; - struct nk_panel *layout; - - NK_ASSERT(view); - NK_ASSERT(view->ctx); - NK_ASSERT(view->scroll_pointer); - if (!view || !view->ctx) return; - - ctx = view->ctx; - win = ctx->current; - layout = win->layout; - layout->at_y = layout->bounds.y + (float)view->total_height; - *view->scroll_pointer = *view->scroll_pointer + view->scroll_value; - nk_group_end(view->ctx); -} - - - - - -/* =============================================================== - * - * WIDGET - * - * ===============================================================*/ -NK_API struct nk_rect -nk_widget_bounds(struct nk_context *ctx) -{ - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return nk_rect(0,0,0,0); - nk_layout_peek(&bounds, ctx); - return bounds; -} -NK_API struct nk_vec2 -nk_widget_position(struct nk_context *ctx) -{ - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return nk_vec2(0,0); - - nk_layout_peek(&bounds, ctx); - return nk_vec2(bounds.x, bounds.y); -} -NK_API struct nk_vec2 -nk_widget_size(struct nk_context *ctx) -{ - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return nk_vec2(0,0); - - nk_layout_peek(&bounds, ctx); - return nk_vec2(bounds.w, bounds.h); -} -NK_API float -nk_widget_width(struct nk_context *ctx) -{ - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return 0; - - nk_layout_peek(&bounds, ctx); - return bounds.w; -} -NK_API float -nk_widget_height(struct nk_context *ctx) -{ - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return 0; - - nk_layout_peek(&bounds, ctx); - return bounds.h; -} -NK_API nk_bool -nk_widget_is_hovered(struct nk_context *ctx) -{ - struct nk_rect c, v; - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current || ctx->active != ctx->current) - return 0; - - c = ctx->current->layout->clip; - c.x = (float)((int)c.x); - c.y = (float)((int)c.y); - c.w = (float)((int)c.w); - c.h = (float)((int)c.h); - - nk_layout_peek(&bounds, ctx); - nk_unify(&v, &c, bounds.x, bounds.y, bounds.x + bounds.w, bounds.y + bounds.h); - if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds.x, bounds.y, bounds.w, bounds.h)) - return 0; - return nk_input_is_mouse_hovering_rect(&ctx->input, bounds); -} -NK_API nk_bool -nk_widget_is_mouse_clicked(struct nk_context *ctx, enum nk_buttons btn) -{ - struct nk_rect c, v; - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current || ctx->active != ctx->current) - return 0; - - c = ctx->current->layout->clip; - c.x = (float)((int)c.x); - c.y = (float)((int)c.y); - c.w = (float)((int)c.w); - c.h = (float)((int)c.h); - - nk_layout_peek(&bounds, ctx); - nk_unify(&v, &c, bounds.x, bounds.y, bounds.x + bounds.w, bounds.y + bounds.h); - if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds.x, bounds.y, bounds.w, bounds.h)) - return 0; - return nk_input_mouse_clicked(&ctx->input, btn, bounds); -} -NK_API nk_bool -nk_widget_has_mouse_click_down(struct nk_context *ctx, enum nk_buttons btn, nk_bool down) -{ - struct nk_rect c, v; - struct nk_rect bounds; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current || ctx->active != ctx->current) - return 0; - - c = ctx->current->layout->clip; - c.x = (float)((int)c.x); - c.y = (float)((int)c.y); - c.w = (float)((int)c.w); - c.h = (float)((int)c.h); - - nk_layout_peek(&bounds, ctx); - nk_unify(&v, &c, bounds.x, bounds.y, bounds.x + bounds.w, bounds.y + bounds.h); - if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds.x, bounds.y, bounds.w, bounds.h)) - return 0; - return nk_input_has_mouse_click_down_in_rect(&ctx->input, btn, bounds, down); -} -NK_API enum nk_widget_layout_states -nk_widget(struct nk_rect *bounds, const struct nk_context *ctx) -{ - struct nk_rect c, v; - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return NK_WIDGET_INVALID; - - /* allocate space and check if the widget needs to be updated and drawn */ - nk_panel_alloc_space(bounds, ctx); - win = ctx->current; - layout = win->layout; - in = &ctx->input; - c = layout->clip; - - /* if one of these triggers you forgot to add an `if` condition around either - a window, group, popup, combobox or contextual menu `begin` and `end` block. - Example: - if (nk_begin(...) {...} nk_end(...); or - if (nk_group_begin(...) { nk_group_end(...);} */ - NK_ASSERT(!(layout->flags & NK_WINDOW_MINIMIZED)); - NK_ASSERT(!(layout->flags & NK_WINDOW_HIDDEN)); - NK_ASSERT(!(layout->flags & NK_WINDOW_CLOSED)); - - /* need to convert to int here to remove floating point errors */ - bounds->x = (float)((int)bounds->x); - bounds->y = (float)((int)bounds->y); - bounds->w = (float)((int)bounds->w); - bounds->h = (float)((int)bounds->h); - - c.x = (float)((int)c.x); - c.y = (float)((int)c.y); - c.w = (float)((int)c.w); - c.h = (float)((int)c.h); - - nk_unify(&v, &c, bounds->x, bounds->y, bounds->x + bounds->w, bounds->y + bounds->h); - if (!NK_INTERSECT(c.x, c.y, c.w, c.h, bounds->x, bounds->y, bounds->w, bounds->h)) - return NK_WIDGET_INVALID; - if (!NK_INBOX(in->mouse.pos.x, in->mouse.pos.y, v.x, v.y, v.w, v.h)) - return NK_WIDGET_ROM; - return NK_WIDGET_VALID; -} -NK_API enum nk_widget_layout_states -nk_widget_fitting(struct nk_rect *bounds, struct nk_context *ctx, - struct nk_vec2 item_padding) -{ - /* update the bounds to stand without padding */ - enum nk_widget_layout_states state; - NK_UNUSED(item_padding); - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return NK_WIDGET_INVALID; - - state = nk_widget(bounds, ctx); - return state; -} -NK_API void -nk_spacing(struct nk_context *ctx, int cols) -{ - struct nk_window *win; - struct nk_panel *layout; - struct nk_rect none; - int i, index, rows; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - /* spacing over row boundaries */ - win = ctx->current; - layout = win->layout; - index = (layout->row.index + cols) % layout->row.columns; - rows = (layout->row.index + cols) / layout->row.columns; - if (rows) { - for (i = 0; i < rows; ++i) - nk_panel_alloc_row(ctx, win); - cols = index; - } - /* non table layout need to allocate space */ - if (layout->row.type != NK_LAYOUT_DYNAMIC_FIXED && - layout->row.type != NK_LAYOUT_STATIC_FIXED) { - for (i = 0; i < cols; ++i) - nk_panel_alloc_space(&none, ctx); - } layout->row.index = index; -} - - - - - -/* =============================================================== - * - * TEXT - * - * ===============================================================*/ -NK_LIB void -nk_widget_text(struct nk_command_buffer *o, struct nk_rect b, - const char *string, int len, const struct nk_text *t, - nk_flags a, const struct nk_user_font *f) -{ - struct nk_rect label; - float text_width; - - NK_ASSERT(o); - NK_ASSERT(t); - if (!o || !t) return; - - b.h = NK_MAX(b.h, 2 * t->padding.y); - label.x = 0; label.w = 0; - label.y = b.y + t->padding.y; - label.h = NK_MIN(f->height, b.h - 2 * t->padding.y); - - text_width = f->width(f->userdata, f->height, (const char*)string, len); - text_width += (2.0f * t->padding.x); - - /* align in x-axis */ - if (a & NK_TEXT_ALIGN_LEFT) { - label.x = b.x + t->padding.x; - label.w = NK_MAX(0, b.w - 2 * t->padding.x); - } else if (a & NK_TEXT_ALIGN_CENTERED) { - label.w = NK_MAX(1, 2 * t->padding.x + (float)text_width); - label.x = (b.x + t->padding.x + ((b.w - 2 * t->padding.x) - label.w) / 2); - label.x = NK_MAX(b.x + t->padding.x, label.x); - label.w = NK_MIN(b.x + b.w, label.x + label.w); - if (label.w >= label.x) label.w -= label.x; - } else if (a & NK_TEXT_ALIGN_RIGHT) { - label.x = NK_MAX(b.x + t->padding.x, (b.x + b.w) - (2 * t->padding.x + (float)text_width)); - label.w = (float)text_width + 2 * t->padding.x; - } else return; - - /* align in y-axis */ - if (a & NK_TEXT_ALIGN_MIDDLE) { - label.y = b.y + b.h/2.0f - (float)f->height/2.0f; - label.h = NK_MAX(b.h/2.0f, b.h - (b.h/2.0f + f->height/2.0f)); - } else if (a & NK_TEXT_ALIGN_BOTTOM) { - label.y = b.y + b.h - f->height; - label.h = f->height; - } - nk_draw_text(o, label, (const char*)string, len, f, t->background, t->text); -} -NK_LIB void -nk_widget_text_wrap(struct nk_command_buffer *o, struct nk_rect b, - const char *string, int len, const struct nk_text *t, - const struct nk_user_font *f) -{ - float width; - int glyphs = 0; - int fitting = 0; - int done = 0; - struct nk_rect line; - struct nk_text text; - NK_INTERN nk_rune seperator[] = {' '}; - - NK_ASSERT(o); - NK_ASSERT(t); - if (!o || !t) return; - - text.padding = nk_vec2(0,0); - text.background = t->background; - text.text = t->text; - - b.w = NK_MAX(b.w, 2 * t->padding.x); - b.h = NK_MAX(b.h, 2 * t->padding.y); - b.h = b.h - 2 * t->padding.y; - - line.x = b.x + t->padding.x; - line.y = b.y + t->padding.y; - line.w = b.w - 2 * t->padding.x; - line.h = 2 * t->padding.y + f->height; - - fitting = nk_text_clamp(f, string, len, line.w, &glyphs, &width, seperator,NK_LEN(seperator)); - while (done < len) { - if (!fitting || line.y + line.h >= (b.y + b.h)) break; - nk_widget_text(o, line, &string[done], fitting, &text, NK_TEXT_LEFT, f); - done += fitting; - line.y += f->height + 2 * t->padding.y; - fitting = nk_text_clamp(f, &string[done], len - done, line.w, &glyphs, &width, seperator,NK_LEN(seperator)); - } -} -NK_API void -nk_text_colored(struct nk_context *ctx, const char *str, int len, - nk_flags alignment, struct nk_color color) -{ - struct nk_window *win; - const struct nk_style *style; - - struct nk_vec2 item_padding; - struct nk_rect bounds; - struct nk_text text; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) return; - - win = ctx->current; - style = &ctx->style; - nk_panel_alloc_space(&bounds, ctx); - item_padding = style->text.padding; - - text.padding.x = item_padding.x; - text.padding.y = item_padding.y; - text.background = style->window.background; - text.text = color; - nk_widget_text(&win->buffer, bounds, str, len, &text, alignment, style->font); -} -NK_API void -nk_text_wrap_colored(struct nk_context *ctx, const char *str, - int len, struct nk_color color) -{ - struct nk_window *win; - const struct nk_style *style; - - struct nk_vec2 item_padding; - struct nk_rect bounds; - struct nk_text text; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) return; - - win = ctx->current; - style = &ctx->style; - nk_panel_alloc_space(&bounds, ctx); - item_padding = style->text.padding; - - text.padding.x = item_padding.x; - text.padding.y = item_padding.y; - text.background = style->window.background; - text.text = color; - nk_widget_text_wrap(&win->buffer, bounds, str, len, &text, style->font); -} -#ifdef NK_INCLUDE_STANDARD_VARARGS -NK_API void -nk_labelf_colored(struct nk_context *ctx, nk_flags flags, - struct nk_color color, const char *fmt, ...) -{ - va_list args; - va_start(args, fmt); - nk_labelfv_colored(ctx, flags, color, fmt, args); - va_end(args); -} -NK_API void -nk_labelf_colored_wrap(struct nk_context *ctx, struct nk_color color, - const char *fmt, ...) -{ - va_list args; - va_start(args, fmt); - nk_labelfv_colored_wrap(ctx, color, fmt, args); - va_end(args); -} -NK_API void -nk_labelf(struct nk_context *ctx, nk_flags flags, const char *fmt, ...) -{ - va_list args; - va_start(args, fmt); - nk_labelfv(ctx, flags, fmt, args); - va_end(args); -} -NK_API void -nk_labelf_wrap(struct nk_context *ctx, const char *fmt,...) -{ - va_list args; - va_start(args, fmt); - nk_labelfv_wrap(ctx, fmt, args); - va_end(args); -} -NK_API void -nk_labelfv_colored(struct nk_context *ctx, nk_flags flags, - struct nk_color color, const char *fmt, va_list args) -{ - char buf[256]; - nk_strfmt(buf, NK_LEN(buf), fmt, args); - nk_label_colored(ctx, buf, flags, color); -} - -NK_API void -nk_labelfv_colored_wrap(struct nk_context *ctx, struct nk_color color, - const char *fmt, va_list args) -{ - char buf[256]; - nk_strfmt(buf, NK_LEN(buf), fmt, args); - nk_label_colored_wrap(ctx, buf, color); -} - -NK_API void -nk_labelfv(struct nk_context *ctx, nk_flags flags, const char *fmt, va_list args) -{ - char buf[256]; - nk_strfmt(buf, NK_LEN(buf), fmt, args); - nk_label(ctx, buf, flags); -} - -NK_API void -nk_labelfv_wrap(struct nk_context *ctx, const char *fmt, va_list args) -{ - char buf[256]; - nk_strfmt(buf, NK_LEN(buf), fmt, args); - nk_label_wrap(ctx, buf); -} - -NK_API void -nk_value_bool(struct nk_context *ctx, const char *prefix, int value) -{ - nk_labelf(ctx, NK_TEXT_LEFT, "%s: %s", prefix, ((value) ? "true": "false")); -} -NK_API void -nk_value_int(struct nk_context *ctx, const char *prefix, int value) -{ - nk_labelf(ctx, NK_TEXT_LEFT, "%s: %d", prefix, value); -} -NK_API void -nk_value_uint(struct nk_context *ctx, const char *prefix, unsigned int value) -{ - nk_labelf(ctx, NK_TEXT_LEFT, "%s: %u", prefix, value); -} -NK_API void -nk_value_float(struct nk_context *ctx, const char *prefix, float value) -{ - double double_value = (double)value; - nk_labelf(ctx, NK_TEXT_LEFT, "%s: %.3f", prefix, double_value); -} -NK_API void -nk_value_color_byte(struct nk_context *ctx, const char *p, struct nk_color c) -{ - nk_labelf(ctx, NK_TEXT_LEFT, "%s: (%d, %d, %d, %d)", p, c.r, c.g, c.b, c.a); -} -NK_API void -nk_value_color_float(struct nk_context *ctx, const char *p, struct nk_color color) -{ - double c[4]; nk_color_dv(c, color); - nk_labelf(ctx, NK_TEXT_LEFT, "%s: (%.2f, %.2f, %.2f, %.2f)", - p, c[0], c[1], c[2], c[3]); -} -NK_API void -nk_value_color_hex(struct nk_context *ctx, const char *prefix, struct nk_color color) -{ - char hex[16]; - nk_color_hex_rgba(hex, color); - nk_labelf(ctx, NK_TEXT_LEFT, "%s: %s", prefix, hex); -} -#endif -NK_API void -nk_text(struct nk_context *ctx, const char *str, int len, nk_flags alignment) -{ - NK_ASSERT(ctx); - if (!ctx) return; - nk_text_colored(ctx, str, len, alignment, ctx->style.text.color); -} -NK_API void -nk_text_wrap(struct nk_context *ctx, const char *str, int len) -{ - NK_ASSERT(ctx); - if (!ctx) return; - nk_text_wrap_colored(ctx, str, len, ctx->style.text.color); -} -NK_API void -nk_label(struct nk_context *ctx, const char *str, nk_flags alignment) -{ - nk_text(ctx, str, nk_strlen(str), alignment); -} -NK_API void -nk_label_colored(struct nk_context *ctx, const char *str, nk_flags align, - struct nk_color color) -{ - nk_text_colored(ctx, str, nk_strlen(str), align, color); -} -NK_API void -nk_label_wrap(struct nk_context *ctx, const char *str) -{ - nk_text_wrap(ctx, str, nk_strlen(str)); -} -NK_API void -nk_label_colored_wrap(struct nk_context *ctx, const char *str, struct nk_color color) -{ - nk_text_wrap_colored(ctx, str, nk_strlen(str), color); -} - - - - - -/* =============================================================== - * - * IMAGE - * - * ===============================================================*/ -NK_API nk_handle -nk_handle_ptr(void *ptr) -{ - nk_handle handle = {0}; - handle.ptr = ptr; - return handle; -} -NK_API nk_handle -nk_handle_id(int id) -{ - nk_handle handle; - nk_zero_struct(handle); - handle.id = id; - return handle; -} -NK_API struct nk_image -nk_subimage_ptr(void *ptr, nk_ushort w, nk_ushort h, struct nk_rect r) -{ - struct nk_image s; - nk_zero(&s, sizeof(s)); - s.handle.ptr = ptr; - s.w = w; s.h = h; - s.region[0] = (nk_ushort)r.x; - s.region[1] = (nk_ushort)r.y; - s.region[2] = (nk_ushort)r.w; - s.region[3] = (nk_ushort)r.h; - return s; -} -NK_API struct nk_image -nk_subimage_id(int id, nk_ushort w, nk_ushort h, struct nk_rect r) -{ - struct nk_image s; - nk_zero(&s, sizeof(s)); - s.handle.id = id; - s.w = w; s.h = h; - s.region[0] = (nk_ushort)r.x; - s.region[1] = (nk_ushort)r.y; - s.region[2] = (nk_ushort)r.w; - s.region[3] = (nk_ushort)r.h; - return s; -} -NK_API struct nk_image -nk_subimage_handle(nk_handle handle, nk_ushort w, nk_ushort h, struct nk_rect r) -{ - struct nk_image s; - nk_zero(&s, sizeof(s)); - s.handle = handle; - s.w = w; s.h = h; - s.region[0] = (nk_ushort)r.x; - s.region[1] = (nk_ushort)r.y; - s.region[2] = (nk_ushort)r.w; - s.region[3] = (nk_ushort)r.h; - return s; -} -NK_API struct nk_image -nk_image_handle(nk_handle handle) -{ - struct nk_image s; - nk_zero(&s, sizeof(s)); - s.handle = handle; - s.w = 0; s.h = 0; - s.region[0] = 0; - s.region[1] = 0; - s.region[2] = 0; - s.region[3] = 0; - return s; -} -NK_API struct nk_image -nk_image_ptr(void *ptr) -{ - struct nk_image s; - nk_zero(&s, sizeof(s)); - NK_ASSERT(ptr); - s.handle.ptr = ptr; - s.w = 0; s.h = 0; - s.region[0] = 0; - s.region[1] = 0; - s.region[2] = 0; - s.region[3] = 0; - return s; -} -NK_API struct nk_image -nk_image_id(int id) -{ - struct nk_image s; - nk_zero(&s, sizeof(s)); - s.handle.id = id; - s.w = 0; s.h = 0; - s.region[0] = 0; - s.region[1] = 0; - s.region[2] = 0; - s.region[3] = 0; - return s; -} -NK_API nk_bool -nk_image_is_subimage(const struct nk_image* img) -{ - NK_ASSERT(img); - return !(img->w == 0 && img->h == 0); -} -NK_API void -nk_image(struct nk_context *ctx, struct nk_image img) -{ - struct nk_window *win; - struct nk_rect bounds; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) return; - - win = ctx->current; - if (!nk_widget(&bounds, ctx)) return; - nk_draw_image(&win->buffer, bounds, &img, nk_white); -} -NK_API void -nk_image_color(struct nk_context *ctx, struct nk_image img, struct nk_color col) -{ - struct nk_window *win; - struct nk_rect bounds; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) return; - - win = ctx->current; - if (!nk_widget(&bounds, ctx)) return; - nk_draw_image(&win->buffer, bounds, &img, col); -} - - - - - -/* =============================================================== - * - * 9-SLICE - * - * ===============================================================*/ -NK_API struct nk_nine_slice -nk_sub9slice_ptr(void *ptr, nk_ushort w, nk_ushort h, struct nk_rect rgn, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) -{ - struct nk_nine_slice s; - struct nk_image *i = &s.img; - nk_zero(&s, sizeof(s)); - i->handle.ptr = ptr; - i->w = w; i->h = h; - i->region[0] = (nk_ushort)rgn.x; - i->region[1] = (nk_ushort)rgn.y; - i->region[2] = (nk_ushort)rgn.w; - i->region[3] = (nk_ushort)rgn.h; - s.l = l; s.t = t; s.r = r; s.b = b; - return s; -} -NK_API struct nk_nine_slice -nk_sub9slice_id(int id, nk_ushort w, nk_ushort h, struct nk_rect rgn, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) -{ - struct nk_nine_slice s; - struct nk_image *i = &s.img; - nk_zero(&s, sizeof(s)); - i->handle.id = id; - i->w = w; i->h = h; - i->region[0] = (nk_ushort)rgn.x; - i->region[1] = (nk_ushort)rgn.y; - i->region[2] = (nk_ushort)rgn.w; - i->region[3] = (nk_ushort)rgn.h; - s.l = l; s.t = t; s.r = r; s.b = b; - return s; -} -NK_API struct nk_nine_slice -nk_sub9slice_handle(nk_handle handle, nk_ushort w, nk_ushort h, struct nk_rect rgn, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) -{ - struct nk_nine_slice s; - struct nk_image *i = &s.img; - nk_zero(&s, sizeof(s)); - i->handle = handle; - i->w = w; i->h = h; - i->region[0] = (nk_ushort)rgn.x; - i->region[1] = (nk_ushort)rgn.y; - i->region[2] = (nk_ushort)rgn.w; - i->region[3] = (nk_ushort)rgn.h; - s.l = l; s.t = t; s.r = r; s.b = b; - return s; -} -NK_API struct nk_nine_slice -nk_nine_slice_handle(nk_handle handle, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) -{ - struct nk_nine_slice s; - struct nk_image *i = &s.img; - nk_zero(&s, sizeof(s)); - i->handle = handle; - i->w = 0; i->h = 0; - i->region[0] = 0; - i->region[1] = 0; - i->region[2] = 0; - i->region[3] = 0; - s.l = l; s.t = t; s.r = r; s.b = b; - return s; -} -NK_API struct nk_nine_slice -nk_nine_slice_ptr(void *ptr, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) -{ - struct nk_nine_slice s; - struct nk_image *i = &s.img; - nk_zero(&s, sizeof(s)); - NK_ASSERT(ptr); - i->handle.ptr = ptr; - i->w = 0; i->h = 0; - i->region[0] = 0; - i->region[1] = 0; - i->region[2] = 0; - i->region[3] = 0; - s.l = l; s.t = t; s.r = r; s.b = b; - return s; -} -NK_API struct nk_nine_slice -nk_nine_slice_id(int id, nk_ushort l, nk_ushort t, nk_ushort r, nk_ushort b) -{ - struct nk_nine_slice s; - struct nk_image *i = &s.img; - nk_zero(&s, sizeof(s)); - i->handle.id = id; - i->w = 0; i->h = 0; - i->region[0] = 0; - i->region[1] = 0; - i->region[2] = 0; - i->region[3] = 0; - s.l = l; s.t = t; s.r = r; s.b = b; - return s; -} -NK_API int -nk_nine_slice_is_sub9slice(const struct nk_nine_slice* slice) -{ - NK_ASSERT(slice); - return !(slice->img.w == 0 && slice->img.h == 0); -} - - - - - -/* ============================================================== - * - * BUTTON - * - * ===============================================================*/ -NK_LIB void -nk_draw_symbol(struct nk_command_buffer *out, enum nk_symbol_type type, - struct nk_rect content, struct nk_color background, struct nk_color foreground, - float border_width, const struct nk_user_font *font) -{ - switch (type) { - case NK_SYMBOL_X: - case NK_SYMBOL_UNDERSCORE: - case NK_SYMBOL_PLUS: - case NK_SYMBOL_MINUS: { - /* single character text symbol */ - const char *X = (type == NK_SYMBOL_X) ? "x": - (type == NK_SYMBOL_UNDERSCORE) ? "_": - (type == NK_SYMBOL_PLUS) ? "+": "-"; - struct nk_text text; - text.padding = nk_vec2(0,0); - text.background = background; - text.text = foreground; - nk_widget_text(out, content, X, 1, &text, NK_TEXT_CENTERED, font); - } break; - case NK_SYMBOL_CIRCLE_SOLID: - case NK_SYMBOL_CIRCLE_OUTLINE: - case NK_SYMBOL_RECT_SOLID: - case NK_SYMBOL_RECT_OUTLINE: { - /* simple empty/filled shapes */ - if (type == NK_SYMBOL_RECT_SOLID || type == NK_SYMBOL_RECT_OUTLINE) { - nk_fill_rect(out, content, 0, foreground); - if (type == NK_SYMBOL_RECT_OUTLINE) - nk_fill_rect(out, nk_shrink_rect(content, border_width), 0, background); - } else { - nk_fill_circle(out, content, foreground); - if (type == NK_SYMBOL_CIRCLE_OUTLINE) - nk_fill_circle(out, nk_shrink_rect(content, 1), background); - } - } break; - case NK_SYMBOL_TRIANGLE_UP: - case NK_SYMBOL_TRIANGLE_DOWN: - case NK_SYMBOL_TRIANGLE_LEFT: - case NK_SYMBOL_TRIANGLE_RIGHT: { - enum nk_heading heading; - struct nk_vec2 points[3]; - heading = (type == NK_SYMBOL_TRIANGLE_RIGHT) ? NK_RIGHT : - (type == NK_SYMBOL_TRIANGLE_LEFT) ? NK_LEFT: - (type == NK_SYMBOL_TRIANGLE_UP) ? NK_UP: NK_DOWN; - nk_triangle_from_direction(points, content, 0, 0, heading); - nk_fill_triangle(out, points[0].x, points[0].y, points[1].x, points[1].y, - points[2].x, points[2].y, foreground); - } break; - default: - case NK_SYMBOL_NONE: - case NK_SYMBOL_MAX: break; - } -} -NK_LIB nk_bool -nk_button_behavior(nk_flags *state, struct nk_rect r, - const struct nk_input *i, enum nk_button_behavior behavior) -{ - int ret = 0; - nk_widget_state_reset(state); - if (!i) return 0; - if (nk_input_is_mouse_hovering_rect(i, r)) { - *state = NK_WIDGET_STATE_HOVERED; - if (nk_input_is_mouse_down(i, NK_BUTTON_LEFT)) - *state = NK_WIDGET_STATE_ACTIVE; - if (nk_input_has_mouse_click_in_button_rect(i, NK_BUTTON_LEFT, r)) { - ret = (behavior != NK_BUTTON_DEFAULT) ? - nk_input_is_mouse_down(i, NK_BUTTON_LEFT): -#ifdef NK_BUTTON_TRIGGER_ON_RELEASE - nk_input_is_mouse_released(i, NK_BUTTON_LEFT); -#else - nk_input_is_mouse_pressed(i, NK_BUTTON_LEFT); -#endif - } - } - if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(i, r)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(i, r)) - *state |= NK_WIDGET_STATE_LEFT; - return ret; -} -NK_LIB const struct nk_style_item* -nk_draw_button(struct nk_command_buffer *out, - const struct nk_rect *bounds, nk_flags state, - const struct nk_style_button *style) -{ - const struct nk_style_item *background; - if (state & NK_WIDGET_STATE_HOVER) - background = &style->hover; - else if (state & NK_WIDGET_STATE_ACTIVED) - background = &style->active; - else background = &style->normal; - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, *bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, *bounds, style->rounding, background->data.color); - nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); - break; - } - return background; -} -NK_LIB nk_bool -nk_do_button(nk_flags *state, struct nk_command_buffer *out, struct nk_rect r, - const struct nk_style_button *style, const struct nk_input *in, - enum nk_button_behavior behavior, struct nk_rect *content) -{ - struct nk_rect bounds; - NK_ASSERT(style); - NK_ASSERT(state); - NK_ASSERT(out); - if (!out || !style) - return nk_false; - - /* calculate button content space */ - content->x = r.x + style->padding.x + style->border + style->rounding; - content->y = r.y + style->padding.y + style->border + style->rounding; - content->w = r.w - (2 * style->padding.x + style->border + style->rounding*2); - content->h = r.h - (2 * style->padding.y + style->border + style->rounding*2); - - /* execute button behavior */ - bounds.x = r.x - style->touch_padding.x; - bounds.y = r.y - style->touch_padding.y; - bounds.w = r.w + 2 * style->touch_padding.x; - bounds.h = r.h + 2 * style->touch_padding.y; - return nk_button_behavior(state, bounds, in, behavior); -} -NK_LIB void -nk_draw_button_text(struct nk_command_buffer *out, - const struct nk_rect *bounds, const struct nk_rect *content, nk_flags state, - const struct nk_style_button *style, const char *txt, int len, - nk_flags text_alignment, const struct nk_user_font *font) -{ - struct nk_text text; - const struct nk_style_item *background; - background = nk_draw_button(out, bounds, state, style); - - /* select correct colors/images */ - if (background->type == NK_STYLE_ITEM_COLOR) - text.background = background->data.color; - else text.background = style->text_background; - if (state & NK_WIDGET_STATE_HOVER) - text.text = style->text_hover; - else if (state & NK_WIDGET_STATE_ACTIVED) - text.text = style->text_active; - else text.text = style->text_normal; - - text.padding = nk_vec2(0,0); - nk_widget_text(out, *content, txt, len, &text, text_alignment, font); -} -NK_LIB nk_bool -nk_do_button_text(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - const char *string, int len, nk_flags align, enum nk_button_behavior behavior, - const struct nk_style_button *style, const struct nk_input *in, - const struct nk_user_font *font) -{ - struct nk_rect content; - int ret = nk_false; - - NK_ASSERT(state); - NK_ASSERT(style); - NK_ASSERT(out); - NK_ASSERT(string); - NK_ASSERT(font); - if (!out || !style || !font || !string) - return nk_false; - - ret = nk_do_button(state, out, bounds, style, in, behavior, &content); - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_button_text(out, &bounds, &content, *state, style, string, len, align, font); - if (style->draw_end) style->draw_end(out, style->userdata); - return ret; -} -NK_LIB void -nk_draw_button_symbol(struct nk_command_buffer *out, - const struct nk_rect *bounds, const struct nk_rect *content, - nk_flags state, const struct nk_style_button *style, - enum nk_symbol_type type, const struct nk_user_font *font) -{ - struct nk_color sym, bg; - const struct nk_style_item *background; - - /* select correct colors/images */ - background = nk_draw_button(out, bounds, state, style); - if (background->type == NK_STYLE_ITEM_COLOR) - bg = background->data.color; - else bg = style->text_background; - - if (state & NK_WIDGET_STATE_HOVER) - sym = style->text_hover; - else if (state & NK_WIDGET_STATE_ACTIVED) - sym = style->text_active; - else sym = style->text_normal; - nk_draw_symbol(out, type, *content, bg, sym, 1, font); -} -NK_LIB nk_bool -nk_do_button_symbol(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - enum nk_symbol_type symbol, enum nk_button_behavior behavior, - const struct nk_style_button *style, const struct nk_input *in, - const struct nk_user_font *font) -{ - int ret; - struct nk_rect content; - - NK_ASSERT(state); - NK_ASSERT(style); - NK_ASSERT(font); - NK_ASSERT(out); - if (!out || !style || !font || !state) - return nk_false; - - ret = nk_do_button(state, out, bounds, style, in, behavior, &content); - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_button_symbol(out, &bounds, &content, *state, style, symbol, font); - if (style->draw_end) style->draw_end(out, style->userdata); - return ret; -} -NK_LIB void -nk_draw_button_image(struct nk_command_buffer *out, - const struct nk_rect *bounds, const struct nk_rect *content, - nk_flags state, const struct nk_style_button *style, const struct nk_image *img) -{ - nk_draw_button(out, bounds, state, style); - nk_draw_image(out, *content, img, nk_white); -} -NK_LIB nk_bool -nk_do_button_image(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - struct nk_image img, enum nk_button_behavior b, - const struct nk_style_button *style, const struct nk_input *in) -{ - int ret; - struct nk_rect content; - - NK_ASSERT(state); - NK_ASSERT(style); - NK_ASSERT(out); - if (!out || !style || !state) - return nk_false; - - ret = nk_do_button(state, out, bounds, style, in, b, &content); - content.x += style->image_padding.x; - content.y += style->image_padding.y; - content.w -= 2 * style->image_padding.x; - content.h -= 2 * style->image_padding.y; - - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_button_image(out, &bounds, &content, *state, style, &img); - if (style->draw_end) style->draw_end(out, style->userdata); - return ret; -} -NK_LIB void -nk_draw_button_text_symbol(struct nk_command_buffer *out, - const struct nk_rect *bounds, const struct nk_rect *label, - const struct nk_rect *symbol, nk_flags state, const struct nk_style_button *style, - const char *str, int len, enum nk_symbol_type type, - const struct nk_user_font *font) -{ - struct nk_color sym; - struct nk_text text; - const struct nk_style_item *background; - - /* select correct background colors/images */ - background = nk_draw_button(out, bounds, state, style); - if (background->type == NK_STYLE_ITEM_COLOR) - text.background = background->data.color; - else text.background = style->text_background; - - /* select correct text colors */ - if (state & NK_WIDGET_STATE_HOVER) { - sym = style->text_hover; - text.text = style->text_hover; - } else if (state & NK_WIDGET_STATE_ACTIVED) { - sym = style->text_active; - text.text = style->text_active; - } else { - sym = style->text_normal; - text.text = style->text_normal; - } - - text.padding = nk_vec2(0,0); - nk_draw_symbol(out, type, *symbol, style->text_background, sym, 0, font); - nk_widget_text(out, *label, str, len, &text, NK_TEXT_CENTERED, font); -} -NK_LIB nk_bool -nk_do_button_text_symbol(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - enum nk_symbol_type symbol, const char *str, int len, nk_flags align, - enum nk_button_behavior behavior, const struct nk_style_button *style, - const struct nk_user_font *font, const struct nk_input *in) -{ - int ret; - struct nk_rect tri = {0,0,0,0}; - struct nk_rect content; - - NK_ASSERT(style); - NK_ASSERT(out); - NK_ASSERT(font); - if (!out || !style || !font) - return nk_false; - - ret = nk_do_button(state, out, bounds, style, in, behavior, &content); - tri.y = content.y + (content.h/2) - font->height/2; - tri.w = font->height; tri.h = font->height; - if (align & NK_TEXT_ALIGN_LEFT) { - tri.x = (content.x + content.w) - (2 * style->padding.x + tri.w); - tri.x = NK_MAX(tri.x, 0); - } else tri.x = content.x + 2 * style->padding.x; - - /* draw button */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_button_text_symbol(out, &bounds, &content, &tri, - *state, style, str, len, symbol, font); - if (style->draw_end) style->draw_end(out, style->userdata); - return ret; -} -NK_LIB void -nk_draw_button_text_image(struct nk_command_buffer *out, - const struct nk_rect *bounds, const struct nk_rect *label, - const struct nk_rect *image, nk_flags state, const struct nk_style_button *style, - const char *str, int len, const struct nk_user_font *font, - const struct nk_image *img) -{ - struct nk_text text; - const struct nk_style_item *background; - background = nk_draw_button(out, bounds, state, style); - - /* select correct colors */ - if (background->type == NK_STYLE_ITEM_COLOR) - text.background = background->data.color; - else text.background = style->text_background; - if (state & NK_WIDGET_STATE_HOVER) - text.text = style->text_hover; - else if (state & NK_WIDGET_STATE_ACTIVED) - text.text = style->text_active; - else text.text = style->text_normal; - - text.padding = nk_vec2(0,0); - nk_widget_text(out, *label, str, len, &text, NK_TEXT_CENTERED, font); - nk_draw_image(out, *image, img, nk_white); -} -NK_LIB nk_bool -nk_do_button_text_image(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - struct nk_image img, const char* str, int len, nk_flags align, - enum nk_button_behavior behavior, const struct nk_style_button *style, - const struct nk_user_font *font, const struct nk_input *in) -{ - int ret; - struct nk_rect icon; - struct nk_rect content; - - NK_ASSERT(style); - NK_ASSERT(state); - NK_ASSERT(font); - NK_ASSERT(out); - if (!out || !font || !style || !str) - return nk_false; - - ret = nk_do_button(state, out, bounds, style, in, behavior, &content); - icon.y = bounds.y + style->padding.y; - icon.w = icon.h = bounds.h - 2 * style->padding.y; - if (align & NK_TEXT_ALIGN_LEFT) { - icon.x = (bounds.x + bounds.w) - (2 * style->padding.x + icon.w); - icon.x = NK_MAX(icon.x, 0); - } else icon.x = bounds.x + 2 * style->padding.x; - - icon.x += style->image_padding.x; - icon.y += style->image_padding.y; - icon.w -= 2 * style->image_padding.x; - icon.h -= 2 * style->image_padding.y; - - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_button_text_image(out, &bounds, &content, &icon, *state, style, str, len, font, &img); - if (style->draw_end) style->draw_end(out, style->userdata); - return ret; -} -NK_API void -nk_button_set_behavior(struct nk_context *ctx, enum nk_button_behavior behavior) -{ - NK_ASSERT(ctx); - if (!ctx) return; - ctx->button_behavior = behavior; -} -NK_API nk_bool -nk_button_push_behavior(struct nk_context *ctx, enum nk_button_behavior behavior) -{ - struct nk_config_stack_button_behavior *button_stack; - struct nk_config_stack_button_behavior_element *element; - - NK_ASSERT(ctx); - if (!ctx) return 0; - - button_stack = &ctx->stacks.button_behaviors; - NK_ASSERT(button_stack->head < (int)NK_LEN(button_stack->elements)); - if (button_stack->head >= (int)NK_LEN(button_stack->elements)) - return 0; - - element = &button_stack->elements[button_stack->head++]; - element->address = &ctx->button_behavior; - element->old_value = ctx->button_behavior; - ctx->button_behavior = behavior; - return 1; -} -NK_API nk_bool -nk_button_pop_behavior(struct nk_context *ctx) -{ - struct nk_config_stack_button_behavior *button_stack; - struct nk_config_stack_button_behavior_element *element; - - NK_ASSERT(ctx); - if (!ctx) return 0; - - button_stack = &ctx->stacks.button_behaviors; - NK_ASSERT(button_stack->head > 0); - if (button_stack->head < 1) - return 0; - - element = &button_stack->elements[--button_stack->head]; - *element->address = element->old_value; - return 1; -} -NK_API nk_bool -nk_button_text_styled(struct nk_context *ctx, - const struct nk_style_button *style, const char *title, int len) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(style); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!style || !ctx || !ctx->current || !ctx->current->layout) return 0; - - win = ctx->current; - layout = win->layout; - state = nk_widget(&bounds, ctx); - - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_button_text(&ctx->last_widget_state, &win->buffer, bounds, - title, len, style->text_alignment, ctx->button_behavior, - style, in, ctx->style.font); -} -NK_API nk_bool -nk_button_text(struct nk_context *ctx, const char *title, int len) -{ - NK_ASSERT(ctx); - if (!ctx) return 0; - return nk_button_text_styled(ctx, &ctx->style.button, title, len); -} -NK_API nk_bool nk_button_label_styled(struct nk_context *ctx, - const struct nk_style_button *style, const char *title) -{ - return nk_button_text_styled(ctx, style, title, nk_strlen(title)); -} -NK_API nk_bool nk_button_label(struct nk_context *ctx, const char *title) -{ - return nk_button_text(ctx, title, nk_strlen(title)); -} -NK_API nk_bool -nk_button_color(struct nk_context *ctx, struct nk_color color) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - struct nk_style_button button; - - int ret = 0; - struct nk_rect bounds; - struct nk_rect content; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - - button = ctx->style.button; - button.normal = nk_style_item_color(color); - button.hover = nk_style_item_color(color); - button.active = nk_style_item_color(color); - ret = nk_do_button(&ctx->last_widget_state, &win->buffer, bounds, - &button, in, ctx->button_behavior, &content); - nk_draw_button(&win->buffer, &bounds, ctx->last_widget_state, &button); - return ret; -} -NK_API nk_bool -nk_button_symbol_styled(struct nk_context *ctx, - const struct nk_style_button *style, enum nk_symbol_type symbol) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - layout = win->layout; - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_button_symbol(&ctx->last_widget_state, &win->buffer, bounds, - symbol, ctx->button_behavior, style, in, ctx->style.font); -} -NK_API nk_bool -nk_button_symbol(struct nk_context *ctx, enum nk_symbol_type symbol) -{ - NK_ASSERT(ctx); - if (!ctx) return 0; - return nk_button_symbol_styled(ctx, &ctx->style.button, symbol); -} -NK_API nk_bool -nk_button_image_styled(struct nk_context *ctx, const struct nk_style_button *style, - struct nk_image img) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_button_image(&ctx->last_widget_state, &win->buffer, bounds, - img, ctx->button_behavior, style, in); -} -NK_API nk_bool -nk_button_image(struct nk_context *ctx, struct nk_image img) -{ - NK_ASSERT(ctx); - if (!ctx) return 0; - return nk_button_image_styled(ctx, &ctx->style.button, img); -} -NK_API nk_bool -nk_button_symbol_text_styled(struct nk_context *ctx, - const struct nk_style_button *style, enum nk_symbol_type symbol, - const char *text, int len, nk_flags align) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_button_text_symbol(&ctx->last_widget_state, &win->buffer, bounds, - symbol, text, len, align, ctx->button_behavior, - style, ctx->style.font, in); -} -NK_API nk_bool -nk_button_symbol_text(struct nk_context *ctx, enum nk_symbol_type symbol, - const char* text, int len, nk_flags align) -{ - NK_ASSERT(ctx); - if (!ctx) return 0; - return nk_button_symbol_text_styled(ctx, &ctx->style.button, symbol, text, len, align); -} -NK_API nk_bool nk_button_symbol_label(struct nk_context *ctx, enum nk_symbol_type symbol, - const char *label, nk_flags align) -{ - return nk_button_symbol_text(ctx, symbol, label, nk_strlen(label), align); -} -NK_API nk_bool nk_button_symbol_label_styled(struct nk_context *ctx, - const struct nk_style_button *style, enum nk_symbol_type symbol, - const char *title, nk_flags align) -{ - return nk_button_symbol_text_styled(ctx, style, symbol, title, nk_strlen(title), align); -} -NK_API nk_bool -nk_button_image_text_styled(struct nk_context *ctx, - const struct nk_style_button *style, struct nk_image img, const char *text, - int len, nk_flags align) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_button_text_image(&ctx->last_widget_state, &win->buffer, - bounds, img, text, len, align, ctx->button_behavior, - style, ctx->style.font, in); -} -NK_API nk_bool -nk_button_image_text(struct nk_context *ctx, struct nk_image img, - const char *text, int len, nk_flags align) -{ - return nk_button_image_text_styled(ctx, &ctx->style.button,img, text, len, align); -} -NK_API nk_bool nk_button_image_label(struct nk_context *ctx, struct nk_image img, - const char *label, nk_flags align) -{ - return nk_button_image_text(ctx, img, label, nk_strlen(label), align); -} -NK_API nk_bool nk_button_image_label_styled(struct nk_context *ctx, - const struct nk_style_button *style, struct nk_image img, - const char *label, nk_flags text_alignment) -{ - return nk_button_image_text_styled(ctx, style, img, label, nk_strlen(label), text_alignment); -} - - - - - -/* =============================================================== - * - * TOGGLE - * - * ===============================================================*/ -NK_LIB nk_bool -nk_toggle_behavior(const struct nk_input *in, struct nk_rect select, - nk_flags *state, nk_bool active) -{ - nk_widget_state_reset(state); - if (nk_button_behavior(state, select, in, NK_BUTTON_DEFAULT)) { - *state = NK_WIDGET_STATE_ACTIVE; - active = !active; - } - if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, select)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(in, select)) - *state |= NK_WIDGET_STATE_LEFT; - return active; -} -NK_LIB void -nk_draw_checkbox(struct nk_command_buffer *out, - nk_flags state, const struct nk_style_toggle *style, nk_bool active, - const struct nk_rect *label, const struct nk_rect *selector, - const struct nk_rect *cursors, const char *string, int len, - const struct nk_user_font *font) -{ - const struct nk_style_item *background; - const struct nk_style_item *cursor; - struct nk_text text; - - /* select correct colors/images */ - if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - cursor = &style->cursor_hover; - text.text = style->text_hover; - } else if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->hover; - cursor = &style->cursor_hover; - text.text = style->text_active; - } else { - background = &style->normal; - cursor = &style->cursor_normal; - text.text = style->text_normal; - } - - /* draw background and cursor */ - if (background->type == NK_STYLE_ITEM_COLOR) { - nk_fill_rect(out, *selector, 0, style->border_color); - nk_fill_rect(out, nk_shrink_rect(*selector, style->border), 0, background->data.color); - } else nk_draw_image(out, *selector, &background->data.image, nk_white); - if (active) { - if (cursor->type == NK_STYLE_ITEM_IMAGE) - nk_draw_image(out, *cursors, &cursor->data.image, nk_white); - else nk_fill_rect(out, *cursors, 0, cursor->data.color); - } - - text.padding.x = 0; - text.padding.y = 0; - text.background = style->text_background; - nk_widget_text(out, *label, string, len, &text, NK_TEXT_LEFT, font); -} -NK_LIB void -nk_draw_option(struct nk_command_buffer *out, - nk_flags state, const struct nk_style_toggle *style, nk_bool active, - const struct nk_rect *label, const struct nk_rect *selector, - const struct nk_rect *cursors, const char *string, int len, - const struct nk_user_font *font) -{ - const struct nk_style_item *background; - const struct nk_style_item *cursor; - struct nk_text text; - - /* select correct colors/images */ - if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - cursor = &style->cursor_hover; - text.text = style->text_hover; - } else if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->hover; - cursor = &style->cursor_hover; - text.text = style->text_active; - } else { - background = &style->normal; - cursor = &style->cursor_normal; - text.text = style->text_normal; - } - - /* draw background and cursor */ - if (background->type == NK_STYLE_ITEM_COLOR) { - nk_fill_circle(out, *selector, style->border_color); - nk_fill_circle(out, nk_shrink_rect(*selector, style->border), background->data.color); - } else nk_draw_image(out, *selector, &background->data.image, nk_white); - if (active) { - if (cursor->type == NK_STYLE_ITEM_IMAGE) - nk_draw_image(out, *cursors, &cursor->data.image, nk_white); - else nk_fill_circle(out, *cursors, cursor->data.color); - } - - text.padding.x = 0; - text.padding.y = 0; - text.background = style->text_background; - nk_widget_text(out, *label, string, len, &text, NK_TEXT_LEFT, font); -} -NK_LIB nk_bool -nk_do_toggle(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect r, - nk_bool *active, const char *str, int len, enum nk_toggle_type type, - const struct nk_style_toggle *style, const struct nk_input *in, - const struct nk_user_font *font) -{ - int was_active; - struct nk_rect bounds; - struct nk_rect select; - struct nk_rect cursor; - struct nk_rect label; - - NK_ASSERT(style); - NK_ASSERT(out); - NK_ASSERT(font); - if (!out || !style || !font || !active) - return 0; - - r.w = NK_MAX(r.w, font->height + 2 * style->padding.x); - r.h = NK_MAX(r.h, font->height + 2 * style->padding.y); - - /* add additional touch padding for touch screen devices */ - bounds.x = r.x - style->touch_padding.x; - bounds.y = r.y - style->touch_padding.y; - bounds.w = r.w + 2 * style->touch_padding.x; - bounds.h = r.h + 2 * style->touch_padding.y; - - /* calculate the selector space */ - select.w = font->height; - select.h = select.w; - select.y = r.y + r.h/2.0f - select.h/2.0f; - select.x = r.x; - - /* calculate the bounds of the cursor inside the selector */ - cursor.x = select.x + style->padding.x + style->border; - cursor.y = select.y + style->padding.y + style->border; - cursor.w = select.w - (2 * style->padding.x + 2 * style->border); - cursor.h = select.h - (2 * style->padding.y + 2 * style->border); - - /* label behind the selector */ - label.x = select.x + select.w + style->spacing; - label.y = select.y; - label.w = NK_MAX(r.x + r.w, label.x) - label.x; - label.h = select.w; - - /* update selector */ - was_active = *active; - *active = nk_toggle_behavior(in, bounds, state, *active); - - /* draw selector */ - if (style->draw_begin) - style->draw_begin(out, style->userdata); - if (type == NK_TOGGLE_CHECK) { - nk_draw_checkbox(out, *state, style, *active, &label, &select, &cursor, str, len, font); - } else { - nk_draw_option(out, *state, style, *active, &label, &select, &cursor, str, len, font); - } - if (style->draw_end) - style->draw_end(out, style->userdata); - return (was_active != *active); -} -/*---------------------------------------------------------------- - * - * CHECKBOX - * - * --------------------------------------------------------------*/ -NK_API nk_bool -nk_check_text(struct nk_context *ctx, const char *text, int len, nk_bool active) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - const struct nk_style *style; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return active; - - win = ctx->current; - style = &ctx->style; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return active; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - nk_do_toggle(&ctx->last_widget_state, &win->buffer, bounds, &active, - text, len, NK_TOGGLE_CHECK, &style->checkbox, in, style->font); - return active; -} -NK_API unsigned int -nk_check_flags_text(struct nk_context *ctx, const char *text, int len, - unsigned int flags, unsigned int value) -{ - int old_active; - NK_ASSERT(ctx); - NK_ASSERT(text); - if (!ctx || !text) return flags; - old_active = (int)((flags & value) & value); - if (nk_check_text(ctx, text, len, old_active)) - flags |= value; - else flags &= ~value; - return flags; -} -NK_API nk_bool -nk_checkbox_text(struct nk_context *ctx, const char *text, int len, nk_bool *active) -{ - int old_val; - NK_ASSERT(ctx); - NK_ASSERT(text); - NK_ASSERT(active); - if (!ctx || !text || !active) return 0; - old_val = *active; - *active = nk_check_text(ctx, text, len, *active); - return old_val != *active; -} -NK_API nk_bool -nk_checkbox_flags_text(struct nk_context *ctx, const char *text, int len, - unsigned int *flags, unsigned int value) -{ - nk_bool active; - NK_ASSERT(ctx); - NK_ASSERT(text); - NK_ASSERT(flags); - if (!ctx || !text || !flags) return 0; - - active = (int)((*flags & value) & value); - if (nk_checkbox_text(ctx, text, len, &active)) { - if (active) *flags |= value; - else *flags &= ~value; - return 1; - } - return 0; -} -NK_API nk_bool nk_check_label(struct nk_context *ctx, const char *label, nk_bool active) -{ - return nk_check_text(ctx, label, nk_strlen(label), active); -} -NK_API unsigned int nk_check_flags_label(struct nk_context *ctx, const char *label, - unsigned int flags, unsigned int value) -{ - return nk_check_flags_text(ctx, label, nk_strlen(label), flags, value); -} -NK_API nk_bool nk_checkbox_label(struct nk_context *ctx, const char *label, nk_bool *active) -{ - return nk_checkbox_text(ctx, label, nk_strlen(label), active); -} -NK_API nk_bool nk_checkbox_flags_label(struct nk_context *ctx, const char *label, - unsigned int *flags, unsigned int value) -{ - return nk_checkbox_flags_text(ctx, label, nk_strlen(label), flags, value); -} -/*---------------------------------------------------------------- - * - * OPTION - * - * --------------------------------------------------------------*/ -NK_API nk_bool -nk_option_text(struct nk_context *ctx, const char *text, int len, nk_bool is_active) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - const struct nk_style *style; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return is_active; - - win = ctx->current; - style = &ctx->style; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return (int)state; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - nk_do_toggle(&ctx->last_widget_state, &win->buffer, bounds, &is_active, - text, len, NK_TOGGLE_OPTION, &style->option, in, style->font); - return is_active; -} -NK_API nk_bool -nk_radio_text(struct nk_context *ctx, const char *text, int len, nk_bool *active) -{ - int old_value; - NK_ASSERT(ctx); - NK_ASSERT(text); - NK_ASSERT(active); - if (!ctx || !text || !active) return 0; - old_value = *active; - *active = nk_option_text(ctx, text, len, old_value); - return old_value != *active; -} -NK_API nk_bool -nk_option_label(struct nk_context *ctx, const char *label, nk_bool active) -{ - return nk_option_text(ctx, label, nk_strlen(label), active); -} -NK_API nk_bool -nk_radio_label(struct nk_context *ctx, const char *label, nk_bool *active) -{ - return nk_radio_text(ctx, label, nk_strlen(label), active); -} - - - - - -/* =============================================================== - * - * SELECTABLE - * - * ===============================================================*/ -NK_LIB void -nk_draw_selectable(struct nk_command_buffer *out, - nk_flags state, const struct nk_style_selectable *style, nk_bool active, - const struct nk_rect *bounds, - const struct nk_rect *icon, const struct nk_image *img, enum nk_symbol_type sym, - const char *string, int len, nk_flags align, const struct nk_user_font *font) -{ - const struct nk_style_item *background; - struct nk_text text; - text.padding = style->padding; - - /* select correct colors/images */ - if (!active) { - if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->pressed; - text.text = style->text_pressed; - } else if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - text.text = style->text_hover; - } else { - background = &style->normal; - text.text = style->text_normal; - } - } else { - if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->pressed_active; - text.text = style->text_pressed_active; - } else if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover_active; - text.text = style->text_hover_active; - } else { - background = &style->normal_active; - text.text = style->text_normal_active; - } - } - /* draw selectable background and text */ - switch (background->type) { - case NK_STYLE_ITEM_IMAGE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_image(out, *bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - text.background = background->data.color; - nk_fill_rect(out, *bounds, style->rounding, background->data.color); - break; - } - if (icon) { - if (img) nk_draw_image(out, *icon, img, nk_white); - else nk_draw_symbol(out, sym, *icon, text.background, text.text, 1, font); - } - nk_widget_text(out, *bounds, string, len, &text, align, font); -} -NK_LIB nk_bool -nk_do_selectable(nk_flags *state, struct nk_command_buffer *out, - struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, - const struct nk_style_selectable *style, const struct nk_input *in, - const struct nk_user_font *font) -{ - int old_value; - struct nk_rect touch; - - NK_ASSERT(state); - NK_ASSERT(out); - NK_ASSERT(str); - NK_ASSERT(len); - NK_ASSERT(value); - NK_ASSERT(style); - NK_ASSERT(font); - - if (!state || !out || !str || !len || !value || !style || !font) return 0; - old_value = *value; - - /* remove padding */ - touch.x = bounds.x - style->touch_padding.x; - touch.y = bounds.y - style->touch_padding.y; - touch.w = bounds.w + style->touch_padding.x * 2; - touch.h = bounds.h + style->touch_padding.y * 2; - - /* update button */ - if (nk_button_behavior(state, touch, in, NK_BUTTON_DEFAULT)) - *value = !(*value); - - /* draw selectable */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_selectable(out, *state, style, *value, &bounds, 0,0,NK_SYMBOL_NONE, str, len, align, font); - if (style->draw_end) style->draw_end(out, style->userdata); - return old_value != *value; -} -NK_LIB nk_bool -nk_do_selectable_image(nk_flags *state, struct nk_command_buffer *out, - struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, - const struct nk_image *img, const struct nk_style_selectable *style, - const struct nk_input *in, const struct nk_user_font *font) -{ - nk_bool old_value; - struct nk_rect touch; - struct nk_rect icon; - - NK_ASSERT(state); - NK_ASSERT(out); - NK_ASSERT(str); - NK_ASSERT(len); - NK_ASSERT(value); - NK_ASSERT(style); - NK_ASSERT(font); - - if (!state || !out || !str || !len || !value || !style || !font) return 0; - old_value = *value; - - /* toggle behavior */ - touch.x = bounds.x - style->touch_padding.x; - touch.y = bounds.y - style->touch_padding.y; - touch.w = bounds.w + style->touch_padding.x * 2; - touch.h = bounds.h + style->touch_padding.y * 2; - if (nk_button_behavior(state, touch, in, NK_BUTTON_DEFAULT)) - *value = !(*value); - - icon.y = bounds.y + style->padding.y; - icon.w = icon.h = bounds.h - 2 * style->padding.y; - if (align & NK_TEXT_ALIGN_LEFT) { - icon.x = (bounds.x + bounds.w) - (2 * style->padding.x + icon.w); - icon.x = NK_MAX(icon.x, 0); - } else icon.x = bounds.x + 2 * style->padding.x; - - icon.x += style->image_padding.x; - icon.y += style->image_padding.y; - icon.w -= 2 * style->image_padding.x; - icon.h -= 2 * style->image_padding.y; - - /* draw selectable */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_selectable(out, *state, style, *value, &bounds, &icon, img, NK_SYMBOL_NONE, str, len, align, font); - if (style->draw_end) style->draw_end(out, style->userdata); - return old_value != *value; -} -NK_LIB nk_bool -nk_do_selectable_symbol(nk_flags *state, struct nk_command_buffer *out, - struct nk_rect bounds, const char *str, int len, nk_flags align, nk_bool *value, - enum nk_symbol_type sym, const struct nk_style_selectable *style, - const struct nk_input *in, const struct nk_user_font *font) -{ - int old_value; - struct nk_rect touch; - struct nk_rect icon; - - NK_ASSERT(state); - NK_ASSERT(out); - NK_ASSERT(str); - NK_ASSERT(len); - NK_ASSERT(value); - NK_ASSERT(style); - NK_ASSERT(font); - - if (!state || !out || !str || !len || !value || !style || !font) return 0; - old_value = *value; - - /* toggle behavior */ - touch.x = bounds.x - style->touch_padding.x; - touch.y = bounds.y - style->touch_padding.y; - touch.w = bounds.w + style->touch_padding.x * 2; - touch.h = bounds.h + style->touch_padding.y * 2; - if (nk_button_behavior(state, touch, in, NK_BUTTON_DEFAULT)) - *value = !(*value); - - icon.y = bounds.y + style->padding.y; - icon.w = icon.h = bounds.h - 2 * style->padding.y; - if (align & NK_TEXT_ALIGN_LEFT) { - icon.x = (bounds.x + bounds.w) - (2 * style->padding.x + icon.w); - icon.x = NK_MAX(icon.x, 0); - } else icon.x = bounds.x + 2 * style->padding.x; - - icon.x += style->image_padding.x; - icon.y += style->image_padding.y; - icon.w -= 2 * style->image_padding.x; - icon.h -= 2 * style->image_padding.y; - - /* draw selectable */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_selectable(out, *state, style, *value, &bounds, &icon, 0, sym, str, len, align, font); - if (style->draw_end) style->draw_end(out, style->userdata); - return old_value != *value; -} - -NK_API nk_bool -nk_selectable_text(struct nk_context *ctx, const char *str, int len, - nk_flags align, nk_bool *value) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - const struct nk_style *style; - - enum nk_widget_layout_states state; - struct nk_rect bounds; - - NK_ASSERT(ctx); - NK_ASSERT(value); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !value) - return 0; - - win = ctx->current; - layout = win->layout; - style = &ctx->style; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_selectable(&ctx->last_widget_state, &win->buffer, bounds, - str, len, align, value, &style->selectable, in, style->font); -} -NK_API nk_bool -nk_selectable_image_text(struct nk_context *ctx, struct nk_image img, - const char *str, int len, nk_flags align, nk_bool *value) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - const struct nk_style *style; - - enum nk_widget_layout_states state; - struct nk_rect bounds; - - NK_ASSERT(ctx); - NK_ASSERT(value); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !value) - return 0; - - win = ctx->current; - layout = win->layout; - style = &ctx->style; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_selectable_image(&ctx->last_widget_state, &win->buffer, bounds, - str, len, align, value, &img, &style->selectable, in, style->font); -} -NK_API nk_bool -nk_selectable_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, - const char *str, int len, nk_flags align, nk_bool *value) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_input *in; - const struct nk_style *style; - - enum nk_widget_layout_states state; - struct nk_rect bounds; - - NK_ASSERT(ctx); - NK_ASSERT(value); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !value) - return 0; - - win = ctx->current; - layout = win->layout; - style = &ctx->style; - - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_selectable_symbol(&ctx->last_widget_state, &win->buffer, bounds, - str, len, align, value, sym, &style->selectable, in, style->font); -} -NK_API nk_bool -nk_selectable_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, - const char *title, nk_flags align, nk_bool *value) -{ - return nk_selectable_symbol_text(ctx, sym, title, nk_strlen(title), align, value); -} -NK_API nk_bool nk_select_text(struct nk_context *ctx, const char *str, int len, - nk_flags align, nk_bool value) -{ - nk_selectable_text(ctx, str, len, align, &value);return value; -} -NK_API nk_bool nk_selectable_label(struct nk_context *ctx, const char *str, nk_flags align, nk_bool *value) -{ - return nk_selectable_text(ctx, str, nk_strlen(str), align, value); -} -NK_API nk_bool nk_selectable_image_label(struct nk_context *ctx,struct nk_image img, - const char *str, nk_flags align, nk_bool *value) -{ - return nk_selectable_image_text(ctx, img, str, nk_strlen(str), align, value); -} -NK_API nk_bool nk_select_label(struct nk_context *ctx, const char *str, nk_flags align, nk_bool value) -{ - nk_selectable_text(ctx, str, nk_strlen(str), align, &value);return value; -} -NK_API nk_bool nk_select_image_label(struct nk_context *ctx, struct nk_image img, - const char *str, nk_flags align, nk_bool value) -{ - nk_selectable_image_text(ctx, img, str, nk_strlen(str), align, &value);return value; -} -NK_API nk_bool nk_select_image_text(struct nk_context *ctx, struct nk_image img, - const char *str, int len, nk_flags align, nk_bool value) -{ - nk_selectable_image_text(ctx, img, str, len, align, &value);return value; -} -NK_API nk_bool -nk_select_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, - const char *title, int title_len, nk_flags align, nk_bool value) -{ - nk_selectable_symbol_text(ctx, sym, title, title_len, align, &value);return value; -} -NK_API nk_bool -nk_select_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, - const char *title, nk_flags align, nk_bool value) -{ - return nk_select_symbol_text(ctx, sym, title, nk_strlen(title), align, value); -} - - - - - -/* =============================================================== - * - * SLIDER - * - * ===============================================================*/ -NK_LIB float -nk_slider_behavior(nk_flags *state, struct nk_rect *logical_cursor, - struct nk_rect *visual_cursor, struct nk_input *in, - struct nk_rect bounds, float slider_min, float slider_max, float slider_value, - float slider_step, float slider_steps) -{ - int left_mouse_down; - int left_mouse_click_in_cursor; - - /* check if visual cursor is being dragged */ - nk_widget_state_reset(state); - left_mouse_down = in && in->mouse.buttons[NK_BUTTON_LEFT].down; - left_mouse_click_in_cursor = in && nk_input_has_mouse_click_down_in_rect(in, - NK_BUTTON_LEFT, *visual_cursor, nk_true); - - if (left_mouse_down && left_mouse_click_in_cursor) { - float ratio = 0; - const float d = in->mouse.pos.x - (visual_cursor->x+visual_cursor->w*0.5f); - const float pxstep = bounds.w / slider_steps; - - /* only update value if the next slider step is reached */ - *state = NK_WIDGET_STATE_ACTIVE; - if (NK_ABS(d) >= pxstep) { - const float steps = (float)((int)(NK_ABS(d) / pxstep)); - slider_value += (d > 0) ? (slider_step*steps) : -(slider_step*steps); - slider_value = NK_CLAMP(slider_min, slider_value, slider_max); - ratio = (slider_value - slider_min)/slider_step; - logical_cursor->x = bounds.x + (logical_cursor->w * ratio); - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = logical_cursor->x; - } - } - - /* slider widget state */ - if (nk_input_is_mouse_hovering_rect(in, bounds)) - *state = NK_WIDGET_STATE_HOVERED; - if (*state & NK_WIDGET_STATE_HOVER && - !nk_input_is_mouse_prev_hovering_rect(in, bounds)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(in, bounds)) - *state |= NK_WIDGET_STATE_LEFT; - return slider_value; -} -NK_LIB void -nk_draw_slider(struct nk_command_buffer *out, nk_flags state, - const struct nk_style_slider *style, const struct nk_rect *bounds, - const struct nk_rect *visual_cursor, float min, float value, float max) -{ - struct nk_rect fill; - struct nk_rect bar; - const struct nk_style_item *background; - - /* select correct slider images/colors */ - struct nk_color bar_color; - const struct nk_style_item *cursor; - - NK_UNUSED(min); - NK_UNUSED(max); - NK_UNUSED(value); - - if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->active; - bar_color = style->bar_active; - cursor = &style->cursor_active; - } else if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - bar_color = style->bar_hover; - cursor = &style->cursor_hover; - } else { - background = &style->normal; - bar_color = style->bar_normal; - cursor = &style->cursor_normal; - } - /* calculate slider background bar */ - bar.x = bounds->x; - bar.y = (visual_cursor->y + visual_cursor->h/2) - bounds->h/12; - bar.w = bounds->w; - bar.h = bounds->h/6; - - /* filled background bar style */ - fill.w = (visual_cursor->x + (visual_cursor->w/2.0f)) - bar.x; - fill.x = bar.x; - fill.y = bar.y; - fill.h = bar.h; - - /* draw background */ - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, *bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, *bounds, style->rounding, background->data.color); - nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); - break; - } - - /* draw slider bar */ - nk_fill_rect(out, bar, style->rounding, bar_color); - nk_fill_rect(out, fill, style->rounding, style->bar_filled); - - /* draw cursor */ - if (cursor->type == NK_STYLE_ITEM_IMAGE) - nk_draw_image(out, *visual_cursor, &cursor->data.image, nk_white); - else - nk_fill_circle(out, *visual_cursor, cursor->data.color); -} -NK_LIB float -nk_do_slider(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - float min, float val, float max, float step, - const struct nk_style_slider *style, struct nk_input *in, - const struct nk_user_font *font) -{ - float slider_range; - float slider_min; - float slider_max; - float slider_value; - float slider_steps; - float cursor_offset; - - struct nk_rect visual_cursor; - struct nk_rect logical_cursor; - - NK_ASSERT(style); - NK_ASSERT(out); - if (!out || !style) - return 0; - - /* remove padding from slider bounds */ - bounds.x = bounds.x + style->padding.x; - bounds.y = bounds.y + style->padding.y; - bounds.h = NK_MAX(bounds.h, 2*style->padding.y); - bounds.w = NK_MAX(bounds.w, 2*style->padding.x + style->cursor_size.x); - bounds.w -= 2 * style->padding.x; - bounds.h -= 2 * style->padding.y; - - /* optional buttons */ - if (style->show_buttons) { - nk_flags ws; - struct nk_rect button; - button.y = bounds.y; - button.w = bounds.h; - button.h = bounds.h; - - /* decrement button */ - button.x = bounds.x; - if (nk_do_button_symbol(&ws, out, button, style->dec_symbol, NK_BUTTON_DEFAULT, - &style->dec_button, in, font)) - val -= step; - - /* increment button */ - button.x = (bounds.x + bounds.w) - button.w; - if (nk_do_button_symbol(&ws, out, button, style->inc_symbol, NK_BUTTON_DEFAULT, - &style->inc_button, in, font)) - val += step; - - bounds.x = bounds.x + button.w + style->spacing.x; - bounds.w = bounds.w - (2*button.w + 2*style->spacing.x); - } - - /* remove one cursor size to support visual cursor */ - bounds.x += style->cursor_size.x*0.5f; - bounds.w -= style->cursor_size.x; - - /* make sure the provided values are correct */ - slider_max = NK_MAX(min, max); - slider_min = NK_MIN(min, max); - slider_value = NK_CLAMP(slider_min, val, slider_max); - slider_range = slider_max - slider_min; - slider_steps = slider_range / step; - cursor_offset = (slider_value - slider_min) / step; - - /* calculate cursor - Basically you have two cursors. One for visual representation and interaction - and one for updating the actual cursor value. */ - logical_cursor.h = bounds.h; - logical_cursor.w = bounds.w / slider_steps; - logical_cursor.x = bounds.x + (logical_cursor.w * cursor_offset); - logical_cursor.y = bounds.y; - - visual_cursor.h = style->cursor_size.y; - visual_cursor.w = style->cursor_size.x; - visual_cursor.y = (bounds.y + bounds.h*0.5f) - visual_cursor.h*0.5f; - visual_cursor.x = logical_cursor.x - visual_cursor.w*0.5f; - - slider_value = nk_slider_behavior(state, &logical_cursor, &visual_cursor, - in, bounds, slider_min, slider_max, slider_value, step, slider_steps); - visual_cursor.x = logical_cursor.x - visual_cursor.w*0.5f; - - /* draw slider */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_slider(out, *state, style, &bounds, &visual_cursor, slider_min, slider_value, slider_max); - if (style->draw_end) style->draw_end(out, style->userdata); - return slider_value; -} -NK_API nk_bool -nk_slider_float(struct nk_context *ctx, float min_value, float *value, float max_value, - float value_step) -{ - struct nk_window *win; - struct nk_panel *layout; - struct nk_input *in; - const struct nk_style *style; - - int ret = 0; - float old_value; - struct nk_rect bounds; - enum nk_widget_layout_states state; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - NK_ASSERT(value); - if (!ctx || !ctx->current || !ctx->current->layout || !value) - return ret; - - win = ctx->current; - style = &ctx->style; - layout = win->layout; - - state = nk_widget(&bounds, ctx); - if (!state) return ret; - in = (/*state == NK_WIDGET_ROM || */ layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - - old_value = *value; - *value = nk_do_slider(&ctx->last_widget_state, &win->buffer, bounds, min_value, - old_value, max_value, value_step, &style->slider, in, style->font); - return (old_value > *value || old_value < *value); -} -NK_API float -nk_slide_float(struct nk_context *ctx, float min, float val, float max, float step) -{ - nk_slider_float(ctx, min, &val, max, step); return val; -} -NK_API int -nk_slide_int(struct nk_context *ctx, int min, int val, int max, int step) -{ - float value = (float)val; - nk_slider_float(ctx, (float)min, &value, (float)max, (float)step); - return (int)value; -} -NK_API nk_bool -nk_slider_int(struct nk_context *ctx, int min, int *val, int max, int step) -{ - int ret; - float value = (float)*val; - ret = nk_slider_float(ctx, (float)min, &value, (float)max, (float)step); - *val = (int)value; - return ret; -} - - - - - -/* =============================================================== - * - * PROGRESS - * - * ===============================================================*/ -NK_LIB nk_size -nk_progress_behavior(nk_flags *state, struct nk_input *in, - struct nk_rect r, struct nk_rect cursor, nk_size max, nk_size value, nk_bool modifiable) -{ - int left_mouse_down = 0; - int left_mouse_click_in_cursor = 0; - - nk_widget_state_reset(state); - if (!in || !modifiable) return value; - left_mouse_down = in && in->mouse.buttons[NK_BUTTON_LEFT].down; - left_mouse_click_in_cursor = in && nk_input_has_mouse_click_down_in_rect(in, - NK_BUTTON_LEFT, cursor, nk_true); - if (nk_input_is_mouse_hovering_rect(in, r)) - *state = NK_WIDGET_STATE_HOVERED; - - if (in && left_mouse_down && left_mouse_click_in_cursor) { - if (left_mouse_down && left_mouse_click_in_cursor) { - float ratio = NK_MAX(0, (float)(in->mouse.pos.x - cursor.x)) / (float)cursor.w; - value = (nk_size)NK_CLAMP(0, (float)max * ratio, (float)max); - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = cursor.x + cursor.w/2.0f; - *state |= NK_WIDGET_STATE_ACTIVE; - } - } - /* set progressbar widget state */ - if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, r)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(in, r)) - *state |= NK_WIDGET_STATE_LEFT; - return value; -} -NK_LIB void -nk_draw_progress(struct nk_command_buffer *out, nk_flags state, - const struct nk_style_progress *style, const struct nk_rect *bounds, - const struct nk_rect *scursor, nk_size value, nk_size max) -{ - const struct nk_style_item *background; - const struct nk_style_item *cursor; - - NK_UNUSED(max); - NK_UNUSED(value); - - /* select correct colors/images to draw */ - if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->active; - cursor = &style->cursor_active; - } else if (state & NK_WIDGET_STATE_HOVER){ - background = &style->hover; - cursor = &style->cursor_hover; - } else { - background = &style->normal; - cursor = &style->cursor_normal; - } - - /* draw background */ - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, *bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, *bounds, style->rounding, background->data.color); - nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); - break; - } - - /* draw cursor */ - switch(cursor->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, *scursor, &cursor->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, *scursor, &cursor->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, *scursor, style->rounding, cursor->data.color); - nk_stroke_rect(out, *scursor, style->rounding, style->border, style->border_color); - break; - } -} -NK_LIB nk_size -nk_do_progress(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect bounds, - nk_size value, nk_size max, nk_bool modifiable, - const struct nk_style_progress *style, struct nk_input *in) -{ - float prog_scale; - nk_size prog_value; - struct nk_rect cursor; - - NK_ASSERT(style); - NK_ASSERT(out); - if (!out || !style) return 0; - - /* calculate progressbar cursor */ - cursor.w = NK_MAX(bounds.w, 2 * style->padding.x + 2 * style->border); - cursor.h = NK_MAX(bounds.h, 2 * style->padding.y + 2 * style->border); - cursor = nk_pad_rect(bounds, nk_vec2(style->padding.x + style->border, style->padding.y + style->border)); - prog_scale = (float)value / (float)max; - - /* update progressbar */ - prog_value = NK_MIN(value, max); - prog_value = nk_progress_behavior(state, in, bounds, cursor,max, prog_value, modifiable); - cursor.w = cursor.w * prog_scale; - - /* draw progressbar */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_progress(out, *state, style, &bounds, &cursor, value, max); - if (style->draw_end) style->draw_end(out, style->userdata); - return prog_value; -} -NK_API nk_bool -nk_progress(struct nk_context *ctx, nk_size *cur, nk_size max, nk_bool is_modifyable) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_style *style; - struct nk_input *in; - - struct nk_rect bounds; - enum nk_widget_layout_states state; - nk_size old_value; - - NK_ASSERT(ctx); - NK_ASSERT(cur); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !cur) - return 0; - - win = ctx->current; - style = &ctx->style; - layout = win->layout; - state = nk_widget(&bounds, ctx); - if (!state) return 0; - - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - old_value = *cur; - *cur = nk_do_progress(&ctx->last_widget_state, &win->buffer, bounds, - *cur, max, is_modifyable, &style->progress, in); - return (*cur != old_value); -} -NK_API nk_size -nk_prog(struct nk_context *ctx, nk_size cur, nk_size max, nk_bool modifyable) -{ - nk_progress(ctx, &cur, max, modifyable); - return cur; -} - - - - - -/* =============================================================== - * - * SCROLLBAR - * - * ===============================================================*/ -NK_LIB float -nk_scrollbar_behavior(nk_flags *state, struct nk_input *in, - int has_scrolling, const struct nk_rect *scroll, - const struct nk_rect *cursor, const struct nk_rect *empty0, - const struct nk_rect *empty1, float scroll_offset, - float target, float scroll_step, enum nk_orientation o) -{ - nk_flags ws = 0; - int left_mouse_down; - unsigned int left_mouse_clicked; - int left_mouse_click_in_cursor; - float scroll_delta; - - nk_widget_state_reset(state); - if (!in) return scroll_offset; - - left_mouse_down = in->mouse.buttons[NK_BUTTON_LEFT].down; - left_mouse_clicked = in->mouse.buttons[NK_BUTTON_LEFT].clicked; - left_mouse_click_in_cursor = nk_input_has_mouse_click_down_in_rect(in, - NK_BUTTON_LEFT, *cursor, nk_true); - if (nk_input_is_mouse_hovering_rect(in, *scroll)) - *state = NK_WIDGET_STATE_HOVERED; - - scroll_delta = (o == NK_VERTICAL) ? in->mouse.scroll_delta.y: in->mouse.scroll_delta.x; - if (left_mouse_down && left_mouse_click_in_cursor && !left_mouse_clicked) { - /* update cursor by mouse dragging */ - float pixel, delta; - *state = NK_WIDGET_STATE_ACTIVE; - if (o == NK_VERTICAL) { - float cursor_y; - pixel = in->mouse.delta.y; - delta = (pixel / scroll->h) * target; - scroll_offset = NK_CLAMP(0, scroll_offset + delta, target - scroll->h); - cursor_y = scroll->y + ((scroll_offset/target) * scroll->h); - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.y = cursor_y + cursor->h/2.0f; - } else { - float cursor_x; - pixel = in->mouse.delta.x; - delta = (pixel / scroll->w) * target; - scroll_offset = NK_CLAMP(0, scroll_offset + delta, target - scroll->w); - cursor_x = scroll->x + ((scroll_offset/target) * scroll->w); - in->mouse.buttons[NK_BUTTON_LEFT].clicked_pos.x = cursor_x + cursor->w/2.0f; - } - } else if ((nk_input_is_key_pressed(in, NK_KEY_SCROLL_UP) && o == NK_VERTICAL && has_scrolling)|| - nk_button_behavior(&ws, *empty0, in, NK_BUTTON_DEFAULT)) { - /* scroll page up by click on empty space or shortcut */ - if (o == NK_VERTICAL) - scroll_offset = NK_MAX(0, scroll_offset - scroll->h); - else scroll_offset = NK_MAX(0, scroll_offset - scroll->w); - } else if ((nk_input_is_key_pressed(in, NK_KEY_SCROLL_DOWN) && o == NK_VERTICAL && has_scrolling) || - nk_button_behavior(&ws, *empty1, in, NK_BUTTON_DEFAULT)) { - /* scroll page down by click on empty space or shortcut */ - if (o == NK_VERTICAL) - scroll_offset = NK_MIN(scroll_offset + scroll->h, target - scroll->h); - else scroll_offset = NK_MIN(scroll_offset + scroll->w, target - scroll->w); - } else if (has_scrolling) { - if ((scroll_delta < 0 || (scroll_delta > 0))) { - /* update cursor by mouse scrolling */ - scroll_offset = scroll_offset + scroll_step * (-scroll_delta); - if (o == NK_VERTICAL) - scroll_offset = NK_CLAMP(0, scroll_offset, target - scroll->h); - else scroll_offset = NK_CLAMP(0, scroll_offset, target - scroll->w); - } else if (nk_input_is_key_pressed(in, NK_KEY_SCROLL_START)) { - /* update cursor to the beginning */ - if (o == NK_VERTICAL) scroll_offset = 0; - } else if (nk_input_is_key_pressed(in, NK_KEY_SCROLL_END)) { - /* update cursor to the end */ - if (o == NK_VERTICAL) scroll_offset = target - scroll->h; - } - } - if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, *scroll)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(in, *scroll)) - *state |= NK_WIDGET_STATE_LEFT; - return scroll_offset; -} -NK_LIB void -nk_draw_scrollbar(struct nk_command_buffer *out, nk_flags state, - const struct nk_style_scrollbar *style, const struct nk_rect *bounds, - const struct nk_rect *scroll) -{ - const struct nk_style_item *background; - const struct nk_style_item *cursor; - - /* select correct colors/images to draw */ - if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->active; - cursor = &style->cursor_active; - } else if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - cursor = &style->cursor_hover; - } else { - background = &style->normal; - cursor = &style->cursor_normal; - } - - /* draw background */ - switch (background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, *bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, *bounds, style->rounding, background->data.color); - nk_stroke_rect(out, *bounds, style->rounding, style->border, style->border_color); - break; - } - - /* draw cursor */ - switch (cursor->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, *scroll, &cursor->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, *scroll, &cursor->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, *scroll, style->rounding_cursor, cursor->data.color); - nk_stroke_rect(out, *scroll, style->rounding_cursor, style->border_cursor, style->cursor_border_color); - break; - } -} -NK_LIB float -nk_do_scrollbarv(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, - float offset, float target, float step, float button_pixel_inc, - const struct nk_style_scrollbar *style, struct nk_input *in, - const struct nk_user_font *font) -{ - struct nk_rect empty_north; - struct nk_rect empty_south; - struct nk_rect cursor; - - float scroll_step; - float scroll_offset; - float scroll_off; - float scroll_ratio; - - NK_ASSERT(out); - NK_ASSERT(style); - NK_ASSERT(state); - if (!out || !style) return 0; - - scroll.w = NK_MAX(scroll.w, 1); - scroll.h = NK_MAX(scroll.h, 0); - if (target <= scroll.h) return 0; - - /* optional scrollbar buttons */ - if (style->show_buttons) { - nk_flags ws; - float scroll_h; - struct nk_rect button; - - button.x = scroll.x; - button.w = scroll.w; - button.h = scroll.w; - - scroll_h = NK_MAX(scroll.h - 2 * button.h,0); - scroll_step = NK_MIN(step, button_pixel_inc); - - /* decrement button */ - button.y = scroll.y; - if (nk_do_button_symbol(&ws, out, button, style->dec_symbol, - NK_BUTTON_REPEATER, &style->dec_button, in, font)) - offset = offset - scroll_step; - - /* increment button */ - button.y = scroll.y + scroll.h - button.h; - if (nk_do_button_symbol(&ws, out, button, style->inc_symbol, - NK_BUTTON_REPEATER, &style->inc_button, in, font)) - offset = offset + scroll_step; - - scroll.y = scroll.y + button.h; - scroll.h = scroll_h; - } - - /* calculate scrollbar constants */ - scroll_step = NK_MIN(step, scroll.h); - scroll_offset = NK_CLAMP(0, offset, target - scroll.h); - scroll_ratio = scroll.h / target; - scroll_off = scroll_offset / target; - - /* calculate scrollbar cursor bounds */ - cursor.h = NK_MAX((scroll_ratio * scroll.h) - (2*style->border + 2*style->padding.y), 0); - cursor.y = scroll.y + (scroll_off * scroll.h) + style->border + style->padding.y; - cursor.w = scroll.w - (2 * style->border + 2 * style->padding.x); - cursor.x = scroll.x + style->border + style->padding.x; - - /* calculate empty space around cursor */ - empty_north.x = scroll.x; - empty_north.y = scroll.y; - empty_north.w = scroll.w; - empty_north.h = NK_MAX(cursor.y - scroll.y, 0); - - empty_south.x = scroll.x; - empty_south.y = cursor.y + cursor.h; - empty_south.w = scroll.w; - empty_south.h = NK_MAX((scroll.y + scroll.h) - (cursor.y + cursor.h), 0); - - /* update scrollbar */ - scroll_offset = nk_scrollbar_behavior(state, in, has_scrolling, &scroll, &cursor, - &empty_north, &empty_south, scroll_offset, target, scroll_step, NK_VERTICAL); - scroll_off = scroll_offset / target; - cursor.y = scroll.y + (scroll_off * scroll.h) + style->border_cursor + style->padding.y; - - /* draw scrollbar */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_scrollbar(out, *state, style, &scroll, &cursor); - if (style->draw_end) style->draw_end(out, style->userdata); - return scroll_offset; -} -NK_LIB float -nk_do_scrollbarh(nk_flags *state, - struct nk_command_buffer *out, struct nk_rect scroll, int has_scrolling, - float offset, float target, float step, float button_pixel_inc, - const struct nk_style_scrollbar *style, struct nk_input *in, - const struct nk_user_font *font) -{ - struct nk_rect cursor; - struct nk_rect empty_west; - struct nk_rect empty_east; - - float scroll_step; - float scroll_offset; - float scroll_off; - float scroll_ratio; - - NK_ASSERT(out); - NK_ASSERT(style); - if (!out || !style) return 0; - - /* scrollbar background */ - scroll.h = NK_MAX(scroll.h, 1); - scroll.w = NK_MAX(scroll.w, 2 * scroll.h); - if (target <= scroll.w) return 0; - - /* optional scrollbar buttons */ - if (style->show_buttons) { - nk_flags ws; - float scroll_w; - struct nk_rect button; - button.y = scroll.y; - button.w = scroll.h; - button.h = scroll.h; - - scroll_w = scroll.w - 2 * button.w; - scroll_step = NK_MIN(step, button_pixel_inc); - - /* decrement button */ - button.x = scroll.x; - if (nk_do_button_symbol(&ws, out, button, style->dec_symbol, - NK_BUTTON_REPEATER, &style->dec_button, in, font)) - offset = offset - scroll_step; - - /* increment button */ - button.x = scroll.x + scroll.w - button.w; - if (nk_do_button_symbol(&ws, out, button, style->inc_symbol, - NK_BUTTON_REPEATER, &style->inc_button, in, font)) - offset = offset + scroll_step; - - scroll.x = scroll.x + button.w; - scroll.w = scroll_w; - } - - /* calculate scrollbar constants */ - scroll_step = NK_MIN(step, scroll.w); - scroll_offset = NK_CLAMP(0, offset, target - scroll.w); - scroll_ratio = scroll.w / target; - scroll_off = scroll_offset / target; - - /* calculate cursor bounds */ - cursor.w = (scroll_ratio * scroll.w) - (2*style->border + 2*style->padding.x); - cursor.x = scroll.x + (scroll_off * scroll.w) + style->border + style->padding.x; - cursor.h = scroll.h - (2 * style->border + 2 * style->padding.y); - cursor.y = scroll.y + style->border + style->padding.y; - - /* calculate empty space around cursor */ - empty_west.x = scroll.x; - empty_west.y = scroll.y; - empty_west.w = cursor.x - scroll.x; - empty_west.h = scroll.h; - - empty_east.x = cursor.x + cursor.w; - empty_east.y = scroll.y; - empty_east.w = (scroll.x + scroll.w) - (cursor.x + cursor.w); - empty_east.h = scroll.h; - - /* update scrollbar */ - scroll_offset = nk_scrollbar_behavior(state, in, has_scrolling, &scroll, &cursor, - &empty_west, &empty_east, scroll_offset, target, scroll_step, NK_HORIZONTAL); - scroll_off = scroll_offset / target; - cursor.x = scroll.x + (scroll_off * scroll.w); - - /* draw scrollbar */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_scrollbar(out, *state, style, &scroll, &cursor); - if (style->draw_end) style->draw_end(out, style->userdata); - return scroll_offset; -} - - - - - -/* =============================================================== - * - * TEXT EDITOR - * - * ===============================================================*/ -/* stb_textedit.h - v1.8 - public domain - Sean Barrett */ -struct nk_text_find { - float x,y; /* position of n'th character */ - float height; /* height of line */ - int first_char, length; /* first char of row, and length */ - int prev_first; /*_ first char of previous row */ -}; - -struct nk_text_edit_row { - float x0,x1; - /* starting x location, end x location (allows for align=right, etc) */ - float baseline_y_delta; - /* position of baseline relative to previous row's baseline*/ - float ymin,ymax; - /* height of row above and below baseline */ - int num_chars; -}; - -/* forward declarations */ -NK_INTERN void nk_textedit_makeundo_delete(struct nk_text_edit*, int, int); -NK_INTERN void nk_textedit_makeundo_insert(struct nk_text_edit*, int, int); -NK_INTERN void nk_textedit_makeundo_replace(struct nk_text_edit*, int, int, int); -#define NK_TEXT_HAS_SELECTION(s) ((s)->select_start != (s)->select_end) - -NK_INTERN float -nk_textedit_get_width(const struct nk_text_edit *edit, int line_start, int char_id, - const struct nk_user_font *font) -{ - int len = 0; - nk_rune unicode = 0; - const char *str = nk_str_at_const(&edit->string, line_start + char_id, &unicode, &len); - return font->width(font->userdata, font->height, str, len); -} -NK_INTERN void -nk_textedit_layout_row(struct nk_text_edit_row *r, struct nk_text_edit *edit, - int line_start_id, float row_height, const struct nk_user_font *font) -{ - int l; - int glyphs = 0; - nk_rune unicode; - const char *remaining; - int len = nk_str_len_char(&edit->string); - const char *end = nk_str_get_const(&edit->string) + len; - const char *text = nk_str_at_const(&edit->string, line_start_id, &unicode, &l); - const struct nk_vec2 size = nk_text_calculate_text_bounds(font, - text, (int)(end - text), row_height, &remaining, 0, &glyphs, NK_STOP_ON_NEW_LINE); - - r->x0 = 0.0f; - r->x1 = size.x; - r->baseline_y_delta = size.y; - r->ymin = 0.0f; - r->ymax = size.y; - r->num_chars = glyphs; -} -NK_INTERN int -nk_textedit_locate_coord(struct nk_text_edit *edit, float x, float y, - const struct nk_user_font *font, float row_height) -{ - struct nk_text_edit_row r; - int n = edit->string.len; - float base_y = 0, prev_x; - int i=0, k; - - r.x0 = r.x1 = 0; - r.ymin = r.ymax = 0; - r.num_chars = 0; - - /* search rows to find one that straddles 'y' */ - while (i < n) { - nk_textedit_layout_row(&r, edit, i, row_height, font); - if (r.num_chars <= 0) - return n; - - if (i==0 && y < base_y + r.ymin) - return 0; - - if (y < base_y + r.ymax) - break; - - i += r.num_chars; - base_y += r.baseline_y_delta; - } - - /* below all text, return 'after' last character */ - if (i >= n) - return n; - - /* check if it's before the beginning of the line */ - if (x < r.x0) - return i; - - /* check if it's before the end of the line */ - if (x < r.x1) { - /* search characters in row for one that straddles 'x' */ - k = i; - prev_x = r.x0; - for (i=0; i < r.num_chars; ++i) { - float w = nk_textedit_get_width(edit, k, i, font); - if (x < prev_x+w) { - if (x < prev_x+w/2) - return k+i; - else return k+i+1; - } - prev_x += w; - } - /* shouldn't happen, but if it does, fall through to end-of-line case */ - } - - /* if the last character is a newline, return that. - * otherwise return 'after' the last character */ - if (nk_str_rune_at(&edit->string, i+r.num_chars-1) == '\n') - return i+r.num_chars-1; - else return i+r.num_chars; -} -NK_LIB void -nk_textedit_click(struct nk_text_edit *state, float x, float y, - const struct nk_user_font *font, float row_height) -{ - /* API click: on mouse down, move the cursor to the clicked location, - * and reset the selection */ - state->cursor = nk_textedit_locate_coord(state, x, y, font, row_height); - state->select_start = state->cursor; - state->select_end = state->cursor; - state->has_preferred_x = 0; -} -NK_LIB void -nk_textedit_drag(struct nk_text_edit *state, float x, float y, - const struct nk_user_font *font, float row_height) -{ - /* API drag: on mouse drag, move the cursor and selection endpoint - * to the clicked location */ - int p = nk_textedit_locate_coord(state, x, y, font, row_height); - if (state->select_start == state->select_end) - state->select_start = state->cursor; - state->cursor = state->select_end = p; -} -NK_INTERN void -nk_textedit_find_charpos(struct nk_text_find *find, struct nk_text_edit *state, - int n, int single_line, const struct nk_user_font *font, float row_height) -{ - /* find the x/y location of a character, and remember info about the previous - * row in case we get a move-up event (for page up, we'll have to rescan) */ - struct nk_text_edit_row r; - int prev_start = 0; - int z = state->string.len; - int i=0, first; - - nk_zero_struct(r); - if (n == z) { - /* if it's at the end, then find the last line -- simpler than trying to - explicitly handle this case in the regular code */ - nk_textedit_layout_row(&r, state, 0, row_height, font); - if (single_line) { - find->first_char = 0; - find->length = z; - } else { - while (i < z) { - prev_start = i; - i += r.num_chars; - nk_textedit_layout_row(&r, state, i, row_height, font); - } - - find->first_char = i; - find->length = r.num_chars; - } - find->x = r.x1; - find->y = r.ymin; - find->height = r.ymax - r.ymin; - find->prev_first = prev_start; - return; - } - - /* search rows to find the one that straddles character n */ - find->y = 0; - - for(;;) { - nk_textedit_layout_row(&r, state, i, row_height, font); - if (n < i + r.num_chars) break; - prev_start = i; - i += r.num_chars; - find->y += r.baseline_y_delta; - } - - find->first_char = first = i; - find->length = r.num_chars; - find->height = r.ymax - r.ymin; - find->prev_first = prev_start; - - /* now scan to find xpos */ - find->x = r.x0; - for (i=0; first+i < n; ++i) - find->x += nk_textedit_get_width(state, first, i, font); -} -NK_INTERN void -nk_textedit_clamp(struct nk_text_edit *state) -{ - /* make the selection/cursor state valid if client altered the string */ - int n = state->string.len; - if (NK_TEXT_HAS_SELECTION(state)) { - if (state->select_start > n) state->select_start = n; - if (state->select_end > n) state->select_end = n; - /* if clamping forced them to be equal, move the cursor to match */ - if (state->select_start == state->select_end) - state->cursor = state->select_start; - } - if (state->cursor > n) state->cursor = n; -} -NK_API void -nk_textedit_delete(struct nk_text_edit *state, int where, int len) -{ - /* delete characters while updating undo */ - nk_textedit_makeundo_delete(state, where, len); - nk_str_delete_runes(&state->string, where, len); - state->has_preferred_x = 0; -} -NK_API void -nk_textedit_delete_selection(struct nk_text_edit *state) -{ - /* delete the section */ - nk_textedit_clamp(state); - if (NK_TEXT_HAS_SELECTION(state)) { - if (state->select_start < state->select_end) { - nk_textedit_delete(state, state->select_start, - state->select_end - state->select_start); - state->select_end = state->cursor = state->select_start; - } else { - nk_textedit_delete(state, state->select_end, - state->select_start - state->select_end); - state->select_start = state->cursor = state->select_end; - } - state->has_preferred_x = 0; - } -} -NK_INTERN void -nk_textedit_sortselection(struct nk_text_edit *state) -{ - /* canonicalize the selection so start <= end */ - if (state->select_end < state->select_start) { - int temp = state->select_end; - state->select_end = state->select_start; - state->select_start = temp; - } -} -NK_INTERN void -nk_textedit_move_to_first(struct nk_text_edit *state) -{ - /* move cursor to first character of selection */ - if (NK_TEXT_HAS_SELECTION(state)) { - nk_textedit_sortselection(state); - state->cursor = state->select_start; - state->select_end = state->select_start; - state->has_preferred_x = 0; - } -} -NK_INTERN void -nk_textedit_move_to_last(struct nk_text_edit *state) -{ - /* move cursor to last character of selection */ - if (NK_TEXT_HAS_SELECTION(state)) { - nk_textedit_sortselection(state); - nk_textedit_clamp(state); - state->cursor = state->select_end; - state->select_start = state->select_end; - state->has_preferred_x = 0; - } -} -NK_INTERN int -nk_is_word_boundary( struct nk_text_edit *state, int idx) -{ - int len; - nk_rune c; - if (idx <= 0) return 1; - if (!nk_str_at_rune(&state->string, idx, &c, &len)) return 1; - return (c == ' ' || c == '\t' ||c == 0x3000 || c == ',' || c == ';' || - c == '(' || c == ')' || c == '{' || c == '}' || c == '[' || c == ']' || - c == '|'); -} -NK_INTERN int -nk_textedit_move_to_word_previous(struct nk_text_edit *state) -{ - int c = state->cursor - 1; - while( c >= 0 && !nk_is_word_boundary(state, c)) - --c; - - if( c < 0 ) - c = 0; - - return c; -} -NK_INTERN int -nk_textedit_move_to_word_next(struct nk_text_edit *state) -{ - const int len = state->string.len; - int c = state->cursor+1; - while( c < len && !nk_is_word_boundary(state, c)) - ++c; - - if( c > len ) - c = len; - - return c; -} -NK_INTERN void -nk_textedit_prep_selection_at_cursor(struct nk_text_edit *state) -{ - /* update selection and cursor to match each other */ - if (!NK_TEXT_HAS_SELECTION(state)) - state->select_start = state->select_end = state->cursor; - else state->cursor = state->select_end; -} -NK_API nk_bool -nk_textedit_cut(struct nk_text_edit *state) -{ - /* API cut: delete selection */ - if (state->mode == NK_TEXT_EDIT_MODE_VIEW) - return 0; - if (NK_TEXT_HAS_SELECTION(state)) { - nk_textedit_delete_selection(state); /* implicitly clamps */ - state->has_preferred_x = 0; - return 1; - } - return 0; -} -NK_API nk_bool -nk_textedit_paste(struct nk_text_edit *state, char const *ctext, int len) -{ - /* API paste: replace existing selection with passed-in text */ - int glyphs; - const char *text = (const char *) ctext; - if (state->mode == NK_TEXT_EDIT_MODE_VIEW) return 0; - - /* if there's a selection, the paste should delete it */ - nk_textedit_clamp(state); - nk_textedit_delete_selection(state); - - /* try to insert the characters */ - glyphs = nk_utf_len(ctext, len); - if (nk_str_insert_text_char(&state->string, state->cursor, text, len)) { - nk_textedit_makeundo_insert(state, state->cursor, glyphs); - state->cursor += len; - state->has_preferred_x = 0; - return 1; - } - /* remove the undo since we didn't actually insert the characters */ - if (state->undo.undo_point) - --state->undo.undo_point; - return 0; -} -NK_API void -nk_textedit_text(struct nk_text_edit *state, const char *text, int total_len) -{ - nk_rune unicode; - int glyph_len; - int text_len = 0; - - NK_ASSERT(state); - NK_ASSERT(text); - if (!text || !total_len || state->mode == NK_TEXT_EDIT_MODE_VIEW) return; - - glyph_len = nk_utf_decode(text, &unicode, total_len); - while ((text_len < total_len) && glyph_len) - { - /* don't insert a backward delete, just process the event */ - if (unicode == 127) goto next; - /* can't add newline in single-line mode */ - if (unicode == '\n' && state->single_line) goto next; - /* filter incoming text */ - if (state->filter && !state->filter(state, unicode)) goto next; - - if (!NK_TEXT_HAS_SELECTION(state) && - state->cursor < state->string.len) - { - if (state->mode == NK_TEXT_EDIT_MODE_REPLACE) { - nk_textedit_makeundo_replace(state, state->cursor, 1, 1); - nk_str_delete_runes(&state->string, state->cursor, 1); - } - if (nk_str_insert_text_utf8(&state->string, state->cursor, - text+text_len, 1)) - { - ++state->cursor; - state->has_preferred_x = 0; - } - } else { - nk_textedit_delete_selection(state); /* implicitly clamps */ - if (nk_str_insert_text_utf8(&state->string, state->cursor, - text+text_len, 1)) - { - nk_textedit_makeundo_insert(state, state->cursor, 1); - ++state->cursor; - state->has_preferred_x = 0; - } - } - next: - text_len += glyph_len; - glyph_len = nk_utf_decode(text + text_len, &unicode, total_len-text_len); - } -} -NK_LIB void -nk_textedit_key(struct nk_text_edit *state, enum nk_keys key, int shift_mod, - const struct nk_user_font *font, float row_height) -{ -retry: - switch (key) - { - case NK_KEY_NONE: - case NK_KEY_CTRL: - case NK_KEY_ENTER: - case NK_KEY_SHIFT: - case NK_KEY_TAB: - case NK_KEY_COPY: - case NK_KEY_CUT: - case NK_KEY_PASTE: - case NK_KEY_MAX: - default: break; - case NK_KEY_TEXT_UNDO: - nk_textedit_undo(state); - state->has_preferred_x = 0; - break; - - case NK_KEY_TEXT_REDO: - nk_textedit_redo(state); - state->has_preferred_x = 0; - break; - - case NK_KEY_TEXT_SELECT_ALL: - nk_textedit_select_all(state); - state->has_preferred_x = 0; - break; - - case NK_KEY_TEXT_INSERT_MODE: - if (state->mode == NK_TEXT_EDIT_MODE_VIEW) - state->mode = NK_TEXT_EDIT_MODE_INSERT; - break; - case NK_KEY_TEXT_REPLACE_MODE: - if (state->mode == NK_TEXT_EDIT_MODE_VIEW) - state->mode = NK_TEXT_EDIT_MODE_REPLACE; - break; - case NK_KEY_TEXT_RESET_MODE: - if (state->mode == NK_TEXT_EDIT_MODE_INSERT || - state->mode == NK_TEXT_EDIT_MODE_REPLACE) - state->mode = NK_TEXT_EDIT_MODE_VIEW; - break; - - case NK_KEY_LEFT: - if (shift_mod) { - nk_textedit_clamp(state); - nk_textedit_prep_selection_at_cursor(state); - /* move selection left */ - if (state->select_end > 0) - --state->select_end; - state->cursor = state->select_end; - state->has_preferred_x = 0; - } else { - /* if currently there's a selection, - * move cursor to start of selection */ - if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_move_to_first(state); - else if (state->cursor > 0) - --state->cursor; - state->has_preferred_x = 0; - } break; - - case NK_KEY_RIGHT: - if (shift_mod) { - nk_textedit_prep_selection_at_cursor(state); - /* move selection right */ - ++state->select_end; - nk_textedit_clamp(state); - state->cursor = state->select_end; - state->has_preferred_x = 0; - } else { - /* if currently there's a selection, - * move cursor to end of selection */ - if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_move_to_last(state); - else ++state->cursor; - nk_textedit_clamp(state); - state->has_preferred_x = 0; - } break; - - case NK_KEY_TEXT_WORD_LEFT: - if (shift_mod) { - if( !NK_TEXT_HAS_SELECTION( state ) ) - nk_textedit_prep_selection_at_cursor(state); - state->cursor = nk_textedit_move_to_word_previous(state); - state->select_end = state->cursor; - nk_textedit_clamp(state ); - } else { - if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_move_to_first(state); - else { - state->cursor = nk_textedit_move_to_word_previous(state); - nk_textedit_clamp(state ); - } - } break; - - case NK_KEY_TEXT_WORD_RIGHT: - if (shift_mod) { - if( !NK_TEXT_HAS_SELECTION( state ) ) - nk_textedit_prep_selection_at_cursor(state); - state->cursor = nk_textedit_move_to_word_next(state); - state->select_end = state->cursor; - nk_textedit_clamp(state); - } else { - if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_move_to_last(state); - else { - state->cursor = nk_textedit_move_to_word_next(state); - nk_textedit_clamp(state ); - } - } break; - - case NK_KEY_DOWN: { - struct nk_text_find find; - struct nk_text_edit_row row; - int i, sel = shift_mod; - - if (state->single_line) { - /* on windows, up&down in single-line behave like left&right */ - key = NK_KEY_RIGHT; - goto retry; - } - - if (sel) - nk_textedit_prep_selection_at_cursor(state); - else if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_move_to_last(state); - - /* compute current position of cursor point */ - nk_textedit_clamp(state); - nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, - font, row_height); - - /* now find character position down a row */ - if (find.length) - { - float x; - float goal_x = state->has_preferred_x ? state->preferred_x : find.x; - int start = find.first_char + find.length; - - state->cursor = start; - nk_textedit_layout_row(&row, state, state->cursor, row_height, font); - x = row.x0; - - for (i=0; i < row.num_chars && x < row.x1; ++i) { - float dx = nk_textedit_get_width(state, start, i, font); - x += dx; - if (x > goal_x) - break; - ++state->cursor; - } - nk_textedit_clamp(state); - - state->has_preferred_x = 1; - state->preferred_x = goal_x; - if (sel) - state->select_end = state->cursor; - } - } break; - - case NK_KEY_UP: { - struct nk_text_find find; - struct nk_text_edit_row row; - int i, sel = shift_mod; - - if (state->single_line) { - /* on windows, up&down become left&right */ - key = NK_KEY_LEFT; - goto retry; - } - - if (sel) - nk_textedit_prep_selection_at_cursor(state); - else if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_move_to_first(state); - - /* compute current position of cursor point */ - nk_textedit_clamp(state); - nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, - font, row_height); - - /* can only go up if there's a previous row */ - if (find.prev_first != find.first_char) { - /* now find character position up a row */ - float x; - float goal_x = state->has_preferred_x ? state->preferred_x : find.x; - - state->cursor = find.prev_first; - nk_textedit_layout_row(&row, state, state->cursor, row_height, font); - x = row.x0; - - for (i=0; i < row.num_chars && x < row.x1; ++i) { - float dx = nk_textedit_get_width(state, find.prev_first, i, font); - x += dx; - if (x > goal_x) - break; - ++state->cursor; - } - nk_textedit_clamp(state); - - state->has_preferred_x = 1; - state->preferred_x = goal_x; - if (sel) state->select_end = state->cursor; - } - } break; - - case NK_KEY_DEL: - if (state->mode == NK_TEXT_EDIT_MODE_VIEW) - break; - if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_delete_selection(state); - else { - int n = state->string.len; - if (state->cursor < n) - nk_textedit_delete(state, state->cursor, 1); - } - state->has_preferred_x = 0; - break; - - case NK_KEY_BACKSPACE: - if (state->mode == NK_TEXT_EDIT_MODE_VIEW) - break; - if (NK_TEXT_HAS_SELECTION(state)) - nk_textedit_delete_selection(state); - else { - nk_textedit_clamp(state); - if (state->cursor > 0) { - nk_textedit_delete(state, state->cursor-1, 1); - --state->cursor; - } - } - state->has_preferred_x = 0; - break; - - case NK_KEY_TEXT_START: - if (shift_mod) { - nk_textedit_prep_selection_at_cursor(state); - state->cursor = state->select_end = 0; - state->has_preferred_x = 0; - } else { - state->cursor = state->select_start = state->select_end = 0; - state->has_preferred_x = 0; - } - break; - - case NK_KEY_TEXT_END: - if (shift_mod) { - nk_textedit_prep_selection_at_cursor(state); - state->cursor = state->select_end = state->string.len; - state->has_preferred_x = 0; - } else { - state->cursor = state->string.len; - state->select_start = state->select_end = 0; - state->has_preferred_x = 0; - } - break; - - case NK_KEY_TEXT_LINE_START: { - if (shift_mod) { - struct nk_text_find find; - nk_textedit_clamp(state); - nk_textedit_prep_selection_at_cursor(state); - if (state->string.len && state->cursor == state->string.len) - --state->cursor; - nk_textedit_find_charpos(&find, state,state->cursor, state->single_line, - font, row_height); - state->cursor = state->select_end = find.first_char; - state->has_preferred_x = 0; - } else { - struct nk_text_find find; - if (state->string.len && state->cursor == state->string.len) - --state->cursor; - nk_textedit_clamp(state); - nk_textedit_move_to_first(state); - nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, - font, row_height); - state->cursor = find.first_char; - state->has_preferred_x = 0; - } - } break; - - case NK_KEY_TEXT_LINE_END: { - if (shift_mod) { - struct nk_text_find find; - nk_textedit_clamp(state); - nk_textedit_prep_selection_at_cursor(state); - nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, - font, row_height); - state->has_preferred_x = 0; - state->cursor = find.first_char + find.length; - if (find.length > 0 && nk_str_rune_at(&state->string, state->cursor-1) == '\n') - --state->cursor; - state->select_end = state->cursor; - } else { - struct nk_text_find find; - nk_textedit_clamp(state); - nk_textedit_move_to_first(state); - nk_textedit_find_charpos(&find, state, state->cursor, state->single_line, - font, row_height); - - state->has_preferred_x = 0; - state->cursor = find.first_char + find.length; - if (find.length > 0 && nk_str_rune_at(&state->string, state->cursor-1) == '\n') - --state->cursor; - }} break; - } -} -NK_INTERN void -nk_textedit_flush_redo(struct nk_text_undo_state *state) -{ - state->redo_point = NK_TEXTEDIT_UNDOSTATECOUNT; - state->redo_char_point = NK_TEXTEDIT_UNDOCHARCOUNT; -} -NK_INTERN void -nk_textedit_discard_undo(struct nk_text_undo_state *state) -{ - /* discard the oldest entry in the undo list */ - if (state->undo_point > 0) { - /* if the 0th undo state has characters, clean those up */ - if (state->undo_rec[0].char_storage >= 0) { - int n = state->undo_rec[0].insert_length, i; - /* delete n characters from all other records */ - state->undo_char_point = (short)(state->undo_char_point - n); - NK_MEMCPY(state->undo_char, state->undo_char + n, - (nk_size)state->undo_char_point*sizeof(nk_rune)); - for (i=0; i < state->undo_point; ++i) { - if (state->undo_rec[i].char_storage >= 0) - state->undo_rec[i].char_storage = (short) - (state->undo_rec[i].char_storage - n); - } - } - --state->undo_point; - NK_MEMCPY(state->undo_rec, state->undo_rec+1, - (nk_size)((nk_size)state->undo_point * sizeof(state->undo_rec[0]))); - } -} -NK_INTERN void -nk_textedit_discard_redo(struct nk_text_undo_state *state) -{ -/* discard the oldest entry in the redo list--it's bad if this - ever happens, but because undo & redo have to store the actual - characters in different cases, the redo character buffer can - fill up even though the undo buffer didn't */ - nk_size num; - int k = NK_TEXTEDIT_UNDOSTATECOUNT-1; - if (state->redo_point <= k) { - /* if the k'th undo state has characters, clean those up */ - if (state->undo_rec[k].char_storage >= 0) { - int n = state->undo_rec[k].insert_length, i; - /* delete n characters from all other records */ - state->redo_char_point = (short)(state->redo_char_point + n); - num = (nk_size)(NK_TEXTEDIT_UNDOCHARCOUNT - state->redo_char_point); - NK_MEMCPY(state->undo_char + state->redo_char_point, - state->undo_char + state->redo_char_point-n, num * sizeof(char)); - for (i = state->redo_point; i < k; ++i) { - if (state->undo_rec[i].char_storage >= 0) { - state->undo_rec[i].char_storage = (short) - (state->undo_rec[i].char_storage + n); - } - } - } - ++state->redo_point; - num = (nk_size)(NK_TEXTEDIT_UNDOSTATECOUNT - state->redo_point); - if (num) NK_MEMCPY(state->undo_rec + state->redo_point-1, - state->undo_rec + state->redo_point, num * sizeof(state->undo_rec[0])); - } -} -NK_INTERN struct nk_text_undo_record* -nk_textedit_create_undo_record(struct nk_text_undo_state *state, int numchars) -{ - /* any time we create a new undo record, we discard redo*/ - nk_textedit_flush_redo(state); - - /* if we have no free records, we have to make room, - * by sliding the existing records down */ - if (state->undo_point == NK_TEXTEDIT_UNDOSTATECOUNT) - nk_textedit_discard_undo(state); - - /* if the characters to store won't possibly fit in the buffer, - * we can't undo */ - if (numchars > NK_TEXTEDIT_UNDOCHARCOUNT) { - state->undo_point = 0; - state->undo_char_point = 0; - return 0; - } - - /* if we don't have enough free characters in the buffer, - * we have to make room */ - while (state->undo_char_point + numchars > NK_TEXTEDIT_UNDOCHARCOUNT) - nk_textedit_discard_undo(state); - return &state->undo_rec[state->undo_point++]; -} -NK_INTERN nk_rune* -nk_textedit_createundo(struct nk_text_undo_state *state, int pos, - int insert_len, int delete_len) -{ - struct nk_text_undo_record *r = nk_textedit_create_undo_record(state, insert_len); - if (r == 0) - return 0; - - r->where = pos; - r->insert_length = (short) insert_len; - r->delete_length = (short) delete_len; - - if (insert_len == 0) { - r->char_storage = -1; - return 0; - } else { - r->char_storage = state->undo_char_point; - state->undo_char_point = (short)(state->undo_char_point + insert_len); - return &state->undo_char[r->char_storage]; - } -} -NK_API void -nk_textedit_undo(struct nk_text_edit *state) -{ - struct nk_text_undo_state *s = &state->undo; - struct nk_text_undo_record u, *r; - if (s->undo_point == 0) - return; - - /* we need to do two things: apply the undo record, and create a redo record */ - u = s->undo_rec[s->undo_point-1]; - r = &s->undo_rec[s->redo_point-1]; - r->char_storage = -1; - - r->insert_length = u.delete_length; - r->delete_length = u.insert_length; - r->where = u.where; - - if (u.delete_length) - { - /* if the undo record says to delete characters, then the redo record will - need to re-insert the characters that get deleted, so we need to store - them. - there are three cases: - - there's enough room to store the characters - - characters stored for *redoing* don't leave room for redo - - characters stored for *undoing* don't leave room for redo - if the last is true, we have to bail */ - if (s->undo_char_point + u.delete_length >= NK_TEXTEDIT_UNDOCHARCOUNT) { - /* the undo records take up too much character space; there's no space - * to store the redo characters */ - r->insert_length = 0; - } else { - int i; - /* there's definitely room to store the characters eventually */ - while (s->undo_char_point + u.delete_length > s->redo_char_point) { - /* there's currently not enough room, so discard a redo record */ - nk_textedit_discard_redo(s); - /* should never happen: */ - if (s->redo_point == NK_TEXTEDIT_UNDOSTATECOUNT) - return; - } - - r = &s->undo_rec[s->redo_point-1]; - r->char_storage = (short)(s->redo_char_point - u.delete_length); - s->redo_char_point = (short)(s->redo_char_point - u.delete_length); - - /* now save the characters */ - for (i=0; i < u.delete_length; ++i) - s->undo_char[r->char_storage + i] = - nk_str_rune_at(&state->string, u.where + i); - } - /* now we can carry out the deletion */ - nk_str_delete_runes(&state->string, u.where, u.delete_length); - } - - /* check type of recorded action: */ - if (u.insert_length) { - /* easy case: was a deletion, so we need to insert n characters */ - nk_str_insert_text_runes(&state->string, u.where, - &s->undo_char[u.char_storage], u.insert_length); - s->undo_char_point = (short)(s->undo_char_point - u.insert_length); - } - state->cursor = (short)(u.where + u.insert_length); - - s->undo_point--; - s->redo_point--; -} -NK_API void -nk_textedit_redo(struct nk_text_edit *state) -{ - struct nk_text_undo_state *s = &state->undo; - struct nk_text_undo_record *u, r; - if (s->redo_point == NK_TEXTEDIT_UNDOSTATECOUNT) - return; - - /* we need to do two things: apply the redo record, and create an undo record */ - u = &s->undo_rec[s->undo_point]; - r = s->undo_rec[s->redo_point]; - - /* we KNOW there must be room for the undo record, because the redo record - was derived from an undo record */ - u->delete_length = r.insert_length; - u->insert_length = r.delete_length; - u->where = r.where; - u->char_storage = -1; - - if (r.delete_length) { - /* the redo record requires us to delete characters, so the undo record - needs to store the characters */ - if (s->undo_char_point + u->insert_length > s->redo_char_point) { - u->insert_length = 0; - u->delete_length = 0; - } else { - int i; - u->char_storage = s->undo_char_point; - s->undo_char_point = (short)(s->undo_char_point + u->insert_length); - - /* now save the characters */ - for (i=0; i < u->insert_length; ++i) { - s->undo_char[u->char_storage + i] = - nk_str_rune_at(&state->string, u->where + i); - } - } - nk_str_delete_runes(&state->string, r.where, r.delete_length); - } - - if (r.insert_length) { - /* easy case: need to insert n characters */ - nk_str_insert_text_runes(&state->string, r.where, - &s->undo_char[r.char_storage], r.insert_length); - } - state->cursor = r.where + r.insert_length; - - s->undo_point++; - s->redo_point++; -} -NK_INTERN void -nk_textedit_makeundo_insert(struct nk_text_edit *state, int where, int length) -{ - nk_textedit_createundo(&state->undo, where, 0, length); -} -NK_INTERN void -nk_textedit_makeundo_delete(struct nk_text_edit *state, int where, int length) -{ - int i; - nk_rune *p = nk_textedit_createundo(&state->undo, where, length, 0); - if (p) { - for (i=0; i < length; ++i) - p[i] = nk_str_rune_at(&state->string, where+i); - } -} -NK_INTERN void -nk_textedit_makeundo_replace(struct nk_text_edit *state, int where, - int old_length, int new_length) -{ - int i; - nk_rune *p = nk_textedit_createundo(&state->undo, where, old_length, new_length); - if (p) { - for (i=0; i < old_length; ++i) - p[i] = nk_str_rune_at(&state->string, where+i); - } -} -NK_LIB void -nk_textedit_clear_state(struct nk_text_edit *state, enum nk_text_edit_type type, - nk_plugin_filter filter) -{ - /* reset the state to default */ - state->undo.undo_point = 0; - state->undo.undo_char_point = 0; - state->undo.redo_point = NK_TEXTEDIT_UNDOSTATECOUNT; - state->undo.redo_char_point = NK_TEXTEDIT_UNDOCHARCOUNT; - state->select_end = state->select_start = 0; - state->cursor = 0; - state->has_preferred_x = 0; - state->preferred_x = 0; - state->cursor_at_end_of_line = 0; - state->initialized = 1; - state->single_line = (unsigned char)(type == NK_TEXT_EDIT_SINGLE_LINE); - state->mode = NK_TEXT_EDIT_MODE_VIEW; - state->filter = filter; - state->scrollbar = nk_vec2(0,0); -} -NK_API void -nk_textedit_init_fixed(struct nk_text_edit *state, void *memory, nk_size size) -{ - NK_ASSERT(state); - NK_ASSERT(memory); - if (!state || !memory || !size) return; - NK_MEMSET(state, 0, sizeof(struct nk_text_edit)); - nk_textedit_clear_state(state, NK_TEXT_EDIT_SINGLE_LINE, 0); - nk_str_init_fixed(&state->string, memory, size); -} -NK_API void -nk_textedit_init(struct nk_text_edit *state, struct nk_allocator *alloc, nk_size size) -{ - NK_ASSERT(state); - NK_ASSERT(alloc); - if (!state || !alloc) return; - NK_MEMSET(state, 0, sizeof(struct nk_text_edit)); - nk_textedit_clear_state(state, NK_TEXT_EDIT_SINGLE_LINE, 0); - nk_str_init(&state->string, alloc, size); -} -#ifdef NK_INCLUDE_DEFAULT_ALLOCATOR -NK_API void -nk_textedit_init_default(struct nk_text_edit *state) -{ - NK_ASSERT(state); - if (!state) return; - NK_MEMSET(state, 0, sizeof(struct nk_text_edit)); - nk_textedit_clear_state(state, NK_TEXT_EDIT_SINGLE_LINE, 0); - nk_str_init_default(&state->string); -} -#endif -NK_API void -nk_textedit_select_all(struct nk_text_edit *state) -{ - NK_ASSERT(state); - state->select_start = 0; - state->select_end = state->string.len; -} -NK_API void -nk_textedit_free(struct nk_text_edit *state) -{ - NK_ASSERT(state); - if (!state) return; - nk_str_free(&state->string); -} - - - - - -/* =============================================================== - * - * FILTER - * - * ===============================================================*/ -NK_API nk_bool -nk_filter_default(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(unicode); - NK_UNUSED(box); - return nk_true; -} -NK_API nk_bool -nk_filter_ascii(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(box); - if (unicode > 128) return nk_false; - else return nk_true; -} -NK_API nk_bool -nk_filter_float(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(box); - if ((unicode < '0' || unicode > '9') && unicode != '.' && unicode != '-') - return nk_false; - else return nk_true; -} -NK_API nk_bool -nk_filter_decimal(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(box); - if ((unicode < '0' || unicode > '9') && unicode != '-') - return nk_false; - else return nk_true; -} -NK_API nk_bool -nk_filter_hex(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(box); - if ((unicode < '0' || unicode > '9') && - (unicode < 'a' || unicode > 'f') && - (unicode < 'A' || unicode > 'F')) - return nk_false; - else return nk_true; -} -NK_API nk_bool -nk_filter_oct(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(box); - if (unicode < '0' || unicode > '7') - return nk_false; - else return nk_true; -} -NK_API nk_bool -nk_filter_binary(const struct nk_text_edit *box, nk_rune unicode) -{ - NK_UNUSED(box); - if (unicode != '0' && unicode != '1') - return nk_false; - else return nk_true; -} - -/* =============================================================== - * - * EDIT - * - * ===============================================================*/ -NK_LIB void -nk_edit_draw_text(struct nk_command_buffer *out, - const struct nk_style_edit *style, float pos_x, float pos_y, - float x_offset, const char *text, int byte_len, float row_height, - const struct nk_user_font *font, struct nk_color background, - struct nk_color foreground, nk_bool is_selected) -{ - NK_ASSERT(out); - NK_ASSERT(font); - NK_ASSERT(style); - if (!text || !byte_len || !out || !style) return; - - {int glyph_len = 0; - nk_rune unicode = 0; - int text_len = 0; - float line_width = 0; - float glyph_width; - const char *line = text; - float line_offset = 0; - int line_count = 0; - - struct nk_text txt; - txt.padding = nk_vec2(0,0); - txt.background = background; - txt.text = foreground; - - glyph_len = nk_utf_decode(text+text_len, &unicode, byte_len-text_len); - if (!glyph_len) return; - while ((text_len < byte_len) && glyph_len) - { - if (unicode == '\n') { - /* new line separator so draw previous line */ - struct nk_rect label; - label.y = pos_y + line_offset; - label.h = row_height; - label.w = line_width; - label.x = pos_x; - if (!line_count) - label.x += x_offset; - - if (is_selected) /* selection needs to draw different background color */ - nk_fill_rect(out, label, 0, background); - nk_widget_text(out, label, line, (int)((text + text_len) - line), - &txt, NK_TEXT_CENTERED, font); - - text_len++; - line_count++; - line_width = 0; - line = text + text_len; - line_offset += row_height; - glyph_len = nk_utf_decode(text + text_len, &unicode, (int)(byte_len-text_len)); - continue; - } - if (unicode == '\r') { - text_len++; - glyph_len = nk_utf_decode(text + text_len, &unicode, byte_len-text_len); - continue; - } - glyph_width = font->width(font->userdata, font->height, text+text_len, glyph_len); - line_width += (float)glyph_width; - text_len += glyph_len; - glyph_len = nk_utf_decode(text + text_len, &unicode, byte_len-text_len); - continue; - } - if (line_width > 0) { - /* draw last line */ - struct nk_rect label; - label.y = pos_y + line_offset; - label.h = row_height; - label.w = line_width; - label.x = pos_x; - if (!line_count) - label.x += x_offset; - - if (is_selected) - nk_fill_rect(out, label, 0, background); - nk_widget_text(out, label, line, (int)((text + text_len) - line), - &txt, NK_TEXT_LEFT, font); - }} -} -NK_LIB nk_flags -nk_do_edit(nk_flags *state, struct nk_command_buffer *out, - struct nk_rect bounds, nk_flags flags, nk_plugin_filter filter, - struct nk_text_edit *edit, const struct nk_style_edit *style, - struct nk_input *in, const struct nk_user_font *font) -{ - struct nk_rect area; - nk_flags ret = 0; - float row_height; - char prev_state = 0; - char is_hovered = 0; - char select_all = 0; - char cursor_follow = 0; - struct nk_rect old_clip; - struct nk_rect clip; - - NK_ASSERT(state); - NK_ASSERT(out); - NK_ASSERT(style); - if (!state || !out || !style) - return ret; - - /* visible text area calculation */ - area.x = bounds.x + style->padding.x + style->border; - area.y = bounds.y + style->padding.y + style->border; - area.w = bounds.w - (2.0f * style->padding.x + 2 * style->border); - area.h = bounds.h - (2.0f * style->padding.y + 2 * style->border); - if (flags & NK_EDIT_MULTILINE) - area.w = NK_MAX(0, area.w - style->scrollbar_size.x); - row_height = (flags & NK_EDIT_MULTILINE)? font->height + style->row_padding: area.h; - - /* calculate clipping rectangle */ - old_clip = out->clip; - nk_unify(&clip, &old_clip, area.x, area.y, area.x + area.w, area.y + area.h); - - /* update edit state */ - prev_state = (char)edit->active; - is_hovered = (char)nk_input_is_mouse_hovering_rect(in, bounds); - if (in && in->mouse.buttons[NK_BUTTON_LEFT].clicked && in->mouse.buttons[NK_BUTTON_LEFT].down) { - edit->active = NK_INBOX(in->mouse.pos.x, in->mouse.pos.y, - bounds.x, bounds.y, bounds.w, bounds.h); - } - - /* (de)activate text editor */ - if (!prev_state && edit->active) { - const enum nk_text_edit_type type = (flags & NK_EDIT_MULTILINE) ? - NK_TEXT_EDIT_MULTI_LINE: NK_TEXT_EDIT_SINGLE_LINE; - /* keep scroll position when re-activating edit widget */ - struct nk_vec2 oldscrollbar = edit->scrollbar; - nk_textedit_clear_state(edit, type, filter); - edit->scrollbar = oldscrollbar; - if (flags & NK_EDIT_AUTO_SELECT) - select_all = nk_true; - if (flags & NK_EDIT_GOTO_END_ON_ACTIVATE) { - edit->cursor = edit->string.len; - in = 0; - } - } else if (!edit->active) edit->mode = NK_TEXT_EDIT_MODE_VIEW; - if (flags & NK_EDIT_READ_ONLY) - edit->mode = NK_TEXT_EDIT_MODE_VIEW; - else if (flags & NK_EDIT_ALWAYS_INSERT_MODE) - edit->mode = NK_TEXT_EDIT_MODE_INSERT; - - ret = (edit->active) ? NK_EDIT_ACTIVE: NK_EDIT_INACTIVE; - if (prev_state != edit->active) - ret |= (edit->active) ? NK_EDIT_ACTIVATED: NK_EDIT_DEACTIVATED; - - /* handle user input */ - if (edit->active && in) - { - int shift_mod = in->keyboard.keys[NK_KEY_SHIFT].down; - const float mouse_x = (in->mouse.pos.x - area.x) + edit->scrollbar.x; - const float mouse_y = (in->mouse.pos.y - area.y) + edit->scrollbar.y; - - /* mouse click handler */ - is_hovered = (char)nk_input_is_mouse_hovering_rect(in, area); - if (select_all) { - nk_textedit_select_all(edit); - } else if (is_hovered && in->mouse.buttons[NK_BUTTON_LEFT].down && - in->mouse.buttons[NK_BUTTON_LEFT].clicked) { - nk_textedit_click(edit, mouse_x, mouse_y, font, row_height); - } else if (is_hovered && in->mouse.buttons[NK_BUTTON_LEFT].down && - (in->mouse.delta.x != 0.0f || in->mouse.delta.y != 0.0f)) { - nk_textedit_drag(edit, mouse_x, mouse_y, font, row_height); - cursor_follow = nk_true; - } else if (is_hovered && in->mouse.buttons[NK_BUTTON_RIGHT].clicked && - in->mouse.buttons[NK_BUTTON_RIGHT].down) { - nk_textedit_key(edit, NK_KEY_TEXT_WORD_LEFT, nk_false, font, row_height); - nk_textedit_key(edit, NK_KEY_TEXT_WORD_RIGHT, nk_true, font, row_height); - cursor_follow = nk_true; - } - - {int i; /* keyboard input */ - int old_mode = edit->mode; - for (i = 0; i < NK_KEY_MAX; ++i) { - if (i == NK_KEY_ENTER || i == NK_KEY_TAB) continue; /* special case */ - if (nk_input_is_key_pressed(in, (enum nk_keys)i)) { - nk_textedit_key(edit, (enum nk_keys)i, shift_mod, font, row_height); - cursor_follow = nk_true; - } - } - if (old_mode != edit->mode) { - in->keyboard.text_len = 0; - }} - - /* text input */ - edit->filter = filter; - if (in->keyboard.text_len) { - nk_textedit_text(edit, in->keyboard.text, in->keyboard.text_len); - cursor_follow = nk_true; - in->keyboard.text_len = 0; - } - - /* enter key handler */ - if (nk_input_is_key_pressed(in, NK_KEY_ENTER)) { - cursor_follow = nk_true; - if (flags & NK_EDIT_CTRL_ENTER_NEWLINE && shift_mod) - nk_textedit_text(edit, "\n", 1); - else if (flags & NK_EDIT_SIG_ENTER) - ret |= NK_EDIT_COMMITED; - else nk_textedit_text(edit, "\n", 1); - } - - /* cut & copy handler */ - {int copy= nk_input_is_key_pressed(in, NK_KEY_COPY); - int cut = nk_input_is_key_pressed(in, NK_KEY_CUT); - if ((copy || cut) && (flags & NK_EDIT_CLIPBOARD)) - { - int glyph_len; - nk_rune unicode; - const char *text; - int b = edit->select_start; - int e = edit->select_end; - - int begin = NK_MIN(b, e); - int end = NK_MAX(b, e); - text = nk_str_at_const(&edit->string, begin, &unicode, &glyph_len); - if (edit->clip.copy) - edit->clip.copy(edit->clip.userdata, text, end - begin); - if (cut && !(flags & NK_EDIT_READ_ONLY)){ - nk_textedit_cut(edit); - cursor_follow = nk_true; - } - }} - - /* paste handler */ - {int paste = nk_input_is_key_pressed(in, NK_KEY_PASTE); - if (paste && (flags & NK_EDIT_CLIPBOARD) && edit->clip.paste) { - edit->clip.paste(edit->clip.userdata, edit); - cursor_follow = nk_true; - }} - - /* tab handler */ - {int tab = nk_input_is_key_pressed(in, NK_KEY_TAB); - if (tab && (flags & NK_EDIT_ALLOW_TAB)) { - nk_textedit_text(edit, " ", 4); - cursor_follow = nk_true; - }} - } - - /* set widget state */ - if (edit->active) - *state = NK_WIDGET_STATE_ACTIVE; - else nk_widget_state_reset(state); - - if (is_hovered) - *state |= NK_WIDGET_STATE_HOVERED; - - /* DRAW EDIT */ - {const char *text = nk_str_get_const(&edit->string); - int len = nk_str_len_char(&edit->string); - - {/* select background colors/images */ - const struct nk_style_item *background; - if (*state & NK_WIDGET_STATE_ACTIVED) - background = &style->active; - else if (*state & NK_WIDGET_STATE_HOVER) - background = &style->hover; - else background = &style->normal; - - /* draw background frame */ - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(out, bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(out, bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(out, bounds, style->rounding, background->data.color); - nk_stroke_rect(out, bounds, style->rounding, style->border, style->border_color); - break; - }} - - - area.w = NK_MAX(0, area.w - style->cursor_size); - if (edit->active) - { - int total_lines = 1; - struct nk_vec2 text_size = nk_vec2(0,0); - - /* text pointer positions */ - const char *cursor_ptr = 0; - const char *select_begin_ptr = 0; - const char *select_end_ptr = 0; - - /* 2D pixel positions */ - struct nk_vec2 cursor_pos = nk_vec2(0,0); - struct nk_vec2 selection_offset_start = nk_vec2(0,0); - struct nk_vec2 selection_offset_end = nk_vec2(0,0); - - int selection_begin = NK_MIN(edit->select_start, edit->select_end); - int selection_end = NK_MAX(edit->select_start, edit->select_end); - - /* calculate total line count + total space + cursor/selection position */ - float line_width = 0.0f; - if (text && len) - { - /* utf8 encoding */ - float glyph_width; - int glyph_len = 0; - nk_rune unicode = 0; - int text_len = 0; - int glyphs = 0; - int row_begin = 0; - - glyph_len = nk_utf_decode(text, &unicode, len); - glyph_width = font->width(font->userdata, font->height, text, glyph_len); - line_width = 0; - - /* iterate all lines */ - while ((text_len < len) && glyph_len) - { - /* set cursor 2D position and line */ - if (!cursor_ptr && glyphs == edit->cursor) - { - int glyph_offset; - struct nk_vec2 out_offset; - struct nk_vec2 row_size; - const char *remaining; - - /* calculate 2d position */ - cursor_pos.y = (float)(total_lines-1) * row_height; - row_size = nk_text_calculate_text_bounds(font, text+row_begin, - text_len-row_begin, row_height, &remaining, - &out_offset, &glyph_offset, NK_STOP_ON_NEW_LINE); - cursor_pos.x = row_size.x; - cursor_ptr = text + text_len; - } - - /* set start selection 2D position and line */ - if (!select_begin_ptr && edit->select_start != edit->select_end && - glyphs == selection_begin) - { - int glyph_offset; - struct nk_vec2 out_offset; - struct nk_vec2 row_size; - const char *remaining; - - /* calculate 2d position */ - selection_offset_start.y = (float)(NK_MAX(total_lines-1,0)) * row_height; - row_size = nk_text_calculate_text_bounds(font, text+row_begin, - text_len-row_begin, row_height, &remaining, - &out_offset, &glyph_offset, NK_STOP_ON_NEW_LINE); - selection_offset_start.x = row_size.x; - select_begin_ptr = text + text_len; - } - - /* set end selection 2D position and line */ - if (!select_end_ptr && edit->select_start != edit->select_end && - glyphs == selection_end) - { - int glyph_offset; - struct nk_vec2 out_offset; - struct nk_vec2 row_size; - const char *remaining; - - /* calculate 2d position */ - selection_offset_end.y = (float)(total_lines-1) * row_height; - row_size = nk_text_calculate_text_bounds(font, text+row_begin, - text_len-row_begin, row_height, &remaining, - &out_offset, &glyph_offset, NK_STOP_ON_NEW_LINE); - selection_offset_end.x = row_size.x; - select_end_ptr = text + text_len; - } - if (unicode == '\n') { - text_size.x = NK_MAX(text_size.x, line_width); - total_lines++; - line_width = 0; - text_len++; - glyphs++; - row_begin = text_len; - glyph_len = nk_utf_decode(text + text_len, &unicode, len-text_len); - glyph_width = font->width(font->userdata, font->height, text+text_len, glyph_len); - continue; - } - - glyphs++; - text_len += glyph_len; - line_width += (float)glyph_width; - - glyph_len = nk_utf_decode(text + text_len, &unicode, len-text_len); - glyph_width = font->width(font->userdata, font->height, - text+text_len, glyph_len); - continue; - } - text_size.y = (float)total_lines * row_height; - - /* handle case when cursor is at end of text buffer */ - if (!cursor_ptr && edit->cursor == edit->string.len) { - cursor_pos.x = line_width; - cursor_pos.y = text_size.y - row_height; - } - } - { - /* scrollbar */ - if (cursor_follow) - { - /* update scrollbar to follow cursor */ - if (!(flags & NK_EDIT_NO_HORIZONTAL_SCROLL)) { - /* horizontal scroll */ - const float scroll_increment = area.w * 0.25f; - if (cursor_pos.x < edit->scrollbar.x) - edit->scrollbar.x = (float)(int)NK_MAX(0.0f, cursor_pos.x - scroll_increment); - if (cursor_pos.x >= edit->scrollbar.x + area.w) - edit->scrollbar.x = (float)(int)NK_MAX(0.0f, cursor_pos.x - area.w + scroll_increment); - } else edit->scrollbar.x = 0; - - if (flags & NK_EDIT_MULTILINE) { - /* vertical scroll */ - if (cursor_pos.y < edit->scrollbar.y) - edit->scrollbar.y = NK_MAX(0.0f, cursor_pos.y - row_height); - if (cursor_pos.y >= edit->scrollbar.y + row_height) - edit->scrollbar.y = edit->scrollbar.y + row_height; - } else edit->scrollbar.y = 0; - } - - /* scrollbar widget */ - if (flags & NK_EDIT_MULTILINE) - { - nk_flags ws; - struct nk_rect scroll; - float scroll_target; - float scroll_offset; - float scroll_step; - float scroll_inc; - - scroll = area; - scroll.x = (bounds.x + bounds.w - style->border) - style->scrollbar_size.x; - scroll.w = style->scrollbar_size.x; - - scroll_offset = edit->scrollbar.y; - scroll_step = scroll.h * 0.10f; - scroll_inc = scroll.h * 0.01f; - scroll_target = text_size.y; - edit->scrollbar.y = nk_do_scrollbarv(&ws, out, scroll, 0, - scroll_offset, scroll_target, scroll_step, scroll_inc, - &style->scrollbar, in, font); - } - } - - /* draw text */ - {struct nk_color background_color; - struct nk_color text_color; - struct nk_color sel_background_color; - struct nk_color sel_text_color; - struct nk_color cursor_color; - struct nk_color cursor_text_color; - const struct nk_style_item *background; - nk_push_scissor(out, clip); - - /* select correct colors to draw */ - if (*state & NK_WIDGET_STATE_ACTIVED) { - background = &style->active; - text_color = style->text_active; - sel_text_color = style->selected_text_hover; - sel_background_color = style->selected_hover; - cursor_color = style->cursor_hover; - cursor_text_color = style->cursor_text_hover; - } else if (*state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - text_color = style->text_hover; - sel_text_color = style->selected_text_hover; - sel_background_color = style->selected_hover; - cursor_text_color = style->cursor_text_hover; - cursor_color = style->cursor_hover; - } else { - background = &style->normal; - text_color = style->text_normal; - sel_text_color = style->selected_text_normal; - sel_background_color = style->selected_normal; - cursor_color = style->cursor_normal; - cursor_text_color = style->cursor_text_normal; - } - if (background->type == NK_STYLE_ITEM_IMAGE) - background_color = nk_rgba(0,0,0,0); - else - background_color = background->data.color; - - - if (edit->select_start == edit->select_end) { - /* no selection so just draw the complete text */ - const char *begin = nk_str_get_const(&edit->string); - int l = nk_str_len_char(&edit->string); - nk_edit_draw_text(out, style, area.x - edit->scrollbar.x, - area.y - edit->scrollbar.y, 0, begin, l, row_height, font, - background_color, text_color, nk_false); - } else { - /* edit has selection so draw 1-3 text chunks */ - if (edit->select_start != edit->select_end && selection_begin > 0){ - /* draw unselected text before selection */ - const char *begin = nk_str_get_const(&edit->string); - NK_ASSERT(select_begin_ptr); - nk_edit_draw_text(out, style, area.x - edit->scrollbar.x, - area.y - edit->scrollbar.y, 0, begin, (int)(select_begin_ptr - begin), - row_height, font, background_color, text_color, nk_false); - } - if (edit->select_start != edit->select_end) { - /* draw selected text */ - NK_ASSERT(select_begin_ptr); - if (!select_end_ptr) { - const char *begin = nk_str_get_const(&edit->string); - select_end_ptr = begin + nk_str_len_char(&edit->string); - } - nk_edit_draw_text(out, style, - area.x - edit->scrollbar.x, - area.y + selection_offset_start.y - edit->scrollbar.y, - selection_offset_start.x, - select_begin_ptr, (int)(select_end_ptr - select_begin_ptr), - row_height, font, sel_background_color, sel_text_color, nk_true); - } - if ((edit->select_start != edit->select_end && - selection_end < edit->string.len)) - { - /* draw unselected text after selected text */ - const char *begin = select_end_ptr; - const char *end = nk_str_get_const(&edit->string) + - nk_str_len_char(&edit->string); - NK_ASSERT(select_end_ptr); - nk_edit_draw_text(out, style, - area.x - edit->scrollbar.x, - area.y + selection_offset_end.y - edit->scrollbar.y, - selection_offset_end.x, - begin, (int)(end - begin), row_height, font, - background_color, text_color, nk_true); - } - } - - /* cursor */ - if (edit->select_start == edit->select_end) - { - if (edit->cursor >= nk_str_len(&edit->string) || - (cursor_ptr && *cursor_ptr == '\n')) { - /* draw cursor at end of line */ - struct nk_rect cursor; - cursor.w = style->cursor_size; - cursor.h = font->height; - cursor.x = area.x + cursor_pos.x - edit->scrollbar.x; - cursor.y = area.y + cursor_pos.y + row_height/2.0f - cursor.h/2.0f; - cursor.y -= edit->scrollbar.y; - nk_fill_rect(out, cursor, 0, cursor_color); - } else { - /* draw cursor inside text */ - int glyph_len; - struct nk_rect label; - struct nk_text txt; - - nk_rune unicode; - NK_ASSERT(cursor_ptr); - glyph_len = nk_utf_decode(cursor_ptr, &unicode, 4); - - label.x = area.x + cursor_pos.x - edit->scrollbar.x; - label.y = area.y + cursor_pos.y - edit->scrollbar.y; - label.w = font->width(font->userdata, font->height, cursor_ptr, glyph_len); - label.h = row_height; - - txt.padding = nk_vec2(0,0); - txt.background = cursor_color;; - txt.text = cursor_text_color; - nk_fill_rect(out, label, 0, cursor_color); - nk_widget_text(out, label, cursor_ptr, glyph_len, &txt, NK_TEXT_LEFT, font); - } - }} - } else { - /* not active so just draw text */ - int l = nk_str_len_char(&edit->string); - const char *begin = nk_str_get_const(&edit->string); - - const struct nk_style_item *background; - struct nk_color background_color; - struct nk_color text_color; - nk_push_scissor(out, clip); - if (*state & NK_WIDGET_STATE_ACTIVED) { - background = &style->active; - text_color = style->text_active; - } else if (*state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - text_color = style->text_hover; - } else { - background = &style->normal; - text_color = style->text_normal; - } - if (background->type == NK_STYLE_ITEM_IMAGE) - background_color = nk_rgba(0,0,0,0); - else - background_color = background->data.color; - nk_edit_draw_text(out, style, area.x - edit->scrollbar.x, - area.y - edit->scrollbar.y, 0, begin, l, row_height, font, - background_color, text_color, nk_false); - } - nk_push_scissor(out, old_clip);} - return ret; -} -NK_API void -nk_edit_focus(struct nk_context *ctx, nk_flags flags) -{ - nk_hash hash; - struct nk_window *win; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return; - - win = ctx->current; - hash = win->edit.seq; - win->edit.active = nk_true; - win->edit.name = hash; - if (flags & NK_EDIT_ALWAYS_INSERT_MODE) - win->edit.mode = NK_TEXT_EDIT_MODE_INSERT; -} -NK_API void -nk_edit_unfocus(struct nk_context *ctx) -{ - struct nk_window *win; - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return; - - win = ctx->current; - win->edit.active = nk_false; - win->edit.name = 0; -} -NK_API nk_flags -nk_edit_string(struct nk_context *ctx, nk_flags flags, - char *memory, int *len, int max, nk_plugin_filter filter) -{ - nk_hash hash; - nk_flags state; - struct nk_text_edit *edit; - struct nk_window *win; - - NK_ASSERT(ctx); - NK_ASSERT(memory); - NK_ASSERT(len); - if (!ctx || !memory || !len) - return 0; - - filter = (!filter) ? nk_filter_default: filter; - win = ctx->current; - hash = win->edit.seq; - edit = &ctx->text_edit; - nk_textedit_clear_state(&ctx->text_edit, (flags & NK_EDIT_MULTILINE)? - NK_TEXT_EDIT_MULTI_LINE: NK_TEXT_EDIT_SINGLE_LINE, filter); - - if (win->edit.active && hash == win->edit.name) { - if (flags & NK_EDIT_NO_CURSOR) - edit->cursor = nk_utf_len(memory, *len); - else edit->cursor = win->edit.cursor; - if (!(flags & NK_EDIT_SELECTABLE)) { - edit->select_start = win->edit.cursor; - edit->select_end = win->edit.cursor; - } else { - edit->select_start = win->edit.sel_start; - edit->select_end = win->edit.sel_end; - } - edit->mode = win->edit.mode; - edit->scrollbar.x = (float)win->edit.scrollbar.x; - edit->scrollbar.y = (float)win->edit.scrollbar.y; - edit->active = nk_true; - } else edit->active = nk_false; - - max = NK_MAX(1, max); - *len = NK_MIN(*len, max-1); - nk_str_init_fixed(&edit->string, memory, (nk_size)max); - edit->string.buffer.allocated = (nk_size)*len; - edit->string.len = nk_utf_len(memory, *len); - state = nk_edit_buffer(ctx, flags, edit, filter); - *len = (int)edit->string.buffer.allocated; - - if (edit->active) { - win->edit.cursor = edit->cursor; - win->edit.sel_start = edit->select_start; - win->edit.sel_end = edit->select_end; - win->edit.mode = edit->mode; - win->edit.scrollbar.x = (nk_uint)edit->scrollbar.x; - win->edit.scrollbar.y = (nk_uint)edit->scrollbar.y; - } return state; -} -NK_API nk_flags -nk_edit_buffer(struct nk_context *ctx, nk_flags flags, - struct nk_text_edit *edit, nk_plugin_filter filter) -{ - struct nk_window *win; - struct nk_style *style; - struct nk_input *in; - - enum nk_widget_layout_states state; - struct nk_rect bounds; - - nk_flags ret_flags = 0; - unsigned char prev_state; - nk_hash hash; - - /* make sure correct values */ - NK_ASSERT(ctx); - NK_ASSERT(edit); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - state = nk_widget(&bounds, ctx); - if (!state) return state; - in = (win->layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - - /* check if edit is currently hot item */ - hash = win->edit.seq++; - if (win->edit.active && hash == win->edit.name) { - if (flags & NK_EDIT_NO_CURSOR) - edit->cursor = edit->string.len; - if (!(flags & NK_EDIT_SELECTABLE)) { - edit->select_start = edit->cursor; - edit->select_end = edit->cursor; - } - if (flags & NK_EDIT_CLIPBOARD) - edit->clip = ctx->clip; - edit->active = (unsigned char)win->edit.active; - } else edit->active = nk_false; - edit->mode = win->edit.mode; - - filter = (!filter) ? nk_filter_default: filter; - prev_state = (unsigned char)edit->active; - in = (flags & NK_EDIT_READ_ONLY) ? 0: in; - ret_flags = nk_do_edit(&ctx->last_widget_state, &win->buffer, bounds, flags, - filter, edit, &style->edit, in, style->font); - - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - ctx->style.cursor_active = ctx->style.cursors[NK_CURSOR_TEXT]; - if (edit->active && prev_state != edit->active) { - /* current edit is now hot */ - win->edit.active = nk_true; - win->edit.name = hash; - } else if (prev_state && !edit->active) { - /* current edit is now cold */ - win->edit.active = nk_false; - } return ret_flags; -} -NK_API nk_flags -nk_edit_string_zero_terminated(struct nk_context *ctx, nk_flags flags, - char *buffer, int max, nk_plugin_filter filter) -{ - nk_flags result; - int len = nk_strlen(buffer); - result = nk_edit_string(ctx, flags, buffer, &len, max, filter); - buffer[NK_MIN(NK_MAX(max-1,0), len)] = '\0'; - return result; -} - - - - - -/* =============================================================== - * - * PROPERTY - * - * ===============================================================*/ -NK_LIB void -nk_drag_behavior(nk_flags *state, const struct nk_input *in, - struct nk_rect drag, struct nk_property_variant *variant, - float inc_per_pixel) -{ - int left_mouse_down = in && in->mouse.buttons[NK_BUTTON_LEFT].down; - int left_mouse_click_in_cursor = in && - nk_input_has_mouse_click_down_in_rect(in, NK_BUTTON_LEFT, drag, nk_true); - - nk_widget_state_reset(state); - if (nk_input_is_mouse_hovering_rect(in, drag)) - *state = NK_WIDGET_STATE_HOVERED; - - if (left_mouse_down && left_mouse_click_in_cursor) { - float delta, pixels; - pixels = in->mouse.delta.x; - delta = pixels * inc_per_pixel; - switch (variant->kind) { - default: break; - case NK_PROPERTY_INT: - variant->value.i = variant->value.i + (int)delta; - variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i, variant->max_value.i); - break; - case NK_PROPERTY_FLOAT: - variant->value.f = variant->value.f + (float)delta; - variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f, variant->max_value.f); - break; - case NK_PROPERTY_DOUBLE: - variant->value.d = variant->value.d + (double)delta; - variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d, variant->max_value.d); - break; - } - *state = NK_WIDGET_STATE_ACTIVE; - } - if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, drag)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(in, drag)) - *state |= NK_WIDGET_STATE_LEFT; -} -NK_LIB void -nk_property_behavior(nk_flags *ws, const struct nk_input *in, - struct nk_rect property, struct nk_rect label, struct nk_rect edit, - struct nk_rect empty, int *state, struct nk_property_variant *variant, - float inc_per_pixel) -{ - nk_widget_state_reset(ws); - if (in && *state == NK_PROPERTY_DEFAULT) { - if (nk_button_behavior(ws, edit, in, NK_BUTTON_DEFAULT)) - *state = NK_PROPERTY_EDIT; - else if (nk_input_is_mouse_click_down_in_rect(in, NK_BUTTON_LEFT, label, nk_true)) - *state = NK_PROPERTY_DRAG; - else if (nk_input_is_mouse_click_down_in_rect(in, NK_BUTTON_LEFT, empty, nk_true)) - *state = NK_PROPERTY_DRAG; - } - if (*state == NK_PROPERTY_DRAG) { - nk_drag_behavior(ws, in, property, variant, inc_per_pixel); - if (!(*ws & NK_WIDGET_STATE_ACTIVED)) *state = NK_PROPERTY_DEFAULT; - } -} -NK_LIB void -nk_draw_property(struct nk_command_buffer *out, const struct nk_style_property *style, - const struct nk_rect *bounds, const struct nk_rect *label, nk_flags state, - const char *name, int len, const struct nk_user_font *font) -{ - struct nk_text text; - const struct nk_style_item *background; - - /* select correct background and text color */ - if (state & NK_WIDGET_STATE_ACTIVED) { - background = &style->active; - text.text = style->label_active; - } else if (state & NK_WIDGET_STATE_HOVER) { - background = &style->hover; - text.text = style->label_hover; - } else { - background = &style->normal; - text.text = style->label_normal; - } - - /* draw background */ - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_image(out, *bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(out, *bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - text.background = background->data.color; - nk_fill_rect(out, *bounds, style->rounding, background->data.color); - nk_stroke_rect(out, *bounds, style->rounding, style->border, background->data.color); - break; - } - - /* draw label */ - text.padding = nk_vec2(0,0); - nk_widget_text(out, *label, name, len, &text, NK_TEXT_CENTERED, font); -} -NK_LIB void -nk_do_property(nk_flags *ws, - struct nk_command_buffer *out, struct nk_rect property, - const char *name, struct nk_property_variant *variant, - float inc_per_pixel, char *buffer, int *len, - int *state, int *cursor, int *select_begin, int *select_end, - const struct nk_style_property *style, - enum nk_property_filter filter, struct nk_input *in, - const struct nk_user_font *font, struct nk_text_edit *text_edit, - enum nk_button_behavior behavior) -{ - const nk_plugin_filter filters[] = { - nk_filter_decimal, - nk_filter_float - }; - nk_bool active, old; - int num_len = 0, name_len; - char string[NK_MAX_NUMBER_BUFFER]; - float size; - - char *dst = 0; - int *length; - - struct nk_rect left; - struct nk_rect right; - struct nk_rect label; - struct nk_rect edit; - struct nk_rect empty; - - /* left decrement button */ - left.h = font->height/2; - left.w = left.h; - left.x = property.x + style->border + style->padding.x; - left.y = property.y + style->border + property.h/2.0f - left.h/2; - - /* text label */ - name_len = nk_strlen(name); - size = font->width(font->userdata, font->height, name, name_len); - label.x = left.x + left.w + style->padding.x; - label.w = (float)size + 2 * style->padding.x; - label.y = property.y + style->border + style->padding.y; - label.h = property.h - (2 * style->border + 2 * style->padding.y); - - /* right increment button */ - right.y = left.y; - right.w = left.w; - right.h = left.h; - right.x = property.x + property.w - (right.w + style->padding.x); - - /* edit */ - if (*state == NK_PROPERTY_EDIT) { - size = font->width(font->userdata, font->height, buffer, *len); - size += style->edit.cursor_size; - length = len; - dst = buffer; - } else { - switch (variant->kind) { - default: break; - case NK_PROPERTY_INT: - nk_itoa(string, variant->value.i); - num_len = nk_strlen(string); - break; - case NK_PROPERTY_FLOAT: - NK_DTOA(string, (double)variant->value.f); - num_len = nk_string_float_limit(string, NK_MAX_FLOAT_PRECISION); - break; - case NK_PROPERTY_DOUBLE: - NK_DTOA(string, variant->value.d); - num_len = nk_string_float_limit(string, NK_MAX_FLOAT_PRECISION); - break; - } - size = font->width(font->userdata, font->height, string, num_len); - dst = string; - length = &num_len; - } - - edit.w = (float)size + 2 * style->padding.x; - edit.w = NK_MIN(edit.w, right.x - (label.x + label.w)); - edit.x = right.x - (edit.w + style->padding.x); - edit.y = property.y + style->border; - edit.h = property.h - (2 * style->border); - - /* empty left space activator */ - empty.w = edit.x - (label.x + label.w); - empty.x = label.x + label.w; - empty.y = property.y; - empty.h = property.h; - - /* update property */ - old = (*state == NK_PROPERTY_EDIT); - nk_property_behavior(ws, in, property, label, edit, empty, state, variant, inc_per_pixel); - - /* draw property */ - if (style->draw_begin) style->draw_begin(out, style->userdata); - nk_draw_property(out, style, &property, &label, *ws, name, name_len, font); - if (style->draw_end) style->draw_end(out, style->userdata); - - /* execute right button */ - if (nk_do_button_symbol(ws, out, left, style->sym_left, behavior, &style->dec_button, in, font)) { - switch (variant->kind) { - default: break; - case NK_PROPERTY_INT: - variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i - variant->step.i, variant->max_value.i); break; - case NK_PROPERTY_FLOAT: - variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f - variant->step.f, variant->max_value.f); break; - case NK_PROPERTY_DOUBLE: - variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d - variant->step.d, variant->max_value.d); break; - } - } - /* execute left button */ - if (nk_do_button_symbol(ws, out, right, style->sym_right, behavior, &style->inc_button, in, font)) { - switch (variant->kind) { - default: break; - case NK_PROPERTY_INT: - variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i + variant->step.i, variant->max_value.i); break; - case NK_PROPERTY_FLOAT: - variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f + variant->step.f, variant->max_value.f); break; - case NK_PROPERTY_DOUBLE: - variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d + variant->step.d, variant->max_value.d); break; - } - } - if (old != NK_PROPERTY_EDIT && (*state == NK_PROPERTY_EDIT)) { - /* property has been activated so setup buffer */ - NK_MEMCPY(buffer, dst, (nk_size)*length); - *cursor = nk_utf_len(buffer, *length); - *len = *length; - length = len; - dst = buffer; - active = 0; - } else active = (*state == NK_PROPERTY_EDIT); - - /* execute and run text edit field */ - nk_textedit_clear_state(text_edit, NK_TEXT_EDIT_SINGLE_LINE, filters[filter]); - text_edit->active = (unsigned char)active; - text_edit->string.len = *length; - text_edit->cursor = NK_CLAMP(0, *cursor, *length); - text_edit->select_start = NK_CLAMP(0,*select_begin, *length); - text_edit->select_end = NK_CLAMP(0,*select_end, *length); - text_edit->string.buffer.allocated = (nk_size)*length; - text_edit->string.buffer.memory.size = NK_MAX_NUMBER_BUFFER; - text_edit->string.buffer.memory.ptr = dst; - text_edit->string.buffer.size = NK_MAX_NUMBER_BUFFER; - text_edit->mode = NK_TEXT_EDIT_MODE_INSERT; - nk_do_edit(ws, out, edit, NK_EDIT_FIELD|NK_EDIT_AUTO_SELECT, - filters[filter], text_edit, &style->edit, (*state == NK_PROPERTY_EDIT) ? in: 0, font); - - *length = text_edit->string.len; - *cursor = text_edit->cursor; - *select_begin = text_edit->select_start; - *select_end = text_edit->select_end; - if (text_edit->active && nk_input_is_key_pressed(in, NK_KEY_ENTER)) - text_edit->active = nk_false; - - if (active && !text_edit->active) { - /* property is now not active so convert edit text to value*/ - *state = NK_PROPERTY_DEFAULT; - buffer[*len] = '\0'; - switch (variant->kind) { - default: break; - case NK_PROPERTY_INT: - variant->value.i = nk_strtoi(buffer, 0); - variant->value.i = NK_CLAMP(variant->min_value.i, variant->value.i, variant->max_value.i); - break; - case NK_PROPERTY_FLOAT: - nk_string_float_limit(buffer, NK_MAX_FLOAT_PRECISION); - variant->value.f = nk_strtof(buffer, 0); - variant->value.f = NK_CLAMP(variant->min_value.f, variant->value.f, variant->max_value.f); - break; - case NK_PROPERTY_DOUBLE: - nk_string_float_limit(buffer, NK_MAX_FLOAT_PRECISION); - variant->value.d = nk_strtod(buffer, 0); - variant->value.d = NK_CLAMP(variant->min_value.d, variant->value.d, variant->max_value.d); - break; - } - } -} -NK_LIB struct nk_property_variant -nk_property_variant_int(int value, int min_value, int max_value, int step) -{ - struct nk_property_variant result; - result.kind = NK_PROPERTY_INT; - result.value.i = value; - result.min_value.i = min_value; - result.max_value.i = max_value; - result.step.i = step; - return result; -} -NK_LIB struct nk_property_variant -nk_property_variant_float(float value, float min_value, float max_value, float step) -{ - struct nk_property_variant result; - result.kind = NK_PROPERTY_FLOAT; - result.value.f = value; - result.min_value.f = min_value; - result.max_value.f = max_value; - result.step.f = step; - return result; -} -NK_LIB struct nk_property_variant -nk_property_variant_double(double value, double min_value, double max_value, - double step) -{ - struct nk_property_variant result; - result.kind = NK_PROPERTY_DOUBLE; - result.value.d = value; - result.min_value.d = min_value; - result.max_value.d = max_value; - result.step.d = step; - return result; -} -NK_LIB void -nk_property(struct nk_context *ctx, const char *name, struct nk_property_variant *variant, - float inc_per_pixel, const enum nk_property_filter filter) -{ - struct nk_window *win; - struct nk_panel *layout; - struct nk_input *in; - const struct nk_style *style; - - struct nk_rect bounds; - enum nk_widget_layout_states s; - - int *state = 0; - nk_hash hash = 0; - char *buffer = 0; - int *len = 0; - int *cursor = 0; - int *select_begin = 0; - int *select_end = 0; - int old_state; - - char dummy_buffer[NK_MAX_NUMBER_BUFFER]; - int dummy_state = NK_PROPERTY_DEFAULT; - int dummy_length = 0; - int dummy_cursor = 0; - int dummy_select_begin = 0; - int dummy_select_end = 0; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return; - - win = ctx->current; - layout = win->layout; - style = &ctx->style; - s = nk_widget(&bounds, ctx); - if (!s) return; - - /* calculate hash from name */ - if (name[0] == '#') { - hash = nk_murmur_hash(name, (int)nk_strlen(name), win->property.seq++); - name++; /* special number hash */ - } else hash = nk_murmur_hash(name, (int)nk_strlen(name), 42); - - /* check if property is currently hot item */ - if (win->property.active && hash == win->property.name) { - buffer = win->property.buffer; - len = &win->property.length; - cursor = &win->property.cursor; - state = &win->property.state; - select_begin = &win->property.select_start; - select_end = &win->property.select_end; - } else { - buffer = dummy_buffer; - len = &dummy_length; - cursor = &dummy_cursor; - state = &dummy_state; - select_begin = &dummy_select_begin; - select_end = &dummy_select_end; - } - - /* execute property widget */ - old_state = *state; - ctx->text_edit.clip = ctx->clip; - in = ((s == NK_WIDGET_ROM && !win->property.active) || - layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - nk_do_property(&ctx->last_widget_state, &win->buffer, bounds, name, - variant, inc_per_pixel, buffer, len, state, cursor, select_begin, - select_end, &style->property, filter, in, style->font, &ctx->text_edit, - ctx->button_behavior); - - if (in && *state != NK_PROPERTY_DEFAULT && !win->property.active) { - /* current property is now hot */ - win->property.active = 1; - NK_MEMCPY(win->property.buffer, buffer, (nk_size)*len); - win->property.length = *len; - win->property.cursor = *cursor; - win->property.state = *state; - win->property.name = hash; - win->property.select_start = *select_begin; - win->property.select_end = *select_end; - if (*state == NK_PROPERTY_DRAG) { - ctx->input.mouse.grab = nk_true; - ctx->input.mouse.grabbed = nk_true; - } - } - /* check if previously active property is now inactive */ - if (*state == NK_PROPERTY_DEFAULT && old_state != NK_PROPERTY_DEFAULT) { - if (old_state == NK_PROPERTY_DRAG) { - ctx->input.mouse.grab = nk_false; - ctx->input.mouse.grabbed = nk_false; - ctx->input.mouse.ungrab = nk_true; - } - win->property.select_start = 0; - win->property.select_end = 0; - win->property.active = 0; - } -} -NK_API void -nk_property_int(struct nk_context *ctx, const char *name, - int min, int *val, int max, int step, float inc_per_pixel) -{ - struct nk_property_variant variant; - NK_ASSERT(ctx); - NK_ASSERT(name); - NK_ASSERT(val); - - if (!ctx || !ctx->current || !name || !val) return; - variant = nk_property_variant_int(*val, min, max, step); - nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_INT); - *val = variant.value.i; -} -NK_API void -nk_property_float(struct nk_context *ctx, const char *name, - float min, float *val, float max, float step, float inc_per_pixel) -{ - struct nk_property_variant variant; - NK_ASSERT(ctx); - NK_ASSERT(name); - NK_ASSERT(val); - - if (!ctx || !ctx->current || !name || !val) return; - variant = nk_property_variant_float(*val, min, max, step); - nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); - *val = variant.value.f; -} -NK_API void -nk_property_double(struct nk_context *ctx, const char *name, - double min, double *val, double max, double step, float inc_per_pixel) -{ - struct nk_property_variant variant; - NK_ASSERT(ctx); - NK_ASSERT(name); - NK_ASSERT(val); - - if (!ctx || !ctx->current || !name || !val) return; - variant = nk_property_variant_double(*val, min, max, step); - nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); - *val = variant.value.d; -} -NK_API int -nk_propertyi(struct nk_context *ctx, const char *name, int min, int val, - int max, int step, float inc_per_pixel) -{ - struct nk_property_variant variant; - NK_ASSERT(ctx); - NK_ASSERT(name); - - if (!ctx || !ctx->current || !name) return val; - variant = nk_property_variant_int(val, min, max, step); - nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_INT); - val = variant.value.i; - return val; -} -NK_API float -nk_propertyf(struct nk_context *ctx, const char *name, float min, - float val, float max, float step, float inc_per_pixel) -{ - struct nk_property_variant variant; - NK_ASSERT(ctx); - NK_ASSERT(name); - - if (!ctx || !ctx->current || !name) return val; - variant = nk_property_variant_float(val, min, max, step); - nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); - val = variant.value.f; - return val; -} -NK_API double -nk_propertyd(struct nk_context *ctx, const char *name, double min, - double val, double max, double step, float inc_per_pixel) -{ - struct nk_property_variant variant; - NK_ASSERT(ctx); - NK_ASSERT(name); - - if (!ctx || !ctx->current || !name) return val; - variant = nk_property_variant_double(val, min, max, step); - nk_property(ctx, name, &variant, inc_per_pixel, NK_FILTER_FLOAT); - val = variant.value.d; - return val; -} - - - - - -/* ============================================================== - * - * CHART - * - * ===============================================================*/ -NK_API nk_bool -nk_chart_begin_colored(struct nk_context *ctx, enum nk_chart_type type, - struct nk_color color, struct nk_color highlight, - int count, float min_value, float max_value) -{ - struct nk_window *win; - struct nk_chart *chart; - const struct nk_style *config; - const struct nk_style_chart *style; - - const struct nk_style_item *background; - struct nk_rect bounds = {0, 0, 0, 0}; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - - if (!ctx || !ctx->current || !ctx->current->layout) return 0; - if (!nk_widget(&bounds, ctx)) { - chart = &ctx->current->layout->chart; - nk_zero(chart, sizeof(*chart)); - return 0; - } - - win = ctx->current; - config = &ctx->style; - chart = &win->layout->chart; - style = &config->chart; - - /* setup basic generic chart */ - nk_zero(chart, sizeof(*chart)); - chart->x = bounds.x + style->padding.x; - chart->y = bounds.y + style->padding.y; - chart->w = bounds.w - 2 * style->padding.x; - chart->h = bounds.h - 2 * style->padding.y; - chart->w = NK_MAX(chart->w, 2 * style->padding.x); - chart->h = NK_MAX(chart->h, 2 * style->padding.y); - - /* add first slot into chart */ - {struct nk_chart_slot *slot = &chart->slots[chart->slot++]; - slot->type = type; - slot->count = count; - slot->color = color; - slot->highlight = highlight; - slot->min = NK_MIN(min_value, max_value); - slot->max = NK_MAX(min_value, max_value); - slot->range = slot->max - slot->min;} - - /* draw chart background */ - background = &style->background; - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(&win->buffer, bounds, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(&win->buffer, bounds, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(&win->buffer, bounds, style->rounding, style->border_color); - nk_fill_rect(&win->buffer, nk_shrink_rect(bounds, style->border), - style->rounding, style->background.data.color); - break; - } - return 1; -} -NK_API nk_bool -nk_chart_begin(struct nk_context *ctx, const enum nk_chart_type type, - int count, float min_value, float max_value) -{ - return nk_chart_begin_colored(ctx, type, ctx->style.chart.color, - ctx->style.chart.selected_color, count, min_value, max_value); -} -NK_API void -nk_chart_add_slot_colored(struct nk_context *ctx, const enum nk_chart_type type, - struct nk_color color, struct nk_color highlight, - int count, float min_value, float max_value) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - NK_ASSERT(ctx->current->layout->chart.slot < NK_CHART_MAX_SLOT); - if (!ctx || !ctx->current || !ctx->current->layout) return; - if (ctx->current->layout->chart.slot >= NK_CHART_MAX_SLOT) return; - - /* add another slot into the graph */ - {struct nk_chart *chart = &ctx->current->layout->chart; - struct nk_chart_slot *slot = &chart->slots[chart->slot++]; - slot->type = type; - slot->count = count; - slot->color = color; - slot->highlight = highlight; - slot->min = NK_MIN(min_value, max_value); - slot->max = NK_MAX(min_value, max_value); - slot->range = slot->max - slot->min;} -} -NK_API void -nk_chart_add_slot(struct nk_context *ctx, const enum nk_chart_type type, - int count, float min_value, float max_value) -{ - nk_chart_add_slot_colored(ctx, type, ctx->style.chart.color, - ctx->style.chart.selected_color, count, min_value, max_value); -} -NK_INTERN nk_flags -nk_chart_push_line(struct nk_context *ctx, struct nk_window *win, - struct nk_chart *g, float value, int slot) -{ - struct nk_panel *layout = win->layout; - const struct nk_input *i = &ctx->input; - struct nk_command_buffer *out = &win->buffer; - - nk_flags ret = 0; - struct nk_vec2 cur; - struct nk_rect bounds; - struct nk_color color; - float step; - float range; - float ratio; - - NK_ASSERT(slot >= 0 && slot < NK_CHART_MAX_SLOT); - step = g->w / (float)g->slots[slot].count; - range = g->slots[slot].max - g->slots[slot].min; - ratio = (value - g->slots[slot].min) / range; - - if (g->slots[slot].index == 0) { - /* first data point does not have a connection */ - g->slots[slot].last.x = g->x; - g->slots[slot].last.y = (g->y + g->h) - ratio * (float)g->h; - - bounds.x = g->slots[slot].last.x - 2; - bounds.y = g->slots[slot].last.y - 2; - bounds.w = bounds.h = 4; - - color = g->slots[slot].color; - if (!(layout->flags & NK_WINDOW_ROM) && - NK_INBOX(i->mouse.pos.x,i->mouse.pos.y, g->slots[slot].last.x-3, g->slots[slot].last.y-3, 6, 6)){ - ret = nk_input_is_mouse_hovering_rect(i, bounds) ? NK_CHART_HOVERING : 0; - ret |= (i->mouse.buttons[NK_BUTTON_LEFT].down && - i->mouse.buttons[NK_BUTTON_LEFT].clicked) ? NK_CHART_CLICKED: 0; - color = g->slots[slot].highlight; - } - nk_fill_rect(out, bounds, 0, color); - g->slots[slot].index += 1; - return ret; - } - - /* draw a line between the last data point and the new one */ - color = g->slots[slot].color; - cur.x = g->x + (float)(step * (float)g->slots[slot].index); - cur.y = (g->y + g->h) - (ratio * (float)g->h); - nk_stroke_line(out, g->slots[slot].last.x, g->slots[slot].last.y, cur.x, cur.y, 1.0f, color); - - bounds.x = cur.x - 3; - bounds.y = cur.y - 3; - bounds.w = bounds.h = 6; - - /* user selection of current data point */ - if (!(layout->flags & NK_WINDOW_ROM)) { - if (nk_input_is_mouse_hovering_rect(i, bounds)) { - ret = NK_CHART_HOVERING; - ret |= (!i->mouse.buttons[NK_BUTTON_LEFT].down && - i->mouse.buttons[NK_BUTTON_LEFT].clicked) ? NK_CHART_CLICKED: 0; - color = g->slots[slot].highlight; - } - } - nk_fill_rect(out, nk_rect(cur.x - 2, cur.y - 2, 4, 4), 0, color); - - /* save current data point position */ - g->slots[slot].last.x = cur.x; - g->slots[slot].last.y = cur.y; - g->slots[slot].index += 1; - return ret; -} -NK_INTERN nk_flags -nk_chart_push_column(const struct nk_context *ctx, struct nk_window *win, - struct nk_chart *chart, float value, int slot) -{ - struct nk_command_buffer *out = &win->buffer; - const struct nk_input *in = &ctx->input; - struct nk_panel *layout = win->layout; - - float ratio; - nk_flags ret = 0; - struct nk_color color; - struct nk_rect item = {0,0,0,0}; - - NK_ASSERT(slot >= 0 && slot < NK_CHART_MAX_SLOT); - if (chart->slots[slot].index >= chart->slots[slot].count) - return nk_false; - if (chart->slots[slot].count) { - float padding = (float)(chart->slots[slot].count-1); - item.w = (chart->w - padding) / (float)(chart->slots[slot].count); - } - - /* calculate bounds of current bar chart entry */ - color = chart->slots[slot].color;; - item.h = chart->h * NK_ABS((value/chart->slots[slot].range)); - if (value >= 0) { - ratio = (value + NK_ABS(chart->slots[slot].min)) / NK_ABS(chart->slots[slot].range); - item.y = (chart->y + chart->h) - chart->h * ratio; - } else { - ratio = (value - chart->slots[slot].max) / chart->slots[slot].range; - item.y = chart->y + (chart->h * NK_ABS(ratio)) - item.h; - } - item.x = chart->x + ((float)chart->slots[slot].index * item.w); - item.x = item.x + ((float)chart->slots[slot].index); - - /* user chart bar selection */ - if (!(layout->flags & NK_WINDOW_ROM) && - NK_INBOX(in->mouse.pos.x,in->mouse.pos.y,item.x,item.y,item.w,item.h)) { - ret = NK_CHART_HOVERING; - ret |= (!in->mouse.buttons[NK_BUTTON_LEFT].down && - in->mouse.buttons[NK_BUTTON_LEFT].clicked) ? NK_CHART_CLICKED: 0; - color = chart->slots[slot].highlight; - } - nk_fill_rect(out, item, 0, color); - chart->slots[slot].index += 1; - return ret; -} -NK_API nk_flags -nk_chart_push_slot(struct nk_context *ctx, float value, int slot) -{ - nk_flags flags; - struct nk_window *win; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(slot >= 0 && slot < NK_CHART_MAX_SLOT); - NK_ASSERT(slot < ctx->current->layout->chart.slot); - if (!ctx || !ctx->current || slot >= NK_CHART_MAX_SLOT) return nk_false; - if (slot >= ctx->current->layout->chart.slot) return nk_false; - - win = ctx->current; - if (win->layout->chart.slot < slot) return nk_false; - switch (win->layout->chart.slots[slot].type) { - case NK_CHART_LINES: - flags = nk_chart_push_line(ctx, win, &win->layout->chart, value, slot); break; - case NK_CHART_COLUMN: - flags = nk_chart_push_column(ctx, win, &win->layout->chart, value, slot); break; - default: - case NK_CHART_MAX: - flags = 0; - } - return flags; -} -NK_API nk_flags -nk_chart_push(struct nk_context *ctx, float value) -{ - return nk_chart_push_slot(ctx, value, 0); -} -NK_API void -nk_chart_end(struct nk_context *ctx) -{ - struct nk_window *win; - struct nk_chart *chart; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) - return; - - win = ctx->current; - chart = &win->layout->chart; - NK_MEMSET(chart, 0, sizeof(*chart)); - return; -} -NK_API void -nk_plot(struct nk_context *ctx, enum nk_chart_type type, const float *values, - int count, int offset) -{ - int i = 0; - float min_value; - float max_value; - - NK_ASSERT(ctx); - NK_ASSERT(values); - if (!ctx || !values || !count) return; - - min_value = values[offset]; - max_value = values[offset]; - for (i = 0; i < count; ++i) { - min_value = NK_MIN(values[i + offset], min_value); - max_value = NK_MAX(values[i + offset], max_value); - } - - if (nk_chart_begin(ctx, type, count, min_value, max_value)) { - for (i = 0; i < count; ++i) - nk_chart_push(ctx, values[i + offset]); - nk_chart_end(ctx); - } -} -NK_API void -nk_plot_function(struct nk_context *ctx, enum nk_chart_type type, void *userdata, - float(*value_getter)(void* user, int index), int count, int offset) -{ - int i = 0; - float min_value; - float max_value; - - NK_ASSERT(ctx); - NK_ASSERT(value_getter); - if (!ctx || !value_getter || !count) return; - - max_value = min_value = value_getter(userdata, offset); - for (i = 0; i < count; ++i) { - float value = value_getter(userdata, i + offset); - min_value = NK_MIN(value, min_value); - max_value = NK_MAX(value, max_value); - } - - if (nk_chart_begin(ctx, type, count, min_value, max_value)) { - for (i = 0; i < count; ++i) - nk_chart_push(ctx, value_getter(userdata, i + offset)); - nk_chart_end(ctx); - } -} - - - - - -/* ============================================================== - * - * COLOR PICKER - * - * ===============================================================*/ -NK_LIB nk_bool -nk_color_picker_behavior(nk_flags *state, - const struct nk_rect *bounds, const struct nk_rect *matrix, - const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, - struct nk_colorf *color, const struct nk_input *in) -{ - float hsva[4]; - nk_bool value_changed = 0; - nk_bool hsv_changed = 0; - - NK_ASSERT(state); - NK_ASSERT(matrix); - NK_ASSERT(hue_bar); - NK_ASSERT(color); - - /* color matrix */ - nk_colorf_hsva_fv(hsva, *color); - if (nk_button_behavior(state, *matrix, in, NK_BUTTON_REPEATER)) { - hsva[1] = NK_SATURATE((in->mouse.pos.x - matrix->x) / (matrix->w-1)); - hsva[2] = 1.0f - NK_SATURATE((in->mouse.pos.y - matrix->y) / (matrix->h-1)); - value_changed = hsv_changed = 1; - } - /* hue bar */ - if (nk_button_behavior(state, *hue_bar, in, NK_BUTTON_REPEATER)) { - hsva[0] = NK_SATURATE((in->mouse.pos.y - hue_bar->y) / (hue_bar->h-1)); - value_changed = hsv_changed = 1; - } - /* alpha bar */ - if (alpha_bar) { - if (nk_button_behavior(state, *alpha_bar, in, NK_BUTTON_REPEATER)) { - hsva[3] = 1.0f - NK_SATURATE((in->mouse.pos.y - alpha_bar->y) / (alpha_bar->h-1)); - value_changed = 1; - } - } - nk_widget_state_reset(state); - if (hsv_changed) { - *color = nk_hsva_colorfv(hsva); - *state = NK_WIDGET_STATE_ACTIVE; - } - if (value_changed) { - color->a = hsva[3]; - *state = NK_WIDGET_STATE_ACTIVE; - } - /* set color picker widget state */ - if (nk_input_is_mouse_hovering_rect(in, *bounds)) - *state = NK_WIDGET_STATE_HOVERED; - if (*state & NK_WIDGET_STATE_HOVER && !nk_input_is_mouse_prev_hovering_rect(in, *bounds)) - *state |= NK_WIDGET_STATE_ENTERED; - else if (nk_input_is_mouse_prev_hovering_rect(in, *bounds)) - *state |= NK_WIDGET_STATE_LEFT; - return value_changed; -} -NK_LIB void -nk_draw_color_picker(struct nk_command_buffer *o, const struct nk_rect *matrix, - const struct nk_rect *hue_bar, const struct nk_rect *alpha_bar, - struct nk_colorf col) -{ - NK_STORAGE const struct nk_color black = {0,0,0,255}; - NK_STORAGE const struct nk_color white = {255, 255, 255, 255}; - NK_STORAGE const struct nk_color black_trans = {0,0,0,0}; - - const float crosshair_size = 7.0f; - struct nk_color temp; - float hsva[4]; - float line_y; - int i; - - NK_ASSERT(o); - NK_ASSERT(matrix); - NK_ASSERT(hue_bar); - - /* draw hue bar */ - nk_colorf_hsva_fv(hsva, col); - for (i = 0; i < 6; ++i) { - NK_GLOBAL const struct nk_color hue_colors[] = { - {255, 0, 0, 255}, {255,255,0,255}, {0,255,0,255}, {0, 255,255,255}, - {0,0,255,255}, {255, 0, 255, 255}, {255, 0, 0, 255} - }; - nk_fill_rect_multi_color(o, - nk_rect(hue_bar->x, hue_bar->y + (float)i * (hue_bar->h/6.0f) + 0.5f, - hue_bar->w, (hue_bar->h/6.0f) + 0.5f), hue_colors[i], hue_colors[i], - hue_colors[i+1], hue_colors[i+1]); - } - line_y = (float)(int)(hue_bar->y + hsva[0] * matrix->h + 0.5f); - nk_stroke_line(o, hue_bar->x-1, line_y, hue_bar->x + hue_bar->w + 2, - line_y, 1, nk_rgb(255,255,255)); - - /* draw alpha bar */ - if (alpha_bar) { - float alpha = NK_SATURATE(col.a); - line_y = (float)(int)(alpha_bar->y + (1.0f - alpha) * matrix->h + 0.5f); - - nk_fill_rect_multi_color(o, *alpha_bar, white, white, black, black); - nk_stroke_line(o, alpha_bar->x-1, line_y, alpha_bar->x + alpha_bar->w + 2, - line_y, 1, nk_rgb(255,255,255)); - } - - /* draw color matrix */ - temp = nk_hsv_f(hsva[0], 1.0f, 1.0f); - nk_fill_rect_multi_color(o, *matrix, white, temp, temp, white); - nk_fill_rect_multi_color(o, *matrix, black_trans, black_trans, black, black); - - /* draw cross-hair */ - {struct nk_vec2 p; float S = hsva[1]; float V = hsva[2]; - p.x = (float)(int)(matrix->x + S * matrix->w); - p.y = (float)(int)(matrix->y + (1.0f - V) * matrix->h); - nk_stroke_line(o, p.x - crosshair_size, p.y, p.x-2, p.y, 1.0f, white); - nk_stroke_line(o, p.x + crosshair_size + 1, p.y, p.x+3, p.y, 1.0f, white); - nk_stroke_line(o, p.x, p.y + crosshair_size + 1, p.x, p.y+3, 1.0f, white); - nk_stroke_line(o, p.x, p.y - crosshair_size, p.x, p.y-2, 1.0f, white);} -} -NK_LIB nk_bool -nk_do_color_picker(nk_flags *state, - struct nk_command_buffer *out, struct nk_colorf *col, - enum nk_color_format fmt, struct nk_rect bounds, - struct nk_vec2 padding, const struct nk_input *in, - const struct nk_user_font *font) -{ - int ret = 0; - struct nk_rect matrix; - struct nk_rect hue_bar; - struct nk_rect alpha_bar; - float bar_w; - - NK_ASSERT(out); - NK_ASSERT(col); - NK_ASSERT(state); - NK_ASSERT(font); - if (!out || !col || !state || !font) - return ret; - - bar_w = font->height; - bounds.x += padding.x; - bounds.y += padding.x; - bounds.w -= 2 * padding.x; - bounds.h -= 2 * padding.y; - - matrix.x = bounds.x; - matrix.y = bounds.y; - matrix.h = bounds.h; - matrix.w = bounds.w - (3 * padding.x + 2 * bar_w); - - hue_bar.w = bar_w; - hue_bar.y = bounds.y; - hue_bar.h = matrix.h; - hue_bar.x = matrix.x + matrix.w + padding.x; - - alpha_bar.x = hue_bar.x + hue_bar.w + padding.x; - alpha_bar.y = bounds.y; - alpha_bar.w = bar_w; - alpha_bar.h = matrix.h; - - ret = nk_color_picker_behavior(state, &bounds, &matrix, &hue_bar, - (fmt == NK_RGBA) ? &alpha_bar:0, col, in); - nk_draw_color_picker(out, &matrix, &hue_bar, (fmt == NK_RGBA) ? &alpha_bar:0, *col); - return ret; -} -NK_API nk_bool -nk_color_pick(struct nk_context * ctx, struct nk_colorf *color, - enum nk_color_format fmt) -{ - struct nk_window *win; - struct nk_panel *layout; - const struct nk_style *config; - const struct nk_input *in; - - enum nk_widget_layout_states state; - struct nk_rect bounds; - - NK_ASSERT(ctx); - NK_ASSERT(color); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !color) - return 0; - - win = ctx->current; - config = &ctx->style; - layout = win->layout; - state = nk_widget(&bounds, ctx); - if (!state) return 0; - in = (state == NK_WIDGET_ROM || layout->flags & NK_WINDOW_ROM) ? 0 : &ctx->input; - return nk_do_color_picker(&ctx->last_widget_state, &win->buffer, color, fmt, bounds, - nk_vec2(0,0), in, config->font); -} -NK_API struct nk_colorf -nk_color_picker(struct nk_context *ctx, struct nk_colorf color, - enum nk_color_format fmt) -{ - nk_color_pick(ctx, &color, fmt); - return color; -} - - - - - -/* ============================================================== - * - * COMBO - * - * ===============================================================*/ -NK_INTERN nk_bool -nk_combo_begin(struct nk_context *ctx, struct nk_window *win, - struct nk_vec2 size, nk_bool is_clicked, struct nk_rect header) -{ - struct nk_window *popup; - int is_open = 0; - int is_active = 0; - struct nk_rect body; - nk_hash hash; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - popup = win->popup.win; - body.x = header.x; - body.w = size.x; - body.y = header.y + header.h-ctx->style.window.combo_border; - body.h = size.y; - - hash = win->popup.combo_count++; - is_open = (popup) ? nk_true:nk_false; - is_active = (popup && (win->popup.name == hash) && win->popup.type == NK_PANEL_COMBO); - if ((is_clicked && is_open && !is_active) || (is_open && !is_active) || - (!is_open && !is_active && !is_clicked)) return 0; - if (!nk_nonblock_begin(ctx, 0, body, - (is_clicked && is_open)?nk_rect(0,0,0,0):header, NK_PANEL_COMBO)) return 0; - - win->popup.type = NK_PANEL_COMBO; - win->popup.name = hash; - return 1; -} -NK_API nk_bool -nk_combo_begin_text(struct nk_context *ctx, const char *selected, int len, - struct nk_vec2 size) -{ - const struct nk_input *in; - struct nk_window *win; - struct nk_style *style; - - enum nk_widget_layout_states s; - int is_clicked = nk_false; - struct nk_rect header; - const struct nk_style_item *background; - struct nk_text text; - - NK_ASSERT(ctx); - NK_ASSERT(selected); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout || !selected) - return 0; - - win = ctx->current; - style = &ctx->style; - s = nk_widget(&header, ctx); - if (s == NK_WIDGET_INVALID) - return 0; - - in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; - if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) - is_clicked = nk_true; - - /* draw combo box header background and border */ - if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { - background = &style->combo.active; - text.text = style->combo.label_active; - } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { - background = &style->combo.hover; - text.text = style->combo.label_hover; - } else { - background = &style->combo.normal; - text.text = style->combo.label_normal; - } - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - text.background = background->data.color; - nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); - nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); - break; - } - { - /* print currently selected text item */ - struct nk_rect label; - struct nk_rect button; - struct nk_rect content; - int draw_button_symbol; - - enum nk_symbol_type sym; - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - sym = style->combo.sym_hover; - else if (is_clicked) - sym = style->combo.sym_active; - else - sym = style->combo.sym_normal; - - /* represents whether or not the combo's button symbol should be drawn */ - draw_button_symbol = sym != NK_SYMBOL_NONE; - - /* calculate button */ - button.w = header.h - 2 * style->combo.button_padding.y; - button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; - button.y = header.y + style->combo.button_padding.y; - button.h = button.w; - - content.x = button.x + style->combo.button.padding.x; - content.y = button.y + style->combo.button.padding.y; - content.w = button.w - 2 * style->combo.button.padding.x; - content.h = button.h - 2 * style->combo.button.padding.y; - - /* draw selected label */ - text.padding = nk_vec2(0,0); - label.x = header.x + style->combo.content_padding.x; - label.y = header.y + style->combo.content_padding.y; - label.h = header.h - 2 * style->combo.content_padding.y; - if (draw_button_symbol) - label.w = button.x - (style->combo.content_padding.x + style->combo.spacing.x) - label.x; - else - label.w = header.w - 2 * style->combo.content_padding.x; - nk_widget_text(&win->buffer, label, selected, len, &text, - NK_TEXT_LEFT, ctx->style.font); - - /* draw open/close button */ - if (draw_button_symbol) - nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, - &ctx->style.combo.button, sym, style->font); - } - return nk_combo_begin(ctx, win, size, is_clicked, header); -} -NK_API nk_bool -nk_combo_begin_label(struct nk_context *ctx, const char *selected, struct nk_vec2 size) -{ - return nk_combo_begin_text(ctx, selected, nk_strlen(selected), size); -} -NK_API nk_bool -nk_combo_begin_color(struct nk_context *ctx, struct nk_color color, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_style *style; - const struct nk_input *in; - - struct nk_rect header; - int is_clicked = nk_false; - enum nk_widget_layout_states s; - const struct nk_style_item *background; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - s = nk_widget(&header, ctx); - if (s == NK_WIDGET_INVALID) - return 0; - - in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; - if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) - is_clicked = nk_true; - - /* draw combo box header background and border */ - if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) - background = &style->combo.active; - else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - background = &style->combo.hover; - else background = &style->combo.normal; - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); - nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); - break; - } - { - struct nk_rect content; - struct nk_rect button; - struct nk_rect bounds; - int draw_button_symbol; - - enum nk_symbol_type sym; - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - sym = style->combo.sym_hover; - else if (is_clicked) - sym = style->combo.sym_active; - else sym = style->combo.sym_normal; - - /* represents whether or not the combo's button symbol should be drawn */ - draw_button_symbol = sym != NK_SYMBOL_NONE; - - /* calculate button */ - button.w = header.h - 2 * style->combo.button_padding.y; - button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; - button.y = header.y + style->combo.button_padding.y; - button.h = button.w; - - content.x = button.x + style->combo.button.padding.x; - content.y = button.y + style->combo.button.padding.y; - content.w = button.w - 2 * style->combo.button.padding.x; - content.h = button.h - 2 * style->combo.button.padding.y; - - /* draw color */ - bounds.h = header.h - 4 * style->combo.content_padding.y; - bounds.y = header.y + 2 * style->combo.content_padding.y; - bounds.x = header.x + 2 * style->combo.content_padding.x; - if (draw_button_symbol) - bounds.w = (button.x - (style->combo.content_padding.x + style->combo.spacing.x)) - bounds.x; - else - bounds.w = header.w - 4 * style->combo.content_padding.x; - nk_fill_rect(&win->buffer, bounds, 0, color); - - /* draw open/close button */ - if (draw_button_symbol) - nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, - &ctx->style.combo.button, sym, style->font); - } - return nk_combo_begin(ctx, win, size, is_clicked, header); -} -NK_API nk_bool -nk_combo_begin_symbol(struct nk_context *ctx, enum nk_symbol_type symbol, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_style *style; - const struct nk_input *in; - - struct nk_rect header; - int is_clicked = nk_false; - enum nk_widget_layout_states s; - const struct nk_style_item *background; - struct nk_color sym_background; - struct nk_color symbol_color; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - s = nk_widget(&header, ctx); - if (s == NK_WIDGET_INVALID) - return 0; - - in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; - if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) - is_clicked = nk_true; - - /* draw combo box header background and border */ - if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { - background = &style->combo.active; - symbol_color = style->combo.symbol_active; - } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { - background = &style->combo.hover; - symbol_color = style->combo.symbol_hover; - } else { - background = &style->combo.normal; - symbol_color = style->combo.symbol_hover; - } - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - sym_background = nk_rgba(0, 0, 0, 0); - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - sym_background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - sym_background = background->data.color; - nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); - nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); - break; - } - { - struct nk_rect bounds = {0,0,0,0}; - struct nk_rect content; - struct nk_rect button; - - enum nk_symbol_type sym; - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - sym = style->combo.sym_hover; - else if (is_clicked) - sym = style->combo.sym_active; - else sym = style->combo.sym_normal; - - /* calculate button */ - button.w = header.h - 2 * style->combo.button_padding.y; - button.x = (header.x + header.w - header.h) - style->combo.button_padding.y; - button.y = header.y + style->combo.button_padding.y; - button.h = button.w; - - content.x = button.x + style->combo.button.padding.x; - content.y = button.y + style->combo.button.padding.y; - content.w = button.w - 2 * style->combo.button.padding.x; - content.h = button.h - 2 * style->combo.button.padding.y; - - /* draw symbol */ - bounds.h = header.h - 2 * style->combo.content_padding.y; - bounds.y = header.y + style->combo.content_padding.y; - bounds.x = header.x + style->combo.content_padding.x; - bounds.w = (button.x - style->combo.content_padding.y) - bounds.x; - nk_draw_symbol(&win->buffer, symbol, bounds, sym_background, symbol_color, - 1.0f, style->font); - - /* draw open/close button */ - nk_draw_button_symbol(&win->buffer, &bounds, &content, ctx->last_widget_state, - &ctx->style.combo.button, sym, style->font); - } - return nk_combo_begin(ctx, win, size, is_clicked, header); -} -NK_API nk_bool -nk_combo_begin_symbol_text(struct nk_context *ctx, const char *selected, int len, - enum nk_symbol_type symbol, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_style *style; - struct nk_input *in; - - struct nk_rect header; - int is_clicked = nk_false; - enum nk_widget_layout_states s; - const struct nk_style_item *background; - struct nk_color symbol_color; - struct nk_text text; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - s = nk_widget(&header, ctx); - if (!s) return 0; - - in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; - if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) - is_clicked = nk_true; - - /* draw combo box header background and border */ - if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { - background = &style->combo.active; - symbol_color = style->combo.symbol_active; - text.text = style->combo.label_active; - } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { - background = &style->combo.hover; - symbol_color = style->combo.symbol_hover; - text.text = style->combo.label_hover; - } else { - background = &style->combo.normal; - symbol_color = style->combo.symbol_normal; - text.text = style->combo.label_normal; - } - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - text.background = background->data.color; - nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); - nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); - break; - } - { - struct nk_rect content; - struct nk_rect button; - struct nk_rect label; - struct nk_rect image; - - enum nk_symbol_type sym; - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - sym = style->combo.sym_hover; - else if (is_clicked) - sym = style->combo.sym_active; - else sym = style->combo.sym_normal; - - /* calculate button */ - button.w = header.h - 2 * style->combo.button_padding.y; - button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; - button.y = header.y + style->combo.button_padding.y; - button.h = button.w; - - content.x = button.x + style->combo.button.padding.x; - content.y = button.y + style->combo.button.padding.y; - content.w = button.w - 2 * style->combo.button.padding.x; - content.h = button.h - 2 * style->combo.button.padding.y; - nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, - &ctx->style.combo.button, sym, style->font); - - /* draw symbol */ - image.x = header.x + style->combo.content_padding.x; - image.y = header.y + style->combo.content_padding.y; - image.h = header.h - 2 * style->combo.content_padding.y; - image.w = image.h; - nk_draw_symbol(&win->buffer, symbol, image, text.background, symbol_color, - 1.0f, style->font); - - /* draw label */ - text.padding = nk_vec2(0,0); - label.x = image.x + image.w + style->combo.spacing.x + style->combo.content_padding.x; - label.y = header.y + style->combo.content_padding.y; - label.w = (button.x - style->combo.content_padding.x) - label.x; - label.h = header.h - 2 * style->combo.content_padding.y; - nk_widget_text(&win->buffer, label, selected, len, &text, NK_TEXT_LEFT, style->font); - } - return nk_combo_begin(ctx, win, size, is_clicked, header); -} -NK_API nk_bool -nk_combo_begin_image(struct nk_context *ctx, struct nk_image img, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_style *style; - const struct nk_input *in; - - struct nk_rect header; - int is_clicked = nk_false; - enum nk_widget_layout_states s; - const struct nk_style_item *background; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - s = nk_widget(&header, ctx); - if (s == NK_WIDGET_INVALID) - return 0; - - in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; - if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) - is_clicked = nk_true; - - /* draw combo box header background and border */ - if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) - background = &style->combo.active; - else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - background = &style->combo.hover; - else background = &style->combo.normal; - - switch (background->type) { - case NK_STYLE_ITEM_IMAGE: - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); - nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); - break; - } - { - struct nk_rect bounds = {0,0,0,0}; - struct nk_rect content; - struct nk_rect button; - int draw_button_symbol; - - enum nk_symbol_type sym; - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - sym = style->combo.sym_hover; - else if (is_clicked) - sym = style->combo.sym_active; - else sym = style->combo.sym_normal; - - /* represents whether or not the combo's button symbol should be drawn */ - draw_button_symbol = sym != NK_SYMBOL_NONE; - - /* calculate button */ - button.w = header.h - 2 * style->combo.button_padding.y; - button.x = (header.x + header.w - header.h) - style->combo.button_padding.y; - button.y = header.y + style->combo.button_padding.y; - button.h = button.w; - - content.x = button.x + style->combo.button.padding.x; - content.y = button.y + style->combo.button.padding.y; - content.w = button.w - 2 * style->combo.button.padding.x; - content.h = button.h - 2 * style->combo.button.padding.y; - - /* draw image */ - bounds.h = header.h - 2 * style->combo.content_padding.y; - bounds.y = header.y + style->combo.content_padding.y; - bounds.x = header.x + style->combo.content_padding.x; - if (draw_button_symbol) - bounds.w = (button.x - style->combo.content_padding.y) - bounds.x; - else - bounds.w = header.w - 2 * style->combo.content_padding.x; - nk_draw_image(&win->buffer, bounds, &img, nk_white); - - /* draw open/close button */ - if (draw_button_symbol) - nk_draw_button_symbol(&win->buffer, &bounds, &content, ctx->last_widget_state, - &ctx->style.combo.button, sym, style->font); - } - return nk_combo_begin(ctx, win, size, is_clicked, header); -} -NK_API nk_bool -nk_combo_begin_image_text(struct nk_context *ctx, const char *selected, int len, - struct nk_image img, struct nk_vec2 size) -{ - struct nk_window *win; - struct nk_style *style; - struct nk_input *in; - - struct nk_rect header; - int is_clicked = nk_false; - enum nk_widget_layout_states s; - const struct nk_style_item *background; - struct nk_text text; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - win = ctx->current; - style = &ctx->style; - s = nk_widget(&header, ctx); - if (!s) return 0; - - in = (win->layout->flags & NK_WINDOW_ROM || s == NK_WIDGET_ROM)? 0: &ctx->input; - if (nk_button_behavior(&ctx->last_widget_state, header, in, NK_BUTTON_DEFAULT)) - is_clicked = nk_true; - - /* draw combo box header background and border */ - if (ctx->last_widget_state & NK_WIDGET_STATE_ACTIVED) { - background = &style->combo.active; - text.text = style->combo.label_active; - } else if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) { - background = &style->combo.hover; - text.text = style->combo.label_hover; - } else { - background = &style->combo.normal; - text.text = style->combo.label_normal; - } - - switch(background->type) { - case NK_STYLE_ITEM_IMAGE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_image(&win->buffer, header, &background->data.image, nk_white); - break; - case NK_STYLE_ITEM_NINE_SLICE: - text.background = nk_rgba(0, 0, 0, 0); - nk_draw_nine_slice(&win->buffer, header, &background->data.slice, nk_white); - break; - case NK_STYLE_ITEM_COLOR: - text.background = background->data.color; - nk_fill_rect(&win->buffer, header, style->combo.rounding, background->data.color); - nk_stroke_rect(&win->buffer, header, style->combo.rounding, style->combo.border, style->combo.border_color); - break; - } - { - struct nk_rect content; - struct nk_rect button; - struct nk_rect label; - struct nk_rect image; - int draw_button_symbol; - - enum nk_symbol_type sym; - if (ctx->last_widget_state & NK_WIDGET_STATE_HOVER) - sym = style->combo.sym_hover; - else if (is_clicked) - sym = style->combo.sym_active; - else sym = style->combo.sym_normal; - - /* represents whether or not the combo's button symbol should be drawn */ - draw_button_symbol = sym != NK_SYMBOL_NONE; - - /* calculate button */ - button.w = header.h - 2 * style->combo.button_padding.y; - button.x = (header.x + header.w - header.h) - style->combo.button_padding.x; - button.y = header.y + style->combo.button_padding.y; - button.h = button.w; - - content.x = button.x + style->combo.button.padding.x; - content.y = button.y + style->combo.button.padding.y; - content.w = button.w - 2 * style->combo.button.padding.x; - content.h = button.h - 2 * style->combo.button.padding.y; - if (draw_button_symbol) - nk_draw_button_symbol(&win->buffer, &button, &content, ctx->last_widget_state, - &ctx->style.combo.button, sym, style->font); - - /* draw image */ - image.x = header.x + style->combo.content_padding.x; - image.y = header.y + style->combo.content_padding.y; - image.h = header.h - 2 * style->combo.content_padding.y; - image.w = image.h; - nk_draw_image(&win->buffer, image, &img, nk_white); - - /* draw label */ - text.padding = nk_vec2(0,0); - label.x = image.x + image.w + style->combo.spacing.x + style->combo.content_padding.x; - label.y = header.y + style->combo.content_padding.y; - label.h = header.h - 2 * style->combo.content_padding.y; - if (draw_button_symbol) - label.w = (button.x - style->combo.content_padding.x) - label.x; - else - label.w = (header.x + header.w - style->combo.content_padding.x) - label.x; - nk_widget_text(&win->buffer, label, selected, len, &text, NK_TEXT_LEFT, style->font); - } - return nk_combo_begin(ctx, win, size, is_clicked, header); -} -NK_API nk_bool -nk_combo_begin_symbol_label(struct nk_context *ctx, - const char *selected, enum nk_symbol_type type, struct nk_vec2 size) -{ - return nk_combo_begin_symbol_text(ctx, selected, nk_strlen(selected), type, size); -} -NK_API nk_bool -nk_combo_begin_image_label(struct nk_context *ctx, - const char *selected, struct nk_image img, struct nk_vec2 size) -{ - return nk_combo_begin_image_text(ctx, selected, nk_strlen(selected), img, size); -} -NK_API nk_bool -nk_combo_item_text(struct nk_context *ctx, const char *text, int len,nk_flags align) -{ - return nk_contextual_item_text(ctx, text, len, align); -} -NK_API nk_bool -nk_combo_item_label(struct nk_context *ctx, const char *label, nk_flags align) -{ - return nk_contextual_item_label(ctx, label, align); -} -NK_API nk_bool -nk_combo_item_image_text(struct nk_context *ctx, struct nk_image img, const char *text, - int len, nk_flags alignment) -{ - return nk_contextual_item_image_text(ctx, img, text, len, alignment); -} -NK_API nk_bool -nk_combo_item_image_label(struct nk_context *ctx, struct nk_image img, - const char *text, nk_flags alignment) -{ - return nk_contextual_item_image_label(ctx, img, text, alignment); -} -NK_API nk_bool -nk_combo_item_symbol_text(struct nk_context *ctx, enum nk_symbol_type sym, - const char *text, int len, nk_flags alignment) -{ - return nk_contextual_item_symbol_text(ctx, sym, text, len, alignment); -} -NK_API nk_bool -nk_combo_item_symbol_label(struct nk_context *ctx, enum nk_symbol_type sym, - const char *label, nk_flags alignment) -{ - return nk_contextual_item_symbol_label(ctx, sym, label, alignment); -} -NK_API void nk_combo_end(struct nk_context *ctx) -{ - nk_contextual_end(ctx); -} -NK_API void nk_combo_close(struct nk_context *ctx) -{ - nk_contextual_close(ctx); -} -NK_API int -nk_combo(struct nk_context *ctx, const char **items, int count, - int selected, int item_height, struct nk_vec2 size) -{ - int i = 0; - int max_height; - struct nk_vec2 item_spacing; - struct nk_vec2 window_padding; - - NK_ASSERT(ctx); - NK_ASSERT(items); - NK_ASSERT(ctx->current); - if (!ctx || !items ||!count) - return selected; - - item_spacing = ctx->style.window.spacing; - window_padding = nk_panel_get_padding(&ctx->style, ctx->current->layout->type); - max_height = count * item_height + count * (int)item_spacing.y; - max_height += (int)item_spacing.y * 2 + (int)window_padding.y * 2; - size.y = NK_MIN(size.y, (float)max_height); - if (nk_combo_begin_label(ctx, items[selected], size)) { - nk_layout_row_dynamic(ctx, (float)item_height, 1); - for (i = 0; i < count; ++i) { - if (nk_combo_item_label(ctx, items[i], NK_TEXT_LEFT)) - selected = i; - } - nk_combo_end(ctx); - } - return selected; -} -NK_API int -nk_combo_separator(struct nk_context *ctx, const char *items_separated_by_separator, - int separator, int selected, int count, int item_height, struct nk_vec2 size) -{ - int i; - int max_height; - struct nk_vec2 item_spacing; - struct nk_vec2 window_padding; - const char *current_item; - const char *iter; - int length = 0; - - NK_ASSERT(ctx); - NK_ASSERT(items_separated_by_separator); - if (!ctx || !items_separated_by_separator) - return selected; - - /* calculate popup window */ - item_spacing = ctx->style.window.spacing; - window_padding = nk_panel_get_padding(&ctx->style, ctx->current->layout->type); - max_height = count * item_height + count * (int)item_spacing.y; - max_height += (int)item_spacing.y * 2 + (int)window_padding.y * 2; - size.y = NK_MIN(size.y, (float)max_height); - - /* find selected item */ - current_item = items_separated_by_separator; - for (i = 0; i < count; ++i) { - iter = current_item; - while (*iter && *iter != separator) iter++; - length = (int)(iter - current_item); - if (i == selected) break; - current_item = iter + 1; - } - - if (nk_combo_begin_text(ctx, current_item, length, size)) { - current_item = items_separated_by_separator; - nk_layout_row_dynamic(ctx, (float)item_height, 1); - for (i = 0; i < count; ++i) { - iter = current_item; - while (*iter && *iter != separator) iter++; - length = (int)(iter - current_item); - if (nk_combo_item_text(ctx, current_item, length, NK_TEXT_LEFT)) - selected = i; - current_item = current_item + length + 1; - } - nk_combo_end(ctx); - } - return selected; -} -NK_API int -nk_combo_string(struct nk_context *ctx, const char *items_separated_by_zeros, - int selected, int count, int item_height, struct nk_vec2 size) -{ - return nk_combo_separator(ctx, items_separated_by_zeros, '\0', selected, count, item_height, size); -} -NK_API int -nk_combo_callback(struct nk_context *ctx, void(*item_getter)(void*, int, const char**), - void *userdata, int selected, int count, int item_height, struct nk_vec2 size) -{ - int i; - int max_height; - struct nk_vec2 item_spacing; - struct nk_vec2 window_padding; - const char *item; - - NK_ASSERT(ctx); - NK_ASSERT(item_getter); - if (!ctx || !item_getter) - return selected; - - /* calculate popup window */ - item_spacing = ctx->style.window.spacing; - window_padding = nk_panel_get_padding(&ctx->style, ctx->current->layout->type); - max_height = count * item_height + count * (int)item_spacing.y; - max_height += (int)item_spacing.y * 2 + (int)window_padding.y * 2; - size.y = NK_MIN(size.y, (float)max_height); - - item_getter(userdata, selected, &item); - if (nk_combo_begin_label(ctx, item, size)) { - nk_layout_row_dynamic(ctx, (float)item_height, 1); - for (i = 0; i < count; ++i) { - item_getter(userdata, i, &item); - if (nk_combo_item_label(ctx, item, NK_TEXT_LEFT)) - selected = i; - } - nk_combo_end(ctx); - } return selected; -} -NK_API void -nk_combobox(struct nk_context *ctx, const char **items, int count, - int *selected, int item_height, struct nk_vec2 size) -{ - *selected = nk_combo(ctx, items, count, *selected, item_height, size); -} -NK_API void -nk_combobox_string(struct nk_context *ctx, const char *items_separated_by_zeros, - int *selected, int count, int item_height, struct nk_vec2 size) -{ - *selected = nk_combo_string(ctx, items_separated_by_zeros, *selected, count, item_height, size); -} -NK_API void -nk_combobox_separator(struct nk_context *ctx, const char *items_separated_by_separator, - int separator, int *selected, int count, int item_height, struct nk_vec2 size) -{ - *selected = nk_combo_separator(ctx, items_separated_by_separator, separator, - *selected, count, item_height, size); -} -NK_API void -nk_combobox_callback(struct nk_context *ctx, - void(*item_getter)(void* data, int id, const char **out_text), - void *userdata, int *selected, int count, int item_height, struct nk_vec2 size) -{ - *selected = nk_combo_callback(ctx, item_getter, userdata, *selected, count, item_height, size); -} - - - - - -/* =============================================================== - * - * TOOLTIP - * - * ===============================================================*/ -NK_API nk_bool -nk_tooltip_begin(struct nk_context *ctx, float width) -{ - int x,y,w,h; - struct nk_window *win; - const struct nk_input *in; - struct nk_rect bounds; - int ret; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - if (!ctx || !ctx->current || !ctx->current->layout) - return 0; - - /* make sure that no nonblocking popup is currently active */ - win = ctx->current; - in = &ctx->input; - if (win->popup.win && (win->popup.type & NK_PANEL_SET_NONBLOCK)) - return 0; - - w = nk_iceilf(width); - h = nk_iceilf(nk_null_rect.h); - x = nk_ifloorf(in->mouse.pos.x + 1) - (int)win->layout->clip.x; - y = nk_ifloorf(in->mouse.pos.y + 1) - (int)win->layout->clip.y; - - bounds.x = (float)x; - bounds.y = (float)y; - bounds.w = (float)w; - bounds.h = (float)h; - - ret = nk_popup_begin(ctx, NK_POPUP_DYNAMIC, - "__##Tooltip##__", NK_WINDOW_NO_SCROLLBAR|NK_WINDOW_BORDER, bounds); - if (ret) win->layout->flags &= ~(nk_flags)NK_WINDOW_ROM; - win->popup.type = NK_PANEL_TOOLTIP; - ctx->current->layout->type = NK_PANEL_TOOLTIP; - return ret; -} - -NK_API void -nk_tooltip_end(struct nk_context *ctx) -{ - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - if (!ctx || !ctx->current) return; - ctx->current->seq--; - nk_popup_close(ctx); - nk_popup_end(ctx); -} -NK_API void -nk_tooltip(struct nk_context *ctx, const char *text) -{ - const struct nk_style *style; - struct nk_vec2 padding; - - int text_len; - float text_width; - float text_height; - - NK_ASSERT(ctx); - NK_ASSERT(ctx->current); - NK_ASSERT(ctx->current->layout); - NK_ASSERT(text); - if (!ctx || !ctx->current || !ctx->current->layout || !text) - return; - - /* fetch configuration data */ - style = &ctx->style; - padding = style->window.padding; - - /* calculate size of the text and tooltip */ - text_len = nk_strlen(text); - text_width = style->font->width(style->font->userdata, - style->font->height, text, text_len); - text_width += (4 * padding.x); - text_height = (style->font->height + 2 * padding.y); - - /* execute tooltip and fill with text */ - if (nk_tooltip_begin(ctx, (float)text_width)) { - nk_layout_row_dynamic(ctx, (float)text_height, 1); - nk_text(ctx, text, text_len, NK_TEXT_LEFT); - nk_tooltip_end(ctx); - } -} -#ifdef NK_INCLUDE_STANDARD_VARARGS -NK_API void -nk_tooltipf(struct nk_context *ctx, const char *fmt, ...) -{ - va_list args; - va_start(args, fmt); - nk_tooltipfv(ctx, fmt, args); - va_end(args); -} -NK_API void -nk_tooltipfv(struct nk_context *ctx, const char *fmt, va_list args) -{ - char buf[256]; - nk_strfmt(buf, NK_LEN(buf), fmt, args); - nk_tooltip(ctx, buf); -} -#endif - - - -#endif /* NK_IMPLEMENTATION */ - -/* -/// ## License -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~none -/// ------------------------------------------------------------------------------ -/// This software is available under 2 licenses -- choose whichever you prefer. -/// ------------------------------------------------------------------------------ -/// ALTERNATIVE A - MIT License -/// Copyright (c) 2016-2018 Micha Mettke -/// Permission is hereby granted, free of charge, to any person obtaining a copy of -/// this software and associated documentation files (the "Software"), to deal in -/// the Software without restriction, including without limitation the rights to -/// use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies -/// of the Software, and to permit persons to whom the Software is furnished to do -/// so, subject to the following conditions: -/// The above copyright notice and this permission notice shall be included in all -/// copies or substantial portions of the Software. -/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -/// SOFTWARE. -/// ------------------------------------------------------------------------------ -/// ALTERNATIVE B - Public Domain (www.unlicense.org) -/// This is free and unencumbered software released into the public domain. -/// Anyone is free to copy, modify, publish, use, compile, sell, or distribute this -/// software, either in source code form or as a compiled binary, for any purpose, -/// commercial or non-commercial, and by any means. -/// In jurisdictions that recognize copyright laws, the author or authors of this -/// software dedicate any and all copyright interest in the software to the public -/// domain. We make this dedication for the benefit of the public at large and to -/// the detriment of our heirs and successors. We intend this dedication to be an -/// overt act of relinquishment in perpetuity of all present and future rights to -/// this software under copyright law. -/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -/// AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN -/// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION -/// WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. -/// ------------------------------------------------------------------------------ -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -/// ## Changelog -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~none -/// [date] ([x.y.z]) - [description] -/// - [date]: date on which the change has been pushed -/// - [x.y.z]: Version string, represented in Semantic Versioning format -/// - [x]: Major version with API and library breaking changes -/// - [y]: Minor version with non-breaking API and library changes -/// - [z]: Patch version with no direct changes to the API -/// -/// - 2022/05/27 (4.10.0) - Add nk_input_has_mouse_click_in_button_rect() to fix window move bug -/// - 2022/04/18 (4.9.7) - Change button behavior when NK_BUTTON_TRIGGER_ON_RELEASE is defined to -/// only trigger when the mouse position was inside the same button on down -/// - 2022/02/03 (4.9.6) - Allow overriding the NK_INV_SQRT function, similar to NK_SIN and NK_COS -/// - 2021/12/22 (4.9.5) - Revert layout bounds not accounting for padding due to regressions -/// - 2021/12/22 (4.9.4) - Fix checking hovering when window is minimized -/// - 2021/12/22 (4.09.3) - Fix layout bounds not accounting for padding -/// - 2021/12/19 (4.09.2) - Update to stb_rect_pack.h v1.01 and stb_truetype.h v1.26 -/// - 2021/12/16 (4.09.1) - Fix the majority of GCC warnings -/// - 2021/10/16 (4.09.0) - Added nk_spacer() widget -/// - 2021/09/22 (4.08.6) - Fix "may be used uninitialized" warnings in nk_widget -/// - 2021/09/22 (4.08.5) - GCC __builtin_offsetof only exists in version 4 and later -/// - 2021/09/15 (4.08.4) - Fix "'num_len' may be used uninitialized" in nk_do_property -/// - 2021/09/15 (4.08.3) - Fix "Templates cannot be declared to have 'C' Linkage" -/// - 2021/09/08 (4.08.2) - Fix warnings in C89 builds -/// - 2021/09/08 (4.08.1) - Use compiler builtins for NK_OFFSETOF when possible -/// - 2021/08/17 (4.08.0) - Implemented 9-slice scaling support for widget styles -/// - 2021/08/16 (4.07.5) - Replace usage of memset in nk_font_atlas_bake with NK_MEMSET -/// - 2021/08/15 (4.07.4) - Fix conversion and sign conversion warnings -/// - 2021/08/08 (4.07.3) - Fix crash when baking merged fonts -/// - 2021/08/08 (4.07.2) - Fix Multiline Edit wrong offset -/// - 2021/03/17 (4.07.1) - Fix warning about unused parameter -/// - 2021/03/17 (4.07.0) - Fix nk_property hover bug -/// - 2021/03/15 (4.06.4) - Change nk_propertyi back to int -/// - 2021/03/15 (4.06.3) - Update documentation for functions that now return nk_bool -/// - 2020/12/19 (4.06.2) - Fix additional C++ style comments which are not allowed in ISO C90. -/// - 2020/10/11 (4.06.1) - Fix C++ style comments which are not allowed in ISO C90. -/// - 2020/10/07 (4.06.0) - Fix nk_combo return type wrongly changed to nk_bool -/// - 2020/09/05 (4.05.0) - Use the nk_font_atlas allocator for stb_truetype memory management. -/// - 2020/09/04 (4.04.1) - Replace every boolean int by nk_bool -/// - 2020/09/04 (4.04.0) - Add nk_bool with NK_INCLUDE_STANDARD_BOOL -/// - 2020/06/13 (4.03.1) - Fix nk_pool allocation sizes. -/// - 2020/06/04 (4.03.0) - Made nk_combo header symbols optional. -/// - 2020/05/27 (4.02.5) - Fix nk_do_edit: Keep scroll position when re-activating edit widget. -/// - 2020/05/09 (4.02.4) - Fix nk_menubar height calculation bug -/// - 2020/05/08 (4.02.3) - Fix missing stdarg.h with NK_INCLUDE_STANDARD_VARARGS -/// - 2020/04/30 (4.02.2) - Fix nk_edit border drawing bug -/// - 2020/04/09 (4.02.1) - Removed unused nk_sqrt function to fix compiler warnings -/// - Fixed compiler warnings if you bring your own methods for -/// nk_cos/nk_sin/nk_strtod/nk_memset/nk_memcopy/nk_dtoa -/// - 2020/04/06 (4.01.10) - Fix bug: Do not use pool before checking for NULL -/// - 2020/03/22 (4.01.9) - Fix bug where layout state wasn't restored correctly after -/// popping a tree. -/// - 2020/03/11 (4.01.8) - Fix bug where padding is subtracted from widget -/// - 2020/03/06 (4.01.7) - Fix bug where width padding was applied twice -/// - 2020/02/06 (4.01.6) - Update stb_truetype.h and stb_rect_pack.h and separate them -/// - 2019/12/10 (4.01.5) - Fix off-by-one error in NK_INTERSECT -/// - 2019/10/09 (4.01.4) - Fix bug for autoscrolling in nk_do_edit -/// - 2019/09/20 (4.01.3) - Fixed a bug wherein combobox cannot be closed by clicking the header -/// when NK_BUTTON_TRIGGER_ON_RELEASE is defined. -/// - 2019/09/10 (4.01.2) - Fixed the nk_cos function, which deviated significantly. -/// - 2019/09/08 (4.01.1) - Fixed a bug wherein re-baking of fonts caused a segmentation -/// fault due to dst_font->glyph_count not being zeroed on subsequent -/// bakes of the same set of fonts. -/// - 2019/06/23 (4.01.0) - Added nk_***_get_scroll and nk_***_set_scroll for groups, windows, and popups. -/// - 2019/06/12 (4.00.3) - Fix panel background drawing bug. -/// - 2018/10/31 (4.00.2) - Added NK_KEYSTATE_BASED_INPUT to "fix" state based backends -/// like GLFW without breaking key repeat behavior on event based. -/// - 2018/04/01 (4.00.1) - Fixed calling `nk_convert` multiple time per single frame. -/// - 2018/04/01 (4.00.0) - BREAKING CHANGE: nk_draw_list_clear no longer tries to -/// clear provided buffers. So make sure to either free -/// or clear each passed buffer after calling nk_convert. -/// - 2018/02/23 (3.00.6) - Fixed slider dragging behavior. -/// - 2018/01/31 (3.00.5) - Fixed overcalculation of cursor data in font baking process. -/// - 2018/01/31 (3.00.4) - Removed name collision with stb_truetype. -/// - 2018/01/28 (3.00.3) - Fixed panel window border drawing bug. -/// - 2018/01/12 (3.00.2) - Added `nk_group_begin_titled` for separated group identifier and title. -/// - 2018/01/07 (3.00.1) - Started to change documentation style. -/// - 2018/01/05 (3.00.0) - BREAKING CHANGE: The previous color picker API was broken -/// because of conversions between float and byte color representation. -/// Color pickers now use floating point values to represent -/// HSV values. To get back the old behavior I added some additional -/// color conversion functions to cast between nk_color and -/// nk_colorf. -/// - 2017/12/23 (2.00.7) - Fixed small warning. -/// - 2017/12/23 (2.00.7) - Fixed `nk_edit_buffer` behavior if activated to allow input. -/// - 2017/12/23 (2.00.7) - Fixed modifyable progressbar dragging visuals and input behavior. -/// - 2017/12/04 (2.00.6) - Added formatted string tooltip widget. -/// - 2017/11/18 (2.00.5) - Fixed window becoming hidden with flag `NK_WINDOW_NO_INPUT`. -/// - 2017/11/15 (2.00.4) - Fixed font merging. -/// - 2017/11/07 (2.00.3) - Fixed window size and position modifier functions. -/// - 2017/09/14 (2.00.2) - Fixed `nk_edit_buffer` and `nk_edit_focus` behavior. -/// - 2017/09/14 (2.00.1) - Fixed window closing behavior. -/// - 2017/09/14 (2.00.0) - BREAKING CHANGE: Modifying window position and size functions now -/// require the name of the window and must happen outside the window -/// building process (between function call nk_begin and nk_end). -/// - 2017/09/11 (1.40.9) - Fixed window background flag if background window is declared last. -/// - 2017/08/27 (1.40.8) - Fixed `nk_item_is_any_active` for hidden windows. -/// - 2017/08/27 (1.40.7) - Fixed window background flag. -/// - 2017/07/07 (1.40.6) - Fixed missing clipping rect check for hovering/clicked -/// query for widgets. -/// - 2017/07/07 (1.40.5) - Fixed drawing bug for vertex output for lines and stroked -/// and filled rectangles. -/// - 2017/07/07 (1.40.4) - Fixed bug in nk_convert trying to add windows that are in -/// process of being destroyed. -/// - 2017/07/07 (1.40.3) - Fixed table internal bug caused by storing table size in -/// window instead of directly in table. -/// - 2017/06/30 (1.40.2) - Removed unneeded semicolon in C++ NK_ALIGNOF macro. -/// - 2017/06/30 (1.40.1) - Fixed drawing lines smaller or equal zero. -/// - 2017/06/08 (1.40.0) - Removed the breaking part of last commit. Auto layout now only -/// comes in effect if you pass in zero was row height argument. -/// - 2017/06/08 (1.40.0) - BREAKING CHANGE: while not directly API breaking it will change -/// how layouting works. From now there will be an internal minimum -/// row height derived from font height. If you need a row smaller than -/// that you can directly set it by `nk_layout_set_min_row_height` and -/// reset the value back by calling `nk_layout_reset_min_row_height. -/// - 2017/06/08 (1.39.1) - Fixed property text edit handling bug caused by past `nk_widget` fix. -/// - 2017/06/08 (1.39.0) - Added function to retrieve window space without calling a `nk_layout_xxx` function. -/// - 2017/06/06 (1.38.5) - Fixed `nk_convert` return flag for command buffer. -/// - 2017/05/23 (1.38.4) - Fixed activation behavior for widgets partially clipped. -/// - 2017/05/10 (1.38.3) - Fixed wrong min window size mouse scaling over boundaries. -/// - 2017/05/09 (1.38.2) - Fixed vertical scrollbar drawing with not enough space. -/// - 2017/05/09 (1.38.1) - Fixed scaler dragging behavior if window size hits minimum size. -/// - 2017/05/06 (1.38.0) - Added platform double-click support. -/// - 2017/04/20 (1.37.1) - Fixed key repeat found inside glfw demo backends. -/// - 2017/04/20 (1.37.0) - Extended properties with selection and clipboard support. -/// - 2017/04/20 (1.36.2) - Fixed #405 overlapping rows with zero padding and spacing. -/// - 2017/04/09 (1.36.1) - Fixed #403 with another widget float error. -/// - 2017/04/09 (1.36.0) - Added window `NK_WINDOW_NO_INPUT` and `NK_WINDOW_NOT_INTERACTIVE` flags. -/// - 2017/04/09 (1.35.3) - Fixed buffer heap corruption. -/// - 2017/03/25 (1.35.2) - Fixed popup overlapping for `NK_WINDOW_BACKGROUND` windows. -/// - 2017/03/25 (1.35.1) - Fixed windows closing behavior. -/// - 2017/03/18 (1.35.0) - Added horizontal scroll requested in #377. -/// - 2017/03/18 (1.34.3) - Fixed long window header titles. -/// - 2017/03/04 (1.34.2) - Fixed text edit filtering. -/// - 2017/03/04 (1.34.1) - Fixed group closable flag. -/// - 2017/02/25 (1.34.0) - Added custom draw command for better language binding support. -/// - 2017/01/24 (1.33.0) - Added programmatic way to remove edit focus. -/// - 2017/01/24 (1.32.3) - Fixed wrong define for basic type definitions for windows. -/// - 2017/01/21 (1.32.2) - Fixed input capture from hidden or closed windows. -/// - 2017/01/21 (1.32.1) - Fixed slider behavior and drawing. -/// - 2017/01/13 (1.32.0) - Added flag to put scaler into the bottom left corner. -/// - 2017/01/13 (1.31.0) - Added additional row layouting method to combine both -/// dynamic and static widgets. -/// - 2016/12/31 (1.30.0) - Extended scrollbar offset from 16-bit to 32-bit. -/// - 2016/12/31 (1.29.2) - Fixed closing window bug of minimized windows. -/// - 2016/12/03 (1.29.1) - Fixed wrapped text with no seperator and C89 error. -/// - 2016/12/03 (1.29.0) - Changed text wrapping to process words not characters. -/// - 2016/11/22 (1.28.6) - Fixed window minimized closing bug. -/// - 2016/11/19 (1.28.5) - Fixed abstract combo box closing behavior. -/// - 2016/11/19 (1.28.4) - Fixed tooltip flickering. -/// - 2016/11/19 (1.28.3) - Fixed memory leak caused by popup repeated closing. -/// - 2016/11/18 (1.28.2) - Fixed memory leak caused by popup panel allocation. -/// - 2016/11/10 (1.28.1) - Fixed some warnings and C++ error. -/// - 2016/11/10 (1.28.0) - Added additional `nk_button` versions which allows to directly -/// pass in a style struct to change buttons visual. -/// - 2016/11/10 (1.27.0) - Added additional `nk_tree` versions to support external state -/// storage. Just like last the `nk_group` commit the main -/// advantage is that you optionally can minimize nuklears runtime -/// memory consumption or handle hash collisions. -/// - 2016/11/09 (1.26.0) - Added additional `nk_group` version to support external scrollbar -/// offset storage. Main advantage is that you can externalize -/// the memory management for the offset. It could also be helpful -/// if you have a hash collision in `nk_group_begin` but really -/// want the name. In addition I added `nk_list_view` which allows -/// to draw big lists inside a group without actually having to -/// commit the whole list to nuklear (issue #269). -/// - 2016/10/30 (1.25.1) - Fixed clipping rectangle bug inside `nk_draw_list`. -/// - 2016/10/29 (1.25.0) - Pulled `nk_panel` memory management into nuklear and out of -/// the hands of the user. From now on users don't have to care -/// about panels unless they care about some information. If you -/// still need the panel just call `nk_window_get_panel`. -/// - 2016/10/21 (1.24.0) - Changed widget border drawing to stroked rectangle from filled -/// rectangle for less overdraw and widget background transparency. -/// - 2016/10/18 (1.23.0) - Added `nk_edit_focus` for manually edit widget focus control. -/// - 2016/09/29 (1.22.7) - Fixed deduction of basic type in non `` compilation. -/// - 2016/09/29 (1.22.6) - Fixed edit widget UTF-8 text cursor drawing bug. -/// - 2016/09/28 (1.22.5) - Fixed edit widget UTF-8 text appending/inserting/removing. -/// - 2016/09/28 (1.22.4) - Fixed drawing bug inside edit widgets which offset all text -/// text in every edit widget if one of them is scrolled. -/// - 2016/09/28 (1.22.3) - Fixed small bug in edit widgets if not active. The wrong -/// text length is passed. It should have been in bytes but -/// was passed as glyphs. -/// - 2016/09/20 (1.22.2) - Fixed color button size calculation. -/// - 2016/09/20 (1.22.1) - Fixed some `nk_vsnprintf` behavior bugs and removed `` -/// again from `NK_INCLUDE_STANDARD_VARARGS`. -/// - 2016/09/18 (1.22.0) - C89 does not support vsnprintf only C99 and newer as well -/// as C++11 and newer. In addition to use vsnprintf you have -/// to include . So just defining `NK_INCLUDE_STD_VAR_ARGS` -/// is not enough. That behavior is now fixed. By default if -/// both varargs as well as stdio is selected I try to use -/// vsnprintf if not possible I will revert to vsprintf. If -/// varargs but not stdio was defined I will use my own function. -/// - 2016/09/15 (1.21.2) - Fixed panel `close` behavior for deeper panel levels. -/// - 2016/09/15 (1.21.1) - Fixed C++ errors and wrong argument to `nk_panel_get_xxxx`. -/// - 2016/09/13 (1.21.0) - !BREAKING! Fixed nonblocking popup behavior in menu, combo, -/// and contextual which prevented closing in y-direction if -/// popup did not reach max height. -/// In addition the height parameter was changed into vec2 -/// for width and height to have more control over the popup size. -/// - 2016/09/13 (1.20.3) - Cleaned up and extended type selection. -/// - 2016/09/13 (1.20.2) - Fixed slider behavior hopefully for the last time. This time -/// all calculation are correct so no more hackery. -/// - 2016/09/13 (1.20.1) - Internal change to divide window/panel flags into panel flags and types. -/// Suprisinly spend years in C and still happened to confuse types -/// with flags. Probably something to take note. -/// - 2016/09/08 (1.20.0) - Added additional helper function to make it easier to just -/// take the produced buffers from `nk_convert` and unplug the -/// iteration process from `nk_context`. So now you can -/// just use the vertex,element and command buffer + two pointer -/// inside the command buffer retrieved by calls `nk__draw_begin` -/// and `nk__draw_end` and macro `nk_draw_foreach_bounded`. -/// - 2016/09/08 (1.19.0) - Added additional asserts to make sure every `nk_xxx_begin` call -/// for windows, popups, combobox, menu and contextual is guarded by -/// `if` condition and does not produce false drawing output. -/// - 2016/09/08 (1.18.0) - Changed confusing name for `NK_SYMBOL_RECT_FILLED`, `NK_SYMBOL_RECT` -/// to hopefully easier to understand `NK_SYMBOL_RECT_FILLED` and -/// `NK_SYMBOL_RECT_OUTLINE`. -/// - 2016/09/08 (1.17.0) - Changed confusing name for `NK_SYMBOL_CIRLCE_FILLED`, `NK_SYMBOL_CIRCLE` -/// to hopefully easier to understand `NK_SYMBOL_CIRCLE_FILLED` and -/// `NK_SYMBOL_CIRCLE_OUTLINE`. -/// - 2016/09/08 (1.16.0) - Added additional checks to select correct types if `NK_INCLUDE_FIXED_TYPES` -/// is not defined by supporting the biggest compiler GCC, clang and MSVC. -/// - 2016/09/07 (1.15.3) - Fixed `NK_INCLUDE_COMMAND_USERDATA` define to not cause an error. -/// - 2016/09/04 (1.15.2) - Fixed wrong combobox height calculation. -/// - 2016/09/03 (1.15.1) - Fixed gaps inside combo boxes in OpenGL. -/// - 2016/09/02 (1.15.0) - Changed nuklear to not have any default vertex layout and -/// instead made it user provided. The range of types to convert -/// to is quite limited at the moment, but I would be more than -/// happy to accept PRs to add additional. -/// - 2016/08/30 (1.14.2) - Removed unused variables. -/// - 2016/08/30 (1.14.1) - Fixed C++ build errors. -/// - 2016/08/30 (1.14.0) - Removed mouse dragging from SDL demo since it does not work correctly. -/// - 2016/08/30 (1.13.4) - Tweaked some default styling variables. -/// - 2016/08/30 (1.13.3) - Hopefully fixed drawing bug in slider, in general I would -/// refrain from using slider with a big number of steps. -/// - 2016/08/30 (1.13.2) - Fixed close and minimize button which would fire even if the -/// window was in Read Only Mode. -/// - 2016/08/30 (1.13.1) - Fixed popup panel padding handling which was previously just -/// a hack for combo box and menu. -/// - 2016/08/30 (1.13.0) - Removed `NK_WINDOW_DYNAMIC` flag from public API since -/// it is bugged and causes issues in window selection. -/// - 2016/08/30 (1.12.0) - Removed scaler size. The size of the scaler is now -/// determined by the scrollbar size. -/// - 2016/08/30 (1.11.2) - Fixed some drawing bugs caused by changes from 1.11.0. -/// - 2016/08/30 (1.11.1) - Fixed overlapping minimized window selection. -/// - 2016/08/30 (1.11.0) - Removed some internal complexity and overly complex code -/// handling panel padding and panel border. -/// - 2016/08/29 (1.10.0) - Added additional height parameter to `nk_combobox_xxx`. -/// - 2016/08/29 (1.10.0) - Fixed drawing bug in dynamic popups. -/// - 2016/08/29 (1.10.0) - Added experimental mouse scrolling to popups, menus and comboboxes. -/// - 2016/08/26 (1.10.0) - Added window name string prepresentation to account for -/// hash collisions. Currently limited to `NK_WINDOW_MAX_NAME` -/// which in term can be redefined if not big enough. -/// - 2016/08/26 (1.10.0) - Added stacks for temporary style/UI changes in code. -/// - 2016/08/25 (1.10.0) - Changed `nk_input_is_key_pressed` and 'nk_input_is_key_released' -/// to account for key press and release happening in one frame. -/// - 2016/08/25 (1.10.0) - Added additional nk_edit flag to directly jump to the end on activate. -/// - 2016/08/17 (1.09.6) - Removed invalid check for value zero in `nk_propertyx`. -/// - 2016/08/16 (1.09.5) - Fixed ROM mode for deeper levels of popup windows parents. -/// - 2016/08/15 (1.09.4) - Editbox are now still active if enter was pressed with flag -/// `NK_EDIT_SIG_ENTER`. Main reasoning is to be able to keep -/// typing after committing. -/// - 2016/08/15 (1.09.4) - Removed redundant code. -/// - 2016/08/15 (1.09.4) - Fixed negative numbers in `nk_strtoi` and remove unused variable. -/// - 2016/08/15 (1.09.3) - Fixed `NK_WINDOW_BACKGROUND` flag behavior to select a background -/// window only as selected by hovering and not by clicking. -/// - 2016/08/14 (1.09.2) - Fixed a bug in font atlas which caused wrong loading -/// of glyphs for font with multiple ranges. -/// - 2016/08/12 (1.09.1) - Added additional function to check if window is currently -/// hidden and therefore not visible. -/// - 2016/08/12 (1.09.1) - nk_window_is_closed now queries the correct flag `NK_WINDOW_CLOSED` -/// instead of the old flag `NK_WINDOW_HIDDEN`. -/// - 2016/08/09 (1.09.0) - Added additional double version to nk_property and changed -/// the underlying implementation to not cast to float and instead -/// work directly on the given values. -/// - 2016/08/09 (1.08.0) - Added additional define to overwrite library internal -/// floating pointer number to string conversion for additional -/// precision. -/// - 2016/08/09 (1.08.0) - Added additional define to overwrite library internal -/// string to floating point number conversion for additional -/// precision. -/// - 2016/08/08 (1.07.2) - Fixed compiling error without define `NK_INCLUDE_FIXED_TYPE`. -/// - 2016/08/08 (1.07.1) - Fixed possible floating point error inside `nk_widget` leading -/// to wrong wiget width calculation which results in widgets falsely -/// becoming tagged as not inside window and cannot be accessed. -/// - 2016/08/08 (1.07.0) - Nuklear now differentiates between hiding a window (NK_WINDOW_HIDDEN) and -/// closing a window (NK_WINDOW_CLOSED). A window can be hidden/shown -/// by using `nk_window_show` and closed by either clicking the close -/// icon in a window or by calling `nk_window_close`. Only closed -/// windows get removed at the end of the frame while hidden windows -/// remain. -/// - 2016/08/08 (1.06.0) - Added `nk_edit_string_zero_terminated` as a second option to -/// `nk_edit_string` which takes, edits and outputs a '\0' terminated string. -/// - 2016/08/08 (1.05.4) - Fixed scrollbar auto hiding behavior. -/// - 2016/08/08 (1.05.3) - Fixed wrong panel padding selection in `nk_layout_widget_space`. -/// - 2016/08/07 (1.05.2) - Fixed old bug in dynamic immediate mode layout API, calculating -/// wrong item spacing and panel width. -/// - 2016/08/07 (1.05.1) - Hopefully finally fixed combobox popup drawing bug. -/// - 2016/08/07 (1.05.0) - Split varargs away from `NK_INCLUDE_STANDARD_IO` into own -/// define `NK_INCLUDE_STANDARD_VARARGS` to allow more fine -/// grained controlled over library includes. -/// - 2016/08/06 (1.04.5) - Changed memset calls to `NK_MEMSET`. -/// - 2016/08/04 (1.04.4) - Fixed fast window scaling behavior. -/// - 2016/08/04 (1.04.3) - Fixed window scaling, movement bug which appears if you -/// move/scale a window and another window is behind it. -/// If you are fast enough then the window behind gets activated -/// and the operation is blocked. I now require activating -/// by hovering only if mouse is not pressed. -/// - 2016/08/04 (1.04.2) - Fixed changing fonts. -/// - 2016/08/03 (1.04.1) - Fixed `NK_WINDOW_BACKGROUND` behavior. -/// - 2016/08/03 (1.04.0) - Added color parameter to `nk_draw_image`. -/// - 2016/08/03 (1.04.0) - Added additional window padding style attributes for -/// sub windows (combo, menu, ...). -/// - 2016/08/03 (1.04.0) - Added functions to show/hide software cursor. -/// - 2016/08/03 (1.04.0) - Added `NK_WINDOW_BACKGROUND` flag to force a window -/// to be always in the background of the screen. -/// - 2016/08/03 (1.03.2) - Removed invalid assert macro for NK_RGB color picker. -/// - 2016/08/01 (1.03.1) - Added helper macros into header include guard. -/// - 2016/07/29 (1.03.0) - Moved the window/table pool into the header part to -/// simplify memory management by removing the need to -/// allocate the pool. -/// - 2016/07/29 (1.02.0) - Added auto scrollbar hiding window flag which if enabled -/// will hide the window scrollbar after NK_SCROLLBAR_HIDING_TIMEOUT -/// seconds without window interaction. To make it work -/// you have to also set a delta time inside the `nk_context`. -/// - 2016/07/25 (1.01.1) - Fixed small panel and panel border drawing bugs. -/// - 2016/07/15 (1.01.0) - Added software cursor to `nk_style` and `nk_context`. -/// - 2016/07/15 (1.01.0) - Added const correctness to `nk_buffer_push' data argument. -/// - 2016/07/15 (1.01.0) - Removed internal font baking API and simplified -/// font atlas memory management by converting pointer -/// arrays for fonts and font configurations to lists. -/// - 2016/07/15 (1.00.0) - Changed button API to use context dependent button -/// behavior instead of passing it for every function call. -/// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -/// ## Gallery -/// ![Figure [blue]: Feature overview with blue color styling](https://cloud.githubusercontent.com/assets/8057201/13538240/acd96876-e249-11e5-9547-5ac0b19667a0.png) -/// ![Figure [red]: Feature overview with red color styling](https://cloud.githubusercontent.com/assets/8057201/13538243/b04acd4c-e249-11e5-8fd2-ad7744a5b446.png) -/// ![Figure [widgets]: Widget overview](https://cloud.githubusercontent.com/assets/8057201/11282359/3325e3c6-8eff-11e5-86cb-cf02b0596087.png) -/// ![Figure [blackwhite]: Black and white](https://cloud.githubusercontent.com/assets/8057201/11033668/59ab5d04-86e5-11e5-8091-c56f16411565.png) -/// ![Figure [filexp]: File explorer](https://cloud.githubusercontent.com/assets/8057201/10718115/02a9ba08-7b6b-11e5-950f-adacdd637739.png) -/// ![Figure [opengl]: OpenGL Editor](https://cloud.githubusercontent.com/assets/8057201/12779619/2a20d72c-ca69-11e5-95fe-4edecf820d5c.png) -/// ![Figure [nodedit]: Node Editor](https://cloud.githubusercontent.com/assets/8057201/9976995/e81ac04a-5ef7-11e5-872b-acd54fbeee03.gif) -/// ![Figure [skinning]: Using skinning in Nuklear](https://cloud.githubusercontent.com/assets/8057201/15991632/76494854-30b8-11e6-9555-a69840d0d50b.png) -/// ![Figure [bf]: Heavy modified version](https://cloud.githubusercontent.com/assets/8057201/14902576/339926a8-0d9c-11e6-9fee-a8b73af04473.png) -/// -/// ## Credits -/// Developed by Micha Mettke and every direct or indirect github contributor.

-/// -/// Embeds [stb_texedit](https://github.com/nothings/stb/blob/master/stb_textedit.h), [stb_truetype](https://github.com/nothings/stb/blob/master/stb_truetype.h) and [stb_rectpack](https://github.com/nothings/stb/blob/master/stb_rect_pack.h) by Sean Barret (public domain)
-/// Uses [stddoc.c](https://github.com/r-lyeh/stddoc.c) from r-lyeh@github.com for documentation generation

-/// Embeds ProggyClean.ttf font by Tristan Grimmer (MIT license).
-/// -/// Big thank you to Omar Cornut (ocornut@github) for his [imgui library](https://github.com/ocornut/imgui) and -/// giving me the inspiration for this library, Casey Muratori for handmade hero -/// and his original immediate mode graphical user interface idea and Sean -/// Barret for his amazing single header libraries which restored my faith -/// in libraries and brought me to create some of my own. Finally Apoorva Joshi -/// for his single header file packer. -*/ - diff --git a/subprojects/animationwindow/include/internal/nuklear_configured.h b/subprojects/animationwindow/include/internal/nuklear_configured.h deleted file mode 100644 index d3fd8f1cb..000000000 --- a/subprojects/animationwindow/include/internal/nuklear_configured.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -// Nuklear requires that all files using it specify the exact same defines. -// This header should always be included, rather than the nuklear.h header directly for that reason. - -#define NK_INCLUDE_FIXED_TYPES -#define NK_INCLUDE_STANDARD_IO -#define NK_INCLUDE_STANDARD_VARARGS -#define NK_INCLUDE_DEFAULT_ALLOCATOR -#define NK_INCLUDE_VERTEX_BUFFER_OUTPUT -#define NK_INCLUDE_FONT_BAKING -#define NK_INCLUDE_DEFAULT_FONT - -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wshadow" - -#include "internal/nuklear.h" -#include "internal/nuklear_sdl_renderer.h" - -#pragma GCC diagnostic pop \ No newline at end of file diff --git a/subprojects/animationwindow/include/internal/nuklear_sdl_renderer.h b/subprojects/animationwindow/include/internal/nuklear_sdl_renderer.h deleted file mode 100644 index 2d6ad36c2..000000000 --- a/subprojects/animationwindow/include/internal/nuklear_sdl_renderer.h +++ /dev/null @@ -1,378 +0,0 @@ -/* - * Nuklear - 4.9.4 - public domain - */ -/* - * ============================================================== - * - * API - * - * =============================================================== - */ -#ifndef NK_SDL_RENDERER_H_ -#define NK_SDL_RENDERER_H_ - -#include -NK_API struct nk_context* nk_sdl_init(SDL_Window *win, SDL_Renderer *renderer); -NK_API void nk_sdl_font_stash_begin(struct nk_font_atlas **atlas); -NK_API void nk_sdl_font_stash_end(void); -NK_API int nk_sdl_handle_event(SDL_Event *evt); -NK_API void nk_sdl_render(enum nk_anti_aliasing); -NK_API void nk_sdl_shutdown(void); - -#if SDL_COMPILEDVERSION < SDL_VERSIONNUM(2, 0, 22) -/* Metal API does not support cliprects with negative coordinates or large - * dimensions. The issue is fixed in SDL2 with version 2.0.22 but until - * that version is released, the NK_SDL_CLAMP_CLIP_RECT flag can be used to - * ensure the cliprect is itself clipped to the viewport. - * See discussion at https://discourse.libsdl.org/t/rendergeometryraw-producing-different-results-in-metal-vs-opengl/34953 - */ -#define NK_SDL_CLAMP_CLIP_RECT -#endif - -#endif /* NK_SDL_RENDERER_H_ */ - -/* - * ============================================================== - * - * IMPLEMENTATION - * - * =============================================================== - */ -#ifdef NK_SDL_RENDERER_IMPLEMENTATION - - -struct nk_sdl_device { - struct nk_buffer cmds; - struct nk_draw_null_texture null; - SDL_Texture *font_tex; -}; - -struct nk_sdl_vertex { - float position[2]; - float uv[2]; - nk_byte col[4]; -}; - -static struct nk_sdl { - SDL_Window *win; - SDL_Renderer *renderer; - struct nk_sdl_device ogl; - struct nk_context ctx; - struct nk_font_atlas atlas; -} sdl; - - - -NK_INTERN void -nk_sdl_device_upload_atlas(const void *image, int width, int height) -{ - struct nk_sdl_device *dev = &sdl.ogl; - - SDL_Texture *g_SDLFontTexture = SDL_CreateTexture(sdl.renderer, SDL_PIXELFORMAT_ARGB8888, SDL_TEXTUREACCESS_STATIC, width, height); - if (g_SDLFontTexture == NULL) { - SDL_Log("error creating texture"); - return; - } - SDL_UpdateTexture(g_SDLFontTexture, NULL, image, 4 * width); - SDL_SetTextureBlendMode(g_SDLFontTexture, SDL_BLENDMODE_BLEND); - dev->font_tex = g_SDLFontTexture; -} - -NK_API void -nk_sdl_render(enum nk_anti_aliasing AA) -{ - /* setup global state */ - struct nk_sdl_device *dev = &sdl.ogl; - - { - SDL_Rect saved_clip; -#ifdef NK_SDL_CLAMP_CLIP_RECT - SDL_Rect viewport; -#endif - SDL_bool clipping_enabled; - int vs = sizeof(struct nk_sdl_vertex); - size_t vp = offsetof(struct nk_sdl_vertex, position); - size_t vt = offsetof(struct nk_sdl_vertex, uv); - size_t vc = offsetof(struct nk_sdl_vertex, col); - - /* convert from command queue into draw list and draw to screen */ - const struct nk_draw_command *cmd; - const nk_draw_index *offset = NULL; - struct nk_buffer vbuf, ebuf; - - /* fill converting configuration */ - struct nk_convert_config config; - static const struct nk_draw_vertex_layout_element vertex_layout[] = { - {NK_VERTEX_POSITION, NK_FORMAT_FLOAT, NK_OFFSETOF(struct nk_sdl_vertex, position)}, - {NK_VERTEX_TEXCOORD, NK_FORMAT_FLOAT, NK_OFFSETOF(struct nk_sdl_vertex, uv)}, - {NK_VERTEX_COLOR, NK_FORMAT_R8G8B8A8, NK_OFFSETOF(struct nk_sdl_vertex, col)}, - {NK_VERTEX_LAYOUT_END} - }; - NK_MEMSET(&config, 0, sizeof(config)); - config.vertex_layout = vertex_layout; - config.vertex_size = sizeof(struct nk_sdl_vertex); - config.vertex_alignment = NK_ALIGNOF(struct nk_sdl_vertex); - config.null = dev->null; - config.circle_segment_count = 22; - config.curve_segment_count = 22; - config.arc_segment_count = 22; - config.global_alpha = 1.0f; - config.shape_AA = AA; - config.line_AA = AA; - - /* convert shapes into vertexes */ - nk_buffer_init_default(&vbuf); - nk_buffer_init_default(&ebuf); - nk_convert(&sdl.ctx, &dev->cmds, &vbuf, &ebuf, &config); - - /* iterate over and execute each draw command */ - offset = (const nk_draw_index*)nk_buffer_memory_const(&ebuf); - - clipping_enabled = SDL_RenderIsClipEnabled(sdl.renderer); - SDL_RenderGetClipRect(sdl.renderer, &saved_clip); -#ifdef NK_SDL_CLAMP_CLIP_RECT - SDL_RenderGetViewport(sdl.renderer, &viewport); -#endif - - nk_draw_foreach(cmd, &sdl.ctx, &dev->cmds) - { - if (!cmd->elem_count) continue; - - { - SDL_Rect r; - r.x = cmd->clip_rect.x; - r.y = cmd->clip_rect.y; - r.w = cmd->clip_rect.w; - r.h = cmd->clip_rect.h; -#ifdef NK_SDL_CLAMP_CLIP_RECT - if (r.x < 0) { - r.w += r.x; - r.x = 0; - } - if (r.y < 0) { - r.h += r.y; - r.y = 0; - } - if (r.h > viewport.h) { - r.h = viewport.h; - } - if (r.w > viewport.w) { - r.w = viewport.w; - } -#endif - SDL_RenderSetClipRect(sdl.renderer, &r); - } - - { - const void *vertices = nk_buffer_memory_const(&vbuf); - - SDL_RenderGeometryRaw(sdl.renderer, - (SDL_Texture *)cmd->texture.ptr, - (const float*)((const nk_byte*)vertices + vp), vs, - (const SDL_Color*)((const nk_byte*)vertices + vc), vs, - (const float*)((const nk_byte*)vertices + vt), vs, - (vbuf.needed / vs), - (void *) offset, cmd->elem_count, 2); - - offset += cmd->elem_count; - } - } - - SDL_RenderSetClipRect(sdl.renderer, &saved_clip); - if (!clipping_enabled) { - SDL_RenderSetClipRect(sdl.renderer, NULL); - } - - nk_clear(&sdl.ctx); - nk_buffer_clear(&dev->cmds); - nk_buffer_free(&vbuf); - nk_buffer_free(&ebuf); - } -} - -static void -nk_sdl_clipboard_paste(nk_handle usr, struct nk_text_edit *edit) -{ - const char *text = SDL_GetClipboardText(); - if (text) nk_textedit_paste(edit, text, nk_strlen(text)); - (void)usr; -} - -static void -nk_sdl_clipboard_copy(nk_handle usr, const char *text, int len) -{ - char *str = 0; - (void)usr; - if (!len) return; - str = (char*)malloc((size_t)len+1); - if (!str) return; - memcpy(str, text, (size_t)len); - str[len] = '\0'; - SDL_SetClipboardText(str); - free(str); -} - -NK_API struct nk_context* -nk_sdl_init(SDL_Window *win, SDL_Renderer *renderer) -{ -#ifndef NK_SDL_CLAMP_CLIP_RECT - SDL_RendererInfo info; - SDL_version runtimeVer; - - /* warn for cases where NK_SDL_CLAMP_CLIP_RECT should have been set but isn't */ - SDL_GetRendererInfo(renderer, &info); - SDL_GetVersion(&runtimeVer); - if (strncmp("metal", info.name, 5) == 0 && - SDL_VERSIONNUM(runtimeVer.major, runtimeVer.minor, runtimeVer.patch) < SDL_VERSIONNUM(2, 0, 22)) - { - SDL_LogWarn( - SDL_LOG_CATEGORY_APPLICATION, - "renderer is using Metal API but runtime SDL version %d.%d.%d is older than compiled version %d.%d.%d, " - "which may cause issues with rendering", - runtimeVer.major, runtimeVer.minor, runtimeVer.patch, - SDL_MAJOR_VERSION, SDL_MINOR_VERSION, SDL_PATCHLEVEL - ); - } -#endif - sdl.win = win; - sdl.renderer = renderer; - nk_init_default(&sdl.ctx, 0); - sdl.ctx.clip.copy = nk_sdl_clipboard_copy; - sdl.ctx.clip.paste = nk_sdl_clipboard_paste; - sdl.ctx.clip.userdata = nk_handle_ptr(0); - nk_buffer_init_default(&sdl.ogl.cmds); - return &sdl.ctx; -} - -NK_API void -nk_sdl_font_stash_begin(struct nk_font_atlas **atlas) -{ - nk_font_atlas_init_default(&sdl.atlas); - nk_font_atlas_begin(&sdl.atlas); - *atlas = &sdl.atlas; -} - -NK_API void -nk_sdl_font_stash_end(void) -{ - const void *image; int w, h; - image = nk_font_atlas_bake(&sdl.atlas, &w, &h, NK_FONT_ATLAS_RGBA32); - nk_sdl_device_upload_atlas(image, w, h); - nk_font_atlas_end(&sdl.atlas, nk_handle_ptr(sdl.ogl.font_tex), &sdl.ogl.null); - if (sdl.atlas.default_font) - nk_style_set_font(&sdl.ctx, &sdl.atlas.default_font->handle); -} - -NK_API int -nk_sdl_handle_event(SDL_Event *evt) -{ - struct nk_context *ctx = &sdl.ctx; - - /* optional grabbing behavior */ - if (ctx->input.mouse.grab) { - SDL_SetRelativeMouseMode(SDL_TRUE); - ctx->input.mouse.grab = 0; - } else if (ctx->input.mouse.ungrab) { - int x = (int)ctx->input.mouse.prev.x, y = (int)ctx->input.mouse.prev.y; - SDL_SetRelativeMouseMode(SDL_FALSE); - SDL_WarpMouseInWindow(sdl.win, x, y); - ctx->input.mouse.ungrab = 0; - } - - switch(evt->type) - { - case SDL_KEYUP: /* KEYUP & KEYDOWN share same routine */ - case SDL_KEYDOWN: - { - int down = evt->type == SDL_KEYDOWN; - const Uint8* state = SDL_GetKeyboardState(0); - switch(evt->key.keysym.sym) - { - case SDLK_RSHIFT: /* RSHIFT & LSHIFT share same routine */ - case SDLK_LSHIFT: nk_input_key(ctx, NK_KEY_SHIFT, down); break; - case SDLK_DELETE: nk_input_key(ctx, NK_KEY_DEL, down); break; - case SDLK_RETURN: nk_input_key(ctx, NK_KEY_ENTER, down); break; - case SDLK_TAB: nk_input_key(ctx, NK_KEY_TAB, down); break; - case SDLK_BACKSPACE: nk_input_key(ctx, NK_KEY_BACKSPACE, down); break; - case SDLK_HOME: nk_input_key(ctx, NK_KEY_TEXT_START, down); - nk_input_key(ctx, NK_KEY_SCROLL_START, down); break; - case SDLK_END: nk_input_key(ctx, NK_KEY_TEXT_END, down); - nk_input_key(ctx, NK_KEY_SCROLL_END, down); break; - case SDLK_PAGEDOWN: nk_input_key(ctx, NK_KEY_SCROLL_DOWN, down); break; - case SDLK_PAGEUP: nk_input_key(ctx, NK_KEY_SCROLL_UP, down); break; - case SDLK_z: nk_input_key(ctx, NK_KEY_TEXT_UNDO, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_r: nk_input_key(ctx, NK_KEY_TEXT_REDO, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_c: nk_input_key(ctx, NK_KEY_COPY, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_v: nk_input_key(ctx, NK_KEY_PASTE, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_x: nk_input_key(ctx, NK_KEY_CUT, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_b: nk_input_key(ctx, NK_KEY_TEXT_LINE_START, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_e: nk_input_key(ctx, NK_KEY_TEXT_LINE_END, down && state[SDL_SCANCODE_LCTRL]); break; - case SDLK_UP: nk_input_key(ctx, NK_KEY_UP, down); break; - case SDLK_DOWN: nk_input_key(ctx, NK_KEY_DOWN, down); break; - case SDLK_LEFT: - if (state[SDL_SCANCODE_LCTRL]) - nk_input_key(ctx, NK_KEY_TEXT_WORD_LEFT, down); - else nk_input_key(ctx, NK_KEY_LEFT, down); - break; - case SDLK_RIGHT: - if (state[SDL_SCANCODE_LCTRL]) - nk_input_key(ctx, NK_KEY_TEXT_WORD_RIGHT, down); - else nk_input_key(ctx, NK_KEY_RIGHT, down); - break; - } - } - return 1; - - case SDL_MOUSEBUTTONUP: /* MOUSEBUTTONUP & MOUSEBUTTONDOWN share same routine */ - case SDL_MOUSEBUTTONDOWN: - { - int down = evt->type == SDL_MOUSEBUTTONDOWN; - const int x = evt->button.x, y = evt->button.y; - switch(evt->button.button) - { - case SDL_BUTTON_LEFT: - if (evt->button.clicks > 1) - nk_input_button(ctx, NK_BUTTON_DOUBLE, x, y, down); - nk_input_button(ctx, NK_BUTTON_LEFT, x, y, down); break; - case SDL_BUTTON_MIDDLE: nk_input_button(ctx, NK_BUTTON_MIDDLE, x, y, down); break; - case SDL_BUTTON_RIGHT: nk_input_button(ctx, NK_BUTTON_RIGHT, x, y, down); break; - } - } - return 1; - - case SDL_MOUSEMOTION: - if (ctx->input.mouse.grabbed) { - int x = (int)ctx->input.mouse.prev.x, y = (int)ctx->input.mouse.prev.y; - nk_input_motion(ctx, x + evt->motion.xrel, y + evt->motion.yrel); - } - else nk_input_motion(ctx, evt->motion.x, evt->motion.y); - return 1; - - case SDL_TEXTINPUT: - { - nk_glyph glyph; - memcpy(glyph, evt->text.text, NK_UTF_SIZE); - nk_input_glyph(ctx, glyph); - } - return 1; - - case SDL_MOUSEWHEEL: - nk_input_scroll(ctx,nk_vec2((float)evt->wheel.x,(float)evt->wheel.y)); - return 1; - } - return 0; -} - -NK_API -void nk_sdl_shutdown(void) -{ - struct nk_sdl_device *dev = &sdl.ogl; - nk_font_atlas_clear(&sdl.atlas); - nk_free(&sdl.ctx); - SDL_DestroyTexture(dev->font_tex); - /* glDeleteTextures(1, &dev->font_tex); */ - nk_buffer_free(&dev->cmds); - memset(&sdl, 0, sizeof(sdl)); -} - -#endif /* NK_SDL_RENDERER_IMPLEMENTATION */ diff --git a/subprojects/animationwindow/include/internal/portable-file-dialogs.h b/subprojects/animationwindow/include/internal/portable-file-dialogs.h deleted file mode 100644 index d62443ca7..000000000 --- a/subprojects/animationwindow/include/internal/portable-file-dialogs.h +++ /dev/null @@ -1,1647 +0,0 @@ -// -// Portable File Dialogs -// -// Copyright © 2018—2020 Sam Hocevar -// -// This library is free software. It comes without any warranty, to -// the extent permitted by applicable law. You can redistribute it -// and/or modify it under the terms of the Do What the Fuck You Want -// to Public License, Version 2, as published by the WTFPL Task Force. -// See http://www.wtfpl.net/ for more details. -// - -#pragma once - -#if _WIN32 -#ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN 1 -#endif -#include -#include -#include -#include -#include -#include - -#elif __EMSCRIPTEN__ -#include - -#else -#ifndef _POSIX_C_SOURCE -# define _POSIX_C_SOURCE 2 // for popen() -#endif -#include // popen() -#include // std::getenv() -#include // fcntl() -#include // read() -#include // ::kill, std::signal -#include // waitpid() -#endif - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace pfd -{ - -enum class button -{ - cancel = -1, - ok, - yes, - no, - abort, - retry, - ignore, -}; - -enum class choice -{ - ok = 0, - ok_cancel, - yes_no, - yes_no_cancel, - retry_cancel, - abort_retry_ignore, -}; - -enum class icon -{ - info = 0, - warning, - error, - question, -}; - -// Additional option flags for various dialog constructors -enum class opt : uint8_t -{ - none = 0, - // For file open, allow multiselect. - multiselect = 0x1, - // For file save, force overwrite and disable the confirmation dialog. - force_overwrite = 0x2, - // For file open or save, force path to be the provided argument instead - // of the last opened directory, which is the Microsoft-recommended, user- - // friendly behaviour. - force_path = 0x4, -}; - -inline opt operator |(opt a, opt b) { return opt(uint8_t(a) | uint8_t(b)); } -inline bool operator &(opt a, opt b) { return bool(uint8_t(a) & uint8_t(b)); } - -// The settings class, only exposing to the user a way to set verbose mode -// and to force a rescan of installed desktop helpers (zenity, kdialog…). -class settings -{ -public: - static void verbose(bool value); - static void rescan(); - -protected: - explicit settings(bool resync = false); - - inline bool is_osascript() const; - inline bool is_zenity() const; - inline bool is_kdialog() const; - - enum class flag - { - is_scanned = 0, - is_verbose, - - has_zenity, - has_matedialog, - has_qarma, - has_kdialog, - is_vista, - - max_flag, - }; - - // Static array of flags for internal state - bool const &flags(flag in_flag) const; - - // Non-const getter for the static array of flags - bool &flags(flag in_flag); -}; - -// Internal classes, not to be used by client applications -namespace internal -{ - -// Process wait timeout, in milliseconds -static int const default_wait_timeout = 20; - -class executor -{ - friend class dialog; - -public: - // High level function to get the result of a command - std::string result(int *exit_code = nullptr); - - // High level function to abort - bool kill(); - -#if _WIN32 - void start_func(std::function const &fun); - static BOOL CALLBACK enum_windows_callback(HWND hwnd, LPARAM lParam); -#elif __EMSCRIPTEN__ - void start(int exit_code); -#else - void start_process(std::vector const &command); -#endif - - ~executor(); - -protected: - bool ready(int timeout = default_wait_timeout); - void stop(); - -private: - bool m_running = false; - std::string m_stdout; - int m_exit_code = -1; -#if _WIN32 - std::future m_future; - std::unordered_set m_windows; - std::condition_variable m_cond; - std::mutex m_mutex; - DWORD m_tid; -#elif __EMSCRIPTEN__ || __NX__ - // FIXME: do something -#else - pid_t m_pid = 0; - int m_fd = -1; -#endif -}; - -class platform -{ -protected: -#if _WIN32 - // Helper class around LoadLibraryA() and GetProcAddress() with some safety - class dll - { - public: - dll(std::string const &name); - ~dll(); - - template class proc - { - public: - proc(dll const &lib, std::string const &sym) - : m_proc(reinterpret_cast(::GetProcAddress(lib.handle, sym.c_str()))) - {} - - operator bool() const { return m_proc != nullptr; } - operator T *() const { return m_proc; } - - private: - T *m_proc; - }; - - private: - HMODULE handle; - }; - - // Helper class around CreateActCtx() and ActivateActCtx() - class new_style_context - { - public: - new_style_context(); - ~new_style_context(); - - private: - HANDLE create(); - ULONG_PTR m_cookie = 0; - }; -#endif -}; - -class dialog : protected settings, protected platform -{ -public: - bool ready(int timeout = default_wait_timeout); - bool kill(); - -protected: - explicit dialog(); - - std::vector desktop_helper() const; - std::string buttons_to_name(choice _choice) const; - std::string get_icon_name(icon _icon) const; - - std::string powershell_quote(std::string const &str) const; - std::string osascript_quote(std::string const &str) const; - std::string shell_quote(std::string const &str) const; - - bool check_program(std::string const &program); - - // Keep handle to executing command - std::shared_ptr m_async; -}; - -class file_dialog : public dialog -{ -protected: - enum type - { - open, - save, - folder, - }; - - file_dialog(type in_type, - std::string const &title, - std::string const &default_path = "", - std::vector filters = {}, - opt options = opt::none); - -protected: - std::string string_result(); - std::vector vector_result(); - -#if _WIN32 - static int CALLBACK bffcallback(HWND hwnd, UINT uMsg, LPARAM, LPARAM pData); - std::string select_folder_vista(IFileDialog *ifd, bool force_path); - - std::wstring m_wtitle; - std::wstring m_wdefault_path; - - std::vector m_vector_result; -#endif -}; - -} // namespace internal - -// -// The notify widget -// - -class notify : public internal::dialog -{ -public: - notify(std::string const &title, - std::string const &message, - icon _icon = icon::info); -}; - -// -// The message widget -// - -class message : public internal::dialog -{ -public: - message(std::string const &title, - std::string const &text, - choice _choice = choice::ok_cancel, - icon _icon = icon::info); - - button result(); - -private: - // Some extra logic to map the exit code to button number - std::map m_mappings; -}; - -// -// The open_file, save_file, and open_folder widgets -// - -class open_file : public internal::file_dialog -{ -public: - open_file(std::string const &title, - std::string const &default_path = "", - std::vector filters = { "All Files", "*" }, - opt options = opt::none); - -#if defined(__has_cpp_attribute) -#if __has_cpp_attribute(deprecated) - // Backwards compatibility - [[deprecated("Use pfd::opt::multiselect instead of allow_multiselect")]] -#endif -#endif - open_file(std::string const &title, - std::string const &default_path, - std::vector filters, - bool allow_multiselect); - - std::vector result(); -}; - -class save_file : public internal::file_dialog -{ -public: - save_file(std::string const &title, - std::string const &default_path = "", - std::vector filters = { "All Files", "*" }, - opt options = opt::none); - -#if defined(__has_cpp_attribute) -#if __has_cpp_attribute(deprecated) - // Backwards compatibility - [[deprecated("Use pfd::opt::force_overwrite instead of confirm_overwrite")]] -#endif -#endif - save_file(std::string const &title, - std::string const &default_path, - std::vector filters, - bool confirm_overwrite); - - std::string result(); -}; - -class select_folder : public internal::file_dialog -{ -public: - select_folder(std::string const &title, - std::string const &default_path = "", - opt options = opt::none); - - std::string result(); -}; - -// -// Below this are all the method implementations. You may choose to define the -// macro PFD_SKIP_IMPLEMENTATION everywhere before including this header except -// in one place. This may reduce compilation times. -// - -#if !defined PFD_SKIP_IMPLEMENTATION - -// settings implementation - -inline settings::settings(bool resync) -{ - flags(flag::is_scanned) &= !resync; -} - -inline void settings::verbose(bool value) -{ - settings().flags(flag::is_verbose) = value; -} - -inline void settings::rescan() -{ - settings(true); -} - -inline bool settings::is_osascript() const -{ -#if __APPLE__ - return true; -#else - return false; -#endif -} - -inline bool settings::is_zenity() const -{ - return flags(flag::has_zenity) || - flags(flag::has_matedialog) || - flags(flag::has_qarma); -} - -inline bool settings::is_kdialog() const -{ - return flags(flag::has_kdialog); -} - -inline bool const &settings::flags(flag in_flag) const -{ - static bool flags[size_t(flag::max_flag)]; - return flags[size_t(in_flag)]; -} - -inline bool &settings::flags(flag in_flag) -{ - return const_cast(static_cast(this)->flags(in_flag)); -} - -// internal free functions implementations - -namespace internal -{ - -#if _WIN32 -static inline std::wstring str2wstr(std::string const &str) -{ - int len = MultiByteToWideChar(CP_UTF8, 0, str.c_str(), (int)str.size(), nullptr, 0); - std::wstring ret(len, '\0'); - MultiByteToWideChar(CP_UTF8, 0, str.c_str(), (int)str.size(), (LPWSTR)ret.data(), (int)ret.size()); - return ret; -} - -static inline std::string wstr2str(std::wstring const &str) -{ - int len = WideCharToMultiByte(CP_UTF8, 0, str.c_str(), (int)str.size(), nullptr, 0, nullptr, nullptr); - std::string ret(len, '\0'); - WideCharToMultiByte(CP_UTF8, 0, str.c_str(), (int)str.size(), (LPSTR)ret.data(), (int)ret.size(), nullptr, nullptr); - return ret; -} - -static inline bool is_vista() -{ - OSVERSIONINFOEXW osvi; - memset(&osvi, 0, sizeof(osvi)); - DWORDLONG const mask = VerSetConditionMask( - VerSetConditionMask( - VerSetConditionMask( - 0, VER_MAJORVERSION, VER_GREATER_EQUAL), - VER_MINORVERSION, VER_GREATER_EQUAL), - VER_SERVICEPACKMAJOR, VER_GREATER_EQUAL); - osvi.dwOSVersionInfoSize = sizeof(osvi); - osvi.dwMajorVersion = HIBYTE(_WIN32_WINNT_VISTA); - osvi.dwMinorVersion = LOBYTE(_WIN32_WINNT_VISTA); - osvi.wServicePackMajor = 0; - - return VerifyVersionInfoW(&osvi, VER_MAJORVERSION | VER_MINORVERSION | VER_SERVICEPACKMAJOR, mask) != FALSE; -} -#endif - -// This is necessary until C++20 which will have std::string::ends_with() etc. - -static inline bool ends_with(std::string const &str, std::string const &suffix) -{ - return suffix.size() <= str.size() && - str.compare(str.size() - suffix.size(), suffix.size(), suffix) == 0; -} - -static inline bool starts_with(std::string const &str, std::string const &prefix) -{ - return prefix.size() <= str.size() && - str.compare(0, prefix.size(), prefix) == 0; -} - -} // namespace internal - -// executor implementation - -inline std::string internal::executor::result(int *exit_code /* = nullptr */) -{ - stop(); - if (exit_code) - *exit_code = m_exit_code; - return m_stdout; -} - -inline bool internal::executor::kill() -{ -#if _WIN32 - if (m_future.valid()) - { - // Close all windows that weren’t open when we started the future - auto previous_windows = m_windows; - EnumWindows(&enum_windows_callback, (LPARAM)this); - for (auto hwnd : m_windows) - if (previous_windows.find(hwnd) == previous_windows.end()) - SendMessage(hwnd, WM_CLOSE, 0, 0); - } -#elif __EMSCRIPTEN__ || __NX__ - // FIXME: do something - (void)timeout; - return false; // cannot kill -#else - ::kill(m_pid, SIGKILL); -#endif - stop(); - return true; -} - -#if _WIN32 -inline BOOL CALLBACK internal::executor::enum_windows_callback(HWND hwnd, LPARAM lParam) -{ - auto that = (executor *)lParam; - - DWORD pid; - auto tid = GetWindowThreadProcessId(hwnd, &pid); - if (tid == that->m_tid) - that->m_windows.insert(hwnd); - return TRUE; -} -#endif - -#if _WIN32 -inline void internal::executor::start_func(std::function const &fun) -{ - stop(); - - auto trampoline = [fun, this]() - { - // Save our thread id so that the caller can cancel us - m_tid = GetCurrentThreadId(); - EnumWindows(&enum_windows_callback, (LPARAM)this); - m_cond.notify_all(); - return fun(&m_exit_code); - }; - - std::unique_lock lock(m_mutex); - m_future = std::async(std::launch::async, trampoline); - m_cond.wait(lock); - m_running = true; -} - -#elif __EMSCRIPTEN__ -inline void internal::executor::start(int exit_code) -{ - m_exit_code = exit_code; -} - -#else -inline void internal::executor::start_process(std::vector const &command) -{ - stop(); - m_stdout.clear(); - m_exit_code = -1; - - int in[2], out[2]; - if (pipe(in) != 0 || pipe(out) != 0) - return; - - m_pid = fork(); - if (m_pid < 0) - return; - - close(in[m_pid ? 0 : 1]); - close(out[m_pid ? 1 : 0]); - - if (m_pid == 0) - { - dup2(in[0], STDIN_FILENO); - dup2(out[1], STDOUT_FILENO); - - // Ignore stderr so that it doesn’t pollute the console (e.g. GTK+ errors from zenity) - int fd = open("/dev/null", O_WRONLY); - dup2(fd, STDERR_FILENO); - close(fd); - - std::vector args; - std::transform(command.cbegin(), command.cend(), std::back_inserter(args), - [](std::string const &s) { return const_cast(s.c_str()); }); - args.push_back(nullptr); // null-terminate argv[] - - execvp(args[0], args.data()); - exit(1); - } - - close(in[1]); - m_fd = out[0]; - auto flags = fcntl(m_fd, F_GETFL); - fcntl(m_fd, F_SETFL, flags | O_NONBLOCK); - - m_running = true; -} -#endif - -inline internal::executor::~executor() -{ - stop(); -} - -inline bool internal::executor::ready(int timeout /* = default_wait_timeout */) -{ - if (!m_running) - return true; - -#if _WIN32 - if (m_future.valid()) - { - auto status = m_future.wait_for(std::chrono::milliseconds(timeout)); - if (status != std::future_status::ready) - { - // On Windows, we need to run the message pump. If the async - // thread uses a Windows API dialog, it may be attached to the - // main thread and waiting for messages that only we can dispatch. - MSG msg; - while (PeekMessage(&msg, nullptr, 0, 0, PM_REMOVE)) - { - TranslateMessage(&msg); - DispatchMessage(&msg); - } - return false; - } - - m_stdout = m_future.get(); - } -#elif __EMSCRIPTEN__ || __NX__ - // FIXME: do something - (void)timeout; -#else - char buf[BUFSIZ]; - ssize_t received = read(m_fd, buf, BUFSIZ - 1); - if (received > 0) - { - m_stdout += std::string(buf, received); - return false; - } - - // Reap child process if it is dead. It is possible that the system has already reaped it - // (this happens when the calling application handles or ignores SIG_CHLD) and results in - // waitpid() failing with ECHILD. Otherwise we assume the child is running and we sleep for - // a little while. - int status; - pid_t child = waitpid(m_pid, &status, WNOHANG); - if (child != m_pid && (child >= 0 || errno != ECHILD)) - { - // FIXME: this happens almost always at first iteration - std::this_thread::sleep_for(std::chrono::milliseconds(timeout)); - return false; - } - - close(m_fd); - m_exit_code = WEXITSTATUS(status); -#endif - - m_running = false; - return true; -} - -inline void internal::executor::stop() -{ - // Loop until the user closes the dialog - while (!ready()) - ; -} - -// dll implementation - -#if _WIN32 -inline internal::platform::dll::dll(std::string const &name) - : handle(::LoadLibraryA(name.c_str())) -{} - -inline internal::platform::dll::~dll() -{ - if (handle) - ::FreeLibrary(handle); -} -#endif // _WIN32 - -// new_style_context implementation - -#if _WIN32 -inline internal::platform::new_style_context::new_style_context() -{ - // Only create one activation context for the whole app lifetime. - static HANDLE hctx = create(); - - if (hctx != INVALID_HANDLE_VALUE) - ActivateActCtx(hctx, &m_cookie); -} - -inline internal::platform::new_style_context::~new_style_context() -{ - DeactivateActCtx(0, m_cookie); -} - -inline HANDLE internal::platform::new_style_context::create() -{ - // This “hack” seems to be necessary for this code to work on windows XP. - // Without it, dialogs do not show and close immediately. GetError() - // returns 0 so I don’t know what causes this. I was not able to reproduce - // this behavior on Windows 7 and 10 but just in case, let it be here for - // those versions too. - // This hack is not required if other dialogs are used (they load comdlg32 - // automatically), only if message boxes are used. - dll comdlg32("comdlg32.dll"); - - // Using approach as shown here: https://stackoverflow.com/a/10444161 - UINT len = ::GetSystemDirectoryA(nullptr, 0); - std::string sys_dir(len, '\0'); - ::GetSystemDirectoryA(&sys_dir[0], len); - - ACTCTXA act_ctx = - { - // Do not set flag ACTCTX_FLAG_SET_PROCESS_DEFAULT, since it causes a - // crash with error “default context is already set”. - sizeof(act_ctx), - ACTCTX_FLAG_RESOURCE_NAME_VALID | ACTCTX_FLAG_ASSEMBLY_DIRECTORY_VALID, - "shell32.dll", 0, 0, sys_dir.c_str(), (LPCSTR)124, - }; - - return ::CreateActCtxA(&act_ctx); -} -#endif // _WIN32 - -// dialog implementation - -inline bool internal::dialog::ready(int timeout /* = default_wait_timeout */) -{ - return m_async->ready(timeout); -} - -inline bool internal::dialog::kill() -{ - return m_async->kill(); -} - -inline internal::dialog::dialog() - : m_async(std::make_shared()) -{ - if (!flags(flag::is_scanned)) - { -#if _WIN32 - flags(flag::is_vista) = is_vista(); -#elif !__APPLE__ - flags(flag::has_zenity) = check_program("zenity"); - flags(flag::has_matedialog) = check_program("matedialog"); - flags(flag::has_qarma) = check_program("qarma"); - flags(flag::has_kdialog) = check_program("kdialog"); - - // If multiple helpers are available, try to default to the best one - if (flags(flag::has_zenity) && flags(flag::has_kdialog)) - { - auto desktop_name = std::getenv("XDG_SESSION_DESKTOP"); - if (desktop_name && desktop_name == std::string("gnome")) - flags(flag::has_kdialog) = false; - else if (desktop_name && desktop_name == std::string("KDE")) - flags(flag::has_zenity) = false; - } -#endif - flags(flag::is_scanned) = true; - } -} - -inline std::vector internal::dialog::desktop_helper() const -{ -#if __APPLE__ - return { "osascript" }; -#else - return { flags(flag::has_zenity) ? "zenity" - : flags(flag::has_matedialog) ? "matedialog" - : flags(flag::has_qarma) ? "qarma" - : flags(flag::has_kdialog) ? "kdialog" - : "echo" }; -#endif -} - -inline std::string internal::dialog::buttons_to_name(choice _choice) const -{ - switch (_choice) - { - case choice::ok_cancel: return "okcancel"; - case choice::yes_no: return "yesno"; - case choice::yes_no_cancel: return "yesnocancel"; - case choice::retry_cancel: return "retrycancel"; - case choice::abort_retry_ignore: return "abortretryignore"; - /* case choice::ok: */ default: return "ok"; - } -} - -inline std::string internal::dialog::get_icon_name(icon _icon) const -{ - switch (_icon) - { - case icon::warning: return "warning"; - case icon::error: return "error"; - case icon::question: return "question"; - // Zenity wants "information" but WinForms wants "info" - /* case icon::info: */ default: -#if _WIN32 - return "info"; -#else - return "information"; -#endif - } -} - -// THis is only used for debugging purposes -inline std::ostream& operator <<(std::ostream &s, std::vector const &v) -{ - int not_first = 0; - for (auto &e : v) - s << (not_first++ ? " " : "") << e; - return s; -} - -// Properly quote a string for Powershell: replace ' or " with '' or "" -// FIXME: we should probably get rid of newlines! -// FIXME: the \" sequence seems unsafe, too! -// XXX: this is no longer used but I would like to keep it around just in case -inline std::string internal::dialog::powershell_quote(std::string const &str) const -{ - return "'" + std::regex_replace(str, std::regex("['\"]"), "$&$&") + "'"; -} - -// Properly quote a string for osascript: replace \ or " with \\ or \" -// XXX: this also used to replace ' with \' when popen was used, but it would be -// smarter to do shell_quote(osascript_quote(...)) if this is needed again. -inline std::string internal::dialog::osascript_quote(std::string const &str) const -{ - return "\"" + std::regex_replace(str, std::regex("[\\\\\"]"), "\\$&") + "\""; -} - -// Properly quote a string for the shell: just replace ' with '\'' -// XXX: this is no longer used but I would like to keep it around just in case -inline std::string internal::dialog::shell_quote(std::string const &str) const -{ - return "'" + std::regex_replace(str, std::regex("'"), "'\\''") + "'"; -} - -// Check whether a program is present using “which”. -inline bool internal::dialog::check_program(std::string const &program) -{ -#if _WIN32 - (void)program; - return false; -#elif __EMSCRIPTEN__ - (void)program; - return false; -#else - int exit_code = -1; - m_async->start_process({"/bin/sh", "-c", "which " + program}); - m_async->result(&exit_code); - return exit_code == 0; -#endif -} - -// file_dialog implementation - -inline internal::file_dialog::file_dialog(type in_type, - std::string const &title, - std::string const &default_path /* = "" */, - std::vector filters /* = {} */, - opt options /* = opt::none */) -{ -#if _WIN32 - std::string filter_list; - std::regex whitespace(" *"); - for (size_t i = 0; i + 1 < filters.size(); i += 2) - { - filter_list += filters[i] + '\0'; - filter_list += std::regex_replace(filters[i + 1], whitespace, ";") + '\0'; - } - filter_list += '\0'; - - m_async->start_func([this, in_type, title, default_path, filter_list, - options](int *exit_code) -> std::string - { - (void)exit_code; - m_wtitle = internal::str2wstr(title); - m_wdefault_path = internal::str2wstr(default_path); - auto wfilter_list = internal::str2wstr(filter_list); - - // Folder selection uses a different method - if (in_type == type::folder) - { - dll ole32("ole32.dll"); - - auto status = dll::proc(ole32, "CoInitializeEx") - (nullptr, COINIT_APARTMENTTHREADED); - if (flags(flag::is_vista)) - { - // On Vista and higher we should be able to use IFileDialog for folder selection - IFileDialog *ifd; - HRESULT hr = dll::proc(ole32, "CoCreateInstance") - (CLSID_FileOpenDialog, nullptr, CLSCTX_INPROC_SERVER, IID_PPV_ARGS(&ifd)); - - // In case CoCreateInstance fails (which it should not), try legacy approach - if (SUCCEEDED(hr)) - return select_folder_vista(ifd, options & opt::force_path); - } - - BROWSEINFOW bi; - memset(&bi, 0, sizeof(bi)); - - bi.lpfn = &bffcallback; - bi.lParam = (LPARAM)this; - - if (flags(flag::is_vista)) - { - // This hangs on Windows XP, as reported here: - // https://github.com/samhocevar/portable-file-dialogs/pull/21 - if (status == S_OK) - bi.ulFlags |= BIF_NEWDIALOGSTYLE; - bi.ulFlags |= BIF_EDITBOX; - bi.ulFlags |= BIF_STATUSTEXT; - } - - auto *list = SHBrowseForFolderW(&bi); - std::string ret; - if (list) - { - auto buffer = new wchar_t[MAX_PATH]; - SHGetPathFromIDListW(list, buffer); - dll::proc(ole32, "CoTaskMemFree")(list); - ret = internal::wstr2str(buffer); - delete[] buffer; - } - if (status == S_OK) - dll::proc(ole32, "CoUninitialize")(); - return ret; - } - - OPENFILENAMEW ofn; - memset(&ofn, 0, sizeof(ofn)); - ofn.lStructSize = sizeof(OPENFILENAMEW); - ofn.hwndOwner = GetActiveWindow(); - - ofn.lpstrFilter = wfilter_list.c_str(); - - auto woutput = std::wstring(MAX_PATH * 256, L'\0'); - ofn.lpstrFile = (LPWSTR)woutput.data(); - ofn.nMaxFile = (DWORD)woutput.size(); - if (!m_wdefault_path.empty()) - { - // If a directory was provided, use it as the initial directory. If - // a valid path was provided, use it as the initial file. Otherwise, - // let the Windows API decide. - auto path_attr = GetFileAttributesW(m_wdefault_path.c_str()); - if (path_attr != INVALID_FILE_ATTRIBUTES && (path_attr & FILE_ATTRIBUTE_DIRECTORY)) - ofn.lpstrInitialDir = m_wdefault_path.c_str(); - else if (m_wdefault_path.size() <= woutput.size()) - //second argument is size of buffer, not length of string - StringCchCopyW(ofn.lpstrFile, MAX_PATH*256+1, m_wdefault_path.c_str()); - else - { - ofn.lpstrFileTitle = (LPWSTR)m_wdefault_path.data(); - ofn.nMaxFileTitle = (DWORD)m_wdefault_path.size(); - } - } - ofn.lpstrTitle = m_wtitle.c_str(); - ofn.Flags = OFN_NOCHANGEDIR | OFN_EXPLORER; - - dll comdlg32("comdlg32.dll"); - - if (in_type == type::save) - { - if (!(options & opt::force_overwrite)) - ofn.Flags |= OFN_OVERWRITEPROMPT; - - // using set context to apply new visual style (required for windows XP) - new_style_context ctx; - - dll::proc get_save_file_name(comdlg32, "GetSaveFileNameW"); - if (get_save_file_name(&ofn) == 0) - return ""; - return internal::wstr2str(woutput.c_str()); - } - - if (options & opt::multiselect) - ofn.Flags |= OFN_ALLOWMULTISELECT; - ofn.Flags |= OFN_PATHMUSTEXIST; - - // using set context to apply new visual style (required for windows XP) - new_style_context ctx; - - dll::proc get_open_file_name(comdlg32, "GetOpenFileNameW"); - if (get_open_file_name(&ofn) == 0) - return ""; - - std::string prefix; - for (wchar_t const *p = woutput.c_str(); *p; ) - { - auto filename = internal::wstr2str(p); - p += filename.size(); - // In multiselect mode, we advance p one step more and - // check for another filename. If there is one and the - // prefix is empty, it means we just read the prefix. - if ((options & opt::multiselect) && *++p && prefix.empty()) - { - prefix = filename + "/"; - continue; - } - - m_vector_result.push_back(prefix + filename); - } - - return ""; - }); -#else - auto command = desktop_helper(); - - if (is_osascript()) - { - std::string script = "set ret to choose"; - switch (in_type) - { - case type::save: - script += " file name"; - break; - case type::open: default: - script += " file"; - if (options & opt::multiselect) - script += " with multiple selections allowed"; - break; - case type::folder: - script += " folder"; - break; - } - - if (default_path.size()) - script += " default location " + osascript_quote(default_path); - script += " with prompt " + osascript_quote(title); - - if (in_type == type::open) - { - // Concatenate all user-provided filter patterns - std::string patterns; - for (size_t i = 0; i < filters.size() / 2; ++i) - patterns += " " + filters[2 * i + 1]; - - // Split the pattern list to check whether "*" is in there; if it - // is, we have to disable filters because there is no mechanism in - // OS X for the user to override the filter. - std::regex sep("\\s+"); - std::string filter_list; - bool has_filter = true; - std::sregex_token_iterator iter(patterns.begin(), patterns.end(), sep, -1); - std::sregex_token_iterator end; - for ( ; iter != end; ++iter) - { - auto pat = iter->str(); - if (pat == "*" || pat == "*.*") - has_filter = false; - else if (internal::starts_with(pat, "*.")) - filter_list += (filter_list.size() == 0 ? "" : ",") + - osascript_quote(pat.substr(2, pat.size() - 2)); - } - if (has_filter && filter_list.size() > 0) - script += " of type {" + filter_list + "}"; - } - - if (in_type == type::open && (options & opt::multiselect)) - { - script += "\nset s to \"\""; - script += "\nrepeat with i in ret"; - script += "\n set s to s & (POSIX path of i) & \"\\n\""; - script += "\nend repeat"; - script += "\ncopy s to stdout"; - } - else - { - script += "\nPOSIX path of ret"; - } - - command.push_back("-e"); - command.push_back(script); - } - else if (is_zenity()) - { - command.push_back("--file-selection"); - command.push_back("--filename=" + default_path); - command.push_back("--title"); - command.push_back(title); - command.push_back("--separator='\n'"); - - for (size_t i = 0; i < filters.size() / 2; ++i) - { - command.push_back("--file-filter"); - command.push_back(filters[2 * i] + "|" + filters[2 * i + 1]); - } - - if (in_type == type::save) - command.push_back("--save"); - if (in_type == type::folder) - command.push_back("--directory"); - if (!(options & opt::force_overwrite)) - command.push_back("--confirm-overwrite"); - if (options & opt::multiselect) - command.push_back("--multiple"); - } - else if (is_kdialog()) - { - switch (in_type) - { - case type::save: command.push_back("--getsavefilename"); break; - case type::open: command.push_back("--getopenfilename"); break; - case type::folder: command.push_back("--getexistingdirectory"); break; - } - if (options & opt::multiselect) - command.push_back(" --multiple"); - - command.push_back(default_path); - - std::string filter; - for (size_t i = 0; i < filters.size() / 2; ++i) - filter += (i == 0 ? "" : " | ") + filters[2 * i] + "(" + filters[2 * i + 1] + ")"; - command.push_back(filter); - - command.push_back("--title"); - command.push_back(title); - } - - if (flags(flag::is_verbose)) - std::cerr << "pfd: " << command << std::endl; - - m_async->start_process(command); -#endif -} - -inline std::string internal::file_dialog::string_result() -{ -#if _WIN32 - return m_async->result(); -#else - // Strip the newline character - auto ret = m_async->result(); - return ret.back() == '\n' ? ret.substr(0, ret.size() - 1) : ret; -#endif -} - -inline std::vector internal::file_dialog::vector_result() -{ -#if _WIN32 - m_async->result(); - return m_vector_result; -#else - std::vector ret; - auto result = m_async->result(); - for (;;) - { - // Split result along newline characters - auto i = result.find('\n'); - if (i == 0 || i == std::string::npos) - break; - ret.push_back(result.substr(0, i)); - result = result.substr(i + 1, result.size()); - } - return ret; -#endif -} - -#if _WIN32 -// Use a static function to pass as BFFCALLBACK for legacy folder select -inline int CALLBACK internal::file_dialog::bffcallback(HWND hwnd, UINT uMsg, - LPARAM, LPARAM pData) -{ - auto inst = (file_dialog *)pData; - switch (uMsg) - { - case BFFM_INITIALIZED: - SendMessage(hwnd, BFFM_SETSELECTIONW, TRUE, (LPARAM)inst->m_wdefault_path.c_str()); - break; - } - return 0; -} - -inline std::string internal::file_dialog::select_folder_vista(IFileDialog *ifd, bool force_path) -{ - std::string result; - - IShellItem *folder; - - // Load library at runtime so app doesn't link it at load time (which will fail on windows XP) - dll shell32("shell32.dll"); - dll::proc - create_item(shell32, "SHCreateItemFromParsingName"); - - if (!create_item) - return ""; - - auto hr = create_item(m_wdefault_path.c_str(), - nullptr, - IID_PPV_ARGS(&folder)); - - // Set default folder if found. This only sets the default folder. If - // Windows has any info about the most recently selected folder, it - // will display it instead. Generally, calling SetFolder() to set the - // current directory “is not a good or expected user experience and - // should therefore be avoided”: - // https://docs.microsoft.com/windows/win32/api/shobjidl_core/nf-shobjidl_core-ifiledialog-setfolder - if (SUCCEEDED(hr)) - { - if (force_path) - ifd->SetFolder(folder); - else - ifd->SetDefaultFolder(folder); - folder->Release(); - } - - // Set the dialog title and option to select folders - ifd->SetOptions(FOS_PICKFOLDERS); - ifd->SetTitle(m_wtitle.c_str()); - - hr = ifd->Show(GetActiveWindow()); - if (SUCCEEDED(hr)) - { - IShellItem* item; - hr = ifd->GetResult(&item); - if (SUCCEEDED(hr)) - { - wchar_t* wselected = nullptr; - item->GetDisplayName(SIGDN_FILESYSPATH, &wselected); - item->Release(); - - if (wselected) - { - result = internal::wstr2str(std::wstring(wselected)); - dll ole32("ole32.dll"); - dll::proc(ole32, "CoTaskMemFree")(wselected); - } - } - } - - ifd->Release(); - - return result; -} -#endif - -// notify implementation - -inline notify::notify(std::string const &title, - std::string const &message, - icon _icon /* = icon::info */) -{ - if (_icon == icon::question) // Not supported by notifications - _icon = icon::info; - -#if _WIN32 - // Use a static shared pointer for notify_icon so that we can delete - // it whenever we need to display a new one, and we can also wait - // until the program has finished running. - struct notify_icon_data : public NOTIFYICONDATAW - { - ~notify_icon_data() { Shell_NotifyIconW(NIM_DELETE, this); } - }; - - static std::shared_ptr nid; - - // Release the previous notification icon, if any, and allocate a new - // one. Note that std::make_shared() does value initialization, so there - // is no need to memset the structure. - nid = nullptr; - nid = std::make_shared(); - - // For XP support - nid->cbSize = NOTIFYICONDATAW_V2_SIZE; - nid->hWnd = nullptr; - nid->uID = 0; - - // Flag Description: - // - NIF_ICON The hIcon member is valid. - // - NIF_MESSAGE The uCallbackMessage member is valid. - // - NIF_TIP The szTip member is valid. - // - NIF_STATE The dwState and dwStateMask members are valid. - // - NIF_INFO Use a balloon ToolTip instead of a standard ToolTip. The szInfo, uTimeout, szInfoTitle, and dwInfoFlags members are valid. - // - NIF_GUID Reserved. - nid->uFlags = NIF_MESSAGE | NIF_ICON | NIF_INFO; - - // Flag Description - // - NIIF_ERROR An error icon. - // - NIIF_INFO An information icon. - // - NIIF_NONE No icon. - // - NIIF_WARNING A warning icon. - // - NIIF_ICON_MASK Version 6.0. Reserved. - // - NIIF_NOSOUND Version 6.0. Do not play the associated sound. Applies only to balloon ToolTips - switch (_icon) - { - case icon::warning: nid->dwInfoFlags = NIIF_WARNING; break; - case icon::error: nid->dwInfoFlags = NIIF_ERROR; break; - /* case icon::info: */ default: nid->dwInfoFlags = NIIF_INFO; break; - } - - ENUMRESNAMEPROC icon_enum_callback = [](HMODULE, LPCTSTR, LPTSTR lpName, LONG_PTR lParam) -> BOOL - { - ((NOTIFYICONDATAW *)lParam)->hIcon = ::LoadIcon(GetModuleHandle(nullptr), lpName); - return false; - }; - - nid->hIcon = ::LoadIcon(nullptr, IDI_APPLICATION); - ::EnumResourceNames(nullptr, RT_GROUP_ICON, icon_enum_callback, (LONG_PTR)nid.get()); - - nid->uTimeout = 5000; - - StringCchCopyW(nid->szInfoTitle, ARRAYSIZE(nid->szInfoTitle), internal::str2wstr(title).c_str()); - StringCchCopyW(nid->szInfo, ARRAYSIZE(nid->szInfo), internal::str2wstr(message).c_str()); - - // Display the new icon - Shell_NotifyIconW(NIM_ADD, nid.get()); -#else - auto command = desktop_helper(); - - if (is_osascript()) - { - command.push_back("-e"); - command.push_back("display notification " + osascript_quote(message) + - " with title " + osascript_quote(title)); - } - else if (is_zenity()) - { - command.push_back("--notification"); - command.push_back("--window-icon"); - command.push_back(get_icon_name(_icon)); - command.push_back("--text"); - command.push_back(title + "\n" + message); - } - else if (is_kdialog()) - { - command.push_back("--icon"); - command.push_back(get_icon_name(_icon)); - command.push_back("--title"); - command.push_back(title); - command.push_back("--passivepopup"); - command.push_back(message); - command.push_back("5"); - } - - if (flags(flag::is_verbose)) - std::cerr << "pfd: " << command << std::endl; - - m_async->start_process(command); -#endif -} - -// message implementation - -inline message::message(std::string const &title, - std::string const &text, - choice _choice /* = choice::ok_cancel */, - icon _icon /* = icon::info */) -{ -#if _WIN32 - UINT style = MB_TOPMOST; - switch (_icon) - { - case icon::warning: style |= MB_ICONWARNING; break; - case icon::error: style |= MB_ICONERROR; break; - case icon::question: style |= MB_ICONQUESTION; break; - /* case icon::info: */ default: style |= MB_ICONINFORMATION; break; - } - - switch (_choice) - { - case choice::ok_cancel: style |= MB_OKCANCEL; break; - case choice::yes_no: style |= MB_YESNO; break; - case choice::yes_no_cancel: style |= MB_YESNOCANCEL; break; - case choice::retry_cancel: style |= MB_RETRYCANCEL; break; - case choice::abort_retry_ignore: style |= MB_ABORTRETRYIGNORE; break; - /* case choice::ok: */ default: style |= MB_OK; break; - } - - m_mappings[IDCANCEL] = button::cancel; - m_mappings[IDOK] = button::ok; - m_mappings[IDYES] = button::yes; - m_mappings[IDNO] = button::no; - m_mappings[IDABORT] = button::abort; - m_mappings[IDRETRY] = button::retry; - m_mappings[IDIGNORE] = button::ignore; - - m_async->start_func([this, text, title, style](int* exit_code) -> std::string - { - auto wtext = internal::str2wstr(text); - auto wtitle = internal::str2wstr(title); - // using set context to apply new visual style (required for all windows versions) - new_style_context ctx; - *exit_code = MessageBoxW(GetActiveWindow(), wtext.c_str(), wtitle.c_str(), style); - return ""; - }); - -#elif __EMSCRIPTEN__ - std::string full_message; - switch (_icon) - { - case icon::warning: full_message = "⚠️"; break; - case icon::error: full_message = "⛔"; break; - case icon::question: full_message = "❓"; break; - /* case icon::info: */ default: full_message = "ℹ"; break; - } - - full_message += ' ' + title + "\n\n" + text; - - // This does not really start an async task; it just passes the - // EM_ASM_INT return value to a fake start() function. - m_async->start(EM_ASM_INT( - { - if ($1) - return window.confirm(UTF8ToString($0)) ? 0 : -1; - alert(UTF8ToString($0)); - return 0; - }, full_message.c_str(), _choice == choice::ok_cancel)); -#else - auto command = desktop_helper(); - - if (is_osascript()) - { - std::string script = "display dialog " + osascript_quote(text) + - " with title " + osascript_quote(title); - switch (_choice) - { - case choice::ok_cancel: - script += "buttons {\"OK\", \"Cancel\"}" - " default button \"OK\"" - " cancel button \"Cancel\""; - m_mappings[256] = button::cancel; - break; - case choice::yes_no: - script += "buttons {\"Yes\", \"No\"}" - " default button \"Yes\"" - " cancel button \"No\""; - m_mappings[256] = button::no; - break; - case choice::yes_no_cancel: - script += "buttons {\"Yes\", \"No\", \"Cancel\"}" - " default button \"Yes\"" - " cancel button \"Cancel\""; - m_mappings[256] = button::cancel; - break; - case choice::retry_cancel: - script += "buttons {\"Retry\", \"Cancel\"}" - " default button \"Retry\"" - " cancel button \"Cancel\""; - m_mappings[256] = button::cancel; - break; - case choice::abort_retry_ignore: - script += "buttons {\"Abort\", \"Retry\", \"Ignore\"}" - " default button \"Retry\"" - " cancel button \"Retry\""; - m_mappings[256] = button::cancel; - break; - case choice::ok: default: - script += "buttons {\"OK\"}" - " default button \"OK\"" - " cancel button \"OK\""; - m_mappings[256] = button::ok; - break; - } - script += " with icon "; - switch (_icon) - { - #define PFD_OSX_ICON(n) "alias ((path to library folder from system domain) as text " \ - "& \"CoreServices:CoreTypes.bundle:Contents:Resources:" n ".icns\")" - case icon::info: default: script += PFD_OSX_ICON("ToolBarInfo"); break; - case icon::warning: script += "caution"; break; - case icon::error: script += "stop"; break; - case icon::question: script += PFD_OSX_ICON("GenericQuestionMarkIcon"); break; - #undef PFD_OSX_ICON - } - - command.push_back("-e"); - command.push_back(script); - } - else if (is_zenity()) - { - switch (_choice) - { - case choice::ok_cancel: - command.insert(command.end(), { "--question", "--ok-label=OK", "--cancel-label=Cancel" }); break; - case choice::yes_no: - // Do not use standard --question because it causes “No” to return -1, - // which is inconsistent with the “Yes/No/Cancel” mode below. - command.insert(command.end(), { "--question", "--switch", "--extra-button", "No", "--extra-button", "Yes" }); break; - case choice::yes_no_cancel: - command.insert(command.end(), { "--question", "--switch", "--extra-button", "No", "--extra-button", "Yes", "--extra-button", "Cancel" }); break; - case choice::retry_cancel: - command.insert(command.end(), { "--question", "--switch", "--extra-button", "Retry", "--extra-button", "Cancel" }); break; - case choice::abort_retry_ignore: - command.insert(command.end(), { "--question", "--switch", "--extra-button", "Abort", "--extra-button", "Retry", "--extra-button", "Ignore" }); break; - default: - switch (_icon) - { - case icon::error: command.push_back("--error"); break; - case icon::warning: command.push_back("--warning"); break; - default: command.push_back("--info"); break; - } - } - - command.insert(command.end(), { "--title", title, - "--width", "300", "--height", "0", // sensible defaults - "--text", text, - "--icon-name=dialog-" + get_icon_name(_icon) }); - } - else if (is_kdialog()) - { - if (_choice == choice::ok) - { - switch (_icon) - { - case icon::error: command.push_back("--error"); break; - case icon::warning: command.push_back("--sorry"); break; - default: command.push_back("--msgbox"); break; - } - } - else - { - std::string flag = "--"; - if (_icon == icon::warning || _icon == icon::error) - flag += "warning"; - flag += "yesno"; - if (_choice == choice::yes_no_cancel) - flag += "cancel"; - command.push_back(flag); - if (_choice == choice::yes_no || _choice == choice::yes_no_cancel) - { - m_mappings[0] = button::yes; - m_mappings[256] = button::no; - } - } - - command.push_back(text); - command.push_back("--title"); - command.push_back(title); - - // Must be after the above part - if (_choice == choice::ok_cancel) - command.insert(command.end(), { "--yes-label", "OK", "--no-label", "Cancel" }); - } - - if (flags(flag::is_verbose)) - std::cerr << "pfd: " << command << std::endl; - - m_async->start_process(command); -#endif -} - -inline button message::result() -{ - int exit_code; - auto ret = m_async->result(&exit_code); - // osascript will say "button returned:Cancel\n" - // and others will just say "Cancel\n" - if (exit_code < 0 || // this means cancel - internal::ends_with(ret, "Cancel\n")) - return button::cancel; - if (internal::ends_with(ret, "OK\n")) - return button::ok; - if (internal::ends_with(ret, "Yes\n")) - return button::yes; - if (internal::ends_with(ret, "No\n")) - return button::no; - if (internal::ends_with(ret, "Abort\n")) - return button::abort; - if (internal::ends_with(ret, "Retry\n")) - return button::retry; - if (internal::ends_with(ret, "Ignore\n")) - return button::ignore; - if (m_mappings.count(exit_code) != 0) - return m_mappings[exit_code]; - return exit_code == 0 ? button::ok : button::cancel; -} - -// open_file implementation - -inline open_file::open_file(std::string const &title, - std::string const &default_path /* = "" */, - std::vector filters /* = { "All Files", "*" } */, - opt options /* = opt::none */) - : file_dialog(type::open, title, default_path, filters, options) -{ -} - -inline open_file::open_file(std::string const &title, - std::string const &default_path, - std::vector filters, - bool allow_multiselect) - : open_file(title, default_path, filters, - (allow_multiselect ? opt::multiselect : opt::none)) -{ -} - -inline std::vector open_file::result() -{ - return vector_result(); -} - -// save_file implementation - -inline save_file::save_file(std::string const &title, - std::string const &default_path /* = "" */, - std::vector filters /* = { "All Files", "*" } */, - opt options /* = opt::none */) - : file_dialog(type::save, title, default_path, filters, options) -{ -} - -inline save_file::save_file(std::string const &title, - std::string const &default_path, - std::vector filters, - bool confirm_overwrite) - : save_file(title, default_path, filters, - (confirm_overwrite ? opt::none : opt::force_overwrite)) -{ -} - -inline std::string save_file::result() -{ - return string_result(); -} - -// select_folder implementation - -inline select_folder::select_folder(std::string const &title, - std::string const &default_path /* = "" */, - opt options /* = opt::none */) - : file_dialog(type::folder, title, default_path, {}, options) -{ -} - -inline std::string select_folder::result() -{ - return string_result(); -} - -#endif // PFD_SKIP_IMPLEMENTATION - -} // namespace pfd - diff --git a/subprojects/animationwindow/include/internal/windows_main_fix.h b/subprojects/animationwindow/include/internal/windows_main_fix.h deleted file mode 100644 index c820f80f5..000000000 --- a/subprojects/animationwindow/include/internal/windows_main_fix.h +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once - -// SDL needs a main function with "proper" arguments on Windows because it tries to define its own main function -// This is bad practice, but we want you to be able to use both main variants (e.g. with and without arguments) -// at will to avoid some confusion, and therefore need to work around the problem :) -// We therefore define a macro that replaces anything that looks like a main() function as the SDL_main function, with the proper arguments. - -#ifdef _WIN32 -#include -#ifdef main -#undef main -#endif -#define main(...) SDL_main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) -#endif \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/Button.h b/subprojects/animationwindow/include/widgets/Button.h deleted file mode 100644 index 99c737235..000000000 --- a/subprojects/animationwindow/include/widgets/Button.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once - -#include "Widget.h" -#include "Point.h" -#include "Color.h" -#include - -namespace TDT4102 { - class Button : public TDT4102::Widget { - private: - std::string label; - bool lastRightMouseButtonState = false; - bool lastLeftMouseButtonState = false; - nk_color labelColor = nk_rgba(175, 175, 175, 255); - nk_color buttonColor = nk_rgba(50,50,50,255); - nk_color buttonColorHover = nk_rgba(40, 40, 40,255); - nk_color buttonColorActive = nk_rgba(35, 35, 35,255); - nk_color buttonColorBorder = nk_rgba(35, 35, 35,255); - - protected: - void update(nk_context* context) override; - public: - explicit Button(TDT4102::Point location, unsigned int width, unsigned int height, std::string label); - void setLabel(std::string newLabel); - void setLabelColor(Color newColor) {labelColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; - void setButtonColor(Color newColor) {buttonColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setButtonColorHover(Color newColor) {buttonColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setButtonColorActive(Color newColor) {buttonColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setButtonColorBorder(Color newColor) {buttonColorBorder = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/CheckBox.h b/subprojects/animationwindow/include/widgets/CheckBox.h deleted file mode 100644 index 26599ba7e..000000000 --- a/subprojects/animationwindow/include/widgets/CheckBox.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once - -#include "Widget.h" -#include "Point.h" -#include "Color.h" -#include - -namespace TDT4102 { - class CheckBox : public TDT4102::Widget { - private: - std::string label; - nk_bool isSelected_ = false; - bool lastRightMouseButtonState = false; - bool lastLeftMouseButtonState = false; - nk_color labelColor = nk_rgba(100, 100, 100, 255); - nk_color checkBoxColor = nk_rgba(150, 150, 150, 255); - nk_color checkBoxColorHover = nk_rgba(150, 150, 150, 255); - nk_color checkBoxColorActive = nk_rgba(150, 150, 150, 255); - - protected: - void update(nk_context* context) override; - public: - explicit CheckBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string label); - bool isSelected() const; - void setLabel(std::string newLabel); - void setLabelColor(Color newColor) {labelColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; - void setCheckBoxColor(Color newColor) {checkBoxColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setCheckBoxColorHover(Color newColor) {checkBoxColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setCheckBoxColorActive(Color newColor) {checkBoxColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/DropdownList.h b/subprojects/animationwindow/include/widgets/DropdownList.h deleted file mode 100644 index 56f34d25e..000000000 --- a/subprojects/animationwindow/include/widgets/DropdownList.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include "Widget.h" -#include -#include - -namespace TDT4102 { - class DropdownList : public TDT4102::Widget { - private: - std::vector options; - unsigned int selectedIndex = 0; - protected: - void update(nk_context* context) override; - public: - explicit DropdownList(TDT4102::Point location, unsigned int width, unsigned int height, std::vector &initialOptions); - std::string getSelectedValue() const; - void setOptions(std::vector &updatedOptionsList); - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/RadioButton.h b/subprojects/animationwindow/include/widgets/RadioButton.h deleted file mode 100644 index c968c99c1..000000000 --- a/subprojects/animationwindow/include/widgets/RadioButton.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once - -#include "Widget.h" -#include "Point.h" -#include "Color.h" -#include - -namespace TDT4102 { - class RadioButton : public TDT4102::Widget { - private: - std::string label; - nk_bool isSelected_ = false; - bool lastRightMouseButtonState = false; - bool lastLeftMouseButtonState = false; - nk_color labelColor = nk_rgba(100, 100, 100, 255); - nk_color radioColor = nk_rgba(150, 150, 150, 255); - nk_color radioColorHover = nk_rgba(150, 150, 150, 255); - nk_color radioColorActive = nk_rgba(150, 150, 150, 255); - - protected: - void update(nk_context* context) override; - public: - explicit RadioButton(TDT4102::Point location, unsigned int width, unsigned int height, std::string label); - bool isSelected() const; - void setLabel(std::string newLabel); - void setLabelColor(Color newColor) {labelColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; - void setRadioColor(Color newColor) {radioColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setRadioColorHover(Color newColor) {radioColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setRadioColorActive(Color newColor) {radioColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/Slider.h b/subprojects/animationwindow/include/widgets/Slider.h deleted file mode 100644 index 280f07115..000000000 --- a/subprojects/animationwindow/include/widgets/Slider.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once - -#include "Widget.h" -#include "Point.h" -#include "Color.h" - -namespace TDT4102 { - class Slider : public TDT4102::Widget { - private: - int value; - int minValue; - int maxValue; - int stepValue; - nk_color sliderBarColor = nk_rgba(100, 100, 100, 255); - nk_color sliderBarColorActive = nk_rgba(100, 100, 100, 255); - nk_color sliderBarColorHover = nk_rgba(100, 100, 100, 255); - nk_color sliderBarColorFilled = nk_rgba(100, 100, 100, 255); - nk_color sliderCursorColor = nk_rgba(180, 180, 180, 255); - nk_color sliderCursorColorActive = nk_rgba(180, 180, 180, 255); - nk_color sliderCursorColorHover = nk_rgba(180, 180, 180, 255); - protected: - void update(nk_context* context) override; - public: - explicit Slider(TDT4102::Point location, unsigned int width, unsigned int height, int min = 0, int max = 100, int initialValue = 0, int step = 1); - int getValue() const; - void setSliderBarColor(Color newColor) {sliderBarColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};}; - void setSliderBarColorActive(Color newColor) {sliderBarColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setSliderBarColorHover(Color newColor) {sliderBarColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setSliderBarColorFilled(Color newColor) {sliderBarColorFilled = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setSliderCursorColor(Color newColor) {sliderCursorColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setSliderCursorColorHover(Color newColor) {sliderCursorColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setSliderCurserColorActive(Color newColor) {sliderCursorColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/TextBox.h b/subprojects/animationwindow/include/widgets/TextBox.h deleted file mode 100644 index c4ed8e209..000000000 --- a/subprojects/animationwindow/include/widgets/TextBox.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include "Widget.h" -#include "Point.h" -#include "Color.h" -#include - -namespace TDT4102 { - namespace internal { - const static unsigned int TEXT_BOX_CHARACTER_LIMIT = 1000; - } - - class TextBox : public TDT4102::Widget { - private: - std::string contents; - nk_color textColor = nk_rgba(175, 175, 175, 255); - nk_color boxColor = nk_rgba(50 , 50, 50, 255); - nk_color borderColor = nk_rgba(50, 50, 50, 255); - protected: - void update(nk_context* context) override; - public: - explicit TextBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText = ""); - std::string getText() const; - void setText(std::string updatedText); - void setTextColor(TDT4102::Color newColor) {textColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setBoxColor(TDT4102::Color newColor) {boxColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setBorderColor(TDT4102::Color newColor) {borderColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/include/widgets/TextInput.h b/subprojects/animationwindow/include/widgets/TextInput.h deleted file mode 100644 index 41edb7dfc..000000000 --- a/subprojects/animationwindow/include/widgets/TextInput.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once - -#include "Widget.h" -#include "Point.h" -#include "Color.h" -#include - -namespace TDT4102 { - namespace internal { - const static unsigned int TEXT_INPUT_CHARACTER_LIMIT = 1000; - } - - class TextInput : public TDT4102::Widget { - private: - std::string contents; - std::string previousContents; - nk_color textColor = nk_rgba(175, 175, 175, 255); - nk_color boxColor = nk_rgba(50 , 50, 50, 255); - nk_color boxColorHover = nk_rgba(50 , 50, 50, 255); - nk_color boxColorActive = nk_rgba(50 , 50, 50, 255); - nk_color borderColor = nk_rgba(50, 50, 50, 255); - protected: - void update(nk_context* context) override; - public: - explicit TextInput(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText = ""); - std::string getText() const; - void setText(std::string text); - void setTextColor(TDT4102::Color newColor) {textColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setBoxColor(TDT4102::Color newColor) {boxColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setBoxColorHover(Color newColor) {boxColorHover = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setBoxColorActive(Color newColor) {boxColorActive = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - void setBorderColor(TDT4102::Color newColor) {borderColor = nk_color{(nk_byte)newColor.redChannel, (nk_byte)newColor.greenChannel, (nk_byte)newColor.blueChannel, (nk_byte)newColor.alphaChannel};} - }; -} \ No newline at end of file diff --git a/subprojects/animationwindow/meson.build b/subprojects/animationwindow/meson.build deleted file mode 100644 index ddc7f4081..000000000 --- a/subprojects/animationwindow/meson.build +++ /dev/null @@ -1,43 +0,0 @@ -project('animationwindow', ['c', 'cpp'], version: '0.01', default_options: ['cpp_std=c++20', 'c_std=c17', 'default_library=static', 'buildtype=debugoptimized']) - -if host_machine.system() == 'windows' - sdl2_dep = subproject('sdl2_windows').get_variable('sdl2_windows_dep') - sdl2image_dep = subproject('sdl2_image_windows').get_variable('sdl2_image_windows_dep') - sdl2mixer_dep = subproject('sdl2_mixer_windows').get_variable('sdl2_mixer_windows_dep') -else - sdl2_dep = dependency('sdl2') - sdl2image_dep = dependency('sdl2_image') - sdl2mixer_dep = dependency('SDL2_mixer') -endif - - -build_files = [ - 'src/internal/FontCache.cpp', - 'src/internal/KeyboardKeyConverter.cpp', - 'src/internal/nuklear_implementation.cpp', - 'src/widgets/Button.cpp', - 'src/widgets/RadioButton.cpp', - 'src/widgets/CheckBox.cpp', - 'src/widgets/TextInput.cpp', - 'src/widgets/TextBox.cpp', - 'src/widgets/DropdownList.cpp', - 'src/widgets/Slider.cpp', - 'src/AnimationWindow.cpp', - 'src/Color.cpp', - 'src/Image.cpp', - 'src/Audio.cpp', - 'src/Widget.cpp'] -incdir = include_directories('include') -animationwindow = static_library('animationwindow', build_files, include_directories: incdir, dependencies: [sdl2_dep, sdl2image_dep, sdl2mixer_dep], install: true) -install_subdir('include', install_dir: '.') -install_subdir('src', install_dir: '.') - -animationwindow_dep = declare_dependency( - link_with: animationwindow, - include_directories: incdir, - dependencies: [sdl2_dep, sdl2image_dep, sdl2mixer_dep] -) - -import('pkgconfig').generate(animationwindow) - -# ex = executable('prog', 'src/test.cpp', include_directories: incdir, dependencies: [sdl2_dep, imgui_dep], link_with: animationwindow) diff --git a/subprojects/animationwindow/src/AnimationWindow.cpp b/subprojects/animationwindow/src/AnimationWindow.cpp deleted file mode 100644 index 08f18aff9..000000000 --- a/subprojects/animationwindow/src/AnimationWindow.cpp +++ /dev/null @@ -1,422 +0,0 @@ -#define _USE_MATH_DEFINES -#include "AnimationWindow.h" - -#include -#include -#include -#include -#define SDL_MAIN_HANDLED -#include -#include - -#include -#include - -#include "internal/FontCache.h" -#include "internal/KeyboardKeyConverter.h" -#include "internal/nuklear_configured.h" -#include "widgets/Button.h" -static bool sdlHasBeenInitialised = false; - -TDT4102::AnimationWindow::AnimationWindow(int x, int y, int width, int height, const std::string& title) { - // Initialise SDL if it has not already been - if (!sdlHasBeenInitialised) { - if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_AUDIO) < 0) { - throw std::runtime_error("Failed to create an AnimationWindow: The SDL backend could not be initialised.\nError details: " + std::string(SDL_GetError())); - } - sdlHasBeenInitialised = true; - } - - // Open a new window - windowHandle = SDL_CreateWindow( - title.c_str(), x, y, width, height, SDL_WINDOW_SHOWN | SDL_WINDOW_RESIZABLE); - if (windowHandle == nullptr) { - throw std::runtime_error("Failed to create an AnimationWindow: The SDL backend could not open a new window.\nError details: " + std::string(SDL_GetError())); - } - - // Create a renderer - rendererHandle = SDL_CreateRenderer(windowHandle, -1, SDL_RENDERER_ACCELERATED | SDL_RENDERER_PRESENTVSYNC); - if (rendererHandle == nullptr) { - throw std::runtime_error("Failed to create an AnimationWindow: The SDL backend could not create a renderer.\nError details: " + std::string(SDL_GetError())); - } - - // Default window background colour - SDL_SetRenderDrawColor(rendererHandle, backgroundColor.redChannel, backgroundColor.greenChannel, backgroundColor.blueChannel, backgroundColor.alphaChannel); - SDL_RenderClear(rendererHandle); - - SDL_RendererInfo rendererInfo; - SDL_GetRendererInfo(rendererHandle, &rendererInfo); - - std::cout << "Created an SDL renderer with name: " << rendererInfo.name << std::endl; - - context = nk_sdl_init(windowHandle, rendererHandle); - fontCache.initialize(); - fontCache.setFont(context, Font::defaultFont, 18); - nk_clear(context); -} - -TDT4102::AnimationWindow::~AnimationWindow() { - destroy(); -} - -void TDT4102::AnimationWindow::destroy() { - this->destroyed = true; - - // Free SDL resources depending on how much ended up being initialised in the constructor - if (rendererHandle != nullptr) { - SDL_DestroyRenderer(rendererHandle); - rendererHandle = nullptr; - } - if (windowHandle != nullptr) { - SDL_DestroyWindow(windowHandle); - windowHandle = nullptr; - } - if (context != nullptr) { - nk_free(context); - context = nullptr; - } - // Needed for MacOS - // Window does not close unless the events are pumped - // after requesting that - pump_events(); -} - -void TDT4102::AnimationWindow::pump_events() { - SDL_Event event; - SDL_PumpEvents(); - - while (SDL_PollEvent(&event)) { - if (event.type == SDL_QUIT) { - closeRequested = true; - } else if (event.type == SDL_KEYDOWN) { - KeyboardKey pressedKey = TDT4102::internal::convertSDLKeyToKeyboardKey(event.key.keysym); - // Using [] syntax here intentionally such that new entries are created automatically if they don't exist inside the map - currentKeyStates[pressedKey] = true; - } else if (event.type == SDL_KEYUP) { - KeyboardKey releasedKey = TDT4102::internal::convertSDLKeyToKeyboardKey(event.key.keysym); - currentKeyStates[releasedKey] = false; - } else if (event.type == SDL_MOUSEBUTTONDOWN) { - if (event.button.button == SDL_BUTTON_LEFT) { - currentLeftMouseButtonState = true; - } else if (event.button.button == SDL_BUTTON_RIGHT) { - currentRightMouseButtonState = true; - } - } else if (event.type == SDL_MOUSEBUTTONUP) { - if (event.button.button == SDL_BUTTON_LEFT) { - currentLeftMouseButtonState = false; - } else if (event.button.button == SDL_BUTTON_RIGHT) { - currentRightMouseButtonState = false; - } - } else if (event.type == SDL_MOUSEWHEEL) { - deltaMouseWheel = event.wheel.preciseY; // The amount scrolled vertically, positive away from the user and negative toward the user - } - - if(!destroyed) { - nk_sdl_handle_event(&event); - } - - } -} - -void TDT4102::AnimationWindow::show_frame() { - SDL_RenderPresent(rendererHandle); - deltaMouseWheel = 0; - nk_input_begin(context); - pump_events(); - nk_input_end(context); -} - -void TDT4102::AnimationWindow::update_gui() { - for (Widget& widget : widgets) { - fontCache.setFont(context, Font::arial, 18); - if (widget.isVisible) { - startNuklearDraw(widget.position, widget.uniqueWidgetName, widget.width, widget.height); - widget.update(context); - endNuklearDraw(); - } - } -} - -void TDT4102::AnimationWindow::next_frame() { - update_gui(); - nk_sdl_render(NK_ANTI_ALIASING_ON); - - show_frame(); - - // Colour must be reset as a previously drawn element may have changed the current colour - if (!keepPreviousFrame) { - SDL_SetRenderDrawColor(rendererHandle, backgroundColor.redChannel, backgroundColor.greenChannel, backgroundColor.blueChannel, backgroundColor.alphaChannel); - SDL_RenderClear(rendererHandle); - } - - // Reset window name counters - textWindowCounter = 0; -} - -bool TDT4102::AnimationWindow::should_close() const { - return closeRequested; -} - -void TDT4102::AnimationWindow::close() { - closeRequested = true; -} - -void TDT4102::AnimationWindow::wait_for_close() { - // This forces text to render, and ensures it appears on the screenshot that will be shown perpetually - // update_gui(); - nk_sdl_render(NK_ANTI_ALIASING_ON); - - // take a screenshot such that the window contents can be redrawn - TDT4102::Point windowSize = getWindowDimensions(); - SDL_Surface* screenContents = SDL_CreateRGBSurface(0, windowSize.x, windowSize.y, 32, 0x00ff0000, 0x0000ff00, 0x000000ff, 0xff000000); - SDL_RenderReadPixels(rendererHandle, NULL, SDL_PIXELFORMAT_ARGB8888, screenContents->pixels, screenContents->pitch); - SDL_Texture* screenTexture = SDL_CreateTextureFromSurface(rendererHandle, screenContents); - - while (!should_close()) { - next_frame(); - - // Draw screen contents - SDL_Rect imageBounds{0, 0, windowSize.x, windowSize.y}; - SDL_RenderCopy(rendererHandle, screenTexture, nullptr, &imageBounds); - } - - // Free the screenshot when done - SDL_DestroyTexture(screenTexture); - SDL_FreeSurface(screenContents); - - // Force close the window - destroy(); -} - -void TDT4102::AnimationWindow::wait_for(double timeSeconds) { - usleep(int(1000000.0 * timeSeconds)); -} - -void TDT4102::AnimationWindow::keep_previous_frame(bool enabled) { - this->keepPreviousFrame = enabled; -} - -void TDT4102::AnimationWindow::draw_circle(TDT4102::Point centre, int radius, TDT4102::Color color, TDT4102::Color borderColour) { - /*struct nk_rect bounds {float(centre.x - radius), float(centre.y - radius), float(2 * radius), float(2 * radius)}; - nk_color circleColour {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; - nk_fill_circle(nk_window_get_canvas(context), bounds, circleColour);*/ - - SDL_Vertex centreVertex; - centreVertex.position = {float(centre.x), float(centre.y)}; - centreVertex.color = {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; - centreVertex.tex_coord = {0, 0}; - internal::circleCoordinateBuffer.at(0) = centreVertex; - - for (int i = 1; i <= internal::SLICES_PER_CIRCLE; i++) { - SDL_Vertex outerVertex; - float fraction = float(i) / float(internal::SLICES_PER_CIRCLE); - float angle = fraction * (M_PI * 2.0f); - outerVertex.position = {float(centre.x) + (float(radius) * float(std::cos(angle))), - float(centre.y) + (float(radius) * float(std::sin(angle)))}; - outerVertex.color = {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; - outerVertex.tex_coord = {0, 0}; - internal::circleCoordinateBuffer.at(i) = outerVertex; - - // Main circle index buffer - internal::circleIndexBuffer.at(3 * (i - 1) + 0) = 0; - internal::circleIndexBuffer.at(3 * (i - 1) + 1) = i - 1; - internal::circleIndexBuffer.at(3 * (i - 1) + 2) = i; - - // Border index buffer - if (borderColour != Color::transparent) { - internal::circleBorderBuffer.at(i - 1) = {int(outerVertex.position.x), int(outerVertex.position.y)}; - } - } - - // Correct the first triangle which connects the first and last vertex - internal::circleIndexBuffer.at(0) = 0; - internal::circleIndexBuffer.at(1) = internal::SLICES_PER_CIRCLE; - internal::circleIndexBuffer.at(2) = 1; - - internal::circleBorderBuffer.at(internal::SLICES_PER_CIRCLE) = internal::circleBorderBuffer.at(0); - - SDL_RenderGeometry(rendererHandle, nullptr, internal::circleCoordinateBuffer.data(), internal::circleCoordinateBuffer.size(), - internal::circleIndexBuffer.data(), internal::circleIndexBuffer.size()); - if (borderColour != Color::transparent) { - SDL_SetRenderDrawColor(rendererHandle, borderColour.redChannel, borderColour.greenChannel, borderColour.blueChannel, borderColour.alphaChannel); - SDL_RenderDrawLines(rendererHandle, internal::circleBorderBuffer.data(), internal::circleBorderBuffer.size()); - } -} - -void TDT4102::AnimationWindow::draw_rectangle(TDT4102::Point topLeftPoint, int width, int height, TDT4102::Color color, TDT4102::Color borderColor) { - SDL_Rect fillRect = {topLeftPoint.x, topLeftPoint.y, width, height}; - SDL_SetRenderDrawColor(rendererHandle, color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel); - SDL_RenderFillRect(rendererHandle, &fillRect); - if (borderColor != Color::transparent) { - SDL_SetRenderDrawColor(rendererHandle, borderColor.redChannel, borderColor.greenChannel, borderColor.blueChannel, borderColor.alphaChannel); - SDL_RenderDrawRect(rendererHandle, &fillRect); - } -} - -void TDT4102::AnimationWindow::draw_image(TDT4102::Point topLeftPoint, TDT4102::Image& image, int imageWidth, int imageHeight) { - image.draw(rendererHandle, topLeftPoint, imageWidth, imageHeight); -} - -void TDT4102::AnimationWindow::draw_text(TDT4102::Point topLeftPoint, std::string textToShow, TDT4102::Color color, unsigned int fontSize, TDT4102::Font font) { - textWindowCounter++; - std::stringstream windowName; - windowName << "text" << textWindowCounter; - startNuklearDraw(topLeftPoint, windowName.str(), textToShow.size()*fontSize, fontSize); - fontCache.setFont(context, font, fontSize); - nk_color textColour{color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}; - nk_text_colored(context, textToShow.c_str(), textToShow.size(), NK_TEXT_ALIGN_LEFT, textColour); - endNuklearDraw(); -} - -void TDT4102::AnimationWindow::draw_line(TDT4102::Point start, TDT4102::Point end, TDT4102::Color color) { - SDL_SetRenderDrawColor(rendererHandle, color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel); - SDL_RenderDrawLine(rendererHandle, start.x, start.y, end.x, end.y); -} - -void TDT4102::AnimationWindow::draw_triangle(TDT4102::Point vertex0, TDT4102::Point vertex1, - TDT4102::Point vertex2, TDT4102::Color color) { - SDL_Vertex v0{{float(vertex0.x), float(vertex0.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - SDL_Vertex v1{{float(vertex1.x), float(vertex1.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - SDL_Vertex v2{{float(vertex2.x), float(vertex2.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - std::array vertexArray{v0, v1, v2}; - std::array indexArray{0, 1, 2}; - SDL_RenderGeometry(rendererHandle, nullptr, vertexArray.data(), 3, indexArray.data(), 3); -} - -void TDT4102::AnimationWindow::draw_quad(TDT4102::Point vertex0, TDT4102::Point vertex1, TDT4102::Point vertex2, - TDT4102::Point vertex3, TDT4102::Color color) { - SDL_Vertex v0{{float(vertex0.x), float(vertex0.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - SDL_Vertex v1{{float(vertex1.x), float(vertex1.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - SDL_Vertex v2{{float(vertex2.x), float(vertex2.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - SDL_Vertex v3{{float(vertex3.x), float(vertex3.y)}, {color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel}, {0, 0}}; - std::array vertexArray{v0, v1, v2, v3}; - std::array indexArray{0, 1, 2, 0, 2, 3}; - SDL_RenderGeometry(rendererHandle, nullptr, vertexArray.data(), 4, indexArray.data(), 6); -} - -void TDT4102::AnimationWindow::draw_arc(TDT4102::Point center, int width, int height, int start_degree, int end_degree, TDT4102::Color color) { - if (start_degree < 0 || start_degree > 360) { - throw std::invalid_argument("The start_degree parameter was set to " + std::to_string(start_degree) + ", but should be a value between 0 and 360"); - } - if (end_degree < 0 || end_degree > 360) { - throw std::invalid_argument("The end_degree parameter was set to " + std::to_string(end_degree) + ", but should be a value between 0 and 360"); - } - if (start_degree >= end_degree) { - std::swap(start_degree, end_degree); - } - - float startFraction = float(start_degree) / 360.0f; - float endFraction = float(end_degree) / 360.0f; - float stepFraction = (endFraction - startFraction) / float(internal::SLICES_PER_CIRCLE); - - for (int i = 0; i < internal::SLICES_PER_CIRCLE; i++) { - internal::circleBorderBuffer.at(i) = { - center.x + int(float(width) * std::cos((startFraction + float(i) * stepFraction) * 2.0f * M_PI)), - center.y + int(float(height) * -std::sin((startFraction + float(i) * stepFraction) * 2.0f * M_PI))}; - } - - SDL_SetRenderDrawColor(rendererHandle, color.redChannel, color.greenChannel, color.blueChannel, color.alphaChannel); - SDL_RenderDrawLines(rendererHandle, internal::circleBorderBuffer.data(), internal::SLICES_PER_CIRCLE); -} - -bool TDT4102::AnimationWindow::is_key_down(KeyboardKey key) const { - if (currentKeyStates.count(key) == 0) { - return false; - } - return currentKeyStates.at(key); -} - -TDT4102::Point TDT4102::AnimationWindow::get_mouse_coordinates() const { - int mouseX, mouseY; - SDL_GetMouseState(&mouseX, &mouseY); - return {mouseX, mouseY}; -} - -void TDT4102::AnimationWindow::add(TDT4102::Widget& widgetToAdd) { - // Make sure not to create a copy - widgets.emplace_back(widgetToAdd); -} - -void TDT4102::AnimationWindow::show_info_dialog(const std::string& message) const { - SDL_ShowSimpleMessageBox(SDL_MESSAGEBOX_INFORMATION, "Information", message.c_str(), windowHandle); -} - -void TDT4102::AnimationWindow::show_error_dialog(const std::string& message) const { - SDL_ShowSimpleMessageBox(SDL_MESSAGEBOX_ERROR, "Error", message.c_str(), windowHandle); -} - -TDT4102::Point TDT4102::AnimationWindow::getWindowDimensions() const { - TDT4102::Point dimensions; - SDL_GetRendererOutputSize(rendererHandle, &dimensions.x, &dimensions.y); - return dimensions; -} - -int TDT4102::AnimationWindow::width() const { - return getWindowDimensions().x; -} - -int TDT4102::AnimationWindow::height() const { - return getWindowDimensions().y; -} - -bool TDT4102::AnimationWindow::is_left_mouse_button_down() const { - return currentLeftMouseButtonState; -} - -bool TDT4102::AnimationWindow::is_right_mouse_button_down() const { - return currentRightMouseButtonState; -} - -float TDT4102::AnimationWindow::get_delta_mouse_wheel() const { - return deltaMouseWheel; -} - -void TDT4102::AnimationWindow::startNuklearDraw(TDT4102::Point location, std::string uniqueWindowName, unsigned int width, unsigned int height) { - // Make window transparent; we just want to see individual GUI elements - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->window.background, nk_rgba(0, 0, 0, 0)); - nk_style_push_style_item(context, &s->window.fixed_background, nk_style_item_color(nk_rgba(0, 0, 0, 0))); - - // Start drawing - TDT4102::Point windowSize = getWindowDimensions(); - // Compute a rectangle that spans the entire size of the window - // Some padding is needed to accomplish this. - const unsigned int drawAreaPadding = 20; - - // If no draw size was specified, use as much space as available inside the window - struct nk_rect drawAreaSize; - if (width == 0 && height == 0) { - drawAreaSize = nk_rect(float(location.x), float(location.y), float(windowSize.x - location.x + drawAreaPadding), float(windowSize.y - location.y + drawAreaPadding)); - } else { - drawAreaSize = nk_rect(float(location.x), float(location.y), float(width), float(height)); - } - - // Ensuring that all GUI elements have a reasonable minimum height - // in order to avoid visual artefacts - drawAreaSize.h = std::max(drawAreaSize.h, 50); - - nk_begin(context, uniqueWindowName.c_str(), drawAreaSize, NK_WINDOW_BACKGROUND); - - // Subtracting a small amount of distance to account for window padding - nk_layout_row_dynamic(context, drawAreaSize.h - 20, 1); - - // The window has now been drawn, so we reset the transparent drawing colour, as - // GUI elements should be drawn using their normal colours - nk_style_pop_color(context); - nk_style_pop_style_item(context); -} - -void TDT4102::AnimationWindow::endNuklearDraw() { - nk_end(context); -} - -void TDT4102::AnimationWindow::setBackgroundColor(TDT4102::Color newBackgroundColor) { - backgroundColor = newBackgroundColor; - SDL_SetRenderDrawColor(rendererHandle, backgroundColor.redChannel, backgroundColor.greenChannel, backgroundColor.blueChannel, backgroundColor.alphaChannel); - SDL_RenderClear(rendererHandle); -} - -void TDT4102::AnimationWindow::play_audio(TDT4102::Audio& audio, int loops) { - audio.play(loops); -} - diff --git a/subprojects/animationwindow/src/Audio.cpp b/subprojects/animationwindow/src/Audio.cpp deleted file mode 100644 index b3352100a..000000000 --- a/subprojects/animationwindow/src/Audio.cpp +++ /dev/null @@ -1,69 +0,0 @@ -#include "Audio.h" - - -TDT4102::Audio::Audio() {} - -TDT4102::Audio::Audio(const std::filesystem::path pathToAudioFile) { - src = pathToAudioFile; -} - -void TDT4102::Audio::load() { - if(!std::filesystem::exists(src)) { - throw std::runtime_error("The audio file located at: " + src.string() + "\ncould not be found."); - } - - if (Mix_OpenAudio(MIX_DEFAULT_FREQUENCY, MIX_DEFAULT_FORMAT, MIX_DEFAULT_CHANNELS, 2048) < 0) { - throw std::runtime_error("Failed to open the audio device.\nError details: " + std::string(Mix_GetError())); - } - - if (src.string().ends_with(".wav")) { // assume .wav is sound effect - sfx = Mix_LoadWAV(src.string().c_str()); - if (sfx == NULL) { - throw std::runtime_error("Failed to load sound effect. \nError details: " + std::string(Mix_GetError())); - } - } else if (src.string().ends_with(".mp3")) { // assume .mp3 is music - mus = Mix_LoadMUS(src.string().c_str()); - if (mus == NULL) { - throw std::runtime_error("Failed to load music. \nError details: " + std::string(Mix_GetError())); - } - isMusic = true; - } else { - throw std::runtime_error("Unrecognized audio format! Please only use .wav or .mp3 files"); - } - - ready = true; - -} - -void TDT4102::Audio::play(int loops) { - - if (loops < 0) { - throw std::runtime_error("Number of loops must be positive!"); - } - - if(!ready) { - load(); - } - if (isMusic) { - Mix_PlayMusic(mus, loops == 0 ? loops : loops--); - } else { - Mix_PlayChannel(-1, sfx, loops == 0 ? loops-- : loops); - } - - -} - -TDT4102::Audio::~Audio() { - if (sfx != nullptr) { - Mix_FreeChunk(sfx); - sfx = nullptr; - } - - if (mus != nullptr) { - Mix_FreeMusic(mus); - mus = nullptr; - } - Mix_CloseAudio(); - Mix_Quit(); -} - diff --git a/subprojects/animationwindow/src/Color.cpp b/subprojects/animationwindow/src/Color.cpp deleted file mode 100644 index f7c0cede1..000000000 --- a/subprojects/animationwindow/src/Color.cpp +++ /dev/null @@ -1,46 +0,0 @@ -#include "Color.h" - -TDT4102::Color::Color(unsigned char redChannelValue, unsigned char greenChannelValue, unsigned char blueChannelValue, unsigned char transparencyValue) -: redChannel{redChannelValue}, - greenChannel{greenChannelValue}, - blueChannel{blueChannelValue}, - alphaChannel{transparencyValue} {} - -TDT4102::Color::Color(unsigned int hexadecimalColour) { - // You do NOT need to understand what is going on here =) - // This function has a lot of bit magic that is DEFINITELY not in the syllabus - // This is not a "correct" implementation of a function such as this, but it allows you to paste in - // a hex colour directly from a colour picker without having to account for the alpha channel. - // This would cause the transparency to be zero - unsigned int hexColour = hexadecimalColour; - if(hexColour <= 0x00FFFFFF) { - // The blue, green, and alpha channels will have been specified. - // We move these 3 8-bit channels to the left by 8 bits, which means they become the - // Red, green, and blue channels. - hexColour = hexColour << 8; - // Make the colour opaque by setting the transparency channel to 255 - hexColour |= 0xFF; - } - - // Doing some bitwise magic to separate the 32-bit colour value into 4 separate 8-bit colour channels - redChannel = (hexColour >> 24) & 0xFF; - greenChannel = (hexColour >> 16) & 0xFF; - blueChannel = (hexColour >> 8) & 0xFF; - alphaChannel = (hexColour >> 0) & 0xFF; -} - -bool TDT4102::Color::operator!=(Color otherColor) { - return - (otherColor.redChannel != redChannel) || - (otherColor.greenChannel != greenChannel) || - (otherColor.blueChannel != blueChannel) || - (otherColor.alphaChannel != alphaChannel); -} - -bool TDT4102::Color::operator==(Color otherColor) { - return - (otherColor.redChannel == redChannel) && - (otherColor.greenChannel == greenChannel) && - (otherColor.blueChannel == blueChannel) && - (otherColor.alphaChannel == alphaChannel); -} diff --git a/subprojects/animationwindow/src/Image.cpp b/subprojects/animationwindow/src/Image.cpp deleted file mode 100644 index 8655f9d04..000000000 --- a/subprojects/animationwindow/src/Image.cpp +++ /dev/null @@ -1,43 +0,0 @@ -#include "Image.h" -#include - -TDT4102::Image::Image() {} - -TDT4102::Image::Image(const std::filesystem::path pathToImageFile) { - src = pathToImageFile; -} - -void TDT4102::Image::load(SDL_Renderer* renderer) { - if(!std::filesystem::exists(src)) { - throw std::runtime_error("The image file located at: " + src.string() + "\ncould not be found."); - } - texture = IMG_LoadTexture(renderer, src.string().c_str()); - - if(width == 0 && height == 0) { - SDL_QueryTexture(texture, nullptr, nullptr, &width, &height); - } -} - -void TDT4102::Image::draw(SDL_Renderer *renderer, TDT4102::Point location, int imageWidth, int imageHeight) { - // We need a reference to SDL_Renderer to perform the loading operation - // This requires loading it once it gets used - if(texture == nullptr) { - load(renderer); - } - - SDL_Rect imageBounds {location.x, location.y, width, height}; - - if(imageWidth > 0 && imageHeight > 0) { - imageBounds.w = imageWidth; - imageBounds.h = imageHeight; - } - - SDL_RenderCopy(renderer, texture, nullptr, &imageBounds); -} - -TDT4102::Image::~Image() { - if (texture != nullptr) { - SDL_DestroyTexture(texture); - texture = nullptr; - } -} diff --git a/subprojects/animationwindow/src/Widget.cpp b/subprojects/animationwindow/src/Widget.cpp deleted file mode 100644 index 97f6ff272..000000000 --- a/subprojects/animationwindow/src/Widget.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include "Widget.h" - -void TDT4102::Widget::setCallback(std::function callback) { - this->callbackFunction = callback; -} - -void TDT4102::Widget::fire() { - if(callbackFunction != nullptr) { - callbackFunction(); - } -} - -TDT4102::Widget::Widget(TDT4102::Point location, unsigned int widgetWidth, unsigned int widgetHeight) - : position(location), width(widgetWidth), height(widgetHeight) { - uniqueWidgetName = "widget_" + std::to_string(internal::nextWidgetID); - internal::nextWidgetID++; -} - -void TDT4102::Widget::setVisible(bool visible) { - isVisible = visible; -} - -unsigned int TDT4102::Widget::getWidth() const { - return width; -} - -unsigned int TDT4102::Widget::getHeight() const { - return height; -} - -void TDT4102::Widget::setSize(unsigned int newWidth, unsigned int newHeight) { - width = newWidth; - height = newHeight; -} \ No newline at end of file diff --git a/subprojects/animationwindow/src/internal/FontCache.cpp b/subprojects/animationwindow/src/internal/FontCache.cpp deleted file mode 100644 index 1e23f620b..000000000 --- a/subprojects/animationwindow/src/internal/FontCache.cpp +++ /dev/null @@ -1,96 +0,0 @@ -#include -#include -#include "internal/FontCache.h" - - -std::filesystem::path TDT4102::internal::FontCache::findTTFInDirectory(const std::filesystem::path &directoryToSearch, const std::string& fontFileName) { - try { - for(const std::filesystem::path& entryInDirectory : std::filesystem::recursive_directory_iterator{directoryToSearch}) { - if(entryInDirectory.filename().string() == fontFileName) { - return entryInDirectory; - } - } - } catch(const std::filesystem::filesystem_error& e) { - // Had a single case where the recursive directory iterator caused a crash - // This is a backup strategy, even though it would not work as the regular approach due to some - // fonts being buried within folders on some systems - for(const std::filesystem::path& entryInDirectory : std::filesystem::directory_iterator{directoryToSearch}) { - if(entryInDirectory.filename().string() == fontFileName) { - return entryInDirectory; - } - } - } - return std::filesystem::path {"nonexistent"}; -} - -std::filesystem::path TDT4102::internal::FontCache::findTTFFile(const std::string &fontFileName) { - for(const std::filesystem::path& directory : TTFSearchDirectories) { - // Only search font directories that exist on your system - if(!std::filesystem::exists(directory)) { - continue; - } - - std::filesystem::path foundFile = findTTFInDirectory(directory, fontFileName); - if(std::filesystem::exists(foundFile)) { - return foundFile; - } - } - return std::filesystem::path("DOES_NOT_EXIST"); -} - -void TDT4102::internal::FontCache::loadFont(nk_context *context, TDT4102::Font face, unsigned int size) { - struct nk_font_atlas *atlas; - struct nk_font_config config = nk_font_config(0); - struct nk_font *font; - - if(face == Font::defaultFont) { - // Load default fallback font - nk_sdl_font_stash_begin(&atlas); - font = nk_font_atlas_add_default(atlas, float(size), &config); - nk_sdl_font_stash_end(); - nk_style_set_font(context, &font->handle); - } else { - // Load a font from a TTF file - std::filesystem::path ttfFile = fontFileLocations.at(face); - std::cout << "Found TTF file: " << ttfFile.string() << std::endl; - - nk_sdl_font_stash_begin(&atlas); - font = nk_font_atlas_add_from_file(atlas, ttfFile.string().c_str(), float(size), &config); - nk_sdl_font_stash_end(); - } - - // Using [] on purpose to automatically create any missing map entries - loadedFonts[face][size] = font; - loadedAtlases[face][size] = atlas; -} - -void TDT4102::internal::FontCache::setFont(nk_context *context, TDT4102::Font face, unsigned int size) { - // We have not seen this font face with this size before. We therefore need to load it. - if(loadedFonts.count(face) == 0 || loadedFonts.at(face).count(size) == 0) { - loadFont(context, face, size); - } - - // Set the font as the main drawing font - nk_style_load_all_cursors(context, loadedAtlases.at(face).at(size)->cursors); - nk_style_set_font(context, &loadedFonts.at(face).at(size)->handle); -} - - -void TDT4102::internal::FontCache::initialize() { - for(const std::pair> &fontFaceAlternatives : TTFFilenames) { - bool suitableFontFound = false; - for(const std::string& fontFaceFile : fontFaceAlternatives.second) { - std::filesystem::path potentiallyFoundPath = findTTFFile(fontFaceFile); - if(!std::filesystem::exists(potentiallyFoundPath)) { - continue; - } - fontFileLocations[fontFaceAlternatives.first] = potentiallyFoundPath; - // If the path exists we know it succeeded - suitableFontFound = true; - break; - } - if(!suitableFontFound) { - throw std::runtime_error("No suitable font found for " + fontFaceAlternatives.second.at(0) + " on your system."); - } - } -} diff --git a/subprojects/animationwindow/src/internal/KeyboardKeyConverter.cpp b/subprojects/animationwindow/src/internal/KeyboardKeyConverter.cpp deleted file mode 100644 index d53d0c7b9..000000000 --- a/subprojects/animationwindow/src/internal/KeyboardKeyConverter.cpp +++ /dev/null @@ -1,409 +0,0 @@ -#include "internal/KeyboardKeyConverter.h" -#include -#include -#include - -KeyboardKey TDT4102::internal::convertSDLKeyToKeyboardKey(SDL_Keysym key) { - switch(key.sym) { - case SDLK_UNKNOWN : - return KeyboardKey::UNKNOWN; - case SDLK_RETURN: - return KeyboardKey::ENTER; - case SDLK_ESCAPE: - return KeyboardKey::ESCAPE; - case SDLK_BACKSPACE: - return KeyboardKey::BACKSPACE; - case SDLK_TAB: - return KeyboardKey::TAB; - case SDLK_SPACE: - return KeyboardKey::SPACE; - case SDLK_EXCLAIM: - return KeyboardKey::EXCLAMATION_MARK; - case SDLK_QUOTEDBL: - return KeyboardKey::DOUBLE_QUOTE; - case SDLK_HASH: - return KeyboardKey::HASH; - case SDLK_PERCENT: - return KeyboardKey::PERCENT; - case SDLK_DOLLAR: - return KeyboardKey::DOLLAR; - case SDLK_AMPERSAND: - return KeyboardKey::AMPERSAND; - case SDLK_QUOTE: - return KeyboardKey::QUOTE; - case SDLK_LEFTPAREN: - return KeyboardKey::LEFT_PAREN; - case SDLK_RIGHTPAREN: - return KeyboardKey::RIGHT_PAREN; - case SDLK_ASTERISK: - return KeyboardKey::ASTERISK; - case SDLK_PLUS: - return KeyboardKey::PLUS; - case SDLK_COMMA: - return KeyboardKey::COMMA; - case SDLK_MINUS: - return KeyboardKey::MINUS; - case SDLK_PERIOD: - return KeyboardKey::PERIOD; - case SDLK_SLASH: - return KeyboardKey::SLASH; - case SDLK_0: - return KeyboardKey::KEY_0; - case SDLK_1: - return KeyboardKey::KEY_1; - case SDLK_2: - return KeyboardKey::KEY_2; - case SDLK_3: - return KeyboardKey::KEY_3; - case SDLK_4: - return KeyboardKey::KEY_4; - case SDLK_5: - return KeyboardKey::KEY_5; - case SDLK_6: - return KeyboardKey::KEY_6; - case SDLK_7: - return KeyboardKey::KEY_7; - case SDLK_8: - return KeyboardKey::KEY_8; - case SDLK_9: - return KeyboardKey::KEY_9; - case SDLK_COLON: - return KeyboardKey::COLON; - case SDLK_SEMICOLON: - return KeyboardKey::SEMICOLON; - case SDLK_LESS: - return KeyboardKey::LESS_THAN; - case SDLK_EQUALS: - return KeyboardKey::EQUALS; - case SDLK_GREATER: - return KeyboardKey::GREATER_THAN; - case SDLK_QUESTION: - return KeyboardKey::QUESTION_MARK; - case SDLK_AT: - return KeyboardKey::AT; - case SDLK_LEFTBRACKET: - return KeyboardKey::LEFT_BRACKET; - case SDLK_BACKSLASH: - return KeyboardKey::BACKSLASH; - case SDLK_RIGHTBRACKET: - return KeyboardKey::RIGHT_BRACKET; - case SDLK_CARET: - return KeyboardKey::CARET; - case SDLK_UNDERSCORE: - return KeyboardKey::UNDERSCORE; - case SDLK_BACKQUOTE: - return KeyboardKey::GRAVE; - case SDLK_a: - return KeyboardKey::A; - case SDLK_b: - return KeyboardKey::B; - case SDLK_c: - return KeyboardKey::C; - case SDLK_d: - return KeyboardKey::D; - case SDLK_e: - return KeyboardKey::E; - case SDLK_f: - return KeyboardKey::F; - case SDLK_g: - return KeyboardKey::G; - case SDLK_h: - return KeyboardKey::H; - case SDLK_i: - return KeyboardKey::I; - case SDLK_j: - return KeyboardKey::J; - case SDLK_k: - return KeyboardKey::K; - case SDLK_l: - return KeyboardKey::L; - case SDLK_m: - return KeyboardKey::M; - case SDLK_n: - return KeyboardKey::N; - case SDLK_o: - return KeyboardKey::O; - case SDLK_p: - return KeyboardKey::P; - case SDLK_q: - return KeyboardKey::Q; - case SDLK_r: - return KeyboardKey::R; - case SDLK_s: - return KeyboardKey::S; - case SDLK_t: - return KeyboardKey::T; - case SDLK_u: - return KeyboardKey::U; - case SDLK_v: - return KeyboardKey::V; - case SDLK_w: - return KeyboardKey::W; - case SDLK_x: - return KeyboardKey::X; - case SDLK_y: - return KeyboardKey::Y; - case SDLK_z: - return KeyboardKey::Z; - case SDLK_CAPSLOCK: - return KeyboardKey::CAPS_LOCK; - case SDLK_F1: - return KeyboardKey::F1; - case SDLK_F2: - return KeyboardKey::F2; - case SDLK_F3: - return KeyboardKey::F3; - case SDLK_F4: - return KeyboardKey::F4; - case SDLK_F5: - return KeyboardKey::F5; - case SDLK_F6: - return KeyboardKey::F6; - case SDLK_F7: - return KeyboardKey::F7; - case SDLK_F8: - return KeyboardKey::F8; - case SDLK_F9: - return KeyboardKey::F9; - case SDLK_F10: - return KeyboardKey::F10; - case SDLK_F11: - return KeyboardKey::F11; - case SDLK_F12: - return KeyboardKey::F12; - case SDLK_PRINTSCREEN: - return KeyboardKey::PRINT_SCREEN; - case SDLK_SCROLLLOCK: - return KeyboardKey::SCROLL_LOCK; - case SDLK_PAUSE: - return KeyboardKey::PAUSE; - case SDLK_INSERT: - return KeyboardKey::INSERT; - case SDLK_HOME: - return KeyboardKey::HOME; - case SDLK_PAGEUP: - return KeyboardKey::PAGE_UP; - case SDLK_DELETE: - return KeyboardKey::DELETE; - case SDLK_END: - return KeyboardKey::END; - case SDLK_PAGEDOWN: - return KeyboardKey::PAGE_DOWN; - case SDLK_RIGHT: - return KeyboardKey::RIGHT; - case SDLK_LEFT: - return KeyboardKey::LEFT; - case SDLK_DOWN: - return KeyboardKey::DOWN; - case SDLK_UP: - return KeyboardKey::UP; - case SDLK_NUMLOCKCLEAR: - return KeyboardKey::NUM_LOCK; - case SDLK_KP_DIVIDE: - return KeyboardKey::NUMPAD_SLASH; - case SDLK_KP_MULTIPLY: - return KeyboardKey::NUMPAD_ASTERISK; - case SDLK_KP_MINUS: - return KeyboardKey::NUMPAD_MINUS; - case SDLK_KP_PLUS: - return KeyboardKey::NUMPAD_PLUS; - case SDLK_KP_ENTER: - return KeyboardKey::NUMPAD_ENTER; - case SDLK_KP_1: - return KeyboardKey::NUMPAD_1; - case SDLK_KP_2: - return KeyboardKey::NUMPAD_2; - case SDLK_KP_3: - return KeyboardKey::NUMPAD_3; - case SDLK_KP_4: - return KeyboardKey::NUMPAD_4; - case SDLK_KP_5: - return KeyboardKey::NUMPAD_5; - case SDLK_KP_6: - return KeyboardKey::NUMPAD_6; - case SDLK_KP_7: - return KeyboardKey::NUMPAD_7; - case SDLK_KP_8: - return KeyboardKey::NUMPAD_8; - case SDLK_KP_9: - return KeyboardKey::NUMPAD_9; - case SDLK_KP_0: - return KeyboardKey::NUMPAD_0; - case SDLK_KP_PERIOD: - return KeyboardKey::NUMPAD_PERIOD; - - case SDLK_F13: - return KeyboardKey::F13; - case SDLK_F14: - return KeyboardKey::F14; - case SDLK_F15: - return KeyboardKey::F15; - case SDLK_F16: - return KeyboardKey::F16; - case SDLK_F17: - return KeyboardKey::F17; - case SDLK_F18: - return KeyboardKey::F18; - case SDLK_F19: - return KeyboardKey::F19; - case SDLK_F20: - return KeyboardKey::F20; - case SDLK_F21: - return KeyboardKey::F21; - case SDLK_F22: - return KeyboardKey::F22; - case SDLK_F23: - return KeyboardKey::F23; - case SDLK_F24: - return KeyboardKey::F24; - case SDLK_MUTE: - return KeyboardKey::AUDIO_MUTE; - case SDLK_VOLUMEUP: - return KeyboardKey::AUDIO_VOLUME_UP; - case SDLK_VOLUMEDOWN: - return KeyboardKey::AUDIO_VOLUME_DOWN; - case SDLK_KP_COMMA: - return KeyboardKey::NUMPAD_COMMA; - case SDLK_LCTRL: - return KeyboardKey::LEFT_CTRL; - case SDLK_LSHIFT: - return KeyboardKey::LEFT_SHIFT; - case SDLK_LALT: - return KeyboardKey::LEFT_ALT; - case SDLK_LGUI: - return KeyboardKey::SUPER_LEFT; - case SDLK_RCTRL: - return KeyboardKey::RIGHT_CTRL; - case SDLK_RSHIFT: - return KeyboardKey::RIGHT_SHIFT; - case SDLK_RALT: - return KeyboardKey::RIGHT_ALT; - case SDLK_RGUI: - return KeyboardKey::SUPER_RIGHT; - case SDLK_KP_EQUALS: - return KeyboardKey::NUMPAD_EQUALS; - - case SDLK_AUDIONEXT: - return KeyboardKey::AUDIO_NEXT; - case SDLK_AUDIOPREV: - return KeyboardKey::AUDIO_PREV; - case SDLK_AUDIOSTOP: - return KeyboardKey::AUDIO_STOP; - case SDLK_AUDIOPLAY: - return KeyboardKey::AUDIO_PLAY; - case SDLK_AUDIOMUTE: - return KeyboardKey::AUDIO_MUTE; - - // Norwegian keys. Assumes nordic keyboard layout - case 230: - return KeyboardKey::AE; - case 248: - return KeyboardKey::OO; - case 229: - return KeyboardKey::AA; - - - // Unsupported keys - case SDLK_KP_EQUALSAS400: - case SDLK_ALTERASE: - case SDLK_SYSREQ: - case SDLK_CANCEL: - case SDLK_CLEAR: - case SDLK_PRIOR: - case SDLK_RETURN2: - case SDLK_SEPARATOR: - case SDLK_OUT: - case SDLK_OPER: - case SDLK_CLEARAGAIN: - case SDLK_CRSEL: - case SDLK_EXSEL: - case SDLK_KP_00: - case SDLK_KP_000: - case SDLK_THOUSANDSSEPARATOR: - case SDLK_DECIMALSEPARATOR: - case SDLK_CURRENCYUNIT: - case SDLK_CURRENCYSUBUNIT: - case SDLK_KP_LEFTPAREN: - case SDLK_KP_RIGHTPAREN: - case SDLK_KP_LEFTBRACE: - case SDLK_KP_RIGHTBRACE: - case SDLK_KP_TAB: - case SDLK_KP_BACKSPACE: - case SDLK_KP_A: - case SDLK_KP_B: - case SDLK_KP_C: - case SDLK_KP_D: - case SDLK_KP_E: - case SDLK_KP_F: - case SDLK_KP_XOR: - case SDLK_KP_POWER: - case SDLK_KP_PERCENT: - case SDLK_KP_LESS: - case SDLK_KP_GREATER: - case SDLK_KP_AMPERSAND: - case SDLK_KP_DBLAMPERSAND: - case SDLK_KP_VERTICALBAR: - case SDLK_KP_DBLVERTICALBAR: - case SDLK_KP_COLON: - case SDLK_KP_HASH: - case SDLK_KP_SPACE: - case SDLK_KP_AT: - case SDLK_KP_EXCLAM: - case SDLK_KP_MEMSTORE: - case SDLK_KP_MEMRECALL: - case SDLK_KP_MEMCLEAR: - case SDLK_KP_MEMADD: - case SDLK_KP_MEMSUBTRACT: - case SDLK_KP_MEMMULTIPLY: - case SDLK_KP_MEMDIVIDE: - case SDLK_KP_PLUSMINUS: - case SDLK_KP_CLEAR: - case SDLK_KP_CLEARENTRY: - case SDLK_KP_BINARY: - case SDLK_KP_OCTAL: - case SDLK_KP_DECIMAL: - case SDLK_KP_HEXADECIMAL: - case SDLK_EXECUTE: - case SDLK_HELP: - case SDLK_MENU: - case SDLK_MODE: - case SDLK_SELECT: - case SDLK_STOP: - case SDLK_AGAIN: - case SDLK_UNDO: - case SDLK_CUT: - case SDLK_COPY: - case SDLK_PASTE: - case SDLK_FIND: - case SDLK_APPLICATION: - case SDLK_POWER: - case SDLK_MEDIASELECT: - case SDLK_WWW: - case SDLK_MAIL: - case SDLK_CALCULATOR: - case SDLK_COMPUTER: - case SDLK_AC_SEARCH: - case SDLK_AC_HOME: - case SDLK_AC_BACK: - case SDLK_AC_FORWARD: - case SDLK_AC_STOP: - case SDLK_AC_REFRESH: - case SDLK_AC_BOOKMARKS: - case SDLK_BRIGHTNESSDOWN: - case SDLK_BRIGHTNESSUP: - case SDLK_DISPLAYSWITCH: - case SDLK_KBDILLUMTOGGLE: - case SDLK_KBDILLUMDOWN: - case SDLK_KBDILLUMUP: - case SDLK_EJECT: - case SDLK_SLEEP: - case SDLK_APP1: - case SDLK_APP2: - case SDLK_AUDIOREWIND: - case SDLK_AUDIOFASTFORWARD: - return KeyboardKey::UNKNOWN; - - default: - return KeyboardKey::UNKNOWN; - } -} diff --git a/subprojects/animationwindow/src/internal/nuklear_implementation.cpp b/subprojects/animationwindow/src/internal/nuklear_implementation.cpp deleted file mode 100644 index 9e229c2c6..000000000 --- a/subprojects/animationwindow/src/internal/nuklear_implementation.cpp +++ /dev/null @@ -1,3 +0,0 @@ -#define NK_IMPLEMENTATION -#define NK_SDL_RENDERER_IMPLEMENTATION -#include "internal/nuklear_configured.h" \ No newline at end of file diff --git a/subprojects/animationwindow/src/widgets/Button.cpp b/subprojects/animationwindow/src/widgets/Button.cpp deleted file mode 100644 index 0398c3920..000000000 --- a/subprojects/animationwindow/src/widgets/Button.cpp +++ /dev/null @@ -1,39 +0,0 @@ -#include "widgets/Button.h" -#include - -TDT4102::Button::Button(TDT4102::Point location, unsigned int width, unsigned int height, std::string label) : - TDT4102::Widget(location, width, height), - label{std::move(label)} {} - -void TDT4102::Button::update(nk_context *context) { - - bool rightMouseIsDown = nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_RIGHT, context->current->layout->clip, true); - bool rightMouseIsBeingPressed = rightMouseIsDown && !lastRightMouseButtonState; - lastRightMouseButtonState = rightMouseIsDown; - - bool leftMouseIsDown = nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_LEFT, context->current->layout->clip, true); - bool leftMouseIsBeingPressed = leftMouseIsDown && !lastLeftMouseButtonState; - lastLeftMouseButtonState = leftMouseIsDown; - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->button.text_normal, labelColor); - nk_style_push_color(context, &s->button.text_hover, labelColor); - nk_style_push_color(context, &s->button.text_active, labelColor); - nk_style_push_color(context, &s->button.border_color, buttonColorBorder); - nk_style_push_style_item(context, &s->button.normal, nk_style_item_color(buttonColor)); - nk_style_push_style_item(context, &s->button.hover, nk_style_item_color(buttonColorHover)); - nk_style_push_style_item(context, &s->button.active, nk_style_item_color(buttonColorActive)); - if (nk_button_label(context, label.c_str()) || rightMouseIsBeingPressed || leftMouseIsBeingPressed) { - fire(); - } - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); -} - -void TDT4102::Button::setLabel(std::string newLabel) { - label = newLabel; -} diff --git a/subprojects/animationwindow/src/widgets/CheckBox.cpp b/subprojects/animationwindow/src/widgets/CheckBox.cpp deleted file mode 100644 index 0b9d463e2..000000000 --- a/subprojects/animationwindow/src/widgets/CheckBox.cpp +++ /dev/null @@ -1,44 +0,0 @@ -#include "widgets/CheckBox.h" - - -TDT4102::CheckBox::CheckBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string label) : - TDT4102::Widget(location, width, height), - label{std::move(label)} {} - -void TDT4102::CheckBox::update(nk_context *context) { - if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_RIGHT, context->current->layout->clip, true)) { - isSelected_ = false; - } - if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_LEFT, context->current->layout->clip, true)) { - isSelected_ = true; - } - - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->checkbox.text_normal, labelColor); - nk_style_push_color(context, &s->checkbox.text_hover, labelColor); - nk_style_push_color(context, &s->checkbox.text_active, labelColor); - nk_style_push_style_item(context, &s->checkbox.normal, nk_style_item_color(checkBoxColor)); - nk_style_push_style_item(context, &s->checkbox.hover, nk_style_item_color(checkBoxColorHover)); - nk_style_push_style_item(context, &s->checkbox.active, nk_style_item_color(checkBoxColorActive)); - - if (nk_checkbox_label(context, label.data(), &isSelected_)) { - isSelected_ = true; - fire(); - } - - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - -} - -void TDT4102::CheckBox::setLabel(std::string newLabel) { - label = newLabel; -} - -bool TDT4102::CheckBox::isSelected() const { - return (bool)isSelected_; -} diff --git a/subprojects/animationwindow/src/widgets/DropdownList.cpp b/subprojects/animationwindow/src/widgets/DropdownList.cpp deleted file mode 100644 index c22eedf2f..000000000 --- a/subprojects/animationwindow/src/widgets/DropdownList.cpp +++ /dev/null @@ -1,33 +0,0 @@ -#include "widgets/DropdownList.h" -#include - -TDT4102::DropdownList::DropdownList(TDT4102::Point location, unsigned int width, unsigned int height, std::vector &initialOptions) - : TDT4102::Widget(location, width, height) { - if(initialOptions.size() == 0) { - throw std::runtime_error("The list of options must contain at least one option to choose from!"); - } - options = initialOptions; - -} - -std::string TDT4102::DropdownList::getSelectedValue() const { - return options.at(selectedIndex); -} - -void TDT4102::DropdownList::update(nk_context *context) { - if (nk_combo_begin_label(context, options.at(selectedIndex).c_str(), nk_vec2(nk_widget_width(context), 200))) { - nk_layout_row_dynamic(context, 35, 1); - for(unsigned int i = 0; i < options.size(); i++) { - if (nk_combo_item_label(context, options.at(i).c_str(), NK_TEXT_LEFT)) { - // selection changed - selectedIndex = i; - fire(); - } - } - nk_combo_end(context); - } -} - -void TDT4102::DropdownList::setOptions(std::vector &updatedOptionsList) { - options = updatedOptionsList; -} \ No newline at end of file diff --git a/subprojects/animationwindow/src/widgets/RadioButton.cpp b/subprojects/animationwindow/src/widgets/RadioButton.cpp deleted file mode 100644 index 59d9616f0..000000000 --- a/subprojects/animationwindow/src/widgets/RadioButton.cpp +++ /dev/null @@ -1,45 +0,0 @@ -#include "widgets/RadioButton.h" - - -TDT4102::RadioButton::RadioButton(TDT4102::Point location, unsigned int width, unsigned int height, std::string label) : - TDT4102::Widget(location, width, height), - label{std::move(label)} {} - -void TDT4102::RadioButton::update(nk_context *context) { - if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_RIGHT, context->current->layout->clip, true)) { - isSelected_ = false; - } - if (nk_input_has_mouse_click_down_in_rect(&context->input, NK_BUTTON_LEFT, context->current->layout->clip, true)) { - isSelected_ = true; - } - - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->option.text_normal, labelColor); - nk_style_push_color(context, &s->option.text_hover, labelColor); - nk_style_push_color(context, &s->option.text_active, labelColor); - nk_style_push_style_item(context, &s->option.normal, nk_style_item_color(radioColor)); - nk_style_push_style_item(context, &s->option.hover, nk_style_item_color(radioColorHover)); - nk_style_push_style_item(context, &s->option.active, nk_style_item_color(radioColorActive)); - - if (nk_radio_label(context, label.data(), &isSelected_)) { - isSelected_ = true; - fire(); - } - - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - -} - -void TDT4102::RadioButton::setLabel(std::string newLabel) { - label = newLabel; -} - -bool TDT4102::RadioButton::isSelected() const { - return (bool)isSelected_; -} - diff --git a/subprojects/animationwindow/src/widgets/Slider.cpp b/subprojects/animationwindow/src/widgets/Slider.cpp deleted file mode 100644 index 2a80404ae..000000000 --- a/subprojects/animationwindow/src/widgets/Slider.cpp +++ /dev/null @@ -1,38 +0,0 @@ -#include "widgets/Slider.h" - -TDT4102::Slider::Slider(TDT4102::Point location, unsigned int width, unsigned int height, int min, int max, int initialValue, int step) - : TDT4102::Widget(location, width, height) { - minValue = min; - maxValue = max; - value = initialValue; - stepValue = step; -} - -int TDT4102::Slider::getValue() const { - return value; -} - -void TDT4102::Slider::update(nk_context *context) { - - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->slider.bar_normal, sliderBarColor); - nk_style_push_color(context, &s->slider.bar_hover, sliderBarColorHover); - nk_style_push_color(context, &s->slider.bar_active, sliderBarColorActive); - nk_style_push_color(context, &s->slider.bar_filled, sliderBarColorFilled); - nk_style_push_style_item(context, &s->slider.cursor_normal, nk_style_item_color(sliderCursorColor)); - nk_style_push_style_item(context, &s->slider.cursor_hover, nk_style_item_color(sliderCursorColorHover)); - nk_style_push_style_item(context, &s->slider.cursor_active, nk_style_item_color(sliderCursorColorActive)); - - if (nk_slider_int(context, minValue, &value, maxValue, stepValue)) { - fire(); - } - - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); -} - diff --git a/subprojects/animationwindow/src/widgets/TextBox.cpp b/subprojects/animationwindow/src/widgets/TextBox.cpp deleted file mode 100644 index ac0a8fab6..000000000 --- a/subprojects/animationwindow/src/widgets/TextBox.cpp +++ /dev/null @@ -1,29 +0,0 @@ -#include "widgets/TextBox.h" - -void TDT4102::TextBox::update(nk_context *context) { - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->edit.text_normal, textColor); - nk_style_push_color(context, &s->edit.border_color, borderColor); - nk_style_push_style_item(context, &s->edit.normal, nk_style_item_color(boxColor)); - nk_edit_string_zero_terminated(context, NK_EDIT_READ_ONLY | NK_EDIT_MULTILINE, const_cast(contents.data()), internal::TEXT_BOX_CHARACTER_LIMIT, nk_filter_ascii); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_style_item(context); -} - -TDT4102::TextBox::TextBox(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText) - : TDT4102::Widget(location, width, height) { - contents = initialText; - contents.resize(internal::TEXT_BOX_CHARACTER_LIMIT); - -} - -std::string TDT4102::TextBox::getText() const { - return std::string(contents.data()); -} - -void TDT4102::TextBox::setText(std::string updatedText) { - contents = updatedText; - contents.resize(internal::TEXT_BOX_CHARACTER_LIMIT); -} - diff --git a/subprojects/animationwindow/src/widgets/TextInput.cpp b/subprojects/animationwindow/src/widgets/TextInput.cpp deleted file mode 100644 index 40e3ac435..000000000 --- a/subprojects/animationwindow/src/widgets/TextInput.cpp +++ /dev/null @@ -1,49 +0,0 @@ -#include "widgets/TextInput.h" - -void TDT4102::TextInput::update(nk_context *context) { - struct nk_style* s = &context->style; - nk_style_push_color(context, &s->edit.text_normal, textColor); - nk_style_push_color(context, &s->edit.text_hover, textColor); - nk_style_push_color(context, &s->edit.text_active, textColor); - nk_style_push_style_item(context, &s->edit.normal, nk_style_item_color(boxColor)); - nk_style_push_style_item(context, &s->edit.hover, nk_style_item_color(boxColorHover)); - nk_style_push_style_item(context, &s->edit.active, nk_style_item_color(boxColorActive)); - nk_edit_string_zero_terminated(context, NK_EDIT_SELECTABLE | NK_EDIT_ALWAYS_INSERT_MODE | NK_EDIT_BOX | NK_EDIT_SIMPLE | NK_EDIT_MULTILINE, const_cast(contents.data()), internal::TEXT_INPUT_CHARACTER_LIMIT, nk_filter_ascii); - - // Detect whether any editing of the string has occurred - // Nuklear only reports whether the text box has lost focus - if(contents != previousContents) { - fire(); - } - previousContents = contents; - - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_color(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); - nk_style_pop_style_item(context); -} - -TDT4102::TextInput::TextInput(TDT4102::Point location, unsigned int width, unsigned int height, std::string initialText) - : TDT4102::Widget(location, width, height) { - contents = initialText; - contents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); - - previousContents = initialText; - previousContents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); -} - -std::string TDT4102::TextInput::getText() const { - // The editing string contains a large number of zeroes at the end - // This chops those off - return std::string(contents.data()); -} - -void TDT4102::TextInput::setText(std::string updatedText) { - contents = updatedText; - contents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); - - previousContents = updatedText; - previousContents.resize(internal::TEXT_INPUT_CHARACTER_LIMIT); -} \ No newline at end of file diff --git a/subprojects/libjpeg-turbo.wrap b/subprojects/libjpeg-turbo.wrap deleted file mode 100644 index 500f3ec90..000000000 --- a/subprojects/libjpeg-turbo.wrap +++ /dev/null @@ -1,12 +0,0 @@ -[wrap-file] -directory = libjpeg-turbo-2.1.2 -source_url = https://sourceforge.net/projects/libjpeg-turbo/files/2.1.2/libjpeg-turbo-2.1.2.tar.gz -source_filename = libjpeg-turbo-2.1.2.tar.gz -source_hash = 09b96cb8cbff9ea556a9c2d173485fd19488844d55276ed4f42240e1e2073ce5 -patch_filename = libjpeg-turbo_2.1.2-2_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/libjpeg-turbo_2.1.2-2/get_patch -patch_hash = d213c13c0a386460b0cef7fd259f559c98dd2b9c3f9a43e8a99f85244c6dd9b5 - -[provide] -dependency_names = libjpeg - diff --git a/subprojects/libpng.wrap b/subprojects/libpng.wrap deleted file mode 100644 index 94435e86c..000000000 --- a/subprojects/libpng.wrap +++ /dev/null @@ -1,12 +0,0 @@ -[wrap-file] -directory = libpng-1.6.37 -source_url = https://github.com/glennrp/libpng/archive/v1.6.37.tar.gz -source_filename = libpng-1.6.37.tar.gz -source_hash = ca74a0dace179a8422187671aee97dd3892b53e168627145271cad5b5ac81307 -patch_filename = libpng_1.6.37-5_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/libpng_1.6.37-5/get_patch -patch_hash = 822200906ad2e82dc8b44e79fe960e980ccad96263548c35eef721086a9926f1 - -[provide] -libpng = libpng_dep - diff --git a/subprojects/libtiff-4.wrap b/subprojects/libtiff-4.wrap deleted file mode 100644 index 319d8d9ae..000000000 --- a/subprojects/libtiff-4.wrap +++ /dev/null @@ -1,12 +0,0 @@ -[wrap-file] -directory = tiff-4.1.0 -source_url = http://download.osgeo.org/libtiff/tiff-4.1.0.tar.gz -source_filename = tiff-4.1.0.tar.gz -source_hash = 5d29f32517dadb6dbcd1255ea5bbc93a2b54b94fbf83653b4d65c7d6775b8634 -patch_filename = libtiff_4.1.0-5_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/libtiff_4.1.0-5/get_patch -patch_hash = 224053e73d9bd8bc04eae41d997f2d16726fad6aff102f0ec3f3f99ca1ded405 - -[provide] -libtiff-4 = libtiff4_dep - diff --git a/subprojects/sdl2.wrap b/subprojects/sdl2.wrap deleted file mode 100644 index 53a71e2f8..000000000 --- a/subprojects/sdl2.wrap +++ /dev/null @@ -1,12 +0,0 @@ -[wrap-file] -directory = SDL2-2.26.0 -source_url = https://github.com/libsdl-org/SDL/releases/download/release-2.26.0/SDL2-2.26.0.tar.gz -source_filename = SDL2-2.26.0.tar.gz -source_hash = 8000d7169febce93c84b6bdf376631f8179132fd69f7015d4dadb8b9c2bdb295 -patch_filename = sdl2_2.26.0-1_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/sdl2_2.26.0-1/get_patch -patch_hash = 6fcfd727d71cf7837332723518d5e47ffd64f1e7630681cf4b50e99f2bf7676f -wrapdb_version = 2.26.0-1 - -[provide] -sdl2 = sdl2_dep diff --git a/subprojects/sdl2_image.wrap b/subprojects/sdl2_image.wrap deleted file mode 100644 index 97caeff02..000000000 --- a/subprojects/sdl2_image.wrap +++ /dev/null @@ -1,12 +0,0 @@ -[wrap-file] -directory = SDL2_image-2.6.2 -source_url = https://www.libsdl.org/projects/SDL_image/release/SDL2_image-2.6.2.tar.gz -source_filename = SDL2_image-2.6.2.tar.gz -source_hash = 48355fb4d8d00bac639cd1c4f4a7661c4afef2c212af60b340e06b7059814777 -patch_filename = sdl2_image_2.6.2-1_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/sdl2_image_2.6.2-1/get_patch -patch_hash = 07592dc80753ba0d0855753a7fa09f76718cb6b744305d85fb8e3738ac77b285 -wrapdb_version = 2.6.2-1 - -[provide] -sdl2_image = sdl2_image_dep diff --git a/subprojects/sdl2_image_windows/CHANGES.txt b/subprojects/sdl2_image_windows/CHANGES.txt deleted file mode 100644 index eaa562a38..000000000 --- a/subprojects/sdl2_image_windows/CHANGES.txt +++ /dev/null @@ -1,198 +0,0 @@ -2.6.2: - * Updated autotools to use ax_compute_relative_paths, fixing homebrew on macOS - -2.6.1: - * Fixed loading grayscale PNGs when using stb_image - -2.6.0: - * Added support for building with CMake - * Added stb_image as the default backend for JPG and PNG images loading. - To use libpng and libjpg instead, configure using --disable-stb-image - * Added IMG_LoadSizedSVG_RW() - * Added support for AVIF images (https://github.com/AOMediaCodec/libavif) - * Added IMG_ReadXPMFromArrayToRGB888() - * Added support for JXL images (https://jpegxl.info/) - * Added support for QOI images (https://qoiformat.org/) - * Fixed XCF regression introduced in 2.0.5 - * Added support for loading animated GIFs - * LoadBMP() now loads files using SDL2 - * Allow using libwebpdecoder instead libwebp - -2.0.5: -Sam Lantinga - Wed Jun 19 07:30:51 PDT 2019 - * Updated external libraries libpng-1.6.32, libwebp-1.0.2 -Sam Lantinga - Tue Jun 11 00:17:01 PDT 2019 - * Fixed a number of security issues: - TALOS-2019-0820 - TALOS-2019-0821 - TALOS-2019-0841 - TALOS-2019-0842 - TALOS-2019-0843 - TALOS-2019-0844 -Sathyanarayanan Gunasekaran, Brian Palmer, Charlie Birks, Amadeus - Mon Jun 10 16:48:20 PDT 2019 - * Ported SDL_image to emscripten - -2.0.4: -Michał Janiszewski - Fri Sept 28 22:00:26 PST 2018 - * Fixed memory issues in the XCF loader -Ryan Gordon - Wed Sept 26 14:58:31 PST 2018 - * Fixed a number of security issues, including TALOS-2018-0645 - -2.0.3: -Ryan Gordon - Sun Jan 28 21:28:16 PST 2018 - * Fixed a number of security issues: - TALOS-2017-0488 - TALOS-2017-0489 - TALOS-2017-0490 - TALOS-2017-0491 - TALOS-2017-0497 - TALOS-2017-0498 - TALOS-2017-0499 -Sam Lantinga - Sun Jan 28 21:24:10 PST 2018 - * Added a dependency on SDL 2.0.8 - -2.0.2: -Sam Lantinga - Sat Oct 21 23:42:28 PDT 2017 - * Added simple SVG image support based on Nano SVG -Sam Lantinga - Sat Oct 21 22:14:34 PDT 2017 - * Updated external libraries jpeg-9b, libpng-1.6.32, libwebp-0.6.0, tiff-4.0.8 and zlib-1.2.11 -Yves Younan - Fri, Oct 6, 2017 3:38:38 PM - * Fixed security vulnerability in XCF image loader -Alexey - Tue Sep 12 00:41:53 PDT 2017 - * Added optional support for loading images using Windows Imaging Component -Fabian Greffrath - Tue Sep 12 00:15:56 PDT 2017 - * Added libpng save support for much smaller 8-bit images -Alexey - Mon Sep 11 23:50:31 PDT 2017 - * Added JPG save support when built with jpeglib - IMG_SaveJPG() and IMG_SaveJPG_RW() - -2.0.1: -Jeffrey Carpenter - Sat Nov 29 12:06:05 2014 - * Fixed image colorspace issue on iOS and Mac OS X -Sam Lantinga - Sun Jun 15 17:33:46 2014 - * Fixed support for transparency in XPM files -Davide Coppola - Thu Apr 17 17:30:12 2014 - * Fixed building JPEG support on Android -David Ludwig - Tue Apr 01 19:40:35 2014 - * Added support for building for Windows RT and Windows Phone -Timur - Wed Dec 11 21:24:36 2013 - * Fixed memory leak in webp image loading -Patrice Mandin - Thu Nov 07 19:15:28 2013 - * Fixed loading BMP files with large BITMAPINFOHEADER structures -Sam Lantinga - Fri Oct 11 21:54:20 2013 - * Fixed building with libpng 1.4 - -2.0.0: -Sam Lantinga - Sun Jun 2 22:25:31 PDT 2013 - * Added PNG save support based on miniz.c by Rich Geldreich - IMG_SavePNG(), IMG_SavePNG_RW() -Sam Lantinga - Sat Jun 1 19:11:26 PDT 2013 - * Updated for SDL 2.0 release -Sam Lantinga - Sat Mar 23 13:36:51 PDT 2013 - * Fixed bug setting colorkey for indexed PNG images -Torsten Stremlau - Sun Mar 10 10:19:25 PDT 2013 - * Added support for alpha and lossless WEBP images - -1.2.12: -mscott - 2012-02-06 19:40:23 PST - * Fixed image corruption when using ImageIO framework -Sylvain - Thu Nov 22 13:09:59 PST 2012 - * Added extended XPM color table (disabled by default in IMG_xpm.c) -Sam Lantinga - Thu Jan 19 23:18:09 EST 2012 - * Fixed regression in 1.2.11 loading 8-bit PNG images with libpng - -1.2.11: -Sam Lantinga - Sat Jan 14 17:54:38 EST 2012 - * Fixed loading 8-bit PNG images on Mac OS X -Sam Lantinga - Sat Dec 31 09:35:40 EST 2011 - * SDL_image is now under the zlib license -Michael Bonfils - Mon Nov 28 21:46:00 EST 2011 - * Added WEBP image support -Thomas Klausner - Wed Jan 19 19:31:25 PST 2011 - * Fixed compiling with libpng 1.4 -Sam Lantinga - Mon Jan 10 12:09:57 2011 -0800 - * Added Android.mk to build on the Android platform -Sam Lantinga - Mon May 10 22:42:53 PDT 2010 - * Fixed loading HAM6 images with stencil mask -Mark Tucker - Fri, 27 Nov 2009 12:38:21 -0500 - * Fixed bug loading 15 and 16 bit BMP images - -1.2.10: -Sam Lantinga - Sat Nov 14 11:22:14 PST 2009 - * Fixed bug loading multiple images - -1.2.9: -Sam Lantinga - Tue Nov 10 00:29:20 PST 2009 - * Fixed alpha premultiplication on Mac OS X and iPhone OS -Sam Lantinga - Sun Nov 8 07:52:11 PST 2009 - * Fixed checking for IMG_Init() return value in image loaders - -1.2.8: -Sam Lantinga - Sun Oct 4 13:12:54 PDT 2009 - * Added support for uncompressed PCX files -Mason Wheeler - 2009-06-10 06:29:45 PDT - * Added IMG_Init()/IMG_Quit() to prevent constantly loading and unloading DLLs -Couriersud - Mon, 12 Jan 2009 17:21:13 -0800 - * Added support for ICO and CUR image files -Eric Wing - Fri, 2 Jan 2009 02:01:16 -0800 - * Added ImageIO loading infrastructure for Mac OS X - * Added UIImage loading infrastructure for iPhone / iPod Touch - -1.2.7: -Sam Lantinga - Sun Nov 2 15:08:27 PST 2008 - * Fixed buffer overflow in BMP loading code, discovered by j00ru//vx -Sam Lantinga - Fri Dec 28 08:34:54 PST 2007 - * Fixed buffer overflow in GIF loading code, discovered by Michael Skladnikiewicz - -1.2.6: -Sam lantinga - Wed Jul 18 00:30:32 PDT 2007 - * Improved detection of libjpeg, libpng, and libtiff at configure time - * PNG and TIFF images are correctly identified even if dynamic libraries - to load them aren't available. - * Fixed loading of TIFF images using libtiff 3.6 -Sam Lantinga - Thu Jul 5 07:52:35 2007 - * Fixed static linking with libjpeg -Michael Koch - Tue Feb 13 10:09:17 2007 - * Fixed crash in IMG_ReadXPMFromArray() - -1.2.5: -Maurizio Monge - Sun May 14 13:57:32 PDT 2006 - * Fixed loading BMP palettes at unusual offsets -Sam Lantinga - Thu May 11 21:51:19 PDT 2006 - * Added support for dynamically loading libjpeg, libpng, and libtiff. -Sam Lantinga - Sun Apr 30 01:48:40 PDT 2006 - * Added gcc-fat.sh for generating Universal binaries on Mac OS X - * Updated libtool support to version 1.5.22 -Sam Lantinga - Sat Feb 4 15:17:44 PST 2006 - * Added support for XV thumbnail images -Gautier Portet - Fri, 19 Mar 2004 17:35:12 +0100 - * Added support for 32-bit BMP files with alpha - -1.2.4: -Pierre G. Richard - Fri, 30 Jul 2004 11:13:11 +0000 (UTC) - * Added support for RLE encoded BMP files -Marc Le Douarain - Fri, 26 Dec 2003 18:23:42 +0100 - * Added EHB and HAM mode support to the ILBM loader -Sam Lantinga - Wed Nov 19 00:23:44 PST 2003 - * Updated libtool support for new mingw32 DLL build process -Holger Schemel - Mon, 04 Aug 2003 21:50:52 +0200 - * Fixed crash loading certain PCX images -Kyle Davenport - Sat, 19 Apr 2003 17:13:31 -0500 - * Added .la files to the development RPM, fixing RPM build on RedHat 8 - -1.2.3: -Ryan C. Gordon - Sat, 8 Feb 2003 09:36:33 -0500 - * Fixed memory leak with non-seekable SDL_RWops -Marc Le Douarain - Sun, 22 Dec 2002 22:59:51 +0100 - * Added 24-bit support to the ILBM format loader -Sam Lantinga - Sun Oct 20 20:55:46 PDT 2002 - * Added shared library support for MacOS X -Pete Shinners - Thu Jun 20 10:05:54 PDT 2002 - * The JPEG loader can now load EXIF format JPEG images -Dag-Erling Smorgrav - Thu May 2 19:09:48 PDT 2002 - * The XCF loader now ignores invisible layers and channels - -1.2.2: -Sam Lantinga - Sat Apr 13 07:49:47 PDT 2002 - * Updated autogen.sh for new versions of automake - * Specify the SDL API calling convention (C by default) diff --git a/subprojects/sdl2_image_windows/LICENSE.txt b/subprojects/sdl2_image_windows/LICENSE.txt deleted file mode 100644 index 3931238c9..000000000 --- a/subprojects/sdl2_image_windows/LICENSE.txt +++ /dev/null @@ -1,17 +0,0 @@ -Copyright (C) 1997-2022 Sam Lantinga - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any damages -arising from the use of this software. - -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it -freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. diff --git a/subprojects/sdl2_image_windows/README.txt b/subprojects/sdl2_image_windows/README.txt deleted file mode 100644 index 109c9b696..000000000 --- a/subprojects/sdl2_image_windows/README.txt +++ /dev/null @@ -1,38 +0,0 @@ - -SDL_image 2.0 - -The latest version of this library is available from GitHub: -https://github.com/libsdl-org/SDL_image/releases - -This is a simple library to load images of various formats as SDL surfaces. -It can load BMP, GIF, JPEG, LBM, PCX, PNG, PNM (PPM/PGM/PBM), QOI, TGA, XCF, XPM, and simple SVG format images. It can also load AVIF, JPEG-XL, TIFF, and WebP images, depending on build options (see the note below for details.) - -API: -#include "SDL_image.h" - - SDL_Surface *IMG_Load(const char *file); -or - SDL_Surface *IMG_Load_RW(SDL_RWops *src, int freesrc); -or - SDL_Surface *IMG_LoadTyped_RW(SDL_RWops *src, int freesrc, char *type); - -where type is a string specifying the format (i.e. "PNG" or "pcx"). -Note that IMG_Load_RW cannot load TGA images. - -To create a surface from an XPM image included in C source, use: - - SDL_Surface *IMG_ReadXPMFromArray(char **xpm); - -An example program 'showimage' is included, with source in showimage.c - -Documentation is also available online at https://wiki.libsdl.org/SDL_image - -This library is under the zlib License, see the file "LICENSE.txt" for details. - -Note: -Support for AVIF, JPEG-XL, TIFF, and WebP are not included by default because of the size of the decode libraries, but you can get them by running external/download.sh -- When building with CMake, you can enable the appropriate SUPPORT_* options defined in CMakeLists.txt. -- When building with configure/make, you can build and install them normally and the configure script will detect and use them. -- When building with Visual Studio, you will need to build the libraries and then add the appropriate LOAD_* preprocessor define to the Visual Studio project. -- When building with Xcode, you can edit the config at the top of the project to enable them, and you will need to include the appropriate framework in your application. -- For Android, you can edit the config at the top of Android.mk to enable them. diff --git a/subprojects/sdl2_image_windows/copy.py b/subprojects/sdl2_image_windows/copy.py deleted file mode 100644 index adbdd5caa..000000000 --- a/subprojects/sdl2_image_windows/copy.py +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env python3 - -import sys, shutil -shutil.copyfile(sys.argv[1], sys.argv[2]) \ No newline at end of file diff --git a/subprojects/sdl2_image_windows/include/SDL2/SDL_image.h b/subprojects/sdl2_image_windows/include/SDL2/SDL_image.h deleted file mode 100644 index 3db23b2f5..000000000 --- a/subprojects/sdl2_image_windows/include/SDL2/SDL_image.h +++ /dev/null @@ -1,2173 +0,0 @@ -/* - SDL_image: An example image loading library for use with SDL - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_image.h - * - * Header file for SDL_image library - * - * A simple library to load images of various formats as SDL surfaces - */ -#ifndef SDL_IMAGE_H_ -#define SDL_IMAGE_H_ - -#include "SDL.h" -#include "SDL_version.h" -#include "begin_code.h" - -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Printable format: "%d.%d.%d", MAJOR, MINOR, PATCHLEVEL - */ -#define SDL_IMAGE_MAJOR_VERSION 2 -#define SDL_IMAGE_MINOR_VERSION 6 -#define SDL_IMAGE_PATCHLEVEL 2 - -/** - * This macro can be used to fill a version structure with the compile-time - * version of the SDL_image library. - */ -#define SDL_IMAGE_VERSION(X) \ -{ \ - (X)->major = SDL_IMAGE_MAJOR_VERSION; \ - (X)->minor = SDL_IMAGE_MINOR_VERSION; \ - (X)->patch = SDL_IMAGE_PATCHLEVEL; \ -} - -#if SDL_IMAGE_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 -/** - * This is the version number macro for the current SDL_image version. - * - * In versions higher than 2.9.0, the minor version overflows into - * the thousands digit: for example, 2.23.0 is encoded as 4300. - * This macro will not be available in SDL 3.x or SDL_image 3.x. - * - * Deprecated, use SDL_IMAGE_VERSION_ATLEAST or SDL_IMAGE_VERSION instead. - */ -#define SDL_IMAGE_COMPILEDVERSION \ - SDL_VERSIONNUM(SDL_IMAGE_MAJOR_VERSION, SDL_IMAGE_MINOR_VERSION, SDL_IMAGE_PATCHLEVEL) -#endif /* SDL_IMAGE_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 */ - -/** - * This macro will evaluate to true if compiled with SDL_image at least X.Y.Z. - */ -#define SDL_IMAGE_VERSION_ATLEAST(X, Y, Z) \ - ((SDL_IMAGE_MAJOR_VERSION >= X) && \ - (SDL_IMAGE_MAJOR_VERSION > X || SDL_IMAGE_MINOR_VERSION >= Y) && \ - (SDL_IMAGE_MAJOR_VERSION > X || SDL_IMAGE_MINOR_VERSION > Y || SDL_IMAGE_PATCHLEVEL >= Z)) - -/** - * This function gets the version of the dynamically linked SDL_image library. - * - * it should NOT be used to fill a version structure, instead you should use - * the SDL_IMAGE_VERSION() macro. - * - * \returns SDL_image version - */ -extern DECLSPEC const SDL_version * SDLCALL IMG_Linked_Version(void); - -/** - * Initialization flags - */ -typedef enum -{ - IMG_INIT_JPG = 0x00000001, - IMG_INIT_PNG = 0x00000002, - IMG_INIT_TIF = 0x00000004, - IMG_INIT_WEBP = 0x00000008, - IMG_INIT_JXL = 0x00000010, - IMG_INIT_AVIF = 0x00000020 -} IMG_InitFlags; - -/** - * Initialize SDL_image. - * - * This function loads dynamic libraries that SDL_image needs, and prepares - * them for use. This must be the first function you call in SDL_image, and if - * it fails you should not continue with the library. - * - * Flags should be one or more flags from IMG_InitFlags OR'd together. It - * returns the flags successfully initialized, or 0 on failure. - * - * Currently, these flags are: - * - * - `_INIT_JPG` - * - `_INIT_PNG` - * - `_INIT_TIF` - * - `_INIT_WEBP` - * - `_INIT_JXL` - * - `_INIT_AVIF` - * - * More flags may be added in a future SDL_image release. - * - * This function may need to load external shared libraries to support various - * codecs, which means this function can fail to initialize that support on an - * otherwise-reasonable system if the library isn't available; this is not - * just a question of exceptional circumstances like running out of memory at - * startup! - * - * Note that you may call this function more than once to initialize with - * additional flags. The return value will reflect both new flags that - * successfully initialized, and also include flags that had previously been - * initialized as well. - * - * As this will return previously-initialized flags, it's legal to call this - * with zero (no flags set). This is a safe no-op that can be used to query - * the current initialization state without changing it at all. - * - * Since this returns previously-initialized flags as well as new ones, and - * you can call this with zero, you should not check for a zero return value - * to determine an error condition. Instead, you should check to make sure all - * the flags you require are set in the return value. If you have a game with - * data in a specific format, this might be a fatal error. If you're a generic - * image displaying app, perhaps you are fine with only having JPG and PNG - * support and can live without WEBP, even if you request support for - * everything. - * - * Unlike other SDL satellite libraries, calls to IMG_Init do not stack; a - * single call to IMG_Quit() will deinitialize everything and does not have to - * be paired with a matching IMG_Init call. For that reason, it's considered - * best practices to have a single IMG_Init and IMG_Quit call in your program. - * While this isn't required, be aware of the risks of deviating from that - * behavior. - * - * After initializing SDL_image, the app may begin to load images into - * SDL_Surfaces or SDL_Textures. - * - * \param flags initialization flags, OR'd together. - * \returns all currently initialized flags. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_Quit - */ -extern DECLSPEC int SDLCALL IMG_Init(int flags); - -/** - * Deinitialize SDL_image. - * - * This should be the last function you call in SDL_image, after freeing all - * other resources. This will unload any shared libraries it is using for - * various codecs. - * - * After this call, a call to IMG_Init(0) will return 0 (no codecs loaded). - * - * You can safely call IMG_Init() to reload various codec support after this - * call. - * - * Unlike other SDL satellite libraries, calls to IMG_Init do not stack; a - * single call to IMG_Quit() will deinitialize everything and does not have to - * be paired with a matching IMG_Init call. For that reason, it's considered - * best practices to have a single IMG_Init and IMG_Quit call in your program. - * While this isn't required, be aware of the risks of deviating from that - * behavior. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_Init - */ -extern DECLSPEC void SDLCALL IMG_Quit(void); - -/** - * Load an image from an SDL data source into a software surface. - * - * An SDL_Surface is a buffer of pixels in memory accessible by the CPU. Use - * this if you plan to hand the data to something else or manipulate it - * further in code. - * - * There are no guarantees about what format the new SDL_Surface data will be; - * in many cases, SDL_image will attempt to supply a surface that exactly - * matches the provided image, but in others it might have to convert (either - * because the image is in a format that SDL doesn't directly support or - * because it's compressed data that could reasonably uncompress to various - * formats and SDL_image had to pick one). You can inspect an SDL_Surface for - * its specifics, and use SDL_ConvertSurface to then migrate to any supported - * format. - * - * If the image format supports a transparent pixel, SDL will set the colorkey - * for the surface. You can enable RLE acceleration on the surface afterwards - * by calling: SDL_SetColorKey(image, SDL_RLEACCEL, image->format->colorkey); - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_image reads everything it needs - * from the RWops during this call in any case. - * - * Even though this function accepts a file type, SDL_image may still try - * other decoders that are capable of detecting file type from the contents of - * the image data, but may rely on the caller-provided type string for formats - * that it cannot autodetect. If `type` is NULL, SDL_image will rely solely on - * its ability to guess the format. - * - * There is a separate function to read files from disk without having to deal - * with SDL_RWops: `IMG_Load("filename.jpg")` will call this function and - * manage those details for you, determining the file type from the filename's - * extension. - * - * There is also IMG_Load_RW(), which is equivalent to this function except - * that it will rely on SDL_image to determine what type of data it is - * loading, much like passing a NULL for type. - * - * If you are using SDL's 2D rendering API, there is an equivalent call to - * load images directly into an SDL_Texture for use by the GPU without using a - * software surface: call IMG_LoadTextureTyped_RW() instead. - * - * When done with the returned surface, the app should dispose of it with a - * call to SDL_FreeSurface(). - * - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \param type a filename extension that represent this data ("BMP", "GIF", - * "PNG", etc). - * \returns a new SDL surface, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_Load - * \sa IMG_Load_RW - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadTyped_RW(SDL_RWops *src, int freesrc, const char *type); - -/** - * Load an image from a filesystem path into a software surface. - * - * An SDL_Surface is a buffer of pixels in memory accessible by the CPU. Use - * this if you plan to hand the data to something else or manipulate it - * further in code. - * - * There are no guarantees about what format the new SDL_Surface data will be; - * in many cases, SDL_image will attempt to supply a surface that exactly - * matches the provided image, but in others it might have to convert (either - * because the image is in a format that SDL doesn't directly support or - * because it's compressed data that could reasonably uncompress to various - * formats and SDL_image had to pick one). You can inspect an SDL_Surface for - * its specifics, and use SDL_ConvertSurface to then migrate to any supported - * format. - * - * If the image format supports a transparent pixel, SDL will set the colorkey - * for the surface. You can enable RLE acceleration on the surface afterwards - * by calling: SDL_SetColorKey(image, SDL_RLEACCEL, image->format->colorkey); - * - * There is a separate function to read files from an SDL_RWops, if you need - * an i/o abstraction to provide data from anywhere instead of a simple - * filesystem read; that function is IMG_Load_RW(). - * - * If you are using SDL's 2D rendering API, there is an equivalent call to - * load images directly into an SDL_Texture for use by the GPU without using a - * software surface: call IMG_LoadTexture() instead. - * - * When done with the returned surface, the app should dispose of it with a - * call to SDL_FreeSurface(). - * - * \param file a path on the filesystem to load an image from. - * \returns a new SDL surface, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadTyped_RW - * \sa IMG_Load_RW - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_Load(const char *file); - -/** - * Load an image from an SDL data source into a software surface. - * - * An SDL_Surface is a buffer of pixels in memory accessible by the CPU. Use - * this if you plan to hand the data to something else or manipulate it - * further in code. - * - * There are no guarantees about what format the new SDL_Surface data will be; - * in many cases, SDL_image will attempt to supply a surface that exactly - * matches the provided image, but in others it might have to convert (either - * because the image is in a format that SDL doesn't directly support or - * because it's compressed data that could reasonably uncompress to various - * formats and SDL_image had to pick one). You can inspect an SDL_Surface for - * its specifics, and use SDL_ConvertSurface to then migrate to any supported - * format. - * - * If the image format supports a transparent pixel, SDL will set the colorkey - * for the surface. You can enable RLE acceleration on the surface afterwards - * by calling: SDL_SetColorKey(image, SDL_RLEACCEL, image->format->colorkey); - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_image reads everything it needs - * from the RWops during this call in any case. - * - * There is a separate function to read files from disk without having to deal - * with SDL_RWops: `IMG_Load("filename.jpg")` will call this function and - * manage those details for you, determining the file type from the filename's - * extension. - * - * There is also IMG_LoadTyped_RW(), which is equivalent to this function - * except a file extension (like "BMP", "JPG", etc) can be specified, in case - * SDL_image cannot autodetect the file format. - * - * If you are using SDL's 2D rendering API, there is an equivalent call to - * load images directly into an SDL_Texture for use by the GPU without using a - * software surface: call IMG_LoadTexture_RW() instead. - * - * When done with the returned surface, the app should dispose of it with a - * call to SDL_FreeSurface(). - * - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \returns a new SDL surface, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_Load - * \sa IMG_LoadTyped_RW - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_Load_RW(SDL_RWops *src, int freesrc); - -#if SDL_VERSION_ATLEAST(2,0,0) - -/** - * Load an image from a filesystem path into a GPU texture. - * - * An SDL_Texture represents an image in GPU memory, usable by SDL's 2D Render - * API. This can be significantly more efficient than using a CPU-bound - * SDL_Surface if you don't need to manipulate the image directly after - * loading it. - * - * If the loaded image has transparency or a colorkey, a texture with an alpha - * channel will be created. Otherwise, SDL_image will attempt to create an - * SDL_Texture in the most format that most reasonably represents the image - * data (but in many cases, this will just end up being 32-bit RGB or 32-bit - * RGBA). - * - * There is a separate function to read files from an SDL_RWops, if you need - * an i/o abstraction to provide data from anywhere instead of a simple - * filesystem read; that function is IMG_LoadTexture_RW(). - * - * If you would rather decode an image to an SDL_Surface (a buffer of pixels - * in CPU memory), call IMG_Load() instead. - * - * When done with the returned texture, the app should dispose of it with a - * call to SDL_DestroyTexture(). - * - * \param renderer the SDL_Renderer to use to create the GPU texture. - * \param file a path on the filesystem to load an image from. - * \returns a new texture, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadTextureTyped_RW - * \sa IMG_LoadTexture_RW - * \sa SDL_DestroyTexture - */ -extern DECLSPEC SDL_Texture * SDLCALL IMG_LoadTexture(SDL_Renderer *renderer, const char *file); - -/** - * Load an image from an SDL data source into a GPU texture. - * - * An SDL_Texture represents an image in GPU memory, usable by SDL's 2D Render - * API. This can be significantly more efficient than using a CPU-bound - * SDL_Surface if you don't need to manipulate the image directly after - * loading it. - * - * If the loaded image has transparency or a colorkey, a texture with an alpha - * channel will be created. Otherwise, SDL_image will attempt to create an - * SDL_Texture in the most format that most reasonably represents the image - * data (but in many cases, this will just end up being 32-bit RGB or 32-bit - * RGBA). - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_image reads everything it needs - * from the RWops during this call in any case. - * - * There is a separate function to read files from disk without having to deal - * with SDL_RWops: `IMG_LoadTexture(renderer, "filename.jpg")` will call this - * function and manage those details for you, determining the file type from - * the filename's extension. - * - * There is also IMG_LoadTextureTyped_RW(), which is equivalent to this - * function except a file extension (like "BMP", "JPG", etc) can be specified, - * in case SDL_image cannot autodetect the file format. - * - * If you would rather decode an image to an SDL_Surface (a buffer of pixels - * in CPU memory), call IMG_Load() instead. - * - * When done with the returned texture, the app should dispose of it with a - * call to SDL_DestroyTexture(). - * - * \param renderer the SDL_Renderer to use to create the GPU texture. - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \returns a new texture, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadTexture - * \sa IMG_LoadTextureTyped_RW - * \sa SDL_DestroyTexture - */ -extern DECLSPEC SDL_Texture * SDLCALL IMG_LoadTexture_RW(SDL_Renderer *renderer, SDL_RWops *src, int freesrc); - -/** - * Load an image from an SDL data source into a GPU texture. - * - * An SDL_Texture represents an image in GPU memory, usable by SDL's 2D Render - * API. This can be significantly more efficient than using a CPU-bound - * SDL_Surface if you don't need to manipulate the image directly after - * loading it. - * - * If the loaded image has transparency or a colorkey, a texture with an alpha - * channel will be created. Otherwise, SDL_image will attempt to create an - * SDL_Texture in the most format that most reasonably represents the image - * data (but in many cases, this will just end up being 32-bit RGB or 32-bit - * RGBA). - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_image reads everything it needs - * from the RWops during this call in any case. - * - * Even though this function accepts a file type, SDL_image may still try - * other decoders that are capable of detecting file type from the contents of - * the image data, but may rely on the caller-provided type string for formats - * that it cannot autodetect. If `type` is NULL, SDL_image will rely solely on - * its ability to guess the format. - * - * There is a separate function to read files from disk without having to deal - * with SDL_RWops: `IMG_LoadTexture("filename.jpg")` will call this function - * and manage those details for you, determining the file type from the - * filename's extension. - * - * There is also IMG_LoadTexture_RW(), which is equivalent to this function - * except that it will rely on SDL_image to determine what type of data it is - * loading, much like passing a NULL for type. - * - * If you would rather decode an image to an SDL_Surface (a buffer of pixels - * in CPU memory), call IMG_LoadTyped_RW() instead. - * - * When done with the returned texture, the app should dispose of it with a - * call to SDL_DestroyTexture(). - * - * \param renderer the SDL_Renderer to use to create the GPU texture. - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \param type a filename extension that represent this data ("BMP", "GIF", - * "PNG", etc). - * \returns a new texture, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadTexture - * \sa IMG_LoadTexture_RW - * \sa SDL_DestroyTexture - */ -extern DECLSPEC SDL_Texture * SDLCALL IMG_LoadTextureTyped_RW(SDL_Renderer *renderer, SDL_RWops *src, int freesrc, const char *type); -#endif /* SDL 2.0 */ - -/** - * Detect AVIF image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is AVIF data, zero otherwise. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isAVIF(SDL_RWops *src); - -/** - * Detect ICO image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is ICO data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isICO(SDL_RWops *src); - -/** - * Detect CUR image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is CUR data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isCUR(SDL_RWops *src); - -/** - * Detect BMP image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is BMP data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isBMP(SDL_RWops *src); - -/** - * Detect GIF image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is GIF data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isGIF(SDL_RWops *src); - -/** - * Detect JPG image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is JPG data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isJPG(SDL_RWops *src); - -/** - * Detect JXL image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is JXL data, zero otherwise. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isJXL(SDL_RWops *src); - -/** - * Detect LBM image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is LBM data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isLBM(SDL_RWops *src); - -/** - * Detect PCX image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is PCX data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isPCX(SDL_RWops *src); - -/** - * Detect PNG image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is PNG data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isPNG(SDL_RWops *src); - -/** - * Detect PNM image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is PNM data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isPNM(SDL_RWops *src); - -/** - * Detect SVG image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is SVG data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.2. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isSVG(SDL_RWops *src); - -/** - * Detect QOI image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is QOI data, zero otherwise. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isQOI(SDL_RWops *src); - -/** - * Detect TIFF image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is TIFF data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isTIF(SDL_RWops *src); - -/** - * Detect XCF image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is XCF data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXPM - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isXCF(SDL_RWops *src); - -/** - * Detect XPM image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is XPM data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXV - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isXPM(SDL_RWops *src); - -/** - * Detect XV image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is XV data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isWEBP - */ -extern DECLSPEC int SDLCALL IMG_isXV(SDL_RWops *src); - -/** - * Detect WEBP image data on a readable/seekable SDL_RWops. - * - * This function attempts to determine if a file is a given filetype, reading - * the least amount possible from the SDL_RWops (usually a few bytes). - * - * There is no distinction made between "not the filetype in question" and - * basic i/o errors. - * - * This function will always attempt to seek the RWops back to where it - * started when this function was called, but it will not report any errors in - * doing so, but assuming seeking works, this means you can immediately use - * this with a different IMG_isTYPE function, or load the image without - * further seeking. - * - * You do not need to call this function to load data; SDL_image can work to - * determine file type in many cases in its standard load functions. - * - * \param src a seekable/readable SDL_RWops to provide image data. - * \returns non-zero if this is WEBP data, zero otherwise. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_isAVIF - * \sa IMG_isICO - * \sa IMG_isCUR - * \sa IMG_isBMP - * \sa IMG_isGIF - * \sa IMG_isJPG - * \sa IMG_isJXL - * \sa IMG_isLBM - * \sa IMG_isPCX - * \sa IMG_isPNG - * \sa IMG_isPNM - * \sa IMG_isSVG - * \sa IMG_isQOI - * \sa IMG_isTIF - * \sa IMG_isXCF - * \sa IMG_isXPM - * \sa IMG_isXV - */ -extern DECLSPEC int SDLCALL IMG_isWEBP(SDL_RWops *src); - -/** - * Load a AVIF image directly. - * - * If you know you definitely have a AVIF image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadAVIF_RW(SDL_RWops *src); - -/** - * Load a ICO image directly. - * - * If you know you definitely have a ICO image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadICO_RW(SDL_RWops *src); - -/** - * Load a CUR image directly. - * - * If you know you definitely have a CUR image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadCUR_RW(SDL_RWops *src); - -/** - * Load a BMP image directly. - * - * If you know you definitely have a BMP image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadBMP_RW(SDL_RWops *src); - -/** - * Load a GIF image directly. - * - * If you know you definitely have a GIF image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadGIF_RW(SDL_RWops *src); - -/** - * Load a JPG image directly. - * - * If you know you definitely have a JPG image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadJPG_RW(SDL_RWops *src); - -/** - * Load a JXL image directly. - * - * If you know you definitely have a JXL image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadJXL_RW(SDL_RWops *src); - -/** - * Load a LBM image directly. - * - * If you know you definitely have a LBM image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadLBM_RW(SDL_RWops *src); - -/** - * Load a PCX image directly. - * - * If you know you definitely have a PCX image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadPCX_RW(SDL_RWops *src); - -/** - * Load a PNG image directly. - * - * If you know you definitely have a PNG image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadPNG_RW(SDL_RWops *src); - -/** - * Load a PNM image directly. - * - * If you know you definitely have a PNM image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadPNM_RW(SDL_RWops *src); - -/** - * Load a SVG image directly. - * - * If you know you definitely have a SVG image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.2. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadSVG_RW(SDL_RWops *src); - -/** - * Load a QOI image directly. - * - * If you know you definitely have a QOI image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadQOI_RW(SDL_RWops *src); - -/** - * Load a TGA image directly. - * - * If you know you definitely have a TGA image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadTGA_RW(SDL_RWops *src); - -/** - * Load a TIFF image directly. - * - * If you know you definitely have a TIFF image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadTIF_RW(SDL_RWops *src); - -/** - * Load a XCF image directly. - * - * If you know you definitely have a XCF image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadXCF_RW(SDL_RWops *src); - -/** - * Load a XPM image directly. - * - * If you know you definitely have a XPM image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXV_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadXPM_RW(SDL_RWops *src); - -/** - * Load a XV image directly. - * - * If you know you definitely have a XV image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadWEBP_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadXV_RW(SDL_RWops *src); - -/** - * Load a WEBP image directly. - * - * If you know you definitely have a WEBP image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops to load image data from. - * \returns SDL surface, or NULL on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_LoadAVIF_RW - * \sa IMG_LoadICO_RW - * \sa IMG_LoadCUR_RW - * \sa IMG_LoadBMP_RW - * \sa IMG_LoadGIF_RW - * \sa IMG_LoadJPG_RW - * \sa IMG_LoadJXL_RW - * \sa IMG_LoadLBM_RW - * \sa IMG_LoadPCX_RW - * \sa IMG_LoadPNG_RW - * \sa IMG_LoadPNM_RW - * \sa IMG_LoadSVG_RW - * \sa IMG_LoadQOI_RW - * \sa IMG_LoadTGA_RW - * \sa IMG_LoadTIF_RW - * \sa IMG_LoadXCF_RW - * \sa IMG_LoadXPM_RW - * \sa IMG_LoadXV_RW - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadWEBP_RW(SDL_RWops *src); - -/** - * Load an SVG image, scaled to a specific size. - * - * Since SVG files are resolution-independent, you specify the size you would - * like the output image to be and it will be generated at those dimensions. - * - * Either width or height may be 0 and the image will be auto-sized to - * preserve aspect ratio. - * - * When done with the returned surface, the app should dispose of it with a - * call to SDL_FreeSurface(). - * - * \param src an SDL_RWops to load SVG data from. - * \param width desired width of the generated surface, in pixels. - * \param height desired height of the generated surface, in pixels. - * \returns a new SDL surface, or NULL on error. - * - * \since This function is available since SDL_image 2.6.0. - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_LoadSizedSVG_RW(SDL_RWops *src, int width, int height); - -/** - * Load an XPM image from a memory array. - * - * The returned surface will be an 8bpp indexed surface, if possible, - * otherwise it will be 32bpp. If you always want 32-bit data, use - * IMG_ReadXPMFromArrayToRGB888() instead. - * - * When done with the returned surface, the app should dispose of it with a - * call to SDL_FreeSurface(). - * - * \param xpm a null-terminated array of strings that comprise XPM data. - * \returns a new SDL surface, or NULL on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_ReadXPMFromArrayToRGB888 - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_ReadXPMFromArray(char **xpm); - -/** - * Load an XPM image from a memory array. - * - * The returned surface will always be a 32-bit RGB surface. If you want 8-bit - * indexed colors (and the XPM data allows it), use IMG_ReadXPMFromArray() - * instead. - * - * When done with the returned surface, the app should dispose of it with a - * call to SDL_FreeSurface(). - * - * \param xpm a null-terminated array of strings that comprise XPM data. - * \returns a new SDL surface, or NULL on error. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_ReadXPMFromArray - */ -extern DECLSPEC SDL_Surface * SDLCALL IMG_ReadXPMFromArrayToRGB888(char **xpm); - -/** - * Save an SDL_Surface into a PNG image file. - * - * If the file already exists, it will be overwritten. - * - * \param surface the SDL surface to save - * \param file path on the filesystem to write new file to. - * \returns 0 if successful, -1 on error - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_SavePNG_RW - * \sa IMG_SaveJPG - * \sa IMG_SaveJPG_RW - */ -extern DECLSPEC int SDLCALL IMG_SavePNG(SDL_Surface *surface, const char *file); - -/** - * Save an SDL_Surface into PNG image data, via an SDL_RWops. - * - * If you just want to save to a filename, you can use IMG_SavePNG() instead. - * - * \param surface the SDL surface to save - * \param dst the SDL_RWops to save the image data to. - * \returns 0 if successful, -1 on error. - * - * \since This function is available since SDL_image 2.0.0. - * - * \sa IMG_SavePNG - * \sa IMG_SaveJPG - * \sa IMG_SaveJPG_RW - */ -extern DECLSPEC int SDLCALL IMG_SavePNG_RW(SDL_Surface *surface, SDL_RWops *dst, int freedst); - -/** - * Save an SDL_Surface into a JPEG image file. - * - * If the file already exists, it will be overwritten. - * - * \param surface the SDL surface to save - * \param file path on the filesystem to write new file to. - * \param quality [0; 33] is Lowest quality, [34; 66] is Middle quality, [67; - * 100] is Highest quality - * \returns 0 if successful, -1 on error - * - * \since This function is available since SDL_image 2.0.2. - * - * \sa IMG_SaveJPG_RW - * \sa IMG_SavePNG - * \sa IMG_SavePNG_RW - */ -extern DECLSPEC int SDLCALL IMG_SaveJPG(SDL_Surface *surface, const char *file, int quality); - -/** - * Save an SDL_Surface into JPEG image data, via an SDL_RWops. - * - * If you just want to save to a filename, you can use IMG_SaveJPG() instead. - * - * \param surface the SDL surface to save - * \param dst the SDL_RWops to save the image data to. - * \returns 0 if successful, -1 on error. - * - * \since This function is available since SDL_image 2.0.2. - * - * \sa IMG_SaveJPG - * \sa IMG_SavePNG - * \sa IMG_SavePNG_RW - */ -extern DECLSPEC int SDLCALL IMG_SaveJPG_RW(SDL_Surface *surface, SDL_RWops *dst, int freedst, int quality); - -/** - * Animated image support - * Currently only animated GIFs are supported. - */ -typedef struct -{ - int w, h; - int count; - SDL_Surface **frames; - int *delays; -} IMG_Animation; - -/** - * Load an animation from a file. - * - * When done with the returned animation, the app should dispose of it with a - * call to IMG_FreeAnimation(). - * - * \param file path on the filesystem containing an animated image. - * \returns a new IMG_Animation, or NULL on error. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_FreeAnimation - */ -extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadAnimation(const char *file); - -/** - * Load an animation from an SDL_RWops. - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_image reads everything it needs - * from the RWops during this call in any case. - * - * When done with the returned animation, the app should dispose of it with a - * call to IMG_FreeAnimation(). - * - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \returns a new IMG_Animation, or NULL on error. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_FreeAnimation - */ -extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadAnimation_RW(SDL_RWops *src, int freesrc); - -/** - * Load an animation from an SDL datasource - * - * Even though this function accepts a file type, SDL_image may still try - * other decoders that are capable of detecting file type from the contents of - * the image data, but may rely on the caller-provided type string for formats - * that it cannot autodetect. If `type` is NULL, SDL_image will rely solely on - * its ability to guess the format. - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_image reads everything it needs - * from the RWops during this call in any case. - * - * When done with the returned animation, the app should dispose of it with a - * call to IMG_FreeAnimation(). - * - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \param type a filename extension that represent this data ("GIF", etc). - * \returns a new IMG_Animation, or NULL on error. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_LoadAnimation - * \sa IMG_LoadAnimation_RW - * \sa IMG_FreeAnimation - */ -extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadAnimationTyped_RW(SDL_RWops *src, int freesrc, const char *type); - -/** - * Dispose of an IMG_Animation and free its resources. - * - * The provided `anim` pointer is not valid once this call returns. - * - * \param anim IMG_Animation to dispose of. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_LoadAnimation - * \sa IMG_LoadAnimation_RW - * \sa IMG_LoadAnimationTyped_RW - */ -extern DECLSPEC void SDLCALL IMG_FreeAnimation(IMG_Animation *anim); - -/** - * Load a GIF animation directly. - * - * If you know you definitely have a GIF image, you can call this function, - * which will skip SDL_image's file format detection routines. Generally it's - * better to use the abstract interfaces; also, there is only an SDL_RWops - * interface available here. - * - * \param src an SDL_RWops that data will be read from. - * \returns a new IMG_Animation, or NULL on error. - * - * \since This function is available since SDL_image 2.6.0. - * - * \sa IMG_LoadAnimation - * \sa IMG_LoadAnimation_RW - * \sa IMG_LoadAnimationTyped_RW - * \sa IMG_FreeAnimation - */ -extern DECLSPEC IMG_Animation * SDLCALL IMG_LoadGIFAnimation_RW(SDL_RWops *src); - -/** - * Report SDL_image errors - * - * \sa IMG_GetError - */ -#define IMG_SetError SDL_SetError - -/** - * Get last SDL_image error - * - * \sa IMG_SetError - */ -#define IMG_GetError SDL_GetError - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_IMAGE_H_ */ diff --git a/subprojects/sdl2_image_windows/meson.build b/subprojects/sdl2_image_windows/meson.build deleted file mode 100644 index 033e61f3a..000000000 --- a/subprojects/sdl2_image_windows/meson.build +++ /dev/null @@ -1,15 +0,0 @@ -project('sdl2_image_windows', 'cpp') - -fs = import('fs') - -new_dir = join_paths('C:/TDT4102-mingw64','SDL2','sdl2_image_lib') -old_dir = join_paths(meson.current_source_dir(), 'lib') -#Ensuring backwards compatability in transition when SDL2 can be both places -dir_to_use = fs.exists(new_dir) ? new_dir : old_dir - -cxx = meson.get_compiler('cpp') -sdl2_image_windows_dep = declare_dependency( - dependencies : [cxx.find_library('SDL2_image', dirs : dir_to_use)], - include_directories : include_directories(join_paths('include', 'SDL2'))) - - \ No newline at end of file diff --git a/subprojects/sdl2_mixer.wrap b/subprojects/sdl2_mixer.wrap deleted file mode 100644 index 8159f0cb1..000000000 --- a/subprojects/sdl2_mixer.wrap +++ /dev/null @@ -1,13 +0,0 @@ -[wrap-file] -directory = SDL2_mixer-2.6.2 -source_url = https://www.libsdl.org/projects/SDL_mixer/release/SDL2_mixer-2.6.2.tar.gz -source_filename = SDL2_mixer-2.6.2.tar.gz -source_hash = 8cdea810366decba3c33d32b8071bccd1c309b2499a54946d92b48e6922aa371 -patch_filename = sdl2_mixer_2.6.2-4_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/sdl2_mixer_2.6.2-4/get_patch -patch_hash = 127025fa0666dd3ea66fb7c334182c393a748fb78810c6a44cdc1a85d619d934 -source_fallback_url = https://github.com/mesonbuild/wrapdb/releases/download/sdl2_mixer_2.6.2-4/SDL2_mixer-2.6.2.tar.gz -wrapdb_version = 2.6.2-4 - -[provide] -sdl2_mixer = sdl2_mixer_dep diff --git a/subprojects/sdl2_mixer_windows/LICENSE.txt b/subprojects/sdl2_mixer_windows/LICENSE.txt deleted file mode 100644 index 52d0ed38b..000000000 --- a/subprojects/sdl2_mixer_windows/LICENSE.txt +++ /dev/null @@ -1,17 +0,0 @@ -Copyright (C) 1997-2025 Sam Lantinga - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any damages -arising from the use of this software. - -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it -freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. diff --git a/subprojects/sdl2_mixer_windows/README.txt b/subprojects/sdl2_mixer_windows/README.txt deleted file mode 100644 index 0a62a6ab8..000000000 --- a/subprojects/sdl2_mixer_windows/README.txt +++ /dev/null @@ -1,31 +0,0 @@ - -SDL_mixer 2.0 - -The latest version of this library is available from GitHub: -https://github.com/libsdl-org/SDL_mixer/releases - -Due to popular demand, here is a simple multi-channel audio mixer. -It supports 8 channels of 16 bit stereo audio, plus a single channel of music. It can load FLAC, MP3, Ogg, VOC, and WAV format audio. It can also load MIDI, MOD, and Opus audio, depending on build options (see the note below for details.) - -See the header file SDL_mixer.h and the examples playwave.c and playmus.c for documentation on this mixer library. This documentation is also available online at https://wiki.libsdl.org/SDL2_mixer - -The process of mixing MIDI files to wave output is very CPU intensive, so if playing regular WAVE files sound great, but playing MIDI files sound choppy, try using 8-bit audio, mono audio, or lower frequencies. - -If you have built with FluidSynth support, you'll need to set the SDL_SOUNDFONTS environment variable to a Sound Font 2 (.sf2) file containing the musical instruments you want to use for MIDI playback. -(On some Linux distributions you can install the fluid-soundfont-gm package) - -To play MIDI files using Timidity, you'll need to get a complete set of GUS patches from: -http://www.libsdl.org/projects/mixer/timidity/timidity.tar.gz -and unpack them in /usr/local/lib under UNIX, and C:\ under Win32. - -This library is under the zlib license, see the file "LICENSE.txt" for details. - -Note: -Support for software MIDI, MOD, and Opus are not included by default because of the size of the decode libraries, but you can get them by running external/download.sh -- When building with CMake, you can enable the appropriate SDL2MIXER_* options defined in CMakeLists.txt. SDL2MIXER_VENDORED allows switching between system and vendored libraries. -- When building with configure/make, you can build and install them normally and the configure script will detect and use them. -- When building with Visual Studio, you will need to build the libraries and then add the appropriate LOAD_* preprocessor define to the Visual Studio project. -- When building with Xcode, you can edit the config at the top of the project to enable them, and you will need to include the appropriate framework in your application. -- For Android, you can edit the config at the top of Android.mk to enable them. - -The default MP3 support is provided using minimp3. SDL_mixer also supports using libmpg123: you can enable it by passing --enable-music-mp3-mpg123 to configure. diff --git a/subprojects/sdl2_mixer_windows/copy.py b/subprojects/sdl2_mixer_windows/copy.py deleted file mode 100644 index adbdd5caa..000000000 --- a/subprojects/sdl2_mixer_windows/copy.py +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env python3 - -import sys, shutil -shutil.copyfile(sys.argv[1], sys.argv[2]) \ No newline at end of file diff --git a/subprojects/sdl2_mixer_windows/include/SDL2/SDL_mixer.h b/subprojects/sdl2_mixer_windows/include/SDL2/SDL_mixer.h deleted file mode 100644 index ce8bdae59..000000000 --- a/subprojects/sdl2_mixer_windows/include/SDL2/SDL_mixer.h +++ /dev/null @@ -1,2831 +0,0 @@ -/* - SDL_mixer: An audio mixer library based on the SDL library - Copyright (C) 1997-2025 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_mixer.h - * - * Header file for SDL_mixer library - * - * A simple library to play and mix sounds and musics - */ -#ifndef SDL_MIXER_H_ -#define SDL_MIXER_H_ - -#include "SDL_stdinc.h" -#include "SDL_rwops.h" -#include "SDL_audio.h" -#include "SDL_endian.h" -#include "SDL_version.h" -#include "begin_code.h" - -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Printable format: "%d.%d.%d", MAJOR, MINOR, PATCHLEVEL - */ -#define SDL_MIXER_MAJOR_VERSION 2 -#define SDL_MIXER_MINOR_VERSION 8 -#define SDL_MIXER_PATCHLEVEL 1 - -/** - * This macro can be used to fill a version structure with the compile-time - * version of the SDL_mixer library. - */ -#define SDL_MIXER_VERSION(X) \ -{ \ - (X)->major = SDL_MIXER_MAJOR_VERSION; \ - (X)->minor = SDL_MIXER_MINOR_VERSION; \ - (X)->patch = SDL_MIXER_PATCHLEVEL; \ -} - -/* Backwards compatibility */ -#define MIX_MAJOR_VERSION SDL_MIXER_MAJOR_VERSION -#define MIX_MINOR_VERSION SDL_MIXER_MINOR_VERSION -#define MIX_PATCHLEVEL SDL_MIXER_PATCHLEVEL -#define MIX_VERSION(X) SDL_MIXER_VERSION(X) - -#if SDL_MIXER_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 - -/** - * This is the version number macro for the current SDL_mixer version. - * - * In versions higher than 2.9.0, the minor version overflows into the - * thousands digit: for example, 2.23.0 is encoded as 4300. This macro will - * not be available in SDL 3.x or SDL_mixer 3.x. - * - * Deprecated, use SDL_MIXER_VERSION_ATLEAST or SDL_MIXER_VERSION instead. - */ -#define SDL_MIXER_COMPILEDVERSION \ - SDL_VERSIONNUM(SDL_MIXER_MAJOR_VERSION, SDL_MIXER_MINOR_VERSION, SDL_MIXER_PATCHLEVEL) -#endif /* SDL_MIXER_MAJOR_VERSION < 3 && SDL_MAJOR_VERSION < 3 */ - -/** - * This macro will evaluate to true if compiled with SDL_mixer at least X.Y.Z. - */ -#define SDL_MIXER_VERSION_ATLEAST(X, Y, Z) \ - ((SDL_MIXER_MAJOR_VERSION >= X) && \ - (SDL_MIXER_MAJOR_VERSION > X || SDL_MIXER_MINOR_VERSION >= Y) && \ - (SDL_MIXER_MAJOR_VERSION > X || SDL_MIXER_MINOR_VERSION > Y || SDL_MIXER_PATCHLEVEL >= Z)) - -/** - * Query the version of SDL_mixer that the program is linked against. - * - * This function gets the version of the dynamically linked SDL_mixer library. - * This is separate from the SDL_MIXER_VERSION() macro, which tells you what - * version of the SDL_mixer headers you compiled against. - * - * This returns static internal data; do not free or modify it! - * - * \returns a pointer to the version information. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC const SDL_version * SDLCALL Mix_Linked_Version(void); - -/** - * Initialization flags - */ -typedef enum MIX_InitFlags -{ - MIX_INIT_FLAC = 0x00000001, - MIX_INIT_MOD = 0x00000002, - MIX_INIT_MP3 = 0x00000008, - MIX_INIT_OGG = 0x00000010, - MIX_INIT_MID = 0x00000020, - MIX_INIT_OPUS = 0x00000040, - MIX_INIT_WAVPACK= 0x00000080 -} MIX_InitFlags; - -/** - * Initialize SDL_mixer. - * - * This function loads dynamic libraries that SDL_mixer needs, and prepares - * them for use. - * - * Note that, unlike other SDL libraries, this call is optional! If you load a - * music file, SDL_mixer will handle initialization on the fly. This function - * will let you know, up front, whether a specific format will be available - * for use. - * - * Flags should be one or more flags from MIX_InitFlags OR'd together. It - * returns the flags successfully initialized, or 0 on failure. - * - * Currently, these flags are: - * - * - `MIX_INIT_FLAC` - * - `MIX_INIT_MOD` - * - `MIX_INIT_MP3` - * - `MIX_INIT_OGG` - * - `MIX_INIT_MID` - * - `MIX_INIT_OPUS` - * - `MIX_INIT_WAVPACK` - * - * More flags may be added in a future SDL_mixer release. - * - * This function may need to load external shared libraries to support various - * codecs, which means this function can fail to initialize that support on an - * otherwise-reasonable system if the library isn't available; this is not - * just a question of exceptional circumstances like running out of memory at - * startup! - * - * Note that you may call this function more than once to initialize with - * additional flags. The return value will reflect both new flags that - * successfully initialized, and also include flags that had previously been - * initialized as well. - * - * As this will return previously-initialized flags, it's legal to call this - * with zero (no flags set). This is a safe no-op that can be used to query - * the current initialization state without changing it at all. - * - * Since this returns previously-initialized flags as well as new ones, and - * you can call this with zero, you should not check for a zero return value - * to determine an error condition. Instead, you should check to make sure all - * the flags you require are set in the return value. If you have a game with - * data in a specific format, this might be a fatal error. If you're a generic - * media player, perhaps you are fine with only having WAV and MP3 support and - * can live without Opus playback, even if you request support for everything. - * - * Unlike other SDL satellite libraries, calls to Mix_Init do not stack; a - * single call to Mix_Quit() will deinitialize everything and does not have to - * be paired with a matching Mix_Init call. For that reason, it's considered - * best practices to have a single Mix_Init and Mix_Quit call in your program. - * While this isn't required, be aware of the risks of deviating from that - * behavior. - * - * After initializing SDL_mixer, the next step is to open an audio device to - * prepare to play sound (with Mix_OpenAudio() or Mix_OpenAudioDevice()), and - * load audio data to play with that device. - * - * \param flags initialization flags, OR'd together. - * \returns all currently initialized flags. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_Quit - */ -extern DECLSPEC int SDLCALL Mix_Init(int flags); - -/** - * Deinitialize SDL_mixer. - * - * This should be the last function you call in SDL_mixer, after freeing all - * other resources and closing all audio devices. This will unload any shared - * libraries it is using for various codecs. - * - * After this call, a call to Mix_Init(0) will return 0 (no codecs loaded). - * - * You can safely call Mix_Init() to reload various codec support after this - * call. - * - * Unlike other SDL satellite libraries, calls to Mix_Init do not stack; a - * single call to Mix_Quit() will deinitialize everything and does not have to - * be paired with a matching Mix_Init call. For that reason, it's considered - * best practices to have a single Mix_Init and Mix_Quit call in your program. - * While this isn't required, be aware of the risks of deviating from that - * behavior. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_Init - */ -extern DECLSPEC void SDLCALL Mix_Quit(void); - - -/** - * The default mixer has 8 simultaneous mixing channels - */ -#ifndef MIX_CHANNELS -#define MIX_CHANNELS 8 -#endif - -/* Good default values for a PC soundcard */ -#define MIX_DEFAULT_FREQUENCY 44100 -#define MIX_DEFAULT_FORMAT AUDIO_S16SYS -#define MIX_DEFAULT_CHANNELS 2 -#define MIX_MAX_VOLUME SDL_MIX_MAXVOLUME /* Volume of a chunk */ - -/** - * The internal format for an audio chunk - */ -typedef struct Mix_Chunk { - int allocated; - Uint8 *abuf; - Uint32 alen; - Uint8 volume; /* Per-sample volume, 0-128 */ -} Mix_Chunk; - -/** - * The different fading types supported - */ -typedef enum Mix_Fading { - MIX_NO_FADING, - MIX_FADING_OUT, - MIX_FADING_IN -} Mix_Fading; - -/** - * These are types of music files (not libraries used to load them) - */ -typedef enum Mix_MusicType { - MUS_NONE, - MUS_CMD, - MUS_WAV, - MUS_MOD, - MUS_MID, - MUS_OGG, - MUS_MP3, - MUS_MP3_MAD_UNUSED, - MUS_FLAC, - MUS_MODPLUG_UNUSED, - MUS_OPUS, - MUS_WAVPACK, - MUS_GME -} Mix_MusicType; - -/** - * The internal format for a music chunk interpreted via codecs - */ -typedef struct Mix_Music Mix_Music; - -/** - * Open the default audio device for playback. - * - * An audio device is what generates sound, so the app must open one to make - * noise. - * - * This function will check if SDL's audio system is initialized, and if not, - * it will initialize it by calling `SDL_Init(SDL_INIT_AUDIO)` on your behalf. - * You are free to (and encouraged to!) initialize it yourself before calling - * this function, as this gives your program more control over the process. - * - * This function might cover all of an application's needs, but for those that - * need more flexibility, the more powerful version of this function is - * Mix_OpenAudioDevice(). This function is equivalent to calling: - * - * ```c - * Mix_OpenAudioDevice(frequency, format, nchannels, chunksize, NULL, - * SDL_AUDIO_ALLOW_FREQUENCY_CHANGE | - * SDL_AUDIO_ALLOW_CHANNELS_CHANGE); - * ``` - * - * If you aren't particularly concerned with the specifics of the audio - * device, and your data isn't in a specific format, the values you use here - * can just be reasonable defaults. SDL_mixer will convert audio data you feed - * it to the correct format on demand. - * - * That being said, if you have control of your audio data and you know its - * format ahead of time, you may save CPU time by opening the audio device in - * that exact format so SDL_mixer does not have to spend time converting - * anything behind the scenes, and can just pass the data straight through to - * the hardware. On some platforms, where the hardware only supports specific - * settings, you might have to be careful to make everything match, but your - * own data is often easier to control, so aim to open the device for what you - * need. - * - * The other reason to care about specific formats: if you plan to touch the - * mix buffer directly (with Mix_SetPostMix, a registered effect, or - * Mix_HookMusic), you might have code that expects it to be in a specific - * format, and you should specify that here. - * - * The audio device frequency is specified in Hz; in modern times, 48000 is - * often a reasonable default. - * - * The audio device format is one of SDL's AUDIO_* constants. AUDIO_S16SYS - * (16-bit audio) is probably a safe default. More modern systems may prefer - * AUDIO_F32SYS (32-bit floating point audio). - * - * The audio device channels are generally 1 for mono output, or 2 for stereo, - * but the brave can try surround sound configs with 4 (quad), 6 (5.1), 7 - * (6.1) or 8 (7.1). - * - * The audio device's chunk size is the number of sample frames (one sample - * per frame for mono output, two samples per frame in a stereo setup, etc) - * that are fed to the device at once. The lower the number, the lower the - * latency, but you risk dropouts if it gets too low. 2048 is often a - * reasonable default, but your app might want to experiment with 1024 or - * 4096. - * - * You may only have one audio device open at a time; if you want to change a - * setting, you must close the device and reopen it, which is not something - * you can do seamlessly during playback. - * - * This function does not allow you to select a specific audio device on the - * system, it always chooses the best default it can on your behalf (which, in - * many cases, is exactly what you want anyhow). If you must choose a specific - * device, you can do so with Mix_OpenAudioDevice() instead. - * - * If this function reports success, you are ready to start making noise! Load - * some audio data and start playing! - * - * The app can use Mix_QuerySpec() to determine the final device settings. - * - * When done with an audio device, probably at the end of the program, the app - * should dispose of the device with Mix_CloseAudio(). - * - * \param frequency the frequency to playback audio at (in Hz). - * \param format audio format, one of SDL's AUDIO_* values. - * \param channels number of channels (1 is mono, 2 is stereo, etc). - * \param chunksize audio buffer size in sample FRAMES (total samples divided - * by channel count). - * \returns 0 if successful, -1 on error. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_OpenAudioDevice - * \sa Mix_CloseAudio - */ -extern DECLSPEC int SDLCALL Mix_OpenAudio(int frequency, Uint16 format, int channels, int chunksize); - - -/** - * Open a specific audio device for playback. - * - * (A slightly simpler version of this function is available in - * Mix_OpenAudio(), which still might meet most applications' needs.) - * - * An audio device is what generates sound, so the app must open one to make - * noise. - * - * This function will check if SDL's audio system is initialized, and if not, - * it will initialize it by calling `SDL_Init(SDL_INIT_AUDIO)` on your behalf. - * You are free to (and encouraged to!) initialize it yourself before calling - * this function, as this gives your program more control over the process. - * - * If you aren't particularly concerned with the specifics of the audio - * device, and your data isn't in a specific format, the values you use here - * can just be reasonable defaults. SDL_mixer will convert audio data you feed - * it to the correct format on demand. - * - * That being said, if you have control of your audio data and you know its - * format ahead of time, you can save CPU time by opening the audio device in - * that exact format so SDL_mixer does not have to spend time converting - * anything behind the scenes, and can just pass the data straight through to - * the hardware. On some platforms, where the hardware only supports specific - * settings, you might have to be careful to make everything match, but your - * own data is often easier to control, so aim to open the device for what you - * need. - * - * The other reason to care about specific formats: if you plan to touch the - * mix buffer directly (with Mix_SetPostMix, a registered effect, or - * Mix_HookMusic), you might have code that expects it to be in a specific - * format, and you should specify that here. - * - * The audio device frequency is specified in Hz; in modern times, 48000 is - * often a reasonable default. - * - * The audio device format is one of SDL's AUDIO_* constants. AUDIO_S16SYS - * (16-bit audio) is probably a safe default. More modern systems may prefer - * AUDIO_F32SYS (32-bit floating point audio). - * - * The audio device channels are generally 1 for mono output, or 2 for stereo, - * but the brave can try surround sound configs with 4 (quad), 6 (5.1), 7 - * (6.1) or 8 (7.1). - * - * The audio device's chunk size is the number of sample frames (one sample - * per frame for mono output, two samples per frame in a stereo setup, etc) - * that are fed to the device at once. The lower the number, the lower the - * latency, but you risk dropouts if it gets too low. 2048 is often a - * reasonable default, but your app might want to experiment with 1024 or - * 4096. - * - * You may only have one audio device open at a time; if you want to change a - * setting, you must close the device and reopen it, which is not something - * you can do seamlessly during playback. - * - * This function allows you to select specific audio hardware on the system - * with the `device` parameter. If you specify NULL, SDL_mixer will choose the - * best default it can on your behalf (which, in many cases, is exactly what - * you want anyhow). SDL_mixer does not offer a mechanism to determine device - * names to open, but you can use SDL_GetNumAudioDevices() to get a count of - * available devices and then SDL_GetAudioDeviceName() in a loop to obtain a - * list. If you do this, be sure to call `SDL_Init(SDL_INIT_AUDIO)` first to - * initialize SDL's audio system! - * - * The `allowed_changes` parameter specifies what settings are flexible. These - * are the `SDL_AUDIO_ALLOW_*` flags from SDL. These tell SDL_mixer that the - * app doesn't mind if a specific setting changes. For example, the app might - * need stereo data in Sint16 format, but if the sample rate or chunk size - * changes, the app can handle that. In that case, the app would specify - * `SDL_AUDIO_ALLOW_FORMAT_CHANGE|SDL_AUDIO_ALLOW_SAMPLES_CHANGE`. In this - * case, if the system's hardware requires something other than the requested - * format, SDL_mixer can select what the hardware demands instead of the app. - * If the `SDL_AUDIO_ALLOW_` flag is not specified, SDL_mixer must convert - * data behind the scenes between what the app demands and what the hardware - * requires. If your app needs precisely what is requested, specify zero for - * `allowed_changes`. - * - * If changes were allowed, the app can use Mix_QuerySpec() to determine the - * final device settings. - * - * If this function reports success, you are ready to start making noise! Load - * some audio data and start playing! - * - * When done with an audio device, probably at the end of the program, the app - * should dispose of the device with Mix_CloseDevice(). - * - * \param frequency the frequency to playback audio at (in Hz). - * \param format audio format, one of SDL's AUDIO_* values. - * \param channels number of channels (1 is mono, 2 is stereo, etc). - * \param chunksize audio buffer size in sample FRAMES (total samples divided - * by channel count). - * \param device the device name to open, or NULL to choose a reasonable - * default. - * \param allowed_changes Allow change flags (see SDL_AUDIO_ALLOW_* flags). - * \returns 0 if successful, -1 on error. - * - * \since This function is available since SDL_mixer 2.0.2. - * - * \sa Mix_OpenAudio - * \sa Mix_CloseDevice - * \sa Mix_QuerySpec - */ -extern DECLSPEC int SDLCALL Mix_OpenAudioDevice(int frequency, Uint16 format, int channels, int chunksize, const char* device, int allowed_changes); - -/** - * Suspend or resume the whole audio output. - * - * \param pause_on 1 to pause audio output, or 0 to resume. - * - * \since This function is available since SDL_mixer 2.8.0. - */ -extern DECLSPEC void SDLCALL Mix_PauseAudio(int pause_on); - -/** - * Find out what the actual audio device parameters are. - * - * If Mix_OpenAudioDevice() was called with `allowed_changes` set to anything - * but zero, or Mix_OpenAudio() was used, some audio device settings may be - * different from the application's request. This function will report what - * the device is actually running at. - * - * Note this is only important if the app intends to touch the audio buffers - * being sent to the hardware directly. If an app just wants to play audio - * files and let SDL_mixer handle the low-level details, this function can - * probably be ignored. - * - * If the audio device is not opened, this function will return 0. - * - * \param frequency On return, will be filled with the audio device's - * frequency in Hz. - * \param format On return, will be filled with the audio device's format. - * \param channels On return, will be filled with the audio device's channel - * count. - * \returns 1 if the audio device has been opened, 0 otherwise. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_OpenAudio - * \sa Mix_OpenAudioDevice - */ -extern DECLSPEC int SDLCALL Mix_QuerySpec(int *frequency, Uint16 *format, int *channels); - -/** - * Dynamically change the number of channels managed by the mixer. - * - * SDL_mixer deals with "channels," which is not the same thing as the - * mono/stereo channels; they might be better described as "tracks," as each - * one corresponds to a separate source of audio data. Three different WAV - * files playing at the same time would be three separate SDL_mixer channels, - * for example. - * - * An app needs as many channels as it has audio data it wants to play - * simultaneously, mixing them into a single stream to send to the audio - * device. - * - * SDL_mixer allocates `MIX_CHANNELS` (currently 8) channels when you open an - * audio device, which may be more than an app needs, but if the app needs - * more or wants less, this function can change it. - * - * If decreasing the number of channels, any upper channels currently playing - * are stopped. This will deregister all effects on those channels and call - * any callback specified by Mix_ChannelFinished() for each removed channel. - * - * If `numchans` is less than zero, this will return the current number of - * channels without changing anything. - * - * \param numchans the new number of channels, or < 0 to query current channel - * count. - * \returns the new number of allocated channels. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_AllocateChannels(int numchans); - -/** - * Load a supported audio format into a chunk. - * - * SDL_mixer has two separate data structures for audio data. One it calls a - * "chunk," which is meant to be a file completely decoded into memory up - * front, and the other it calls "music" which is a file intended to be - * decoded on demand. Originally, simple formats like uncompressed WAV files - * were meant to be chunks and compressed things, like MP3s, were meant to be - * music, and you would stream one thing for a game's music and make repeating - * sound effects with the chunks. - * - * In modern times, this isn't split by format anymore, and most are - * interchangeable, so the question is what the app thinks is worth - * predecoding or not. Chunks might take more memory, but once they are loaded - * won't need to decode again, whereas music always needs to be decoded on the - * fly. Also, crucially, there are as many channels for chunks as the app can - * allocate, but SDL_mixer only offers a single "music" channel. - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_mixer reads everything it needs - * from the RWops during this call in any case. - * - * There is a separate function (a macro, before SDL_mixer 2.6.0) to read - * files from disk without having to deal with SDL_RWops: - * `Mix_LoadWAV("filename.wav")` will call this function and manage those - * details for you. - * - * When done with a chunk, the app should dispose of it with a call to - * Mix_FreeChunk(). - * - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \returns a new chunk, or NULL on error. - * - * \since This function is available since SDL_mixer 2.6.0 (and as a macro - * since 2.0.0). - * - * \sa Mix_LoadWAV - * \sa Mix_FreeChunk - */ -extern DECLSPEC Mix_Chunk * SDLCALL Mix_LoadWAV_RW(SDL_RWops *src, int freesrc); - -/** - * Load a supported audio format into a chunk. - * - * SDL_mixer has two separate data structures for audio data. One it calls a - * "chunk," which is meant to be a file completely decoded into memory up - * front, and the other it calls "music" which is a file intended to be - * decoded on demand. Originally, simple formats like uncompressed WAV files - * were meant to be chunks and compressed things, like MP3s, were meant to be - * music, and you would stream one thing for a game's music and make repeating - * sound effects with the chunks. - * - * In modern times, this isn't split by format anymore, and most are - * interchangeable, so the question is what the app thinks is worth - * predecoding or not. Chunks might take more memory, but once they are loaded - * won't need to decode again, whereas music always needs to be decoded on the - * fly. Also, crucially, there are as many channels for chunks as the app can - * allocate, but SDL_mixer only offers a single "music" channel. - * - * If you would rather use the abstract SDL_RWops interface to load data from - * somewhere other than the filesystem, you can use Mix_LoadWAV_RW() instead. - * - * When done with a chunk, the app should dispose of it with a call to - * Mix_FreeChunk(). - * - * Note that before SDL_mixer 2.6.0, this function was a macro that called - * Mix_LoadWAV_RW(), creating a RWops and setting `freesrc` to 1. This macro - * has since been promoted to a proper API function. Older binaries linked - * against a newer SDL_mixer will still call Mix_LoadWAV_RW directly, as they - * are using the macro, which was available since the dawn of time. - * - * \param file the filesystem path to load data from. - * \returns a new chunk, or NULL on error. - * - * \since This function is available since SDL_mixer 2.6.0 (and as a macro - * since 2.0.0). - * - * \sa Mix_LoadWAV_RW - * \sa Mix_FreeChunk - */ -extern DECLSPEC Mix_Chunk * SDLCALL Mix_LoadWAV(const char *file); - - -/** - * Load a supported audio format into a music object. - * - * SDL_mixer has two separate data structures for audio data. One it calls a - * "chunk," which is meant to be a file completely decoded into memory up - * front, and the other it calls "music" which is a file intended to be - * decoded on demand. Originally, simple formats like uncompressed WAV files - * were meant to be chunks and compressed things, like MP3s, were meant to be - * music, and you would stream one thing for a game's music and make repeating - * sound effects with the chunks. - * - * In modern times, this isn't split by format anymore, and most are - * interchangeable, so the question is what the app thinks is worth - * predecoding or not. Chunks might take more memory, but once they are loaded - * won't need to decode again, whereas music always needs to be decoded on the - * fly. Also, crucially, there are as many channels for chunks as the app can - * allocate, but SDL_mixer only offers a single "music" channel. - * - * When done with this music, the app should dispose of it with a call to - * Mix_FreeMusic(). - * - * \param file a file path from where to load music data. - * \returns a new music object, or NULL on error. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_FreeMusic - */ -extern DECLSPEC Mix_Music * SDLCALL Mix_LoadMUS(const char *file); - -/** - * Load a supported audio format into a music object. - * - * SDL_mixer has two separate data structures for audio data. One it calls a - * "chunk," which is meant to be a file completely decoded into memory up - * front, and the other it calls "music" which is a file intended to be - * decoded on demand. Originally, simple formats like uncompressed WAV files - * were meant to be chunks and compressed things, like MP3s, were meant to be - * music, and you would stream one thing for a game's music and make repeating - * sound effects with the chunks. - * - * In modern times, this isn't split by format anymore, and most are - * interchangeable, so the question is what the app thinks is worth - * predecoding or not. Chunks might take more memory, but once they are loaded - * won't need to decode again, whereas music always needs to be decoded on the - * fly. Also, crucially, there are as many channels for chunks as the app can - * allocate, but SDL_mixer only offers a single "music" channel. - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_mixer reads everything it needs - * from the RWops during this call in any case. - * - * As a convenience, there is a function to read files from disk without - * having to deal with SDL_RWops: `Mix_LoadMUS("filename.mp3")` will manage - * those details for you. - * - * This function attempts to guess the file format from incoming data. If the - * caller knows the format, or wants to force it, it should use - * Mix_LoadMUSType_RW() instead. - * - * When done with this music, the app should dispose of it with a call to - * Mix_FreeMusic(). - * - * \param src an SDL_RWops that data will be read from. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \returns a new music object, or NULL on error. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_FreeMusic - */ -extern DECLSPEC Mix_Music * SDLCALL Mix_LoadMUS_RW(SDL_RWops *src, int freesrc); - -/** - * Load an audio format into a music object, assuming a specific format. - * - * SDL_mixer has two separate data structures for audio data. One it calls a - * "chunk," which is meant to be a file completely decoded into memory up - * front, and the other it calls "music" which is a file intended to be - * decoded on demand. Originally, simple formats like uncompressed WAV files - * were meant to be chunks and compressed things, like MP3s, were meant to be - * music, and you would stream one thing for a game's music and make repeating - * sound effects with the chunks. - * - * In modern times, this isn't split by format anymore, and most are - * interchangeable, so the question is what the app thinks is worth - * predecoding or not. Chunks might take more memory, but once they are loaded - * won't need to decode again, whereas music always needs to be decoded on the - * fly. Also, crucially, there are as many channels for chunks as the app can - * allocate, but SDL_mixer only offers a single "music" channel. - * - * This function loads music data, and lets the application specify the type - * of music being loaded, which might be useful if SDL_mixer cannot figure it - * out from the data stream itself. - * - * Currently, the following types are supported: - * - * - `MUS_NONE` (SDL_mixer should guess, based on the data) - * - `MUS_WAV` (Microsoft WAV files) - * - `MUS_MOD` (Various tracker formats) - * - `MUS_MID` (MIDI files) - * - `MUS_OGG` (Ogg Vorbis files) - * - `MUS_MP3` (MP3 files) - * - `MUS_FLAC` (FLAC files) - * - `MUS_OPUS` (Opus files) - * - `MUS_WAVPACK` (WavPack files) - * - * If `freesrc` is non-zero, the RWops will be closed before returning, - * whether this function succeeds or not. SDL_mixer reads everything it needs - * from the RWops during this call in any case. - * - * As a convenience, there is a function to read files from disk without - * having to deal with SDL_RWops: `Mix_LoadMUS("filename.mp3")` will manage - * those details for you (but not let you specify the music type explicitly).. - * - * When done with this music, the app should dispose of it with a call to - * Mix_FreeMusic(). - * - * \param src an SDL_RWops that data will be read from. - * \param type the type of audio data provided by `src`. - * \param freesrc non-zero to close/free the SDL_RWops before returning, zero - * to leave it open. - * \returns a new music object, or NULL on error. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_FreeMusic - */ -extern DECLSPEC Mix_Music * SDLCALL Mix_LoadMUSType_RW(SDL_RWops *src, Mix_MusicType type, int freesrc); - -/** - * Load a WAV file from memory as quickly as possible. - * - * Unlike Mix_LoadWAV_RW, this function has several requirements, and unless - * you control all your audio data and know what you're doing, you should - * consider this function unsafe and not use it. - * - * - The provided audio data MUST be in Microsoft WAV format. - * - The provided audio data shouldn't use any strange WAV extensions. - * - The audio data MUST be in the exact same format as the audio device. This - * function will not attempt to convert it, or even verify it's in the right - * format. - * - The audio data must be valid; this function does not know the size of the - * memory buffer, so if the WAV data is corrupted, it can read past the end - * of the buffer, causing a crash. - * - The audio data must live at least as long as the returned Mix_Chunk, - * because SDL_mixer will use that data directly and not make a copy of it. - * - * This function will do NO error checking! Be extremely careful here! - * - * (Seriously, use Mix_LoadWAV_RW instead.) - * - * If this function is successful, the provided memory buffer must remain - * available until Mix_FreeChunk() is called on the returned chunk. - * - * \param mem memory buffer containing of a WAV file. - * \returns a new chunk, or NULL on error. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_LoadWAV_RW - * \sa Mix_FreeChunk - */ -extern DECLSPEC Mix_Chunk * SDLCALL Mix_QuickLoad_WAV(Uint8 *mem); - -/** - * Load a raw audio data from memory as quickly as possible. - * - * The audio data MUST be in the exact same format as the audio device. This - * function will not attempt to convert it, or even verify it's in the right - * format. - * - * If this function is successful, the provided memory buffer must remain - * available until Mix_FreeChunk() is called on the returned chunk. - * - * \param mem memory buffer containing raw PCM data. - * \param len length of buffer pointed to by `mem`, in bytes. - * \returns a new chunk, or NULL on error. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_FreeChunk - */ -extern DECLSPEC Mix_Chunk * SDLCALL Mix_QuickLoad_RAW(Uint8 *mem, Uint32 len); - -/** - * Free an audio chunk. - * - * An app should call this function when it is done with a Mix_Chunk and wants - * to dispose of its resources. - * - * SDL_mixer will stop any channels this chunk is currently playing on. This - * will deregister all effects on those channels and call any callback - * specified by Mix_ChannelFinished() for each removed channel. - * - * \param chunk the chunk to free. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_LoadWAV - * \sa Mix_LoadWAV_RW - * \sa Mix_QuickLoad_WAV - * \sa Mix_QuickLoad_RAW - */ -extern DECLSPEC void SDLCALL Mix_FreeChunk(Mix_Chunk *chunk); - -/** - * Free a music object. - * - * If this music is currently playing, it will be stopped. - * - * If this music is in the process of fading out (via Mix_FadeOutMusic()), - * this function will *block* until the fade completes. If you need to avoid - * this, be sure to call Mix_HaltMusic() before freeing the music. - * - * \param music the music object to free. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_LoadMUS - * \sa Mix_LoadMUS_RW - * \sa Mix_LoadMUSType_RW - */ -extern DECLSPEC void SDLCALL Mix_FreeMusic(Mix_Music *music); - -/** - * Get a list of chunk decoders that this build of SDL_mixer provides. - * - * This list can change between builds AND runs of the program, if external - * libraries that add functionality become available. You must successfully - * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, - * as decoders are activated at device open time. - * - * Appearing in this list doesn't promise your specific audio file will - * decode...but it's handy to know if you have, say, a functioning Ogg Vorbis - * install. - * - * These return values are static, read-only data; do not modify or free it. - * The pointers remain valid until you call Mix_CloseAudio(). - * - * \returns number of chunk decoders available. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GetChunkDecoder - * \sa Mix_HasChunkDecoder - */ -extern DECLSPEC int SDLCALL Mix_GetNumChunkDecoders(void); - -/** - * Get a chunk decoder's name. - * - * The requested decoder's index must be between zero and - * Mix_GetNumChunkDecoders()-1. It's safe to call this with an invalid index; - * this function will return NULL in that case. - * - * This list can change between builds AND runs of the program, if external - * libraries that add functionality become available. You must successfully - * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, - * as decoders are activated at device open time. - * - * \param index index of the chunk decoder. - * \returns the chunk decoder's name. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GetNumChunkDecoders - */ -extern DECLSPEC const char * SDLCALL Mix_GetChunkDecoder(int index); - -/** - * Check if a chunk decoder is available by name. - * - * This result can change between builds AND runs of the program, if external - * libraries that add functionality become available. You must successfully - * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, - * as decoders are activated at device open time. - * - * Decoder names are arbitrary but also obvious, so you have to know what - * you're looking for ahead of time, but usually it's the file extension in - * capital letters (some example names are "AIFF", "VOC", "WAV"). - * - * \param name the decoder name to query. - * \returns SDL_TRUE if a decoder by that name is available, SDL_FALSE - * otherwise. - * - * \since This function is available since SDL_mixer 2.0.2. - * - * \sa Mix_GetNumChunkDecoders - * \sa Mix_GetChunkDecoder - */ -extern DECLSPEC SDL_bool SDLCALL Mix_HasChunkDecoder(const char *name); - -/** - * Get a list of music decoders that this build of SDL_mixer provides. - * - * This list can change between builds AND runs of the program, if external - * libraries that add functionality become available. You must successfully - * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, - * as decoders are activated at device open time. - * - * Appearing in this list doesn't promise your specific audio file will - * decode...but it's handy to know if you have, say, a functioning Ogg Vorbis - * install. - * - * These return values are static, read-only data; do not modify or free it. - * The pointers remain valid until you call Mix_CloseAudio(). - * - * \returns number of music decoders available. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GetMusicDecoder - * \sa Mix_HasMusicDecoder - */ -extern DECLSPEC int SDLCALL Mix_GetNumMusicDecoders(void); - -/** - * Get a music decoder's name. - * - * The requested decoder's index must be between zero and - * Mix_GetNumMusicDecoders()-1. It's safe to call this with an invalid index; - * this function will return NULL in that case. - * - * This list can change between builds AND runs of the program, if external - * libraries that add functionality become available. You must successfully - * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, - * as decoders are activated at device open time. - * - * \param index index of the music decoder. - * \returns the music decoder's name. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GetNumMusicDecoders - */ -extern DECLSPEC const char * SDLCALL Mix_GetMusicDecoder(int index); - -/** - * Check if a music decoder is available by name. - * - * This result can change between builds AND runs of the program, if external - * libraries that add functionality become available. You must successfully - * call Mix_OpenAudio() or Mix_OpenAudioDevice() before calling this function, - * as decoders are activated at device open time. - * - * Decoder names are arbitrary but also obvious, so you have to know what - * you're looking for ahead of time, but usually it's the file extension in - * capital letters (some example names are "MOD", "MP3", "FLAC"). - * - * \param name the decoder name to query. - * \returns SDL_TRUE if a decoder by that name is available, SDL_FALSE - * otherwise. - * - * \since This function is available since SDL_mixer 2.6.0 - * - * \sa Mix_GetNumMusicDecoders - * \sa Mix_GetMusicDecoder - */ -extern DECLSPEC SDL_bool SDLCALL Mix_HasMusicDecoder(const char *name); - -/** - * Find out the format of a mixer music. - * - * If `music` is NULL, this will query the currently playing music (and return - * MUS_NONE if nothing is currently playing). - * - * \param music the music object to query, or NULL for the currently-playing - * music. - * \returns the Mix_MusicType for the music object. - * - * \since This function is available since SDL_mixer 2.0.0 - */ -extern DECLSPEC Mix_MusicType SDLCALL Mix_GetMusicType(const Mix_Music *music); - -/** - * Get the title for a music object, or its filename. - * - * This returns format-specific metadata. Not all file formats supply this! - * - * If `music` is NULL, this will query the currently-playing music. - * - * If music's title tag is missing or empty, the filename will be returned. If - * you'd rather have the actual metadata or nothing, use - * Mix_GetMusicTitleTag() instead. - * - * Please note that if the music was loaded from an SDL_RWops instead of a - * filename, the filename returned will be an empty string (""). - * - * This function never returns NULL! If no data is available, it will return - * an empty string (""). - * - * \param music the music object to query, or NULL for the currently-playing - * music. - * \returns the music's title if available, or the filename if not, or "". - * - * \since This function is available since SDL_mixer 2.6.0. - * - * \sa Mix_GetMusicTitleTag - * \sa Mix_GetMusicArtistTag - * \sa Mix_GetMusicAlbumTag - * \sa Mix_GetMusicCopyrightTag - */ -extern DECLSPEC const char *SDLCALL Mix_GetMusicTitle(const Mix_Music *music); - -/** - * Get the title for a music object. - * - * This returns format-specific metadata. Not all file formats supply this! - * - * If `music` is NULL, this will query the currently-playing music. - * - * Unlike this function, Mix_GetMusicTitle() produce a string with the music's - * filename if a title isn't available, which might be preferable for some - * applications. - * - * This function never returns NULL! If no data is available, it will return - * an empty string (""). - * - * \param music the music object to query, or NULL for the currently-playing - * music. - * \returns the music's title if available, or "". - * - * \since This function is available since SDL_mixer 2.6.0. - * - * \sa Mix_GetMusicTitle - * \sa Mix_GetMusicArtistTag - * \sa Mix_GetMusicAlbumTag - * \sa Mix_GetMusicCopyrightTag - */ -extern DECLSPEC const char *SDLCALL Mix_GetMusicTitleTag(const Mix_Music *music); - -/** - * Get the artist name for a music object. - * - * This returns format-specific metadata. Not all file formats supply this! - * - * If `music` is NULL, this will query the currently-playing music. - * - * This function never returns NULL! If no data is available, it will return - * an empty string (""). - * - * \param music the music object to query, or NULL for the currently-playing - * music. - * \returns the music's artist name if available, or "". - * - * \since This function is available since SDL_mixer 2.6.0. - * - * \sa Mix_GetMusicTitleTag - * \sa Mix_GetMusicAlbumTag - * \sa Mix_GetMusicCopyrightTag - */ -extern DECLSPEC const char *SDLCALL Mix_GetMusicArtistTag(const Mix_Music *music); - -/** - * Get the album name for a music object. - * - * This returns format-specific metadata. Not all file formats supply this! - * - * If `music` is NULL, this will query the currently-playing music. - * - * This function never returns NULL! If no data is available, it will return - * an empty string (""). - * - * \param music the music object to query, or NULL for the currently-playing - * music. - * \returns the music's album name if available, or "". - * - * \since This function is available since SDL_mixer 2.6.0. - * - * \sa Mix_GetMusicTitleTag - * \sa Mix_GetMusicArtistTag - * \sa Mix_GetMusicCopyrightTag - */ -extern DECLSPEC const char *SDLCALL Mix_GetMusicAlbumTag(const Mix_Music *music); - -/** - * Get the copyright text for a music object. - * - * This returns format-specific metadata. Not all file formats supply this! - * - * If `music` is NULL, this will query the currently-playing music. - * - * This function never returns NULL! If no data is available, it will return - * an empty string (""). - * - * \param music the music object to query, or NULL for the currently-playing - * music. - * \returns the music's copyright text if available, or "". - * - * \since This function is available since SDL_mixer 2.6.0. - * - * \sa Mix_GetMusicTitleTag - * \sa Mix_GetMusicArtistTag - * \sa Mix_GetMusicAlbumTag - */ -extern DECLSPEC const char *SDLCALL Mix_GetMusicCopyrightTag(const Mix_Music *music); - -typedef void (SDLCALL *Mix_MixCallback)(void *udata, Uint8 *stream, int len); - -/** - * Set a function that is called after all mixing is performed. - * - * This can be used to provide real-time visual display of the audio stream or - * add a custom mixer filter for the stream data. - * - * The callback will fire every time SDL_mixer is ready to supply more data to - * the audio device, after it has finished all its mixing work. This runs - * inside an SDL audio callback, so it's important that the callback return - * quickly, or there could be problems in the audio playback. - * - * The data provided to the callback is in the format that the audio device - * was opened in, and it represents the exact waveform SDL_mixer has mixed - * from all playing chunks and music for playback. You are allowed to modify - * the data, but it cannot be resized (so you can't add a reverb effect that - * goes past the end of the buffer without saving some state between runs to - * add it into the next callback, or resample the buffer to a smaller size to - * speed it up, etc). - * - * The `arg` pointer supplied here is passed to the callback as-is, for - * whatever the callback might want to do with it (keep track of some ongoing - * state, settings, etc). - * - * Passing a NULL callback disables the post-mix callback until such a time as - * a new one callback is set. - * - * There is only one callback available. If you need to mix multiple inputs, - * be prepared to handle them from a single function. - * - * \param mix_func the callback function to become the new post-mix callback. - * \param arg a pointer that is passed, untouched, to the callback. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_HookMusic - */ -extern DECLSPEC void SDLCALL Mix_SetPostMix(Mix_MixCallback mix_func, void *arg); - -/** - * Add your own music player or additional mixer function. - * - * This works something like Mix_SetPostMix(), but it has some crucial - * differences. Note that an app can use this _and_ Mix_SetPostMix() at the - * same time. This allows an app to replace the built-in music playback, - * either with it's own music decoder or with some sort of - * procedurally-generated audio output. - * - * The supplied callback will fire every time SDL_mixer is preparing to supply - * more data to the audio device. This runs inside an SDL audio callback, so - * it's important that the callback return quickly, or there could be problems - * in the audio playback. - * - * Running this callback is the first thing SDL_mixer will do when starting to - * mix more audio. The buffer will contain silence upon entry, so the callback - * does not need to mix into existing data or initialize the buffer. - * - * Note that while a callback is set through this function, SDL_mixer will not - * mix any playing music; this callback is used instead. To disable this - * callback (and thus reenable built-in music playback) call this function - * with a NULL callback. - * - * The data written to by the callback is in the format that the audio device - * was opened in, and upon return from the callback, SDL_mixer will mix any - * playing chunks (but not music!) into the buffer. The callback cannot resize - * the buffer (so you must be prepared to provide exactly the amount of data - * demanded or leave it as silence). - * - * The `arg` pointer supplied here is passed to the callback as-is, for - * whatever the callback might want to do with it (keep track of some ongoing - * state, settings, etc). - * - * As there is only one music "channel" mixed, there is only one callback - * available. If you need to mix multiple inputs, be prepared to handle them - * from a single function. - * - * \param mix_func the callback function to become the new post-mix callback. - * \param arg a pointer that is passed, untouched, to the callback. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_SetPostMix - */ -extern DECLSPEC void SDLCALL Mix_HookMusic(Mix_MixCallback mix_func, void *arg); - -typedef void (SDLCALL *Mix_MusicFinishedCallback)(void); - -/** - * Set a callback that runs when a music object has stopped playing. - * - * This callback will fire when the currently-playing music has completed, or - * when it has been explicitly stopped from a call to Mix_HaltMusic. As such, - * this callback might fire from an arbitrary background thread at almost any - * time; try to limit what you do here. - * - * It is legal to start a new music object playing in this callback (or - * restart the one that just stopped). If the music finished normally, this - * can be used to loop the music without a gap in the audio playback. - * - * Do not call SDL_LockAudio() from this callback; you will either be inside - * the audio callback, or SDL_mixer will explicitly lock the audio before - * calling your callback. - * - * A NULL pointer will disable the callback. - * - * \param music_finished the callback function to become the new notification - * mechanism. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_HookMusicFinished(Mix_MusicFinishedCallback music_finished); - -/** - * Get a pointer to the user data for the current music hook. - * - * This returns the `arg` pointer last passed to Mix_HookMusic(), or NULL if - * that function has never been called. - * - * \returns pointer to the user data previously passed to Mix_HookMusic. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void * SDLCALL Mix_GetMusicHookData(void); - -typedef void (SDLCALL *Mix_ChannelFinishedCallback)(int channel); - -/** - * Set a callback that runs when a channel has finished playing. - * - * The callback may be called from the mixer's audio callback or it could be - * called as a result of Mix_HaltChannel(), etc. - * - * The callback has a single parameter, `channel`, which says what mixer - * channel has just stopped. - * - * Do not call SDL_LockAudio() from this callback; you will either be inside - * the audio callback, or SDL_mixer will explicitly lock the audio before - * calling your callback. - * - * A NULL pointer will disable the callback. - * - * \param channel_finished the callback function to become the new - * notification mechanism. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_ChannelFinished(Mix_ChannelFinishedCallback channel_finished); - - -#define MIX_CHANNEL_POST (-2) - -/** - * This is the format of a special effect callback: - * - * myeffect(int chan, void *stream, int len, void *udata); - * - * (chan) is the channel number that your effect is affecting. (stream) is the - * buffer of data to work upon. (len) is the size of (stream), and (udata) is - * a user-defined bit of data, which you pass as the last arg of - * Mix_RegisterEffect(), and is passed back unmolested to your callback. Your - * effect changes the contents of (stream) based on whatever parameters are - * significant, or just leaves it be, if you prefer. You can do whatever you - * like to the buffer, though, and it will continue in its changed state down - * the mixing pipeline, through any other effect functions, then finally to be - * mixed with the rest of the channels and music for the final output stream. - * - * DO NOT EVER call SDL_LockAudio() from your callback function! - */ -typedef void (SDLCALL *Mix_EffectFunc_t)(int chan, void *stream, int len, void *udata); - -/** - * This is a callback that signifies that a channel has finished all its loops - * and has completed playback. - * - * This gets called if the buffer plays out normally, or if you call - * Mix_HaltChannel(), implicitly stop a channel via Mix_AllocateChannels(), or - * unregister a callback while it's still playing. - * - * DO NOT EVER call SDL_LockAudio() from your callback function! - */ -typedef void (SDLCALL *Mix_EffectDone_t)(int chan, void *udata); - - -/** - * Register a special effect function. - * - * At mixing time, the channel data is copied into a buffer and passed through - * each registered effect function. After it passes through all the functions, - * it is mixed into the final output stream. The copy to buffer is performed - * once, then each effect function performs on the output of the previous - * effect. Understand that this extra copy to a buffer is not performed if - * there are no effects registered for a given chunk, which saves CPU cycles, - * and any given effect will be extra cycles, too, so it is crucial that your - * code run fast. Also note that the data that your function is given is in - * the format of the sound device, and not the format you gave to - * Mix_OpenAudio(), although they may in reality be the same. This is an - * unfortunate but necessary speed concern. Use Mix_QuerySpec() to determine - * if you can handle the data before you register your effect, and take - * appropriate actions. - * - * You may also specify a callback (Mix_EffectDone_t) that is called when the - * channel finishes playing. This gives you a more fine-grained control than - * Mix_ChannelFinished(), in case you need to free effect-specific resources, - * etc. If you don't need this, you can specify NULL. - * - * You may set the callbacks before or after calling Mix_PlayChannel(). - * - * Things like Mix_SetPanning() are just internal special effect functions, so - * if you are using that, you've already incurred the overhead of a copy to a - * separate buffer, and that these effects will be in the queue with any - * functions you've registered. The list of registered effects for a channel - * is reset when a chunk finishes playing, so you need to explicitly set them - * with each call to Mix_PlayChannel*(). - * - * You may also register a special effect function that is to be run after - * final mixing occurs. The rules for these callbacks are identical to those - * in Mix_RegisterEffect, but they are run after all the channels and the - * music have been mixed into a single stream, whereas channel-specific - * effects run on a given channel before any other mixing occurs. These global - * effect callbacks are call "posteffects". Posteffects only have their - * Mix_EffectDone_t function called when they are unregistered (since the main - * output stream is never "done" in the same sense as a channel). You must - * unregister them manually when you've had enough. Your callback will be told - * that the channel being mixed is `MIX_CHANNEL_POST` if the processing is - * considered a posteffect. - * - * After all these effects have finished processing, the callback registered - * through Mix_SetPostMix() runs, and then the stream goes to the audio - * device. - * - * DO NOT EVER call SDL_LockAudio() from your callback function! You are - * already running in the audio thread and the lock is already held! - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param chan the channel to register an effect to, or MIX_CHANNEL_POST. - * \param f effect the callback to run when more of this channel is to be - * mixed. - * \param d effect done callback. - * \param arg argument. - * \returns zero if error (no such channel), nonzero if added. Error messages - * can be retrieved from Mix_GetError(). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_RegisterEffect(int chan, Mix_EffectFunc_t f, Mix_EffectDone_t d, void *arg); - - -/** - * Explicitly unregister a special effect function. - * - * You may not need to call this at all, unless you need to stop an effect - * from processing in the middle of a chunk's playback. - * - * Posteffects are never implicitly unregistered as they are for channels (as - * the output stream does not have an end), but they may be explicitly - * unregistered through this function by specifying MIX_CHANNEL_POST for a - * channel. - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param channel the channel to unregister an effect on, or MIX_CHANNEL_POST. - * \param f effect the callback stop calling in future mixing iterations. - * \returns zero if error (no such channel or effect), nonzero if removed. - * Error messages can be retrieved from Mix_GetError(). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_UnregisterEffect(int channel, Mix_EffectFunc_t f); - -/** - * Explicitly unregister all special effect functions. - * - * You may not need to call this at all, unless you need to stop all effects - * from processing in the middle of a chunk's playback. - * - * Note that this will also shut off some internal effect processing, since - * Mix_SetPanning() and others may use this API under the hood. This is called - * internally when a channel completes playback. Posteffects are never - * implicitly unregistered as they are for channels, but they may be - * explicitly unregistered through this function by specifying - * MIX_CHANNEL_POST for a channel. - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param channel the channel to unregister all effects on, or - * MIX_CHANNEL_POST. - * \returns zero if error (no such channel), nonzero if all effects removed. - * Error messages can be retrieved from Mix_GetError(). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_UnregisterAllEffects(int channel); - - -#define MIX_EFFECTSMAXSPEED "MIX_EFFECTSMAXSPEED" - -/* - * These are the internally-defined mixing effects. They use the same API that - * effects defined in the application use, but are provided here as a - * convenience. Some effects can reduce their quality or use more memory in - * the name of speed; to enable this, make sure the environment variable - * MIX_EFFECTSMAXSPEED (see above) is defined before you call - * Mix_OpenAudio(). - */ - - -/** - * Set the panning of a channel. - * - * The left and right channels are specified as integers between 0 and 255, - * quietest to loudest, respectively. - * - * Technically, this is just individual volume control for a sample with two - * (stereo) channels, so it can be used for more than just panning. If you - * want real panning, call it like this: - * - * ```c - * Mix_SetPanning(channel, left, 255 - left); - * ``` - * - * Setting `channel` to MIX_CHANNEL_POST registers this as a posteffect, and - * the panning will be done to the final mixed stream before passing it on to - * the audio device. - * - * This uses the Mix_RegisterEffect() API internally, and returns without - * registering the effect function if the audio device is not configured for - * stereo output. Setting both `left` and `right` to 255 causes this effect to - * be unregistered, since that is the data's normal state. - * - * Note that an audio device in mono mode is a no-op, but this call will - * return successful in that case. Error messages can be retrieved from - * Mix_GetError(). - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param channel The mixer channel to pan or MIX_CHANNEL_POST. - * \param left Volume of stereo left channel, 0 is silence, 255 is full - * volume. - * \param right Volume of stereo right channel, 0 is silence, 255 is full - * volume. - * \returns zero if error (no such channel or Mix_RegisterEffect() fails), - * nonzero if panning effect enabled. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_SetPosition - * \sa Mix_SetDistance - */ -extern DECLSPEC int SDLCALL Mix_SetPanning(int channel, Uint8 left, Uint8 right); - - -/** - * Set the position of a channel. - * - * `angle` is an integer from 0 to 360, that specifies the location of the - * sound in relation to the listener. `angle` will be reduced as necessary - * (540 becomes 180 degrees, -100 becomes 260). Angle 0 is due north, and - * rotates clockwise as the value increases. For efficiency, the precision of - * this effect may be limited (angles 1 through 7 might all produce the same - * effect, 8 through 15 are equal, etc). `distance` is an integer between 0 - * and 255 that specifies the space between the sound and the listener. The - * larger the number, the further away the sound is. Using 255 does not - * guarantee that the channel will be removed from the mixing process or be - * completely silent. For efficiency, the precision of this effect may be - * limited (distance 0 through 5 might all produce the same effect, 6 through - * 10 are equal, etc). Setting `angle` and `distance` to 0 unregisters this - * effect, since the data would be unchanged. - * - * If you need more precise positional audio, consider using OpenAL for - * spatialized effects instead of SDL_mixer. This is only meant to be a basic - * effect for simple "3D" games. - * - * If the audio device is configured for mono output, then you won't get any - * effectiveness from the angle; however, distance attenuation on the channel - * will still occur. While this effect will function with stereo voices, it - * makes more sense to use voices with only one channel of sound, so when they - * are mixed through this effect, the positioning will sound correct. You can - * convert them to mono through SDL before giving them to the mixer in the - * first place if you like. - * - * Setting the channel to MIX_CHANNEL_POST registers this as a posteffect, and - * the positioning will be done to the final mixed stream before passing it on - * to the audio device. - * - * This is a convenience wrapper over Mix_SetDistance() and Mix_SetPanning(). - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param channel The mixer channel to position, or MIX_CHANNEL_POST. - * \param angle angle, in degrees. North is 0, and goes clockwise. - * \param distance distance; 0 is the listener, 255 is maxiumum distance away. - * \returns zero if error (no such channel or Mix_RegisterEffect() fails), - * nonzero if position effect is enabled. Error messages can be - * retrieved from Mix_GetError(). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetPosition(int channel, Sint16 angle, Uint8 distance); - - -/** - * Set the "distance" of a channel. - * - * `distance` is an integer from 0 to 255 that specifies the location of the - * sound in relation to the listener. Distance 0 is overlapping the listener, - * and 255 is as far away as possible. A distance of 255 does not guarantee - * silence; in such a case, you might want to try changing the chunk's volume, - * or just cull the sample from the mixing process with Mix_HaltChannel(). For - * efficiency, the precision of this effect may be limited (distances 1 - * through 7 might all produce the same effect, 8 through 15 are equal, etc). - * (distance) is an integer between 0 and 255 that specifies the space between - * the sound and the listener. The larger the number, the further away the - * sound is. Setting the distance to 0 unregisters this effect, since the data - * would be unchanged. If you need more precise positional audio, consider - * using OpenAL for spatialized effects instead of SDL_mixer. This is only - * meant to be a basic effect for simple "3D" games. - * - * Setting the channel to MIX_CHANNEL_POST registers this as a posteffect, and - * the distance attenuation will be done to the final mixed stream before - * passing it on to the audio device. - * - * This uses the Mix_RegisterEffect() API internally. - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param channel The mixer channel to attenuate, or MIX_CHANNEL_POST. - * \param distance distance; 0 is the listener, 255 is maxiumum distance away. - * \returns zero if error (no such channel or Mix_RegisterEffect() fails), - * nonzero if position effect is enabled. Error messages can be - * retrieved from Mix_GetError(). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetDistance(int channel, Uint8 distance); - - -/** - * Cause a channel to reverse its stereo. - * - * This is handy if the user has his speakers hooked up backwards, or you - * would like to have a trippy sound effect. - * - * Calling this function with `flip` set to non-zero reverses the chunks's - * usual channels. If `flip` is zero, the effect is unregistered. - * - * This uses the Mix_RegisterEffect() API internally, and thus is probably - * more CPU intensive than having the user just plug in his speakers - * correctly. Mix_SetReverseStereo() returns without registering the effect - * function if the audio device is not configured for stereo output. - * - * If you specify MIX_CHANNEL_POST for `channel`, then this effect is used on - * the final mixed stream before sending it on to the audio device (a - * posteffect). - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param channel The mixer channel to reverse, or MIX_CHANNEL_POST. - * \param flip non-zero to reverse stereo, zero to disable this effect. - * \returns zero if error (no such channel or Mix_RegisterEffect() fails), - * nonzero if reversing effect is enabled. Note that an audio device - * in mono mode is a no-op, but this call will return successful in - * that case. Error messages can be retrieved from Mix_GetError(). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetReverseStereo(int channel, int flip); - -/* end of effects API. */ - - - -/** - * Reserve the first channels for the application. - * - * While SDL_mixer will use up to the number of channels allocated by - * Mix_AllocateChannels(), this sets channels aside that will not be available - * when calling Mix_PlayChannel with a channel of -1 (play on the first unused - * channel). In this case, SDL_mixer will treat reserved channels as "used" - * whether anything is playing on them at the moment or not. - * - * This is useful if you've budgeted some channels for dedicated audio and the - * rest are just used as they are available. - * - * Calling this function will set channels 0 to `n - 1` to be reserved. This - * will not change channel allocations. The number of reserved channels will - * be clamped to the current number allocated. - * - * By default, no channels are reserved. - * - * \param num number of channels to reserve, starting at index zero. - * \returns the number of reserved channels. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_ReserveChannels(int num); - - -/* Channel grouping functions */ - -/** - * Assign a tag to a channel. - * - * A tag is an arbitary number that can be assigned to several mixer channels, - * to form groups of channels. - * - * If 'tag' is -1, the tag is removed (actually -1 is the tag used to - * represent the group of all the channels). - * - * This function replaces the requested channel's current tag; you may only - * have one tag per channel. - * - * You may not specify MAX_CHANNEL_POST for a channel. - * - * \param which the channel to set the tag on. - * \param tag an arbitrary value to assign a channel. - * \returns non-zero on success, zero on error (no such channel). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_GroupChannel(int which, int tag); - -/** - * Assign several consecutive channels to the same tag. - * - * A tag is an arbitary number that can be assigned to several mixer channels, - * to form groups of channels. - * - * If 'tag' is -1, the tag is removed (actually -1 is the tag used to - * represent the group of all the channels). - * - * This function replaces the requested channels' current tags; you may only - * have one tag per channel. - * - * You may not specify MAX_CHANNEL_POST for a channel. - * - * Note that this returns success and failure in the _opposite_ way from - * Mix_GroupChannel(). We regret the API design mistake. - * - * \param from the first channel to set the tag on. - * \param to the last channel to set the tag on, inclusive. - * \param tag an arbitrary value to assign a channel. - * \returns 0 if successful, negative on error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_GroupChannels(int from, int to, int tag); - -/** - * Finds the first available channel in a group of channels. - * - * A tag is an arbitary number that can be assigned to several mixer channels, - * to form groups of channels. - * - * This function searches all channels with a specified tag, and returns the - * channel number of the first one it finds that is currently unused. - * - * If no channels with the specified tag are unused, this function returns -1. - * - * \param tag an arbitrary value, assigned to channels, to search for. - * \returns first available channel, or -1 if none are available. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_GroupAvailable(int tag); - -/** - * Returns the number of channels in a group. - * - * If tag is -1, this will return the total number of channels allocated, - * regardless of what their tag might be. - * - * \param tag an arbitrary value, assigned to channels, to search for. - * \returns the number of channels assigned the specified tag. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_GroupCount(int tag); - -/** - * Find the "oldest" sample playing in a group of channels. - * - * Specifically, this function returns the channel number that is assigned the - * specified tag, is currently playing, and has the lowest start time, based - * on the value of SDL_GetTicks() when the channel started playing. - * - * If no channel with this tag is currently playing, this function returns -1. - * - * \param tag an arbitrary value, assigned to channels, to search through. - * \returns the "oldest" sample playing in a group of channels. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GroupNewer - */ -extern DECLSPEC int SDLCALL Mix_GroupOldest(int tag); - -/** - * Find the "most recent" sample playing in a group of channels. - * - * Specifically, this function returns the channel number that is assigned the - * specified tag, is currently playing, and has the highest start time, based - * on the value of SDL_GetTicks() when the channel started playing. - * - * If no channel with this tag is currently playing, this function returns -1. - * - * \param tag an arbitrary value, assigned to channels, to search through. - * \returns the "most recent" sample playing in a group of channels. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GroupOldest - */ -extern DECLSPEC int SDLCALL Mix_GroupNewer(int tag); - -/** - * Play an audio chunk on a specific channel. - * - * If the specified channel is -1, play on the first free channel (and return - * -1 without playing anything new if no free channel was available). - * - * If a specific channel was requested, and there is a chunk already playing - * there, that chunk will be halted and the new chunk will take its place. - * - * If `loops` is greater than zero, loop the sound that many times. If `loops` - * is -1, loop "infinitely" (~65000 times). - * - * Note that before SDL_mixer 2.6.0, this function was a macro that called - * Mix_PlayChannelTimed() with a fourth parameter ("ticks") of -1. This - * function still does the same thing, but promotes it to a proper API - * function. Older binaries linked against a newer SDL_mixer will still call - * Mix_PlayChannelTimed directly, as they are using the macro, which was - * available since the dawn of time. - * - * \param channel the channel on which to play the new chunk. - * \param chunk the new chunk to play. - * \param loops the number of times the chunk should loop, -1 to loop (not - * actually) infinitely. - * \returns which channel was used to play the sound, or -1 if sound could not - * be played. - * - * \since This function is available since SDL_mixer 2.6.0 (and as a macro - * since 2.0.0). - */ -extern DECLSPEC int SDLCALL Mix_PlayChannel(int channel, Mix_Chunk *chunk, int loops); - -/** - * Play an audio chunk on a specific channel for a maximum time. - * - * If the specified channel is -1, play on the first free channel (and return - * -1 without playing anything new if no free channel was available). - * - * If a specific channel was requested, and there is a chunk already playing - * there, that chunk will be halted and the new chunk will take its place. - * - * If `loops` is greater than zero, loop the sound that many times. If `loops` - * is -1, loop "infinitely" (~65000 times). - * - * `ticks` specifies the maximum number of milliseconds to play this chunk - * before halting it. If you want the chunk to play until all data has been - * mixed, specify -1. - * - * Note that this function does not block for the number of ticks requested; - * it just schedules the chunk to play and notes the maximum for the mixer to - * manage later, and returns immediately. - * - * \param channel the channel on which to play the new chunk. - * \param chunk the new chunk to play. - * \param loops the number of times the chunk should loop, -1 to loop (not - * actually) infinitely. - * \param ticks the maximum number of milliseconds of this chunk to mix for - * playback. - * \returns which channel was used to play the sound, or -1 if sound could not - * be played. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_PlayChannelTimed(int channel, Mix_Chunk *chunk, int loops, int ticks); - -/** - * Play a new music object. - * - * This will schedule the music object to begin mixing for playback. - * - * There is only ever one music object playing at a time; if this is called - * when another music object is playing, the currently-playing music is halted - * and the new music will replace it. - * - * Please note that if the currently-playing music is in the process of fading - * out (via Mix_FadeOutMusic()), this function will *block* until the fade - * completes. If you need to avoid this, be sure to call Mix_HaltMusic() - * before starting new music. - * - * \param music the new music object to schedule for mixing. - * \param loops the number of loops to play the music for (0 means "play once - * and stop"). - * \returns zero on success, -1 on error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_PlayMusic(Mix_Music *music, int loops); - -/** - * Play a new music object, fading in the audio. - * - * This will start the new music playing, much like Mix_PlayMusic() will, but - * will start the music playing at silence and fade in to its normal volume - * over the specified number of milliseconds. - * - * If there is already music playing, that music will be halted and the new - * music object will take its place. - * - * If `loops` is greater than zero, loop the music that many times. If `loops` - * is -1, loop "infinitely" (~65000 times). - * - * Fading music will change it's volume progressively, as if Mix_VolumeMusic() - * was called on it (which is to say: you probably shouldn't call - * Mix_VolumeMusic() on fading music). - * - * \param music the new music object to play. - * \param loops the number of times the chunk should loop, -1 to loop (not - * actually) infinitely. - * \param ms the number of milliseconds to spend fading in. - * \returns zero on success, -1 on error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_FadeInMusic(Mix_Music *music, int loops, int ms); - -/** - * Play a new music object, fading in the audio, from a starting position. - * - * This will start the new music playing, much like Mix_PlayMusic() will, but - * will start the music playing at silence and fade in to its normal volume - * over the specified number of milliseconds. - * - * If there is already music playing, that music will be halted and the new - * music object will take its place. - * - * If `loops` is greater than zero, loop the music that many times. If `loops` - * is -1, loop "infinitely" (~65000 times). - * - * Fading music will change it's volume progressively, as if Mix_VolumeMusic() - * was called on it (which is to say: you probably shouldn't call - * Mix_VolumeMusic() on fading music). - * - * This function allows the caller to start the music playback past the - * beginning of its audio data. You may specify a start position, in seconds, - * and the playback and fade-in will start there instead of with the first - * samples of the music. - * - * An app can specify a `position` of 0.0 to start at the beginning of the - * music (or just call Mix_FadeInMusic() instead). - * - * To convert from milliseconds, divide by 1000.0. - * - * \param music the new music object to play. - * \param loops the number of times the chunk should loop, -1 to loop (not - * actually) infinitely. - * \param ms the number of milliseconds to spend fading in. - * \param position the start position within the music, in seconds, where - * playback should start. - * \returns zero on success, -1 on error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_FadeInMusicPos(Mix_Music *music, int loops, int ms, double position); - -/** - * Play an audio chunk on a specific channel, fading in the audio. - * - * This will start the new sound playing, much like Mix_PlayChannel() will, - * but will start the sound playing at silence and fade in to its normal - * volume over the specified number of milliseconds. - * - * If the specified channel is -1, play on the first free channel (and return - * -1 without playing anything new if no free channel was available). - * - * If a specific channel was requested, and there is a chunk already playing - * there, that chunk will be halted and the new chunk will take its place. - * - * If `loops` is greater than zero, loop the sound that many times. If `loops` - * is -1, loop "infinitely" (~65000 times). - * - * A fading channel will change it's volume progressively, as if Mix_Volume() - * was called on it (which is to say: you probably shouldn't call Mix_Volume() - * on a fading channel). - * - * Note that before SDL_mixer 2.6.0, this function was a macro that called - * Mix_FadeInChannelTimed() with a fourth parameter ("ticks") of -1. This - * function still does the same thing, but promotes it to a proper API - * function. Older binaries linked against a newer SDL_mixer will still call - * Mix_FadeInChannelTimed directly, as they are using the macro, which was - * available since the dawn of time. - * - * \param channel the channel on which to play the new chunk, or -1 to find - * any available. - * \param chunk the new chunk to play. - * \param loops the number of times the chunk should loop, -1 to loop (not - * actually) infinitely. - * \param ms the number of milliseconds to spend fading in. - * \returns which channel was used to play the sound, or -1 if sound could not - * be played. - * - * \since This function is available since SDL_mixer 2.6.0 (and as a macro - * since 2.0.0). - */ -extern DECLSPEC int SDLCALL Mix_FadeInChannel(int channel, Mix_Chunk *chunk, int loops, int ms); - -/** - * Play an audio chunk on a specific channel, fading in the audio, for a - * maximum time. - * - * This will start the new sound playing, much like Mix_PlayChannel() will, - * but will start the sound playing at silence and fade in to its normal - * volume over the specified number of milliseconds. - * - * If the specified channel is -1, play on the first free channel (and return - * -1 without playing anything new if no free channel was available). - * - * If a specific channel was requested, and there is a chunk already playing - * there, that chunk will be halted and the new chunk will take its place. - * - * If `loops` is greater than zero, loop the sound that many times. If `loops` - * is -1, loop "infinitely" (~65000 times). - * - * `ticks` specifies the maximum number of milliseconds to play this chunk - * before halting it. If you want the chunk to play until all data has been - * mixed, specify -1. - * - * Note that this function does not block for the number of ticks requested; - * it just schedules the chunk to play and notes the maximum for the mixer to - * manage later, and returns immediately. - * - * A fading channel will change it's volume progressively, as if Mix_Volume() - * was called on it (which is to say: you probably shouldn't call Mix_Volume() - * on a fading channel). - * - * \param channel the channel on which to play the new chunk, or -1 to find - * any available. - * \param chunk the new chunk to play. - * \param loops the number of times the chunk should loop, -1 to loop (not - * actually) infinitely. - * \param ms the number of milliseconds to spend fading in. - * \param ticks the maximum number of milliseconds of this chunk to mix for - * playback. - * \returns which channel was used to play the sound, or -1 if sound could not - * be played. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_FadeInChannelTimed(int channel, Mix_Chunk *chunk, int loops, int ms, int ticks); - -/** - * Set the volume for a specific channel. - * - * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). - * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are - * clamped to MIX_MAX_VOLUME. - * - * Specifying a negative volume will not change the current volume; as such, - * this can be used to query the current volume without making changes, as - * this function returns the previous (in this case, still-current) value. - * - * If the specified channel is -1, this function sets the volume for all - * channels, and returns _the average_ of all channels' volumes prior to this - * call. - * - * The default volume for a channel is MIX_MAX_VOLUME (no attenuation). - * - * \param channel the channel on set/query the volume on, or -1 for all - * channels. - * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. - * \returns the previous volume. If the specified volume is -1, this returns - * the current volume. If `channel` is -1, this returns the average - * of all channels. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_Volume(int channel, int volume); - -/** - * Set the volume for a specific chunk. - * - * In addition to channels having a volume setting, individual chunks also - * maintain a separate volume. Both values are considered when mixing, so both - * affect the final attenuation of the sound. This lets an app adjust the - * volume for all instances of a sound in addition to specific instances of - * that sound. - * - * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). - * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are - * clamped to MIX_MAX_VOLUME. - * - * Specifying a negative volume will not change the current volume; as such, - * this can be used to query the current volume without making changes, as - * this function returns the previous (in this case, still-current) value. - * - * The default volume for a chunk is MIX_MAX_VOLUME (no attenuation). - * - * \param chunk the chunk whose volume to adjust. - * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. - * \returns the previous volume. If the specified volume is -1, this returns - * the current volume. If `chunk` is NULL, this returns -1. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_VolumeChunk(Mix_Chunk *chunk, int volume); - -/** - * Set the volume for the music channel. - * - * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). - * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are - * clamped to MIX_MAX_VOLUME. - * - * Specifying a negative volume will not change the current volume; as such, - * this can be used to query the current volume without making changes, as - * this function returns the previous (in this case, still-current) value. - * - * The default volume for music is MIX_MAX_VOLUME (no attenuation). - * - * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. - * \returns the previous volume. If the specified volume is -1, this returns - * the current volume. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_VolumeMusic(int volume); - -/** - * Query the current volume value for a music object. - * - * \param music the music object to query. - * \returns the music's current volume, between 0 and MIX_MAX_VOLUME (128). - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC int SDLCALL Mix_GetMusicVolume(Mix_Music *music); - -/** - * Set the master volume for all channels. - * - * SDL_mixer keeps a per-channel volume, a per-chunk volume, and a master - * volume, and considers all three when mixing audio. This function sets the - * master volume, which is applied to all playing channels when mixing. - * - * The volume must be between 0 (silence) and MIX_MAX_VOLUME (full volume). - * Note that MIX_MAX_VOLUME is 128. Values greater than MIX_MAX_VOLUME are - * clamped to MIX_MAX_VOLUME. - * - * Specifying a negative volume will not change the current volume; as such, - * this can be used to query the current volume without making changes, as - * this function returns the previous (in this case, still-current) value. - * - * Note that the master volume does not affect any playing music; it is only - * applied when mixing chunks. Use Mix_VolumeMusic() for that.\ - * - * \param volume the new volume, between 0 and MIX_MAX_VOLUME, or -1 to query. - * \returns the previous volume. If the specified volume is -1, this returns - * the current volume. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC int SDLCALL Mix_MasterVolume(int volume); - -/** - * Halt playing of a particular channel. - * - * This will stop further playback on that channel until a new chunk is - * started there. - * - * Specifying a channel of -1 will halt _all_ channels, except for any playing - * music. - * - * Any halted channels will have any currently-registered effects - * deregistered, and will call any callback specified by Mix_ChannelFinished() - * before this function returns. - * - * You may not specify MAX_CHANNEL_POST for a channel. - * - * \param channel channel to halt, or -1 to halt all channels. - * \returns 0 on success, or -1 on error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_HaltChannel(int channel); - -/** - * Halt playing of a group of channels by arbitrary tag. - * - * This will stop further playback on all channels with a specific tag, until - * a new chunk is started there. - * - * A tag is an arbitrary number that can be assigned to several mixer - * channels, to form groups of channels. - * - * The default tag for a channel is -1. - * - * Any halted channels will have any currently-registered effects - * deregistered, and will call any callback specified by Mix_ChannelFinished() - * before this function returns. - * - * \param tag an arbitrary value, assigned to channels, to search for. - * \returns zero, whether any channels were halted or not. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_HaltGroup(int tag); - -/** - * Halt playing of the music stream. - * - * This will stop further playback of music until a new music object is - * started there. - * - * Any halted music will call any callback specified by - * Mix_HookMusicFinished() before this function returns. - * - * \returns zero, regardless of whether any music was halted. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_HaltMusic(void); - -/** - * Change the expiration delay for a particular channel. - * - * The channel will halt after the 'ticks' milliseconds have elapsed, or - * remove the expiration if 'ticks' is -1. - * - * This overrides the value passed to the fourth parameter of - * Mix_PlayChannelTimed(). - * - * Specifying a channel of -1 will set an expiration for _all_ channels. - * - * Any halted channels will have any currently-registered effects - * deregistered, and will call any callback specified by Mix_ChannelFinished() - * once the halt occurs. - * - * Note that this function does not block for the number of ticks requested; - * it just schedules the chunk to expire and notes the time for the mixer to - * manage later, and returns immediately. - * - * \param channel the channel to change the expiration time on. - * \param ticks number of milliseconds from now to let channel play before - * halting, -1 to not halt. - * \returns the number of channels that changed expirations. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_ExpireChannel(int channel, int ticks); - -/** - * Halt a channel after fading it out for a specified time. - * - * This will begin a channel fading from its current volume to silence over - * `ms` milliseconds. After that time, the channel is halted. - * - * Any halted channels will have any currently-registered effects - * deregistered, and will call any callback specified by Mix_ChannelFinished() - * once the halt occurs. - * - * A fading channel will change it's volume progressively, as if Mix_Volume() - * was called on it (which is to say: you probably shouldn't call Mix_Volume() - * on a fading channel). - * - * Note that this function does not block for the number of milliseconds - * requested; it just schedules the chunk to fade and notes the time for the - * mixer to manage later, and returns immediately. - * - * \param which the channel to fade out. - * \param ms number of milliseconds to fade before halting the channel. - * \returns the number of channels scheduled to fade. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_FadeOutChannel(int which, int ms); - -/** - * Halt a playing group of channels by arbitrary tag, after fading them out - * for a specified time. - * - * This will begin fading a group of channels with a specific tag from their - * current volumes to silence over `ms` milliseconds. After that time, those - * channels are halted. - * - * A tag is an arbitrary number that can be assigned to several mixer - * channels, to form groups of channels. - * - * The default tag for a channel is -1. - * - * Any halted channels will have any currently-registered effects - * deregistered, and will call any callback specified by Mix_ChannelFinished() - * once the halt occurs. - * - * A fading channel will change it's volume progressively, as if Mix_Volume() - * was called on it (which is to say: you probably shouldn't call Mix_Volume() - * on a fading channel). - * - * Note that this function does not block for the number of milliseconds - * requested; it just schedules the group to fade and notes the time for the - * mixer to manage later, and returns immediately. - * - * \param tag an arbitrary value, assigned to channels, to search for. - * \param ms number of milliseconds to fade before halting the group. - * \returns the number of channels that were scheduled for fading. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_FadeOutGroup(int tag, int ms); - -/** - * Halt the music stream after fading it out for a specified time. - * - * This will begin the music fading from its current volume to silence over - * `ms` milliseconds. After that time, the music is halted. - * - * Any halted music will call any callback specified by - * Mix_HookMusicFinished() once the halt occurs. - * - * Fading music will change it's volume progressively, as if Mix_VolumeMusic() - * was called on it (which is to say: you probably shouldn't call - * Mix_VolumeMusic() on a fading channel). - * - * Note that this function does not block for the number of milliseconds - * requested; it just schedules the music to fade and notes the time for the - * mixer to manage later, and returns immediately. - * - * \param ms number of milliseconds to fade before halting the channel. - * \returns non-zero if music was scheduled to fade, zero otherwise. If no - * music is currently playing, this returns zero. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_FadeOutMusic(int ms); - -/** - * Query the fading status of the music stream. - * - * This reports one of three values: - * - * - `MIX_NO_FADING` - * - `MIX_FADING_OUT` - * - `MIX_FADING_IN` - * - * If music is not currently playing, this returns `MIX_NO_FADING`. - * - * \returns the current fading status of the music stream. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC Mix_Fading SDLCALL Mix_FadingMusic(void); - -/** - * Query the fading status of a channel. - * - * This reports one of three values: - * - * - `MIX_NO_FADING` - * - `MIX_FADING_OUT` - * - `MIX_FADING_IN` - * - * If nothing is currently playing on the channel, or an invalid channel is - * specified, this returns `MIX_NO_FADING`. - * - * You may not specify MAX_CHANNEL_POST for a channel. - * - * You may not specify -1 for all channels; only individual channels may be - * queried. - * - * \param which the channel to query. - * \returns the current fading status of the channel. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC Mix_Fading SDLCALL Mix_FadingChannel(int which); - -/** - * Pause a particular channel. - * - * Pausing a channel will prevent further playback of the assigned chunk but - * will maintain the chunk's current mixing position. When resumed, this - * channel will continue to mix the chunk where it left off. - * - * A paused channel can be resumed by calling Mix_Resume(). - * - * A paused channel with an expiration will not expire while paused (the - * expiration countdown will be adjusted once resumed). - * - * It is legal to halt a paused channel. Playing a new chunk on a paused - * channel will replace the current chunk and unpause the channel. - * - * Specifying a channel of -1 will pause _all_ channels. Any music is - * unaffected. - * - * You may not specify MAX_CHANNEL_POST for a channel. - * - * \param channel the channel to pause, or -1 to pause all channels. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_Pause(int channel); - -/** - * Resume a particular channel. - * - * It is legal to resume an unpaused or invalid channel; it causes no effect - * and reports no error. - * - * If the paused channel has an expiration, its expiration countdown resumes - * now, as well. - * - * Specifying a channel of -1 will resume _all_ paused channels. Any music is - * unaffected. - * - * \param channel the channel to resume, or -1 to resume all paused channels. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_Resume(int channel); - -/** - * Query whether a particular channel is paused. - * - * If an invalid channel is specified, this function returns zero. - * - * \param channel the channel to query, or -1 to query all channels. - * \return 1 if channel paused, 0 otherwise. If `channel` is -1, returns the - * number of paused channels. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_Paused(int channel); - -/** - * Pause the music stream. - * - * Pausing the music stream will prevent further playback of the assigned - * music object, but will maintain the object's current mixing position. When - * resumed, this channel will continue to mix the music where it left off. - * - * Paused music can be resumed by calling Mix_ResumeMusic(). - * - * It is legal to halt paused music. Playing a new music object when music is - * paused will replace the current music and unpause the music stream. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_PauseMusic(void); - -/** - * Resume the music stream. - * - * It is legal to resume an unpaused music stream; it causes no effect and - * reports no error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_ResumeMusic(void); - -/** - * Rewind the music stream. - * - * This causes the currently-playing music to start mixing from the beginning - * of the music, as if it were just started. - * - * It's a legal no-op to rewind the music stream when not playing. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC void SDLCALL Mix_RewindMusic(void); - -/** - * Query whether the music stream is paused. - * - * \return 1 if music is paused, 0 otherwise. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_PauseMusic - * \sa Mix_ResumeMusic - */ -extern DECLSPEC int SDLCALL Mix_PausedMusic(void); - -/** - * Jump to a given order in mod music. - * - * This only applies to MOD music formats. - * - * \param order order. - * \returns 0 if successful, or -1 if failed or isn't implemented. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC int SDLCALL Mix_ModMusicJumpToOrder(int order); - -/** - * Start a track in music object. - * - * This only applies to GME music formats. - * - * \param music the music object. - * \param track the track number to play. 0 is the first track. - * \returns 0 if successful, or -1 if failed or isn't implemented. - * - * \since This function is available since SDL_mixer 2.8.0. - */ -extern DECLSPEC int SDLCALL Mix_StartTrack(Mix_Music *music, int track); - -/** - * Get number of tracks in music object. - * - * This only applies to GME music formats. - * - * \param music the music object. - * \returns number of tracks if successful, or -1 if failed or isn't - * implemented. - * - * \since This function is available since SDL_mixer 2.8.0. - */ -extern DECLSPEC int SDLCALL Mix_GetNumTracks(Mix_Music *music); - -/** - * Set the current position in the music stream, in seconds. - * - * To convert from milliseconds, divide by 1000.0. - * - * This function is only implemented for MOD music formats (set pattern order - * number) and for WAV, OGG, FLAC, MP3, and MODPLUG music at the moment. - * - * \param position the new position, in seconds (as a double). - * \returns 0 if successful, or -1 if it failed or not implemented. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetMusicPosition(double position); - -/** - * Get the time current position of music stream, in seconds. - * - * To convert to milliseconds, multiply by 1000.0. - * - * \param music the music object to query. - * \returns -1.0 if this feature is not supported for some codec. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC double SDLCALL Mix_GetMusicPosition(Mix_Music *music); - -/** - * Get a music object's duration, in seconds. - * - * To convert to milliseconds, multiply by 1000.0. - * - * If NULL is passed, returns duration of current playing music. - * - * \param music the music object to query. - * \returns music duration in seconds, or -1.0 on error. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC double SDLCALL Mix_MusicDuration(Mix_Music *music); - -/** - * Get the loop start time position of music stream, in seconds. - * - * To convert to milliseconds, multiply by 1000.0. - * - * If NULL is passed, returns duration of current playing music. - * - * \param music the music object to query. - * \returns -1.0 if this feature is not used for this music or not supported - * for some codec. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC double SDLCALL Mix_GetMusicLoopStartTime(Mix_Music *music); - -/** - * Get the loop end time position of music stream, in seconds. - * - * To convert to milliseconds, multiply by 1000.0. - * - * If NULL is passed, returns duration of current playing music. - * - * \param music the music object to query. - * \returns -1.0 if this feature is not used for this music or not supported - * for some codec. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC double SDLCALL Mix_GetMusicLoopEndTime(Mix_Music *music); - -/** - * Get the loop time length of music stream, in seconds. - * - * To convert to milliseconds, multiply by 1000.0. - * - * If NULL is passed, returns duration of current playing music. - * - * \param music the music object to query. - * \returns -1.0 if this feature is not used for this music or not supported - * for some codec. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC double SDLCALL Mix_GetMusicLoopLengthTime(Mix_Music *music); - -/** - * Check the playing status of a specific channel. - * - * If the channel is currently playing, this function returns 1. Otherwise it - * returns 0. - * - * If the specified channel is -1, all channels are checked, and this function - * returns the number of channels currently playing. - * - * You may not specify MAX_CHANNEL_POST for a channel. - * - * Paused channels are treated as playing, even though they are not currently - * making forward progress in mixing. - * - * \param channel channel. - * \returns non-zero if channel is playing, zero otherwise. If `channel` is - * -1, return the total number of channel playings. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_Playing(int channel); - -/** - * Check the playing status of the music stream. - * - * If music is currently playing, this function returns 1. Otherwise it - * returns 0. - * - * Paused music is treated as playing, even though it is not currently making - * forward progress in mixing. - * - * \returns non-zero if music is playing, zero otherwise. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_PlayingMusic(void); - -/** - * Run an external command as the music stream. - * - * This halts any currently-playing music, and next time the music stream is - * played, SDL_mixer will spawn a process using the command line specified in - * `command`. This command is not subject to shell expansion, and beyond some - * basic splitting up of arguments, is passed to execvp() on most platforms, - * not system(). - * - * The command is responsible for generating sound; it is NOT mixed by - * SDL_mixer! SDL_mixer will kill the child process if asked to halt the - * music, but otherwise does not have any control over what the process does. - * - * You are strongly encouraged not to use this function without an extremely - * good reason. - * - * \param command command. - * \returns 0 if successful, -1 on error. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetMusicCMD(const char *command); - -/** - * This function does nothing, do not use. - * - * This was probably meant to expose a feature, but no codecs support it, so - * it only remains for binary compatibility. - * - * Calling this function is a legal no-op that returns -1. - * - * \param value this parameter is ignored. - * \returns -1. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetSynchroValue(int value); - -/** - * This function does nothing, do not use. - * - * This was probably meant to expose a feature, but no codecs support it, so - * it only remains for binary compatibility. - * - * Calling this function is a legal no-op that returns -1. - * - * \returns -1. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_GetSynchroValue(void); - -/** - * Set SoundFonts paths to use by supported MIDI backends. - * - * You may specify multiple paths in a single string by separating them with - * semicolons; they will be searched in the order listed. - * - * This function replaces any previously-specified paths. - * - * Passing a NULL path will remove any previously-specified paths. - * - * Note that unlike most SDL and SDL_mixer functions, this function returns - * zero if there's an error, not on success. We apologize for the API design - * inconsistency here. - * - * \param paths Paths on the filesystem where SoundFonts are available, - * separated by semicolons. - * \returns 1 if successful, 0 on error (out of memory). - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC int SDLCALL Mix_SetSoundFonts(const char *paths); - -/** - * Get SoundFonts paths to use by supported MIDI backends. - * - * There are several factors that determine what will be reported by this - * function: - * - * - If the boolean _SDL hint_ `"SDL_FORCE_SOUNDFONTS"` is set, AND the - * `"SDL_SOUNDFONTS"` _environment variable_ is also set, this function will - * return that environment variable regardless of whether - * Mix_SetSoundFounts() was ever called. - * - Otherwise, if Mix_SetSoundFonts() was successfully called with a non-NULL - * path, this function will return the string passed to that function. - * - Otherwise, if the `"SDL_SOUNDFONTS"` variable is set, this function will - * return that environment variable. - * - Otherwise, this function will search some common locations on the - * filesystem, and if it finds a SoundFont there, it will return that. - * - Failing everything else, this function returns NULL. - * - * This returns a pointer to internal (possibly read-only) memory, and it - * should not be modified or free'd by the caller. - * - * \returns semicolon-separated list of sound font paths. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC const char* SDLCALL Mix_GetSoundFonts(void); - -typedef int (SDLCALL *Mix_EachSoundFontCallback)(const char*, void*); - -/** - * Iterate SoundFonts paths to use by supported MIDI backends. - * - * This function will take the string reported by Mix_GetSoundFonts(), split - * it up into separate paths, as delimited by semicolons in the string, and - * call a callback function for each separate path. - * - * If there are no paths available, this returns 0 without calling the - * callback at all. - * - * If the callback returns non-zero, this function stops iterating and returns - * non-zero. If the callback returns 0, this function will continue iterating, - * calling the callback again for further paths. If the callback never returns - * 1, this function returns 0, so this can be used to decide if an available - * soundfont is acceptable for use. - * - * \param function the callback function to call once per path. - * \param data a pointer to pass to the callback for its own personal use. - * \returns non-zero if callback ever returned non-zero, 0 on error or the - * callback never returned non-zero. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_GetSoundFonts - */ -extern DECLSPEC int SDLCALL Mix_EachSoundFont(Mix_EachSoundFontCallback function, void *data); - -/** - * Set full path of the Timidity config file. - * - * For example, "/etc/timidity.cfg" - * - * This is obviously only useful if SDL_mixer is using Timidity internally to - * play MIDI files. - * - * \param path path to a Timidity config file. - * \returns 1 if successful, 0 on error. - * - * \since This function is available since SDL_mixer 2.6.0. - */ -extern DECLSPEC int SDLCALL Mix_SetTimidityCfg(const char *path); - -/** - * Get full path of a previously-specified Timidity config file. - * - * For example, "/etc/timidity.cfg" - * - * If a path has never been specified, this returns NULL. - * - * This returns a pointer to internal memory, and it should not be modified or - * free'd by the caller. - * - * \returns the previously-specified path, or NULL if not set. - * - * \since This function is available since SDL_mixer 2.6.0. - * - * \sa Mix_SetTimidityCfg - */ -extern DECLSPEC const char* SDLCALL Mix_GetTimidityCfg(void); - -/** - * Get the Mix_Chunk currently associated with a mixer channel. - * - * You may not specify MAX_CHANNEL_POST or -1 for a channel. - * - * \param channel the channel to query. - * \returns the associated chunk, if any, or NULL if it's an invalid channel. - * - * \since This function is available since SDL_mixer 2.0.0. - */ -extern DECLSPEC Mix_Chunk * SDLCALL Mix_GetChunk(int channel); - -/** - * Close the mixer, halting all playing audio. - * - * Any halted channels will have any currently-registered effects - * deregistered, and will call any callback specified by Mix_ChannelFinished() - * before this function returns. - * - * Any halted music will call any callback specified by - * Mix_HookMusicFinished() before this function returns. - * - * Do not start any new audio playing during callbacks in this function. - * - * This will close the audio device. Attempting to play new audio after this - * function returns will fail, until another successful call to - * Mix_OpenAudio() or Mix_OpenAudioDevice(). - * - * Note that (unlike Mix_OpenAudio optionally calling SDL_Init(SDL_INIT_AUDIO) - * on the app's behalf), this will _not_ deinitialize the SDL audio subsystem - * in any case. At some point after calling this function and Mix_Quit(), some - * part of the application should be responsible for calling SDL_Quit() to - * deinitialize all of SDL, including its audio subsystem. - * - * This function should be the last thing you call in SDL_mixer before - * Mix_Quit(). However, the following notes apply if you don't follow this - * advice: - * - * Note that this will not free any loaded chunks or music; you should dispose - * of those resources separately. It is probably poor form to dispose of them - * _after_ this function, but it is safe to call Mix_FreeChunk() and - * Mix_FreeMusic() after closing the device. - * - * Note that any chunks or music you don't free may or may not work if you - * call Mix_OpenAudio again, as the audio device may be in a new format and - * the existing chunks will not be converted to match. - * - * \since This function is available since SDL_mixer 2.0.0. - * - * \sa Mix_Quit - */ -extern DECLSPEC void SDLCALL Mix_CloseAudio(void); - -/* We'll use SDL for reporting errors */ - -/** - * Report SDL_mixer errors - * - * \sa Mix_GetError - */ -#define Mix_SetError SDL_SetError - -/** - * Get last SDL_mixer error - * - * \sa Mix_SetError - */ -#define Mix_GetError SDL_GetError - -/** - * Clear last SDL_mixer error - * - * \sa Mix_SetError - */ -#define Mix_ClearError SDL_ClearError - -/** - * Set OutOfMemory error - */ -#define Mix_OutOfMemory SDL_OutOfMemory - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif - -#include "close_code.h" - -#endif /* SDL_MIXER_H_ */ diff --git a/subprojects/sdl2_mixer_windows/meson.build b/subprojects/sdl2_mixer_windows/meson.build deleted file mode 100644 index 048838209..000000000 --- a/subprojects/sdl2_mixer_windows/meson.build +++ /dev/null @@ -1,15 +0,0 @@ -project('sdl2_mixer_windows', 'cpp') - -fs = import('fs') - -new_dir = join_paths('C:/TDT4102-mingw64','SDL2','sdl2_mixer_lib') -old_dir = join_paths(meson.current_source_dir(), 'lib') -#Ensuring backwards compatability in transition when SDL2 can be both places -dir_to_use = fs.exists(new_dir) ? new_dir : old_dir - -cxx = meson.get_compiler('cpp') -sdl2_mixer_windows_dep = declare_dependency( - dependencies : [cxx.find_library('SDL2_mixer', dirs : dir_to_use)], - include_directories : include_directories(join_paths('include', 'SDL2'))) - - \ No newline at end of file diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.gme.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.gme.txt deleted file mode 100644 index 5faba9d48..000000000 --- a/subprojects/sdl2_mixer_windows/optional/LICENSE.gme.txt +++ /dev/null @@ -1,504 +0,0 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. 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IN NO EVENT SHALL THE FOUNDATION -OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.opus.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.opus.txt deleted file mode 100644 index c43fe9c05..000000000 --- a/subprojects/sdl2_mixer_windows/optional/LICENSE.opus.txt +++ /dev/null @@ -1,48 +0,0 @@ -The source code to this library used with SDL_mixer can be found here: -https://hg.libsdl.org/SDL_mixer/file/default/external ---- - -Copyright 2001-2011 Xiph.Org, Skype Limited, Octasic, - Jean-Marc Valin, Timothy B. Terriberry, - CSIRO, Gregory Maxwell, Mark Borgerding, - Erik de Castro Lopo - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -- Redistributions of source code must retain the above copyright -notice, this list of conditions and the following disclaimer. - -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. - -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER -OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -Opus is subject to the royalty-free patent licenses which are -specified at: - -Xiph.Org Foundation: -https://datatracker.ietf.org/ipr/1524/ - -Microsoft Corporation: -https://datatracker.ietf.org/ipr/1914/ - -Broadcom Corporation: -https://datatracker.ietf.org/ipr/1526/ diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.opusfile.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.opusfile.txt deleted file mode 100644 index e62a20bdd..000000000 --- a/subprojects/sdl2_mixer_windows/optional/LICENSE.opusfile.txt +++ /dev/null @@ -1,32 +0,0 @@ -The source code to this library used with SDL_mixer can be found here: -https://hg.libsdl.org/SDL_mixer/file/default/external ---- - -Copyright (c) 1994-2013 Xiph.Org Foundation and contributors - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -- Redistributions of source code must retain the above copyright -notice, this list of conditions and the following disclaimer. - -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. - -- Neither the name of the Xiph.Org Foundation nor the names of its -contributors may be used to endorse or promote products derived from -this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION -OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.wavpack.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.wavpack.txt deleted file mode 100644 index 60aa8cc2e..000000000 --- a/subprojects/sdl2_mixer_windows/optional/LICENSE.wavpack.txt +++ /dev/null @@ -1,25 +0,0 @@ - Copyright (c) 1998 - 2022 David Bryant - All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of Conifer Software nor the names of its contributors - may be used to endorse or promote products derived from this software - without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR -ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/subprojects/sdl2_mixer_windows/optional/LICENSE.xmp.txt b/subprojects/sdl2_mixer_windows/optional/LICENSE.xmp.txt deleted file mode 100644 index 0b3f1418d..000000000 --- a/subprojects/sdl2_mixer_windows/optional/LICENSE.xmp.txt +++ /dev/null @@ -1,20 +0,0 @@ -Extended Module Player -Copyright (C) 1996-2024 Claudio Matsuoka and Hipolito Carraro Jr - -Permission is hereby granted, free of charge, to any person obtaining a -copy of this software and associated documentation files (the "Software"), -to deal in the Software without restriction, including without limitation -the rights to use, copy, modify, merge, publish, distribute, sublicense, -and/or sell copies of the Software, and to permit persons to whom the -Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. diff --git a/subprojects/sdl2_windows/BUGS.txt b/subprojects/sdl2_windows/BUGS.txt deleted file mode 100644 index b1463e777..000000000 --- a/subprojects/sdl2_windows/BUGS.txt +++ /dev/null @@ -1,16 +0,0 @@ - -Bugs are now managed in the SDL issue tracker, here: - - https://github.com/libsdl-org/SDL/issues - -You may report bugs there, and search to see if a given issue has already - been reported, discussed, and maybe even fixed. - - -You may also find help at the SDL forums/mailing list: - - https://discourse.libsdl.org/ - -Bug reports are welcome here, but we really appreciate if you use the issue - tracker, as bugs discussed on the mailing list may be forgotten or missed. - diff --git a/subprojects/sdl2_windows/COPYING.txt b/subprojects/sdl2_windows/COPYING.txt deleted file mode 100644 index 0e2bef3fc..000000000 --- a/subprojects/sdl2_windows/COPYING.txt +++ /dev/null @@ -1,20 +0,0 @@ - -Simple DirectMedia Layer -Copyright (C) 1997-2020 Sam Lantinga - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any damages -arising from the use of this software. - -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it -freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. - diff --git a/subprojects/sdl2_windows/CREDITS.txt b/subprojects/sdl2_windows/CREDITS.txt deleted file mode 100644 index 7e4086712..000000000 --- a/subprojects/sdl2_windows/CREDITS.txt +++ /dev/null @@ -1,53 +0,0 @@ - -Simple DirectMedia Layer CREDITS -Thanks to everyone who made this possible, including: - -* Cliff Matthews, for giving me a reason to start this project. :) - -- Executor rocks! *grin* - -* Ryan Gordon for helping everybody out and keeping the dream alive. :) - -* Gabriel Jacobo for his work on the Android port and generally helping out all around. - -* Philipp Wiesemann for his attention to detail reviewing the entire SDL code base and proposes patches. - -* Andreas Schiffler for his dedication to unit tests, Visual Studio projects, and managing the Google Summer of Code. - -* Mike Sartain for incorporating SDL into Team Fortress 2 and cheering me on at Valve. - -* Alfred Reynolds for the game controller API and general (in)sanity - -* Jørgen Tjernø for numerous magical Mac OS X fixes. - -* Pierre-Loup Griffais for his deep knowledge of OpenGL drivers. - -* Julian Winter for the SDL 2.0 website. - -* Sheena Smith for many months of great work on the SDL wiki creating the API documentation and style guides. - -* Paul Hunkin for his port of SDL to Android during the Google Summer of Code 2010. - -* Eli Gottlieb for his work on shaped windows during the Google Summer of Code 2010. - -* Jim Grandpre for his work on multi-touch and gesture recognition during - the Google Summer of Code 2010. - -* Edgar "bobbens" Simo for his force feedback API development during the - Google Summer of Code 2008. - -* Aaron Wishnick for his work on audio resampling and pitch shifting during - the Google Summer of Code 2008. - -* Holmes Futrell for his port of SDL to the iPhone and iPod Touch during the - Google Summer of Code 2008. - -* Jon Atkins for SDL_image, SDL_mixer and SDL_net documentation. - -* Everybody at Loki Software, Inc. for their great contributions! - - And a big hand to everyone else who has contributed over the years. - -THANKS! :) - - -- Sam Lantinga - diff --git a/subprojects/sdl2_windows/INSTALL.txt b/subprojects/sdl2_windows/INSTALL.txt deleted file mode 100644 index 11a4ca8b0..000000000 --- a/subprojects/sdl2_windows/INSTALL.txt +++ /dev/null @@ -1,18 +0,0 @@ - -The 32-bit files are in i686-w64-mingw32 -The 64-bit files are in x86_64-w64-mingw32 - -To install SDL for native development: - make native - -To install SDL for cross-compiling development: - make cross - -Look at the example programs in ./test, and check out online documentation: - http://wiki.libsdl.org/ - -Join the SDL developer mailing list if you want to join the community: - http://www.libsdl.org/mailing-list.php - -That's it! -Sam Lantinga diff --git a/subprojects/sdl2_windows/README-SDL.txt b/subprojects/sdl2_windows/README-SDL.txt deleted file mode 100644 index 8d92955a9..000000000 --- a/subprojects/sdl2_windows/README-SDL.txt +++ /dev/null @@ -1,13 +0,0 @@ - -Please distribute this file with the SDL runtime environment: - -The Simple DirectMedia Layer (SDL for short) is a cross-platform library -designed to make it easy to write multi-media software, such as games -and emulators. - -The Simple DirectMedia Layer library source code is available from: -https://www.libsdl.org/ - -This library is distributed under the terms of the zlib license: -http://www.zlib.net/zlib_license.html - diff --git a/subprojects/sdl2_windows/README.txt b/subprojects/sdl2_windows/README.txt deleted file mode 100644 index 431ba0e74..000000000 --- a/subprojects/sdl2_windows/README.txt +++ /dev/null @@ -1,21 +0,0 @@ - - Simple DirectMedia Layer - - (SDL) - - Version 2.0 - ---- -https://www.libsdl.org/ - -Simple DirectMedia Layer is a cross-platform development library designed -to provide low level access to audio, keyboard, mouse, joystick, and graphics -hardware via OpenGL and Direct3D. It is used by video playback software, -emulators, and popular games including Valve's award winning catalog -and many Humble Bundle games. - -More extensive documentation is available in the docs directory, starting -with README.md - -Enjoy! - Sam Lantinga (slouken@libsdl.org) diff --git a/subprojects/sdl2_windows/WhatsNew.txt b/subprojects/sdl2_windows/WhatsNew.txt deleted file mode 100644 index a7cdf8462..000000000 --- a/subprojects/sdl2_windows/WhatsNew.txt +++ /dev/null @@ -1,853 +0,0 @@ - -This is a list of major changes in SDL's version history. - ---------------------------------------------------------------------------- -2.26.0: ---------------------------------------------------------------------------- - -General: -* Updated OpenGL headers to the latest API from The Khronos Group Inc. -* Added SDL_GetWindowSizeInPixels() to get the window size in pixels, which may differ from the window coordinate size for windows with high-DPI support -* Added simulated vsync synchronization for the software renderer -* Added the mouse position to SDL_MouseWheelEvent -* Added SDL_ResetHints() to reset all hints to their default values -* Added SDL_GetJoystickGUIDInfo() to get device information encoded in a joystick GUID -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_360 to control whether the HIDAPI driver for XBox 360 controllers should be used -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_PLAYER_LED to control whether the player LEDs should be lit to indicate which player is associated with an Xbox 360 controller -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_WIRELESS to control whether the HIDAPI driver for XBox 360 wireless controllers should be used -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE to control whether the HIDAPI driver for XBox One controllers should be used -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE_HOME_LED to control the brightness of the XBox One guide button LED -* Added support for PS3 controllers to the HIDAPI driver, enabled by default on macOS, controlled by the SDL_HINT_JOYSTICK_HIDAPI_PS3 hint -* Added support for Nintendo Wii controllers to the HIDAPI driver, not enabled by default, controlled by the SDL_HINT_JOYSTICK_HIDAPI_WII hint -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_WII_PLAYER_LED to control whether the player LED should be lit on the Nintendo Wii controllers -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS to control whether Nintendo Switch Joy-Con controllers will be in vertical mode when using the HIDAPI driver -* Added access to the individual left and right gyro sensors of the combined Joy-Cons controller -* Added a microsecond timestamp to SDL_SensorEvent and SDL_ControllerSensorEvent, when the hardware provides that information -* Added SDL_SensorGetDataWithTimestamp() and SDL_GameControllerGetSensorDataWithTimestamp() to retrieve the last sensor data with the associated microsecond timestamp -* Added the hint SDL_HINT_HIDAPI_IGNORE_DEVICES to have the SDL HID API ignore specific devices -* SDL_GetRevision() now includes more information about the SDL build, including the git commit hash if available - -Windows: -* Added the hint SDL_HINT_MOUSE_RELATIVE_SYSTEM_SCALE to control whether the system mouse acceleration curve is used for relative mouse motion - -macOS: -* Implemented vsync synchronization on macOS 12 - -Linux: -* Added SDL_SetPrimarySelectionText(), SDL_GetPrimarySelectionText(), and SDL_HasPrimarySelectionText() to interact with the X11 primary selection clipboard -* Added the hint SDL_HINT_VIDEO_WAYLAND_EMULATE_MOUSE_WARP to control whether mouse pointer warp emulation is enabled under Wayland - -Android: -* Enabled IME soft keyboard input -* Added version checking to make sure the SDL Java and C code are compatible - - ---------------------------------------------------------------------------- -2.24.0: ---------------------------------------------------------------------------- - -General: -* New version numbering scheme, similar to GLib and Flatpak. - * An even number in the minor version (second component) indicates a production-ready stable release such as 2.24.0, which would have been 2.0.24 under the old system. - * The patchlevel (micro version, third component) indicates a bugfix-only update: for example, 2.24.1 would be a bugfix-only release to fix bugs in 2.24.0, without adding new features. - * An odd number in the minor version indicates a prerelease such as 2.23.0. Stable distributions should not use these prereleases. - * The patchlevel indicates successive prereleases, for example 2.23.1 and 2.23.2 would be prereleases during development of the SDL 2.24.0 stable release. -* Added SDL_GetPointDisplayIndex() and SDL_GetRectDisplayIndex() to get the display associated with a point and rectangle in screen space -* Added SDL_bsearch(), SDL_crc16(), and SDL_utf8strnlen() to the stdlib routines -* Added SDL_CPUPauseInstruction() as a macro in SDL_atomic.h -* Added SDL_size_mul_overflow() and SDL_size_add_overflow() for better size overflow protection -* Added SDL_ResetHint() to reset a hint to the default value -* Added SDL_ResetKeyboard() to reset SDL's internal keyboard state, generating key up events for all currently pressed keys -* Added the hint SDL_HINT_MOUSE_RELATIVE_WARP_MOTION to control whether mouse warping generates motion events in relative mode. This hint defaults off. -* Added the hint SDL_HINT_TRACKPAD_IS_TOUCH_ONLY to control whether trackpads are treated as touch devices or mice. By default touchpads are treated as mouse input. -* The hint SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS now defaults on -* Added support for mini-gamepad mode for Nintendo Joy-Con controllers using the HIDAPI driver -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_COMBINE_JOY_CONS to control whether Joy-Con controllers are automatically merged into a unified gamepad when using the HIDAPI driver. This hint defaults on. -* The hint SDL_HINT_JOYSTICK_HIDAPI_SWITCH_HOME_LED can be set to a floating point value to set the brightness of the Home LED on Nintendo Switch controllers -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_JOYCON_HOME_LED to set the Home LED brightness for the Nintendo Joy-Con controllers. By default the Home LED is not modified. -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED to control whether the player LED should be lit on the Nintendo Joy-Con controllers -* Added support for Nintendo Online classic controllers using the HIDAPI driver -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC to control whether the HIDAPI driver for Nintendo Online classic controllers should be used -* Added support for the NVIDIA Shield Controller to the HIDAPI driver, supporting rumble and battery status -* Added support for NVIDIA SHIELD controller to the HIDAPI driver, and a hint SDL_HINT_JOYSTICK_HIDAPI_SHIELD to control whether this is used -* Added functions to get the platform dependent name for a joystick or game controller: - * SDL_JoystickPathForIndex() - * SDL_JoystickPath() - * SDL_GameControllerPathForIndex() - * SDL_GameControllerPath() -* Added SDL_GameControllerGetFirmwareVersion() and SDL_JoystickGetFirmwareVersion(), currently implemented for DualSense(tm) Wireless Controllers using HIDAPI -* Added SDL_JoystickAttachVirtualEx() for extended virtual controller support -* Added joystick event SDL_JOYBATTERYUPDATED for when battery status changes -* Added SDL_GUIDToString() and SDL_GUIDFromString() to convert between SDL GUID and string -* Added SDL_HasLSX() and SDL_HasLASX() to detect LoongArch SIMD support -* Added SDL_GetOriginalMemoryFunctions() -* Added SDL_GetDefaultAudioInfo() to get the name and format of the default audio device, currently implemented for PipeWire, PulseAudio, WASAPI, and DirectSound -* Added HIDAPI driver for the NVIDIA SHIELD controller (2017 model) to enable support for battery status and rumble -* Added support for opening audio devices with 3 or 5 channels (2.1, 4.1). All channel counts from Mono to 7.1 are now supported. -* Rewrote audio channel converters used by SDL_AudioCVT, based on the channel matrix coefficients used as the default for FAudio voices -* SDL log messages are no longer limited to 4K and can be any length -* Fixed a long-standing calling convention issue with dynapi affecting OpenWatcom or OS/2 builds - -Windows: -* Added initial support for building for Windows and Xbox with Microsoft's Game Development Kit (GDK), see docs/README-gdk.md for details -* Added a D3D12 renderer implementation and SDL_RenderGetD3D12Device() to retrieve the D3D12 device associated with it -* Added the hint SDL_HINT_WINDOWS_DPI_AWARENESS to set whether the application is DPI-aware. This hint must be set before initializing the video subsystem -* Added the hint SDL_HINT_WINDOWS_DPI_SCALING to control whether the SDL coordinates are in DPI-scaled points or pixels -* Added the hint SDL_HINT_DIRECTINPUT_ENABLED to control whether the DirectInput driver should be used -* Added support for SDL_GetAudioDeviceSpec to the DirectSound backend - -Linux: -* Support for XVidMode has been removed, mode changes are only supported using the XRandR extension -* Added the hint SDL_HINT_VIDEO_WAYLAND_MODE_EMULATION to control whether to expose a set of emulated modes in addition to the native resolution modes available on Wayland -* Added the hint SDL_HINT_KMSDRM_DEVICE_INDEX to specify which KMSDRM device to use if the default is not desired -* Added the hint SDL_HINT_LINUX_DIGITAL_HATS to control whether to treat hats as digital rather than checking to see if they may be analog -* Added the hint SDL_HINT_LINUX_HAT_DEADZONES to control whether to use deadzones on analog hats - -macOS: -* Bumped minimum OS deployment version to macOS 10.9 -* Added SDL_GL_FLOATBUFFERS to allow Cocoa GL contexts to use EDR -* Added the hint SDL_HINT_MAC_OPENGL_ASYNC_DISPATCH to control whether dispatching OpenGL context updates should block the dispatching thread until the main thread finishes processing. This hint defaults to blocking, which is the safer option on modern macOS. - - ---------------------------------------------------------------------------- -2.0.22: ---------------------------------------------------------------------------- - -General: -* Added SDL_RenderGetWindow() to get the window associated with a renderer -* Added floating point rectangle functions: - * SDL_PointInFRect() - * SDL_FRectEmpty() - * SDL_FRectEquals() - * SDL_FRectEqualsEpsilon() - * SDL_HasIntersectionF() - * SDL_IntersectFRect() - * SDL_UnionFRect() - * SDL_EncloseFPoints() - * SDL_IntersectFRectAndLine() -* Added SDL_IsTextInputShown() which returns whether the IME window is currently shown -* Added SDL_ClearComposition() to dismiss the composition window without disabling IME input -* Added SDL_TEXTEDITING_EXT event for handling long composition text, and a hint SDL_HINT_IME_SUPPORT_EXTENDED_TEXT to enable it -* Added the hint SDL_HINT_MOUSE_RELATIVE_MODE_CENTER to control whether the mouse should be constrained to the whole window or the center of the window when relative mode is enabled -* The mouse is now automatically captured when mouse buttons are pressed, and the hint SDL_HINT_MOUSE_AUTO_CAPTURE allows you to control this behavior -* Added the hint SDL_HINT_VIDEO_FOREIGN_WINDOW_OPENGL to let SDL know that a foreign window will be used with OpenGL -* Added the hint SDL_HINT_VIDEO_FOREIGN_WINDOW_VULKAN to let SDL know that a foreign window will be used with Vulkan -* Added the hint SDL_HINT_QUIT_ON_LAST_WINDOW_CLOSE to specify whether an SDL_QUIT event will be delivered when the last application window is closed -* Added the hint SDL_HINT_JOYSTICK_ROG_CHAKRAM to control whether ROG Chakram mice show up as joysticks - -Windows: -* Added support for SDL_BLENDOPERATION_MINIMUM and SDL_BLENDOPERATION_MAXIMUM to the D3D9 renderer - -Linux: -* Compiling with Wayland support requires libwayland-client version 1.18.0 or later -* Added the hint SDL_HINT_X11_WINDOW_TYPE to specify the _NET_WM_WINDOW_TYPE of SDL windows -* Added the hint SDL_HINT_VIDEO_WAYLAND_PREFER_LIBDECOR to allow using libdecor with compositors that support xdg-decoration - -Android: -* Added SDL_AndroidSendMessage() to send a custom command to the SDL java activity - - ---------------------------------------------------------------------------- -2.0.20: ---------------------------------------------------------------------------- - -General: -* SDL_RenderGeometryRaw() takes a pointer to SDL_Color, not int. You can cast color data in SDL_PIXELFORMAT_RGBA32 format (SDL_PIXELFORMAT_ABGR8888 on little endian systems) for this parameter. -* Improved accuracy of horizontal and vertical line drawing when using OpenGL or OpenGLES -* Added the hint SDL_HINT_RENDER_LINE_METHOD to control the method of line drawing used, to select speed, correctness, and compatibility. - -Windows: -* Fixed size of custom cursors - -Linux: -* Fixed hotplug controller detection, broken in 2.0.18 - - ---------------------------------------------------------------------------- -2.0.18: ---------------------------------------------------------------------------- - -General: -* The SDL wiki documentation and development headers are automatically kept in sync -* Each function has information about in which version of SDL it was introduced -* SDL-specific CMake options are now prefixed with 'SDL_'. Be sure to update your CMake build scripts accordingly! -* Added the hint SDL_HINT_APP_NAME to let SDL know the name of your application for various places it might show up in system information -* Added SDL_RenderGeometry() and SDL_RenderGeometryRaw() to allow rendering of arbitrary shapes using the SDL 2D render API -* Added SDL_SetTextureUserData() and SDL_GetTextureUserData() to associate application data with an SDL texture -* Added SDL_RenderWindowToLogical() and SDL_RenderLogicalToWindow() to convert between window coordinates and logical render coordinates -* Added SDL_RenderSetVSync() to change whether a renderer present is synchronized with vblank at runtime -* Added SDL_PremultiplyAlpha() to premultiply alpha on a block of SDL_PIXELFORMAT_ARGB8888 pixels -* Added a window event SDL_WINDOWEVENT_DISPLAY_CHANGED which is sent when a window changes what display it's centered on -* Added SDL_GetWindowICCProfile() to query a window's ICC profile, and a window event SDL_WINDOWEVENT_ICCPROF_CHANGED that is sent when it changes -* Added the hint SDL_HINT_VIDEO_EGL_ALLOW_TRANSPARENCY to allow EGL windows to be transparent instead of opaque -* SDL_WaitEvent() has been redesigned to use less CPU in most cases -* Added SDL_SetWindowMouseRect() and SDL_GetWindowMouseRect() to confine the mouse cursor to an area of a window -* You can now read precise mouse wheel motion using 'preciseX' and 'preciseY' event fields -* Added SDL_GameControllerHasRumble() and SDL_GameControllerHasRumbleTriggers() to query whether a game controller supports rumble -* Added SDL_JoystickHasRumble() and SDL_JoystickHasRumbleTriggers() to query whether a joystick supports rumble -* SDL's hidapi implementation is now available as a public API in SDL_hidapi.h - -Windows: -* Improved relative mouse motion over Windows Remote Desktop -* Added the hint SDL_HINT_IME_SHOW_UI to show native UI components instead of hiding them (defaults off) - -Windows/UWP: -* WGI is used instead of XInput for better controller support in UWP apps - -Linux: -* Added the hint SDL_HINT_SCREENSAVER_INHIBIT_ACTIVITY_NAME to set the activity that's displayed by the system when the screensaver is disabled -* Added the hint SDL_HINT_LINUX_JOYSTICK_CLASSIC to control whether /dev/input/js* or /dev/input/event* are used as joystick devices -* Added the hint SDL_HINT_JOYSTICK_DEVICE to allow the user to specify devices that will be opened in addition to the normal joystick detection -* Added SDL_LinuxSetThreadPriorityAndPolicy() for more control over a thread priority on Linux - -Android: -* Added support for audio output and capture using AAudio on Android 8.1 and newer -* Steam Controller support is disabled by default, and can be enabled by setting the hint SDL_HINT_JOYSTICK_HIDAPI_STEAM to "1" before calling SDL_Init() - -Apple Arcade: -* Added SDL_GameControllerGetAppleSFSymbolsNameForButton() and SDL_GameControllerGetAppleSFSymbolsNameForAxis() to support Apple Arcade titles - -iOS: -* Added documentation that the UIApplicationSupportsIndirectInputEvents key must be set to true in your application's Info.plist in order to get real Bluetooth mouse events. -* Steam Controller support is disabled by default, and can be enabled by setting the hint SDL_HINT_JOYSTICK_HIDAPI_STEAM to "1" before calling SDL_Init() - - ---------------------------------------------------------------------------- -2.0.16: ---------------------------------------------------------------------------- -General: -* Added SDL_FlashWindow() to get a user's attention -* Added SDL_GetAudioDeviceSpec() to get the preferred audio format of a device -* Added SDL_SetWindowAlwaysOnTop() to dynamically change the SDL_WINDOW_ALWAYS_ON_TOP flag for a window -* Added SDL_SetWindowKeyboardGrab() to support grabbing the keyboard independently of the mouse -* Added SDL_SoftStretchLinear() to do bilinear scaling between 32-bit software surfaces -* Added SDL_UpdateNVTexture() to update streaming NV12/21 textures -* Added SDL_GameControllerSendEffect() and SDL_JoystickSendEffect() to allow sending custom trigger effects to the DualSense controller -* Added SDL_GameControllerGetSensorDataRate() to get the sensor data rate for PlayStation and Nintendo Switch controllers -* Added support for the Amazon Luna game controller -* Added rumble support for the Google Stadia controller using the HIDAPI driver -* Added SDL_GameControllerType constants for the Amazon Luna and Google Stadia controllers -* Added analog rumble for Nintendo Switch Pro controllers using the HIDAPI driver -* Reduced CPU usage when using SDL_WaitEvent() and SDL_WaitEventTimeout() - -Windows: -* Added SDL_SetWindowsMessageHook() to set a function that is called for all Windows messages -* Added SDL_RenderGetD3D11Device() to get the D3D11 device used by the SDL renderer - -Linux: -* Greatly improved Wayland support -* Added support for audio output and capture using Pipewire -* Added the hint SDL_HINT_AUDIO_INCLUDE_MONITORS to control whether PulseAudio recording should include monitor devices -* Added the hint SDL_HINT_AUDIO_DEVICE_STREAM_ROLE to describe the role of your application for audio control panels - -Android: -* Added SDL_AndroidShowToast() to show a lightweight notification - -iOS: -* Added support for mouse relative mode on iOS 14.1 and newer -* Added support for the Xbox Series X controller - -tvOS: -* Added support for the Xbox Series X controller - - ---------------------------------------------------------------------------- -2.0.14: ---------------------------------------------------------------------------- -General: -* Added support for PS5 DualSense and Xbox Series X controllers to the HIDAPI controller driver -* Added game controller button constants for paddles and new buttons -* Added game controller functions to get additional information: - * SDL_GameControllerGetSerial() - * SDL_GameControllerHasAxis() - * SDL_GameControllerHasButton() - * SDL_GameControllerGetNumTouchpads() - * SDL_GameControllerGetNumTouchpadFingers() - * SDL_GameControllerGetTouchpadFinger() - * SDL_GameControllerHasSensor() - * SDL_GameControllerSetSensorEnabled() - * SDL_GameControllerIsSensorEnabled() - * SDL_GameControllerGetSensorData() - * SDL_GameControllerRumbleTriggers() - * SDL_GameControllerHasLED() - * SDL_GameControllerSetLED() -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_PS5 to control whether the HIDAPI driver for PS5 controllers should be used. -* Added joystick functions to get additional information: - * SDL_JoystickGetSerial() - * SDL_JoystickRumbleTriggers() - * SDL_JoystickHasLED() - * SDL_JoystickSetLED() -* Added an API to allow the application to create virtual joysticks: - * SDL_JoystickAttachVirtual() - * SDL_JoystickDetachVirtual() - * SDL_JoystickIsVirtual() - * SDL_JoystickSetVirtualAxis() - * SDL_JoystickSetVirtualButton() - * SDL_JoystickSetVirtualHat() -* Added SDL_LockSensors() and SDL_UnlockSensors() to guarantee exclusive access to the sensor list -* Added SDL_HAPTIC_STEERING_AXIS to play an effect on the steering wheel -* Added the hint SDL_HINT_MOUSE_RELATIVE_SCALING to control whether relative motion is scaled by the screen DPI or renderer logical size -* The default value for SDL_HINT_VIDEO_MINIMIZE_ON_FOCUS_LOSS is now false for better compatibility with modern window managers -* Added SDL_GetPreferredLocales() to get the application's current locale setting -* Added the hint SDL_HINT_PREFERRED_LOCALES to override your application's default locale setting -* Added SDL_OpenURL() to open a URL in the system's default browser -* Added SDL_HasSurfaceRLE() to tell whether a surface is currently using RLE encoding -* Added SDL_SIMDRealloc() to reallocate memory obtained from SDL_SIMDAlloc() -* Added SDL_GetErrorMsg() to get the last error in a thread-safe way -* Added SDL_crc32(), SDL_wcscasecmp(), SDL_wcsncasecmp(), SDL_trunc(), SDL_truncf() -* Added clearer names for RGB pixel formats, e.g. SDL_PIXELFORMAT_XRGB8888, SDL_PIXELFORMAT_XBGR8888, etc. - -Windows: -* Added the RAWINPUT controller driver to support more than 4 Xbox controllers simultaneously -* Added the hint SDL_HINT_JOYSTICK_RAWINPUT to control whether the RAWINPUT driver should be used -* Added the hint SDL_HINT_JOYSTICK_HIDAPI_CORRELATE_XINPUT to control whether XInput and WGI should be used to for complete controller functionality with the RAWINPUT driver. - -macOS: -* Added the SDL_WINDOW_METAL flag to specify that a window should be created with a Metal view -* Added SDL_Metal_GetLayer() to get the CAMetalLayer backing a Metal view -* Added SDL_Metal_GetDrawableSize() to get the size of a window's drawable, in pixels - -Linux: -* Added the hint SDL_HINT_AUDIO_DEVICE_APP_NAME to specify the name that shows up in PulseAudio for your application -* Added the hint SDL_HINT_AUDIO_DEVICE_STREAM_NAME to specify the name that shows up in PulseAudio associated with your audio stream -* Added the hint SDL_HINT_LINUX_JOYSTICK_DEADZONES to control whether HID defined dead zones should be respected on Linux -* Added the hint SDL_HINT_THREAD_PRIORITY_POLICY to specify the thread scheduler policy -* Added the hint SDL_HINT_THREAD_FORCE_REALTIME_TIME_CRITICAL to allow time critical threads to use a realtime scheduling policy - -Android: -* Added SDL_AndroidRequestPermission() to request a specific system permission -* Added the hint SDL_HINT_ANDROID_BLOCK_ON_PAUSE_PAUSEAUDIO to control whether audio will pause when the application goes intot he background - -OS/2: -* Added support for OS/2, see docs/README-os2.md for details - -Emscripten (running in a web browser): -* Added the hint SDL_HINT_EMSCRIPTEN_ASYNCIFY to control whether SDL should call emscripten_sleep internally - - ---------------------------------------------------------------------------- -2.0.12: ---------------------------------------------------------------------------- - -General: -* Added SDL_GetTextureScaleMode() and SDL_SetTextureScaleMode() to get and set the scaling mode used for a texture -* Added SDL_LockTextureToSurface(), similar to SDL_LockTexture() but the locked area is exposed as a SDL surface. -* Added new blend mode, SDL_BLENDMODE_MUL, which does a modulate and blend operation -* Added the hint SDL_HINT_DISPLAY_USABLE_BOUNDS to override the results of SDL_GetDisplayUsableBounds() for display index 0. -* Added the window underneath the finger to the SDL_TouchFingerEvent -* Added SDL_GameControllerTypeForIndex(), SDL_GameControllerGetType() to return the type of a game controller (Xbox 360, Xbox One, PS3, PS4, or Nintendo Switch Pro) -* Added the hint SDL_HINT_GAMECONTROLLERTYPE to override the automatic game controller type detection -* Added SDL_JoystickFromPlayerIndex() and SDL_GameControllerFromPlayerIndex() to get the device associated with a player index -* Added SDL_JoystickSetPlayerIndex() and SDL_GameControllerSetPlayerIndex() to set the player index associated with a device -* Added the hint SDL_HINT_GAMECONTROLLER_USE_BUTTON_LABELS to specify whether Nintendo Switch Pro controllers should use the buttons as labeled or swapped to match positional layout. The default is to use the buttons as labeled. -* Added support for Nintendo GameCube controllers to the HIDAPI driver, and a hint SDL_HINT_JOYSTICK_HIDAPI_GAMECUBE to control whether this is used. -* Improved support for Xbox 360 and Xbox One controllers when using the HIDAPI driver -* Added support for many game controllers, including: - * 8BitDo FC30 Pro - * 8BitDo M30 GamePad - * BDA PS4 Fightpad - * HORI Fighting Commander - * Hyperkin Duke - * Hyperkin X91 - * MOGA XP5-A Plus - * NACON GC-400ES - * NVIDIA Controller v01.04 - * PDP Versus Fighting Pad - * Razer Raion Fightpad for PS4 - * Razer Serval - * Stadia Controller - * SteelSeries Stratus Duo - * Victrix Pro Fight Stick for PS4 - * Xbox One Elite Series 2 -* Fixed blocking game controller rumble calls when using the HIDAPI driver -* Added SDL_zeroa() macro to zero an array of elements -* Added SDL_HasARMSIMD() which returns true if the CPU has ARM SIMD (ARMv6+) features - -Windows: -* Fixed crash when using the release SDL DLL with applications built with gcc -* Fixed performance regression in event handling introduced in 2.0.10 -* Added support for SDL_SetThreadPriority() for UWP applications - -Linux: -* Added the hint SDL_HINT_VIDEO_X11_WINDOW_VISUALID to specify the visual chosen for new X11 windows -* Added the hint SDL_HINT_VIDEO_X11_FORCE_EGL to specify whether X11 should use GLX or EGL by default - -iOS / tvOS / macOS: -* Added SDL_Metal_CreateView() and SDL_Metal_DestroyView() to create CAMetalLayer-backed NSView/UIView and attach it to the specified window. - -iOS/ tvOS: -* Added support for Bluetooth Steam Controllers as game controllers - -tvOS: -* Fixed support for surround sound on Apple TV - -Android: -* Added SDL_GetAndroidSDKVersion() to return the API level of the current device -* Added support for audio capture using OpenSL-ES -* Added support for Bluetooth Steam Controllers as game controllers -* Fixed rare crashes when the app goes into the background or terminates - - ---------------------------------------------------------------------------- -2.0.10: ---------------------------------------------------------------------------- - -General: -* The SDL_RW* macros have been turned into functions that are available only in 2.0.10 and onward -* Added SDL_SIMDGetAlignment(), SDL_SIMDAlloc(), and SDL_SIMDFree(), to allocate memory aligned for SIMD operations for the current CPU -* Added SDL_RenderDrawPointF(), SDL_RenderDrawPointsF(), SDL_RenderDrawLineF(), SDL_RenderDrawLinesF(), SDL_RenderDrawRectF(), SDL_RenderDrawRectsF(), SDL_RenderFillRectF(), SDL_RenderFillRectsF(), SDL_RenderCopyF(), SDL_RenderCopyExF(), to allow floating point precision in the SDL rendering API. -* Added SDL_GetTouchDeviceType() to get the type of a touch device, which can be a touch screen or a trackpad in relative or absolute coordinate mode. -* The SDL rendering API now uses batched rendering by default, for improved performance -* Added SDL_RenderFlush() to force batched render commands to execute, if you're going to mix SDL rendering with native rendering -* Added the hint SDL_HINT_RENDER_BATCHING to control whether batching should be used for the rendering API. This defaults to "1" if you don't specify what rendering driver to use when creating the renderer. -* Added the hint SDL_HINT_EVENT_LOGGING to enable logging of SDL events for debugging purposes -* Added the hint SDL_HINT_GAMECONTROLLERCONFIG_FILE to specify a file that will be loaded at joystick initialization with game controller bindings -* Added the hint SDL_HINT_MOUSE_TOUCH_EVENTS to control whether SDL will synthesize touch events from mouse events -* Improved handling of malformed WAVE and BMP files, fixing potential security exploits - -Linux: -* Removed the Mir video driver in favor of Wayland - -iOS / tvOS: -* Added support for Xbox and PS4 wireless controllers in iOS 13 and tvOS 13 -* Added support for text input using Bluetooth keyboards - -Android: -* Added low latency audio using OpenSL ES -* Removed SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH (replaced by SDL_HINT_MOUSE_TOUCH_EVENTS and SDL_HINT_TOUCH_MOUSE_EVENTS) - SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH=1, should be replaced by setting both previous hints to 0. - SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH=0, should be replaced by setting both previous hints to 1. -* Added the hint SDL_HINT_ANDROID_BLOCK_ON_PAUSE to set whether the event loop will block itself when the app is paused. - - ---------------------------------------------------------------------------- -2.0.9: ---------------------------------------------------------------------------- - -General: -* Added a new sensor API, initialized by passing SDL_INIT_SENSOR to SDL_Init(), and defined in SDL_sensor.h -* Added an event SDL_SENSORUPDATE which is sent when a sensor is updated -* Added SDL_GetDisplayOrientation() to return the current display orientation -* Added an event SDL_DISPLAYEVENT which is sent when the display orientation changes -* Added HIDAPI joystick drivers for more consistent support for Xbox, PS4 and Nintendo Switch Pro controller support across platforms. (Thanks to Valve for contributing the PS4 and Nintendo Switch Pro controller support) -* Added support for many other popular game controllers -* Added SDL_JoystickGetDevicePlayerIndex(), SDL_JoystickGetPlayerIndex(), and SDL_GameControllerGetPlayerIndex() to get the player index for a controller. For XInput controllers this returns the XInput index for the controller. -* Added SDL_GameControllerRumble() and SDL_JoystickRumble() which allow simple rumble without using the haptics API -* Added SDL_GameControllerMappingForDeviceIndex() to get the mapping for a controller before it's opened -* Added the hint SDL_HINT_MOUSE_DOUBLE_CLICK_TIME to control the mouse double-click time -* Added the hint SDL_HINT_MOUSE_DOUBLE_CLICK_RADIUS to control the mouse double-click radius, in pixels -* Added SDL_HasColorKey() to return whether a surface has a colorkey active -* Added SDL_HasAVX512F() to return whether the CPU has AVX-512F features -* Added SDL_IsTablet() to return whether the application is running on a tablet -* Added SDL_THREAD_PRIORITY_TIME_CRITICAL for threads that must run at the highest priority - -Mac OS X: -* Fixed black screen at start on Mac OS X Mojave - -Linux: -* Added SDL_LinuxSetThreadPriority() to allow adjusting the thread priority of native threads using RealtimeKit if available. - -iOS: -* Fixed Asian IME input - -Android: -* Updated required Android SDK to API 26, to match Google's new App Store requirements -* Added support for wired USB Xbox, PS4, and Nintendo Switch Pro controllers -* Added support for relative mouse mode on Android 7.0 and newer (except where it's broken, on Chromebooks and when in DeX mode with Samsung Experience 9.0) -* Added support for custom mouse cursors on Android 7.0 and newer -* Added the hint SDL_HINT_ANDROID_TRAP_BACK_BUTTON to control whether the back button will back out of the app (the default) or be passed to the application as SDL_SCANCODE_AC_BACK -* Added SDL_AndroidBackButton() to trigger the Android system back button behavior when handling the back button in the application -* Added SDL_IsChromebook() to return whether the app is running in the Chromebook Android runtime -* Added SDL_IsDeXMode() to return whether the app is running while docked in the Samsung DeX - - ---------------------------------------------------------------------------- -2.0.8: ---------------------------------------------------------------------------- - -General: -* Added SDL_fmod() and SDL_log10() -* Each of the SDL math functions now has the corresponding float version -* Added SDL_SetYUVConversionMode() and SDL_GetYUVConversionMode() to control the formula used when converting to and from YUV colorspace. The options are JPEG, BT.601, and BT.709 - -Windows: -* Implemented WASAPI support on Windows UWP and removed the deprecated XAudio2 implementation -* Added resampling support on WASAPI on Windows 7 and above - -Windows UWP: -* Added SDL_WinRTGetDeviceFamily() to find out what type of device your application is running on - -Mac OS X: -* Added support for the Vulkan SDK for Mac: - https://www.lunarg.com/lunarg-releases-vulkan-sdk-1-0-69-0-for-mac/ -* Added support for OpenGL ES using ANGLE when it's available - -Mac OS X / iOS / tvOS: -* Added a Metal 2D render implementation -* Added SDL_RenderGetMetalLayer() and SDL_RenderGetMetalCommandEncoder() to insert your own drawing into SDL rendering when using the Metal implementation - -iOS: -* Added the hint SDL_HINT_IOS_HIDE_HOME_INDICATOR to control whether the home indicator bar on iPhone X should be hidden. This defaults to dimming the indicator for fullscreen applications and showing the indicator for windowed applications. - -iOS / Android: -* Added the hint SDL_HINT_RETURN_KEY_HIDES_IME to control whether the return key on the software keyboard should hide the keyboard or send a key event (the default) - -Android: -* SDL now supports building with Android Studio and Gradle by default, and the old Ant project is available in android-project-ant -* SDL now requires the API 19 SDK to build, but can still target devices down to API 14 (Android 4.0.1) -* Added SDL_IsAndroidTV() to tell whether the application is running on Android TV - -Android / tvOS: -* Added the hint SDL_HINT_TV_REMOTE_AS_JOYSTICK to control whether TV remotes should be listed as joystick devices (the default) or send keyboard events. - -Linux: -* Added the hint SDL_HINT_VIDEO_X11_NET_WM_BYPASS_COMPOSITOR to control whether the X server should skip the compositor for the SDL application. This defaults to "1" -* Added the hint SDL_HINT_VIDEO_DOUBLE_BUFFER to control whether the Raspberry Pi and KMSDRM video drivers should use double or triple buffering (the default) - - ---------------------------------------------------------------------------- -2.0.7: ---------------------------------------------------------------------------- - -General: -* Added audio stream conversion functions: - SDL_NewAudioStream - SDL_AudioStreamPut - SDL_AudioStreamGet - SDL_AudioStreamAvailable - SDL_AudioStreamFlush - SDL_AudioStreamClear - SDL_FreeAudioStream -* Added functions to query and set the SDL memory allocation functions: - SDL_GetMemoryFunctions() - SDL_SetMemoryFunctions() - SDL_GetNumAllocations() -* Added locking functions for multi-threaded access to the joystick and game controller APIs: - SDL_LockJoysticks() - SDL_UnlockJoysticks() -* The following functions are now thread-safe: - SDL_SetEventFilter() - SDL_GetEventFilter() - SDL_AddEventWatch() - SDL_DelEventWatch() - - -General: ---------------------------------------------------------------------------- -2.0.6: ---------------------------------------------------------------------------- - -General: -* Added cross-platform Vulkan graphics support in SDL_vulkan.h - SDL_Vulkan_LoadLibrary() - SDL_Vulkan_GetVkGetInstanceProcAddr() - SDL_Vulkan_GetInstanceExtensions() - SDL_Vulkan_CreateSurface() - SDL_Vulkan_GetDrawableSize() - SDL_Vulkan_UnloadLibrary() - This is all the platform-specific code you need to bring up Vulkan on all SDL platforms. You can look at an example in test/testvulkan.c -* Added SDL_ComposeCustomBlendMode() to create custom blend modes for 2D rendering -* Added SDL_HasNEON() which returns whether the CPU has NEON instruction support -* Added support for many game controllers, including the Nintendo Switch Pro Controller -* Added support for inverted axes and separate axis directions in game controller mappings -* Added functions to return information about a joystick before it's opened: - SDL_JoystickGetDeviceVendor() - SDL_JoystickGetDeviceProduct() - SDL_JoystickGetDeviceProductVersion() - SDL_JoystickGetDeviceType() - SDL_JoystickGetDeviceInstanceID() -* Added functions to return information about an open joystick: - SDL_JoystickGetVendor() - SDL_JoystickGetProduct() - SDL_JoystickGetProductVersion() - SDL_JoystickGetType() - SDL_JoystickGetAxisInitialState() -* Added functions to return information about an open game controller: - SDL_GameControllerGetVendor() - SDL_GameControllerGetProduct() - SDL_GameControllerGetProductVersion() -* Added SDL_GameControllerNumMappings() and SDL_GameControllerMappingForIndex() to be able to enumerate the built-in game controller mappings -* Added SDL_LoadFile() and SDL_LoadFile_RW() to load a file into memory -* Added SDL_DuplicateSurface() to make a copy of a surface -* Added an experimental JACK audio driver -* Implemented non-power-of-two audio resampling, optionally using libsamplerate to perform the resampling -* Added the hint SDL_HINT_AUDIO_RESAMPLING_MODE to control the quality of resampling -* Added the hint SDL_HINT_RENDER_LOGICAL_SIZE_MODE to control the scaling policy for SDL_RenderSetLogicalSize(): - "0" or "letterbox" - Uses letterbox/sidebars to fit the entire rendering on screen (the default) - "1" or "overscan" - Will zoom the rendering so it fills the entire screen, allowing edges to be drawn offscreen -* Added the hints SDL_HINT_MOUSE_NORMAL_SPEED_SCALE and SDL_HINT_MOUSE_RELATIVE_SPEED_SCALE to scale the mouse speed when being read from raw mouse input -* Added the hint SDL_HINT_TOUCH_MOUSE_EVENTS to control whether SDL will synthesize mouse events from touch events - -Windows: -* The new default audio driver on Windows is WASAPI and supports hot-plugging devices and changing the default audio device -* The old XAudio2 audio driver is deprecated and will be removed in the next release -* Added hints SDL_HINT_WINDOWS_INTRESOURCE_ICON and SDL_HINT_WINDOWS_INTRESOURCE_ICON_SMALL to specify a custom icon resource ID for SDL windows -* The hint SDL_HINT_WINDOWS_DISABLE_THREAD_NAMING is now on by default for compatibility with .NET languages and various Windows debuggers -* Updated the GUID format for game controller mappings, older mappings will be automatically converted on load -* Implemented the SDL_WINDOW_ALWAYS_ON_TOP flag on Windows - -Linux: -* Added an experimental KMS/DRM video driver for embedded development - -iOS: -* Added a hint SDL_HINT_AUDIO_CATEGORY to control the audio category, determining whether the phone mute switch affects the audio - ---------------------------------------------------------------------------- -2.0.5: ---------------------------------------------------------------------------- - -General: -* Implemented audio capture support for some platforms -* Added SDL_DequeueAudio() to retrieve audio when buffer queuing is turned on for audio capture -* Added events for dragging and dropping text -* Added events for dragging and dropping multiple items -* By default the click raising a window will not be delivered to the SDL application. You can set the hint SDL_HINT_MOUSE_FOCUS_CLICKTHROUGH to "1" to allow that click through to the window. -* Saving a surface with an alpha channel as a BMP will use a newer BMP format that supports alpha information. You can set the hint SDL_HINT_BMP_SAVE_LEGACY_FORMAT to "1" to use the old format. -* Added SDL_GetHintBoolean() to get the boolean value of a hint -* Added SDL_RenderSetIntegerScale() to set whether to smoothly scale or use integral multiples of the viewport size when scaling the rendering output -* Added SDL_CreateRGBSurfaceWithFormat() and SDL_CreateRGBSurfaceWithFormatFrom() to create an SDL surface with a specific pixel format -* Added SDL_GetDisplayUsableBounds() which returns the area usable for windows. For example, on Mac OS X, this subtracts the area occupied by the menu bar and dock. -* Added SDL_GetWindowBordersSize() which returns the size of the window's borders around the client area -* Added a window event SDL_WINDOWEVENT_HIT_TEST when a window had a hit test that wasn't SDL_HITTEST_NORMAL (e.g. in the title bar or window frame) -* Added SDL_SetWindowResizable() to change whether a window is resizable -* Added SDL_SetWindowOpacity() and SDL_GetWindowOpacity() to affect the window transparency -* Added SDL_SetWindowModalFor() to set a window as modal for another window -* Added support for AUDIO_U16LSB and AUDIO_U16MSB to SDL_MixAudioFormat() -* Fixed flipped images when reading back from target textures when using the OpenGL renderer -* Fixed texture color modulation with SDL_BLENDMODE_NONE when using the OpenGL renderer -* Fixed bug where the alpha value of colorkeys was ignored when blitting in some cases - -Windows: -* Added a hint SDL_HINT_WINDOWS_DISABLE_THREAD_NAMING to prevent SDL from raising a debugger exception to name threads. This exception can cause problems with .NET applications when running under a debugger. -* The hint SDL_HINT_THREAD_STACK_SIZE is now supported on Windows -* Fixed XBox controller triggers automatically being pulled at startup -* The first icon from the executable is used as the default window icon at runtime -* Fixed SDL log messages being printed twice if SDL was built with C library support -* Reset dead keys when the SDL window loses focus, so dead keys pressed in SDL applications don't affect text input into other applications. - -Mac OS X: -* Fixed selecting the dummy video driver -* The caps lock key now generates a pressed event when pressed and a released event when released, instead of a press/release event pair when pressed. -* Fixed mouse wheel events on Mac OS X 10.12 -* The audio driver has been updated to use AVFoundation for better compatibility with newer versions of Mac OS X - -Linux: -* Added support for the Fcitx IME -* Added a window event SDL_WINDOWEVENT_TAKE_FOCUS when a window manager asks the SDL window whether it wants to take focus. -* Refresh rates are now rounded instead of truncated, e.g. 59.94 Hz is rounded up to 60 Hz instead of 59. -* Added initial support for touchscreens on Raspberry Pi - -OpenBSD: -* SDL_GetBasePath() is now implemented on OpenBSD - -iOS: -* Added support for dynamically loaded objects on iOS 8 and newer - -tvOS: -* Added support for Apple TV -* Added a hint SDL_HINT_APPLE_TV_REMOTE_ALLOW_ROTATION to control whether he Apple TV remote's joystick axes will automatically match the rotation of the remote. - -Android: -* Fixed SDL not resizing window when Android screen resolution changes -* Corrected the joystick Z axis reporting for the accelerometer - -Emscripten (running in a web browser): -* Many bug fixes and improvements - - ---------------------------------------------------------------------------- -2.0.4: ---------------------------------------------------------------------------- - -General: -* Added support for web applications using Emscripten, see docs/README-emscripten.md for more information -* Added support for web applications using Native Client (NaCl), see docs/README-nacl.md for more information -* Added an API to queue audio instead of using the audio callback: - SDL_QueueAudio(), SDL_GetQueuedAudioSize(), SDL_ClearQueuedAudio() -* Added events for audio device hot plug support: - SDL_AUDIODEVICEADDED, SDL_AUDIODEVICEREMOVED -* Added SDL_PointInRect() -* Added SDL_HasAVX2() to detect CPUs with AVX2 support -* Added SDL_SetWindowHitTest() to let apps treat parts of their SDL window like traditional window decorations (drag areas, resize areas) -* Added SDL_GetGrabbedWindow() to get the window that currently has input grab, if any -* Added SDL_RenderIsClipEnabled() to tell whether clipping is currently enabled in a renderer -* Added SDL_CaptureMouse() to capture the mouse to get events while the mouse is not in your window -* Added SDL_WarpMouseGlobal() to warp the mouse cursor in global screen space -* Added SDL_GetGlobalMouseState() to get the current mouse state outside of an SDL window -* Added a direction field to mouse wheel events to tell whether they are flipped (natural) or not -* Added GL_CONTEXT_RELEASE_BEHAVIOR GL attribute (maps to [WGL|GLX]_ARB_context_flush_control extension) -* Added EGL_KHR_create_context support to allow OpenGL ES version selection on some platforms -* Added NV12 and NV21 YUV texture support for OpenGL and OpenGL ES 2.0 renderers -* Added a Vivante video driver that is used on various SoC platforms -* Added an event SDL_RENDER_DEVICE_RESET that is sent from the D3D renderers when the D3D device is lost, and from Android's event loop when the GLES context had to be recreated -* Added a hint SDL_HINT_NO_SIGNAL_HANDLERS to disable SDL's built in signal handling -* Added a hint SDL_HINT_THREAD_STACK_SIZE to set the stack size of SDL's threads -* Added SDL_sqrtf(), SDL_tan(), and SDL_tanf() to the stdlib routines -* Improved support for WAV and BMP files with unusual chunks in them -* Renamed SDL_assert_data to SDL_AssertData and SDL_assert_state to SDL_AssertState -* Added a hint SDL_HINT_WINDOW_FRAME_USABLE_WHILE_CURSOR_HIDDEN to prevent window interaction while cursor is hidden -* Added SDL_GetDisplayDPI() to get the DPI information for a display -* Added SDL_JoystickCurrentPowerLevel() to get the battery level of a joystick -* Added SDL_JoystickFromInstanceID(), as a helper function, to get the SDL_Joystick* that an event is referring to. -* Added SDL_GameControllerFromInstanceID(), as a helper function, to get the SDL_GameController* that an event is referring to. - -Windows: -* Added support for Windows Phone 8.1 and Windows 10/UWP (Universal Windows Platform) -* Timer resolution is now 1 ms by default, adjustable with the SDL_HINT_TIMER_RESOLUTION hint -* SDLmain no longer depends on the C runtime, so you can use the same .lib in both Debug and Release builds -* Added SDL_SetWindowsMessageHook() to set a function to be called for every windows message before TranslateMessage() -* Added a hint SDL_HINT_WINDOWS_ENABLE_MESSAGELOOP to control whether SDL_PumpEvents() processes the Windows message loop -* You can distinguish between real mouse and touch events by looking for SDL_TOUCH_MOUSEID in the mouse event "which" field -* SDL_SysWMinfo now contains the window HDC -* Added support for Unicode command line options -* Prevent beeping when Alt-key combos are pressed -* SDL_SetTextInputRect() re-positions the OS-rendered IME -* Added a hint SDL_HINT_WINDOWS_NO_CLOSE_ON_ALT_F4 to prevent generating SDL_WINDOWEVENT_CLOSE events when Alt-F4 is pressed -* Added a hint SDL_HINT_XINPUT_USE_OLD_JOYSTICK_MAPPING to use the old axis and button mapping for XInput devices (deprecated) - -Mac OS X: -* Implemented drag-and-drop support -* Improved joystick hot-plug detection -* The SDL_WINDOWEVENT_EXPOSED window event is triggered in the appropriate situations -* Fixed relative mouse mode when the application loses/regains focus -* Fixed bugs related to transitioning to and from Spaces-aware fullscreen-desktop mode -* Fixed the refresh rate of display modes -* SDL_SysWMInfo is now ARC-compatible -* Added a hint SDL_HINT_MAC_BACKGROUND_APP to prevent forcing the application to become a foreground process - -Linux: -* Enabled building with Mir and Wayland support by default. -* Added IBus IME support -* Added a hint SDL_HINT_IME_INTERNAL_EDITING to control whether IBus should handle text editing internally instead of sending SDL_TEXTEDITING events -* Added a hint SDL_HINT_VIDEO_X11_NET_WM_PING to allow disabling _NET_WM_PING protocol handling in SDL_CreateWindow() -* Added support for multiple audio devices when using Pulseaudio -* Fixed duplicate mouse events when using relative mouse motion - -iOS: -* Added support for iOS 8 -* The SDL_WINDOW_ALLOW_HIGHDPI window flag now enables high-dpi support, and SDL_GL_GetDrawableSize() or SDL_GetRendererOutputSize() gets the window resolution in pixels -* SDL_GetWindowSize() and display mode sizes are in the "DPI-independent points" / "screen coordinates" coordinate space rather than pixels (matches OS X behavior) -* Added native resolution support for the iPhone 6 Plus -* Added support for MFi game controllers -* Added support for the hint SDL_HINT_ACCELEROMETER_AS_JOYSTICK -* Added sRGB OpenGL ES context support on iOS 7+ -* Added support for SDL_DisableScreenSaver(), SDL_EnableScreenSaver() and the hint SDL_HINT_VIDEO_ALLOW_SCREENSAVER -* SDL_SysWMinfo now contains the OpenGL ES framebuffer and color renderbuffer objects used by the window's active GLES view -* Fixed various rotation and orientation issues -* Fixed memory leaks - -Android: -* Added a hint SDL_HINT_ANDROID_SEPARATE_MOUSE_AND_TOUCH to prevent mouse events from being registered as touch events -* Added hints SDL_HINT_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION and SDL_HINT_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION -* Added support for SDL_DisableScreenSaver(), SDL_EnableScreenSaver() and the hint SDL_HINT_VIDEO_ALLOW_SCREENSAVER -* Added support for SDL_ShowMessageBox() and SDL_ShowSimpleMessageBox() - -Raspberry Pi: -* Added support for the Raspberry Pi 2 - - ---------------------------------------------------------------------------- -2.0.3: ---------------------------------------------------------------------------- - -Mac OS X: -* Fixed creating an OpenGL context by default on Mac OS X 10.6 - - ---------------------------------------------------------------------------- -2.0.2: ---------------------------------------------------------------------------- -General: -* Added SDL_GL_ResetAttributes() to reset OpenGL attributes to default values -* Added an API to load a database of game controller mappings from a file: - SDL_GameControllerAddMappingsFromFile(), SDL_GameControllerAddMappingsFromRW() -* Added game controller mappings for the PS4 and OUYA controllers -* Added SDL_GetDefaultAssertionHandler() and SDL_GetAssertionHandler() -* Added SDL_DetachThread() -* Added SDL_HasAVX() to determine if the CPU has AVX features -* Added SDL_vsscanf(), SDL_acos(), and SDL_asin() to the stdlib routines -* EGL can now create/manage OpenGL and OpenGL ES 1.x/2.x contexts, and share - them using SDL_GL_SHARE_WITH_CURRENT_CONTEXT -* Added a field "clicks" to the mouse button event which records whether the event is a single click, double click, etc. -* The screensaver is now disabled by default, and there is a hint SDL_HINT_VIDEO_ALLOW_SCREENSAVER that can change that behavior. -* Added a hint SDL_HINT_MOUSE_RELATIVE_MODE_WARP to specify whether mouse relative mode should be emulated using mouse warping. -* testgl2 does not need to link with libGL anymore -* Added testgles2 test program to demonstrate working with OpenGL ES 2.0 -* Added controllermap test program to visually map a game controller - -Windows: -* Support for OpenGL ES 2.x contexts using either WGL or EGL (natively via - the driver or emulated through ANGLE) -* Added a hint SDL_HINT_VIDEO_WIN_D3DCOMPILER to specify which D3D shader compiler to use for OpenGL ES 2 support through ANGLE -* Added a hint SDL_HINT_VIDEO_WINDOW_SHARE_PIXEL_FORMAT that is useful when creating multiple windows that should share the same OpenGL context. -* Added an event SDL_RENDER_TARGETS_RESET that is sent when D3D9 render targets are reset after the device has been restored. - -Mac OS X: -* Added a hint SDL_HINT_MAC_CTRL_CLICK_EMULATE_RIGHT_CLICK to control whether Ctrl+click should be treated as a right click on Mac OS X. This is off by default. - -Linux: -* Fixed fullscreen and focused behavior when receiving NotifyGrab events -* Added experimental Wayland and Mir support, disabled by default - -Android: -* Joystick support (minimum SDK version required to build SDL is now 12, - the required runtime version remains at 10, but on such devices joystick - support won't be available). -* Hotplugging support for joysticks -* Added a hint SDL_HINT_ACCELEROMETER_AS_JOYSTICK to control whether the accelerometer should be listed as a 3 axis joystick, which it will by default. - - ---------------------------------------------------------------------------- -2.0.1: ---------------------------------------------------------------------------- - -General: -* Added an API to get common filesystem paths in SDL_filesystem.h: - SDL_GetBasePath(), SDL_GetPrefPath() -* Added an API to do optimized YV12 and IYUV texture updates: - SDL_UpdateYUVTexture() -* Added an API to get the amount of RAM on the system: - SDL_GetSystemRAM() -* Added a macro to perform timestamp comparisons with SDL_GetTicks(): - SDL_TICKS_PASSED() -* Dramatically improved OpenGL ES 2.0 rendering performance -* Added OpenGL attribute SDL_GL_FRAMEBUFFER_SRGB_CAPABLE - -Windows: -* Created a static library configuration for the Visual Studio 2010 project -* Added a hint to create the Direct3D device with support for multi-threading: - SDL_HINT_RENDER_DIRECT3D_THREADSAFE -* Added a function to get the D3D9 adapter index for a display: - SDL_Direct3D9GetAdapterIndex() -* Added a function to get the D3D9 device for a D3D9 renderer: - SDL_RenderGetD3D9Device() -* Fixed building SDL with the mingw32 toolchain (mingw-w64 is preferred) -* Fixed crash when using two XInput controllers at the same time -* Fixed detecting a mixture of XInput and DirectInput controllers -* Fixed clearing a D3D render target larger than the window -* Improved support for format specifiers in SDL_snprintf() - -Mac OS X: -* Added support for retina displays: - Create your window with the SDL_WINDOW_ALLOW_HIGHDPI flag, and then use SDL_GL_GetDrawableSize() to find the actual drawable size. You are responsible for scaling mouse and drawing coordinates appropriately. -* Fixed mouse warping in fullscreen mode -* Right mouse click is emulated by holding the Ctrl key while left clicking - -Linux: -* Fixed float audio support with the PulseAudio driver -* Fixed missing line endpoints in the OpenGL renderer on some drivers -* X11 symbols are no longer defined to avoid collisions when linking statically - -iOS: -* Fixed status bar visibility on iOS 7 -* Flipped the accelerometer Y axis to match expected values - -Android: -IMPORTANT: You MUST get the updated SDLActivity.java to match C code -* Moved EGL initialization to native code -* Fixed the accelerometer axis rotation relative to the device rotation -* Fixed race conditions when handling the EGL context on pause/resume -* Touch devices are available for enumeration immediately after init - -Raspberry Pi: -* Added support for the Raspberry Pi, see README-raspberrypi.txt for details diff --git a/subprojects/sdl2_windows/copy.py b/subprojects/sdl2_windows/copy.py deleted file mode 100644 index adbdd5caa..000000000 --- a/subprojects/sdl2_windows/copy.py +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env python3 - -import sys, shutil -shutil.copyfile(sys.argv[1], sys.argv[2]) \ No newline at end of file diff --git a/subprojects/sdl2_windows/include/SDL2/SDL.h b/subprojects/sdl2_windows/include/SDL2/SDL.h deleted file mode 100644 index 12e7f31a2..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL.h +++ /dev/null @@ -1,233 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL.h - * - * Main include header for the SDL library - */ - - -#ifndef SDL_h_ -#define SDL_h_ - -#include "SDL_main.h" -#include "SDL_stdinc.h" -#include "SDL_assert.h" -#include "SDL_atomic.h" -#include "SDL_audio.h" -#include "SDL_clipboard.h" -#include "SDL_cpuinfo.h" -#include "SDL_endian.h" -#include "SDL_error.h" -#include "SDL_events.h" -#include "SDL_filesystem.h" -#include "SDL_gamecontroller.h" -#include "SDL_guid.h" -#include "SDL_haptic.h" -#include "SDL_hidapi.h" -#include "SDL_hints.h" -#include "SDL_joystick.h" -#include "SDL_loadso.h" -#include "SDL_log.h" -#include "SDL_messagebox.h" -#include "SDL_metal.h" -#include "SDL_mutex.h" -#include "SDL_power.h" -#include "SDL_render.h" -#include "SDL_rwops.h" -#include "SDL_sensor.h" -#include "SDL_shape.h" -#include "SDL_system.h" -#include "SDL_thread.h" -#include "SDL_timer.h" -#include "SDL_version.h" -#include "SDL_video.h" -#include "SDL_locale.h" -#include "SDL_misc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* As of version 0.5, SDL is loaded dynamically into the application */ - -/** - * \name SDL_INIT_* - * - * These are the flags which may be passed to SDL_Init(). You should - * specify the subsystems which you will be using in your application. - */ -/* @{ */ -#define SDL_INIT_TIMER 0x00000001u -#define SDL_INIT_AUDIO 0x00000010u -#define SDL_INIT_VIDEO 0x00000020u /**< SDL_INIT_VIDEO implies SDL_INIT_EVENTS */ -#define SDL_INIT_JOYSTICK 0x00000200u /**< SDL_INIT_JOYSTICK implies SDL_INIT_EVENTS */ -#define SDL_INIT_HAPTIC 0x00001000u -#define SDL_INIT_GAMECONTROLLER 0x00002000u /**< SDL_INIT_GAMECONTROLLER implies SDL_INIT_JOYSTICK */ -#define SDL_INIT_EVENTS 0x00004000u -#define SDL_INIT_SENSOR 0x00008000u -#define SDL_INIT_NOPARACHUTE 0x00100000u /**< compatibility; this flag is ignored. */ -#define SDL_INIT_EVERYTHING ( \ - SDL_INIT_TIMER | SDL_INIT_AUDIO | SDL_INIT_VIDEO | SDL_INIT_EVENTS | \ - SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC | SDL_INIT_GAMECONTROLLER | SDL_INIT_SENSOR \ - ) -/* @} */ - -/** - * Initialize the SDL library. - * - * SDL_Init() simply forwards to calling SDL_InitSubSystem(). Therefore, the - * two may be used interchangeably. Though for readability of your code - * SDL_InitSubSystem() might be preferred. - * - * The file I/O (for example: SDL_RWFromFile) and threading (SDL_CreateThread) - * subsystems are initialized by default. Message boxes - * (SDL_ShowSimpleMessageBox) also attempt to work without initializing the - * video subsystem, in hopes of being useful in showing an error dialog when - * SDL_Init fails. You must specifically initialize other subsystems if you - * use them in your application. - * - * Logging (such as SDL_Log) works without initialization, too. - * - * `flags` may be any of the following OR'd together: - * - * - `SDL_INIT_TIMER`: timer subsystem - * - `SDL_INIT_AUDIO`: audio subsystem - * - `SDL_INIT_VIDEO`: video subsystem; automatically initializes the events - * subsystem - * - `SDL_INIT_JOYSTICK`: joystick subsystem; automatically initializes the - * events subsystem - * - `SDL_INIT_HAPTIC`: haptic (force feedback) subsystem - * - `SDL_INIT_GAMECONTROLLER`: controller subsystem; automatically - * initializes the joystick subsystem - * - `SDL_INIT_EVENTS`: events subsystem - * - `SDL_INIT_EVERYTHING`: all of the above subsystems - * - `SDL_INIT_NOPARACHUTE`: compatibility; this flag is ignored - * - * Subsystem initialization is ref-counted, you must call SDL_QuitSubSystem() - * for each SDL_InitSubSystem() to correctly shutdown a subsystem manually (or - * call SDL_Quit() to force shutdown). If a subsystem is already loaded then - * this call will increase the ref-count and return. - * - * \param flags subsystem initialization flags - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_InitSubSystem - * \sa SDL_Quit - * \sa SDL_SetMainReady - * \sa SDL_WasInit - */ -extern DECLSPEC int SDLCALL SDL_Init(Uint32 flags); - -/** - * Compatibility function to initialize the SDL library. - * - * In SDL2, this function and SDL_Init() are interchangeable. - * - * \param flags any of the flags used by SDL_Init(); see SDL_Init for details. - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Init - * \sa SDL_Quit - * \sa SDL_QuitSubSystem - */ -extern DECLSPEC int SDLCALL SDL_InitSubSystem(Uint32 flags); - -/** - * Shut down specific SDL subsystems. - * - * If you start a subsystem using a call to that subsystem's init function - * (for example SDL_VideoInit()) instead of SDL_Init() or SDL_InitSubSystem(), - * SDL_QuitSubSystem() and SDL_WasInit() will not work. You will need to use - * that subsystem's quit function (SDL_VideoQuit()) directly instead. But - * generally, you should not be using those functions directly anyhow; use - * SDL_Init() instead. - * - * You still need to call SDL_Quit() even if you close all open subsystems - * with SDL_QuitSubSystem(). - * - * \param flags any of the flags used by SDL_Init(); see SDL_Init for details. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_InitSubSystem - * \sa SDL_Quit - */ -extern DECLSPEC void SDLCALL SDL_QuitSubSystem(Uint32 flags); - -/** - * Get a mask of the specified subsystems which are currently initialized. - * - * \param flags any of the flags used by SDL_Init(); see SDL_Init for details. - * \returns a mask of all initialized subsystems if `flags` is 0, otherwise it - * returns the initialization status of the specified subsystems. - * - * The return value does not include SDL_INIT_NOPARACHUTE. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Init - * \sa SDL_InitSubSystem - */ -extern DECLSPEC Uint32 SDLCALL SDL_WasInit(Uint32 flags); - -/** - * Clean up all initialized subsystems. - * - * You should call this function even if you have already shutdown each - * initialized subsystem with SDL_QuitSubSystem(). It is safe to call this - * function even in the case of errors in initialization. - * - * If you start a subsystem using a call to that subsystem's init function - * (for example SDL_VideoInit()) instead of SDL_Init() or SDL_InitSubSystem(), - * then you must use that subsystem's quit function (SDL_VideoQuit()) to shut - * it down before calling SDL_Quit(). But generally, you should not be using - * those functions directly anyhow; use SDL_Init() instead. - * - * You can use this function with atexit() to ensure that it is run when your - * application is shutdown, but it is not wise to do this from a library or - * other dynamically loaded code. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Init - * \sa SDL_QuitSubSystem - */ -extern DECLSPEC void SDLCALL SDL_Quit(void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_assert.h b/subprojects/sdl2_windows/include/SDL2/SDL_assert.h deleted file mode 100644 index e71cf9792..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_assert.h +++ /dev/null @@ -1,326 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_assert_h_ -#define SDL_assert_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef SDL_ASSERT_LEVEL -#ifdef SDL_DEFAULT_ASSERT_LEVEL -#define SDL_ASSERT_LEVEL SDL_DEFAULT_ASSERT_LEVEL -#elif defined(_DEBUG) || defined(DEBUG) || \ - (defined(__GNUC__) && !defined(__OPTIMIZE__)) -#define SDL_ASSERT_LEVEL 2 -#else -#define SDL_ASSERT_LEVEL 1 -#endif -#endif /* SDL_ASSERT_LEVEL */ - -/* -These are macros and not first class functions so that the debugger breaks -on the assertion line and not in some random guts of SDL, and so each -assert can have unique static variables associated with it. -*/ - -#if defined(_MSC_VER) -/* Don't include intrin.h here because it contains C++ code */ - extern void __cdecl __debugbreak(void); - #define SDL_TriggerBreakpoint() __debugbreak() -#elif _SDL_HAS_BUILTIN(__builtin_debugtrap) - #define SDL_TriggerBreakpoint() __builtin_debugtrap() -#elif ( (!defined(__NACL__)) && ((defined(__GNUC__) || defined(__clang__)) && (defined(__i386__) || defined(__x86_64__))) ) - #define SDL_TriggerBreakpoint() __asm__ __volatile__ ( "int $3\n\t" ) -#elif ( defined(__APPLE__) && (defined(__arm64__) || defined(__aarch64__)) ) /* this might work on other ARM targets, but this is a known quantity... */ - #define SDL_TriggerBreakpoint() __asm__ __volatile__ ( "brk #22\n\t" ) -#elif defined(__APPLE__) && defined(__arm__) - #define SDL_TriggerBreakpoint() __asm__ __volatile__ ( "bkpt #22\n\t" ) -#elif defined(__386__) && defined(__WATCOMC__) - #define SDL_TriggerBreakpoint() { _asm { int 0x03 } } -#elif defined(HAVE_SIGNAL_H) && !defined(__WATCOMC__) - #include - #define SDL_TriggerBreakpoint() raise(SIGTRAP) -#else - /* How do we trigger breakpoints on this platform? */ - #define SDL_TriggerBreakpoint() -#endif - -#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) /* C99 supports __func__ as a standard. */ -# define SDL_FUNCTION __func__ -#elif ((defined(__GNUC__) && (__GNUC__ >= 2)) || defined(_MSC_VER) || defined (__WATCOMC__)) -# define SDL_FUNCTION __FUNCTION__ -#else -# define SDL_FUNCTION "???" -#endif -#define SDL_FILE __FILE__ -#define SDL_LINE __LINE__ - -/* -sizeof (x) makes the compiler still parse the expression even without -assertions enabled, so the code is always checked at compile time, but -doesn't actually generate code for it, so there are no side effects or -expensive checks at run time, just the constant size of what x WOULD be, -which presumably gets optimized out as unused. -This also solves the problem of... - - int somevalue = blah(); - SDL_assert(somevalue == 1); - -...which would cause compiles to complain that somevalue is unused if we -disable assertions. -*/ - -/* "while (0,0)" fools Microsoft's compiler's /W4 warning level into thinking - this condition isn't constant. And looks like an owl's face! */ -#ifdef _MSC_VER /* stupid /W4 warnings. */ -#define SDL_NULL_WHILE_LOOP_CONDITION (0,0) -#else -#define SDL_NULL_WHILE_LOOP_CONDITION (0) -#endif - -#define SDL_disabled_assert(condition) \ - do { (void) sizeof ((condition)); } while (SDL_NULL_WHILE_LOOP_CONDITION) - -typedef enum -{ - SDL_ASSERTION_RETRY, /**< Retry the assert immediately. */ - SDL_ASSERTION_BREAK, /**< Make the debugger trigger a breakpoint. */ - SDL_ASSERTION_ABORT, /**< Terminate the program. */ - SDL_ASSERTION_IGNORE, /**< Ignore the assert. */ - SDL_ASSERTION_ALWAYS_IGNORE /**< Ignore the assert from now on. */ -} SDL_AssertState; - -typedef struct SDL_AssertData -{ - int always_ignore; - unsigned int trigger_count; - const char *condition; - const char *filename; - int linenum; - const char *function; - const struct SDL_AssertData *next; -} SDL_AssertData; - -#if (SDL_ASSERT_LEVEL > 0) - -/* Never call this directly. Use the SDL_assert* macros. */ -extern DECLSPEC SDL_AssertState SDLCALL SDL_ReportAssertion(SDL_AssertData *, - const char *, - const char *, int) -#if defined(__clang__) -#if __has_feature(attribute_analyzer_noreturn) -/* this tells Clang's static analysis that we're a custom assert function, - and that the analyzer should assume the condition was always true past this - SDL_assert test. */ - __attribute__((analyzer_noreturn)) -#endif -#endif -; - -/* the do {} while(0) avoids dangling else problems: - if (x) SDL_assert(y); else blah(); - ... without the do/while, the "else" could attach to this macro's "if". - We try to handle just the minimum we need here in a macro...the loop, - the static vars, and break points. The heavy lifting is handled in - SDL_ReportAssertion(), in SDL_assert.c. -*/ -#define SDL_enabled_assert(condition) \ - do { \ - while ( !(condition) ) { \ - static struct SDL_AssertData sdl_assert_data = { \ - 0, 0, #condition, 0, 0, 0, 0 \ - }; \ - const SDL_AssertState sdl_assert_state = SDL_ReportAssertion(&sdl_assert_data, SDL_FUNCTION, SDL_FILE, SDL_LINE); \ - if (sdl_assert_state == SDL_ASSERTION_RETRY) { \ - continue; /* go again. */ \ - } else if (sdl_assert_state == SDL_ASSERTION_BREAK) { \ - SDL_TriggerBreakpoint(); \ - } \ - break; /* not retrying. */ \ - } \ - } while (SDL_NULL_WHILE_LOOP_CONDITION) - -#endif /* enabled assertions support code */ - -/* Enable various levels of assertions. */ -#if SDL_ASSERT_LEVEL == 0 /* assertions disabled */ -# define SDL_assert(condition) SDL_disabled_assert(condition) -# define SDL_assert_release(condition) SDL_disabled_assert(condition) -# define SDL_assert_paranoid(condition) SDL_disabled_assert(condition) -#elif SDL_ASSERT_LEVEL == 1 /* release settings. */ -# define SDL_assert(condition) SDL_disabled_assert(condition) -# define SDL_assert_release(condition) SDL_enabled_assert(condition) -# define SDL_assert_paranoid(condition) SDL_disabled_assert(condition) -#elif SDL_ASSERT_LEVEL == 2 /* normal settings. */ -# define SDL_assert(condition) SDL_enabled_assert(condition) -# define SDL_assert_release(condition) SDL_enabled_assert(condition) -# define SDL_assert_paranoid(condition) SDL_disabled_assert(condition) -#elif SDL_ASSERT_LEVEL == 3 /* paranoid settings. */ -# define SDL_assert(condition) SDL_enabled_assert(condition) -# define SDL_assert_release(condition) SDL_enabled_assert(condition) -# define SDL_assert_paranoid(condition) SDL_enabled_assert(condition) -#else -# error Unknown assertion level. -#endif - -/* this assertion is never disabled at any level. */ -#define SDL_assert_always(condition) SDL_enabled_assert(condition) - - -/** - * A callback that fires when an SDL assertion fails. - * - * \param data a pointer to the SDL_AssertData structure corresponding to the - * current assertion - * \param userdata what was passed as `userdata` to SDL_SetAssertionHandler() - * \returns an SDL_AssertState value indicating how to handle the failure. - */ -typedef SDL_AssertState (SDLCALL *SDL_AssertionHandler)( - const SDL_AssertData* data, void* userdata); - -/** - * Set an application-defined assertion handler. - * - * This function allows an application to show its own assertion UI and/or - * force the response to an assertion failure. If the application doesn't - * provide this, SDL will try to do the right thing, popping up a - * system-specific GUI dialog, and probably minimizing any fullscreen windows. - * - * This callback may fire from any thread, but it runs wrapped in a mutex, so - * it will only fire from one thread at a time. - * - * This callback is NOT reset to SDL's internal handler upon SDL_Quit()! - * - * \param handler the SDL_AssertionHandler function to call when an assertion - * fails or NULL for the default handler - * \param userdata a pointer that is passed to `handler` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetAssertionHandler - */ -extern DECLSPEC void SDLCALL SDL_SetAssertionHandler( - SDL_AssertionHandler handler, - void *userdata); - -/** - * Get the default assertion handler. - * - * This returns the function pointer that is called by default when an - * assertion is triggered. This is an internal function provided by SDL, that - * is used for assertions when SDL_SetAssertionHandler() hasn't been used to - * provide a different function. - * - * \returns the default SDL_AssertionHandler that is called when an assert - * triggers. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_GetAssertionHandler - */ -extern DECLSPEC SDL_AssertionHandler SDLCALL SDL_GetDefaultAssertionHandler(void); - -/** - * Get the current assertion handler. - * - * This returns the function pointer that is called when an assertion is - * triggered. This is either the value last passed to - * SDL_SetAssertionHandler(), or if no application-specified function is set, - * is equivalent to calling SDL_GetDefaultAssertionHandler(). - * - * The parameter `puserdata` is a pointer to a void*, which will store the - * "userdata" pointer that was passed to SDL_SetAssertionHandler(). This value - * will always be NULL for the default handler. If you don't care about this - * data, it is safe to pass a NULL pointer to this function to ignore it. - * - * \param puserdata pointer which is filled with the "userdata" pointer that - * was passed to SDL_SetAssertionHandler() - * \returns the SDL_AssertionHandler that is called when an assert triggers. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_SetAssertionHandler - */ -extern DECLSPEC SDL_AssertionHandler SDLCALL SDL_GetAssertionHandler(void **puserdata); - -/** - * Get a list of all assertion failures. - * - * This function gets all assertions triggered since the last call to - * SDL_ResetAssertionReport(), or the start of the program. - * - * The proper way to examine this data looks something like this: - * - * ```c - * const SDL_AssertData *item = SDL_GetAssertionReport(); - * while (item) { - * printf("'%s', %s (%s:%d), triggered %u times, always ignore: %s.\\n", - * item->condition, item->function, item->filename, - * item->linenum, item->trigger_count, - * item->always_ignore ? "yes" : "no"); - * item = item->next; - * } - * ``` - * - * \returns a list of all failed assertions or NULL if the list is empty. This - * memory should not be modified or freed by the application. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ResetAssertionReport - */ -extern DECLSPEC const SDL_AssertData * SDLCALL SDL_GetAssertionReport(void); - -/** - * Clear the list of all assertion failures. - * - * This function will clear the list of all assertions triggered up to that - * point. Immediately following this call, SDL_GetAssertionReport will return - * no items. In addition, any previously-triggered assertions will be reset to - * a trigger_count of zero, and their always_ignore state will be false. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetAssertionReport - */ -extern DECLSPEC void SDLCALL SDL_ResetAssertionReport(void); - - -/* these had wrong naming conventions until 2.0.4. Please update your app! */ -#define SDL_assert_state SDL_AssertState -#define SDL_assert_data SDL_AssertData - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_assert_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_atomic.h b/subprojects/sdl2_windows/include/SDL2/SDL_atomic.h deleted file mode 100644 index f0c05f4bb..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_atomic.h +++ /dev/null @@ -1,415 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_atomic.h - * - * Atomic operations. - * - * IMPORTANT: - * If you are not an expert in concurrent lockless programming, you should - * only be using the atomic lock and reference counting functions in this - * file. In all other cases you should be protecting your data structures - * with full mutexes. - * - * The list of "safe" functions to use are: - * SDL_AtomicLock() - * SDL_AtomicUnlock() - * SDL_AtomicIncRef() - * SDL_AtomicDecRef() - * - * Seriously, here be dragons! - * ^^^^^^^^^^^^^^^^^^^^^^^^^^^ - * - * You can find out a little more about lockless programming and the - * subtle issues that can arise here: - * http://msdn.microsoft.com/en-us/library/ee418650%28v=vs.85%29.aspx - * - * There's also lots of good information here: - * http://www.1024cores.net/home/lock-free-algorithms - * http://preshing.com/ - * - * These operations may or may not actually be implemented using - * processor specific atomic operations. When possible they are - * implemented as true processor specific atomic operations. When that - * is not possible the are implemented using locks that *do* use the - * available atomic operations. - * - * All of the atomic operations that modify memory are full memory barriers. - */ - -#ifndef SDL_atomic_h_ -#define SDL_atomic_h_ - -#include "SDL_stdinc.h" -#include "SDL_platform.h" - -#include "begin_code.h" - -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \name SDL AtomicLock - * - * The atomic locks are efficient spinlocks using CPU instructions, - * but are vulnerable to starvation and can spin forever if a thread - * holding a lock has been terminated. For this reason you should - * minimize the code executed inside an atomic lock and never do - * expensive things like API or system calls while holding them. - * - * The atomic locks are not safe to lock recursively. - * - * Porting Note: - * The spin lock functions and type are required and can not be - * emulated because they are used in the atomic emulation code. - */ -/* @{ */ - -typedef int SDL_SpinLock; - -/** - * Try to lock a spin lock by setting it to a non-zero value. - * - * ***Please note that spinlocks are dangerous if you don't know what you're - * doing. Please be careful using any sort of spinlock!*** - * - * \param lock a pointer to a lock variable - * \returns SDL_TRUE if the lock succeeded, SDL_FALSE if the lock is already - * held. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AtomicLock - * \sa SDL_AtomicUnlock - */ -extern DECLSPEC SDL_bool SDLCALL SDL_AtomicTryLock(SDL_SpinLock *lock); - -/** - * Lock a spin lock by setting it to a non-zero value. - * - * ***Please note that spinlocks are dangerous if you don't know what you're - * doing. Please be careful using any sort of spinlock!*** - * - * \param lock a pointer to a lock variable - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AtomicTryLock - * \sa SDL_AtomicUnlock - */ -extern DECLSPEC void SDLCALL SDL_AtomicLock(SDL_SpinLock *lock); - -/** - * Unlock a spin lock by setting it to 0. - * - * Always returns immediately. - * - * ***Please note that spinlocks are dangerous if you don't know what you're - * doing. Please be careful using any sort of spinlock!*** - * - * \param lock a pointer to a lock variable - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AtomicLock - * \sa SDL_AtomicTryLock - */ -extern DECLSPEC void SDLCALL SDL_AtomicUnlock(SDL_SpinLock *lock); - -/* @} *//* SDL AtomicLock */ - - -/** - * The compiler barrier prevents the compiler from reordering - * reads and writes to globally visible variables across the call. - */ -#if defined(_MSC_VER) && (_MSC_VER > 1200) && !defined(__clang__) -void _ReadWriteBarrier(void); -#pragma intrinsic(_ReadWriteBarrier) -#define SDL_CompilerBarrier() _ReadWriteBarrier() -#elif (defined(__GNUC__) && !defined(__EMSCRIPTEN__)) || (defined(__SUNPRO_C) && (__SUNPRO_C >= 0x5120)) -/* This is correct for all CPUs when using GCC or Solaris Studio 12.1+. */ -#define SDL_CompilerBarrier() __asm__ __volatile__ ("" : : : "memory") -#elif defined(__WATCOMC__) -extern __inline void SDL_CompilerBarrier(void); -#pragma aux SDL_CompilerBarrier = "" parm [] modify exact []; -#else -#define SDL_CompilerBarrier() \ -{ SDL_SpinLock _tmp = 0; SDL_AtomicLock(&_tmp); SDL_AtomicUnlock(&_tmp); } -#endif - -/** - * Memory barriers are designed to prevent reads and writes from being - * reordered by the compiler and being seen out of order on multi-core CPUs. - * - * A typical pattern would be for thread A to write some data and a flag, and - * for thread B to read the flag and get the data. In this case you would - * insert a release barrier between writing the data and the flag, - * guaranteeing that the data write completes no later than the flag is - * written, and you would insert an acquire barrier between reading the flag - * and reading the data, to ensure that all the reads associated with the flag - * have completed. - * - * In this pattern you should always see a release barrier paired with an - * acquire barrier and you should gate the data reads/writes with a single - * flag variable. - * - * For more information on these semantics, take a look at the blog post: - * http://preshing.com/20120913/acquire-and-release-semantics - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC void SDLCALL SDL_MemoryBarrierReleaseFunction(void); -extern DECLSPEC void SDLCALL SDL_MemoryBarrierAcquireFunction(void); - -#if defined(__GNUC__) && (defined(__powerpc__) || defined(__ppc__)) -#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("lwsync" : : : "memory") -#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("lwsync" : : : "memory") -#elif defined(__GNUC__) && defined(__aarch64__) -#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("dmb ish" : : : "memory") -#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("dmb ish" : : : "memory") -#elif defined(__GNUC__) && defined(__arm__) -#if 0 /* defined(__LINUX__) || defined(__ANDROID__) */ -/* Information from: - https://chromium.googlesource.com/chromium/chromium/+/trunk/base/atomicops_internals_arm_gcc.h#19 - - The Linux kernel provides a helper function which provides the right code for a memory barrier, - hard-coded at address 0xffff0fa0 -*/ -typedef void (*SDL_KernelMemoryBarrierFunc)(); -#define SDL_MemoryBarrierRelease() ((SDL_KernelMemoryBarrierFunc)0xffff0fa0)() -#define SDL_MemoryBarrierAcquire() ((SDL_KernelMemoryBarrierFunc)0xffff0fa0)() -#elif 0 /* defined(__QNXNTO__) */ -#include - -#define SDL_MemoryBarrierRelease() __cpu_membarrier() -#define SDL_MemoryBarrierAcquire() __cpu_membarrier() -#else -#if defined(__ARM_ARCH_7__) || defined(__ARM_ARCH_7A__) || defined(__ARM_ARCH_7EM__) || defined(__ARM_ARCH_7R__) || defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7S__) || defined(__ARM_ARCH_8A__) -#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("dmb ish" : : : "memory") -#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("dmb ish" : : : "memory") -#elif defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6J__) || defined(__ARM_ARCH_6K__) || defined(__ARM_ARCH_6T2__) || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__) || defined(__ARM_ARCH_5TE__) -#ifdef __thumb__ -/* The mcr instruction isn't available in thumb mode, use real functions */ -#define SDL_MEMORY_BARRIER_USES_FUNCTION -#define SDL_MemoryBarrierRelease() SDL_MemoryBarrierReleaseFunction() -#define SDL_MemoryBarrierAcquire() SDL_MemoryBarrierAcquireFunction() -#else -#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("mcr p15, 0, %0, c7, c10, 5" : : "r"(0) : "memory") -#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("mcr p15, 0, %0, c7, c10, 5" : : "r"(0) : "memory") -#endif /* __thumb__ */ -#else -#define SDL_MemoryBarrierRelease() __asm__ __volatile__ ("" : : : "memory") -#define SDL_MemoryBarrierAcquire() __asm__ __volatile__ ("" : : : "memory") -#endif /* __LINUX__ || __ANDROID__ */ -#endif /* __GNUC__ && __arm__ */ -#else -#if (defined(__SUNPRO_C) && (__SUNPRO_C >= 0x5120)) -/* This is correct for all CPUs on Solaris when using Solaris Studio 12.1+. */ -#include -#define SDL_MemoryBarrierRelease() __machine_rel_barrier() -#define SDL_MemoryBarrierAcquire() __machine_acq_barrier() -#else -/* This is correct for the x86 and x64 CPUs, and we'll expand this over time. */ -#define SDL_MemoryBarrierRelease() SDL_CompilerBarrier() -#define SDL_MemoryBarrierAcquire() SDL_CompilerBarrier() -#endif -#endif - -/* "REP NOP" is PAUSE, coded for tools that don't know it by that name. */ -#if (defined(__GNUC__) || defined(__clang__)) && (defined(__i386__) || defined(__x86_64__)) - #define SDL_CPUPauseInstruction() __asm__ __volatile__("pause\n") /* Some assemblers can't do REP NOP, so go with PAUSE. */ -#elif (defined(__arm__) && __ARM_ARCH >= 7) || defined(__aarch64__) - #define SDL_CPUPauseInstruction() __asm__ __volatile__("yield" ::: "memory") -#elif (defined(__powerpc__) || defined(__powerpc64__)) - #define SDL_CPUPauseInstruction() __asm__ __volatile__("or 27,27,27"); -#elif defined(_MSC_VER) && (defined(_M_IX86) || defined(_M_X64)) - #define SDL_CPUPauseInstruction() _mm_pause() /* this is actually "rep nop" and not a SIMD instruction. No inline asm in MSVC x86-64! */ -#elif defined(_MSC_VER) && (defined(_M_ARM) || defined(_M_ARM64)) - #define SDL_CPUPauseInstruction() __yield() -#elif defined(__WATCOMC__) && defined(__386__) - /* watcom assembler rejects PAUSE if CPU < i686, and it refuses REP NOP as an invalid combination. Hardcode the bytes. */ - extern __inline void SDL_CPUPauseInstruction(void); - #pragma aux SDL_CPUPauseInstruction = "db 0f3h,90h" -#else - #define SDL_CPUPauseInstruction() -#endif - - -/** - * \brief A type representing an atomic integer value. It is a struct - * so people don't accidentally use numeric operations on it. - */ -typedef struct { int value; } SDL_atomic_t; - -/** - * Set an atomic variable to a new value if it is currently an old value. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to an SDL_atomic_t variable to be modified - * \param oldval the old value - * \param newval the new value - * \returns SDL_TRUE if the atomic variable was set, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AtomicCASPtr - * \sa SDL_AtomicGet - * \sa SDL_AtomicSet - */ -extern DECLSPEC SDL_bool SDLCALL SDL_AtomicCAS(SDL_atomic_t *a, int oldval, int newval); - -/** - * Set an atomic variable to a value. - * - * This function also acts as a full memory barrier. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to an SDL_atomic_t variable to be modified - * \param v the desired value - * \returns the previous value of the atomic variable. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_AtomicGet - */ -extern DECLSPEC int SDLCALL SDL_AtomicSet(SDL_atomic_t *a, int v); - -/** - * Get the value of an atomic variable. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to an SDL_atomic_t variable - * \returns the current value of an atomic variable. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_AtomicSet - */ -extern DECLSPEC int SDLCALL SDL_AtomicGet(SDL_atomic_t *a); - -/** - * Add to an atomic variable. - * - * This function also acts as a full memory barrier. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to an SDL_atomic_t variable to be modified - * \param v the desired value to add - * \returns the previous value of the atomic variable. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_AtomicDecRef - * \sa SDL_AtomicIncRef - */ -extern DECLSPEC int SDLCALL SDL_AtomicAdd(SDL_atomic_t *a, int v); - -/** - * \brief Increment an atomic variable used as a reference count. - */ -#ifndef SDL_AtomicIncRef -#define SDL_AtomicIncRef(a) SDL_AtomicAdd(a, 1) -#endif - -/** - * \brief Decrement an atomic variable used as a reference count. - * - * \return SDL_TRUE if the variable reached zero after decrementing, - * SDL_FALSE otherwise - */ -#ifndef SDL_AtomicDecRef -#define SDL_AtomicDecRef(a) (SDL_AtomicAdd(a, -1) == 1) -#endif - -/** - * Set a pointer to a new value if it is currently an old value. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to a pointer - * \param oldval the old pointer value - * \param newval the new pointer value - * \returns SDL_TRUE if the pointer was set, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AtomicCAS - * \sa SDL_AtomicGetPtr - * \sa SDL_AtomicSetPtr - */ -extern DECLSPEC SDL_bool SDLCALL SDL_AtomicCASPtr(void **a, void *oldval, void *newval); - -/** - * Set a pointer to a value atomically. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to a pointer - * \param v the desired pointer value - * \returns the previous value of the pointer. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_AtomicCASPtr - * \sa SDL_AtomicGetPtr - */ -extern DECLSPEC void* SDLCALL SDL_AtomicSetPtr(void **a, void* v); - -/** - * Get the value of a pointer atomically. - * - * ***Note: If you don't know what this function is for, you shouldn't use - * it!*** - * - * \param a a pointer to a pointer - * \returns the current value of a pointer. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_AtomicCASPtr - * \sa SDL_AtomicSetPtr - */ -extern DECLSPEC void* SDLCALL SDL_AtomicGetPtr(void **a); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif - -#include "close_code.h" - -#endif /* SDL_atomic_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_audio.h b/subprojects/sdl2_windows/include/SDL2/SDL_audio.h deleted file mode 100644 index c42de3ed9..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_audio.h +++ /dev/null @@ -1,1500 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/* !!! FIXME: several functions in here need Doxygen comments. */ - -/** - * \file SDL_audio.h - * - * Access to the raw audio mixing buffer for the SDL library. - */ - -#ifndef SDL_audio_h_ -#define SDL_audio_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_endian.h" -#include "SDL_mutex.h" -#include "SDL_thread.h" -#include "SDL_rwops.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief Audio format flags. - * - * These are what the 16 bits in SDL_AudioFormat currently mean... - * (Unspecified bits are always zero). - * - * \verbatim - ++-----------------------sample is signed if set - || - || ++-----------sample is bigendian if set - || || - || || ++---sample is float if set - || || || - || || || +---sample bit size---+ - || || || | | - 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 - \endverbatim - * - * There are macros in SDL 2.0 and later to query these bits. - */ -typedef Uint16 SDL_AudioFormat; - -/** - * \name Audio flags - */ -/* @{ */ - -#define SDL_AUDIO_MASK_BITSIZE (0xFF) -#define SDL_AUDIO_MASK_DATATYPE (1<<8) -#define SDL_AUDIO_MASK_ENDIAN (1<<12) -#define SDL_AUDIO_MASK_SIGNED (1<<15) -#define SDL_AUDIO_BITSIZE(x) (x & SDL_AUDIO_MASK_BITSIZE) -#define SDL_AUDIO_ISFLOAT(x) (x & SDL_AUDIO_MASK_DATATYPE) -#define SDL_AUDIO_ISBIGENDIAN(x) (x & SDL_AUDIO_MASK_ENDIAN) -#define SDL_AUDIO_ISSIGNED(x) (x & SDL_AUDIO_MASK_SIGNED) -#define SDL_AUDIO_ISINT(x) (!SDL_AUDIO_ISFLOAT(x)) -#define SDL_AUDIO_ISLITTLEENDIAN(x) (!SDL_AUDIO_ISBIGENDIAN(x)) -#define SDL_AUDIO_ISUNSIGNED(x) (!SDL_AUDIO_ISSIGNED(x)) - -/** - * \name Audio format flags - * - * Defaults to LSB byte order. - */ -/* @{ */ -#define AUDIO_U8 0x0008 /**< Unsigned 8-bit samples */ -#define AUDIO_S8 0x8008 /**< Signed 8-bit samples */ -#define AUDIO_U16LSB 0x0010 /**< Unsigned 16-bit samples */ -#define AUDIO_S16LSB 0x8010 /**< Signed 16-bit samples */ -#define AUDIO_U16MSB 0x1010 /**< As above, but big-endian byte order */ -#define AUDIO_S16MSB 0x9010 /**< As above, but big-endian byte order */ -#define AUDIO_U16 AUDIO_U16LSB -#define AUDIO_S16 AUDIO_S16LSB -/* @} */ - -/** - * \name int32 support - */ -/* @{ */ -#define AUDIO_S32LSB 0x8020 /**< 32-bit integer samples */ -#define AUDIO_S32MSB 0x9020 /**< As above, but big-endian byte order */ -#define AUDIO_S32 AUDIO_S32LSB -/* @} */ - -/** - * \name float32 support - */ -/* @{ */ -#define AUDIO_F32LSB 0x8120 /**< 32-bit floating point samples */ -#define AUDIO_F32MSB 0x9120 /**< As above, but big-endian byte order */ -#define AUDIO_F32 AUDIO_F32LSB -/* @} */ - -/** - * \name Native audio byte ordering - */ -/* @{ */ -#if SDL_BYTEORDER == SDL_LIL_ENDIAN -#define AUDIO_U16SYS AUDIO_U16LSB -#define AUDIO_S16SYS AUDIO_S16LSB -#define AUDIO_S32SYS AUDIO_S32LSB -#define AUDIO_F32SYS AUDIO_F32LSB -#else -#define AUDIO_U16SYS AUDIO_U16MSB -#define AUDIO_S16SYS AUDIO_S16MSB -#define AUDIO_S32SYS AUDIO_S32MSB -#define AUDIO_F32SYS AUDIO_F32MSB -#endif -/* @} */ - -/** - * \name Allow change flags - * - * Which audio format changes are allowed when opening a device. - */ -/* @{ */ -#define SDL_AUDIO_ALLOW_FREQUENCY_CHANGE 0x00000001 -#define SDL_AUDIO_ALLOW_FORMAT_CHANGE 0x00000002 -#define SDL_AUDIO_ALLOW_CHANNELS_CHANGE 0x00000004 -#define SDL_AUDIO_ALLOW_SAMPLES_CHANGE 0x00000008 -#define SDL_AUDIO_ALLOW_ANY_CHANGE (SDL_AUDIO_ALLOW_FREQUENCY_CHANGE|SDL_AUDIO_ALLOW_FORMAT_CHANGE|SDL_AUDIO_ALLOW_CHANNELS_CHANGE|SDL_AUDIO_ALLOW_SAMPLES_CHANGE) -/* @} */ - -/* @} *//* Audio flags */ - -/** - * This function is called when the audio device needs more data. - * - * \param userdata An application-specific parameter saved in - * the SDL_AudioSpec structure - * \param stream A pointer to the audio data buffer. - * \param len The length of that buffer in bytes. - * - * Once the callback returns, the buffer will no longer be valid. - * Stereo samples are stored in a LRLRLR ordering. - * - * You can choose to avoid callbacks and use SDL_QueueAudio() instead, if - * you like. Just open your audio device with a NULL callback. - */ -typedef void (SDLCALL * SDL_AudioCallback) (void *userdata, Uint8 * stream, - int len); - -/** - * The calculated values in this structure are calculated by SDL_OpenAudio(). - * - * For multi-channel audio, the default SDL channel mapping is: - * 2: FL FR (stereo) - * 3: FL FR LFE (2.1 surround) - * 4: FL FR BL BR (quad) - * 5: FL FR LFE BL BR (4.1 surround) - * 6: FL FR FC LFE SL SR (5.1 surround - last two can also be BL BR) - * 7: FL FR FC LFE BC SL SR (6.1 surround) - * 8: FL FR FC LFE BL BR SL SR (7.1 surround) - */ -typedef struct SDL_AudioSpec -{ - int freq; /**< DSP frequency -- samples per second */ - SDL_AudioFormat format; /**< Audio data format */ - Uint8 channels; /**< Number of channels: 1 mono, 2 stereo */ - Uint8 silence; /**< Audio buffer silence value (calculated) */ - Uint16 samples; /**< Audio buffer size in sample FRAMES (total samples divided by channel count) */ - Uint16 padding; /**< Necessary for some compile environments */ - Uint32 size; /**< Audio buffer size in bytes (calculated) */ - SDL_AudioCallback callback; /**< Callback that feeds the audio device (NULL to use SDL_QueueAudio()). */ - void *userdata; /**< Userdata passed to callback (ignored for NULL callbacks). */ -} SDL_AudioSpec; - - -struct SDL_AudioCVT; -typedef void (SDLCALL * SDL_AudioFilter) (struct SDL_AudioCVT * cvt, - SDL_AudioFormat format); - -/** - * \brief Upper limit of filters in SDL_AudioCVT - * - * The maximum number of SDL_AudioFilter functions in SDL_AudioCVT is - * currently limited to 9. The SDL_AudioCVT.filters array has 10 pointers, - * one of which is the terminating NULL pointer. - */ -#define SDL_AUDIOCVT_MAX_FILTERS 9 - -/** - * \struct SDL_AudioCVT - * \brief A structure to hold a set of audio conversion filters and buffers. - * - * Note that various parts of the conversion pipeline can take advantage - * of SIMD operations (like SSE2, for example). SDL_AudioCVT doesn't require - * you to pass it aligned data, but can possibly run much faster if you - * set both its (buf) field to a pointer that is aligned to 16 bytes, and its - * (len) field to something that's a multiple of 16, if possible. - */ -#if defined(__GNUC__) && !defined(__CHERI_PURE_CAPABILITY__) -/* This structure is 84 bytes on 32-bit architectures, make sure GCC doesn't - pad it out to 88 bytes to guarantee ABI compatibility between compilers. - This is not a concern on CHERI architectures, where pointers must be stored - at aligned locations otherwise they will become invalid, and thus structs - containing pointers cannot be packed without giving a warning or error. - vvv - The next time we rev the ABI, make sure to size the ints and add padding. -*/ -#define SDL_AUDIOCVT_PACKED __attribute__((packed)) -#else -#define SDL_AUDIOCVT_PACKED -#endif -/* */ -typedef struct SDL_AudioCVT -{ - int needed; /**< Set to 1 if conversion possible */ - SDL_AudioFormat src_format; /**< Source audio format */ - SDL_AudioFormat dst_format; /**< Target audio format */ - double rate_incr; /**< Rate conversion increment */ - Uint8 *buf; /**< Buffer to hold entire audio data */ - int len; /**< Length of original audio buffer */ - int len_cvt; /**< Length of converted audio buffer */ - int len_mult; /**< buffer must be len*len_mult big */ - double len_ratio; /**< Given len, final size is len*len_ratio */ - SDL_AudioFilter filters[SDL_AUDIOCVT_MAX_FILTERS + 1]; /**< NULL-terminated list of filter functions */ - int filter_index; /**< Current audio conversion function */ -} SDL_AUDIOCVT_PACKED SDL_AudioCVT; - - -/* Function prototypes */ - -/** - * \name Driver discovery functions - * - * These functions return the list of built in audio drivers, in the - * order that they are normally initialized by default. - */ -/* @{ */ - -/** - * Use this function to get the number of built-in audio drivers. - * - * This function returns a hardcoded number. This never returns a negative - * value; if there are no drivers compiled into this build of SDL, this - * function returns zero. The presence of a driver in this list does not mean - * it will function, it just means SDL is capable of interacting with that - * interface. For example, a build of SDL might have esound support, but if - * there's no esound server available, SDL's esound driver would fail if used. - * - * By default, SDL tries all drivers, in its preferred order, until one is - * found to be usable. - * - * \returns the number of built-in audio drivers. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetAudioDriver - */ -extern DECLSPEC int SDLCALL SDL_GetNumAudioDrivers(void); - -/** - * Use this function to get the name of a built in audio driver. - * - * The list of audio drivers is given in the order that they are normally - * initialized by default; the drivers that seem more reasonable to choose - * first (as far as the SDL developers believe) are earlier in the list. - * - * The names of drivers are all simple, low-ASCII identifiers, like "alsa", - * "coreaudio" or "xaudio2". These never have Unicode characters, and are not - * meant to be proper names. - * - * \param index the index of the audio driver; the value ranges from 0 to - * SDL_GetNumAudioDrivers() - 1 - * \returns the name of the audio driver at the requested index, or NULL if an - * invalid index was specified. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumAudioDrivers - */ -extern DECLSPEC const char *SDLCALL SDL_GetAudioDriver(int index); -/* @} */ - -/** - * \name Initialization and cleanup - * - * \internal These functions are used internally, and should not be used unless - * you have a specific need to specify the audio driver you want to - * use. You should normally use SDL_Init() or SDL_InitSubSystem(). - */ -/* @{ */ - -/** - * Use this function to initialize a particular audio driver. - * - * This function is used internally, and should not be used unless you have a - * specific need to designate the audio driver you want to use. You should - * normally use SDL_Init() or SDL_InitSubSystem(). - * - * \param driver_name the name of the desired audio driver - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AudioQuit - */ -extern DECLSPEC int SDLCALL SDL_AudioInit(const char *driver_name); - -/** - * Use this function to shut down audio if you initialized it with - * SDL_AudioInit(). - * - * This function is used internally, and should not be used unless you have a - * specific need to specify the audio driver you want to use. You should - * normally use SDL_Quit() or SDL_QuitSubSystem(). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AudioInit - */ -extern DECLSPEC void SDLCALL SDL_AudioQuit(void); -/* @} */ - -/** - * Get the name of the current audio driver. - * - * The returned string points to internal static memory and thus never becomes - * invalid, even if you quit the audio subsystem and initialize a new driver - * (although such a case would return a different static string from another - * call to this function, of course). As such, you should not modify or free - * the returned string. - * - * \returns the name of the current audio driver or NULL if no driver has been - * initialized. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AudioInit - */ -extern DECLSPEC const char *SDLCALL SDL_GetCurrentAudioDriver(void); - -/** - * This function is a legacy means of opening the audio device. - * - * This function remains for compatibility with SDL 1.2, but also because it's - * slightly easier to use than the new functions in SDL 2.0. The new, more - * powerful, and preferred way to do this is SDL_OpenAudioDevice(). - * - * This function is roughly equivalent to: - * - * ```c - * SDL_OpenAudioDevice(NULL, 0, desired, obtained, SDL_AUDIO_ALLOW_ANY_CHANGE); - * ``` - * - * With two notable exceptions: - * - * - If `obtained` is NULL, we use `desired` (and allow no changes), which - * means desired will be modified to have the correct values for silence, - * etc, and SDL will convert any differences between your app's specific - * request and the hardware behind the scenes. - * - The return value is always success or failure, and not a device ID, which - * means you can only have one device open at a time with this function. - * - * \param desired an SDL_AudioSpec structure representing the desired output - * format. Please refer to the SDL_OpenAudioDevice - * documentation for details on how to prepare this structure. - * \param obtained an SDL_AudioSpec structure filled in with the actual - * parameters, or NULL. - * \returns 0 if successful, placing the actual hardware parameters in the - * structure pointed to by `obtained`. - * - * If `obtained` is NULL, the audio data passed to the callback - * function will be guaranteed to be in the requested format, and - * will be automatically converted to the actual hardware audio - * format if necessary. If `obtained` is NULL, `desired` will have - * fields modified. - * - * This function returns a negative error code on failure to open the - * audio device or failure to set up the audio thread; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CloseAudio - * \sa SDL_LockAudio - * \sa SDL_PauseAudio - * \sa SDL_UnlockAudio - */ -extern DECLSPEC int SDLCALL SDL_OpenAudio(SDL_AudioSpec * desired, - SDL_AudioSpec * obtained); - -/** - * SDL Audio Device IDs. - * - * A successful call to SDL_OpenAudio() is always device id 1, and legacy - * SDL audio APIs assume you want this device ID. SDL_OpenAudioDevice() calls - * always returns devices >= 2 on success. The legacy calls are good both - * for backwards compatibility and when you don't care about multiple, - * specific, or capture devices. - */ -typedef Uint32 SDL_AudioDeviceID; - -/** - * Get the number of built-in audio devices. - * - * This function is only valid after successfully initializing the audio - * subsystem. - * - * Note that audio capture support is not implemented as of SDL 2.0.4, so the - * `iscapture` parameter is for future expansion and should always be zero for - * now. - * - * This function will return -1 if an explicit list of devices can't be - * determined. Returning -1 is not an error. For example, if SDL is set up to - * talk to a remote audio server, it can't list every one available on the - * Internet, but it will still allow a specific host to be specified in - * SDL_OpenAudioDevice(). - * - * In many common cases, when this function returns a value <= 0, it can still - * successfully open the default device (NULL for first argument of - * SDL_OpenAudioDevice()). - * - * This function may trigger a complete redetect of available hardware. It - * should not be called for each iteration of a loop, but rather once at the - * start of a loop: - * - * ```c - * // Don't do this: - * for (int i = 0; i < SDL_GetNumAudioDevices(0); i++) - * - * // do this instead: - * const int count = SDL_GetNumAudioDevices(0); - * for (int i = 0; i < count; ++i) { do_something_here(); } - * ``` - * - * \param iscapture zero to request playback devices, non-zero to request - * recording devices - * \returns the number of available devices exposed by the current driver or - * -1 if an explicit list of devices can't be determined. A return - * value of -1 does not necessarily mean an error condition. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetAudioDeviceName - * \sa SDL_OpenAudioDevice - */ -extern DECLSPEC int SDLCALL SDL_GetNumAudioDevices(int iscapture); - -/** - * Get the human-readable name of a specific audio device. - * - * This function is only valid after successfully initializing the audio - * subsystem. The values returned by this function reflect the latest call to - * SDL_GetNumAudioDevices(); re-call that function to redetect available - * hardware. - * - * The string returned by this function is UTF-8 encoded, read-only, and - * managed internally. You are not to free it. If you need to keep the string - * for any length of time, you should make your own copy of it, as it will be - * invalid next time any of several other SDL functions are called. - * - * \param index the index of the audio device; valid values range from 0 to - * SDL_GetNumAudioDevices() - 1 - * \param iscapture non-zero to query the list of recording devices, zero to - * query the list of output devices. - * \returns the name of the audio device at the requested index, or NULL on - * error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumAudioDevices - * \sa SDL_GetDefaultAudioInfo - */ -extern DECLSPEC const char *SDLCALL SDL_GetAudioDeviceName(int index, - int iscapture); - -/** - * Get the preferred audio format of a specific audio device. - * - * This function is only valid after a successfully initializing the audio - * subsystem. The values returned by this function reflect the latest call to - * SDL_GetNumAudioDevices(); re-call that function to redetect available - * hardware. - * - * `spec` will be filled with the sample rate, sample format, and channel - * count. - * - * \param index the index of the audio device; valid values range from 0 to - * SDL_GetNumAudioDevices() - 1 - * \param iscapture non-zero to query the list of recording devices, zero to - * query the list of output devices. - * \param spec The SDL_AudioSpec to be initialized by this function. - * \returns 0 on success, nonzero on error - * - * \since This function is available since SDL 2.0.16. - * - * \sa SDL_GetNumAudioDevices - * \sa SDL_GetDefaultAudioInfo - */ -extern DECLSPEC int SDLCALL SDL_GetAudioDeviceSpec(int index, - int iscapture, - SDL_AudioSpec *spec); - - -/** - * Get the name and preferred format of the default audio device. - * - * Some (but not all!) platforms have an isolated mechanism to get information - * about the "default" device. This can actually be a completely different - * device that's not in the list you get from SDL_GetAudioDeviceSpec(). It can - * even be a network address! (This is discussed in SDL_OpenAudioDevice().) - * - * As a result, this call is not guaranteed to be performant, as it can query - * the sound server directly every time, unlike the other query functions. You - * should call this function sparingly! - * - * `spec` will be filled with the sample rate, sample format, and channel - * count, if a default device exists on the system. If `name` is provided, - * will be filled with either a dynamically-allocated UTF-8 string or NULL. - * - * \param name A pointer to be filled with the name of the default device (can - * be NULL). Please call SDL_free() when you are done with this - * pointer! - * \param spec The SDL_AudioSpec to be initialized by this function. - * \param iscapture non-zero to query the default recording device, zero to - * query the default output device. - * \returns 0 on success, nonzero on error - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GetAudioDeviceName - * \sa SDL_GetAudioDeviceSpec - * \sa SDL_OpenAudioDevice - */ -extern DECLSPEC int SDLCALL SDL_GetDefaultAudioInfo(char **name, - SDL_AudioSpec *spec, - int iscapture); - - -/** - * Open a specific audio device. - * - * SDL_OpenAudio(), unlike this function, always acts on device ID 1. As such, - * this function will never return a 1 so as not to conflict with the legacy - * function. - * - * Please note that SDL 2.0 before 2.0.5 did not support recording; as such, - * this function would fail if `iscapture` was not zero. Starting with SDL - * 2.0.5, recording is implemented and this value can be non-zero. - * - * Passing in a `device` name of NULL requests the most reasonable default - * (and is equivalent to what SDL_OpenAudio() does to choose a device). The - * `device` name is a UTF-8 string reported by SDL_GetAudioDeviceName(), but - * some drivers allow arbitrary and driver-specific strings, such as a - * hostname/IP address for a remote audio server, or a filename in the - * diskaudio driver. - * - * An opened audio device starts out paused, and should be enabled for playing - * by calling SDL_PauseAudioDevice(devid, 0) when you are ready for your audio - * callback function to be called. Since the audio driver may modify the - * requested size of the audio buffer, you should allocate any local mixing - * buffers after you open the audio device. - * - * The audio callback runs in a separate thread in most cases; you can prevent - * race conditions between your callback and other threads without fully - * pausing playback with SDL_LockAudioDevice(). For more information about the - * callback, see SDL_AudioSpec. - * - * Managing the audio spec via 'desired' and 'obtained': - * - * When filling in the desired audio spec structure: - * - * - `desired->freq` should be the frequency in sample-frames-per-second (Hz). - * - `desired->format` should be the audio format (`AUDIO_S16SYS`, etc). - * - `desired->samples` is the desired size of the audio buffer, in _sample - * frames_ (with stereo output, two samples--left and right--would make a - * single sample frame). This number should be a power of two, and may be - * adjusted by the audio driver to a value more suitable for the hardware. - * Good values seem to range between 512 and 8096 inclusive, depending on - * the application and CPU speed. Smaller values reduce latency, but can - * lead to underflow if the application is doing heavy processing and cannot - * fill the audio buffer in time. Note that the number of sample frames is - * directly related to time by the following formula: `ms = - * (sampleframes*1000)/freq` - * - `desired->size` is the size in _bytes_ of the audio buffer, and is - * calculated by SDL_OpenAudioDevice(). You don't initialize this. - * - `desired->silence` is the value used to set the buffer to silence, and is - * calculated by SDL_OpenAudioDevice(). You don't initialize this. - * - `desired->callback` should be set to a function that will be called when - * the audio device is ready for more data. It is passed a pointer to the - * audio buffer, and the length in bytes of the audio buffer. This function - * usually runs in a separate thread, and so you should protect data - * structures that it accesses by calling SDL_LockAudioDevice() and - * SDL_UnlockAudioDevice() in your code. Alternately, you may pass a NULL - * pointer here, and call SDL_QueueAudio() with some frequency, to queue - * more audio samples to be played (or for capture devices, call - * SDL_DequeueAudio() with some frequency, to obtain audio samples). - * - `desired->userdata` is passed as the first parameter to your callback - * function. If you passed a NULL callback, this value is ignored. - * - * `allowed_changes` can have the following flags OR'd together: - * - * - `SDL_AUDIO_ALLOW_FREQUENCY_CHANGE` - * - `SDL_AUDIO_ALLOW_FORMAT_CHANGE` - * - `SDL_AUDIO_ALLOW_CHANNELS_CHANGE` - * - `SDL_AUDIO_ALLOW_SAMPLES_CHANGE` - * - `SDL_AUDIO_ALLOW_ANY_CHANGE` - * - * These flags specify how SDL should behave when a device cannot offer a - * specific feature. If the application requests a feature that the hardware - * doesn't offer, SDL will always try to get the closest equivalent. - * - * For example, if you ask for float32 audio format, but the sound card only - * supports int16, SDL will set the hardware to int16. If you had set - * SDL_AUDIO_ALLOW_FORMAT_CHANGE, SDL will change the format in the `obtained` - * structure. If that flag was *not* set, SDL will prepare to convert your - * callback's float32 audio to int16 before feeding it to the hardware and - * will keep the originally requested format in the `obtained` structure. - * - * The resulting audio specs, varying depending on hardware and on what - * changes were allowed, will then be written back to `obtained`. - * - * If your application can only handle one specific data format, pass a zero - * for `allowed_changes` and let SDL transparently handle any differences. - * - * \param device a UTF-8 string reported by SDL_GetAudioDeviceName() or a - * driver-specific name as appropriate. NULL requests the most - * reasonable default device. - * \param iscapture non-zero to specify a device should be opened for - * recording, not playback - * \param desired an SDL_AudioSpec structure representing the desired output - * format; see SDL_OpenAudio() for more information - * \param obtained an SDL_AudioSpec structure filled in with the actual output - * format; see SDL_OpenAudio() for more information - * \param allowed_changes 0, or one or more flags OR'd together - * \returns a valid device ID that is > 0 on success or 0 on failure; call - * SDL_GetError() for more information. - * - * For compatibility with SDL 1.2, this will never return 1, since - * SDL reserves that ID for the legacy SDL_OpenAudio() function. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CloseAudioDevice - * \sa SDL_GetAudioDeviceName - * \sa SDL_LockAudioDevice - * \sa SDL_OpenAudio - * \sa SDL_PauseAudioDevice - * \sa SDL_UnlockAudioDevice - */ -extern DECLSPEC SDL_AudioDeviceID SDLCALL SDL_OpenAudioDevice( - const char *device, - int iscapture, - const SDL_AudioSpec *desired, - SDL_AudioSpec *obtained, - int allowed_changes); - - - -/** - * \name Audio state - * - * Get the current audio state. - */ -/* @{ */ -typedef enum -{ - SDL_AUDIO_STOPPED = 0, - SDL_AUDIO_PLAYING, - SDL_AUDIO_PAUSED -} SDL_AudioStatus; - -/** - * This function is a legacy means of querying the audio device. - * - * New programs might want to use SDL_GetAudioDeviceStatus() instead. This - * function is equivalent to calling... - * - * ```c - * SDL_GetAudioDeviceStatus(1); - * ``` - * - * ...and is only useful if you used the legacy SDL_OpenAudio() function. - * - * \returns the SDL_AudioStatus of the audio device opened by SDL_OpenAudio(). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetAudioDeviceStatus - */ -extern DECLSPEC SDL_AudioStatus SDLCALL SDL_GetAudioStatus(void); - -/** - * Use this function to get the current audio state of an audio device. - * - * \param dev the ID of an audio device previously opened with - * SDL_OpenAudioDevice() - * \returns the SDL_AudioStatus of the specified audio device. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PauseAudioDevice - */ -extern DECLSPEC SDL_AudioStatus SDLCALL SDL_GetAudioDeviceStatus(SDL_AudioDeviceID dev); -/* @} *//* Audio State */ - -/** - * \name Pause audio functions - * - * These functions pause and unpause the audio callback processing. - * They should be called with a parameter of 0 after opening the audio - * device to start playing sound. This is so you can safely initialize - * data for your callback function after opening the audio device. - * Silence will be written to the audio device during the pause. - */ -/* @{ */ - -/** - * This function is a legacy means of pausing the audio device. - * - * New programs might want to use SDL_PauseAudioDevice() instead. This - * function is equivalent to calling... - * - * ```c - * SDL_PauseAudioDevice(1, pause_on); - * ``` - * - * ...and is only useful if you used the legacy SDL_OpenAudio() function. - * - * \param pause_on non-zero to pause, 0 to unpause - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetAudioStatus - * \sa SDL_PauseAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_PauseAudio(int pause_on); - -/** - * Use this function to pause and unpause audio playback on a specified - * device. - * - * This function pauses and unpauses the audio callback processing for a given - * device. Newly-opened audio devices start in the paused state, so you must - * call this function with **pause_on**=0 after opening the specified audio - * device to start playing sound. This allows you to safely initialize data - * for your callback function after opening the audio device. Silence will be - * written to the audio device while paused, and the audio callback is - * guaranteed to not be called. Pausing one device does not prevent other - * unpaused devices from running their callbacks. - * - * Pausing state does not stack; even if you pause a device several times, a - * single unpause will start the device playing again, and vice versa. This is - * different from how SDL_LockAudioDevice() works. - * - * If you just need to protect a few variables from race conditions vs your - * callback, you shouldn't pause the audio device, as it will lead to dropouts - * in the audio playback. Instead, you should use SDL_LockAudioDevice(). - * - * \param dev a device opened by SDL_OpenAudioDevice() - * \param pause_on non-zero to pause, 0 to unpause - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LockAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_PauseAudioDevice(SDL_AudioDeviceID dev, - int pause_on); -/* @} *//* Pause audio functions */ - -/** - * Load the audio data of a WAVE file into memory. - * - * Loading a WAVE file requires `src`, `spec`, `audio_buf` and `audio_len` to - * be valid pointers. The entire data portion of the file is then loaded into - * memory and decoded if necessary. - * - * If `freesrc` is non-zero, the data source gets automatically closed and - * freed before the function returns. - * - * Supported formats are RIFF WAVE files with the formats PCM (8, 16, 24, and - * 32 bits), IEEE Float (32 bits), Microsoft ADPCM and IMA ADPCM (4 bits), and - * A-law and mu-law (8 bits). Other formats are currently unsupported and - * cause an error. - * - * If this function succeeds, the pointer returned by it is equal to `spec` - * and the pointer to the audio data allocated by the function is written to - * `audio_buf` and its length in bytes to `audio_len`. The SDL_AudioSpec - * members `freq`, `channels`, and `format` are set to the values of the audio - * data in the buffer. The `samples` member is set to a sane default and all - * others are set to zero. - * - * It's necessary to use SDL_FreeWAV() to free the audio data returned in - * `audio_buf` when it is no longer used. - * - * Because of the underspecification of the .WAV format, there are many - * problematic files in the wild that cause issues with strict decoders. To - * provide compatibility with these files, this decoder is lenient in regards - * to the truncation of the file, the fact chunk, and the size of the RIFF - * chunk. The hints `SDL_HINT_WAVE_RIFF_CHUNK_SIZE`, - * `SDL_HINT_WAVE_TRUNCATION`, and `SDL_HINT_WAVE_FACT_CHUNK` can be used to - * tune the behavior of the loading process. - * - * Any file that is invalid (due to truncation, corruption, or wrong values in - * the headers), too big, or unsupported causes an error. Additionally, any - * critical I/O error from the data source will terminate the loading process - * with an error. The function returns NULL on error and in all cases (with - * the exception of `src` being NULL), an appropriate error message will be - * set. - * - * It is required that the data source supports seeking. - * - * Example: - * - * ```c - * SDL_LoadWAV_RW(SDL_RWFromFile("sample.wav", "rb"), 1, &spec, &buf, &len); - * ``` - * - * Note that the SDL_LoadWAV macro does this same thing for you, but in a less - * messy way: - * - * ```c - * SDL_LoadWAV("sample.wav", &spec, &buf, &len); - * ``` - * - * \param src The data source for the WAVE data - * \param freesrc If non-zero, SDL will _always_ free the data source - * \param spec An SDL_AudioSpec that will be filled in with the wave file's - * format details - * \param audio_buf A pointer filled with the audio data, allocated by the - * function. - * \param audio_len A pointer filled with the length of the audio data buffer - * in bytes - * \returns This function, if successfully called, returns `spec`, which will - * be filled with the audio data format of the wave source data. - * `audio_buf` will be filled with a pointer to an allocated buffer - * containing the audio data, and `audio_len` is filled with the - * length of that audio buffer in bytes. - * - * This function returns NULL if the .WAV file cannot be opened, uses - * an unknown data format, or is corrupt; call SDL_GetError() for - * more information. - * - * When the application is done with the data returned in - * `audio_buf`, it should call SDL_FreeWAV() to dispose of it. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreeWAV - * \sa SDL_LoadWAV - */ -extern DECLSPEC SDL_AudioSpec *SDLCALL SDL_LoadWAV_RW(SDL_RWops * src, - int freesrc, - SDL_AudioSpec * spec, - Uint8 ** audio_buf, - Uint32 * audio_len); - -/** - * Loads a WAV from a file. - * Compatibility convenience function. - */ -#define SDL_LoadWAV(file, spec, audio_buf, audio_len) \ - SDL_LoadWAV_RW(SDL_RWFromFile(file, "rb"),1, spec,audio_buf,audio_len) - -/** - * Free data previously allocated with SDL_LoadWAV() or SDL_LoadWAV_RW(). - * - * After a WAVE file has been opened with SDL_LoadWAV() or SDL_LoadWAV_RW() - * its data can eventually be freed with SDL_FreeWAV(). It is safe to call - * this function with a NULL pointer. - * - * \param audio_buf a pointer to the buffer created by SDL_LoadWAV() or - * SDL_LoadWAV_RW() - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadWAV - * \sa SDL_LoadWAV_RW - */ -extern DECLSPEC void SDLCALL SDL_FreeWAV(Uint8 * audio_buf); - -/** - * Initialize an SDL_AudioCVT structure for conversion. - * - * Before an SDL_AudioCVT structure can be used to convert audio data it must - * be initialized with source and destination information. - * - * This function will zero out every field of the SDL_AudioCVT, so it must be - * called before the application fills in the final buffer information. - * - * Once this function has returned successfully, and reported that a - * conversion is necessary, the application fills in the rest of the fields in - * SDL_AudioCVT, now that it knows how large a buffer it needs to allocate, - * and then can call SDL_ConvertAudio() to complete the conversion. - * - * \param cvt an SDL_AudioCVT structure filled in with audio conversion - * information - * \param src_format the source format of the audio data; for more info see - * SDL_AudioFormat - * \param src_channels the number of channels in the source - * \param src_rate the frequency (sample-frames-per-second) of the source - * \param dst_format the destination format of the audio data; for more info - * see SDL_AudioFormat - * \param dst_channels the number of channels in the destination - * \param dst_rate the frequency (sample-frames-per-second) of the destination - * \returns 1 if the audio filter is prepared, 0 if no conversion is needed, - * or a negative error code on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ConvertAudio - */ -extern DECLSPEC int SDLCALL SDL_BuildAudioCVT(SDL_AudioCVT * cvt, - SDL_AudioFormat src_format, - Uint8 src_channels, - int src_rate, - SDL_AudioFormat dst_format, - Uint8 dst_channels, - int dst_rate); - -/** - * Convert audio data to a desired audio format. - * - * This function does the actual audio data conversion, after the application - * has called SDL_BuildAudioCVT() to prepare the conversion information and - * then filled in the buffer details. - * - * Once the application has initialized the `cvt` structure using - * SDL_BuildAudioCVT(), allocated an audio buffer and filled it with audio - * data in the source format, this function will convert the buffer, in-place, - * to the desired format. - * - * The data conversion may go through several passes; any given pass may - * possibly temporarily increase the size of the data. For example, SDL might - * expand 16-bit data to 32 bits before resampling to a lower frequency, - * shrinking the data size after having grown it briefly. Since the supplied - * buffer will be both the source and destination, converting as necessary - * in-place, the application must allocate a buffer that will fully contain - * the data during its largest conversion pass. After SDL_BuildAudioCVT() - * returns, the application should set the `cvt->len` field to the size, in - * bytes, of the source data, and allocate a buffer that is `cvt->len * - * cvt->len_mult` bytes long for the `buf` field. - * - * The source data should be copied into this buffer before the call to - * SDL_ConvertAudio(). Upon successful return, this buffer will contain the - * converted audio, and `cvt->len_cvt` will be the size of the converted data, - * in bytes. Any bytes in the buffer past `cvt->len_cvt` are undefined once - * this function returns. - * - * \param cvt an SDL_AudioCVT structure that was previously set up by - * SDL_BuildAudioCVT(). - * \returns 0 if the conversion was completed successfully or a negative error - * code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BuildAudioCVT - */ -extern DECLSPEC int SDLCALL SDL_ConvertAudio(SDL_AudioCVT * cvt); - -/* SDL_AudioStream is a new audio conversion interface. - The benefits vs SDL_AudioCVT: - - it can handle resampling data in chunks without generating - artifacts, when it doesn't have the complete buffer available. - - it can handle incoming data in any variable size. - - You push data as you have it, and pull it when you need it - */ -/* this is opaque to the outside world. */ -struct _SDL_AudioStream; -typedef struct _SDL_AudioStream SDL_AudioStream; - -/** - * Create a new audio stream. - * - * \param src_format The format of the source audio - * \param src_channels The number of channels of the source audio - * \param src_rate The sampling rate of the source audio - * \param dst_format The format of the desired audio output - * \param dst_channels The number of channels of the desired audio output - * \param dst_rate The sampling rate of the desired audio output - * \returns 0 on success, or -1 on error. - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_AudioStreamPut - * \sa SDL_AudioStreamGet - * \sa SDL_AudioStreamAvailable - * \sa SDL_AudioStreamFlush - * \sa SDL_AudioStreamClear - * \sa SDL_FreeAudioStream - */ -extern DECLSPEC SDL_AudioStream * SDLCALL SDL_NewAudioStream(const SDL_AudioFormat src_format, - const Uint8 src_channels, - const int src_rate, - const SDL_AudioFormat dst_format, - const Uint8 dst_channels, - const int dst_rate); - -/** - * Add data to be converted/resampled to the stream. - * - * \param stream The stream the audio data is being added to - * \param buf A pointer to the audio data to add - * \param len The number of bytes to write to the stream - * \returns 0 on success, or -1 on error. - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_NewAudioStream - * \sa SDL_AudioStreamGet - * \sa SDL_AudioStreamAvailable - * \sa SDL_AudioStreamFlush - * \sa SDL_AudioStreamClear - * \sa SDL_FreeAudioStream - */ -extern DECLSPEC int SDLCALL SDL_AudioStreamPut(SDL_AudioStream *stream, const void *buf, int len); - -/** - * Get converted/resampled data from the stream - * - * \param stream The stream the audio is being requested from - * \param buf A buffer to fill with audio data - * \param len The maximum number of bytes to fill - * \returns the number of bytes read from the stream, or -1 on error - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_NewAudioStream - * \sa SDL_AudioStreamPut - * \sa SDL_AudioStreamAvailable - * \sa SDL_AudioStreamFlush - * \sa SDL_AudioStreamClear - * \sa SDL_FreeAudioStream - */ -extern DECLSPEC int SDLCALL SDL_AudioStreamGet(SDL_AudioStream *stream, void *buf, int len); - -/** - * Get the number of converted/resampled bytes available. - * - * The stream may be buffering data behind the scenes until it has enough to - * resample correctly, so this number might be lower than what you expect, or - * even be zero. Add more data or flush the stream if you need the data now. - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_NewAudioStream - * \sa SDL_AudioStreamPut - * \sa SDL_AudioStreamGet - * \sa SDL_AudioStreamFlush - * \sa SDL_AudioStreamClear - * \sa SDL_FreeAudioStream - */ -extern DECLSPEC int SDLCALL SDL_AudioStreamAvailable(SDL_AudioStream *stream); - -/** - * Tell the stream that you're done sending data, and anything being buffered - * should be converted/resampled and made available immediately. - * - * It is legal to add more data to a stream after flushing, but there will be - * audio gaps in the output. Generally this is intended to signal the end of - * input, so the complete output becomes available. - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_NewAudioStream - * \sa SDL_AudioStreamPut - * \sa SDL_AudioStreamGet - * \sa SDL_AudioStreamAvailable - * \sa SDL_AudioStreamClear - * \sa SDL_FreeAudioStream - */ -extern DECLSPEC int SDLCALL SDL_AudioStreamFlush(SDL_AudioStream *stream); - -/** - * Clear any pending data in the stream without converting it - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_NewAudioStream - * \sa SDL_AudioStreamPut - * \sa SDL_AudioStreamGet - * \sa SDL_AudioStreamAvailable - * \sa SDL_AudioStreamFlush - * \sa SDL_FreeAudioStream - */ -extern DECLSPEC void SDLCALL SDL_AudioStreamClear(SDL_AudioStream *stream); - -/** - * Free an audio stream - * - * \since This function is available since SDL 2.0.7. - * - * \sa SDL_NewAudioStream - * \sa SDL_AudioStreamPut - * \sa SDL_AudioStreamGet - * \sa SDL_AudioStreamAvailable - * \sa SDL_AudioStreamFlush - * \sa SDL_AudioStreamClear - */ -extern DECLSPEC void SDLCALL SDL_FreeAudioStream(SDL_AudioStream *stream); - -#define SDL_MIX_MAXVOLUME 128 - -/** - * This function is a legacy means of mixing audio. - * - * This function is equivalent to calling... - * - * ```c - * SDL_MixAudioFormat(dst, src, format, len, volume); - * ``` - * - * ...where `format` is the obtained format of the audio device from the - * legacy SDL_OpenAudio() function. - * - * \param dst the destination for the mixed audio - * \param src the source audio buffer to be mixed - * \param len the length of the audio buffer in bytes - * \param volume ranges from 0 - 128, and should be set to SDL_MIX_MAXVOLUME - * for full audio volume - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_MixAudioFormat - */ -extern DECLSPEC void SDLCALL SDL_MixAudio(Uint8 * dst, const Uint8 * src, - Uint32 len, int volume); - -/** - * Mix audio data in a specified format. - * - * This takes an audio buffer `src` of `len` bytes of `format` data and mixes - * it into `dst`, performing addition, volume adjustment, and overflow - * clipping. The buffer pointed to by `dst` must also be `len` bytes of - * `format` data. - * - * This is provided for convenience -- you can mix your own audio data. - * - * Do not use this function for mixing together more than two streams of - * sample data. The output from repeated application of this function may be - * distorted by clipping, because there is no accumulator with greater range - * than the input (not to mention this being an inefficient way of doing it). - * - * It is a common misconception that this function is required to write audio - * data to an output stream in an audio callback. While you can do that, - * SDL_MixAudioFormat() is really only needed when you're mixing a single - * audio stream with a volume adjustment. - * - * \param dst the destination for the mixed audio - * \param src the source audio buffer to be mixed - * \param format the SDL_AudioFormat structure representing the desired audio - * format - * \param len the length of the audio buffer in bytes - * \param volume ranges from 0 - 128, and should be set to SDL_MIX_MAXVOLUME - * for full audio volume - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_MixAudioFormat(Uint8 * dst, - const Uint8 * src, - SDL_AudioFormat format, - Uint32 len, int volume); - -/** - * Queue more audio on non-callback devices. - * - * If you are looking to retrieve queued audio from a non-callback capture - * device, you want SDL_DequeueAudio() instead. SDL_QueueAudio() will return - * -1 to signify an error if you use it with capture devices. - * - * SDL offers two ways to feed audio to the device: you can either supply a - * callback that SDL triggers with some frequency to obtain more audio (pull - * method), or you can supply no callback, and then SDL will expect you to - * supply data at regular intervals (push method) with this function. - * - * There are no limits on the amount of data you can queue, short of - * exhaustion of address space. Queued data will drain to the device as - * necessary without further intervention from you. If the device needs audio - * but there is not enough queued, it will play silence to make up the - * difference. This means you will have skips in your audio playback if you - * aren't routinely queueing sufficient data. - * - * This function copies the supplied data, so you are safe to free it when the - * function returns. This function is thread-safe, but queueing to the same - * device from two threads at once does not promise which buffer will be - * queued first. - * - * You may not queue audio on a device that is using an application-supplied - * callback; doing so returns an error. You have to use the audio callback or - * queue audio with this function, but not both. - * - * You should not call SDL_LockAudio() on the device before queueing; SDL - * handles locking internally for this function. - * - * Note that SDL2 does not support planar audio. You will need to resample - * from planar audio formats into a non-planar one (see SDL_AudioFormat) - * before queuing audio. - * - * \param dev the device ID to which we will queue audio - * \param data the data to queue to the device for later playback - * \param len the number of bytes (not samples!) to which `data` points - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_ClearQueuedAudio - * \sa SDL_GetQueuedAudioSize - */ -extern DECLSPEC int SDLCALL SDL_QueueAudio(SDL_AudioDeviceID dev, const void *data, Uint32 len); - -/** - * Dequeue more audio on non-callback devices. - * - * If you are looking to queue audio for output on a non-callback playback - * device, you want SDL_QueueAudio() instead. SDL_DequeueAudio() will always - * return 0 if you use it with playback devices. - * - * SDL offers two ways to retrieve audio from a capture device: you can either - * supply a callback that SDL triggers with some frequency as the device - * records more audio data, (push method), or you can supply no callback, and - * then SDL will expect you to retrieve data at regular intervals (pull - * method) with this function. - * - * There are no limits on the amount of data you can queue, short of - * exhaustion of address space. Data from the device will keep queuing as - * necessary without further intervention from you. This means you will - * eventually run out of memory if you aren't routinely dequeueing data. - * - * Capture devices will not queue data when paused; if you are expecting to - * not need captured audio for some length of time, use SDL_PauseAudioDevice() - * to stop the capture device from queueing more data. This can be useful - * during, say, level loading times. When unpaused, capture devices will start - * queueing data from that point, having flushed any capturable data available - * while paused. - * - * This function is thread-safe, but dequeueing from the same device from two - * threads at once does not promise which thread will dequeue data first. - * - * You may not dequeue audio from a device that is using an - * application-supplied callback; doing so returns an error. You have to use - * the audio callback, or dequeue audio with this function, but not both. - * - * You should not call SDL_LockAudio() on the device before dequeueing; SDL - * handles locking internally for this function. - * - * \param dev the device ID from which we will dequeue audio - * \param data a pointer into where audio data should be copied - * \param len the number of bytes (not samples!) to which (data) points - * \returns the number of bytes dequeued, which could be less than requested; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_ClearQueuedAudio - * \sa SDL_GetQueuedAudioSize - */ -extern DECLSPEC Uint32 SDLCALL SDL_DequeueAudio(SDL_AudioDeviceID dev, void *data, Uint32 len); - -/** - * Get the number of bytes of still-queued audio. - * - * For playback devices: this is the number of bytes that have been queued for - * playback with SDL_QueueAudio(), but have not yet been sent to the hardware. - * - * Once we've sent it to the hardware, this function can not decide the exact - * byte boundary of what has been played. It's possible that we just gave the - * hardware several kilobytes right before you called this function, but it - * hasn't played any of it yet, or maybe half of it, etc. - * - * For capture devices, this is the number of bytes that have been captured by - * the device and are waiting for you to dequeue. This number may grow at any - * time, so this only informs of the lower-bound of available data. - * - * You may not queue or dequeue audio on a device that is using an - * application-supplied callback; calling this function on such a device - * always returns 0. You have to use the audio callback or queue audio, but - * not both. - * - * You should not call SDL_LockAudio() on the device before querying; SDL - * handles locking internally for this function. - * - * \param dev the device ID of which we will query queued audio size - * \returns the number of bytes (not samples!) of queued audio. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_ClearQueuedAudio - * \sa SDL_QueueAudio - * \sa SDL_DequeueAudio - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetQueuedAudioSize(SDL_AudioDeviceID dev); - -/** - * Drop any queued audio data waiting to be sent to the hardware. - * - * Immediately after this call, SDL_GetQueuedAudioSize() will return 0. For - * output devices, the hardware will start playing silence if more audio isn't - * queued. For capture devices, the hardware will start filling the empty - * queue with new data if the capture device isn't paused. - * - * This will not prevent playback of queued audio that's already been sent to - * the hardware, as we can not undo that, so expect there to be some fraction - * of a second of audio that might still be heard. This can be useful if you - * want to, say, drop any pending music or any unprocessed microphone input - * during a level change in your game. - * - * You may not queue or dequeue audio on a device that is using an - * application-supplied callback; calling this function on such a device - * always returns 0. You have to use the audio callback or queue audio, but - * not both. - * - * You should not call SDL_LockAudio() on the device before clearing the - * queue; SDL handles locking internally for this function. - * - * This function always succeeds and thus returns void. - * - * \param dev the device ID of which to clear the audio queue - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_GetQueuedAudioSize - * \sa SDL_QueueAudio - * \sa SDL_DequeueAudio - */ -extern DECLSPEC void SDLCALL SDL_ClearQueuedAudio(SDL_AudioDeviceID dev); - - -/** - * \name Audio lock functions - * - * The lock manipulated by these functions protects the callback function. - * During a SDL_LockAudio()/SDL_UnlockAudio() pair, you can be guaranteed that - * the callback function is not running. Do not call these from the callback - * function or you will cause deadlock. - */ -/* @{ */ - -/** - * This function is a legacy means of locking the audio device. - * - * New programs might want to use SDL_LockAudioDevice() instead. This function - * is equivalent to calling... - * - * ```c - * SDL_LockAudioDevice(1); - * ``` - * - * ...and is only useful if you used the legacy SDL_OpenAudio() function. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LockAudioDevice - * \sa SDL_UnlockAudio - * \sa SDL_UnlockAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_LockAudio(void); - -/** - * Use this function to lock out the audio callback function for a specified - * device. - * - * The lock manipulated by these functions protects the audio callback - * function specified in SDL_OpenAudioDevice(). During a - * SDL_LockAudioDevice()/SDL_UnlockAudioDevice() pair, you can be guaranteed - * that the callback function for that device is not running, even if the - * device is not paused. While a device is locked, any other unpaused, - * unlocked devices may still run their callbacks. - * - * Calling this function from inside your audio callback is unnecessary. SDL - * obtains this lock before calling your function, and releases it when the - * function returns. - * - * You should not hold the lock longer than absolutely necessary. If you hold - * it too long, you'll experience dropouts in your audio playback. Ideally, - * your application locks the device, sets a few variables and unlocks again. - * Do not do heavy work while holding the lock for a device. - * - * It is safe to lock the audio device multiple times, as long as you unlock - * it an equivalent number of times. The callback will not run until the - * device has been unlocked completely in this way. If your application fails - * to unlock the device appropriately, your callback will never run, you might - * hear repeating bursts of audio, and SDL_CloseAudioDevice() will probably - * deadlock. - * - * Internally, the audio device lock is a mutex; if you lock from two threads - * at once, not only will you block the audio callback, you'll block the other - * thread. - * - * \param dev the ID of the device to be locked - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_UnlockAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_LockAudioDevice(SDL_AudioDeviceID dev); - -/** - * This function is a legacy means of unlocking the audio device. - * - * New programs might want to use SDL_UnlockAudioDevice() instead. This - * function is equivalent to calling... - * - * ```c - * SDL_UnlockAudioDevice(1); - * ``` - * - * ...and is only useful if you used the legacy SDL_OpenAudio() function. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LockAudio - * \sa SDL_UnlockAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_UnlockAudio(void); - -/** - * Use this function to unlock the audio callback function for a specified - * device. - * - * This function should be paired with a previous SDL_LockAudioDevice() call. - * - * \param dev the ID of the device to be unlocked - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LockAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_UnlockAudioDevice(SDL_AudioDeviceID dev); -/* @} *//* Audio lock functions */ - -/** - * This function is a legacy means of closing the audio device. - * - * This function is equivalent to calling... - * - * ```c - * SDL_CloseAudioDevice(1); - * ``` - * - * ...and is only useful if you used the legacy SDL_OpenAudio() function. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_OpenAudio - */ -extern DECLSPEC void SDLCALL SDL_CloseAudio(void); - -/** - * Use this function to shut down audio processing and close the audio device. - * - * The application should close open audio devices once they are no longer - * needed. Calling this function will wait until the device's audio callback - * is not running, release the audio hardware and then clean up internal - * state. No further audio will play from this device once this function - * returns. - * - * This function may block briefly while pending audio data is played by the - * hardware, so that applications don't drop the last buffer of data they - * supplied. - * - * The device ID is invalid as soon as the device is closed, and is eligible - * for reuse in a new SDL_OpenAudioDevice() call immediately. - * - * \param dev an audio device previously opened with SDL_OpenAudioDevice() - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_OpenAudioDevice - */ -extern DECLSPEC void SDLCALL SDL_CloseAudioDevice(SDL_AudioDeviceID dev); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_audio_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_bits.h b/subprojects/sdl2_windows/include/SDL2/SDL_bits.h deleted file mode 100644 index 22cb85314..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_bits.h +++ /dev/null @@ -1,126 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_bits.h - * - * Functions for fiddling with bits and bitmasks. - */ - -#ifndef SDL_bits_h_ -#define SDL_bits_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \file SDL_bits.h - */ - -/** - * Get the index of the most significant bit. Result is undefined when called - * with 0. This operation can also be stated as "count leading zeroes" and - * "log base 2". - * - * \return the index of the most significant bit, or -1 if the value is 0. - */ -#if defined(__WATCOMC__) && defined(__386__) -extern __inline int _SDL_bsr_watcom(Uint32); -#pragma aux _SDL_bsr_watcom = \ - "bsr eax, eax" \ - parm [eax] nomemory \ - value [eax] \ - modify exact [eax] nomemory; -#endif - -SDL_FORCE_INLINE int -SDL_MostSignificantBitIndex32(Uint32 x) -{ -#if defined(__GNUC__) && (__GNUC__ >= 4 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) - /* Count Leading Zeroes builtin in GCC. - * http://gcc.gnu.org/onlinedocs/gcc-4.3.4/gcc/Other-Builtins.html - */ - if (x == 0) { - return -1; - } - return 31 - __builtin_clz(x); -#elif defined(__WATCOMC__) && defined(__386__) - if (x == 0) { - return -1; - } - return _SDL_bsr_watcom(x); -#elif defined(_MSC_VER) - unsigned long index; - if (_BitScanReverse(&index, x)) { - return index; - } - return -1; -#else - /* Based off of Bit Twiddling Hacks by Sean Eron Anderson - * , released in the public domain. - * http://graphics.stanford.edu/~seander/bithacks.html#IntegerLog - */ - const Uint32 b[] = {0x2, 0xC, 0xF0, 0xFF00, 0xFFFF0000}; - const int S[] = {1, 2, 4, 8, 16}; - - int msbIndex = 0; - int i; - - if (x == 0) { - return -1; - } - - for (i = 4; i >= 0; i--) - { - if (x & b[i]) - { - x >>= S[i]; - msbIndex |= S[i]; - } - } - - return msbIndex; -#endif -} - -SDL_FORCE_INLINE SDL_bool -SDL_HasExactlyOneBitSet32(Uint32 x) -{ - if (x && !(x & (x - 1))) { - return SDL_TRUE; - } - return SDL_FALSE; -} - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_bits_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_blendmode.h b/subprojects/sdl2_windows/include/SDL2/SDL_blendmode.h deleted file mode 100644 index 08c9f9dd6..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_blendmode.h +++ /dev/null @@ -1,198 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_blendmode.h - * - * Header file declaring the SDL_BlendMode enumeration - */ - -#ifndef SDL_blendmode_h_ -#define SDL_blendmode_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief The blend mode used in SDL_RenderCopy() and drawing operations. - */ -typedef enum -{ - SDL_BLENDMODE_NONE = 0x00000000, /**< no blending - dstRGBA = srcRGBA */ - SDL_BLENDMODE_BLEND = 0x00000001, /**< alpha blending - dstRGB = (srcRGB * srcA) + (dstRGB * (1-srcA)) - dstA = srcA + (dstA * (1-srcA)) */ - SDL_BLENDMODE_ADD = 0x00000002, /**< additive blending - dstRGB = (srcRGB * srcA) + dstRGB - dstA = dstA */ - SDL_BLENDMODE_MOD = 0x00000004, /**< color modulate - dstRGB = srcRGB * dstRGB - dstA = dstA */ - SDL_BLENDMODE_MUL = 0x00000008, /**< color multiply - dstRGB = (srcRGB * dstRGB) + (dstRGB * (1-srcA)) - dstA = (srcA * dstA) + (dstA * (1-srcA)) */ - SDL_BLENDMODE_INVALID = 0x7FFFFFFF - - /* Additional custom blend modes can be returned by SDL_ComposeCustomBlendMode() */ - -} SDL_BlendMode; - -/** - * \brief The blend operation used when combining source and destination pixel components - */ -typedef enum -{ - SDL_BLENDOPERATION_ADD = 0x1, /**< dst + src: supported by all renderers */ - SDL_BLENDOPERATION_SUBTRACT = 0x2, /**< dst - src : supported by D3D9, D3D11, OpenGL, OpenGLES */ - SDL_BLENDOPERATION_REV_SUBTRACT = 0x3, /**< src - dst : supported by D3D9, D3D11, OpenGL, OpenGLES */ - SDL_BLENDOPERATION_MINIMUM = 0x4, /**< min(dst, src) : supported by D3D9, D3D11 */ - SDL_BLENDOPERATION_MAXIMUM = 0x5 /**< max(dst, src) : supported by D3D9, D3D11 */ -} SDL_BlendOperation; - -/** - * \brief The normalized factor used to multiply pixel components - */ -typedef enum -{ - SDL_BLENDFACTOR_ZERO = 0x1, /**< 0, 0, 0, 0 */ - SDL_BLENDFACTOR_ONE = 0x2, /**< 1, 1, 1, 1 */ - SDL_BLENDFACTOR_SRC_COLOR = 0x3, /**< srcR, srcG, srcB, srcA */ - SDL_BLENDFACTOR_ONE_MINUS_SRC_COLOR = 0x4, /**< 1-srcR, 1-srcG, 1-srcB, 1-srcA */ - SDL_BLENDFACTOR_SRC_ALPHA = 0x5, /**< srcA, srcA, srcA, srcA */ - SDL_BLENDFACTOR_ONE_MINUS_SRC_ALPHA = 0x6, /**< 1-srcA, 1-srcA, 1-srcA, 1-srcA */ - SDL_BLENDFACTOR_DST_COLOR = 0x7, /**< dstR, dstG, dstB, dstA */ - SDL_BLENDFACTOR_ONE_MINUS_DST_COLOR = 0x8, /**< 1-dstR, 1-dstG, 1-dstB, 1-dstA */ - SDL_BLENDFACTOR_DST_ALPHA = 0x9, /**< dstA, dstA, dstA, dstA */ - SDL_BLENDFACTOR_ONE_MINUS_DST_ALPHA = 0xA /**< 1-dstA, 1-dstA, 1-dstA, 1-dstA */ -} SDL_BlendFactor; - -/** - * Compose a custom blend mode for renderers. - * - * The functions SDL_SetRenderDrawBlendMode and SDL_SetTextureBlendMode accept - * the SDL_BlendMode returned by this function if the renderer supports it. - * - * A blend mode controls how the pixels from a drawing operation (source) get - * combined with the pixels from the render target (destination). First, the - * components of the source and destination pixels get multiplied with their - * blend factors. Then, the blend operation takes the two products and - * calculates the result that will get stored in the render target. - * - * Expressed in pseudocode, it would look like this: - * - * ```c - * dstRGB = colorOperation(srcRGB * srcColorFactor, dstRGB * dstColorFactor); - * dstA = alphaOperation(srcA * srcAlphaFactor, dstA * dstAlphaFactor); - * ``` - * - * Where the functions `colorOperation(src, dst)` and `alphaOperation(src, - * dst)` can return one of the following: - * - * - `src + dst` - * - `src - dst` - * - `dst - src` - * - `min(src, dst)` - * - `max(src, dst)` - * - * The red, green, and blue components are always multiplied with the first, - * second, and third components of the SDL_BlendFactor, respectively. The - * fourth component is not used. - * - * The alpha component is always multiplied with the fourth component of the - * SDL_BlendFactor. The other components are not used in the alpha - * calculation. - * - * Support for these blend modes varies for each renderer. To check if a - * specific SDL_BlendMode is supported, create a renderer and pass it to - * either SDL_SetRenderDrawBlendMode or SDL_SetTextureBlendMode. They will - * return with an error if the blend mode is not supported. - * - * This list describes the support of custom blend modes for each renderer in - * SDL 2.0.6. All renderers support the four blend modes listed in the - * SDL_BlendMode enumeration. - * - * - **direct3d**: Supports all operations with all factors. However, some - * factors produce unexpected results with `SDL_BLENDOPERATION_MINIMUM` and - * `SDL_BLENDOPERATION_MAXIMUM`. - * - **direct3d11**: Same as Direct3D 9. - * - **opengl**: Supports the `SDL_BLENDOPERATION_ADD` operation with all - * factors. OpenGL versions 1.1, 1.2, and 1.3 do not work correctly with SDL - * 2.0.6. - * - **opengles**: Supports the `SDL_BLENDOPERATION_ADD` operation with all - * factors. Color and alpha factors need to be the same. OpenGL ES 1 - * implementation specific: May also support `SDL_BLENDOPERATION_SUBTRACT` - * and `SDL_BLENDOPERATION_REV_SUBTRACT`. May support color and alpha - * operations being different from each other. May support color and alpha - * factors being different from each other. - * - **opengles2**: Supports the `SDL_BLENDOPERATION_ADD`, - * `SDL_BLENDOPERATION_SUBTRACT`, `SDL_BLENDOPERATION_REV_SUBTRACT` - * operations with all factors. - * - **psp**: No custom blend mode support. - * - **software**: No custom blend mode support. - * - * Some renderers do not provide an alpha component for the default render - * target. The `SDL_BLENDFACTOR_DST_ALPHA` and - * `SDL_BLENDFACTOR_ONE_MINUS_DST_ALPHA` factors do not have an effect in this - * case. - * - * \param srcColorFactor the SDL_BlendFactor applied to the red, green, and - * blue components of the source pixels - * \param dstColorFactor the SDL_BlendFactor applied to the red, green, and - * blue components of the destination pixels - * \param colorOperation the SDL_BlendOperation used to combine the red, - * green, and blue components of the source and - * destination pixels - * \param srcAlphaFactor the SDL_BlendFactor applied to the alpha component of - * the source pixels - * \param dstAlphaFactor the SDL_BlendFactor applied to the alpha component of - * the destination pixels - * \param alphaOperation the SDL_BlendOperation used to combine the alpha - * component of the source and destination pixels - * \returns an SDL_BlendMode that represents the chosen factors and - * operations. - * - * \since This function is available since SDL 2.0.6. - * - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_GetRenderDrawBlendMode - * \sa SDL_SetTextureBlendMode - * \sa SDL_GetTextureBlendMode - */ -extern DECLSPEC SDL_BlendMode SDLCALL SDL_ComposeCustomBlendMode(SDL_BlendFactor srcColorFactor, - SDL_BlendFactor dstColorFactor, - SDL_BlendOperation colorOperation, - SDL_BlendFactor srcAlphaFactor, - SDL_BlendFactor dstAlphaFactor, - SDL_BlendOperation alphaOperation); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_blendmode_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_clipboard.h b/subprojects/sdl2_windows/include/SDL2/SDL_clipboard.h deleted file mode 100644 index 783c7c251..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_clipboard.h +++ /dev/null @@ -1,141 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_clipboard.h - * - * Include file for SDL clipboard handling - */ - -#ifndef SDL_clipboard_h_ -#define SDL_clipboard_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* Function prototypes */ - -/** - * Put UTF-8 text into the clipboard. - * - * \param text the text to store in the clipboard - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetClipboardText - * \sa SDL_HasClipboardText - */ -extern DECLSPEC int SDLCALL SDL_SetClipboardText(const char *text); - -/** - * Get UTF-8 text from the clipboard, which must be freed with SDL_free(). - * - * This functions returns empty string if there was not enough memory left for - * a copy of the clipboard's content. - * - * \returns the clipboard text on success or an empty string on failure; call - * SDL_GetError() for more information. Caller must call SDL_free() - * on the returned pointer when done with it (even if there was an - * error). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HasClipboardText - * \sa SDL_SetClipboardText - */ -extern DECLSPEC char * SDLCALL SDL_GetClipboardText(void); - -/** - * Query whether the clipboard exists and contains a non-empty text string. - * - * \returns SDL_TRUE if the clipboard has text, or SDL_FALSE if it does not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetClipboardText - * \sa SDL_SetClipboardText - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasClipboardText(void); - -/** - * Put UTF-8 text into the primary selection. - * - * \param text the text to store in the primary selection - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.26.0. - * - * \sa SDL_GetPrimarySelectionText - * \sa SDL_HasPrimarySelectionText - */ -extern DECLSPEC int SDLCALL SDL_SetPrimarySelectionText(const char *text); - -/** - * Get UTF-8 text from the primary selection, which must be freed with - * SDL_free(). - * - * This functions returns empty string if there was not enough memory left for - * a copy of the primary selection's content. - * - * \returns the primary selection text on success or an empty string on - * failure; call SDL_GetError() for more information. Caller must - * call SDL_free() on the returned pointer when done with it (even if - * there was an error). - * - * \since This function is available since SDL 2.26.0. - * - * \sa SDL_HasPrimarySelectionText - * \sa SDL_SetPrimarySelectionText - */ -extern DECLSPEC char * SDLCALL SDL_GetPrimarySelectionText(void); - -/** - * Query whether the primary selection exists and contains a non-empty text - * string. - * - * \returns SDL_TRUE if the primary selection has text, or SDL_FALSE if it - * does not. - * - * \since This function is available since SDL 2.26.0. - * - * \sa SDL_GetPrimarySelectionText - * \sa SDL_SetPrimarySelectionText - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasPrimarySelectionText(void); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_clipboard_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_config.h b/subprojects/sdl2_windows/include/SDL2/SDL_config.h deleted file mode 100644 index 58e0b7ecb..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_config.h +++ /dev/null @@ -1,331 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_config_windows_h_ -#define SDL_config_windows_h_ -#define SDL_config_h_ - -#include "SDL_platform.h" - -/* winsdkver.h defines _WIN32_MAXVER for SDK version detection. It is present since at least the Windows 7 SDK, - * but out of caution we'll only use it if the compiler supports __has_include() to confirm its presence. - * If your compiler doesn't support __has_include() but you have winsdkver.h, define HAVE_WINSDKVER_H. */ -#if !defined(HAVE_WINSDKVER_H) && defined(__has_include) -#if __has_include() -#define HAVE_WINSDKVER_H 1 -#endif -#endif - -#ifdef HAVE_WINSDKVER_H -#include -#endif - -/* sdkddkver.h defines more specific SDK version numbers. This is needed because older versions of the - * Windows 10 SDK have broken declarations for the C API for DirectX 12. */ -#if !defined(HAVE_SDKDDKVER_H) && defined(__has_include) -#if __has_include() -#define HAVE_SDKDDKVER_H 1 -#endif -#endif - -#ifdef HAVE_SDKDDKVER_H -#include -#endif - -/* This is a set of defines to configure the SDL features */ - -#if !defined(_STDINT_H_) && (!defined(HAVE_STDINT_H) || !_HAVE_STDINT_H) -/* Most everything except Visual Studio 2008 and earlier has stdint.h now */ -#if defined(_MSC_VER) && (_MSC_VER < 1600) -typedef signed __int8 int8_t; -typedef unsigned __int8 uint8_t; -typedef signed __int16 int16_t; -typedef unsigned __int16 uint16_t; -typedef signed __int32 int32_t; -typedef unsigned __int32 uint32_t; -typedef signed __int64 int64_t; -typedef unsigned __int64 uint64_t; -#ifndef _UINTPTR_T_DEFINED -#ifdef _WIN64 -typedef unsigned __int64 uintptr_t; -#else -typedef unsigned int uintptr_t; -#endif -#define _UINTPTR_T_DEFINED -#endif -#else -#define HAVE_STDINT_H 1 -#endif /* Visual Studio 2008 */ -#endif /* !_STDINT_H_ && !HAVE_STDINT_H */ - -#ifdef _WIN64 -# define SIZEOF_VOIDP 8 -#else -# define SIZEOF_VOIDP 4 -#endif - -#ifdef __clang__ -# define HAVE_GCC_ATOMICS 1 -#endif - -#define HAVE_DDRAW_H 1 -#define HAVE_DINPUT_H 1 -#define HAVE_DSOUND_H 1 -#ifndef __WATCOMC__ -#define HAVE_DXGI_H 1 -#define HAVE_XINPUT_H 1 -#if defined(_WIN32_MAXVER) && _WIN32_MAXVER >= 0x0A00 /* Windows 10 SDK */ -#define HAVE_WINDOWS_GAMING_INPUT_H 1 -#endif -#if defined(_WIN32_MAXVER) && _WIN32_MAXVER >= 0x0602 /* Windows 8 SDK */ -#define HAVE_D3D11_H 1 -#define HAVE_ROAPI_H 1 -#endif -#if defined(WDK_NTDDI_VERSION) && WDK_NTDDI_VERSION > 0x0A000008 /* 10.0.19041.0 */ -#define HAVE_D3D12_H 1 -#endif -#if defined(_WIN32_MAXVER) && _WIN32_MAXVER >= 0x0603 /* Windows 8.1 SDK */ -#define HAVE_SHELLSCALINGAPI_H 1 -#endif -#define HAVE_MMDEVICEAPI_H 1 -#define HAVE_AUDIOCLIENT_H 1 -#define HAVE_TPCSHRD_H 1 -#define HAVE_SENSORSAPI_H 1 -#endif -#if (defined(_M_IX86) || defined(_M_X64) || defined(_M_AMD64)) && (defined(_MSC_VER) && _MSC_VER >= 1600) -#define HAVE_IMMINTRIN_H 1 -#elif defined(__has_include) && (defined(__i386__) || defined(__x86_64)) -# if __has_include() -# define HAVE_IMMINTRIN_H 1 -# endif -#endif - -/* This is disabled by default to avoid C runtime dependencies and manifest requirements */ -#ifdef HAVE_LIBC -/* Useful headers */ -#define STDC_HEADERS 1 -#define HAVE_CTYPE_H 1 -#define HAVE_FLOAT_H 1 -#define HAVE_LIMITS_H 1 -#define HAVE_MATH_H 1 -#define HAVE_SIGNAL_H 1 -#define HAVE_STDIO_H 1 -#define HAVE_STRING_H 1 - -/* C library functions */ -#define HAVE_MALLOC 1 -#define HAVE_CALLOC 1 -#define HAVE_REALLOC 1 -#define HAVE_FREE 1 -#define HAVE_ALLOCA 1 -/* OpenWatcom requires specific calling conventions for qsort and bsearch */ -#ifndef __WATCOMC__ -#define HAVE_QSORT 1 -#define HAVE_BSEARCH 1 -#endif -#define HAVE_ABS 1 -#define HAVE_MEMSET 1 -#define HAVE_MEMCPY 1 -#define HAVE_MEMMOVE 1 -#define HAVE_MEMCMP 1 -#define HAVE_STRLEN 1 -#define HAVE__STRREV 1 -/* These functions have security warnings, so we won't use them */ -/* #undef HAVE__STRUPR */ -/* #undef HAVE__STRLWR */ -#define HAVE_STRCHR 1 -#define HAVE_STRRCHR 1 -#define HAVE_STRSTR 1 -/* #undef HAVE_STRTOK_R */ -/* These functions have security warnings, so we won't use them */ -/* #undef HAVE__LTOA */ -/* #undef HAVE__ULTOA */ -#define HAVE_STRTOL 1 -#define HAVE_STRTOUL 1 -#define HAVE_STRTOD 1 -#define HAVE_ATOI 1 -#define HAVE_ATOF 1 -#define HAVE_STRCMP 1 -#define HAVE_STRNCMP 1 -#define HAVE__STRICMP 1 -#define HAVE__STRNICMP 1 -#define HAVE__WCSICMP 1 -#define HAVE__WCSNICMP 1 -#define HAVE__WCSDUP 1 -#define HAVE_ACOS 1 -#define HAVE_ASIN 1 -#define HAVE_ATAN 1 -#define HAVE_ATAN2 1 -#define HAVE_CEIL 1 -#define HAVE_COS 1 -#define HAVE_EXP 1 -#define HAVE_FABS 1 -#define HAVE_FLOOR 1 -#define HAVE_FMOD 1 -#define HAVE_LOG 1 -#define HAVE_LOG10 1 -#define HAVE_POW 1 -#define HAVE_SIN 1 -#define HAVE_SQRT 1 -#define HAVE_TAN 1 -#ifndef __WATCOMC__ -#define HAVE_ACOSF 1 -#define HAVE_ASINF 1 -#define HAVE_ATANF 1 -#define HAVE_ATAN2F 1 -#define HAVE_CEILF 1 -#define HAVE__COPYSIGN 1 -#define HAVE_COSF 1 -#define HAVE_EXPF 1 -#define HAVE_FABSF 1 -#define HAVE_FLOORF 1 -#define HAVE_FMODF 1 -#define HAVE_LOGF 1 -#define HAVE_LOG10F 1 -#define HAVE_POWF 1 -#define HAVE_SINF 1 -#define HAVE_SQRTF 1 -#define HAVE_TANF 1 -#endif -#if defined(_MSC_VER) -/* These functions were added with the VC++ 2013 C runtime library */ -#if _MSC_VER >= 1800 -#define HAVE_STRTOLL 1 -#define HAVE_STRTOULL 1 -#define HAVE_VSSCANF 1 -#define HAVE_LROUND 1 -#define HAVE_LROUNDF 1 -#define HAVE_ROUND 1 -#define HAVE_ROUNDF 1 -#define HAVE_SCALBN 1 -#define HAVE_SCALBNF 1 -#define HAVE_TRUNC 1 -#define HAVE_TRUNCF 1 -#endif -/* This function is available with at least the VC++ 2008 C runtime library */ -#if _MSC_VER >= 1400 -#define HAVE__FSEEKI64 1 -#endif -#ifdef _USE_MATH_DEFINES -#define HAVE_M_PI 1 -#endif -#elif defined(__WATCOMC__) -#define HAVE__FSEEKI64 1 -#define HAVE_STRTOLL 1 -#define HAVE_STRTOULL 1 -#define HAVE_VSSCANF 1 -#define HAVE_ROUND 1 -#define HAVE_SCALBN 1 -#define HAVE_TRUNC 1 -#else -#define HAVE_M_PI 1 -#endif -#else -#define HAVE_STDARG_H 1 -#define HAVE_STDDEF_H 1 -#endif - -/* Enable various audio drivers */ -#if defined(HAVE_MMDEVICEAPI_H) && defined(HAVE_AUDIOCLIENT_H) -#define SDL_AUDIO_DRIVER_WASAPI 1 -#endif -#define SDL_AUDIO_DRIVER_DSOUND 1 -#define SDL_AUDIO_DRIVER_WINMM 1 -#define SDL_AUDIO_DRIVER_DISK 1 -#define SDL_AUDIO_DRIVER_DUMMY 1 - -/* Enable various input drivers */ -#define SDL_JOYSTICK_DINPUT 1 -#define SDL_JOYSTICK_HIDAPI 1 -#ifndef __WINRT__ -#define SDL_JOYSTICK_RAWINPUT 1 -#endif -#define SDL_JOYSTICK_VIRTUAL 1 -#ifdef HAVE_WINDOWS_GAMING_INPUT_H -#define SDL_JOYSTICK_WGI 1 -#endif -#define SDL_JOYSTICK_XINPUT 1 -#define SDL_HAPTIC_DINPUT 1 -#define SDL_HAPTIC_XINPUT 1 - -/* Enable the sensor driver */ -#ifdef HAVE_SENSORSAPI_H -#define SDL_SENSOR_WINDOWS 1 -#else -#define SDL_SENSOR_DUMMY 1 -#endif - -/* Enable various shared object loading systems */ -#define SDL_LOADSO_WINDOWS 1 - -/* Enable various threading systems */ -#define SDL_THREAD_GENERIC_COND_SUFFIX 1 -#define SDL_THREAD_WINDOWS 1 - -/* Enable various timer systems */ -#define SDL_TIMER_WINDOWS 1 - -/* Enable various video drivers */ -#define SDL_VIDEO_DRIVER_DUMMY 1 -#define SDL_VIDEO_DRIVER_WINDOWS 1 - -#ifndef SDL_VIDEO_RENDER_D3D -#define SDL_VIDEO_RENDER_D3D 1 -#endif -#if !defined(SDL_VIDEO_RENDER_D3D11) && defined(HAVE_D3D11_H) -#define SDL_VIDEO_RENDER_D3D11 1 -#endif -#if !defined(SDL_VIDEO_RENDER_D3D12) && defined(HAVE_D3D12_H) -#define SDL_VIDEO_RENDER_D3D12 1 -#endif - -/* Enable OpenGL support */ -#ifndef SDL_VIDEO_OPENGL -#define SDL_VIDEO_OPENGL 1 -#endif -#ifndef SDL_VIDEO_OPENGL_WGL -#define SDL_VIDEO_OPENGL_WGL 1 -#endif -#ifndef SDL_VIDEO_RENDER_OGL -#define SDL_VIDEO_RENDER_OGL 1 -#endif -#ifndef SDL_VIDEO_RENDER_OGL_ES2 -#define SDL_VIDEO_RENDER_OGL_ES2 1 -#endif -#ifndef SDL_VIDEO_OPENGL_ES2 -#define SDL_VIDEO_OPENGL_ES2 1 -#endif -#ifndef SDL_VIDEO_OPENGL_EGL -#define SDL_VIDEO_OPENGL_EGL 1 -#endif - -/* Enable Vulkan support */ -#define SDL_VIDEO_VULKAN 1 - -/* Enable system power support */ -#define SDL_POWER_WINDOWS 1 - -/* Enable filesystem support */ -#define SDL_FILESYSTEM_WINDOWS 1 - -#endif /* SDL_config_windows_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_cpuinfo.h b/subprojects/sdl2_windows/include/SDL2/SDL_cpuinfo.h deleted file mode 100644 index b5ad0fcb8..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_cpuinfo.h +++ /dev/null @@ -1,594 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_cpuinfo.h - * - * CPU feature detection for SDL. - */ - -#ifndef SDL_cpuinfo_h_ -#define SDL_cpuinfo_h_ - -#include "SDL_stdinc.h" - -/* Need to do this here because intrin.h has C++ code in it */ -/* Visual Studio 2005 has a bug where intrin.h conflicts with winnt.h */ -#if defined(_MSC_VER) && (_MSC_VER >= 1500) && (defined(_M_IX86) || defined(_M_X64)) -#ifdef __clang__ -/* As of Clang 11, '_m_prefetchw' is conflicting with the winnt.h's version, - so we define the needed '_m_prefetch' here as a pseudo-header, until the issue is fixed. */ - -#ifndef __PRFCHWINTRIN_H -#define __PRFCHWINTRIN_H - -static __inline__ void __attribute__((__always_inline__, __nodebug__)) -_m_prefetch(void *__P) -{ - __builtin_prefetch (__P, 0, 3 /* _MM_HINT_T0 */); -} - -#endif /* __PRFCHWINTRIN_H */ -#endif /* __clang__ */ -#include -#ifndef _WIN64 -#ifndef __MMX__ -#define __MMX__ -#endif -#ifndef __3dNOW__ -#define __3dNOW__ -#endif -#endif -#ifndef __SSE__ -#define __SSE__ -#endif -#ifndef __SSE2__ -#define __SSE2__ -#endif -#ifndef __SSE3__ -#define __SSE3__ -#endif -#elif defined(__MINGW64_VERSION_MAJOR) -#include -#if !defined(SDL_DISABLE_ARM_NEON_H) && defined(__ARM_NEON) -# include -#endif -#else -/* altivec.h redefining bool causes a number of problems, see bugs 3993 and 4392, so you need to explicitly define SDL_ENABLE_ALTIVEC_H to have it included. */ -#if defined(HAVE_ALTIVEC_H) && defined(__ALTIVEC__) && !defined(__APPLE_ALTIVEC__) && defined(SDL_ENABLE_ALTIVEC_H) -#include -#endif -#if !defined(SDL_DISABLE_ARM_NEON_H) -# if defined(__ARM_NEON) -# include -# elif defined(__WINDOWS__) || defined(__WINRT__) || defined(__GDK__) -/* Visual Studio doesn't define __ARM_ARCH, but _M_ARM (if set, always 7), and _M_ARM64 (if set, always 1). */ -# if defined(_M_ARM) -# include -# include -# define __ARM_NEON 1 /* Set __ARM_NEON so that it can be used elsewhere, at compile time */ -# endif -# if defined (_M_ARM64) -# include -# include -# define __ARM_NEON 1 /* Set __ARM_NEON so that it can be used elsewhere, at compile time */ -# define __ARM_ARCH 8 -# endif -# endif -#endif -#endif /* compiler version */ - -#if defined(__3dNOW__) && !defined(SDL_DISABLE_MM3DNOW_H) -#include -#endif -#if defined(__loongarch_sx) && !defined(SDL_DISABLE_LSX_H) -#include -#define __LSX__ -#endif -#if defined(__loongarch_asx) && !defined(SDL_DISABLE_LASX_H) -#include -#define __LASX__ -#endif -#if defined(HAVE_IMMINTRIN_H) && !defined(SDL_DISABLE_IMMINTRIN_H) -#include -#else -#if defined(__MMX__) && !defined(SDL_DISABLE_MMINTRIN_H) -#include -#endif -#if defined(__SSE__) && !defined(SDL_DISABLE_XMMINTRIN_H) -#include -#endif -#if defined(__SSE2__) && !defined(SDL_DISABLE_EMMINTRIN_H) -#include -#endif -#if defined(__SSE3__) && !defined(SDL_DISABLE_PMMINTRIN_H) -#include -#endif -#endif /* HAVE_IMMINTRIN_H */ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* This is a guess for the cacheline size used for padding. - * Most x86 processors have a 64 byte cache line. - * The 64-bit PowerPC processors have a 128 byte cache line. - * We'll use the larger value to be generally safe. - */ -#define SDL_CACHELINE_SIZE 128 - -/** - * Get the number of CPU cores available. - * - * \returns the total number of logical CPU cores. On CPUs that include - * technologies such as hyperthreading, the number of logical cores - * may be more than the number of physical cores. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_GetCPUCount(void); - -/** - * Determine the L1 cache line size of the CPU. - * - * This is useful for determining multi-threaded structure padding or SIMD - * prefetch sizes. - * - * \returns the L1 cache line size of the CPU, in bytes. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_GetCPUCacheLineSize(void); - -/** - * Determine whether the CPU has the RDTSC instruction. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has the RDTSC instruction or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasRDTSC(void); - -/** - * Determine whether the CPU has AltiVec features. - * - * This always returns false on CPUs that aren't using PowerPC instruction - * sets. - * - * \returns SDL_TRUE if the CPU has AltiVec features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasAltiVec(void); - -/** - * Determine whether the CPU has MMX features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has MMX features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasMMX(void); - -/** - * Determine whether the CPU has 3DNow! features. - * - * This always returns false on CPUs that aren't using AMD instruction sets. - * - * \returns SDL_TRUE if the CPU has 3DNow! features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_Has3DNow(void); - -/** - * Determine whether the CPU has SSE features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has SSE features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE(void); - -/** - * Determine whether the CPU has SSE2 features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has SSE2 features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE2(void); - -/** - * Determine whether the CPU has SSE3 features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has SSE3 features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE3(void); - -/** - * Determine whether the CPU has SSE4.1 features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has SSE4.1 features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE41(void); - -/** - * Determine whether the CPU has SSE4.2 features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has SSE4.2 features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasSSE42(void); - -/** - * Determine whether the CPU has AVX features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has AVX features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX2 - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasAVX(void); - -/** - * Determine whether the CPU has AVX2 features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has AVX2 features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_Has3DNow - * \sa SDL_HasAltiVec - * \sa SDL_HasAVX - * \sa SDL_HasMMX - * \sa SDL_HasRDTSC - * \sa SDL_HasSSE - * \sa SDL_HasSSE2 - * \sa SDL_HasSSE3 - * \sa SDL_HasSSE41 - * \sa SDL_HasSSE42 - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasAVX2(void); - -/** - * Determine whether the CPU has AVX-512F (foundation) features. - * - * This always returns false on CPUs that aren't using Intel instruction sets. - * - * \returns SDL_TRUE if the CPU has AVX-512F features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.9. - * - * \sa SDL_HasAVX - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasAVX512F(void); - -/** - * Determine whether the CPU has ARM SIMD (ARMv6) features. - * - * This is different from ARM NEON, which is a different instruction set. - * - * This always returns false on CPUs that aren't using ARM instruction sets. - * - * \returns SDL_TRUE if the CPU has ARM SIMD features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_HasNEON - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasARMSIMD(void); - -/** - * Determine whether the CPU has NEON (ARM SIMD) features. - * - * This always returns false on CPUs that aren't using ARM instruction sets. - * - * \returns SDL_TRUE if the CPU has ARM NEON features or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasNEON(void); - -/** - * Determine whether the CPU has LSX (LOONGARCH SIMD) features. - * - * This always returns false on CPUs that aren't using LOONGARCH instruction - * sets. - * - * \returns SDL_TRUE if the CPU has LOONGARCH LSX features or SDL_FALSE if - * not. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasLSX(void); - -/** - * Determine whether the CPU has LASX (LOONGARCH SIMD) features. - * - * This always returns false on CPUs that aren't using LOONGARCH instruction - * sets. - * - * \returns SDL_TRUE if the CPU has LOONGARCH LASX features or SDL_FALSE if - * not. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasLASX(void); - -/** - * Get the amount of RAM configured in the system. - * - * \returns the amount of RAM configured in the system in MiB. - * - * \since This function is available since SDL 2.0.1. - */ -extern DECLSPEC int SDLCALL SDL_GetSystemRAM(void); - -/** - * Report the alignment this system needs for SIMD allocations. - * - * This will return the minimum number of bytes to which a pointer must be - * aligned to be compatible with SIMD instructions on the current machine. For - * example, if the machine supports SSE only, it will return 16, but if it - * supports AVX-512F, it'll return 64 (etc). This only reports values for - * instruction sets SDL knows about, so if your SDL build doesn't have - * SDL_HasAVX512F(), then it might return 16 for the SSE support it sees and - * not 64 for the AVX-512 instructions that exist but SDL doesn't know about. - * Plan accordingly. - * - * \returns the alignment in bytes needed for available, known SIMD - * instructions. - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC size_t SDLCALL SDL_SIMDGetAlignment(void); - -/** - * Allocate memory in a SIMD-friendly way. - * - * This will allocate a block of memory that is suitable for use with SIMD - * instructions. Specifically, it will be properly aligned and padded for the - * system's supported vector instructions. - * - * The memory returned will be padded such that it is safe to read or write an - * incomplete vector at the end of the memory block. This can be useful so you - * don't have to drop back to a scalar fallback at the end of your SIMD - * processing loop to deal with the final elements without overflowing the - * allocated buffer. - * - * You must free this memory with SDL_FreeSIMD(), not free() or SDL_free() or - * delete[], etc. - * - * Note that SDL will only deal with SIMD instruction sets it is aware of; for - * example, SDL 2.0.8 knows that SSE wants 16-byte vectors (SDL_HasSSE()), and - * AVX2 wants 32 bytes (SDL_HasAVX2()), but doesn't know that AVX-512 wants - * 64. To be clear: if you can't decide to use an instruction set with an - * SDL_Has*() function, don't use that instruction set with memory allocated - * through here. - * - * SDL_AllocSIMD(0) will return a non-NULL pointer, assuming the system isn't - * out of memory, but you are not allowed to dereference it (because you only - * own zero bytes of that buffer). - * - * \param len The length, in bytes, of the block to allocate. The actual - * allocated block might be larger due to padding, etc. - * \returns a pointer to the newly-allocated block, NULL if out of memory. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_SIMDGetAlignment - * \sa SDL_SIMDRealloc - * \sa SDL_SIMDFree - */ -extern DECLSPEC void * SDLCALL SDL_SIMDAlloc(const size_t len); - -/** - * Reallocate memory obtained from SDL_SIMDAlloc - * - * It is not valid to use this function on a pointer from anything but - * SDL_SIMDAlloc(). It can't be used on pointers from malloc, realloc, - * SDL_malloc, memalign, new[], etc. - * - * \param mem The pointer obtained from SDL_SIMDAlloc. This function also - * accepts NULL, at which point this function is the same as - * calling SDL_SIMDAlloc with a NULL pointer. - * \param len The length, in bytes, of the block to allocated. The actual - * allocated block might be larger due to padding, etc. Passing 0 - * will return a non-NULL pointer, assuming the system isn't out of - * memory. - * \returns a pointer to the newly-reallocated block, NULL if out of memory. - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_SIMDGetAlignment - * \sa SDL_SIMDAlloc - * \sa SDL_SIMDFree - */ -extern DECLSPEC void * SDLCALL SDL_SIMDRealloc(void *mem, const size_t len); - -/** - * Deallocate memory obtained from SDL_SIMDAlloc - * - * It is not valid to use this function on a pointer from anything but - * SDL_SIMDAlloc() or SDL_SIMDRealloc(). It can't be used on pointers from - * malloc, realloc, SDL_malloc, memalign, new[], etc. - * - * However, SDL_SIMDFree(NULL) is a legal no-op. - * - * The memory pointed to by `ptr` is no longer valid for access upon return, - * and may be returned to the system or reused by a future allocation. The - * pointer passed to this function is no longer safe to dereference once this - * function returns, and should be discarded. - * - * \param ptr The pointer, returned from SDL_SIMDAlloc or SDL_SIMDRealloc, to - * deallocate. NULL is a legal no-op. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_SIMDAlloc - * \sa SDL_SIMDRealloc - */ -extern DECLSPEC void SDLCALL SDL_SIMDFree(void *ptr); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_cpuinfo_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_egl.h b/subprojects/sdl2_windows/include/SDL2/SDL_egl.h deleted file mode 100644 index e8bd657b2..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_egl.h +++ /dev/null @@ -1,2352 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_egl.h - * - * This is a simple file to encapsulate the EGL API headers. - */ -#if !defined(_MSC_VER) && !defined(__ANDROID__) && !defined(SDL_USE_BUILTIN_OPENGL_DEFINITIONS) - -#if defined(__vita__) || defined(__psp2__) -#include -#endif - -#include -#include - -#else /* _MSC_VER */ - -/* EGL headers for Visual Studio */ - -#ifndef __khrplatform_h_ -#define __khrplatform_h_ - -/* -** Copyright (c) 2008-2018 The Khronos Group Inc. -** -** Permission is hereby granted, free of charge, to any person obtaining a -** copy of this software and/or associated documentation files (the -** "Materials"), to deal in the Materials without restriction, including -** without limitation the rights to use, copy, modify, merge, publish, -** distribute, sublicense, and/or sell copies of the Materials, and to -** permit persons to whom the Materials are furnished to do so, subject to -** the following conditions: -** -** The above copyright notice and this permission notice shall be included -** in all copies or substantial portions of the Materials. -** -** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF -** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. -** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY -** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, -** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE -** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. -*/ - -/* Khronos platform-specific types and definitions. - * - * The master copy of khrplatform.h is maintained in the Khronos EGL - * Registry repository at https://github.com/KhronosGroup/EGL-Registry - * The last semantic modification to khrplatform.h was at commit ID: - * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 - * - * Adopters may modify this file to suit their platform. Adopters are - * encouraged to submit platform specific modifications to the Khronos - * group so that they can be included in future versions of this file. - * Please submit changes by filing pull requests or issues on - * the EGL Registry repository linked above. - * - * - * See the Implementer's Guidelines for information about where this file - * should be located on your system and for more details of its use: - * http://www.khronos.org/registry/implementers_guide.pdf - * - * This file should be included as - * #include - * by Khronos client API header files that use its types and defines. - * - * The types in khrplatform.h should only be used to define API-specific types. - * - * Types defined in khrplatform.h: - * khronos_int8_t signed 8 bit - * khronos_uint8_t unsigned 8 bit - * khronos_int16_t signed 16 bit - * khronos_uint16_t unsigned 16 bit - * khronos_int32_t signed 32 bit - * khronos_uint32_t unsigned 32 bit - * khronos_int64_t signed 64 bit - * khronos_uint64_t unsigned 64 bit - * khronos_intptr_t signed same number of bits as a pointer - * khronos_uintptr_t unsigned same number of bits as a pointer - * khronos_ssize_t signed size - * khronos_usize_t unsigned size - * khronos_float_t signed 32 bit floating point - * khronos_time_ns_t unsigned 64 bit time in nanoseconds - * khronos_utime_nanoseconds_t unsigned time interval or absolute time in - * nanoseconds - * khronos_stime_nanoseconds_t signed time interval in nanoseconds - * khronos_boolean_enum_t enumerated boolean type. This should - * only be used as a base type when a client API's boolean type is - * an enum. Client APIs which use an integer or other type for - * booleans cannot use this as the base type for their boolean. - * - * Tokens defined in khrplatform.h: - * - * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. - * - * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. - * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. - * - * Calling convention macros defined in this file: - * KHRONOS_APICALL - * KHRONOS_APIENTRY - * KHRONOS_APIATTRIBUTES - * - * These may be used in function prototypes as: - * - * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( - * int arg1, - * int arg2) KHRONOS_APIATTRIBUTES; - */ - -#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) -# define KHRONOS_STATIC 1 -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APICALL - *------------------------------------------------------------------------- - * This precedes the return type of the function in the function prototype. - */ -#if defined(KHRONOS_STATIC) - /* If the preprocessor constant KHRONOS_STATIC is defined, make the - * header compatible with static linking. */ -# define KHRONOS_APICALL -#elif defined(_WIN32) -# define KHRONOS_APICALL __declspec(dllimport) -#elif defined (__SYMBIAN32__) -# define KHRONOS_APICALL IMPORT_C -#elif defined(__ANDROID__) -# define KHRONOS_APICALL __attribute__((visibility("default"))) -#else -# define KHRONOS_APICALL -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIENTRY - *------------------------------------------------------------------------- - * This follows the return type of the function and precedes the function - * name in the function prototype. - */ -#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) - /* Win32 but not WinCE */ -# define KHRONOS_APIENTRY __stdcall -#else -# define KHRONOS_APIENTRY -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIATTRIBUTES - *------------------------------------------------------------------------- - * This follows the closing parenthesis of the function prototype arguments. - */ -#if defined (__ARMCC_2__) -#define KHRONOS_APIATTRIBUTES __softfp -#else -#define KHRONOS_APIATTRIBUTES -#endif - -/*------------------------------------------------------------------------- - * basic type definitions - *-----------------------------------------------------------------------*/ -#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) - - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 -/* - * To support platform where unsigned long cannot be used interchangeably with - * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. - * Ideally, we could just use (u)intptr_t everywhere, but this could result in - * ABI breakage if khronos_uintptr_t is changed from unsigned long to - * unsigned long long or similar (this results in different C++ name mangling). - * To avoid changes for existing platforms, we restrict usage of intptr_t to - * platforms where the size of a pointer is larger than the size of long. - */ -#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) -#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ -#define KHRONOS_USE_INTPTR_T -#endif -#endif - -#elif defined(__VMS ) || defined(__sgi) - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) - -/* - * Win32 - */ -typedef __int32 khronos_int32_t; -typedef unsigned __int32 khronos_uint32_t; -typedef __int64 khronos_int64_t; -typedef unsigned __int64 khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(__sun__) || defined(__digital__) - -/* - * Sun or Digital - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#if defined(__arch64__) || defined(_LP64) -typedef long int khronos_int64_t; -typedef unsigned long int khronos_uint64_t; -#else -typedef long long int khronos_int64_t; -typedef unsigned long long int khronos_uint64_t; -#endif /* __arch64__ */ -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif 0 - -/* - * Hypothetical platform with no float or int64 support - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#define KHRONOS_SUPPORT_INT64 0 -#define KHRONOS_SUPPORT_FLOAT 0 - -#else - -/* - * Generic fallback - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#endif - - -/* - * Types that are (so far) the same on all platforms - */ -typedef signed char khronos_int8_t; -typedef unsigned char khronos_uint8_t; -typedef signed short int khronos_int16_t; -typedef unsigned short int khronos_uint16_t; - -/* - * Types that differ between LLP64 and LP64 architectures - in LLP64, - * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears - * to be the only LLP64 architecture in current use. - */ -#ifdef KHRONOS_USE_INTPTR_T -typedef intptr_t khronos_intptr_t; -typedef uintptr_t khronos_uintptr_t; -#elif defined(_WIN64) -typedef signed long long int khronos_intptr_t; -typedef unsigned long long int khronos_uintptr_t; -#else -typedef signed long int khronos_intptr_t; -typedef unsigned long int khronos_uintptr_t; -#endif - -#if defined(_WIN64) -typedef signed long long int khronos_ssize_t; -typedef unsigned long long int khronos_usize_t; -#else -typedef signed long int khronos_ssize_t; -typedef unsigned long int khronos_usize_t; -#endif - -#if KHRONOS_SUPPORT_FLOAT -/* - * Float type - */ -typedef float khronos_float_t; -#endif - -#if KHRONOS_SUPPORT_INT64 -/* Time types - * - * These types can be used to represent a time interval in nanoseconds or - * an absolute Unadjusted System Time. Unadjusted System Time is the number - * of nanoseconds since some arbitrary system event (e.g. since the last - * time the system booted). The Unadjusted System Time is an unsigned - * 64 bit value that wraps back to 0 every 584 years. Time intervals - * may be either signed or unsigned. - */ -typedef khronos_uint64_t khronos_utime_nanoseconds_t; -typedef khronos_int64_t khronos_stime_nanoseconds_t; -#endif - -/* - * Dummy value used to pad enum types to 32 bits. - */ -#ifndef KHRONOS_MAX_ENUM -#define KHRONOS_MAX_ENUM 0x7FFFFFFF -#endif - -/* - * Enumerated boolean type - * - * Values other than zero should be considered to be true. Therefore - * comparisons should not be made against KHRONOS_TRUE. - */ -typedef enum { - KHRONOS_FALSE = 0, - KHRONOS_TRUE = 1, - KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM -} khronos_boolean_enum_t; - -#endif /* __khrplatform_h_ */ - - -#ifndef __eglplatform_h_ -#define __eglplatform_h_ - -/* -** Copyright 2007-2020 The Khronos Group Inc. -** SPDX-License-Identifier: Apache-2.0 -*/ - -/* Platform-specific types and definitions for egl.h - * - * Adopters may modify khrplatform.h and this file to suit their platform. - * You are encouraged to submit all modifications to the Khronos group so that - * they can be included in future versions of this file. Please submit changes - * by filing an issue or pull request on the public Khronos EGL Registry, at - * https://www.github.com/KhronosGroup/EGL-Registry/ - */ - -/*#include */ - -/* Macros used in EGL function prototype declarations. - * - * EGL functions should be prototyped as: - * - * EGLAPI return-type EGLAPIENTRY eglFunction(arguments); - * typedef return-type (EXPAPIENTRYP PFNEGLFUNCTIONPROC) (arguments); - * - * KHRONOS_APICALL and KHRONOS_APIENTRY are defined in KHR/khrplatform.h - */ - -#ifndef EGLAPI -#define EGLAPI KHRONOS_APICALL -#endif - -#ifndef EGLAPIENTRY -#define EGLAPIENTRY KHRONOS_APIENTRY -#endif -#define EGLAPIENTRYP EGLAPIENTRY* - -/* The types NativeDisplayType, NativeWindowType, and NativePixmapType - * are aliases of window-system-dependent types, such as X Display * or - * Windows Device Context. They must be defined in platform-specific - * code below. The EGL-prefixed versions of Native*Type are the same - * types, renamed in EGL 1.3 so all types in the API start with "EGL". - * - * Khronos STRONGLY RECOMMENDS that you use the default definitions - * provided below, since these changes affect both binary and source - * portability of applications using EGL running on different EGL - * implementations. - */ - -#if defined(EGL_NO_PLATFORM_SPECIFIC_TYPES) - -typedef void *EGLNativeDisplayType; -typedef void *EGLNativePixmapType; -typedef void *EGLNativeWindowType; - -#elif defined(_WIN32) || defined(__VC32__) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__) /* Win32 and WinCE */ -#ifndef WIN32_LEAN_AND_MEAN -#define WIN32_LEAN_AND_MEAN 1 -#endif -#include - -typedef HDC EGLNativeDisplayType; -typedef HBITMAP EGLNativePixmapType; -typedef HWND EGLNativeWindowType; - -#elif defined(__EMSCRIPTEN__) - -typedef int EGLNativeDisplayType; -typedef int EGLNativePixmapType; -typedef int EGLNativeWindowType; - -#elif defined(__WINSCW__) || defined(__SYMBIAN32__) /* Symbian */ - -typedef int EGLNativeDisplayType; -typedef void *EGLNativePixmapType; -typedef void *EGLNativeWindowType; - -#elif defined(WL_EGL_PLATFORM) - -typedef struct wl_display *EGLNativeDisplayType; -typedef struct wl_egl_pixmap *EGLNativePixmapType; -typedef struct wl_egl_window *EGLNativeWindowType; - -#elif defined(__GBM__) - -typedef struct gbm_device *EGLNativeDisplayType; -typedef struct gbm_bo *EGLNativePixmapType; -typedef void *EGLNativeWindowType; - -#elif defined(__ANDROID__) || defined(ANDROID) - -struct ANativeWindow; -struct egl_native_pixmap_t; - -typedef void* EGLNativeDisplayType; -typedef struct egl_native_pixmap_t* EGLNativePixmapType; -typedef struct ANativeWindow* EGLNativeWindowType; - -#elif defined(USE_OZONE) - -typedef intptr_t EGLNativeDisplayType; -typedef intptr_t EGLNativePixmapType; -typedef intptr_t EGLNativeWindowType; - -#elif defined(USE_X11) - -/* X11 (tentative) */ -#include -#include - -typedef Display *EGLNativeDisplayType; -typedef Pixmap EGLNativePixmapType; -typedef Window EGLNativeWindowType; - -#elif defined(__unix__) - -typedef void *EGLNativeDisplayType; -typedef khronos_uintptr_t EGLNativePixmapType; -typedef khronos_uintptr_t EGLNativeWindowType; - -#elif defined(__APPLE__) - -typedef int EGLNativeDisplayType; -typedef void *EGLNativePixmapType; -typedef void *EGLNativeWindowType; - -#elif defined(__HAIKU__) - -#include - -typedef void *EGLNativeDisplayType; -typedef khronos_uintptr_t EGLNativePixmapType; -typedef khronos_uintptr_t EGLNativeWindowType; - -#elif defined(__Fuchsia__) - -typedef void *EGLNativeDisplayType; -typedef khronos_uintptr_t EGLNativePixmapType; -typedef khronos_uintptr_t EGLNativeWindowType; - -#else -#error "Platform not recognized" -#endif - -/* EGL 1.2 types, renamed for consistency in EGL 1.3 */ -typedef EGLNativeDisplayType NativeDisplayType; -typedef EGLNativePixmapType NativePixmapType; -typedef EGLNativeWindowType NativeWindowType; - - -/* Define EGLint. This must be a signed integral type large enough to contain - * all legal attribute names and values passed into and out of EGL, whether - * their type is boolean, bitmask, enumerant (symbolic constant), integer, - * handle, or other. While in general a 32-bit integer will suffice, if - * handles are 64 bit types, then EGLint should be defined as a signed 64-bit - * integer type. - */ -typedef khronos_int32_t EGLint; - - -/* C++ / C typecast macros for special EGL handle values */ -#if defined(__cplusplus) -#define EGL_CAST(type, value) (static_cast(value)) -#else -#define EGL_CAST(type, value) ((type) (value)) -#endif - -#endif /* __eglplatform_h */ - - -#ifndef __egl_h_ -#define __egl_h_ 1 - -#ifdef __cplusplus -extern "C" { -#endif - -/* -** Copyright 2013-2020 The Khronos Group Inc. -** SPDX-License-Identifier: Apache-2.0 -** -** This header is generated from the Khronos EGL XML API Registry. -** The current version of the Registry, generator scripts -** used to make the header, and the header can be found at -** http://www.khronos.org/registry/egl -** -** Khronos $Git commit SHA1: 6fb1daea15 $ on $Git commit date: 2022-05-25 09:41:13 -0600 $ -*/ - -/*#include */ - -#ifndef EGL_EGL_PROTOTYPES -#define EGL_EGL_PROTOTYPES 1 -#endif - -/* Generated on date 20220525 */ - -/* Generated C header for: - * API: egl - * Versions considered: .* - * Versions emitted: .* - * Default extensions included: None - * Additional extensions included: _nomatch_^ - * Extensions removed: _nomatch_^ - */ - -#ifndef EGL_VERSION_1_0 -#define EGL_VERSION_1_0 1 -typedef unsigned int EGLBoolean; -typedef void *EGLDisplay; -/*#include */ -/*#include */ -typedef void *EGLConfig; -typedef void *EGLSurface; -typedef void *EGLContext; -typedef void (*__eglMustCastToProperFunctionPointerType)(void); -#define EGL_ALPHA_SIZE 0x3021 -#define EGL_BAD_ACCESS 0x3002 -#define EGL_BAD_ALLOC 0x3003 -#define EGL_BAD_ATTRIBUTE 0x3004 -#define EGL_BAD_CONFIG 0x3005 -#define EGL_BAD_CONTEXT 0x3006 -#define EGL_BAD_CURRENT_SURFACE 0x3007 -#define EGL_BAD_DISPLAY 0x3008 -#define EGL_BAD_MATCH 0x3009 -#define EGL_BAD_NATIVE_PIXMAP 0x300A -#define EGL_BAD_NATIVE_WINDOW 0x300B -#define EGL_BAD_PARAMETER 0x300C -#define EGL_BAD_SURFACE 0x300D -#define EGL_BLUE_SIZE 0x3022 -#define EGL_BUFFER_SIZE 0x3020 -#define EGL_CONFIG_CAVEAT 0x3027 -#define EGL_CONFIG_ID 0x3028 -#define EGL_CORE_NATIVE_ENGINE 0x305B -#define EGL_DEPTH_SIZE 0x3025 -#define EGL_DONT_CARE EGL_CAST(EGLint,-1) -#define EGL_DRAW 0x3059 -#define EGL_EXTENSIONS 0x3055 -#define EGL_FALSE 0 -#define EGL_GREEN_SIZE 0x3023 -#define EGL_HEIGHT 0x3056 -#define EGL_LARGEST_PBUFFER 0x3058 -#define EGL_LEVEL 0x3029 -#define EGL_MAX_PBUFFER_HEIGHT 0x302A -#define EGL_MAX_PBUFFER_PIXELS 0x302B -#define EGL_MAX_PBUFFER_WIDTH 0x302C -#define EGL_NATIVE_RENDERABLE 0x302D -#define EGL_NATIVE_VISUAL_ID 0x302E -#define EGL_NATIVE_VISUAL_TYPE 0x302F -#define EGL_NONE 0x3038 -#define EGL_NON_CONFORMANT_CONFIG 0x3051 -#define EGL_NOT_INITIALIZED 0x3001 -#define EGL_NO_CONTEXT EGL_CAST(EGLContext,0) -#define EGL_NO_DISPLAY EGL_CAST(EGLDisplay,0) -#define EGL_NO_SURFACE EGL_CAST(EGLSurface,0) -#define EGL_PBUFFER_BIT 0x0001 -#define EGL_PIXMAP_BIT 0x0002 -#define EGL_READ 0x305A -#define EGL_RED_SIZE 0x3024 -#define EGL_SAMPLES 0x3031 -#define EGL_SAMPLE_BUFFERS 0x3032 -#define EGL_SLOW_CONFIG 0x3050 -#define EGL_STENCIL_SIZE 0x3026 -#define EGL_SUCCESS 0x3000 -#define EGL_SURFACE_TYPE 0x3033 -#define EGL_TRANSPARENT_BLUE_VALUE 0x3035 -#define EGL_TRANSPARENT_GREEN_VALUE 0x3036 -#define EGL_TRANSPARENT_RED_VALUE 0x3037 -#define EGL_TRANSPARENT_RGB 0x3052 -#define EGL_TRANSPARENT_TYPE 0x3034 -#define EGL_TRUE 1 -#define EGL_VENDOR 0x3053 -#define EGL_VERSION 0x3054 -#define EGL_WIDTH 0x3057 -#define EGL_WINDOW_BIT 0x0004 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCHOOSECONFIGPROC) (EGLDisplay dpy, const EGLint *attrib_list, EGLConfig *configs, EGLint config_size, EGLint *num_config); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOPYBUFFERSPROC) (EGLDisplay dpy, EGLSurface surface, EGLNativePixmapType target); -typedef EGLContext (EGLAPIENTRYP PFNEGLCREATECONTEXTPROC) (EGLDisplay dpy, EGLConfig config, EGLContext share_context, const EGLint *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPBUFFERSURFACEPROC) (EGLDisplay dpy, EGLConfig config, const EGLint *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPIXMAPSURFACEPROC) (EGLDisplay dpy, EGLConfig config, EGLNativePixmapType pixmap, const EGLint *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEWINDOWSURFACEPROC) (EGLDisplay dpy, EGLConfig config, EGLNativeWindowType win, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYCONTEXTPROC) (EGLDisplay dpy, EGLContext ctx); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSURFACEPROC) (EGLDisplay dpy, EGLSurface surface); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCONFIGATTRIBPROC) (EGLDisplay dpy, EGLConfig config, EGLint attribute, EGLint *value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCONFIGSPROC) (EGLDisplay dpy, EGLConfig *configs, EGLint config_size, EGLint *num_config); -typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETCURRENTDISPLAYPROC) (void); -typedef EGLSurface (EGLAPIENTRYP PFNEGLGETCURRENTSURFACEPROC) (EGLint readdraw); -typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETDISPLAYPROC) (EGLNativeDisplayType display_id); -typedef EGLint (EGLAPIENTRYP PFNEGLGETERRORPROC) (void); -typedef __eglMustCastToProperFunctionPointerType (EGLAPIENTRYP PFNEGLGETPROCADDRESSPROC) (const char *procname); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLINITIALIZEPROC) (EGLDisplay dpy, EGLint *major, EGLint *minor); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLMAKECURRENTPROC) (EGLDisplay dpy, EGLSurface draw, EGLSurface read, EGLContext ctx); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYCONTEXTPROC) (EGLDisplay dpy, EGLContext ctx, EGLint attribute, EGLint *value); -typedef const char *(EGLAPIENTRYP PFNEGLQUERYSTRINGPROC) (EGLDisplay dpy, EGLint name); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint *value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSPROC) (EGLDisplay dpy, EGLSurface surface); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLTERMINATEPROC) (EGLDisplay dpy); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITGLPROC) (void); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITNATIVEPROC) (EGLint engine); -#if EGL_EGL_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglChooseConfig (EGLDisplay dpy, const EGLint *attrib_list, EGLConfig *configs, EGLint config_size, EGLint *num_config); -EGLAPI EGLBoolean EGLAPIENTRY eglCopyBuffers (EGLDisplay dpy, EGLSurface surface, EGLNativePixmapType target); -EGLAPI EGLContext EGLAPIENTRY eglCreateContext (EGLDisplay dpy, EGLConfig config, EGLContext share_context, const EGLint *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePbufferSurface (EGLDisplay dpy, EGLConfig config, const EGLint *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePixmapSurface (EGLDisplay dpy, EGLConfig config, EGLNativePixmapType pixmap, const EGLint *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreateWindowSurface (EGLDisplay dpy, EGLConfig config, EGLNativeWindowType win, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroyContext (EGLDisplay dpy, EGLContext ctx); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroySurface (EGLDisplay dpy, EGLSurface surface); -EGLAPI EGLBoolean EGLAPIENTRY eglGetConfigAttrib (EGLDisplay dpy, EGLConfig config, EGLint attribute, EGLint *value); -EGLAPI EGLBoolean EGLAPIENTRY eglGetConfigs (EGLDisplay dpy, EGLConfig *configs, EGLint config_size, EGLint *num_config); -EGLAPI EGLDisplay EGLAPIENTRY eglGetCurrentDisplay (void); -EGLAPI EGLSurface EGLAPIENTRY eglGetCurrentSurface (EGLint readdraw); -EGLAPI EGLDisplay EGLAPIENTRY eglGetDisplay (EGLNativeDisplayType display_id); -EGLAPI EGLint EGLAPIENTRY eglGetError (void); -EGLAPI __eglMustCastToProperFunctionPointerType EGLAPIENTRY eglGetProcAddress (const char *procname); -EGLAPI EGLBoolean EGLAPIENTRY eglInitialize (EGLDisplay dpy, EGLint *major, EGLint *minor); -EGLAPI EGLBoolean EGLAPIENTRY eglMakeCurrent (EGLDisplay dpy, EGLSurface draw, EGLSurface read, EGLContext ctx); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryContext (EGLDisplay dpy, EGLContext ctx, EGLint attribute, EGLint *value); -EGLAPI const char *EGLAPIENTRY eglQueryString (EGLDisplay dpy, EGLint name); -EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurface (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint *value); -EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffers (EGLDisplay dpy, EGLSurface surface); -EGLAPI EGLBoolean EGLAPIENTRY eglTerminate (EGLDisplay dpy); -EGLAPI EGLBoolean EGLAPIENTRY eglWaitGL (void); -EGLAPI EGLBoolean EGLAPIENTRY eglWaitNative (EGLint engine); -#endif -#endif /* EGL_VERSION_1_0 */ - -#ifndef EGL_VERSION_1_1 -#define EGL_VERSION_1_1 1 -#define EGL_BACK_BUFFER 0x3084 -#define EGL_BIND_TO_TEXTURE_RGB 0x3039 -#define EGL_BIND_TO_TEXTURE_RGBA 0x303A -#define EGL_CONTEXT_LOST 0x300E -#define EGL_MIN_SWAP_INTERVAL 0x303B -#define EGL_MAX_SWAP_INTERVAL 0x303C -#define EGL_MIPMAP_TEXTURE 0x3082 -#define EGL_MIPMAP_LEVEL 0x3083 -#define EGL_NO_TEXTURE 0x305C -#define EGL_TEXTURE_2D 0x305F -#define EGL_TEXTURE_FORMAT 0x3080 -#define EGL_TEXTURE_RGB 0x305D -#define EGL_TEXTURE_RGBA 0x305E -#define EGL_TEXTURE_TARGET 0x3081 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLBINDTEXIMAGEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint buffer); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLRELEASETEXIMAGEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint buffer); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSURFACEATTRIBPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPINTERVALPROC) (EGLDisplay dpy, EGLint interval); -#if EGL_EGL_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglBindTexImage (EGLDisplay dpy, EGLSurface surface, EGLint buffer); -EGLAPI EGLBoolean EGLAPIENTRY eglReleaseTexImage (EGLDisplay dpy, EGLSurface surface, EGLint buffer); -EGLAPI EGLBoolean EGLAPIENTRY eglSurfaceAttrib (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint value); -EGLAPI EGLBoolean EGLAPIENTRY eglSwapInterval (EGLDisplay dpy, EGLint interval); -#endif -#endif /* EGL_VERSION_1_1 */ - -#ifndef EGL_VERSION_1_2 -#define EGL_VERSION_1_2 1 -typedef unsigned int EGLenum; -typedef void *EGLClientBuffer; -#define EGL_ALPHA_FORMAT 0x3088 -#define EGL_ALPHA_FORMAT_NONPRE 0x308B -#define EGL_ALPHA_FORMAT_PRE 0x308C -#define EGL_ALPHA_MASK_SIZE 0x303E -#define EGL_BUFFER_PRESERVED 0x3094 -#define EGL_BUFFER_DESTROYED 0x3095 -#define EGL_CLIENT_APIS 0x308D -#define EGL_COLORSPACE 0x3087 -#define EGL_COLORSPACE_sRGB 0x3089 -#define EGL_COLORSPACE_LINEAR 0x308A -#define EGL_COLOR_BUFFER_TYPE 0x303F -#define EGL_CONTEXT_CLIENT_TYPE 0x3097 -#define EGL_DISPLAY_SCALING 10000 -#define EGL_HORIZONTAL_RESOLUTION 0x3090 -#define EGL_LUMINANCE_BUFFER 0x308F -#define EGL_LUMINANCE_SIZE 0x303D -#define EGL_OPENGL_ES_BIT 0x0001 -#define EGL_OPENVG_BIT 0x0002 -#define EGL_OPENGL_ES_API 0x30A0 -#define EGL_OPENVG_API 0x30A1 -#define EGL_OPENVG_IMAGE 0x3096 -#define EGL_PIXEL_ASPECT_RATIO 0x3092 -#define EGL_RENDERABLE_TYPE 0x3040 -#define EGL_RENDER_BUFFER 0x3086 -#define EGL_RGB_BUFFER 0x308E -#define EGL_SINGLE_BUFFER 0x3085 -#define EGL_SWAP_BEHAVIOR 0x3093 -#define EGL_UNKNOWN EGL_CAST(EGLint,-1) -#define EGL_VERTICAL_RESOLUTION 0x3091 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLBINDAPIPROC) (EGLenum api); -typedef EGLenum (EGLAPIENTRYP PFNEGLQUERYAPIPROC) (void); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPBUFFERFROMCLIENTBUFFERPROC) (EGLDisplay dpy, EGLenum buftype, EGLClientBuffer buffer, EGLConfig config, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLRELEASETHREADPROC) (void); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITCLIENTPROC) (void); -#if EGL_EGL_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglBindAPI (EGLenum api); -EGLAPI EGLenum EGLAPIENTRY eglQueryAPI (void); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePbufferFromClientBuffer (EGLDisplay dpy, EGLenum buftype, EGLClientBuffer buffer, EGLConfig config, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglReleaseThread (void); -EGLAPI EGLBoolean EGLAPIENTRY eglWaitClient (void); -#endif -#endif /* EGL_VERSION_1_2 */ - -#ifndef EGL_VERSION_1_3 -#define EGL_VERSION_1_3 1 -#define EGL_CONFORMANT 0x3042 -#define EGL_CONTEXT_CLIENT_VERSION 0x3098 -#define EGL_MATCH_NATIVE_PIXMAP 0x3041 -#define EGL_OPENGL_ES2_BIT 0x0004 -#define EGL_VG_ALPHA_FORMAT 0x3088 -#define EGL_VG_ALPHA_FORMAT_NONPRE 0x308B -#define EGL_VG_ALPHA_FORMAT_PRE 0x308C -#define EGL_VG_ALPHA_FORMAT_PRE_BIT 0x0040 -#define EGL_VG_COLORSPACE 0x3087 -#define EGL_VG_COLORSPACE_sRGB 0x3089 -#define EGL_VG_COLORSPACE_LINEAR 0x308A -#define EGL_VG_COLORSPACE_LINEAR_BIT 0x0020 -#endif /* EGL_VERSION_1_3 */ - -#ifndef EGL_VERSION_1_4 -#define EGL_VERSION_1_4 1 -#define EGL_DEFAULT_DISPLAY EGL_CAST(EGLNativeDisplayType,0) -#define EGL_MULTISAMPLE_RESOLVE_BOX_BIT 0x0200 -#define EGL_MULTISAMPLE_RESOLVE 0x3099 -#define EGL_MULTISAMPLE_RESOLVE_DEFAULT 0x309A -#define EGL_MULTISAMPLE_RESOLVE_BOX 0x309B -#define EGL_OPENGL_API 0x30A2 -#define EGL_OPENGL_BIT 0x0008 -#define EGL_SWAP_BEHAVIOR_PRESERVED_BIT 0x0400 -typedef EGLContext (EGLAPIENTRYP PFNEGLGETCURRENTCONTEXTPROC) (void); -#if EGL_EGL_PROTOTYPES -EGLAPI EGLContext EGLAPIENTRY eglGetCurrentContext (void); -#endif -#endif /* EGL_VERSION_1_4 */ - -#ifndef EGL_VERSION_1_5 -#define EGL_VERSION_1_5 1 -typedef void *EGLSync; -typedef intptr_t EGLAttrib; -typedef khronos_utime_nanoseconds_t EGLTime; -typedef void *EGLImage; -#define EGL_CONTEXT_MAJOR_VERSION 0x3098 -#define EGL_CONTEXT_MINOR_VERSION 0x30FB -#define EGL_CONTEXT_OPENGL_PROFILE_MASK 0x30FD -#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY 0x31BD -#define EGL_NO_RESET_NOTIFICATION 0x31BE -#define EGL_LOSE_CONTEXT_ON_RESET 0x31BF -#define EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT 0x00000001 -#define EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT 0x00000002 -#define EGL_CONTEXT_OPENGL_DEBUG 0x31B0 -#define EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE 0x31B1 -#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS 0x31B2 -#define EGL_OPENGL_ES3_BIT 0x00000040 -#define EGL_CL_EVENT_HANDLE 0x309C -#define EGL_SYNC_CL_EVENT 0x30FE -#define EGL_SYNC_CL_EVENT_COMPLETE 0x30FF -#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE 0x30F0 -#define EGL_SYNC_TYPE 0x30F7 -#define EGL_SYNC_STATUS 0x30F1 -#define EGL_SYNC_CONDITION 0x30F8 -#define EGL_SIGNALED 0x30F2 -#define EGL_UNSIGNALED 0x30F3 -#define EGL_SYNC_FLUSH_COMMANDS_BIT 0x0001 -#define EGL_FOREVER 0xFFFFFFFFFFFFFFFFull -#define EGL_TIMEOUT_EXPIRED 0x30F5 -#define EGL_CONDITION_SATISFIED 0x30F6 -#define EGL_NO_SYNC EGL_CAST(EGLSync,0) -#define EGL_SYNC_FENCE 0x30F9 -#define EGL_GL_COLORSPACE 0x309D -#define EGL_GL_COLORSPACE_SRGB 0x3089 -#define EGL_GL_COLORSPACE_LINEAR 0x308A -#define EGL_GL_RENDERBUFFER 0x30B9 -#define EGL_GL_TEXTURE_2D 0x30B1 -#define EGL_GL_TEXTURE_LEVEL 0x30BC -#define EGL_GL_TEXTURE_3D 0x30B2 -#define EGL_GL_TEXTURE_ZOFFSET 0x30BD -#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x30B3 -#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x30B4 -#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x30B5 -#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x30B6 -#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x30B7 -#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x30B8 -#define EGL_IMAGE_PRESERVED 0x30D2 -#define EGL_NO_IMAGE EGL_CAST(EGLImage,0) -typedef EGLSync (EGLAPIENTRYP PFNEGLCREATESYNCPROC) (EGLDisplay dpy, EGLenum type, const EGLAttrib *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCPROC) (EGLDisplay dpy, EGLSync sync); -typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCPROC) (EGLDisplay dpy, EGLSync sync, EGLint flags, EGLTime timeout); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBPROC) (EGLDisplay dpy, EGLSync sync, EGLint attribute, EGLAttrib *value); -typedef EGLImage (EGLAPIENTRYP PFNEGLCREATEIMAGEPROC) (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLAttrib *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYIMAGEPROC) (EGLDisplay dpy, EGLImage image); -typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETPLATFORMDISPLAYPROC) (EGLenum platform, void *native_display, const EGLAttrib *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMWINDOWSURFACEPROC) (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLAttrib *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMPIXMAPSURFACEPROC) (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLAttrib *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLWAITSYNCPROC) (EGLDisplay dpy, EGLSync sync, EGLint flags); -#if EGL_EGL_PROTOTYPES -EGLAPI EGLSync EGLAPIENTRY eglCreateSync (EGLDisplay dpy, EGLenum type, const EGLAttrib *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroySync (EGLDisplay dpy, EGLSync sync); -EGLAPI EGLint EGLAPIENTRY eglClientWaitSync (EGLDisplay dpy, EGLSync sync, EGLint flags, EGLTime timeout); -EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttrib (EGLDisplay dpy, EGLSync sync, EGLint attribute, EGLAttrib *value); -EGLAPI EGLImage EGLAPIENTRY eglCreateImage (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLAttrib *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroyImage (EGLDisplay dpy, EGLImage image); -EGLAPI EGLDisplay EGLAPIENTRY eglGetPlatformDisplay (EGLenum platform, void *native_display, const EGLAttrib *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformWindowSurface (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLAttrib *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformPixmapSurface (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLAttrib *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglWaitSync (EGLDisplay dpy, EGLSync sync, EGLint flags); -#endif -#endif /* EGL_VERSION_1_5 */ - -#ifdef __cplusplus -} -#endif - -#endif /* __egl_h_ */ - - -#ifndef __eglext_h_ -#define __eglext_h_ 1 - -#ifdef __cplusplus -extern "C" { -#endif - -/* -** Copyright 2013-2020 The Khronos Group Inc. -** SPDX-License-Identifier: Apache-2.0 -** -** This header is generated from the Khronos EGL XML API Registry. -** The current version of the Registry, generator scripts -** used to make the header, and the header can be found at -** http://www.khronos.org/registry/egl -** -** Khronos $Git commit SHA1: 6fb1daea15 $ on $Git commit date: 2022-05-25 09:41:13 -0600 $ -*/ - -/*#include */ - -#define EGL_EGLEXT_VERSION 20220525 - -/* Generated C header for: - * API: egl - * Versions considered: .* - * Versions emitted: _nomatch_^ - * Default extensions included: egl - * Additional extensions included: _nomatch_^ - * Extensions removed: _nomatch_^ - */ - -#ifndef EGL_KHR_cl_event -#define EGL_KHR_cl_event 1 -#define EGL_CL_EVENT_HANDLE_KHR 0x309C -#define EGL_SYNC_CL_EVENT_KHR 0x30FE -#define EGL_SYNC_CL_EVENT_COMPLETE_KHR 0x30FF -#endif /* EGL_KHR_cl_event */ - -#ifndef EGL_KHR_cl_event2 -#define EGL_KHR_cl_event2 1 -typedef void *EGLSyncKHR; -typedef intptr_t EGLAttribKHR; -typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESYNC64KHRPROC) (EGLDisplay dpy, EGLenum type, const EGLAttribKHR *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateSync64KHR (EGLDisplay dpy, EGLenum type, const EGLAttribKHR *attrib_list); -#endif -#endif /* EGL_KHR_cl_event2 */ - -#ifndef EGL_KHR_client_get_all_proc_addresses -#define EGL_KHR_client_get_all_proc_addresses 1 -#endif /* EGL_KHR_client_get_all_proc_addresses */ - -#ifndef EGL_KHR_config_attribs -#define EGL_KHR_config_attribs 1 -#define EGL_CONFORMANT_KHR 0x3042 -#define EGL_VG_COLORSPACE_LINEAR_BIT_KHR 0x0020 -#define EGL_VG_ALPHA_FORMAT_PRE_BIT_KHR 0x0040 -#endif /* EGL_KHR_config_attribs */ - -#ifndef EGL_KHR_context_flush_control -#define EGL_KHR_context_flush_control 1 -#define EGL_CONTEXT_RELEASE_BEHAVIOR_NONE_KHR 0 -#define EGL_CONTEXT_RELEASE_BEHAVIOR_KHR 0x2097 -#define EGL_CONTEXT_RELEASE_BEHAVIOR_FLUSH_KHR 0x2098 -#endif /* EGL_KHR_context_flush_control */ - -#ifndef EGL_KHR_create_context -#define EGL_KHR_create_context 1 -#define EGL_CONTEXT_MAJOR_VERSION_KHR 0x3098 -#define EGL_CONTEXT_MINOR_VERSION_KHR 0x30FB -#define EGL_CONTEXT_FLAGS_KHR 0x30FC -#define EGL_CONTEXT_OPENGL_PROFILE_MASK_KHR 0x30FD -#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY_KHR 0x31BD -#define EGL_NO_RESET_NOTIFICATION_KHR 0x31BE -#define EGL_LOSE_CONTEXT_ON_RESET_KHR 0x31BF -#define EGL_CONTEXT_OPENGL_DEBUG_BIT_KHR 0x00000001 -#define EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE_BIT_KHR 0x00000002 -#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS_BIT_KHR 0x00000004 -#define EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT_KHR 0x00000001 -#define EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT_KHR 0x00000002 -#define EGL_OPENGL_ES3_BIT_KHR 0x00000040 -#endif /* EGL_KHR_create_context */ - -#ifndef EGL_KHR_create_context_no_error -#define EGL_KHR_create_context_no_error 1 -#define EGL_CONTEXT_OPENGL_NO_ERROR_KHR 0x31B3 -#endif /* EGL_KHR_create_context_no_error */ - -#ifndef EGL_KHR_debug -#define EGL_KHR_debug 1 -typedef void *EGLLabelKHR; -typedef void *EGLObjectKHR; -typedef void (EGLAPIENTRY *EGLDEBUGPROCKHR)(EGLenum error,const char *command,EGLint messageType,EGLLabelKHR threadLabel,EGLLabelKHR objectLabel,const char* message); -#define EGL_OBJECT_THREAD_KHR 0x33B0 -#define EGL_OBJECT_DISPLAY_KHR 0x33B1 -#define EGL_OBJECT_CONTEXT_KHR 0x33B2 -#define EGL_OBJECT_SURFACE_KHR 0x33B3 -#define EGL_OBJECT_IMAGE_KHR 0x33B4 -#define EGL_OBJECT_SYNC_KHR 0x33B5 -#define EGL_OBJECT_STREAM_KHR 0x33B6 -#define EGL_DEBUG_MSG_CRITICAL_KHR 0x33B9 -#define EGL_DEBUG_MSG_ERROR_KHR 0x33BA -#define EGL_DEBUG_MSG_WARN_KHR 0x33BB -#define EGL_DEBUG_MSG_INFO_KHR 0x33BC -#define EGL_DEBUG_CALLBACK_KHR 0x33B8 -typedef EGLint (EGLAPIENTRYP PFNEGLDEBUGMESSAGECONTROLKHRPROC) (EGLDEBUGPROCKHR callback, const EGLAttrib *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEBUGKHRPROC) (EGLint attribute, EGLAttrib *value); -typedef EGLint (EGLAPIENTRYP PFNEGLLABELOBJECTKHRPROC) (EGLDisplay display, EGLenum objectType, EGLObjectKHR object, EGLLabelKHR label); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLint EGLAPIENTRY eglDebugMessageControlKHR (EGLDEBUGPROCKHR callback, const EGLAttrib *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDebugKHR (EGLint attribute, EGLAttrib *value); -EGLAPI EGLint EGLAPIENTRY eglLabelObjectKHR (EGLDisplay display, EGLenum objectType, EGLObjectKHR object, EGLLabelKHR label); -#endif -#endif /* EGL_KHR_debug */ - -#ifndef EGL_KHR_display_reference -#define EGL_KHR_display_reference 1 -#define EGL_TRACK_REFERENCES_KHR 0x3352 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBKHRPROC) (EGLDisplay dpy, EGLint name, EGLAttrib *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribKHR (EGLDisplay dpy, EGLint name, EGLAttrib *value); -#endif -#endif /* EGL_KHR_display_reference */ - -#ifndef EGL_KHR_fence_sync -#define EGL_KHR_fence_sync 1 -typedef khronos_utime_nanoseconds_t EGLTimeKHR; -#ifdef KHRONOS_SUPPORT_INT64 -#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE_KHR 0x30F0 -#define EGL_SYNC_CONDITION_KHR 0x30F8 -#define EGL_SYNC_FENCE_KHR 0x30F9 -typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESYNCKHRPROC) (EGLDisplay dpy, EGLenum type, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync); -typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags, EGLTimeKHR timeout); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint attribute, EGLint *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateSyncKHR (EGLDisplay dpy, EGLenum type, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroySyncKHR (EGLDisplay dpy, EGLSyncKHR sync); -EGLAPI EGLint EGLAPIENTRY eglClientWaitSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags, EGLTimeKHR timeout); -EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttribKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint attribute, EGLint *value); -#endif -#endif /* KHRONOS_SUPPORT_INT64 */ -#endif /* EGL_KHR_fence_sync */ - -#ifndef EGL_KHR_get_all_proc_addresses -#define EGL_KHR_get_all_proc_addresses 1 -#endif /* EGL_KHR_get_all_proc_addresses */ - -#ifndef EGL_KHR_gl_colorspace -#define EGL_KHR_gl_colorspace 1 -#define EGL_GL_COLORSPACE_KHR 0x309D -#define EGL_GL_COLORSPACE_SRGB_KHR 0x3089 -#define EGL_GL_COLORSPACE_LINEAR_KHR 0x308A -#endif /* EGL_KHR_gl_colorspace */ - -#ifndef EGL_KHR_gl_renderbuffer_image -#define EGL_KHR_gl_renderbuffer_image 1 -#define EGL_GL_RENDERBUFFER_KHR 0x30B9 -#endif /* EGL_KHR_gl_renderbuffer_image */ - -#ifndef EGL_KHR_gl_texture_2D_image -#define EGL_KHR_gl_texture_2D_image 1 -#define EGL_GL_TEXTURE_2D_KHR 0x30B1 -#define EGL_GL_TEXTURE_LEVEL_KHR 0x30BC -#endif /* EGL_KHR_gl_texture_2D_image */ - -#ifndef EGL_KHR_gl_texture_3D_image -#define EGL_KHR_gl_texture_3D_image 1 -#define EGL_GL_TEXTURE_3D_KHR 0x30B2 -#define EGL_GL_TEXTURE_ZOFFSET_KHR 0x30BD -#endif /* EGL_KHR_gl_texture_3D_image */ - -#ifndef EGL_KHR_gl_texture_cubemap_image -#define EGL_KHR_gl_texture_cubemap_image 1 -#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_X_KHR 0x30B3 -#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_X_KHR 0x30B4 -#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Y_KHR 0x30B5 -#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_KHR 0x30B6 -#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Z_KHR 0x30B7 -#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_KHR 0x30B8 -#endif /* EGL_KHR_gl_texture_cubemap_image */ - -#ifndef EGL_KHR_image -#define EGL_KHR_image 1 -typedef void *EGLImageKHR; -#define EGL_NATIVE_PIXMAP_KHR 0x30B0 -#define EGL_NO_IMAGE_KHR EGL_CAST(EGLImageKHR,0) -typedef EGLImageKHR (EGLAPIENTRYP PFNEGLCREATEIMAGEKHRPROC) (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYIMAGEKHRPROC) (EGLDisplay dpy, EGLImageKHR image); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLImageKHR EGLAPIENTRY eglCreateImageKHR (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroyImageKHR (EGLDisplay dpy, EGLImageKHR image); -#endif -#endif /* EGL_KHR_image */ - -#ifndef EGL_KHR_image_base -#define EGL_KHR_image_base 1 -#define EGL_IMAGE_PRESERVED_KHR 0x30D2 -#endif /* EGL_KHR_image_base */ - -#ifndef EGL_KHR_image_pixmap -#define EGL_KHR_image_pixmap 1 -#endif /* EGL_KHR_image_pixmap */ - -#ifndef EGL_KHR_lock_surface -#define EGL_KHR_lock_surface 1 -#define EGL_READ_SURFACE_BIT_KHR 0x0001 -#define EGL_WRITE_SURFACE_BIT_KHR 0x0002 -#define EGL_LOCK_SURFACE_BIT_KHR 0x0080 -#define EGL_OPTIMAL_FORMAT_BIT_KHR 0x0100 -#define EGL_MATCH_FORMAT_KHR 0x3043 -#define EGL_FORMAT_RGB_565_EXACT_KHR 0x30C0 -#define EGL_FORMAT_RGB_565_KHR 0x30C1 -#define EGL_FORMAT_RGBA_8888_EXACT_KHR 0x30C2 -#define EGL_FORMAT_RGBA_8888_KHR 0x30C3 -#define EGL_MAP_PRESERVE_PIXELS_KHR 0x30C4 -#define EGL_LOCK_USAGE_HINT_KHR 0x30C5 -#define EGL_BITMAP_POINTER_KHR 0x30C6 -#define EGL_BITMAP_PITCH_KHR 0x30C7 -#define EGL_BITMAP_ORIGIN_KHR 0x30C8 -#define EGL_BITMAP_PIXEL_RED_OFFSET_KHR 0x30C9 -#define EGL_BITMAP_PIXEL_GREEN_OFFSET_KHR 0x30CA -#define EGL_BITMAP_PIXEL_BLUE_OFFSET_KHR 0x30CB -#define EGL_BITMAP_PIXEL_ALPHA_OFFSET_KHR 0x30CC -#define EGL_BITMAP_PIXEL_LUMINANCE_OFFSET_KHR 0x30CD -#define EGL_LOWER_LEFT_KHR 0x30CE -#define EGL_UPPER_LEFT_KHR 0x30CF -typedef EGLBoolean (EGLAPIENTRYP PFNEGLLOCKSURFACEKHRPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNLOCKSURFACEKHRPROC) (EGLDisplay dpy, EGLSurface surface); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglLockSurfaceKHR (EGLDisplay dpy, EGLSurface surface, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglUnlockSurfaceKHR (EGLDisplay dpy, EGLSurface surface); -#endif -#endif /* EGL_KHR_lock_surface */ - -#ifndef EGL_KHR_lock_surface2 -#define EGL_KHR_lock_surface2 1 -#define EGL_BITMAP_PIXEL_SIZE_KHR 0x3110 -#endif /* EGL_KHR_lock_surface2 */ - -#ifndef EGL_KHR_lock_surface3 -#define EGL_KHR_lock_surface3 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACE64KHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLAttribKHR *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurface64KHR (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLAttribKHR *value); -#endif -#endif /* EGL_KHR_lock_surface3 */ - -#ifndef EGL_KHR_mutable_render_buffer -#define EGL_KHR_mutable_render_buffer 1 -#define EGL_MUTABLE_RENDER_BUFFER_BIT_KHR 0x1000 -#endif /* EGL_KHR_mutable_render_buffer */ - -#ifndef EGL_KHR_no_config_context -#define EGL_KHR_no_config_context 1 -#define EGL_NO_CONFIG_KHR EGL_CAST(EGLConfig,0) -#endif /* EGL_KHR_no_config_context */ - -#ifndef EGL_KHR_partial_update -#define EGL_KHR_partial_update 1 -#define EGL_BUFFER_AGE_KHR 0x313D -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETDAMAGEREGIONKHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglSetDamageRegionKHR (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); -#endif -#endif /* EGL_KHR_partial_update */ - -#ifndef EGL_KHR_platform_android -#define EGL_KHR_platform_android 1 -#define EGL_PLATFORM_ANDROID_KHR 0x3141 -#endif /* EGL_KHR_platform_android */ - -#ifndef EGL_KHR_platform_gbm -#define EGL_KHR_platform_gbm 1 -#define EGL_PLATFORM_GBM_KHR 0x31D7 -#endif /* EGL_KHR_platform_gbm */ - -#ifndef EGL_KHR_platform_wayland -#define EGL_KHR_platform_wayland 1 -#define EGL_PLATFORM_WAYLAND_KHR 0x31D8 -#endif /* EGL_KHR_platform_wayland */ - -#ifndef EGL_KHR_platform_x11 -#define EGL_KHR_platform_x11 1 -#define EGL_PLATFORM_X11_KHR 0x31D5 -#define EGL_PLATFORM_X11_SCREEN_KHR 0x31D6 -#endif /* EGL_KHR_platform_x11 */ - -#ifndef EGL_KHR_reusable_sync -#define EGL_KHR_reusable_sync 1 -#ifdef KHRONOS_SUPPORT_INT64 -#define EGL_SYNC_STATUS_KHR 0x30F1 -#define EGL_SIGNALED_KHR 0x30F2 -#define EGL_UNSIGNALED_KHR 0x30F3 -#define EGL_TIMEOUT_EXPIRED_KHR 0x30F5 -#define EGL_CONDITION_SATISFIED_KHR 0x30F6 -#define EGL_SYNC_TYPE_KHR 0x30F7 -#define EGL_SYNC_REUSABLE_KHR 0x30FA -#define EGL_SYNC_FLUSH_COMMANDS_BIT_KHR 0x0001 -#define EGL_FOREVER_KHR 0xFFFFFFFFFFFFFFFFull -#define EGL_NO_SYNC_KHR EGL_CAST(EGLSyncKHR,0) -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSIGNALSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLenum mode); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglSignalSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLenum mode); -#endif -#endif /* KHRONOS_SUPPORT_INT64 */ -#endif /* EGL_KHR_reusable_sync */ - -#ifndef EGL_KHR_stream -#define EGL_KHR_stream 1 -typedef void *EGLStreamKHR; -typedef khronos_uint64_t EGLuint64KHR; -#ifdef KHRONOS_SUPPORT_INT64 -#define EGL_NO_STREAM_KHR EGL_CAST(EGLStreamKHR,0) -#define EGL_CONSUMER_LATENCY_USEC_KHR 0x3210 -#define EGL_PRODUCER_FRAME_KHR 0x3212 -#define EGL_CONSUMER_FRAME_KHR 0x3213 -#define EGL_STREAM_STATE_KHR 0x3214 -#define EGL_STREAM_STATE_CREATED_KHR 0x3215 -#define EGL_STREAM_STATE_CONNECTING_KHR 0x3216 -#define EGL_STREAM_STATE_EMPTY_KHR 0x3217 -#define EGL_STREAM_STATE_NEW_FRAME_AVAILABLE_KHR 0x3218 -#define EGL_STREAM_STATE_OLD_FRAME_AVAILABLE_KHR 0x3219 -#define EGL_STREAM_STATE_DISCONNECTED_KHR 0x321A -#define EGL_BAD_STREAM_KHR 0x321B -#define EGL_BAD_STATE_KHR 0x321C -typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMKHRPROC) (EGLDisplay dpy, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSTREAMKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint *value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMU64KHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLuint64KHR *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamKHR (EGLDisplay dpy, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroyStreamKHR (EGLDisplay dpy, EGLStreamKHR stream); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint value); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint *value); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamu64KHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLuint64KHR *value); -#endif -#endif /* KHRONOS_SUPPORT_INT64 */ -#endif /* EGL_KHR_stream */ - -#ifndef EGL_KHR_stream_attrib -#define EGL_KHR_stream_attrib 1 -#ifdef KHRONOS_SUPPORT_INT64 -typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMATTRIBKHRPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib *value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERACQUIREATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERRELEASEATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamAttribKHR (EGLDisplay dpy, const EGLAttrib *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglSetStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib value); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLAttrib *value); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerAcquireAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerReleaseAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); -#endif -#endif /* KHRONOS_SUPPORT_INT64 */ -#endif /* EGL_KHR_stream_attrib */ - -#ifndef EGL_KHR_stream_consumer_gltexture -#define EGL_KHR_stream_consumer_gltexture 1 -#ifdef EGL_KHR_stream -#define EGL_CONSUMER_ACQUIRE_TIMEOUT_USEC_KHR 0x321E -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERGLTEXTUREEXTERNALKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERACQUIREKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERRELEASEKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerGLTextureExternalKHR (EGLDisplay dpy, EGLStreamKHR stream); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerAcquireKHR (EGLDisplay dpy, EGLStreamKHR stream); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerReleaseKHR (EGLDisplay dpy, EGLStreamKHR stream); -#endif -#endif /* EGL_KHR_stream */ -#endif /* EGL_KHR_stream_consumer_gltexture */ - -#ifndef EGL_KHR_stream_cross_process_fd -#define EGL_KHR_stream_cross_process_fd 1 -typedef int EGLNativeFileDescriptorKHR; -#ifdef EGL_KHR_stream -#define EGL_NO_FILE_DESCRIPTOR_KHR EGL_CAST(EGLNativeFileDescriptorKHR,-1) -typedef EGLNativeFileDescriptorKHR (EGLAPIENTRYP PFNEGLGETSTREAMFILEDESCRIPTORKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); -typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMFROMFILEDESCRIPTORKHRPROC) (EGLDisplay dpy, EGLNativeFileDescriptorKHR file_descriptor); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLNativeFileDescriptorKHR EGLAPIENTRY eglGetStreamFileDescriptorKHR (EGLDisplay dpy, EGLStreamKHR stream); -EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamFromFileDescriptorKHR (EGLDisplay dpy, EGLNativeFileDescriptorKHR file_descriptor); -#endif -#endif /* EGL_KHR_stream */ -#endif /* EGL_KHR_stream_cross_process_fd */ - -#ifndef EGL_KHR_stream_fifo -#define EGL_KHR_stream_fifo 1 -#ifdef EGL_KHR_stream -#define EGL_STREAM_FIFO_LENGTH_KHR 0x31FC -#define EGL_STREAM_TIME_NOW_KHR 0x31FD -#define EGL_STREAM_TIME_CONSUMER_KHR 0x31FE -#define EGL_STREAM_TIME_PRODUCER_KHR 0x31FF -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMTIMEKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLTimeKHR *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamTimeKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLTimeKHR *value); -#endif -#endif /* EGL_KHR_stream */ -#endif /* EGL_KHR_stream_fifo */ - -#ifndef EGL_KHR_stream_producer_aldatalocator -#define EGL_KHR_stream_producer_aldatalocator 1 -#ifdef EGL_KHR_stream -#endif /* EGL_KHR_stream */ -#endif /* EGL_KHR_stream_producer_aldatalocator */ - -#ifndef EGL_KHR_stream_producer_eglsurface -#define EGL_KHR_stream_producer_eglsurface 1 -#ifdef EGL_KHR_stream -#define EGL_STREAM_BIT_KHR 0x0800 -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATESTREAMPRODUCERSURFACEKHRPROC) (EGLDisplay dpy, EGLConfig config, EGLStreamKHR stream, const EGLint *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLSurface EGLAPIENTRY eglCreateStreamProducerSurfaceKHR (EGLDisplay dpy, EGLConfig config, EGLStreamKHR stream, const EGLint *attrib_list); -#endif -#endif /* EGL_KHR_stream */ -#endif /* EGL_KHR_stream_producer_eglsurface */ - -#ifndef EGL_KHR_surfaceless_context -#define EGL_KHR_surfaceless_context 1 -#endif /* EGL_KHR_surfaceless_context */ - -#ifndef EGL_KHR_swap_buffers_with_damage -#define EGL_KHR_swap_buffers_with_damage 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSWITHDAMAGEKHRPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersWithDamageKHR (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); -#endif -#endif /* EGL_KHR_swap_buffers_with_damage */ - -#ifndef EGL_KHR_vg_parent_image -#define EGL_KHR_vg_parent_image 1 -#define EGL_VG_PARENT_IMAGE_KHR 0x30BA -#endif /* EGL_KHR_vg_parent_image */ - -#ifndef EGL_KHR_wait_sync -#define EGL_KHR_wait_sync 1 -typedef EGLint (EGLAPIENTRYP PFNEGLWAITSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLint EGLAPIENTRY eglWaitSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags); -#endif -#endif /* EGL_KHR_wait_sync */ - -#ifndef EGL_ANDROID_GLES_layers -#define EGL_ANDROID_GLES_layers 1 -#endif /* EGL_ANDROID_GLES_layers */ - -#ifndef EGL_ANDROID_blob_cache -#define EGL_ANDROID_blob_cache 1 -typedef khronos_ssize_t EGLsizeiANDROID; -typedef void (*EGLSetBlobFuncANDROID) (const void *key, EGLsizeiANDROID keySize, const void *value, EGLsizeiANDROID valueSize); -typedef EGLsizeiANDROID (*EGLGetBlobFuncANDROID) (const void *key, EGLsizeiANDROID keySize, void *value, EGLsizeiANDROID valueSize); -typedef void (EGLAPIENTRYP PFNEGLSETBLOBCACHEFUNCSANDROIDPROC) (EGLDisplay dpy, EGLSetBlobFuncANDROID set, EGLGetBlobFuncANDROID get); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI void EGLAPIENTRY eglSetBlobCacheFuncsANDROID (EGLDisplay dpy, EGLSetBlobFuncANDROID set, EGLGetBlobFuncANDROID get); -#endif -#endif /* EGL_ANDROID_blob_cache */ - -#ifndef EGL_ANDROID_create_native_client_buffer -#define EGL_ANDROID_create_native_client_buffer 1 -#define EGL_NATIVE_BUFFER_USAGE_ANDROID 0x3143 -#define EGL_NATIVE_BUFFER_USAGE_PROTECTED_BIT_ANDROID 0x00000001 -#define EGL_NATIVE_BUFFER_USAGE_RENDERBUFFER_BIT_ANDROID 0x00000002 -#define EGL_NATIVE_BUFFER_USAGE_TEXTURE_BIT_ANDROID 0x00000004 -typedef EGLClientBuffer (EGLAPIENTRYP PFNEGLCREATENATIVECLIENTBUFFERANDROIDPROC) (const EGLint *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLClientBuffer EGLAPIENTRY eglCreateNativeClientBufferANDROID (const EGLint *attrib_list); -#endif -#endif /* EGL_ANDROID_create_native_client_buffer */ - -#ifndef EGL_ANDROID_framebuffer_target -#define EGL_ANDROID_framebuffer_target 1 -#define EGL_FRAMEBUFFER_TARGET_ANDROID 0x3147 -#endif /* EGL_ANDROID_framebuffer_target */ - -#ifndef EGL_ANDROID_front_buffer_auto_refresh -#define EGL_ANDROID_front_buffer_auto_refresh 1 -#define EGL_FRONT_BUFFER_AUTO_REFRESH_ANDROID 0x314C -#endif /* EGL_ANDROID_front_buffer_auto_refresh */ - -#ifndef EGL_ANDROID_get_frame_timestamps -#define EGL_ANDROID_get_frame_timestamps 1 -typedef khronos_stime_nanoseconds_t EGLnsecsANDROID; -#define EGL_TIMESTAMP_PENDING_ANDROID EGL_CAST(EGLnsecsANDROID,-2) -#define EGL_TIMESTAMP_INVALID_ANDROID EGL_CAST(EGLnsecsANDROID,-1) -#define EGL_TIMESTAMPS_ANDROID 0x3430 -#define EGL_COMPOSITE_DEADLINE_ANDROID 0x3431 -#define EGL_COMPOSITE_INTERVAL_ANDROID 0x3432 -#define EGL_COMPOSITE_TO_PRESENT_LATENCY_ANDROID 0x3433 -#define EGL_REQUESTED_PRESENT_TIME_ANDROID 0x3434 -#define EGL_RENDERING_COMPLETE_TIME_ANDROID 0x3435 -#define EGL_COMPOSITION_LATCH_TIME_ANDROID 0x3436 -#define EGL_FIRST_COMPOSITION_START_TIME_ANDROID 0x3437 -#define EGL_LAST_COMPOSITION_START_TIME_ANDROID 0x3438 -#define EGL_FIRST_COMPOSITION_GPU_FINISHED_TIME_ANDROID 0x3439 -#define EGL_DISPLAY_PRESENT_TIME_ANDROID 0x343A -#define EGL_DEQUEUE_READY_TIME_ANDROID 0x343B -#define EGL_READS_DONE_TIME_ANDROID 0x343C -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCOMPOSITORTIMINGSUPPORTEDANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLint name); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETCOMPOSITORTIMINGANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numTimestamps, const EGLint *names, EGLnsecsANDROID *values); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETNEXTFRAMEIDANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR *frameId); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETFRAMETIMESTAMPSUPPORTEDANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLint timestamp); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETFRAMETIMESTAMPSANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR frameId, EGLint numTimestamps, const EGLint *timestamps, EGLnsecsANDROID *values); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglGetCompositorTimingSupportedANDROID (EGLDisplay dpy, EGLSurface surface, EGLint name); -EGLAPI EGLBoolean EGLAPIENTRY eglGetCompositorTimingANDROID (EGLDisplay dpy, EGLSurface surface, EGLint numTimestamps, const EGLint *names, EGLnsecsANDROID *values); -EGLAPI EGLBoolean EGLAPIENTRY eglGetNextFrameIdANDROID (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR *frameId); -EGLAPI EGLBoolean EGLAPIENTRY eglGetFrameTimestampSupportedANDROID (EGLDisplay dpy, EGLSurface surface, EGLint timestamp); -EGLAPI EGLBoolean EGLAPIENTRY eglGetFrameTimestampsANDROID (EGLDisplay dpy, EGLSurface surface, EGLuint64KHR frameId, EGLint numTimestamps, const EGLint *timestamps, EGLnsecsANDROID *values); -#endif -#endif /* EGL_ANDROID_get_frame_timestamps */ - -#ifndef EGL_ANDROID_get_native_client_buffer -#define EGL_ANDROID_get_native_client_buffer 1 -struct AHardwareBuffer; -typedef EGLClientBuffer (EGLAPIENTRYP PFNEGLGETNATIVECLIENTBUFFERANDROIDPROC) (const struct AHardwareBuffer *buffer); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLClientBuffer EGLAPIENTRY eglGetNativeClientBufferANDROID (const struct AHardwareBuffer *buffer); -#endif -#endif /* EGL_ANDROID_get_native_client_buffer */ - -#ifndef EGL_ANDROID_image_native_buffer -#define EGL_ANDROID_image_native_buffer 1 -#define EGL_NATIVE_BUFFER_ANDROID 0x3140 -#endif /* EGL_ANDROID_image_native_buffer */ - -#ifndef EGL_ANDROID_native_fence_sync -#define EGL_ANDROID_native_fence_sync 1 -#define EGL_SYNC_NATIVE_FENCE_ANDROID 0x3144 -#define EGL_SYNC_NATIVE_FENCE_FD_ANDROID 0x3145 -#define EGL_SYNC_NATIVE_FENCE_SIGNALED_ANDROID 0x3146 -#define EGL_NO_NATIVE_FENCE_FD_ANDROID -1 -typedef EGLint (EGLAPIENTRYP PFNEGLDUPNATIVEFENCEFDANDROIDPROC) (EGLDisplay dpy, EGLSyncKHR sync); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLint EGLAPIENTRY eglDupNativeFenceFDANDROID (EGLDisplay dpy, EGLSyncKHR sync); -#endif -#endif /* EGL_ANDROID_native_fence_sync */ - -#ifndef EGL_ANDROID_presentation_time -#define EGL_ANDROID_presentation_time 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLPRESENTATIONTIMEANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLnsecsANDROID time); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglPresentationTimeANDROID (EGLDisplay dpy, EGLSurface surface, EGLnsecsANDROID time); -#endif -#endif /* EGL_ANDROID_presentation_time */ - -#ifndef EGL_ANDROID_recordable -#define EGL_ANDROID_recordable 1 -#define EGL_RECORDABLE_ANDROID 0x3142 -#endif /* EGL_ANDROID_recordable */ - -#ifndef EGL_ANGLE_d3d_share_handle_client_buffer -#define EGL_ANGLE_d3d_share_handle_client_buffer 1 -#define EGL_D3D_TEXTURE_2D_SHARE_HANDLE_ANGLE 0x3200 -#endif /* EGL_ANGLE_d3d_share_handle_client_buffer */ - -#ifndef EGL_ANGLE_device_d3d -#define EGL_ANGLE_device_d3d 1 -#define EGL_D3D9_DEVICE_ANGLE 0x33A0 -#define EGL_D3D11_DEVICE_ANGLE 0x33A1 -#endif /* EGL_ANGLE_device_d3d */ - -#ifndef EGL_ANGLE_query_surface_pointer -#define EGL_ANGLE_query_surface_pointer 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACEPOINTERANGLEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, void **value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurfacePointerANGLE (EGLDisplay dpy, EGLSurface surface, EGLint attribute, void **value); -#endif -#endif /* EGL_ANGLE_query_surface_pointer */ - -#ifndef EGL_ANGLE_surface_d3d_texture_2d_share_handle -#define EGL_ANGLE_surface_d3d_texture_2d_share_handle 1 -#endif /* EGL_ANGLE_surface_d3d_texture_2d_share_handle */ - -#ifndef EGL_ANGLE_sync_control_rate -#define EGL_ANGLE_sync_control_rate 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETMSCRATEANGLEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *numerator, EGLint *denominator); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglGetMscRateANGLE (EGLDisplay dpy, EGLSurface surface, EGLint *numerator, EGLint *denominator); -#endif -#endif /* EGL_ANGLE_sync_control_rate */ - -#ifndef EGL_ANGLE_window_fixed_size -#define EGL_ANGLE_window_fixed_size 1 -#define EGL_FIXED_SIZE_ANGLE 0x3201 -#endif /* EGL_ANGLE_window_fixed_size */ - -#ifndef EGL_ARM_image_format -#define EGL_ARM_image_format 1 -#define EGL_COLOR_COMPONENT_TYPE_UNSIGNED_INTEGER_ARM 0x3287 -#define EGL_COLOR_COMPONENT_TYPE_INTEGER_ARM 0x3288 -#endif /* EGL_ARM_image_format */ - -#ifndef EGL_ARM_implicit_external_sync -#define EGL_ARM_implicit_external_sync 1 -#define EGL_SYNC_PRIOR_COMMANDS_IMPLICIT_EXTERNAL_ARM 0x328A -#endif /* EGL_ARM_implicit_external_sync */ - -#ifndef EGL_ARM_pixmap_multisample_discard -#define EGL_ARM_pixmap_multisample_discard 1 -#define EGL_DISCARD_SAMPLES_ARM 0x3286 -#endif /* EGL_ARM_pixmap_multisample_discard */ - -#ifndef EGL_EXT_bind_to_front -#define EGL_EXT_bind_to_front 1 -#define EGL_FRONT_BUFFER_EXT 0x3464 -#endif /* EGL_EXT_bind_to_front */ - -#ifndef EGL_EXT_buffer_age -#define EGL_EXT_buffer_age 1 -#define EGL_BUFFER_AGE_EXT 0x313D -#endif /* EGL_EXT_buffer_age */ - -#ifndef EGL_EXT_client_extensions -#define EGL_EXT_client_extensions 1 -#endif /* EGL_EXT_client_extensions */ - -#ifndef EGL_EXT_client_sync -#define EGL_EXT_client_sync 1 -#define EGL_SYNC_CLIENT_EXT 0x3364 -#define EGL_SYNC_CLIENT_SIGNAL_EXT 0x3365 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCLIENTSIGNALSYNCEXTPROC) (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglClientSignalSyncEXT (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); -#endif -#endif /* EGL_EXT_client_sync */ - -#ifndef EGL_EXT_compositor -#define EGL_EXT_compositor 1 -#define EGL_PRIMARY_COMPOSITOR_CONTEXT_EXT 0x3460 -#define EGL_EXTERNAL_REF_ID_EXT 0x3461 -#define EGL_COMPOSITOR_DROP_NEWEST_FRAME_EXT 0x3462 -#define EGL_COMPOSITOR_KEEP_NEWEST_FRAME_EXT 0x3463 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETCONTEXTLISTEXTPROC) (const EGLint *external_ref_ids, EGLint num_entries); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETCONTEXTATTRIBUTESEXTPROC) (EGLint external_ref_id, const EGLint *context_attributes, EGLint num_entries); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETWINDOWLISTEXTPROC) (EGLint external_ref_id, const EGLint *external_win_ids, EGLint num_entries); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETWINDOWATTRIBUTESEXTPROC) (EGLint external_win_id, const EGLint *window_attributes, EGLint num_entries); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORBINDTEXWINDOWEXTPROC) (EGLint external_win_id); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSETSIZEEXTPROC) (EGLint external_win_id, EGLint width, EGLint height); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLCOMPOSITORSWAPPOLICYEXTPROC) (EGLint external_win_id, EGLint policy); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetContextListEXT (const EGLint *external_ref_ids, EGLint num_entries); -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetContextAttributesEXT (EGLint external_ref_id, const EGLint *context_attributes, EGLint num_entries); -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetWindowListEXT (EGLint external_ref_id, const EGLint *external_win_ids, EGLint num_entries); -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetWindowAttributesEXT (EGLint external_win_id, const EGLint *window_attributes, EGLint num_entries); -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorBindTexWindowEXT (EGLint external_win_id); -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSetSizeEXT (EGLint external_win_id, EGLint width, EGLint height); -EGLAPI EGLBoolean EGLAPIENTRY eglCompositorSwapPolicyEXT (EGLint external_win_id, EGLint policy); -#endif -#endif /* EGL_EXT_compositor */ - -#ifndef EGL_EXT_config_select_group -#define EGL_EXT_config_select_group 1 -#define EGL_CONFIG_SELECT_GROUP_EXT 0x34C0 -#endif /* EGL_EXT_config_select_group */ - -#ifndef EGL_EXT_create_context_robustness -#define EGL_EXT_create_context_robustness 1 -#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS_EXT 0x30BF -#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY_EXT 0x3138 -#define EGL_NO_RESET_NOTIFICATION_EXT 0x31BE -#define EGL_LOSE_CONTEXT_ON_RESET_EXT 0x31BF -#endif /* EGL_EXT_create_context_robustness */ - -#ifndef EGL_EXT_device_base -#define EGL_EXT_device_base 1 -typedef void *EGLDeviceEXT; -#define EGL_NO_DEVICE_EXT EGL_CAST(EGLDeviceEXT,0) -#define EGL_BAD_DEVICE_EXT 0x322B -#define EGL_DEVICE_EXT 0x322C -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICEATTRIBEXTPROC) (EGLDeviceEXT device, EGLint attribute, EGLAttrib *value); -typedef const char *(EGLAPIENTRYP PFNEGLQUERYDEVICESTRINGEXTPROC) (EGLDeviceEXT device, EGLint name); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICESEXTPROC) (EGLint max_devices, EGLDeviceEXT *devices, EGLint *num_devices); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBEXTPROC) (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDeviceAttribEXT (EGLDeviceEXT device, EGLint attribute, EGLAttrib *value); -EGLAPI const char *EGLAPIENTRY eglQueryDeviceStringEXT (EGLDeviceEXT device, EGLint name); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDevicesEXT (EGLint max_devices, EGLDeviceEXT *devices, EGLint *num_devices); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribEXT (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); -#endif -#endif /* EGL_EXT_device_base */ - -#ifndef EGL_EXT_device_drm -#define EGL_EXT_device_drm 1 -#define EGL_DRM_DEVICE_FILE_EXT 0x3233 -#define EGL_DRM_MASTER_FD_EXT 0x333C -#endif /* EGL_EXT_device_drm */ - -#ifndef EGL_EXT_device_drm_render_node -#define EGL_EXT_device_drm_render_node 1 -#define EGL_DRM_RENDER_NODE_FILE_EXT 0x3377 -#endif /* EGL_EXT_device_drm_render_node */ - -#ifndef EGL_EXT_device_enumeration -#define EGL_EXT_device_enumeration 1 -#endif /* EGL_EXT_device_enumeration */ - -#ifndef EGL_EXT_device_openwf -#define EGL_EXT_device_openwf 1 -#define EGL_OPENWF_DEVICE_ID_EXT 0x3237 -#define EGL_OPENWF_DEVICE_EXT 0x333D -#endif /* EGL_EXT_device_openwf */ - -#ifndef EGL_EXT_device_persistent_id -#define EGL_EXT_device_persistent_id 1 -#define EGL_DEVICE_UUID_EXT 0x335C -#define EGL_DRIVER_UUID_EXT 0x335D -#define EGL_DRIVER_NAME_EXT 0x335E -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICEBINARYEXTPROC) (EGLDeviceEXT device, EGLint name, EGLint max_size, void *value, EGLint *size); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDeviceBinaryEXT (EGLDeviceEXT device, EGLint name, EGLint max_size, void *value, EGLint *size); -#endif -#endif /* EGL_EXT_device_persistent_id */ - -#ifndef EGL_EXT_device_query -#define EGL_EXT_device_query 1 -#endif /* EGL_EXT_device_query */ - -#ifndef EGL_EXT_device_query_name -#define EGL_EXT_device_query_name 1 -#define EGL_RENDERER_EXT 0x335F -#endif /* EGL_EXT_device_query_name */ - -#ifndef EGL_EXT_explicit_device -#define EGL_EXT_explicit_device 1 -#endif /* EGL_EXT_explicit_device */ - -#ifndef EGL_EXT_gl_colorspace_bt2020_linear -#define EGL_EXT_gl_colorspace_bt2020_linear 1 -#define EGL_GL_COLORSPACE_BT2020_LINEAR_EXT 0x333F -#endif /* EGL_EXT_gl_colorspace_bt2020_linear */ - -#ifndef EGL_EXT_gl_colorspace_bt2020_pq -#define EGL_EXT_gl_colorspace_bt2020_pq 1 -#define EGL_GL_COLORSPACE_BT2020_PQ_EXT 0x3340 -#endif /* EGL_EXT_gl_colorspace_bt2020_pq */ - -#ifndef EGL_EXT_gl_colorspace_display_p3 -#define EGL_EXT_gl_colorspace_display_p3 1 -#define EGL_GL_COLORSPACE_DISPLAY_P3_EXT 0x3363 -#endif /* EGL_EXT_gl_colorspace_display_p3 */ - -#ifndef EGL_EXT_gl_colorspace_display_p3_linear -#define EGL_EXT_gl_colorspace_display_p3_linear 1 -#define EGL_GL_COLORSPACE_DISPLAY_P3_LINEAR_EXT 0x3362 -#endif /* EGL_EXT_gl_colorspace_display_p3_linear */ - -#ifndef EGL_EXT_gl_colorspace_display_p3_passthrough -#define EGL_EXT_gl_colorspace_display_p3_passthrough 1 -#define EGL_GL_COLORSPACE_DISPLAY_P3_PASSTHROUGH_EXT 0x3490 -#endif /* EGL_EXT_gl_colorspace_display_p3_passthrough */ - -#ifndef EGL_EXT_gl_colorspace_scrgb -#define EGL_EXT_gl_colorspace_scrgb 1 -#define EGL_GL_COLORSPACE_SCRGB_EXT 0x3351 -#endif /* EGL_EXT_gl_colorspace_scrgb */ - -#ifndef EGL_EXT_gl_colorspace_scrgb_linear -#define EGL_EXT_gl_colorspace_scrgb_linear 1 -#define EGL_GL_COLORSPACE_SCRGB_LINEAR_EXT 0x3350 -#endif /* EGL_EXT_gl_colorspace_scrgb_linear */ - -#ifndef EGL_EXT_image_dma_buf_import -#define EGL_EXT_image_dma_buf_import 1 -#define EGL_LINUX_DMA_BUF_EXT 0x3270 -#define EGL_LINUX_DRM_FOURCC_EXT 0x3271 -#define EGL_DMA_BUF_PLANE0_FD_EXT 0x3272 -#define EGL_DMA_BUF_PLANE0_OFFSET_EXT 0x3273 -#define EGL_DMA_BUF_PLANE0_PITCH_EXT 0x3274 -#define EGL_DMA_BUF_PLANE1_FD_EXT 0x3275 -#define EGL_DMA_BUF_PLANE1_OFFSET_EXT 0x3276 -#define EGL_DMA_BUF_PLANE1_PITCH_EXT 0x3277 -#define EGL_DMA_BUF_PLANE2_FD_EXT 0x3278 -#define EGL_DMA_BUF_PLANE2_OFFSET_EXT 0x3279 -#define EGL_DMA_BUF_PLANE2_PITCH_EXT 0x327A -#define EGL_YUV_COLOR_SPACE_HINT_EXT 0x327B -#define EGL_SAMPLE_RANGE_HINT_EXT 0x327C -#define EGL_YUV_CHROMA_HORIZONTAL_SITING_HINT_EXT 0x327D -#define EGL_YUV_CHROMA_VERTICAL_SITING_HINT_EXT 0x327E -#define EGL_ITU_REC601_EXT 0x327F -#define EGL_ITU_REC709_EXT 0x3280 -#define EGL_ITU_REC2020_EXT 0x3281 -#define EGL_YUV_FULL_RANGE_EXT 0x3282 -#define EGL_YUV_NARROW_RANGE_EXT 0x3283 -#define EGL_YUV_CHROMA_SITING_0_EXT 0x3284 -#define EGL_YUV_CHROMA_SITING_0_5_EXT 0x3285 -#endif /* EGL_EXT_image_dma_buf_import */ - -#ifndef EGL_EXT_image_dma_buf_import_modifiers -#define EGL_EXT_image_dma_buf_import_modifiers 1 -#define EGL_DMA_BUF_PLANE3_FD_EXT 0x3440 -#define EGL_DMA_BUF_PLANE3_OFFSET_EXT 0x3441 -#define EGL_DMA_BUF_PLANE3_PITCH_EXT 0x3442 -#define EGL_DMA_BUF_PLANE0_MODIFIER_LO_EXT 0x3443 -#define EGL_DMA_BUF_PLANE0_MODIFIER_HI_EXT 0x3444 -#define EGL_DMA_BUF_PLANE1_MODIFIER_LO_EXT 0x3445 -#define EGL_DMA_BUF_PLANE1_MODIFIER_HI_EXT 0x3446 -#define EGL_DMA_BUF_PLANE2_MODIFIER_LO_EXT 0x3447 -#define EGL_DMA_BUF_PLANE2_MODIFIER_HI_EXT 0x3448 -#define EGL_DMA_BUF_PLANE3_MODIFIER_LO_EXT 0x3449 -#define EGL_DMA_BUF_PLANE3_MODIFIER_HI_EXT 0x344A -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDMABUFFORMATSEXTPROC) (EGLDisplay dpy, EGLint max_formats, EGLint *formats, EGLint *num_formats); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDMABUFMODIFIERSEXTPROC) (EGLDisplay dpy, EGLint format, EGLint max_modifiers, EGLuint64KHR *modifiers, EGLBoolean *external_only, EGLint *num_modifiers); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDmaBufFormatsEXT (EGLDisplay dpy, EGLint max_formats, EGLint *formats, EGLint *num_formats); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDmaBufModifiersEXT (EGLDisplay dpy, EGLint format, EGLint max_modifiers, EGLuint64KHR *modifiers, EGLBoolean *external_only, EGLint *num_modifiers); -#endif -#endif /* EGL_EXT_image_dma_buf_import_modifiers */ - -#ifndef EGL_EXT_image_gl_colorspace -#define EGL_EXT_image_gl_colorspace 1 -#define EGL_GL_COLORSPACE_DEFAULT_EXT 0x314D -#endif /* EGL_EXT_image_gl_colorspace */ - -#ifndef EGL_EXT_image_implicit_sync_control -#define EGL_EXT_image_implicit_sync_control 1 -#define EGL_IMPORT_SYNC_TYPE_EXT 0x3470 -#define EGL_IMPORT_IMPLICIT_SYNC_EXT 0x3471 -#define EGL_IMPORT_EXPLICIT_SYNC_EXT 0x3472 -#endif /* EGL_EXT_image_implicit_sync_control */ - -#ifndef EGL_EXT_multiview_window -#define EGL_EXT_multiview_window 1 -#define EGL_MULTIVIEW_VIEW_COUNT_EXT 0x3134 -#endif /* EGL_EXT_multiview_window */ - -#ifndef EGL_EXT_output_base -#define EGL_EXT_output_base 1 -typedef void *EGLOutputLayerEXT; -typedef void *EGLOutputPortEXT; -#define EGL_NO_OUTPUT_LAYER_EXT EGL_CAST(EGLOutputLayerEXT,0) -#define EGL_NO_OUTPUT_PORT_EXT EGL_CAST(EGLOutputPortEXT,0) -#define EGL_BAD_OUTPUT_LAYER_EXT 0x322D -#define EGL_BAD_OUTPUT_PORT_EXT 0x322E -#define EGL_SWAP_INTERVAL_EXT 0x322F -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETOUTPUTLAYERSEXTPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputLayerEXT *layers, EGLint max_layers, EGLint *num_layers); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETOUTPUTPORTSEXTPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputPortEXT *ports, EGLint max_ports, EGLint *num_ports); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLOUTPUTLAYERATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYOUTPUTLAYERATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib *value); -typedef const char *(EGLAPIENTRYP PFNEGLQUERYOUTPUTLAYERSTRINGEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint name); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLOUTPUTPORTATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYOUTPUTPORTATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib *value); -typedef const char *(EGLAPIENTRYP PFNEGLQUERYOUTPUTPORTSTRINGEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint name); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglGetOutputLayersEXT (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputLayerEXT *layers, EGLint max_layers, EGLint *num_layers); -EGLAPI EGLBoolean EGLAPIENTRY eglGetOutputPortsEXT (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputPortEXT *ports, EGLint max_ports, EGLint *num_ports); -EGLAPI EGLBoolean EGLAPIENTRY eglOutputLayerAttribEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib value); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryOutputLayerAttribEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib *value); -EGLAPI const char *EGLAPIENTRY eglQueryOutputLayerStringEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint name); -EGLAPI EGLBoolean EGLAPIENTRY eglOutputPortAttribEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib value); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryOutputPortAttribEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib *value); -EGLAPI const char *EGLAPIENTRY eglQueryOutputPortStringEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint name); -#endif -#endif /* EGL_EXT_output_base */ - -#ifndef EGL_EXT_output_drm -#define EGL_EXT_output_drm 1 -#define EGL_DRM_CRTC_EXT 0x3234 -#define EGL_DRM_PLANE_EXT 0x3235 -#define EGL_DRM_CONNECTOR_EXT 0x3236 -#endif /* EGL_EXT_output_drm */ - -#ifndef EGL_EXT_output_openwf -#define EGL_EXT_output_openwf 1 -#define EGL_OPENWF_PIPELINE_ID_EXT 0x3238 -#define EGL_OPENWF_PORT_ID_EXT 0x3239 -#endif /* EGL_EXT_output_openwf */ - -#ifndef EGL_EXT_pixel_format_float -#define EGL_EXT_pixel_format_float 1 -#define EGL_COLOR_COMPONENT_TYPE_EXT 0x3339 -#define EGL_COLOR_COMPONENT_TYPE_FIXED_EXT 0x333A -#define EGL_COLOR_COMPONENT_TYPE_FLOAT_EXT 0x333B -#endif /* EGL_EXT_pixel_format_float */ - -#ifndef EGL_EXT_platform_base -#define EGL_EXT_platform_base 1 -typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETPLATFORMDISPLAYEXTPROC) (EGLenum platform, void *native_display, const EGLint *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMWINDOWSURFACEEXTPROC) (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLint *attrib_list); -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMPIXMAPSURFACEEXTPROC) (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLint *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLDisplay EGLAPIENTRY eglGetPlatformDisplayEXT (EGLenum platform, void *native_display, const EGLint *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformWindowSurfaceEXT (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLint *attrib_list); -EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformPixmapSurfaceEXT (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLint *attrib_list); -#endif -#endif /* EGL_EXT_platform_base */ - -#ifndef EGL_EXT_platform_device -#define EGL_EXT_platform_device 1 -#define EGL_PLATFORM_DEVICE_EXT 0x313F -#endif /* EGL_EXT_platform_device */ - -#ifndef EGL_EXT_platform_wayland -#define EGL_EXT_platform_wayland 1 -#define EGL_PLATFORM_WAYLAND_EXT 0x31D8 -#endif /* EGL_EXT_platform_wayland */ - -#ifndef EGL_EXT_platform_x11 -#define EGL_EXT_platform_x11 1 -#define EGL_PLATFORM_X11_EXT 0x31D5 -#define EGL_PLATFORM_X11_SCREEN_EXT 0x31D6 -#endif /* EGL_EXT_platform_x11 */ - -#ifndef EGL_EXT_platform_xcb -#define EGL_EXT_platform_xcb 1 -#define EGL_PLATFORM_XCB_EXT 0x31DC -#define EGL_PLATFORM_XCB_SCREEN_EXT 0x31DE -#endif /* EGL_EXT_platform_xcb */ - -#ifndef EGL_EXT_present_opaque -#define EGL_EXT_present_opaque 1 -#define EGL_PRESENT_OPAQUE_EXT 0x31DF -#endif /* EGL_EXT_present_opaque */ - -#ifndef EGL_EXT_protected_content -#define EGL_EXT_protected_content 1 -#define EGL_PROTECTED_CONTENT_EXT 0x32C0 -#endif /* EGL_EXT_protected_content */ - -#ifndef EGL_EXT_protected_surface -#define EGL_EXT_protected_surface 1 -#endif /* EGL_EXT_protected_surface */ - -#ifndef EGL_EXT_stream_consumer_egloutput -#define EGL_EXT_stream_consumer_egloutput 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMEROUTPUTEXTPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLOutputLayerEXT layer); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerOutputEXT (EGLDisplay dpy, EGLStreamKHR stream, EGLOutputLayerEXT layer); -#endif -#endif /* EGL_EXT_stream_consumer_egloutput */ - -#ifndef EGL_EXT_surface_CTA861_3_metadata -#define EGL_EXT_surface_CTA861_3_metadata 1 -#define EGL_CTA861_3_MAX_CONTENT_LIGHT_LEVEL_EXT 0x3360 -#define EGL_CTA861_3_MAX_FRAME_AVERAGE_LEVEL_EXT 0x3361 -#endif /* EGL_EXT_surface_CTA861_3_metadata */ - -#ifndef EGL_EXT_surface_SMPTE2086_metadata -#define EGL_EXT_surface_SMPTE2086_metadata 1 -#define EGL_SMPTE2086_DISPLAY_PRIMARY_RX_EXT 0x3341 -#define EGL_SMPTE2086_DISPLAY_PRIMARY_RY_EXT 0x3342 -#define EGL_SMPTE2086_DISPLAY_PRIMARY_GX_EXT 0x3343 -#define EGL_SMPTE2086_DISPLAY_PRIMARY_GY_EXT 0x3344 -#define EGL_SMPTE2086_DISPLAY_PRIMARY_BX_EXT 0x3345 -#define EGL_SMPTE2086_DISPLAY_PRIMARY_BY_EXT 0x3346 -#define EGL_SMPTE2086_WHITE_POINT_X_EXT 0x3347 -#define EGL_SMPTE2086_WHITE_POINT_Y_EXT 0x3348 -#define EGL_SMPTE2086_MAX_LUMINANCE_EXT 0x3349 -#define EGL_SMPTE2086_MIN_LUMINANCE_EXT 0x334A -#define EGL_METADATA_SCALING_EXT 50000 -#endif /* EGL_EXT_surface_SMPTE2086_metadata */ - -#ifndef EGL_EXT_surface_compression -#define EGL_EXT_surface_compression 1 -#define EGL_SURFACE_COMPRESSION_EXT 0x34B0 -#define EGL_SURFACE_COMPRESSION_PLANE1_EXT 0x328E -#define EGL_SURFACE_COMPRESSION_PLANE2_EXT 0x328F -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_NONE_EXT 0x34B1 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_DEFAULT_EXT 0x34B2 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_1BPC_EXT 0x34B4 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_2BPC_EXT 0x34B5 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_3BPC_EXT 0x34B6 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_4BPC_EXT 0x34B7 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_5BPC_EXT 0x34B8 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_6BPC_EXT 0x34B9 -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_7BPC_EXT 0x34BA -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_8BPC_EXT 0x34BB -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_9BPC_EXT 0x34BC -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_10BPC_EXT 0x34BD -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_11BPC_EXT 0x34BE -#define EGL_SURFACE_COMPRESSION_FIXED_RATE_12BPC_EXT 0x34BF -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSUPPORTEDCOMPRESSIONRATESEXTPROC) (EGLDisplay dpy, EGLConfig config, const EGLAttrib *attrib_list, EGLint *rates, EGLint rate_size, EGLint *num_rates); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQuerySupportedCompressionRatesEXT (EGLDisplay dpy, EGLConfig config, const EGLAttrib *attrib_list, EGLint *rates, EGLint rate_size, EGLint *num_rates); -#endif -#endif /* EGL_EXT_surface_compression */ - -#ifndef EGL_EXT_swap_buffers_with_damage -#define EGL_EXT_swap_buffers_with_damage 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSWITHDAMAGEEXTPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersWithDamageEXT (EGLDisplay dpy, EGLSurface surface, const EGLint *rects, EGLint n_rects); -#endif -#endif /* EGL_EXT_swap_buffers_with_damage */ - -#ifndef EGL_EXT_sync_reuse -#define EGL_EXT_sync_reuse 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNSIGNALSYNCEXTPROC) (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglUnsignalSyncEXT (EGLDisplay dpy, EGLSync sync, const EGLAttrib *attrib_list); -#endif -#endif /* EGL_EXT_sync_reuse */ - -#ifndef EGL_EXT_yuv_surface -#define EGL_EXT_yuv_surface 1 -#define EGL_YUV_ORDER_EXT 0x3301 -#define EGL_YUV_NUMBER_OF_PLANES_EXT 0x3311 -#define EGL_YUV_SUBSAMPLE_EXT 0x3312 -#define EGL_YUV_DEPTH_RANGE_EXT 0x3317 -#define EGL_YUV_CSC_STANDARD_EXT 0x330A -#define EGL_YUV_PLANE_BPP_EXT 0x331A -#define EGL_YUV_BUFFER_EXT 0x3300 -#define EGL_YUV_ORDER_YUV_EXT 0x3302 -#define EGL_YUV_ORDER_YVU_EXT 0x3303 -#define EGL_YUV_ORDER_YUYV_EXT 0x3304 -#define EGL_YUV_ORDER_UYVY_EXT 0x3305 -#define EGL_YUV_ORDER_YVYU_EXT 0x3306 -#define EGL_YUV_ORDER_VYUY_EXT 0x3307 -#define EGL_YUV_ORDER_AYUV_EXT 0x3308 -#define EGL_YUV_SUBSAMPLE_4_2_0_EXT 0x3313 -#define EGL_YUV_SUBSAMPLE_4_2_2_EXT 0x3314 -#define EGL_YUV_SUBSAMPLE_4_4_4_EXT 0x3315 -#define EGL_YUV_DEPTH_RANGE_LIMITED_EXT 0x3318 -#define EGL_YUV_DEPTH_RANGE_FULL_EXT 0x3319 -#define EGL_YUV_CSC_STANDARD_601_EXT 0x330B -#define EGL_YUV_CSC_STANDARD_709_EXT 0x330C -#define EGL_YUV_CSC_STANDARD_2020_EXT 0x330D -#define EGL_YUV_PLANE_BPP_0_EXT 0x331B -#define EGL_YUV_PLANE_BPP_8_EXT 0x331C -#define EGL_YUV_PLANE_BPP_10_EXT 0x331D -#endif /* EGL_EXT_yuv_surface */ - -#ifndef EGL_HI_clientpixmap -#define EGL_HI_clientpixmap 1 -struct EGLClientPixmapHI { - void *pData; - EGLint iWidth; - EGLint iHeight; - EGLint iStride; -}; -#define EGL_CLIENT_PIXMAP_POINTER_HI 0x8F74 -typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPIXMAPSURFACEHIPROC) (EGLDisplay dpy, EGLConfig config, struct EGLClientPixmapHI *pixmap); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLSurface EGLAPIENTRY eglCreatePixmapSurfaceHI (EGLDisplay dpy, EGLConfig config, struct EGLClientPixmapHI *pixmap); -#endif -#endif /* EGL_HI_clientpixmap */ - -#ifndef EGL_HI_colorformats -#define EGL_HI_colorformats 1 -#define EGL_COLOR_FORMAT_HI 0x8F70 -#define EGL_COLOR_RGB_HI 0x8F71 -#define EGL_COLOR_RGBA_HI 0x8F72 -#define EGL_COLOR_ARGB_HI 0x8F73 -#endif /* EGL_HI_colorformats */ - -#ifndef EGL_IMG_context_priority -#define EGL_IMG_context_priority 1 -#define EGL_CONTEXT_PRIORITY_LEVEL_IMG 0x3100 -#define EGL_CONTEXT_PRIORITY_HIGH_IMG 0x3101 -#define EGL_CONTEXT_PRIORITY_MEDIUM_IMG 0x3102 -#define EGL_CONTEXT_PRIORITY_LOW_IMG 0x3103 -#endif /* EGL_IMG_context_priority */ - -#ifndef EGL_IMG_image_plane_attribs -#define EGL_IMG_image_plane_attribs 1 -#define EGL_NATIVE_BUFFER_MULTIPLANE_SEPARATE_IMG 0x3105 -#define EGL_NATIVE_BUFFER_PLANE_OFFSET_IMG 0x3106 -#endif /* EGL_IMG_image_plane_attribs */ - -#ifndef EGL_MESA_drm_image -#define EGL_MESA_drm_image 1 -#define EGL_DRM_BUFFER_FORMAT_MESA 0x31D0 -#define EGL_DRM_BUFFER_USE_MESA 0x31D1 -#define EGL_DRM_BUFFER_FORMAT_ARGB32_MESA 0x31D2 -#define EGL_DRM_BUFFER_MESA 0x31D3 -#define EGL_DRM_BUFFER_STRIDE_MESA 0x31D4 -#define EGL_DRM_BUFFER_USE_SCANOUT_MESA 0x00000001 -#define EGL_DRM_BUFFER_USE_SHARE_MESA 0x00000002 -#define EGL_DRM_BUFFER_USE_CURSOR_MESA 0x00000004 -typedef EGLImageKHR (EGLAPIENTRYP PFNEGLCREATEDRMIMAGEMESAPROC) (EGLDisplay dpy, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDRMIMAGEMESAPROC) (EGLDisplay dpy, EGLImageKHR image, EGLint *name, EGLint *handle, EGLint *stride); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLImageKHR EGLAPIENTRY eglCreateDRMImageMESA (EGLDisplay dpy, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglExportDRMImageMESA (EGLDisplay dpy, EGLImageKHR image, EGLint *name, EGLint *handle, EGLint *stride); -#endif -#endif /* EGL_MESA_drm_image */ - -#ifndef EGL_MESA_image_dma_buf_export -#define EGL_MESA_image_dma_buf_export 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDMABUFIMAGEQUERYMESAPROC) (EGLDisplay dpy, EGLImageKHR image, int *fourcc, int *num_planes, EGLuint64KHR *modifiers); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDMABUFIMAGEMESAPROC) (EGLDisplay dpy, EGLImageKHR image, int *fds, EGLint *strides, EGLint *offsets); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglExportDMABUFImageQueryMESA (EGLDisplay dpy, EGLImageKHR image, int *fourcc, int *num_planes, EGLuint64KHR *modifiers); -EGLAPI EGLBoolean EGLAPIENTRY eglExportDMABUFImageMESA (EGLDisplay dpy, EGLImageKHR image, int *fds, EGLint *strides, EGLint *offsets); -#endif -#endif /* EGL_MESA_image_dma_buf_export */ - -#ifndef EGL_MESA_platform_gbm -#define EGL_MESA_platform_gbm 1 -#define EGL_PLATFORM_GBM_MESA 0x31D7 -#endif /* EGL_MESA_platform_gbm */ - -#ifndef EGL_MESA_platform_surfaceless -#define EGL_MESA_platform_surfaceless 1 -#define EGL_PLATFORM_SURFACELESS_MESA 0x31DD -#endif /* EGL_MESA_platform_surfaceless */ - -#ifndef EGL_MESA_query_driver -#define EGL_MESA_query_driver 1 -typedef char *(EGLAPIENTRYP PFNEGLGETDISPLAYDRIVERCONFIGPROC) (EGLDisplay dpy); -typedef const char *(EGLAPIENTRYP PFNEGLGETDISPLAYDRIVERNAMEPROC) (EGLDisplay dpy); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI char *EGLAPIENTRY eglGetDisplayDriverConfig (EGLDisplay dpy); -EGLAPI const char *EGLAPIENTRY eglGetDisplayDriverName (EGLDisplay dpy); -#endif -#endif /* EGL_MESA_query_driver */ - -#ifndef EGL_NOK_swap_region -#define EGL_NOK_swap_region 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSREGIONNOKPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersRegionNOK (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); -#endif -#endif /* EGL_NOK_swap_region */ - -#ifndef EGL_NOK_swap_region2 -#define EGL_NOK_swap_region2 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSREGION2NOKPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersRegion2NOK (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); -#endif -#endif /* EGL_NOK_swap_region2 */ - -#ifndef EGL_NOK_texture_from_pixmap -#define EGL_NOK_texture_from_pixmap 1 -#define EGL_Y_INVERTED_NOK 0x307F -#endif /* EGL_NOK_texture_from_pixmap */ - -#ifndef EGL_NV_3dvision_surface -#define EGL_NV_3dvision_surface 1 -#define EGL_AUTO_STEREO_NV 0x3136 -#endif /* EGL_NV_3dvision_surface */ - -#ifndef EGL_NV_context_priority_realtime -#define EGL_NV_context_priority_realtime 1 -#define EGL_CONTEXT_PRIORITY_REALTIME_NV 0x3357 -#endif /* EGL_NV_context_priority_realtime */ - -#ifndef EGL_NV_coverage_sample -#define EGL_NV_coverage_sample 1 -#define EGL_COVERAGE_BUFFERS_NV 0x30E0 -#define EGL_COVERAGE_SAMPLES_NV 0x30E1 -#endif /* EGL_NV_coverage_sample */ - -#ifndef EGL_NV_coverage_sample_resolve -#define EGL_NV_coverage_sample_resolve 1 -#define EGL_COVERAGE_SAMPLE_RESOLVE_NV 0x3131 -#define EGL_COVERAGE_SAMPLE_RESOLVE_DEFAULT_NV 0x3132 -#define EGL_COVERAGE_SAMPLE_RESOLVE_NONE_NV 0x3133 -#endif /* EGL_NV_coverage_sample_resolve */ - -#ifndef EGL_NV_cuda_event -#define EGL_NV_cuda_event 1 -#define EGL_CUDA_EVENT_HANDLE_NV 0x323B -#define EGL_SYNC_CUDA_EVENT_NV 0x323C -#define EGL_SYNC_CUDA_EVENT_COMPLETE_NV 0x323D -#endif /* EGL_NV_cuda_event */ - -#ifndef EGL_NV_depth_nonlinear -#define EGL_NV_depth_nonlinear 1 -#define EGL_DEPTH_ENCODING_NV 0x30E2 -#define EGL_DEPTH_ENCODING_NONE_NV 0 -#define EGL_DEPTH_ENCODING_NONLINEAR_NV 0x30E3 -#endif /* EGL_NV_depth_nonlinear */ - -#ifndef EGL_NV_device_cuda -#define EGL_NV_device_cuda 1 -#define EGL_CUDA_DEVICE_NV 0x323A -#endif /* EGL_NV_device_cuda */ - -#ifndef EGL_NV_native_query -#define EGL_NV_native_query 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEDISPLAYNVPROC) (EGLDisplay dpy, EGLNativeDisplayType *display_id); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEWINDOWNVPROC) (EGLDisplay dpy, EGLSurface surf, EGLNativeWindowType *window); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEPIXMAPNVPROC) (EGLDisplay dpy, EGLSurface surf, EGLNativePixmapType *pixmap); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativeDisplayNV (EGLDisplay dpy, EGLNativeDisplayType *display_id); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativeWindowNV (EGLDisplay dpy, EGLSurface surf, EGLNativeWindowType *window); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativePixmapNV (EGLDisplay dpy, EGLSurface surf, EGLNativePixmapType *pixmap); -#endif -#endif /* EGL_NV_native_query */ - -#ifndef EGL_NV_post_convert_rounding -#define EGL_NV_post_convert_rounding 1 -#endif /* EGL_NV_post_convert_rounding */ - -#ifndef EGL_NV_post_sub_buffer -#define EGL_NV_post_sub_buffer 1 -#define EGL_POST_SUB_BUFFER_SUPPORTED_NV 0x30BE -typedef EGLBoolean (EGLAPIENTRYP PFNEGLPOSTSUBBUFFERNVPROC) (EGLDisplay dpy, EGLSurface surface, EGLint x, EGLint y, EGLint width, EGLint height); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglPostSubBufferNV (EGLDisplay dpy, EGLSurface surface, EGLint x, EGLint y, EGLint width, EGLint height); -#endif -#endif /* EGL_NV_post_sub_buffer */ - -#ifndef EGL_NV_quadruple_buffer -#define EGL_NV_quadruple_buffer 1 -#define EGL_QUADRUPLE_BUFFER_NV 0x3231 -#endif /* EGL_NV_quadruple_buffer */ - -#ifndef EGL_NV_robustness_video_memory_purge -#define EGL_NV_robustness_video_memory_purge 1 -#define EGL_GENERATE_RESET_ON_VIDEO_MEMORY_PURGE_NV 0x334C -#endif /* EGL_NV_robustness_video_memory_purge */ - -#ifndef EGL_NV_stream_consumer_eglimage -#define EGL_NV_stream_consumer_eglimage 1 -#define EGL_STREAM_CONSUMER_IMAGE_NV 0x3373 -#define EGL_STREAM_IMAGE_ADD_NV 0x3374 -#define EGL_STREAM_IMAGE_REMOVE_NV 0x3375 -#define EGL_STREAM_IMAGE_AVAILABLE_NV 0x3376 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMIMAGECONSUMERCONNECTNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLint num_modifiers, const EGLuint64KHR *modifiers, const EGLAttrib *attrib_list); -typedef EGLint (EGLAPIENTRYP PFNEGLQUERYSTREAMCONSUMEREVENTNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLTime timeout, EGLenum *event, EGLAttrib *aux); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMACQUIREIMAGENVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLImage *pImage, EGLSync sync); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMRELEASEIMAGENVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLImage image, EGLSync sync); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglStreamImageConsumerConnectNV (EGLDisplay dpy, EGLStreamKHR stream, EGLint num_modifiers, const EGLuint64KHR *modifiers, const EGLAttrib *attrib_list); -EGLAPI EGLint EGLAPIENTRY eglQueryStreamConsumerEventNV (EGLDisplay dpy, EGLStreamKHR stream, EGLTime timeout, EGLenum *event, EGLAttrib *aux); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamAcquireImageNV (EGLDisplay dpy, EGLStreamKHR stream, EGLImage *pImage, EGLSync sync); -EGLAPI EGLBoolean EGLAPIENTRY eglStreamReleaseImageNV (EGLDisplay dpy, EGLStreamKHR stream, EGLImage image, EGLSync sync); -#endif -#endif /* EGL_NV_stream_consumer_eglimage */ - -#ifndef EGL_NV_stream_consumer_gltexture_yuv -#define EGL_NV_stream_consumer_gltexture_yuv 1 -#define EGL_YUV_PLANE0_TEXTURE_UNIT_NV 0x332C -#define EGL_YUV_PLANE1_TEXTURE_UNIT_NV 0x332D -#define EGL_YUV_PLANE2_TEXTURE_UNIT_NV 0x332E -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERGLTEXTUREEXTERNALATTRIBSNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerGLTextureExternalAttribsNV (EGLDisplay dpy, EGLStreamKHR stream, const EGLAttrib *attrib_list); -#endif -#endif /* EGL_NV_stream_consumer_gltexture_yuv */ - -#ifndef EGL_NV_stream_cross_display -#define EGL_NV_stream_cross_display 1 -#define EGL_STREAM_CROSS_DISPLAY_NV 0x334E -#endif /* EGL_NV_stream_cross_display */ - -#ifndef EGL_NV_stream_cross_object -#define EGL_NV_stream_cross_object 1 -#define EGL_STREAM_CROSS_OBJECT_NV 0x334D -#endif /* EGL_NV_stream_cross_object */ - -#ifndef EGL_NV_stream_cross_partition -#define EGL_NV_stream_cross_partition 1 -#define EGL_STREAM_CROSS_PARTITION_NV 0x323F -#endif /* EGL_NV_stream_cross_partition */ - -#ifndef EGL_NV_stream_cross_process -#define EGL_NV_stream_cross_process 1 -#define EGL_STREAM_CROSS_PROCESS_NV 0x3245 -#endif /* EGL_NV_stream_cross_process */ - -#ifndef EGL_NV_stream_cross_system -#define EGL_NV_stream_cross_system 1 -#define EGL_STREAM_CROSS_SYSTEM_NV 0x334F -#endif /* EGL_NV_stream_cross_system */ - -#ifndef EGL_NV_stream_dma -#define EGL_NV_stream_dma 1 -#define EGL_STREAM_DMA_NV 0x3371 -#define EGL_STREAM_DMA_SERVER_NV 0x3372 -#endif /* EGL_NV_stream_dma */ - -#ifndef EGL_NV_stream_fifo_next -#define EGL_NV_stream_fifo_next 1 -#define EGL_PENDING_FRAME_NV 0x3329 -#define EGL_STREAM_TIME_PENDING_NV 0x332A -#endif /* EGL_NV_stream_fifo_next */ - -#ifndef EGL_NV_stream_fifo_synchronous -#define EGL_NV_stream_fifo_synchronous 1 -#define EGL_STREAM_FIFO_SYNCHRONOUS_NV 0x3336 -#endif /* EGL_NV_stream_fifo_synchronous */ - -#ifndef EGL_NV_stream_flush -#define EGL_NV_stream_flush 1 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMFLUSHNVPROC) (EGLDisplay dpy, EGLStreamKHR stream); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglStreamFlushNV (EGLDisplay dpy, EGLStreamKHR stream); -#endif -#endif /* EGL_NV_stream_flush */ - -#ifndef EGL_NV_stream_frame_limits -#define EGL_NV_stream_frame_limits 1 -#define EGL_PRODUCER_MAX_FRAME_HINT_NV 0x3337 -#define EGL_CONSUMER_MAX_FRAME_HINT_NV 0x3338 -#endif /* EGL_NV_stream_frame_limits */ - -#ifndef EGL_NV_stream_metadata -#define EGL_NV_stream_metadata 1 -#define EGL_MAX_STREAM_METADATA_BLOCKS_NV 0x3250 -#define EGL_MAX_STREAM_METADATA_BLOCK_SIZE_NV 0x3251 -#define EGL_MAX_STREAM_METADATA_TOTAL_SIZE_NV 0x3252 -#define EGL_PRODUCER_METADATA_NV 0x3253 -#define EGL_CONSUMER_METADATA_NV 0x3254 -#define EGL_PENDING_METADATA_NV 0x3328 -#define EGL_METADATA0_SIZE_NV 0x3255 -#define EGL_METADATA1_SIZE_NV 0x3256 -#define EGL_METADATA2_SIZE_NV 0x3257 -#define EGL_METADATA3_SIZE_NV 0x3258 -#define EGL_METADATA0_TYPE_NV 0x3259 -#define EGL_METADATA1_TYPE_NV 0x325A -#define EGL_METADATA2_TYPE_NV 0x325B -#define EGL_METADATA3_TYPE_NV 0x325C -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBNVPROC) (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETSTREAMMETADATANVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLint n, EGLint offset, EGLint size, const void *data); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMMETADATANVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum name, EGLint n, EGLint offset, EGLint size, void *data); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribNV (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); -EGLAPI EGLBoolean EGLAPIENTRY eglSetStreamMetadataNV (EGLDisplay dpy, EGLStreamKHR stream, EGLint n, EGLint offset, EGLint size, const void *data); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamMetadataNV (EGLDisplay dpy, EGLStreamKHR stream, EGLenum name, EGLint n, EGLint offset, EGLint size, void *data); -#endif -#endif /* EGL_NV_stream_metadata */ - -#ifndef EGL_NV_stream_origin -#define EGL_NV_stream_origin 1 -#define EGL_STREAM_FRAME_ORIGIN_X_NV 0x3366 -#define EGL_STREAM_FRAME_ORIGIN_Y_NV 0x3367 -#define EGL_STREAM_FRAME_MAJOR_AXIS_NV 0x3368 -#define EGL_CONSUMER_AUTO_ORIENTATION_NV 0x3369 -#define EGL_PRODUCER_AUTO_ORIENTATION_NV 0x336A -#define EGL_LEFT_NV 0x336B -#define EGL_RIGHT_NV 0x336C -#define EGL_TOP_NV 0x336D -#define EGL_BOTTOM_NV 0x336E -#define EGL_X_AXIS_NV 0x336F -#define EGL_Y_AXIS_NV 0x3370 -#endif /* EGL_NV_stream_origin */ - -#ifndef EGL_NV_stream_remote -#define EGL_NV_stream_remote 1 -#define EGL_STREAM_STATE_INITIALIZING_NV 0x3240 -#define EGL_STREAM_TYPE_NV 0x3241 -#define EGL_STREAM_PROTOCOL_NV 0x3242 -#define EGL_STREAM_ENDPOINT_NV 0x3243 -#define EGL_STREAM_LOCAL_NV 0x3244 -#define EGL_STREAM_PRODUCER_NV 0x3247 -#define EGL_STREAM_CONSUMER_NV 0x3248 -#define EGL_STREAM_PROTOCOL_FD_NV 0x3246 -#endif /* EGL_NV_stream_remote */ - -#ifndef EGL_NV_stream_reset -#define EGL_NV_stream_reset 1 -#define EGL_SUPPORT_RESET_NV 0x3334 -#define EGL_SUPPORT_REUSE_NV 0x3335 -typedef EGLBoolean (EGLAPIENTRYP PFNEGLRESETSTREAMNVPROC) (EGLDisplay dpy, EGLStreamKHR stream); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglResetStreamNV (EGLDisplay dpy, EGLStreamKHR stream); -#endif -#endif /* EGL_NV_stream_reset */ - -#ifndef EGL_NV_stream_socket -#define EGL_NV_stream_socket 1 -#define EGL_STREAM_PROTOCOL_SOCKET_NV 0x324B -#define EGL_SOCKET_HANDLE_NV 0x324C -#define EGL_SOCKET_TYPE_NV 0x324D -#endif /* EGL_NV_stream_socket */ - -#ifndef EGL_NV_stream_socket_inet -#define EGL_NV_stream_socket_inet 1 -#define EGL_SOCKET_TYPE_INET_NV 0x324F -#endif /* EGL_NV_stream_socket_inet */ - -#ifndef EGL_NV_stream_socket_unix -#define EGL_NV_stream_socket_unix 1 -#define EGL_SOCKET_TYPE_UNIX_NV 0x324E -#endif /* EGL_NV_stream_socket_unix */ - -#ifndef EGL_NV_stream_sync -#define EGL_NV_stream_sync 1 -#define EGL_SYNC_NEW_FRAME_NV 0x321F -typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESTREAMSYNCNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum type, const EGLint *attrib_list); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateStreamSyncNV (EGLDisplay dpy, EGLStreamKHR stream, EGLenum type, const EGLint *attrib_list); -#endif -#endif /* EGL_NV_stream_sync */ - -#ifndef EGL_NV_sync -#define EGL_NV_sync 1 -typedef void *EGLSyncNV; -typedef khronos_utime_nanoseconds_t EGLTimeNV; -#ifdef KHRONOS_SUPPORT_INT64 -#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE_NV 0x30E6 -#define EGL_SYNC_STATUS_NV 0x30E7 -#define EGL_SIGNALED_NV 0x30E8 -#define EGL_UNSIGNALED_NV 0x30E9 -#define EGL_SYNC_FLUSH_COMMANDS_BIT_NV 0x0001 -#define EGL_FOREVER_NV 0xFFFFFFFFFFFFFFFFull -#define EGL_ALREADY_SIGNALED_NV 0x30EA -#define EGL_TIMEOUT_EXPIRED_NV 0x30EB -#define EGL_CONDITION_SATISFIED_NV 0x30EC -#define EGL_SYNC_TYPE_NV 0x30ED -#define EGL_SYNC_CONDITION_NV 0x30EE -#define EGL_SYNC_FENCE_NV 0x30EF -#define EGL_NO_SYNC_NV EGL_CAST(EGLSyncNV,0) -typedef EGLSyncNV (EGLAPIENTRYP PFNEGLCREATEFENCESYNCNVPROC) (EGLDisplay dpy, EGLenum condition, const EGLint *attrib_list); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCNVPROC) (EGLSyncNV sync); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLFENCENVPROC) (EGLSyncNV sync); -typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCNVPROC) (EGLSyncNV sync, EGLint flags, EGLTimeNV timeout); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLSIGNALSYNCNVPROC) (EGLSyncNV sync, EGLenum mode); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBNVPROC) (EGLSyncNV sync, EGLint attribute, EGLint *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLSyncNV EGLAPIENTRY eglCreateFenceSyncNV (EGLDisplay dpy, EGLenum condition, const EGLint *attrib_list); -EGLAPI EGLBoolean EGLAPIENTRY eglDestroySyncNV (EGLSyncNV sync); -EGLAPI EGLBoolean EGLAPIENTRY eglFenceNV (EGLSyncNV sync); -EGLAPI EGLint EGLAPIENTRY eglClientWaitSyncNV (EGLSyncNV sync, EGLint flags, EGLTimeNV timeout); -EGLAPI EGLBoolean EGLAPIENTRY eglSignalSyncNV (EGLSyncNV sync, EGLenum mode); -EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttribNV (EGLSyncNV sync, EGLint attribute, EGLint *value); -#endif -#endif /* KHRONOS_SUPPORT_INT64 */ -#endif /* EGL_NV_sync */ - -#ifndef EGL_NV_system_time -#define EGL_NV_system_time 1 -typedef khronos_utime_nanoseconds_t EGLuint64NV; -#ifdef KHRONOS_SUPPORT_INT64 -typedef EGLuint64NV (EGLAPIENTRYP PFNEGLGETSYSTEMTIMEFREQUENCYNVPROC) (void); -typedef EGLuint64NV (EGLAPIENTRYP PFNEGLGETSYSTEMTIMENVPROC) (void); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLuint64NV EGLAPIENTRY eglGetSystemTimeFrequencyNV (void); -EGLAPI EGLuint64NV EGLAPIENTRY eglGetSystemTimeNV (void); -#endif -#endif /* KHRONOS_SUPPORT_INT64 */ -#endif /* EGL_NV_system_time */ - -#ifndef EGL_NV_triple_buffer -#define EGL_NV_triple_buffer 1 -#define EGL_TRIPLE_BUFFER_NV 0x3230 -#endif /* EGL_NV_triple_buffer */ - -#ifndef EGL_TIZEN_image_native_buffer -#define EGL_TIZEN_image_native_buffer 1 -#define EGL_NATIVE_BUFFER_TIZEN 0x32A0 -#endif /* EGL_TIZEN_image_native_buffer */ - -#ifndef EGL_TIZEN_image_native_surface -#define EGL_TIZEN_image_native_surface 1 -#define EGL_NATIVE_SURFACE_TIZEN 0x32A1 -#endif /* EGL_TIZEN_image_native_surface */ - -#ifndef EGL_WL_bind_wayland_display -#define EGL_WL_bind_wayland_display 1 -#define PFNEGLBINDWAYLANDDISPLAYWL PFNEGLBINDWAYLANDDISPLAYWLPROC -#define PFNEGLUNBINDWAYLANDDISPLAYWL PFNEGLUNBINDWAYLANDDISPLAYWLPROC -#define PFNEGLQUERYWAYLANDBUFFERWL PFNEGLQUERYWAYLANDBUFFERWLPROC -struct wl_display; -struct wl_resource; -#define EGL_WAYLAND_BUFFER_WL 0x31D5 -#define EGL_WAYLAND_PLANE_WL 0x31D6 -#define EGL_TEXTURE_Y_U_V_WL 0x31D7 -#define EGL_TEXTURE_Y_UV_WL 0x31D8 -#define EGL_TEXTURE_Y_XUXV_WL 0x31D9 -#define EGL_TEXTURE_EXTERNAL_WL 0x31DA -#define EGL_WAYLAND_Y_INVERTED_WL 0x31DB -typedef EGLBoolean (EGLAPIENTRYP PFNEGLBINDWAYLANDDISPLAYWLPROC) (EGLDisplay dpy, struct wl_display *display); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNBINDWAYLANDDISPLAYWLPROC) (EGLDisplay dpy, struct wl_display *display); -typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYWAYLANDBUFFERWLPROC) (EGLDisplay dpy, struct wl_resource *buffer, EGLint attribute, EGLint *value); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI EGLBoolean EGLAPIENTRY eglBindWaylandDisplayWL (EGLDisplay dpy, struct wl_display *display); -EGLAPI EGLBoolean EGLAPIENTRY eglUnbindWaylandDisplayWL (EGLDisplay dpy, struct wl_display *display); -EGLAPI EGLBoolean EGLAPIENTRY eglQueryWaylandBufferWL (EGLDisplay dpy, struct wl_resource *buffer, EGLint attribute, EGLint *value); -#endif -#endif /* EGL_WL_bind_wayland_display */ - -#ifndef EGL_WL_create_wayland_buffer_from_image -#define EGL_WL_create_wayland_buffer_from_image 1 -#define PFNEGLCREATEWAYLANDBUFFERFROMIMAGEWL PFNEGLCREATEWAYLANDBUFFERFROMIMAGEWLPROC -struct wl_buffer; -typedef struct wl_buffer *(EGLAPIENTRYP PFNEGLCREATEWAYLANDBUFFERFROMIMAGEWLPROC) (EGLDisplay dpy, EGLImageKHR image); -#ifdef EGL_EGLEXT_PROTOTYPES -EGLAPI struct wl_buffer *EGLAPIENTRY eglCreateWaylandBufferFromImageWL (EGLDisplay dpy, EGLImageKHR image); -#endif -#endif /* EGL_WL_create_wayland_buffer_from_image */ - -#ifdef __cplusplus -} -#endif - -#endif /* __eglext_h_ */ - -#endif /* _MSC_VER */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_endian.h b/subprojects/sdl2_windows/include/SDL2/SDL_endian.h deleted file mode 100644 index c3f84317f..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_endian.h +++ /dev/null @@ -1,348 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_endian.h - * - * Functions for reading and writing endian-specific values - */ - -#ifndef SDL_endian_h_ -#define SDL_endian_h_ - -#include "SDL_stdinc.h" - -#if defined(_MSC_VER) && (_MSC_VER >= 1400) -/* As of Clang 11, '_m_prefetchw' is conflicting with the winnt.h's version, - so we define the needed '_m_prefetch' here as a pseudo-header, until the issue is fixed. */ -#ifdef __clang__ -#ifndef __PRFCHWINTRIN_H -#define __PRFCHWINTRIN_H -static __inline__ void __attribute__((__always_inline__, __nodebug__)) -_m_prefetch(void *__P) -{ - __builtin_prefetch(__P, 0, 3 /* _MM_HINT_T0 */); -} -#endif /* __PRFCHWINTRIN_H */ -#endif /* __clang__ */ - -#include -#endif - -/** - * \name The two types of endianness - */ -/* @{ */ -#define SDL_LIL_ENDIAN 1234 -#define SDL_BIG_ENDIAN 4321 -/* @} */ - -#ifndef SDL_BYTEORDER /* Not defined in SDL_config.h? */ -#ifdef __linux__ -#include -#define SDL_BYTEORDER __BYTE_ORDER -#elif defined(__OpenBSD__) || defined(__DragonFly__) -#include -#define SDL_BYTEORDER BYTE_ORDER -#elif defined(__FreeBSD__) || defined(__NetBSD__) -#include -#define SDL_BYTEORDER BYTE_ORDER -/* predefs from newer gcc and clang versions: */ -#elif defined(__ORDER_LITTLE_ENDIAN__) && defined(__ORDER_BIG_ENDIAN__) && defined(__BYTE_ORDER__) -#if (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) -#define SDL_BYTEORDER SDL_LIL_ENDIAN -#elif (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) -#define SDL_BYTEORDER SDL_BIG_ENDIAN -#else -#error Unsupported endianness -#endif /**/ -#else -#if defined(__hppa__) || \ - defined(__m68k__) || defined(mc68000) || defined(_M_M68K) || \ - (defined(__MIPS__) && defined(__MIPSEB__)) || \ - defined(__ppc__) || defined(__POWERPC__) || defined(__powerpc__) || defined(__PPC__) || \ - defined(__sparc__) -#define SDL_BYTEORDER SDL_BIG_ENDIAN -#else -#define SDL_BYTEORDER SDL_LIL_ENDIAN -#endif -#endif /* __linux__ */ -#endif /* !SDL_BYTEORDER */ - -#ifndef SDL_FLOATWORDORDER /* Not defined in SDL_config.h? */ -/* predefs from newer gcc versions: */ -#if defined(__ORDER_LITTLE_ENDIAN__) && defined(__ORDER_BIG_ENDIAN__) && defined(__FLOAT_WORD_ORDER__) -#if (__FLOAT_WORD_ORDER__ == __ORDER_LITTLE_ENDIAN__) -#define SDL_FLOATWORDORDER SDL_LIL_ENDIAN -#elif (__FLOAT_WORD_ORDER__ == __ORDER_BIG_ENDIAN__) -#define SDL_FLOATWORDORDER SDL_BIG_ENDIAN -#else -#error Unsupported endianness -#endif /**/ -#elif defined(__MAVERICK__) -/* For Maverick, float words are always little-endian. */ -#define SDL_FLOATWORDORDER SDL_LIL_ENDIAN -#elif (defined(__arm__) || defined(__thumb__)) && !defined(__VFP_FP__) && !defined(__ARM_EABI__) -/* For FPA, float words are always big-endian. */ -#define SDL_FLOATWORDORDER SDL_BIG_ENDIAN -#else -/* By default, assume that floats words follow the memory system mode. */ -#define SDL_FLOATWORDORDER SDL_BYTEORDER -#endif /* __FLOAT_WORD_ORDER__ */ -#endif /* !SDL_FLOATWORDORDER */ - - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \file SDL_endian.h - */ - -/* various modern compilers may have builtin swap */ -#if defined(__GNUC__) || defined(__clang__) -# define HAS_BUILTIN_BSWAP16 (_SDL_HAS_BUILTIN(__builtin_bswap16)) || \ - (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)) -# define HAS_BUILTIN_BSWAP32 (_SDL_HAS_BUILTIN(__builtin_bswap32)) || \ - (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) -# define HAS_BUILTIN_BSWAP64 (_SDL_HAS_BUILTIN(__builtin_bswap64)) || \ - (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) - - /* this one is broken */ -# define HAS_BROKEN_BSWAP (__GNUC__ == 2 && __GNUC_MINOR__ <= 95) -#else -# define HAS_BUILTIN_BSWAP16 0 -# define HAS_BUILTIN_BSWAP32 0 -# define HAS_BUILTIN_BSWAP64 0 -# define HAS_BROKEN_BSWAP 0 -#endif - -#if HAS_BUILTIN_BSWAP16 -#define SDL_Swap16(x) __builtin_bswap16(x) -#elif defined(_MSC_VER) && (_MSC_VER >= 1400) -#pragma intrinsic(_byteswap_ushort) -#define SDL_Swap16(x) _byteswap_ushort(x) -#elif defined(__i386__) && !HAS_BROKEN_BSWAP -SDL_FORCE_INLINE Uint16 -SDL_Swap16(Uint16 x) -{ - __asm__("xchgb %b0,%h0": "=q"(x):"0"(x)); - return x; -} -#elif defined(__x86_64__) -SDL_FORCE_INLINE Uint16 -SDL_Swap16(Uint16 x) -{ - __asm__("xchgb %b0,%h0": "=Q"(x):"0"(x)); - return x; -} -#elif (defined(__powerpc__) || defined(__ppc__)) -SDL_FORCE_INLINE Uint16 -SDL_Swap16(Uint16 x) -{ - int result; - - __asm__("rlwimi %0,%2,8,16,23": "=&r"(result):"0"(x >> 8), "r"(x)); - return (Uint16)result; -} -#elif (defined(__m68k__) && !defined(__mcoldfire__)) -SDL_FORCE_INLINE Uint16 -SDL_Swap16(Uint16 x) -{ - __asm__("rorw #8,%0": "=d"(x): "0"(x):"cc"); - return x; -} -#elif defined(__WATCOMC__) && defined(__386__) -extern __inline Uint16 SDL_Swap16(Uint16); -#pragma aux SDL_Swap16 = \ - "xchg al, ah" \ - parm [ax] \ - modify [ax]; -#else -SDL_FORCE_INLINE Uint16 -SDL_Swap16(Uint16 x) -{ - return SDL_static_cast(Uint16, ((x << 8) | (x >> 8))); -} -#endif - -#if HAS_BUILTIN_BSWAP32 -#define SDL_Swap32(x) __builtin_bswap32(x) -#elif defined(_MSC_VER) && (_MSC_VER >= 1400) -#pragma intrinsic(_byteswap_ulong) -#define SDL_Swap32(x) _byteswap_ulong(x) -#elif defined(__i386__) && !HAS_BROKEN_BSWAP -SDL_FORCE_INLINE Uint32 -SDL_Swap32(Uint32 x) -{ - __asm__("bswap %0": "=r"(x):"0"(x)); - return x; -} -#elif defined(__x86_64__) -SDL_FORCE_INLINE Uint32 -SDL_Swap32(Uint32 x) -{ - __asm__("bswapl %0": "=r"(x):"0"(x)); - return x; -} -#elif (defined(__powerpc__) || defined(__ppc__)) -SDL_FORCE_INLINE Uint32 -SDL_Swap32(Uint32 x) -{ - Uint32 result; - - __asm__("rlwimi %0,%2,24,16,23": "=&r"(result): "0" (x>>24), "r"(x)); - __asm__("rlwimi %0,%2,8,8,15" : "=&r"(result): "0" (result), "r"(x)); - __asm__("rlwimi %0,%2,24,0,7" : "=&r"(result): "0" (result), "r"(x)); - return result; -} -#elif (defined(__m68k__) && !defined(__mcoldfire__)) -SDL_FORCE_INLINE Uint32 -SDL_Swap32(Uint32 x) -{ - __asm__("rorw #8,%0\n\tswap %0\n\trorw #8,%0": "=d"(x): "0"(x):"cc"); - return x; -} -#elif defined(__WATCOMC__) && defined(__386__) -extern __inline Uint32 SDL_Swap32(Uint32); -#pragma aux SDL_Swap32 = \ - "bswap eax" \ - parm [eax] \ - modify [eax]; -#else -SDL_FORCE_INLINE Uint32 -SDL_Swap32(Uint32 x) -{ - return SDL_static_cast(Uint32, ((x << 24) | ((x << 8) & 0x00FF0000) | - ((x >> 8) & 0x0000FF00) | (x >> 24))); -} -#endif - -#if HAS_BUILTIN_BSWAP64 -#define SDL_Swap64(x) __builtin_bswap64(x) -#elif defined(_MSC_VER) && (_MSC_VER >= 1400) -#pragma intrinsic(_byteswap_uint64) -#define SDL_Swap64(x) _byteswap_uint64(x) -#elif defined(__i386__) && !HAS_BROKEN_BSWAP -SDL_FORCE_INLINE Uint64 -SDL_Swap64(Uint64 x) -{ - union { - struct { - Uint32 a, b; - } s; - Uint64 u; - } v; - v.u = x; - __asm__("bswapl %0 ; bswapl %1 ; xchgl %0,%1" - : "=r"(v.s.a), "=r"(v.s.b) - : "0" (v.s.a), "1"(v.s.b)); - return v.u; -} -#elif defined(__x86_64__) -SDL_FORCE_INLINE Uint64 -SDL_Swap64(Uint64 x) -{ - __asm__("bswapq %0": "=r"(x):"0"(x)); - return x; -} -#elif defined(__WATCOMC__) && defined(__386__) -extern __inline Uint64 SDL_Swap64(Uint64); -#pragma aux SDL_Swap64 = \ - "bswap eax" \ - "bswap edx" \ - "xchg eax,edx" \ - parm [eax edx] \ - modify [eax edx]; -#else -SDL_FORCE_INLINE Uint64 -SDL_Swap64(Uint64 x) -{ - Uint32 hi, lo; - - /* Separate into high and low 32-bit values and swap them */ - lo = SDL_static_cast(Uint32, x & 0xFFFFFFFF); - x >>= 32; - hi = SDL_static_cast(Uint32, x & 0xFFFFFFFF); - x = SDL_Swap32(lo); - x <<= 32; - x |= SDL_Swap32(hi); - return (x); -} -#endif - - -SDL_FORCE_INLINE float -SDL_SwapFloat(float x) -{ - union { - float f; - Uint32 ui32; - } swapper; - swapper.f = x; - swapper.ui32 = SDL_Swap32(swapper.ui32); - return swapper.f; -} - -/* remove extra macros */ -#undef HAS_BROKEN_BSWAP -#undef HAS_BUILTIN_BSWAP16 -#undef HAS_BUILTIN_BSWAP32 -#undef HAS_BUILTIN_BSWAP64 - -/** - * \name Swap to native - * Byteswap item from the specified endianness to the native endianness. - */ -/* @{ */ -#if SDL_BYTEORDER == SDL_LIL_ENDIAN -#define SDL_SwapLE16(X) (X) -#define SDL_SwapLE32(X) (X) -#define SDL_SwapLE64(X) (X) -#define SDL_SwapFloatLE(X) (X) -#define SDL_SwapBE16(X) SDL_Swap16(X) -#define SDL_SwapBE32(X) SDL_Swap32(X) -#define SDL_SwapBE64(X) SDL_Swap64(X) -#define SDL_SwapFloatBE(X) SDL_SwapFloat(X) -#else -#define SDL_SwapLE16(X) SDL_Swap16(X) -#define SDL_SwapLE32(X) SDL_Swap32(X) -#define SDL_SwapLE64(X) SDL_Swap64(X) -#define SDL_SwapFloatLE(X) SDL_SwapFloat(X) -#define SDL_SwapBE16(X) (X) -#define SDL_SwapBE32(X) (X) -#define SDL_SwapBE64(X) (X) -#define SDL_SwapFloatBE(X) (X) -#endif -/* @} *//* Swap to native */ - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_endian_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_error.h b/subprojects/sdl2_windows/include/SDL2/SDL_error.h deleted file mode 100644 index 5c961e428..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_error.h +++ /dev/null @@ -1,163 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_error.h - * - * Simple error message routines for SDL. - */ - -#ifndef SDL_error_h_ -#define SDL_error_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* Public functions */ - - -/** - * Set the SDL error message for the current thread. - * - * Calling this function will replace any previous error message that was set. - * - * This function always returns -1, since SDL frequently uses -1 to signify an - * failing result, leading to this idiom: - * - * ```c - * if (error_code) { - * return SDL_SetError("This operation has failed: %d", error_code); - * } - * ``` - * - * \param fmt a printf()-style message format string - * \param ... additional parameters matching % tokens in the `fmt` string, if - * any - * \returns always -1. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ClearError - * \sa SDL_GetError - */ -extern DECLSPEC int SDLCALL SDL_SetError(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); - -/** - * Retrieve a message about the last error that occurred on the current - * thread. - * - * It is possible for multiple errors to occur before calling SDL_GetError(). - * Only the last error is returned. - * - * The message is only applicable when an SDL function has signaled an error. - * You must check the return values of SDL function calls to determine when to - * appropriately call SDL_GetError(). You should *not* use the results of - * SDL_GetError() to decide if an error has occurred! Sometimes SDL will set - * an error string even when reporting success. - * - * SDL will *not* clear the error string for successful API calls. You *must* - * check return values for failure cases before you can assume the error - * string applies. - * - * Error strings are set per-thread, so an error set in a different thread - * will not interfere with the current thread's operation. - * - * The returned string is internally allocated and must not be freed by the - * application. - * - * \returns a message with information about the specific error that occurred, - * or an empty string if there hasn't been an error message set since - * the last call to SDL_ClearError(). The message is only applicable - * when an SDL function has signaled an error. You must check the - * return values of SDL function calls to determine when to - * appropriately call SDL_GetError(). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ClearError - * \sa SDL_SetError - */ -extern DECLSPEC const char *SDLCALL SDL_GetError(void); - -/** - * Get the last error message that was set for the current thread. - * - * This allows the caller to copy the error string into a provided buffer, but - * otherwise operates exactly the same as SDL_GetError(). - * - * \param errstr A buffer to fill with the last error message that was set for - * the current thread - * \param maxlen The size of the buffer pointed to by the errstr parameter - * \returns the pointer passed in as the `errstr` parameter. - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_GetError - */ -extern DECLSPEC char * SDLCALL SDL_GetErrorMsg(char *errstr, int maxlen); - -/** - * Clear any previous error message for this thread. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetError - * \sa SDL_SetError - */ -extern DECLSPEC void SDLCALL SDL_ClearError(void); - -/** - * \name Internal error functions - * - * \internal - * Private error reporting function - used internally. - */ -/* @{ */ -#define SDL_OutOfMemory() SDL_Error(SDL_ENOMEM) -#define SDL_Unsupported() SDL_Error(SDL_UNSUPPORTED) -#define SDL_InvalidParamError(param) SDL_SetError("Parameter '%s' is invalid", (param)) -typedef enum -{ - SDL_ENOMEM, - SDL_EFREAD, - SDL_EFWRITE, - SDL_EFSEEK, - SDL_UNSUPPORTED, - SDL_LASTERROR -} SDL_errorcode; -/* SDL_Error() unconditionally returns -1. */ -extern DECLSPEC int SDLCALL SDL_Error(SDL_errorcode code); -/* @} *//* Internal error functions */ - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_error_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_events.h b/subprojects/sdl2_windows/include/SDL2/SDL_events.h deleted file mode 100644 index 55a343e08..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_events.h +++ /dev/null @@ -1,1166 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_events.h - * - * Include file for SDL event handling. - */ - -#ifndef SDL_events_h_ -#define SDL_events_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_video.h" -#include "SDL_keyboard.h" -#include "SDL_mouse.h" -#include "SDL_joystick.h" -#include "SDL_gamecontroller.h" -#include "SDL_quit.h" -#include "SDL_gesture.h" -#include "SDL_touch.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* General keyboard/mouse state definitions */ -#define SDL_RELEASED 0 -#define SDL_PRESSED 1 - -/** - * The types of events that can be delivered. - */ -typedef enum -{ - SDL_FIRSTEVENT = 0, /**< Unused (do not remove) */ - - /* Application events */ - SDL_QUIT = 0x100, /**< User-requested quit */ - - /* These application events have special meaning on iOS, see README-ios.md for details */ - SDL_APP_TERMINATING, /**< The application is being terminated by the OS - Called on iOS in applicationWillTerminate() - Called on Android in onDestroy() - */ - SDL_APP_LOWMEMORY, /**< The application is low on memory, free memory if possible. - Called on iOS in applicationDidReceiveMemoryWarning() - Called on Android in onLowMemory() - */ - SDL_APP_WILLENTERBACKGROUND, /**< The application is about to enter the background - Called on iOS in applicationWillResignActive() - Called on Android in onPause() - */ - SDL_APP_DIDENTERBACKGROUND, /**< The application did enter the background and may not get CPU for some time - Called on iOS in applicationDidEnterBackground() - Called on Android in onPause() - */ - SDL_APP_WILLENTERFOREGROUND, /**< The application is about to enter the foreground - Called on iOS in applicationWillEnterForeground() - Called on Android in onResume() - */ - SDL_APP_DIDENTERFOREGROUND, /**< The application is now interactive - Called on iOS in applicationDidBecomeActive() - Called on Android in onResume() - */ - - SDL_LOCALECHANGED, /**< The user's locale preferences have changed. */ - - /* Display events */ - SDL_DISPLAYEVENT = 0x150, /**< Display state change */ - - /* Window events */ - SDL_WINDOWEVENT = 0x200, /**< Window state change */ - SDL_SYSWMEVENT, /**< System specific event */ - - /* Keyboard events */ - SDL_KEYDOWN = 0x300, /**< Key pressed */ - SDL_KEYUP, /**< Key released */ - SDL_TEXTEDITING, /**< Keyboard text editing (composition) */ - SDL_TEXTINPUT, /**< Keyboard text input */ - SDL_KEYMAPCHANGED, /**< Keymap changed due to a system event such as an - input language or keyboard layout change. - */ - SDL_TEXTEDITING_EXT, /**< Extended keyboard text editing (composition) */ - - /* Mouse events */ - SDL_MOUSEMOTION = 0x400, /**< Mouse moved */ - SDL_MOUSEBUTTONDOWN, /**< Mouse button pressed */ - SDL_MOUSEBUTTONUP, /**< Mouse button released */ - SDL_MOUSEWHEEL, /**< Mouse wheel motion */ - - /* Joystick events */ - SDL_JOYAXISMOTION = 0x600, /**< Joystick axis motion */ - SDL_JOYBALLMOTION, /**< Joystick trackball motion */ - SDL_JOYHATMOTION, /**< Joystick hat position change */ - SDL_JOYBUTTONDOWN, /**< Joystick button pressed */ - SDL_JOYBUTTONUP, /**< Joystick button released */ - SDL_JOYDEVICEADDED, /**< A new joystick has been inserted into the system */ - SDL_JOYDEVICEREMOVED, /**< An opened joystick has been removed */ - SDL_JOYBATTERYUPDATED, /**< Joystick battery level change */ - - /* Game controller events */ - SDL_CONTROLLERAXISMOTION = 0x650, /**< Game controller axis motion */ - SDL_CONTROLLERBUTTONDOWN, /**< Game controller button pressed */ - SDL_CONTROLLERBUTTONUP, /**< Game controller button released */ - SDL_CONTROLLERDEVICEADDED, /**< A new Game controller has been inserted into the system */ - SDL_CONTROLLERDEVICEREMOVED, /**< An opened Game controller has been removed */ - SDL_CONTROLLERDEVICEREMAPPED, /**< The controller mapping was updated */ - SDL_CONTROLLERTOUCHPADDOWN, /**< Game controller touchpad was touched */ - SDL_CONTROLLERTOUCHPADMOTION, /**< Game controller touchpad finger was moved */ - SDL_CONTROLLERTOUCHPADUP, /**< Game controller touchpad finger was lifted */ - SDL_CONTROLLERSENSORUPDATE, /**< Game controller sensor was updated */ - - /* Touch events */ - SDL_FINGERDOWN = 0x700, - SDL_FINGERUP, - SDL_FINGERMOTION, - - /* Gesture events */ - SDL_DOLLARGESTURE = 0x800, - SDL_DOLLARRECORD, - SDL_MULTIGESTURE, - - /* Clipboard events */ - SDL_CLIPBOARDUPDATE = 0x900, /**< The clipboard or primary selection changed */ - - /* Drag and drop events */ - SDL_DROPFILE = 0x1000, /**< The system requests a file open */ - SDL_DROPTEXT, /**< text/plain drag-and-drop event */ - SDL_DROPBEGIN, /**< A new set of drops is beginning (NULL filename) */ - SDL_DROPCOMPLETE, /**< Current set of drops is now complete (NULL filename) */ - - /* Audio hotplug events */ - SDL_AUDIODEVICEADDED = 0x1100, /**< A new audio device is available */ - SDL_AUDIODEVICEREMOVED, /**< An audio device has been removed. */ - - /* Sensor events */ - SDL_SENSORUPDATE = 0x1200, /**< A sensor was updated */ - - /* Render events */ - SDL_RENDER_TARGETS_RESET = 0x2000, /**< The render targets have been reset and their contents need to be updated */ - SDL_RENDER_DEVICE_RESET, /**< The device has been reset and all textures need to be recreated */ - - /* Internal events */ - SDL_POLLSENTINEL = 0x7F00, /**< Signals the end of an event poll cycle */ - - /** Events ::SDL_USEREVENT through ::SDL_LASTEVENT are for your use, - * and should be allocated with SDL_RegisterEvents() - */ - SDL_USEREVENT = 0x8000, - - /** - * This last event is only for bounding internal arrays - */ - SDL_LASTEVENT = 0xFFFF -} SDL_EventType; - -/** - * \brief Fields shared by every event - */ -typedef struct SDL_CommonEvent -{ - Uint32 type; - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ -} SDL_CommonEvent; - -/** - * \brief Display state change event data (event.display.*) - */ -typedef struct SDL_DisplayEvent -{ - Uint32 type; /**< ::SDL_DISPLAYEVENT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 display; /**< The associated display index */ - Uint8 event; /**< ::SDL_DisplayEventID */ - Uint8 padding1; - Uint8 padding2; - Uint8 padding3; - Sint32 data1; /**< event dependent data */ -} SDL_DisplayEvent; - -/** - * \brief Window state change event data (event.window.*) - */ -typedef struct SDL_WindowEvent -{ - Uint32 type; /**< ::SDL_WINDOWEVENT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The associated window */ - Uint8 event; /**< ::SDL_WindowEventID */ - Uint8 padding1; - Uint8 padding2; - Uint8 padding3; - Sint32 data1; /**< event dependent data */ - Sint32 data2; /**< event dependent data */ -} SDL_WindowEvent; - -/** - * \brief Keyboard button event structure (event.key.*) - */ -typedef struct SDL_KeyboardEvent -{ - Uint32 type; /**< ::SDL_KEYDOWN or ::SDL_KEYUP */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with keyboard focus, if any */ - Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ - Uint8 repeat; /**< Non-zero if this is a key repeat */ - Uint8 padding2; - Uint8 padding3; - SDL_Keysym keysym; /**< The key that was pressed or released */ -} SDL_KeyboardEvent; - -#define SDL_TEXTEDITINGEVENT_TEXT_SIZE (32) -/** - * \brief Keyboard text editing event structure (event.edit.*) - */ -typedef struct SDL_TextEditingEvent -{ - Uint32 type; /**< ::SDL_TEXTEDITING */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with keyboard focus, if any */ - char text[SDL_TEXTEDITINGEVENT_TEXT_SIZE]; /**< The editing text */ - Sint32 start; /**< The start cursor of selected editing text */ - Sint32 length; /**< The length of selected editing text */ -} SDL_TextEditingEvent; - -/** - * \brief Extended keyboard text editing event structure (event.editExt.*) when text would be - * truncated if stored in the text buffer SDL_TextEditingEvent - */ -typedef struct SDL_TextEditingExtEvent -{ - Uint32 type; /**< ::SDL_TEXTEDITING_EXT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with keyboard focus, if any */ - char* text; /**< The editing text, which should be freed with SDL_free(), and will not be NULL */ - Sint32 start; /**< The start cursor of selected editing text */ - Sint32 length; /**< The length of selected editing text */ -} SDL_TextEditingExtEvent; - -#define SDL_TEXTINPUTEVENT_TEXT_SIZE (32) -/** - * \brief Keyboard text input event structure (event.text.*) - */ -typedef struct SDL_TextInputEvent -{ - Uint32 type; /**< ::SDL_TEXTINPUT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with keyboard focus, if any */ - char text[SDL_TEXTINPUTEVENT_TEXT_SIZE]; /**< The input text */ -} SDL_TextInputEvent; - -/** - * \brief Mouse motion event structure (event.motion.*) - */ -typedef struct SDL_MouseMotionEvent -{ - Uint32 type; /**< ::SDL_MOUSEMOTION */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with mouse focus, if any */ - Uint32 which; /**< The mouse instance id, or SDL_TOUCH_MOUSEID */ - Uint32 state; /**< The current button state */ - Sint32 x; /**< X coordinate, relative to window */ - Sint32 y; /**< Y coordinate, relative to window */ - Sint32 xrel; /**< The relative motion in the X direction */ - Sint32 yrel; /**< The relative motion in the Y direction */ -} SDL_MouseMotionEvent; - -/** - * \brief Mouse button event structure (event.button.*) - */ -typedef struct SDL_MouseButtonEvent -{ - Uint32 type; /**< ::SDL_MOUSEBUTTONDOWN or ::SDL_MOUSEBUTTONUP */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with mouse focus, if any */ - Uint32 which; /**< The mouse instance id, or SDL_TOUCH_MOUSEID */ - Uint8 button; /**< The mouse button index */ - Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ - Uint8 clicks; /**< 1 for single-click, 2 for double-click, etc. */ - Uint8 padding1; - Sint32 x; /**< X coordinate, relative to window */ - Sint32 y; /**< Y coordinate, relative to window */ -} SDL_MouseButtonEvent; - -/** - * \brief Mouse wheel event structure (event.wheel.*) - */ -typedef struct SDL_MouseWheelEvent -{ - Uint32 type; /**< ::SDL_MOUSEWHEEL */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The window with mouse focus, if any */ - Uint32 which; /**< The mouse instance id, or SDL_TOUCH_MOUSEID */ - Sint32 x; /**< The amount scrolled horizontally, positive to the right and negative to the left */ - Sint32 y; /**< The amount scrolled vertically, positive away from the user and negative toward the user */ - Uint32 direction; /**< Set to one of the SDL_MOUSEWHEEL_* defines. When FLIPPED the values in X and Y will be opposite. Multiply by -1 to change them back */ - float preciseX; /**< The amount scrolled horizontally, positive to the right and negative to the left, with float precision (added in 2.0.18) */ - float preciseY; /**< The amount scrolled vertically, positive away from the user and negative toward the user, with float precision (added in 2.0.18) */ - Sint32 mouseX; /**< X coordinate, relative to window (added in 2.26.0) */ - Sint32 mouseY; /**< Y coordinate, relative to window (added in 2.26.0) */ -} SDL_MouseWheelEvent; - -/** - * \brief Joystick axis motion event structure (event.jaxis.*) - */ -typedef struct SDL_JoyAxisEvent -{ - Uint32 type; /**< ::SDL_JOYAXISMOTION */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Uint8 axis; /**< The joystick axis index */ - Uint8 padding1; - Uint8 padding2; - Uint8 padding3; - Sint16 value; /**< The axis value (range: -32768 to 32767) */ - Uint16 padding4; -} SDL_JoyAxisEvent; - -/** - * \brief Joystick trackball motion event structure (event.jball.*) - */ -typedef struct SDL_JoyBallEvent -{ - Uint32 type; /**< ::SDL_JOYBALLMOTION */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Uint8 ball; /**< The joystick trackball index */ - Uint8 padding1; - Uint8 padding2; - Uint8 padding3; - Sint16 xrel; /**< The relative motion in the X direction */ - Sint16 yrel; /**< The relative motion in the Y direction */ -} SDL_JoyBallEvent; - -/** - * \brief Joystick hat position change event structure (event.jhat.*) - */ -typedef struct SDL_JoyHatEvent -{ - Uint32 type; /**< ::SDL_JOYHATMOTION */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Uint8 hat; /**< The joystick hat index */ - Uint8 value; /**< The hat position value. - * \sa ::SDL_HAT_LEFTUP ::SDL_HAT_UP ::SDL_HAT_RIGHTUP - * \sa ::SDL_HAT_LEFT ::SDL_HAT_CENTERED ::SDL_HAT_RIGHT - * \sa ::SDL_HAT_LEFTDOWN ::SDL_HAT_DOWN ::SDL_HAT_RIGHTDOWN - * - * Note that zero means the POV is centered. - */ - Uint8 padding1; - Uint8 padding2; -} SDL_JoyHatEvent; - -/** - * \brief Joystick button event structure (event.jbutton.*) - */ -typedef struct SDL_JoyButtonEvent -{ - Uint32 type; /**< ::SDL_JOYBUTTONDOWN or ::SDL_JOYBUTTONUP */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Uint8 button; /**< The joystick button index */ - Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ - Uint8 padding1; - Uint8 padding2; -} SDL_JoyButtonEvent; - -/** - * \brief Joystick device event structure (event.jdevice.*) - */ -typedef struct SDL_JoyDeviceEvent -{ - Uint32 type; /**< ::SDL_JOYDEVICEADDED or ::SDL_JOYDEVICEREMOVED */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Sint32 which; /**< The joystick device index for the ADDED event, instance id for the REMOVED event */ -} SDL_JoyDeviceEvent; - -/** - * \brief Joysick battery level change event structure (event.jbattery.*) - */ -typedef struct SDL_JoyBatteryEvent -{ - Uint32 type; /**< ::SDL_JOYBATTERYUPDATED */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - SDL_JoystickPowerLevel level; /**< The joystick battery level */ -} SDL_JoyBatteryEvent; - -/** - * \brief Game controller axis motion event structure (event.caxis.*) - */ -typedef struct SDL_ControllerAxisEvent -{ - Uint32 type; /**< ::SDL_CONTROLLERAXISMOTION */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Uint8 axis; /**< The controller axis (SDL_GameControllerAxis) */ - Uint8 padding1; - Uint8 padding2; - Uint8 padding3; - Sint16 value; /**< The axis value (range: -32768 to 32767) */ - Uint16 padding4; -} SDL_ControllerAxisEvent; - - -/** - * \brief Game controller button event structure (event.cbutton.*) - */ -typedef struct SDL_ControllerButtonEvent -{ - Uint32 type; /**< ::SDL_CONTROLLERBUTTONDOWN or ::SDL_CONTROLLERBUTTONUP */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Uint8 button; /**< The controller button (SDL_GameControllerButton) */ - Uint8 state; /**< ::SDL_PRESSED or ::SDL_RELEASED */ - Uint8 padding1; - Uint8 padding2; -} SDL_ControllerButtonEvent; - - -/** - * \brief Controller device event structure (event.cdevice.*) - */ -typedef struct SDL_ControllerDeviceEvent -{ - Uint32 type; /**< ::SDL_CONTROLLERDEVICEADDED, ::SDL_CONTROLLERDEVICEREMOVED, or ::SDL_CONTROLLERDEVICEREMAPPED */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Sint32 which; /**< The joystick device index for the ADDED event, instance id for the REMOVED or REMAPPED event */ -} SDL_ControllerDeviceEvent; - -/** - * \brief Game controller touchpad event structure (event.ctouchpad.*) - */ -typedef struct SDL_ControllerTouchpadEvent -{ - Uint32 type; /**< ::SDL_CONTROLLERTOUCHPADDOWN or ::SDL_CONTROLLERTOUCHPADMOTION or ::SDL_CONTROLLERTOUCHPADUP */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Sint32 touchpad; /**< The index of the touchpad */ - Sint32 finger; /**< The index of the finger on the touchpad */ - float x; /**< Normalized in the range 0...1 with 0 being on the left */ - float y; /**< Normalized in the range 0...1 with 0 being at the top */ - float pressure; /**< Normalized in the range 0...1 */ -} SDL_ControllerTouchpadEvent; - -/** - * \brief Game controller sensor event structure (event.csensor.*) - */ -typedef struct SDL_ControllerSensorEvent -{ - Uint32 type; /**< ::SDL_CONTROLLERSENSORUPDATE */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_JoystickID which; /**< The joystick instance id */ - Sint32 sensor; /**< The type of the sensor, one of the values of ::SDL_SensorType */ - float data[3]; /**< Up to 3 values from the sensor, as defined in SDL_sensor.h */ - Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */ -} SDL_ControllerSensorEvent; - -/** - * \brief Audio device event structure (event.adevice.*) - */ -typedef struct SDL_AudioDeviceEvent -{ - Uint32 type; /**< ::SDL_AUDIODEVICEADDED, or ::SDL_AUDIODEVICEREMOVED */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 which; /**< The audio device index for the ADDED event (valid until next SDL_GetNumAudioDevices() call), SDL_AudioDeviceID for the REMOVED event */ - Uint8 iscapture; /**< zero if an output device, non-zero if a capture device. */ - Uint8 padding1; - Uint8 padding2; - Uint8 padding3; -} SDL_AudioDeviceEvent; - - -/** - * \brief Touch finger event structure (event.tfinger.*) - */ -typedef struct SDL_TouchFingerEvent -{ - Uint32 type; /**< ::SDL_FINGERMOTION or ::SDL_FINGERDOWN or ::SDL_FINGERUP */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_TouchID touchId; /**< The touch device id */ - SDL_FingerID fingerId; - float x; /**< Normalized in the range 0...1 */ - float y; /**< Normalized in the range 0...1 */ - float dx; /**< Normalized in the range -1...1 */ - float dy; /**< Normalized in the range -1...1 */ - float pressure; /**< Normalized in the range 0...1 */ - Uint32 windowID; /**< The window underneath the finger, if any */ -} SDL_TouchFingerEvent; - - -/** - * \brief Multiple Finger Gesture Event (event.mgesture.*) - */ -typedef struct SDL_MultiGestureEvent -{ - Uint32 type; /**< ::SDL_MULTIGESTURE */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_TouchID touchId; /**< The touch device id */ - float dTheta; - float dDist; - float x; - float y; - Uint16 numFingers; - Uint16 padding; -} SDL_MultiGestureEvent; - - -/** - * \brief Dollar Gesture Event (event.dgesture.*) - */ -typedef struct SDL_DollarGestureEvent -{ - Uint32 type; /**< ::SDL_DOLLARGESTURE or ::SDL_DOLLARRECORD */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_TouchID touchId; /**< The touch device id */ - SDL_GestureID gestureId; - Uint32 numFingers; - float error; - float x; /**< Normalized center of gesture */ - float y; /**< Normalized center of gesture */ -} SDL_DollarGestureEvent; - - -/** - * \brief An event used to request a file open by the system (event.drop.*) - * This event is enabled by default, you can disable it with SDL_EventState(). - * \note If this event is enabled, you must free the filename in the event. - */ -typedef struct SDL_DropEvent -{ - Uint32 type; /**< ::SDL_DROPBEGIN or ::SDL_DROPFILE or ::SDL_DROPTEXT or ::SDL_DROPCOMPLETE */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - char *file; /**< The file name, which should be freed with SDL_free(), is NULL on begin/complete */ - Uint32 windowID; /**< The window that was dropped on, if any */ -} SDL_DropEvent; - - -/** - * \brief Sensor event structure (event.sensor.*) - */ -typedef struct SDL_SensorEvent -{ - Uint32 type; /**< ::SDL_SENSORUPDATE */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Sint32 which; /**< The instance ID of the sensor */ - float data[6]; /**< Up to 6 values from the sensor - additional values can be queried using SDL_SensorGetData() */ - Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */ -} SDL_SensorEvent; - -/** - * \brief The "quit requested" event - */ -typedef struct SDL_QuitEvent -{ - Uint32 type; /**< ::SDL_QUIT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ -} SDL_QuitEvent; - -/** - * \brief OS Specific event - */ -typedef struct SDL_OSEvent -{ - Uint32 type; /**< ::SDL_QUIT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ -} SDL_OSEvent; - -/** - * \brief A user-defined event type (event.user.*) - */ -typedef struct SDL_UserEvent -{ - Uint32 type; /**< ::SDL_USEREVENT through ::SDL_LASTEVENT-1 */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - Uint32 windowID; /**< The associated window if any */ - Sint32 code; /**< User defined event code */ - void *data1; /**< User defined data pointer */ - void *data2; /**< User defined data pointer */ -} SDL_UserEvent; - - -struct SDL_SysWMmsg; -typedef struct SDL_SysWMmsg SDL_SysWMmsg; - -/** - * \brief A video driver dependent system event (event.syswm.*) - * This event is disabled by default, you can enable it with SDL_EventState() - * - * \note If you want to use this event, you should include SDL_syswm.h. - */ -typedef struct SDL_SysWMEvent -{ - Uint32 type; /**< ::SDL_SYSWMEVENT */ - Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */ - SDL_SysWMmsg *msg; /**< driver dependent data, defined in SDL_syswm.h */ -} SDL_SysWMEvent; - -/** - * \brief General event structure - */ -typedef union SDL_Event -{ - Uint32 type; /**< Event type, shared with all events */ - SDL_CommonEvent common; /**< Common event data */ - SDL_DisplayEvent display; /**< Display event data */ - SDL_WindowEvent window; /**< Window event data */ - SDL_KeyboardEvent key; /**< Keyboard event data */ - SDL_TextEditingEvent edit; /**< Text editing event data */ - SDL_TextEditingExtEvent editExt; /**< Extended text editing event data */ - SDL_TextInputEvent text; /**< Text input event data */ - SDL_MouseMotionEvent motion; /**< Mouse motion event data */ - SDL_MouseButtonEvent button; /**< Mouse button event data */ - SDL_MouseWheelEvent wheel; /**< Mouse wheel event data */ - SDL_JoyAxisEvent jaxis; /**< Joystick axis event data */ - SDL_JoyBallEvent jball; /**< Joystick ball event data */ - SDL_JoyHatEvent jhat; /**< Joystick hat event data */ - SDL_JoyButtonEvent jbutton; /**< Joystick button event data */ - SDL_JoyDeviceEvent jdevice; /**< Joystick device change event data */ - SDL_JoyBatteryEvent jbattery; /**< Joystick battery event data */ - SDL_ControllerAxisEvent caxis; /**< Game Controller axis event data */ - SDL_ControllerButtonEvent cbutton; /**< Game Controller button event data */ - SDL_ControllerDeviceEvent cdevice; /**< Game Controller device event data */ - SDL_ControllerTouchpadEvent ctouchpad; /**< Game Controller touchpad event data */ - SDL_ControllerSensorEvent csensor; /**< Game Controller sensor event data */ - SDL_AudioDeviceEvent adevice; /**< Audio device event data */ - SDL_SensorEvent sensor; /**< Sensor event data */ - SDL_QuitEvent quit; /**< Quit request event data */ - SDL_UserEvent user; /**< Custom event data */ - SDL_SysWMEvent syswm; /**< System dependent window event data */ - SDL_TouchFingerEvent tfinger; /**< Touch finger event data */ - SDL_MultiGestureEvent mgesture; /**< Gesture event data */ - SDL_DollarGestureEvent dgesture; /**< Gesture event data */ - SDL_DropEvent drop; /**< Drag and drop event data */ - - /* This is necessary for ABI compatibility between Visual C++ and GCC. - Visual C++ will respect the push pack pragma and use 52 bytes (size of - SDL_TextEditingEvent, the largest structure for 32-bit and 64-bit - architectures) for this union, and GCC will use the alignment of the - largest datatype within the union, which is 8 bytes on 64-bit - architectures. - - So... we'll add padding to force the size to be 56 bytes for both. - - On architectures where pointers are 16 bytes, this needs rounding up to - the next multiple of 16, 64, and on architectures where pointers are - even larger the size of SDL_UserEvent will dominate as being 3 pointers. - */ - Uint8 padding[sizeof(void *) <= 8 ? 56 : sizeof(void *) == 16 ? 64 : 3 * sizeof(void *)]; -} SDL_Event; - -/* Make sure we haven't broken binary compatibility */ -SDL_COMPILE_TIME_ASSERT(SDL_Event, sizeof(SDL_Event) == sizeof(((SDL_Event *)NULL)->padding)); - - -/* Function prototypes */ - -/** - * Pump the event loop, gathering events from the input devices. - * - * This function updates the event queue and internal input device state. - * - * **WARNING**: This should only be run in the thread that initialized the - * video subsystem, and for extra safety, you should consider only doing those - * things on the main thread in any case. - * - * SDL_PumpEvents() gathers all the pending input information from devices and - * places it in the event queue. Without calls to SDL_PumpEvents() no events - * would ever be placed on the queue. Often the need for calls to - * SDL_PumpEvents() is hidden from the user since SDL_PollEvent() and - * SDL_WaitEvent() implicitly call SDL_PumpEvents(). However, if you are not - * polling or waiting for events (e.g. you are filtering them), then you must - * call SDL_PumpEvents() to force an event queue update. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PollEvent - * \sa SDL_WaitEvent - */ -extern DECLSPEC void SDLCALL SDL_PumpEvents(void); - -/* @{ */ -typedef enum -{ - SDL_ADDEVENT, - SDL_PEEKEVENT, - SDL_GETEVENT -} SDL_eventaction; - -/** - * Check the event queue for messages and optionally return them. - * - * `action` may be any of the following: - * - * - `SDL_ADDEVENT`: up to `numevents` events will be added to the back of the - * event queue. - * - `SDL_PEEKEVENT`: `numevents` events at the front of the event queue, - * within the specified minimum and maximum type, will be returned to the - * caller and will _not_ be removed from the queue. - * - `SDL_GETEVENT`: up to `numevents` events at the front of the event queue, - * within the specified minimum and maximum type, will be returned to the - * caller and will be removed from the queue. - * - * You may have to call SDL_PumpEvents() before calling this function. - * Otherwise, the events may not be ready to be filtered when you call - * SDL_PeepEvents(). - * - * This function is thread-safe. - * - * \param events destination buffer for the retrieved events - * \param numevents if action is SDL_ADDEVENT, the number of events to add - * back to the event queue; if action is SDL_PEEKEVENT or - * SDL_GETEVENT, the maximum number of events to retrieve - * \param action action to take; see [[#action|Remarks]] for details - * \param minType minimum value of the event type to be considered; - * SDL_FIRSTEVENT is a safe choice - * \param maxType maximum value of the event type to be considered; - * SDL_LASTEVENT is a safe choice - * \returns the number of events actually stored or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PollEvent - * \sa SDL_PumpEvents - * \sa SDL_PushEvent - */ -extern DECLSPEC int SDLCALL SDL_PeepEvents(SDL_Event * events, int numevents, - SDL_eventaction action, - Uint32 minType, Uint32 maxType); -/* @} */ - -/** - * Check for the existence of a certain event type in the event queue. - * - * If you need to check for a range of event types, use SDL_HasEvents() - * instead. - * - * \param type the type of event to be queried; see SDL_EventType for details - * \returns SDL_TRUE if events matching `type` are present, or SDL_FALSE if - * events matching `type` are not present. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HasEvents - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasEvent(Uint32 type); - - -/** - * Check for the existence of certain event types in the event queue. - * - * If you need to check for a single event type, use SDL_HasEvent() instead. - * - * \param minType the low end of event type to be queried, inclusive; see - * SDL_EventType for details - * \param maxType the high end of event type to be queried, inclusive; see - * SDL_EventType for details - * \returns SDL_TRUE if events with type >= `minType` and <= `maxType` are - * present, or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HasEvents - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasEvents(Uint32 minType, Uint32 maxType); - -/** - * Clear events of a specific type from the event queue. - * - * This will unconditionally remove any events from the queue that match - * `type`. If you need to remove a range of event types, use SDL_FlushEvents() - * instead. - * - * It's also normal to just ignore events you don't care about in your event - * loop without calling this function. - * - * This function only affects currently queued events. If you want to make - * sure that all pending OS events are flushed, you can call SDL_PumpEvents() - * on the main thread immediately before the flush call. - * - * \param type the type of event to be cleared; see SDL_EventType for details - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FlushEvents - */ -extern DECLSPEC void SDLCALL SDL_FlushEvent(Uint32 type); - -/** - * Clear events of a range of types from the event queue. - * - * This will unconditionally remove any events from the queue that are in the - * range of `minType` to `maxType`, inclusive. If you need to remove a single - * event type, use SDL_FlushEvent() instead. - * - * It's also normal to just ignore events you don't care about in your event - * loop without calling this function. - * - * This function only affects currently queued events. If you want to make - * sure that all pending OS events are flushed, you can call SDL_PumpEvents() - * on the main thread immediately before the flush call. - * - * \param minType the low end of event type to be cleared, inclusive; see - * SDL_EventType for details - * \param maxType the high end of event type to be cleared, inclusive; see - * SDL_EventType for details - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FlushEvent - */ -extern DECLSPEC void SDLCALL SDL_FlushEvents(Uint32 minType, Uint32 maxType); - -/** - * Poll for currently pending events. - * - * If `event` is not NULL, the next event is removed from the queue and stored - * in the SDL_Event structure pointed to by `event`. The 1 returned refers to - * this event, immediately stored in the SDL Event structure -- not an event - * to follow. - * - * If `event` is NULL, it simply returns 1 if there is an event in the queue, - * but will not remove it from the queue. - * - * As this function may implicitly call SDL_PumpEvents(), you can only call - * this function in the thread that set the video mode. - * - * SDL_PollEvent() is the favored way of receiving system events since it can - * be done from the main loop and does not suspend the main loop while waiting - * on an event to be posted. - * - * The common practice is to fully process the event queue once every frame, - * usually as a first step before updating the game's state: - * - * ```c - * while (game_is_still_running) { - * SDL_Event event; - * while (SDL_PollEvent(&event)) { // poll until all events are handled! - * // decide what to do with this event. - * } - * - * // update game state, draw the current frame - * } - * ``` - * - * \param event the SDL_Event structure to be filled with the next event from - * the queue, or NULL - * \returns 1 if there is a pending event or 0 if there are none available. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetEventFilter - * \sa SDL_PeepEvents - * \sa SDL_PushEvent - * \sa SDL_SetEventFilter - * \sa SDL_WaitEvent - * \sa SDL_WaitEventTimeout - */ -extern DECLSPEC int SDLCALL SDL_PollEvent(SDL_Event * event); - -/** - * Wait indefinitely for the next available event. - * - * If `event` is not NULL, the next event is removed from the queue and stored - * in the SDL_Event structure pointed to by `event`. - * - * As this function may implicitly call SDL_PumpEvents(), you can only call - * this function in the thread that initialized the video subsystem. - * - * \param event the SDL_Event structure to be filled in with the next event - * from the queue, or NULL - * \returns 1 on success or 0 if there was an error while waiting for events; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PollEvent - * \sa SDL_PumpEvents - * \sa SDL_WaitEventTimeout - */ -extern DECLSPEC int SDLCALL SDL_WaitEvent(SDL_Event * event); - -/** - * Wait until the specified timeout (in milliseconds) for the next available - * event. - * - * If `event` is not NULL, the next event is removed from the queue and stored - * in the SDL_Event structure pointed to by `event`. - * - * As this function may implicitly call SDL_PumpEvents(), you can only call - * this function in the thread that initialized the video subsystem. - * - * \param event the SDL_Event structure to be filled in with the next event - * from the queue, or NULL - * \param timeout the maximum number of milliseconds to wait for the next - * available event - * \returns 1 on success or 0 if there was an error while waiting for events; - * call SDL_GetError() for more information. This also returns 0 if - * the timeout elapsed without an event arriving. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PollEvent - * \sa SDL_PumpEvents - * \sa SDL_WaitEvent - */ -extern DECLSPEC int SDLCALL SDL_WaitEventTimeout(SDL_Event * event, - int timeout); - -/** - * Add an event to the event queue. - * - * The event queue can actually be used as a two way communication channel. - * Not only can events be read from the queue, but the user can also push - * their own events onto it. `event` is a pointer to the event structure you - * wish to push onto the queue. The event is copied into the queue, and the - * caller may dispose of the memory pointed to after SDL_PushEvent() returns. - * - * Note: Pushing device input events onto the queue doesn't modify the state - * of the device within SDL. - * - * This function is thread-safe, and can be called from other threads safely. - * - * Note: Events pushed onto the queue with SDL_PushEvent() get passed through - * the event filter but events added with SDL_PeepEvents() do not. - * - * For pushing application-specific events, please use SDL_RegisterEvents() to - * get an event type that does not conflict with other code that also wants - * its own custom event types. - * - * \param event the SDL_Event to be added to the queue - * \returns 1 on success, 0 if the event was filtered, or a negative error - * code on failure; call SDL_GetError() for more information. A - * common reason for error is the event queue being full. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PeepEvents - * \sa SDL_PollEvent - * \sa SDL_RegisterEvents - */ -extern DECLSPEC int SDLCALL SDL_PushEvent(SDL_Event * event); - -/** - * A function pointer used for callbacks that watch the event queue. - * - * \param userdata what was passed as `userdata` to SDL_SetEventFilter() - * or SDL_AddEventWatch, etc - * \param event the event that triggered the callback - * \returns 1 to permit event to be added to the queue, and 0 to disallow - * it. When used with SDL_AddEventWatch, the return value is ignored. - * - * \sa SDL_SetEventFilter - * \sa SDL_AddEventWatch - */ -typedef int (SDLCALL * SDL_EventFilter) (void *userdata, SDL_Event * event); - -/** - * Set up a filter to process all events before they change internal state and - * are posted to the internal event queue. - * - * If the filter function returns 1 when called, then the event will be added - * to the internal queue. If it returns 0, then the event will be dropped from - * the queue, but the internal state will still be updated. This allows - * selective filtering of dynamically arriving events. - * - * **WARNING**: Be very careful of what you do in the event filter function, - * as it may run in a different thread! - * - * On platforms that support it, if the quit event is generated by an - * interrupt signal (e.g. pressing Ctrl-C), it will be delivered to the - * application at the next event poll. - * - * There is one caveat when dealing with the ::SDL_QuitEvent event type. The - * event filter is only called when the window manager desires to close the - * application window. If the event filter returns 1, then the window will be - * closed, otherwise the window will remain open if possible. - * - * Note: Disabled events never make it to the event filter function; see - * SDL_EventState(). - * - * Note: If you just want to inspect events without filtering, you should use - * SDL_AddEventWatch() instead. - * - * Note: Events pushed onto the queue with SDL_PushEvent() get passed through - * the event filter, but events pushed onto the queue with SDL_PeepEvents() do - * not. - * - * \param filter An SDL_EventFilter function to call when an event happens - * \param userdata a pointer that is passed to `filter` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AddEventWatch - * \sa SDL_EventState - * \sa SDL_GetEventFilter - * \sa SDL_PeepEvents - * \sa SDL_PushEvent - */ -extern DECLSPEC void SDLCALL SDL_SetEventFilter(SDL_EventFilter filter, - void *userdata); - -/** - * Query the current event filter. - * - * This function can be used to "chain" filters, by saving the existing filter - * before replacing it with a function that will call that saved filter. - * - * \param filter the current callback function will be stored here - * \param userdata the pointer that is passed to the current event filter will - * be stored here - * \returns SDL_TRUE on success or SDL_FALSE if there is no event filter set. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetEventFilter - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetEventFilter(SDL_EventFilter * filter, - void **userdata); - -/** - * Add a callback to be triggered when an event is added to the event queue. - * - * `filter` will be called when an event happens, and its return value is - * ignored. - * - * **WARNING**: Be very careful of what you do in the event filter function, - * as it may run in a different thread! - * - * If the quit event is generated by a signal (e.g. SIGINT), it will bypass - * the internal queue and be delivered to the watch callback immediately, and - * arrive at the next event poll. - * - * Note: the callback is called for events posted by the user through - * SDL_PushEvent(), but not for disabled events, nor for events by a filter - * callback set with SDL_SetEventFilter(), nor for events posted by the user - * through SDL_PeepEvents(). - * - * \param filter an SDL_EventFilter function to call when an event happens. - * \param userdata a pointer that is passed to `filter` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DelEventWatch - * \sa SDL_SetEventFilter - */ -extern DECLSPEC void SDLCALL SDL_AddEventWatch(SDL_EventFilter filter, - void *userdata); - -/** - * Remove an event watch callback added with SDL_AddEventWatch(). - * - * This function takes the same input as SDL_AddEventWatch() to identify and - * delete the corresponding callback. - * - * \param filter the function originally passed to SDL_AddEventWatch() - * \param userdata the pointer originally passed to SDL_AddEventWatch() - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AddEventWatch - */ -extern DECLSPEC void SDLCALL SDL_DelEventWatch(SDL_EventFilter filter, - void *userdata); - -/** - * Run a specific filter function on the current event queue, removing any - * events for which the filter returns 0. - * - * See SDL_SetEventFilter() for more information. Unlike SDL_SetEventFilter(), - * this function does not change the filter permanently, it only uses the - * supplied filter until this function returns. - * - * \param filter the SDL_EventFilter function to call when an event happens - * \param userdata a pointer that is passed to `filter` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetEventFilter - * \sa SDL_SetEventFilter - */ -extern DECLSPEC void SDLCALL SDL_FilterEvents(SDL_EventFilter filter, - void *userdata); - -/* @{ */ -#define SDL_QUERY -1 -#define SDL_IGNORE 0 -#define SDL_DISABLE 0 -#define SDL_ENABLE 1 - -/** - * Set the state of processing events by type. - * - * `state` may be any of the following: - * - * - `SDL_QUERY`: returns the current processing state of the specified event - * - `SDL_IGNORE` (aka `SDL_DISABLE`): the event will automatically be dropped - * from the event queue and will not be filtered - * - `SDL_ENABLE`: the event will be processed normally - * - * \param type the type of event; see SDL_EventType for details - * \param state how to process the event - * \returns `SDL_DISABLE` or `SDL_ENABLE`, representing the processing state - * of the event before this function makes any changes to it. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetEventState - */ -extern DECLSPEC Uint8 SDLCALL SDL_EventState(Uint32 type, int state); -/* @} */ -#define SDL_GetEventState(type) SDL_EventState(type, SDL_QUERY) - -/** - * Allocate a set of user-defined events, and return the beginning event - * number for that set of events. - * - * Calling this function with `numevents` <= 0 is an error and will return - * (Uint32)-1. - * - * Note, (Uint32)-1 means the maximum unsigned 32-bit integer value (or - * 0xFFFFFFFF), but is clearer to write. - * - * \param numevents the number of events to be allocated - * \returns the beginning event number, or (Uint32)-1 if there are not enough - * user-defined events left. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PushEvent - */ -extern DECLSPEC Uint32 SDLCALL SDL_RegisterEvents(int numevents); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_events_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_filesystem.h b/subprojects/sdl2_windows/include/SDL2/SDL_filesystem.h deleted file mode 100644 index 1914f81d9..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_filesystem.h +++ /dev/null @@ -1,149 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_filesystem.h - * - * \brief Include file for filesystem SDL API functions - */ - -#ifndef SDL_filesystem_h_ -#define SDL_filesystem_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" - -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Get the directory where the application was run from. - * - * This is not necessarily a fast call, so you should call this once near - * startup and save the string if you need it. - * - * **Mac OS X and iOS Specific Functionality**: If the application is in a - * ".app" bundle, this function returns the Resource directory (e.g. - * MyApp.app/Contents/Resources/). This behaviour can be overridden by adding - * a property to the Info.plist file. Adding a string key with the name - * SDL_FILESYSTEM_BASE_DIR_TYPE with a supported value will change the - * behaviour. - * - * Supported values for the SDL_FILESYSTEM_BASE_DIR_TYPE property (Given an - * application in /Applications/SDLApp/MyApp.app): - * - * - `resource`: bundle resource directory (the default). For example: - * `/Applications/SDLApp/MyApp.app/Contents/Resources` - * - `bundle`: the Bundle directory. For example: - * `/Applications/SDLApp/MyApp.app/` - * - `parent`: the containing directory of the bundle. For example: - * `/Applications/SDLApp/` - * - * **Nintendo 3DS Specific Functionality**: This function returns "romfs" - * directory of the application as it is uncommon to store resources outside - * the executable. As such it is not a writable directory. - * - * The returned path is guaranteed to end with a path separator ('\' on - * Windows, '/' on most other platforms). - * - * The pointer returned is owned by the caller. Please call SDL_free() on the - * pointer when done with it. - * - * \returns an absolute path in UTF-8 encoding to the application data - * directory. NULL will be returned on error or when the platform - * doesn't implement this functionality, call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.1. - * - * \sa SDL_GetPrefPath - */ -extern DECLSPEC char *SDLCALL SDL_GetBasePath(void); - -/** - * Get the user-and-app-specific path where files can be written. - * - * Get the "pref dir". This is meant to be where users can write personal - * files (preferences and save games, etc) that are specific to your - * application. This directory is unique per user, per application. - * - * This function will decide the appropriate location in the native - * filesystem, create the directory if necessary, and return a string of the - * absolute path to the directory in UTF-8 encoding. - * - * On Windows, the string might look like: - * - * `C:\\Users\\bob\\AppData\\Roaming\\My Company\\My Program Name\\` - * - * On Linux, the string might look like: - * - * `/home/bob/.local/share/My Program Name/` - * - * On Mac OS X, the string might look like: - * - * `/Users/bob/Library/Application Support/My Program Name/` - * - * You should assume the path returned by this function is the only safe place - * to write files (and that SDL_GetBasePath(), while it might be writable, or - * even the parent of the returned path, isn't where you should be writing - * things). - * - * Both the org and app strings may become part of a directory name, so please - * follow these rules: - * - * - Try to use the same org string (_including case-sensitivity_) for all - * your applications that use this function. - * - Always use a unique app string for each one, and make sure it never - * changes for an app once you've decided on it. - * - Unicode characters are legal, as long as it's UTF-8 encoded, but... - * - ...only use letters, numbers, and spaces. Avoid punctuation like "Game - * Name 2: Bad Guy's Revenge!" ... "Game Name 2" is sufficient. - * - * The returned path is guaranteed to end with a path separator ('\' on - * Windows, '/' on most other platforms). - * - * The pointer returned is owned by the caller. Please call SDL_free() on the - * pointer when done with it. - * - * \param org the name of your organization - * \param app the name of your application - * \returns a UTF-8 string of the user directory in platform-dependent - * notation. NULL if there's a problem (creating directory failed, - * etc.). - * - * \since This function is available since SDL 2.0.1. - * - * \sa SDL_GetBasePath - */ -extern DECLSPEC char *SDLCALL SDL_GetPrefPath(const char *org, const char *app); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_filesystem_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_gamecontroller.h b/subprojects/sdl2_windows/include/SDL2/SDL_gamecontroller.h deleted file mode 100644 index 4703b6394..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_gamecontroller.h +++ /dev/null @@ -1,1074 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_gamecontroller.h - * - * Include file for SDL game controller event handling - */ - -#ifndef SDL_gamecontroller_h_ -#define SDL_gamecontroller_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_rwops.h" -#include "SDL_sensor.h" -#include "SDL_joystick.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \file SDL_gamecontroller.h - * - * In order to use these functions, SDL_Init() must have been called - * with the ::SDL_INIT_GAMECONTROLLER flag. This causes SDL to scan the system - * for game controllers, and load appropriate drivers. - * - * If you would like to receive controller updates while the application - * is in the background, you should set the following hint before calling - * SDL_Init(): SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS - */ - -/** - * The gamecontroller structure used to identify an SDL game controller - */ -struct _SDL_GameController; -typedef struct _SDL_GameController SDL_GameController; - -typedef enum -{ - SDL_CONTROLLER_TYPE_UNKNOWN = 0, - SDL_CONTROLLER_TYPE_XBOX360, - SDL_CONTROLLER_TYPE_XBOXONE, - SDL_CONTROLLER_TYPE_PS3, - SDL_CONTROLLER_TYPE_PS4, - SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_PRO, - SDL_CONTROLLER_TYPE_VIRTUAL, - SDL_CONTROLLER_TYPE_PS5, - SDL_CONTROLLER_TYPE_AMAZON_LUNA, - SDL_CONTROLLER_TYPE_GOOGLE_STADIA, - SDL_CONTROLLER_TYPE_NVIDIA_SHIELD, - SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_LEFT, - SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_RIGHT, - SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_PAIR -} SDL_GameControllerType; - -typedef enum -{ - SDL_CONTROLLER_BINDTYPE_NONE = 0, - SDL_CONTROLLER_BINDTYPE_BUTTON, - SDL_CONTROLLER_BINDTYPE_AXIS, - SDL_CONTROLLER_BINDTYPE_HAT -} SDL_GameControllerBindType; - -/** - * Get the SDL joystick layer binding for this controller button/axis mapping - */ -typedef struct SDL_GameControllerButtonBind -{ - SDL_GameControllerBindType bindType; - union - { - int button; - int axis; - struct { - int hat; - int hat_mask; - } hat; - } value; - -} SDL_GameControllerButtonBind; - - -/** - * To count the number of game controllers in the system for the following: - * - * ```c - * int nJoysticks = SDL_NumJoysticks(); - * int nGameControllers = 0; - * for (int i = 0; i < nJoysticks; i++) { - * if (SDL_IsGameController(i)) { - * nGameControllers++; - * } - * } - * ``` - * - * Using the SDL_HINT_GAMECONTROLLERCONFIG hint or the SDL_GameControllerAddMapping() you can add support for controllers SDL is unaware of or cause an existing controller to have a different binding. The format is: - * guid,name,mappings - * - * Where GUID is the string value from SDL_JoystickGetGUIDString(), name is the human readable string for the device and mappings are controller mappings to joystick ones. - * Under Windows there is a reserved GUID of "xinput" that covers any XInput devices. - * The mapping format for joystick is: - * bX - a joystick button, index X - * hX.Y - hat X with value Y - * aX - axis X of the joystick - * Buttons can be used as a controller axis and vice versa. - * - * This string shows an example of a valid mapping for a controller - * - * ```c - * "03000000341a00003608000000000000,PS3 Controller,a:b1,b:b2,y:b3,x:b0,start:b9,guide:b12,back:b8,dpup:h0.1,dpleft:h0.8,dpdown:h0.4,dpright:h0.2,leftshoulder:b4,rightshoulder:b5,leftstick:b10,rightstick:b11,leftx:a0,lefty:a1,rightx:a2,righty:a3,lefttrigger:b6,righttrigger:b7", - * ``` - */ - -/** - * Load a set of Game Controller mappings from a seekable SDL data stream. - * - * You can call this function several times, if needed, to load different - * database files. - * - * If a new mapping is loaded for an already known controller GUID, the later - * version will overwrite the one currently loaded. - * - * Mappings not belonging to the current platform or with no platform field - * specified will be ignored (i.e. mappings for Linux will be ignored in - * Windows, etc). - * - * This function will load the text database entirely in memory before - * processing it, so take this into consideration if you are in a memory - * constrained environment. - * - * \param rw the data stream for the mappings to be added - * \param freerw non-zero to close the stream after being read - * \returns the number of mappings added or -1 on error; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_GameControllerAddMapping - * \sa SDL_GameControllerAddMappingsFromFile - * \sa SDL_GameControllerMappingForGUID - */ -extern DECLSPEC int SDLCALL SDL_GameControllerAddMappingsFromRW(SDL_RWops * rw, int freerw); - -/** - * Load a set of mappings from a file, filtered by the current SDL_GetPlatform() - * - * Convenience macro. - */ -#define SDL_GameControllerAddMappingsFromFile(file) SDL_GameControllerAddMappingsFromRW(SDL_RWFromFile(file, "rb"), 1) - -/** - * Add support for controllers that SDL is unaware of or to cause an existing - * controller to have a different binding. - * - * The mapping string has the format "GUID,name,mapping", where GUID is the - * string value from SDL_JoystickGetGUIDString(), name is the human readable - * string for the device and mappings are controller mappings to joystick - * ones. Under Windows there is a reserved GUID of "xinput" that covers all - * XInput devices. The mapping format for joystick is: {| |bX |a joystick - * button, index X |- |hX.Y |hat X with value Y |- |aX |axis X of the joystick - * |} Buttons can be used as a controller axes and vice versa. - * - * This string shows an example of a valid mapping for a controller: - * - * ```c - * "341a3608000000000000504944564944,Afterglow PS3 Controller,a:b1,b:b2,y:b3,x:b0,start:b9,guide:b12,back:b8,dpup:h0.1,dpleft:h0.8,dpdown:h0.4,dpright:h0.2,leftshoulder:b4,rightshoulder:b5,leftstick:b10,rightstick:b11,leftx:a0,lefty:a1,rightx:a2,righty:a3,lefttrigger:b6,righttrigger:b7" - * ``` - * - * \param mappingString the mapping string - * \returns 1 if a new mapping is added, 0 if an existing mapping is updated, - * -1 on error; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerMapping - * \sa SDL_GameControllerMappingForGUID - */ -extern DECLSPEC int SDLCALL SDL_GameControllerAddMapping(const char* mappingString); - -/** - * Get the number of mappings installed. - * - * \returns the number of mappings. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerNumMappings(void); - -/** - * Get the mapping at a particular index. - * - * \returns the mapping string. Must be freed with SDL_free(). Returns NULL if - * the index is out of range. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC char * SDLCALL SDL_GameControllerMappingForIndex(int mapping_index); - -/** - * Get the game controller mapping string for a given GUID. - * - * The returned string must be freed with SDL_free(). - * - * \param guid a structure containing the GUID for which a mapping is desired - * \returns a mapping string or NULL on error; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetDeviceGUID - * \sa SDL_JoystickGetGUID - */ -extern DECLSPEC char * SDLCALL SDL_GameControllerMappingForGUID(SDL_JoystickGUID guid); - -/** - * Get the current mapping of a Game Controller. - * - * The returned string must be freed with SDL_free(). - * - * Details about mappings are discussed with SDL_GameControllerAddMapping(). - * - * \param gamecontroller the game controller you want to get the current - * mapping for - * \returns a string that has the controller's mapping or NULL if no mapping - * is available; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerAddMapping - * \sa SDL_GameControllerMappingForGUID - */ -extern DECLSPEC char * SDLCALL SDL_GameControllerMapping(SDL_GameController *gamecontroller); - -/** - * Check if the given joystick is supported by the game controller interface. - * - * `joystick_index` is the same as the `device_index` passed to - * SDL_JoystickOpen(). - * - * \param joystick_index the device_index of a device, up to - * SDL_NumJoysticks() - * \returns SDL_TRUE if the given joystick is supported by the game controller - * interface, SDL_FALSE if it isn't or it's an invalid index. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerNameForIndex - * \sa SDL_GameControllerOpen - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsGameController(int joystick_index); - -/** - * Get the implementation dependent name for the game controller. - * - * This function can be called before any controllers are opened. - * - * `joystick_index` is the same as the `device_index` passed to - * SDL_JoystickOpen(). - * - * \param joystick_index the device_index of a device, from zero to - * SDL_NumJoysticks()-1 - * \returns the implementation-dependent name for the game controller, or NULL - * if there is no name or the index is invalid. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerName - * \sa SDL_GameControllerOpen - * \sa SDL_IsGameController - */ -extern DECLSPEC const char *SDLCALL SDL_GameControllerNameForIndex(int joystick_index); - -/** - * Get the implementation dependent path for the game controller. - * - * This function can be called before any controllers are opened. - * - * `joystick_index` is the same as the `device_index` passed to - * SDL_JoystickOpen(). - * - * \param joystick_index the device_index of a device, from zero to - * SDL_NumJoysticks()-1 - * \returns the implementation-dependent path for the game controller, or NULL - * if there is no path or the index is invalid. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GameControllerPath - */ -extern DECLSPEC const char *SDLCALL SDL_GameControllerPathForIndex(int joystick_index); - -/** - * Get the type of a game controller. - * - * This can be called before any controllers are opened. - * - * \param joystick_index the device_index of a device, from zero to - * SDL_NumJoysticks()-1 - * \returns the controller type. - * - * \since This function is available since SDL 2.0.12. - */ -extern DECLSPEC SDL_GameControllerType SDLCALL SDL_GameControllerTypeForIndex(int joystick_index); - -/** - * Get the mapping of a game controller. - * - * This can be called before any controllers are opened. - * - * \param joystick_index the device_index of a device, from zero to - * SDL_NumJoysticks()-1 - * \returns the mapping string. Must be freed with SDL_free(). Returns NULL if - * no mapping is available. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC char *SDLCALL SDL_GameControllerMappingForDeviceIndex(int joystick_index); - -/** - * Open a game controller for use. - * - * `joystick_index` is the same as the `device_index` passed to - * SDL_JoystickOpen(). - * - * The index passed as an argument refers to the N'th game controller on the - * system. This index is not the value which will identify this controller in - * future controller events. The joystick's instance id (SDL_JoystickID) will - * be used there instead. - * - * \param joystick_index the device_index of a device, up to - * SDL_NumJoysticks() - * \returns a gamecontroller identifier or NULL if an error occurred; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerClose - * \sa SDL_GameControllerNameForIndex - * \sa SDL_IsGameController - */ -extern DECLSPEC SDL_GameController *SDLCALL SDL_GameControllerOpen(int joystick_index); - -/** - * Get the SDL_GameController associated with an instance id. - * - * \param joyid the instance id to get the SDL_GameController for - * \returns an SDL_GameController on success or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.4. - */ -extern DECLSPEC SDL_GameController *SDLCALL SDL_GameControllerFromInstanceID(SDL_JoystickID joyid); - -/** - * Get the SDL_GameController associated with a player index. - * - * Please note that the player index is _not_ the device index, nor is it the - * instance id! - * - * \param player_index the player index, which is not the device index or the - * instance id! - * \returns the SDL_GameController associated with a player index. - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_GameControllerGetPlayerIndex - * \sa SDL_GameControllerSetPlayerIndex - */ -extern DECLSPEC SDL_GameController *SDLCALL SDL_GameControllerFromPlayerIndex(int player_index); - -/** - * Get the implementation-dependent name for an opened game controller. - * - * This is the same name as returned by SDL_GameControllerNameForIndex(), but - * it takes a controller identifier instead of the (unstable) device index. - * - * \param gamecontroller a game controller identifier previously returned by - * SDL_GameControllerOpen() - * \returns the implementation dependent name for the game controller, or NULL - * if there is no name or the identifier passed is invalid. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerNameForIndex - * \sa SDL_GameControllerOpen - */ -extern DECLSPEC const char *SDLCALL SDL_GameControllerName(SDL_GameController *gamecontroller); - -/** - * Get the implementation-dependent path for an opened game controller. - * - * This is the same path as returned by SDL_GameControllerNameForIndex(), but - * it takes a controller identifier instead of the (unstable) device index. - * - * \param gamecontroller a game controller identifier previously returned by - * SDL_GameControllerOpen() - * \returns the implementation dependent path for the game controller, or NULL - * if there is no path or the identifier passed is invalid. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GameControllerPathForIndex - */ -extern DECLSPEC const char *SDLCALL SDL_GameControllerPath(SDL_GameController *gamecontroller); - -/** - * Get the type of this currently opened controller - * - * This is the same name as returned by SDL_GameControllerTypeForIndex(), but - * it takes a controller identifier instead of the (unstable) device index. - * - * \param gamecontroller the game controller object to query. - * \returns the controller type. - * - * \since This function is available since SDL 2.0.12. - */ -extern DECLSPEC SDL_GameControllerType SDLCALL SDL_GameControllerGetType(SDL_GameController *gamecontroller); - -/** - * Get the player index of an opened game controller. - * - * For XInput controllers this returns the XInput user index. - * - * \param gamecontroller the game controller object to query. - * \returns the player index for controller, or -1 if it's not available. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerGetPlayerIndex(SDL_GameController *gamecontroller); - -/** - * Set the player index of an opened game controller. - * - * \param gamecontroller the game controller object to adjust. - * \param player_index Player index to assign to this controller, or -1 to - * clear the player index and turn off player LEDs. - * - * \since This function is available since SDL 2.0.12. - */ -extern DECLSPEC void SDLCALL SDL_GameControllerSetPlayerIndex(SDL_GameController *gamecontroller, int player_index); - -/** - * Get the USB vendor ID of an opened controller, if available. - * - * If the vendor ID isn't available this function returns 0. - * - * \param gamecontroller the game controller object to query. - * \return the USB vendor ID, or zero if unavailable. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetVendor(SDL_GameController *gamecontroller); - -/** - * Get the USB product ID of an opened controller, if available. - * - * If the product ID isn't available this function returns 0. - * - * \param gamecontroller the game controller object to query. - * \return the USB product ID, or zero if unavailable. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetProduct(SDL_GameController *gamecontroller); - -/** - * Get the product version of an opened controller, if available. - * - * If the product version isn't available this function returns 0. - * - * \param gamecontroller the game controller object to query. - * \return the USB product version, or zero if unavailable. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetProductVersion(SDL_GameController *gamecontroller); - -/** - * Get the firmware version of an opened controller, if available. - * - * If the firmware version isn't available this function returns 0. - * - * \param gamecontroller the game controller object to query. - * \return the controller firmware version, or zero if unavailable. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC Uint16 SDLCALL SDL_GameControllerGetFirmwareVersion(SDL_GameController *gamecontroller); - -/** - * Get the serial number of an opened controller, if available. - * - * Returns the serial number of the controller, or NULL if it is not - * available. - * - * \param gamecontroller the game controller object to query. - * \return the serial number, or NULL if unavailable. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC const char * SDLCALL SDL_GameControllerGetSerial(SDL_GameController *gamecontroller); - -/** - * Check if a controller has been opened and is currently connected. - * - * \param gamecontroller a game controller identifier previously returned by - * SDL_GameControllerOpen() - * \returns SDL_TRUE if the controller has been opened and is currently - * connected, or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerClose - * \sa SDL_GameControllerOpen - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerGetAttached(SDL_GameController *gamecontroller); - -/** - * Get the Joystick ID from a Game Controller. - * - * This function will give you a SDL_Joystick object, which allows you to use - * the SDL_Joystick functions with a SDL_GameController object. This would be - * useful for getting a joystick's position at any given time, even if it - * hasn't moved (moving it would produce an event, which would have the axis' - * value). - * - * The pointer returned is owned by the SDL_GameController. You should not - * call SDL_JoystickClose() on it, for example, since doing so will likely - * cause SDL to crash. - * - * \param gamecontroller the game controller object that you want to get a - * joystick from - * \returns a SDL_Joystick object; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_Joystick *SDLCALL SDL_GameControllerGetJoystick(SDL_GameController *gamecontroller); - -/** - * Query or change current state of Game Controller events. - * - * If controller events are disabled, you must call SDL_GameControllerUpdate() - * yourself and check the state of the controller when you want controller - * information. - * - * Any number can be passed to SDL_GameControllerEventState(), but only -1, 0, - * and 1 will have any effect. Other numbers will just be returned. - * - * \param state can be one of `SDL_QUERY`, `SDL_IGNORE`, or `SDL_ENABLE` - * \returns the same value passed to the function, with exception to -1 - * (SDL_QUERY), which will return the current state. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickEventState - */ -extern DECLSPEC int SDLCALL SDL_GameControllerEventState(int state); - -/** - * Manually pump game controller updates if not using the loop. - * - * This function is called automatically by the event loop if events are - * enabled. Under such circumstances, it will not be necessary to call this - * function. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_GameControllerUpdate(void); - - -/** - * The list of axes available from a controller - * - * Thumbstick axis values range from SDL_JOYSTICK_AXIS_MIN to SDL_JOYSTICK_AXIS_MAX, - * and are centered within ~8000 of zero, though advanced UI will allow users to set - * or autodetect the dead zone, which varies between controllers. - * - * Trigger axis values range from 0 to SDL_JOYSTICK_AXIS_MAX. - */ -typedef enum -{ - SDL_CONTROLLER_AXIS_INVALID = -1, - SDL_CONTROLLER_AXIS_LEFTX, - SDL_CONTROLLER_AXIS_LEFTY, - SDL_CONTROLLER_AXIS_RIGHTX, - SDL_CONTROLLER_AXIS_RIGHTY, - SDL_CONTROLLER_AXIS_TRIGGERLEFT, - SDL_CONTROLLER_AXIS_TRIGGERRIGHT, - SDL_CONTROLLER_AXIS_MAX -} SDL_GameControllerAxis; - -/** - * Convert a string into SDL_GameControllerAxis enum. - * - * This function is called internally to translate SDL_GameController mapping - * strings for the underlying joystick device into the consistent - * SDL_GameController mapping. You do not normally need to call this function - * unless you are parsing SDL_GameController mappings in your own code. - * - * Note specially that "righttrigger" and "lefttrigger" map to - * `SDL_CONTROLLER_AXIS_TRIGGERRIGHT` and `SDL_CONTROLLER_AXIS_TRIGGERLEFT`, - * respectively. - * - * \param str string representing a SDL_GameController axis - * \returns the SDL_GameControllerAxis enum corresponding to the input string, - * or `SDL_CONTROLLER_AXIS_INVALID` if no match was found. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetStringForAxis - */ -extern DECLSPEC SDL_GameControllerAxis SDLCALL SDL_GameControllerGetAxisFromString(const char *str); - -/** - * Convert from an SDL_GameControllerAxis enum to a string. - * - * The caller should not SDL_free() the returned string. - * - * \param axis an enum value for a given SDL_GameControllerAxis - * \returns a string for the given axis, or NULL if an invalid axis is - * specified. The string returned is of the format used by - * SDL_GameController mapping strings. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetAxisFromString - */ -extern DECLSPEC const char* SDLCALL SDL_GameControllerGetStringForAxis(SDL_GameControllerAxis axis); - -/** - * Get the SDL joystick layer binding for a controller axis mapping. - * - * \param gamecontroller a game controller - * \param axis an axis enum value (one of the SDL_GameControllerAxis values) - * \returns a SDL_GameControllerButtonBind describing the bind. On failure - * (like the given Controller axis doesn't exist on the device), its - * `.bindType` will be `SDL_CONTROLLER_BINDTYPE_NONE`. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetBindForButton - */ -extern DECLSPEC SDL_GameControllerButtonBind SDLCALL -SDL_GameControllerGetBindForAxis(SDL_GameController *gamecontroller, - SDL_GameControllerAxis axis); - -/** - * Query whether a game controller has a given axis. - * - * This merely reports whether the controller's mapping defined this axis, as - * that is all the information SDL has about the physical device. - * - * \param gamecontroller a game controller - * \param axis an axis enum value (an SDL_GameControllerAxis value) - * \returns SDL_TRUE if the controller has this axis, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL -SDL_GameControllerHasAxis(SDL_GameController *gamecontroller, SDL_GameControllerAxis axis); - -/** - * Get the current state of an axis control on a game controller. - * - * The axis indices start at index 0. - * - * The state is a value ranging from -32768 to 32767. Triggers, however, range - * from 0 to 32767 (they never return a negative value). - * - * \param gamecontroller a game controller - * \param axis an axis index (one of the SDL_GameControllerAxis values) - * \returns axis state (including 0) on success or 0 (also) on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetButton - */ -extern DECLSPEC Sint16 SDLCALL -SDL_GameControllerGetAxis(SDL_GameController *gamecontroller, SDL_GameControllerAxis axis); - -/** - * The list of buttons available from a controller - */ -typedef enum -{ - SDL_CONTROLLER_BUTTON_INVALID = -1, - SDL_CONTROLLER_BUTTON_A, - SDL_CONTROLLER_BUTTON_B, - SDL_CONTROLLER_BUTTON_X, - SDL_CONTROLLER_BUTTON_Y, - SDL_CONTROLLER_BUTTON_BACK, - SDL_CONTROLLER_BUTTON_GUIDE, - SDL_CONTROLLER_BUTTON_START, - SDL_CONTROLLER_BUTTON_LEFTSTICK, - SDL_CONTROLLER_BUTTON_RIGHTSTICK, - SDL_CONTROLLER_BUTTON_LEFTSHOULDER, - SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, - SDL_CONTROLLER_BUTTON_DPAD_UP, - SDL_CONTROLLER_BUTTON_DPAD_DOWN, - SDL_CONTROLLER_BUTTON_DPAD_LEFT, - SDL_CONTROLLER_BUTTON_DPAD_RIGHT, - SDL_CONTROLLER_BUTTON_MISC1, /* Xbox Series X share button, PS5 microphone button, Nintendo Switch Pro capture button, Amazon Luna microphone button */ - SDL_CONTROLLER_BUTTON_PADDLE1, /* Xbox Elite paddle P1 */ - SDL_CONTROLLER_BUTTON_PADDLE2, /* Xbox Elite paddle P3 */ - SDL_CONTROLLER_BUTTON_PADDLE3, /* Xbox Elite paddle P2 */ - SDL_CONTROLLER_BUTTON_PADDLE4, /* Xbox Elite paddle P4 */ - SDL_CONTROLLER_BUTTON_TOUCHPAD, /* PS4/PS5 touchpad button */ - SDL_CONTROLLER_BUTTON_MAX -} SDL_GameControllerButton; - -/** - * Convert a string into an SDL_GameControllerButton enum. - * - * This function is called internally to translate SDL_GameController mapping - * strings for the underlying joystick device into the consistent - * SDL_GameController mapping. You do not normally need to call this function - * unless you are parsing SDL_GameController mappings in your own code. - * - * \param str string representing a SDL_GameController axis - * \returns the SDL_GameControllerButton enum corresponding to the input - * string, or `SDL_CONTROLLER_AXIS_INVALID` if no match was found. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_GameControllerButton SDLCALL SDL_GameControllerGetButtonFromString(const char *str); - -/** - * Convert from an SDL_GameControllerButton enum to a string. - * - * The caller should not SDL_free() the returned string. - * - * \param button an enum value for a given SDL_GameControllerButton - * \returns a string for the given button, or NULL if an invalid button is - * specified. The string returned is of the format used by - * SDL_GameController mapping strings. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetButtonFromString - */ -extern DECLSPEC const char* SDLCALL SDL_GameControllerGetStringForButton(SDL_GameControllerButton button); - -/** - * Get the SDL joystick layer binding for a controller button mapping. - * - * \param gamecontroller a game controller - * \param button an button enum value (an SDL_GameControllerButton value) - * \returns a SDL_GameControllerButtonBind describing the bind. On failure - * (like the given Controller button doesn't exist on the device), - * its `.bindType` will be `SDL_CONTROLLER_BINDTYPE_NONE`. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetBindForAxis - */ -extern DECLSPEC SDL_GameControllerButtonBind SDLCALL -SDL_GameControllerGetBindForButton(SDL_GameController *gamecontroller, - SDL_GameControllerButton button); - -/** - * Query whether a game controller has a given button. - * - * This merely reports whether the controller's mapping defined this button, - * as that is all the information SDL has about the physical device. - * - * \param gamecontroller a game controller - * \param button a button enum value (an SDL_GameControllerButton value) - * \returns SDL_TRUE if the controller has this button, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasButton(SDL_GameController *gamecontroller, - SDL_GameControllerButton button); - -/** - * Get the current state of a button on a game controller. - * - * \param gamecontroller a game controller - * \param button a button index (one of the SDL_GameControllerButton values) - * \returns 1 for pressed state or 0 for not pressed state or error; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerGetAxis - */ -extern DECLSPEC Uint8 SDLCALL SDL_GameControllerGetButton(SDL_GameController *gamecontroller, - SDL_GameControllerButton button); - -/** - * Get the number of touchpads on a game controller. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerGetNumTouchpads(SDL_GameController *gamecontroller); - -/** - * Get the number of supported simultaneous fingers on a touchpad on a game - * controller. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerGetNumTouchpadFingers(SDL_GameController *gamecontroller, int touchpad); - -/** - * Get the current state of a finger on a touchpad on a game controller. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerGetTouchpadFinger(SDL_GameController *gamecontroller, int touchpad, int finger, Uint8 *state, float *x, float *y, float *pressure); - -/** - * Return whether a game controller has a particular sensor. - * - * \param gamecontroller The controller to query - * \param type The type of sensor to query - * \returns SDL_TRUE if the sensor exists, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasSensor(SDL_GameController *gamecontroller, SDL_SensorType type); - -/** - * Set whether data reporting for a game controller sensor is enabled. - * - * \param gamecontroller The controller to update - * \param type The type of sensor to enable/disable - * \param enabled Whether data reporting should be enabled - * \returns 0 or -1 if an error occurred. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerSetSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type, SDL_bool enabled); - -/** - * Query whether sensor data reporting is enabled for a game controller. - * - * \param gamecontroller The controller to query - * \param type The type of sensor to query - * \returns SDL_TRUE if the sensor is enabled, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerIsSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type); - -/** - * Get the data rate (number of events per second) of a game controller - * sensor. - * - * \param gamecontroller The controller to query - * \param type The type of sensor to query - * \return the data rate, or 0.0f if the data rate is not available. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC float SDLCALL SDL_GameControllerGetSensorDataRate(SDL_GameController *gamecontroller, SDL_SensorType type); - -/** - * Get the current state of a game controller sensor. - * - * The number of values and interpretation of the data is sensor dependent. - * See SDL_sensor.h for the details for each type of sensor. - * - * \param gamecontroller The controller to query - * \param type The type of sensor to query - * \param data A pointer filled with the current sensor state - * \param num_values The number of values to write to data - * \return 0 or -1 if an error occurred. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values); - -/** - * Get the current state of a game controller sensor with the timestamp of the - * last update. - * - * The number of values and interpretation of the data is sensor dependent. - * See SDL_sensor.h for the details for each type of sensor. - * - * \param gamecontroller The controller to query - * \param type The type of sensor to query - * \param timestamp A pointer filled with the timestamp in microseconds of the - * current sensor reading if available, or 0 if not - * \param data A pointer filled with the current sensor state - * \param num_values The number of values to write to data - * \return 0 or -1 if an error occurred. - * - * \since This function is available since SDL 2.26.0. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values); - -/** - * Start a rumble effect on a game controller. - * - * Each call to this function cancels any previous rumble effect, and calling - * it with 0 intensity stops any rumbling. - * - * \param gamecontroller The controller to vibrate - * \param low_frequency_rumble The intensity of the low frequency (left) - * rumble motor, from 0 to 0xFFFF - * \param high_frequency_rumble The intensity of the high frequency (right) - * rumble motor, from 0 to 0xFFFF - * \param duration_ms The duration of the rumble effect, in milliseconds - * \returns 0, or -1 if rumble isn't supported on this controller - * - * \since This function is available since SDL 2.0.9. - * - * \sa SDL_GameControllerHasRumble - */ -extern DECLSPEC int SDLCALL SDL_GameControllerRumble(SDL_GameController *gamecontroller, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble, Uint32 duration_ms); - -/** - * Start a rumble effect in the game controller's triggers. - * - * Each call to this function cancels any previous trigger rumble effect, and - * calling it with 0 intensity stops any rumbling. - * - * Note that this is rumbling of the _triggers_ and not the game controller as - * a whole. This is currently only supported on Xbox One controllers. If you - * want the (more common) whole-controller rumble, use - * SDL_GameControllerRumble() instead. - * - * \param gamecontroller The controller to vibrate - * \param left_rumble The intensity of the left trigger rumble motor, from 0 - * to 0xFFFF - * \param right_rumble The intensity of the right trigger rumble motor, from 0 - * to 0xFFFF - * \param duration_ms The duration of the rumble effect, in milliseconds - * \returns 0, or -1 if trigger rumble isn't supported on this controller - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_GameControllerHasRumbleTriggers - */ -extern DECLSPEC int SDLCALL SDL_GameControllerRumbleTriggers(SDL_GameController *gamecontroller, Uint16 left_rumble, Uint16 right_rumble, Uint32 duration_ms); - -/** - * Query whether a game controller has an LED. - * - * \param gamecontroller The controller to query - * \returns SDL_TRUE, or SDL_FALSE if this controller does not have a - * modifiable LED - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasLED(SDL_GameController *gamecontroller); - -/** - * Query whether a game controller has rumble support. - * - * \param gamecontroller The controller to query - * \returns SDL_TRUE, or SDL_FALSE if this controller does not have rumble - * support - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_GameControllerRumble - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasRumble(SDL_GameController *gamecontroller); - -/** - * Query whether a game controller has rumble support on triggers. - * - * \param gamecontroller The controller to query - * \returns SDL_TRUE, or SDL_FALSE if this controller does not have trigger - * rumble support - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_GameControllerRumbleTriggers - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasRumbleTriggers(SDL_GameController *gamecontroller); - -/** - * Update a game controller's LED color. - * - * \param gamecontroller The controller to update - * \param red The intensity of the red LED - * \param green The intensity of the green LED - * \param blue The intensity of the blue LED - * \returns 0, or -1 if this controller does not have a modifiable LED - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerSetLED(SDL_GameController *gamecontroller, Uint8 red, Uint8 green, Uint8 blue); - -/** - * Send a controller specific effect packet - * - * \param gamecontroller The controller to affect - * \param data The data to send to the controller - * \param size The size of the data to send to the controller - * \returns 0, or -1 if this controller or driver doesn't support effect - * packets - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC int SDLCALL SDL_GameControllerSendEffect(SDL_GameController *gamecontroller, const void *data, int size); - -/** - * Close a game controller previously opened with SDL_GameControllerOpen(). - * - * \param gamecontroller a game controller identifier previously returned by - * SDL_GameControllerOpen() - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerOpen - */ -extern DECLSPEC void SDLCALL SDL_GameControllerClose(SDL_GameController *gamecontroller); - -/** - * Return the sfSymbolsName for a given button on a game controller on Apple - * platforms. - * - * \param gamecontroller the controller to query - * \param button a button on the game controller - * \returns the sfSymbolsName or NULL if the name can't be found - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_GameControllerGetAppleSFSymbolsNameForAxis - */ -extern DECLSPEC const char* SDLCALL SDL_GameControllerGetAppleSFSymbolsNameForButton(SDL_GameController *gamecontroller, SDL_GameControllerButton button); - -/** - * Return the sfSymbolsName for a given axis on a game controller on Apple - * platforms. - * - * \param gamecontroller the controller to query - * \param axis an axis on the game controller - * \returns the sfSymbolsName or NULL if the name can't be found - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_GameControllerGetAppleSFSymbolsNameForButton - */ -extern DECLSPEC const char* SDLCALL SDL_GameControllerGetAppleSFSymbolsNameForAxis(SDL_GameController *gamecontroller, SDL_GameControllerAxis axis); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_gamecontroller_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_gesture.h b/subprojects/sdl2_windows/include/SDL2/SDL_gesture.h deleted file mode 100644 index e2caea2a9..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_gesture.h +++ /dev/null @@ -1,117 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_gesture.h - * - * Include file for SDL gesture event handling. - */ - -#ifndef SDL_gesture_h_ -#define SDL_gesture_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_video.h" - -#include "SDL_touch.h" - - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -typedef Sint64 SDL_GestureID; - -/* Function prototypes */ - -/** - * Begin recording a gesture on a specified touch device or all touch devices. - * - * If the parameter `touchId` is -1 (i.e., all devices), this function will - * always return 1, regardless of whether there actually are any devices. - * - * \param touchId the touch device id, or -1 for all touch devices - * \returns 1 on success or 0 if the specified device could not be found. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTouchDevice - */ -extern DECLSPEC int SDLCALL SDL_RecordGesture(SDL_TouchID touchId); - - -/** - * Save all currently loaded Dollar Gesture templates. - * - * \param dst a SDL_RWops to save to - * \returns the number of saved templates on success or 0 on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadDollarTemplates - * \sa SDL_SaveDollarTemplate - */ -extern DECLSPEC int SDLCALL SDL_SaveAllDollarTemplates(SDL_RWops *dst); - -/** - * Save a currently loaded Dollar Gesture template. - * - * \param gestureId a gesture id - * \param dst a SDL_RWops to save to - * \returns 1 on success or 0 on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadDollarTemplates - * \sa SDL_SaveAllDollarTemplates - */ -extern DECLSPEC int SDLCALL SDL_SaveDollarTemplate(SDL_GestureID gestureId,SDL_RWops *dst); - - -/** - * Load Dollar Gesture templates from a file. - * - * \param touchId a touch id - * \param src a SDL_RWops to load from - * \returns the number of loaded templates on success or a negative error code - * (or 0) on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SaveAllDollarTemplates - * \sa SDL_SaveDollarTemplate - */ -extern DECLSPEC int SDLCALL SDL_LoadDollarTemplates(SDL_TouchID touchId, SDL_RWops *src); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_gesture_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_guid.h b/subprojects/sdl2_windows/include/SDL2/SDL_guid.h deleted file mode 100644 index b971636a0..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_guid.h +++ /dev/null @@ -1,100 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_guid.h - * - * Include file for handling ::SDL_GUID values. - */ - -#ifndef SDL_guid_h_ -#define SDL_guid_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * An SDL_GUID is a 128-bit identifier for an input device that - * identifies that device across runs of SDL programs on the same - * platform. If the device is detached and then re-attached to a - * different port, or if the base system is rebooted, the device - * should still report the same GUID. - * - * GUIDs are as precise as possible but are not guaranteed to - * distinguish physically distinct but equivalent devices. For - * example, two game controllers from the same vendor with the same - * product ID and revision may have the same GUID. - * - * GUIDs may be platform-dependent (i.e., the same device may report - * different GUIDs on different operating systems). - */ -typedef struct { - Uint8 data[16]; -} SDL_GUID; - -/* Function prototypes */ - -/** - * Get an ASCII string representation for a given ::SDL_GUID. - * - * You should supply at least 33 bytes for pszGUID. - * - * \param guid the ::SDL_GUID you wish to convert to string - * \param pszGUID buffer in which to write the ASCII string - * \param cbGUID the size of pszGUID - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GUIDFromString - */ -extern DECLSPEC void SDLCALL SDL_GUIDToString(SDL_GUID guid, char *pszGUID, int cbGUID); - -/** - * Convert a GUID string into a ::SDL_GUID structure. - * - * Performs no error checking. If this function is given a string containing - * an invalid GUID, the function will silently succeed, but the GUID generated - * will not be useful. - * - * \param pchGUID string containing an ASCII representation of a GUID - * \returns a ::SDL_GUID structure. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GUIDToString - */ -extern DECLSPEC SDL_GUID SDLCALL SDL_GUIDFromString(const char *pchGUID); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_guid_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_haptic.h b/subprojects/sdl2_windows/include/SDL2/SDL_haptic.h deleted file mode 100644 index f240ae927..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_haptic.h +++ /dev/null @@ -1,1341 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_haptic.h - * - * \brief The SDL haptic subsystem allows you to control haptic (force feedback) - * devices. - * - * The basic usage is as follows: - * - Initialize the subsystem (::SDL_INIT_HAPTIC). - * - Open a haptic device. - * - SDL_HapticOpen() to open from index. - * - SDL_HapticOpenFromJoystick() to open from an existing joystick. - * - Create an effect (::SDL_HapticEffect). - * - Upload the effect with SDL_HapticNewEffect(). - * - Run the effect with SDL_HapticRunEffect(). - * - (optional) Free the effect with SDL_HapticDestroyEffect(). - * - Close the haptic device with SDL_HapticClose(). - * - * \par Simple rumble example: - * \code - * SDL_Haptic *haptic; - * - * // Open the device - * haptic = SDL_HapticOpen( 0 ); - * if (haptic == NULL) - * return -1; - * - * // Initialize simple rumble - * if (SDL_HapticRumbleInit( haptic ) != 0) - * return -1; - * - * // Play effect at 50% strength for 2 seconds - * if (SDL_HapticRumblePlay( haptic, 0.5, 2000 ) != 0) - * return -1; - * SDL_Delay( 2000 ); - * - * // Clean up - * SDL_HapticClose( haptic ); - * \endcode - * - * \par Complete example: - * \code - * int test_haptic( SDL_Joystick * joystick ) { - * SDL_Haptic *haptic; - * SDL_HapticEffect effect; - * int effect_id; - * - * // Open the device - * haptic = SDL_HapticOpenFromJoystick( joystick ); - * if (haptic == NULL) return -1; // Most likely joystick isn't haptic - * - * // See if it can do sine waves - * if ((SDL_HapticQuery(haptic) & SDL_HAPTIC_SINE)==0) { - * SDL_HapticClose(haptic); // No sine effect - * return -1; - * } - * - * // Create the effect - * SDL_memset( &effect, 0, sizeof(SDL_HapticEffect) ); // 0 is safe default - * effect.type = SDL_HAPTIC_SINE; - * effect.periodic.direction.type = SDL_HAPTIC_POLAR; // Polar coordinates - * effect.periodic.direction.dir[0] = 18000; // Force comes from south - * effect.periodic.period = 1000; // 1000 ms - * effect.periodic.magnitude = 20000; // 20000/32767 strength - * effect.periodic.length = 5000; // 5 seconds long - * effect.periodic.attack_length = 1000; // Takes 1 second to get max strength - * effect.periodic.fade_length = 1000; // Takes 1 second to fade away - * - * // Upload the effect - * effect_id = SDL_HapticNewEffect( haptic, &effect ); - * - * // Test the effect - * SDL_HapticRunEffect( haptic, effect_id, 1 ); - * SDL_Delay( 5000); // Wait for the effect to finish - * - * // We destroy the effect, although closing the device also does this - * SDL_HapticDestroyEffect( haptic, effect_id ); - * - * // Close the device - * SDL_HapticClose(haptic); - * - * return 0; // Success - * } - * \endcode - */ - -#ifndef SDL_haptic_h_ -#define SDL_haptic_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_joystick.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - -/* FIXME: For SDL 2.1, adjust all the magnitude variables to be Uint16 (0xFFFF). - * - * At the moment the magnitude variables are mixed between signed/unsigned, and - * it is also not made clear that ALL of those variables expect a max of 0x7FFF. - * - * Some platforms may have higher precision than that (Linux FF, Windows XInput) - * so we should fix the inconsistency in favor of higher possible precision, - * adjusting for platforms that use different scales. - * -flibit - */ - -/** - * \typedef SDL_Haptic - * - * \brief The haptic structure used to identify an SDL haptic. - * - * \sa SDL_HapticOpen - * \sa SDL_HapticOpenFromJoystick - * \sa SDL_HapticClose - */ -struct _SDL_Haptic; -typedef struct _SDL_Haptic SDL_Haptic; - - -/** - * \name Haptic features - * - * Different haptic features a device can have. - */ -/* @{ */ - -/** - * \name Haptic effects - */ -/* @{ */ - -/** - * \brief Constant effect supported. - * - * Constant haptic effect. - * - * \sa SDL_HapticCondition - */ -#define SDL_HAPTIC_CONSTANT (1u<<0) - -/** - * \brief Sine wave effect supported. - * - * Periodic haptic effect that simulates sine waves. - * - * \sa SDL_HapticPeriodic - */ -#define SDL_HAPTIC_SINE (1u<<1) - -/** - * \brief Left/Right effect supported. - * - * Haptic effect for direct control over high/low frequency motors. - * - * \sa SDL_HapticLeftRight - * \warning this value was SDL_HAPTIC_SQUARE right before 2.0.0 shipped. Sorry, - * we ran out of bits, and this is important for XInput devices. - */ -#define SDL_HAPTIC_LEFTRIGHT (1u<<2) - -/* !!! FIXME: put this back when we have more bits in 2.1 */ -/* #define SDL_HAPTIC_SQUARE (1<<2) */ - -/** - * \brief Triangle wave effect supported. - * - * Periodic haptic effect that simulates triangular waves. - * - * \sa SDL_HapticPeriodic - */ -#define SDL_HAPTIC_TRIANGLE (1u<<3) - -/** - * \brief Sawtoothup wave effect supported. - * - * Periodic haptic effect that simulates saw tooth up waves. - * - * \sa SDL_HapticPeriodic - */ -#define SDL_HAPTIC_SAWTOOTHUP (1u<<4) - -/** - * \brief Sawtoothdown wave effect supported. - * - * Periodic haptic effect that simulates saw tooth down waves. - * - * \sa SDL_HapticPeriodic - */ -#define SDL_HAPTIC_SAWTOOTHDOWN (1u<<5) - -/** - * \brief Ramp effect supported. - * - * Ramp haptic effect. - * - * \sa SDL_HapticRamp - */ -#define SDL_HAPTIC_RAMP (1u<<6) - -/** - * \brief Spring effect supported - uses axes position. - * - * Condition haptic effect that simulates a spring. Effect is based on the - * axes position. - * - * \sa SDL_HapticCondition - */ -#define SDL_HAPTIC_SPRING (1u<<7) - -/** - * \brief Damper effect supported - uses axes velocity. - * - * Condition haptic effect that simulates dampening. Effect is based on the - * axes velocity. - * - * \sa SDL_HapticCondition - */ -#define SDL_HAPTIC_DAMPER (1u<<8) - -/** - * \brief Inertia effect supported - uses axes acceleration. - * - * Condition haptic effect that simulates inertia. Effect is based on the axes - * acceleration. - * - * \sa SDL_HapticCondition - */ -#define SDL_HAPTIC_INERTIA (1u<<9) - -/** - * \brief Friction effect supported - uses axes movement. - * - * Condition haptic effect that simulates friction. Effect is based on the - * axes movement. - * - * \sa SDL_HapticCondition - */ -#define SDL_HAPTIC_FRICTION (1u<<10) - -/** - * \brief Custom effect is supported. - * - * User defined custom haptic effect. - */ -#define SDL_HAPTIC_CUSTOM (1u<<11) - -/* @} *//* Haptic effects */ - -/* These last few are features the device has, not effects */ - -/** - * \brief Device can set global gain. - * - * Device supports setting the global gain. - * - * \sa SDL_HapticSetGain - */ -#define SDL_HAPTIC_GAIN (1u<<12) - -/** - * \brief Device can set autocenter. - * - * Device supports setting autocenter. - * - * \sa SDL_HapticSetAutocenter - */ -#define SDL_HAPTIC_AUTOCENTER (1u<<13) - -/** - * \brief Device can be queried for effect status. - * - * Device supports querying effect status. - * - * \sa SDL_HapticGetEffectStatus - */ -#define SDL_HAPTIC_STATUS (1u<<14) - -/** - * \brief Device can be paused. - * - * Devices supports being paused. - * - * \sa SDL_HapticPause - * \sa SDL_HapticUnpause - */ -#define SDL_HAPTIC_PAUSE (1u<<15) - - -/** - * \name Direction encodings - */ -/* @{ */ - -/** - * \brief Uses polar coordinates for the direction. - * - * \sa SDL_HapticDirection - */ -#define SDL_HAPTIC_POLAR 0 - -/** - * \brief Uses cartesian coordinates for the direction. - * - * \sa SDL_HapticDirection - */ -#define SDL_HAPTIC_CARTESIAN 1 - -/** - * \brief Uses spherical coordinates for the direction. - * - * \sa SDL_HapticDirection - */ -#define SDL_HAPTIC_SPHERICAL 2 - -/** - * \brief Use this value to play an effect on the steering wheel axis. This - * provides better compatibility across platforms and devices as SDL will guess - * the correct axis. - * \sa SDL_HapticDirection - */ -#define SDL_HAPTIC_STEERING_AXIS 3 - -/* @} *//* Direction encodings */ - -/* @} *//* Haptic features */ - -/* - * Misc defines. - */ - -/** - * \brief Used to play a device an infinite number of times. - * - * \sa SDL_HapticRunEffect - */ -#define SDL_HAPTIC_INFINITY 4294967295U - - -/** - * \brief Structure that represents a haptic direction. - * - * This is the direction where the force comes from, - * instead of the direction in which the force is exerted. - * - * Directions can be specified by: - * - ::SDL_HAPTIC_POLAR : Specified by polar coordinates. - * - ::SDL_HAPTIC_CARTESIAN : Specified by cartesian coordinates. - * - ::SDL_HAPTIC_SPHERICAL : Specified by spherical coordinates. - * - * Cardinal directions of the haptic device are relative to the positioning - * of the device. North is considered to be away from the user. - * - * The following diagram represents the cardinal directions: - * \verbatim - .--. - |__| .-------. - |=.| |.-----.| - |--| || || - | | |'-----'| - |__|~')_____(' - [ COMPUTER ] - - - North (0,-1) - ^ - | - | - (-1,0) West <----[ HAPTIC ]----> East (1,0) - | - | - v - South (0,1) - - - [ USER ] - \|||/ - (o o) - ---ooO-(_)-Ooo--- - \endverbatim - * - * If type is ::SDL_HAPTIC_POLAR, direction is encoded by hundredths of a - * degree starting north and turning clockwise. ::SDL_HAPTIC_POLAR only uses - * the first \c dir parameter. The cardinal directions would be: - * - North: 0 (0 degrees) - * - East: 9000 (90 degrees) - * - South: 18000 (180 degrees) - * - West: 27000 (270 degrees) - * - * If type is ::SDL_HAPTIC_CARTESIAN, direction is encoded by three positions - * (X axis, Y axis and Z axis (with 3 axes)). ::SDL_HAPTIC_CARTESIAN uses - * the first three \c dir parameters. The cardinal directions would be: - * - North: 0,-1, 0 - * - East: 1, 0, 0 - * - South: 0, 1, 0 - * - West: -1, 0, 0 - * - * The Z axis represents the height of the effect if supported, otherwise - * it's unused. In cartesian encoding (1, 2) would be the same as (2, 4), you - * can use any multiple you want, only the direction matters. - * - * If type is ::SDL_HAPTIC_SPHERICAL, direction is encoded by two rotations. - * The first two \c dir parameters are used. The \c dir parameters are as - * follows (all values are in hundredths of degrees): - * - Degrees from (1, 0) rotated towards (0, 1). - * - Degrees towards (0, 0, 1) (device needs at least 3 axes). - * - * - * Example of force coming from the south with all encodings (force coming - * from the south means the user will have to pull the stick to counteract): - * \code - * SDL_HapticDirection direction; - * - * // Cartesian directions - * direction.type = SDL_HAPTIC_CARTESIAN; // Using cartesian direction encoding. - * direction.dir[0] = 0; // X position - * direction.dir[1] = 1; // Y position - * // Assuming the device has 2 axes, we don't need to specify third parameter. - * - * // Polar directions - * direction.type = SDL_HAPTIC_POLAR; // We'll be using polar direction encoding. - * direction.dir[0] = 18000; // Polar only uses first parameter - * - * // Spherical coordinates - * direction.type = SDL_HAPTIC_SPHERICAL; // Spherical encoding - * direction.dir[0] = 9000; // Since we only have two axes we don't need more parameters. - * \endcode - * - * \sa SDL_HAPTIC_POLAR - * \sa SDL_HAPTIC_CARTESIAN - * \sa SDL_HAPTIC_SPHERICAL - * \sa SDL_HAPTIC_STEERING_AXIS - * \sa SDL_HapticEffect - * \sa SDL_HapticNumAxes - */ -typedef struct SDL_HapticDirection -{ - Uint8 type; /**< The type of encoding. */ - Sint32 dir[3]; /**< The encoded direction. */ -} SDL_HapticDirection; - - -/** - * \brief A structure containing a template for a Constant effect. - * - * This struct is exclusively for the ::SDL_HAPTIC_CONSTANT effect. - * - * A constant effect applies a constant force in the specified direction - * to the joystick. - * - * \sa SDL_HAPTIC_CONSTANT - * \sa SDL_HapticEffect - */ -typedef struct SDL_HapticConstant -{ - /* Header */ - Uint16 type; /**< ::SDL_HAPTIC_CONSTANT */ - SDL_HapticDirection direction; /**< Direction of the effect. */ - - /* Replay */ - Uint32 length; /**< Duration of the effect. */ - Uint16 delay; /**< Delay before starting the effect. */ - - /* Trigger */ - Uint16 button; /**< Button that triggers the effect. */ - Uint16 interval; /**< How soon it can be triggered again after button. */ - - /* Constant */ - Sint16 level; /**< Strength of the constant effect. */ - - /* Envelope */ - Uint16 attack_length; /**< Duration of the attack. */ - Uint16 attack_level; /**< Level at the start of the attack. */ - Uint16 fade_length; /**< Duration of the fade. */ - Uint16 fade_level; /**< Level at the end of the fade. */ -} SDL_HapticConstant; - -/** - * \brief A structure containing a template for a Periodic effect. - * - * The struct handles the following effects: - * - ::SDL_HAPTIC_SINE - * - ::SDL_HAPTIC_LEFTRIGHT - * - ::SDL_HAPTIC_TRIANGLE - * - ::SDL_HAPTIC_SAWTOOTHUP - * - ::SDL_HAPTIC_SAWTOOTHDOWN - * - * A periodic effect consists in a wave-shaped effect that repeats itself - * over time. The type determines the shape of the wave and the parameters - * determine the dimensions of the wave. - * - * Phase is given by hundredth of a degree meaning that giving the phase a value - * of 9000 will displace it 25% of its period. Here are sample values: - * - 0: No phase displacement. - * - 9000: Displaced 25% of its period. - * - 18000: Displaced 50% of its period. - * - 27000: Displaced 75% of its period. - * - 36000: Displaced 100% of its period, same as 0, but 0 is preferred. - * - * Examples: - * \verbatim - SDL_HAPTIC_SINE - __ __ __ __ - / \ / \ / \ / - / \__/ \__/ \__/ - - SDL_HAPTIC_SQUARE - __ __ __ __ __ - | | | | | | | | | | - | |__| |__| |__| |__| | - - SDL_HAPTIC_TRIANGLE - /\ /\ /\ /\ /\ - / \ / \ / \ / \ / - / \/ \/ \/ \/ - - SDL_HAPTIC_SAWTOOTHUP - /| /| /| /| /| /| /| - / | / | / | / | / | / | / | - / |/ |/ |/ |/ |/ |/ | - - SDL_HAPTIC_SAWTOOTHDOWN - \ |\ |\ |\ |\ |\ |\ | - \ | \ | \ | \ | \ | \ | \ | - \| \| \| \| \| \| \| - \endverbatim - * - * \sa SDL_HAPTIC_SINE - * \sa SDL_HAPTIC_LEFTRIGHT - * \sa SDL_HAPTIC_TRIANGLE - * \sa SDL_HAPTIC_SAWTOOTHUP - * \sa SDL_HAPTIC_SAWTOOTHDOWN - * \sa SDL_HapticEffect - */ -typedef struct SDL_HapticPeriodic -{ - /* Header */ - Uint16 type; /**< ::SDL_HAPTIC_SINE, ::SDL_HAPTIC_LEFTRIGHT, - ::SDL_HAPTIC_TRIANGLE, ::SDL_HAPTIC_SAWTOOTHUP or - ::SDL_HAPTIC_SAWTOOTHDOWN */ - SDL_HapticDirection direction; /**< Direction of the effect. */ - - /* Replay */ - Uint32 length; /**< Duration of the effect. */ - Uint16 delay; /**< Delay before starting the effect. */ - - /* Trigger */ - Uint16 button; /**< Button that triggers the effect. */ - Uint16 interval; /**< How soon it can be triggered again after button. */ - - /* Periodic */ - Uint16 period; /**< Period of the wave. */ - Sint16 magnitude; /**< Peak value; if negative, equivalent to 180 degrees extra phase shift. */ - Sint16 offset; /**< Mean value of the wave. */ - Uint16 phase; /**< Positive phase shift given by hundredth of a degree. */ - - /* Envelope */ - Uint16 attack_length; /**< Duration of the attack. */ - Uint16 attack_level; /**< Level at the start of the attack. */ - Uint16 fade_length; /**< Duration of the fade. */ - Uint16 fade_level; /**< Level at the end of the fade. */ -} SDL_HapticPeriodic; - -/** - * \brief A structure containing a template for a Condition effect. - * - * The struct handles the following effects: - * - ::SDL_HAPTIC_SPRING: Effect based on axes position. - * - ::SDL_HAPTIC_DAMPER: Effect based on axes velocity. - * - ::SDL_HAPTIC_INERTIA: Effect based on axes acceleration. - * - ::SDL_HAPTIC_FRICTION: Effect based on axes movement. - * - * Direction is handled by condition internals instead of a direction member. - * The condition effect specific members have three parameters. The first - * refers to the X axis, the second refers to the Y axis and the third - * refers to the Z axis. The right terms refer to the positive side of the - * axis and the left terms refer to the negative side of the axis. Please - * refer to the ::SDL_HapticDirection diagram for which side is positive and - * which is negative. - * - * \sa SDL_HapticDirection - * \sa SDL_HAPTIC_SPRING - * \sa SDL_HAPTIC_DAMPER - * \sa SDL_HAPTIC_INERTIA - * \sa SDL_HAPTIC_FRICTION - * \sa SDL_HapticEffect - */ -typedef struct SDL_HapticCondition -{ - /* Header */ - Uint16 type; /**< ::SDL_HAPTIC_SPRING, ::SDL_HAPTIC_DAMPER, - ::SDL_HAPTIC_INERTIA or ::SDL_HAPTIC_FRICTION */ - SDL_HapticDirection direction; /**< Direction of the effect - Not used ATM. */ - - /* Replay */ - Uint32 length; /**< Duration of the effect. */ - Uint16 delay; /**< Delay before starting the effect. */ - - /* Trigger */ - Uint16 button; /**< Button that triggers the effect. */ - Uint16 interval; /**< How soon it can be triggered again after button. */ - - /* Condition */ - Uint16 right_sat[3]; /**< Level when joystick is to the positive side; max 0xFFFF. */ - Uint16 left_sat[3]; /**< Level when joystick is to the negative side; max 0xFFFF. */ - Sint16 right_coeff[3]; /**< How fast to increase the force towards the positive side. */ - Sint16 left_coeff[3]; /**< How fast to increase the force towards the negative side. */ - Uint16 deadband[3]; /**< Size of the dead zone; max 0xFFFF: whole axis-range when 0-centered. */ - Sint16 center[3]; /**< Position of the dead zone. */ -} SDL_HapticCondition; - -/** - * \brief A structure containing a template for a Ramp effect. - * - * This struct is exclusively for the ::SDL_HAPTIC_RAMP effect. - * - * The ramp effect starts at start strength and ends at end strength. - * It augments in linear fashion. If you use attack and fade with a ramp - * the effects get added to the ramp effect making the effect become - * quadratic instead of linear. - * - * \sa SDL_HAPTIC_RAMP - * \sa SDL_HapticEffect - */ -typedef struct SDL_HapticRamp -{ - /* Header */ - Uint16 type; /**< ::SDL_HAPTIC_RAMP */ - SDL_HapticDirection direction; /**< Direction of the effect. */ - - /* Replay */ - Uint32 length; /**< Duration of the effect. */ - Uint16 delay; /**< Delay before starting the effect. */ - - /* Trigger */ - Uint16 button; /**< Button that triggers the effect. */ - Uint16 interval; /**< How soon it can be triggered again after button. */ - - /* Ramp */ - Sint16 start; /**< Beginning strength level. */ - Sint16 end; /**< Ending strength level. */ - - /* Envelope */ - Uint16 attack_length; /**< Duration of the attack. */ - Uint16 attack_level; /**< Level at the start of the attack. */ - Uint16 fade_length; /**< Duration of the fade. */ - Uint16 fade_level; /**< Level at the end of the fade. */ -} SDL_HapticRamp; - -/** - * \brief A structure containing a template for a Left/Right effect. - * - * This struct is exclusively for the ::SDL_HAPTIC_LEFTRIGHT effect. - * - * The Left/Right effect is used to explicitly control the large and small - * motors, commonly found in modern game controllers. The small (right) motor - * is high frequency, and the large (left) motor is low frequency. - * - * \sa SDL_HAPTIC_LEFTRIGHT - * \sa SDL_HapticEffect - */ -typedef struct SDL_HapticLeftRight -{ - /* Header */ - Uint16 type; /**< ::SDL_HAPTIC_LEFTRIGHT */ - - /* Replay */ - Uint32 length; /**< Duration of the effect in milliseconds. */ - - /* Rumble */ - Uint16 large_magnitude; /**< Control of the large controller motor. */ - Uint16 small_magnitude; /**< Control of the small controller motor. */ -} SDL_HapticLeftRight; - -/** - * \brief A structure containing a template for the ::SDL_HAPTIC_CUSTOM effect. - * - * This struct is exclusively for the ::SDL_HAPTIC_CUSTOM effect. - * - * A custom force feedback effect is much like a periodic effect, where the - * application can define its exact shape. You will have to allocate the - * data yourself. Data should consist of channels * samples Uint16 samples. - * - * If channels is one, the effect is rotated using the defined direction. - * Otherwise it uses the samples in data for the different axes. - * - * \sa SDL_HAPTIC_CUSTOM - * \sa SDL_HapticEffect - */ -typedef struct SDL_HapticCustom -{ - /* Header */ - Uint16 type; /**< ::SDL_HAPTIC_CUSTOM */ - SDL_HapticDirection direction; /**< Direction of the effect. */ - - /* Replay */ - Uint32 length; /**< Duration of the effect. */ - Uint16 delay; /**< Delay before starting the effect. */ - - /* Trigger */ - Uint16 button; /**< Button that triggers the effect. */ - Uint16 interval; /**< How soon it can be triggered again after button. */ - - /* Custom */ - Uint8 channels; /**< Axes to use, minimum of one. */ - Uint16 period; /**< Sample periods. */ - Uint16 samples; /**< Amount of samples. */ - Uint16 *data; /**< Should contain channels*samples items. */ - - /* Envelope */ - Uint16 attack_length; /**< Duration of the attack. */ - Uint16 attack_level; /**< Level at the start of the attack. */ - Uint16 fade_length; /**< Duration of the fade. */ - Uint16 fade_level; /**< Level at the end of the fade. */ -} SDL_HapticCustom; - -/** - * \brief The generic template for any haptic effect. - * - * All values max at 32767 (0x7FFF). Signed values also can be negative. - * Time values unless specified otherwise are in milliseconds. - * - * You can also pass ::SDL_HAPTIC_INFINITY to length instead of a 0-32767 - * value. Neither delay, interval, attack_length nor fade_length support - * ::SDL_HAPTIC_INFINITY. Fade will also not be used since effect never ends. - * - * Additionally, the ::SDL_HAPTIC_RAMP effect does not support a duration of - * ::SDL_HAPTIC_INFINITY. - * - * Button triggers may not be supported on all devices, it is advised to not - * use them if possible. Buttons start at index 1 instead of index 0 like - * the joystick. - * - * If both attack_length and fade_level are 0, the envelope is not used, - * otherwise both values are used. - * - * Common parts: - * \code - * // Replay - All effects have this - * Uint32 length; // Duration of effect (ms). - * Uint16 delay; // Delay before starting effect. - * - * // Trigger - All effects have this - * Uint16 button; // Button that triggers effect. - * Uint16 interval; // How soon before effect can be triggered again. - * - * // Envelope - All effects except condition effects have this - * Uint16 attack_length; // Duration of the attack (ms). - * Uint16 attack_level; // Level at the start of the attack. - * Uint16 fade_length; // Duration of the fade out (ms). - * Uint16 fade_level; // Level at the end of the fade. - * \endcode - * - * - * Here we have an example of a constant effect evolution in time: - * \verbatim - Strength - ^ - | - | effect level --> _________________ - | / \ - | / \ - | / \ - | / \ - | attack_level --> | \ - | | | <--- fade_level - | - +--------------------------------------------------> Time - [--] [---] - attack_length fade_length - - [------------------][-----------------------] - delay length - \endverbatim - * - * Note either the attack_level or the fade_level may be above the actual - * effect level. - * - * \sa SDL_HapticConstant - * \sa SDL_HapticPeriodic - * \sa SDL_HapticCondition - * \sa SDL_HapticRamp - * \sa SDL_HapticLeftRight - * \sa SDL_HapticCustom - */ -typedef union SDL_HapticEffect -{ - /* Common for all force feedback effects */ - Uint16 type; /**< Effect type. */ - SDL_HapticConstant constant; /**< Constant effect. */ - SDL_HapticPeriodic periodic; /**< Periodic effect. */ - SDL_HapticCondition condition; /**< Condition effect. */ - SDL_HapticRamp ramp; /**< Ramp effect. */ - SDL_HapticLeftRight leftright; /**< Left/Right effect. */ - SDL_HapticCustom custom; /**< Custom effect. */ -} SDL_HapticEffect; - - -/* Function prototypes */ - -/** - * Count the number of haptic devices attached to the system. - * - * \returns the number of haptic devices detected on the system or a negative - * error code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticName - */ -extern DECLSPEC int SDLCALL SDL_NumHaptics(void); - -/** - * Get the implementation dependent name of a haptic device. - * - * This can be called before any joysticks are opened. If no name can be - * found, this function returns NULL. - * - * \param device_index index of the device to query. - * \returns the name of the device or NULL on failure; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_NumHaptics - */ -extern DECLSPEC const char *SDLCALL SDL_HapticName(int device_index); - -/** - * Open a haptic device for use. - * - * The index passed as an argument refers to the N'th haptic device on this - * system. - * - * When opening a haptic device, its gain will be set to maximum and - * autocenter will be disabled. To modify these values use SDL_HapticSetGain() - * and SDL_HapticSetAutocenter(). - * - * \param device_index index of the device to open - * \returns the device identifier or NULL on failure; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticClose - * \sa SDL_HapticIndex - * \sa SDL_HapticOpenFromJoystick - * \sa SDL_HapticOpenFromMouse - * \sa SDL_HapticPause - * \sa SDL_HapticSetAutocenter - * \sa SDL_HapticSetGain - * \sa SDL_HapticStopAll - */ -extern DECLSPEC SDL_Haptic *SDLCALL SDL_HapticOpen(int device_index); - -/** - * Check if the haptic device at the designated index has been opened. - * - * \param device_index the index of the device to query - * \returns 1 if it has been opened, 0 if it hasn't or on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticIndex - * \sa SDL_HapticOpen - */ -extern DECLSPEC int SDLCALL SDL_HapticOpened(int device_index); - -/** - * Get the index of a haptic device. - * - * \param haptic the SDL_Haptic device to query - * \returns the index of the specified haptic device or a negative error code - * on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticOpen - * \sa SDL_HapticOpened - */ -extern DECLSPEC int SDLCALL SDL_HapticIndex(SDL_Haptic * haptic); - -/** - * Query whether or not the current mouse has haptic capabilities. - * - * \returns SDL_TRUE if the mouse is haptic or SDL_FALSE if it isn't. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticOpenFromMouse - */ -extern DECLSPEC int SDLCALL SDL_MouseIsHaptic(void); - -/** - * Try to open a haptic device from the current mouse. - * - * \returns the haptic device identifier or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticOpen - * \sa SDL_MouseIsHaptic - */ -extern DECLSPEC SDL_Haptic *SDLCALL SDL_HapticOpenFromMouse(void); - -/** - * Query if a joystick has haptic features. - * - * \param joystick the SDL_Joystick to test for haptic capabilities - * \returns SDL_TRUE if the joystick is haptic, SDL_FALSE if it isn't, or a - * negative error code on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticOpenFromJoystick - */ -extern DECLSPEC int SDLCALL SDL_JoystickIsHaptic(SDL_Joystick * joystick); - -/** - * Open a haptic device for use from a joystick device. - * - * You must still close the haptic device separately. It will not be closed - * with the joystick. - * - * When opened from a joystick you should first close the haptic device before - * closing the joystick device. If not, on some implementations the haptic - * device will also get unallocated and you'll be unable to use force feedback - * on that device. - * - * \param joystick the SDL_Joystick to create a haptic device from - * \returns a valid haptic device identifier on success or NULL on failure; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticClose - * \sa SDL_HapticOpen - * \sa SDL_JoystickIsHaptic - */ -extern DECLSPEC SDL_Haptic *SDLCALL SDL_HapticOpenFromJoystick(SDL_Joystick * - joystick); - -/** - * Close a haptic device previously opened with SDL_HapticOpen(). - * - * \param haptic the SDL_Haptic device to close - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticOpen - */ -extern DECLSPEC void SDLCALL SDL_HapticClose(SDL_Haptic * haptic); - -/** - * Get the number of effects a haptic device can store. - * - * On some platforms this isn't fully supported, and therefore is an - * approximation. Always check to see if your created effect was actually - * created and do not rely solely on SDL_HapticNumEffects(). - * - * \param haptic the SDL_Haptic device to query - * \returns the number of effects the haptic device can store or a negative - * error code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticNumEffectsPlaying - * \sa SDL_HapticQuery - */ -extern DECLSPEC int SDLCALL SDL_HapticNumEffects(SDL_Haptic * haptic); - -/** - * Get the number of effects a haptic device can play at the same time. - * - * This is not supported on all platforms, but will always return a value. - * - * \param haptic the SDL_Haptic device to query maximum playing effects - * \returns the number of effects the haptic device can play at the same time - * or a negative error code on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticNumEffects - * \sa SDL_HapticQuery - */ -extern DECLSPEC int SDLCALL SDL_HapticNumEffectsPlaying(SDL_Haptic * haptic); - -/** - * Get the haptic device's supported features in bitwise manner. - * - * \param haptic the SDL_Haptic device to query - * \returns a list of supported haptic features in bitwise manner (OR'd), or 0 - * on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticEffectSupported - * \sa SDL_HapticNumEffects - */ -extern DECLSPEC unsigned int SDLCALL SDL_HapticQuery(SDL_Haptic * haptic); - - -/** - * Get the number of haptic axes the device has. - * - * The number of haptic axes might be useful if working with the - * SDL_HapticDirection effect. - * - * \param haptic the SDL_Haptic device to query - * \returns the number of axes on success or a negative error code on failure; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_HapticNumAxes(SDL_Haptic * haptic); - -/** - * Check to see if an effect is supported by a haptic device. - * - * \param haptic the SDL_Haptic device to query - * \param effect the desired effect to query - * \returns SDL_TRUE if effect is supported, SDL_FALSE if it isn't, or a - * negative error code on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticNewEffect - * \sa SDL_HapticQuery - */ -extern DECLSPEC int SDLCALL SDL_HapticEffectSupported(SDL_Haptic * haptic, - SDL_HapticEffect * - effect); - -/** - * Create a new haptic effect on a specified device. - * - * \param haptic an SDL_Haptic device to create the effect on - * \param effect an SDL_HapticEffect structure containing the properties of - * the effect to create - * \returns the ID of the effect on success or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticDestroyEffect - * \sa SDL_HapticRunEffect - * \sa SDL_HapticUpdateEffect - */ -extern DECLSPEC int SDLCALL SDL_HapticNewEffect(SDL_Haptic * haptic, - SDL_HapticEffect * effect); - -/** - * Update the properties of an effect. - * - * Can be used dynamically, although behavior when dynamically changing - * direction may be strange. Specifically the effect may re-upload itself and - * start playing from the start. You also cannot change the type either when - * running SDL_HapticUpdateEffect(). - * - * \param haptic the SDL_Haptic device that has the effect - * \param effect the identifier of the effect to update - * \param data an SDL_HapticEffect structure containing the new effect - * properties to use - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticDestroyEffect - * \sa SDL_HapticNewEffect - * \sa SDL_HapticRunEffect - */ -extern DECLSPEC int SDLCALL SDL_HapticUpdateEffect(SDL_Haptic * haptic, - int effect, - SDL_HapticEffect * data); - -/** - * Run the haptic effect on its associated haptic device. - * - * To repeat the effect over and over indefinitely, set `iterations` to - * `SDL_HAPTIC_INFINITY`. (Repeats the envelope - attack and fade.) To make - * one instance of the effect last indefinitely (so the effect does not fade), - * set the effect's `length` in its structure/union to `SDL_HAPTIC_INFINITY` - * instead. - * - * \param haptic the SDL_Haptic device to run the effect on - * \param effect the ID of the haptic effect to run - * \param iterations the number of iterations to run the effect; use - * `SDL_HAPTIC_INFINITY` to repeat forever - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticDestroyEffect - * \sa SDL_HapticGetEffectStatus - * \sa SDL_HapticStopEffect - */ -extern DECLSPEC int SDLCALL SDL_HapticRunEffect(SDL_Haptic * haptic, - int effect, - Uint32 iterations); - -/** - * Stop the haptic effect on its associated haptic device. - * - * * - * - * \param haptic the SDL_Haptic device to stop the effect on - * \param effect the ID of the haptic effect to stop - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticDestroyEffect - * \sa SDL_HapticRunEffect - */ -extern DECLSPEC int SDLCALL SDL_HapticStopEffect(SDL_Haptic * haptic, - int effect); - -/** - * Destroy a haptic effect on the device. - * - * This will stop the effect if it's running. Effects are automatically - * destroyed when the device is closed. - * - * \param haptic the SDL_Haptic device to destroy the effect on - * \param effect the ID of the haptic effect to destroy - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticNewEffect - */ -extern DECLSPEC void SDLCALL SDL_HapticDestroyEffect(SDL_Haptic * haptic, - int effect); - -/** - * Get the status of the current effect on the specified haptic device. - * - * Device must support the SDL_HAPTIC_STATUS feature. - * - * \param haptic the SDL_Haptic device to query for the effect status on - * \param effect the ID of the haptic effect to query its status - * \returns 0 if it isn't playing, 1 if it is playing, or a negative error - * code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticRunEffect - * \sa SDL_HapticStopEffect - */ -extern DECLSPEC int SDLCALL SDL_HapticGetEffectStatus(SDL_Haptic * haptic, - int effect); - -/** - * Set the global gain of the specified haptic device. - * - * Device must support the SDL_HAPTIC_GAIN feature. - * - * The user may specify the maximum gain by setting the environment variable - * `SDL_HAPTIC_GAIN_MAX` which should be between 0 and 100. All calls to - * SDL_HapticSetGain() will scale linearly using `SDL_HAPTIC_GAIN_MAX` as the - * maximum. - * - * \param haptic the SDL_Haptic device to set the gain on - * \param gain value to set the gain to, should be between 0 and 100 (0 - 100) - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticQuery - */ -extern DECLSPEC int SDLCALL SDL_HapticSetGain(SDL_Haptic * haptic, int gain); - -/** - * Set the global autocenter of the device. - * - * Autocenter should be between 0 and 100. Setting it to 0 will disable - * autocentering. - * - * Device must support the SDL_HAPTIC_AUTOCENTER feature. - * - * \param haptic the SDL_Haptic device to set autocentering on - * \param autocenter value to set autocenter to (0-100) - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticQuery - */ -extern DECLSPEC int SDLCALL SDL_HapticSetAutocenter(SDL_Haptic * haptic, - int autocenter); - -/** - * Pause a haptic device. - * - * Device must support the `SDL_HAPTIC_PAUSE` feature. Call - * SDL_HapticUnpause() to resume playback. - * - * Do not modify the effects nor add new ones while the device is paused. That - * can cause all sorts of weird errors. - * - * \param haptic the SDL_Haptic device to pause - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticUnpause - */ -extern DECLSPEC int SDLCALL SDL_HapticPause(SDL_Haptic * haptic); - -/** - * Unpause a haptic device. - * - * Call to unpause after SDL_HapticPause(). - * - * \param haptic the SDL_Haptic device to unpause - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticPause - */ -extern DECLSPEC int SDLCALL SDL_HapticUnpause(SDL_Haptic * haptic); - -/** - * Stop all the currently playing effects on a haptic device. - * - * \param haptic the SDL_Haptic device to stop - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_HapticStopAll(SDL_Haptic * haptic); - -/** - * Check whether rumble is supported on a haptic device. - * - * \param haptic haptic device to check for rumble support - * \returns SDL_TRUE if effect is supported, SDL_FALSE if it isn't, or a - * negative error code on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticRumbleInit - * \sa SDL_HapticRumblePlay - * \sa SDL_HapticRumbleStop - */ -extern DECLSPEC int SDLCALL SDL_HapticRumbleSupported(SDL_Haptic * haptic); - -/** - * Initialize a haptic device for simple rumble playback. - * - * \param haptic the haptic device to initialize for simple rumble playback - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticOpen - * \sa SDL_HapticRumblePlay - * \sa SDL_HapticRumbleStop - * \sa SDL_HapticRumbleSupported - */ -extern DECLSPEC int SDLCALL SDL_HapticRumbleInit(SDL_Haptic * haptic); - -/** - * Run a simple rumble effect on a haptic device. - * - * \param haptic the haptic device to play the rumble effect on - * \param strength strength of the rumble to play as a 0-1 float value - * \param length length of the rumble to play in milliseconds - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticRumbleInit - * \sa SDL_HapticRumbleStop - * \sa SDL_HapticRumbleSupported - */ -extern DECLSPEC int SDLCALL SDL_HapticRumblePlay(SDL_Haptic * haptic, float strength, Uint32 length ); - -/** - * Stop the simple rumble on a haptic device. - * - * \param haptic the haptic device to stop the rumble effect on - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HapticRumbleInit - * \sa SDL_HapticRumblePlay - * \sa SDL_HapticRumbleSupported - */ -extern DECLSPEC int SDLCALL SDL_HapticRumbleStop(SDL_Haptic * haptic); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_haptic_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_hidapi.h b/subprojects/sdl2_windows/include/SDL2/SDL_hidapi.h deleted file mode 100644 index 354af5c52..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_hidapi.h +++ /dev/null @@ -1,451 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_hidapi.h - * - * Header file for SDL HIDAPI functions. - * - * This is an adaptation of the original HIDAPI interface by Alan Ott, - * and includes source code licensed under the following BSD license: - * - Copyright (c) 2010, Alan Ott, Signal 11 Software - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of Signal 11 Software nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - * - * If you would like a version of SDL without this code, you can build SDL - * with SDL_HIDAPI_DISABLED defined to 1. You might want to do this for example - * on iOS or tvOS to avoid a dependency on the CoreBluetooth framework. - */ - -#ifndef SDL_hidapi_h_ -#define SDL_hidapi_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief A handle representing an open HID device - */ -struct SDL_hid_device_; -typedef struct SDL_hid_device_ SDL_hid_device; /**< opaque hidapi structure */ - -/** hidapi info structure */ -/** - * \brief Information about a connected HID device - */ -typedef struct SDL_hid_device_info -{ - /** Platform-specific device path */ - char *path; - /** Device Vendor ID */ - unsigned short vendor_id; - /** Device Product ID */ - unsigned short product_id; - /** Serial Number */ - wchar_t *serial_number; - /** Device Release Number in binary-coded decimal, - also known as Device Version Number */ - unsigned short release_number; - /** Manufacturer String */ - wchar_t *manufacturer_string; - /** Product string */ - wchar_t *product_string; - /** Usage Page for this Device/Interface - (Windows/Mac only). */ - unsigned short usage_page; - /** Usage for this Device/Interface - (Windows/Mac only).*/ - unsigned short usage; - /** The USB interface which this logical device - represents. - - * Valid on both Linux implementations in all cases. - * Valid on the Windows implementation only if the device - contains more than one interface. */ - int interface_number; - - /** Additional information about the USB interface. - Valid on libusb and Android implementations. */ - int interface_class; - int interface_subclass; - int interface_protocol; - - /** Pointer to the next device */ - struct SDL_hid_device_info *next; -} SDL_hid_device_info; - - -/** - * Initialize the HIDAPI library. - * - * This function initializes the HIDAPI library. Calling it is not strictly - * necessary, as it will be called automatically by SDL_hid_enumerate() and - * any of the SDL_hid_open_*() functions if it is needed. This function should - * be called at the beginning of execution however, if there is a chance of - * HIDAPI handles being opened by different threads simultaneously. - * - * Each call to this function should have a matching call to SDL_hid_exit() - * - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_hid_exit - */ -extern DECLSPEC int SDLCALL SDL_hid_init(void); - -/** - * Finalize the HIDAPI library. - * - * This function frees all of the static data associated with HIDAPI. It - * should be called at the end of execution to avoid memory leaks. - * - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_hid_init - */ -extern DECLSPEC int SDLCALL SDL_hid_exit(void); - -/** - * Check to see if devices may have been added or removed. - * - * Enumerating the HID devices is an expensive operation, so you can call this - * to see if there have been any system device changes since the last call to - * this function. A change in the counter returned doesn't necessarily mean - * that anything has changed, but you can call SDL_hid_enumerate() to get an - * updated device list. - * - * Calling this function for the first time may cause a thread or other system - * resource to be allocated to track device change notifications. - * - * \returns a change counter that is incremented with each potential device - * change, or 0 if device change detection isn't available. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_hid_enumerate - */ -extern DECLSPEC Uint32 SDLCALL SDL_hid_device_change_count(void); - -/** - * Enumerate the HID Devices. - * - * This function returns a linked list of all the HID devices attached to the - * system which match vendor_id and product_id. If `vendor_id` is set to 0 - * then any vendor matches. If `product_id` is set to 0 then any product - * matches. If `vendor_id` and `product_id` are both set to 0, then all HID - * devices will be returned. - * - * \param vendor_id The Vendor ID (VID) of the types of device to open. - * \param product_id The Product ID (PID) of the types of device to open. - * \returns a pointer to a linked list of type SDL_hid_device_info, containing - * information about the HID devices attached to the system, or NULL - * in the case of failure. Free this linked list by calling - * SDL_hid_free_enumeration(). - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_hid_device_change_count - */ -extern DECLSPEC SDL_hid_device_info * SDLCALL SDL_hid_enumerate(unsigned short vendor_id, unsigned short product_id); - -/** - * Free an enumeration Linked List - * - * This function frees a linked list created by SDL_hid_enumerate(). - * - * \param devs Pointer to a list of struct_device returned from - * SDL_hid_enumerate(). - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC void SDLCALL SDL_hid_free_enumeration(SDL_hid_device_info *devs); - -/** - * Open a HID device using a Vendor ID (VID), Product ID (PID) and optionally - * a serial number. - * - * If `serial_number` is NULL, the first device with the specified VID and PID - * is opened. - * - * \param vendor_id The Vendor ID (VID) of the device to open. - * \param product_id The Product ID (PID) of the device to open. - * \param serial_number The Serial Number of the device to open (Optionally - * NULL). - * \returns a pointer to a SDL_hid_device object on success or NULL on - * failure. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC SDL_hid_device * SDLCALL SDL_hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number); - -/** - * Open a HID device by its path name. - * - * The path name be determined by calling SDL_hid_enumerate(), or a - * platform-specific path name can be used (eg: /dev/hidraw0 on Linux). - * - * \param path The path name of the device to open - * \returns a pointer to a SDL_hid_device object on success or NULL on - * failure. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC SDL_hid_device * SDLCALL SDL_hid_open_path(const char *path, int bExclusive /* = false */); - -/** - * Write an Output report to a HID device. - * - * The first byte of `data` must contain the Report ID. For devices which only - * support a single report, this must be set to 0x0. The remaining bytes - * contain the report data. Since the Report ID is mandatory, calls to - * SDL_hid_write() will always contain one more byte than the report contains. - * For example, if a hid report is 16 bytes long, 17 bytes must be passed to - * SDL_hid_write(), the Report ID (or 0x0, for devices with a single report), - * followed by the report data (16 bytes). In this example, the length passed - * in would be 17. - * - * SDL_hid_write() will send the data on the first OUT endpoint, if one - * exists. If it does not, it will send the data through the Control Endpoint - * (Endpoint 0). - * - * \param dev A device handle returned from SDL_hid_open(). - * \param data The data to send, including the report number as the first - * byte. - * \param length The length in bytes of the data to send. - * \returns the actual number of bytes written and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_write(SDL_hid_device *dev, const unsigned char *data, size_t length); - -/** - * Read an Input report from a HID device with timeout. - * - * Input reports are returned to the host through the INTERRUPT IN endpoint. - * The first byte will contain the Report number if the device uses numbered - * reports. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param data A buffer to put the read data into. - * \param length The number of bytes to read. For devices with multiple - * reports, make sure to read an extra byte for the report - * number. - * \param milliseconds timeout in milliseconds or -1 for blocking wait. - * \returns the actual number of bytes read and -1 on error. If no packet was - * available to be read within the timeout period, this function - * returns 0. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_read_timeout(SDL_hid_device *dev, unsigned char *data, size_t length, int milliseconds); - -/** - * Read an Input report from a HID device. - * - * Input reports are returned to the host through the INTERRUPT IN endpoint. - * The first byte will contain the Report number if the device uses numbered - * reports. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param data A buffer to put the read data into. - * \param length The number of bytes to read. For devices with multiple - * reports, make sure to read an extra byte for the report - * number. - * \returns the actual number of bytes read and -1 on error. If no packet was - * available to be read and the handle is in non-blocking mode, this - * function returns 0. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_read(SDL_hid_device *dev, unsigned char *data, size_t length); - -/** - * Set the device handle to be non-blocking. - * - * In non-blocking mode calls to SDL_hid_read() will return immediately with a - * value of 0 if there is no data to be read. In blocking mode, SDL_hid_read() - * will wait (block) until there is data to read before returning. - * - * Nonblocking can be turned on and off at any time. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param nonblock enable or not the nonblocking reads - 1 to enable - * nonblocking - 0 to disable nonblocking. - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_set_nonblocking(SDL_hid_device *dev, int nonblock); - -/** - * Send a Feature report to the device. - * - * Feature reports are sent over the Control endpoint as a Set_Report - * transfer. The first byte of `data` must contain the Report ID. For devices - * which only support a single report, this must be set to 0x0. The remaining - * bytes contain the report data. Since the Report ID is mandatory, calls to - * SDL_hid_send_feature_report() will always contain one more byte than the - * report contains. For example, if a hid report is 16 bytes long, 17 bytes - * must be passed to SDL_hid_send_feature_report(): the Report ID (or 0x0, for - * devices which do not use numbered reports), followed by the report data (16 - * bytes). In this example, the length passed in would be 17. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param data The data to send, including the report number as the first - * byte. - * \param length The length in bytes of the data to send, including the report - * number. - * \returns the actual number of bytes written and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_send_feature_report(SDL_hid_device *dev, const unsigned char *data, size_t length); - -/** - * Get a feature report from a HID device. - * - * Set the first byte of `data` to the Report ID of the report to be read. - * Make sure to allow space for this extra byte in `data`. Upon return, the - * first byte will still contain the Report ID, and the report data will start - * in data[1]. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param data A buffer to put the read data into, including the Report ID. - * Set the first byte of `data` to the Report ID of the report to - * be read, or set it to zero if your device does not use numbered - * reports. - * \param length The number of bytes to read, including an extra byte for the - * report ID. The buffer can be longer than the actual report. - * \returns the number of bytes read plus one for the report ID (which is - * still in the first byte), or -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_get_feature_report(SDL_hid_device *dev, unsigned char *data, size_t length); - -/** - * Close a HID device. - * - * \param dev A device handle returned from SDL_hid_open(). - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC void SDLCALL SDL_hid_close(SDL_hid_device *dev); - -/** - * Get The Manufacturer String from a HID device. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param string A wide string buffer to put the data into. - * \param maxlen The length of the buffer in multiples of wchar_t. - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_get_manufacturer_string(SDL_hid_device *dev, wchar_t *string, size_t maxlen); - -/** - * Get The Product String from a HID device. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param string A wide string buffer to put the data into. - * \param maxlen The length of the buffer in multiples of wchar_t. - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_get_product_string(SDL_hid_device *dev, wchar_t *string, size_t maxlen); - -/** - * Get The Serial Number String from a HID device. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param string A wide string buffer to put the data into. - * \param maxlen The length of the buffer in multiples of wchar_t. - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_get_serial_number_string(SDL_hid_device *dev, wchar_t *string, size_t maxlen); - -/** - * Get a string from a HID device, based on its string index. - * - * \param dev A device handle returned from SDL_hid_open(). - * \param string_index The index of the string to get. - * \param string A wide string buffer to put the data into. - * \param maxlen The length of the buffer in multiples of wchar_t. - * \returns 0 on success and -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_hid_get_indexed_string(SDL_hid_device *dev, int string_index, wchar_t *string, size_t maxlen); - -/** - * Start or stop a BLE scan on iOS and tvOS to pair Steam Controllers - * - * \param active SDL_TRUE to start the scan, SDL_FALSE to stop the scan - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC void SDLCALL SDL_hid_ble_scan(SDL_bool active); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_hidapi_h_ */ - -/* vi: set sts=4 ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_hints.h b/subprojects/sdl2_windows/include/SDL2/SDL_hints.h deleted file mode 100644 index 76a74f0ff..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_hints.h +++ /dev/null @@ -1,2569 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_hints.h - * - * Official documentation for SDL configuration variables - * - * This file contains functions to set and get configuration hints, - * as well as listing each of them alphabetically. - * - * The convention for naming hints is SDL_HINT_X, where "SDL_X" is - * the environment variable that can be used to override the default. - * - * In general these hints are just that - they may or may not be - * supported or applicable on any given platform, but they provide - * a way for an application or user to give the library a hint as - * to how they would like the library to work. - */ - -#ifndef SDL_hints_h_ -#define SDL_hints_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief A variable controlling whether the Android / iOS built-in - * accelerometer should be listed as a joystick device. - * - * This variable can be set to the following values: - * "0" - The accelerometer is not listed as a joystick - * "1" - The accelerometer is available as a 3 axis joystick (the default). - */ -#define SDL_HINT_ACCELEROMETER_AS_JOYSTICK "SDL_ACCELEROMETER_AS_JOYSTICK" - -/** - * \brief Specify the behavior of Alt+Tab while the keyboard is grabbed. - * - * By default, SDL emulates Alt+Tab functionality while the keyboard is grabbed - * and your window is full-screen. This prevents the user from getting stuck in - * your application if you've enabled keyboard grab. - * - * The variable can be set to the following values: - * "0" - SDL will not handle Alt+Tab. Your application is responsible - for handling Alt+Tab while the keyboard is grabbed. - * "1" - SDL will minimize your window when Alt+Tab is pressed (default) -*/ -#define SDL_HINT_ALLOW_ALT_TAB_WHILE_GRABBED "SDL_ALLOW_ALT_TAB_WHILE_GRABBED" - -/** - * \brief If set to "0" then never set the top most bit on a SDL Window, even if the video mode expects it. - * This is a debugging aid for developers and not expected to be used by end users. The default is "1" - * - * This variable can be set to the following values: - * "0" - don't allow topmost - * "1" - allow topmost - */ -#define SDL_HINT_ALLOW_TOPMOST "SDL_ALLOW_TOPMOST" - -/** - * \brief Android APK expansion main file version. Should be a string number like "1", "2" etc. - * - * Must be set together with SDL_HINT_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION. - * - * If both hints were set then SDL_RWFromFile() will look into expansion files - * after a given relative path was not found in the internal storage and assets. - * - * By default this hint is not set and the APK expansion files are not searched. - */ -#define SDL_HINT_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION "SDL_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION" - -/** - * \brief Android APK expansion patch file version. Should be a string number like "1", "2" etc. - * - * Must be set together with SDL_HINT_ANDROID_APK_EXPANSION_MAIN_FILE_VERSION. - * - * If both hints were set then SDL_RWFromFile() will look into expansion files - * after a given relative path was not found in the internal storage and assets. - * - * By default this hint is not set and the APK expansion files are not searched. - */ -#define SDL_HINT_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION "SDL_ANDROID_APK_EXPANSION_PATCH_FILE_VERSION" - -/** - * \brief A variable to control whether the event loop will block itself when the app is paused. - * - * The variable can be set to the following values: - * "0" - Non blocking. - * "1" - Blocking. (default) - * - * The value should be set before SDL is initialized. - */ -#define SDL_HINT_ANDROID_BLOCK_ON_PAUSE "SDL_ANDROID_BLOCK_ON_PAUSE" - -/** - * \brief A variable to control whether SDL will pause audio in background - * (Requires SDL_ANDROID_BLOCK_ON_PAUSE as "Non blocking") - * - * The variable can be set to the following values: - * "0" - Non paused. - * "1" - Paused. (default) - * - * The value should be set before SDL is initialized. - */ -#define SDL_HINT_ANDROID_BLOCK_ON_PAUSE_PAUSEAUDIO "SDL_ANDROID_BLOCK_ON_PAUSE_PAUSEAUDIO" - -/** - * \brief A variable to control whether we trap the Android back button to handle it manually. - * This is necessary for the right mouse button to work on some Android devices, or - * to be able to trap the back button for use in your code reliably. If set to true, - * the back button will show up as an SDL_KEYDOWN / SDL_KEYUP pair with a keycode of - * SDL_SCANCODE_AC_BACK. - * - * The variable can be set to the following values: - * "0" - Back button will be handled as usual for system. (default) - * "1" - Back button will be trapped, allowing you to handle the key press - * manually. (This will also let right mouse click work on systems - * where the right mouse button functions as back.) - * - * The value of this hint is used at runtime, so it can be changed at any time. - */ -#define SDL_HINT_ANDROID_TRAP_BACK_BUTTON "SDL_ANDROID_TRAP_BACK_BUTTON" - -/** - * \brief Specify an application name. - * - * This hint lets you specify the application name sent to the OS when - * required. For example, this will often appear in volume control applets for - * audio streams, and in lists of applications which are inhibiting the - * screensaver. You should use a string that describes your program ("My Game - * 2: The Revenge") - * - * Setting this to "" or leaving it unset will have SDL use a reasonable - * default: probably the application's name or "SDL Application" if SDL - * doesn't have any better information. - * - * Note that, for audio streams, this can be overridden with - * SDL_HINT_AUDIO_DEVICE_APP_NAME. - * - * On targets where this is not supported, this hint does nothing. - */ -#define SDL_HINT_APP_NAME "SDL_APP_NAME" - -/** - * \brief A variable controlling whether controllers used with the Apple TV - * generate UI events. - * - * When UI events are generated by controller input, the app will be - * backgrounded when the Apple TV remote's menu button is pressed, and when the - * pause or B buttons on gamepads are pressed. - * - * More information about properly making use of controllers for the Apple TV - * can be found here: - * https://developer.apple.com/tvos/human-interface-guidelines/remote-and-controllers/ - * - * This variable can be set to the following values: - * "0" - Controller input does not generate UI events (the default). - * "1" - Controller input generates UI events. - */ -#define SDL_HINT_APPLE_TV_CONTROLLER_UI_EVENTS "SDL_APPLE_TV_CONTROLLER_UI_EVENTS" - -/** - * \brief A variable controlling whether the Apple TV remote's joystick axes - * will automatically match the rotation of the remote. - * - * This variable can be set to the following values: - * "0" - Remote orientation does not affect joystick axes (the default). - * "1" - Joystick axes are based on the orientation of the remote. - */ -#define SDL_HINT_APPLE_TV_REMOTE_ALLOW_ROTATION "SDL_APPLE_TV_REMOTE_ALLOW_ROTATION" - -/** - * \brief A variable controlling the audio category on iOS and Mac OS X - * - * This variable can be set to the following values: - * - * "ambient" - Use the AVAudioSessionCategoryAmbient audio category, will be muted by the phone mute switch (default) - * "playback" - Use the AVAudioSessionCategoryPlayback category - * - * For more information, see Apple's documentation: - * https://developer.apple.com/library/content/documentation/Audio/Conceptual/AudioSessionProgrammingGuide/AudioSessionCategoriesandModes/AudioSessionCategoriesandModes.html - */ -#define SDL_HINT_AUDIO_CATEGORY "SDL_AUDIO_CATEGORY" - -/** - * \brief Specify an application name for an audio device. - * - * Some audio backends (such as PulseAudio) allow you to describe your audio - * stream. Among other things, this description might show up in a system - * control panel that lets the user adjust the volume on specific audio - * streams instead of using one giant master volume slider. - * - * This hints lets you transmit that information to the OS. The contents of - * this hint are used while opening an audio device. You should use a string - * that describes your program ("My Game 2: The Revenge") - * - * Setting this to "" or leaving it unset will have SDL use a reasonable - * default: this will be the name set with SDL_HINT_APP_NAME, if that hint is - * set. Otherwise, it'll probably the application's name or "SDL Application" - * if SDL doesn't have any better information. - * - * On targets where this is not supported, this hint does nothing. - */ -#define SDL_HINT_AUDIO_DEVICE_APP_NAME "SDL_AUDIO_DEVICE_APP_NAME" - -/** - * \brief Specify an application name for an audio device. - * - * Some audio backends (such as PulseAudio) allow you to describe your audio - * stream. Among other things, this description might show up in a system - * control panel that lets the user adjust the volume on specific audio - * streams instead of using one giant master volume slider. - * - * This hints lets you transmit that information to the OS. The contents of - * this hint are used while opening an audio device. You should use a string - * that describes your what your program is playing ("audio stream" is - * probably sufficient in many cases, but this could be useful for something - * like "team chat" if you have a headset playing VoIP audio separately). - * - * Setting this to "" or leaving it unset will have SDL use a reasonable - * default: "audio stream" or something similar. - * - * On targets where this is not supported, this hint does nothing. - */ -#define SDL_HINT_AUDIO_DEVICE_STREAM_NAME "SDL_AUDIO_DEVICE_STREAM_NAME" - -/** - * \brief Specify an application role for an audio device. - * - * Some audio backends (such as Pipewire) allow you to describe the role of - * your audio stream. Among other things, this description might show up in - * a system control panel or software for displaying and manipulating media - * playback/capture graphs. - * - * This hints lets you transmit that information to the OS. The contents of - * this hint are used while opening an audio device. You should use a string - * that describes your what your program is playing (Game, Music, Movie, - * etc...). - * - * Setting this to "" or leaving it unset will have SDL use a reasonable - * default: "Game" or something similar. - * - * On targets where this is not supported, this hint does nothing. - */ -#define SDL_HINT_AUDIO_DEVICE_STREAM_ROLE "SDL_AUDIO_DEVICE_STREAM_ROLE" - -/** - * \brief A variable controlling speed/quality tradeoff of audio resampling. - * - * If available, SDL can use libsamplerate ( http://www.mega-nerd.com/SRC/ ) - * to handle audio resampling. There are different resampling modes available - * that produce different levels of quality, using more CPU. - * - * If this hint isn't specified to a valid setting, or libsamplerate isn't - * available, SDL will use the default, internal resampling algorithm. - * - * As of SDL 2.26, SDL_ConvertAudio() respects this hint when libsamplerate is available. - * - * This hint is currently only checked at audio subsystem initialization. - * - * This variable can be set to the following values: - * - * "0" or "default" - Use SDL's internal resampling (Default when not set - low quality, fast) - * "1" or "fast" - Use fast, slightly higher quality resampling, if available - * "2" or "medium" - Use medium quality resampling, if available - * "3" or "best" - Use high quality resampling, if available - */ -#define SDL_HINT_AUDIO_RESAMPLING_MODE "SDL_AUDIO_RESAMPLING_MODE" - -/** - * \brief A variable controlling whether SDL updates joystick state when getting input events - * - * This variable can be set to the following values: - * - * "0" - You'll call SDL_JoystickUpdate() manually - * "1" - SDL will automatically call SDL_JoystickUpdate() (default) - * - * This hint can be toggled on and off at runtime. - */ -#define SDL_HINT_AUTO_UPDATE_JOYSTICKS "SDL_AUTO_UPDATE_JOYSTICKS" - -/** - * \brief A variable controlling whether SDL updates sensor state when getting input events - * - * This variable can be set to the following values: - * - * "0" - You'll call SDL_SensorUpdate() manually - * "1" - SDL will automatically call SDL_SensorUpdate() (default) - * - * This hint can be toggled on and off at runtime. - */ -#define SDL_HINT_AUTO_UPDATE_SENSORS "SDL_AUTO_UPDATE_SENSORS" - -/** - * \brief Prevent SDL from using version 4 of the bitmap header when saving BMPs. - * - * The bitmap header version 4 is required for proper alpha channel support and - * SDL will use it when required. Should this not be desired, this hint can - * force the use of the 40 byte header version which is supported everywhere. - * - * The variable can be set to the following values: - * "0" - Surfaces with a colorkey or an alpha channel are saved to a - * 32-bit BMP file with an alpha mask. SDL will use the bitmap - * header version 4 and set the alpha mask accordingly. - * "1" - Surfaces with a colorkey or an alpha channel are saved to a - * 32-bit BMP file without an alpha mask. The alpha channel data - * will be in the file, but applications are going to ignore it. - * - * The default value is "0". - */ -#define SDL_HINT_BMP_SAVE_LEGACY_FORMAT "SDL_BMP_SAVE_LEGACY_FORMAT" - -/** - * \brief Override for SDL_GetDisplayUsableBounds() - * - * If set, this hint will override the expected results for - * SDL_GetDisplayUsableBounds() for display index 0. Generally you don't want - * to do this, but this allows an embedded system to request that some of the - * screen be reserved for other uses when paired with a well-behaved - * application. - * - * The contents of this hint must be 4 comma-separated integers, the first - * is the bounds x, then y, width and height, in that order. - */ -#define SDL_HINT_DISPLAY_USABLE_BOUNDS "SDL_DISPLAY_USABLE_BOUNDS" - -/** - * \brief Disable giving back control to the browser automatically - * when running with asyncify - * - * With -s ASYNCIFY, SDL2 calls emscripten_sleep during operations - * such as refreshing the screen or polling events. - * - * This hint only applies to the emscripten platform - * - * The variable can be set to the following values: - * "0" - Disable emscripten_sleep calls (if you give back browser control manually or use asyncify for other purposes) - * "1" - Enable emscripten_sleep calls (the default) - */ -#define SDL_HINT_EMSCRIPTEN_ASYNCIFY "SDL_EMSCRIPTEN_ASYNCIFY" - -/** - * \brief override the binding element for keyboard inputs for Emscripten builds - * - * This hint only applies to the emscripten platform - * - * The variable can be one of - * "#window" - The javascript window object (this is the default) - * "#document" - The javascript document object - * "#screen" - the javascript window.screen object - * "#canvas" - the WebGL canvas element - * any other string without a leading # sign applies to the element on the page with that ID. - */ -#define SDL_HINT_EMSCRIPTEN_KEYBOARD_ELEMENT "SDL_EMSCRIPTEN_KEYBOARD_ELEMENT" - -/** - * \brief A variable that controls whether Steam Controllers should be exposed using the SDL joystick and game controller APIs - * - * The variable can be set to the following values: - * "0" - Do not scan for Steam Controllers - * "1" - Scan for Steam Controllers (the default) - * - * The default value is "1". This hint must be set before initializing the joystick subsystem. - */ -#define SDL_HINT_ENABLE_STEAM_CONTROLLERS "SDL_ENABLE_STEAM_CONTROLLERS" - -/** - * \brief A variable controlling verbosity of the logging of SDL events pushed onto the internal queue. - * - * This variable can be set to the following values, from least to most verbose: - * - * "0" - Don't log any events (default) - * "1" - Log most events (other than the really spammy ones). - * "2" - Include mouse and finger motion events. - * "3" - Include SDL_SysWMEvent events. - * - * This is generally meant to be used to debug SDL itself, but can be useful - * for application developers that need better visibility into what is going - * on in the event queue. Logged events are sent through SDL_Log(), which - * means by default they appear on stdout on most platforms or maybe - * OutputDebugString() on Windows, and can be funneled by the app with - * SDL_LogSetOutputFunction(), etc. - * - * This hint can be toggled on and off at runtime, if you only need to log - * events for a small subset of program execution. - */ -#define SDL_HINT_EVENT_LOGGING "SDL_EVENT_LOGGING" - -/** - * \brief A variable controlling whether raising the window should be done more forcefully - * - * This variable can be set to the following values: - * "0" - No forcing (the default) - * "1" - Extra level of forcing - * - * At present, this is only an issue under MS Windows, which makes it nearly impossible to - * programmatically move a window to the foreground, for "security" reasons. See - * http://stackoverflow.com/a/34414846 for a discussion. - */ -#define SDL_HINT_FORCE_RAISEWINDOW "SDL_HINT_FORCE_RAISEWINDOW" - -/** - * \brief A variable controlling how 3D acceleration is used to accelerate the SDL screen surface. - * - * SDL can try to accelerate the SDL screen surface by using streaming - * textures with a 3D rendering engine. This variable controls whether and - * how this is done. - * - * This variable can be set to the following values: - * "0" - Disable 3D acceleration - * "1" - Enable 3D acceleration, using the default renderer. - * "X" - Enable 3D acceleration, using X where X is one of the valid rendering drivers. (e.g. "direct3d", "opengl", etc.) - * - * By default SDL tries to make a best guess for each platform whether - * to use acceleration or not. - */ -#define SDL_HINT_FRAMEBUFFER_ACCELERATION "SDL_FRAMEBUFFER_ACCELERATION" - -/** - * \brief A variable that lets you manually hint extra gamecontroller db entries. - * - * The variable should be newline delimited rows of gamecontroller config data, see SDL_gamecontroller.h - * - * This hint must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) - * You can update mappings after the system is initialized with SDL_GameControllerMappingForGUID() and SDL_GameControllerAddMapping() - */ -#define SDL_HINT_GAMECONTROLLERCONFIG "SDL_GAMECONTROLLERCONFIG" - -/** - * \brief A variable that lets you provide a file with extra gamecontroller db entries. - * - * The file should contain lines of gamecontroller config data, see SDL_gamecontroller.h - * - * This hint must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) - * You can update mappings after the system is initialized with SDL_GameControllerMappingForGUID() and SDL_GameControllerAddMapping() - */ -#define SDL_HINT_GAMECONTROLLERCONFIG_FILE "SDL_GAMECONTROLLERCONFIG_FILE" - -/** - * \brief A variable that overrides the automatic controller type detection - * - * The variable should be comma separated entries, in the form: VID/PID=type - * - * The VID and PID should be hexadecimal with exactly 4 digits, e.g. 0x00fd - * - * The type should be one of: - * Xbox360 - * XboxOne - * PS3 - * PS4 - * PS5 - * SwitchPro - * - * This hint affects what driver is used, and must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) - */ -#define SDL_HINT_GAMECONTROLLERTYPE "SDL_GAMECONTROLLERTYPE" - -/** - * \brief A variable containing a list of devices to skip when scanning for game controllers. - * - * The format of the string is a comma separated list of USB VID/PID pairs - * in hexadecimal form, e.g. - * - * 0xAAAA/0xBBBB,0xCCCC/0xDDDD - * - * The variable can also take the form of @file, in which case the named - * file will be loaded and interpreted as the value of the variable. - */ -#define SDL_HINT_GAMECONTROLLER_IGNORE_DEVICES "SDL_GAMECONTROLLER_IGNORE_DEVICES" - -/** - * \brief If set, all devices will be skipped when scanning for game controllers except for the ones listed in this variable. - * - * The format of the string is a comma separated list of USB VID/PID pairs - * in hexadecimal form, e.g. - * - * 0xAAAA/0xBBBB,0xCCCC/0xDDDD - * - * The variable can also take the form of @file, in which case the named - * file will be loaded and interpreted as the value of the variable. - */ -#define SDL_HINT_GAMECONTROLLER_IGNORE_DEVICES_EXCEPT "SDL_GAMECONTROLLER_IGNORE_DEVICES_EXCEPT" - -/** - * \brief If set, game controller face buttons report their values according to their labels instead of their positional layout. - * - * For example, on Nintendo Switch controllers, normally you'd get: - * - * (Y) - * (X) (B) - * (A) - * - * but if this hint is set, you'll get: - * - * (X) - * (Y) (A) - * (B) - * - * The variable can be set to the following values: - * "0" - Report the face buttons by position, as though they were on an Xbox controller. - * "1" - Report the face buttons by label instead of position - * - * The default value is "1". This hint may be set at any time. - */ -#define SDL_HINT_GAMECONTROLLER_USE_BUTTON_LABELS "SDL_GAMECONTROLLER_USE_BUTTON_LABELS" - -/** - * \brief A variable controlling whether grabbing input grabs the keyboard - * - * This variable can be set to the following values: - * "0" - Grab will affect only the mouse - * "1" - Grab will affect mouse and keyboard - * - * By default SDL will not grab the keyboard so system shortcuts still work. - */ -#define SDL_HINT_GRAB_KEYBOARD "SDL_GRAB_KEYBOARD" - -/** - * \brief A variable containing a list of devices to ignore in SDL_hid_enumerate() - * - * For example, to ignore the Shanwan DS3 controller and any Valve controller, you might - * have the string "0x2563/0x0523,0x28de/0x0000" - */ -#define SDL_HINT_HIDAPI_IGNORE_DEVICES "SDL_HIDAPI_IGNORE_DEVICES" - -/** - * \brief A variable controlling whether the idle timer is disabled on iOS. - * - * When an iOS app does not receive touches for some time, the screen is - * dimmed automatically. For games where the accelerometer is the only input - * this is problematic. This functionality can be disabled by setting this - * hint. - * - * As of SDL 2.0.4, SDL_EnableScreenSaver() and SDL_DisableScreenSaver() - * accomplish the same thing on iOS. They should be preferred over this hint. - * - * This variable can be set to the following values: - * "0" - Enable idle timer - * "1" - Disable idle timer - */ -#define SDL_HINT_IDLE_TIMER_DISABLED "SDL_IOS_IDLE_TIMER_DISABLED" - -/** - * \brief A variable to control whether certain IMEs should handle text editing internally instead of sending SDL_TEXTEDITING events. - * - * The variable can be set to the following values: - * "0" - SDL_TEXTEDITING events are sent, and it is the application's - * responsibility to render the text from these events and - * differentiate it somehow from committed text. (default) - * "1" - If supported by the IME then SDL_TEXTEDITING events are not sent, - * and text that is being composed will be rendered in its own UI. - */ -#define SDL_HINT_IME_INTERNAL_EDITING "SDL_IME_INTERNAL_EDITING" - -/** - * \brief A variable to control whether certain IMEs should show native UI components (such as the Candidate List) instead of suppressing them. - * - * The variable can be set to the following values: - * "0" - Native UI components are not display. (default) - * "1" - Native UI components are displayed. - */ -#define SDL_HINT_IME_SHOW_UI "SDL_IME_SHOW_UI" - -/** - * \brief A variable to control if extended IME text support is enabled. - * If enabled then SDL_TextEditingExtEvent will be issued if the text would be truncated otherwise. - * Additionally SDL_TextInputEvent will be dispatched multiple times so that it is not truncated. - * - * The variable can be set to the following values: - * "0" - Legacy behavior. Text can be truncated, no heap allocations. (default) - * "1" - Modern behavior. - */ -#define SDL_HINT_IME_SUPPORT_EXTENDED_TEXT "SDL_IME_SUPPORT_EXTENDED_TEXT" - -/** - * \brief A variable controlling whether the home indicator bar on iPhone X - * should be hidden. - * - * This variable can be set to the following values: - * "0" - The indicator bar is not hidden (default for windowed applications) - * "1" - The indicator bar is hidden and is shown when the screen is touched (useful for movie playback applications) - * "2" - The indicator bar is dim and the first swipe makes it visible and the second swipe performs the "home" action (default for fullscreen applications) - */ -#define SDL_HINT_IOS_HIDE_HOME_INDICATOR "SDL_IOS_HIDE_HOME_INDICATOR" - -/** - * \brief A variable that lets you enable joystick (and gamecontroller) events even when your app is in the background. - * - * The variable can be set to the following values: - * "0" - Disable joystick & gamecontroller input events when the - * application is in the background. - * "1" - Enable joystick & gamecontroller input events when the - * application is in the background. - * - * The default value is "0". This hint may be set at any time. - */ -#define SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS "SDL_JOYSTICK_ALLOW_BACKGROUND_EVENTS" - -/** - * \brief A variable controlling whether the HIDAPI joystick drivers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI drivers are not used - * "1" - HIDAPI drivers are used (the default) - * - * This variable is the default for all drivers, but can be overridden by the hints for specific drivers below. - */ -#define SDL_HINT_JOYSTICK_HIDAPI "SDL_JOYSTICK_HIDAPI" - -/** - * \brief A variable controlling whether the HIDAPI driver for Nintendo GameCube controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_GAMECUBE "SDL_JOYSTICK_HIDAPI_GAMECUBE" - -/** - * \brief A variable controlling whether "low_frequency_rumble" and "high_frequency_rumble" is used to implement - * the GameCube controller's 3 rumble modes, Stop(0), Rumble(1), and StopHard(2) - * this is useful for applications that need full compatibility for things like ADSR envelopes. - * Stop is implemented by setting "low_frequency_rumble" to "0" and "high_frequency_rumble" ">0" - * Rumble is both at any arbitrary value, - * StopHard is implemented by setting both "low_frequency_rumble" and "high_frequency_rumble" to "0" - * - * This variable can be set to the following values: - * "0" - Normal rumble behavior is behavior is used (default) - * "1" - Proper GameCube controller rumble behavior is used - * - */ -#define SDL_HINT_JOYSTICK_GAMECUBE_RUMBLE_BRAKE "SDL_JOYSTICK_GAMECUBE_RUMBLE_BRAKE" - -/** - * \brief A variable controlling whether the HIDAPI driver for Nintendo Switch Joy-Cons should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS "SDL_JOYSTICK_HIDAPI_JOY_CONS" - -/** - * \brief A variable controlling whether Nintendo Switch Joy-Con controllers will be combined into a single Pro-like controller when using the HIDAPI driver - * - * This variable can be set to the following values: - * "0" - Left and right Joy-Con controllers will not be combined and each will be a mini-gamepad - * "1" - Left and right Joy-Con controllers will be combined into a single controller (the default) - */ -#define SDL_HINT_JOYSTICK_HIDAPI_COMBINE_JOY_CONS "SDL_JOYSTICK_HIDAPI_COMBINE_JOY_CONS" - -/** - * \brief A variable controlling whether Nintendo Switch Joy-Con controllers will be in vertical mode when using the HIDAPI driver - * - * This variable can be set to the following values: - * "0" - Left and right Joy-Con controllers will not be in vertical mode (the default) - * "1" - Left and right Joy-Con controllers will be in vertical mode - * - * This hint must be set before calling SDL_Init(SDL_INIT_GAMECONTROLLER) - */ -#define SDL_HINT_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS "SDL_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS" - -/** - * \brief A variable controlling whether the HIDAPI driver for Amazon Luna controllers connected via Bluetooth should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_LUNA "SDL_JOYSTICK_HIDAPI_LUNA" - -/** - * \brief A variable controlling whether the HIDAPI driver for Nintendo Online classic controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC "SDL_JOYSTICK_HIDAPI_NINTENDO_CLASSIC" - -/** - * \brief A variable controlling whether the HIDAPI driver for NVIDIA SHIELD controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_SHIELD "SDL_JOYSTICK_HIDAPI_SHIELD" - -/** - * \brief A variable controlling whether the HIDAPI driver for PS3 controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI on macOS, and "0" on other platforms. - * - * It is not possible to use this driver on Windows, due to limitations in the default drivers - * installed. See https://github.com/ViGEm/DsHidMini for an alternative driver on Windows. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_PS3 "SDL_JOYSTICK_HIDAPI_PS3" - -/** - * \brief A variable controlling whether the HIDAPI driver for PS4 controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_PS4 "SDL_JOYSTICK_HIDAPI_PS4" - -/** - * \brief A variable controlling whether extended input reports should be used for PS4 controllers when using the HIDAPI driver. - * - * This variable can be set to the following values: - * "0" - extended reports are not enabled (the default) - * "1" - extended reports - * - * Extended input reports allow rumble on Bluetooth PS4 controllers, but - * break DirectInput handling for applications that don't use SDL. - * - * Once extended reports are enabled, they can not be disabled without - * power cycling the controller. - * - * For compatibility with applications written for versions of SDL prior - * to the introduction of PS5 controller support, this value will also - * control the state of extended reports on PS5 controllers when the - * SDL_HINT_JOYSTICK_HIDAPI_PS5_RUMBLE hint is not explicitly set. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_PS4_RUMBLE "SDL_JOYSTICK_HIDAPI_PS4_RUMBLE" - -/** - * \brief A variable controlling whether the HIDAPI driver for PS5 controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_PS5 "SDL_JOYSTICK_HIDAPI_PS5" - -/** - * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with a PS5 controller. - * - * This variable can be set to the following values: - * "0" - player LEDs are not enabled - * "1" - player LEDs are enabled (the default) - */ -#define SDL_HINT_JOYSTICK_HIDAPI_PS5_PLAYER_LED "SDL_JOYSTICK_HIDAPI_PS5_PLAYER_LED" - -/** - * \brief A variable controlling whether extended input reports should be used for PS5 controllers when using the HIDAPI driver. - * - * This variable can be set to the following values: - * "0" - extended reports are not enabled (the default) - * "1" - extended reports - * - * Extended input reports allow rumble on Bluetooth PS5 controllers, but - * break DirectInput handling for applications that don't use SDL. - * - * Once extended reports are enabled, they can not be disabled without - * power cycling the controller. - * - * For compatibility with applications written for versions of SDL prior - * to the introduction of PS5 controller support, this value defaults to - * the value of SDL_HINT_JOYSTICK_HIDAPI_PS4_RUMBLE. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_PS5_RUMBLE "SDL_JOYSTICK_HIDAPI_PS5_RUMBLE" - -/** - * \brief A variable controlling whether the HIDAPI driver for Google Stadia controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_STADIA "SDL_JOYSTICK_HIDAPI_STADIA" - -/** - * \brief A variable controlling whether the HIDAPI driver for Bluetooth Steam Controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used for Steam Controllers, which requires Bluetooth access - * and may prompt the user for permission on iOS and Android. - * - * The default is "0" - */ -#define SDL_HINT_JOYSTICK_HIDAPI_STEAM "SDL_JOYSTICK_HIDAPI_STEAM" - -/** - * \brief A variable controlling whether the HIDAPI driver for Nintendo Switch controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_SWITCH "SDL_JOYSTICK_HIDAPI_SWITCH" - -/** - * \brief A variable controlling whether the Home button LED should be turned on when a Nintendo Switch Pro controller is opened - * - * This variable can be set to the following values: - * "0" - home button LED is turned off - * "1" - home button LED is turned on - * - * By default the Home button LED state is not changed. This hint can also be set to a floating point value between 0.0 and 1.0 which controls the brightness of the Home button LED. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_SWITCH_HOME_LED "SDL_JOYSTICK_HIDAPI_SWITCH_HOME_LED" - -/** - * \brief A variable controlling whether the Home button LED should be turned on when a Nintendo Switch Joy-Con controller is opened - * - * This variable can be set to the following values: - * "0" - home button LED is turned off - * "1" - home button LED is turned on - * - * By default the Home button LED state is not changed. This hint can also be set to a floating point value between 0.0 and 1.0 which controls the brightness of the Home button LED. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_JOYCON_HOME_LED "SDL_JOYSTICK_HIDAPI_JOYCON_HOME_LED" - -/** - * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with a Nintendo Switch controller. - * - * This variable can be set to the following values: - * "0" - player LEDs are not enabled - * "1" - player LEDs are enabled (the default) - */ -#define SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED "SDL_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED" - -/** - * \brief A variable controlling whether the HIDAPI driver for Nintendo Wii and Wii U controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * This driver doesn't work with the dolphinbar, so the default is SDL_FALSE for now. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_WII "SDL_JOYSTICK_HIDAPI_WII" - -/** - * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with a Wii controller. - * - * This variable can be set to the following values: - * "0" - player LEDs are not enabled - * "1" - player LEDs are enabled (the default) - */ -#define SDL_HINT_JOYSTICK_HIDAPI_WII_PLAYER_LED "SDL_JOYSTICK_HIDAPI_WII_PLAYER_LED" - -/** - * \brief A variable controlling whether the HIDAPI driver for XBox controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is "0" on Windows, otherwise the value of SDL_HINT_JOYSTICK_HIDAPI - */ -#define SDL_HINT_JOYSTICK_HIDAPI_XBOX "SDL_JOYSTICK_HIDAPI_XBOX" - -/** - * \brief A variable controlling whether the HIDAPI driver for XBox 360 controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI_XBOX - */ -#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_360 "SDL_JOYSTICK_HIDAPI_XBOX_360" - -/** - * \brief A variable controlling whether the player LEDs should be lit to indicate which player is associated with an Xbox 360 controller. - * - * This variable can be set to the following values: - * "0" - player LEDs are not enabled - * "1" - player LEDs are enabled (the default) - */ -#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_PLAYER_LED "SDL_JOYSTICK_HIDAPI_XBOX_360_PLAYER_LED" - -/** - * \brief A variable controlling whether the HIDAPI driver for XBox 360 wireless controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI_XBOX_360 - */ -#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_360_WIRELESS "SDL_JOYSTICK_HIDAPI_XBOX_360_WIRELESS" - -/** - * \brief A variable controlling whether the HIDAPI driver for XBox One controllers should be used. - * - * This variable can be set to the following values: - * "0" - HIDAPI driver is not used - * "1" - HIDAPI driver is used - * - * The default is the value of SDL_HINT_JOYSTICK_HIDAPI_XBOX - */ -#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE "SDL_JOYSTICK_HIDAPI_XBOX_ONE" - -/** - * \brief A variable controlling whether the Home button LED should be turned on when an Xbox One controller is opened - * - * This variable can be set to the following values: - * "0" - home button LED is turned off - * "1" - home button LED is turned on - * - * By default the Home button LED state is not changed. This hint can also be set to a floating point value between 0.0 and 1.0 which controls the brightness of the Home button LED. The default brightness is 0.4. - */ -#define SDL_HINT_JOYSTICK_HIDAPI_XBOX_ONE_HOME_LED "SDL_JOYSTICK_HIDAPI_XBOX_ONE_HOME_LED" - -/** - * \brief A variable controlling whether the RAWINPUT joystick drivers should be used for better handling XInput-capable devices. - * - * This variable can be set to the following values: - * "0" - RAWINPUT drivers are not used - * "1" - RAWINPUT drivers are used (the default) - */ -#define SDL_HINT_JOYSTICK_RAWINPUT "SDL_JOYSTICK_RAWINPUT" - -/** - * \brief A variable controlling whether the RAWINPUT driver should pull correlated data from XInput. - * - * This variable can be set to the following values: - * "0" - RAWINPUT driver will only use data from raw input APIs - * "1" - RAWINPUT driver will also pull data from XInput, providing - * better trigger axes, guide button presses, and rumble support - * for Xbox controllers - * - * The default is "1". This hint applies to any joysticks opened after setting the hint. - */ -#define SDL_HINT_JOYSTICK_RAWINPUT_CORRELATE_XINPUT "SDL_JOYSTICK_RAWINPUT_CORRELATE_XINPUT" - -/** - * \brief A variable controlling whether the ROG Chakram mice should show up as joysticks - * - * This variable can be set to the following values: - * "0" - ROG Chakram mice do not show up as joysticks (the default) - * "1" - ROG Chakram mice show up as joysticks - */ -#define SDL_HINT_JOYSTICK_ROG_CHAKRAM "SDL_JOYSTICK_ROG_CHAKRAM" - -/** - * \brief A variable controlling whether a separate thread should be used - * for handling joystick detection and raw input messages on Windows - * - * This variable can be set to the following values: - * "0" - A separate thread is not used (the default) - * "1" - A separate thread is used for handling raw input messages - * - */ -#define SDL_HINT_JOYSTICK_THREAD "SDL_JOYSTICK_THREAD" - -/** - * \brief Determines whether SDL enforces that DRM master is required in order - * to initialize the KMSDRM video backend. - * - * The DRM subsystem has a concept of a "DRM master" which is a DRM client that - * has the ability to set planes, set cursor, etc. When SDL is DRM master, it - * can draw to the screen using the SDL rendering APIs. Without DRM master, SDL - * is still able to process input and query attributes of attached displays, - * but it cannot change display state or draw to the screen directly. - * - * In some cases, it can be useful to have the KMSDRM backend even if it cannot - * be used for rendering. An app may want to use SDL for input processing while - * using another rendering API (such as an MMAL overlay on Raspberry Pi) or - * using its own code to render to DRM overlays that SDL doesn't support. - * - * This hint must be set before initializing the video subsystem. - * - * This variable can be set to the following values: - * "0" - SDL will allow usage of the KMSDRM backend without DRM master - * "1" - SDL Will require DRM master to use the KMSDRM backend (default) - */ -#define SDL_HINT_KMSDRM_REQUIRE_DRM_MASTER "SDL_KMSDRM_REQUIRE_DRM_MASTER" - -/** - * \brief A comma separated list of devices to open as joysticks - * - * This variable is currently only used by the Linux joystick driver. - */ -#define SDL_HINT_JOYSTICK_DEVICE "SDL_JOYSTICK_DEVICE" - -/** - * \brief A variable controlling whether joysticks on Linux will always treat 'hat' axis inputs (ABS_HAT0X - ABS_HAT3Y) as 8-way digital hats without checking whether they may be analog. - * - * This variable can be set to the following values: - * "0" - Only map hat axis inputs to digital hat outputs if the input axes appear to actually be digital (the default) - * "1" - Always handle the input axes numbered ABS_HAT0X to ABS_HAT3Y as digital hats - */ -#define SDL_HINT_LINUX_DIGITAL_HATS "SDL_LINUX_DIGITAL_HATS" - -/** - * \brief A variable controlling whether digital hats on Linux will apply deadzones to their underlying input axes or use unfiltered values. - * - * This variable can be set to the following values: - * "0" - Return digital hat values based on unfiltered input axis values - * "1" - Return digital hat values with deadzones on the input axes taken into account (the default) - */ -#define SDL_HINT_LINUX_HAT_DEADZONES "SDL_LINUX_HAT_DEADZONES" - -/** - * \brief A variable controlling whether to use the classic /dev/input/js* joystick interface or the newer /dev/input/event* joystick interface on Linux - * - * This variable can be set to the following values: - * "0" - Use /dev/input/event* - * "1" - Use /dev/input/js* - * - * By default the /dev/input/event* interfaces are used - */ -#define SDL_HINT_LINUX_JOYSTICK_CLASSIC "SDL_LINUX_JOYSTICK_CLASSIC" - -/** - * \brief A variable controlling whether joysticks on Linux adhere to their HID-defined deadzones or return unfiltered values. - * - * This variable can be set to the following values: - * "0" - Return unfiltered joystick axis values (the default) - * "1" - Return axis values with deadzones taken into account - */ -#define SDL_HINT_LINUX_JOYSTICK_DEADZONES "SDL_LINUX_JOYSTICK_DEADZONES" - -/** -* \brief When set don't force the SDL app to become a foreground process -* -* This hint only applies to Mac OS X. -* -*/ -#define SDL_HINT_MAC_BACKGROUND_APP "SDL_MAC_BACKGROUND_APP" - -/** - * \brief A variable that determines whether ctrl+click should generate a right-click event on Mac - * - * If present, holding ctrl while left clicking will generate a right click - * event when on Mac. - */ -#define SDL_HINT_MAC_CTRL_CLICK_EMULATE_RIGHT_CLICK "SDL_MAC_CTRL_CLICK_EMULATE_RIGHT_CLICK" - -/** - * \brief A variable controlling whether dispatching OpenGL context updates should block the dispatching thread until the main thread finishes processing - * - * This variable can be set to the following values: - * "0" - Dispatching OpenGL context updates will block the dispatching thread until the main thread finishes processing (default). - * "1" - Dispatching OpenGL context updates will allow the dispatching thread to continue execution. - * - * Generally you want the default, but if you have OpenGL code in a background thread on a Mac, and the main thread - * hangs because it's waiting for that background thread, but that background thread is also hanging because it's - * waiting for the main thread to do an update, this might fix your issue. - * - * This hint only applies to macOS. - * - * This hint is available since SDL 2.24.0. - * - */ -#define SDL_HINT_MAC_OPENGL_ASYNC_DISPATCH "SDL_MAC_OPENGL_ASYNC_DISPATCH" - -/** - * \brief A variable setting the double click radius, in pixels. - */ -#define SDL_HINT_MOUSE_DOUBLE_CLICK_RADIUS "SDL_MOUSE_DOUBLE_CLICK_RADIUS" - -/** - * \brief A variable setting the double click time, in milliseconds. - */ -#define SDL_HINT_MOUSE_DOUBLE_CLICK_TIME "SDL_MOUSE_DOUBLE_CLICK_TIME" - -/** - * \brief Allow mouse click events when clicking to focus an SDL window - * - * This variable can be set to the following values: - * "0" - Ignore mouse clicks that activate a window - * "1" - Generate events for mouse clicks that activate a window - * - * By default SDL will ignore mouse clicks that activate a window - */ -#define SDL_HINT_MOUSE_FOCUS_CLICKTHROUGH "SDL_MOUSE_FOCUS_CLICKTHROUGH" - -/** - * \brief A variable setting the speed scale for mouse motion, in floating point, when the mouse is not in relative mode - */ -#define SDL_HINT_MOUSE_NORMAL_SPEED_SCALE "SDL_MOUSE_NORMAL_SPEED_SCALE" - -/** - * \brief A variable controlling whether relative mouse mode constrains the mouse to the center of the window - * - * This variable can be set to the following values: - * "0" - Relative mouse mode constrains the mouse to the window - * "1" - Relative mouse mode constrains the mouse to the center of the window - * - * Constraining to the center of the window works better for FPS games and when the - * application is running over RDP. Constraining to the whole window works better - * for 2D games and increases the chance that the mouse will be in the correct - * position when using high DPI mice. - * - * By default SDL will constrain the mouse to the center of the window - */ -#define SDL_HINT_MOUSE_RELATIVE_MODE_CENTER "SDL_MOUSE_RELATIVE_MODE_CENTER" - -/** - * \brief A variable controlling whether relative mouse mode is implemented using mouse warping - * - * This variable can be set to the following values: - * "0" - Relative mouse mode uses raw input - * "1" - Relative mouse mode uses mouse warping - * - * By default SDL will use raw input for relative mouse mode - */ -#define SDL_HINT_MOUSE_RELATIVE_MODE_WARP "SDL_MOUSE_RELATIVE_MODE_WARP" - -/** - * \brief A variable controlling whether relative mouse motion is affected by renderer scaling - * - * This variable can be set to the following values: - * "0" - Relative motion is unaffected by DPI or renderer's logical size - * "1" - Relative motion is scaled according to DPI scaling and logical size - * - * By default relative mouse deltas are affected by DPI and renderer scaling - */ -#define SDL_HINT_MOUSE_RELATIVE_SCALING "SDL_MOUSE_RELATIVE_SCALING" - -/** - * \brief A variable setting the scale for mouse motion, in floating point, when the mouse is in relative mode - */ -#define SDL_HINT_MOUSE_RELATIVE_SPEED_SCALE "SDL_MOUSE_RELATIVE_SPEED_SCALE" - -/** - * \brief A variable controlling whether the system mouse acceleration curve is used for relative mouse motion. - * - * This variable can be set to the following values: - * "0" - Relative mouse motion will be unscaled (the default) - * "1" - Relative mouse motion will be scaled using the system mouse acceleration curve. - * - * If SDL_HINT_MOUSE_RELATIVE_SPEED_SCALE is set, that will override the system speed scale. - */ -#define SDL_HINT_MOUSE_RELATIVE_SYSTEM_SCALE "SDL_MOUSE_RELATIVE_SYSTEM_SCALE" - -/** - * \brief A variable controlling whether a motion event should be generated for mouse warping in relative mode. - * - * This variable can be set to the following values: - * "0" - Warping the mouse will not generate a motion event in relative mode - * "1" - Warping the mouse will generate a motion event in relative mode - * - * By default warping the mouse will not generate motion events in relative mode. This avoids the application having to filter out large relative motion due to warping. - */ -#define SDL_HINT_MOUSE_RELATIVE_WARP_MOTION "SDL_MOUSE_RELATIVE_WARP_MOTION" - -/** - * \brief A variable controlling whether mouse events should generate synthetic touch events - * - * This variable can be set to the following values: - * "0" - Mouse events will not generate touch events (default for desktop platforms) - * "1" - Mouse events will generate touch events (default for mobile platforms, such as Android and iOS) - */ -#define SDL_HINT_MOUSE_TOUCH_EVENTS "SDL_MOUSE_TOUCH_EVENTS" - -/** - * \brief A variable controlling whether the mouse is captured while mouse buttons are pressed - * - * This variable can be set to the following values: - * "0" - The mouse is not captured while mouse buttons are pressed - * "1" - The mouse is captured while mouse buttons are pressed - * - * By default the mouse is captured while mouse buttons are pressed so if the mouse is dragged - * outside the window, the application continues to receive mouse events until the button is - * released. - */ -#define SDL_HINT_MOUSE_AUTO_CAPTURE "SDL_MOUSE_AUTO_CAPTURE" - -/** - * \brief Tell SDL not to catch the SIGINT or SIGTERM signals. - * - * This hint only applies to Unix-like platforms, and should set before - * any calls to SDL_Init() - * - * The variable can be set to the following values: - * "0" - SDL will install a SIGINT and SIGTERM handler, and when it - * catches a signal, convert it into an SDL_QUIT event. - * "1" - SDL will not install a signal handler at all. - */ -#define SDL_HINT_NO_SIGNAL_HANDLERS "SDL_NO_SIGNAL_HANDLERS" - -/** - * \brief A variable controlling what driver to use for OpenGL ES contexts. - * - * On some platforms, currently Windows and X11, OpenGL drivers may support - * creating contexts with an OpenGL ES profile. By default SDL uses these - * profiles, when available, otherwise it attempts to load an OpenGL ES - * library, e.g. that provided by the ANGLE project. This variable controls - * whether SDL follows this default behaviour or will always load an - * OpenGL ES library. - * - * Circumstances where this is useful include - * - Testing an app with a particular OpenGL ES implementation, e.g ANGLE, - * or emulator, e.g. those from ARM, Imagination or Qualcomm. - * - Resolving OpenGL ES function addresses at link time by linking with - * the OpenGL ES library instead of querying them at run time with - * SDL_GL_GetProcAddress(). - * - * Caution: for an application to work with the default behaviour across - * different OpenGL drivers it must query the OpenGL ES function - * addresses at run time using SDL_GL_GetProcAddress(). - * - * This variable is ignored on most platforms because OpenGL ES is native - * or not supported. - * - * This variable can be set to the following values: - * "0" - Use ES profile of OpenGL, if available. (Default when not set.) - * "1" - Load OpenGL ES library using the default library names. - * - */ -#define SDL_HINT_OPENGL_ES_DRIVER "SDL_OPENGL_ES_DRIVER" - -/** - * \brief A variable controlling which orientations are allowed on iOS/Android. - * - * In some circumstances it is necessary to be able to explicitly control - * which UI orientations are allowed. - * - * This variable is a space delimited list of the following values: - * "LandscapeLeft", "LandscapeRight", "Portrait" "PortraitUpsideDown" - */ -#define SDL_HINT_ORIENTATIONS "SDL_IOS_ORIENTATIONS" - -/** - * \brief A variable controlling the use of a sentinel event when polling the event queue - * - * This variable can be set to the following values: - * "0" - Disable poll sentinels - * "1" - Enable poll sentinels - * - * When polling for events, SDL_PumpEvents is used to gather new events from devices. - * If a device keeps producing new events between calls to SDL_PumpEvents, a poll loop will - * become stuck until the new events stop. - * This is most noticeable when moving a high frequency mouse. - * - * By default, poll sentinels are enabled. - */ -#define SDL_HINT_POLL_SENTINEL "SDL_POLL_SENTINEL" - -/** - * \brief Override for SDL_GetPreferredLocales() - * - * If set, this will be favored over anything the OS might report for the - * user's preferred locales. Changing this hint at runtime will not generate - * a SDL_LOCALECHANGED event (but if you can change the hint, you can push - * your own event, if you want). - * - * The format of this hint is a comma-separated list of language and locale, - * combined with an underscore, as is a common format: "en_GB". Locale is - * optional: "en". So you might have a list like this: "en_GB,jp,es_PT" - */ -#define SDL_HINT_PREFERRED_LOCALES "SDL_PREFERRED_LOCALES" - -/** - * \brief A variable describing the content orientation on QtWayland-based platforms. - * - * On QtWayland platforms, windows are rotated client-side to allow for custom - * transitions. In order to correctly position overlays (e.g. volume bar) and - * gestures (e.g. events view, close/minimize gestures), the system needs to - * know in which orientation the application is currently drawing its contents. - * - * This does not cause the window to be rotated or resized, the application - * needs to take care of drawing the content in the right orientation (the - * framebuffer is always in portrait mode). - * - * This variable can be one of the following values: - * "primary" (default), "portrait", "landscape", "inverted-portrait", "inverted-landscape" - */ -#define SDL_HINT_QTWAYLAND_CONTENT_ORIENTATION "SDL_QTWAYLAND_CONTENT_ORIENTATION" - -/** - * \brief Flags to set on QtWayland windows to integrate with the native window manager. - * - * On QtWayland platforms, this hint controls the flags to set on the windows. - * For example, on Sailfish OS "OverridesSystemGestures" disables swipe gestures. - * - * This variable is a space-separated list of the following values (empty = no flags): - * "OverridesSystemGestures", "StaysOnTop", "BypassWindowManager" - */ -#define SDL_HINT_QTWAYLAND_WINDOW_FLAGS "SDL_QTWAYLAND_WINDOW_FLAGS" - -/** - * \brief A variable controlling whether the 2D render API is compatible or efficient. - * - * This variable can be set to the following values: - * - * "0" - Don't use batching to make rendering more efficient. - * "1" - Use batching, but might cause problems if app makes its own direct OpenGL calls. - * - * Up to SDL 2.0.9, the render API would draw immediately when requested. Now - * it batches up draw requests and sends them all to the GPU only when forced - * to (during SDL_RenderPresent, when changing render targets, by updating a - * texture that the batch needs, etc). This is significantly more efficient, - * but it can cause problems for apps that expect to render on top of the - * render API's output. As such, SDL will disable batching if a specific - * render backend is requested (since this might indicate that the app is - * planning to use the underlying graphics API directly). This hint can - * be used to explicitly request batching in this instance. It is a contract - * that you will either never use the underlying graphics API directly, or - * if you do, you will call SDL_RenderFlush() before you do so any current - * batch goes to the GPU before your work begins. Not following this contract - * will result in undefined behavior. - */ -#define SDL_HINT_RENDER_BATCHING "SDL_RENDER_BATCHING" - -/** - * \brief A variable controlling how the 2D render API renders lines - * - * This variable can be set to the following values: - * "0" - Use the default line drawing method (Bresenham's line algorithm as of SDL 2.0.20) - * "1" - Use the driver point API using Bresenham's line algorithm (correct, draws many points) - * "2" - Use the driver line API (occasionally misses line endpoints based on hardware driver quirks, was the default before 2.0.20) - * "3" - Use the driver geometry API (correct, draws thicker diagonal lines) - * - * This variable should be set when the renderer is created. - */ -#define SDL_HINT_RENDER_LINE_METHOD "SDL_RENDER_LINE_METHOD" - -/** - * \brief A variable controlling whether to enable Direct3D 11+'s Debug Layer. - * - * This variable does not have any effect on the Direct3D 9 based renderer. - * - * This variable can be set to the following values: - * "0" - Disable Debug Layer use - * "1" - Enable Debug Layer use - * - * By default, SDL does not use Direct3D Debug Layer. - */ -#define SDL_HINT_RENDER_DIRECT3D11_DEBUG "SDL_RENDER_DIRECT3D11_DEBUG" - -/** - * \brief A variable controlling whether the Direct3D device is initialized for thread-safe operations. - * - * This variable can be set to the following values: - * "0" - Thread-safety is not enabled (faster) - * "1" - Thread-safety is enabled - * - * By default the Direct3D device is created with thread-safety disabled. - */ -#define SDL_HINT_RENDER_DIRECT3D_THREADSAFE "SDL_RENDER_DIRECT3D_THREADSAFE" - -/** - * \brief A variable specifying which render driver to use. - * - * If the application doesn't pick a specific renderer to use, this variable - * specifies the name of the preferred renderer. If the preferred renderer - * can't be initialized, the normal default renderer is used. - * - * This variable is case insensitive and can be set to the following values: - * "direct3d" - * "direct3d11" - * "direct3d12" - * "opengl" - * "opengles2" - * "opengles" - * "metal" - * "software" - * - * The default varies by platform, but it's the first one in the list that - * is available on the current platform. - */ -#define SDL_HINT_RENDER_DRIVER "SDL_RENDER_DRIVER" - -/** - * \brief A variable controlling the scaling policy for SDL_RenderSetLogicalSize. - * - * This variable can be set to the following values: - * "0" or "letterbox" - Uses letterbox/sidebars to fit the entire rendering on screen - * "1" or "overscan" - Will zoom the rendering so it fills the entire screen, allowing edges to be drawn offscreen - * - * By default letterbox is used - */ -#define SDL_HINT_RENDER_LOGICAL_SIZE_MODE "SDL_RENDER_LOGICAL_SIZE_MODE" - -/** - * \brief A variable controlling whether the OpenGL render driver uses shaders if they are available. - * - * This variable can be set to the following values: - * "0" - Disable shaders - * "1" - Enable shaders - * - * By default shaders are used if OpenGL supports them. - */ -#define SDL_HINT_RENDER_OPENGL_SHADERS "SDL_RENDER_OPENGL_SHADERS" - -/** - * \brief A variable controlling the scaling quality - * - * This variable can be set to the following values: - * "0" or "nearest" - Nearest pixel sampling - * "1" or "linear" - Linear filtering (supported by OpenGL and Direct3D) - * "2" or "best" - Currently this is the same as "linear" - * - * By default nearest pixel sampling is used - */ -#define SDL_HINT_RENDER_SCALE_QUALITY "SDL_RENDER_SCALE_QUALITY" - -/** - * \brief A variable controlling whether updates to the SDL screen surface should be synchronized with the vertical refresh, to avoid tearing. - * - * This variable can be set to the following values: - * "0" - Disable vsync - * "1" - Enable vsync - * - * By default SDL does not sync screen surface updates with vertical refresh. - */ -#define SDL_HINT_RENDER_VSYNC "SDL_RENDER_VSYNC" - -/** - * \brief A variable controlling if VSYNC is automatically disable if doesn't reach the enough FPS - * - * This variable can be set to the following values: - * "0" - It will be using VSYNC as defined in the main flag. Default - * "1" - If VSYNC was previously enabled, then it will disable VSYNC if doesn't reach enough speed - * - * By default SDL does not enable the automatic VSYNC - */ -#define SDL_HINT_PS2_DYNAMIC_VSYNC "SDL_PS2_DYNAMIC_VSYNC" - -/** - * \brief A variable to control whether the return key on the soft keyboard - * should hide the soft keyboard on Android and iOS. - * - * The variable can be set to the following values: - * "0" - The return key will be handled as a key event. This is the behaviour of SDL <= 2.0.3. (default) - * "1" - The return key will hide the keyboard. - * - * The value of this hint is used at runtime, so it can be changed at any time. - */ -#define SDL_HINT_RETURN_KEY_HIDES_IME "SDL_RETURN_KEY_HIDES_IME" - -/** - * \brief Tell SDL which Dispmanx layer to use on a Raspberry PI - * - * Also known as Z-order. The variable can take a negative or positive value. - * The default is 10000. - */ -#define SDL_HINT_RPI_VIDEO_LAYER "SDL_RPI_VIDEO_LAYER" - -/** - * \brief Specify an "activity name" for screensaver inhibition. - * - * Some platforms, notably Linux desktops, list the applications which are - * inhibiting the screensaver or other power-saving features. - * - * This hint lets you specify the "activity name" sent to the OS when - * SDL_DisableScreenSaver() is used (or the screensaver is automatically - * disabled). The contents of this hint are used when the screensaver is - * disabled. You should use a string that describes what your program is doing - * (and, therefore, why the screensaver is disabled). For example, "Playing a - * game" or "Watching a video". - * - * Setting this to "" or leaving it unset will have SDL use a reasonable - * default: "Playing a game" or something similar. - * - * On targets where this is not supported, this hint does nothing. - */ -#define SDL_HINT_SCREENSAVER_INHIBIT_ACTIVITY_NAME "SDL_SCREENSAVER_INHIBIT_ACTIVITY_NAME" - -/** - * \brief Specifies whether SDL_THREAD_PRIORITY_TIME_CRITICAL should be treated as realtime. - * - * On some platforms, like Linux, a realtime priority thread may be subject to restrictions - * that require special handling by the application. This hint exists to let SDL know that - * the app is prepared to handle said restrictions. - * - * On Linux, SDL will apply the following configuration to any thread that becomes realtime: - * * The SCHED_RESET_ON_FORK bit will be set on the scheduling policy, - * * An RLIMIT_RTTIME budget will be configured to the rtkit specified limit. - * * Exceeding this limit will result in the kernel sending SIGKILL to the app, - * * Refer to the man pages for more information. - * - * This variable can be set to the following values: - * "0" - default platform specific behaviour - * "1" - Force SDL_THREAD_PRIORITY_TIME_CRITICAL to a realtime scheduling policy - */ -#define SDL_HINT_THREAD_FORCE_REALTIME_TIME_CRITICAL "SDL_THREAD_FORCE_REALTIME_TIME_CRITICAL" - -/** -* \brief A string specifying additional information to use with SDL_SetThreadPriority. -* -* By default SDL_SetThreadPriority will make appropriate system changes in order to -* apply a thread priority. For example on systems using pthreads the scheduler policy -* is changed automatically to a policy that works well with a given priority. -* Code which has specific requirements can override SDL's default behavior with this hint. -* -* pthread hint values are "current", "other", "fifo" and "rr". -* Currently no other platform hint values are defined but may be in the future. -* -* \note On Linux, the kernel may send SIGKILL to realtime tasks which exceed the distro -* configured execution budget for rtkit. This budget can be queried through RLIMIT_RTTIME -* after calling SDL_SetThreadPriority(). -*/ -#define SDL_HINT_THREAD_PRIORITY_POLICY "SDL_THREAD_PRIORITY_POLICY" - -/** -* \brief A string specifying SDL's threads stack size in bytes or "0" for the backend's default size -* -* Use this hint in case you need to set SDL's threads stack size to other than the default. -* This is specially useful if you build SDL against a non glibc libc library (such as musl) which -* provides a relatively small default thread stack size (a few kilobytes versus the default 8MB glibc uses). -* Support for this hint is currently available only in the pthread, Windows, and PSP backend. -* -* Instead of this hint, in 2.0.9 and later, you can use -* SDL_CreateThreadWithStackSize(). This hint only works with the classic -* SDL_CreateThread(). -*/ -#define SDL_HINT_THREAD_STACK_SIZE "SDL_THREAD_STACK_SIZE" - -/** - * \brief A variable that controls the timer resolution, in milliseconds. - * - * The higher resolution the timer, the more frequently the CPU services - * timer interrupts, and the more precise delays are, but this takes up - * power and CPU time. This hint is only used on Windows. - * - * See this blog post for more information: - * http://randomascii.wordpress.com/2013/07/08/windows-timer-resolution-megawatts-wasted/ - * - * If this variable is set to "0", the system timer resolution is not set. - * - * The default value is "1". This hint may be set at any time. - */ -#define SDL_HINT_TIMER_RESOLUTION "SDL_TIMER_RESOLUTION" - -/** - * \brief A variable controlling whether touch events should generate synthetic mouse events - * - * This variable can be set to the following values: - * "0" - Touch events will not generate mouse events - * "1" - Touch events will generate mouse events - * - * By default SDL will generate mouse events for touch events - */ -#define SDL_HINT_TOUCH_MOUSE_EVENTS "SDL_TOUCH_MOUSE_EVENTS" - -/** - * \brief A variable controlling which touchpad should generate synthetic mouse events - * - * This variable can be set to the following values: - * "0" - Only front touchpad should generate mouse events. Default - * "1" - Only back touchpad should generate mouse events. - * "2" - Both touchpads should generate mouse events. - * - * By default SDL will generate mouse events for all touch devices - */ -#define SDL_HINT_VITA_TOUCH_MOUSE_DEVICE "SDL_HINT_VITA_TOUCH_MOUSE_DEVICE" - -/** - * \brief A variable controlling whether the Android / tvOS remotes - * should be listed as joystick devices, instead of sending keyboard events. - * - * This variable can be set to the following values: - * "0" - Remotes send enter/escape/arrow key events - * "1" - Remotes are available as 2 axis, 2 button joysticks (the default). - */ -#define SDL_HINT_TV_REMOTE_AS_JOYSTICK "SDL_TV_REMOTE_AS_JOYSTICK" - -/** - * \brief A variable controlling whether the screensaver is enabled. - * - * This variable can be set to the following values: - * "0" - Disable screensaver - * "1" - Enable screensaver - * - * By default SDL will disable the screensaver. - */ -#define SDL_HINT_VIDEO_ALLOW_SCREENSAVER "SDL_VIDEO_ALLOW_SCREENSAVER" - -/** - * \brief Tell the video driver that we only want a double buffer. - * - * By default, most lowlevel 2D APIs will use a triple buffer scheme that - * wastes no CPU time on waiting for vsync after issuing a flip, but - * introduces a frame of latency. On the other hand, using a double buffer - * scheme instead is recommended for cases where low latency is an important - * factor because we save a whole frame of latency. - * We do so by waiting for vsync immediately after issuing a flip, usually just - * after eglSwapBuffers call in the backend's *_SwapWindow function. - * - * Since it's driver-specific, it's only supported where possible and - * implemented. Currently supported the following drivers: - * - * - KMSDRM (kmsdrm) - * - Raspberry Pi (raspberrypi) - */ -#define SDL_HINT_VIDEO_DOUBLE_BUFFER "SDL_VIDEO_DOUBLE_BUFFER" - -/** - * \brief A variable controlling whether the EGL window is allowed to be - * composited as transparent, rather than opaque. - * - * Most window systems will always render windows opaque, even if the surface - * format has an alpha channel. This is not always true, however, so by default - * SDL will try to enforce opaque composition. To override this behavior, you - * can set this hint to "1". - */ -#define SDL_HINT_VIDEO_EGL_ALLOW_TRANSPARENCY "SDL_VIDEO_EGL_ALLOW_TRANSPARENCY" - -/** - * \brief A variable controlling whether the graphics context is externally managed. - * - * This variable can be set to the following values: - * "0" - SDL will manage graphics contexts that are attached to windows. - * "1" - Disable graphics context management on windows. - * - * By default SDL will manage OpenGL contexts in certain situations. For example, on Android the - * context will be automatically saved and restored when pausing the application. Additionally, some - * platforms will assume usage of OpenGL if Vulkan isn't used. Setting this to "1" will prevent this - * behavior, which is desireable when the application manages the graphics context, such as - * an externally managed OpenGL context or attaching a Vulkan surface to the window. - */ -#define SDL_HINT_VIDEO_EXTERNAL_CONTEXT "SDL_VIDEO_EXTERNAL_CONTEXT" - -/** - * \brief If set to 1, then do not allow high-DPI windows. ("Retina" on Mac and iOS) - */ -#define SDL_HINT_VIDEO_HIGHDPI_DISABLED "SDL_VIDEO_HIGHDPI_DISABLED" - -/** - * \brief A variable that dictates policy for fullscreen Spaces on Mac OS X. - * - * This hint only applies to Mac OS X. - * - * The variable can be set to the following values: - * "0" - Disable Spaces support (FULLSCREEN_DESKTOP won't use them and - * SDL_WINDOW_RESIZABLE windows won't offer the "fullscreen" - * button on their titlebars). - * "1" - Enable Spaces support (FULLSCREEN_DESKTOP will use them and - * SDL_WINDOW_RESIZABLE windows will offer the "fullscreen" - * button on their titlebars). - * - * The default value is "1". This hint must be set before any windows are created. - */ -#define SDL_HINT_VIDEO_MAC_FULLSCREEN_SPACES "SDL_VIDEO_MAC_FULLSCREEN_SPACES" - -/** - * \brief Minimize your SDL_Window if it loses key focus when in fullscreen mode. Defaults to false. - * \warning Before SDL 2.0.14, this defaulted to true! In 2.0.14, we're - * seeing if "true" causes more problems than it solves in modern times. - * - */ -#define SDL_HINT_VIDEO_MINIMIZE_ON_FOCUS_LOSS "SDL_VIDEO_MINIMIZE_ON_FOCUS_LOSS" - -/** - * \brief A variable controlling whether the libdecor Wayland backend is allowed to be used. - * - * This variable can be set to the following values: - * "0" - libdecor use is disabled. - * "1" - libdecor use is enabled (default). - * - * libdecor is used over xdg-shell when xdg-decoration protocol is unavailable. - */ -#define SDL_HINT_VIDEO_WAYLAND_ALLOW_LIBDECOR "SDL_VIDEO_WAYLAND_ALLOW_LIBDECOR" - -/** - * \brief A variable controlling whether the libdecor Wayland backend is preferred over native decrations. - * - * When this hint is set, libdecor will be used to provide window decorations, even if xdg-decoration is - * available. (Note that, by default, libdecor will use xdg-decoration itself if available). - * - * This variable can be set to the following values: - * "0" - libdecor is enabled only if server-side decorations are unavailable. - * "1" - libdecor is always enabled if available. - * - * libdecor is used over xdg-shell when xdg-decoration protocol is unavailable. - */ -#define SDL_HINT_VIDEO_WAYLAND_PREFER_LIBDECOR "SDL_VIDEO_WAYLAND_PREFER_LIBDECOR" - -/** - * \brief A variable controlling whether video mode emulation is enabled under Wayland. - * - * When this hint is set, a standard set of emulated CVT video modes will be exposed for use by the application. - * If it is disabled, the only modes exposed will be the logical desktop size and, in the case of a scaled - * desktop, the native display resolution. - * - * This variable can be set to the following values: - * "0" - Video mode emulation is disabled. - * "1" - Video mode emulation is enabled. - * - * By default video mode emulation is enabled. - */ -#define SDL_HINT_VIDEO_WAYLAND_MODE_EMULATION "SDL_VIDEO_WAYLAND_MODE_EMULATION" - -/** - * \brief Enable or disable mouse pointer warp emulation, needed by some older games. - * - * When this hint is set, any SDL will emulate mouse warps using relative mouse mode. - * This is required for some older games (such as Source engine games), which warp the - * mouse to the centre of the screen rather than using relative mouse motion. Note that - * relative mouse mode may have different mouse acceleration behaviour than pointer warps. - * - * This variable can be set to the following values: - * "0" - All mouse warps fail, as mouse warping is not available under wayland. - * "1" - Some mouse warps will be emulated by forcing relative mouse mode. - * - * If not set, this is automatically enabled unless an application uses relative mouse - * mode directly. - */ -#define SDL_HINT_VIDEO_WAYLAND_EMULATE_MOUSE_WARP "SDL_VIDEO_WAYLAND_EMULATE_MOUSE_WARP" - -/** -* \brief A variable that is the address of another SDL_Window* (as a hex string formatted with "%p"). -* -* If this hint is set before SDL_CreateWindowFrom() and the SDL_Window* it is set to has -* SDL_WINDOW_OPENGL set (and running on WGL only, currently), then two things will occur on the newly -* created SDL_Window: -* -* 1. Its pixel format will be set to the same pixel format as this SDL_Window. This is -* needed for example when sharing an OpenGL context across multiple windows. -* -* 2. The flag SDL_WINDOW_OPENGL will be set on the new window so it can be used for -* OpenGL rendering. -* -* This variable can be set to the following values: -* The address (as a string "%p") of the SDL_Window* that new windows created with SDL_CreateWindowFrom() should -* share a pixel format with. -*/ -#define SDL_HINT_VIDEO_WINDOW_SHARE_PIXEL_FORMAT "SDL_VIDEO_WINDOW_SHARE_PIXEL_FORMAT" - -/** - * \brief When calling SDL_CreateWindowFrom(), make the window compatible with OpenGL. - * - * This variable can be set to the following values: - * "0" - Don't add any graphics flags to the SDL_WindowFlags - * "1" - Add SDL_WINDOW_OPENGL to the SDL_WindowFlags - * - * By default SDL will not make the foreign window compatible with OpenGL. - */ -#define SDL_HINT_VIDEO_FOREIGN_WINDOW_OPENGL "SDL_VIDEO_FOREIGN_WINDOW_OPENGL" - -/** - * \brief When calling SDL_CreateWindowFrom(), make the window compatible with Vulkan. - * - * This variable can be set to the following values: - * "0" - Don't add any graphics flags to the SDL_WindowFlags - * "1" - Add SDL_WINDOW_VULKAN to the SDL_WindowFlags - * - * By default SDL will not make the foreign window compatible with Vulkan. - */ -#define SDL_HINT_VIDEO_FOREIGN_WINDOW_VULKAN "SDL_VIDEO_FOREIGN_WINDOW_VULKAN" - -/** -* \brief A variable specifying which shader compiler to preload when using the Chrome ANGLE binaries -* -* SDL has EGL and OpenGL ES2 support on Windows via the ANGLE project. It -* can use two different sets of binaries, those compiled by the user from source -* or those provided by the Chrome browser. In the later case, these binaries require -* that SDL loads a DLL providing the shader compiler. -* -* This variable can be set to the following values: -* "d3dcompiler_46.dll" - default, best for Vista or later. -* "d3dcompiler_43.dll" - for XP support. -* "none" - do not load any library, useful if you compiled ANGLE from source and included the compiler in your binaries. -* -*/ -#define SDL_HINT_VIDEO_WIN_D3DCOMPILER "SDL_VIDEO_WIN_D3DCOMPILER" - -/** - * \brief A variable controlling whether X11 should use GLX or EGL by default - * - * This variable can be set to the following values: - * "0" - Use GLX - * "1" - Use EGL - * - * By default SDL will use GLX when both are present. - */ -#define SDL_HINT_VIDEO_X11_FORCE_EGL "SDL_VIDEO_X11_FORCE_EGL" - -/** - * \brief A variable controlling whether the X11 _NET_WM_BYPASS_COMPOSITOR hint should be used. - * - * This variable can be set to the following values: - * "0" - Disable _NET_WM_BYPASS_COMPOSITOR - * "1" - Enable _NET_WM_BYPASS_COMPOSITOR - * - * By default SDL will use _NET_WM_BYPASS_COMPOSITOR - * - */ -#define SDL_HINT_VIDEO_X11_NET_WM_BYPASS_COMPOSITOR "SDL_VIDEO_X11_NET_WM_BYPASS_COMPOSITOR" - -/** - * \brief A variable controlling whether the X11 _NET_WM_PING protocol should be supported. - * - * This variable can be set to the following values: - * "0" - Disable _NET_WM_PING - * "1" - Enable _NET_WM_PING - * - * By default SDL will use _NET_WM_PING, but for applications that know they - * will not always be able to respond to ping requests in a timely manner they can - * turn it off to avoid the window manager thinking the app is hung. - * The hint is checked in CreateWindow. - */ -#define SDL_HINT_VIDEO_X11_NET_WM_PING "SDL_VIDEO_X11_NET_WM_PING" - -/** - * \brief A variable forcing the visual ID chosen for new X11 windows - * - */ -#define SDL_HINT_VIDEO_X11_WINDOW_VISUALID "SDL_VIDEO_X11_WINDOW_VISUALID" - -/** - * \brief A no-longer-used variable controlling whether the X11 Xinerama extension should be used. - * - * Before SDL 2.0.24, this would let apps and users disable Xinerama support on X11. - * Now SDL never uses Xinerama, and does not check for this hint at all. - * The preprocessor define is left here for source compatibility. - */ -#define SDL_HINT_VIDEO_X11_XINERAMA "SDL_VIDEO_X11_XINERAMA" - -/** - * \brief A variable controlling whether the X11 XRandR extension should be used. - * - * This variable can be set to the following values: - * "0" - Disable XRandR - * "1" - Enable XRandR - * - * By default SDL will use XRandR. - */ -#define SDL_HINT_VIDEO_X11_XRANDR "SDL_VIDEO_X11_XRANDR" - -/** - * \brief A no-longer-used variable controlling whether the X11 VidMode extension should be used. - * - * Before SDL 2.0.24, this would let apps and users disable XVidMode support on X11. - * Now SDL never uses XVidMode, and does not check for this hint at all. - * The preprocessor define is left here for source compatibility. - */ -#define SDL_HINT_VIDEO_X11_XVIDMODE "SDL_VIDEO_X11_XVIDMODE" - -/** - * \brief Controls how the fact chunk affects the loading of a WAVE file. - * - * The fact chunk stores information about the number of samples of a WAVE - * file. The Standards Update from Microsoft notes that this value can be used - * to 'determine the length of the data in seconds'. This is especially useful - * for compressed formats (for which this is a mandatory chunk) if they produce - * multiple sample frames per block and truncating the block is not allowed. - * The fact chunk can exactly specify how many sample frames there should be - * in this case. - * - * Unfortunately, most application seem to ignore the fact chunk and so SDL - * ignores it by default as well. - * - * This variable can be set to the following values: - * - * "truncate" - Use the number of samples to truncate the wave data if - * the fact chunk is present and valid - * "strict" - Like "truncate", but raise an error if the fact chunk - * is invalid, not present for non-PCM formats, or if the - * data chunk doesn't have that many samples - * "ignorezero" - Like "truncate", but ignore fact chunk if the number of - * samples is zero - * "ignore" - Ignore fact chunk entirely (default) - */ -#define SDL_HINT_WAVE_FACT_CHUNK "SDL_WAVE_FACT_CHUNK" - -/** - * \brief Controls how the size of the RIFF chunk affects the loading of a WAVE file. - * - * The size of the RIFF chunk (which includes all the sub-chunks of the WAVE - * file) is not always reliable. In case the size is wrong, it's possible to - * just ignore it and step through the chunks until a fixed limit is reached. - * - * Note that files that have trailing data unrelated to the WAVE file or - * corrupt files may slow down the loading process without a reliable boundary. - * By default, SDL stops after 10000 chunks to prevent wasting time. Use the - * environment variable SDL_WAVE_CHUNK_LIMIT to adjust this value. - * - * This variable can be set to the following values: - * - * "force" - Always use the RIFF chunk size as a boundary for the chunk search - * "ignorezero" - Like "force", but a zero size searches up to 4 GiB (default) - * "ignore" - Ignore the RIFF chunk size and always search up to 4 GiB - * "maximum" - Search for chunks until the end of file (not recommended) - */ -#define SDL_HINT_WAVE_RIFF_CHUNK_SIZE "SDL_WAVE_RIFF_CHUNK_SIZE" - -/** - * \brief Controls how a truncated WAVE file is handled. - * - * A WAVE file is considered truncated if any of the chunks are incomplete or - * the data chunk size is not a multiple of the block size. By default, SDL - * decodes until the first incomplete block, as most applications seem to do. - * - * This variable can be set to the following values: - * - * "verystrict" - Raise an error if the file is truncated - * "strict" - Like "verystrict", but the size of the RIFF chunk is ignored - * "dropframe" - Decode until the first incomplete sample frame - * "dropblock" - Decode until the first incomplete block (default) - */ -#define SDL_HINT_WAVE_TRUNCATION "SDL_WAVE_TRUNCATION" - -/** - * \brief Tell SDL not to name threads on Windows with the 0x406D1388 Exception. - * The 0x406D1388 Exception is a trick used to inform Visual Studio of a - * thread's name, but it tends to cause problems with other debuggers, - * and the .NET runtime. Note that SDL 2.0.6 and later will still use - * the (safer) SetThreadDescription API, introduced in the Windows 10 - * Creators Update, if available. - * - * The variable can be set to the following values: - * "0" - SDL will raise the 0x406D1388 Exception to name threads. - * This is the default behavior of SDL <= 2.0.4. - * "1" - SDL will not raise this exception, and threads will be unnamed. (default) - * This is necessary with .NET languages or debuggers that aren't Visual Studio. - */ -#define SDL_HINT_WINDOWS_DISABLE_THREAD_NAMING "SDL_WINDOWS_DISABLE_THREAD_NAMING" - -/** - * \brief A variable controlling whether the windows message loop is processed by SDL - * - * This variable can be set to the following values: - * "0" - The window message loop is not run - * "1" - The window message loop is processed in SDL_PumpEvents() - * - * By default SDL will process the windows message loop - */ -#define SDL_HINT_WINDOWS_ENABLE_MESSAGELOOP "SDL_WINDOWS_ENABLE_MESSAGELOOP" - -/** - * \brief Force SDL to use Critical Sections for mutexes on Windows. - * On Windows 7 and newer, Slim Reader/Writer Locks are available. - * They offer better performance, allocate no kernel ressources and - * use less memory. SDL will fall back to Critical Sections on older - * OS versions or if forced to by this hint. - * - * This variable can be set to the following values: - * "0" - Use SRW Locks when available. If not, fall back to Critical Sections. (default) - * "1" - Force the use of Critical Sections in all cases. - * - */ -#define SDL_HINT_WINDOWS_FORCE_MUTEX_CRITICAL_SECTIONS "SDL_WINDOWS_FORCE_MUTEX_CRITICAL_SECTIONS" - -/** - * \brief Force SDL to use Kernel Semaphores on Windows. - * Kernel Semaphores are inter-process and require a context - * switch on every interaction. On Windows 8 and newer, the - * WaitOnAddress API is available. Using that and atomics to - * implement semaphores increases performance. - * SDL will fall back to Kernel Objects on older OS versions - * or if forced to by this hint. - * - * This variable can be set to the following values: - * "0" - Use Atomics and WaitOnAddress API when available. If not, fall back to Kernel Objects. (default) - * "1" - Force the use of Kernel Objects in all cases. - * - */ -#define SDL_HINT_WINDOWS_FORCE_SEMAPHORE_KERNEL "SDL_WINDOWS_FORCE_SEMAPHORE_KERNEL" - -/** - * \brief A variable to specify custom icon resource id from RC file on Windows platform - */ -#define SDL_HINT_WINDOWS_INTRESOURCE_ICON "SDL_WINDOWS_INTRESOURCE_ICON" -#define SDL_HINT_WINDOWS_INTRESOURCE_ICON_SMALL "SDL_WINDOWS_INTRESOURCE_ICON_SMALL" - -/** - * \brief Tell SDL not to generate window-close events for Alt+F4 on Windows. - * - * The variable can be set to the following values: - * "0" - SDL will generate a window-close event when it sees Alt+F4. - * "1" - SDL will only do normal key handling for Alt+F4. - */ -#define SDL_HINT_WINDOWS_NO_CLOSE_ON_ALT_F4 "SDL_WINDOWS_NO_CLOSE_ON_ALT_F4" - -/** - * \brief Use the D3D9Ex API introduced in Windows Vista, instead of normal D3D9. - * Direct3D 9Ex contains changes to state management that can eliminate device - * loss errors during scenarios like Alt+Tab or UAC prompts. D3D9Ex may require - * some changes to your application to cope with the new behavior, so this - * is disabled by default. - * - * This hint must be set before initializing the video subsystem. - * - * For more information on Direct3D 9Ex, see: - * - https://docs.microsoft.com/en-us/windows/win32/direct3darticles/graphics-apis-in-windows-vista#direct3d-9ex - * - https://docs.microsoft.com/en-us/windows/win32/direct3darticles/direct3d-9ex-improvements - * - * This variable can be set to the following values: - * "0" - Use the original Direct3D 9 API (default) - * "1" - Use the Direct3D 9Ex API on Vista and later (and fall back if D3D9Ex is unavailable) - * - */ -#define SDL_HINT_WINDOWS_USE_D3D9EX "SDL_WINDOWS_USE_D3D9EX" - -/** - * \brief Controls whether SDL will declare the process to be DPI aware. - * - * This hint must be set before initializing the video subsystem. - * - * The main purpose of declaring DPI awareness is to disable OS bitmap scaling of SDL windows on monitors with - * a DPI scale factor. - * - * This hint is equivalent to requesting DPI awareness via external means (e.g. calling SetProcessDpiAwarenessContext) - * and does not cause SDL to use a virtualized coordinate system, so it will generally give you 1 SDL coordinate = 1 pixel - * even on high-DPI displays. - * - * For more information, see: - * https://docs.microsoft.com/en-us/windows/win32/hidpi/high-dpi-desktop-application-development-on-windows - * - * This variable can be set to the following values: - * "" - Do not change the DPI awareness (default). - * "unaware" - Declare the process as DPI unaware. (Windows 8.1 and later). - * "system" - Request system DPI awareness. (Vista and later). - * "permonitor" - Request per-monitor DPI awareness. (Windows 8.1 and later). - * "permonitorv2" - Request per-monitor V2 DPI awareness. (Windows 10, version 1607 and later). - * The most visible difference from "permonitor" is that window title bar will be scaled - * to the visually correct size when dragging between monitors with different scale factors. - * This is the preferred DPI awareness level. - * - * If the requested DPI awareness is not available on the currently running OS, SDL will try to request the best - * available match. - */ -#define SDL_HINT_WINDOWS_DPI_AWARENESS "SDL_WINDOWS_DPI_AWARENESS" - -/** - * \brief Uses DPI-scaled points as the SDL coordinate system on Windows. - * - * This changes the SDL coordinate system units to be DPI-scaled points, rather than pixels everywhere. - * This means windows will be appropriately sized, even when created on high-DPI displays with scaling. - * - * e.g. requesting a 640x480 window from SDL, on a display with 125% scaling in Windows display settings, - * will create a window with an 800x600 client area (in pixels). - * - * Setting this to "1" implicitly requests process DPI awareness (setting SDL_WINDOWS_DPI_AWARENESS is unnecessary), - * and forces SDL_WINDOW_ALLOW_HIGHDPI on all windows. - * - * This variable can be set to the following values: - * "0" - SDL coordinates equal Windows coordinates. No automatic window resizing when dragging - * between monitors with different scale factors (unless this is performed by - * Windows itself, which is the case when the process is DPI unaware). - * "1" - SDL coordinates are in DPI-scaled points. Automatically resize windows as needed on - * displays with non-100% scale factors. - */ -#define SDL_HINT_WINDOWS_DPI_SCALING "SDL_WINDOWS_DPI_SCALING" - -/** - * \brief A variable controlling whether the window frame and title bar are interactive when the cursor is hidden - * - * This variable can be set to the following values: - * "0" - The window frame is not interactive when the cursor is hidden (no move, resize, etc) - * "1" - The window frame is interactive when the cursor is hidden - * - * By default SDL will allow interaction with the window frame when the cursor is hidden - */ -#define SDL_HINT_WINDOW_FRAME_USABLE_WHILE_CURSOR_HIDDEN "SDL_WINDOW_FRAME_USABLE_WHILE_CURSOR_HIDDEN" - -/** -* \brief A variable controlling whether the window is activated when the SDL_ShowWindow function is called -* -* This variable can be set to the following values: -* "0" - The window is activated when the SDL_ShowWindow function is called -* "1" - The window is not activated when the SDL_ShowWindow function is called -* -* By default SDL will activate the window when the SDL_ShowWindow function is called -*/ -#define SDL_HINT_WINDOW_NO_ACTIVATION_WHEN_SHOWN "SDL_WINDOW_NO_ACTIVATION_WHEN_SHOWN" - -/** \brief Allows back-button-press events on Windows Phone to be marked as handled - * - * Windows Phone devices typically feature a Back button. When pressed, - * the OS will emit back-button-press events, which apps are expected to - * handle in an appropriate manner. If apps do not explicitly mark these - * events as 'Handled', then the OS will invoke its default behavior for - * unhandled back-button-press events, which on Windows Phone 8 and 8.1 is to - * terminate the app (and attempt to switch to the previous app, or to the - * device's home screen). - * - * Setting the SDL_HINT_WINRT_HANDLE_BACK_BUTTON hint to "1" will cause SDL - * to mark back-button-press events as Handled, if and when one is sent to - * the app. - * - * Internally, Windows Phone sends back button events as parameters to - * special back-button-press callback functions. Apps that need to respond - * to back-button-press events are expected to register one or more - * callback functions for such, shortly after being launched (during the - * app's initialization phase). After the back button is pressed, the OS - * will invoke these callbacks. If the app's callback(s) do not explicitly - * mark the event as handled by the time they return, or if the app never - * registers one of these callback, the OS will consider the event - * un-handled, and it will apply its default back button behavior (terminate - * the app). - * - * SDL registers its own back-button-press callback with the Windows Phone - * OS. This callback will emit a pair of SDL key-press events (SDL_KEYDOWN - * and SDL_KEYUP), each with a scancode of SDL_SCANCODE_AC_BACK, after which - * it will check the contents of the hint, SDL_HINT_WINRT_HANDLE_BACK_BUTTON. - * If the hint's value is set to "1", the back button event's Handled - * property will get set to 'true'. If the hint's value is set to something - * else, or if it is unset, SDL will leave the event's Handled property - * alone. (By default, the OS sets this property to 'false', to note.) - * - * SDL apps can either set SDL_HINT_WINRT_HANDLE_BACK_BUTTON well before a - * back button is pressed, or can set it in direct-response to a back button - * being pressed. - * - * In order to get notified when a back button is pressed, SDL apps should - * register a callback function with SDL_AddEventWatch(), and have it listen - * for SDL_KEYDOWN events that have a scancode of SDL_SCANCODE_AC_BACK. - * (Alternatively, SDL_KEYUP events can be listened-for. Listening for - * either event type is suitable.) Any value of SDL_HINT_WINRT_HANDLE_BACK_BUTTON - * set by such a callback, will be applied to the OS' current - * back-button-press event. - * - * More details on back button behavior in Windows Phone apps can be found - * at the following page, on Microsoft's developer site: - * http://msdn.microsoft.com/en-us/library/windowsphone/develop/jj247550(v=vs.105).aspx - */ -#define SDL_HINT_WINRT_HANDLE_BACK_BUTTON "SDL_WINRT_HANDLE_BACK_BUTTON" - -/** \brief Label text for a WinRT app's privacy policy link - * - * Network-enabled WinRT apps must include a privacy policy. On Windows 8, 8.1, and RT, - * Microsoft mandates that this policy be available via the Windows Settings charm. - * SDL provides code to add a link there, with its label text being set via the - * optional hint, SDL_HINT_WINRT_PRIVACY_POLICY_LABEL. - * - * Please note that a privacy policy's contents are not set via this hint. A separate - * hint, SDL_HINT_WINRT_PRIVACY_POLICY_URL, is used to link to the actual text of the - * policy. - * - * The contents of this hint should be encoded as a UTF8 string. - * - * The default value is "Privacy Policy". This hint should only be set during app - * initialization, preferably before any calls to SDL_Init(). - * - * For additional information on linking to a privacy policy, see the documentation for - * SDL_HINT_WINRT_PRIVACY_POLICY_URL. - */ -#define SDL_HINT_WINRT_PRIVACY_POLICY_LABEL "SDL_WINRT_PRIVACY_POLICY_LABEL" - -/** - * \brief A URL to a WinRT app's privacy policy - * - * All network-enabled WinRT apps must make a privacy policy available to its - * users. On Windows 8, 8.1, and RT, Microsoft mandates that this policy be - * be available in the Windows Settings charm, as accessed from within the app. - * SDL provides code to add a URL-based link there, which can point to the app's - * privacy policy. - * - * To setup a URL to an app's privacy policy, set SDL_HINT_WINRT_PRIVACY_POLICY_URL - * before calling any SDL_Init() functions. The contents of the hint should - * be a valid URL. For example, "http://www.example.com". - * - * The default value is "", which will prevent SDL from adding a privacy policy - * link to the Settings charm. This hint should only be set during app init. - * - * The label text of an app's "Privacy Policy" link may be customized via another - * hint, SDL_HINT_WINRT_PRIVACY_POLICY_LABEL. - * - * Please note that on Windows Phone, Microsoft does not provide standard UI - * for displaying a privacy policy link, and as such, SDL_HINT_WINRT_PRIVACY_POLICY_URL - * will not get used on that platform. Network-enabled phone apps should display - * their privacy policy through some other, in-app means. - */ -#define SDL_HINT_WINRT_PRIVACY_POLICY_URL "SDL_WINRT_PRIVACY_POLICY_URL" - -/** - * \brief Mark X11 windows as override-redirect. - * - * If set, this _might_ increase framerate at the expense of the desktop - * not working as expected. Override-redirect windows aren't noticed by the - * window manager at all. - * - * You should probably only use this for fullscreen windows, and you probably - * shouldn't even use it for that. But it's here if you want to try! - */ -#define SDL_HINT_X11_FORCE_OVERRIDE_REDIRECT "SDL_X11_FORCE_OVERRIDE_REDIRECT" - -/** - * \brief A variable that lets you disable the detection and use of Xinput gamepad devices - * - * The variable can be set to the following values: - * "0" - Disable XInput detection (only uses direct input) - * "1" - Enable XInput detection (the default) - */ -#define SDL_HINT_XINPUT_ENABLED "SDL_XINPUT_ENABLED" - - /** - * \brief A variable that lets you disable the detection and use of DirectInput gamepad devices - * - * The variable can be set to the following values: - * "0" - Disable DirectInput detection (only uses XInput) - * "1" - Enable DirectInput detection (the default) - */ -#define SDL_HINT_DIRECTINPUT_ENABLED "SDL_DIRECTINPUT_ENABLED" - -/** - * \brief A variable that causes SDL to use the old axis and button mapping for XInput devices. - * - * This hint is for backwards compatibility only and will be removed in SDL 2.1 - * - * The default value is "0". This hint must be set before SDL_Init() - */ -#define SDL_HINT_XINPUT_USE_OLD_JOYSTICK_MAPPING "SDL_XINPUT_USE_OLD_JOYSTICK_MAPPING" - -/** - * \brief A variable that causes SDL to not ignore audio "monitors" - * - * This is currently only used for PulseAudio and ignored elsewhere. - * - * By default, SDL ignores audio devices that aren't associated with physical - * hardware. Changing this hint to "1" will expose anything SDL sees that - * appears to be an audio source or sink. This will add "devices" to the list - * that the user probably doesn't want or need, but it can be useful in - * scenarios where you want to hook up SDL to some sort of virtual device, - * etc. - * - * The default value is "0". This hint must be set before SDL_Init(). - * - * This hint is available since SDL 2.0.16. Before then, virtual devices are - * always ignored. - */ -#define SDL_HINT_AUDIO_INCLUDE_MONITORS "SDL_AUDIO_INCLUDE_MONITORS" - -/** - * \brief A variable that forces X11 windows to create as a custom type. - * - * This is currently only used for X11 and ignored elsewhere. - * - * During SDL_CreateWindow, SDL uses the _NET_WM_WINDOW_TYPE X11 property - * to report to the window manager the type of window it wants to create. - * This might be set to various things if SDL_WINDOW_TOOLTIP or - * SDL_WINDOW_POPUP_MENU, etc, were specified. For "normal" windows that - * haven't set a specific type, this hint can be used to specify a custom - * type. For example, a dock window might set this to - * "_NET_WM_WINDOW_TYPE_DOCK". - * - * If not set or set to "", this hint is ignored. This hint must be set - * before the SDL_CreateWindow() call that it is intended to affect. - * - * This hint is available since SDL 2.0.22. - */ -#define SDL_HINT_X11_WINDOW_TYPE "SDL_X11_WINDOW_TYPE" - -/** - * \brief A variable that decides whether to send SDL_QUIT when closing the final window. - * - * By default, SDL sends an SDL_QUIT event when there is only one window - * and it receives an SDL_WINDOWEVENT_CLOSE event, under the assumption most - * apps would also take the loss of this window as a signal to terminate the - * program. - * - * However, it's not unreasonable in some cases to have the program continue - * to live on, perhaps to create new windows later. - * - * Changing this hint to "0" will cause SDL to not send an SDL_QUIT event - * when the final window is requesting to close. Note that in this case, - * there are still other legitimate reasons one might get an SDL_QUIT - * event: choosing "Quit" from the macOS menu bar, sending a SIGINT (ctrl-c) - * on Unix, etc. - * - * The default value is "1". This hint can be changed at any time. - * - * This hint is available since SDL 2.0.22. Before then, you always get - * an SDL_QUIT event when closing the final window. - */ -#define SDL_HINT_QUIT_ON_LAST_WINDOW_CLOSE "SDL_QUIT_ON_LAST_WINDOW_CLOSE" - - -/** - * \brief A variable that decides what video backend to use. - * - * By default, SDL will try all available video backends in a reasonable - * order until it finds one that can work, but this hint allows the app - * or user to force a specific target, such as "x11" if, say, you are - * on Wayland but want to try talking to the X server instead. - * - * This functionality has existed since SDL 2.0.0 (indeed, before that) - * but before 2.0.22 this was an environment variable only. In 2.0.22, - * it was upgraded to a full SDL hint, so you can set the environment - * variable as usual or programatically set the hint with SDL_SetHint, - * which won't propagate to child processes. - * - * The default value is unset, in which case SDL will try to figure out - * the best video backend on your behalf. This hint needs to be set - * before SDL_Init() is called to be useful. - * - * This hint is available since SDL 2.0.22. Before then, you could set - * the environment variable to get the same effect. - */ -#define SDL_HINT_VIDEODRIVER "SDL_VIDEODRIVER" - -/** - * \brief A variable that decides what audio backend to use. - * - * By default, SDL will try all available audio backends in a reasonable - * order until it finds one that can work, but this hint allows the app - * or user to force a specific target, such as "alsa" if, say, you are - * on PulseAudio but want to try talking to the lower level instead. - * - * This functionality has existed since SDL 2.0.0 (indeed, before that) - * but before 2.0.22 this was an environment variable only. In 2.0.22, - * it was upgraded to a full SDL hint, so you can set the environment - * variable as usual or programatically set the hint with SDL_SetHint, - * which won't propagate to child processes. - * - * The default value is unset, in which case SDL will try to figure out - * the best audio backend on your behalf. This hint needs to be set - * before SDL_Init() is called to be useful. - * - * This hint is available since SDL 2.0.22. Before then, you could set - * the environment variable to get the same effect. - */ -#define SDL_HINT_AUDIODRIVER "SDL_AUDIODRIVER" - -/** - * \brief A variable that decides what KMSDRM device to use. - * - * Internally, SDL might open something like "/dev/dri/cardNN" to - * access KMSDRM functionality, where "NN" is a device index number. - * - * SDL makes a guess at the best index to use (usually zero), but the - * app or user can set this hint to a number between 0 and 99 to - * force selection. - * - * This hint is available since SDL 2.24.0. - */ -#define SDL_HINT_KMSDRM_DEVICE_INDEX "SDL_KMSDRM_DEVICE_INDEX" - - -/** - * \brief A variable that treats trackpads as touch devices. - * - * On macOS (and possibly other platforms in the future), SDL will report - * touches on a trackpad as mouse input, which is generally what users - * expect from this device; however, these are often actually full - * multitouch-capable touch devices, so it might be preferable to some apps - * to treat them as such. - * - * Setting this hint to true will make the trackpad input report as a - * multitouch device instead of a mouse. The default is false. - * - * Note that most platforms don't support this hint. As of 2.24.0, it - * only supports MacBooks' trackpads on macOS. Others may follow later. - * - * This hint is checked during SDL_Init and can not be changed after. - * - * This hint is available since SDL 2.24.0. - */ -#define SDL_HINT_TRACKPAD_IS_TOUCH_ONLY "SDL_TRACKPAD_IS_TOUCH_ONLY" - - -/** - * \brief An enumeration of hint priorities - */ -typedef enum -{ - SDL_HINT_DEFAULT, - SDL_HINT_NORMAL, - SDL_HINT_OVERRIDE -} SDL_HintPriority; - - -/** - * Set a hint with a specific priority. - * - * The priority controls the behavior when setting a hint that already has a - * value. Hints will replace existing hints of their priority and lower. - * Environment variables are considered to have override priority. - * - * \param name the hint to set - * \param value the value of the hint variable - * \param priority the SDL_HintPriority level for the hint - * \returns SDL_TRUE if the hint was set, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetHint - * \sa SDL_SetHint - */ -extern DECLSPEC SDL_bool SDLCALL SDL_SetHintWithPriority(const char *name, - const char *value, - SDL_HintPriority priority); - -/** - * Set a hint with normal priority. - * - * Hints will not be set if there is an existing override hint or environment - * variable that takes precedence. You can use SDL_SetHintWithPriority() to - * set the hint with override priority instead. - * - * \param name the hint to set - * \param value the value of the hint variable - * \returns SDL_TRUE if the hint was set, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetHint - * \sa SDL_SetHintWithPriority - */ -extern DECLSPEC SDL_bool SDLCALL SDL_SetHint(const char *name, - const char *value); - -/** - * Reset a hint to the default value. - * - * This will reset a hint to the value of the environment variable, or NULL if - * the environment isn't set. Callbacks will be called normally with this - * change. - * - * \param name the hint to set - * \returns SDL_TRUE if the hint was set, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GetHint - * \sa SDL_SetHint - */ -extern DECLSPEC SDL_bool SDLCALL SDL_ResetHint(const char *name); - -/** - * Reset all hints to the default values. - * - * This will reset all hints to the value of the associated environment - * variable, or NULL if the environment isn't set. Callbacks will be called - * normally with this change. - * - * \since This function is available since SDL 2.26.0. - * - * \sa SDL_GetHint - * \sa SDL_SetHint - * \sa SDL_ResetHint - */ -extern DECLSPEC void SDLCALL SDL_ResetHints(void); - -/** - * Get the value of a hint. - * - * \param name the hint to query - * \returns the string value of a hint or NULL if the hint isn't set. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetHint - * \sa SDL_SetHintWithPriority - */ -extern DECLSPEC const char * SDLCALL SDL_GetHint(const char *name); - -/** - * Get the boolean value of a hint variable. - * - * \param name the name of the hint to get the boolean value from - * \param default_value the value to return if the hint does not exist - * \returns the boolean value of a hint or the provided default value if the - * hint does not exist. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_GetHint - * \sa SDL_SetHint - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetHintBoolean(const char *name, SDL_bool default_value); - -/** - * Type definition of the hint callback function. - * - * \param userdata what was passed as `userdata` to SDL_AddHintCallback() - * \param name what was passed as `name` to SDL_AddHintCallback() - * \param oldValue the previous hint value - * \param newValue the new value hint is to be set to - */ -typedef void (SDLCALL *SDL_HintCallback)(void *userdata, const char *name, const char *oldValue, const char *newValue); - -/** - * Add a function to watch a particular hint. - * - * \param name the hint to watch - * \param callback An SDL_HintCallback function that will be called when the - * hint value changes - * \param userdata a pointer to pass to the callback function - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DelHintCallback - */ -extern DECLSPEC void SDLCALL SDL_AddHintCallback(const char *name, - SDL_HintCallback callback, - void *userdata); - -/** - * Remove a function watching a particular hint. - * - * \param name the hint being watched - * \param callback An SDL_HintCallback function that will be called when the - * hint value changes - * \param userdata a pointer being passed to the callback function - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AddHintCallback - */ -extern DECLSPEC void SDLCALL SDL_DelHintCallback(const char *name, - SDL_HintCallback callback, - void *userdata); - -/** - * Clear all hints. - * - * This function is automatically called during SDL_Quit(), and deletes all - * callbacks without calling them and frees all memory associated with hints. - * If you're calling this from application code you probably want to call - * SDL_ResetHints() instead. - * - * This function will be removed from the API the next time we rev the ABI. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ResetHints - */ -extern DECLSPEC void SDLCALL SDL_ClearHints(void); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_hints_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_joystick.h b/subprojects/sdl2_windows/include/SDL2/SDL_joystick.h deleted file mode 100644 index 72c6604df..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_joystick.h +++ /dev/null @@ -1,1066 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_joystick.h - * - * Include file for SDL joystick event handling - * - * The term "device_index" identifies currently plugged in joystick devices between 0 and SDL_NumJoysticks(), with the exact joystick - * behind a device_index changing as joysticks are plugged and unplugged. - * - * The term "instance_id" is the current instantiation of a joystick device in the system, if the joystick is removed and then re-inserted - * then it will get a new instance_id, instance_id's are monotonically increasing identifiers of a joystick plugged in. - * - * The term "player_index" is the number assigned to a player on a specific - * controller. For XInput controllers this returns the XInput user index. - * Many joysticks will not be able to supply this information. - * - * The term JoystickGUID is a stable 128-bit identifier for a joystick device that does not change over time, it identifies class of - * the device (a X360 wired controller for example). This identifier is platform dependent. - */ - -#ifndef SDL_joystick_h_ -#define SDL_joystick_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_guid.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \file SDL_joystick.h - * - * In order to use these functions, SDL_Init() must have been called - * with the ::SDL_INIT_JOYSTICK flag. This causes SDL to scan the system - * for joysticks, and load appropriate drivers. - * - * If you would like to receive joystick updates while the application - * is in the background, you should set the following hint before calling - * SDL_Init(): SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS - */ - -/** - * The joystick structure used to identify an SDL joystick - */ -struct _SDL_Joystick; -typedef struct _SDL_Joystick SDL_Joystick; - -/* A structure that encodes the stable unique id for a joystick device */ -typedef SDL_GUID SDL_JoystickGUID; - -/** - * This is a unique ID for a joystick for the time it is connected to the system, - * and is never reused for the lifetime of the application. If the joystick is - * disconnected and reconnected, it will get a new ID. - * - * The ID value starts at 0 and increments from there. The value -1 is an invalid ID. - */ -typedef Sint32 SDL_JoystickID; - -typedef enum -{ - SDL_JOYSTICK_TYPE_UNKNOWN, - SDL_JOYSTICK_TYPE_GAMECONTROLLER, - SDL_JOYSTICK_TYPE_WHEEL, - SDL_JOYSTICK_TYPE_ARCADE_STICK, - SDL_JOYSTICK_TYPE_FLIGHT_STICK, - SDL_JOYSTICK_TYPE_DANCE_PAD, - SDL_JOYSTICK_TYPE_GUITAR, - SDL_JOYSTICK_TYPE_DRUM_KIT, - SDL_JOYSTICK_TYPE_ARCADE_PAD, - SDL_JOYSTICK_TYPE_THROTTLE -} SDL_JoystickType; - -typedef enum -{ - SDL_JOYSTICK_POWER_UNKNOWN = -1, - SDL_JOYSTICK_POWER_EMPTY, /* <= 5% */ - SDL_JOYSTICK_POWER_LOW, /* <= 20% */ - SDL_JOYSTICK_POWER_MEDIUM, /* <= 70% */ - SDL_JOYSTICK_POWER_FULL, /* <= 100% */ - SDL_JOYSTICK_POWER_WIRED, - SDL_JOYSTICK_POWER_MAX -} SDL_JoystickPowerLevel; - -/* Set max recognized G-force from accelerometer - See src/joystick/uikit/SDL_sysjoystick.m for notes on why this is needed - */ -#define SDL_IPHONE_MAX_GFORCE 5.0 - - -/* Function prototypes */ - -/** - * Locking for multi-threaded access to the joystick API - * - * If you are using the joystick API or handling events from multiple threads - * you should use these locking functions to protect access to the joysticks. - * - * In particular, you are guaranteed that the joystick list won't change, so - * the API functions that take a joystick index will be valid, and joystick - * and game controller events will not be delivered. - * - * As of SDL 2.26.0, you can take the joystick lock around reinitializing the - * joystick subsystem, to prevent other threads from seeing joysticks in an - * uninitialized state. However, all open joysticks will be closed and SDL - * functions called with them will fail. - * - * \since This function is available since SDL 2.0.7. - */ -extern DECLSPEC void SDLCALL SDL_LockJoysticks(void); - - -/** - * Unlocking for multi-threaded access to the joystick API - * - * If you are using the joystick API or handling events from multiple threads - * you should use these locking functions to protect access to the joysticks. - * - * In particular, you are guaranteed that the joystick list won't change, so - * the API functions that take a joystick index will be valid, and joystick - * and game controller events will not be delivered. - * - * \since This function is available since SDL 2.0.7. - */ -extern DECLSPEC void SDLCALL SDL_UnlockJoysticks(void); - -/** - * Count the number of joysticks attached to the system. - * - * \returns the number of attached joysticks on success or a negative error - * code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickName - * \sa SDL_JoystickPath - * \sa SDL_JoystickOpen - */ -extern DECLSPEC int SDLCALL SDL_NumJoysticks(void); - -/** - * Get the implementation dependent name of a joystick. - * - * This can be called before any joysticks are opened. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system) - * \returns the name of the selected joystick. If no name can be found, this - * function returns NULL; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickName - * \sa SDL_JoystickOpen - */ -extern DECLSPEC const char *SDLCALL SDL_JoystickNameForIndex(int device_index); - -/** - * Get the implementation dependent path of a joystick. - * - * This can be called before any joysticks are opened. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system) - * \returns the path of the selected joystick. If no path can be found, this - * function returns NULL; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_JoystickPath - * \sa SDL_JoystickOpen - */ -extern DECLSPEC const char *SDLCALL SDL_JoystickPathForIndex(int device_index); - -/** - * Get the player index of a joystick, or -1 if it's not available This can be - * called before any joysticks are opened. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_JoystickGetDevicePlayerIndex(int device_index); - -/** - * Get the implementation-dependent GUID for the joystick at a given device - * index. - * - * This function can be called before any joysticks are opened. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system - * \returns the GUID of the selected joystick. If called on an invalid index, - * this function returns a zero GUID - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetGUID - * \sa SDL_JoystickGetGUIDString - */ -extern DECLSPEC SDL_JoystickGUID SDLCALL SDL_JoystickGetDeviceGUID(int device_index); - -/** - * Get the USB vendor ID of a joystick, if available. - * - * This can be called before any joysticks are opened. If the vendor ID isn't - * available this function returns 0. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system - * \returns the USB vendor ID of the selected joystick. If called on an - * invalid index, this function returns zero - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetDeviceVendor(int device_index); - -/** - * Get the USB product ID of a joystick, if available. - * - * This can be called before any joysticks are opened. If the product ID isn't - * available this function returns 0. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system - * \returns the USB product ID of the selected joystick. If called on an - * invalid index, this function returns zero - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetDeviceProduct(int device_index); - -/** - * Get the product version of a joystick, if available. - * - * This can be called before any joysticks are opened. If the product version - * isn't available this function returns 0. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system - * \returns the product version of the selected joystick. If called on an - * invalid index, this function returns zero - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetDeviceProductVersion(int device_index); - -/** - * Get the type of a joystick, if available. - * - * This can be called before any joysticks are opened. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system - * \returns the SDL_JoystickType of the selected joystick. If called on an - * invalid index, this function returns `SDL_JOYSTICK_TYPE_UNKNOWN` - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC SDL_JoystickType SDLCALL SDL_JoystickGetDeviceType(int device_index); - -/** - * Get the instance ID of a joystick. - * - * This can be called before any joysticks are opened. If the index is out of - * range, this function will return -1. - * - * \param device_index the index of the joystick to query (the N'th joystick - * on the system - * \returns the instance id of the selected joystick. If called on an invalid - * index, this function returns zero - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC SDL_JoystickID SDLCALL SDL_JoystickGetDeviceInstanceID(int device_index); - -/** - * Open a joystick for use. - * - * The `device_index` argument refers to the N'th joystick presently - * recognized by SDL on the system. It is **NOT** the same as the instance ID - * used to identify the joystick in future events. See - * SDL_JoystickInstanceID() for more details about instance IDs. - * - * The joystick subsystem must be initialized before a joystick can be opened - * for use. - * - * \param device_index the index of the joystick to query - * \returns a joystick identifier or NULL if an error occurred; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickClose - * \sa SDL_JoystickInstanceID - */ -extern DECLSPEC SDL_Joystick *SDLCALL SDL_JoystickOpen(int device_index); - -/** - * Get the SDL_Joystick associated with an instance id. - * - * \param instance_id the instance id to get the SDL_Joystick for - * \returns an SDL_Joystick on success or NULL on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.4. - */ -extern DECLSPEC SDL_Joystick *SDLCALL SDL_JoystickFromInstanceID(SDL_JoystickID instance_id); - -/** - * Get the SDL_Joystick associated with a player index. - * - * \param player_index the player index to get the SDL_Joystick for - * \returns an SDL_Joystick on success or NULL on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.12. - */ -extern DECLSPEC SDL_Joystick *SDLCALL SDL_JoystickFromPlayerIndex(int player_index); - -/** - * Attach a new virtual joystick. - * - * \returns the joystick's device index, or -1 if an error occurred. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_JoystickAttachVirtual(SDL_JoystickType type, - int naxes, - int nbuttons, - int nhats); - -/** - * The structure that defines an extended virtual joystick description - * - * The caller must zero the structure and then initialize the version with `SDL_VIRTUAL_JOYSTICK_DESC_VERSION` before passing it to SDL_JoystickAttachVirtualEx() - * All other elements of this structure are optional and can be left 0. - * - * \sa SDL_JoystickAttachVirtualEx - */ -typedef struct SDL_VirtualJoystickDesc -{ - Uint16 version; /**< `SDL_VIRTUAL_JOYSTICK_DESC_VERSION` */ - Uint16 type; /**< `SDL_JoystickType` */ - Uint16 naxes; /**< the number of axes on this joystick */ - Uint16 nbuttons; /**< the number of buttons on this joystick */ - Uint16 nhats; /**< the number of hats on this joystick */ - Uint16 vendor_id; /**< the USB vendor ID of this joystick */ - Uint16 product_id; /**< the USB product ID of this joystick */ - Uint16 padding; /**< unused */ - Uint32 button_mask; /**< A mask of which buttons are valid for this controller - e.g. (1 << SDL_CONTROLLER_BUTTON_A) */ - Uint32 axis_mask; /**< A mask of which axes are valid for this controller - e.g. (1 << SDL_CONTROLLER_AXIS_LEFTX) */ - const char *name; /**< the name of the joystick */ - - void *userdata; /**< User data pointer passed to callbacks */ - void (SDLCALL *Update)(void *userdata); /**< Called when the joystick state should be updated */ - void (SDLCALL *SetPlayerIndex)(void *userdata, int player_index); /**< Called when the player index is set */ - int (SDLCALL *Rumble)(void *userdata, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble); /**< Implements SDL_JoystickRumble() */ - int (SDLCALL *RumbleTriggers)(void *userdata, Uint16 left_rumble, Uint16 right_rumble); /**< Implements SDL_JoystickRumbleTriggers() */ - int (SDLCALL *SetLED)(void *userdata, Uint8 red, Uint8 green, Uint8 blue); /**< Implements SDL_JoystickSetLED() */ - int (SDLCALL *SendEffect)(void *userdata, const void *data, int size); /**< Implements SDL_JoystickSendEffect() */ - -} SDL_VirtualJoystickDesc; - -/** - * \brief The current version of the SDL_VirtualJoystickDesc structure - */ -#define SDL_VIRTUAL_JOYSTICK_DESC_VERSION 1 - -/** - * Attach a new virtual joystick with extended properties. - * - * \returns the joystick's device index, or -1 if an error occurred. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC int SDLCALL SDL_JoystickAttachVirtualEx(const SDL_VirtualJoystickDesc *desc); - -/** - * Detach a virtual joystick. - * - * \param device_index a value previously returned from - * SDL_JoystickAttachVirtual() - * \returns 0 on success, or -1 if an error occurred. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_JoystickDetachVirtual(int device_index); - -/** - * Query whether or not the joystick at a given device index is virtual. - * - * \param device_index a joystick device index. - * \returns SDL_TRUE if the joystick is virtual, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_JoystickIsVirtual(int device_index); - -/** - * Set values on an opened, virtual-joystick's axis. - * - * Please note that values set here will not be applied until the next call to - * SDL_JoystickUpdate, which can either be called directly, or can be called - * indirectly through various other SDL APIs, including, but not limited to - * the following: SDL_PollEvent, SDL_PumpEvents, SDL_WaitEventTimeout, - * SDL_WaitEvent. - * - * Note that when sending trigger axes, you should scale the value to the full - * range of Sint16. For example, a trigger at rest would have the value of - * `SDL_JOYSTICK_AXIS_MIN`. - * - * \param joystick the virtual joystick on which to set state. - * \param axis the specific axis on the virtual joystick to set. - * \param value the new value for the specified axis. - * \returns 0 on success, -1 on error. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_JoystickSetVirtualAxis(SDL_Joystick *joystick, int axis, Sint16 value); - -/** - * Set values on an opened, virtual-joystick's button. - * - * Please note that values set here will not be applied until the next call to - * SDL_JoystickUpdate, which can either be called directly, or can be called - * indirectly through various other SDL APIs, including, but not limited to - * the following: SDL_PollEvent, SDL_PumpEvents, SDL_WaitEventTimeout, - * SDL_WaitEvent. - * - * \param joystick the virtual joystick on which to set state. - * \param button the specific button on the virtual joystick to set. - * \param value the new value for the specified button. - * \returns 0 on success, -1 on error. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_JoystickSetVirtualButton(SDL_Joystick *joystick, int button, Uint8 value); - -/** - * Set values on an opened, virtual-joystick's hat. - * - * Please note that values set here will not be applied until the next call to - * SDL_JoystickUpdate, which can either be called directly, or can be called - * indirectly through various other SDL APIs, including, but not limited to - * the following: SDL_PollEvent, SDL_PumpEvents, SDL_WaitEventTimeout, - * SDL_WaitEvent. - * - * \param joystick the virtual joystick on which to set state. - * \param hat the specific hat on the virtual joystick to set. - * \param value the new value for the specified hat. - * \returns 0 on success, -1 on error. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_JoystickSetVirtualHat(SDL_Joystick *joystick, int hat, Uint8 value); - -/** - * Get the implementation dependent name of a joystick. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the name of the selected joystick. If no name can be found, this - * function returns NULL; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickNameForIndex - * \sa SDL_JoystickOpen - */ -extern DECLSPEC const char *SDLCALL SDL_JoystickName(SDL_Joystick *joystick); - -/** - * Get the implementation dependent path of a joystick. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the path of the selected joystick. If no path can be found, this - * function returns NULL; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_JoystickPathForIndex - */ -extern DECLSPEC const char *SDLCALL SDL_JoystickPath(SDL_Joystick *joystick); - -/** - * Get the player index of an opened joystick. - * - * For XInput controllers this returns the XInput user index. Many joysticks - * will not be able to supply this information. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the player index, or -1 if it's not available. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_JoystickGetPlayerIndex(SDL_Joystick *joystick); - -/** - * Set the player index of an opened joystick. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \param player_index Player index to assign to this joystick, or -1 to clear - * the player index and turn off player LEDs. - * - * \since This function is available since SDL 2.0.12. - */ -extern DECLSPEC void SDLCALL SDL_JoystickSetPlayerIndex(SDL_Joystick *joystick, int player_index); - -/** - * Get the implementation-dependent GUID for the joystick. - * - * This function requires an open joystick. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the GUID of the given joystick. If called on an invalid index, - * this function returns a zero GUID; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetDeviceGUID - * \sa SDL_JoystickGetGUIDString - */ -extern DECLSPEC SDL_JoystickGUID SDLCALL SDL_JoystickGetGUID(SDL_Joystick *joystick); - -/** - * Get the USB vendor ID of an opened joystick, if available. - * - * If the vendor ID isn't available this function returns 0. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the USB vendor ID of the selected joystick, or 0 if unavailable. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetVendor(SDL_Joystick *joystick); - -/** - * Get the USB product ID of an opened joystick, if available. - * - * If the product ID isn't available this function returns 0. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the USB product ID of the selected joystick, or 0 if unavailable. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetProduct(SDL_Joystick *joystick); - -/** - * Get the product version of an opened joystick, if available. - * - * If the product version isn't available this function returns 0. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the product version of the selected joystick, or 0 if unavailable. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetProductVersion(SDL_Joystick *joystick); - -/** - * Get the firmware version of an opened joystick, if available. - * - * If the firmware version isn't available this function returns 0. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the firmware version of the selected joystick, or 0 if - * unavailable. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC Uint16 SDLCALL SDL_JoystickGetFirmwareVersion(SDL_Joystick *joystick); - -/** - * Get the serial number of an opened joystick, if available. - * - * Returns the serial number of the joystick, or NULL if it is not available. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the serial number of the selected joystick, or NULL if - * unavailable. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC const char * SDLCALL SDL_JoystickGetSerial(SDL_Joystick *joystick); - -/** - * Get the type of an opened joystick. - * - * \param joystick the SDL_Joystick obtained from SDL_JoystickOpen() - * \returns the SDL_JoystickType of the selected joystick. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC SDL_JoystickType SDLCALL SDL_JoystickGetType(SDL_Joystick *joystick); - -/** - * Get an ASCII string representation for a given SDL_JoystickGUID. - * - * You should supply at least 33 bytes for pszGUID. - * - * \param guid the SDL_JoystickGUID you wish to convert to string - * \param pszGUID buffer in which to write the ASCII string - * \param cbGUID the size of pszGUID - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetDeviceGUID - * \sa SDL_JoystickGetGUID - * \sa SDL_JoystickGetGUIDFromString - */ -extern DECLSPEC void SDLCALL SDL_JoystickGetGUIDString(SDL_JoystickGUID guid, char *pszGUID, int cbGUID); - -/** - * Convert a GUID string into a SDL_JoystickGUID structure. - * - * Performs no error checking. If this function is given a string containing - * an invalid GUID, the function will silently succeed, but the GUID generated - * will not be useful. - * - * \param pchGUID string containing an ASCII representation of a GUID - * \returns a SDL_JoystickGUID structure. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetGUIDString - */ -extern DECLSPEC SDL_JoystickGUID SDLCALL SDL_JoystickGetGUIDFromString(const char *pchGUID); - -/** - * Get the device information encoded in a SDL_JoystickGUID structure - * - * \param guid the SDL_JoystickGUID you wish to get info about - * \param vendor A pointer filled in with the device VID, or 0 if not - * available - * \param product A pointer filled in with the device PID, or 0 if not - * available - * \param version A pointer filled in with the device version, or 0 if not - * available - * \param crc16 A pointer filled in with a CRC used to distinguish different - * products with the same VID/PID, or 0 if not available - * - * \since This function is available since SDL 2.26.0. - * - * \sa SDL_JoystickGetDeviceGUID - */ -extern DECLSPEC void SDLCALL SDL_GetJoystickGUIDInfo(SDL_JoystickGUID guid, Uint16 *vendor, Uint16 *product, Uint16 *version, Uint16 *crc16); - -/** - * Get the status of a specified joystick. - * - * \param joystick the joystick to query - * \returns SDL_TRUE if the joystick has been opened, SDL_FALSE if it has not; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickClose - * \sa SDL_JoystickOpen - */ -extern DECLSPEC SDL_bool SDLCALL SDL_JoystickGetAttached(SDL_Joystick *joystick); - -/** - * Get the instance ID of an opened joystick. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \returns the instance ID of the specified joystick on success or a negative - * error code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickOpen - */ -extern DECLSPEC SDL_JoystickID SDLCALL SDL_JoystickInstanceID(SDL_Joystick *joystick); - -/** - * Get the number of general axis controls on a joystick. - * - * Often, the directional pad on a game controller will either look like 4 - * separate buttons or a POV hat, and not axes, but all of this is up to the - * device and platform. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \returns the number of axis controls/number of axes on success or a - * negative error code on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetAxis - * \sa SDL_JoystickOpen - */ -extern DECLSPEC int SDLCALL SDL_JoystickNumAxes(SDL_Joystick *joystick); - -/** - * Get the number of trackballs on a joystick. - * - * Joystick trackballs have only relative motion events associated with them - * and their state cannot be polled. - * - * Most joysticks do not have trackballs. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \returns the number of trackballs on success or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetBall - */ -extern DECLSPEC int SDLCALL SDL_JoystickNumBalls(SDL_Joystick *joystick); - -/** - * Get the number of POV hats on a joystick. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \returns the number of POV hats on success or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetHat - * \sa SDL_JoystickOpen - */ -extern DECLSPEC int SDLCALL SDL_JoystickNumHats(SDL_Joystick *joystick); - -/** - * Get the number of buttons on a joystick. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \returns the number of buttons on success or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickGetButton - * \sa SDL_JoystickOpen - */ -extern DECLSPEC int SDLCALL SDL_JoystickNumButtons(SDL_Joystick *joystick); - -/** - * Update the current state of the open joysticks. - * - * This is called automatically by the event loop if any joystick events are - * enabled. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickEventState - */ -extern DECLSPEC void SDLCALL SDL_JoystickUpdate(void); - -/** - * Enable/disable joystick event polling. - * - * If joystick events are disabled, you must call SDL_JoystickUpdate() - * yourself and manually check the state of the joystick when you want - * joystick information. - * - * It is recommended that you leave joystick event handling enabled. - * - * **WARNING**: Calling this function may delete all events currently in SDL's - * event queue. - * - * \param state can be one of `SDL_QUERY`, `SDL_IGNORE`, or `SDL_ENABLE` - * \returns 1 if enabled, 0 if disabled, or a negative error code on failure; - * call SDL_GetError() for more information. - * - * If `state` is `SDL_QUERY` then the current state is returned, - * otherwise the new processing state is returned. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GameControllerEventState - */ -extern DECLSPEC int SDLCALL SDL_JoystickEventState(int state); - -#define SDL_JOYSTICK_AXIS_MAX 32767 -#define SDL_JOYSTICK_AXIS_MIN -32768 - -/** - * Get the current state of an axis control on a joystick. - * - * SDL makes no promises about what part of the joystick any given axis refers - * to. Your game should have some sort of configuration UI to let users - * specify what each axis should be bound to. Alternately, SDL's higher-level - * Game Controller API makes a great effort to apply order to this lower-level - * interface, so you know that a specific axis is the "left thumb stick," etc. - * - * The value returned by SDL_JoystickGetAxis() is a signed integer (-32768 to - * 32767) representing the current position of the axis. It may be necessary - * to impose certain tolerances on these values to account for jitter. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \param axis the axis to query; the axis indices start at index 0 - * \returns a 16-bit signed integer representing the current position of the - * axis or 0 on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickNumAxes - */ -extern DECLSPEC Sint16 SDLCALL SDL_JoystickGetAxis(SDL_Joystick *joystick, - int axis); - -/** - * Get the initial state of an axis control on a joystick. - * - * The state is a value ranging from -32768 to 32767. - * - * The axis indices start at index 0. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \param axis the axis to query; the axis indices start at index 0 - * \param state Upon return, the initial value is supplied here. - * \return SDL_TRUE if this axis has any initial value, or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_JoystickGetAxisInitialState(SDL_Joystick *joystick, - int axis, Sint16 *state); - -/** - * \name Hat positions - */ -/* @{ */ -#define SDL_HAT_CENTERED 0x00 -#define SDL_HAT_UP 0x01 -#define SDL_HAT_RIGHT 0x02 -#define SDL_HAT_DOWN 0x04 -#define SDL_HAT_LEFT 0x08 -#define SDL_HAT_RIGHTUP (SDL_HAT_RIGHT|SDL_HAT_UP) -#define SDL_HAT_RIGHTDOWN (SDL_HAT_RIGHT|SDL_HAT_DOWN) -#define SDL_HAT_LEFTUP (SDL_HAT_LEFT|SDL_HAT_UP) -#define SDL_HAT_LEFTDOWN (SDL_HAT_LEFT|SDL_HAT_DOWN) -/* @} */ - -/** - * Get the current state of a POV hat on a joystick. - * - * The returned value will be one of the following positions: - * - * - `SDL_HAT_CENTERED` - * - `SDL_HAT_UP` - * - `SDL_HAT_RIGHT` - * - `SDL_HAT_DOWN` - * - `SDL_HAT_LEFT` - * - `SDL_HAT_RIGHTUP` - * - `SDL_HAT_RIGHTDOWN` - * - `SDL_HAT_LEFTUP` - * - `SDL_HAT_LEFTDOWN` - * - * \param joystick an SDL_Joystick structure containing joystick information - * \param hat the hat index to get the state from; indices start at index 0 - * \returns the current hat position. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickNumHats - */ -extern DECLSPEC Uint8 SDLCALL SDL_JoystickGetHat(SDL_Joystick *joystick, - int hat); - -/** - * Get the ball axis change since the last poll. - * - * Trackballs can only return relative motion since the last call to - * SDL_JoystickGetBall(), these motion deltas are placed into `dx` and `dy`. - * - * Most joysticks do not have trackballs. - * - * \param joystick the SDL_Joystick to query - * \param ball the ball index to query; ball indices start at index 0 - * \param dx stores the difference in the x axis position since the last poll - * \param dy stores the difference in the y axis position since the last poll - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickNumBalls - */ -extern DECLSPEC int SDLCALL SDL_JoystickGetBall(SDL_Joystick *joystick, - int ball, int *dx, int *dy); - -/** - * Get the current state of a button on a joystick. - * - * \param joystick an SDL_Joystick structure containing joystick information - * \param button the button index to get the state from; indices start at - * index 0 - * \returns 1 if the specified button is pressed, 0 otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickNumButtons - */ -extern DECLSPEC Uint8 SDLCALL SDL_JoystickGetButton(SDL_Joystick *joystick, - int button); - -/** - * Start a rumble effect. - * - * Each call to this function cancels any previous rumble effect, and calling - * it with 0 intensity stops any rumbling. - * - * \param joystick The joystick to vibrate - * \param low_frequency_rumble The intensity of the low frequency (left) - * rumble motor, from 0 to 0xFFFF - * \param high_frequency_rumble The intensity of the high frequency (right) - * rumble motor, from 0 to 0xFFFF - * \param duration_ms The duration of the rumble effect, in milliseconds - * \returns 0, or -1 if rumble isn't supported on this joystick - * - * \since This function is available since SDL 2.0.9. - * - * \sa SDL_JoystickHasRumble - */ -extern DECLSPEC int SDLCALL SDL_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble, Uint32 duration_ms); - -/** - * Start a rumble effect in the joystick's triggers - * - * Each call to this function cancels any previous trigger rumble effect, and - * calling it with 0 intensity stops any rumbling. - * - * Note that this is rumbling of the _triggers_ and not the game controller as - * a whole. This is currently only supported on Xbox One controllers. If you - * want the (more common) whole-controller rumble, use SDL_JoystickRumble() - * instead. - * - * \param joystick The joystick to vibrate - * \param left_rumble The intensity of the left trigger rumble motor, from 0 - * to 0xFFFF - * \param right_rumble The intensity of the right trigger rumble motor, from 0 - * to 0xFFFF - * \param duration_ms The duration of the rumble effect, in milliseconds - * \returns 0, or -1 if trigger rumble isn't supported on this joystick - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_JoystickHasRumbleTriggers - */ -extern DECLSPEC int SDLCALL SDL_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble, Uint32 duration_ms); - -/** - * Query whether a joystick has an LED. - * - * An example of a joystick LED is the light on the back of a PlayStation 4's - * DualShock 4 controller. - * - * \param joystick The joystick to query - * \return SDL_TRUE if the joystick has a modifiable LED, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_JoystickHasLED(SDL_Joystick *joystick); - -/** - * Query whether a joystick has rumble support. - * - * \param joystick The joystick to query - * \return SDL_TRUE if the joystick has rumble, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_JoystickRumble - */ -extern DECLSPEC SDL_bool SDLCALL SDL_JoystickHasRumble(SDL_Joystick *joystick); - -/** - * Query whether a joystick has rumble support on triggers. - * - * \param joystick The joystick to query - * \return SDL_TRUE if the joystick has trigger rumble, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_JoystickRumbleTriggers - */ -extern DECLSPEC SDL_bool SDLCALL SDL_JoystickHasRumbleTriggers(SDL_Joystick *joystick); - -/** - * Update a joystick's LED color. - * - * An example of a joystick LED is the light on the back of a PlayStation 4's - * DualShock 4 controller. - * - * \param joystick The joystick to update - * \param red The intensity of the red LED - * \param green The intensity of the green LED - * \param blue The intensity of the blue LED - * \returns 0 on success, -1 if this joystick does not have a modifiable LED - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue); - -/** - * Send a joystick specific effect packet - * - * \param joystick The joystick to affect - * \param data The data to send to the joystick - * \param size The size of the data to send to the joystick - * \returns 0, or -1 if this joystick or driver doesn't support effect packets - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC int SDLCALL SDL_JoystickSendEffect(SDL_Joystick *joystick, const void *data, int size); - -/** - * Close a joystick previously opened with SDL_JoystickOpen(). - * - * \param joystick The joystick device to close - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_JoystickOpen - */ -extern DECLSPEC void SDLCALL SDL_JoystickClose(SDL_Joystick *joystick); - -/** - * Get the battery level of a joystick as SDL_JoystickPowerLevel. - * - * \param joystick the SDL_Joystick to query - * \returns the current battery level as SDL_JoystickPowerLevel on success or - * `SDL_JOYSTICK_POWER_UNKNOWN` if it is unknown - * - * \since This function is available since SDL 2.0.4. - */ -extern DECLSPEC SDL_JoystickPowerLevel SDLCALL SDL_JoystickCurrentPowerLevel(SDL_Joystick *joystick); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_joystick_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_keyboard.h b/subprojects/sdl2_windows/include/SDL2/SDL_keyboard.h deleted file mode 100644 index e7663fb34..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_keyboard.h +++ /dev/null @@ -1,353 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_keyboard.h - * - * Include file for SDL keyboard event handling - */ - -#ifndef SDL_keyboard_h_ -#define SDL_keyboard_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_keycode.h" -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief The SDL keysym structure, used in key events. - * - * \note If you are looking for translated character input, see the ::SDL_TEXTINPUT event. - */ -typedef struct SDL_Keysym -{ - SDL_Scancode scancode; /**< SDL physical key code - see ::SDL_Scancode for details */ - SDL_Keycode sym; /**< SDL virtual key code - see ::SDL_Keycode for details */ - Uint16 mod; /**< current key modifiers */ - Uint32 unused; -} SDL_Keysym; - -/* Function prototypes */ - -/** - * Query the window which currently has keyboard focus. - * - * \returns the window with keyboard focus. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_GetKeyboardFocus(void); - -/** - * Get a snapshot of the current state of the keyboard. - * - * The pointer returned is a pointer to an internal SDL array. It will be - * valid for the whole lifetime of the application and should not be freed by - * the caller. - * - * A array element with a value of 1 means that the key is pressed and a value - * of 0 means that it is not. Indexes into this array are obtained by using - * SDL_Scancode values. - * - * Use SDL_PumpEvents() to update the state array. - * - * This function gives you the current state after all events have been - * processed, so if a key or button has been pressed and released before you - * process events, then the pressed state will never show up in the - * SDL_GetKeyboardState() calls. - * - * Note: This function doesn't take into account whether shift has been - * pressed or not. - * - * \param numkeys if non-NULL, receives the length of the returned array - * \returns a pointer to an array of key states. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PumpEvents - * \sa SDL_ResetKeyboard - */ -extern DECLSPEC const Uint8 *SDLCALL SDL_GetKeyboardState(int *numkeys); - -/** - * Clear the state of the keyboard - * - * This function will generate key up events for all pressed keys. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GetKeyboardState - */ -extern DECLSPEC void SDLCALL SDL_ResetKeyboard(void); - -/** - * Get the current key modifier state for the keyboard. - * - * \returns an OR'd combination of the modifier keys for the keyboard. See - * SDL_Keymod for details. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetKeyboardState - * \sa SDL_SetModState - */ -extern DECLSPEC SDL_Keymod SDLCALL SDL_GetModState(void); - -/** - * Set the current key modifier state for the keyboard. - * - * The inverse of SDL_GetModState(), SDL_SetModState() allows you to impose - * modifier key states on your application. Simply pass your desired modifier - * states into `modstate`. This value may be a bitwise, OR'd combination of - * SDL_Keymod values. - * - * This does not change the keyboard state, only the key modifier flags that - * SDL reports. - * - * \param modstate the desired SDL_Keymod for the keyboard - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetModState - */ -extern DECLSPEC void SDLCALL SDL_SetModState(SDL_Keymod modstate); - -/** - * Get the key code corresponding to the given scancode according to the - * current keyboard layout. - * - * See SDL_Keycode for details. - * - * \param scancode the desired SDL_Scancode to query - * \returns the SDL_Keycode that corresponds to the given SDL_Scancode. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetKeyName - * \sa SDL_GetScancodeFromKey - */ -extern DECLSPEC SDL_Keycode SDLCALL SDL_GetKeyFromScancode(SDL_Scancode scancode); - -/** - * Get the scancode corresponding to the given key code according to the - * current keyboard layout. - * - * See SDL_Scancode for details. - * - * \param key the desired SDL_Keycode to query - * \returns the SDL_Scancode that corresponds to the given SDL_Keycode. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetKeyFromScancode - * \sa SDL_GetScancodeName - */ -extern DECLSPEC SDL_Scancode SDLCALL SDL_GetScancodeFromKey(SDL_Keycode key); - -/** - * Get a human-readable name for a scancode. - * - * See SDL_Scancode for details. - * - * **Warning**: The returned name is by design not stable across platforms, - * e.g. the name for `SDL_SCANCODE_LGUI` is "Left GUI" under Linux but "Left - * Windows" under Microsoft Windows, and some scancodes like - * `SDL_SCANCODE_NONUSBACKSLASH` don't have any name at all. There are even - * scancodes that share names, e.g. `SDL_SCANCODE_RETURN` and - * `SDL_SCANCODE_RETURN2` (both called "Return"). This function is therefore - * unsuitable for creating a stable cross-platform two-way mapping between - * strings and scancodes. - * - * \param scancode the desired SDL_Scancode to query - * \returns a pointer to the name for the scancode. If the scancode doesn't - * have a name this function returns an empty string (""). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetScancodeFromKey - * \sa SDL_GetScancodeFromName - */ -extern DECLSPEC const char *SDLCALL SDL_GetScancodeName(SDL_Scancode scancode); - -/** - * Get a scancode from a human-readable name. - * - * \param name the human-readable scancode name - * \returns the SDL_Scancode, or `SDL_SCANCODE_UNKNOWN` if the name wasn't - * recognized; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetKeyFromName - * \sa SDL_GetScancodeFromKey - * \sa SDL_GetScancodeName - */ -extern DECLSPEC SDL_Scancode SDLCALL SDL_GetScancodeFromName(const char *name); - -/** - * Get a human-readable name for a key. - * - * See SDL_Scancode and SDL_Keycode for details. - * - * \param key the desired SDL_Keycode to query - * \returns a pointer to a UTF-8 string that stays valid at least until the - * next call to this function. If you need it around any longer, you - * must copy it. If the key doesn't have a name, this function - * returns an empty string (""). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetKeyFromName - * \sa SDL_GetKeyFromScancode - * \sa SDL_GetScancodeFromKey - */ -extern DECLSPEC const char *SDLCALL SDL_GetKeyName(SDL_Keycode key); - -/** - * Get a key code from a human-readable name. - * - * \param name the human-readable key name - * \returns key code, or `SDLK_UNKNOWN` if the name wasn't recognized; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetKeyFromScancode - * \sa SDL_GetKeyName - * \sa SDL_GetScancodeFromName - */ -extern DECLSPEC SDL_Keycode SDLCALL SDL_GetKeyFromName(const char *name); - -/** - * Start accepting Unicode text input events. - * - * This function will start accepting Unicode text input events in the focused - * SDL window, and start emitting SDL_TextInputEvent (SDL_TEXTINPUT) and - * SDL_TextEditingEvent (SDL_TEXTEDITING) events. Please use this function in - * pair with SDL_StopTextInput(). - * - * On some platforms using this function activates the screen keyboard. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetTextInputRect - * \sa SDL_StopTextInput - */ -extern DECLSPEC void SDLCALL SDL_StartTextInput(void); - -/** - * Check whether or not Unicode text input events are enabled. - * - * \returns SDL_TRUE if text input events are enabled else SDL_FALSE. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_StartTextInput - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsTextInputActive(void); - -/** - * Stop receiving any text input events. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_StartTextInput - */ -extern DECLSPEC void SDLCALL SDL_StopTextInput(void); - -/** - * Dismiss the composition window/IME without disabling the subsystem. - * - * \since This function is available since SDL 2.0.22. - * - * \sa SDL_StartTextInput - * \sa SDL_StopTextInput - */ -extern DECLSPEC void SDLCALL SDL_ClearComposition(void); - -/** - * Returns if an IME Composite or Candidate window is currently shown. - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsTextInputShown(void); - -/** - * Set the rectangle used to type Unicode text inputs. - * - * To start text input in a given location, this function is intended to be - * called before SDL_StartTextInput, although some platforms support moving - * the rectangle even while text input (and a composition) is active. - * - * Note: If you want to use the system native IME window, try setting hint - * **SDL_HINT_IME_SHOW_UI** to **1**, otherwise this function won't give you - * any feedback. - * - * \param rect the SDL_Rect structure representing the rectangle to receive - * text (ignored if NULL) - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_StartTextInput - */ -extern DECLSPEC void SDLCALL SDL_SetTextInputRect(const SDL_Rect *rect); - -/** - * Check whether the platform has screen keyboard support. - * - * \returns SDL_TRUE if the platform has some screen keyboard support or - * SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_StartTextInput - * \sa SDL_IsScreenKeyboardShown - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasScreenKeyboardSupport(void); - -/** - * Check whether the screen keyboard is shown for given window. - * - * \param window the window for which screen keyboard should be queried - * \returns SDL_TRUE if screen keyboard is shown or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HasScreenKeyboardSupport - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsScreenKeyboardShown(SDL_Window *window); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_keyboard_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_keycode.h b/subprojects/sdl2_windows/include/SDL2/SDL_keycode.h deleted file mode 100644 index 65420f29f..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_keycode.h +++ /dev/null @@ -1,358 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_keycode.h - * - * Defines constants which identify keyboard keys and modifiers. - */ - -#ifndef SDL_keycode_h_ -#define SDL_keycode_h_ - -#include "SDL_stdinc.h" -#include "SDL_scancode.h" - -/** - * \brief The SDL virtual key representation. - * - * Values of this type are used to represent keyboard keys using the current - * layout of the keyboard. These values include Unicode values representing - * the unmodified character that would be generated by pressing the key, or - * an SDLK_* constant for those keys that do not generate characters. - * - * A special exception is the number keys at the top of the keyboard which - * always map to SDLK_0...SDLK_9, regardless of layout. - */ -typedef Sint32 SDL_Keycode; - -#define SDLK_SCANCODE_MASK (1<<30) -#define SDL_SCANCODE_TO_KEYCODE(X) (X | SDLK_SCANCODE_MASK) - -typedef enum -{ - SDLK_UNKNOWN = 0, - - SDLK_RETURN = '\r', - SDLK_ESCAPE = '\x1B', - SDLK_BACKSPACE = '\b', - SDLK_TAB = '\t', - SDLK_SPACE = ' ', - SDLK_EXCLAIM = '!', - SDLK_QUOTEDBL = '"', - SDLK_HASH = '#', - SDLK_PERCENT = '%', - SDLK_DOLLAR = '$', - SDLK_AMPERSAND = '&', - SDLK_QUOTE = '\'', - SDLK_LEFTPAREN = '(', - SDLK_RIGHTPAREN = ')', - SDLK_ASTERISK = '*', - SDLK_PLUS = '+', - SDLK_COMMA = ',', - SDLK_MINUS = '-', - SDLK_PERIOD = '.', - SDLK_SLASH = '/', - SDLK_0 = '0', - SDLK_1 = '1', - SDLK_2 = '2', - SDLK_3 = '3', - SDLK_4 = '4', - SDLK_5 = '5', - SDLK_6 = '6', - SDLK_7 = '7', - SDLK_8 = '8', - SDLK_9 = '9', - SDLK_COLON = ':', - SDLK_SEMICOLON = ';', - SDLK_LESS = '<', - SDLK_EQUALS = '=', - SDLK_GREATER = '>', - SDLK_QUESTION = '?', - SDLK_AT = '@', - - /* - Skip uppercase letters - */ - - SDLK_LEFTBRACKET = '[', - SDLK_BACKSLASH = '\\', - SDLK_RIGHTBRACKET = ']', - SDLK_CARET = '^', - SDLK_UNDERSCORE = '_', - SDLK_BACKQUOTE = '`', - SDLK_a = 'a', - SDLK_b = 'b', - SDLK_c = 'c', - SDLK_d = 'd', - SDLK_e = 'e', - SDLK_f = 'f', - SDLK_g = 'g', - SDLK_h = 'h', - SDLK_i = 'i', - SDLK_j = 'j', - SDLK_k = 'k', - SDLK_l = 'l', - SDLK_m = 'm', - SDLK_n = 'n', - SDLK_o = 'o', - SDLK_p = 'p', - SDLK_q = 'q', - SDLK_r = 'r', - SDLK_s = 's', - SDLK_t = 't', - SDLK_u = 'u', - SDLK_v = 'v', - SDLK_w = 'w', - SDLK_x = 'x', - SDLK_y = 'y', - SDLK_z = 'z', - - SDLK_CAPSLOCK = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CAPSLOCK), - - SDLK_F1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F1), - SDLK_F2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F2), - SDLK_F3 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F3), - SDLK_F4 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F4), - SDLK_F5 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F5), - SDLK_F6 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F6), - SDLK_F7 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F7), - SDLK_F8 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F8), - SDLK_F9 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F9), - SDLK_F10 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F10), - SDLK_F11 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F11), - SDLK_F12 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F12), - - SDLK_PRINTSCREEN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PRINTSCREEN), - SDLK_SCROLLLOCK = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SCROLLLOCK), - SDLK_PAUSE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAUSE), - SDLK_INSERT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_INSERT), - SDLK_HOME = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_HOME), - SDLK_PAGEUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAGEUP), - SDLK_DELETE = '\x7F', - SDLK_END = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_END), - SDLK_PAGEDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAGEDOWN), - SDLK_RIGHT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RIGHT), - SDLK_LEFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LEFT), - SDLK_DOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DOWN), - SDLK_UP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_UP), - - SDLK_NUMLOCKCLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_NUMLOCKCLEAR), - SDLK_KP_DIVIDE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DIVIDE), - SDLK_KP_MULTIPLY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MULTIPLY), - SDLK_KP_MINUS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MINUS), - SDLK_KP_PLUS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PLUS), - SDLK_KP_ENTER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_ENTER), - SDLK_KP_1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_1), - SDLK_KP_2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_2), - SDLK_KP_3 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_3), - SDLK_KP_4 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_4), - SDLK_KP_5 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_5), - SDLK_KP_6 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_6), - SDLK_KP_7 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_7), - SDLK_KP_8 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_8), - SDLK_KP_9 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_9), - SDLK_KP_0 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_0), - SDLK_KP_PERIOD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PERIOD), - - SDLK_APPLICATION = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_APPLICATION), - SDLK_POWER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_POWER), - SDLK_KP_EQUALS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_EQUALS), - SDLK_F13 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F13), - SDLK_F14 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F14), - SDLK_F15 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F15), - SDLK_F16 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F16), - SDLK_F17 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F17), - SDLK_F18 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F18), - SDLK_F19 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F19), - SDLK_F20 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F20), - SDLK_F21 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F21), - SDLK_F22 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F22), - SDLK_F23 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F23), - SDLK_F24 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F24), - SDLK_EXECUTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_EXECUTE), - SDLK_HELP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_HELP), - SDLK_MENU = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MENU), - SDLK_SELECT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SELECT), - SDLK_STOP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_STOP), - SDLK_AGAIN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AGAIN), - SDLK_UNDO = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_UNDO), - SDLK_CUT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CUT), - SDLK_COPY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_COPY), - SDLK_PASTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PASTE), - SDLK_FIND = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_FIND), - SDLK_MUTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MUTE), - SDLK_VOLUMEUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_VOLUMEUP), - SDLK_VOLUMEDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_VOLUMEDOWN), - SDLK_KP_COMMA = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_COMMA), - SDLK_KP_EQUALSAS400 = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_EQUALSAS400), - - SDLK_ALTERASE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_ALTERASE), - SDLK_SYSREQ = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SYSREQ), - SDLK_CANCEL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CANCEL), - SDLK_CLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CLEAR), - SDLK_PRIOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PRIOR), - SDLK_RETURN2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RETURN2), - SDLK_SEPARATOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SEPARATOR), - SDLK_OUT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_OUT), - SDLK_OPER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_OPER), - SDLK_CLEARAGAIN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CLEARAGAIN), - SDLK_CRSEL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CRSEL), - SDLK_EXSEL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_EXSEL), - - SDLK_KP_00 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_00), - SDLK_KP_000 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_000), - SDLK_THOUSANDSSEPARATOR = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_THOUSANDSSEPARATOR), - SDLK_DECIMALSEPARATOR = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DECIMALSEPARATOR), - SDLK_CURRENCYUNIT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CURRENCYUNIT), - SDLK_CURRENCYSUBUNIT = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CURRENCYSUBUNIT), - SDLK_KP_LEFTPAREN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_LEFTPAREN), - SDLK_KP_RIGHTPAREN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_RIGHTPAREN), - SDLK_KP_LEFTBRACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_LEFTBRACE), - SDLK_KP_RIGHTBRACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_RIGHTBRACE), - SDLK_KP_TAB = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_TAB), - SDLK_KP_BACKSPACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_BACKSPACE), - SDLK_KP_A = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_A), - SDLK_KP_B = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_B), - SDLK_KP_C = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_C), - SDLK_KP_D = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_D), - SDLK_KP_E = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_E), - SDLK_KP_F = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_F), - SDLK_KP_XOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_XOR), - SDLK_KP_POWER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_POWER), - SDLK_KP_PERCENT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PERCENT), - SDLK_KP_LESS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_LESS), - SDLK_KP_GREATER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_GREATER), - SDLK_KP_AMPERSAND = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_AMPERSAND), - SDLK_KP_DBLAMPERSAND = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DBLAMPERSAND), - SDLK_KP_VERTICALBAR = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_VERTICALBAR), - SDLK_KP_DBLVERTICALBAR = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DBLVERTICALBAR), - SDLK_KP_COLON = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_COLON), - SDLK_KP_HASH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_HASH), - SDLK_KP_SPACE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_SPACE), - SDLK_KP_AT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_AT), - SDLK_KP_EXCLAM = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_EXCLAM), - SDLK_KP_MEMSTORE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMSTORE), - SDLK_KP_MEMRECALL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMRECALL), - SDLK_KP_MEMCLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMCLEAR), - SDLK_KP_MEMADD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMADD), - SDLK_KP_MEMSUBTRACT = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMSUBTRACT), - SDLK_KP_MEMMULTIPLY = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMMULTIPLY), - SDLK_KP_MEMDIVIDE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_MEMDIVIDE), - SDLK_KP_PLUSMINUS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_PLUSMINUS), - SDLK_KP_CLEAR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_CLEAR), - SDLK_KP_CLEARENTRY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_CLEARENTRY), - SDLK_KP_BINARY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_BINARY), - SDLK_KP_OCTAL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_OCTAL), - SDLK_KP_DECIMAL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_DECIMAL), - SDLK_KP_HEXADECIMAL = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KP_HEXADECIMAL), - - SDLK_LCTRL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LCTRL), - SDLK_LSHIFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LSHIFT), - SDLK_LALT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LALT), - SDLK_LGUI = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LGUI), - SDLK_RCTRL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RCTRL), - SDLK_RSHIFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RSHIFT), - SDLK_RALT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RALT), - SDLK_RGUI = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RGUI), - - SDLK_MODE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MODE), - - SDLK_AUDIONEXT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIONEXT), - SDLK_AUDIOPREV = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOPREV), - SDLK_AUDIOSTOP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOSTOP), - SDLK_AUDIOPLAY = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOPLAY), - SDLK_AUDIOMUTE = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOMUTE), - SDLK_MEDIASELECT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MEDIASELECT), - SDLK_WWW = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_WWW), - SDLK_MAIL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_MAIL), - SDLK_CALCULATOR = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CALCULATOR), - SDLK_COMPUTER = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_COMPUTER), - SDLK_AC_SEARCH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_SEARCH), - SDLK_AC_HOME = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_HOME), - SDLK_AC_BACK = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_BACK), - SDLK_AC_FORWARD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_FORWARD), - SDLK_AC_STOP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_STOP), - SDLK_AC_REFRESH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_REFRESH), - SDLK_AC_BOOKMARKS = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AC_BOOKMARKS), - - SDLK_BRIGHTNESSDOWN = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_BRIGHTNESSDOWN), - SDLK_BRIGHTNESSUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_BRIGHTNESSUP), - SDLK_DISPLAYSWITCH = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DISPLAYSWITCH), - SDLK_KBDILLUMTOGGLE = - SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KBDILLUMTOGGLE), - SDLK_KBDILLUMDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KBDILLUMDOWN), - SDLK_KBDILLUMUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_KBDILLUMUP), - SDLK_EJECT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_EJECT), - SDLK_SLEEP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SLEEP), - SDLK_APP1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_APP1), - SDLK_APP2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_APP2), - - SDLK_AUDIOREWIND = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOREWIND), - SDLK_AUDIOFASTFORWARD = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_AUDIOFASTFORWARD), - - SDLK_SOFTLEFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SOFTLEFT), - SDLK_SOFTRIGHT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_SOFTRIGHT), - SDLK_CALL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_CALL), - SDLK_ENDCALL = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_ENDCALL) -} SDL_KeyCode; - -/** - * \brief Enumeration of valid key mods (possibly OR'd together). - */ -typedef enum -{ - KMOD_NONE = 0x0000, - KMOD_LSHIFT = 0x0001, - KMOD_RSHIFT = 0x0002, - KMOD_LCTRL = 0x0040, - KMOD_RCTRL = 0x0080, - KMOD_LALT = 0x0100, - KMOD_RALT = 0x0200, - KMOD_LGUI = 0x0400, - KMOD_RGUI = 0x0800, - KMOD_NUM = 0x1000, - KMOD_CAPS = 0x2000, - KMOD_MODE = 0x4000, - KMOD_SCROLL = 0x8000, - - KMOD_CTRL = KMOD_LCTRL | KMOD_RCTRL, - KMOD_SHIFT = KMOD_LSHIFT | KMOD_RSHIFT, - KMOD_ALT = KMOD_LALT | KMOD_RALT, - KMOD_GUI = KMOD_LGUI | KMOD_RGUI, - - KMOD_RESERVED = KMOD_SCROLL /* This is for source-level compatibility with SDL 2.0.0. */ -} SDL_Keymod; - -#endif /* SDL_keycode_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_loadso.h b/subprojects/sdl2_windows/include/SDL2/SDL_loadso.h deleted file mode 100644 index 61857c813..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_loadso.h +++ /dev/null @@ -1,115 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_loadso.h - * - * System dependent library loading routines - * - * Some things to keep in mind: - * \li These functions only work on C function names. Other languages may - * have name mangling and intrinsic language support that varies from - * compiler to compiler. - * \li Make sure you declare your function pointers with the same calling - * convention as the actual library function. Your code will crash - * mysteriously if you do not do this. - * \li Avoid namespace collisions. If you load a symbol from the library, - * it is not defined whether or not it goes into the global symbol - * namespace for the application. If it does and it conflicts with - * symbols in your code or other shared libraries, you will not get - * the results you expect. :) - */ - -#ifndef SDL_loadso_h_ -#define SDL_loadso_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Dynamically load a shared object. - * - * \param sofile a system-dependent name of the object file - * \returns an opaque pointer to the object handle or NULL if there was an - * error; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadFunction - * \sa SDL_UnloadObject - */ -extern DECLSPEC void *SDLCALL SDL_LoadObject(const char *sofile); - -/** - * Look up the address of the named function in a shared object. - * - * This function pointer is no longer valid after calling SDL_UnloadObject(). - * - * This function can only look up C function names. Other languages may have - * name mangling and intrinsic language support that varies from compiler to - * compiler. - * - * Make sure you declare your function pointers with the same calling - * convention as the actual library function. Your code will crash - * mysteriously if you do not do this. - * - * If the requested function doesn't exist, NULL is returned. - * - * \param handle a valid shared object handle returned by SDL_LoadObject() - * \param name the name of the function to look up - * \returns a pointer to the function or NULL if there was an error; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadObject - * \sa SDL_UnloadObject - */ -extern DECLSPEC void *SDLCALL SDL_LoadFunction(void *handle, - const char *name); - -/** - * Unload a shared object from memory. - * - * \param handle a valid shared object handle returned by SDL_LoadObject() - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadFunction - * \sa SDL_LoadObject - */ -extern DECLSPEC void SDLCALL SDL_UnloadObject(void *handle); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_loadso_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_locale.h b/subprojects/sdl2_windows/include/SDL2/SDL_locale.h deleted file mode 100644 index 751577994..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_locale.h +++ /dev/null @@ -1,103 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_locale.h - * - * Include file for SDL locale services - */ - -#ifndef _SDL_locale_h -#define _SDL_locale_h - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -/* *INDENT-OFF* */ -extern "C" { -/* *INDENT-ON* */ -#endif - - -typedef struct SDL_Locale -{ - const char *language; /**< A language name, like "en" for English. */ - const char *country; /**< A country, like "US" for America. Can be NULL. */ -} SDL_Locale; - -/** - * Report the user's preferred locale. - * - * This returns an array of SDL_Locale structs, the final item zeroed out. - * When the caller is done with this array, it should call SDL_free() on the - * returned value; all the memory involved is allocated in a single block, so - * a single SDL_free() will suffice. - * - * Returned language strings are in the format xx, where 'xx' is an ISO-639 - * language specifier (such as "en" for English, "de" for German, etc). - * Country strings are in the format YY, where "YY" is an ISO-3166 country - * code (such as "US" for the United States, "CA" for Canada, etc). Country - * might be NULL if there's no specific guidance on them (so you might get { - * "en", "US" } for American English, but { "en", NULL } means "English - * language, generically"). Language strings are never NULL, except to - * terminate the array. - * - * Please note that not all of these strings are 2 characters; some are three - * or more. - * - * The returned list of locales are in the order of the user's preference. For - * example, a German citizen that is fluent in US English and knows enough - * Japanese to navigate around Tokyo might have a list like: { "de", "en_US", - * "jp", NULL }. Someone from England might prefer British English (where - * "color" is spelled "colour", etc), but will settle for anything like it: { - * "en_GB", "en", NULL }. - * - * This function returns NULL on error, including when the platform does not - * supply this information at all. - * - * This might be a "slow" call that has to query the operating system. It's - * best to ask for this once and save the results. However, this list can - * change, usually because the user has changed a system preference outside of - * your program; SDL will send an SDL_LOCALECHANGED event in this case, if - * possible, and you can call this function again to get an updated copy of - * preferred locales. - * - * \return array of locales, terminated with a locale with a NULL language - * field. Will return NULL on error. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_Locale * SDLCALL SDL_GetPreferredLocales(void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -/* *INDENT-OFF* */ -} -/* *INDENT-ON* */ -#endif -#include "close_code.h" - -#endif /* _SDL_locale_h */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_log.h b/subprojects/sdl2_windows/include/SDL2/SDL_log.h deleted file mode 100644 index 1d8b20b62..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_log.h +++ /dev/null @@ -1,404 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_log.h - * - * Simple log messages with categories and priorities. - * - * By default logs are quiet, but if you're debugging SDL you might want: - * - * SDL_LogSetAllPriority(SDL_LOG_PRIORITY_WARN); - * - * Here's where the messages go on different platforms: - * Windows: debug output stream - * Android: log output - * Others: standard error output (stderr) - */ - -#ifndef SDL_log_h_ -#define SDL_log_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - - -/** - * \brief The maximum size of a log message prior to SDL 2.0.24 - * - * As of 2.0.24 there is no limit to the length of SDL log messages. - */ -#define SDL_MAX_LOG_MESSAGE 4096 - -/** - * \brief The predefined log categories - * - * By default the application category is enabled at the INFO level, - * the assert category is enabled at the WARN level, test is enabled - * at the VERBOSE level and all other categories are enabled at the - * CRITICAL level. - */ -typedef enum -{ - SDL_LOG_CATEGORY_APPLICATION, - SDL_LOG_CATEGORY_ERROR, - SDL_LOG_CATEGORY_ASSERT, - SDL_LOG_CATEGORY_SYSTEM, - SDL_LOG_CATEGORY_AUDIO, - SDL_LOG_CATEGORY_VIDEO, - SDL_LOG_CATEGORY_RENDER, - SDL_LOG_CATEGORY_INPUT, - SDL_LOG_CATEGORY_TEST, - - /* Reserved for future SDL library use */ - SDL_LOG_CATEGORY_RESERVED1, - SDL_LOG_CATEGORY_RESERVED2, - SDL_LOG_CATEGORY_RESERVED3, - SDL_LOG_CATEGORY_RESERVED4, - SDL_LOG_CATEGORY_RESERVED5, - SDL_LOG_CATEGORY_RESERVED6, - SDL_LOG_CATEGORY_RESERVED7, - SDL_LOG_CATEGORY_RESERVED8, - SDL_LOG_CATEGORY_RESERVED9, - SDL_LOG_CATEGORY_RESERVED10, - - /* Beyond this point is reserved for application use, e.g. - enum { - MYAPP_CATEGORY_AWESOME1 = SDL_LOG_CATEGORY_CUSTOM, - MYAPP_CATEGORY_AWESOME2, - MYAPP_CATEGORY_AWESOME3, - ... - }; - */ - SDL_LOG_CATEGORY_CUSTOM -} SDL_LogCategory; - -/** - * \brief The predefined log priorities - */ -typedef enum -{ - SDL_LOG_PRIORITY_VERBOSE = 1, - SDL_LOG_PRIORITY_DEBUG, - SDL_LOG_PRIORITY_INFO, - SDL_LOG_PRIORITY_WARN, - SDL_LOG_PRIORITY_ERROR, - SDL_LOG_PRIORITY_CRITICAL, - SDL_NUM_LOG_PRIORITIES -} SDL_LogPriority; - - -/** - * Set the priority of all log categories. - * - * \param priority the SDL_LogPriority to assign - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogSetPriority - */ -extern DECLSPEC void SDLCALL SDL_LogSetAllPriority(SDL_LogPriority priority); - -/** - * Set the priority of a particular log category. - * - * \param category the category to assign a priority to - * \param priority the SDL_LogPriority to assign - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogGetPriority - * \sa SDL_LogSetAllPriority - */ -extern DECLSPEC void SDLCALL SDL_LogSetPriority(int category, - SDL_LogPriority priority); - -/** - * Get the priority of a particular log category. - * - * \param category the category to query - * \returns the SDL_LogPriority for the requested category - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogSetPriority - */ -extern DECLSPEC SDL_LogPriority SDLCALL SDL_LogGetPriority(int category); - -/** - * Reset all priorities to default. - * - * This is called by SDL_Quit(). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogSetAllPriority - * \sa SDL_LogSetPriority - */ -extern DECLSPEC void SDLCALL SDL_LogResetPriorities(void); - -/** - * Log a message with SDL_LOG_CATEGORY_APPLICATION and SDL_LOG_PRIORITY_INFO. - * - * = * \param fmt a printf() style message format string - * - * \param ... additional parameters matching % tokens in the `fmt` string, if - * any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_Log(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); - -/** - * Log a message with SDL_LOG_PRIORITY_VERBOSE. - * - * \param category the category of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogVerbose(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * Log a message with SDL_LOG_PRIORITY_DEBUG. - * - * \param category the category of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogDebug(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * Log a message with SDL_LOG_PRIORITY_INFO. - * - * \param category the category of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogInfo(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * Log a message with SDL_LOG_PRIORITY_WARN. - * - * \param category the category of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - */ -extern DECLSPEC void SDLCALL SDL_LogWarn(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * Log a message with SDL_LOG_PRIORITY_ERROR. - * - * \param category the category of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogError(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * Log a message with SDL_LOG_PRIORITY_CRITICAL. - * - * \param category the category of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogCritical(int category, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * Log a message with the specified category and priority. - * - * \param category the category of the message - * \param priority the priority of the message - * \param fmt a printf() style message format string - * \param ... additional parameters matching % tokens in the **fmt** string, - * if any - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessageV - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogMessage(int category, - SDL_LogPriority priority, - SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(3); - -/** - * Log a message with the specified category and priority. - * - * \param category the category of the message - * \param priority the priority of the message - * \param fmt a printf() style message format string - * \param ap a variable argument list - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Log - * \sa SDL_LogCritical - * \sa SDL_LogDebug - * \sa SDL_LogError - * \sa SDL_LogInfo - * \sa SDL_LogMessage - * \sa SDL_LogVerbose - * \sa SDL_LogWarn - */ -extern DECLSPEC void SDLCALL SDL_LogMessageV(int category, - SDL_LogPriority priority, - const char *fmt, va_list ap); - -/** - * The prototype for the log output callback function. - * - * This function is called by SDL when there is new text to be logged. - * - * \param userdata what was passed as `userdata` to SDL_LogSetOutputFunction() - * \param category the category of the message - * \param priority the priority of the message - * \param message the message being output - */ -typedef void (SDLCALL *SDL_LogOutputFunction)(void *userdata, int category, SDL_LogPriority priority, const char *message); - -/** - * Get the current log output function. - * - * \param callback an SDL_LogOutputFunction filled in with the current log - * callback - * \param userdata a pointer filled in with the pointer that is passed to - * `callback` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogSetOutputFunction - */ -extern DECLSPEC void SDLCALL SDL_LogGetOutputFunction(SDL_LogOutputFunction *callback, void **userdata); - -/** - * Replace the default log output function with one of your own. - * - * \param callback an SDL_LogOutputFunction to call instead of the default - * \param userdata a pointer that is passed to `callback` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LogGetOutputFunction - */ -extern DECLSPEC void SDLCALL SDL_LogSetOutputFunction(SDL_LogOutputFunction callback, void *userdata); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_log_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_main.h b/subprojects/sdl2_windows/include/SDL2/SDL_main.h deleted file mode 100644 index 113d11de0..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_main.h +++ /dev/null @@ -1,275 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_main_h_ -#define SDL_main_h_ - -#include "SDL_stdinc.h" - -/** - * \file SDL_main.h - * - * Redefine main() on some platforms so that it is called by SDL. - */ - -#ifndef SDL_MAIN_HANDLED -#if defined(__WIN32__) -/* On Windows SDL provides WinMain(), which parses the command line and passes - the arguments to your main function. - - If you provide your own WinMain(), you may define SDL_MAIN_HANDLED - */ -#define SDL_MAIN_AVAILABLE - -#elif defined(__WINRT__) -/* On WinRT, SDL provides a main function that initializes CoreApplication, - creating an instance of IFrameworkView in the process. - - Please note that #include'ing SDL_main.h is not enough to get a main() - function working. In non-XAML apps, the file, - src/main/winrt/SDL_WinRT_main_NonXAML.cpp, or a copy of it, must be compiled - into the app itself. In XAML apps, the function, SDL_WinRTRunApp must be - called, with a pointer to the Direct3D-hosted XAML control passed in. -*/ -#define SDL_MAIN_NEEDED - -#elif defined(__GDK__) -/* On GDK, SDL provides a main function that initializes the game runtime. - - Please note that #include'ing SDL_main.h is not enough to get a main() - function working. You must either link against SDL2main or, if not possible, - call the SDL_GDKRunApp function from your entry point. -*/ -#define SDL_MAIN_NEEDED - -#elif defined(__IPHONEOS__) -/* On iOS SDL provides a main function that creates an application delegate - and starts the iOS application run loop. - - If you link with SDL dynamically on iOS, the main function can't be in a - shared library, so you need to link with libSDLmain.a, which includes a - stub main function that calls into the shared library to start execution. - - See src/video/uikit/SDL_uikitappdelegate.m for more details. - */ -#define SDL_MAIN_NEEDED - -#elif defined(__ANDROID__) -/* On Android SDL provides a Java class in SDLActivity.java that is the - main activity entry point. - - See docs/README-android.md for more details on extending that class. - */ -#define SDL_MAIN_NEEDED - -/* We need to export SDL_main so it can be launched from Java */ -#define SDLMAIN_DECLSPEC DECLSPEC - -#elif defined(__NACL__) -/* On NACL we use ppapi_simple to set up the application helper code, - then wait for the first PSE_INSTANCE_DIDCHANGEVIEW event before - starting the user main function. - All user code is run in a separate thread by ppapi_simple, thus - allowing for blocking io to take place via nacl_io -*/ -#define SDL_MAIN_NEEDED - -#elif defined(__PSP__) -/* On PSP SDL provides a main function that sets the module info, - activates the GPU and starts the thread required to be able to exit - the software. - - If you provide this yourself, you may define SDL_MAIN_HANDLED - */ -#define SDL_MAIN_AVAILABLE - -#elif defined(__PS2__) -#define SDL_MAIN_AVAILABLE - -#define SDL_PS2_SKIP_IOP_RESET() \ - void reset_IOP(); \ - void reset_IOP() {} - -#elif defined(__3DS__) -/* - On N3DS, SDL provides a main function that sets up the screens - and storage. - - If you provide this yourself, you may define SDL_MAIN_HANDLED -*/ -#define SDL_MAIN_AVAILABLE - -#endif -#endif /* SDL_MAIN_HANDLED */ - -#ifndef SDLMAIN_DECLSPEC -#define SDLMAIN_DECLSPEC -#endif - -/** - * \file SDL_main.h - * - * The application's main() function must be called with C linkage, - * and should be declared like this: - * \code - * #ifdef __cplusplus - * extern "C" - * #endif - * int main(int argc, char *argv[]) - * { - * } - * \endcode - */ - -#if defined(SDL_MAIN_NEEDED) || defined(SDL_MAIN_AVAILABLE) -#define main SDL_main -#endif - -#include "begin_code.h" -#ifdef __cplusplus -extern "C" { -#endif - -/** - * The prototype for the application's main() function - */ -typedef int (*SDL_main_func)(int argc, char *argv[]); -extern SDLMAIN_DECLSPEC int SDL_main(int argc, char *argv[]); - - -/** - * Circumvent failure of SDL_Init() when not using SDL_main() as an entry - * point. - * - * This function is defined in SDL_main.h, along with the preprocessor rule to - * redefine main() as SDL_main(). Thus to ensure that your main() function - * will not be changed it is necessary to define SDL_MAIN_HANDLED before - * including SDL.h. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_Init - */ -extern DECLSPEC void SDLCALL SDL_SetMainReady(void); - -#if defined(__WIN32__) || defined(__GDK__) - -/** - * Register a win32 window class for SDL's use. - * - * This can be called to set the application window class at startup. It is - * safe to call this multiple times, as long as every call is eventually - * paired with a call to SDL_UnregisterApp, but a second registration attempt - * while a previous registration is still active will be ignored, other than - * to increment a counter. - * - * Most applications do not need to, and should not, call this directly; SDL - * will call it when initializing the video subsystem. - * - * \param name the window class name, in UTF-8 encoding. If NULL, SDL - * currently uses "SDL_app" but this isn't guaranteed. - * \param style the value to use in WNDCLASSEX::style. If `name` is NULL, SDL - * currently uses `(CS_BYTEALIGNCLIENT | CS_OWNDC)` regardless of - * what is specified here. - * \param hInst the HINSTANCE to use in WNDCLASSEX::hInstance. If zero, SDL - * will use `GetModuleHandle(NULL)` instead. - * \returns 0 on success, -1 on error. SDL_GetError() may have details. - * - * \since This function is available since SDL 2.0.2. - */ -extern DECLSPEC int SDLCALL SDL_RegisterApp(const char *name, Uint32 style, void *hInst); - -/** - * Deregister the win32 window class from an SDL_RegisterApp call. - * - * This can be called to undo the effects of SDL_RegisterApp. - * - * Most applications do not need to, and should not, call this directly; SDL - * will call it when deinitializing the video subsystem. - * - * It is safe to call this multiple times, as long as every call is eventually - * paired with a prior call to SDL_RegisterApp. The window class will only be - * deregistered when the registration counter in SDL_RegisterApp decrements to - * zero through calls to this function. - * - * \since This function is available since SDL 2.0.2. - */ -extern DECLSPEC void SDLCALL SDL_UnregisterApp(void); - -#endif /* defined(__WIN32__) || defined(__GDK__) */ - - -#ifdef __WINRT__ - -/** - * Initialize and launch an SDL/WinRT application. - * - * \param mainFunction the SDL app's C-style main(), an SDL_main_func - * \param reserved reserved for future use; should be NULL - * \returns 0 on success or -1 on failure; call SDL_GetError() to retrieve - * more information on the failure. - * - * \since This function is available since SDL 2.0.3. - */ -extern DECLSPEC int SDLCALL SDL_WinRTRunApp(SDL_main_func mainFunction, void * reserved); - -#endif /* __WINRT__ */ - -#if defined(__IPHONEOS__) - -/** - * Initializes and launches an SDL application. - * - * \param argc The argc parameter from the application's main() function - * \param argv The argv parameter from the application's main() function - * \param mainFunction The SDL app's C-style main(), an SDL_main_func - * \return the return value from mainFunction - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_UIKitRunApp(int argc, char *argv[], SDL_main_func mainFunction); - -#endif /* __IPHONEOS__ */ - -#ifdef __GDK__ - -/** - * Initialize and launch an SDL GDK application. - * - * \param mainFunction the SDL app's C-style main(), an SDL_main_func - * \param reserved reserved for future use; should be NULL - * \returns 0 on success or -1 on failure; call SDL_GetError() to retrieve - * more information on the failure. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC int SDLCALL SDL_GDKRunApp(SDL_main_func mainFunction, void *reserved); - -#endif /* __GDK__ */ - -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_main_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_messagebox.h b/subprojects/sdl2_windows/include/SDL2/SDL_messagebox.h deleted file mode 100644 index d763534d2..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_messagebox.h +++ /dev/null @@ -1,193 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_messagebox_h_ -#define SDL_messagebox_h_ - -#include "SDL_stdinc.h" -#include "SDL_video.h" /* For SDL_Window */ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * SDL_MessageBox flags. If supported will display warning icon, etc. - */ -typedef enum -{ - SDL_MESSAGEBOX_ERROR = 0x00000010, /**< error dialog */ - SDL_MESSAGEBOX_WARNING = 0x00000020, /**< warning dialog */ - SDL_MESSAGEBOX_INFORMATION = 0x00000040, /**< informational dialog */ - SDL_MESSAGEBOX_BUTTONS_LEFT_TO_RIGHT = 0x00000080, /**< buttons placed left to right */ - SDL_MESSAGEBOX_BUTTONS_RIGHT_TO_LEFT = 0x00000100 /**< buttons placed right to left */ -} SDL_MessageBoxFlags; - -/** - * Flags for SDL_MessageBoxButtonData. - */ -typedef enum -{ - SDL_MESSAGEBOX_BUTTON_RETURNKEY_DEFAULT = 0x00000001, /**< Marks the default button when return is hit */ - SDL_MESSAGEBOX_BUTTON_ESCAPEKEY_DEFAULT = 0x00000002 /**< Marks the default button when escape is hit */ -} SDL_MessageBoxButtonFlags; - -/** - * Individual button data. - */ -typedef struct -{ - Uint32 flags; /**< ::SDL_MessageBoxButtonFlags */ - int buttonid; /**< User defined button id (value returned via SDL_ShowMessageBox) */ - const char * text; /**< The UTF-8 button text */ -} SDL_MessageBoxButtonData; - -/** - * RGB value used in a message box color scheme - */ -typedef struct -{ - Uint8 r, g, b; -} SDL_MessageBoxColor; - -typedef enum -{ - SDL_MESSAGEBOX_COLOR_BACKGROUND, - SDL_MESSAGEBOX_COLOR_TEXT, - SDL_MESSAGEBOX_COLOR_BUTTON_BORDER, - SDL_MESSAGEBOX_COLOR_BUTTON_BACKGROUND, - SDL_MESSAGEBOX_COLOR_BUTTON_SELECTED, - SDL_MESSAGEBOX_COLOR_MAX -} SDL_MessageBoxColorType; - -/** - * A set of colors to use for message box dialogs - */ -typedef struct -{ - SDL_MessageBoxColor colors[SDL_MESSAGEBOX_COLOR_MAX]; -} SDL_MessageBoxColorScheme; - -/** - * MessageBox structure containing title, text, window, etc. - */ -typedef struct -{ - Uint32 flags; /**< ::SDL_MessageBoxFlags */ - SDL_Window *window; /**< Parent window, can be NULL */ - const char *title; /**< UTF-8 title */ - const char *message; /**< UTF-8 message text */ - - int numbuttons; - const SDL_MessageBoxButtonData *buttons; - - const SDL_MessageBoxColorScheme *colorScheme; /**< ::SDL_MessageBoxColorScheme, can be NULL to use system settings */ -} SDL_MessageBoxData; - -/** - * Create a modal message box. - * - * If your needs aren't complex, it might be easier to use - * SDL_ShowSimpleMessageBox. - * - * This function should be called on the thread that created the parent - * window, or on the main thread if the messagebox has no parent. It will - * block execution of that thread until the user clicks a button or closes the - * messagebox. - * - * This function may be called at any time, even before SDL_Init(). This makes - * it useful for reporting errors like a failure to create a renderer or - * OpenGL context. - * - * On X11, SDL rolls its own dialog box with X11 primitives instead of a - * formal toolkit like GTK+ or Qt. - * - * Note that if SDL_Init() would fail because there isn't any available video - * target, this function is likely to fail for the same reasons. If this is a - * concern, check the return value from this function and fall back to writing - * to stderr if you can. - * - * \param messageboxdata the SDL_MessageBoxData structure with title, text and - * other options - * \param buttonid the pointer to which user id of hit button should be copied - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ShowSimpleMessageBox - */ -extern DECLSPEC int SDLCALL SDL_ShowMessageBox(const SDL_MessageBoxData *messageboxdata, int *buttonid); - -/** - * Display a simple modal message box. - * - * If your needs aren't complex, this function is preferred over - * SDL_ShowMessageBox. - * - * `flags` may be any of the following: - * - * - `SDL_MESSAGEBOX_ERROR`: error dialog - * - `SDL_MESSAGEBOX_WARNING`: warning dialog - * - `SDL_MESSAGEBOX_INFORMATION`: informational dialog - * - * This function should be called on the thread that created the parent - * window, or on the main thread if the messagebox has no parent. It will - * block execution of that thread until the user clicks a button or closes the - * messagebox. - * - * This function may be called at any time, even before SDL_Init(). This makes - * it useful for reporting errors like a failure to create a renderer or - * OpenGL context. - * - * On X11, SDL rolls its own dialog box with X11 primitives instead of a - * formal toolkit like GTK+ or Qt. - * - * Note that if SDL_Init() would fail because there isn't any available video - * target, this function is likely to fail for the same reasons. If this is a - * concern, check the return value from this function and fall back to writing - * to stderr if you can. - * - * \param flags an SDL_MessageBoxFlags value - * \param title UTF-8 title text - * \param message UTF-8 message text - * \param window the parent window, or NULL for no parent - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ShowMessageBox - */ -extern DECLSPEC int SDLCALL SDL_ShowSimpleMessageBox(Uint32 flags, const char *title, const char *message, SDL_Window *window); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_messagebox_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_metal.h b/subprojects/sdl2_windows/include/SDL2/SDL_metal.h deleted file mode 100644 index 92854710e..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_metal.h +++ /dev/null @@ -1,113 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_metal.h - * - * Header file for functions to creating Metal layers and views on SDL windows. - */ - -#ifndef SDL_metal_h_ -#define SDL_metal_h_ - -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief A handle to a CAMetalLayer-backed NSView (macOS) or UIView (iOS/tvOS). - * - * \note This can be cast directly to an NSView or UIView. - */ -typedef void *SDL_MetalView; - -/** - * \name Metal support functions - */ -/* @{ */ - -/** - * Create a CAMetalLayer-backed NSView/UIView and attach it to the specified - * window. - * - * On macOS, this does *not* associate a MTLDevice with the CAMetalLayer on - * its own. It is up to user code to do that. - * - * The returned handle can be casted directly to a NSView or UIView. To access - * the backing CAMetalLayer, call SDL_Metal_GetLayer(). - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_Metal_DestroyView - * \sa SDL_Metal_GetLayer - */ -extern DECLSPEC SDL_MetalView SDLCALL SDL_Metal_CreateView(SDL_Window * window); - -/** - * Destroy an existing SDL_MetalView object. - * - * This should be called before SDL_DestroyWindow, if SDL_Metal_CreateView was - * called after SDL_CreateWindow. - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_Metal_CreateView - */ -extern DECLSPEC void SDLCALL SDL_Metal_DestroyView(SDL_MetalView view); - -/** - * Get a pointer to the backing CAMetalLayer for the given view. - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_Metal_CreateView - */ -extern DECLSPEC void *SDLCALL SDL_Metal_GetLayer(SDL_MetalView view); - -/** - * Get the size of a window's underlying drawable in pixels (for use with - * setting viewport, scissor & etc). - * - * \param window SDL_Window from which the drawable size should be queried - * \param w Pointer to variable for storing the width in pixels, may be NULL - * \param h Pointer to variable for storing the height in pixels, may be NULL - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_GetWindowSize - * \sa SDL_CreateWindow - */ -extern DECLSPEC void SDLCALL SDL_Metal_GetDrawableSize(SDL_Window* window, int *w, - int *h); - -/* @} *//* Metal support functions */ - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_metal_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_misc.h b/subprojects/sdl2_windows/include/SDL2/SDL_misc.h deleted file mode 100644 index 261b6b871..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_misc.h +++ /dev/null @@ -1,79 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_misc.h - * - * \brief Include file for SDL API functions that don't fit elsewhere. - */ - -#ifndef SDL_misc_h_ -#define SDL_misc_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" - -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Open a URL/URI in the browser or other appropriate external application. - * - * Open a URL in a separate, system-provided application. How this works will - * vary wildly depending on the platform. This will likely launch what makes - * sense to handle a specific URL's protocol (a web browser for `http://`, - * etc), but it might also be able to launch file managers for directories and - * other things. - * - * What happens when you open a URL varies wildly as well: your game window - * may lose focus (and may or may not lose focus if your game was fullscreen - * or grabbing input at the time). On mobile devices, your app will likely - * move to the background or your process might be paused. Any given platform - * may or may not handle a given URL. - * - * If this is unimplemented (or simply unavailable) for a platform, this will - * fail with an error. A successful result does not mean the URL loaded, just - * that we launched _something_ to handle it (or at least believe we did). - * - * All this to say: this function can be useful, but you should definitely - * test it on every platform you target. - * - * \param url A valid URL/URI to open. Use `file:///full/path/to/file` for - * local files, if supported. - * \returns 0 on success, or -1 on error; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC int SDLCALL SDL_OpenURL(const char *url); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_misc_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_mouse.h b/subprojects/sdl2_windows/include/SDL2/SDL_mouse.h deleted file mode 100644 index b318c7038..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_mouse.h +++ /dev/null @@ -1,465 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_mouse.h - * - * Include file for SDL mouse event handling. - */ - -#ifndef SDL_mouse_h_ -#define SDL_mouse_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -typedef struct SDL_Cursor SDL_Cursor; /**< Implementation dependent */ - -/** - * \brief Cursor types for SDL_CreateSystemCursor(). - */ -typedef enum -{ - SDL_SYSTEM_CURSOR_ARROW, /**< Arrow */ - SDL_SYSTEM_CURSOR_IBEAM, /**< I-beam */ - SDL_SYSTEM_CURSOR_WAIT, /**< Wait */ - SDL_SYSTEM_CURSOR_CROSSHAIR, /**< Crosshair */ - SDL_SYSTEM_CURSOR_WAITARROW, /**< Small wait cursor (or Wait if not available) */ - SDL_SYSTEM_CURSOR_SIZENWSE, /**< Double arrow pointing northwest and southeast */ - SDL_SYSTEM_CURSOR_SIZENESW, /**< Double arrow pointing northeast and southwest */ - SDL_SYSTEM_CURSOR_SIZEWE, /**< Double arrow pointing west and east */ - SDL_SYSTEM_CURSOR_SIZENS, /**< Double arrow pointing north and south */ - SDL_SYSTEM_CURSOR_SIZEALL, /**< Four pointed arrow pointing north, south, east, and west */ - SDL_SYSTEM_CURSOR_NO, /**< Slashed circle or crossbones */ - SDL_SYSTEM_CURSOR_HAND, /**< Hand */ - SDL_NUM_SYSTEM_CURSORS -} SDL_SystemCursor; - -/** - * \brief Scroll direction types for the Scroll event - */ -typedef enum -{ - SDL_MOUSEWHEEL_NORMAL, /**< The scroll direction is normal */ - SDL_MOUSEWHEEL_FLIPPED /**< The scroll direction is flipped / natural */ -} SDL_MouseWheelDirection; - -/* Function prototypes */ - -/** - * Get the window which currently has mouse focus. - * - * \returns the window with mouse focus. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_GetMouseFocus(void); - -/** - * Retrieve the current state of the mouse. - * - * The current button state is returned as a button bitmask, which can be - * tested using the `SDL_BUTTON(X)` macros (where `X` is generally 1 for the - * left, 2 for middle, 3 for the right button), and `x` and `y` are set to the - * mouse cursor position relative to the focus window. You can pass NULL for - * either `x` or `y`. - * - * \param x the x coordinate of the mouse cursor position relative to the - * focus window - * \param y the y coordinate of the mouse cursor position relative to the - * focus window - * \returns a 32-bit button bitmask of the current button state. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetGlobalMouseState - * \sa SDL_GetRelativeMouseState - * \sa SDL_PumpEvents - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetMouseState(int *x, int *y); - -/** - * Get the current state of the mouse in relation to the desktop. - * - * This works similarly to SDL_GetMouseState(), but the coordinates will be - * reported relative to the top-left of the desktop. This can be useful if you - * need to track the mouse outside of a specific window and SDL_CaptureMouse() - * doesn't fit your needs. For example, it could be useful if you need to - * track the mouse while dragging a window, where coordinates relative to a - * window might not be in sync at all times. - * - * Note: SDL_GetMouseState() returns the mouse position as SDL understands it - * from the last pump of the event queue. This function, however, queries the - * OS for the current mouse position, and as such, might be a slightly less - * efficient function. Unless you know what you're doing and have a good - * reason to use this function, you probably want SDL_GetMouseState() instead. - * - * \param x filled in with the current X coord relative to the desktop; can be - * NULL - * \param y filled in with the current Y coord relative to the desktop; can be - * NULL - * \returns the current button state as a bitmask which can be tested using - * the SDL_BUTTON(X) macros. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_CaptureMouse - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetGlobalMouseState(int *x, int *y); - -/** - * Retrieve the relative state of the mouse. - * - * The current button state is returned as a button bitmask, which can be - * tested using the `SDL_BUTTON(X)` macros (where `X` is generally 1 for the - * left, 2 for middle, 3 for the right button), and `x` and `y` are set to the - * mouse deltas since the last call to SDL_GetRelativeMouseState() or since - * event initialization. You can pass NULL for either `x` or `y`. - * - * \param x a pointer filled with the last recorded x coordinate of the mouse - * \param y a pointer filled with the last recorded y coordinate of the mouse - * \returns a 32-bit button bitmask of the relative button state. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetMouseState - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetRelativeMouseState(int *x, int *y); - -/** - * Move the mouse cursor to the given position within the window. - * - * This function generates a mouse motion event if relative mode is not - * enabled. If relative mode is enabled, you can force mouse events for the - * warp by setting the SDL_HINT_MOUSE_RELATIVE_WARP_MOTION hint. - * - * Note that this function will appear to succeed, but not actually move the - * mouse when used over Microsoft Remote Desktop. - * - * \param window the window to move the mouse into, or NULL for the current - * mouse focus - * \param x the x coordinate within the window - * \param y the y coordinate within the window - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WarpMouseGlobal - */ -extern DECLSPEC void SDLCALL SDL_WarpMouseInWindow(SDL_Window * window, - int x, int y); - -/** - * Move the mouse to the given position in global screen space. - * - * This function generates a mouse motion event. - * - * A failure of this function usually means that it is unsupported by a - * platform. - * - * Note that this function will appear to succeed, but not actually move the - * mouse when used over Microsoft Remote Desktop. - * - * \param x the x coordinate - * \param y the y coordinate - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_WarpMouseInWindow - */ -extern DECLSPEC int SDLCALL SDL_WarpMouseGlobal(int x, int y); - -/** - * Set relative mouse mode. - * - * While the mouse is in relative mode, the cursor is hidden, and the driver - * will try to report continuous motion in the current window. Only relative - * motion events will be delivered, the mouse position will not change. - * - * Note that this function will not be able to provide continuous relative - * motion when used over Microsoft Remote Desktop, instead motion is limited - * to the bounds of the screen. - * - * This function will flush any pending mouse motion. - * - * \param enabled SDL_TRUE to enable relative mode, SDL_FALSE to disable. - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * If relative mode is not supported, this returns -1. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRelativeMouseMode - */ -extern DECLSPEC int SDLCALL SDL_SetRelativeMouseMode(SDL_bool enabled); - -/** - * Capture the mouse and to track input outside an SDL window. - * - * Capturing enables your app to obtain mouse events globally, instead of just - * within your window. Not all video targets support this function. When - * capturing is enabled, the current window will get all mouse events, but - * unlike relative mode, no change is made to the cursor and it is not - * restrained to your window. - * - * This function may also deny mouse input to other windows--both those in - * your application and others on the system--so you should use this function - * sparingly, and in small bursts. For example, you might want to track the - * mouse while the user is dragging something, until the user releases a mouse - * button. It is not recommended that you capture the mouse for long periods - * of time, such as the entire time your app is running. For that, you should - * probably use SDL_SetRelativeMouseMode() or SDL_SetWindowGrab(), depending - * on your goals. - * - * While captured, mouse events still report coordinates relative to the - * current (foreground) window, but those coordinates may be outside the - * bounds of the window (including negative values). Capturing is only allowed - * for the foreground window. If the window loses focus while capturing, the - * capture will be disabled automatically. - * - * While capturing is enabled, the current window will have the - * `SDL_WINDOW_MOUSE_CAPTURE` flag set. - * - * Please note that as of SDL 2.0.22, SDL will attempt to "auto capture" the - * mouse while the user is pressing a button; this is to try and make mouse - * behavior more consistent between platforms, and deal with the common case - * of a user dragging the mouse outside of the window. This means that if you - * are calling SDL_CaptureMouse() only to deal with this situation, you no - * longer have to (although it is safe to do so). If this causes problems for - * your app, you can disable auto capture by setting the - * `SDL_HINT_MOUSE_AUTO_CAPTURE` hint to zero. - * - * \param enabled SDL_TRUE to enable capturing, SDL_FALSE to disable. - * \returns 0 on success or -1 if not supported; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_GetGlobalMouseState - */ -extern DECLSPEC int SDLCALL SDL_CaptureMouse(SDL_bool enabled); - -/** - * Query whether relative mouse mode is enabled. - * - * \returns SDL_TRUE if relative mode is enabled or SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetRelativeMouseMode - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetRelativeMouseMode(void); - -/** - * Create a cursor using the specified bitmap data and mask (in MSB format). - * - * `mask` has to be in MSB (Most Significant Bit) format. - * - * The cursor width (`w`) must be a multiple of 8 bits. - * - * The cursor is created in black and white according to the following: - * - * - data=0, mask=1: white - * - data=1, mask=1: black - * - data=0, mask=0: transparent - * - data=1, mask=0: inverted color if possible, black if not. - * - * Cursors created with this function must be freed with SDL_FreeCursor(). - * - * If you want to have a color cursor, or create your cursor from an - * SDL_Surface, you should use SDL_CreateColorCursor(). Alternately, you can - * hide the cursor and draw your own as part of your game's rendering, but it - * will be bound to the framerate. - * - * Also, since SDL 2.0.0, SDL_CreateSystemCursor() is available, which - * provides twelve readily available system cursors to pick from. - * - * \param data the color value for each pixel of the cursor - * \param mask the mask value for each pixel of the cursor - * \param w the width of the cursor - * \param h the height of the cursor - * \param hot_x the X-axis location of the upper left corner of the cursor - * relative to the actual mouse position - * \param hot_y the Y-axis location of the upper left corner of the cursor - * relative to the actual mouse position - * \returns a new cursor with the specified parameters on success or NULL on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreeCursor - * \sa SDL_SetCursor - * \sa SDL_ShowCursor - */ -extern DECLSPEC SDL_Cursor *SDLCALL SDL_CreateCursor(const Uint8 * data, - const Uint8 * mask, - int w, int h, int hot_x, - int hot_y); - -/** - * Create a color cursor. - * - * \param surface an SDL_Surface structure representing the cursor image - * \param hot_x the x position of the cursor hot spot - * \param hot_y the y position of the cursor hot spot - * \returns the new cursor on success or NULL on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateCursor - * \sa SDL_FreeCursor - */ -extern DECLSPEC SDL_Cursor *SDLCALL SDL_CreateColorCursor(SDL_Surface *surface, - int hot_x, - int hot_y); - -/** - * Create a system cursor. - * - * \param id an SDL_SystemCursor enum value - * \returns a cursor on success or NULL on failure; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreeCursor - */ -extern DECLSPEC SDL_Cursor *SDLCALL SDL_CreateSystemCursor(SDL_SystemCursor id); - -/** - * Set the active cursor. - * - * This function sets the currently active cursor to the specified one. If the - * cursor is currently visible, the change will be immediately represented on - * the display. SDL_SetCursor(NULL) can be used to force cursor redraw, if - * this is desired for any reason. - * - * \param cursor a cursor to make active - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateCursor - * \sa SDL_GetCursor - * \sa SDL_ShowCursor - */ -extern DECLSPEC void SDLCALL SDL_SetCursor(SDL_Cursor * cursor); - -/** - * Get the active cursor. - * - * This function returns a pointer to the current cursor which is owned by the - * library. It is not necessary to free the cursor with SDL_FreeCursor(). - * - * \returns the active cursor or NULL if there is no mouse. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetCursor - */ -extern DECLSPEC SDL_Cursor *SDLCALL SDL_GetCursor(void); - -/** - * Get the default cursor. - * - * \returns the default cursor on success or NULL on failure. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSystemCursor - */ -extern DECLSPEC SDL_Cursor *SDLCALL SDL_GetDefaultCursor(void); - -/** - * Free a previously-created cursor. - * - * Use this function to free cursor resources created with SDL_CreateCursor(), - * SDL_CreateColorCursor() or SDL_CreateSystemCursor(). - * - * \param cursor the cursor to free - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateColorCursor - * \sa SDL_CreateCursor - * \sa SDL_CreateSystemCursor - */ -extern DECLSPEC void SDLCALL SDL_FreeCursor(SDL_Cursor * cursor); - -/** - * Toggle whether or not the cursor is shown. - * - * The cursor starts off displayed but can be turned off. Passing `SDL_ENABLE` - * displays the cursor and passing `SDL_DISABLE` hides it. - * - * The current state of the mouse cursor can be queried by passing - * `SDL_QUERY`; either `SDL_DISABLE` or `SDL_ENABLE` will be returned. - * - * \param toggle `SDL_ENABLE` to show the cursor, `SDL_DISABLE` to hide it, - * `SDL_QUERY` to query the current state without changing it. - * \returns `SDL_ENABLE` if the cursor is shown, or `SDL_DISABLE` if the - * cursor is hidden, or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateCursor - * \sa SDL_SetCursor - */ -extern DECLSPEC int SDLCALL SDL_ShowCursor(int toggle); - -/** - * Used as a mask when testing buttons in buttonstate. - * - * - Button 1: Left mouse button - * - Button 2: Middle mouse button - * - Button 3: Right mouse button - */ -#define SDL_BUTTON(X) (1 << ((X)-1)) -#define SDL_BUTTON_LEFT 1 -#define SDL_BUTTON_MIDDLE 2 -#define SDL_BUTTON_RIGHT 3 -#define SDL_BUTTON_X1 4 -#define SDL_BUTTON_X2 5 -#define SDL_BUTTON_LMASK SDL_BUTTON(SDL_BUTTON_LEFT) -#define SDL_BUTTON_MMASK SDL_BUTTON(SDL_BUTTON_MIDDLE) -#define SDL_BUTTON_RMASK SDL_BUTTON(SDL_BUTTON_RIGHT) -#define SDL_BUTTON_X1MASK SDL_BUTTON(SDL_BUTTON_X1) -#define SDL_BUTTON_X2MASK SDL_BUTTON(SDL_BUTTON_X2) - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_mouse_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_mutex.h b/subprojects/sdl2_windows/include/SDL2/SDL_mutex.h deleted file mode 100644 index 173468f6a..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_mutex.h +++ /dev/null @@ -1,471 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_mutex_h_ -#define SDL_mutex_h_ - -/** - * \file SDL_mutex.h - * - * Functions to provide thread synchronization primitives. - */ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Synchronization functions which can time out return this value - * if they time out. - */ -#define SDL_MUTEX_TIMEDOUT 1 - -/** - * This is the timeout value which corresponds to never time out. - */ -#define SDL_MUTEX_MAXWAIT (~(Uint32)0) - - -/** - * \name Mutex functions - */ -/* @{ */ - -/* The SDL mutex structure, defined in SDL_sysmutex.c */ -struct SDL_mutex; -typedef struct SDL_mutex SDL_mutex; - -/** - * Create a new mutex. - * - * All newly-created mutexes begin in the _unlocked_ state. - * - * Calls to SDL_LockMutex() will not return while the mutex is locked by - * another thread. See SDL_TryLockMutex() to attempt to lock without blocking. - * - * SDL mutexes are reentrant. - * - * \returns the initialized and unlocked mutex or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DestroyMutex - * \sa SDL_LockMutex - * \sa SDL_TryLockMutex - * \sa SDL_UnlockMutex - */ -extern DECLSPEC SDL_mutex *SDLCALL SDL_CreateMutex(void); - -/** - * Lock the mutex. - * - * This will block until the mutex is available, which is to say it is in the - * unlocked state and the OS has chosen the caller as the next thread to lock - * it. Of all threads waiting to lock the mutex, only one may do so at a time. - * - * It is legal for the owning thread to lock an already-locked mutex. It must - * unlock it the same number of times before it is actually made available for - * other threads in the system (this is known as a "recursive mutex"). - * - * \param mutex the mutex to lock - * \return 0, or -1 on error. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_LockMutex(SDL_mutex * mutex); -#define SDL_mutexP(m) SDL_LockMutex(m) - -/** - * Try to lock a mutex without blocking. - * - * This works just like SDL_LockMutex(), but if the mutex is not available, - * this function returns `SDL_MUTEX_TIMEOUT` immediately. - * - * This technique is useful if you need exclusive access to a resource but - * don't want to wait for it, and will return to it to try again later. - * - * \param mutex the mutex to try to lock - * \returns 0, `SDL_MUTEX_TIMEDOUT`, or -1 on error; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateMutex - * \sa SDL_DestroyMutex - * \sa SDL_LockMutex - * \sa SDL_UnlockMutex - */ -extern DECLSPEC int SDLCALL SDL_TryLockMutex(SDL_mutex * mutex); - -/** - * Unlock the mutex. - * - * It is legal for the owning thread to lock an already-locked mutex. It must - * unlock it the same number of times before it is actually made available for - * other threads in the system (this is known as a "recursive mutex"). - * - * It is an error to unlock a mutex that has not been locked by the current - * thread, and doing so results in undefined behavior. - * - * It is also an error to unlock a mutex that isn't locked at all. - * - * \param mutex the mutex to unlock. - * \returns 0, or -1 on error. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_UnlockMutex(SDL_mutex * mutex); -#define SDL_mutexV(m) SDL_UnlockMutex(m) - -/** - * Destroy a mutex created with SDL_CreateMutex(). - * - * This function must be called on any mutex that is no longer needed. Failure - * to destroy a mutex will result in a system memory or resource leak. While - * it is safe to destroy a mutex that is _unlocked_, it is not safe to attempt - * to destroy a locked mutex, and may result in undefined behavior depending - * on the platform. - * - * \param mutex the mutex to destroy - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateMutex - * \sa SDL_LockMutex - * \sa SDL_TryLockMutex - * \sa SDL_UnlockMutex - */ -extern DECLSPEC void SDLCALL SDL_DestroyMutex(SDL_mutex * mutex); - -/* @} *//* Mutex functions */ - - -/** - * \name Semaphore functions - */ -/* @{ */ - -/* The SDL semaphore structure, defined in SDL_syssem.c */ -struct SDL_semaphore; -typedef struct SDL_semaphore SDL_sem; - -/** - * Create a semaphore. - * - * This function creates a new semaphore and initializes it with the value - * `initial_value`. Each wait operation on the semaphore will atomically - * decrement the semaphore value and potentially block if the semaphore value - * is 0. Each post operation will atomically increment the semaphore value and - * wake waiting threads and allow them to retry the wait operation. - * - * \param initial_value the starting value of the semaphore - * \returns a new semaphore or NULL on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DestroySemaphore - * \sa SDL_SemPost - * \sa SDL_SemTryWait - * \sa SDL_SemValue - * \sa SDL_SemWait - * \sa SDL_SemWaitTimeout - */ -extern DECLSPEC SDL_sem *SDLCALL SDL_CreateSemaphore(Uint32 initial_value); - -/** - * Destroy a semaphore. - * - * It is not safe to destroy a semaphore if there are threads currently - * waiting on it. - * - * \param sem the semaphore to destroy - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSemaphore - * \sa SDL_SemPost - * \sa SDL_SemTryWait - * \sa SDL_SemValue - * \sa SDL_SemWait - * \sa SDL_SemWaitTimeout - */ -extern DECLSPEC void SDLCALL SDL_DestroySemaphore(SDL_sem * sem); - -/** - * Wait until a semaphore has a positive value and then decrements it. - * - * This function suspends the calling thread until either the semaphore - * pointed to by `sem` has a positive value or the call is interrupted by a - * signal or error. If the call is successful it will atomically decrement the - * semaphore value. - * - * This function is the equivalent of calling SDL_SemWaitTimeout() with a time - * length of `SDL_MUTEX_MAXWAIT`. - * - * \param sem the semaphore wait on - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSemaphore - * \sa SDL_DestroySemaphore - * \sa SDL_SemPost - * \sa SDL_SemTryWait - * \sa SDL_SemValue - * \sa SDL_SemWait - * \sa SDL_SemWaitTimeout - */ -extern DECLSPEC int SDLCALL SDL_SemWait(SDL_sem * sem); - -/** - * See if a semaphore has a positive value and decrement it if it does. - * - * This function checks to see if the semaphore pointed to by `sem` has a - * positive value and atomically decrements the semaphore value if it does. If - * the semaphore doesn't have a positive value, the function immediately - * returns SDL_MUTEX_TIMEDOUT. - * - * \param sem the semaphore to wait on - * \returns 0 if the wait succeeds, `SDL_MUTEX_TIMEDOUT` if the wait would - * block, or a negative error code on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSemaphore - * \sa SDL_DestroySemaphore - * \sa SDL_SemPost - * \sa SDL_SemValue - * \sa SDL_SemWait - * \sa SDL_SemWaitTimeout - */ -extern DECLSPEC int SDLCALL SDL_SemTryWait(SDL_sem * sem); - -/** - * Wait until a semaphore has a positive value and then decrements it. - * - * This function suspends the calling thread until either the semaphore - * pointed to by `sem` has a positive value, the call is interrupted by a - * signal or error, or the specified time has elapsed. If the call is - * successful it will atomically decrement the semaphore value. - * - * \param sem the semaphore to wait on - * \param ms the length of the timeout, in milliseconds - * \returns 0 if the wait succeeds, `SDL_MUTEX_TIMEDOUT` if the wait does not - * succeed in the allotted time, or a negative error code on failure; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSemaphore - * \sa SDL_DestroySemaphore - * \sa SDL_SemPost - * \sa SDL_SemTryWait - * \sa SDL_SemValue - * \sa SDL_SemWait - */ -extern DECLSPEC int SDLCALL SDL_SemWaitTimeout(SDL_sem * sem, Uint32 ms); - -/** - * Atomically increment a semaphore's value and wake waiting threads. - * - * \param sem the semaphore to increment - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSemaphore - * \sa SDL_DestroySemaphore - * \sa SDL_SemTryWait - * \sa SDL_SemValue - * \sa SDL_SemWait - * \sa SDL_SemWaitTimeout - */ -extern DECLSPEC int SDLCALL SDL_SemPost(SDL_sem * sem); - -/** - * Get the current value of a semaphore. - * - * \param sem the semaphore to query - * \returns the current value of the semaphore. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSemaphore - */ -extern DECLSPEC Uint32 SDLCALL SDL_SemValue(SDL_sem * sem); - -/* @} *//* Semaphore functions */ - - -/** - * \name Condition variable functions - */ -/* @{ */ - -/* The SDL condition variable structure, defined in SDL_syscond.c */ -struct SDL_cond; -typedef struct SDL_cond SDL_cond; - -/** - * Create a condition variable. - * - * \returns a new condition variable or NULL on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CondBroadcast - * \sa SDL_CondSignal - * \sa SDL_CondWait - * \sa SDL_CondWaitTimeout - * \sa SDL_DestroyCond - */ -extern DECLSPEC SDL_cond *SDLCALL SDL_CreateCond(void); - -/** - * Destroy a condition variable. - * - * \param cond the condition variable to destroy - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CondBroadcast - * \sa SDL_CondSignal - * \sa SDL_CondWait - * \sa SDL_CondWaitTimeout - * \sa SDL_CreateCond - */ -extern DECLSPEC void SDLCALL SDL_DestroyCond(SDL_cond * cond); - -/** - * Restart one of the threads that are waiting on the condition variable. - * - * \param cond the condition variable to signal - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CondBroadcast - * \sa SDL_CondWait - * \sa SDL_CondWaitTimeout - * \sa SDL_CreateCond - * \sa SDL_DestroyCond - */ -extern DECLSPEC int SDLCALL SDL_CondSignal(SDL_cond * cond); - -/** - * Restart all threads that are waiting on the condition variable. - * - * \param cond the condition variable to signal - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CondSignal - * \sa SDL_CondWait - * \sa SDL_CondWaitTimeout - * \sa SDL_CreateCond - * \sa SDL_DestroyCond - */ -extern DECLSPEC int SDLCALL SDL_CondBroadcast(SDL_cond * cond); - -/** - * Wait until a condition variable is signaled. - * - * This function unlocks the specified `mutex` and waits for another thread to - * call SDL_CondSignal() or SDL_CondBroadcast() on the condition variable - * `cond`. Once the condition variable is signaled, the mutex is re-locked and - * the function returns. - * - * The mutex must be locked before calling this function. - * - * This function is the equivalent of calling SDL_CondWaitTimeout() with a - * time length of `SDL_MUTEX_MAXWAIT`. - * - * \param cond the condition variable to wait on - * \param mutex the mutex used to coordinate thread access - * \returns 0 when it is signaled or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CondBroadcast - * \sa SDL_CondSignal - * \sa SDL_CondWaitTimeout - * \sa SDL_CreateCond - * \sa SDL_DestroyCond - */ -extern DECLSPEC int SDLCALL SDL_CondWait(SDL_cond * cond, SDL_mutex * mutex); - -/** - * Wait until a condition variable is signaled or a certain time has passed. - * - * This function unlocks the specified `mutex` and waits for another thread to - * call SDL_CondSignal() or SDL_CondBroadcast() on the condition variable - * `cond`, or for the specified time to elapse. Once the condition variable is - * signaled or the time elapsed, the mutex is re-locked and the function - * returns. - * - * The mutex must be locked before calling this function. - * - * \param cond the condition variable to wait on - * \param mutex the mutex used to coordinate thread access - * \param ms the maximum time to wait, in milliseconds, or `SDL_MUTEX_MAXWAIT` - * to wait indefinitely - * \returns 0 if the condition variable is signaled, `SDL_MUTEX_TIMEDOUT` if - * the condition is not signaled in the allotted time, or a negative - * error code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CondBroadcast - * \sa SDL_CondSignal - * \sa SDL_CondWait - * \sa SDL_CreateCond - * \sa SDL_DestroyCond - */ -extern DECLSPEC int SDLCALL SDL_CondWaitTimeout(SDL_cond * cond, - SDL_mutex * mutex, Uint32 ms); - -/* @} *//* Condition variable functions */ - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_mutex_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_name.h b/subprojects/sdl2_windows/include/SDL2/SDL_name.h deleted file mode 100644 index 6ff35b46e..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_name.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDLname_h_ -#define SDLname_h_ - -#if defined(__STDC__) || defined(__cplusplus) -#define NeedFunctionPrototypes 1 -#endif - -#define SDL_NAME(X) SDL_##X - -#endif /* SDLname_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengl.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengl.h deleted file mode 100644 index 0f2b257ab..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengl.h +++ /dev/null @@ -1,2132 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_opengl.h - * - * This is a simple file to encapsulate the OpenGL API headers. - */ - -/** - * \def NO_SDL_GLEXT - * - * Define this if you have your own version of glext.h and want to disable the - * version included in SDL_opengl.h. - */ - -#ifndef SDL_opengl_h_ -#define SDL_opengl_h_ - -#include "SDL_config.h" - -#ifndef __IPHONEOS__ /* No OpenGL on iOS. */ - -/* - * Mesa 3-D graphics library - * - * Copyright (C) 1999-2006 Brian Paul All Rights Reserved. - * Copyright (C) 2009 VMware, Inc. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and associated documentation files (the "Software"), - * to deal in the Software without restriction, including without limitation - * the rights to use, copy, modify, merge, publish, distribute, sublicense, - * and/or sell copies of the Software, and to permit persons to whom the - * Software is furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL - * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR - * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, - * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR - * OTHER DEALINGS IN THE SOFTWARE. - */ - - -#ifndef __gl_h_ -#define __gl_h_ - -#if defined(USE_MGL_NAMESPACE) -#include "gl_mangle.h" -#endif - - -/********************************************************************** - * Begin system-specific stuff. - */ - -#if defined(_WIN32) && !defined(__WIN32__) && !defined(__CYGWIN__) -#define __WIN32__ -#endif - -#if defined(__WIN32__) && !defined(__CYGWIN__) -# if (defined(_MSC_VER) || defined(__MINGW32__)) && defined(BUILD_GL32) /* tag specify we're building mesa as a DLL */ -# define GLAPI __declspec(dllexport) -# elif (defined(_MSC_VER) || defined(__MINGW32__)) && defined(_DLL) /* tag specifying we're building for DLL runtime support */ -# define GLAPI __declspec(dllimport) -# else /* for use with static link lib build of Win32 edition only */ -# define GLAPI extern -# endif /* _STATIC_MESA support */ -# if defined(__MINGW32__) && defined(GL_NO_STDCALL) || defined(UNDER_CE) /* The generated DLLs by MingW with STDCALL are not compatible with the ones done by Microsoft's compilers */ -# define GLAPIENTRY -# else -# define GLAPIENTRY __stdcall -# endif -#elif defined(__CYGWIN__) && defined(USE_OPENGL32) /* use native windows opengl32 */ -# define GLAPI extern -# define GLAPIENTRY __stdcall -#elif defined(__OS2__) || defined(__EMX__) /* native os/2 opengl */ -# define GLAPI extern -# define GLAPIENTRY _System -# define APIENTRY _System -# if defined(__GNUC__) && !defined(_System) -# define _System -# endif -#elif (defined(__GNUC__) && __GNUC__ >= 4) || (defined(__SUNPRO_C) && (__SUNPRO_C >= 0x590)) -# define GLAPI __attribute__((visibility("default"))) -# define GLAPIENTRY -#endif /* WIN32 && !CYGWIN */ - -/* - * WINDOWS: Include windows.h here to define APIENTRY. - * It is also useful when applications include this file by - * including only glut.h, since glut.h depends on windows.h. - * Applications needing to include windows.h with parms other - * than "WIN32_LEAN_AND_MEAN" may include windows.h before - * glut.h or gl.h. - */ -#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) -#ifndef WIN32_LEAN_AND_MEAN -#define WIN32_LEAN_AND_MEAN 1 -#endif -#ifndef NOMINMAX /* don't define min() and max(). */ -#define NOMINMAX -#endif -#include -#endif - -#ifndef GLAPI -#define GLAPI extern -#endif - -#ifndef GLAPIENTRY -#define GLAPIENTRY -#endif - -#ifndef APIENTRY -#define APIENTRY GLAPIENTRY -#endif - -/* "P" suffix to be used for a pointer to a function */ -#ifndef APIENTRYP -#define APIENTRYP APIENTRY * -#endif - -#ifndef GLAPIENTRYP -#define GLAPIENTRYP GLAPIENTRY * -#endif - -#if defined(PRAGMA_EXPORT_SUPPORTED) -#pragma export on -#endif - -/* - * End system-specific stuff. - **********************************************************************/ - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#define GL_VERSION_1_1 1 -#define GL_VERSION_1_2 1 -#define GL_VERSION_1_3 1 -#define GL_ARB_imaging 1 - - -/* - * Datatypes - */ -typedef unsigned int GLenum; -typedef unsigned char GLboolean; -typedef unsigned int GLbitfield; -typedef void GLvoid; -typedef signed char GLbyte; /* 1-byte signed */ -typedef short GLshort; /* 2-byte signed */ -typedef int GLint; /* 4-byte signed */ -typedef unsigned char GLubyte; /* 1-byte unsigned */ -typedef unsigned short GLushort; /* 2-byte unsigned */ -typedef unsigned int GLuint; /* 4-byte unsigned */ -typedef int GLsizei; /* 4-byte signed */ -typedef float GLfloat; /* single precision float */ -typedef float GLclampf; /* single precision float in [0,1] */ -typedef double GLdouble; /* double precision float */ -typedef double GLclampd; /* double precision float in [0,1] */ - - - -/* - * Constants - */ - -/* Boolean values */ -#define GL_FALSE 0 -#define GL_TRUE 1 - -/* Data types */ -#define GL_BYTE 0x1400 -#define GL_UNSIGNED_BYTE 0x1401 -#define GL_SHORT 0x1402 -#define GL_UNSIGNED_SHORT 0x1403 -#define GL_INT 0x1404 -#define GL_UNSIGNED_INT 0x1405 -#define GL_FLOAT 0x1406 -#define GL_2_BYTES 0x1407 -#define GL_3_BYTES 0x1408 -#define GL_4_BYTES 0x1409 -#define GL_DOUBLE 0x140A - -/* Primitives */ -#define GL_POINTS 0x0000 -#define GL_LINES 0x0001 -#define GL_LINE_LOOP 0x0002 -#define GL_LINE_STRIP 0x0003 -#define GL_TRIANGLES 0x0004 -#define GL_TRIANGLE_STRIP 0x0005 -#define GL_TRIANGLE_FAN 0x0006 -#define GL_QUADS 0x0007 -#define GL_QUAD_STRIP 0x0008 -#define GL_POLYGON 0x0009 - -/* Vertex Arrays */ -#define GL_VERTEX_ARRAY 0x8074 -#define GL_NORMAL_ARRAY 0x8075 -#define GL_COLOR_ARRAY 0x8076 -#define GL_INDEX_ARRAY 0x8077 -#define GL_TEXTURE_COORD_ARRAY 0x8078 -#define GL_EDGE_FLAG_ARRAY 0x8079 -#define GL_VERTEX_ARRAY_SIZE 0x807A -#define GL_VERTEX_ARRAY_TYPE 0x807B -#define GL_VERTEX_ARRAY_STRIDE 0x807C -#define GL_NORMAL_ARRAY_TYPE 0x807E -#define GL_NORMAL_ARRAY_STRIDE 0x807F -#define GL_COLOR_ARRAY_SIZE 0x8081 -#define GL_COLOR_ARRAY_TYPE 0x8082 -#define GL_COLOR_ARRAY_STRIDE 0x8083 -#define GL_INDEX_ARRAY_TYPE 0x8085 -#define GL_INDEX_ARRAY_STRIDE 0x8086 -#define GL_TEXTURE_COORD_ARRAY_SIZE 0x8088 -#define GL_TEXTURE_COORD_ARRAY_TYPE 0x8089 -#define GL_TEXTURE_COORD_ARRAY_STRIDE 0x808A -#define GL_EDGE_FLAG_ARRAY_STRIDE 0x808C -#define GL_VERTEX_ARRAY_POINTER 0x808E -#define GL_NORMAL_ARRAY_POINTER 0x808F -#define GL_COLOR_ARRAY_POINTER 0x8090 -#define GL_INDEX_ARRAY_POINTER 0x8091 -#define GL_TEXTURE_COORD_ARRAY_POINTER 0x8092 -#define GL_EDGE_FLAG_ARRAY_POINTER 0x8093 -#define GL_V2F 0x2A20 -#define GL_V3F 0x2A21 -#define GL_C4UB_V2F 0x2A22 -#define GL_C4UB_V3F 0x2A23 -#define GL_C3F_V3F 0x2A24 -#define GL_N3F_V3F 0x2A25 -#define GL_C4F_N3F_V3F 0x2A26 -#define GL_T2F_V3F 0x2A27 -#define GL_T4F_V4F 0x2A28 -#define GL_T2F_C4UB_V3F 0x2A29 -#define GL_T2F_C3F_V3F 0x2A2A -#define GL_T2F_N3F_V3F 0x2A2B -#define GL_T2F_C4F_N3F_V3F 0x2A2C -#define GL_T4F_C4F_N3F_V4F 0x2A2D - -/* Matrix Mode */ -#define GL_MATRIX_MODE 0x0BA0 -#define GL_MODELVIEW 0x1700 -#define GL_PROJECTION 0x1701 -#define GL_TEXTURE 0x1702 - -/* Points */ -#define GL_POINT_SMOOTH 0x0B10 -#define GL_POINT_SIZE 0x0B11 -#define GL_POINT_SIZE_GRANULARITY 0x0B13 -#define GL_POINT_SIZE_RANGE 0x0B12 - -/* Lines */ -#define GL_LINE_SMOOTH 0x0B20 -#define GL_LINE_STIPPLE 0x0B24 -#define GL_LINE_STIPPLE_PATTERN 0x0B25 -#define GL_LINE_STIPPLE_REPEAT 0x0B26 -#define GL_LINE_WIDTH 0x0B21 -#define GL_LINE_WIDTH_GRANULARITY 0x0B23 -#define GL_LINE_WIDTH_RANGE 0x0B22 - -/* Polygons */ -#define GL_POINT 0x1B00 -#define GL_LINE 0x1B01 -#define GL_FILL 0x1B02 -#define GL_CW 0x0900 -#define GL_CCW 0x0901 -#define GL_FRONT 0x0404 -#define GL_BACK 0x0405 -#define GL_POLYGON_MODE 0x0B40 -#define GL_POLYGON_SMOOTH 0x0B41 -#define GL_POLYGON_STIPPLE 0x0B42 -#define GL_EDGE_FLAG 0x0B43 -#define GL_CULL_FACE 0x0B44 -#define GL_CULL_FACE_MODE 0x0B45 -#define GL_FRONT_FACE 0x0B46 -#define GL_POLYGON_OFFSET_FACTOR 0x8038 -#define GL_POLYGON_OFFSET_UNITS 0x2A00 -#define GL_POLYGON_OFFSET_POINT 0x2A01 -#define GL_POLYGON_OFFSET_LINE 0x2A02 -#define GL_POLYGON_OFFSET_FILL 0x8037 - -/* Display Lists */ -#define GL_COMPILE 0x1300 -#define GL_COMPILE_AND_EXECUTE 0x1301 -#define GL_LIST_BASE 0x0B32 -#define GL_LIST_INDEX 0x0B33 -#define GL_LIST_MODE 0x0B30 - -/* Depth buffer */ -#define GL_NEVER 0x0200 -#define GL_LESS 0x0201 -#define GL_EQUAL 0x0202 -#define GL_LEQUAL 0x0203 -#define GL_GREATER 0x0204 -#define GL_NOTEQUAL 0x0205 -#define GL_GEQUAL 0x0206 -#define GL_ALWAYS 0x0207 -#define GL_DEPTH_TEST 0x0B71 -#define GL_DEPTH_BITS 0x0D56 -#define GL_DEPTH_CLEAR_VALUE 0x0B73 -#define GL_DEPTH_FUNC 0x0B74 -#define GL_DEPTH_RANGE 0x0B70 -#define GL_DEPTH_WRITEMASK 0x0B72 -#define GL_DEPTH_COMPONENT 0x1902 - -/* Lighting */ -#define GL_LIGHTING 0x0B50 -#define GL_LIGHT0 0x4000 -#define GL_LIGHT1 0x4001 -#define GL_LIGHT2 0x4002 -#define GL_LIGHT3 0x4003 -#define GL_LIGHT4 0x4004 -#define GL_LIGHT5 0x4005 -#define GL_LIGHT6 0x4006 -#define GL_LIGHT7 0x4007 -#define GL_SPOT_EXPONENT 0x1205 -#define GL_SPOT_CUTOFF 0x1206 -#define GL_CONSTANT_ATTENUATION 0x1207 -#define GL_LINEAR_ATTENUATION 0x1208 -#define GL_QUADRATIC_ATTENUATION 0x1209 -#define GL_AMBIENT 0x1200 -#define GL_DIFFUSE 0x1201 -#define GL_SPECULAR 0x1202 -#define GL_SHININESS 0x1601 -#define GL_EMISSION 0x1600 -#define GL_POSITION 0x1203 -#define GL_SPOT_DIRECTION 0x1204 -#define GL_AMBIENT_AND_DIFFUSE 0x1602 -#define GL_COLOR_INDEXES 0x1603 -#define GL_LIGHT_MODEL_TWO_SIDE 0x0B52 -#define GL_LIGHT_MODEL_LOCAL_VIEWER 0x0B51 -#define GL_LIGHT_MODEL_AMBIENT 0x0B53 -#define GL_FRONT_AND_BACK 0x0408 -#define GL_SHADE_MODEL 0x0B54 -#define GL_FLAT 0x1D00 -#define GL_SMOOTH 0x1D01 -#define GL_COLOR_MATERIAL 0x0B57 -#define GL_COLOR_MATERIAL_FACE 0x0B55 -#define GL_COLOR_MATERIAL_PARAMETER 0x0B56 -#define GL_NORMALIZE 0x0BA1 - -/* User clipping planes */ -#define GL_CLIP_PLANE0 0x3000 -#define GL_CLIP_PLANE1 0x3001 -#define GL_CLIP_PLANE2 0x3002 -#define GL_CLIP_PLANE3 0x3003 -#define GL_CLIP_PLANE4 0x3004 -#define GL_CLIP_PLANE5 0x3005 - -/* Accumulation buffer */ -#define GL_ACCUM_RED_BITS 0x0D58 -#define GL_ACCUM_GREEN_BITS 0x0D59 -#define GL_ACCUM_BLUE_BITS 0x0D5A -#define GL_ACCUM_ALPHA_BITS 0x0D5B -#define GL_ACCUM_CLEAR_VALUE 0x0B80 -#define GL_ACCUM 0x0100 -#define GL_ADD 0x0104 -#define GL_LOAD 0x0101 -#define GL_MULT 0x0103 -#define GL_RETURN 0x0102 - -/* Alpha testing */ -#define GL_ALPHA_TEST 0x0BC0 -#define GL_ALPHA_TEST_REF 0x0BC2 -#define GL_ALPHA_TEST_FUNC 0x0BC1 - -/* Blending */ -#define GL_BLEND 0x0BE2 -#define GL_BLEND_SRC 0x0BE1 -#define GL_BLEND_DST 0x0BE0 -#define GL_ZERO 0 -#define GL_ONE 1 -#define GL_SRC_COLOR 0x0300 -#define GL_ONE_MINUS_SRC_COLOR 0x0301 -#define GL_SRC_ALPHA 0x0302 -#define GL_ONE_MINUS_SRC_ALPHA 0x0303 -#define GL_DST_ALPHA 0x0304 -#define GL_ONE_MINUS_DST_ALPHA 0x0305 -#define GL_DST_COLOR 0x0306 -#define GL_ONE_MINUS_DST_COLOR 0x0307 -#define GL_SRC_ALPHA_SATURATE 0x0308 - -/* Render Mode */ -#define GL_FEEDBACK 0x1C01 -#define GL_RENDER 0x1C00 -#define GL_SELECT 0x1C02 - -/* Feedback */ -#define GL_2D 0x0600 -#define GL_3D 0x0601 -#define GL_3D_COLOR 0x0602 -#define GL_3D_COLOR_TEXTURE 0x0603 -#define GL_4D_COLOR_TEXTURE 0x0604 -#define GL_POINT_TOKEN 0x0701 -#define GL_LINE_TOKEN 0x0702 -#define GL_LINE_RESET_TOKEN 0x0707 -#define GL_POLYGON_TOKEN 0x0703 -#define GL_BITMAP_TOKEN 0x0704 -#define GL_DRAW_PIXEL_TOKEN 0x0705 -#define GL_COPY_PIXEL_TOKEN 0x0706 -#define GL_PASS_THROUGH_TOKEN 0x0700 -#define GL_FEEDBACK_BUFFER_POINTER 0x0DF0 -#define GL_FEEDBACK_BUFFER_SIZE 0x0DF1 -#define GL_FEEDBACK_BUFFER_TYPE 0x0DF2 - -/* Selection */ -#define GL_SELECTION_BUFFER_POINTER 0x0DF3 -#define GL_SELECTION_BUFFER_SIZE 0x0DF4 - -/* Fog */ -#define GL_FOG 0x0B60 -#define GL_FOG_MODE 0x0B65 -#define GL_FOG_DENSITY 0x0B62 -#define GL_FOG_COLOR 0x0B66 -#define GL_FOG_INDEX 0x0B61 -#define GL_FOG_START 0x0B63 -#define GL_FOG_END 0x0B64 -#define GL_LINEAR 0x2601 -#define GL_EXP 0x0800 -#define GL_EXP2 0x0801 - -/* Logic Ops */ -#define GL_LOGIC_OP 0x0BF1 -#define GL_INDEX_LOGIC_OP 0x0BF1 -#define GL_COLOR_LOGIC_OP 0x0BF2 -#define GL_LOGIC_OP_MODE 0x0BF0 -#define GL_CLEAR 0x1500 -#define GL_SET 0x150F -#define GL_COPY 0x1503 -#define GL_COPY_INVERTED 0x150C -#define GL_NOOP 0x1505 -#define GL_INVERT 0x150A -#define GL_AND 0x1501 -#define GL_NAND 0x150E -#define GL_OR 0x1507 -#define GL_NOR 0x1508 -#define GL_XOR 0x1506 -#define GL_EQUIV 0x1509 -#define GL_AND_REVERSE 0x1502 -#define GL_AND_INVERTED 0x1504 -#define GL_OR_REVERSE 0x150B -#define GL_OR_INVERTED 0x150D - -/* Stencil */ -#define GL_STENCIL_BITS 0x0D57 -#define GL_STENCIL_TEST 0x0B90 -#define GL_STENCIL_CLEAR_VALUE 0x0B91 -#define GL_STENCIL_FUNC 0x0B92 -#define GL_STENCIL_VALUE_MASK 0x0B93 -#define GL_STENCIL_FAIL 0x0B94 -#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 -#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 -#define GL_STENCIL_REF 0x0B97 -#define GL_STENCIL_WRITEMASK 0x0B98 -#define GL_STENCIL_INDEX 0x1901 -#define GL_KEEP 0x1E00 -#define GL_REPLACE 0x1E01 -#define GL_INCR 0x1E02 -#define GL_DECR 0x1E03 - -/* Buffers, Pixel Drawing/Reading */ -#define GL_NONE 0 -#define GL_LEFT 0x0406 -#define GL_RIGHT 0x0407 -/*GL_FRONT 0x0404 */ -/*GL_BACK 0x0405 */ -/*GL_FRONT_AND_BACK 0x0408 */ -#define GL_FRONT_LEFT 0x0400 -#define GL_FRONT_RIGHT 0x0401 -#define GL_BACK_LEFT 0x0402 -#define GL_BACK_RIGHT 0x0403 -#define GL_AUX0 0x0409 -#define GL_AUX1 0x040A -#define GL_AUX2 0x040B -#define GL_AUX3 0x040C -#define GL_COLOR_INDEX 0x1900 -#define GL_RED 0x1903 -#define GL_GREEN 0x1904 -#define GL_BLUE 0x1905 -#define GL_ALPHA 0x1906 -#define GL_LUMINANCE 0x1909 -#define GL_LUMINANCE_ALPHA 0x190A -#define GL_ALPHA_BITS 0x0D55 -#define GL_RED_BITS 0x0D52 -#define GL_GREEN_BITS 0x0D53 -#define GL_BLUE_BITS 0x0D54 -#define GL_INDEX_BITS 0x0D51 -#define GL_SUBPIXEL_BITS 0x0D50 -#define GL_AUX_BUFFERS 0x0C00 -#define GL_READ_BUFFER 0x0C02 -#define GL_DRAW_BUFFER 0x0C01 -#define GL_DOUBLEBUFFER 0x0C32 -#define GL_STEREO 0x0C33 -#define GL_BITMAP 0x1A00 -#define GL_COLOR 0x1800 -#define GL_DEPTH 0x1801 -#define GL_STENCIL 0x1802 -#define GL_DITHER 0x0BD0 -#define GL_RGB 0x1907 -#define GL_RGBA 0x1908 - -/* Implementation limits */ -#define GL_MAX_LIST_NESTING 0x0B31 -#define GL_MAX_EVAL_ORDER 0x0D30 -#define GL_MAX_LIGHTS 0x0D31 -#define GL_MAX_CLIP_PLANES 0x0D32 -#define GL_MAX_TEXTURE_SIZE 0x0D33 -#define GL_MAX_PIXEL_MAP_TABLE 0x0D34 -#define GL_MAX_ATTRIB_STACK_DEPTH 0x0D35 -#define GL_MAX_MODELVIEW_STACK_DEPTH 0x0D36 -#define GL_MAX_NAME_STACK_DEPTH 0x0D37 -#define GL_MAX_PROJECTION_STACK_DEPTH 0x0D38 -#define GL_MAX_TEXTURE_STACK_DEPTH 0x0D39 -#define GL_MAX_VIEWPORT_DIMS 0x0D3A -#define GL_MAX_CLIENT_ATTRIB_STACK_DEPTH 0x0D3B - -/* Gets */ -#define GL_ATTRIB_STACK_DEPTH 0x0BB0 -#define GL_CLIENT_ATTRIB_STACK_DEPTH 0x0BB1 -#define GL_COLOR_CLEAR_VALUE 0x0C22 -#define GL_COLOR_WRITEMASK 0x0C23 -#define GL_CURRENT_INDEX 0x0B01 -#define GL_CURRENT_COLOR 0x0B00 -#define GL_CURRENT_NORMAL 0x0B02 -#define GL_CURRENT_RASTER_COLOR 0x0B04 -#define GL_CURRENT_RASTER_DISTANCE 0x0B09 -#define GL_CURRENT_RASTER_INDEX 0x0B05 -#define GL_CURRENT_RASTER_POSITION 0x0B07 -#define GL_CURRENT_RASTER_TEXTURE_COORDS 0x0B06 -#define GL_CURRENT_RASTER_POSITION_VALID 0x0B08 -#define GL_CURRENT_TEXTURE_COORDS 0x0B03 -#define GL_INDEX_CLEAR_VALUE 0x0C20 -#define GL_INDEX_MODE 0x0C30 -#define GL_INDEX_WRITEMASK 0x0C21 -#define GL_MODELVIEW_MATRIX 0x0BA6 -#define GL_MODELVIEW_STACK_DEPTH 0x0BA3 -#define GL_NAME_STACK_DEPTH 0x0D70 -#define GL_PROJECTION_MATRIX 0x0BA7 -#define GL_PROJECTION_STACK_DEPTH 0x0BA4 -#define GL_RENDER_MODE 0x0C40 -#define GL_RGBA_MODE 0x0C31 -#define GL_TEXTURE_MATRIX 0x0BA8 -#define GL_TEXTURE_STACK_DEPTH 0x0BA5 -#define GL_VIEWPORT 0x0BA2 - -/* Evaluators */ -#define GL_AUTO_NORMAL 0x0D80 -#define GL_MAP1_COLOR_4 0x0D90 -#define GL_MAP1_INDEX 0x0D91 -#define GL_MAP1_NORMAL 0x0D92 -#define GL_MAP1_TEXTURE_COORD_1 0x0D93 -#define GL_MAP1_TEXTURE_COORD_2 0x0D94 -#define GL_MAP1_TEXTURE_COORD_3 0x0D95 -#define GL_MAP1_TEXTURE_COORD_4 0x0D96 -#define GL_MAP1_VERTEX_3 0x0D97 -#define GL_MAP1_VERTEX_4 0x0D98 -#define GL_MAP2_COLOR_4 0x0DB0 -#define GL_MAP2_INDEX 0x0DB1 -#define GL_MAP2_NORMAL 0x0DB2 -#define GL_MAP2_TEXTURE_COORD_1 0x0DB3 -#define GL_MAP2_TEXTURE_COORD_2 0x0DB4 -#define GL_MAP2_TEXTURE_COORD_3 0x0DB5 -#define GL_MAP2_TEXTURE_COORD_4 0x0DB6 -#define GL_MAP2_VERTEX_3 0x0DB7 -#define GL_MAP2_VERTEX_4 0x0DB8 -#define GL_MAP1_GRID_DOMAIN 0x0DD0 -#define GL_MAP1_GRID_SEGMENTS 0x0DD1 -#define GL_MAP2_GRID_DOMAIN 0x0DD2 -#define GL_MAP2_GRID_SEGMENTS 0x0DD3 -#define GL_COEFF 0x0A00 -#define GL_ORDER 0x0A01 -#define GL_DOMAIN 0x0A02 - -/* Hints */ -#define GL_PERSPECTIVE_CORRECTION_HINT 0x0C50 -#define GL_POINT_SMOOTH_HINT 0x0C51 -#define GL_LINE_SMOOTH_HINT 0x0C52 -#define GL_POLYGON_SMOOTH_HINT 0x0C53 -#define GL_FOG_HINT 0x0C54 -#define GL_DONT_CARE 0x1100 -#define GL_FASTEST 0x1101 -#define GL_NICEST 0x1102 - -/* Scissor box */ -#define GL_SCISSOR_BOX 0x0C10 -#define GL_SCISSOR_TEST 0x0C11 - -/* Pixel Mode / Transfer */ -#define GL_MAP_COLOR 0x0D10 -#define GL_MAP_STENCIL 0x0D11 -#define GL_INDEX_SHIFT 0x0D12 -#define GL_INDEX_OFFSET 0x0D13 -#define GL_RED_SCALE 0x0D14 -#define GL_RED_BIAS 0x0D15 -#define GL_GREEN_SCALE 0x0D18 -#define GL_GREEN_BIAS 0x0D19 -#define GL_BLUE_SCALE 0x0D1A -#define GL_BLUE_BIAS 0x0D1B -#define GL_ALPHA_SCALE 0x0D1C -#define GL_ALPHA_BIAS 0x0D1D -#define GL_DEPTH_SCALE 0x0D1E -#define GL_DEPTH_BIAS 0x0D1F -#define GL_PIXEL_MAP_S_TO_S_SIZE 0x0CB1 -#define GL_PIXEL_MAP_I_TO_I_SIZE 0x0CB0 -#define GL_PIXEL_MAP_I_TO_R_SIZE 0x0CB2 -#define GL_PIXEL_MAP_I_TO_G_SIZE 0x0CB3 -#define GL_PIXEL_MAP_I_TO_B_SIZE 0x0CB4 -#define GL_PIXEL_MAP_I_TO_A_SIZE 0x0CB5 -#define GL_PIXEL_MAP_R_TO_R_SIZE 0x0CB6 -#define GL_PIXEL_MAP_G_TO_G_SIZE 0x0CB7 -#define GL_PIXEL_MAP_B_TO_B_SIZE 0x0CB8 -#define GL_PIXEL_MAP_A_TO_A_SIZE 0x0CB9 -#define GL_PIXEL_MAP_S_TO_S 0x0C71 -#define GL_PIXEL_MAP_I_TO_I 0x0C70 -#define GL_PIXEL_MAP_I_TO_R 0x0C72 -#define GL_PIXEL_MAP_I_TO_G 0x0C73 -#define GL_PIXEL_MAP_I_TO_B 0x0C74 -#define GL_PIXEL_MAP_I_TO_A 0x0C75 -#define GL_PIXEL_MAP_R_TO_R 0x0C76 -#define GL_PIXEL_MAP_G_TO_G 0x0C77 -#define GL_PIXEL_MAP_B_TO_B 0x0C78 -#define GL_PIXEL_MAP_A_TO_A 0x0C79 -#define GL_PACK_ALIGNMENT 0x0D05 -#define GL_PACK_LSB_FIRST 0x0D01 -#define GL_PACK_ROW_LENGTH 0x0D02 -#define GL_PACK_SKIP_PIXELS 0x0D04 -#define GL_PACK_SKIP_ROWS 0x0D03 -#define GL_PACK_SWAP_BYTES 0x0D00 -#define GL_UNPACK_ALIGNMENT 0x0CF5 -#define GL_UNPACK_LSB_FIRST 0x0CF1 -#define GL_UNPACK_ROW_LENGTH 0x0CF2 -#define GL_UNPACK_SKIP_PIXELS 0x0CF4 -#define GL_UNPACK_SKIP_ROWS 0x0CF3 -#define GL_UNPACK_SWAP_BYTES 0x0CF0 -#define GL_ZOOM_X 0x0D16 -#define GL_ZOOM_Y 0x0D17 - -/* Texture mapping */ -#define GL_TEXTURE_ENV 0x2300 -#define GL_TEXTURE_ENV_MODE 0x2200 -#define GL_TEXTURE_1D 0x0DE0 -#define GL_TEXTURE_2D 0x0DE1 -#define GL_TEXTURE_WRAP_S 0x2802 -#define GL_TEXTURE_WRAP_T 0x2803 -#define GL_TEXTURE_MAG_FILTER 0x2800 -#define GL_TEXTURE_MIN_FILTER 0x2801 -#define GL_TEXTURE_ENV_COLOR 0x2201 -#define GL_TEXTURE_GEN_S 0x0C60 -#define GL_TEXTURE_GEN_T 0x0C61 -#define GL_TEXTURE_GEN_R 0x0C62 -#define GL_TEXTURE_GEN_Q 0x0C63 -#define GL_TEXTURE_GEN_MODE 0x2500 -#define GL_TEXTURE_BORDER_COLOR 0x1004 -#define GL_TEXTURE_WIDTH 0x1000 -#define GL_TEXTURE_HEIGHT 0x1001 -#define GL_TEXTURE_BORDER 0x1005 -#define GL_TEXTURE_COMPONENTS 0x1003 -#define GL_TEXTURE_RED_SIZE 0x805C -#define GL_TEXTURE_GREEN_SIZE 0x805D -#define GL_TEXTURE_BLUE_SIZE 0x805E -#define GL_TEXTURE_ALPHA_SIZE 0x805F -#define GL_TEXTURE_LUMINANCE_SIZE 0x8060 -#define GL_TEXTURE_INTENSITY_SIZE 0x8061 -#define GL_NEAREST_MIPMAP_NEAREST 0x2700 -#define GL_NEAREST_MIPMAP_LINEAR 0x2702 -#define GL_LINEAR_MIPMAP_NEAREST 0x2701 -#define GL_LINEAR_MIPMAP_LINEAR 0x2703 -#define GL_OBJECT_LINEAR 0x2401 -#define GL_OBJECT_PLANE 0x2501 -#define GL_EYE_LINEAR 0x2400 -#define GL_EYE_PLANE 0x2502 -#define GL_SPHERE_MAP 0x2402 -#define GL_DECAL 0x2101 -#define GL_MODULATE 0x2100 -#define GL_NEAREST 0x2600 -#define GL_REPEAT 0x2901 -#define GL_CLAMP 0x2900 -#define GL_S 0x2000 -#define GL_T 0x2001 -#define GL_R 0x2002 -#define GL_Q 0x2003 - -/* Utility */ -#define GL_VENDOR 0x1F00 -#define GL_RENDERER 0x1F01 -#define GL_VERSION 0x1F02 -#define GL_EXTENSIONS 0x1F03 - -/* Errors */ -#define GL_NO_ERROR 0 -#define GL_INVALID_ENUM 0x0500 -#define GL_INVALID_VALUE 0x0501 -#define GL_INVALID_OPERATION 0x0502 -#define GL_STACK_OVERFLOW 0x0503 -#define GL_STACK_UNDERFLOW 0x0504 -#define GL_OUT_OF_MEMORY 0x0505 - -/* glPush/PopAttrib bits */ -#define GL_CURRENT_BIT 0x00000001 -#define GL_POINT_BIT 0x00000002 -#define GL_LINE_BIT 0x00000004 -#define GL_POLYGON_BIT 0x00000008 -#define GL_POLYGON_STIPPLE_BIT 0x00000010 -#define GL_PIXEL_MODE_BIT 0x00000020 -#define GL_LIGHTING_BIT 0x00000040 -#define GL_FOG_BIT 0x00000080 -#define GL_DEPTH_BUFFER_BIT 0x00000100 -#define GL_ACCUM_BUFFER_BIT 0x00000200 -#define GL_STENCIL_BUFFER_BIT 0x00000400 -#define GL_VIEWPORT_BIT 0x00000800 -#define GL_TRANSFORM_BIT 0x00001000 -#define GL_ENABLE_BIT 0x00002000 -#define GL_COLOR_BUFFER_BIT 0x00004000 -#define GL_HINT_BIT 0x00008000 -#define GL_EVAL_BIT 0x00010000 -#define GL_LIST_BIT 0x00020000 -#define GL_TEXTURE_BIT 0x00040000 -#define GL_SCISSOR_BIT 0x00080000 -#define GL_ALL_ATTRIB_BITS 0x000FFFFF - - -/* OpenGL 1.1 */ -#define GL_PROXY_TEXTURE_1D 0x8063 -#define GL_PROXY_TEXTURE_2D 0x8064 -#define GL_TEXTURE_PRIORITY 0x8066 -#define GL_TEXTURE_RESIDENT 0x8067 -#define GL_TEXTURE_BINDING_1D 0x8068 -#define GL_TEXTURE_BINDING_2D 0x8069 -#define GL_TEXTURE_INTERNAL_FORMAT 0x1003 -#define GL_ALPHA4 0x803B -#define GL_ALPHA8 0x803C -#define GL_ALPHA12 0x803D -#define GL_ALPHA16 0x803E -#define GL_LUMINANCE4 0x803F -#define GL_LUMINANCE8 0x8040 -#define GL_LUMINANCE12 0x8041 -#define GL_LUMINANCE16 0x8042 -#define GL_LUMINANCE4_ALPHA4 0x8043 -#define GL_LUMINANCE6_ALPHA2 0x8044 -#define GL_LUMINANCE8_ALPHA8 0x8045 -#define GL_LUMINANCE12_ALPHA4 0x8046 -#define GL_LUMINANCE12_ALPHA12 0x8047 -#define GL_LUMINANCE16_ALPHA16 0x8048 -#define GL_INTENSITY 0x8049 -#define GL_INTENSITY4 0x804A -#define GL_INTENSITY8 0x804B -#define GL_INTENSITY12 0x804C -#define GL_INTENSITY16 0x804D -#define GL_R3_G3_B2 0x2A10 -#define GL_RGB4 0x804F -#define GL_RGB5 0x8050 -#define GL_RGB8 0x8051 -#define GL_RGB10 0x8052 -#define GL_RGB12 0x8053 -#define GL_RGB16 0x8054 -#define GL_RGBA2 0x8055 -#define GL_RGBA4 0x8056 -#define GL_RGB5_A1 0x8057 -#define GL_RGBA8 0x8058 -#define GL_RGB10_A2 0x8059 -#define GL_RGBA12 0x805A -#define GL_RGBA16 0x805B -#define GL_CLIENT_PIXEL_STORE_BIT 0x00000001 -#define GL_CLIENT_VERTEX_ARRAY_BIT 0x00000002 -#define GL_ALL_CLIENT_ATTRIB_BITS 0xFFFFFFFF -#define GL_CLIENT_ALL_ATTRIB_BITS 0xFFFFFFFF - - - -/* - * Miscellaneous - */ - -GLAPI void GLAPIENTRY glClearIndex( GLfloat c ); - -GLAPI void GLAPIENTRY glClearColor( GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha ); - -GLAPI void GLAPIENTRY glClear( GLbitfield mask ); - -GLAPI void GLAPIENTRY glIndexMask( GLuint mask ); - -GLAPI void GLAPIENTRY glColorMask( GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha ); - -GLAPI void GLAPIENTRY glAlphaFunc( GLenum func, GLclampf ref ); - -GLAPI void GLAPIENTRY glBlendFunc( GLenum sfactor, GLenum dfactor ); - -GLAPI void GLAPIENTRY glLogicOp( GLenum opcode ); - -GLAPI void GLAPIENTRY glCullFace( GLenum mode ); - -GLAPI void GLAPIENTRY glFrontFace( GLenum mode ); - -GLAPI void GLAPIENTRY glPointSize( GLfloat size ); - -GLAPI void GLAPIENTRY glLineWidth( GLfloat width ); - -GLAPI void GLAPIENTRY glLineStipple( GLint factor, GLushort pattern ); - -GLAPI void GLAPIENTRY glPolygonMode( GLenum face, GLenum mode ); - -GLAPI void GLAPIENTRY glPolygonOffset( GLfloat factor, GLfloat units ); - -GLAPI void GLAPIENTRY glPolygonStipple( const GLubyte *mask ); - -GLAPI void GLAPIENTRY glGetPolygonStipple( GLubyte *mask ); - -GLAPI void GLAPIENTRY glEdgeFlag( GLboolean flag ); - -GLAPI void GLAPIENTRY glEdgeFlagv( const GLboolean *flag ); - -GLAPI void GLAPIENTRY glScissor( GLint x, GLint y, GLsizei width, GLsizei height); - -GLAPI void GLAPIENTRY glClipPlane( GLenum plane, const GLdouble *equation ); - -GLAPI void GLAPIENTRY glGetClipPlane( GLenum plane, GLdouble *equation ); - -GLAPI void GLAPIENTRY glDrawBuffer( GLenum mode ); - -GLAPI void GLAPIENTRY glReadBuffer( GLenum mode ); - -GLAPI void GLAPIENTRY glEnable( GLenum cap ); - -GLAPI void GLAPIENTRY glDisable( GLenum cap ); - -GLAPI GLboolean GLAPIENTRY glIsEnabled( GLenum cap ); - - -GLAPI void GLAPIENTRY glEnableClientState( GLenum cap ); /* 1.1 */ - -GLAPI void GLAPIENTRY glDisableClientState( GLenum cap ); /* 1.1 */ - - -GLAPI void GLAPIENTRY glGetBooleanv( GLenum pname, GLboolean *params ); - -GLAPI void GLAPIENTRY glGetDoublev( GLenum pname, GLdouble *params ); - -GLAPI void GLAPIENTRY glGetFloatv( GLenum pname, GLfloat *params ); - -GLAPI void GLAPIENTRY glGetIntegerv( GLenum pname, GLint *params ); - - -GLAPI void GLAPIENTRY glPushAttrib( GLbitfield mask ); - -GLAPI void GLAPIENTRY glPopAttrib( void ); - - -GLAPI void GLAPIENTRY glPushClientAttrib( GLbitfield mask ); /* 1.1 */ - -GLAPI void GLAPIENTRY glPopClientAttrib( void ); /* 1.1 */ - - -GLAPI GLint GLAPIENTRY glRenderMode( GLenum mode ); - -GLAPI GLenum GLAPIENTRY glGetError( void ); - -GLAPI const GLubyte * GLAPIENTRY glGetString( GLenum name ); - -GLAPI void GLAPIENTRY glFinish( void ); - -GLAPI void GLAPIENTRY glFlush( void ); - -GLAPI void GLAPIENTRY glHint( GLenum target, GLenum mode ); - - -/* - * Depth Buffer - */ - -GLAPI void GLAPIENTRY glClearDepth( GLclampd depth ); - -GLAPI void GLAPIENTRY glDepthFunc( GLenum func ); - -GLAPI void GLAPIENTRY glDepthMask( GLboolean flag ); - -GLAPI void GLAPIENTRY glDepthRange( GLclampd near_val, GLclampd far_val ); - - -/* - * Accumulation Buffer - */ - -GLAPI void GLAPIENTRY glClearAccum( GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha ); - -GLAPI void GLAPIENTRY glAccum( GLenum op, GLfloat value ); - - -/* - * Transformation - */ - -GLAPI void GLAPIENTRY glMatrixMode( GLenum mode ); - -GLAPI void GLAPIENTRY glOrtho( GLdouble left, GLdouble right, - GLdouble bottom, GLdouble top, - GLdouble near_val, GLdouble far_val ); - -GLAPI void GLAPIENTRY glFrustum( GLdouble left, GLdouble right, - GLdouble bottom, GLdouble top, - GLdouble near_val, GLdouble far_val ); - -GLAPI void GLAPIENTRY glViewport( GLint x, GLint y, - GLsizei width, GLsizei height ); - -GLAPI void GLAPIENTRY glPushMatrix( void ); - -GLAPI void GLAPIENTRY glPopMatrix( void ); - -GLAPI void GLAPIENTRY glLoadIdentity( void ); - -GLAPI void GLAPIENTRY glLoadMatrixd( const GLdouble *m ); -GLAPI void GLAPIENTRY glLoadMatrixf( const GLfloat *m ); - -GLAPI void GLAPIENTRY glMultMatrixd( const GLdouble *m ); -GLAPI void GLAPIENTRY glMultMatrixf( const GLfloat *m ); - -GLAPI void GLAPIENTRY glRotated( GLdouble angle, - GLdouble x, GLdouble y, GLdouble z ); -GLAPI void GLAPIENTRY glRotatef( GLfloat angle, - GLfloat x, GLfloat y, GLfloat z ); - -GLAPI void GLAPIENTRY glScaled( GLdouble x, GLdouble y, GLdouble z ); -GLAPI void GLAPIENTRY glScalef( GLfloat x, GLfloat y, GLfloat z ); - -GLAPI void GLAPIENTRY glTranslated( GLdouble x, GLdouble y, GLdouble z ); -GLAPI void GLAPIENTRY glTranslatef( GLfloat x, GLfloat y, GLfloat z ); - - -/* - * Display Lists - */ - -GLAPI GLboolean GLAPIENTRY glIsList( GLuint list ); - -GLAPI void GLAPIENTRY glDeleteLists( GLuint list, GLsizei range ); - -GLAPI GLuint GLAPIENTRY glGenLists( GLsizei range ); - -GLAPI void GLAPIENTRY glNewList( GLuint list, GLenum mode ); - -GLAPI void GLAPIENTRY glEndList( void ); - -GLAPI void GLAPIENTRY glCallList( GLuint list ); - -GLAPI void GLAPIENTRY glCallLists( GLsizei n, GLenum type, - const GLvoid *lists ); - -GLAPI void GLAPIENTRY glListBase( GLuint base ); - - -/* - * Drawing Functions - */ - -GLAPI void GLAPIENTRY glBegin( GLenum mode ); - -GLAPI void GLAPIENTRY glEnd( void ); - - -GLAPI void GLAPIENTRY glVertex2d( GLdouble x, GLdouble y ); -GLAPI void GLAPIENTRY glVertex2f( GLfloat x, GLfloat y ); -GLAPI void GLAPIENTRY glVertex2i( GLint x, GLint y ); -GLAPI void GLAPIENTRY glVertex2s( GLshort x, GLshort y ); - -GLAPI void GLAPIENTRY glVertex3d( GLdouble x, GLdouble y, GLdouble z ); -GLAPI void GLAPIENTRY glVertex3f( GLfloat x, GLfloat y, GLfloat z ); -GLAPI void GLAPIENTRY glVertex3i( GLint x, GLint y, GLint z ); -GLAPI void GLAPIENTRY glVertex3s( GLshort x, GLshort y, GLshort z ); - -GLAPI void GLAPIENTRY glVertex4d( GLdouble x, GLdouble y, GLdouble z, GLdouble w ); -GLAPI void GLAPIENTRY glVertex4f( GLfloat x, GLfloat y, GLfloat z, GLfloat w ); -GLAPI void GLAPIENTRY glVertex4i( GLint x, GLint y, GLint z, GLint w ); -GLAPI void GLAPIENTRY glVertex4s( GLshort x, GLshort y, GLshort z, GLshort w ); - -GLAPI void GLAPIENTRY glVertex2dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glVertex2fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glVertex2iv( const GLint *v ); -GLAPI void GLAPIENTRY glVertex2sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glVertex3dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glVertex3fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glVertex3iv( const GLint *v ); -GLAPI void GLAPIENTRY glVertex3sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glVertex4dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glVertex4fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glVertex4iv( const GLint *v ); -GLAPI void GLAPIENTRY glVertex4sv( const GLshort *v ); - - -GLAPI void GLAPIENTRY glNormal3b( GLbyte nx, GLbyte ny, GLbyte nz ); -GLAPI void GLAPIENTRY glNormal3d( GLdouble nx, GLdouble ny, GLdouble nz ); -GLAPI void GLAPIENTRY glNormal3f( GLfloat nx, GLfloat ny, GLfloat nz ); -GLAPI void GLAPIENTRY glNormal3i( GLint nx, GLint ny, GLint nz ); -GLAPI void GLAPIENTRY glNormal3s( GLshort nx, GLshort ny, GLshort nz ); - -GLAPI void GLAPIENTRY glNormal3bv( const GLbyte *v ); -GLAPI void GLAPIENTRY glNormal3dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glNormal3fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glNormal3iv( const GLint *v ); -GLAPI void GLAPIENTRY glNormal3sv( const GLshort *v ); - - -GLAPI void GLAPIENTRY glIndexd( GLdouble c ); -GLAPI void GLAPIENTRY glIndexf( GLfloat c ); -GLAPI void GLAPIENTRY glIndexi( GLint c ); -GLAPI void GLAPIENTRY glIndexs( GLshort c ); -GLAPI void GLAPIENTRY glIndexub( GLubyte c ); /* 1.1 */ - -GLAPI void GLAPIENTRY glIndexdv( const GLdouble *c ); -GLAPI void GLAPIENTRY glIndexfv( const GLfloat *c ); -GLAPI void GLAPIENTRY glIndexiv( const GLint *c ); -GLAPI void GLAPIENTRY glIndexsv( const GLshort *c ); -GLAPI void GLAPIENTRY glIndexubv( const GLubyte *c ); /* 1.1 */ - -GLAPI void GLAPIENTRY glColor3b( GLbyte red, GLbyte green, GLbyte blue ); -GLAPI void GLAPIENTRY glColor3d( GLdouble red, GLdouble green, GLdouble blue ); -GLAPI void GLAPIENTRY glColor3f( GLfloat red, GLfloat green, GLfloat blue ); -GLAPI void GLAPIENTRY glColor3i( GLint red, GLint green, GLint blue ); -GLAPI void GLAPIENTRY glColor3s( GLshort red, GLshort green, GLshort blue ); -GLAPI void GLAPIENTRY glColor3ub( GLubyte red, GLubyte green, GLubyte blue ); -GLAPI void GLAPIENTRY glColor3ui( GLuint red, GLuint green, GLuint blue ); -GLAPI void GLAPIENTRY glColor3us( GLushort red, GLushort green, GLushort blue ); - -GLAPI void GLAPIENTRY glColor4b( GLbyte red, GLbyte green, - GLbyte blue, GLbyte alpha ); -GLAPI void GLAPIENTRY glColor4d( GLdouble red, GLdouble green, - GLdouble blue, GLdouble alpha ); -GLAPI void GLAPIENTRY glColor4f( GLfloat red, GLfloat green, - GLfloat blue, GLfloat alpha ); -GLAPI void GLAPIENTRY glColor4i( GLint red, GLint green, - GLint blue, GLint alpha ); -GLAPI void GLAPIENTRY glColor4s( GLshort red, GLshort green, - GLshort blue, GLshort alpha ); -GLAPI void GLAPIENTRY glColor4ub( GLubyte red, GLubyte green, - GLubyte blue, GLubyte alpha ); -GLAPI void GLAPIENTRY glColor4ui( GLuint red, GLuint green, - GLuint blue, GLuint alpha ); -GLAPI void GLAPIENTRY glColor4us( GLushort red, GLushort green, - GLushort blue, GLushort alpha ); - - -GLAPI void GLAPIENTRY glColor3bv( const GLbyte *v ); -GLAPI void GLAPIENTRY glColor3dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glColor3fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glColor3iv( const GLint *v ); -GLAPI void GLAPIENTRY glColor3sv( const GLshort *v ); -GLAPI void GLAPIENTRY glColor3ubv( const GLubyte *v ); -GLAPI void GLAPIENTRY glColor3uiv( const GLuint *v ); -GLAPI void GLAPIENTRY glColor3usv( const GLushort *v ); - -GLAPI void GLAPIENTRY glColor4bv( const GLbyte *v ); -GLAPI void GLAPIENTRY glColor4dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glColor4fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glColor4iv( const GLint *v ); -GLAPI void GLAPIENTRY glColor4sv( const GLshort *v ); -GLAPI void GLAPIENTRY glColor4ubv( const GLubyte *v ); -GLAPI void GLAPIENTRY glColor4uiv( const GLuint *v ); -GLAPI void GLAPIENTRY glColor4usv( const GLushort *v ); - - -GLAPI void GLAPIENTRY glTexCoord1d( GLdouble s ); -GLAPI void GLAPIENTRY glTexCoord1f( GLfloat s ); -GLAPI void GLAPIENTRY glTexCoord1i( GLint s ); -GLAPI void GLAPIENTRY glTexCoord1s( GLshort s ); - -GLAPI void GLAPIENTRY glTexCoord2d( GLdouble s, GLdouble t ); -GLAPI void GLAPIENTRY glTexCoord2f( GLfloat s, GLfloat t ); -GLAPI void GLAPIENTRY glTexCoord2i( GLint s, GLint t ); -GLAPI void GLAPIENTRY glTexCoord2s( GLshort s, GLshort t ); - -GLAPI void GLAPIENTRY glTexCoord3d( GLdouble s, GLdouble t, GLdouble r ); -GLAPI void GLAPIENTRY glTexCoord3f( GLfloat s, GLfloat t, GLfloat r ); -GLAPI void GLAPIENTRY glTexCoord3i( GLint s, GLint t, GLint r ); -GLAPI void GLAPIENTRY glTexCoord3s( GLshort s, GLshort t, GLshort r ); - -GLAPI void GLAPIENTRY glTexCoord4d( GLdouble s, GLdouble t, GLdouble r, GLdouble q ); -GLAPI void GLAPIENTRY glTexCoord4f( GLfloat s, GLfloat t, GLfloat r, GLfloat q ); -GLAPI void GLAPIENTRY glTexCoord4i( GLint s, GLint t, GLint r, GLint q ); -GLAPI void GLAPIENTRY glTexCoord4s( GLshort s, GLshort t, GLshort r, GLshort q ); - -GLAPI void GLAPIENTRY glTexCoord1dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glTexCoord1fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glTexCoord1iv( const GLint *v ); -GLAPI void GLAPIENTRY glTexCoord1sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glTexCoord2dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glTexCoord2fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glTexCoord2iv( const GLint *v ); -GLAPI void GLAPIENTRY glTexCoord2sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glTexCoord3dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glTexCoord3fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glTexCoord3iv( const GLint *v ); -GLAPI void GLAPIENTRY glTexCoord3sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glTexCoord4dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glTexCoord4fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glTexCoord4iv( const GLint *v ); -GLAPI void GLAPIENTRY glTexCoord4sv( const GLshort *v ); - - -GLAPI void GLAPIENTRY glRasterPos2d( GLdouble x, GLdouble y ); -GLAPI void GLAPIENTRY glRasterPos2f( GLfloat x, GLfloat y ); -GLAPI void GLAPIENTRY glRasterPos2i( GLint x, GLint y ); -GLAPI void GLAPIENTRY glRasterPos2s( GLshort x, GLshort y ); - -GLAPI void GLAPIENTRY glRasterPos3d( GLdouble x, GLdouble y, GLdouble z ); -GLAPI void GLAPIENTRY glRasterPos3f( GLfloat x, GLfloat y, GLfloat z ); -GLAPI void GLAPIENTRY glRasterPos3i( GLint x, GLint y, GLint z ); -GLAPI void GLAPIENTRY glRasterPos3s( GLshort x, GLshort y, GLshort z ); - -GLAPI void GLAPIENTRY glRasterPos4d( GLdouble x, GLdouble y, GLdouble z, GLdouble w ); -GLAPI void GLAPIENTRY glRasterPos4f( GLfloat x, GLfloat y, GLfloat z, GLfloat w ); -GLAPI void GLAPIENTRY glRasterPos4i( GLint x, GLint y, GLint z, GLint w ); -GLAPI void GLAPIENTRY glRasterPos4s( GLshort x, GLshort y, GLshort z, GLshort w ); - -GLAPI void GLAPIENTRY glRasterPos2dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glRasterPos2fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glRasterPos2iv( const GLint *v ); -GLAPI void GLAPIENTRY glRasterPos2sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glRasterPos3dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glRasterPos3fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glRasterPos3iv( const GLint *v ); -GLAPI void GLAPIENTRY glRasterPos3sv( const GLshort *v ); - -GLAPI void GLAPIENTRY glRasterPos4dv( const GLdouble *v ); -GLAPI void GLAPIENTRY glRasterPos4fv( const GLfloat *v ); -GLAPI void GLAPIENTRY glRasterPos4iv( const GLint *v ); -GLAPI void GLAPIENTRY glRasterPos4sv( const GLshort *v ); - - -GLAPI void GLAPIENTRY glRectd( GLdouble x1, GLdouble y1, GLdouble x2, GLdouble y2 ); -GLAPI void GLAPIENTRY glRectf( GLfloat x1, GLfloat y1, GLfloat x2, GLfloat y2 ); -GLAPI void GLAPIENTRY glRecti( GLint x1, GLint y1, GLint x2, GLint y2 ); -GLAPI void GLAPIENTRY glRects( GLshort x1, GLshort y1, GLshort x2, GLshort y2 ); - - -GLAPI void GLAPIENTRY glRectdv( const GLdouble *v1, const GLdouble *v2 ); -GLAPI void GLAPIENTRY glRectfv( const GLfloat *v1, const GLfloat *v2 ); -GLAPI void GLAPIENTRY glRectiv( const GLint *v1, const GLint *v2 ); -GLAPI void GLAPIENTRY glRectsv( const GLshort *v1, const GLshort *v2 ); - - -/* - * Vertex Arrays (1.1) - */ - -GLAPI void GLAPIENTRY glVertexPointer( GLint size, GLenum type, - GLsizei stride, const GLvoid *ptr ); - -GLAPI void GLAPIENTRY glNormalPointer( GLenum type, GLsizei stride, - const GLvoid *ptr ); - -GLAPI void GLAPIENTRY glColorPointer( GLint size, GLenum type, - GLsizei stride, const GLvoid *ptr ); - -GLAPI void GLAPIENTRY glIndexPointer( GLenum type, GLsizei stride, - const GLvoid *ptr ); - -GLAPI void GLAPIENTRY glTexCoordPointer( GLint size, GLenum type, - GLsizei stride, const GLvoid *ptr ); - -GLAPI void GLAPIENTRY glEdgeFlagPointer( GLsizei stride, const GLvoid *ptr ); - -GLAPI void GLAPIENTRY glGetPointerv( GLenum pname, GLvoid **params ); - -GLAPI void GLAPIENTRY glArrayElement( GLint i ); - -GLAPI void GLAPIENTRY glDrawArrays( GLenum mode, GLint first, GLsizei count ); - -GLAPI void GLAPIENTRY glDrawElements( GLenum mode, GLsizei count, - GLenum type, const GLvoid *indices ); - -GLAPI void GLAPIENTRY glInterleavedArrays( GLenum format, GLsizei stride, - const GLvoid *pointer ); - -/* - * Lighting - */ - -GLAPI void GLAPIENTRY glShadeModel( GLenum mode ); - -GLAPI void GLAPIENTRY glLightf( GLenum light, GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glLighti( GLenum light, GLenum pname, GLint param ); -GLAPI void GLAPIENTRY glLightfv( GLenum light, GLenum pname, - const GLfloat *params ); -GLAPI void GLAPIENTRY glLightiv( GLenum light, GLenum pname, - const GLint *params ); - -GLAPI void GLAPIENTRY glGetLightfv( GLenum light, GLenum pname, - GLfloat *params ); -GLAPI void GLAPIENTRY glGetLightiv( GLenum light, GLenum pname, - GLint *params ); - -GLAPI void GLAPIENTRY glLightModelf( GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glLightModeli( GLenum pname, GLint param ); -GLAPI void GLAPIENTRY glLightModelfv( GLenum pname, const GLfloat *params ); -GLAPI void GLAPIENTRY glLightModeliv( GLenum pname, const GLint *params ); - -GLAPI void GLAPIENTRY glMaterialf( GLenum face, GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glMateriali( GLenum face, GLenum pname, GLint param ); -GLAPI void GLAPIENTRY glMaterialfv( GLenum face, GLenum pname, const GLfloat *params ); -GLAPI void GLAPIENTRY glMaterialiv( GLenum face, GLenum pname, const GLint *params ); - -GLAPI void GLAPIENTRY glGetMaterialfv( GLenum face, GLenum pname, GLfloat *params ); -GLAPI void GLAPIENTRY glGetMaterialiv( GLenum face, GLenum pname, GLint *params ); - -GLAPI void GLAPIENTRY glColorMaterial( GLenum face, GLenum mode ); - - -/* - * Raster functions - */ - -GLAPI void GLAPIENTRY glPixelZoom( GLfloat xfactor, GLfloat yfactor ); - -GLAPI void GLAPIENTRY glPixelStoref( GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glPixelStorei( GLenum pname, GLint param ); - -GLAPI void GLAPIENTRY glPixelTransferf( GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glPixelTransferi( GLenum pname, GLint param ); - -GLAPI void GLAPIENTRY glPixelMapfv( GLenum map, GLsizei mapsize, - const GLfloat *values ); -GLAPI void GLAPIENTRY glPixelMapuiv( GLenum map, GLsizei mapsize, - const GLuint *values ); -GLAPI void GLAPIENTRY glPixelMapusv( GLenum map, GLsizei mapsize, - const GLushort *values ); - -GLAPI void GLAPIENTRY glGetPixelMapfv( GLenum map, GLfloat *values ); -GLAPI void GLAPIENTRY glGetPixelMapuiv( GLenum map, GLuint *values ); -GLAPI void GLAPIENTRY glGetPixelMapusv( GLenum map, GLushort *values ); - -GLAPI void GLAPIENTRY glBitmap( GLsizei width, GLsizei height, - GLfloat xorig, GLfloat yorig, - GLfloat xmove, GLfloat ymove, - const GLubyte *bitmap ); - -GLAPI void GLAPIENTRY glReadPixels( GLint x, GLint y, - GLsizei width, GLsizei height, - GLenum format, GLenum type, - GLvoid *pixels ); - -GLAPI void GLAPIENTRY glDrawPixels( GLsizei width, GLsizei height, - GLenum format, GLenum type, - const GLvoid *pixels ); - -GLAPI void GLAPIENTRY glCopyPixels( GLint x, GLint y, - GLsizei width, GLsizei height, - GLenum type ); - -/* - * Stenciling - */ - -GLAPI void GLAPIENTRY glStencilFunc( GLenum func, GLint ref, GLuint mask ); - -GLAPI void GLAPIENTRY glStencilMask( GLuint mask ); - -GLAPI void GLAPIENTRY glStencilOp( GLenum fail, GLenum zfail, GLenum zpass ); - -GLAPI void GLAPIENTRY glClearStencil( GLint s ); - - - -/* - * Texture mapping - */ - -GLAPI void GLAPIENTRY glTexGend( GLenum coord, GLenum pname, GLdouble param ); -GLAPI void GLAPIENTRY glTexGenf( GLenum coord, GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glTexGeni( GLenum coord, GLenum pname, GLint param ); - -GLAPI void GLAPIENTRY glTexGendv( GLenum coord, GLenum pname, const GLdouble *params ); -GLAPI void GLAPIENTRY glTexGenfv( GLenum coord, GLenum pname, const GLfloat *params ); -GLAPI void GLAPIENTRY glTexGeniv( GLenum coord, GLenum pname, const GLint *params ); - -GLAPI void GLAPIENTRY glGetTexGendv( GLenum coord, GLenum pname, GLdouble *params ); -GLAPI void GLAPIENTRY glGetTexGenfv( GLenum coord, GLenum pname, GLfloat *params ); -GLAPI void GLAPIENTRY glGetTexGeniv( GLenum coord, GLenum pname, GLint *params ); - - -GLAPI void GLAPIENTRY glTexEnvf( GLenum target, GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glTexEnvi( GLenum target, GLenum pname, GLint param ); - -GLAPI void GLAPIENTRY glTexEnvfv( GLenum target, GLenum pname, const GLfloat *params ); -GLAPI void GLAPIENTRY glTexEnviv( GLenum target, GLenum pname, const GLint *params ); - -GLAPI void GLAPIENTRY glGetTexEnvfv( GLenum target, GLenum pname, GLfloat *params ); -GLAPI void GLAPIENTRY glGetTexEnviv( GLenum target, GLenum pname, GLint *params ); - - -GLAPI void GLAPIENTRY glTexParameterf( GLenum target, GLenum pname, GLfloat param ); -GLAPI void GLAPIENTRY glTexParameteri( GLenum target, GLenum pname, GLint param ); - -GLAPI void GLAPIENTRY glTexParameterfv( GLenum target, GLenum pname, - const GLfloat *params ); -GLAPI void GLAPIENTRY glTexParameteriv( GLenum target, GLenum pname, - const GLint *params ); - -GLAPI void GLAPIENTRY glGetTexParameterfv( GLenum target, - GLenum pname, GLfloat *params); -GLAPI void GLAPIENTRY glGetTexParameteriv( GLenum target, - GLenum pname, GLint *params ); - -GLAPI void GLAPIENTRY glGetTexLevelParameterfv( GLenum target, GLint level, - GLenum pname, GLfloat *params ); -GLAPI void GLAPIENTRY glGetTexLevelParameteriv( GLenum target, GLint level, - GLenum pname, GLint *params ); - - -GLAPI void GLAPIENTRY glTexImage1D( GLenum target, GLint level, - GLint internalFormat, - GLsizei width, GLint border, - GLenum format, GLenum type, - const GLvoid *pixels ); - -GLAPI void GLAPIENTRY glTexImage2D( GLenum target, GLint level, - GLint internalFormat, - GLsizei width, GLsizei height, - GLint border, GLenum format, GLenum type, - const GLvoid *pixels ); - -GLAPI void GLAPIENTRY glGetTexImage( GLenum target, GLint level, - GLenum format, GLenum type, - GLvoid *pixels ); - - -/* 1.1 functions */ - -GLAPI void GLAPIENTRY glGenTextures( GLsizei n, GLuint *textures ); - -GLAPI void GLAPIENTRY glDeleteTextures( GLsizei n, const GLuint *textures); - -GLAPI void GLAPIENTRY glBindTexture( GLenum target, GLuint texture ); - -GLAPI void GLAPIENTRY glPrioritizeTextures( GLsizei n, - const GLuint *textures, - const GLclampf *priorities ); - -GLAPI GLboolean GLAPIENTRY glAreTexturesResident( GLsizei n, - const GLuint *textures, - GLboolean *residences ); - -GLAPI GLboolean GLAPIENTRY glIsTexture( GLuint texture ); - - -GLAPI void GLAPIENTRY glTexSubImage1D( GLenum target, GLint level, - GLint xoffset, - GLsizei width, GLenum format, - GLenum type, const GLvoid *pixels ); - - -GLAPI void GLAPIENTRY glTexSubImage2D( GLenum target, GLint level, - GLint xoffset, GLint yoffset, - GLsizei width, GLsizei height, - GLenum format, GLenum type, - const GLvoid *pixels ); - - -GLAPI void GLAPIENTRY glCopyTexImage1D( GLenum target, GLint level, - GLenum internalformat, - GLint x, GLint y, - GLsizei width, GLint border ); - - -GLAPI void GLAPIENTRY glCopyTexImage2D( GLenum target, GLint level, - GLenum internalformat, - GLint x, GLint y, - GLsizei width, GLsizei height, - GLint border ); - - -GLAPI void GLAPIENTRY glCopyTexSubImage1D( GLenum target, GLint level, - GLint xoffset, GLint x, GLint y, - GLsizei width ); - - -GLAPI void GLAPIENTRY glCopyTexSubImage2D( GLenum target, GLint level, - GLint xoffset, GLint yoffset, - GLint x, GLint y, - GLsizei width, GLsizei height ); - - -/* - * Evaluators - */ - -GLAPI void GLAPIENTRY glMap1d( GLenum target, GLdouble u1, GLdouble u2, - GLint stride, - GLint order, const GLdouble *points ); -GLAPI void GLAPIENTRY glMap1f( GLenum target, GLfloat u1, GLfloat u2, - GLint stride, - GLint order, const GLfloat *points ); - -GLAPI void GLAPIENTRY glMap2d( GLenum target, - GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, - GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, - const GLdouble *points ); -GLAPI void GLAPIENTRY glMap2f( GLenum target, - GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, - GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, - const GLfloat *points ); - -GLAPI void GLAPIENTRY glGetMapdv( GLenum target, GLenum query, GLdouble *v ); -GLAPI void GLAPIENTRY glGetMapfv( GLenum target, GLenum query, GLfloat *v ); -GLAPI void GLAPIENTRY glGetMapiv( GLenum target, GLenum query, GLint *v ); - -GLAPI void GLAPIENTRY glEvalCoord1d( GLdouble u ); -GLAPI void GLAPIENTRY glEvalCoord1f( GLfloat u ); - -GLAPI void GLAPIENTRY glEvalCoord1dv( const GLdouble *u ); -GLAPI void GLAPIENTRY glEvalCoord1fv( const GLfloat *u ); - -GLAPI void GLAPIENTRY glEvalCoord2d( GLdouble u, GLdouble v ); -GLAPI void GLAPIENTRY glEvalCoord2f( GLfloat u, GLfloat v ); - -GLAPI void GLAPIENTRY glEvalCoord2dv( const GLdouble *u ); -GLAPI void GLAPIENTRY glEvalCoord2fv( const GLfloat *u ); - -GLAPI void GLAPIENTRY glMapGrid1d( GLint un, GLdouble u1, GLdouble u2 ); -GLAPI void GLAPIENTRY glMapGrid1f( GLint un, GLfloat u1, GLfloat u2 ); - -GLAPI void GLAPIENTRY glMapGrid2d( GLint un, GLdouble u1, GLdouble u2, - GLint vn, GLdouble v1, GLdouble v2 ); -GLAPI void GLAPIENTRY glMapGrid2f( GLint un, GLfloat u1, GLfloat u2, - GLint vn, GLfloat v1, GLfloat v2 ); - -GLAPI void GLAPIENTRY glEvalPoint1( GLint i ); - -GLAPI void GLAPIENTRY glEvalPoint2( GLint i, GLint j ); - -GLAPI void GLAPIENTRY glEvalMesh1( GLenum mode, GLint i1, GLint i2 ); - -GLAPI void GLAPIENTRY glEvalMesh2( GLenum mode, GLint i1, GLint i2, GLint j1, GLint j2 ); - - -/* - * Fog - */ - -GLAPI void GLAPIENTRY glFogf( GLenum pname, GLfloat param ); - -GLAPI void GLAPIENTRY glFogi( GLenum pname, GLint param ); - -GLAPI void GLAPIENTRY glFogfv( GLenum pname, const GLfloat *params ); - -GLAPI void GLAPIENTRY glFogiv( GLenum pname, const GLint *params ); - - -/* - * Selection and Feedback - */ - -GLAPI void GLAPIENTRY glFeedbackBuffer( GLsizei size, GLenum type, GLfloat *buffer ); - -GLAPI void GLAPIENTRY glPassThrough( GLfloat token ); - -GLAPI void GLAPIENTRY glSelectBuffer( GLsizei size, GLuint *buffer ); - -GLAPI void GLAPIENTRY glInitNames( void ); - -GLAPI void GLAPIENTRY glLoadName( GLuint name ); - -GLAPI void GLAPIENTRY glPushName( GLuint name ); - -GLAPI void GLAPIENTRY glPopName( void ); - - - -/* - * OpenGL 1.2 - */ - -#define GL_RESCALE_NORMAL 0x803A -#define GL_CLAMP_TO_EDGE 0x812F -#define GL_MAX_ELEMENTS_VERTICES 0x80E8 -#define GL_MAX_ELEMENTS_INDICES 0x80E9 -#define GL_BGR 0x80E0 -#define GL_BGRA 0x80E1 -#define GL_UNSIGNED_BYTE_3_3_2 0x8032 -#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 -#define GL_UNSIGNED_SHORT_5_6_5 0x8363 -#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 -#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 -#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 -#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 -#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 -#define GL_UNSIGNED_INT_8_8_8_8 0x8035 -#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 -#define GL_UNSIGNED_INT_10_10_10_2 0x8036 -#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 -#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8 -#define GL_SINGLE_COLOR 0x81F9 -#define GL_SEPARATE_SPECULAR_COLOR 0x81FA -#define GL_TEXTURE_MIN_LOD 0x813A -#define GL_TEXTURE_MAX_LOD 0x813B -#define GL_TEXTURE_BASE_LEVEL 0x813C -#define GL_TEXTURE_MAX_LEVEL 0x813D -#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 -#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 -#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 -#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 -#define GL_ALIASED_POINT_SIZE_RANGE 0x846D -#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E -#define GL_PACK_SKIP_IMAGES 0x806B -#define GL_PACK_IMAGE_HEIGHT 0x806C -#define GL_UNPACK_SKIP_IMAGES 0x806D -#define GL_UNPACK_IMAGE_HEIGHT 0x806E -#define GL_TEXTURE_3D 0x806F -#define GL_PROXY_TEXTURE_3D 0x8070 -#define GL_TEXTURE_DEPTH 0x8071 -#define GL_TEXTURE_WRAP_R 0x8072 -#define GL_MAX_3D_TEXTURE_SIZE 0x8073 -#define GL_TEXTURE_BINDING_3D 0x806A - -GLAPI void GLAPIENTRY glDrawRangeElements( GLenum mode, GLuint start, - GLuint end, GLsizei count, GLenum type, const GLvoid *indices ); - -GLAPI void GLAPIENTRY glTexImage3D( GLenum target, GLint level, - GLint internalFormat, - GLsizei width, GLsizei height, - GLsizei depth, GLint border, - GLenum format, GLenum type, - const GLvoid *pixels ); - -GLAPI void GLAPIENTRY glTexSubImage3D( GLenum target, GLint level, - GLint xoffset, GLint yoffset, - GLint zoffset, GLsizei width, - GLsizei height, GLsizei depth, - GLenum format, - GLenum type, const GLvoid *pixels); - -GLAPI void GLAPIENTRY glCopyTexSubImage3D( GLenum target, GLint level, - GLint xoffset, GLint yoffset, - GLint zoffset, GLint x, - GLint y, GLsizei width, - GLsizei height ); - -typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices); -typedef void (APIENTRYP PFNGLTEXIMAGE3DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels); -typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const GLvoid *pixels); -typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); - - -/* - * GL_ARB_imaging - */ - -#define GL_CONSTANT_COLOR 0x8001 -#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 -#define GL_CONSTANT_ALPHA 0x8003 -#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 -#define GL_COLOR_TABLE 0x80D0 -#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 -#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 -#define GL_PROXY_COLOR_TABLE 0x80D3 -#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 -#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 -#define GL_COLOR_TABLE_SCALE 0x80D6 -#define GL_COLOR_TABLE_BIAS 0x80D7 -#define GL_COLOR_TABLE_FORMAT 0x80D8 -#define GL_COLOR_TABLE_WIDTH 0x80D9 -#define GL_COLOR_TABLE_RED_SIZE 0x80DA -#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB -#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC -#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD -#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE -#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF -#define GL_CONVOLUTION_1D 0x8010 -#define GL_CONVOLUTION_2D 0x8011 -#define GL_SEPARABLE_2D 0x8012 -#define GL_CONVOLUTION_BORDER_MODE 0x8013 -#define GL_CONVOLUTION_FILTER_SCALE 0x8014 -#define GL_CONVOLUTION_FILTER_BIAS 0x8015 -#define GL_REDUCE 0x8016 -#define GL_CONVOLUTION_FORMAT 0x8017 -#define GL_CONVOLUTION_WIDTH 0x8018 -#define GL_CONVOLUTION_HEIGHT 0x8019 -#define GL_MAX_CONVOLUTION_WIDTH 0x801A -#define GL_MAX_CONVOLUTION_HEIGHT 0x801B -#define GL_POST_CONVOLUTION_RED_SCALE 0x801C -#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D -#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E -#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F -#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 -#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 -#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 -#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 -#define GL_CONSTANT_BORDER 0x8151 -#define GL_REPLICATE_BORDER 0x8153 -#define GL_CONVOLUTION_BORDER_COLOR 0x8154 -#define GL_COLOR_MATRIX 0x80B1 -#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 -#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 -#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 -#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 -#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 -#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 -#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 -#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 -#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA -#define GL_POST_COLOR_MATRIX_ALPHA_BIAS 0x80BB -#define GL_HISTOGRAM 0x8024 -#define GL_PROXY_HISTOGRAM 0x8025 -#define GL_HISTOGRAM_WIDTH 0x8026 -#define GL_HISTOGRAM_FORMAT 0x8027 -#define GL_HISTOGRAM_RED_SIZE 0x8028 -#define GL_HISTOGRAM_GREEN_SIZE 0x8029 -#define GL_HISTOGRAM_BLUE_SIZE 0x802A -#define GL_HISTOGRAM_ALPHA_SIZE 0x802B -#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C -#define GL_HISTOGRAM_SINK 0x802D -#define GL_MINMAX 0x802E -#define GL_MINMAX_FORMAT 0x802F -#define GL_MINMAX_SINK 0x8030 -#define GL_TABLE_TOO_LARGE 0x8031 -#define GL_BLEND_EQUATION 0x8009 -#define GL_MIN 0x8007 -#define GL_MAX 0x8008 -#define GL_FUNC_ADD 0x8006 -#define GL_FUNC_SUBTRACT 0x800A -#define GL_FUNC_REVERSE_SUBTRACT 0x800B -#define GL_BLEND_COLOR 0x8005 - - -GLAPI void GLAPIENTRY glColorTable( GLenum target, GLenum internalformat, - GLsizei width, GLenum format, - GLenum type, const GLvoid *table ); - -GLAPI void GLAPIENTRY glColorSubTable( GLenum target, - GLsizei start, GLsizei count, - GLenum format, GLenum type, - const GLvoid *data ); - -GLAPI void GLAPIENTRY glColorTableParameteriv(GLenum target, GLenum pname, - const GLint *params); - -GLAPI void GLAPIENTRY glColorTableParameterfv(GLenum target, GLenum pname, - const GLfloat *params); - -GLAPI void GLAPIENTRY glCopyColorSubTable( GLenum target, GLsizei start, - GLint x, GLint y, GLsizei width ); - -GLAPI void GLAPIENTRY glCopyColorTable( GLenum target, GLenum internalformat, - GLint x, GLint y, GLsizei width ); - -GLAPI void GLAPIENTRY glGetColorTable( GLenum target, GLenum format, - GLenum type, GLvoid *table ); - -GLAPI void GLAPIENTRY glGetColorTableParameterfv( GLenum target, GLenum pname, - GLfloat *params ); - -GLAPI void GLAPIENTRY glGetColorTableParameteriv( GLenum target, GLenum pname, - GLint *params ); - -GLAPI void GLAPIENTRY glBlendEquation( GLenum mode ); - -GLAPI void GLAPIENTRY glBlendColor( GLclampf red, GLclampf green, - GLclampf blue, GLclampf alpha ); - -GLAPI void GLAPIENTRY glHistogram( GLenum target, GLsizei width, - GLenum internalformat, GLboolean sink ); - -GLAPI void GLAPIENTRY glResetHistogram( GLenum target ); - -GLAPI void GLAPIENTRY glGetHistogram( GLenum target, GLboolean reset, - GLenum format, GLenum type, - GLvoid *values ); - -GLAPI void GLAPIENTRY glGetHistogramParameterfv( GLenum target, GLenum pname, - GLfloat *params ); - -GLAPI void GLAPIENTRY glGetHistogramParameteriv( GLenum target, GLenum pname, - GLint *params ); - -GLAPI void GLAPIENTRY glMinmax( GLenum target, GLenum internalformat, - GLboolean sink ); - -GLAPI void GLAPIENTRY glResetMinmax( GLenum target ); - -GLAPI void GLAPIENTRY glGetMinmax( GLenum target, GLboolean reset, - GLenum format, GLenum types, - GLvoid *values ); - -GLAPI void GLAPIENTRY glGetMinmaxParameterfv( GLenum target, GLenum pname, - GLfloat *params ); - -GLAPI void GLAPIENTRY glGetMinmaxParameteriv( GLenum target, GLenum pname, - GLint *params ); - -GLAPI void GLAPIENTRY glConvolutionFilter1D( GLenum target, - GLenum internalformat, GLsizei width, GLenum format, GLenum type, - const GLvoid *image ); - -GLAPI void GLAPIENTRY glConvolutionFilter2D( GLenum target, - GLenum internalformat, GLsizei width, GLsizei height, GLenum format, - GLenum type, const GLvoid *image ); - -GLAPI void GLAPIENTRY glConvolutionParameterf( GLenum target, GLenum pname, - GLfloat params ); - -GLAPI void GLAPIENTRY glConvolutionParameterfv( GLenum target, GLenum pname, - const GLfloat *params ); - -GLAPI void GLAPIENTRY glConvolutionParameteri( GLenum target, GLenum pname, - GLint params ); - -GLAPI void GLAPIENTRY glConvolutionParameteriv( GLenum target, GLenum pname, - const GLint *params ); - -GLAPI void GLAPIENTRY glCopyConvolutionFilter1D( GLenum target, - GLenum internalformat, GLint x, GLint y, GLsizei width ); - -GLAPI void GLAPIENTRY glCopyConvolutionFilter2D( GLenum target, - GLenum internalformat, GLint x, GLint y, GLsizei width, - GLsizei height); - -GLAPI void GLAPIENTRY glGetConvolutionFilter( GLenum target, GLenum format, - GLenum type, GLvoid *image ); - -GLAPI void GLAPIENTRY glGetConvolutionParameterfv( GLenum target, GLenum pname, - GLfloat *params ); - -GLAPI void GLAPIENTRY glGetConvolutionParameteriv( GLenum target, GLenum pname, - GLint *params ); - -GLAPI void GLAPIENTRY glSeparableFilter2D( GLenum target, - GLenum internalformat, GLsizei width, GLsizei height, GLenum format, - GLenum type, const GLvoid *row, const GLvoid *column ); - -GLAPI void GLAPIENTRY glGetSeparableFilter( GLenum target, GLenum format, - GLenum type, GLvoid *row, GLvoid *column, GLvoid *span ); - - - - -/* - * OpenGL 1.3 - */ - -/* multitexture */ -#define GL_TEXTURE0 0x84C0 -#define GL_TEXTURE1 0x84C1 -#define GL_TEXTURE2 0x84C2 -#define GL_TEXTURE3 0x84C3 -#define GL_TEXTURE4 0x84C4 -#define GL_TEXTURE5 0x84C5 -#define GL_TEXTURE6 0x84C6 -#define GL_TEXTURE7 0x84C7 -#define GL_TEXTURE8 0x84C8 -#define GL_TEXTURE9 0x84C9 -#define GL_TEXTURE10 0x84CA -#define GL_TEXTURE11 0x84CB -#define GL_TEXTURE12 0x84CC -#define GL_TEXTURE13 0x84CD -#define GL_TEXTURE14 0x84CE -#define GL_TEXTURE15 0x84CF -#define GL_TEXTURE16 0x84D0 -#define GL_TEXTURE17 0x84D1 -#define GL_TEXTURE18 0x84D2 -#define GL_TEXTURE19 0x84D3 -#define GL_TEXTURE20 0x84D4 -#define GL_TEXTURE21 0x84D5 -#define GL_TEXTURE22 0x84D6 -#define GL_TEXTURE23 0x84D7 -#define GL_TEXTURE24 0x84D8 -#define GL_TEXTURE25 0x84D9 -#define GL_TEXTURE26 0x84DA -#define GL_TEXTURE27 0x84DB -#define GL_TEXTURE28 0x84DC -#define GL_TEXTURE29 0x84DD -#define GL_TEXTURE30 0x84DE -#define GL_TEXTURE31 0x84DF -#define GL_ACTIVE_TEXTURE 0x84E0 -#define GL_CLIENT_ACTIVE_TEXTURE 0x84E1 -#define GL_MAX_TEXTURE_UNITS 0x84E2 -/* texture_cube_map */ -#define GL_NORMAL_MAP 0x8511 -#define GL_REFLECTION_MAP 0x8512 -#define GL_TEXTURE_CUBE_MAP 0x8513 -#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A -#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B -#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C -/* texture_compression */ -#define GL_COMPRESSED_ALPHA 0x84E9 -#define GL_COMPRESSED_LUMINANCE 0x84EA -#define GL_COMPRESSED_LUMINANCE_ALPHA 0x84EB -#define GL_COMPRESSED_INTENSITY 0x84EC -#define GL_COMPRESSED_RGB 0x84ED -#define GL_COMPRESSED_RGBA 0x84EE -#define GL_TEXTURE_COMPRESSION_HINT 0x84EF -#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0 -#define GL_TEXTURE_COMPRESSED 0x86A1 -#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 -#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 -/* multisample */ -#define GL_MULTISAMPLE 0x809D -#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E -#define GL_SAMPLE_ALPHA_TO_ONE 0x809F -#define GL_SAMPLE_COVERAGE 0x80A0 -#define GL_SAMPLE_BUFFERS 0x80A8 -#define GL_SAMPLES 0x80A9 -#define GL_SAMPLE_COVERAGE_VALUE 0x80AA -#define GL_SAMPLE_COVERAGE_INVERT 0x80AB -#define GL_MULTISAMPLE_BIT 0x20000000 -/* transpose_matrix */ -#define GL_TRANSPOSE_MODELVIEW_MATRIX 0x84E3 -#define GL_TRANSPOSE_PROJECTION_MATRIX 0x84E4 -#define GL_TRANSPOSE_TEXTURE_MATRIX 0x84E5 -#define GL_TRANSPOSE_COLOR_MATRIX 0x84E6 -/* texture_env_combine */ -#define GL_COMBINE 0x8570 -#define GL_COMBINE_RGB 0x8571 -#define GL_COMBINE_ALPHA 0x8572 -#define GL_SOURCE0_RGB 0x8580 -#define GL_SOURCE1_RGB 0x8581 -#define GL_SOURCE2_RGB 0x8582 -#define GL_SOURCE0_ALPHA 0x8588 -#define GL_SOURCE1_ALPHA 0x8589 -#define GL_SOURCE2_ALPHA 0x858A -#define GL_OPERAND0_RGB 0x8590 -#define GL_OPERAND1_RGB 0x8591 -#define GL_OPERAND2_RGB 0x8592 -#define GL_OPERAND0_ALPHA 0x8598 -#define GL_OPERAND1_ALPHA 0x8599 -#define GL_OPERAND2_ALPHA 0x859A -#define GL_RGB_SCALE 0x8573 -#define GL_ADD_SIGNED 0x8574 -#define GL_INTERPOLATE 0x8575 -#define GL_SUBTRACT 0x84E7 -#define GL_CONSTANT 0x8576 -#define GL_PRIMARY_COLOR 0x8577 -#define GL_PREVIOUS 0x8578 -/* texture_env_dot3 */ -#define GL_DOT3_RGB 0x86AE -#define GL_DOT3_RGBA 0x86AF -/* texture_border_clamp */ -#define GL_CLAMP_TO_BORDER 0x812D - -GLAPI void GLAPIENTRY glActiveTexture( GLenum texture ); - -GLAPI void GLAPIENTRY glClientActiveTexture( GLenum texture ); - -GLAPI void GLAPIENTRY glCompressedTexImage1D( GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data ); - -GLAPI void GLAPIENTRY glCompressedTexImage2D( GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data ); - -GLAPI void GLAPIENTRY glCompressedTexImage3D( GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data ); - -GLAPI void GLAPIENTRY glCompressedTexSubImage1D( GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data ); - -GLAPI void GLAPIENTRY glCompressedTexSubImage2D( GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data ); - -GLAPI void GLAPIENTRY glCompressedTexSubImage3D( GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data ); - -GLAPI void GLAPIENTRY glGetCompressedTexImage( GLenum target, GLint lod, GLvoid *img ); - -GLAPI void GLAPIENTRY glMultiTexCoord1d( GLenum target, GLdouble s ); - -GLAPI void GLAPIENTRY glMultiTexCoord1dv( GLenum target, const GLdouble *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord1f( GLenum target, GLfloat s ); - -GLAPI void GLAPIENTRY glMultiTexCoord1fv( GLenum target, const GLfloat *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord1i( GLenum target, GLint s ); - -GLAPI void GLAPIENTRY glMultiTexCoord1iv( GLenum target, const GLint *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord1s( GLenum target, GLshort s ); - -GLAPI void GLAPIENTRY glMultiTexCoord1sv( GLenum target, const GLshort *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord2d( GLenum target, GLdouble s, GLdouble t ); - -GLAPI void GLAPIENTRY glMultiTexCoord2dv( GLenum target, const GLdouble *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord2f( GLenum target, GLfloat s, GLfloat t ); - -GLAPI void GLAPIENTRY glMultiTexCoord2fv( GLenum target, const GLfloat *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord2i( GLenum target, GLint s, GLint t ); - -GLAPI void GLAPIENTRY glMultiTexCoord2iv( GLenum target, const GLint *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord2s( GLenum target, GLshort s, GLshort t ); - -GLAPI void GLAPIENTRY glMultiTexCoord2sv( GLenum target, const GLshort *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord3d( GLenum target, GLdouble s, GLdouble t, GLdouble r ); - -GLAPI void GLAPIENTRY glMultiTexCoord3dv( GLenum target, const GLdouble *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord3f( GLenum target, GLfloat s, GLfloat t, GLfloat r ); - -GLAPI void GLAPIENTRY glMultiTexCoord3fv( GLenum target, const GLfloat *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord3i( GLenum target, GLint s, GLint t, GLint r ); - -GLAPI void GLAPIENTRY glMultiTexCoord3iv( GLenum target, const GLint *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord3s( GLenum target, GLshort s, GLshort t, GLshort r ); - -GLAPI void GLAPIENTRY glMultiTexCoord3sv( GLenum target, const GLshort *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord4d( GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q ); - -GLAPI void GLAPIENTRY glMultiTexCoord4dv( GLenum target, const GLdouble *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord4f( GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q ); - -GLAPI void GLAPIENTRY glMultiTexCoord4fv( GLenum target, const GLfloat *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord4i( GLenum target, GLint s, GLint t, GLint r, GLint q ); - -GLAPI void GLAPIENTRY glMultiTexCoord4iv( GLenum target, const GLint *v ); - -GLAPI void GLAPIENTRY glMultiTexCoord4s( GLenum target, GLshort s, GLshort t, GLshort r, GLshort q ); - -GLAPI void GLAPIENTRY glMultiTexCoord4sv( GLenum target, const GLshort *v ); - - -GLAPI void GLAPIENTRY glLoadTransposeMatrixd( const GLdouble m[16] ); - -GLAPI void GLAPIENTRY glLoadTransposeMatrixf( const GLfloat m[16] ); - -GLAPI void GLAPIENTRY glMultTransposeMatrixd( const GLdouble m[16] ); - -GLAPI void GLAPIENTRY glMultTransposeMatrixf( const GLfloat m[16] ); - -GLAPI void GLAPIENTRY glSampleCoverage( GLclampf value, GLboolean invert ); - - -typedef void (APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLSAMPLECOVERAGEPROC) (GLclampf value, GLboolean invert); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint level, GLvoid *img); - - - -/* - * GL_ARB_multitexture (ARB extension 1 and OpenGL 1.2.1) - */ -#ifndef GL_ARB_multitexture -#define GL_ARB_multitexture 1 - -#define GL_TEXTURE0_ARB 0x84C0 -#define GL_TEXTURE1_ARB 0x84C1 -#define GL_TEXTURE2_ARB 0x84C2 -#define GL_TEXTURE3_ARB 0x84C3 -#define GL_TEXTURE4_ARB 0x84C4 -#define GL_TEXTURE5_ARB 0x84C5 -#define GL_TEXTURE6_ARB 0x84C6 -#define GL_TEXTURE7_ARB 0x84C7 -#define GL_TEXTURE8_ARB 0x84C8 -#define GL_TEXTURE9_ARB 0x84C9 -#define GL_TEXTURE10_ARB 0x84CA -#define GL_TEXTURE11_ARB 0x84CB -#define GL_TEXTURE12_ARB 0x84CC -#define GL_TEXTURE13_ARB 0x84CD -#define GL_TEXTURE14_ARB 0x84CE -#define GL_TEXTURE15_ARB 0x84CF -#define GL_TEXTURE16_ARB 0x84D0 -#define GL_TEXTURE17_ARB 0x84D1 -#define GL_TEXTURE18_ARB 0x84D2 -#define GL_TEXTURE19_ARB 0x84D3 -#define GL_TEXTURE20_ARB 0x84D4 -#define GL_TEXTURE21_ARB 0x84D5 -#define GL_TEXTURE22_ARB 0x84D6 -#define GL_TEXTURE23_ARB 0x84D7 -#define GL_TEXTURE24_ARB 0x84D8 -#define GL_TEXTURE25_ARB 0x84D9 -#define GL_TEXTURE26_ARB 0x84DA -#define GL_TEXTURE27_ARB 0x84DB -#define GL_TEXTURE28_ARB 0x84DC -#define GL_TEXTURE29_ARB 0x84DD -#define GL_TEXTURE30_ARB 0x84DE -#define GL_TEXTURE31_ARB 0x84DF -#define GL_ACTIVE_TEXTURE_ARB 0x84E0 -#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 -#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 - -GLAPI void GLAPIENTRY glActiveTextureARB(GLenum texture); -GLAPI void GLAPIENTRY glClientActiveTextureARB(GLenum texture); -GLAPI void GLAPIENTRY glMultiTexCoord1dARB(GLenum target, GLdouble s); -GLAPI void GLAPIENTRY glMultiTexCoord1dvARB(GLenum target, const GLdouble *v); -GLAPI void GLAPIENTRY glMultiTexCoord1fARB(GLenum target, GLfloat s); -GLAPI void GLAPIENTRY glMultiTexCoord1fvARB(GLenum target, const GLfloat *v); -GLAPI void GLAPIENTRY glMultiTexCoord1iARB(GLenum target, GLint s); -GLAPI void GLAPIENTRY glMultiTexCoord1ivARB(GLenum target, const GLint *v); -GLAPI void GLAPIENTRY glMultiTexCoord1sARB(GLenum target, GLshort s); -GLAPI void GLAPIENTRY glMultiTexCoord1svARB(GLenum target, const GLshort *v); -GLAPI void GLAPIENTRY glMultiTexCoord2dARB(GLenum target, GLdouble s, GLdouble t); -GLAPI void GLAPIENTRY glMultiTexCoord2dvARB(GLenum target, const GLdouble *v); -GLAPI void GLAPIENTRY glMultiTexCoord2fARB(GLenum target, GLfloat s, GLfloat t); -GLAPI void GLAPIENTRY glMultiTexCoord2fvARB(GLenum target, const GLfloat *v); -GLAPI void GLAPIENTRY glMultiTexCoord2iARB(GLenum target, GLint s, GLint t); -GLAPI void GLAPIENTRY glMultiTexCoord2ivARB(GLenum target, const GLint *v); -GLAPI void GLAPIENTRY glMultiTexCoord2sARB(GLenum target, GLshort s, GLshort t); -GLAPI void GLAPIENTRY glMultiTexCoord2svARB(GLenum target, const GLshort *v); -GLAPI void GLAPIENTRY glMultiTexCoord3dARB(GLenum target, GLdouble s, GLdouble t, GLdouble r); -GLAPI void GLAPIENTRY glMultiTexCoord3dvARB(GLenum target, const GLdouble *v); -GLAPI void GLAPIENTRY glMultiTexCoord3fARB(GLenum target, GLfloat s, GLfloat t, GLfloat r); -GLAPI void GLAPIENTRY glMultiTexCoord3fvARB(GLenum target, const GLfloat *v); -GLAPI void GLAPIENTRY glMultiTexCoord3iARB(GLenum target, GLint s, GLint t, GLint r); -GLAPI void GLAPIENTRY glMultiTexCoord3ivARB(GLenum target, const GLint *v); -GLAPI void GLAPIENTRY glMultiTexCoord3sARB(GLenum target, GLshort s, GLshort t, GLshort r); -GLAPI void GLAPIENTRY glMultiTexCoord3svARB(GLenum target, const GLshort *v); -GLAPI void GLAPIENTRY glMultiTexCoord4dARB(GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); -GLAPI void GLAPIENTRY glMultiTexCoord4dvARB(GLenum target, const GLdouble *v); -GLAPI void GLAPIENTRY glMultiTexCoord4fARB(GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); -GLAPI void GLAPIENTRY glMultiTexCoord4fvARB(GLenum target, const GLfloat *v); -GLAPI void GLAPIENTRY glMultiTexCoord4iARB(GLenum target, GLint s, GLint t, GLint r, GLint q); -GLAPI void GLAPIENTRY glMultiTexCoord4ivARB(GLenum target, const GLint *v); -GLAPI void GLAPIENTRY glMultiTexCoord4sARB(GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); -GLAPI void GLAPIENTRY glMultiTexCoord4svARB(GLenum target, const GLshort *v); - -typedef void (APIENTRYP PFNGLACTIVETEXTUREARBPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREARBPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1DARBPROC) (GLenum target, GLdouble s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1FARBPROC) (GLenum target, GLfloat s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1IARBPROC) (GLenum target, GLint s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1SARBPROC) (GLenum target, GLshort s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVARBPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2DARBPROC) (GLenum target, GLdouble s, GLdouble t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2FARBPROC) (GLenum target, GLfloat s, GLfloat t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2IARBPROC) (GLenum target, GLint s, GLint t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2SARBPROC) (GLenum target, GLshort s, GLshort t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVARBPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3IARBPROC) (GLenum target, GLint s, GLint t, GLint r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVARBPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4IARBPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVARBPROC) (GLenum target, const GLshort *v); - -#endif /* GL_ARB_multitexture */ - - - -/* - * Define this token if you want "old-style" header file behaviour (extensions - * defined in gl.h). Otherwise, extensions will be included from glext.h. - */ -#if !defined(NO_SDL_GLEXT) && !defined(GL_GLEXT_LEGACY) -#include "SDL_opengl_glext.h" -#endif /* GL_GLEXT_LEGACY */ - - - -/********************************************************************** - * Begin system-specific stuff - */ -#if defined(PRAGMA_EXPORT_SUPPORTED) -#pragma export off -#endif - -/* - * End system-specific stuff - **********************************************************************/ - - -#ifdef __cplusplus -} -#endif - -#endif /* __gl_h_ */ - -#endif /* !__IPHONEOS__ */ - -#endif /* SDL_opengl_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengl_glext.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengl_glext.h deleted file mode 100644 index 8527e1744..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengl_glext.h +++ /dev/null @@ -1,13209 +0,0 @@ -#ifndef __gl_glext_h_ -#define __gl_glext_h_ 1 - -#ifdef __cplusplus -extern "C" { -#endif - -/* -** Copyright 2013-2020 The Khronos Group Inc. -** SPDX-License-Identifier: MIT -** -** This header is generated from the Khronos OpenGL / OpenGL ES XML -** API Registry. The current version of the Registry, generator scripts -** used to make the header, and the header can be found at -** https://github.com/KhronosGroup/OpenGL-Registry -*/ - -#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__) -#ifndef WIN32_LEAN_AND_MEAN -#define WIN32_LEAN_AND_MEAN 1 -#endif -#include -#endif - -#ifndef APIENTRY -#define APIENTRY -#endif -#ifndef APIENTRYP -#define APIENTRYP APIENTRY * -#endif -#ifndef GLAPI -#define GLAPI extern -#endif - -#define GL_GLEXT_VERSION 20220530 - -/*#include */ -#ifndef __khrplatform_h_ -#define __khrplatform_h_ - -/* -** Copyright (c) 2008-2018 The Khronos Group Inc. -** -** Permission is hereby granted, free of charge, to any person obtaining a -** copy of this software and/or associated documentation files (the -** "Materials"), to deal in the Materials without restriction, including -** without limitation the rights to use, copy, modify, merge, publish, -** distribute, sublicense, and/or sell copies of the Materials, and to -** permit persons to whom the Materials are furnished to do so, subject to -** the following conditions: -** -** The above copyright notice and this permission notice shall be included -** in all copies or substantial portions of the Materials. -** -** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF -** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. -** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY -** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, -** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE -** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. -*/ - -/* Khronos platform-specific types and definitions. - * - * The master copy of khrplatform.h is maintained in the Khronos EGL - * Registry repository at https://github.com/KhronosGroup/EGL-Registry - * The last semantic modification to khrplatform.h was at commit ID: - * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 - * - * Adopters may modify this file to suit their platform. Adopters are - * encouraged to submit platform specific modifications to the Khronos - * group so that they can be included in future versions of this file. - * Please submit changes by filing pull requests or issues on - * the EGL Registry repository linked above. - * - * - * See the Implementer's Guidelines for information about where this file - * should be located on your system and for more details of its use: - * http://www.khronos.org/registry/implementers_guide.pdf - * - * This file should be included as - * #include - * by Khronos client API header files that use its types and defines. - * - * The types in khrplatform.h should only be used to define API-specific types. - * - * Types defined in khrplatform.h: - * khronos_int8_t signed 8 bit - * khronos_uint8_t unsigned 8 bit - * khronos_int16_t signed 16 bit - * khronos_uint16_t unsigned 16 bit - * khronos_int32_t signed 32 bit - * khronos_uint32_t unsigned 32 bit - * khronos_int64_t signed 64 bit - * khronos_uint64_t unsigned 64 bit - * khronos_intptr_t signed same number of bits as a pointer - * khronos_uintptr_t unsigned same number of bits as a pointer - * khronos_ssize_t signed size - * khronos_usize_t unsigned size - * khronos_float_t signed 32 bit floating point - * khronos_time_ns_t unsigned 64 bit time in nanoseconds - * khronos_utime_nanoseconds_t unsigned time interval or absolute time in - * nanoseconds - * khronos_stime_nanoseconds_t signed time interval in nanoseconds - * khronos_boolean_enum_t enumerated boolean type. This should - * only be used as a base type when a client API's boolean type is - * an enum. Client APIs which use an integer or other type for - * booleans cannot use this as the base type for their boolean. - * - * Tokens defined in khrplatform.h: - * - * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. - * - * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. - * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. - * - * Calling convention macros defined in this file: - * KHRONOS_APICALL - * KHRONOS_APIENTRY - * KHRONOS_APIATTRIBUTES - * - * These may be used in function prototypes as: - * - * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( - * int arg1, - * int arg2) KHRONOS_APIATTRIBUTES; - */ - -#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) -# define KHRONOS_STATIC 1 -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APICALL - *------------------------------------------------------------------------- - * This precedes the return type of the function in the function prototype. - */ -#if defined(KHRONOS_STATIC) - /* If the preprocessor constant KHRONOS_STATIC is defined, make the - * header compatible with static linking. */ -# define KHRONOS_APICALL -#elif defined(_WIN32) -# define KHRONOS_APICALL __declspec(dllimport) -#elif defined (__SYMBIAN32__) -# define KHRONOS_APICALL IMPORT_C -#elif defined(__ANDROID__) -# define KHRONOS_APICALL __attribute__((visibility("default"))) -#else -# define KHRONOS_APICALL -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIENTRY - *------------------------------------------------------------------------- - * This follows the return type of the function and precedes the function - * name in the function prototype. - */ -#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) - /* Win32 but not WinCE */ -# define KHRONOS_APIENTRY __stdcall -#else -# define KHRONOS_APIENTRY -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIATTRIBUTES - *------------------------------------------------------------------------- - * This follows the closing parenthesis of the function prototype arguments. - */ -#if defined (__ARMCC_2__) -#define KHRONOS_APIATTRIBUTES __softfp -#else -#define KHRONOS_APIATTRIBUTES -#endif - -/*------------------------------------------------------------------------- - * basic type definitions - *-----------------------------------------------------------------------*/ -#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) - - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 -/* - * To support platform where unsigned long cannot be used interchangeably with - * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. - * Ideally, we could just use (u)intptr_t everywhere, but this could result in - * ABI breakage if khronos_uintptr_t is changed from unsigned long to - * unsigned long long or similar (this results in different C++ name mangling). - * To avoid changes for existing platforms, we restrict usage of intptr_t to - * platforms where the size of a pointer is larger than the size of long. - */ -#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) -#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ -#define KHRONOS_USE_INTPTR_T -#endif -#endif - -#elif defined(__VMS ) || defined(__sgi) - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) - -/* - * Win32 - */ -typedef __int32 khronos_int32_t; -typedef unsigned __int32 khronos_uint32_t; -typedef __int64 khronos_int64_t; -typedef unsigned __int64 khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(__sun__) || defined(__digital__) - -/* - * Sun or Digital - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#if defined(__arch64__) || defined(_LP64) -typedef long int khronos_int64_t; -typedef unsigned long int khronos_uint64_t; -#else -typedef long long int khronos_int64_t; -typedef unsigned long long int khronos_uint64_t; -#endif /* __arch64__ */ -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif 0 - -/* - * Hypothetical platform with no float or int64 support - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#define KHRONOS_SUPPORT_INT64 0 -#define KHRONOS_SUPPORT_FLOAT 0 - -#else - -/* - * Generic fallback - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#endif - - -/* - * Types that are (so far) the same on all platforms - */ -typedef signed char khronos_int8_t; -typedef unsigned char khronos_uint8_t; -typedef signed short int khronos_int16_t; -typedef unsigned short int khronos_uint16_t; - -/* - * Types that differ between LLP64 and LP64 architectures - in LLP64, - * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears - * to be the only LLP64 architecture in current use. - */ -#ifdef KHRONOS_USE_INTPTR_T -typedef intptr_t khronos_intptr_t; -typedef uintptr_t khronos_uintptr_t; -#elif defined(_WIN64) -typedef signed long long int khronos_intptr_t; -typedef unsigned long long int khronos_uintptr_t; -#else -typedef signed long int khronos_intptr_t; -typedef unsigned long int khronos_uintptr_t; -#endif - -#if defined(_WIN64) -typedef signed long long int khronos_ssize_t; -typedef unsigned long long int khronos_usize_t; -#else -typedef signed long int khronos_ssize_t; -typedef unsigned long int khronos_usize_t; -#endif - -#if KHRONOS_SUPPORT_FLOAT -/* - * Float type - */ -typedef float khronos_float_t; -#endif - -#if KHRONOS_SUPPORT_INT64 -/* Time types - * - * These types can be used to represent a time interval in nanoseconds or - * an absolute Unadjusted System Time. Unadjusted System Time is the number - * of nanoseconds since some arbitrary system event (e.g. since the last - * time the system booted). The Unadjusted System Time is an unsigned - * 64 bit value that wraps back to 0 every 584 years. Time intervals - * may be either signed or unsigned. - */ -typedef khronos_uint64_t khronos_utime_nanoseconds_t; -typedef khronos_int64_t khronos_stime_nanoseconds_t; -#endif - -/* - * Dummy value used to pad enum types to 32 bits. - */ -#ifndef KHRONOS_MAX_ENUM -#define KHRONOS_MAX_ENUM 0x7FFFFFFF -#endif - -/* - * Enumerated boolean type - * - * Values other than zero should be considered to be true. Therefore - * comparisons should not be made against KHRONOS_TRUE. - */ -typedef enum { - KHRONOS_FALSE = 0, - KHRONOS_TRUE = 1, - KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM -} khronos_boolean_enum_t; - -#endif /* __khrplatform_h_ */ - -/* Generated C header for: - * API: gl - * Profile: compatibility - * Versions considered: .* - * Versions emitted: 1\.[2-9]|[234]\.[0-9] - * Default extensions included: gl - * Additional extensions included: _nomatch_^ - * Extensions removed: _nomatch_^ - */ - -#ifndef GL_VERSION_1_2 -#define GL_VERSION_1_2 1 -#define GL_UNSIGNED_BYTE_3_3_2 0x8032 -#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 -#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 -#define GL_UNSIGNED_INT_8_8_8_8 0x8035 -#define GL_UNSIGNED_INT_10_10_10_2 0x8036 -#define GL_TEXTURE_BINDING_3D 0x806A -#define GL_PACK_SKIP_IMAGES 0x806B -#define GL_PACK_IMAGE_HEIGHT 0x806C -#define GL_UNPACK_SKIP_IMAGES 0x806D -#define GL_UNPACK_IMAGE_HEIGHT 0x806E -#define GL_TEXTURE_3D 0x806F -#define GL_PROXY_TEXTURE_3D 0x8070 -#define GL_TEXTURE_DEPTH 0x8071 -#define GL_TEXTURE_WRAP_R 0x8072 -#define GL_MAX_3D_TEXTURE_SIZE 0x8073 -#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 -#define GL_UNSIGNED_SHORT_5_6_5 0x8363 -#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 -#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 -#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 -#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 -#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 -#define GL_BGR 0x80E0 -#define GL_BGRA 0x80E1 -#define GL_MAX_ELEMENTS_VERTICES 0x80E8 -#define GL_MAX_ELEMENTS_INDICES 0x80E9 -#define GL_CLAMP_TO_EDGE 0x812F -#define GL_TEXTURE_MIN_LOD 0x813A -#define GL_TEXTURE_MAX_LOD 0x813B -#define GL_TEXTURE_BASE_LEVEL 0x813C -#define GL_TEXTURE_MAX_LEVEL 0x813D -#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 -#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 -#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 -#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 -#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E -#define GL_RESCALE_NORMAL 0x803A -#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8 -#define GL_SINGLE_COLOR 0x81F9 -#define GL_SEPARATE_SPECULAR_COLOR 0x81FA -#define GL_ALIASED_POINT_SIZE_RANGE 0x846D -typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); -typedef void (APIENTRYP PFNGLTEXIMAGE3DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawRangeElements (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); -GLAPI void APIENTRY glTexImage3D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTexSubImage3D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glCopyTexSubImage3D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -#endif -#endif /* GL_VERSION_1_2 */ - -#ifndef GL_VERSION_1_3 -#define GL_VERSION_1_3 1 -#define GL_TEXTURE0 0x84C0 -#define GL_TEXTURE1 0x84C1 -#define GL_TEXTURE2 0x84C2 -#define GL_TEXTURE3 0x84C3 -#define GL_TEXTURE4 0x84C4 -#define GL_TEXTURE5 0x84C5 -#define GL_TEXTURE6 0x84C6 -#define GL_TEXTURE7 0x84C7 -#define GL_TEXTURE8 0x84C8 -#define GL_TEXTURE9 0x84C9 -#define GL_TEXTURE10 0x84CA -#define GL_TEXTURE11 0x84CB -#define GL_TEXTURE12 0x84CC -#define GL_TEXTURE13 0x84CD -#define GL_TEXTURE14 0x84CE -#define GL_TEXTURE15 0x84CF -#define GL_TEXTURE16 0x84D0 -#define GL_TEXTURE17 0x84D1 -#define GL_TEXTURE18 0x84D2 -#define GL_TEXTURE19 0x84D3 -#define GL_TEXTURE20 0x84D4 -#define GL_TEXTURE21 0x84D5 -#define GL_TEXTURE22 0x84D6 -#define GL_TEXTURE23 0x84D7 -#define GL_TEXTURE24 0x84D8 -#define GL_TEXTURE25 0x84D9 -#define GL_TEXTURE26 0x84DA -#define GL_TEXTURE27 0x84DB -#define GL_TEXTURE28 0x84DC -#define GL_TEXTURE29 0x84DD -#define GL_TEXTURE30 0x84DE -#define GL_TEXTURE31 0x84DF -#define GL_ACTIVE_TEXTURE 0x84E0 -#define GL_MULTISAMPLE 0x809D -#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E -#define GL_SAMPLE_ALPHA_TO_ONE 0x809F -#define GL_SAMPLE_COVERAGE 0x80A0 -#define GL_SAMPLE_BUFFERS 0x80A8 -#define GL_SAMPLES 0x80A9 -#define GL_SAMPLE_COVERAGE_VALUE 0x80AA -#define GL_SAMPLE_COVERAGE_INVERT 0x80AB -#define GL_TEXTURE_CUBE_MAP 0x8513 -#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A -#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B -#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C -#define GL_COMPRESSED_RGB 0x84ED -#define GL_COMPRESSED_RGBA 0x84EE -#define GL_TEXTURE_COMPRESSION_HINT 0x84EF -#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0 -#define GL_TEXTURE_COMPRESSED 0x86A1 -#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 -#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 -#define GL_CLAMP_TO_BORDER 0x812D -#define GL_CLIENT_ACTIVE_TEXTURE 0x84E1 -#define GL_MAX_TEXTURE_UNITS 0x84E2 -#define GL_TRANSPOSE_MODELVIEW_MATRIX 0x84E3 -#define GL_TRANSPOSE_PROJECTION_MATRIX 0x84E4 -#define GL_TRANSPOSE_TEXTURE_MATRIX 0x84E5 -#define GL_TRANSPOSE_COLOR_MATRIX 0x84E6 -#define GL_MULTISAMPLE_BIT 0x20000000 -#define GL_NORMAL_MAP 0x8511 -#define GL_REFLECTION_MAP 0x8512 -#define GL_COMPRESSED_ALPHA 0x84E9 -#define GL_COMPRESSED_LUMINANCE 0x84EA -#define GL_COMPRESSED_LUMINANCE_ALPHA 0x84EB -#define GL_COMPRESSED_INTENSITY 0x84EC -#define GL_COMBINE 0x8570 -#define GL_COMBINE_RGB 0x8571 -#define GL_COMBINE_ALPHA 0x8572 -#define GL_SOURCE0_RGB 0x8580 -#define GL_SOURCE1_RGB 0x8581 -#define GL_SOURCE2_RGB 0x8582 -#define GL_SOURCE0_ALPHA 0x8588 -#define GL_SOURCE1_ALPHA 0x8589 -#define GL_SOURCE2_ALPHA 0x858A -#define GL_OPERAND0_RGB 0x8590 -#define GL_OPERAND1_RGB 0x8591 -#define GL_OPERAND2_RGB 0x8592 -#define GL_OPERAND0_ALPHA 0x8598 -#define GL_OPERAND1_ALPHA 0x8599 -#define GL_OPERAND2_ALPHA 0x859A -#define GL_RGB_SCALE 0x8573 -#define GL_ADD_SIGNED 0x8574 -#define GL_INTERPOLATE 0x8575 -#define GL_SUBTRACT 0x84E7 -#define GL_CONSTANT 0x8576 -#define GL_PRIMARY_COLOR 0x8577 -#define GL_PREVIOUS 0x8578 -#define GL_DOT3_RGB 0x86AE -#define GL_DOT3_RGBA 0x86AF -typedef void (APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLSAMPLECOVERAGEPROC) (GLfloat value, GLboolean invert); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint level, void *img); -typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1DPROC) (GLenum target, GLdouble s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1FPROC) (GLenum target, GLfloat s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1IPROC) (GLenum target, GLint s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1SPROC) (GLenum target, GLshort s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2DPROC) (GLenum target, GLdouble s, GLdouble t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2FPROC) (GLenum target, GLfloat s, GLfloat t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2IPROC) (GLenum target, GLint s, GLint t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2SPROC) (GLenum target, GLshort s, GLshort t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3DPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3FPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3IPROC) (GLenum target, GLint s, GLint t, GLint r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3SPROC) (GLenum target, GLshort s, GLshort t, GLshort r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4DPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4FPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4IPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4SPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXFPROC) (const GLfloat *m); -typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXDPROC) (const GLdouble *m); -typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXFPROC) (const GLfloat *m); -typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXDPROC) (const GLdouble *m); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glActiveTexture (GLenum texture); -GLAPI void APIENTRY glSampleCoverage (GLfloat value, GLboolean invert); -GLAPI void APIENTRY glCompressedTexImage3D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexImage2D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexImage1D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexSubImage3D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexSubImage1D (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glGetCompressedTexImage (GLenum target, GLint level, void *img); -GLAPI void APIENTRY glClientActiveTexture (GLenum texture); -GLAPI void APIENTRY glMultiTexCoord1d (GLenum target, GLdouble s); -GLAPI void APIENTRY glMultiTexCoord1dv (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord1f (GLenum target, GLfloat s); -GLAPI void APIENTRY glMultiTexCoord1fv (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord1i (GLenum target, GLint s); -GLAPI void APIENTRY glMultiTexCoord1iv (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord1s (GLenum target, GLshort s); -GLAPI void APIENTRY glMultiTexCoord1sv (GLenum target, const GLshort *v); -GLAPI void APIENTRY glMultiTexCoord2d (GLenum target, GLdouble s, GLdouble t); -GLAPI void APIENTRY glMultiTexCoord2dv (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord2f (GLenum target, GLfloat s, GLfloat t); -GLAPI void APIENTRY glMultiTexCoord2fv (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord2i (GLenum target, GLint s, GLint t); -GLAPI void APIENTRY glMultiTexCoord2iv (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord2s (GLenum target, GLshort s, GLshort t); -GLAPI void APIENTRY glMultiTexCoord2sv (GLenum target, const GLshort *v); -GLAPI void APIENTRY glMultiTexCoord3d (GLenum target, GLdouble s, GLdouble t, GLdouble r); -GLAPI void APIENTRY glMultiTexCoord3dv (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord3f (GLenum target, GLfloat s, GLfloat t, GLfloat r); -GLAPI void APIENTRY glMultiTexCoord3fv (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord3i (GLenum target, GLint s, GLint t, GLint r); -GLAPI void APIENTRY glMultiTexCoord3iv (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord3s (GLenum target, GLshort s, GLshort t, GLshort r); -GLAPI void APIENTRY glMultiTexCoord3sv (GLenum target, const GLshort *v); -GLAPI void APIENTRY glMultiTexCoord4d (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); -GLAPI void APIENTRY glMultiTexCoord4dv (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord4f (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); -GLAPI void APIENTRY glMultiTexCoord4fv (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord4i (GLenum target, GLint s, GLint t, GLint r, GLint q); -GLAPI void APIENTRY glMultiTexCoord4iv (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord4s (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); -GLAPI void APIENTRY glMultiTexCoord4sv (GLenum target, const GLshort *v); -GLAPI void APIENTRY glLoadTransposeMatrixf (const GLfloat *m); -GLAPI void APIENTRY glLoadTransposeMatrixd (const GLdouble *m); -GLAPI void APIENTRY glMultTransposeMatrixf (const GLfloat *m); -GLAPI void APIENTRY glMultTransposeMatrixd (const GLdouble *m); -#endif -#endif /* GL_VERSION_1_3 */ - -#ifndef GL_VERSION_1_4 -#define GL_VERSION_1_4 1 -#define GL_BLEND_DST_RGB 0x80C8 -#define GL_BLEND_SRC_RGB 0x80C9 -#define GL_BLEND_DST_ALPHA 0x80CA -#define GL_BLEND_SRC_ALPHA 0x80CB -#define GL_POINT_FADE_THRESHOLD_SIZE 0x8128 -#define GL_DEPTH_COMPONENT16 0x81A5 -#define GL_DEPTH_COMPONENT24 0x81A6 -#define GL_DEPTH_COMPONENT32 0x81A7 -#define GL_MIRRORED_REPEAT 0x8370 -#define GL_MAX_TEXTURE_LOD_BIAS 0x84FD -#define GL_TEXTURE_LOD_BIAS 0x8501 -#define GL_INCR_WRAP 0x8507 -#define GL_DECR_WRAP 0x8508 -#define GL_TEXTURE_DEPTH_SIZE 0x884A -#define GL_TEXTURE_COMPARE_MODE 0x884C -#define GL_TEXTURE_COMPARE_FUNC 0x884D -#define GL_POINT_SIZE_MIN 0x8126 -#define GL_POINT_SIZE_MAX 0x8127 -#define GL_POINT_DISTANCE_ATTENUATION 0x8129 -#define GL_GENERATE_MIPMAP 0x8191 -#define GL_GENERATE_MIPMAP_HINT 0x8192 -#define GL_FOG_COORDINATE_SOURCE 0x8450 -#define GL_FOG_COORDINATE 0x8451 -#define GL_FRAGMENT_DEPTH 0x8452 -#define GL_CURRENT_FOG_COORDINATE 0x8453 -#define GL_FOG_COORDINATE_ARRAY_TYPE 0x8454 -#define GL_FOG_COORDINATE_ARRAY_STRIDE 0x8455 -#define GL_FOG_COORDINATE_ARRAY_POINTER 0x8456 -#define GL_FOG_COORDINATE_ARRAY 0x8457 -#define GL_COLOR_SUM 0x8458 -#define GL_CURRENT_SECONDARY_COLOR 0x8459 -#define GL_SECONDARY_COLOR_ARRAY_SIZE 0x845A -#define GL_SECONDARY_COLOR_ARRAY_TYPE 0x845B -#define GL_SECONDARY_COLOR_ARRAY_STRIDE 0x845C -#define GL_SECONDARY_COLOR_ARRAY_POINTER 0x845D -#define GL_SECONDARY_COLOR_ARRAY 0x845E -#define GL_TEXTURE_FILTER_CONTROL 0x8500 -#define GL_DEPTH_TEXTURE_MODE 0x884B -#define GL_COMPARE_R_TO_TEXTURE 0x884E -#define GL_BLEND_COLOR 0x8005 -#define GL_BLEND_EQUATION 0x8009 -#define GL_CONSTANT_COLOR 0x8001 -#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 -#define GL_CONSTANT_ALPHA 0x8003 -#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 -#define GL_FUNC_ADD 0x8006 -#define GL_FUNC_REVERSE_SUBTRACT 0x800B -#define GL_FUNC_SUBTRACT 0x800A -#define GL_MIN 0x8007 -#define GL_MAX 0x8008 -typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei drawcount); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount); -typedef void (APIENTRYP PFNGLPOINTPARAMETERFPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLPOINTPARAMETERFVPROC) (GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLPOINTPARAMETERIPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLPOINTPARAMETERIVPROC) (GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLFOGCOORDFPROC) (GLfloat coord); -typedef void (APIENTRYP PFNGLFOGCOORDFVPROC) (const GLfloat *coord); -typedef void (APIENTRYP PFNGLFOGCOORDDPROC) (GLdouble coord); -typedef void (APIENTRYP PFNGLFOGCOORDDVPROC) (const GLdouble *coord); -typedef void (APIENTRYP PFNGLFOGCOORDPOINTERPROC) (GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BPROC) (GLbyte red, GLbyte green, GLbyte blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BVPROC) (const GLbyte *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DPROC) (GLdouble red, GLdouble green, GLdouble blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DVPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FPROC) (GLfloat red, GLfloat green, GLfloat blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FVPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IPROC) (GLint red, GLint green, GLint blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IVPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SPROC) (GLshort red, GLshort green, GLshort blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SVPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBPROC) (GLubyte red, GLubyte green, GLubyte blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBVPROC) (const GLubyte *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIPROC) (GLuint red, GLuint green, GLuint blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIVPROC) (const GLuint *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USPROC) (GLushort red, GLushort green, GLushort blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USVPROC) (const GLushort *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTERPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLWINDOWPOS2DPROC) (GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLWINDOWPOS2DVPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2FPROC) (GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLWINDOWPOS2FVPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2IPROC) (GLint x, GLint y); -typedef void (APIENTRYP PFNGLWINDOWPOS2IVPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2SPROC) (GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLWINDOWPOS2SVPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3DPROC) (GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLWINDOWPOS3DVPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3FPROC) (GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLWINDOWPOS3FVPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3IPROC) (GLint x, GLint y, GLint z); -typedef void (APIENTRYP PFNGLWINDOWPOS3IVPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3SPROC) (GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLWINDOWPOS3SVPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLBLENDCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -typedef void (APIENTRYP PFNGLBLENDEQUATIONPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendFuncSeparate (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -GLAPI void APIENTRY glMultiDrawArrays (GLenum mode, const GLint *first, const GLsizei *count, GLsizei drawcount); -GLAPI void APIENTRY glMultiDrawElements (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount); -GLAPI void APIENTRY glPointParameterf (GLenum pname, GLfloat param); -GLAPI void APIENTRY glPointParameterfv (GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glPointParameteri (GLenum pname, GLint param); -GLAPI void APIENTRY glPointParameteriv (GLenum pname, const GLint *params); -GLAPI void APIENTRY glFogCoordf (GLfloat coord); -GLAPI void APIENTRY glFogCoordfv (const GLfloat *coord); -GLAPI void APIENTRY glFogCoordd (GLdouble coord); -GLAPI void APIENTRY glFogCoorddv (const GLdouble *coord); -GLAPI void APIENTRY glFogCoordPointer (GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glSecondaryColor3b (GLbyte red, GLbyte green, GLbyte blue); -GLAPI void APIENTRY glSecondaryColor3bv (const GLbyte *v); -GLAPI void APIENTRY glSecondaryColor3d (GLdouble red, GLdouble green, GLdouble blue); -GLAPI void APIENTRY glSecondaryColor3dv (const GLdouble *v); -GLAPI void APIENTRY glSecondaryColor3f (GLfloat red, GLfloat green, GLfloat blue); -GLAPI void APIENTRY glSecondaryColor3fv (const GLfloat *v); -GLAPI void APIENTRY glSecondaryColor3i (GLint red, GLint green, GLint blue); -GLAPI void APIENTRY glSecondaryColor3iv (const GLint *v); -GLAPI void APIENTRY glSecondaryColor3s (GLshort red, GLshort green, GLshort blue); -GLAPI void APIENTRY glSecondaryColor3sv (const GLshort *v); -GLAPI void APIENTRY glSecondaryColor3ub (GLubyte red, GLubyte green, GLubyte blue); -GLAPI void APIENTRY glSecondaryColor3ubv (const GLubyte *v); -GLAPI void APIENTRY glSecondaryColor3ui (GLuint red, GLuint green, GLuint blue); -GLAPI void APIENTRY glSecondaryColor3uiv (const GLuint *v); -GLAPI void APIENTRY glSecondaryColor3us (GLushort red, GLushort green, GLushort blue); -GLAPI void APIENTRY glSecondaryColor3usv (const GLushort *v); -GLAPI void APIENTRY glSecondaryColorPointer (GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glWindowPos2d (GLdouble x, GLdouble y); -GLAPI void APIENTRY glWindowPos2dv (const GLdouble *v); -GLAPI void APIENTRY glWindowPos2f (GLfloat x, GLfloat y); -GLAPI void APIENTRY glWindowPos2fv (const GLfloat *v); -GLAPI void APIENTRY glWindowPos2i (GLint x, GLint y); -GLAPI void APIENTRY glWindowPos2iv (const GLint *v); -GLAPI void APIENTRY glWindowPos2s (GLshort x, GLshort y); -GLAPI void APIENTRY glWindowPos2sv (const GLshort *v); -GLAPI void APIENTRY glWindowPos3d (GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glWindowPos3dv (const GLdouble *v); -GLAPI void APIENTRY glWindowPos3f (GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glWindowPos3fv (const GLfloat *v); -GLAPI void APIENTRY glWindowPos3i (GLint x, GLint y, GLint z); -GLAPI void APIENTRY glWindowPos3iv (const GLint *v); -GLAPI void APIENTRY glWindowPos3s (GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glWindowPos3sv (const GLshort *v); -GLAPI void APIENTRY glBlendColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -GLAPI void APIENTRY glBlendEquation (GLenum mode); -#endif -#endif /* GL_VERSION_1_4 */ - -#ifndef GL_VERSION_1_5 -#define GL_VERSION_1_5 1 -typedef khronos_ssize_t GLsizeiptr; -typedef khronos_intptr_t GLintptr; -#define GL_BUFFER_SIZE 0x8764 -#define GL_BUFFER_USAGE 0x8765 -#define GL_QUERY_COUNTER_BITS 0x8864 -#define GL_CURRENT_QUERY 0x8865 -#define GL_QUERY_RESULT 0x8866 -#define GL_QUERY_RESULT_AVAILABLE 0x8867 -#define GL_ARRAY_BUFFER 0x8892 -#define GL_ELEMENT_ARRAY_BUFFER 0x8893 -#define GL_ARRAY_BUFFER_BINDING 0x8894 -#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895 -#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F -#define GL_READ_ONLY 0x88B8 -#define GL_WRITE_ONLY 0x88B9 -#define GL_READ_WRITE 0x88BA -#define GL_BUFFER_ACCESS 0x88BB -#define GL_BUFFER_MAPPED 0x88BC -#define GL_BUFFER_MAP_POINTER 0x88BD -#define GL_STREAM_DRAW 0x88E0 -#define GL_STREAM_READ 0x88E1 -#define GL_STREAM_COPY 0x88E2 -#define GL_STATIC_DRAW 0x88E4 -#define GL_STATIC_READ 0x88E5 -#define GL_STATIC_COPY 0x88E6 -#define GL_DYNAMIC_DRAW 0x88E8 -#define GL_DYNAMIC_READ 0x88E9 -#define GL_DYNAMIC_COPY 0x88EA -#define GL_SAMPLES_PASSED 0x8914 -#define GL_SRC1_ALPHA 0x8589 -#define GL_VERTEX_ARRAY_BUFFER_BINDING 0x8896 -#define GL_NORMAL_ARRAY_BUFFER_BINDING 0x8897 -#define GL_COLOR_ARRAY_BUFFER_BINDING 0x8898 -#define GL_INDEX_ARRAY_BUFFER_BINDING 0x8899 -#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING 0x889A -#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING 0x889B -#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING 0x889C -#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING 0x889D -#define GL_WEIGHT_ARRAY_BUFFER_BINDING 0x889E -#define GL_FOG_COORD_SRC 0x8450 -#define GL_FOG_COORD 0x8451 -#define GL_CURRENT_FOG_COORD 0x8453 -#define GL_FOG_COORD_ARRAY_TYPE 0x8454 -#define GL_FOG_COORD_ARRAY_STRIDE 0x8455 -#define GL_FOG_COORD_ARRAY_POINTER 0x8456 -#define GL_FOG_COORD_ARRAY 0x8457 -#define GL_FOG_COORD_ARRAY_BUFFER_BINDING 0x889D -#define GL_SRC0_RGB 0x8580 -#define GL_SRC1_RGB 0x8581 -#define GL_SRC2_RGB 0x8582 -#define GL_SRC0_ALPHA 0x8588 -#define GL_SRC2_ALPHA 0x858A -typedef void (APIENTRYP PFNGLGENQUERIESPROC) (GLsizei n, GLuint *ids); -typedef void (APIENTRYP PFNGLDELETEQUERIESPROC) (GLsizei n, const GLuint *ids); -typedef GLboolean (APIENTRYP PFNGLISQUERYPROC) (GLuint id); -typedef void (APIENTRYP PFNGLBEGINQUERYPROC) (GLenum target, GLuint id); -typedef void (APIENTRYP PFNGLENDQUERYPROC) (GLenum target); -typedef void (APIENTRYP PFNGLGETQUERYIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTIVPROC) (GLuint id, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTUIVPROC) (GLuint id, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLBINDBUFFERPROC) (GLenum target, GLuint buffer); -typedef void (APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers); -typedef void (APIENTRYP PFNGLGENBUFFERSPROC) (GLsizei n, GLuint *buffers); -typedef GLboolean (APIENTRYP PFNGLISBUFFERPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLBUFFERDATAPROC) (GLenum target, GLsizeiptr size, const void *data, GLenum usage); -typedef void (APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); -typedef void (APIENTRYP PFNGLGETBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, void *data); -typedef void *(APIENTRYP PFNGLMAPBUFFERPROC) (GLenum target, GLenum access); -typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERPROC) (GLenum target); -typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVPROC) (GLenum target, GLenum pname, void **params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenQueries (GLsizei n, GLuint *ids); -GLAPI void APIENTRY glDeleteQueries (GLsizei n, const GLuint *ids); -GLAPI GLboolean APIENTRY glIsQuery (GLuint id); -GLAPI void APIENTRY glBeginQuery (GLenum target, GLuint id); -GLAPI void APIENTRY glEndQuery (GLenum target); -GLAPI void APIENTRY glGetQueryiv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetQueryObjectiv (GLuint id, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetQueryObjectuiv (GLuint id, GLenum pname, GLuint *params); -GLAPI void APIENTRY glBindBuffer (GLenum target, GLuint buffer); -GLAPI void APIENTRY glDeleteBuffers (GLsizei n, const GLuint *buffers); -GLAPI void APIENTRY glGenBuffers (GLsizei n, GLuint *buffers); -GLAPI GLboolean APIENTRY glIsBuffer (GLuint buffer); -GLAPI void APIENTRY glBufferData (GLenum target, GLsizeiptr size, const void *data, GLenum usage); -GLAPI void APIENTRY glBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); -GLAPI void APIENTRY glGetBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, void *data); -GLAPI void *APIENTRY glMapBuffer (GLenum target, GLenum access); -GLAPI GLboolean APIENTRY glUnmapBuffer (GLenum target); -GLAPI void APIENTRY glGetBufferParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetBufferPointerv (GLenum target, GLenum pname, void **params); -#endif -#endif /* GL_VERSION_1_5 */ - -#ifndef GL_VERSION_2_0 -#define GL_VERSION_2_0 1 -typedef char GLchar; -#define GL_BLEND_EQUATION_RGB 0x8009 -#define GL_VERTEX_ATTRIB_ARRAY_ENABLED 0x8622 -#define GL_VERTEX_ATTRIB_ARRAY_SIZE 0x8623 -#define GL_VERTEX_ATTRIB_ARRAY_STRIDE 0x8624 -#define GL_VERTEX_ATTRIB_ARRAY_TYPE 0x8625 -#define GL_CURRENT_VERTEX_ATTRIB 0x8626 -#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642 -#define GL_VERTEX_ATTRIB_ARRAY_POINTER 0x8645 -#define GL_STENCIL_BACK_FUNC 0x8800 -#define GL_STENCIL_BACK_FAIL 0x8801 -#define GL_STENCIL_BACK_PASS_DEPTH_FAIL 0x8802 -#define GL_STENCIL_BACK_PASS_DEPTH_PASS 0x8803 -#define GL_MAX_DRAW_BUFFERS 0x8824 -#define GL_DRAW_BUFFER0 0x8825 -#define GL_DRAW_BUFFER1 0x8826 -#define GL_DRAW_BUFFER2 0x8827 -#define GL_DRAW_BUFFER3 0x8828 -#define GL_DRAW_BUFFER4 0x8829 -#define GL_DRAW_BUFFER5 0x882A -#define GL_DRAW_BUFFER6 0x882B -#define GL_DRAW_BUFFER7 0x882C -#define GL_DRAW_BUFFER8 0x882D -#define GL_DRAW_BUFFER9 0x882E -#define GL_DRAW_BUFFER10 0x882F -#define GL_DRAW_BUFFER11 0x8830 -#define GL_DRAW_BUFFER12 0x8831 -#define GL_DRAW_BUFFER13 0x8832 -#define GL_DRAW_BUFFER14 0x8833 -#define GL_DRAW_BUFFER15 0x8834 -#define GL_BLEND_EQUATION_ALPHA 0x883D -#define GL_MAX_VERTEX_ATTRIBS 0x8869 -#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A -#define GL_MAX_TEXTURE_IMAGE_UNITS 0x8872 -#define GL_FRAGMENT_SHADER 0x8B30 -#define GL_VERTEX_SHADER 0x8B31 -#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS 0x8B49 -#define GL_MAX_VERTEX_UNIFORM_COMPONENTS 0x8B4A -#define GL_MAX_VARYING_FLOATS 0x8B4B -#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS 0x8B4C -#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS 0x8B4D -#define GL_SHADER_TYPE 0x8B4F -#define GL_FLOAT_VEC2 0x8B50 -#define GL_FLOAT_VEC3 0x8B51 -#define GL_FLOAT_VEC4 0x8B52 -#define GL_INT_VEC2 0x8B53 -#define GL_INT_VEC3 0x8B54 -#define GL_INT_VEC4 0x8B55 -#define GL_BOOL 0x8B56 -#define GL_BOOL_VEC2 0x8B57 -#define GL_BOOL_VEC3 0x8B58 -#define GL_BOOL_VEC4 0x8B59 -#define GL_FLOAT_MAT2 0x8B5A -#define GL_FLOAT_MAT3 0x8B5B -#define GL_FLOAT_MAT4 0x8B5C -#define GL_SAMPLER_1D 0x8B5D -#define GL_SAMPLER_2D 0x8B5E -#define GL_SAMPLER_3D 0x8B5F -#define GL_SAMPLER_CUBE 0x8B60 -#define GL_SAMPLER_1D_SHADOW 0x8B61 -#define GL_SAMPLER_2D_SHADOW 0x8B62 -#define GL_DELETE_STATUS 0x8B80 -#define GL_COMPILE_STATUS 0x8B81 -#define GL_LINK_STATUS 0x8B82 -#define GL_VALIDATE_STATUS 0x8B83 -#define GL_INFO_LOG_LENGTH 0x8B84 -#define GL_ATTACHED_SHADERS 0x8B85 -#define GL_ACTIVE_UNIFORMS 0x8B86 -#define GL_ACTIVE_UNIFORM_MAX_LENGTH 0x8B87 -#define GL_SHADER_SOURCE_LENGTH 0x8B88 -#define GL_ACTIVE_ATTRIBUTES 0x8B89 -#define GL_ACTIVE_ATTRIBUTE_MAX_LENGTH 0x8B8A -#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT 0x8B8B -#define GL_SHADING_LANGUAGE_VERSION 0x8B8C -#define GL_CURRENT_PROGRAM 0x8B8D -#define GL_POINT_SPRITE_COORD_ORIGIN 0x8CA0 -#define GL_LOWER_LEFT 0x8CA1 -#define GL_UPPER_LEFT 0x8CA2 -#define GL_STENCIL_BACK_REF 0x8CA3 -#define GL_STENCIL_BACK_VALUE_MASK 0x8CA4 -#define GL_STENCIL_BACK_WRITEMASK 0x8CA5 -#define GL_VERTEX_PROGRAM_TWO_SIDE 0x8643 -#define GL_POINT_SPRITE 0x8861 -#define GL_COORD_REPLACE 0x8862 -#define GL_MAX_TEXTURE_COORDS 0x8871 -typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEPROC) (GLenum modeRGB, GLenum modeAlpha); -typedef void (APIENTRYP PFNGLDRAWBUFFERSPROC) (GLsizei n, const GLenum *bufs); -typedef void (APIENTRYP PFNGLSTENCILOPSEPARATEPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); -typedef void (APIENTRYP PFNGLSTENCILFUNCSEPARATEPROC) (GLenum face, GLenum func, GLint ref, GLuint mask); -typedef void (APIENTRYP PFNGLSTENCILMASKSEPARATEPROC) (GLenum face, GLuint mask); -typedef void (APIENTRYP PFNGLATTACHSHADERPROC) (GLuint program, GLuint shader); -typedef void (APIENTRYP PFNGLBINDATTRIBLOCATIONPROC) (GLuint program, GLuint index, const GLchar *name); -typedef void (APIENTRYP PFNGLCOMPILESHADERPROC) (GLuint shader); -typedef GLuint (APIENTRYP PFNGLCREATEPROGRAMPROC) (void); -typedef GLuint (APIENTRYP PFNGLCREATESHADERPROC) (GLenum type); -typedef void (APIENTRYP PFNGLDELETEPROGRAMPROC) (GLuint program); -typedef void (APIENTRYP PFNGLDELETESHADERPROC) (GLuint shader); -typedef void (APIENTRYP PFNGLDETACHSHADERPROC) (GLuint program, GLuint shader); -typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYPROC) (GLuint index); -typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYPROC) (GLuint index); -typedef void (APIENTRYP PFNGLGETACTIVEATTRIBPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -typedef void (APIENTRYP PFNGLGETATTACHEDSHADERSPROC) (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); -typedef GLint (APIENTRYP PFNGLGETATTRIBLOCATIONPROC) (GLuint program, const GLchar *name); -typedef void (APIENTRYP PFNGLGETPROGRAMIVPROC) (GLuint program, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMINFOLOGPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -typedef void (APIENTRYP PFNGLGETSHADERIVPROC) (GLuint shader, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETSHADERINFOLOGPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -typedef void (APIENTRYP PFNGLGETSHADERSOURCEPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); -typedef GLint (APIENTRYP PFNGLGETUNIFORMLOCATIONPROC) (GLuint program, const GLchar *name); -typedef void (APIENTRYP PFNGLGETUNIFORMFVPROC) (GLuint program, GLint location, GLfloat *params); -typedef void (APIENTRYP PFNGLGETUNIFORMIVPROC) (GLuint program, GLint location, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBDVPROC) (GLuint index, GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBFVPROC) (GLuint index, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVPROC) (GLuint index, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVPROC) (GLuint index, GLenum pname, void **pointer); -typedef GLboolean (APIENTRYP PFNGLISPROGRAMPROC) (GLuint program); -typedef GLboolean (APIENTRYP PFNGLISSHADERPROC) (GLuint shader); -typedef void (APIENTRYP PFNGLLINKPROGRAMPROC) (GLuint program); -typedef void (APIENTRYP PFNGLSHADERSOURCEPROC) (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); -typedef void (APIENTRYP PFNGLUSEPROGRAMPROC) (GLuint program); -typedef void (APIENTRYP PFNGLUNIFORM1FPROC) (GLint location, GLfloat v0); -typedef void (APIENTRYP PFNGLUNIFORM2FPROC) (GLint location, GLfloat v0, GLfloat v1); -typedef void (APIENTRYP PFNGLUNIFORM3FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -typedef void (APIENTRYP PFNGLUNIFORM4FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -typedef void (APIENTRYP PFNGLUNIFORM1IPROC) (GLint location, GLint v0); -typedef void (APIENTRYP PFNGLUNIFORM2IPROC) (GLint location, GLint v0, GLint v1); -typedef void (APIENTRYP PFNGLUNIFORM3IPROC) (GLint location, GLint v0, GLint v1, GLint v2); -typedef void (APIENTRYP PFNGLUNIFORM4IPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -typedef void (APIENTRYP PFNGLUNIFORM1FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM2FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM3FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM4FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM1IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORM2IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORM3IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORM4IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLVALIDATEPROGRAMPROC) (GLuint program); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1DPROC) (GLuint index, GLdouble x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1FPROC) (GLuint index, GLfloat x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1FVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1SPROC) (GLuint index, GLshort x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1SVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2DPROC) (GLuint index, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2FPROC) (GLuint index, GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2FVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2SPROC) (GLuint index, GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2SVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3FVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3SPROC) (GLuint index, GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3SVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NBVPROC) (GLuint index, const GLbyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NIVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NSVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBVPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUIVPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUSVPROC) (GLuint index, const GLushort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4BVPROC) (GLuint index, const GLbyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4FVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4IVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4SPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4SVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBVPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4UIVPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4USVPROC) (GLuint index, const GLushort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendEquationSeparate (GLenum modeRGB, GLenum modeAlpha); -GLAPI void APIENTRY glDrawBuffers (GLsizei n, const GLenum *bufs); -GLAPI void APIENTRY glStencilOpSeparate (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); -GLAPI void APIENTRY glStencilFuncSeparate (GLenum face, GLenum func, GLint ref, GLuint mask); -GLAPI void APIENTRY glStencilMaskSeparate (GLenum face, GLuint mask); -GLAPI void APIENTRY glAttachShader (GLuint program, GLuint shader); -GLAPI void APIENTRY glBindAttribLocation (GLuint program, GLuint index, const GLchar *name); -GLAPI void APIENTRY glCompileShader (GLuint shader); -GLAPI GLuint APIENTRY glCreateProgram (void); -GLAPI GLuint APIENTRY glCreateShader (GLenum type); -GLAPI void APIENTRY glDeleteProgram (GLuint program); -GLAPI void APIENTRY glDeleteShader (GLuint shader); -GLAPI void APIENTRY glDetachShader (GLuint program, GLuint shader); -GLAPI void APIENTRY glDisableVertexAttribArray (GLuint index); -GLAPI void APIENTRY glEnableVertexAttribArray (GLuint index); -GLAPI void APIENTRY glGetActiveAttrib (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -GLAPI void APIENTRY glGetActiveUniform (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -GLAPI void APIENTRY glGetAttachedShaders (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); -GLAPI GLint APIENTRY glGetAttribLocation (GLuint program, const GLchar *name); -GLAPI void APIENTRY glGetProgramiv (GLuint program, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetProgramInfoLog (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -GLAPI void APIENTRY glGetShaderiv (GLuint shader, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetShaderInfoLog (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -GLAPI void APIENTRY glGetShaderSource (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); -GLAPI GLint APIENTRY glGetUniformLocation (GLuint program, const GLchar *name); -GLAPI void APIENTRY glGetUniformfv (GLuint program, GLint location, GLfloat *params); -GLAPI void APIENTRY glGetUniformiv (GLuint program, GLint location, GLint *params); -GLAPI void APIENTRY glGetVertexAttribdv (GLuint index, GLenum pname, GLdouble *params); -GLAPI void APIENTRY glGetVertexAttribfv (GLuint index, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetVertexAttribiv (GLuint index, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVertexAttribPointerv (GLuint index, GLenum pname, void **pointer); -GLAPI GLboolean APIENTRY glIsProgram (GLuint program); -GLAPI GLboolean APIENTRY glIsShader (GLuint shader); -GLAPI void APIENTRY glLinkProgram (GLuint program); -GLAPI void APIENTRY glShaderSource (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); -GLAPI void APIENTRY glUseProgram (GLuint program); -GLAPI void APIENTRY glUniform1f (GLint location, GLfloat v0); -GLAPI void APIENTRY glUniform2f (GLint location, GLfloat v0, GLfloat v1); -GLAPI void APIENTRY glUniform3f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -GLAPI void APIENTRY glUniform4f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -GLAPI void APIENTRY glUniform1i (GLint location, GLint v0); -GLAPI void APIENTRY glUniform2i (GLint location, GLint v0, GLint v1); -GLAPI void APIENTRY glUniform3i (GLint location, GLint v0, GLint v1, GLint v2); -GLAPI void APIENTRY glUniform4i (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -GLAPI void APIENTRY glUniform1fv (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform2fv (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform3fv (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform4fv (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform1iv (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniform2iv (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniform3iv (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniform4iv (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniformMatrix2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glValidateProgram (GLuint program); -GLAPI void APIENTRY glVertexAttrib1d (GLuint index, GLdouble x); -GLAPI void APIENTRY glVertexAttrib1dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib1f (GLuint index, GLfloat x); -GLAPI void APIENTRY glVertexAttrib1fv (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib1s (GLuint index, GLshort x); -GLAPI void APIENTRY glVertexAttrib1sv (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib2d (GLuint index, GLdouble x, GLdouble y); -GLAPI void APIENTRY glVertexAttrib2dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib2f (GLuint index, GLfloat x, GLfloat y); -GLAPI void APIENTRY glVertexAttrib2fv (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib2s (GLuint index, GLshort x, GLshort y); -GLAPI void APIENTRY glVertexAttrib2sv (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib3d (GLuint index, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glVertexAttrib3dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib3f (GLuint index, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glVertexAttrib3fv (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib3s (GLuint index, GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glVertexAttrib3sv (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4Nbv (GLuint index, const GLbyte *v); -GLAPI void APIENTRY glVertexAttrib4Niv (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttrib4Nsv (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4Nub (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); -GLAPI void APIENTRY glVertexAttrib4Nubv (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttrib4Nuiv (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttrib4Nusv (GLuint index, const GLushort *v); -GLAPI void APIENTRY glVertexAttrib4bv (GLuint index, const GLbyte *v); -GLAPI void APIENTRY glVertexAttrib4d (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glVertexAttrib4dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib4f (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glVertexAttrib4fv (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib4iv (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttrib4s (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); -GLAPI void APIENTRY glVertexAttrib4sv (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4ubv (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttrib4uiv (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttrib4usv (GLuint index, const GLushort *v); -GLAPI void APIENTRY glVertexAttribPointer (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); -#endif -#endif /* GL_VERSION_2_0 */ - -#ifndef GL_VERSION_2_1 -#define GL_VERSION_2_1 1 -#define GL_PIXEL_PACK_BUFFER 0x88EB -#define GL_PIXEL_UNPACK_BUFFER 0x88EC -#define GL_PIXEL_PACK_BUFFER_BINDING 0x88ED -#define GL_PIXEL_UNPACK_BUFFER_BINDING 0x88EF -#define GL_FLOAT_MAT2x3 0x8B65 -#define GL_FLOAT_MAT2x4 0x8B66 -#define GL_FLOAT_MAT3x2 0x8B67 -#define GL_FLOAT_MAT3x4 0x8B68 -#define GL_FLOAT_MAT4x2 0x8B69 -#define GL_FLOAT_MAT4x3 0x8B6A -#define GL_SRGB 0x8C40 -#define GL_SRGB8 0x8C41 -#define GL_SRGB_ALPHA 0x8C42 -#define GL_SRGB8_ALPHA8 0x8C43 -#define GL_COMPRESSED_SRGB 0x8C48 -#define GL_COMPRESSED_SRGB_ALPHA 0x8C49 -#define GL_CURRENT_RASTER_SECONDARY_COLOR 0x845F -#define GL_SLUMINANCE_ALPHA 0x8C44 -#define GL_SLUMINANCE8_ALPHA8 0x8C45 -#define GL_SLUMINANCE 0x8C46 -#define GL_SLUMINANCE8 0x8C47 -#define GL_COMPRESSED_SLUMINANCE 0x8C4A -#define GL_COMPRESSED_SLUMINANCE_ALPHA 0x8C4B -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glUniformMatrix2x3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix3x2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix2x4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix4x2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix3x4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix4x3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -#endif -#endif /* GL_VERSION_2_1 */ - -#ifndef GL_VERSION_3_0 -#define GL_VERSION_3_0 1 -typedef khronos_uint16_t GLhalf; -#define GL_COMPARE_REF_TO_TEXTURE 0x884E -#define GL_CLIP_DISTANCE0 0x3000 -#define GL_CLIP_DISTANCE1 0x3001 -#define GL_CLIP_DISTANCE2 0x3002 -#define GL_CLIP_DISTANCE3 0x3003 -#define GL_CLIP_DISTANCE4 0x3004 -#define GL_CLIP_DISTANCE5 0x3005 -#define GL_CLIP_DISTANCE6 0x3006 -#define GL_CLIP_DISTANCE7 0x3007 -#define GL_MAX_CLIP_DISTANCES 0x0D32 -#define GL_MAJOR_VERSION 0x821B -#define GL_MINOR_VERSION 0x821C -#define GL_NUM_EXTENSIONS 0x821D -#define GL_CONTEXT_FLAGS 0x821E -#define GL_COMPRESSED_RED 0x8225 -#define GL_COMPRESSED_RG 0x8226 -#define GL_CONTEXT_FLAG_FORWARD_COMPATIBLE_BIT 0x00000001 -#define GL_RGBA32F 0x8814 -#define GL_RGB32F 0x8815 -#define GL_RGBA16F 0x881A -#define GL_RGB16F 0x881B -#define GL_VERTEX_ATTRIB_ARRAY_INTEGER 0x88FD -#define GL_MAX_ARRAY_TEXTURE_LAYERS 0x88FF -#define GL_MIN_PROGRAM_TEXEL_OFFSET 0x8904 -#define GL_MAX_PROGRAM_TEXEL_OFFSET 0x8905 -#define GL_CLAMP_READ_COLOR 0x891C -#define GL_FIXED_ONLY 0x891D -#define GL_MAX_VARYING_COMPONENTS 0x8B4B -#define GL_TEXTURE_1D_ARRAY 0x8C18 -#define GL_PROXY_TEXTURE_1D_ARRAY 0x8C19 -#define GL_TEXTURE_2D_ARRAY 0x8C1A -#define GL_PROXY_TEXTURE_2D_ARRAY 0x8C1B -#define GL_TEXTURE_BINDING_1D_ARRAY 0x8C1C -#define GL_TEXTURE_BINDING_2D_ARRAY 0x8C1D -#define GL_R11F_G11F_B10F 0x8C3A -#define GL_UNSIGNED_INT_10F_11F_11F_REV 0x8C3B -#define GL_RGB9_E5 0x8C3D -#define GL_UNSIGNED_INT_5_9_9_9_REV 0x8C3E -#define GL_TEXTURE_SHARED_SIZE 0x8C3F -#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH 0x8C76 -#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE 0x8C7F -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS 0x8C80 -#define GL_TRANSFORM_FEEDBACK_VARYINGS 0x8C83 -#define GL_TRANSFORM_FEEDBACK_BUFFER_START 0x8C84 -#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE 0x8C85 -#define GL_PRIMITIVES_GENERATED 0x8C87 -#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN 0x8C88 -#define GL_RASTERIZER_DISCARD 0x8C89 -#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS 0x8C8A -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS 0x8C8B -#define GL_INTERLEAVED_ATTRIBS 0x8C8C -#define GL_SEPARATE_ATTRIBS 0x8C8D -#define GL_TRANSFORM_FEEDBACK_BUFFER 0x8C8E -#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING 0x8C8F -#define GL_RGBA32UI 0x8D70 -#define GL_RGB32UI 0x8D71 -#define GL_RGBA16UI 0x8D76 -#define GL_RGB16UI 0x8D77 -#define GL_RGBA8UI 0x8D7C -#define GL_RGB8UI 0x8D7D -#define GL_RGBA32I 0x8D82 -#define GL_RGB32I 0x8D83 -#define GL_RGBA16I 0x8D88 -#define GL_RGB16I 0x8D89 -#define GL_RGBA8I 0x8D8E -#define GL_RGB8I 0x8D8F -#define GL_RED_INTEGER 0x8D94 -#define GL_GREEN_INTEGER 0x8D95 -#define GL_BLUE_INTEGER 0x8D96 -#define GL_RGB_INTEGER 0x8D98 -#define GL_RGBA_INTEGER 0x8D99 -#define GL_BGR_INTEGER 0x8D9A -#define GL_BGRA_INTEGER 0x8D9B -#define GL_SAMPLER_1D_ARRAY 0x8DC0 -#define GL_SAMPLER_2D_ARRAY 0x8DC1 -#define GL_SAMPLER_1D_ARRAY_SHADOW 0x8DC3 -#define GL_SAMPLER_2D_ARRAY_SHADOW 0x8DC4 -#define GL_SAMPLER_CUBE_SHADOW 0x8DC5 -#define GL_UNSIGNED_INT_VEC2 0x8DC6 -#define GL_UNSIGNED_INT_VEC3 0x8DC7 -#define GL_UNSIGNED_INT_VEC4 0x8DC8 -#define GL_INT_SAMPLER_1D 0x8DC9 -#define GL_INT_SAMPLER_2D 0x8DCA -#define GL_INT_SAMPLER_3D 0x8DCB -#define GL_INT_SAMPLER_CUBE 0x8DCC -#define GL_INT_SAMPLER_1D_ARRAY 0x8DCE -#define GL_INT_SAMPLER_2D_ARRAY 0x8DCF -#define GL_UNSIGNED_INT_SAMPLER_1D 0x8DD1 -#define GL_UNSIGNED_INT_SAMPLER_2D 0x8DD2 -#define GL_UNSIGNED_INT_SAMPLER_3D 0x8DD3 -#define GL_UNSIGNED_INT_SAMPLER_CUBE 0x8DD4 -#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY 0x8DD6 -#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY 0x8DD7 -#define GL_QUERY_WAIT 0x8E13 -#define GL_QUERY_NO_WAIT 0x8E14 -#define GL_QUERY_BY_REGION_WAIT 0x8E15 -#define GL_QUERY_BY_REGION_NO_WAIT 0x8E16 -#define GL_BUFFER_ACCESS_FLAGS 0x911F -#define GL_BUFFER_MAP_LENGTH 0x9120 -#define GL_BUFFER_MAP_OFFSET 0x9121 -#define GL_DEPTH_COMPONENT32F 0x8CAC -#define GL_DEPTH32F_STENCIL8 0x8CAD -#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD -#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506 -#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210 -#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211 -#define GL_FRAMEBUFFER_ATTACHMENT_RED_SIZE 0x8212 -#define GL_FRAMEBUFFER_ATTACHMENT_GREEN_SIZE 0x8213 -#define GL_FRAMEBUFFER_ATTACHMENT_BLUE_SIZE 0x8214 -#define GL_FRAMEBUFFER_ATTACHMENT_ALPHA_SIZE 0x8215 -#define GL_FRAMEBUFFER_ATTACHMENT_DEPTH_SIZE 0x8216 -#define GL_FRAMEBUFFER_ATTACHMENT_STENCIL_SIZE 0x8217 -#define GL_FRAMEBUFFER_DEFAULT 0x8218 -#define GL_FRAMEBUFFER_UNDEFINED 0x8219 -#define GL_DEPTH_STENCIL_ATTACHMENT 0x821A -#define GL_MAX_RENDERBUFFER_SIZE 0x84E8 -#define GL_DEPTH_STENCIL 0x84F9 -#define GL_UNSIGNED_INT_24_8 0x84FA -#define GL_DEPTH24_STENCIL8 0x88F0 -#define GL_TEXTURE_STENCIL_SIZE 0x88F1 -#define GL_TEXTURE_RED_TYPE 0x8C10 -#define GL_TEXTURE_GREEN_TYPE 0x8C11 -#define GL_TEXTURE_BLUE_TYPE 0x8C12 -#define GL_TEXTURE_ALPHA_TYPE 0x8C13 -#define GL_TEXTURE_DEPTH_TYPE 0x8C16 -#define GL_UNSIGNED_NORMALIZED 0x8C17 -#define GL_FRAMEBUFFER_BINDING 0x8CA6 -#define GL_DRAW_FRAMEBUFFER_BINDING 0x8CA6 -#define GL_RENDERBUFFER_BINDING 0x8CA7 -#define GL_READ_FRAMEBUFFER 0x8CA8 -#define GL_DRAW_FRAMEBUFFER 0x8CA9 -#define GL_READ_FRAMEBUFFER_BINDING 0x8CAA -#define GL_RENDERBUFFER_SAMPLES 0x8CAB -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0 -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER 0x8CD4 -#define GL_FRAMEBUFFER_COMPLETE 0x8CD5 -#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6 -#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7 -#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER 0x8CDB -#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER 0x8CDC -#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD -#define GL_MAX_COLOR_ATTACHMENTS 0x8CDF -#define GL_COLOR_ATTACHMENT0 0x8CE0 -#define GL_COLOR_ATTACHMENT1 0x8CE1 -#define GL_COLOR_ATTACHMENT2 0x8CE2 -#define GL_COLOR_ATTACHMENT3 0x8CE3 -#define GL_COLOR_ATTACHMENT4 0x8CE4 -#define GL_COLOR_ATTACHMENT5 0x8CE5 -#define GL_COLOR_ATTACHMENT6 0x8CE6 -#define GL_COLOR_ATTACHMENT7 0x8CE7 -#define GL_COLOR_ATTACHMENT8 0x8CE8 -#define GL_COLOR_ATTACHMENT9 0x8CE9 -#define GL_COLOR_ATTACHMENT10 0x8CEA -#define GL_COLOR_ATTACHMENT11 0x8CEB -#define GL_COLOR_ATTACHMENT12 0x8CEC -#define GL_COLOR_ATTACHMENT13 0x8CED -#define GL_COLOR_ATTACHMENT14 0x8CEE -#define GL_COLOR_ATTACHMENT15 0x8CEF -#define GL_COLOR_ATTACHMENT16 0x8CF0 -#define GL_COLOR_ATTACHMENT17 0x8CF1 -#define GL_COLOR_ATTACHMENT18 0x8CF2 -#define GL_COLOR_ATTACHMENT19 0x8CF3 -#define GL_COLOR_ATTACHMENT20 0x8CF4 -#define GL_COLOR_ATTACHMENT21 0x8CF5 -#define GL_COLOR_ATTACHMENT22 0x8CF6 -#define GL_COLOR_ATTACHMENT23 0x8CF7 -#define GL_COLOR_ATTACHMENT24 0x8CF8 -#define GL_COLOR_ATTACHMENT25 0x8CF9 -#define GL_COLOR_ATTACHMENT26 0x8CFA -#define GL_COLOR_ATTACHMENT27 0x8CFB -#define GL_COLOR_ATTACHMENT28 0x8CFC -#define GL_COLOR_ATTACHMENT29 0x8CFD -#define GL_COLOR_ATTACHMENT30 0x8CFE -#define GL_COLOR_ATTACHMENT31 0x8CFF -#define GL_DEPTH_ATTACHMENT 0x8D00 -#define GL_STENCIL_ATTACHMENT 0x8D20 -#define GL_FRAMEBUFFER 0x8D40 -#define GL_RENDERBUFFER 0x8D41 -#define GL_RENDERBUFFER_WIDTH 0x8D42 -#define GL_RENDERBUFFER_HEIGHT 0x8D43 -#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44 -#define GL_STENCIL_INDEX1 0x8D46 -#define GL_STENCIL_INDEX4 0x8D47 -#define GL_STENCIL_INDEX8 0x8D48 -#define GL_STENCIL_INDEX16 0x8D49 -#define GL_RENDERBUFFER_RED_SIZE 0x8D50 -#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51 -#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52 -#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53 -#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54 -#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55 -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE 0x8D56 -#define GL_MAX_SAMPLES 0x8D57 -#define GL_INDEX 0x8222 -#define GL_TEXTURE_LUMINANCE_TYPE 0x8C14 -#define GL_TEXTURE_INTENSITY_TYPE 0x8C15 -#define GL_FRAMEBUFFER_SRGB 0x8DB9 -#define GL_HALF_FLOAT 0x140B -#define GL_MAP_READ_BIT 0x0001 -#define GL_MAP_WRITE_BIT 0x0002 -#define GL_MAP_INVALIDATE_RANGE_BIT 0x0004 -#define GL_MAP_INVALIDATE_BUFFER_BIT 0x0008 -#define GL_MAP_FLUSH_EXPLICIT_BIT 0x0010 -#define GL_MAP_UNSYNCHRONIZED_BIT 0x0020 -#define GL_COMPRESSED_RED_RGTC1 0x8DBB -#define GL_COMPRESSED_SIGNED_RED_RGTC1 0x8DBC -#define GL_COMPRESSED_RG_RGTC2 0x8DBD -#define GL_COMPRESSED_SIGNED_RG_RGTC2 0x8DBE -#define GL_RG 0x8227 -#define GL_RG_INTEGER 0x8228 -#define GL_R8 0x8229 -#define GL_R16 0x822A -#define GL_RG8 0x822B -#define GL_RG16 0x822C -#define GL_R16F 0x822D -#define GL_R32F 0x822E -#define GL_RG16F 0x822F -#define GL_RG32F 0x8230 -#define GL_R8I 0x8231 -#define GL_R8UI 0x8232 -#define GL_R16I 0x8233 -#define GL_R16UI 0x8234 -#define GL_R32I 0x8235 -#define GL_R32UI 0x8236 -#define GL_RG8I 0x8237 -#define GL_RG8UI 0x8238 -#define GL_RG16I 0x8239 -#define GL_RG16UI 0x823A -#define GL_RG32I 0x823B -#define GL_RG32UI 0x823C -#define GL_VERTEX_ARRAY_BINDING 0x85B5 -#define GL_CLAMP_VERTEX_COLOR 0x891A -#define GL_CLAMP_FRAGMENT_COLOR 0x891B -#define GL_ALPHA_INTEGER 0x8D97 -typedef void (APIENTRYP PFNGLCOLORMASKIPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -typedef void (APIENTRYP PFNGLGETBOOLEANI_VPROC) (GLenum target, GLuint index, GLboolean *data); -typedef void (APIENTRYP PFNGLGETINTEGERI_VPROC) (GLenum target, GLuint index, GLint *data); -typedef void (APIENTRYP PFNGLENABLEIPROC) (GLenum target, GLuint index); -typedef void (APIENTRYP PFNGLDISABLEIPROC) (GLenum target, GLuint index); -typedef GLboolean (APIENTRYP PFNGLISENABLEDIPROC) (GLenum target, GLuint index); -typedef void (APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKPROC) (GLenum primitiveMode); -typedef void (APIENTRYP PFNGLENDTRANSFORMFEEDBACKPROC) (void); -typedef void (APIENTRYP PFNGLBINDBUFFERRANGEPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLBINDBUFFERBASEPROC) (GLenum target, GLuint index, GLuint buffer); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSPROC) (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); -typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); -typedef void (APIENTRYP PFNGLCLAMPCOLORPROC) (GLenum target, GLenum clamp); -typedef void (APIENTRYP PFNGLBEGINCONDITIONALRENDERPROC) (GLuint id, GLenum mode); -typedef void (APIENTRYP PFNGLENDCONDITIONALRENDERPROC) (void); -typedef void (APIENTRYP PFNGLVERTEXATTRIBIPOINTERPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIIVPROC) (GLuint index, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIUIVPROC) (GLuint index, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IPROC) (GLuint index, GLint x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IPROC) (GLuint index, GLint x, GLint y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IPROC) (GLuint index, GLint x, GLint y, GLint z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IPROC) (GLuint index, GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIPROC) (GLuint index, GLuint x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIPROC) (GLuint index, GLuint x, GLuint y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIPROC) (GLuint index, GLuint x, GLuint y, GLuint z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIPROC) (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIVPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIVPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIVPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIVPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4BVPROC) (GLuint index, const GLbyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4SVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UBVPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4USVPROC) (GLuint index, const GLushort *v); -typedef void (APIENTRYP PFNGLGETUNIFORMUIVPROC) (GLuint program, GLint location, GLuint *params); -typedef void (APIENTRYP PFNGLBINDFRAGDATALOCATIONPROC) (GLuint program, GLuint color, const GLchar *name); -typedef GLint (APIENTRYP PFNGLGETFRAGDATALOCATIONPROC) (GLuint program, const GLchar *name); -typedef void (APIENTRYP PFNGLUNIFORM1UIPROC) (GLint location, GLuint v0); -typedef void (APIENTRYP PFNGLUNIFORM2UIPROC) (GLint location, GLuint v0, GLuint v1); -typedef void (APIENTRYP PFNGLUNIFORM3UIPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2); -typedef void (APIENTRYP PFNGLUNIFORM4UIPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -typedef void (APIENTRYP PFNGLUNIFORM1UIVPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLUNIFORM2UIVPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLUNIFORM3UIVPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLUNIFORM4UIVPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLTEXPARAMETERIIVPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLTEXPARAMETERIUIVPROC) (GLenum target, GLenum pname, const GLuint *params); -typedef void (APIENTRYP PFNGLGETTEXPARAMETERIIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETTEXPARAMETERIUIVPROC) (GLenum target, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLCLEARBUFFERIVPROC) (GLenum buffer, GLint drawbuffer, const GLint *value); -typedef void (APIENTRYP PFNGLCLEARBUFFERUIVPROC) (GLenum buffer, GLint drawbuffer, const GLuint *value); -typedef void (APIENTRYP PFNGLCLEARBUFFERFVPROC) (GLenum buffer, GLint drawbuffer, const GLfloat *value); -typedef void (APIENTRYP PFNGLCLEARBUFFERFIPROC) (GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); -typedef const GLubyte *(APIENTRYP PFNGLGETSTRINGIPROC) (GLenum name, GLuint index); -typedef GLboolean (APIENTRYP PFNGLISRENDERBUFFERPROC) (GLuint renderbuffer); -typedef void (APIENTRYP PFNGLBINDRENDERBUFFERPROC) (GLenum target, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLDELETERENDERBUFFERSPROC) (GLsizei n, const GLuint *renderbuffers); -typedef void (APIENTRYP PFNGLGENRENDERBUFFERSPROC) (GLsizei n, GLuint *renderbuffers); -typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef GLboolean (APIENTRYP PFNGLISFRAMEBUFFERPROC) (GLuint framebuffer); -typedef void (APIENTRYP PFNGLBINDFRAMEBUFFERPROC) (GLenum target, GLuint framebuffer); -typedef void (APIENTRYP PFNGLDELETEFRAMEBUFFERSPROC) (GLsizei n, const GLuint *framebuffers); -typedef void (APIENTRYP PFNGLGENFRAMEBUFFERSPROC) (GLsizei n, GLuint *framebuffers); -typedef GLenum (APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSPROC) (GLenum target); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE1DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -typedef void (APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFERPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLenum target, GLenum attachment, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGENERATEMIPMAPPROC) (GLenum target); -typedef void (APIENTRYP PFNGLBLITFRAMEBUFFERPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); -typedef void *(APIENTRYP PFNGLMAPBUFFERRANGEPROC) (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); -typedef void (APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEPROC) (GLenum target, GLintptr offset, GLsizeiptr length); -typedef void (APIENTRYP PFNGLBINDVERTEXARRAYPROC) (GLuint array); -typedef void (APIENTRYP PFNGLDELETEVERTEXARRAYSPROC) (GLsizei n, const GLuint *arrays); -typedef void (APIENTRYP PFNGLGENVERTEXARRAYSPROC) (GLsizei n, GLuint *arrays); -typedef GLboolean (APIENTRYP PFNGLISVERTEXARRAYPROC) (GLuint array); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorMaski (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -GLAPI void APIENTRY glGetBooleani_v (GLenum target, GLuint index, GLboolean *data); -GLAPI void APIENTRY glGetIntegeri_v (GLenum target, GLuint index, GLint *data); -GLAPI void APIENTRY glEnablei (GLenum target, GLuint index); -GLAPI void APIENTRY glDisablei (GLenum target, GLuint index); -GLAPI GLboolean APIENTRY glIsEnabledi (GLenum target, GLuint index); -GLAPI void APIENTRY glBeginTransformFeedback (GLenum primitiveMode); -GLAPI void APIENTRY glEndTransformFeedback (void); -GLAPI void APIENTRY glBindBufferRange (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glBindBufferBase (GLenum target, GLuint index, GLuint buffer); -GLAPI void APIENTRY glTransformFeedbackVaryings (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); -GLAPI void APIENTRY glGetTransformFeedbackVarying (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); -GLAPI void APIENTRY glClampColor (GLenum target, GLenum clamp); -GLAPI void APIENTRY glBeginConditionalRender (GLuint id, GLenum mode); -GLAPI void APIENTRY glEndConditionalRender (void); -GLAPI void APIENTRY glVertexAttribIPointer (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glGetVertexAttribIiv (GLuint index, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVertexAttribIuiv (GLuint index, GLenum pname, GLuint *params); -GLAPI void APIENTRY glVertexAttribI1i (GLuint index, GLint x); -GLAPI void APIENTRY glVertexAttribI2i (GLuint index, GLint x, GLint y); -GLAPI void APIENTRY glVertexAttribI3i (GLuint index, GLint x, GLint y, GLint z); -GLAPI void APIENTRY glVertexAttribI4i (GLuint index, GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glVertexAttribI1ui (GLuint index, GLuint x); -GLAPI void APIENTRY glVertexAttribI2ui (GLuint index, GLuint x, GLuint y); -GLAPI void APIENTRY glVertexAttribI3ui (GLuint index, GLuint x, GLuint y, GLuint z); -GLAPI void APIENTRY glVertexAttribI4ui (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -GLAPI void APIENTRY glVertexAttribI1iv (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI2iv (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI3iv (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI4iv (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI1uiv (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI2uiv (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI3uiv (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI4uiv (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI4bv (GLuint index, const GLbyte *v); -GLAPI void APIENTRY glVertexAttribI4sv (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttribI4ubv (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttribI4usv (GLuint index, const GLushort *v); -GLAPI void APIENTRY glGetUniformuiv (GLuint program, GLint location, GLuint *params); -GLAPI void APIENTRY glBindFragDataLocation (GLuint program, GLuint color, const GLchar *name); -GLAPI GLint APIENTRY glGetFragDataLocation (GLuint program, const GLchar *name); -GLAPI void APIENTRY glUniform1ui (GLint location, GLuint v0); -GLAPI void APIENTRY glUniform2ui (GLint location, GLuint v0, GLuint v1); -GLAPI void APIENTRY glUniform3ui (GLint location, GLuint v0, GLuint v1, GLuint v2); -GLAPI void APIENTRY glUniform4ui (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -GLAPI void APIENTRY glUniform1uiv (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glUniform2uiv (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glUniform3uiv (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glUniform4uiv (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glTexParameterIiv (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glTexParameterIuiv (GLenum target, GLenum pname, const GLuint *params); -GLAPI void APIENTRY glGetTexParameterIiv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetTexParameterIuiv (GLenum target, GLenum pname, GLuint *params); -GLAPI void APIENTRY glClearBufferiv (GLenum buffer, GLint drawbuffer, const GLint *value); -GLAPI void APIENTRY glClearBufferuiv (GLenum buffer, GLint drawbuffer, const GLuint *value); -GLAPI void APIENTRY glClearBufferfv (GLenum buffer, GLint drawbuffer, const GLfloat *value); -GLAPI void APIENTRY glClearBufferfi (GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); -GLAPI const GLubyte *APIENTRY glGetStringi (GLenum name, GLuint index); -GLAPI GLboolean APIENTRY glIsRenderbuffer (GLuint renderbuffer); -GLAPI void APIENTRY glBindRenderbuffer (GLenum target, GLuint renderbuffer); -GLAPI void APIENTRY glDeleteRenderbuffers (GLsizei n, const GLuint *renderbuffers); -GLAPI void APIENTRY glGenRenderbuffers (GLsizei n, GLuint *renderbuffers); -GLAPI void APIENTRY glRenderbufferStorage (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetRenderbufferParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI GLboolean APIENTRY glIsFramebuffer (GLuint framebuffer); -GLAPI void APIENTRY glBindFramebuffer (GLenum target, GLuint framebuffer); -GLAPI void APIENTRY glDeleteFramebuffers (GLsizei n, const GLuint *framebuffers); -GLAPI void APIENTRY glGenFramebuffers (GLsizei n, GLuint *framebuffers); -GLAPI GLenum APIENTRY glCheckFramebufferStatus (GLenum target); -GLAPI void APIENTRY glFramebufferTexture1D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GLAPI void APIENTRY glFramebufferTexture2D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GLAPI void APIENTRY glFramebufferTexture3D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -GLAPI void APIENTRY glFramebufferRenderbuffer (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -GLAPI void APIENTRY glGetFramebufferAttachmentParameteriv (GLenum target, GLenum attachment, GLenum pname, GLint *params); -GLAPI void APIENTRY glGenerateMipmap (GLenum target); -GLAPI void APIENTRY glBlitFramebuffer (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -GLAPI void APIENTRY glRenderbufferStorageMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glFramebufferTextureLayer (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); -GLAPI void *APIENTRY glMapBufferRange (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); -GLAPI void APIENTRY glFlushMappedBufferRange (GLenum target, GLintptr offset, GLsizeiptr length); -GLAPI void APIENTRY glBindVertexArray (GLuint array); -GLAPI void APIENTRY glDeleteVertexArrays (GLsizei n, const GLuint *arrays); -GLAPI void APIENTRY glGenVertexArrays (GLsizei n, GLuint *arrays); -GLAPI GLboolean APIENTRY glIsVertexArray (GLuint array); -#endif -#endif /* GL_VERSION_3_0 */ - -#ifndef GL_VERSION_3_1 -#define GL_VERSION_3_1 1 -#define GL_SAMPLER_2D_RECT 0x8B63 -#define GL_SAMPLER_2D_RECT_SHADOW 0x8B64 -#define GL_SAMPLER_BUFFER 0x8DC2 -#define GL_INT_SAMPLER_2D_RECT 0x8DCD -#define GL_INT_SAMPLER_BUFFER 0x8DD0 -#define GL_UNSIGNED_INT_SAMPLER_2D_RECT 0x8DD5 -#define GL_UNSIGNED_INT_SAMPLER_BUFFER 0x8DD8 -#define GL_TEXTURE_BUFFER 0x8C2A -#define GL_MAX_TEXTURE_BUFFER_SIZE 0x8C2B -#define GL_TEXTURE_BINDING_BUFFER 0x8C2C -#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING 0x8C2D -#define GL_TEXTURE_RECTANGLE 0x84F5 -#define GL_TEXTURE_BINDING_RECTANGLE 0x84F6 -#define GL_PROXY_TEXTURE_RECTANGLE 0x84F7 -#define GL_MAX_RECTANGLE_TEXTURE_SIZE 0x84F8 -#define GL_R8_SNORM 0x8F94 -#define GL_RG8_SNORM 0x8F95 -#define GL_RGB8_SNORM 0x8F96 -#define GL_RGBA8_SNORM 0x8F97 -#define GL_R16_SNORM 0x8F98 -#define GL_RG16_SNORM 0x8F99 -#define GL_RGB16_SNORM 0x8F9A -#define GL_RGBA16_SNORM 0x8F9B -#define GL_SIGNED_NORMALIZED 0x8F9C -#define GL_PRIMITIVE_RESTART 0x8F9D -#define GL_PRIMITIVE_RESTART_INDEX 0x8F9E -#define GL_COPY_READ_BUFFER 0x8F36 -#define GL_COPY_WRITE_BUFFER 0x8F37 -#define GL_UNIFORM_BUFFER 0x8A11 -#define GL_UNIFORM_BUFFER_BINDING 0x8A28 -#define GL_UNIFORM_BUFFER_START 0x8A29 -#define GL_UNIFORM_BUFFER_SIZE 0x8A2A -#define GL_MAX_VERTEX_UNIFORM_BLOCKS 0x8A2B -#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS 0x8A2C -#define GL_MAX_FRAGMENT_UNIFORM_BLOCKS 0x8A2D -#define GL_MAX_COMBINED_UNIFORM_BLOCKS 0x8A2E -#define GL_MAX_UNIFORM_BUFFER_BINDINGS 0x8A2F -#define GL_MAX_UNIFORM_BLOCK_SIZE 0x8A30 -#define GL_MAX_COMBINED_VERTEX_UNIFORM_COMPONENTS 0x8A31 -#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS 0x8A32 -#define GL_MAX_COMBINED_FRAGMENT_UNIFORM_COMPONENTS 0x8A33 -#define GL_UNIFORM_BUFFER_OFFSET_ALIGNMENT 0x8A34 -#define GL_ACTIVE_UNIFORM_BLOCK_MAX_NAME_LENGTH 0x8A35 -#define GL_ACTIVE_UNIFORM_BLOCKS 0x8A36 -#define GL_UNIFORM_TYPE 0x8A37 -#define GL_UNIFORM_SIZE 0x8A38 -#define GL_UNIFORM_NAME_LENGTH 0x8A39 -#define GL_UNIFORM_BLOCK_INDEX 0x8A3A -#define GL_UNIFORM_OFFSET 0x8A3B -#define GL_UNIFORM_ARRAY_STRIDE 0x8A3C -#define GL_UNIFORM_MATRIX_STRIDE 0x8A3D -#define GL_UNIFORM_IS_ROW_MAJOR 0x8A3E -#define GL_UNIFORM_BLOCK_BINDING 0x8A3F -#define GL_UNIFORM_BLOCK_DATA_SIZE 0x8A40 -#define GL_UNIFORM_BLOCK_NAME_LENGTH 0x8A41 -#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORMS 0x8A42 -#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORM_INDICES 0x8A43 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_VERTEX_SHADER 0x8A44 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_GEOMETRY_SHADER 0x8A45 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_FRAGMENT_SHADER 0x8A46 -#define GL_INVALID_INDEX 0xFFFFFFFFu -typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDPROC) (GLenum mode, GLint first, GLsizei count, GLsizei instancecount); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount); -typedef void (APIENTRYP PFNGLTEXBUFFERPROC) (GLenum target, GLenum internalformat, GLuint buffer); -typedef void (APIENTRYP PFNGLPRIMITIVERESTARTINDEXPROC) (GLuint index); -typedef void (APIENTRYP PFNGLCOPYBUFFERSUBDATAPROC) (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLGETUNIFORMINDICESPROC) (GLuint program, GLsizei uniformCount, const GLchar *const*uniformNames, GLuint *uniformIndices); -typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMSIVPROC) (GLuint program, GLsizei uniformCount, const GLuint *uniformIndices, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMNAMEPROC) (GLuint program, GLuint uniformIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformName); -typedef GLuint (APIENTRYP PFNGLGETUNIFORMBLOCKINDEXPROC) (GLuint program, const GLchar *uniformBlockName); -typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMBLOCKIVPROC) (GLuint program, GLuint uniformBlockIndex, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC) (GLuint program, GLuint uniformBlockIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformBlockName); -typedef void (APIENTRYP PFNGLUNIFORMBLOCKBINDINGPROC) (GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawArraysInstanced (GLenum mode, GLint first, GLsizei count, GLsizei instancecount); -GLAPI void APIENTRY glDrawElementsInstanced (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount); -GLAPI void APIENTRY glTexBuffer (GLenum target, GLenum internalformat, GLuint buffer); -GLAPI void APIENTRY glPrimitiveRestartIndex (GLuint index); -GLAPI void APIENTRY glCopyBufferSubData (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -GLAPI void APIENTRY glGetUniformIndices (GLuint program, GLsizei uniformCount, const GLchar *const*uniformNames, GLuint *uniformIndices); -GLAPI void APIENTRY glGetActiveUniformsiv (GLuint program, GLsizei uniformCount, const GLuint *uniformIndices, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetActiveUniformName (GLuint program, GLuint uniformIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformName); -GLAPI GLuint APIENTRY glGetUniformBlockIndex (GLuint program, const GLchar *uniformBlockName); -GLAPI void APIENTRY glGetActiveUniformBlockiv (GLuint program, GLuint uniformBlockIndex, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetActiveUniformBlockName (GLuint program, GLuint uniformBlockIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformBlockName); -GLAPI void APIENTRY glUniformBlockBinding (GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding); -#endif -#endif /* GL_VERSION_3_1 */ - -#ifndef GL_VERSION_3_2 -#define GL_VERSION_3_2 1 -typedef struct __GLsync *GLsync; -typedef khronos_uint64_t GLuint64; -typedef khronos_int64_t GLint64; -#define GL_CONTEXT_CORE_PROFILE_BIT 0x00000001 -#define GL_CONTEXT_COMPATIBILITY_PROFILE_BIT 0x00000002 -#define GL_LINES_ADJACENCY 0x000A -#define GL_LINE_STRIP_ADJACENCY 0x000B -#define GL_TRIANGLES_ADJACENCY 0x000C -#define GL_TRIANGLE_STRIP_ADJACENCY 0x000D -#define GL_PROGRAM_POINT_SIZE 0x8642 -#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS 0x8C29 -#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED 0x8DA7 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS 0x8DA8 -#define GL_GEOMETRY_SHADER 0x8DD9 -#define GL_GEOMETRY_VERTICES_OUT 0x8916 -#define GL_GEOMETRY_INPUT_TYPE 0x8917 -#define GL_GEOMETRY_OUTPUT_TYPE 0x8918 -#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS 0x8DDF -#define GL_MAX_GEOMETRY_OUTPUT_VERTICES 0x8DE0 -#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS 0x8DE1 -#define GL_MAX_VERTEX_OUTPUT_COMPONENTS 0x9122 -#define GL_MAX_GEOMETRY_INPUT_COMPONENTS 0x9123 -#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS 0x9124 -#define GL_MAX_FRAGMENT_INPUT_COMPONENTS 0x9125 -#define GL_CONTEXT_PROFILE_MASK 0x9126 -#define GL_DEPTH_CLAMP 0x864F -#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION 0x8E4C -#define GL_FIRST_VERTEX_CONVENTION 0x8E4D -#define GL_LAST_VERTEX_CONVENTION 0x8E4E -#define GL_PROVOKING_VERTEX 0x8E4F -#define GL_TEXTURE_CUBE_MAP_SEAMLESS 0x884F -#define GL_MAX_SERVER_WAIT_TIMEOUT 0x9111 -#define GL_OBJECT_TYPE 0x9112 -#define GL_SYNC_CONDITION 0x9113 -#define GL_SYNC_STATUS 0x9114 -#define GL_SYNC_FLAGS 0x9115 -#define GL_SYNC_FENCE 0x9116 -#define GL_SYNC_GPU_COMMANDS_COMPLETE 0x9117 -#define GL_UNSIGNALED 0x9118 -#define GL_SIGNALED 0x9119 -#define GL_ALREADY_SIGNALED 0x911A -#define GL_TIMEOUT_EXPIRED 0x911B -#define GL_CONDITION_SATISFIED 0x911C -#define GL_WAIT_FAILED 0x911D -#define GL_TIMEOUT_IGNORED 0xFFFFFFFFFFFFFFFFull -#define GL_SYNC_FLUSH_COMMANDS_BIT 0x00000001 -#define GL_SAMPLE_POSITION 0x8E50 -#define GL_SAMPLE_MASK 0x8E51 -#define GL_SAMPLE_MASK_VALUE 0x8E52 -#define GL_MAX_SAMPLE_MASK_WORDS 0x8E59 -#define GL_TEXTURE_2D_MULTISAMPLE 0x9100 -#define GL_PROXY_TEXTURE_2D_MULTISAMPLE 0x9101 -#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9102 -#define GL_PROXY_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9103 -#define GL_TEXTURE_BINDING_2D_MULTISAMPLE 0x9104 -#define GL_TEXTURE_BINDING_2D_MULTISAMPLE_ARRAY 0x9105 -#define GL_TEXTURE_SAMPLES 0x9106 -#define GL_TEXTURE_FIXED_SAMPLE_LOCATIONS 0x9107 -#define GL_SAMPLER_2D_MULTISAMPLE 0x9108 -#define GL_INT_SAMPLER_2D_MULTISAMPLE 0x9109 -#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE 0x910A -#define GL_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910B -#define GL_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910C -#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910D -#define GL_MAX_COLOR_TEXTURE_SAMPLES 0x910E -#define GL_MAX_DEPTH_TEXTURE_SAMPLES 0x910F -#define GL_MAX_INTEGER_SAMPLES 0x9110 -typedef void (APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); -typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); -typedef void (APIENTRYP PFNGLPROVOKINGVERTEXPROC) (GLenum mode); -typedef GLsync (APIENTRYP PFNGLFENCESYNCPROC) (GLenum condition, GLbitfield flags); -typedef GLboolean (APIENTRYP PFNGLISSYNCPROC) (GLsync sync); -typedef void (APIENTRYP PFNGLDELETESYNCPROC) (GLsync sync); -typedef GLenum (APIENTRYP PFNGLCLIENTWAITSYNCPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); -typedef void (APIENTRYP PFNGLWAITSYNCPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); -typedef void (APIENTRYP PFNGLGETINTEGER64VPROC) (GLenum pname, GLint64 *data); -typedef void (APIENTRYP PFNGLGETSYNCIVPROC) (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); -typedef void (APIENTRYP PFNGLGETINTEGER64I_VPROC) (GLenum target, GLuint index, GLint64 *data); -typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERI64VPROC) (GLenum target, GLenum pname, GLint64 *params); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLTEXIMAGE2DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLTEXIMAGE3DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLGETMULTISAMPLEFVPROC) (GLenum pname, GLuint index, GLfloat *val); -typedef void (APIENTRYP PFNGLSAMPLEMASKIPROC) (GLuint maskNumber, GLbitfield mask); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawElementsBaseVertex (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); -GLAPI void APIENTRY glDrawRangeElementsBaseVertex (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); -GLAPI void APIENTRY glDrawElementsInstancedBaseVertex (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); -GLAPI void APIENTRY glMultiDrawElementsBaseVertex (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); -GLAPI void APIENTRY glProvokingVertex (GLenum mode); -GLAPI GLsync APIENTRY glFenceSync (GLenum condition, GLbitfield flags); -GLAPI GLboolean APIENTRY glIsSync (GLsync sync); -GLAPI void APIENTRY glDeleteSync (GLsync sync); -GLAPI GLenum APIENTRY glClientWaitSync (GLsync sync, GLbitfield flags, GLuint64 timeout); -GLAPI void APIENTRY glWaitSync (GLsync sync, GLbitfield flags, GLuint64 timeout); -GLAPI void APIENTRY glGetInteger64v (GLenum pname, GLint64 *data); -GLAPI void APIENTRY glGetSynciv (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); -GLAPI void APIENTRY glGetInteger64i_v (GLenum target, GLuint index, GLint64 *data); -GLAPI void APIENTRY glGetBufferParameteri64v (GLenum target, GLenum pname, GLint64 *params); -GLAPI void APIENTRY glFramebufferTexture (GLenum target, GLenum attachment, GLuint texture, GLint level); -GLAPI void APIENTRY glTexImage2DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glTexImage3DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glGetMultisamplefv (GLenum pname, GLuint index, GLfloat *val); -GLAPI void APIENTRY glSampleMaski (GLuint maskNumber, GLbitfield mask); -#endif -#endif /* GL_VERSION_3_2 */ - -#ifndef GL_VERSION_3_3 -#define GL_VERSION_3_3 1 -#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR 0x88FE -#define GL_SRC1_COLOR 0x88F9 -#define GL_ONE_MINUS_SRC1_COLOR 0x88FA -#define GL_ONE_MINUS_SRC1_ALPHA 0x88FB -#define GL_MAX_DUAL_SOURCE_DRAW_BUFFERS 0x88FC -#define GL_ANY_SAMPLES_PASSED 0x8C2F -#define GL_SAMPLER_BINDING 0x8919 -#define GL_RGB10_A2UI 0x906F -#define GL_TEXTURE_SWIZZLE_R 0x8E42 -#define GL_TEXTURE_SWIZZLE_G 0x8E43 -#define GL_TEXTURE_SWIZZLE_B 0x8E44 -#define GL_TEXTURE_SWIZZLE_A 0x8E45 -#define GL_TEXTURE_SWIZZLE_RGBA 0x8E46 -#define GL_TIME_ELAPSED 0x88BF -#define GL_TIMESTAMP 0x8E28 -#define GL_INT_2_10_10_10_REV 0x8D9F -typedef void (APIENTRYP PFNGLBINDFRAGDATALOCATIONINDEXEDPROC) (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); -typedef GLint (APIENTRYP PFNGLGETFRAGDATAINDEXPROC) (GLuint program, const GLchar *name); -typedef void (APIENTRYP PFNGLGENSAMPLERSPROC) (GLsizei count, GLuint *samplers); -typedef void (APIENTRYP PFNGLDELETESAMPLERSPROC) (GLsizei count, const GLuint *samplers); -typedef GLboolean (APIENTRYP PFNGLISSAMPLERPROC) (GLuint sampler); -typedef void (APIENTRYP PFNGLBINDSAMPLERPROC) (GLuint unit, GLuint sampler); -typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIPROC) (GLuint sampler, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIVPROC) (GLuint sampler, GLenum pname, const GLint *param); -typedef void (APIENTRYP PFNGLSAMPLERPARAMETERFPROC) (GLuint sampler, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLSAMPLERPARAMETERFVPROC) (GLuint sampler, GLenum pname, const GLfloat *param); -typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIIVPROC) (GLuint sampler, GLenum pname, const GLint *param); -typedef void (APIENTRYP PFNGLSAMPLERPARAMETERIUIVPROC) (GLuint sampler, GLenum pname, const GLuint *param); -typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERIVPROC) (GLuint sampler, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERIIVPROC) (GLuint sampler, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERFVPROC) (GLuint sampler, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVPROC) (GLuint sampler, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLQUERYCOUNTERPROC) (GLuint id, GLenum target); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTI64VPROC) (GLuint id, GLenum pname, GLint64 *params); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTUI64VPROC) (GLuint id, GLenum pname, GLuint64 *params); -typedef void (APIENTRYP PFNGLVERTEXATTRIBDIVISORPROC) (GLuint index, GLuint divisor); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP1UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP1UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP2UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP2UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP3UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP3UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP4UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBP4UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXP2UIPROC) (GLenum type, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXP2UIVPROC) (GLenum type, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXP3UIPROC) (GLenum type, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXP3UIVPROC) (GLenum type, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXP4UIPROC) (GLenum type, GLuint value); -typedef void (APIENTRYP PFNGLVERTEXP4UIVPROC) (GLenum type, const GLuint *value); -typedef void (APIENTRYP PFNGLTEXCOORDP1UIPROC) (GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLTEXCOORDP1UIVPROC) (GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLTEXCOORDP2UIPROC) (GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLTEXCOORDP2UIVPROC) (GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLTEXCOORDP3UIPROC) (GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLTEXCOORDP3UIVPROC) (GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLTEXCOORDP4UIPROC) (GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLTEXCOORDP4UIVPROC) (GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP1UIPROC) (GLenum texture, GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP1UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP2UIPROC) (GLenum texture, GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP2UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP3UIPROC) (GLenum texture, GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP3UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP4UIPROC) (GLenum texture, GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORDP4UIVPROC) (GLenum texture, GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLNORMALP3UIPROC) (GLenum type, GLuint coords); -typedef void (APIENTRYP PFNGLNORMALP3UIVPROC) (GLenum type, const GLuint *coords); -typedef void (APIENTRYP PFNGLCOLORP3UIPROC) (GLenum type, GLuint color); -typedef void (APIENTRYP PFNGLCOLORP3UIVPROC) (GLenum type, const GLuint *color); -typedef void (APIENTRYP PFNGLCOLORP4UIPROC) (GLenum type, GLuint color); -typedef void (APIENTRYP PFNGLCOLORP4UIVPROC) (GLenum type, const GLuint *color); -typedef void (APIENTRYP PFNGLSECONDARYCOLORP3UIPROC) (GLenum type, GLuint color); -typedef void (APIENTRYP PFNGLSECONDARYCOLORP3UIVPROC) (GLenum type, const GLuint *color); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindFragDataLocationIndexed (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); -GLAPI GLint APIENTRY glGetFragDataIndex (GLuint program, const GLchar *name); -GLAPI void APIENTRY glGenSamplers (GLsizei count, GLuint *samplers); -GLAPI void APIENTRY glDeleteSamplers (GLsizei count, const GLuint *samplers); -GLAPI GLboolean APIENTRY glIsSampler (GLuint sampler); -GLAPI void APIENTRY glBindSampler (GLuint unit, GLuint sampler); -GLAPI void APIENTRY glSamplerParameteri (GLuint sampler, GLenum pname, GLint param); -GLAPI void APIENTRY glSamplerParameteriv (GLuint sampler, GLenum pname, const GLint *param); -GLAPI void APIENTRY glSamplerParameterf (GLuint sampler, GLenum pname, GLfloat param); -GLAPI void APIENTRY glSamplerParameterfv (GLuint sampler, GLenum pname, const GLfloat *param); -GLAPI void APIENTRY glSamplerParameterIiv (GLuint sampler, GLenum pname, const GLint *param); -GLAPI void APIENTRY glSamplerParameterIuiv (GLuint sampler, GLenum pname, const GLuint *param); -GLAPI void APIENTRY glGetSamplerParameteriv (GLuint sampler, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetSamplerParameterIiv (GLuint sampler, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetSamplerParameterfv (GLuint sampler, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetSamplerParameterIuiv (GLuint sampler, GLenum pname, GLuint *params); -GLAPI void APIENTRY glQueryCounter (GLuint id, GLenum target); -GLAPI void APIENTRY glGetQueryObjecti64v (GLuint id, GLenum pname, GLint64 *params); -GLAPI void APIENTRY glGetQueryObjectui64v (GLuint id, GLenum pname, GLuint64 *params); -GLAPI void APIENTRY glVertexAttribDivisor (GLuint index, GLuint divisor); -GLAPI void APIENTRY glVertexAttribP1ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); -GLAPI void APIENTRY glVertexAttribP1uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -GLAPI void APIENTRY glVertexAttribP2ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); -GLAPI void APIENTRY glVertexAttribP2uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -GLAPI void APIENTRY glVertexAttribP3ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); -GLAPI void APIENTRY glVertexAttribP3uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -GLAPI void APIENTRY glVertexAttribP4ui (GLuint index, GLenum type, GLboolean normalized, GLuint value); -GLAPI void APIENTRY glVertexAttribP4uiv (GLuint index, GLenum type, GLboolean normalized, const GLuint *value); -GLAPI void APIENTRY glVertexP2ui (GLenum type, GLuint value); -GLAPI void APIENTRY glVertexP2uiv (GLenum type, const GLuint *value); -GLAPI void APIENTRY glVertexP3ui (GLenum type, GLuint value); -GLAPI void APIENTRY glVertexP3uiv (GLenum type, const GLuint *value); -GLAPI void APIENTRY glVertexP4ui (GLenum type, GLuint value); -GLAPI void APIENTRY glVertexP4uiv (GLenum type, const GLuint *value); -GLAPI void APIENTRY glTexCoordP1ui (GLenum type, GLuint coords); -GLAPI void APIENTRY glTexCoordP1uiv (GLenum type, const GLuint *coords); -GLAPI void APIENTRY glTexCoordP2ui (GLenum type, GLuint coords); -GLAPI void APIENTRY glTexCoordP2uiv (GLenum type, const GLuint *coords); -GLAPI void APIENTRY glTexCoordP3ui (GLenum type, GLuint coords); -GLAPI void APIENTRY glTexCoordP3uiv (GLenum type, const GLuint *coords); -GLAPI void APIENTRY glTexCoordP4ui (GLenum type, GLuint coords); -GLAPI void APIENTRY glTexCoordP4uiv (GLenum type, const GLuint *coords); -GLAPI void APIENTRY glMultiTexCoordP1ui (GLenum texture, GLenum type, GLuint coords); -GLAPI void APIENTRY glMultiTexCoordP1uiv (GLenum texture, GLenum type, const GLuint *coords); -GLAPI void APIENTRY glMultiTexCoordP2ui (GLenum texture, GLenum type, GLuint coords); -GLAPI void APIENTRY glMultiTexCoordP2uiv (GLenum texture, GLenum type, const GLuint *coords); -GLAPI void APIENTRY glMultiTexCoordP3ui (GLenum texture, GLenum type, GLuint coords); -GLAPI void APIENTRY glMultiTexCoordP3uiv (GLenum texture, GLenum type, const GLuint *coords); -GLAPI void APIENTRY glMultiTexCoordP4ui (GLenum texture, GLenum type, GLuint coords); -GLAPI void APIENTRY glMultiTexCoordP4uiv (GLenum texture, GLenum type, const GLuint *coords); -GLAPI void APIENTRY glNormalP3ui (GLenum type, GLuint coords); -GLAPI void APIENTRY glNormalP3uiv (GLenum type, const GLuint *coords); -GLAPI void APIENTRY glColorP3ui (GLenum type, GLuint color); -GLAPI void APIENTRY glColorP3uiv (GLenum type, const GLuint *color); -GLAPI void APIENTRY glColorP4ui (GLenum type, GLuint color); -GLAPI void APIENTRY glColorP4uiv (GLenum type, const GLuint *color); -GLAPI void APIENTRY glSecondaryColorP3ui (GLenum type, GLuint color); -GLAPI void APIENTRY glSecondaryColorP3uiv (GLenum type, const GLuint *color); -#endif -#endif /* GL_VERSION_3_3 */ - -#ifndef GL_VERSION_4_0 -#define GL_VERSION_4_0 1 -#define GL_SAMPLE_SHADING 0x8C36 -#define GL_MIN_SAMPLE_SHADING_VALUE 0x8C37 -#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5E -#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5F -#define GL_TEXTURE_CUBE_MAP_ARRAY 0x9009 -#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY 0x900A -#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY 0x900B -#define GL_SAMPLER_CUBE_MAP_ARRAY 0x900C -#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW 0x900D -#define GL_INT_SAMPLER_CUBE_MAP_ARRAY 0x900E -#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY 0x900F -#define GL_DRAW_INDIRECT_BUFFER 0x8F3F -#define GL_DRAW_INDIRECT_BUFFER_BINDING 0x8F43 -#define GL_GEOMETRY_SHADER_INVOCATIONS 0x887F -#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS 0x8E5A -#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET 0x8E5B -#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET 0x8E5C -#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS 0x8E5D -#define GL_MAX_VERTEX_STREAMS 0x8E71 -#define GL_DOUBLE_VEC2 0x8FFC -#define GL_DOUBLE_VEC3 0x8FFD -#define GL_DOUBLE_VEC4 0x8FFE -#define GL_DOUBLE_MAT2 0x8F46 -#define GL_DOUBLE_MAT3 0x8F47 -#define GL_DOUBLE_MAT4 0x8F48 -#define GL_DOUBLE_MAT2x3 0x8F49 -#define GL_DOUBLE_MAT2x4 0x8F4A -#define GL_DOUBLE_MAT3x2 0x8F4B -#define GL_DOUBLE_MAT3x4 0x8F4C -#define GL_DOUBLE_MAT4x2 0x8F4D -#define GL_DOUBLE_MAT4x3 0x8F4E -#define GL_ACTIVE_SUBROUTINES 0x8DE5 -#define GL_ACTIVE_SUBROUTINE_UNIFORMS 0x8DE6 -#define GL_ACTIVE_SUBROUTINE_UNIFORM_LOCATIONS 0x8E47 -#define GL_ACTIVE_SUBROUTINE_MAX_LENGTH 0x8E48 -#define GL_ACTIVE_SUBROUTINE_UNIFORM_MAX_LENGTH 0x8E49 -#define GL_MAX_SUBROUTINES 0x8DE7 -#define GL_MAX_SUBROUTINE_UNIFORM_LOCATIONS 0x8DE8 -#define GL_NUM_COMPATIBLE_SUBROUTINES 0x8E4A -#define GL_COMPATIBLE_SUBROUTINES 0x8E4B -#define GL_PATCHES 0x000E -#define GL_PATCH_VERTICES 0x8E72 -#define GL_PATCH_DEFAULT_INNER_LEVEL 0x8E73 -#define GL_PATCH_DEFAULT_OUTER_LEVEL 0x8E74 -#define GL_TESS_CONTROL_OUTPUT_VERTICES 0x8E75 -#define GL_TESS_GEN_MODE 0x8E76 -#define GL_TESS_GEN_SPACING 0x8E77 -#define GL_TESS_GEN_VERTEX_ORDER 0x8E78 -#define GL_TESS_GEN_POINT_MODE 0x8E79 -#define GL_ISOLINES 0x8E7A -#define GL_FRACTIONAL_ODD 0x8E7B -#define GL_FRACTIONAL_EVEN 0x8E7C -#define GL_MAX_PATCH_VERTICES 0x8E7D -#define GL_MAX_TESS_GEN_LEVEL 0x8E7E -#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E7F -#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E80 -#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS 0x8E81 -#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS 0x8E82 -#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS 0x8E83 -#define GL_MAX_TESS_PATCH_COMPONENTS 0x8E84 -#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS 0x8E85 -#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS 0x8E86 -#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS 0x8E89 -#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS 0x8E8A -#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS 0x886C -#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS 0x886D -#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E1E -#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E1F -#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_CONTROL_SHADER 0x84F0 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_EVALUATION_SHADER 0x84F1 -#define GL_TESS_EVALUATION_SHADER 0x8E87 -#define GL_TESS_CONTROL_SHADER 0x8E88 -#define GL_TRANSFORM_FEEDBACK 0x8E22 -#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED 0x8E23 -#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE 0x8E24 -#define GL_TRANSFORM_FEEDBACK_BINDING 0x8E25 -#define GL_MAX_TRANSFORM_FEEDBACK_BUFFERS 0x8E70 -typedef void (APIENTRYP PFNGLMINSAMPLESHADINGPROC) (GLfloat value); -typedef void (APIENTRYP PFNGLBLENDEQUATIONIPROC) (GLuint buf, GLenum mode); -typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEIPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -typedef void (APIENTRYP PFNGLBLENDFUNCIPROC) (GLuint buf, GLenum src, GLenum dst); -typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEIPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -typedef void (APIENTRYP PFNGLDRAWARRAYSINDIRECTPROC) (GLenum mode, const void *indirect); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINDIRECTPROC) (GLenum mode, GLenum type, const void *indirect); -typedef void (APIENTRYP PFNGLUNIFORM1DPROC) (GLint location, GLdouble x); -typedef void (APIENTRYP PFNGLUNIFORM2DPROC) (GLint location, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLUNIFORM3DPROC) (GLint location, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLUNIFORM4DPROC) (GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLUNIFORM1DVPROC) (GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORM2DVPROC) (GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORM3DVPROC) (GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORM4DVPROC) (GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2X4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3X4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4X3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLGETUNIFORMDVPROC) (GLuint program, GLint location, GLdouble *params); -typedef GLint (APIENTRYP PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC) (GLuint program, GLenum shadertype, const GLchar *name); -typedef GLuint (APIENTRYP PFNGLGETSUBROUTINEINDEXPROC) (GLuint program, GLenum shadertype, const GLchar *name); -typedef void (APIENTRYP PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC) (GLuint program, GLenum shadertype, GLuint index, GLenum pname, GLint *values); -typedef void (APIENTRYP PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC) (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); -typedef void (APIENTRYP PFNGLGETACTIVESUBROUTINENAMEPROC) (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); -typedef void (APIENTRYP PFNGLUNIFORMSUBROUTINESUIVPROC) (GLenum shadertype, GLsizei count, const GLuint *indices); -typedef void (APIENTRYP PFNGLGETUNIFORMSUBROUTINEUIVPROC) (GLenum shadertype, GLint location, GLuint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMSTAGEIVPROC) (GLuint program, GLenum shadertype, GLenum pname, GLint *values); -typedef void (APIENTRYP PFNGLPATCHPARAMETERIPROC) (GLenum pname, GLint value); -typedef void (APIENTRYP PFNGLPATCHPARAMETERFVPROC) (GLenum pname, const GLfloat *values); -typedef void (APIENTRYP PFNGLBINDTRANSFORMFEEDBACKPROC) (GLenum target, GLuint id); -typedef void (APIENTRYP PFNGLDELETETRANSFORMFEEDBACKSPROC) (GLsizei n, const GLuint *ids); -typedef void (APIENTRYP PFNGLGENTRANSFORMFEEDBACKSPROC) (GLsizei n, GLuint *ids); -typedef GLboolean (APIENTRYP PFNGLISTRANSFORMFEEDBACKPROC) (GLuint id); -typedef void (APIENTRYP PFNGLPAUSETRANSFORMFEEDBACKPROC) (void); -typedef void (APIENTRYP PFNGLRESUMETRANSFORMFEEDBACKPROC) (void); -typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKPROC) (GLenum mode, GLuint id); -typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC) (GLenum mode, GLuint id, GLuint stream); -typedef void (APIENTRYP PFNGLBEGINQUERYINDEXEDPROC) (GLenum target, GLuint index, GLuint id); -typedef void (APIENTRYP PFNGLENDQUERYINDEXEDPROC) (GLenum target, GLuint index); -typedef void (APIENTRYP PFNGLGETQUERYINDEXEDIVPROC) (GLenum target, GLuint index, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMinSampleShading (GLfloat value); -GLAPI void APIENTRY glBlendEquationi (GLuint buf, GLenum mode); -GLAPI void APIENTRY glBlendEquationSeparatei (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -GLAPI void APIENTRY glBlendFunci (GLuint buf, GLenum src, GLenum dst); -GLAPI void APIENTRY glBlendFuncSeparatei (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -GLAPI void APIENTRY glDrawArraysIndirect (GLenum mode, const void *indirect); -GLAPI void APIENTRY glDrawElementsIndirect (GLenum mode, GLenum type, const void *indirect); -GLAPI void APIENTRY glUniform1d (GLint location, GLdouble x); -GLAPI void APIENTRY glUniform2d (GLint location, GLdouble x, GLdouble y); -GLAPI void APIENTRY glUniform3d (GLint location, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glUniform4d (GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glUniform1dv (GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glUniform2dv (GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glUniform3dv (GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glUniform4dv (GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix2dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix3dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix4dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix2x3dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix2x4dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix3x2dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix3x4dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix4x2dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glUniformMatrix4x3dv (GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glGetUniformdv (GLuint program, GLint location, GLdouble *params); -GLAPI GLint APIENTRY glGetSubroutineUniformLocation (GLuint program, GLenum shadertype, const GLchar *name); -GLAPI GLuint APIENTRY glGetSubroutineIndex (GLuint program, GLenum shadertype, const GLchar *name); -GLAPI void APIENTRY glGetActiveSubroutineUniformiv (GLuint program, GLenum shadertype, GLuint index, GLenum pname, GLint *values); -GLAPI void APIENTRY glGetActiveSubroutineUniformName (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); -GLAPI void APIENTRY glGetActiveSubroutineName (GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); -GLAPI void APIENTRY glUniformSubroutinesuiv (GLenum shadertype, GLsizei count, const GLuint *indices); -GLAPI void APIENTRY glGetUniformSubroutineuiv (GLenum shadertype, GLint location, GLuint *params); -GLAPI void APIENTRY glGetProgramStageiv (GLuint program, GLenum shadertype, GLenum pname, GLint *values); -GLAPI void APIENTRY glPatchParameteri (GLenum pname, GLint value); -GLAPI void APIENTRY glPatchParameterfv (GLenum pname, const GLfloat *values); -GLAPI void APIENTRY glBindTransformFeedback (GLenum target, GLuint id); -GLAPI void APIENTRY glDeleteTransformFeedbacks (GLsizei n, const GLuint *ids); -GLAPI void APIENTRY glGenTransformFeedbacks (GLsizei n, GLuint *ids); -GLAPI GLboolean APIENTRY glIsTransformFeedback (GLuint id); -GLAPI void APIENTRY glPauseTransformFeedback (void); -GLAPI void APIENTRY glResumeTransformFeedback (void); -GLAPI void APIENTRY glDrawTransformFeedback (GLenum mode, GLuint id); -GLAPI void APIENTRY glDrawTransformFeedbackStream (GLenum mode, GLuint id, GLuint stream); -GLAPI void APIENTRY glBeginQueryIndexed (GLenum target, GLuint index, GLuint id); -GLAPI void APIENTRY glEndQueryIndexed (GLenum target, GLuint index); -GLAPI void APIENTRY glGetQueryIndexediv (GLenum target, GLuint index, GLenum pname, GLint *params); -#endif -#endif /* GL_VERSION_4_0 */ - -#ifndef GL_VERSION_4_1 -#define GL_VERSION_4_1 1 -#define GL_FIXED 0x140C -#define GL_IMPLEMENTATION_COLOR_READ_TYPE 0x8B9A -#define GL_IMPLEMENTATION_COLOR_READ_FORMAT 0x8B9B -#define GL_LOW_FLOAT 0x8DF0 -#define GL_MEDIUM_FLOAT 0x8DF1 -#define GL_HIGH_FLOAT 0x8DF2 -#define GL_LOW_INT 0x8DF3 -#define GL_MEDIUM_INT 0x8DF4 -#define GL_HIGH_INT 0x8DF5 -#define GL_SHADER_COMPILER 0x8DFA -#define GL_SHADER_BINARY_FORMATS 0x8DF8 -#define GL_NUM_SHADER_BINARY_FORMATS 0x8DF9 -#define GL_MAX_VERTEX_UNIFORM_VECTORS 0x8DFB -#define GL_MAX_VARYING_VECTORS 0x8DFC -#define GL_MAX_FRAGMENT_UNIFORM_VECTORS 0x8DFD -#define GL_RGB565 0x8D62 -#define GL_PROGRAM_BINARY_RETRIEVABLE_HINT 0x8257 -#define GL_PROGRAM_BINARY_LENGTH 0x8741 -#define GL_NUM_PROGRAM_BINARY_FORMATS 0x87FE -#define GL_PROGRAM_BINARY_FORMATS 0x87FF -#define GL_VERTEX_SHADER_BIT 0x00000001 -#define GL_FRAGMENT_SHADER_BIT 0x00000002 -#define GL_GEOMETRY_SHADER_BIT 0x00000004 -#define GL_TESS_CONTROL_SHADER_BIT 0x00000008 -#define GL_TESS_EVALUATION_SHADER_BIT 0x00000010 -#define GL_ALL_SHADER_BITS 0xFFFFFFFF -#define GL_PROGRAM_SEPARABLE 0x8258 -#define GL_ACTIVE_PROGRAM 0x8259 -#define GL_PROGRAM_PIPELINE_BINDING 0x825A -#define GL_MAX_VIEWPORTS 0x825B -#define GL_VIEWPORT_SUBPIXEL_BITS 0x825C -#define GL_VIEWPORT_BOUNDS_RANGE 0x825D -#define GL_LAYER_PROVOKING_VERTEX 0x825E -#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX 0x825F -#define GL_UNDEFINED_VERTEX 0x8260 -typedef void (APIENTRYP PFNGLRELEASESHADERCOMPILERPROC) (void); -typedef void (APIENTRYP PFNGLSHADERBINARYPROC) (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); -typedef void (APIENTRYP PFNGLGETSHADERPRECISIONFORMATPROC) (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); -typedef void (APIENTRYP PFNGLDEPTHRANGEFPROC) (GLfloat n, GLfloat f); -typedef void (APIENTRYP PFNGLCLEARDEPTHFPROC) (GLfloat d); -typedef void (APIENTRYP PFNGLGETPROGRAMBINARYPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); -typedef void (APIENTRYP PFNGLPROGRAMBINARYPROC) (GLuint program, GLenum binaryFormat, const void *binary, GLsizei length); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETERIPROC) (GLuint program, GLenum pname, GLint value); -typedef void (APIENTRYP PFNGLUSEPROGRAMSTAGESPROC) (GLuint pipeline, GLbitfield stages, GLuint program); -typedef void (APIENTRYP PFNGLACTIVESHADERPROGRAMPROC) (GLuint pipeline, GLuint program); -typedef GLuint (APIENTRYP PFNGLCREATESHADERPROGRAMVPROC) (GLenum type, GLsizei count, const GLchar *const*strings); -typedef void (APIENTRYP PFNGLBINDPROGRAMPIPELINEPROC) (GLuint pipeline); -typedef void (APIENTRYP PFNGLDELETEPROGRAMPIPELINESPROC) (GLsizei n, const GLuint *pipelines); -typedef void (APIENTRYP PFNGLGENPROGRAMPIPELINESPROC) (GLsizei n, GLuint *pipelines); -typedef GLboolean (APIENTRYP PFNGLISPROGRAMPIPELINEPROC) (GLuint pipeline); -typedef void (APIENTRYP PFNGLGETPROGRAMPIPELINEIVPROC) (GLuint pipeline, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IPROC) (GLuint program, GLint location, GLint v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FPROC) (GLuint program, GLint location, GLfloat v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DPROC) (GLuint program, GLint location, GLdouble v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIPROC) (GLuint program, GLint location, GLuint v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IPROC) (GLuint program, GLint location, GLint v0, GLint v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DPROC) (GLuint program, GLint location, GLdouble v0, GLdouble v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DPROC) (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IVPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DPROC) (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2, GLdouble v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLVALIDATEPROGRAMPIPELINEPROC) (GLuint pipeline); -typedef void (APIENTRYP PFNGLGETPROGRAMPIPELINEINFOLOGPROC) (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DPROC) (GLuint index, GLdouble x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DPROC) (GLuint index, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBLPOINTERPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLDVPROC) (GLuint index, GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLVIEWPORTARRAYVPROC) (GLuint first, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLVIEWPORTINDEXEDFPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); -typedef void (APIENTRYP PFNGLVIEWPORTINDEXEDFVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLSCISSORARRAYVPROC) (GLuint first, GLsizei count, const GLint *v); -typedef void (APIENTRYP PFNGLSCISSORINDEXEDPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLSCISSORINDEXEDVPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLDEPTHRANGEARRAYVPROC) (GLuint first, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLDEPTHRANGEINDEXEDPROC) (GLuint index, GLdouble n, GLdouble f); -typedef void (APIENTRYP PFNGLGETFLOATI_VPROC) (GLenum target, GLuint index, GLfloat *data); -typedef void (APIENTRYP PFNGLGETDOUBLEI_VPROC) (GLenum target, GLuint index, GLdouble *data); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glReleaseShaderCompiler (void); -GLAPI void APIENTRY glShaderBinary (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); -GLAPI void APIENTRY glGetShaderPrecisionFormat (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); -GLAPI void APIENTRY glDepthRangef (GLfloat n, GLfloat f); -GLAPI void APIENTRY glClearDepthf (GLfloat d); -GLAPI void APIENTRY glGetProgramBinary (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); -GLAPI void APIENTRY glProgramBinary (GLuint program, GLenum binaryFormat, const void *binary, GLsizei length); -GLAPI void APIENTRY glProgramParameteri (GLuint program, GLenum pname, GLint value); -GLAPI void APIENTRY glUseProgramStages (GLuint pipeline, GLbitfield stages, GLuint program); -GLAPI void APIENTRY glActiveShaderProgram (GLuint pipeline, GLuint program); -GLAPI GLuint APIENTRY glCreateShaderProgramv (GLenum type, GLsizei count, const GLchar *const*strings); -GLAPI void APIENTRY glBindProgramPipeline (GLuint pipeline); -GLAPI void APIENTRY glDeleteProgramPipelines (GLsizei n, const GLuint *pipelines); -GLAPI void APIENTRY glGenProgramPipelines (GLsizei n, GLuint *pipelines); -GLAPI GLboolean APIENTRY glIsProgramPipeline (GLuint pipeline); -GLAPI void APIENTRY glGetProgramPipelineiv (GLuint pipeline, GLenum pname, GLint *params); -GLAPI void APIENTRY glProgramUniform1i (GLuint program, GLint location, GLint v0); -GLAPI void APIENTRY glProgramUniform1iv (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform1f (GLuint program, GLint location, GLfloat v0); -GLAPI void APIENTRY glProgramUniform1fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform1d (GLuint program, GLint location, GLdouble v0); -GLAPI void APIENTRY glProgramUniform1dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform1ui (GLuint program, GLint location, GLuint v0); -GLAPI void APIENTRY glProgramUniform1uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniform2i (GLuint program, GLint location, GLint v0, GLint v1); -GLAPI void APIENTRY glProgramUniform2iv (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform2f (GLuint program, GLint location, GLfloat v0, GLfloat v1); -GLAPI void APIENTRY glProgramUniform2fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform2d (GLuint program, GLint location, GLdouble v0, GLdouble v1); -GLAPI void APIENTRY glProgramUniform2dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform2ui (GLuint program, GLint location, GLuint v0, GLuint v1); -GLAPI void APIENTRY glProgramUniform2uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniform3i (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); -GLAPI void APIENTRY glProgramUniform3iv (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform3f (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -GLAPI void APIENTRY glProgramUniform3fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform3d (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2); -GLAPI void APIENTRY glProgramUniform3dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform3ui (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); -GLAPI void APIENTRY glProgramUniform3uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniform4i (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -GLAPI void APIENTRY glProgramUniform4iv (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform4f (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -GLAPI void APIENTRY glProgramUniform4fv (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform4d (GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2, GLdouble v3); -GLAPI void APIENTRY glProgramUniform4dv (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform4ui (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -GLAPI void APIENTRY glProgramUniform4uiv (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniformMatrix2fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix3fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix4fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix2dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix3dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix4dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix2x3fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix3x2fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix2x4fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix4x2fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix3x4fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix4x3fv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix2x3dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix3x2dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix2x4dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix4x2dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix3x4dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix4x3dv (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glValidateProgramPipeline (GLuint pipeline); -GLAPI void APIENTRY glGetProgramPipelineInfoLog (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -GLAPI void APIENTRY glVertexAttribL1d (GLuint index, GLdouble x); -GLAPI void APIENTRY glVertexAttribL2d (GLuint index, GLdouble x, GLdouble y); -GLAPI void APIENTRY glVertexAttribL3d (GLuint index, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glVertexAttribL4d (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glVertexAttribL1dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribL2dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribL3dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribL4dv (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribLPointer (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glGetVertexAttribLdv (GLuint index, GLenum pname, GLdouble *params); -GLAPI void APIENTRY glViewportArrayv (GLuint first, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glViewportIndexedf (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); -GLAPI void APIENTRY glViewportIndexedfv (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glScissorArrayv (GLuint first, GLsizei count, const GLint *v); -GLAPI void APIENTRY glScissorIndexed (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); -GLAPI void APIENTRY glScissorIndexedv (GLuint index, const GLint *v); -GLAPI void APIENTRY glDepthRangeArrayv (GLuint first, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glDepthRangeIndexed (GLuint index, GLdouble n, GLdouble f); -GLAPI void APIENTRY glGetFloati_v (GLenum target, GLuint index, GLfloat *data); -GLAPI void APIENTRY glGetDoublei_v (GLenum target, GLuint index, GLdouble *data); -#endif -#endif /* GL_VERSION_4_1 */ - -#ifndef GL_VERSION_4_2 -#define GL_VERSION_4_2 1 -#define GL_COPY_READ_BUFFER_BINDING 0x8F36 -#define GL_COPY_WRITE_BUFFER_BINDING 0x8F37 -#define GL_TRANSFORM_FEEDBACK_ACTIVE 0x8E24 -#define GL_TRANSFORM_FEEDBACK_PAUSED 0x8E23 -#define GL_UNPACK_COMPRESSED_BLOCK_WIDTH 0x9127 -#define GL_UNPACK_COMPRESSED_BLOCK_HEIGHT 0x9128 -#define GL_UNPACK_COMPRESSED_BLOCK_DEPTH 0x9129 -#define GL_UNPACK_COMPRESSED_BLOCK_SIZE 0x912A -#define GL_PACK_COMPRESSED_BLOCK_WIDTH 0x912B -#define GL_PACK_COMPRESSED_BLOCK_HEIGHT 0x912C -#define GL_PACK_COMPRESSED_BLOCK_DEPTH 0x912D -#define GL_PACK_COMPRESSED_BLOCK_SIZE 0x912E -#define GL_NUM_SAMPLE_COUNTS 0x9380 -#define GL_MIN_MAP_BUFFER_ALIGNMENT 0x90BC -#define GL_ATOMIC_COUNTER_BUFFER 0x92C0 -#define GL_ATOMIC_COUNTER_BUFFER_BINDING 0x92C1 -#define GL_ATOMIC_COUNTER_BUFFER_START 0x92C2 -#define GL_ATOMIC_COUNTER_BUFFER_SIZE 0x92C3 -#define GL_ATOMIC_COUNTER_BUFFER_DATA_SIZE 0x92C4 -#define GL_ATOMIC_COUNTER_BUFFER_ACTIVE_ATOMIC_COUNTERS 0x92C5 -#define GL_ATOMIC_COUNTER_BUFFER_ACTIVE_ATOMIC_COUNTER_INDICES 0x92C6 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_VERTEX_SHADER 0x92C7 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TESS_CONTROL_SHADER 0x92C8 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TESS_EVALUATION_SHADER 0x92C9 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_GEOMETRY_SHADER 0x92CA -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_FRAGMENT_SHADER 0x92CB -#define GL_MAX_VERTEX_ATOMIC_COUNTER_BUFFERS 0x92CC -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS 0x92CD -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS 0x92CE -#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS 0x92CF -#define GL_MAX_FRAGMENT_ATOMIC_COUNTER_BUFFERS 0x92D0 -#define GL_MAX_COMBINED_ATOMIC_COUNTER_BUFFERS 0x92D1 -#define GL_MAX_VERTEX_ATOMIC_COUNTERS 0x92D2 -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS 0x92D3 -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS 0x92D4 -#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS 0x92D5 -#define GL_MAX_FRAGMENT_ATOMIC_COUNTERS 0x92D6 -#define GL_MAX_COMBINED_ATOMIC_COUNTERS 0x92D7 -#define GL_MAX_ATOMIC_COUNTER_BUFFER_SIZE 0x92D8 -#define GL_MAX_ATOMIC_COUNTER_BUFFER_BINDINGS 0x92DC -#define GL_ACTIVE_ATOMIC_COUNTER_BUFFERS 0x92D9 -#define GL_UNIFORM_ATOMIC_COUNTER_BUFFER_INDEX 0x92DA -#define GL_UNSIGNED_INT_ATOMIC_COUNTER 0x92DB -#define GL_VERTEX_ATTRIB_ARRAY_BARRIER_BIT 0x00000001 -#define GL_ELEMENT_ARRAY_BARRIER_BIT 0x00000002 -#define GL_UNIFORM_BARRIER_BIT 0x00000004 -#define GL_TEXTURE_FETCH_BARRIER_BIT 0x00000008 -#define GL_SHADER_IMAGE_ACCESS_BARRIER_BIT 0x00000020 -#define GL_COMMAND_BARRIER_BIT 0x00000040 -#define GL_PIXEL_BUFFER_BARRIER_BIT 0x00000080 -#define GL_TEXTURE_UPDATE_BARRIER_BIT 0x00000100 -#define GL_BUFFER_UPDATE_BARRIER_BIT 0x00000200 -#define GL_FRAMEBUFFER_BARRIER_BIT 0x00000400 -#define GL_TRANSFORM_FEEDBACK_BARRIER_BIT 0x00000800 -#define GL_ATOMIC_COUNTER_BARRIER_BIT 0x00001000 -#define GL_ALL_BARRIER_BITS 0xFFFFFFFF -#define GL_MAX_IMAGE_UNITS 0x8F38 -#define GL_MAX_COMBINED_IMAGE_UNITS_AND_FRAGMENT_OUTPUTS 0x8F39 -#define GL_IMAGE_BINDING_NAME 0x8F3A -#define GL_IMAGE_BINDING_LEVEL 0x8F3B -#define GL_IMAGE_BINDING_LAYERED 0x8F3C -#define GL_IMAGE_BINDING_LAYER 0x8F3D -#define GL_IMAGE_BINDING_ACCESS 0x8F3E -#define GL_IMAGE_1D 0x904C -#define GL_IMAGE_2D 0x904D -#define GL_IMAGE_3D 0x904E -#define GL_IMAGE_2D_RECT 0x904F -#define GL_IMAGE_CUBE 0x9050 -#define GL_IMAGE_BUFFER 0x9051 -#define GL_IMAGE_1D_ARRAY 0x9052 -#define GL_IMAGE_2D_ARRAY 0x9053 -#define GL_IMAGE_CUBE_MAP_ARRAY 0x9054 -#define GL_IMAGE_2D_MULTISAMPLE 0x9055 -#define GL_IMAGE_2D_MULTISAMPLE_ARRAY 0x9056 -#define GL_INT_IMAGE_1D 0x9057 -#define GL_INT_IMAGE_2D 0x9058 -#define GL_INT_IMAGE_3D 0x9059 -#define GL_INT_IMAGE_2D_RECT 0x905A -#define GL_INT_IMAGE_CUBE 0x905B -#define GL_INT_IMAGE_BUFFER 0x905C -#define GL_INT_IMAGE_1D_ARRAY 0x905D -#define GL_INT_IMAGE_2D_ARRAY 0x905E -#define GL_INT_IMAGE_CUBE_MAP_ARRAY 0x905F -#define GL_INT_IMAGE_2D_MULTISAMPLE 0x9060 -#define GL_INT_IMAGE_2D_MULTISAMPLE_ARRAY 0x9061 -#define GL_UNSIGNED_INT_IMAGE_1D 0x9062 -#define GL_UNSIGNED_INT_IMAGE_2D 0x9063 -#define GL_UNSIGNED_INT_IMAGE_3D 0x9064 -#define GL_UNSIGNED_INT_IMAGE_2D_RECT 0x9065 -#define GL_UNSIGNED_INT_IMAGE_CUBE 0x9066 -#define GL_UNSIGNED_INT_IMAGE_BUFFER 0x9067 -#define GL_UNSIGNED_INT_IMAGE_1D_ARRAY 0x9068 -#define GL_UNSIGNED_INT_IMAGE_2D_ARRAY 0x9069 -#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY 0x906A -#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE 0x906B -#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_ARRAY 0x906C -#define GL_MAX_IMAGE_SAMPLES 0x906D -#define GL_IMAGE_BINDING_FORMAT 0x906E -#define GL_IMAGE_FORMAT_COMPATIBILITY_TYPE 0x90C7 -#define GL_IMAGE_FORMAT_COMPATIBILITY_BY_SIZE 0x90C8 -#define GL_IMAGE_FORMAT_COMPATIBILITY_BY_CLASS 0x90C9 -#define GL_MAX_VERTEX_IMAGE_UNIFORMS 0x90CA -#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS 0x90CB -#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS 0x90CC -#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS 0x90CD -#define GL_MAX_FRAGMENT_IMAGE_UNIFORMS 0x90CE -#define GL_MAX_COMBINED_IMAGE_UNIFORMS 0x90CF -#define GL_COMPRESSED_RGBA_BPTC_UNORM 0x8E8C -#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM 0x8E8D -#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT 0x8E8E -#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT 0x8E8F -#define GL_TEXTURE_IMMUTABLE_FORMAT 0x912F -typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEPROC) (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); -typedef void (APIENTRYP PFNGLGETINTERNALFORMATIVPROC) (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint *params); -typedef void (APIENTRYP PFNGLGETACTIVEATOMICCOUNTERBUFFERIVPROC) (GLuint program, GLuint bufferIndex, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLBINDIMAGETEXTUREPROC) (GLuint unit, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLenum format); -typedef void (APIENTRYP PFNGLMEMORYBARRIERPROC) (GLbitfield barriers); -typedef void (APIENTRYP PFNGLTEXSTORAGE1DPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -typedef void (APIENTRYP PFNGLTEXSTORAGE2DPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLTEXSTORAGE3DPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDPROC) (GLenum mode, GLuint id, GLsizei instancecount); -typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKSTREAMINSTANCEDPROC) (GLenum mode, GLuint id, GLuint stream, GLsizei instancecount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawArraysInstancedBaseInstance (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); -GLAPI void APIENTRY glDrawElementsInstancedBaseInstance (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); -GLAPI void APIENTRY glDrawElementsInstancedBaseVertexBaseInstance (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); -GLAPI void APIENTRY glGetInternalformativ (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint *params); -GLAPI void APIENTRY glGetActiveAtomicCounterBufferiv (GLuint program, GLuint bufferIndex, GLenum pname, GLint *params); -GLAPI void APIENTRY glBindImageTexture (GLuint unit, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLenum format); -GLAPI void APIENTRY glMemoryBarrier (GLbitfield barriers); -GLAPI void APIENTRY glTexStorage1D (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -GLAPI void APIENTRY glTexStorage2D (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glTexStorage3D (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -GLAPI void APIENTRY glDrawTransformFeedbackInstanced (GLenum mode, GLuint id, GLsizei instancecount); -GLAPI void APIENTRY glDrawTransformFeedbackStreamInstanced (GLenum mode, GLuint id, GLuint stream, GLsizei instancecount); -#endif -#endif /* GL_VERSION_4_2 */ - -#ifndef GL_VERSION_4_3 -#define GL_VERSION_4_3 1 -typedef void (APIENTRY *GLDEBUGPROC)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam); -#define GL_NUM_SHADING_LANGUAGE_VERSIONS 0x82E9 -#define GL_VERTEX_ATTRIB_ARRAY_LONG 0x874E -#define GL_COMPRESSED_RGB8_ETC2 0x9274 -#define GL_COMPRESSED_SRGB8_ETC2 0x9275 -#define GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2 0x9276 -#define GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2 0x9277 -#define GL_COMPRESSED_RGBA8_ETC2_EAC 0x9278 -#define GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC 0x9279 -#define GL_COMPRESSED_R11_EAC 0x9270 -#define GL_COMPRESSED_SIGNED_R11_EAC 0x9271 -#define GL_COMPRESSED_RG11_EAC 0x9272 -#define GL_COMPRESSED_SIGNED_RG11_EAC 0x9273 -#define GL_PRIMITIVE_RESTART_FIXED_INDEX 0x8D69 -#define GL_ANY_SAMPLES_PASSED_CONSERVATIVE 0x8D6A -#define GL_MAX_ELEMENT_INDEX 0x8D6B -#define GL_COMPUTE_SHADER 0x91B9 -#define GL_MAX_COMPUTE_UNIFORM_BLOCKS 0x91BB -#define GL_MAX_COMPUTE_TEXTURE_IMAGE_UNITS 0x91BC -#define GL_MAX_COMPUTE_IMAGE_UNIFORMS 0x91BD -#define GL_MAX_COMPUTE_SHARED_MEMORY_SIZE 0x8262 -#define GL_MAX_COMPUTE_UNIFORM_COMPONENTS 0x8263 -#define GL_MAX_COMPUTE_ATOMIC_COUNTER_BUFFERS 0x8264 -#define GL_MAX_COMPUTE_ATOMIC_COUNTERS 0x8265 -#define GL_MAX_COMBINED_COMPUTE_UNIFORM_COMPONENTS 0x8266 -#define GL_MAX_COMPUTE_WORK_GROUP_INVOCATIONS 0x90EB -#define GL_MAX_COMPUTE_WORK_GROUP_COUNT 0x91BE -#define GL_MAX_COMPUTE_WORK_GROUP_SIZE 0x91BF -#define GL_COMPUTE_WORK_GROUP_SIZE 0x8267 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_COMPUTE_SHADER 0x90EC -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_COMPUTE_SHADER 0x90ED -#define GL_DISPATCH_INDIRECT_BUFFER 0x90EE -#define GL_DISPATCH_INDIRECT_BUFFER_BINDING 0x90EF -#define GL_COMPUTE_SHADER_BIT 0x00000020 -#define GL_DEBUG_OUTPUT_SYNCHRONOUS 0x8242 -#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH 0x8243 -#define GL_DEBUG_CALLBACK_FUNCTION 0x8244 -#define GL_DEBUG_CALLBACK_USER_PARAM 0x8245 -#define GL_DEBUG_SOURCE_API 0x8246 -#define GL_DEBUG_SOURCE_WINDOW_SYSTEM 0x8247 -#define GL_DEBUG_SOURCE_SHADER_COMPILER 0x8248 -#define GL_DEBUG_SOURCE_THIRD_PARTY 0x8249 -#define GL_DEBUG_SOURCE_APPLICATION 0x824A -#define GL_DEBUG_SOURCE_OTHER 0x824B -#define GL_DEBUG_TYPE_ERROR 0x824C -#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR 0x824D -#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR 0x824E -#define GL_DEBUG_TYPE_PORTABILITY 0x824F -#define GL_DEBUG_TYPE_PERFORMANCE 0x8250 -#define GL_DEBUG_TYPE_OTHER 0x8251 -#define GL_MAX_DEBUG_MESSAGE_LENGTH 0x9143 -#define GL_MAX_DEBUG_LOGGED_MESSAGES 0x9144 -#define GL_DEBUG_LOGGED_MESSAGES 0x9145 -#define GL_DEBUG_SEVERITY_HIGH 0x9146 -#define GL_DEBUG_SEVERITY_MEDIUM 0x9147 -#define GL_DEBUG_SEVERITY_LOW 0x9148 -#define GL_DEBUG_TYPE_MARKER 0x8268 -#define GL_DEBUG_TYPE_PUSH_GROUP 0x8269 -#define GL_DEBUG_TYPE_POP_GROUP 0x826A -#define GL_DEBUG_SEVERITY_NOTIFICATION 0x826B -#define GL_MAX_DEBUG_GROUP_STACK_DEPTH 0x826C -#define GL_DEBUG_GROUP_STACK_DEPTH 0x826D -#define GL_BUFFER 0x82E0 -#define GL_SHADER 0x82E1 -#define GL_PROGRAM 0x82E2 -#define GL_QUERY 0x82E3 -#define GL_PROGRAM_PIPELINE 0x82E4 -#define GL_SAMPLER 0x82E6 -#define GL_MAX_LABEL_LENGTH 0x82E8 -#define GL_DEBUG_OUTPUT 0x92E0 -#define GL_CONTEXT_FLAG_DEBUG_BIT 0x00000002 -#define GL_MAX_UNIFORM_LOCATIONS 0x826E -#define GL_FRAMEBUFFER_DEFAULT_WIDTH 0x9310 -#define GL_FRAMEBUFFER_DEFAULT_HEIGHT 0x9311 -#define GL_FRAMEBUFFER_DEFAULT_LAYERS 0x9312 -#define GL_FRAMEBUFFER_DEFAULT_SAMPLES 0x9313 -#define GL_FRAMEBUFFER_DEFAULT_FIXED_SAMPLE_LOCATIONS 0x9314 -#define GL_MAX_FRAMEBUFFER_WIDTH 0x9315 -#define GL_MAX_FRAMEBUFFER_HEIGHT 0x9316 -#define GL_MAX_FRAMEBUFFER_LAYERS 0x9317 -#define GL_MAX_FRAMEBUFFER_SAMPLES 0x9318 -#define GL_INTERNALFORMAT_SUPPORTED 0x826F -#define GL_INTERNALFORMAT_PREFERRED 0x8270 -#define GL_INTERNALFORMAT_RED_SIZE 0x8271 -#define GL_INTERNALFORMAT_GREEN_SIZE 0x8272 -#define GL_INTERNALFORMAT_BLUE_SIZE 0x8273 -#define GL_INTERNALFORMAT_ALPHA_SIZE 0x8274 -#define GL_INTERNALFORMAT_DEPTH_SIZE 0x8275 -#define GL_INTERNALFORMAT_STENCIL_SIZE 0x8276 -#define GL_INTERNALFORMAT_SHARED_SIZE 0x8277 -#define GL_INTERNALFORMAT_RED_TYPE 0x8278 -#define GL_INTERNALFORMAT_GREEN_TYPE 0x8279 -#define GL_INTERNALFORMAT_BLUE_TYPE 0x827A -#define GL_INTERNALFORMAT_ALPHA_TYPE 0x827B -#define GL_INTERNALFORMAT_DEPTH_TYPE 0x827C -#define GL_INTERNALFORMAT_STENCIL_TYPE 0x827D -#define GL_MAX_WIDTH 0x827E -#define GL_MAX_HEIGHT 0x827F -#define GL_MAX_DEPTH 0x8280 -#define GL_MAX_LAYERS 0x8281 -#define GL_MAX_COMBINED_DIMENSIONS 0x8282 -#define GL_COLOR_COMPONENTS 0x8283 -#define GL_DEPTH_COMPONENTS 0x8284 -#define GL_STENCIL_COMPONENTS 0x8285 -#define GL_COLOR_RENDERABLE 0x8286 -#define GL_DEPTH_RENDERABLE 0x8287 -#define GL_STENCIL_RENDERABLE 0x8288 -#define GL_FRAMEBUFFER_RENDERABLE 0x8289 -#define GL_FRAMEBUFFER_RENDERABLE_LAYERED 0x828A -#define GL_FRAMEBUFFER_BLEND 0x828B -#define GL_READ_PIXELS 0x828C -#define GL_READ_PIXELS_FORMAT 0x828D -#define GL_READ_PIXELS_TYPE 0x828E -#define GL_TEXTURE_IMAGE_FORMAT 0x828F -#define GL_TEXTURE_IMAGE_TYPE 0x8290 -#define GL_GET_TEXTURE_IMAGE_FORMAT 0x8291 -#define GL_GET_TEXTURE_IMAGE_TYPE 0x8292 -#define GL_MIPMAP 0x8293 -#define GL_MANUAL_GENERATE_MIPMAP 0x8294 -#define GL_AUTO_GENERATE_MIPMAP 0x8295 -#define GL_COLOR_ENCODING 0x8296 -#define GL_SRGB_READ 0x8297 -#define GL_SRGB_WRITE 0x8298 -#define GL_FILTER 0x829A -#define GL_VERTEX_TEXTURE 0x829B -#define GL_TESS_CONTROL_TEXTURE 0x829C -#define GL_TESS_EVALUATION_TEXTURE 0x829D -#define GL_GEOMETRY_TEXTURE 0x829E -#define GL_FRAGMENT_TEXTURE 0x829F -#define GL_COMPUTE_TEXTURE 0x82A0 -#define GL_TEXTURE_SHADOW 0x82A1 -#define GL_TEXTURE_GATHER 0x82A2 -#define GL_TEXTURE_GATHER_SHADOW 0x82A3 -#define GL_SHADER_IMAGE_LOAD 0x82A4 -#define GL_SHADER_IMAGE_STORE 0x82A5 -#define GL_SHADER_IMAGE_ATOMIC 0x82A6 -#define GL_IMAGE_TEXEL_SIZE 0x82A7 -#define GL_IMAGE_COMPATIBILITY_CLASS 0x82A8 -#define GL_IMAGE_PIXEL_FORMAT 0x82A9 -#define GL_IMAGE_PIXEL_TYPE 0x82AA -#define GL_SIMULTANEOUS_TEXTURE_AND_DEPTH_TEST 0x82AC -#define GL_SIMULTANEOUS_TEXTURE_AND_STENCIL_TEST 0x82AD -#define GL_SIMULTANEOUS_TEXTURE_AND_DEPTH_WRITE 0x82AE -#define GL_SIMULTANEOUS_TEXTURE_AND_STENCIL_WRITE 0x82AF -#define GL_TEXTURE_COMPRESSED_BLOCK_WIDTH 0x82B1 -#define GL_TEXTURE_COMPRESSED_BLOCK_HEIGHT 0x82B2 -#define GL_TEXTURE_COMPRESSED_BLOCK_SIZE 0x82B3 -#define GL_CLEAR_BUFFER 0x82B4 -#define GL_TEXTURE_VIEW 0x82B5 -#define GL_VIEW_COMPATIBILITY_CLASS 0x82B6 -#define GL_FULL_SUPPORT 0x82B7 -#define GL_CAVEAT_SUPPORT 0x82B8 -#define GL_IMAGE_CLASS_4_X_32 0x82B9 -#define GL_IMAGE_CLASS_2_X_32 0x82BA -#define GL_IMAGE_CLASS_1_X_32 0x82BB -#define GL_IMAGE_CLASS_4_X_16 0x82BC -#define GL_IMAGE_CLASS_2_X_16 0x82BD -#define GL_IMAGE_CLASS_1_X_16 0x82BE -#define GL_IMAGE_CLASS_4_X_8 0x82BF -#define GL_IMAGE_CLASS_2_X_8 0x82C0 -#define GL_IMAGE_CLASS_1_X_8 0x82C1 -#define GL_IMAGE_CLASS_11_11_10 0x82C2 -#define GL_IMAGE_CLASS_10_10_10_2 0x82C3 -#define GL_VIEW_CLASS_128_BITS 0x82C4 -#define GL_VIEW_CLASS_96_BITS 0x82C5 -#define GL_VIEW_CLASS_64_BITS 0x82C6 -#define GL_VIEW_CLASS_48_BITS 0x82C7 -#define GL_VIEW_CLASS_32_BITS 0x82C8 -#define GL_VIEW_CLASS_24_BITS 0x82C9 -#define GL_VIEW_CLASS_16_BITS 0x82CA -#define GL_VIEW_CLASS_8_BITS 0x82CB -#define GL_VIEW_CLASS_S3TC_DXT1_RGB 0x82CC -#define GL_VIEW_CLASS_S3TC_DXT1_RGBA 0x82CD -#define GL_VIEW_CLASS_S3TC_DXT3_RGBA 0x82CE -#define GL_VIEW_CLASS_S3TC_DXT5_RGBA 0x82CF -#define GL_VIEW_CLASS_RGTC1_RED 0x82D0 -#define GL_VIEW_CLASS_RGTC2_RG 0x82D1 -#define GL_VIEW_CLASS_BPTC_UNORM 0x82D2 -#define GL_VIEW_CLASS_BPTC_FLOAT 0x82D3 -#define GL_UNIFORM 0x92E1 -#define GL_UNIFORM_BLOCK 0x92E2 -#define GL_PROGRAM_INPUT 0x92E3 -#define GL_PROGRAM_OUTPUT 0x92E4 -#define GL_BUFFER_VARIABLE 0x92E5 -#define GL_SHADER_STORAGE_BLOCK 0x92E6 -#define GL_VERTEX_SUBROUTINE 0x92E8 -#define GL_TESS_CONTROL_SUBROUTINE 0x92E9 -#define GL_TESS_EVALUATION_SUBROUTINE 0x92EA -#define GL_GEOMETRY_SUBROUTINE 0x92EB -#define GL_FRAGMENT_SUBROUTINE 0x92EC -#define GL_COMPUTE_SUBROUTINE 0x92ED -#define GL_VERTEX_SUBROUTINE_UNIFORM 0x92EE -#define GL_TESS_CONTROL_SUBROUTINE_UNIFORM 0x92EF -#define GL_TESS_EVALUATION_SUBROUTINE_UNIFORM 0x92F0 -#define GL_GEOMETRY_SUBROUTINE_UNIFORM 0x92F1 -#define GL_FRAGMENT_SUBROUTINE_UNIFORM 0x92F2 -#define GL_COMPUTE_SUBROUTINE_UNIFORM 0x92F3 -#define GL_TRANSFORM_FEEDBACK_VARYING 0x92F4 -#define GL_ACTIVE_RESOURCES 0x92F5 -#define GL_MAX_NAME_LENGTH 0x92F6 -#define GL_MAX_NUM_ACTIVE_VARIABLES 0x92F7 -#define GL_MAX_NUM_COMPATIBLE_SUBROUTINES 0x92F8 -#define GL_NAME_LENGTH 0x92F9 -#define GL_TYPE 0x92FA -#define GL_ARRAY_SIZE 0x92FB -#define GL_OFFSET 0x92FC -#define GL_BLOCK_INDEX 0x92FD -#define GL_ARRAY_STRIDE 0x92FE -#define GL_MATRIX_STRIDE 0x92FF -#define GL_IS_ROW_MAJOR 0x9300 -#define GL_ATOMIC_COUNTER_BUFFER_INDEX 0x9301 -#define GL_BUFFER_BINDING 0x9302 -#define GL_BUFFER_DATA_SIZE 0x9303 -#define GL_NUM_ACTIVE_VARIABLES 0x9304 -#define GL_ACTIVE_VARIABLES 0x9305 -#define GL_REFERENCED_BY_VERTEX_SHADER 0x9306 -#define GL_REFERENCED_BY_TESS_CONTROL_SHADER 0x9307 -#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER 0x9308 -#define GL_REFERENCED_BY_GEOMETRY_SHADER 0x9309 -#define GL_REFERENCED_BY_FRAGMENT_SHADER 0x930A -#define GL_REFERENCED_BY_COMPUTE_SHADER 0x930B -#define GL_TOP_LEVEL_ARRAY_SIZE 0x930C -#define GL_TOP_LEVEL_ARRAY_STRIDE 0x930D -#define GL_LOCATION 0x930E -#define GL_LOCATION_INDEX 0x930F -#define GL_IS_PER_PATCH 0x92E7 -#define GL_SHADER_STORAGE_BUFFER 0x90D2 -#define GL_SHADER_STORAGE_BUFFER_BINDING 0x90D3 -#define GL_SHADER_STORAGE_BUFFER_START 0x90D4 -#define GL_SHADER_STORAGE_BUFFER_SIZE 0x90D5 -#define GL_MAX_VERTEX_SHADER_STORAGE_BLOCKS 0x90D6 -#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS 0x90D7 -#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS 0x90D8 -#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS 0x90D9 -#define GL_MAX_FRAGMENT_SHADER_STORAGE_BLOCKS 0x90DA -#define GL_MAX_COMPUTE_SHADER_STORAGE_BLOCKS 0x90DB -#define GL_MAX_COMBINED_SHADER_STORAGE_BLOCKS 0x90DC -#define GL_MAX_SHADER_STORAGE_BUFFER_BINDINGS 0x90DD -#define GL_MAX_SHADER_STORAGE_BLOCK_SIZE 0x90DE -#define GL_SHADER_STORAGE_BUFFER_OFFSET_ALIGNMENT 0x90DF -#define GL_SHADER_STORAGE_BARRIER_BIT 0x00002000 -#define GL_MAX_COMBINED_SHADER_OUTPUT_RESOURCES 0x8F39 -#define GL_DEPTH_STENCIL_TEXTURE_MODE 0x90EA -#define GL_TEXTURE_BUFFER_OFFSET 0x919D -#define GL_TEXTURE_BUFFER_SIZE 0x919E -#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT 0x919F -#define GL_TEXTURE_VIEW_MIN_LEVEL 0x82DB -#define GL_TEXTURE_VIEW_NUM_LEVELS 0x82DC -#define GL_TEXTURE_VIEW_MIN_LAYER 0x82DD -#define GL_TEXTURE_VIEW_NUM_LAYERS 0x82DE -#define GL_TEXTURE_IMMUTABLE_LEVELS 0x82DF -#define GL_VERTEX_ATTRIB_BINDING 0x82D4 -#define GL_VERTEX_ATTRIB_RELATIVE_OFFSET 0x82D5 -#define GL_VERTEX_BINDING_DIVISOR 0x82D6 -#define GL_VERTEX_BINDING_OFFSET 0x82D7 -#define GL_VERTEX_BINDING_STRIDE 0x82D8 -#define GL_MAX_VERTEX_ATTRIB_RELATIVE_OFFSET 0x82D9 -#define GL_MAX_VERTEX_ATTRIB_BINDINGS 0x82DA -#define GL_VERTEX_BINDING_BUFFER 0x8F4F -#define GL_DISPLAY_LIST 0x82E7 -typedef void (APIENTRYP PFNGLCLEARBUFFERDATAPROC) (GLenum target, GLenum internalformat, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLCLEARBUFFERSUBDATAPROC) (GLenum target, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLDISPATCHCOMPUTEPROC) (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z); -typedef void (APIENTRYP PFNGLDISPATCHCOMPUTEINDIRECTPROC) (GLintptr indirect); -typedef void (APIENTRYP PFNGLCOPYIMAGESUBDATAPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -typedef void (APIENTRYP PFNGLFRAMEBUFFERPARAMETERIPROC) (GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETINTERNALFORMATI64VPROC) (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint64 *params); -typedef void (APIENTRYP PFNGLINVALIDATETEXSUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth); -typedef void (APIENTRYP PFNGLINVALIDATETEXIMAGEPROC) (GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLINVALIDATEBUFFERSUBDATAPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); -typedef void (APIENTRYP PFNGLINVALIDATEBUFFERDATAPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLINVALIDATEFRAMEBUFFERPROC) (GLenum target, GLsizei numAttachments, const GLenum *attachments); -typedef void (APIENTRYP PFNGLINVALIDATESUBFRAMEBUFFERPROC) (GLenum target, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTPROC) (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); -typedef void (APIENTRYP PFNGLGETPROGRAMINTERFACEIVPROC) (GLuint program, GLenum programInterface, GLenum pname, GLint *params); -typedef GLuint (APIENTRYP PFNGLGETPROGRAMRESOURCEINDEXPROC) (GLuint program, GLenum programInterface, const GLchar *name); -typedef void (APIENTRYP PFNGLGETPROGRAMRESOURCENAMEPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); -typedef void (APIENTRYP PFNGLGETPROGRAMRESOURCEIVPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLint *params); -typedef GLint (APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONPROC) (GLuint program, GLenum programInterface, const GLchar *name); -typedef GLint (APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONINDEXPROC) (GLuint program, GLenum programInterface, const GLchar *name); -typedef void (APIENTRYP PFNGLSHADERSTORAGEBLOCKBINDINGPROC) (GLuint program, GLuint storageBlockIndex, GLuint storageBlockBinding); -typedef void (APIENTRYP PFNGLTEXBUFFERRANGEPROC) (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLTEXSTORAGE2DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLTEXSTORAGE3DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLTEXTUREVIEWPROC) (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); -typedef void (APIENTRYP PFNGLBINDVERTEXBUFFERPROC) (GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); -typedef void (APIENTRYP PFNGLVERTEXATTRIBFORMATPROC) (GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXATTRIBIFORMATPROC) (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXATTRIBLFORMATPROC) (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXATTRIBBINDINGPROC) (GLuint attribindex, GLuint bindingindex); -typedef void (APIENTRYP PFNGLVERTEXBINDINGDIVISORPROC) (GLuint bindingindex, GLuint divisor); -typedef void (APIENTRYP PFNGLDEBUGMESSAGECONTROLPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); -typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKPROC) (GLDEBUGPROC callback, const void *userParam); -typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGPROC) (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); -typedef void (APIENTRYP PFNGLPUSHDEBUGGROUPPROC) (GLenum source, GLuint id, GLsizei length, const GLchar *message); -typedef void (APIENTRYP PFNGLPOPDEBUGGROUPPROC) (void); -typedef void (APIENTRYP PFNGLOBJECTLABELPROC) (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); -typedef void (APIENTRYP PFNGLGETOBJECTLABELPROC) (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); -typedef void (APIENTRYP PFNGLOBJECTPTRLABELPROC) (const void *ptr, GLsizei length, const GLchar *label); -typedef void (APIENTRYP PFNGLGETOBJECTPTRLABELPROC) (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glClearBufferData (GLenum target, GLenum internalformat, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glClearBufferSubData (GLenum target, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glDispatchCompute (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z); -GLAPI void APIENTRY glDispatchComputeIndirect (GLintptr indirect); -GLAPI void APIENTRY glCopyImageSubData (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -GLAPI void APIENTRY glFramebufferParameteri (GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glGetFramebufferParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetInternalformati64v (GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint64 *params); -GLAPI void APIENTRY glInvalidateTexSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth); -GLAPI void APIENTRY glInvalidateTexImage (GLuint texture, GLint level); -GLAPI void APIENTRY glInvalidateBufferSubData (GLuint buffer, GLintptr offset, GLsizeiptr length); -GLAPI void APIENTRY glInvalidateBufferData (GLuint buffer); -GLAPI void APIENTRY glInvalidateFramebuffer (GLenum target, GLsizei numAttachments, const GLenum *attachments); -GLAPI void APIENTRY glInvalidateSubFramebuffer (GLenum target, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glMultiDrawArraysIndirect (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); -GLAPI void APIENTRY glMultiDrawElementsIndirect (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); -GLAPI void APIENTRY glGetProgramInterfaceiv (GLuint program, GLenum programInterface, GLenum pname, GLint *params); -GLAPI GLuint APIENTRY glGetProgramResourceIndex (GLuint program, GLenum programInterface, const GLchar *name); -GLAPI void APIENTRY glGetProgramResourceName (GLuint program, GLenum programInterface, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); -GLAPI void APIENTRY glGetProgramResourceiv (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLint *params); -GLAPI GLint APIENTRY glGetProgramResourceLocation (GLuint program, GLenum programInterface, const GLchar *name); -GLAPI GLint APIENTRY glGetProgramResourceLocationIndex (GLuint program, GLenum programInterface, const GLchar *name); -GLAPI void APIENTRY glShaderStorageBlockBinding (GLuint program, GLuint storageBlockIndex, GLuint storageBlockBinding); -GLAPI void APIENTRY glTexBufferRange (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glTexStorage2DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glTexStorage3DMultisample (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glTextureView (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); -GLAPI void APIENTRY glBindVertexBuffer (GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); -GLAPI void APIENTRY glVertexAttribFormat (GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); -GLAPI void APIENTRY glVertexAttribIFormat (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -GLAPI void APIENTRY glVertexAttribLFormat (GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -GLAPI void APIENTRY glVertexAttribBinding (GLuint attribindex, GLuint bindingindex); -GLAPI void APIENTRY glVertexBindingDivisor (GLuint bindingindex, GLuint divisor); -GLAPI void APIENTRY glDebugMessageControl (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -GLAPI void APIENTRY glDebugMessageInsert (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); -GLAPI void APIENTRY glDebugMessageCallback (GLDEBUGPROC callback, const void *userParam); -GLAPI GLuint APIENTRY glGetDebugMessageLog (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); -GLAPI void APIENTRY glPushDebugGroup (GLenum source, GLuint id, GLsizei length, const GLchar *message); -GLAPI void APIENTRY glPopDebugGroup (void); -GLAPI void APIENTRY glObjectLabel (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); -GLAPI void APIENTRY glGetObjectLabel (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); -GLAPI void APIENTRY glObjectPtrLabel (const void *ptr, GLsizei length, const GLchar *label); -GLAPI void APIENTRY glGetObjectPtrLabel (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); -#endif -#endif /* GL_VERSION_4_3 */ - -#ifndef GL_VERSION_4_4 -#define GL_VERSION_4_4 1 -#define GL_MAX_VERTEX_ATTRIB_STRIDE 0x82E5 -#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED 0x8221 -#define GL_TEXTURE_BUFFER_BINDING 0x8C2A -#define GL_MAP_PERSISTENT_BIT 0x0040 -#define GL_MAP_COHERENT_BIT 0x0080 -#define GL_DYNAMIC_STORAGE_BIT 0x0100 -#define GL_CLIENT_STORAGE_BIT 0x0200 -#define GL_CLIENT_MAPPED_BUFFER_BARRIER_BIT 0x00004000 -#define GL_BUFFER_IMMUTABLE_STORAGE 0x821F -#define GL_BUFFER_STORAGE_FLAGS 0x8220 -#define GL_CLEAR_TEXTURE 0x9365 -#define GL_LOCATION_COMPONENT 0x934A -#define GL_TRANSFORM_FEEDBACK_BUFFER_INDEX 0x934B -#define GL_TRANSFORM_FEEDBACK_BUFFER_STRIDE 0x934C -#define GL_QUERY_BUFFER 0x9192 -#define GL_QUERY_BUFFER_BARRIER_BIT 0x00008000 -#define GL_QUERY_BUFFER_BINDING 0x9193 -#define GL_QUERY_RESULT_NO_WAIT 0x9194 -#define GL_MIRROR_CLAMP_TO_EDGE 0x8743 -typedef void (APIENTRYP PFNGLBUFFERSTORAGEPROC) (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); -typedef void (APIENTRYP PFNGLCLEARTEXIMAGEPROC) (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLCLEARTEXSUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLBINDBUFFERSBASEPROC) (GLenum target, GLuint first, GLsizei count, const GLuint *buffers); -typedef void (APIENTRYP PFNGLBINDBUFFERSRANGEPROC) (GLenum target, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizeiptr *sizes); -typedef void (APIENTRYP PFNGLBINDTEXTURESPROC) (GLuint first, GLsizei count, const GLuint *textures); -typedef void (APIENTRYP PFNGLBINDSAMPLERSPROC) (GLuint first, GLsizei count, const GLuint *samplers); -typedef void (APIENTRYP PFNGLBINDIMAGETEXTURESPROC) (GLuint first, GLsizei count, const GLuint *textures); -typedef void (APIENTRYP PFNGLBINDVERTEXBUFFERSPROC) (GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBufferStorage (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); -GLAPI void APIENTRY glClearTexImage (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glClearTexSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glBindBuffersBase (GLenum target, GLuint first, GLsizei count, const GLuint *buffers); -GLAPI void APIENTRY glBindBuffersRange (GLenum target, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizeiptr *sizes); -GLAPI void APIENTRY glBindTextures (GLuint first, GLsizei count, const GLuint *textures); -GLAPI void APIENTRY glBindSamplers (GLuint first, GLsizei count, const GLuint *samplers); -GLAPI void APIENTRY glBindImageTextures (GLuint first, GLsizei count, const GLuint *textures); -GLAPI void APIENTRY glBindVertexBuffers (GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); -#endif -#endif /* GL_VERSION_4_4 */ - -#ifndef GL_VERSION_4_5 -#define GL_VERSION_4_5 1 -#define GL_CONTEXT_LOST 0x0507 -#define GL_NEGATIVE_ONE_TO_ONE 0x935E -#define GL_ZERO_TO_ONE 0x935F -#define GL_CLIP_ORIGIN 0x935C -#define GL_CLIP_DEPTH_MODE 0x935D -#define GL_QUERY_WAIT_INVERTED 0x8E17 -#define GL_QUERY_NO_WAIT_INVERTED 0x8E18 -#define GL_QUERY_BY_REGION_WAIT_INVERTED 0x8E19 -#define GL_QUERY_BY_REGION_NO_WAIT_INVERTED 0x8E1A -#define GL_MAX_CULL_DISTANCES 0x82F9 -#define GL_MAX_COMBINED_CLIP_AND_CULL_DISTANCES 0x82FA -#define GL_TEXTURE_TARGET 0x1006 -#define GL_QUERY_TARGET 0x82EA -#define GL_GUILTY_CONTEXT_RESET 0x8253 -#define GL_INNOCENT_CONTEXT_RESET 0x8254 -#define GL_UNKNOWN_CONTEXT_RESET 0x8255 -#define GL_RESET_NOTIFICATION_STRATEGY 0x8256 -#define GL_LOSE_CONTEXT_ON_RESET 0x8252 -#define GL_NO_RESET_NOTIFICATION 0x8261 -#define GL_CONTEXT_FLAG_ROBUST_ACCESS_BIT 0x00000004 -#define GL_COLOR_TABLE 0x80D0 -#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 -#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 -#define GL_PROXY_COLOR_TABLE 0x80D3 -#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 -#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 -#define GL_CONVOLUTION_1D 0x8010 -#define GL_CONVOLUTION_2D 0x8011 -#define GL_SEPARABLE_2D 0x8012 -#define GL_HISTOGRAM 0x8024 -#define GL_PROXY_HISTOGRAM 0x8025 -#define GL_MINMAX 0x802E -#define GL_CONTEXT_RELEASE_BEHAVIOR 0x82FB -#define GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH 0x82FC -typedef void (APIENTRYP PFNGLCLIPCONTROLPROC) (GLenum origin, GLenum depth); -typedef void (APIENTRYP PFNGLCREATETRANSFORMFEEDBACKSPROC) (GLsizei n, GLuint *ids); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKBUFFERBASEPROC) (GLuint xfb, GLuint index, GLuint buffer); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKBUFFERRANGEPROC) (GLuint xfb, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKIVPROC) (GLuint xfb, GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKI_VPROC) (GLuint xfb, GLenum pname, GLuint index, GLint *param); -typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKI64_VPROC) (GLuint xfb, GLenum pname, GLuint index, GLint64 *param); -typedef void (APIENTRYP PFNGLCREATEBUFFERSPROC) (GLsizei n, GLuint *buffers); -typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); -typedef void (APIENTRYP PFNGLNAMEDBUFFERDATAPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); -typedef void (APIENTRYP PFNGLNAMEDBUFFERSUBDATAPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -typedef void (APIENTRYP PFNGLCOPYNAMEDBUFFERSUBDATAPROC) (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERDATAPROC) (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERSUBDATAPROC) (GLuint buffer, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); -typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERPROC) (GLuint buffer, GLenum access); -typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERRANGEPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); -typedef GLboolean (APIENTRYP PFNGLUNMAPNAMEDBUFFERPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERIVPROC) (GLuint buffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERI64VPROC) (GLuint buffer, GLenum pname, GLint64 *params); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPOINTERVPROC) (GLuint buffer, GLenum pname, void **params); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERSUBDATAPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); -typedef void (APIENTRYP PFNGLCREATEFRAMEBUFFERSPROC) (GLsizei n, GLuint *framebuffers); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERRENDERBUFFERPROC) (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERPARAMETERIPROC) (GLuint framebuffer, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURELAYERPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERDRAWBUFFERPROC) (GLuint framebuffer, GLenum buf); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERDRAWBUFFERSPROC) (GLuint framebuffer, GLsizei n, const GLenum *bufs); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERREADBUFFERPROC) (GLuint framebuffer, GLenum src); -typedef void (APIENTRYP PFNGLINVALIDATENAMEDFRAMEBUFFERDATAPROC) (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments); -typedef void (APIENTRYP PFNGLINVALIDATENAMEDFRAMEBUFFERSUBDATAPROC) (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERIVPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLint *value); -typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERUIVPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLuint *value); -typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERFVPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLfloat *value); -typedef void (APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERFIPROC) (GLuint framebuffer, GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); -typedef void (APIENTRYP PFNGLBLITNAMEDFRAMEBUFFERPROC) (GLuint readFramebuffer, GLuint drawFramebuffer, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -typedef GLenum (APIENTRYP PFNGLCHECKNAMEDFRAMEBUFFERSTATUSPROC) (GLuint framebuffer, GLenum target); -typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVPROC) (GLuint framebuffer, GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLCREATERENDERBUFFERSPROC) (GLsizei n, GLuint *renderbuffers); -typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEPROC) (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEPROC) (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETNAMEDRENDERBUFFERPARAMETERIVPROC) (GLuint renderbuffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLCREATETEXTURESPROC) (GLenum target, GLsizei n, GLuint *textures); -typedef void (APIENTRYP PFNGLTEXTUREBUFFERPROC) (GLuint texture, GLenum internalformat, GLuint buffer); -typedef void (APIENTRYP PFNGLTEXTUREBUFFERRANGEPROC) (GLuint texture, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE1DPROC) (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DPROC) (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DPROC) (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DMULTISAMPLEPROC) (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DMULTISAMPLEPROC) (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE1DPROC) (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE2DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE3DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE1DPROC) (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE2DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE3DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE1DPROC) (GLuint texture, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE2DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE3DPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFPROC) (GLuint texture, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFVPROC) (GLuint texture, GLenum pname, const GLfloat *param); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIPROC) (GLuint texture, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIIVPROC) (GLuint texture, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIUIVPROC) (GLuint texture, GLenum pname, const GLuint *params); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIVPROC) (GLuint texture, GLenum pname, const GLint *param); -typedef void (APIENTRYP PFNGLGENERATETEXTUREMIPMAPPROC) (GLuint texture); -typedef void (APIENTRYP PFNGLBINDTEXTUREUNITPROC) (GLuint unit, GLuint texture); -typedef void (APIENTRYP PFNGLGETTEXTUREIMAGEPROC) (GLuint texture, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXTUREIMAGEPROC) (GLuint texture, GLint level, GLsizei bufSize, void *pixels); -typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERFVPROC) (GLuint texture, GLint level, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERIVPROC) (GLuint texture, GLint level, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERFVPROC) (GLuint texture, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIIVPROC) (GLuint texture, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIUIVPROC) (GLuint texture, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIVPROC) (GLuint texture, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLCREATEVERTEXARRAYSPROC) (GLsizei n, GLuint *arrays); -typedef void (APIENTRYP PFNGLDISABLEVERTEXARRAYATTRIBPROC) (GLuint vaobj, GLuint index); -typedef void (APIENTRYP PFNGLENABLEVERTEXARRAYATTRIBPROC) (GLuint vaobj, GLuint index); -typedef void (APIENTRYP PFNGLVERTEXARRAYELEMENTBUFFERPROC) (GLuint vaobj, GLuint buffer); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXBUFFERPROC) (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXBUFFERSPROC) (GLuint vaobj, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); -typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBBINDINGPROC) (GLuint vaobj, GLuint attribindex, GLuint bindingindex); -typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBFORMATPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBIFORMATPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXARRAYATTRIBLFORMATPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXARRAYBINDINGDIVISORPROC) (GLuint vaobj, GLuint bindingindex, GLuint divisor); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYIVPROC) (GLuint vaobj, GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYINDEXEDIVPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYINDEXED64IVPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint64 *param); -typedef void (APIENTRYP PFNGLCREATESAMPLERSPROC) (GLsizei n, GLuint *samplers); -typedef void (APIENTRYP PFNGLCREATEPROGRAMPIPELINESPROC) (GLsizei n, GLuint *pipelines); -typedef void (APIENTRYP PFNGLCREATEQUERIESPROC) (GLenum target, GLsizei n, GLuint *ids); -typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTI64VPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTIVPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTUI64VPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -typedef void (APIENTRYP PFNGLGETQUERYBUFFEROBJECTUIVPROC) (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -typedef void (APIENTRYP PFNGLMEMORYBARRIERBYREGIONPROC) (GLbitfield barriers); -typedef void (APIENTRYP PFNGLGETTEXTURESUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, GLsizei bufSize, void *pixels); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXTURESUBIMAGEPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei bufSize, void *pixels); -typedef GLenum (APIENTRYP PFNGLGETGRAPHICSRESETSTATUSPROC) (void); -typedef void (APIENTRYP PFNGLGETNCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint lod, GLsizei bufSize, void *pixels); -typedef void (APIENTRYP PFNGLGETNTEXIMAGEPROC) (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); -typedef void (APIENTRYP PFNGLGETNUNIFORMDVPROC) (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMFVPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMIVPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMUIVPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint *params); -typedef void (APIENTRYP PFNGLREADNPIXELSPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -typedef void (APIENTRYP PFNGLGETNMAPDVPROC) (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); -typedef void (APIENTRYP PFNGLGETNMAPFVPROC) (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); -typedef void (APIENTRYP PFNGLGETNMAPIVPROC) (GLenum target, GLenum query, GLsizei bufSize, GLint *v); -typedef void (APIENTRYP PFNGLGETNPIXELMAPFVPROC) (GLenum map, GLsizei bufSize, GLfloat *values); -typedef void (APIENTRYP PFNGLGETNPIXELMAPUIVPROC) (GLenum map, GLsizei bufSize, GLuint *values); -typedef void (APIENTRYP PFNGLGETNPIXELMAPUSVPROC) (GLenum map, GLsizei bufSize, GLushort *values); -typedef void (APIENTRYP PFNGLGETNPOLYGONSTIPPLEPROC) (GLsizei bufSize, GLubyte *pattern); -typedef void (APIENTRYP PFNGLGETNCOLORTABLEPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); -typedef void (APIENTRYP PFNGLGETNCONVOLUTIONFILTERPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); -typedef void (APIENTRYP PFNGLGETNSEPARABLEFILTERPROC) (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); -typedef void (APIENTRYP PFNGLGETNHISTOGRAMPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -typedef void (APIENTRYP PFNGLGETNMINMAXPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -typedef void (APIENTRYP PFNGLTEXTUREBARRIERPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glClipControl (GLenum origin, GLenum depth); -GLAPI void APIENTRY glCreateTransformFeedbacks (GLsizei n, GLuint *ids); -GLAPI void APIENTRY glTransformFeedbackBufferBase (GLuint xfb, GLuint index, GLuint buffer); -GLAPI void APIENTRY glTransformFeedbackBufferRange (GLuint xfb, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glGetTransformFeedbackiv (GLuint xfb, GLenum pname, GLint *param); -GLAPI void APIENTRY glGetTransformFeedbacki_v (GLuint xfb, GLenum pname, GLuint index, GLint *param); -GLAPI void APIENTRY glGetTransformFeedbacki64_v (GLuint xfb, GLenum pname, GLuint index, GLint64 *param); -GLAPI void APIENTRY glCreateBuffers (GLsizei n, GLuint *buffers); -GLAPI void APIENTRY glNamedBufferStorage (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); -GLAPI void APIENTRY glNamedBufferData (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); -GLAPI void APIENTRY glNamedBufferSubData (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -GLAPI void APIENTRY glCopyNamedBufferSubData (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -GLAPI void APIENTRY glClearNamedBufferData (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glClearNamedBufferSubData (GLuint buffer, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); -GLAPI void *APIENTRY glMapNamedBuffer (GLuint buffer, GLenum access); -GLAPI void *APIENTRY glMapNamedBufferRange (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); -GLAPI GLboolean APIENTRY glUnmapNamedBuffer (GLuint buffer); -GLAPI void APIENTRY glFlushMappedNamedBufferRange (GLuint buffer, GLintptr offset, GLsizeiptr length); -GLAPI void APIENTRY glGetNamedBufferParameteriv (GLuint buffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetNamedBufferParameteri64v (GLuint buffer, GLenum pname, GLint64 *params); -GLAPI void APIENTRY glGetNamedBufferPointerv (GLuint buffer, GLenum pname, void **params); -GLAPI void APIENTRY glGetNamedBufferSubData (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); -GLAPI void APIENTRY glCreateFramebuffers (GLsizei n, GLuint *framebuffers); -GLAPI void APIENTRY glNamedFramebufferRenderbuffer (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -GLAPI void APIENTRY glNamedFramebufferParameteri (GLuint framebuffer, GLenum pname, GLint param); -GLAPI void APIENTRY glNamedFramebufferTexture (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); -GLAPI void APIENTRY glNamedFramebufferTextureLayer (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); -GLAPI void APIENTRY glNamedFramebufferDrawBuffer (GLuint framebuffer, GLenum buf); -GLAPI void APIENTRY glNamedFramebufferDrawBuffers (GLuint framebuffer, GLsizei n, const GLenum *bufs); -GLAPI void APIENTRY glNamedFramebufferReadBuffer (GLuint framebuffer, GLenum src); -GLAPI void APIENTRY glInvalidateNamedFramebufferData (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments); -GLAPI void APIENTRY glInvalidateNamedFramebufferSubData (GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glClearNamedFramebufferiv (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLint *value); -GLAPI void APIENTRY glClearNamedFramebufferuiv (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLuint *value); -GLAPI void APIENTRY glClearNamedFramebufferfv (GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLfloat *value); -GLAPI void APIENTRY glClearNamedFramebufferfi (GLuint framebuffer, GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); -GLAPI void APIENTRY glBlitNamedFramebuffer (GLuint readFramebuffer, GLuint drawFramebuffer, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -GLAPI GLenum APIENTRY glCheckNamedFramebufferStatus (GLuint framebuffer, GLenum target); -GLAPI void APIENTRY glGetNamedFramebufferParameteriv (GLuint framebuffer, GLenum pname, GLint *param); -GLAPI void APIENTRY glGetNamedFramebufferAttachmentParameteriv (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); -GLAPI void APIENTRY glCreateRenderbuffers (GLsizei n, GLuint *renderbuffers); -GLAPI void APIENTRY glNamedRenderbufferStorage (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glNamedRenderbufferStorageMultisample (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetNamedRenderbufferParameteriv (GLuint renderbuffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glCreateTextures (GLenum target, GLsizei n, GLuint *textures); -GLAPI void APIENTRY glTextureBuffer (GLuint texture, GLenum internalformat, GLuint buffer); -GLAPI void APIENTRY glTextureBufferRange (GLuint texture, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glTextureStorage1D (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width); -GLAPI void APIENTRY glTextureStorage2D (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glTextureStorage3D (GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -GLAPI void APIENTRY glTextureStorage2DMultisample (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glTextureStorage3DMultisample (GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glTextureSubImage1D (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTextureSubImage2D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTextureSubImage3D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glCompressedTextureSubImage1D (GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTextureSubImage2D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTextureSubImage3D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCopyTextureSubImage1D (GLuint texture, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glCopyTextureSubImage2D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glCopyTextureSubImage3D (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glTextureParameterf (GLuint texture, GLenum pname, GLfloat param); -GLAPI void APIENTRY glTextureParameterfv (GLuint texture, GLenum pname, const GLfloat *param); -GLAPI void APIENTRY glTextureParameteri (GLuint texture, GLenum pname, GLint param); -GLAPI void APIENTRY glTextureParameterIiv (GLuint texture, GLenum pname, const GLint *params); -GLAPI void APIENTRY glTextureParameterIuiv (GLuint texture, GLenum pname, const GLuint *params); -GLAPI void APIENTRY glTextureParameteriv (GLuint texture, GLenum pname, const GLint *param); -GLAPI void APIENTRY glGenerateTextureMipmap (GLuint texture); -GLAPI void APIENTRY glBindTextureUnit (GLuint unit, GLuint texture); -GLAPI void APIENTRY glGetTextureImage (GLuint texture, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); -GLAPI void APIENTRY glGetCompressedTextureImage (GLuint texture, GLint level, GLsizei bufSize, void *pixels); -GLAPI void APIENTRY glGetTextureLevelParameterfv (GLuint texture, GLint level, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetTextureLevelParameteriv (GLuint texture, GLint level, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetTextureParameterfv (GLuint texture, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetTextureParameterIiv (GLuint texture, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetTextureParameterIuiv (GLuint texture, GLenum pname, GLuint *params); -GLAPI void APIENTRY glGetTextureParameteriv (GLuint texture, GLenum pname, GLint *params); -GLAPI void APIENTRY glCreateVertexArrays (GLsizei n, GLuint *arrays); -GLAPI void APIENTRY glDisableVertexArrayAttrib (GLuint vaobj, GLuint index); -GLAPI void APIENTRY glEnableVertexArrayAttrib (GLuint vaobj, GLuint index); -GLAPI void APIENTRY glVertexArrayElementBuffer (GLuint vaobj, GLuint buffer); -GLAPI void APIENTRY glVertexArrayVertexBuffer (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); -GLAPI void APIENTRY glVertexArrayVertexBuffers (GLuint vaobj, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); -GLAPI void APIENTRY glVertexArrayAttribBinding (GLuint vaobj, GLuint attribindex, GLuint bindingindex); -GLAPI void APIENTRY glVertexArrayAttribFormat (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); -GLAPI void APIENTRY glVertexArrayAttribIFormat (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -GLAPI void APIENTRY glVertexArrayAttribLFormat (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -GLAPI void APIENTRY glVertexArrayBindingDivisor (GLuint vaobj, GLuint bindingindex, GLuint divisor); -GLAPI void APIENTRY glGetVertexArrayiv (GLuint vaobj, GLenum pname, GLint *param); -GLAPI void APIENTRY glGetVertexArrayIndexediv (GLuint vaobj, GLuint index, GLenum pname, GLint *param); -GLAPI void APIENTRY glGetVertexArrayIndexed64iv (GLuint vaobj, GLuint index, GLenum pname, GLint64 *param); -GLAPI void APIENTRY glCreateSamplers (GLsizei n, GLuint *samplers); -GLAPI void APIENTRY glCreateProgramPipelines (GLsizei n, GLuint *pipelines); -GLAPI void APIENTRY glCreateQueries (GLenum target, GLsizei n, GLuint *ids); -GLAPI void APIENTRY glGetQueryBufferObjecti64v (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -GLAPI void APIENTRY glGetQueryBufferObjectiv (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -GLAPI void APIENTRY glGetQueryBufferObjectui64v (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -GLAPI void APIENTRY glGetQueryBufferObjectuiv (GLuint id, GLuint buffer, GLenum pname, GLintptr offset); -GLAPI void APIENTRY glMemoryBarrierByRegion (GLbitfield barriers); -GLAPI void APIENTRY glGetTextureSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, GLsizei bufSize, void *pixels); -GLAPI void APIENTRY glGetCompressedTextureSubImage (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei bufSize, void *pixels); -GLAPI GLenum APIENTRY glGetGraphicsResetStatus (void); -GLAPI void APIENTRY glGetnCompressedTexImage (GLenum target, GLint lod, GLsizei bufSize, void *pixels); -GLAPI void APIENTRY glGetnTexImage (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); -GLAPI void APIENTRY glGetnUniformdv (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); -GLAPI void APIENTRY glGetnUniformfv (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -GLAPI void APIENTRY glGetnUniformiv (GLuint program, GLint location, GLsizei bufSize, GLint *params); -GLAPI void APIENTRY glGetnUniformuiv (GLuint program, GLint location, GLsizei bufSize, GLuint *params); -GLAPI void APIENTRY glReadnPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -GLAPI void APIENTRY glGetnMapdv (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); -GLAPI void APIENTRY glGetnMapfv (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); -GLAPI void APIENTRY glGetnMapiv (GLenum target, GLenum query, GLsizei bufSize, GLint *v); -GLAPI void APIENTRY glGetnPixelMapfv (GLenum map, GLsizei bufSize, GLfloat *values); -GLAPI void APIENTRY glGetnPixelMapuiv (GLenum map, GLsizei bufSize, GLuint *values); -GLAPI void APIENTRY glGetnPixelMapusv (GLenum map, GLsizei bufSize, GLushort *values); -GLAPI void APIENTRY glGetnPolygonStipple (GLsizei bufSize, GLubyte *pattern); -GLAPI void APIENTRY glGetnColorTable (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); -GLAPI void APIENTRY glGetnConvolutionFilter (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); -GLAPI void APIENTRY glGetnSeparableFilter (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); -GLAPI void APIENTRY glGetnHistogram (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -GLAPI void APIENTRY glGetnMinmax (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -GLAPI void APIENTRY glTextureBarrier (void); -#endif -#endif /* GL_VERSION_4_5 */ - -#ifndef GL_VERSION_4_6 -#define GL_VERSION_4_6 1 -#define GL_SHADER_BINARY_FORMAT_SPIR_V 0x9551 -#define GL_SPIR_V_BINARY 0x9552 -#define GL_PARAMETER_BUFFER 0x80EE -#define GL_PARAMETER_BUFFER_BINDING 0x80EF -#define GL_CONTEXT_FLAG_NO_ERROR_BIT 0x00000008 -#define GL_VERTICES_SUBMITTED 0x82EE -#define GL_PRIMITIVES_SUBMITTED 0x82EF -#define GL_VERTEX_SHADER_INVOCATIONS 0x82F0 -#define GL_TESS_CONTROL_SHADER_PATCHES 0x82F1 -#define GL_TESS_EVALUATION_SHADER_INVOCATIONS 0x82F2 -#define GL_GEOMETRY_SHADER_PRIMITIVES_EMITTED 0x82F3 -#define GL_FRAGMENT_SHADER_INVOCATIONS 0x82F4 -#define GL_COMPUTE_SHADER_INVOCATIONS 0x82F5 -#define GL_CLIPPING_INPUT_PRIMITIVES 0x82F6 -#define GL_CLIPPING_OUTPUT_PRIMITIVES 0x82F7 -#define GL_POLYGON_OFFSET_CLAMP 0x8E1B -#define GL_SPIR_V_EXTENSIONS 0x9553 -#define GL_NUM_SPIR_V_EXTENSIONS 0x9554 -#define GL_TEXTURE_MAX_ANISOTROPY 0x84FE -#define GL_MAX_TEXTURE_MAX_ANISOTROPY 0x84FF -#define GL_TRANSFORM_FEEDBACK_OVERFLOW 0x82EC -#define GL_TRANSFORM_FEEDBACK_STREAM_OVERFLOW 0x82ED -typedef void (APIENTRYP PFNGLSPECIALIZESHADERPROC) (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTCOUNTPROC) (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTPROC) (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -typedef void (APIENTRYP PFNGLPOLYGONOFFSETCLAMPPROC) (GLfloat factor, GLfloat units, GLfloat clamp); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSpecializeShader (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); -GLAPI void APIENTRY glMultiDrawArraysIndirectCount (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -GLAPI void APIENTRY glMultiDrawElementsIndirectCount (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -GLAPI void APIENTRY glPolygonOffsetClamp (GLfloat factor, GLfloat units, GLfloat clamp); -#endif -#endif /* GL_VERSION_4_6 */ - -#ifndef GL_ARB_ES2_compatibility -#define GL_ARB_ES2_compatibility 1 -#endif /* GL_ARB_ES2_compatibility */ - -#ifndef GL_ARB_ES3_1_compatibility -#define GL_ARB_ES3_1_compatibility 1 -#endif /* GL_ARB_ES3_1_compatibility */ - -#ifndef GL_ARB_ES3_2_compatibility -#define GL_ARB_ES3_2_compatibility 1 -#define GL_PRIMITIVE_BOUNDING_BOX_ARB 0x92BE -#define GL_MULTISAMPLE_LINE_WIDTH_RANGE_ARB 0x9381 -#define GL_MULTISAMPLE_LINE_WIDTH_GRANULARITY_ARB 0x9382 -typedef void (APIENTRYP PFNGLPRIMITIVEBOUNDINGBOXARBPROC) (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPrimitiveBoundingBoxARB (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); -#endif -#endif /* GL_ARB_ES3_2_compatibility */ - -#ifndef GL_ARB_ES3_compatibility -#define GL_ARB_ES3_compatibility 1 -#endif /* GL_ARB_ES3_compatibility */ - -#ifndef GL_ARB_arrays_of_arrays -#define GL_ARB_arrays_of_arrays 1 -#endif /* GL_ARB_arrays_of_arrays */ - -#ifndef GL_ARB_base_instance -#define GL_ARB_base_instance 1 -#endif /* GL_ARB_base_instance */ - -#ifndef GL_ARB_bindless_texture -#define GL_ARB_bindless_texture 1 -typedef khronos_uint64_t GLuint64EXT; -#define GL_UNSIGNED_INT64_ARB 0x140F -typedef GLuint64 (APIENTRYP PFNGLGETTEXTUREHANDLEARBPROC) (GLuint texture); -typedef GLuint64 (APIENTRYP PFNGLGETTEXTURESAMPLERHANDLEARBPROC) (GLuint texture, GLuint sampler); -typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLERESIDENTARBPROC) (GLuint64 handle); -typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLENONRESIDENTARBPROC) (GLuint64 handle); -typedef GLuint64 (APIENTRYP PFNGLGETIMAGEHANDLEARBPROC) (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); -typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLERESIDENTARBPROC) (GLuint64 handle, GLenum access); -typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLENONRESIDENTARBPROC) (GLuint64 handle); -typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64ARBPROC) (GLint location, GLuint64 value); -typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64ARBPROC) (GLuint program, GLint location, GLuint64 value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -typedef GLboolean (APIENTRYP PFNGLISTEXTUREHANDLERESIDENTARBPROC) (GLuint64 handle); -typedef GLboolean (APIENTRYP PFNGLISIMAGEHANDLERESIDENTARBPROC) (GLuint64 handle); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64ARBPROC) (GLuint index, GLuint64EXT x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64VARBPROC) (GLuint index, const GLuint64EXT *v); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLUI64VARBPROC) (GLuint index, GLenum pname, GLuint64EXT *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLuint64 APIENTRY glGetTextureHandleARB (GLuint texture); -GLAPI GLuint64 APIENTRY glGetTextureSamplerHandleARB (GLuint texture, GLuint sampler); -GLAPI void APIENTRY glMakeTextureHandleResidentARB (GLuint64 handle); -GLAPI void APIENTRY glMakeTextureHandleNonResidentARB (GLuint64 handle); -GLAPI GLuint64 APIENTRY glGetImageHandleARB (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); -GLAPI void APIENTRY glMakeImageHandleResidentARB (GLuint64 handle, GLenum access); -GLAPI void APIENTRY glMakeImageHandleNonResidentARB (GLuint64 handle); -GLAPI void APIENTRY glUniformHandleui64ARB (GLint location, GLuint64 value); -GLAPI void APIENTRY glUniformHandleui64vARB (GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glProgramUniformHandleui64ARB (GLuint program, GLint location, GLuint64 value); -GLAPI void APIENTRY glProgramUniformHandleui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -GLAPI GLboolean APIENTRY glIsTextureHandleResidentARB (GLuint64 handle); -GLAPI GLboolean APIENTRY glIsImageHandleResidentARB (GLuint64 handle); -GLAPI void APIENTRY glVertexAttribL1ui64ARB (GLuint index, GLuint64EXT x); -GLAPI void APIENTRY glVertexAttribL1ui64vARB (GLuint index, const GLuint64EXT *v); -GLAPI void APIENTRY glGetVertexAttribLui64vARB (GLuint index, GLenum pname, GLuint64EXT *params); -#endif -#endif /* GL_ARB_bindless_texture */ - -#ifndef GL_ARB_blend_func_extended -#define GL_ARB_blend_func_extended 1 -#endif /* GL_ARB_blend_func_extended */ - -#ifndef GL_ARB_buffer_storage -#define GL_ARB_buffer_storage 1 -#endif /* GL_ARB_buffer_storage */ - -#ifndef GL_ARB_cl_event -#define GL_ARB_cl_event 1 -struct _cl_context; -struct _cl_event; -#define GL_SYNC_CL_EVENT_ARB 0x8240 -#define GL_SYNC_CL_EVENT_COMPLETE_ARB 0x8241 -typedef GLsync (APIENTRYP PFNGLCREATESYNCFROMCLEVENTARBPROC) (struct _cl_context *context, struct _cl_event *event, GLbitfield flags); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLsync APIENTRY glCreateSyncFromCLeventARB (struct _cl_context *context, struct _cl_event *event, GLbitfield flags); -#endif -#endif /* GL_ARB_cl_event */ - -#ifndef GL_ARB_clear_buffer_object -#define GL_ARB_clear_buffer_object 1 -#endif /* GL_ARB_clear_buffer_object */ - -#ifndef GL_ARB_clear_texture -#define GL_ARB_clear_texture 1 -#endif /* GL_ARB_clear_texture */ - -#ifndef GL_ARB_clip_control -#define GL_ARB_clip_control 1 -#endif /* GL_ARB_clip_control */ - -#ifndef GL_ARB_color_buffer_float -#define GL_ARB_color_buffer_float 1 -#define GL_RGBA_FLOAT_MODE_ARB 0x8820 -#define GL_CLAMP_VERTEX_COLOR_ARB 0x891A -#define GL_CLAMP_FRAGMENT_COLOR_ARB 0x891B -#define GL_CLAMP_READ_COLOR_ARB 0x891C -#define GL_FIXED_ONLY_ARB 0x891D -typedef void (APIENTRYP PFNGLCLAMPCOLORARBPROC) (GLenum target, GLenum clamp); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glClampColorARB (GLenum target, GLenum clamp); -#endif -#endif /* GL_ARB_color_buffer_float */ - -#ifndef GL_ARB_compatibility -#define GL_ARB_compatibility 1 -#endif /* GL_ARB_compatibility */ - -#ifndef GL_ARB_compressed_texture_pixel_storage -#define GL_ARB_compressed_texture_pixel_storage 1 -#endif /* GL_ARB_compressed_texture_pixel_storage */ - -#ifndef GL_ARB_compute_shader -#define GL_ARB_compute_shader 1 -#endif /* GL_ARB_compute_shader */ - -#ifndef GL_ARB_compute_variable_group_size -#define GL_ARB_compute_variable_group_size 1 -#define GL_MAX_COMPUTE_VARIABLE_GROUP_INVOCATIONS_ARB 0x9344 -#define GL_MAX_COMPUTE_FIXED_GROUP_INVOCATIONS_ARB 0x90EB -#define GL_MAX_COMPUTE_VARIABLE_GROUP_SIZE_ARB 0x9345 -#define GL_MAX_COMPUTE_FIXED_GROUP_SIZE_ARB 0x91BF -typedef void (APIENTRYP PFNGLDISPATCHCOMPUTEGROUPSIZEARBPROC) (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z, GLuint group_size_x, GLuint group_size_y, GLuint group_size_z); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDispatchComputeGroupSizeARB (GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z, GLuint group_size_x, GLuint group_size_y, GLuint group_size_z); -#endif -#endif /* GL_ARB_compute_variable_group_size */ - -#ifndef GL_ARB_conditional_render_inverted -#define GL_ARB_conditional_render_inverted 1 -#endif /* GL_ARB_conditional_render_inverted */ - -#ifndef GL_ARB_conservative_depth -#define GL_ARB_conservative_depth 1 -#endif /* GL_ARB_conservative_depth */ - -#ifndef GL_ARB_copy_buffer -#define GL_ARB_copy_buffer 1 -#endif /* GL_ARB_copy_buffer */ - -#ifndef GL_ARB_copy_image -#define GL_ARB_copy_image 1 -#endif /* GL_ARB_copy_image */ - -#ifndef GL_ARB_cull_distance -#define GL_ARB_cull_distance 1 -#endif /* GL_ARB_cull_distance */ - -#ifndef GL_ARB_debug_output -#define GL_ARB_debug_output 1 -typedef void (APIENTRY *GLDEBUGPROCARB)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam); -#define GL_DEBUG_OUTPUT_SYNCHRONOUS_ARB 0x8242 -#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH_ARB 0x8243 -#define GL_DEBUG_CALLBACK_FUNCTION_ARB 0x8244 -#define GL_DEBUG_CALLBACK_USER_PARAM_ARB 0x8245 -#define GL_DEBUG_SOURCE_API_ARB 0x8246 -#define GL_DEBUG_SOURCE_WINDOW_SYSTEM_ARB 0x8247 -#define GL_DEBUG_SOURCE_SHADER_COMPILER_ARB 0x8248 -#define GL_DEBUG_SOURCE_THIRD_PARTY_ARB 0x8249 -#define GL_DEBUG_SOURCE_APPLICATION_ARB 0x824A -#define GL_DEBUG_SOURCE_OTHER_ARB 0x824B -#define GL_DEBUG_TYPE_ERROR_ARB 0x824C -#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR_ARB 0x824D -#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR_ARB 0x824E -#define GL_DEBUG_TYPE_PORTABILITY_ARB 0x824F -#define GL_DEBUG_TYPE_PERFORMANCE_ARB 0x8250 -#define GL_DEBUG_TYPE_OTHER_ARB 0x8251 -#define GL_MAX_DEBUG_MESSAGE_LENGTH_ARB 0x9143 -#define GL_MAX_DEBUG_LOGGED_MESSAGES_ARB 0x9144 -#define GL_DEBUG_LOGGED_MESSAGES_ARB 0x9145 -#define GL_DEBUG_SEVERITY_HIGH_ARB 0x9146 -#define GL_DEBUG_SEVERITY_MEDIUM_ARB 0x9147 -#define GL_DEBUG_SEVERITY_LOW_ARB 0x9148 -typedef void (APIENTRYP PFNGLDEBUGMESSAGECONTROLARBPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTARBPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); -typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKARBPROC) (GLDEBUGPROCARB callback, const void *userParam); -typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGARBPROC) (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDebugMessageControlARB (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -GLAPI void APIENTRY glDebugMessageInsertARB (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); -GLAPI void APIENTRY glDebugMessageCallbackARB (GLDEBUGPROCARB callback, const void *userParam); -GLAPI GLuint APIENTRY glGetDebugMessageLogARB (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); -#endif -#endif /* GL_ARB_debug_output */ - -#ifndef GL_ARB_depth_buffer_float -#define GL_ARB_depth_buffer_float 1 -#endif /* GL_ARB_depth_buffer_float */ - -#ifndef GL_ARB_depth_clamp -#define GL_ARB_depth_clamp 1 -#endif /* GL_ARB_depth_clamp */ - -#ifndef GL_ARB_depth_texture -#define GL_ARB_depth_texture 1 -#define GL_DEPTH_COMPONENT16_ARB 0x81A5 -#define GL_DEPTH_COMPONENT24_ARB 0x81A6 -#define GL_DEPTH_COMPONENT32_ARB 0x81A7 -#define GL_TEXTURE_DEPTH_SIZE_ARB 0x884A -#define GL_DEPTH_TEXTURE_MODE_ARB 0x884B -#endif /* GL_ARB_depth_texture */ - -#ifndef GL_ARB_derivative_control -#define GL_ARB_derivative_control 1 -#endif /* GL_ARB_derivative_control */ - -#ifndef GL_ARB_direct_state_access -#define GL_ARB_direct_state_access 1 -#endif /* GL_ARB_direct_state_access */ - -#ifndef GL_ARB_draw_buffers -#define GL_ARB_draw_buffers 1 -#define GL_MAX_DRAW_BUFFERS_ARB 0x8824 -#define GL_DRAW_BUFFER0_ARB 0x8825 -#define GL_DRAW_BUFFER1_ARB 0x8826 -#define GL_DRAW_BUFFER2_ARB 0x8827 -#define GL_DRAW_BUFFER3_ARB 0x8828 -#define GL_DRAW_BUFFER4_ARB 0x8829 -#define GL_DRAW_BUFFER5_ARB 0x882A -#define GL_DRAW_BUFFER6_ARB 0x882B -#define GL_DRAW_BUFFER7_ARB 0x882C -#define GL_DRAW_BUFFER8_ARB 0x882D -#define GL_DRAW_BUFFER9_ARB 0x882E -#define GL_DRAW_BUFFER10_ARB 0x882F -#define GL_DRAW_BUFFER11_ARB 0x8830 -#define GL_DRAW_BUFFER12_ARB 0x8831 -#define GL_DRAW_BUFFER13_ARB 0x8832 -#define GL_DRAW_BUFFER14_ARB 0x8833 -#define GL_DRAW_BUFFER15_ARB 0x8834 -typedef void (APIENTRYP PFNGLDRAWBUFFERSARBPROC) (GLsizei n, const GLenum *bufs); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawBuffersARB (GLsizei n, const GLenum *bufs); -#endif -#endif /* GL_ARB_draw_buffers */ - -#ifndef GL_ARB_draw_buffers_blend -#define GL_ARB_draw_buffers_blend 1 -typedef void (APIENTRYP PFNGLBLENDEQUATIONIARBPROC) (GLuint buf, GLenum mode); -typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEIARBPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -typedef void (APIENTRYP PFNGLBLENDFUNCIARBPROC) (GLuint buf, GLenum src, GLenum dst); -typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEIARBPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendEquationiARB (GLuint buf, GLenum mode); -GLAPI void APIENTRY glBlendEquationSeparateiARB (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -GLAPI void APIENTRY glBlendFunciARB (GLuint buf, GLenum src, GLenum dst); -GLAPI void APIENTRY glBlendFuncSeparateiARB (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -#endif -#endif /* GL_ARB_draw_buffers_blend */ - -#ifndef GL_ARB_draw_elements_base_vertex -#define GL_ARB_draw_elements_base_vertex 1 -#endif /* GL_ARB_draw_elements_base_vertex */ - -#ifndef GL_ARB_draw_indirect -#define GL_ARB_draw_indirect 1 -#endif /* GL_ARB_draw_indirect */ - -#ifndef GL_ARB_draw_instanced -#define GL_ARB_draw_instanced 1 -typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDARBPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDARBPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawArraysInstancedARB (GLenum mode, GLint first, GLsizei count, GLsizei primcount); -GLAPI void APIENTRY glDrawElementsInstancedARB (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#endif -#endif /* GL_ARB_draw_instanced */ - -#ifndef GL_ARB_enhanced_layouts -#define GL_ARB_enhanced_layouts 1 -#endif /* GL_ARB_enhanced_layouts */ - -#ifndef GL_ARB_explicit_attrib_location -#define GL_ARB_explicit_attrib_location 1 -#endif /* GL_ARB_explicit_attrib_location */ - -#ifndef GL_ARB_explicit_uniform_location -#define GL_ARB_explicit_uniform_location 1 -#endif /* GL_ARB_explicit_uniform_location */ - -#ifndef GL_ARB_fragment_coord_conventions -#define GL_ARB_fragment_coord_conventions 1 -#endif /* GL_ARB_fragment_coord_conventions */ - -#ifndef GL_ARB_fragment_layer_viewport -#define GL_ARB_fragment_layer_viewport 1 -#endif /* GL_ARB_fragment_layer_viewport */ - -#ifndef GL_ARB_fragment_program -#define GL_ARB_fragment_program 1 -#define GL_FRAGMENT_PROGRAM_ARB 0x8804 -#define GL_PROGRAM_FORMAT_ASCII_ARB 0x8875 -#define GL_PROGRAM_LENGTH_ARB 0x8627 -#define GL_PROGRAM_FORMAT_ARB 0x8876 -#define GL_PROGRAM_BINDING_ARB 0x8677 -#define GL_PROGRAM_INSTRUCTIONS_ARB 0x88A0 -#define GL_MAX_PROGRAM_INSTRUCTIONS_ARB 0x88A1 -#define GL_PROGRAM_NATIVE_INSTRUCTIONS_ARB 0x88A2 -#define GL_MAX_PROGRAM_NATIVE_INSTRUCTIONS_ARB 0x88A3 -#define GL_PROGRAM_TEMPORARIES_ARB 0x88A4 -#define GL_MAX_PROGRAM_TEMPORARIES_ARB 0x88A5 -#define GL_PROGRAM_NATIVE_TEMPORARIES_ARB 0x88A6 -#define GL_MAX_PROGRAM_NATIVE_TEMPORARIES_ARB 0x88A7 -#define GL_PROGRAM_PARAMETERS_ARB 0x88A8 -#define GL_MAX_PROGRAM_PARAMETERS_ARB 0x88A9 -#define GL_PROGRAM_NATIVE_PARAMETERS_ARB 0x88AA -#define GL_MAX_PROGRAM_NATIVE_PARAMETERS_ARB 0x88AB -#define GL_PROGRAM_ATTRIBS_ARB 0x88AC -#define GL_MAX_PROGRAM_ATTRIBS_ARB 0x88AD -#define GL_PROGRAM_NATIVE_ATTRIBS_ARB 0x88AE -#define GL_MAX_PROGRAM_NATIVE_ATTRIBS_ARB 0x88AF -#define GL_MAX_PROGRAM_LOCAL_PARAMETERS_ARB 0x88B4 -#define GL_MAX_PROGRAM_ENV_PARAMETERS_ARB 0x88B5 -#define GL_PROGRAM_UNDER_NATIVE_LIMITS_ARB 0x88B6 -#define GL_PROGRAM_ALU_INSTRUCTIONS_ARB 0x8805 -#define GL_PROGRAM_TEX_INSTRUCTIONS_ARB 0x8806 -#define GL_PROGRAM_TEX_INDIRECTIONS_ARB 0x8807 -#define GL_PROGRAM_NATIVE_ALU_INSTRUCTIONS_ARB 0x8808 -#define GL_PROGRAM_NATIVE_TEX_INSTRUCTIONS_ARB 0x8809 -#define GL_PROGRAM_NATIVE_TEX_INDIRECTIONS_ARB 0x880A -#define GL_MAX_PROGRAM_ALU_INSTRUCTIONS_ARB 0x880B -#define GL_MAX_PROGRAM_TEX_INSTRUCTIONS_ARB 0x880C -#define GL_MAX_PROGRAM_TEX_INDIRECTIONS_ARB 0x880D -#define GL_MAX_PROGRAM_NATIVE_ALU_INSTRUCTIONS_ARB 0x880E -#define GL_MAX_PROGRAM_NATIVE_TEX_INSTRUCTIONS_ARB 0x880F -#define GL_MAX_PROGRAM_NATIVE_TEX_INDIRECTIONS_ARB 0x8810 -#define GL_PROGRAM_STRING_ARB 0x8628 -#define GL_PROGRAM_ERROR_POSITION_ARB 0x864B -#define GL_CURRENT_MATRIX_ARB 0x8641 -#define GL_TRANSPOSE_CURRENT_MATRIX_ARB 0x88B7 -#define GL_CURRENT_MATRIX_STACK_DEPTH_ARB 0x8640 -#define GL_MAX_PROGRAM_MATRICES_ARB 0x862F -#define GL_MAX_PROGRAM_MATRIX_STACK_DEPTH_ARB 0x862E -#define GL_MAX_TEXTURE_COORDS_ARB 0x8871 -#define GL_MAX_TEXTURE_IMAGE_UNITS_ARB 0x8872 -#define GL_PROGRAM_ERROR_STRING_ARB 0x8874 -#define GL_MATRIX0_ARB 0x88C0 -#define GL_MATRIX1_ARB 0x88C1 -#define GL_MATRIX2_ARB 0x88C2 -#define GL_MATRIX3_ARB 0x88C3 -#define GL_MATRIX4_ARB 0x88C4 -#define GL_MATRIX5_ARB 0x88C5 -#define GL_MATRIX6_ARB 0x88C6 -#define GL_MATRIX7_ARB 0x88C7 -#define GL_MATRIX8_ARB 0x88C8 -#define GL_MATRIX9_ARB 0x88C9 -#define GL_MATRIX10_ARB 0x88CA -#define GL_MATRIX11_ARB 0x88CB -#define GL_MATRIX12_ARB 0x88CC -#define GL_MATRIX13_ARB 0x88CD -#define GL_MATRIX14_ARB 0x88CE -#define GL_MATRIX15_ARB 0x88CF -#define GL_MATRIX16_ARB 0x88D0 -#define GL_MATRIX17_ARB 0x88D1 -#define GL_MATRIX18_ARB 0x88D2 -#define GL_MATRIX19_ARB 0x88D3 -#define GL_MATRIX20_ARB 0x88D4 -#define GL_MATRIX21_ARB 0x88D5 -#define GL_MATRIX22_ARB 0x88D6 -#define GL_MATRIX23_ARB 0x88D7 -#define GL_MATRIX24_ARB 0x88D8 -#define GL_MATRIX25_ARB 0x88D9 -#define GL_MATRIX26_ARB 0x88DA -#define GL_MATRIX27_ARB 0x88DB -#define GL_MATRIX28_ARB 0x88DC -#define GL_MATRIX29_ARB 0x88DD -#define GL_MATRIX30_ARB 0x88DE -#define GL_MATRIX31_ARB 0x88DF -typedef void (APIENTRYP PFNGLPROGRAMSTRINGARBPROC) (GLenum target, GLenum format, GLsizei len, const void *string); -typedef void (APIENTRYP PFNGLBINDPROGRAMARBPROC) (GLenum target, GLuint program); -typedef void (APIENTRYP PFNGLDELETEPROGRAMSARBPROC) (GLsizei n, const GLuint *programs); -typedef void (APIENTRYP PFNGLGENPROGRAMSARBPROC) (GLsizei n, GLuint *programs); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4DARBPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4DVARBPROC) (GLenum target, GLuint index, const GLdouble *params); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4FARBPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETER4FVARBPROC) (GLenum target, GLuint index, const GLfloat *params); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4DARBPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4DVARBPROC) (GLenum target, GLuint index, const GLdouble *params); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4FARBPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETER4FVARBPROC) (GLenum target, GLuint index, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERDVARBPROC) (GLenum target, GLuint index, GLdouble *params); -typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERFVARBPROC) (GLenum target, GLuint index, GLfloat *params); -typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERDVARBPROC) (GLenum target, GLuint index, GLdouble *params); -typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERFVARBPROC) (GLenum target, GLuint index, GLfloat *params); -typedef void (APIENTRYP PFNGLGETPROGRAMIVARBPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMSTRINGARBPROC) (GLenum target, GLenum pname, void *string); -typedef GLboolean (APIENTRYP PFNGLISPROGRAMARBPROC) (GLuint program); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramStringARB (GLenum target, GLenum format, GLsizei len, const void *string); -GLAPI void APIENTRY glBindProgramARB (GLenum target, GLuint program); -GLAPI void APIENTRY glDeleteProgramsARB (GLsizei n, const GLuint *programs); -GLAPI void APIENTRY glGenProgramsARB (GLsizei n, GLuint *programs); -GLAPI void APIENTRY glProgramEnvParameter4dARB (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glProgramEnvParameter4dvARB (GLenum target, GLuint index, const GLdouble *params); -GLAPI void APIENTRY glProgramEnvParameter4fARB (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glProgramEnvParameter4fvARB (GLenum target, GLuint index, const GLfloat *params); -GLAPI void APIENTRY glProgramLocalParameter4dARB (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glProgramLocalParameter4dvARB (GLenum target, GLuint index, const GLdouble *params); -GLAPI void APIENTRY glProgramLocalParameter4fARB (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glProgramLocalParameter4fvARB (GLenum target, GLuint index, const GLfloat *params); -GLAPI void APIENTRY glGetProgramEnvParameterdvARB (GLenum target, GLuint index, GLdouble *params); -GLAPI void APIENTRY glGetProgramEnvParameterfvARB (GLenum target, GLuint index, GLfloat *params); -GLAPI void APIENTRY glGetProgramLocalParameterdvARB (GLenum target, GLuint index, GLdouble *params); -GLAPI void APIENTRY glGetProgramLocalParameterfvARB (GLenum target, GLuint index, GLfloat *params); -GLAPI void APIENTRY glGetProgramivARB (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetProgramStringARB (GLenum target, GLenum pname, void *string); -GLAPI GLboolean APIENTRY glIsProgramARB (GLuint program); -#endif -#endif /* GL_ARB_fragment_program */ - -#ifndef GL_ARB_fragment_program_shadow -#define GL_ARB_fragment_program_shadow 1 -#endif /* GL_ARB_fragment_program_shadow */ - -#ifndef GL_ARB_fragment_shader -#define GL_ARB_fragment_shader 1 -#define GL_FRAGMENT_SHADER_ARB 0x8B30 -#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS_ARB 0x8B49 -#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT_ARB 0x8B8B -#endif /* GL_ARB_fragment_shader */ - -#ifndef GL_ARB_fragment_shader_interlock -#define GL_ARB_fragment_shader_interlock 1 -#endif /* GL_ARB_fragment_shader_interlock */ - -#ifndef GL_ARB_framebuffer_no_attachments -#define GL_ARB_framebuffer_no_attachments 1 -#endif /* GL_ARB_framebuffer_no_attachments */ - -#ifndef GL_ARB_framebuffer_object -#define GL_ARB_framebuffer_object 1 -#endif /* GL_ARB_framebuffer_object */ - -#ifndef GL_ARB_framebuffer_sRGB -#define GL_ARB_framebuffer_sRGB 1 -#endif /* GL_ARB_framebuffer_sRGB */ - -#ifndef GL_ARB_geometry_shader4 -#define GL_ARB_geometry_shader4 1 -#define GL_LINES_ADJACENCY_ARB 0x000A -#define GL_LINE_STRIP_ADJACENCY_ARB 0x000B -#define GL_TRIANGLES_ADJACENCY_ARB 0x000C -#define GL_TRIANGLE_STRIP_ADJACENCY_ARB 0x000D -#define GL_PROGRAM_POINT_SIZE_ARB 0x8642 -#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_ARB 0x8C29 -#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_ARB 0x8DA7 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_ARB 0x8DA8 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_COUNT_ARB 0x8DA9 -#define GL_GEOMETRY_SHADER_ARB 0x8DD9 -#define GL_GEOMETRY_VERTICES_OUT_ARB 0x8DDA -#define GL_GEOMETRY_INPUT_TYPE_ARB 0x8DDB -#define GL_GEOMETRY_OUTPUT_TYPE_ARB 0x8DDC -#define GL_MAX_GEOMETRY_VARYING_COMPONENTS_ARB 0x8DDD -#define GL_MAX_VERTEX_VARYING_COMPONENTS_ARB 0x8DDE -#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_ARB 0x8DDF -#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_ARB 0x8DE0 -#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_ARB 0x8DE1 -typedef void (APIENTRYP PFNGLPROGRAMPARAMETERIARBPROC) (GLuint program, GLenum pname, GLint value); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREFACEARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramParameteriARB (GLuint program, GLenum pname, GLint value); -GLAPI void APIENTRY glFramebufferTextureARB (GLenum target, GLenum attachment, GLuint texture, GLint level); -GLAPI void APIENTRY glFramebufferTextureLayerARB (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); -GLAPI void APIENTRY glFramebufferTextureFaceARB (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); -#endif -#endif /* GL_ARB_geometry_shader4 */ - -#ifndef GL_ARB_get_program_binary -#define GL_ARB_get_program_binary 1 -#endif /* GL_ARB_get_program_binary */ - -#ifndef GL_ARB_get_texture_sub_image -#define GL_ARB_get_texture_sub_image 1 -#endif /* GL_ARB_get_texture_sub_image */ - -#ifndef GL_ARB_gl_spirv -#define GL_ARB_gl_spirv 1 -#define GL_SHADER_BINARY_FORMAT_SPIR_V_ARB 0x9551 -#define GL_SPIR_V_BINARY_ARB 0x9552 -typedef void (APIENTRYP PFNGLSPECIALIZESHADERARBPROC) (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSpecializeShaderARB (GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); -#endif -#endif /* GL_ARB_gl_spirv */ - -#ifndef GL_ARB_gpu_shader5 -#define GL_ARB_gpu_shader5 1 -#endif /* GL_ARB_gpu_shader5 */ - -#ifndef GL_ARB_gpu_shader_fp64 -#define GL_ARB_gpu_shader_fp64 1 -#endif /* GL_ARB_gpu_shader_fp64 */ - -#ifndef GL_ARB_gpu_shader_int64 -#define GL_ARB_gpu_shader_int64 1 -#define GL_INT64_ARB 0x140E -#define GL_INT64_VEC2_ARB 0x8FE9 -#define GL_INT64_VEC3_ARB 0x8FEA -#define GL_INT64_VEC4_ARB 0x8FEB -#define GL_UNSIGNED_INT64_VEC2_ARB 0x8FF5 -#define GL_UNSIGNED_INT64_VEC3_ARB 0x8FF6 -#define GL_UNSIGNED_INT64_VEC4_ARB 0x8FF7 -typedef void (APIENTRYP PFNGLUNIFORM1I64ARBPROC) (GLint location, GLint64 x); -typedef void (APIENTRYP PFNGLUNIFORM2I64ARBPROC) (GLint location, GLint64 x, GLint64 y); -typedef void (APIENTRYP PFNGLUNIFORM3I64ARBPROC) (GLint location, GLint64 x, GLint64 y, GLint64 z); -typedef void (APIENTRYP PFNGLUNIFORM4I64ARBPROC) (GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); -typedef void (APIENTRYP PFNGLUNIFORM1I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM2I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM3I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM4I64VARBPROC) (GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM1UI64ARBPROC) (GLint location, GLuint64 x); -typedef void (APIENTRYP PFNGLUNIFORM2UI64ARBPROC) (GLint location, GLuint64 x, GLuint64 y); -typedef void (APIENTRYP PFNGLUNIFORM3UI64ARBPROC) (GLint location, GLuint64 x, GLuint64 y, GLuint64 z); -typedef void (APIENTRYP PFNGLUNIFORM4UI64ARBPROC) (GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); -typedef void (APIENTRYP PFNGLUNIFORM1UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM2UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM3UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLUNIFORM4UI64VARBPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLGETUNIFORMI64VARBPROC) (GLuint program, GLint location, GLint64 *params); -typedef void (APIENTRYP PFNGLGETUNIFORMUI64VARBPROC) (GLuint program, GLint location, GLuint64 *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMI64VARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLint64 *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMUI64VARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint64 *params); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64ARBPROC) (GLuint program, GLint location, GLint64 x); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64ARBPROC) (GLuint program, GLint location, GLint64 x, GLint64 y); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64ARBPROC) (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64ARBPROC) (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64ARBPROC) (GLuint program, GLint location, GLuint64 x); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64ARBPROC) (GLuint program, GLint location, GLuint64 x, GLuint64 y); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64ARBPROC) (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64ARBPROC) (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64VARBPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glUniform1i64ARB (GLint location, GLint64 x); -GLAPI void APIENTRY glUniform2i64ARB (GLint location, GLint64 x, GLint64 y); -GLAPI void APIENTRY glUniform3i64ARB (GLint location, GLint64 x, GLint64 y, GLint64 z); -GLAPI void APIENTRY glUniform4i64ARB (GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); -GLAPI void APIENTRY glUniform1i64vARB (GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glUniform2i64vARB (GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glUniform3i64vARB (GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glUniform4i64vARB (GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glUniform1ui64ARB (GLint location, GLuint64 x); -GLAPI void APIENTRY glUniform2ui64ARB (GLint location, GLuint64 x, GLuint64 y); -GLAPI void APIENTRY glUniform3ui64ARB (GLint location, GLuint64 x, GLuint64 y, GLuint64 z); -GLAPI void APIENTRY glUniform4ui64ARB (GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); -GLAPI void APIENTRY glUniform1ui64vARB (GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glUniform2ui64vARB (GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glUniform3ui64vARB (GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glUniform4ui64vARB (GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glGetUniformi64vARB (GLuint program, GLint location, GLint64 *params); -GLAPI void APIENTRY glGetUniformui64vARB (GLuint program, GLint location, GLuint64 *params); -GLAPI void APIENTRY glGetnUniformi64vARB (GLuint program, GLint location, GLsizei bufSize, GLint64 *params); -GLAPI void APIENTRY glGetnUniformui64vARB (GLuint program, GLint location, GLsizei bufSize, GLuint64 *params); -GLAPI void APIENTRY glProgramUniform1i64ARB (GLuint program, GLint location, GLint64 x); -GLAPI void APIENTRY glProgramUniform2i64ARB (GLuint program, GLint location, GLint64 x, GLint64 y); -GLAPI void APIENTRY glProgramUniform3i64ARB (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z); -GLAPI void APIENTRY glProgramUniform4i64ARB (GLuint program, GLint location, GLint64 x, GLint64 y, GLint64 z, GLint64 w); -GLAPI void APIENTRY glProgramUniform1i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glProgramUniform2i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glProgramUniform3i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glProgramUniform4i64vARB (GLuint program, GLint location, GLsizei count, const GLint64 *value); -GLAPI void APIENTRY glProgramUniform1ui64ARB (GLuint program, GLint location, GLuint64 x); -GLAPI void APIENTRY glProgramUniform2ui64ARB (GLuint program, GLint location, GLuint64 x, GLuint64 y); -GLAPI void APIENTRY glProgramUniform3ui64ARB (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z); -GLAPI void APIENTRY glProgramUniform4ui64ARB (GLuint program, GLint location, GLuint64 x, GLuint64 y, GLuint64 z, GLuint64 w); -GLAPI void APIENTRY glProgramUniform1ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glProgramUniform2ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glProgramUniform3ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glProgramUniform4ui64vARB (GLuint program, GLint location, GLsizei count, const GLuint64 *value); -#endif -#endif /* GL_ARB_gpu_shader_int64 */ - -#ifndef GL_ARB_half_float_pixel -#define GL_ARB_half_float_pixel 1 -typedef khronos_uint16_t GLhalfARB; -#define GL_HALF_FLOAT_ARB 0x140B -#endif /* GL_ARB_half_float_pixel */ - -#ifndef GL_ARB_half_float_vertex -#define GL_ARB_half_float_vertex 1 -#endif /* GL_ARB_half_float_vertex */ - -#ifndef GL_ARB_imaging -#define GL_ARB_imaging 1 -#define GL_CONVOLUTION_BORDER_MODE 0x8013 -#define GL_CONVOLUTION_FILTER_SCALE 0x8014 -#define GL_CONVOLUTION_FILTER_BIAS 0x8015 -#define GL_REDUCE 0x8016 -#define GL_CONVOLUTION_FORMAT 0x8017 -#define GL_CONVOLUTION_WIDTH 0x8018 -#define GL_CONVOLUTION_HEIGHT 0x8019 -#define GL_MAX_CONVOLUTION_WIDTH 0x801A -#define GL_MAX_CONVOLUTION_HEIGHT 0x801B -#define GL_POST_CONVOLUTION_RED_SCALE 0x801C -#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D -#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E -#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F -#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 -#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 -#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 -#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 -#define GL_HISTOGRAM_WIDTH 0x8026 -#define GL_HISTOGRAM_FORMAT 0x8027 -#define GL_HISTOGRAM_RED_SIZE 0x8028 -#define GL_HISTOGRAM_GREEN_SIZE 0x8029 -#define GL_HISTOGRAM_BLUE_SIZE 0x802A -#define GL_HISTOGRAM_ALPHA_SIZE 0x802B -#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C -#define GL_HISTOGRAM_SINK 0x802D -#define GL_MINMAX_FORMAT 0x802F -#define GL_MINMAX_SINK 0x8030 -#define GL_TABLE_TOO_LARGE 0x8031 -#define GL_COLOR_MATRIX 0x80B1 -#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 -#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 -#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 -#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 -#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 -#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 -#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 -#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 -#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA -#define GL_POST_COLOR_MATRIX_ALPHA_BIAS 0x80BB -#define GL_COLOR_TABLE_SCALE 0x80D6 -#define GL_COLOR_TABLE_BIAS 0x80D7 -#define GL_COLOR_TABLE_FORMAT 0x80D8 -#define GL_COLOR_TABLE_WIDTH 0x80D9 -#define GL_COLOR_TABLE_RED_SIZE 0x80DA -#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB -#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC -#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD -#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE -#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF -#define GL_CONSTANT_BORDER 0x8151 -#define GL_REPLICATE_BORDER 0x8153 -#define GL_CONVOLUTION_BORDER_COLOR 0x8154 -typedef void (APIENTRYP PFNGLCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); -typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLCOPYCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPROC) (GLenum target, GLenum format, GLenum type, void *table); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLCOPYCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); -typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFPROC) (GLenum target, GLenum pname, GLfloat params); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIPROC) (GLenum target, GLenum pname, GLint params); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONFILTERPROC) (GLenum target, GLenum format, GLenum type, void *image); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETSEPARABLEFILTERPROC) (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); -typedef void (APIENTRYP PFNGLSEPARABLEFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); -typedef void (APIENTRYP PFNGLGETHISTOGRAMPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMINMAXPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLHISTOGRAMPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); -typedef void (APIENTRYP PFNGLMINMAXPROC) (GLenum target, GLenum internalformat, GLboolean sink); -typedef void (APIENTRYP PFNGLRESETHISTOGRAMPROC) (GLenum target); -typedef void (APIENTRYP PFNGLRESETMINMAXPROC) (GLenum target); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorTable (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); -GLAPI void APIENTRY glColorTableParameterfv (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glColorTableParameteriv (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glCopyColorTable (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glGetColorTable (GLenum target, GLenum format, GLenum type, void *table); -GLAPI void APIENTRY glGetColorTableParameterfv (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetColorTableParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glColorSubTable (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glCopyColorSubTable (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glConvolutionFilter1D (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); -GLAPI void APIENTRY glConvolutionFilter2D (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); -GLAPI void APIENTRY glConvolutionParameterf (GLenum target, GLenum pname, GLfloat params); -GLAPI void APIENTRY glConvolutionParameterfv (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glConvolutionParameteri (GLenum target, GLenum pname, GLint params); -GLAPI void APIENTRY glConvolutionParameteriv (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glCopyConvolutionFilter1D (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glCopyConvolutionFilter2D (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetConvolutionFilter (GLenum target, GLenum format, GLenum type, void *image); -GLAPI void APIENTRY glGetConvolutionParameterfv (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetConvolutionParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetSeparableFilter (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); -GLAPI void APIENTRY glSeparableFilter2D (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); -GLAPI void APIENTRY glGetHistogram (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -GLAPI void APIENTRY glGetHistogramParameterfv (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetHistogramParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMinmax (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -GLAPI void APIENTRY glGetMinmaxParameterfv (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMinmaxParameteriv (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glHistogram (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); -GLAPI void APIENTRY glMinmax (GLenum target, GLenum internalformat, GLboolean sink); -GLAPI void APIENTRY glResetHistogram (GLenum target); -GLAPI void APIENTRY glResetMinmax (GLenum target); -#endif -#endif /* GL_ARB_imaging */ - -#ifndef GL_ARB_indirect_parameters -#define GL_ARB_indirect_parameters 1 -#define GL_PARAMETER_BUFFER_ARB 0x80EE -#define GL_PARAMETER_BUFFER_BINDING_ARB 0x80EF -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTCOUNTARBPROC) (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTARBPROC) (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiDrawArraysIndirectCountARB (GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -GLAPI void APIENTRY glMultiDrawElementsIndirectCountARB (GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -#endif -#endif /* GL_ARB_indirect_parameters */ - -#ifndef GL_ARB_instanced_arrays -#define GL_ARB_instanced_arrays 1 -#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_ARB 0x88FE -typedef void (APIENTRYP PFNGLVERTEXATTRIBDIVISORARBPROC) (GLuint index, GLuint divisor); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexAttribDivisorARB (GLuint index, GLuint divisor); -#endif -#endif /* GL_ARB_instanced_arrays */ - -#ifndef GL_ARB_internalformat_query -#define GL_ARB_internalformat_query 1 -#endif /* GL_ARB_internalformat_query */ - -#ifndef GL_ARB_internalformat_query2 -#define GL_ARB_internalformat_query2 1 -#define GL_SRGB_DECODE_ARB 0x8299 -#define GL_VIEW_CLASS_EAC_R11 0x9383 -#define GL_VIEW_CLASS_EAC_RG11 0x9384 -#define GL_VIEW_CLASS_ETC2_RGB 0x9385 -#define GL_VIEW_CLASS_ETC2_RGBA 0x9386 -#define GL_VIEW_CLASS_ETC2_EAC_RGBA 0x9387 -#define GL_VIEW_CLASS_ASTC_4x4_RGBA 0x9388 -#define GL_VIEW_CLASS_ASTC_5x4_RGBA 0x9389 -#define GL_VIEW_CLASS_ASTC_5x5_RGBA 0x938A -#define GL_VIEW_CLASS_ASTC_6x5_RGBA 0x938B -#define GL_VIEW_CLASS_ASTC_6x6_RGBA 0x938C -#define GL_VIEW_CLASS_ASTC_8x5_RGBA 0x938D -#define GL_VIEW_CLASS_ASTC_8x6_RGBA 0x938E -#define GL_VIEW_CLASS_ASTC_8x8_RGBA 0x938F -#define GL_VIEW_CLASS_ASTC_10x5_RGBA 0x9390 -#define GL_VIEW_CLASS_ASTC_10x6_RGBA 0x9391 -#define GL_VIEW_CLASS_ASTC_10x8_RGBA 0x9392 -#define GL_VIEW_CLASS_ASTC_10x10_RGBA 0x9393 -#define GL_VIEW_CLASS_ASTC_12x10_RGBA 0x9394 -#define GL_VIEW_CLASS_ASTC_12x12_RGBA 0x9395 -#endif /* GL_ARB_internalformat_query2 */ - -#ifndef GL_ARB_invalidate_subdata -#define GL_ARB_invalidate_subdata 1 -#endif /* GL_ARB_invalidate_subdata */ - -#ifndef GL_ARB_map_buffer_alignment -#define GL_ARB_map_buffer_alignment 1 -#endif /* GL_ARB_map_buffer_alignment */ - -#ifndef GL_ARB_map_buffer_range -#define GL_ARB_map_buffer_range 1 -#endif /* GL_ARB_map_buffer_range */ - -#ifndef GL_ARB_matrix_palette -#define GL_ARB_matrix_palette 1 -#define GL_MATRIX_PALETTE_ARB 0x8840 -#define GL_MAX_MATRIX_PALETTE_STACK_DEPTH_ARB 0x8841 -#define GL_MAX_PALETTE_MATRICES_ARB 0x8842 -#define GL_CURRENT_PALETTE_MATRIX_ARB 0x8843 -#define GL_MATRIX_INDEX_ARRAY_ARB 0x8844 -#define GL_CURRENT_MATRIX_INDEX_ARB 0x8845 -#define GL_MATRIX_INDEX_ARRAY_SIZE_ARB 0x8846 -#define GL_MATRIX_INDEX_ARRAY_TYPE_ARB 0x8847 -#define GL_MATRIX_INDEX_ARRAY_STRIDE_ARB 0x8848 -#define GL_MATRIX_INDEX_ARRAY_POINTER_ARB 0x8849 -typedef void (APIENTRYP PFNGLCURRENTPALETTEMATRIXARBPROC) (GLint index); -typedef void (APIENTRYP PFNGLMATRIXINDEXUBVARBPROC) (GLint size, const GLubyte *indices); -typedef void (APIENTRYP PFNGLMATRIXINDEXUSVARBPROC) (GLint size, const GLushort *indices); -typedef void (APIENTRYP PFNGLMATRIXINDEXUIVARBPROC) (GLint size, const GLuint *indices); -typedef void (APIENTRYP PFNGLMATRIXINDEXPOINTERARBPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCurrentPaletteMatrixARB (GLint index); -GLAPI void APIENTRY glMatrixIndexubvARB (GLint size, const GLubyte *indices); -GLAPI void APIENTRY glMatrixIndexusvARB (GLint size, const GLushort *indices); -GLAPI void APIENTRY glMatrixIndexuivARB (GLint size, const GLuint *indices); -GLAPI void APIENTRY glMatrixIndexPointerARB (GLint size, GLenum type, GLsizei stride, const void *pointer); -#endif -#endif /* GL_ARB_matrix_palette */ - -#ifndef GL_ARB_multi_bind -#define GL_ARB_multi_bind 1 -#endif /* GL_ARB_multi_bind */ - -#ifndef GL_ARB_multi_draw_indirect -#define GL_ARB_multi_draw_indirect 1 -#endif /* GL_ARB_multi_draw_indirect */ - -#ifndef GL_ARB_multisample -#define GL_ARB_multisample 1 -#define GL_MULTISAMPLE_ARB 0x809D -#define GL_SAMPLE_ALPHA_TO_COVERAGE_ARB 0x809E -#define GL_SAMPLE_ALPHA_TO_ONE_ARB 0x809F -#define GL_SAMPLE_COVERAGE_ARB 0x80A0 -#define GL_SAMPLE_BUFFERS_ARB 0x80A8 -#define GL_SAMPLES_ARB 0x80A9 -#define GL_SAMPLE_COVERAGE_VALUE_ARB 0x80AA -#define GL_SAMPLE_COVERAGE_INVERT_ARB 0x80AB -#define GL_MULTISAMPLE_BIT_ARB 0x20000000 -typedef void (APIENTRYP PFNGLSAMPLECOVERAGEARBPROC) (GLfloat value, GLboolean invert); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSampleCoverageARB (GLfloat value, GLboolean invert); -#endif -#endif /* GL_ARB_multisample */ - -#ifndef GL_ARB_multitexture -#define GL_ARB_multitexture 1 -#define GL_TEXTURE0_ARB 0x84C0 -#define GL_TEXTURE1_ARB 0x84C1 -#define GL_TEXTURE2_ARB 0x84C2 -#define GL_TEXTURE3_ARB 0x84C3 -#define GL_TEXTURE4_ARB 0x84C4 -#define GL_TEXTURE5_ARB 0x84C5 -#define GL_TEXTURE6_ARB 0x84C6 -#define GL_TEXTURE7_ARB 0x84C7 -#define GL_TEXTURE8_ARB 0x84C8 -#define GL_TEXTURE9_ARB 0x84C9 -#define GL_TEXTURE10_ARB 0x84CA -#define GL_TEXTURE11_ARB 0x84CB -#define GL_TEXTURE12_ARB 0x84CC -#define GL_TEXTURE13_ARB 0x84CD -#define GL_TEXTURE14_ARB 0x84CE -#define GL_TEXTURE15_ARB 0x84CF -#define GL_TEXTURE16_ARB 0x84D0 -#define GL_TEXTURE17_ARB 0x84D1 -#define GL_TEXTURE18_ARB 0x84D2 -#define GL_TEXTURE19_ARB 0x84D3 -#define GL_TEXTURE20_ARB 0x84D4 -#define GL_TEXTURE21_ARB 0x84D5 -#define GL_TEXTURE22_ARB 0x84D6 -#define GL_TEXTURE23_ARB 0x84D7 -#define GL_TEXTURE24_ARB 0x84D8 -#define GL_TEXTURE25_ARB 0x84D9 -#define GL_TEXTURE26_ARB 0x84DA -#define GL_TEXTURE27_ARB 0x84DB -#define GL_TEXTURE28_ARB 0x84DC -#define GL_TEXTURE29_ARB 0x84DD -#define GL_TEXTURE30_ARB 0x84DE -#define GL_TEXTURE31_ARB 0x84DF -#define GL_ACTIVE_TEXTURE_ARB 0x84E0 -#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 -#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 -typedef void (APIENTRYP PFNGLACTIVETEXTUREARBPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREARBPROC) (GLenum texture); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1DARBPROC) (GLenum target, GLdouble s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1FARBPROC) (GLenum target, GLfloat s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1IARBPROC) (GLenum target, GLint s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1SARBPROC) (GLenum target, GLshort s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVARBPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2DARBPROC) (GLenum target, GLdouble s, GLdouble t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2FARBPROC) (GLenum target, GLfloat s, GLfloat t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2IARBPROC) (GLenum target, GLint s, GLint t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2SARBPROC) (GLenum target, GLshort s, GLshort t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVARBPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3IARBPROC) (GLenum target, GLint s, GLint t, GLint r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVARBPROC) (GLenum target, const GLshort *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVARBPROC) (GLenum target, const GLdouble *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVARBPROC) (GLenum target, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4IARBPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVARBPROC) (GLenum target, const GLint *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVARBPROC) (GLenum target, const GLshort *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glActiveTextureARB (GLenum texture); -GLAPI void APIENTRY glClientActiveTextureARB (GLenum texture); -GLAPI void APIENTRY glMultiTexCoord1dARB (GLenum target, GLdouble s); -GLAPI void APIENTRY glMultiTexCoord1dvARB (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord1fARB (GLenum target, GLfloat s); -GLAPI void APIENTRY glMultiTexCoord1fvARB (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord1iARB (GLenum target, GLint s); -GLAPI void APIENTRY glMultiTexCoord1ivARB (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord1sARB (GLenum target, GLshort s); -GLAPI void APIENTRY glMultiTexCoord1svARB (GLenum target, const GLshort *v); -GLAPI void APIENTRY glMultiTexCoord2dARB (GLenum target, GLdouble s, GLdouble t); -GLAPI void APIENTRY glMultiTexCoord2dvARB (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord2fARB (GLenum target, GLfloat s, GLfloat t); -GLAPI void APIENTRY glMultiTexCoord2fvARB (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord2iARB (GLenum target, GLint s, GLint t); -GLAPI void APIENTRY glMultiTexCoord2ivARB (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord2sARB (GLenum target, GLshort s, GLshort t); -GLAPI void APIENTRY glMultiTexCoord2svARB (GLenum target, const GLshort *v); -GLAPI void APIENTRY glMultiTexCoord3dARB (GLenum target, GLdouble s, GLdouble t, GLdouble r); -GLAPI void APIENTRY glMultiTexCoord3dvARB (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord3fARB (GLenum target, GLfloat s, GLfloat t, GLfloat r); -GLAPI void APIENTRY glMultiTexCoord3fvARB (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord3iARB (GLenum target, GLint s, GLint t, GLint r); -GLAPI void APIENTRY glMultiTexCoord3ivARB (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord3sARB (GLenum target, GLshort s, GLshort t, GLshort r); -GLAPI void APIENTRY glMultiTexCoord3svARB (GLenum target, const GLshort *v); -GLAPI void APIENTRY glMultiTexCoord4dARB (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); -GLAPI void APIENTRY glMultiTexCoord4dvARB (GLenum target, const GLdouble *v); -GLAPI void APIENTRY glMultiTexCoord4fARB (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); -GLAPI void APIENTRY glMultiTexCoord4fvARB (GLenum target, const GLfloat *v); -GLAPI void APIENTRY glMultiTexCoord4iARB (GLenum target, GLint s, GLint t, GLint r, GLint q); -GLAPI void APIENTRY glMultiTexCoord4ivARB (GLenum target, const GLint *v); -GLAPI void APIENTRY glMultiTexCoord4sARB (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); -GLAPI void APIENTRY glMultiTexCoord4svARB (GLenum target, const GLshort *v); -#endif -#endif /* GL_ARB_multitexture */ - -#ifndef GL_ARB_occlusion_query -#define GL_ARB_occlusion_query 1 -#define GL_QUERY_COUNTER_BITS_ARB 0x8864 -#define GL_CURRENT_QUERY_ARB 0x8865 -#define GL_QUERY_RESULT_ARB 0x8866 -#define GL_QUERY_RESULT_AVAILABLE_ARB 0x8867 -#define GL_SAMPLES_PASSED_ARB 0x8914 -typedef void (APIENTRYP PFNGLGENQUERIESARBPROC) (GLsizei n, GLuint *ids); -typedef void (APIENTRYP PFNGLDELETEQUERIESARBPROC) (GLsizei n, const GLuint *ids); -typedef GLboolean (APIENTRYP PFNGLISQUERYARBPROC) (GLuint id); -typedef void (APIENTRYP PFNGLBEGINQUERYARBPROC) (GLenum target, GLuint id); -typedef void (APIENTRYP PFNGLENDQUERYARBPROC) (GLenum target); -typedef void (APIENTRYP PFNGLGETQUERYIVARBPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTIVARBPROC) (GLuint id, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTUIVARBPROC) (GLuint id, GLenum pname, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenQueriesARB (GLsizei n, GLuint *ids); -GLAPI void APIENTRY glDeleteQueriesARB (GLsizei n, const GLuint *ids); -GLAPI GLboolean APIENTRY glIsQueryARB (GLuint id); -GLAPI void APIENTRY glBeginQueryARB (GLenum target, GLuint id); -GLAPI void APIENTRY glEndQueryARB (GLenum target); -GLAPI void APIENTRY glGetQueryivARB (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetQueryObjectivARB (GLuint id, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetQueryObjectuivARB (GLuint id, GLenum pname, GLuint *params); -#endif -#endif /* GL_ARB_occlusion_query */ - -#ifndef GL_ARB_occlusion_query2 -#define GL_ARB_occlusion_query2 1 -#endif /* GL_ARB_occlusion_query2 */ - -#ifndef GL_ARB_parallel_shader_compile -#define GL_ARB_parallel_shader_compile 1 -#define GL_MAX_SHADER_COMPILER_THREADS_ARB 0x91B0 -#define GL_COMPLETION_STATUS_ARB 0x91B1 -typedef void (APIENTRYP PFNGLMAXSHADERCOMPILERTHREADSARBPROC) (GLuint count); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMaxShaderCompilerThreadsARB (GLuint count); -#endif -#endif /* GL_ARB_parallel_shader_compile */ - -#ifndef GL_ARB_pipeline_statistics_query -#define GL_ARB_pipeline_statistics_query 1 -#define GL_VERTICES_SUBMITTED_ARB 0x82EE -#define GL_PRIMITIVES_SUBMITTED_ARB 0x82EF -#define GL_VERTEX_SHADER_INVOCATIONS_ARB 0x82F0 -#define GL_TESS_CONTROL_SHADER_PATCHES_ARB 0x82F1 -#define GL_TESS_EVALUATION_SHADER_INVOCATIONS_ARB 0x82F2 -#define GL_GEOMETRY_SHADER_PRIMITIVES_EMITTED_ARB 0x82F3 -#define GL_FRAGMENT_SHADER_INVOCATIONS_ARB 0x82F4 -#define GL_COMPUTE_SHADER_INVOCATIONS_ARB 0x82F5 -#define GL_CLIPPING_INPUT_PRIMITIVES_ARB 0x82F6 -#define GL_CLIPPING_OUTPUT_PRIMITIVES_ARB 0x82F7 -#endif /* GL_ARB_pipeline_statistics_query */ - -#ifndef GL_ARB_pixel_buffer_object -#define GL_ARB_pixel_buffer_object 1 -#define GL_PIXEL_PACK_BUFFER_ARB 0x88EB -#define GL_PIXEL_UNPACK_BUFFER_ARB 0x88EC -#define GL_PIXEL_PACK_BUFFER_BINDING_ARB 0x88ED -#define GL_PIXEL_UNPACK_BUFFER_BINDING_ARB 0x88EF -#endif /* GL_ARB_pixel_buffer_object */ - -#ifndef GL_ARB_point_parameters -#define GL_ARB_point_parameters 1 -#define GL_POINT_SIZE_MIN_ARB 0x8126 -#define GL_POINT_SIZE_MAX_ARB 0x8127 -#define GL_POINT_FADE_THRESHOLD_SIZE_ARB 0x8128 -#define GL_POINT_DISTANCE_ATTENUATION_ARB 0x8129 -typedef void (APIENTRYP PFNGLPOINTPARAMETERFARBPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLPOINTPARAMETERFVARBPROC) (GLenum pname, const GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPointParameterfARB (GLenum pname, GLfloat param); -GLAPI void APIENTRY glPointParameterfvARB (GLenum pname, const GLfloat *params); -#endif -#endif /* GL_ARB_point_parameters */ - -#ifndef GL_ARB_point_sprite -#define GL_ARB_point_sprite 1 -#define GL_POINT_SPRITE_ARB 0x8861 -#define GL_COORD_REPLACE_ARB 0x8862 -#endif /* GL_ARB_point_sprite */ - -#ifndef GL_ARB_polygon_offset_clamp -#define GL_ARB_polygon_offset_clamp 1 -#endif /* GL_ARB_polygon_offset_clamp */ - -#ifndef GL_ARB_post_depth_coverage -#define GL_ARB_post_depth_coverage 1 -#endif /* GL_ARB_post_depth_coverage */ - -#ifndef GL_ARB_program_interface_query -#define GL_ARB_program_interface_query 1 -#endif /* GL_ARB_program_interface_query */ - -#ifndef GL_ARB_provoking_vertex -#define GL_ARB_provoking_vertex 1 -#endif /* GL_ARB_provoking_vertex */ - -#ifndef GL_ARB_query_buffer_object -#define GL_ARB_query_buffer_object 1 -#endif /* GL_ARB_query_buffer_object */ - -#ifndef GL_ARB_robust_buffer_access_behavior -#define GL_ARB_robust_buffer_access_behavior 1 -#endif /* GL_ARB_robust_buffer_access_behavior */ - -#ifndef GL_ARB_robustness -#define GL_ARB_robustness 1 -#define GL_CONTEXT_FLAG_ROBUST_ACCESS_BIT_ARB 0x00000004 -#define GL_LOSE_CONTEXT_ON_RESET_ARB 0x8252 -#define GL_GUILTY_CONTEXT_RESET_ARB 0x8253 -#define GL_INNOCENT_CONTEXT_RESET_ARB 0x8254 -#define GL_UNKNOWN_CONTEXT_RESET_ARB 0x8255 -#define GL_RESET_NOTIFICATION_STRATEGY_ARB 0x8256 -#define GL_NO_RESET_NOTIFICATION_ARB 0x8261 -typedef GLenum (APIENTRYP PFNGLGETGRAPHICSRESETSTATUSARBPROC) (void); -typedef void (APIENTRYP PFNGLGETNTEXIMAGEARBPROC) (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *img); -typedef void (APIENTRYP PFNGLREADNPIXELSARBPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -typedef void (APIENTRYP PFNGLGETNCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint lod, GLsizei bufSize, void *img); -typedef void (APIENTRYP PFNGLGETNUNIFORMFVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMIVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMUIVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint *params); -typedef void (APIENTRYP PFNGLGETNUNIFORMDVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); -typedef void (APIENTRYP PFNGLGETNMAPDVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); -typedef void (APIENTRYP PFNGLGETNMAPFVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); -typedef void (APIENTRYP PFNGLGETNMAPIVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLint *v); -typedef void (APIENTRYP PFNGLGETNPIXELMAPFVARBPROC) (GLenum map, GLsizei bufSize, GLfloat *values); -typedef void (APIENTRYP PFNGLGETNPIXELMAPUIVARBPROC) (GLenum map, GLsizei bufSize, GLuint *values); -typedef void (APIENTRYP PFNGLGETNPIXELMAPUSVARBPROC) (GLenum map, GLsizei bufSize, GLushort *values); -typedef void (APIENTRYP PFNGLGETNPOLYGONSTIPPLEARBPROC) (GLsizei bufSize, GLubyte *pattern); -typedef void (APIENTRYP PFNGLGETNCOLORTABLEARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); -typedef void (APIENTRYP PFNGLGETNCONVOLUTIONFILTERARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); -typedef void (APIENTRYP PFNGLGETNSEPARABLEFILTERARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); -typedef void (APIENTRYP PFNGLGETNHISTOGRAMARBPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -typedef void (APIENTRYP PFNGLGETNMINMAXARBPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLenum APIENTRY glGetGraphicsResetStatusARB (void); -GLAPI void APIENTRY glGetnTexImageARB (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *img); -GLAPI void APIENTRY glReadnPixelsARB (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -GLAPI void APIENTRY glGetnCompressedTexImageARB (GLenum target, GLint lod, GLsizei bufSize, void *img); -GLAPI void APIENTRY glGetnUniformfvARB (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -GLAPI void APIENTRY glGetnUniformivARB (GLuint program, GLint location, GLsizei bufSize, GLint *params); -GLAPI void APIENTRY glGetnUniformuivARB (GLuint program, GLint location, GLsizei bufSize, GLuint *params); -GLAPI void APIENTRY glGetnUniformdvARB (GLuint program, GLint location, GLsizei bufSize, GLdouble *params); -GLAPI void APIENTRY glGetnMapdvARB (GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); -GLAPI void APIENTRY glGetnMapfvARB (GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); -GLAPI void APIENTRY glGetnMapivARB (GLenum target, GLenum query, GLsizei bufSize, GLint *v); -GLAPI void APIENTRY glGetnPixelMapfvARB (GLenum map, GLsizei bufSize, GLfloat *values); -GLAPI void APIENTRY glGetnPixelMapuivARB (GLenum map, GLsizei bufSize, GLuint *values); -GLAPI void APIENTRY glGetnPixelMapusvARB (GLenum map, GLsizei bufSize, GLushort *values); -GLAPI void APIENTRY glGetnPolygonStippleARB (GLsizei bufSize, GLubyte *pattern); -GLAPI void APIENTRY glGetnColorTableARB (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); -GLAPI void APIENTRY glGetnConvolutionFilterARB (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); -GLAPI void APIENTRY glGetnSeparableFilterARB (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); -GLAPI void APIENTRY glGetnHistogramARB (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -GLAPI void APIENTRY glGetnMinmaxARB (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); -#endif -#endif /* GL_ARB_robustness */ - -#ifndef GL_ARB_robustness_isolation -#define GL_ARB_robustness_isolation 1 -#endif /* GL_ARB_robustness_isolation */ - -#ifndef GL_ARB_sample_locations -#define GL_ARB_sample_locations 1 -#define GL_SAMPLE_LOCATION_SUBPIXEL_BITS_ARB 0x933D -#define GL_SAMPLE_LOCATION_PIXEL_GRID_WIDTH_ARB 0x933E -#define GL_SAMPLE_LOCATION_PIXEL_GRID_HEIGHT_ARB 0x933F -#define GL_PROGRAMMABLE_SAMPLE_LOCATION_TABLE_SIZE_ARB 0x9340 -#define GL_SAMPLE_LOCATION_ARB 0x8E50 -#define GL_PROGRAMMABLE_SAMPLE_LOCATION_ARB 0x9341 -#define GL_FRAMEBUFFER_PROGRAMMABLE_SAMPLE_LOCATIONS_ARB 0x9342 -#define GL_FRAMEBUFFER_SAMPLE_LOCATION_PIXEL_GRID_ARB 0x9343 -typedef void (APIENTRYP PFNGLFRAMEBUFFERSAMPLELOCATIONSFVARBPROC) (GLenum target, GLuint start, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLELOCATIONSFVARBPROC) (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLEVALUATEDEPTHVALUESARBPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferSampleLocationsfvARB (GLenum target, GLuint start, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glNamedFramebufferSampleLocationsfvARB (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glEvaluateDepthValuesARB (void); -#endif -#endif /* GL_ARB_sample_locations */ - -#ifndef GL_ARB_sample_shading -#define GL_ARB_sample_shading 1 -#define GL_SAMPLE_SHADING_ARB 0x8C36 -#define GL_MIN_SAMPLE_SHADING_VALUE_ARB 0x8C37 -typedef void (APIENTRYP PFNGLMINSAMPLESHADINGARBPROC) (GLfloat value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMinSampleShadingARB (GLfloat value); -#endif -#endif /* GL_ARB_sample_shading */ - -#ifndef GL_ARB_sampler_objects -#define GL_ARB_sampler_objects 1 -#endif /* GL_ARB_sampler_objects */ - -#ifndef GL_ARB_seamless_cube_map -#define GL_ARB_seamless_cube_map 1 -#endif /* GL_ARB_seamless_cube_map */ - -#ifndef GL_ARB_seamless_cubemap_per_texture -#define GL_ARB_seamless_cubemap_per_texture 1 -#endif /* GL_ARB_seamless_cubemap_per_texture */ - -#ifndef GL_ARB_separate_shader_objects -#define GL_ARB_separate_shader_objects 1 -#endif /* GL_ARB_separate_shader_objects */ - -#ifndef GL_ARB_shader_atomic_counter_ops -#define GL_ARB_shader_atomic_counter_ops 1 -#endif /* GL_ARB_shader_atomic_counter_ops */ - -#ifndef GL_ARB_shader_atomic_counters -#define GL_ARB_shader_atomic_counters 1 -#endif /* GL_ARB_shader_atomic_counters */ - -#ifndef GL_ARB_shader_ballot -#define GL_ARB_shader_ballot 1 -#endif /* GL_ARB_shader_ballot */ - -#ifndef GL_ARB_shader_bit_encoding -#define GL_ARB_shader_bit_encoding 1 -#endif /* GL_ARB_shader_bit_encoding */ - -#ifndef GL_ARB_shader_clock -#define GL_ARB_shader_clock 1 -#endif /* GL_ARB_shader_clock */ - -#ifndef GL_ARB_shader_draw_parameters -#define GL_ARB_shader_draw_parameters 1 -#endif /* GL_ARB_shader_draw_parameters */ - -#ifndef GL_ARB_shader_group_vote -#define GL_ARB_shader_group_vote 1 -#endif /* GL_ARB_shader_group_vote */ - -#ifndef GL_ARB_shader_image_load_store -#define GL_ARB_shader_image_load_store 1 -#endif /* GL_ARB_shader_image_load_store */ - -#ifndef GL_ARB_shader_image_size -#define GL_ARB_shader_image_size 1 -#endif /* GL_ARB_shader_image_size */ - -#ifndef GL_ARB_shader_objects -#define GL_ARB_shader_objects 1 -#ifdef __APPLE__ -typedef void *GLhandleARB; -#else -typedef unsigned int GLhandleARB; -#endif -typedef char GLcharARB; -#define GL_PROGRAM_OBJECT_ARB 0x8B40 -#define GL_SHADER_OBJECT_ARB 0x8B48 -#define GL_OBJECT_TYPE_ARB 0x8B4E -#define GL_OBJECT_SUBTYPE_ARB 0x8B4F -#define GL_FLOAT_VEC2_ARB 0x8B50 -#define GL_FLOAT_VEC3_ARB 0x8B51 -#define GL_FLOAT_VEC4_ARB 0x8B52 -#define GL_INT_VEC2_ARB 0x8B53 -#define GL_INT_VEC3_ARB 0x8B54 -#define GL_INT_VEC4_ARB 0x8B55 -#define GL_BOOL_ARB 0x8B56 -#define GL_BOOL_VEC2_ARB 0x8B57 -#define GL_BOOL_VEC3_ARB 0x8B58 -#define GL_BOOL_VEC4_ARB 0x8B59 -#define GL_FLOAT_MAT2_ARB 0x8B5A -#define GL_FLOAT_MAT3_ARB 0x8B5B -#define GL_FLOAT_MAT4_ARB 0x8B5C -#define GL_SAMPLER_1D_ARB 0x8B5D -#define GL_SAMPLER_2D_ARB 0x8B5E -#define GL_SAMPLER_3D_ARB 0x8B5F -#define GL_SAMPLER_CUBE_ARB 0x8B60 -#define GL_SAMPLER_1D_SHADOW_ARB 0x8B61 -#define GL_SAMPLER_2D_SHADOW_ARB 0x8B62 -#define GL_SAMPLER_2D_RECT_ARB 0x8B63 -#define GL_SAMPLER_2D_RECT_SHADOW_ARB 0x8B64 -#define GL_OBJECT_DELETE_STATUS_ARB 0x8B80 -#define GL_OBJECT_COMPILE_STATUS_ARB 0x8B81 -#define GL_OBJECT_LINK_STATUS_ARB 0x8B82 -#define GL_OBJECT_VALIDATE_STATUS_ARB 0x8B83 -#define GL_OBJECT_INFO_LOG_LENGTH_ARB 0x8B84 -#define GL_OBJECT_ATTACHED_OBJECTS_ARB 0x8B85 -#define GL_OBJECT_ACTIVE_UNIFORMS_ARB 0x8B86 -#define GL_OBJECT_ACTIVE_UNIFORM_MAX_LENGTH_ARB 0x8B87 -#define GL_OBJECT_SHADER_SOURCE_LENGTH_ARB 0x8B88 -typedef void (APIENTRYP PFNGLDELETEOBJECTARBPROC) (GLhandleARB obj); -typedef GLhandleARB (APIENTRYP PFNGLGETHANDLEARBPROC) (GLenum pname); -typedef void (APIENTRYP PFNGLDETACHOBJECTARBPROC) (GLhandleARB containerObj, GLhandleARB attachedObj); -typedef GLhandleARB (APIENTRYP PFNGLCREATESHADEROBJECTARBPROC) (GLenum shaderType); -typedef void (APIENTRYP PFNGLSHADERSOURCEARBPROC) (GLhandleARB shaderObj, GLsizei count, const GLcharARB **string, const GLint *length); -typedef void (APIENTRYP PFNGLCOMPILESHADERARBPROC) (GLhandleARB shaderObj); -typedef GLhandleARB (APIENTRYP PFNGLCREATEPROGRAMOBJECTARBPROC) (void); -typedef void (APIENTRYP PFNGLATTACHOBJECTARBPROC) (GLhandleARB containerObj, GLhandleARB obj); -typedef void (APIENTRYP PFNGLLINKPROGRAMARBPROC) (GLhandleARB programObj); -typedef void (APIENTRYP PFNGLUSEPROGRAMOBJECTARBPROC) (GLhandleARB programObj); -typedef void (APIENTRYP PFNGLVALIDATEPROGRAMARBPROC) (GLhandleARB programObj); -typedef void (APIENTRYP PFNGLUNIFORM1FARBPROC) (GLint location, GLfloat v0); -typedef void (APIENTRYP PFNGLUNIFORM2FARBPROC) (GLint location, GLfloat v0, GLfloat v1); -typedef void (APIENTRYP PFNGLUNIFORM3FARBPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -typedef void (APIENTRYP PFNGLUNIFORM4FARBPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -typedef void (APIENTRYP PFNGLUNIFORM1IARBPROC) (GLint location, GLint v0); -typedef void (APIENTRYP PFNGLUNIFORM2IARBPROC) (GLint location, GLint v0, GLint v1); -typedef void (APIENTRYP PFNGLUNIFORM3IARBPROC) (GLint location, GLint v0, GLint v1, GLint v2); -typedef void (APIENTRYP PFNGLUNIFORM4IARBPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -typedef void (APIENTRYP PFNGLUNIFORM1FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM2FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM3FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM4FVARBPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORM1IVARBPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORM2IVARBPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORM3IVARBPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORM4IVARBPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX2FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX3FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLUNIFORMMATRIX4FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLGETOBJECTPARAMETERFVARBPROC) (GLhandleARB obj, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETOBJECTPARAMETERIVARBPROC) (GLhandleARB obj, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETINFOLOGARBPROC) (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *infoLog); -typedef void (APIENTRYP PFNGLGETATTACHEDOBJECTSARBPROC) (GLhandleARB containerObj, GLsizei maxCount, GLsizei *count, GLhandleARB *obj); -typedef GLint (APIENTRYP PFNGLGETUNIFORMLOCATIONARBPROC) (GLhandleARB programObj, const GLcharARB *name); -typedef void (APIENTRYP PFNGLGETACTIVEUNIFORMARBPROC) (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); -typedef void (APIENTRYP PFNGLGETUNIFORMFVARBPROC) (GLhandleARB programObj, GLint location, GLfloat *params); -typedef void (APIENTRYP PFNGLGETUNIFORMIVARBPROC) (GLhandleARB programObj, GLint location, GLint *params); -typedef void (APIENTRYP PFNGLGETSHADERSOURCEARBPROC) (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *source); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDeleteObjectARB (GLhandleARB obj); -GLAPI GLhandleARB APIENTRY glGetHandleARB (GLenum pname); -GLAPI void APIENTRY glDetachObjectARB (GLhandleARB containerObj, GLhandleARB attachedObj); -GLAPI GLhandleARB APIENTRY glCreateShaderObjectARB (GLenum shaderType); -GLAPI void APIENTRY glShaderSourceARB (GLhandleARB shaderObj, GLsizei count, const GLcharARB **string, const GLint *length); -GLAPI void APIENTRY glCompileShaderARB (GLhandleARB shaderObj); -GLAPI GLhandleARB APIENTRY glCreateProgramObjectARB (void); -GLAPI void APIENTRY glAttachObjectARB (GLhandleARB containerObj, GLhandleARB obj); -GLAPI void APIENTRY glLinkProgramARB (GLhandleARB programObj); -GLAPI void APIENTRY glUseProgramObjectARB (GLhandleARB programObj); -GLAPI void APIENTRY glValidateProgramARB (GLhandleARB programObj); -GLAPI void APIENTRY glUniform1fARB (GLint location, GLfloat v0); -GLAPI void APIENTRY glUniform2fARB (GLint location, GLfloat v0, GLfloat v1); -GLAPI void APIENTRY glUniform3fARB (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -GLAPI void APIENTRY glUniform4fARB (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -GLAPI void APIENTRY glUniform1iARB (GLint location, GLint v0); -GLAPI void APIENTRY glUniform2iARB (GLint location, GLint v0, GLint v1); -GLAPI void APIENTRY glUniform3iARB (GLint location, GLint v0, GLint v1, GLint v2); -GLAPI void APIENTRY glUniform4iARB (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -GLAPI void APIENTRY glUniform1fvARB (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform2fvARB (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform3fvARB (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform4fvARB (GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glUniform1ivARB (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniform2ivARB (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniform3ivARB (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniform4ivARB (GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glUniformMatrix2fvARB (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix3fvARB (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glUniformMatrix4fvARB (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glGetObjectParameterfvARB (GLhandleARB obj, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetObjectParameterivARB (GLhandleARB obj, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetInfoLogARB (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *infoLog); -GLAPI void APIENTRY glGetAttachedObjectsARB (GLhandleARB containerObj, GLsizei maxCount, GLsizei *count, GLhandleARB *obj); -GLAPI GLint APIENTRY glGetUniformLocationARB (GLhandleARB programObj, const GLcharARB *name); -GLAPI void APIENTRY glGetActiveUniformARB (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); -GLAPI void APIENTRY glGetUniformfvARB (GLhandleARB programObj, GLint location, GLfloat *params); -GLAPI void APIENTRY glGetUniformivARB (GLhandleARB programObj, GLint location, GLint *params); -GLAPI void APIENTRY glGetShaderSourceARB (GLhandleARB obj, GLsizei maxLength, GLsizei *length, GLcharARB *source); -#endif -#endif /* GL_ARB_shader_objects */ - -#ifndef GL_ARB_shader_precision -#define GL_ARB_shader_precision 1 -#endif /* GL_ARB_shader_precision */ - -#ifndef GL_ARB_shader_stencil_export -#define GL_ARB_shader_stencil_export 1 -#endif /* GL_ARB_shader_stencil_export */ - -#ifndef GL_ARB_shader_storage_buffer_object -#define GL_ARB_shader_storage_buffer_object 1 -#endif /* GL_ARB_shader_storage_buffer_object */ - -#ifndef GL_ARB_shader_subroutine -#define GL_ARB_shader_subroutine 1 -#endif /* GL_ARB_shader_subroutine */ - -#ifndef GL_ARB_shader_texture_image_samples -#define GL_ARB_shader_texture_image_samples 1 -#endif /* GL_ARB_shader_texture_image_samples */ - -#ifndef GL_ARB_shader_texture_lod -#define GL_ARB_shader_texture_lod 1 -#endif /* GL_ARB_shader_texture_lod */ - -#ifndef GL_ARB_shader_viewport_layer_array -#define GL_ARB_shader_viewport_layer_array 1 -#endif /* GL_ARB_shader_viewport_layer_array */ - -#ifndef GL_ARB_shading_language_100 -#define GL_ARB_shading_language_100 1 -#define GL_SHADING_LANGUAGE_VERSION_ARB 0x8B8C -#endif /* GL_ARB_shading_language_100 */ - -#ifndef GL_ARB_shading_language_420pack -#define GL_ARB_shading_language_420pack 1 -#endif /* GL_ARB_shading_language_420pack */ - -#ifndef GL_ARB_shading_language_include -#define GL_ARB_shading_language_include 1 -#define GL_SHADER_INCLUDE_ARB 0x8DAE -#define GL_NAMED_STRING_LENGTH_ARB 0x8DE9 -#define GL_NAMED_STRING_TYPE_ARB 0x8DEA -typedef void (APIENTRYP PFNGLNAMEDSTRINGARBPROC) (GLenum type, GLint namelen, const GLchar *name, GLint stringlen, const GLchar *string); -typedef void (APIENTRYP PFNGLDELETENAMEDSTRINGARBPROC) (GLint namelen, const GLchar *name); -typedef void (APIENTRYP PFNGLCOMPILESHADERINCLUDEARBPROC) (GLuint shader, GLsizei count, const GLchar *const*path, const GLint *length); -typedef GLboolean (APIENTRYP PFNGLISNAMEDSTRINGARBPROC) (GLint namelen, const GLchar *name); -typedef void (APIENTRYP PFNGLGETNAMEDSTRINGARBPROC) (GLint namelen, const GLchar *name, GLsizei bufSize, GLint *stringlen, GLchar *string); -typedef void (APIENTRYP PFNGLGETNAMEDSTRINGIVARBPROC) (GLint namelen, const GLchar *name, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glNamedStringARB (GLenum type, GLint namelen, const GLchar *name, GLint stringlen, const GLchar *string); -GLAPI void APIENTRY glDeleteNamedStringARB (GLint namelen, const GLchar *name); -GLAPI void APIENTRY glCompileShaderIncludeARB (GLuint shader, GLsizei count, const GLchar *const*path, const GLint *length); -GLAPI GLboolean APIENTRY glIsNamedStringARB (GLint namelen, const GLchar *name); -GLAPI void APIENTRY glGetNamedStringARB (GLint namelen, const GLchar *name, GLsizei bufSize, GLint *stringlen, GLchar *string); -GLAPI void APIENTRY glGetNamedStringivARB (GLint namelen, const GLchar *name, GLenum pname, GLint *params); -#endif -#endif /* GL_ARB_shading_language_include */ - -#ifndef GL_ARB_shading_language_packing -#define GL_ARB_shading_language_packing 1 -#endif /* GL_ARB_shading_language_packing */ - -#ifndef GL_ARB_shadow -#define GL_ARB_shadow 1 -#define GL_TEXTURE_COMPARE_MODE_ARB 0x884C -#define GL_TEXTURE_COMPARE_FUNC_ARB 0x884D -#define GL_COMPARE_R_TO_TEXTURE_ARB 0x884E -#endif /* GL_ARB_shadow */ - -#ifndef GL_ARB_shadow_ambient -#define GL_ARB_shadow_ambient 1 -#define GL_TEXTURE_COMPARE_FAIL_VALUE_ARB 0x80BF -#endif /* GL_ARB_shadow_ambient */ - -#ifndef GL_ARB_sparse_buffer -#define GL_ARB_sparse_buffer 1 -#define GL_SPARSE_STORAGE_BIT_ARB 0x0400 -#define GL_SPARSE_BUFFER_PAGE_SIZE_ARB 0x82F8 -typedef void (APIENTRYP PFNGLBUFFERPAGECOMMITMENTARBPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLboolean commit); -typedef void (APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); -typedef void (APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTARBPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBufferPageCommitmentARB (GLenum target, GLintptr offset, GLsizeiptr size, GLboolean commit); -GLAPI void APIENTRY glNamedBufferPageCommitmentEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); -GLAPI void APIENTRY glNamedBufferPageCommitmentARB (GLuint buffer, GLintptr offset, GLsizeiptr size, GLboolean commit); -#endif -#endif /* GL_ARB_sparse_buffer */ - -#ifndef GL_ARB_sparse_texture -#define GL_ARB_sparse_texture 1 -#define GL_TEXTURE_SPARSE_ARB 0x91A6 -#define GL_VIRTUAL_PAGE_SIZE_INDEX_ARB 0x91A7 -#define GL_NUM_SPARSE_LEVELS_ARB 0x91AA -#define GL_NUM_VIRTUAL_PAGE_SIZES_ARB 0x91A8 -#define GL_VIRTUAL_PAGE_SIZE_X_ARB 0x9195 -#define GL_VIRTUAL_PAGE_SIZE_Y_ARB 0x9196 -#define GL_VIRTUAL_PAGE_SIZE_Z_ARB 0x9197 -#define GL_MAX_SPARSE_TEXTURE_SIZE_ARB 0x9198 -#define GL_MAX_SPARSE_3D_TEXTURE_SIZE_ARB 0x9199 -#define GL_MAX_SPARSE_ARRAY_TEXTURE_LAYERS_ARB 0x919A -#define GL_SPARSE_TEXTURE_FULL_ARRAY_CUBE_MIPMAPS_ARB 0x91A9 -typedef void (APIENTRYP PFNGLTEXPAGECOMMITMENTARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexPageCommitmentARB (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); -#endif -#endif /* GL_ARB_sparse_texture */ - -#ifndef GL_ARB_sparse_texture2 -#define GL_ARB_sparse_texture2 1 -#endif /* GL_ARB_sparse_texture2 */ - -#ifndef GL_ARB_sparse_texture_clamp -#define GL_ARB_sparse_texture_clamp 1 -#endif /* GL_ARB_sparse_texture_clamp */ - -#ifndef GL_ARB_spirv_extensions -#define GL_ARB_spirv_extensions 1 -#endif /* GL_ARB_spirv_extensions */ - -#ifndef GL_ARB_stencil_texturing -#define GL_ARB_stencil_texturing 1 -#endif /* GL_ARB_stencil_texturing */ - -#ifndef GL_ARB_sync -#define GL_ARB_sync 1 -#endif /* GL_ARB_sync */ - -#ifndef GL_ARB_tessellation_shader -#define GL_ARB_tessellation_shader 1 -#endif /* GL_ARB_tessellation_shader */ - -#ifndef GL_ARB_texture_barrier -#define GL_ARB_texture_barrier 1 -#endif /* GL_ARB_texture_barrier */ - -#ifndef GL_ARB_texture_border_clamp -#define GL_ARB_texture_border_clamp 1 -#define GL_CLAMP_TO_BORDER_ARB 0x812D -#endif /* GL_ARB_texture_border_clamp */ - -#ifndef GL_ARB_texture_buffer_object -#define GL_ARB_texture_buffer_object 1 -#define GL_TEXTURE_BUFFER_ARB 0x8C2A -#define GL_MAX_TEXTURE_BUFFER_SIZE_ARB 0x8C2B -#define GL_TEXTURE_BINDING_BUFFER_ARB 0x8C2C -#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_ARB 0x8C2D -#define GL_TEXTURE_BUFFER_FORMAT_ARB 0x8C2E -typedef void (APIENTRYP PFNGLTEXBUFFERARBPROC) (GLenum target, GLenum internalformat, GLuint buffer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexBufferARB (GLenum target, GLenum internalformat, GLuint buffer); -#endif -#endif /* GL_ARB_texture_buffer_object */ - -#ifndef GL_ARB_texture_buffer_object_rgb32 -#define GL_ARB_texture_buffer_object_rgb32 1 -#endif /* GL_ARB_texture_buffer_object_rgb32 */ - -#ifndef GL_ARB_texture_buffer_range -#define GL_ARB_texture_buffer_range 1 -#endif /* GL_ARB_texture_buffer_range */ - -#ifndef GL_ARB_texture_compression -#define GL_ARB_texture_compression 1 -#define GL_COMPRESSED_ALPHA_ARB 0x84E9 -#define GL_COMPRESSED_LUMINANCE_ARB 0x84EA -#define GL_COMPRESSED_LUMINANCE_ALPHA_ARB 0x84EB -#define GL_COMPRESSED_INTENSITY_ARB 0x84EC -#define GL_COMPRESSED_RGB_ARB 0x84ED -#define GL_COMPRESSED_RGBA_ARB 0x84EE -#define GL_TEXTURE_COMPRESSION_HINT_ARB 0x84EF -#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE_ARB 0x86A0 -#define GL_TEXTURE_COMPRESSED_ARB 0x86A1 -#define GL_NUM_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A2 -#define GL_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A3 -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DARBPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint level, void *img); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCompressedTexImage3DARB (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexImage2DARB (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexImage1DARB (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexSubImage3DARB (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexSubImage2DARB (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glCompressedTexSubImage1DARB (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); -GLAPI void APIENTRY glGetCompressedTexImageARB (GLenum target, GLint level, void *img); -#endif -#endif /* GL_ARB_texture_compression */ - -#ifndef GL_ARB_texture_compression_bptc -#define GL_ARB_texture_compression_bptc 1 -#define GL_COMPRESSED_RGBA_BPTC_UNORM_ARB 0x8E8C -#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB 0x8E8D -#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB 0x8E8E -#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB 0x8E8F -#endif /* GL_ARB_texture_compression_bptc */ - -#ifndef GL_ARB_texture_compression_rgtc -#define GL_ARB_texture_compression_rgtc 1 -#endif /* GL_ARB_texture_compression_rgtc */ - -#ifndef GL_ARB_texture_cube_map -#define GL_ARB_texture_cube_map 1 -#define GL_NORMAL_MAP_ARB 0x8511 -#define GL_REFLECTION_MAP_ARB 0x8512 -#define GL_TEXTURE_CUBE_MAP_ARB 0x8513 -#define GL_TEXTURE_BINDING_CUBE_MAP_ARB 0x8514 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x8515 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x8516 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x8517 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x8518 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x8519 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x851A -#define GL_PROXY_TEXTURE_CUBE_MAP_ARB 0x851B -#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_ARB 0x851C -#endif /* GL_ARB_texture_cube_map */ - -#ifndef GL_ARB_texture_cube_map_array -#define GL_ARB_texture_cube_map_array 1 -#define GL_TEXTURE_CUBE_MAP_ARRAY_ARB 0x9009 -#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_ARB 0x900A -#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY_ARB 0x900B -#define GL_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900C -#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_ARB 0x900D -#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900E -#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900F -#endif /* GL_ARB_texture_cube_map_array */ - -#ifndef GL_ARB_texture_env_add -#define GL_ARB_texture_env_add 1 -#endif /* GL_ARB_texture_env_add */ - -#ifndef GL_ARB_texture_env_combine -#define GL_ARB_texture_env_combine 1 -#define GL_COMBINE_ARB 0x8570 -#define GL_COMBINE_RGB_ARB 0x8571 -#define GL_COMBINE_ALPHA_ARB 0x8572 -#define GL_SOURCE0_RGB_ARB 0x8580 -#define GL_SOURCE1_RGB_ARB 0x8581 -#define GL_SOURCE2_RGB_ARB 0x8582 -#define GL_SOURCE0_ALPHA_ARB 0x8588 -#define GL_SOURCE1_ALPHA_ARB 0x8589 -#define GL_SOURCE2_ALPHA_ARB 0x858A -#define GL_OPERAND0_RGB_ARB 0x8590 -#define GL_OPERAND1_RGB_ARB 0x8591 -#define GL_OPERAND2_RGB_ARB 0x8592 -#define GL_OPERAND0_ALPHA_ARB 0x8598 -#define GL_OPERAND1_ALPHA_ARB 0x8599 -#define GL_OPERAND2_ALPHA_ARB 0x859A -#define GL_RGB_SCALE_ARB 0x8573 -#define GL_ADD_SIGNED_ARB 0x8574 -#define GL_INTERPOLATE_ARB 0x8575 -#define GL_SUBTRACT_ARB 0x84E7 -#define GL_CONSTANT_ARB 0x8576 -#define GL_PRIMARY_COLOR_ARB 0x8577 -#define GL_PREVIOUS_ARB 0x8578 -#endif /* GL_ARB_texture_env_combine */ - -#ifndef GL_ARB_texture_env_crossbar -#define GL_ARB_texture_env_crossbar 1 -#endif /* GL_ARB_texture_env_crossbar */ - -#ifndef GL_ARB_texture_env_dot3 -#define GL_ARB_texture_env_dot3 1 -#define GL_DOT3_RGB_ARB 0x86AE -#define GL_DOT3_RGBA_ARB 0x86AF -#endif /* GL_ARB_texture_env_dot3 */ - -#ifndef GL_ARB_texture_filter_anisotropic -#define GL_ARB_texture_filter_anisotropic 1 -#endif /* GL_ARB_texture_filter_anisotropic */ - -#ifndef GL_ARB_texture_filter_minmax -#define GL_ARB_texture_filter_minmax 1 -#define GL_TEXTURE_REDUCTION_MODE_ARB 0x9366 -#define GL_WEIGHTED_AVERAGE_ARB 0x9367 -#endif /* GL_ARB_texture_filter_minmax */ - -#ifndef GL_ARB_texture_float -#define GL_ARB_texture_float 1 -#define GL_TEXTURE_RED_TYPE_ARB 0x8C10 -#define GL_TEXTURE_GREEN_TYPE_ARB 0x8C11 -#define GL_TEXTURE_BLUE_TYPE_ARB 0x8C12 -#define GL_TEXTURE_ALPHA_TYPE_ARB 0x8C13 -#define GL_TEXTURE_LUMINANCE_TYPE_ARB 0x8C14 -#define GL_TEXTURE_INTENSITY_TYPE_ARB 0x8C15 -#define GL_TEXTURE_DEPTH_TYPE_ARB 0x8C16 -#define GL_UNSIGNED_NORMALIZED_ARB 0x8C17 -#define GL_RGBA32F_ARB 0x8814 -#define GL_RGB32F_ARB 0x8815 -#define GL_ALPHA32F_ARB 0x8816 -#define GL_INTENSITY32F_ARB 0x8817 -#define GL_LUMINANCE32F_ARB 0x8818 -#define GL_LUMINANCE_ALPHA32F_ARB 0x8819 -#define GL_RGBA16F_ARB 0x881A -#define GL_RGB16F_ARB 0x881B -#define GL_ALPHA16F_ARB 0x881C -#define GL_INTENSITY16F_ARB 0x881D -#define GL_LUMINANCE16F_ARB 0x881E -#define GL_LUMINANCE_ALPHA16F_ARB 0x881F -#endif /* GL_ARB_texture_float */ - -#ifndef GL_ARB_texture_gather -#define GL_ARB_texture_gather 1 -#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET_ARB 0x8E5E -#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET_ARB 0x8E5F -#define GL_MAX_PROGRAM_TEXTURE_GATHER_COMPONENTS_ARB 0x8F9F -#endif /* GL_ARB_texture_gather */ - -#ifndef GL_ARB_texture_mirror_clamp_to_edge -#define GL_ARB_texture_mirror_clamp_to_edge 1 -#endif /* GL_ARB_texture_mirror_clamp_to_edge */ - -#ifndef GL_ARB_texture_mirrored_repeat -#define GL_ARB_texture_mirrored_repeat 1 -#define GL_MIRRORED_REPEAT_ARB 0x8370 -#endif /* GL_ARB_texture_mirrored_repeat */ - -#ifndef GL_ARB_texture_multisample -#define GL_ARB_texture_multisample 1 -#endif /* GL_ARB_texture_multisample */ - -#ifndef GL_ARB_texture_non_power_of_two -#define GL_ARB_texture_non_power_of_two 1 -#endif /* GL_ARB_texture_non_power_of_two */ - -#ifndef GL_ARB_texture_query_levels -#define GL_ARB_texture_query_levels 1 -#endif /* GL_ARB_texture_query_levels */ - -#ifndef GL_ARB_texture_query_lod -#define GL_ARB_texture_query_lod 1 -#endif /* GL_ARB_texture_query_lod */ - -#ifndef GL_ARB_texture_rectangle -#define GL_ARB_texture_rectangle 1 -#define GL_TEXTURE_RECTANGLE_ARB 0x84F5 -#define GL_TEXTURE_BINDING_RECTANGLE_ARB 0x84F6 -#define GL_PROXY_TEXTURE_RECTANGLE_ARB 0x84F7 -#define GL_MAX_RECTANGLE_TEXTURE_SIZE_ARB 0x84F8 -#endif /* GL_ARB_texture_rectangle */ - -#ifndef GL_ARB_texture_rg -#define GL_ARB_texture_rg 1 -#endif /* GL_ARB_texture_rg */ - -#ifndef GL_ARB_texture_rgb10_a2ui -#define GL_ARB_texture_rgb10_a2ui 1 -#endif /* GL_ARB_texture_rgb10_a2ui */ - -#ifndef GL_ARB_texture_stencil8 -#define GL_ARB_texture_stencil8 1 -#endif /* GL_ARB_texture_stencil8 */ - -#ifndef GL_ARB_texture_storage -#define GL_ARB_texture_storage 1 -#endif /* GL_ARB_texture_storage */ - -#ifndef GL_ARB_texture_storage_multisample -#define GL_ARB_texture_storage_multisample 1 -#endif /* GL_ARB_texture_storage_multisample */ - -#ifndef GL_ARB_texture_swizzle -#define GL_ARB_texture_swizzle 1 -#endif /* GL_ARB_texture_swizzle */ - -#ifndef GL_ARB_texture_view -#define GL_ARB_texture_view 1 -#endif /* GL_ARB_texture_view */ - -#ifndef GL_ARB_timer_query -#define GL_ARB_timer_query 1 -#endif /* GL_ARB_timer_query */ - -#ifndef GL_ARB_transform_feedback2 -#define GL_ARB_transform_feedback2 1 -#endif /* GL_ARB_transform_feedback2 */ - -#ifndef GL_ARB_transform_feedback3 -#define GL_ARB_transform_feedback3 1 -#endif /* GL_ARB_transform_feedback3 */ - -#ifndef GL_ARB_transform_feedback_instanced -#define GL_ARB_transform_feedback_instanced 1 -#endif /* GL_ARB_transform_feedback_instanced */ - -#ifndef GL_ARB_transform_feedback_overflow_query -#define GL_ARB_transform_feedback_overflow_query 1 -#define GL_TRANSFORM_FEEDBACK_OVERFLOW_ARB 0x82EC -#define GL_TRANSFORM_FEEDBACK_STREAM_OVERFLOW_ARB 0x82ED -#endif /* GL_ARB_transform_feedback_overflow_query */ - -#ifndef GL_ARB_transpose_matrix -#define GL_ARB_transpose_matrix 1 -#define GL_TRANSPOSE_MODELVIEW_MATRIX_ARB 0x84E3 -#define GL_TRANSPOSE_PROJECTION_MATRIX_ARB 0x84E4 -#define GL_TRANSPOSE_TEXTURE_MATRIX_ARB 0x84E5 -#define GL_TRANSPOSE_COLOR_MATRIX_ARB 0x84E6 -typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXFARBPROC) (const GLfloat *m); -typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXDARBPROC) (const GLdouble *m); -typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXFARBPROC) (const GLfloat *m); -typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXDARBPROC) (const GLdouble *m); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glLoadTransposeMatrixfARB (const GLfloat *m); -GLAPI void APIENTRY glLoadTransposeMatrixdARB (const GLdouble *m); -GLAPI void APIENTRY glMultTransposeMatrixfARB (const GLfloat *m); -GLAPI void APIENTRY glMultTransposeMatrixdARB (const GLdouble *m); -#endif -#endif /* GL_ARB_transpose_matrix */ - -#ifndef GL_ARB_uniform_buffer_object -#define GL_ARB_uniform_buffer_object 1 -#endif /* GL_ARB_uniform_buffer_object */ - -#ifndef GL_ARB_vertex_array_bgra -#define GL_ARB_vertex_array_bgra 1 -#endif /* GL_ARB_vertex_array_bgra */ - -#ifndef GL_ARB_vertex_array_object -#define GL_ARB_vertex_array_object 1 -#endif /* GL_ARB_vertex_array_object */ - -#ifndef GL_ARB_vertex_attrib_64bit -#define GL_ARB_vertex_attrib_64bit 1 -#endif /* GL_ARB_vertex_attrib_64bit */ - -#ifndef GL_ARB_vertex_attrib_binding -#define GL_ARB_vertex_attrib_binding 1 -#endif /* GL_ARB_vertex_attrib_binding */ - -#ifndef GL_ARB_vertex_blend -#define GL_ARB_vertex_blend 1 -#define GL_MAX_VERTEX_UNITS_ARB 0x86A4 -#define GL_ACTIVE_VERTEX_UNITS_ARB 0x86A5 -#define GL_WEIGHT_SUM_UNITY_ARB 0x86A6 -#define GL_VERTEX_BLEND_ARB 0x86A7 -#define GL_CURRENT_WEIGHT_ARB 0x86A8 -#define GL_WEIGHT_ARRAY_TYPE_ARB 0x86A9 -#define GL_WEIGHT_ARRAY_STRIDE_ARB 0x86AA -#define GL_WEIGHT_ARRAY_SIZE_ARB 0x86AB -#define GL_WEIGHT_ARRAY_POINTER_ARB 0x86AC -#define GL_WEIGHT_ARRAY_ARB 0x86AD -#define GL_MODELVIEW0_ARB 0x1700 -#define GL_MODELVIEW1_ARB 0x850A -#define GL_MODELVIEW2_ARB 0x8722 -#define GL_MODELVIEW3_ARB 0x8723 -#define GL_MODELVIEW4_ARB 0x8724 -#define GL_MODELVIEW5_ARB 0x8725 -#define GL_MODELVIEW6_ARB 0x8726 -#define GL_MODELVIEW7_ARB 0x8727 -#define GL_MODELVIEW8_ARB 0x8728 -#define GL_MODELVIEW9_ARB 0x8729 -#define GL_MODELVIEW10_ARB 0x872A -#define GL_MODELVIEW11_ARB 0x872B -#define GL_MODELVIEW12_ARB 0x872C -#define GL_MODELVIEW13_ARB 0x872D -#define GL_MODELVIEW14_ARB 0x872E -#define GL_MODELVIEW15_ARB 0x872F -#define GL_MODELVIEW16_ARB 0x8730 -#define GL_MODELVIEW17_ARB 0x8731 -#define GL_MODELVIEW18_ARB 0x8732 -#define GL_MODELVIEW19_ARB 0x8733 -#define GL_MODELVIEW20_ARB 0x8734 -#define GL_MODELVIEW21_ARB 0x8735 -#define GL_MODELVIEW22_ARB 0x8736 -#define GL_MODELVIEW23_ARB 0x8737 -#define GL_MODELVIEW24_ARB 0x8738 -#define GL_MODELVIEW25_ARB 0x8739 -#define GL_MODELVIEW26_ARB 0x873A -#define GL_MODELVIEW27_ARB 0x873B -#define GL_MODELVIEW28_ARB 0x873C -#define GL_MODELVIEW29_ARB 0x873D -#define GL_MODELVIEW30_ARB 0x873E -#define GL_MODELVIEW31_ARB 0x873F -typedef void (APIENTRYP PFNGLWEIGHTBVARBPROC) (GLint size, const GLbyte *weights); -typedef void (APIENTRYP PFNGLWEIGHTSVARBPROC) (GLint size, const GLshort *weights); -typedef void (APIENTRYP PFNGLWEIGHTIVARBPROC) (GLint size, const GLint *weights); -typedef void (APIENTRYP PFNGLWEIGHTFVARBPROC) (GLint size, const GLfloat *weights); -typedef void (APIENTRYP PFNGLWEIGHTDVARBPROC) (GLint size, const GLdouble *weights); -typedef void (APIENTRYP PFNGLWEIGHTUBVARBPROC) (GLint size, const GLubyte *weights); -typedef void (APIENTRYP PFNGLWEIGHTUSVARBPROC) (GLint size, const GLushort *weights); -typedef void (APIENTRYP PFNGLWEIGHTUIVARBPROC) (GLint size, const GLuint *weights); -typedef void (APIENTRYP PFNGLWEIGHTPOINTERARBPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLVERTEXBLENDARBPROC) (GLint count); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glWeightbvARB (GLint size, const GLbyte *weights); -GLAPI void APIENTRY glWeightsvARB (GLint size, const GLshort *weights); -GLAPI void APIENTRY glWeightivARB (GLint size, const GLint *weights); -GLAPI void APIENTRY glWeightfvARB (GLint size, const GLfloat *weights); -GLAPI void APIENTRY glWeightdvARB (GLint size, const GLdouble *weights); -GLAPI void APIENTRY glWeightubvARB (GLint size, const GLubyte *weights); -GLAPI void APIENTRY glWeightusvARB (GLint size, const GLushort *weights); -GLAPI void APIENTRY glWeightuivARB (GLint size, const GLuint *weights); -GLAPI void APIENTRY glWeightPointerARB (GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glVertexBlendARB (GLint count); -#endif -#endif /* GL_ARB_vertex_blend */ - -#ifndef GL_ARB_vertex_buffer_object -#define GL_ARB_vertex_buffer_object 1 -typedef khronos_ssize_t GLsizeiptrARB; -typedef khronos_intptr_t GLintptrARB; -#define GL_BUFFER_SIZE_ARB 0x8764 -#define GL_BUFFER_USAGE_ARB 0x8765 -#define GL_ARRAY_BUFFER_ARB 0x8892 -#define GL_ELEMENT_ARRAY_BUFFER_ARB 0x8893 -#define GL_ARRAY_BUFFER_BINDING_ARB 0x8894 -#define GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB 0x8895 -#define GL_VERTEX_ARRAY_BUFFER_BINDING_ARB 0x8896 -#define GL_NORMAL_ARRAY_BUFFER_BINDING_ARB 0x8897 -#define GL_COLOR_ARRAY_BUFFER_BINDING_ARB 0x8898 -#define GL_INDEX_ARRAY_BUFFER_BINDING_ARB 0x8899 -#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING_ARB 0x889A -#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING_ARB 0x889B -#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING_ARB 0x889C -#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING_ARB 0x889D -#define GL_WEIGHT_ARRAY_BUFFER_BINDING_ARB 0x889E -#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING_ARB 0x889F -#define GL_READ_ONLY_ARB 0x88B8 -#define GL_WRITE_ONLY_ARB 0x88B9 -#define GL_READ_WRITE_ARB 0x88BA -#define GL_BUFFER_ACCESS_ARB 0x88BB -#define GL_BUFFER_MAPPED_ARB 0x88BC -#define GL_BUFFER_MAP_POINTER_ARB 0x88BD -#define GL_STREAM_DRAW_ARB 0x88E0 -#define GL_STREAM_READ_ARB 0x88E1 -#define GL_STREAM_COPY_ARB 0x88E2 -#define GL_STATIC_DRAW_ARB 0x88E4 -#define GL_STATIC_READ_ARB 0x88E5 -#define GL_STATIC_COPY_ARB 0x88E6 -#define GL_DYNAMIC_DRAW_ARB 0x88E8 -#define GL_DYNAMIC_READ_ARB 0x88E9 -#define GL_DYNAMIC_COPY_ARB 0x88EA -typedef void (APIENTRYP PFNGLBINDBUFFERARBPROC) (GLenum target, GLuint buffer); -typedef void (APIENTRYP PFNGLDELETEBUFFERSARBPROC) (GLsizei n, const GLuint *buffers); -typedef void (APIENTRYP PFNGLGENBUFFERSARBPROC) (GLsizei n, GLuint *buffers); -typedef GLboolean (APIENTRYP PFNGLISBUFFERARBPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLBUFFERDATAARBPROC) (GLenum target, GLsizeiptrARB size, const void *data, GLenum usage); -typedef void (APIENTRYP PFNGLBUFFERSUBDATAARBPROC) (GLenum target, GLintptrARB offset, GLsizeiptrARB size, const void *data); -typedef void (APIENTRYP PFNGLGETBUFFERSUBDATAARBPROC) (GLenum target, GLintptrARB offset, GLsizeiptrARB size, void *data); -typedef void *(APIENTRYP PFNGLMAPBUFFERARBPROC) (GLenum target, GLenum access); -typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERARBPROC) (GLenum target); -typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERIVARBPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVARBPROC) (GLenum target, GLenum pname, void **params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindBufferARB (GLenum target, GLuint buffer); -GLAPI void APIENTRY glDeleteBuffersARB (GLsizei n, const GLuint *buffers); -GLAPI void APIENTRY glGenBuffersARB (GLsizei n, GLuint *buffers); -GLAPI GLboolean APIENTRY glIsBufferARB (GLuint buffer); -GLAPI void APIENTRY glBufferDataARB (GLenum target, GLsizeiptrARB size, const void *data, GLenum usage); -GLAPI void APIENTRY glBufferSubDataARB (GLenum target, GLintptrARB offset, GLsizeiptrARB size, const void *data); -GLAPI void APIENTRY glGetBufferSubDataARB (GLenum target, GLintptrARB offset, GLsizeiptrARB size, void *data); -GLAPI void *APIENTRY glMapBufferARB (GLenum target, GLenum access); -GLAPI GLboolean APIENTRY glUnmapBufferARB (GLenum target); -GLAPI void APIENTRY glGetBufferParameterivARB (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetBufferPointervARB (GLenum target, GLenum pname, void **params); -#endif -#endif /* GL_ARB_vertex_buffer_object */ - -#ifndef GL_ARB_vertex_program -#define GL_ARB_vertex_program 1 -#define GL_COLOR_SUM_ARB 0x8458 -#define GL_VERTEX_PROGRAM_ARB 0x8620 -#define GL_VERTEX_ATTRIB_ARRAY_ENABLED_ARB 0x8622 -#define GL_VERTEX_ATTRIB_ARRAY_SIZE_ARB 0x8623 -#define GL_VERTEX_ATTRIB_ARRAY_STRIDE_ARB 0x8624 -#define GL_VERTEX_ATTRIB_ARRAY_TYPE_ARB 0x8625 -#define GL_CURRENT_VERTEX_ATTRIB_ARB 0x8626 -#define GL_VERTEX_PROGRAM_POINT_SIZE_ARB 0x8642 -#define GL_VERTEX_PROGRAM_TWO_SIDE_ARB 0x8643 -#define GL_VERTEX_ATTRIB_ARRAY_POINTER_ARB 0x8645 -#define GL_MAX_VERTEX_ATTRIBS_ARB 0x8869 -#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED_ARB 0x886A -#define GL_PROGRAM_ADDRESS_REGISTERS_ARB 0x88B0 -#define GL_MAX_PROGRAM_ADDRESS_REGISTERS_ARB 0x88B1 -#define GL_PROGRAM_NATIVE_ADDRESS_REGISTERS_ARB 0x88B2 -#define GL_MAX_PROGRAM_NATIVE_ADDRESS_REGISTERS_ARB 0x88B3 -typedef void (APIENTRYP PFNGLVERTEXATTRIB1DARBPROC) (GLuint index, GLdouble x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1DVARBPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1FARBPROC) (GLuint index, GLfloat x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1FVARBPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1SARBPROC) (GLuint index, GLshort x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1SVARBPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2DARBPROC) (GLuint index, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2DVARBPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2FARBPROC) (GLuint index, GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2FVARBPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2SARBPROC) (GLuint index, GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2SVARBPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3DARBPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3DVARBPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3FARBPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3FVARBPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3SARBPROC) (GLuint index, GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3SVARBPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NBVARBPROC) (GLuint index, const GLbyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NIVARBPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NSVARBPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBARBPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUBVARBPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUIVARBPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4NUSVARBPROC) (GLuint index, const GLushort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4BVARBPROC) (GLuint index, const GLbyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4DARBPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4DVARBPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4FARBPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4FVARBPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4IVARBPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4SARBPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4SVARBPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBVARBPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4UIVARBPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4USVARBPROC) (GLuint index, const GLushort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERARBPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYARBPROC) (GLuint index); -typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYARBPROC) (GLuint index); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBDVARBPROC) (GLuint index, GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBFVARBPROC) (GLuint index, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVARBPROC) (GLuint index, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVARBPROC) (GLuint index, GLenum pname, void **pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexAttrib1dARB (GLuint index, GLdouble x); -GLAPI void APIENTRY glVertexAttrib1dvARB (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib1fARB (GLuint index, GLfloat x); -GLAPI void APIENTRY glVertexAttrib1fvARB (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib1sARB (GLuint index, GLshort x); -GLAPI void APIENTRY glVertexAttrib1svARB (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib2dARB (GLuint index, GLdouble x, GLdouble y); -GLAPI void APIENTRY glVertexAttrib2dvARB (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib2fARB (GLuint index, GLfloat x, GLfloat y); -GLAPI void APIENTRY glVertexAttrib2fvARB (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib2sARB (GLuint index, GLshort x, GLshort y); -GLAPI void APIENTRY glVertexAttrib2svARB (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib3dARB (GLuint index, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glVertexAttrib3dvARB (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib3fARB (GLuint index, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glVertexAttrib3fvARB (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib3sARB (GLuint index, GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glVertexAttrib3svARB (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4NbvARB (GLuint index, const GLbyte *v); -GLAPI void APIENTRY glVertexAttrib4NivARB (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttrib4NsvARB (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4NubARB (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); -GLAPI void APIENTRY glVertexAttrib4NubvARB (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttrib4NuivARB (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttrib4NusvARB (GLuint index, const GLushort *v); -GLAPI void APIENTRY glVertexAttrib4bvARB (GLuint index, const GLbyte *v); -GLAPI void APIENTRY glVertexAttrib4dARB (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glVertexAttrib4dvARB (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib4fARB (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glVertexAttrib4fvARB (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib4ivARB (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttrib4sARB (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); -GLAPI void APIENTRY glVertexAttrib4svARB (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4ubvARB (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttrib4uivARB (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttrib4usvARB (GLuint index, const GLushort *v); -GLAPI void APIENTRY glVertexAttribPointerARB (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glEnableVertexAttribArrayARB (GLuint index); -GLAPI void APIENTRY glDisableVertexAttribArrayARB (GLuint index); -GLAPI void APIENTRY glGetVertexAttribdvARB (GLuint index, GLenum pname, GLdouble *params); -GLAPI void APIENTRY glGetVertexAttribfvARB (GLuint index, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetVertexAttribivARB (GLuint index, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVertexAttribPointervARB (GLuint index, GLenum pname, void **pointer); -#endif -#endif /* GL_ARB_vertex_program */ - -#ifndef GL_ARB_vertex_shader -#define GL_ARB_vertex_shader 1 -#define GL_VERTEX_SHADER_ARB 0x8B31 -#define GL_MAX_VERTEX_UNIFORM_COMPONENTS_ARB 0x8B4A -#define GL_MAX_VARYING_FLOATS_ARB 0x8B4B -#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS_ARB 0x8B4C -#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS_ARB 0x8B4D -#define GL_OBJECT_ACTIVE_ATTRIBUTES_ARB 0x8B89 -#define GL_OBJECT_ACTIVE_ATTRIBUTE_MAX_LENGTH_ARB 0x8B8A -typedef void (APIENTRYP PFNGLBINDATTRIBLOCATIONARBPROC) (GLhandleARB programObj, GLuint index, const GLcharARB *name); -typedef void (APIENTRYP PFNGLGETACTIVEATTRIBARBPROC) (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); -typedef GLint (APIENTRYP PFNGLGETATTRIBLOCATIONARBPROC) (GLhandleARB programObj, const GLcharARB *name); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindAttribLocationARB (GLhandleARB programObj, GLuint index, const GLcharARB *name); -GLAPI void APIENTRY glGetActiveAttribARB (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei *length, GLint *size, GLenum *type, GLcharARB *name); -GLAPI GLint APIENTRY glGetAttribLocationARB (GLhandleARB programObj, const GLcharARB *name); -#endif -#endif /* GL_ARB_vertex_shader */ - -#ifndef GL_ARB_vertex_type_10f_11f_11f_rev -#define GL_ARB_vertex_type_10f_11f_11f_rev 1 -#endif /* GL_ARB_vertex_type_10f_11f_11f_rev */ - -#ifndef GL_ARB_vertex_type_2_10_10_10_rev -#define GL_ARB_vertex_type_2_10_10_10_rev 1 -#endif /* GL_ARB_vertex_type_2_10_10_10_rev */ - -#ifndef GL_ARB_viewport_array -#define GL_ARB_viewport_array 1 -typedef void (APIENTRYP PFNGLDEPTHRANGEARRAYDVNVPROC) (GLuint first, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLDEPTHRANGEINDEXEDDNVPROC) (GLuint index, GLdouble n, GLdouble f); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDepthRangeArraydvNV (GLuint first, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glDepthRangeIndexeddNV (GLuint index, GLdouble n, GLdouble f); -#endif -#endif /* GL_ARB_viewport_array */ - -#ifndef GL_ARB_window_pos -#define GL_ARB_window_pos 1 -typedef void (APIENTRYP PFNGLWINDOWPOS2DARBPROC) (GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLWINDOWPOS2DVARBPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2FARBPROC) (GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLWINDOWPOS2FVARBPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2IARBPROC) (GLint x, GLint y); -typedef void (APIENTRYP PFNGLWINDOWPOS2IVARBPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2SARBPROC) (GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLWINDOWPOS2SVARBPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3DARBPROC) (GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLWINDOWPOS3DVARBPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3FARBPROC) (GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLWINDOWPOS3FVARBPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3IARBPROC) (GLint x, GLint y, GLint z); -typedef void (APIENTRYP PFNGLWINDOWPOS3IVARBPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3SARBPROC) (GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLWINDOWPOS3SVARBPROC) (const GLshort *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glWindowPos2dARB (GLdouble x, GLdouble y); -GLAPI void APIENTRY glWindowPos2dvARB (const GLdouble *v); -GLAPI void APIENTRY glWindowPos2fARB (GLfloat x, GLfloat y); -GLAPI void APIENTRY glWindowPos2fvARB (const GLfloat *v); -GLAPI void APIENTRY glWindowPos2iARB (GLint x, GLint y); -GLAPI void APIENTRY glWindowPos2ivARB (const GLint *v); -GLAPI void APIENTRY glWindowPos2sARB (GLshort x, GLshort y); -GLAPI void APIENTRY glWindowPos2svARB (const GLshort *v); -GLAPI void APIENTRY glWindowPos3dARB (GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glWindowPos3dvARB (const GLdouble *v); -GLAPI void APIENTRY glWindowPos3fARB (GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glWindowPos3fvARB (const GLfloat *v); -GLAPI void APIENTRY glWindowPos3iARB (GLint x, GLint y, GLint z); -GLAPI void APIENTRY glWindowPos3ivARB (const GLint *v); -GLAPI void APIENTRY glWindowPos3sARB (GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glWindowPos3svARB (const GLshort *v); -#endif -#endif /* GL_ARB_window_pos */ - -#ifndef GL_KHR_blend_equation_advanced -#define GL_KHR_blend_equation_advanced 1 -#define GL_MULTIPLY_KHR 0x9294 -#define GL_SCREEN_KHR 0x9295 -#define GL_OVERLAY_KHR 0x9296 -#define GL_DARKEN_KHR 0x9297 -#define GL_LIGHTEN_KHR 0x9298 -#define GL_COLORDODGE_KHR 0x9299 -#define GL_COLORBURN_KHR 0x929A -#define GL_HARDLIGHT_KHR 0x929B -#define GL_SOFTLIGHT_KHR 0x929C -#define GL_DIFFERENCE_KHR 0x929E -#define GL_EXCLUSION_KHR 0x92A0 -#define GL_HSL_HUE_KHR 0x92AD -#define GL_HSL_SATURATION_KHR 0x92AE -#define GL_HSL_COLOR_KHR 0x92AF -#define GL_HSL_LUMINOSITY_KHR 0x92B0 -typedef void (APIENTRYP PFNGLBLENDBARRIERKHRPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendBarrierKHR (void); -#endif -#endif /* GL_KHR_blend_equation_advanced */ - -#ifndef GL_KHR_blend_equation_advanced_coherent -#define GL_KHR_blend_equation_advanced_coherent 1 -#define GL_BLEND_ADVANCED_COHERENT_KHR 0x9285 -#endif /* GL_KHR_blend_equation_advanced_coherent */ - -#ifndef GL_KHR_context_flush_control -#define GL_KHR_context_flush_control 1 -#endif /* GL_KHR_context_flush_control */ - -#ifndef GL_KHR_debug -#define GL_KHR_debug 1 -#endif /* GL_KHR_debug */ - -#ifndef GL_KHR_no_error -#define GL_KHR_no_error 1 -#define GL_CONTEXT_FLAG_NO_ERROR_BIT_KHR 0x00000008 -#endif /* GL_KHR_no_error */ - -#ifndef GL_KHR_parallel_shader_compile -#define GL_KHR_parallel_shader_compile 1 -#define GL_MAX_SHADER_COMPILER_THREADS_KHR 0x91B0 -#define GL_COMPLETION_STATUS_KHR 0x91B1 -typedef void (APIENTRYP PFNGLMAXSHADERCOMPILERTHREADSKHRPROC) (GLuint count); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMaxShaderCompilerThreadsKHR (GLuint count); -#endif -#endif /* GL_KHR_parallel_shader_compile */ - -#ifndef GL_KHR_robust_buffer_access_behavior -#define GL_KHR_robust_buffer_access_behavior 1 -#endif /* GL_KHR_robust_buffer_access_behavior */ - -#ifndef GL_KHR_robustness -#define GL_KHR_robustness 1 -#define GL_CONTEXT_ROBUST_ACCESS 0x90F3 -#endif /* GL_KHR_robustness */ - -#ifndef GL_KHR_shader_subgroup -#define GL_KHR_shader_subgroup 1 -#define GL_SUBGROUP_SIZE_KHR 0x9532 -#define GL_SUBGROUP_SUPPORTED_STAGES_KHR 0x9533 -#define GL_SUBGROUP_SUPPORTED_FEATURES_KHR 0x9534 -#define GL_SUBGROUP_QUAD_ALL_STAGES_KHR 0x9535 -#define GL_SUBGROUP_FEATURE_BASIC_BIT_KHR 0x00000001 -#define GL_SUBGROUP_FEATURE_VOTE_BIT_KHR 0x00000002 -#define GL_SUBGROUP_FEATURE_ARITHMETIC_BIT_KHR 0x00000004 -#define GL_SUBGROUP_FEATURE_BALLOT_BIT_KHR 0x00000008 -#define GL_SUBGROUP_FEATURE_SHUFFLE_BIT_KHR 0x00000010 -#define GL_SUBGROUP_FEATURE_SHUFFLE_RELATIVE_BIT_KHR 0x00000020 -#define GL_SUBGROUP_FEATURE_CLUSTERED_BIT_KHR 0x00000040 -#define GL_SUBGROUP_FEATURE_QUAD_BIT_KHR 0x00000080 -#endif /* GL_KHR_shader_subgroup */ - -#ifndef GL_KHR_texture_compression_astc_hdr -#define GL_KHR_texture_compression_astc_hdr 1 -#define GL_COMPRESSED_RGBA_ASTC_4x4_KHR 0x93B0 -#define GL_COMPRESSED_RGBA_ASTC_5x4_KHR 0x93B1 -#define GL_COMPRESSED_RGBA_ASTC_5x5_KHR 0x93B2 -#define GL_COMPRESSED_RGBA_ASTC_6x5_KHR 0x93B3 -#define GL_COMPRESSED_RGBA_ASTC_6x6_KHR 0x93B4 -#define GL_COMPRESSED_RGBA_ASTC_8x5_KHR 0x93B5 -#define GL_COMPRESSED_RGBA_ASTC_8x6_KHR 0x93B6 -#define GL_COMPRESSED_RGBA_ASTC_8x8_KHR 0x93B7 -#define GL_COMPRESSED_RGBA_ASTC_10x5_KHR 0x93B8 -#define GL_COMPRESSED_RGBA_ASTC_10x6_KHR 0x93B9 -#define GL_COMPRESSED_RGBA_ASTC_10x8_KHR 0x93BA -#define GL_COMPRESSED_RGBA_ASTC_10x10_KHR 0x93BB -#define GL_COMPRESSED_RGBA_ASTC_12x10_KHR 0x93BC -#define GL_COMPRESSED_RGBA_ASTC_12x12_KHR 0x93BD -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR 0x93D0 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR 0x93D1 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR 0x93D2 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR 0x93D3 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR 0x93D4 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR 0x93D5 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR 0x93D6 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR 0x93D7 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR 0x93D8 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR 0x93D9 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR 0x93DA -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR 0x93DB -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR 0x93DC -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR 0x93DD -#endif /* GL_KHR_texture_compression_astc_hdr */ - -#ifndef GL_KHR_texture_compression_astc_ldr -#define GL_KHR_texture_compression_astc_ldr 1 -#endif /* GL_KHR_texture_compression_astc_ldr */ - -#ifndef GL_KHR_texture_compression_astc_sliced_3d -#define GL_KHR_texture_compression_astc_sliced_3d 1 -#endif /* GL_KHR_texture_compression_astc_sliced_3d */ - -#ifndef GL_OES_byte_coordinates -#define GL_OES_byte_coordinates 1 -typedef void (APIENTRYP PFNGLMULTITEXCOORD1BOESPROC) (GLenum texture, GLbyte s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1BVOESPROC) (GLenum texture, const GLbyte *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2BOESPROC) (GLenum texture, GLbyte s, GLbyte t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2BVOESPROC) (GLenum texture, const GLbyte *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3BOESPROC) (GLenum texture, GLbyte s, GLbyte t, GLbyte r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3BVOESPROC) (GLenum texture, const GLbyte *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4BOESPROC) (GLenum texture, GLbyte s, GLbyte t, GLbyte r, GLbyte q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4BVOESPROC) (GLenum texture, const GLbyte *coords); -typedef void (APIENTRYP PFNGLTEXCOORD1BOESPROC) (GLbyte s); -typedef void (APIENTRYP PFNGLTEXCOORD1BVOESPROC) (const GLbyte *coords); -typedef void (APIENTRYP PFNGLTEXCOORD2BOESPROC) (GLbyte s, GLbyte t); -typedef void (APIENTRYP PFNGLTEXCOORD2BVOESPROC) (const GLbyte *coords); -typedef void (APIENTRYP PFNGLTEXCOORD3BOESPROC) (GLbyte s, GLbyte t, GLbyte r); -typedef void (APIENTRYP PFNGLTEXCOORD3BVOESPROC) (const GLbyte *coords); -typedef void (APIENTRYP PFNGLTEXCOORD4BOESPROC) (GLbyte s, GLbyte t, GLbyte r, GLbyte q); -typedef void (APIENTRYP PFNGLTEXCOORD4BVOESPROC) (const GLbyte *coords); -typedef void (APIENTRYP PFNGLVERTEX2BOESPROC) (GLbyte x, GLbyte y); -typedef void (APIENTRYP PFNGLVERTEX2BVOESPROC) (const GLbyte *coords); -typedef void (APIENTRYP PFNGLVERTEX3BOESPROC) (GLbyte x, GLbyte y, GLbyte z); -typedef void (APIENTRYP PFNGLVERTEX3BVOESPROC) (const GLbyte *coords); -typedef void (APIENTRYP PFNGLVERTEX4BOESPROC) (GLbyte x, GLbyte y, GLbyte z, GLbyte w); -typedef void (APIENTRYP PFNGLVERTEX4BVOESPROC) (const GLbyte *coords); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiTexCoord1bOES (GLenum texture, GLbyte s); -GLAPI void APIENTRY glMultiTexCoord1bvOES (GLenum texture, const GLbyte *coords); -GLAPI void APIENTRY glMultiTexCoord2bOES (GLenum texture, GLbyte s, GLbyte t); -GLAPI void APIENTRY glMultiTexCoord2bvOES (GLenum texture, const GLbyte *coords); -GLAPI void APIENTRY glMultiTexCoord3bOES (GLenum texture, GLbyte s, GLbyte t, GLbyte r); -GLAPI void APIENTRY glMultiTexCoord3bvOES (GLenum texture, const GLbyte *coords); -GLAPI void APIENTRY glMultiTexCoord4bOES (GLenum texture, GLbyte s, GLbyte t, GLbyte r, GLbyte q); -GLAPI void APIENTRY glMultiTexCoord4bvOES (GLenum texture, const GLbyte *coords); -GLAPI void APIENTRY glTexCoord1bOES (GLbyte s); -GLAPI void APIENTRY glTexCoord1bvOES (const GLbyte *coords); -GLAPI void APIENTRY glTexCoord2bOES (GLbyte s, GLbyte t); -GLAPI void APIENTRY glTexCoord2bvOES (const GLbyte *coords); -GLAPI void APIENTRY glTexCoord3bOES (GLbyte s, GLbyte t, GLbyte r); -GLAPI void APIENTRY glTexCoord3bvOES (const GLbyte *coords); -GLAPI void APIENTRY glTexCoord4bOES (GLbyte s, GLbyte t, GLbyte r, GLbyte q); -GLAPI void APIENTRY glTexCoord4bvOES (const GLbyte *coords); -GLAPI void APIENTRY glVertex2bOES (GLbyte x, GLbyte y); -GLAPI void APIENTRY glVertex2bvOES (const GLbyte *coords); -GLAPI void APIENTRY glVertex3bOES (GLbyte x, GLbyte y, GLbyte z); -GLAPI void APIENTRY glVertex3bvOES (const GLbyte *coords); -GLAPI void APIENTRY glVertex4bOES (GLbyte x, GLbyte y, GLbyte z, GLbyte w); -GLAPI void APIENTRY glVertex4bvOES (const GLbyte *coords); -#endif -#endif /* GL_OES_byte_coordinates */ - -#ifndef GL_OES_compressed_paletted_texture -#define GL_OES_compressed_paletted_texture 1 -#define GL_PALETTE4_RGB8_OES 0x8B90 -#define GL_PALETTE4_RGBA8_OES 0x8B91 -#define GL_PALETTE4_R5_G6_B5_OES 0x8B92 -#define GL_PALETTE4_RGBA4_OES 0x8B93 -#define GL_PALETTE4_RGB5_A1_OES 0x8B94 -#define GL_PALETTE8_RGB8_OES 0x8B95 -#define GL_PALETTE8_RGBA8_OES 0x8B96 -#define GL_PALETTE8_R5_G6_B5_OES 0x8B97 -#define GL_PALETTE8_RGBA4_OES 0x8B98 -#define GL_PALETTE8_RGB5_A1_OES 0x8B99 -#endif /* GL_OES_compressed_paletted_texture */ - -#ifndef GL_OES_fixed_point -#define GL_OES_fixed_point 1 -typedef khronos_int32_t GLfixed; -#define GL_FIXED_OES 0x140C -typedef void (APIENTRYP PFNGLALPHAFUNCXOESPROC) (GLenum func, GLfixed ref); -typedef void (APIENTRYP PFNGLCLEARCOLORXOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -typedef void (APIENTRYP PFNGLCLEARDEPTHXOESPROC) (GLfixed depth); -typedef void (APIENTRYP PFNGLCLIPPLANEXOESPROC) (GLenum plane, const GLfixed *equation); -typedef void (APIENTRYP PFNGLCOLOR4XOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -typedef void (APIENTRYP PFNGLDEPTHRANGEXOESPROC) (GLfixed n, GLfixed f); -typedef void (APIENTRYP PFNGLFOGXOESPROC) (GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLFOGXVOESPROC) (GLenum pname, const GLfixed *param); -typedef void (APIENTRYP PFNGLFRUSTUMXOESPROC) (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); -typedef void (APIENTRYP PFNGLGETCLIPPLANEXOESPROC) (GLenum plane, GLfixed *equation); -typedef void (APIENTRYP PFNGLGETFIXEDVOESPROC) (GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLGETTEXENVXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLGETTEXPARAMETERXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLLIGHTMODELXOESPROC) (GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLLIGHTMODELXVOESPROC) (GLenum pname, const GLfixed *param); -typedef void (APIENTRYP PFNGLLIGHTXOESPROC) (GLenum light, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLLIGHTXVOESPROC) (GLenum light, GLenum pname, const GLfixed *params); -typedef void (APIENTRYP PFNGLLINEWIDTHXOESPROC) (GLfixed width); -typedef void (APIENTRYP PFNGLLOADMATRIXXOESPROC) (const GLfixed *m); -typedef void (APIENTRYP PFNGLMATERIALXOESPROC) (GLenum face, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLMATERIALXVOESPROC) (GLenum face, GLenum pname, const GLfixed *param); -typedef void (APIENTRYP PFNGLMULTMATRIXXOESPROC) (const GLfixed *m); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4XOESPROC) (GLenum texture, GLfixed s, GLfixed t, GLfixed r, GLfixed q); -typedef void (APIENTRYP PFNGLNORMAL3XOESPROC) (GLfixed nx, GLfixed ny, GLfixed nz); -typedef void (APIENTRYP PFNGLORTHOXOESPROC) (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); -typedef void (APIENTRYP PFNGLPOINTPARAMETERXVOESPROC) (GLenum pname, const GLfixed *params); -typedef void (APIENTRYP PFNGLPOINTSIZEXOESPROC) (GLfixed size); -typedef void (APIENTRYP PFNGLPOLYGONOFFSETXOESPROC) (GLfixed factor, GLfixed units); -typedef void (APIENTRYP PFNGLROTATEXOESPROC) (GLfixed angle, GLfixed x, GLfixed y, GLfixed z); -typedef void (APIENTRYP PFNGLSCALEXOESPROC) (GLfixed x, GLfixed y, GLfixed z); -typedef void (APIENTRYP PFNGLTEXENVXOESPROC) (GLenum target, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLTEXENVXVOESPROC) (GLenum target, GLenum pname, const GLfixed *params); -typedef void (APIENTRYP PFNGLTEXPARAMETERXOESPROC) (GLenum target, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLTEXPARAMETERXVOESPROC) (GLenum target, GLenum pname, const GLfixed *params); -typedef void (APIENTRYP PFNGLTRANSLATEXOESPROC) (GLfixed x, GLfixed y, GLfixed z); -typedef void (APIENTRYP PFNGLACCUMXOESPROC) (GLenum op, GLfixed value); -typedef void (APIENTRYP PFNGLBITMAPXOESPROC) (GLsizei width, GLsizei height, GLfixed xorig, GLfixed yorig, GLfixed xmove, GLfixed ymove, const GLubyte *bitmap); -typedef void (APIENTRYP PFNGLBLENDCOLORXOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -typedef void (APIENTRYP PFNGLCLEARACCUMXOESPROC) (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -typedef void (APIENTRYP PFNGLCOLOR3XOESPROC) (GLfixed red, GLfixed green, GLfixed blue); -typedef void (APIENTRYP PFNGLCOLOR3XVOESPROC) (const GLfixed *components); -typedef void (APIENTRYP PFNGLCOLOR4XVOESPROC) (const GLfixed *components); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERXOESPROC) (GLenum target, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERXVOESPROC) (GLenum target, GLenum pname, const GLfixed *params); -typedef void (APIENTRYP PFNGLEVALCOORD1XOESPROC) (GLfixed u); -typedef void (APIENTRYP PFNGLEVALCOORD1XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLEVALCOORD2XOESPROC) (GLfixed u, GLfixed v); -typedef void (APIENTRYP PFNGLEVALCOORD2XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLFEEDBACKBUFFERXOESPROC) (GLsizei n, GLenum type, const GLfixed *buffer); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERXVOESPROC) (GLenum target, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLGETLIGHTXOESPROC) (GLenum light, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLGETMAPXVOESPROC) (GLenum target, GLenum query, GLfixed *v); -typedef void (APIENTRYP PFNGLGETMATERIALXOESPROC) (GLenum face, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLGETPIXELMAPXVPROC) (GLenum map, GLint size, GLfixed *values); -typedef void (APIENTRYP PFNGLGETTEXGENXVOESPROC) (GLenum coord, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLGETTEXLEVELPARAMETERXVOESPROC) (GLenum target, GLint level, GLenum pname, GLfixed *params); -typedef void (APIENTRYP PFNGLINDEXXOESPROC) (GLfixed component); -typedef void (APIENTRYP PFNGLINDEXXVOESPROC) (const GLfixed *component); -typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXXOESPROC) (const GLfixed *m); -typedef void (APIENTRYP PFNGLMAP1XOESPROC) (GLenum target, GLfixed u1, GLfixed u2, GLint stride, GLint order, GLfixed points); -typedef void (APIENTRYP PFNGLMAP2XOESPROC) (GLenum target, GLfixed u1, GLfixed u2, GLint ustride, GLint uorder, GLfixed v1, GLfixed v2, GLint vstride, GLint vorder, GLfixed points); -typedef void (APIENTRYP PFNGLMAPGRID1XOESPROC) (GLint n, GLfixed u1, GLfixed u2); -typedef void (APIENTRYP PFNGLMAPGRID2XOESPROC) (GLint n, GLfixed u1, GLfixed u2, GLfixed v1, GLfixed v2); -typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXXOESPROC) (const GLfixed *m); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1XOESPROC) (GLenum texture, GLfixed s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1XVOESPROC) (GLenum texture, const GLfixed *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2XOESPROC) (GLenum texture, GLfixed s, GLfixed t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2XVOESPROC) (GLenum texture, const GLfixed *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3XOESPROC) (GLenum texture, GLfixed s, GLfixed t, GLfixed r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3XVOESPROC) (GLenum texture, const GLfixed *coords); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4XVOESPROC) (GLenum texture, const GLfixed *coords); -typedef void (APIENTRYP PFNGLNORMAL3XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLPASSTHROUGHXOESPROC) (GLfixed token); -typedef void (APIENTRYP PFNGLPIXELMAPXPROC) (GLenum map, GLint size, const GLfixed *values); -typedef void (APIENTRYP PFNGLPIXELSTOREXPROC) (GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLPIXELTRANSFERXOESPROC) (GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLPIXELZOOMXOESPROC) (GLfixed xfactor, GLfixed yfactor); -typedef void (APIENTRYP PFNGLPRIORITIZETEXTURESXOESPROC) (GLsizei n, const GLuint *textures, const GLfixed *priorities); -typedef void (APIENTRYP PFNGLRASTERPOS2XOESPROC) (GLfixed x, GLfixed y); -typedef void (APIENTRYP PFNGLRASTERPOS2XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLRASTERPOS3XOESPROC) (GLfixed x, GLfixed y, GLfixed z); -typedef void (APIENTRYP PFNGLRASTERPOS3XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLRASTERPOS4XOESPROC) (GLfixed x, GLfixed y, GLfixed z, GLfixed w); -typedef void (APIENTRYP PFNGLRASTERPOS4XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLRECTXOESPROC) (GLfixed x1, GLfixed y1, GLfixed x2, GLfixed y2); -typedef void (APIENTRYP PFNGLRECTXVOESPROC) (const GLfixed *v1, const GLfixed *v2); -typedef void (APIENTRYP PFNGLTEXCOORD1XOESPROC) (GLfixed s); -typedef void (APIENTRYP PFNGLTEXCOORD1XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLTEXCOORD2XOESPROC) (GLfixed s, GLfixed t); -typedef void (APIENTRYP PFNGLTEXCOORD2XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLTEXCOORD3XOESPROC) (GLfixed s, GLfixed t, GLfixed r); -typedef void (APIENTRYP PFNGLTEXCOORD3XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLTEXCOORD4XOESPROC) (GLfixed s, GLfixed t, GLfixed r, GLfixed q); -typedef void (APIENTRYP PFNGLTEXCOORD4XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLTEXGENXOESPROC) (GLenum coord, GLenum pname, GLfixed param); -typedef void (APIENTRYP PFNGLTEXGENXVOESPROC) (GLenum coord, GLenum pname, const GLfixed *params); -typedef void (APIENTRYP PFNGLVERTEX2XOESPROC) (GLfixed x); -typedef void (APIENTRYP PFNGLVERTEX2XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLVERTEX3XOESPROC) (GLfixed x, GLfixed y); -typedef void (APIENTRYP PFNGLVERTEX3XVOESPROC) (const GLfixed *coords); -typedef void (APIENTRYP PFNGLVERTEX4XOESPROC) (GLfixed x, GLfixed y, GLfixed z); -typedef void (APIENTRYP PFNGLVERTEX4XVOESPROC) (const GLfixed *coords); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glAlphaFuncxOES (GLenum func, GLfixed ref); -GLAPI void APIENTRY glClearColorxOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -GLAPI void APIENTRY glClearDepthxOES (GLfixed depth); -GLAPI void APIENTRY glClipPlanexOES (GLenum plane, const GLfixed *equation); -GLAPI void APIENTRY glColor4xOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -GLAPI void APIENTRY glDepthRangexOES (GLfixed n, GLfixed f); -GLAPI void APIENTRY glFogxOES (GLenum pname, GLfixed param); -GLAPI void APIENTRY glFogxvOES (GLenum pname, const GLfixed *param); -GLAPI void APIENTRY glFrustumxOES (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); -GLAPI void APIENTRY glGetClipPlanexOES (GLenum plane, GLfixed *equation); -GLAPI void APIENTRY glGetFixedvOES (GLenum pname, GLfixed *params); -GLAPI void APIENTRY glGetTexEnvxvOES (GLenum target, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glGetTexParameterxvOES (GLenum target, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glLightModelxOES (GLenum pname, GLfixed param); -GLAPI void APIENTRY glLightModelxvOES (GLenum pname, const GLfixed *param); -GLAPI void APIENTRY glLightxOES (GLenum light, GLenum pname, GLfixed param); -GLAPI void APIENTRY glLightxvOES (GLenum light, GLenum pname, const GLfixed *params); -GLAPI void APIENTRY glLineWidthxOES (GLfixed width); -GLAPI void APIENTRY glLoadMatrixxOES (const GLfixed *m); -GLAPI void APIENTRY glMaterialxOES (GLenum face, GLenum pname, GLfixed param); -GLAPI void APIENTRY glMaterialxvOES (GLenum face, GLenum pname, const GLfixed *param); -GLAPI void APIENTRY glMultMatrixxOES (const GLfixed *m); -GLAPI void APIENTRY glMultiTexCoord4xOES (GLenum texture, GLfixed s, GLfixed t, GLfixed r, GLfixed q); -GLAPI void APIENTRY glNormal3xOES (GLfixed nx, GLfixed ny, GLfixed nz); -GLAPI void APIENTRY glOrthoxOES (GLfixed l, GLfixed r, GLfixed b, GLfixed t, GLfixed n, GLfixed f); -GLAPI void APIENTRY glPointParameterxvOES (GLenum pname, const GLfixed *params); -GLAPI void APIENTRY glPointSizexOES (GLfixed size); -GLAPI void APIENTRY glPolygonOffsetxOES (GLfixed factor, GLfixed units); -GLAPI void APIENTRY glRotatexOES (GLfixed angle, GLfixed x, GLfixed y, GLfixed z); -GLAPI void APIENTRY glScalexOES (GLfixed x, GLfixed y, GLfixed z); -GLAPI void APIENTRY glTexEnvxOES (GLenum target, GLenum pname, GLfixed param); -GLAPI void APIENTRY glTexEnvxvOES (GLenum target, GLenum pname, const GLfixed *params); -GLAPI void APIENTRY glTexParameterxOES (GLenum target, GLenum pname, GLfixed param); -GLAPI void APIENTRY glTexParameterxvOES (GLenum target, GLenum pname, const GLfixed *params); -GLAPI void APIENTRY glTranslatexOES (GLfixed x, GLfixed y, GLfixed z); -GLAPI void APIENTRY glAccumxOES (GLenum op, GLfixed value); -GLAPI void APIENTRY glBitmapxOES (GLsizei width, GLsizei height, GLfixed xorig, GLfixed yorig, GLfixed xmove, GLfixed ymove, const GLubyte *bitmap); -GLAPI void APIENTRY glBlendColorxOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -GLAPI void APIENTRY glClearAccumxOES (GLfixed red, GLfixed green, GLfixed blue, GLfixed alpha); -GLAPI void APIENTRY glColor3xOES (GLfixed red, GLfixed green, GLfixed blue); -GLAPI void APIENTRY glColor3xvOES (const GLfixed *components); -GLAPI void APIENTRY glColor4xvOES (const GLfixed *components); -GLAPI void APIENTRY glConvolutionParameterxOES (GLenum target, GLenum pname, GLfixed param); -GLAPI void APIENTRY glConvolutionParameterxvOES (GLenum target, GLenum pname, const GLfixed *params); -GLAPI void APIENTRY glEvalCoord1xOES (GLfixed u); -GLAPI void APIENTRY glEvalCoord1xvOES (const GLfixed *coords); -GLAPI void APIENTRY glEvalCoord2xOES (GLfixed u, GLfixed v); -GLAPI void APIENTRY glEvalCoord2xvOES (const GLfixed *coords); -GLAPI void APIENTRY glFeedbackBufferxOES (GLsizei n, GLenum type, const GLfixed *buffer); -GLAPI void APIENTRY glGetConvolutionParameterxvOES (GLenum target, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glGetHistogramParameterxvOES (GLenum target, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glGetLightxOES (GLenum light, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glGetMapxvOES (GLenum target, GLenum query, GLfixed *v); -GLAPI void APIENTRY glGetMaterialxOES (GLenum face, GLenum pname, GLfixed param); -GLAPI void APIENTRY glGetPixelMapxv (GLenum map, GLint size, GLfixed *values); -GLAPI void APIENTRY glGetTexGenxvOES (GLenum coord, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glGetTexLevelParameterxvOES (GLenum target, GLint level, GLenum pname, GLfixed *params); -GLAPI void APIENTRY glIndexxOES (GLfixed component); -GLAPI void APIENTRY glIndexxvOES (const GLfixed *component); -GLAPI void APIENTRY glLoadTransposeMatrixxOES (const GLfixed *m); -GLAPI void APIENTRY glMap1xOES (GLenum target, GLfixed u1, GLfixed u2, GLint stride, GLint order, GLfixed points); -GLAPI void APIENTRY glMap2xOES (GLenum target, GLfixed u1, GLfixed u2, GLint ustride, GLint uorder, GLfixed v1, GLfixed v2, GLint vstride, GLint vorder, GLfixed points); -GLAPI void APIENTRY glMapGrid1xOES (GLint n, GLfixed u1, GLfixed u2); -GLAPI void APIENTRY glMapGrid2xOES (GLint n, GLfixed u1, GLfixed u2, GLfixed v1, GLfixed v2); -GLAPI void APIENTRY glMultTransposeMatrixxOES (const GLfixed *m); -GLAPI void APIENTRY glMultiTexCoord1xOES (GLenum texture, GLfixed s); -GLAPI void APIENTRY glMultiTexCoord1xvOES (GLenum texture, const GLfixed *coords); -GLAPI void APIENTRY glMultiTexCoord2xOES (GLenum texture, GLfixed s, GLfixed t); -GLAPI void APIENTRY glMultiTexCoord2xvOES (GLenum texture, const GLfixed *coords); -GLAPI void APIENTRY glMultiTexCoord3xOES (GLenum texture, GLfixed s, GLfixed t, GLfixed r); -GLAPI void APIENTRY glMultiTexCoord3xvOES (GLenum texture, const GLfixed *coords); -GLAPI void APIENTRY glMultiTexCoord4xvOES (GLenum texture, const GLfixed *coords); -GLAPI void APIENTRY glNormal3xvOES (const GLfixed *coords); -GLAPI void APIENTRY glPassThroughxOES (GLfixed token); -GLAPI void APIENTRY glPixelMapx (GLenum map, GLint size, const GLfixed *values); -GLAPI void APIENTRY glPixelStorex (GLenum pname, GLfixed param); -GLAPI void APIENTRY glPixelTransferxOES (GLenum pname, GLfixed param); -GLAPI void APIENTRY glPixelZoomxOES (GLfixed xfactor, GLfixed yfactor); -GLAPI void APIENTRY glPrioritizeTexturesxOES (GLsizei n, const GLuint *textures, const GLfixed *priorities); -GLAPI void APIENTRY glRasterPos2xOES (GLfixed x, GLfixed y); -GLAPI void APIENTRY glRasterPos2xvOES (const GLfixed *coords); -GLAPI void APIENTRY glRasterPos3xOES (GLfixed x, GLfixed y, GLfixed z); -GLAPI void APIENTRY glRasterPos3xvOES (const GLfixed *coords); -GLAPI void APIENTRY glRasterPos4xOES (GLfixed x, GLfixed y, GLfixed z, GLfixed w); -GLAPI void APIENTRY glRasterPos4xvOES (const GLfixed *coords); -GLAPI void APIENTRY glRectxOES (GLfixed x1, GLfixed y1, GLfixed x2, GLfixed y2); -GLAPI void APIENTRY glRectxvOES (const GLfixed *v1, const GLfixed *v2); -GLAPI void APIENTRY glTexCoord1xOES (GLfixed s); -GLAPI void APIENTRY glTexCoord1xvOES (const GLfixed *coords); -GLAPI void APIENTRY glTexCoord2xOES (GLfixed s, GLfixed t); -GLAPI void APIENTRY glTexCoord2xvOES (const GLfixed *coords); -GLAPI void APIENTRY glTexCoord3xOES (GLfixed s, GLfixed t, GLfixed r); -GLAPI void APIENTRY glTexCoord3xvOES (const GLfixed *coords); -GLAPI void APIENTRY glTexCoord4xOES (GLfixed s, GLfixed t, GLfixed r, GLfixed q); -GLAPI void APIENTRY glTexCoord4xvOES (const GLfixed *coords); -GLAPI void APIENTRY glTexGenxOES (GLenum coord, GLenum pname, GLfixed param); -GLAPI void APIENTRY glTexGenxvOES (GLenum coord, GLenum pname, const GLfixed *params); -GLAPI void APIENTRY glVertex2xOES (GLfixed x); -GLAPI void APIENTRY glVertex2xvOES (const GLfixed *coords); -GLAPI void APIENTRY glVertex3xOES (GLfixed x, GLfixed y); -GLAPI void APIENTRY glVertex3xvOES (const GLfixed *coords); -GLAPI void APIENTRY glVertex4xOES (GLfixed x, GLfixed y, GLfixed z); -GLAPI void APIENTRY glVertex4xvOES (const GLfixed *coords); -#endif -#endif /* GL_OES_fixed_point */ - -#ifndef GL_OES_query_matrix -#define GL_OES_query_matrix 1 -typedef GLbitfield (APIENTRYP PFNGLQUERYMATRIXXOESPROC) (GLfixed *mantissa, GLint *exponent); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLbitfield APIENTRY glQueryMatrixxOES (GLfixed *mantissa, GLint *exponent); -#endif -#endif /* GL_OES_query_matrix */ - -#ifndef GL_OES_read_format -#define GL_OES_read_format 1 -#define GL_IMPLEMENTATION_COLOR_READ_TYPE_OES 0x8B9A -#define GL_IMPLEMENTATION_COLOR_READ_FORMAT_OES 0x8B9B -#endif /* GL_OES_read_format */ - -#ifndef GL_OES_single_precision -#define GL_OES_single_precision 1 -typedef void (APIENTRYP PFNGLCLEARDEPTHFOESPROC) (GLclampf depth); -typedef void (APIENTRYP PFNGLCLIPPLANEFOESPROC) (GLenum plane, const GLfloat *equation); -typedef void (APIENTRYP PFNGLDEPTHRANGEFOESPROC) (GLclampf n, GLclampf f); -typedef void (APIENTRYP PFNGLFRUSTUMFOESPROC) (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); -typedef void (APIENTRYP PFNGLGETCLIPPLANEFOESPROC) (GLenum plane, GLfloat *equation); -typedef void (APIENTRYP PFNGLORTHOFOESPROC) (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glClearDepthfOES (GLclampf depth); -GLAPI void APIENTRY glClipPlanefOES (GLenum plane, const GLfloat *equation); -GLAPI void APIENTRY glDepthRangefOES (GLclampf n, GLclampf f); -GLAPI void APIENTRY glFrustumfOES (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); -GLAPI void APIENTRY glGetClipPlanefOES (GLenum plane, GLfloat *equation); -GLAPI void APIENTRY glOrthofOES (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); -#endif -#endif /* GL_OES_single_precision */ - -#ifndef GL_3DFX_multisample -#define GL_3DFX_multisample 1 -#define GL_MULTISAMPLE_3DFX 0x86B2 -#define GL_SAMPLE_BUFFERS_3DFX 0x86B3 -#define GL_SAMPLES_3DFX 0x86B4 -#define GL_MULTISAMPLE_BIT_3DFX 0x20000000 -#endif /* GL_3DFX_multisample */ - -#ifndef GL_3DFX_tbuffer -#define GL_3DFX_tbuffer 1 -typedef void (APIENTRYP PFNGLTBUFFERMASK3DFXPROC) (GLuint mask); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTbufferMask3DFX (GLuint mask); -#endif -#endif /* GL_3DFX_tbuffer */ - -#ifndef GL_3DFX_texture_compression_FXT1 -#define GL_3DFX_texture_compression_FXT1 1 -#define GL_COMPRESSED_RGB_FXT1_3DFX 0x86B0 -#define GL_COMPRESSED_RGBA_FXT1_3DFX 0x86B1 -#endif /* GL_3DFX_texture_compression_FXT1 */ - -#ifndef GL_AMD_blend_minmax_factor -#define GL_AMD_blend_minmax_factor 1 -#define GL_FACTOR_MIN_AMD 0x901C -#define GL_FACTOR_MAX_AMD 0x901D -#endif /* GL_AMD_blend_minmax_factor */ - -#ifndef GL_AMD_conservative_depth -#define GL_AMD_conservative_depth 1 -#endif /* GL_AMD_conservative_depth */ - -#ifndef GL_AMD_debug_output -#define GL_AMD_debug_output 1 -typedef void (APIENTRY *GLDEBUGPROCAMD)(GLuint id,GLenum category,GLenum severity,GLsizei length,const GLchar *message,void *userParam); -#define GL_MAX_DEBUG_MESSAGE_LENGTH_AMD 0x9143 -#define GL_MAX_DEBUG_LOGGED_MESSAGES_AMD 0x9144 -#define GL_DEBUG_LOGGED_MESSAGES_AMD 0x9145 -#define GL_DEBUG_SEVERITY_HIGH_AMD 0x9146 -#define GL_DEBUG_SEVERITY_MEDIUM_AMD 0x9147 -#define GL_DEBUG_SEVERITY_LOW_AMD 0x9148 -#define GL_DEBUG_CATEGORY_API_ERROR_AMD 0x9149 -#define GL_DEBUG_CATEGORY_WINDOW_SYSTEM_AMD 0x914A -#define GL_DEBUG_CATEGORY_DEPRECATION_AMD 0x914B -#define GL_DEBUG_CATEGORY_UNDEFINED_BEHAVIOR_AMD 0x914C -#define GL_DEBUG_CATEGORY_PERFORMANCE_AMD 0x914D -#define GL_DEBUG_CATEGORY_SHADER_COMPILER_AMD 0x914E -#define GL_DEBUG_CATEGORY_APPLICATION_AMD 0x914F -#define GL_DEBUG_CATEGORY_OTHER_AMD 0x9150 -typedef void (APIENTRYP PFNGLDEBUGMESSAGEENABLEAMDPROC) (GLenum category, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTAMDPROC) (GLenum category, GLenum severity, GLuint id, GLsizei length, const GLchar *buf); -typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKAMDPROC) (GLDEBUGPROCAMD callback, void *userParam); -typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGAMDPROC) (GLuint count, GLsizei bufSize, GLenum *categories, GLuint *severities, GLuint *ids, GLsizei *lengths, GLchar *message); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDebugMessageEnableAMD (GLenum category, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -GLAPI void APIENTRY glDebugMessageInsertAMD (GLenum category, GLenum severity, GLuint id, GLsizei length, const GLchar *buf); -GLAPI void APIENTRY glDebugMessageCallbackAMD (GLDEBUGPROCAMD callback, void *userParam); -GLAPI GLuint APIENTRY glGetDebugMessageLogAMD (GLuint count, GLsizei bufSize, GLenum *categories, GLuint *severities, GLuint *ids, GLsizei *lengths, GLchar *message); -#endif -#endif /* GL_AMD_debug_output */ - -#ifndef GL_AMD_depth_clamp_separate -#define GL_AMD_depth_clamp_separate 1 -#define GL_DEPTH_CLAMP_NEAR_AMD 0x901E -#define GL_DEPTH_CLAMP_FAR_AMD 0x901F -#endif /* GL_AMD_depth_clamp_separate */ - -#ifndef GL_AMD_draw_buffers_blend -#define GL_AMD_draw_buffers_blend 1 -typedef void (APIENTRYP PFNGLBLENDFUNCINDEXEDAMDPROC) (GLuint buf, GLenum src, GLenum dst); -typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEINDEXEDAMDPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -typedef void (APIENTRYP PFNGLBLENDEQUATIONINDEXEDAMDPROC) (GLuint buf, GLenum mode); -typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEINDEXEDAMDPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendFuncIndexedAMD (GLuint buf, GLenum src, GLenum dst); -GLAPI void APIENTRY glBlendFuncSeparateIndexedAMD (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -GLAPI void APIENTRY glBlendEquationIndexedAMD (GLuint buf, GLenum mode); -GLAPI void APIENTRY glBlendEquationSeparateIndexedAMD (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -#endif -#endif /* GL_AMD_draw_buffers_blend */ - -#ifndef GL_AMD_framebuffer_multisample_advanced -#define GL_AMD_framebuffer_multisample_advanced 1 -#define GL_RENDERBUFFER_STORAGE_SAMPLES_AMD 0x91B2 -#define GL_MAX_COLOR_FRAMEBUFFER_SAMPLES_AMD 0x91B3 -#define GL_MAX_COLOR_FRAMEBUFFER_STORAGE_SAMPLES_AMD 0x91B4 -#define GL_MAX_DEPTH_STENCIL_FRAMEBUFFER_SAMPLES_AMD 0x91B5 -#define GL_NUM_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B6 -#define GL_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B7 -typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glRenderbufferStorageMultisampleAdvancedAMD (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glNamedRenderbufferStorageMultisampleAdvancedAMD (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -#endif -#endif /* GL_AMD_framebuffer_multisample_advanced */ - -#ifndef GL_AMD_framebuffer_sample_positions -#define GL_AMD_framebuffer_sample_positions 1 -#define GL_SUBSAMPLE_DISTANCE_AMD 0x883F -#define GL_PIXELS_PER_SAMPLE_PATTERN_X_AMD 0x91AE -#define GL_PIXELS_PER_SAMPLE_PATTERN_Y_AMD 0x91AF -#define GL_ALL_PIXELS_AMD 0xFFFFFFFF -typedef void (APIENTRYP PFNGLFRAMEBUFFERSAMPLEPOSITIONSFVAMDPROC) (GLenum target, GLuint numsamples, GLuint pixelindex, const GLfloat *values); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLEPOSITIONSFVAMDPROC) (GLuint framebuffer, GLuint numsamples, GLuint pixelindex, const GLfloat *values); -typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERFVAMDPROC) (GLenum target, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); -typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERFVAMDPROC) (GLuint framebuffer, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferSamplePositionsfvAMD (GLenum target, GLuint numsamples, GLuint pixelindex, const GLfloat *values); -GLAPI void APIENTRY glNamedFramebufferSamplePositionsfvAMD (GLuint framebuffer, GLuint numsamples, GLuint pixelindex, const GLfloat *values); -GLAPI void APIENTRY glGetFramebufferParameterfvAMD (GLenum target, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); -GLAPI void APIENTRY glGetNamedFramebufferParameterfvAMD (GLuint framebuffer, GLenum pname, GLuint numsamples, GLuint pixelindex, GLsizei size, GLfloat *values); -#endif -#endif /* GL_AMD_framebuffer_sample_positions */ - -#ifndef GL_AMD_gcn_shader -#define GL_AMD_gcn_shader 1 -#endif /* GL_AMD_gcn_shader */ - -#ifndef GL_AMD_gpu_shader_half_float -#define GL_AMD_gpu_shader_half_float 1 -#define GL_FLOAT16_NV 0x8FF8 -#define GL_FLOAT16_VEC2_NV 0x8FF9 -#define GL_FLOAT16_VEC3_NV 0x8FFA -#define GL_FLOAT16_VEC4_NV 0x8FFB -#define GL_FLOAT16_MAT2_AMD 0x91C5 -#define GL_FLOAT16_MAT3_AMD 0x91C6 -#define GL_FLOAT16_MAT4_AMD 0x91C7 -#define GL_FLOAT16_MAT2x3_AMD 0x91C8 -#define GL_FLOAT16_MAT2x4_AMD 0x91C9 -#define GL_FLOAT16_MAT3x2_AMD 0x91CA -#define GL_FLOAT16_MAT3x4_AMD 0x91CB -#define GL_FLOAT16_MAT4x2_AMD 0x91CC -#define GL_FLOAT16_MAT4x3_AMD 0x91CD -#endif /* GL_AMD_gpu_shader_half_float */ - -#ifndef GL_AMD_gpu_shader_int16 -#define GL_AMD_gpu_shader_int16 1 -#endif /* GL_AMD_gpu_shader_int16 */ - -#ifndef GL_AMD_gpu_shader_int64 -#define GL_AMD_gpu_shader_int64 1 -typedef khronos_int64_t GLint64EXT; -#define GL_INT64_NV 0x140E -#define GL_UNSIGNED_INT64_NV 0x140F -#define GL_INT8_NV 0x8FE0 -#define GL_INT8_VEC2_NV 0x8FE1 -#define GL_INT8_VEC3_NV 0x8FE2 -#define GL_INT8_VEC4_NV 0x8FE3 -#define GL_INT16_NV 0x8FE4 -#define GL_INT16_VEC2_NV 0x8FE5 -#define GL_INT16_VEC3_NV 0x8FE6 -#define GL_INT16_VEC4_NV 0x8FE7 -#define GL_INT64_VEC2_NV 0x8FE9 -#define GL_INT64_VEC3_NV 0x8FEA -#define GL_INT64_VEC4_NV 0x8FEB -#define GL_UNSIGNED_INT8_NV 0x8FEC -#define GL_UNSIGNED_INT8_VEC2_NV 0x8FED -#define GL_UNSIGNED_INT8_VEC3_NV 0x8FEE -#define GL_UNSIGNED_INT8_VEC4_NV 0x8FEF -#define GL_UNSIGNED_INT16_NV 0x8FF0 -#define GL_UNSIGNED_INT16_VEC2_NV 0x8FF1 -#define GL_UNSIGNED_INT16_VEC3_NV 0x8FF2 -#define GL_UNSIGNED_INT16_VEC4_NV 0x8FF3 -#define GL_UNSIGNED_INT64_VEC2_NV 0x8FF5 -#define GL_UNSIGNED_INT64_VEC3_NV 0x8FF6 -#define GL_UNSIGNED_INT64_VEC4_NV 0x8FF7 -typedef void (APIENTRYP PFNGLUNIFORM1I64NVPROC) (GLint location, GLint64EXT x); -typedef void (APIENTRYP PFNGLUNIFORM2I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y); -typedef void (APIENTRYP PFNGLUNIFORM3I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -typedef void (APIENTRYP PFNGLUNIFORM4I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -typedef void (APIENTRYP PFNGLUNIFORM1I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM2I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM3I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM4I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM1UI64NVPROC) (GLint location, GLuint64EXT x); -typedef void (APIENTRYP PFNGLUNIFORM2UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y); -typedef void (APIENTRYP PFNGLUNIFORM3UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -typedef void (APIENTRYP PFNGLUNIFORM4UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -typedef void (APIENTRYP PFNGLUNIFORM1UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM2UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM3UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLUNIFORM4UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLGETUNIFORMI64VNVPROC) (GLuint program, GLint location, GLint64EXT *params); -typedef void (APIENTRYP PFNGLGETUNIFORMUI64VNVPROC) (GLuint program, GLint location, GLuint64EXT *params); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64NVPROC) (GLuint program, GLint location, GLint64EXT x); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glUniform1i64NV (GLint location, GLint64EXT x); -GLAPI void APIENTRY glUniform2i64NV (GLint location, GLint64EXT x, GLint64EXT y); -GLAPI void APIENTRY glUniform3i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -GLAPI void APIENTRY glUniform4i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -GLAPI void APIENTRY glUniform1i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glUniform2i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glUniform3i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glUniform4i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glUniform1ui64NV (GLint location, GLuint64EXT x); -GLAPI void APIENTRY glUniform2ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y); -GLAPI void APIENTRY glUniform3ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -GLAPI void APIENTRY glUniform4ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -GLAPI void APIENTRY glUniform1ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glUniform2ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glUniform3ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glUniform4ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glGetUniformi64vNV (GLuint program, GLint location, GLint64EXT *params); -GLAPI void APIENTRY glGetUniformui64vNV (GLuint program, GLint location, GLuint64EXT *params); -GLAPI void APIENTRY glProgramUniform1i64NV (GLuint program, GLint location, GLint64EXT x); -GLAPI void APIENTRY glProgramUniform2i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); -GLAPI void APIENTRY glProgramUniform3i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -GLAPI void APIENTRY glProgramUniform4i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -GLAPI void APIENTRY glProgramUniform1i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glProgramUniform2i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glProgramUniform3i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glProgramUniform4i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GLAPI void APIENTRY glProgramUniform1ui64NV (GLuint program, GLint location, GLuint64EXT x); -GLAPI void APIENTRY glProgramUniform2ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); -GLAPI void APIENTRY glProgramUniform3ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -GLAPI void APIENTRY glProgramUniform4ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -GLAPI void APIENTRY glProgramUniform1ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glProgramUniform2ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glProgramUniform3ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glProgramUniform4ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -#endif -#endif /* GL_AMD_gpu_shader_int64 */ - -#ifndef GL_AMD_interleaved_elements -#define GL_AMD_interleaved_elements 1 -#define GL_VERTEX_ELEMENT_SWIZZLE_AMD 0x91A4 -#define GL_VERTEX_ID_SWIZZLE_AMD 0x91A5 -typedef void (APIENTRYP PFNGLVERTEXATTRIBPARAMETERIAMDPROC) (GLuint index, GLenum pname, GLint param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexAttribParameteriAMD (GLuint index, GLenum pname, GLint param); -#endif -#endif /* GL_AMD_interleaved_elements */ - -#ifndef GL_AMD_multi_draw_indirect -#define GL_AMD_multi_draw_indirect 1 -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTAMDPROC) (GLenum mode, const void *indirect, GLsizei primcount, GLsizei stride); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTAMDPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei primcount, GLsizei stride); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiDrawArraysIndirectAMD (GLenum mode, const void *indirect, GLsizei primcount, GLsizei stride); -GLAPI void APIENTRY glMultiDrawElementsIndirectAMD (GLenum mode, GLenum type, const void *indirect, GLsizei primcount, GLsizei stride); -#endif -#endif /* GL_AMD_multi_draw_indirect */ - -#ifndef GL_AMD_name_gen_delete -#define GL_AMD_name_gen_delete 1 -#define GL_DATA_BUFFER_AMD 0x9151 -#define GL_PERFORMANCE_MONITOR_AMD 0x9152 -#define GL_QUERY_OBJECT_AMD 0x9153 -#define GL_VERTEX_ARRAY_OBJECT_AMD 0x9154 -#define GL_SAMPLER_OBJECT_AMD 0x9155 -typedef void (APIENTRYP PFNGLGENNAMESAMDPROC) (GLenum identifier, GLuint num, GLuint *names); -typedef void (APIENTRYP PFNGLDELETENAMESAMDPROC) (GLenum identifier, GLuint num, const GLuint *names); -typedef GLboolean (APIENTRYP PFNGLISNAMEAMDPROC) (GLenum identifier, GLuint name); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenNamesAMD (GLenum identifier, GLuint num, GLuint *names); -GLAPI void APIENTRY glDeleteNamesAMD (GLenum identifier, GLuint num, const GLuint *names); -GLAPI GLboolean APIENTRY glIsNameAMD (GLenum identifier, GLuint name); -#endif -#endif /* GL_AMD_name_gen_delete */ - -#ifndef GL_AMD_occlusion_query_event -#define GL_AMD_occlusion_query_event 1 -#define GL_OCCLUSION_QUERY_EVENT_MASK_AMD 0x874F -#define GL_QUERY_DEPTH_PASS_EVENT_BIT_AMD 0x00000001 -#define GL_QUERY_DEPTH_FAIL_EVENT_BIT_AMD 0x00000002 -#define GL_QUERY_STENCIL_FAIL_EVENT_BIT_AMD 0x00000004 -#define GL_QUERY_DEPTH_BOUNDS_FAIL_EVENT_BIT_AMD 0x00000008 -#define GL_QUERY_ALL_EVENT_BITS_AMD 0xFFFFFFFF -typedef void (APIENTRYP PFNGLQUERYOBJECTPARAMETERUIAMDPROC) (GLenum target, GLuint id, GLenum pname, GLuint param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glQueryObjectParameteruiAMD (GLenum target, GLuint id, GLenum pname, GLuint param); -#endif -#endif /* GL_AMD_occlusion_query_event */ - -#ifndef GL_AMD_performance_monitor -#define GL_AMD_performance_monitor 1 -#define GL_COUNTER_TYPE_AMD 0x8BC0 -#define GL_COUNTER_RANGE_AMD 0x8BC1 -#define GL_UNSIGNED_INT64_AMD 0x8BC2 -#define GL_PERCENTAGE_AMD 0x8BC3 -#define GL_PERFMON_RESULT_AVAILABLE_AMD 0x8BC4 -#define GL_PERFMON_RESULT_SIZE_AMD 0x8BC5 -#define GL_PERFMON_RESULT_AMD 0x8BC6 -typedef void (APIENTRYP PFNGLGETPERFMONITORGROUPSAMDPROC) (GLint *numGroups, GLsizei groupsSize, GLuint *groups); -typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERSAMDPROC) (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); -typedef void (APIENTRYP PFNGLGETPERFMONITORGROUPSTRINGAMDPROC) (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); -typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERSTRINGAMDPROC) (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); -typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERINFOAMDPROC) (GLuint group, GLuint counter, GLenum pname, void *data); -typedef void (APIENTRYP PFNGLGENPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); -typedef void (APIENTRYP PFNGLDELETEPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); -typedef void (APIENTRYP PFNGLSELECTPERFMONITORCOUNTERSAMDPROC) (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); -typedef void (APIENTRYP PFNGLBEGINPERFMONITORAMDPROC) (GLuint monitor); -typedef void (APIENTRYP PFNGLENDPERFMONITORAMDPROC) (GLuint monitor); -typedef void (APIENTRYP PFNGLGETPERFMONITORCOUNTERDATAAMDPROC) (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetPerfMonitorGroupsAMD (GLint *numGroups, GLsizei groupsSize, GLuint *groups); -GLAPI void APIENTRY glGetPerfMonitorCountersAMD (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); -GLAPI void APIENTRY glGetPerfMonitorGroupStringAMD (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); -GLAPI void APIENTRY glGetPerfMonitorCounterStringAMD (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); -GLAPI void APIENTRY glGetPerfMonitorCounterInfoAMD (GLuint group, GLuint counter, GLenum pname, void *data); -GLAPI void APIENTRY glGenPerfMonitorsAMD (GLsizei n, GLuint *monitors); -GLAPI void APIENTRY glDeletePerfMonitorsAMD (GLsizei n, GLuint *monitors); -GLAPI void APIENTRY glSelectPerfMonitorCountersAMD (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); -GLAPI void APIENTRY glBeginPerfMonitorAMD (GLuint monitor); -GLAPI void APIENTRY glEndPerfMonitorAMD (GLuint monitor); -GLAPI void APIENTRY glGetPerfMonitorCounterDataAMD (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); -#endif -#endif /* GL_AMD_performance_monitor */ - -#ifndef GL_AMD_pinned_memory -#define GL_AMD_pinned_memory 1 -#define GL_EXTERNAL_VIRTUAL_MEMORY_BUFFER_AMD 0x9160 -#endif /* GL_AMD_pinned_memory */ - -#ifndef GL_AMD_query_buffer_object -#define GL_AMD_query_buffer_object 1 -#define GL_QUERY_BUFFER_AMD 0x9192 -#define GL_QUERY_BUFFER_BINDING_AMD 0x9193 -#define GL_QUERY_RESULT_NO_WAIT_AMD 0x9194 -#endif /* GL_AMD_query_buffer_object */ - -#ifndef GL_AMD_sample_positions -#define GL_AMD_sample_positions 1 -typedef void (APIENTRYP PFNGLSETMULTISAMPLEFVAMDPROC) (GLenum pname, GLuint index, const GLfloat *val); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSetMultisamplefvAMD (GLenum pname, GLuint index, const GLfloat *val); -#endif -#endif /* GL_AMD_sample_positions */ - -#ifndef GL_AMD_seamless_cubemap_per_texture -#define GL_AMD_seamless_cubemap_per_texture 1 -#endif /* GL_AMD_seamless_cubemap_per_texture */ - -#ifndef GL_AMD_shader_atomic_counter_ops -#define GL_AMD_shader_atomic_counter_ops 1 -#endif /* GL_AMD_shader_atomic_counter_ops */ - -#ifndef GL_AMD_shader_ballot -#define GL_AMD_shader_ballot 1 -#endif /* GL_AMD_shader_ballot */ - -#ifndef GL_AMD_shader_explicit_vertex_parameter -#define GL_AMD_shader_explicit_vertex_parameter 1 -#endif /* GL_AMD_shader_explicit_vertex_parameter */ - -#ifndef GL_AMD_shader_gpu_shader_half_float_fetch -#define GL_AMD_shader_gpu_shader_half_float_fetch 1 -#endif /* GL_AMD_shader_gpu_shader_half_float_fetch */ - -#ifndef GL_AMD_shader_image_load_store_lod -#define GL_AMD_shader_image_load_store_lod 1 -#endif /* GL_AMD_shader_image_load_store_lod */ - -#ifndef GL_AMD_shader_stencil_export -#define GL_AMD_shader_stencil_export 1 -#endif /* GL_AMD_shader_stencil_export */ - -#ifndef GL_AMD_shader_trinary_minmax -#define GL_AMD_shader_trinary_minmax 1 -#endif /* GL_AMD_shader_trinary_minmax */ - -#ifndef GL_AMD_sparse_texture -#define GL_AMD_sparse_texture 1 -#define GL_VIRTUAL_PAGE_SIZE_X_AMD 0x9195 -#define GL_VIRTUAL_PAGE_SIZE_Y_AMD 0x9196 -#define GL_VIRTUAL_PAGE_SIZE_Z_AMD 0x9197 -#define GL_MAX_SPARSE_TEXTURE_SIZE_AMD 0x9198 -#define GL_MAX_SPARSE_3D_TEXTURE_SIZE_AMD 0x9199 -#define GL_MAX_SPARSE_ARRAY_TEXTURE_LAYERS 0x919A -#define GL_MIN_SPARSE_LEVEL_AMD 0x919B -#define GL_MIN_LOD_WARNING_AMD 0x919C -#define GL_TEXTURE_STORAGE_SPARSE_BIT_AMD 0x00000001 -typedef void (APIENTRYP PFNGLTEXSTORAGESPARSEAMDPROC) (GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); -typedef void (APIENTRYP PFNGLTEXTURESTORAGESPARSEAMDPROC) (GLuint texture, GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexStorageSparseAMD (GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); -GLAPI void APIENTRY glTextureStorageSparseAMD (GLuint texture, GLenum target, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLsizei layers, GLbitfield flags); -#endif -#endif /* GL_AMD_sparse_texture */ - -#ifndef GL_AMD_stencil_operation_extended -#define GL_AMD_stencil_operation_extended 1 -#define GL_SET_AMD 0x874A -#define GL_REPLACE_VALUE_AMD 0x874B -#define GL_STENCIL_OP_VALUE_AMD 0x874C -#define GL_STENCIL_BACK_OP_VALUE_AMD 0x874D -typedef void (APIENTRYP PFNGLSTENCILOPVALUEAMDPROC) (GLenum face, GLuint value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glStencilOpValueAMD (GLenum face, GLuint value); -#endif -#endif /* GL_AMD_stencil_operation_extended */ - -#ifndef GL_AMD_texture_gather_bias_lod -#define GL_AMD_texture_gather_bias_lod 1 -#endif /* GL_AMD_texture_gather_bias_lod */ - -#ifndef GL_AMD_texture_texture4 -#define GL_AMD_texture_texture4 1 -#endif /* GL_AMD_texture_texture4 */ - -#ifndef GL_AMD_transform_feedback3_lines_triangles -#define GL_AMD_transform_feedback3_lines_triangles 1 -#endif /* GL_AMD_transform_feedback3_lines_triangles */ - -#ifndef GL_AMD_transform_feedback4 -#define GL_AMD_transform_feedback4 1 -#define GL_STREAM_RASTERIZATION_AMD 0x91A0 -#endif /* GL_AMD_transform_feedback4 */ - -#ifndef GL_AMD_vertex_shader_layer -#define GL_AMD_vertex_shader_layer 1 -#endif /* GL_AMD_vertex_shader_layer */ - -#ifndef GL_AMD_vertex_shader_tessellator -#define GL_AMD_vertex_shader_tessellator 1 -#define GL_SAMPLER_BUFFER_AMD 0x9001 -#define GL_INT_SAMPLER_BUFFER_AMD 0x9002 -#define GL_UNSIGNED_INT_SAMPLER_BUFFER_AMD 0x9003 -#define GL_TESSELLATION_MODE_AMD 0x9004 -#define GL_TESSELLATION_FACTOR_AMD 0x9005 -#define GL_DISCRETE_AMD 0x9006 -#define GL_CONTINUOUS_AMD 0x9007 -typedef void (APIENTRYP PFNGLTESSELLATIONFACTORAMDPROC) (GLfloat factor); -typedef void (APIENTRYP PFNGLTESSELLATIONMODEAMDPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTessellationFactorAMD (GLfloat factor); -GLAPI void APIENTRY glTessellationModeAMD (GLenum mode); -#endif -#endif /* GL_AMD_vertex_shader_tessellator */ - -#ifndef GL_AMD_vertex_shader_viewport_index -#define GL_AMD_vertex_shader_viewport_index 1 -#endif /* GL_AMD_vertex_shader_viewport_index */ - -#ifndef GL_APPLE_aux_depth_stencil -#define GL_APPLE_aux_depth_stencil 1 -#define GL_AUX_DEPTH_STENCIL_APPLE 0x8A14 -#endif /* GL_APPLE_aux_depth_stencil */ - -#ifndef GL_APPLE_client_storage -#define GL_APPLE_client_storage 1 -#define GL_UNPACK_CLIENT_STORAGE_APPLE 0x85B2 -#endif /* GL_APPLE_client_storage */ - -#ifndef GL_APPLE_element_array -#define GL_APPLE_element_array 1 -#define GL_ELEMENT_ARRAY_APPLE 0x8A0C -#define GL_ELEMENT_ARRAY_TYPE_APPLE 0x8A0D -#define GL_ELEMENT_ARRAY_POINTER_APPLE 0x8A0E -typedef void (APIENTRYP PFNGLELEMENTPOINTERAPPLEPROC) (GLenum type, const void *pointer); -typedef void (APIENTRYP PFNGLDRAWELEMENTARRAYAPPLEPROC) (GLenum mode, GLint first, GLsizei count); -typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTARRAYAPPLEPROC) (GLenum mode, GLuint start, GLuint end, GLint first, GLsizei count); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTARRAYAPPLEPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); -typedef void (APIENTRYP PFNGLMULTIDRAWRANGEELEMENTARRAYAPPLEPROC) (GLenum mode, GLuint start, GLuint end, const GLint *first, const GLsizei *count, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glElementPointerAPPLE (GLenum type, const void *pointer); -GLAPI void APIENTRY glDrawElementArrayAPPLE (GLenum mode, GLint first, GLsizei count); -GLAPI void APIENTRY glDrawRangeElementArrayAPPLE (GLenum mode, GLuint start, GLuint end, GLint first, GLsizei count); -GLAPI void APIENTRY glMultiDrawElementArrayAPPLE (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); -GLAPI void APIENTRY glMultiDrawRangeElementArrayAPPLE (GLenum mode, GLuint start, GLuint end, const GLint *first, const GLsizei *count, GLsizei primcount); -#endif -#endif /* GL_APPLE_element_array */ - -#ifndef GL_APPLE_fence -#define GL_APPLE_fence 1 -#define GL_DRAW_PIXELS_APPLE 0x8A0A -#define GL_FENCE_APPLE 0x8A0B -typedef void (APIENTRYP PFNGLGENFENCESAPPLEPROC) (GLsizei n, GLuint *fences); -typedef void (APIENTRYP PFNGLDELETEFENCESAPPLEPROC) (GLsizei n, const GLuint *fences); -typedef void (APIENTRYP PFNGLSETFENCEAPPLEPROC) (GLuint fence); -typedef GLboolean (APIENTRYP PFNGLISFENCEAPPLEPROC) (GLuint fence); -typedef GLboolean (APIENTRYP PFNGLTESTFENCEAPPLEPROC) (GLuint fence); -typedef void (APIENTRYP PFNGLFINISHFENCEAPPLEPROC) (GLuint fence); -typedef GLboolean (APIENTRYP PFNGLTESTOBJECTAPPLEPROC) (GLenum object, GLuint name); -typedef void (APIENTRYP PFNGLFINISHOBJECTAPPLEPROC) (GLenum object, GLint name); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenFencesAPPLE (GLsizei n, GLuint *fences); -GLAPI void APIENTRY glDeleteFencesAPPLE (GLsizei n, const GLuint *fences); -GLAPI void APIENTRY glSetFenceAPPLE (GLuint fence); -GLAPI GLboolean APIENTRY glIsFenceAPPLE (GLuint fence); -GLAPI GLboolean APIENTRY glTestFenceAPPLE (GLuint fence); -GLAPI void APIENTRY glFinishFenceAPPLE (GLuint fence); -GLAPI GLboolean APIENTRY glTestObjectAPPLE (GLenum object, GLuint name); -GLAPI void APIENTRY glFinishObjectAPPLE (GLenum object, GLint name); -#endif -#endif /* GL_APPLE_fence */ - -#ifndef GL_APPLE_float_pixels -#define GL_APPLE_float_pixels 1 -#define GL_HALF_APPLE 0x140B -#define GL_RGBA_FLOAT32_APPLE 0x8814 -#define GL_RGB_FLOAT32_APPLE 0x8815 -#define GL_ALPHA_FLOAT32_APPLE 0x8816 -#define GL_INTENSITY_FLOAT32_APPLE 0x8817 -#define GL_LUMINANCE_FLOAT32_APPLE 0x8818 -#define GL_LUMINANCE_ALPHA_FLOAT32_APPLE 0x8819 -#define GL_RGBA_FLOAT16_APPLE 0x881A -#define GL_RGB_FLOAT16_APPLE 0x881B -#define GL_ALPHA_FLOAT16_APPLE 0x881C -#define GL_INTENSITY_FLOAT16_APPLE 0x881D -#define GL_LUMINANCE_FLOAT16_APPLE 0x881E -#define GL_LUMINANCE_ALPHA_FLOAT16_APPLE 0x881F -#define GL_COLOR_FLOAT_APPLE 0x8A0F -#endif /* GL_APPLE_float_pixels */ - -#ifndef GL_APPLE_flush_buffer_range -#define GL_APPLE_flush_buffer_range 1 -#define GL_BUFFER_SERIALIZED_MODIFY_APPLE 0x8A12 -#define GL_BUFFER_FLUSHING_UNMAP_APPLE 0x8A13 -typedef void (APIENTRYP PFNGLBUFFERPARAMETERIAPPLEPROC) (GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEAPPLEPROC) (GLenum target, GLintptr offset, GLsizeiptr size); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBufferParameteriAPPLE (GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glFlushMappedBufferRangeAPPLE (GLenum target, GLintptr offset, GLsizeiptr size); -#endif -#endif /* GL_APPLE_flush_buffer_range */ - -#ifndef GL_APPLE_object_purgeable -#define GL_APPLE_object_purgeable 1 -#define GL_BUFFER_OBJECT_APPLE 0x85B3 -#define GL_RELEASED_APPLE 0x8A19 -#define GL_VOLATILE_APPLE 0x8A1A -#define GL_RETAINED_APPLE 0x8A1B -#define GL_UNDEFINED_APPLE 0x8A1C -#define GL_PURGEABLE_APPLE 0x8A1D -typedef GLenum (APIENTRYP PFNGLOBJECTPURGEABLEAPPLEPROC) (GLenum objectType, GLuint name, GLenum option); -typedef GLenum (APIENTRYP PFNGLOBJECTUNPURGEABLEAPPLEPROC) (GLenum objectType, GLuint name, GLenum option); -typedef void (APIENTRYP PFNGLGETOBJECTPARAMETERIVAPPLEPROC) (GLenum objectType, GLuint name, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLenum APIENTRY glObjectPurgeableAPPLE (GLenum objectType, GLuint name, GLenum option); -GLAPI GLenum APIENTRY glObjectUnpurgeableAPPLE (GLenum objectType, GLuint name, GLenum option); -GLAPI void APIENTRY glGetObjectParameterivAPPLE (GLenum objectType, GLuint name, GLenum pname, GLint *params); -#endif -#endif /* GL_APPLE_object_purgeable */ - -#ifndef GL_APPLE_rgb_422 -#define GL_APPLE_rgb_422 1 -#define GL_RGB_422_APPLE 0x8A1F -#define GL_UNSIGNED_SHORT_8_8_APPLE 0x85BA -#define GL_UNSIGNED_SHORT_8_8_REV_APPLE 0x85BB -#define GL_RGB_RAW_422_APPLE 0x8A51 -#endif /* GL_APPLE_rgb_422 */ - -#ifndef GL_APPLE_row_bytes -#define GL_APPLE_row_bytes 1 -#define GL_PACK_ROW_BYTES_APPLE 0x8A15 -#define GL_UNPACK_ROW_BYTES_APPLE 0x8A16 -#endif /* GL_APPLE_row_bytes */ - -#ifndef GL_APPLE_specular_vector -#define GL_APPLE_specular_vector 1 -#define GL_LIGHT_MODEL_SPECULAR_VECTOR_APPLE 0x85B0 -#endif /* GL_APPLE_specular_vector */ - -#ifndef GL_APPLE_texture_range -#define GL_APPLE_texture_range 1 -#define GL_TEXTURE_RANGE_LENGTH_APPLE 0x85B7 -#define GL_TEXTURE_RANGE_POINTER_APPLE 0x85B8 -#define GL_TEXTURE_STORAGE_HINT_APPLE 0x85BC -#define GL_STORAGE_PRIVATE_APPLE 0x85BD -#define GL_STORAGE_CACHED_APPLE 0x85BE -#define GL_STORAGE_SHARED_APPLE 0x85BF -typedef void (APIENTRYP PFNGLTEXTURERANGEAPPLEPROC) (GLenum target, GLsizei length, const void *pointer); -typedef void (APIENTRYP PFNGLGETTEXPARAMETERPOINTERVAPPLEPROC) (GLenum target, GLenum pname, void **params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTextureRangeAPPLE (GLenum target, GLsizei length, const void *pointer); -GLAPI void APIENTRY glGetTexParameterPointervAPPLE (GLenum target, GLenum pname, void **params); -#endif -#endif /* GL_APPLE_texture_range */ - -#ifndef GL_APPLE_transform_hint -#define GL_APPLE_transform_hint 1 -#define GL_TRANSFORM_HINT_APPLE 0x85B1 -#endif /* GL_APPLE_transform_hint */ - -#ifndef GL_APPLE_vertex_array_object -#define GL_APPLE_vertex_array_object 1 -#define GL_VERTEX_ARRAY_BINDING_APPLE 0x85B5 -typedef void (APIENTRYP PFNGLBINDVERTEXARRAYAPPLEPROC) (GLuint array); -typedef void (APIENTRYP PFNGLDELETEVERTEXARRAYSAPPLEPROC) (GLsizei n, const GLuint *arrays); -typedef void (APIENTRYP PFNGLGENVERTEXARRAYSAPPLEPROC) (GLsizei n, GLuint *arrays); -typedef GLboolean (APIENTRYP PFNGLISVERTEXARRAYAPPLEPROC) (GLuint array); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindVertexArrayAPPLE (GLuint array); -GLAPI void APIENTRY glDeleteVertexArraysAPPLE (GLsizei n, const GLuint *arrays); -GLAPI void APIENTRY glGenVertexArraysAPPLE (GLsizei n, GLuint *arrays); -GLAPI GLboolean APIENTRY glIsVertexArrayAPPLE (GLuint array); -#endif -#endif /* GL_APPLE_vertex_array_object */ - -#ifndef GL_APPLE_vertex_array_range -#define GL_APPLE_vertex_array_range 1 -#define GL_VERTEX_ARRAY_RANGE_APPLE 0x851D -#define GL_VERTEX_ARRAY_RANGE_LENGTH_APPLE 0x851E -#define GL_VERTEX_ARRAY_STORAGE_HINT_APPLE 0x851F -#define GL_VERTEX_ARRAY_RANGE_POINTER_APPLE 0x8521 -#define GL_STORAGE_CLIENT_APPLE 0x85B4 -typedef void (APIENTRYP PFNGLVERTEXARRAYRANGEAPPLEPROC) (GLsizei length, void *pointer); -typedef void (APIENTRYP PFNGLFLUSHVERTEXARRAYRANGEAPPLEPROC) (GLsizei length, void *pointer); -typedef void (APIENTRYP PFNGLVERTEXARRAYPARAMETERIAPPLEPROC) (GLenum pname, GLint param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexArrayRangeAPPLE (GLsizei length, void *pointer); -GLAPI void APIENTRY glFlushVertexArrayRangeAPPLE (GLsizei length, void *pointer); -GLAPI void APIENTRY glVertexArrayParameteriAPPLE (GLenum pname, GLint param); -#endif -#endif /* GL_APPLE_vertex_array_range */ - -#ifndef GL_APPLE_vertex_program_evaluators -#define GL_APPLE_vertex_program_evaluators 1 -#define GL_VERTEX_ATTRIB_MAP1_APPLE 0x8A00 -#define GL_VERTEX_ATTRIB_MAP2_APPLE 0x8A01 -#define GL_VERTEX_ATTRIB_MAP1_SIZE_APPLE 0x8A02 -#define GL_VERTEX_ATTRIB_MAP1_COEFF_APPLE 0x8A03 -#define GL_VERTEX_ATTRIB_MAP1_ORDER_APPLE 0x8A04 -#define GL_VERTEX_ATTRIB_MAP1_DOMAIN_APPLE 0x8A05 -#define GL_VERTEX_ATTRIB_MAP2_SIZE_APPLE 0x8A06 -#define GL_VERTEX_ATTRIB_MAP2_COEFF_APPLE 0x8A07 -#define GL_VERTEX_ATTRIB_MAP2_ORDER_APPLE 0x8A08 -#define GL_VERTEX_ATTRIB_MAP2_DOMAIN_APPLE 0x8A09 -typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBAPPLEPROC) (GLuint index, GLenum pname); -typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBAPPLEPROC) (GLuint index, GLenum pname); -typedef GLboolean (APIENTRYP PFNGLISVERTEXATTRIBENABLEDAPPLEPROC) (GLuint index, GLenum pname); -typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB1DAPPLEPROC) (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points); -typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB1FAPPLEPROC) (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points); -typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB2DAPPLEPROC) (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points); -typedef void (APIENTRYP PFNGLMAPVERTEXATTRIB2FAPPLEPROC) (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glEnableVertexAttribAPPLE (GLuint index, GLenum pname); -GLAPI void APIENTRY glDisableVertexAttribAPPLE (GLuint index, GLenum pname); -GLAPI GLboolean APIENTRY glIsVertexAttribEnabledAPPLE (GLuint index, GLenum pname); -GLAPI void APIENTRY glMapVertexAttrib1dAPPLE (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points); -GLAPI void APIENTRY glMapVertexAttrib1fAPPLE (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points); -GLAPI void APIENTRY glMapVertexAttrib2dAPPLE (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points); -GLAPI void APIENTRY glMapVertexAttrib2fAPPLE (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points); -#endif -#endif /* GL_APPLE_vertex_program_evaluators */ - -#ifndef GL_APPLE_ycbcr_422 -#define GL_APPLE_ycbcr_422 1 -#define GL_YCBCR_422_APPLE 0x85B9 -#endif /* GL_APPLE_ycbcr_422 */ - -#ifndef GL_ATI_draw_buffers -#define GL_ATI_draw_buffers 1 -#define GL_MAX_DRAW_BUFFERS_ATI 0x8824 -#define GL_DRAW_BUFFER0_ATI 0x8825 -#define GL_DRAW_BUFFER1_ATI 0x8826 -#define GL_DRAW_BUFFER2_ATI 0x8827 -#define GL_DRAW_BUFFER3_ATI 0x8828 -#define GL_DRAW_BUFFER4_ATI 0x8829 -#define GL_DRAW_BUFFER5_ATI 0x882A -#define GL_DRAW_BUFFER6_ATI 0x882B -#define GL_DRAW_BUFFER7_ATI 0x882C -#define GL_DRAW_BUFFER8_ATI 0x882D -#define GL_DRAW_BUFFER9_ATI 0x882E -#define GL_DRAW_BUFFER10_ATI 0x882F -#define GL_DRAW_BUFFER11_ATI 0x8830 -#define GL_DRAW_BUFFER12_ATI 0x8831 -#define GL_DRAW_BUFFER13_ATI 0x8832 -#define GL_DRAW_BUFFER14_ATI 0x8833 -#define GL_DRAW_BUFFER15_ATI 0x8834 -typedef void (APIENTRYP PFNGLDRAWBUFFERSATIPROC) (GLsizei n, const GLenum *bufs); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawBuffersATI (GLsizei n, const GLenum *bufs); -#endif -#endif /* GL_ATI_draw_buffers */ - -#ifndef GL_ATI_element_array -#define GL_ATI_element_array 1 -#define GL_ELEMENT_ARRAY_ATI 0x8768 -#define GL_ELEMENT_ARRAY_TYPE_ATI 0x8769 -#define GL_ELEMENT_ARRAY_POINTER_ATI 0x876A -typedef void (APIENTRYP PFNGLELEMENTPOINTERATIPROC) (GLenum type, const void *pointer); -typedef void (APIENTRYP PFNGLDRAWELEMENTARRAYATIPROC) (GLenum mode, GLsizei count); -typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTARRAYATIPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glElementPointerATI (GLenum type, const void *pointer); -GLAPI void APIENTRY glDrawElementArrayATI (GLenum mode, GLsizei count); -GLAPI void APIENTRY glDrawRangeElementArrayATI (GLenum mode, GLuint start, GLuint end, GLsizei count); -#endif -#endif /* GL_ATI_element_array */ - -#ifndef GL_ATI_envmap_bumpmap -#define GL_ATI_envmap_bumpmap 1 -#define GL_BUMP_ROT_MATRIX_ATI 0x8775 -#define GL_BUMP_ROT_MATRIX_SIZE_ATI 0x8776 -#define GL_BUMP_NUM_TEX_UNITS_ATI 0x8777 -#define GL_BUMP_TEX_UNITS_ATI 0x8778 -#define GL_DUDV_ATI 0x8779 -#define GL_DU8DV8_ATI 0x877A -#define GL_BUMP_ENVMAP_ATI 0x877B -#define GL_BUMP_TARGET_ATI 0x877C -typedef void (APIENTRYP PFNGLTEXBUMPPARAMETERIVATIPROC) (GLenum pname, const GLint *param); -typedef void (APIENTRYP PFNGLTEXBUMPPARAMETERFVATIPROC) (GLenum pname, const GLfloat *param); -typedef void (APIENTRYP PFNGLGETTEXBUMPPARAMETERIVATIPROC) (GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETTEXBUMPPARAMETERFVATIPROC) (GLenum pname, GLfloat *param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexBumpParameterivATI (GLenum pname, const GLint *param); -GLAPI void APIENTRY glTexBumpParameterfvATI (GLenum pname, const GLfloat *param); -GLAPI void APIENTRY glGetTexBumpParameterivATI (GLenum pname, GLint *param); -GLAPI void APIENTRY glGetTexBumpParameterfvATI (GLenum pname, GLfloat *param); -#endif -#endif /* GL_ATI_envmap_bumpmap */ - -#ifndef GL_ATI_fragment_shader -#define GL_ATI_fragment_shader 1 -#define GL_FRAGMENT_SHADER_ATI 0x8920 -#define GL_REG_0_ATI 0x8921 -#define GL_REG_1_ATI 0x8922 -#define GL_REG_2_ATI 0x8923 -#define GL_REG_3_ATI 0x8924 -#define GL_REG_4_ATI 0x8925 -#define GL_REG_5_ATI 0x8926 -#define GL_REG_6_ATI 0x8927 -#define GL_REG_7_ATI 0x8928 -#define GL_REG_8_ATI 0x8929 -#define GL_REG_9_ATI 0x892A -#define GL_REG_10_ATI 0x892B -#define GL_REG_11_ATI 0x892C -#define GL_REG_12_ATI 0x892D -#define GL_REG_13_ATI 0x892E -#define GL_REG_14_ATI 0x892F -#define GL_REG_15_ATI 0x8930 -#define GL_REG_16_ATI 0x8931 -#define GL_REG_17_ATI 0x8932 -#define GL_REG_18_ATI 0x8933 -#define GL_REG_19_ATI 0x8934 -#define GL_REG_20_ATI 0x8935 -#define GL_REG_21_ATI 0x8936 -#define GL_REG_22_ATI 0x8937 -#define GL_REG_23_ATI 0x8938 -#define GL_REG_24_ATI 0x8939 -#define GL_REG_25_ATI 0x893A -#define GL_REG_26_ATI 0x893B -#define GL_REG_27_ATI 0x893C -#define GL_REG_28_ATI 0x893D -#define GL_REG_29_ATI 0x893E -#define GL_REG_30_ATI 0x893F -#define GL_REG_31_ATI 0x8940 -#define GL_CON_0_ATI 0x8941 -#define GL_CON_1_ATI 0x8942 -#define GL_CON_2_ATI 0x8943 -#define GL_CON_3_ATI 0x8944 -#define GL_CON_4_ATI 0x8945 -#define GL_CON_5_ATI 0x8946 -#define GL_CON_6_ATI 0x8947 -#define GL_CON_7_ATI 0x8948 -#define GL_CON_8_ATI 0x8949 -#define GL_CON_9_ATI 0x894A -#define GL_CON_10_ATI 0x894B -#define GL_CON_11_ATI 0x894C -#define GL_CON_12_ATI 0x894D -#define GL_CON_13_ATI 0x894E -#define GL_CON_14_ATI 0x894F -#define GL_CON_15_ATI 0x8950 -#define GL_CON_16_ATI 0x8951 -#define GL_CON_17_ATI 0x8952 -#define GL_CON_18_ATI 0x8953 -#define GL_CON_19_ATI 0x8954 -#define GL_CON_20_ATI 0x8955 -#define GL_CON_21_ATI 0x8956 -#define GL_CON_22_ATI 0x8957 -#define GL_CON_23_ATI 0x8958 -#define GL_CON_24_ATI 0x8959 -#define GL_CON_25_ATI 0x895A -#define GL_CON_26_ATI 0x895B -#define GL_CON_27_ATI 0x895C -#define GL_CON_28_ATI 0x895D -#define GL_CON_29_ATI 0x895E -#define GL_CON_30_ATI 0x895F -#define GL_CON_31_ATI 0x8960 -#define GL_MOV_ATI 0x8961 -#define GL_ADD_ATI 0x8963 -#define GL_MUL_ATI 0x8964 -#define GL_SUB_ATI 0x8965 -#define GL_DOT3_ATI 0x8966 -#define GL_DOT4_ATI 0x8967 -#define GL_MAD_ATI 0x8968 -#define GL_LERP_ATI 0x8969 -#define GL_CND_ATI 0x896A -#define GL_CND0_ATI 0x896B -#define GL_DOT2_ADD_ATI 0x896C -#define GL_SECONDARY_INTERPOLATOR_ATI 0x896D -#define GL_NUM_FRAGMENT_REGISTERS_ATI 0x896E -#define GL_NUM_FRAGMENT_CONSTANTS_ATI 0x896F -#define GL_NUM_PASSES_ATI 0x8970 -#define GL_NUM_INSTRUCTIONS_PER_PASS_ATI 0x8971 -#define GL_NUM_INSTRUCTIONS_TOTAL_ATI 0x8972 -#define GL_NUM_INPUT_INTERPOLATOR_COMPONENTS_ATI 0x8973 -#define GL_NUM_LOOPBACK_COMPONENTS_ATI 0x8974 -#define GL_COLOR_ALPHA_PAIRING_ATI 0x8975 -#define GL_SWIZZLE_STR_ATI 0x8976 -#define GL_SWIZZLE_STQ_ATI 0x8977 -#define GL_SWIZZLE_STR_DR_ATI 0x8978 -#define GL_SWIZZLE_STQ_DQ_ATI 0x8979 -#define GL_SWIZZLE_STRQ_ATI 0x897A -#define GL_SWIZZLE_STRQ_DQ_ATI 0x897B -#define GL_RED_BIT_ATI 0x00000001 -#define GL_GREEN_BIT_ATI 0x00000002 -#define GL_BLUE_BIT_ATI 0x00000004 -#define GL_2X_BIT_ATI 0x00000001 -#define GL_4X_BIT_ATI 0x00000002 -#define GL_8X_BIT_ATI 0x00000004 -#define GL_HALF_BIT_ATI 0x00000008 -#define GL_QUARTER_BIT_ATI 0x00000010 -#define GL_EIGHTH_BIT_ATI 0x00000020 -#define GL_SATURATE_BIT_ATI 0x00000040 -#define GL_COMP_BIT_ATI 0x00000002 -#define GL_NEGATE_BIT_ATI 0x00000004 -#define GL_BIAS_BIT_ATI 0x00000008 -typedef GLuint (APIENTRYP PFNGLGENFRAGMENTSHADERSATIPROC) (GLuint range); -typedef void (APIENTRYP PFNGLBINDFRAGMENTSHADERATIPROC) (GLuint id); -typedef void (APIENTRYP PFNGLDELETEFRAGMENTSHADERATIPROC) (GLuint id); -typedef void (APIENTRYP PFNGLBEGINFRAGMENTSHADERATIPROC) (void); -typedef void (APIENTRYP PFNGLENDFRAGMENTSHADERATIPROC) (void); -typedef void (APIENTRYP PFNGLPASSTEXCOORDATIPROC) (GLuint dst, GLuint coord, GLenum swizzle); -typedef void (APIENTRYP PFNGLSAMPLEMAPATIPROC) (GLuint dst, GLuint interp, GLenum swizzle); -typedef void (APIENTRYP PFNGLCOLORFRAGMENTOP1ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); -typedef void (APIENTRYP PFNGLCOLORFRAGMENTOP2ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); -typedef void (APIENTRYP PFNGLCOLORFRAGMENTOP3ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); -typedef void (APIENTRYP PFNGLALPHAFRAGMENTOP1ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); -typedef void (APIENTRYP PFNGLALPHAFRAGMENTOP2ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); -typedef void (APIENTRYP PFNGLALPHAFRAGMENTOP3ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); -typedef void (APIENTRYP PFNGLSETFRAGMENTSHADERCONSTANTATIPROC) (GLuint dst, const GLfloat *value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLuint APIENTRY glGenFragmentShadersATI (GLuint range); -GLAPI void APIENTRY glBindFragmentShaderATI (GLuint id); -GLAPI void APIENTRY glDeleteFragmentShaderATI (GLuint id); -GLAPI void APIENTRY glBeginFragmentShaderATI (void); -GLAPI void APIENTRY glEndFragmentShaderATI (void); -GLAPI void APIENTRY glPassTexCoordATI (GLuint dst, GLuint coord, GLenum swizzle); -GLAPI void APIENTRY glSampleMapATI (GLuint dst, GLuint interp, GLenum swizzle); -GLAPI void APIENTRY glColorFragmentOp1ATI (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); -GLAPI void APIENTRY glColorFragmentOp2ATI (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); -GLAPI void APIENTRY glColorFragmentOp3ATI (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); -GLAPI void APIENTRY glAlphaFragmentOp1ATI (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); -GLAPI void APIENTRY glAlphaFragmentOp2ATI (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); -GLAPI void APIENTRY glAlphaFragmentOp3ATI (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); -GLAPI void APIENTRY glSetFragmentShaderConstantATI (GLuint dst, const GLfloat *value); -#endif -#endif /* GL_ATI_fragment_shader */ - -#ifndef GL_ATI_map_object_buffer -#define GL_ATI_map_object_buffer 1 -typedef void *(APIENTRYP PFNGLMAPOBJECTBUFFERATIPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLUNMAPOBJECTBUFFERATIPROC) (GLuint buffer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void *APIENTRY glMapObjectBufferATI (GLuint buffer); -GLAPI void APIENTRY glUnmapObjectBufferATI (GLuint buffer); -#endif -#endif /* GL_ATI_map_object_buffer */ - -#ifndef GL_ATI_meminfo -#define GL_ATI_meminfo 1 -#define GL_VBO_FREE_MEMORY_ATI 0x87FB -#define GL_TEXTURE_FREE_MEMORY_ATI 0x87FC -#define GL_RENDERBUFFER_FREE_MEMORY_ATI 0x87FD -#endif /* GL_ATI_meminfo */ - -#ifndef GL_ATI_pixel_format_float -#define GL_ATI_pixel_format_float 1 -#define GL_RGBA_FLOAT_MODE_ATI 0x8820 -#define GL_COLOR_CLEAR_UNCLAMPED_VALUE_ATI 0x8835 -#endif /* GL_ATI_pixel_format_float */ - -#ifndef GL_ATI_pn_triangles -#define GL_ATI_pn_triangles 1 -#define GL_PN_TRIANGLES_ATI 0x87F0 -#define GL_MAX_PN_TRIANGLES_TESSELATION_LEVEL_ATI 0x87F1 -#define GL_PN_TRIANGLES_POINT_MODE_ATI 0x87F2 -#define GL_PN_TRIANGLES_NORMAL_MODE_ATI 0x87F3 -#define GL_PN_TRIANGLES_TESSELATION_LEVEL_ATI 0x87F4 -#define GL_PN_TRIANGLES_POINT_MODE_LINEAR_ATI 0x87F5 -#define GL_PN_TRIANGLES_POINT_MODE_CUBIC_ATI 0x87F6 -#define GL_PN_TRIANGLES_NORMAL_MODE_LINEAR_ATI 0x87F7 -#define GL_PN_TRIANGLES_NORMAL_MODE_QUADRATIC_ATI 0x87F8 -typedef void (APIENTRYP PFNGLPNTRIANGLESIATIPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLPNTRIANGLESFATIPROC) (GLenum pname, GLfloat param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPNTrianglesiATI (GLenum pname, GLint param); -GLAPI void APIENTRY glPNTrianglesfATI (GLenum pname, GLfloat param); -#endif -#endif /* GL_ATI_pn_triangles */ - -#ifndef GL_ATI_separate_stencil -#define GL_ATI_separate_stencil 1 -#define GL_STENCIL_BACK_FUNC_ATI 0x8800 -#define GL_STENCIL_BACK_FAIL_ATI 0x8801 -#define GL_STENCIL_BACK_PASS_DEPTH_FAIL_ATI 0x8802 -#define GL_STENCIL_BACK_PASS_DEPTH_PASS_ATI 0x8803 -typedef void (APIENTRYP PFNGLSTENCILOPSEPARATEATIPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); -typedef void (APIENTRYP PFNGLSTENCILFUNCSEPARATEATIPROC) (GLenum frontfunc, GLenum backfunc, GLint ref, GLuint mask); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glStencilOpSeparateATI (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); -GLAPI void APIENTRY glStencilFuncSeparateATI (GLenum frontfunc, GLenum backfunc, GLint ref, GLuint mask); -#endif -#endif /* GL_ATI_separate_stencil */ - -#ifndef GL_ATI_text_fragment_shader -#define GL_ATI_text_fragment_shader 1 -#define GL_TEXT_FRAGMENT_SHADER_ATI 0x8200 -#endif /* GL_ATI_text_fragment_shader */ - -#ifndef GL_ATI_texture_env_combine3 -#define GL_ATI_texture_env_combine3 1 -#define GL_MODULATE_ADD_ATI 0x8744 -#define GL_MODULATE_SIGNED_ADD_ATI 0x8745 -#define GL_MODULATE_SUBTRACT_ATI 0x8746 -#endif /* GL_ATI_texture_env_combine3 */ - -#ifndef GL_ATI_texture_float -#define GL_ATI_texture_float 1 -#define GL_RGBA_FLOAT32_ATI 0x8814 -#define GL_RGB_FLOAT32_ATI 0x8815 -#define GL_ALPHA_FLOAT32_ATI 0x8816 -#define GL_INTENSITY_FLOAT32_ATI 0x8817 -#define GL_LUMINANCE_FLOAT32_ATI 0x8818 -#define GL_LUMINANCE_ALPHA_FLOAT32_ATI 0x8819 -#define GL_RGBA_FLOAT16_ATI 0x881A -#define GL_RGB_FLOAT16_ATI 0x881B -#define GL_ALPHA_FLOAT16_ATI 0x881C -#define GL_INTENSITY_FLOAT16_ATI 0x881D -#define GL_LUMINANCE_FLOAT16_ATI 0x881E -#define GL_LUMINANCE_ALPHA_FLOAT16_ATI 0x881F -#endif /* GL_ATI_texture_float */ - -#ifndef GL_ATI_texture_mirror_once -#define GL_ATI_texture_mirror_once 1 -#define GL_MIRROR_CLAMP_ATI 0x8742 -#define GL_MIRROR_CLAMP_TO_EDGE_ATI 0x8743 -#endif /* GL_ATI_texture_mirror_once */ - -#ifndef GL_ATI_vertex_array_object -#define GL_ATI_vertex_array_object 1 -#define GL_STATIC_ATI 0x8760 -#define GL_DYNAMIC_ATI 0x8761 -#define GL_PRESERVE_ATI 0x8762 -#define GL_DISCARD_ATI 0x8763 -#define GL_OBJECT_BUFFER_SIZE_ATI 0x8764 -#define GL_OBJECT_BUFFER_USAGE_ATI 0x8765 -#define GL_ARRAY_OBJECT_BUFFER_ATI 0x8766 -#define GL_ARRAY_OBJECT_OFFSET_ATI 0x8767 -typedef GLuint (APIENTRYP PFNGLNEWOBJECTBUFFERATIPROC) (GLsizei size, const void *pointer, GLenum usage); -typedef GLboolean (APIENTRYP PFNGLISOBJECTBUFFERATIPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLUPDATEOBJECTBUFFERATIPROC) (GLuint buffer, GLuint offset, GLsizei size, const void *pointer, GLenum preserve); -typedef void (APIENTRYP PFNGLGETOBJECTBUFFERFVATIPROC) (GLuint buffer, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETOBJECTBUFFERIVATIPROC) (GLuint buffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLFREEOBJECTBUFFERATIPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLARRAYOBJECTATIPROC) (GLenum array, GLint size, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); -typedef void (APIENTRYP PFNGLGETARRAYOBJECTFVATIPROC) (GLenum array, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETARRAYOBJECTIVATIPROC) (GLenum array, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLVARIANTARRAYOBJECTATIPROC) (GLuint id, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); -typedef void (APIENTRYP PFNGLGETVARIANTARRAYOBJECTFVATIPROC) (GLuint id, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETVARIANTARRAYOBJECTIVATIPROC) (GLuint id, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLuint APIENTRY glNewObjectBufferATI (GLsizei size, const void *pointer, GLenum usage); -GLAPI GLboolean APIENTRY glIsObjectBufferATI (GLuint buffer); -GLAPI void APIENTRY glUpdateObjectBufferATI (GLuint buffer, GLuint offset, GLsizei size, const void *pointer, GLenum preserve); -GLAPI void APIENTRY glGetObjectBufferfvATI (GLuint buffer, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetObjectBufferivATI (GLuint buffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glFreeObjectBufferATI (GLuint buffer); -GLAPI void APIENTRY glArrayObjectATI (GLenum array, GLint size, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); -GLAPI void APIENTRY glGetArrayObjectfvATI (GLenum array, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetArrayObjectivATI (GLenum array, GLenum pname, GLint *params); -GLAPI void APIENTRY glVariantArrayObjectATI (GLuint id, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); -GLAPI void APIENTRY glGetVariantArrayObjectfvATI (GLuint id, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetVariantArrayObjectivATI (GLuint id, GLenum pname, GLint *params); -#endif -#endif /* GL_ATI_vertex_array_object */ - -#ifndef GL_ATI_vertex_attrib_array_object -#define GL_ATI_vertex_attrib_array_object 1 -typedef void (APIENTRYP PFNGLVERTEXATTRIBARRAYOBJECTATIPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLuint buffer, GLuint offset); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBARRAYOBJECTFVATIPROC) (GLuint index, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBARRAYOBJECTIVATIPROC) (GLuint index, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexAttribArrayObjectATI (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLuint buffer, GLuint offset); -GLAPI void APIENTRY glGetVertexAttribArrayObjectfvATI (GLuint index, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetVertexAttribArrayObjectivATI (GLuint index, GLenum pname, GLint *params); -#endif -#endif /* GL_ATI_vertex_attrib_array_object */ - -#ifndef GL_ATI_vertex_streams -#define GL_ATI_vertex_streams 1 -#define GL_MAX_VERTEX_STREAMS_ATI 0x876B -#define GL_VERTEX_STREAM0_ATI 0x876C -#define GL_VERTEX_STREAM1_ATI 0x876D -#define GL_VERTEX_STREAM2_ATI 0x876E -#define GL_VERTEX_STREAM3_ATI 0x876F -#define GL_VERTEX_STREAM4_ATI 0x8770 -#define GL_VERTEX_STREAM5_ATI 0x8771 -#define GL_VERTEX_STREAM6_ATI 0x8772 -#define GL_VERTEX_STREAM7_ATI 0x8773 -#define GL_VERTEX_SOURCE_ATI 0x8774 -typedef void (APIENTRYP PFNGLVERTEXSTREAM1SATIPROC) (GLenum stream, GLshort x); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1SVATIPROC) (GLenum stream, const GLshort *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1IATIPROC) (GLenum stream, GLint x); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1IVATIPROC) (GLenum stream, const GLint *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1FATIPROC) (GLenum stream, GLfloat x); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1FVATIPROC) (GLenum stream, const GLfloat *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1DATIPROC) (GLenum stream, GLdouble x); -typedef void (APIENTRYP PFNGLVERTEXSTREAM1DVATIPROC) (GLenum stream, const GLdouble *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2SATIPROC) (GLenum stream, GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2SVATIPROC) (GLenum stream, const GLshort *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2IATIPROC) (GLenum stream, GLint x, GLint y); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2IVATIPROC) (GLenum stream, const GLint *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2FATIPROC) (GLenum stream, GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2FVATIPROC) (GLenum stream, const GLfloat *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2DATIPROC) (GLenum stream, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLVERTEXSTREAM2DVATIPROC) (GLenum stream, const GLdouble *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3SVATIPROC) (GLenum stream, const GLshort *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3IATIPROC) (GLenum stream, GLint x, GLint y, GLint z); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3IVATIPROC) (GLenum stream, const GLint *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3FVATIPROC) (GLenum stream, const GLfloat *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLVERTEXSTREAM3DVATIPROC) (GLenum stream, const GLdouble *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z, GLshort w); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4SVATIPROC) (GLenum stream, const GLshort *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4IATIPROC) (GLenum stream, GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4IVATIPROC) (GLenum stream, const GLint *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4FVATIPROC) (GLenum stream, const GLfloat *coords); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLVERTEXSTREAM4DVATIPROC) (GLenum stream, const GLdouble *coords); -typedef void (APIENTRYP PFNGLNORMALSTREAM3BATIPROC) (GLenum stream, GLbyte nx, GLbyte ny, GLbyte nz); -typedef void (APIENTRYP PFNGLNORMALSTREAM3BVATIPROC) (GLenum stream, const GLbyte *coords); -typedef void (APIENTRYP PFNGLNORMALSTREAM3SATIPROC) (GLenum stream, GLshort nx, GLshort ny, GLshort nz); -typedef void (APIENTRYP PFNGLNORMALSTREAM3SVATIPROC) (GLenum stream, const GLshort *coords); -typedef void (APIENTRYP PFNGLNORMALSTREAM3IATIPROC) (GLenum stream, GLint nx, GLint ny, GLint nz); -typedef void (APIENTRYP PFNGLNORMALSTREAM3IVATIPROC) (GLenum stream, const GLint *coords); -typedef void (APIENTRYP PFNGLNORMALSTREAM3FATIPROC) (GLenum stream, GLfloat nx, GLfloat ny, GLfloat nz); -typedef void (APIENTRYP PFNGLNORMALSTREAM3FVATIPROC) (GLenum stream, const GLfloat *coords); -typedef void (APIENTRYP PFNGLNORMALSTREAM3DATIPROC) (GLenum stream, GLdouble nx, GLdouble ny, GLdouble nz); -typedef void (APIENTRYP PFNGLNORMALSTREAM3DVATIPROC) (GLenum stream, const GLdouble *coords); -typedef void (APIENTRYP PFNGLCLIENTACTIVEVERTEXSTREAMATIPROC) (GLenum stream); -typedef void (APIENTRYP PFNGLVERTEXBLENDENVIATIPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLVERTEXBLENDENVFATIPROC) (GLenum pname, GLfloat param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexStream1sATI (GLenum stream, GLshort x); -GLAPI void APIENTRY glVertexStream1svATI (GLenum stream, const GLshort *coords); -GLAPI void APIENTRY glVertexStream1iATI (GLenum stream, GLint x); -GLAPI void APIENTRY glVertexStream1ivATI (GLenum stream, const GLint *coords); -GLAPI void APIENTRY glVertexStream1fATI (GLenum stream, GLfloat x); -GLAPI void APIENTRY glVertexStream1fvATI (GLenum stream, const GLfloat *coords); -GLAPI void APIENTRY glVertexStream1dATI (GLenum stream, GLdouble x); -GLAPI void APIENTRY glVertexStream1dvATI (GLenum stream, const GLdouble *coords); -GLAPI void APIENTRY glVertexStream2sATI (GLenum stream, GLshort x, GLshort y); -GLAPI void APIENTRY glVertexStream2svATI (GLenum stream, const GLshort *coords); -GLAPI void APIENTRY glVertexStream2iATI (GLenum stream, GLint x, GLint y); -GLAPI void APIENTRY glVertexStream2ivATI (GLenum stream, const GLint *coords); -GLAPI void APIENTRY glVertexStream2fATI (GLenum stream, GLfloat x, GLfloat y); -GLAPI void APIENTRY glVertexStream2fvATI (GLenum stream, const GLfloat *coords); -GLAPI void APIENTRY glVertexStream2dATI (GLenum stream, GLdouble x, GLdouble y); -GLAPI void APIENTRY glVertexStream2dvATI (GLenum stream, const GLdouble *coords); -GLAPI void APIENTRY glVertexStream3sATI (GLenum stream, GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glVertexStream3svATI (GLenum stream, const GLshort *coords); -GLAPI void APIENTRY glVertexStream3iATI (GLenum stream, GLint x, GLint y, GLint z); -GLAPI void APIENTRY glVertexStream3ivATI (GLenum stream, const GLint *coords); -GLAPI void APIENTRY glVertexStream3fATI (GLenum stream, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glVertexStream3fvATI (GLenum stream, const GLfloat *coords); -GLAPI void APIENTRY glVertexStream3dATI (GLenum stream, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glVertexStream3dvATI (GLenum stream, const GLdouble *coords); -GLAPI void APIENTRY glVertexStream4sATI (GLenum stream, GLshort x, GLshort y, GLshort z, GLshort w); -GLAPI void APIENTRY glVertexStream4svATI (GLenum stream, const GLshort *coords); -GLAPI void APIENTRY glVertexStream4iATI (GLenum stream, GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glVertexStream4ivATI (GLenum stream, const GLint *coords); -GLAPI void APIENTRY glVertexStream4fATI (GLenum stream, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glVertexStream4fvATI (GLenum stream, const GLfloat *coords); -GLAPI void APIENTRY glVertexStream4dATI (GLenum stream, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glVertexStream4dvATI (GLenum stream, const GLdouble *coords); -GLAPI void APIENTRY glNormalStream3bATI (GLenum stream, GLbyte nx, GLbyte ny, GLbyte nz); -GLAPI void APIENTRY glNormalStream3bvATI (GLenum stream, const GLbyte *coords); -GLAPI void APIENTRY glNormalStream3sATI (GLenum stream, GLshort nx, GLshort ny, GLshort nz); -GLAPI void APIENTRY glNormalStream3svATI (GLenum stream, const GLshort *coords); -GLAPI void APIENTRY glNormalStream3iATI (GLenum stream, GLint nx, GLint ny, GLint nz); -GLAPI void APIENTRY glNormalStream3ivATI (GLenum stream, const GLint *coords); -GLAPI void APIENTRY glNormalStream3fATI (GLenum stream, GLfloat nx, GLfloat ny, GLfloat nz); -GLAPI void APIENTRY glNormalStream3fvATI (GLenum stream, const GLfloat *coords); -GLAPI void APIENTRY glNormalStream3dATI (GLenum stream, GLdouble nx, GLdouble ny, GLdouble nz); -GLAPI void APIENTRY glNormalStream3dvATI (GLenum stream, const GLdouble *coords); -GLAPI void APIENTRY glClientActiveVertexStreamATI (GLenum stream); -GLAPI void APIENTRY glVertexBlendEnviATI (GLenum pname, GLint param); -GLAPI void APIENTRY glVertexBlendEnvfATI (GLenum pname, GLfloat param); -#endif -#endif /* GL_ATI_vertex_streams */ - -#ifndef GL_EXT_422_pixels -#define GL_EXT_422_pixels 1 -#define GL_422_EXT 0x80CC -#define GL_422_REV_EXT 0x80CD -#define GL_422_AVERAGE_EXT 0x80CE -#define GL_422_REV_AVERAGE_EXT 0x80CF -#endif /* GL_EXT_422_pixels */ - -#ifndef GL_EXT_EGL_image_storage -#define GL_EXT_EGL_image_storage 1 -typedef void *GLeglImageOES; -typedef void (APIENTRYP PFNGLEGLIMAGETARGETTEXSTORAGEEXTPROC) (GLenum target, GLeglImageOES image, const GLint* attrib_list); -typedef void (APIENTRYP PFNGLEGLIMAGETARGETTEXTURESTORAGEEXTPROC) (GLuint texture, GLeglImageOES image, const GLint* attrib_list); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glEGLImageTargetTexStorageEXT (GLenum target, GLeglImageOES image, const GLint* attrib_list); -GLAPI void APIENTRY glEGLImageTargetTextureStorageEXT (GLuint texture, GLeglImageOES image, const GLint* attrib_list); -#endif -#endif /* GL_EXT_EGL_image_storage */ - -#ifndef GL_EXT_EGL_sync -#define GL_EXT_EGL_sync 1 -#endif /* GL_EXT_EGL_sync */ - -#ifndef GL_EXT_abgr -#define GL_EXT_abgr 1 -#define GL_ABGR_EXT 0x8000 -#endif /* GL_EXT_abgr */ - -#ifndef GL_EXT_bgra -#define GL_EXT_bgra 1 -#define GL_BGR_EXT 0x80E0 -#define GL_BGRA_EXT 0x80E1 -#endif /* GL_EXT_bgra */ - -#ifndef GL_EXT_bindable_uniform -#define GL_EXT_bindable_uniform 1 -#define GL_MAX_VERTEX_BINDABLE_UNIFORMS_EXT 0x8DE2 -#define GL_MAX_FRAGMENT_BINDABLE_UNIFORMS_EXT 0x8DE3 -#define GL_MAX_GEOMETRY_BINDABLE_UNIFORMS_EXT 0x8DE4 -#define GL_MAX_BINDABLE_UNIFORM_SIZE_EXT 0x8DED -#define GL_UNIFORM_BUFFER_EXT 0x8DEE -#define GL_UNIFORM_BUFFER_BINDING_EXT 0x8DEF -typedef void (APIENTRYP PFNGLUNIFORMBUFFEREXTPROC) (GLuint program, GLint location, GLuint buffer); -typedef GLint (APIENTRYP PFNGLGETUNIFORMBUFFERSIZEEXTPROC) (GLuint program, GLint location); -typedef GLintptr (APIENTRYP PFNGLGETUNIFORMOFFSETEXTPROC) (GLuint program, GLint location); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glUniformBufferEXT (GLuint program, GLint location, GLuint buffer); -GLAPI GLint APIENTRY glGetUniformBufferSizeEXT (GLuint program, GLint location); -GLAPI GLintptr APIENTRY glGetUniformOffsetEXT (GLuint program, GLint location); -#endif -#endif /* GL_EXT_bindable_uniform */ - -#ifndef GL_EXT_blend_color -#define GL_EXT_blend_color 1 -#define GL_CONSTANT_COLOR_EXT 0x8001 -#define GL_ONE_MINUS_CONSTANT_COLOR_EXT 0x8002 -#define GL_CONSTANT_ALPHA_EXT 0x8003 -#define GL_ONE_MINUS_CONSTANT_ALPHA_EXT 0x8004 -#define GL_BLEND_COLOR_EXT 0x8005 -typedef void (APIENTRYP PFNGLBLENDCOLOREXTPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendColorEXT (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -#endif -#endif /* GL_EXT_blend_color */ - -#ifndef GL_EXT_blend_equation_separate -#define GL_EXT_blend_equation_separate 1 -#define GL_BLEND_EQUATION_RGB_EXT 0x8009 -#define GL_BLEND_EQUATION_ALPHA_EXT 0x883D -typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEEXTPROC) (GLenum modeRGB, GLenum modeAlpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendEquationSeparateEXT (GLenum modeRGB, GLenum modeAlpha); -#endif -#endif /* GL_EXT_blend_equation_separate */ - -#ifndef GL_EXT_blend_func_separate -#define GL_EXT_blend_func_separate 1 -#define GL_BLEND_DST_RGB_EXT 0x80C8 -#define GL_BLEND_SRC_RGB_EXT 0x80C9 -#define GL_BLEND_DST_ALPHA_EXT 0x80CA -#define GL_BLEND_SRC_ALPHA_EXT 0x80CB -typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEEXTPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendFuncSeparateEXT (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -#endif -#endif /* GL_EXT_blend_func_separate */ - -#ifndef GL_EXT_blend_logic_op -#define GL_EXT_blend_logic_op 1 -#endif /* GL_EXT_blend_logic_op */ - -#ifndef GL_EXT_blend_minmax -#define GL_EXT_blend_minmax 1 -#define GL_MIN_EXT 0x8007 -#define GL_MAX_EXT 0x8008 -#define GL_FUNC_ADD_EXT 0x8006 -#define GL_BLEND_EQUATION_EXT 0x8009 -typedef void (APIENTRYP PFNGLBLENDEQUATIONEXTPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendEquationEXT (GLenum mode); -#endif -#endif /* GL_EXT_blend_minmax */ - -#ifndef GL_EXT_blend_subtract -#define GL_EXT_blend_subtract 1 -#define GL_FUNC_SUBTRACT_EXT 0x800A -#define GL_FUNC_REVERSE_SUBTRACT_EXT 0x800B -#endif /* GL_EXT_blend_subtract */ - -#ifndef GL_EXT_clip_volume_hint -#define GL_EXT_clip_volume_hint 1 -#define GL_CLIP_VOLUME_CLIPPING_HINT_EXT 0x80F0 -#endif /* GL_EXT_clip_volume_hint */ - -#ifndef GL_EXT_cmyka -#define GL_EXT_cmyka 1 -#define GL_CMYK_EXT 0x800C -#define GL_CMYKA_EXT 0x800D -#define GL_PACK_CMYK_HINT_EXT 0x800E -#define GL_UNPACK_CMYK_HINT_EXT 0x800F -#endif /* GL_EXT_cmyka */ - -#ifndef GL_EXT_color_subtable -#define GL_EXT_color_subtable 1 -typedef void (APIENTRYP PFNGLCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLCOPYCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorSubTableEXT (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glCopyColorSubTableEXT (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); -#endif -#endif /* GL_EXT_color_subtable */ - -#ifndef GL_EXT_compiled_vertex_array -#define GL_EXT_compiled_vertex_array 1 -#define GL_ARRAY_ELEMENT_LOCK_FIRST_EXT 0x81A8 -#define GL_ARRAY_ELEMENT_LOCK_COUNT_EXT 0x81A9 -typedef void (APIENTRYP PFNGLLOCKARRAYSEXTPROC) (GLint first, GLsizei count); -typedef void (APIENTRYP PFNGLUNLOCKARRAYSEXTPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glLockArraysEXT (GLint first, GLsizei count); -GLAPI void APIENTRY glUnlockArraysEXT (void); -#endif -#endif /* GL_EXT_compiled_vertex_array */ - -#ifndef GL_EXT_convolution -#define GL_EXT_convolution 1 -#define GL_CONVOLUTION_1D_EXT 0x8010 -#define GL_CONVOLUTION_2D_EXT 0x8011 -#define GL_SEPARABLE_2D_EXT 0x8012 -#define GL_CONVOLUTION_BORDER_MODE_EXT 0x8013 -#define GL_CONVOLUTION_FILTER_SCALE_EXT 0x8014 -#define GL_CONVOLUTION_FILTER_BIAS_EXT 0x8015 -#define GL_REDUCE_EXT 0x8016 -#define GL_CONVOLUTION_FORMAT_EXT 0x8017 -#define GL_CONVOLUTION_WIDTH_EXT 0x8018 -#define GL_CONVOLUTION_HEIGHT_EXT 0x8019 -#define GL_MAX_CONVOLUTION_WIDTH_EXT 0x801A -#define GL_MAX_CONVOLUTION_HEIGHT_EXT 0x801B -#define GL_POST_CONVOLUTION_RED_SCALE_EXT 0x801C -#define GL_POST_CONVOLUTION_GREEN_SCALE_EXT 0x801D -#define GL_POST_CONVOLUTION_BLUE_SCALE_EXT 0x801E -#define GL_POST_CONVOLUTION_ALPHA_SCALE_EXT 0x801F -#define GL_POST_CONVOLUTION_RED_BIAS_EXT 0x8020 -#define GL_POST_CONVOLUTION_GREEN_BIAS_EXT 0x8021 -#define GL_POST_CONVOLUTION_BLUE_BIAS_EXT 0x8022 -#define GL_POST_CONVOLUTION_ALPHA_BIAS_EXT 0x8023 -typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); -typedef void (APIENTRYP PFNGLCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat params); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint params); -typedef void (APIENTRYP PFNGLCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCOPYCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, void *image); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETSEPARABLEFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); -typedef void (APIENTRYP PFNGLSEPARABLEFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glConvolutionFilter1DEXT (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *image); -GLAPI void APIENTRY glConvolutionFilter2DEXT (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *image); -GLAPI void APIENTRY glConvolutionParameterfEXT (GLenum target, GLenum pname, GLfloat params); -GLAPI void APIENTRY glConvolutionParameterfvEXT (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glConvolutionParameteriEXT (GLenum target, GLenum pname, GLint params); -GLAPI void APIENTRY glConvolutionParameterivEXT (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glCopyConvolutionFilter1DEXT (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glCopyConvolutionFilter2DEXT (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetConvolutionFilterEXT (GLenum target, GLenum format, GLenum type, void *image); -GLAPI void APIENTRY glGetConvolutionParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetConvolutionParameterivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetSeparableFilterEXT (GLenum target, GLenum format, GLenum type, void *row, void *column, void *span); -GLAPI void APIENTRY glSeparableFilter2DEXT (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *row, const void *column); -#endif -#endif /* GL_EXT_convolution */ - -#ifndef GL_EXT_coordinate_frame -#define GL_EXT_coordinate_frame 1 -#define GL_TANGENT_ARRAY_EXT 0x8439 -#define GL_BINORMAL_ARRAY_EXT 0x843A -#define GL_CURRENT_TANGENT_EXT 0x843B -#define GL_CURRENT_BINORMAL_EXT 0x843C -#define GL_TANGENT_ARRAY_TYPE_EXT 0x843E -#define GL_TANGENT_ARRAY_STRIDE_EXT 0x843F -#define GL_BINORMAL_ARRAY_TYPE_EXT 0x8440 -#define GL_BINORMAL_ARRAY_STRIDE_EXT 0x8441 -#define GL_TANGENT_ARRAY_POINTER_EXT 0x8442 -#define GL_BINORMAL_ARRAY_POINTER_EXT 0x8443 -#define GL_MAP1_TANGENT_EXT 0x8444 -#define GL_MAP2_TANGENT_EXT 0x8445 -#define GL_MAP1_BINORMAL_EXT 0x8446 -#define GL_MAP2_BINORMAL_EXT 0x8447 -typedef void (APIENTRYP PFNGLTANGENT3BEXTPROC) (GLbyte tx, GLbyte ty, GLbyte tz); -typedef void (APIENTRYP PFNGLTANGENT3BVEXTPROC) (const GLbyte *v); -typedef void (APIENTRYP PFNGLTANGENT3DEXTPROC) (GLdouble tx, GLdouble ty, GLdouble tz); -typedef void (APIENTRYP PFNGLTANGENT3DVEXTPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLTANGENT3FEXTPROC) (GLfloat tx, GLfloat ty, GLfloat tz); -typedef void (APIENTRYP PFNGLTANGENT3FVEXTPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLTANGENT3IEXTPROC) (GLint tx, GLint ty, GLint tz); -typedef void (APIENTRYP PFNGLTANGENT3IVEXTPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLTANGENT3SEXTPROC) (GLshort tx, GLshort ty, GLshort tz); -typedef void (APIENTRYP PFNGLTANGENT3SVEXTPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLBINORMAL3BEXTPROC) (GLbyte bx, GLbyte by, GLbyte bz); -typedef void (APIENTRYP PFNGLBINORMAL3BVEXTPROC) (const GLbyte *v); -typedef void (APIENTRYP PFNGLBINORMAL3DEXTPROC) (GLdouble bx, GLdouble by, GLdouble bz); -typedef void (APIENTRYP PFNGLBINORMAL3DVEXTPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLBINORMAL3FEXTPROC) (GLfloat bx, GLfloat by, GLfloat bz); -typedef void (APIENTRYP PFNGLBINORMAL3FVEXTPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLBINORMAL3IEXTPROC) (GLint bx, GLint by, GLint bz); -typedef void (APIENTRYP PFNGLBINORMAL3IVEXTPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLBINORMAL3SEXTPROC) (GLshort bx, GLshort by, GLshort bz); -typedef void (APIENTRYP PFNGLBINORMAL3SVEXTPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLTANGENTPOINTEREXTPROC) (GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLBINORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTangent3bEXT (GLbyte tx, GLbyte ty, GLbyte tz); -GLAPI void APIENTRY glTangent3bvEXT (const GLbyte *v); -GLAPI void APIENTRY glTangent3dEXT (GLdouble tx, GLdouble ty, GLdouble tz); -GLAPI void APIENTRY glTangent3dvEXT (const GLdouble *v); -GLAPI void APIENTRY glTangent3fEXT (GLfloat tx, GLfloat ty, GLfloat tz); -GLAPI void APIENTRY glTangent3fvEXT (const GLfloat *v); -GLAPI void APIENTRY glTangent3iEXT (GLint tx, GLint ty, GLint tz); -GLAPI void APIENTRY glTangent3ivEXT (const GLint *v); -GLAPI void APIENTRY glTangent3sEXT (GLshort tx, GLshort ty, GLshort tz); -GLAPI void APIENTRY glTangent3svEXT (const GLshort *v); -GLAPI void APIENTRY glBinormal3bEXT (GLbyte bx, GLbyte by, GLbyte bz); -GLAPI void APIENTRY glBinormal3bvEXT (const GLbyte *v); -GLAPI void APIENTRY glBinormal3dEXT (GLdouble bx, GLdouble by, GLdouble bz); -GLAPI void APIENTRY glBinormal3dvEXT (const GLdouble *v); -GLAPI void APIENTRY glBinormal3fEXT (GLfloat bx, GLfloat by, GLfloat bz); -GLAPI void APIENTRY glBinormal3fvEXT (const GLfloat *v); -GLAPI void APIENTRY glBinormal3iEXT (GLint bx, GLint by, GLint bz); -GLAPI void APIENTRY glBinormal3ivEXT (const GLint *v); -GLAPI void APIENTRY glBinormal3sEXT (GLshort bx, GLshort by, GLshort bz); -GLAPI void APIENTRY glBinormal3svEXT (const GLshort *v); -GLAPI void APIENTRY glTangentPointerEXT (GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glBinormalPointerEXT (GLenum type, GLsizei stride, const void *pointer); -#endif -#endif /* GL_EXT_coordinate_frame */ - -#ifndef GL_EXT_copy_texture -#define GL_EXT_copy_texture 1 -typedef void (APIENTRYP PFNGLCOPYTEXIMAGE1DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); -typedef void (APIENTRYP PFNGLCOPYTEXIMAGE2DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCopyTexImage1DEXT (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); -GLAPI void APIENTRY glCopyTexImage2DEXT (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -GLAPI void APIENTRY glCopyTexSubImage1DEXT (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glCopyTexSubImage2DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glCopyTexSubImage3DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -#endif -#endif /* GL_EXT_copy_texture */ - -#ifndef GL_EXT_cull_vertex -#define GL_EXT_cull_vertex 1 -#define GL_CULL_VERTEX_EXT 0x81AA -#define GL_CULL_VERTEX_EYE_POSITION_EXT 0x81AB -#define GL_CULL_VERTEX_OBJECT_POSITION_EXT 0x81AC -typedef void (APIENTRYP PFNGLCULLPARAMETERDVEXTPROC) (GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLCULLPARAMETERFVEXTPROC) (GLenum pname, GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCullParameterdvEXT (GLenum pname, GLdouble *params); -GLAPI void APIENTRY glCullParameterfvEXT (GLenum pname, GLfloat *params); -#endif -#endif /* GL_EXT_cull_vertex */ - -#ifndef GL_EXT_debug_label -#define GL_EXT_debug_label 1 -#define GL_PROGRAM_PIPELINE_OBJECT_EXT 0x8A4F -#define GL_PROGRAM_OBJECT_EXT 0x8B40 -#define GL_SHADER_OBJECT_EXT 0x8B48 -#define GL_BUFFER_OBJECT_EXT 0x9151 -#define GL_QUERY_OBJECT_EXT 0x9153 -#define GL_VERTEX_ARRAY_OBJECT_EXT 0x9154 -typedef void (APIENTRYP PFNGLLABELOBJECTEXTPROC) (GLenum type, GLuint object, GLsizei length, const GLchar *label); -typedef void (APIENTRYP PFNGLGETOBJECTLABELEXTPROC) (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glLabelObjectEXT (GLenum type, GLuint object, GLsizei length, const GLchar *label); -GLAPI void APIENTRY glGetObjectLabelEXT (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); -#endif -#endif /* GL_EXT_debug_label */ - -#ifndef GL_EXT_debug_marker -#define GL_EXT_debug_marker 1 -typedef void (APIENTRYP PFNGLINSERTEVENTMARKEREXTPROC) (GLsizei length, const GLchar *marker); -typedef void (APIENTRYP PFNGLPUSHGROUPMARKEREXTPROC) (GLsizei length, const GLchar *marker); -typedef void (APIENTRYP PFNGLPOPGROUPMARKEREXTPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glInsertEventMarkerEXT (GLsizei length, const GLchar *marker); -GLAPI void APIENTRY glPushGroupMarkerEXT (GLsizei length, const GLchar *marker); -GLAPI void APIENTRY glPopGroupMarkerEXT (void); -#endif -#endif /* GL_EXT_debug_marker */ - -#ifndef GL_EXT_depth_bounds_test -#define GL_EXT_depth_bounds_test 1 -#define GL_DEPTH_BOUNDS_TEST_EXT 0x8890 -#define GL_DEPTH_BOUNDS_EXT 0x8891 -typedef void (APIENTRYP PFNGLDEPTHBOUNDSEXTPROC) (GLclampd zmin, GLclampd zmax); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDepthBoundsEXT (GLclampd zmin, GLclampd zmax); -#endif -#endif /* GL_EXT_depth_bounds_test */ - -#ifndef GL_EXT_direct_state_access -#define GL_EXT_direct_state_access 1 -#define GL_PROGRAM_MATRIX_EXT 0x8E2D -#define GL_TRANSPOSE_PROGRAM_MATRIX_EXT 0x8E2E -#define GL_PROGRAM_MATRIX_STACK_DEPTH_EXT 0x8E2F -typedef void (APIENTRYP PFNGLMATRIXLOADFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXLOADDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (APIENTRYP PFNGLMATRIXMULTFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXMULTDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (APIENTRYP PFNGLMATRIXLOADIDENTITYEXTPROC) (GLenum mode); -typedef void (APIENTRYP PFNGLMATRIXROTATEFEXTPROC) (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLMATRIXROTATEDEXTPROC) (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLMATRIXSCALEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLMATRIXSCALEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLMATRIXTRANSLATEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLMATRIXTRANSLATEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLMATRIXFRUSTUMEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -typedef void (APIENTRYP PFNGLMATRIXORTHOEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -typedef void (APIENTRYP PFNGLMATRIXPOPEXTPROC) (GLenum mode); -typedef void (APIENTRYP PFNGLMATRIXPUSHEXTPROC) (GLenum mode); -typedef void (APIENTRYP PFNGLCLIENTATTRIBDEFAULTEXTPROC) (GLbitfield mask); -typedef void (APIENTRYP PFNGLPUSHCLIENTATTRIBDEFAULTEXTPROC) (GLbitfield mask); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLCOPYTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); -typedef void (APIENTRYP PFNGLCOPYTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETTEXTUREIMAGEEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETTEXTURELEVELPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLCOPYTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLBINDMULTITEXTUREEXTPROC) (GLenum texunit, GLenum target, GLuint texture); -typedef void (APIENTRYP PFNGLMULTITEXCOORDPOINTEREXTPROC) (GLenum texunit, GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLMULTITEXENVFEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLMULTITEXENVFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLMULTITEXENVIEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLMULTITEXENVIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLMULTITEXGENDEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLdouble param); -typedef void (APIENTRYP PFNGLMULTITEXGENDVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLdouble *params); -typedef void (APIENTRYP PFNGLMULTITEXGENFEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLMULTITEXGENFVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLMULTITEXGENIEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLMULTITEXGENIVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLGETMULTITEXENVFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMULTITEXENVIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMULTITEXGENDVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLGETMULTITEXGENFVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMULTITEXGENIVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLMULTITEXPARAMETERFEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLMULTITEXPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLCOPYMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); -typedef void (APIENTRYP PFNGLCOPYMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -typedef void (APIENTRYP PFNGLCOPYMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLCOPYMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETMULTITEXIMAGEEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); -typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMULTITEXLEVELPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMULTITEXLEVELPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLMULTITEXIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLCOPYMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLENABLECLIENTSTATEINDEXEDEXTPROC) (GLenum array, GLuint index); -typedef void (APIENTRYP PFNGLDISABLECLIENTSTATEINDEXEDEXTPROC) (GLenum array, GLuint index); -typedef void (APIENTRYP PFNGLGETFLOATINDEXEDVEXTPROC) (GLenum target, GLuint index, GLfloat *data); -typedef void (APIENTRYP PFNGLGETDOUBLEINDEXEDVEXTPROC) (GLenum target, GLuint index, GLdouble *data); -typedef void (APIENTRYP PFNGLGETPOINTERINDEXEDVEXTPROC) (GLenum target, GLuint index, void **data); -typedef void (APIENTRYP PFNGLENABLEINDEXEDEXTPROC) (GLenum target, GLuint index); -typedef void (APIENTRYP PFNGLDISABLEINDEXEDEXTPROC) (GLenum target, GLuint index); -typedef GLboolean (APIENTRYP PFNGLISENABLEDINDEXEDEXTPROC) (GLenum target, GLuint index); -typedef void (APIENTRYP PFNGLGETINTEGERINDEXEDVEXTPROC) (GLenum target, GLuint index, GLint *data); -typedef void (APIENTRYP PFNGLGETBOOLEANINDEXEDVEXTPROC) (GLenum target, GLuint index, GLboolean *data); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTUREIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXTUREIMAGEEXTPROC) (GLuint texture, GLenum target, GLint lod, void *img); -typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLCOMPRESSEDMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); -typedef void (APIENTRYP PFNGLGETCOMPRESSEDMULTITEXIMAGEEXTPROC) (GLenum texunit, GLenum target, GLint lod, void *img); -typedef void (APIENTRYP PFNGLMATRIXLOADTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXLOADTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (APIENTRYP PFNGLMATRIXMULTTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXMULTTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (APIENTRYP PFNGLNAMEDBUFFERDATAEXTPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); -typedef void (APIENTRYP PFNGLNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFEREXTPROC) (GLuint buffer, GLenum access); -typedef GLboolean (APIENTRYP PFNGLUNMAPNAMEDBUFFEREXTPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERIVEXTPROC) (GLuint buffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPOINTERVEXTPROC) (GLuint buffer, GLenum pname, void **params); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FEXTPROC) (GLuint program, GLint location, GLfloat v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IEXTPROC) (GLuint program, GLint location, GLint v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (APIENTRYP PFNGLTEXTUREBUFFEREXTPROC) (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer); -typedef void (APIENTRYP PFNGLMULTITEXBUFFEREXTPROC) (GLenum texunit, GLenum target, GLenum internalformat, GLuint buffer); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLTEXTUREPARAMETERIUIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLuint *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETTEXTUREPARAMETERIUIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLMULTITEXPARAMETERIUIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLuint *params); -typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERIIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMULTITEXPARAMETERIUIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIEXTPROC) (GLuint program, GLint location, GLuint v0); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERS4FVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLfloat *params); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4IEXTPROC) (GLuint program, GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4IVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLint *params); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERSI4IVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLint *params); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIEXTPROC) (GLuint program, GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLuint *params); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETERSI4UIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLuint *params); -typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERIIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLint *params); -typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERIUIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLuint *params); -typedef void (APIENTRYP PFNGLENABLECLIENTSTATEIEXTPROC) (GLenum array, GLuint index); -typedef void (APIENTRYP PFNGLDISABLECLIENTSTATEIEXTPROC) (GLenum array, GLuint index); -typedef void (APIENTRYP PFNGLGETFLOATI_VEXTPROC) (GLenum pname, GLuint index, GLfloat *params); -typedef void (APIENTRYP PFNGLGETDOUBLEI_VEXTPROC) (GLenum pname, GLuint index, GLdouble *params); -typedef void (APIENTRYP PFNGLGETPOINTERI_VEXTPROC) (GLenum pname, GLuint index, void **params); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMSTRINGEXTPROC) (GLuint program, GLenum target, GLenum format, GLsizei len, const void *string); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4DEXTPROC) (GLuint program, GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4DVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLdouble *params); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4FEXTPROC) (GLuint program, GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLNAMEDPROGRAMLOCALPARAMETER4FVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERDVEXTPROC) (GLuint program, GLenum target, GLuint index, GLdouble *params); -typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMLOCALPARAMETERFVEXTPROC) (GLuint program, GLenum target, GLuint index, GLfloat *params); -typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMIVEXTPROC) (GLuint program, GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETNAMEDPROGRAMSTRINGEXTPROC) (GLuint program, GLenum target, GLenum pname, void *string); -typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEEXTPROC) (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETNAMEDRENDERBUFFERPARAMETERIVEXTPROC) (GLuint renderbuffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLECOVERAGEEXTPROC) (GLuint renderbuffer, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); -typedef GLenum (APIENTRYP PFNGLCHECKNAMEDFRAMEBUFFERSTATUSEXTPROC) (GLuint framebuffer, GLenum target); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURE1DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURE2DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURE3DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERRENDERBUFFEREXTPROC) (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGENERATETEXTUREMIPMAPEXTPROC) (GLuint texture, GLenum target); -typedef void (APIENTRYP PFNGLGENERATEMULTITEXMIPMAPEXTPROC) (GLenum texunit, GLenum target); -typedef void (APIENTRYP PFNGLFRAMEBUFFERDRAWBUFFEREXTPROC) (GLuint framebuffer, GLenum mode); -typedef void (APIENTRYP PFNGLFRAMEBUFFERDRAWBUFFERSEXTPROC) (GLuint framebuffer, GLsizei n, const GLenum *bufs); -typedef void (APIENTRYP PFNGLFRAMEBUFFERREADBUFFEREXTPROC) (GLuint framebuffer, GLenum mode); -typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLNAMEDCOPYBUFFERSUBDATAEXTPROC) (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREEXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURELAYEREXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREFACEEXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLenum face); -typedef void (APIENTRYP PFNGLTEXTURERENDERBUFFEREXTPROC) (GLuint texture, GLenum target, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLMULTITEXRENDERBUFFEREXTPROC) (GLenum texunit, GLenum target, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYCOLOROFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYEDGEFLAGOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYINDEXOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYNORMALOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYTEXCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYMULTITEXCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum texunit, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYFOGCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYSECONDARYCOLOROFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBIOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLENABLEVERTEXARRAYEXTPROC) (GLuint vaobj, GLenum array); -typedef void (APIENTRYP PFNGLDISABLEVERTEXARRAYEXTPROC) (GLuint vaobj, GLenum array); -typedef void (APIENTRYP PFNGLENABLEVERTEXARRAYATTRIBEXTPROC) (GLuint vaobj, GLuint index); -typedef void (APIENTRYP PFNGLDISABLEVERTEXARRAYATTRIBEXTPROC) (GLuint vaobj, GLuint index); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYINTEGERVEXTPROC) (GLuint vaobj, GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYPOINTERVEXTPROC) (GLuint vaobj, GLenum pname, void **param); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYINTEGERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint *param); -typedef void (APIENTRYP PFNGLGETVERTEXARRAYPOINTERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, void **param); -typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERRANGEEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); -typedef void (APIENTRYP PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); -typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEEXTPROC) (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); -typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERDATAEXTPROC) (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLCLEARNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLenum internalformat, GLsizeiptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERPARAMETERIEXTPROC) (GLuint framebuffer, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DEXTPROC) (GLuint program, GLint location, GLdouble x); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM1DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM2DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM3DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORM4DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -typedef void (APIENTRYP PFNGLTEXTUREBUFFERRANGEEXTPROC) (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE1DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE2DMULTISAMPLEEXTPROC) (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLTEXTURESTORAGE3DMULTISAMPLEEXTPROC) (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -typedef void (APIENTRYP PFNGLVERTEXARRAYBINDVERTEXBUFFEREXTPROC) (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBFORMATEXTPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBIFORMATEXTPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBLFORMATEXTPROC) (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBBINDINGEXTPROC) (GLuint vaobj, GLuint attribindex, GLuint bindingindex); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXBINDINGDIVISOREXTPROC) (GLuint vaobj, GLuint bindingindex, GLuint divisor); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBLOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); -typedef void (APIENTRYP PFNGLTEXTUREPAGECOMMITMENTEXTPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); -typedef void (APIENTRYP PFNGLVERTEXARRAYVERTEXATTRIBDIVISOREXTPROC) (GLuint vaobj, GLuint index, GLuint divisor); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMatrixLoadfEXT (GLenum mode, const GLfloat *m); -GLAPI void APIENTRY glMatrixLoaddEXT (GLenum mode, const GLdouble *m); -GLAPI void APIENTRY glMatrixMultfEXT (GLenum mode, const GLfloat *m); -GLAPI void APIENTRY glMatrixMultdEXT (GLenum mode, const GLdouble *m); -GLAPI void APIENTRY glMatrixLoadIdentityEXT (GLenum mode); -GLAPI void APIENTRY glMatrixRotatefEXT (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glMatrixRotatedEXT (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glMatrixScalefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glMatrixScaledEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glMatrixTranslatefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glMatrixTranslatedEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glMatrixFrustumEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -GLAPI void APIENTRY glMatrixOrthoEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -GLAPI void APIENTRY glMatrixPopEXT (GLenum mode); -GLAPI void APIENTRY glMatrixPushEXT (GLenum mode); -GLAPI void APIENTRY glClientAttribDefaultEXT (GLbitfield mask); -GLAPI void APIENTRY glPushClientAttribDefaultEXT (GLbitfield mask); -GLAPI void APIENTRY glTextureParameterfEXT (GLuint texture, GLenum target, GLenum pname, GLfloat param); -GLAPI void APIENTRY glTextureParameterfvEXT (GLuint texture, GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glTextureParameteriEXT (GLuint texture, GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glTextureParameterivEXT (GLuint texture, GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glTextureImage1DEXT (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTextureImage2DEXT (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTextureSubImage1DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTextureSubImage2DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glCopyTextureImage1DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); -GLAPI void APIENTRY glCopyTextureImage2DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -GLAPI void APIENTRY glCopyTextureSubImage1DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glCopyTextureSubImage2DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetTextureImageEXT (GLuint texture, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); -GLAPI void APIENTRY glGetTextureParameterfvEXT (GLuint texture, GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetTextureParameterivEXT (GLuint texture, GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetTextureLevelParameterfvEXT (GLuint texture, GLenum target, GLint level, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetTextureLevelParameterivEXT (GLuint texture, GLenum target, GLint level, GLenum pname, GLint *params); -GLAPI void APIENTRY glTextureImage3DEXT (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTextureSubImage3DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glCopyTextureSubImage3DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glBindMultiTextureEXT (GLenum texunit, GLenum target, GLuint texture); -GLAPI void APIENTRY glMultiTexCoordPointerEXT (GLenum texunit, GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glMultiTexEnvfEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat param); -GLAPI void APIENTRY glMultiTexEnvfvEXT (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glMultiTexEnviEXT (GLenum texunit, GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glMultiTexEnvivEXT (GLenum texunit, GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glMultiTexGendEXT (GLenum texunit, GLenum coord, GLenum pname, GLdouble param); -GLAPI void APIENTRY glMultiTexGendvEXT (GLenum texunit, GLenum coord, GLenum pname, const GLdouble *params); -GLAPI void APIENTRY glMultiTexGenfEXT (GLenum texunit, GLenum coord, GLenum pname, GLfloat param); -GLAPI void APIENTRY glMultiTexGenfvEXT (GLenum texunit, GLenum coord, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glMultiTexGeniEXT (GLenum texunit, GLenum coord, GLenum pname, GLint param); -GLAPI void APIENTRY glMultiTexGenivEXT (GLenum texunit, GLenum coord, GLenum pname, const GLint *params); -GLAPI void APIENTRY glGetMultiTexEnvfvEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMultiTexEnvivEXT (GLenum texunit, GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMultiTexGendvEXT (GLenum texunit, GLenum coord, GLenum pname, GLdouble *params); -GLAPI void APIENTRY glGetMultiTexGenfvEXT (GLenum texunit, GLenum coord, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMultiTexGenivEXT (GLenum texunit, GLenum coord, GLenum pname, GLint *params); -GLAPI void APIENTRY glMultiTexParameteriEXT (GLenum texunit, GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glMultiTexParameterivEXT (GLenum texunit, GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glMultiTexParameterfEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat param); -GLAPI void APIENTRY glMultiTexParameterfvEXT (GLenum texunit, GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glMultiTexImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glMultiTexImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glMultiTexSubImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glMultiTexSubImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glCopyMultiTexImage1DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); -GLAPI void APIENTRY glCopyMultiTexImage2DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -GLAPI void APIENTRY glCopyMultiTexSubImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glCopyMultiTexSubImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetMultiTexImageEXT (GLenum texunit, GLenum target, GLint level, GLenum format, GLenum type, void *pixels); -GLAPI void APIENTRY glGetMultiTexParameterfvEXT (GLenum texunit, GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMultiTexParameterivEXT (GLenum texunit, GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMultiTexLevelParameterfvEXT (GLenum texunit, GLenum target, GLint level, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMultiTexLevelParameterivEXT (GLenum texunit, GLenum target, GLint level, GLenum pname, GLint *params); -GLAPI void APIENTRY glMultiTexImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glMultiTexSubImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glCopyMultiTexSubImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glEnableClientStateIndexedEXT (GLenum array, GLuint index); -GLAPI void APIENTRY glDisableClientStateIndexedEXT (GLenum array, GLuint index); -GLAPI void APIENTRY glGetFloatIndexedvEXT (GLenum target, GLuint index, GLfloat *data); -GLAPI void APIENTRY glGetDoubleIndexedvEXT (GLenum target, GLuint index, GLdouble *data); -GLAPI void APIENTRY glGetPointerIndexedvEXT (GLenum target, GLuint index, void **data); -GLAPI void APIENTRY glEnableIndexedEXT (GLenum target, GLuint index); -GLAPI void APIENTRY glDisableIndexedEXT (GLenum target, GLuint index); -GLAPI GLboolean APIENTRY glIsEnabledIndexedEXT (GLenum target, GLuint index); -GLAPI void APIENTRY glGetIntegerIndexedvEXT (GLenum target, GLuint index, GLint *data); -GLAPI void APIENTRY glGetBooleanIndexedvEXT (GLenum target, GLuint index, GLboolean *data); -GLAPI void APIENTRY glCompressedTextureImage3DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedTextureImage2DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedTextureImage1DEXT (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedTextureSubImage3DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedTextureSubImage2DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedTextureSubImage1DEXT (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glGetCompressedTextureImageEXT (GLuint texture, GLenum target, GLint lod, void *img); -GLAPI void APIENTRY glCompressedMultiTexImage3DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedMultiTexImage2DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedMultiTexImage1DEXT (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedMultiTexSubImage3DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedMultiTexSubImage2DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glCompressedMultiTexSubImage1DEXT (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *bits); -GLAPI void APIENTRY glGetCompressedMultiTexImageEXT (GLenum texunit, GLenum target, GLint lod, void *img); -GLAPI void APIENTRY glMatrixLoadTransposefEXT (GLenum mode, const GLfloat *m); -GLAPI void APIENTRY glMatrixLoadTransposedEXT (GLenum mode, const GLdouble *m); -GLAPI void APIENTRY glMatrixMultTransposefEXT (GLenum mode, const GLfloat *m); -GLAPI void APIENTRY glMatrixMultTransposedEXT (GLenum mode, const GLdouble *m); -GLAPI void APIENTRY glNamedBufferDataEXT (GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); -GLAPI void APIENTRY glNamedBufferSubDataEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -GLAPI void *APIENTRY glMapNamedBufferEXT (GLuint buffer, GLenum access); -GLAPI GLboolean APIENTRY glUnmapNamedBufferEXT (GLuint buffer); -GLAPI void APIENTRY glGetNamedBufferParameterivEXT (GLuint buffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetNamedBufferPointervEXT (GLuint buffer, GLenum pname, void **params); -GLAPI void APIENTRY glGetNamedBufferSubDataEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); -GLAPI void APIENTRY glProgramUniform1fEXT (GLuint program, GLint location, GLfloat v0); -GLAPI void APIENTRY glProgramUniform2fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1); -GLAPI void APIENTRY glProgramUniform3fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -GLAPI void APIENTRY glProgramUniform4fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -GLAPI void APIENTRY glProgramUniform1iEXT (GLuint program, GLint location, GLint v0); -GLAPI void APIENTRY glProgramUniform2iEXT (GLuint program, GLint location, GLint v0, GLint v1); -GLAPI void APIENTRY glProgramUniform3iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); -GLAPI void APIENTRY glProgramUniform4iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -GLAPI void APIENTRY glProgramUniform1fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform2fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform3fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform4fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GLAPI void APIENTRY glProgramUniform1ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform2ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform3ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniform4ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GLAPI void APIENTRY glProgramUniformMatrix2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix2x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix3x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix2x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix4x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix3x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glProgramUniformMatrix4x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GLAPI void APIENTRY glTextureBufferEXT (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer); -GLAPI void APIENTRY glMultiTexBufferEXT (GLenum texunit, GLenum target, GLenum internalformat, GLuint buffer); -GLAPI void APIENTRY glTextureParameterIivEXT (GLuint texture, GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glTextureParameterIuivEXT (GLuint texture, GLenum target, GLenum pname, const GLuint *params); -GLAPI void APIENTRY glGetTextureParameterIivEXT (GLuint texture, GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetTextureParameterIuivEXT (GLuint texture, GLenum target, GLenum pname, GLuint *params); -GLAPI void APIENTRY glMultiTexParameterIivEXT (GLenum texunit, GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glMultiTexParameterIuivEXT (GLenum texunit, GLenum target, GLenum pname, const GLuint *params); -GLAPI void APIENTRY glGetMultiTexParameterIivEXT (GLenum texunit, GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMultiTexParameterIuivEXT (GLenum texunit, GLenum target, GLenum pname, GLuint *params); -GLAPI void APIENTRY glProgramUniform1uiEXT (GLuint program, GLint location, GLuint v0); -GLAPI void APIENTRY glProgramUniform2uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1); -GLAPI void APIENTRY glProgramUniform3uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); -GLAPI void APIENTRY glProgramUniform4uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -GLAPI void APIENTRY glProgramUniform1uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniform2uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniform3uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glProgramUniform4uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glNamedProgramLocalParameters4fvEXT (GLuint program, GLenum target, GLuint index, GLsizei count, const GLfloat *params); -GLAPI void APIENTRY glNamedProgramLocalParameterI4iEXT (GLuint program, GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glNamedProgramLocalParameterI4ivEXT (GLuint program, GLenum target, GLuint index, const GLint *params); -GLAPI void APIENTRY glNamedProgramLocalParametersI4ivEXT (GLuint program, GLenum target, GLuint index, GLsizei count, const GLint *params); -GLAPI void APIENTRY glNamedProgramLocalParameterI4uiEXT (GLuint program, GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -GLAPI void APIENTRY glNamedProgramLocalParameterI4uivEXT (GLuint program, GLenum target, GLuint index, const GLuint *params); -GLAPI void APIENTRY glNamedProgramLocalParametersI4uivEXT (GLuint program, GLenum target, GLuint index, GLsizei count, const GLuint *params); -GLAPI void APIENTRY glGetNamedProgramLocalParameterIivEXT (GLuint program, GLenum target, GLuint index, GLint *params); -GLAPI void APIENTRY glGetNamedProgramLocalParameterIuivEXT (GLuint program, GLenum target, GLuint index, GLuint *params); -GLAPI void APIENTRY glEnableClientStateiEXT (GLenum array, GLuint index); -GLAPI void APIENTRY glDisableClientStateiEXT (GLenum array, GLuint index); -GLAPI void APIENTRY glGetFloati_vEXT (GLenum pname, GLuint index, GLfloat *params); -GLAPI void APIENTRY glGetDoublei_vEXT (GLenum pname, GLuint index, GLdouble *params); -GLAPI void APIENTRY glGetPointeri_vEXT (GLenum pname, GLuint index, void **params); -GLAPI void APIENTRY glNamedProgramStringEXT (GLuint program, GLenum target, GLenum format, GLsizei len, const void *string); -GLAPI void APIENTRY glNamedProgramLocalParameter4dEXT (GLuint program, GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glNamedProgramLocalParameter4dvEXT (GLuint program, GLenum target, GLuint index, const GLdouble *params); -GLAPI void APIENTRY glNamedProgramLocalParameter4fEXT (GLuint program, GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glNamedProgramLocalParameter4fvEXT (GLuint program, GLenum target, GLuint index, const GLfloat *params); -GLAPI void APIENTRY glGetNamedProgramLocalParameterdvEXT (GLuint program, GLenum target, GLuint index, GLdouble *params); -GLAPI void APIENTRY glGetNamedProgramLocalParameterfvEXT (GLuint program, GLenum target, GLuint index, GLfloat *params); -GLAPI void APIENTRY glGetNamedProgramivEXT (GLuint program, GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetNamedProgramStringEXT (GLuint program, GLenum target, GLenum pname, void *string); -GLAPI void APIENTRY glNamedRenderbufferStorageEXT (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetNamedRenderbufferParameterivEXT (GLuint renderbuffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glNamedRenderbufferStorageMultisampleEXT (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glNamedRenderbufferStorageMultisampleCoverageEXT (GLuint renderbuffer, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI GLenum APIENTRY glCheckNamedFramebufferStatusEXT (GLuint framebuffer, GLenum target); -GLAPI void APIENTRY glNamedFramebufferTexture1DEXT (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GLAPI void APIENTRY glNamedFramebufferTexture2DEXT (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GLAPI void APIENTRY glNamedFramebufferTexture3DEXT (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -GLAPI void APIENTRY glNamedFramebufferRenderbufferEXT (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -GLAPI void APIENTRY glGetNamedFramebufferAttachmentParameterivEXT (GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); -GLAPI void APIENTRY glGenerateTextureMipmapEXT (GLuint texture, GLenum target); -GLAPI void APIENTRY glGenerateMultiTexMipmapEXT (GLenum texunit, GLenum target); -GLAPI void APIENTRY glFramebufferDrawBufferEXT (GLuint framebuffer, GLenum mode); -GLAPI void APIENTRY glFramebufferDrawBuffersEXT (GLuint framebuffer, GLsizei n, const GLenum *bufs); -GLAPI void APIENTRY glFramebufferReadBufferEXT (GLuint framebuffer, GLenum mode); -GLAPI void APIENTRY glGetFramebufferParameterivEXT (GLuint framebuffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glNamedCopyBufferSubDataEXT (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -GLAPI void APIENTRY glNamedFramebufferTextureEXT (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); -GLAPI void APIENTRY glNamedFramebufferTextureLayerEXT (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); -GLAPI void APIENTRY glNamedFramebufferTextureFaceEXT (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLenum face); -GLAPI void APIENTRY glTextureRenderbufferEXT (GLuint texture, GLenum target, GLuint renderbuffer); -GLAPI void APIENTRY glMultiTexRenderbufferEXT (GLenum texunit, GLenum target, GLuint renderbuffer); -GLAPI void APIENTRY glVertexArrayVertexOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayColorOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayEdgeFlagOffsetEXT (GLuint vaobj, GLuint buffer, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayIndexOffsetEXT (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayNormalOffsetEXT (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayTexCoordOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayMultiTexCoordOffsetEXT (GLuint vaobj, GLuint buffer, GLenum texunit, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayFogCoordOffsetEXT (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArraySecondaryColorOffsetEXT (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayVertexAttribOffsetEXT (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glVertexArrayVertexAttribIOffsetEXT (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glEnableVertexArrayEXT (GLuint vaobj, GLenum array); -GLAPI void APIENTRY glDisableVertexArrayEXT (GLuint vaobj, GLenum array); -GLAPI void APIENTRY glEnableVertexArrayAttribEXT (GLuint vaobj, GLuint index); -GLAPI void APIENTRY glDisableVertexArrayAttribEXT (GLuint vaobj, GLuint index); -GLAPI void APIENTRY glGetVertexArrayIntegervEXT (GLuint vaobj, GLenum pname, GLint *param); -GLAPI void APIENTRY glGetVertexArrayPointervEXT (GLuint vaobj, GLenum pname, void **param); -GLAPI void APIENTRY glGetVertexArrayIntegeri_vEXT (GLuint vaobj, GLuint index, GLenum pname, GLint *param); -GLAPI void APIENTRY glGetVertexArrayPointeri_vEXT (GLuint vaobj, GLuint index, GLenum pname, void **param); -GLAPI void *APIENTRY glMapNamedBufferRangeEXT (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); -GLAPI void APIENTRY glFlushMappedNamedBufferRangeEXT (GLuint buffer, GLintptr offset, GLsizeiptr length); -GLAPI void APIENTRY glNamedBufferStorageEXT (GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); -GLAPI void APIENTRY glClearNamedBufferDataEXT (GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glClearNamedBufferSubDataEXT (GLuint buffer, GLenum internalformat, GLsizeiptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); -GLAPI void APIENTRY glNamedFramebufferParameteriEXT (GLuint framebuffer, GLenum pname, GLint param); -GLAPI void APIENTRY glGetNamedFramebufferParameterivEXT (GLuint framebuffer, GLenum pname, GLint *params); -GLAPI void APIENTRY glProgramUniform1dEXT (GLuint program, GLint location, GLdouble x); -GLAPI void APIENTRY glProgramUniform2dEXT (GLuint program, GLint location, GLdouble x, GLdouble y); -GLAPI void APIENTRY glProgramUniform3dEXT (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glProgramUniform4dEXT (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glProgramUniform1dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform2dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform3dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniform4dvEXT (GLuint program, GLint location, GLsizei count, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix2dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix3dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix4dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix2x3dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix2x4dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix3x2dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix3x4dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix4x2dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glProgramUniformMatrix4x3dvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); -GLAPI void APIENTRY glTextureBufferRangeEXT (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glTextureStorage1DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -GLAPI void APIENTRY glTextureStorage2DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glTextureStorage3DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -GLAPI void APIENTRY glTextureStorage2DMultisampleEXT (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glTextureStorage3DMultisampleEXT (GLuint texture, GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -GLAPI void APIENTRY glVertexArrayBindVertexBufferEXT (GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); -GLAPI void APIENTRY glVertexArrayVertexAttribFormatEXT (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); -GLAPI void APIENTRY glVertexArrayVertexAttribIFormatEXT (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -GLAPI void APIENTRY glVertexArrayVertexAttribLFormatEXT (GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); -GLAPI void APIENTRY glVertexArrayVertexAttribBindingEXT (GLuint vaobj, GLuint attribindex, GLuint bindingindex); -GLAPI void APIENTRY glVertexArrayVertexBindingDivisorEXT (GLuint vaobj, GLuint bindingindex, GLuint divisor); -GLAPI void APIENTRY glVertexArrayVertexAttribLOffsetEXT (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); -GLAPI void APIENTRY glTexturePageCommitmentEXT (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); -GLAPI void APIENTRY glVertexArrayVertexAttribDivisorEXT (GLuint vaobj, GLuint index, GLuint divisor); -#endif -#endif /* GL_EXT_direct_state_access */ - -#ifndef GL_EXT_draw_buffers2 -#define GL_EXT_draw_buffers2 1 -typedef void (APIENTRYP PFNGLCOLORMASKINDEXEDEXTPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorMaskIndexedEXT (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -#endif -#endif /* GL_EXT_draw_buffers2 */ - -#ifndef GL_EXT_draw_instanced -#define GL_EXT_draw_instanced 1 -typedef void (APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount); -typedef void (APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawArraysInstancedEXT (GLenum mode, GLint start, GLsizei count, GLsizei primcount); -GLAPI void APIENTRY glDrawElementsInstancedEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#endif -#endif /* GL_EXT_draw_instanced */ - -#ifndef GL_EXT_draw_range_elements -#define GL_EXT_draw_range_elements 1 -#define GL_MAX_ELEMENTS_VERTICES_EXT 0x80E8 -#define GL_MAX_ELEMENTS_INDICES_EXT 0x80E9 -typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSEXTPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawRangeElementsEXT (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); -#endif -#endif /* GL_EXT_draw_range_elements */ - -#ifndef GL_EXT_external_buffer -#define GL_EXT_external_buffer 1 -typedef void *GLeglClientBufferEXT; -typedef void (APIENTRYP PFNGLBUFFERSTORAGEEXTERNALEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEEXTERNALEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBufferStorageExternalEXT (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -GLAPI void APIENTRY glNamedBufferStorageExternalEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -#endif -#endif /* GL_EXT_external_buffer */ - -#ifndef GL_EXT_fog_coord -#define GL_EXT_fog_coord 1 -#define GL_FOG_COORDINATE_SOURCE_EXT 0x8450 -#define GL_FOG_COORDINATE_EXT 0x8451 -#define GL_FRAGMENT_DEPTH_EXT 0x8452 -#define GL_CURRENT_FOG_COORDINATE_EXT 0x8453 -#define GL_FOG_COORDINATE_ARRAY_TYPE_EXT 0x8454 -#define GL_FOG_COORDINATE_ARRAY_STRIDE_EXT 0x8455 -#define GL_FOG_COORDINATE_ARRAY_POINTER_EXT 0x8456 -#define GL_FOG_COORDINATE_ARRAY_EXT 0x8457 -typedef void (APIENTRYP PFNGLFOGCOORDFEXTPROC) (GLfloat coord); -typedef void (APIENTRYP PFNGLFOGCOORDFVEXTPROC) (const GLfloat *coord); -typedef void (APIENTRYP PFNGLFOGCOORDDEXTPROC) (GLdouble coord); -typedef void (APIENTRYP PFNGLFOGCOORDDVEXTPROC) (const GLdouble *coord); -typedef void (APIENTRYP PFNGLFOGCOORDPOINTEREXTPROC) (GLenum type, GLsizei stride, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFogCoordfEXT (GLfloat coord); -GLAPI void APIENTRY glFogCoordfvEXT (const GLfloat *coord); -GLAPI void APIENTRY glFogCoorddEXT (GLdouble coord); -GLAPI void APIENTRY glFogCoorddvEXT (const GLdouble *coord); -GLAPI void APIENTRY glFogCoordPointerEXT (GLenum type, GLsizei stride, const void *pointer); -#endif -#endif /* GL_EXT_fog_coord */ - -#ifndef GL_EXT_framebuffer_blit -#define GL_EXT_framebuffer_blit 1 -#define GL_READ_FRAMEBUFFER_EXT 0x8CA8 -#define GL_DRAW_FRAMEBUFFER_EXT 0x8CA9 -#define GL_DRAW_FRAMEBUFFER_BINDING_EXT 0x8CA6 -#define GL_READ_FRAMEBUFFER_BINDING_EXT 0x8CAA -typedef void (APIENTRYP PFNGLBLITFRAMEBUFFEREXTPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlitFramebufferEXT (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -#endif -#endif /* GL_EXT_framebuffer_blit */ - -#ifndef GL_EXT_framebuffer_multisample -#define GL_EXT_framebuffer_multisample 1 -#define GL_RENDERBUFFER_SAMPLES_EXT 0x8CAB -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_EXT 0x8D56 -#define GL_MAX_SAMPLES_EXT 0x8D57 -typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glRenderbufferStorageMultisampleEXT (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -#endif -#endif /* GL_EXT_framebuffer_multisample */ - -#ifndef GL_EXT_framebuffer_multisample_blit_scaled -#define GL_EXT_framebuffer_multisample_blit_scaled 1 -#define GL_SCALED_RESOLVE_FASTEST_EXT 0x90BA -#define GL_SCALED_RESOLVE_NICEST_EXT 0x90BB -#endif /* GL_EXT_framebuffer_multisample_blit_scaled */ - -#ifndef GL_EXT_framebuffer_object -#define GL_EXT_framebuffer_object 1 -#define GL_INVALID_FRAMEBUFFER_OPERATION_EXT 0x0506 -#define GL_MAX_RENDERBUFFER_SIZE_EXT 0x84E8 -#define GL_FRAMEBUFFER_BINDING_EXT 0x8CA6 -#define GL_RENDERBUFFER_BINDING_EXT 0x8CA7 -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE_EXT 0x8CD0 -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME_EXT 0x8CD1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL_EXT 0x8CD2 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE_EXT 0x8CD3 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_3D_ZOFFSET_EXT 0x8CD4 -#define GL_FRAMEBUFFER_COMPLETE_EXT 0x8CD5 -#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT_EXT 0x8CD6 -#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT_EXT 0x8CD7 -#define GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS_EXT 0x8CD9 -#define GL_FRAMEBUFFER_INCOMPLETE_FORMATS_EXT 0x8CDA -#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER_EXT 0x8CDB -#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER_EXT 0x8CDC -#define GL_FRAMEBUFFER_UNSUPPORTED_EXT 0x8CDD -#define GL_MAX_COLOR_ATTACHMENTS_EXT 0x8CDF -#define GL_COLOR_ATTACHMENT0_EXT 0x8CE0 -#define GL_COLOR_ATTACHMENT1_EXT 0x8CE1 -#define GL_COLOR_ATTACHMENT2_EXT 0x8CE2 -#define GL_COLOR_ATTACHMENT3_EXT 0x8CE3 -#define GL_COLOR_ATTACHMENT4_EXT 0x8CE4 -#define GL_COLOR_ATTACHMENT5_EXT 0x8CE5 -#define GL_COLOR_ATTACHMENT6_EXT 0x8CE6 -#define GL_COLOR_ATTACHMENT7_EXT 0x8CE7 -#define GL_COLOR_ATTACHMENT8_EXT 0x8CE8 -#define GL_COLOR_ATTACHMENT9_EXT 0x8CE9 -#define GL_COLOR_ATTACHMENT10_EXT 0x8CEA -#define GL_COLOR_ATTACHMENT11_EXT 0x8CEB -#define GL_COLOR_ATTACHMENT12_EXT 0x8CEC -#define GL_COLOR_ATTACHMENT13_EXT 0x8CED -#define GL_COLOR_ATTACHMENT14_EXT 0x8CEE -#define GL_COLOR_ATTACHMENT15_EXT 0x8CEF -#define GL_DEPTH_ATTACHMENT_EXT 0x8D00 -#define GL_STENCIL_ATTACHMENT_EXT 0x8D20 -#define GL_FRAMEBUFFER_EXT 0x8D40 -#define GL_RENDERBUFFER_EXT 0x8D41 -#define GL_RENDERBUFFER_WIDTH_EXT 0x8D42 -#define GL_RENDERBUFFER_HEIGHT_EXT 0x8D43 -#define GL_RENDERBUFFER_INTERNAL_FORMAT_EXT 0x8D44 -#define GL_STENCIL_INDEX1_EXT 0x8D46 -#define GL_STENCIL_INDEX4_EXT 0x8D47 -#define GL_STENCIL_INDEX8_EXT 0x8D48 -#define GL_STENCIL_INDEX16_EXT 0x8D49 -#define GL_RENDERBUFFER_RED_SIZE_EXT 0x8D50 -#define GL_RENDERBUFFER_GREEN_SIZE_EXT 0x8D51 -#define GL_RENDERBUFFER_BLUE_SIZE_EXT 0x8D52 -#define GL_RENDERBUFFER_ALPHA_SIZE_EXT 0x8D53 -#define GL_RENDERBUFFER_DEPTH_SIZE_EXT 0x8D54 -#define GL_RENDERBUFFER_STENCIL_SIZE_EXT 0x8D55 -typedef GLboolean (APIENTRYP PFNGLISRENDERBUFFEREXTPROC) (GLuint renderbuffer); -typedef void (APIENTRYP PFNGLBINDRENDERBUFFEREXTPROC) (GLenum target, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLDELETERENDERBUFFERSEXTPROC) (GLsizei n, const GLuint *renderbuffers); -typedef void (APIENTRYP PFNGLGENRENDERBUFFERSEXTPROC) (GLsizei n, GLuint *renderbuffers); -typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef GLboolean (APIENTRYP PFNGLISFRAMEBUFFEREXTPROC) (GLuint framebuffer); -typedef void (APIENTRYP PFNGLBINDFRAMEBUFFEREXTPROC) (GLenum target, GLuint framebuffer); -typedef void (APIENTRYP PFNGLDELETEFRAMEBUFFERSEXTPROC) (GLsizei n, const GLuint *framebuffers); -typedef void (APIENTRYP PFNGLGENFRAMEBUFFERSEXTPROC) (GLsizei n, GLuint *framebuffers); -typedef GLenum (APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC) (GLenum target); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE1DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -typedef void (APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -typedef void (APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC) (GLenum target, GLenum attachment, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGENERATEMIPMAPEXTPROC) (GLenum target); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLboolean APIENTRY glIsRenderbufferEXT (GLuint renderbuffer); -GLAPI void APIENTRY glBindRenderbufferEXT (GLenum target, GLuint renderbuffer); -GLAPI void APIENTRY glDeleteRenderbuffersEXT (GLsizei n, const GLuint *renderbuffers); -GLAPI void APIENTRY glGenRenderbuffersEXT (GLsizei n, GLuint *renderbuffers); -GLAPI void APIENTRY glRenderbufferStorageEXT (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glGetRenderbufferParameterivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI GLboolean APIENTRY glIsFramebufferEXT (GLuint framebuffer); -GLAPI void APIENTRY glBindFramebufferEXT (GLenum target, GLuint framebuffer); -GLAPI void APIENTRY glDeleteFramebuffersEXT (GLsizei n, const GLuint *framebuffers); -GLAPI void APIENTRY glGenFramebuffersEXT (GLsizei n, GLuint *framebuffers); -GLAPI GLenum APIENTRY glCheckFramebufferStatusEXT (GLenum target); -GLAPI void APIENTRY glFramebufferTexture1DEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GLAPI void APIENTRY glFramebufferTexture2DEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GLAPI void APIENTRY glFramebufferTexture3DEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -GLAPI void APIENTRY glFramebufferRenderbufferEXT (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -GLAPI void APIENTRY glGetFramebufferAttachmentParameterivEXT (GLenum target, GLenum attachment, GLenum pname, GLint *params); -GLAPI void APIENTRY glGenerateMipmapEXT (GLenum target); -#endif -#endif /* GL_EXT_framebuffer_object */ - -#ifndef GL_EXT_framebuffer_sRGB -#define GL_EXT_framebuffer_sRGB 1 -#define GL_FRAMEBUFFER_SRGB_EXT 0x8DB9 -#define GL_FRAMEBUFFER_SRGB_CAPABLE_EXT 0x8DBA -#endif /* GL_EXT_framebuffer_sRGB */ - -#ifndef GL_EXT_geometry_shader4 -#define GL_EXT_geometry_shader4 1 -#define GL_GEOMETRY_SHADER_EXT 0x8DD9 -#define GL_GEOMETRY_VERTICES_OUT_EXT 0x8DDA -#define GL_GEOMETRY_INPUT_TYPE_EXT 0x8DDB -#define GL_GEOMETRY_OUTPUT_TYPE_EXT 0x8DDC -#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_EXT 0x8C29 -#define GL_MAX_GEOMETRY_VARYING_COMPONENTS_EXT 0x8DDD -#define GL_MAX_VERTEX_VARYING_COMPONENTS_EXT 0x8DDE -#define GL_MAX_VARYING_COMPONENTS_EXT 0x8B4B -#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8DDF -#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_EXT 0x8DE0 -#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_EXT 0x8DE1 -#define GL_LINES_ADJACENCY_EXT 0x000A -#define GL_LINE_STRIP_ADJACENCY_EXT 0x000B -#define GL_TRIANGLES_ADJACENCY_EXT 0x000C -#define GL_TRIANGLE_STRIP_ADJACENCY_EXT 0x000D -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_EXT 0x8DA8 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_COUNT_EXT 0x8DA9 -#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_EXT 0x8DA7 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER_EXT 0x8CD4 -#define GL_PROGRAM_POINT_SIZE_EXT 0x8642 -typedef void (APIENTRYP PFNGLPROGRAMPARAMETERIEXTPROC) (GLuint program, GLenum pname, GLint value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramParameteriEXT (GLuint program, GLenum pname, GLint value); -#endif -#endif /* GL_EXT_geometry_shader4 */ - -#ifndef GL_EXT_gpu_program_parameters -#define GL_EXT_gpu_program_parameters 1 -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERS4FVEXTPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *params); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERS4FVEXTPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramEnvParameters4fvEXT (GLenum target, GLuint index, GLsizei count, const GLfloat *params); -GLAPI void APIENTRY glProgramLocalParameters4fvEXT (GLenum target, GLuint index, GLsizei count, const GLfloat *params); -#endif -#endif /* GL_EXT_gpu_program_parameters */ - -#ifndef GL_EXT_gpu_shader4 -#define GL_EXT_gpu_shader4 1 -#define GL_SAMPLER_1D_ARRAY_EXT 0x8DC0 -#define GL_SAMPLER_2D_ARRAY_EXT 0x8DC1 -#define GL_SAMPLER_BUFFER_EXT 0x8DC2 -#define GL_SAMPLER_1D_ARRAY_SHADOW_EXT 0x8DC3 -#define GL_SAMPLER_2D_ARRAY_SHADOW_EXT 0x8DC4 -#define GL_SAMPLER_CUBE_SHADOW_EXT 0x8DC5 -#define GL_UNSIGNED_INT_VEC2_EXT 0x8DC6 -#define GL_UNSIGNED_INT_VEC3_EXT 0x8DC7 -#define GL_UNSIGNED_INT_VEC4_EXT 0x8DC8 -#define GL_INT_SAMPLER_1D_EXT 0x8DC9 -#define GL_INT_SAMPLER_2D_EXT 0x8DCA -#define GL_INT_SAMPLER_3D_EXT 0x8DCB -#define GL_INT_SAMPLER_CUBE_EXT 0x8DCC -#define GL_INT_SAMPLER_2D_RECT_EXT 0x8DCD -#define GL_INT_SAMPLER_1D_ARRAY_EXT 0x8DCE -#define GL_INT_SAMPLER_2D_ARRAY_EXT 0x8DCF -#define GL_INT_SAMPLER_BUFFER_EXT 0x8DD0 -#define GL_UNSIGNED_INT_SAMPLER_1D_EXT 0x8DD1 -#define GL_UNSIGNED_INT_SAMPLER_2D_EXT 0x8DD2 -#define GL_UNSIGNED_INT_SAMPLER_3D_EXT 0x8DD3 -#define GL_UNSIGNED_INT_SAMPLER_CUBE_EXT 0x8DD4 -#define GL_UNSIGNED_INT_SAMPLER_2D_RECT_EXT 0x8DD5 -#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY_EXT 0x8DD6 -#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY_EXT 0x8DD7 -#define GL_UNSIGNED_INT_SAMPLER_BUFFER_EXT 0x8DD8 -#define GL_MIN_PROGRAM_TEXEL_OFFSET_EXT 0x8904 -#define GL_MAX_PROGRAM_TEXEL_OFFSET_EXT 0x8905 -#define GL_VERTEX_ATTRIB_ARRAY_INTEGER_EXT 0x88FD -typedef void (APIENTRYP PFNGLGETUNIFORMUIVEXTPROC) (GLuint program, GLint location, GLuint *params); -typedef void (APIENTRYP PFNGLBINDFRAGDATALOCATIONEXTPROC) (GLuint program, GLuint color, const GLchar *name); -typedef GLint (APIENTRYP PFNGLGETFRAGDATALOCATIONEXTPROC) (GLuint program, const GLchar *name); -typedef void (APIENTRYP PFNGLUNIFORM1UIEXTPROC) (GLint location, GLuint v0); -typedef void (APIENTRYP PFNGLUNIFORM2UIEXTPROC) (GLint location, GLuint v0, GLuint v1); -typedef void (APIENTRYP PFNGLUNIFORM3UIEXTPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2); -typedef void (APIENTRYP PFNGLUNIFORM4UIEXTPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -typedef void (APIENTRYP PFNGLUNIFORM1UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLUNIFORM2UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLUNIFORM3UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLUNIFORM4UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IEXTPROC) (GLuint index, GLint x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IEXTPROC) (GLuint index, GLint x, GLint y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IEXTPROC) (GLuint index, GLint x, GLint y, GLint z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IEXTPROC) (GLuint index, GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIEXTPROC) (GLuint index, GLuint x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIEXTPROC) (GLuint index, GLuint x, GLuint y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIEXTPROC) (GLuint index, GLuint x, GLuint y, GLuint z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIEXTPROC) (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1IVEXTPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2IVEXTPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3IVEXTPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4IVEXTPROC) (GLuint index, const GLint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI1UIVEXTPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI2UIVEXTPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI3UIVEXTPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UIVEXTPROC) (GLuint index, const GLuint *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4BVEXTPROC) (GLuint index, const GLbyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4SVEXTPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4UBVEXTPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBI4USVEXTPROC) (GLuint index, const GLushort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBIPOINTEREXTPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIIVEXTPROC) (GLuint index, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIUIVEXTPROC) (GLuint index, GLenum pname, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetUniformuivEXT (GLuint program, GLint location, GLuint *params); -GLAPI void APIENTRY glBindFragDataLocationEXT (GLuint program, GLuint color, const GLchar *name); -GLAPI GLint APIENTRY glGetFragDataLocationEXT (GLuint program, const GLchar *name); -GLAPI void APIENTRY glUniform1uiEXT (GLint location, GLuint v0); -GLAPI void APIENTRY glUniform2uiEXT (GLint location, GLuint v0, GLuint v1); -GLAPI void APIENTRY glUniform3uiEXT (GLint location, GLuint v0, GLuint v1, GLuint v2); -GLAPI void APIENTRY glUniform4uiEXT (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -GLAPI void APIENTRY glUniform1uivEXT (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glUniform2uivEXT (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glUniform3uivEXT (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glUniform4uivEXT (GLint location, GLsizei count, const GLuint *value); -GLAPI void APIENTRY glVertexAttribI1iEXT (GLuint index, GLint x); -GLAPI void APIENTRY glVertexAttribI2iEXT (GLuint index, GLint x, GLint y); -GLAPI void APIENTRY glVertexAttribI3iEXT (GLuint index, GLint x, GLint y, GLint z); -GLAPI void APIENTRY glVertexAttribI4iEXT (GLuint index, GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glVertexAttribI1uiEXT (GLuint index, GLuint x); -GLAPI void APIENTRY glVertexAttribI2uiEXT (GLuint index, GLuint x, GLuint y); -GLAPI void APIENTRY glVertexAttribI3uiEXT (GLuint index, GLuint x, GLuint y, GLuint z); -GLAPI void APIENTRY glVertexAttribI4uiEXT (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -GLAPI void APIENTRY glVertexAttribI1ivEXT (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI2ivEXT (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI3ivEXT (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI4ivEXT (GLuint index, const GLint *v); -GLAPI void APIENTRY glVertexAttribI1uivEXT (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI2uivEXT (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI3uivEXT (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI4uivEXT (GLuint index, const GLuint *v); -GLAPI void APIENTRY glVertexAttribI4bvEXT (GLuint index, const GLbyte *v); -GLAPI void APIENTRY glVertexAttribI4svEXT (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttribI4ubvEXT (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttribI4usvEXT (GLuint index, const GLushort *v); -GLAPI void APIENTRY glVertexAttribIPointerEXT (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glGetVertexAttribIivEXT (GLuint index, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVertexAttribIuivEXT (GLuint index, GLenum pname, GLuint *params); -#endif -#endif /* GL_EXT_gpu_shader4 */ - -#ifndef GL_EXT_histogram -#define GL_EXT_histogram 1 -#define GL_HISTOGRAM_EXT 0x8024 -#define GL_PROXY_HISTOGRAM_EXT 0x8025 -#define GL_HISTOGRAM_WIDTH_EXT 0x8026 -#define GL_HISTOGRAM_FORMAT_EXT 0x8027 -#define GL_HISTOGRAM_RED_SIZE_EXT 0x8028 -#define GL_HISTOGRAM_GREEN_SIZE_EXT 0x8029 -#define GL_HISTOGRAM_BLUE_SIZE_EXT 0x802A -#define GL_HISTOGRAM_ALPHA_SIZE_EXT 0x802B -#define GL_HISTOGRAM_LUMINANCE_SIZE_EXT 0x802C -#define GL_HISTOGRAM_SINK_EXT 0x802D -#define GL_MINMAX_EXT 0x802E -#define GL_MINMAX_FORMAT_EXT 0x802F -#define GL_MINMAX_SINK_EXT 0x8030 -#define GL_TABLE_TOO_LARGE_EXT 0x8031 -typedef void (APIENTRYP PFNGLGETHISTOGRAMEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETHISTOGRAMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMINMAXEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMINMAXPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLHISTOGRAMEXTPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); -typedef void (APIENTRYP PFNGLMINMAXEXTPROC) (GLenum target, GLenum internalformat, GLboolean sink); -typedef void (APIENTRYP PFNGLRESETHISTOGRAMEXTPROC) (GLenum target); -typedef void (APIENTRYP PFNGLRESETMINMAXEXTPROC) (GLenum target); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetHistogramEXT (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -GLAPI void APIENTRY glGetHistogramParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetHistogramParameterivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMinmaxEXT (GLenum target, GLboolean reset, GLenum format, GLenum type, void *values); -GLAPI void APIENTRY glGetMinmaxParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMinmaxParameterivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glHistogramEXT (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); -GLAPI void APIENTRY glMinmaxEXT (GLenum target, GLenum internalformat, GLboolean sink); -GLAPI void APIENTRY glResetHistogramEXT (GLenum target); -GLAPI void APIENTRY glResetMinmaxEXT (GLenum target); -#endif -#endif /* GL_EXT_histogram */ - -#ifndef GL_EXT_index_array_formats -#define GL_EXT_index_array_formats 1 -#define GL_IUI_V2F_EXT 0x81AD -#define GL_IUI_V3F_EXT 0x81AE -#define GL_IUI_N3F_V2F_EXT 0x81AF -#define GL_IUI_N3F_V3F_EXT 0x81B0 -#define GL_T2F_IUI_V2F_EXT 0x81B1 -#define GL_T2F_IUI_V3F_EXT 0x81B2 -#define GL_T2F_IUI_N3F_V2F_EXT 0x81B3 -#define GL_T2F_IUI_N3F_V3F_EXT 0x81B4 -#endif /* GL_EXT_index_array_formats */ - -#ifndef GL_EXT_index_func -#define GL_EXT_index_func 1 -#define GL_INDEX_TEST_EXT 0x81B5 -#define GL_INDEX_TEST_FUNC_EXT 0x81B6 -#define GL_INDEX_TEST_REF_EXT 0x81B7 -typedef void (APIENTRYP PFNGLINDEXFUNCEXTPROC) (GLenum func, GLclampf ref); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glIndexFuncEXT (GLenum func, GLclampf ref); -#endif -#endif /* GL_EXT_index_func */ - -#ifndef GL_EXT_index_material -#define GL_EXT_index_material 1 -#define GL_INDEX_MATERIAL_EXT 0x81B8 -#define GL_INDEX_MATERIAL_PARAMETER_EXT 0x81B9 -#define GL_INDEX_MATERIAL_FACE_EXT 0x81BA -typedef void (APIENTRYP PFNGLINDEXMATERIALEXTPROC) (GLenum face, GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glIndexMaterialEXT (GLenum face, GLenum mode); -#endif -#endif /* GL_EXT_index_material */ - -#ifndef GL_EXT_index_texture -#define GL_EXT_index_texture 1 -#endif /* GL_EXT_index_texture */ - -#ifndef GL_EXT_light_texture -#define GL_EXT_light_texture 1 -#define GL_FRAGMENT_MATERIAL_EXT 0x8349 -#define GL_FRAGMENT_NORMAL_EXT 0x834A -#define GL_FRAGMENT_COLOR_EXT 0x834C -#define GL_ATTENUATION_EXT 0x834D -#define GL_SHADOW_ATTENUATION_EXT 0x834E -#define GL_TEXTURE_APPLICATION_MODE_EXT 0x834F -#define GL_TEXTURE_LIGHT_EXT 0x8350 -#define GL_TEXTURE_MATERIAL_FACE_EXT 0x8351 -#define GL_TEXTURE_MATERIAL_PARAMETER_EXT 0x8352 -typedef void (APIENTRYP PFNGLAPPLYTEXTUREEXTPROC) (GLenum mode); -typedef void (APIENTRYP PFNGLTEXTURELIGHTEXTPROC) (GLenum pname); -typedef void (APIENTRYP PFNGLTEXTUREMATERIALEXTPROC) (GLenum face, GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glApplyTextureEXT (GLenum mode); -GLAPI void APIENTRY glTextureLightEXT (GLenum pname); -GLAPI void APIENTRY glTextureMaterialEXT (GLenum face, GLenum mode); -#endif -#endif /* GL_EXT_light_texture */ - -#ifndef GL_EXT_memory_object -#define GL_EXT_memory_object 1 -#define GL_TEXTURE_TILING_EXT 0x9580 -#define GL_DEDICATED_MEMORY_OBJECT_EXT 0x9581 -#define GL_PROTECTED_MEMORY_OBJECT_EXT 0x959B -#define GL_NUM_TILING_TYPES_EXT 0x9582 -#define GL_TILING_TYPES_EXT 0x9583 -#define GL_OPTIMAL_TILING_EXT 0x9584 -#define GL_LINEAR_TILING_EXT 0x9585 -#define GL_NUM_DEVICE_UUIDS_EXT 0x9596 -#define GL_DEVICE_UUID_EXT 0x9597 -#define GL_DRIVER_UUID_EXT 0x9598 -#define GL_UUID_SIZE_EXT 16 -typedef void (APIENTRYP PFNGLGETUNSIGNEDBYTEVEXTPROC) (GLenum pname, GLubyte *data); -typedef void (APIENTRYP PFNGLGETUNSIGNEDBYTEI_VEXTPROC) (GLenum target, GLuint index, GLubyte *data); -typedef void (APIENTRYP PFNGLDELETEMEMORYOBJECTSEXTPROC) (GLsizei n, const GLuint *memoryObjects); -typedef GLboolean (APIENTRYP PFNGLISMEMORYOBJECTEXTPROC) (GLuint memoryObject); -typedef void (APIENTRYP PFNGLCREATEMEMORYOBJECTSEXTPROC) (GLsizei n, GLuint *memoryObjects); -typedef void (APIENTRYP PFNGLMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLGETMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLTEXSTORAGEMEM2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXSTORAGEMEM2DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXSTORAGEMEM3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXSTORAGEMEM3DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLBUFFERSTORAGEMEMEXTPROC) (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM2DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM2DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM3DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM3DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLNAMEDBUFFERSTORAGEMEMEXTPROC) (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXSTORAGEMEM1DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXTURESTORAGEMEM1DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetUnsignedBytevEXT (GLenum pname, GLubyte *data); -GLAPI void APIENTRY glGetUnsignedBytei_vEXT (GLenum target, GLuint index, GLubyte *data); -GLAPI void APIENTRY glDeleteMemoryObjectsEXT (GLsizei n, const GLuint *memoryObjects); -GLAPI GLboolean APIENTRY glIsMemoryObjectEXT (GLuint memoryObject); -GLAPI void APIENTRY glCreateMemoryObjectsEXT (GLsizei n, GLuint *memoryObjects); -GLAPI void APIENTRY glMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, const GLint *params); -GLAPI void APIENTRY glGetMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, GLint *params); -GLAPI void APIENTRY glTexStorageMem2DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTexStorageMem2DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTexStorageMem3DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTexStorageMem3DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glBufferStorageMemEXT (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTextureStorageMem2DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTextureStorageMem2DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTextureStorageMem3DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTextureStorageMem3DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glNamedBufferStorageMemEXT (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTexStorageMem1DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTextureStorageMem1DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLuint memory, GLuint64 offset); -#endif -#endif /* GL_EXT_memory_object */ - -#ifndef GL_EXT_memory_object_fd -#define GL_EXT_memory_object_fd 1 -#define GL_HANDLE_TYPE_OPAQUE_FD_EXT 0x9586 -typedef void (APIENTRYP PFNGLIMPORTMEMORYFDEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glImportMemoryFdEXT (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); -#endif -#endif /* GL_EXT_memory_object_fd */ - -#ifndef GL_EXT_memory_object_win32 -#define GL_EXT_memory_object_win32 1 -#define GL_HANDLE_TYPE_OPAQUE_WIN32_EXT 0x9587 -#define GL_HANDLE_TYPE_OPAQUE_WIN32_KMT_EXT 0x9588 -#define GL_DEVICE_LUID_EXT 0x9599 -#define GL_DEVICE_NODE_MASK_EXT 0x959A -#define GL_LUID_SIZE_EXT 8 -#define GL_HANDLE_TYPE_D3D12_TILEPOOL_EXT 0x9589 -#define GL_HANDLE_TYPE_D3D12_RESOURCE_EXT 0x958A -#define GL_HANDLE_TYPE_D3D11_IMAGE_EXT 0x958B -#define GL_HANDLE_TYPE_D3D11_IMAGE_KMT_EXT 0x958C -typedef void (APIENTRYP PFNGLIMPORTMEMORYWIN32HANDLEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, void *handle); -typedef void (APIENTRYP PFNGLIMPORTMEMORYWIN32NAMEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, const void *name); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glImportMemoryWin32HandleEXT (GLuint memory, GLuint64 size, GLenum handleType, void *handle); -GLAPI void APIENTRY glImportMemoryWin32NameEXT (GLuint memory, GLuint64 size, GLenum handleType, const void *name); -#endif -#endif /* GL_EXT_memory_object_win32 */ - -#ifndef GL_EXT_misc_attribute -#define GL_EXT_misc_attribute 1 -#endif /* GL_EXT_misc_attribute */ - -#ifndef GL_EXT_multi_draw_arrays -#define GL_EXT_multi_draw_arrays 1 -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSEXTPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiDrawArraysEXT (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); -GLAPI void APIENTRY glMultiDrawElementsEXT (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); -#endif -#endif /* GL_EXT_multi_draw_arrays */ - -#ifndef GL_EXT_multisample -#define GL_EXT_multisample 1 -#define GL_MULTISAMPLE_EXT 0x809D -#define GL_SAMPLE_ALPHA_TO_MASK_EXT 0x809E -#define GL_SAMPLE_ALPHA_TO_ONE_EXT 0x809F -#define GL_SAMPLE_MASK_EXT 0x80A0 -#define GL_1PASS_EXT 0x80A1 -#define GL_2PASS_0_EXT 0x80A2 -#define GL_2PASS_1_EXT 0x80A3 -#define GL_4PASS_0_EXT 0x80A4 -#define GL_4PASS_1_EXT 0x80A5 -#define GL_4PASS_2_EXT 0x80A6 -#define GL_4PASS_3_EXT 0x80A7 -#define GL_SAMPLE_BUFFERS_EXT 0x80A8 -#define GL_SAMPLES_EXT 0x80A9 -#define GL_SAMPLE_MASK_VALUE_EXT 0x80AA -#define GL_SAMPLE_MASK_INVERT_EXT 0x80AB -#define GL_SAMPLE_PATTERN_EXT 0x80AC -#define GL_MULTISAMPLE_BIT_EXT 0x20000000 -typedef void (APIENTRYP PFNGLSAMPLEMASKEXTPROC) (GLclampf value, GLboolean invert); -typedef void (APIENTRYP PFNGLSAMPLEPATTERNEXTPROC) (GLenum pattern); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSampleMaskEXT (GLclampf value, GLboolean invert); -GLAPI void APIENTRY glSamplePatternEXT (GLenum pattern); -#endif -#endif /* GL_EXT_multisample */ - -#ifndef GL_EXT_multiview_tessellation_geometry_shader -#define GL_EXT_multiview_tessellation_geometry_shader 1 -#endif /* GL_EXT_multiview_tessellation_geometry_shader */ - -#ifndef GL_EXT_multiview_texture_multisample -#define GL_EXT_multiview_texture_multisample 1 -#endif /* GL_EXT_multiview_texture_multisample */ - -#ifndef GL_EXT_multiview_timer_query -#define GL_EXT_multiview_timer_query 1 -#endif /* GL_EXT_multiview_timer_query */ - -#ifndef GL_EXT_packed_depth_stencil -#define GL_EXT_packed_depth_stencil 1 -#define GL_DEPTH_STENCIL_EXT 0x84F9 -#define GL_UNSIGNED_INT_24_8_EXT 0x84FA -#define GL_DEPTH24_STENCIL8_EXT 0x88F0 -#define GL_TEXTURE_STENCIL_SIZE_EXT 0x88F1 -#endif /* GL_EXT_packed_depth_stencil */ - -#ifndef GL_EXT_packed_float -#define GL_EXT_packed_float 1 -#define GL_R11F_G11F_B10F_EXT 0x8C3A -#define GL_UNSIGNED_INT_10F_11F_11F_REV_EXT 0x8C3B -#define GL_RGBA_SIGNED_COMPONENTS_EXT 0x8C3C -#endif /* GL_EXT_packed_float */ - -#ifndef GL_EXT_packed_pixels -#define GL_EXT_packed_pixels 1 -#define GL_UNSIGNED_BYTE_3_3_2_EXT 0x8032 -#define GL_UNSIGNED_SHORT_4_4_4_4_EXT 0x8033 -#define GL_UNSIGNED_SHORT_5_5_5_1_EXT 0x8034 -#define GL_UNSIGNED_INT_8_8_8_8_EXT 0x8035 -#define GL_UNSIGNED_INT_10_10_10_2_EXT 0x8036 -#endif /* GL_EXT_packed_pixels */ - -#ifndef GL_EXT_paletted_texture -#define GL_EXT_paletted_texture 1 -#define GL_COLOR_INDEX1_EXT 0x80E2 -#define GL_COLOR_INDEX2_EXT 0x80E3 -#define GL_COLOR_INDEX4_EXT 0x80E4 -#define GL_COLOR_INDEX8_EXT 0x80E5 -#define GL_COLOR_INDEX12_EXT 0x80E6 -#define GL_COLOR_INDEX16_EXT 0x80E7 -#define GL_TEXTURE_INDEX_SIZE_EXT 0x80ED -typedef void (APIENTRYP PFNGLCOLORTABLEEXTPROC) (GLenum target, GLenum internalFormat, GLsizei width, GLenum format, GLenum type, const void *table); -typedef void (APIENTRYP PFNGLGETCOLORTABLEEXTPROC) (GLenum target, GLenum format, GLenum type, void *data); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorTableEXT (GLenum target, GLenum internalFormat, GLsizei width, GLenum format, GLenum type, const void *table); -GLAPI void APIENTRY glGetColorTableEXT (GLenum target, GLenum format, GLenum type, void *data); -GLAPI void APIENTRY glGetColorTableParameterivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetColorTableParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); -#endif -#endif /* GL_EXT_paletted_texture */ - -#ifndef GL_EXT_pixel_buffer_object -#define GL_EXT_pixel_buffer_object 1 -#define GL_PIXEL_PACK_BUFFER_EXT 0x88EB -#define GL_PIXEL_UNPACK_BUFFER_EXT 0x88EC -#define GL_PIXEL_PACK_BUFFER_BINDING_EXT 0x88ED -#define GL_PIXEL_UNPACK_BUFFER_BINDING_EXT 0x88EF -#endif /* GL_EXT_pixel_buffer_object */ - -#ifndef GL_EXT_pixel_transform -#define GL_EXT_pixel_transform 1 -#define GL_PIXEL_TRANSFORM_2D_EXT 0x8330 -#define GL_PIXEL_MAG_FILTER_EXT 0x8331 -#define GL_PIXEL_MIN_FILTER_EXT 0x8332 -#define GL_PIXEL_CUBIC_WEIGHT_EXT 0x8333 -#define GL_CUBIC_EXT 0x8334 -#define GL_AVERAGE_EXT 0x8335 -#define GL_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8336 -#define GL_MAX_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8337 -#define GL_PIXEL_TRANSFORM_2D_MATRIX_EXT 0x8338 -typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPixelTransformParameteriEXT (GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glPixelTransformParameterfEXT (GLenum target, GLenum pname, GLfloat param); -GLAPI void APIENTRY glPixelTransformParameterivEXT (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glPixelTransformParameterfvEXT (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glGetPixelTransformParameterivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetPixelTransformParameterfvEXT (GLenum target, GLenum pname, GLfloat *params); -#endif -#endif /* GL_EXT_pixel_transform */ - -#ifndef GL_EXT_pixel_transform_color_table -#define GL_EXT_pixel_transform_color_table 1 -#endif /* GL_EXT_pixel_transform_color_table */ - -#ifndef GL_EXT_point_parameters -#define GL_EXT_point_parameters 1 -#define GL_POINT_SIZE_MIN_EXT 0x8126 -#define GL_POINT_SIZE_MAX_EXT 0x8127 -#define GL_POINT_FADE_THRESHOLD_SIZE_EXT 0x8128 -#define GL_DISTANCE_ATTENUATION_EXT 0x8129 -typedef void (APIENTRYP PFNGLPOINTPARAMETERFEXTPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLPOINTPARAMETERFVEXTPROC) (GLenum pname, const GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPointParameterfEXT (GLenum pname, GLfloat param); -GLAPI void APIENTRY glPointParameterfvEXT (GLenum pname, const GLfloat *params); -#endif -#endif /* GL_EXT_point_parameters */ - -#ifndef GL_EXT_polygon_offset -#define GL_EXT_polygon_offset 1 -#define GL_POLYGON_OFFSET_EXT 0x8037 -#define GL_POLYGON_OFFSET_FACTOR_EXT 0x8038 -#define GL_POLYGON_OFFSET_BIAS_EXT 0x8039 -typedef void (APIENTRYP PFNGLPOLYGONOFFSETEXTPROC) (GLfloat factor, GLfloat bias); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPolygonOffsetEXT (GLfloat factor, GLfloat bias); -#endif -#endif /* GL_EXT_polygon_offset */ - -#ifndef GL_EXT_polygon_offset_clamp -#define GL_EXT_polygon_offset_clamp 1 -#define GL_POLYGON_OFFSET_CLAMP_EXT 0x8E1B -typedef void (APIENTRYP PFNGLPOLYGONOFFSETCLAMPEXTPROC) (GLfloat factor, GLfloat units, GLfloat clamp); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPolygonOffsetClampEXT (GLfloat factor, GLfloat units, GLfloat clamp); -#endif -#endif /* GL_EXT_polygon_offset_clamp */ - -#ifndef GL_EXT_post_depth_coverage -#define GL_EXT_post_depth_coverage 1 -#endif /* GL_EXT_post_depth_coverage */ - -#ifndef GL_EXT_provoking_vertex -#define GL_EXT_provoking_vertex 1 -#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION_EXT 0x8E4C -#define GL_FIRST_VERTEX_CONVENTION_EXT 0x8E4D -#define GL_LAST_VERTEX_CONVENTION_EXT 0x8E4E -#define GL_PROVOKING_VERTEX_EXT 0x8E4F -typedef void (APIENTRYP PFNGLPROVOKINGVERTEXEXTPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProvokingVertexEXT (GLenum mode); -#endif -#endif /* GL_EXT_provoking_vertex */ - -#ifndef GL_EXT_raster_multisample -#define GL_EXT_raster_multisample 1 -#define GL_RASTER_MULTISAMPLE_EXT 0x9327 -#define GL_RASTER_SAMPLES_EXT 0x9328 -#define GL_MAX_RASTER_SAMPLES_EXT 0x9329 -#define GL_RASTER_FIXED_SAMPLE_LOCATIONS_EXT 0x932A -#define GL_MULTISAMPLE_RASTERIZATION_ALLOWED_EXT 0x932B -#define GL_EFFECTIVE_RASTER_SAMPLES_EXT 0x932C -typedef void (APIENTRYP PFNGLRASTERSAMPLESEXTPROC) (GLuint samples, GLboolean fixedsamplelocations); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glRasterSamplesEXT (GLuint samples, GLboolean fixedsamplelocations); -#endif -#endif /* GL_EXT_raster_multisample */ - -#ifndef GL_EXT_rescale_normal -#define GL_EXT_rescale_normal 1 -#define GL_RESCALE_NORMAL_EXT 0x803A -#endif /* GL_EXT_rescale_normal */ - -#ifndef GL_EXT_secondary_color -#define GL_EXT_secondary_color 1 -#define GL_COLOR_SUM_EXT 0x8458 -#define GL_CURRENT_SECONDARY_COLOR_EXT 0x8459 -#define GL_SECONDARY_COLOR_ARRAY_SIZE_EXT 0x845A -#define GL_SECONDARY_COLOR_ARRAY_TYPE_EXT 0x845B -#define GL_SECONDARY_COLOR_ARRAY_STRIDE_EXT 0x845C -#define GL_SECONDARY_COLOR_ARRAY_POINTER_EXT 0x845D -#define GL_SECONDARY_COLOR_ARRAY_EXT 0x845E -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BEXTPROC) (GLbyte red, GLbyte green, GLbyte blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BVEXTPROC) (const GLbyte *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DEXTPROC) (GLdouble red, GLdouble green, GLdouble blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DVEXTPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FEXTPROC) (GLfloat red, GLfloat green, GLfloat blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FVEXTPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IEXTPROC) (GLint red, GLint green, GLint blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IVEXTPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SEXTPROC) (GLshort red, GLshort green, GLshort blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SVEXTPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBEXTPROC) (GLubyte red, GLubyte green, GLubyte blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBVEXTPROC) (const GLubyte *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIEXTPROC) (GLuint red, GLuint green, GLuint blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIVEXTPROC) (const GLuint *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USEXTPROC) (GLushort red, GLushort green, GLushort blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USVEXTPROC) (const GLushort *v); -typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSecondaryColor3bEXT (GLbyte red, GLbyte green, GLbyte blue); -GLAPI void APIENTRY glSecondaryColor3bvEXT (const GLbyte *v); -GLAPI void APIENTRY glSecondaryColor3dEXT (GLdouble red, GLdouble green, GLdouble blue); -GLAPI void APIENTRY glSecondaryColor3dvEXT (const GLdouble *v); -GLAPI void APIENTRY glSecondaryColor3fEXT (GLfloat red, GLfloat green, GLfloat blue); -GLAPI void APIENTRY glSecondaryColor3fvEXT (const GLfloat *v); -GLAPI void APIENTRY glSecondaryColor3iEXT (GLint red, GLint green, GLint blue); -GLAPI void APIENTRY glSecondaryColor3ivEXT (const GLint *v); -GLAPI void APIENTRY glSecondaryColor3sEXT (GLshort red, GLshort green, GLshort blue); -GLAPI void APIENTRY glSecondaryColor3svEXT (const GLshort *v); -GLAPI void APIENTRY glSecondaryColor3ubEXT (GLubyte red, GLubyte green, GLubyte blue); -GLAPI void APIENTRY glSecondaryColor3ubvEXT (const GLubyte *v); -GLAPI void APIENTRY glSecondaryColor3uiEXT (GLuint red, GLuint green, GLuint blue); -GLAPI void APIENTRY glSecondaryColor3uivEXT (const GLuint *v); -GLAPI void APIENTRY glSecondaryColor3usEXT (GLushort red, GLushort green, GLushort blue); -GLAPI void APIENTRY glSecondaryColor3usvEXT (const GLushort *v); -GLAPI void APIENTRY glSecondaryColorPointerEXT (GLint size, GLenum type, GLsizei stride, const void *pointer); -#endif -#endif /* GL_EXT_secondary_color */ - -#ifndef GL_EXT_semaphore -#define GL_EXT_semaphore 1 -#define GL_LAYOUT_GENERAL_EXT 0x958D -#define GL_LAYOUT_COLOR_ATTACHMENT_EXT 0x958E -#define GL_LAYOUT_DEPTH_STENCIL_ATTACHMENT_EXT 0x958F -#define GL_LAYOUT_DEPTH_STENCIL_READ_ONLY_EXT 0x9590 -#define GL_LAYOUT_SHADER_READ_ONLY_EXT 0x9591 -#define GL_LAYOUT_TRANSFER_SRC_EXT 0x9592 -#define GL_LAYOUT_TRANSFER_DST_EXT 0x9593 -#define GL_LAYOUT_DEPTH_READ_ONLY_STENCIL_ATTACHMENT_EXT 0x9530 -#define GL_LAYOUT_DEPTH_ATTACHMENT_STENCIL_READ_ONLY_EXT 0x9531 -typedef void (APIENTRYP PFNGLGENSEMAPHORESEXTPROC) (GLsizei n, GLuint *semaphores); -typedef void (APIENTRYP PFNGLDELETESEMAPHORESEXTPROC) (GLsizei n, const GLuint *semaphores); -typedef GLboolean (APIENTRYP PFNGLISSEMAPHOREEXTPROC) (GLuint semaphore); -typedef void (APIENTRYP PFNGLSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, const GLuint64 *params); -typedef void (APIENTRYP PFNGLGETSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, GLuint64 *params); -typedef void (APIENTRYP PFNGLWAITSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); -typedef void (APIENTRYP PFNGLSIGNALSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenSemaphoresEXT (GLsizei n, GLuint *semaphores); -GLAPI void APIENTRY glDeleteSemaphoresEXT (GLsizei n, const GLuint *semaphores); -GLAPI GLboolean APIENTRY glIsSemaphoreEXT (GLuint semaphore); -GLAPI void APIENTRY glSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, const GLuint64 *params); -GLAPI void APIENTRY glGetSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, GLuint64 *params); -GLAPI void APIENTRY glWaitSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); -GLAPI void APIENTRY glSignalSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); -#endif -#endif /* GL_EXT_semaphore */ - -#ifndef GL_EXT_semaphore_fd -#define GL_EXT_semaphore_fd 1 -typedef void (APIENTRYP PFNGLIMPORTSEMAPHOREFDEXTPROC) (GLuint semaphore, GLenum handleType, GLint fd); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glImportSemaphoreFdEXT (GLuint semaphore, GLenum handleType, GLint fd); -#endif -#endif /* GL_EXT_semaphore_fd */ - -#ifndef GL_EXT_semaphore_win32 -#define GL_EXT_semaphore_win32 1 -#define GL_HANDLE_TYPE_D3D12_FENCE_EXT 0x9594 -#define GL_D3D12_FENCE_VALUE_EXT 0x9595 -typedef void (APIENTRYP PFNGLIMPORTSEMAPHOREWIN32HANDLEEXTPROC) (GLuint semaphore, GLenum handleType, void *handle); -typedef void (APIENTRYP PFNGLIMPORTSEMAPHOREWIN32NAMEEXTPROC) (GLuint semaphore, GLenum handleType, const void *name); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glImportSemaphoreWin32HandleEXT (GLuint semaphore, GLenum handleType, void *handle); -GLAPI void APIENTRY glImportSemaphoreWin32NameEXT (GLuint semaphore, GLenum handleType, const void *name); -#endif -#endif /* GL_EXT_semaphore_win32 */ - -#ifndef GL_EXT_separate_shader_objects -#define GL_EXT_separate_shader_objects 1 -#define GL_ACTIVE_PROGRAM_EXT 0x8B8D -typedef void (APIENTRYP PFNGLUSESHADERPROGRAMEXTPROC) (GLenum type, GLuint program); -typedef void (APIENTRYP PFNGLACTIVEPROGRAMEXTPROC) (GLuint program); -typedef GLuint (APIENTRYP PFNGLCREATESHADERPROGRAMEXTPROC) (GLenum type, const GLchar *string); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glUseShaderProgramEXT (GLenum type, GLuint program); -GLAPI void APIENTRY glActiveProgramEXT (GLuint program); -GLAPI GLuint APIENTRY glCreateShaderProgramEXT (GLenum type, const GLchar *string); -#endif -#endif /* GL_EXT_separate_shader_objects */ - -#ifndef GL_EXT_separate_specular_color -#define GL_EXT_separate_specular_color 1 -#define GL_LIGHT_MODEL_COLOR_CONTROL_EXT 0x81F8 -#define GL_SINGLE_COLOR_EXT 0x81F9 -#define GL_SEPARATE_SPECULAR_COLOR_EXT 0x81FA -#endif /* GL_EXT_separate_specular_color */ - -#ifndef GL_EXT_shader_framebuffer_fetch -#define GL_EXT_shader_framebuffer_fetch 1 -#define GL_FRAGMENT_SHADER_DISCARDS_SAMPLES_EXT 0x8A52 -#endif /* GL_EXT_shader_framebuffer_fetch */ - -#ifndef GL_EXT_shader_framebuffer_fetch_non_coherent -#define GL_EXT_shader_framebuffer_fetch_non_coherent 1 -typedef void (APIENTRYP PFNGLFRAMEBUFFERFETCHBARRIEREXTPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferFetchBarrierEXT (void); -#endif -#endif /* GL_EXT_shader_framebuffer_fetch_non_coherent */ - -#ifndef GL_EXT_shader_image_load_formatted -#define GL_EXT_shader_image_load_formatted 1 -#endif /* GL_EXT_shader_image_load_formatted */ - -#ifndef GL_EXT_shader_image_load_store -#define GL_EXT_shader_image_load_store 1 -#define GL_MAX_IMAGE_UNITS_EXT 0x8F38 -#define GL_MAX_COMBINED_IMAGE_UNITS_AND_FRAGMENT_OUTPUTS_EXT 0x8F39 -#define GL_IMAGE_BINDING_NAME_EXT 0x8F3A -#define GL_IMAGE_BINDING_LEVEL_EXT 0x8F3B -#define GL_IMAGE_BINDING_LAYERED_EXT 0x8F3C -#define GL_IMAGE_BINDING_LAYER_EXT 0x8F3D -#define GL_IMAGE_BINDING_ACCESS_EXT 0x8F3E -#define GL_IMAGE_1D_EXT 0x904C -#define GL_IMAGE_2D_EXT 0x904D -#define GL_IMAGE_3D_EXT 0x904E -#define GL_IMAGE_2D_RECT_EXT 0x904F -#define GL_IMAGE_CUBE_EXT 0x9050 -#define GL_IMAGE_BUFFER_EXT 0x9051 -#define GL_IMAGE_1D_ARRAY_EXT 0x9052 -#define GL_IMAGE_2D_ARRAY_EXT 0x9053 -#define GL_IMAGE_CUBE_MAP_ARRAY_EXT 0x9054 -#define GL_IMAGE_2D_MULTISAMPLE_EXT 0x9055 -#define GL_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x9056 -#define GL_INT_IMAGE_1D_EXT 0x9057 -#define GL_INT_IMAGE_2D_EXT 0x9058 -#define GL_INT_IMAGE_3D_EXT 0x9059 -#define GL_INT_IMAGE_2D_RECT_EXT 0x905A -#define GL_INT_IMAGE_CUBE_EXT 0x905B -#define GL_INT_IMAGE_BUFFER_EXT 0x905C -#define GL_INT_IMAGE_1D_ARRAY_EXT 0x905D -#define GL_INT_IMAGE_2D_ARRAY_EXT 0x905E -#define GL_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x905F -#define GL_INT_IMAGE_2D_MULTISAMPLE_EXT 0x9060 -#define GL_INT_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x9061 -#define GL_UNSIGNED_INT_IMAGE_1D_EXT 0x9062 -#define GL_UNSIGNED_INT_IMAGE_2D_EXT 0x9063 -#define GL_UNSIGNED_INT_IMAGE_3D_EXT 0x9064 -#define GL_UNSIGNED_INT_IMAGE_2D_RECT_EXT 0x9065 -#define GL_UNSIGNED_INT_IMAGE_CUBE_EXT 0x9066 -#define GL_UNSIGNED_INT_IMAGE_BUFFER_EXT 0x9067 -#define GL_UNSIGNED_INT_IMAGE_1D_ARRAY_EXT 0x9068 -#define GL_UNSIGNED_INT_IMAGE_2D_ARRAY_EXT 0x9069 -#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x906A -#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_EXT 0x906B -#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x906C -#define GL_MAX_IMAGE_SAMPLES_EXT 0x906D -#define GL_IMAGE_BINDING_FORMAT_EXT 0x906E -#define GL_VERTEX_ATTRIB_ARRAY_BARRIER_BIT_EXT 0x00000001 -#define GL_ELEMENT_ARRAY_BARRIER_BIT_EXT 0x00000002 -#define GL_UNIFORM_BARRIER_BIT_EXT 0x00000004 -#define GL_TEXTURE_FETCH_BARRIER_BIT_EXT 0x00000008 -#define GL_SHADER_IMAGE_ACCESS_BARRIER_BIT_EXT 0x00000020 -#define GL_COMMAND_BARRIER_BIT_EXT 0x00000040 -#define GL_PIXEL_BUFFER_BARRIER_BIT_EXT 0x00000080 -#define GL_TEXTURE_UPDATE_BARRIER_BIT_EXT 0x00000100 -#define GL_BUFFER_UPDATE_BARRIER_BIT_EXT 0x00000200 -#define GL_FRAMEBUFFER_BARRIER_BIT_EXT 0x00000400 -#define GL_TRANSFORM_FEEDBACK_BARRIER_BIT_EXT 0x00000800 -#define GL_ATOMIC_COUNTER_BARRIER_BIT_EXT 0x00001000 -#define GL_ALL_BARRIER_BITS_EXT 0xFFFFFFFF -typedef void (APIENTRYP PFNGLBINDIMAGETEXTUREEXTPROC) (GLuint index, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLint format); -typedef void (APIENTRYP PFNGLMEMORYBARRIEREXTPROC) (GLbitfield barriers); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindImageTextureEXT (GLuint index, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLint format); -GLAPI void APIENTRY glMemoryBarrierEXT (GLbitfield barriers); -#endif -#endif /* GL_EXT_shader_image_load_store */ - -#ifndef GL_EXT_shader_integer_mix -#define GL_EXT_shader_integer_mix 1 -#endif /* GL_EXT_shader_integer_mix */ - -#ifndef GL_EXT_shader_samples_identical -#define GL_EXT_shader_samples_identical 1 -#endif /* GL_EXT_shader_samples_identical */ - -#ifndef GL_EXT_shadow_funcs -#define GL_EXT_shadow_funcs 1 -#endif /* GL_EXT_shadow_funcs */ - -#ifndef GL_EXT_shared_texture_palette -#define GL_EXT_shared_texture_palette 1 -#define GL_SHARED_TEXTURE_PALETTE_EXT 0x81FB -#endif /* GL_EXT_shared_texture_palette */ - -#ifndef GL_EXT_sparse_texture2 -#define GL_EXT_sparse_texture2 1 -#endif /* GL_EXT_sparse_texture2 */ - -#ifndef GL_EXT_stencil_clear_tag -#define GL_EXT_stencil_clear_tag 1 -#define GL_STENCIL_TAG_BITS_EXT 0x88F2 -#define GL_STENCIL_CLEAR_TAG_VALUE_EXT 0x88F3 -typedef void (APIENTRYP PFNGLSTENCILCLEARTAGEXTPROC) (GLsizei stencilTagBits, GLuint stencilClearTag); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glStencilClearTagEXT (GLsizei stencilTagBits, GLuint stencilClearTag); -#endif -#endif /* GL_EXT_stencil_clear_tag */ - -#ifndef GL_EXT_stencil_two_side -#define GL_EXT_stencil_two_side 1 -#define GL_STENCIL_TEST_TWO_SIDE_EXT 0x8910 -#define GL_ACTIVE_STENCIL_FACE_EXT 0x8911 -typedef void (APIENTRYP PFNGLACTIVESTENCILFACEEXTPROC) (GLenum face); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glActiveStencilFaceEXT (GLenum face); -#endif -#endif /* GL_EXT_stencil_two_side */ - -#ifndef GL_EXT_stencil_wrap -#define GL_EXT_stencil_wrap 1 -#define GL_INCR_WRAP_EXT 0x8507 -#define GL_DECR_WRAP_EXT 0x8508 -#endif /* GL_EXT_stencil_wrap */ - -#ifndef GL_EXT_subtexture -#define GL_EXT_subtexture 1 -typedef void (APIENTRYP PFNGLTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexSubImage1DEXT (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTexSubImage2DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -#endif -#endif /* GL_EXT_subtexture */ - -#ifndef GL_EXT_texture -#define GL_EXT_texture 1 -#define GL_ALPHA4_EXT 0x803B -#define GL_ALPHA8_EXT 0x803C -#define GL_ALPHA12_EXT 0x803D -#define GL_ALPHA16_EXT 0x803E -#define GL_LUMINANCE4_EXT 0x803F -#define GL_LUMINANCE8_EXT 0x8040 -#define GL_LUMINANCE12_EXT 0x8041 -#define GL_LUMINANCE16_EXT 0x8042 -#define GL_LUMINANCE4_ALPHA4_EXT 0x8043 -#define GL_LUMINANCE6_ALPHA2_EXT 0x8044 -#define GL_LUMINANCE8_ALPHA8_EXT 0x8045 -#define GL_LUMINANCE12_ALPHA4_EXT 0x8046 -#define GL_LUMINANCE12_ALPHA12_EXT 0x8047 -#define GL_LUMINANCE16_ALPHA16_EXT 0x8048 -#define GL_INTENSITY_EXT 0x8049 -#define GL_INTENSITY4_EXT 0x804A -#define GL_INTENSITY8_EXT 0x804B -#define GL_INTENSITY12_EXT 0x804C -#define GL_INTENSITY16_EXT 0x804D -#define GL_RGB2_EXT 0x804E -#define GL_RGB4_EXT 0x804F -#define GL_RGB5_EXT 0x8050 -#define GL_RGB8_EXT 0x8051 -#define GL_RGB10_EXT 0x8052 -#define GL_RGB12_EXT 0x8053 -#define GL_RGB16_EXT 0x8054 -#define GL_RGBA2_EXT 0x8055 -#define GL_RGBA4_EXT 0x8056 -#define GL_RGB5_A1_EXT 0x8057 -#define GL_RGBA8_EXT 0x8058 -#define GL_RGB10_A2_EXT 0x8059 -#define GL_RGBA12_EXT 0x805A -#define GL_RGBA16_EXT 0x805B -#define GL_TEXTURE_RED_SIZE_EXT 0x805C -#define GL_TEXTURE_GREEN_SIZE_EXT 0x805D -#define GL_TEXTURE_BLUE_SIZE_EXT 0x805E -#define GL_TEXTURE_ALPHA_SIZE_EXT 0x805F -#define GL_TEXTURE_LUMINANCE_SIZE_EXT 0x8060 -#define GL_TEXTURE_INTENSITY_SIZE_EXT 0x8061 -#define GL_REPLACE_EXT 0x8062 -#define GL_PROXY_TEXTURE_1D_EXT 0x8063 -#define GL_PROXY_TEXTURE_2D_EXT 0x8064 -#define GL_TEXTURE_TOO_LARGE_EXT 0x8065 -#endif /* GL_EXT_texture */ - -#ifndef GL_EXT_texture3D -#define GL_EXT_texture3D 1 -#define GL_PACK_SKIP_IMAGES_EXT 0x806B -#define GL_PACK_IMAGE_HEIGHT_EXT 0x806C -#define GL_UNPACK_SKIP_IMAGES_EXT 0x806D -#define GL_UNPACK_IMAGE_HEIGHT_EXT 0x806E -#define GL_TEXTURE_3D_EXT 0x806F -#define GL_PROXY_TEXTURE_3D_EXT 0x8070 -#define GL_TEXTURE_DEPTH_EXT 0x8071 -#define GL_TEXTURE_WRAP_R_EXT 0x8072 -#define GL_MAX_3D_TEXTURE_SIZE_EXT 0x8073 -typedef void (APIENTRYP PFNGLTEXIMAGE3DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexImage3DEXT (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTexSubImage3DEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -#endif -#endif /* GL_EXT_texture3D */ - -#ifndef GL_EXT_texture_array -#define GL_EXT_texture_array 1 -#define GL_TEXTURE_1D_ARRAY_EXT 0x8C18 -#define GL_PROXY_TEXTURE_1D_ARRAY_EXT 0x8C19 -#define GL_TEXTURE_2D_ARRAY_EXT 0x8C1A -#define GL_PROXY_TEXTURE_2D_ARRAY_EXT 0x8C1B -#define GL_TEXTURE_BINDING_1D_ARRAY_EXT 0x8C1C -#define GL_TEXTURE_BINDING_2D_ARRAY_EXT 0x8C1D -#define GL_MAX_ARRAY_TEXTURE_LAYERS_EXT 0x88FF -#define GL_COMPARE_REF_DEPTH_TO_TEXTURE_EXT 0x884E -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYEREXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferTextureLayerEXT (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); -#endif -#endif /* GL_EXT_texture_array */ - -#ifndef GL_EXT_texture_buffer_object -#define GL_EXT_texture_buffer_object 1 -#define GL_TEXTURE_BUFFER_EXT 0x8C2A -#define GL_MAX_TEXTURE_BUFFER_SIZE_EXT 0x8C2B -#define GL_TEXTURE_BINDING_BUFFER_EXT 0x8C2C -#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_EXT 0x8C2D -#define GL_TEXTURE_BUFFER_FORMAT_EXT 0x8C2E -typedef void (APIENTRYP PFNGLTEXBUFFEREXTPROC) (GLenum target, GLenum internalformat, GLuint buffer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexBufferEXT (GLenum target, GLenum internalformat, GLuint buffer); -#endif -#endif /* GL_EXT_texture_buffer_object */ - -#ifndef GL_EXT_texture_compression_latc -#define GL_EXT_texture_compression_latc 1 -#define GL_COMPRESSED_LUMINANCE_LATC1_EXT 0x8C70 -#define GL_COMPRESSED_SIGNED_LUMINANCE_LATC1_EXT 0x8C71 -#define GL_COMPRESSED_LUMINANCE_ALPHA_LATC2_EXT 0x8C72 -#define GL_COMPRESSED_SIGNED_LUMINANCE_ALPHA_LATC2_EXT 0x8C73 -#endif /* GL_EXT_texture_compression_latc */ - -#ifndef GL_EXT_texture_compression_rgtc -#define GL_EXT_texture_compression_rgtc 1 -#define GL_COMPRESSED_RED_RGTC1_EXT 0x8DBB -#define GL_COMPRESSED_SIGNED_RED_RGTC1_EXT 0x8DBC -#define GL_COMPRESSED_RED_GREEN_RGTC2_EXT 0x8DBD -#define GL_COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT 0x8DBE -#endif /* GL_EXT_texture_compression_rgtc */ - -#ifndef GL_EXT_texture_compression_s3tc -#define GL_EXT_texture_compression_s3tc 1 -#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 -#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 -#define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT 0x83F2 -#define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT 0x83F3 -#endif /* GL_EXT_texture_compression_s3tc */ - -#ifndef GL_EXT_texture_cube_map -#define GL_EXT_texture_cube_map 1 -#define GL_NORMAL_MAP_EXT 0x8511 -#define GL_REFLECTION_MAP_EXT 0x8512 -#define GL_TEXTURE_CUBE_MAP_EXT 0x8513 -#define GL_TEXTURE_BINDING_CUBE_MAP_EXT 0x8514 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_EXT 0x8515 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_EXT 0x8516 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_EXT 0x8517 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_EXT 0x8518 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_EXT 0x8519 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_EXT 0x851A -#define GL_PROXY_TEXTURE_CUBE_MAP_EXT 0x851B -#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_EXT 0x851C -#endif /* GL_EXT_texture_cube_map */ - -#ifndef GL_EXT_texture_env_add -#define GL_EXT_texture_env_add 1 -#endif /* GL_EXT_texture_env_add */ - -#ifndef GL_EXT_texture_env_combine -#define GL_EXT_texture_env_combine 1 -#define GL_COMBINE_EXT 0x8570 -#define GL_COMBINE_RGB_EXT 0x8571 -#define GL_COMBINE_ALPHA_EXT 0x8572 -#define GL_RGB_SCALE_EXT 0x8573 -#define GL_ADD_SIGNED_EXT 0x8574 -#define GL_INTERPOLATE_EXT 0x8575 -#define GL_CONSTANT_EXT 0x8576 -#define GL_PRIMARY_COLOR_EXT 0x8577 -#define GL_PREVIOUS_EXT 0x8578 -#define GL_SOURCE0_RGB_EXT 0x8580 -#define GL_SOURCE1_RGB_EXT 0x8581 -#define GL_SOURCE2_RGB_EXT 0x8582 -#define GL_SOURCE0_ALPHA_EXT 0x8588 -#define GL_SOURCE1_ALPHA_EXT 0x8589 -#define GL_SOURCE2_ALPHA_EXT 0x858A -#define GL_OPERAND0_RGB_EXT 0x8590 -#define GL_OPERAND1_RGB_EXT 0x8591 -#define GL_OPERAND2_RGB_EXT 0x8592 -#define GL_OPERAND0_ALPHA_EXT 0x8598 -#define GL_OPERAND1_ALPHA_EXT 0x8599 -#define GL_OPERAND2_ALPHA_EXT 0x859A -#endif /* GL_EXT_texture_env_combine */ - -#ifndef GL_EXT_texture_env_dot3 -#define GL_EXT_texture_env_dot3 1 -#define GL_DOT3_RGB_EXT 0x8740 -#define GL_DOT3_RGBA_EXT 0x8741 -#endif /* GL_EXT_texture_env_dot3 */ - -#ifndef GL_EXT_texture_filter_anisotropic -#define GL_EXT_texture_filter_anisotropic 1 -#define GL_TEXTURE_MAX_ANISOTROPY_EXT 0x84FE -#define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF -#endif /* GL_EXT_texture_filter_anisotropic */ - -#ifndef GL_EXT_texture_filter_minmax -#define GL_EXT_texture_filter_minmax 1 -#define GL_TEXTURE_REDUCTION_MODE_EXT 0x9366 -#define GL_WEIGHTED_AVERAGE_EXT 0x9367 -#endif /* GL_EXT_texture_filter_minmax */ - -#ifndef GL_EXT_texture_integer -#define GL_EXT_texture_integer 1 -#define GL_RGBA32UI_EXT 0x8D70 -#define GL_RGB32UI_EXT 0x8D71 -#define GL_ALPHA32UI_EXT 0x8D72 -#define GL_INTENSITY32UI_EXT 0x8D73 -#define GL_LUMINANCE32UI_EXT 0x8D74 -#define GL_LUMINANCE_ALPHA32UI_EXT 0x8D75 -#define GL_RGBA16UI_EXT 0x8D76 -#define GL_RGB16UI_EXT 0x8D77 -#define GL_ALPHA16UI_EXT 0x8D78 -#define GL_INTENSITY16UI_EXT 0x8D79 -#define GL_LUMINANCE16UI_EXT 0x8D7A -#define GL_LUMINANCE_ALPHA16UI_EXT 0x8D7B -#define GL_RGBA8UI_EXT 0x8D7C -#define GL_RGB8UI_EXT 0x8D7D -#define GL_ALPHA8UI_EXT 0x8D7E -#define GL_INTENSITY8UI_EXT 0x8D7F -#define GL_LUMINANCE8UI_EXT 0x8D80 -#define GL_LUMINANCE_ALPHA8UI_EXT 0x8D81 -#define GL_RGBA32I_EXT 0x8D82 -#define GL_RGB32I_EXT 0x8D83 -#define GL_ALPHA32I_EXT 0x8D84 -#define GL_INTENSITY32I_EXT 0x8D85 -#define GL_LUMINANCE32I_EXT 0x8D86 -#define GL_LUMINANCE_ALPHA32I_EXT 0x8D87 -#define GL_RGBA16I_EXT 0x8D88 -#define GL_RGB16I_EXT 0x8D89 -#define GL_ALPHA16I_EXT 0x8D8A -#define GL_INTENSITY16I_EXT 0x8D8B -#define GL_LUMINANCE16I_EXT 0x8D8C -#define GL_LUMINANCE_ALPHA16I_EXT 0x8D8D -#define GL_RGBA8I_EXT 0x8D8E -#define GL_RGB8I_EXT 0x8D8F -#define GL_ALPHA8I_EXT 0x8D90 -#define GL_INTENSITY8I_EXT 0x8D91 -#define GL_LUMINANCE8I_EXT 0x8D92 -#define GL_LUMINANCE_ALPHA8I_EXT 0x8D93 -#define GL_RED_INTEGER_EXT 0x8D94 -#define GL_GREEN_INTEGER_EXT 0x8D95 -#define GL_BLUE_INTEGER_EXT 0x8D96 -#define GL_ALPHA_INTEGER_EXT 0x8D97 -#define GL_RGB_INTEGER_EXT 0x8D98 -#define GL_RGBA_INTEGER_EXT 0x8D99 -#define GL_BGR_INTEGER_EXT 0x8D9A -#define GL_BGRA_INTEGER_EXT 0x8D9B -#define GL_LUMINANCE_INTEGER_EXT 0x8D9C -#define GL_LUMINANCE_ALPHA_INTEGER_EXT 0x8D9D -#define GL_RGBA_INTEGER_MODE_EXT 0x8D9E -typedef void (APIENTRYP PFNGLTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, const GLuint *params); -typedef void (APIENTRYP PFNGLGETTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLCLEARCOLORIIEXTPROC) (GLint red, GLint green, GLint blue, GLint alpha); -typedef void (APIENTRYP PFNGLCLEARCOLORIUIEXTPROC) (GLuint red, GLuint green, GLuint blue, GLuint alpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexParameterIivEXT (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glTexParameterIuivEXT (GLenum target, GLenum pname, const GLuint *params); -GLAPI void APIENTRY glGetTexParameterIivEXT (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetTexParameterIuivEXT (GLenum target, GLenum pname, GLuint *params); -GLAPI void APIENTRY glClearColorIiEXT (GLint red, GLint green, GLint blue, GLint alpha); -GLAPI void APIENTRY glClearColorIuiEXT (GLuint red, GLuint green, GLuint blue, GLuint alpha); -#endif -#endif /* GL_EXT_texture_integer */ - -#ifndef GL_EXT_texture_lod_bias -#define GL_EXT_texture_lod_bias 1 -#define GL_MAX_TEXTURE_LOD_BIAS_EXT 0x84FD -#define GL_TEXTURE_FILTER_CONTROL_EXT 0x8500 -#define GL_TEXTURE_LOD_BIAS_EXT 0x8501 -#endif /* GL_EXT_texture_lod_bias */ - -#ifndef GL_EXT_texture_mirror_clamp -#define GL_EXT_texture_mirror_clamp 1 -#define GL_MIRROR_CLAMP_EXT 0x8742 -#define GL_MIRROR_CLAMP_TO_EDGE_EXT 0x8743 -#define GL_MIRROR_CLAMP_TO_BORDER_EXT 0x8912 -#endif /* GL_EXT_texture_mirror_clamp */ - -#ifndef GL_EXT_texture_object -#define GL_EXT_texture_object 1 -#define GL_TEXTURE_PRIORITY_EXT 0x8066 -#define GL_TEXTURE_RESIDENT_EXT 0x8067 -#define GL_TEXTURE_1D_BINDING_EXT 0x8068 -#define GL_TEXTURE_2D_BINDING_EXT 0x8069 -#define GL_TEXTURE_3D_BINDING_EXT 0x806A -typedef GLboolean (APIENTRYP PFNGLARETEXTURESRESIDENTEXTPROC) (GLsizei n, const GLuint *textures, GLboolean *residences); -typedef void (APIENTRYP PFNGLBINDTEXTUREEXTPROC) (GLenum target, GLuint texture); -typedef void (APIENTRYP PFNGLDELETETEXTURESEXTPROC) (GLsizei n, const GLuint *textures); -typedef void (APIENTRYP PFNGLGENTEXTURESEXTPROC) (GLsizei n, GLuint *textures); -typedef GLboolean (APIENTRYP PFNGLISTEXTUREEXTPROC) (GLuint texture); -typedef void (APIENTRYP PFNGLPRIORITIZETEXTURESEXTPROC) (GLsizei n, const GLuint *textures, const GLclampf *priorities); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLboolean APIENTRY glAreTexturesResidentEXT (GLsizei n, const GLuint *textures, GLboolean *residences); -GLAPI void APIENTRY glBindTextureEXT (GLenum target, GLuint texture); -GLAPI void APIENTRY glDeleteTexturesEXT (GLsizei n, const GLuint *textures); -GLAPI void APIENTRY glGenTexturesEXT (GLsizei n, GLuint *textures); -GLAPI GLboolean APIENTRY glIsTextureEXT (GLuint texture); -GLAPI void APIENTRY glPrioritizeTexturesEXT (GLsizei n, const GLuint *textures, const GLclampf *priorities); -#endif -#endif /* GL_EXT_texture_object */ - -#ifndef GL_EXT_texture_perturb_normal -#define GL_EXT_texture_perturb_normal 1 -#define GL_PERTURB_EXT 0x85AE -#define GL_TEXTURE_NORMAL_EXT 0x85AF -typedef void (APIENTRYP PFNGLTEXTURENORMALEXTPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTextureNormalEXT (GLenum mode); -#endif -#endif /* GL_EXT_texture_perturb_normal */ - -#ifndef GL_EXT_texture_sRGB -#define GL_EXT_texture_sRGB 1 -#define GL_SRGB_EXT 0x8C40 -#define GL_SRGB8_EXT 0x8C41 -#define GL_SRGB_ALPHA_EXT 0x8C42 -#define GL_SRGB8_ALPHA8_EXT 0x8C43 -#define GL_SLUMINANCE_ALPHA_EXT 0x8C44 -#define GL_SLUMINANCE8_ALPHA8_EXT 0x8C45 -#define GL_SLUMINANCE_EXT 0x8C46 -#define GL_SLUMINANCE8_EXT 0x8C47 -#define GL_COMPRESSED_SRGB_EXT 0x8C48 -#define GL_COMPRESSED_SRGB_ALPHA_EXT 0x8C49 -#define GL_COMPRESSED_SLUMINANCE_EXT 0x8C4A -#define GL_COMPRESSED_SLUMINANCE_ALPHA_EXT 0x8C4B -#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F -#endif /* GL_EXT_texture_sRGB */ - -#ifndef GL_EXT_texture_sRGB_R8 -#define GL_EXT_texture_sRGB_R8 1 -#define GL_SR8_EXT 0x8FBD -#endif /* GL_EXT_texture_sRGB_R8 */ - -#ifndef GL_EXT_texture_sRGB_RG8 -#define GL_EXT_texture_sRGB_RG8 1 -#define GL_SRG8_EXT 0x8FBE -#endif /* GL_EXT_texture_sRGB_RG8 */ - -#ifndef GL_EXT_texture_sRGB_decode -#define GL_EXT_texture_sRGB_decode 1 -#define GL_TEXTURE_SRGB_DECODE_EXT 0x8A48 -#define GL_DECODE_EXT 0x8A49 -#define GL_SKIP_DECODE_EXT 0x8A4A -#endif /* GL_EXT_texture_sRGB_decode */ - -#ifndef GL_EXT_texture_shadow_lod -#define GL_EXT_texture_shadow_lod 1 -#endif /* GL_EXT_texture_shadow_lod */ - -#ifndef GL_EXT_texture_shared_exponent -#define GL_EXT_texture_shared_exponent 1 -#define GL_RGB9_E5_EXT 0x8C3D -#define GL_UNSIGNED_INT_5_9_9_9_REV_EXT 0x8C3E -#define GL_TEXTURE_SHARED_SIZE_EXT 0x8C3F -#endif /* GL_EXT_texture_shared_exponent */ - -#ifndef GL_EXT_texture_snorm -#define GL_EXT_texture_snorm 1 -#define GL_ALPHA_SNORM 0x9010 -#define GL_LUMINANCE_SNORM 0x9011 -#define GL_LUMINANCE_ALPHA_SNORM 0x9012 -#define GL_INTENSITY_SNORM 0x9013 -#define GL_ALPHA8_SNORM 0x9014 -#define GL_LUMINANCE8_SNORM 0x9015 -#define GL_LUMINANCE8_ALPHA8_SNORM 0x9016 -#define GL_INTENSITY8_SNORM 0x9017 -#define GL_ALPHA16_SNORM 0x9018 -#define GL_LUMINANCE16_SNORM 0x9019 -#define GL_LUMINANCE16_ALPHA16_SNORM 0x901A -#define GL_INTENSITY16_SNORM 0x901B -#define GL_RED_SNORM 0x8F90 -#define GL_RG_SNORM 0x8F91 -#define GL_RGB_SNORM 0x8F92 -#define GL_RGBA_SNORM 0x8F93 -#endif /* GL_EXT_texture_snorm */ - -#ifndef GL_EXT_texture_storage -#define GL_EXT_texture_storage 1 -#define GL_TEXTURE_IMMUTABLE_FORMAT_EXT 0x912F -#define GL_RGBA32F_EXT 0x8814 -#define GL_RGB32F_EXT 0x8815 -#define GL_ALPHA32F_EXT 0x8816 -#define GL_LUMINANCE32F_EXT 0x8818 -#define GL_LUMINANCE_ALPHA32F_EXT 0x8819 -#define GL_RGBA16F_EXT 0x881A -#define GL_RGB16F_EXT 0x881B -#define GL_ALPHA16F_EXT 0x881C -#define GL_LUMINANCE16F_EXT 0x881E -#define GL_LUMINANCE_ALPHA16F_EXT 0x881F -#define GL_BGRA8_EXT 0x93A1 -#define GL_R8_EXT 0x8229 -#define GL_RG8_EXT 0x822B -#define GL_R32F_EXT 0x822E -#define GL_RG32F_EXT 0x8230 -#define GL_R16F_EXT 0x822D -#define GL_RG16F_EXT 0x822F -typedef void (APIENTRYP PFNGLTEXSTORAGE1DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -typedef void (APIENTRYP PFNGLTEXSTORAGE2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLTEXSTORAGE3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexStorage1DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -GLAPI void APIENTRY glTexStorage2DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -GLAPI void APIENTRY glTexStorage3DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -#endif -#endif /* GL_EXT_texture_storage */ - -#ifndef GL_EXT_texture_swizzle -#define GL_EXT_texture_swizzle 1 -#define GL_TEXTURE_SWIZZLE_R_EXT 0x8E42 -#define GL_TEXTURE_SWIZZLE_G_EXT 0x8E43 -#define GL_TEXTURE_SWIZZLE_B_EXT 0x8E44 -#define GL_TEXTURE_SWIZZLE_A_EXT 0x8E45 -#define GL_TEXTURE_SWIZZLE_RGBA_EXT 0x8E46 -#endif /* GL_EXT_texture_swizzle */ - -#ifndef GL_EXT_timer_query -#define GL_EXT_timer_query 1 -#define GL_TIME_ELAPSED_EXT 0x88BF -typedef void (APIENTRYP PFNGLGETQUERYOBJECTI64VEXTPROC) (GLuint id, GLenum pname, GLint64 *params); -typedef void (APIENTRYP PFNGLGETQUERYOBJECTUI64VEXTPROC) (GLuint id, GLenum pname, GLuint64 *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetQueryObjecti64vEXT (GLuint id, GLenum pname, GLint64 *params); -GLAPI void APIENTRY glGetQueryObjectui64vEXT (GLuint id, GLenum pname, GLuint64 *params); -#endif -#endif /* GL_EXT_timer_query */ - -#ifndef GL_EXT_transform_feedback -#define GL_EXT_transform_feedback 1 -#define GL_TRANSFORM_FEEDBACK_BUFFER_EXT 0x8C8E -#define GL_TRANSFORM_FEEDBACK_BUFFER_START_EXT 0x8C84 -#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE_EXT 0x8C85 -#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING_EXT 0x8C8F -#define GL_INTERLEAVED_ATTRIBS_EXT 0x8C8C -#define GL_SEPARATE_ATTRIBS_EXT 0x8C8D -#define GL_PRIMITIVES_GENERATED_EXT 0x8C87 -#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN_EXT 0x8C88 -#define GL_RASTERIZER_DISCARD_EXT 0x8C89 -#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS_EXT 0x8C8A -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS_EXT 0x8C8B -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS_EXT 0x8C80 -#define GL_TRANSFORM_FEEDBACK_VARYINGS_EXT 0x8C83 -#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE_EXT 0x8C7F -#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH_EXT 0x8C76 -typedef void (APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKEXTPROC) (GLenum primitiveMode); -typedef void (APIENTRYP PFNGLENDTRANSFORMFEEDBACKEXTPROC) (void); -typedef void (APIENTRYP PFNGLBINDBUFFERRANGEEXTPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLBINDBUFFEROFFSETEXTPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset); -typedef void (APIENTRYP PFNGLBINDBUFFERBASEEXTPROC) (GLenum target, GLuint index, GLuint buffer); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSEXTPROC) (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); -typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGEXTPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginTransformFeedbackEXT (GLenum primitiveMode); -GLAPI void APIENTRY glEndTransformFeedbackEXT (void); -GLAPI void APIENTRY glBindBufferRangeEXT (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glBindBufferOffsetEXT (GLenum target, GLuint index, GLuint buffer, GLintptr offset); -GLAPI void APIENTRY glBindBufferBaseEXT (GLenum target, GLuint index, GLuint buffer); -GLAPI void APIENTRY glTransformFeedbackVaryingsEXT (GLuint program, GLsizei count, const GLchar *const*varyings, GLenum bufferMode); -GLAPI void APIENTRY glGetTransformFeedbackVaryingEXT (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); -#endif -#endif /* GL_EXT_transform_feedback */ - -#ifndef GL_EXT_vertex_array -#define GL_EXT_vertex_array 1 -#define GL_VERTEX_ARRAY_EXT 0x8074 -#define GL_NORMAL_ARRAY_EXT 0x8075 -#define GL_COLOR_ARRAY_EXT 0x8076 -#define GL_INDEX_ARRAY_EXT 0x8077 -#define GL_TEXTURE_COORD_ARRAY_EXT 0x8078 -#define GL_EDGE_FLAG_ARRAY_EXT 0x8079 -#define GL_VERTEX_ARRAY_SIZE_EXT 0x807A -#define GL_VERTEX_ARRAY_TYPE_EXT 0x807B -#define GL_VERTEX_ARRAY_STRIDE_EXT 0x807C -#define GL_VERTEX_ARRAY_COUNT_EXT 0x807D -#define GL_NORMAL_ARRAY_TYPE_EXT 0x807E -#define GL_NORMAL_ARRAY_STRIDE_EXT 0x807F -#define GL_NORMAL_ARRAY_COUNT_EXT 0x8080 -#define GL_COLOR_ARRAY_SIZE_EXT 0x8081 -#define GL_COLOR_ARRAY_TYPE_EXT 0x8082 -#define GL_COLOR_ARRAY_STRIDE_EXT 0x8083 -#define GL_COLOR_ARRAY_COUNT_EXT 0x8084 -#define GL_INDEX_ARRAY_TYPE_EXT 0x8085 -#define GL_INDEX_ARRAY_STRIDE_EXT 0x8086 -#define GL_INDEX_ARRAY_COUNT_EXT 0x8087 -#define GL_TEXTURE_COORD_ARRAY_SIZE_EXT 0x8088 -#define GL_TEXTURE_COORD_ARRAY_TYPE_EXT 0x8089 -#define GL_TEXTURE_COORD_ARRAY_STRIDE_EXT 0x808A -#define GL_TEXTURE_COORD_ARRAY_COUNT_EXT 0x808B -#define GL_EDGE_FLAG_ARRAY_STRIDE_EXT 0x808C -#define GL_EDGE_FLAG_ARRAY_COUNT_EXT 0x808D -#define GL_VERTEX_ARRAY_POINTER_EXT 0x808E -#define GL_NORMAL_ARRAY_POINTER_EXT 0x808F -#define GL_COLOR_ARRAY_POINTER_EXT 0x8090 -#define GL_INDEX_ARRAY_POINTER_EXT 0x8091 -#define GL_TEXTURE_COORD_ARRAY_POINTER_EXT 0x8092 -#define GL_EDGE_FLAG_ARRAY_POINTER_EXT 0x8093 -typedef void (APIENTRYP PFNGLARRAYELEMENTEXTPROC) (GLint i); -typedef void (APIENTRYP PFNGLCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); -typedef void (APIENTRYP PFNGLDRAWARRAYSEXTPROC) (GLenum mode, GLint first, GLsizei count); -typedef void (APIENTRYP PFNGLEDGEFLAGPOINTEREXTPROC) (GLsizei stride, GLsizei count, const GLboolean *pointer); -typedef void (APIENTRYP PFNGLGETPOINTERVEXTPROC) (GLenum pname, void **params); -typedef void (APIENTRYP PFNGLINDEXPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const void *pointer); -typedef void (APIENTRYP PFNGLNORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const void *pointer); -typedef void (APIENTRYP PFNGLTEXCOORDPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); -typedef void (APIENTRYP PFNGLVERTEXPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glArrayElementEXT (GLint i); -GLAPI void APIENTRY glColorPointerEXT (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); -GLAPI void APIENTRY glDrawArraysEXT (GLenum mode, GLint first, GLsizei count); -GLAPI void APIENTRY glEdgeFlagPointerEXT (GLsizei stride, GLsizei count, const GLboolean *pointer); -GLAPI void APIENTRY glGetPointervEXT (GLenum pname, void **params); -GLAPI void APIENTRY glIndexPointerEXT (GLenum type, GLsizei stride, GLsizei count, const void *pointer); -GLAPI void APIENTRY glNormalPointerEXT (GLenum type, GLsizei stride, GLsizei count, const void *pointer); -GLAPI void APIENTRY glTexCoordPointerEXT (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); -GLAPI void APIENTRY glVertexPointerEXT (GLint size, GLenum type, GLsizei stride, GLsizei count, const void *pointer); -#endif -#endif /* GL_EXT_vertex_array */ - -#ifndef GL_EXT_vertex_array_bgra -#define GL_EXT_vertex_array_bgra 1 -#endif /* GL_EXT_vertex_array_bgra */ - -#ifndef GL_EXT_vertex_attrib_64bit -#define GL_EXT_vertex_attrib_64bit 1 -#define GL_DOUBLE_VEC2_EXT 0x8FFC -#define GL_DOUBLE_VEC3_EXT 0x8FFD -#define GL_DOUBLE_VEC4_EXT 0x8FFE -#define GL_DOUBLE_MAT2_EXT 0x8F46 -#define GL_DOUBLE_MAT3_EXT 0x8F47 -#define GL_DOUBLE_MAT4_EXT 0x8F48 -#define GL_DOUBLE_MAT2x3_EXT 0x8F49 -#define GL_DOUBLE_MAT2x4_EXT 0x8F4A -#define GL_DOUBLE_MAT3x2_EXT 0x8F4B -#define GL_DOUBLE_MAT3x4_EXT 0x8F4C -#define GL_DOUBLE_MAT4x2_EXT 0x8F4D -#define GL_DOUBLE_MAT4x3_EXT 0x8F4E -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DEXTPROC) (GLuint index, GLdouble x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DEXTPROC) (GLuint index, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DEXTPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DEXTPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1DVEXTPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2DVEXTPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3DVEXTPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4DVEXTPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBLPOINTEREXTPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLDVEXTPROC) (GLuint index, GLenum pname, GLdouble *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexAttribL1dEXT (GLuint index, GLdouble x); -GLAPI void APIENTRY glVertexAttribL2dEXT (GLuint index, GLdouble x, GLdouble y); -GLAPI void APIENTRY glVertexAttribL3dEXT (GLuint index, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glVertexAttribL4dEXT (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glVertexAttribL1dvEXT (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribL2dvEXT (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribL3dvEXT (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribL4dvEXT (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribLPointerEXT (GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glGetVertexAttribLdvEXT (GLuint index, GLenum pname, GLdouble *params); -#endif -#endif /* GL_EXT_vertex_attrib_64bit */ - -#ifndef GL_EXT_vertex_shader -#define GL_EXT_vertex_shader 1 -#define GL_VERTEX_SHADER_EXT 0x8780 -#define GL_VERTEX_SHADER_BINDING_EXT 0x8781 -#define GL_OP_INDEX_EXT 0x8782 -#define GL_OP_NEGATE_EXT 0x8783 -#define GL_OP_DOT3_EXT 0x8784 -#define GL_OP_DOT4_EXT 0x8785 -#define GL_OP_MUL_EXT 0x8786 -#define GL_OP_ADD_EXT 0x8787 -#define GL_OP_MADD_EXT 0x8788 -#define GL_OP_FRAC_EXT 0x8789 -#define GL_OP_MAX_EXT 0x878A -#define GL_OP_MIN_EXT 0x878B -#define GL_OP_SET_GE_EXT 0x878C -#define GL_OP_SET_LT_EXT 0x878D -#define GL_OP_CLAMP_EXT 0x878E -#define GL_OP_FLOOR_EXT 0x878F -#define GL_OP_ROUND_EXT 0x8790 -#define GL_OP_EXP_BASE_2_EXT 0x8791 -#define GL_OP_LOG_BASE_2_EXT 0x8792 -#define GL_OP_POWER_EXT 0x8793 -#define GL_OP_RECIP_EXT 0x8794 -#define GL_OP_RECIP_SQRT_EXT 0x8795 -#define GL_OP_SUB_EXT 0x8796 -#define GL_OP_CROSS_PRODUCT_EXT 0x8797 -#define GL_OP_MULTIPLY_MATRIX_EXT 0x8798 -#define GL_OP_MOV_EXT 0x8799 -#define GL_OUTPUT_VERTEX_EXT 0x879A -#define GL_OUTPUT_COLOR0_EXT 0x879B -#define GL_OUTPUT_COLOR1_EXT 0x879C -#define GL_OUTPUT_TEXTURE_COORD0_EXT 0x879D -#define GL_OUTPUT_TEXTURE_COORD1_EXT 0x879E -#define GL_OUTPUT_TEXTURE_COORD2_EXT 0x879F -#define GL_OUTPUT_TEXTURE_COORD3_EXT 0x87A0 -#define GL_OUTPUT_TEXTURE_COORD4_EXT 0x87A1 -#define GL_OUTPUT_TEXTURE_COORD5_EXT 0x87A2 -#define GL_OUTPUT_TEXTURE_COORD6_EXT 0x87A3 -#define GL_OUTPUT_TEXTURE_COORD7_EXT 0x87A4 -#define GL_OUTPUT_TEXTURE_COORD8_EXT 0x87A5 -#define GL_OUTPUT_TEXTURE_COORD9_EXT 0x87A6 -#define GL_OUTPUT_TEXTURE_COORD10_EXT 0x87A7 -#define GL_OUTPUT_TEXTURE_COORD11_EXT 0x87A8 -#define GL_OUTPUT_TEXTURE_COORD12_EXT 0x87A9 -#define GL_OUTPUT_TEXTURE_COORD13_EXT 0x87AA -#define GL_OUTPUT_TEXTURE_COORD14_EXT 0x87AB -#define GL_OUTPUT_TEXTURE_COORD15_EXT 0x87AC -#define GL_OUTPUT_TEXTURE_COORD16_EXT 0x87AD -#define GL_OUTPUT_TEXTURE_COORD17_EXT 0x87AE -#define GL_OUTPUT_TEXTURE_COORD18_EXT 0x87AF -#define GL_OUTPUT_TEXTURE_COORD19_EXT 0x87B0 -#define GL_OUTPUT_TEXTURE_COORD20_EXT 0x87B1 -#define GL_OUTPUT_TEXTURE_COORD21_EXT 0x87B2 -#define GL_OUTPUT_TEXTURE_COORD22_EXT 0x87B3 -#define GL_OUTPUT_TEXTURE_COORD23_EXT 0x87B4 -#define GL_OUTPUT_TEXTURE_COORD24_EXT 0x87B5 -#define GL_OUTPUT_TEXTURE_COORD25_EXT 0x87B6 -#define GL_OUTPUT_TEXTURE_COORD26_EXT 0x87B7 -#define GL_OUTPUT_TEXTURE_COORD27_EXT 0x87B8 -#define GL_OUTPUT_TEXTURE_COORD28_EXT 0x87B9 -#define GL_OUTPUT_TEXTURE_COORD29_EXT 0x87BA -#define GL_OUTPUT_TEXTURE_COORD30_EXT 0x87BB -#define GL_OUTPUT_TEXTURE_COORD31_EXT 0x87BC -#define GL_OUTPUT_FOG_EXT 0x87BD -#define GL_SCALAR_EXT 0x87BE -#define GL_VECTOR_EXT 0x87BF -#define GL_MATRIX_EXT 0x87C0 -#define GL_VARIANT_EXT 0x87C1 -#define GL_INVARIANT_EXT 0x87C2 -#define GL_LOCAL_CONSTANT_EXT 0x87C3 -#define GL_LOCAL_EXT 0x87C4 -#define GL_MAX_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87C5 -#define GL_MAX_VERTEX_SHADER_VARIANTS_EXT 0x87C6 -#define GL_MAX_VERTEX_SHADER_INVARIANTS_EXT 0x87C7 -#define GL_MAX_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87C8 -#define GL_MAX_VERTEX_SHADER_LOCALS_EXT 0x87C9 -#define GL_MAX_OPTIMIZED_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87CA -#define GL_MAX_OPTIMIZED_VERTEX_SHADER_VARIANTS_EXT 0x87CB -#define GL_MAX_OPTIMIZED_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87CC -#define GL_MAX_OPTIMIZED_VERTEX_SHADER_INVARIANTS_EXT 0x87CD -#define GL_MAX_OPTIMIZED_VERTEX_SHADER_LOCALS_EXT 0x87CE -#define GL_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87CF -#define GL_VERTEX_SHADER_VARIANTS_EXT 0x87D0 -#define GL_VERTEX_SHADER_INVARIANTS_EXT 0x87D1 -#define GL_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87D2 -#define GL_VERTEX_SHADER_LOCALS_EXT 0x87D3 -#define GL_VERTEX_SHADER_OPTIMIZED_EXT 0x87D4 -#define GL_X_EXT 0x87D5 -#define GL_Y_EXT 0x87D6 -#define GL_Z_EXT 0x87D7 -#define GL_W_EXT 0x87D8 -#define GL_NEGATIVE_X_EXT 0x87D9 -#define GL_NEGATIVE_Y_EXT 0x87DA -#define GL_NEGATIVE_Z_EXT 0x87DB -#define GL_NEGATIVE_W_EXT 0x87DC -#define GL_ZERO_EXT 0x87DD -#define GL_ONE_EXT 0x87DE -#define GL_NEGATIVE_ONE_EXT 0x87DF -#define GL_NORMALIZED_RANGE_EXT 0x87E0 -#define GL_FULL_RANGE_EXT 0x87E1 -#define GL_CURRENT_VERTEX_EXT 0x87E2 -#define GL_MVP_MATRIX_EXT 0x87E3 -#define GL_VARIANT_VALUE_EXT 0x87E4 -#define GL_VARIANT_DATATYPE_EXT 0x87E5 -#define GL_VARIANT_ARRAY_STRIDE_EXT 0x87E6 -#define GL_VARIANT_ARRAY_TYPE_EXT 0x87E7 -#define GL_VARIANT_ARRAY_EXT 0x87E8 -#define GL_VARIANT_ARRAY_POINTER_EXT 0x87E9 -#define GL_INVARIANT_VALUE_EXT 0x87EA -#define GL_INVARIANT_DATATYPE_EXT 0x87EB -#define GL_LOCAL_CONSTANT_VALUE_EXT 0x87EC -#define GL_LOCAL_CONSTANT_DATATYPE_EXT 0x87ED -typedef void (APIENTRYP PFNGLBEGINVERTEXSHADEREXTPROC) (void); -typedef void (APIENTRYP PFNGLENDVERTEXSHADEREXTPROC) (void); -typedef void (APIENTRYP PFNGLBINDVERTEXSHADEREXTPROC) (GLuint id); -typedef GLuint (APIENTRYP PFNGLGENVERTEXSHADERSEXTPROC) (GLuint range); -typedef void (APIENTRYP PFNGLDELETEVERTEXSHADEREXTPROC) (GLuint id); -typedef void (APIENTRYP PFNGLSHADEROP1EXTPROC) (GLenum op, GLuint res, GLuint arg1); -typedef void (APIENTRYP PFNGLSHADEROP2EXTPROC) (GLenum op, GLuint res, GLuint arg1, GLuint arg2); -typedef void (APIENTRYP PFNGLSHADEROP3EXTPROC) (GLenum op, GLuint res, GLuint arg1, GLuint arg2, GLuint arg3); -typedef void (APIENTRYP PFNGLSWIZZLEEXTPROC) (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); -typedef void (APIENTRYP PFNGLWRITEMASKEXTPROC) (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); -typedef void (APIENTRYP PFNGLINSERTCOMPONENTEXTPROC) (GLuint res, GLuint src, GLuint num); -typedef void (APIENTRYP PFNGLEXTRACTCOMPONENTEXTPROC) (GLuint res, GLuint src, GLuint num); -typedef GLuint (APIENTRYP PFNGLGENSYMBOLSEXTPROC) (GLenum datatype, GLenum storagetype, GLenum range, GLuint components); -typedef void (APIENTRYP PFNGLSETINVARIANTEXTPROC) (GLuint id, GLenum type, const void *addr); -typedef void (APIENTRYP PFNGLSETLOCALCONSTANTEXTPROC) (GLuint id, GLenum type, const void *addr); -typedef void (APIENTRYP PFNGLVARIANTBVEXTPROC) (GLuint id, const GLbyte *addr); -typedef void (APIENTRYP PFNGLVARIANTSVEXTPROC) (GLuint id, const GLshort *addr); -typedef void (APIENTRYP PFNGLVARIANTIVEXTPROC) (GLuint id, const GLint *addr); -typedef void (APIENTRYP PFNGLVARIANTFVEXTPROC) (GLuint id, const GLfloat *addr); -typedef void (APIENTRYP PFNGLVARIANTDVEXTPROC) (GLuint id, const GLdouble *addr); -typedef void (APIENTRYP PFNGLVARIANTUBVEXTPROC) (GLuint id, const GLubyte *addr); -typedef void (APIENTRYP PFNGLVARIANTUSVEXTPROC) (GLuint id, const GLushort *addr); -typedef void (APIENTRYP PFNGLVARIANTUIVEXTPROC) (GLuint id, const GLuint *addr); -typedef void (APIENTRYP PFNGLVARIANTPOINTEREXTPROC) (GLuint id, GLenum type, GLuint stride, const void *addr); -typedef void (APIENTRYP PFNGLENABLEVARIANTCLIENTSTATEEXTPROC) (GLuint id); -typedef void (APIENTRYP PFNGLDISABLEVARIANTCLIENTSTATEEXTPROC) (GLuint id); -typedef GLuint (APIENTRYP PFNGLBINDLIGHTPARAMETEREXTPROC) (GLenum light, GLenum value); -typedef GLuint (APIENTRYP PFNGLBINDMATERIALPARAMETEREXTPROC) (GLenum face, GLenum value); -typedef GLuint (APIENTRYP PFNGLBINDTEXGENPARAMETEREXTPROC) (GLenum unit, GLenum coord, GLenum value); -typedef GLuint (APIENTRYP PFNGLBINDTEXTUREUNITPARAMETEREXTPROC) (GLenum unit, GLenum value); -typedef GLuint (APIENTRYP PFNGLBINDPARAMETEREXTPROC) (GLenum value); -typedef GLboolean (APIENTRYP PFNGLISVARIANTENABLEDEXTPROC) (GLuint id, GLenum cap); -typedef void (APIENTRYP PFNGLGETVARIANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); -typedef void (APIENTRYP PFNGLGETVARIANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); -typedef void (APIENTRYP PFNGLGETVARIANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); -typedef void (APIENTRYP PFNGLGETVARIANTPOINTERVEXTPROC) (GLuint id, GLenum value, void **data); -typedef void (APIENTRYP PFNGLGETINVARIANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); -typedef void (APIENTRYP PFNGLGETINVARIANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); -typedef void (APIENTRYP PFNGLGETINVARIANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); -typedef void (APIENTRYP PFNGLGETLOCALCONSTANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); -typedef void (APIENTRYP PFNGLGETLOCALCONSTANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); -typedef void (APIENTRYP PFNGLGETLOCALCONSTANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginVertexShaderEXT (void); -GLAPI void APIENTRY glEndVertexShaderEXT (void); -GLAPI void APIENTRY glBindVertexShaderEXT (GLuint id); -GLAPI GLuint APIENTRY glGenVertexShadersEXT (GLuint range); -GLAPI void APIENTRY glDeleteVertexShaderEXT (GLuint id); -GLAPI void APIENTRY glShaderOp1EXT (GLenum op, GLuint res, GLuint arg1); -GLAPI void APIENTRY glShaderOp2EXT (GLenum op, GLuint res, GLuint arg1, GLuint arg2); -GLAPI void APIENTRY glShaderOp3EXT (GLenum op, GLuint res, GLuint arg1, GLuint arg2, GLuint arg3); -GLAPI void APIENTRY glSwizzleEXT (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); -GLAPI void APIENTRY glWriteMaskEXT (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); -GLAPI void APIENTRY glInsertComponentEXT (GLuint res, GLuint src, GLuint num); -GLAPI void APIENTRY glExtractComponentEXT (GLuint res, GLuint src, GLuint num); -GLAPI GLuint APIENTRY glGenSymbolsEXT (GLenum datatype, GLenum storagetype, GLenum range, GLuint components); -GLAPI void APIENTRY glSetInvariantEXT (GLuint id, GLenum type, const void *addr); -GLAPI void APIENTRY glSetLocalConstantEXT (GLuint id, GLenum type, const void *addr); -GLAPI void APIENTRY glVariantbvEXT (GLuint id, const GLbyte *addr); -GLAPI void APIENTRY glVariantsvEXT (GLuint id, const GLshort *addr); -GLAPI void APIENTRY glVariantivEXT (GLuint id, const GLint *addr); -GLAPI void APIENTRY glVariantfvEXT (GLuint id, const GLfloat *addr); -GLAPI void APIENTRY glVariantdvEXT (GLuint id, const GLdouble *addr); -GLAPI void APIENTRY glVariantubvEXT (GLuint id, const GLubyte *addr); -GLAPI void APIENTRY glVariantusvEXT (GLuint id, const GLushort *addr); -GLAPI void APIENTRY glVariantuivEXT (GLuint id, const GLuint *addr); -GLAPI void APIENTRY glVariantPointerEXT (GLuint id, GLenum type, GLuint stride, const void *addr); -GLAPI void APIENTRY glEnableVariantClientStateEXT (GLuint id); -GLAPI void APIENTRY glDisableVariantClientStateEXT (GLuint id); -GLAPI GLuint APIENTRY glBindLightParameterEXT (GLenum light, GLenum value); -GLAPI GLuint APIENTRY glBindMaterialParameterEXT (GLenum face, GLenum value); -GLAPI GLuint APIENTRY glBindTexGenParameterEXT (GLenum unit, GLenum coord, GLenum value); -GLAPI GLuint APIENTRY glBindTextureUnitParameterEXT (GLenum unit, GLenum value); -GLAPI GLuint APIENTRY glBindParameterEXT (GLenum value); -GLAPI GLboolean APIENTRY glIsVariantEnabledEXT (GLuint id, GLenum cap); -GLAPI void APIENTRY glGetVariantBooleanvEXT (GLuint id, GLenum value, GLboolean *data); -GLAPI void APIENTRY glGetVariantIntegervEXT (GLuint id, GLenum value, GLint *data); -GLAPI void APIENTRY glGetVariantFloatvEXT (GLuint id, GLenum value, GLfloat *data); -GLAPI void APIENTRY glGetVariantPointervEXT (GLuint id, GLenum value, void **data); -GLAPI void APIENTRY glGetInvariantBooleanvEXT (GLuint id, GLenum value, GLboolean *data); -GLAPI void APIENTRY glGetInvariantIntegervEXT (GLuint id, GLenum value, GLint *data); -GLAPI void APIENTRY glGetInvariantFloatvEXT (GLuint id, GLenum value, GLfloat *data); -GLAPI void APIENTRY glGetLocalConstantBooleanvEXT (GLuint id, GLenum value, GLboolean *data); -GLAPI void APIENTRY glGetLocalConstantIntegervEXT (GLuint id, GLenum value, GLint *data); -GLAPI void APIENTRY glGetLocalConstantFloatvEXT (GLuint id, GLenum value, GLfloat *data); -#endif -#endif /* GL_EXT_vertex_shader */ - -#ifndef GL_EXT_vertex_weighting -#define GL_EXT_vertex_weighting 1 -#define GL_MODELVIEW0_STACK_DEPTH_EXT 0x0BA3 -#define GL_MODELVIEW1_STACK_DEPTH_EXT 0x8502 -#define GL_MODELVIEW0_MATRIX_EXT 0x0BA6 -#define GL_MODELVIEW1_MATRIX_EXT 0x8506 -#define GL_VERTEX_WEIGHTING_EXT 0x8509 -#define GL_MODELVIEW0_EXT 0x1700 -#define GL_MODELVIEW1_EXT 0x850A -#define GL_CURRENT_VERTEX_WEIGHT_EXT 0x850B -#define GL_VERTEX_WEIGHT_ARRAY_EXT 0x850C -#define GL_VERTEX_WEIGHT_ARRAY_SIZE_EXT 0x850D -#define GL_VERTEX_WEIGHT_ARRAY_TYPE_EXT 0x850E -#define GL_VERTEX_WEIGHT_ARRAY_STRIDE_EXT 0x850F -#define GL_VERTEX_WEIGHT_ARRAY_POINTER_EXT 0x8510 -typedef void (APIENTRYP PFNGLVERTEXWEIGHTFEXTPROC) (GLfloat weight); -typedef void (APIENTRYP PFNGLVERTEXWEIGHTFVEXTPROC) (const GLfloat *weight); -typedef void (APIENTRYP PFNGLVERTEXWEIGHTPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexWeightfEXT (GLfloat weight); -GLAPI void APIENTRY glVertexWeightfvEXT (const GLfloat *weight); -GLAPI void APIENTRY glVertexWeightPointerEXT (GLint size, GLenum type, GLsizei stride, const void *pointer); -#endif -#endif /* GL_EXT_vertex_weighting */ - -#ifndef GL_EXT_win32_keyed_mutex -#define GL_EXT_win32_keyed_mutex 1 -typedef GLboolean (APIENTRYP PFNGLACQUIREKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key, GLuint timeout); -typedef GLboolean (APIENTRYP PFNGLRELEASEKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLboolean APIENTRY glAcquireKeyedMutexWin32EXT (GLuint memory, GLuint64 key, GLuint timeout); -GLAPI GLboolean APIENTRY glReleaseKeyedMutexWin32EXT (GLuint memory, GLuint64 key); -#endif -#endif /* GL_EXT_win32_keyed_mutex */ - -#ifndef GL_EXT_window_rectangles -#define GL_EXT_window_rectangles 1 -#define GL_INCLUSIVE_EXT 0x8F10 -#define GL_EXCLUSIVE_EXT 0x8F11 -#define GL_WINDOW_RECTANGLE_EXT 0x8F12 -#define GL_WINDOW_RECTANGLE_MODE_EXT 0x8F13 -#define GL_MAX_WINDOW_RECTANGLES_EXT 0x8F14 -#define GL_NUM_WINDOW_RECTANGLES_EXT 0x8F15 -typedef void (APIENTRYP PFNGLWINDOWRECTANGLESEXTPROC) (GLenum mode, GLsizei count, const GLint *box); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glWindowRectanglesEXT (GLenum mode, GLsizei count, const GLint *box); -#endif -#endif /* GL_EXT_window_rectangles */ - -#ifndef GL_EXT_x11_sync_object -#define GL_EXT_x11_sync_object 1 -#define GL_SYNC_X11_FENCE_EXT 0x90E1 -typedef GLsync (APIENTRYP PFNGLIMPORTSYNCEXTPROC) (GLenum external_sync_type, GLintptr external_sync, GLbitfield flags); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLsync APIENTRY glImportSyncEXT (GLenum external_sync_type, GLintptr external_sync, GLbitfield flags); -#endif -#endif /* GL_EXT_x11_sync_object */ - -#ifndef GL_GREMEDY_frame_terminator -#define GL_GREMEDY_frame_terminator 1 -typedef void (APIENTRYP PFNGLFRAMETERMINATORGREMEDYPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFrameTerminatorGREMEDY (void); -#endif -#endif /* GL_GREMEDY_frame_terminator */ - -#ifndef GL_GREMEDY_string_marker -#define GL_GREMEDY_string_marker 1 -typedef void (APIENTRYP PFNGLSTRINGMARKERGREMEDYPROC) (GLsizei len, const void *string); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glStringMarkerGREMEDY (GLsizei len, const void *string); -#endif -#endif /* GL_GREMEDY_string_marker */ - -#ifndef GL_HP_convolution_border_modes -#define GL_HP_convolution_border_modes 1 -#define GL_IGNORE_BORDER_HP 0x8150 -#define GL_CONSTANT_BORDER_HP 0x8151 -#define GL_REPLICATE_BORDER_HP 0x8153 -#define GL_CONVOLUTION_BORDER_COLOR_HP 0x8154 -#endif /* GL_HP_convolution_border_modes */ - -#ifndef GL_HP_image_transform -#define GL_HP_image_transform 1 -#define GL_IMAGE_SCALE_X_HP 0x8155 -#define GL_IMAGE_SCALE_Y_HP 0x8156 -#define GL_IMAGE_TRANSLATE_X_HP 0x8157 -#define GL_IMAGE_TRANSLATE_Y_HP 0x8158 -#define GL_IMAGE_ROTATE_ANGLE_HP 0x8159 -#define GL_IMAGE_ROTATE_ORIGIN_X_HP 0x815A -#define GL_IMAGE_ROTATE_ORIGIN_Y_HP 0x815B -#define GL_IMAGE_MAG_FILTER_HP 0x815C -#define GL_IMAGE_MIN_FILTER_HP 0x815D -#define GL_IMAGE_CUBIC_WEIGHT_HP 0x815E -#define GL_CUBIC_HP 0x815F -#define GL_AVERAGE_HP 0x8160 -#define GL_IMAGE_TRANSFORM_2D_HP 0x8161 -#define GL_POST_IMAGE_TRANSFORM_COLOR_TABLE_HP 0x8162 -#define GL_PROXY_POST_IMAGE_TRANSFORM_COLOR_TABLE_HP 0x8163 -typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERIHPPROC) (GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERFHPPROC) (GLenum target, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glImageTransformParameteriHP (GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glImageTransformParameterfHP (GLenum target, GLenum pname, GLfloat param); -GLAPI void APIENTRY glImageTransformParameterivHP (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glImageTransformParameterfvHP (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glGetImageTransformParameterivHP (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetImageTransformParameterfvHP (GLenum target, GLenum pname, GLfloat *params); -#endif -#endif /* GL_HP_image_transform */ - -#ifndef GL_HP_occlusion_test -#define GL_HP_occlusion_test 1 -#define GL_OCCLUSION_TEST_HP 0x8165 -#define GL_OCCLUSION_TEST_RESULT_HP 0x8166 -#endif /* GL_HP_occlusion_test */ - -#ifndef GL_HP_texture_lighting -#define GL_HP_texture_lighting 1 -#define GL_TEXTURE_LIGHTING_MODE_HP 0x8167 -#define GL_TEXTURE_POST_SPECULAR_HP 0x8168 -#define GL_TEXTURE_PRE_SPECULAR_HP 0x8169 -#endif /* GL_HP_texture_lighting */ - -#ifndef GL_IBM_cull_vertex -#define GL_IBM_cull_vertex 1 -#define GL_CULL_VERTEX_IBM 103050 -#endif /* GL_IBM_cull_vertex */ - -#ifndef GL_IBM_multimode_draw_arrays -#define GL_IBM_multimode_draw_arrays 1 -typedef void (APIENTRYP PFNGLMULTIMODEDRAWARRAYSIBMPROC) (const GLenum *mode, const GLint *first, const GLsizei *count, GLsizei primcount, GLint modestride); -typedef void (APIENTRYP PFNGLMULTIMODEDRAWELEMENTSIBMPROC) (const GLenum *mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount, GLint modestride); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiModeDrawArraysIBM (const GLenum *mode, const GLint *first, const GLsizei *count, GLsizei primcount, GLint modestride); -GLAPI void APIENTRY glMultiModeDrawElementsIBM (const GLenum *mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount, GLint modestride); -#endif -#endif /* GL_IBM_multimode_draw_arrays */ - -#ifndef GL_IBM_rasterpos_clip -#define GL_IBM_rasterpos_clip 1 -#define GL_RASTER_POSITION_UNCLIPPED_IBM 0x19262 -#endif /* GL_IBM_rasterpos_clip */ - -#ifndef GL_IBM_static_data -#define GL_IBM_static_data 1 -#define GL_ALL_STATIC_DATA_IBM 103060 -#define GL_STATIC_VERTEX_ARRAY_IBM 103061 -typedef void (APIENTRYP PFNGLFLUSHSTATICDATAIBMPROC) (GLenum target); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFlushStaticDataIBM (GLenum target); -#endif -#endif /* GL_IBM_static_data */ - -#ifndef GL_IBM_texture_mirrored_repeat -#define GL_IBM_texture_mirrored_repeat 1 -#define GL_MIRRORED_REPEAT_IBM 0x8370 -#endif /* GL_IBM_texture_mirrored_repeat */ - -#ifndef GL_IBM_vertex_array_lists -#define GL_IBM_vertex_array_lists 1 -#define GL_VERTEX_ARRAY_LIST_IBM 103070 -#define GL_NORMAL_ARRAY_LIST_IBM 103071 -#define GL_COLOR_ARRAY_LIST_IBM 103072 -#define GL_INDEX_ARRAY_LIST_IBM 103073 -#define GL_TEXTURE_COORD_ARRAY_LIST_IBM 103074 -#define GL_EDGE_FLAG_ARRAY_LIST_IBM 103075 -#define GL_FOG_COORDINATE_ARRAY_LIST_IBM 103076 -#define GL_SECONDARY_COLOR_ARRAY_LIST_IBM 103077 -#define GL_VERTEX_ARRAY_LIST_STRIDE_IBM 103080 -#define GL_NORMAL_ARRAY_LIST_STRIDE_IBM 103081 -#define GL_COLOR_ARRAY_LIST_STRIDE_IBM 103082 -#define GL_INDEX_ARRAY_LIST_STRIDE_IBM 103083 -#define GL_TEXTURE_COORD_ARRAY_LIST_STRIDE_IBM 103084 -#define GL_EDGE_FLAG_ARRAY_LIST_STRIDE_IBM 103085 -#define GL_FOG_COORDINATE_ARRAY_LIST_STRIDE_IBM 103086 -#define GL_SECONDARY_COLOR_ARRAY_LIST_STRIDE_IBM 103087 -typedef void (APIENTRYP PFNGLCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLEDGEFLAGPOINTERLISTIBMPROC) (GLint stride, const GLboolean **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLFOGCOORDPOINTERLISTIBMPROC) (GLenum type, GLint stride, const void **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLINDEXPOINTERLISTIBMPROC) (GLenum type, GLint stride, const void **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLNORMALPOINTERLISTIBMPROC) (GLenum type, GLint stride, const void **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLTEXCOORDPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -typedef void (APIENTRYP PFNGLVERTEXPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -GLAPI void APIENTRY glSecondaryColorPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -GLAPI void APIENTRY glEdgeFlagPointerListIBM (GLint stride, const GLboolean **pointer, GLint ptrstride); -GLAPI void APIENTRY glFogCoordPointerListIBM (GLenum type, GLint stride, const void **pointer, GLint ptrstride); -GLAPI void APIENTRY glIndexPointerListIBM (GLenum type, GLint stride, const void **pointer, GLint ptrstride); -GLAPI void APIENTRY glNormalPointerListIBM (GLenum type, GLint stride, const void **pointer, GLint ptrstride); -GLAPI void APIENTRY glTexCoordPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -GLAPI void APIENTRY glVertexPointerListIBM (GLint size, GLenum type, GLint stride, const void **pointer, GLint ptrstride); -#endif -#endif /* GL_IBM_vertex_array_lists */ - -#ifndef GL_INGR_blend_func_separate -#define GL_INGR_blend_func_separate 1 -typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEINGRPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendFuncSeparateINGR (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -#endif -#endif /* GL_INGR_blend_func_separate */ - -#ifndef GL_INGR_color_clamp -#define GL_INGR_color_clamp 1 -#define GL_RED_MIN_CLAMP_INGR 0x8560 -#define GL_GREEN_MIN_CLAMP_INGR 0x8561 -#define GL_BLUE_MIN_CLAMP_INGR 0x8562 -#define GL_ALPHA_MIN_CLAMP_INGR 0x8563 -#define GL_RED_MAX_CLAMP_INGR 0x8564 -#define GL_GREEN_MAX_CLAMP_INGR 0x8565 -#define GL_BLUE_MAX_CLAMP_INGR 0x8566 -#define GL_ALPHA_MAX_CLAMP_INGR 0x8567 -#endif /* GL_INGR_color_clamp */ - -#ifndef GL_INGR_interlace_read -#define GL_INGR_interlace_read 1 -#define GL_INTERLACE_READ_INGR 0x8568 -#endif /* GL_INGR_interlace_read */ - -#ifndef GL_INTEL_blackhole_render -#define GL_INTEL_blackhole_render 1 -#define GL_BLACKHOLE_RENDER_INTEL 0x83FC -#endif /* GL_INTEL_blackhole_render */ - -#ifndef GL_INTEL_conservative_rasterization -#define GL_INTEL_conservative_rasterization 1 -#define GL_CONSERVATIVE_RASTERIZATION_INTEL 0x83FE -#endif /* GL_INTEL_conservative_rasterization */ - -#ifndef GL_INTEL_fragment_shader_ordering -#define GL_INTEL_fragment_shader_ordering 1 -#endif /* GL_INTEL_fragment_shader_ordering */ - -#ifndef GL_INTEL_framebuffer_CMAA -#define GL_INTEL_framebuffer_CMAA 1 -typedef void (APIENTRYP PFNGLAPPLYFRAMEBUFFERATTACHMENTCMAAINTELPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glApplyFramebufferAttachmentCMAAINTEL (void); -#endif -#endif /* GL_INTEL_framebuffer_CMAA */ - -#ifndef GL_INTEL_map_texture -#define GL_INTEL_map_texture 1 -#define GL_TEXTURE_MEMORY_LAYOUT_INTEL 0x83FF -#define GL_LAYOUT_DEFAULT_INTEL 0 -#define GL_LAYOUT_LINEAR_INTEL 1 -#define GL_LAYOUT_LINEAR_CPU_CACHED_INTEL 2 -typedef void (APIENTRYP PFNGLSYNCTEXTUREINTELPROC) (GLuint texture); -typedef void (APIENTRYP PFNGLUNMAPTEXTURE2DINTELPROC) (GLuint texture, GLint level); -typedef void *(APIENTRYP PFNGLMAPTEXTURE2DINTELPROC) (GLuint texture, GLint level, GLbitfield access, GLint *stride, GLenum *layout); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSyncTextureINTEL (GLuint texture); -GLAPI void APIENTRY glUnmapTexture2DINTEL (GLuint texture, GLint level); -GLAPI void *APIENTRY glMapTexture2DINTEL (GLuint texture, GLint level, GLbitfield access, GLint *stride, GLenum *layout); -#endif -#endif /* GL_INTEL_map_texture */ - -#ifndef GL_INTEL_parallel_arrays -#define GL_INTEL_parallel_arrays 1 -#define GL_PARALLEL_ARRAYS_INTEL 0x83F4 -#define GL_VERTEX_ARRAY_PARALLEL_POINTERS_INTEL 0x83F5 -#define GL_NORMAL_ARRAY_PARALLEL_POINTERS_INTEL 0x83F6 -#define GL_COLOR_ARRAY_PARALLEL_POINTERS_INTEL 0x83F7 -#define GL_TEXTURE_COORD_ARRAY_PARALLEL_POINTERS_INTEL 0x83F8 -typedef void (APIENTRYP PFNGLVERTEXPOINTERVINTELPROC) (GLint size, GLenum type, const void **pointer); -typedef void (APIENTRYP PFNGLNORMALPOINTERVINTELPROC) (GLenum type, const void **pointer); -typedef void (APIENTRYP PFNGLCOLORPOINTERVINTELPROC) (GLint size, GLenum type, const void **pointer); -typedef void (APIENTRYP PFNGLTEXCOORDPOINTERVINTELPROC) (GLint size, GLenum type, const void **pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexPointervINTEL (GLint size, GLenum type, const void **pointer); -GLAPI void APIENTRY glNormalPointervINTEL (GLenum type, const void **pointer); -GLAPI void APIENTRY glColorPointervINTEL (GLint size, GLenum type, const void **pointer); -GLAPI void APIENTRY glTexCoordPointervINTEL (GLint size, GLenum type, const void **pointer); -#endif -#endif /* GL_INTEL_parallel_arrays */ - -#ifndef GL_INTEL_performance_query -#define GL_INTEL_performance_query 1 -#define GL_PERFQUERY_SINGLE_CONTEXT_INTEL 0x00000000 -#define GL_PERFQUERY_GLOBAL_CONTEXT_INTEL 0x00000001 -#define GL_PERFQUERY_WAIT_INTEL 0x83FB -#define GL_PERFQUERY_FLUSH_INTEL 0x83FA -#define GL_PERFQUERY_DONOT_FLUSH_INTEL 0x83F9 -#define GL_PERFQUERY_COUNTER_EVENT_INTEL 0x94F0 -#define GL_PERFQUERY_COUNTER_DURATION_NORM_INTEL 0x94F1 -#define GL_PERFQUERY_COUNTER_DURATION_RAW_INTEL 0x94F2 -#define GL_PERFQUERY_COUNTER_THROUGHPUT_INTEL 0x94F3 -#define GL_PERFQUERY_COUNTER_RAW_INTEL 0x94F4 -#define GL_PERFQUERY_COUNTER_TIMESTAMP_INTEL 0x94F5 -#define GL_PERFQUERY_COUNTER_DATA_UINT32_INTEL 0x94F8 -#define GL_PERFQUERY_COUNTER_DATA_UINT64_INTEL 0x94F9 -#define GL_PERFQUERY_COUNTER_DATA_FLOAT_INTEL 0x94FA -#define GL_PERFQUERY_COUNTER_DATA_DOUBLE_INTEL 0x94FB -#define GL_PERFQUERY_COUNTER_DATA_BOOL32_INTEL 0x94FC -#define GL_PERFQUERY_QUERY_NAME_LENGTH_MAX_INTEL 0x94FD -#define GL_PERFQUERY_COUNTER_NAME_LENGTH_MAX_INTEL 0x94FE -#define GL_PERFQUERY_COUNTER_DESC_LENGTH_MAX_INTEL 0x94FF -#define GL_PERFQUERY_GPA_EXTENDED_COUNTERS_INTEL 0x9500 -typedef void (APIENTRYP PFNGLBEGINPERFQUERYINTELPROC) (GLuint queryHandle); -typedef void (APIENTRYP PFNGLCREATEPERFQUERYINTELPROC) (GLuint queryId, GLuint *queryHandle); -typedef void (APIENTRYP PFNGLDELETEPERFQUERYINTELPROC) (GLuint queryHandle); -typedef void (APIENTRYP PFNGLENDPERFQUERYINTELPROC) (GLuint queryHandle); -typedef void (APIENTRYP PFNGLGETFIRSTPERFQUERYIDINTELPROC) (GLuint *queryId); -typedef void (APIENTRYP PFNGLGETNEXTPERFQUERYIDINTELPROC) (GLuint queryId, GLuint *nextQueryId); -typedef void (APIENTRYP PFNGLGETPERFCOUNTERINFOINTELPROC) (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); -typedef void (APIENTRYP PFNGLGETPERFQUERYDATAINTELPROC) (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); -typedef void (APIENTRYP PFNGLGETPERFQUERYIDBYNAMEINTELPROC) (GLchar *queryName, GLuint *queryId); -typedef void (APIENTRYP PFNGLGETPERFQUERYINFOINTELPROC) (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginPerfQueryINTEL (GLuint queryHandle); -GLAPI void APIENTRY glCreatePerfQueryINTEL (GLuint queryId, GLuint *queryHandle); -GLAPI void APIENTRY glDeletePerfQueryINTEL (GLuint queryHandle); -GLAPI void APIENTRY glEndPerfQueryINTEL (GLuint queryHandle); -GLAPI void APIENTRY glGetFirstPerfQueryIdINTEL (GLuint *queryId); -GLAPI void APIENTRY glGetNextPerfQueryIdINTEL (GLuint queryId, GLuint *nextQueryId); -GLAPI void APIENTRY glGetPerfCounterInfoINTEL (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); -GLAPI void APIENTRY glGetPerfQueryDataINTEL (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); -GLAPI void APIENTRY glGetPerfQueryIdByNameINTEL (GLchar *queryName, GLuint *queryId); -GLAPI void APIENTRY glGetPerfQueryInfoINTEL (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); -#endif -#endif /* GL_INTEL_performance_query */ - -#ifndef GL_MESAX_texture_stack -#define GL_MESAX_texture_stack 1 -#define GL_TEXTURE_1D_STACK_MESAX 0x8759 -#define GL_TEXTURE_2D_STACK_MESAX 0x875A -#define GL_PROXY_TEXTURE_1D_STACK_MESAX 0x875B -#define GL_PROXY_TEXTURE_2D_STACK_MESAX 0x875C -#define GL_TEXTURE_1D_STACK_BINDING_MESAX 0x875D -#define GL_TEXTURE_2D_STACK_BINDING_MESAX 0x875E -#endif /* GL_MESAX_texture_stack */ - -#ifndef GL_MESA_framebuffer_flip_x -#define GL_MESA_framebuffer_flip_x 1 -#define GL_FRAMEBUFFER_FLIP_X_MESA 0x8BBC -#endif /* GL_MESA_framebuffer_flip_x */ - -#ifndef GL_MESA_framebuffer_flip_y -#define GL_MESA_framebuffer_flip_y 1 -#define GL_FRAMEBUFFER_FLIP_Y_MESA 0x8BBB -typedef void (APIENTRYP PFNGLFRAMEBUFFERPARAMETERIMESAPROC) (GLenum target, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVMESAPROC) (GLenum target, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferParameteriMESA (GLenum target, GLenum pname, GLint param); -GLAPI void APIENTRY glGetFramebufferParameterivMESA (GLenum target, GLenum pname, GLint *params); -#endif -#endif /* GL_MESA_framebuffer_flip_y */ - -#ifndef GL_MESA_framebuffer_swap_xy -#define GL_MESA_framebuffer_swap_xy 1 -#define GL_FRAMEBUFFER_SWAP_XY_MESA 0x8BBD -#endif /* GL_MESA_framebuffer_swap_xy */ - -#ifndef GL_MESA_pack_invert -#define GL_MESA_pack_invert 1 -#define GL_PACK_INVERT_MESA 0x8758 -#endif /* GL_MESA_pack_invert */ - -#ifndef GL_MESA_program_binary_formats -#define GL_MESA_program_binary_formats 1 -#define GL_PROGRAM_BINARY_FORMAT_MESA 0x875F -#endif /* GL_MESA_program_binary_formats */ - -#ifndef GL_MESA_resize_buffers -#define GL_MESA_resize_buffers 1 -typedef void (APIENTRYP PFNGLRESIZEBUFFERSMESAPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glResizeBuffersMESA (void); -#endif -#endif /* GL_MESA_resize_buffers */ - -#ifndef GL_MESA_shader_integer_functions -#define GL_MESA_shader_integer_functions 1 -#endif /* GL_MESA_shader_integer_functions */ - -#ifndef GL_MESA_tile_raster_order -#define GL_MESA_tile_raster_order 1 -#define GL_TILE_RASTER_ORDER_FIXED_MESA 0x8BB8 -#define GL_TILE_RASTER_ORDER_INCREASING_X_MESA 0x8BB9 -#define GL_TILE_RASTER_ORDER_INCREASING_Y_MESA 0x8BBA -#endif /* GL_MESA_tile_raster_order */ - -#ifndef GL_MESA_window_pos -#define GL_MESA_window_pos 1 -typedef void (APIENTRYP PFNGLWINDOWPOS2DMESAPROC) (GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLWINDOWPOS2DVMESAPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2FMESAPROC) (GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLWINDOWPOS2FVMESAPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2IMESAPROC) (GLint x, GLint y); -typedef void (APIENTRYP PFNGLWINDOWPOS2IVMESAPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS2SMESAPROC) (GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLWINDOWPOS2SVMESAPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3DMESAPROC) (GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLWINDOWPOS3DVMESAPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3FMESAPROC) (GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLWINDOWPOS3FVMESAPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3IMESAPROC) (GLint x, GLint y, GLint z); -typedef void (APIENTRYP PFNGLWINDOWPOS3IVMESAPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS3SMESAPROC) (GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLWINDOWPOS3SVMESAPROC) (const GLshort *v); -typedef void (APIENTRYP PFNGLWINDOWPOS4DMESAPROC) (GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLWINDOWPOS4DVMESAPROC) (const GLdouble *v); -typedef void (APIENTRYP PFNGLWINDOWPOS4FMESAPROC) (GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLWINDOWPOS4FVMESAPROC) (const GLfloat *v); -typedef void (APIENTRYP PFNGLWINDOWPOS4IMESAPROC) (GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLWINDOWPOS4IVMESAPROC) (const GLint *v); -typedef void (APIENTRYP PFNGLWINDOWPOS4SMESAPROC) (GLshort x, GLshort y, GLshort z, GLshort w); -typedef void (APIENTRYP PFNGLWINDOWPOS4SVMESAPROC) (const GLshort *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glWindowPos2dMESA (GLdouble x, GLdouble y); -GLAPI void APIENTRY glWindowPos2dvMESA (const GLdouble *v); -GLAPI void APIENTRY glWindowPos2fMESA (GLfloat x, GLfloat y); -GLAPI void APIENTRY glWindowPos2fvMESA (const GLfloat *v); -GLAPI void APIENTRY glWindowPos2iMESA (GLint x, GLint y); -GLAPI void APIENTRY glWindowPos2ivMESA (const GLint *v); -GLAPI void APIENTRY glWindowPos2sMESA (GLshort x, GLshort y); -GLAPI void APIENTRY glWindowPos2svMESA (const GLshort *v); -GLAPI void APIENTRY glWindowPos3dMESA (GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glWindowPos3dvMESA (const GLdouble *v); -GLAPI void APIENTRY glWindowPos3fMESA (GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glWindowPos3fvMESA (const GLfloat *v); -GLAPI void APIENTRY glWindowPos3iMESA (GLint x, GLint y, GLint z); -GLAPI void APIENTRY glWindowPos3ivMESA (const GLint *v); -GLAPI void APIENTRY glWindowPos3sMESA (GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glWindowPos3svMESA (const GLshort *v); -GLAPI void APIENTRY glWindowPos4dMESA (GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glWindowPos4dvMESA (const GLdouble *v); -GLAPI void APIENTRY glWindowPos4fMESA (GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glWindowPos4fvMESA (const GLfloat *v); -GLAPI void APIENTRY glWindowPos4iMESA (GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glWindowPos4ivMESA (const GLint *v); -GLAPI void APIENTRY glWindowPos4sMESA (GLshort x, GLshort y, GLshort z, GLshort w); -GLAPI void APIENTRY glWindowPos4svMESA (const GLshort *v); -#endif -#endif /* GL_MESA_window_pos */ - -#ifndef GL_MESA_ycbcr_texture -#define GL_MESA_ycbcr_texture 1 -#define GL_UNSIGNED_SHORT_8_8_MESA 0x85BA -#define GL_UNSIGNED_SHORT_8_8_REV_MESA 0x85BB -#define GL_YCBCR_MESA 0x8757 -#endif /* GL_MESA_ycbcr_texture */ - -#ifndef GL_NVX_blend_equation_advanced_multi_draw_buffers -#define GL_NVX_blend_equation_advanced_multi_draw_buffers 1 -#endif /* GL_NVX_blend_equation_advanced_multi_draw_buffers */ - -#ifndef GL_NVX_conditional_render -#define GL_NVX_conditional_render 1 -typedef void (APIENTRYP PFNGLBEGINCONDITIONALRENDERNVXPROC) (GLuint id); -typedef void (APIENTRYP PFNGLENDCONDITIONALRENDERNVXPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginConditionalRenderNVX (GLuint id); -GLAPI void APIENTRY glEndConditionalRenderNVX (void); -#endif -#endif /* GL_NVX_conditional_render */ - -#ifndef GL_NVX_gpu_memory_info -#define GL_NVX_gpu_memory_info 1 -#define GL_GPU_MEMORY_INFO_DEDICATED_VIDMEM_NVX 0x9047 -#define GL_GPU_MEMORY_INFO_TOTAL_AVAILABLE_MEMORY_NVX 0x9048 -#define GL_GPU_MEMORY_INFO_CURRENT_AVAILABLE_VIDMEM_NVX 0x9049 -#define GL_GPU_MEMORY_INFO_EVICTION_COUNT_NVX 0x904A -#define GL_GPU_MEMORY_INFO_EVICTED_MEMORY_NVX 0x904B -#endif /* GL_NVX_gpu_memory_info */ - -#ifndef GL_NVX_gpu_multicast2 -#define GL_NVX_gpu_multicast2 1 -#define GL_UPLOAD_GPU_MASK_NVX 0x954A -typedef void (APIENTRYP PFNGLUPLOADGPUMASKNVXPROC) (GLbitfield mask); -typedef void (APIENTRYP PFNGLMULTICASTVIEWPORTARRAYVNVXPROC) (GLuint gpu, GLuint first, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTICASTVIEWPORTPOSITIONWSCALENVXPROC) (GLuint gpu, GLuint index, GLfloat xcoeff, GLfloat ycoeff); -typedef void (APIENTRYP PFNGLMULTICASTSCISSORARRAYVNVXPROC) (GLuint gpu, GLuint first, GLsizei count, const GLint *v); -typedef GLuint (APIENTRYP PFNGLASYNCCOPYBUFFERSUBDATANVXPROC) (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *fenceValueArray, GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); -typedef GLuint (APIENTRYP PFNGLASYNCCOPYIMAGESUBDATANVXPROC) (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *waitValueArray, GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glUploadGpuMaskNVX (GLbitfield mask); -GLAPI void APIENTRY glMulticastViewportArrayvNVX (GLuint gpu, GLuint first, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glMulticastViewportPositionWScaleNVX (GLuint gpu, GLuint index, GLfloat xcoeff, GLfloat ycoeff); -GLAPI void APIENTRY glMulticastScissorArrayvNVX (GLuint gpu, GLuint first, GLsizei count, const GLint *v); -GLAPI GLuint APIENTRY glAsyncCopyBufferSubDataNVX (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *fenceValueArray, GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); -GLAPI GLuint APIENTRY glAsyncCopyImageSubDataNVX (GLsizei waitSemaphoreCount, const GLuint *waitSemaphoreArray, const GLuint64 *waitValueArray, GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth, GLsizei signalSemaphoreCount, const GLuint *signalSemaphoreArray, const GLuint64 *signalValueArray); -#endif -#endif /* GL_NVX_gpu_multicast2 */ - -#ifndef GL_NVX_linked_gpu_multicast -#define GL_NVX_linked_gpu_multicast 1 -#define GL_LGPU_SEPARATE_STORAGE_BIT_NVX 0x0800 -#define GL_MAX_LGPU_GPUS_NVX 0x92BA -typedef void (APIENTRYP PFNGLLGPUNAMEDBUFFERSUBDATANVXPROC) (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -typedef void (APIENTRYP PFNGLLGPUCOPYIMAGESUBDATANVXPROC) (GLuint sourceGpu, GLbitfield destinationGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srxY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); -typedef void (APIENTRYP PFNGLLGPUINTERLOCKNVXPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glLGPUNamedBufferSubDataNVX (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -GLAPI void APIENTRY glLGPUCopyImageSubDataNVX (GLuint sourceGpu, GLbitfield destinationGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srxY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); -GLAPI void APIENTRY glLGPUInterlockNVX (void); -#endif -#endif /* GL_NVX_linked_gpu_multicast */ - -#ifndef GL_NVX_progress_fence -#define GL_NVX_progress_fence 1 -typedef GLuint (APIENTRYP PFNGLCREATEPROGRESSFENCENVXPROC) (void); -typedef void (APIENTRYP PFNGLSIGNALSEMAPHOREUI64NVXPROC) (GLuint signalGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); -typedef void (APIENTRYP PFNGLWAITSEMAPHOREUI64NVXPROC) (GLuint waitGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); -typedef void (APIENTRYP PFNGLCLIENTWAITSEMAPHOREUI64NVXPROC) (GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLuint APIENTRY glCreateProgressFenceNVX (void); -GLAPI void APIENTRY glSignalSemaphoreui64NVX (GLuint signalGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); -GLAPI void APIENTRY glWaitSemaphoreui64NVX (GLuint waitGpu, GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); -GLAPI void APIENTRY glClientWaitSemaphoreui64NVX (GLsizei fenceObjectCount, const GLuint *semaphoreArray, const GLuint64 *fenceValueArray); -#endif -#endif /* GL_NVX_progress_fence */ - -#ifndef GL_NV_alpha_to_coverage_dither_control -#define GL_NV_alpha_to_coverage_dither_control 1 -#define GL_ALPHA_TO_COVERAGE_DITHER_DEFAULT_NV 0x934D -#define GL_ALPHA_TO_COVERAGE_DITHER_ENABLE_NV 0x934E -#define GL_ALPHA_TO_COVERAGE_DITHER_DISABLE_NV 0x934F -#define GL_ALPHA_TO_COVERAGE_DITHER_MODE_NV 0x92BF -typedef void (APIENTRYP PFNGLALPHATOCOVERAGEDITHERCONTROLNVPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glAlphaToCoverageDitherControlNV (GLenum mode); -#endif -#endif /* GL_NV_alpha_to_coverage_dither_control */ - -#ifndef GL_NV_bindless_multi_draw_indirect -#define GL_NV_bindless_multi_draw_indirect 1 -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTBINDLESSNVPROC) (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTBINDLESSNVPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiDrawArraysIndirectBindlessNV (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); -GLAPI void APIENTRY glMultiDrawElementsIndirectBindlessNV (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei stride, GLint vertexBufferCount); -#endif -#endif /* GL_NV_bindless_multi_draw_indirect */ - -#ifndef GL_NV_bindless_multi_draw_indirect_count -#define GL_NV_bindless_multi_draw_indirect_count 1 -typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTBINDLESSCOUNTNVPROC) (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); -typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTBINDLESSCOUNTNVPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMultiDrawArraysIndirectBindlessCountNV (GLenum mode, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); -GLAPI void APIENTRY glMultiDrawElementsIndirectBindlessCountNV (GLenum mode, GLenum type, const void *indirect, GLsizei drawCount, GLsizei maxDrawCount, GLsizei stride, GLint vertexBufferCount); -#endif -#endif /* GL_NV_bindless_multi_draw_indirect_count */ - -#ifndef GL_NV_bindless_texture -#define GL_NV_bindless_texture 1 -typedef GLuint64 (APIENTRYP PFNGLGETTEXTUREHANDLENVPROC) (GLuint texture); -typedef GLuint64 (APIENTRYP PFNGLGETTEXTURESAMPLERHANDLENVPROC) (GLuint texture, GLuint sampler); -typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); -typedef void (APIENTRYP PFNGLMAKETEXTUREHANDLENONRESIDENTNVPROC) (GLuint64 handle); -typedef GLuint64 (APIENTRYP PFNGLGETIMAGEHANDLENVPROC) (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); -typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle, GLenum access); -typedef void (APIENTRYP PFNGLMAKEIMAGEHANDLENONRESIDENTNVPROC) (GLuint64 handle); -typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64NVPROC) (GLint location, GLuint64 value); -typedef void (APIENTRYP PFNGLUNIFORMHANDLEUI64VNVPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64NVPROC) (GLuint program, GLint location, GLuint64 value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -typedef GLboolean (APIENTRYP PFNGLISTEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); -typedef GLboolean (APIENTRYP PFNGLISIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLuint64 APIENTRY glGetTextureHandleNV (GLuint texture); -GLAPI GLuint64 APIENTRY glGetTextureSamplerHandleNV (GLuint texture, GLuint sampler); -GLAPI void APIENTRY glMakeTextureHandleResidentNV (GLuint64 handle); -GLAPI void APIENTRY glMakeTextureHandleNonResidentNV (GLuint64 handle); -GLAPI GLuint64 APIENTRY glGetImageHandleNV (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); -GLAPI void APIENTRY glMakeImageHandleResidentNV (GLuint64 handle, GLenum access); -GLAPI void APIENTRY glMakeImageHandleNonResidentNV (GLuint64 handle); -GLAPI void APIENTRY glUniformHandleui64NV (GLint location, GLuint64 value); -GLAPI void APIENTRY glUniformHandleui64vNV (GLint location, GLsizei count, const GLuint64 *value); -GLAPI void APIENTRY glProgramUniformHandleui64NV (GLuint program, GLint location, GLuint64 value); -GLAPI void APIENTRY glProgramUniformHandleui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -GLAPI GLboolean APIENTRY glIsTextureHandleResidentNV (GLuint64 handle); -GLAPI GLboolean APIENTRY glIsImageHandleResidentNV (GLuint64 handle); -#endif -#endif /* GL_NV_bindless_texture */ - -#ifndef GL_NV_blend_equation_advanced -#define GL_NV_blend_equation_advanced 1 -#define GL_BLEND_OVERLAP_NV 0x9281 -#define GL_BLEND_PREMULTIPLIED_SRC_NV 0x9280 -#define GL_BLUE_NV 0x1905 -#define GL_COLORBURN_NV 0x929A -#define GL_COLORDODGE_NV 0x9299 -#define GL_CONJOINT_NV 0x9284 -#define GL_CONTRAST_NV 0x92A1 -#define GL_DARKEN_NV 0x9297 -#define GL_DIFFERENCE_NV 0x929E -#define GL_DISJOINT_NV 0x9283 -#define GL_DST_ATOP_NV 0x928F -#define GL_DST_IN_NV 0x928B -#define GL_DST_NV 0x9287 -#define GL_DST_OUT_NV 0x928D -#define GL_DST_OVER_NV 0x9289 -#define GL_EXCLUSION_NV 0x92A0 -#define GL_GREEN_NV 0x1904 -#define GL_HARDLIGHT_NV 0x929B -#define GL_HARDMIX_NV 0x92A9 -#define GL_HSL_COLOR_NV 0x92AF -#define GL_HSL_HUE_NV 0x92AD -#define GL_HSL_LUMINOSITY_NV 0x92B0 -#define GL_HSL_SATURATION_NV 0x92AE -#define GL_INVERT_OVG_NV 0x92B4 -#define GL_INVERT_RGB_NV 0x92A3 -#define GL_LIGHTEN_NV 0x9298 -#define GL_LINEARBURN_NV 0x92A5 -#define GL_LINEARDODGE_NV 0x92A4 -#define GL_LINEARLIGHT_NV 0x92A7 -#define GL_MINUS_CLAMPED_NV 0x92B3 -#define GL_MINUS_NV 0x929F -#define GL_MULTIPLY_NV 0x9294 -#define GL_OVERLAY_NV 0x9296 -#define GL_PINLIGHT_NV 0x92A8 -#define GL_PLUS_CLAMPED_ALPHA_NV 0x92B2 -#define GL_PLUS_CLAMPED_NV 0x92B1 -#define GL_PLUS_DARKER_NV 0x9292 -#define GL_PLUS_NV 0x9291 -#define GL_RED_NV 0x1903 -#define GL_SCREEN_NV 0x9295 -#define GL_SOFTLIGHT_NV 0x929C -#define GL_SRC_ATOP_NV 0x928E -#define GL_SRC_IN_NV 0x928A -#define GL_SRC_NV 0x9286 -#define GL_SRC_OUT_NV 0x928C -#define GL_SRC_OVER_NV 0x9288 -#define GL_UNCORRELATED_NV 0x9282 -#define GL_VIVIDLIGHT_NV 0x92A6 -#define GL_XOR_NV 0x1506 -typedef void (APIENTRYP PFNGLBLENDPARAMETERINVPROC) (GLenum pname, GLint value); -typedef void (APIENTRYP PFNGLBLENDBARRIERNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBlendParameteriNV (GLenum pname, GLint value); -GLAPI void APIENTRY glBlendBarrierNV (void); -#endif -#endif /* GL_NV_blend_equation_advanced */ - -#ifndef GL_NV_blend_equation_advanced_coherent -#define GL_NV_blend_equation_advanced_coherent 1 -#define GL_BLEND_ADVANCED_COHERENT_NV 0x9285 -#endif /* GL_NV_blend_equation_advanced_coherent */ - -#ifndef GL_NV_blend_minmax_factor -#define GL_NV_blend_minmax_factor 1 -#endif /* GL_NV_blend_minmax_factor */ - -#ifndef GL_NV_blend_square -#define GL_NV_blend_square 1 -#endif /* GL_NV_blend_square */ - -#ifndef GL_NV_clip_space_w_scaling -#define GL_NV_clip_space_w_scaling 1 -#define GL_VIEWPORT_POSITION_W_SCALE_NV 0x937C -#define GL_VIEWPORT_POSITION_W_SCALE_X_COEFF_NV 0x937D -#define GL_VIEWPORT_POSITION_W_SCALE_Y_COEFF_NV 0x937E -typedef void (APIENTRYP PFNGLVIEWPORTPOSITIONWSCALENVPROC) (GLuint index, GLfloat xcoeff, GLfloat ycoeff); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glViewportPositionWScaleNV (GLuint index, GLfloat xcoeff, GLfloat ycoeff); -#endif -#endif /* GL_NV_clip_space_w_scaling */ - -#ifndef GL_NV_command_list -#define GL_NV_command_list 1 -#define GL_TERMINATE_SEQUENCE_COMMAND_NV 0x0000 -#define GL_NOP_COMMAND_NV 0x0001 -#define GL_DRAW_ELEMENTS_COMMAND_NV 0x0002 -#define GL_DRAW_ARRAYS_COMMAND_NV 0x0003 -#define GL_DRAW_ELEMENTS_STRIP_COMMAND_NV 0x0004 -#define GL_DRAW_ARRAYS_STRIP_COMMAND_NV 0x0005 -#define GL_DRAW_ELEMENTS_INSTANCED_COMMAND_NV 0x0006 -#define GL_DRAW_ARRAYS_INSTANCED_COMMAND_NV 0x0007 -#define GL_ELEMENT_ADDRESS_COMMAND_NV 0x0008 -#define GL_ATTRIBUTE_ADDRESS_COMMAND_NV 0x0009 -#define GL_UNIFORM_ADDRESS_COMMAND_NV 0x000A -#define GL_BLEND_COLOR_COMMAND_NV 0x000B -#define GL_STENCIL_REF_COMMAND_NV 0x000C -#define GL_LINE_WIDTH_COMMAND_NV 0x000D -#define GL_POLYGON_OFFSET_COMMAND_NV 0x000E -#define GL_ALPHA_REF_COMMAND_NV 0x000F -#define GL_VIEWPORT_COMMAND_NV 0x0010 -#define GL_SCISSOR_COMMAND_NV 0x0011 -#define GL_FRONT_FACE_COMMAND_NV 0x0012 -typedef void (APIENTRYP PFNGLCREATESTATESNVPROC) (GLsizei n, GLuint *states); -typedef void (APIENTRYP PFNGLDELETESTATESNVPROC) (GLsizei n, const GLuint *states); -typedef GLboolean (APIENTRYP PFNGLISSTATENVPROC) (GLuint state); -typedef void (APIENTRYP PFNGLSTATECAPTURENVPROC) (GLuint state, GLenum mode); -typedef GLuint (APIENTRYP PFNGLGETCOMMANDHEADERNVPROC) (GLenum tokenID, GLuint size); -typedef GLushort (APIENTRYP PFNGLGETSTAGEINDEXNVPROC) (GLenum shadertype); -typedef void (APIENTRYP PFNGLDRAWCOMMANDSNVPROC) (GLenum primitiveMode, GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, GLuint count); -typedef void (APIENTRYP PFNGLDRAWCOMMANDSADDRESSNVPROC) (GLenum primitiveMode, const GLuint64 *indirects, const GLsizei *sizes, GLuint count); -typedef void (APIENTRYP PFNGLDRAWCOMMANDSSTATESNVPROC) (GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); -typedef void (APIENTRYP PFNGLDRAWCOMMANDSSTATESADDRESSNVPROC) (const GLuint64 *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); -typedef void (APIENTRYP PFNGLCREATECOMMANDLISTSNVPROC) (GLsizei n, GLuint *lists); -typedef void (APIENTRYP PFNGLDELETECOMMANDLISTSNVPROC) (GLsizei n, const GLuint *lists); -typedef GLboolean (APIENTRYP PFNGLISCOMMANDLISTNVPROC) (GLuint list); -typedef void (APIENTRYP PFNGLLISTDRAWCOMMANDSSTATESCLIENTNVPROC) (GLuint list, GLuint segment, const void **indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); -typedef void (APIENTRYP PFNGLCOMMANDLISTSEGMENTSNVPROC) (GLuint list, GLuint segments); -typedef void (APIENTRYP PFNGLCOMPILECOMMANDLISTNVPROC) (GLuint list); -typedef void (APIENTRYP PFNGLCALLCOMMANDLISTNVPROC) (GLuint list); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCreateStatesNV (GLsizei n, GLuint *states); -GLAPI void APIENTRY glDeleteStatesNV (GLsizei n, const GLuint *states); -GLAPI GLboolean APIENTRY glIsStateNV (GLuint state); -GLAPI void APIENTRY glStateCaptureNV (GLuint state, GLenum mode); -GLAPI GLuint APIENTRY glGetCommandHeaderNV (GLenum tokenID, GLuint size); -GLAPI GLushort APIENTRY glGetStageIndexNV (GLenum shadertype); -GLAPI void APIENTRY glDrawCommandsNV (GLenum primitiveMode, GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, GLuint count); -GLAPI void APIENTRY glDrawCommandsAddressNV (GLenum primitiveMode, const GLuint64 *indirects, const GLsizei *sizes, GLuint count); -GLAPI void APIENTRY glDrawCommandsStatesNV (GLuint buffer, const GLintptr *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); -GLAPI void APIENTRY glDrawCommandsStatesAddressNV (const GLuint64 *indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); -GLAPI void APIENTRY glCreateCommandListsNV (GLsizei n, GLuint *lists); -GLAPI void APIENTRY glDeleteCommandListsNV (GLsizei n, const GLuint *lists); -GLAPI GLboolean APIENTRY glIsCommandListNV (GLuint list); -GLAPI void APIENTRY glListDrawCommandsStatesClientNV (GLuint list, GLuint segment, const void **indirects, const GLsizei *sizes, const GLuint *states, const GLuint *fbos, GLuint count); -GLAPI void APIENTRY glCommandListSegmentsNV (GLuint list, GLuint segments); -GLAPI void APIENTRY glCompileCommandListNV (GLuint list); -GLAPI void APIENTRY glCallCommandListNV (GLuint list); -#endif -#endif /* GL_NV_command_list */ - -#ifndef GL_NV_compute_program5 -#define GL_NV_compute_program5 1 -#define GL_COMPUTE_PROGRAM_NV 0x90FB -#define GL_COMPUTE_PROGRAM_PARAMETER_BUFFER_NV 0x90FC -#endif /* GL_NV_compute_program5 */ - -#ifndef GL_NV_compute_shader_derivatives -#define GL_NV_compute_shader_derivatives 1 -#endif /* GL_NV_compute_shader_derivatives */ - -#ifndef GL_NV_conditional_render -#define GL_NV_conditional_render 1 -#define GL_QUERY_WAIT_NV 0x8E13 -#define GL_QUERY_NO_WAIT_NV 0x8E14 -#define GL_QUERY_BY_REGION_WAIT_NV 0x8E15 -#define GL_QUERY_BY_REGION_NO_WAIT_NV 0x8E16 -typedef void (APIENTRYP PFNGLBEGINCONDITIONALRENDERNVPROC) (GLuint id, GLenum mode); -typedef void (APIENTRYP PFNGLENDCONDITIONALRENDERNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginConditionalRenderNV (GLuint id, GLenum mode); -GLAPI void APIENTRY glEndConditionalRenderNV (void); -#endif -#endif /* GL_NV_conditional_render */ - -#ifndef GL_NV_conservative_raster -#define GL_NV_conservative_raster 1 -#define GL_CONSERVATIVE_RASTERIZATION_NV 0x9346 -#define GL_SUBPIXEL_PRECISION_BIAS_X_BITS_NV 0x9347 -#define GL_SUBPIXEL_PRECISION_BIAS_Y_BITS_NV 0x9348 -#define GL_MAX_SUBPIXEL_PRECISION_BIAS_BITS_NV 0x9349 -typedef void (APIENTRYP PFNGLSUBPIXELPRECISIONBIASNVPROC) (GLuint xbits, GLuint ybits); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSubpixelPrecisionBiasNV (GLuint xbits, GLuint ybits); -#endif -#endif /* GL_NV_conservative_raster */ - -#ifndef GL_NV_conservative_raster_dilate -#define GL_NV_conservative_raster_dilate 1 -#define GL_CONSERVATIVE_RASTER_DILATE_NV 0x9379 -#define GL_CONSERVATIVE_RASTER_DILATE_RANGE_NV 0x937A -#define GL_CONSERVATIVE_RASTER_DILATE_GRANULARITY_NV 0x937B -typedef void (APIENTRYP PFNGLCONSERVATIVERASTERPARAMETERFNVPROC) (GLenum pname, GLfloat value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glConservativeRasterParameterfNV (GLenum pname, GLfloat value); -#endif -#endif /* GL_NV_conservative_raster_dilate */ - -#ifndef GL_NV_conservative_raster_pre_snap -#define GL_NV_conservative_raster_pre_snap 1 -#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_NV 0x9550 -#endif /* GL_NV_conservative_raster_pre_snap */ - -#ifndef GL_NV_conservative_raster_pre_snap_triangles -#define GL_NV_conservative_raster_pre_snap_triangles 1 -#define GL_CONSERVATIVE_RASTER_MODE_NV 0x954D -#define GL_CONSERVATIVE_RASTER_MODE_POST_SNAP_NV 0x954E -#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_TRIANGLES_NV 0x954F -typedef void (APIENTRYP PFNGLCONSERVATIVERASTERPARAMETERINVPROC) (GLenum pname, GLint param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glConservativeRasterParameteriNV (GLenum pname, GLint param); -#endif -#endif /* GL_NV_conservative_raster_pre_snap_triangles */ - -#ifndef GL_NV_conservative_raster_underestimation -#define GL_NV_conservative_raster_underestimation 1 -#endif /* GL_NV_conservative_raster_underestimation */ - -#ifndef GL_NV_copy_depth_to_color -#define GL_NV_copy_depth_to_color 1 -#define GL_DEPTH_STENCIL_TO_RGBA_NV 0x886E -#define GL_DEPTH_STENCIL_TO_BGRA_NV 0x886F -#endif /* GL_NV_copy_depth_to_color */ - -#ifndef GL_NV_copy_image -#define GL_NV_copy_image 1 -typedef void (APIENTRYP PFNGLCOPYIMAGESUBDATANVPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCopyImageSubDataNV (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); -#endif -#endif /* GL_NV_copy_image */ - -#ifndef GL_NV_deep_texture3D -#define GL_NV_deep_texture3D 1 -#define GL_MAX_DEEP_3D_TEXTURE_WIDTH_HEIGHT_NV 0x90D0 -#define GL_MAX_DEEP_3D_TEXTURE_DEPTH_NV 0x90D1 -#endif /* GL_NV_deep_texture3D */ - -#ifndef GL_NV_depth_buffer_float -#define GL_NV_depth_buffer_float 1 -#define GL_DEPTH_COMPONENT32F_NV 0x8DAB -#define GL_DEPTH32F_STENCIL8_NV 0x8DAC -#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV_NV 0x8DAD -#define GL_DEPTH_BUFFER_FLOAT_MODE_NV 0x8DAF -typedef void (APIENTRYP PFNGLDEPTHRANGEDNVPROC) (GLdouble zNear, GLdouble zFar); -typedef void (APIENTRYP PFNGLCLEARDEPTHDNVPROC) (GLdouble depth); -typedef void (APIENTRYP PFNGLDEPTHBOUNDSDNVPROC) (GLdouble zmin, GLdouble zmax); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDepthRangedNV (GLdouble zNear, GLdouble zFar); -GLAPI void APIENTRY glClearDepthdNV (GLdouble depth); -GLAPI void APIENTRY glDepthBoundsdNV (GLdouble zmin, GLdouble zmax); -#endif -#endif /* GL_NV_depth_buffer_float */ - -#ifndef GL_NV_depth_clamp -#define GL_NV_depth_clamp 1 -#define GL_DEPTH_CLAMP_NV 0x864F -#endif /* GL_NV_depth_clamp */ - -#ifndef GL_NV_draw_texture -#define GL_NV_draw_texture 1 -typedef void (APIENTRYP PFNGLDRAWTEXTURENVPROC) (GLuint texture, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawTextureNV (GLuint texture, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); -#endif -#endif /* GL_NV_draw_texture */ - -#ifndef GL_NV_draw_vulkan_image -#define GL_NV_draw_vulkan_image 1 -typedef void (APIENTRY *GLVULKANPROCNV)(void); -typedef void (APIENTRYP PFNGLDRAWVKIMAGENVPROC) (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); -typedef GLVULKANPROCNV (APIENTRYP PFNGLGETVKPROCADDRNVPROC) (const GLchar *name); -typedef void (APIENTRYP PFNGLWAITVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); -typedef void (APIENTRYP PFNGLSIGNALVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); -typedef void (APIENTRYP PFNGLSIGNALVKFENCENVPROC) (GLuint64 vkFence); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawVkImageNV (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); -GLAPI GLVULKANPROCNV APIENTRY glGetVkProcAddrNV (const GLchar *name); -GLAPI void APIENTRY glWaitVkSemaphoreNV (GLuint64 vkSemaphore); -GLAPI void APIENTRY glSignalVkSemaphoreNV (GLuint64 vkSemaphore); -GLAPI void APIENTRY glSignalVkFenceNV (GLuint64 vkFence); -#endif -#endif /* GL_NV_draw_vulkan_image */ - -#ifndef GL_NV_evaluators -#define GL_NV_evaluators 1 -#define GL_EVAL_2D_NV 0x86C0 -#define GL_EVAL_TRIANGULAR_2D_NV 0x86C1 -#define GL_MAP_TESSELLATION_NV 0x86C2 -#define GL_MAP_ATTRIB_U_ORDER_NV 0x86C3 -#define GL_MAP_ATTRIB_V_ORDER_NV 0x86C4 -#define GL_EVAL_FRACTIONAL_TESSELLATION_NV 0x86C5 -#define GL_EVAL_VERTEX_ATTRIB0_NV 0x86C6 -#define GL_EVAL_VERTEX_ATTRIB1_NV 0x86C7 -#define GL_EVAL_VERTEX_ATTRIB2_NV 0x86C8 -#define GL_EVAL_VERTEX_ATTRIB3_NV 0x86C9 -#define GL_EVAL_VERTEX_ATTRIB4_NV 0x86CA -#define GL_EVAL_VERTEX_ATTRIB5_NV 0x86CB -#define GL_EVAL_VERTEX_ATTRIB6_NV 0x86CC -#define GL_EVAL_VERTEX_ATTRIB7_NV 0x86CD -#define GL_EVAL_VERTEX_ATTRIB8_NV 0x86CE -#define GL_EVAL_VERTEX_ATTRIB9_NV 0x86CF -#define GL_EVAL_VERTEX_ATTRIB10_NV 0x86D0 -#define GL_EVAL_VERTEX_ATTRIB11_NV 0x86D1 -#define GL_EVAL_VERTEX_ATTRIB12_NV 0x86D2 -#define GL_EVAL_VERTEX_ATTRIB13_NV 0x86D3 -#define GL_EVAL_VERTEX_ATTRIB14_NV 0x86D4 -#define GL_EVAL_VERTEX_ATTRIB15_NV 0x86D5 -#define GL_MAX_MAP_TESSELLATION_NV 0x86D6 -#define GL_MAX_RATIONAL_EVAL_ORDER_NV 0x86D7 -typedef void (APIENTRYP PFNGLMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLint uorder, GLint vorder, GLboolean packed, const void *points); -typedef void (APIENTRYP PFNGLMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLboolean packed, void *points); -typedef void (APIENTRYP PFNGLGETMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETMAPATTRIBPARAMETERIVNVPROC) (GLenum target, GLuint index, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETMAPATTRIBPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLEVALMAPSNVPROC) (GLenum target, GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMapControlPointsNV (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLint uorder, GLint vorder, GLboolean packed, const void *points); -GLAPI void APIENTRY glMapParameterivNV (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glMapParameterfvNV (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glGetMapControlPointsNV (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLboolean packed, void *points); -GLAPI void APIENTRY glGetMapParameterivNV (GLenum target, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMapParameterfvNV (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetMapAttribParameterivNV (GLenum target, GLuint index, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetMapAttribParameterfvNV (GLenum target, GLuint index, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glEvalMapsNV (GLenum target, GLenum mode); -#endif -#endif /* GL_NV_evaluators */ - -#ifndef GL_NV_explicit_multisample -#define GL_NV_explicit_multisample 1 -#define GL_SAMPLE_POSITION_NV 0x8E50 -#define GL_SAMPLE_MASK_NV 0x8E51 -#define GL_SAMPLE_MASK_VALUE_NV 0x8E52 -#define GL_TEXTURE_BINDING_RENDERBUFFER_NV 0x8E53 -#define GL_TEXTURE_RENDERBUFFER_DATA_STORE_BINDING_NV 0x8E54 -#define GL_TEXTURE_RENDERBUFFER_NV 0x8E55 -#define GL_SAMPLER_RENDERBUFFER_NV 0x8E56 -#define GL_INT_SAMPLER_RENDERBUFFER_NV 0x8E57 -#define GL_UNSIGNED_INT_SAMPLER_RENDERBUFFER_NV 0x8E58 -#define GL_MAX_SAMPLE_MASK_WORDS_NV 0x8E59 -typedef void (APIENTRYP PFNGLGETMULTISAMPLEFVNVPROC) (GLenum pname, GLuint index, GLfloat *val); -typedef void (APIENTRYP PFNGLSAMPLEMASKINDEXEDNVPROC) (GLuint index, GLbitfield mask); -typedef void (APIENTRYP PFNGLTEXRENDERBUFFERNVPROC) (GLenum target, GLuint renderbuffer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetMultisamplefvNV (GLenum pname, GLuint index, GLfloat *val); -GLAPI void APIENTRY glSampleMaskIndexedNV (GLuint index, GLbitfield mask); -GLAPI void APIENTRY glTexRenderbufferNV (GLenum target, GLuint renderbuffer); -#endif -#endif /* GL_NV_explicit_multisample */ - -#ifndef GL_NV_fence -#define GL_NV_fence 1 -#define GL_ALL_COMPLETED_NV 0x84F2 -#define GL_FENCE_STATUS_NV 0x84F3 -#define GL_FENCE_CONDITION_NV 0x84F4 -typedef void (APIENTRYP PFNGLDELETEFENCESNVPROC) (GLsizei n, const GLuint *fences); -typedef void (APIENTRYP PFNGLGENFENCESNVPROC) (GLsizei n, GLuint *fences); -typedef GLboolean (APIENTRYP PFNGLISFENCENVPROC) (GLuint fence); -typedef GLboolean (APIENTRYP PFNGLTESTFENCENVPROC) (GLuint fence); -typedef void (APIENTRYP PFNGLGETFENCEIVNVPROC) (GLuint fence, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLFINISHFENCENVPROC) (GLuint fence); -typedef void (APIENTRYP PFNGLSETFENCENVPROC) (GLuint fence, GLenum condition); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDeleteFencesNV (GLsizei n, const GLuint *fences); -GLAPI void APIENTRY glGenFencesNV (GLsizei n, GLuint *fences); -GLAPI GLboolean APIENTRY glIsFenceNV (GLuint fence); -GLAPI GLboolean APIENTRY glTestFenceNV (GLuint fence); -GLAPI void APIENTRY glGetFenceivNV (GLuint fence, GLenum pname, GLint *params); -GLAPI void APIENTRY glFinishFenceNV (GLuint fence); -GLAPI void APIENTRY glSetFenceNV (GLuint fence, GLenum condition); -#endif -#endif /* GL_NV_fence */ - -#ifndef GL_NV_fill_rectangle -#define GL_NV_fill_rectangle 1 -#define GL_FILL_RECTANGLE_NV 0x933C -#endif /* GL_NV_fill_rectangle */ - -#ifndef GL_NV_float_buffer -#define GL_NV_float_buffer 1 -#define GL_FLOAT_R_NV 0x8880 -#define GL_FLOAT_RG_NV 0x8881 -#define GL_FLOAT_RGB_NV 0x8882 -#define GL_FLOAT_RGBA_NV 0x8883 -#define GL_FLOAT_R16_NV 0x8884 -#define GL_FLOAT_R32_NV 0x8885 -#define GL_FLOAT_RG16_NV 0x8886 -#define GL_FLOAT_RG32_NV 0x8887 -#define GL_FLOAT_RGB16_NV 0x8888 -#define GL_FLOAT_RGB32_NV 0x8889 -#define GL_FLOAT_RGBA16_NV 0x888A -#define GL_FLOAT_RGBA32_NV 0x888B -#define GL_TEXTURE_FLOAT_COMPONENTS_NV 0x888C -#define GL_FLOAT_CLEAR_COLOR_VALUE_NV 0x888D -#define GL_FLOAT_RGBA_MODE_NV 0x888E -#endif /* GL_NV_float_buffer */ - -#ifndef GL_NV_fog_distance -#define GL_NV_fog_distance 1 -#define GL_FOG_DISTANCE_MODE_NV 0x855A -#define GL_EYE_RADIAL_NV 0x855B -#define GL_EYE_PLANE_ABSOLUTE_NV 0x855C -#endif /* GL_NV_fog_distance */ - -#ifndef GL_NV_fragment_coverage_to_color -#define GL_NV_fragment_coverage_to_color 1 -#define GL_FRAGMENT_COVERAGE_TO_COLOR_NV 0x92DD -#define GL_FRAGMENT_COVERAGE_COLOR_NV 0x92DE -typedef void (APIENTRYP PFNGLFRAGMENTCOVERAGECOLORNVPROC) (GLuint color); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFragmentCoverageColorNV (GLuint color); -#endif -#endif /* GL_NV_fragment_coverage_to_color */ - -#ifndef GL_NV_fragment_program -#define GL_NV_fragment_program 1 -#define GL_MAX_FRAGMENT_PROGRAM_LOCAL_PARAMETERS_NV 0x8868 -#define GL_FRAGMENT_PROGRAM_NV 0x8870 -#define GL_MAX_TEXTURE_COORDS_NV 0x8871 -#define GL_MAX_TEXTURE_IMAGE_UNITS_NV 0x8872 -#define GL_FRAGMENT_PROGRAM_BINDING_NV 0x8873 -#define GL_PROGRAM_ERROR_STRING_NV 0x8874 -typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4FNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4FVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, const GLfloat *v); -typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4DNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLPROGRAMNAMEDPARAMETER4DVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, const GLdouble *v); -typedef void (APIENTRYP PFNGLGETPROGRAMNAMEDPARAMETERFVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLfloat *params); -typedef void (APIENTRYP PFNGLGETPROGRAMNAMEDPARAMETERDVNVPROC) (GLuint id, GLsizei len, const GLubyte *name, GLdouble *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramNamedParameter4fNV (GLuint id, GLsizei len, const GLubyte *name, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glProgramNamedParameter4fvNV (GLuint id, GLsizei len, const GLubyte *name, const GLfloat *v); -GLAPI void APIENTRY glProgramNamedParameter4dNV (GLuint id, GLsizei len, const GLubyte *name, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glProgramNamedParameter4dvNV (GLuint id, GLsizei len, const GLubyte *name, const GLdouble *v); -GLAPI void APIENTRY glGetProgramNamedParameterfvNV (GLuint id, GLsizei len, const GLubyte *name, GLfloat *params); -GLAPI void APIENTRY glGetProgramNamedParameterdvNV (GLuint id, GLsizei len, const GLubyte *name, GLdouble *params); -#endif -#endif /* GL_NV_fragment_program */ - -#ifndef GL_NV_fragment_program2 -#define GL_NV_fragment_program2 1 -#define GL_MAX_PROGRAM_EXEC_INSTRUCTIONS_NV 0x88F4 -#define GL_MAX_PROGRAM_CALL_DEPTH_NV 0x88F5 -#define GL_MAX_PROGRAM_IF_DEPTH_NV 0x88F6 -#define GL_MAX_PROGRAM_LOOP_DEPTH_NV 0x88F7 -#define GL_MAX_PROGRAM_LOOP_COUNT_NV 0x88F8 -#endif /* GL_NV_fragment_program2 */ - -#ifndef GL_NV_fragment_program4 -#define GL_NV_fragment_program4 1 -#endif /* GL_NV_fragment_program4 */ - -#ifndef GL_NV_fragment_program_option -#define GL_NV_fragment_program_option 1 -#endif /* GL_NV_fragment_program_option */ - -#ifndef GL_NV_fragment_shader_barycentric -#define GL_NV_fragment_shader_barycentric 1 -#endif /* GL_NV_fragment_shader_barycentric */ - -#ifndef GL_NV_fragment_shader_interlock -#define GL_NV_fragment_shader_interlock 1 -#endif /* GL_NV_fragment_shader_interlock */ - -#ifndef GL_NV_framebuffer_mixed_samples -#define GL_NV_framebuffer_mixed_samples 1 -#define GL_COVERAGE_MODULATION_TABLE_NV 0x9331 -#define GL_COLOR_SAMPLES_NV 0x8E20 -#define GL_DEPTH_SAMPLES_NV 0x932D -#define GL_STENCIL_SAMPLES_NV 0x932E -#define GL_MIXED_DEPTH_SAMPLES_SUPPORTED_NV 0x932F -#define GL_MIXED_STENCIL_SAMPLES_SUPPORTED_NV 0x9330 -#define GL_COVERAGE_MODULATION_NV 0x9332 -#define GL_COVERAGE_MODULATION_TABLE_SIZE_NV 0x9333 -typedef void (APIENTRYP PFNGLCOVERAGEMODULATIONTABLENVPROC) (GLsizei n, const GLfloat *v); -typedef void (APIENTRYP PFNGLGETCOVERAGEMODULATIONTABLENVPROC) (GLsizei bufSize, GLfloat *v); -typedef void (APIENTRYP PFNGLCOVERAGEMODULATIONNVPROC) (GLenum components); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCoverageModulationTableNV (GLsizei n, const GLfloat *v); -GLAPI void APIENTRY glGetCoverageModulationTableNV (GLsizei bufSize, GLfloat *v); -GLAPI void APIENTRY glCoverageModulationNV (GLenum components); -#endif -#endif /* GL_NV_framebuffer_mixed_samples */ - -#ifndef GL_NV_framebuffer_multisample_coverage -#define GL_NV_framebuffer_multisample_coverage 1 -#define GL_RENDERBUFFER_COVERAGE_SAMPLES_NV 0x8CAB -#define GL_RENDERBUFFER_COLOR_SAMPLES_NV 0x8E10 -#define GL_MAX_MULTISAMPLE_COVERAGE_MODES_NV 0x8E11 -#define GL_MULTISAMPLE_COVERAGE_MODES_NV 0x8E12 -typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glRenderbufferStorageMultisampleCoverageNV (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); -#endif -#endif /* GL_NV_framebuffer_multisample_coverage */ - -#ifndef GL_NV_geometry_program4 -#define GL_NV_geometry_program4 1 -#define GL_GEOMETRY_PROGRAM_NV 0x8C26 -#define GL_MAX_PROGRAM_OUTPUT_VERTICES_NV 0x8C27 -#define GL_MAX_PROGRAM_TOTAL_OUTPUT_COMPONENTS_NV 0x8C28 -typedef void (APIENTRYP PFNGLPROGRAMVERTEXLIMITNVPROC) (GLenum target, GLint limit); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREFACEEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramVertexLimitNV (GLenum target, GLint limit); -GLAPI void APIENTRY glFramebufferTextureEXT (GLenum target, GLenum attachment, GLuint texture, GLint level); -GLAPI void APIENTRY glFramebufferTextureFaceEXT (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); -#endif -#endif /* GL_NV_geometry_program4 */ - -#ifndef GL_NV_geometry_shader4 -#define GL_NV_geometry_shader4 1 -#endif /* GL_NV_geometry_shader4 */ - -#ifndef GL_NV_geometry_shader_passthrough -#define GL_NV_geometry_shader_passthrough 1 -#endif /* GL_NV_geometry_shader_passthrough */ - -#ifndef GL_NV_gpu_multicast -#define GL_NV_gpu_multicast 1 -#define GL_PER_GPU_STORAGE_BIT_NV 0x0800 -#define GL_MULTICAST_GPUS_NV 0x92BA -#define GL_RENDER_GPU_MASK_NV 0x9558 -#define GL_PER_GPU_STORAGE_NV 0x9548 -#define GL_MULTICAST_PROGRAMMABLE_SAMPLE_LOCATION_NV 0x9549 -typedef void (APIENTRYP PFNGLRENDERGPUMASKNVPROC) (GLbitfield mask); -typedef void (APIENTRYP PFNGLMULTICASTBUFFERSUBDATANVPROC) (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -typedef void (APIENTRYP PFNGLMULTICASTCOPYBUFFERSUBDATANVPROC) (GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLMULTICASTCOPYIMAGESUBDATANVPROC) (GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -typedef void (APIENTRYP PFNGLMULTICASTBLITFRAMEBUFFERNVPROC) (GLuint srcGpu, GLuint dstGpu, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -typedef void (APIENTRYP PFNGLMULTICASTFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLuint gpu, GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLMULTICASTBARRIERNVPROC) (void); -typedef void (APIENTRYP PFNGLMULTICASTWAITSYNCNVPROC) (GLuint signalGpu, GLbitfield waitGpuMask); -typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTIVNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTUIVNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTI64VNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLint64 *params); -typedef void (APIENTRYP PFNGLMULTICASTGETQUERYOBJECTUI64VNVPROC) (GLuint gpu, GLuint id, GLenum pname, GLuint64 *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glRenderGpuMaskNV (GLbitfield mask); -GLAPI void APIENTRY glMulticastBufferSubDataNV (GLbitfield gpuMask, GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); -GLAPI void APIENTRY glMulticastCopyBufferSubDataNV (GLuint readGpu, GLbitfield writeGpuMask, GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -GLAPI void APIENTRY glMulticastCopyImageSubDataNV (GLuint srcGpu, GLbitfield dstGpuMask, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -GLAPI void APIENTRY glMulticastBlitFramebufferNV (GLuint srcGpu, GLuint dstGpu, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -GLAPI void APIENTRY glMulticastFramebufferSampleLocationsfvNV (GLuint gpu, GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glMulticastBarrierNV (void); -GLAPI void APIENTRY glMulticastWaitSyncNV (GLuint signalGpu, GLbitfield waitGpuMask); -GLAPI void APIENTRY glMulticastGetQueryObjectivNV (GLuint gpu, GLuint id, GLenum pname, GLint *params); -GLAPI void APIENTRY glMulticastGetQueryObjectuivNV (GLuint gpu, GLuint id, GLenum pname, GLuint *params); -GLAPI void APIENTRY glMulticastGetQueryObjecti64vNV (GLuint gpu, GLuint id, GLenum pname, GLint64 *params); -GLAPI void APIENTRY glMulticastGetQueryObjectui64vNV (GLuint gpu, GLuint id, GLenum pname, GLuint64 *params); -#endif -#endif /* GL_NV_gpu_multicast */ - -#ifndef GL_NV_gpu_program4 -#define GL_NV_gpu_program4 1 -#define GL_MIN_PROGRAM_TEXEL_OFFSET_NV 0x8904 -#define GL_MAX_PROGRAM_TEXEL_OFFSET_NV 0x8905 -#define GL_PROGRAM_ATTRIB_COMPONENTS_NV 0x8906 -#define GL_PROGRAM_RESULT_COMPONENTS_NV 0x8907 -#define GL_MAX_PROGRAM_ATTRIB_COMPONENTS_NV 0x8908 -#define GL_MAX_PROGRAM_RESULT_COMPONENTS_NV 0x8909 -#define GL_MAX_PROGRAM_GENERIC_ATTRIBS_NV 0x8DA5 -#define GL_MAX_PROGRAM_GENERIC_RESULTS_NV 0x8DA6 -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4INVPROC) (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4IVNVPROC) (GLenum target, GLuint index, const GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERSI4IVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4UINVPROC) (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERI4UIVNVPROC) (GLenum target, GLuint index, const GLuint *params); -typedef void (APIENTRYP PFNGLPROGRAMLOCALPARAMETERSI4UIVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLuint *params); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4INVPROC) (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4IVNVPROC) (GLenum target, GLuint index, const GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERSI4IVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4UINVPROC) (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERI4UIVNVPROC) (GLenum target, GLuint index, const GLuint *params); -typedef void (APIENTRYP PFNGLPROGRAMENVPARAMETERSI4UIVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLuint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERIIVNVPROC) (GLenum target, GLuint index, GLint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMLOCALPARAMETERIUIVNVPROC) (GLenum target, GLuint index, GLuint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERIIVNVPROC) (GLenum target, GLuint index, GLint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMENVPARAMETERIUIVNVPROC) (GLenum target, GLuint index, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramLocalParameterI4iNV (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glProgramLocalParameterI4ivNV (GLenum target, GLuint index, const GLint *params); -GLAPI void APIENTRY glProgramLocalParametersI4ivNV (GLenum target, GLuint index, GLsizei count, const GLint *params); -GLAPI void APIENTRY glProgramLocalParameterI4uiNV (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -GLAPI void APIENTRY glProgramLocalParameterI4uivNV (GLenum target, GLuint index, const GLuint *params); -GLAPI void APIENTRY glProgramLocalParametersI4uivNV (GLenum target, GLuint index, GLsizei count, const GLuint *params); -GLAPI void APIENTRY glProgramEnvParameterI4iNV (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); -GLAPI void APIENTRY glProgramEnvParameterI4ivNV (GLenum target, GLuint index, const GLint *params); -GLAPI void APIENTRY glProgramEnvParametersI4ivNV (GLenum target, GLuint index, GLsizei count, const GLint *params); -GLAPI void APIENTRY glProgramEnvParameterI4uiNV (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); -GLAPI void APIENTRY glProgramEnvParameterI4uivNV (GLenum target, GLuint index, const GLuint *params); -GLAPI void APIENTRY glProgramEnvParametersI4uivNV (GLenum target, GLuint index, GLsizei count, const GLuint *params); -GLAPI void APIENTRY glGetProgramLocalParameterIivNV (GLenum target, GLuint index, GLint *params); -GLAPI void APIENTRY glGetProgramLocalParameterIuivNV (GLenum target, GLuint index, GLuint *params); -GLAPI void APIENTRY glGetProgramEnvParameterIivNV (GLenum target, GLuint index, GLint *params); -GLAPI void APIENTRY glGetProgramEnvParameterIuivNV (GLenum target, GLuint index, GLuint *params); -#endif -#endif /* GL_NV_gpu_program4 */ - -#ifndef GL_NV_gpu_program5 -#define GL_NV_gpu_program5 1 -#define GL_MAX_GEOMETRY_PROGRAM_INVOCATIONS_NV 0x8E5A -#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET_NV 0x8E5B -#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET_NV 0x8E5C -#define GL_FRAGMENT_PROGRAM_INTERPOLATION_OFFSET_BITS_NV 0x8E5D -#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET_NV 0x8E5E -#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET_NV 0x8E5F -#define GL_MAX_PROGRAM_SUBROUTINE_PARAMETERS_NV 0x8F44 -#define GL_MAX_PROGRAM_SUBROUTINE_NUM_NV 0x8F45 -typedef void (APIENTRYP PFNGLPROGRAMSUBROUTINEPARAMETERSUIVNVPROC) (GLenum target, GLsizei count, const GLuint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMSUBROUTINEPARAMETERUIVNVPROC) (GLenum target, GLuint index, GLuint *param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramSubroutineParametersuivNV (GLenum target, GLsizei count, const GLuint *params); -GLAPI void APIENTRY glGetProgramSubroutineParameteruivNV (GLenum target, GLuint index, GLuint *param); -#endif -#endif /* GL_NV_gpu_program5 */ - -#ifndef GL_NV_gpu_program5_mem_extended -#define GL_NV_gpu_program5_mem_extended 1 -#endif /* GL_NV_gpu_program5_mem_extended */ - -#ifndef GL_NV_gpu_shader5 -#define GL_NV_gpu_shader5 1 -#endif /* GL_NV_gpu_shader5 */ - -#ifndef GL_NV_half_float -#define GL_NV_half_float 1 -typedef unsigned short GLhalfNV; -#define GL_HALF_FLOAT_NV 0x140B -typedef void (APIENTRYP PFNGLVERTEX2HNVPROC) (GLhalfNV x, GLhalfNV y); -typedef void (APIENTRYP PFNGLVERTEX2HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEX3HNVPROC) (GLhalfNV x, GLhalfNV y, GLhalfNV z); -typedef void (APIENTRYP PFNGLVERTEX3HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEX4HNVPROC) (GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); -typedef void (APIENTRYP PFNGLVERTEX4HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLNORMAL3HNVPROC) (GLhalfNV nx, GLhalfNV ny, GLhalfNV nz); -typedef void (APIENTRYP PFNGLNORMAL3HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLCOLOR3HNVPROC) (GLhalfNV red, GLhalfNV green, GLhalfNV blue); -typedef void (APIENTRYP PFNGLCOLOR3HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLCOLOR4HNVPROC) (GLhalfNV red, GLhalfNV green, GLhalfNV blue, GLhalfNV alpha); -typedef void (APIENTRYP PFNGLCOLOR4HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLTEXCOORD1HNVPROC) (GLhalfNV s); -typedef void (APIENTRYP PFNGLTEXCOORD1HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLTEXCOORD2HNVPROC) (GLhalfNV s, GLhalfNV t); -typedef void (APIENTRYP PFNGLTEXCOORD2HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLTEXCOORD3HNVPROC) (GLhalfNV s, GLhalfNV t, GLhalfNV r); -typedef void (APIENTRYP PFNGLTEXCOORD3HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLTEXCOORD4HNVPROC) (GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); -typedef void (APIENTRYP PFNGLTEXCOORD4HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1HNVPROC) (GLenum target, GLhalfNV s); -typedef void (APIENTRYP PFNGLMULTITEXCOORD1HVNVPROC) (GLenum target, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2HNVPROC) (GLenum target, GLhalfNV s, GLhalfNV t); -typedef void (APIENTRYP PFNGLMULTITEXCOORD2HVNVPROC) (GLenum target, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3HNVPROC) (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r); -typedef void (APIENTRYP PFNGLMULTITEXCOORD3HVNVPROC) (GLenum target, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4HNVPROC) (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); -typedef void (APIENTRYP PFNGLMULTITEXCOORD4HVNVPROC) (GLenum target, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLFOGCOORDHNVPROC) (GLhalfNV fog); -typedef void (APIENTRYP PFNGLFOGCOORDHVNVPROC) (const GLhalfNV *fog); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3HNVPROC) (GLhalfNV red, GLhalfNV green, GLhalfNV blue); -typedef void (APIENTRYP PFNGLSECONDARYCOLOR3HVNVPROC) (const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXWEIGHTHNVPROC) (GLhalfNV weight); -typedef void (APIENTRYP PFNGLVERTEXWEIGHTHVNVPROC) (const GLhalfNV *weight); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1HNVPROC) (GLuint index, GLhalfNV x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1HVNVPROC) (GLuint index, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2HNVPROC) (GLuint index, GLhalfNV x, GLhalfNV y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2HVNVPROC) (GLuint index, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3HNVPROC) (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3HVNVPROC) (GLuint index, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4HNVPROC) (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4HVNVPROC) (GLuint index, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS1HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS2HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS3HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS4HVNVPROC) (GLuint index, GLsizei n, const GLhalfNV *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertex2hNV (GLhalfNV x, GLhalfNV y); -GLAPI void APIENTRY glVertex2hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glVertex3hNV (GLhalfNV x, GLhalfNV y, GLhalfNV z); -GLAPI void APIENTRY glVertex3hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glVertex4hNV (GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); -GLAPI void APIENTRY glVertex4hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glNormal3hNV (GLhalfNV nx, GLhalfNV ny, GLhalfNV nz); -GLAPI void APIENTRY glNormal3hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glColor3hNV (GLhalfNV red, GLhalfNV green, GLhalfNV blue); -GLAPI void APIENTRY glColor3hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glColor4hNV (GLhalfNV red, GLhalfNV green, GLhalfNV blue, GLhalfNV alpha); -GLAPI void APIENTRY glColor4hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glTexCoord1hNV (GLhalfNV s); -GLAPI void APIENTRY glTexCoord1hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glTexCoord2hNV (GLhalfNV s, GLhalfNV t); -GLAPI void APIENTRY glTexCoord2hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glTexCoord3hNV (GLhalfNV s, GLhalfNV t, GLhalfNV r); -GLAPI void APIENTRY glTexCoord3hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glTexCoord4hNV (GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); -GLAPI void APIENTRY glTexCoord4hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glMultiTexCoord1hNV (GLenum target, GLhalfNV s); -GLAPI void APIENTRY glMultiTexCoord1hvNV (GLenum target, const GLhalfNV *v); -GLAPI void APIENTRY glMultiTexCoord2hNV (GLenum target, GLhalfNV s, GLhalfNV t); -GLAPI void APIENTRY glMultiTexCoord2hvNV (GLenum target, const GLhalfNV *v); -GLAPI void APIENTRY glMultiTexCoord3hNV (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r); -GLAPI void APIENTRY glMultiTexCoord3hvNV (GLenum target, const GLhalfNV *v); -GLAPI void APIENTRY glMultiTexCoord4hNV (GLenum target, GLhalfNV s, GLhalfNV t, GLhalfNV r, GLhalfNV q); -GLAPI void APIENTRY glMultiTexCoord4hvNV (GLenum target, const GLhalfNV *v); -GLAPI void APIENTRY glFogCoordhNV (GLhalfNV fog); -GLAPI void APIENTRY glFogCoordhvNV (const GLhalfNV *fog); -GLAPI void APIENTRY glSecondaryColor3hNV (GLhalfNV red, GLhalfNV green, GLhalfNV blue); -GLAPI void APIENTRY glSecondaryColor3hvNV (const GLhalfNV *v); -GLAPI void APIENTRY glVertexWeighthNV (GLhalfNV weight); -GLAPI void APIENTRY glVertexWeighthvNV (const GLhalfNV *weight); -GLAPI void APIENTRY glVertexAttrib1hNV (GLuint index, GLhalfNV x); -GLAPI void APIENTRY glVertexAttrib1hvNV (GLuint index, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttrib2hNV (GLuint index, GLhalfNV x, GLhalfNV y); -GLAPI void APIENTRY glVertexAttrib2hvNV (GLuint index, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttrib3hNV (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z); -GLAPI void APIENTRY glVertexAttrib3hvNV (GLuint index, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttrib4hNV (GLuint index, GLhalfNV x, GLhalfNV y, GLhalfNV z, GLhalfNV w); -GLAPI void APIENTRY glVertexAttrib4hvNV (GLuint index, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttribs1hvNV (GLuint index, GLsizei n, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttribs2hvNV (GLuint index, GLsizei n, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttribs3hvNV (GLuint index, GLsizei n, const GLhalfNV *v); -GLAPI void APIENTRY glVertexAttribs4hvNV (GLuint index, GLsizei n, const GLhalfNV *v); -#endif -#endif /* GL_NV_half_float */ - -#ifndef GL_NV_internalformat_sample_query -#define GL_NV_internalformat_sample_query 1 -#define GL_MULTISAMPLES_NV 0x9371 -#define GL_SUPERSAMPLE_SCALE_X_NV 0x9372 -#define GL_SUPERSAMPLE_SCALE_Y_NV 0x9373 -#define GL_CONFORMANT_NV 0x9374 -typedef void (APIENTRYP PFNGLGETINTERNALFORMATSAMPLEIVNVPROC) (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetInternalformatSampleivNV (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); -#endif -#endif /* GL_NV_internalformat_sample_query */ - -#ifndef GL_NV_light_max_exponent -#define GL_NV_light_max_exponent 1 -#define GL_MAX_SHININESS_NV 0x8504 -#define GL_MAX_SPOT_EXPONENT_NV 0x8505 -#endif /* GL_NV_light_max_exponent */ - -#ifndef GL_NV_memory_attachment -#define GL_NV_memory_attachment 1 -#define GL_ATTACHED_MEMORY_OBJECT_NV 0x95A4 -#define GL_ATTACHED_MEMORY_OFFSET_NV 0x95A5 -#define GL_MEMORY_ATTACHABLE_ALIGNMENT_NV 0x95A6 -#define GL_MEMORY_ATTACHABLE_SIZE_NV 0x95A7 -#define GL_MEMORY_ATTACHABLE_NV 0x95A8 -#define GL_DETACHED_MEMORY_INCARNATION_NV 0x95A9 -#define GL_DETACHED_TEXTURES_NV 0x95AA -#define GL_DETACHED_BUFFERS_NV 0x95AB -#define GL_MAX_DETACHED_TEXTURES_NV 0x95AC -#define GL_MAX_DETACHED_BUFFERS_NV 0x95AD -typedef void (APIENTRYP PFNGLGETMEMORYOBJECTDETACHEDRESOURCESUIVNVPROC) (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); -typedef void (APIENTRYP PFNGLRESETMEMORYOBJECTPARAMETERNVPROC) (GLuint memory, GLenum pname); -typedef void (APIENTRYP PFNGLTEXATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLBUFFERATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLTEXTUREATTACHMEMORYNVPROC) (GLuint texture, GLuint memory, GLuint64 offset); -typedef void (APIENTRYP PFNGLNAMEDBUFFERATTACHMEMORYNVPROC) (GLuint buffer, GLuint memory, GLuint64 offset); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetMemoryObjectDetachedResourcesuivNV (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); -GLAPI void APIENTRY glResetMemoryObjectParameterNV (GLuint memory, GLenum pname); -GLAPI void APIENTRY glTexAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glBufferAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glTextureAttachMemoryNV (GLuint texture, GLuint memory, GLuint64 offset); -GLAPI void APIENTRY glNamedBufferAttachMemoryNV (GLuint buffer, GLuint memory, GLuint64 offset); -#endif -#endif /* GL_NV_memory_attachment */ - -#ifndef GL_NV_memory_object_sparse -#define GL_NV_memory_object_sparse 1 -typedef void (APIENTRYP PFNGLBUFFERPAGECOMMITMENTMEMNVPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -typedef void (APIENTRYP PFNGLTEXPAGECOMMITMENTMEMNVPROC) (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -typedef void (APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTMEMNVPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -typedef void (APIENTRYP PFNGLTEXTUREPAGECOMMITMENTMEMNVPROC) (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBufferPageCommitmentMemNV (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -GLAPI void APIENTRY glTexPageCommitmentMemNV (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -GLAPI void APIENTRY glNamedBufferPageCommitmentMemNV (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -GLAPI void APIENTRY glTexturePageCommitmentMemNV (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -#endif -#endif /* GL_NV_memory_object_sparse */ - -#ifndef GL_NV_mesh_shader -#define GL_NV_mesh_shader 1 -#define GL_MESH_SHADER_NV 0x9559 -#define GL_TASK_SHADER_NV 0x955A -#define GL_MAX_MESH_UNIFORM_BLOCKS_NV 0x8E60 -#define GL_MAX_MESH_TEXTURE_IMAGE_UNITS_NV 0x8E61 -#define GL_MAX_MESH_IMAGE_UNIFORMS_NV 0x8E62 -#define GL_MAX_MESH_UNIFORM_COMPONENTS_NV 0x8E63 -#define GL_MAX_MESH_ATOMIC_COUNTER_BUFFERS_NV 0x8E64 -#define GL_MAX_MESH_ATOMIC_COUNTERS_NV 0x8E65 -#define GL_MAX_MESH_SHADER_STORAGE_BLOCKS_NV 0x8E66 -#define GL_MAX_COMBINED_MESH_UNIFORM_COMPONENTS_NV 0x8E67 -#define GL_MAX_TASK_UNIFORM_BLOCKS_NV 0x8E68 -#define GL_MAX_TASK_TEXTURE_IMAGE_UNITS_NV 0x8E69 -#define GL_MAX_TASK_IMAGE_UNIFORMS_NV 0x8E6A -#define GL_MAX_TASK_UNIFORM_COMPONENTS_NV 0x8E6B -#define GL_MAX_TASK_ATOMIC_COUNTER_BUFFERS_NV 0x8E6C -#define GL_MAX_TASK_ATOMIC_COUNTERS_NV 0x8E6D -#define GL_MAX_TASK_SHADER_STORAGE_BLOCKS_NV 0x8E6E -#define GL_MAX_COMBINED_TASK_UNIFORM_COMPONENTS_NV 0x8E6F -#define GL_MAX_MESH_WORK_GROUP_INVOCATIONS_NV 0x95A2 -#define GL_MAX_TASK_WORK_GROUP_INVOCATIONS_NV 0x95A3 -#define GL_MAX_MESH_TOTAL_MEMORY_SIZE_NV 0x9536 -#define GL_MAX_TASK_TOTAL_MEMORY_SIZE_NV 0x9537 -#define GL_MAX_MESH_OUTPUT_VERTICES_NV 0x9538 -#define GL_MAX_MESH_OUTPUT_PRIMITIVES_NV 0x9539 -#define GL_MAX_TASK_OUTPUT_COUNT_NV 0x953A -#define GL_MAX_DRAW_MESH_TASKS_COUNT_NV 0x953D -#define GL_MAX_MESH_VIEWS_NV 0x9557 -#define GL_MESH_OUTPUT_PER_VERTEX_GRANULARITY_NV 0x92DF -#define GL_MESH_OUTPUT_PER_PRIMITIVE_GRANULARITY_NV 0x9543 -#define GL_MAX_MESH_WORK_GROUP_SIZE_NV 0x953B -#define GL_MAX_TASK_WORK_GROUP_SIZE_NV 0x953C -#define GL_MESH_WORK_GROUP_SIZE_NV 0x953E -#define GL_TASK_WORK_GROUP_SIZE_NV 0x953F -#define GL_MESH_VERTICES_OUT_NV 0x9579 -#define GL_MESH_PRIMITIVES_OUT_NV 0x957A -#define GL_MESH_OUTPUT_TYPE_NV 0x957B -#define GL_UNIFORM_BLOCK_REFERENCED_BY_MESH_SHADER_NV 0x959C -#define GL_UNIFORM_BLOCK_REFERENCED_BY_TASK_SHADER_NV 0x959D -#define GL_REFERENCED_BY_MESH_SHADER_NV 0x95A0 -#define GL_REFERENCED_BY_TASK_SHADER_NV 0x95A1 -#define GL_MESH_SHADER_BIT_NV 0x00000040 -#define GL_TASK_SHADER_BIT_NV 0x00000080 -#define GL_MESH_SUBROUTINE_NV 0x957C -#define GL_TASK_SUBROUTINE_NV 0x957D -#define GL_MESH_SUBROUTINE_UNIFORM_NV 0x957E -#define GL_TASK_SUBROUTINE_UNIFORM_NV 0x957F -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_MESH_SHADER_NV 0x959E -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TASK_SHADER_NV 0x959F -typedef void (APIENTRYP PFNGLDRAWMESHTASKSNVPROC) (GLuint first, GLuint count); -typedef void (APIENTRYP PFNGLDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect); -typedef void (APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect, GLsizei drawcount, GLsizei stride); -typedef void (APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTCOUNTNVPROC) (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawMeshTasksNV (GLuint first, GLuint count); -GLAPI void APIENTRY glDrawMeshTasksIndirectNV (GLintptr indirect); -GLAPI void APIENTRY glMultiDrawMeshTasksIndirectNV (GLintptr indirect, GLsizei drawcount, GLsizei stride); -GLAPI void APIENTRY glMultiDrawMeshTasksIndirectCountNV (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -#endif -#endif /* GL_NV_mesh_shader */ - -#ifndef GL_NV_multisample_coverage -#define GL_NV_multisample_coverage 1 -#endif /* GL_NV_multisample_coverage */ - -#ifndef GL_NV_multisample_filter_hint -#define GL_NV_multisample_filter_hint 1 -#define GL_MULTISAMPLE_FILTER_HINT_NV 0x8534 -#endif /* GL_NV_multisample_filter_hint */ - -#ifndef GL_NV_occlusion_query -#define GL_NV_occlusion_query 1 -#define GL_PIXEL_COUNTER_BITS_NV 0x8864 -#define GL_CURRENT_OCCLUSION_QUERY_ID_NV 0x8865 -#define GL_PIXEL_COUNT_NV 0x8866 -#define GL_PIXEL_COUNT_AVAILABLE_NV 0x8867 -typedef void (APIENTRYP PFNGLGENOCCLUSIONQUERIESNVPROC) (GLsizei n, GLuint *ids); -typedef void (APIENTRYP PFNGLDELETEOCCLUSIONQUERIESNVPROC) (GLsizei n, const GLuint *ids); -typedef GLboolean (APIENTRYP PFNGLISOCCLUSIONQUERYNVPROC) (GLuint id); -typedef void (APIENTRYP PFNGLBEGINOCCLUSIONQUERYNVPROC) (GLuint id); -typedef void (APIENTRYP PFNGLENDOCCLUSIONQUERYNVPROC) (void); -typedef void (APIENTRYP PFNGLGETOCCLUSIONQUERYIVNVPROC) (GLuint id, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETOCCLUSIONQUERYUIVNVPROC) (GLuint id, GLenum pname, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenOcclusionQueriesNV (GLsizei n, GLuint *ids); -GLAPI void APIENTRY glDeleteOcclusionQueriesNV (GLsizei n, const GLuint *ids); -GLAPI GLboolean APIENTRY glIsOcclusionQueryNV (GLuint id); -GLAPI void APIENTRY glBeginOcclusionQueryNV (GLuint id); -GLAPI void APIENTRY glEndOcclusionQueryNV (void); -GLAPI void APIENTRY glGetOcclusionQueryivNV (GLuint id, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetOcclusionQueryuivNV (GLuint id, GLenum pname, GLuint *params); -#endif -#endif /* GL_NV_occlusion_query */ - -#ifndef GL_NV_packed_depth_stencil -#define GL_NV_packed_depth_stencil 1 -#define GL_DEPTH_STENCIL_NV 0x84F9 -#define GL_UNSIGNED_INT_24_8_NV 0x84FA -#endif /* GL_NV_packed_depth_stencil */ - -#ifndef GL_NV_parameter_buffer_object -#define GL_NV_parameter_buffer_object 1 -#define GL_MAX_PROGRAM_PARAMETER_BUFFER_BINDINGS_NV 0x8DA0 -#define GL_MAX_PROGRAM_PARAMETER_BUFFER_SIZE_NV 0x8DA1 -#define GL_VERTEX_PROGRAM_PARAMETER_BUFFER_NV 0x8DA2 -#define GL_GEOMETRY_PROGRAM_PARAMETER_BUFFER_NV 0x8DA3 -#define GL_FRAGMENT_PROGRAM_PARAMETER_BUFFER_NV 0x8DA4 -typedef void (APIENTRYP PFNGLPROGRAMBUFFERPARAMETERSFVNVPROC) (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLfloat *params); -typedef void (APIENTRYP PFNGLPROGRAMBUFFERPARAMETERSIIVNVPROC) (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLint *params); -typedef void (APIENTRYP PFNGLPROGRAMBUFFERPARAMETERSIUIVNVPROC) (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glProgramBufferParametersfvNV (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLfloat *params); -GLAPI void APIENTRY glProgramBufferParametersIivNV (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLint *params); -GLAPI void APIENTRY glProgramBufferParametersIuivNV (GLenum target, GLuint bindingIndex, GLuint wordIndex, GLsizei count, const GLuint *params); -#endif -#endif /* GL_NV_parameter_buffer_object */ - -#ifndef GL_NV_parameter_buffer_object2 -#define GL_NV_parameter_buffer_object2 1 -#endif /* GL_NV_parameter_buffer_object2 */ - -#ifndef GL_NV_path_rendering -#define GL_NV_path_rendering 1 -#define GL_PATH_FORMAT_SVG_NV 0x9070 -#define GL_PATH_FORMAT_PS_NV 0x9071 -#define GL_STANDARD_FONT_NAME_NV 0x9072 -#define GL_SYSTEM_FONT_NAME_NV 0x9073 -#define GL_FILE_NAME_NV 0x9074 -#define GL_PATH_STROKE_WIDTH_NV 0x9075 -#define GL_PATH_END_CAPS_NV 0x9076 -#define GL_PATH_INITIAL_END_CAP_NV 0x9077 -#define GL_PATH_TERMINAL_END_CAP_NV 0x9078 -#define GL_PATH_JOIN_STYLE_NV 0x9079 -#define GL_PATH_MITER_LIMIT_NV 0x907A -#define GL_PATH_DASH_CAPS_NV 0x907B -#define GL_PATH_INITIAL_DASH_CAP_NV 0x907C -#define GL_PATH_TERMINAL_DASH_CAP_NV 0x907D -#define GL_PATH_DASH_OFFSET_NV 0x907E -#define GL_PATH_CLIENT_LENGTH_NV 0x907F -#define GL_PATH_FILL_MODE_NV 0x9080 -#define GL_PATH_FILL_MASK_NV 0x9081 -#define GL_PATH_FILL_COVER_MODE_NV 0x9082 -#define GL_PATH_STROKE_COVER_MODE_NV 0x9083 -#define GL_PATH_STROKE_MASK_NV 0x9084 -#define GL_COUNT_UP_NV 0x9088 -#define GL_COUNT_DOWN_NV 0x9089 -#define GL_PATH_OBJECT_BOUNDING_BOX_NV 0x908A -#define GL_CONVEX_HULL_NV 0x908B -#define GL_BOUNDING_BOX_NV 0x908D -#define GL_TRANSLATE_X_NV 0x908E -#define GL_TRANSLATE_Y_NV 0x908F -#define GL_TRANSLATE_2D_NV 0x9090 -#define GL_TRANSLATE_3D_NV 0x9091 -#define GL_AFFINE_2D_NV 0x9092 -#define GL_AFFINE_3D_NV 0x9094 -#define GL_TRANSPOSE_AFFINE_2D_NV 0x9096 -#define GL_TRANSPOSE_AFFINE_3D_NV 0x9098 -#define GL_UTF8_NV 0x909A -#define GL_UTF16_NV 0x909B -#define GL_BOUNDING_BOX_OF_BOUNDING_BOXES_NV 0x909C -#define GL_PATH_COMMAND_COUNT_NV 0x909D -#define GL_PATH_COORD_COUNT_NV 0x909E -#define GL_PATH_DASH_ARRAY_COUNT_NV 0x909F -#define GL_PATH_COMPUTED_LENGTH_NV 0x90A0 -#define GL_PATH_FILL_BOUNDING_BOX_NV 0x90A1 -#define GL_PATH_STROKE_BOUNDING_BOX_NV 0x90A2 -#define GL_SQUARE_NV 0x90A3 -#define GL_ROUND_NV 0x90A4 -#define GL_TRIANGULAR_NV 0x90A5 -#define GL_BEVEL_NV 0x90A6 -#define GL_MITER_REVERT_NV 0x90A7 -#define GL_MITER_TRUNCATE_NV 0x90A8 -#define GL_SKIP_MISSING_GLYPH_NV 0x90A9 -#define GL_USE_MISSING_GLYPH_NV 0x90AA -#define GL_PATH_ERROR_POSITION_NV 0x90AB -#define GL_ACCUM_ADJACENT_PAIRS_NV 0x90AD -#define GL_ADJACENT_PAIRS_NV 0x90AE -#define GL_FIRST_TO_REST_NV 0x90AF -#define GL_PATH_GEN_MODE_NV 0x90B0 -#define GL_PATH_GEN_COEFF_NV 0x90B1 -#define GL_PATH_GEN_COMPONENTS_NV 0x90B3 -#define GL_PATH_STENCIL_FUNC_NV 0x90B7 -#define GL_PATH_STENCIL_REF_NV 0x90B8 -#define GL_PATH_STENCIL_VALUE_MASK_NV 0x90B9 -#define GL_PATH_STENCIL_DEPTH_OFFSET_FACTOR_NV 0x90BD -#define GL_PATH_STENCIL_DEPTH_OFFSET_UNITS_NV 0x90BE -#define GL_PATH_COVER_DEPTH_FUNC_NV 0x90BF -#define GL_PATH_DASH_OFFSET_RESET_NV 0x90B4 -#define GL_MOVE_TO_RESETS_NV 0x90B5 -#define GL_MOVE_TO_CONTINUES_NV 0x90B6 -#define GL_CLOSE_PATH_NV 0x00 -#define GL_MOVE_TO_NV 0x02 -#define GL_RELATIVE_MOVE_TO_NV 0x03 -#define GL_LINE_TO_NV 0x04 -#define GL_RELATIVE_LINE_TO_NV 0x05 -#define GL_HORIZONTAL_LINE_TO_NV 0x06 -#define GL_RELATIVE_HORIZONTAL_LINE_TO_NV 0x07 -#define GL_VERTICAL_LINE_TO_NV 0x08 -#define GL_RELATIVE_VERTICAL_LINE_TO_NV 0x09 -#define GL_QUADRATIC_CURVE_TO_NV 0x0A -#define GL_RELATIVE_QUADRATIC_CURVE_TO_NV 0x0B -#define GL_CUBIC_CURVE_TO_NV 0x0C -#define GL_RELATIVE_CUBIC_CURVE_TO_NV 0x0D -#define GL_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0E -#define GL_RELATIVE_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0F -#define GL_SMOOTH_CUBIC_CURVE_TO_NV 0x10 -#define GL_RELATIVE_SMOOTH_CUBIC_CURVE_TO_NV 0x11 -#define GL_SMALL_CCW_ARC_TO_NV 0x12 -#define GL_RELATIVE_SMALL_CCW_ARC_TO_NV 0x13 -#define GL_SMALL_CW_ARC_TO_NV 0x14 -#define GL_RELATIVE_SMALL_CW_ARC_TO_NV 0x15 -#define GL_LARGE_CCW_ARC_TO_NV 0x16 -#define GL_RELATIVE_LARGE_CCW_ARC_TO_NV 0x17 -#define GL_LARGE_CW_ARC_TO_NV 0x18 -#define GL_RELATIVE_LARGE_CW_ARC_TO_NV 0x19 -#define GL_RESTART_PATH_NV 0xF0 -#define GL_DUP_FIRST_CUBIC_CURVE_TO_NV 0xF2 -#define GL_DUP_LAST_CUBIC_CURVE_TO_NV 0xF4 -#define GL_RECT_NV 0xF6 -#define GL_CIRCULAR_CCW_ARC_TO_NV 0xF8 -#define GL_CIRCULAR_CW_ARC_TO_NV 0xFA -#define GL_CIRCULAR_TANGENT_ARC_TO_NV 0xFC -#define GL_ARC_TO_NV 0xFE -#define GL_RELATIVE_ARC_TO_NV 0xFF -#define GL_BOLD_BIT_NV 0x01 -#define GL_ITALIC_BIT_NV 0x02 -#define GL_GLYPH_WIDTH_BIT_NV 0x01 -#define GL_GLYPH_HEIGHT_BIT_NV 0x02 -#define GL_GLYPH_HORIZONTAL_BEARING_X_BIT_NV 0x04 -#define GL_GLYPH_HORIZONTAL_BEARING_Y_BIT_NV 0x08 -#define GL_GLYPH_HORIZONTAL_BEARING_ADVANCE_BIT_NV 0x10 -#define GL_GLYPH_VERTICAL_BEARING_X_BIT_NV 0x20 -#define GL_GLYPH_VERTICAL_BEARING_Y_BIT_NV 0x40 -#define GL_GLYPH_VERTICAL_BEARING_ADVANCE_BIT_NV 0x80 -#define GL_GLYPH_HAS_KERNING_BIT_NV 0x100 -#define GL_FONT_X_MIN_BOUNDS_BIT_NV 0x00010000 -#define GL_FONT_Y_MIN_BOUNDS_BIT_NV 0x00020000 -#define GL_FONT_X_MAX_BOUNDS_BIT_NV 0x00040000 -#define GL_FONT_Y_MAX_BOUNDS_BIT_NV 0x00080000 -#define GL_FONT_UNITS_PER_EM_BIT_NV 0x00100000 -#define GL_FONT_ASCENDER_BIT_NV 0x00200000 -#define GL_FONT_DESCENDER_BIT_NV 0x00400000 -#define GL_FONT_HEIGHT_BIT_NV 0x00800000 -#define GL_FONT_MAX_ADVANCE_WIDTH_BIT_NV 0x01000000 -#define GL_FONT_MAX_ADVANCE_HEIGHT_BIT_NV 0x02000000 -#define GL_FONT_UNDERLINE_POSITION_BIT_NV 0x04000000 -#define GL_FONT_UNDERLINE_THICKNESS_BIT_NV 0x08000000 -#define GL_FONT_HAS_KERNING_BIT_NV 0x10000000 -#define GL_ROUNDED_RECT_NV 0xE8 -#define GL_RELATIVE_ROUNDED_RECT_NV 0xE9 -#define GL_ROUNDED_RECT2_NV 0xEA -#define GL_RELATIVE_ROUNDED_RECT2_NV 0xEB -#define GL_ROUNDED_RECT4_NV 0xEC -#define GL_RELATIVE_ROUNDED_RECT4_NV 0xED -#define GL_ROUNDED_RECT8_NV 0xEE -#define GL_RELATIVE_ROUNDED_RECT8_NV 0xEF -#define GL_RELATIVE_RECT_NV 0xF7 -#define GL_FONT_GLYPHS_AVAILABLE_NV 0x9368 -#define GL_FONT_TARGET_UNAVAILABLE_NV 0x9369 -#define GL_FONT_UNAVAILABLE_NV 0x936A -#define GL_FONT_UNINTELLIGIBLE_NV 0x936B -#define GL_CONIC_CURVE_TO_NV 0x1A -#define GL_RELATIVE_CONIC_CURVE_TO_NV 0x1B -#define GL_FONT_NUM_GLYPH_INDICES_BIT_NV 0x20000000 -#define GL_STANDARD_FONT_FORMAT_NV 0x936C -#define GL_2_BYTES_NV 0x1407 -#define GL_3_BYTES_NV 0x1408 -#define GL_4_BYTES_NV 0x1409 -#define GL_EYE_LINEAR_NV 0x2400 -#define GL_OBJECT_LINEAR_NV 0x2401 -#define GL_CONSTANT_NV 0x8576 -#define GL_PATH_FOG_GEN_MODE_NV 0x90AC -#define GL_PRIMARY_COLOR_NV 0x852C -#define GL_SECONDARY_COLOR_NV 0x852D -#define GL_PATH_GEN_COLOR_FORMAT_NV 0x90B2 -#define GL_PATH_PROJECTION_NV 0x1701 -#define GL_PATH_MODELVIEW_NV 0x1700 -#define GL_PATH_MODELVIEW_STACK_DEPTH_NV 0x0BA3 -#define GL_PATH_MODELVIEW_MATRIX_NV 0x0BA6 -#define GL_PATH_MAX_MODELVIEW_STACK_DEPTH_NV 0x0D36 -#define GL_PATH_TRANSPOSE_MODELVIEW_MATRIX_NV 0x84E3 -#define GL_PATH_PROJECTION_STACK_DEPTH_NV 0x0BA4 -#define GL_PATH_PROJECTION_MATRIX_NV 0x0BA7 -#define GL_PATH_MAX_PROJECTION_STACK_DEPTH_NV 0x0D38 -#define GL_PATH_TRANSPOSE_PROJECTION_MATRIX_NV 0x84E4 -#define GL_FRAGMENT_INPUT_NV 0x936D -typedef GLuint (APIENTRYP PFNGLGENPATHSNVPROC) (GLsizei range); -typedef void (APIENTRYP PFNGLDELETEPATHSNVPROC) (GLuint path, GLsizei range); -typedef GLboolean (APIENTRYP PFNGLISPATHNVPROC) (GLuint path); -typedef void (APIENTRYP PFNGLPATHCOMMANDSNVPROC) (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (APIENTRYP PFNGLPATHCOORDSNVPROC) (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (APIENTRYP PFNGLPATHSUBCOMMANDSNVPROC) (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (APIENTRYP PFNGLPATHSUBCOORDSNVPROC) (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (APIENTRYP PFNGLPATHSTRINGNVPROC) (GLuint path, GLenum format, GLsizei length, const void *pathString); -typedef void (APIENTRYP PFNGLPATHGLYPHSNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef void (APIENTRYP PFNGLPATHGLYPHRANGENVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef void (APIENTRYP PFNGLWEIGHTPATHSNVPROC) (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); -typedef void (APIENTRYP PFNGLCOPYPATHNVPROC) (GLuint resultPath, GLuint srcPath); -typedef void (APIENTRYP PFNGLINTERPOLATEPATHSNVPROC) (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); -typedef void (APIENTRYP PFNGLTRANSFORMPATHNVPROC) (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); -typedef void (APIENTRYP PFNGLPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, const GLint *value); -typedef void (APIENTRYP PFNGLPATHPARAMETERINVPROC) (GLuint path, GLenum pname, GLint value); -typedef void (APIENTRYP PFNGLPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, const GLfloat *value); -typedef void (APIENTRYP PFNGLPATHPARAMETERFNVPROC) (GLuint path, GLenum pname, GLfloat value); -typedef void (APIENTRYP PFNGLPATHDASHARRAYNVPROC) (GLuint path, GLsizei dashCount, const GLfloat *dashArray); -typedef void (APIENTRYP PFNGLPATHSTENCILFUNCNVPROC) (GLenum func, GLint ref, GLuint mask); -typedef void (APIENTRYP PFNGLPATHSTENCILDEPTHOFFSETNVPROC) (GLfloat factor, GLfloat units); -typedef void (APIENTRYP PFNGLSTENCILFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask); -typedef void (APIENTRYP PFNGLSTENCILSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask); -typedef void (APIENTRYP PFNGLSTENCILFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); -typedef void (APIENTRYP PFNGLSTENCILSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); -typedef void (APIENTRYP PFNGLPATHCOVERDEPTHFUNCNVPROC) (GLenum func); -typedef void (APIENTRYP PFNGLCOVERFILLPATHNVPROC) (GLuint path, GLenum coverMode); -typedef void (APIENTRYP PFNGLCOVERSTROKEPATHNVPROC) (GLuint path, GLenum coverMode); -typedef void (APIENTRYP PFNGLCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef void (APIENTRYP PFNGLCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef void (APIENTRYP PFNGLGETPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, GLint *value); -typedef void (APIENTRYP PFNGLGETPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, GLfloat *value); -typedef void (APIENTRYP PFNGLGETPATHCOMMANDSNVPROC) (GLuint path, GLubyte *commands); -typedef void (APIENTRYP PFNGLGETPATHCOORDSNVPROC) (GLuint path, GLfloat *coords); -typedef void (APIENTRYP PFNGLGETPATHDASHARRAYNVPROC) (GLuint path, GLfloat *dashArray); -typedef void (APIENTRYP PFNGLGETPATHMETRICSNVPROC) (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); -typedef void (APIENTRYP PFNGLGETPATHMETRICRANGENVPROC) (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); -typedef void (APIENTRYP PFNGLGETPATHSPACINGNVPROC) (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); -typedef GLboolean (APIENTRYP PFNGLISPOINTINFILLPATHNVPROC) (GLuint path, GLuint mask, GLfloat x, GLfloat y); -typedef GLboolean (APIENTRYP PFNGLISPOINTINSTROKEPATHNVPROC) (GLuint path, GLfloat x, GLfloat y); -typedef GLfloat (APIENTRYP PFNGLGETPATHLENGTHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments); -typedef GLboolean (APIENTRYP PFNGLPOINTALONGPATHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); -typedef void (APIENTRYP PFNGLMATRIXLOAD3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXLOAD3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXLOADTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXMULT3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXMULT3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (APIENTRYP PFNGLMATRIXMULTTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); -typedef void (APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask, GLenum coverMode); -typedef void (APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef void (APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef GLenum (APIENTRYP PFNGLPATHGLYPHINDEXRANGENVPROC) (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); -typedef GLenum (APIENTRYP PFNGLPATHGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef GLenum (APIENTRYP PFNGLPATHMEMORYGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef void (APIENTRYP PFNGLPROGRAMPATHFRAGMENTINPUTGENNVPROC) (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); -typedef void (APIENTRYP PFNGLGETPROGRAMRESOURCEFVNVPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); -typedef void (APIENTRYP PFNGLPATHCOLORGENNVPROC) (GLenum color, GLenum genMode, GLenum colorFormat, const GLfloat *coeffs); -typedef void (APIENTRYP PFNGLPATHTEXGENNVPROC) (GLenum texCoordSet, GLenum genMode, GLint components, const GLfloat *coeffs); -typedef void (APIENTRYP PFNGLPATHFOGGENNVPROC) (GLenum genMode); -typedef void (APIENTRYP PFNGLGETPATHCOLORGENIVNVPROC) (GLenum color, GLenum pname, GLint *value); -typedef void (APIENTRYP PFNGLGETPATHCOLORGENFVNVPROC) (GLenum color, GLenum pname, GLfloat *value); -typedef void (APIENTRYP PFNGLGETPATHTEXGENIVNVPROC) (GLenum texCoordSet, GLenum pname, GLint *value); -typedef void (APIENTRYP PFNGLGETPATHTEXGENFVNVPROC) (GLenum texCoordSet, GLenum pname, GLfloat *value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLuint APIENTRY glGenPathsNV (GLsizei range); -GLAPI void APIENTRY glDeletePathsNV (GLuint path, GLsizei range); -GLAPI GLboolean APIENTRY glIsPathNV (GLuint path); -GLAPI void APIENTRY glPathCommandsNV (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -GLAPI void APIENTRY glPathCoordsNV (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); -GLAPI void APIENTRY glPathSubCommandsNV (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -GLAPI void APIENTRY glPathSubCoordsNV (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); -GLAPI void APIENTRY glPathStringNV (GLuint path, GLenum format, GLsizei length, const void *pathString); -GLAPI void APIENTRY glPathGlyphsNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GLAPI void APIENTRY glPathGlyphRangeNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GLAPI void APIENTRY glWeightPathsNV (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); -GLAPI void APIENTRY glCopyPathNV (GLuint resultPath, GLuint srcPath); -GLAPI void APIENTRY glInterpolatePathsNV (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); -GLAPI void APIENTRY glTransformPathNV (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); -GLAPI void APIENTRY glPathParameterivNV (GLuint path, GLenum pname, const GLint *value); -GLAPI void APIENTRY glPathParameteriNV (GLuint path, GLenum pname, GLint value); -GLAPI void APIENTRY glPathParameterfvNV (GLuint path, GLenum pname, const GLfloat *value); -GLAPI void APIENTRY glPathParameterfNV (GLuint path, GLenum pname, GLfloat value); -GLAPI void APIENTRY glPathDashArrayNV (GLuint path, GLsizei dashCount, const GLfloat *dashArray); -GLAPI void APIENTRY glPathStencilFuncNV (GLenum func, GLint ref, GLuint mask); -GLAPI void APIENTRY glPathStencilDepthOffsetNV (GLfloat factor, GLfloat units); -GLAPI void APIENTRY glStencilFillPathNV (GLuint path, GLenum fillMode, GLuint mask); -GLAPI void APIENTRY glStencilStrokePathNV (GLuint path, GLint reference, GLuint mask); -GLAPI void APIENTRY glStencilFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); -GLAPI void APIENTRY glStencilStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); -GLAPI void APIENTRY glPathCoverDepthFuncNV (GLenum func); -GLAPI void APIENTRY glCoverFillPathNV (GLuint path, GLenum coverMode); -GLAPI void APIENTRY glCoverStrokePathNV (GLuint path, GLenum coverMode); -GLAPI void APIENTRY glCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GLAPI void APIENTRY glCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GLAPI void APIENTRY glGetPathParameterivNV (GLuint path, GLenum pname, GLint *value); -GLAPI void APIENTRY glGetPathParameterfvNV (GLuint path, GLenum pname, GLfloat *value); -GLAPI void APIENTRY glGetPathCommandsNV (GLuint path, GLubyte *commands); -GLAPI void APIENTRY glGetPathCoordsNV (GLuint path, GLfloat *coords); -GLAPI void APIENTRY glGetPathDashArrayNV (GLuint path, GLfloat *dashArray); -GLAPI void APIENTRY glGetPathMetricsNV (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); -GLAPI void APIENTRY glGetPathMetricRangeNV (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); -GLAPI void APIENTRY glGetPathSpacingNV (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); -GLAPI GLboolean APIENTRY glIsPointInFillPathNV (GLuint path, GLuint mask, GLfloat x, GLfloat y); -GLAPI GLboolean APIENTRY glIsPointInStrokePathNV (GLuint path, GLfloat x, GLfloat y); -GLAPI GLfloat APIENTRY glGetPathLengthNV (GLuint path, GLsizei startSegment, GLsizei numSegments); -GLAPI GLboolean APIENTRY glPointAlongPathNV (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); -GLAPI void APIENTRY glMatrixLoad3x2fNV (GLenum matrixMode, const GLfloat *m); -GLAPI void APIENTRY glMatrixLoad3x3fNV (GLenum matrixMode, const GLfloat *m); -GLAPI void APIENTRY glMatrixLoadTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); -GLAPI void APIENTRY glMatrixMult3x2fNV (GLenum matrixMode, const GLfloat *m); -GLAPI void APIENTRY glMatrixMult3x3fNV (GLenum matrixMode, const GLfloat *m); -GLAPI void APIENTRY glMatrixMultTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); -GLAPI void APIENTRY glStencilThenCoverFillPathNV (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); -GLAPI void APIENTRY glStencilThenCoverStrokePathNV (GLuint path, GLint reference, GLuint mask, GLenum coverMode); -GLAPI void APIENTRY glStencilThenCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GLAPI void APIENTRY glStencilThenCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GLAPI GLenum APIENTRY glPathGlyphIndexRangeNV (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); -GLAPI GLenum APIENTRY glPathGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GLAPI GLenum APIENTRY glPathMemoryGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GLAPI void APIENTRY glProgramPathFragmentInputGenNV (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); -GLAPI void APIENTRY glGetProgramResourcefvNV (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); -GLAPI void APIENTRY glPathColorGenNV (GLenum color, GLenum genMode, GLenum colorFormat, const GLfloat *coeffs); -GLAPI void APIENTRY glPathTexGenNV (GLenum texCoordSet, GLenum genMode, GLint components, const GLfloat *coeffs); -GLAPI void APIENTRY glPathFogGenNV (GLenum genMode); -GLAPI void APIENTRY glGetPathColorGenivNV (GLenum color, GLenum pname, GLint *value); -GLAPI void APIENTRY glGetPathColorGenfvNV (GLenum color, GLenum pname, GLfloat *value); -GLAPI void APIENTRY glGetPathTexGenivNV (GLenum texCoordSet, GLenum pname, GLint *value); -GLAPI void APIENTRY glGetPathTexGenfvNV (GLenum texCoordSet, GLenum pname, GLfloat *value); -#endif -#endif /* GL_NV_path_rendering */ - -#ifndef GL_NV_path_rendering_shared_edge -#define GL_NV_path_rendering_shared_edge 1 -#define GL_SHARED_EDGE_NV 0xC0 -#endif /* GL_NV_path_rendering_shared_edge */ - -#ifndef GL_NV_pixel_data_range -#define GL_NV_pixel_data_range 1 -#define GL_WRITE_PIXEL_DATA_RANGE_NV 0x8878 -#define GL_READ_PIXEL_DATA_RANGE_NV 0x8879 -#define GL_WRITE_PIXEL_DATA_RANGE_LENGTH_NV 0x887A -#define GL_READ_PIXEL_DATA_RANGE_LENGTH_NV 0x887B -#define GL_WRITE_PIXEL_DATA_RANGE_POINTER_NV 0x887C -#define GL_READ_PIXEL_DATA_RANGE_POINTER_NV 0x887D -typedef void (APIENTRYP PFNGLPIXELDATARANGENVPROC) (GLenum target, GLsizei length, const void *pointer); -typedef void (APIENTRYP PFNGLFLUSHPIXELDATARANGENVPROC) (GLenum target); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPixelDataRangeNV (GLenum target, GLsizei length, const void *pointer); -GLAPI void APIENTRY glFlushPixelDataRangeNV (GLenum target); -#endif -#endif /* GL_NV_pixel_data_range */ - -#ifndef GL_NV_point_sprite -#define GL_NV_point_sprite 1 -#define GL_POINT_SPRITE_NV 0x8861 -#define GL_COORD_REPLACE_NV 0x8862 -#define GL_POINT_SPRITE_R_MODE_NV 0x8863 -typedef void (APIENTRYP PFNGLPOINTPARAMETERINVPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLPOINTPARAMETERIVNVPROC) (GLenum pname, const GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPointParameteriNV (GLenum pname, GLint param); -GLAPI void APIENTRY glPointParameterivNV (GLenum pname, const GLint *params); -#endif -#endif /* GL_NV_point_sprite */ - -#ifndef GL_NV_present_video -#define GL_NV_present_video 1 -#define GL_FRAME_NV 0x8E26 -#define GL_FIELDS_NV 0x8E27 -#define GL_CURRENT_TIME_NV 0x8E28 -#define GL_NUM_FILL_STREAMS_NV 0x8E29 -#define GL_PRESENT_TIME_NV 0x8E2A -#define GL_PRESENT_DURATION_NV 0x8E2B -typedef void (APIENTRYP PFNGLPRESENTFRAMEKEYEDNVPROC) (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLuint key0, GLenum target1, GLuint fill1, GLuint key1); -typedef void (APIENTRYP PFNGLPRESENTFRAMEDUALFILLNVPROC) (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLenum target1, GLuint fill1, GLenum target2, GLuint fill2, GLenum target3, GLuint fill3); -typedef void (APIENTRYP PFNGLGETVIDEOIVNVPROC) (GLuint video_slot, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVIDEOUIVNVPROC) (GLuint video_slot, GLenum pname, GLuint *params); -typedef void (APIENTRYP PFNGLGETVIDEOI64VNVPROC) (GLuint video_slot, GLenum pname, GLint64EXT *params); -typedef void (APIENTRYP PFNGLGETVIDEOUI64VNVPROC) (GLuint video_slot, GLenum pname, GLuint64EXT *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPresentFrameKeyedNV (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLuint key0, GLenum target1, GLuint fill1, GLuint key1); -GLAPI void APIENTRY glPresentFrameDualFillNV (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLenum target1, GLuint fill1, GLenum target2, GLuint fill2, GLenum target3, GLuint fill3); -GLAPI void APIENTRY glGetVideoivNV (GLuint video_slot, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVideouivNV (GLuint video_slot, GLenum pname, GLuint *params); -GLAPI void APIENTRY glGetVideoi64vNV (GLuint video_slot, GLenum pname, GLint64EXT *params); -GLAPI void APIENTRY glGetVideoui64vNV (GLuint video_slot, GLenum pname, GLuint64EXT *params); -#endif -#endif /* GL_NV_present_video */ - -#ifndef GL_NV_primitive_restart -#define GL_NV_primitive_restart 1 -#define GL_PRIMITIVE_RESTART_NV 0x8558 -#define GL_PRIMITIVE_RESTART_INDEX_NV 0x8559 -typedef void (APIENTRYP PFNGLPRIMITIVERESTARTNVPROC) (void); -typedef void (APIENTRYP PFNGLPRIMITIVERESTARTINDEXNVPROC) (GLuint index); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPrimitiveRestartNV (void); -GLAPI void APIENTRY glPrimitiveRestartIndexNV (GLuint index); -#endif -#endif /* GL_NV_primitive_restart */ - -#ifndef GL_NV_primitive_shading_rate -#define GL_NV_primitive_shading_rate 1 -#define GL_SHADING_RATE_IMAGE_PER_PRIMITIVE_NV 0x95B1 -#define GL_SHADING_RATE_IMAGE_PALETTE_COUNT_NV 0x95B2 -#endif /* GL_NV_primitive_shading_rate */ - -#ifndef GL_NV_query_resource -#define GL_NV_query_resource 1 -#define GL_QUERY_RESOURCE_TYPE_VIDMEM_ALLOC_NV 0x9540 -#define GL_QUERY_RESOURCE_MEMTYPE_VIDMEM_NV 0x9542 -#define GL_QUERY_RESOURCE_SYS_RESERVED_NV 0x9544 -#define GL_QUERY_RESOURCE_TEXTURE_NV 0x9545 -#define GL_QUERY_RESOURCE_RENDERBUFFER_NV 0x9546 -#define GL_QUERY_RESOURCE_BUFFEROBJECT_NV 0x9547 -typedef GLint (APIENTRYP PFNGLQUERYRESOURCENVPROC) (GLenum queryType, GLint tagId, GLuint count, GLint *buffer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLint APIENTRY glQueryResourceNV (GLenum queryType, GLint tagId, GLuint count, GLint *buffer); -#endif -#endif /* GL_NV_query_resource */ - -#ifndef GL_NV_query_resource_tag -#define GL_NV_query_resource_tag 1 -typedef void (APIENTRYP PFNGLGENQUERYRESOURCETAGNVPROC) (GLsizei n, GLint *tagIds); -typedef void (APIENTRYP PFNGLDELETEQUERYRESOURCETAGNVPROC) (GLsizei n, const GLint *tagIds); -typedef void (APIENTRYP PFNGLQUERYRESOURCETAGNVPROC) (GLint tagId, const GLchar *tagString); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGenQueryResourceTagNV (GLsizei n, GLint *tagIds); -GLAPI void APIENTRY glDeleteQueryResourceTagNV (GLsizei n, const GLint *tagIds); -GLAPI void APIENTRY glQueryResourceTagNV (GLint tagId, const GLchar *tagString); -#endif -#endif /* GL_NV_query_resource_tag */ - -#ifndef GL_NV_register_combiners -#define GL_NV_register_combiners 1 -#define GL_REGISTER_COMBINERS_NV 0x8522 -#define GL_VARIABLE_A_NV 0x8523 -#define GL_VARIABLE_B_NV 0x8524 -#define GL_VARIABLE_C_NV 0x8525 -#define GL_VARIABLE_D_NV 0x8526 -#define GL_VARIABLE_E_NV 0x8527 -#define GL_VARIABLE_F_NV 0x8528 -#define GL_VARIABLE_G_NV 0x8529 -#define GL_CONSTANT_COLOR0_NV 0x852A -#define GL_CONSTANT_COLOR1_NV 0x852B -#define GL_SPARE0_NV 0x852E -#define GL_SPARE1_NV 0x852F -#define GL_DISCARD_NV 0x8530 -#define GL_E_TIMES_F_NV 0x8531 -#define GL_SPARE0_PLUS_SECONDARY_COLOR_NV 0x8532 -#define GL_UNSIGNED_IDENTITY_NV 0x8536 -#define GL_UNSIGNED_INVERT_NV 0x8537 -#define GL_EXPAND_NORMAL_NV 0x8538 -#define GL_EXPAND_NEGATE_NV 0x8539 -#define GL_HALF_BIAS_NORMAL_NV 0x853A -#define GL_HALF_BIAS_NEGATE_NV 0x853B -#define GL_SIGNED_IDENTITY_NV 0x853C -#define GL_SIGNED_NEGATE_NV 0x853D -#define GL_SCALE_BY_TWO_NV 0x853E -#define GL_SCALE_BY_FOUR_NV 0x853F -#define GL_SCALE_BY_ONE_HALF_NV 0x8540 -#define GL_BIAS_BY_NEGATIVE_ONE_HALF_NV 0x8541 -#define GL_COMBINER_INPUT_NV 0x8542 -#define GL_COMBINER_MAPPING_NV 0x8543 -#define GL_COMBINER_COMPONENT_USAGE_NV 0x8544 -#define GL_COMBINER_AB_DOT_PRODUCT_NV 0x8545 -#define GL_COMBINER_CD_DOT_PRODUCT_NV 0x8546 -#define GL_COMBINER_MUX_SUM_NV 0x8547 -#define GL_COMBINER_SCALE_NV 0x8548 -#define GL_COMBINER_BIAS_NV 0x8549 -#define GL_COMBINER_AB_OUTPUT_NV 0x854A -#define GL_COMBINER_CD_OUTPUT_NV 0x854B -#define GL_COMBINER_SUM_OUTPUT_NV 0x854C -#define GL_MAX_GENERAL_COMBINERS_NV 0x854D -#define GL_NUM_GENERAL_COMBINERS_NV 0x854E -#define GL_COLOR_SUM_CLAMP_NV 0x854F -#define GL_COMBINER0_NV 0x8550 -#define GL_COMBINER1_NV 0x8551 -#define GL_COMBINER2_NV 0x8552 -#define GL_COMBINER3_NV 0x8553 -#define GL_COMBINER4_NV 0x8554 -#define GL_COMBINER5_NV 0x8555 -#define GL_COMBINER6_NV 0x8556 -#define GL_COMBINER7_NV 0x8557 -typedef void (APIENTRYP PFNGLCOMBINERPARAMETERFVNVPROC) (GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLCOMBINERPARAMETERFNVPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLCOMBINERPARAMETERIVNVPROC) (GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLCOMBINERPARAMETERINVPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLCOMBINERINPUTNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); -typedef void (APIENTRYP PFNGLCOMBINEROUTPUTNVPROC) (GLenum stage, GLenum portion, GLenum abOutput, GLenum cdOutput, GLenum sumOutput, GLenum scale, GLenum bias, GLboolean abDotProduct, GLboolean cdDotProduct, GLboolean muxSum); -typedef void (APIENTRYP PFNGLFINALCOMBINERINPUTNVPROC) (GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); -typedef void (APIENTRYP PFNGLGETCOMBINERINPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETCOMBINERINPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETCOMBINEROUTPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETCOMBINEROUTPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETFINALCOMBINERINPUTPARAMETERFVNVPROC) (GLenum variable, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETFINALCOMBINERINPUTPARAMETERIVNVPROC) (GLenum variable, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCombinerParameterfvNV (GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glCombinerParameterfNV (GLenum pname, GLfloat param); -GLAPI void APIENTRY glCombinerParameterivNV (GLenum pname, const GLint *params); -GLAPI void APIENTRY glCombinerParameteriNV (GLenum pname, GLint param); -GLAPI void APIENTRY glCombinerInputNV (GLenum stage, GLenum portion, GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); -GLAPI void APIENTRY glCombinerOutputNV (GLenum stage, GLenum portion, GLenum abOutput, GLenum cdOutput, GLenum sumOutput, GLenum scale, GLenum bias, GLboolean abDotProduct, GLboolean cdDotProduct, GLboolean muxSum); -GLAPI void APIENTRY glFinalCombinerInputNV (GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); -GLAPI void APIENTRY glGetCombinerInputParameterfvNV (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetCombinerInputParameterivNV (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetCombinerOutputParameterfvNV (GLenum stage, GLenum portion, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetCombinerOutputParameterivNV (GLenum stage, GLenum portion, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetFinalCombinerInputParameterfvNV (GLenum variable, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetFinalCombinerInputParameterivNV (GLenum variable, GLenum pname, GLint *params); -#endif -#endif /* GL_NV_register_combiners */ - -#ifndef GL_NV_register_combiners2 -#define GL_NV_register_combiners2 1 -#define GL_PER_STAGE_CONSTANTS_NV 0x8535 -typedef void (APIENTRYP PFNGLCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCombinerStageParameterfvNV (GLenum stage, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glGetCombinerStageParameterfvNV (GLenum stage, GLenum pname, GLfloat *params); -#endif -#endif /* GL_NV_register_combiners2 */ - -#ifndef GL_NV_representative_fragment_test -#define GL_NV_representative_fragment_test 1 -#define GL_REPRESENTATIVE_FRAGMENT_TEST_NV 0x937F -#endif /* GL_NV_representative_fragment_test */ - -#ifndef GL_NV_robustness_video_memory_purge -#define GL_NV_robustness_video_memory_purge 1 -#define GL_PURGED_CONTEXT_RESET_NV 0x92BB -#endif /* GL_NV_robustness_video_memory_purge */ - -#ifndef GL_NV_sample_locations -#define GL_NV_sample_locations 1 -#define GL_SAMPLE_LOCATION_SUBPIXEL_BITS_NV 0x933D -#define GL_SAMPLE_LOCATION_PIXEL_GRID_WIDTH_NV 0x933E -#define GL_SAMPLE_LOCATION_PIXEL_GRID_HEIGHT_NV 0x933F -#define GL_PROGRAMMABLE_SAMPLE_LOCATION_TABLE_SIZE_NV 0x9340 -#define GL_SAMPLE_LOCATION_NV 0x8E50 -#define GL_PROGRAMMABLE_SAMPLE_LOCATION_NV 0x9341 -#define GL_FRAMEBUFFER_PROGRAMMABLE_SAMPLE_LOCATIONS_NV 0x9342 -#define GL_FRAMEBUFFER_SAMPLE_LOCATION_PIXEL_GRID_NV 0x9343 -typedef void (APIENTRYP PFNGLFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLenum target, GLuint start, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLRESOLVEDEPTHVALUESNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferSampleLocationsfvNV (GLenum target, GLuint start, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glNamedFramebufferSampleLocationsfvNV (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glResolveDepthValuesNV (void); -#endif -#endif /* GL_NV_sample_locations */ - -#ifndef GL_NV_sample_mask_override_coverage -#define GL_NV_sample_mask_override_coverage 1 -#endif /* GL_NV_sample_mask_override_coverage */ - -#ifndef GL_NV_scissor_exclusive -#define GL_NV_scissor_exclusive 1 -#define GL_SCISSOR_TEST_EXCLUSIVE_NV 0x9555 -#define GL_SCISSOR_BOX_EXCLUSIVE_NV 0x9556 -typedef void (APIENTRYP PFNGLSCISSOREXCLUSIVENVPROC) (GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (APIENTRYP PFNGLSCISSOREXCLUSIVEARRAYVNVPROC) (GLuint first, GLsizei count, const GLint *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glScissorExclusiveNV (GLint x, GLint y, GLsizei width, GLsizei height); -GLAPI void APIENTRY glScissorExclusiveArrayvNV (GLuint first, GLsizei count, const GLint *v); -#endif -#endif /* GL_NV_scissor_exclusive */ - -#ifndef GL_NV_shader_atomic_counters -#define GL_NV_shader_atomic_counters 1 -#endif /* GL_NV_shader_atomic_counters */ - -#ifndef GL_NV_shader_atomic_float -#define GL_NV_shader_atomic_float 1 -#endif /* GL_NV_shader_atomic_float */ - -#ifndef GL_NV_shader_atomic_float64 -#define GL_NV_shader_atomic_float64 1 -#endif /* GL_NV_shader_atomic_float64 */ - -#ifndef GL_NV_shader_atomic_fp16_vector -#define GL_NV_shader_atomic_fp16_vector 1 -#endif /* GL_NV_shader_atomic_fp16_vector */ - -#ifndef GL_NV_shader_atomic_int64 -#define GL_NV_shader_atomic_int64 1 -#endif /* GL_NV_shader_atomic_int64 */ - -#ifndef GL_NV_shader_buffer_load -#define GL_NV_shader_buffer_load 1 -#define GL_BUFFER_GPU_ADDRESS_NV 0x8F1D -#define GL_GPU_ADDRESS_NV 0x8F34 -#define GL_MAX_SHADER_BUFFER_ADDRESS_NV 0x8F35 -typedef void (APIENTRYP PFNGLMAKEBUFFERRESIDENTNVPROC) (GLenum target, GLenum access); -typedef void (APIENTRYP PFNGLMAKEBUFFERNONRESIDENTNVPROC) (GLenum target); -typedef GLboolean (APIENTRYP PFNGLISBUFFERRESIDENTNVPROC) (GLenum target); -typedef void (APIENTRYP PFNGLMAKENAMEDBUFFERRESIDENTNVPROC) (GLuint buffer, GLenum access); -typedef void (APIENTRYP PFNGLMAKENAMEDBUFFERNONRESIDENTNVPROC) (GLuint buffer); -typedef GLboolean (APIENTRYP PFNGLISNAMEDBUFFERRESIDENTNVPROC) (GLuint buffer); -typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERUI64VNVPROC) (GLenum target, GLenum pname, GLuint64EXT *params); -typedef void (APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERUI64VNVPROC) (GLuint buffer, GLenum pname, GLuint64EXT *params); -typedef void (APIENTRYP PFNGLGETINTEGERUI64VNVPROC) (GLenum value, GLuint64EXT *result); -typedef void (APIENTRYP PFNGLUNIFORMUI64NVPROC) (GLint location, GLuint64EXT value); -typedef void (APIENTRYP PFNGLUNIFORMUI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMUI64NVPROC) (GLuint program, GLint location, GLuint64EXT value); -typedef void (APIENTRYP PFNGLPROGRAMUNIFORMUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glMakeBufferResidentNV (GLenum target, GLenum access); -GLAPI void APIENTRY glMakeBufferNonResidentNV (GLenum target); -GLAPI GLboolean APIENTRY glIsBufferResidentNV (GLenum target); -GLAPI void APIENTRY glMakeNamedBufferResidentNV (GLuint buffer, GLenum access); -GLAPI void APIENTRY glMakeNamedBufferNonResidentNV (GLuint buffer); -GLAPI GLboolean APIENTRY glIsNamedBufferResidentNV (GLuint buffer); -GLAPI void APIENTRY glGetBufferParameterui64vNV (GLenum target, GLenum pname, GLuint64EXT *params); -GLAPI void APIENTRY glGetNamedBufferParameterui64vNV (GLuint buffer, GLenum pname, GLuint64EXT *params); -GLAPI void APIENTRY glGetIntegerui64vNV (GLenum value, GLuint64EXT *result); -GLAPI void APIENTRY glUniformui64NV (GLint location, GLuint64EXT value); -GLAPI void APIENTRY glUniformui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GLAPI void APIENTRY glProgramUniformui64NV (GLuint program, GLint location, GLuint64EXT value); -GLAPI void APIENTRY glProgramUniformui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -#endif -#endif /* GL_NV_shader_buffer_load */ - -#ifndef GL_NV_shader_buffer_store -#define GL_NV_shader_buffer_store 1 -#define GL_SHADER_GLOBAL_ACCESS_BARRIER_BIT_NV 0x00000010 -#endif /* GL_NV_shader_buffer_store */ - -#ifndef GL_NV_shader_storage_buffer_object -#define GL_NV_shader_storage_buffer_object 1 -#endif /* GL_NV_shader_storage_buffer_object */ - -#ifndef GL_NV_shader_subgroup_partitioned -#define GL_NV_shader_subgroup_partitioned 1 -#define GL_SUBGROUP_FEATURE_PARTITIONED_BIT_NV 0x00000100 -#endif /* GL_NV_shader_subgroup_partitioned */ - -#ifndef GL_NV_shader_texture_footprint -#define GL_NV_shader_texture_footprint 1 -#endif /* GL_NV_shader_texture_footprint */ - -#ifndef GL_NV_shader_thread_group -#define GL_NV_shader_thread_group 1 -#define GL_WARP_SIZE_NV 0x9339 -#define GL_WARPS_PER_SM_NV 0x933A -#define GL_SM_COUNT_NV 0x933B -#endif /* GL_NV_shader_thread_group */ - -#ifndef GL_NV_shader_thread_shuffle -#define GL_NV_shader_thread_shuffle 1 -#endif /* GL_NV_shader_thread_shuffle */ - -#ifndef GL_NV_shading_rate_image -#define GL_NV_shading_rate_image 1 -#define GL_SHADING_RATE_IMAGE_NV 0x9563 -#define GL_SHADING_RATE_NO_INVOCATIONS_NV 0x9564 -#define GL_SHADING_RATE_1_INVOCATION_PER_PIXEL_NV 0x9565 -#define GL_SHADING_RATE_1_INVOCATION_PER_1X2_PIXELS_NV 0x9566 -#define GL_SHADING_RATE_1_INVOCATION_PER_2X1_PIXELS_NV 0x9567 -#define GL_SHADING_RATE_1_INVOCATION_PER_2X2_PIXELS_NV 0x9568 -#define GL_SHADING_RATE_1_INVOCATION_PER_2X4_PIXELS_NV 0x9569 -#define GL_SHADING_RATE_1_INVOCATION_PER_4X2_PIXELS_NV 0x956A -#define GL_SHADING_RATE_1_INVOCATION_PER_4X4_PIXELS_NV 0x956B -#define GL_SHADING_RATE_2_INVOCATIONS_PER_PIXEL_NV 0x956C -#define GL_SHADING_RATE_4_INVOCATIONS_PER_PIXEL_NV 0x956D -#define GL_SHADING_RATE_8_INVOCATIONS_PER_PIXEL_NV 0x956E -#define GL_SHADING_RATE_16_INVOCATIONS_PER_PIXEL_NV 0x956F -#define GL_SHADING_RATE_IMAGE_BINDING_NV 0x955B -#define GL_SHADING_RATE_IMAGE_TEXEL_WIDTH_NV 0x955C -#define GL_SHADING_RATE_IMAGE_TEXEL_HEIGHT_NV 0x955D -#define GL_SHADING_RATE_IMAGE_PALETTE_SIZE_NV 0x955E -#define GL_MAX_COARSE_FRAGMENT_SAMPLES_NV 0x955F -#define GL_SHADING_RATE_SAMPLE_ORDER_DEFAULT_NV 0x95AE -#define GL_SHADING_RATE_SAMPLE_ORDER_PIXEL_MAJOR_NV 0x95AF -#define GL_SHADING_RATE_SAMPLE_ORDER_SAMPLE_MAJOR_NV 0x95B0 -typedef void (APIENTRYP PFNGLBINDSHADINGRATEIMAGENVPROC) (GLuint texture); -typedef void (APIENTRYP PFNGLGETSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint entry, GLenum *rate); -typedef void (APIENTRYP PFNGLGETSHADINGRATESAMPLELOCATIONIVNVPROC) (GLenum rate, GLuint samples, GLuint index, GLint *location); -typedef void (APIENTRYP PFNGLSHADINGRATEIMAGEBARRIERNVPROC) (GLboolean synchronize); -typedef void (APIENTRYP PFNGLSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); -typedef void (APIENTRYP PFNGLSHADINGRATESAMPLEORDERNVPROC) (GLenum order); -typedef void (APIENTRYP PFNGLSHADINGRATESAMPLEORDERCUSTOMNVPROC) (GLenum rate, GLuint samples, const GLint *locations); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindShadingRateImageNV (GLuint texture); -GLAPI void APIENTRY glGetShadingRateImagePaletteNV (GLuint viewport, GLuint entry, GLenum *rate); -GLAPI void APIENTRY glGetShadingRateSampleLocationivNV (GLenum rate, GLuint samples, GLuint index, GLint *location); -GLAPI void APIENTRY glShadingRateImageBarrierNV (GLboolean synchronize); -GLAPI void APIENTRY glShadingRateImagePaletteNV (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); -GLAPI void APIENTRY glShadingRateSampleOrderNV (GLenum order); -GLAPI void APIENTRY glShadingRateSampleOrderCustomNV (GLenum rate, GLuint samples, const GLint *locations); -#endif -#endif /* GL_NV_shading_rate_image */ - -#ifndef GL_NV_stereo_view_rendering -#define GL_NV_stereo_view_rendering 1 -#endif /* GL_NV_stereo_view_rendering */ - -#ifndef GL_NV_tessellation_program5 -#define GL_NV_tessellation_program5 1 -#define GL_MAX_PROGRAM_PATCH_ATTRIBS_NV 0x86D8 -#define GL_TESS_CONTROL_PROGRAM_NV 0x891E -#define GL_TESS_EVALUATION_PROGRAM_NV 0x891F -#define GL_TESS_CONTROL_PROGRAM_PARAMETER_BUFFER_NV 0x8C74 -#define GL_TESS_EVALUATION_PROGRAM_PARAMETER_BUFFER_NV 0x8C75 -#endif /* GL_NV_tessellation_program5 */ - -#ifndef GL_NV_texgen_emboss -#define GL_NV_texgen_emboss 1 -#define GL_EMBOSS_LIGHT_NV 0x855D -#define GL_EMBOSS_CONSTANT_NV 0x855E -#define GL_EMBOSS_MAP_NV 0x855F -#endif /* GL_NV_texgen_emboss */ - -#ifndef GL_NV_texgen_reflection -#define GL_NV_texgen_reflection 1 -#define GL_NORMAL_MAP_NV 0x8511 -#define GL_REFLECTION_MAP_NV 0x8512 -#endif /* GL_NV_texgen_reflection */ - -#ifndef GL_NV_texture_barrier -#define GL_NV_texture_barrier 1 -typedef void (APIENTRYP PFNGLTEXTUREBARRIERNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTextureBarrierNV (void); -#endif -#endif /* GL_NV_texture_barrier */ - -#ifndef GL_NV_texture_compression_vtc -#define GL_NV_texture_compression_vtc 1 -#endif /* GL_NV_texture_compression_vtc */ - -#ifndef GL_NV_texture_env_combine4 -#define GL_NV_texture_env_combine4 1 -#define GL_COMBINE4_NV 0x8503 -#define GL_SOURCE3_RGB_NV 0x8583 -#define GL_SOURCE3_ALPHA_NV 0x858B -#define GL_OPERAND3_RGB_NV 0x8593 -#define GL_OPERAND3_ALPHA_NV 0x859B -#endif /* GL_NV_texture_env_combine4 */ - -#ifndef GL_NV_texture_expand_normal -#define GL_NV_texture_expand_normal 1 -#define GL_TEXTURE_UNSIGNED_REMAP_MODE_NV 0x888F -#endif /* GL_NV_texture_expand_normal */ - -#ifndef GL_NV_texture_multisample -#define GL_NV_texture_multisample 1 -#define GL_TEXTURE_COVERAGE_SAMPLES_NV 0x9045 -#define GL_TEXTURE_COLOR_SAMPLES_NV 0x9046 -typedef void (APIENTRYP PFNGLTEXIMAGE2DMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); -typedef void (APIENTRYP PFNGLTEXIMAGE3DMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE2DMULTISAMPLENVPROC) (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE3DMULTISAMPLENVPROC) (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE2DMULTISAMPLECOVERAGENVPROC) (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); -typedef void (APIENTRYP PFNGLTEXTUREIMAGE3DMULTISAMPLECOVERAGENVPROC) (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexImage2DMultisampleCoverageNV (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); -GLAPI void APIENTRY glTexImage3DMultisampleCoverageNV (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); -GLAPI void APIENTRY glTextureImage2DMultisampleNV (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); -GLAPI void APIENTRY glTextureImage3DMultisampleNV (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); -GLAPI void APIENTRY glTextureImage2DMultisampleCoverageNV (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); -GLAPI void APIENTRY glTextureImage3DMultisampleCoverageNV (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); -#endif -#endif /* GL_NV_texture_multisample */ - -#ifndef GL_NV_texture_rectangle -#define GL_NV_texture_rectangle 1 -#define GL_TEXTURE_RECTANGLE_NV 0x84F5 -#define GL_TEXTURE_BINDING_RECTANGLE_NV 0x84F6 -#define GL_PROXY_TEXTURE_RECTANGLE_NV 0x84F7 -#define GL_MAX_RECTANGLE_TEXTURE_SIZE_NV 0x84F8 -#endif /* GL_NV_texture_rectangle */ - -#ifndef GL_NV_texture_rectangle_compressed -#define GL_NV_texture_rectangle_compressed 1 -#endif /* GL_NV_texture_rectangle_compressed */ - -#ifndef GL_NV_texture_shader -#define GL_NV_texture_shader 1 -#define GL_OFFSET_TEXTURE_RECTANGLE_NV 0x864C -#define GL_OFFSET_TEXTURE_RECTANGLE_SCALE_NV 0x864D -#define GL_DOT_PRODUCT_TEXTURE_RECTANGLE_NV 0x864E -#define GL_RGBA_UNSIGNED_DOT_PRODUCT_MAPPING_NV 0x86D9 -#define GL_UNSIGNED_INT_S8_S8_8_8_NV 0x86DA -#define GL_UNSIGNED_INT_8_8_S8_S8_REV_NV 0x86DB -#define GL_DSDT_MAG_INTENSITY_NV 0x86DC -#define GL_SHADER_CONSISTENT_NV 0x86DD -#define GL_TEXTURE_SHADER_NV 0x86DE -#define GL_SHADER_OPERATION_NV 0x86DF -#define GL_CULL_MODES_NV 0x86E0 -#define GL_OFFSET_TEXTURE_MATRIX_NV 0x86E1 -#define GL_OFFSET_TEXTURE_SCALE_NV 0x86E2 -#define GL_OFFSET_TEXTURE_BIAS_NV 0x86E3 -#define GL_OFFSET_TEXTURE_2D_MATRIX_NV 0x86E1 -#define GL_OFFSET_TEXTURE_2D_SCALE_NV 0x86E2 -#define GL_OFFSET_TEXTURE_2D_BIAS_NV 0x86E3 -#define GL_PREVIOUS_TEXTURE_INPUT_NV 0x86E4 -#define GL_CONST_EYE_NV 0x86E5 -#define GL_PASS_THROUGH_NV 0x86E6 -#define GL_CULL_FRAGMENT_NV 0x86E7 -#define GL_OFFSET_TEXTURE_2D_NV 0x86E8 -#define GL_DEPENDENT_AR_TEXTURE_2D_NV 0x86E9 -#define GL_DEPENDENT_GB_TEXTURE_2D_NV 0x86EA -#define GL_DOT_PRODUCT_NV 0x86EC -#define GL_DOT_PRODUCT_DEPTH_REPLACE_NV 0x86ED -#define GL_DOT_PRODUCT_TEXTURE_2D_NV 0x86EE -#define GL_DOT_PRODUCT_TEXTURE_CUBE_MAP_NV 0x86F0 -#define GL_DOT_PRODUCT_DIFFUSE_CUBE_MAP_NV 0x86F1 -#define GL_DOT_PRODUCT_REFLECT_CUBE_MAP_NV 0x86F2 -#define GL_DOT_PRODUCT_CONST_EYE_REFLECT_CUBE_MAP_NV 0x86F3 -#define GL_HILO_NV 0x86F4 -#define GL_DSDT_NV 0x86F5 -#define GL_DSDT_MAG_NV 0x86F6 -#define GL_DSDT_MAG_VIB_NV 0x86F7 -#define GL_HILO16_NV 0x86F8 -#define GL_SIGNED_HILO_NV 0x86F9 -#define GL_SIGNED_HILO16_NV 0x86FA -#define GL_SIGNED_RGBA_NV 0x86FB -#define GL_SIGNED_RGBA8_NV 0x86FC -#define GL_SIGNED_RGB_NV 0x86FE -#define GL_SIGNED_RGB8_NV 0x86FF -#define GL_SIGNED_LUMINANCE_NV 0x8701 -#define GL_SIGNED_LUMINANCE8_NV 0x8702 -#define GL_SIGNED_LUMINANCE_ALPHA_NV 0x8703 -#define GL_SIGNED_LUMINANCE8_ALPHA8_NV 0x8704 -#define GL_SIGNED_ALPHA_NV 0x8705 -#define GL_SIGNED_ALPHA8_NV 0x8706 -#define GL_SIGNED_INTENSITY_NV 0x8707 -#define GL_SIGNED_INTENSITY8_NV 0x8708 -#define GL_DSDT8_NV 0x8709 -#define GL_DSDT8_MAG8_NV 0x870A -#define GL_DSDT8_MAG8_INTENSITY8_NV 0x870B -#define GL_SIGNED_RGB_UNSIGNED_ALPHA_NV 0x870C -#define GL_SIGNED_RGB8_UNSIGNED_ALPHA8_NV 0x870D -#define GL_HI_SCALE_NV 0x870E -#define GL_LO_SCALE_NV 0x870F -#define GL_DS_SCALE_NV 0x8710 -#define GL_DT_SCALE_NV 0x8711 -#define GL_MAGNITUDE_SCALE_NV 0x8712 -#define GL_VIBRANCE_SCALE_NV 0x8713 -#define GL_HI_BIAS_NV 0x8714 -#define GL_LO_BIAS_NV 0x8715 -#define GL_DS_BIAS_NV 0x8716 -#define GL_DT_BIAS_NV 0x8717 -#define GL_MAGNITUDE_BIAS_NV 0x8718 -#define GL_VIBRANCE_BIAS_NV 0x8719 -#define GL_TEXTURE_BORDER_VALUES_NV 0x871A -#define GL_TEXTURE_HI_SIZE_NV 0x871B -#define GL_TEXTURE_LO_SIZE_NV 0x871C -#define GL_TEXTURE_DS_SIZE_NV 0x871D -#define GL_TEXTURE_DT_SIZE_NV 0x871E -#define GL_TEXTURE_MAG_SIZE_NV 0x871F -#endif /* GL_NV_texture_shader */ - -#ifndef GL_NV_texture_shader2 -#define GL_NV_texture_shader2 1 -#define GL_DOT_PRODUCT_TEXTURE_3D_NV 0x86EF -#endif /* GL_NV_texture_shader2 */ - -#ifndef GL_NV_texture_shader3 -#define GL_NV_texture_shader3 1 -#define GL_OFFSET_PROJECTIVE_TEXTURE_2D_NV 0x8850 -#define GL_OFFSET_PROJECTIVE_TEXTURE_2D_SCALE_NV 0x8851 -#define GL_OFFSET_PROJECTIVE_TEXTURE_RECTANGLE_NV 0x8852 -#define GL_OFFSET_PROJECTIVE_TEXTURE_RECTANGLE_SCALE_NV 0x8853 -#define GL_OFFSET_HILO_TEXTURE_2D_NV 0x8854 -#define GL_OFFSET_HILO_TEXTURE_RECTANGLE_NV 0x8855 -#define GL_OFFSET_HILO_PROJECTIVE_TEXTURE_2D_NV 0x8856 -#define GL_OFFSET_HILO_PROJECTIVE_TEXTURE_RECTANGLE_NV 0x8857 -#define GL_DEPENDENT_HILO_TEXTURE_2D_NV 0x8858 -#define GL_DEPENDENT_RGB_TEXTURE_3D_NV 0x8859 -#define GL_DEPENDENT_RGB_TEXTURE_CUBE_MAP_NV 0x885A -#define GL_DOT_PRODUCT_PASS_THROUGH_NV 0x885B -#define GL_DOT_PRODUCT_TEXTURE_1D_NV 0x885C -#define GL_DOT_PRODUCT_AFFINE_DEPTH_REPLACE_NV 0x885D -#define GL_HILO8_NV 0x885E -#define GL_SIGNED_HILO8_NV 0x885F -#define GL_FORCE_BLUE_TO_ONE_NV 0x8860 -#endif /* GL_NV_texture_shader3 */ - -#ifndef GL_NV_timeline_semaphore -#define GL_NV_timeline_semaphore 1 -#define GL_TIMELINE_SEMAPHORE_VALUE_NV 0x9595 -#define GL_SEMAPHORE_TYPE_NV 0x95B3 -#define GL_SEMAPHORE_TYPE_BINARY_NV 0x95B4 -#define GL_SEMAPHORE_TYPE_TIMELINE_NV 0x95B5 -#define GL_MAX_TIMELINE_SEMAPHORE_VALUE_DIFFERENCE_NV 0x95B6 -typedef void (APIENTRYP PFNGLCREATESEMAPHORESNVPROC) (GLsizei n, GLuint *semaphores); -typedef void (APIENTRYP PFNGLSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLGETSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glCreateSemaphoresNV (GLsizei n, GLuint *semaphores); -GLAPI void APIENTRY glSemaphoreParameterivNV (GLuint semaphore, GLenum pname, const GLint *params); -GLAPI void APIENTRY glGetSemaphoreParameterivNV (GLuint semaphore, GLenum pname, GLint *params); -#endif -#endif /* GL_NV_timeline_semaphore */ - -#ifndef GL_NV_transform_feedback -#define GL_NV_transform_feedback 1 -#define GL_BACK_PRIMARY_COLOR_NV 0x8C77 -#define GL_BACK_SECONDARY_COLOR_NV 0x8C78 -#define GL_TEXTURE_COORD_NV 0x8C79 -#define GL_CLIP_DISTANCE_NV 0x8C7A -#define GL_VERTEX_ID_NV 0x8C7B -#define GL_PRIMITIVE_ID_NV 0x8C7C -#define GL_GENERIC_ATTRIB_NV 0x8C7D -#define GL_TRANSFORM_FEEDBACK_ATTRIBS_NV 0x8C7E -#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE_NV 0x8C7F -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS_NV 0x8C80 -#define GL_ACTIVE_VARYINGS_NV 0x8C81 -#define GL_ACTIVE_VARYING_MAX_LENGTH_NV 0x8C82 -#define GL_TRANSFORM_FEEDBACK_VARYINGS_NV 0x8C83 -#define GL_TRANSFORM_FEEDBACK_BUFFER_START_NV 0x8C84 -#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE_NV 0x8C85 -#define GL_TRANSFORM_FEEDBACK_RECORD_NV 0x8C86 -#define GL_PRIMITIVES_GENERATED_NV 0x8C87 -#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN_NV 0x8C88 -#define GL_RASTERIZER_DISCARD_NV 0x8C89 -#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS_NV 0x8C8A -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS_NV 0x8C8B -#define GL_INTERLEAVED_ATTRIBS_NV 0x8C8C -#define GL_SEPARATE_ATTRIBS_NV 0x8C8D -#define GL_TRANSFORM_FEEDBACK_BUFFER_NV 0x8C8E -#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING_NV 0x8C8F -#define GL_LAYER_NV 0x8DAA -#define GL_NEXT_BUFFER_NV -2 -#define GL_SKIP_COMPONENTS4_NV -3 -#define GL_SKIP_COMPONENTS3_NV -4 -#define GL_SKIP_COMPONENTS2_NV -5 -#define GL_SKIP_COMPONENTS1_NV -6 -typedef void (APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKNVPROC) (GLenum primitiveMode); -typedef void (APIENTRYP PFNGLENDTRANSFORMFEEDBACKNVPROC) (void); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKATTRIBSNVPROC) (GLsizei count, const GLint *attribs, GLenum bufferMode); -typedef void (APIENTRYP PFNGLBINDBUFFERRANGENVPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -typedef void (APIENTRYP PFNGLBINDBUFFEROFFSETNVPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset); -typedef void (APIENTRYP PFNGLBINDBUFFERBASENVPROC) (GLenum target, GLuint index, GLuint buffer); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSNVPROC) (GLuint program, GLsizei count, const GLint *locations, GLenum bufferMode); -typedef void (APIENTRYP PFNGLACTIVEVARYINGNVPROC) (GLuint program, const GLchar *name); -typedef GLint (APIENTRYP PFNGLGETVARYINGLOCATIONNVPROC) (GLuint program, const GLchar *name); -typedef void (APIENTRYP PFNGLGETACTIVEVARYINGNVPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); -typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGNVPROC) (GLuint program, GLuint index, GLint *location); -typedef void (APIENTRYP PFNGLTRANSFORMFEEDBACKSTREAMATTRIBSNVPROC) (GLsizei count, const GLint *attribs, GLsizei nbuffers, const GLint *bufstreams, GLenum bufferMode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginTransformFeedbackNV (GLenum primitiveMode); -GLAPI void APIENTRY glEndTransformFeedbackNV (void); -GLAPI void APIENTRY glTransformFeedbackAttribsNV (GLsizei count, const GLint *attribs, GLenum bufferMode); -GLAPI void APIENTRY glBindBufferRangeNV (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); -GLAPI void APIENTRY glBindBufferOffsetNV (GLenum target, GLuint index, GLuint buffer, GLintptr offset); -GLAPI void APIENTRY glBindBufferBaseNV (GLenum target, GLuint index, GLuint buffer); -GLAPI void APIENTRY glTransformFeedbackVaryingsNV (GLuint program, GLsizei count, const GLint *locations, GLenum bufferMode); -GLAPI void APIENTRY glActiveVaryingNV (GLuint program, const GLchar *name); -GLAPI GLint APIENTRY glGetVaryingLocationNV (GLuint program, const GLchar *name); -GLAPI void APIENTRY glGetActiveVaryingNV (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); -GLAPI void APIENTRY glGetTransformFeedbackVaryingNV (GLuint program, GLuint index, GLint *location); -GLAPI void APIENTRY glTransformFeedbackStreamAttribsNV (GLsizei count, const GLint *attribs, GLsizei nbuffers, const GLint *bufstreams, GLenum bufferMode); -#endif -#endif /* GL_NV_transform_feedback */ - -#ifndef GL_NV_transform_feedback2 -#define GL_NV_transform_feedback2 1 -#define GL_TRANSFORM_FEEDBACK_NV 0x8E22 -#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED_NV 0x8E23 -#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE_NV 0x8E24 -#define GL_TRANSFORM_FEEDBACK_BINDING_NV 0x8E25 -typedef void (APIENTRYP PFNGLBINDTRANSFORMFEEDBACKNVPROC) (GLenum target, GLuint id); -typedef void (APIENTRYP PFNGLDELETETRANSFORMFEEDBACKSNVPROC) (GLsizei n, const GLuint *ids); -typedef void (APIENTRYP PFNGLGENTRANSFORMFEEDBACKSNVPROC) (GLsizei n, GLuint *ids); -typedef GLboolean (APIENTRYP PFNGLISTRANSFORMFEEDBACKNVPROC) (GLuint id); -typedef void (APIENTRYP PFNGLPAUSETRANSFORMFEEDBACKNVPROC) (void); -typedef void (APIENTRYP PFNGLRESUMETRANSFORMFEEDBACKNVPROC) (void); -typedef void (APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKNVPROC) (GLenum mode, GLuint id); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBindTransformFeedbackNV (GLenum target, GLuint id); -GLAPI void APIENTRY glDeleteTransformFeedbacksNV (GLsizei n, const GLuint *ids); -GLAPI void APIENTRY glGenTransformFeedbacksNV (GLsizei n, GLuint *ids); -GLAPI GLboolean APIENTRY glIsTransformFeedbackNV (GLuint id); -GLAPI void APIENTRY glPauseTransformFeedbackNV (void); -GLAPI void APIENTRY glResumeTransformFeedbackNV (void); -GLAPI void APIENTRY glDrawTransformFeedbackNV (GLenum mode, GLuint id); -#endif -#endif /* GL_NV_transform_feedback2 */ - -#ifndef GL_NV_uniform_buffer_unified_memory -#define GL_NV_uniform_buffer_unified_memory 1 -#define GL_UNIFORM_BUFFER_UNIFIED_NV 0x936E -#define GL_UNIFORM_BUFFER_ADDRESS_NV 0x936F -#define GL_UNIFORM_BUFFER_LENGTH_NV 0x9370 -#endif /* GL_NV_uniform_buffer_unified_memory */ - -#ifndef GL_NV_vdpau_interop -#define GL_NV_vdpau_interop 1 -typedef GLintptr GLvdpauSurfaceNV; -#define GL_SURFACE_STATE_NV 0x86EB -#define GL_SURFACE_REGISTERED_NV 0x86FD -#define GL_SURFACE_MAPPED_NV 0x8700 -#define GL_WRITE_DISCARD_NV 0x88BE -typedef void (APIENTRYP PFNGLVDPAUINITNVPROC) (const void *vdpDevice, const void *getProcAddress); -typedef void (APIENTRYP PFNGLVDPAUFININVPROC) (void); -typedef GLvdpauSurfaceNV (APIENTRYP PFNGLVDPAUREGISTERVIDEOSURFACENVPROC) (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); -typedef GLvdpauSurfaceNV (APIENTRYP PFNGLVDPAUREGISTEROUTPUTSURFACENVPROC) (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); -typedef GLboolean (APIENTRYP PFNGLVDPAUISSURFACENVPROC) (GLvdpauSurfaceNV surface); -typedef void (APIENTRYP PFNGLVDPAUUNREGISTERSURFACENVPROC) (GLvdpauSurfaceNV surface); -typedef void (APIENTRYP PFNGLVDPAUGETSURFACEIVNVPROC) (GLvdpauSurfaceNV surface, GLenum pname, GLsizei count, GLsizei *length, GLint *values); -typedef void (APIENTRYP PFNGLVDPAUSURFACEACCESSNVPROC) (GLvdpauSurfaceNV surface, GLenum access); -typedef void (APIENTRYP PFNGLVDPAUMAPSURFACESNVPROC) (GLsizei numSurfaces, const GLvdpauSurfaceNV *surfaces); -typedef void (APIENTRYP PFNGLVDPAUUNMAPSURFACESNVPROC) (GLsizei numSurface, const GLvdpauSurfaceNV *surfaces); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVDPAUInitNV (const void *vdpDevice, const void *getProcAddress); -GLAPI void APIENTRY glVDPAUFiniNV (void); -GLAPI GLvdpauSurfaceNV APIENTRY glVDPAURegisterVideoSurfaceNV (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); -GLAPI GLvdpauSurfaceNV APIENTRY glVDPAURegisterOutputSurfaceNV (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); -GLAPI GLboolean APIENTRY glVDPAUIsSurfaceNV (GLvdpauSurfaceNV surface); -GLAPI void APIENTRY glVDPAUUnregisterSurfaceNV (GLvdpauSurfaceNV surface); -GLAPI void APIENTRY glVDPAUGetSurfaceivNV (GLvdpauSurfaceNV surface, GLenum pname, GLsizei count, GLsizei *length, GLint *values); -GLAPI void APIENTRY glVDPAUSurfaceAccessNV (GLvdpauSurfaceNV surface, GLenum access); -GLAPI void APIENTRY glVDPAUMapSurfacesNV (GLsizei numSurfaces, const GLvdpauSurfaceNV *surfaces); -GLAPI void APIENTRY glVDPAUUnmapSurfacesNV (GLsizei numSurface, const GLvdpauSurfaceNV *surfaces); -#endif -#endif /* GL_NV_vdpau_interop */ - -#ifndef GL_NV_vdpau_interop2 -#define GL_NV_vdpau_interop2 1 -typedef GLvdpauSurfaceNV (APIENTRYP PFNGLVDPAUREGISTERVIDEOSURFACEWITHPICTURESTRUCTURENVPROC) (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames, GLboolean isFrameStructure); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLvdpauSurfaceNV APIENTRY glVDPAURegisterVideoSurfaceWithPictureStructureNV (const void *vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames, GLboolean isFrameStructure); -#endif -#endif /* GL_NV_vdpau_interop2 */ - -#ifndef GL_NV_vertex_array_range -#define GL_NV_vertex_array_range 1 -#define GL_VERTEX_ARRAY_RANGE_NV 0x851D -#define GL_VERTEX_ARRAY_RANGE_LENGTH_NV 0x851E -#define GL_VERTEX_ARRAY_RANGE_VALID_NV 0x851F -#define GL_MAX_VERTEX_ARRAY_RANGE_ELEMENT_NV 0x8520 -#define GL_VERTEX_ARRAY_RANGE_POINTER_NV 0x8521 -typedef void (APIENTRYP PFNGLFLUSHVERTEXARRAYRANGENVPROC) (void); -typedef void (APIENTRYP PFNGLVERTEXARRAYRANGENVPROC) (GLsizei length, const void *pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFlushVertexArrayRangeNV (void); -GLAPI void APIENTRY glVertexArrayRangeNV (GLsizei length, const void *pointer); -#endif -#endif /* GL_NV_vertex_array_range */ - -#ifndef GL_NV_vertex_array_range2 -#define GL_NV_vertex_array_range2 1 -#define GL_VERTEX_ARRAY_RANGE_WITHOUT_FLUSH_NV 0x8533 -#endif /* GL_NV_vertex_array_range2 */ - -#ifndef GL_NV_vertex_attrib_integer_64bit -#define GL_NV_vertex_attrib_integer_64bit 1 -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1I64NVPROC) (GLuint index, GLint64EXT x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1I64VNVPROC) (GLuint index, const GLint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2I64VNVPROC) (GLuint index, const GLint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3I64VNVPROC) (GLuint index, const GLint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4I64VNVPROC) (GLuint index, const GLint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64NVPROC) (GLuint index, GLuint64EXT x); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL1UI64VNVPROC) (GLuint index, const GLuint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL2UI64VNVPROC) (GLuint index, const GLuint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL3UI64VNVPROC) (GLuint index, const GLuint64EXT *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBL4UI64VNVPROC) (GLuint index, const GLuint64EXT *v); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLI64VNVPROC) (GLuint index, GLenum pname, GLint64EXT *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBLUI64VNVPROC) (GLuint index, GLenum pname, GLuint64EXT *params); -typedef void (APIENTRYP PFNGLVERTEXATTRIBLFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glVertexAttribL1i64NV (GLuint index, GLint64EXT x); -GLAPI void APIENTRY glVertexAttribL2i64NV (GLuint index, GLint64EXT x, GLint64EXT y); -GLAPI void APIENTRY glVertexAttribL3i64NV (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z); -GLAPI void APIENTRY glVertexAttribL4i64NV (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -GLAPI void APIENTRY glVertexAttribL1i64vNV (GLuint index, const GLint64EXT *v); -GLAPI void APIENTRY glVertexAttribL2i64vNV (GLuint index, const GLint64EXT *v); -GLAPI void APIENTRY glVertexAttribL3i64vNV (GLuint index, const GLint64EXT *v); -GLAPI void APIENTRY glVertexAttribL4i64vNV (GLuint index, const GLint64EXT *v); -GLAPI void APIENTRY glVertexAttribL1ui64NV (GLuint index, GLuint64EXT x); -GLAPI void APIENTRY glVertexAttribL2ui64NV (GLuint index, GLuint64EXT x, GLuint64EXT y); -GLAPI void APIENTRY glVertexAttribL3ui64NV (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -GLAPI void APIENTRY glVertexAttribL4ui64NV (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -GLAPI void APIENTRY glVertexAttribL1ui64vNV (GLuint index, const GLuint64EXT *v); -GLAPI void APIENTRY glVertexAttribL2ui64vNV (GLuint index, const GLuint64EXT *v); -GLAPI void APIENTRY glVertexAttribL3ui64vNV (GLuint index, const GLuint64EXT *v); -GLAPI void APIENTRY glVertexAttribL4ui64vNV (GLuint index, const GLuint64EXT *v); -GLAPI void APIENTRY glGetVertexAttribLi64vNV (GLuint index, GLenum pname, GLint64EXT *params); -GLAPI void APIENTRY glGetVertexAttribLui64vNV (GLuint index, GLenum pname, GLuint64EXT *params); -GLAPI void APIENTRY glVertexAttribLFormatNV (GLuint index, GLint size, GLenum type, GLsizei stride); -#endif -#endif /* GL_NV_vertex_attrib_integer_64bit */ - -#ifndef GL_NV_vertex_buffer_unified_memory -#define GL_NV_vertex_buffer_unified_memory 1 -#define GL_VERTEX_ATTRIB_ARRAY_UNIFIED_NV 0x8F1E -#define GL_ELEMENT_ARRAY_UNIFIED_NV 0x8F1F -#define GL_VERTEX_ATTRIB_ARRAY_ADDRESS_NV 0x8F20 -#define GL_VERTEX_ARRAY_ADDRESS_NV 0x8F21 -#define GL_NORMAL_ARRAY_ADDRESS_NV 0x8F22 -#define GL_COLOR_ARRAY_ADDRESS_NV 0x8F23 -#define GL_INDEX_ARRAY_ADDRESS_NV 0x8F24 -#define GL_TEXTURE_COORD_ARRAY_ADDRESS_NV 0x8F25 -#define GL_EDGE_FLAG_ARRAY_ADDRESS_NV 0x8F26 -#define GL_SECONDARY_COLOR_ARRAY_ADDRESS_NV 0x8F27 -#define GL_FOG_COORD_ARRAY_ADDRESS_NV 0x8F28 -#define GL_ELEMENT_ARRAY_ADDRESS_NV 0x8F29 -#define GL_VERTEX_ATTRIB_ARRAY_LENGTH_NV 0x8F2A -#define GL_VERTEX_ARRAY_LENGTH_NV 0x8F2B -#define GL_NORMAL_ARRAY_LENGTH_NV 0x8F2C -#define GL_COLOR_ARRAY_LENGTH_NV 0x8F2D -#define GL_INDEX_ARRAY_LENGTH_NV 0x8F2E -#define GL_TEXTURE_COORD_ARRAY_LENGTH_NV 0x8F2F -#define GL_EDGE_FLAG_ARRAY_LENGTH_NV 0x8F30 -#define GL_SECONDARY_COLOR_ARRAY_LENGTH_NV 0x8F31 -#define GL_FOG_COORD_ARRAY_LENGTH_NV 0x8F32 -#define GL_ELEMENT_ARRAY_LENGTH_NV 0x8F33 -#define GL_DRAW_INDIRECT_UNIFIED_NV 0x8F40 -#define GL_DRAW_INDIRECT_ADDRESS_NV 0x8F41 -#define GL_DRAW_INDIRECT_LENGTH_NV 0x8F42 -typedef void (APIENTRYP PFNGLBUFFERADDRESSRANGENVPROC) (GLenum pname, GLuint index, GLuint64EXT address, GLsizeiptr length); -typedef void (APIENTRYP PFNGLVERTEXFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLNORMALFORMATNVPROC) (GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLCOLORFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLINDEXFORMATNVPROC) (GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLTEXCOORDFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLEDGEFLAGFORMATNVPROC) (GLsizei stride); -typedef void (APIENTRYP PFNGLSECONDARYCOLORFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLFOGCOORDFORMATNVPROC) (GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLVERTEXATTRIBFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride); -typedef void (APIENTRYP PFNGLVERTEXATTRIBIFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride); -typedef void (APIENTRYP PFNGLGETINTEGERUI64I_VNVPROC) (GLenum value, GLuint index, GLuint64EXT *result); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBufferAddressRangeNV (GLenum pname, GLuint index, GLuint64EXT address, GLsizeiptr length); -GLAPI void APIENTRY glVertexFormatNV (GLint size, GLenum type, GLsizei stride); -GLAPI void APIENTRY glNormalFormatNV (GLenum type, GLsizei stride); -GLAPI void APIENTRY glColorFormatNV (GLint size, GLenum type, GLsizei stride); -GLAPI void APIENTRY glIndexFormatNV (GLenum type, GLsizei stride); -GLAPI void APIENTRY glTexCoordFormatNV (GLint size, GLenum type, GLsizei stride); -GLAPI void APIENTRY glEdgeFlagFormatNV (GLsizei stride); -GLAPI void APIENTRY glSecondaryColorFormatNV (GLint size, GLenum type, GLsizei stride); -GLAPI void APIENTRY glFogCoordFormatNV (GLenum type, GLsizei stride); -GLAPI void APIENTRY glVertexAttribFormatNV (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride); -GLAPI void APIENTRY glVertexAttribIFormatNV (GLuint index, GLint size, GLenum type, GLsizei stride); -GLAPI void APIENTRY glGetIntegerui64i_vNV (GLenum value, GLuint index, GLuint64EXT *result); -#endif -#endif /* GL_NV_vertex_buffer_unified_memory */ - -#ifndef GL_NV_vertex_program -#define GL_NV_vertex_program 1 -#define GL_VERTEX_PROGRAM_NV 0x8620 -#define GL_VERTEX_STATE_PROGRAM_NV 0x8621 -#define GL_ATTRIB_ARRAY_SIZE_NV 0x8623 -#define GL_ATTRIB_ARRAY_STRIDE_NV 0x8624 -#define GL_ATTRIB_ARRAY_TYPE_NV 0x8625 -#define GL_CURRENT_ATTRIB_NV 0x8626 -#define GL_PROGRAM_LENGTH_NV 0x8627 -#define GL_PROGRAM_STRING_NV 0x8628 -#define GL_MODELVIEW_PROJECTION_NV 0x8629 -#define GL_IDENTITY_NV 0x862A -#define GL_INVERSE_NV 0x862B -#define GL_TRANSPOSE_NV 0x862C -#define GL_INVERSE_TRANSPOSE_NV 0x862D -#define GL_MAX_TRACK_MATRIX_STACK_DEPTH_NV 0x862E -#define GL_MAX_TRACK_MATRICES_NV 0x862F -#define GL_MATRIX0_NV 0x8630 -#define GL_MATRIX1_NV 0x8631 -#define GL_MATRIX2_NV 0x8632 -#define GL_MATRIX3_NV 0x8633 -#define GL_MATRIX4_NV 0x8634 -#define GL_MATRIX5_NV 0x8635 -#define GL_MATRIX6_NV 0x8636 -#define GL_MATRIX7_NV 0x8637 -#define GL_CURRENT_MATRIX_STACK_DEPTH_NV 0x8640 -#define GL_CURRENT_MATRIX_NV 0x8641 -#define GL_VERTEX_PROGRAM_POINT_SIZE_NV 0x8642 -#define GL_VERTEX_PROGRAM_TWO_SIDE_NV 0x8643 -#define GL_PROGRAM_PARAMETER_NV 0x8644 -#define GL_ATTRIB_ARRAY_POINTER_NV 0x8645 -#define GL_PROGRAM_TARGET_NV 0x8646 -#define GL_PROGRAM_RESIDENT_NV 0x8647 -#define GL_TRACK_MATRIX_NV 0x8648 -#define GL_TRACK_MATRIX_TRANSFORM_NV 0x8649 -#define GL_VERTEX_PROGRAM_BINDING_NV 0x864A -#define GL_PROGRAM_ERROR_POSITION_NV 0x864B -#define GL_VERTEX_ATTRIB_ARRAY0_NV 0x8650 -#define GL_VERTEX_ATTRIB_ARRAY1_NV 0x8651 -#define GL_VERTEX_ATTRIB_ARRAY2_NV 0x8652 -#define GL_VERTEX_ATTRIB_ARRAY3_NV 0x8653 -#define GL_VERTEX_ATTRIB_ARRAY4_NV 0x8654 -#define GL_VERTEX_ATTRIB_ARRAY5_NV 0x8655 -#define GL_VERTEX_ATTRIB_ARRAY6_NV 0x8656 -#define GL_VERTEX_ATTRIB_ARRAY7_NV 0x8657 -#define GL_VERTEX_ATTRIB_ARRAY8_NV 0x8658 -#define GL_VERTEX_ATTRIB_ARRAY9_NV 0x8659 -#define GL_VERTEX_ATTRIB_ARRAY10_NV 0x865A -#define GL_VERTEX_ATTRIB_ARRAY11_NV 0x865B -#define GL_VERTEX_ATTRIB_ARRAY12_NV 0x865C -#define GL_VERTEX_ATTRIB_ARRAY13_NV 0x865D -#define GL_VERTEX_ATTRIB_ARRAY14_NV 0x865E -#define GL_VERTEX_ATTRIB_ARRAY15_NV 0x865F -#define GL_MAP1_VERTEX_ATTRIB0_4_NV 0x8660 -#define GL_MAP1_VERTEX_ATTRIB1_4_NV 0x8661 -#define GL_MAP1_VERTEX_ATTRIB2_4_NV 0x8662 -#define GL_MAP1_VERTEX_ATTRIB3_4_NV 0x8663 -#define GL_MAP1_VERTEX_ATTRIB4_4_NV 0x8664 -#define GL_MAP1_VERTEX_ATTRIB5_4_NV 0x8665 -#define GL_MAP1_VERTEX_ATTRIB6_4_NV 0x8666 -#define GL_MAP1_VERTEX_ATTRIB7_4_NV 0x8667 -#define GL_MAP1_VERTEX_ATTRIB8_4_NV 0x8668 -#define GL_MAP1_VERTEX_ATTRIB9_4_NV 0x8669 -#define GL_MAP1_VERTEX_ATTRIB10_4_NV 0x866A -#define GL_MAP1_VERTEX_ATTRIB11_4_NV 0x866B -#define GL_MAP1_VERTEX_ATTRIB12_4_NV 0x866C -#define GL_MAP1_VERTEX_ATTRIB13_4_NV 0x866D -#define GL_MAP1_VERTEX_ATTRIB14_4_NV 0x866E -#define GL_MAP1_VERTEX_ATTRIB15_4_NV 0x866F -#define GL_MAP2_VERTEX_ATTRIB0_4_NV 0x8670 -#define GL_MAP2_VERTEX_ATTRIB1_4_NV 0x8671 -#define GL_MAP2_VERTEX_ATTRIB2_4_NV 0x8672 -#define GL_MAP2_VERTEX_ATTRIB3_4_NV 0x8673 -#define GL_MAP2_VERTEX_ATTRIB4_4_NV 0x8674 -#define GL_MAP2_VERTEX_ATTRIB5_4_NV 0x8675 -#define GL_MAP2_VERTEX_ATTRIB6_4_NV 0x8676 -#define GL_MAP2_VERTEX_ATTRIB7_4_NV 0x8677 -#define GL_MAP2_VERTEX_ATTRIB8_4_NV 0x8678 -#define GL_MAP2_VERTEX_ATTRIB9_4_NV 0x8679 -#define GL_MAP2_VERTEX_ATTRIB10_4_NV 0x867A -#define GL_MAP2_VERTEX_ATTRIB11_4_NV 0x867B -#define GL_MAP2_VERTEX_ATTRIB12_4_NV 0x867C -#define GL_MAP2_VERTEX_ATTRIB13_4_NV 0x867D -#define GL_MAP2_VERTEX_ATTRIB14_4_NV 0x867E -#define GL_MAP2_VERTEX_ATTRIB15_4_NV 0x867F -typedef GLboolean (APIENTRYP PFNGLAREPROGRAMSRESIDENTNVPROC) (GLsizei n, const GLuint *programs, GLboolean *residences); -typedef void (APIENTRYP PFNGLBINDPROGRAMNVPROC) (GLenum target, GLuint id); -typedef void (APIENTRYP PFNGLDELETEPROGRAMSNVPROC) (GLsizei n, const GLuint *programs); -typedef void (APIENTRYP PFNGLEXECUTEPROGRAMNVPROC) (GLenum target, GLuint id, const GLfloat *params); -typedef void (APIENTRYP PFNGLGENPROGRAMSNVPROC) (GLsizei n, GLuint *programs); -typedef void (APIENTRYP PFNGLGETPROGRAMPARAMETERDVNVPROC) (GLenum target, GLuint index, GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLGETPROGRAMPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETPROGRAMIVNVPROC) (GLuint id, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETPROGRAMSTRINGNVPROC) (GLuint id, GLenum pname, GLubyte *program); -typedef void (APIENTRYP PFNGLGETTRACKMATRIXIVNVPROC) (GLenum target, GLuint address, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBDVNVPROC) (GLuint index, GLenum pname, GLdouble *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBFVNVPROC) (GLuint index, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVNVPROC) (GLuint index, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVNVPROC) (GLuint index, GLenum pname, void **pointer); -typedef GLboolean (APIENTRYP PFNGLISPROGRAMNVPROC) (GLuint id); -typedef void (APIENTRYP PFNGLLOADPROGRAMNVPROC) (GLenum target, GLuint id, GLsizei len, const GLubyte *program); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4DNVPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4DVNVPROC) (GLenum target, GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4FNVPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETER4FVNVPROC) (GLenum target, GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETERS4DVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLPROGRAMPARAMETERS4FVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLREQUESTRESIDENTPROGRAMSNVPROC) (GLsizei n, const GLuint *programs); -typedef void (APIENTRYP PFNGLTRACKMATRIXNVPROC) (GLenum target, GLuint address, GLenum matrix, GLenum transform); -typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERNVPROC) (GLuint index, GLint fsize, GLenum type, GLsizei stride, const void *pointer); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1DNVPROC) (GLuint index, GLdouble x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1DVNVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1FNVPROC) (GLuint index, GLfloat x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1FVNVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1SNVPROC) (GLuint index, GLshort x); -typedef void (APIENTRYP PFNGLVERTEXATTRIB1SVNVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2DNVPROC) (GLuint index, GLdouble x, GLdouble y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2DVNVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2FNVPROC) (GLuint index, GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2FVNVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2SNVPROC) (GLuint index, GLshort x, GLshort y); -typedef void (APIENTRYP PFNGLVERTEXATTRIB2SVNVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3DVNVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3FVNVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z); -typedef void (APIENTRYP PFNGLVERTEXATTRIB3SVNVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4DVNVPROC) (GLuint index, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4FVNVPROC) (GLuint index, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4SVNVPROC) (GLuint index, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBNVPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); -typedef void (APIENTRYP PFNGLVERTEXATTRIB4UBVNVPROC) (GLuint index, const GLubyte *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS1DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS1FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS1SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS2DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS2FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS2SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS3DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS3FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS3SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS4DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS4FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS4SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); -typedef void (APIENTRYP PFNGLVERTEXATTRIBS4UBVNVPROC) (GLuint index, GLsizei count, const GLubyte *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLboolean APIENTRY glAreProgramsResidentNV (GLsizei n, const GLuint *programs, GLboolean *residences); -GLAPI void APIENTRY glBindProgramNV (GLenum target, GLuint id); -GLAPI void APIENTRY glDeleteProgramsNV (GLsizei n, const GLuint *programs); -GLAPI void APIENTRY glExecuteProgramNV (GLenum target, GLuint id, const GLfloat *params); -GLAPI void APIENTRY glGenProgramsNV (GLsizei n, GLuint *programs); -GLAPI void APIENTRY glGetProgramParameterdvNV (GLenum target, GLuint index, GLenum pname, GLdouble *params); -GLAPI void APIENTRY glGetProgramParameterfvNV (GLenum target, GLuint index, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetProgramivNV (GLuint id, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetProgramStringNV (GLuint id, GLenum pname, GLubyte *program); -GLAPI void APIENTRY glGetTrackMatrixivNV (GLenum target, GLuint address, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVertexAttribdvNV (GLuint index, GLenum pname, GLdouble *params); -GLAPI void APIENTRY glGetVertexAttribfvNV (GLuint index, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetVertexAttribivNV (GLuint index, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVertexAttribPointervNV (GLuint index, GLenum pname, void **pointer); -GLAPI GLboolean APIENTRY glIsProgramNV (GLuint id); -GLAPI void APIENTRY glLoadProgramNV (GLenum target, GLuint id, GLsizei len, const GLubyte *program); -GLAPI void APIENTRY glProgramParameter4dNV (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glProgramParameter4dvNV (GLenum target, GLuint index, const GLdouble *v); -GLAPI void APIENTRY glProgramParameter4fNV (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glProgramParameter4fvNV (GLenum target, GLuint index, const GLfloat *v); -GLAPI void APIENTRY glProgramParameters4dvNV (GLenum target, GLuint index, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glProgramParameters4fvNV (GLenum target, GLuint index, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glRequestResidentProgramsNV (GLsizei n, const GLuint *programs); -GLAPI void APIENTRY glTrackMatrixNV (GLenum target, GLuint address, GLenum matrix, GLenum transform); -GLAPI void APIENTRY glVertexAttribPointerNV (GLuint index, GLint fsize, GLenum type, GLsizei stride, const void *pointer); -GLAPI void APIENTRY glVertexAttrib1dNV (GLuint index, GLdouble x); -GLAPI void APIENTRY glVertexAttrib1dvNV (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib1fNV (GLuint index, GLfloat x); -GLAPI void APIENTRY glVertexAttrib1fvNV (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib1sNV (GLuint index, GLshort x); -GLAPI void APIENTRY glVertexAttrib1svNV (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib2dNV (GLuint index, GLdouble x, GLdouble y); -GLAPI void APIENTRY glVertexAttrib2dvNV (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib2fNV (GLuint index, GLfloat x, GLfloat y); -GLAPI void APIENTRY glVertexAttrib2fvNV (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib2sNV (GLuint index, GLshort x, GLshort y); -GLAPI void APIENTRY glVertexAttrib2svNV (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib3dNV (GLuint index, GLdouble x, GLdouble y, GLdouble z); -GLAPI void APIENTRY glVertexAttrib3dvNV (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib3fNV (GLuint index, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glVertexAttrib3fvNV (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib3sNV (GLuint index, GLshort x, GLshort y, GLshort z); -GLAPI void APIENTRY glVertexAttrib3svNV (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4dNV (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); -GLAPI void APIENTRY glVertexAttrib4dvNV (GLuint index, const GLdouble *v); -GLAPI void APIENTRY glVertexAttrib4fNV (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glVertexAttrib4fvNV (GLuint index, const GLfloat *v); -GLAPI void APIENTRY glVertexAttrib4sNV (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); -GLAPI void APIENTRY glVertexAttrib4svNV (GLuint index, const GLshort *v); -GLAPI void APIENTRY glVertexAttrib4ubNV (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); -GLAPI void APIENTRY glVertexAttrib4ubvNV (GLuint index, const GLubyte *v); -GLAPI void APIENTRY glVertexAttribs1dvNV (GLuint index, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribs1fvNV (GLuint index, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glVertexAttribs1svNV (GLuint index, GLsizei count, const GLshort *v); -GLAPI void APIENTRY glVertexAttribs2dvNV (GLuint index, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribs2fvNV (GLuint index, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glVertexAttribs2svNV (GLuint index, GLsizei count, const GLshort *v); -GLAPI void APIENTRY glVertexAttribs3dvNV (GLuint index, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribs3fvNV (GLuint index, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glVertexAttribs3svNV (GLuint index, GLsizei count, const GLshort *v); -GLAPI void APIENTRY glVertexAttribs4dvNV (GLuint index, GLsizei count, const GLdouble *v); -GLAPI void APIENTRY glVertexAttribs4fvNV (GLuint index, GLsizei count, const GLfloat *v); -GLAPI void APIENTRY glVertexAttribs4svNV (GLuint index, GLsizei count, const GLshort *v); -GLAPI void APIENTRY glVertexAttribs4ubvNV (GLuint index, GLsizei count, const GLubyte *v); -#endif -#endif /* GL_NV_vertex_program */ - -#ifndef GL_NV_vertex_program1_1 -#define GL_NV_vertex_program1_1 1 -#endif /* GL_NV_vertex_program1_1 */ - -#ifndef GL_NV_vertex_program2 -#define GL_NV_vertex_program2 1 -#endif /* GL_NV_vertex_program2 */ - -#ifndef GL_NV_vertex_program2_option -#define GL_NV_vertex_program2_option 1 -#endif /* GL_NV_vertex_program2_option */ - -#ifndef GL_NV_vertex_program3 -#define GL_NV_vertex_program3 1 -#endif /* GL_NV_vertex_program3 */ - -#ifndef GL_NV_vertex_program4 -#define GL_NV_vertex_program4 1 -#define GL_VERTEX_ATTRIB_ARRAY_INTEGER_NV 0x88FD -#endif /* GL_NV_vertex_program4 */ - -#ifndef GL_NV_video_capture -#define GL_NV_video_capture 1 -#define GL_VIDEO_BUFFER_NV 0x9020 -#define GL_VIDEO_BUFFER_BINDING_NV 0x9021 -#define GL_FIELD_UPPER_NV 0x9022 -#define GL_FIELD_LOWER_NV 0x9023 -#define GL_NUM_VIDEO_CAPTURE_STREAMS_NV 0x9024 -#define GL_NEXT_VIDEO_CAPTURE_BUFFER_STATUS_NV 0x9025 -#define GL_VIDEO_CAPTURE_TO_422_SUPPORTED_NV 0x9026 -#define GL_LAST_VIDEO_CAPTURE_STATUS_NV 0x9027 -#define GL_VIDEO_BUFFER_PITCH_NV 0x9028 -#define GL_VIDEO_COLOR_CONVERSION_MATRIX_NV 0x9029 -#define GL_VIDEO_COLOR_CONVERSION_MAX_NV 0x902A -#define GL_VIDEO_COLOR_CONVERSION_MIN_NV 0x902B -#define GL_VIDEO_COLOR_CONVERSION_OFFSET_NV 0x902C -#define GL_VIDEO_BUFFER_INTERNAL_FORMAT_NV 0x902D -#define GL_PARTIAL_SUCCESS_NV 0x902E -#define GL_SUCCESS_NV 0x902F -#define GL_FAILURE_NV 0x9030 -#define GL_YCBYCR8_422_NV 0x9031 -#define GL_YCBAYCR8A_4224_NV 0x9032 -#define GL_Z6Y10Z6CB10Z6Y10Z6CR10_422_NV 0x9033 -#define GL_Z6Y10Z6CB10Z6A10Z6Y10Z6CR10Z6A10_4224_NV 0x9034 -#define GL_Z4Y12Z4CB12Z4Y12Z4CR12_422_NV 0x9035 -#define GL_Z4Y12Z4CB12Z4A12Z4Y12Z4CR12Z4A12_4224_NV 0x9036 -#define GL_Z4Y12Z4CB12Z4CR12_444_NV 0x9037 -#define GL_VIDEO_CAPTURE_FRAME_WIDTH_NV 0x9038 -#define GL_VIDEO_CAPTURE_FRAME_HEIGHT_NV 0x9039 -#define GL_VIDEO_CAPTURE_FIELD_UPPER_HEIGHT_NV 0x903A -#define GL_VIDEO_CAPTURE_FIELD_LOWER_HEIGHT_NV 0x903B -#define GL_VIDEO_CAPTURE_SURFACE_ORIGIN_NV 0x903C -typedef void (APIENTRYP PFNGLBEGINVIDEOCAPTURENVPROC) (GLuint video_capture_slot); -typedef void (APIENTRYP PFNGLBINDVIDEOCAPTURESTREAMBUFFERNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLintptrARB offset); -typedef void (APIENTRYP PFNGLBINDVIDEOCAPTURESTREAMTEXTURENVPROC) (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLenum target, GLuint texture); -typedef void (APIENTRYP PFNGLENDVIDEOCAPTURENVPROC) (GLuint video_capture_slot); -typedef void (APIENTRYP PFNGLGETVIDEOCAPTUREIVNVPROC) (GLuint video_capture_slot, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVIDEOCAPTURESTREAMIVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETVIDEOCAPTURESTREAMFVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETVIDEOCAPTURESTREAMDVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLdouble *params); -typedef GLenum (APIENTRYP PFNGLVIDEOCAPTURENVPROC) (GLuint video_capture_slot, GLuint *sequence_num, GLuint64EXT *capture_time); -typedef void (APIENTRYP PFNGLVIDEOCAPTURESTREAMPARAMETERIVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLVIDEOCAPTURESTREAMPARAMETERFVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLVIDEOCAPTURESTREAMPARAMETERDVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLdouble *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glBeginVideoCaptureNV (GLuint video_capture_slot); -GLAPI void APIENTRY glBindVideoCaptureStreamBufferNV (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLintptrARB offset); -GLAPI void APIENTRY glBindVideoCaptureStreamTextureNV (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLenum target, GLuint texture); -GLAPI void APIENTRY glEndVideoCaptureNV (GLuint video_capture_slot); -GLAPI void APIENTRY glGetVideoCaptureivNV (GLuint video_capture_slot, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVideoCaptureStreamivNV (GLuint video_capture_slot, GLuint stream, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetVideoCaptureStreamfvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetVideoCaptureStreamdvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, GLdouble *params); -GLAPI GLenum APIENTRY glVideoCaptureNV (GLuint video_capture_slot, GLuint *sequence_num, GLuint64EXT *capture_time); -GLAPI void APIENTRY glVideoCaptureStreamParameterivNV (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLint *params); -GLAPI void APIENTRY glVideoCaptureStreamParameterfvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glVideoCaptureStreamParameterdvNV (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLdouble *params); -#endif -#endif /* GL_NV_video_capture */ - -#ifndef GL_NV_viewport_array2 -#define GL_NV_viewport_array2 1 -#endif /* GL_NV_viewport_array2 */ - -#ifndef GL_NV_viewport_swizzle -#define GL_NV_viewport_swizzle 1 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_X_NV 0x9350 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_X_NV 0x9351 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_Y_NV 0x9352 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Y_NV 0x9353 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_Z_NV 0x9354 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Z_NV 0x9355 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_W_NV 0x9356 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_W_NV 0x9357 -#define GL_VIEWPORT_SWIZZLE_X_NV 0x9358 -#define GL_VIEWPORT_SWIZZLE_Y_NV 0x9359 -#define GL_VIEWPORT_SWIZZLE_Z_NV 0x935A -#define GL_VIEWPORT_SWIZZLE_W_NV 0x935B -typedef void (APIENTRYP PFNGLVIEWPORTSWIZZLENVPROC) (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glViewportSwizzleNV (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); -#endif -#endif /* GL_NV_viewport_swizzle */ - -#ifndef GL_OML_interlace -#define GL_OML_interlace 1 -#define GL_INTERLACE_OML 0x8980 -#define GL_INTERLACE_READ_OML 0x8981 -#endif /* GL_OML_interlace */ - -#ifndef GL_OML_resample -#define GL_OML_resample 1 -#define GL_PACK_RESAMPLE_OML 0x8984 -#define GL_UNPACK_RESAMPLE_OML 0x8985 -#define GL_RESAMPLE_REPLICATE_OML 0x8986 -#define GL_RESAMPLE_ZERO_FILL_OML 0x8987 -#define GL_RESAMPLE_AVERAGE_OML 0x8988 -#define GL_RESAMPLE_DECIMATE_OML 0x8989 -#endif /* GL_OML_resample */ - -#ifndef GL_OML_subsample -#define GL_OML_subsample 1 -#define GL_FORMAT_SUBSAMPLE_24_24_OML 0x8982 -#define GL_FORMAT_SUBSAMPLE_244_244_OML 0x8983 -#endif /* GL_OML_subsample */ - -#ifndef GL_OVR_multiview -#define GL_OVR_multiview 1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_NUM_VIEWS_OVR 0x9630 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_BASE_VIEW_INDEX_OVR 0x9632 -#define GL_MAX_VIEWS_OVR 0x9631 -#define GL_FRAMEBUFFER_INCOMPLETE_VIEW_TARGETS_OVR 0x9633 -typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTUREMULTIVIEWOVRPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFramebufferTextureMultiviewOVR (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); -#endif -#endif /* GL_OVR_multiview */ - -#ifndef GL_OVR_multiview2 -#define GL_OVR_multiview2 1 -#endif /* GL_OVR_multiview2 */ - -#ifndef GL_PGI_misc_hints -#define GL_PGI_misc_hints 1 -#define GL_PREFER_DOUBLEBUFFER_HINT_PGI 0x1A1F8 -#define GL_CONSERVE_MEMORY_HINT_PGI 0x1A1FD -#define GL_RECLAIM_MEMORY_HINT_PGI 0x1A1FE -#define GL_NATIVE_GRAPHICS_HANDLE_PGI 0x1A202 -#define GL_NATIVE_GRAPHICS_BEGIN_HINT_PGI 0x1A203 -#define GL_NATIVE_GRAPHICS_END_HINT_PGI 0x1A204 -#define GL_ALWAYS_FAST_HINT_PGI 0x1A20C -#define GL_ALWAYS_SOFT_HINT_PGI 0x1A20D -#define GL_ALLOW_DRAW_OBJ_HINT_PGI 0x1A20E -#define GL_ALLOW_DRAW_WIN_HINT_PGI 0x1A20F -#define GL_ALLOW_DRAW_FRG_HINT_PGI 0x1A210 -#define GL_ALLOW_DRAW_MEM_HINT_PGI 0x1A211 -#define GL_STRICT_DEPTHFUNC_HINT_PGI 0x1A216 -#define GL_STRICT_LIGHTING_HINT_PGI 0x1A217 -#define GL_STRICT_SCISSOR_HINT_PGI 0x1A218 -#define GL_FULL_STIPPLE_HINT_PGI 0x1A219 -#define GL_CLIP_NEAR_HINT_PGI 0x1A220 -#define GL_CLIP_FAR_HINT_PGI 0x1A221 -#define GL_WIDE_LINE_HINT_PGI 0x1A222 -#define GL_BACK_NORMALS_HINT_PGI 0x1A223 -typedef void (APIENTRYP PFNGLHINTPGIPROC) (GLenum target, GLint mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glHintPGI (GLenum target, GLint mode); -#endif -#endif /* GL_PGI_misc_hints */ - -#ifndef GL_PGI_vertex_hints -#define GL_PGI_vertex_hints 1 -#define GL_VERTEX_DATA_HINT_PGI 0x1A22A -#define GL_VERTEX_CONSISTENT_HINT_PGI 0x1A22B -#define GL_MATERIAL_SIDE_HINT_PGI 0x1A22C -#define GL_MAX_VERTEX_HINT_PGI 0x1A22D -#define GL_COLOR3_BIT_PGI 0x00010000 -#define GL_COLOR4_BIT_PGI 0x00020000 -#define GL_EDGEFLAG_BIT_PGI 0x00040000 -#define GL_INDEX_BIT_PGI 0x00080000 -#define GL_MAT_AMBIENT_BIT_PGI 0x00100000 -#define GL_MAT_AMBIENT_AND_DIFFUSE_BIT_PGI 0x00200000 -#define GL_MAT_DIFFUSE_BIT_PGI 0x00400000 -#define GL_MAT_EMISSION_BIT_PGI 0x00800000 -#define GL_MAT_COLOR_INDEXES_BIT_PGI 0x01000000 -#define GL_MAT_SHININESS_BIT_PGI 0x02000000 -#define GL_MAT_SPECULAR_BIT_PGI 0x04000000 -#define GL_NORMAL_BIT_PGI 0x08000000 -#define GL_TEXCOORD1_BIT_PGI 0x10000000 -#define GL_TEXCOORD2_BIT_PGI 0x20000000 -#define GL_TEXCOORD3_BIT_PGI 0x40000000 -#define GL_TEXCOORD4_BIT_PGI 0x80000000 -#define GL_VERTEX23_BIT_PGI 0x00000004 -#define GL_VERTEX4_BIT_PGI 0x00000008 -#endif /* GL_PGI_vertex_hints */ - -#ifndef GL_REND_screen_coordinates -#define GL_REND_screen_coordinates 1 -#define GL_SCREEN_COORDINATES_REND 0x8490 -#define GL_INVERTED_SCREEN_W_REND 0x8491 -#endif /* GL_REND_screen_coordinates */ - -#ifndef GL_S3_s3tc -#define GL_S3_s3tc 1 -#define GL_RGB_S3TC 0x83A0 -#define GL_RGB4_S3TC 0x83A1 -#define GL_RGBA_S3TC 0x83A2 -#define GL_RGBA4_S3TC 0x83A3 -#define GL_RGBA_DXT5_S3TC 0x83A4 -#define GL_RGBA4_DXT5_S3TC 0x83A5 -#endif /* GL_S3_s3tc */ - -#ifndef GL_SGIS_detail_texture -#define GL_SGIS_detail_texture 1 -#define GL_DETAIL_TEXTURE_2D_SGIS 0x8095 -#define GL_DETAIL_TEXTURE_2D_BINDING_SGIS 0x8096 -#define GL_LINEAR_DETAIL_SGIS 0x8097 -#define GL_LINEAR_DETAIL_ALPHA_SGIS 0x8098 -#define GL_LINEAR_DETAIL_COLOR_SGIS 0x8099 -#define GL_DETAIL_TEXTURE_LEVEL_SGIS 0x809A -#define GL_DETAIL_TEXTURE_MODE_SGIS 0x809B -#define GL_DETAIL_TEXTURE_FUNC_POINTS_SGIS 0x809C -typedef void (APIENTRYP PFNGLDETAILTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat *points); -typedef void (APIENTRYP PFNGLGETDETAILTEXFUNCSGISPROC) (GLenum target, GLfloat *points); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDetailTexFuncSGIS (GLenum target, GLsizei n, const GLfloat *points); -GLAPI void APIENTRY glGetDetailTexFuncSGIS (GLenum target, GLfloat *points); -#endif -#endif /* GL_SGIS_detail_texture */ - -#ifndef GL_SGIS_fog_function -#define GL_SGIS_fog_function 1 -#define GL_FOG_FUNC_SGIS 0x812A -#define GL_FOG_FUNC_POINTS_SGIS 0x812B -#define GL_MAX_FOG_FUNC_POINTS_SGIS 0x812C -typedef void (APIENTRYP PFNGLFOGFUNCSGISPROC) (GLsizei n, const GLfloat *points); -typedef void (APIENTRYP PFNGLGETFOGFUNCSGISPROC) (GLfloat *points); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFogFuncSGIS (GLsizei n, const GLfloat *points); -GLAPI void APIENTRY glGetFogFuncSGIS (GLfloat *points); -#endif -#endif /* GL_SGIS_fog_function */ - -#ifndef GL_SGIS_generate_mipmap -#define GL_SGIS_generate_mipmap 1 -#define GL_GENERATE_MIPMAP_SGIS 0x8191 -#define GL_GENERATE_MIPMAP_HINT_SGIS 0x8192 -#endif /* GL_SGIS_generate_mipmap */ - -#ifndef GL_SGIS_multisample -#define GL_SGIS_multisample 1 -#define GL_MULTISAMPLE_SGIS 0x809D -#define GL_SAMPLE_ALPHA_TO_MASK_SGIS 0x809E -#define GL_SAMPLE_ALPHA_TO_ONE_SGIS 0x809F -#define GL_SAMPLE_MASK_SGIS 0x80A0 -#define GL_1PASS_SGIS 0x80A1 -#define GL_2PASS_0_SGIS 0x80A2 -#define GL_2PASS_1_SGIS 0x80A3 -#define GL_4PASS_0_SGIS 0x80A4 -#define GL_4PASS_1_SGIS 0x80A5 -#define GL_4PASS_2_SGIS 0x80A6 -#define GL_4PASS_3_SGIS 0x80A7 -#define GL_SAMPLE_BUFFERS_SGIS 0x80A8 -#define GL_SAMPLES_SGIS 0x80A9 -#define GL_SAMPLE_MASK_VALUE_SGIS 0x80AA -#define GL_SAMPLE_MASK_INVERT_SGIS 0x80AB -#define GL_SAMPLE_PATTERN_SGIS 0x80AC -typedef void (APIENTRYP PFNGLSAMPLEMASKSGISPROC) (GLclampf value, GLboolean invert); -typedef void (APIENTRYP PFNGLSAMPLEPATTERNSGISPROC) (GLenum pattern); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSampleMaskSGIS (GLclampf value, GLboolean invert); -GLAPI void APIENTRY glSamplePatternSGIS (GLenum pattern); -#endif -#endif /* GL_SGIS_multisample */ - -#ifndef GL_SGIS_pixel_texture -#define GL_SGIS_pixel_texture 1 -#define GL_PIXEL_TEXTURE_SGIS 0x8353 -#define GL_PIXEL_FRAGMENT_RGB_SOURCE_SGIS 0x8354 -#define GL_PIXEL_FRAGMENT_ALPHA_SOURCE_SGIS 0x8355 -#define GL_PIXEL_GROUP_COLOR_SGIS 0x8356 -typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERISGISPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERIVSGISPROC) (GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERFSGISPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLPIXELTEXGENPARAMETERFVSGISPROC) (GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLGETPIXELTEXGENPARAMETERIVSGISPROC) (GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETPIXELTEXGENPARAMETERFVSGISPROC) (GLenum pname, GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPixelTexGenParameteriSGIS (GLenum pname, GLint param); -GLAPI void APIENTRY glPixelTexGenParameterivSGIS (GLenum pname, const GLint *params); -GLAPI void APIENTRY glPixelTexGenParameterfSGIS (GLenum pname, GLfloat param); -GLAPI void APIENTRY glPixelTexGenParameterfvSGIS (GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glGetPixelTexGenParameterivSGIS (GLenum pname, GLint *params); -GLAPI void APIENTRY glGetPixelTexGenParameterfvSGIS (GLenum pname, GLfloat *params); -#endif -#endif /* GL_SGIS_pixel_texture */ - -#ifndef GL_SGIS_point_line_texgen -#define GL_SGIS_point_line_texgen 1 -#define GL_EYE_DISTANCE_TO_POINT_SGIS 0x81F0 -#define GL_OBJECT_DISTANCE_TO_POINT_SGIS 0x81F1 -#define GL_EYE_DISTANCE_TO_LINE_SGIS 0x81F2 -#define GL_OBJECT_DISTANCE_TO_LINE_SGIS 0x81F3 -#define GL_EYE_POINT_SGIS 0x81F4 -#define GL_OBJECT_POINT_SGIS 0x81F5 -#define GL_EYE_LINE_SGIS 0x81F6 -#define GL_OBJECT_LINE_SGIS 0x81F7 -#endif /* GL_SGIS_point_line_texgen */ - -#ifndef GL_SGIS_point_parameters -#define GL_SGIS_point_parameters 1 -#define GL_POINT_SIZE_MIN_SGIS 0x8126 -#define GL_POINT_SIZE_MAX_SGIS 0x8127 -#define GL_POINT_FADE_THRESHOLD_SIZE_SGIS 0x8128 -#define GL_DISTANCE_ATTENUATION_SGIS 0x8129 -typedef void (APIENTRYP PFNGLPOINTPARAMETERFSGISPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLPOINTPARAMETERFVSGISPROC) (GLenum pname, const GLfloat *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPointParameterfSGIS (GLenum pname, GLfloat param); -GLAPI void APIENTRY glPointParameterfvSGIS (GLenum pname, const GLfloat *params); -#endif -#endif /* GL_SGIS_point_parameters */ - -#ifndef GL_SGIS_sharpen_texture -#define GL_SGIS_sharpen_texture 1 -#define GL_LINEAR_SHARPEN_SGIS 0x80AD -#define GL_LINEAR_SHARPEN_ALPHA_SGIS 0x80AE -#define GL_LINEAR_SHARPEN_COLOR_SGIS 0x80AF -#define GL_SHARPEN_TEXTURE_FUNC_POINTS_SGIS 0x80B0 -typedef void (APIENTRYP PFNGLSHARPENTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat *points); -typedef void (APIENTRYP PFNGLGETSHARPENTEXFUNCSGISPROC) (GLenum target, GLfloat *points); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSharpenTexFuncSGIS (GLenum target, GLsizei n, const GLfloat *points); -GLAPI void APIENTRY glGetSharpenTexFuncSGIS (GLenum target, GLfloat *points); -#endif -#endif /* GL_SGIS_sharpen_texture */ - -#ifndef GL_SGIS_texture4D -#define GL_SGIS_texture4D 1 -#define GL_PACK_SKIP_VOLUMES_SGIS 0x8130 -#define GL_PACK_IMAGE_DEPTH_SGIS 0x8131 -#define GL_UNPACK_SKIP_VOLUMES_SGIS 0x8132 -#define GL_UNPACK_IMAGE_DEPTH_SGIS 0x8133 -#define GL_TEXTURE_4D_SGIS 0x8134 -#define GL_PROXY_TEXTURE_4D_SGIS 0x8135 -#define GL_TEXTURE_4DSIZE_SGIS 0x8136 -#define GL_TEXTURE_WRAP_Q_SGIS 0x8137 -#define GL_MAX_4D_TEXTURE_SIZE_SGIS 0x8138 -#define GL_TEXTURE_4D_BINDING_SGIS 0x814F -typedef void (APIENTRYP PFNGLTEXIMAGE4DSGISPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (APIENTRYP PFNGLTEXSUBIMAGE4DSGISPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint woffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLenum format, GLenum type, const void *pixels); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTexImage4DSGIS (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLint border, GLenum format, GLenum type, const void *pixels); -GLAPI void APIENTRY glTexSubImage4DSGIS (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint woffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLenum format, GLenum type, const void *pixels); -#endif -#endif /* GL_SGIS_texture4D */ - -#ifndef GL_SGIS_texture_border_clamp -#define GL_SGIS_texture_border_clamp 1 -#define GL_CLAMP_TO_BORDER_SGIS 0x812D -#endif /* GL_SGIS_texture_border_clamp */ - -#ifndef GL_SGIS_texture_color_mask -#define GL_SGIS_texture_color_mask 1 -#define GL_TEXTURE_COLOR_WRITEMASK_SGIS 0x81EF -typedef void (APIENTRYP PFNGLTEXTURECOLORMASKSGISPROC) (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTextureColorMaskSGIS (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); -#endif -#endif /* GL_SGIS_texture_color_mask */ - -#ifndef GL_SGIS_texture_edge_clamp -#define GL_SGIS_texture_edge_clamp 1 -#define GL_CLAMP_TO_EDGE_SGIS 0x812F -#endif /* GL_SGIS_texture_edge_clamp */ - -#ifndef GL_SGIS_texture_filter4 -#define GL_SGIS_texture_filter4 1 -#define GL_FILTER4_SGIS 0x8146 -#define GL_TEXTURE_FILTER4_SIZE_SGIS 0x8147 -typedef void (APIENTRYP PFNGLGETTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLfloat *weights); -typedef void (APIENTRYP PFNGLTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLsizei n, const GLfloat *weights); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetTexFilterFuncSGIS (GLenum target, GLenum filter, GLfloat *weights); -GLAPI void APIENTRY glTexFilterFuncSGIS (GLenum target, GLenum filter, GLsizei n, const GLfloat *weights); -#endif -#endif /* GL_SGIS_texture_filter4 */ - -#ifndef GL_SGIS_texture_lod -#define GL_SGIS_texture_lod 1 -#define GL_TEXTURE_MIN_LOD_SGIS 0x813A -#define GL_TEXTURE_MAX_LOD_SGIS 0x813B -#define GL_TEXTURE_BASE_LEVEL_SGIS 0x813C -#define GL_TEXTURE_MAX_LEVEL_SGIS 0x813D -#endif /* GL_SGIS_texture_lod */ - -#ifndef GL_SGIS_texture_select -#define GL_SGIS_texture_select 1 -#define GL_DUAL_ALPHA4_SGIS 0x8110 -#define GL_DUAL_ALPHA8_SGIS 0x8111 -#define GL_DUAL_ALPHA12_SGIS 0x8112 -#define GL_DUAL_ALPHA16_SGIS 0x8113 -#define GL_DUAL_LUMINANCE4_SGIS 0x8114 -#define GL_DUAL_LUMINANCE8_SGIS 0x8115 -#define GL_DUAL_LUMINANCE12_SGIS 0x8116 -#define GL_DUAL_LUMINANCE16_SGIS 0x8117 -#define GL_DUAL_INTENSITY4_SGIS 0x8118 -#define GL_DUAL_INTENSITY8_SGIS 0x8119 -#define GL_DUAL_INTENSITY12_SGIS 0x811A -#define GL_DUAL_INTENSITY16_SGIS 0x811B -#define GL_DUAL_LUMINANCE_ALPHA4_SGIS 0x811C -#define GL_DUAL_LUMINANCE_ALPHA8_SGIS 0x811D -#define GL_QUAD_ALPHA4_SGIS 0x811E -#define GL_QUAD_ALPHA8_SGIS 0x811F -#define GL_QUAD_LUMINANCE4_SGIS 0x8120 -#define GL_QUAD_LUMINANCE8_SGIS 0x8121 -#define GL_QUAD_INTENSITY4_SGIS 0x8122 -#define GL_QUAD_INTENSITY8_SGIS 0x8123 -#define GL_DUAL_TEXTURE_SELECT_SGIS 0x8124 -#define GL_QUAD_TEXTURE_SELECT_SGIS 0x8125 -#endif /* GL_SGIS_texture_select */ - -#ifndef GL_SGIX_async -#define GL_SGIX_async 1 -#define GL_ASYNC_MARKER_SGIX 0x8329 -typedef void (APIENTRYP PFNGLASYNCMARKERSGIXPROC) (GLuint marker); -typedef GLint (APIENTRYP PFNGLFINISHASYNCSGIXPROC) (GLuint *markerp); -typedef GLint (APIENTRYP PFNGLPOLLASYNCSGIXPROC) (GLuint *markerp); -typedef GLuint (APIENTRYP PFNGLGENASYNCMARKERSSGIXPROC) (GLsizei range); -typedef void (APIENTRYP PFNGLDELETEASYNCMARKERSSGIXPROC) (GLuint marker, GLsizei range); -typedef GLboolean (APIENTRYP PFNGLISASYNCMARKERSGIXPROC) (GLuint marker); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glAsyncMarkerSGIX (GLuint marker); -GLAPI GLint APIENTRY glFinishAsyncSGIX (GLuint *markerp); -GLAPI GLint APIENTRY glPollAsyncSGIX (GLuint *markerp); -GLAPI GLuint APIENTRY glGenAsyncMarkersSGIX (GLsizei range); -GLAPI void APIENTRY glDeleteAsyncMarkersSGIX (GLuint marker, GLsizei range); -GLAPI GLboolean APIENTRY glIsAsyncMarkerSGIX (GLuint marker); -#endif -#endif /* GL_SGIX_async */ - -#ifndef GL_SGIX_async_histogram -#define GL_SGIX_async_histogram 1 -#define GL_ASYNC_HISTOGRAM_SGIX 0x832C -#define GL_MAX_ASYNC_HISTOGRAM_SGIX 0x832D -#endif /* GL_SGIX_async_histogram */ - -#ifndef GL_SGIX_async_pixel -#define GL_SGIX_async_pixel 1 -#define GL_ASYNC_TEX_IMAGE_SGIX 0x835C -#define GL_ASYNC_DRAW_PIXELS_SGIX 0x835D -#define GL_ASYNC_READ_PIXELS_SGIX 0x835E -#define GL_MAX_ASYNC_TEX_IMAGE_SGIX 0x835F -#define GL_MAX_ASYNC_DRAW_PIXELS_SGIX 0x8360 -#define GL_MAX_ASYNC_READ_PIXELS_SGIX 0x8361 -#endif /* GL_SGIX_async_pixel */ - -#ifndef GL_SGIX_blend_alpha_minmax -#define GL_SGIX_blend_alpha_minmax 1 -#define GL_ALPHA_MIN_SGIX 0x8320 -#define GL_ALPHA_MAX_SGIX 0x8321 -#endif /* GL_SGIX_blend_alpha_minmax */ - -#ifndef GL_SGIX_calligraphic_fragment -#define GL_SGIX_calligraphic_fragment 1 -#define GL_CALLIGRAPHIC_FRAGMENT_SGIX 0x8183 -#endif /* GL_SGIX_calligraphic_fragment */ - -#ifndef GL_SGIX_clipmap -#define GL_SGIX_clipmap 1 -#define GL_LINEAR_CLIPMAP_LINEAR_SGIX 0x8170 -#define GL_TEXTURE_CLIPMAP_CENTER_SGIX 0x8171 -#define GL_TEXTURE_CLIPMAP_FRAME_SGIX 0x8172 -#define GL_TEXTURE_CLIPMAP_OFFSET_SGIX 0x8173 -#define GL_TEXTURE_CLIPMAP_VIRTUAL_DEPTH_SGIX 0x8174 -#define GL_TEXTURE_CLIPMAP_LOD_OFFSET_SGIX 0x8175 -#define GL_TEXTURE_CLIPMAP_DEPTH_SGIX 0x8176 -#define GL_MAX_CLIPMAP_DEPTH_SGIX 0x8177 -#define GL_MAX_CLIPMAP_VIRTUAL_DEPTH_SGIX 0x8178 -#define GL_NEAREST_CLIPMAP_NEAREST_SGIX 0x844D -#define GL_NEAREST_CLIPMAP_LINEAR_SGIX 0x844E -#define GL_LINEAR_CLIPMAP_NEAREST_SGIX 0x844F -#endif /* GL_SGIX_clipmap */ - -#ifndef GL_SGIX_convolution_accuracy -#define GL_SGIX_convolution_accuracy 1 -#define GL_CONVOLUTION_HINT_SGIX 0x8316 -#endif /* GL_SGIX_convolution_accuracy */ - -#ifndef GL_SGIX_depth_pass_instrument -#define GL_SGIX_depth_pass_instrument 1 -#endif /* GL_SGIX_depth_pass_instrument */ - -#ifndef GL_SGIX_depth_texture -#define GL_SGIX_depth_texture 1 -#define GL_DEPTH_COMPONENT16_SGIX 0x81A5 -#define GL_DEPTH_COMPONENT24_SGIX 0x81A6 -#define GL_DEPTH_COMPONENT32_SGIX 0x81A7 -#endif /* GL_SGIX_depth_texture */ - -#ifndef GL_SGIX_flush_raster -#define GL_SGIX_flush_raster 1 -typedef void (APIENTRYP PFNGLFLUSHRASTERSGIXPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFlushRasterSGIX (void); -#endif -#endif /* GL_SGIX_flush_raster */ - -#ifndef GL_SGIX_fog_offset -#define GL_SGIX_fog_offset 1 -#define GL_FOG_OFFSET_SGIX 0x8198 -#define GL_FOG_OFFSET_VALUE_SGIX 0x8199 -#endif /* GL_SGIX_fog_offset */ - -#ifndef GL_SGIX_fragment_lighting -#define GL_SGIX_fragment_lighting 1 -#define GL_FRAGMENT_LIGHTING_SGIX 0x8400 -#define GL_FRAGMENT_COLOR_MATERIAL_SGIX 0x8401 -#define GL_FRAGMENT_COLOR_MATERIAL_FACE_SGIX 0x8402 -#define GL_FRAGMENT_COLOR_MATERIAL_PARAMETER_SGIX 0x8403 -#define GL_MAX_FRAGMENT_LIGHTS_SGIX 0x8404 -#define GL_MAX_ACTIVE_LIGHTS_SGIX 0x8405 -#define GL_CURRENT_RASTER_NORMAL_SGIX 0x8406 -#define GL_LIGHT_ENV_MODE_SGIX 0x8407 -#define GL_FRAGMENT_LIGHT_MODEL_LOCAL_VIEWER_SGIX 0x8408 -#define GL_FRAGMENT_LIGHT_MODEL_TWO_SIDE_SGIX 0x8409 -#define GL_FRAGMENT_LIGHT_MODEL_AMBIENT_SGIX 0x840A -#define GL_FRAGMENT_LIGHT_MODEL_NORMAL_INTERPOLATION_SGIX 0x840B -#define GL_FRAGMENT_LIGHT0_SGIX 0x840C -#define GL_FRAGMENT_LIGHT1_SGIX 0x840D -#define GL_FRAGMENT_LIGHT2_SGIX 0x840E -#define GL_FRAGMENT_LIGHT3_SGIX 0x840F -#define GL_FRAGMENT_LIGHT4_SGIX 0x8410 -#define GL_FRAGMENT_LIGHT5_SGIX 0x8411 -#define GL_FRAGMENT_LIGHT6_SGIX 0x8412 -#define GL_FRAGMENT_LIGHT7_SGIX 0x8413 -typedef void (APIENTRYP PFNGLFRAGMENTCOLORMATERIALSGIXPROC) (GLenum face, GLenum mode); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTFSGIXPROC) (GLenum light, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTISGIXPROC) (GLenum light, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELFSGIXPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELFVSGIXPROC) (GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELISGIXPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLFRAGMENTLIGHTMODELIVSGIXPROC) (GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLFRAGMENTMATERIALFSGIXPROC) (GLenum face, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLFRAGMENTMATERIALISGIXPROC) (GLenum face, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLGETFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLGETFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLLIGHTENVISGIXPROC) (GLenum pname, GLint param); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFragmentColorMaterialSGIX (GLenum face, GLenum mode); -GLAPI void APIENTRY glFragmentLightfSGIX (GLenum light, GLenum pname, GLfloat param); -GLAPI void APIENTRY glFragmentLightfvSGIX (GLenum light, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glFragmentLightiSGIX (GLenum light, GLenum pname, GLint param); -GLAPI void APIENTRY glFragmentLightivSGIX (GLenum light, GLenum pname, const GLint *params); -GLAPI void APIENTRY glFragmentLightModelfSGIX (GLenum pname, GLfloat param); -GLAPI void APIENTRY glFragmentLightModelfvSGIX (GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glFragmentLightModeliSGIX (GLenum pname, GLint param); -GLAPI void APIENTRY glFragmentLightModelivSGIX (GLenum pname, const GLint *params); -GLAPI void APIENTRY glFragmentMaterialfSGIX (GLenum face, GLenum pname, GLfloat param); -GLAPI void APIENTRY glFragmentMaterialfvSGIX (GLenum face, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glFragmentMaterialiSGIX (GLenum face, GLenum pname, GLint param); -GLAPI void APIENTRY glFragmentMaterialivSGIX (GLenum face, GLenum pname, const GLint *params); -GLAPI void APIENTRY glGetFragmentLightfvSGIX (GLenum light, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetFragmentLightivSGIX (GLenum light, GLenum pname, GLint *params); -GLAPI void APIENTRY glGetFragmentMaterialfvSGIX (GLenum face, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetFragmentMaterialivSGIX (GLenum face, GLenum pname, GLint *params); -GLAPI void APIENTRY glLightEnviSGIX (GLenum pname, GLint param); -#endif -#endif /* GL_SGIX_fragment_lighting */ - -#ifndef GL_SGIX_framezoom -#define GL_SGIX_framezoom 1 -#define GL_FRAMEZOOM_SGIX 0x818B -#define GL_FRAMEZOOM_FACTOR_SGIX 0x818C -#define GL_MAX_FRAMEZOOM_FACTOR_SGIX 0x818D -typedef void (APIENTRYP PFNGLFRAMEZOOMSGIXPROC) (GLint factor); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFrameZoomSGIX (GLint factor); -#endif -#endif /* GL_SGIX_framezoom */ - -#ifndef GL_SGIX_igloo_interface -#define GL_SGIX_igloo_interface 1 -typedef void (APIENTRYP PFNGLIGLOOINTERFACESGIXPROC) (GLenum pname, const void *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glIglooInterfaceSGIX (GLenum pname, const void *params); -#endif -#endif /* GL_SGIX_igloo_interface */ - -#ifndef GL_SGIX_instruments -#define GL_SGIX_instruments 1 -#define GL_INSTRUMENT_BUFFER_POINTER_SGIX 0x8180 -#define GL_INSTRUMENT_MEASUREMENTS_SGIX 0x8181 -typedef GLint (APIENTRYP PFNGLGETINSTRUMENTSSGIXPROC) (void); -typedef void (APIENTRYP PFNGLINSTRUMENTSBUFFERSGIXPROC) (GLsizei size, GLint *buffer); -typedef GLint (APIENTRYP PFNGLPOLLINSTRUMENTSSGIXPROC) (GLint *marker_p); -typedef void (APIENTRYP PFNGLREADINSTRUMENTSSGIXPROC) (GLint marker); -typedef void (APIENTRYP PFNGLSTARTINSTRUMENTSSGIXPROC) (void); -typedef void (APIENTRYP PFNGLSTOPINSTRUMENTSSGIXPROC) (GLint marker); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI GLint APIENTRY glGetInstrumentsSGIX (void); -GLAPI void APIENTRY glInstrumentsBufferSGIX (GLsizei size, GLint *buffer); -GLAPI GLint APIENTRY glPollInstrumentsSGIX (GLint *marker_p); -GLAPI void APIENTRY glReadInstrumentsSGIX (GLint marker); -GLAPI void APIENTRY glStartInstrumentsSGIX (void); -GLAPI void APIENTRY glStopInstrumentsSGIX (GLint marker); -#endif -#endif /* GL_SGIX_instruments */ - -#ifndef GL_SGIX_interlace -#define GL_SGIX_interlace 1 -#define GL_INTERLACE_SGIX 0x8094 -#endif /* GL_SGIX_interlace */ - -#ifndef GL_SGIX_ir_instrument1 -#define GL_SGIX_ir_instrument1 1 -#define GL_IR_INSTRUMENT1_SGIX 0x817F -#endif /* GL_SGIX_ir_instrument1 */ - -#ifndef GL_SGIX_list_priority -#define GL_SGIX_list_priority 1 -#define GL_LIST_PRIORITY_SGIX 0x8182 -typedef void (APIENTRYP PFNGLGETLISTPARAMETERFVSGIXPROC) (GLuint list, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETLISTPARAMETERIVSGIXPROC) (GLuint list, GLenum pname, GLint *params); -typedef void (APIENTRYP PFNGLLISTPARAMETERFSGIXPROC) (GLuint list, GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLLISTPARAMETERFVSGIXPROC) (GLuint list, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLLISTPARAMETERISGIXPROC) (GLuint list, GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLLISTPARAMETERIVSGIXPROC) (GLuint list, GLenum pname, const GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGetListParameterfvSGIX (GLuint list, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetListParameterivSGIX (GLuint list, GLenum pname, GLint *params); -GLAPI void APIENTRY glListParameterfSGIX (GLuint list, GLenum pname, GLfloat param); -GLAPI void APIENTRY glListParameterfvSGIX (GLuint list, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glListParameteriSGIX (GLuint list, GLenum pname, GLint param); -GLAPI void APIENTRY glListParameterivSGIX (GLuint list, GLenum pname, const GLint *params); -#endif -#endif /* GL_SGIX_list_priority */ - -#ifndef GL_SGIX_pixel_texture -#define GL_SGIX_pixel_texture 1 -#define GL_PIXEL_TEX_GEN_SGIX 0x8139 -#define GL_PIXEL_TEX_GEN_MODE_SGIX 0x832B -typedef void (APIENTRYP PFNGLPIXELTEXGENSGIXPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glPixelTexGenSGIX (GLenum mode); -#endif -#endif /* GL_SGIX_pixel_texture */ - -#ifndef GL_SGIX_pixel_tiles -#define GL_SGIX_pixel_tiles 1 -#define GL_PIXEL_TILE_BEST_ALIGNMENT_SGIX 0x813E -#define GL_PIXEL_TILE_CACHE_INCREMENT_SGIX 0x813F -#define GL_PIXEL_TILE_WIDTH_SGIX 0x8140 -#define GL_PIXEL_TILE_HEIGHT_SGIX 0x8141 -#define GL_PIXEL_TILE_GRID_WIDTH_SGIX 0x8142 -#define GL_PIXEL_TILE_GRID_HEIGHT_SGIX 0x8143 -#define GL_PIXEL_TILE_GRID_DEPTH_SGIX 0x8144 -#define GL_PIXEL_TILE_CACHE_SIZE_SGIX 0x8145 -#endif /* GL_SGIX_pixel_tiles */ - -#ifndef GL_SGIX_polynomial_ffd -#define GL_SGIX_polynomial_ffd 1 -#define GL_TEXTURE_DEFORMATION_BIT_SGIX 0x00000001 -#define GL_GEOMETRY_DEFORMATION_BIT_SGIX 0x00000002 -#define GL_GEOMETRY_DEFORMATION_SGIX 0x8194 -#define GL_TEXTURE_DEFORMATION_SGIX 0x8195 -#define GL_DEFORMATIONS_MASK_SGIX 0x8196 -#define GL_MAX_DEFORMATION_ORDER_SGIX 0x8197 -typedef void (APIENTRYP PFNGLDEFORMATIONMAP3DSGIXPROC) (GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, GLdouble w1, GLdouble w2, GLint wstride, GLint worder, const GLdouble *points); -typedef void (APIENTRYP PFNGLDEFORMATIONMAP3FSGIXPROC) (GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, GLfloat w1, GLfloat w2, GLint wstride, GLint worder, const GLfloat *points); -typedef void (APIENTRYP PFNGLDEFORMSGIXPROC) (GLbitfield mask); -typedef void (APIENTRYP PFNGLLOADIDENTITYDEFORMATIONMAPSGIXPROC) (GLbitfield mask); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDeformationMap3dSGIX (GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, GLdouble w1, GLdouble w2, GLint wstride, GLint worder, const GLdouble *points); -GLAPI void APIENTRY glDeformationMap3fSGIX (GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, GLfloat w1, GLfloat w2, GLint wstride, GLint worder, const GLfloat *points); -GLAPI void APIENTRY glDeformSGIX (GLbitfield mask); -GLAPI void APIENTRY glLoadIdentityDeformationMapSGIX (GLbitfield mask); -#endif -#endif /* GL_SGIX_polynomial_ffd */ - -#ifndef GL_SGIX_reference_plane -#define GL_SGIX_reference_plane 1 -#define GL_REFERENCE_PLANE_SGIX 0x817D -#define GL_REFERENCE_PLANE_EQUATION_SGIX 0x817E -typedef void (APIENTRYP PFNGLREFERENCEPLANESGIXPROC) (const GLdouble *equation); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glReferencePlaneSGIX (const GLdouble *equation); -#endif -#endif /* GL_SGIX_reference_plane */ - -#ifndef GL_SGIX_resample -#define GL_SGIX_resample 1 -#define GL_PACK_RESAMPLE_SGIX 0x842E -#define GL_UNPACK_RESAMPLE_SGIX 0x842F -#define GL_RESAMPLE_REPLICATE_SGIX 0x8433 -#define GL_RESAMPLE_ZERO_FILL_SGIX 0x8434 -#define GL_RESAMPLE_DECIMATE_SGIX 0x8430 -#endif /* GL_SGIX_resample */ - -#ifndef GL_SGIX_scalebias_hint -#define GL_SGIX_scalebias_hint 1 -#define GL_SCALEBIAS_HINT_SGIX 0x8322 -#endif /* GL_SGIX_scalebias_hint */ - -#ifndef GL_SGIX_shadow -#define GL_SGIX_shadow 1 -#define GL_TEXTURE_COMPARE_SGIX 0x819A -#define GL_TEXTURE_COMPARE_OPERATOR_SGIX 0x819B -#define GL_TEXTURE_LEQUAL_R_SGIX 0x819C -#define GL_TEXTURE_GEQUAL_R_SGIX 0x819D -#endif /* GL_SGIX_shadow */ - -#ifndef GL_SGIX_shadow_ambient -#define GL_SGIX_shadow_ambient 1 -#define GL_SHADOW_AMBIENT_SGIX 0x80BF -#endif /* GL_SGIX_shadow_ambient */ - -#ifndef GL_SGIX_sprite -#define GL_SGIX_sprite 1 -#define GL_SPRITE_SGIX 0x8148 -#define GL_SPRITE_MODE_SGIX 0x8149 -#define GL_SPRITE_AXIS_SGIX 0x814A -#define GL_SPRITE_TRANSLATION_SGIX 0x814B -#define GL_SPRITE_AXIAL_SGIX 0x814C -#define GL_SPRITE_OBJECT_ALIGNED_SGIX 0x814D -#define GL_SPRITE_EYE_ALIGNED_SGIX 0x814E -typedef void (APIENTRYP PFNGLSPRITEPARAMETERFSGIXPROC) (GLenum pname, GLfloat param); -typedef void (APIENTRYP PFNGLSPRITEPARAMETERFVSGIXPROC) (GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLSPRITEPARAMETERISGIXPROC) (GLenum pname, GLint param); -typedef void (APIENTRYP PFNGLSPRITEPARAMETERIVSGIXPROC) (GLenum pname, const GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glSpriteParameterfSGIX (GLenum pname, GLfloat param); -GLAPI void APIENTRY glSpriteParameterfvSGIX (GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glSpriteParameteriSGIX (GLenum pname, GLint param); -GLAPI void APIENTRY glSpriteParameterivSGIX (GLenum pname, const GLint *params); -#endif -#endif /* GL_SGIX_sprite */ - -#ifndef GL_SGIX_subsample -#define GL_SGIX_subsample 1 -#define GL_PACK_SUBSAMPLE_RATE_SGIX 0x85A0 -#define GL_UNPACK_SUBSAMPLE_RATE_SGIX 0x85A1 -#define GL_PIXEL_SUBSAMPLE_4444_SGIX 0x85A2 -#define GL_PIXEL_SUBSAMPLE_2424_SGIX 0x85A3 -#define GL_PIXEL_SUBSAMPLE_4242_SGIX 0x85A4 -#endif /* GL_SGIX_subsample */ - -#ifndef GL_SGIX_tag_sample_buffer -#define GL_SGIX_tag_sample_buffer 1 -typedef void (APIENTRYP PFNGLTAGSAMPLEBUFFERSGIXPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glTagSampleBufferSGIX (void); -#endif -#endif /* GL_SGIX_tag_sample_buffer */ - -#ifndef GL_SGIX_texture_add_env -#define GL_SGIX_texture_add_env 1 -#define GL_TEXTURE_ENV_BIAS_SGIX 0x80BE -#endif /* GL_SGIX_texture_add_env */ - -#ifndef GL_SGIX_texture_coordinate_clamp -#define GL_SGIX_texture_coordinate_clamp 1 -#define GL_TEXTURE_MAX_CLAMP_S_SGIX 0x8369 -#define GL_TEXTURE_MAX_CLAMP_T_SGIX 0x836A -#define GL_TEXTURE_MAX_CLAMP_R_SGIX 0x836B -#endif /* GL_SGIX_texture_coordinate_clamp */ - -#ifndef GL_SGIX_texture_lod_bias -#define GL_SGIX_texture_lod_bias 1 -#define GL_TEXTURE_LOD_BIAS_S_SGIX 0x818E -#define GL_TEXTURE_LOD_BIAS_T_SGIX 0x818F -#define GL_TEXTURE_LOD_BIAS_R_SGIX 0x8190 -#endif /* GL_SGIX_texture_lod_bias */ - -#ifndef GL_SGIX_texture_multi_buffer -#define GL_SGIX_texture_multi_buffer 1 -#define GL_TEXTURE_MULTI_BUFFER_HINT_SGIX 0x812E -#endif /* GL_SGIX_texture_multi_buffer */ - -#ifndef GL_SGIX_texture_scale_bias -#define GL_SGIX_texture_scale_bias 1 -#define GL_POST_TEXTURE_FILTER_BIAS_SGIX 0x8179 -#define GL_POST_TEXTURE_FILTER_SCALE_SGIX 0x817A -#define GL_POST_TEXTURE_FILTER_BIAS_RANGE_SGIX 0x817B -#define GL_POST_TEXTURE_FILTER_SCALE_RANGE_SGIX 0x817C -#endif /* GL_SGIX_texture_scale_bias */ - -#ifndef GL_SGIX_vertex_preclip -#define GL_SGIX_vertex_preclip 1 -#define GL_VERTEX_PRECLIP_SGIX 0x83EE -#define GL_VERTEX_PRECLIP_HINT_SGIX 0x83EF -#endif /* GL_SGIX_vertex_preclip */ - -#ifndef GL_SGIX_ycrcb -#define GL_SGIX_ycrcb 1 -#define GL_YCRCB_422_SGIX 0x81BB -#define GL_YCRCB_444_SGIX 0x81BC -#endif /* GL_SGIX_ycrcb */ - -#ifndef GL_SGIX_ycrcb_subsample -#define GL_SGIX_ycrcb_subsample 1 -#endif /* GL_SGIX_ycrcb_subsample */ - -#ifndef GL_SGIX_ycrcba -#define GL_SGIX_ycrcba 1 -#define GL_YCRCB_SGIX 0x8318 -#define GL_YCRCBA_SGIX 0x8319 -#endif /* GL_SGIX_ycrcba */ - -#ifndef GL_SGI_color_matrix -#define GL_SGI_color_matrix 1 -#define GL_COLOR_MATRIX_SGI 0x80B1 -#define GL_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B2 -#define GL_MAX_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B3 -#define GL_POST_COLOR_MATRIX_RED_SCALE_SGI 0x80B4 -#define GL_POST_COLOR_MATRIX_GREEN_SCALE_SGI 0x80B5 -#define GL_POST_COLOR_MATRIX_BLUE_SCALE_SGI 0x80B6 -#define GL_POST_COLOR_MATRIX_ALPHA_SCALE_SGI 0x80B7 -#define GL_POST_COLOR_MATRIX_RED_BIAS_SGI 0x80B8 -#define GL_POST_COLOR_MATRIX_GREEN_BIAS_SGI 0x80B9 -#define GL_POST_COLOR_MATRIX_BLUE_BIAS_SGI 0x80BA -#define GL_POST_COLOR_MATRIX_ALPHA_BIAS_SGI 0x80BB -#endif /* GL_SGI_color_matrix */ - -#ifndef GL_SGI_color_table -#define GL_SGI_color_table 1 -#define GL_COLOR_TABLE_SGI 0x80D0 -#define GL_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D1 -#define GL_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D2 -#define GL_PROXY_COLOR_TABLE_SGI 0x80D3 -#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D4 -#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D5 -#define GL_COLOR_TABLE_SCALE_SGI 0x80D6 -#define GL_COLOR_TABLE_BIAS_SGI 0x80D7 -#define GL_COLOR_TABLE_FORMAT_SGI 0x80D8 -#define GL_COLOR_TABLE_WIDTH_SGI 0x80D9 -#define GL_COLOR_TABLE_RED_SIZE_SGI 0x80DA -#define GL_COLOR_TABLE_GREEN_SIZE_SGI 0x80DB -#define GL_COLOR_TABLE_BLUE_SIZE_SGI 0x80DC -#define GL_COLOR_TABLE_ALPHA_SIZE_SGI 0x80DD -#define GL_COLOR_TABLE_LUMINANCE_SIZE_SGI 0x80DE -#define GL_COLOR_TABLE_INTENSITY_SIZE_SGI 0x80DF -typedef void (APIENTRYP PFNGLCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); -typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (APIENTRYP PFNGLCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (APIENTRYP PFNGLCOPYCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -typedef void (APIENTRYP PFNGLGETCOLORTABLESGIPROC) (GLenum target, GLenum format, GLenum type, void *table); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (APIENTRYP PFNGLGETCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColorTableSGI (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void *table); -GLAPI void APIENTRY glColorTableParameterfvSGI (GLenum target, GLenum pname, const GLfloat *params); -GLAPI void APIENTRY glColorTableParameterivSGI (GLenum target, GLenum pname, const GLint *params); -GLAPI void APIENTRY glCopyColorTableSGI (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); -GLAPI void APIENTRY glGetColorTableSGI (GLenum target, GLenum format, GLenum type, void *table); -GLAPI void APIENTRY glGetColorTableParameterfvSGI (GLenum target, GLenum pname, GLfloat *params); -GLAPI void APIENTRY glGetColorTableParameterivSGI (GLenum target, GLenum pname, GLint *params); -#endif -#endif /* GL_SGI_color_table */ - -#ifndef GL_SGI_texture_color_table -#define GL_SGI_texture_color_table 1 -#define GL_TEXTURE_COLOR_TABLE_SGI 0x80BC -#define GL_PROXY_TEXTURE_COLOR_TABLE_SGI 0x80BD -#endif /* GL_SGI_texture_color_table */ - -#ifndef GL_SUNX_constant_data -#define GL_SUNX_constant_data 1 -#define GL_UNPACK_CONSTANT_DATA_SUNX 0x81D5 -#define GL_TEXTURE_CONSTANT_DATA_SUNX 0x81D6 -typedef void (APIENTRYP PFNGLFINISHTEXTURESUNXPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glFinishTextureSUNX (void); -#endif -#endif /* GL_SUNX_constant_data */ - -#ifndef GL_SUN_convolution_border_modes -#define GL_SUN_convolution_border_modes 1 -#define GL_WRAP_BORDER_SUN 0x81D4 -#endif /* GL_SUN_convolution_border_modes */ - -#ifndef GL_SUN_global_alpha -#define GL_SUN_global_alpha 1 -#define GL_GLOBAL_ALPHA_SUN 0x81D9 -#define GL_GLOBAL_ALPHA_FACTOR_SUN 0x81DA -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORBSUNPROC) (GLbyte factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORSSUNPROC) (GLshort factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORISUNPROC) (GLint factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORFSUNPROC) (GLfloat factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORDSUNPROC) (GLdouble factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORUBSUNPROC) (GLubyte factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORUSSUNPROC) (GLushort factor); -typedef void (APIENTRYP PFNGLGLOBALALPHAFACTORUISUNPROC) (GLuint factor); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glGlobalAlphaFactorbSUN (GLbyte factor); -GLAPI void APIENTRY glGlobalAlphaFactorsSUN (GLshort factor); -GLAPI void APIENTRY glGlobalAlphaFactoriSUN (GLint factor); -GLAPI void APIENTRY glGlobalAlphaFactorfSUN (GLfloat factor); -GLAPI void APIENTRY glGlobalAlphaFactordSUN (GLdouble factor); -GLAPI void APIENTRY glGlobalAlphaFactorubSUN (GLubyte factor); -GLAPI void APIENTRY glGlobalAlphaFactorusSUN (GLushort factor); -GLAPI void APIENTRY glGlobalAlphaFactoruiSUN (GLuint factor); -#endif -#endif /* GL_SUN_global_alpha */ - -#ifndef GL_SUN_mesh_array -#define GL_SUN_mesh_array 1 -#define GL_QUAD_MESH_SUN 0x8614 -#define GL_TRIANGLE_MESH_SUN 0x8615 -typedef void (APIENTRYP PFNGLDRAWMESHARRAYSSUNPROC) (GLenum mode, GLint first, GLsizei count, GLsizei width); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glDrawMeshArraysSUN (GLenum mode, GLint first, GLsizei count, GLsizei width); -#endif -#endif /* GL_SUN_mesh_array */ - -#ifndef GL_SUN_slice_accum -#define GL_SUN_slice_accum 1 -#define GL_SLICE_ACCUM_SUN 0x85CC -#endif /* GL_SUN_slice_accum */ - -#ifndef GL_SUN_triangle_list -#define GL_SUN_triangle_list 1 -#define GL_RESTART_SUN 0x0001 -#define GL_REPLACE_MIDDLE_SUN 0x0002 -#define GL_REPLACE_OLDEST_SUN 0x0003 -#define GL_TRIANGLE_LIST_SUN 0x81D7 -#define GL_REPLACEMENT_CODE_SUN 0x81D8 -#define GL_REPLACEMENT_CODE_ARRAY_SUN 0x85C0 -#define GL_REPLACEMENT_CODE_ARRAY_TYPE_SUN 0x85C1 -#define GL_REPLACEMENT_CODE_ARRAY_STRIDE_SUN 0x85C2 -#define GL_REPLACEMENT_CODE_ARRAY_POINTER_SUN 0x85C3 -#define GL_R1UI_V3F_SUN 0x85C4 -#define GL_R1UI_C4UB_V3F_SUN 0x85C5 -#define GL_R1UI_C3F_V3F_SUN 0x85C6 -#define GL_R1UI_N3F_V3F_SUN 0x85C7 -#define GL_R1UI_C4F_N3F_V3F_SUN 0x85C8 -#define GL_R1UI_T2F_V3F_SUN 0x85C9 -#define GL_R1UI_T2F_N3F_V3F_SUN 0x85CA -#define GL_R1UI_T2F_C4F_N3F_V3F_SUN 0x85CB -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUISUNPROC) (GLuint code); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUSSUNPROC) (GLushort code); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUBSUNPROC) (GLubyte code); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUIVSUNPROC) (const GLuint *code); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUSVSUNPROC) (const GLushort *code); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUBVSUNPROC) (const GLubyte *code); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEPOINTERSUNPROC) (GLenum type, GLsizei stride, const void **pointer); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glReplacementCodeuiSUN (GLuint code); -GLAPI void APIENTRY glReplacementCodeusSUN (GLushort code); -GLAPI void APIENTRY glReplacementCodeubSUN (GLubyte code); -GLAPI void APIENTRY glReplacementCodeuivSUN (const GLuint *code); -GLAPI void APIENTRY glReplacementCodeusvSUN (const GLushort *code); -GLAPI void APIENTRY glReplacementCodeubvSUN (const GLubyte *code); -GLAPI void APIENTRY glReplacementCodePointerSUN (GLenum type, GLsizei stride, const void **pointer); -#endif -#endif /* GL_SUN_triangle_list */ - -#ifndef GL_SUN_vertex -#define GL_SUN_vertex 1 -typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX2FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y); -typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX2FVSUNPROC) (const GLubyte *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX3FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLCOLOR4UBVERTEX3FVSUNPROC) (const GLubyte *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLCOLOR3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLCOLOR3FVERTEX3FVSUNPROC) (const GLfloat *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLNORMAL3FVERTEX3FSUNPROC) (GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *c, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD2FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLTEXCOORD2FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD4FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLTEXCOORD4FVERTEX4FVSUNPROC) (const GLfloat *tc, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4UBVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4UBVERTEX3FVSUNPROC) (const GLfloat *tc, const GLubyte *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLTEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (APIENTRYP PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUIVERTEX3FSUNPROC) (GLuint rc, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUIVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FSUNPROC) (GLuint rc, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FVSUNPROC) (const GLuint *rc, const GLubyte *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FSUNPROC) (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *c, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *tc, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *tc, const GLfloat *n, const GLfloat *v); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -typedef void (APIENTRYP PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLuint *rc, const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -#ifdef GL_GLEXT_PROTOTYPES -GLAPI void APIENTRY glColor4ubVertex2fSUN (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y); -GLAPI void APIENTRY glColor4ubVertex2fvSUN (const GLubyte *c, const GLfloat *v); -GLAPI void APIENTRY glColor4ubVertex3fSUN (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glColor4ubVertex3fvSUN (const GLubyte *c, const GLfloat *v); -GLAPI void APIENTRY glColor3fVertex3fSUN (GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glColor3fVertex3fvSUN (const GLfloat *c, const GLfloat *v); -GLAPI void APIENTRY glNormal3fVertex3fSUN (GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glNormal3fVertex3fvSUN (const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glColor4fNormal3fVertex3fSUN (GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glColor4fNormal3fVertex3fvSUN (const GLfloat *c, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glTexCoord2fVertex3fSUN (GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glTexCoord2fVertex3fvSUN (const GLfloat *tc, const GLfloat *v); -GLAPI void APIENTRY glTexCoord4fVertex4fSUN (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glTexCoord4fVertex4fvSUN (const GLfloat *tc, const GLfloat *v); -GLAPI void APIENTRY glTexCoord2fColor4ubVertex3fSUN (GLfloat s, GLfloat t, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glTexCoord2fColor4ubVertex3fvSUN (const GLfloat *tc, const GLubyte *c, const GLfloat *v); -GLAPI void APIENTRY glTexCoord2fColor3fVertex3fSUN (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glTexCoord2fColor3fVertex3fvSUN (const GLfloat *tc, const GLfloat *c, const GLfloat *v); -GLAPI void APIENTRY glTexCoord2fNormal3fVertex3fSUN (GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glTexCoord2fNormal3fVertex3fvSUN (const GLfloat *tc, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glTexCoord2fColor4fNormal3fVertex3fSUN (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glTexCoord2fColor4fNormal3fVertex3fvSUN (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glTexCoord4fColor4fNormal3fVertex4fSUN (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GLAPI void APIENTRY glTexCoord4fColor4fNormal3fVertex4fvSUN (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiVertex3fSUN (GLuint rc, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiVertex3fvSUN (const GLuint *rc, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiColor4ubVertex3fSUN (GLuint rc, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiColor4ubVertex3fvSUN (const GLuint *rc, const GLubyte *c, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiColor3fVertex3fSUN (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiColor3fVertex3fvSUN (const GLuint *rc, const GLfloat *c, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiNormal3fVertex3fSUN (GLuint rc, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiColor4fNormal3fVertex3fSUN (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiColor4fNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiTexCoord2fVertex3fSUN (GLuint rc, GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiTexCoord2fVertex3fvSUN (const GLuint *rc, const GLfloat *tc, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiTexCoord2fNormal3fVertex3fSUN (GLuint rc, GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiTexCoord2fNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *tc, const GLfloat *n, const GLfloat *v); -GLAPI void APIENTRY glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fSUN (GLuint rc, GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); -GLAPI void APIENTRY glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fvSUN (const GLuint *rc, const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); -#endif -#endif /* GL_SUN_vertex */ - -#ifndef GL_WIN_phong_shading -#define GL_WIN_phong_shading 1 -#define GL_PHONG_WIN 0x80EA -#define GL_PHONG_HINT_WIN 0x80EB -#endif /* GL_WIN_phong_shading */ - -#ifndef GL_WIN_specular_fog -#define GL_WIN_specular_fog 1 -#define GL_FOG_SPECULAR_TEXTURE_WIN 0x80EC -#endif /* GL_WIN_specular_fog */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles.h deleted file mode 100644 index 8511b9607..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengles.h +++ /dev/null @@ -1,39 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_opengles.h - * - * This is a simple file to encapsulate the OpenGL ES 1.X API headers. - */ -#include "SDL_config.h" - -#ifdef __IPHONEOS__ -#include -#include -#else -#include -#include -#endif - -#ifndef APIENTRY -#define APIENTRY -#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2.h deleted file mode 100644 index 172fcb3f4..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2.h +++ /dev/null @@ -1,52 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_opengles2.h - * - * This is a simple file to encapsulate the OpenGL ES 2.0 API headers. - */ -#include "SDL_config.h" - -#if !defined(_MSC_VER) && !defined(SDL_USE_BUILTIN_OPENGL_DEFINITIONS) - -#ifdef __IPHONEOS__ -#include -#include -#else -#include -#include -#include -#endif - -#else /* _MSC_VER */ - -/* OpenGL ES2 headers for Visual Studio */ -#include "SDL_opengles2_khrplatform.h" -#include "SDL_opengles2_gl2platform.h" -#include "SDL_opengles2_gl2.h" -#include "SDL_opengles2_gl2ext.h" - -#endif /* _MSC_VER */ - -#ifndef APIENTRY -#define APIENTRY GL_APIENTRY -#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2.h deleted file mode 100644 index d13622aae..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2.h +++ /dev/null @@ -1,656 +0,0 @@ -#ifndef __gles2_gl2_h_ -#define __gles2_gl2_h_ 1 - -#ifdef __cplusplus -extern "C" { -#endif - -/* -** Copyright 2013-2020 The Khronos Group Inc. -** SPDX-License-Identifier: MIT -** -** This header is generated from the Khronos OpenGL / OpenGL ES XML -** API Registry. The current version of the Registry, generator scripts -** used to make the header, and the header can be found at -** https://github.com/KhronosGroup/OpenGL-Registry -*/ - -/*#include */ - -#ifndef GL_APIENTRYP -#define GL_APIENTRYP GL_APIENTRY* -#endif - -#ifndef GL_GLES_PROTOTYPES -#define GL_GLES_PROTOTYPES 1 -#endif - -/* Generated on date 20220530 */ - -/* Generated C header for: - * API: gles2 - * Profile: common - * Versions considered: 2\.[0-9] - * Versions emitted: .* - * Default extensions included: None - * Additional extensions included: _nomatch_^ - * Extensions removed: _nomatch_^ - */ - -#ifndef GL_ES_VERSION_2_0 -#define GL_ES_VERSION_2_0 1 -/*#include */ -typedef khronos_int8_t GLbyte; -typedef khronos_float_t GLclampf; -typedef khronos_int32_t GLfixed; -typedef khronos_int16_t GLshort; -typedef khronos_uint16_t GLushort; -typedef void GLvoid; -typedef struct __GLsync *GLsync; -typedef khronos_int64_t GLint64; -typedef khronos_uint64_t GLuint64; -typedef unsigned int GLenum; -typedef unsigned int GLuint; -typedef char GLchar; -typedef khronos_float_t GLfloat; -typedef khronos_ssize_t GLsizeiptr; -typedef khronos_intptr_t GLintptr; -typedef unsigned int GLbitfield; -typedef int GLint; -typedef unsigned char GLboolean; -typedef int GLsizei; -typedef khronos_uint8_t GLubyte; -#define GL_DEPTH_BUFFER_BIT 0x00000100 -#define GL_STENCIL_BUFFER_BIT 0x00000400 -#define GL_COLOR_BUFFER_BIT 0x00004000 -#define GL_FALSE 0 -#define GL_TRUE 1 -#define GL_POINTS 0x0000 -#define GL_LINES 0x0001 -#define GL_LINE_LOOP 0x0002 -#define GL_LINE_STRIP 0x0003 -#define GL_TRIANGLES 0x0004 -#define GL_TRIANGLE_STRIP 0x0005 -#define GL_TRIANGLE_FAN 0x0006 -#define GL_ZERO 0 -#define GL_ONE 1 -#define GL_SRC_COLOR 0x0300 -#define GL_ONE_MINUS_SRC_COLOR 0x0301 -#define GL_SRC_ALPHA 0x0302 -#define GL_ONE_MINUS_SRC_ALPHA 0x0303 -#define GL_DST_ALPHA 0x0304 -#define GL_ONE_MINUS_DST_ALPHA 0x0305 -#define GL_DST_COLOR 0x0306 -#define GL_ONE_MINUS_DST_COLOR 0x0307 -#define GL_SRC_ALPHA_SATURATE 0x0308 -#define GL_FUNC_ADD 0x8006 -#define GL_BLEND_EQUATION 0x8009 -#define GL_BLEND_EQUATION_RGB 0x8009 -#define GL_BLEND_EQUATION_ALPHA 0x883D -#define GL_FUNC_SUBTRACT 0x800A -#define GL_FUNC_REVERSE_SUBTRACT 0x800B -#define GL_BLEND_DST_RGB 0x80C8 -#define GL_BLEND_SRC_RGB 0x80C9 -#define GL_BLEND_DST_ALPHA 0x80CA -#define GL_BLEND_SRC_ALPHA 0x80CB -#define GL_CONSTANT_COLOR 0x8001 -#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 -#define GL_CONSTANT_ALPHA 0x8003 -#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 -#define GL_BLEND_COLOR 0x8005 -#define GL_ARRAY_BUFFER 0x8892 -#define GL_ELEMENT_ARRAY_BUFFER 0x8893 -#define GL_ARRAY_BUFFER_BINDING 0x8894 -#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895 -#define GL_STREAM_DRAW 0x88E0 -#define GL_STATIC_DRAW 0x88E4 -#define GL_DYNAMIC_DRAW 0x88E8 -#define GL_BUFFER_SIZE 0x8764 -#define GL_BUFFER_USAGE 0x8765 -#define GL_CURRENT_VERTEX_ATTRIB 0x8626 -#define GL_FRONT 0x0404 -#define GL_BACK 0x0405 -#define GL_FRONT_AND_BACK 0x0408 -#define GL_TEXTURE_2D 0x0DE1 -#define GL_CULL_FACE 0x0B44 -#define GL_BLEND 0x0BE2 -#define GL_DITHER 0x0BD0 -#define GL_STENCIL_TEST 0x0B90 -#define GL_DEPTH_TEST 0x0B71 -#define GL_SCISSOR_TEST 0x0C11 -#define GL_POLYGON_OFFSET_FILL 0x8037 -#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E -#define GL_SAMPLE_COVERAGE 0x80A0 -#define GL_NO_ERROR 0 -#define GL_INVALID_ENUM 0x0500 -#define GL_INVALID_VALUE 0x0501 -#define GL_INVALID_OPERATION 0x0502 -#define GL_OUT_OF_MEMORY 0x0505 -#define GL_CW 0x0900 -#define GL_CCW 0x0901 -#define GL_LINE_WIDTH 0x0B21 -#define GL_ALIASED_POINT_SIZE_RANGE 0x846D -#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E -#define GL_CULL_FACE_MODE 0x0B45 -#define GL_FRONT_FACE 0x0B46 -#define GL_DEPTH_RANGE 0x0B70 -#define GL_DEPTH_WRITEMASK 0x0B72 -#define GL_DEPTH_CLEAR_VALUE 0x0B73 -#define GL_DEPTH_FUNC 0x0B74 -#define GL_STENCIL_CLEAR_VALUE 0x0B91 -#define GL_STENCIL_FUNC 0x0B92 -#define GL_STENCIL_FAIL 0x0B94 -#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 -#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 -#define GL_STENCIL_REF 0x0B97 -#define GL_STENCIL_VALUE_MASK 0x0B93 -#define GL_STENCIL_WRITEMASK 0x0B98 -#define GL_STENCIL_BACK_FUNC 0x8800 -#define GL_STENCIL_BACK_FAIL 0x8801 -#define GL_STENCIL_BACK_PASS_DEPTH_FAIL 0x8802 -#define GL_STENCIL_BACK_PASS_DEPTH_PASS 0x8803 -#define GL_STENCIL_BACK_REF 0x8CA3 -#define GL_STENCIL_BACK_VALUE_MASK 0x8CA4 -#define GL_STENCIL_BACK_WRITEMASK 0x8CA5 -#define GL_VIEWPORT 0x0BA2 -#define GL_SCISSOR_BOX 0x0C10 -#define GL_COLOR_CLEAR_VALUE 0x0C22 -#define GL_COLOR_WRITEMASK 0x0C23 -#define GL_UNPACK_ALIGNMENT 0x0CF5 -#define GL_PACK_ALIGNMENT 0x0D05 -#define GL_MAX_TEXTURE_SIZE 0x0D33 -#define GL_MAX_VIEWPORT_DIMS 0x0D3A -#define GL_SUBPIXEL_BITS 0x0D50 -#define GL_RED_BITS 0x0D52 -#define GL_GREEN_BITS 0x0D53 -#define GL_BLUE_BITS 0x0D54 -#define GL_ALPHA_BITS 0x0D55 -#define GL_DEPTH_BITS 0x0D56 -#define GL_STENCIL_BITS 0x0D57 -#define GL_POLYGON_OFFSET_UNITS 0x2A00 -#define GL_POLYGON_OFFSET_FACTOR 0x8038 -#define GL_TEXTURE_BINDING_2D 0x8069 -#define GL_SAMPLE_BUFFERS 0x80A8 -#define GL_SAMPLES 0x80A9 -#define GL_SAMPLE_COVERAGE_VALUE 0x80AA -#define GL_SAMPLE_COVERAGE_INVERT 0x80AB -#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 -#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 -#define GL_DONT_CARE 0x1100 -#define GL_FASTEST 0x1101 -#define GL_NICEST 0x1102 -#define GL_GENERATE_MIPMAP_HINT 0x8192 -#define GL_BYTE 0x1400 -#define GL_UNSIGNED_BYTE 0x1401 -#define GL_SHORT 0x1402 -#define GL_UNSIGNED_SHORT 0x1403 -#define GL_INT 0x1404 -#define GL_UNSIGNED_INT 0x1405 -#define GL_FLOAT 0x1406 -#define GL_FIXED 0x140C -#define GL_DEPTH_COMPONENT 0x1902 -#define GL_ALPHA 0x1906 -#define GL_RGB 0x1907 -#define GL_RGBA 0x1908 -#define GL_LUMINANCE 0x1909 -#define GL_LUMINANCE_ALPHA 0x190A -#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 -#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 -#define GL_UNSIGNED_SHORT_5_6_5 0x8363 -#define GL_FRAGMENT_SHADER 0x8B30 -#define GL_VERTEX_SHADER 0x8B31 -#define GL_MAX_VERTEX_ATTRIBS 0x8869 -#define GL_MAX_VERTEX_UNIFORM_VECTORS 0x8DFB -#define GL_MAX_VARYING_VECTORS 0x8DFC -#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS 0x8B4D -#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS 0x8B4C -#define GL_MAX_TEXTURE_IMAGE_UNITS 0x8872 -#define GL_MAX_FRAGMENT_UNIFORM_VECTORS 0x8DFD -#define GL_SHADER_TYPE 0x8B4F -#define GL_DELETE_STATUS 0x8B80 -#define GL_LINK_STATUS 0x8B82 -#define GL_VALIDATE_STATUS 0x8B83 -#define GL_ATTACHED_SHADERS 0x8B85 -#define GL_ACTIVE_UNIFORMS 0x8B86 -#define GL_ACTIVE_UNIFORM_MAX_LENGTH 0x8B87 -#define GL_ACTIVE_ATTRIBUTES 0x8B89 -#define GL_ACTIVE_ATTRIBUTE_MAX_LENGTH 0x8B8A -#define GL_SHADING_LANGUAGE_VERSION 0x8B8C -#define GL_CURRENT_PROGRAM 0x8B8D -#define GL_NEVER 0x0200 -#define GL_LESS 0x0201 -#define GL_EQUAL 0x0202 -#define GL_LEQUAL 0x0203 -#define GL_GREATER 0x0204 -#define GL_NOTEQUAL 0x0205 -#define GL_GEQUAL 0x0206 -#define GL_ALWAYS 0x0207 -#define GL_KEEP 0x1E00 -#define GL_REPLACE 0x1E01 -#define GL_INCR 0x1E02 -#define GL_DECR 0x1E03 -#define GL_INVERT 0x150A -#define GL_INCR_WRAP 0x8507 -#define GL_DECR_WRAP 0x8508 -#define GL_VENDOR 0x1F00 -#define GL_RENDERER 0x1F01 -#define GL_VERSION 0x1F02 -#define GL_EXTENSIONS 0x1F03 -#define GL_NEAREST 0x2600 -#define GL_LINEAR 0x2601 -#define GL_NEAREST_MIPMAP_NEAREST 0x2700 -#define GL_LINEAR_MIPMAP_NEAREST 0x2701 -#define GL_NEAREST_MIPMAP_LINEAR 0x2702 -#define GL_LINEAR_MIPMAP_LINEAR 0x2703 -#define GL_TEXTURE_MAG_FILTER 0x2800 -#define GL_TEXTURE_MIN_FILTER 0x2801 -#define GL_TEXTURE_WRAP_S 0x2802 -#define GL_TEXTURE_WRAP_T 0x2803 -#define GL_TEXTURE 0x1702 -#define GL_TEXTURE_CUBE_MAP 0x8513 -#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A -#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C -#define GL_TEXTURE0 0x84C0 -#define GL_TEXTURE1 0x84C1 -#define GL_TEXTURE2 0x84C2 -#define GL_TEXTURE3 0x84C3 -#define GL_TEXTURE4 0x84C4 -#define GL_TEXTURE5 0x84C5 -#define GL_TEXTURE6 0x84C6 -#define GL_TEXTURE7 0x84C7 -#define GL_TEXTURE8 0x84C8 -#define GL_TEXTURE9 0x84C9 -#define GL_TEXTURE10 0x84CA -#define GL_TEXTURE11 0x84CB -#define GL_TEXTURE12 0x84CC -#define GL_TEXTURE13 0x84CD -#define GL_TEXTURE14 0x84CE -#define GL_TEXTURE15 0x84CF -#define GL_TEXTURE16 0x84D0 -#define GL_TEXTURE17 0x84D1 -#define GL_TEXTURE18 0x84D2 -#define GL_TEXTURE19 0x84D3 -#define GL_TEXTURE20 0x84D4 -#define GL_TEXTURE21 0x84D5 -#define GL_TEXTURE22 0x84D6 -#define GL_TEXTURE23 0x84D7 -#define GL_TEXTURE24 0x84D8 -#define GL_TEXTURE25 0x84D9 -#define GL_TEXTURE26 0x84DA -#define GL_TEXTURE27 0x84DB -#define GL_TEXTURE28 0x84DC -#define GL_TEXTURE29 0x84DD -#define GL_TEXTURE30 0x84DE -#define GL_TEXTURE31 0x84DF -#define GL_ACTIVE_TEXTURE 0x84E0 -#define GL_REPEAT 0x2901 -#define GL_CLAMP_TO_EDGE 0x812F -#define GL_MIRRORED_REPEAT 0x8370 -#define GL_FLOAT_VEC2 0x8B50 -#define GL_FLOAT_VEC3 0x8B51 -#define GL_FLOAT_VEC4 0x8B52 -#define GL_INT_VEC2 0x8B53 -#define GL_INT_VEC3 0x8B54 -#define GL_INT_VEC4 0x8B55 -#define GL_BOOL 0x8B56 -#define GL_BOOL_VEC2 0x8B57 -#define GL_BOOL_VEC3 0x8B58 -#define GL_BOOL_VEC4 0x8B59 -#define GL_FLOAT_MAT2 0x8B5A -#define GL_FLOAT_MAT3 0x8B5B -#define GL_FLOAT_MAT4 0x8B5C -#define GL_SAMPLER_2D 0x8B5E -#define GL_SAMPLER_CUBE 0x8B60 -#define GL_VERTEX_ATTRIB_ARRAY_ENABLED 0x8622 -#define GL_VERTEX_ATTRIB_ARRAY_SIZE 0x8623 -#define GL_VERTEX_ATTRIB_ARRAY_STRIDE 0x8624 -#define GL_VERTEX_ATTRIB_ARRAY_TYPE 0x8625 -#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A -#define GL_VERTEX_ATTRIB_ARRAY_POINTER 0x8645 -#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F -#define GL_IMPLEMENTATION_COLOR_READ_TYPE 0x8B9A -#define GL_IMPLEMENTATION_COLOR_READ_FORMAT 0x8B9B -#define GL_COMPILE_STATUS 0x8B81 -#define GL_INFO_LOG_LENGTH 0x8B84 -#define GL_SHADER_SOURCE_LENGTH 0x8B88 -#define GL_SHADER_COMPILER 0x8DFA -#define GL_SHADER_BINARY_FORMATS 0x8DF8 -#define GL_NUM_SHADER_BINARY_FORMATS 0x8DF9 -#define GL_LOW_FLOAT 0x8DF0 -#define GL_MEDIUM_FLOAT 0x8DF1 -#define GL_HIGH_FLOAT 0x8DF2 -#define GL_LOW_INT 0x8DF3 -#define GL_MEDIUM_INT 0x8DF4 -#define GL_HIGH_INT 0x8DF5 -#define GL_FRAMEBUFFER 0x8D40 -#define GL_RENDERBUFFER 0x8D41 -#define GL_RGBA4 0x8056 -#define GL_RGB5_A1 0x8057 -#define GL_RGB565 0x8D62 -#define GL_DEPTH_COMPONENT16 0x81A5 -#define GL_STENCIL_INDEX8 0x8D48 -#define GL_RENDERBUFFER_WIDTH 0x8D42 -#define GL_RENDERBUFFER_HEIGHT 0x8D43 -#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44 -#define GL_RENDERBUFFER_RED_SIZE 0x8D50 -#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51 -#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52 -#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53 -#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54 -#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55 -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0 -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3 -#define GL_COLOR_ATTACHMENT0 0x8CE0 -#define GL_DEPTH_ATTACHMENT 0x8D00 -#define GL_STENCIL_ATTACHMENT 0x8D20 -#define GL_NONE 0 -#define GL_FRAMEBUFFER_COMPLETE 0x8CD5 -#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6 -#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7 -#define GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS 0x8CD9 -#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD -#define GL_FRAMEBUFFER_BINDING 0x8CA6 -#define GL_RENDERBUFFER_BINDING 0x8CA7 -#define GL_MAX_RENDERBUFFER_SIZE 0x84E8 -#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506 -typedef void (GL_APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture); -typedef void (GL_APIENTRYP PFNGLATTACHSHADERPROC) (GLuint program, GLuint shader); -typedef void (GL_APIENTRYP PFNGLBINDATTRIBLOCATIONPROC) (GLuint program, GLuint index, const GLchar *name); -typedef void (GL_APIENTRYP PFNGLBINDBUFFERPROC) (GLenum target, GLuint buffer); -typedef void (GL_APIENTRYP PFNGLBINDFRAMEBUFFERPROC) (GLenum target, GLuint framebuffer); -typedef void (GL_APIENTRYP PFNGLBINDRENDERBUFFERPROC) (GLenum target, GLuint renderbuffer); -typedef void (GL_APIENTRYP PFNGLBINDTEXTUREPROC) (GLenum target, GLuint texture); -typedef void (GL_APIENTRYP PFNGLBLENDCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONPROC) (GLenum mode); -typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONSEPARATEPROC) (GLenum modeRGB, GLenum modeAlpha); -typedef void (GL_APIENTRYP PFNGLBLENDFUNCPROC) (GLenum sfactor, GLenum dfactor); -typedef void (GL_APIENTRYP PFNGLBLENDFUNCSEPARATEPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -typedef void (GL_APIENTRYP PFNGLBUFFERDATAPROC) (GLenum target, GLsizeiptr size, const void *data, GLenum usage); -typedef void (GL_APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); -typedef GLenum (GL_APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSPROC) (GLenum target); -typedef void (GL_APIENTRYP PFNGLCLEARPROC) (GLbitfield mask); -typedef void (GL_APIENTRYP PFNGLCLEARCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -typedef void (GL_APIENTRYP PFNGLCLEARDEPTHFPROC) (GLfloat d); -typedef void (GL_APIENTRYP PFNGLCLEARSTENCILPROC) (GLint s); -typedef void (GL_APIENTRYP PFNGLCOLORMASKPROC) (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); -typedef void (GL_APIENTRYP PFNGLCOMPILESHADERPROC) (GLuint shader); -typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); -typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -typedef void (GL_APIENTRYP PFNGLCOPYTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -typedef void (GL_APIENTRYP PFNGLCOPYTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef GLuint (GL_APIENTRYP PFNGLCREATEPROGRAMPROC) (void); -typedef GLuint (GL_APIENTRYP PFNGLCREATESHADERPROC) (GLenum type); -typedef void (GL_APIENTRYP PFNGLCULLFACEPROC) (GLenum mode); -typedef void (GL_APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers); -typedef void (GL_APIENTRYP PFNGLDELETEFRAMEBUFFERSPROC) (GLsizei n, const GLuint *framebuffers); -typedef void (GL_APIENTRYP PFNGLDELETEPROGRAMPROC) (GLuint program); -typedef void (GL_APIENTRYP PFNGLDELETERENDERBUFFERSPROC) (GLsizei n, const GLuint *renderbuffers); -typedef void (GL_APIENTRYP PFNGLDELETESHADERPROC) (GLuint shader); -typedef void (GL_APIENTRYP PFNGLDELETETEXTURESPROC) (GLsizei n, const GLuint *textures); -typedef void (GL_APIENTRYP PFNGLDEPTHFUNCPROC) (GLenum func); -typedef void (GL_APIENTRYP PFNGLDEPTHMASKPROC) (GLboolean flag); -typedef void (GL_APIENTRYP PFNGLDEPTHRANGEFPROC) (GLfloat n, GLfloat f); -typedef void (GL_APIENTRYP PFNGLDETACHSHADERPROC) (GLuint program, GLuint shader); -typedef void (GL_APIENTRYP PFNGLDISABLEPROC) (GLenum cap); -typedef void (GL_APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYPROC) (GLuint index); -typedef void (GL_APIENTRYP PFNGLDRAWARRAYSPROC) (GLenum mode, GLint first, GLsizei count); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices); -typedef void (GL_APIENTRYP PFNGLENABLEPROC) (GLenum cap); -typedef void (GL_APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYPROC) (GLuint index); -typedef void (GL_APIENTRYP PFNGLFINISHPROC) (void); -typedef void (GL_APIENTRYP PFNGLFLUSHPROC) (void); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFERPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -typedef void (GL_APIENTRYP PFNGLFRONTFACEPROC) (GLenum mode); -typedef void (GL_APIENTRYP PFNGLGENBUFFERSPROC) (GLsizei n, GLuint *buffers); -typedef void (GL_APIENTRYP PFNGLGENERATEMIPMAPPROC) (GLenum target); -typedef void (GL_APIENTRYP PFNGLGENFRAMEBUFFERSPROC) (GLsizei n, GLuint *framebuffers); -typedef void (GL_APIENTRYP PFNGLGENRENDERBUFFERSPROC) (GLsizei n, GLuint *renderbuffers); -typedef void (GL_APIENTRYP PFNGLGENTEXTURESPROC) (GLsizei n, GLuint *textures); -typedef void (GL_APIENTRYP PFNGLGETACTIVEATTRIBPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -typedef void (GL_APIENTRYP PFNGLGETACTIVEUNIFORMPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -typedef void (GL_APIENTRYP PFNGLGETATTACHEDSHADERSPROC) (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); -typedef GLint (GL_APIENTRYP PFNGLGETATTRIBLOCATIONPROC) (GLuint program, const GLchar *name); -typedef void (GL_APIENTRYP PFNGLGETBOOLEANVPROC) (GLenum pname, GLboolean *data); -typedef void (GL_APIENTRYP PFNGLGETBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef GLenum (GL_APIENTRYP PFNGLGETERRORPROC) (void); -typedef void (GL_APIENTRYP PFNGLGETFLOATVPROC) (GLenum pname, GLfloat *data); -typedef void (GL_APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLenum target, GLenum attachment, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETINTEGERVPROC) (GLenum pname, GLint *data); -typedef void (GL_APIENTRYP PFNGLGETPROGRAMIVPROC) (GLuint program, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETPROGRAMINFOLOGPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -typedef void (GL_APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETSHADERIVPROC) (GLuint shader, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETSHADERINFOLOGPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -typedef void (GL_APIENTRYP PFNGLGETSHADERPRECISIONFORMATPROC) (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); -typedef void (GL_APIENTRYP PFNGLGETSHADERSOURCEPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); -typedef const GLubyte *(GL_APIENTRYP PFNGLGETSTRINGPROC) (GLenum name); -typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); -typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETUNIFORMFVPROC) (GLuint program, GLint location, GLfloat *params); -typedef void (GL_APIENTRYP PFNGLGETUNIFORMIVPROC) (GLuint program, GLint location, GLint *params); -typedef GLint (GL_APIENTRYP PFNGLGETUNIFORMLOCATIONPROC) (GLuint program, const GLchar *name); -typedef void (GL_APIENTRYP PFNGLGETVERTEXATTRIBFVPROC) (GLuint index, GLenum pname, GLfloat *params); -typedef void (GL_APIENTRYP PFNGLGETVERTEXATTRIBIVPROC) (GLuint index, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVPROC) (GLuint index, GLenum pname, void **pointer); -typedef void (GL_APIENTRYP PFNGLHINTPROC) (GLenum target, GLenum mode); -typedef GLboolean (GL_APIENTRYP PFNGLISBUFFERPROC) (GLuint buffer); -typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDPROC) (GLenum cap); -typedef GLboolean (GL_APIENTRYP PFNGLISFRAMEBUFFERPROC) (GLuint framebuffer); -typedef GLboolean (GL_APIENTRYP PFNGLISPROGRAMPROC) (GLuint program); -typedef GLboolean (GL_APIENTRYP PFNGLISRENDERBUFFERPROC) (GLuint renderbuffer); -typedef GLboolean (GL_APIENTRYP PFNGLISSHADERPROC) (GLuint shader); -typedef GLboolean (GL_APIENTRYP PFNGLISTEXTUREPROC) (GLuint texture); -typedef void (GL_APIENTRYP PFNGLLINEWIDTHPROC) (GLfloat width); -typedef void (GL_APIENTRYP PFNGLLINKPROGRAMPROC) (GLuint program); -typedef void (GL_APIENTRYP PFNGLPIXELSTOREIPROC) (GLenum pname, GLint param); -typedef void (GL_APIENTRYP PFNGLPOLYGONOFFSETPROC) (GLfloat factor, GLfloat units); -typedef void (GL_APIENTRYP PFNGLREADPIXELSPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels); -typedef void (GL_APIENTRYP PFNGLRELEASESHADERCOMPILERPROC) (void); -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLSAMPLECOVERAGEPROC) (GLfloat value, GLboolean invert); -typedef void (GL_APIENTRYP PFNGLSCISSORPROC) (GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLSHADERBINARYPROC) (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); -typedef void (GL_APIENTRYP PFNGLSHADERSOURCEPROC) (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); -typedef void (GL_APIENTRYP PFNGLSTENCILFUNCPROC) (GLenum func, GLint ref, GLuint mask); -typedef void (GL_APIENTRYP PFNGLSTENCILFUNCSEPARATEPROC) (GLenum face, GLenum func, GLint ref, GLuint mask); -typedef void (GL_APIENTRYP PFNGLSTENCILMASKPROC) (GLuint mask); -typedef void (GL_APIENTRYP PFNGLSTENCILMASKSEPARATEPROC) (GLenum face, GLuint mask); -typedef void (GL_APIENTRYP PFNGLSTENCILOPPROC) (GLenum fail, GLenum zfail, GLenum zpass); -typedef void (GL_APIENTRYP PFNGLSTENCILOPSEPARATEPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); -typedef void (GL_APIENTRYP PFNGLTEXIMAGE2DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERFPROC) (GLenum target, GLenum pname, GLfloat param); -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIPROC) (GLenum target, GLenum pname, GLint param); -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (GL_APIENTRYP PFNGLTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -typedef void (GL_APIENTRYP PFNGLUNIFORM1FPROC) (GLint location, GLfloat v0); -typedef void (GL_APIENTRYP PFNGLUNIFORM1FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM1IPROC) (GLint location, GLint v0); -typedef void (GL_APIENTRYP PFNGLUNIFORM1IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM2FPROC) (GLint location, GLfloat v0, GLfloat v1); -typedef void (GL_APIENTRYP PFNGLUNIFORM2FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM2IPROC) (GLint location, GLint v0, GLint v1); -typedef void (GL_APIENTRYP PFNGLUNIFORM2IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM3FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -typedef void (GL_APIENTRYP PFNGLUNIFORM3FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM3IPROC) (GLint location, GLint v0, GLint v1, GLint v2); -typedef void (GL_APIENTRYP PFNGLUNIFORM3IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM4FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -typedef void (GL_APIENTRYP PFNGLUNIFORM4FVPROC) (GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM4IPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -typedef void (GL_APIENTRYP PFNGLUNIFORM4IVPROC) (GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUSEPROGRAMPROC) (GLuint program); -typedef void (GL_APIENTRYP PFNGLVALIDATEPROGRAMPROC) (GLuint program); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB1FPROC) (GLuint index, GLfloat x); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB1FVPROC) (GLuint index, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB2FPROC) (GLuint index, GLfloat x, GLfloat y); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB2FVPROC) (GLuint index, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB3FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB3FVPROC) (GLuint index, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB4FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIB4FVPROC) (GLuint index, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); -typedef void (GL_APIENTRYP PFNGLVIEWPORTPROC) (GLint x, GLint y, GLsizei width, GLsizei height); -#if GL_GLES_PROTOTYPES -GL_APICALL void GL_APIENTRY glActiveTexture (GLenum texture); -GL_APICALL void GL_APIENTRY glAttachShader (GLuint program, GLuint shader); -GL_APICALL void GL_APIENTRY glBindAttribLocation (GLuint program, GLuint index, const GLchar *name); -GL_APICALL void GL_APIENTRY glBindBuffer (GLenum target, GLuint buffer); -GL_APICALL void GL_APIENTRY glBindFramebuffer (GLenum target, GLuint framebuffer); -GL_APICALL void GL_APIENTRY glBindRenderbuffer (GLenum target, GLuint renderbuffer); -GL_APICALL void GL_APIENTRY glBindTexture (GLenum target, GLuint texture); -GL_APICALL void GL_APIENTRY glBlendColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -GL_APICALL void GL_APIENTRY glBlendEquation (GLenum mode); -GL_APICALL void GL_APIENTRY glBlendEquationSeparate (GLenum modeRGB, GLenum modeAlpha); -GL_APICALL void GL_APIENTRY glBlendFunc (GLenum sfactor, GLenum dfactor); -GL_APICALL void GL_APIENTRY glBlendFuncSeparate (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); -GL_APICALL void GL_APIENTRY glBufferData (GLenum target, GLsizeiptr size, const void *data, GLenum usage); -GL_APICALL void GL_APIENTRY glBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, const void *data); -GL_APICALL GLenum GL_APIENTRY glCheckFramebufferStatus (GLenum target); -GL_APICALL void GL_APIENTRY glClear (GLbitfield mask); -GL_APICALL void GL_APIENTRY glClearColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); -GL_APICALL void GL_APIENTRY glClearDepthf (GLfloat d); -GL_APICALL void GL_APIENTRY glClearStencil (GLint s); -GL_APICALL void GL_APIENTRY glColorMask (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); -GL_APICALL void GL_APIENTRY glCompileShader (GLuint shader); -GL_APICALL void GL_APIENTRY glCompressedTexImage2D (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); -GL_APICALL void GL_APIENTRY glCompressedTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); -GL_APICALL void GL_APIENTRY glCopyTexImage2D (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); -GL_APICALL void GL_APIENTRY glCopyTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GL_APICALL GLuint GL_APIENTRY glCreateProgram (void); -GL_APICALL GLuint GL_APIENTRY glCreateShader (GLenum type); -GL_APICALL void GL_APIENTRY glCullFace (GLenum mode); -GL_APICALL void GL_APIENTRY glDeleteBuffers (GLsizei n, const GLuint *buffers); -GL_APICALL void GL_APIENTRY glDeleteFramebuffers (GLsizei n, const GLuint *framebuffers); -GL_APICALL void GL_APIENTRY glDeleteProgram (GLuint program); -GL_APICALL void GL_APIENTRY glDeleteRenderbuffers (GLsizei n, const GLuint *renderbuffers); -GL_APICALL void GL_APIENTRY glDeleteShader (GLuint shader); -GL_APICALL void GL_APIENTRY glDeleteTextures (GLsizei n, const GLuint *textures); -GL_APICALL void GL_APIENTRY glDepthFunc (GLenum func); -GL_APICALL void GL_APIENTRY glDepthMask (GLboolean flag); -GL_APICALL void GL_APIENTRY glDepthRangef (GLfloat n, GLfloat f); -GL_APICALL void GL_APIENTRY glDetachShader (GLuint program, GLuint shader); -GL_APICALL void GL_APIENTRY glDisable (GLenum cap); -GL_APICALL void GL_APIENTRY glDisableVertexAttribArray (GLuint index); -GL_APICALL void GL_APIENTRY glDrawArrays (GLenum mode, GLint first, GLsizei count); -GL_APICALL void GL_APIENTRY glDrawElements (GLenum mode, GLsizei count, GLenum type, const void *indices); -GL_APICALL void GL_APIENTRY glEnable (GLenum cap); -GL_APICALL void GL_APIENTRY glEnableVertexAttribArray (GLuint index); -GL_APICALL void GL_APIENTRY glFinish (void); -GL_APICALL void GL_APIENTRY glFlush (void); -GL_APICALL void GL_APIENTRY glFramebufferRenderbuffer (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); -GL_APICALL void GL_APIENTRY glFramebufferTexture2D (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); -GL_APICALL void GL_APIENTRY glFrontFace (GLenum mode); -GL_APICALL void GL_APIENTRY glGenBuffers (GLsizei n, GLuint *buffers); -GL_APICALL void GL_APIENTRY glGenerateMipmap (GLenum target); -GL_APICALL void GL_APIENTRY glGenFramebuffers (GLsizei n, GLuint *framebuffers); -GL_APICALL void GL_APIENTRY glGenRenderbuffers (GLsizei n, GLuint *renderbuffers); -GL_APICALL void GL_APIENTRY glGenTextures (GLsizei n, GLuint *textures); -GL_APICALL void GL_APIENTRY glGetActiveAttrib (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -GL_APICALL void GL_APIENTRY glGetActiveUniform (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); -GL_APICALL void GL_APIENTRY glGetAttachedShaders (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); -GL_APICALL GLint GL_APIENTRY glGetAttribLocation (GLuint program, const GLchar *name); -GL_APICALL void GL_APIENTRY glGetBooleanv (GLenum pname, GLboolean *data); -GL_APICALL void GL_APIENTRY glGetBufferParameteriv (GLenum target, GLenum pname, GLint *params); -GL_APICALL GLenum GL_APIENTRY glGetError (void); -GL_APICALL void GL_APIENTRY glGetFloatv (GLenum pname, GLfloat *data); -GL_APICALL void GL_APIENTRY glGetFramebufferAttachmentParameteriv (GLenum target, GLenum attachment, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetIntegerv (GLenum pname, GLint *data); -GL_APICALL void GL_APIENTRY glGetProgramiv (GLuint program, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetProgramInfoLog (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -GL_APICALL void GL_APIENTRY glGetRenderbufferParameteriv (GLenum target, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetShaderiv (GLuint shader, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetShaderInfoLog (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -GL_APICALL void GL_APIENTRY glGetShaderPrecisionFormat (GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); -GL_APICALL void GL_APIENTRY glGetShaderSource (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); -GL_APICALL const GLubyte *GL_APIENTRY glGetString (GLenum name); -GL_APICALL void GL_APIENTRY glGetTexParameterfv (GLenum target, GLenum pname, GLfloat *params); -GL_APICALL void GL_APIENTRY glGetTexParameteriv (GLenum target, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetUniformfv (GLuint program, GLint location, GLfloat *params); -GL_APICALL void GL_APIENTRY glGetUniformiv (GLuint program, GLint location, GLint *params); -GL_APICALL GLint GL_APIENTRY glGetUniformLocation (GLuint program, const GLchar *name); -GL_APICALL void GL_APIENTRY glGetVertexAttribfv (GLuint index, GLenum pname, GLfloat *params); -GL_APICALL void GL_APIENTRY glGetVertexAttribiv (GLuint index, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetVertexAttribPointerv (GLuint index, GLenum pname, void **pointer); -GL_APICALL void GL_APIENTRY glHint (GLenum target, GLenum mode); -GL_APICALL GLboolean GL_APIENTRY glIsBuffer (GLuint buffer); -GL_APICALL GLboolean GL_APIENTRY glIsEnabled (GLenum cap); -GL_APICALL GLboolean GL_APIENTRY glIsFramebuffer (GLuint framebuffer); -GL_APICALL GLboolean GL_APIENTRY glIsProgram (GLuint program); -GL_APICALL GLboolean GL_APIENTRY glIsRenderbuffer (GLuint renderbuffer); -GL_APICALL GLboolean GL_APIENTRY glIsShader (GLuint shader); -GL_APICALL GLboolean GL_APIENTRY glIsTexture (GLuint texture); -GL_APICALL void GL_APIENTRY glLineWidth (GLfloat width); -GL_APICALL void GL_APIENTRY glLinkProgram (GLuint program); -GL_APICALL void GL_APIENTRY glPixelStorei (GLenum pname, GLint param); -GL_APICALL void GL_APIENTRY glPolygonOffset (GLfloat factor, GLfloat units); -GL_APICALL void GL_APIENTRY glReadPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels); -GL_APICALL void GL_APIENTRY glReleaseShaderCompiler (void); -GL_APICALL void GL_APIENTRY glRenderbufferStorage (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glSampleCoverage (GLfloat value, GLboolean invert); -GL_APICALL void GL_APIENTRY glScissor (GLint x, GLint y, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glShaderBinary (GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); -GL_APICALL void GL_APIENTRY glShaderSource (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length); -GL_APICALL void GL_APIENTRY glStencilFunc (GLenum func, GLint ref, GLuint mask); -GL_APICALL void GL_APIENTRY glStencilFuncSeparate (GLenum face, GLenum func, GLint ref, GLuint mask); -GL_APICALL void GL_APIENTRY glStencilMask (GLuint mask); -GL_APICALL void GL_APIENTRY glStencilMaskSeparate (GLenum face, GLuint mask); -GL_APICALL void GL_APIENTRY glStencilOp (GLenum fail, GLenum zfail, GLenum zpass); -GL_APICALL void GL_APIENTRY glStencilOpSeparate (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); -GL_APICALL void GL_APIENTRY glTexImage2D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); -GL_APICALL void GL_APIENTRY glTexParameterf (GLenum target, GLenum pname, GLfloat param); -GL_APICALL void GL_APIENTRY glTexParameterfv (GLenum target, GLenum pname, const GLfloat *params); -GL_APICALL void GL_APIENTRY glTexParameteri (GLenum target, GLenum pname, GLint param); -GL_APICALL void GL_APIENTRY glTexParameteriv (GLenum target, GLenum pname, const GLint *params); -GL_APICALL void GL_APIENTRY glTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); -GL_APICALL void GL_APIENTRY glUniform1f (GLint location, GLfloat v0); -GL_APICALL void GL_APIENTRY glUniform1fv (GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniform1i (GLint location, GLint v0); -GL_APICALL void GL_APIENTRY glUniform1iv (GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glUniform2f (GLint location, GLfloat v0, GLfloat v1); -GL_APICALL void GL_APIENTRY glUniform2fv (GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniform2i (GLint location, GLint v0, GLint v1); -GL_APICALL void GL_APIENTRY glUniform2iv (GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glUniform3f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -GL_APICALL void GL_APIENTRY glUniform3fv (GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniform3i (GLint location, GLint v0, GLint v1, GLint v2); -GL_APICALL void GL_APIENTRY glUniform3iv (GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glUniform4f (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -GL_APICALL void GL_APIENTRY glUniform4fv (GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniform4i (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -GL_APICALL void GL_APIENTRY glUniform4iv (GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glUniformMatrix2fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix3fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUseProgram (GLuint program); -GL_APICALL void GL_APIENTRY glValidateProgram (GLuint program); -GL_APICALL void GL_APIENTRY glVertexAttrib1f (GLuint index, GLfloat x); -GL_APICALL void GL_APIENTRY glVertexAttrib1fv (GLuint index, const GLfloat *v); -GL_APICALL void GL_APIENTRY glVertexAttrib2f (GLuint index, GLfloat x, GLfloat y); -GL_APICALL void GL_APIENTRY glVertexAttrib2fv (GLuint index, const GLfloat *v); -GL_APICALL void GL_APIENTRY glVertexAttrib3f (GLuint index, GLfloat x, GLfloat y, GLfloat z); -GL_APICALL void GL_APIENTRY glVertexAttrib3fv (GLuint index, const GLfloat *v); -GL_APICALL void GL_APIENTRY glVertexAttrib4f (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); -GL_APICALL void GL_APIENTRY glVertexAttrib4fv (GLuint index, const GLfloat *v); -GL_APICALL void GL_APIENTRY glVertexAttribPointer (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); -GL_APICALL void GL_APIENTRY glViewport (GLint x, GLint y, GLsizei width, GLsizei height); -#endif -#endif /* GL_ES_VERSION_2_0 */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2ext.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2ext.h deleted file mode 100644 index 9448ce09f..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2ext.h +++ /dev/null @@ -1,4033 +0,0 @@ -#ifndef __gles2_gl2ext_h_ -#define __gles2_gl2ext_h_ 1 - -#ifdef __cplusplus -extern "C" { -#endif - -/* -** Copyright 2013-2020 The Khronos Group Inc. -** SPDX-License-Identifier: MIT -** -** This header is generated from the Khronos OpenGL / OpenGL ES XML -** API Registry. The current version of the Registry, generator scripts -** used to make the header, and the header can be found at -** https://github.com/KhronosGroup/OpenGL-Registry -*/ - -#ifndef GL_APIENTRYP -#define GL_APIENTRYP GL_APIENTRY* -#endif - -/* Generated on date 20220530 */ - -/* Generated C header for: - * API: gles2 - * Profile: common - * Versions considered: 2\.[0-9] - * Versions emitted: _nomatch_^ - * Default extensions included: gles2 - * Additional extensions included: _nomatch_^ - * Extensions removed: _nomatch_^ - */ - -#ifndef GL_KHR_blend_equation_advanced -#define GL_KHR_blend_equation_advanced 1 -#define GL_MULTIPLY_KHR 0x9294 -#define GL_SCREEN_KHR 0x9295 -#define GL_OVERLAY_KHR 0x9296 -#define GL_DARKEN_KHR 0x9297 -#define GL_LIGHTEN_KHR 0x9298 -#define GL_COLORDODGE_KHR 0x9299 -#define GL_COLORBURN_KHR 0x929A -#define GL_HARDLIGHT_KHR 0x929B -#define GL_SOFTLIGHT_KHR 0x929C -#define GL_DIFFERENCE_KHR 0x929E -#define GL_EXCLUSION_KHR 0x92A0 -#define GL_HSL_HUE_KHR 0x92AD -#define GL_HSL_SATURATION_KHR 0x92AE -#define GL_HSL_COLOR_KHR 0x92AF -#define GL_HSL_LUMINOSITY_KHR 0x92B0 -typedef void (GL_APIENTRYP PFNGLBLENDBARRIERKHRPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBlendBarrierKHR (void); -#endif -#endif /* GL_KHR_blend_equation_advanced */ - -#ifndef GL_KHR_blend_equation_advanced_coherent -#define GL_KHR_blend_equation_advanced_coherent 1 -#define GL_BLEND_ADVANCED_COHERENT_KHR 0x9285 -#endif /* GL_KHR_blend_equation_advanced_coherent */ - -#ifndef GL_KHR_context_flush_control -#define GL_KHR_context_flush_control 1 -#define GL_CONTEXT_RELEASE_BEHAVIOR_KHR 0x82FB -#define GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH_KHR 0x82FC -#endif /* GL_KHR_context_flush_control */ - -#ifndef GL_KHR_debug -#define GL_KHR_debug 1 -typedef void (GL_APIENTRY *GLDEBUGPROCKHR)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam); -#define GL_SAMPLER 0x82E6 -#define GL_DEBUG_OUTPUT_SYNCHRONOUS_KHR 0x8242 -#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH_KHR 0x8243 -#define GL_DEBUG_CALLBACK_FUNCTION_KHR 0x8244 -#define GL_DEBUG_CALLBACK_USER_PARAM_KHR 0x8245 -#define GL_DEBUG_SOURCE_API_KHR 0x8246 -#define GL_DEBUG_SOURCE_WINDOW_SYSTEM_KHR 0x8247 -#define GL_DEBUG_SOURCE_SHADER_COMPILER_KHR 0x8248 -#define GL_DEBUG_SOURCE_THIRD_PARTY_KHR 0x8249 -#define GL_DEBUG_SOURCE_APPLICATION_KHR 0x824A -#define GL_DEBUG_SOURCE_OTHER_KHR 0x824B -#define GL_DEBUG_TYPE_ERROR_KHR 0x824C -#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR_KHR 0x824D -#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR_KHR 0x824E -#define GL_DEBUG_TYPE_PORTABILITY_KHR 0x824F -#define GL_DEBUG_TYPE_PERFORMANCE_KHR 0x8250 -#define GL_DEBUG_TYPE_OTHER_KHR 0x8251 -#define GL_DEBUG_TYPE_MARKER_KHR 0x8268 -#define GL_DEBUG_TYPE_PUSH_GROUP_KHR 0x8269 -#define GL_DEBUG_TYPE_POP_GROUP_KHR 0x826A -#define GL_DEBUG_SEVERITY_NOTIFICATION_KHR 0x826B -#define GL_MAX_DEBUG_GROUP_STACK_DEPTH_KHR 0x826C -#define GL_DEBUG_GROUP_STACK_DEPTH_KHR 0x826D -#define GL_BUFFER_KHR 0x82E0 -#define GL_SHADER_KHR 0x82E1 -#define GL_PROGRAM_KHR 0x82E2 -#define GL_VERTEX_ARRAY_KHR 0x8074 -#define GL_QUERY_KHR 0x82E3 -#define GL_PROGRAM_PIPELINE_KHR 0x82E4 -#define GL_SAMPLER_KHR 0x82E6 -#define GL_MAX_LABEL_LENGTH_KHR 0x82E8 -#define GL_MAX_DEBUG_MESSAGE_LENGTH_KHR 0x9143 -#define GL_MAX_DEBUG_LOGGED_MESSAGES_KHR 0x9144 -#define GL_DEBUG_LOGGED_MESSAGES_KHR 0x9145 -#define GL_DEBUG_SEVERITY_HIGH_KHR 0x9146 -#define GL_DEBUG_SEVERITY_MEDIUM_KHR 0x9147 -#define GL_DEBUG_SEVERITY_LOW_KHR 0x9148 -#define GL_DEBUG_OUTPUT_KHR 0x92E0 -#define GL_CONTEXT_FLAG_DEBUG_BIT_KHR 0x00000002 -#define GL_STACK_OVERFLOW_KHR 0x0503 -#define GL_STACK_UNDERFLOW_KHR 0x0504 -typedef void (GL_APIENTRYP PFNGLDEBUGMESSAGECONTROLKHRPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -typedef void (GL_APIENTRYP PFNGLDEBUGMESSAGEINSERTKHRPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); -typedef void (GL_APIENTRYP PFNGLDEBUGMESSAGECALLBACKKHRPROC) (GLDEBUGPROCKHR callback, const void *userParam); -typedef GLuint (GL_APIENTRYP PFNGLGETDEBUGMESSAGELOGKHRPROC) (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); -typedef void (GL_APIENTRYP PFNGLPUSHDEBUGGROUPKHRPROC) (GLenum source, GLuint id, GLsizei length, const GLchar *message); -typedef void (GL_APIENTRYP PFNGLPOPDEBUGGROUPKHRPROC) (void); -typedef void (GL_APIENTRYP PFNGLOBJECTLABELKHRPROC) (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); -typedef void (GL_APIENTRYP PFNGLGETOBJECTLABELKHRPROC) (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); -typedef void (GL_APIENTRYP PFNGLOBJECTPTRLABELKHRPROC) (const void *ptr, GLsizei length, const GLchar *label); -typedef void (GL_APIENTRYP PFNGLGETOBJECTPTRLABELKHRPROC) (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); -typedef void (GL_APIENTRYP PFNGLGETPOINTERVKHRPROC) (GLenum pname, void **params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDebugMessageControlKHR (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); -GL_APICALL void GL_APIENTRY glDebugMessageInsertKHR (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); -GL_APICALL void GL_APIENTRY glDebugMessageCallbackKHR (GLDEBUGPROCKHR callback, const void *userParam); -GL_APICALL GLuint GL_APIENTRY glGetDebugMessageLogKHR (GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); -GL_APICALL void GL_APIENTRY glPushDebugGroupKHR (GLenum source, GLuint id, GLsizei length, const GLchar *message); -GL_APICALL void GL_APIENTRY glPopDebugGroupKHR (void); -GL_APICALL void GL_APIENTRY glObjectLabelKHR (GLenum identifier, GLuint name, GLsizei length, const GLchar *label); -GL_APICALL void GL_APIENTRY glGetObjectLabelKHR (GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); -GL_APICALL void GL_APIENTRY glObjectPtrLabelKHR (const void *ptr, GLsizei length, const GLchar *label); -GL_APICALL void GL_APIENTRY glGetObjectPtrLabelKHR (const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); -GL_APICALL void GL_APIENTRY glGetPointervKHR (GLenum pname, void **params); -#endif -#endif /* GL_KHR_debug */ - -#ifndef GL_KHR_no_error -#define GL_KHR_no_error 1 -#define GL_CONTEXT_FLAG_NO_ERROR_BIT_KHR 0x00000008 -#endif /* GL_KHR_no_error */ - -#ifndef GL_KHR_parallel_shader_compile -#define GL_KHR_parallel_shader_compile 1 -#define GL_MAX_SHADER_COMPILER_THREADS_KHR 0x91B0 -#define GL_COMPLETION_STATUS_KHR 0x91B1 -typedef void (GL_APIENTRYP PFNGLMAXSHADERCOMPILERTHREADSKHRPROC) (GLuint count); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glMaxShaderCompilerThreadsKHR (GLuint count); -#endif -#endif /* GL_KHR_parallel_shader_compile */ - -#ifndef GL_KHR_robust_buffer_access_behavior -#define GL_KHR_robust_buffer_access_behavior 1 -#endif /* GL_KHR_robust_buffer_access_behavior */ - -#ifndef GL_KHR_robustness -#define GL_KHR_robustness 1 -#define GL_CONTEXT_ROBUST_ACCESS_KHR 0x90F3 -#define GL_LOSE_CONTEXT_ON_RESET_KHR 0x8252 -#define GL_GUILTY_CONTEXT_RESET_KHR 0x8253 -#define GL_INNOCENT_CONTEXT_RESET_KHR 0x8254 -#define GL_UNKNOWN_CONTEXT_RESET_KHR 0x8255 -#define GL_RESET_NOTIFICATION_STRATEGY_KHR 0x8256 -#define GL_NO_RESET_NOTIFICATION_KHR 0x8261 -#define GL_CONTEXT_LOST_KHR 0x0507 -typedef GLenum (GL_APIENTRYP PFNGLGETGRAPHICSRESETSTATUSKHRPROC) (void); -typedef void (GL_APIENTRYP PFNGLREADNPIXELSKHRPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -typedef void (GL_APIENTRYP PFNGLGETNUNIFORMFVKHRPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -typedef void (GL_APIENTRYP PFNGLGETNUNIFORMIVKHRPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETNUNIFORMUIVKHRPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLenum GL_APIENTRY glGetGraphicsResetStatusKHR (void); -GL_APICALL void GL_APIENTRY glReadnPixelsKHR (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -GL_APICALL void GL_APIENTRY glGetnUniformfvKHR (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -GL_APICALL void GL_APIENTRY glGetnUniformivKHR (GLuint program, GLint location, GLsizei bufSize, GLint *params); -GL_APICALL void GL_APIENTRY glGetnUniformuivKHR (GLuint program, GLint location, GLsizei bufSize, GLuint *params); -#endif -#endif /* GL_KHR_robustness */ - -#ifndef GL_KHR_shader_subgroup -#define GL_KHR_shader_subgroup 1 -#define GL_SUBGROUP_SIZE_KHR 0x9532 -#define GL_SUBGROUP_SUPPORTED_STAGES_KHR 0x9533 -#define GL_SUBGROUP_SUPPORTED_FEATURES_KHR 0x9534 -#define GL_SUBGROUP_QUAD_ALL_STAGES_KHR 0x9535 -#define GL_SUBGROUP_FEATURE_BASIC_BIT_KHR 0x00000001 -#define GL_SUBGROUP_FEATURE_VOTE_BIT_KHR 0x00000002 -#define GL_SUBGROUP_FEATURE_ARITHMETIC_BIT_KHR 0x00000004 -#define GL_SUBGROUP_FEATURE_BALLOT_BIT_KHR 0x00000008 -#define GL_SUBGROUP_FEATURE_SHUFFLE_BIT_KHR 0x00000010 -#define GL_SUBGROUP_FEATURE_SHUFFLE_RELATIVE_BIT_KHR 0x00000020 -#define GL_SUBGROUP_FEATURE_CLUSTERED_BIT_KHR 0x00000040 -#define GL_SUBGROUP_FEATURE_QUAD_BIT_KHR 0x00000080 -#endif /* GL_KHR_shader_subgroup */ - -#ifndef GL_KHR_texture_compression_astc_hdr -#define GL_KHR_texture_compression_astc_hdr 1 -#define GL_COMPRESSED_RGBA_ASTC_4x4_KHR 0x93B0 -#define GL_COMPRESSED_RGBA_ASTC_5x4_KHR 0x93B1 -#define GL_COMPRESSED_RGBA_ASTC_5x5_KHR 0x93B2 -#define GL_COMPRESSED_RGBA_ASTC_6x5_KHR 0x93B3 -#define GL_COMPRESSED_RGBA_ASTC_6x6_KHR 0x93B4 -#define GL_COMPRESSED_RGBA_ASTC_8x5_KHR 0x93B5 -#define GL_COMPRESSED_RGBA_ASTC_8x6_KHR 0x93B6 -#define GL_COMPRESSED_RGBA_ASTC_8x8_KHR 0x93B7 -#define GL_COMPRESSED_RGBA_ASTC_10x5_KHR 0x93B8 -#define GL_COMPRESSED_RGBA_ASTC_10x6_KHR 0x93B9 -#define GL_COMPRESSED_RGBA_ASTC_10x8_KHR 0x93BA -#define GL_COMPRESSED_RGBA_ASTC_10x10_KHR 0x93BB -#define GL_COMPRESSED_RGBA_ASTC_12x10_KHR 0x93BC -#define GL_COMPRESSED_RGBA_ASTC_12x12_KHR 0x93BD -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR 0x93D0 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR 0x93D1 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR 0x93D2 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR 0x93D3 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR 0x93D4 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR 0x93D5 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR 0x93D6 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR 0x93D7 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR 0x93D8 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR 0x93D9 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR 0x93DA -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR 0x93DB -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR 0x93DC -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR 0x93DD -#endif /* GL_KHR_texture_compression_astc_hdr */ - -#ifndef GL_KHR_texture_compression_astc_ldr -#define GL_KHR_texture_compression_astc_ldr 1 -#endif /* GL_KHR_texture_compression_astc_ldr */ - -#ifndef GL_KHR_texture_compression_astc_sliced_3d -#define GL_KHR_texture_compression_astc_sliced_3d 1 -#endif /* GL_KHR_texture_compression_astc_sliced_3d */ - -#ifndef GL_OES_EGL_image -#define GL_OES_EGL_image 1 -typedef void *GLeglImageOES; -typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETTEXTURE2DOESPROC) (GLenum target, GLeglImageOES image); -typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETRENDERBUFFERSTORAGEOESPROC) (GLenum target, GLeglImageOES image); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glEGLImageTargetTexture2DOES (GLenum target, GLeglImageOES image); -GL_APICALL void GL_APIENTRY glEGLImageTargetRenderbufferStorageOES (GLenum target, GLeglImageOES image); -#endif -#endif /* GL_OES_EGL_image */ - -#ifndef GL_OES_EGL_image_external -#define GL_OES_EGL_image_external 1 -#define GL_TEXTURE_EXTERNAL_OES 0x8D65 -#define GL_TEXTURE_BINDING_EXTERNAL_OES 0x8D67 -#define GL_REQUIRED_TEXTURE_IMAGE_UNITS_OES 0x8D68 -#define GL_SAMPLER_EXTERNAL_OES 0x8D66 -#endif /* GL_OES_EGL_image_external */ - -#ifndef GL_OES_EGL_image_external_essl3 -#define GL_OES_EGL_image_external_essl3 1 -#endif /* GL_OES_EGL_image_external_essl3 */ - -#ifndef GL_OES_compressed_ETC1_RGB8_sub_texture -#define GL_OES_compressed_ETC1_RGB8_sub_texture 1 -#endif /* GL_OES_compressed_ETC1_RGB8_sub_texture */ - -#ifndef GL_OES_compressed_ETC1_RGB8_texture -#define GL_OES_compressed_ETC1_RGB8_texture 1 -#define GL_ETC1_RGB8_OES 0x8D64 -#endif /* GL_OES_compressed_ETC1_RGB8_texture */ - -#ifndef GL_OES_compressed_paletted_texture -#define GL_OES_compressed_paletted_texture 1 -#define GL_PALETTE4_RGB8_OES 0x8B90 -#define GL_PALETTE4_RGBA8_OES 0x8B91 -#define GL_PALETTE4_R5_G6_B5_OES 0x8B92 -#define GL_PALETTE4_RGBA4_OES 0x8B93 -#define GL_PALETTE4_RGB5_A1_OES 0x8B94 -#define GL_PALETTE8_RGB8_OES 0x8B95 -#define GL_PALETTE8_RGBA8_OES 0x8B96 -#define GL_PALETTE8_R5_G6_B5_OES 0x8B97 -#define GL_PALETTE8_RGBA4_OES 0x8B98 -#define GL_PALETTE8_RGB5_A1_OES 0x8B99 -#endif /* GL_OES_compressed_paletted_texture */ - -#ifndef GL_OES_copy_image -#define GL_OES_copy_image 1 -typedef void (GL_APIENTRYP PFNGLCOPYIMAGESUBDATAOESPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCopyImageSubDataOES (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -#endif -#endif /* GL_OES_copy_image */ - -#ifndef GL_OES_depth24 -#define GL_OES_depth24 1 -#define GL_DEPTH_COMPONENT24_OES 0x81A6 -#endif /* GL_OES_depth24 */ - -#ifndef GL_OES_depth32 -#define GL_OES_depth32 1 -#define GL_DEPTH_COMPONENT32_OES 0x81A7 -#endif /* GL_OES_depth32 */ - -#ifndef GL_OES_depth_texture -#define GL_OES_depth_texture 1 -#endif /* GL_OES_depth_texture */ - -#ifndef GL_OES_draw_buffers_indexed -#define GL_OES_draw_buffers_indexed 1 -#define GL_MIN 0x8007 -#define GL_MAX 0x8008 -typedef void (GL_APIENTRYP PFNGLENABLEIOESPROC) (GLenum target, GLuint index); -typedef void (GL_APIENTRYP PFNGLDISABLEIOESPROC) (GLenum target, GLuint index); -typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONIOESPROC) (GLuint buf, GLenum mode); -typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONSEPARATEIOESPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -typedef void (GL_APIENTRYP PFNGLBLENDFUNCIOESPROC) (GLuint buf, GLenum src, GLenum dst); -typedef void (GL_APIENTRYP PFNGLBLENDFUNCSEPARATEIOESPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -typedef void (GL_APIENTRYP PFNGLCOLORMASKIOESPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDIOESPROC) (GLenum target, GLuint index); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glEnableiOES (GLenum target, GLuint index); -GL_APICALL void GL_APIENTRY glDisableiOES (GLenum target, GLuint index); -GL_APICALL void GL_APIENTRY glBlendEquationiOES (GLuint buf, GLenum mode); -GL_APICALL void GL_APIENTRY glBlendEquationSeparateiOES (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -GL_APICALL void GL_APIENTRY glBlendFunciOES (GLuint buf, GLenum src, GLenum dst); -GL_APICALL void GL_APIENTRY glBlendFuncSeparateiOES (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -GL_APICALL void GL_APIENTRY glColorMaskiOES (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -GL_APICALL GLboolean GL_APIENTRY glIsEnablediOES (GLenum target, GLuint index); -#endif -#endif /* GL_OES_draw_buffers_indexed */ - -#ifndef GL_OES_draw_elements_base_vertex -#define GL_OES_draw_elements_base_vertex 1 -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXOESPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); -typedef void (GL_APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXOESPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXOESPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); -typedef void (GL_APIENTRYP PFNGLMULTIDRAWELEMENTSBASEVERTEXEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawElementsBaseVertexOES (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); -GL_APICALL void GL_APIENTRY glDrawRangeElementsBaseVertexOES (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseVertexOES (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); -GL_APICALL void GL_APIENTRY glMultiDrawElementsBaseVertexEXT (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount, const GLint *basevertex); -#endif -#endif /* GL_OES_draw_elements_base_vertex */ - -#ifndef GL_OES_element_index_uint -#define GL_OES_element_index_uint 1 -#endif /* GL_OES_element_index_uint */ - -#ifndef GL_OES_fbo_render_mipmap -#define GL_OES_fbo_render_mipmap 1 -#endif /* GL_OES_fbo_render_mipmap */ - -#ifndef GL_OES_fragment_precision_high -#define GL_OES_fragment_precision_high 1 -#endif /* GL_OES_fragment_precision_high */ - -#ifndef GL_OES_geometry_point_size -#define GL_OES_geometry_point_size 1 -#endif /* GL_OES_geometry_point_size */ - -#ifndef GL_OES_geometry_shader -#define GL_OES_geometry_shader 1 -#define GL_GEOMETRY_SHADER_OES 0x8DD9 -#define GL_GEOMETRY_SHADER_BIT_OES 0x00000004 -#define GL_GEOMETRY_LINKED_VERTICES_OUT_OES 0x8916 -#define GL_GEOMETRY_LINKED_INPUT_TYPE_OES 0x8917 -#define GL_GEOMETRY_LINKED_OUTPUT_TYPE_OES 0x8918 -#define GL_GEOMETRY_SHADER_INVOCATIONS_OES 0x887F -#define GL_LAYER_PROVOKING_VERTEX_OES 0x825E -#define GL_LINES_ADJACENCY_OES 0x000A -#define GL_LINE_STRIP_ADJACENCY_OES 0x000B -#define GL_TRIANGLES_ADJACENCY_OES 0x000C -#define GL_TRIANGLE_STRIP_ADJACENCY_OES 0x000D -#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_OES 0x8DDF -#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS_OES 0x8A2C -#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS_OES 0x8A32 -#define GL_MAX_GEOMETRY_INPUT_COMPONENTS_OES 0x9123 -#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS_OES 0x9124 -#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_OES 0x8DE0 -#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_OES 0x8DE1 -#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS_OES 0x8E5A -#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_OES 0x8C29 -#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS_OES 0x92CF -#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS_OES 0x92D5 -#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS_OES 0x90CD -#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS_OES 0x90D7 -#define GL_FIRST_VERTEX_CONVENTION_OES 0x8E4D -#define GL_LAST_VERTEX_CONVENTION_OES 0x8E4E -#define GL_UNDEFINED_VERTEX_OES 0x8260 -#define GL_PRIMITIVES_GENERATED_OES 0x8C87 -#define GL_FRAMEBUFFER_DEFAULT_LAYERS_OES 0x9312 -#define GL_MAX_FRAMEBUFFER_LAYERS_OES 0x9317 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_OES 0x8DA8 -#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_OES 0x8DA7 -#define GL_REFERENCED_BY_GEOMETRY_SHADER_OES 0x9309 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREOESPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferTextureOES (GLenum target, GLenum attachment, GLuint texture, GLint level); -#endif -#endif /* GL_OES_geometry_shader */ - -#ifndef GL_OES_get_program_binary -#define GL_OES_get_program_binary 1 -#define GL_PROGRAM_BINARY_LENGTH_OES 0x8741 -#define GL_NUM_PROGRAM_BINARY_FORMATS_OES 0x87FE -#define GL_PROGRAM_BINARY_FORMATS_OES 0x87FF -typedef void (GL_APIENTRYP PFNGLGETPROGRAMBINARYOESPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); -typedef void (GL_APIENTRYP PFNGLPROGRAMBINARYOESPROC) (GLuint program, GLenum binaryFormat, const void *binary, GLint length); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetProgramBinaryOES (GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); -GL_APICALL void GL_APIENTRY glProgramBinaryOES (GLuint program, GLenum binaryFormat, const void *binary, GLint length); -#endif -#endif /* GL_OES_get_program_binary */ - -#ifndef GL_OES_gpu_shader5 -#define GL_OES_gpu_shader5 1 -#endif /* GL_OES_gpu_shader5 */ - -#ifndef GL_OES_mapbuffer -#define GL_OES_mapbuffer 1 -#define GL_WRITE_ONLY_OES 0x88B9 -#define GL_BUFFER_ACCESS_OES 0x88BB -#define GL_BUFFER_MAPPED_OES 0x88BC -#define GL_BUFFER_MAP_POINTER_OES 0x88BD -typedef void *(GL_APIENTRYP PFNGLMAPBUFFEROESPROC) (GLenum target, GLenum access); -typedef GLboolean (GL_APIENTRYP PFNGLUNMAPBUFFEROESPROC) (GLenum target); -typedef void (GL_APIENTRYP PFNGLGETBUFFERPOINTERVOESPROC) (GLenum target, GLenum pname, void **params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void *GL_APIENTRY glMapBufferOES (GLenum target, GLenum access); -GL_APICALL GLboolean GL_APIENTRY glUnmapBufferOES (GLenum target); -GL_APICALL void GL_APIENTRY glGetBufferPointervOES (GLenum target, GLenum pname, void **params); -#endif -#endif /* GL_OES_mapbuffer */ - -#ifndef GL_OES_packed_depth_stencil -#define GL_OES_packed_depth_stencil 1 -#define GL_DEPTH_STENCIL_OES 0x84F9 -#define GL_UNSIGNED_INT_24_8_OES 0x84FA -#define GL_DEPTH24_STENCIL8_OES 0x88F0 -#endif /* GL_OES_packed_depth_stencil */ - -#ifndef GL_OES_primitive_bounding_box -#define GL_OES_primitive_bounding_box 1 -#define GL_PRIMITIVE_BOUNDING_BOX_OES 0x92BE -typedef void (GL_APIENTRYP PFNGLPRIMITIVEBOUNDINGBOXOESPROC) (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glPrimitiveBoundingBoxOES (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); -#endif -#endif /* GL_OES_primitive_bounding_box */ - -#ifndef GL_OES_required_internalformat -#define GL_OES_required_internalformat 1 -#define GL_ALPHA8_OES 0x803C -#define GL_DEPTH_COMPONENT16_OES 0x81A5 -#define GL_LUMINANCE4_ALPHA4_OES 0x8043 -#define GL_LUMINANCE8_ALPHA8_OES 0x8045 -#define GL_LUMINANCE8_OES 0x8040 -#define GL_RGBA4_OES 0x8056 -#define GL_RGB5_A1_OES 0x8057 -#define GL_RGB565_OES 0x8D62 -#define GL_RGB8_OES 0x8051 -#define GL_RGBA8_OES 0x8058 -#define GL_RGB10_EXT 0x8052 -#define GL_RGB10_A2_EXT 0x8059 -#endif /* GL_OES_required_internalformat */ - -#ifndef GL_OES_rgb8_rgba8 -#define GL_OES_rgb8_rgba8 1 -#endif /* GL_OES_rgb8_rgba8 */ - -#ifndef GL_OES_sample_shading -#define GL_OES_sample_shading 1 -#define GL_SAMPLE_SHADING_OES 0x8C36 -#define GL_MIN_SAMPLE_SHADING_VALUE_OES 0x8C37 -typedef void (GL_APIENTRYP PFNGLMINSAMPLESHADINGOESPROC) (GLfloat value); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glMinSampleShadingOES (GLfloat value); -#endif -#endif /* GL_OES_sample_shading */ - -#ifndef GL_OES_sample_variables -#define GL_OES_sample_variables 1 -#endif /* GL_OES_sample_variables */ - -#ifndef GL_OES_shader_image_atomic -#define GL_OES_shader_image_atomic 1 -#endif /* GL_OES_shader_image_atomic */ - -#ifndef GL_OES_shader_io_blocks -#define GL_OES_shader_io_blocks 1 -#endif /* GL_OES_shader_io_blocks */ - -#ifndef GL_OES_shader_multisample_interpolation -#define GL_OES_shader_multisample_interpolation 1 -#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET_OES 0x8E5B -#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET_OES 0x8E5C -#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS_OES 0x8E5D -#endif /* GL_OES_shader_multisample_interpolation */ - -#ifndef GL_OES_standard_derivatives -#define GL_OES_standard_derivatives 1 -#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT_OES 0x8B8B -#endif /* GL_OES_standard_derivatives */ - -#ifndef GL_OES_stencil1 -#define GL_OES_stencil1 1 -#define GL_STENCIL_INDEX1_OES 0x8D46 -#endif /* GL_OES_stencil1 */ - -#ifndef GL_OES_stencil4 -#define GL_OES_stencil4 1 -#define GL_STENCIL_INDEX4_OES 0x8D47 -#endif /* GL_OES_stencil4 */ - -#ifndef GL_OES_surfaceless_context -#define GL_OES_surfaceless_context 1 -#define GL_FRAMEBUFFER_UNDEFINED_OES 0x8219 -#endif /* GL_OES_surfaceless_context */ - -#ifndef GL_OES_tessellation_point_size -#define GL_OES_tessellation_point_size 1 -#endif /* GL_OES_tessellation_point_size */ - -#ifndef GL_OES_tessellation_shader -#define GL_OES_tessellation_shader 1 -#define GL_PATCHES_OES 0x000E -#define GL_PATCH_VERTICES_OES 0x8E72 -#define GL_TESS_CONTROL_OUTPUT_VERTICES_OES 0x8E75 -#define GL_TESS_GEN_MODE_OES 0x8E76 -#define GL_TESS_GEN_SPACING_OES 0x8E77 -#define GL_TESS_GEN_VERTEX_ORDER_OES 0x8E78 -#define GL_TESS_GEN_POINT_MODE_OES 0x8E79 -#define GL_ISOLINES_OES 0x8E7A -#define GL_QUADS_OES 0x0007 -#define GL_FRACTIONAL_ODD_OES 0x8E7B -#define GL_FRACTIONAL_EVEN_OES 0x8E7C -#define GL_MAX_PATCH_VERTICES_OES 0x8E7D -#define GL_MAX_TESS_GEN_LEVEL_OES 0x8E7E -#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS_OES 0x8E7F -#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS_OES 0x8E80 -#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS_OES 0x8E81 -#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS_OES 0x8E82 -#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS_OES 0x8E83 -#define GL_MAX_TESS_PATCH_COMPONENTS_OES 0x8E84 -#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS_OES 0x8E85 -#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS_OES 0x8E86 -#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS_OES 0x8E89 -#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS_OES 0x8E8A -#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS_OES 0x886C -#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS_OES 0x886D -#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS_OES 0x8E1E -#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS_OES 0x8E1F -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS_OES 0x92CD -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS_OES 0x92CE -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS_OES 0x92D3 -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS_OES 0x92D4 -#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS_OES 0x90CB -#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS_OES 0x90CC -#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS_OES 0x90D8 -#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS_OES 0x90D9 -#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED_OES 0x8221 -#define GL_IS_PER_PATCH_OES 0x92E7 -#define GL_REFERENCED_BY_TESS_CONTROL_SHADER_OES 0x9307 -#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER_OES 0x9308 -#define GL_TESS_CONTROL_SHADER_OES 0x8E88 -#define GL_TESS_EVALUATION_SHADER_OES 0x8E87 -#define GL_TESS_CONTROL_SHADER_BIT_OES 0x00000008 -#define GL_TESS_EVALUATION_SHADER_BIT_OES 0x00000010 -typedef void (GL_APIENTRYP PFNGLPATCHPARAMETERIOESPROC) (GLenum pname, GLint value); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glPatchParameteriOES (GLenum pname, GLint value); -#endif -#endif /* GL_OES_tessellation_shader */ - -#ifndef GL_OES_texture_3D -#define GL_OES_texture_3D 1 -#define GL_TEXTURE_WRAP_R_OES 0x8072 -#define GL_TEXTURE_3D_OES 0x806F -#define GL_TEXTURE_BINDING_3D_OES 0x806A -#define GL_MAX_3D_TEXTURE_SIZE_OES 0x8073 -#define GL_SAMPLER_3D_OES 0x8B5F -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_3D_ZOFFSET_OES 0x8CD4 -typedef void (GL_APIENTRYP PFNGLTEXIMAGE3DOESPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -typedef void (GL_APIENTRYP PFNGLTEXSUBIMAGE3DOESPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -typedef void (GL_APIENTRYP PFNGLCOPYTEXSUBIMAGE3DOESPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DOESPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); -typedef void (GL_APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DOESPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DOESPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexImage3DOES (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); -GL_APICALL void GL_APIENTRY glTexSubImage3DOES (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); -GL_APICALL void GL_APIENTRY glCopyTexSubImage3DOES (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glCompressedTexImage3DOES (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); -GL_APICALL void GL_APIENTRY glCompressedTexSubImage3DOES (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); -GL_APICALL void GL_APIENTRY glFramebufferTexture3DOES (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); -#endif -#endif /* GL_OES_texture_3D */ - -#ifndef GL_OES_texture_border_clamp -#define GL_OES_texture_border_clamp 1 -#define GL_TEXTURE_BORDER_COLOR_OES 0x1004 -#define GL_CLAMP_TO_BORDER_OES 0x812D -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIIVOESPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIUIVOESPROC) (GLenum target, GLenum pname, const GLuint *params); -typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIIVOESPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIUIVOESPROC) (GLenum target, GLenum pname, GLuint *params); -typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIIVOESPROC) (GLuint sampler, GLenum pname, const GLint *param); -typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIUIVOESPROC) (GLuint sampler, GLenum pname, const GLuint *param); -typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIIVOESPROC) (GLuint sampler, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVOESPROC) (GLuint sampler, GLenum pname, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexParameterIivOES (GLenum target, GLenum pname, const GLint *params); -GL_APICALL void GL_APIENTRY glTexParameterIuivOES (GLenum target, GLenum pname, const GLuint *params); -GL_APICALL void GL_APIENTRY glGetTexParameterIivOES (GLenum target, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetTexParameterIuivOES (GLenum target, GLenum pname, GLuint *params); -GL_APICALL void GL_APIENTRY glSamplerParameterIivOES (GLuint sampler, GLenum pname, const GLint *param); -GL_APICALL void GL_APIENTRY glSamplerParameterIuivOES (GLuint sampler, GLenum pname, const GLuint *param); -GL_APICALL void GL_APIENTRY glGetSamplerParameterIivOES (GLuint sampler, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetSamplerParameterIuivOES (GLuint sampler, GLenum pname, GLuint *params); -#endif -#endif /* GL_OES_texture_border_clamp */ - -#ifndef GL_OES_texture_buffer -#define GL_OES_texture_buffer 1 -#define GL_TEXTURE_BUFFER_OES 0x8C2A -#define GL_TEXTURE_BUFFER_BINDING_OES 0x8C2A -#define GL_MAX_TEXTURE_BUFFER_SIZE_OES 0x8C2B -#define GL_TEXTURE_BINDING_BUFFER_OES 0x8C2C -#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_OES 0x8C2D -#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT_OES 0x919F -#define GL_SAMPLER_BUFFER_OES 0x8DC2 -#define GL_INT_SAMPLER_BUFFER_OES 0x8DD0 -#define GL_UNSIGNED_INT_SAMPLER_BUFFER_OES 0x8DD8 -#define GL_IMAGE_BUFFER_OES 0x9051 -#define GL_INT_IMAGE_BUFFER_OES 0x905C -#define GL_UNSIGNED_INT_IMAGE_BUFFER_OES 0x9067 -#define GL_TEXTURE_BUFFER_OFFSET_OES 0x919D -#define GL_TEXTURE_BUFFER_SIZE_OES 0x919E -typedef void (GL_APIENTRYP PFNGLTEXBUFFEROESPROC) (GLenum target, GLenum internalformat, GLuint buffer); -typedef void (GL_APIENTRYP PFNGLTEXBUFFERRANGEOESPROC) (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexBufferOES (GLenum target, GLenum internalformat, GLuint buffer); -GL_APICALL void GL_APIENTRY glTexBufferRangeOES (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -#endif -#endif /* GL_OES_texture_buffer */ - -#ifndef GL_OES_texture_compression_astc -#define GL_OES_texture_compression_astc 1 -#define GL_COMPRESSED_RGBA_ASTC_3x3x3_OES 0x93C0 -#define GL_COMPRESSED_RGBA_ASTC_4x3x3_OES 0x93C1 -#define GL_COMPRESSED_RGBA_ASTC_4x4x3_OES 0x93C2 -#define GL_COMPRESSED_RGBA_ASTC_4x4x4_OES 0x93C3 -#define GL_COMPRESSED_RGBA_ASTC_5x4x4_OES 0x93C4 -#define GL_COMPRESSED_RGBA_ASTC_5x5x4_OES 0x93C5 -#define GL_COMPRESSED_RGBA_ASTC_5x5x5_OES 0x93C6 -#define GL_COMPRESSED_RGBA_ASTC_6x5x5_OES 0x93C7 -#define GL_COMPRESSED_RGBA_ASTC_6x6x5_OES 0x93C8 -#define GL_COMPRESSED_RGBA_ASTC_6x6x6_OES 0x93C9 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_3x3x3_OES 0x93E0 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x3x3_OES 0x93E1 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4x3_OES 0x93E2 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4x4_OES 0x93E3 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4x4_OES 0x93E4 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5x4_OES 0x93E5 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5x5_OES 0x93E6 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5x5_OES 0x93E7 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6x5_OES 0x93E8 -#define GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6x6_OES 0x93E9 -#endif /* GL_OES_texture_compression_astc */ - -#ifndef GL_OES_texture_cube_map_array -#define GL_OES_texture_cube_map_array 1 -#define GL_TEXTURE_CUBE_MAP_ARRAY_OES 0x9009 -#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_OES 0x900A -#define GL_SAMPLER_CUBE_MAP_ARRAY_OES 0x900C -#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_OES 0x900D -#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_OES 0x900E -#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_OES 0x900F -#define GL_IMAGE_CUBE_MAP_ARRAY_OES 0x9054 -#define GL_INT_IMAGE_CUBE_MAP_ARRAY_OES 0x905F -#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_OES 0x906A -#endif /* GL_OES_texture_cube_map_array */ - -#ifndef GL_OES_texture_float -#define GL_OES_texture_float 1 -#endif /* GL_OES_texture_float */ - -#ifndef GL_OES_texture_float_linear -#define GL_OES_texture_float_linear 1 -#endif /* GL_OES_texture_float_linear */ - -#ifndef GL_OES_texture_half_float -#define GL_OES_texture_half_float 1 -#define GL_HALF_FLOAT_OES 0x8D61 -#endif /* GL_OES_texture_half_float */ - -#ifndef GL_OES_texture_half_float_linear -#define GL_OES_texture_half_float_linear 1 -#endif /* GL_OES_texture_half_float_linear */ - -#ifndef GL_OES_texture_npot -#define GL_OES_texture_npot 1 -#endif /* GL_OES_texture_npot */ - -#ifndef GL_OES_texture_stencil8 -#define GL_OES_texture_stencil8 1 -#define GL_STENCIL_INDEX_OES 0x1901 -#define GL_STENCIL_INDEX8_OES 0x8D48 -#endif /* GL_OES_texture_stencil8 */ - -#ifndef GL_OES_texture_storage_multisample_2d_array -#define GL_OES_texture_storage_multisample_2d_array 1 -#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY_OES 0x9102 -#define GL_TEXTURE_BINDING_2D_MULTISAMPLE_ARRAY_OES 0x9105 -#define GL_SAMPLER_2D_MULTISAMPLE_ARRAY_OES 0x910B -#define GL_INT_SAMPLER_2D_MULTISAMPLE_ARRAY_OES 0x910C -#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE_ARRAY_OES 0x910D -typedef void (GL_APIENTRYP PFNGLTEXSTORAGE3DMULTISAMPLEOESPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexStorage3DMultisampleOES (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); -#endif -#endif /* GL_OES_texture_storage_multisample_2d_array */ - -#ifndef GL_OES_texture_view -#define GL_OES_texture_view 1 -#define GL_TEXTURE_VIEW_MIN_LEVEL_OES 0x82DB -#define GL_TEXTURE_VIEW_NUM_LEVELS_OES 0x82DC -#define GL_TEXTURE_VIEW_MIN_LAYER_OES 0x82DD -#define GL_TEXTURE_VIEW_NUM_LAYERS_OES 0x82DE -#define GL_TEXTURE_IMMUTABLE_LEVELS 0x82DF -typedef void (GL_APIENTRYP PFNGLTEXTUREVIEWOESPROC) (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTextureViewOES (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); -#endif -#endif /* GL_OES_texture_view */ - -#ifndef GL_OES_vertex_array_object -#define GL_OES_vertex_array_object 1 -#define GL_VERTEX_ARRAY_BINDING_OES 0x85B5 -typedef void (GL_APIENTRYP PFNGLBINDVERTEXARRAYOESPROC) (GLuint array); -typedef void (GL_APIENTRYP PFNGLDELETEVERTEXARRAYSOESPROC) (GLsizei n, const GLuint *arrays); -typedef void (GL_APIENTRYP PFNGLGENVERTEXARRAYSOESPROC) (GLsizei n, GLuint *arrays); -typedef GLboolean (GL_APIENTRYP PFNGLISVERTEXARRAYOESPROC) (GLuint array); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBindVertexArrayOES (GLuint array); -GL_APICALL void GL_APIENTRY glDeleteVertexArraysOES (GLsizei n, const GLuint *arrays); -GL_APICALL void GL_APIENTRY glGenVertexArraysOES (GLsizei n, GLuint *arrays); -GL_APICALL GLboolean GL_APIENTRY glIsVertexArrayOES (GLuint array); -#endif -#endif /* GL_OES_vertex_array_object */ - -#ifndef GL_OES_vertex_half_float -#define GL_OES_vertex_half_float 1 -#endif /* GL_OES_vertex_half_float */ - -#ifndef GL_OES_vertex_type_10_10_10_2 -#define GL_OES_vertex_type_10_10_10_2 1 -#define GL_UNSIGNED_INT_10_10_10_2_OES 0x8DF6 -#define GL_INT_10_10_10_2_OES 0x8DF7 -#endif /* GL_OES_vertex_type_10_10_10_2 */ - -#ifndef GL_OES_viewport_array -#define GL_OES_viewport_array 1 -#define GL_MAX_VIEWPORTS_OES 0x825B -#define GL_VIEWPORT_SUBPIXEL_BITS_OES 0x825C -#define GL_VIEWPORT_BOUNDS_RANGE_OES 0x825D -#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX_OES 0x825F -typedef void (GL_APIENTRYP PFNGLVIEWPORTARRAYVOESPROC) (GLuint first, GLsizei count, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFOESPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); -typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFVOESPROC) (GLuint index, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLSCISSORARRAYVOESPROC) (GLuint first, GLsizei count, const GLint *v); -typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDOESPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDVOESPROC) (GLuint index, const GLint *v); -typedef void (GL_APIENTRYP PFNGLDEPTHRANGEARRAYFVOESPROC) (GLuint first, GLsizei count, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLDEPTHRANGEINDEXEDFOESPROC) (GLuint index, GLfloat n, GLfloat f); -typedef void (GL_APIENTRYP PFNGLGETFLOATI_VOESPROC) (GLenum target, GLuint index, GLfloat *data); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glViewportArrayvOES (GLuint first, GLsizei count, const GLfloat *v); -GL_APICALL void GL_APIENTRY glViewportIndexedfOES (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); -GL_APICALL void GL_APIENTRY glViewportIndexedfvOES (GLuint index, const GLfloat *v); -GL_APICALL void GL_APIENTRY glScissorArrayvOES (GLuint first, GLsizei count, const GLint *v); -GL_APICALL void GL_APIENTRY glScissorIndexedOES (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glScissorIndexedvOES (GLuint index, const GLint *v); -GL_APICALL void GL_APIENTRY glDepthRangeArrayfvOES (GLuint first, GLsizei count, const GLfloat *v); -GL_APICALL void GL_APIENTRY glDepthRangeIndexedfOES (GLuint index, GLfloat n, GLfloat f); -GL_APICALL void GL_APIENTRY glGetFloati_vOES (GLenum target, GLuint index, GLfloat *data); -#endif -#endif /* GL_OES_viewport_array */ - -#ifndef GL_AMD_compressed_3DC_texture -#define GL_AMD_compressed_3DC_texture 1 -#define GL_3DC_X_AMD 0x87F9 -#define GL_3DC_XY_AMD 0x87FA -#endif /* GL_AMD_compressed_3DC_texture */ - -#ifndef GL_AMD_compressed_ATC_texture -#define GL_AMD_compressed_ATC_texture 1 -#define GL_ATC_RGB_AMD 0x8C92 -#define GL_ATC_RGBA_EXPLICIT_ALPHA_AMD 0x8C93 -#define GL_ATC_RGBA_INTERPOLATED_ALPHA_AMD 0x87EE -#endif /* GL_AMD_compressed_ATC_texture */ - -#ifndef GL_AMD_framebuffer_multisample_advanced -#define GL_AMD_framebuffer_multisample_advanced 1 -#define GL_RENDERBUFFER_STORAGE_SAMPLES_AMD 0x91B2 -#define GL_MAX_COLOR_FRAMEBUFFER_SAMPLES_AMD 0x91B3 -#define GL_MAX_COLOR_FRAMEBUFFER_STORAGE_SAMPLES_AMD 0x91B4 -#define GL_MAX_DEPTH_STENCIL_FRAMEBUFFER_SAMPLES_AMD 0x91B5 -#define GL_NUM_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B6 -#define GL_SUPPORTED_MULTISAMPLE_MODES_AMD 0x91B7 -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEADVANCEDAMDPROC) (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleAdvancedAMD (GLenum target, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glNamedRenderbufferStorageMultisampleAdvancedAMD (GLuint renderbuffer, GLsizei samples, GLsizei storageSamples, GLenum internalformat, GLsizei width, GLsizei height); -#endif -#endif /* GL_AMD_framebuffer_multisample_advanced */ - -#ifndef GL_AMD_performance_monitor -#define GL_AMD_performance_monitor 1 -#define GL_COUNTER_TYPE_AMD 0x8BC0 -#define GL_COUNTER_RANGE_AMD 0x8BC1 -#define GL_UNSIGNED_INT64_AMD 0x8BC2 -#define GL_PERCENTAGE_AMD 0x8BC3 -#define GL_PERFMON_RESULT_AVAILABLE_AMD 0x8BC4 -#define GL_PERFMON_RESULT_SIZE_AMD 0x8BC5 -#define GL_PERFMON_RESULT_AMD 0x8BC6 -typedef void (GL_APIENTRYP PFNGLGETPERFMONITORGROUPSAMDPROC) (GLint *numGroups, GLsizei groupsSize, GLuint *groups); -typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERSAMDPROC) (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); -typedef void (GL_APIENTRYP PFNGLGETPERFMONITORGROUPSTRINGAMDPROC) (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); -typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERSTRINGAMDPROC) (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); -typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERINFOAMDPROC) (GLuint group, GLuint counter, GLenum pname, void *data); -typedef void (GL_APIENTRYP PFNGLGENPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); -typedef void (GL_APIENTRYP PFNGLDELETEPERFMONITORSAMDPROC) (GLsizei n, GLuint *monitors); -typedef void (GL_APIENTRYP PFNGLSELECTPERFMONITORCOUNTERSAMDPROC) (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); -typedef void (GL_APIENTRYP PFNGLBEGINPERFMONITORAMDPROC) (GLuint monitor); -typedef void (GL_APIENTRYP PFNGLENDPERFMONITORAMDPROC) (GLuint monitor); -typedef void (GL_APIENTRYP PFNGLGETPERFMONITORCOUNTERDATAAMDPROC) (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetPerfMonitorGroupsAMD (GLint *numGroups, GLsizei groupsSize, GLuint *groups); -GL_APICALL void GL_APIENTRY glGetPerfMonitorCountersAMD (GLuint group, GLint *numCounters, GLint *maxActiveCounters, GLsizei counterSize, GLuint *counters); -GL_APICALL void GL_APIENTRY glGetPerfMonitorGroupStringAMD (GLuint group, GLsizei bufSize, GLsizei *length, GLchar *groupString); -GL_APICALL void GL_APIENTRY glGetPerfMonitorCounterStringAMD (GLuint group, GLuint counter, GLsizei bufSize, GLsizei *length, GLchar *counterString); -GL_APICALL void GL_APIENTRY glGetPerfMonitorCounterInfoAMD (GLuint group, GLuint counter, GLenum pname, void *data); -GL_APICALL void GL_APIENTRY glGenPerfMonitorsAMD (GLsizei n, GLuint *monitors); -GL_APICALL void GL_APIENTRY glDeletePerfMonitorsAMD (GLsizei n, GLuint *monitors); -GL_APICALL void GL_APIENTRY glSelectPerfMonitorCountersAMD (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint *counterList); -GL_APICALL void GL_APIENTRY glBeginPerfMonitorAMD (GLuint monitor); -GL_APICALL void GL_APIENTRY glEndPerfMonitorAMD (GLuint monitor); -GL_APICALL void GL_APIENTRY glGetPerfMonitorCounterDataAMD (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint *data, GLint *bytesWritten); -#endif -#endif /* GL_AMD_performance_monitor */ - -#ifndef GL_AMD_program_binary_Z400 -#define GL_AMD_program_binary_Z400 1 -#define GL_Z400_BINARY_AMD 0x8740 -#endif /* GL_AMD_program_binary_Z400 */ - -#ifndef GL_ANDROID_extension_pack_es31a -#define GL_ANDROID_extension_pack_es31a 1 -#endif /* GL_ANDROID_extension_pack_es31a */ - -#ifndef GL_ANGLE_depth_texture -#define GL_ANGLE_depth_texture 1 -#endif /* GL_ANGLE_depth_texture */ - -#ifndef GL_ANGLE_framebuffer_blit -#define GL_ANGLE_framebuffer_blit 1 -#define GL_READ_FRAMEBUFFER_ANGLE 0x8CA8 -#define GL_DRAW_FRAMEBUFFER_ANGLE 0x8CA9 -#define GL_DRAW_FRAMEBUFFER_BINDING_ANGLE 0x8CA6 -#define GL_READ_FRAMEBUFFER_BINDING_ANGLE 0x8CAA -typedef void (GL_APIENTRYP PFNGLBLITFRAMEBUFFERANGLEPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBlitFramebufferANGLE (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -#endif -#endif /* GL_ANGLE_framebuffer_blit */ - -#ifndef GL_ANGLE_framebuffer_multisample -#define GL_ANGLE_framebuffer_multisample 1 -#define GL_RENDERBUFFER_SAMPLES_ANGLE 0x8CAB -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_ANGLE 0x8D56 -#define GL_MAX_SAMPLES_ANGLE 0x8D57 -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEANGLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleANGLE (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -#endif -#endif /* GL_ANGLE_framebuffer_multisample */ - -#ifndef GL_ANGLE_instanced_arrays -#define GL_ANGLE_instanced_arrays 1 -#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_ANGLE 0x88FE -typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDANGLEPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDANGLEPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISORANGLEPROC) (GLuint index, GLuint divisor); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawArraysInstancedANGLE (GLenum mode, GLint first, GLsizei count, GLsizei primcount); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedANGLE (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -GL_APICALL void GL_APIENTRY glVertexAttribDivisorANGLE (GLuint index, GLuint divisor); -#endif -#endif /* GL_ANGLE_instanced_arrays */ - -#ifndef GL_ANGLE_pack_reverse_row_order -#define GL_ANGLE_pack_reverse_row_order 1 -#define GL_PACK_REVERSE_ROW_ORDER_ANGLE 0x93A4 -#endif /* GL_ANGLE_pack_reverse_row_order */ - -#ifndef GL_ANGLE_program_binary -#define GL_ANGLE_program_binary 1 -#define GL_PROGRAM_BINARY_ANGLE 0x93A6 -#endif /* GL_ANGLE_program_binary */ - -#ifndef GL_ANGLE_texture_compression_dxt3 -#define GL_ANGLE_texture_compression_dxt3 1 -#define GL_COMPRESSED_RGBA_S3TC_DXT3_ANGLE 0x83F2 -#endif /* GL_ANGLE_texture_compression_dxt3 */ - -#ifndef GL_ANGLE_texture_compression_dxt5 -#define GL_ANGLE_texture_compression_dxt5 1 -#define GL_COMPRESSED_RGBA_S3TC_DXT5_ANGLE 0x83F3 -#endif /* GL_ANGLE_texture_compression_dxt5 */ - -#ifndef GL_ANGLE_texture_usage -#define GL_ANGLE_texture_usage 1 -#define GL_TEXTURE_USAGE_ANGLE 0x93A2 -#define GL_FRAMEBUFFER_ATTACHMENT_ANGLE 0x93A3 -#endif /* GL_ANGLE_texture_usage */ - -#ifndef GL_ANGLE_translated_shader_source -#define GL_ANGLE_translated_shader_source 1 -#define GL_TRANSLATED_SHADER_SOURCE_LENGTH_ANGLE 0x93A0 -typedef void (GL_APIENTRYP PFNGLGETTRANSLATEDSHADERSOURCEANGLEPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetTranslatedShaderSourceANGLE (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); -#endif -#endif /* GL_ANGLE_translated_shader_source */ - -#ifndef GL_APPLE_clip_distance -#define GL_APPLE_clip_distance 1 -#define GL_MAX_CLIP_DISTANCES_APPLE 0x0D32 -#define GL_CLIP_DISTANCE0_APPLE 0x3000 -#define GL_CLIP_DISTANCE1_APPLE 0x3001 -#define GL_CLIP_DISTANCE2_APPLE 0x3002 -#define GL_CLIP_DISTANCE3_APPLE 0x3003 -#define GL_CLIP_DISTANCE4_APPLE 0x3004 -#define GL_CLIP_DISTANCE5_APPLE 0x3005 -#define GL_CLIP_DISTANCE6_APPLE 0x3006 -#define GL_CLIP_DISTANCE7_APPLE 0x3007 -#endif /* GL_APPLE_clip_distance */ - -#ifndef GL_APPLE_color_buffer_packed_float -#define GL_APPLE_color_buffer_packed_float 1 -#endif /* GL_APPLE_color_buffer_packed_float */ - -#ifndef GL_APPLE_copy_texture_levels -#define GL_APPLE_copy_texture_levels 1 -typedef void (GL_APIENTRYP PFNGLCOPYTEXTURELEVELSAPPLEPROC) (GLuint destinationTexture, GLuint sourceTexture, GLint sourceBaseLevel, GLsizei sourceLevelCount); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCopyTextureLevelsAPPLE (GLuint destinationTexture, GLuint sourceTexture, GLint sourceBaseLevel, GLsizei sourceLevelCount); -#endif -#endif /* GL_APPLE_copy_texture_levels */ - -#ifndef GL_APPLE_framebuffer_multisample -#define GL_APPLE_framebuffer_multisample 1 -#define GL_RENDERBUFFER_SAMPLES_APPLE 0x8CAB -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_APPLE 0x8D56 -#define GL_MAX_SAMPLES_APPLE 0x8D57 -#define GL_READ_FRAMEBUFFER_APPLE 0x8CA8 -#define GL_DRAW_FRAMEBUFFER_APPLE 0x8CA9 -#define GL_DRAW_FRAMEBUFFER_BINDING_APPLE 0x8CA6 -#define GL_READ_FRAMEBUFFER_BINDING_APPLE 0x8CAA -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEAPPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLRESOLVEMULTISAMPLEFRAMEBUFFERAPPLEPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleAPPLE (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glResolveMultisampleFramebufferAPPLE (void); -#endif -#endif /* GL_APPLE_framebuffer_multisample */ - -#ifndef GL_APPLE_rgb_422 -#define GL_APPLE_rgb_422 1 -#define GL_RGB_422_APPLE 0x8A1F -#define GL_UNSIGNED_SHORT_8_8_APPLE 0x85BA -#define GL_UNSIGNED_SHORT_8_8_REV_APPLE 0x85BB -#define GL_RGB_RAW_422_APPLE 0x8A51 -#endif /* GL_APPLE_rgb_422 */ - -#ifndef GL_APPLE_sync -#define GL_APPLE_sync 1 -#define GL_SYNC_OBJECT_APPLE 0x8A53 -#define GL_MAX_SERVER_WAIT_TIMEOUT_APPLE 0x9111 -#define GL_OBJECT_TYPE_APPLE 0x9112 -#define GL_SYNC_CONDITION_APPLE 0x9113 -#define GL_SYNC_STATUS_APPLE 0x9114 -#define GL_SYNC_FLAGS_APPLE 0x9115 -#define GL_SYNC_FENCE_APPLE 0x9116 -#define GL_SYNC_GPU_COMMANDS_COMPLETE_APPLE 0x9117 -#define GL_UNSIGNALED_APPLE 0x9118 -#define GL_SIGNALED_APPLE 0x9119 -#define GL_ALREADY_SIGNALED_APPLE 0x911A -#define GL_TIMEOUT_EXPIRED_APPLE 0x911B -#define GL_CONDITION_SATISFIED_APPLE 0x911C -#define GL_WAIT_FAILED_APPLE 0x911D -#define GL_SYNC_FLUSH_COMMANDS_BIT_APPLE 0x00000001 -#define GL_TIMEOUT_IGNORED_APPLE 0xFFFFFFFFFFFFFFFFull -typedef GLsync (GL_APIENTRYP PFNGLFENCESYNCAPPLEPROC) (GLenum condition, GLbitfield flags); -typedef GLboolean (GL_APIENTRYP PFNGLISSYNCAPPLEPROC) (GLsync sync); -typedef void (GL_APIENTRYP PFNGLDELETESYNCAPPLEPROC) (GLsync sync); -typedef GLenum (GL_APIENTRYP PFNGLCLIENTWAITSYNCAPPLEPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); -typedef void (GL_APIENTRYP PFNGLWAITSYNCAPPLEPROC) (GLsync sync, GLbitfield flags, GLuint64 timeout); -typedef void (GL_APIENTRYP PFNGLGETINTEGER64VAPPLEPROC) (GLenum pname, GLint64 *params); -typedef void (GL_APIENTRYP PFNGLGETSYNCIVAPPLEPROC) (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLsync GL_APIENTRY glFenceSyncAPPLE (GLenum condition, GLbitfield flags); -GL_APICALL GLboolean GL_APIENTRY glIsSyncAPPLE (GLsync sync); -GL_APICALL void GL_APIENTRY glDeleteSyncAPPLE (GLsync sync); -GL_APICALL GLenum GL_APIENTRY glClientWaitSyncAPPLE (GLsync sync, GLbitfield flags, GLuint64 timeout); -GL_APICALL void GL_APIENTRY glWaitSyncAPPLE (GLsync sync, GLbitfield flags, GLuint64 timeout); -GL_APICALL void GL_APIENTRY glGetInteger64vAPPLE (GLenum pname, GLint64 *params); -GL_APICALL void GL_APIENTRY glGetSyncivAPPLE (GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); -#endif -#endif /* GL_APPLE_sync */ - -#ifndef GL_APPLE_texture_format_BGRA8888 -#define GL_APPLE_texture_format_BGRA8888 1 -#define GL_BGRA_EXT 0x80E1 -#define GL_BGRA8_EXT 0x93A1 -#endif /* GL_APPLE_texture_format_BGRA8888 */ - -#ifndef GL_APPLE_texture_max_level -#define GL_APPLE_texture_max_level 1 -#define GL_TEXTURE_MAX_LEVEL_APPLE 0x813D -#endif /* GL_APPLE_texture_max_level */ - -#ifndef GL_APPLE_texture_packed_float -#define GL_APPLE_texture_packed_float 1 -#define GL_UNSIGNED_INT_10F_11F_11F_REV_APPLE 0x8C3B -#define GL_UNSIGNED_INT_5_9_9_9_REV_APPLE 0x8C3E -#define GL_R11F_G11F_B10F_APPLE 0x8C3A -#define GL_RGB9_E5_APPLE 0x8C3D -#endif /* GL_APPLE_texture_packed_float */ - -#ifndef GL_ARM_mali_program_binary -#define GL_ARM_mali_program_binary 1 -#define GL_MALI_PROGRAM_BINARY_ARM 0x8F61 -#endif /* GL_ARM_mali_program_binary */ - -#ifndef GL_ARM_mali_shader_binary -#define GL_ARM_mali_shader_binary 1 -#define GL_MALI_SHADER_BINARY_ARM 0x8F60 -#endif /* GL_ARM_mali_shader_binary */ - -#ifndef GL_ARM_rgba8 -#define GL_ARM_rgba8 1 -#endif /* GL_ARM_rgba8 */ - -#ifndef GL_ARM_shader_framebuffer_fetch -#define GL_ARM_shader_framebuffer_fetch 1 -#define GL_FETCH_PER_SAMPLE_ARM 0x8F65 -#define GL_FRAGMENT_SHADER_FRAMEBUFFER_FETCH_MRT_ARM 0x8F66 -#endif /* GL_ARM_shader_framebuffer_fetch */ - -#ifndef GL_ARM_shader_framebuffer_fetch_depth_stencil -#define GL_ARM_shader_framebuffer_fetch_depth_stencil 1 -#endif /* GL_ARM_shader_framebuffer_fetch_depth_stencil */ - -#ifndef GL_ARM_texture_unnormalized_coordinates -#define GL_ARM_texture_unnormalized_coordinates 1 -#define GL_TEXTURE_UNNORMALIZED_COORDINATES_ARM 0x8F6A -#endif /* GL_ARM_texture_unnormalized_coordinates */ - -#ifndef GL_DMP_program_binary -#define GL_DMP_program_binary 1 -#define GL_SMAPHS30_PROGRAM_BINARY_DMP 0x9251 -#define GL_SMAPHS_PROGRAM_BINARY_DMP 0x9252 -#define GL_DMP_PROGRAM_BINARY_DMP 0x9253 -#endif /* GL_DMP_program_binary */ - -#ifndef GL_DMP_shader_binary -#define GL_DMP_shader_binary 1 -#define GL_SHADER_BINARY_DMP 0x9250 -#endif /* GL_DMP_shader_binary */ - -#ifndef GL_EXT_EGL_image_array -#define GL_EXT_EGL_image_array 1 -#endif /* GL_EXT_EGL_image_array */ - -#ifndef GL_EXT_EGL_image_storage -#define GL_EXT_EGL_image_storage 1 -typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETTEXSTORAGEEXTPROC) (GLenum target, GLeglImageOES image, const GLint* attrib_list); -typedef void (GL_APIENTRYP PFNGLEGLIMAGETARGETTEXTURESTORAGEEXTPROC) (GLuint texture, GLeglImageOES image, const GLint* attrib_list); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glEGLImageTargetTexStorageEXT (GLenum target, GLeglImageOES image, const GLint* attrib_list); -GL_APICALL void GL_APIENTRY glEGLImageTargetTextureStorageEXT (GLuint texture, GLeglImageOES image, const GLint* attrib_list); -#endif -#endif /* GL_EXT_EGL_image_storage */ - -#ifndef GL_EXT_EGL_image_storage_compression -#define GL_EXT_EGL_image_storage_compression 1 -#define GL_SURFACE_COMPRESSION_EXT 0x96C0 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_NONE_EXT 0x96C1 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_DEFAULT_EXT 0x96C2 -#endif /* GL_EXT_EGL_image_storage_compression */ - -#ifndef GL_EXT_YUV_target -#define GL_EXT_YUV_target 1 -#define GL_SAMPLER_EXTERNAL_2D_Y2Y_EXT 0x8BE7 -#endif /* GL_EXT_YUV_target */ - -#ifndef GL_EXT_base_instance -#define GL_EXT_base_instance 1 -typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEEXTPROC) (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawArraysInstancedBaseInstanceEXT (GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseInstanceEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseVertexBaseInstanceEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); -#endif -#endif /* GL_EXT_base_instance */ - -#ifndef GL_EXT_blend_func_extended -#define GL_EXT_blend_func_extended 1 -#define GL_SRC1_COLOR_EXT 0x88F9 -#define GL_SRC1_ALPHA_EXT 0x8589 -#define GL_ONE_MINUS_SRC1_COLOR_EXT 0x88FA -#define GL_ONE_MINUS_SRC1_ALPHA_EXT 0x88FB -#define GL_SRC_ALPHA_SATURATE_EXT 0x0308 -#define GL_LOCATION_INDEX_EXT 0x930F -#define GL_MAX_DUAL_SOURCE_DRAW_BUFFERS_EXT 0x88FC -typedef void (GL_APIENTRYP PFNGLBINDFRAGDATALOCATIONINDEXEDEXTPROC) (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); -typedef void (GL_APIENTRYP PFNGLBINDFRAGDATALOCATIONEXTPROC) (GLuint program, GLuint color, const GLchar *name); -typedef GLint (GL_APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONINDEXEXTPROC) (GLuint program, GLenum programInterface, const GLchar *name); -typedef GLint (GL_APIENTRYP PFNGLGETFRAGDATAINDEXEXTPROC) (GLuint program, const GLchar *name); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBindFragDataLocationIndexedEXT (GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); -GL_APICALL void GL_APIENTRY glBindFragDataLocationEXT (GLuint program, GLuint color, const GLchar *name); -GL_APICALL GLint GL_APIENTRY glGetProgramResourceLocationIndexEXT (GLuint program, GLenum programInterface, const GLchar *name); -GL_APICALL GLint GL_APIENTRY glGetFragDataIndexEXT (GLuint program, const GLchar *name); -#endif -#endif /* GL_EXT_blend_func_extended */ - -#ifndef GL_EXT_blend_minmax -#define GL_EXT_blend_minmax 1 -#define GL_MIN_EXT 0x8007 -#define GL_MAX_EXT 0x8008 -#endif /* GL_EXT_blend_minmax */ - -#ifndef GL_EXT_buffer_storage -#define GL_EXT_buffer_storage 1 -#define GL_MAP_READ_BIT 0x0001 -#define GL_MAP_WRITE_BIT 0x0002 -#define GL_MAP_PERSISTENT_BIT_EXT 0x0040 -#define GL_MAP_COHERENT_BIT_EXT 0x0080 -#define GL_DYNAMIC_STORAGE_BIT_EXT 0x0100 -#define GL_CLIENT_STORAGE_BIT_EXT 0x0200 -#define GL_CLIENT_MAPPED_BUFFER_BARRIER_BIT_EXT 0x00004000 -#define GL_BUFFER_IMMUTABLE_STORAGE_EXT 0x821F -#define GL_BUFFER_STORAGE_FLAGS_EXT 0x8220 -typedef void (GL_APIENTRYP PFNGLBUFFERSTORAGEEXTPROC) (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBufferStorageEXT (GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); -#endif -#endif /* GL_EXT_buffer_storage */ - -#ifndef GL_EXT_clear_texture -#define GL_EXT_clear_texture 1 -typedef void (GL_APIENTRYP PFNGLCLEARTEXIMAGEEXTPROC) (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); -typedef void (GL_APIENTRYP PFNGLCLEARTEXSUBIMAGEEXTPROC) (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glClearTexImageEXT (GLuint texture, GLint level, GLenum format, GLenum type, const void *data); -GL_APICALL void GL_APIENTRY glClearTexSubImageEXT (GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); -#endif -#endif /* GL_EXT_clear_texture */ - -#ifndef GL_EXT_clip_control -#define GL_EXT_clip_control 1 -#define GL_LOWER_LEFT_EXT 0x8CA1 -#define GL_UPPER_LEFT_EXT 0x8CA2 -#define GL_NEGATIVE_ONE_TO_ONE_EXT 0x935E -#define GL_ZERO_TO_ONE_EXT 0x935F -#define GL_CLIP_ORIGIN_EXT 0x935C -#define GL_CLIP_DEPTH_MODE_EXT 0x935D -typedef void (GL_APIENTRYP PFNGLCLIPCONTROLEXTPROC) (GLenum origin, GLenum depth); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glClipControlEXT (GLenum origin, GLenum depth); -#endif -#endif /* GL_EXT_clip_control */ - -#ifndef GL_EXT_clip_cull_distance -#define GL_EXT_clip_cull_distance 1 -#define GL_MAX_CLIP_DISTANCES_EXT 0x0D32 -#define GL_MAX_CULL_DISTANCES_EXT 0x82F9 -#define GL_MAX_COMBINED_CLIP_AND_CULL_DISTANCES_EXT 0x82FA -#define GL_CLIP_DISTANCE0_EXT 0x3000 -#define GL_CLIP_DISTANCE1_EXT 0x3001 -#define GL_CLIP_DISTANCE2_EXT 0x3002 -#define GL_CLIP_DISTANCE3_EXT 0x3003 -#define GL_CLIP_DISTANCE4_EXT 0x3004 -#define GL_CLIP_DISTANCE5_EXT 0x3005 -#define GL_CLIP_DISTANCE6_EXT 0x3006 -#define GL_CLIP_DISTANCE7_EXT 0x3007 -#endif /* GL_EXT_clip_cull_distance */ - -#ifndef GL_EXT_color_buffer_float -#define GL_EXT_color_buffer_float 1 -#endif /* GL_EXT_color_buffer_float */ - -#ifndef GL_EXT_color_buffer_half_float -#define GL_EXT_color_buffer_half_float 1 -#define GL_RGBA16F_EXT 0x881A -#define GL_RGB16F_EXT 0x881B -#define GL_RG16F_EXT 0x822F -#define GL_R16F_EXT 0x822D -#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE_EXT 0x8211 -#define GL_UNSIGNED_NORMALIZED_EXT 0x8C17 -#endif /* GL_EXT_color_buffer_half_float */ - -#ifndef GL_EXT_conservative_depth -#define GL_EXT_conservative_depth 1 -#endif /* GL_EXT_conservative_depth */ - -#ifndef GL_EXT_copy_image -#define GL_EXT_copy_image 1 -typedef void (GL_APIENTRYP PFNGLCOPYIMAGESUBDATAEXTPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCopyImageSubDataEXT (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); -#endif -#endif /* GL_EXT_copy_image */ - -#ifndef GL_EXT_debug_label -#define GL_EXT_debug_label 1 -#define GL_PROGRAM_PIPELINE_OBJECT_EXT 0x8A4F -#define GL_PROGRAM_OBJECT_EXT 0x8B40 -#define GL_SHADER_OBJECT_EXT 0x8B48 -#define GL_BUFFER_OBJECT_EXT 0x9151 -#define GL_QUERY_OBJECT_EXT 0x9153 -#define GL_VERTEX_ARRAY_OBJECT_EXT 0x9154 -#define GL_TRANSFORM_FEEDBACK 0x8E22 -typedef void (GL_APIENTRYP PFNGLLABELOBJECTEXTPROC) (GLenum type, GLuint object, GLsizei length, const GLchar *label); -typedef void (GL_APIENTRYP PFNGLGETOBJECTLABELEXTPROC) (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glLabelObjectEXT (GLenum type, GLuint object, GLsizei length, const GLchar *label); -GL_APICALL void GL_APIENTRY glGetObjectLabelEXT (GLenum type, GLuint object, GLsizei bufSize, GLsizei *length, GLchar *label); -#endif -#endif /* GL_EXT_debug_label */ - -#ifndef GL_EXT_debug_marker -#define GL_EXT_debug_marker 1 -typedef void (GL_APIENTRYP PFNGLINSERTEVENTMARKEREXTPROC) (GLsizei length, const GLchar *marker); -typedef void (GL_APIENTRYP PFNGLPUSHGROUPMARKEREXTPROC) (GLsizei length, const GLchar *marker); -typedef void (GL_APIENTRYP PFNGLPOPGROUPMARKEREXTPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glInsertEventMarkerEXT (GLsizei length, const GLchar *marker); -GL_APICALL void GL_APIENTRY glPushGroupMarkerEXT (GLsizei length, const GLchar *marker); -GL_APICALL void GL_APIENTRY glPopGroupMarkerEXT (void); -#endif -#endif /* GL_EXT_debug_marker */ - -#ifndef GL_EXT_depth_clamp -#define GL_EXT_depth_clamp 1 -#define GL_DEPTH_CLAMP_EXT 0x864F -#endif /* GL_EXT_depth_clamp */ - -#ifndef GL_EXT_discard_framebuffer -#define GL_EXT_discard_framebuffer 1 -#define GL_COLOR_EXT 0x1800 -#define GL_DEPTH_EXT 0x1801 -#define GL_STENCIL_EXT 0x1802 -typedef void (GL_APIENTRYP PFNGLDISCARDFRAMEBUFFEREXTPROC) (GLenum target, GLsizei numAttachments, const GLenum *attachments); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDiscardFramebufferEXT (GLenum target, GLsizei numAttachments, const GLenum *attachments); -#endif -#endif /* GL_EXT_discard_framebuffer */ - -#ifndef GL_EXT_disjoint_timer_query -#define GL_EXT_disjoint_timer_query 1 -#define GL_QUERY_COUNTER_BITS_EXT 0x8864 -#define GL_CURRENT_QUERY_EXT 0x8865 -#define GL_QUERY_RESULT_EXT 0x8866 -#define GL_QUERY_RESULT_AVAILABLE_EXT 0x8867 -#define GL_TIME_ELAPSED_EXT 0x88BF -#define GL_TIMESTAMP_EXT 0x8E28 -#define GL_GPU_DISJOINT_EXT 0x8FBB -typedef void (GL_APIENTRYP PFNGLGENQUERIESEXTPROC) (GLsizei n, GLuint *ids); -typedef void (GL_APIENTRYP PFNGLDELETEQUERIESEXTPROC) (GLsizei n, const GLuint *ids); -typedef GLboolean (GL_APIENTRYP PFNGLISQUERYEXTPROC) (GLuint id); -typedef void (GL_APIENTRYP PFNGLBEGINQUERYEXTPROC) (GLenum target, GLuint id); -typedef void (GL_APIENTRYP PFNGLENDQUERYEXTPROC) (GLenum target); -typedef void (GL_APIENTRYP PFNGLQUERYCOUNTEREXTPROC) (GLuint id, GLenum target); -typedef void (GL_APIENTRYP PFNGLGETQUERYIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTIVEXTPROC) (GLuint id, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTUIVEXTPROC) (GLuint id, GLenum pname, GLuint *params); -typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTI64VEXTPROC) (GLuint id, GLenum pname, GLint64 *params); -typedef void (GL_APIENTRYP PFNGLGETQUERYOBJECTUI64VEXTPROC) (GLuint id, GLenum pname, GLuint64 *params); -typedef void (GL_APIENTRYP PFNGLGETINTEGER64VEXTPROC) (GLenum pname, GLint64 *data); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGenQueriesEXT (GLsizei n, GLuint *ids); -GL_APICALL void GL_APIENTRY glDeleteQueriesEXT (GLsizei n, const GLuint *ids); -GL_APICALL GLboolean GL_APIENTRY glIsQueryEXT (GLuint id); -GL_APICALL void GL_APIENTRY glBeginQueryEXT (GLenum target, GLuint id); -GL_APICALL void GL_APIENTRY glEndQueryEXT (GLenum target); -GL_APICALL void GL_APIENTRY glQueryCounterEXT (GLuint id, GLenum target); -GL_APICALL void GL_APIENTRY glGetQueryivEXT (GLenum target, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetQueryObjectivEXT (GLuint id, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetQueryObjectuivEXT (GLuint id, GLenum pname, GLuint *params); -GL_APICALL void GL_APIENTRY glGetQueryObjecti64vEXT (GLuint id, GLenum pname, GLint64 *params); -GL_APICALL void GL_APIENTRY glGetQueryObjectui64vEXT (GLuint id, GLenum pname, GLuint64 *params); -GL_APICALL void GL_APIENTRY glGetInteger64vEXT (GLenum pname, GLint64 *data); -#endif -#endif /* GL_EXT_disjoint_timer_query */ - -#ifndef GL_EXT_draw_buffers -#define GL_EXT_draw_buffers 1 -#define GL_MAX_COLOR_ATTACHMENTS_EXT 0x8CDF -#define GL_MAX_DRAW_BUFFERS_EXT 0x8824 -#define GL_DRAW_BUFFER0_EXT 0x8825 -#define GL_DRAW_BUFFER1_EXT 0x8826 -#define GL_DRAW_BUFFER2_EXT 0x8827 -#define GL_DRAW_BUFFER3_EXT 0x8828 -#define GL_DRAW_BUFFER4_EXT 0x8829 -#define GL_DRAW_BUFFER5_EXT 0x882A -#define GL_DRAW_BUFFER6_EXT 0x882B -#define GL_DRAW_BUFFER7_EXT 0x882C -#define GL_DRAW_BUFFER8_EXT 0x882D -#define GL_DRAW_BUFFER9_EXT 0x882E -#define GL_DRAW_BUFFER10_EXT 0x882F -#define GL_DRAW_BUFFER11_EXT 0x8830 -#define GL_DRAW_BUFFER12_EXT 0x8831 -#define GL_DRAW_BUFFER13_EXT 0x8832 -#define GL_DRAW_BUFFER14_EXT 0x8833 -#define GL_DRAW_BUFFER15_EXT 0x8834 -#define GL_COLOR_ATTACHMENT0_EXT 0x8CE0 -#define GL_COLOR_ATTACHMENT1_EXT 0x8CE1 -#define GL_COLOR_ATTACHMENT2_EXT 0x8CE2 -#define GL_COLOR_ATTACHMENT3_EXT 0x8CE3 -#define GL_COLOR_ATTACHMENT4_EXT 0x8CE4 -#define GL_COLOR_ATTACHMENT5_EXT 0x8CE5 -#define GL_COLOR_ATTACHMENT6_EXT 0x8CE6 -#define GL_COLOR_ATTACHMENT7_EXT 0x8CE7 -#define GL_COLOR_ATTACHMENT8_EXT 0x8CE8 -#define GL_COLOR_ATTACHMENT9_EXT 0x8CE9 -#define GL_COLOR_ATTACHMENT10_EXT 0x8CEA -#define GL_COLOR_ATTACHMENT11_EXT 0x8CEB -#define GL_COLOR_ATTACHMENT12_EXT 0x8CEC -#define GL_COLOR_ATTACHMENT13_EXT 0x8CED -#define GL_COLOR_ATTACHMENT14_EXT 0x8CEE -#define GL_COLOR_ATTACHMENT15_EXT 0x8CEF -typedef void (GL_APIENTRYP PFNGLDRAWBUFFERSEXTPROC) (GLsizei n, const GLenum *bufs); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawBuffersEXT (GLsizei n, const GLenum *bufs); -#endif -#endif /* GL_EXT_draw_buffers */ - -#ifndef GL_EXT_draw_buffers_indexed -#define GL_EXT_draw_buffers_indexed 1 -typedef void (GL_APIENTRYP PFNGLENABLEIEXTPROC) (GLenum target, GLuint index); -typedef void (GL_APIENTRYP PFNGLDISABLEIEXTPROC) (GLenum target, GLuint index); -typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONIEXTPROC) (GLuint buf, GLenum mode); -typedef void (GL_APIENTRYP PFNGLBLENDEQUATIONSEPARATEIEXTPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -typedef void (GL_APIENTRYP PFNGLBLENDFUNCIEXTPROC) (GLuint buf, GLenum src, GLenum dst); -typedef void (GL_APIENTRYP PFNGLBLENDFUNCSEPARATEIEXTPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -typedef void (GL_APIENTRYP PFNGLCOLORMASKIEXTPROC) (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDIEXTPROC) (GLenum target, GLuint index); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glEnableiEXT (GLenum target, GLuint index); -GL_APICALL void GL_APIENTRY glDisableiEXT (GLenum target, GLuint index); -GL_APICALL void GL_APIENTRY glBlendEquationiEXT (GLuint buf, GLenum mode); -GL_APICALL void GL_APIENTRY glBlendEquationSeparateiEXT (GLuint buf, GLenum modeRGB, GLenum modeAlpha); -GL_APICALL void GL_APIENTRY glBlendFunciEXT (GLuint buf, GLenum src, GLenum dst); -GL_APICALL void GL_APIENTRY glBlendFuncSeparateiEXT (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); -GL_APICALL void GL_APIENTRY glColorMaskiEXT (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); -GL_APICALL GLboolean GL_APIENTRY glIsEnablediEXT (GLenum target, GLuint index); -#endif -#endif /* GL_EXT_draw_buffers_indexed */ - -#ifndef GL_EXT_draw_elements_base_vertex -#define GL_EXT_draw_elements_base_vertex 1 -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); -typedef void (GL_APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXEXTPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawElementsBaseVertexEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); -GL_APICALL void GL_APIENTRY glDrawRangeElementsBaseVertexEXT (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedBaseVertexEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); -#endif -#endif /* GL_EXT_draw_elements_base_vertex */ - -#ifndef GL_EXT_draw_instanced -#define GL_EXT_draw_instanced 1 -typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawArraysInstancedEXT (GLenum mode, GLint start, GLsizei count, GLsizei primcount); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedEXT (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#endif -#endif /* GL_EXT_draw_instanced */ - -#ifndef GL_EXT_draw_transform_feedback -#define GL_EXT_draw_transform_feedback 1 -typedef void (GL_APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKEXTPROC) (GLenum mode, GLuint id); -typedef void (GL_APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDEXTPROC) (GLenum mode, GLuint id, GLsizei instancecount); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawTransformFeedbackEXT (GLenum mode, GLuint id); -GL_APICALL void GL_APIENTRY glDrawTransformFeedbackInstancedEXT (GLenum mode, GLuint id, GLsizei instancecount); -#endif -#endif /* GL_EXT_draw_transform_feedback */ - -#ifndef GL_EXT_external_buffer -#define GL_EXT_external_buffer 1 -typedef void *GLeglClientBufferEXT; -typedef void (GL_APIENTRYP PFNGLBUFFERSTORAGEEXTERNALEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERSTORAGEEXTERNALEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBufferStorageExternalEXT (GLenum target, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -GL_APICALL void GL_APIENTRY glNamedBufferStorageExternalEXT (GLuint buffer, GLintptr offset, GLsizeiptr size, GLeglClientBufferEXT clientBuffer, GLbitfield flags); -#endif -#endif /* GL_EXT_external_buffer */ - -#ifndef GL_EXT_float_blend -#define GL_EXT_float_blend 1 -#endif /* GL_EXT_float_blend */ - -#ifndef GL_EXT_fragment_shading_rate -#define GL_EXT_fragment_shading_rate 1 -#define GL_SHADING_RATE_1X1_PIXELS_EXT 0x96A6 -#define GL_SHADING_RATE_1X2_PIXELS_EXT 0x96A7 -#define GL_SHADING_RATE_2X1_PIXELS_EXT 0x96A8 -#define GL_SHADING_RATE_2X2_PIXELS_EXT 0x96A9 -#define GL_SHADING_RATE_1X4_PIXELS_EXT 0x96AA -#define GL_SHADING_RATE_4X1_PIXELS_EXT 0x96AB -#define GL_SHADING_RATE_4X2_PIXELS_EXT 0x96AC -#define GL_SHADING_RATE_2X4_PIXELS_EXT 0x96AD -#define GL_SHADING_RATE_4X4_PIXELS_EXT 0x96AE -#define GL_SHADING_RATE_EXT 0x96D0 -#define GL_SHADING_RATE_ATTACHMENT_EXT 0x96D1 -#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_KEEP_EXT 0x96D2 -#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_REPLACE_EXT 0x96D3 -#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_MIN_EXT 0x96D4 -#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_MAX_EXT 0x96D5 -#define GL_FRAGMENT_SHADING_RATE_COMBINER_OP_MUL_EXT 0x96D6 -#define GL_MIN_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_WIDTH_EXT 0x96D7 -#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_WIDTH_EXT 0x96D8 -#define GL_MIN_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_HEIGHT_EXT 0x96D9 -#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_HEIGHT_EXT 0x96DA -#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_TEXEL_ASPECT_RATIO_EXT 0x96DB -#define GL_MAX_FRAGMENT_SHADING_RATE_ATTACHMENT_LAYERS_EXT 0x96DC -#define GL_FRAGMENT_SHADING_RATE_WITH_SHADER_DEPTH_STENCIL_WRITES_SUPPORTED_EXT 0x96DD -#define GL_FRAGMENT_SHADING_RATE_WITH_SAMPLE_MASK_SUPPORTED_EXT 0x96DE -#define GL_FRAGMENT_SHADING_RATE_ATTACHMENT_WITH_DEFAULT_FRAMEBUFFER_SUPPORTED_EXT 0x96DF -#define GL_FRAGMENT_SHADING_RATE_NON_TRIVIAL_COMBINERS_SUPPORTED_EXT 0x8F6F -typedef void (GL_APIENTRYP PFNGLGETFRAGMENTSHADINGRATESEXTPROC) (GLsizei samples, GLsizei maxCount, GLsizei *count, GLenum *shadingRates); -typedef void (GL_APIENTRYP PFNGLSHADINGRATEEXTPROC) (GLenum rate); -typedef void (GL_APIENTRYP PFNGLSHADINGRATECOMBINEROPSEXTPROC) (GLenum combinerOp0, GLenum combinerOp1); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERSHADINGRATEEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint baseLayer, GLsizei numLayers, GLsizei texelWidth, GLsizei texelHeight); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetFragmentShadingRatesEXT (GLsizei samples, GLsizei maxCount, GLsizei *count, GLenum *shadingRates); -GL_APICALL void GL_APIENTRY glShadingRateEXT (GLenum rate); -GL_APICALL void GL_APIENTRY glShadingRateCombinerOpsEXT (GLenum combinerOp0, GLenum combinerOp1); -GL_APICALL void GL_APIENTRY glFramebufferShadingRateEXT (GLenum target, GLenum attachment, GLuint texture, GLint baseLayer, GLsizei numLayers, GLsizei texelWidth, GLsizei texelHeight); -#endif -#endif /* GL_EXT_fragment_shading_rate */ - -#ifndef GL_EXT_geometry_point_size -#define GL_EXT_geometry_point_size 1 -#endif /* GL_EXT_geometry_point_size */ - -#ifndef GL_EXT_geometry_shader -#define GL_EXT_geometry_shader 1 -#define GL_GEOMETRY_SHADER_EXT 0x8DD9 -#define GL_GEOMETRY_SHADER_BIT_EXT 0x00000004 -#define GL_GEOMETRY_LINKED_VERTICES_OUT_EXT 0x8916 -#define GL_GEOMETRY_LINKED_INPUT_TYPE_EXT 0x8917 -#define GL_GEOMETRY_LINKED_OUTPUT_TYPE_EXT 0x8918 -#define GL_GEOMETRY_SHADER_INVOCATIONS_EXT 0x887F -#define GL_LAYER_PROVOKING_VERTEX_EXT 0x825E -#define GL_LINES_ADJACENCY_EXT 0x000A -#define GL_LINE_STRIP_ADJACENCY_EXT 0x000B -#define GL_TRIANGLES_ADJACENCY_EXT 0x000C -#define GL_TRIANGLE_STRIP_ADJACENCY_EXT 0x000D -#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8DDF -#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS_EXT 0x8A2C -#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8A32 -#define GL_MAX_GEOMETRY_INPUT_COMPONENTS_EXT 0x9123 -#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS_EXT 0x9124 -#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_EXT 0x8DE0 -#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_EXT 0x8DE1 -#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS_EXT 0x8E5A -#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_EXT 0x8C29 -#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS_EXT 0x92CF -#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS_EXT 0x92D5 -#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS_EXT 0x90CD -#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS_EXT 0x90D7 -#define GL_FIRST_VERTEX_CONVENTION_EXT 0x8E4D -#define GL_LAST_VERTEX_CONVENTION_EXT 0x8E4E -#define GL_UNDEFINED_VERTEX_EXT 0x8260 -#define GL_PRIMITIVES_GENERATED_EXT 0x8C87 -#define GL_FRAMEBUFFER_DEFAULT_LAYERS_EXT 0x9312 -#define GL_MAX_FRAMEBUFFER_LAYERS_EXT 0x9317 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_EXT 0x8DA8 -#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_EXT 0x8DA7 -#define GL_REFERENCED_BY_GEOMETRY_SHADER_EXT 0x9309 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferTextureEXT (GLenum target, GLenum attachment, GLuint texture, GLint level); -#endif -#endif /* GL_EXT_geometry_shader */ - -#ifndef GL_EXT_gpu_shader5 -#define GL_EXT_gpu_shader5 1 -#endif /* GL_EXT_gpu_shader5 */ - -#ifndef GL_EXT_instanced_arrays -#define GL_EXT_instanced_arrays 1 -#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_EXT 0x88FE -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glVertexAttribDivisorEXT (GLuint index, GLuint divisor); -#endif -#endif /* GL_EXT_instanced_arrays */ - -#ifndef GL_EXT_map_buffer_range -#define GL_EXT_map_buffer_range 1 -#define GL_MAP_READ_BIT_EXT 0x0001 -#define GL_MAP_WRITE_BIT_EXT 0x0002 -#define GL_MAP_INVALIDATE_RANGE_BIT_EXT 0x0004 -#define GL_MAP_INVALIDATE_BUFFER_BIT_EXT 0x0008 -#define GL_MAP_FLUSH_EXPLICIT_BIT_EXT 0x0010 -#define GL_MAP_UNSYNCHRONIZED_BIT_EXT 0x0020 -typedef void *(GL_APIENTRYP PFNGLMAPBUFFERRANGEEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); -typedef void (GL_APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEEXTPROC) (GLenum target, GLintptr offset, GLsizeiptr length); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void *GL_APIENTRY glMapBufferRangeEXT (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); -GL_APICALL void GL_APIENTRY glFlushMappedBufferRangeEXT (GLenum target, GLintptr offset, GLsizeiptr length); -#endif -#endif /* GL_EXT_map_buffer_range */ - -#ifndef GL_EXT_memory_object -#define GL_EXT_memory_object 1 -#define GL_TEXTURE_TILING_EXT 0x9580 -#define GL_DEDICATED_MEMORY_OBJECT_EXT 0x9581 -#define GL_PROTECTED_MEMORY_OBJECT_EXT 0x959B -#define GL_NUM_TILING_TYPES_EXT 0x9582 -#define GL_TILING_TYPES_EXT 0x9583 -#define GL_OPTIMAL_TILING_EXT 0x9584 -#define GL_LINEAR_TILING_EXT 0x9585 -#define GL_NUM_DEVICE_UUIDS_EXT 0x9596 -#define GL_DEVICE_UUID_EXT 0x9597 -#define GL_DRIVER_UUID_EXT 0x9598 -#define GL_UUID_SIZE_EXT 16 -typedef void (GL_APIENTRYP PFNGLGETUNSIGNEDBYTEVEXTPROC) (GLenum pname, GLubyte *data); -typedef void (GL_APIENTRYP PFNGLGETUNSIGNEDBYTEI_VEXTPROC) (GLenum target, GLuint index, GLubyte *data); -typedef void (GL_APIENTRYP PFNGLDELETEMEMORYOBJECTSEXTPROC) (GLsizei n, const GLuint *memoryObjects); -typedef GLboolean (GL_APIENTRYP PFNGLISMEMORYOBJECTEXTPROC) (GLuint memoryObject); -typedef void (GL_APIENTRYP PFNGLCREATEMEMORYOBJECTSEXTPROC) (GLsizei n, GLuint *memoryObjects); -typedef void (GL_APIENTRYP PFNGLMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, const GLint *params); -typedef void (GL_APIENTRYP PFNGLGETMEMORYOBJECTPARAMETERIVEXTPROC) (GLuint memoryObject, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM2DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGEMEM3DMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLBUFFERSTORAGEMEMEXTPROC) (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM2DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM2DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM3DEXTPROC) (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGEMEM3DMULTISAMPLEEXTPROC) (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERSTORAGEMEMEXTPROC) (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetUnsignedBytevEXT (GLenum pname, GLubyte *data); -GL_APICALL void GL_APIENTRY glGetUnsignedBytei_vEXT (GLenum target, GLuint index, GLubyte *data); -GL_APICALL void GL_APIENTRY glDeleteMemoryObjectsEXT (GLsizei n, const GLuint *memoryObjects); -GL_APICALL GLboolean GL_APIENTRY glIsMemoryObjectEXT (GLuint memoryObject); -GL_APICALL void GL_APIENTRY glCreateMemoryObjectsEXT (GLsizei n, GLuint *memoryObjects); -GL_APICALL void GL_APIENTRY glMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, const GLint *params); -GL_APICALL void GL_APIENTRY glGetMemoryObjectParameterivEXT (GLuint memoryObject, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glTexStorageMem2DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTexStorageMem2DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTexStorageMem3DEXT (GLenum target, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTexStorageMem3DMultisampleEXT (GLenum target, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glBufferStorageMemEXT (GLenum target, GLsizeiptr size, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTextureStorageMem2DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTextureStorageMem2DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTextureStorageMem3DEXT (GLuint texture, GLsizei levels, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTextureStorageMem3DMultisampleEXT (GLuint texture, GLsizei samples, GLenum internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glNamedBufferStorageMemEXT (GLuint buffer, GLsizeiptr size, GLuint memory, GLuint64 offset); -#endif -#endif /* GL_EXT_memory_object */ - -#ifndef GL_EXT_memory_object_fd -#define GL_EXT_memory_object_fd 1 -#define GL_HANDLE_TYPE_OPAQUE_FD_EXT 0x9586 -typedef void (GL_APIENTRYP PFNGLIMPORTMEMORYFDEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glImportMemoryFdEXT (GLuint memory, GLuint64 size, GLenum handleType, GLint fd); -#endif -#endif /* GL_EXT_memory_object_fd */ - -#ifndef GL_EXT_memory_object_win32 -#define GL_EXT_memory_object_win32 1 -#define GL_HANDLE_TYPE_OPAQUE_WIN32_EXT 0x9587 -#define GL_HANDLE_TYPE_OPAQUE_WIN32_KMT_EXT 0x9588 -#define GL_DEVICE_LUID_EXT 0x9599 -#define GL_DEVICE_NODE_MASK_EXT 0x959A -#define GL_LUID_SIZE_EXT 8 -#define GL_HANDLE_TYPE_D3D12_TILEPOOL_EXT 0x9589 -#define GL_HANDLE_TYPE_D3D12_RESOURCE_EXT 0x958A -#define GL_HANDLE_TYPE_D3D11_IMAGE_EXT 0x958B -#define GL_HANDLE_TYPE_D3D11_IMAGE_KMT_EXT 0x958C -typedef void (GL_APIENTRYP PFNGLIMPORTMEMORYWIN32HANDLEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, void *handle); -typedef void (GL_APIENTRYP PFNGLIMPORTMEMORYWIN32NAMEEXTPROC) (GLuint memory, GLuint64 size, GLenum handleType, const void *name); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glImportMemoryWin32HandleEXT (GLuint memory, GLuint64 size, GLenum handleType, void *handle); -GL_APICALL void GL_APIENTRY glImportMemoryWin32NameEXT (GLuint memory, GLuint64 size, GLenum handleType, const void *name); -#endif -#endif /* GL_EXT_memory_object_win32 */ - -#ifndef GL_EXT_multi_draw_arrays -#define GL_EXT_multi_draw_arrays 1 -typedef void (GL_APIENTRYP PFNGLMULTIDRAWARRAYSEXTPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); -typedef void (GL_APIENTRYP PFNGLMULTIDRAWELEMENTSEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glMultiDrawArraysEXT (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount); -GL_APICALL void GL_APIENTRY glMultiDrawElementsEXT (GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei primcount); -#endif -#endif /* GL_EXT_multi_draw_arrays */ - -#ifndef GL_EXT_multi_draw_indirect -#define GL_EXT_multi_draw_indirect 1 -typedef void (GL_APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTEXTPROC) (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); -typedef void (GL_APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTEXTPROC) (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glMultiDrawArraysIndirectEXT (GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); -GL_APICALL void GL_APIENTRY glMultiDrawElementsIndirectEXT (GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); -#endif -#endif /* GL_EXT_multi_draw_indirect */ - -#ifndef GL_EXT_multisampled_compatibility -#define GL_EXT_multisampled_compatibility 1 -#define GL_MULTISAMPLE_EXT 0x809D -#define GL_SAMPLE_ALPHA_TO_ONE_EXT 0x809F -#endif /* GL_EXT_multisampled_compatibility */ - -#ifndef GL_EXT_multisampled_render_to_texture -#define GL_EXT_multisampled_render_to_texture 1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_SAMPLES_EXT 0x8D6C -#define GL_RENDERBUFFER_SAMPLES_EXT 0x8CAB -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_EXT 0x8D56 -#define GL_MAX_SAMPLES_EXT 0x8D57 -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DMULTISAMPLEEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleEXT (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glFramebufferTexture2DMultisampleEXT (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); -#endif -#endif /* GL_EXT_multisampled_render_to_texture */ - -#ifndef GL_EXT_multisampled_render_to_texture2 -#define GL_EXT_multisampled_render_to_texture2 1 -#endif /* GL_EXT_multisampled_render_to_texture2 */ - -#ifndef GL_EXT_multiview_draw_buffers -#define GL_EXT_multiview_draw_buffers 1 -#define GL_COLOR_ATTACHMENT_EXT 0x90F0 -#define GL_MULTIVIEW_EXT 0x90F1 -#define GL_DRAW_BUFFER_EXT 0x0C01 -#define GL_READ_BUFFER_EXT 0x0C02 -#define GL_MAX_MULTIVIEW_BUFFERS_EXT 0x90F2 -typedef void (GL_APIENTRYP PFNGLREADBUFFERINDEXEDEXTPROC) (GLenum src, GLint index); -typedef void (GL_APIENTRYP PFNGLDRAWBUFFERSINDEXEDEXTPROC) (GLint n, const GLenum *location, const GLint *indices); -typedef void (GL_APIENTRYP PFNGLGETINTEGERI_VEXTPROC) (GLenum target, GLuint index, GLint *data); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glReadBufferIndexedEXT (GLenum src, GLint index); -GL_APICALL void GL_APIENTRY glDrawBuffersIndexedEXT (GLint n, const GLenum *location, const GLint *indices); -GL_APICALL void GL_APIENTRY glGetIntegeri_vEXT (GLenum target, GLuint index, GLint *data); -#endif -#endif /* GL_EXT_multiview_draw_buffers */ - -#ifndef GL_EXT_multiview_tessellation_geometry_shader -#define GL_EXT_multiview_tessellation_geometry_shader 1 -#endif /* GL_EXT_multiview_tessellation_geometry_shader */ - -#ifndef GL_EXT_multiview_texture_multisample -#define GL_EXT_multiview_texture_multisample 1 -#endif /* GL_EXT_multiview_texture_multisample */ - -#ifndef GL_EXT_multiview_timer_query -#define GL_EXT_multiview_timer_query 1 -#endif /* GL_EXT_multiview_timer_query */ - -#ifndef GL_EXT_occlusion_query_boolean -#define GL_EXT_occlusion_query_boolean 1 -#define GL_ANY_SAMPLES_PASSED_EXT 0x8C2F -#define GL_ANY_SAMPLES_PASSED_CONSERVATIVE_EXT 0x8D6A -#endif /* GL_EXT_occlusion_query_boolean */ - -#ifndef GL_EXT_polygon_offset_clamp -#define GL_EXT_polygon_offset_clamp 1 -#define GL_POLYGON_OFFSET_CLAMP_EXT 0x8E1B -typedef void (GL_APIENTRYP PFNGLPOLYGONOFFSETCLAMPEXTPROC) (GLfloat factor, GLfloat units, GLfloat clamp); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glPolygonOffsetClampEXT (GLfloat factor, GLfloat units, GLfloat clamp); -#endif -#endif /* GL_EXT_polygon_offset_clamp */ - -#ifndef GL_EXT_post_depth_coverage -#define GL_EXT_post_depth_coverage 1 -#endif /* GL_EXT_post_depth_coverage */ - -#ifndef GL_EXT_primitive_bounding_box -#define GL_EXT_primitive_bounding_box 1 -#define GL_PRIMITIVE_BOUNDING_BOX_EXT 0x92BE -typedef void (GL_APIENTRYP PFNGLPRIMITIVEBOUNDINGBOXEXTPROC) (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glPrimitiveBoundingBoxEXT (GLfloat minX, GLfloat minY, GLfloat minZ, GLfloat minW, GLfloat maxX, GLfloat maxY, GLfloat maxZ, GLfloat maxW); -#endif -#endif /* GL_EXT_primitive_bounding_box */ - -#ifndef GL_EXT_protected_textures -#define GL_EXT_protected_textures 1 -#define GL_CONTEXT_FLAG_PROTECTED_CONTENT_BIT_EXT 0x00000010 -#define GL_TEXTURE_PROTECTED_EXT 0x8BFA -#endif /* GL_EXT_protected_textures */ - -#ifndef GL_EXT_pvrtc_sRGB -#define GL_EXT_pvrtc_sRGB 1 -#define GL_COMPRESSED_SRGB_PVRTC_2BPPV1_EXT 0x8A54 -#define GL_COMPRESSED_SRGB_PVRTC_4BPPV1_EXT 0x8A55 -#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_2BPPV1_EXT 0x8A56 -#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_4BPPV1_EXT 0x8A57 -#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_2BPPV2_IMG 0x93F0 -#define GL_COMPRESSED_SRGB_ALPHA_PVRTC_4BPPV2_IMG 0x93F1 -#endif /* GL_EXT_pvrtc_sRGB */ - -#ifndef GL_EXT_raster_multisample -#define GL_EXT_raster_multisample 1 -#define GL_RASTER_MULTISAMPLE_EXT 0x9327 -#define GL_RASTER_SAMPLES_EXT 0x9328 -#define GL_MAX_RASTER_SAMPLES_EXT 0x9329 -#define GL_RASTER_FIXED_SAMPLE_LOCATIONS_EXT 0x932A -#define GL_MULTISAMPLE_RASTERIZATION_ALLOWED_EXT 0x932B -#define GL_EFFECTIVE_RASTER_SAMPLES_EXT 0x932C -typedef void (GL_APIENTRYP PFNGLRASTERSAMPLESEXTPROC) (GLuint samples, GLboolean fixedsamplelocations); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRasterSamplesEXT (GLuint samples, GLboolean fixedsamplelocations); -#endif -#endif /* GL_EXT_raster_multisample */ - -#ifndef GL_EXT_read_format_bgra -#define GL_EXT_read_format_bgra 1 -#define GL_UNSIGNED_SHORT_4_4_4_4_REV_EXT 0x8365 -#define GL_UNSIGNED_SHORT_1_5_5_5_REV_EXT 0x8366 -#endif /* GL_EXT_read_format_bgra */ - -#ifndef GL_EXT_render_snorm -#define GL_EXT_render_snorm 1 -#define GL_R8_SNORM 0x8F94 -#define GL_RG8_SNORM 0x8F95 -#define GL_RGBA8_SNORM 0x8F97 -#define GL_R16_SNORM_EXT 0x8F98 -#define GL_RG16_SNORM_EXT 0x8F99 -#define GL_RGBA16_SNORM_EXT 0x8F9B -#endif /* GL_EXT_render_snorm */ - -#ifndef GL_EXT_robustness -#define GL_EXT_robustness 1 -#define GL_GUILTY_CONTEXT_RESET_EXT 0x8253 -#define GL_INNOCENT_CONTEXT_RESET_EXT 0x8254 -#define GL_UNKNOWN_CONTEXT_RESET_EXT 0x8255 -#define GL_CONTEXT_ROBUST_ACCESS_EXT 0x90F3 -#define GL_RESET_NOTIFICATION_STRATEGY_EXT 0x8256 -#define GL_LOSE_CONTEXT_ON_RESET_EXT 0x8252 -#define GL_NO_RESET_NOTIFICATION_EXT 0x8261 -typedef GLenum (GL_APIENTRYP PFNGLGETGRAPHICSRESETSTATUSEXTPROC) (void); -typedef void (GL_APIENTRYP PFNGLREADNPIXELSEXTPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -typedef void (GL_APIENTRYP PFNGLGETNUNIFORMFVEXTPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -typedef void (GL_APIENTRYP PFNGLGETNUNIFORMIVEXTPROC) (GLuint program, GLint location, GLsizei bufSize, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLenum GL_APIENTRY glGetGraphicsResetStatusEXT (void); -GL_APICALL void GL_APIENTRY glReadnPixelsEXT (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); -GL_APICALL void GL_APIENTRY glGetnUniformfvEXT (GLuint program, GLint location, GLsizei bufSize, GLfloat *params); -GL_APICALL void GL_APIENTRY glGetnUniformivEXT (GLuint program, GLint location, GLsizei bufSize, GLint *params); -#endif -#endif /* GL_EXT_robustness */ - -#ifndef GL_EXT_sRGB -#define GL_EXT_sRGB 1 -#define GL_SRGB_EXT 0x8C40 -#define GL_SRGB_ALPHA_EXT 0x8C42 -#define GL_SRGB8_ALPHA8_EXT 0x8C43 -#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING_EXT 0x8210 -#endif /* GL_EXT_sRGB */ - -#ifndef GL_EXT_sRGB_write_control -#define GL_EXT_sRGB_write_control 1 -#define GL_FRAMEBUFFER_SRGB_EXT 0x8DB9 -#endif /* GL_EXT_sRGB_write_control */ - -#ifndef GL_EXT_semaphore -#define GL_EXT_semaphore 1 -#define GL_LAYOUT_GENERAL_EXT 0x958D -#define GL_LAYOUT_COLOR_ATTACHMENT_EXT 0x958E -#define GL_LAYOUT_DEPTH_STENCIL_ATTACHMENT_EXT 0x958F -#define GL_LAYOUT_DEPTH_STENCIL_READ_ONLY_EXT 0x9590 -#define GL_LAYOUT_SHADER_READ_ONLY_EXT 0x9591 -#define GL_LAYOUT_TRANSFER_SRC_EXT 0x9592 -#define GL_LAYOUT_TRANSFER_DST_EXT 0x9593 -#define GL_LAYOUT_DEPTH_READ_ONLY_STENCIL_ATTACHMENT_EXT 0x9530 -#define GL_LAYOUT_DEPTH_ATTACHMENT_STENCIL_READ_ONLY_EXT 0x9531 -typedef void (GL_APIENTRYP PFNGLGENSEMAPHORESEXTPROC) (GLsizei n, GLuint *semaphores); -typedef void (GL_APIENTRYP PFNGLDELETESEMAPHORESEXTPROC) (GLsizei n, const GLuint *semaphores); -typedef GLboolean (GL_APIENTRYP PFNGLISSEMAPHOREEXTPROC) (GLuint semaphore); -typedef void (GL_APIENTRYP PFNGLSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, const GLuint64 *params); -typedef void (GL_APIENTRYP PFNGLGETSEMAPHOREPARAMETERUI64VEXTPROC) (GLuint semaphore, GLenum pname, GLuint64 *params); -typedef void (GL_APIENTRYP PFNGLWAITSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); -typedef void (GL_APIENTRYP PFNGLSIGNALSEMAPHOREEXTPROC) (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGenSemaphoresEXT (GLsizei n, GLuint *semaphores); -GL_APICALL void GL_APIENTRY glDeleteSemaphoresEXT (GLsizei n, const GLuint *semaphores); -GL_APICALL GLboolean GL_APIENTRY glIsSemaphoreEXT (GLuint semaphore); -GL_APICALL void GL_APIENTRY glSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, const GLuint64 *params); -GL_APICALL void GL_APIENTRY glGetSemaphoreParameterui64vEXT (GLuint semaphore, GLenum pname, GLuint64 *params); -GL_APICALL void GL_APIENTRY glWaitSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *srcLayouts); -GL_APICALL void GL_APIENTRY glSignalSemaphoreEXT (GLuint semaphore, GLuint numBufferBarriers, const GLuint *buffers, GLuint numTextureBarriers, const GLuint *textures, const GLenum *dstLayouts); -#endif -#endif /* GL_EXT_semaphore */ - -#ifndef GL_EXT_semaphore_fd -#define GL_EXT_semaphore_fd 1 -typedef void (GL_APIENTRYP PFNGLIMPORTSEMAPHOREFDEXTPROC) (GLuint semaphore, GLenum handleType, GLint fd); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glImportSemaphoreFdEXT (GLuint semaphore, GLenum handleType, GLint fd); -#endif -#endif /* GL_EXT_semaphore_fd */ - -#ifndef GL_EXT_semaphore_win32 -#define GL_EXT_semaphore_win32 1 -#define GL_HANDLE_TYPE_D3D12_FENCE_EXT 0x9594 -#define GL_D3D12_FENCE_VALUE_EXT 0x9595 -typedef void (GL_APIENTRYP PFNGLIMPORTSEMAPHOREWIN32HANDLEEXTPROC) (GLuint semaphore, GLenum handleType, void *handle); -typedef void (GL_APIENTRYP PFNGLIMPORTSEMAPHOREWIN32NAMEEXTPROC) (GLuint semaphore, GLenum handleType, const void *name); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glImportSemaphoreWin32HandleEXT (GLuint semaphore, GLenum handleType, void *handle); -GL_APICALL void GL_APIENTRY glImportSemaphoreWin32NameEXT (GLuint semaphore, GLenum handleType, const void *name); -#endif -#endif /* GL_EXT_semaphore_win32 */ - -#ifndef GL_EXT_separate_depth_stencil -#define GL_EXT_separate_depth_stencil 1 -#endif /* GL_EXT_separate_depth_stencil */ - -#ifndef GL_EXT_separate_shader_objects -#define GL_EXT_separate_shader_objects 1 -#define GL_ACTIVE_PROGRAM_EXT 0x8259 -#define GL_VERTEX_SHADER_BIT_EXT 0x00000001 -#define GL_FRAGMENT_SHADER_BIT_EXT 0x00000002 -#define GL_ALL_SHADER_BITS_EXT 0xFFFFFFFF -#define GL_PROGRAM_SEPARABLE_EXT 0x8258 -#define GL_PROGRAM_PIPELINE_BINDING_EXT 0x825A -typedef void (GL_APIENTRYP PFNGLACTIVESHADERPROGRAMEXTPROC) (GLuint pipeline, GLuint program); -typedef void (GL_APIENTRYP PFNGLBINDPROGRAMPIPELINEEXTPROC) (GLuint pipeline); -typedef GLuint (GL_APIENTRYP PFNGLCREATESHADERPROGRAMVEXTPROC) (GLenum type, GLsizei count, const GLchar **strings); -typedef void (GL_APIENTRYP PFNGLDELETEPROGRAMPIPELINESEXTPROC) (GLsizei n, const GLuint *pipelines); -typedef void (GL_APIENTRYP PFNGLGENPROGRAMPIPELINESEXTPROC) (GLsizei n, GLuint *pipelines); -typedef void (GL_APIENTRYP PFNGLGETPROGRAMPIPELINEINFOLOGEXTPROC) (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -typedef void (GL_APIENTRYP PFNGLGETPROGRAMPIPELINEIVEXTPROC) (GLuint pipeline, GLenum pname, GLint *params); -typedef GLboolean (GL_APIENTRYP PFNGLISPROGRAMPIPELINEEXTPROC) (GLuint pipeline); -typedef void (GL_APIENTRYP PFNGLPROGRAMPARAMETERIEXTPROC) (GLuint program, GLenum pname, GLint value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1FEXTPROC) (GLuint program, GLint location, GLfloat v0); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1IEXTPROC) (GLuint program, GLint location, GLint v0); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUSEPROGRAMSTAGESEXTPROC) (GLuint pipeline, GLbitfield stages, GLuint program); -typedef void (GL_APIENTRYP PFNGLVALIDATEPROGRAMPIPELINEEXTPROC) (GLuint pipeline); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UIEXTPROC) (GLuint program, GLint location, GLuint v0); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glActiveShaderProgramEXT (GLuint pipeline, GLuint program); -GL_APICALL void GL_APIENTRY glBindProgramPipelineEXT (GLuint pipeline); -GL_APICALL GLuint GL_APIENTRY glCreateShaderProgramvEXT (GLenum type, GLsizei count, const GLchar **strings); -GL_APICALL void GL_APIENTRY glDeleteProgramPipelinesEXT (GLsizei n, const GLuint *pipelines); -GL_APICALL void GL_APIENTRY glGenProgramPipelinesEXT (GLsizei n, GLuint *pipelines); -GL_APICALL void GL_APIENTRY glGetProgramPipelineInfoLogEXT (GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); -GL_APICALL void GL_APIENTRY glGetProgramPipelineivEXT (GLuint pipeline, GLenum pname, GLint *params); -GL_APICALL GLboolean GL_APIENTRY glIsProgramPipelineEXT (GLuint pipeline); -GL_APICALL void GL_APIENTRY glProgramParameteriEXT (GLuint program, GLenum pname, GLint value); -GL_APICALL void GL_APIENTRY glProgramUniform1fEXT (GLuint program, GLint location, GLfloat v0); -GL_APICALL void GL_APIENTRY glProgramUniform1fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniform1iEXT (GLuint program, GLint location, GLint v0); -GL_APICALL void GL_APIENTRY glProgramUniform1ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glProgramUniform2fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1); -GL_APICALL void GL_APIENTRY glProgramUniform2fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniform2iEXT (GLuint program, GLint location, GLint v0, GLint v1); -GL_APICALL void GL_APIENTRY glProgramUniform2ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glProgramUniform3fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); -GL_APICALL void GL_APIENTRY glProgramUniform3fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniform3iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); -GL_APICALL void GL_APIENTRY glProgramUniform3ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glProgramUniform4fEXT (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); -GL_APICALL void GL_APIENTRY glProgramUniform4fvEXT (GLuint program, GLint location, GLsizei count, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniform4iEXT (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); -GL_APICALL void GL_APIENTRY glProgramUniform4ivEXT (GLuint program, GLint location, GLsizei count, const GLint *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUseProgramStagesEXT (GLuint pipeline, GLbitfield stages, GLuint program); -GL_APICALL void GL_APIENTRY glValidateProgramPipelineEXT (GLuint pipeline); -GL_APICALL void GL_APIENTRY glProgramUniform1uiEXT (GLuint program, GLint location, GLuint v0); -GL_APICALL void GL_APIENTRY glProgramUniform2uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1); -GL_APICALL void GL_APIENTRY glProgramUniform3uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); -GL_APICALL void GL_APIENTRY glProgramUniform4uiEXT (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); -GL_APICALL void GL_APIENTRY glProgramUniform1uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GL_APICALL void GL_APIENTRY glProgramUniform2uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GL_APICALL void GL_APIENTRY glProgramUniform3uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GL_APICALL void GL_APIENTRY glProgramUniform4uivEXT (GLuint program, GLint location, GLsizei count, const GLuint *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix2x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix3x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix2x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix4x2fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix3x4fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glProgramUniformMatrix4x3fvEXT (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -#endif -#endif /* GL_EXT_separate_shader_objects */ - -#ifndef GL_EXT_shader_framebuffer_fetch -#define GL_EXT_shader_framebuffer_fetch 1 -#define GL_FRAGMENT_SHADER_DISCARDS_SAMPLES_EXT 0x8A52 -#endif /* GL_EXT_shader_framebuffer_fetch */ - -#ifndef GL_EXT_shader_framebuffer_fetch_non_coherent -#define GL_EXT_shader_framebuffer_fetch_non_coherent 1 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFETCHBARRIEREXTPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferFetchBarrierEXT (void); -#endif -#endif /* GL_EXT_shader_framebuffer_fetch_non_coherent */ - -#ifndef GL_EXT_shader_group_vote -#define GL_EXT_shader_group_vote 1 -#endif /* GL_EXT_shader_group_vote */ - -#ifndef GL_EXT_shader_implicit_conversions -#define GL_EXT_shader_implicit_conversions 1 -#endif /* GL_EXT_shader_implicit_conversions */ - -#ifndef GL_EXT_shader_integer_mix -#define GL_EXT_shader_integer_mix 1 -#endif /* GL_EXT_shader_integer_mix */ - -#ifndef GL_EXT_shader_io_blocks -#define GL_EXT_shader_io_blocks 1 -#endif /* GL_EXT_shader_io_blocks */ - -#ifndef GL_EXT_shader_non_constant_global_initializers -#define GL_EXT_shader_non_constant_global_initializers 1 -#endif /* GL_EXT_shader_non_constant_global_initializers */ - -#ifndef GL_EXT_shader_pixel_local_storage -#define GL_EXT_shader_pixel_local_storage 1 -#define GL_MAX_SHADER_PIXEL_LOCAL_STORAGE_FAST_SIZE_EXT 0x8F63 -#define GL_MAX_SHADER_PIXEL_LOCAL_STORAGE_SIZE_EXT 0x8F67 -#define GL_SHADER_PIXEL_LOCAL_STORAGE_EXT 0x8F64 -#endif /* GL_EXT_shader_pixel_local_storage */ - -#ifndef GL_EXT_shader_pixel_local_storage2 -#define GL_EXT_shader_pixel_local_storage2 1 -#define GL_MAX_SHADER_COMBINED_LOCAL_STORAGE_FAST_SIZE_EXT 0x9650 -#define GL_MAX_SHADER_COMBINED_LOCAL_STORAGE_SIZE_EXT 0x9651 -#define GL_FRAMEBUFFER_INCOMPLETE_INSUFFICIENT_SHADER_COMBINED_LOCAL_STORAGE_EXT 0x9652 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERPIXELLOCALSTORAGESIZEEXTPROC) (GLuint target, GLsizei size); -typedef GLsizei (GL_APIENTRYP PFNGLGETFRAMEBUFFERPIXELLOCALSTORAGESIZEEXTPROC) (GLuint target); -typedef void (GL_APIENTRYP PFNGLCLEARPIXELLOCALSTORAGEUIEXTPROC) (GLsizei offset, GLsizei n, const GLuint *values); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferPixelLocalStorageSizeEXT (GLuint target, GLsizei size); -GL_APICALL GLsizei GL_APIENTRY glGetFramebufferPixelLocalStorageSizeEXT (GLuint target); -GL_APICALL void GL_APIENTRY glClearPixelLocalStorageuiEXT (GLsizei offset, GLsizei n, const GLuint *values); -#endif -#endif /* GL_EXT_shader_pixel_local_storage2 */ - -#ifndef GL_EXT_shader_samples_identical -#define GL_EXT_shader_samples_identical 1 -#endif /* GL_EXT_shader_samples_identical */ - -#ifndef GL_EXT_shader_texture_lod -#define GL_EXT_shader_texture_lod 1 -#endif /* GL_EXT_shader_texture_lod */ - -#ifndef GL_EXT_shadow_samplers -#define GL_EXT_shadow_samplers 1 -#define GL_TEXTURE_COMPARE_MODE_EXT 0x884C -#define GL_TEXTURE_COMPARE_FUNC_EXT 0x884D -#define GL_COMPARE_REF_TO_TEXTURE_EXT 0x884E -#define GL_SAMPLER_2D_SHADOW_EXT 0x8B62 -#endif /* GL_EXT_shadow_samplers */ - -#ifndef GL_EXT_sparse_texture -#define GL_EXT_sparse_texture 1 -#define GL_TEXTURE_SPARSE_EXT 0x91A6 -#define GL_VIRTUAL_PAGE_SIZE_INDEX_EXT 0x91A7 -#define GL_NUM_SPARSE_LEVELS_EXT 0x91AA -#define GL_NUM_VIRTUAL_PAGE_SIZES_EXT 0x91A8 -#define GL_VIRTUAL_PAGE_SIZE_X_EXT 0x9195 -#define GL_VIRTUAL_PAGE_SIZE_Y_EXT 0x9196 -#define GL_VIRTUAL_PAGE_SIZE_Z_EXT 0x9197 -#define GL_TEXTURE_2D_ARRAY 0x8C1A -#define GL_TEXTURE_3D 0x806F -#define GL_MAX_SPARSE_TEXTURE_SIZE_EXT 0x9198 -#define GL_MAX_SPARSE_3D_TEXTURE_SIZE_EXT 0x9199 -#define GL_MAX_SPARSE_ARRAY_TEXTURE_LAYERS_EXT 0x919A -#define GL_SPARSE_TEXTURE_FULL_ARRAY_CUBE_MIPMAPS_EXT 0x91A9 -typedef void (GL_APIENTRYP PFNGLTEXPAGECOMMITMENTEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexPageCommitmentEXT (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLboolean commit); -#endif -#endif /* GL_EXT_sparse_texture */ - -#ifndef GL_EXT_sparse_texture2 -#define GL_EXT_sparse_texture2 1 -#endif /* GL_EXT_sparse_texture2 */ - -#ifndef GL_EXT_tessellation_point_size -#define GL_EXT_tessellation_point_size 1 -#endif /* GL_EXT_tessellation_point_size */ - -#ifndef GL_EXT_tessellation_shader -#define GL_EXT_tessellation_shader 1 -#define GL_PATCHES_EXT 0x000E -#define GL_PATCH_VERTICES_EXT 0x8E72 -#define GL_TESS_CONTROL_OUTPUT_VERTICES_EXT 0x8E75 -#define GL_TESS_GEN_MODE_EXT 0x8E76 -#define GL_TESS_GEN_SPACING_EXT 0x8E77 -#define GL_TESS_GEN_VERTEX_ORDER_EXT 0x8E78 -#define GL_TESS_GEN_POINT_MODE_EXT 0x8E79 -#define GL_ISOLINES_EXT 0x8E7A -#define GL_QUADS_EXT 0x0007 -#define GL_FRACTIONAL_ODD_EXT 0x8E7B -#define GL_FRACTIONAL_EVEN_EXT 0x8E7C -#define GL_MAX_PATCH_VERTICES_EXT 0x8E7D -#define GL_MAX_TESS_GEN_LEVEL_EXT 0x8E7E -#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS_EXT 0x8E7F -#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS_EXT 0x8E80 -#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS_EXT 0x8E81 -#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS_EXT 0x8E82 -#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS_EXT 0x8E83 -#define GL_MAX_TESS_PATCH_COMPONENTS_EXT 0x8E84 -#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS_EXT 0x8E85 -#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS_EXT 0x8E86 -#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS_EXT 0x8E89 -#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS_EXT 0x8E8A -#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS_EXT 0x886C -#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS_EXT 0x886D -#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS_EXT 0x8E1E -#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS_EXT 0x8E1F -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS_EXT 0x92CD -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS_EXT 0x92CE -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS_EXT 0x92D3 -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS_EXT 0x92D4 -#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS_EXT 0x90CB -#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS_EXT 0x90CC -#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS_EXT 0x90D8 -#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS_EXT 0x90D9 -#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED 0x8221 -#define GL_IS_PER_PATCH_EXT 0x92E7 -#define GL_REFERENCED_BY_TESS_CONTROL_SHADER_EXT 0x9307 -#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER_EXT 0x9308 -#define GL_TESS_CONTROL_SHADER_EXT 0x8E88 -#define GL_TESS_EVALUATION_SHADER_EXT 0x8E87 -#define GL_TESS_CONTROL_SHADER_BIT_EXT 0x00000008 -#define GL_TESS_EVALUATION_SHADER_BIT_EXT 0x00000010 -typedef void (GL_APIENTRYP PFNGLPATCHPARAMETERIEXTPROC) (GLenum pname, GLint value); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glPatchParameteriEXT (GLenum pname, GLint value); -#endif -#endif /* GL_EXT_tessellation_shader */ - -#ifndef GL_EXT_texture_border_clamp -#define GL_EXT_texture_border_clamp 1 -#define GL_TEXTURE_BORDER_COLOR_EXT 0x1004 -#define GL_CLAMP_TO_BORDER_EXT 0x812D -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); -typedef void (GL_APIENTRYP PFNGLTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, const GLuint *params); -typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, GLuint *params); -typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIIVEXTPROC) (GLuint sampler, GLenum pname, const GLint *param); -typedef void (GL_APIENTRYP PFNGLSAMPLERPARAMETERIUIVEXTPROC) (GLuint sampler, GLenum pname, const GLuint *param); -typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIIVEXTPROC) (GLuint sampler, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVEXTPROC) (GLuint sampler, GLenum pname, GLuint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexParameterIivEXT (GLenum target, GLenum pname, const GLint *params); -GL_APICALL void GL_APIENTRY glTexParameterIuivEXT (GLenum target, GLenum pname, const GLuint *params); -GL_APICALL void GL_APIENTRY glGetTexParameterIivEXT (GLenum target, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetTexParameterIuivEXT (GLenum target, GLenum pname, GLuint *params); -GL_APICALL void GL_APIENTRY glSamplerParameterIivEXT (GLuint sampler, GLenum pname, const GLint *param); -GL_APICALL void GL_APIENTRY glSamplerParameterIuivEXT (GLuint sampler, GLenum pname, const GLuint *param); -GL_APICALL void GL_APIENTRY glGetSamplerParameterIivEXT (GLuint sampler, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glGetSamplerParameterIuivEXT (GLuint sampler, GLenum pname, GLuint *params); -#endif -#endif /* GL_EXT_texture_border_clamp */ - -#ifndef GL_EXT_texture_buffer -#define GL_EXT_texture_buffer 1 -#define GL_TEXTURE_BUFFER_EXT 0x8C2A -#define GL_TEXTURE_BUFFER_BINDING_EXT 0x8C2A -#define GL_MAX_TEXTURE_BUFFER_SIZE_EXT 0x8C2B -#define GL_TEXTURE_BINDING_BUFFER_EXT 0x8C2C -#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_EXT 0x8C2D -#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT_EXT 0x919F -#define GL_SAMPLER_BUFFER_EXT 0x8DC2 -#define GL_INT_SAMPLER_BUFFER_EXT 0x8DD0 -#define GL_UNSIGNED_INT_SAMPLER_BUFFER_EXT 0x8DD8 -#define GL_IMAGE_BUFFER_EXT 0x9051 -#define GL_INT_IMAGE_BUFFER_EXT 0x905C -#define GL_UNSIGNED_INT_IMAGE_BUFFER_EXT 0x9067 -#define GL_TEXTURE_BUFFER_OFFSET_EXT 0x919D -#define GL_TEXTURE_BUFFER_SIZE_EXT 0x919E -typedef void (GL_APIENTRYP PFNGLTEXBUFFEREXTPROC) (GLenum target, GLenum internalformat, GLuint buffer); -typedef void (GL_APIENTRYP PFNGLTEXBUFFERRANGEEXTPROC) (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexBufferEXT (GLenum target, GLenum internalformat, GLuint buffer); -GL_APICALL void GL_APIENTRY glTexBufferRangeEXT (GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); -#endif -#endif /* GL_EXT_texture_buffer */ - -#ifndef GL_EXT_texture_compression_astc_decode_mode -#define GL_EXT_texture_compression_astc_decode_mode 1 -#define GL_TEXTURE_ASTC_DECODE_PRECISION_EXT 0x8F69 -#endif /* GL_EXT_texture_compression_astc_decode_mode */ - -#ifndef GL_EXT_texture_compression_bptc -#define GL_EXT_texture_compression_bptc 1 -#define GL_COMPRESSED_RGBA_BPTC_UNORM_EXT 0x8E8C -#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_EXT 0x8E8D -#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_EXT 0x8E8E -#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_EXT 0x8E8F -#endif /* GL_EXT_texture_compression_bptc */ - -#ifndef GL_EXT_texture_compression_dxt1 -#define GL_EXT_texture_compression_dxt1 1 -#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 -#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 -#endif /* GL_EXT_texture_compression_dxt1 */ - -#ifndef GL_EXT_texture_compression_rgtc -#define GL_EXT_texture_compression_rgtc 1 -#define GL_COMPRESSED_RED_RGTC1_EXT 0x8DBB -#define GL_COMPRESSED_SIGNED_RED_RGTC1_EXT 0x8DBC -#define GL_COMPRESSED_RED_GREEN_RGTC2_EXT 0x8DBD -#define GL_COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT 0x8DBE -#endif /* GL_EXT_texture_compression_rgtc */ - -#ifndef GL_EXT_texture_compression_s3tc -#define GL_EXT_texture_compression_s3tc 1 -#define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT 0x83F2 -#define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT 0x83F3 -#endif /* GL_EXT_texture_compression_s3tc */ - -#ifndef GL_EXT_texture_compression_s3tc_srgb -#define GL_EXT_texture_compression_s3tc_srgb 1 -#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F -#endif /* GL_EXT_texture_compression_s3tc_srgb */ - -#ifndef GL_EXT_texture_cube_map_array -#define GL_EXT_texture_cube_map_array 1 -#define GL_TEXTURE_CUBE_MAP_ARRAY_EXT 0x9009 -#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_EXT 0x900A -#define GL_SAMPLER_CUBE_MAP_ARRAY_EXT 0x900C -#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_EXT 0x900D -#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_EXT 0x900E -#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_EXT 0x900F -#define GL_IMAGE_CUBE_MAP_ARRAY_EXT 0x9054 -#define GL_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x905F -#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x906A -#endif /* GL_EXT_texture_cube_map_array */ - -#ifndef GL_EXT_texture_filter_anisotropic -#define GL_EXT_texture_filter_anisotropic 1 -#define GL_TEXTURE_MAX_ANISOTROPY_EXT 0x84FE -#define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF -#endif /* GL_EXT_texture_filter_anisotropic */ - -#ifndef GL_EXT_texture_filter_minmax -#define GL_EXT_texture_filter_minmax 1 -#define GL_TEXTURE_REDUCTION_MODE_EXT 0x9366 -#define GL_WEIGHTED_AVERAGE_EXT 0x9367 -#endif /* GL_EXT_texture_filter_minmax */ - -#ifndef GL_EXT_texture_format_BGRA8888 -#define GL_EXT_texture_format_BGRA8888 1 -#endif /* GL_EXT_texture_format_BGRA8888 */ - -#ifndef GL_EXT_texture_format_sRGB_override -#define GL_EXT_texture_format_sRGB_override 1 -#define GL_TEXTURE_FORMAT_SRGB_OVERRIDE_EXT 0x8FBF -#endif /* GL_EXT_texture_format_sRGB_override */ - -#ifndef GL_EXT_texture_mirror_clamp_to_edge -#define GL_EXT_texture_mirror_clamp_to_edge 1 -#define GL_MIRROR_CLAMP_TO_EDGE_EXT 0x8743 -#endif /* GL_EXT_texture_mirror_clamp_to_edge */ - -#ifndef GL_EXT_texture_norm16 -#define GL_EXT_texture_norm16 1 -#define GL_R16_EXT 0x822A -#define GL_RG16_EXT 0x822C -#define GL_RGBA16_EXT 0x805B -#define GL_RGB16_EXT 0x8054 -#define GL_RGB16_SNORM_EXT 0x8F9A -#endif /* GL_EXT_texture_norm16 */ - -#ifndef GL_EXT_texture_query_lod -#define GL_EXT_texture_query_lod 1 -#endif /* GL_EXT_texture_query_lod */ - -#ifndef GL_EXT_texture_rg -#define GL_EXT_texture_rg 1 -#define GL_RED_EXT 0x1903 -#define GL_RG_EXT 0x8227 -#define GL_R8_EXT 0x8229 -#define GL_RG8_EXT 0x822B -#endif /* GL_EXT_texture_rg */ - -#ifndef GL_EXT_texture_sRGB_R8 -#define GL_EXT_texture_sRGB_R8 1 -#define GL_SR8_EXT 0x8FBD -#endif /* GL_EXT_texture_sRGB_R8 */ - -#ifndef GL_EXT_texture_sRGB_RG8 -#define GL_EXT_texture_sRGB_RG8 1 -#define GL_SRG8_EXT 0x8FBE -#endif /* GL_EXT_texture_sRGB_RG8 */ - -#ifndef GL_EXT_texture_sRGB_decode -#define GL_EXT_texture_sRGB_decode 1 -#define GL_TEXTURE_SRGB_DECODE_EXT 0x8A48 -#define GL_DECODE_EXT 0x8A49 -#define GL_SKIP_DECODE_EXT 0x8A4A -#endif /* GL_EXT_texture_sRGB_decode */ - -#ifndef GL_EXT_texture_shadow_lod -#define GL_EXT_texture_shadow_lod 1 -#endif /* GL_EXT_texture_shadow_lod */ - -#ifndef GL_EXT_texture_storage -#define GL_EXT_texture_storage 1 -#define GL_TEXTURE_IMMUTABLE_FORMAT_EXT 0x912F -#define GL_ALPHA8_EXT 0x803C -#define GL_LUMINANCE8_EXT 0x8040 -#define GL_LUMINANCE8_ALPHA8_EXT 0x8045 -#define GL_RGBA32F_EXT 0x8814 -#define GL_RGB32F_EXT 0x8815 -#define GL_ALPHA32F_EXT 0x8816 -#define GL_LUMINANCE32F_EXT 0x8818 -#define GL_LUMINANCE_ALPHA32F_EXT 0x8819 -#define GL_ALPHA16F_EXT 0x881C -#define GL_LUMINANCE16F_EXT 0x881E -#define GL_LUMINANCE_ALPHA16F_EXT 0x881F -#define GL_R32F_EXT 0x822E -#define GL_RG32F_EXT 0x8230 -typedef void (GL_APIENTRYP PFNGLTEXSTORAGE1DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGE2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGE3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGE1DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGE2DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLTEXTURESTORAGE3DEXTPROC) (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexStorage1DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -GL_APICALL void GL_APIENTRY glTexStorage2DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glTexStorage3DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -GL_APICALL void GL_APIENTRY glTextureStorage1DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); -GL_APICALL void GL_APIENTRY glTextureStorage2DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glTextureStorage3DEXT (GLuint texture, GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); -#endif -#endif /* GL_EXT_texture_storage */ - -#ifndef GL_EXT_texture_storage_compression -#define GL_EXT_texture_storage_compression 1 -#define GL_NUM_SURFACE_COMPRESSION_FIXED_RATES_EXT 0x8F6E -#define GL_SURFACE_COMPRESSION_FIXED_RATE_1BPC_EXT 0x96C4 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_2BPC_EXT 0x96C5 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_3BPC_EXT 0x96C6 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_4BPC_EXT 0x96C7 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_5BPC_EXT 0x96C8 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_6BPC_EXT 0x96C9 -#define GL_SURFACE_COMPRESSION_FIXED_RATE_7BPC_EXT 0x96CA -#define GL_SURFACE_COMPRESSION_FIXED_RATE_8BPC_EXT 0x96CB -#define GL_SURFACE_COMPRESSION_FIXED_RATE_9BPC_EXT 0x96CC -#define GL_SURFACE_COMPRESSION_FIXED_RATE_10BPC_EXT 0x96CD -#define GL_SURFACE_COMPRESSION_FIXED_RATE_11BPC_EXT 0x96CE -#define GL_SURFACE_COMPRESSION_FIXED_RATE_12BPC_EXT 0x96CF -typedef void (GL_APIENTRYP PFNGLTEXSTORAGEATTRIBS2DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, const GLint* attrib_list); -typedef void (GL_APIENTRYP PFNGLTEXSTORAGEATTRIBS3DEXTPROC) (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, const GLint* attrib_list); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexStorageAttribs2DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, const GLint* attrib_list); -GL_APICALL void GL_APIENTRY glTexStorageAttribs3DEXT (GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, const GLint* attrib_list); -#endif -#endif /* GL_EXT_texture_storage_compression */ - -#ifndef GL_EXT_texture_type_2_10_10_10_REV -#define GL_EXT_texture_type_2_10_10_10_REV 1 -#define GL_UNSIGNED_INT_2_10_10_10_REV_EXT 0x8368 -#endif /* GL_EXT_texture_type_2_10_10_10_REV */ - -#ifndef GL_EXT_texture_view -#define GL_EXT_texture_view 1 -#define GL_TEXTURE_VIEW_MIN_LEVEL_EXT 0x82DB -#define GL_TEXTURE_VIEW_NUM_LEVELS_EXT 0x82DC -#define GL_TEXTURE_VIEW_MIN_LAYER_EXT 0x82DD -#define GL_TEXTURE_VIEW_NUM_LAYERS_EXT 0x82DE -typedef void (GL_APIENTRYP PFNGLTEXTUREVIEWEXTPROC) (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTextureViewEXT (GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); -#endif -#endif /* GL_EXT_texture_view */ - -#ifndef GL_EXT_unpack_subimage -#define GL_EXT_unpack_subimage 1 -#define GL_UNPACK_ROW_LENGTH_EXT 0x0CF2 -#define GL_UNPACK_SKIP_ROWS_EXT 0x0CF3 -#define GL_UNPACK_SKIP_PIXELS_EXT 0x0CF4 -#endif /* GL_EXT_unpack_subimage */ - -#ifndef GL_EXT_win32_keyed_mutex -#define GL_EXT_win32_keyed_mutex 1 -typedef GLboolean (GL_APIENTRYP PFNGLACQUIREKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key, GLuint timeout); -typedef GLboolean (GL_APIENTRYP PFNGLRELEASEKEYEDMUTEXWIN32EXTPROC) (GLuint memory, GLuint64 key); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLboolean GL_APIENTRY glAcquireKeyedMutexWin32EXT (GLuint memory, GLuint64 key, GLuint timeout); -GL_APICALL GLboolean GL_APIENTRY glReleaseKeyedMutexWin32EXT (GLuint memory, GLuint64 key); -#endif -#endif /* GL_EXT_win32_keyed_mutex */ - -#ifndef GL_EXT_window_rectangles -#define GL_EXT_window_rectangles 1 -#define GL_INCLUSIVE_EXT 0x8F10 -#define GL_EXCLUSIVE_EXT 0x8F11 -#define GL_WINDOW_RECTANGLE_EXT 0x8F12 -#define GL_WINDOW_RECTANGLE_MODE_EXT 0x8F13 -#define GL_MAX_WINDOW_RECTANGLES_EXT 0x8F14 -#define GL_NUM_WINDOW_RECTANGLES_EXT 0x8F15 -typedef void (GL_APIENTRYP PFNGLWINDOWRECTANGLESEXTPROC) (GLenum mode, GLsizei count, const GLint *box); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glWindowRectanglesEXT (GLenum mode, GLsizei count, const GLint *box); -#endif -#endif /* GL_EXT_window_rectangles */ - -#ifndef GL_FJ_shader_binary_GCCSO -#define GL_FJ_shader_binary_GCCSO 1 -#define GL_GCCSO_SHADER_BINARY_FJ 0x9260 -#endif /* GL_FJ_shader_binary_GCCSO */ - -#ifndef GL_IMG_bindless_texture -#define GL_IMG_bindless_texture 1 -typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTUREHANDLEIMGPROC) (GLuint texture); -typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTURESAMPLERHANDLEIMGPROC) (GLuint texture, GLuint sampler); -typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64IMGPROC) (GLint location, GLuint64 value); -typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64VIMGPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64IMGPROC) (GLuint program, GLint location, GLuint64 value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VIMGPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLuint64 GL_APIENTRY glGetTextureHandleIMG (GLuint texture); -GL_APICALL GLuint64 GL_APIENTRY glGetTextureSamplerHandleIMG (GLuint texture, GLuint sampler); -GL_APICALL void GL_APIENTRY glUniformHandleui64IMG (GLint location, GLuint64 value); -GL_APICALL void GL_APIENTRY glUniformHandleui64vIMG (GLint location, GLsizei count, const GLuint64 *value); -GL_APICALL void GL_APIENTRY glProgramUniformHandleui64IMG (GLuint program, GLint location, GLuint64 value); -GL_APICALL void GL_APIENTRY glProgramUniformHandleui64vIMG (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -#endif -#endif /* GL_IMG_bindless_texture */ - -#ifndef GL_IMG_framebuffer_downsample -#define GL_IMG_framebuffer_downsample 1 -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_AND_DOWNSAMPLE_IMG 0x913C -#define GL_NUM_DOWNSAMPLE_SCALES_IMG 0x913D -#define GL_DOWNSAMPLE_SCALES_IMG 0x913E -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_SCALE_IMG 0x913F -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DDOWNSAMPLEIMGPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint xscale, GLint yscale); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERDOWNSAMPLEIMGPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer, GLint xscale, GLint yscale); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferTexture2DDownsampleIMG (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint xscale, GLint yscale); -GL_APICALL void GL_APIENTRY glFramebufferTextureLayerDownsampleIMG (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer, GLint xscale, GLint yscale); -#endif -#endif /* GL_IMG_framebuffer_downsample */ - -#ifndef GL_IMG_multisampled_render_to_texture -#define GL_IMG_multisampled_render_to_texture 1 -#define GL_RENDERBUFFER_SAMPLES_IMG 0x9133 -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_IMG 0x9134 -#define GL_MAX_SAMPLES_IMG 0x9135 -#define GL_TEXTURE_SAMPLES_IMG 0x9136 -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEIMGPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DMULTISAMPLEIMGPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleIMG (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glFramebufferTexture2DMultisampleIMG (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLsizei samples); -#endif -#endif /* GL_IMG_multisampled_render_to_texture */ - -#ifndef GL_IMG_program_binary -#define GL_IMG_program_binary 1 -#define GL_SGX_PROGRAM_BINARY_IMG 0x9130 -#endif /* GL_IMG_program_binary */ - -#ifndef GL_IMG_read_format -#define GL_IMG_read_format 1 -#define GL_BGRA_IMG 0x80E1 -#define GL_UNSIGNED_SHORT_4_4_4_4_REV_IMG 0x8365 -#endif /* GL_IMG_read_format */ - -#ifndef GL_IMG_shader_binary -#define GL_IMG_shader_binary 1 -#define GL_SGX_BINARY_IMG 0x8C0A -#endif /* GL_IMG_shader_binary */ - -#ifndef GL_IMG_texture_compression_pvrtc -#define GL_IMG_texture_compression_pvrtc 1 -#define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG 0x8C00 -#define GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG 0x8C01 -#define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02 -#define GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG 0x8C03 -#endif /* GL_IMG_texture_compression_pvrtc */ - -#ifndef GL_IMG_texture_compression_pvrtc2 -#define GL_IMG_texture_compression_pvrtc2 1 -#define GL_COMPRESSED_RGBA_PVRTC_2BPPV2_IMG 0x9137 -#define GL_COMPRESSED_RGBA_PVRTC_4BPPV2_IMG 0x9138 -#endif /* GL_IMG_texture_compression_pvrtc2 */ - -#ifndef GL_IMG_texture_filter_cubic -#define GL_IMG_texture_filter_cubic 1 -#define GL_CUBIC_IMG 0x9139 -#define GL_CUBIC_MIPMAP_NEAREST_IMG 0x913A -#define GL_CUBIC_MIPMAP_LINEAR_IMG 0x913B -#endif /* GL_IMG_texture_filter_cubic */ - -#ifndef GL_INTEL_blackhole_render -#define GL_INTEL_blackhole_render 1 -#define GL_BLACKHOLE_RENDER_INTEL 0x83FC -#endif /* GL_INTEL_blackhole_render */ - -#ifndef GL_INTEL_conservative_rasterization -#define GL_INTEL_conservative_rasterization 1 -#define GL_CONSERVATIVE_RASTERIZATION_INTEL 0x83FE -#endif /* GL_INTEL_conservative_rasterization */ - -#ifndef GL_INTEL_framebuffer_CMAA -#define GL_INTEL_framebuffer_CMAA 1 -typedef void (GL_APIENTRYP PFNGLAPPLYFRAMEBUFFERATTACHMENTCMAAINTELPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glApplyFramebufferAttachmentCMAAINTEL (void); -#endif -#endif /* GL_INTEL_framebuffer_CMAA */ - -#ifndef GL_INTEL_performance_query -#define GL_INTEL_performance_query 1 -#define GL_PERFQUERY_SINGLE_CONTEXT_INTEL 0x00000000 -#define GL_PERFQUERY_GLOBAL_CONTEXT_INTEL 0x00000001 -#define GL_PERFQUERY_WAIT_INTEL 0x83FB -#define GL_PERFQUERY_FLUSH_INTEL 0x83FA -#define GL_PERFQUERY_DONOT_FLUSH_INTEL 0x83F9 -#define GL_PERFQUERY_COUNTER_EVENT_INTEL 0x94F0 -#define GL_PERFQUERY_COUNTER_DURATION_NORM_INTEL 0x94F1 -#define GL_PERFQUERY_COUNTER_DURATION_RAW_INTEL 0x94F2 -#define GL_PERFQUERY_COUNTER_THROUGHPUT_INTEL 0x94F3 -#define GL_PERFQUERY_COUNTER_RAW_INTEL 0x94F4 -#define GL_PERFQUERY_COUNTER_TIMESTAMP_INTEL 0x94F5 -#define GL_PERFQUERY_COUNTER_DATA_UINT32_INTEL 0x94F8 -#define GL_PERFQUERY_COUNTER_DATA_UINT64_INTEL 0x94F9 -#define GL_PERFQUERY_COUNTER_DATA_FLOAT_INTEL 0x94FA -#define GL_PERFQUERY_COUNTER_DATA_DOUBLE_INTEL 0x94FB -#define GL_PERFQUERY_COUNTER_DATA_BOOL32_INTEL 0x94FC -#define GL_PERFQUERY_QUERY_NAME_LENGTH_MAX_INTEL 0x94FD -#define GL_PERFQUERY_COUNTER_NAME_LENGTH_MAX_INTEL 0x94FE -#define GL_PERFQUERY_COUNTER_DESC_LENGTH_MAX_INTEL 0x94FF -#define GL_PERFQUERY_GPA_EXTENDED_COUNTERS_INTEL 0x9500 -typedef void (GL_APIENTRYP PFNGLBEGINPERFQUERYINTELPROC) (GLuint queryHandle); -typedef void (GL_APIENTRYP PFNGLCREATEPERFQUERYINTELPROC) (GLuint queryId, GLuint *queryHandle); -typedef void (GL_APIENTRYP PFNGLDELETEPERFQUERYINTELPROC) (GLuint queryHandle); -typedef void (GL_APIENTRYP PFNGLENDPERFQUERYINTELPROC) (GLuint queryHandle); -typedef void (GL_APIENTRYP PFNGLGETFIRSTPERFQUERYIDINTELPROC) (GLuint *queryId); -typedef void (GL_APIENTRYP PFNGLGETNEXTPERFQUERYIDINTELPROC) (GLuint queryId, GLuint *nextQueryId); -typedef void (GL_APIENTRYP PFNGLGETPERFCOUNTERINFOINTELPROC) (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); -typedef void (GL_APIENTRYP PFNGLGETPERFQUERYDATAINTELPROC) (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); -typedef void (GL_APIENTRYP PFNGLGETPERFQUERYIDBYNAMEINTELPROC) (GLchar *queryName, GLuint *queryId); -typedef void (GL_APIENTRYP PFNGLGETPERFQUERYINFOINTELPROC) (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBeginPerfQueryINTEL (GLuint queryHandle); -GL_APICALL void GL_APIENTRY glCreatePerfQueryINTEL (GLuint queryId, GLuint *queryHandle); -GL_APICALL void GL_APIENTRY glDeletePerfQueryINTEL (GLuint queryHandle); -GL_APICALL void GL_APIENTRY glEndPerfQueryINTEL (GLuint queryHandle); -GL_APICALL void GL_APIENTRY glGetFirstPerfQueryIdINTEL (GLuint *queryId); -GL_APICALL void GL_APIENTRY glGetNextPerfQueryIdINTEL (GLuint queryId, GLuint *nextQueryId); -GL_APICALL void GL_APIENTRY glGetPerfCounterInfoINTEL (GLuint queryId, GLuint counterId, GLuint counterNameLength, GLchar *counterName, GLuint counterDescLength, GLchar *counterDesc, GLuint *counterOffset, GLuint *counterDataSize, GLuint *counterTypeEnum, GLuint *counterDataTypeEnum, GLuint64 *rawCounterMaxValue); -GL_APICALL void GL_APIENTRY glGetPerfQueryDataINTEL (GLuint queryHandle, GLuint flags, GLsizei dataSize, void *data, GLuint *bytesWritten); -GL_APICALL void GL_APIENTRY glGetPerfQueryIdByNameINTEL (GLchar *queryName, GLuint *queryId); -GL_APICALL void GL_APIENTRY glGetPerfQueryInfoINTEL (GLuint queryId, GLuint queryNameLength, GLchar *queryName, GLuint *dataSize, GLuint *noCounters, GLuint *noInstances, GLuint *capsMask); -#endif -#endif /* GL_INTEL_performance_query */ - -#ifndef GL_MESA_bgra -#define GL_MESA_bgra 1 -#define GL_BGR_EXT 0x80E0 -#endif /* GL_MESA_bgra */ - -#ifndef GL_MESA_framebuffer_flip_x -#define GL_MESA_framebuffer_flip_x 1 -#define GL_FRAMEBUFFER_FLIP_X_MESA 0x8BBC -#endif /* GL_MESA_framebuffer_flip_x */ - -#ifndef GL_MESA_framebuffer_flip_y -#define GL_MESA_framebuffer_flip_y 1 -#define GL_FRAMEBUFFER_FLIP_Y_MESA 0x8BBB -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERPARAMETERIMESAPROC) (GLenum target, GLenum pname, GLint param); -typedef void (GL_APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVMESAPROC) (GLenum target, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferParameteriMESA (GLenum target, GLenum pname, GLint param); -GL_APICALL void GL_APIENTRY glGetFramebufferParameterivMESA (GLenum target, GLenum pname, GLint *params); -#endif -#endif /* GL_MESA_framebuffer_flip_y */ - -#ifndef GL_MESA_framebuffer_swap_xy -#define GL_MESA_framebuffer_swap_xy 1 -#define GL_FRAMEBUFFER_SWAP_XY_MESA 0x8BBD -#endif /* GL_MESA_framebuffer_swap_xy */ - -#ifndef GL_MESA_program_binary_formats -#define GL_MESA_program_binary_formats 1 -#define GL_PROGRAM_BINARY_FORMAT_MESA 0x875F -#endif /* GL_MESA_program_binary_formats */ - -#ifndef GL_MESA_shader_integer_functions -#define GL_MESA_shader_integer_functions 1 -#endif /* GL_MESA_shader_integer_functions */ - -#ifndef GL_NVX_blend_equation_advanced_multi_draw_buffers -#define GL_NVX_blend_equation_advanced_multi_draw_buffers 1 -#endif /* GL_NVX_blend_equation_advanced_multi_draw_buffers */ - -#ifndef GL_NV_bindless_texture -#define GL_NV_bindless_texture 1 -typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTUREHANDLENVPROC) (GLuint texture); -typedef GLuint64 (GL_APIENTRYP PFNGLGETTEXTURESAMPLERHANDLENVPROC) (GLuint texture, GLuint sampler); -typedef void (GL_APIENTRYP PFNGLMAKETEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); -typedef void (GL_APIENTRYP PFNGLMAKETEXTUREHANDLENONRESIDENTNVPROC) (GLuint64 handle); -typedef GLuint64 (GL_APIENTRYP PFNGLGETIMAGEHANDLENVPROC) (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); -typedef void (GL_APIENTRYP PFNGLMAKEIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle, GLenum access); -typedef void (GL_APIENTRYP PFNGLMAKEIMAGEHANDLENONRESIDENTNVPROC) (GLuint64 handle); -typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64NVPROC) (GLint location, GLuint64 value); -typedef void (GL_APIENTRYP PFNGLUNIFORMHANDLEUI64VNVPROC) (GLint location, GLsizei count, const GLuint64 *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64NVPROC) (GLuint program, GLint location, GLuint64 value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORMHANDLEUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -typedef GLboolean (GL_APIENTRYP PFNGLISTEXTUREHANDLERESIDENTNVPROC) (GLuint64 handle); -typedef GLboolean (GL_APIENTRYP PFNGLISIMAGEHANDLERESIDENTNVPROC) (GLuint64 handle); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLuint64 GL_APIENTRY glGetTextureHandleNV (GLuint texture); -GL_APICALL GLuint64 GL_APIENTRY glGetTextureSamplerHandleNV (GLuint texture, GLuint sampler); -GL_APICALL void GL_APIENTRY glMakeTextureHandleResidentNV (GLuint64 handle); -GL_APICALL void GL_APIENTRY glMakeTextureHandleNonResidentNV (GLuint64 handle); -GL_APICALL GLuint64 GL_APIENTRY glGetImageHandleNV (GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum format); -GL_APICALL void GL_APIENTRY glMakeImageHandleResidentNV (GLuint64 handle, GLenum access); -GL_APICALL void GL_APIENTRY glMakeImageHandleNonResidentNV (GLuint64 handle); -GL_APICALL void GL_APIENTRY glUniformHandleui64NV (GLint location, GLuint64 value); -GL_APICALL void GL_APIENTRY glUniformHandleui64vNV (GLint location, GLsizei count, const GLuint64 *value); -GL_APICALL void GL_APIENTRY glProgramUniformHandleui64NV (GLuint program, GLint location, GLuint64 value); -GL_APICALL void GL_APIENTRY glProgramUniformHandleui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64 *values); -GL_APICALL GLboolean GL_APIENTRY glIsTextureHandleResidentNV (GLuint64 handle); -GL_APICALL GLboolean GL_APIENTRY glIsImageHandleResidentNV (GLuint64 handle); -#endif -#endif /* GL_NV_bindless_texture */ - -#ifndef GL_NV_blend_equation_advanced -#define GL_NV_blend_equation_advanced 1 -#define GL_BLEND_OVERLAP_NV 0x9281 -#define GL_BLEND_PREMULTIPLIED_SRC_NV 0x9280 -#define GL_BLUE_NV 0x1905 -#define GL_COLORBURN_NV 0x929A -#define GL_COLORDODGE_NV 0x9299 -#define GL_CONJOINT_NV 0x9284 -#define GL_CONTRAST_NV 0x92A1 -#define GL_DARKEN_NV 0x9297 -#define GL_DIFFERENCE_NV 0x929E -#define GL_DISJOINT_NV 0x9283 -#define GL_DST_ATOP_NV 0x928F -#define GL_DST_IN_NV 0x928B -#define GL_DST_NV 0x9287 -#define GL_DST_OUT_NV 0x928D -#define GL_DST_OVER_NV 0x9289 -#define GL_EXCLUSION_NV 0x92A0 -#define GL_GREEN_NV 0x1904 -#define GL_HARDLIGHT_NV 0x929B -#define GL_HARDMIX_NV 0x92A9 -#define GL_HSL_COLOR_NV 0x92AF -#define GL_HSL_HUE_NV 0x92AD -#define GL_HSL_LUMINOSITY_NV 0x92B0 -#define GL_HSL_SATURATION_NV 0x92AE -#define GL_INVERT_OVG_NV 0x92B4 -#define GL_INVERT_RGB_NV 0x92A3 -#define GL_LIGHTEN_NV 0x9298 -#define GL_LINEARBURN_NV 0x92A5 -#define GL_LINEARDODGE_NV 0x92A4 -#define GL_LINEARLIGHT_NV 0x92A7 -#define GL_MINUS_CLAMPED_NV 0x92B3 -#define GL_MINUS_NV 0x929F -#define GL_MULTIPLY_NV 0x9294 -#define GL_OVERLAY_NV 0x9296 -#define GL_PINLIGHT_NV 0x92A8 -#define GL_PLUS_CLAMPED_ALPHA_NV 0x92B2 -#define GL_PLUS_CLAMPED_NV 0x92B1 -#define GL_PLUS_DARKER_NV 0x9292 -#define GL_PLUS_NV 0x9291 -#define GL_RED_NV 0x1903 -#define GL_SCREEN_NV 0x9295 -#define GL_SOFTLIGHT_NV 0x929C -#define GL_SRC_ATOP_NV 0x928E -#define GL_SRC_IN_NV 0x928A -#define GL_SRC_NV 0x9286 -#define GL_SRC_OUT_NV 0x928C -#define GL_SRC_OVER_NV 0x9288 -#define GL_UNCORRELATED_NV 0x9282 -#define GL_VIVIDLIGHT_NV 0x92A6 -#define GL_XOR_NV 0x1506 -typedef void (GL_APIENTRYP PFNGLBLENDPARAMETERINVPROC) (GLenum pname, GLint value); -typedef void (GL_APIENTRYP PFNGLBLENDBARRIERNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBlendParameteriNV (GLenum pname, GLint value); -GL_APICALL void GL_APIENTRY glBlendBarrierNV (void); -#endif -#endif /* GL_NV_blend_equation_advanced */ - -#ifndef GL_NV_blend_equation_advanced_coherent -#define GL_NV_blend_equation_advanced_coherent 1 -#define GL_BLEND_ADVANCED_COHERENT_NV 0x9285 -#endif /* GL_NV_blend_equation_advanced_coherent */ - -#ifndef GL_NV_blend_minmax_factor -#define GL_NV_blend_minmax_factor 1 -#define GL_FACTOR_MIN_AMD 0x901C -#define GL_FACTOR_MAX_AMD 0x901D -#endif /* GL_NV_blend_minmax_factor */ - -#ifndef GL_NV_clip_space_w_scaling -#define GL_NV_clip_space_w_scaling 1 -#define GL_VIEWPORT_POSITION_W_SCALE_NV 0x937C -#define GL_VIEWPORT_POSITION_W_SCALE_X_COEFF_NV 0x937D -#define GL_VIEWPORT_POSITION_W_SCALE_Y_COEFF_NV 0x937E -typedef void (GL_APIENTRYP PFNGLVIEWPORTPOSITIONWSCALENVPROC) (GLuint index, GLfloat xcoeff, GLfloat ycoeff); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glViewportPositionWScaleNV (GLuint index, GLfloat xcoeff, GLfloat ycoeff); -#endif -#endif /* GL_NV_clip_space_w_scaling */ - -#ifndef GL_NV_compute_shader_derivatives -#define GL_NV_compute_shader_derivatives 1 -#endif /* GL_NV_compute_shader_derivatives */ - -#ifndef GL_NV_conditional_render -#define GL_NV_conditional_render 1 -#define GL_QUERY_WAIT_NV 0x8E13 -#define GL_QUERY_NO_WAIT_NV 0x8E14 -#define GL_QUERY_BY_REGION_WAIT_NV 0x8E15 -#define GL_QUERY_BY_REGION_NO_WAIT_NV 0x8E16 -typedef void (GL_APIENTRYP PFNGLBEGINCONDITIONALRENDERNVPROC) (GLuint id, GLenum mode); -typedef void (GL_APIENTRYP PFNGLENDCONDITIONALRENDERNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBeginConditionalRenderNV (GLuint id, GLenum mode); -GL_APICALL void GL_APIENTRY glEndConditionalRenderNV (void); -#endif -#endif /* GL_NV_conditional_render */ - -#ifndef GL_NV_conservative_raster -#define GL_NV_conservative_raster 1 -#define GL_CONSERVATIVE_RASTERIZATION_NV 0x9346 -#define GL_SUBPIXEL_PRECISION_BIAS_X_BITS_NV 0x9347 -#define GL_SUBPIXEL_PRECISION_BIAS_Y_BITS_NV 0x9348 -#define GL_MAX_SUBPIXEL_PRECISION_BIAS_BITS_NV 0x9349 -typedef void (GL_APIENTRYP PFNGLSUBPIXELPRECISIONBIASNVPROC) (GLuint xbits, GLuint ybits); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glSubpixelPrecisionBiasNV (GLuint xbits, GLuint ybits); -#endif -#endif /* GL_NV_conservative_raster */ - -#ifndef GL_NV_conservative_raster_pre_snap -#define GL_NV_conservative_raster_pre_snap 1 -#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_NV 0x9550 -#endif /* GL_NV_conservative_raster_pre_snap */ - -#ifndef GL_NV_conservative_raster_pre_snap_triangles -#define GL_NV_conservative_raster_pre_snap_triangles 1 -#define GL_CONSERVATIVE_RASTER_MODE_NV 0x954D -#define GL_CONSERVATIVE_RASTER_MODE_POST_SNAP_NV 0x954E -#define GL_CONSERVATIVE_RASTER_MODE_PRE_SNAP_TRIANGLES_NV 0x954F -typedef void (GL_APIENTRYP PFNGLCONSERVATIVERASTERPARAMETERINVPROC) (GLenum pname, GLint param); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glConservativeRasterParameteriNV (GLenum pname, GLint param); -#endif -#endif /* GL_NV_conservative_raster_pre_snap_triangles */ - -#ifndef GL_NV_copy_buffer -#define GL_NV_copy_buffer 1 -#define GL_COPY_READ_BUFFER_NV 0x8F36 -#define GL_COPY_WRITE_BUFFER_NV 0x8F37 -typedef void (GL_APIENTRYP PFNGLCOPYBUFFERSUBDATANVPROC) (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCopyBufferSubDataNV (GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); -#endif -#endif /* GL_NV_copy_buffer */ - -#ifndef GL_NV_coverage_sample -#define GL_NV_coverage_sample 1 -#define GL_COVERAGE_COMPONENT_NV 0x8ED0 -#define GL_COVERAGE_COMPONENT4_NV 0x8ED1 -#define GL_COVERAGE_ATTACHMENT_NV 0x8ED2 -#define GL_COVERAGE_BUFFERS_NV 0x8ED3 -#define GL_COVERAGE_SAMPLES_NV 0x8ED4 -#define GL_COVERAGE_ALL_FRAGMENTS_NV 0x8ED5 -#define GL_COVERAGE_EDGE_FRAGMENTS_NV 0x8ED6 -#define GL_COVERAGE_AUTOMATIC_NV 0x8ED7 -#define GL_COVERAGE_BUFFER_BIT_NV 0x00008000 -typedef void (GL_APIENTRYP PFNGLCOVERAGEMASKNVPROC) (GLboolean mask); -typedef void (GL_APIENTRYP PFNGLCOVERAGEOPERATIONNVPROC) (GLenum operation); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCoverageMaskNV (GLboolean mask); -GL_APICALL void GL_APIENTRY glCoverageOperationNV (GLenum operation); -#endif -#endif /* GL_NV_coverage_sample */ - -#ifndef GL_NV_depth_nonlinear -#define GL_NV_depth_nonlinear 1 -#define GL_DEPTH_COMPONENT16_NONLINEAR_NV 0x8E2C -#endif /* GL_NV_depth_nonlinear */ - -#ifndef GL_NV_draw_buffers -#define GL_NV_draw_buffers 1 -#define GL_MAX_DRAW_BUFFERS_NV 0x8824 -#define GL_DRAW_BUFFER0_NV 0x8825 -#define GL_DRAW_BUFFER1_NV 0x8826 -#define GL_DRAW_BUFFER2_NV 0x8827 -#define GL_DRAW_BUFFER3_NV 0x8828 -#define GL_DRAW_BUFFER4_NV 0x8829 -#define GL_DRAW_BUFFER5_NV 0x882A -#define GL_DRAW_BUFFER6_NV 0x882B -#define GL_DRAW_BUFFER7_NV 0x882C -#define GL_DRAW_BUFFER8_NV 0x882D -#define GL_DRAW_BUFFER9_NV 0x882E -#define GL_DRAW_BUFFER10_NV 0x882F -#define GL_DRAW_BUFFER11_NV 0x8830 -#define GL_DRAW_BUFFER12_NV 0x8831 -#define GL_DRAW_BUFFER13_NV 0x8832 -#define GL_DRAW_BUFFER14_NV 0x8833 -#define GL_DRAW_BUFFER15_NV 0x8834 -#define GL_COLOR_ATTACHMENT0_NV 0x8CE0 -#define GL_COLOR_ATTACHMENT1_NV 0x8CE1 -#define GL_COLOR_ATTACHMENT2_NV 0x8CE2 -#define GL_COLOR_ATTACHMENT3_NV 0x8CE3 -#define GL_COLOR_ATTACHMENT4_NV 0x8CE4 -#define GL_COLOR_ATTACHMENT5_NV 0x8CE5 -#define GL_COLOR_ATTACHMENT6_NV 0x8CE6 -#define GL_COLOR_ATTACHMENT7_NV 0x8CE7 -#define GL_COLOR_ATTACHMENT8_NV 0x8CE8 -#define GL_COLOR_ATTACHMENT9_NV 0x8CE9 -#define GL_COLOR_ATTACHMENT10_NV 0x8CEA -#define GL_COLOR_ATTACHMENT11_NV 0x8CEB -#define GL_COLOR_ATTACHMENT12_NV 0x8CEC -#define GL_COLOR_ATTACHMENT13_NV 0x8CED -#define GL_COLOR_ATTACHMENT14_NV 0x8CEE -#define GL_COLOR_ATTACHMENT15_NV 0x8CEF -typedef void (GL_APIENTRYP PFNGLDRAWBUFFERSNVPROC) (GLsizei n, const GLenum *bufs); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawBuffersNV (GLsizei n, const GLenum *bufs); -#endif -#endif /* GL_NV_draw_buffers */ - -#ifndef GL_NV_draw_instanced -#define GL_NV_draw_instanced 1 -typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDNVPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); -typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDNVPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawArraysInstancedNV (GLenum mode, GLint first, GLsizei count, GLsizei primcount); -GL_APICALL void GL_APIENTRY glDrawElementsInstancedNV (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount); -#endif -#endif /* GL_NV_draw_instanced */ - -#ifndef GL_NV_draw_vulkan_image -#define GL_NV_draw_vulkan_image 1 -typedef void (GL_APIENTRY *GLVULKANPROCNV)(void); -typedef void (GL_APIENTRYP PFNGLDRAWVKIMAGENVPROC) (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); -typedef GLVULKANPROCNV (GL_APIENTRYP PFNGLGETVKPROCADDRNVPROC) (const GLchar *name); -typedef void (GL_APIENTRYP PFNGLWAITVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); -typedef void (GL_APIENTRYP PFNGLSIGNALVKSEMAPHORENVPROC) (GLuint64 vkSemaphore); -typedef void (GL_APIENTRYP PFNGLSIGNALVKFENCENVPROC) (GLuint64 vkFence); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawVkImageNV (GLuint64 vkImage, GLuint sampler, GLfloat x0, GLfloat y0, GLfloat x1, GLfloat y1, GLfloat z, GLfloat s0, GLfloat t0, GLfloat s1, GLfloat t1); -GL_APICALL GLVULKANPROCNV GL_APIENTRY glGetVkProcAddrNV (const GLchar *name); -GL_APICALL void GL_APIENTRY glWaitVkSemaphoreNV (GLuint64 vkSemaphore); -GL_APICALL void GL_APIENTRY glSignalVkSemaphoreNV (GLuint64 vkSemaphore); -GL_APICALL void GL_APIENTRY glSignalVkFenceNV (GLuint64 vkFence); -#endif -#endif /* GL_NV_draw_vulkan_image */ - -#ifndef GL_NV_explicit_attrib_location -#define GL_NV_explicit_attrib_location 1 -#endif /* GL_NV_explicit_attrib_location */ - -#ifndef GL_NV_fbo_color_attachments -#define GL_NV_fbo_color_attachments 1 -#define GL_MAX_COLOR_ATTACHMENTS_NV 0x8CDF -#endif /* GL_NV_fbo_color_attachments */ - -#ifndef GL_NV_fence -#define GL_NV_fence 1 -#define GL_ALL_COMPLETED_NV 0x84F2 -#define GL_FENCE_STATUS_NV 0x84F3 -#define GL_FENCE_CONDITION_NV 0x84F4 -typedef void (GL_APIENTRYP PFNGLDELETEFENCESNVPROC) (GLsizei n, const GLuint *fences); -typedef void (GL_APIENTRYP PFNGLGENFENCESNVPROC) (GLsizei n, GLuint *fences); -typedef GLboolean (GL_APIENTRYP PFNGLISFENCENVPROC) (GLuint fence); -typedef GLboolean (GL_APIENTRYP PFNGLTESTFENCENVPROC) (GLuint fence); -typedef void (GL_APIENTRYP PFNGLGETFENCEIVNVPROC) (GLuint fence, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLFINISHFENCENVPROC) (GLuint fence); -typedef void (GL_APIENTRYP PFNGLSETFENCENVPROC) (GLuint fence, GLenum condition); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDeleteFencesNV (GLsizei n, const GLuint *fences); -GL_APICALL void GL_APIENTRY glGenFencesNV (GLsizei n, GLuint *fences); -GL_APICALL GLboolean GL_APIENTRY glIsFenceNV (GLuint fence); -GL_APICALL GLboolean GL_APIENTRY glTestFenceNV (GLuint fence); -GL_APICALL void GL_APIENTRY glGetFenceivNV (GLuint fence, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glFinishFenceNV (GLuint fence); -GL_APICALL void GL_APIENTRY glSetFenceNV (GLuint fence, GLenum condition); -#endif -#endif /* GL_NV_fence */ - -#ifndef GL_NV_fill_rectangle -#define GL_NV_fill_rectangle 1 -#define GL_FILL_RECTANGLE_NV 0x933C -#endif /* GL_NV_fill_rectangle */ - -#ifndef GL_NV_fragment_coverage_to_color -#define GL_NV_fragment_coverage_to_color 1 -#define GL_FRAGMENT_COVERAGE_TO_COLOR_NV 0x92DD -#define GL_FRAGMENT_COVERAGE_COLOR_NV 0x92DE -typedef void (GL_APIENTRYP PFNGLFRAGMENTCOVERAGECOLORNVPROC) (GLuint color); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFragmentCoverageColorNV (GLuint color); -#endif -#endif /* GL_NV_fragment_coverage_to_color */ - -#ifndef GL_NV_fragment_shader_barycentric -#define GL_NV_fragment_shader_barycentric 1 -#endif /* GL_NV_fragment_shader_barycentric */ - -#ifndef GL_NV_fragment_shader_interlock -#define GL_NV_fragment_shader_interlock 1 -#endif /* GL_NV_fragment_shader_interlock */ - -#ifndef GL_NV_framebuffer_blit -#define GL_NV_framebuffer_blit 1 -#define GL_READ_FRAMEBUFFER_NV 0x8CA8 -#define GL_DRAW_FRAMEBUFFER_NV 0x8CA9 -#define GL_DRAW_FRAMEBUFFER_BINDING_NV 0x8CA6 -#define GL_READ_FRAMEBUFFER_BINDING_NV 0x8CAA -typedef void (GL_APIENTRYP PFNGLBLITFRAMEBUFFERNVPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBlitFramebufferNV (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); -#endif -#endif /* GL_NV_framebuffer_blit */ - -#ifndef GL_NV_framebuffer_mixed_samples -#define GL_NV_framebuffer_mixed_samples 1 -#define GL_COVERAGE_MODULATION_TABLE_NV 0x9331 -#define GL_COLOR_SAMPLES_NV 0x8E20 -#define GL_DEPTH_SAMPLES_NV 0x932D -#define GL_STENCIL_SAMPLES_NV 0x932E -#define GL_MIXED_DEPTH_SAMPLES_SUPPORTED_NV 0x932F -#define GL_MIXED_STENCIL_SAMPLES_SUPPORTED_NV 0x9330 -#define GL_COVERAGE_MODULATION_NV 0x9332 -#define GL_COVERAGE_MODULATION_TABLE_SIZE_NV 0x9333 -typedef void (GL_APIENTRYP PFNGLCOVERAGEMODULATIONTABLENVPROC) (GLsizei n, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLGETCOVERAGEMODULATIONTABLENVPROC) (GLsizei bufSize, GLfloat *v); -typedef void (GL_APIENTRYP PFNGLCOVERAGEMODULATIONNVPROC) (GLenum components); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCoverageModulationTableNV (GLsizei n, const GLfloat *v); -GL_APICALL void GL_APIENTRY glGetCoverageModulationTableNV (GLsizei bufSize, GLfloat *v); -GL_APICALL void GL_APIENTRY glCoverageModulationNV (GLenum components); -#endif -#endif /* GL_NV_framebuffer_mixed_samples */ - -#ifndef GL_NV_framebuffer_multisample -#define GL_NV_framebuffer_multisample 1 -#define GL_RENDERBUFFER_SAMPLES_NV 0x8CAB -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_NV 0x8D56 -#define GL_MAX_SAMPLES_NV 0x8D57 -typedef void (GL_APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLENVPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glRenderbufferStorageMultisampleNV (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); -#endif -#endif /* GL_NV_framebuffer_multisample */ - -#ifndef GL_NV_generate_mipmap_sRGB -#define GL_NV_generate_mipmap_sRGB 1 -#endif /* GL_NV_generate_mipmap_sRGB */ - -#ifndef GL_NV_geometry_shader_passthrough -#define GL_NV_geometry_shader_passthrough 1 -#endif /* GL_NV_geometry_shader_passthrough */ - -#ifndef GL_NV_gpu_shader5 -#define GL_NV_gpu_shader5 1 -typedef khronos_int64_t GLint64EXT; -typedef khronos_uint64_t GLuint64EXT; -#define GL_INT64_NV 0x140E -#define GL_UNSIGNED_INT64_NV 0x140F -#define GL_INT8_NV 0x8FE0 -#define GL_INT8_VEC2_NV 0x8FE1 -#define GL_INT8_VEC3_NV 0x8FE2 -#define GL_INT8_VEC4_NV 0x8FE3 -#define GL_INT16_NV 0x8FE4 -#define GL_INT16_VEC2_NV 0x8FE5 -#define GL_INT16_VEC3_NV 0x8FE6 -#define GL_INT16_VEC4_NV 0x8FE7 -#define GL_INT64_VEC2_NV 0x8FE9 -#define GL_INT64_VEC3_NV 0x8FEA -#define GL_INT64_VEC4_NV 0x8FEB -#define GL_UNSIGNED_INT8_NV 0x8FEC -#define GL_UNSIGNED_INT8_VEC2_NV 0x8FED -#define GL_UNSIGNED_INT8_VEC3_NV 0x8FEE -#define GL_UNSIGNED_INT8_VEC4_NV 0x8FEF -#define GL_UNSIGNED_INT16_NV 0x8FF0 -#define GL_UNSIGNED_INT16_VEC2_NV 0x8FF1 -#define GL_UNSIGNED_INT16_VEC3_NV 0x8FF2 -#define GL_UNSIGNED_INT16_VEC4_NV 0x8FF3 -#define GL_UNSIGNED_INT64_VEC2_NV 0x8FF5 -#define GL_UNSIGNED_INT64_VEC3_NV 0x8FF6 -#define GL_UNSIGNED_INT64_VEC4_NV 0x8FF7 -#define GL_FLOAT16_NV 0x8FF8 -#define GL_FLOAT16_VEC2_NV 0x8FF9 -#define GL_FLOAT16_VEC3_NV 0x8FFA -#define GL_FLOAT16_VEC4_NV 0x8FFB -#define GL_PATCHES 0x000E -typedef void (GL_APIENTRYP PFNGLUNIFORM1I64NVPROC) (GLint location, GLint64EXT x); -typedef void (GL_APIENTRYP PFNGLUNIFORM2I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y); -typedef void (GL_APIENTRYP PFNGLUNIFORM3I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -typedef void (GL_APIENTRYP PFNGLUNIFORM4I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -typedef void (GL_APIENTRYP PFNGLUNIFORM1I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM2I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM3I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM4I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM1UI64NVPROC) (GLint location, GLuint64EXT x); -typedef void (GL_APIENTRYP PFNGLUNIFORM2UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y); -typedef void (GL_APIENTRYP PFNGLUNIFORM3UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -typedef void (GL_APIENTRYP PFNGLUNIFORM4UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -typedef void (GL_APIENTRYP PFNGLUNIFORM1UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM2UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM3UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLUNIFORM4UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLGETUNIFORMI64VNVPROC) (GLuint program, GLint location, GLint64EXT *params); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1I64NVPROC) (GLuint program, GLint location, GLint64EXT x); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM1UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM2UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM3UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -typedef void (GL_APIENTRYP PFNGLPROGRAMUNIFORM4UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glUniform1i64NV (GLint location, GLint64EXT x); -GL_APICALL void GL_APIENTRY glUniform2i64NV (GLint location, GLint64EXT x, GLint64EXT y); -GL_APICALL void GL_APIENTRY glUniform3i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -GL_APICALL void GL_APIENTRY glUniform4i64NV (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -GL_APICALL void GL_APIENTRY glUniform1i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform2i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform3i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform4i64vNV (GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform1ui64NV (GLint location, GLuint64EXT x); -GL_APICALL void GL_APIENTRY glUniform2ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y); -GL_APICALL void GL_APIENTRY glUniform3ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -GL_APICALL void GL_APIENTRY glUniform4ui64NV (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -GL_APICALL void GL_APIENTRY glUniform1ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform2ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform3ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glUniform4ui64vNV (GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glGetUniformi64vNV (GLuint program, GLint location, GLint64EXT *params); -GL_APICALL void GL_APIENTRY glProgramUniform1i64NV (GLuint program, GLint location, GLint64EXT x); -GL_APICALL void GL_APIENTRY glProgramUniform2i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); -GL_APICALL void GL_APIENTRY glProgramUniform3i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); -GL_APICALL void GL_APIENTRY glProgramUniform4i64NV (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); -GL_APICALL void GL_APIENTRY glProgramUniform1i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform2i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform3i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform4i64vNV (GLuint program, GLint location, GLsizei count, const GLint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform1ui64NV (GLuint program, GLint location, GLuint64EXT x); -GL_APICALL void GL_APIENTRY glProgramUniform2ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); -GL_APICALL void GL_APIENTRY glProgramUniform3ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); -GL_APICALL void GL_APIENTRY glProgramUniform4ui64NV (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); -GL_APICALL void GL_APIENTRY glProgramUniform1ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform2ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform3ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -GL_APICALL void GL_APIENTRY glProgramUniform4ui64vNV (GLuint program, GLint location, GLsizei count, const GLuint64EXT *value); -#endif -#endif /* GL_NV_gpu_shader5 */ - -#ifndef GL_NV_image_formats -#define GL_NV_image_formats 1 -#endif /* GL_NV_image_formats */ - -#ifndef GL_NV_instanced_arrays -#define GL_NV_instanced_arrays 1 -#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_NV 0x88FE -typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISORNVPROC) (GLuint index, GLuint divisor); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glVertexAttribDivisorNV (GLuint index, GLuint divisor); -#endif -#endif /* GL_NV_instanced_arrays */ - -#ifndef GL_NV_internalformat_sample_query -#define GL_NV_internalformat_sample_query 1 -#define GL_TEXTURE_2D_MULTISAMPLE 0x9100 -#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9102 -#define GL_MULTISAMPLES_NV 0x9371 -#define GL_SUPERSAMPLE_SCALE_X_NV 0x9372 -#define GL_SUPERSAMPLE_SCALE_Y_NV 0x9373 -#define GL_CONFORMANT_NV 0x9374 -typedef void (GL_APIENTRYP PFNGLGETINTERNALFORMATSAMPLEIVNVPROC) (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetInternalformatSampleivNV (GLenum target, GLenum internalformat, GLsizei samples, GLenum pname, GLsizei count, GLint *params); -#endif -#endif /* GL_NV_internalformat_sample_query */ - -#ifndef GL_NV_memory_attachment -#define GL_NV_memory_attachment 1 -#define GL_ATTACHED_MEMORY_OBJECT_NV 0x95A4 -#define GL_ATTACHED_MEMORY_OFFSET_NV 0x95A5 -#define GL_MEMORY_ATTACHABLE_ALIGNMENT_NV 0x95A6 -#define GL_MEMORY_ATTACHABLE_SIZE_NV 0x95A7 -#define GL_MEMORY_ATTACHABLE_NV 0x95A8 -#define GL_DETACHED_MEMORY_INCARNATION_NV 0x95A9 -#define GL_DETACHED_TEXTURES_NV 0x95AA -#define GL_DETACHED_BUFFERS_NV 0x95AB -#define GL_MAX_DETACHED_TEXTURES_NV 0x95AC -#define GL_MAX_DETACHED_BUFFERS_NV 0x95AD -typedef void (GL_APIENTRYP PFNGLGETMEMORYOBJECTDETACHEDRESOURCESUIVNVPROC) (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); -typedef void (GL_APIENTRYP PFNGLRESETMEMORYOBJECTPARAMETERNVPROC) (GLuint memory, GLenum pname); -typedef void (GL_APIENTRYP PFNGLTEXATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLBUFFERATTACHMEMORYNVPROC) (GLenum target, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLTEXTUREATTACHMEMORYNVPROC) (GLuint texture, GLuint memory, GLuint64 offset); -typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERATTACHMEMORYNVPROC) (GLuint buffer, GLuint memory, GLuint64 offset); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetMemoryObjectDetachedResourcesuivNV (GLuint memory, GLenum pname, GLint first, GLsizei count, GLuint *params); -GL_APICALL void GL_APIENTRY glResetMemoryObjectParameterNV (GLuint memory, GLenum pname); -GL_APICALL void GL_APIENTRY glTexAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glBufferAttachMemoryNV (GLenum target, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glTextureAttachMemoryNV (GLuint texture, GLuint memory, GLuint64 offset); -GL_APICALL void GL_APIENTRY glNamedBufferAttachMemoryNV (GLuint buffer, GLuint memory, GLuint64 offset); -#endif -#endif /* GL_NV_memory_attachment */ - -#ifndef GL_NV_memory_object_sparse -#define GL_NV_memory_object_sparse 1 -typedef void (GL_APIENTRYP PFNGLBUFFERPAGECOMMITMENTMEMNVPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -typedef void (GL_APIENTRYP PFNGLTEXPAGECOMMITMENTMEMNVPROC) (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -typedef void (GL_APIENTRYP PFNGLNAMEDBUFFERPAGECOMMITMENTMEMNVPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -typedef void (GL_APIENTRYP PFNGLTEXTUREPAGECOMMITMENTMEMNVPROC) (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBufferPageCommitmentMemNV (GLenum target, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -GL_APICALL void GL_APIENTRY glTexPageCommitmentMemNV (GLenum target, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -GL_APICALL void GL_APIENTRY glNamedBufferPageCommitmentMemNV (GLuint buffer, GLintptr offset, GLsizeiptr size, GLuint memory, GLuint64 memOffset, GLboolean commit); -GL_APICALL void GL_APIENTRY glTexturePageCommitmentMemNV (GLuint texture, GLint layer, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLuint memory, GLuint64 offset, GLboolean commit); -#endif -#endif /* GL_NV_memory_object_sparse */ - -#ifndef GL_NV_mesh_shader -#define GL_NV_mesh_shader 1 -#define GL_MESH_SHADER_NV 0x9559 -#define GL_TASK_SHADER_NV 0x955A -#define GL_MAX_MESH_UNIFORM_BLOCKS_NV 0x8E60 -#define GL_MAX_MESH_TEXTURE_IMAGE_UNITS_NV 0x8E61 -#define GL_MAX_MESH_IMAGE_UNIFORMS_NV 0x8E62 -#define GL_MAX_MESH_UNIFORM_COMPONENTS_NV 0x8E63 -#define GL_MAX_MESH_ATOMIC_COUNTER_BUFFERS_NV 0x8E64 -#define GL_MAX_MESH_ATOMIC_COUNTERS_NV 0x8E65 -#define GL_MAX_MESH_SHADER_STORAGE_BLOCKS_NV 0x8E66 -#define GL_MAX_COMBINED_MESH_UNIFORM_COMPONENTS_NV 0x8E67 -#define GL_MAX_TASK_UNIFORM_BLOCKS_NV 0x8E68 -#define GL_MAX_TASK_TEXTURE_IMAGE_UNITS_NV 0x8E69 -#define GL_MAX_TASK_IMAGE_UNIFORMS_NV 0x8E6A -#define GL_MAX_TASK_UNIFORM_COMPONENTS_NV 0x8E6B -#define GL_MAX_TASK_ATOMIC_COUNTER_BUFFERS_NV 0x8E6C -#define GL_MAX_TASK_ATOMIC_COUNTERS_NV 0x8E6D -#define GL_MAX_TASK_SHADER_STORAGE_BLOCKS_NV 0x8E6E -#define GL_MAX_COMBINED_TASK_UNIFORM_COMPONENTS_NV 0x8E6F -#define GL_MAX_MESH_WORK_GROUP_INVOCATIONS_NV 0x95A2 -#define GL_MAX_TASK_WORK_GROUP_INVOCATIONS_NV 0x95A3 -#define GL_MAX_MESH_TOTAL_MEMORY_SIZE_NV 0x9536 -#define GL_MAX_TASK_TOTAL_MEMORY_SIZE_NV 0x9537 -#define GL_MAX_MESH_OUTPUT_VERTICES_NV 0x9538 -#define GL_MAX_MESH_OUTPUT_PRIMITIVES_NV 0x9539 -#define GL_MAX_TASK_OUTPUT_COUNT_NV 0x953A -#define GL_MAX_DRAW_MESH_TASKS_COUNT_NV 0x953D -#define GL_MAX_MESH_VIEWS_NV 0x9557 -#define GL_MESH_OUTPUT_PER_VERTEX_GRANULARITY_NV 0x92DF -#define GL_MESH_OUTPUT_PER_PRIMITIVE_GRANULARITY_NV 0x9543 -#define GL_MAX_MESH_WORK_GROUP_SIZE_NV 0x953B -#define GL_MAX_TASK_WORK_GROUP_SIZE_NV 0x953C -#define GL_MESH_WORK_GROUP_SIZE_NV 0x953E -#define GL_TASK_WORK_GROUP_SIZE_NV 0x953F -#define GL_MESH_VERTICES_OUT_NV 0x9579 -#define GL_MESH_PRIMITIVES_OUT_NV 0x957A -#define GL_MESH_OUTPUT_TYPE_NV 0x957B -#define GL_UNIFORM_BLOCK_REFERENCED_BY_MESH_SHADER_NV 0x959C -#define GL_UNIFORM_BLOCK_REFERENCED_BY_TASK_SHADER_NV 0x959D -#define GL_REFERENCED_BY_MESH_SHADER_NV 0x95A0 -#define GL_REFERENCED_BY_TASK_SHADER_NV 0x95A1 -#define GL_MESH_SHADER_BIT_NV 0x00000040 -#define GL_TASK_SHADER_BIT_NV 0x00000080 -#define GL_MESH_SUBROUTINE_NV 0x957C -#define GL_TASK_SUBROUTINE_NV 0x957D -#define GL_MESH_SUBROUTINE_UNIFORM_NV 0x957E -#define GL_TASK_SUBROUTINE_UNIFORM_NV 0x957F -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_MESH_SHADER_NV 0x959E -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TASK_SHADER_NV 0x959F -typedef void (GL_APIENTRYP PFNGLDRAWMESHTASKSNVPROC) (GLuint first, GLuint count); -typedef void (GL_APIENTRYP PFNGLDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect); -typedef void (GL_APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTNVPROC) (GLintptr indirect, GLsizei drawcount, GLsizei stride); -typedef void (GL_APIENTRYP PFNGLMULTIDRAWMESHTASKSINDIRECTCOUNTNVPROC) (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glDrawMeshTasksNV (GLuint first, GLuint count); -GL_APICALL void GL_APIENTRY glDrawMeshTasksIndirectNV (GLintptr indirect); -GL_APICALL void GL_APIENTRY glMultiDrawMeshTasksIndirectNV (GLintptr indirect, GLsizei drawcount, GLsizei stride); -GL_APICALL void GL_APIENTRY glMultiDrawMeshTasksIndirectCountNV (GLintptr indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); -#endif -#endif /* GL_NV_mesh_shader */ - -#ifndef GL_NV_non_square_matrices -#define GL_NV_non_square_matrices 1 -#define GL_FLOAT_MAT2x3_NV 0x8B65 -#define GL_FLOAT_MAT2x4_NV 0x8B66 -#define GL_FLOAT_MAT3x2_NV 0x8B67 -#define GL_FLOAT_MAT3x4_NV 0x8B68 -#define GL_FLOAT_MAT4x2_NV 0x8B69 -#define GL_FLOAT_MAT4x3_NV 0x8B6A -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX2X3FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX3X2FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX2X4FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX4X2FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX3X4FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLUNIFORMMATRIX4X3FVNVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glUniformMatrix2x3fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix3x2fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix2x4fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix4x2fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix3x4fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -GL_APICALL void GL_APIENTRY glUniformMatrix4x3fvNV (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); -#endif -#endif /* GL_NV_non_square_matrices */ - -#ifndef GL_NV_path_rendering -#define GL_NV_path_rendering 1 -typedef double GLdouble; -#define GL_PATH_FORMAT_SVG_NV 0x9070 -#define GL_PATH_FORMAT_PS_NV 0x9071 -#define GL_STANDARD_FONT_NAME_NV 0x9072 -#define GL_SYSTEM_FONT_NAME_NV 0x9073 -#define GL_FILE_NAME_NV 0x9074 -#define GL_PATH_STROKE_WIDTH_NV 0x9075 -#define GL_PATH_END_CAPS_NV 0x9076 -#define GL_PATH_INITIAL_END_CAP_NV 0x9077 -#define GL_PATH_TERMINAL_END_CAP_NV 0x9078 -#define GL_PATH_JOIN_STYLE_NV 0x9079 -#define GL_PATH_MITER_LIMIT_NV 0x907A -#define GL_PATH_DASH_CAPS_NV 0x907B -#define GL_PATH_INITIAL_DASH_CAP_NV 0x907C -#define GL_PATH_TERMINAL_DASH_CAP_NV 0x907D -#define GL_PATH_DASH_OFFSET_NV 0x907E -#define GL_PATH_CLIENT_LENGTH_NV 0x907F -#define GL_PATH_FILL_MODE_NV 0x9080 -#define GL_PATH_FILL_MASK_NV 0x9081 -#define GL_PATH_FILL_COVER_MODE_NV 0x9082 -#define GL_PATH_STROKE_COVER_MODE_NV 0x9083 -#define GL_PATH_STROKE_MASK_NV 0x9084 -#define GL_COUNT_UP_NV 0x9088 -#define GL_COUNT_DOWN_NV 0x9089 -#define GL_PATH_OBJECT_BOUNDING_BOX_NV 0x908A -#define GL_CONVEX_HULL_NV 0x908B -#define GL_BOUNDING_BOX_NV 0x908D -#define GL_TRANSLATE_X_NV 0x908E -#define GL_TRANSLATE_Y_NV 0x908F -#define GL_TRANSLATE_2D_NV 0x9090 -#define GL_TRANSLATE_3D_NV 0x9091 -#define GL_AFFINE_2D_NV 0x9092 -#define GL_AFFINE_3D_NV 0x9094 -#define GL_TRANSPOSE_AFFINE_2D_NV 0x9096 -#define GL_TRANSPOSE_AFFINE_3D_NV 0x9098 -#define GL_UTF8_NV 0x909A -#define GL_UTF16_NV 0x909B -#define GL_BOUNDING_BOX_OF_BOUNDING_BOXES_NV 0x909C -#define GL_PATH_COMMAND_COUNT_NV 0x909D -#define GL_PATH_COORD_COUNT_NV 0x909E -#define GL_PATH_DASH_ARRAY_COUNT_NV 0x909F -#define GL_PATH_COMPUTED_LENGTH_NV 0x90A0 -#define GL_PATH_FILL_BOUNDING_BOX_NV 0x90A1 -#define GL_PATH_STROKE_BOUNDING_BOX_NV 0x90A2 -#define GL_SQUARE_NV 0x90A3 -#define GL_ROUND_NV 0x90A4 -#define GL_TRIANGULAR_NV 0x90A5 -#define GL_BEVEL_NV 0x90A6 -#define GL_MITER_REVERT_NV 0x90A7 -#define GL_MITER_TRUNCATE_NV 0x90A8 -#define GL_SKIP_MISSING_GLYPH_NV 0x90A9 -#define GL_USE_MISSING_GLYPH_NV 0x90AA -#define GL_PATH_ERROR_POSITION_NV 0x90AB -#define GL_ACCUM_ADJACENT_PAIRS_NV 0x90AD -#define GL_ADJACENT_PAIRS_NV 0x90AE -#define GL_FIRST_TO_REST_NV 0x90AF -#define GL_PATH_GEN_MODE_NV 0x90B0 -#define GL_PATH_GEN_COEFF_NV 0x90B1 -#define GL_PATH_GEN_COMPONENTS_NV 0x90B3 -#define GL_PATH_STENCIL_FUNC_NV 0x90B7 -#define GL_PATH_STENCIL_REF_NV 0x90B8 -#define GL_PATH_STENCIL_VALUE_MASK_NV 0x90B9 -#define GL_PATH_STENCIL_DEPTH_OFFSET_FACTOR_NV 0x90BD -#define GL_PATH_STENCIL_DEPTH_OFFSET_UNITS_NV 0x90BE -#define GL_PATH_COVER_DEPTH_FUNC_NV 0x90BF -#define GL_PATH_DASH_OFFSET_RESET_NV 0x90B4 -#define GL_MOVE_TO_RESETS_NV 0x90B5 -#define GL_MOVE_TO_CONTINUES_NV 0x90B6 -#define GL_CLOSE_PATH_NV 0x00 -#define GL_MOVE_TO_NV 0x02 -#define GL_RELATIVE_MOVE_TO_NV 0x03 -#define GL_LINE_TO_NV 0x04 -#define GL_RELATIVE_LINE_TO_NV 0x05 -#define GL_HORIZONTAL_LINE_TO_NV 0x06 -#define GL_RELATIVE_HORIZONTAL_LINE_TO_NV 0x07 -#define GL_VERTICAL_LINE_TO_NV 0x08 -#define GL_RELATIVE_VERTICAL_LINE_TO_NV 0x09 -#define GL_QUADRATIC_CURVE_TO_NV 0x0A -#define GL_RELATIVE_QUADRATIC_CURVE_TO_NV 0x0B -#define GL_CUBIC_CURVE_TO_NV 0x0C -#define GL_RELATIVE_CUBIC_CURVE_TO_NV 0x0D -#define GL_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0E -#define GL_RELATIVE_SMOOTH_QUADRATIC_CURVE_TO_NV 0x0F -#define GL_SMOOTH_CUBIC_CURVE_TO_NV 0x10 -#define GL_RELATIVE_SMOOTH_CUBIC_CURVE_TO_NV 0x11 -#define GL_SMALL_CCW_ARC_TO_NV 0x12 -#define GL_RELATIVE_SMALL_CCW_ARC_TO_NV 0x13 -#define GL_SMALL_CW_ARC_TO_NV 0x14 -#define GL_RELATIVE_SMALL_CW_ARC_TO_NV 0x15 -#define GL_LARGE_CCW_ARC_TO_NV 0x16 -#define GL_RELATIVE_LARGE_CCW_ARC_TO_NV 0x17 -#define GL_LARGE_CW_ARC_TO_NV 0x18 -#define GL_RELATIVE_LARGE_CW_ARC_TO_NV 0x19 -#define GL_RESTART_PATH_NV 0xF0 -#define GL_DUP_FIRST_CUBIC_CURVE_TO_NV 0xF2 -#define GL_DUP_LAST_CUBIC_CURVE_TO_NV 0xF4 -#define GL_RECT_NV 0xF6 -#define GL_CIRCULAR_CCW_ARC_TO_NV 0xF8 -#define GL_CIRCULAR_CW_ARC_TO_NV 0xFA -#define GL_CIRCULAR_TANGENT_ARC_TO_NV 0xFC -#define GL_ARC_TO_NV 0xFE -#define GL_RELATIVE_ARC_TO_NV 0xFF -#define GL_BOLD_BIT_NV 0x01 -#define GL_ITALIC_BIT_NV 0x02 -#define GL_GLYPH_WIDTH_BIT_NV 0x01 -#define GL_GLYPH_HEIGHT_BIT_NV 0x02 -#define GL_GLYPH_HORIZONTAL_BEARING_X_BIT_NV 0x04 -#define GL_GLYPH_HORIZONTAL_BEARING_Y_BIT_NV 0x08 -#define GL_GLYPH_HORIZONTAL_BEARING_ADVANCE_BIT_NV 0x10 -#define GL_GLYPH_VERTICAL_BEARING_X_BIT_NV 0x20 -#define GL_GLYPH_VERTICAL_BEARING_Y_BIT_NV 0x40 -#define GL_GLYPH_VERTICAL_BEARING_ADVANCE_BIT_NV 0x80 -#define GL_GLYPH_HAS_KERNING_BIT_NV 0x100 -#define GL_FONT_X_MIN_BOUNDS_BIT_NV 0x00010000 -#define GL_FONT_Y_MIN_BOUNDS_BIT_NV 0x00020000 -#define GL_FONT_X_MAX_BOUNDS_BIT_NV 0x00040000 -#define GL_FONT_Y_MAX_BOUNDS_BIT_NV 0x00080000 -#define GL_FONT_UNITS_PER_EM_BIT_NV 0x00100000 -#define GL_FONT_ASCENDER_BIT_NV 0x00200000 -#define GL_FONT_DESCENDER_BIT_NV 0x00400000 -#define GL_FONT_HEIGHT_BIT_NV 0x00800000 -#define GL_FONT_MAX_ADVANCE_WIDTH_BIT_NV 0x01000000 -#define GL_FONT_MAX_ADVANCE_HEIGHT_BIT_NV 0x02000000 -#define GL_FONT_UNDERLINE_POSITION_BIT_NV 0x04000000 -#define GL_FONT_UNDERLINE_THICKNESS_BIT_NV 0x08000000 -#define GL_FONT_HAS_KERNING_BIT_NV 0x10000000 -#define GL_ROUNDED_RECT_NV 0xE8 -#define GL_RELATIVE_ROUNDED_RECT_NV 0xE9 -#define GL_ROUNDED_RECT2_NV 0xEA -#define GL_RELATIVE_ROUNDED_RECT2_NV 0xEB -#define GL_ROUNDED_RECT4_NV 0xEC -#define GL_RELATIVE_ROUNDED_RECT4_NV 0xED -#define GL_ROUNDED_RECT8_NV 0xEE -#define GL_RELATIVE_ROUNDED_RECT8_NV 0xEF -#define GL_RELATIVE_RECT_NV 0xF7 -#define GL_FONT_GLYPHS_AVAILABLE_NV 0x9368 -#define GL_FONT_TARGET_UNAVAILABLE_NV 0x9369 -#define GL_FONT_UNAVAILABLE_NV 0x936A -#define GL_FONT_UNINTELLIGIBLE_NV 0x936B -#define GL_CONIC_CURVE_TO_NV 0x1A -#define GL_RELATIVE_CONIC_CURVE_TO_NV 0x1B -#define GL_FONT_NUM_GLYPH_INDICES_BIT_NV 0x20000000 -#define GL_STANDARD_FONT_FORMAT_NV 0x936C -#define GL_PATH_PROJECTION_NV 0x1701 -#define GL_PATH_MODELVIEW_NV 0x1700 -#define GL_PATH_MODELVIEW_STACK_DEPTH_NV 0x0BA3 -#define GL_PATH_MODELVIEW_MATRIX_NV 0x0BA6 -#define GL_PATH_MAX_MODELVIEW_STACK_DEPTH_NV 0x0D36 -#define GL_PATH_TRANSPOSE_MODELVIEW_MATRIX_NV 0x84E3 -#define GL_PATH_PROJECTION_STACK_DEPTH_NV 0x0BA4 -#define GL_PATH_PROJECTION_MATRIX_NV 0x0BA7 -#define GL_PATH_MAX_PROJECTION_STACK_DEPTH_NV 0x0D38 -#define GL_PATH_TRANSPOSE_PROJECTION_MATRIX_NV 0x84E4 -#define GL_FRAGMENT_INPUT_NV 0x936D -typedef GLuint (GL_APIENTRYP PFNGLGENPATHSNVPROC) (GLsizei range); -typedef void (GL_APIENTRYP PFNGLDELETEPATHSNVPROC) (GLuint path, GLsizei range); -typedef GLboolean (GL_APIENTRYP PFNGLISPATHNVPROC) (GLuint path); -typedef void (GL_APIENTRYP PFNGLPATHCOMMANDSNVPROC) (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (GL_APIENTRYP PFNGLPATHCOORDSNVPROC) (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (GL_APIENTRYP PFNGLPATHSUBCOMMANDSNVPROC) (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (GL_APIENTRYP PFNGLPATHSUBCOORDSNVPROC) (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); -typedef void (GL_APIENTRYP PFNGLPATHSTRINGNVPROC) (GLuint path, GLenum format, GLsizei length, const void *pathString); -typedef void (GL_APIENTRYP PFNGLPATHGLYPHSNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef void (GL_APIENTRYP PFNGLPATHGLYPHRANGENVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef void (GL_APIENTRYP PFNGLWEIGHTPATHSNVPROC) (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); -typedef void (GL_APIENTRYP PFNGLCOPYPATHNVPROC) (GLuint resultPath, GLuint srcPath); -typedef void (GL_APIENTRYP PFNGLINTERPOLATEPATHSNVPROC) (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); -typedef void (GL_APIENTRYP PFNGLTRANSFORMPATHNVPROC) (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); -typedef void (GL_APIENTRYP PFNGLPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, const GLint *value); -typedef void (GL_APIENTRYP PFNGLPATHPARAMETERINVPROC) (GLuint path, GLenum pname, GLint value); -typedef void (GL_APIENTRYP PFNGLPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, const GLfloat *value); -typedef void (GL_APIENTRYP PFNGLPATHPARAMETERFNVPROC) (GLuint path, GLenum pname, GLfloat value); -typedef void (GL_APIENTRYP PFNGLPATHDASHARRAYNVPROC) (GLuint path, GLsizei dashCount, const GLfloat *dashArray); -typedef void (GL_APIENTRYP PFNGLPATHSTENCILFUNCNVPROC) (GLenum func, GLint ref, GLuint mask); -typedef void (GL_APIENTRYP PFNGLPATHSTENCILDEPTHOFFSETNVPROC) (GLfloat factor, GLfloat units); -typedef void (GL_APIENTRYP PFNGLSTENCILFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask); -typedef void (GL_APIENTRYP PFNGLSTENCILSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask); -typedef void (GL_APIENTRYP PFNGLSTENCILFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); -typedef void (GL_APIENTRYP PFNGLSTENCILSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); -typedef void (GL_APIENTRYP PFNGLPATHCOVERDEPTHFUNCNVPROC) (GLenum func); -typedef void (GL_APIENTRYP PFNGLCOVERFILLPATHNVPROC) (GLuint path, GLenum coverMode); -typedef void (GL_APIENTRYP PFNGLCOVERSTROKEPATHNVPROC) (GLuint path, GLenum coverMode); -typedef void (GL_APIENTRYP PFNGLCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef void (GL_APIENTRYP PFNGLCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef void (GL_APIENTRYP PFNGLGETPATHPARAMETERIVNVPROC) (GLuint path, GLenum pname, GLint *value); -typedef void (GL_APIENTRYP PFNGLGETPATHPARAMETERFVNVPROC) (GLuint path, GLenum pname, GLfloat *value); -typedef void (GL_APIENTRYP PFNGLGETPATHCOMMANDSNVPROC) (GLuint path, GLubyte *commands); -typedef void (GL_APIENTRYP PFNGLGETPATHCOORDSNVPROC) (GLuint path, GLfloat *coords); -typedef void (GL_APIENTRYP PFNGLGETPATHDASHARRAYNVPROC) (GLuint path, GLfloat *dashArray); -typedef void (GL_APIENTRYP PFNGLGETPATHMETRICSNVPROC) (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); -typedef void (GL_APIENTRYP PFNGLGETPATHMETRICRANGENVPROC) (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); -typedef void (GL_APIENTRYP PFNGLGETPATHSPACINGNVPROC) (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); -typedef GLboolean (GL_APIENTRYP PFNGLISPOINTINFILLPATHNVPROC) (GLuint path, GLuint mask, GLfloat x, GLfloat y); -typedef GLboolean (GL_APIENTRYP PFNGLISPOINTINSTROKEPATHNVPROC) (GLuint path, GLfloat x, GLfloat y); -typedef GLfloat (GL_APIENTRYP PFNGLGETPATHLENGTHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments); -typedef GLboolean (GL_APIENTRYP PFNGLPOINTALONGPATHNVPROC) (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); -typedef void (GL_APIENTRYP PFNGLMATRIXLOAD3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXLOAD3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXLOADTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULT3X2FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULT3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULTTRANSPOSE3X3FNVPROC) (GLenum matrixMode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHNVPROC) (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); -typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHNVPROC) (GLuint path, GLint reference, GLuint mask, GLenum coverMode); -typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERFILLPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef void (GL_APIENTRYP PFNGLSTENCILTHENCOVERSTROKEPATHINSTANCEDNVPROC) (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -typedef GLenum (GL_APIENTRYP PFNGLPATHGLYPHINDEXRANGENVPROC) (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); -typedef GLenum (GL_APIENTRYP PFNGLPATHGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef GLenum (GL_APIENTRYP PFNGLPATHMEMORYGLYPHINDEXARRAYNVPROC) (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -typedef void (GL_APIENTRYP PFNGLPROGRAMPATHFRAGMENTINPUTGENNVPROC) (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); -typedef void (GL_APIENTRYP PFNGLGETPROGRAMRESOURCEFVNVPROC) (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); -typedef void (GL_APIENTRYP PFNGLMATRIXFRUSTUMEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -typedef void (GL_APIENTRYP PFNGLMATRIXLOADIDENTITYEXTPROC) (GLenum mode); -typedef void (GL_APIENTRYP PFNGLMATRIXLOADTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXLOADTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (GL_APIENTRYP PFNGLMATRIXLOADFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXLOADDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULTTRANSPOSEFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULTTRANSPOSEDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULTFEXTPROC) (GLenum mode, const GLfloat *m); -typedef void (GL_APIENTRYP PFNGLMATRIXMULTDEXTPROC) (GLenum mode, const GLdouble *m); -typedef void (GL_APIENTRYP PFNGLMATRIXORTHOEXTPROC) (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -typedef void (GL_APIENTRYP PFNGLMATRIXPOPEXTPROC) (GLenum mode); -typedef void (GL_APIENTRYP PFNGLMATRIXPUSHEXTPROC) (GLenum mode); -typedef void (GL_APIENTRYP PFNGLMATRIXROTATEFEXTPROC) (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); -typedef void (GL_APIENTRYP PFNGLMATRIXROTATEDEXTPROC) (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); -typedef void (GL_APIENTRYP PFNGLMATRIXSCALEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -typedef void (GL_APIENTRYP PFNGLMATRIXSCALEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -typedef void (GL_APIENTRYP PFNGLMATRIXTRANSLATEFEXTPROC) (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -typedef void (GL_APIENTRYP PFNGLMATRIXTRANSLATEDEXTPROC) (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL GLuint GL_APIENTRY glGenPathsNV (GLsizei range); -GL_APICALL void GL_APIENTRY glDeletePathsNV (GLuint path, GLsizei range); -GL_APICALL GLboolean GL_APIENTRY glIsPathNV (GLuint path); -GL_APICALL void GL_APIENTRY glPathCommandsNV (GLuint path, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -GL_APICALL void GL_APIENTRY glPathCoordsNV (GLuint path, GLsizei numCoords, GLenum coordType, const void *coords); -GL_APICALL void GL_APIENTRY glPathSubCommandsNV (GLuint path, GLsizei commandStart, GLsizei commandsToDelete, GLsizei numCommands, const GLubyte *commands, GLsizei numCoords, GLenum coordType, const void *coords); -GL_APICALL void GL_APIENTRY glPathSubCoordsNV (GLuint path, GLsizei coordStart, GLsizei numCoords, GLenum coordType, const void *coords); -GL_APICALL void GL_APIENTRY glPathStringNV (GLuint path, GLenum format, GLsizei length, const void *pathString); -GL_APICALL void GL_APIENTRY glPathGlyphsNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLsizei numGlyphs, GLenum type, const void *charcodes, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GL_APICALL void GL_APIENTRY glPathGlyphRangeNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyph, GLsizei numGlyphs, GLenum handleMissingGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GL_APICALL void GL_APIENTRY glWeightPathsNV (GLuint resultPath, GLsizei numPaths, const GLuint *paths, const GLfloat *weights); -GL_APICALL void GL_APIENTRY glCopyPathNV (GLuint resultPath, GLuint srcPath); -GL_APICALL void GL_APIENTRY glInterpolatePathsNV (GLuint resultPath, GLuint pathA, GLuint pathB, GLfloat weight); -GL_APICALL void GL_APIENTRY glTransformPathNV (GLuint resultPath, GLuint srcPath, GLenum transformType, const GLfloat *transformValues); -GL_APICALL void GL_APIENTRY glPathParameterivNV (GLuint path, GLenum pname, const GLint *value); -GL_APICALL void GL_APIENTRY glPathParameteriNV (GLuint path, GLenum pname, GLint value); -GL_APICALL void GL_APIENTRY glPathParameterfvNV (GLuint path, GLenum pname, const GLfloat *value); -GL_APICALL void GL_APIENTRY glPathParameterfNV (GLuint path, GLenum pname, GLfloat value); -GL_APICALL void GL_APIENTRY glPathDashArrayNV (GLuint path, GLsizei dashCount, const GLfloat *dashArray); -GL_APICALL void GL_APIENTRY glPathStencilFuncNV (GLenum func, GLint ref, GLuint mask); -GL_APICALL void GL_APIENTRY glPathStencilDepthOffsetNV (GLfloat factor, GLfloat units); -GL_APICALL void GL_APIENTRY glStencilFillPathNV (GLuint path, GLenum fillMode, GLuint mask); -GL_APICALL void GL_APIENTRY glStencilStrokePathNV (GLuint path, GLint reference, GLuint mask); -GL_APICALL void GL_APIENTRY glStencilFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum transformType, const GLfloat *transformValues); -GL_APICALL void GL_APIENTRY glStencilStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum transformType, const GLfloat *transformValues); -GL_APICALL void GL_APIENTRY glPathCoverDepthFuncNV (GLenum func); -GL_APICALL void GL_APIENTRY glCoverFillPathNV (GLuint path, GLenum coverMode); -GL_APICALL void GL_APIENTRY glCoverStrokePathNV (GLuint path, GLenum coverMode); -GL_APICALL void GL_APIENTRY glCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GL_APICALL void GL_APIENTRY glCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GL_APICALL void GL_APIENTRY glGetPathParameterivNV (GLuint path, GLenum pname, GLint *value); -GL_APICALL void GL_APIENTRY glGetPathParameterfvNV (GLuint path, GLenum pname, GLfloat *value); -GL_APICALL void GL_APIENTRY glGetPathCommandsNV (GLuint path, GLubyte *commands); -GL_APICALL void GL_APIENTRY glGetPathCoordsNV (GLuint path, GLfloat *coords); -GL_APICALL void GL_APIENTRY glGetPathDashArrayNV (GLuint path, GLfloat *dashArray); -GL_APICALL void GL_APIENTRY glGetPathMetricsNV (GLbitfield metricQueryMask, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLsizei stride, GLfloat *metrics); -GL_APICALL void GL_APIENTRY glGetPathMetricRangeNV (GLbitfield metricQueryMask, GLuint firstPathName, GLsizei numPaths, GLsizei stride, GLfloat *metrics); -GL_APICALL void GL_APIENTRY glGetPathSpacingNV (GLenum pathListMode, GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLfloat advanceScale, GLfloat kerningScale, GLenum transformType, GLfloat *returnedSpacing); -GL_APICALL GLboolean GL_APIENTRY glIsPointInFillPathNV (GLuint path, GLuint mask, GLfloat x, GLfloat y); -GL_APICALL GLboolean GL_APIENTRY glIsPointInStrokePathNV (GLuint path, GLfloat x, GLfloat y); -GL_APICALL GLfloat GL_APIENTRY glGetPathLengthNV (GLuint path, GLsizei startSegment, GLsizei numSegments); -GL_APICALL GLboolean GL_APIENTRY glPointAlongPathNV (GLuint path, GLsizei startSegment, GLsizei numSegments, GLfloat distance, GLfloat *x, GLfloat *y, GLfloat *tangentX, GLfloat *tangentY); -GL_APICALL void GL_APIENTRY glMatrixLoad3x2fNV (GLenum matrixMode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixLoad3x3fNV (GLenum matrixMode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixLoadTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixMult3x2fNV (GLenum matrixMode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixMult3x3fNV (GLenum matrixMode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixMultTranspose3x3fNV (GLenum matrixMode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glStencilThenCoverFillPathNV (GLuint path, GLenum fillMode, GLuint mask, GLenum coverMode); -GL_APICALL void GL_APIENTRY glStencilThenCoverStrokePathNV (GLuint path, GLint reference, GLuint mask, GLenum coverMode); -GL_APICALL void GL_APIENTRY glStencilThenCoverFillPathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLenum fillMode, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GL_APICALL void GL_APIENTRY glStencilThenCoverStrokePathInstancedNV (GLsizei numPaths, GLenum pathNameType, const void *paths, GLuint pathBase, GLint reference, GLuint mask, GLenum coverMode, GLenum transformType, const GLfloat *transformValues); -GL_APICALL GLenum GL_APIENTRY glPathGlyphIndexRangeNV (GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint pathParameterTemplate, GLfloat emScale, GLuint *baseAndCount); -GL_APICALL GLenum GL_APIENTRY glPathGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, const void *fontName, GLbitfield fontStyle, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GL_APICALL GLenum GL_APIENTRY glPathMemoryGlyphIndexArrayNV (GLuint firstPathName, GLenum fontTarget, GLsizeiptr fontSize, const void *fontData, GLsizei faceIndex, GLuint firstGlyphIndex, GLsizei numGlyphs, GLuint pathParameterTemplate, GLfloat emScale); -GL_APICALL void GL_APIENTRY glProgramPathFragmentInputGenNV (GLuint program, GLint location, GLenum genMode, GLint components, const GLfloat *coeffs); -GL_APICALL void GL_APIENTRY glGetProgramResourcefvNV (GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLfloat *params); -GL_APICALL void GL_APIENTRY glMatrixFrustumEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -GL_APICALL void GL_APIENTRY glMatrixLoadIdentityEXT (GLenum mode); -GL_APICALL void GL_APIENTRY glMatrixLoadTransposefEXT (GLenum mode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixLoadTransposedEXT (GLenum mode, const GLdouble *m); -GL_APICALL void GL_APIENTRY glMatrixLoadfEXT (GLenum mode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixLoaddEXT (GLenum mode, const GLdouble *m); -GL_APICALL void GL_APIENTRY glMatrixMultTransposefEXT (GLenum mode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixMultTransposedEXT (GLenum mode, const GLdouble *m); -GL_APICALL void GL_APIENTRY glMatrixMultfEXT (GLenum mode, const GLfloat *m); -GL_APICALL void GL_APIENTRY glMatrixMultdEXT (GLenum mode, const GLdouble *m); -GL_APICALL void GL_APIENTRY glMatrixOrthoEXT (GLenum mode, GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); -GL_APICALL void GL_APIENTRY glMatrixPopEXT (GLenum mode); -GL_APICALL void GL_APIENTRY glMatrixPushEXT (GLenum mode); -GL_APICALL void GL_APIENTRY glMatrixRotatefEXT (GLenum mode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); -GL_APICALL void GL_APIENTRY glMatrixRotatedEXT (GLenum mode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); -GL_APICALL void GL_APIENTRY glMatrixScalefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -GL_APICALL void GL_APIENTRY glMatrixScaledEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -GL_APICALL void GL_APIENTRY glMatrixTranslatefEXT (GLenum mode, GLfloat x, GLfloat y, GLfloat z); -GL_APICALL void GL_APIENTRY glMatrixTranslatedEXT (GLenum mode, GLdouble x, GLdouble y, GLdouble z); -#endif -#endif /* GL_NV_path_rendering */ - -#ifndef GL_NV_path_rendering_shared_edge -#define GL_NV_path_rendering_shared_edge 1 -#define GL_SHARED_EDGE_NV 0xC0 -#endif /* GL_NV_path_rendering_shared_edge */ - -#ifndef GL_NV_pixel_buffer_object -#define GL_NV_pixel_buffer_object 1 -#define GL_PIXEL_PACK_BUFFER_NV 0x88EB -#define GL_PIXEL_UNPACK_BUFFER_NV 0x88EC -#define GL_PIXEL_PACK_BUFFER_BINDING_NV 0x88ED -#define GL_PIXEL_UNPACK_BUFFER_BINDING_NV 0x88EF -#endif /* GL_NV_pixel_buffer_object */ - -#ifndef GL_NV_polygon_mode -#define GL_NV_polygon_mode 1 -#define GL_POLYGON_MODE_NV 0x0B40 -#define GL_POLYGON_OFFSET_POINT_NV 0x2A01 -#define GL_POLYGON_OFFSET_LINE_NV 0x2A02 -#define GL_POINT_NV 0x1B00 -#define GL_LINE_NV 0x1B01 -#define GL_FILL_NV 0x1B02 -typedef void (GL_APIENTRYP PFNGLPOLYGONMODENVPROC) (GLenum face, GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glPolygonModeNV (GLenum face, GLenum mode); -#endif -#endif /* GL_NV_polygon_mode */ - -#ifndef GL_NV_primitive_shading_rate -#define GL_NV_primitive_shading_rate 1 -#define GL_SHADING_RATE_IMAGE_PER_PRIMITIVE_NV 0x95B1 -#define GL_SHADING_RATE_IMAGE_PALETTE_COUNT_NV 0x95B2 -#endif /* GL_NV_primitive_shading_rate */ - -#ifndef GL_NV_read_buffer -#define GL_NV_read_buffer 1 -#define GL_READ_BUFFER_NV 0x0C02 -typedef void (GL_APIENTRYP PFNGLREADBUFFERNVPROC) (GLenum mode); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glReadBufferNV (GLenum mode); -#endif -#endif /* GL_NV_read_buffer */ - -#ifndef GL_NV_read_buffer_front -#define GL_NV_read_buffer_front 1 -#endif /* GL_NV_read_buffer_front */ - -#ifndef GL_NV_read_depth -#define GL_NV_read_depth 1 -#endif /* GL_NV_read_depth */ - -#ifndef GL_NV_read_depth_stencil -#define GL_NV_read_depth_stencil 1 -#endif /* GL_NV_read_depth_stencil */ - -#ifndef GL_NV_read_stencil -#define GL_NV_read_stencil 1 -#endif /* GL_NV_read_stencil */ - -#ifndef GL_NV_representative_fragment_test -#define GL_NV_representative_fragment_test 1 -#define GL_REPRESENTATIVE_FRAGMENT_TEST_NV 0x937F -#endif /* GL_NV_representative_fragment_test */ - -#ifndef GL_NV_sRGB_formats -#define GL_NV_sRGB_formats 1 -#define GL_SLUMINANCE_NV 0x8C46 -#define GL_SLUMINANCE_ALPHA_NV 0x8C44 -#define GL_SRGB8_NV 0x8C41 -#define GL_SLUMINANCE8_NV 0x8C47 -#define GL_SLUMINANCE8_ALPHA8_NV 0x8C45 -#define GL_COMPRESSED_SRGB_S3TC_DXT1_NV 0x8C4C -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_NV 0x8C4D -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_NV 0x8C4E -#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_NV 0x8C4F -#define GL_ETC1_SRGB8_NV 0x88EE -#endif /* GL_NV_sRGB_formats */ - -#ifndef GL_NV_sample_locations -#define GL_NV_sample_locations 1 -#define GL_SAMPLE_LOCATION_SUBPIXEL_BITS_NV 0x933D -#define GL_SAMPLE_LOCATION_PIXEL_GRID_WIDTH_NV 0x933E -#define GL_SAMPLE_LOCATION_PIXEL_GRID_HEIGHT_NV 0x933F -#define GL_PROGRAMMABLE_SAMPLE_LOCATION_TABLE_SIZE_NV 0x9340 -#define GL_SAMPLE_LOCATION_NV 0x8E50 -#define GL_PROGRAMMABLE_SAMPLE_LOCATION_NV 0x9341 -#define GL_FRAMEBUFFER_PROGRAMMABLE_SAMPLE_LOCATIONS_NV 0x9342 -#define GL_FRAMEBUFFER_SAMPLE_LOCATION_PIXEL_GRID_NV 0x9343 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLenum target, GLuint start, GLsizei count, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLNAMEDFRAMEBUFFERSAMPLELOCATIONSFVNVPROC) (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLRESOLVEDEPTHVALUESNVPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferSampleLocationsfvNV (GLenum target, GLuint start, GLsizei count, const GLfloat *v); -GL_APICALL void GL_APIENTRY glNamedFramebufferSampleLocationsfvNV (GLuint framebuffer, GLuint start, GLsizei count, const GLfloat *v); -GL_APICALL void GL_APIENTRY glResolveDepthValuesNV (void); -#endif -#endif /* GL_NV_sample_locations */ - -#ifndef GL_NV_sample_mask_override_coverage -#define GL_NV_sample_mask_override_coverage 1 -#endif /* GL_NV_sample_mask_override_coverage */ - -#ifndef GL_NV_scissor_exclusive -#define GL_NV_scissor_exclusive 1 -#define GL_SCISSOR_TEST_EXCLUSIVE_NV 0x9555 -#define GL_SCISSOR_BOX_EXCLUSIVE_NV 0x9556 -typedef void (GL_APIENTRYP PFNGLSCISSOREXCLUSIVENVPROC) (GLint x, GLint y, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLSCISSOREXCLUSIVEARRAYVNVPROC) (GLuint first, GLsizei count, const GLint *v); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glScissorExclusiveNV (GLint x, GLint y, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glScissorExclusiveArrayvNV (GLuint first, GLsizei count, const GLint *v); -#endif -#endif /* GL_NV_scissor_exclusive */ - -#ifndef GL_NV_shader_atomic_fp16_vector -#define GL_NV_shader_atomic_fp16_vector 1 -#endif /* GL_NV_shader_atomic_fp16_vector */ - -#ifndef GL_NV_shader_noperspective_interpolation -#define GL_NV_shader_noperspective_interpolation 1 -#endif /* GL_NV_shader_noperspective_interpolation */ - -#ifndef GL_NV_shader_subgroup_partitioned -#define GL_NV_shader_subgroup_partitioned 1 -#define GL_SUBGROUP_FEATURE_PARTITIONED_BIT_NV 0x00000100 -#endif /* GL_NV_shader_subgroup_partitioned */ - -#ifndef GL_NV_shader_texture_footprint -#define GL_NV_shader_texture_footprint 1 -#endif /* GL_NV_shader_texture_footprint */ - -#ifndef GL_NV_shading_rate_image -#define GL_NV_shading_rate_image 1 -#define GL_SHADING_RATE_IMAGE_NV 0x9563 -#define GL_SHADING_RATE_NO_INVOCATIONS_NV 0x9564 -#define GL_SHADING_RATE_1_INVOCATION_PER_PIXEL_NV 0x9565 -#define GL_SHADING_RATE_1_INVOCATION_PER_1X2_PIXELS_NV 0x9566 -#define GL_SHADING_RATE_1_INVOCATION_PER_2X1_PIXELS_NV 0x9567 -#define GL_SHADING_RATE_1_INVOCATION_PER_2X2_PIXELS_NV 0x9568 -#define GL_SHADING_RATE_1_INVOCATION_PER_2X4_PIXELS_NV 0x9569 -#define GL_SHADING_RATE_1_INVOCATION_PER_4X2_PIXELS_NV 0x956A -#define GL_SHADING_RATE_1_INVOCATION_PER_4X4_PIXELS_NV 0x956B -#define GL_SHADING_RATE_2_INVOCATIONS_PER_PIXEL_NV 0x956C -#define GL_SHADING_RATE_4_INVOCATIONS_PER_PIXEL_NV 0x956D -#define GL_SHADING_RATE_8_INVOCATIONS_PER_PIXEL_NV 0x956E -#define GL_SHADING_RATE_16_INVOCATIONS_PER_PIXEL_NV 0x956F -#define GL_SHADING_RATE_IMAGE_BINDING_NV 0x955B -#define GL_SHADING_RATE_IMAGE_TEXEL_WIDTH_NV 0x955C -#define GL_SHADING_RATE_IMAGE_TEXEL_HEIGHT_NV 0x955D -#define GL_SHADING_RATE_IMAGE_PALETTE_SIZE_NV 0x955E -#define GL_MAX_COARSE_FRAGMENT_SAMPLES_NV 0x955F -#define GL_SHADING_RATE_SAMPLE_ORDER_DEFAULT_NV 0x95AE -#define GL_SHADING_RATE_SAMPLE_ORDER_PIXEL_MAJOR_NV 0x95AF -#define GL_SHADING_RATE_SAMPLE_ORDER_SAMPLE_MAJOR_NV 0x95B0 -typedef void (GL_APIENTRYP PFNGLBINDSHADINGRATEIMAGENVPROC) (GLuint texture); -typedef void (GL_APIENTRYP PFNGLGETSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint entry, GLenum *rate); -typedef void (GL_APIENTRYP PFNGLGETSHADINGRATESAMPLELOCATIONIVNVPROC) (GLenum rate, GLuint samples, GLuint index, GLint *location); -typedef void (GL_APIENTRYP PFNGLSHADINGRATEIMAGEBARRIERNVPROC) (GLboolean synchronize); -typedef void (GL_APIENTRYP PFNGLSHADINGRATEIMAGEPALETTENVPROC) (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); -typedef void (GL_APIENTRYP PFNGLSHADINGRATESAMPLEORDERNVPROC) (GLenum order); -typedef void (GL_APIENTRYP PFNGLSHADINGRATESAMPLEORDERCUSTOMNVPROC) (GLenum rate, GLuint samples, const GLint *locations); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glBindShadingRateImageNV (GLuint texture); -GL_APICALL void GL_APIENTRY glGetShadingRateImagePaletteNV (GLuint viewport, GLuint entry, GLenum *rate); -GL_APICALL void GL_APIENTRY glGetShadingRateSampleLocationivNV (GLenum rate, GLuint samples, GLuint index, GLint *location); -GL_APICALL void GL_APIENTRY glShadingRateImageBarrierNV (GLboolean synchronize); -GL_APICALL void GL_APIENTRY glShadingRateImagePaletteNV (GLuint viewport, GLuint first, GLsizei count, const GLenum *rates); -GL_APICALL void GL_APIENTRY glShadingRateSampleOrderNV (GLenum order); -GL_APICALL void GL_APIENTRY glShadingRateSampleOrderCustomNV (GLenum rate, GLuint samples, const GLint *locations); -#endif -#endif /* GL_NV_shading_rate_image */ - -#ifndef GL_NV_shadow_samplers_array -#define GL_NV_shadow_samplers_array 1 -#define GL_SAMPLER_2D_ARRAY_SHADOW_NV 0x8DC4 -#endif /* GL_NV_shadow_samplers_array */ - -#ifndef GL_NV_shadow_samplers_cube -#define GL_NV_shadow_samplers_cube 1 -#define GL_SAMPLER_CUBE_SHADOW_NV 0x8DC5 -#endif /* GL_NV_shadow_samplers_cube */ - -#ifndef GL_NV_stereo_view_rendering -#define GL_NV_stereo_view_rendering 1 -#endif /* GL_NV_stereo_view_rendering */ - -#ifndef GL_NV_texture_border_clamp -#define GL_NV_texture_border_clamp 1 -#define GL_TEXTURE_BORDER_COLOR_NV 0x1004 -#define GL_CLAMP_TO_BORDER_NV 0x812D -#endif /* GL_NV_texture_border_clamp */ - -#ifndef GL_NV_texture_compression_s3tc_update -#define GL_NV_texture_compression_s3tc_update 1 -#endif /* GL_NV_texture_compression_s3tc_update */ - -#ifndef GL_NV_texture_npot_2D_mipmap -#define GL_NV_texture_npot_2D_mipmap 1 -#endif /* GL_NV_texture_npot_2D_mipmap */ - -#ifndef GL_NV_timeline_semaphore -#define GL_NV_timeline_semaphore 1 -#define GL_TIMELINE_SEMAPHORE_VALUE_NV 0x9595 -#define GL_SEMAPHORE_TYPE_NV 0x95B3 -#define GL_SEMAPHORE_TYPE_BINARY_NV 0x95B4 -#define GL_SEMAPHORE_TYPE_TIMELINE_NV 0x95B5 -#define GL_MAX_TIMELINE_SEMAPHORE_VALUE_DIFFERENCE_NV 0x95B6 -typedef void (GL_APIENTRYP PFNGLCREATESEMAPHORESNVPROC) (GLsizei n, GLuint *semaphores); -typedef void (GL_APIENTRYP PFNGLSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, const GLint *params); -typedef void (GL_APIENTRYP PFNGLGETSEMAPHOREPARAMETERIVNVPROC) (GLuint semaphore, GLenum pname, GLint *params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glCreateSemaphoresNV (GLsizei n, GLuint *semaphores); -GL_APICALL void GL_APIENTRY glSemaphoreParameterivNV (GLuint semaphore, GLenum pname, const GLint *params); -GL_APICALL void GL_APIENTRY glGetSemaphoreParameterivNV (GLuint semaphore, GLenum pname, GLint *params); -#endif -#endif /* GL_NV_timeline_semaphore */ - -#ifndef GL_NV_viewport_array -#define GL_NV_viewport_array 1 -#define GL_MAX_VIEWPORTS_NV 0x825B -#define GL_VIEWPORT_SUBPIXEL_BITS_NV 0x825C -#define GL_VIEWPORT_BOUNDS_RANGE_NV 0x825D -#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX_NV 0x825F -typedef void (GL_APIENTRYP PFNGLVIEWPORTARRAYVNVPROC) (GLuint first, GLsizei count, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); -typedef void (GL_APIENTRYP PFNGLVIEWPORTINDEXEDFVNVPROC) (GLuint index, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLSCISSORARRAYVNVPROC) (GLuint first, GLsizei count, const GLint *v); -typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDNVPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); -typedef void (GL_APIENTRYP PFNGLSCISSORINDEXEDVNVPROC) (GLuint index, const GLint *v); -typedef void (GL_APIENTRYP PFNGLDEPTHRANGEARRAYFVNVPROC) (GLuint first, GLsizei count, const GLfloat *v); -typedef void (GL_APIENTRYP PFNGLDEPTHRANGEINDEXEDFNVPROC) (GLuint index, GLfloat n, GLfloat f); -typedef void (GL_APIENTRYP PFNGLGETFLOATI_VNVPROC) (GLenum target, GLuint index, GLfloat *data); -typedef void (GL_APIENTRYP PFNGLENABLEINVPROC) (GLenum target, GLuint index); -typedef void (GL_APIENTRYP PFNGLDISABLEINVPROC) (GLenum target, GLuint index); -typedef GLboolean (GL_APIENTRYP PFNGLISENABLEDINVPROC) (GLenum target, GLuint index); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glViewportArrayvNV (GLuint first, GLsizei count, const GLfloat *v); -GL_APICALL void GL_APIENTRY glViewportIndexedfNV (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); -GL_APICALL void GL_APIENTRY glViewportIndexedfvNV (GLuint index, const GLfloat *v); -GL_APICALL void GL_APIENTRY glScissorArrayvNV (GLuint first, GLsizei count, const GLint *v); -GL_APICALL void GL_APIENTRY glScissorIndexedNV (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); -GL_APICALL void GL_APIENTRY glScissorIndexedvNV (GLuint index, const GLint *v); -GL_APICALL void GL_APIENTRY glDepthRangeArrayfvNV (GLuint first, GLsizei count, const GLfloat *v); -GL_APICALL void GL_APIENTRY glDepthRangeIndexedfNV (GLuint index, GLfloat n, GLfloat f); -GL_APICALL void GL_APIENTRY glGetFloati_vNV (GLenum target, GLuint index, GLfloat *data); -GL_APICALL void GL_APIENTRY glEnableiNV (GLenum target, GLuint index); -GL_APICALL void GL_APIENTRY glDisableiNV (GLenum target, GLuint index); -GL_APICALL GLboolean GL_APIENTRY glIsEnablediNV (GLenum target, GLuint index); -#endif -#endif /* GL_NV_viewport_array */ - -#ifndef GL_NV_viewport_array2 -#define GL_NV_viewport_array2 1 -#endif /* GL_NV_viewport_array2 */ - -#ifndef GL_NV_viewport_swizzle -#define GL_NV_viewport_swizzle 1 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_X_NV 0x9350 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_X_NV 0x9351 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_Y_NV 0x9352 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Y_NV 0x9353 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_Z_NV 0x9354 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_Z_NV 0x9355 -#define GL_VIEWPORT_SWIZZLE_POSITIVE_W_NV 0x9356 -#define GL_VIEWPORT_SWIZZLE_NEGATIVE_W_NV 0x9357 -#define GL_VIEWPORT_SWIZZLE_X_NV 0x9358 -#define GL_VIEWPORT_SWIZZLE_Y_NV 0x9359 -#define GL_VIEWPORT_SWIZZLE_Z_NV 0x935A -#define GL_VIEWPORT_SWIZZLE_W_NV 0x935B -typedef void (GL_APIENTRYP PFNGLVIEWPORTSWIZZLENVPROC) (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glViewportSwizzleNV (GLuint index, GLenum swizzlex, GLenum swizzley, GLenum swizzlez, GLenum swizzlew); -#endif -#endif /* GL_NV_viewport_swizzle */ - -#ifndef GL_OVR_multiview -#define GL_OVR_multiview 1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_NUM_VIEWS_OVR 0x9630 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_BASE_VIEW_INDEX_OVR 0x9632 -#define GL_MAX_VIEWS_OVR 0x9631 -#define GL_FRAMEBUFFER_INCOMPLETE_VIEW_TARGETS_OVR 0x9633 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREMULTIVIEWOVRPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferTextureMultiviewOVR (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint baseViewIndex, GLsizei numViews); -#endif -#endif /* GL_OVR_multiview */ - -#ifndef GL_OVR_multiview2 -#define GL_OVR_multiview2 1 -#endif /* GL_OVR_multiview2 */ - -#ifndef GL_OVR_multiview_multisampled_render_to_texture -#define GL_OVR_multiview_multisampled_render_to_texture 1 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERTEXTUREMULTISAMPLEMULTIVIEWOVRPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLsizei samples, GLint baseViewIndex, GLsizei numViews); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferTextureMultisampleMultiviewOVR (GLenum target, GLenum attachment, GLuint texture, GLint level, GLsizei samples, GLint baseViewIndex, GLsizei numViews); -#endif -#endif /* GL_OVR_multiview_multisampled_render_to_texture */ - -#ifndef GL_QCOM_YUV_texture_gather -#define GL_QCOM_YUV_texture_gather 1 -#endif /* GL_QCOM_YUV_texture_gather */ - -#ifndef GL_QCOM_alpha_test -#define GL_QCOM_alpha_test 1 -#define GL_ALPHA_TEST_QCOM 0x0BC0 -#define GL_ALPHA_TEST_FUNC_QCOM 0x0BC1 -#define GL_ALPHA_TEST_REF_QCOM 0x0BC2 -typedef void (GL_APIENTRYP PFNGLALPHAFUNCQCOMPROC) (GLenum func, GLclampf ref); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glAlphaFuncQCOM (GLenum func, GLclampf ref); -#endif -#endif /* GL_QCOM_alpha_test */ - -#ifndef GL_QCOM_binning_control -#define GL_QCOM_binning_control 1 -#define GL_BINNING_CONTROL_HINT_QCOM 0x8FB0 -#define GL_CPU_OPTIMIZED_QCOM 0x8FB1 -#define GL_GPU_OPTIMIZED_QCOM 0x8FB2 -#define GL_RENDER_DIRECT_TO_FRAMEBUFFER_QCOM 0x8FB3 -#endif /* GL_QCOM_binning_control */ - -#ifndef GL_QCOM_driver_control -#define GL_QCOM_driver_control 1 -typedef void (GL_APIENTRYP PFNGLGETDRIVERCONTROLSQCOMPROC) (GLint *num, GLsizei size, GLuint *driverControls); -typedef void (GL_APIENTRYP PFNGLGETDRIVERCONTROLSTRINGQCOMPROC) (GLuint driverControl, GLsizei bufSize, GLsizei *length, GLchar *driverControlString); -typedef void (GL_APIENTRYP PFNGLENABLEDRIVERCONTROLQCOMPROC) (GLuint driverControl); -typedef void (GL_APIENTRYP PFNGLDISABLEDRIVERCONTROLQCOMPROC) (GLuint driverControl); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glGetDriverControlsQCOM (GLint *num, GLsizei size, GLuint *driverControls); -GL_APICALL void GL_APIENTRY glGetDriverControlStringQCOM (GLuint driverControl, GLsizei bufSize, GLsizei *length, GLchar *driverControlString); -GL_APICALL void GL_APIENTRY glEnableDriverControlQCOM (GLuint driverControl); -GL_APICALL void GL_APIENTRY glDisableDriverControlQCOM (GLuint driverControl); -#endif -#endif /* GL_QCOM_driver_control */ - -#ifndef GL_QCOM_extended_get -#define GL_QCOM_extended_get 1 -#define GL_TEXTURE_WIDTH_QCOM 0x8BD2 -#define GL_TEXTURE_HEIGHT_QCOM 0x8BD3 -#define GL_TEXTURE_DEPTH_QCOM 0x8BD4 -#define GL_TEXTURE_INTERNAL_FORMAT_QCOM 0x8BD5 -#define GL_TEXTURE_FORMAT_QCOM 0x8BD6 -#define GL_TEXTURE_TYPE_QCOM 0x8BD7 -#define GL_TEXTURE_IMAGE_VALID_QCOM 0x8BD8 -#define GL_TEXTURE_NUM_LEVELS_QCOM 0x8BD9 -#define GL_TEXTURE_TARGET_QCOM 0x8BDA -#define GL_TEXTURE_OBJECT_VALID_QCOM 0x8BDB -#define GL_STATE_RESTORE 0x8BDC -typedef void (GL_APIENTRYP PFNGLEXTGETTEXTURESQCOMPROC) (GLuint *textures, GLint maxTextures, GLint *numTextures); -typedef void (GL_APIENTRYP PFNGLEXTGETBUFFERSQCOMPROC) (GLuint *buffers, GLint maxBuffers, GLint *numBuffers); -typedef void (GL_APIENTRYP PFNGLEXTGETRENDERBUFFERSQCOMPROC) (GLuint *renderbuffers, GLint maxRenderbuffers, GLint *numRenderbuffers); -typedef void (GL_APIENTRYP PFNGLEXTGETFRAMEBUFFERSQCOMPROC) (GLuint *framebuffers, GLint maxFramebuffers, GLint *numFramebuffers); -typedef void (GL_APIENTRYP PFNGLEXTGETTEXLEVELPARAMETERIVQCOMPROC) (GLuint texture, GLenum face, GLint level, GLenum pname, GLint *params); -typedef void (GL_APIENTRYP PFNGLEXTTEXOBJECTSTATEOVERRIDEIQCOMPROC) (GLenum target, GLenum pname, GLint param); -typedef void (GL_APIENTRYP PFNGLEXTGETTEXSUBIMAGEQCOMPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, void *texels); -typedef void (GL_APIENTRYP PFNGLEXTGETBUFFERPOINTERVQCOMPROC) (GLenum target, void **params); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glExtGetTexturesQCOM (GLuint *textures, GLint maxTextures, GLint *numTextures); -GL_APICALL void GL_APIENTRY glExtGetBuffersQCOM (GLuint *buffers, GLint maxBuffers, GLint *numBuffers); -GL_APICALL void GL_APIENTRY glExtGetRenderbuffersQCOM (GLuint *renderbuffers, GLint maxRenderbuffers, GLint *numRenderbuffers); -GL_APICALL void GL_APIENTRY glExtGetFramebuffersQCOM (GLuint *framebuffers, GLint maxFramebuffers, GLint *numFramebuffers); -GL_APICALL void GL_APIENTRY glExtGetTexLevelParameterivQCOM (GLuint texture, GLenum face, GLint level, GLenum pname, GLint *params); -GL_APICALL void GL_APIENTRY glExtTexObjectStateOverrideiQCOM (GLenum target, GLenum pname, GLint param); -GL_APICALL void GL_APIENTRY glExtGetTexSubImageQCOM (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, void *texels); -GL_APICALL void GL_APIENTRY glExtGetBufferPointervQCOM (GLenum target, void **params); -#endif -#endif /* GL_QCOM_extended_get */ - -#ifndef GL_QCOM_extended_get2 -#define GL_QCOM_extended_get2 1 -typedef void (GL_APIENTRYP PFNGLEXTGETSHADERSQCOMPROC) (GLuint *shaders, GLint maxShaders, GLint *numShaders); -typedef void (GL_APIENTRYP PFNGLEXTGETPROGRAMSQCOMPROC) (GLuint *programs, GLint maxPrograms, GLint *numPrograms); -typedef GLboolean (GL_APIENTRYP PFNGLEXTISPROGRAMBINARYQCOMPROC) (GLuint program); -typedef void (GL_APIENTRYP PFNGLEXTGETPROGRAMBINARYSOURCEQCOMPROC) (GLuint program, GLenum shadertype, GLchar *source, GLint *length); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glExtGetShadersQCOM (GLuint *shaders, GLint maxShaders, GLint *numShaders); -GL_APICALL void GL_APIENTRY glExtGetProgramsQCOM (GLuint *programs, GLint maxPrograms, GLint *numPrograms); -GL_APICALL GLboolean GL_APIENTRY glExtIsProgramBinaryQCOM (GLuint program); -GL_APICALL void GL_APIENTRY glExtGetProgramBinarySourceQCOM (GLuint program, GLenum shadertype, GLchar *source, GLint *length); -#endif -#endif /* GL_QCOM_extended_get2 */ - -#ifndef GL_QCOM_frame_extrapolation -#define GL_QCOM_frame_extrapolation 1 -typedef void (GL_APIENTRYP PFNGLEXTRAPOLATETEX2DQCOMPROC) (GLuint src1, GLuint src2, GLuint output, GLfloat scaleFactor); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glExtrapolateTex2DQCOM (GLuint src1, GLuint src2, GLuint output, GLfloat scaleFactor); -#endif -#endif /* GL_QCOM_frame_extrapolation */ - -#ifndef GL_QCOM_framebuffer_foveated -#define GL_QCOM_framebuffer_foveated 1 -#define GL_FOVEATION_ENABLE_BIT_QCOM 0x00000001 -#define GL_FOVEATION_SCALED_BIN_METHOD_BIT_QCOM 0x00000002 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFOVEATIONCONFIGQCOMPROC) (GLuint framebuffer, GLuint numLayers, GLuint focalPointsPerLayer, GLuint requestedFeatures, GLuint *providedFeatures); -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFOVEATIONPARAMETERSQCOMPROC) (GLuint framebuffer, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferFoveationConfigQCOM (GLuint framebuffer, GLuint numLayers, GLuint focalPointsPerLayer, GLuint requestedFeatures, GLuint *providedFeatures); -GL_APICALL void GL_APIENTRY glFramebufferFoveationParametersQCOM (GLuint framebuffer, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); -#endif -#endif /* GL_QCOM_framebuffer_foveated */ - -#ifndef GL_QCOM_motion_estimation -#define GL_QCOM_motion_estimation 1 -#define GL_MOTION_ESTIMATION_SEARCH_BLOCK_X_QCOM 0x8C90 -#define GL_MOTION_ESTIMATION_SEARCH_BLOCK_Y_QCOM 0x8C91 -typedef void (GL_APIENTRYP PFNGLTEXESTIMATEMOTIONQCOMPROC) (GLuint ref, GLuint target, GLuint output); -typedef void (GL_APIENTRYP PFNGLTEXESTIMATEMOTIONREGIONSQCOMPROC) (GLuint ref, GLuint target, GLuint output, GLuint mask); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTexEstimateMotionQCOM (GLuint ref, GLuint target, GLuint output); -GL_APICALL void GL_APIENTRY glTexEstimateMotionRegionsQCOM (GLuint ref, GLuint target, GLuint output, GLuint mask); -#endif -#endif /* GL_QCOM_motion_estimation */ - -#ifndef GL_QCOM_perfmon_global_mode -#define GL_QCOM_perfmon_global_mode 1 -#define GL_PERFMON_GLOBAL_MODE_QCOM 0x8FA0 -#endif /* GL_QCOM_perfmon_global_mode */ - -#ifndef GL_QCOM_render_shared_exponent -#define GL_QCOM_render_shared_exponent 1 -#endif /* GL_QCOM_render_shared_exponent */ - -#ifndef GL_QCOM_shader_framebuffer_fetch_noncoherent -#define GL_QCOM_shader_framebuffer_fetch_noncoherent 1 -#define GL_FRAMEBUFFER_FETCH_NONCOHERENT_QCOM 0x96A2 -typedef void (GL_APIENTRYP PFNGLFRAMEBUFFERFETCHBARRIERQCOMPROC) (void); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glFramebufferFetchBarrierQCOM (void); -#endif -#endif /* GL_QCOM_shader_framebuffer_fetch_noncoherent */ - -#ifndef GL_QCOM_shader_framebuffer_fetch_rate -#define GL_QCOM_shader_framebuffer_fetch_rate 1 -#endif /* GL_QCOM_shader_framebuffer_fetch_rate */ - -#ifndef GL_QCOM_shading_rate -#define GL_QCOM_shading_rate 1 -#define GL_SHADING_RATE_QCOM 0x96A4 -#define GL_SHADING_RATE_PRESERVE_ASPECT_RATIO_QCOM 0x96A5 -#define GL_SHADING_RATE_1X1_PIXELS_QCOM 0x96A6 -#define GL_SHADING_RATE_1X2_PIXELS_QCOM 0x96A7 -#define GL_SHADING_RATE_2X1_PIXELS_QCOM 0x96A8 -#define GL_SHADING_RATE_2X2_PIXELS_QCOM 0x96A9 -#define GL_SHADING_RATE_4X2_PIXELS_QCOM 0x96AC -#define GL_SHADING_RATE_4X4_PIXELS_QCOM 0x96AE -typedef void (GL_APIENTRYP PFNGLSHADINGRATEQCOMPROC) (GLenum rate); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glShadingRateQCOM (GLenum rate); -#endif -#endif /* GL_QCOM_shading_rate */ - -#ifndef GL_QCOM_texture_foveated -#define GL_QCOM_texture_foveated 1 -#define GL_TEXTURE_FOVEATED_FEATURE_BITS_QCOM 0x8BFB -#define GL_TEXTURE_FOVEATED_MIN_PIXEL_DENSITY_QCOM 0x8BFC -#define GL_TEXTURE_FOVEATED_FEATURE_QUERY_QCOM 0x8BFD -#define GL_TEXTURE_FOVEATED_NUM_FOCAL_POINTS_QUERY_QCOM 0x8BFE -#define GL_FRAMEBUFFER_INCOMPLETE_FOVEATION_QCOM 0x8BFF -typedef void (GL_APIENTRYP PFNGLTEXTUREFOVEATIONPARAMETERSQCOMPROC) (GLuint texture, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glTextureFoveationParametersQCOM (GLuint texture, GLuint layer, GLuint focalPoint, GLfloat focalX, GLfloat focalY, GLfloat gainX, GLfloat gainY, GLfloat foveaArea); -#endif -#endif /* GL_QCOM_texture_foveated */ - -#ifndef GL_QCOM_texture_foveated2 -#define GL_QCOM_texture_foveated2 1 -#define GL_TEXTURE_FOVEATED_CUTOFF_DENSITY_QCOM 0x96A0 -#endif /* GL_QCOM_texture_foveated2 */ - -#ifndef GL_QCOM_texture_foveated_subsampled_layout -#define GL_QCOM_texture_foveated_subsampled_layout 1 -#define GL_FOVEATION_SUBSAMPLED_LAYOUT_METHOD_BIT_QCOM 0x00000004 -#define GL_MAX_SHADER_SUBSAMPLED_IMAGE_UNITS_QCOM 0x8FA1 -#endif /* GL_QCOM_texture_foveated_subsampled_layout */ - -#ifndef GL_QCOM_tiled_rendering -#define GL_QCOM_tiled_rendering 1 -#define GL_COLOR_BUFFER_BIT0_QCOM 0x00000001 -#define GL_COLOR_BUFFER_BIT1_QCOM 0x00000002 -#define GL_COLOR_BUFFER_BIT2_QCOM 0x00000004 -#define GL_COLOR_BUFFER_BIT3_QCOM 0x00000008 -#define GL_COLOR_BUFFER_BIT4_QCOM 0x00000010 -#define GL_COLOR_BUFFER_BIT5_QCOM 0x00000020 -#define GL_COLOR_BUFFER_BIT6_QCOM 0x00000040 -#define GL_COLOR_BUFFER_BIT7_QCOM 0x00000080 -#define GL_DEPTH_BUFFER_BIT0_QCOM 0x00000100 -#define GL_DEPTH_BUFFER_BIT1_QCOM 0x00000200 -#define GL_DEPTH_BUFFER_BIT2_QCOM 0x00000400 -#define GL_DEPTH_BUFFER_BIT3_QCOM 0x00000800 -#define GL_DEPTH_BUFFER_BIT4_QCOM 0x00001000 -#define GL_DEPTH_BUFFER_BIT5_QCOM 0x00002000 -#define GL_DEPTH_BUFFER_BIT6_QCOM 0x00004000 -#define GL_DEPTH_BUFFER_BIT7_QCOM 0x00008000 -#define GL_STENCIL_BUFFER_BIT0_QCOM 0x00010000 -#define GL_STENCIL_BUFFER_BIT1_QCOM 0x00020000 -#define GL_STENCIL_BUFFER_BIT2_QCOM 0x00040000 -#define GL_STENCIL_BUFFER_BIT3_QCOM 0x00080000 -#define GL_STENCIL_BUFFER_BIT4_QCOM 0x00100000 -#define GL_STENCIL_BUFFER_BIT5_QCOM 0x00200000 -#define GL_STENCIL_BUFFER_BIT6_QCOM 0x00400000 -#define GL_STENCIL_BUFFER_BIT7_QCOM 0x00800000 -#define GL_MULTISAMPLE_BUFFER_BIT0_QCOM 0x01000000 -#define GL_MULTISAMPLE_BUFFER_BIT1_QCOM 0x02000000 -#define GL_MULTISAMPLE_BUFFER_BIT2_QCOM 0x04000000 -#define GL_MULTISAMPLE_BUFFER_BIT3_QCOM 0x08000000 -#define GL_MULTISAMPLE_BUFFER_BIT4_QCOM 0x10000000 -#define GL_MULTISAMPLE_BUFFER_BIT5_QCOM 0x20000000 -#define GL_MULTISAMPLE_BUFFER_BIT6_QCOM 0x40000000 -#define GL_MULTISAMPLE_BUFFER_BIT7_QCOM 0x80000000 -typedef void (GL_APIENTRYP PFNGLSTARTTILINGQCOMPROC) (GLuint x, GLuint y, GLuint width, GLuint height, GLbitfield preserveMask); -typedef void (GL_APIENTRYP PFNGLENDTILINGQCOMPROC) (GLbitfield preserveMask); -#ifdef GL_GLEXT_PROTOTYPES -GL_APICALL void GL_APIENTRY glStartTilingQCOM (GLuint x, GLuint y, GLuint width, GLuint height, GLbitfield preserveMask); -GL_APICALL void GL_APIENTRY glEndTilingQCOM (GLbitfield preserveMask); -#endif -#endif /* GL_QCOM_tiled_rendering */ - -#ifndef GL_QCOM_writeonly_rendering -#define GL_QCOM_writeonly_rendering 1 -#define GL_WRITEONLY_RENDERING_QCOM 0x8823 -#endif /* GL_QCOM_writeonly_rendering */ - -#ifndef GL_VIV_shader_binary -#define GL_VIV_shader_binary 1 -#define GL_SHADER_BINARY_VIV 0x8FC4 -#endif /* GL_VIV_shader_binary */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2platform.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2platform.h deleted file mode 100644 index 426796ef2..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_gl2platform.h +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef __gl2platform_h_ -#define __gl2platform_h_ - -/* -** Copyright 2017-2020 The Khronos Group Inc. -** SPDX-License-Identifier: Apache-2.0 -*/ - -/* Platform-specific types and definitions for OpenGL ES 2.X gl2.h - * - * Adopters may modify khrplatform.h and this file to suit their platform. - * Please contribute modifications back to Khronos as pull requests on the - * public github repository: - * https://github.com/KhronosGroup/OpenGL-Registry - */ - -/*#include */ - -#ifndef GL_APICALL -#define GL_APICALL KHRONOS_APICALL -#endif - -#ifndef GL_APIENTRY -#define GL_APIENTRY KHRONOS_APIENTRY -#endif - -#endif /* __gl2platform_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_khrplatform.h b/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_khrplatform.h deleted file mode 100644 index 01646449c..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_opengles2_khrplatform.h +++ /dev/null @@ -1,311 +0,0 @@ -#ifndef __khrplatform_h_ -#define __khrplatform_h_ - -/* -** Copyright (c) 2008-2018 The Khronos Group Inc. -** -** Permission is hereby granted, free of charge, to any person obtaining a -** copy of this software and/or associated documentation files (the -** "Materials"), to deal in the Materials without restriction, including -** without limitation the rights to use, copy, modify, merge, publish, -** distribute, sublicense, and/or sell copies of the Materials, and to -** permit persons to whom the Materials are furnished to do so, subject to -** the following conditions: -** -** The above copyright notice and this permission notice shall be included -** in all copies or substantial portions of the Materials. -** -** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF -** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. -** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY -** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, -** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE -** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. -*/ - -/* Khronos platform-specific types and definitions. - * - * The master copy of khrplatform.h is maintained in the Khronos EGL - * Registry repository at https://github.com/KhronosGroup/EGL-Registry - * The last semantic modification to khrplatform.h was at commit ID: - * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 - * - * Adopters may modify this file to suit their platform. Adopters are - * encouraged to submit platform specific modifications to the Khronos - * group so that they can be included in future versions of this file. - * Please submit changes by filing pull requests or issues on - * the EGL Registry repository linked above. - * - * - * See the Implementer's Guidelines for information about where this file - * should be located on your system and for more details of its use: - * http://www.khronos.org/registry/implementers_guide.pdf - * - * This file should be included as - * #include - * by Khronos client API header files that use its types and defines. - * - * The types in khrplatform.h should only be used to define API-specific types. - * - * Types defined in khrplatform.h: - * khronos_int8_t signed 8 bit - * khronos_uint8_t unsigned 8 bit - * khronos_int16_t signed 16 bit - * khronos_uint16_t unsigned 16 bit - * khronos_int32_t signed 32 bit - * khronos_uint32_t unsigned 32 bit - * khronos_int64_t signed 64 bit - * khronos_uint64_t unsigned 64 bit - * khronos_intptr_t signed same number of bits as a pointer - * khronos_uintptr_t unsigned same number of bits as a pointer - * khronos_ssize_t signed size - * khronos_usize_t unsigned size - * khronos_float_t signed 32 bit floating point - * khronos_time_ns_t unsigned 64 bit time in nanoseconds - * khronos_utime_nanoseconds_t unsigned time interval or absolute time in - * nanoseconds - * khronos_stime_nanoseconds_t signed time interval in nanoseconds - * khronos_boolean_enum_t enumerated boolean type. This should - * only be used as a base type when a client API's boolean type is - * an enum. Client APIs which use an integer or other type for - * booleans cannot use this as the base type for their boolean. - * - * Tokens defined in khrplatform.h: - * - * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. - * - * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. - * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. - * - * Calling convention macros defined in this file: - * KHRONOS_APICALL - * KHRONOS_APIENTRY - * KHRONOS_APIATTRIBUTES - * - * These may be used in function prototypes as: - * - * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( - * int arg1, - * int arg2) KHRONOS_APIATTRIBUTES; - */ - -#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) -# define KHRONOS_STATIC 1 -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APICALL - *------------------------------------------------------------------------- - * This precedes the return type of the function in the function prototype. - */ -#if defined(KHRONOS_STATIC) - /* If the preprocessor constant KHRONOS_STATIC is defined, make the - * header compatible with static linking. */ -# define KHRONOS_APICALL -#elif defined(_WIN32) -# define KHRONOS_APICALL __declspec(dllimport) -#elif defined (__SYMBIAN32__) -# define KHRONOS_APICALL IMPORT_C -#elif defined(__ANDROID__) -# define KHRONOS_APICALL __attribute__((visibility("default"))) -#else -# define KHRONOS_APICALL -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIENTRY - *------------------------------------------------------------------------- - * This follows the return type of the function and precedes the function - * name in the function prototype. - */ -#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) - /* Win32 but not WinCE */ -# define KHRONOS_APIENTRY __stdcall -#else -# define KHRONOS_APIENTRY -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIATTRIBUTES - *------------------------------------------------------------------------- - * This follows the closing parenthesis of the function prototype arguments. - */ -#if defined (__ARMCC_2__) -#define KHRONOS_APIATTRIBUTES __softfp -#else -#define KHRONOS_APIATTRIBUTES -#endif - -/*------------------------------------------------------------------------- - * basic type definitions - *-----------------------------------------------------------------------*/ -#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) - - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 -/* - * To support platform where unsigned long cannot be used interchangeably with - * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. - * Ideally, we could just use (u)intptr_t everywhere, but this could result in - * ABI breakage if khronos_uintptr_t is changed from unsigned long to - * unsigned long long or similar (this results in different C++ name mangling). - * To avoid changes for existing platforms, we restrict usage of intptr_t to - * platforms where the size of a pointer is larger than the size of long. - */ -#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) -#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ -#define KHRONOS_USE_INTPTR_T -#endif -#endif - -#elif defined(__VMS ) || defined(__sgi) - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) - -/* - * Win32 - */ -typedef __int32 khronos_int32_t; -typedef unsigned __int32 khronos_uint32_t; -typedef __int64 khronos_int64_t; -typedef unsigned __int64 khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(__sun__) || defined(__digital__) - -/* - * Sun or Digital - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#if defined(__arch64__) || defined(_LP64) -typedef long int khronos_int64_t; -typedef unsigned long int khronos_uint64_t; -#else -typedef long long int khronos_int64_t; -typedef unsigned long long int khronos_uint64_t; -#endif /* __arch64__ */ -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif 0 - -/* - * Hypothetical platform with no float or int64 support - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#define KHRONOS_SUPPORT_INT64 0 -#define KHRONOS_SUPPORT_FLOAT 0 - -#else - -/* - * Generic fallback - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#endif - - -/* - * Types that are (so far) the same on all platforms - */ -typedef signed char khronos_int8_t; -typedef unsigned char khronos_uint8_t; -typedef signed short int khronos_int16_t; -typedef unsigned short int khronos_uint16_t; - -/* - * Types that differ between LLP64 and LP64 architectures - in LLP64, - * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears - * to be the only LLP64 architecture in current use. - */ -#ifdef KHRONOS_USE_INTPTR_T -typedef intptr_t khronos_intptr_t; -typedef uintptr_t khronos_uintptr_t; -#elif defined(_WIN64) -typedef signed long long int khronos_intptr_t; -typedef unsigned long long int khronos_uintptr_t; -#else -typedef signed long int khronos_intptr_t; -typedef unsigned long int khronos_uintptr_t; -#endif - -#if defined(_WIN64) -typedef signed long long int khronos_ssize_t; -typedef unsigned long long int khronos_usize_t; -#else -typedef signed long int khronos_ssize_t; -typedef unsigned long int khronos_usize_t; -#endif - -#if KHRONOS_SUPPORT_FLOAT -/* - * Float type - */ -typedef float khronos_float_t; -#endif - -#if KHRONOS_SUPPORT_INT64 -/* Time types - * - * These types can be used to represent a time interval in nanoseconds or - * an absolute Unadjusted System Time. Unadjusted System Time is the number - * of nanoseconds since some arbitrary system event (e.g. since the last - * time the system booted). The Unadjusted System Time is an unsigned - * 64 bit value that wraps back to 0 every 584 years. Time intervals - * may be either signed or unsigned. - */ -typedef khronos_uint64_t khronos_utime_nanoseconds_t; -typedef khronos_int64_t khronos_stime_nanoseconds_t; -#endif - -/* - * Dummy value used to pad enum types to 32 bits. - */ -#ifndef KHRONOS_MAX_ENUM -#define KHRONOS_MAX_ENUM 0x7FFFFFFF -#endif - -/* - * Enumerated boolean type - * - * Values other than zero should be considered to be true. Therefore - * comparisons should not be made against KHRONOS_TRUE. - */ -typedef enum { - KHRONOS_FALSE = 0, - KHRONOS_TRUE = 1, - KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM -} khronos_boolean_enum_t; - -#endif /* __khrplatform_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_pixels.h b/subprojects/sdl2_windows/include/SDL2/SDL_pixels.h deleted file mode 100644 index 5d2c0c898..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_pixels.h +++ /dev/null @@ -1,644 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_pixels.h - * - * Header for the enumerated pixel format definitions. - */ - -#ifndef SDL_pixels_h_ -#define SDL_pixels_h_ - -#include "SDL_stdinc.h" -#include "SDL_endian.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \name Transparency definitions - * - * These define alpha as the opacity of a surface. - */ -/* @{ */ -#define SDL_ALPHA_OPAQUE 255 -#define SDL_ALPHA_TRANSPARENT 0 -/* @} */ - -/** Pixel type. */ -typedef enum -{ - SDL_PIXELTYPE_UNKNOWN, - SDL_PIXELTYPE_INDEX1, - SDL_PIXELTYPE_INDEX4, - SDL_PIXELTYPE_INDEX8, - SDL_PIXELTYPE_PACKED8, - SDL_PIXELTYPE_PACKED16, - SDL_PIXELTYPE_PACKED32, - SDL_PIXELTYPE_ARRAYU8, - SDL_PIXELTYPE_ARRAYU16, - SDL_PIXELTYPE_ARRAYU32, - SDL_PIXELTYPE_ARRAYF16, - SDL_PIXELTYPE_ARRAYF32 -} SDL_PixelType; - -/** Bitmap pixel order, high bit -> low bit. */ -typedef enum -{ - SDL_BITMAPORDER_NONE, - SDL_BITMAPORDER_4321, - SDL_BITMAPORDER_1234 -} SDL_BitmapOrder; - -/** Packed component order, high bit -> low bit. */ -typedef enum -{ - SDL_PACKEDORDER_NONE, - SDL_PACKEDORDER_XRGB, - SDL_PACKEDORDER_RGBX, - SDL_PACKEDORDER_ARGB, - SDL_PACKEDORDER_RGBA, - SDL_PACKEDORDER_XBGR, - SDL_PACKEDORDER_BGRX, - SDL_PACKEDORDER_ABGR, - SDL_PACKEDORDER_BGRA -} SDL_PackedOrder; - -/** Array component order, low byte -> high byte. */ -/* !!! FIXME: in 2.1, make these not overlap differently with - !!! FIXME: SDL_PACKEDORDER_*, so we can simplify SDL_ISPIXELFORMAT_ALPHA */ -typedef enum -{ - SDL_ARRAYORDER_NONE, - SDL_ARRAYORDER_RGB, - SDL_ARRAYORDER_RGBA, - SDL_ARRAYORDER_ARGB, - SDL_ARRAYORDER_BGR, - SDL_ARRAYORDER_BGRA, - SDL_ARRAYORDER_ABGR -} SDL_ArrayOrder; - -/** Packed component layout. */ -typedef enum -{ - SDL_PACKEDLAYOUT_NONE, - SDL_PACKEDLAYOUT_332, - SDL_PACKEDLAYOUT_4444, - SDL_PACKEDLAYOUT_1555, - SDL_PACKEDLAYOUT_5551, - SDL_PACKEDLAYOUT_565, - SDL_PACKEDLAYOUT_8888, - SDL_PACKEDLAYOUT_2101010, - SDL_PACKEDLAYOUT_1010102 -} SDL_PackedLayout; - -#define SDL_DEFINE_PIXELFOURCC(A, B, C, D) SDL_FOURCC(A, B, C, D) - -#define SDL_DEFINE_PIXELFORMAT(type, order, layout, bits, bytes) \ - ((1 << 28) | ((type) << 24) | ((order) << 20) | ((layout) << 16) | \ - ((bits) << 8) | ((bytes) << 0)) - -#define SDL_PIXELFLAG(X) (((X) >> 28) & 0x0F) -#define SDL_PIXELTYPE(X) (((X) >> 24) & 0x0F) -#define SDL_PIXELORDER(X) (((X) >> 20) & 0x0F) -#define SDL_PIXELLAYOUT(X) (((X) >> 16) & 0x0F) -#define SDL_BITSPERPIXEL(X) (((X) >> 8) & 0xFF) -#define SDL_BYTESPERPIXEL(X) \ - (SDL_ISPIXELFORMAT_FOURCC(X) ? \ - ((((X) == SDL_PIXELFORMAT_YUY2) || \ - ((X) == SDL_PIXELFORMAT_UYVY) || \ - ((X) == SDL_PIXELFORMAT_YVYU)) ? 2 : 1) : (((X) >> 0) & 0xFF)) - -#define SDL_ISPIXELFORMAT_INDEXED(format) \ - (!SDL_ISPIXELFORMAT_FOURCC(format) && \ - ((SDL_PIXELTYPE(format) == SDL_PIXELTYPE_INDEX1) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_INDEX4) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_INDEX8))) - -#define SDL_ISPIXELFORMAT_PACKED(format) \ - (!SDL_ISPIXELFORMAT_FOURCC(format) && \ - ((SDL_PIXELTYPE(format) == SDL_PIXELTYPE_PACKED8) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_PACKED16) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_PACKED32))) - -#define SDL_ISPIXELFORMAT_ARRAY(format) \ - (!SDL_ISPIXELFORMAT_FOURCC(format) && \ - ((SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYU8) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYU16) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYU32) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYF16) || \ - (SDL_PIXELTYPE(format) == SDL_PIXELTYPE_ARRAYF32))) - -#define SDL_ISPIXELFORMAT_ALPHA(format) \ - ((SDL_ISPIXELFORMAT_PACKED(format) && \ - ((SDL_PIXELORDER(format) == SDL_PACKEDORDER_ARGB) || \ - (SDL_PIXELORDER(format) == SDL_PACKEDORDER_RGBA) || \ - (SDL_PIXELORDER(format) == SDL_PACKEDORDER_ABGR) || \ - (SDL_PIXELORDER(format) == SDL_PACKEDORDER_BGRA))) || \ - (SDL_ISPIXELFORMAT_ARRAY(format) && \ - ((SDL_PIXELORDER(format) == SDL_ARRAYORDER_ARGB) || \ - (SDL_PIXELORDER(format) == SDL_ARRAYORDER_RGBA) || \ - (SDL_PIXELORDER(format) == SDL_ARRAYORDER_ABGR) || \ - (SDL_PIXELORDER(format) == SDL_ARRAYORDER_BGRA)))) - -/* The flag is set to 1 because 0x1? is not in the printable ASCII range */ -#define SDL_ISPIXELFORMAT_FOURCC(format) \ - ((format) && (SDL_PIXELFLAG(format) != 1)) - -/* Note: If you modify this list, update SDL_GetPixelFormatName() */ -typedef enum -{ - SDL_PIXELFORMAT_UNKNOWN, - SDL_PIXELFORMAT_INDEX1LSB = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX1, SDL_BITMAPORDER_4321, 0, - 1, 0), - SDL_PIXELFORMAT_INDEX1MSB = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX1, SDL_BITMAPORDER_1234, 0, - 1, 0), - SDL_PIXELFORMAT_INDEX4LSB = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX4, SDL_BITMAPORDER_4321, 0, - 4, 0), - SDL_PIXELFORMAT_INDEX4MSB = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX4, SDL_BITMAPORDER_1234, 0, - 4, 0), - SDL_PIXELFORMAT_INDEX8 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_INDEX8, 0, 0, 8, 1), - SDL_PIXELFORMAT_RGB332 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED8, SDL_PACKEDORDER_XRGB, - SDL_PACKEDLAYOUT_332, 8, 1), - SDL_PIXELFORMAT_XRGB4444 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XRGB, - SDL_PACKEDLAYOUT_4444, 12, 2), - SDL_PIXELFORMAT_RGB444 = SDL_PIXELFORMAT_XRGB4444, - SDL_PIXELFORMAT_XBGR4444 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XBGR, - SDL_PACKEDLAYOUT_4444, 12, 2), - SDL_PIXELFORMAT_BGR444 = SDL_PIXELFORMAT_XBGR4444, - SDL_PIXELFORMAT_XRGB1555 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XRGB, - SDL_PACKEDLAYOUT_1555, 15, 2), - SDL_PIXELFORMAT_RGB555 = SDL_PIXELFORMAT_XRGB1555, - SDL_PIXELFORMAT_XBGR1555 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XBGR, - SDL_PACKEDLAYOUT_1555, 15, 2), - SDL_PIXELFORMAT_BGR555 = SDL_PIXELFORMAT_XBGR1555, - SDL_PIXELFORMAT_ARGB4444 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ARGB, - SDL_PACKEDLAYOUT_4444, 16, 2), - SDL_PIXELFORMAT_RGBA4444 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_RGBA, - SDL_PACKEDLAYOUT_4444, 16, 2), - SDL_PIXELFORMAT_ABGR4444 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ABGR, - SDL_PACKEDLAYOUT_4444, 16, 2), - SDL_PIXELFORMAT_BGRA4444 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_BGRA, - SDL_PACKEDLAYOUT_4444, 16, 2), - SDL_PIXELFORMAT_ARGB1555 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ARGB, - SDL_PACKEDLAYOUT_1555, 16, 2), - SDL_PIXELFORMAT_RGBA5551 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_RGBA, - SDL_PACKEDLAYOUT_5551, 16, 2), - SDL_PIXELFORMAT_ABGR1555 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_ABGR, - SDL_PACKEDLAYOUT_1555, 16, 2), - SDL_PIXELFORMAT_BGRA5551 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_BGRA, - SDL_PACKEDLAYOUT_5551, 16, 2), - SDL_PIXELFORMAT_RGB565 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XRGB, - SDL_PACKEDLAYOUT_565, 16, 2), - SDL_PIXELFORMAT_BGR565 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED16, SDL_PACKEDORDER_XBGR, - SDL_PACKEDLAYOUT_565, 16, 2), - SDL_PIXELFORMAT_RGB24 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_ARRAYU8, SDL_ARRAYORDER_RGB, 0, - 24, 3), - SDL_PIXELFORMAT_BGR24 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_ARRAYU8, SDL_ARRAYORDER_BGR, 0, - 24, 3), - SDL_PIXELFORMAT_XRGB8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_XRGB, - SDL_PACKEDLAYOUT_8888, 24, 4), - SDL_PIXELFORMAT_RGB888 = SDL_PIXELFORMAT_XRGB8888, - SDL_PIXELFORMAT_RGBX8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_RGBX, - SDL_PACKEDLAYOUT_8888, 24, 4), - SDL_PIXELFORMAT_XBGR8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_XBGR, - SDL_PACKEDLAYOUT_8888, 24, 4), - SDL_PIXELFORMAT_BGR888 = SDL_PIXELFORMAT_XBGR8888, - SDL_PIXELFORMAT_BGRX8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_BGRX, - SDL_PACKEDLAYOUT_8888, 24, 4), - SDL_PIXELFORMAT_ARGB8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_ARGB, - SDL_PACKEDLAYOUT_8888, 32, 4), - SDL_PIXELFORMAT_RGBA8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_RGBA, - SDL_PACKEDLAYOUT_8888, 32, 4), - SDL_PIXELFORMAT_ABGR8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_ABGR, - SDL_PACKEDLAYOUT_8888, 32, 4), - SDL_PIXELFORMAT_BGRA8888 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_BGRA, - SDL_PACKEDLAYOUT_8888, 32, 4), - SDL_PIXELFORMAT_ARGB2101010 = - SDL_DEFINE_PIXELFORMAT(SDL_PIXELTYPE_PACKED32, SDL_PACKEDORDER_ARGB, - SDL_PACKEDLAYOUT_2101010, 32, 4), - - /* Aliases for RGBA byte arrays of color data, for the current platform */ -#if SDL_BYTEORDER == SDL_BIG_ENDIAN - SDL_PIXELFORMAT_RGBA32 = SDL_PIXELFORMAT_RGBA8888, - SDL_PIXELFORMAT_ARGB32 = SDL_PIXELFORMAT_ARGB8888, - SDL_PIXELFORMAT_BGRA32 = SDL_PIXELFORMAT_BGRA8888, - SDL_PIXELFORMAT_ABGR32 = SDL_PIXELFORMAT_ABGR8888, -#else - SDL_PIXELFORMAT_RGBA32 = SDL_PIXELFORMAT_ABGR8888, - SDL_PIXELFORMAT_ARGB32 = SDL_PIXELFORMAT_BGRA8888, - SDL_PIXELFORMAT_BGRA32 = SDL_PIXELFORMAT_ARGB8888, - SDL_PIXELFORMAT_ABGR32 = SDL_PIXELFORMAT_RGBA8888, -#endif - - SDL_PIXELFORMAT_YV12 = /**< Planar mode: Y + V + U (3 planes) */ - SDL_DEFINE_PIXELFOURCC('Y', 'V', '1', '2'), - SDL_PIXELFORMAT_IYUV = /**< Planar mode: Y + U + V (3 planes) */ - SDL_DEFINE_PIXELFOURCC('I', 'Y', 'U', 'V'), - SDL_PIXELFORMAT_YUY2 = /**< Packed mode: Y0+U0+Y1+V0 (1 plane) */ - SDL_DEFINE_PIXELFOURCC('Y', 'U', 'Y', '2'), - SDL_PIXELFORMAT_UYVY = /**< Packed mode: U0+Y0+V0+Y1 (1 plane) */ - SDL_DEFINE_PIXELFOURCC('U', 'Y', 'V', 'Y'), - SDL_PIXELFORMAT_YVYU = /**< Packed mode: Y0+V0+Y1+U0 (1 plane) */ - SDL_DEFINE_PIXELFOURCC('Y', 'V', 'Y', 'U'), - SDL_PIXELFORMAT_NV12 = /**< Planar mode: Y + U/V interleaved (2 planes) */ - SDL_DEFINE_PIXELFOURCC('N', 'V', '1', '2'), - SDL_PIXELFORMAT_NV21 = /**< Planar mode: Y + V/U interleaved (2 planes) */ - SDL_DEFINE_PIXELFOURCC('N', 'V', '2', '1'), - SDL_PIXELFORMAT_EXTERNAL_OES = /**< Android video texture format */ - SDL_DEFINE_PIXELFOURCC('O', 'E', 'S', ' ') -} SDL_PixelFormatEnum; - -/** - * The bits of this structure can be directly reinterpreted as an integer-packed - * color which uses the SDL_PIXELFORMAT_RGBA32 format (SDL_PIXELFORMAT_ABGR8888 - * on little-endian systems and SDL_PIXELFORMAT_RGBA8888 on big-endian systems). - */ -typedef struct SDL_Color -{ - Uint8 r; - Uint8 g; - Uint8 b; - Uint8 a; -} SDL_Color; -#define SDL_Colour SDL_Color - -typedef struct SDL_Palette -{ - int ncolors; - SDL_Color *colors; - Uint32 version; - int refcount; -} SDL_Palette; - -/** - * \note Everything in the pixel format structure is read-only. - */ -typedef struct SDL_PixelFormat -{ - Uint32 format; - SDL_Palette *palette; - Uint8 BitsPerPixel; - Uint8 BytesPerPixel; - Uint8 padding[2]; - Uint32 Rmask; - Uint32 Gmask; - Uint32 Bmask; - Uint32 Amask; - Uint8 Rloss; - Uint8 Gloss; - Uint8 Bloss; - Uint8 Aloss; - Uint8 Rshift; - Uint8 Gshift; - Uint8 Bshift; - Uint8 Ashift; - int refcount; - struct SDL_PixelFormat *next; -} SDL_PixelFormat; - -/** - * Get the human readable name of a pixel format. - * - * \param format the pixel format to query - * \returns the human readable name of the specified pixel format or - * `SDL_PIXELFORMAT_UNKNOWN` if the format isn't recognized. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC const char* SDLCALL SDL_GetPixelFormatName(Uint32 format); - -/** - * Convert one of the enumerated pixel formats to a bpp value and RGBA masks. - * - * \param format one of the SDL_PixelFormatEnum values - * \param bpp a bits per pixel value; usually 15, 16, or 32 - * \param Rmask a pointer filled in with the red mask for the format - * \param Gmask a pointer filled in with the green mask for the format - * \param Bmask a pointer filled in with the blue mask for the format - * \param Amask a pointer filled in with the alpha mask for the format - * \returns SDL_TRUE on success or SDL_FALSE if the conversion wasn't - * possible; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_MasksToPixelFormatEnum - */ -extern DECLSPEC SDL_bool SDLCALL SDL_PixelFormatEnumToMasks(Uint32 format, - int *bpp, - Uint32 * Rmask, - Uint32 * Gmask, - Uint32 * Bmask, - Uint32 * Amask); - -/** - * Convert a bpp value and RGBA masks to an enumerated pixel format. - * - * This will return `SDL_PIXELFORMAT_UNKNOWN` if the conversion wasn't - * possible. - * - * \param bpp a bits per pixel value; usually 15, 16, or 32 - * \param Rmask the red mask for the format - * \param Gmask the green mask for the format - * \param Bmask the blue mask for the format - * \param Amask the alpha mask for the format - * \returns one of the SDL_PixelFormatEnum values - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_PixelFormatEnumToMasks - */ -extern DECLSPEC Uint32 SDLCALL SDL_MasksToPixelFormatEnum(int bpp, - Uint32 Rmask, - Uint32 Gmask, - Uint32 Bmask, - Uint32 Amask); - -/** - * Create an SDL_PixelFormat structure corresponding to a pixel format. - * - * Returned structure may come from a shared global cache (i.e. not newly - * allocated), and hence should not be modified, especially the palette. Weird - * errors such as `Blit combination not supported` may occur. - * - * \param pixel_format one of the SDL_PixelFormatEnum values - * \returns the new SDL_PixelFormat structure or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreeFormat - */ -extern DECLSPEC SDL_PixelFormat * SDLCALL SDL_AllocFormat(Uint32 pixel_format); - -/** - * Free an SDL_PixelFormat structure allocated by SDL_AllocFormat(). - * - * \param format the SDL_PixelFormat structure to free - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocFormat - */ -extern DECLSPEC void SDLCALL SDL_FreeFormat(SDL_PixelFormat *format); - -/** - * Create a palette structure with the specified number of color entries. - * - * The palette entries are initialized to white. - * - * \param ncolors represents the number of color entries in the color palette - * \returns a new SDL_Palette structure on success or NULL on failure (e.g. if - * there wasn't enough memory); call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreePalette - */ -extern DECLSPEC SDL_Palette *SDLCALL SDL_AllocPalette(int ncolors); - -/** - * Set the palette for a pixel format structure. - * - * \param format the SDL_PixelFormat structure that will use the palette - * \param palette the SDL_Palette structure that will be used - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocPalette - * \sa SDL_FreePalette - */ -extern DECLSPEC int SDLCALL SDL_SetPixelFormatPalette(SDL_PixelFormat * format, - SDL_Palette *palette); - -/** - * Set a range of colors in a palette. - * - * \param palette the SDL_Palette structure to modify - * \param colors an array of SDL_Color structures to copy into the palette - * \param firstcolor the index of the first palette entry to modify - * \param ncolors the number of entries to modify - * \returns 0 on success or a negative error code if not all of the colors - * could be set; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocPalette - * \sa SDL_CreateRGBSurface - */ -extern DECLSPEC int SDLCALL SDL_SetPaletteColors(SDL_Palette * palette, - const SDL_Color * colors, - int firstcolor, int ncolors); - -/** - * Free a palette created with SDL_AllocPalette(). - * - * \param palette the SDL_Palette structure to be freed - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocPalette - */ -extern DECLSPEC void SDLCALL SDL_FreePalette(SDL_Palette * palette); - -/** - * Map an RGB triple to an opaque pixel value for a given pixel format. - * - * This function maps the RGB color value to the specified pixel format and - * returns the pixel value best approximating the given RGB color value for - * the given pixel format. - * - * If the format has a palette (8-bit) the index of the closest matching color - * in the palette will be returned. - * - * If the specified pixel format has an alpha component it will be returned as - * all 1 bits (fully opaque). - * - * If the pixel format bpp (color depth) is less than 32-bpp then the unused - * upper bits of the return value can safely be ignored (e.g., with a 16-bpp - * format the return value can be assigned to a Uint16, and similarly a Uint8 - * for an 8-bpp format). - * - * \param format an SDL_PixelFormat structure describing the pixel format - * \param r the red component of the pixel in the range 0-255 - * \param g the green component of the pixel in the range 0-255 - * \param b the blue component of the pixel in the range 0-255 - * \returns a pixel value - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRGB - * \sa SDL_GetRGBA - * \sa SDL_MapRGBA - */ -extern DECLSPEC Uint32 SDLCALL SDL_MapRGB(const SDL_PixelFormat * format, - Uint8 r, Uint8 g, Uint8 b); - -/** - * Map an RGBA quadruple to a pixel value for a given pixel format. - * - * This function maps the RGBA color value to the specified pixel format and - * returns the pixel value best approximating the given RGBA color value for - * the given pixel format. - * - * If the specified pixel format has no alpha component the alpha value will - * be ignored (as it will be in formats with a palette). - * - * If the format has a palette (8-bit) the index of the closest matching color - * in the palette will be returned. - * - * If the pixel format bpp (color depth) is less than 32-bpp then the unused - * upper bits of the return value can safely be ignored (e.g., with a 16-bpp - * format the return value can be assigned to a Uint16, and similarly a Uint8 - * for an 8-bpp format). - * - * \param format an SDL_PixelFormat structure describing the format of the - * pixel - * \param r the red component of the pixel in the range 0-255 - * \param g the green component of the pixel in the range 0-255 - * \param b the blue component of the pixel in the range 0-255 - * \param a the alpha component of the pixel in the range 0-255 - * \returns a pixel value - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRGB - * \sa SDL_GetRGBA - * \sa SDL_MapRGB - */ -extern DECLSPEC Uint32 SDLCALL SDL_MapRGBA(const SDL_PixelFormat * format, - Uint8 r, Uint8 g, Uint8 b, - Uint8 a); - -/** - * Get RGB values from a pixel in the specified format. - * - * This function uses the entire 8-bit [0..255] range when converting color - * components from pixel formats with less than 8-bits per RGB component - * (e.g., a completely white pixel in 16-bit RGB565 format would return [0xff, - * 0xff, 0xff] not [0xf8, 0xfc, 0xf8]). - * - * \param pixel a pixel value - * \param format an SDL_PixelFormat structure describing the format of the - * pixel - * \param r a pointer filled in with the red component - * \param g a pointer filled in with the green component - * \param b a pointer filled in with the blue component - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRGBA - * \sa SDL_MapRGB - * \sa SDL_MapRGBA - */ -extern DECLSPEC void SDLCALL SDL_GetRGB(Uint32 pixel, - const SDL_PixelFormat * format, - Uint8 * r, Uint8 * g, Uint8 * b); - -/** - * Get RGBA values from a pixel in the specified format. - * - * This function uses the entire 8-bit [0..255] range when converting color - * components from pixel formats with less than 8-bits per RGB component - * (e.g., a completely white pixel in 16-bit RGB565 format would return [0xff, - * 0xff, 0xff] not [0xf8, 0xfc, 0xf8]). - * - * If the surface has no alpha component, the alpha will be returned as 0xff - * (100% opaque). - * - * \param pixel a pixel value - * \param format an SDL_PixelFormat structure describing the format of the - * pixel - * \param r a pointer filled in with the red component - * \param g a pointer filled in with the green component - * \param b a pointer filled in with the blue component - * \param a a pointer filled in with the alpha component - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRGB - * \sa SDL_MapRGB - * \sa SDL_MapRGBA - */ -extern DECLSPEC void SDLCALL SDL_GetRGBA(Uint32 pixel, - const SDL_PixelFormat * format, - Uint8 * r, Uint8 * g, Uint8 * b, - Uint8 * a); - -/** - * Calculate a 256 entry gamma ramp for a gamma value. - * - * \param gamma a gamma value where 0.0 is black and 1.0 is identity - * \param ramp an array of 256 values filled in with the gamma ramp - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowGammaRamp - */ -extern DECLSPEC void SDLCALL SDL_CalculateGammaRamp(float gamma, Uint16 * ramp); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_pixels_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_platform.h b/subprojects/sdl2_windows/include/SDL2/SDL_platform.h deleted file mode 100644 index a8e3ac225..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_platform.h +++ /dev/null @@ -1,261 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_platform.h - * - * Try to get a standard set of platform defines. - */ - -#ifndef SDL_platform_h_ -#define SDL_platform_h_ - -#if defined(_AIX) -#undef __AIX__ -#define __AIX__ 1 -#endif -#if defined(__HAIKU__) -#undef __HAIKU__ -#define __HAIKU__ 1 -#endif -#if defined(bsdi) || defined(__bsdi) || defined(__bsdi__) -#undef __BSDI__ -#define __BSDI__ 1 -#endif -#if defined(_arch_dreamcast) -#undef __DREAMCAST__ -#define __DREAMCAST__ 1 -#endif -#if defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || defined(__DragonFly__) -#undef __FREEBSD__ -#define __FREEBSD__ 1 -#endif -#if defined(hpux) || defined(__hpux) || defined(__hpux__) -#undef __HPUX__ -#define __HPUX__ 1 -#endif -#if defined(sgi) || defined(__sgi) || defined(__sgi__) || defined(_SGI_SOURCE) -#undef __IRIX__ -#define __IRIX__ 1 -#endif -#if (defined(linux) || defined(__linux) || defined(__linux__)) -#undef __LINUX__ -#define __LINUX__ 1 -#endif -#if defined(ANDROID) || defined(__ANDROID__) -#undef __ANDROID__ -#undef __LINUX__ /* do we need to do this? */ -#define __ANDROID__ 1 -#endif -#if defined(__NGAGE__) -#undef __NGAGE__ -#define __NGAGE__ 1 -#endif - -#if defined(__APPLE__) -/* lets us know what version of Mac OS X we're compiling on */ -#include -#include - -/* Fix building with older SDKs that don't define these - See this for more information: - https://stackoverflow.com/questions/12132933/preprocessor-macro-for-os-x-targets -*/ -#ifndef TARGET_OS_MACCATALYST -#define TARGET_OS_MACCATALYST 0 -#endif -#ifndef TARGET_OS_IOS -#define TARGET_OS_IOS 0 -#endif -#ifndef TARGET_OS_IPHONE -#define TARGET_OS_IPHONE 0 -#endif -#ifndef TARGET_OS_TV -#define TARGET_OS_TV 0 -#endif -#ifndef TARGET_OS_SIMULATOR -#define TARGET_OS_SIMULATOR 0 -#endif - -#if TARGET_OS_TV -#undef __TVOS__ -#define __TVOS__ 1 -#endif -#if TARGET_OS_IPHONE -/* if compiling for iOS */ -#undef __IPHONEOS__ -#define __IPHONEOS__ 1 -#undef __MACOSX__ -#else -/* if not compiling for iOS */ -#undef __MACOSX__ -#define __MACOSX__ 1 -#if MAC_OS_X_VERSION_MIN_REQUIRED < 1070 -# error SDL for Mac OS X only supports deploying on 10.7 and above. -#endif /* MAC_OS_X_VERSION_MIN_REQUIRED < 1070 */ -#endif /* TARGET_OS_IPHONE */ -#endif /* defined(__APPLE__) */ - -#if defined(__NetBSD__) -#undef __NETBSD__ -#define __NETBSD__ 1 -#endif -#if defined(__OpenBSD__) -#undef __OPENBSD__ -#define __OPENBSD__ 1 -#endif -#if defined(__OS2__) || defined(__EMX__) -#undef __OS2__ -#define __OS2__ 1 -#endif -#if defined(osf) || defined(__osf) || defined(__osf__) || defined(_OSF_SOURCE) -#undef __OSF__ -#define __OSF__ 1 -#endif -#if defined(__QNXNTO__) -#undef __QNXNTO__ -#define __QNXNTO__ 1 -#endif -#if defined(riscos) || defined(__riscos) || defined(__riscos__) -#undef __RISCOS__ -#define __RISCOS__ 1 -#endif -#if defined(__sun) && defined(__SVR4) -#undef __SOLARIS__ -#define __SOLARIS__ 1 -#endif - -#if defined(WIN32) || defined(_WIN32) || defined(__CYGWIN__) || defined(__MINGW32__) -/* Try to find out if we're compiling for WinRT, GDK or non-WinRT/GDK */ -#if defined(_MSC_VER) && defined(__has_include) -#if __has_include() -#define HAVE_WINAPIFAMILY_H 1 -#else -#define HAVE_WINAPIFAMILY_H 0 -#endif - -/* If _USING_V110_SDK71_ is defined it means we are using the Windows XP toolset. */ -#elif defined(_MSC_VER) && (_MSC_VER >= 1700 && !_USING_V110_SDK71_) /* _MSC_VER == 1700 for Visual Studio 2012 */ -#define HAVE_WINAPIFAMILY_H 1 -#else -#define HAVE_WINAPIFAMILY_H 0 -#endif - -#if HAVE_WINAPIFAMILY_H -#include -#define WINAPI_FAMILY_WINRT (!WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP) && WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP)) -#else -#define WINAPI_FAMILY_WINRT 0 -#endif /* HAVE_WINAPIFAMILY_H */ - -#if WINAPI_FAMILY_WINRT -#undef __WINRT__ -#define __WINRT__ 1 -#elif defined(_GAMING_DESKTOP) /* GDK project configuration always defines _GAMING_XXX */ -#undef __WINGDK__ -#define __WINGDK__ 1 -#elif defined(_GAMING_XBOX_XBOXONE) -#undef __XBOXONE__ -#define __XBOXONE__ 1 -#elif defined(_GAMING_XBOX_SCARLETT) -#undef __XBOXSERIES__ -#define __XBOXSERIES__ 1 -#else -#undef __WINDOWS__ -#define __WINDOWS__ 1 -#endif -#endif /* defined(WIN32) || defined(_WIN32) || defined(__CYGWIN__) */ - -#if defined(__WINDOWS__) -#undef __WIN32__ -#define __WIN32__ 1 -#endif -/* This is to support generic "any GDK" separate from a platform-specific GDK */ -#if defined(__WINGDK__) || defined(__XBOXONE__) || defined(__XBOXSERIES__) -#undef __GDK__ -#define __GDK__ 1 -#endif -#if defined(__PSP__) -#undef __PSP__ -#define __PSP__ 1 -#endif -#if defined(PS2) -#define __PS2__ 1 -#endif - -/* The NACL compiler defines __native_client__ and __pnacl__ - * Ref: http://www.chromium.org/nativeclient/pnacl/stability-of-the-pnacl-bitcode-abi - */ -#if defined(__native_client__) -#undef __LINUX__ -#undef __NACL__ -#define __NACL__ 1 -#endif -#if defined(__pnacl__) -#undef __LINUX__ -#undef __PNACL__ -#define __PNACL__ 1 -/* PNACL with newlib supports static linking only */ -#define __SDL_NOGETPROCADDR__ -#endif - -#if defined(__vita__) -#define __VITA__ 1 -#endif - -#if defined(__3DS__) -#undef __3DS__ -#define __3DS__ 1 -#endif - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Get the name of the platform. - * - * Here are the names returned for some (but not all) supported platforms: - * - * - "Windows" - * - "Mac OS X" - * - "Linux" - * - "iOS" - * - "Android" - * - * \returns the name of the platform. If the correct platform name is not - * available, returns a string beginning with the text "Unknown". - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC const char * SDLCALL SDL_GetPlatform (void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_platform_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_power.h b/subprojects/sdl2_windows/include/SDL2/SDL_power.h deleted file mode 100644 index ecb3f4b02..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_power.h +++ /dev/null @@ -1,88 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_power_h_ -#define SDL_power_h_ - -/** - * \file SDL_power.h - * - * Header for the SDL power management routines. - */ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * The basic state for the system's power supply. - */ -typedef enum -{ - SDL_POWERSTATE_UNKNOWN, /**< cannot determine power status */ - SDL_POWERSTATE_ON_BATTERY, /**< Not plugged in, running on the battery */ - SDL_POWERSTATE_NO_BATTERY, /**< Plugged in, no battery available */ - SDL_POWERSTATE_CHARGING, /**< Plugged in, charging battery */ - SDL_POWERSTATE_CHARGED /**< Plugged in, battery charged */ -} SDL_PowerState; - - -/** - * Get the current power supply details. - * - * You should never take a battery status as absolute truth. Batteries - * (especially failing batteries) are delicate hardware, and the values - * reported here are best estimates based on what that hardware reports. It's - * not uncommon for older batteries to lose stored power much faster than it - * reports, or completely drain when reporting it has 20 percent left, etc. - * - * Battery status can change at any time; if you are concerned with power - * state, you should call this function frequently, and perhaps ignore changes - * until they seem to be stable for a few seconds. - * - * It's possible a platform can only report battery percentage or time left - * but not both. - * - * \param secs seconds of battery life left, you can pass a NULL here if you - * don't care, will return -1 if we can't determine a value, or - * we're not running on a battery - * \param pct percentage of battery life left, between 0 and 100, you can pass - * a NULL here if you don't care, will return -1 if we can't - * determine a value, or we're not running on a battery - * \returns an SDL_PowerState enum representing the current battery state. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_PowerState SDLCALL SDL_GetPowerInfo(int *secs, int *pct); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_power_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_quit.h b/subprojects/sdl2_windows/include/SDL2/SDL_quit.h deleted file mode 100644 index 4090f7f19..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_quit.h +++ /dev/null @@ -1,58 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_quit.h - * - * Include file for SDL quit event handling. - */ - -#ifndef SDL_quit_h_ -#define SDL_quit_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -/** - * \file SDL_quit.h - * - * An ::SDL_QUIT event is generated when the user tries to close the application - * window. If it is ignored or filtered out, the window will remain open. - * If it is not ignored or filtered, it is queued normally and the window - * is allowed to close. When the window is closed, screen updates will - * complete, but have no effect. - * - * SDL_Init() installs signal handlers for SIGINT (keyboard interrupt) - * and SIGTERM (system termination request), if handlers do not already - * exist, that generate ::SDL_QUIT events as well. There is no way - * to determine the cause of an ::SDL_QUIT event, but setting a signal - * handler in your application will override the default generation of - * quit events for that signal. - * - * \sa SDL_Quit() - */ - -/* There are no functions directly affecting the quit event */ - -#define SDL_QuitRequested() \ - (SDL_PumpEvents(), (SDL_PeepEvents(NULL,0,SDL_PEEKEVENT,SDL_QUIT,SDL_QUIT) > 0)) - -#endif /* SDL_quit_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_rect.h b/subprojects/sdl2_windows/include/SDL2/SDL_rect.h deleted file mode 100644 index 6c641c581..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_rect.h +++ /dev/null @@ -1,376 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_rect.h - * - * Header file for SDL_rect definition and management functions. - */ - -#ifndef SDL_rect_h_ -#define SDL_rect_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_pixels.h" -#include "SDL_rwops.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * The structure that defines a point (integer) - * - * \sa SDL_EnclosePoints - * \sa SDL_PointInRect - */ -typedef struct SDL_Point -{ - int x; - int y; -} SDL_Point; - -/** - * The structure that defines a point (floating point) - * - * \sa SDL_EncloseFPoints - * \sa SDL_PointInFRect - */ -typedef struct SDL_FPoint -{ - float x; - float y; -} SDL_FPoint; - - -/** - * A rectangle, with the origin at the upper left (integer). - * - * \sa SDL_RectEmpty - * \sa SDL_RectEquals - * \sa SDL_HasIntersection - * \sa SDL_IntersectRect - * \sa SDL_IntersectRectAndLine - * \sa SDL_UnionRect - * \sa SDL_EnclosePoints - */ -typedef struct SDL_Rect -{ - int x, y; - int w, h; -} SDL_Rect; - - -/** - * A rectangle, with the origin at the upper left (floating point). - * - * \sa SDL_FRectEmpty - * \sa SDL_FRectEquals - * \sa SDL_FRectEqualsEpsilon - * \sa SDL_HasIntersectionF - * \sa SDL_IntersectFRect - * \sa SDL_IntersectFRectAndLine - * \sa SDL_UnionFRect - * \sa SDL_EncloseFPoints - * \sa SDL_PointInFRect - */ -typedef struct SDL_FRect -{ - float x; - float y; - float w; - float h; -} SDL_FRect; - - -/** - * Returns true if point resides inside a rectangle. - */ -SDL_FORCE_INLINE SDL_bool SDL_PointInRect(const SDL_Point *p, const SDL_Rect *r) -{ - return ( (p->x >= r->x) && (p->x < (r->x + r->w)) && - (p->y >= r->y) && (p->y < (r->y + r->h)) ) ? SDL_TRUE : SDL_FALSE; -} - -/** - * Returns true if the rectangle has no area. - */ -SDL_FORCE_INLINE SDL_bool SDL_RectEmpty(const SDL_Rect *r) -{ - return ((!r) || (r->w <= 0) || (r->h <= 0)) ? SDL_TRUE : SDL_FALSE; -} - -/** - * Returns true if the two rectangles are equal. - */ -SDL_FORCE_INLINE SDL_bool SDL_RectEquals(const SDL_Rect *a, const SDL_Rect *b) -{ - return (a && b && (a->x == b->x) && (a->y == b->y) && - (a->w == b->w) && (a->h == b->h)) ? SDL_TRUE : SDL_FALSE; -} - -/** - * Determine whether two rectangles intersect. - * - * If either pointer is NULL the function will return SDL_FALSE. - * - * \param A an SDL_Rect structure representing the first rectangle - * \param B an SDL_Rect structure representing the second rectangle - * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_IntersectRect - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasIntersection(const SDL_Rect * A, - const SDL_Rect * B); - -/** - * Calculate the intersection of two rectangles. - * - * If `result` is NULL then this function will return SDL_FALSE. - * - * \param A an SDL_Rect structure representing the first rectangle - * \param B an SDL_Rect structure representing the second rectangle - * \param result an SDL_Rect structure filled in with the intersection of - * rectangles `A` and `B` - * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HasIntersection - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IntersectRect(const SDL_Rect * A, - const SDL_Rect * B, - SDL_Rect * result); - -/** - * Calculate the union of two rectangles. - * - * \param A an SDL_Rect structure representing the first rectangle - * \param B an SDL_Rect structure representing the second rectangle - * \param result an SDL_Rect structure filled in with the union of rectangles - * `A` and `B` - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_UnionRect(const SDL_Rect * A, - const SDL_Rect * B, - SDL_Rect * result); - -/** - * Calculate a minimal rectangle enclosing a set of points. - * - * If `clip` is not NULL then only points inside of the clipping rectangle are - * considered. - * - * \param points an array of SDL_Point structures representing points to be - * enclosed - * \param count the number of structures in the `points` array - * \param clip an SDL_Rect used for clipping or NULL to enclose all points - * \param result an SDL_Rect structure filled in with the minimal enclosing - * rectangle - * \returns SDL_TRUE if any points were enclosed or SDL_FALSE if all the - * points were outside of the clipping rectangle. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_EnclosePoints(const SDL_Point * points, - int count, - const SDL_Rect * clip, - SDL_Rect * result); - -/** - * Calculate the intersection of a rectangle and line segment. - * - * This function is used to clip a line segment to a rectangle. A line segment - * contained entirely within the rectangle or that does not intersect will - * remain unchanged. A line segment that crosses the rectangle at either or - * both ends will be clipped to the boundary of the rectangle and the new - * coordinates saved in `X1`, `Y1`, `X2`, and/or `Y2` as necessary. - * - * \param rect an SDL_Rect structure representing the rectangle to intersect - * \param X1 a pointer to the starting X-coordinate of the line - * \param Y1 a pointer to the starting Y-coordinate of the line - * \param X2 a pointer to the ending X-coordinate of the line - * \param Y2 a pointer to the ending Y-coordinate of the line - * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IntersectRectAndLine(const SDL_Rect * - rect, int *X1, - int *Y1, int *X2, - int *Y2); - - -/* SDL_FRect versions... */ - -/** - * Returns true if point resides inside a rectangle. - */ -SDL_FORCE_INLINE SDL_bool SDL_PointInFRect(const SDL_FPoint *p, const SDL_FRect *r) -{ - return ( (p->x >= r->x) && (p->x < (r->x + r->w)) && - (p->y >= r->y) && (p->y < (r->y + r->h)) ) ? SDL_TRUE : SDL_FALSE; -} - -/** - * Returns true if the rectangle has no area. - */ -SDL_FORCE_INLINE SDL_bool SDL_FRectEmpty(const SDL_FRect *r) -{ - return ((!r) || (r->w <= 0.0f) || (r->h <= 0.0f)) ? SDL_TRUE : SDL_FALSE; -} - -/** - * Returns true if the two rectangles are equal, within some given epsilon. - * - * \since This function is available since SDL 2.0.22. - */ -SDL_FORCE_INLINE SDL_bool SDL_FRectEqualsEpsilon(const SDL_FRect *a, const SDL_FRect *b, const float epsilon) -{ - return (a && b && ((a == b) || - ((SDL_fabsf(a->x - b->x) <= epsilon) && - (SDL_fabsf(a->y - b->y) <= epsilon) && - (SDL_fabsf(a->w - b->w) <= epsilon) && - (SDL_fabsf(a->h - b->h) <= epsilon)))) - ? SDL_TRUE : SDL_FALSE; -} - -/** - * Returns true if the two rectangles are equal, using a default epsilon. - * - * \since This function is available since SDL 2.0.22. - */ -SDL_FORCE_INLINE SDL_bool SDL_FRectEquals(const SDL_FRect *a, const SDL_FRect *b) -{ - return SDL_FRectEqualsEpsilon(a, b, SDL_FLT_EPSILON); -} - -/** - * Determine whether two rectangles intersect with float precision. - * - * If either pointer is NULL the function will return SDL_FALSE. - * - * \param A an SDL_FRect structure representing the first rectangle - * \param B an SDL_FRect structure representing the second rectangle - * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.22. - * - * \sa SDL_IntersectRect - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasIntersectionF(const SDL_FRect * A, - const SDL_FRect * B); - -/** - * Calculate the intersection of two rectangles with float precision. - * - * If `result` is NULL then this function will return SDL_FALSE. - * - * \param A an SDL_FRect structure representing the first rectangle - * \param B an SDL_FRect structure representing the second rectangle - * \param result an SDL_FRect structure filled in with the intersection of - * rectangles `A` and `B` - * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.22. - * - * \sa SDL_HasIntersectionF - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IntersectFRect(const SDL_FRect * A, - const SDL_FRect * B, - SDL_FRect * result); - -/** - * Calculate the union of two rectangles with float precision. - * - * \param A an SDL_FRect structure representing the first rectangle - * \param B an SDL_FRect structure representing the second rectangle - * \param result an SDL_FRect structure filled in with the union of rectangles - * `A` and `B` - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC void SDLCALL SDL_UnionFRect(const SDL_FRect * A, - const SDL_FRect * B, - SDL_FRect * result); - -/** - * Calculate a minimal rectangle enclosing a set of points with float - * precision. - * - * If `clip` is not NULL then only points inside of the clipping rectangle are - * considered. - * - * \param points an array of SDL_FPoint structures representing points to be - * enclosed - * \param count the number of structures in the `points` array - * \param clip an SDL_FRect used for clipping or NULL to enclose all points - * \param result an SDL_FRect structure filled in with the minimal enclosing - * rectangle - * \returns SDL_TRUE if any points were enclosed or SDL_FALSE if all the - * points were outside of the clipping rectangle. - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_EncloseFPoints(const SDL_FPoint * points, - int count, - const SDL_FRect * clip, - SDL_FRect * result); - -/** - * Calculate the intersection of a rectangle and line segment with float - * precision. - * - * This function is used to clip a line segment to a rectangle. A line segment - * contained entirely within the rectangle or that does not intersect will - * remain unchanged. A line segment that crosses the rectangle at either or - * both ends will be clipped to the boundary of the rectangle and the new - * coordinates saved in `X1`, `Y1`, `X2`, and/or `Y2` as necessary. - * - * \param rect an SDL_FRect structure representing the rectangle to intersect - * \param X1 a pointer to the starting X-coordinate of the line - * \param Y1 a pointer to the starting Y-coordinate of the line - * \param X2 a pointer to the ending X-coordinate of the line - * \param Y2 a pointer to the ending Y-coordinate of the line - * \returns SDL_TRUE if there is an intersection, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IntersectFRectAndLine(const SDL_FRect * - rect, float *X1, - float *Y1, float *X2, - float *Y2); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_rect_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_render.h b/subprojects/sdl2_windows/include/SDL2/SDL_render.h deleted file mode 100644 index 5b7b059af..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_render.h +++ /dev/null @@ -1,1919 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_render.h - * - * Header file for SDL 2D rendering functions. - * - * This API supports the following features: - * * single pixel points - * * single pixel lines - * * filled rectangles - * * texture images - * - * The primitives may be drawn in opaque, blended, or additive modes. - * - * The texture images may be drawn in opaque, blended, or additive modes. - * They can have an additional color tint or alpha modulation applied to - * them, and may also be stretched with linear interpolation. - * - * This API is designed to accelerate simple 2D operations. You may - * want more functionality such as polygons and particle effects and - * in that case you should use SDL's OpenGL/Direct3D support or one - * of the many good 3D engines. - * - * These functions must be called from the main thread. - * See this bug for details: http://bugzilla.libsdl.org/show_bug.cgi?id=1995 - */ - -#ifndef SDL_render_h_ -#define SDL_render_h_ - -#include "SDL_stdinc.h" -#include "SDL_rect.h" -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Flags used when creating a rendering context - */ -typedef enum -{ - SDL_RENDERER_SOFTWARE = 0x00000001, /**< The renderer is a software fallback */ - SDL_RENDERER_ACCELERATED = 0x00000002, /**< The renderer uses hardware - acceleration */ - SDL_RENDERER_PRESENTVSYNC = 0x00000004, /**< Present is synchronized - with the refresh rate */ - SDL_RENDERER_TARGETTEXTURE = 0x00000008 /**< The renderer supports - rendering to texture */ -} SDL_RendererFlags; - -/** - * Information on the capabilities of a render driver or context. - */ -typedef struct SDL_RendererInfo -{ - const char *name; /**< The name of the renderer */ - Uint32 flags; /**< Supported ::SDL_RendererFlags */ - Uint32 num_texture_formats; /**< The number of available texture formats */ - Uint32 texture_formats[16]; /**< The available texture formats */ - int max_texture_width; /**< The maximum texture width */ - int max_texture_height; /**< The maximum texture height */ -} SDL_RendererInfo; - -/** - * Vertex structure - */ -typedef struct SDL_Vertex -{ - SDL_FPoint position; /**< Vertex position, in SDL_Renderer coordinates */ - SDL_Color color; /**< Vertex color */ - SDL_FPoint tex_coord; /**< Normalized texture coordinates, if needed */ -} SDL_Vertex; - -/** - * The scaling mode for a texture. - */ -typedef enum -{ - SDL_ScaleModeNearest, /**< nearest pixel sampling */ - SDL_ScaleModeLinear, /**< linear filtering */ - SDL_ScaleModeBest /**< anisotropic filtering */ -} SDL_ScaleMode; - -/** - * The access pattern allowed for a texture. - */ -typedef enum -{ - SDL_TEXTUREACCESS_STATIC, /**< Changes rarely, not lockable */ - SDL_TEXTUREACCESS_STREAMING, /**< Changes frequently, lockable */ - SDL_TEXTUREACCESS_TARGET /**< Texture can be used as a render target */ -} SDL_TextureAccess; - -/** - * The texture channel modulation used in SDL_RenderCopy(). - */ -typedef enum -{ - SDL_TEXTUREMODULATE_NONE = 0x00000000, /**< No modulation */ - SDL_TEXTUREMODULATE_COLOR = 0x00000001, /**< srcC = srcC * color */ - SDL_TEXTUREMODULATE_ALPHA = 0x00000002 /**< srcA = srcA * alpha */ -} SDL_TextureModulate; - -/** - * Flip constants for SDL_RenderCopyEx - */ -typedef enum -{ - SDL_FLIP_NONE = 0x00000000, /**< Do not flip */ - SDL_FLIP_HORIZONTAL = 0x00000001, /**< flip horizontally */ - SDL_FLIP_VERTICAL = 0x00000002 /**< flip vertically */ -} SDL_RendererFlip; - -/** - * A structure representing rendering state - */ -struct SDL_Renderer; -typedef struct SDL_Renderer SDL_Renderer; - -/** - * An efficient driver-specific representation of pixel data - */ -struct SDL_Texture; -typedef struct SDL_Texture SDL_Texture; - -/* Function prototypes */ - -/** - * Get the number of 2D rendering drivers available for the current display. - * - * A render driver is a set of code that handles rendering and texture - * management on a particular display. Normally there is only one, but some - * drivers may have several available with different capabilities. - * - * There may be none if SDL was compiled without render support. - * - * \returns a number >= 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - * \sa SDL_GetRenderDriverInfo - */ -extern DECLSPEC int SDLCALL SDL_GetNumRenderDrivers(void); - -/** - * Get info about a specific 2D rendering driver for the current display. - * - * \param index the index of the driver to query information about - * \param info an SDL_RendererInfo structure to be filled with information on - * the rendering driver - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - * \sa SDL_GetNumRenderDrivers - */ -extern DECLSPEC int SDLCALL SDL_GetRenderDriverInfo(int index, - SDL_RendererInfo * info); - -/** - * Create a window and default renderer. - * - * \param width the width of the window - * \param height the height of the window - * \param window_flags the flags used to create the window (see - * SDL_CreateWindow()) - * \param window a pointer filled with the window, or NULL on error - * \param renderer a pointer filled with the renderer, or NULL on error - * \returns 0 on success, or -1 on error; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - * \sa SDL_CreateWindow - */ -extern DECLSPEC int SDLCALL SDL_CreateWindowAndRenderer( - int width, int height, Uint32 window_flags, - SDL_Window **window, SDL_Renderer **renderer); - - -/** - * Create a 2D rendering context for a window. - * - * \param window the window where rendering is displayed - * \param index the index of the rendering driver to initialize, or -1 to - * initialize the first one supporting the requested flags - * \param flags 0, or one or more SDL_RendererFlags OR'd together - * \returns a valid rendering context or NULL if there was an error; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateSoftwareRenderer - * \sa SDL_DestroyRenderer - * \sa SDL_GetNumRenderDrivers - * \sa SDL_GetRendererInfo - */ -extern DECLSPEC SDL_Renderer * SDLCALL SDL_CreateRenderer(SDL_Window * window, - int index, Uint32 flags); - -/** - * Create a 2D software rendering context for a surface. - * - * Two other API which can be used to create SDL_Renderer: - * SDL_CreateRenderer() and SDL_CreateWindowAndRenderer(). These can _also_ - * create a software renderer, but they are intended to be used with an - * SDL_Window as the final destination and not an SDL_Surface. - * - * \param surface the SDL_Surface structure representing the surface where - * rendering is done - * \returns a valid rendering context or NULL if there was an error; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - * \sa SDL_CreateWindowRenderer - * \sa SDL_DestroyRenderer - */ -extern DECLSPEC SDL_Renderer * SDLCALL SDL_CreateSoftwareRenderer(SDL_Surface * surface); - -/** - * Get the renderer associated with a window. - * - * \param window the window to query - * \returns the rendering context on success or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - */ -extern DECLSPEC SDL_Renderer * SDLCALL SDL_GetRenderer(SDL_Window * window); - -/** - * Get the window associated with a renderer. - * - * \param renderer the renderer to query - * \returns the window on success or NULL on failure; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_RenderGetWindow(SDL_Renderer *renderer); - -/** - * Get information about a rendering context. - * - * \param renderer the rendering context - * \param info an SDL_RendererInfo structure filled with information about the - * current renderer - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - */ -extern DECLSPEC int SDLCALL SDL_GetRendererInfo(SDL_Renderer * renderer, - SDL_RendererInfo * info); - -/** - * Get the output size in pixels of a rendering context. - * - * Due to high-dpi displays, you might end up with a rendering context that - * has more pixels than the window that contains it, so use this instead of - * SDL_GetWindowSize() to decide how much drawing area you have. - * - * \param renderer the rendering context - * \param w an int filled with the width - * \param h an int filled with the height - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRenderer - */ -extern DECLSPEC int SDLCALL SDL_GetRendererOutputSize(SDL_Renderer * renderer, - int *w, int *h); - -/** - * Create a texture for a rendering context. - * - * You can set the texture scaling method by setting - * `SDL_HINT_RENDER_SCALE_QUALITY` before creating the texture. - * - * \param renderer the rendering context - * \param format one of the enumerated values in SDL_PixelFormatEnum - * \param access one of the enumerated values in SDL_TextureAccess - * \param w the width of the texture in pixels - * \param h the height of the texture in pixels - * \returns a pointer to the created texture or NULL if no rendering context - * was active, the format was unsupported, or the width or height - * were out of range; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateTextureFromSurface - * \sa SDL_DestroyTexture - * \sa SDL_QueryTexture - * \sa SDL_UpdateTexture - */ -extern DECLSPEC SDL_Texture * SDLCALL SDL_CreateTexture(SDL_Renderer * renderer, - Uint32 format, - int access, int w, - int h); - -/** - * Create a texture from an existing surface. - * - * The surface is not modified or freed by this function. - * - * The SDL_TextureAccess hint for the created texture is - * `SDL_TEXTUREACCESS_STATIC`. - * - * The pixel format of the created texture may be different from the pixel - * format of the surface. Use SDL_QueryTexture() to query the pixel format of - * the texture. - * - * \param renderer the rendering context - * \param surface the SDL_Surface structure containing pixel data used to fill - * the texture - * \returns the created texture or NULL on failure; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateTexture - * \sa SDL_DestroyTexture - * \sa SDL_QueryTexture - */ -extern DECLSPEC SDL_Texture * SDLCALL SDL_CreateTextureFromSurface(SDL_Renderer * renderer, SDL_Surface * surface); - -/** - * Query the attributes of a texture. - * - * \param texture the texture to query - * \param format a pointer filled in with the raw format of the texture; the - * actual format may differ, but pixel transfers will use this - * format (one of the SDL_PixelFormatEnum values). This argument - * can be NULL if you don't need this information. - * \param access a pointer filled in with the actual access to the texture - * (one of the SDL_TextureAccess values). This argument can be - * NULL if you don't need this information. - * \param w a pointer filled in with the width of the texture in pixels. This - * argument can be NULL if you don't need this information. - * \param h a pointer filled in with the height of the texture in pixels. This - * argument can be NULL if you don't need this information. - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateTexture - */ -extern DECLSPEC int SDLCALL SDL_QueryTexture(SDL_Texture * texture, - Uint32 * format, int *access, - int *w, int *h); - -/** - * Set an additional color value multiplied into render copy operations. - * - * When this texture is rendered, during the copy operation each source color - * channel is modulated by the appropriate color value according to the - * following formula: - * - * `srcC = srcC * (color / 255)` - * - * Color modulation is not always supported by the renderer; it will return -1 - * if color modulation is not supported. - * - * \param texture the texture to update - * \param r the red color value multiplied into copy operations - * \param g the green color value multiplied into copy operations - * \param b the blue color value multiplied into copy operations - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTextureColorMod - * \sa SDL_SetTextureAlphaMod - */ -extern DECLSPEC int SDLCALL SDL_SetTextureColorMod(SDL_Texture * texture, - Uint8 r, Uint8 g, Uint8 b); - - -/** - * Get the additional color value multiplied into render copy operations. - * - * \param texture the texture to query - * \param r a pointer filled in with the current red color value - * \param g a pointer filled in with the current green color value - * \param b a pointer filled in with the current blue color value - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTextureAlphaMod - * \sa SDL_SetTextureColorMod - */ -extern DECLSPEC int SDLCALL SDL_GetTextureColorMod(SDL_Texture * texture, - Uint8 * r, Uint8 * g, - Uint8 * b); - -/** - * Set an additional alpha value multiplied into render copy operations. - * - * When this texture is rendered, during the copy operation the source alpha - * value is modulated by this alpha value according to the following formula: - * - * `srcA = srcA * (alpha / 255)` - * - * Alpha modulation is not always supported by the renderer; it will return -1 - * if alpha modulation is not supported. - * - * \param texture the texture to update - * \param alpha the source alpha value multiplied into copy operations - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTextureAlphaMod - * \sa SDL_SetTextureColorMod - */ -extern DECLSPEC int SDLCALL SDL_SetTextureAlphaMod(SDL_Texture * texture, - Uint8 alpha); - -/** - * Get the additional alpha value multiplied into render copy operations. - * - * \param texture the texture to query - * \param alpha a pointer filled in with the current alpha value - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTextureColorMod - * \sa SDL_SetTextureAlphaMod - */ -extern DECLSPEC int SDLCALL SDL_GetTextureAlphaMod(SDL_Texture * texture, - Uint8 * alpha); - -/** - * Set the blend mode for a texture, used by SDL_RenderCopy(). - * - * If the blend mode is not supported, the closest supported mode is chosen - * and this function returns -1. - * - * \param texture the texture to update - * \param blendMode the SDL_BlendMode to use for texture blending - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTextureBlendMode - * \sa SDL_RenderCopy - */ -extern DECLSPEC int SDLCALL SDL_SetTextureBlendMode(SDL_Texture * texture, - SDL_BlendMode blendMode); - -/** - * Get the blend mode used for texture copy operations. - * - * \param texture the texture to query - * \param blendMode a pointer filled in with the current SDL_BlendMode - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetTextureBlendMode - */ -extern DECLSPEC int SDLCALL SDL_GetTextureBlendMode(SDL_Texture * texture, - SDL_BlendMode *blendMode); - -/** - * Set the scale mode used for texture scale operations. - * - * If the scale mode is not supported, the closest supported mode is chosen. - * - * \param texture The texture to update. - * \param scaleMode the SDL_ScaleMode to use for texture scaling. - * \returns 0 on success, or -1 if the texture is not valid. - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_GetTextureScaleMode - */ -extern DECLSPEC int SDLCALL SDL_SetTextureScaleMode(SDL_Texture * texture, - SDL_ScaleMode scaleMode); - -/** - * Get the scale mode used for texture scale operations. - * - * \param texture the texture to query. - * \param scaleMode a pointer filled in with the current scale mode. - * \return 0 on success, or -1 if the texture is not valid. - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_SetTextureScaleMode - */ -extern DECLSPEC int SDLCALL SDL_GetTextureScaleMode(SDL_Texture * texture, - SDL_ScaleMode *scaleMode); - -/** - * Associate a user-specified pointer with a texture. - * - * \param texture the texture to update. - * \param userdata the pointer to associate with the texture. - * \returns 0 on success, or -1 if the texture is not valid. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_GetTextureUserData - */ -extern DECLSPEC int SDLCALL SDL_SetTextureUserData(SDL_Texture * texture, - void *userdata); - -/** - * Get the user-specified pointer associated with a texture - * - * \param texture the texture to query. - * \return the pointer associated with the texture, or NULL if the texture is - * not valid. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_SetTextureUserData - */ -extern DECLSPEC void * SDLCALL SDL_GetTextureUserData(SDL_Texture * texture); - -/** - * Update the given texture rectangle with new pixel data. - * - * The pixel data must be in the pixel format of the texture. Use - * SDL_QueryTexture() to query the pixel format of the texture. - * - * This is a fairly slow function, intended for use with static textures that - * do not change often. - * - * If the texture is intended to be updated often, it is preferred to create - * the texture as streaming and use the locking functions referenced below. - * While this function will work with streaming textures, for optimization - * reasons you may not get the pixels back if you lock the texture afterward. - * - * \param texture the texture to update - * \param rect an SDL_Rect structure representing the area to update, or NULL - * to update the entire texture - * \param pixels the raw pixel data in the format of the texture - * \param pitch the number of bytes in a row of pixel data, including padding - * between lines - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateTexture - * \sa SDL_LockTexture - * \sa SDL_UnlockTexture - */ -extern DECLSPEC int SDLCALL SDL_UpdateTexture(SDL_Texture * texture, - const SDL_Rect * rect, - const void *pixels, int pitch); - -/** - * Update a rectangle within a planar YV12 or IYUV texture with new pixel - * data. - * - * You can use SDL_UpdateTexture() as long as your pixel data is a contiguous - * block of Y and U/V planes in the proper order, but this function is - * available if your pixel data is not contiguous. - * - * \param texture the texture to update - * \param rect a pointer to the rectangle of pixels to update, or NULL to - * update the entire texture - * \param Yplane the raw pixel data for the Y plane - * \param Ypitch the number of bytes between rows of pixel data for the Y - * plane - * \param Uplane the raw pixel data for the U plane - * \param Upitch the number of bytes between rows of pixel data for the U - * plane - * \param Vplane the raw pixel data for the V plane - * \param Vpitch the number of bytes between rows of pixel data for the V - * plane - * \returns 0 on success or -1 if the texture is not valid; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.1. - * - * \sa SDL_UpdateTexture - */ -extern DECLSPEC int SDLCALL SDL_UpdateYUVTexture(SDL_Texture * texture, - const SDL_Rect * rect, - const Uint8 *Yplane, int Ypitch, - const Uint8 *Uplane, int Upitch, - const Uint8 *Vplane, int Vpitch); - -/** - * Update a rectangle within a planar NV12 or NV21 texture with new pixels. - * - * You can use SDL_UpdateTexture() as long as your pixel data is a contiguous - * block of NV12/21 planes in the proper order, but this function is available - * if your pixel data is not contiguous. - * - * \param texture the texture to update - * \param rect a pointer to the rectangle of pixels to update, or NULL to - * update the entire texture. - * \param Yplane the raw pixel data for the Y plane. - * \param Ypitch the number of bytes between rows of pixel data for the Y - * plane. - * \param UVplane the raw pixel data for the UV plane. - * \param UVpitch the number of bytes between rows of pixel data for the UV - * plane. - * \return 0 on success, or -1 if the texture is not valid. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC int SDLCALL SDL_UpdateNVTexture(SDL_Texture * texture, - const SDL_Rect * rect, - const Uint8 *Yplane, int Ypitch, - const Uint8 *UVplane, int UVpitch); - -/** - * Lock a portion of the texture for **write-only** pixel access. - * - * As an optimization, the pixels made available for editing don't necessarily - * contain the old texture data. This is a write-only operation, and if you - * need to keep a copy of the texture data you should do that at the - * application level. - * - * You must use SDL_UnlockTexture() to unlock the pixels and apply any - * changes. - * - * \param texture the texture to lock for access, which was created with - * `SDL_TEXTUREACCESS_STREAMING` - * \param rect an SDL_Rect structure representing the area to lock for access; - * NULL to lock the entire texture - * \param pixels this is filled in with a pointer to the locked pixels, - * appropriately offset by the locked area - * \param pitch this is filled in with the pitch of the locked pixels; the - * pitch is the length of one row in bytes - * \returns 0 on success or a negative error code if the texture is not valid - * or was not created with `SDL_TEXTUREACCESS_STREAMING`; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_UnlockTexture - */ -extern DECLSPEC int SDLCALL SDL_LockTexture(SDL_Texture * texture, - const SDL_Rect * rect, - void **pixels, int *pitch); - -/** - * Lock a portion of the texture for **write-only** pixel access, and expose - * it as a SDL surface. - * - * Besides providing an SDL_Surface instead of raw pixel data, this function - * operates like SDL_LockTexture. - * - * As an optimization, the pixels made available for editing don't necessarily - * contain the old texture data. This is a write-only operation, and if you - * need to keep a copy of the texture data you should do that at the - * application level. - * - * You must use SDL_UnlockTexture() to unlock the pixels and apply any - * changes. - * - * The returned surface is freed internally after calling SDL_UnlockTexture() - * or SDL_DestroyTexture(). The caller should not free it. - * - * \param texture the texture to lock for access, which was created with - * `SDL_TEXTUREACCESS_STREAMING` - * \param rect a pointer to the rectangle to lock for access. If the rect is - * NULL, the entire texture will be locked - * \param surface this is filled in with an SDL surface representing the - * locked area - * \returns 0 on success, or -1 if the texture is not valid or was not created - * with `SDL_TEXTUREACCESS_STREAMING` - * - * \since This function is available since SDL 2.0.12. - * - * \sa SDL_LockTexture - * \sa SDL_UnlockTexture - */ -extern DECLSPEC int SDLCALL SDL_LockTextureToSurface(SDL_Texture *texture, - const SDL_Rect *rect, - SDL_Surface **surface); - -/** - * Unlock a texture, uploading the changes to video memory, if needed. - * - * **Warning**: Please note that SDL_LockTexture() is intended to be - * write-only; it will not guarantee the previous contents of the texture will - * be provided. You must fully initialize any area of a texture that you lock - * before unlocking it, as the pixels might otherwise be uninitialized memory. - * - * Which is to say: locking and immediately unlocking a texture can result in - * corrupted textures, depending on the renderer in use. - * - * \param texture a texture locked by SDL_LockTexture() - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LockTexture - */ -extern DECLSPEC void SDLCALL SDL_UnlockTexture(SDL_Texture * texture); - -/** - * Determine whether a renderer supports the use of render targets. - * - * \param renderer the renderer that will be checked - * \returns SDL_TRUE if supported or SDL_FALSE if not. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetRenderTarget - */ -extern DECLSPEC SDL_bool SDLCALL SDL_RenderTargetSupported(SDL_Renderer *renderer); - -/** - * Set a texture as the current rendering target. - * - * Before using this function, you should check the - * `SDL_RENDERER_TARGETTEXTURE` bit in the flags of SDL_RendererInfo to see if - * render targets are supported. - * - * The default render target is the window for which the renderer was created. - * To stop rendering to a texture and render to the window again, call this - * function with a NULL `texture`. - * - * \param renderer the rendering context - * \param texture the targeted texture, which must be created with the - * `SDL_TEXTUREACCESS_TARGET` flag, or NULL to render to the - * window instead of a texture. - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRenderTarget - */ -extern DECLSPEC int SDLCALL SDL_SetRenderTarget(SDL_Renderer *renderer, - SDL_Texture *texture); - -/** - * Get the current render target. - * - * The default render target is the window for which the renderer was created, - * and is reported a NULL here. - * - * \param renderer the rendering context - * \returns the current render target or NULL for the default render target. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetRenderTarget - */ -extern DECLSPEC SDL_Texture * SDLCALL SDL_GetRenderTarget(SDL_Renderer *renderer); - -/** - * Set a device independent resolution for rendering. - * - * This function uses the viewport and scaling functionality to allow a fixed - * logical resolution for rendering, regardless of the actual output - * resolution. If the actual output resolution doesn't have the same aspect - * ratio the output rendering will be centered within the output display. - * - * If the output display is a window, mouse and touch events in the window - * will be filtered and scaled so they seem to arrive within the logical - * resolution. The SDL_HINT_MOUSE_RELATIVE_SCALING hint controls whether - * relative motion events are also scaled. - * - * If this function results in scaling or subpixel drawing by the rendering - * backend, it will be handled using the appropriate quality hints. - * - * \param renderer the renderer for which resolution should be set - * \param w the width of the logical resolution - * \param h the height of the logical resolution - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderGetLogicalSize - */ -extern DECLSPEC int SDLCALL SDL_RenderSetLogicalSize(SDL_Renderer * renderer, int w, int h); - -/** - * Get device independent resolution for rendering. - * - * When using the main rendering target (eg no target texture is set): this - * may return 0 for `w` and `h` if the SDL_Renderer has never had its logical - * size set by SDL_RenderSetLogicalSize(). Otherwise it returns the logical - * width and height. - * - * When using a target texture: Never return 0 for `w` and `h` at first. Then - * it returns the logical width and height that are set. - * - * \param renderer a rendering context - * \param w an int to be filled with the width - * \param h an int to be filled with the height - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderSetLogicalSize - */ -extern DECLSPEC void SDLCALL SDL_RenderGetLogicalSize(SDL_Renderer * renderer, int *w, int *h); - -/** - * Set whether to force integer scales for resolution-independent rendering. - * - * This function restricts the logical viewport to integer values - that is, - * when a resolution is between two multiples of a logical size, the viewport - * size is rounded down to the lower multiple. - * - * \param renderer the renderer for which integer scaling should be set - * \param enable enable or disable the integer scaling for rendering - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_RenderGetIntegerScale - * \sa SDL_RenderSetLogicalSize - */ -extern DECLSPEC int SDLCALL SDL_RenderSetIntegerScale(SDL_Renderer * renderer, - SDL_bool enable); - -/** - * Get whether integer scales are forced for resolution-independent rendering. - * - * \param renderer the renderer from which integer scaling should be queried - * \returns SDL_TRUE if integer scales are forced or SDL_FALSE if not and on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_RenderSetIntegerScale - */ -extern DECLSPEC SDL_bool SDLCALL SDL_RenderGetIntegerScale(SDL_Renderer * renderer); - -/** - * Set the drawing area for rendering on the current target. - * - * When the window is resized, the viewport is reset to fill the entire new - * window size. - * - * \param renderer the rendering context - * \param rect the SDL_Rect structure representing the drawing area, or NULL - * to set the viewport to the entire target - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderGetViewport - */ -extern DECLSPEC int SDLCALL SDL_RenderSetViewport(SDL_Renderer * renderer, - const SDL_Rect * rect); - -/** - * Get the drawing area for the current target. - * - * \param renderer the rendering context - * \param rect an SDL_Rect structure filled in with the current drawing area - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderSetViewport - */ -extern DECLSPEC void SDLCALL SDL_RenderGetViewport(SDL_Renderer * renderer, - SDL_Rect * rect); - -/** - * Set the clip rectangle for rendering on the specified target. - * - * \param renderer the rendering context for which clip rectangle should be - * set - * \param rect an SDL_Rect structure representing the clip area, relative to - * the viewport, or NULL to disable clipping - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderGetClipRect - * \sa SDL_RenderIsClipEnabled - */ -extern DECLSPEC int SDLCALL SDL_RenderSetClipRect(SDL_Renderer * renderer, - const SDL_Rect * rect); - -/** - * Get the clip rectangle for the current target. - * - * \param renderer the rendering context from which clip rectangle should be - * queried - * \param rect an SDL_Rect structure filled in with the current clipping area - * or an empty rectangle if clipping is disabled - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderIsClipEnabled - * \sa SDL_RenderSetClipRect - */ -extern DECLSPEC void SDLCALL SDL_RenderGetClipRect(SDL_Renderer * renderer, - SDL_Rect * rect); - -/** - * Get whether clipping is enabled on the given renderer. - * - * \param renderer the renderer from which clip state should be queried - * \returns SDL_TRUE if clipping is enabled or SDL_FALSE if not; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_RenderGetClipRect - * \sa SDL_RenderSetClipRect - */ -extern DECLSPEC SDL_bool SDLCALL SDL_RenderIsClipEnabled(SDL_Renderer * renderer); - - -/** - * Set the drawing scale for rendering on the current target. - * - * The drawing coordinates are scaled by the x/y scaling factors before they - * are used by the renderer. This allows resolution independent drawing with a - * single coordinate system. - * - * If this results in scaling or subpixel drawing by the rendering backend, it - * will be handled using the appropriate quality hints. For best results use - * integer scaling factors. - * - * \param renderer a rendering context - * \param scaleX the horizontal scaling factor - * \param scaleY the vertical scaling factor - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderGetScale - * \sa SDL_RenderSetLogicalSize - */ -extern DECLSPEC int SDLCALL SDL_RenderSetScale(SDL_Renderer * renderer, - float scaleX, float scaleY); - -/** - * Get the drawing scale for the current target. - * - * \param renderer the renderer from which drawing scale should be queried - * \param scaleX a pointer filled in with the horizontal scaling factor - * \param scaleY a pointer filled in with the vertical scaling factor - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderSetScale - */ -extern DECLSPEC void SDLCALL SDL_RenderGetScale(SDL_Renderer * renderer, - float *scaleX, float *scaleY); - -/** - * Get logical coordinates of point in renderer when given real coordinates of - * point in window. - * - * Logical coordinates will differ from real coordinates when render is scaled - * and logical renderer size set - * - * \param renderer the renderer from which the logical coordinates should be - * calculated - * \param windowX the real X coordinate in the window - * \param windowY the real Y coordinate in the window - * \param logicalX the pointer filled with the logical x coordinate - * \param logicalY the pointer filled with the logical y coordinate - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_RenderGetScale - * \sa SDL_RenderSetScale - * \sa SDL_RenderGetLogicalSize - * \sa SDL_RenderSetLogicalSize - */ -extern DECLSPEC void SDLCALL SDL_RenderWindowToLogical(SDL_Renderer * renderer, - int windowX, int windowY, - float *logicalX, float *logicalY); - - -/** - * Get real coordinates of point in window when given logical coordinates of - * point in renderer. - * - * Logical coordinates will differ from real coordinates when render is scaled - * and logical renderer size set - * - * \param renderer the renderer from which the window coordinates should be - * calculated - * \param logicalX the logical x coordinate - * \param logicalY the logical y coordinate - * \param windowX the pointer filled with the real X coordinate in the window - * \param windowY the pointer filled with the real Y coordinate in the window - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_RenderGetScale - * \sa SDL_RenderSetScale - * \sa SDL_RenderGetLogicalSize - * \sa SDL_RenderSetLogicalSize - */ -extern DECLSPEC void SDLCALL SDL_RenderLogicalToWindow(SDL_Renderer * renderer, - float logicalX, float logicalY, - int *windowX, int *windowY); - -/** - * Set the color used for drawing operations (Rect, Line and Clear). - * - * Set the color for drawing or filling rectangles, lines, and points, and for - * SDL_RenderClear(). - * - * \param renderer the rendering context - * \param r the red value used to draw on the rendering target - * \param g the green value used to draw on the rendering target - * \param b the blue value used to draw on the rendering target - * \param a the alpha value used to draw on the rendering target; usually - * `SDL_ALPHA_OPAQUE` (255). Use SDL_SetRenderDrawBlendMode to - * specify how the alpha channel is used - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRenderDrawColor - * \sa SDL_RenderClear - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - */ -extern DECLSPEC int SDLCALL SDL_SetRenderDrawColor(SDL_Renderer * renderer, - Uint8 r, Uint8 g, Uint8 b, - Uint8 a); - -/** - * Get the color used for drawing operations (Rect, Line and Clear). - * - * \param renderer the rendering context - * \param r a pointer filled in with the red value used to draw on the - * rendering target - * \param g a pointer filled in with the green value used to draw on the - * rendering target - * \param b a pointer filled in with the blue value used to draw on the - * rendering target - * \param a a pointer filled in with the alpha value used to draw on the - * rendering target; usually `SDL_ALPHA_OPAQUE` (255) - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_GetRenderDrawColor(SDL_Renderer * renderer, - Uint8 * r, Uint8 * g, Uint8 * b, - Uint8 * a); - -/** - * Set the blend mode used for drawing operations (Fill and Line). - * - * If the blend mode is not supported, the closest supported mode is chosen. - * - * \param renderer the rendering context - * \param blendMode the SDL_BlendMode to use for blending - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRenderDrawBlendMode - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - */ -extern DECLSPEC int SDLCALL SDL_SetRenderDrawBlendMode(SDL_Renderer * renderer, - SDL_BlendMode blendMode); - -/** - * Get the blend mode used for drawing operations. - * - * \param renderer the rendering context - * \param blendMode a pointer filled in with the current SDL_BlendMode - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetRenderDrawBlendMode - */ -extern DECLSPEC int SDLCALL SDL_GetRenderDrawBlendMode(SDL_Renderer * renderer, - SDL_BlendMode *blendMode); - -/** - * Clear the current rendering target with the drawing color. - * - * This function clears the entire rendering target, ignoring the viewport and - * the clip rectangle. - * - * \param renderer the rendering context - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderClear(SDL_Renderer * renderer); - -/** - * Draw a point on the current rendering target. - * - * SDL_RenderDrawPoint() draws a single point. If you want to draw multiple, - * use SDL_RenderDrawPoints() instead. - * - * \param renderer the rendering context - * \param x the x coordinate of the point - * \param y the y coordinate of the point - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawPoint(SDL_Renderer * renderer, - int x, int y); - -/** - * Draw multiple points on the current rendering target. - * - * \param renderer the rendering context - * \param points an array of SDL_Point structures that represent the points to - * draw - * \param count the number of points to draw - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawPoints(SDL_Renderer * renderer, - const SDL_Point * points, - int count); - -/** - * Draw a line on the current rendering target. - * - * SDL_RenderDrawLine() draws the line to include both end points. If you want - * to draw multiple, connecting lines use SDL_RenderDrawLines() instead. - * - * \param renderer the rendering context - * \param x1 the x coordinate of the start point - * \param y1 the y coordinate of the start point - * \param x2 the x coordinate of the end point - * \param y2 the y coordinate of the end point - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawLine(SDL_Renderer * renderer, - int x1, int y1, int x2, int y2); - -/** - * Draw a series of connected lines on the current rendering target. - * - * \param renderer the rendering context - * \param points an array of SDL_Point structures representing points along - * the lines - * \param count the number of points, drawing count-1 lines - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawLines(SDL_Renderer * renderer, - const SDL_Point * points, - int count); - -/** - * Draw a rectangle on the current rendering target. - * - * \param renderer the rendering context - * \param rect an SDL_Rect structure representing the rectangle to draw, or - * NULL to outline the entire rendering target - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawRect(SDL_Renderer * renderer, - const SDL_Rect * rect); - -/** - * Draw some number of rectangles on the current rendering target. - * - * \param renderer the rendering context - * \param rects an array of SDL_Rect structures representing the rectangles to - * be drawn - * \param count the number of rectangles - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawRects(SDL_Renderer * renderer, - const SDL_Rect * rects, - int count); - -/** - * Fill a rectangle on the current rendering target with the drawing color. - * - * The current drawing color is set by SDL_SetRenderDrawColor(), and the - * color's alpha value is ignored unless blending is enabled with the - * appropriate call to SDL_SetRenderDrawBlendMode(). - * - * \param renderer the rendering context - * \param rect the SDL_Rect structure representing the rectangle to fill, or - * NULL for the entire rendering target - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRects - * \sa SDL_RenderPresent - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC int SDLCALL SDL_RenderFillRect(SDL_Renderer * renderer, - const SDL_Rect * rect); - -/** - * Fill some number of rectangles on the current rendering target with the - * drawing color. - * - * \param renderer the rendering context - * \param rects an array of SDL_Rect structures representing the rectangles to - * be filled - * \param count the number of rectangles - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderPresent - */ -extern DECLSPEC int SDLCALL SDL_RenderFillRects(SDL_Renderer * renderer, - const SDL_Rect * rects, - int count); - -/** - * Copy a portion of the texture to the current rendering target. - * - * The texture is blended with the destination based on its blend mode set - * with SDL_SetTextureBlendMode(). - * - * The texture color is affected based on its color modulation set by - * SDL_SetTextureColorMod(). - * - * The texture alpha is affected based on its alpha modulation set by - * SDL_SetTextureAlphaMod(). - * - * \param renderer the rendering context - * \param texture the source texture - * \param srcrect the source SDL_Rect structure or NULL for the entire texture - * \param dstrect the destination SDL_Rect structure or NULL for the entire - * rendering target; the texture will be stretched to fill the - * given rectangle - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderCopyEx - * \sa SDL_SetTextureAlphaMod - * \sa SDL_SetTextureBlendMode - * \sa SDL_SetTextureColorMod - */ -extern DECLSPEC int SDLCALL SDL_RenderCopy(SDL_Renderer * renderer, - SDL_Texture * texture, - const SDL_Rect * srcrect, - const SDL_Rect * dstrect); - -/** - * Copy a portion of the texture to the current rendering, with optional - * rotation and flipping. - * - * Copy a portion of the texture to the current rendering target, optionally - * rotating it by angle around the given center and also flipping it - * top-bottom and/or left-right. - * - * The texture is blended with the destination based on its blend mode set - * with SDL_SetTextureBlendMode(). - * - * The texture color is affected based on its color modulation set by - * SDL_SetTextureColorMod(). - * - * The texture alpha is affected based on its alpha modulation set by - * SDL_SetTextureAlphaMod(). - * - * \param renderer the rendering context - * \param texture the source texture - * \param srcrect the source SDL_Rect structure or NULL for the entire texture - * \param dstrect the destination SDL_Rect structure or NULL for the entire - * rendering target - * \param angle an angle in degrees that indicates the rotation that will be - * applied to dstrect, rotating it in a clockwise direction - * \param center a pointer to a point indicating the point around which - * dstrect will be rotated (if NULL, rotation will be done - * around `dstrect.w / 2`, `dstrect.h / 2`) - * \param flip a SDL_RendererFlip value stating which flipping actions should - * be performed on the texture - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderCopy - * \sa SDL_SetTextureAlphaMod - * \sa SDL_SetTextureBlendMode - * \sa SDL_SetTextureColorMod - */ -extern DECLSPEC int SDLCALL SDL_RenderCopyEx(SDL_Renderer * renderer, - SDL_Texture * texture, - const SDL_Rect * srcrect, - const SDL_Rect * dstrect, - const double angle, - const SDL_Point *center, - const SDL_RendererFlip flip); - - -/** - * Draw a point on the current rendering target at subpixel precision. - * - * \param renderer The renderer which should draw a point. - * \param x The x coordinate of the point. - * \param y The y coordinate of the point. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawPointF(SDL_Renderer * renderer, - float x, float y); - -/** - * Draw multiple points on the current rendering target at subpixel precision. - * - * \param renderer The renderer which should draw multiple points. - * \param points The points to draw - * \param count The number of points to draw - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawPointsF(SDL_Renderer * renderer, - const SDL_FPoint * points, - int count); - -/** - * Draw a line on the current rendering target at subpixel precision. - * - * \param renderer The renderer which should draw a line. - * \param x1 The x coordinate of the start point. - * \param y1 The y coordinate of the start point. - * \param x2 The x coordinate of the end point. - * \param y2 The y coordinate of the end point. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawLineF(SDL_Renderer * renderer, - float x1, float y1, float x2, float y2); - -/** - * Draw a series of connected lines on the current rendering target at - * subpixel precision. - * - * \param renderer The renderer which should draw multiple lines. - * \param points The points along the lines - * \param count The number of points, drawing count-1 lines - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawLinesF(SDL_Renderer * renderer, - const SDL_FPoint * points, - int count); - -/** - * Draw a rectangle on the current rendering target at subpixel precision. - * - * \param renderer The renderer which should draw a rectangle. - * \param rect A pointer to the destination rectangle, or NULL to outline the - * entire rendering target. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawRectF(SDL_Renderer * renderer, - const SDL_FRect * rect); - -/** - * Draw some number of rectangles on the current rendering target at subpixel - * precision. - * - * \param renderer The renderer which should draw multiple rectangles. - * \param rects A pointer to an array of destination rectangles. - * \param count The number of rectangles. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderDrawRectsF(SDL_Renderer * renderer, - const SDL_FRect * rects, - int count); - -/** - * Fill a rectangle on the current rendering target with the drawing color at - * subpixel precision. - * - * \param renderer The renderer which should fill a rectangle. - * \param rect A pointer to the destination rectangle, or NULL for the entire - * rendering target. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderFillRectF(SDL_Renderer * renderer, - const SDL_FRect * rect); - -/** - * Fill some number of rectangles on the current rendering target with the - * drawing color at subpixel precision. - * - * \param renderer The renderer which should fill multiple rectangles. - * \param rects A pointer to an array of destination rectangles. - * \param count The number of rectangles. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderFillRectsF(SDL_Renderer * renderer, - const SDL_FRect * rects, - int count); - -/** - * Copy a portion of the texture to the current rendering target at subpixel - * precision. - * - * \param renderer The renderer which should copy parts of a texture. - * \param texture The source texture. - * \param srcrect A pointer to the source rectangle, or NULL for the entire - * texture. - * \param dstrect A pointer to the destination rectangle, or NULL for the - * entire rendering target. - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderCopyF(SDL_Renderer * renderer, - SDL_Texture * texture, - const SDL_Rect * srcrect, - const SDL_FRect * dstrect); - -/** - * Copy a portion of the source texture to the current rendering target, with - * rotation and flipping, at subpixel precision. - * - * \param renderer The renderer which should copy parts of a texture. - * \param texture The source texture. - * \param srcrect A pointer to the source rectangle, or NULL for the entire - * texture. - * \param dstrect A pointer to the destination rectangle, or NULL for the - * entire rendering target. - * \param angle An angle in degrees that indicates the rotation that will be - * applied to dstrect, rotating it in a clockwise direction - * \param center A pointer to a point indicating the point around which - * dstrect will be rotated (if NULL, rotation will be done - * around dstrect.w/2, dstrect.h/2). - * \param flip An SDL_RendererFlip value stating which flipping actions should - * be performed on the texture - * \return 0 on success, or -1 on error - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderCopyExF(SDL_Renderer * renderer, - SDL_Texture * texture, - const SDL_Rect * srcrect, - const SDL_FRect * dstrect, - const double angle, - const SDL_FPoint *center, - const SDL_RendererFlip flip); - -/** - * Render a list of triangles, optionally using a texture and indices into the - * vertex array Color and alpha modulation is done per vertex - * (SDL_SetTextureColorMod and SDL_SetTextureAlphaMod are ignored). - * - * \param renderer The rendering context. - * \param texture (optional) The SDL texture to use. - * \param vertices Vertices. - * \param num_vertices Number of vertices. - * \param indices (optional) An array of integer indices into the 'vertices' - * array, if NULL all vertices will be rendered in sequential - * order. - * \param num_indices Number of indices. - * \return 0 on success, or -1 if the operation is not supported - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_RenderGeometryRaw - * \sa SDL_Vertex - */ -extern DECLSPEC int SDLCALL SDL_RenderGeometry(SDL_Renderer *renderer, - SDL_Texture *texture, - const SDL_Vertex *vertices, int num_vertices, - const int *indices, int num_indices); - -/** - * Render a list of triangles, optionally using a texture and indices into the - * vertex arrays Color and alpha modulation is done per vertex - * (SDL_SetTextureColorMod and SDL_SetTextureAlphaMod are ignored). - * - * \param renderer The rendering context. - * \param texture (optional) The SDL texture to use. - * \param xy Vertex positions - * \param xy_stride Byte size to move from one element to the next element - * \param color Vertex colors (as SDL_Color) - * \param color_stride Byte size to move from one element to the next element - * \param uv Vertex normalized texture coordinates - * \param uv_stride Byte size to move from one element to the next element - * \param num_vertices Number of vertices. - * \param indices (optional) An array of indices into the 'vertices' arrays, - * if NULL all vertices will be rendered in sequential order. - * \param num_indices Number of indices. - * \param size_indices Index size: 1 (byte), 2 (short), 4 (int) - * \return 0 on success, or -1 if the operation is not supported - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_RenderGeometry - * \sa SDL_Vertex - */ -extern DECLSPEC int SDLCALL SDL_RenderGeometryRaw(SDL_Renderer *renderer, - SDL_Texture *texture, - const float *xy, int xy_stride, - const SDL_Color *color, int color_stride, - const float *uv, int uv_stride, - int num_vertices, - const void *indices, int num_indices, int size_indices); - -/** - * Read pixels from the current rendering target to an array of pixels. - * - * **WARNING**: This is a very slow operation, and should not be used - * frequently. If you're using this on the main rendering target, it should be - * called after rendering and before SDL_RenderPresent(). - * - * `pitch` specifies the number of bytes between rows in the destination - * `pixels` data. This allows you to write to a subrectangle or have padded - * rows in the destination. Generally, `pitch` should equal the number of - * pixels per row in the `pixels` data times the number of bytes per pixel, - * but it might contain additional padding (for example, 24bit RGB Windows - * Bitmap data pads all rows to multiples of 4 bytes). - * - * \param renderer the rendering context - * \param rect an SDL_Rect structure representing the area to read, or NULL - * for the entire render target - * \param format an SDL_PixelFormatEnum value of the desired format of the - * pixel data, or 0 to use the format of the rendering target - * \param pixels a pointer to the pixel data to copy into - * \param pitch the pitch of the `pixels` parameter - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_RenderReadPixels(SDL_Renderer * renderer, - const SDL_Rect * rect, - Uint32 format, - void *pixels, int pitch); - -/** - * Update the screen with any rendering performed since the previous call. - * - * SDL's rendering functions operate on a backbuffer; that is, calling a - * rendering function such as SDL_RenderDrawLine() does not directly put a - * line on the screen, but rather updates the backbuffer. As such, you compose - * your entire scene and *present* the composed backbuffer to the screen as a - * complete picture. - * - * Therefore, when using SDL's rendering API, one does all drawing intended - * for the frame, and then calls this function once per frame to present the - * final drawing to the user. - * - * The backbuffer should be considered invalidated after each present; do not - * assume that previous contents will exist between frames. You are strongly - * encouraged to call SDL_RenderClear() to initialize the backbuffer before - * starting each new frame's drawing, even if you plan to overwrite every - * pixel. - * - * \param renderer the rendering context - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RenderClear - * \sa SDL_RenderDrawLine - * \sa SDL_RenderDrawLines - * \sa SDL_RenderDrawPoint - * \sa SDL_RenderDrawPoints - * \sa SDL_RenderDrawRect - * \sa SDL_RenderDrawRects - * \sa SDL_RenderFillRect - * \sa SDL_RenderFillRects - * \sa SDL_SetRenderDrawBlendMode - * \sa SDL_SetRenderDrawColor - */ -extern DECLSPEC void SDLCALL SDL_RenderPresent(SDL_Renderer * renderer); - -/** - * Destroy the specified texture. - * - * Passing NULL or an otherwise invalid texture will set the SDL error message - * to "Invalid texture". - * - * \param texture the texture to destroy - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateTexture - * \sa SDL_CreateTextureFromSurface - */ -extern DECLSPEC void SDLCALL SDL_DestroyTexture(SDL_Texture * texture); - -/** - * Destroy the rendering context for a window and free associated textures. - * - * If `renderer` is NULL, this function will return immediately after setting - * the SDL error message to "Invalid renderer". See SDL_GetError(). - * - * \param renderer the rendering context - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRenderer - */ -extern DECLSPEC void SDLCALL SDL_DestroyRenderer(SDL_Renderer * renderer); - -/** - * Force the rendering context to flush any pending commands to the underlying - * rendering API. - * - * You do not need to (and in fact, shouldn't) call this function unless you - * are planning to call into OpenGL/Direct3D/Metal/whatever directly in - * addition to using an SDL_Renderer. - * - * This is for a very-specific case: if you are using SDL's render API, you - * asked for a specific renderer backend (OpenGL, Direct3D, etc), you set - * SDL_HINT_RENDER_BATCHING to "1", and you plan to make OpenGL/D3D/whatever - * calls in addition to SDL render API calls. If all of this applies, you - * should call SDL_RenderFlush() between calls to SDL's render API and the - * low-level API you're using in cooperation. - * - * In all other cases, you can ignore this function. This is only here to get - * maximum performance out of a specific situation. In all other cases, SDL - * will do the right thing, perhaps at a performance loss. - * - * This function is first available in SDL 2.0.10, and is not needed in 2.0.9 - * and earlier, as earlier versions did not queue rendering commands at all, - * instead flushing them to the OS immediately. - * - * \param renderer the rendering context - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC int SDLCALL SDL_RenderFlush(SDL_Renderer * renderer); - - -/** - * Bind an OpenGL/ES/ES2 texture to the current context. - * - * This is for use with OpenGL instructions when rendering OpenGL primitives - * directly. - * - * If not NULL, `texw` and `texh` will be filled with the width and height - * values suitable for the provided texture. In most cases, both will be 1.0, - * however, on systems that support the GL_ARB_texture_rectangle extension, - * these values will actually be the pixel width and height used to create the - * texture, so this factor needs to be taken into account when providing - * texture coordinates to OpenGL. - * - * You need a renderer to create an SDL_Texture, therefore you can only use - * this function with an implicit OpenGL context from SDL_CreateRenderer(), - * not with your own OpenGL context. If you need control over your OpenGL - * context, you need to write your own texture-loading methods. - * - * Also note that SDL may upload RGB textures as BGR (or vice-versa), and - * re-order the color channels in the shaders phase, so the uploaded texture - * may have swapped color channels. - * - * \param texture the texture to bind to the current OpenGL/ES/ES2 context - * \param texw a pointer to a float value which will be filled with the - * texture width or NULL if you don't need that value - * \param texh a pointer to a float value which will be filled with the - * texture height or NULL if you don't need that value - * \returns 0 on success, or -1 if the operation is not supported; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_MakeCurrent - * \sa SDL_GL_UnbindTexture - */ -extern DECLSPEC int SDLCALL SDL_GL_BindTexture(SDL_Texture *texture, float *texw, float *texh); - -/** - * Unbind an OpenGL/ES/ES2 texture from the current context. - * - * See SDL_GL_BindTexture() for examples on how to use these functions - * - * \param texture the texture to unbind from the current OpenGL/ES/ES2 context - * \returns 0 on success, or -1 if the operation is not supported - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_BindTexture - * \sa SDL_GL_MakeCurrent - */ -extern DECLSPEC int SDLCALL SDL_GL_UnbindTexture(SDL_Texture *texture); - -/** - * Get the CAMetalLayer associated with the given Metal renderer. - * - * This function returns `void *`, so SDL doesn't have to include Metal's - * headers, but it can be safely cast to a `CAMetalLayer *`. - * - * \param renderer The renderer to query - * \returns a `CAMetalLayer *` on success, or NULL if the renderer isn't a - * Metal renderer - * - * \since This function is available since SDL 2.0.8. - * - * \sa SDL_RenderGetMetalCommandEncoder - */ -extern DECLSPEC void *SDLCALL SDL_RenderGetMetalLayer(SDL_Renderer * renderer); - -/** - * Get the Metal command encoder for the current frame - * - * This function returns `void *`, so SDL doesn't have to include Metal's - * headers, but it can be safely cast to an `id`. - * - * Note that as of SDL 2.0.18, this will return NULL if Metal refuses to give - * SDL a drawable to render to, which might happen if the window is - * hidden/minimized/offscreen. This doesn't apply to command encoders for - * render targets, just the window's backbacker. Check your return values! - * - * \param renderer The renderer to query - * \returns an `id` on success, or NULL if the - * renderer isn't a Metal renderer or there was an error. - * - * \since This function is available since SDL 2.0.8. - * - * \sa SDL_RenderGetMetalLayer - */ -extern DECLSPEC void *SDLCALL SDL_RenderGetMetalCommandEncoder(SDL_Renderer * renderer); - -/** - * Toggle VSync of the given renderer. - * - * \param renderer The renderer to toggle - * \param vsync 1 for on, 0 for off. All other values are reserved - * \returns a 0 int on success, or non-zero on failure - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_RenderSetVSync(SDL_Renderer* renderer, int vsync); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_render_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_revision.h b/subprojects/sdl2_windows/include/SDL2/SDL_revision.h deleted file mode 100644 index f3633e94f..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_revision.h +++ /dev/null @@ -1,7 +0,0 @@ -/* Generated by updaterev.sh, do not edit */ -#ifdef SDL_VENDOR_INFO -#define SDL_REVISION "SDL-release-2.26.1-0-gf17058b56 (" SDL_VENDOR_INFO ")" -#else -#define SDL_REVISION "SDL-release-2.26.1-0-gf17058b56" -#endif -#define SDL_REVISION_NUMBER 0 diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_rwops.h b/subprojects/sdl2_windows/include/SDL2/SDL_rwops.h deleted file mode 100644 index 3960f567c..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_rwops.h +++ /dev/null @@ -1,841 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_rwops.h - * - * This file provides a general interface for SDL to read and write - * data streams. It can easily be extended to files, memory, etc. - */ - -#ifndef SDL_rwops_h_ -#define SDL_rwops_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* RWops Types */ -#define SDL_RWOPS_UNKNOWN 0U /**< Unknown stream type */ -#define SDL_RWOPS_WINFILE 1U /**< Win32 file */ -#define SDL_RWOPS_STDFILE 2U /**< Stdio file */ -#define SDL_RWOPS_JNIFILE 3U /**< Android asset */ -#define SDL_RWOPS_MEMORY 4U /**< Memory stream */ -#define SDL_RWOPS_MEMORY_RO 5U /**< Read-Only memory stream */ - -/** - * This is the read/write operation structure -- very basic. - */ -typedef struct SDL_RWops -{ - /** - * Return the size of the file in this rwops, or -1 if unknown - */ - Sint64 (SDLCALL * size) (struct SDL_RWops * context); - - /** - * Seek to \c offset relative to \c whence, one of stdio's whence values: - * RW_SEEK_SET, RW_SEEK_CUR, RW_SEEK_END - * - * \return the final offset in the data stream, or -1 on error. - */ - Sint64 (SDLCALL * seek) (struct SDL_RWops * context, Sint64 offset, - int whence); - - /** - * Read up to \c maxnum objects each of size \c size from the data - * stream to the area pointed at by \c ptr. - * - * \return the number of objects read, or 0 at error or end of file. - */ - size_t (SDLCALL * read) (struct SDL_RWops * context, void *ptr, - size_t size, size_t maxnum); - - /** - * Write exactly \c num objects each of size \c size from the area - * pointed at by \c ptr to data stream. - * - * \return the number of objects written, or 0 at error or end of file. - */ - size_t (SDLCALL * write) (struct SDL_RWops * context, const void *ptr, - size_t size, size_t num); - - /** - * Close and free an allocated SDL_RWops structure. - * - * \return 0 if successful or -1 on write error when flushing data. - */ - int (SDLCALL * close) (struct SDL_RWops * context); - - Uint32 type; - union - { -#if defined(__ANDROID__) - struct - { - void *asset; - } androidio; -#elif defined(__WIN32__) || defined(__GDK__) - struct - { - SDL_bool append; - void *h; - struct - { - void *data; - size_t size; - size_t left; - } buffer; - } windowsio; -#endif - -#ifdef HAVE_STDIO_H - struct - { - SDL_bool autoclose; - FILE *fp; - } stdio; -#endif - struct - { - Uint8 *base; - Uint8 *here; - Uint8 *stop; - } mem; - struct - { - void *data1; - void *data2; - } unknown; - } hidden; - -} SDL_RWops; - - -/** - * \name RWFrom functions - * - * Functions to create SDL_RWops structures from various data streams. - */ -/* @{ */ - -/** - * Use this function to create a new SDL_RWops structure for reading from - * and/or writing to a named file. - * - * The `mode` string is treated roughly the same as in a call to the C - * library's fopen(), even if SDL doesn't happen to use fopen() behind the - * scenes. - * - * Available `mode` strings: - * - * - "r": Open a file for reading. The file must exist. - * - "w": Create an empty file for writing. If a file with the same name - * already exists its content is erased and the file is treated as a new - * empty file. - * - "a": Append to a file. Writing operations append data at the end of the - * file. The file is created if it does not exist. - * - "r+": Open a file for update both reading and writing. The file must - * exist. - * - "w+": Create an empty file for both reading and writing. If a file with - * the same name already exists its content is erased and the file is - * treated as a new empty file. - * - "a+": Open a file for reading and appending. All writing operations are - * performed at the end of the file, protecting the previous content to be - * overwritten. You can reposition (fseek, rewind) the internal pointer to - * anywhere in the file for reading, but writing operations will move it - * back to the end of file. The file is created if it does not exist. - * - * **NOTE**: In order to open a file as a binary file, a "b" character has to - * be included in the `mode` string. This additional "b" character can either - * be appended at the end of the string (thus making the following compound - * modes: "rb", "wb", "ab", "r+b", "w+b", "a+b") or be inserted between the - * letter and the "+" sign for the mixed modes ("rb+", "wb+", "ab+"). - * Additional characters may follow the sequence, although they should have no - * effect. For example, "t" is sometimes appended to make explicit the file is - * a text file. - * - * This function supports Unicode filenames, but they must be encoded in UTF-8 - * format, regardless of the underlying operating system. - * - * As a fallback, SDL_RWFromFile() will transparently open a matching filename - * in an Android app's `assets`. - * - * Closing the SDL_RWops will close the file handle SDL is holding internally. - * - * \param file a UTF-8 string representing the filename to open - * \param mode an ASCII string representing the mode to be used for opening - * the file. - * \returns a pointer to the SDL_RWops structure that is created, or NULL on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - * \sa SDL_RWtell - * \sa SDL_RWwrite - */ -extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromFile(const char *file, - const char *mode); - -#ifdef HAVE_STDIO_H - -extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromFP(FILE * fp, SDL_bool autoclose); - -#else - -/** - * Use this function to create an SDL_RWops structure from a standard I/O file - * pointer (stdio.h's `FILE*`). - * - * This function is not available on Windows, since files opened in an - * application on that platform cannot be used by a dynamically linked - * library. - * - * On some platforms, the first parameter is a `void*`, on others, it's a - * `FILE*`, depending on what system headers are available to SDL. It is - * always intended to be the `FILE*` type from the C runtime's stdio.h. - * - * \param fp the `FILE*` that feeds the SDL_RWops stream - * \param autoclose SDL_TRUE to close the `FILE*` when closing the SDL_RWops, - * SDL_FALSE to leave the `FILE*` open when the RWops is - * closed - * \returns a pointer to the SDL_RWops structure that is created, or NULL on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - * \sa SDL_RWtell - * \sa SDL_RWwrite - */ -extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromFP(void * fp, - SDL_bool autoclose); -#endif - -/** - * Use this function to prepare a read-write memory buffer for use with - * SDL_RWops. - * - * This function sets up an SDL_RWops struct based on a memory area of a - * certain size, for both read and write access. - * - * This memory buffer is not copied by the RWops; the pointer you provide must - * remain valid until you close the stream. Closing the stream will not free - * the original buffer. - * - * If you need to make sure the RWops never writes to the memory buffer, you - * should use SDL_RWFromConstMem() with a read-only buffer of memory instead. - * - * \param mem a pointer to a buffer to feed an SDL_RWops stream - * \param size the buffer size, in bytes - * \returns a pointer to a new SDL_RWops structure, or NULL if it fails; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - * \sa SDL_RWtell - * \sa SDL_RWwrite - */ -extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromMem(void *mem, int size); - -/** - * Use this function to prepare a read-only memory buffer for use with RWops. - * - * This function sets up an SDL_RWops struct based on a memory area of a - * certain size. It assumes the memory area is not writable. - * - * Attempting to write to this RWops stream will report an error without - * writing to the memory buffer. - * - * This memory buffer is not copied by the RWops; the pointer you provide must - * remain valid until you close the stream. Closing the stream will not free - * the original buffer. - * - * If you need to write to a memory buffer, you should use SDL_RWFromMem() - * with a writable buffer of memory instead. - * - * \param mem a pointer to a read-only buffer to feed an SDL_RWops stream - * \param size the buffer size, in bytes - * \returns a pointer to a new SDL_RWops structure, or NULL if it fails; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - * \sa SDL_RWtell - */ -extern DECLSPEC SDL_RWops *SDLCALL SDL_RWFromConstMem(const void *mem, - int size); - -/* @} *//* RWFrom functions */ - - -/** - * Use this function to allocate an empty, unpopulated SDL_RWops structure. - * - * Applications do not need to use this function unless they are providing - * their own SDL_RWops implementation. If you just need a SDL_RWops to - * read/write a common data source, you should use the built-in - * implementations in SDL, like SDL_RWFromFile() or SDL_RWFromMem(), etc. - * - * You must free the returned pointer with SDL_FreeRW(). Depending on your - * operating system and compiler, there may be a difference between the - * malloc() and free() your program uses and the versions SDL calls - * internally. Trying to mix the two can cause crashing such as segmentation - * faults. Since all SDL_RWops must free themselves when their **close** - * method is called, all SDL_RWops must be allocated through this function, so - * they can all be freed correctly with SDL_FreeRW(). - * - * \returns a pointer to the allocated memory on success, or NULL on failure; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreeRW - */ -extern DECLSPEC SDL_RWops *SDLCALL SDL_AllocRW(void); - -/** - * Use this function to free an SDL_RWops structure allocated by - * SDL_AllocRW(). - * - * Applications do not need to use this function unless they are providing - * their own SDL_RWops implementation. If you just need a SDL_RWops to - * read/write a common data source, you should use the built-in - * implementations in SDL, like SDL_RWFromFile() or SDL_RWFromMem(), etc, and - * call the **close** method on those SDL_RWops pointers when you are done - * with them. - * - * Only use SDL_FreeRW() on pointers returned by SDL_AllocRW(). The pointer is - * invalid as soon as this function returns. Any extra memory allocated during - * creation of the SDL_RWops is not freed by SDL_FreeRW(); the programmer must - * be responsible for managing that memory in their **close** method. - * - * \param area the SDL_RWops structure to be freed - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocRW - */ -extern DECLSPEC void SDLCALL SDL_FreeRW(SDL_RWops * area); - -#define RW_SEEK_SET 0 /**< Seek from the beginning of data */ -#define RW_SEEK_CUR 1 /**< Seek relative to current read point */ -#define RW_SEEK_END 2 /**< Seek relative to the end of data */ - -/** - * Use this function to get the size of the data stream in an SDL_RWops. - * - * Prior to SDL 2.0.10, this function was a macro. - * - * \param context the SDL_RWops to get the size of the data stream from - * \returns the size of the data stream in the SDL_RWops on success, -1 if - * unknown or a negative error code on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC Sint64 SDLCALL SDL_RWsize(SDL_RWops *context); - -/** - * Seek within an SDL_RWops data stream. - * - * This function seeks to byte `offset`, relative to `whence`. - * - * `whence` may be any of the following values: - * - * - `RW_SEEK_SET`: seek from the beginning of data - * - `RW_SEEK_CUR`: seek relative to current read point - * - `RW_SEEK_END`: seek relative to the end of data - * - * If this stream can not seek, it will return -1. - * - * SDL_RWseek() is actually a wrapper function that calls the SDL_RWops's - * `seek` method appropriately, to simplify application development. - * - * Prior to SDL 2.0.10, this function was a macro. - * - * \param context a pointer to an SDL_RWops structure - * \param offset an offset in bytes, relative to **whence** location; can be - * negative - * \param whence any of `RW_SEEK_SET`, `RW_SEEK_CUR`, `RW_SEEK_END` - * \returns the final offset in the data stream after the seek or -1 on error. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWtell - * \sa SDL_RWwrite - */ -extern DECLSPEC Sint64 SDLCALL SDL_RWseek(SDL_RWops *context, - Sint64 offset, int whence); - -/** - * Determine the current read/write offset in an SDL_RWops data stream. - * - * SDL_RWtell is actually a wrapper function that calls the SDL_RWops's `seek` - * method, with an offset of 0 bytes from `RW_SEEK_CUR`, to simplify - * application development. - * - * Prior to SDL 2.0.10, this function was a macro. - * - * \param context a SDL_RWops data stream object from which to get the current - * offset - * \returns the current offset in the stream, or -1 if the information can not - * be determined. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - * \sa SDL_RWwrite - */ -extern DECLSPEC Sint64 SDLCALL SDL_RWtell(SDL_RWops *context); - -/** - * Read from a data source. - * - * This function reads up to `maxnum` objects each of size `size` from the - * data source to the area pointed at by `ptr`. This function may read less - * objects than requested. It will return zero when there has been an error or - * the data stream is completely read. - * - * SDL_RWread() is actually a function wrapper that calls the SDL_RWops's - * `read` method appropriately, to simplify application development. - * - * Prior to SDL 2.0.10, this function was a macro. - * - * \param context a pointer to an SDL_RWops structure - * \param ptr a pointer to a buffer to read data into - * \param size the size of each object to read, in bytes - * \param maxnum the maximum number of objects to be read - * \returns the number of objects read, or 0 at error or end of file; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWseek - * \sa SDL_RWwrite - */ -extern DECLSPEC size_t SDLCALL SDL_RWread(SDL_RWops *context, - void *ptr, size_t size, - size_t maxnum); - -/** - * Write to an SDL_RWops data stream. - * - * This function writes exactly `num` objects each of size `size` from the - * area pointed at by `ptr` to the stream. If this fails for any reason, it'll - * return less than `num` to demonstrate how far the write progressed. On - * success, it returns `num`. - * - * SDL_RWwrite is actually a function wrapper that calls the SDL_RWops's - * `write` method appropriately, to simplify application development. - * - * Prior to SDL 2.0.10, this function was a macro. - * - * \param context a pointer to an SDL_RWops structure - * \param ptr a pointer to a buffer containing data to write - * \param size the size of an object to write, in bytes - * \param num the number of objects to write - * \returns the number of objects written, which will be less than **num** on - * error; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_RWclose - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - */ -extern DECLSPEC size_t SDLCALL SDL_RWwrite(SDL_RWops *context, - const void *ptr, size_t size, - size_t num); - -/** - * Close and free an allocated SDL_RWops structure. - * - * SDL_RWclose() closes and cleans up the SDL_RWops stream. It releases any - * resources used by the stream and frees the SDL_RWops itself with - * SDL_FreeRW(). This returns 0 on success, or -1 if the stream failed to - * flush to its output (e.g. to disk). - * - * Note that if this fails to flush the stream to disk, this function reports - * an error, but the SDL_RWops is still invalid once this function returns. - * - * Prior to SDL 2.0.10, this function was a macro. - * - * \param context SDL_RWops structure to close - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.10. - * - * \sa SDL_RWFromConstMem - * \sa SDL_RWFromFile - * \sa SDL_RWFromFP - * \sa SDL_RWFromMem - * \sa SDL_RWread - * \sa SDL_RWseek - * \sa SDL_RWwrite - */ -extern DECLSPEC int SDLCALL SDL_RWclose(SDL_RWops *context); - -/** - * Load all the data from an SDL data stream. - * - * The data is allocated with a zero byte at the end (null terminated) for - * convenience. This extra byte is not included in the value reported via - * `datasize`. - * - * The data should be freed with SDL_free(). - * - * \param src the SDL_RWops to read all available data from - * \param datasize if not NULL, will store the number of bytes read - * \param freesrc if non-zero, calls SDL_RWclose() on `src` before returning - * \returns the data, or NULL if there was an error. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC void *SDLCALL SDL_LoadFile_RW(SDL_RWops *src, - size_t *datasize, - int freesrc); - -/** - * Load all the data from a file path. - * - * The data is allocated with a zero byte at the end (null terminated) for - * convenience. This extra byte is not included in the value reported via - * `datasize`. - * - * The data should be freed with SDL_free(). - * - * Prior to SDL 2.0.10, this function was a macro wrapping around - * SDL_LoadFile_RW. - * - * \param file the path to read all available data from - * \param datasize if not NULL, will store the number of bytes read - * \returns the data, or NULL if there was an error. - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC void *SDLCALL SDL_LoadFile(const char *file, size_t *datasize); - -/** - * \name Read endian functions - * - * Read an item of the specified endianness and return in native format. - */ -/* @{ */ - -/** - * Use this function to read a byte from an SDL_RWops. - * - * \param src the SDL_RWops to read from - * \returns the read byte on success or 0 on failure; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteU8 - */ -extern DECLSPEC Uint8 SDLCALL SDL_ReadU8(SDL_RWops * src); - -/** - * Use this function to read 16 bits of little-endian data from an SDL_RWops - * and return in native format. - * - * SDL byteswaps the data only if necessary, so the data returned will be in - * the native byte order. - * - * \param src the stream from which to read data - * \returns 16 bits of data in the native byte order of the platform. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadBE16 - */ -extern DECLSPEC Uint16 SDLCALL SDL_ReadLE16(SDL_RWops * src); - -/** - * Use this function to read 16 bits of big-endian data from an SDL_RWops and - * return in native format. - * - * SDL byteswaps the data only if necessary, so the data returned will be in - * the native byte order. - * - * \param src the stream from which to read data - * \returns 16 bits of data in the native byte order of the platform. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadLE16 - */ -extern DECLSPEC Uint16 SDLCALL SDL_ReadBE16(SDL_RWops * src); - -/** - * Use this function to read 32 bits of little-endian data from an SDL_RWops - * and return in native format. - * - * SDL byteswaps the data only if necessary, so the data returned will be in - * the native byte order. - * - * \param src the stream from which to read data - * \returns 32 bits of data in the native byte order of the platform. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadBE32 - */ -extern DECLSPEC Uint32 SDLCALL SDL_ReadLE32(SDL_RWops * src); - -/** - * Use this function to read 32 bits of big-endian data from an SDL_RWops and - * return in native format. - * - * SDL byteswaps the data only if necessary, so the data returned will be in - * the native byte order. - * - * \param src the stream from which to read data - * \returns 32 bits of data in the native byte order of the platform. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadLE32 - */ -extern DECLSPEC Uint32 SDLCALL SDL_ReadBE32(SDL_RWops * src); - -/** - * Use this function to read 64 bits of little-endian data from an SDL_RWops - * and return in native format. - * - * SDL byteswaps the data only if necessary, so the data returned will be in - * the native byte order. - * - * \param src the stream from which to read data - * \returns 64 bits of data in the native byte order of the platform. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadBE64 - */ -extern DECLSPEC Uint64 SDLCALL SDL_ReadLE64(SDL_RWops * src); - -/** - * Use this function to read 64 bits of big-endian data from an SDL_RWops and - * return in native format. - * - * SDL byteswaps the data only if necessary, so the data returned will be in - * the native byte order. - * - * \param src the stream from which to read data - * \returns 64 bits of data in the native byte order of the platform. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadLE64 - */ -extern DECLSPEC Uint64 SDLCALL SDL_ReadBE64(SDL_RWops * src); -/* @} *//* Read endian functions */ - -/** - * \name Write endian functions - * - * Write an item of native format to the specified endianness. - */ -/* @{ */ - -/** - * Use this function to write a byte to an SDL_RWops. - * - * \param dst the SDL_RWops to write to - * \param value the byte value to write - * \returns 1 on success or 0 on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ReadU8 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteU8(SDL_RWops * dst, Uint8 value); - -/** - * Use this function to write 16 bits in native format to a SDL_RWops as - * little-endian data. - * - * SDL byteswaps the data only if necessary, so the application always - * specifies native format, and the data written will be in little-endian - * format. - * - * \param dst the stream to which data will be written - * \param value the data to be written, in native format - * \returns 1 on successful write, 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteBE16 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteLE16(SDL_RWops * dst, Uint16 value); - -/** - * Use this function to write 16 bits in native format to a SDL_RWops as - * big-endian data. - * - * SDL byteswaps the data only if necessary, so the application always - * specifies native format, and the data written will be in big-endian format. - * - * \param dst the stream to which data will be written - * \param value the data to be written, in native format - * \returns 1 on successful write, 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteLE16 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteBE16(SDL_RWops * dst, Uint16 value); - -/** - * Use this function to write 32 bits in native format to a SDL_RWops as - * little-endian data. - * - * SDL byteswaps the data only if necessary, so the application always - * specifies native format, and the data written will be in little-endian - * format. - * - * \param dst the stream to which data will be written - * \param value the data to be written, in native format - * \returns 1 on successful write, 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteBE32 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteLE32(SDL_RWops * dst, Uint32 value); - -/** - * Use this function to write 32 bits in native format to a SDL_RWops as - * big-endian data. - * - * SDL byteswaps the data only if necessary, so the application always - * specifies native format, and the data written will be in big-endian format. - * - * \param dst the stream to which data will be written - * \param value the data to be written, in native format - * \returns 1 on successful write, 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteLE32 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteBE32(SDL_RWops * dst, Uint32 value); - -/** - * Use this function to write 64 bits in native format to a SDL_RWops as - * little-endian data. - * - * SDL byteswaps the data only if necessary, so the application always - * specifies native format, and the data written will be in little-endian - * format. - * - * \param dst the stream to which data will be written - * \param value the data to be written, in native format - * \returns 1 on successful write, 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteBE64 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteLE64(SDL_RWops * dst, Uint64 value); - -/** - * Use this function to write 64 bits in native format to a SDL_RWops as - * big-endian data. - * - * SDL byteswaps the data only if necessary, so the application always - * specifies native format, and the data written will be in big-endian format. - * - * \param dst the stream to which data will be written - * \param value the data to be written, in native format - * \returns 1 on successful write, 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WriteLE64 - */ -extern DECLSPEC size_t SDLCALL SDL_WriteBE64(SDL_RWops * dst, Uint64 value); -/* @} *//* Write endian functions */ - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_rwops_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_scancode.h b/subprojects/sdl2_windows/include/SDL2/SDL_scancode.h deleted file mode 100644 index 17e8fe2fd..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_scancode.h +++ /dev/null @@ -1,438 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_scancode.h - * - * Defines keyboard scancodes. - */ - -#ifndef SDL_scancode_h_ -#define SDL_scancode_h_ - -#include "SDL_stdinc.h" - -/** - * \brief The SDL keyboard scancode representation. - * - * Values of this type are used to represent keyboard keys, among other places - * in the \link SDL_Keysym::scancode key.keysym.scancode \endlink field of the - * SDL_Event structure. - * - * The values in this enumeration are based on the USB usage page standard: - * https://www.usb.org/sites/default/files/documents/hut1_12v2.pdf - */ -typedef enum -{ - SDL_SCANCODE_UNKNOWN = 0, - - /** - * \name Usage page 0x07 - * - * These values are from usage page 0x07 (USB keyboard page). - */ - /* @{ */ - - SDL_SCANCODE_A = 4, - SDL_SCANCODE_B = 5, - SDL_SCANCODE_C = 6, - SDL_SCANCODE_D = 7, - SDL_SCANCODE_E = 8, - SDL_SCANCODE_F = 9, - SDL_SCANCODE_G = 10, - SDL_SCANCODE_H = 11, - SDL_SCANCODE_I = 12, - SDL_SCANCODE_J = 13, - SDL_SCANCODE_K = 14, - SDL_SCANCODE_L = 15, - SDL_SCANCODE_M = 16, - SDL_SCANCODE_N = 17, - SDL_SCANCODE_O = 18, - SDL_SCANCODE_P = 19, - SDL_SCANCODE_Q = 20, - SDL_SCANCODE_R = 21, - SDL_SCANCODE_S = 22, - SDL_SCANCODE_T = 23, - SDL_SCANCODE_U = 24, - SDL_SCANCODE_V = 25, - SDL_SCANCODE_W = 26, - SDL_SCANCODE_X = 27, - SDL_SCANCODE_Y = 28, - SDL_SCANCODE_Z = 29, - - SDL_SCANCODE_1 = 30, - SDL_SCANCODE_2 = 31, - SDL_SCANCODE_3 = 32, - SDL_SCANCODE_4 = 33, - SDL_SCANCODE_5 = 34, - SDL_SCANCODE_6 = 35, - SDL_SCANCODE_7 = 36, - SDL_SCANCODE_8 = 37, - SDL_SCANCODE_9 = 38, - SDL_SCANCODE_0 = 39, - - SDL_SCANCODE_RETURN = 40, - SDL_SCANCODE_ESCAPE = 41, - SDL_SCANCODE_BACKSPACE = 42, - SDL_SCANCODE_TAB = 43, - SDL_SCANCODE_SPACE = 44, - - SDL_SCANCODE_MINUS = 45, - SDL_SCANCODE_EQUALS = 46, - SDL_SCANCODE_LEFTBRACKET = 47, - SDL_SCANCODE_RIGHTBRACKET = 48, - SDL_SCANCODE_BACKSLASH = 49, /**< Located at the lower left of the return - * key on ISO keyboards and at the right end - * of the QWERTY row on ANSI keyboards. - * Produces REVERSE SOLIDUS (backslash) and - * VERTICAL LINE in a US layout, REVERSE - * SOLIDUS and VERTICAL LINE in a UK Mac - * layout, NUMBER SIGN and TILDE in a UK - * Windows layout, DOLLAR SIGN and POUND SIGN - * in a Swiss German layout, NUMBER SIGN and - * APOSTROPHE in a German layout, GRAVE - * ACCENT and POUND SIGN in a French Mac - * layout, and ASTERISK and MICRO SIGN in a - * French Windows layout. - */ - SDL_SCANCODE_NONUSHASH = 50, /**< ISO USB keyboards actually use this code - * instead of 49 for the same key, but all - * OSes I've seen treat the two codes - * identically. So, as an implementor, unless - * your keyboard generates both of those - * codes and your OS treats them differently, - * you should generate SDL_SCANCODE_BACKSLASH - * instead of this code. As a user, you - * should not rely on this code because SDL - * will never generate it with most (all?) - * keyboards. - */ - SDL_SCANCODE_SEMICOLON = 51, - SDL_SCANCODE_APOSTROPHE = 52, - SDL_SCANCODE_GRAVE = 53, /**< Located in the top left corner (on both ANSI - * and ISO keyboards). Produces GRAVE ACCENT and - * TILDE in a US Windows layout and in US and UK - * Mac layouts on ANSI keyboards, GRAVE ACCENT - * and NOT SIGN in a UK Windows layout, SECTION - * SIGN and PLUS-MINUS SIGN in US and UK Mac - * layouts on ISO keyboards, SECTION SIGN and - * DEGREE SIGN in a Swiss German layout (Mac: - * only on ISO keyboards), CIRCUMFLEX ACCENT and - * DEGREE SIGN in a German layout (Mac: only on - * ISO keyboards), SUPERSCRIPT TWO and TILDE in a - * French Windows layout, COMMERCIAL AT and - * NUMBER SIGN in a French Mac layout on ISO - * keyboards, and LESS-THAN SIGN and GREATER-THAN - * SIGN in a Swiss German, German, or French Mac - * layout on ANSI keyboards. - */ - SDL_SCANCODE_COMMA = 54, - SDL_SCANCODE_PERIOD = 55, - SDL_SCANCODE_SLASH = 56, - - SDL_SCANCODE_CAPSLOCK = 57, - - SDL_SCANCODE_F1 = 58, - SDL_SCANCODE_F2 = 59, - SDL_SCANCODE_F3 = 60, - SDL_SCANCODE_F4 = 61, - SDL_SCANCODE_F5 = 62, - SDL_SCANCODE_F6 = 63, - SDL_SCANCODE_F7 = 64, - SDL_SCANCODE_F8 = 65, - SDL_SCANCODE_F9 = 66, - SDL_SCANCODE_F10 = 67, - SDL_SCANCODE_F11 = 68, - SDL_SCANCODE_F12 = 69, - - SDL_SCANCODE_PRINTSCREEN = 70, - SDL_SCANCODE_SCROLLLOCK = 71, - SDL_SCANCODE_PAUSE = 72, - SDL_SCANCODE_INSERT = 73, /**< insert on PC, help on some Mac keyboards (but - does send code 73, not 117) */ - SDL_SCANCODE_HOME = 74, - SDL_SCANCODE_PAGEUP = 75, - SDL_SCANCODE_DELETE = 76, - SDL_SCANCODE_END = 77, - SDL_SCANCODE_PAGEDOWN = 78, - SDL_SCANCODE_RIGHT = 79, - SDL_SCANCODE_LEFT = 80, - SDL_SCANCODE_DOWN = 81, - SDL_SCANCODE_UP = 82, - - SDL_SCANCODE_NUMLOCKCLEAR = 83, /**< num lock on PC, clear on Mac keyboards - */ - SDL_SCANCODE_KP_DIVIDE = 84, - SDL_SCANCODE_KP_MULTIPLY = 85, - SDL_SCANCODE_KP_MINUS = 86, - SDL_SCANCODE_KP_PLUS = 87, - SDL_SCANCODE_KP_ENTER = 88, - SDL_SCANCODE_KP_1 = 89, - SDL_SCANCODE_KP_2 = 90, - SDL_SCANCODE_KP_3 = 91, - SDL_SCANCODE_KP_4 = 92, - SDL_SCANCODE_KP_5 = 93, - SDL_SCANCODE_KP_6 = 94, - SDL_SCANCODE_KP_7 = 95, - SDL_SCANCODE_KP_8 = 96, - SDL_SCANCODE_KP_9 = 97, - SDL_SCANCODE_KP_0 = 98, - SDL_SCANCODE_KP_PERIOD = 99, - - SDL_SCANCODE_NONUSBACKSLASH = 100, /**< This is the additional key that ISO - * keyboards have over ANSI ones, - * located between left shift and Y. - * Produces GRAVE ACCENT and TILDE in a - * US or UK Mac layout, REVERSE SOLIDUS - * (backslash) and VERTICAL LINE in a - * US or UK Windows layout, and - * LESS-THAN SIGN and GREATER-THAN SIGN - * in a Swiss German, German, or French - * layout. */ - SDL_SCANCODE_APPLICATION = 101, /**< windows contextual menu, compose */ - SDL_SCANCODE_POWER = 102, /**< The USB document says this is a status flag, - * not a physical key - but some Mac keyboards - * do have a power key. */ - SDL_SCANCODE_KP_EQUALS = 103, - SDL_SCANCODE_F13 = 104, - SDL_SCANCODE_F14 = 105, - SDL_SCANCODE_F15 = 106, - SDL_SCANCODE_F16 = 107, - SDL_SCANCODE_F17 = 108, - SDL_SCANCODE_F18 = 109, - SDL_SCANCODE_F19 = 110, - SDL_SCANCODE_F20 = 111, - SDL_SCANCODE_F21 = 112, - SDL_SCANCODE_F22 = 113, - SDL_SCANCODE_F23 = 114, - SDL_SCANCODE_F24 = 115, - SDL_SCANCODE_EXECUTE = 116, - SDL_SCANCODE_HELP = 117, /**< AL Integrated Help Center */ - SDL_SCANCODE_MENU = 118, /**< Menu (show menu) */ - SDL_SCANCODE_SELECT = 119, - SDL_SCANCODE_STOP = 120, /**< AC Stop */ - SDL_SCANCODE_AGAIN = 121, /**< AC Redo/Repeat */ - SDL_SCANCODE_UNDO = 122, /**< AC Undo */ - SDL_SCANCODE_CUT = 123, /**< AC Cut */ - SDL_SCANCODE_COPY = 124, /**< AC Copy */ - SDL_SCANCODE_PASTE = 125, /**< AC Paste */ - SDL_SCANCODE_FIND = 126, /**< AC Find */ - SDL_SCANCODE_MUTE = 127, - SDL_SCANCODE_VOLUMEUP = 128, - SDL_SCANCODE_VOLUMEDOWN = 129, -/* not sure whether there's a reason to enable these */ -/* SDL_SCANCODE_LOCKINGCAPSLOCK = 130, */ -/* SDL_SCANCODE_LOCKINGNUMLOCK = 131, */ -/* SDL_SCANCODE_LOCKINGSCROLLLOCK = 132, */ - SDL_SCANCODE_KP_COMMA = 133, - SDL_SCANCODE_KP_EQUALSAS400 = 134, - - SDL_SCANCODE_INTERNATIONAL1 = 135, /**< used on Asian keyboards, see - footnotes in USB doc */ - SDL_SCANCODE_INTERNATIONAL2 = 136, - SDL_SCANCODE_INTERNATIONAL3 = 137, /**< Yen */ - SDL_SCANCODE_INTERNATIONAL4 = 138, - SDL_SCANCODE_INTERNATIONAL5 = 139, - SDL_SCANCODE_INTERNATIONAL6 = 140, - SDL_SCANCODE_INTERNATIONAL7 = 141, - SDL_SCANCODE_INTERNATIONAL8 = 142, - SDL_SCANCODE_INTERNATIONAL9 = 143, - SDL_SCANCODE_LANG1 = 144, /**< Hangul/English toggle */ - SDL_SCANCODE_LANG2 = 145, /**< Hanja conversion */ - SDL_SCANCODE_LANG3 = 146, /**< Katakana */ - SDL_SCANCODE_LANG4 = 147, /**< Hiragana */ - SDL_SCANCODE_LANG5 = 148, /**< Zenkaku/Hankaku */ - SDL_SCANCODE_LANG6 = 149, /**< reserved */ - SDL_SCANCODE_LANG7 = 150, /**< reserved */ - SDL_SCANCODE_LANG8 = 151, /**< reserved */ - SDL_SCANCODE_LANG9 = 152, /**< reserved */ - - SDL_SCANCODE_ALTERASE = 153, /**< Erase-Eaze */ - SDL_SCANCODE_SYSREQ = 154, - SDL_SCANCODE_CANCEL = 155, /**< AC Cancel */ - SDL_SCANCODE_CLEAR = 156, - SDL_SCANCODE_PRIOR = 157, - SDL_SCANCODE_RETURN2 = 158, - SDL_SCANCODE_SEPARATOR = 159, - SDL_SCANCODE_OUT = 160, - SDL_SCANCODE_OPER = 161, - SDL_SCANCODE_CLEARAGAIN = 162, - SDL_SCANCODE_CRSEL = 163, - SDL_SCANCODE_EXSEL = 164, - - SDL_SCANCODE_KP_00 = 176, - SDL_SCANCODE_KP_000 = 177, - SDL_SCANCODE_THOUSANDSSEPARATOR = 178, - SDL_SCANCODE_DECIMALSEPARATOR = 179, - SDL_SCANCODE_CURRENCYUNIT = 180, - SDL_SCANCODE_CURRENCYSUBUNIT = 181, - SDL_SCANCODE_KP_LEFTPAREN = 182, - SDL_SCANCODE_KP_RIGHTPAREN = 183, - SDL_SCANCODE_KP_LEFTBRACE = 184, - SDL_SCANCODE_KP_RIGHTBRACE = 185, - SDL_SCANCODE_KP_TAB = 186, - SDL_SCANCODE_KP_BACKSPACE = 187, - SDL_SCANCODE_KP_A = 188, - SDL_SCANCODE_KP_B = 189, - SDL_SCANCODE_KP_C = 190, - SDL_SCANCODE_KP_D = 191, - SDL_SCANCODE_KP_E = 192, - SDL_SCANCODE_KP_F = 193, - SDL_SCANCODE_KP_XOR = 194, - SDL_SCANCODE_KP_POWER = 195, - SDL_SCANCODE_KP_PERCENT = 196, - SDL_SCANCODE_KP_LESS = 197, - SDL_SCANCODE_KP_GREATER = 198, - SDL_SCANCODE_KP_AMPERSAND = 199, - SDL_SCANCODE_KP_DBLAMPERSAND = 200, - SDL_SCANCODE_KP_VERTICALBAR = 201, - SDL_SCANCODE_KP_DBLVERTICALBAR = 202, - SDL_SCANCODE_KP_COLON = 203, - SDL_SCANCODE_KP_HASH = 204, - SDL_SCANCODE_KP_SPACE = 205, - SDL_SCANCODE_KP_AT = 206, - SDL_SCANCODE_KP_EXCLAM = 207, - SDL_SCANCODE_KP_MEMSTORE = 208, - SDL_SCANCODE_KP_MEMRECALL = 209, - SDL_SCANCODE_KP_MEMCLEAR = 210, - SDL_SCANCODE_KP_MEMADD = 211, - SDL_SCANCODE_KP_MEMSUBTRACT = 212, - SDL_SCANCODE_KP_MEMMULTIPLY = 213, - SDL_SCANCODE_KP_MEMDIVIDE = 214, - SDL_SCANCODE_KP_PLUSMINUS = 215, - SDL_SCANCODE_KP_CLEAR = 216, - SDL_SCANCODE_KP_CLEARENTRY = 217, - SDL_SCANCODE_KP_BINARY = 218, - SDL_SCANCODE_KP_OCTAL = 219, - SDL_SCANCODE_KP_DECIMAL = 220, - SDL_SCANCODE_KP_HEXADECIMAL = 221, - - SDL_SCANCODE_LCTRL = 224, - SDL_SCANCODE_LSHIFT = 225, - SDL_SCANCODE_LALT = 226, /**< alt, option */ - SDL_SCANCODE_LGUI = 227, /**< windows, command (apple), meta */ - SDL_SCANCODE_RCTRL = 228, - SDL_SCANCODE_RSHIFT = 229, - SDL_SCANCODE_RALT = 230, /**< alt gr, option */ - SDL_SCANCODE_RGUI = 231, /**< windows, command (apple), meta */ - - SDL_SCANCODE_MODE = 257, /**< I'm not sure if this is really not covered - * by any of the above, but since there's a - * special KMOD_MODE for it I'm adding it here - */ - - /* @} *//* Usage page 0x07 */ - - /** - * \name Usage page 0x0C - * - * These values are mapped from usage page 0x0C (USB consumer page). - * See https://usb.org/sites/default/files/hut1_2.pdf - * - * There are way more keys in the spec than we can represent in the - * current scancode range, so pick the ones that commonly come up in - * real world usage. - */ - /* @{ */ - - SDL_SCANCODE_AUDIONEXT = 258, - SDL_SCANCODE_AUDIOPREV = 259, - SDL_SCANCODE_AUDIOSTOP = 260, - SDL_SCANCODE_AUDIOPLAY = 261, - SDL_SCANCODE_AUDIOMUTE = 262, - SDL_SCANCODE_MEDIASELECT = 263, - SDL_SCANCODE_WWW = 264, /**< AL Internet Browser */ - SDL_SCANCODE_MAIL = 265, - SDL_SCANCODE_CALCULATOR = 266, /**< AL Calculator */ - SDL_SCANCODE_COMPUTER = 267, - SDL_SCANCODE_AC_SEARCH = 268, /**< AC Search */ - SDL_SCANCODE_AC_HOME = 269, /**< AC Home */ - SDL_SCANCODE_AC_BACK = 270, /**< AC Back */ - SDL_SCANCODE_AC_FORWARD = 271, /**< AC Forward */ - SDL_SCANCODE_AC_STOP = 272, /**< AC Stop */ - SDL_SCANCODE_AC_REFRESH = 273, /**< AC Refresh */ - SDL_SCANCODE_AC_BOOKMARKS = 274, /**< AC Bookmarks */ - - /* @} *//* Usage page 0x0C */ - - /** - * \name Walther keys - * - * These are values that Christian Walther added (for mac keyboard?). - */ - /* @{ */ - - SDL_SCANCODE_BRIGHTNESSDOWN = 275, - SDL_SCANCODE_BRIGHTNESSUP = 276, - SDL_SCANCODE_DISPLAYSWITCH = 277, /**< display mirroring/dual display - switch, video mode switch */ - SDL_SCANCODE_KBDILLUMTOGGLE = 278, - SDL_SCANCODE_KBDILLUMDOWN = 279, - SDL_SCANCODE_KBDILLUMUP = 280, - SDL_SCANCODE_EJECT = 281, - SDL_SCANCODE_SLEEP = 282, /**< SC System Sleep */ - - SDL_SCANCODE_APP1 = 283, - SDL_SCANCODE_APP2 = 284, - - /* @} *//* Walther keys */ - - /** - * \name Usage page 0x0C (additional media keys) - * - * These values are mapped from usage page 0x0C (USB consumer page). - */ - /* @{ */ - - SDL_SCANCODE_AUDIOREWIND = 285, - SDL_SCANCODE_AUDIOFASTFORWARD = 286, - - /* @} *//* Usage page 0x0C (additional media keys) */ - - /** - * \name Mobile keys - * - * These are values that are often used on mobile phones. - */ - /* @{ */ - - SDL_SCANCODE_SOFTLEFT = 287, /**< Usually situated below the display on phones and - used as a multi-function feature key for selecting - a software defined function shown on the bottom left - of the display. */ - SDL_SCANCODE_SOFTRIGHT = 288, /**< Usually situated below the display on phones and - used as a multi-function feature key for selecting - a software defined function shown on the bottom right - of the display. */ - SDL_SCANCODE_CALL = 289, /**< Used for accepting phone calls. */ - SDL_SCANCODE_ENDCALL = 290, /**< Used for rejecting phone calls. */ - - /* @} *//* Mobile keys */ - - /* Add any other keys here. */ - - SDL_NUM_SCANCODES = 512 /**< not a key, just marks the number of scancodes - for array bounds */ -} SDL_Scancode; - -#endif /* SDL_scancode_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_sensor.h b/subprojects/sdl2_windows/include/SDL2/SDL_sensor.h deleted file mode 100644 index 684d2c6eb..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_sensor.h +++ /dev/null @@ -1,322 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_sensor.h - * - * Include file for SDL sensor event handling - * - */ - -#ifndef SDL_sensor_h_ -#define SDL_sensor_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -/* *INDENT-OFF* */ -extern "C" { -/* *INDENT-ON* */ -#endif - -/** - * \brief SDL_sensor.h - * - * In order to use these functions, SDL_Init() must have been called - * with the ::SDL_INIT_SENSOR flag. This causes SDL to scan the system - * for sensors, and load appropriate drivers. - */ - -struct _SDL_Sensor; -typedef struct _SDL_Sensor SDL_Sensor; - -/** - * This is a unique ID for a sensor for the time it is connected to the system, - * and is never reused for the lifetime of the application. - * - * The ID value starts at 0 and increments from there. The value -1 is an invalid ID. - */ -typedef Sint32 SDL_SensorID; - -/* The different sensors defined by SDL - * - * Additional sensors may be available, using platform dependent semantics. - * - * Hare are the additional Android sensors: - * https://developer.android.com/reference/android/hardware/SensorEvent.html#values - */ -typedef enum -{ - SDL_SENSOR_INVALID = -1, /**< Returned for an invalid sensor */ - SDL_SENSOR_UNKNOWN, /**< Unknown sensor type */ - SDL_SENSOR_ACCEL, /**< Accelerometer */ - SDL_SENSOR_GYRO, /**< Gyroscope */ - SDL_SENSOR_ACCEL_L, /**< Accelerometer for left Joy-Con controller and Wii nunchuk */ - SDL_SENSOR_GYRO_L, /**< Gyroscope for left Joy-Con controller */ - SDL_SENSOR_ACCEL_R, /**< Accelerometer for right Joy-Con controller */ - SDL_SENSOR_GYRO_R /**< Gyroscope for right Joy-Con controller */ -} SDL_SensorType; - -/** - * Accelerometer sensor - * - * The accelerometer returns the current acceleration in SI meters per - * second squared. This measurement includes the force of gravity, so - * a device at rest will have an value of SDL_STANDARD_GRAVITY away - * from the center of the earth. - * - * values[0]: Acceleration on the x axis - * values[1]: Acceleration on the y axis - * values[2]: Acceleration on the z axis - * - * For phones held in portrait mode and game controllers held in front of you, - * the axes are defined as follows: - * -X ... +X : left ... right - * -Y ... +Y : bottom ... top - * -Z ... +Z : farther ... closer - * - * The axis data is not changed when the phone is rotated. - * - * \sa SDL_GetDisplayOrientation() - */ -#define SDL_STANDARD_GRAVITY 9.80665f - -/** - * Gyroscope sensor - * - * The gyroscope returns the current rate of rotation in radians per second. - * The rotation is positive in the counter-clockwise direction. That is, - * an observer looking from a positive location on one of the axes would - * see positive rotation on that axis when it appeared to be rotating - * counter-clockwise. - * - * values[0]: Angular speed around the x axis (pitch) - * values[1]: Angular speed around the y axis (yaw) - * values[2]: Angular speed around the z axis (roll) - * - * For phones held in portrait mode and game controllers held in front of you, - * the axes are defined as follows: - * -X ... +X : left ... right - * -Y ... +Y : bottom ... top - * -Z ... +Z : farther ... closer - * - * The axis data is not changed when the phone or controller is rotated. - * - * \sa SDL_GetDisplayOrientation() - */ - -/* Function prototypes */ - -/** - * Locking for multi-threaded access to the sensor API - * - * If you are using the sensor API or handling events from multiple threads - * you should use these locking functions to protect access to the sensors. - * - * In particular, you are guaranteed that the sensor list won't change, so the - * API functions that take a sensor index will be valid, and sensor events - * will not be delivered. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC void SDLCALL SDL_LockSensors(void); -extern DECLSPEC void SDLCALL SDL_UnlockSensors(void); - -/** - * Count the number of sensors attached to the system right now. - * - * \returns the number of sensors detected. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_NumSensors(void); - -/** - * Get the implementation dependent name of a sensor. - * - * \param device_index The sensor to obtain name from - * \returns the sensor name, or NULL if `device_index` is out of range. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC const char *SDLCALL SDL_SensorGetDeviceName(int device_index); - -/** - * Get the type of a sensor. - * - * \param device_index The sensor to get the type from - * \returns the SDL_SensorType, or `SDL_SENSOR_INVALID` if `device_index` is - * out of range. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_SensorType SDLCALL SDL_SensorGetDeviceType(int device_index); - -/** - * Get the platform dependent type of a sensor. - * - * \param device_index The sensor to check - * \returns the sensor platform dependent type, or -1 if `device_index` is out - * of range. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_SensorGetDeviceNonPortableType(int device_index); - -/** - * Get the instance ID of a sensor. - * - * \param device_index The sensor to get instance id from - * \returns the sensor instance ID, or -1 if `device_index` is out of range. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_SensorID SDLCALL SDL_SensorGetDeviceInstanceID(int device_index); - -/** - * Open a sensor for use. - * - * \param device_index The sensor to open - * \returns an SDL_Sensor sensor object, or NULL if an error occurred. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_Sensor *SDLCALL SDL_SensorOpen(int device_index); - -/** - * Return the SDL_Sensor associated with an instance id. - * - * \param instance_id The sensor from instance id - * \returns an SDL_Sensor object. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_Sensor *SDLCALL SDL_SensorFromInstanceID(SDL_SensorID instance_id); - -/** - * Get the implementation dependent name of a sensor - * - * \param sensor The SDL_Sensor object - * \returns the sensor name, or NULL if `sensor` is NULL. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC const char *SDLCALL SDL_SensorGetName(SDL_Sensor *sensor); - -/** - * Get the type of a sensor. - * - * \param sensor The SDL_Sensor object to inspect - * \returns the SDL_SensorType type, or `SDL_SENSOR_INVALID` if `sensor` is - * NULL. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_SensorType SDLCALL SDL_SensorGetType(SDL_Sensor *sensor); - -/** - * Get the platform dependent type of a sensor. - * - * \param sensor The SDL_Sensor object to inspect - * \returns the sensor platform dependent type, or -1 if `sensor` is NULL. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_SensorGetNonPortableType(SDL_Sensor *sensor); - -/** - * Get the instance ID of a sensor. - * - * \param sensor The SDL_Sensor object to inspect - * \returns the sensor instance ID, or -1 if `sensor` is NULL. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_SensorID SDLCALL SDL_SensorGetInstanceID(SDL_Sensor *sensor); - -/** - * Get the current state of an opened sensor. - * - * The number of values and interpretation of the data is sensor dependent. - * - * \param sensor The SDL_Sensor object to query - * \param data A pointer filled with the current sensor state - * \param num_values The number of values to write to data - * \returns 0 or -1 if an error occurred. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor *sensor, float *data, int num_values); - -/** - * Get the current state of an opened sensor with the timestamp of the last - * update. - * - * The number of values and interpretation of the data is sensor dependent. - * - * \param sensor The SDL_Sensor object to query - * \param timestamp A pointer filled with the timestamp in microseconds of the - * current sensor reading if available, or 0 if not - * \param data A pointer filled with the current sensor state - * \param num_values The number of values to write to data - * \returns 0 or -1 if an error occurred. - * - * \since This function is available since SDL 2.26.0. - */ -extern DECLSPEC int SDLCALL SDL_SensorGetDataWithTimestamp(SDL_Sensor *sensor, Uint64 *timestamp, float *data, int num_values); - -/** - * Close a sensor previously opened with SDL_SensorOpen(). - * - * \param sensor The SDL_Sensor object to close - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC void SDLCALL SDL_SensorClose(SDL_Sensor *sensor); - -/** - * Update the current state of the open sensors. - * - * This is called automatically by the event loop if sensor events are - * enabled. - * - * This needs to be called from the thread that initialized the sensor - * subsystem. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC void SDLCALL SDL_SensorUpdate(void); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -/* *INDENT-OFF* */ -} -/* *INDENT-ON* */ -#endif -#include "close_code.h" - -#endif /* SDL_sensor_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_shape.h b/subprojects/sdl2_windows/include/SDL2/SDL_shape.h deleted file mode 100644 index 1bca9270e..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_shape.h +++ /dev/null @@ -1,155 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_shape_h_ -#define SDL_shape_h_ - -#include "SDL_stdinc.h" -#include "SDL_pixels.h" -#include "SDL_rect.h" -#include "SDL_surface.h" -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** \file SDL_shape.h - * - * Header file for the shaped window API. - */ - -#define SDL_NONSHAPEABLE_WINDOW -1 -#define SDL_INVALID_SHAPE_ARGUMENT -2 -#define SDL_WINDOW_LACKS_SHAPE -3 - -/** - * Create a window that can be shaped with the specified position, dimensions, - * and flags. - * - * \param title The title of the window, in UTF-8 encoding. - * \param x The x position of the window, ::SDL_WINDOWPOS_CENTERED, or - * ::SDL_WINDOWPOS_UNDEFINED. - * \param y The y position of the window, ::SDL_WINDOWPOS_CENTERED, or - * ::SDL_WINDOWPOS_UNDEFINED. - * \param w The width of the window. - * \param h The height of the window. - * \param flags The flags for the window, a mask of SDL_WINDOW_BORDERLESS with - * any of the following: ::SDL_WINDOW_OPENGL, - * ::SDL_WINDOW_INPUT_GRABBED, ::SDL_WINDOW_HIDDEN, - * ::SDL_WINDOW_RESIZABLE, ::SDL_WINDOW_MAXIMIZED, - * ::SDL_WINDOW_MINIMIZED, ::SDL_WINDOW_BORDERLESS is always set, - * and ::SDL_WINDOW_FULLSCREEN is always unset. - * \return the window created, or NULL if window creation failed. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DestroyWindow - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_CreateShapedWindow(const char *title,unsigned int x,unsigned int y,unsigned int w,unsigned int h,Uint32 flags); - -/** - * Return whether the given window is a shaped window. - * - * \param window The window to query for being shaped. - * \return SDL_TRUE if the window is a window that can be shaped, SDL_FALSE if - * the window is unshaped or NULL. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateShapedWindow - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsShapedWindow(const SDL_Window *window); - -/** \brief An enum denoting the specific type of contents present in an SDL_WindowShapeParams union. */ -typedef enum { - /** \brief The default mode, a binarized alpha cutoff of 1. */ - ShapeModeDefault, - /** \brief A binarized alpha cutoff with a given integer value. */ - ShapeModeBinarizeAlpha, - /** \brief A binarized alpha cutoff with a given integer value, but with the opposite comparison. */ - ShapeModeReverseBinarizeAlpha, - /** \brief A color key is applied. */ - ShapeModeColorKey -} WindowShapeMode; - -#define SDL_SHAPEMODEALPHA(mode) (mode == ShapeModeDefault || mode == ShapeModeBinarizeAlpha || mode == ShapeModeReverseBinarizeAlpha) - -/** \brief A union containing parameters for shaped windows. */ -typedef union { - /** \brief A cutoff alpha value for binarization of the window shape's alpha channel. */ - Uint8 binarizationCutoff; - SDL_Color colorKey; -} SDL_WindowShapeParams; - -/** \brief A struct that tags the SDL_WindowShapeParams union with an enum describing the type of its contents. */ -typedef struct SDL_WindowShapeMode { - /** \brief The mode of these window-shape parameters. */ - WindowShapeMode mode; - /** \brief Window-shape parameters. */ - SDL_WindowShapeParams parameters; -} SDL_WindowShapeMode; - -/** - * Set the shape and parameters of a shaped window. - * - * \param window The shaped window whose parameters should be set. - * \param shape A surface encoding the desired shape for the window. - * \param shape_mode The parameters to set for the shaped window. - * \return 0 on success, SDL_INVALID_SHAPE_ARGUMENT on an invalid shape - * argument, or SDL_NONSHAPEABLE_WINDOW if the SDL_Window given does - * not reference a valid shaped window. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WindowShapeMode - * \sa SDL_GetShapedWindowMode - */ -extern DECLSPEC int SDLCALL SDL_SetWindowShape(SDL_Window *window,SDL_Surface *shape,SDL_WindowShapeMode *shape_mode); - -/** - * Get the shape parameters of a shaped window. - * - * \param window The shaped window whose parameters should be retrieved. - * \param shape_mode An empty shape-mode structure to fill, or NULL to check - * whether the window has a shape. - * \return 0 if the window has a shape and, provided shape_mode was not NULL, - * shape_mode has been filled with the mode data, - * SDL_NONSHAPEABLE_WINDOW if the SDL_Window given is not a shaped - * window, or SDL_WINDOW_LACKS_SHAPE if the SDL_Window given is a - * shapeable window currently lacking a shape. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_WindowShapeMode - * \sa SDL_SetWindowShape - */ -extern DECLSPEC int SDLCALL SDL_GetShapedWindowMode(SDL_Window *window,SDL_WindowShapeMode *shape_mode); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_shape_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_stdinc.h b/subprojects/sdl2_windows/include/SDL2/SDL_stdinc.h deleted file mode 100644 index 70dba7db6..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_stdinc.h +++ /dev/null @@ -1,830 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_stdinc.h - * - * This is a general header that includes C language support. - */ - -#ifndef SDL_stdinc_h_ -#define SDL_stdinc_h_ - -#include "SDL_config.h" - -#ifdef __APPLE__ -#ifndef _DARWIN_C_SOURCE -#define _DARWIN_C_SOURCE 1 /* for memset_pattern4() */ -#endif -#endif - -#ifdef HAVE_SYS_TYPES_H -#include -#endif -#ifdef HAVE_STDIO_H -#include -#endif -#if defined(STDC_HEADERS) -# include -# include -# include -#else -# if defined(HAVE_STDLIB_H) -# include -# elif defined(HAVE_MALLOC_H) -# include -# endif -# if defined(HAVE_STDDEF_H) -# include -# endif -# if defined(HAVE_STDARG_H) -# include -# endif -#endif -#ifdef HAVE_STRING_H -# if !defined(STDC_HEADERS) && defined(HAVE_MEMORY_H) -# include -# endif -# include -#endif -#ifdef HAVE_STRINGS_H -# include -#endif -#ifdef HAVE_WCHAR_H -# include -#endif -#if defined(HAVE_INTTYPES_H) -# include -#elif defined(HAVE_STDINT_H) -# include -#endif -#ifdef HAVE_CTYPE_H -# include -#endif -#ifdef HAVE_MATH_H -# if defined(_MSC_VER) -/* Defining _USE_MATH_DEFINES is required to get M_PI to be defined on - Visual Studio. See http://msdn.microsoft.com/en-us/library/4hwaceh6.aspx - for more information. -*/ -# define _USE_MATH_DEFINES -# endif -# include -#endif -#ifdef HAVE_FLOAT_H -# include -#endif -#if defined(HAVE_ALLOCA) && !defined(alloca) -# if defined(HAVE_ALLOCA_H) -# include -# elif defined(__GNUC__) -# define alloca __builtin_alloca -# elif defined(_MSC_VER) -# include -# define alloca _alloca -# elif defined(__WATCOMC__) -# include -# elif defined(__BORLANDC__) -# include -# elif defined(__DMC__) -# include -# elif defined(__AIX__) -#pragma alloca -# elif defined(__MRC__) -void *alloca(unsigned); -# else -char *alloca(); -# endif -#endif - -#ifdef SIZE_MAX -# define SDL_SIZE_MAX SIZE_MAX -#else -# define SDL_SIZE_MAX ((size_t) -1) -#endif - -/** - * Check if the compiler supports a given builtin. - * Supported by virtually all clang versions and recent gcc. Use this - * instead of checking the clang version if possible. - */ -#ifdef __has_builtin -#define _SDL_HAS_BUILTIN(x) __has_builtin(x) -#else -#define _SDL_HAS_BUILTIN(x) 0 -#endif - -/** - * The number of elements in an array. - */ -#define SDL_arraysize(array) (sizeof(array)/sizeof(array[0])) -#define SDL_TABLESIZE(table) SDL_arraysize(table) - -/** - * Macro useful for building other macros with strings in them - * - * e.g. #define LOG_ERROR(X) OutputDebugString(SDL_STRINGIFY_ARG(__FUNCTION__) ": " X "\n") - */ -#define SDL_STRINGIFY_ARG(arg) #arg - -/** - * \name Cast operators - * - * Use proper C++ casts when compiled as C++ to be compatible with the option - * -Wold-style-cast of GCC (and -Werror=old-style-cast in GCC 4.2 and above). - */ -/* @{ */ -#ifdef __cplusplus -#define SDL_reinterpret_cast(type, expression) reinterpret_cast(expression) -#define SDL_static_cast(type, expression) static_cast(expression) -#define SDL_const_cast(type, expression) const_cast(expression) -#else -#define SDL_reinterpret_cast(type, expression) ((type)(expression)) -#define SDL_static_cast(type, expression) ((type)(expression)) -#define SDL_const_cast(type, expression) ((type)(expression)) -#endif -/* @} *//* Cast operators */ - -/* Define a four character code as a Uint32 */ -#define SDL_FOURCC(A, B, C, D) \ - ((SDL_static_cast(Uint32, SDL_static_cast(Uint8, (A))) << 0) | \ - (SDL_static_cast(Uint32, SDL_static_cast(Uint8, (B))) << 8) | \ - (SDL_static_cast(Uint32, SDL_static_cast(Uint8, (C))) << 16) | \ - (SDL_static_cast(Uint32, SDL_static_cast(Uint8, (D))) << 24)) - -/** - * \name Basic data types - */ -/* @{ */ - -#ifdef __CC_ARM -/* ARM's compiler throws warnings if we use an enum: like "SDL_bool x = a < b;" */ -#define SDL_FALSE 0 -#define SDL_TRUE 1 -typedef int SDL_bool; -#else -typedef enum -{ - SDL_FALSE = 0, - SDL_TRUE = 1 -} SDL_bool; -#endif - -/** - * \brief A signed 8-bit integer type. - */ -#define SDL_MAX_SINT8 ((Sint8)0x7F) /* 127 */ -#define SDL_MIN_SINT8 ((Sint8)(~0x7F)) /* -128 */ -typedef int8_t Sint8; -/** - * \brief An unsigned 8-bit integer type. - */ -#define SDL_MAX_UINT8 ((Uint8)0xFF) /* 255 */ -#define SDL_MIN_UINT8 ((Uint8)0x00) /* 0 */ -typedef uint8_t Uint8; -/** - * \brief A signed 16-bit integer type. - */ -#define SDL_MAX_SINT16 ((Sint16)0x7FFF) /* 32767 */ -#define SDL_MIN_SINT16 ((Sint16)(~0x7FFF)) /* -32768 */ -typedef int16_t Sint16; -/** - * \brief An unsigned 16-bit integer type. - */ -#define SDL_MAX_UINT16 ((Uint16)0xFFFF) /* 65535 */ -#define SDL_MIN_UINT16 ((Uint16)0x0000) /* 0 */ -typedef uint16_t Uint16; -/** - * \brief A signed 32-bit integer type. - */ -#define SDL_MAX_SINT32 ((Sint32)0x7FFFFFFF) /* 2147483647 */ -#define SDL_MIN_SINT32 ((Sint32)(~0x7FFFFFFF)) /* -2147483648 */ -typedef int32_t Sint32; -/** - * \brief An unsigned 32-bit integer type. - */ -#define SDL_MAX_UINT32 ((Uint32)0xFFFFFFFFu) /* 4294967295 */ -#define SDL_MIN_UINT32 ((Uint32)0x00000000) /* 0 */ -typedef uint32_t Uint32; - -/** - * \brief A signed 64-bit integer type. - */ -#define SDL_MAX_SINT64 ((Sint64)0x7FFFFFFFFFFFFFFFll) /* 9223372036854775807 */ -#define SDL_MIN_SINT64 ((Sint64)(~0x7FFFFFFFFFFFFFFFll)) /* -9223372036854775808 */ -typedef int64_t Sint64; -/** - * \brief An unsigned 64-bit integer type. - */ -#define SDL_MAX_UINT64 ((Uint64)0xFFFFFFFFFFFFFFFFull) /* 18446744073709551615 */ -#define SDL_MIN_UINT64 ((Uint64)(0x0000000000000000ull)) /* 0 */ -typedef uint64_t Uint64; - -/* @} *//* Basic data types */ - -/** - * \name Floating-point constants - */ -/* @{ */ - -#ifdef FLT_EPSILON -#define SDL_FLT_EPSILON FLT_EPSILON -#else -#define SDL_FLT_EPSILON 1.1920928955078125e-07F /* 0x0.000002p0 */ -#endif - -/* @} *//* Floating-point constants */ - -/* Make sure we have macros for printing width-based integers. - * should define these but this is not true all platforms. - * (for example win32) */ -#ifndef SDL_PRIs64 -#ifdef PRIs64 -#define SDL_PRIs64 PRIs64 -#elif defined(__WIN32__) || defined(__GDK__) -#define SDL_PRIs64 "I64d" -#elif defined(__LINUX__) && defined(__LP64__) -#define SDL_PRIs64 "ld" -#else -#define SDL_PRIs64 "lld" -#endif -#endif -#ifndef SDL_PRIu64 -#ifdef PRIu64 -#define SDL_PRIu64 PRIu64 -#elif defined(__WIN32__) || defined(__GDK__) -#define SDL_PRIu64 "I64u" -#elif defined(__LINUX__) && defined(__LP64__) -#define SDL_PRIu64 "lu" -#else -#define SDL_PRIu64 "llu" -#endif -#endif -#ifndef SDL_PRIx64 -#ifdef PRIx64 -#define SDL_PRIx64 PRIx64 -#elif defined(__WIN32__) || defined(__GDK__) -#define SDL_PRIx64 "I64x" -#elif defined(__LINUX__) && defined(__LP64__) -#define SDL_PRIx64 "lx" -#else -#define SDL_PRIx64 "llx" -#endif -#endif -#ifndef SDL_PRIX64 -#ifdef PRIX64 -#define SDL_PRIX64 PRIX64 -#elif defined(__WIN32__) || defined(__GDK__) -#define SDL_PRIX64 "I64X" -#elif defined(__LINUX__) && defined(__LP64__) -#define SDL_PRIX64 "lX" -#else -#define SDL_PRIX64 "llX" -#endif -#endif -#ifndef SDL_PRIs32 -#ifdef PRId32 -#define SDL_PRIs32 PRId32 -#else -#define SDL_PRIs32 "d" -#endif -#endif -#ifndef SDL_PRIu32 -#ifdef PRIu32 -#define SDL_PRIu32 PRIu32 -#else -#define SDL_PRIu32 "u" -#endif -#endif -#ifndef SDL_PRIx32 -#ifdef PRIx32 -#define SDL_PRIx32 PRIx32 -#else -#define SDL_PRIx32 "x" -#endif -#endif -#ifndef SDL_PRIX32 -#ifdef PRIX32 -#define SDL_PRIX32 PRIX32 -#else -#define SDL_PRIX32 "X" -#endif -#endif - -/* Annotations to help code analysis tools */ -#ifdef SDL_DISABLE_ANALYZE_MACROS -#define SDL_IN_BYTECAP(x) -#define SDL_INOUT_Z_CAP(x) -#define SDL_OUT_Z_CAP(x) -#define SDL_OUT_CAP(x) -#define SDL_OUT_BYTECAP(x) -#define SDL_OUT_Z_BYTECAP(x) -#define SDL_PRINTF_FORMAT_STRING -#define SDL_SCANF_FORMAT_STRING -#define SDL_PRINTF_VARARG_FUNC( fmtargnumber ) -#define SDL_SCANF_VARARG_FUNC( fmtargnumber ) -#else -#if defined(_MSC_VER) && (_MSC_VER >= 1600) /* VS 2010 and above */ -#include - -#define SDL_IN_BYTECAP(x) _In_bytecount_(x) -#define SDL_INOUT_Z_CAP(x) _Inout_z_cap_(x) -#define SDL_OUT_Z_CAP(x) _Out_z_cap_(x) -#define SDL_OUT_CAP(x) _Out_cap_(x) -#define SDL_OUT_BYTECAP(x) _Out_bytecap_(x) -#define SDL_OUT_Z_BYTECAP(x) _Out_z_bytecap_(x) - -#define SDL_PRINTF_FORMAT_STRING _Printf_format_string_ -#define SDL_SCANF_FORMAT_STRING _Scanf_format_string_impl_ -#else -#define SDL_IN_BYTECAP(x) -#define SDL_INOUT_Z_CAP(x) -#define SDL_OUT_Z_CAP(x) -#define SDL_OUT_CAP(x) -#define SDL_OUT_BYTECAP(x) -#define SDL_OUT_Z_BYTECAP(x) -#define SDL_PRINTF_FORMAT_STRING -#define SDL_SCANF_FORMAT_STRING -#endif -#if defined(__GNUC__) -#define SDL_PRINTF_VARARG_FUNC( fmtargnumber ) __attribute__ (( format( __printf__, fmtargnumber, fmtargnumber+1 ))) -#define SDL_SCANF_VARARG_FUNC( fmtargnumber ) __attribute__ (( format( __scanf__, fmtargnumber, fmtargnumber+1 ))) -#else -#define SDL_PRINTF_VARARG_FUNC( fmtargnumber ) -#define SDL_SCANF_VARARG_FUNC( fmtargnumber ) -#endif -#endif /* SDL_DISABLE_ANALYZE_MACROS */ - -#ifndef SDL_COMPILE_TIME_ASSERT -#if defined(__cplusplus) -#if (__cplusplus >= 201103L) -#define SDL_COMPILE_TIME_ASSERT(name, x) static_assert(x, #x) -#endif -#elif defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) -#define SDL_COMPILE_TIME_ASSERT(name, x) _Static_assert(x, #x) -#endif -#endif /* !SDL_COMPILE_TIME_ASSERT */ - -#ifndef SDL_COMPILE_TIME_ASSERT -/* universal, but may trigger -Wunused-local-typedefs */ -#define SDL_COMPILE_TIME_ASSERT(name, x) \ - typedef int SDL_compile_time_assert_ ## name[(x) * 2 - 1] -#endif - -/** \cond */ -#ifndef DOXYGEN_SHOULD_IGNORE_THIS -SDL_COMPILE_TIME_ASSERT(uint8, sizeof(Uint8) == 1); -SDL_COMPILE_TIME_ASSERT(sint8, sizeof(Sint8) == 1); -SDL_COMPILE_TIME_ASSERT(uint16, sizeof(Uint16) == 2); -SDL_COMPILE_TIME_ASSERT(sint16, sizeof(Sint16) == 2); -SDL_COMPILE_TIME_ASSERT(uint32, sizeof(Uint32) == 4); -SDL_COMPILE_TIME_ASSERT(sint32, sizeof(Sint32) == 4); -SDL_COMPILE_TIME_ASSERT(uint64, sizeof(Uint64) == 8); -SDL_COMPILE_TIME_ASSERT(sint64, sizeof(Sint64) == 8); -#endif /* DOXYGEN_SHOULD_IGNORE_THIS */ -/** \endcond */ - -/* Check to make sure enums are the size of ints, for structure packing. - For both Watcom C/C++ and Borland C/C++ the compiler option that makes - enums having the size of an int must be enabled. - This is "-b" for Borland C/C++ and "-ei" for Watcom C/C++ (v11). -*/ - -/** \cond */ -#ifndef DOXYGEN_SHOULD_IGNORE_THIS -#if !defined(__ANDROID__) && !defined(__VITA__) && !defined(__3DS__) - /* TODO: include/SDL_stdinc.h:174: error: size of array 'SDL_dummy_enum' is negative */ -typedef enum -{ - DUMMY_ENUM_VALUE -} SDL_DUMMY_ENUM; - -SDL_COMPILE_TIME_ASSERT(enum, sizeof(SDL_DUMMY_ENUM) == sizeof(int)); -#endif -#endif /* DOXYGEN_SHOULD_IGNORE_THIS */ -/** \endcond */ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef HAVE_ALLOCA -#define SDL_stack_alloc(type, count) (type*)alloca(sizeof(type)*(count)) -#define SDL_stack_free(data) -#else -#define SDL_stack_alloc(type, count) (type*)SDL_malloc(sizeof(type)*(count)) -#define SDL_stack_free(data) SDL_free(data) -#endif - -extern DECLSPEC void *SDLCALL SDL_malloc(size_t size); -extern DECLSPEC void *SDLCALL SDL_calloc(size_t nmemb, size_t size); -extern DECLSPEC void *SDLCALL SDL_realloc(void *mem, size_t size); -extern DECLSPEC void SDLCALL SDL_free(void *mem); - -typedef void *(SDLCALL *SDL_malloc_func)(size_t size); -typedef void *(SDLCALL *SDL_calloc_func)(size_t nmemb, size_t size); -typedef void *(SDLCALL *SDL_realloc_func)(void *mem, size_t size); -typedef void (SDLCALL *SDL_free_func)(void *mem); - -/** - * Get the original set of SDL memory functions - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC void SDLCALL SDL_GetOriginalMemoryFunctions(SDL_malloc_func *malloc_func, - SDL_calloc_func *calloc_func, - SDL_realloc_func *realloc_func, - SDL_free_func *free_func); - -/** - * Get the current set of SDL memory functions - * - * \since This function is available since SDL 2.0.7. - */ -extern DECLSPEC void SDLCALL SDL_GetMemoryFunctions(SDL_malloc_func *malloc_func, - SDL_calloc_func *calloc_func, - SDL_realloc_func *realloc_func, - SDL_free_func *free_func); - -/** - * Replace SDL's memory allocation functions with a custom set - * - * \since This function is available since SDL 2.0.7. - */ -extern DECLSPEC int SDLCALL SDL_SetMemoryFunctions(SDL_malloc_func malloc_func, - SDL_calloc_func calloc_func, - SDL_realloc_func realloc_func, - SDL_free_func free_func); - -/** - * Get the number of outstanding (unfreed) allocations - * - * \since This function is available since SDL 2.0.7. - */ -extern DECLSPEC int SDLCALL SDL_GetNumAllocations(void); - -extern DECLSPEC char *SDLCALL SDL_getenv(const char *name); -extern DECLSPEC int SDLCALL SDL_setenv(const char *name, const char *value, int overwrite); - -extern DECLSPEC void SDLCALL SDL_qsort(void *base, size_t nmemb, size_t size, int (SDLCALL *compare) (const void *, const void *)); -extern DECLSPEC void * SDLCALL SDL_bsearch(const void *key, const void *base, size_t nmemb, size_t size, int (SDLCALL *compare) (const void *, const void *)); - -extern DECLSPEC int SDLCALL SDL_abs(int x); - -/* NOTE: these double-evaluate their arguments, so you should never have side effects in the parameters */ -#define SDL_min(x, y) (((x) < (y)) ? (x) : (y)) -#define SDL_max(x, y) (((x) > (y)) ? (x) : (y)) -#define SDL_clamp(x, a, b) (((x) < (a)) ? (a) : (((x) > (b)) ? (b) : (x))) - -extern DECLSPEC int SDLCALL SDL_isalpha(int x); -extern DECLSPEC int SDLCALL SDL_isalnum(int x); -extern DECLSPEC int SDLCALL SDL_isblank(int x); -extern DECLSPEC int SDLCALL SDL_iscntrl(int x); -extern DECLSPEC int SDLCALL SDL_isdigit(int x); -extern DECLSPEC int SDLCALL SDL_isxdigit(int x); -extern DECLSPEC int SDLCALL SDL_ispunct(int x); -extern DECLSPEC int SDLCALL SDL_isspace(int x); -extern DECLSPEC int SDLCALL SDL_isupper(int x); -extern DECLSPEC int SDLCALL SDL_islower(int x); -extern DECLSPEC int SDLCALL SDL_isprint(int x); -extern DECLSPEC int SDLCALL SDL_isgraph(int x); -extern DECLSPEC int SDLCALL SDL_toupper(int x); -extern DECLSPEC int SDLCALL SDL_tolower(int x); - -extern DECLSPEC Uint16 SDLCALL SDL_crc16(Uint16 crc, const void *data, size_t len); -extern DECLSPEC Uint32 SDLCALL SDL_crc32(Uint32 crc, const void *data, size_t len); - -extern DECLSPEC void *SDLCALL SDL_memset(SDL_OUT_BYTECAP(len) void *dst, int c, size_t len); - -#define SDL_zero(x) SDL_memset(&(x), 0, sizeof((x))) -#define SDL_zerop(x) SDL_memset((x), 0, sizeof(*(x))) -#define SDL_zeroa(x) SDL_memset((x), 0, sizeof((x))) - -#define SDL_copyp(dst, src) \ - { SDL_COMPILE_TIME_ASSERT(SDL_copyp, sizeof (*(dst)) == sizeof (*(src))); } \ - SDL_memcpy((dst), (src), sizeof (*(src))) - - -/* Note that memset() is a byte assignment and this is a 32-bit assignment, so they're not directly equivalent. */ -SDL_FORCE_INLINE void SDL_memset4(void *dst, Uint32 val, size_t dwords) -{ -#ifdef __APPLE__ - memset_pattern4(dst, &val, dwords * 4); -#elif defined(__GNUC__) && defined(__i386__) - int u0, u1, u2; - __asm__ __volatile__ ( - "cld \n\t" - "rep ; stosl \n\t" - : "=&D" (u0), "=&a" (u1), "=&c" (u2) - : "0" (dst), "1" (val), "2" (SDL_static_cast(Uint32, dwords)) - : "memory" - ); -#else - size_t _n = (dwords + 3) / 4; - Uint32 *_p = SDL_static_cast(Uint32 *, dst); - Uint32 _val = (val); - if (dwords == 0) { - return; - } - switch (dwords % 4) { - case 0: do { *_p++ = _val; SDL_FALLTHROUGH; - case 3: *_p++ = _val; SDL_FALLTHROUGH; - case 2: *_p++ = _val; SDL_FALLTHROUGH; - case 1: *_p++ = _val; - } while ( --_n ); - } -#endif -} - -extern DECLSPEC void *SDLCALL SDL_memcpy(SDL_OUT_BYTECAP(len) void *dst, SDL_IN_BYTECAP(len) const void *src, size_t len); - -extern DECLSPEC void *SDLCALL SDL_memmove(SDL_OUT_BYTECAP(len) void *dst, SDL_IN_BYTECAP(len) const void *src, size_t len); -extern DECLSPEC int SDLCALL SDL_memcmp(const void *s1, const void *s2, size_t len); - -extern DECLSPEC size_t SDLCALL SDL_wcslen(const wchar_t *wstr); -extern DECLSPEC size_t SDLCALL SDL_wcslcpy(SDL_OUT_Z_CAP(maxlen) wchar_t *dst, const wchar_t *src, size_t maxlen); -extern DECLSPEC size_t SDLCALL SDL_wcslcat(SDL_INOUT_Z_CAP(maxlen) wchar_t *dst, const wchar_t *src, size_t maxlen); -extern DECLSPEC wchar_t *SDLCALL SDL_wcsdup(const wchar_t *wstr); -extern DECLSPEC wchar_t *SDLCALL SDL_wcsstr(const wchar_t *haystack, const wchar_t *needle); - -extern DECLSPEC int SDLCALL SDL_wcscmp(const wchar_t *str1, const wchar_t *str2); -extern DECLSPEC int SDLCALL SDL_wcsncmp(const wchar_t *str1, const wchar_t *str2, size_t maxlen); -extern DECLSPEC int SDLCALL SDL_wcscasecmp(const wchar_t *str1, const wchar_t *str2); -extern DECLSPEC int SDLCALL SDL_wcsncasecmp(const wchar_t *str1, const wchar_t *str2, size_t len); - -extern DECLSPEC size_t SDLCALL SDL_strlen(const char *str); -extern DECLSPEC size_t SDLCALL SDL_strlcpy(SDL_OUT_Z_CAP(maxlen) char *dst, const char *src, size_t maxlen); -extern DECLSPEC size_t SDLCALL SDL_utf8strlcpy(SDL_OUT_Z_CAP(dst_bytes) char *dst, const char *src, size_t dst_bytes); -extern DECLSPEC size_t SDLCALL SDL_strlcat(SDL_INOUT_Z_CAP(maxlen) char *dst, const char *src, size_t maxlen); -extern DECLSPEC char *SDLCALL SDL_strdup(const char *str); -extern DECLSPEC char *SDLCALL SDL_strrev(char *str); -extern DECLSPEC char *SDLCALL SDL_strupr(char *str); -extern DECLSPEC char *SDLCALL SDL_strlwr(char *str); -extern DECLSPEC char *SDLCALL SDL_strchr(const char *str, int c); -extern DECLSPEC char *SDLCALL SDL_strrchr(const char *str, int c); -extern DECLSPEC char *SDLCALL SDL_strstr(const char *haystack, const char *needle); -extern DECLSPEC char *SDLCALL SDL_strcasestr(const char *haystack, const char *needle); -extern DECLSPEC char *SDLCALL SDL_strtokr(char *s1, const char *s2, char **saveptr); -extern DECLSPEC size_t SDLCALL SDL_utf8strlen(const char *str); -extern DECLSPEC size_t SDLCALL SDL_utf8strnlen(const char *str, size_t bytes); - -extern DECLSPEC char *SDLCALL SDL_itoa(int value, char *str, int radix); -extern DECLSPEC char *SDLCALL SDL_uitoa(unsigned int value, char *str, int radix); -extern DECLSPEC char *SDLCALL SDL_ltoa(long value, char *str, int radix); -extern DECLSPEC char *SDLCALL SDL_ultoa(unsigned long value, char *str, int radix); -extern DECLSPEC char *SDLCALL SDL_lltoa(Sint64 value, char *str, int radix); -extern DECLSPEC char *SDLCALL SDL_ulltoa(Uint64 value, char *str, int radix); - -extern DECLSPEC int SDLCALL SDL_atoi(const char *str); -extern DECLSPEC double SDLCALL SDL_atof(const char *str); -extern DECLSPEC long SDLCALL SDL_strtol(const char *str, char **endp, int base); -extern DECLSPEC unsigned long SDLCALL SDL_strtoul(const char *str, char **endp, int base); -extern DECLSPEC Sint64 SDLCALL SDL_strtoll(const char *str, char **endp, int base); -extern DECLSPEC Uint64 SDLCALL SDL_strtoull(const char *str, char **endp, int base); -extern DECLSPEC double SDLCALL SDL_strtod(const char *str, char **endp); - -extern DECLSPEC int SDLCALL SDL_strcmp(const char *str1, const char *str2); -extern DECLSPEC int SDLCALL SDL_strncmp(const char *str1, const char *str2, size_t maxlen); -extern DECLSPEC int SDLCALL SDL_strcasecmp(const char *str1, const char *str2); -extern DECLSPEC int SDLCALL SDL_strncasecmp(const char *str1, const char *str2, size_t len); - -extern DECLSPEC int SDLCALL SDL_sscanf(const char *text, SDL_SCANF_FORMAT_STRING const char *fmt, ...) SDL_SCANF_VARARG_FUNC(2); -extern DECLSPEC int SDLCALL SDL_vsscanf(const char *text, const char *fmt, va_list ap); -extern DECLSPEC int SDLCALL SDL_snprintf(SDL_OUT_Z_CAP(maxlen) char *text, size_t maxlen, SDL_PRINTF_FORMAT_STRING const char *fmt, ... ) SDL_PRINTF_VARARG_FUNC(3); -extern DECLSPEC int SDLCALL SDL_vsnprintf(SDL_OUT_Z_CAP(maxlen) char *text, size_t maxlen, const char *fmt, va_list ap); -extern DECLSPEC int SDLCALL SDL_asprintf(char **strp, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); -extern DECLSPEC int SDLCALL SDL_vasprintf(char **strp, const char *fmt, va_list ap); - -#ifndef HAVE_M_PI -#ifndef M_PI -#define M_PI 3.14159265358979323846264338327950288 /**< pi */ -#endif -#endif - -/** - * Use this function to compute arc cosine of `x`. - * - * The definition of `y = acos(x)` is `x = cos(y)`. - * - * Domain: `-1 <= x <= 1` - * - * Range: `0 <= y <= Pi` - * - * \param x floating point value, in radians. - * \returns arc cosine of `x`. - * - * \since This function is available since SDL 2.0.2. - */ -extern DECLSPEC double SDLCALL SDL_acos(double x); -extern DECLSPEC float SDLCALL SDL_acosf(float x); -extern DECLSPEC double SDLCALL SDL_asin(double x); -extern DECLSPEC float SDLCALL SDL_asinf(float x); -extern DECLSPEC double SDLCALL SDL_atan(double x); -extern DECLSPEC float SDLCALL SDL_atanf(float x); -extern DECLSPEC double SDLCALL SDL_atan2(double y, double x); -extern DECLSPEC float SDLCALL SDL_atan2f(float y, float x); -extern DECLSPEC double SDLCALL SDL_ceil(double x); -extern DECLSPEC float SDLCALL SDL_ceilf(float x); -extern DECLSPEC double SDLCALL SDL_copysign(double x, double y); -extern DECLSPEC float SDLCALL SDL_copysignf(float x, float y); -extern DECLSPEC double SDLCALL SDL_cos(double x); -extern DECLSPEC float SDLCALL SDL_cosf(float x); -extern DECLSPEC double SDLCALL SDL_exp(double x); -extern DECLSPEC float SDLCALL SDL_expf(float x); -extern DECLSPEC double SDLCALL SDL_fabs(double x); -extern DECLSPEC float SDLCALL SDL_fabsf(float x); -extern DECLSPEC double SDLCALL SDL_floor(double x); -extern DECLSPEC float SDLCALL SDL_floorf(float x); -extern DECLSPEC double SDLCALL SDL_trunc(double x); -extern DECLSPEC float SDLCALL SDL_truncf(float x); -extern DECLSPEC double SDLCALL SDL_fmod(double x, double y); -extern DECLSPEC float SDLCALL SDL_fmodf(float x, float y); -extern DECLSPEC double SDLCALL SDL_log(double x); -extern DECLSPEC float SDLCALL SDL_logf(float x); -extern DECLSPEC double SDLCALL SDL_log10(double x); -extern DECLSPEC float SDLCALL SDL_log10f(float x); -extern DECLSPEC double SDLCALL SDL_pow(double x, double y); -extern DECLSPEC float SDLCALL SDL_powf(float x, float y); -extern DECLSPEC double SDLCALL SDL_round(double x); -extern DECLSPEC float SDLCALL SDL_roundf(float x); -extern DECLSPEC long SDLCALL SDL_lround(double x); -extern DECLSPEC long SDLCALL SDL_lroundf(float x); -extern DECLSPEC double SDLCALL SDL_scalbn(double x, int n); -extern DECLSPEC float SDLCALL SDL_scalbnf(float x, int n); -extern DECLSPEC double SDLCALL SDL_sin(double x); -extern DECLSPEC float SDLCALL SDL_sinf(float x); -extern DECLSPEC double SDLCALL SDL_sqrt(double x); -extern DECLSPEC float SDLCALL SDL_sqrtf(float x); -extern DECLSPEC double SDLCALL SDL_tan(double x); -extern DECLSPEC float SDLCALL SDL_tanf(float x); - -/* The SDL implementation of iconv() returns these error codes */ -#define SDL_ICONV_ERROR (size_t)-1 -#define SDL_ICONV_E2BIG (size_t)-2 -#define SDL_ICONV_EILSEQ (size_t)-3 -#define SDL_ICONV_EINVAL (size_t)-4 - -/* SDL_iconv_* are now always real symbols/types, not macros or inlined. */ -typedef struct _SDL_iconv_t *SDL_iconv_t; -extern DECLSPEC SDL_iconv_t SDLCALL SDL_iconv_open(const char *tocode, - const char *fromcode); -extern DECLSPEC int SDLCALL SDL_iconv_close(SDL_iconv_t cd); -extern DECLSPEC size_t SDLCALL SDL_iconv(SDL_iconv_t cd, const char **inbuf, - size_t * inbytesleft, char **outbuf, - size_t * outbytesleft); - -/** - * This function converts a string between encodings in one pass, returning a - * string that must be freed with SDL_free() or NULL on error. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC char *SDLCALL SDL_iconv_string(const char *tocode, - const char *fromcode, - const char *inbuf, - size_t inbytesleft); -#define SDL_iconv_utf8_locale(S) SDL_iconv_string("", "UTF-8", S, SDL_strlen(S)+1) -#define SDL_iconv_utf8_ucs2(S) (Uint16 *)SDL_iconv_string("UCS-2-INTERNAL", "UTF-8", S, SDL_strlen(S)+1) -#define SDL_iconv_utf8_ucs4(S) (Uint32 *)SDL_iconv_string("UCS-4-INTERNAL", "UTF-8", S, SDL_strlen(S)+1) -#define SDL_iconv_wchar_utf8(S) SDL_iconv_string("UTF-8", "WCHAR_T", (char *)S, (SDL_wcslen(S)+1)*sizeof(wchar_t)) - -/* force builds using Clang's static analysis tools to use literal C runtime - here, since there are possibly tests that are ineffective otherwise. */ -#if defined(__clang_analyzer__) && !defined(SDL_DISABLE_ANALYZE_MACROS) - -/* The analyzer knows about strlcpy even when the system doesn't provide it */ -#ifndef HAVE_STRLCPY -size_t strlcpy(char* dst, const char* src, size_t size); -#endif - -/* The analyzer knows about strlcat even when the system doesn't provide it */ -#ifndef HAVE_STRLCAT -size_t strlcat(char* dst, const char* src, size_t size); -#endif - -#define SDL_malloc malloc -#define SDL_calloc calloc -#define SDL_realloc realloc -#define SDL_free free -#define SDL_memset memset -#define SDL_memcpy memcpy -#define SDL_memmove memmove -#define SDL_memcmp memcmp -#define SDL_strlcpy strlcpy -#define SDL_strlcat strlcat -#define SDL_strlen strlen -#define SDL_wcslen wcslen -#define SDL_wcslcpy wcslcpy -#define SDL_wcslcat wcslcat -#define SDL_strdup strdup -#define SDL_wcsdup wcsdup -#define SDL_strchr strchr -#define SDL_strrchr strrchr -#define SDL_strstr strstr -#define SDL_wcsstr wcsstr -#define SDL_strtokr strtok_r -#define SDL_strcmp strcmp -#define SDL_wcscmp wcscmp -#define SDL_strncmp strncmp -#define SDL_wcsncmp wcsncmp -#define SDL_strcasecmp strcasecmp -#define SDL_strncasecmp strncasecmp -#define SDL_sscanf sscanf -#define SDL_vsscanf vsscanf -#define SDL_snprintf snprintf -#define SDL_vsnprintf vsnprintf -#endif - -SDL_FORCE_INLINE void *SDL_memcpy4(SDL_OUT_BYTECAP(dwords*4) void *dst, SDL_IN_BYTECAP(dwords*4) const void *src, size_t dwords) -{ - return SDL_memcpy(dst, src, dwords * 4); -} - -/** - * If a * b would overflow, return -1. Otherwise store a * b via ret - * and return 0. - * - * \since This function is available since SDL 2.24.0. - */ -SDL_FORCE_INLINE int SDL_size_mul_overflow (size_t a, - size_t b, - size_t *ret) -{ - if (a != 0 && b > SDL_SIZE_MAX / a) { - return -1; - } - *ret = a * b; - return 0; -} - -#if _SDL_HAS_BUILTIN(__builtin_mul_overflow) -/* This needs to be wrapped in an inline rather than being a direct #define, - * because __builtin_mul_overflow() is type-generic, but we want to be - * consistent about interpreting a and b as size_t. */ -SDL_FORCE_INLINE int _SDL_size_mul_overflow_builtin (size_t a, - size_t b, - size_t *ret) -{ - return __builtin_mul_overflow(a, b, ret) == 0 ? 0 : -1; -} -#define SDL_size_mul_overflow(a, b, ret) (_SDL_size_mul_overflow_builtin(a, b, ret)) -#endif - -/** - * If a + b would overflow, return -1. Otherwise store a + b via ret - * and return 0. - * - * \since This function is available since SDL 2.24.0. - */ -SDL_FORCE_INLINE int SDL_size_add_overflow (size_t a, - size_t b, - size_t *ret) -{ - if (b > SDL_SIZE_MAX - a) { - return -1; - } - *ret = a + b; - return 0; -} - -#if _SDL_HAS_BUILTIN(__builtin_add_overflow) -/* This needs to be wrapped in an inline rather than being a direct #define, - * the same as the call to __builtin_mul_overflow() above. */ -SDL_FORCE_INLINE int _SDL_size_add_overflow_builtin (size_t a, - size_t b, - size_t *ret) -{ - return __builtin_add_overflow(a, b, ret) == 0 ? 0 : -1; -} -#define SDL_size_add_overflow(a, b, ret) (_SDL_size_add_overflow_builtin(a, b, ret)) -#endif - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_stdinc_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_surface.h b/subprojects/sdl2_windows/include/SDL2/SDL_surface.h deleted file mode 100644 index 838de654e..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_surface.h +++ /dev/null @@ -1,997 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_surface.h - * - * Header file for ::SDL_Surface definition and management functions. - */ - -#ifndef SDL_surface_h_ -#define SDL_surface_h_ - -#include "SDL_stdinc.h" -#include "SDL_pixels.h" -#include "SDL_rect.h" -#include "SDL_blendmode.h" -#include "SDL_rwops.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \name Surface flags - * - * These are the currently supported flags for the ::SDL_Surface. - * - * \internal - * Used internally (read-only). - */ -/* @{ */ -#define SDL_SWSURFACE 0 /**< Just here for compatibility */ -#define SDL_PREALLOC 0x00000001 /**< Surface uses preallocated memory */ -#define SDL_RLEACCEL 0x00000002 /**< Surface is RLE encoded */ -#define SDL_DONTFREE 0x00000004 /**< Surface is referenced internally */ -#define SDL_SIMD_ALIGNED 0x00000008 /**< Surface uses aligned memory */ -/* @} *//* Surface flags */ - -/** - * Evaluates to true if the surface needs to be locked before access. - */ -#define SDL_MUSTLOCK(S) (((S)->flags & SDL_RLEACCEL) != 0) - -typedef struct SDL_BlitMap SDL_BlitMap; /* this is an opaque type. */ - -/** - * \brief A collection of pixels used in software blitting. - * - * \note This structure should be treated as read-only, except for \c pixels, - * which, if not NULL, contains the raw pixel data for the surface. - */ -typedef struct SDL_Surface -{ - Uint32 flags; /**< Read-only */ - SDL_PixelFormat *format; /**< Read-only */ - int w, h; /**< Read-only */ - int pitch; /**< Read-only */ - void *pixels; /**< Read-write */ - - /** Application data associated with the surface */ - void *userdata; /**< Read-write */ - - /** information needed for surfaces requiring locks */ - int locked; /**< Read-only */ - - /** list of BlitMap that hold a reference to this surface */ - void *list_blitmap; /**< Private */ - - /** clipping information */ - SDL_Rect clip_rect; /**< Read-only */ - - /** info for fast blit mapping to other surfaces */ - SDL_BlitMap *map; /**< Private */ - - /** Reference count -- used when freeing surface */ - int refcount; /**< Read-mostly */ -} SDL_Surface; - -/** - * \brief The type of function used for surface blitting functions. - */ -typedef int (SDLCALL *SDL_blit) (struct SDL_Surface * src, SDL_Rect * srcrect, - struct SDL_Surface * dst, SDL_Rect * dstrect); - -/** - * \brief The formula used for converting between YUV and RGB - */ -typedef enum -{ - SDL_YUV_CONVERSION_JPEG, /**< Full range JPEG */ - SDL_YUV_CONVERSION_BT601, /**< BT.601 (the default) */ - SDL_YUV_CONVERSION_BT709, /**< BT.709 */ - SDL_YUV_CONVERSION_AUTOMATIC /**< BT.601 for SD content, BT.709 for HD content */ -} SDL_YUV_CONVERSION_MODE; - -/** - * Allocate a new RGB surface. - * - * If `depth` is 4 or 8 bits, an empty palette is allocated for the surface. - * If `depth` is greater than 8 bits, the pixel format is set using the - * [RGBA]mask parameters. - * - * The [RGBA]mask parameters are the bitmasks used to extract that color from - * a pixel. For instance, `Rmask` being 0xFF000000 means the red data is - * stored in the most significant byte. Using zeros for the RGB masks sets a - * default value, based on the depth. For example: - * - * ```c++ - * SDL_CreateRGBSurface(0,w,h,32,0,0,0,0); - * ``` - * - * However, using zero for the Amask results in an Amask of 0. - * - * By default surfaces with an alpha mask are set up for blending as with: - * - * ```c++ - * SDL_SetSurfaceBlendMode(surface, SDL_BLENDMODE_BLEND) - * ``` - * - * You can change this by calling SDL_SetSurfaceBlendMode() and selecting a - * different `blendMode`. - * - * \param flags the flags are unused and should be set to 0 - * \param width the width of the surface - * \param height the height of the surface - * \param depth the depth of the surface in bits - * \param Rmask the red mask for the pixels - * \param Gmask the green mask for the pixels - * \param Bmask the blue mask for the pixels - * \param Amask the alpha mask for the pixels - * \returns the new SDL_Surface structure that is created or NULL if it fails; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRGBSurfaceFrom - * \sa SDL_CreateRGBSurfaceWithFormat - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurface - (Uint32 flags, int width, int height, int depth, - Uint32 Rmask, Uint32 Gmask, Uint32 Bmask, Uint32 Amask); - - -/* !!! FIXME for 2.1: why does this ask for depth? Format provides that. */ - -/** - * Allocate a new RGB surface with a specific pixel format. - * - * This function operates mostly like SDL_CreateRGBSurface(), except instead - * of providing pixel color masks, you provide it with a predefined format - * from SDL_PixelFormatEnum. - * - * \param flags the flags are unused and should be set to 0 - * \param width the width of the surface - * \param height the height of the surface - * \param depth the depth of the surface in bits - * \param format the SDL_PixelFormatEnum for the new surface's pixel format. - * \returns the new SDL_Surface structure that is created or NULL if it fails; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_CreateRGBSurface - * \sa SDL_CreateRGBSurfaceFrom - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurfaceWithFormat - (Uint32 flags, int width, int height, int depth, Uint32 format); - -/** - * Allocate a new RGB surface with existing pixel data. - * - * This function operates mostly like SDL_CreateRGBSurface(), except it does - * not allocate memory for the pixel data, instead the caller provides an - * existing buffer of data for the surface to use. - * - * No copy is made of the pixel data. Pixel data is not managed automatically; - * you must free the surface before you free the pixel data. - * - * \param pixels a pointer to existing pixel data - * \param width the width of the surface - * \param height the height of the surface - * \param depth the depth of the surface in bits - * \param pitch the pitch of the surface in bytes - * \param Rmask the red mask for the pixels - * \param Gmask the green mask for the pixels - * \param Bmask the blue mask for the pixels - * \param Amask the alpha mask for the pixels - * \returns the new SDL_Surface structure that is created or NULL if it fails; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRGBSurface - * \sa SDL_CreateRGBSurfaceWithFormat - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurfaceFrom(void *pixels, - int width, - int height, - int depth, - int pitch, - Uint32 Rmask, - Uint32 Gmask, - Uint32 Bmask, - Uint32 Amask); - -/* !!! FIXME for 2.1: why does this ask for depth? Format provides that. */ - -/** - * Allocate a new RGB surface with with a specific pixel format and existing - * pixel data. - * - * This function operates mostly like SDL_CreateRGBSurfaceFrom(), except - * instead of providing pixel color masks, you provide it with a predefined - * format from SDL_PixelFormatEnum. - * - * No copy is made of the pixel data. Pixel data is not managed automatically; - * you must free the surface before you free the pixel data. - * - * \param pixels a pointer to existing pixel data - * \param width the width of the surface - * \param height the height of the surface - * \param depth the depth of the surface in bits - * \param pitch the pitch of the surface in bytes - * \param format the SDL_PixelFormatEnum for the new surface's pixel format. - * \returns the new SDL_Surface structure that is created or NULL if it fails; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_CreateRGBSurfaceFrom - * \sa SDL_CreateRGBSurfaceWithFormat - * \sa SDL_FreeSurface - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_CreateRGBSurfaceWithFormatFrom - (void *pixels, int width, int height, int depth, int pitch, Uint32 format); - -/** - * Free an RGB surface. - * - * It is safe to pass NULL to this function. - * - * \param surface the SDL_Surface to free. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateRGBSurface - * \sa SDL_CreateRGBSurfaceFrom - * \sa SDL_LoadBMP - * \sa SDL_LoadBMP_RW - */ -extern DECLSPEC void SDLCALL SDL_FreeSurface(SDL_Surface * surface); - -/** - * Set the palette used by a surface. - * - * A single palette can be shared with many surfaces. - * - * \param surface the SDL_Surface structure to update - * \param palette the SDL_Palette structure to use - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_SetSurfacePalette(SDL_Surface * surface, - SDL_Palette * palette); - -/** - * Set up a surface for directly accessing the pixels. - * - * Between calls to SDL_LockSurface() / SDL_UnlockSurface(), you can write to - * and read from `surface->pixels`, using the pixel format stored in - * `surface->format`. Once you are done accessing the surface, you should use - * SDL_UnlockSurface() to release it. - * - * Not all surfaces require locking. If `SDL_MUSTLOCK(surface)` evaluates to - * 0, then you can read and write to the surface at any time, and the pixel - * format of the surface will not change. - * - * \param surface the SDL_Surface structure to be locked - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_MUSTLOCK - * \sa SDL_UnlockSurface - */ -extern DECLSPEC int SDLCALL SDL_LockSurface(SDL_Surface * surface); - -/** - * Release a surface after directly accessing the pixels. - * - * \param surface the SDL_Surface structure to be unlocked - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LockSurface - */ -extern DECLSPEC void SDLCALL SDL_UnlockSurface(SDL_Surface * surface); - -/** - * Load a BMP image from a seekable SDL data stream. - * - * The new surface should be freed with SDL_FreeSurface(). Not doing so will - * result in a memory leak. - * - * src is an open SDL_RWops buffer, typically loaded with SDL_RWFromFile. - * Alternitavely, you might also use the macro SDL_LoadBMP to load a bitmap - * from a file, convert it to an SDL_Surface and then close the file. - * - * \param src the data stream for the surface - * \param freesrc non-zero to close the stream after being read - * \returns a pointer to a new SDL_Surface structure or NULL if there was an - * error; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FreeSurface - * \sa SDL_RWFromFile - * \sa SDL_LoadBMP - * \sa SDL_SaveBMP_RW - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_LoadBMP_RW(SDL_RWops * src, - int freesrc); - -/** - * Load a surface from a file. - * - * Convenience macro. - */ -#define SDL_LoadBMP(file) SDL_LoadBMP_RW(SDL_RWFromFile(file, "rb"), 1) - -/** - * Save a surface to a seekable SDL data stream in BMP format. - * - * Surfaces with a 24-bit, 32-bit and paletted 8-bit format get saved in the - * BMP directly. Other RGB formats with 8-bit or higher get converted to a - * 24-bit surface or, if they have an alpha mask or a colorkey, to a 32-bit - * surface before they are saved. YUV and paletted 1-bit and 4-bit formats are - * not supported. - * - * \param surface the SDL_Surface structure containing the image to be saved - * \param dst a data stream to save to - * \param freedst non-zero to close the stream after being written - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_LoadBMP_RW - * \sa SDL_SaveBMP - */ -extern DECLSPEC int SDLCALL SDL_SaveBMP_RW - (SDL_Surface * surface, SDL_RWops * dst, int freedst); - -/** - * Save a surface to a file. - * - * Convenience macro. - */ -#define SDL_SaveBMP(surface, file) \ - SDL_SaveBMP_RW(surface, SDL_RWFromFile(file, "wb"), 1) - -/** - * Set the RLE acceleration hint for a surface. - * - * If RLE is enabled, color key and alpha blending blits are much faster, but - * the surface must be locked before directly accessing the pixels. - * - * \param surface the SDL_Surface structure to optimize - * \param flag 0 to disable, non-zero to enable RLE acceleration - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - * \sa SDL_LockSurface - * \sa SDL_UnlockSurface - */ -extern DECLSPEC int SDLCALL SDL_SetSurfaceRLE(SDL_Surface * surface, - int flag); - -/** - * Returns whether the surface is RLE enabled - * - * It is safe to pass a NULL `surface` here; it will return SDL_FALSE. - * - * \param surface the SDL_Surface structure to query - * \returns SDL_TRUE if the surface is RLE enabled, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - * - * \sa SDL_SetSurfaceRLE - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasSurfaceRLE(SDL_Surface * surface); - -/** - * Set the color key (transparent pixel) in a surface. - * - * The color key defines a pixel value that will be treated as transparent in - * a blit. For example, one can use this to specify that cyan pixels should be - * considered transparent, and therefore not rendered. - * - * It is a pixel of the format used by the surface, as generated by - * SDL_MapRGB(). - * - * RLE acceleration can substantially speed up blitting of images with large - * horizontal runs of transparent pixels. See SDL_SetSurfaceRLE() for details. - * - * \param surface the SDL_Surface structure to update - * \param flag SDL_TRUE to enable color key, SDL_FALSE to disable color key - * \param key the transparent pixel - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - * \sa SDL_GetColorKey - */ -extern DECLSPEC int SDLCALL SDL_SetColorKey(SDL_Surface * surface, - int flag, Uint32 key); - -/** - * Returns whether the surface has a color key - * - * It is safe to pass a NULL `surface` here; it will return SDL_FALSE. - * - * \param surface the SDL_Surface structure to query - * \return SDL_TRUE if the surface has a color key, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.9. - * - * \sa SDL_SetColorKey - * \sa SDL_GetColorKey - */ -extern DECLSPEC SDL_bool SDLCALL SDL_HasColorKey(SDL_Surface * surface); - -/** - * Get the color key (transparent pixel) for a surface. - * - * The color key is a pixel of the format used by the surface, as generated by - * SDL_MapRGB(). - * - * If the surface doesn't have color key enabled this function returns -1. - * - * \param surface the SDL_Surface structure to query - * \param key a pointer filled in with the transparent pixel - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - * \sa SDL_SetColorKey - */ -extern DECLSPEC int SDLCALL SDL_GetColorKey(SDL_Surface * surface, - Uint32 * key); - -/** - * Set an additional color value multiplied into blit operations. - * - * When this surface is blitted, during the blit operation each source color - * channel is modulated by the appropriate color value according to the - * following formula: - * - * `srcC = srcC * (color / 255)` - * - * \param surface the SDL_Surface structure to update - * \param r the red color value multiplied into blit operations - * \param g the green color value multiplied into blit operations - * \param b the blue color value multiplied into blit operations - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetSurfaceColorMod - * \sa SDL_SetSurfaceAlphaMod - */ -extern DECLSPEC int SDLCALL SDL_SetSurfaceColorMod(SDL_Surface * surface, - Uint8 r, Uint8 g, Uint8 b); - - -/** - * Get the additional color value multiplied into blit operations. - * - * \param surface the SDL_Surface structure to query - * \param r a pointer filled in with the current red color value - * \param g a pointer filled in with the current green color value - * \param b a pointer filled in with the current blue color value - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetSurfaceAlphaMod - * \sa SDL_SetSurfaceColorMod - */ -extern DECLSPEC int SDLCALL SDL_GetSurfaceColorMod(SDL_Surface * surface, - Uint8 * r, Uint8 * g, - Uint8 * b); - -/** - * Set an additional alpha value used in blit operations. - * - * When this surface is blitted, during the blit operation the source alpha - * value is modulated by this alpha value according to the following formula: - * - * `srcA = srcA * (alpha / 255)` - * - * \param surface the SDL_Surface structure to update - * \param alpha the alpha value multiplied into blit operations - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetSurfaceAlphaMod - * \sa SDL_SetSurfaceColorMod - */ -extern DECLSPEC int SDLCALL SDL_SetSurfaceAlphaMod(SDL_Surface * surface, - Uint8 alpha); - -/** - * Get the additional alpha value used in blit operations. - * - * \param surface the SDL_Surface structure to query - * \param alpha a pointer filled in with the current alpha value - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetSurfaceColorMod - * \sa SDL_SetSurfaceAlphaMod - */ -extern DECLSPEC int SDLCALL SDL_GetSurfaceAlphaMod(SDL_Surface * surface, - Uint8 * alpha); - -/** - * Set the blend mode used for blit operations. - * - * To copy a surface to another surface (or texture) without blending with the - * existing data, the blendmode of the SOURCE surface should be set to - * `SDL_BLENDMODE_NONE`. - * - * \param surface the SDL_Surface structure to update - * \param blendMode the SDL_BlendMode to use for blit blending - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetSurfaceBlendMode - */ -extern DECLSPEC int SDLCALL SDL_SetSurfaceBlendMode(SDL_Surface * surface, - SDL_BlendMode blendMode); - -/** - * Get the blend mode used for blit operations. - * - * \param surface the SDL_Surface structure to query - * \param blendMode a pointer filled in with the current SDL_BlendMode - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetSurfaceBlendMode - */ -extern DECLSPEC int SDLCALL SDL_GetSurfaceBlendMode(SDL_Surface * surface, - SDL_BlendMode *blendMode); - -/** - * Set the clipping rectangle for a surface. - * - * When `surface` is the destination of a blit, only the area within the clip - * rectangle is drawn into. - * - * Note that blits are automatically clipped to the edges of the source and - * destination surfaces. - * - * \param surface the SDL_Surface structure to be clipped - * \param rect the SDL_Rect structure representing the clipping rectangle, or - * NULL to disable clipping - * \returns SDL_TRUE if the rectangle intersects the surface, otherwise - * SDL_FALSE and blits will be completely clipped. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - * \sa SDL_GetClipRect - */ -extern DECLSPEC SDL_bool SDLCALL SDL_SetClipRect(SDL_Surface * surface, - const SDL_Rect * rect); - -/** - * Get the clipping rectangle for a surface. - * - * When `surface` is the destination of a blit, only the area within the clip - * rectangle is drawn into. - * - * \param surface the SDL_Surface structure representing the surface to be - * clipped - * \param rect an SDL_Rect structure filled in with the clipping rectangle for - * the surface - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - * \sa SDL_SetClipRect - */ -extern DECLSPEC void SDLCALL SDL_GetClipRect(SDL_Surface * surface, - SDL_Rect * rect); - -/* - * Creates a new surface identical to the existing surface. - * - * The returned surface should be freed with SDL_FreeSurface(). - * - * \param surface the surface to duplicate. - * \returns a copy of the surface, or NULL on failure; call SDL_GetError() for - * more information. - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_DuplicateSurface(SDL_Surface * surface); - -/** - * Copy an existing surface to a new surface of the specified format. - * - * This function is used to optimize images for faster *repeat* blitting. This - * is accomplished by converting the original and storing the result as a new - * surface. The new, optimized surface can then be used as the source for - * future blits, making them faster. - * - * \param src the existing SDL_Surface structure to convert - * \param fmt the SDL_PixelFormat structure that the new surface is optimized - * for - * \param flags the flags are unused and should be set to 0; this is a - * leftover from SDL 1.2's API - * \returns the new SDL_Surface structure that is created or NULL if it fails; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocFormat - * \sa SDL_ConvertSurfaceFormat - * \sa SDL_CreateRGBSurface - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_ConvertSurface - (SDL_Surface * src, const SDL_PixelFormat * fmt, Uint32 flags); - -/** - * Copy an existing surface to a new surface of the specified format enum. - * - * This function operates just like SDL_ConvertSurface(), but accepts an - * SDL_PixelFormatEnum value instead of an SDL_PixelFormat structure. As such, - * it might be easier to call but it doesn't have access to palette - * information for the destination surface, in case that would be important. - * - * \param src the existing SDL_Surface structure to convert - * \param pixel_format the SDL_PixelFormatEnum that the new surface is - * optimized for - * \param flags the flags are unused and should be set to 0; this is a - * leftover from SDL 1.2's API - * \returns the new SDL_Surface structure that is created or NULL if it fails; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AllocFormat - * \sa SDL_ConvertSurface - * \sa SDL_CreateRGBSurface - */ -extern DECLSPEC SDL_Surface *SDLCALL SDL_ConvertSurfaceFormat - (SDL_Surface * src, Uint32 pixel_format, Uint32 flags); - -/** - * Copy a block of pixels of one format to another format. - * - * \param width the width of the block to copy, in pixels - * \param height the height of the block to copy, in pixels - * \param src_format an SDL_PixelFormatEnum value of the `src` pixels format - * \param src a pointer to the source pixels - * \param src_pitch the pitch of the source pixels, in bytes - * \param dst_format an SDL_PixelFormatEnum value of the `dst` pixels format - * \param dst a pointer to be filled in with new pixel data - * \param dst_pitch the pitch of the destination pixels, in bytes - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_ConvertPixels(int width, int height, - Uint32 src_format, - const void * src, int src_pitch, - Uint32 dst_format, - void * dst, int dst_pitch); - -/** - * Premultiply the alpha on a block of pixels. - * - * This is safe to use with src == dst, but not for other overlapping areas. - * - * This function is currently only implemented for SDL_PIXELFORMAT_ARGB8888. - * - * \param width the width of the block to convert, in pixels - * \param height the height of the block to convert, in pixels - * \param src_format an SDL_PixelFormatEnum value of the `src` pixels format - * \param src a pointer to the source pixels - * \param src_pitch the pitch of the source pixels, in bytes - * \param dst_format an SDL_PixelFormatEnum value of the `dst` pixels format - * \param dst a pointer to be filled in with premultiplied pixel data - * \param dst_pitch the pitch of the destination pixels, in bytes - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_PremultiplyAlpha(int width, int height, - Uint32 src_format, - const void * src, int src_pitch, - Uint32 dst_format, - void * dst, int dst_pitch); - -/** - * Perform a fast fill of a rectangle with a specific color. - * - * `color` should be a pixel of the format used by the surface, and can be - * generated by SDL_MapRGB() or SDL_MapRGBA(). If the color value contains an - * alpha component then the destination is simply filled with that alpha - * information, no blending takes place. - * - * If there is a clip rectangle set on the destination (set via - * SDL_SetClipRect()), then this function will fill based on the intersection - * of the clip rectangle and `rect`. - * - * \param dst the SDL_Surface structure that is the drawing target - * \param rect the SDL_Rect structure representing the rectangle to fill, or - * NULL to fill the entire surface - * \param color the color to fill with - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FillRects - */ -extern DECLSPEC int SDLCALL SDL_FillRect - (SDL_Surface * dst, const SDL_Rect * rect, Uint32 color); - -/** - * Perform a fast fill of a set of rectangles with a specific color. - * - * `color` should be a pixel of the format used by the surface, and can be - * generated by SDL_MapRGB() or SDL_MapRGBA(). If the color value contains an - * alpha component then the destination is simply filled with that alpha - * information, no blending takes place. - * - * If there is a clip rectangle set on the destination (set via - * SDL_SetClipRect()), then this function will fill based on the intersection - * of the clip rectangle and `rect`. - * - * \param dst the SDL_Surface structure that is the drawing target - * \param rects an array of SDL_Rects representing the rectangles to fill. - * \param count the number of rectangles in the array - * \param color the color to fill with - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_FillRect - */ -extern DECLSPEC int SDLCALL SDL_FillRects - (SDL_Surface * dst, const SDL_Rect * rects, int count, Uint32 color); - -/* !!! FIXME: merge this documentation with the wiki */ -/** - * Performs a fast blit from the source surface to the destination surface. - * - * This assumes that the source and destination rectangles are - * the same size. If either \c srcrect or \c dstrect are NULL, the entire - * surface (\c src or \c dst) is copied. The final blit rectangles are saved - * in \c srcrect and \c dstrect after all clipping is performed. - * - * \returns 0 if the blit is successful, otherwise it returns -1. - * - * The blit function should not be called on a locked surface. - * - * The blit semantics for surfaces with and without blending and colorkey - * are defined as follows: - * \verbatim - RGBA->RGB: - Source surface blend mode set to SDL_BLENDMODE_BLEND: - alpha-blend (using the source alpha-channel and per-surface alpha) - SDL_SRCCOLORKEY ignored. - Source surface blend mode set to SDL_BLENDMODE_NONE: - copy RGB. - if SDL_SRCCOLORKEY set, only copy the pixels matching the - RGB values of the source color key, ignoring alpha in the - comparison. - - RGB->RGBA: - Source surface blend mode set to SDL_BLENDMODE_BLEND: - alpha-blend (using the source per-surface alpha) - Source surface blend mode set to SDL_BLENDMODE_NONE: - copy RGB, set destination alpha to source per-surface alpha value. - both: - if SDL_SRCCOLORKEY set, only copy the pixels matching the - source color key. - - RGBA->RGBA: - Source surface blend mode set to SDL_BLENDMODE_BLEND: - alpha-blend (using the source alpha-channel and per-surface alpha) - SDL_SRCCOLORKEY ignored. - Source surface blend mode set to SDL_BLENDMODE_NONE: - copy all of RGBA to the destination. - if SDL_SRCCOLORKEY set, only copy the pixels matching the - RGB values of the source color key, ignoring alpha in the - comparison. - - RGB->RGB: - Source surface blend mode set to SDL_BLENDMODE_BLEND: - alpha-blend (using the source per-surface alpha) - Source surface blend mode set to SDL_BLENDMODE_NONE: - copy RGB. - both: - if SDL_SRCCOLORKEY set, only copy the pixels matching the - source color key. - \endverbatim - * - * You should call SDL_BlitSurface() unless you know exactly how SDL - * blitting works internally and how to use the other blit functions. - */ -#define SDL_BlitSurface SDL_UpperBlit - -/** - * Perform a fast blit from the source surface to the destination surface. - * - * SDL_UpperBlit() has been replaced by SDL_BlitSurface(), which is merely a - * macro for this function with a less confusing name. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - */ -extern DECLSPEC int SDLCALL SDL_UpperBlit - (SDL_Surface * src, const SDL_Rect * srcrect, - SDL_Surface * dst, SDL_Rect * dstrect); - -/** - * Perform low-level surface blitting only. - * - * This is a semi-private blit function and it performs low-level surface - * blitting, assuming the input rectangles have already been clipped. - * - * Unless you know what you're doing, you should be using SDL_BlitSurface() - * instead. - * - * \param src the SDL_Surface structure to be copied from - * \param srcrect the SDL_Rect structure representing the rectangle to be - * copied, or NULL to copy the entire surface - * \param dst the SDL_Surface structure that is the blit target - * \param dstrect the SDL_Rect structure representing the rectangle that is - * copied into - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitSurface - */ -extern DECLSPEC int SDLCALL SDL_LowerBlit - (SDL_Surface * src, SDL_Rect * srcrect, - SDL_Surface * dst, SDL_Rect * dstrect); - - -/** - * Perform a fast, low quality, stretch blit between two surfaces of the same - * format. - * - * Please use SDL_BlitScaled() instead. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_SoftStretch(SDL_Surface * src, - const SDL_Rect * srcrect, - SDL_Surface * dst, - const SDL_Rect * dstrect); - -/** - * Perform bilinear scaling between two surfaces of the same format, 32BPP. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC int SDLCALL SDL_SoftStretchLinear(SDL_Surface * src, - const SDL_Rect * srcrect, - SDL_Surface * dst, - const SDL_Rect * dstrect); - - -#define SDL_BlitScaled SDL_UpperBlitScaled - -/** - * Perform a scaled surface copy to a destination surface. - * - * SDL_UpperBlitScaled() has been replaced by SDL_BlitScaled(), which is - * merely a macro for this function with a less confusing name. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitScaled - */ -extern DECLSPEC int SDLCALL SDL_UpperBlitScaled - (SDL_Surface * src, const SDL_Rect * srcrect, - SDL_Surface * dst, SDL_Rect * dstrect); - -/** - * Perform low-level surface scaled blitting only. - * - * This is a semi-private function and it performs low-level surface blitting, - * assuming the input rectangles have already been clipped. - * - * \param src the SDL_Surface structure to be copied from - * \param srcrect the SDL_Rect structure representing the rectangle to be - * copied - * \param dst the SDL_Surface structure that is the blit target - * \param dstrect the SDL_Rect structure representing the rectangle that is - * copied into - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_BlitScaled - */ -extern DECLSPEC int SDLCALL SDL_LowerBlitScaled - (SDL_Surface * src, SDL_Rect * srcrect, - SDL_Surface * dst, SDL_Rect * dstrect); - -/** - * Set the YUV conversion mode - * - * \since This function is available since SDL 2.0.8. - */ -extern DECLSPEC void SDLCALL SDL_SetYUVConversionMode(SDL_YUV_CONVERSION_MODE mode); - -/** - * Get the YUV conversion mode - * - * \since This function is available since SDL 2.0.8. - */ -extern DECLSPEC SDL_YUV_CONVERSION_MODE SDLCALL SDL_GetYUVConversionMode(void); - -/** - * Get the YUV conversion mode, returning the correct mode for the resolution - * when the current conversion mode is SDL_YUV_CONVERSION_AUTOMATIC - * - * \since This function is available since SDL 2.0.8. - */ -extern DECLSPEC SDL_YUV_CONVERSION_MODE SDLCALL SDL_GetYUVConversionModeForResolution(int width, int height); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_surface_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_system.h b/subprojects/sdl2_windows/include/SDL2/SDL_system.h deleted file mode 100644 index 0edca635b..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_system.h +++ /dev/null @@ -1,623 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_system.h - * - * Include file for platform specific SDL API functions - */ - -#ifndef SDL_system_h_ -#define SDL_system_h_ - -#include "SDL_stdinc.h" -#include "SDL_keyboard.h" -#include "SDL_render.h" -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - - -/* Platform specific functions for Windows */ -#if defined(__WIN32__) || defined(__GDK__) - -typedef void (SDLCALL * SDL_WindowsMessageHook)(void *userdata, void *hWnd, unsigned int message, Uint64 wParam, Sint64 lParam); - -/** - * Set a callback for every Windows message, run before TranslateMessage(). - * - * \param callback The SDL_WindowsMessageHook function to call. - * \param userdata a pointer to pass to every iteration of `callback` - * - * \since This function is available since SDL 2.0.4. - */ -extern DECLSPEC void SDLCALL SDL_SetWindowsMessageHook(SDL_WindowsMessageHook callback, void *userdata); - -#endif /* defined(__WIN32__) || defined(__GDK__) */ - -#if defined(__WIN32__) || defined(__WINGDK__) - -/** - * Get the D3D9 adapter index that matches the specified display index. - * - * The returned adapter index can be passed to `IDirect3D9::CreateDevice` and - * controls on which monitor a full screen application will appear. - * - * \param displayIndex the display index for which to get the D3D9 adapter - * index - * \returns the D3D9 adapter index on success or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.1. - */ -extern DECLSPEC int SDLCALL SDL_Direct3D9GetAdapterIndex( int displayIndex ); - -typedef struct IDirect3DDevice9 IDirect3DDevice9; - -/** - * Get the D3D9 device associated with a renderer. - * - * Once you are done using the device, you should release it to avoid a - * resource leak. - * - * \param renderer the renderer from which to get the associated D3D device - * \returns the D3D9 device associated with given renderer or NULL if it is - * not a D3D9 renderer; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.1. - */ -extern DECLSPEC IDirect3DDevice9* SDLCALL SDL_RenderGetD3D9Device(SDL_Renderer * renderer); - -typedef struct ID3D11Device ID3D11Device; - -/** - * Get the D3D11 device associated with a renderer. - * - * Once you are done using the device, you should release it to avoid a - * resource leak. - * - * \param renderer the renderer from which to get the associated D3D11 device - * \returns the D3D11 device associated with given renderer or NULL if it is - * not a D3D11 renderer; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC ID3D11Device* SDLCALL SDL_RenderGetD3D11Device(SDL_Renderer * renderer); - -#endif /* defined(__WIN32__) || defined(__WINGDK__) */ - -#if defined(__WIN32__) || defined(__GDK__) - -typedef struct ID3D12Device ID3D12Device; - -/** - * Get the D3D12 device associated with a renderer. - * - * Once you are done using the device, you should release it to avoid a - * resource leak. - * - * \param renderer the renderer from which to get the associated D3D12 device - * \returns the D3D12 device associated with given renderer or NULL if it is - * not a D3D12 renderer; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC ID3D12Device* SDLCALL SDL_RenderGetD3D12Device(SDL_Renderer* renderer); - -#endif /* defined(__WIN32__) || defined(__GDK__) */ - -#if defined(__WIN32__) || defined(__WINGDK__) - -/** - * Get the DXGI Adapter and Output indices for the specified display index. - * - * The DXGI Adapter and Output indices can be passed to `EnumAdapters` and - * `EnumOutputs` respectively to get the objects required to create a DX10 or - * DX11 device and swap chain. - * - * Before SDL 2.0.4 this function did not return a value. Since SDL 2.0.4 it - * returns an SDL_bool. - * - * \param displayIndex the display index for which to get both indices - * \param adapterIndex a pointer to be filled in with the adapter index - * \param outputIndex a pointer to be filled in with the output index - * \returns SDL_TRUE on success or SDL_FALSE on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.2. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_DXGIGetOutputInfo( int displayIndex, int *adapterIndex, int *outputIndex ); - -#endif /* defined(__WIN32__) || defined(__WINGDK__) */ - -/* Platform specific functions for Linux */ -#ifdef __LINUX__ - -/** - * Sets the UNIX nice value for a thread. - * - * This uses setpriority() if possible, and RealtimeKit if available. - * - * \param threadID the Unix thread ID to change priority of. - * \param priority The new, Unix-specific, priority value. - * \returns 0 on success, or -1 on error. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC int SDLCALL SDL_LinuxSetThreadPriority(Sint64 threadID, int priority); - -/** - * Sets the priority (not nice level) and scheduling policy for a thread. - * - * This uses setpriority() if possible, and RealtimeKit if available. - * - * \param threadID The Unix thread ID to change priority of. - * \param sdlPriority The new SDL_ThreadPriority value. - * \param schedPolicy The new scheduling policy (SCHED_FIFO, SCHED_RR, - * SCHED_OTHER, etc...) - * \returns 0 on success, or -1 on error. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC int SDLCALL SDL_LinuxSetThreadPriorityAndPolicy(Sint64 threadID, int sdlPriority, int schedPolicy); - -#endif /* __LINUX__ */ - -/* Platform specific functions for iOS */ -#ifdef __IPHONEOS__ - -#define SDL_iOSSetAnimationCallback(window, interval, callback, callbackParam) SDL_iPhoneSetAnimationCallback(window, interval, callback, callbackParam) - -/** - * Use this function to set the animation callback on Apple iOS. - * - * The function prototype for `callback` is: - * - * ```c - * void callback(void* callbackParam); - * ``` - * - * Where its parameter, `callbackParam`, is what was passed as `callbackParam` - * to SDL_iPhoneSetAnimationCallback(). - * - * This function is only available on Apple iOS. - * - * For more information see: - * https://github.com/libsdl-org/SDL/blob/main/docs/README-ios.md - * - * This functions is also accessible using the macro - * SDL_iOSSetAnimationCallback() since SDL 2.0.4. - * - * \param window the window for which the animation callback should be set - * \param interval the number of frames after which **callback** will be - * called - * \param callback the function to call for every frame. - * \param callbackParam a pointer that is passed to `callback`. - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_iPhoneSetEventPump - */ -extern DECLSPEC int SDLCALL SDL_iPhoneSetAnimationCallback(SDL_Window * window, int interval, void (SDLCALL *callback)(void*), void *callbackParam); - -#define SDL_iOSSetEventPump(enabled) SDL_iPhoneSetEventPump(enabled) - -/** - * Use this function to enable or disable the SDL event pump on Apple iOS. - * - * This function is only available on Apple iOS. - * - * This functions is also accessible using the macro SDL_iOSSetEventPump() - * since SDL 2.0.4. - * - * \param enabled SDL_TRUE to enable the event pump, SDL_FALSE to disable it - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_iPhoneSetAnimationCallback - */ -extern DECLSPEC void SDLCALL SDL_iPhoneSetEventPump(SDL_bool enabled); - -#endif /* __IPHONEOS__ */ - - -/* Platform specific functions for Android */ -#ifdef __ANDROID__ - -/** - * Get the Android Java Native Interface Environment of the current thread. - * - * This is the JNIEnv one needs to access the Java virtual machine from native - * code, and is needed for many Android APIs to be usable from C. - * - * The prototype of the function in SDL's code actually declare a void* return - * type, even if the implementation returns a pointer to a JNIEnv. The - * rationale being that the SDL headers can avoid including jni.h. - * - * \returns a pointer to Java native interface object (JNIEnv) to which the - * current thread is attached, or 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AndroidGetActivity - */ -extern DECLSPEC void * SDLCALL SDL_AndroidGetJNIEnv(void); - -/** - * Retrieve the Java instance of the Android activity class. - * - * The prototype of the function in SDL's code actually declares a void* - * return type, even if the implementation returns a jobject. The rationale - * being that the SDL headers can avoid including jni.h. - * - * The jobject returned by the function is a local reference and must be - * released by the caller. See the PushLocalFrame() and PopLocalFrame() or - * DeleteLocalRef() functions of the Java native interface: - * - * https://docs.oracle.com/javase/1.5.0/docs/guide/jni/spec/functions.html - * - * \returns the jobject representing the instance of the Activity class of the - * Android application, or NULL on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AndroidGetJNIEnv - */ -extern DECLSPEC void * SDLCALL SDL_AndroidGetActivity(void); - -/** - * Query Android API level of the current device. - * - * - API level 31: Android 12 - * - API level 30: Android 11 - * - API level 29: Android 10 - * - API level 28: Android 9 - * - API level 27: Android 8.1 - * - API level 26: Android 8.0 - * - API level 25: Android 7.1 - * - API level 24: Android 7.0 - * - API level 23: Android 6.0 - * - API level 22: Android 5.1 - * - API level 21: Android 5.0 - * - API level 20: Android 4.4W - * - API level 19: Android 4.4 - * - API level 18: Android 4.3 - * - API level 17: Android 4.2 - * - API level 16: Android 4.1 - * - API level 15: Android 4.0.3 - * - API level 14: Android 4.0 - * - API level 13: Android 3.2 - * - API level 12: Android 3.1 - * - API level 11: Android 3.0 - * - API level 10: Android 2.3.3 - * - * \returns the Android API level. - * - * \since This function is available since SDL 2.0.12. - */ -extern DECLSPEC int SDLCALL SDL_GetAndroidSDKVersion(void); - -/** - * Query if the application is running on Android TV. - * - * \returns SDL_TRUE if this is Android TV, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.8. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsAndroidTV(void); - -/** - * Query if the application is running on a Chromebook. - * - * \returns SDL_TRUE if this is a Chromebook, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsChromebook(void); - -/** - * Query if the application is running on a Samsung DeX docking station. - * - * \returns SDL_TRUE if this is a DeX docking station, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsDeXMode(void); - -/** - * Trigger the Android system back button behavior. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC void SDLCALL SDL_AndroidBackButton(void); - -/** - See the official Android developer guide for more information: - http://developer.android.com/guide/topics/data/data-storage.html -*/ -#define SDL_ANDROID_EXTERNAL_STORAGE_READ 0x01 -#define SDL_ANDROID_EXTERNAL_STORAGE_WRITE 0x02 - -/** - * Get the path used for internal storage for this application. - * - * This path is unique to your application and cannot be written to by other - * applications. - * - * Your internal storage path is typically: - * `/data/data/your.app.package/files`. - * - * \returns the path used for internal storage or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AndroidGetExternalStorageState - */ -extern DECLSPEC const char * SDLCALL SDL_AndroidGetInternalStoragePath(void); - -/** - * Get the current state of external storage. - * - * The current state of external storage, a bitmask of these values: - * `SDL_ANDROID_EXTERNAL_STORAGE_READ`, `SDL_ANDROID_EXTERNAL_STORAGE_WRITE`. - * - * If external storage is currently unavailable, this will return 0. - * - * \returns the current state of external storage on success or 0 on failure; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AndroidGetExternalStoragePath - */ -extern DECLSPEC int SDLCALL SDL_AndroidGetExternalStorageState(void); - -/** - * Get the path used for external storage for this application. - * - * This path is unique to your application, but is public and can be written - * to by other applications. - * - * Your external storage path is typically: - * `/storage/sdcard0/Android/data/your.app.package/files`. - * - * \returns the path used for external storage for this application on success - * or NULL on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AndroidGetExternalStorageState - */ -extern DECLSPEC const char * SDLCALL SDL_AndroidGetExternalStoragePath(void); - -/** - * Request permissions at runtime. - * - * This blocks the calling thread until the permission is granted or denied. - * - * \param permission The permission to request. - * \returns SDL_TRUE if the permission was granted, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.14. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_AndroidRequestPermission(const char *permission); - -/** - * Shows an Android toast notification. - * - * Toasts are a sort of lightweight notification that are unique to Android. - * - * https://developer.android.com/guide/topics/ui/notifiers/toasts - * - * Shows toast in UI thread. - * - * For the `gravity` parameter, choose a value from here, or -1 if you don't - * have a preference: - * - * https://developer.android.com/reference/android/view/Gravity - * - * \param message text message to be shown - * \param duration 0=short, 1=long - * \param gravity where the notification should appear on the screen. - * \param xoffset set this parameter only when gravity >=0 - * \param yoffset set this parameter only when gravity >=0 - * \returns 0 if success, -1 if any error occurs. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC int SDLCALL SDL_AndroidShowToast(const char* message, int duration, int gravity, int xoffset, int yoffset); - -/** - * Send a user command to SDLActivity. - * - * Override "boolean onUnhandledMessage(Message msg)" to handle the message. - * - * \param command user command that must be greater or equal to 0x8000 - * \param param user parameter - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC int SDLCALL SDL_AndroidSendMessage(Uint32 command, int param); - -#endif /* __ANDROID__ */ - -/* Platform specific functions for WinRT */ -#ifdef __WINRT__ - -/** - * \brief WinRT / Windows Phone path types - */ -typedef enum -{ - /** \brief The installed app's root directory. - Files here are likely to be read-only. */ - SDL_WINRT_PATH_INSTALLED_LOCATION, - - /** \brief The app's local data store. Files may be written here */ - SDL_WINRT_PATH_LOCAL_FOLDER, - - /** \brief The app's roaming data store. Unsupported on Windows Phone. - Files written here may be copied to other machines via a network - connection. - */ - SDL_WINRT_PATH_ROAMING_FOLDER, - - /** \brief The app's temporary data store. Unsupported on Windows Phone. - Files written here may be deleted at any time. */ - SDL_WINRT_PATH_TEMP_FOLDER -} SDL_WinRT_Path; - - -/** - * \brief WinRT Device Family - */ -typedef enum -{ - /** \brief Unknown family */ - SDL_WINRT_DEVICEFAMILY_UNKNOWN, - - /** \brief Desktop family*/ - SDL_WINRT_DEVICEFAMILY_DESKTOP, - - /** \brief Mobile family (for example smartphone) */ - SDL_WINRT_DEVICEFAMILY_MOBILE, - - /** \brief XBox family */ - SDL_WINRT_DEVICEFAMILY_XBOX, -} SDL_WinRT_DeviceFamily; - - -/** - * Retrieve a WinRT defined path on the local file system. - * - * Not all paths are available on all versions of Windows. This is especially - * true on Windows Phone. Check the documentation for the given SDL_WinRT_Path - * for more information on which path types are supported where. - * - * Documentation on most app-specific path types on WinRT can be found on - * MSDN, at the URL: - * - * https://msdn.microsoft.com/en-us/library/windows/apps/hh464917.aspx - * - * \param pathType the type of path to retrieve, one of SDL_WinRT_Path - * \returns a UCS-2 string (16-bit, wide-char) containing the path, or NULL if - * the path is not available for any reason; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.3. - * - * \sa SDL_WinRTGetFSPathUTF8 - */ -extern DECLSPEC const wchar_t * SDLCALL SDL_WinRTGetFSPathUNICODE(SDL_WinRT_Path pathType); - -/** - * Retrieve a WinRT defined path on the local file system. - * - * Not all paths are available on all versions of Windows. This is especially - * true on Windows Phone. Check the documentation for the given SDL_WinRT_Path - * for more information on which path types are supported where. - * - * Documentation on most app-specific path types on WinRT can be found on - * MSDN, at the URL: - * - * https://msdn.microsoft.com/en-us/library/windows/apps/hh464917.aspx - * - * \param pathType the type of path to retrieve, one of SDL_WinRT_Path - * \returns a UTF-8 string (8-bit, multi-byte) containing the path, or NULL if - * the path is not available for any reason; call SDL_GetError() for - * more information. - * - * \since This function is available since SDL 2.0.3. - * - * \sa SDL_WinRTGetFSPathUNICODE - */ -extern DECLSPEC const char * SDLCALL SDL_WinRTGetFSPathUTF8(SDL_WinRT_Path pathType); - -/** - * Detects the device family of WinRT platform at runtime. - * - * \returns a value from the SDL_WinRT_DeviceFamily enum. - * - * \since This function is available since SDL 2.0.8. - */ -extern DECLSPEC SDL_WinRT_DeviceFamily SDLCALL SDL_WinRTGetDeviceFamily(); - -#endif /* __WINRT__ */ - -/** - * Query if the current device is a tablet. - * - * If SDL can't determine this, it will return SDL_FALSE. - * - * \returns SDL_TRUE if the device is a tablet, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.9. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsTablet(void); - -/* Functions used by iOS application delegates to notify SDL about state changes */ -extern DECLSPEC void SDLCALL SDL_OnApplicationWillTerminate(void); -extern DECLSPEC void SDLCALL SDL_OnApplicationDidReceiveMemoryWarning(void); -extern DECLSPEC void SDLCALL SDL_OnApplicationWillResignActive(void); -extern DECLSPEC void SDLCALL SDL_OnApplicationDidEnterBackground(void); -extern DECLSPEC void SDLCALL SDL_OnApplicationWillEnterForeground(void); -extern DECLSPEC void SDLCALL SDL_OnApplicationDidBecomeActive(void); -#ifdef __IPHONEOS__ -extern DECLSPEC void SDLCALL SDL_OnApplicationDidChangeStatusBarOrientation(void); -#endif - -/* Functions used only by GDK */ -#if defined(__GDK__) -typedef struct XTaskQueueObject * XTaskQueueHandle; - -/** - * Gets a reference to the global async task queue handle for GDK, - * initializing if needed. - * - * Once you are done with the task queue, you should call - * XTaskQueueCloseHandle to reduce the reference count to avoid a resource - * leak. - * - * \param outTaskQueue a pointer to be filled in with task queue handle. - * \returns 0 if success, -1 if any error occurs. - * - * \since This function is available since SDL 2.24.0. - */ -extern DECLSPEC int SDLCALL SDL_GDKGetTaskQueue(XTaskQueueHandle * outTaskQueue); - -#endif - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_system_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_syswm.h b/subprojects/sdl2_windows/include/SDL2/SDL_syswm.h deleted file mode 100644 index 45f8e7540..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_syswm.h +++ /dev/null @@ -1,386 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_syswm.h - * - * Include file for SDL custom system window manager hooks. - */ - -#ifndef SDL_syswm_h_ -#define SDL_syswm_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_video.h" -#include "SDL_version.h" - -/** - * \brief SDL_syswm.h - * - * Your application has access to a special type of event ::SDL_SYSWMEVENT, - * which contains window-manager specific information and arrives whenever - * an unhandled window event occurs. This event is ignored by default, but - * you can enable it with SDL_EventState(). - */ -struct SDL_SysWMinfo; - -#if !defined(SDL_PROTOTYPES_ONLY) - -#if defined(SDL_VIDEO_DRIVER_WINDOWS) -#ifndef WIN32_LEAN_AND_MEAN -#define WIN32_LEAN_AND_MEAN -#endif -#ifndef NOMINMAX /* don't define min() and max(). */ -#define NOMINMAX -#endif -#include -#endif - -#if defined(SDL_VIDEO_DRIVER_WINRT) -#include -#endif - -/* This is the structure for custom window manager events */ -#if defined(SDL_VIDEO_DRIVER_X11) -#if defined(__APPLE__) && defined(__MACH__) -/* conflicts with Quickdraw.h */ -#define Cursor X11Cursor -#endif - -#include -#include - -#if defined(__APPLE__) && defined(__MACH__) -/* matches the re-define above */ -#undef Cursor -#endif - -#endif /* defined(SDL_VIDEO_DRIVER_X11) */ - -#if defined(SDL_VIDEO_DRIVER_DIRECTFB) -#include -#endif - -#if defined(SDL_VIDEO_DRIVER_COCOA) -#ifdef __OBJC__ -@class NSWindow; -#else -typedef struct _NSWindow NSWindow; -#endif -#endif - -#if defined(SDL_VIDEO_DRIVER_UIKIT) -#ifdef __OBJC__ -#include -#else -typedef struct _UIWindow UIWindow; -typedef struct _UIViewController UIViewController; -#endif -typedef Uint32 GLuint; -#endif - -#if defined(SDL_VIDEO_VULKAN) || defined(SDL_VIDEO_METAL) -#define SDL_METALVIEW_TAG 255 -#endif - -#if defined(SDL_VIDEO_DRIVER_ANDROID) -typedef struct ANativeWindow ANativeWindow; -typedef void *EGLSurface; -#endif - -#if defined(SDL_VIDEO_DRIVER_VIVANTE) -#include "SDL_egl.h" -#endif - -#if defined(SDL_VIDEO_DRIVER_OS2) -#define INCL_WIN -#include -#endif -#endif /* SDL_PROTOTYPES_ONLY */ - -#if defined(SDL_VIDEO_DRIVER_KMSDRM) -struct gbm_device; -#endif - - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -#if !defined(SDL_PROTOTYPES_ONLY) -/** - * These are the various supported windowing subsystems - */ -typedef enum -{ - SDL_SYSWM_UNKNOWN, - SDL_SYSWM_WINDOWS, - SDL_SYSWM_X11, - SDL_SYSWM_DIRECTFB, - SDL_SYSWM_COCOA, - SDL_SYSWM_UIKIT, - SDL_SYSWM_WAYLAND, - SDL_SYSWM_MIR, /* no longer available, left for API/ABI compatibility. Remove in 2.1! */ - SDL_SYSWM_WINRT, - SDL_SYSWM_ANDROID, - SDL_SYSWM_VIVANTE, - SDL_SYSWM_OS2, - SDL_SYSWM_HAIKU, - SDL_SYSWM_KMSDRM, - SDL_SYSWM_RISCOS -} SDL_SYSWM_TYPE; - -/** - * The custom event structure. - */ -struct SDL_SysWMmsg -{ - SDL_version version; - SDL_SYSWM_TYPE subsystem; - union - { -#if defined(SDL_VIDEO_DRIVER_WINDOWS) - struct { - HWND hwnd; /**< The window for the message */ - UINT msg; /**< The type of message */ - WPARAM wParam; /**< WORD message parameter */ - LPARAM lParam; /**< LONG message parameter */ - } win; -#endif -#if defined(SDL_VIDEO_DRIVER_X11) - struct { - XEvent event; - } x11; -#endif -#if defined(SDL_VIDEO_DRIVER_DIRECTFB) - struct { - DFBEvent event; - } dfb; -#endif -#if defined(SDL_VIDEO_DRIVER_COCOA) - struct - { - /* Latest version of Xcode clang complains about empty structs in C v. C++: - error: empty struct has size 0 in C, size 1 in C++ - */ - int dummy; - /* No Cocoa window events yet */ - } cocoa; -#endif -#if defined(SDL_VIDEO_DRIVER_UIKIT) - struct - { - int dummy; - /* No UIKit window events yet */ - } uikit; -#endif -#if defined(SDL_VIDEO_DRIVER_VIVANTE) - struct - { - int dummy; - /* No Vivante window events yet */ - } vivante; -#endif -#if defined(SDL_VIDEO_DRIVER_OS2) - struct - { - BOOL fFrame; /**< TRUE if hwnd is a frame window */ - HWND hwnd; /**< The window receiving the message */ - ULONG msg; /**< The message identifier */ - MPARAM mp1; /**< The first first message parameter */ - MPARAM mp2; /**< The second first message parameter */ - } os2; -#endif - /* Can't have an empty union */ - int dummy; - } msg; -}; - -/** - * The custom window manager information structure. - * - * When this structure is returned, it holds information about which - * low level system it is using, and will be one of SDL_SYSWM_TYPE. - */ -struct SDL_SysWMinfo -{ - SDL_version version; - SDL_SYSWM_TYPE subsystem; - union - { -#if defined(SDL_VIDEO_DRIVER_WINDOWS) - struct - { - HWND window; /**< The window handle */ - HDC hdc; /**< The window device context */ - HINSTANCE hinstance; /**< The instance handle */ - } win; -#endif -#if defined(SDL_VIDEO_DRIVER_WINRT) - struct - { - IInspectable * window; /**< The WinRT CoreWindow */ - } winrt; -#endif -#if defined(SDL_VIDEO_DRIVER_X11) - struct - { - Display *display; /**< The X11 display */ - Window window; /**< The X11 window */ - } x11; -#endif -#if defined(SDL_VIDEO_DRIVER_DIRECTFB) - struct - { - IDirectFB *dfb; /**< The directfb main interface */ - IDirectFBWindow *window; /**< The directfb window handle */ - IDirectFBSurface *surface; /**< The directfb client surface */ - } dfb; -#endif -#if defined(SDL_VIDEO_DRIVER_COCOA) - struct - { -#if defined(__OBJC__) && defined(__has_feature) - #if __has_feature(objc_arc) - NSWindow __unsafe_unretained *window; /**< The Cocoa window */ - #else - NSWindow *window; /**< The Cocoa window */ - #endif -#else - NSWindow *window; /**< The Cocoa window */ -#endif - } cocoa; -#endif -#if defined(SDL_VIDEO_DRIVER_UIKIT) - struct - { -#if defined(__OBJC__) && defined(__has_feature) - #if __has_feature(objc_arc) - UIWindow __unsafe_unretained *window; /**< The UIKit window */ - #else - UIWindow *window; /**< The UIKit window */ - #endif -#else - UIWindow *window; /**< The UIKit window */ -#endif - GLuint framebuffer; /**< The GL view's Framebuffer Object. It must be bound when rendering to the screen using GL. */ - GLuint colorbuffer; /**< The GL view's color Renderbuffer Object. It must be bound when SDL_GL_SwapWindow is called. */ - GLuint resolveFramebuffer; /**< The Framebuffer Object which holds the resolve color Renderbuffer, when MSAA is used. */ - } uikit; -#endif -#if defined(SDL_VIDEO_DRIVER_WAYLAND) - struct - { - struct wl_display *display; /**< Wayland display */ - struct wl_surface *surface; /**< Wayland surface */ - void *shell_surface; /**< DEPRECATED Wayland shell_surface (window manager handle) */ - struct wl_egl_window *egl_window; /**< Wayland EGL window (native window) */ - struct xdg_surface *xdg_surface; /**< Wayland xdg surface (window manager handle) */ - struct xdg_toplevel *xdg_toplevel; /**< Wayland xdg toplevel role */ - struct xdg_popup *xdg_popup; /**< Wayland xdg popup role */ - struct xdg_positioner *xdg_positioner; /**< Wayland xdg positioner, for popup */ - } wl; -#endif -#if defined(SDL_VIDEO_DRIVER_MIR) /* no longer available, left for API/ABI compatibility. Remove in 2.1! */ - struct - { - void *connection; /**< Mir display server connection */ - void *surface; /**< Mir surface */ - } mir; -#endif - -#if defined(SDL_VIDEO_DRIVER_ANDROID) - struct - { - ANativeWindow *window; - EGLSurface surface; - } android; -#endif - -#if defined(SDL_VIDEO_DRIVER_OS2) - struct - { - HWND hwnd; /**< The window handle */ - HWND hwndFrame; /**< The frame window handle */ - } os2; -#endif - -#if defined(SDL_VIDEO_DRIVER_VIVANTE) - struct - { - EGLNativeDisplayType display; - EGLNativeWindowType window; - } vivante; -#endif - -#if defined(SDL_VIDEO_DRIVER_KMSDRM) - struct - { - int dev_index; /**< Device index (ex: the X in /dev/dri/cardX) */ - int drm_fd; /**< DRM FD (unavailable on Vulkan windows) */ - struct gbm_device *gbm_dev; /**< GBM device (unavailable on Vulkan windows) */ - } kmsdrm; -#endif - - /* Make sure this union is always 64 bytes (8 64-bit pointers). */ - /* Be careful not to overflow this if you add a new target! */ - Uint8 dummy[64]; - } info; -}; - -#endif /* SDL_PROTOTYPES_ONLY */ - -typedef struct SDL_SysWMinfo SDL_SysWMinfo; - - -/** - * Get driver-specific information about a window. - * - * You must include SDL_syswm.h for the declaration of SDL_SysWMinfo. - * - * The caller must initialize the `info` structure's version by using - * `SDL_VERSION(&info.version)`, and then this function will fill in the rest - * of the structure with information about the given window. - * - * \param window the window about which information is being requested - * \param info an SDL_SysWMinfo structure filled in with window information - * \returns SDL_TRUE if the function is implemented and the `version` member - * of the `info` struct is valid, or SDL_FALSE if the information - * could not be retrieved; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowWMInfo(SDL_Window * window, - SDL_SysWMinfo * info); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_syswm_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test.h b/subprojects/sdl2_windows/include/SDL2/SDL_test.h deleted file mode 100644 index 8cc9d616a..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -#ifndef SDL_test_h_ -#define SDL_test_h_ - -#include "SDL.h" -#include "SDL_test_assert.h" -#include "SDL_test_common.h" -#include "SDL_test_compare.h" -#include "SDL_test_crc32.h" -#include "SDL_test_font.h" -#include "SDL_test_fuzzer.h" -#include "SDL_test_harness.h" -#include "SDL_test_images.h" -#include "SDL_test_log.h" -#include "SDL_test_md5.h" -#include "SDL_test_memory.h" -#include "SDL_test_random.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* Global definitions */ - -/* - * Note: Maximum size of SDLTest log message is less than SDL's limit - * to ensure we can fit additional information such as the timestamp. - */ -#define SDLTEST_MAX_LOGMESSAGE_LENGTH 3584 - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_assert.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_assert.h deleted file mode 100644 index 734230529..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_assert.h +++ /dev/null @@ -1,105 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_assert.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - * - * Assert API for test code and test cases - * - */ - -#ifndef SDL_test_assert_h_ -#define SDL_test_assert_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief Fails the assert. - */ -#define ASSERT_FAIL 0 - -/** - * \brief Passes the assert. - */ -#define ASSERT_PASS 1 - -/** - * \brief Assert that logs and break execution flow on failures. - * - * \param assertCondition Evaluated condition or variable to assert; fail (==0) or pass (!=0). - * \param assertDescription Message to log with the assert describing it. - */ -void SDLTest_Assert(int assertCondition, SDL_PRINTF_FORMAT_STRING const char *assertDescription, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * \brief Assert for test cases that logs but does not break execution flow on failures. Updates assertion counters. - * - * \param assertCondition Evaluated condition or variable to assert; fail (==0) or pass (!=0). - * \param assertDescription Message to log with the assert describing it. - * - * \returns the assertCondition so it can be used to externally to break execution flow if desired. - */ -int SDLTest_AssertCheck(int assertCondition, SDL_PRINTF_FORMAT_STRING const char *assertDescription, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * \brief Explicitly pass without checking an assertion condition. Updates assertion counter. - * - * \param assertDescription Message to log with the assert describing it. - */ -void SDLTest_AssertPass(SDL_PRINTF_FORMAT_STRING const char *assertDescription, ...) SDL_PRINTF_VARARG_FUNC(1); - -/** - * \brief Resets the assert summary counters to zero. - */ -void SDLTest_ResetAssertSummary(void); - -/** - * \brief Logs summary of all assertions (total, pass, fail) since last reset as INFO or ERROR. - */ -void SDLTest_LogAssertSummary(void); - - -/** - * \brief Converts the current assert summary state to a test result. - * - * \returns TEST_RESULT_PASSED, TEST_RESULT_FAILED, or TEST_RESULT_NO_ASSERT - */ -int SDLTest_AssertSummaryToTestResult(void); - -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_assert_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_common.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_common.h deleted file mode 100644 index b86520d32..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_common.h +++ /dev/null @@ -1,236 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_common.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* Ported from original test\common.h file. */ - -#ifndef SDL_test_common_h_ -#define SDL_test_common_h_ - -#include "SDL.h" - -#if defined(__PSP__) -#define DEFAULT_WINDOW_WIDTH 480 -#define DEFAULT_WINDOW_HEIGHT 272 -#elif defined(__VITA__) -#define DEFAULT_WINDOW_WIDTH 960 -#define DEFAULT_WINDOW_HEIGHT 544 -#else -#define DEFAULT_WINDOW_WIDTH 640 -#define DEFAULT_WINDOW_HEIGHT 480 -#endif - -#define VERBOSE_VIDEO 0x00000001 -#define VERBOSE_MODES 0x00000002 -#define VERBOSE_RENDER 0x00000004 -#define VERBOSE_EVENT 0x00000008 -#define VERBOSE_AUDIO 0x00000010 -#define VERBOSE_MOTION 0x00000020 - -typedef struct -{ - /* SDL init flags */ - char **argv; - Uint32 flags; - Uint32 verbose; - - /* Video info */ - const char *videodriver; - int display; - const char *window_title; - const char *window_icon; - Uint32 window_flags; - SDL_bool flash_on_focus_loss; - int window_x; - int window_y; - int window_w; - int window_h; - int window_minW; - int window_minH; - int window_maxW; - int window_maxH; - int logical_w; - int logical_h; - float scale; - int depth; - int refresh_rate; - int num_windows; - SDL_Window **windows; - - /* Renderer info */ - const char *renderdriver; - Uint32 render_flags; - SDL_bool skip_renderer; - SDL_Renderer **renderers; - SDL_Texture **targets; - - /* Audio info */ - const char *audiodriver; - SDL_AudioSpec audiospec; - - /* GL settings */ - int gl_red_size; - int gl_green_size; - int gl_blue_size; - int gl_alpha_size; - int gl_buffer_size; - int gl_depth_size; - int gl_stencil_size; - int gl_double_buffer; - int gl_accum_red_size; - int gl_accum_green_size; - int gl_accum_blue_size; - int gl_accum_alpha_size; - int gl_stereo; - int gl_multisamplebuffers; - int gl_multisamplesamples; - int gl_retained_backing; - int gl_accelerated; - int gl_major_version; - int gl_minor_version; - int gl_debug; - int gl_profile_mask; - - /* Additional fields added in 2.0.18 */ - SDL_Rect confine; - -} SDLTest_CommonState; - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* Function prototypes */ - -/** - * \brief Parse command line parameters and create common state. - * - * \param argv Array of command line parameters - * \param flags Flags indicating which subsystem to initialize (i.e. SDL_INIT_VIDEO | SDL_INIT_AUDIO) - * - * \returns a newly allocated common state object. - */ -SDLTest_CommonState *SDLTest_CommonCreateState(char **argv, Uint32 flags); - -/** - * \brief Process one common argument. - * - * \param state The common state describing the test window to create. - * \param index The index of the argument to process in argv[]. - * - * \returns the number of arguments processed (i.e. 1 for --fullscreen, 2 for --video [videodriver], or -1 on error. - */ -int SDLTest_CommonArg(SDLTest_CommonState * state, int index); - - -/** - * \brief Logs command line usage info. - * - * This logs the appropriate command line options for the subsystems in use - * plus other common options, and then any application-specific options. - * This uses the SDL_Log() function and splits up output to be friendly to - * 80-character-wide terminals. - * - * \param state The common state describing the test window for the app. - * \param argv0 argv[0], as passed to main/SDL_main. - * \param options an array of strings for application specific options. The last element of the array should be NULL. - */ -void SDLTest_CommonLogUsage(SDLTest_CommonState * state, const char *argv0, const char **options); - -/** - * \brief Returns common usage information - * - * You should (probably) be using SDLTest_CommonLogUsage() instead, but this - * function remains for binary compatibility. Strings returned from this - * function are valid until SDLTest_CommonQuit() is called, in which case - * those strings' memory is freed and can no longer be used. - * - * \param state The common state describing the test window to create. - * \returns a string with usage information - */ -const char *SDLTest_CommonUsage(SDLTest_CommonState * state); - -/** - * \brief Open test window. - * - * \param state The common state describing the test window to create. - * - * \returns SDL_TRUE if initialization succeeded, false otherwise - */ -SDL_bool SDLTest_CommonInit(SDLTest_CommonState * state); - -/** - * \brief Easy argument handling when test app doesn't need any custom args. - * - * \param state The common state describing the test window to create. - * \param argc argc, as supplied to SDL_main - * \param argv argv, as supplied to SDL_main - * - * \returns SDL_FALSE if app should quit, true otherwise. - */ -SDL_bool SDLTest_CommonDefaultArgs(SDLTest_CommonState * state, const int argc, char **argv); - -/** - * \brief Common event handler for test windows. - * - * \param state The common state used to create test window. - * \param event The event to handle. - * \param done Flag indicating we are done. - * - */ -void SDLTest_CommonEvent(SDLTest_CommonState * state, SDL_Event * event, int *done); - -/** - * \brief Close test window. - * - * \param state The common state used to create test window. - * - */ -void SDLTest_CommonQuit(SDLTest_CommonState * state); - -/** - * \brief Draws various window information (position, size, etc.) to the renderer. - * - * \param renderer The renderer to draw to. - * \param window The window whose information should be displayed. - * \param usedHeight Returns the height used, so the caller can draw more below. - * - */ -void SDLTest_CommonDrawWindowInfo(SDL_Renderer * renderer, SDL_Window * window, int * usedHeight); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_common_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_compare.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_compare.h deleted file mode 100644 index 8a7a07008..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_compare.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_compare.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - - Defines comparison functions (i.e. for surfaces). - -*/ - -#ifndef SDL_test_compare_h_ -#define SDL_test_compare_h_ - -#include "SDL.h" - -#include "SDL_test_images.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief Compares a surface and with reference image data for equality - * - * \param surface Surface used in comparison - * \param referenceSurface Test Surface used in comparison - * \param allowable_error Allowable difference (=sum of squared difference for each RGB component) in blending accuracy. - * - * \returns 0 if comparison succeeded, >0 (=number of pixels for which the comparison failed) if comparison failed, -1 if any of the surfaces were NULL, -2 if the surface sizes differ. - */ -int SDLTest_CompareSurfaces(SDL_Surface *surface, SDL_Surface *referenceSurface, int allowable_error); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_compare_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_crc32.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_crc32.h deleted file mode 100644 index 049da7406..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_crc32.h +++ /dev/null @@ -1,124 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_crc32.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - - Implements CRC32 calculations (default output is Perl String::CRC32 compatible). - -*/ - -#ifndef SDL_test_crc32_h_ -#define SDL_test_crc32_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - - -/* ------------ Definitions --------- */ - -/* Definition shared by all CRC routines */ - -#ifndef CrcUint32 - #define CrcUint32 unsigned int -#endif -#ifndef CrcUint8 - #define CrcUint8 unsigned char -#endif - -#ifdef ORIGINAL_METHOD - #define CRC32_POLY 0x04c11db7 /* AUTODIN II, Ethernet, & FDDI */ -#else - #define CRC32_POLY 0xEDB88320 /* Perl String::CRC32 compatible */ -#endif - -/** - * Data structure for CRC32 (checksum) computation - */ - typedef struct { - CrcUint32 crc32_table[256]; /* CRC table */ - } SDLTest_Crc32Context; - -/* ---------- Function Prototypes ------------- */ - -/** - * \brief Initialize the CRC context - * - * Note: The function initializes the crc table required for all crc calculations. - * - * \param crcContext pointer to context variable - * - * \returns 0 for OK, -1 on error - * - */ - int SDLTest_Crc32Init(SDLTest_Crc32Context * crcContext); - - -/** - * \brief calculate a crc32 from a data block - * - * \param crcContext pointer to context variable - * \param inBuf input buffer to checksum - * \param inLen length of input buffer - * \param crc32 pointer to Uint32 to store the final CRC into - * - * \returns 0 for OK, -1 on error - * - */ -int SDLTest_Crc32Calc(SDLTest_Crc32Context * crcContext, CrcUint8 *inBuf, CrcUint32 inLen, CrcUint32 *crc32); - -/* Same routine broken down into three steps */ -int SDLTest_Crc32CalcStart(SDLTest_Crc32Context * crcContext, CrcUint32 *crc32); -int SDLTest_Crc32CalcEnd(SDLTest_Crc32Context * crcContext, CrcUint32 *crc32); -int SDLTest_Crc32CalcBuffer(SDLTest_Crc32Context * crcContext, CrcUint8 *inBuf, CrcUint32 inLen, CrcUint32 *crc32); - - -/** - * \brief clean up CRC context - * - * \param crcContext pointer to context variable - * - * \returns 0 for OK, -1 on error - * -*/ - -int SDLTest_Crc32Done(SDLTest_Crc32Context * crcContext); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_crc32_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_font.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_font.h deleted file mode 100644 index 6e7247dd7..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_font.h +++ /dev/null @@ -1,168 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_font.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -#ifndef SDL_test_font_h_ -#define SDL_test_font_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* Function prototypes */ - -#define FONT_CHARACTER_SIZE 8 -#define FONT_LINE_HEIGHT (FONT_CHARACTER_SIZE + 2) - -/** - * \brief Draw a string in the currently set font. - * - * \param renderer The renderer to draw on. - * \param x The X coordinate of the upper left corner of the character. - * \param y The Y coordinate of the upper left corner of the character. - * \param c The character to draw. - * - * \returns 0 on success, -1 on failure. - */ -int SDLTest_DrawCharacter(SDL_Renderer *renderer, int x, int y, Uint32 c); - -/** - * \brief Draw a UTF-8 string in the currently set font. - * - * The font currently only supports characters in the Basic Latin and Latin-1 Supplement sets. - * - * \param renderer The renderer to draw on. - * \param x The X coordinate of the upper left corner of the string. - * \param y The Y coordinate of the upper left corner of the string. - * \param s The string to draw. - * - * \returns 0 on success, -1 on failure. - */ -int SDLTest_DrawString(SDL_Renderer *renderer, int x, int y, const char *s); - -/** - * \brief Data used for multi-line text output - */ -typedef struct SDLTest_TextWindow -{ - SDL_Rect rect; - int current; - int numlines; - char **lines; -} SDLTest_TextWindow; - -/** - * \brief Create a multi-line text output window - * - * \param x The X coordinate of the upper left corner of the window. - * \param y The Y coordinate of the upper left corner of the window. - * \param w The width of the window (currently ignored) - * \param h The height of the window (currently ignored) - * - * \returns the new window, or NULL on failure. - * - * \since This function is available since SDL 2.24.0 - */ -SDLTest_TextWindow *SDLTest_TextWindowCreate(int x, int y, int w, int h); - -/** - * \brief Display a multi-line text output window - * - * This function should be called every frame to display the text - * - * \param textwin The text output window - * \param renderer The renderer to use for display - * - * \since This function is available since SDL 2.24.0 - */ -void SDLTest_TextWindowDisplay(SDLTest_TextWindow *textwin, SDL_Renderer *renderer); - -/** - * \brief Add text to a multi-line text output window - * - * Adds UTF-8 text to the end of the current text. The newline character starts a - * new line of text. The backspace character deletes the last character or, if the - * line is empty, deletes the line and goes to the end of the previous line. - * - * \param textwin The text output window - * \param fmt A printf() style format string - * \param ... additional parameters matching % tokens in the `fmt` string, if any - * - * \since This function is available since SDL 2.24.0 - */ -void SDLTest_TextWindowAddText(SDLTest_TextWindow *textwin, SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(2); - -/** - * \brief Add text to a multi-line text output window - * - * Adds UTF-8 text to the end of the current text. The newline character starts a - * new line of text. The backspace character deletes the last character or, if the - * line is empty, deletes the line and goes to the end of the previous line. - * - * \param textwin The text output window - * \param text The text to add to the window - * \param len The length, in bytes, of the text to add to the window - * - * \since This function is available since SDL 2.24.0 - */ -void SDLTest_TextWindowAddTextWithLength(SDLTest_TextWindow *textwin, const char *text, size_t len); - -/** - * \brief Clear the text in a multi-line text output window - * - * \param textwin The text output window - * - * \since This function is available since SDL 2.24.0 - */ -void SDLTest_TextWindowClear(SDLTest_TextWindow *textwin); - -/** - * \brief Free the storage associated with a multi-line text output window - * - * \param textwin The text output window - * - * \since This function is available since SDL 2.24.0 - */ -void SDLTest_TextWindowDestroy(SDLTest_TextWindow *textwin); - -/** - * \brief Cleanup textures used by font drawing functions. - */ -void SDLTest_CleanupTextDrawing(void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_font_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_fuzzer.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_fuzzer.h deleted file mode 100644 index bbe8eb874..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_fuzzer.h +++ /dev/null @@ -1,386 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_fuzzer.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - - Data generators for fuzzing test data in a reproducible way. - -*/ - -#ifndef SDL_test_fuzzer_h_ -#define SDL_test_fuzzer_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - - -/* - Based on GSOC code by Markus Kauppila -*/ - - -/** - * \file - * Note: The fuzzer implementation uses a static instance of random context - * internally which makes it thread-UNsafe. - */ - -/** - * Initializes the fuzzer for a test - * - * \param execKey Execution "Key" that initializes the random number generator uniquely for the test. - * - */ -void SDLTest_FuzzerInit(Uint64 execKey); - - -/** - * Returns a random Uint8 - * - * \returns a generated integer - */ -Uint8 SDLTest_RandomUint8(void); - -/** - * Returns a random Sint8 - * - * \returns a generated signed integer - */ -Sint8 SDLTest_RandomSint8(void); - - -/** - * Returns a random Uint16 - * - * \returns a generated integer - */ -Uint16 SDLTest_RandomUint16(void); - -/** - * Returns a random Sint16 - * - * \returns a generated signed integer - */ -Sint16 SDLTest_RandomSint16(void); - - -/** - * Returns a random integer - * - * \returns a generated integer - */ -Sint32 SDLTest_RandomSint32(void); - - -/** - * Returns a random positive integer - * - * \returns a generated integer - */ -Uint32 SDLTest_RandomUint32(void); - -/** - * Returns random Uint64. - * - * \returns a generated integer - */ -Uint64 SDLTest_RandomUint64(void); - - -/** - * Returns random Sint64. - * - * \returns a generated signed integer - */ -Sint64 SDLTest_RandomSint64(void); - -/** - * \returns a random float in range [0.0 - 1.0] - */ -float SDLTest_RandomUnitFloat(void); - -/** - * \returns a random double in range [0.0 - 1.0] - */ -double SDLTest_RandomUnitDouble(void); - -/** - * \returns a random float. - * - */ -float SDLTest_RandomFloat(void); - -/** - * \returns a random double. - * - */ -double SDLTest_RandomDouble(void); - -/** - * Returns a random boundary value for Uint8 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomUint8BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 - * RandomUint8BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 - * RandomUint8BoundaryValue(0, 99, SDL_FALSE) returns 100 - * RandomUint8BoundaryValue(0, 255, SDL_FALSE) returns 0 (error set) - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or 0 with error set - */ -Uint8 SDLTest_RandomUint8BoundaryValue(Uint8 boundary1, Uint8 boundary2, SDL_bool validDomain); - -/** - * Returns a random boundary value for Uint16 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomUint16BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 - * RandomUint16BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 - * RandomUint16BoundaryValue(0, 99, SDL_FALSE) returns 100 - * RandomUint16BoundaryValue(0, 0xFFFF, SDL_FALSE) returns 0 (error set) - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or 0 with error set - */ -Uint16 SDLTest_RandomUint16BoundaryValue(Uint16 boundary1, Uint16 boundary2, SDL_bool validDomain); - -/** - * Returns a random boundary value for Uint32 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomUint32BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 - * RandomUint32BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 - * RandomUint32BoundaryValue(0, 99, SDL_FALSE) returns 100 - * RandomUint32BoundaryValue(0, 0xFFFFFFFF, SDL_FALSE) returns 0 (with error set) - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or 0 with error set - */ -Uint32 SDLTest_RandomUint32BoundaryValue(Uint32 boundary1, Uint32 boundary2, SDL_bool validDomain); - -/** - * Returns a random boundary value for Uint64 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomUint64BoundaryValue(10, 20, SDL_TRUE) returns 10, 11, 19 or 20 - * RandomUint64BoundaryValue(1, 20, SDL_FALSE) returns 0 or 21 - * RandomUint64BoundaryValue(0, 99, SDL_FALSE) returns 100 - * RandomUint64BoundaryValue(0, 0xFFFFFFFFFFFFFFFF, SDL_FALSE) returns 0 (with error set) - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or 0 with error set - */ -Uint64 SDLTest_RandomUint64BoundaryValue(Uint64 boundary1, Uint64 boundary2, SDL_bool validDomain); - -/** - * Returns a random boundary value for Sint8 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomSint8BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 - * RandomSint8BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 - * RandomSint8BoundaryValue(SINT8_MIN, 99, SDL_FALSE) returns 100 - * RandomSint8BoundaryValue(SINT8_MIN, SINT8_MAX, SDL_FALSE) returns SINT8_MIN (== error value) with error set - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or SINT8_MIN with error set - */ -Sint8 SDLTest_RandomSint8BoundaryValue(Sint8 boundary1, Sint8 boundary2, SDL_bool validDomain); - - -/** - * Returns a random boundary value for Sint16 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomSint16BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 - * RandomSint16BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 - * RandomSint16BoundaryValue(SINT16_MIN, 99, SDL_FALSE) returns 100 - * RandomSint16BoundaryValue(SINT16_MIN, SINT16_MAX, SDL_FALSE) returns SINT16_MIN (== error value) with error set - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or SINT16_MIN with error set - */ -Sint16 SDLTest_RandomSint16BoundaryValue(Sint16 boundary1, Sint16 boundary2, SDL_bool validDomain); - -/** - * Returns a random boundary value for Sint32 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomSint32BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 - * RandomSint32BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 - * RandomSint32BoundaryValue(SINT32_MIN, 99, SDL_FALSE) returns 100 - * RandomSint32BoundaryValue(SINT32_MIN, SINT32_MAX, SDL_FALSE) returns SINT32_MIN (== error value) - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or SINT32_MIN with error set - */ -Sint32 SDLTest_RandomSint32BoundaryValue(Sint32 boundary1, Sint32 boundary2, SDL_bool validDomain); - -/** - * Returns a random boundary value for Sint64 within the given boundaries. - * Boundaries are inclusive, see the usage examples below. If validDomain - * is true, the function will only return valid boundaries, otherwise non-valid - * boundaries are also possible. - * If boundary1 > boundary2, the values are swapped - * - * Usage examples: - * RandomSint64BoundaryValue(-10, 20, SDL_TRUE) returns -11, -10, 19 or 20 - * RandomSint64BoundaryValue(-100, -10, SDL_FALSE) returns -101 or -9 - * RandomSint64BoundaryValue(SINT64_MIN, 99, SDL_FALSE) returns 100 - * RandomSint64BoundaryValue(SINT64_MIN, SINT64_MAX, SDL_FALSE) returns SINT64_MIN (== error value) and error set - * - * \param boundary1 Lower boundary limit - * \param boundary2 Upper boundary limit - * \param validDomain Should the generated boundary be valid (=within the bounds) or not? - * - * \returns a random boundary value for the given range and domain or SINT64_MIN with error set - */ -Sint64 SDLTest_RandomSint64BoundaryValue(Sint64 boundary1, Sint64 boundary2, SDL_bool validDomain); - - -/** - * Returns integer in range [min, max] (inclusive). - * Min and max values can be negative values. - * If Max in smaller than min, then the values are swapped. - * Min and max are the same value, that value will be returned. - * - * \param min Minimum inclusive value of returned random number - * \param max Maximum inclusive value of returned random number - * - * \returns a generated random integer in range - */ -Sint32 SDLTest_RandomIntegerInRange(Sint32 min, Sint32 max); - - -/** - * Generates random null-terminated string. The minimum length for - * the string is 1 character, maximum length for the string is 255 - * characters and it can contain ASCII characters from 32 to 126. - * - * Note: Returned string needs to be deallocated. - * - * \returns a newly allocated random string; or NULL if length was invalid or string could not be allocated. - */ -char * SDLTest_RandomAsciiString(void); - - -/** - * Generates random null-terminated string. The maximum length for - * the string is defined by the maxLength parameter. - * String can contain ASCII characters from 32 to 126. - * - * Note: Returned string needs to be deallocated. - * - * \param maxLength The maximum length of the generated string. - * - * \returns a newly allocated random string; or NULL if maxLength was invalid or string could not be allocated. - */ -char * SDLTest_RandomAsciiStringWithMaximumLength(int maxLength); - - -/** - * Generates random null-terminated string. The length for - * the string is defined by the size parameter. - * String can contain ASCII characters from 32 to 126. - * - * Note: Returned string needs to be deallocated. - * - * \param size The length of the generated string - * - * \returns a newly allocated random string; or NULL if size was invalid or string could not be allocated. - */ -char * SDLTest_RandomAsciiStringOfSize(int size); - -/** - * Get the invocation count for the fuzzer since last ...FuzzerInit. - * - * \returns the invocation count. - */ -int SDLTest_GetFuzzerInvocationCount(void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_fuzzer_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_harness.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_harness.h deleted file mode 100644 index 1fd4236be..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_harness.h +++ /dev/null @@ -1,134 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_harness.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - Defines types for test case definitions and the test execution harness API. - - Based on original GSOC code by Markus Kauppila -*/ - -#ifndef SDL_test_h_arness_h -#define SDL_test_h_arness_h - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - - -/* ! Definitions for test case structures */ -#define TEST_ENABLED 1 -#define TEST_DISABLED 0 - -/* ! Definition of all the possible test return values of the test case method */ -#define TEST_ABORTED -1 -#define TEST_STARTED 0 -#define TEST_COMPLETED 1 -#define TEST_SKIPPED 2 - -/* ! Definition of all the possible test results for the harness */ -#define TEST_RESULT_PASSED 0 -#define TEST_RESULT_FAILED 1 -#define TEST_RESULT_NO_ASSERT 2 -#define TEST_RESULT_SKIPPED 3 -#define TEST_RESULT_SETUP_FAILURE 4 - -/* !< Function pointer to a test case setup function (run before every test) */ -typedef void (*SDLTest_TestCaseSetUpFp)(void *arg); - -/* !< Function pointer to a test case function */ -typedef int (*SDLTest_TestCaseFp)(void *arg); - -/* !< Function pointer to a test case teardown function (run after every test) */ -typedef void (*SDLTest_TestCaseTearDownFp)(void *arg); - -/** - * Holds information about a single test case. - */ -typedef struct SDLTest_TestCaseReference { - /* !< Func2Stress */ - SDLTest_TestCaseFp testCase; - /* !< Short name (or function name) "Func2Stress" */ - const char *name; - /* !< Long name or full description "This test pushes func2() to the limit." */ - const char *description; - /* !< Set to TEST_ENABLED or TEST_DISABLED (test won't be run) */ - int enabled; -} SDLTest_TestCaseReference; - -/** - * Holds information about a test suite (multiple test cases). - */ -typedef struct SDLTest_TestSuiteReference { - /* !< "PlatformSuite" */ - const char *name; - /* !< The function that is run before each test. NULL skips. */ - SDLTest_TestCaseSetUpFp testSetUp; - /* !< The test cases that are run as part of the suite. Last item should be NULL. */ - const SDLTest_TestCaseReference **testCases; - /* !< The function that is run after each test. NULL skips. */ - SDLTest_TestCaseTearDownFp testTearDown; -} SDLTest_TestSuiteReference; - - -/** - * \brief Generates a random run seed string for the harness. The generated seed will contain alphanumeric characters (0-9A-Z). - * - * Note: The returned string needs to be deallocated by the caller. - * - * \param length The length of the seed string to generate - * - * \returns the generated seed string - */ -char *SDLTest_GenerateRunSeed(const int length); - -/** - * \brief Execute a test suite using the given run seed and execution key. - * - * \param testSuites Suites containing the test case. - * \param userRunSeed Custom run seed provided by user, or NULL to autogenerate one. - * \param userExecKey Custom execution key provided by user, or 0 to autogenerate one. - * \param filter Filter specification. NULL disables. Case sensitive. - * \param testIterations Number of iterations to run each test case. - * - * \returns the test run result: 0 when all tests passed, 1 if any tests failed. - */ -int SDLTest_RunSuites(SDLTest_TestSuiteReference *testSuites[], const char *userRunSeed, Uint64 userExecKey, const char *filter, int testIterations); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_h_arness_h */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_images.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_images.h deleted file mode 100644 index e2bfc3600..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_images.h +++ /dev/null @@ -1,78 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_images.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - - Defines some images for tests. - -*/ - -#ifndef SDL_test_images_h_ -#define SDL_test_images_h_ - -#include "SDL.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - *Type for test images. - */ -typedef struct SDLTest_SurfaceImage_s { - int width; - int height; - unsigned int bytes_per_pixel; /* 3:RGB, 4:RGBA */ - const char *pixel_data; -} SDLTest_SurfaceImage_t; - -/* Test images */ -SDL_Surface *SDLTest_ImageBlit(void); -SDL_Surface *SDLTest_ImageBlitColor(void); -SDL_Surface *SDLTest_ImageBlitAlpha(void); -SDL_Surface *SDLTest_ImageBlitBlendAdd(void); -SDL_Surface *SDLTest_ImageBlitBlend(void); -SDL_Surface *SDLTest_ImageBlitBlendMod(void); -SDL_Surface *SDLTest_ImageBlitBlendNone(void); -SDL_Surface *SDLTest_ImageBlitBlendAll(void); -SDL_Surface *SDLTest_ImageFace(void); -SDL_Surface *SDLTest_ImagePrimitives(void); -SDL_Surface *SDLTest_ImagePrimitivesBlend(void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_images_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_log.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_log.h deleted file mode 100644 index e3d39ad27..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_log.h +++ /dev/null @@ -1,67 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_log.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - * - * Wrapper to log in the TEST category - * - */ - -#ifndef SDL_test_log_h_ -#define SDL_test_log_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief Prints given message with a timestamp in the TEST category and INFO priority. - * - * \param fmt Message to be logged - */ -void SDLTest_Log(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); - -/** - * \brief Prints given message with a timestamp in the TEST category and the ERROR priority. - * - * \param fmt Message to be logged - */ -void SDLTest_LogError(SDL_PRINTF_FORMAT_STRING const char *fmt, ...) SDL_PRINTF_VARARG_FUNC(1); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_log_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_md5.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_md5.h deleted file mode 100644 index 17b1d2be7..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_md5.h +++ /dev/null @@ -1,129 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_md5.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - *********************************************************************** - ** Header file for implementation of MD5 ** - ** RSA Data Security, Inc. MD5 Message-Digest Algorithm ** - ** Created: 2/17/90 RLR ** - ** Revised: 12/27/90 SRD,AJ,BSK,JT Reference C version ** - ** Revised (for MD5): RLR 4/27/91 ** - ** -- G modified to have y&~z instead of y&z ** - ** -- FF, GG, HH modified to add in last register done ** - ** -- Access pattern: round 2 works mod 5, round 3 works mod 3 ** - ** -- distinct additive constant for each step ** - ** -- round 4 added, working mod 7 ** - *********************************************************************** -*/ - -/* - *********************************************************************** - ** Message-digest routines: ** - ** To form the message digest for a message M ** - ** (1) Initialize a context buffer mdContext using MD5Init ** - ** (2) Call MD5Update on mdContext and M ** - ** (3) Call MD5Final on mdContext ** - ** The message digest is now in mdContext->digest[0...15] ** - *********************************************************************** -*/ - -#ifndef SDL_test_md5_h_ -#define SDL_test_md5_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* ------------ Definitions --------- */ - -/* typedef a 32-bit type */ - typedef unsigned long int MD5UINT4; - -/* Data structure for MD5 (Message-Digest) computation */ - typedef struct { - MD5UINT4 i[2]; /* number of _bits_ handled mod 2^64 */ - MD5UINT4 buf[4]; /* scratch buffer */ - unsigned char in[64]; /* input buffer */ - unsigned char digest[16]; /* actual digest after Md5Final call */ - } SDLTest_Md5Context; - -/* ---------- Function Prototypes ------------- */ - -/** - * \brief initialize the context - * - * \param mdContext pointer to context variable - * - * Note: The function initializes the message-digest context - * mdContext. Call before each new use of the context - - * all fields are set to zero. - */ - void SDLTest_Md5Init(SDLTest_Md5Context * mdContext); - - -/** - * \brief update digest from variable length data - * - * \param mdContext pointer to context variable - * \param inBuf pointer to data array/string - * \param inLen length of data array/string - * - * Note: The function updates the message-digest context to account - * for the presence of each of the characters inBuf[0..inLen-1] - * in the message whose digest is being computed. -*/ - - void SDLTest_Md5Update(SDLTest_Md5Context * mdContext, unsigned char *inBuf, - unsigned int inLen); - - -/** - * \brief complete digest computation - * - * \param mdContext pointer to context variable - * - * Note: The function terminates the message-digest computation and - * ends with the desired message digest in mdContext.digest[0..15]. - * Always call before using the digest[] variable. -*/ - - void SDLTest_Md5Final(SDLTest_Md5Context * mdContext); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_md5_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_memory.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_memory.h deleted file mode 100644 index cc2edc1b9..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_memory.h +++ /dev/null @@ -1,63 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_memory.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -#ifndef SDL_test_memory_h_ -#define SDL_test_memory_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - - -/** - * \brief Start tracking SDL memory allocations - * - * \note This should be called before any other SDL functions for complete tracking coverage - */ -int SDLTest_TrackAllocations(void); - -/** - * \brief Print a log of any outstanding allocations - * - * \note This can be called after SDL_Quit() - */ -void SDLTest_LogAllocations(void); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_memory_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_test_random.h b/subprojects/sdl2_windows/include/SDL2/SDL_test_random.h deleted file mode 100644 index b1d6060cb..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_test_random.h +++ /dev/null @@ -1,115 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_test_random.h - * - * Include file for SDL test framework. - * - * This code is a part of the SDL2_test library, not the main SDL library. - */ - -/* - - A "32-bit Multiply with carry random number generator. Very fast. - Includes a list of recommended multipliers. - - multiply-with-carry generator: x(n) = a*x(n-1) + carry mod 2^32. - period: (a*2^31)-1 - -*/ - -#ifndef SDL_test_random_h_ -#define SDL_test_random_h_ - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* --- Definitions */ - -/* - * Macros that return a random number in a specific format. - */ -#define SDLTest_RandomInt(c) ((int)SDLTest_Random(c)) - -/* - * Context structure for the random number generator state. - */ - typedef struct { - unsigned int a; - unsigned int x; - unsigned int c; - unsigned int ah; - unsigned int al; - } SDLTest_RandomContext; - - -/* --- Function prototypes */ - -/** - * \brief Initialize random number generator with two integers. - * - * Note: The random sequence of numbers returned by ...Random() is the - * same for the same two integers and has a period of 2^31. - * - * \param rndContext pointer to context structure - * \param xi integer that defines the random sequence - * \param ci integer that defines the random sequence - * - */ - void SDLTest_RandomInit(SDLTest_RandomContext * rndContext, unsigned int xi, - unsigned int ci); - -/** - * \brief Initialize random number generator based on current system time. - * - * \param rndContext pointer to context structure - * - */ - void SDLTest_RandomInitTime(SDLTest_RandomContext *rndContext); - - -/** - * \brief Initialize random number generator based on current system time. - * - * Note: ...RandomInit() or ...RandomInitTime() must have been called - * before using this function. - * - * \param rndContext pointer to context structure - * - * \returns a random number (32bit unsigned integer) - * - */ - unsigned int SDLTest_Random(SDLTest_RandomContext *rndContext); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_test_random_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_thread.h b/subprojects/sdl2_windows/include/SDL2/SDL_thread.h deleted file mode 100644 index 7364f8137..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_thread.h +++ /dev/null @@ -1,464 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_thread_h_ -#define SDL_thread_h_ - -/** - * \file SDL_thread.h - * - * Header for the SDL thread management routines. - */ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -/* Thread synchronization primitives */ -#include "SDL_atomic.h" -#include "SDL_mutex.h" - -#if defined(__WIN32__) || defined(__GDK__) -#include /* _beginthreadex() and _endthreadex() */ -#endif -#if defined(__OS2__) /* for _beginthread() and _endthread() */ -#ifndef __EMX__ -#include -#else -#include -#endif -#endif - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* The SDL thread structure, defined in SDL_thread.c */ -struct SDL_Thread; -typedef struct SDL_Thread SDL_Thread; - -/* The SDL thread ID */ -typedef unsigned long SDL_threadID; - -/* Thread local storage ID, 0 is the invalid ID */ -typedef unsigned int SDL_TLSID; - -/** - * The SDL thread priority. - * - * SDL will make system changes as necessary in order to apply the thread priority. - * Code which attempts to control thread state related to priority should be aware - * that calling SDL_SetThreadPriority may alter such state. - * SDL_HINT_THREAD_PRIORITY_POLICY can be used to control aspects of this behavior. - * - * \note On many systems you require special privileges to set high or time critical priority. - */ -typedef enum { - SDL_THREAD_PRIORITY_LOW, - SDL_THREAD_PRIORITY_NORMAL, - SDL_THREAD_PRIORITY_HIGH, - SDL_THREAD_PRIORITY_TIME_CRITICAL -} SDL_ThreadPriority; - -/** - * The function passed to SDL_CreateThread(). - * - * \param data what was passed as `data` to SDL_CreateThread() - * \returns a value that can be reported through SDL_WaitThread(). - */ -typedef int (SDLCALL * SDL_ThreadFunction) (void *data); - - -#if defined(__WIN32__) || defined(__GDK__) -/** - * \file SDL_thread.h - * - * We compile SDL into a DLL. This means, that it's the DLL which - * creates a new thread for the calling process with the SDL_CreateThread() - * API. There is a problem with this, that only the RTL of the SDL2.DLL will - * be initialized for those threads, and not the RTL of the calling - * application! - * - * To solve this, we make a little hack here. - * - * We'll always use the caller's _beginthread() and _endthread() APIs to - * start a new thread. This way, if it's the SDL2.DLL which uses this API, - * then the RTL of SDL2.DLL will be used to create the new thread, and if it's - * the application, then the RTL of the application will be used. - * - * So, in short: - * Always use the _beginthread() and _endthread() of the calling runtime - * library! - */ -#define SDL_PASSED_BEGINTHREAD_ENDTHREAD - -typedef uintptr_t (__cdecl * pfnSDL_CurrentBeginThread) - (void *, unsigned, unsigned (__stdcall *func)(void *), - void * /*arg*/, unsigned, unsigned * /* threadID */); -typedef void (__cdecl * pfnSDL_CurrentEndThread) (unsigned code); - -#ifndef SDL_beginthread -#define SDL_beginthread _beginthreadex -#endif -#ifndef SDL_endthread -#define SDL_endthread _endthreadex -#endif - -extern DECLSPEC SDL_Thread *SDLCALL -SDL_CreateThread(SDL_ThreadFunction fn, const char *name, void *data, - pfnSDL_CurrentBeginThread pfnBeginThread, - pfnSDL_CurrentEndThread pfnEndThread); - -extern DECLSPEC SDL_Thread *SDLCALL -SDL_CreateThreadWithStackSize(SDL_ThreadFunction fn, - const char *name, const size_t stacksize, void *data, - pfnSDL_CurrentBeginThread pfnBeginThread, - pfnSDL_CurrentEndThread pfnEndThread); - - -#if defined(SDL_CreateThread) && SDL_DYNAMIC_API -#undef SDL_CreateThread -#define SDL_CreateThread(fn, name, data) SDL_CreateThread_REAL(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#undef SDL_CreateThreadWithStackSize -#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize_REAL(fn, name, stacksize, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#else -#define SDL_CreateThread(fn, name, data) SDL_CreateThread(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize(fn, name, data, (pfnSDL_CurrentBeginThread)_beginthreadex, (pfnSDL_CurrentEndThread)SDL_endthread) -#endif - -#elif defined(__OS2__) -/* - * just like the windows case above: We compile SDL2 - * into a dll with Watcom's runtime statically linked. - */ -#define SDL_PASSED_BEGINTHREAD_ENDTHREAD - -typedef int (*pfnSDL_CurrentBeginThread)(void (*func)(void *), void *, unsigned, void * /*arg*/); -typedef void (*pfnSDL_CurrentEndThread)(void); - -#ifndef SDL_beginthread -#define SDL_beginthread _beginthread -#endif -#ifndef SDL_endthread -#define SDL_endthread _endthread -#endif - -extern DECLSPEC SDL_Thread *SDLCALL -SDL_CreateThread(SDL_ThreadFunction fn, const char *name, void *data, - pfnSDL_CurrentBeginThread pfnBeginThread, - pfnSDL_CurrentEndThread pfnEndThread); -extern DECLSPEC SDL_Thread *SDLCALL -SDL_CreateThreadWithStackSize(SDL_ThreadFunction fn, const char *name, const size_t stacksize, void *data, - pfnSDL_CurrentBeginThread pfnBeginThread, - pfnSDL_CurrentEndThread pfnEndThread); - -#if defined(SDL_CreateThread) && SDL_DYNAMIC_API -#undef SDL_CreateThread -#define SDL_CreateThread(fn, name, data) SDL_CreateThread_REAL(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#undef SDL_CreateThreadWithStackSize -#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize_REAL(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#else -#define SDL_CreateThread(fn, name, data) SDL_CreateThread(fn, name, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#define SDL_CreateThreadWithStackSize(fn, name, stacksize, data) SDL_CreateThreadWithStackSize(fn, name, stacksize, data, (pfnSDL_CurrentBeginThread)SDL_beginthread, (pfnSDL_CurrentEndThread)SDL_endthread) -#endif - -#else - -/** - * Create a new thread with a default stack size. - * - * This is equivalent to calling: - * - * ```c - * SDL_CreateThreadWithStackSize(fn, name, 0, data); - * ``` - * - * \param fn the SDL_ThreadFunction function to call in the new thread - * \param name the name of the thread - * \param data a pointer that is passed to `fn` - * \returns an opaque pointer to the new thread object on success, NULL if the - * new thread could not be created; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateThreadWithStackSize - * \sa SDL_WaitThread - */ -extern DECLSPEC SDL_Thread *SDLCALL -SDL_CreateThread(SDL_ThreadFunction fn, const char *name, void *data); - -/** - * Create a new thread with a specific stack size. - * - * SDL makes an attempt to report `name` to the system, so that debuggers can - * display it. Not all platforms support this. - * - * Thread naming is a little complicated: Most systems have very small limits - * for the string length (Haiku has 32 bytes, Linux currently has 16, Visual - * C++ 6.0 has _nine_!), and possibly other arbitrary rules. You'll have to - * see what happens with your system's debugger. The name should be UTF-8 (but - * using the naming limits of C identifiers is a better bet). There are no - * requirements for thread naming conventions, so long as the string is - * null-terminated UTF-8, but these guidelines are helpful in choosing a name: - * - * https://stackoverflow.com/questions/149932/naming-conventions-for-threads - * - * If a system imposes requirements, SDL will try to munge the string for it - * (truncate, etc), but the original string contents will be available from - * SDL_GetThreadName(). - * - * The size (in bytes) of the new stack can be specified. Zero means "use the - * system default" which might be wildly different between platforms. x86 - * Linux generally defaults to eight megabytes, an embedded device might be a - * few kilobytes instead. You generally need to specify a stack that is a - * multiple of the system's page size (in many cases, this is 4 kilobytes, but - * check your system documentation). - * - * In SDL 2.1, stack size will be folded into the original SDL_CreateThread - * function, but for backwards compatibility, this is currently a separate - * function. - * - * \param fn the SDL_ThreadFunction function to call in the new thread - * \param name the name of the thread - * \param stacksize the size, in bytes, to allocate for the new thread stack. - * \param data a pointer that is passed to `fn` - * \returns an opaque pointer to the new thread object on success, NULL if the - * new thread could not be created; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.9. - * - * \sa SDL_WaitThread - */ -extern DECLSPEC SDL_Thread *SDLCALL -SDL_CreateThreadWithStackSize(SDL_ThreadFunction fn, const char *name, const size_t stacksize, void *data); - -#endif - -/** - * Get the thread name as it was specified in SDL_CreateThread(). - * - * This is internal memory, not to be freed by the caller, and remains valid - * until the specified thread is cleaned up by SDL_WaitThread(). - * - * \param thread the thread to query - * \returns a pointer to a UTF-8 string that names the specified thread, or - * NULL if it doesn't have a name. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateThread - */ -extern DECLSPEC const char *SDLCALL SDL_GetThreadName(SDL_Thread *thread); - -/** - * Get the thread identifier for the current thread. - * - * This thread identifier is as reported by the underlying operating system. - * If SDL is running on a platform that does not support threads the return - * value will always be zero. - * - * This function also returns a valid thread ID when called from the main - * thread. - * - * \returns the ID of the current thread. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetThreadID - */ -extern DECLSPEC SDL_threadID SDLCALL SDL_ThreadID(void); - -/** - * Get the thread identifier for the specified thread. - * - * This thread identifier is as reported by the underlying operating system. - * If SDL is running on a platform that does not support threads the return - * value will always be zero. - * - * \param thread the thread to query - * \returns the ID of the specified thread, or the ID of the current thread if - * `thread` is NULL. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ThreadID - */ -extern DECLSPEC SDL_threadID SDLCALL SDL_GetThreadID(SDL_Thread * thread); - -/** - * Set the priority for the current thread. - * - * Note that some platforms will not let you alter the priority (or at least, - * promote the thread to a higher priority) at all, and some require you to be - * an administrator account. Be prepared for this to fail. - * - * \param priority the SDL_ThreadPriority to set - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC int SDLCALL SDL_SetThreadPriority(SDL_ThreadPriority priority); - -/** - * Wait for a thread to finish. - * - * Threads that haven't been detached will remain (as a "zombie") until this - * function cleans them up. Not doing so is a resource leak. - * - * Once a thread has been cleaned up through this function, the SDL_Thread - * that references it becomes invalid and should not be referenced again. As - * such, only one thread may call SDL_WaitThread() on another. - * - * The return code for the thread function is placed in the area pointed to by - * `status`, if `status` is not NULL. - * - * You may not wait on a thread that has been used in a call to - * SDL_DetachThread(). Use either that function or this one, but not both, or - * behavior is undefined. - * - * It is safe to pass a NULL thread to this function; it is a no-op. - * - * Note that the thread pointer is freed by this function and is not valid - * afterward. - * - * \param thread the SDL_Thread pointer that was returned from the - * SDL_CreateThread() call that started this thread - * \param status pointer to an integer that will receive the value returned - * from the thread function by its 'return', or NULL to not - * receive such value back. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateThread - * \sa SDL_DetachThread - */ -extern DECLSPEC void SDLCALL SDL_WaitThread(SDL_Thread * thread, int *status); - -/** - * Let a thread clean up on exit without intervention. - * - * A thread may be "detached" to signify that it should not remain until - * another thread has called SDL_WaitThread() on it. Detaching a thread is - * useful for long-running threads that nothing needs to synchronize with or - * further manage. When a detached thread is done, it simply goes away. - * - * There is no way to recover the return code of a detached thread. If you - * need this, don't detach the thread and instead use SDL_WaitThread(). - * - * Once a thread is detached, you should usually assume the SDL_Thread isn't - * safe to reference again, as it will become invalid immediately upon the - * detached thread's exit, instead of remaining until someone has called - * SDL_WaitThread() to finally clean it up. As such, don't detach the same - * thread more than once. - * - * If a thread has already exited when passed to SDL_DetachThread(), it will - * stop waiting for a call to SDL_WaitThread() and clean up immediately. It is - * not safe to detach a thread that might be used with SDL_WaitThread(). - * - * You may not call SDL_WaitThread() on a thread that has been detached. Use - * either that function or this one, but not both, or behavior is undefined. - * - * It is safe to pass NULL to this function; it is a no-op. - * - * \param thread the SDL_Thread pointer that was returned from the - * SDL_CreateThread() call that started this thread - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_CreateThread - * \sa SDL_WaitThread - */ -extern DECLSPEC void SDLCALL SDL_DetachThread(SDL_Thread * thread); - -/** - * Create a piece of thread-local storage. - * - * This creates an identifier that is globally visible to all threads but - * refers to data that is thread-specific. - * - * \returns the newly created thread local storage identifier or 0 on error. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_TLSGet - * \sa SDL_TLSSet - */ -extern DECLSPEC SDL_TLSID SDLCALL SDL_TLSCreate(void); - -/** - * Get the current thread's value associated with a thread local storage ID. - * - * \param id the thread local storage ID - * \returns the value associated with the ID for the current thread or NULL if - * no value has been set; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_TLSCreate - * \sa SDL_TLSSet - */ -extern DECLSPEC void * SDLCALL SDL_TLSGet(SDL_TLSID id); - -/** - * Set the current thread's value associated with a thread local storage ID. - * - * The function prototype for `destructor` is: - * - * ```c - * void destructor(void *value) - * ``` - * - * where its parameter `value` is what was passed as `value` to SDL_TLSSet(). - * - * \param id the thread local storage ID - * \param value the value to associate with the ID for the current thread - * \param destructor a function called when the thread exits, to free the - * value - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_TLSCreate - * \sa SDL_TLSGet - */ -extern DECLSPEC int SDLCALL SDL_TLSSet(SDL_TLSID id, const void *value, void (SDLCALL *destructor)(void*)); - -/** - * Cleanup all TLS data for this thread. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC void SDLCALL SDL_TLSCleanup(void); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_thread_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_timer.h b/subprojects/sdl2_windows/include/SDL2/SDL_timer.h deleted file mode 100644 index 62f81d42d..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_timer.h +++ /dev/null @@ -1,222 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SDL_timer_h_ -#define SDL_timer_h_ - -/** - * \file SDL_timer.h - * - * Header for the SDL time management routines. - */ - -#include "SDL_stdinc.h" -#include "SDL_error.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Get the number of milliseconds since SDL library initialization. - * - * This value wraps if the program runs for more than ~49 days. - * - * This function is not recommended as of SDL 2.0.18; use SDL_GetTicks64() - * instead, where the value doesn't wrap every ~49 days. There are places in - * SDL where we provide a 32-bit timestamp that can not change without - * breaking binary compatibility, though, so this function isn't officially - * deprecated. - * - * \returns an unsigned 32-bit value representing the number of milliseconds - * since the SDL library initialized. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_TICKS_PASSED - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetTicks(void); - -/** - * Get the number of milliseconds since SDL library initialization. - * - * Note that you should not use the SDL_TICKS_PASSED macro with values - * returned by this function, as that macro does clever math to compensate for - * the 32-bit overflow every ~49 days that SDL_GetTicks() suffers from. 64-bit - * values from this function can be safely compared directly. - * - * For example, if you want to wait 100 ms, you could do this: - * - * ```c - * const Uint64 timeout = SDL_GetTicks64() + 100; - * while (SDL_GetTicks64() < timeout) { - * // ... do work until timeout has elapsed - * } - * ``` - * - * \returns an unsigned 64-bit value representing the number of milliseconds - * since the SDL library initialized. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC Uint64 SDLCALL SDL_GetTicks64(void); - -/** - * Compare 32-bit SDL ticks values, and return true if `A` has passed `B`. - * - * This should be used with results from SDL_GetTicks(), as this macro - * attempts to deal with the 32-bit counter wrapping back to zero every ~49 - * days, but should _not_ be used with SDL_GetTicks64(), which does not have - * that problem. - * - * For example, with SDL_GetTicks(), if you want to wait 100 ms, you could - * do this: - * - * ```c - * const Uint32 timeout = SDL_GetTicks() + 100; - * while (!SDL_TICKS_PASSED(SDL_GetTicks(), timeout)) { - * // ... do work until timeout has elapsed - * } - * ``` - * - * Note that this does not handle tick differences greater - * than 2^31 so take care when using the above kind of code - * with large timeout delays (tens of days). - */ -#define SDL_TICKS_PASSED(A, B) ((Sint32)((B) - (A)) <= 0) - -/** - * Get the current value of the high resolution counter. - * - * This function is typically used for profiling. - * - * The counter values are only meaningful relative to each other. Differences - * between values can be converted to times by using - * SDL_GetPerformanceFrequency(). - * - * \returns the current counter value. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetPerformanceFrequency - */ -extern DECLSPEC Uint64 SDLCALL SDL_GetPerformanceCounter(void); - -/** - * Get the count per second of the high resolution counter. - * - * \returns a platform-specific count per second. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetPerformanceCounter - */ -extern DECLSPEC Uint64 SDLCALL SDL_GetPerformanceFrequency(void); - -/** - * Wait a specified number of milliseconds before returning. - * - * This function waits a specified number of milliseconds before returning. It - * waits at least the specified time, but possibly longer due to OS - * scheduling. - * - * \param ms the number of milliseconds to delay - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_Delay(Uint32 ms); - -/** - * Function prototype for the timer callback function. - * - * The callback function is passed the current timer interval and returns - * the next timer interval. If the returned value is the same as the one - * passed in, the periodic alarm continues, otherwise a new alarm is - * scheduled. If the callback returns 0, the periodic alarm is cancelled. - */ -typedef Uint32 (SDLCALL * SDL_TimerCallback) (Uint32 interval, void *param); - -/** - * Definition of the timer ID type. - */ -typedef int SDL_TimerID; - -/** - * Call a callback function at a future time. - * - * If you use this function, you must pass `SDL_INIT_TIMER` to SDL_Init(). - * - * The callback function is passed the current timer interval and the user - * supplied parameter from the SDL_AddTimer() call and should return the next - * timer interval. If the value returned from the callback is 0, the timer is - * canceled. - * - * The callback is run on a separate thread. - * - * Timers take into account the amount of time it took to execute the - * callback. For example, if the callback took 250 ms to execute and returned - * 1000 (ms), the timer would only wait another 750 ms before its next - * iteration. - * - * Timing may be inexact due to OS scheduling. Be sure to note the current - * time with SDL_GetTicks() or SDL_GetPerformanceCounter() in case your - * callback needs to adjust for variances. - * - * \param interval the timer delay, in milliseconds, passed to `callback` - * \param callback the SDL_TimerCallback function to call when the specified - * `interval` elapses - * \param param a pointer that is passed to `callback` - * \returns a timer ID or 0 if an error occurs; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RemoveTimer - */ -extern DECLSPEC SDL_TimerID SDLCALL SDL_AddTimer(Uint32 interval, - SDL_TimerCallback callback, - void *param); - -/** - * Remove a timer created with SDL_AddTimer(). - * - * \param id the ID of the timer to remove - * \returns SDL_TRUE if the timer is removed or SDL_FALSE if the timer wasn't - * found. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_AddTimer - */ -extern DECLSPEC SDL_bool SDLCALL SDL_RemoveTimer(SDL_TimerID id); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_timer_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_touch.h b/subprojects/sdl2_windows/include/SDL2/SDL_touch.h deleted file mode 100644 index 95924135e..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_touch.h +++ /dev/null @@ -1,150 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_touch.h - * - * Include file for SDL touch event handling. - */ - -#ifndef SDL_touch_h_ -#define SDL_touch_h_ - -#include "SDL_stdinc.h" -#include "SDL_error.h" -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -typedef Sint64 SDL_TouchID; -typedef Sint64 SDL_FingerID; - -typedef enum -{ - SDL_TOUCH_DEVICE_INVALID = -1, - SDL_TOUCH_DEVICE_DIRECT, /* touch screen with window-relative coordinates */ - SDL_TOUCH_DEVICE_INDIRECT_ABSOLUTE, /* trackpad with absolute device coordinates */ - SDL_TOUCH_DEVICE_INDIRECT_RELATIVE /* trackpad with screen cursor-relative coordinates */ -} SDL_TouchDeviceType; - -typedef struct SDL_Finger -{ - SDL_FingerID id; - float x; - float y; - float pressure; -} SDL_Finger; - -/* Used as the device ID for mouse events simulated with touch input */ -#define SDL_TOUCH_MOUSEID ((Uint32)-1) - -/* Used as the SDL_TouchID for touch events simulated with mouse input */ -#define SDL_MOUSE_TOUCHID ((Sint64)-1) - - -/** - * Get the number of registered touch devices. - * - * On some platforms SDL first sees the touch device if it was actually used. - * Therefore SDL_GetNumTouchDevices() may return 0 although devices are - * available. After using all devices at least once the number will be - * correct. - * - * This was fixed for Android in SDL 2.0.1. - * - * \returns the number of registered touch devices. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTouchDevice - */ -extern DECLSPEC int SDLCALL SDL_GetNumTouchDevices(void); - -/** - * Get the touch ID with the given index. - * - * \param index the touch device index - * \returns the touch ID with the given index on success or 0 if the index is - * invalid; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumTouchDevices - */ -extern DECLSPEC SDL_TouchID SDLCALL SDL_GetTouchDevice(int index); - -/** - * Get the touch device name as reported from the driver or NULL if the index - * is invalid. - * - * \since This function is available since SDL 2.0.22. - */ -extern DECLSPEC const char* SDLCALL SDL_GetTouchName(int index); - -/** - * Get the type of the given touch device. - * - * \since This function is available since SDL 2.0.10. - */ -extern DECLSPEC SDL_TouchDeviceType SDLCALL SDL_GetTouchDeviceType(SDL_TouchID touchID); - -/** - * Get the number of active fingers for a given touch device. - * - * \param touchID the ID of a touch device - * \returns the number of active fingers for a given touch device on success - * or 0 on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetTouchFinger - */ -extern DECLSPEC int SDLCALL SDL_GetNumTouchFingers(SDL_TouchID touchID); - -/** - * Get the finger object for specified touch device ID and finger index. - * - * The returned resource is owned by SDL and should not be deallocated. - * - * \param touchID the ID of the requested touch device - * \param index the index of the requested finger - * \returns a pointer to the SDL_Finger object or NULL if no object at the - * given ID and index could be found. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_RecordGesture - */ -extern DECLSPEC SDL_Finger * SDLCALL SDL_GetTouchFinger(SDL_TouchID touchID, int index); - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_touch_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_types.h b/subprojects/sdl2_windows/include/SDL2/SDL_types.h deleted file mode 100644 index 355fb501a..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_types.h +++ /dev/null @@ -1,29 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_types.h - * - * \deprecated - */ - -/* DEPRECATED */ -#include "SDL_stdinc.h" diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_version.h b/subprojects/sdl2_windows/include/SDL2/SDL_version.h deleted file mode 100644 index 786b112ee..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_version.h +++ /dev/null @@ -1,204 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_version.h - * - * This header defines the current SDL version. - */ - -#ifndef SDL_version_h_ -#define SDL_version_h_ - -#include "SDL_stdinc.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Information about the version of SDL in use. - * - * Represents the library's version as three levels: major revision - * (increments with massive changes, additions, and enhancements), - * minor revision (increments with backwards-compatible changes to the - * major revision), and patchlevel (increments with fixes to the minor - * revision). - * - * \sa SDL_VERSION - * \sa SDL_GetVersion - */ -typedef struct SDL_version -{ - Uint8 major; /**< major version */ - Uint8 minor; /**< minor version */ - Uint8 patch; /**< update version */ -} SDL_version; - -/* Printable format: "%d.%d.%d", MAJOR, MINOR, PATCHLEVEL -*/ -#define SDL_MAJOR_VERSION 2 -#define SDL_MINOR_VERSION 26 -#define SDL_PATCHLEVEL 1 - -/** - * Macro to determine SDL version program was compiled against. - * - * This macro fills in a SDL_version structure with the version of the - * library you compiled against. This is determined by what header the - * compiler uses. Note that if you dynamically linked the library, you might - * have a slightly newer or older version at runtime. That version can be - * determined with SDL_GetVersion(), which, unlike SDL_VERSION(), - * is not a macro. - * - * \param x A pointer to a SDL_version struct to initialize. - * - * \sa SDL_version - * \sa SDL_GetVersion - */ -#define SDL_VERSION(x) \ -{ \ - (x)->major = SDL_MAJOR_VERSION; \ - (x)->minor = SDL_MINOR_VERSION; \ - (x)->patch = SDL_PATCHLEVEL; \ -} - -/* TODO: Remove this whole block in SDL 3 */ -#if SDL_MAJOR_VERSION < 3 -/** - * This macro turns the version numbers into a numeric value: - * \verbatim - (1,2,3) -> (1203) - \endverbatim - * - * This assumes that there will never be more than 100 patchlevels. - * - * In versions higher than 2.9.0, the minor version overflows into - * the thousands digit: for example, 2.23.0 is encoded as 4300, - * and 2.255.99 would be encoded as 25799. - * This macro will not be available in SDL 3.x. - */ -#define SDL_VERSIONNUM(X, Y, Z) \ - ((X)*1000 + (Y)*100 + (Z)) - -/** - * This is the version number macro for the current SDL version. - * - * In versions higher than 2.9.0, the minor version overflows into - * the thousands digit: for example, 2.23.0 is encoded as 4300. - * This macro will not be available in SDL 3.x. - * - * Deprecated, use SDL_VERSION_ATLEAST or SDL_VERSION instead. - */ -#define SDL_COMPILEDVERSION \ - SDL_VERSIONNUM(SDL_MAJOR_VERSION, SDL_MINOR_VERSION, SDL_PATCHLEVEL) -#endif /* SDL_MAJOR_VERSION < 3 */ - -/** - * This macro will evaluate to true if compiled with SDL at least X.Y.Z. - */ -#define SDL_VERSION_ATLEAST(X, Y, Z) \ - ((SDL_MAJOR_VERSION >= X) && \ - (SDL_MAJOR_VERSION > X || SDL_MINOR_VERSION >= Y) && \ - (SDL_MAJOR_VERSION > X || SDL_MINOR_VERSION > Y || SDL_PATCHLEVEL >= Z)) - -/** - * Get the version of SDL that is linked against your program. - * - * If you are linking to SDL dynamically, then it is possible that the current - * version will be different than the version you compiled against. This - * function returns the current version, while SDL_VERSION() is a macro that - * tells you what version you compiled with. - * - * This function may be called safely at any time, even before SDL_Init(). - * - * \param ver the SDL_version structure that contains the version information - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRevision - */ -extern DECLSPEC void SDLCALL SDL_GetVersion(SDL_version * ver); - -/** - * Get the code revision of SDL that is linked against your program. - * - * This value is the revision of the code you are linked with and may be - * different from the code you are compiling with, which is found in the - * constant SDL_REVISION. - * - * The revision is arbitrary string (a hash value) uniquely identifying the - * exact revision of the SDL library in use, and is only useful in comparing - * against other revisions. It is NOT an incrementing number. - * - * If SDL wasn't built from a git repository with the appropriate tools, this - * will return an empty string. - * - * Prior to SDL 2.0.16, before development moved to GitHub, this returned a - * hash for a Mercurial repository. - * - * You shouldn't use this function for anything but logging it for debugging - * purposes. The string is not intended to be reliable in any way. - * - * \returns an arbitrary string, uniquely identifying the exact revision of - * the SDL library in use. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetVersion - */ -extern DECLSPEC const char *SDLCALL SDL_GetRevision(void); - -/** - * Obsolete function, do not use. - * - * When SDL was hosted in a Mercurial repository, and was built carefully, - * this would return the revision number that the build was created from. This - * number was not reliable for several reasons, but more importantly, SDL is - * now hosted in a git repository, which does not offer numbers at all, only - * hashes. This function only ever returns zero now. Don't use it. - * - * Before SDL 2.0.16, this might have returned an unreliable, but non-zero - * number. - * - * \deprecated Use SDL_GetRevision() instead; if SDL was carefully built, it - * will return a git hash. - * - * \returns zero, always, in modern SDL releases. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetRevision - */ -extern SDL_DEPRECATED DECLSPEC int SDLCALL SDL_GetRevisionNumber(void); - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_version_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_video.h b/subprojects/sdl2_windows/include/SDL2/SDL_video.h deleted file mode 100644 index b2f1509f7..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_video.h +++ /dev/null @@ -1,2150 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_video.h - * - * Header file for SDL video functions. - */ - -#ifndef SDL_video_h_ -#define SDL_video_h_ - -#include "SDL_stdinc.h" -#include "SDL_pixels.h" -#include "SDL_rect.h" -#include "SDL_surface.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief The structure that defines a display mode - * - * \sa SDL_GetNumDisplayModes() - * \sa SDL_GetDisplayMode() - * \sa SDL_GetDesktopDisplayMode() - * \sa SDL_GetCurrentDisplayMode() - * \sa SDL_GetClosestDisplayMode() - * \sa SDL_SetWindowDisplayMode() - * \sa SDL_GetWindowDisplayMode() - */ -typedef struct -{ - Uint32 format; /**< pixel format */ - int w; /**< width, in screen coordinates */ - int h; /**< height, in screen coordinates */ - int refresh_rate; /**< refresh rate (or zero for unspecified) */ - void *driverdata; /**< driver-specific data, initialize to 0 */ -} SDL_DisplayMode; - -/** - * \brief The type used to identify a window - * - * \sa SDL_CreateWindow() - * \sa SDL_CreateWindowFrom() - * \sa SDL_DestroyWindow() - * \sa SDL_FlashWindow() - * \sa SDL_GetWindowData() - * \sa SDL_GetWindowFlags() - * \sa SDL_GetWindowGrab() - * \sa SDL_GetWindowKeyboardGrab() - * \sa SDL_GetWindowMouseGrab() - * \sa SDL_GetWindowPosition() - * \sa SDL_GetWindowSize() - * \sa SDL_GetWindowTitle() - * \sa SDL_HideWindow() - * \sa SDL_MaximizeWindow() - * \sa SDL_MinimizeWindow() - * \sa SDL_RaiseWindow() - * \sa SDL_RestoreWindow() - * \sa SDL_SetWindowData() - * \sa SDL_SetWindowFullscreen() - * \sa SDL_SetWindowGrab() - * \sa SDL_SetWindowKeyboardGrab() - * \sa SDL_SetWindowMouseGrab() - * \sa SDL_SetWindowIcon() - * \sa SDL_SetWindowPosition() - * \sa SDL_SetWindowSize() - * \sa SDL_SetWindowBordered() - * \sa SDL_SetWindowResizable() - * \sa SDL_SetWindowTitle() - * \sa SDL_ShowWindow() - */ -typedef struct SDL_Window SDL_Window; - -/** - * \brief The flags on a window - * - * \sa SDL_GetWindowFlags() - */ -typedef enum -{ - SDL_WINDOW_FULLSCREEN = 0x00000001, /**< fullscreen window */ - SDL_WINDOW_OPENGL = 0x00000002, /**< window usable with OpenGL context */ - SDL_WINDOW_SHOWN = 0x00000004, /**< window is visible */ - SDL_WINDOW_HIDDEN = 0x00000008, /**< window is not visible */ - SDL_WINDOW_BORDERLESS = 0x00000010, /**< no window decoration */ - SDL_WINDOW_RESIZABLE = 0x00000020, /**< window can be resized */ - SDL_WINDOW_MINIMIZED = 0x00000040, /**< window is minimized */ - SDL_WINDOW_MAXIMIZED = 0x00000080, /**< window is maximized */ - SDL_WINDOW_MOUSE_GRABBED = 0x00000100, /**< window has grabbed mouse input */ - SDL_WINDOW_INPUT_FOCUS = 0x00000200, /**< window has input focus */ - SDL_WINDOW_MOUSE_FOCUS = 0x00000400, /**< window has mouse focus */ - SDL_WINDOW_FULLSCREEN_DESKTOP = ( SDL_WINDOW_FULLSCREEN | 0x00001000 ), - SDL_WINDOW_FOREIGN = 0x00000800, /**< window not created by SDL */ - SDL_WINDOW_ALLOW_HIGHDPI = 0x00002000, /**< window should be created in high-DPI mode if supported. - On macOS NSHighResolutionCapable must be set true in the - application's Info.plist for this to have any effect. */ - SDL_WINDOW_MOUSE_CAPTURE = 0x00004000, /**< window has mouse captured (unrelated to MOUSE_GRABBED) */ - SDL_WINDOW_ALWAYS_ON_TOP = 0x00008000, /**< window should always be above others */ - SDL_WINDOW_SKIP_TASKBAR = 0x00010000, /**< window should not be added to the taskbar */ - SDL_WINDOW_UTILITY = 0x00020000, /**< window should be treated as a utility window */ - SDL_WINDOW_TOOLTIP = 0x00040000, /**< window should be treated as a tooltip */ - SDL_WINDOW_POPUP_MENU = 0x00080000, /**< window should be treated as a popup menu */ - SDL_WINDOW_KEYBOARD_GRABBED = 0x00100000, /**< window has grabbed keyboard input */ - SDL_WINDOW_VULKAN = 0x10000000, /**< window usable for Vulkan surface */ - SDL_WINDOW_METAL = 0x20000000, /**< window usable for Metal view */ - - SDL_WINDOW_INPUT_GRABBED = SDL_WINDOW_MOUSE_GRABBED /**< equivalent to SDL_WINDOW_MOUSE_GRABBED for compatibility */ -} SDL_WindowFlags; - -/** - * \brief Used to indicate that you don't care what the window position is. - */ -#define SDL_WINDOWPOS_UNDEFINED_MASK 0x1FFF0000u -#define SDL_WINDOWPOS_UNDEFINED_DISPLAY(X) (SDL_WINDOWPOS_UNDEFINED_MASK|(X)) -#define SDL_WINDOWPOS_UNDEFINED SDL_WINDOWPOS_UNDEFINED_DISPLAY(0) -#define SDL_WINDOWPOS_ISUNDEFINED(X) \ - (((X)&0xFFFF0000) == SDL_WINDOWPOS_UNDEFINED_MASK) - -/** - * \brief Used to indicate that the window position should be centered. - */ -#define SDL_WINDOWPOS_CENTERED_MASK 0x2FFF0000u -#define SDL_WINDOWPOS_CENTERED_DISPLAY(X) (SDL_WINDOWPOS_CENTERED_MASK|(X)) -#define SDL_WINDOWPOS_CENTERED SDL_WINDOWPOS_CENTERED_DISPLAY(0) -#define SDL_WINDOWPOS_ISCENTERED(X) \ - (((X)&0xFFFF0000) == SDL_WINDOWPOS_CENTERED_MASK) - -/** - * \brief Event subtype for window events - */ -typedef enum -{ - SDL_WINDOWEVENT_NONE, /**< Never used */ - SDL_WINDOWEVENT_SHOWN, /**< Window has been shown */ - SDL_WINDOWEVENT_HIDDEN, /**< Window has been hidden */ - SDL_WINDOWEVENT_EXPOSED, /**< Window has been exposed and should be - redrawn */ - SDL_WINDOWEVENT_MOVED, /**< Window has been moved to data1, data2 - */ - SDL_WINDOWEVENT_RESIZED, /**< Window has been resized to data1xdata2 */ - SDL_WINDOWEVENT_SIZE_CHANGED, /**< The window size has changed, either as - a result of an API call or through the - system or user changing the window size. */ - SDL_WINDOWEVENT_MINIMIZED, /**< Window has been minimized */ - SDL_WINDOWEVENT_MAXIMIZED, /**< Window has been maximized */ - SDL_WINDOWEVENT_RESTORED, /**< Window has been restored to normal size - and position */ - SDL_WINDOWEVENT_ENTER, /**< Window has gained mouse focus */ - SDL_WINDOWEVENT_LEAVE, /**< Window has lost mouse focus */ - SDL_WINDOWEVENT_FOCUS_GAINED, /**< Window has gained keyboard focus */ - SDL_WINDOWEVENT_FOCUS_LOST, /**< Window has lost keyboard focus */ - SDL_WINDOWEVENT_CLOSE, /**< The window manager requests that the window be closed */ - SDL_WINDOWEVENT_TAKE_FOCUS, /**< Window is being offered a focus (should SetWindowInputFocus() on itself or a subwindow, or ignore) */ - SDL_WINDOWEVENT_HIT_TEST, /**< Window had a hit test that wasn't SDL_HITTEST_NORMAL. */ - SDL_WINDOWEVENT_ICCPROF_CHANGED,/**< The ICC profile of the window's display has changed. */ - SDL_WINDOWEVENT_DISPLAY_CHANGED /**< Window has been moved to display data1. */ -} SDL_WindowEventID; - -/** - * \brief Event subtype for display events - */ -typedef enum -{ - SDL_DISPLAYEVENT_NONE, /**< Never used */ - SDL_DISPLAYEVENT_ORIENTATION, /**< Display orientation has changed to data1 */ - SDL_DISPLAYEVENT_CONNECTED, /**< Display has been added to the system */ - SDL_DISPLAYEVENT_DISCONNECTED /**< Display has been removed from the system */ -} SDL_DisplayEventID; - -/** - * \brief Display orientation - */ -typedef enum -{ - SDL_ORIENTATION_UNKNOWN, /**< The display orientation can't be determined */ - SDL_ORIENTATION_LANDSCAPE, /**< The display is in landscape mode, with the right side up, relative to portrait mode */ - SDL_ORIENTATION_LANDSCAPE_FLIPPED, /**< The display is in landscape mode, with the left side up, relative to portrait mode */ - SDL_ORIENTATION_PORTRAIT, /**< The display is in portrait mode */ - SDL_ORIENTATION_PORTRAIT_FLIPPED /**< The display is in portrait mode, upside down */ -} SDL_DisplayOrientation; - -/** - * \brief Window flash operation - */ -typedef enum -{ - SDL_FLASH_CANCEL, /**< Cancel any window flash state */ - SDL_FLASH_BRIEFLY, /**< Flash the window briefly to get attention */ - SDL_FLASH_UNTIL_FOCUSED /**< Flash the window until it gets focus */ -} SDL_FlashOperation; - -/** - * \brief An opaque handle to an OpenGL context. - */ -typedef void *SDL_GLContext; - -/** - * \brief OpenGL configuration attributes - */ -typedef enum -{ - SDL_GL_RED_SIZE, - SDL_GL_GREEN_SIZE, - SDL_GL_BLUE_SIZE, - SDL_GL_ALPHA_SIZE, - SDL_GL_BUFFER_SIZE, - SDL_GL_DOUBLEBUFFER, - SDL_GL_DEPTH_SIZE, - SDL_GL_STENCIL_SIZE, - SDL_GL_ACCUM_RED_SIZE, - SDL_GL_ACCUM_GREEN_SIZE, - SDL_GL_ACCUM_BLUE_SIZE, - SDL_GL_ACCUM_ALPHA_SIZE, - SDL_GL_STEREO, - SDL_GL_MULTISAMPLEBUFFERS, - SDL_GL_MULTISAMPLESAMPLES, - SDL_GL_ACCELERATED_VISUAL, - SDL_GL_RETAINED_BACKING, - SDL_GL_CONTEXT_MAJOR_VERSION, - SDL_GL_CONTEXT_MINOR_VERSION, - SDL_GL_CONTEXT_EGL, - SDL_GL_CONTEXT_FLAGS, - SDL_GL_CONTEXT_PROFILE_MASK, - SDL_GL_SHARE_WITH_CURRENT_CONTEXT, - SDL_GL_FRAMEBUFFER_SRGB_CAPABLE, - SDL_GL_CONTEXT_RELEASE_BEHAVIOR, - SDL_GL_CONTEXT_RESET_NOTIFICATION, - SDL_GL_CONTEXT_NO_ERROR, - SDL_GL_FLOATBUFFERS -} SDL_GLattr; - -typedef enum -{ - SDL_GL_CONTEXT_PROFILE_CORE = 0x0001, - SDL_GL_CONTEXT_PROFILE_COMPATIBILITY = 0x0002, - SDL_GL_CONTEXT_PROFILE_ES = 0x0004 /**< GLX_CONTEXT_ES2_PROFILE_BIT_EXT */ -} SDL_GLprofile; - -typedef enum -{ - SDL_GL_CONTEXT_DEBUG_FLAG = 0x0001, - SDL_GL_CONTEXT_FORWARD_COMPATIBLE_FLAG = 0x0002, - SDL_GL_CONTEXT_ROBUST_ACCESS_FLAG = 0x0004, - SDL_GL_CONTEXT_RESET_ISOLATION_FLAG = 0x0008 -} SDL_GLcontextFlag; - -typedef enum -{ - SDL_GL_CONTEXT_RELEASE_BEHAVIOR_NONE = 0x0000, - SDL_GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH = 0x0001 -} SDL_GLcontextReleaseFlag; - -typedef enum -{ - SDL_GL_CONTEXT_RESET_NO_NOTIFICATION = 0x0000, - SDL_GL_CONTEXT_RESET_LOSE_CONTEXT = 0x0001 -} SDL_GLContextResetNotification; - -/* Function prototypes */ - -/** - * Get the number of video drivers compiled into SDL. - * - * \returns a number >= 1 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetVideoDriver - */ -extern DECLSPEC int SDLCALL SDL_GetNumVideoDrivers(void); - -/** - * Get the name of a built in video driver. - * - * The video drivers are presented in the order in which they are normally - * checked during initialization. - * - * \param index the index of a video driver - * \returns the name of the video driver with the given **index**. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumVideoDrivers - */ -extern DECLSPEC const char *SDLCALL SDL_GetVideoDriver(int index); - -/** - * Initialize the video subsystem, optionally specifying a video driver. - * - * This function initializes the video subsystem, setting up a connection to - * the window manager, etc, and determines the available display modes and - * pixel formats, but does not initialize a window or graphics mode. - * - * If you use this function and you haven't used the SDL_INIT_VIDEO flag with - * either SDL_Init() or SDL_InitSubSystem(), you should call SDL_VideoQuit() - * before calling SDL_Quit(). - * - * It is safe to call this function multiple times. SDL_VideoInit() will call - * SDL_VideoQuit() itself if the video subsystem has already been initialized. - * - * You can use SDL_GetNumVideoDrivers() and SDL_GetVideoDriver() to find a - * specific `driver_name`. - * - * \param driver_name the name of a video driver to initialize, or NULL for - * the default driver - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumVideoDrivers - * \sa SDL_GetVideoDriver - * \sa SDL_InitSubSystem - * \sa SDL_VideoQuit - */ -extern DECLSPEC int SDLCALL SDL_VideoInit(const char *driver_name); - -/** - * Shut down the video subsystem, if initialized with SDL_VideoInit(). - * - * This function closes all windows, and restores the original video mode. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_VideoInit - */ -extern DECLSPEC void SDLCALL SDL_VideoQuit(void); - -/** - * Get the name of the currently initialized video driver. - * - * \returns the name of the current video driver or NULL if no driver has been - * initialized. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumVideoDrivers - * \sa SDL_GetVideoDriver - */ -extern DECLSPEC const char *SDLCALL SDL_GetCurrentVideoDriver(void); - -/** - * Get the number of available video displays. - * - * \returns a number >= 1 or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetDisplayBounds - */ -extern DECLSPEC int SDLCALL SDL_GetNumVideoDisplays(void); - -/** - * Get the name of a display in UTF-8 encoding. - * - * \param displayIndex the index of display from which the name should be - * queried - * \returns the name of a display or NULL for an invalid display index or - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC const char * SDLCALL SDL_GetDisplayName(int displayIndex); - -/** - * Get the desktop area represented by a display. - * - * The primary display (`displayIndex` zero) is always located at 0,0. - * - * \param displayIndex the index of the display to query - * \param rect the SDL_Rect structure filled in with the display bounds - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetDisplayBounds(int displayIndex, SDL_Rect * rect); - -/** - * Get the usable desktop area represented by a display. - * - * The primary display (`displayIndex` zero) is always located at 0,0. - * - * This is the same area as SDL_GetDisplayBounds() reports, but with portions - * reserved by the system removed. For example, on Apple's macOS, this - * subtracts the area occupied by the menu bar and dock. - * - * Setting a window to be fullscreen generally bypasses these unusable areas, - * so these are good guidelines for the maximum space available to a - * non-fullscreen window. - * - * The parameter `rect` is ignored if it is NULL. - * - * This function also returns -1 if the parameter `displayIndex` is out of - * range. - * - * \param displayIndex the index of the display to query the usable bounds - * from - * \param rect the SDL_Rect structure filled in with the display bounds - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_GetDisplayBounds - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetDisplayUsableBounds(int displayIndex, SDL_Rect * rect); - -/** - * Get the dots/pixels-per-inch for a display. - * - * Diagonal, horizontal and vertical DPI can all be optionally returned if the - * appropriate parameter is non-NULL. - * - * A failure of this function usually means that either no DPI information is - * available or the `displayIndex` is out of range. - * - * **WARNING**: This reports the DPI that the hardware reports, and it is not - * always reliable! It is almost always better to use SDL_GetWindowSize() to - * find the window size, which might be in logical points instead of pixels, - * and then SDL_GL_GetDrawableSize(), SDL_Vulkan_GetDrawableSize(), - * SDL_Metal_GetDrawableSize(), or SDL_GetRendererOutputSize(), and compare - * the two values to get an actual scaling value between the two. We will be - * rethinking how high-dpi details should be managed in SDL3 to make things - * more consistent, reliable, and clear. - * - * \param displayIndex the index of the display from which DPI information - * should be queried - * \param ddpi a pointer filled in with the diagonal DPI of the display; may - * be NULL - * \param hdpi a pointer filled in with the horizontal DPI of the display; may - * be NULL - * \param vdpi a pointer filled in with the vertical DPI of the display; may - * be NULL - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetDisplayDPI(int displayIndex, float * ddpi, float * hdpi, float * vdpi); - -/** - * Get the orientation of a display. - * - * \param displayIndex the index of the display to query - * \returns The SDL_DisplayOrientation enum value of the display, or - * `SDL_ORIENTATION_UNKNOWN` if it isn't available. - * - * \since This function is available since SDL 2.0.9. - * - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC SDL_DisplayOrientation SDLCALL SDL_GetDisplayOrientation(int displayIndex); - -/** - * Get the number of available display modes. - * - * The `displayIndex` needs to be in the range from 0 to - * SDL_GetNumVideoDisplays() - 1. - * - * \param displayIndex the index of the display to query - * \returns a number >= 1 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetDisplayMode - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetNumDisplayModes(int displayIndex); - -/** - * Get information about a specific display mode. - * - * The display modes are sorted in this priority: - * - * - width -> largest to smallest - * - height -> largest to smallest - * - bits per pixel -> more colors to fewer colors - * - packed pixel layout -> largest to smallest - * - refresh rate -> highest to lowest - * - * \param displayIndex the index of the display to query - * \param modeIndex the index of the display mode to query - * \param mode an SDL_DisplayMode structure filled in with the mode at - * `modeIndex` - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetNumDisplayModes - */ -extern DECLSPEC int SDLCALL SDL_GetDisplayMode(int displayIndex, int modeIndex, - SDL_DisplayMode * mode); - -/** - * Get information about the desktop's display mode. - * - * There's a difference between this function and SDL_GetCurrentDisplayMode() - * when SDL runs fullscreen and has changed the resolution. In that case this - * function will return the previous native display mode, and not the current - * display mode. - * - * \param displayIndex the index of the display to query - * \param mode an SDL_DisplayMode structure filled in with the current display - * mode - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetCurrentDisplayMode - * \sa SDL_GetDisplayMode - * \sa SDL_SetWindowDisplayMode - */ -extern DECLSPEC int SDLCALL SDL_GetDesktopDisplayMode(int displayIndex, SDL_DisplayMode * mode); - -/** - * Get information about the current display mode. - * - * There's a difference between this function and SDL_GetDesktopDisplayMode() - * when SDL runs fullscreen and has changed the resolution. In that case this - * function will return the current display mode, and not the previous native - * display mode. - * - * \param displayIndex the index of the display to query - * \param mode an SDL_DisplayMode structure filled in with the current display - * mode - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetDesktopDisplayMode - * \sa SDL_GetDisplayMode - * \sa SDL_GetNumVideoDisplays - * \sa SDL_SetWindowDisplayMode - */ -extern DECLSPEC int SDLCALL SDL_GetCurrentDisplayMode(int displayIndex, SDL_DisplayMode * mode); - - -/** - * Get the closest match to the requested display mode. - * - * The available display modes are scanned and `closest` is filled in with the - * closest mode matching the requested mode and returned. The mode format and - * refresh rate default to the desktop mode if they are set to 0. The modes - * are scanned with size being first priority, format being second priority, - * and finally checking the refresh rate. If all the available modes are too - * small, then NULL is returned. - * - * \param displayIndex the index of the display to query - * \param mode an SDL_DisplayMode structure containing the desired display - * mode - * \param closest an SDL_DisplayMode structure filled in with the closest - * match of the available display modes - * \returns the passed in value `closest` or NULL if no matching video mode - * was available; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetDisplayMode - * \sa SDL_GetNumDisplayModes - */ -extern DECLSPEC SDL_DisplayMode * SDLCALL SDL_GetClosestDisplayMode(int displayIndex, const SDL_DisplayMode * mode, SDL_DisplayMode * closest); - -/** - * Get the index of the display containing a point - * - * \param point the point to query - * \returns the index of the display containing the point or a negative error - * code on failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GetDisplayBounds - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetPointDisplayIndex(const SDL_Point * point); - -/** - * Get the index of the display primarily containing a rect - * - * \param rect the rect to query - * \returns the index of the display entirely containing the rect or closest - * to the center of the rect on success or a negative error code on - * failure; call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.24.0. - * - * \sa SDL_GetDisplayBounds - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetRectDisplayIndex(const SDL_Rect * rect); - -/** - * Get the index of the display associated with a window. - * - * \param window the window to query - * \returns the index of the display containing the center of the window on - * success or a negative error code on failure; call SDL_GetError() - * for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetDisplayBounds - * \sa SDL_GetNumVideoDisplays - */ -extern DECLSPEC int SDLCALL SDL_GetWindowDisplayIndex(SDL_Window * window); - -/** - * Set the display mode to use when a window is visible at fullscreen. - * - * This only affects the display mode used when the window is fullscreen. To - * change the window size when the window is not fullscreen, use - * SDL_SetWindowSize(). - * - * \param window the window to affect - * \param mode the SDL_DisplayMode structure representing the mode to use, or - * NULL to use the window's dimensions and the desktop's format - * and refresh rate - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowDisplayMode - * \sa SDL_SetWindowFullscreen - */ -extern DECLSPEC int SDLCALL SDL_SetWindowDisplayMode(SDL_Window * window, - const SDL_DisplayMode * mode); - -/** - * Query the display mode to use when a window is visible at fullscreen. - * - * \param window the window to query - * \param mode an SDL_DisplayMode structure filled in with the fullscreen - * display mode - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowDisplayMode - * \sa SDL_SetWindowFullscreen - */ -extern DECLSPEC int SDLCALL SDL_GetWindowDisplayMode(SDL_Window * window, - SDL_DisplayMode * mode); - -/** - * Get the raw ICC profile data for the screen the window is currently on. - * - * Data returned should be freed with SDL_free. - * - * \param window the window to query - * \param size the size of the ICC profile - * \returns the raw ICC profile data on success or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.18. - */ -extern DECLSPEC void* SDLCALL SDL_GetWindowICCProfile(SDL_Window * window, size_t* size); - -/** - * Get the pixel format associated with the window. - * - * \param window the window to query - * \returns the pixel format of the window on success or - * SDL_PIXELFORMAT_UNKNOWN on failure; call SDL_GetError() for more - * information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetWindowPixelFormat(SDL_Window * window); - -/** - * Create a window with the specified position, dimensions, and flags. - * - * `flags` may be any of the following OR'd together: - * - * - `SDL_WINDOW_FULLSCREEN`: fullscreen window - * - `SDL_WINDOW_FULLSCREEN_DESKTOP`: fullscreen window at desktop resolution - * - `SDL_WINDOW_OPENGL`: window usable with an OpenGL context - * - `SDL_WINDOW_VULKAN`: window usable with a Vulkan instance - * - `SDL_WINDOW_METAL`: window usable with a Metal instance - * - `SDL_WINDOW_HIDDEN`: window is not visible - * - `SDL_WINDOW_BORDERLESS`: no window decoration - * - `SDL_WINDOW_RESIZABLE`: window can be resized - * - `SDL_WINDOW_MINIMIZED`: window is minimized - * - `SDL_WINDOW_MAXIMIZED`: window is maximized - * - `SDL_WINDOW_INPUT_GRABBED`: window has grabbed input focus - * - `SDL_WINDOW_ALLOW_HIGHDPI`: window should be created in high-DPI mode if - * supported (>= SDL 2.0.1) - * - * `SDL_WINDOW_SHOWN` is ignored by SDL_CreateWindow(). The SDL_Window is - * implicitly shown if SDL_WINDOW_HIDDEN is not set. `SDL_WINDOW_SHOWN` may be - * queried later using SDL_GetWindowFlags(). - * - * On Apple's macOS, you **must** set the NSHighResolutionCapable Info.plist - * property to YES, otherwise you will not receive a High-DPI OpenGL canvas. - * - * If the window is created with the `SDL_WINDOW_ALLOW_HIGHDPI` flag, its size - * in pixels may differ from its size in screen coordinates on platforms with - * high-DPI support (e.g. iOS and macOS). Use SDL_GetWindowSize() to query the - * client area's size in screen coordinates, and SDL_GL_GetDrawableSize() or - * SDL_GetRendererOutputSize() to query the drawable size in pixels. Note that - * when this flag is set, the drawable size can vary after the window is - * created and should be queried after major window events such as when the - * window is resized or moved between displays. - * - * If the window is set fullscreen, the width and height parameters `w` and - * `h` will not be used. However, invalid size parameters (e.g. too large) may - * still fail. Window size is actually limited to 16384 x 16384 for all - * platforms at window creation. - * - * If the window is created with any of the SDL_WINDOW_OPENGL or - * SDL_WINDOW_VULKAN flags, then the corresponding LoadLibrary function - * (SDL_GL_LoadLibrary or SDL_Vulkan_LoadLibrary) is called and the - * corresponding UnloadLibrary function is called by SDL_DestroyWindow(). - * - * If SDL_WINDOW_VULKAN is specified and there isn't a working Vulkan driver, - * SDL_CreateWindow() will fail because SDL_Vulkan_LoadLibrary() will fail. - * - * If SDL_WINDOW_METAL is specified on an OS that does not support Metal, - * SDL_CreateWindow() will fail. - * - * On non-Apple devices, SDL requires you to either not link to the Vulkan - * loader or link to a dynamic library version. This limitation may be removed - * in a future version of SDL. - * - * \param title the title of the window, in UTF-8 encoding - * \param x the x position of the window, `SDL_WINDOWPOS_CENTERED`, or - * `SDL_WINDOWPOS_UNDEFINED` - * \param y the y position of the window, `SDL_WINDOWPOS_CENTERED`, or - * `SDL_WINDOWPOS_UNDEFINED` - * \param w the width of the window, in screen coordinates - * \param h the height of the window, in screen coordinates - * \param flags 0, or one or more SDL_WindowFlags OR'd together - * \returns the window that was created or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateWindowFrom - * \sa SDL_DestroyWindow - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_CreateWindow(const char *title, - int x, int y, int w, - int h, Uint32 flags); - -/** - * Create an SDL window from an existing native window. - * - * In some cases (e.g. OpenGL) and on some platforms (e.g. Microsoft Windows) - * the hint `SDL_HINT_VIDEO_WINDOW_SHARE_PIXEL_FORMAT` needs to be configured - * before using SDL_CreateWindowFrom(). - * - * \param data a pointer to driver-dependent window creation data, typically - * your native window cast to a void* - * \returns the window that was created or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateWindow - * \sa SDL_DestroyWindow - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_CreateWindowFrom(const void *data); - -/** - * Get the numeric ID of a window. - * - * The numeric ID is what SDL_WindowEvent references, and is necessary to map - * these events to specific SDL_Window objects. - * - * \param window the window to query - * \returns the ID of the window on success or 0 on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowFromID - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetWindowID(SDL_Window * window); - -/** - * Get a window from a stored ID. - * - * The numeric ID is what SDL_WindowEvent references, and is necessary to map - * these events to specific SDL_Window objects. - * - * \param id the ID of the window - * \returns the window associated with `id` or NULL if it doesn't exist; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowID - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_GetWindowFromID(Uint32 id); - -/** - * Get the window flags. - * - * \param window the window to query - * \returns a mask of the SDL_WindowFlags associated with `window` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateWindow - * \sa SDL_HideWindow - * \sa SDL_MaximizeWindow - * \sa SDL_MinimizeWindow - * \sa SDL_SetWindowFullscreen - * \sa SDL_SetWindowGrab - * \sa SDL_ShowWindow - */ -extern DECLSPEC Uint32 SDLCALL SDL_GetWindowFlags(SDL_Window * window); - -/** - * Set the title of a window. - * - * This string is expected to be in UTF-8 encoding. - * - * \param window the window to change - * \param title the desired window title in UTF-8 format - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowTitle - */ -extern DECLSPEC void SDLCALL SDL_SetWindowTitle(SDL_Window * window, - const char *title); - -/** - * Get the title of a window. - * - * \param window the window to query - * \returns the title of the window in UTF-8 format or "" if there is no - * title. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowTitle - */ -extern DECLSPEC const char *SDLCALL SDL_GetWindowTitle(SDL_Window * window); - -/** - * Set the icon for a window. - * - * \param window the window to change - * \param icon an SDL_Surface structure containing the icon for the window - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_SetWindowIcon(SDL_Window * window, - SDL_Surface * icon); - -/** - * Associate an arbitrary named pointer with a window. - * - * `name` is case-sensitive. - * - * \param window the window to associate with the pointer - * \param name the name of the pointer - * \param userdata the associated pointer - * \returns the previous value associated with `name`. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowData - */ -extern DECLSPEC void* SDLCALL SDL_SetWindowData(SDL_Window * window, - const char *name, - void *userdata); - -/** - * Retrieve the data pointer associated with a window. - * - * \param window the window to query - * \param name the name of the pointer - * \returns the value associated with `name`. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowData - */ -extern DECLSPEC void *SDLCALL SDL_GetWindowData(SDL_Window * window, - const char *name); - -/** - * Set the position of a window. - * - * The window coordinate origin is the upper left of the display. - * - * \param window the window to reposition - * \param x the x coordinate of the window in screen coordinates, or - * `SDL_WINDOWPOS_CENTERED` or `SDL_WINDOWPOS_UNDEFINED` - * \param y the y coordinate of the window in screen coordinates, or - * `SDL_WINDOWPOS_CENTERED` or `SDL_WINDOWPOS_UNDEFINED` - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowPosition - */ -extern DECLSPEC void SDLCALL SDL_SetWindowPosition(SDL_Window * window, - int x, int y); - -/** - * Get the position of a window. - * - * If you do not need the value for one of the positions a NULL may be passed - * in the `x` or `y` parameter. - * - * \param window the window to query - * \param x a pointer filled in with the x position of the window, in screen - * coordinates, may be NULL - * \param y a pointer filled in with the y position of the window, in screen - * coordinates, may be NULL - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowPosition - */ -extern DECLSPEC void SDLCALL SDL_GetWindowPosition(SDL_Window * window, - int *x, int *y); - -/** - * Set the size of a window's client area. - * - * The window size in screen coordinates may differ from the size in pixels, - * if the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a platform - * with high-dpi support (e.g. iOS or macOS). Use SDL_GL_GetDrawableSize() or - * SDL_GetRendererOutputSize() to get the real client area size in pixels. - * - * Fullscreen windows automatically match the size of the display mode, and - * you should use SDL_SetWindowDisplayMode() to change their size. - * - * \param window the window to change - * \param w the width of the window in pixels, in screen coordinates, must be - * > 0 - * \param h the height of the window in pixels, in screen coordinates, must be - * > 0 - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowSize - * \sa SDL_SetWindowDisplayMode - */ -extern DECLSPEC void SDLCALL SDL_SetWindowSize(SDL_Window * window, int w, - int h); - -/** - * Get the size of a window's client area. - * - * NULL can safely be passed as the `w` or `h` parameter if the width or - * height value is not desired. - * - * The window size in screen coordinates may differ from the size in pixels, - * if the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a platform - * with high-dpi support (e.g. iOS or macOS). Use SDL_GL_GetDrawableSize(), - * SDL_Vulkan_GetDrawableSize(), or SDL_GetRendererOutputSize() to get the - * real client area size in pixels. - * - * \param window the window to query the width and height from - * \param w a pointer filled in with the width of the window, in screen - * coordinates, may be NULL - * \param h a pointer filled in with the height of the window, in screen - * coordinates, may be NULL - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_GetDrawableSize - * \sa SDL_Vulkan_GetDrawableSize - * \sa SDL_SetWindowSize - */ -extern DECLSPEC void SDLCALL SDL_GetWindowSize(SDL_Window * window, int *w, - int *h); - -/** - * Get the size of a window's borders (decorations) around the client area. - * - * Note: If this function fails (returns -1), the size values will be - * initialized to 0, 0, 0, 0 (if a non-NULL pointer is provided), as if the - * window in question was borderless. - * - * Note: This function may fail on systems where the window has not yet been - * decorated by the display server (for example, immediately after calling - * SDL_CreateWindow). It is recommended that you wait at least until the - * window has been presented and composited, so that the window system has a - * chance to decorate the window and provide the border dimensions to SDL. - * - * This function also returns -1 if getting the information is not supported. - * - * \param window the window to query the size values of the border - * (decorations) from - * \param top pointer to variable for storing the size of the top border; NULL - * is permitted - * \param left pointer to variable for storing the size of the left border; - * NULL is permitted - * \param bottom pointer to variable for storing the size of the bottom - * border; NULL is permitted - * \param right pointer to variable for storing the size of the right border; - * NULL is permitted - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_GetWindowSize - */ -extern DECLSPEC int SDLCALL SDL_GetWindowBordersSize(SDL_Window * window, - int *top, int *left, - int *bottom, int *right); - -/** - * Get the size of a window in pixels. - * - * This may differ from SDL_GetWindowSize() if we're rendering to a high-DPI - * drawable, i.e. the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a - * platform with high-DPI support (Apple calls this "Retina"), and not - * disabled by the `SDL_HINT_VIDEO_HIGHDPI_DISABLED` hint. - * - * \param window the window from which the drawable size should be queried - * \param w a pointer to variable for storing the width in pixels, may be NULL - * \param h a pointer to variable for storing the height in pixels, may be - * NULL - * - * \since This function is available since SDL 2.26.0. - * - * \sa SDL_CreateWindow - * \sa SDL_GetWindowSize - */ -extern DECLSPEC void SDLCALL SDL_GetWindowSizeInPixels(SDL_Window * window, - int *w, int *h); - -/** - * Set the minimum size of a window's client area. - * - * \param window the window to change - * \param min_w the minimum width of the window in pixels - * \param min_h the minimum height of the window in pixels - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowMinimumSize - * \sa SDL_SetWindowMaximumSize - */ -extern DECLSPEC void SDLCALL SDL_SetWindowMinimumSize(SDL_Window * window, - int min_w, int min_h); - -/** - * Get the minimum size of a window's client area. - * - * \param window the window to query - * \param w a pointer filled in with the minimum width of the window, may be - * NULL - * \param h a pointer filled in with the minimum height of the window, may be - * NULL - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowMaximumSize - * \sa SDL_SetWindowMinimumSize - */ -extern DECLSPEC void SDLCALL SDL_GetWindowMinimumSize(SDL_Window * window, - int *w, int *h); - -/** - * Set the maximum size of a window's client area. - * - * \param window the window to change - * \param max_w the maximum width of the window in pixels - * \param max_h the maximum height of the window in pixels - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowMaximumSize - * \sa SDL_SetWindowMinimumSize - */ -extern DECLSPEC void SDLCALL SDL_SetWindowMaximumSize(SDL_Window * window, - int max_w, int max_h); - -/** - * Get the maximum size of a window's client area. - * - * \param window the window to query - * \param w a pointer filled in with the maximum width of the window, may be - * NULL - * \param h a pointer filled in with the maximum height of the window, may be - * NULL - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowMinimumSize - * \sa SDL_SetWindowMaximumSize - */ -extern DECLSPEC void SDLCALL SDL_GetWindowMaximumSize(SDL_Window * window, - int *w, int *h); - -/** - * Set the border state of a window. - * - * This will add or remove the window's `SDL_WINDOW_BORDERLESS` flag and add - * or remove the border from the actual window. This is a no-op if the - * window's border already matches the requested state. - * - * You can't change the border state of a fullscreen window. - * - * \param window the window of which to change the border state - * \param bordered SDL_FALSE to remove border, SDL_TRUE to add border - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowFlags - */ -extern DECLSPEC void SDLCALL SDL_SetWindowBordered(SDL_Window * window, - SDL_bool bordered); - -/** - * Set the user-resizable state of a window. - * - * This will add or remove the window's `SDL_WINDOW_RESIZABLE` flag and - * allow/disallow user resizing of the window. This is a no-op if the window's - * resizable state already matches the requested state. - * - * You can't change the resizable state of a fullscreen window. - * - * \param window the window of which to change the resizable state - * \param resizable SDL_TRUE to allow resizing, SDL_FALSE to disallow - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_GetWindowFlags - */ -extern DECLSPEC void SDLCALL SDL_SetWindowResizable(SDL_Window * window, - SDL_bool resizable); - -/** - * Set the window to always be above the others. - * - * This will add or remove the window's `SDL_WINDOW_ALWAYS_ON_TOP` flag. This - * will bring the window to the front and keep the window above the rest. - * - * \param window The window of which to change the always on top state - * \param on_top SDL_TRUE to set the window always on top, SDL_FALSE to - * disable - * - * \since This function is available since SDL 2.0.16. - * - * \sa SDL_GetWindowFlags - */ -extern DECLSPEC void SDLCALL SDL_SetWindowAlwaysOnTop(SDL_Window * window, - SDL_bool on_top); - -/** - * Show a window. - * - * \param window the window to show - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_HideWindow - * \sa SDL_RaiseWindow - */ -extern DECLSPEC void SDLCALL SDL_ShowWindow(SDL_Window * window); - -/** - * Hide a window. - * - * \param window the window to hide - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_ShowWindow - */ -extern DECLSPEC void SDLCALL SDL_HideWindow(SDL_Window * window); - -/** - * Raise a window above other windows and set the input focus. - * - * \param window the window to raise - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_RaiseWindow(SDL_Window * window); - -/** - * Make a window as large as possible. - * - * \param window the window to maximize - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_MinimizeWindow - * \sa SDL_RestoreWindow - */ -extern DECLSPEC void SDLCALL SDL_MaximizeWindow(SDL_Window * window); - -/** - * Minimize a window to an iconic representation. - * - * \param window the window to minimize - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_MaximizeWindow - * \sa SDL_RestoreWindow - */ -extern DECLSPEC void SDLCALL SDL_MinimizeWindow(SDL_Window * window); - -/** - * Restore the size and position of a minimized or maximized window. - * - * \param window the window to restore - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_MaximizeWindow - * \sa SDL_MinimizeWindow - */ -extern DECLSPEC void SDLCALL SDL_RestoreWindow(SDL_Window * window); - -/** - * Set a window's fullscreen state. - * - * `flags` may be `SDL_WINDOW_FULLSCREEN`, for "real" fullscreen with a - * videomode change; `SDL_WINDOW_FULLSCREEN_DESKTOP` for "fake" fullscreen - * that takes the size of the desktop; and 0 for windowed mode. - * - * \param window the window to change - * \param flags `SDL_WINDOW_FULLSCREEN`, `SDL_WINDOW_FULLSCREEN_DESKTOP` or 0 - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowDisplayMode - * \sa SDL_SetWindowDisplayMode - */ -extern DECLSPEC int SDLCALL SDL_SetWindowFullscreen(SDL_Window * window, - Uint32 flags); - -/** - * Get the SDL surface associated with the window. - * - * A new surface will be created with the optimal format for the window, if - * necessary. This surface will be freed when the window is destroyed. Do not - * free this surface. - * - * This surface will be invalidated if the window is resized. After resizing a - * window this function must be called again to return a valid surface. - * - * You may not combine this with 3D or the rendering API on this window. - * - * This function is affected by `SDL_HINT_FRAMEBUFFER_ACCELERATION`. - * - * \param window the window to query - * \returns the surface associated with the window, or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_UpdateWindowSurface - * \sa SDL_UpdateWindowSurfaceRects - */ -extern DECLSPEC SDL_Surface * SDLCALL SDL_GetWindowSurface(SDL_Window * window); - -/** - * Copy the window surface to the screen. - * - * This is the function you use to reflect any changes to the surface on the - * screen. - * - * This function is equivalent to the SDL 1.2 API SDL_Flip(). - * - * \param window the window to update - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowSurface - * \sa SDL_UpdateWindowSurfaceRects - */ -extern DECLSPEC int SDLCALL SDL_UpdateWindowSurface(SDL_Window * window); - -/** - * Copy areas of the window surface to the screen. - * - * This is the function you use to reflect changes to portions of the surface - * on the screen. - * - * This function is equivalent to the SDL 1.2 API SDL_UpdateRects(). - * - * \param window the window to update - * \param rects an array of SDL_Rect structures representing areas of the - * surface to copy - * \param numrects the number of rectangles - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowSurface - * \sa SDL_UpdateWindowSurface - */ -extern DECLSPEC int SDLCALL SDL_UpdateWindowSurfaceRects(SDL_Window * window, - const SDL_Rect * rects, - int numrects); - -/** - * Set a window's input grab mode. - * - * When input is grabbed, the mouse is confined to the window. This function - * will also grab the keyboard if `SDL_HINT_GRAB_KEYBOARD` is set. To grab the - * keyboard without also grabbing the mouse, use SDL_SetWindowKeyboardGrab(). - * - * If the caller enables a grab while another window is currently grabbed, the - * other window loses its grab in favor of the caller's window. - * - * \param window the window for which the input grab mode should be set - * \param grabbed SDL_TRUE to grab input or SDL_FALSE to release input - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetGrabbedWindow - * \sa SDL_GetWindowGrab - */ -extern DECLSPEC void SDLCALL SDL_SetWindowGrab(SDL_Window * window, - SDL_bool grabbed); - -/** - * Set a window's keyboard grab mode. - * - * Keyboard grab enables capture of system keyboard shortcuts like Alt+Tab or - * the Meta/Super key. Note that not all system keyboard shortcuts can be - * captured by applications (one example is Ctrl+Alt+Del on Windows). - * - * This is primarily intended for specialized applications such as VNC clients - * or VM frontends. Normal games should not use keyboard grab. - * - * When keyboard grab is enabled, SDL will continue to handle Alt+Tab when the - * window is full-screen to ensure the user is not trapped in your - * application. If you have a custom keyboard shortcut to exit fullscreen - * mode, you may suppress this behavior with - * `SDL_HINT_ALLOW_ALT_TAB_WHILE_GRABBED`. - * - * If the caller enables a grab while another window is currently grabbed, the - * other window loses its grab in favor of the caller's window. - * - * \param window The window for which the keyboard grab mode should be set. - * \param grabbed This is SDL_TRUE to grab keyboard, and SDL_FALSE to release. - * - * \since This function is available since SDL 2.0.16. - * - * \sa SDL_GetWindowKeyboardGrab - * \sa SDL_SetWindowMouseGrab - * \sa SDL_SetWindowGrab - */ -extern DECLSPEC void SDLCALL SDL_SetWindowKeyboardGrab(SDL_Window * window, - SDL_bool grabbed); - -/** - * Set a window's mouse grab mode. - * - * Mouse grab confines the mouse cursor to the window. - * - * \param window The window for which the mouse grab mode should be set. - * \param grabbed This is SDL_TRUE to grab mouse, and SDL_FALSE to release. - * - * \since This function is available since SDL 2.0.16. - * - * \sa SDL_GetWindowMouseGrab - * \sa SDL_SetWindowKeyboardGrab - * \sa SDL_SetWindowGrab - */ -extern DECLSPEC void SDLCALL SDL_SetWindowMouseGrab(SDL_Window * window, - SDL_bool grabbed); - -/** - * Get a window's input grab mode. - * - * \param window the window to query - * \returns SDL_TRUE if input is grabbed, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowGrab - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowGrab(SDL_Window * window); - -/** - * Get a window's keyboard grab mode. - * - * \param window the window to query - * \returns SDL_TRUE if keyboard is grabbed, and SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.16. - * - * \sa SDL_SetWindowKeyboardGrab - * \sa SDL_GetWindowGrab - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowKeyboardGrab(SDL_Window * window); - -/** - * Get a window's mouse grab mode. - * - * \param window the window to query - * \returns SDL_TRUE if mouse is grabbed, and SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.16. - * - * \sa SDL_SetWindowKeyboardGrab - * \sa SDL_GetWindowGrab - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GetWindowMouseGrab(SDL_Window * window); - -/** - * Get the window that currently has an input grab enabled. - * - * \returns the window if input is grabbed or NULL otherwise. - * - * \since This function is available since SDL 2.0.4. - * - * \sa SDL_GetWindowGrab - * \sa SDL_SetWindowGrab - */ -extern DECLSPEC SDL_Window * SDLCALL SDL_GetGrabbedWindow(void); - -/** - * Confines the cursor to the specified area of a window. - * - * Note that this does NOT grab the cursor, it only defines the area a cursor - * is restricted to when the window has mouse focus. - * - * \param window The window that will be associated with the barrier. - * \param rect A rectangle area in window-relative coordinates. If NULL the - * barrier for the specified window will be destroyed. - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_GetWindowMouseRect - * \sa SDL_SetWindowMouseGrab - */ -extern DECLSPEC int SDLCALL SDL_SetWindowMouseRect(SDL_Window * window, const SDL_Rect * rect); - -/** - * Get the mouse confinement rectangle of a window. - * - * \param window The window to query - * \returns A pointer to the mouse confinement rectangle of a window, or NULL - * if there isn't one. - * - * \since This function is available since SDL 2.0.18. - * - * \sa SDL_SetWindowMouseRect - */ -extern DECLSPEC const SDL_Rect * SDLCALL SDL_GetWindowMouseRect(SDL_Window * window); - -/** - * Set the brightness (gamma multiplier) for a given window's display. - * - * Despite the name and signature, this method sets the brightness of the - * entire display, not an individual window. A window is considered to be - * owned by the display that contains the window's center pixel. (The index of - * this display can be retrieved using SDL_GetWindowDisplayIndex().) The - * brightness set will not follow the window if it is moved to another - * display. - * - * Many platforms will refuse to set the display brightness in modern times. - * You are better off using a shader to adjust gamma during rendering, or - * something similar. - * - * \param window the window used to select the display whose brightness will - * be changed - * \param brightness the brightness (gamma multiplier) value to set where 0.0 - * is completely dark and 1.0 is normal brightness - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowBrightness - * \sa SDL_SetWindowGammaRamp - */ -extern DECLSPEC int SDLCALL SDL_SetWindowBrightness(SDL_Window * window, float brightness); - -/** - * Get the brightness (gamma multiplier) for a given window's display. - * - * Despite the name and signature, this method retrieves the brightness of the - * entire display, not an individual window. A window is considered to be - * owned by the display that contains the window's center pixel. (The index of - * this display can be retrieved using SDL_GetWindowDisplayIndex().) - * - * \param window the window used to select the display whose brightness will - * be queried - * \returns the brightness for the display where 0.0 is completely dark and - * 1.0 is normal brightness. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowBrightness - */ -extern DECLSPEC float SDLCALL SDL_GetWindowBrightness(SDL_Window * window); - -/** - * Set the opacity for a window. - * - * The parameter `opacity` will be clamped internally between 0.0f - * (transparent) and 1.0f (opaque). - * - * This function also returns -1 if setting the opacity isn't supported. - * - * \param window the window which will be made transparent or opaque - * \param opacity the opacity value (0.0f - transparent, 1.0f - opaque) - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_GetWindowOpacity - */ -extern DECLSPEC int SDLCALL SDL_SetWindowOpacity(SDL_Window * window, float opacity); - -/** - * Get the opacity of a window. - * - * If transparency isn't supported on this platform, opacity will be reported - * as 1.0f without error. - * - * The parameter `opacity` is ignored if it is NULL. - * - * This function also returns -1 if an invalid window was provided. - * - * \param window the window to get the current opacity value from - * \param out_opacity the float filled in (0.0f - transparent, 1.0f - opaque) - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_SetWindowOpacity - */ -extern DECLSPEC int SDLCALL SDL_GetWindowOpacity(SDL_Window * window, float * out_opacity); - -/** - * Set the window as a modal for another window. - * - * \param modal_window the window that should be set modal - * \param parent_window the parent window for the modal window - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - */ -extern DECLSPEC int SDLCALL SDL_SetWindowModalFor(SDL_Window * modal_window, SDL_Window * parent_window); - -/** - * Explicitly set input focus to the window. - * - * You almost certainly want SDL_RaiseWindow() instead of this function. Use - * this with caution, as you might give focus to a window that is completely - * obscured by other windows. - * - * \param window the window that should get the input focus - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.5. - * - * \sa SDL_RaiseWindow - */ -extern DECLSPEC int SDLCALL SDL_SetWindowInputFocus(SDL_Window * window); - -/** - * Set the gamma ramp for the display that owns a given window. - * - * Set the gamma translation table for the red, green, and blue channels of - * the video hardware. Each table is an array of 256 16-bit quantities, - * representing a mapping between the input and output for that channel. The - * input is the index into the array, and the output is the 16-bit gamma value - * at that index, scaled to the output color precision. - * - * Despite the name and signature, this method sets the gamma ramp of the - * entire display, not an individual window. A window is considered to be - * owned by the display that contains the window's center pixel. (The index of - * this display can be retrieved using SDL_GetWindowDisplayIndex().) The gamma - * ramp set will not follow the window if it is moved to another display. - * - * \param window the window used to select the display whose gamma ramp will - * be changed - * \param red a 256 element array of 16-bit quantities representing the - * translation table for the red channel, or NULL - * \param green a 256 element array of 16-bit quantities representing the - * translation table for the green channel, or NULL - * \param blue a 256 element array of 16-bit quantities representing the - * translation table for the blue channel, or NULL - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GetWindowGammaRamp - */ -extern DECLSPEC int SDLCALL SDL_SetWindowGammaRamp(SDL_Window * window, - const Uint16 * red, - const Uint16 * green, - const Uint16 * blue); - -/** - * Get the gamma ramp for a given window's display. - * - * Despite the name and signature, this method retrieves the gamma ramp of the - * entire display, not an individual window. A window is considered to be - * owned by the display that contains the window's center pixel. (The index of - * this display can be retrieved using SDL_GetWindowDisplayIndex().) - * - * \param window the window used to select the display whose gamma ramp will - * be queried - * \param red a 256 element array of 16-bit quantities filled in with the - * translation table for the red channel, or NULL - * \param green a 256 element array of 16-bit quantities filled in with the - * translation table for the green channel, or NULL - * \param blue a 256 element array of 16-bit quantities filled in with the - * translation table for the blue channel, or NULL - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_SetWindowGammaRamp - */ -extern DECLSPEC int SDLCALL SDL_GetWindowGammaRamp(SDL_Window * window, - Uint16 * red, - Uint16 * green, - Uint16 * blue); - -/** - * Possible return values from the SDL_HitTest callback. - * - * \sa SDL_HitTest - */ -typedef enum -{ - SDL_HITTEST_NORMAL, /**< Region is normal. No special properties. */ - SDL_HITTEST_DRAGGABLE, /**< Region can drag entire window. */ - SDL_HITTEST_RESIZE_TOPLEFT, - SDL_HITTEST_RESIZE_TOP, - SDL_HITTEST_RESIZE_TOPRIGHT, - SDL_HITTEST_RESIZE_RIGHT, - SDL_HITTEST_RESIZE_BOTTOMRIGHT, - SDL_HITTEST_RESIZE_BOTTOM, - SDL_HITTEST_RESIZE_BOTTOMLEFT, - SDL_HITTEST_RESIZE_LEFT -} SDL_HitTestResult; - -/** - * Callback used for hit-testing. - * - * \param win the SDL_Window where hit-testing was set on - * \param area an SDL_Point which should be hit-tested - * \param data what was passed as `callback_data` to SDL_SetWindowHitTest() - * \return an SDL_HitTestResult value. - * - * \sa SDL_SetWindowHitTest - */ -typedef SDL_HitTestResult (SDLCALL *SDL_HitTest)(SDL_Window *win, - const SDL_Point *area, - void *data); - -/** - * Provide a callback that decides if a window region has special properties. - * - * Normally windows are dragged and resized by decorations provided by the - * system window manager (a title bar, borders, etc), but for some apps, it - * makes sense to drag them from somewhere else inside the window itself; for - * example, one might have a borderless window that wants to be draggable from - * any part, or simulate its own title bar, etc. - * - * This function lets the app provide a callback that designates pieces of a - * given window as special. This callback is run during event processing if we - * need to tell the OS to treat a region of the window specially; the use of - * this callback is known as "hit testing." - * - * Mouse input may not be delivered to your application if it is within a - * special area; the OS will often apply that input to moving the window or - * resizing the window and not deliver it to the application. - * - * Specifying NULL for a callback disables hit-testing. Hit-testing is - * disabled by default. - * - * Platforms that don't support this functionality will return -1 - * unconditionally, even if you're attempting to disable hit-testing. - * - * Your callback may fire at any time, and its firing does not indicate any - * specific behavior (for example, on Windows, this certainly might fire when - * the OS is deciding whether to drag your window, but it fires for lots of - * other reasons, too, some unrelated to anything you probably care about _and - * when the mouse isn't actually at the location it is testing_). Since this - * can fire at any time, you should try to keep your callback efficient, - * devoid of allocations, etc. - * - * \param window the window to set hit-testing on - * \param callback the function to call when doing a hit-test - * \param callback_data an app-defined void pointer passed to **callback** - * \returns 0 on success or -1 on error (including unsupported); call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.4. - */ -extern DECLSPEC int SDLCALL SDL_SetWindowHitTest(SDL_Window * window, - SDL_HitTest callback, - void *callback_data); - -/** - * Request a window to demand attention from the user. - * - * \param window the window to be flashed - * \param operation the flash operation - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.16. - */ -extern DECLSPEC int SDLCALL SDL_FlashWindow(SDL_Window * window, SDL_FlashOperation operation); - -/** - * Destroy a window. - * - * If `window` is NULL, this function will return immediately after setting - * the SDL error message to "Invalid window". See SDL_GetError(). - * - * \param window the window to destroy - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_CreateWindow - * \sa SDL_CreateWindowFrom - */ -extern DECLSPEC void SDLCALL SDL_DestroyWindow(SDL_Window * window); - - -/** - * Check whether the screensaver is currently enabled. - * - * The screensaver is disabled by default since SDL 2.0.2. Before SDL 2.0.2 - * the screensaver was enabled by default. - * - * The default can also be changed using `SDL_HINT_VIDEO_ALLOW_SCREENSAVER`. - * - * \returns SDL_TRUE if the screensaver is enabled, SDL_FALSE if it is - * disabled. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DisableScreenSaver - * \sa SDL_EnableScreenSaver - */ -extern DECLSPEC SDL_bool SDLCALL SDL_IsScreenSaverEnabled(void); - -/** - * Allow the screen to be blanked by a screen saver. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_DisableScreenSaver - * \sa SDL_IsScreenSaverEnabled - */ -extern DECLSPEC void SDLCALL SDL_EnableScreenSaver(void); - -/** - * Prevent the screen from being blanked by a screen saver. - * - * If you disable the screensaver, it is automatically re-enabled when SDL - * quits. - * - * The screensaver is disabled by default since SDL 2.0.2. Before SDL 2.0.2 - * the screensaver was enabled by default. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_EnableScreenSaver - * \sa SDL_IsScreenSaverEnabled - */ -extern DECLSPEC void SDLCALL SDL_DisableScreenSaver(void); - - -/** - * \name OpenGL support functions - */ -/* @{ */ - -/** - * Dynamically load an OpenGL library. - * - * This should be done after initializing the video driver, but before - * creating any OpenGL windows. If no OpenGL library is loaded, the default - * library will be loaded upon creation of the first OpenGL window. - * - * If you do this, you need to retrieve all of the GL functions used in your - * program from the dynamic library using SDL_GL_GetProcAddress(). - * - * \param path the platform dependent OpenGL library name, or NULL to open the - * default OpenGL library - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_GetProcAddress - * \sa SDL_GL_UnloadLibrary - */ -extern DECLSPEC int SDLCALL SDL_GL_LoadLibrary(const char *path); - -/** - * Get an OpenGL function by name. - * - * If the GL library is loaded at runtime with SDL_GL_LoadLibrary(), then all - * GL functions must be retrieved this way. Usually this is used to retrieve - * function pointers to OpenGL extensions. - * - * There are some quirks to looking up OpenGL functions that require some - * extra care from the application. If you code carefully, you can handle - * these quirks without any platform-specific code, though: - * - * - On Windows, function pointers are specific to the current GL context; - * this means you need to have created a GL context and made it current - * before calling SDL_GL_GetProcAddress(). If you recreate your context or - * create a second context, you should assume that any existing function - * pointers aren't valid to use with it. This is (currently) a - * Windows-specific limitation, and in practice lots of drivers don't suffer - * this limitation, but it is still the way the wgl API is documented to - * work and you should expect crashes if you don't respect it. Store a copy - * of the function pointers that comes and goes with context lifespan. - * - On X11, function pointers returned by this function are valid for any - * context, and can even be looked up before a context is created at all. - * This means that, for at least some common OpenGL implementations, if you - * look up a function that doesn't exist, you'll get a non-NULL result that - * is _NOT_ safe to call. You must always make sure the function is actually - * available for a given GL context before calling it, by checking for the - * existence of the appropriate extension with SDL_GL_ExtensionSupported(), - * or verifying that the version of OpenGL you're using offers the function - * as core functionality. - * - Some OpenGL drivers, on all platforms, *will* return NULL if a function - * isn't supported, but you can't count on this behavior. Check for - * extensions you use, and if you get a NULL anyway, act as if that - * extension wasn't available. This is probably a bug in the driver, but you - * can code defensively for this scenario anyhow. - * - Just because you're on Linux/Unix, don't assume you'll be using X11. - * Next-gen display servers are waiting to replace it, and may or may not - * make the same promises about function pointers. - * - OpenGL function pointers must be declared `APIENTRY` as in the example - * code. This will ensure the proper calling convention is followed on - * platforms where this matters (Win32) thereby avoiding stack corruption. - * - * \param proc the name of an OpenGL function - * \returns a pointer to the named OpenGL function. The returned pointer - * should be cast to the appropriate function signature. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_ExtensionSupported - * \sa SDL_GL_LoadLibrary - * \sa SDL_GL_UnloadLibrary - */ -extern DECLSPEC void *SDLCALL SDL_GL_GetProcAddress(const char *proc); - -/** - * Unload the OpenGL library previously loaded by SDL_GL_LoadLibrary(). - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_LoadLibrary - */ -extern DECLSPEC void SDLCALL SDL_GL_UnloadLibrary(void); - -/** - * Check if an OpenGL extension is supported for the current context. - * - * This function operates on the current GL context; you must have created a - * context and it must be current before calling this function. Do not assume - * that all contexts you create will have the same set of extensions - * available, or that recreating an existing context will offer the same - * extensions again. - * - * While it's probably not a massive overhead, this function is not an O(1) - * operation. Check the extensions you care about after creating the GL - * context and save that information somewhere instead of calling the function - * every time you need to know. - * - * \param extension the name of the extension to check - * \returns SDL_TRUE if the extension is supported, SDL_FALSE otherwise. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_bool SDLCALL SDL_GL_ExtensionSupported(const char - *extension); - -/** - * Reset all previously set OpenGL context attributes to their default values. - * - * \since This function is available since SDL 2.0.2. - * - * \sa SDL_GL_GetAttribute - * \sa SDL_GL_SetAttribute - */ -extern DECLSPEC void SDLCALL SDL_GL_ResetAttributes(void); - -/** - * Set an OpenGL window attribute before window creation. - * - * This function sets the OpenGL attribute `attr` to `value`. The requested - * attributes should be set before creating an OpenGL window. You should use - * SDL_GL_GetAttribute() to check the values after creating the OpenGL - * context, since the values obtained can differ from the requested ones. - * - * \param attr an SDL_GLattr enum value specifying the OpenGL attribute to set - * \param value the desired value for the attribute - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_GetAttribute - * \sa SDL_GL_ResetAttributes - */ -extern DECLSPEC int SDLCALL SDL_GL_SetAttribute(SDL_GLattr attr, int value); - -/** - * Get the actual value for an attribute from the current context. - * - * \param attr an SDL_GLattr enum value specifying the OpenGL attribute to get - * \param value a pointer filled in with the current value of `attr` - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_ResetAttributes - * \sa SDL_GL_SetAttribute - */ -extern DECLSPEC int SDLCALL SDL_GL_GetAttribute(SDL_GLattr attr, int *value); - -/** - * Create an OpenGL context for an OpenGL window, and make it current. - * - * Windows users new to OpenGL should note that, for historical reasons, GL - * functions added after OpenGL version 1.1 are not available by default. - * Those functions must be loaded at run-time, either with an OpenGL - * extension-handling library or with SDL_GL_GetProcAddress() and its related - * functions. - * - * SDL_GLContext is an alias for `void *`. It's opaque to the application. - * - * \param window the window to associate with the context - * \returns the OpenGL context associated with `window` or NULL on error; call - * SDL_GetError() for more details. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_DeleteContext - * \sa SDL_GL_MakeCurrent - */ -extern DECLSPEC SDL_GLContext SDLCALL SDL_GL_CreateContext(SDL_Window * - window); - -/** - * Set up an OpenGL context for rendering into an OpenGL window. - * - * The context must have been created with a compatible window. - * - * \param window the window to associate with the context - * \param context the OpenGL context to associate with the window - * \returns 0 on success or a negative error code on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_CreateContext - */ -extern DECLSPEC int SDLCALL SDL_GL_MakeCurrent(SDL_Window * window, - SDL_GLContext context); - -/** - * Get the currently active OpenGL window. - * - * \returns the currently active OpenGL window on success or NULL on failure; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC SDL_Window* SDLCALL SDL_GL_GetCurrentWindow(void); - -/** - * Get the currently active OpenGL context. - * - * \returns the currently active OpenGL context or NULL on failure; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_MakeCurrent - */ -extern DECLSPEC SDL_GLContext SDLCALL SDL_GL_GetCurrentContext(void); - -/** - * Get the size of a window's underlying drawable in pixels. - * - * This returns info useful for calling glViewport(). - * - * This may differ from SDL_GetWindowSize() if we're rendering to a high-DPI - * drawable, i.e. the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a - * platform with high-DPI support (Apple calls this "Retina"), and not - * disabled by the `SDL_HINT_VIDEO_HIGHDPI_DISABLED` hint. - * - * \param window the window from which the drawable size should be queried - * \param w a pointer to variable for storing the width in pixels, may be NULL - * \param h a pointer to variable for storing the height in pixels, may be - * NULL - * - * \since This function is available since SDL 2.0.1. - * - * \sa SDL_CreateWindow - * \sa SDL_GetWindowSize - */ -extern DECLSPEC void SDLCALL SDL_GL_GetDrawableSize(SDL_Window * window, int *w, - int *h); - -/** - * Set the swap interval for the current OpenGL context. - * - * Some systems allow specifying -1 for the interval, to enable adaptive - * vsync. Adaptive vsync works the same as vsync, but if you've already missed - * the vertical retrace for a given frame, it swaps buffers immediately, which - * might be less jarring for the user during occasional framerate drops. If an - * application requests adaptive vsync and the system does not support it, - * this function will fail and return -1. In such a case, you should probably - * retry the call with 1 for the interval. - * - * Adaptive vsync is implemented for some glX drivers with - * GLX_EXT_swap_control_tear, and for some Windows drivers with - * WGL_EXT_swap_control_tear. - * - * Read more on the Khronos wiki: - * https://www.khronos.org/opengl/wiki/Swap_Interval#Adaptive_Vsync - * - * \param interval 0 for immediate updates, 1 for updates synchronized with - * the vertical retrace, -1 for adaptive vsync - * \returns 0 on success or -1 if setting the swap interval is not supported; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_GetSwapInterval - */ -extern DECLSPEC int SDLCALL SDL_GL_SetSwapInterval(int interval); - -/** - * Get the swap interval for the current OpenGL context. - * - * If the system can't determine the swap interval, or there isn't a valid - * current context, this function will return 0 as a safe default. - * - * \returns 0 if there is no vertical retrace synchronization, 1 if the buffer - * swap is synchronized with the vertical retrace, and -1 if late - * swaps happen immediately instead of waiting for the next retrace; - * call SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_SetSwapInterval - */ -extern DECLSPEC int SDLCALL SDL_GL_GetSwapInterval(void); - -/** - * Update a window with OpenGL rendering. - * - * This is used with double-buffered OpenGL contexts, which are the default. - * - * On macOS, make sure you bind 0 to the draw framebuffer before swapping the - * window, otherwise nothing will happen. If you aren't using - * glBindFramebuffer(), this is the default and you won't have to do anything - * extra. - * - * \param window the window to change - * - * \since This function is available since SDL 2.0.0. - */ -extern DECLSPEC void SDLCALL SDL_GL_SwapWindow(SDL_Window * window); - -/** - * Delete an OpenGL context. - * - * \param context the OpenGL context to be deleted - * - * \since This function is available since SDL 2.0.0. - * - * \sa SDL_GL_CreateContext - */ -extern DECLSPEC void SDLCALL SDL_GL_DeleteContext(SDL_GLContext context); - -/* @} *//* OpenGL support functions */ - - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_video_h_ */ - -/* vi: set ts=4 sw=4 expandtab: */ diff --git a/subprojects/sdl2_windows/include/SDL2/SDL_vulkan.h b/subprojects/sdl2_windows/include/SDL2/SDL_vulkan.h deleted file mode 100644 index ab86a0b86..000000000 --- a/subprojects/sdl2_windows/include/SDL2/SDL_vulkan.h +++ /dev/null @@ -1,215 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 2017, Mark Callow - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file SDL_vulkan.h - * - * Header file for functions to creating Vulkan surfaces on SDL windows. - */ - -#ifndef SDL_vulkan_h_ -#define SDL_vulkan_h_ - -#include "SDL_video.h" - -#include "begin_code.h" -/* Set up for C function definitions, even when using C++ */ -#ifdef __cplusplus -extern "C" { -#endif - -/* Avoid including vulkan.h, don't define VkInstance if it's already included */ -#ifdef VULKAN_H_ -#define NO_SDL_VULKAN_TYPEDEFS -#endif -#ifndef NO_SDL_VULKAN_TYPEDEFS -#define VK_DEFINE_HANDLE(object) typedef struct object##_T* object; - -#if defined(__LP64__) || defined(_WIN64) || defined(__x86_64__) || defined(_M_X64) || defined(__ia64) || defined (_M_IA64) || defined(__aarch64__) || defined(__powerpc64__) -#define VK_DEFINE_NON_DISPATCHABLE_HANDLE(object) typedef struct object##_T *object; -#else -#define VK_DEFINE_NON_DISPATCHABLE_HANDLE(object) typedef uint64_t object; -#endif - -VK_DEFINE_HANDLE(VkInstance) -VK_DEFINE_NON_DISPATCHABLE_HANDLE(VkSurfaceKHR) - -#endif /* !NO_SDL_VULKAN_TYPEDEFS */ - -typedef VkInstance SDL_vulkanInstance; -typedef VkSurfaceKHR SDL_vulkanSurface; /* for compatibility with Tizen */ - -/** - * \name Vulkan support functions - * - * \note SDL_Vulkan_GetInstanceExtensions & SDL_Vulkan_CreateSurface API - * is compatable with Tizen's implementation of Vulkan in SDL. - */ -/* @{ */ - -/** - * Dynamically load the Vulkan loader library. - * - * This should be called after initializing the video driver, but before - * creating any Vulkan windows. If no Vulkan loader library is loaded, the - * default library will be loaded upon creation of the first Vulkan window. - * - * It is fairly common for Vulkan applications to link with libvulkan instead - * of explicitly loading it at run time. This will work with SDL provided the - * application links to a dynamic library and both it and SDL use the same - * search path. - * - * If you specify a non-NULL `path`, an application should retrieve all of the - * Vulkan functions it uses from the dynamic library using - * SDL_Vulkan_GetVkGetInstanceProcAddr unless you can guarantee `path` points - * to the same vulkan loader library the application linked to. - * - * On Apple devices, if `path` is NULL, SDL will attempt to find the - * `vkGetInstanceProcAddr` address within all the Mach-O images of the current - * process. This is because it is fairly common for Vulkan applications to - * link with libvulkan (and historically MoltenVK was provided as a static - * library). If it is not found, on macOS, SDL will attempt to load - * `vulkan.framework/vulkan`, `libvulkan.1.dylib`, - * `MoltenVK.framework/MoltenVK`, and `libMoltenVK.dylib`, in that order. On - * iOS, SDL will attempt to load `libMoltenVK.dylib`. Applications using a - * dynamic framework or .dylib must ensure it is included in its application - * bundle. - * - * On non-Apple devices, application linking with a static libvulkan is not - * supported. Either do not link to the Vulkan loader or link to a dynamic - * library version. - * - * \param path The platform dependent Vulkan loader library name or NULL - * \returns 0 on success or -1 if the library couldn't be loaded; call - * SDL_GetError() for more information. - * - * \since This function is available since SDL 2.0.6. - * - * \sa SDL_Vulkan_GetVkInstanceProcAddr - * \sa SDL_Vulkan_UnloadLibrary - */ -extern DECLSPEC int SDLCALL SDL_Vulkan_LoadLibrary(const char *path); - -/** - * Get the address of the `vkGetInstanceProcAddr` function. - * - * This should be called after either calling SDL_Vulkan_LoadLibrary() or - * creating an SDL_Window with the `SDL_WINDOW_VULKAN` flag. - * - * \returns the function pointer for `vkGetInstanceProcAddr` or NULL on error. - * - * \since This function is available since SDL 2.0.6. - */ -extern DECLSPEC void *SDLCALL SDL_Vulkan_GetVkGetInstanceProcAddr(void); - -/** - * Unload the Vulkan library previously loaded by SDL_Vulkan_LoadLibrary() - * - * \since This function is available since SDL 2.0.6. - * - * \sa SDL_Vulkan_LoadLibrary - */ -extern DECLSPEC void SDLCALL SDL_Vulkan_UnloadLibrary(void); - -/** - * Get the names of the Vulkan instance extensions needed to create a surface - * with SDL_Vulkan_CreateSurface. - * - * If `pNames` is NULL, then the number of required Vulkan instance extensions - * is returned in `pCount`. Otherwise, `pCount` must point to a variable set - * to the number of elements in the `pNames` array, and on return the variable - * is overwritten with the number of names actually written to `pNames`. If - * `pCount` is less than the number of required extensions, at most `pCount` - * structures will be written. If `pCount` is smaller than the number of - * required extensions, SDL_FALSE will be returned instead of SDL_TRUE, to - * indicate that not all the required extensions were returned. - * - * The `window` parameter is currently needed to be valid as of SDL 2.0.8, - * however, this parameter will likely be removed in future releases - * - * \param window A window for which the required Vulkan instance extensions - * should be retrieved (will be deprecated in a future release) - * \param pCount A pointer to an unsigned int corresponding to the number of - * extensions to be returned - * \param pNames NULL or a pointer to an array to be filled with required - * Vulkan instance extensions - * \returns SDL_TRUE on success, SDL_FALSE on error. - * - * \since This function is available since SDL 2.0.6. - * - * \sa SDL_Vulkan_CreateSurface - */ -extern DECLSPEC SDL_bool SDLCALL SDL_Vulkan_GetInstanceExtensions(SDL_Window *window, - unsigned int *pCount, - const char **pNames); - -/** - * Create a Vulkan rendering surface for a window. - * - * The `window` must have been created with the `SDL_WINDOW_VULKAN` flag and - * `instance` must have been created with extensions returned by - * SDL_Vulkan_GetInstanceExtensions() enabled. - * - * \param window The window to which to attach the Vulkan surface - * \param instance The Vulkan instance handle - * \param surface A pointer to a VkSurfaceKHR handle to output the newly - * created surface - * \returns SDL_TRUE on success, SDL_FALSE on error. - * - * \since This function is available since SDL 2.0.6. - * - * \sa SDL_Vulkan_GetInstanceExtensions - * \sa SDL_Vulkan_GetDrawableSize - */ -extern DECLSPEC SDL_bool SDLCALL SDL_Vulkan_CreateSurface(SDL_Window *window, - VkInstance instance, - VkSurfaceKHR* surface); - -/** - * Get the size of the window's underlying drawable dimensions in pixels. - * - * This may differ from SDL_GetWindowSize() if we're rendering to a high-DPI - * drawable, i.e. the window was created with `SDL_WINDOW_ALLOW_HIGHDPI` on a - * platform with high-DPI support (Apple calls this "Retina"), and not - * disabled by the `SDL_HINT_VIDEO_HIGHDPI_DISABLED` hint. - * - * \param window an SDL_Window for which the size is to be queried - * \param w Pointer to the variable to write the width to or NULL - * \param h Pointer to the variable to write the height to or NULL - * - * \since This function is available since SDL 2.0.6. - * - * \sa SDL_GetWindowSize - * \sa SDL_CreateWindow - * \sa SDL_Vulkan_CreateSurface - */ -extern DECLSPEC void SDLCALL SDL_Vulkan_GetDrawableSize(SDL_Window * window, - int *w, int *h); - -/* @} *//* Vulkan support functions */ - -/* Ends C function definitions when using C++ */ -#ifdef __cplusplus -} -#endif -#include "close_code.h" - -#endif /* SDL_vulkan_h_ */ diff --git a/subprojects/sdl2_windows/include/SDL2/begin_code.h b/subprojects/sdl2_windows/include/SDL2/begin_code.h deleted file mode 100644 index b3e69e85c..000000000 --- a/subprojects/sdl2_windows/include/SDL2/begin_code.h +++ /dev/null @@ -1,187 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file begin_code.h - * - * This file sets things up for C dynamic library function definitions, - * static inlined functions, and structures aligned at 4-byte alignment. - * If you don't like ugly C preprocessor code, don't look at this file. :) - */ - -/* This shouldn't be nested -- included it around code only. */ -#ifdef _begin_code_h -#error Nested inclusion of begin_code.h -#endif -#define _begin_code_h - -#ifndef SDL_DEPRECATED -# if defined(__GNUC__) && (__GNUC__ >= 4) /* technically, this arrived in gcc 3.1, but oh well. */ -# define SDL_DEPRECATED __attribute__((deprecated)) -# else -# define SDL_DEPRECATED -# endif -#endif - -#ifndef SDL_UNUSED -# ifdef __GNUC__ -# define SDL_UNUSED __attribute__((unused)) -# else -# define SDL_UNUSED -# endif -#endif - -/* Some compilers use a special export keyword */ -#ifndef DECLSPEC -# if defined(__WIN32__) || defined(__WINRT__) || defined(__CYGWIN__) || defined(__GDK__) -# ifdef DLL_EXPORT -# define DECLSPEC __declspec(dllexport) -# else -# define DECLSPEC -# endif -# elif defined(__OS2__) -# ifdef BUILD_SDL -# define DECLSPEC __declspec(dllexport) -# else -# define DECLSPEC -# endif -# else -# if defined(__GNUC__) && __GNUC__ >= 4 -# define DECLSPEC __attribute__ ((visibility("default"))) -# else -# define DECLSPEC -# endif -# endif -#endif - -/* By default SDL uses the C calling convention */ -#ifndef SDLCALL -#if (defined(__WIN32__) || defined(__WINRT__) || defined(__GDK__)) && !defined(__GNUC__) -#define SDLCALL __cdecl -#elif defined(__OS2__) || defined(__EMX__) -#define SDLCALL _System -# if defined (__GNUC__) && !defined(_System) -# define _System /* for old EMX/GCC compat. */ -# endif -#else -#define SDLCALL -#endif -#endif /* SDLCALL */ - -/* Removed DECLSPEC on Symbian OS because SDL cannot be a DLL in EPOC */ -#ifdef __SYMBIAN32__ -#undef DECLSPEC -#define DECLSPEC -#endif /* __SYMBIAN32__ */ - -/* Force structure packing at 4 byte alignment. - This is necessary if the header is included in code which has structure - packing set to an alternate value, say for loading structures from disk. - The packing is reset to the previous value in close_code.h - */ -#if defined(_MSC_VER) || defined(__MWERKS__) || defined(__BORLANDC__) -#ifdef _MSC_VER -#pragma warning(disable: 4103) -#endif -#ifdef __clang__ -#pragma clang diagnostic ignored "-Wpragma-pack" -#endif -#ifdef __BORLANDC__ -#pragma nopackwarning -#endif -#ifdef _WIN64 -/* Use 8-byte alignment on 64-bit architectures, so pointers are aligned */ -#pragma pack(push,8) -#else -#pragma pack(push,4) -#endif -#endif /* Compiler needs structure packing set */ - -#ifndef SDL_INLINE -#if defined(__GNUC__) -#define SDL_INLINE __inline__ -#elif defined(_MSC_VER) || defined(__BORLANDC__) || \ - defined(__DMC__) || defined(__SC__) || \ - defined(__WATCOMC__) || defined(__LCC__) || \ - defined(__DECC) || defined(__CC_ARM) -#define SDL_INLINE __inline -#ifndef __inline__ -#define __inline__ __inline -#endif -#else -#define SDL_INLINE inline -#ifndef __inline__ -#define __inline__ inline -#endif -#endif -#endif /* SDL_INLINE not defined */ - -#ifndef SDL_FORCE_INLINE -#if defined(_MSC_VER) -#define SDL_FORCE_INLINE __forceinline -#elif ( (defined(__GNUC__) && (__GNUC__ >= 4)) || defined(__clang__) ) -#define SDL_FORCE_INLINE __attribute__((always_inline)) static __inline__ -#else -#define SDL_FORCE_INLINE static SDL_INLINE -#endif -#endif /* SDL_FORCE_INLINE not defined */ - -#ifndef SDL_NORETURN -#if defined(__GNUC__) -#define SDL_NORETURN __attribute__((noreturn)) -#elif defined(_MSC_VER) -#define SDL_NORETURN __declspec(noreturn) -#else -#define SDL_NORETURN -#endif -#endif /* SDL_NORETURN not defined */ - -/* Apparently this is needed by several Windows compilers */ -#if !defined(__MACH__) -#ifndef NULL -#ifdef __cplusplus -#define NULL 0 -#else -#define NULL ((void *)0) -#endif -#endif /* NULL */ -#endif /* ! Mac OS X - breaks precompiled headers */ - -#ifndef SDL_FALLTHROUGH -#if (defined(__cplusplus) && __cplusplus >= 201703L) || \ - (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 202000L) -#define SDL_FALLTHROUGH [[fallthrough]] -#else -#if defined(__has_attribute) -#define _HAS_FALLTHROUGH __has_attribute(__fallthrough__) -#else -#define _HAS_FALLTHROUGH 0 -#endif /* __has_attribute */ -#if _HAS_FALLTHROUGH && \ - ((defined(__GNUC__) && __GNUC__ >= 7) || \ - (defined(__clang_major__) && __clang_major__ >= 10)) -#define SDL_FALLTHROUGH __attribute__((__fallthrough__)) -#else -#define SDL_FALLTHROUGH do {} while (0) /* fallthrough */ -#endif /* _HAS_FALLTHROUGH */ -#undef _HAS_FALLTHROUGH -#endif /* C++17 or C2x */ -#endif /* SDL_FALLTHROUGH not defined */ diff --git a/subprojects/sdl2_windows/include/SDL2/close_code.h b/subprojects/sdl2_windows/include/SDL2/close_code.h deleted file mode 100644 index dc73432f6..000000000 --- a/subprojects/sdl2_windows/include/SDL2/close_code.h +++ /dev/null @@ -1,40 +0,0 @@ -/* - Simple DirectMedia Layer - Copyright (C) 1997-2022 Sam Lantinga - - This software is provided 'as-is', without any express or implied - warranty. In no event will the authors be held liable for any damages - arising from the use of this software. - - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it - freely, subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not - claim that you wrote the original software. If you use this software - in a product, an acknowledgment in the product documentation would be - appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be - misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. -*/ - -/** - * \file close_code.h - * - * This file reverses the effects of begin_code.h and should be included - * after you finish any function and structure declarations in your headers - */ - -#ifndef _begin_code_h -#error close_code.h included without matching begin_code.h -#endif -#undef _begin_code_h - -/* Reset structure packing at previous byte alignment */ -#if defined(_MSC_VER) || defined(__MWERKS__) || defined(__BORLANDC__) -#ifdef __BORLANDC__ -#pragma nopackwarning -#endif -#pragma pack(pop) -#endif /* Compiler needs structure packing set */ diff --git a/subprojects/sdl2_windows/meson.build b/subprojects/sdl2_windows/meson.build deleted file mode 100644 index 09d8f7699..000000000 --- a/subprojects/sdl2_windows/meson.build +++ /dev/null @@ -1,16 +0,0 @@ -project('sdl2_windows', 'cpp') - -fs = import('fs') - -new_dir = join_paths('C:/TDT4102-mingw64','SDL2','sdl2_lib') -old_dir = join_paths(meson.current_source_dir(), 'lib') -#Ensuring backwards compatability in transition when SDL2 can be both places -dir_to_use = fs.exists(new_dir) ? new_dir : old_dir - -cxx = meson.get_compiler('cpp') -sdl2_windows_dep = declare_dependency( - dependencies : [cxx.find_library('SDL2main', dirs : dir_to_use), - cxx.find_library('SDL2', dirs : dir_to_use)], - link_args: ['-lmingw32'], - include_directories : include_directories(join_paths('include', 'SDL2'))) - diff --git a/subprojects/sdl2_windows/share/aclocal/sdl2.m4 b/subprojects/sdl2_windows/share/aclocal/sdl2.m4 deleted file mode 100644 index 75b60f6ea..000000000 --- a/subprojects/sdl2_windows/share/aclocal/sdl2.m4 +++ /dev/null @@ -1,214 +0,0 @@ -# Configure paths for SDL -# Sam Lantinga 9/21/99 -# stolen from Manish Singh -# stolen back from Frank Belew -# stolen from Manish Singh -# Shamelessly stolen from Owen Taylor -# -# Changelog: -# * also look for SDL2.framework under Mac OS X -# * removed HP/UX 9 support. -# * updated for newer autoconf. - -# serial 2 - -dnl AM_PATH_SDL2([MINIMUM-VERSION, [ACTION-IF-FOUND [, ACTION-IF-NOT-FOUND]]]) -dnl Test for SDL, and define SDL_CFLAGS and SDL_LIBS -dnl -AC_DEFUN([AM_PATH_SDL2], -[dnl -dnl Get the cflags and libraries from the sdl2-config script -dnl -AC_ARG_WITH(sdl-prefix,[ --with-sdl-prefix=PFX Prefix where SDL is installed (optional)], - sdl_prefix="$withval", sdl_prefix="") -AC_ARG_WITH(sdl-exec-prefix,[ --with-sdl-exec-prefix=PFX Exec prefix where SDL is installed (optional)], - sdl_exec_prefix="$withval", sdl_exec_prefix="") -AC_ARG_ENABLE(sdltest, [ --disable-sdltest Do not try to compile and run a test SDL program], - , enable_sdltest=yes) -AC_ARG_ENABLE(sdlframework, [ --disable-sdlframework Do not search for SDL2.framework], - , search_sdl_framework=yes) - -AC_ARG_VAR(SDL2_FRAMEWORK, [Path to SDL2.framework]) - - min_sdl_version=ifelse([$1], ,2.0.0,$1) - - if test "x$sdl_prefix$sdl_exec_prefix" = x ; then - PKG_CHECK_MODULES([SDL], [sdl2 >= $min_sdl_version], - [sdl_pc=yes], - [sdl_pc=no]) - else - sdl_pc=no - if test x$sdl_exec_prefix != x ; then - sdl_config_args="$sdl_config_args --exec-prefix=$sdl_exec_prefix" - if test x${SDL2_CONFIG+set} != xset ; then - SDL2_CONFIG=$sdl_exec_prefix/bin/sdl2-config - fi - fi - if test x$sdl_prefix != x ; then - sdl_config_args="$sdl_config_args --prefix=$sdl_prefix" - if test x${SDL2_CONFIG+set} != xset ; then - SDL2_CONFIG=$sdl_prefix/bin/sdl2-config - fi - fi - fi - - if test "x$sdl_pc" = xyes ; then - no_sdl="" - SDL2_CONFIG="pkg-config sdl2" - else - as_save_PATH="$PATH" - if test "x$prefix" != xNONE && test "$cross_compiling" != yes; then - PATH="$prefix/bin:$prefix/usr/bin:$PATH" - fi - AC_PATH_PROG(SDL2_CONFIG, sdl2-config, no, [$PATH]) - PATH="$as_save_PATH" - no_sdl="" - - if test "$SDL2_CONFIG" = "no" -a "x$search_sdl_framework" = "xyes"; then - AC_MSG_CHECKING(for SDL2.framework) - if test "x$SDL2_FRAMEWORK" != x; then - sdl_framework=$SDL2_FRAMEWORK - else - for d in / ~/ /System/; do - if test -d "${d}Library/Frameworks/SDL2.framework"; then - sdl_framework="${d}Library/Frameworks/SDL2.framework" - fi - done - fi - - if test x"$sdl_framework" != x && test -d "$sdl_framework"; then - AC_MSG_RESULT($sdl_framework) - sdl_framework_dir=`dirname $sdl_framework` - SDL_CFLAGS="-F$sdl_framework_dir -Wl,-framework,SDL2 -I$sdl_framework/include" - SDL_LIBS="-F$sdl_framework_dir -Wl,-framework,SDL2" - else - no_sdl=yes - fi - fi - - if test "$SDL2_CONFIG" != "no"; then - if test "x$sdl_pc" = "xno"; then - AC_MSG_CHECKING(for SDL - version >= $min_sdl_version) - SDL_CFLAGS=`$SDL2_CONFIG $sdl_config_args --cflags` - SDL_LIBS=`$SDL2_CONFIG $sdl_config_args --libs` - fi - - sdl_major_version=`$SDL2_CONFIG $sdl_config_args --version | \ - sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\1/'` - sdl_minor_version=`$SDL2_CONFIG $sdl_config_args --version | \ - sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\2/'` - sdl_micro_version=`$SDL2_CONFIG $sdl_config_args --version | \ - sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\3/'` - if test "x$enable_sdltest" = "xyes" ; then - ac_save_CFLAGS="$CFLAGS" - ac_save_CXXFLAGS="$CXXFLAGS" - ac_save_LIBS="$LIBS" - CFLAGS="$CFLAGS $SDL_CFLAGS" - CXXFLAGS="$CXXFLAGS $SDL_CFLAGS" - LIBS="$LIBS $SDL_LIBS" -dnl -dnl Now check if the installed SDL is sufficiently new. (Also sanity -dnl checks the results of sdl2-config to some extent -dnl - rm -f conf.sdltest - AC_RUN_IFELSE([AC_LANG_SOURCE([[ -#include -#include -#include "SDL.h" - -int main (int argc, char *argv[]) -{ - int major, minor, micro; - FILE *fp = fopen("conf.sdltest", "w"); - - if (fp) fclose(fp); - - if (sscanf("$min_sdl_version", "%d.%d.%d", &major, &minor, µ) != 3) { - printf("%s, bad version string\n", "$min_sdl_version"); - exit(1); - } - - if (($sdl_major_version > major) || - (($sdl_major_version == major) && ($sdl_minor_version > minor)) || - (($sdl_major_version == major) && ($sdl_minor_version == minor) && ($sdl_micro_version >= micro))) - { - return 0; - } - else - { - printf("\n*** 'sdl2-config --version' returned %d.%d.%d, but the minimum version\n", $sdl_major_version, $sdl_minor_version, $sdl_micro_version); - printf("*** of SDL required is %d.%d.%d. If sdl2-config is correct, then it is\n", major, minor, micro); - printf("*** best to upgrade to the required version.\n"); - printf("*** If sdl2-config was wrong, set the environment variable SDL2_CONFIG\n"); - printf("*** to point to the correct copy of sdl2-config, and remove the file\n"); - printf("*** config.cache before re-running configure\n"); - return 1; - } -} - -]])], [], [no_sdl=yes], [echo $ac_n "cross compiling; assumed OK... $ac_c"]) - CFLAGS="$ac_save_CFLAGS" - CXXFLAGS="$ac_save_CXXFLAGS" - LIBS="$ac_save_LIBS" - - fi - if test "x$sdl_pc" = "xno"; then - if test "x$no_sdl" = "xyes"; then - AC_MSG_RESULT(no) - else - AC_MSG_RESULT(yes) - fi - fi - fi - fi - if test "x$no_sdl" = x ; then - ifelse([$2], , :, [$2]) - else - if test "$SDL2_CONFIG" = "no" ; then - echo "*** The sdl2-config script installed by SDL could not be found" - echo "*** If SDL was installed in PREFIX, make sure PREFIX/bin is in" - echo "*** your path, or set the SDL2_CONFIG environment variable to the" - echo "*** full path to sdl2-config." - else - if test -f conf.sdltest ; then - : - else - echo "*** Could not run SDL test program, checking why..." - CFLAGS="$CFLAGS $SDL_CFLAGS" - CXXFLAGS="$CXXFLAGS $SDL_CFLAGS" - LIBS="$LIBS $SDL_LIBS" - AC_LINK_IFELSE([AC_LANG_PROGRAM([[ -#include -#include "SDL.h" - -int main(int argc, char *argv[]) -{ return 0; } -#undef main -#define main K_and_R_C_main -]], [[ return 0; ]])], - [ echo "*** The test program compiled, but did not run. This usually means" - echo "*** that the run-time linker is not finding SDL or finding the wrong" - echo "*** version of SDL. If it is not finding SDL, you'll need to set your" - echo "*** LD_LIBRARY_PATH environment variable, or edit /etc/ld.so.conf to point" - echo "*** to the installed location Also, make sure you have run ldconfig if that" - echo "*** is required on your system" - echo "***" - echo "*** If you have an old version installed, it is best to remove it, although" - echo "*** you may also be able to get things to work by modifying LD_LIBRARY_PATH"], - [ echo "*** The test program failed to compile or link. See the file config.log for the" - echo "*** exact error that occured. This usually means SDL was incorrectly installed" - echo "*** or that you have moved SDL since it was installed. In the latter case, you" - echo "*** may want to edit the sdl2-config script: $SDL2_CONFIG" ]) - CFLAGS="$ac_save_CFLAGS" - CXXFLAGS="$ac_save_CXXFLAGS" - LIBS="$ac_save_LIBS" - fi - fi - SDL_CFLAGS="" - SDL_LIBS="" - ifelse([$3], , :, [$3]) - fi - AC_SUBST(SDL_CFLAGS) - AC_SUBST(SDL_LIBS) - rm -f conf.sdltest -]) diff --git a/subprojects/std_lib_facilities/meson.build b/subprojects/std_lib_facilities/meson.build deleted file mode 100644 index dfefbc90a..000000000 --- a/subprojects/std_lib_facilities/meson.build +++ /dev/null @@ -1,7 +0,0 @@ -project('std_lib_facilities', ['c', 'cpp'], version: '0.01', default_options: ['cpp_std=c++20', 'c_std=c17', 'default_library=static', 'buildtype=debugoptimized']) - -incdir = include_directories('.') -install_subdir('include', install_dir: '.') - -std_lib_facilities_dep = declare_dependency(include_directories: incdir) - diff --git a/subprojects/std_lib_facilities/std_lib_facilities.h b/subprojects/std_lib_facilities/std_lib_facilities.h deleted file mode 100644 index 21654d0ab..000000000 --- a/subprojects/std_lib_facilities/std_lib_facilities.h +++ /dev/null @@ -1,175 +0,0 @@ -/** @file */ -/* - std_lib_facilities.h -*/ - -/* - simple "Programming: Principles and Practice using C++ (second edition)" - course header to be used for the first few weeks. It provides the most common - standard headers (in the global namespace) and minimal exception/error - support. - - Students: please don't try to understand the details of headers just - yet. All will be explained. This header is primarily used so that you don't - have to understand every concept all at once. - - By Chapter 10, you don't need this file and after Chapter 21, you'll - understand it - - Revised April 25, 2010: simple_error() added - - Revised November 25 2013: remove support for pre-C++11 compilers, use - C++11: Revised November 28 2013: add a few container algorithms - Revised June 8 2014: added #ifndef to workaround Microsoft C++11 - weakness - - Revised for TDT4102, NTNU, 21 December 2018: - - more std libs included. - - Revised on 30.08.2022: - - Removed std::list and std::forward_list includes - - Removed keep_window_open() functions - - Use TDT4102 namespace -*/ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// C++23 -#if __cplusplus >= 202302L -#include -#endif - -//------------------------------------------------------------------------------ - -using Unicode = long; - -//------------------------------------------------------------------------------ - -// Create an empty namespace so we can use it -namespace TDT4102 { - -} - -using namespace std; -using namespace TDT4102; - -template -string to_string(const T& t) { - ostringstream os; - os << t; - return os.str(); -} - -struct Range_error : out_of_range { // enhanced vector range error reporting - int index; - Range_error(int i) : out_of_range("Range error: " + to_string(i)), index(i) {} -}; - -struct Exit : runtime_error { - Exit() : runtime_error("Exit") {} -}; - -// error() simply disguises throws: -[[noreturn]] inline void error(const string& s) { - throw runtime_error(s); -} - -[[noreturn]] inline void error(const string& s, const string& s2) { - error(s + s2); -} - -[[noreturn]] inline void error(const string& s, int i) { - ostringstream os; - os << s << ": " << i; - error(os.str()); -} - -template -char* as_bytes(T& i) // needed for binary I/O -{ - void* addr = &i; // get the address of the first byte - // of memory used to store the object - return static_cast(addr); // treat that memory as bytes -} - -// error function to be used (only) until error() is introduced in Chapter 5: -[[noreturn]] inline void simple_error(string s) // write ``error: s and exit program -{ - cerr << "error: " << s << '\n'; - exit(1); -} - -// make std::min() and std::max() accessible on systems with antisocial macros: -#undef min -#undef max - -// run-time checked narrowing cast (type conversion). -template -R narrow_cast(const A& a) { - R r = R(a); - if (A(r) != a) - error(string("info loss")); - return r; -} - -// random number generators. See 24.7. -inline int randint(int min, int max) { - auto seed = std::chrono::system_clock::now().time_since_epoch().count(); - static default_random_engine ran{static_cast(seed)}; - return uniform_int_distribution<>{min, max}(ran); -} - -inline int randint(int max) { - return randint(0, max); -} - -// container algorithms. See 21.9. - -template -using Value_type = typename C::value_type; - -template -using Iterator = typename C::iterator; - -template -// requires Container() -void sort(C& c) { - std::sort(c.begin(), c.end()); -} - -template -// requires Container() && Binary_Predicate>() -void sort(C& c, Pred p) { - std::sort(c.begin(), c.end(), p); -} - -template -// requires Container() && Equality_comparable() -Iterator find(C& c, Val v) { - return std::find(c.begin(), c.end(), v); -} - -template -// requires Container() && Predicate>() -Iterator find_if(C& c, Pred p) { - return std::find_if(c.begin(), c.end(), p); -} diff --git a/subprojects/zlib.wrap b/subprojects/zlib.wrap deleted file mode 100644 index 3c7b5757d..000000000 --- a/subprojects/zlib.wrap +++ /dev/null @@ -1,12 +0,0 @@ -[wrap-file] -directory = zlib-1.2.12 -source_url = http://zlib.net/fossils/zlib-1.2.12.tar.gz -source_filename = zlib-1.2.12.tar.gz -source_hash = 91844808532e5ce316b3c010929493c0244f3d37593afd6de04f71821d5136d9 -patch_filename = zlib_1.2.12-1_patch.zip -patch_url = https://wrapdb.mesonbuild.com/v2/zlib_1.2.12-1/get_patch -patch_hash = 8ec8344f3fe7b06ad4be768fd416694bc56cb4545ce78b0f1c18b3e72b3ec936 - -[provide] -zlib = zlib_dep - From 993b61c51e89e85009e424f9dc0a2c5bb41f15f9 Mon Sep 17 00:00:00 2001 From: Anton Tran <120760136+AntTra@users.noreply.github.com> Date: Wed, 11 Feb 2026 19:27:37 +0100 Subject: [PATCH 092/109] deleted chat comment in cmakelist Removed commented section about installing the executable. --- navigation/eskf/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 2525dd37b..715cbcd1b 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -67,7 +67,6 @@ rclcpp_components_register_node( ament_export_targets(export_${LIB_NAME}) -# --- THE FIX: INSTALL THE EXECUTABLE --- install(TARGETS ${LIB_NAME} ${PROJECT_NAME}_node From 4c26e61662bb71886624cc0354299fa0af214bfa Mon Sep 17 00:00:00 2001 From: Anttra Date: Sun, 15 Feb 2026 12:59:39 +0100 Subject: [PATCH 093/109] deleted empty landmark launch node --- navigation/landmark_egomotion/launch/landmark_egomotion.launch.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 navigation/landmark_egomotion/launch/landmark_egomotion.launch.py diff --git a/navigation/landmark_egomotion/launch/landmark_egomotion.launch.py b/navigation/landmark_egomotion/launch/landmark_egomotion.launch.py deleted file mode 100644 index e69de29bb..000000000 From 3bd7b098adc272d704ee716b1228b0df41846ad6 Mon Sep 17 00:00:00 2001 From: Anttra Date: Sun, 15 Feb 2026 16:10:38 +0100 Subject: [PATCH 094/109] fixed rotationclass acronym --- navigation/eskf/include/eskf/ros/eskf_ros.hpp | 7 +- navigation/eskf/src/ros/eskf_ros.cpp | 62 ++++--- navigation/eskf/test/eskf_consistency_test.py | 151 ++++++++++++------ 3 files changed, 139 insertions(+), 81 deletions(-) diff --git a/navigation/eskf/include/eskf/ros/eskf_ros.hpp b/navigation/eskf/include/eskf/ros/eskf_ros.hpp index fd6cc7e68..fc6f20006 100644 --- a/navigation/eskf/include/eskf/ros/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/ros/eskf_ros.hpp @@ -1,5 +1,5 @@ -#ifndef ESKF__ESKF_ROS_HPP_ -#define ESKF__ESKF_ROS_HPP_ +#ifndef ESKF__ROS__ESKF_ROS_HPP_ +#define ESKF__ROS__ESKF_ROS_HPP_ #include #include @@ -9,6 +9,7 @@ #include #include #include +#include #include #include "eskf/lib/eskf.hpp" #include "eskf/lib/typedefs.hpp" @@ -93,4 +94,4 @@ class ESKFNode : public rclcpp::Node { Eigen::Vector3d latest_gyro_measurement_{}; }; -#endif // ESKF__ESKF_ROS_HPP_ +#endif // ESKF__ROS__ESKF_ROS_HPP_ diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 0d2767bca..2e344be70 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -58,13 +58,12 @@ void ESKFNode::set_subscribers_and_publisher() { } void ESKFNode::set_parameters() { - std::vector R_imu_correction; this->declare_parameter>("imu_frame"); R_imu_correction = get_parameter("imu_frame").as_double_array(); R_imu_eskf_ = Eigen::Map>( R_imu_correction.data()); - + std::vector R_dvl_correction; this->declare_parameter>("dvl_frame"); R_dvl_correction = get_parameter("dvl_frame").as_double_array(); @@ -95,16 +94,15 @@ void ESKFNode::set_parameters() { EskfParams eskf_params{.Q = Q, .P = P}; - #ifdef ESKF_HAS_LANDMARK_EGOMOTION +#ifdef ESKF_HAS_LANDMARK_EGOMOTION this->declare_parameter("use_landmark_egomotion", false); if (this->get_parameter("use_landmark_egomotion").as_bool()) { setup_vo(eskf_params); return; } - #endif +#endif eskf_ = std::make_unique(eskf_params); - } #ifdef ESKF_HAS_LANDMARK_EGOMOTION @@ -139,14 +137,12 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { vo_cam_frame_ = this->get_parameter("vo.camera_frame").as_string(); VoConfig vo_cfg; - vo_cfg.nis_gate_pose = - this->get_parameter("vo.nis_gate_pose").as_double(); + vo_cfg.nis_gate_pose = this->get_parameter("vo.nis_gate_pose").as_double(); vo_cfg.nis_gate_vel = this->get_parameter("vo.nis_gate_velocity").as_double(); vo_cfg.dropout_timeout = this->get_parameter("vo.dropout_timeout").as_double(); - vo_cfg.rejects_limit = - this->get_parameter("vo.rejects_limit").as_int(); + vo_cfg.rejects_limit = this->get_parameter("vo.rejects_limit").as_int(); vo_cfg.pos_floor = this->get_parameter("vo.pos_floor").as_double(); vo_cfg.att_floor = this->get_parameter("vo.att_floor").as_double(); vo_cfg.vel_floor = this->get_parameter("vo.vel_floor").as_double(); @@ -169,19 +165,18 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { std::string landmarks_topic = this->get_parameter("vo.landmarks_topic").as_string(); - landmark_sub_ = - this->create_subscription( - landmarks_topic, rclcpp::SensorDataQoS(), - std::bind(&ESKFNode::landmark_callback, this, - std::placeholders::_1)); - - spdlog::info("Landmark egomotion enabled: {} -> {}", - vo_cam_frame_, vo_base_frame_); + landmark_sub_ = this->create_subscription( + landmarks_topic, rclcpp::SensorDataQoS(), + std::bind(&ESKFNode::landmark_callback, this, std::placeholders::_1)); + + spdlog::info("Landmark egomotion enabled: {} -> {}", vo_cam_frame_, + vo_base_frame_); } void ESKFNode::landmark_callback( const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { - if (!msg || msg->landmarks.empty()) return; + if (!msg || msg->landmarks.empty()) + return; std::vector markers; for (const auto& lm : msg->landmarks) { @@ -189,7 +184,8 @@ void ESKFNode::landmark_callback( markers.push_back(&lm); } } - if (markers.empty()) return; + if (markers.empty()) + return; auto it = std::min_element( markers.begin(), markers.end(), @@ -211,18 +207,16 @@ void ESKFNode::landmark_callback( Eigen::Vector3d t_base_cam(tf_msg.transform.translation.x, tf_msg.transform.translation.y, tf_msg.transform.translation.z); - Eigen::Quaterniond q_base_cam(tf_msg.transform.rotation.w, - tf_msg.transform.rotation.x, - tf_msg.transform.rotation.y, - tf_msg.transform.rotation.z); + Eigen::Quaterniond q_base_cam( + tf_msg.transform.rotation.w, tf_msg.transform.rotation.x, + tf_msg.transform.rotation.y, tf_msg.transform.rotation.z); Eigen::Vector3d t_cam_marker(chosen->pose.pose.position.x, chosen->pose.pose.position.y, chosen->pose.pose.position.z); - Eigen::Quaterniond q_cam_marker(chosen->pose.pose.orientation.w, - chosen->pose.pose.orientation.x, - chosen->pose.pose.orientation.y, - chosen->pose.pose.orientation.z); + Eigen::Quaterniond q_cam_marker( + chosen->pose.pose.orientation.w, chosen->pose.pose.orientation.x, + chosen->pose.pose.orientation.y, chosen->pose.pose.orientation.z); Eigen::Vector3d t_base = t_base_cam + q_base_cam * t_cam_marker; Eigen::Quaterniond q_base = (q_base_cam * q_cam_marker).normalized(); @@ -268,8 +262,9 @@ void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); - // currently the gyro and the accelorometer are rotated differently. should be changed with the actual drone. - // imu_measurement.gyro = R_imu_eskf_ * raw_gyro; + // currently the gyro and the accelorometer are rotated differently. should + // be changed with the actual drone. imu_measurement.gyro = R_imu_eskf_ * + // raw_gyro; imu_measurement.gyro = raw_gyro; // used for publishing odom output of eskf @@ -290,13 +285,13 @@ void ESKFNode::dvl_callback( msg->twist.covariance[8], msg->twist.covariance[12], msg->twist.covariance[13], msg->twist.covariance[14]; - // Apply the rotation correction to the DVL measurement + // Apply the rotation correction to the DVL measurement dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement; - dvl_sensor.measurement_noise = R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); + dvl_sensor.measurement_noise = + R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); eskf_->dvl_update(dvl_sensor); - #ifndef NDEBUG // Publish NIS in Debug mode std_msgs::msg::Float64 nis_msg; @@ -324,7 +319,8 @@ void ESKFNode::publish_odom() { odom_msg.twist.twist.linear.z = nom_state.vel.z(); // Add bias values to the angular velocity field of twist - Eigen::Vector3d body_angular_vel = latest_gyro_measurement_ - nom_state.gyro_bias; + Eigen::Vector3d body_angular_vel = + latest_gyro_measurement_ - nom_state.gyro_bias; odom_msg.twist.twist.angular.x = body_angular_vel.x(); odom_msg.twist.twist.angular.y = body_angular_vel.y(); odom_msg.twist.twist.angular.z = body_angular_vel.z(); diff --git a/navigation/eskf/test/eskf_consistency_test.py b/navigation/eskf/test/eskf_consistency_test.py index a7d1495b0..e32743a2b 100644 --- a/navigation/eskf/test/eskf_consistency_test.py +++ b/navigation/eskf/test/eskf_consistency_test.py @@ -1,20 +1,25 @@ -import rclpy -from rclpy.node import Node -from nav_msgs.msg import Odometry -from std_msgs.msg import Float64 -from std_msgs.msg import Float64MultiArray import message_filters import numpy as np -from scipy.spatial.transform import Rotation as R +import rclpy +from nav_msgs.msg import Odometry +from rclpy.node import Node +from scipy.spatial.transform import Rotation as RotationClass +from std_msgs.msg import Float64, Float64MultiArray # --- IMPORT YOUR EXISTING QOS FUNCTION --- try: from vortex.utils.qos_profiles import sensor_data_profile except ImportError: # Fallback for testing without the vortex library - from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy + from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy + def sensor_data_profile(depth=5): - return QoSProfile(reliability=ReliabilityPolicy.BEST_EFFORT, history=HistoryPolicy.KEEP_LAST, depth=depth) + return QoSProfile( + reliability=ReliabilityPolicy.BEST_EFFORT, + history=HistoryPolicy.KEEP_LAST, + depth=depth, + ) + class EskfValidator(Node): def __init__(self): @@ -25,17 +30,31 @@ def __init__(self): # --- Publishers (Foxglove Visualizers) --- # RMSE (Running Root Mean Square Error) - self.pub_rmse_pos = self.create_publisher(Float64, 'eskf_metrics/rmse/position', 10) - self.pub_rmse_ori = self.create_publisher(Float64, 'eskf_metrics/rmse/orientation_rad', 10) - self.pub_rmse_vel = self.create_publisher(Float64, 'eskf_metrics/rmse/velocity', 10) + self.pub_rmse_pos = self.create_publisher( + Float64, 'eskf_metrics/rmse/position', 10 + ) + self.pub_rmse_ori = self.create_publisher( + Float64, 'eskf_metrics/rmse/orientation_rad', 10 + ) + self.pub_rmse_vel = self.create_publisher( + Float64, 'eskf_metrics/rmse/velocity', 10 + ) # Euler Angles (for visual comparison) - self.pub_euler_est = self.create_publisher(Float64MultiArray, 'debug/euler/est', 10) - self.pub_euler_gt = self.create_publisher(Float64MultiArray, 'debug/euler/gt', 10) + self.pub_euler_est = self.create_publisher( + Float64MultiArray, 'debug/euler/est', 10 + ) + self.pub_euler_gt = self.create_publisher( + Float64MultiArray, 'debug/euler/gt', 10 + ) - # NEES (Normalized Estimation Error Squared) - self.pub_nees_pos = self.create_publisher(Float64, 'eskf_metrics/nees/position', 10) - self.pub_nees_ori = self.create_publisher(Float64, 'eskf_metrics/nees/orientation', 10) + # NEEDS (Normalized Estimation Error Squared) + self.pub_nees_pos = self.create_publisher( + Float64, 'eskf_metrics/needs/position', 10 + ) + self.pub_nees_ori = self.create_publisher( + Float64, 'eskf_metrics/needs/orientation', 10 + ) # --- State for Running RMSE --- self.n_samples = 0 @@ -44,11 +63,17 @@ def __init__(self): self.sse_vel = 0.0 # --- Subscribers --- - self.get_logger().info(f"Subscribing to {self.est_topic} and {self.gt_topic}...") + self.get_logger().info( + f"Subscribing to {self.est_topic} and {self.gt_topic}..." + ) qos = sensor_data_profile(depth=5) - - self.sub_est = message_filters.Subscriber(self, Odometry, self.est_topic, qos_profile=qos) - self.sub_gt = message_filters.Subscriber(self, Odometry, self.gt_topic, qos_profile=qos) + + self.sub_est = message_filters.Subscriber( + self, Odometry, self.est_topic, qos_profile=qos + ) + self.sub_gt = message_filters.Subscriber( + self, Odometry, self.gt_topic, qos_profile=qos + ) self.ts = message_filters.ApproximateTimeSynchronizer( [self.sub_est, self.sub_gt], queue_size=10, slop=0.1 @@ -57,16 +82,28 @@ def __init__(self): def callback(self, est_msg, gt_msg): self.n_samples += 1 - + # =========================== # 1. POSITION (Euclidean) # =========================== - p_est = np.array([est_msg.pose.pose.position.x, est_msg.pose.pose.position.y, est_msg.pose.pose.position.z]) - p_gt = np.array([gt_msg.pose.pose.position.x, gt_msg.pose.pose.position.y, gt_msg.pose.pose.position.z]) - + p_est = np.array( + [ + est_msg.pose.pose.position.x, + est_msg.pose.pose.position.y, + est_msg.pose.pose.position.z, + ] + ) + p_gt = np.array( + [ + gt_msg.pose.pose.position.x, + gt_msg.pose.pose.position.y, + gt_msg.pose.pose.position.z, + ] + ) + err_pos_vec = p_est - p_gt err_pos_norm = np.linalg.norm(err_pos_vec) - + # Update RMSE self.sse_pos += err_pos_norm**2 self.publish_float(self.pub_rmse_pos, np.sqrt(self.sse_pos / self.n_samples)) @@ -75,20 +112,30 @@ def callback(self, est_msg, gt_msg): # 2. ORIENTATION (Quaternion) # =========================== # Extract Quaternions (x, y, z, w) - q_est = [est_msg.pose.pose.orientation.x, est_msg.pose.pose.orientation.y, est_msg.pose.pose.orientation.z, est_msg.pose.pose.orientation.w] - q_gt = [gt_msg.pose.pose.orientation.x, gt_msg.pose.pose.orientation.y, gt_msg.pose.pose.orientation.z, gt_msg.pose.pose.orientation.w] + q_est = [ + est_msg.pose.pose.orientation.x, + est_msg.pose.pose.orientation.y, + est_msg.pose.pose.orientation.z, + est_msg.pose.pose.orientation.w, + ] + q_gt = [ + gt_msg.pose.pose.orientation.x, + gt_msg.pose.pose.orientation.y, + gt_msg.pose.pose.orientation.z, + gt_msg.pose.pose.orientation.w, + ] # Convert to Rotation objects - r_est = R.from_quat(q_est) - r_gt = R.from_quat(q_gt) + r_est = RotationClass.from_quat(q_est) + r_gt = RotationClass.from_quat(q_gt) # --------------------------------------------------------- # Extract Euler Angles (Roll, Pitch, Yaw) # Using 'xyz' sequence (standard for ROS aerospace/underwater) # degrees=True makes it easier to read in plots (0-360 or +/-180) # --------------------------------------------------------- - euler_est = r_est.as_euler('xyz', degrees=True) # [roll, pitch, yaw] - euler_gt = r_gt.as_euler('xyz', degrees=True) # [roll, pitch, yaw] + euler_est = r_est.as_euler('xyz', degrees=True) # [roll, pitch, yaw] + euler_gt = r_gt.as_euler('xyz', degrees=True) # [roll, pitch, yaw] # Publish Estimated Euler msg_euler_est = Float64MultiArray() @@ -102,7 +149,7 @@ def callback(self, est_msg, gt_msg): # Calculate Error Rotation: R_err = R_gt^T * R_est # This gives the relative rotation needed to go from GT to Est r_err = r_gt.inv() * r_est - + # Convert to Rotation Vector (magnitude is the angle error in radians) err_ori_vec = r_err.as_rotvec() err_ori_norm = np.linalg.norm(err_ori_vec) @@ -114,34 +161,46 @@ def callback(self, est_msg, gt_msg): # =========================== # 3. VELOCITY (Euclidean) # =========================== - v_est = np.array([est_msg.twist.twist.linear.x, est_msg.twist.twist.linear.y, est_msg.twist.twist.linear.z]) - v_gt = np.array([gt_msg.twist.twist.linear.x, gt_msg.twist.twist.linear.y, gt_msg.twist.twist.linear.z]) - + v_est = np.array( + [ + est_msg.twist.twist.linear.x, + est_msg.twist.twist.linear.y, + est_msg.twist.twist.linear.z, + ] + ) + v_gt = np.array( + [ + gt_msg.twist.twist.linear.x, + gt_msg.twist.twist.linear.y, + gt_msg.twist.twist.linear.z, + ] + ) + err_vel_vec = v_est - v_gt - self.sse_vel += np.linalg.norm(err_vel_vec)**2 + self.sse_vel += np.linalg.norm(err_vel_vec) ** 2 self.publish_float(self.pub_rmse_vel, np.sqrt(self.sse_vel / self.n_samples)) - # Note: Standard Odometry does NOT contain Linear Acceleration. + # Note: Standard Odometry does NOT contain Linear Acceleration. # If you need Accel RMSE, you must subscribe to the IMU topic separately. # =========================== - # 4. NEES CALCULATION + # 4. NEEDS CALCULATION # =========================== - # NEES = error^T * Covariance^-1 * error - + # NEEDS = error^T * Covariance^-1 * error + # Reshape the 36-float array into 6x6 matrix cov_pose = np.array(est_msg.pose.covariance).reshape(6, 6) - - # --- Position NEES (Top-Left 3x3) --- + + # --- Position NEEDS (Top-Left 3x3) --- cov_pos = cov_pose[0:3, 0:3] try: cov_pos_inv = np.linalg.inv(cov_pos) nees_pos = err_pos_vec.T @ cov_pos_inv @ err_pos_vec self.publish_float(self.pub_nees_pos, nees_pos) except np.linalg.LinAlgError: - pass # Singular matrix, skip + pass # Singular matrix, skip - # --- Orientation NEES (Bottom-Right 3x3) --- + # --- Orientation NEEDS (Bottom-Right 3x3) --- # Note: We use the rotation vector error (err_ori_vec) calculated earlier cov_ori = cov_pose[3:6, 3:6] try: @@ -156,6 +215,7 @@ def publish_float(self, publisher, value): msg.data = float(value) publisher.publish(msg) + def main(args=None): rclpy.init(args=args) node = EskfValidator() @@ -167,5 +227,6 @@ def main(args=None): node.destroy_node() rclpy.shutdown() + if __name__ == '__main__': - main() \ No newline at end of file + main() From 73c744df0fc18338267d4c82b60c04356a57a7db Mon Sep 17 00:00:00 2001 From: Anttra Date: Sun, 15 Feb 2026 16:53:38 +0100 Subject: [PATCH 095/109] removed lib/ in .gitignore and retracked ignored files. fix build/header_guard --- .gitignore | 1 - navigation/eskf/include/eskf/lib/eskf.hpp | 100 ++++++ navigation/eskf/include/eskf/lib/eskf.tpp | 25 ++ navigation/eskf/include/eskf/lib/typedefs.hpp | 127 +++++++ navigation/eskf/src/lib/eskf.cpp | 199 +++++++++++ .../lib/landmark_egomotion.hpp | 69 ++++ .../lib/landmark_typedefs.hpp | 38 +++ .../src/lib/landmark_egomotion.cpp | 323 ++++++++++++++++++ 8 files changed, 881 insertions(+), 1 deletion(-) create mode 100644 navigation/eskf/include/eskf/lib/eskf.hpp create mode 100644 navigation/eskf/include/eskf/lib/eskf.tpp create mode 100644 navigation/eskf/include/eskf/lib/typedefs.hpp create mode 100644 navigation/eskf/src/lib/eskf.cpp create mode 100644 navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp create mode 100644 navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp create mode 100644 navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp diff --git a/.gitignore b/.gitignore index 9af41aca7..52ae0a3c0 100644 --- a/.gitignore +++ b/.gitignore @@ -9,7 +9,6 @@ install/ log/ build/ bin/ -lib/ msg_gen/ srv_gen/ msg/*Action.msg diff --git a/navigation/eskf/include/eskf/lib/eskf.hpp b/navigation/eskf/include/eskf/lib/eskf.hpp new file mode 100644 index 000000000..3fe305421 --- /dev/null +++ b/navigation/eskf/include/eskf/lib/eskf.hpp @@ -0,0 +1,100 @@ +#ifndef ESKF__LIB__ESKF_HPP_ +#define ESKF__LIB__ESKF_HPP_ + +#include +#include +#include "typedefs.hpp" + +class ESKF { + public: + explicit ESKF(const EskfParams& params); + virtual ~ESKF() = default; + + // @brief Update the nominal state and error state + // @param imu_meas: IMU measurement + // @param dt: Time step + void imu_update(const ImuMeasurement& imu_meas, const double dt); + + // @brief Update the nominal state and error state + // @param dvl_meas: DVL measurement + void dvl_update(const SensorDVL& dvl_meas); + + inline StateQuat get_nominal_state() const { return current_nom_state_; } + + inline StateEuler get_error_state() const { return current_error_state_; } + + inline double get_nis() const { return nis_; } + + protected: + // @brief Inject the error state into the nominal state and reset the error + void injection_and_reset(); + + // Member variable for the current error state + StateEuler current_error_state_{}; + + // Member variable for the current nominal state + StateQuat current_nom_state_{}; + + private: + // @brief Predict the nominal state + // @param imu_meas: IMU measurement + // @param dt: Time step + void nominal_state_discrete(const ImuMeasurement& imu_meas, + const double dt); + + // @brief Predict the error state + // @param imu_meas: IMU measurement + // @param dt: Time step + void error_state_prediction(const ImuMeasurement& imu_meas, + const double dt); + + // @brief Update the error state using a generic sensor measurement model + // @tparam SensorT Type of the sensor model (must satisfy + // SensorModelConcept) + // @param meas Sensor measurement instance + template + void measurement_update(const SensorT& meas); + + // @brief Van Loan discretization + // @param A_c: Continuous state transition matrix + // @param G_c: Continuous input matrix + // @return Discrete state transition matrix and discrete input matrix + std::pair van_loan_discretization( + const Eigen::Matrix15d& A_c, + const Eigen::Matrix15x12d& G_c, + const double dt); + + // Process noise covariance matrix + Eigen::Matrix12d Q_{}; + + // Normalized Innovation Squared + double nis_{}; + + // gravity + Eigen::Vector3d g_{0.0, 0.0, -9.82841}; + + // accelometer noise parameters + float accm_std_{0.0}; + float accm_bias_std_{0.0}; + float accm_bias_p_{1e-16}; + + // gyroscope noise parameters + float gyro_std_{0.0}; + float gyro_bias_std_{0.0}; + float gyro_bias_p_{1e-16}; +}; + +// Measurement in world frame --> h(x) +Eigen::Vector3d calculate_h(const StateQuat& current_nom_state_); + +// Jacobian of h(x) with respect to the error state --> H +Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_); + +// Jacobian of h(x) with respect to the nominal state --> Hx +Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_); + +double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); + +#include "eskf.tpp" // including template implementation + +#endif // ESKF__LIB__ESKF_HPP_ diff --git a/navigation/eskf/include/eskf/lib/eskf.tpp b/navigation/eskf/include/eskf/lib/eskf.tpp new file mode 100644 index 000000000..c02d7d4f7 --- /dev/null +++ b/navigation/eskf/include/eskf/lib/eskf.tpp @@ -0,0 +1,25 @@ + + +template +void ESKF::measurement_update(const SensorT& meas) { + Eigen::VectorXd innovation = meas.innovation(current_nom_state_); + Eigen::MatrixXd H = meas.jacobian(current_nom_state_); + Eigen::MatrixXd R = meas.noise_covariance(); + + Eigen::MatrixXd P = current_error_state_.covariance; + + Eigen::MatrixXd S = H * P * H.transpose() + R; + Eigen::MatrixXd K = P * H.transpose() * S.inverse(); + +#ifndef NDEBUG + nis_ = compute_nis(innovation, S); +#endif + + current_error_state_.set_from_vector(K * innovation); + + Eigen::MatrixXd I_KH = + Eigen::MatrixXd::Identity(P.rows(), P.cols()) - K * H; + current_error_state_.covariance = + I_KH * P * I_KH.transpose() + + K * R * K.transpose(); // Used joseph form for more stable calculations +} diff --git a/navigation/eskf/include/eskf/lib/typedefs.hpp b/navigation/eskf/include/eskf/lib/typedefs.hpp new file mode 100644 index 000000000..5f113274d --- /dev/null +++ b/navigation/eskf/include/eskf/lib/typedefs.hpp @@ -0,0 +1,127 @@ +/** + * @file typedefs.hpp + * @brief Contains the typedef and structs for the eskf. + */ +#ifndef ESKF__LIB__TYPEDEFS_HPP_ +#define ESKF__LIB__TYPEDEFS_HPP_ + +#include +#include +#include +#include + +namespace Eigen { +typedef Eigen::Matrix Vector19d; +typedef Eigen::Matrix Vector18d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix19d; +typedef Eigen::Matrix Matrix18x12d; +typedef Eigen::Matrix Matrix4x3d; +typedef Eigen::Matrix Matrix3x19d; +typedef Eigen::Matrix Matrix3x18d; +typedef Eigen::Matrix Matrix12d; +typedef Eigen::Matrix Matrix18d; +typedef Eigen::Matrix Matrix3x1d; +typedef Eigen::Matrix Matrix19x18d; +typedef Eigen::Matrix Matrix18x3d; +typedef Eigen::Matrix Matrix36d; +typedef Eigen::Matrix Matrix6d; +typedef Eigen::Matrix Matrix9d; +typedef Eigen::Matrix Matrix15d; +typedef Eigen::Matrix Vector12d; +typedef Eigen::Matrix Vector15d; +typedef Eigen::Matrix Vector16d; +typedef Eigen::Matrix Matrix15x12d; +typedef Eigen::Matrix Matrix16x15d; +typedef Eigen::Matrix Matrix3x15d; +typedef Eigen::Matrix Matrix3x16d; +typedef Eigen::Matrix Matrix30d; +} // namespace Eigen + +template +Eigen::Matrix createDiagonalMatrix( + const std::vector& diag) { + return Eigen::Map>(diag.data()) + .asDiagonal(); +} +struct StateQuat { + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); + Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); + + StateQuat() = default; + + Eigen::Vector16d as_vector() const { + Eigen::Vector16d vec{}; + vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, + accel_bias; + return vec; + } + + StateQuat operator-(const StateQuat& other) const { + StateQuat diff{}; + diff.pos = pos - other.pos; + diff.vel = vel - other.vel; + diff.quat = quat * other.quat.inverse(); + diff.gyro_bias = gyro_bias - other.gyro_bias; + diff.accel_bias = accel_bias - other.accel_bias; + return diff; + } +}; + +struct StateEuler { + Eigen::Vector3d pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Vector3d euler = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); + + Eigen::Matrix15d covariance = Eigen::Matrix15d::Zero(); + + Eigen::Vector15d as_vector() const { + Eigen::Vector15d vec{}; + vec << pos, vel, euler, gyro_bias, accel_bias; + return vec; + } + + void set_from_vector(const Eigen::Vector15d& vec) { + pos = vec.block<3, 1>(0, 0); + vel = vec.block<3, 1>(3, 0); + euler = vec.block<3, 1>(6, 0); + gyro_bias = vec.block<3, 1>(9, 0); + accel_bias = vec.block<3, 1>(12, 0); + } +}; + +struct EskfParams { + Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); + Eigen::Matrix15d P = Eigen::Matrix15d::Zero(); +}; +struct ImuMeasurement { + Eigen::Vector3d accel = Eigen::Vector3d::Zero(); + Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); +}; + +struct DvlMeasurement { + Eigen::Vector3d vel = Eigen::Vector3d::Zero(); + Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); +}; + +template +concept SensorModelConcept = requires(const T& meas, const StateQuat& state) { + { meas.innovation(state) } -> std::convertible_to; + { meas.jacobian(state) } -> std::convertible_to; + { meas.noise_covariance() } -> std::convertible_to; +}; // NOLINT(readability/braces) + +struct SensorDVL { + Eigen::Vector3d measurement; + Eigen::Matrix3d measurement_noise; + Eigen::VectorXd innovation(const StateQuat& state) const; + Eigen::MatrixXd jacobian(const StateQuat& state) const; + Eigen::MatrixXd noise_covariance() const; +}; + +#endif // ESKF__LIB__TYPEDEFS_HPP_ diff --git a/navigation/eskf/src/lib/eskf.cpp b/navigation/eskf/src/lib/eskf.cpp new file mode 100644 index 000000000..48514a7ad --- /dev/null +++ b/navigation/eskf/src/lib/eskf.cpp @@ -0,0 +1,199 @@ +#include "eskf/lib/eskf.hpp" +#include +#include +#include +#include +#include "eskf/lib/typedefs.hpp" + +double compute_nis(const Eigen::Vector3d& innovation, + const Eigen::Matrix3d& S) { + Eigen::Matrix3d S_inv = S.inverse(); + return innovation.transpose() * S_inv * innovation; +} + +ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { + // Initialize Covariance + current_error_state_.covariance = params.P; + + // // Initialize Nominal Quaternion to Identity + // current_nom_state_.quat = Eigen::Quaterniond::Identity(); + + // 2. Initialize Quaternion: -90 degrees Yaw because of initial + // drone_orientation + Eigen::AngleAxisd init_rotation(-M_PI / 2.0, Eigen::Vector3d::UnitZ()); + + current_nom_state_.quat = Eigen::Quaterniond(init_rotation); + current_nom_state_.quat.normalize(); +} + +std::pair ESKF::van_loan_discretization( + const Eigen::Matrix15d& A_c, + const Eigen::Matrix15x12d& G_c, + const double dt) { + Eigen::Matrix15d GQG_T = G_c * Q_ * G_c.transpose(); + Eigen::Matrix30d vanLoanMat = Eigen::Matrix30d::Zero(); + + vanLoanMat.topLeftCorner<15, 15>() = -A_c; + vanLoanMat.topRightCorner<15, 15>() = GQG_T; + vanLoanMat.bottomRightCorner<15, 15>() = A_c.transpose(); + + Eigen::Matrix30d vanLoanExp = (vanLoanMat * dt).exp(); + + Eigen::Matrix15d V1 = vanLoanExp.bottomRightCorner<15, 15>().transpose(); + Eigen::Matrix15d V2 = vanLoanExp.topRightCorner<15, 15>(); + + Eigen::Matrix15d A_d = V1; + Eigen::Matrix15d GQG_d = A_d * V2; + + return {A_d, GQG_d}; +} + +Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_) { + Eigen::Matrix3x16d Hx = Eigen::Matrix3x16d::Zero(); + + Eigen::Quaterniond q = current_nom_state_.quat.normalized(); + Eigen::Matrix3d R_bn = q.toRotationMatrix(); + + Eigen::Vector3d v_n = current_nom_state_.vel; + + // Correct derivative w.r.t velocity (nominal state: v_n) + Hx.block<3, 3>(0, 3) = R_bn.transpose(); + + // Derivative w.r.t quaternion (nominal state: q) + // Compute partial derivative w.r.t quaternion directly: + double qw = q.w(); + Eigen::Vector3d q_vec(q.x(), q.y(), q.z()); + Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); + + Eigen::Matrix dhdq; + dhdq.col(0) = 2 * (qw * v_n + q_vec.cross(v_n)); + dhdq.block<3, 3>(0, 1) = + 2 * (q_vec.dot(v_n) * I3 + q_vec * v_n.transpose() - + v_n * q_vec.transpose() - + qw * vortex::utils::math::get_skew_symmetric_matrix(v_n)); + + // Assign quaternion derivative (3x4 block at columns 6:9) + Hx.block<3, 4>(0, 6) = dhdq; + + return Hx; +} + +Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_) { + Eigen::Matrix16x15d x_delta = Eigen::Matrix16x15d::Zero(); + x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); + x_delta.block<4, 3>(6, 6) = + vortex::utils::math::get_transformation_matrix_attitude_quat( + current_nom_state_.quat); + x_delta.block<6, 6>(10, 9) = Eigen::Matrix6d::Identity(); + + Eigen::Matrix3x15d H = calculate_hx(current_nom_state_) * x_delta; + return H; +} + +Eigen::Vector3d calculate_h(const StateQuat& current_nom_state_) { + Eigen::Vector3d h; + Eigen::Matrix3d R_bn = + current_nom_state_.quat.normalized().toRotationMatrix().transpose(); + + h = R_bn * current_nom_state_.vel; + return h; +} + +void ESKF::nominal_state_discrete(const ImuMeasurement& imu_meas, + const double dt) { + Eigen::Vector3d acc = + current_nom_state_.quat.normalized().toRotationMatrix() * + (imu_meas.accel - current_nom_state_.accel_bias) + + this->g_; + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; + + current_nom_state_.pos = current_nom_state_.pos + + current_nom_state_.vel * dt + 0.5 * dt * dt * acc; + current_nom_state_.vel = current_nom_state_.vel + dt * acc; + + current_nom_state_.quat = + (current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion(gyro)); + current_nom_state_.quat.normalize(); + + current_nom_state_.accel_bias = + current_nom_state_.accel_bias * std::exp(accm_bias_p_ * dt); + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias * std::exp(gyro_bias_p_ * dt); +} + +void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, + const double dt) { + Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); + Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); + Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); + + Eigen::Matrix15d A_c = Eigen::Matrix15d::Zero(); + A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(3, 6) = + -R * vortex::utils::math::get_skew_symmetric_matrix(acc); + A_c.block<3, 3>(6, 6) = + -vortex::utils::math::get_skew_symmetric_matrix(gyro); + A_c.block<3, 3>(3, 9) = -R; + A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); + A_c.block<3, 3>(6, 12) = -Eigen::Matrix3d::Identity(); + + Eigen::Matrix15x12d G_c = Eigen::Matrix15x12d::Zero(); + G_c.block<3, 3>(3, 0) = -R; + G_c.block<3, 3>(6, 3) = -Eigen::Matrix3d::Identity(); + G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); + G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); + + Eigen::Matrix15d A_d, GQG_d; + std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); + + StateEuler next_error_state; + current_error_state_.covariance = + A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; +} + +void ESKF::injection_and_reset() { + current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; + current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; + current_nom_state_.quat = current_nom_state_.quat * + vortex::utils::math::eigen_vector3d_to_quaternion( + current_error_state_.euler); + current_nom_state_.quat.normalize(); + current_nom_state_.gyro_bias = + current_nom_state_.gyro_bias + current_error_state_.gyro_bias; + current_nom_state_.accel_bias = + current_nom_state_.accel_bias + current_error_state_.accel_bias; + + Eigen::Matrix15d G = Eigen::Matrix15d::Identity(); + + current_error_state_.covariance = + G * current_error_state_.covariance * G.transpose(); + current_error_state_.set_from_vector(Eigen::Vector15d::Zero()); +} + +void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { + nominal_state_discrete(imu_meas, dt); + error_state_prediction(imu_meas, dt); +} + +void ESKF::dvl_update(const SensorDVL& dvl_meas) { + measurement_update(dvl_meas); + injection_and_reset(); +} + +// DVL sensor model implementations + +Eigen::VectorXd SensorDVL::innovation(const StateQuat& state) const { + Eigen::Vector3d innovation = this->measurement - calculate_h(state); + return innovation; +} + +Eigen::MatrixXd SensorDVL::jacobian(const StateQuat& state) const { + Eigen::Matrix3x15d H = calculate_h_jacobian(state); + return H; +} + +Eigen::MatrixXd SensorDVL::noise_covariance() const { + return this->measurement_noise; +} diff --git a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp new file mode 100644 index 000000000..226fc76f1 --- /dev/null +++ b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp @@ -0,0 +1,69 @@ +#ifndef LANDMARK_EGOMOTION__LIB__LANDMARK_EGOMOTION_HPP_ +#define LANDMARK_EGOMOTION__LIB__LANDMARK_EGOMOTION_HPP_ + +#include +#include +#include "vo_typedefs.hpp" + +class LandmarkESKF : public ESKF { + public: + explicit LandmarkESKF(const EskfParams& params); + ~LandmarkESKF() override = default; + + void landmark_update(const LandmarkMeasurement& Landmark_meas); + void set_vo_config(const VoConfig& cfg); + void set_vo_enabled(bool enabled); + void set_nis_gating_enabled(bool enabled); + void force_anchor_reset(); + void handle_marker_switch(const Eigen::Vector3d& pos, + const Eigen::Quaterniond& quat); + int get_consecutive_rejects() const; + bool is_anchor_valid() const; + + private: + void landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, + const Eigen::Matrix3d& Rv); + + static Eigen::Vector3d compute_quaternion_error( + const Eigen::Quaterniond& q_meas, + const Eigen::Quaterniond& q_est); + static Eigen::Vector3d log_quat(const Eigen::Quaterniond& q); + static Eigen::Quaterniond exp_rotvec(const Eigen::Vector3d& w); + static double angle_dist(const Eigen::Quaterniond& a, + const Eigen::Quaterniond& b); + + static double compute_nis(const Eigen::VectorXd& innovation, + const Eigen::MatrixXd& S); + + // Sliding-window SO(3) smoother + struct Sample { + double stamp; + Eigen::Vector3d pos; + Eigen::Quaterniond quat; + }; + std::deque sw_buf_; + + void sw_add(double stamp, + const Eigen::Vector3d& p, + const Eigen::Quaterniond& q); + void sw_prune(double now); + bool sw_estimate(Eigen::Vector3d& p_out, Eigen::Quaterniond& q_out); + + bool use_vo_; + bool disable_gating_; + + VoConfig vo_cfg_; + + bool have_anchor_; + Eigen::Quaterniond q_nav_vo_; + Eigen::Vector3d p_nav_vo_; + + double last_stamp_; + int consecutive_rejects_; + + bool have_prev_; + double prev_stamp_; + Eigen::Vector3d prev_p_nav_; +}; + +#endif // LANDMARK_EGOMOTION__LIB__LANDMARK_EGOMOTION_HPP_ diff --git a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp new file mode 100644 index 000000000..e723888ff --- /dev/null +++ b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp @@ -0,0 +1,38 @@ +#ifndef LANDMARK_EGOMOTION__LIB__LANDMARK_TYPEDEFS_HPP_ +#define LANDMARK_EGOMOTION__LIB__LANDMARK_TYPEDEFS_HPP_ + +#include +#include + +struct LandmarkMeasurement { + Eigen::Vector3d pos; + Eigen::Quaterniond quat; + Eigen::Matrix R; + double stamp_ = 0.0; +}; + +struct VoConfig { + double nis_gate_pose; + double nis_gate_vel; + double dropout_timeout; + double pos_floor; + double att_floor; + double vel_floor; + double vel_alpha; + double dt_min; + double dt_max; + double sw_max_age; + double sw_huber_deg; + double sw_gate_deg; + int sw_window_size; + int rejects_limit; + bool use_sw; +}; + +namespace Eigen { +typedef Matrix Vector6d; +typedef Matrix Matrix15x6d; +typedef Matrix Matrix6x15d; +} // namespace Eigen + +#endif // LANDMARK_EGOMOTION__LIB__LANDMARK_TYPEDEFS_HPP_ diff --git a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp new file mode 100644 index 000000000..1bedf9714 --- /dev/null +++ b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp @@ -0,0 +1,323 @@ +#include "landmark_egomotion/lib/landmark_egomotion.hpp" +#include +#include + +LandmarkESKF::LandmarkESKF(const EskfParams& params) : ESKF(params) { + use_vo_ = false; + disable_gating_ = false; + consecutive_rejects_ = 0; + + have_anchor_ = false; + q_nav_vo_ = Eigen::Quaterniond::Identity(); + p_nav_vo_ = Eigen::Vector3d::Zero(); + + last_stamp_ = 0.0; + have_prev_ = false; + prev_stamp_ = 0.0; + prev_p_nav_ = Eigen::Vector3d::Zero(); + + vo_cfg_ = {}; +} + +Eigen::Vector3d LandmarkESKF::compute_quaternion_error( + const Eigen::Quaterniond& q_meas, + const Eigen::Quaterniond& q_est) { + Eigen::Quaterniond q_err = (q_meas * q_est.inverse()).normalized(); + + if (q_err.w() < 0.0) { + q_err.coeffs() = -q_err.coeffs(); + } + + const double w = q_err.w(); + const Eigen::Vector3d v(q_err.x(), q_err.y(), q_err.z()); + const double v_norm = v.norm(); + + if (v_norm < 1e-10) { + return 2.0 * v; + } + + const double theta = 2.0 * std::atan2(v_norm, w); + + return (theta / v_norm) * v; +} + +Eigen::Vector3d LandmarkESKF::log_quat(const Eigen::Quaterniond& q) { + const double w = std::clamp(static_cast(q.w()), -1.0, 1.0); + const double theta = 2.0 * std::acos(w); + const double s = std::sqrt(std::max(0.0, 1.0 - w * w)); + + if (s < 1e-9) { + return Eigen::Vector3d(2 * q.x(), 2 * q.y(), 2 * q.z()); + } + + return Eigen::Vector3d(q.x(), q.y(), q.z()) * (theta / s); +} + +Eigen::Quaterniond LandmarkESKF::exp_rotvec(const Eigen::Vector3d& w) { + const double theta = w.norm(); + if (theta < 1e-9) { + return Eigen::Quaterniond(1.0, 0.5 * w.x(), 0.5 * w.y(), 0.5 * w.z()) + .normalized(); + } + const Eigen::Vector3d a = w / theta; + const double s = std::sin(0.5 * theta); + + return Eigen::Quaterniond(std::cos(0.5 * theta), a.x() * s, a.y() * s, + a.z() * s); +} + +double LandmarkESKF::angle_dist(const Eigen::Quaterniond& a, + const Eigen::Quaterniond& b) { + const double d = std::abs(a.dot(b)); + + return 2.0 * std::acos(std::clamp(d, -1.0, 1.0)); +} + +double LandmarkESKF::compute_nis(const Eigen::VectorXd& innovation, + const Eigen::MatrixXd& S) { + return innovation.transpose() * S.inverse() * innovation; +} + +void LandmarkESKF::sw_add(double stamp, + const Eigen::Vector3d& p, + const Eigen::Quaterniond& q) { + sw_buf_.push_back({stamp, p, q}); +} + +void LandmarkESKF::sw_prune(double now) { + while (!sw_buf_.empty() && + (now - sw_buf_.front().stamp) > vo_cfg_.sw_max_age) { + sw_buf_.pop_front(); + } + while (static_cast(sw_buf_.size()) > vo_cfg_.sw_window_size) { + sw_buf_.pop_front(); + } +} + +bool LandmarkESKF::sw_estimate(Eigen::Vector3d& p_out, + Eigen::Quaterniond& q_out) { + if (sw_buf_.empty()) + return false; + + q_out = sw_buf_.back().quat; + p_out = Eigen::Vector3d::Zero(); + + double gate = vo_cfg_.sw_gate_deg * M_PI / 180.0; + const double huber = vo_cfg_.sw_huber_deg * M_PI / 180.0; + + for (int iter = 0; iter < 5; ++iter) { + Eigen::Vector3d sum_p = Eigen::Vector3d::Zero(); + Eigen::Vector3d sum_w = Eigen::Vector3d::Zero(); + double w_total = 0.0; + + for (const auto& s : sw_buf_) { + const double dist = angle_dist(q_out, s.quat); + if (dist > gate) + continue; + + const Eigen::Vector3d w_i = log_quat(q_out.inverse() * s.quat); + + double weight = 1.0; + if (huber > 0.0) { + const double a = w_i.norm(); + if (a > huber && a > 1e-12) { + weight = huber / a; + } + } + + sum_p += s.pos * weight; + sum_w += w_i * weight; + w_total += weight; + } + + if (w_total < 1e-9) + return false; + + p_out = sum_p / w_total; + + const Eigen::Vector3d dw = sum_w / w_total; + q_out = (q_out * exp_rotvec(dw)).normalized(); + + if (dw.norm() < 1e-4) + break; + } + + return true; +} + +void LandmarkESKF::landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, + const Eigen::Matrix3d& Rv) { + Eigen::Matrix H = Eigen::Matrix::Zero(); + H.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); + + const Eigen::Matrix15d P = current_error_state_.covariance; + const Eigen::Vector3d y = v_meas_nav - current_nom_state_.vel; + + const Eigen::Matrix3d S = H * P * H.transpose() + Rv; + const double nis = compute_nis(y, S); + + const double gate = disable_gating_ ? 1e9 : vo_cfg_.nis_gate_vel; + if (nis > gate) { + return; + } + + Eigen::Matrix K = P * H.transpose() * S.inverse(); + K *= vo_cfg_.vel_alpha; + + current_error_state_.set_from_vector(K * y); + + Eigen::Matrix K_full = P * H.transpose() * S.inverse(); + Eigen::Matrix15d I_KH = Eigen::Matrix15d::Identity() - K_full * H; + current_error_state_.covariance = + I_KH * P * I_KH.transpose() + K_full * Rv * K_full.transpose(); + + injection_and_reset(); +} + +void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { + if (!use_vo_) { + return; + } + + if (last_stamp_ > 0.0) { + const double gap = landmark_meas.stamp_ - last_stamp_; + if (gap > vo_cfg_.dropout_timeout) { + have_anchor_ = false; + have_prev_ = false; + consecutive_rejects_ = 0; + sw_buf_.clear(); + } + } + last_stamp_ = landmark_meas.stamp_; + + const bool need_reset = (consecutive_rejects_ >= vo_cfg_.rejects_limit); + + if (!have_anchor_ || need_reset) { + q_nav_vo_ = (current_nom_state_.quat * landmark_meas.quat.inverse()) + .normalized(); + p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * landmark_meas.pos; + + have_anchor_ = true; + have_prev_ = false; + consecutive_rejects_ = 0; + sw_buf_.clear(); + return; + } + + // Transform VO measurement to navigation frame + Eigen::Vector3d p_nav = p_nav_vo_ + q_nav_vo_ * landmark_meas.pos; + Eigen::Quaterniond q_nav = (q_nav_vo_ * landmark_meas.quat).normalized(); + + if (vo_cfg_.use_sw) { + sw_add(landmark_meas.stamp_, p_nav, q_nav); + sw_prune(landmark_meas.stamp_); + + Eigen::Vector3d p_smooth; + Eigen::Quaterniond q_smooth; + if (sw_estimate(p_smooth, q_smooth)) { + p_nav = p_smooth; + q_nav = q_smooth; + } + } + + if (have_prev_) { + const double dt = landmark_meas.stamp_ - prev_stamp_; + if (dt > vo_cfg_.dt_min && dt < vo_cfg_.dt_max) { + const Eigen::Vector3d v_meas_nav = (p_nav - prev_p_nav_) / dt; + + Eigen::Matrix3d Rp = landmark_meas.R.topLeftCorner<3, 3>(); + Eigen::Matrix3d Rv = 2.0 * Rp / (dt * dt); + + const double v_floor_sq = vo_cfg_.vel_floor * vo_cfg_.vel_floor; + for (int i = 0; i < 3; ++i) { + Rv(i, i) = std::max(Rv(i, i), v_floor_sq); + } + + landmark_vel_update_(v_meas_nav, Rv); + } + } + prev_stamp_ = landmark_meas.stamp_; + prev_p_nav_ = p_nav; + have_prev_ = true; + + Eigen::Matrix y; + + // Position innovation + y.head<3>() = p_nav - current_nom_state_.pos; + y.segment<3>(3) = compute_quaternion_error(q_nav, current_nom_state_.quat); + + // Measurement Jacobian + Eigen::Matrix H = Eigen::Matrix::Zero(); + H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); + H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); + + // Measurement noise floors + Eigen::Matrix R = landmark_meas.R; + + const double p_floor_sq = vo_cfg_.pos_floor * vo_cfg_.pos_floor; + const double a_floor_sq = vo_cfg_.att_floor * vo_cfg_.att_floor; + + for (int i = 0; i < 3; ++i) { + R(i, i) = std::max(R(i, i), p_floor_sq); + } + for (int i = 3; i < 6; ++i) { + R(i, i) = std::max(R(i, i), a_floor_sq); + } + + // Innovation covariance and NIS + const Eigen::Matrix15d P = current_error_state_.covariance; + const Eigen::Matrix S = H * P * H.transpose() + R; + const double nis = compute_nis(Eigen::VectorXd(y), Eigen::MatrixXd(S)); + + const double gate = disable_gating_ ? 1e9 : vo_cfg_.nis_gate_pose; + + if (nis > gate) { + consecutive_rejects_++; + return; + } + + Eigen::Matrix K = P * H.transpose() * S.inverse(); + current_error_state_.set_from_vector(K * y); + + // Joseph form covariance update + Eigen::Matrix15d I_KH = Eigen::Matrix15d::Identity() - K * H; + current_error_state_.covariance = + I_KH * P * I_KH.transpose() + K * R * K.transpose(); + + injection_and_reset(); + consecutive_rejects_ = 0; +} + +void LandmarkESKF::set_vo_enabled(bool enabled) { + use_vo_ = enabled; +} + +void LandmarkESKF::set_nis_gating_enabled(bool enabled) { + disable_gating_ = !enabled; +} + +void LandmarkESKF::handle_marker_switch(const Eigen::Vector3d& p_base, + const Eigen::Quaterniond& q_base) { + q_nav_vo_ = (current_nom_state_.quat * q_base.inverse()).normalized(); + p_nav_vo_ = current_nom_state_.pos - q_nav_vo_ * p_base; + sw_buf_.clear(); +} + +void LandmarkESKF::force_anchor_reset() { + have_anchor_ = false; + have_prev_ = false; + consecutive_rejects_ = 0; + sw_buf_.clear(); +} + +int LandmarkESKF::get_consecutive_rejects() const { + return consecutive_rejects_; +} + +bool LandmarkESKF::is_anchor_valid() const { + return have_anchor_; +} + +void LandmarkESKF::set_vo_config(const VoConfig& cfg) { + vo_cfg_ = cfg; +} From 1c8d0165fb12f2da873ac9c7d15b4b36882a62a8 Mon Sep 17 00:00:00 2001 From: Anttra Date: Sun, 15 Feb 2026 18:03:56 +0100 Subject: [PATCH 096/109] removed ifdef guards --- navigation/eskf/CMakeLists.txt | 11 +++-------- navigation/eskf/include/eskf/ros/eskf_ros.hpp | 6 +----- navigation/eskf/src/ros/eskf_ros.cpp | 8 +------- .../landmark_egomotion/lib/landmark_egomotion.hpp | 2 +- 4 files changed, 6 insertions(+), 21 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 0cf2f3451..699282b1e 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -77,13 +77,8 @@ ament_target_dependencies(${COMPONENT_LIB_NAME} target_link_libraries(${COMPONENT_LIB_NAME} ${PROJECT_NAME}) -# Optional landmark egomotion integration -find_package(landmark_egomotion QUIET) -if(landmark_egomotion_FOUND) - target_compile_definitions(${COMPONENT_LIB_NAME} PRIVATE ESKF_HAS_LANDMARK_EGOMOTION) - target_link_libraries(${COMPONENT_LIB_NAME} landmark_egomotion::landmark_egomotion_lib) - message(STATUS "landmark_egomotion found – landmark updates enabled") -endif() +find_package(landmark_egomotion REQUIRED) +target_link_libraries(${COMPONENT_LIB_NAME} landmark_egomotion::landmark_egomotion_lib) rclcpp_components_register_node( ${COMPONENT_LIB_NAME} @@ -118,4 +113,4 @@ ament_export_dependencies( ament_export_include_directories(include) ament_export_libraries(${CORE_LIB_NAME}) -ament_package() \ No newline at end of file +ament_package() diff --git a/navigation/eskf/include/eskf/ros/eskf_ros.hpp b/navigation/eskf/include/eskf/ros/eskf_ros.hpp index fc6f20006..96f15e94f 100644 --- a/navigation/eskf/include/eskf/ros/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/ros/eskf_ros.hpp @@ -15,13 +15,11 @@ #include "eskf/lib/typedefs.hpp" #include "spdlog/spdlog.h" -#ifdef ESKF_HAS_LANDMARK_EGOMOTION #include #include #include #include "landmark_egomotion/lib/landmark_egomotion.hpp" -#include "landmark_egomotion/lib/vo_typedefs.hpp" -#endif +#include "landmark_egomotion/lib/landmark_typedefs.hpp" class ESKFNode : public rclcpp::Node { public: @@ -47,7 +45,6 @@ class ESKFNode : public rclcpp::Node { // @brief Set the parameters for the eskf void set_parameters(); -#ifdef ESKF_HAS_LANDMARK_EGOMOTION void setup_vo(const EskfParams& eskf_params); void landmark_callback( @@ -65,7 +62,6 @@ class ESKFNode : public rclcpp::Node { std::string vo_cam_frame_; bool have_last_marker_{false}; uint16_t last_marker_id_{0}; -#endif rclcpp::Subscription::SharedPtr imu_sub_; diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 2e344be70..74d614639 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -94,19 +94,15 @@ void ESKFNode::set_parameters() { EskfParams eskf_params{.Q = Q, .P = P}; -#ifdef ESKF_HAS_LANDMARK_EGOMOTION - this->declare_parameter("use_landmark_egomotion", false); + this->declare_parameter("use_landmark_egomotion"); if (this->get_parameter("use_landmark_egomotion").as_bool()) { setup_vo(eskf_params); return; } -#endif eskf_ = std::make_unique(eskf_params); } -#ifdef ESKF_HAS_LANDMARK_EGOMOTION - void ESKFNode::setup_vo(const EskfParams& eskf_params) { auto landmark_eskf = std::make_unique(eskf_params); landmark_eskf_ = landmark_eskf.get(); @@ -238,8 +234,6 @@ void ESKFNode::landmark_callback( landmark_eskf_->landmark_update(meas); } -#endif // ESKF_HAS_LANDMARK_EGOMOTION - void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { rclcpp::Time current_time = msg->header.stamp; diff --git a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp index 226fc76f1..90bd924e5 100644 --- a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp +++ b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp @@ -3,7 +3,7 @@ #include #include -#include "vo_typedefs.hpp" +#include "landmark_typedefs.hpp" class LandmarkESKF : public ESKF { public: From 906897d4cc0318827a3a299cd5c63c908bc182cd Mon Sep 17 00:00:00 2001 From: vortexuser <103327416+vortexuser@users.noreply.github.com> Date: Sun, 15 Feb 2026 18:56:23 +0100 Subject: [PATCH 097/109] added vo params in eskf --- navigation/eskf/config/eskf_params.yaml | 27 +++++- navigation/eskf/src/lib/eskf.cpp | 1 + navigation/eskf/src/ros/eskf_ros.cpp | 122 ++++++++++++------------ 3 files changed, 89 insertions(+), 61 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 24b57c90e..aadcc7a68 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -11,4 +11,29 @@ eskf_node: dvl_frame: [ 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ] - use_landmark_egomotion: true \ No newline at end of file + use_landmark_egomotion: true + vo: + landmarks_topic: aruco_detector/landmarks + + base_frame: base_link + camera_frame: Orca/camera_front + + nis_gate_pose: 16.812 + nis_gate_velocity: 11.345 + disable_gating: true + dropout_timeout: 10.0 + rejects_limit: 5 + + pos_floor: 0.05 + att_floor: 0.02 + vel_floor: 0.2 + vel_alpha: 0.5 + dt_min: 0.02 + dt_max: 15.0 + + # Sliding-window smoother + use_sw: false + window_size: 20 + max_age: 15.0 + huber_deg: 20.0 + gate_deg: 60.0 \ No newline at end of file diff --git a/navigation/eskf/src/lib/eskf.cpp b/navigation/eskf/src/lib/eskf.cpp index 48514a7ad..289f8fd48 100644 --- a/navigation/eskf/src/lib/eskf.cpp +++ b/navigation/eskf/src/lib/eskf.cpp @@ -178,6 +178,7 @@ void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { } void ESKF::dvl_update(const SensorDVL& dvl_meas) { + //return; measurement_update(dvl_meas); injection_and_reset(); } diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 74d614639..9f3f666a0 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -169,6 +169,66 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { vo_base_frame_); } +void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { + rclcpp::Time current_time = msg->header.stamp; + + if (!first_imu_msg_received_) { + last_imu_time_ = current_time; + first_imu_msg_received_ = true; + return; + } + + double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; + last_imu_time_ = current_time; + + Eigen::Vector3d raw_accel(msg->linear_acceleration.x, + msg->linear_acceleration.y, + msg->linear_acceleration.z); + + ImuMeasurement imu_measurement{}; + imu_measurement.accel = R_imu_eskf_ * raw_accel; + + Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, + msg->angular_velocity.z); + + // currently the gyro and the accelorometer are rotated differently. should + // be changed with the actual drone. imu_measurement.gyro = R_imu_eskf_ * + // raw_gyro; + imu_measurement.gyro = raw_gyro; + + // used for publishing odom output of eskf + latest_gyro_measurement_ = imu_measurement.gyro; + + eskf_->imu_update(imu_measurement, dt); +} + +void ESKFNode::dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + SensorDVL dvl_sensor; + dvl_sensor.measurement << msg->twist.twist.linear.x, + msg->twist.twist.linear.y, msg->twist.twist.linear.z; + + dvl_sensor.measurement_noise << msg->twist.covariance[0], + msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], + msg->twist.covariance[8], msg->twist.covariance[12], + msg->twist.covariance[13], msg->twist.covariance[14]; + + // Apply the rotation correction to the DVL measurement + dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement; + dvl_sensor.measurement_noise = + R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); + + eskf_->dvl_update(dvl_sensor); + +#ifndef NDEBUG + // Publish NIS in Debug mode + std_msgs::msg::Float64 nis_msg; + nis_msg.data = eskf_->get_nis(); + nis_pub_->publish(nis_msg); +#endif +} + void ESKFNode::landmark_callback( const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { if (!msg || msg->landmarks.empty()) @@ -188,6 +248,8 @@ void ESKFNode::landmark_callback( [](const auto* a, const auto* b) { return a->subtype < b->subtype; }); const auto* chosen = *it; uint16_t chosen_id = chosen->subtype; + spdlog::debug("Received {} markers, chosen id: {}", markers.size(), + chosen_id); geometry_msgs::msg::TransformStamped tf_msg; try { @@ -234,66 +296,6 @@ void ESKFNode::landmark_callback( landmark_eskf_->landmark_update(meas); } -void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { - rclcpp::Time current_time = msg->header.stamp; - - if (!first_imu_msg_received_) { - last_imu_time_ = current_time; - first_imu_msg_received_ = true; - return; - } - - double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; - last_imu_time_ = current_time; - - Eigen::Vector3d raw_accel(msg->linear_acceleration.x, - msg->linear_acceleration.y, - msg->linear_acceleration.z); - - ImuMeasurement imu_measurement{}; - imu_measurement.accel = R_imu_eskf_ * raw_accel; - - Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, - msg->angular_velocity.z); - - // currently the gyro and the accelorometer are rotated differently. should - // be changed with the actual drone. imu_measurement.gyro = R_imu_eskf_ * - // raw_gyro; - imu_measurement.gyro = raw_gyro; - - // used for publishing odom output of eskf - latest_gyro_measurement_ = imu_measurement.gyro; - - eskf_->imu_update(imu_measurement, dt); -} - -void ESKFNode::dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - SensorDVL dvl_sensor; - dvl_sensor.measurement << msg->twist.twist.linear.x, - msg->twist.twist.linear.y, msg->twist.twist.linear.z; - - dvl_sensor.measurement_noise << msg->twist.covariance[0], - msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], - msg->twist.covariance[8], msg->twist.covariance[12], - msg->twist.covariance[13], msg->twist.covariance[14]; - - // Apply the rotation correction to the DVL measurement - dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement; - dvl_sensor.measurement_noise = - R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); - - eskf_->dvl_update(dvl_sensor); - -#ifndef NDEBUG - // Publish NIS in Debug mode - std_msgs::msg::Float64 nis_msg; - nis_msg.data = eskf_->get_nis(); - nis_pub_->publish(nis_msg); -#endif -} - void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; StateQuat nom_state = eskf_->get_nominal_state(); From 13c2fdc916ff405e73aace0f14def2a9882bf85a Mon Sep 17 00:00:00 2001 From: Anttra Date: Sun, 15 Feb 2026 19:35:01 +0100 Subject: [PATCH 098/109] newline in eskf_params, space in comment --- navigation/eskf/config/eskf_params.yaml | 2 +- navigation/eskf/src/lib/eskf.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index aadcc7a68..caf70ffcf 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -36,4 +36,4 @@ eskf_node: window_size: 20 max_age: 15.0 huber_deg: 20.0 - gate_deg: 60.0 \ No newline at end of file + gate_deg: 60.0 diff --git a/navigation/eskf/src/lib/eskf.cpp b/navigation/eskf/src/lib/eskf.cpp index 289f8fd48..f3aabea62 100644 --- a/navigation/eskf/src/lib/eskf.cpp +++ b/navigation/eskf/src/lib/eskf.cpp @@ -178,7 +178,7 @@ void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { } void ESKF::dvl_update(const SensorDVL& dvl_meas) { - //return; + // return; measurement_update(dvl_meas); injection_and_reset(); } From 3ea8ae21fb8853ffd2f81b04c42e035c981b452c Mon Sep 17 00:00:00 2001 From: AntTra Date: Mon, 2 Mar 2026 15:14:35 +0100 Subject: [PATCH 099/109] fix: resolved eskf/landmark_egomotion build dependency. Added BOOTSTRAP_CORE_ONLY to allow eskf to build independently of landmark_egomotion --- navigation/eskf/CMakeLists.txt | 88 +++++++++++++++++++--------------- tests/setup.sh | 14 +++++- 2 files changed, 63 insertions(+), 39 deletions(-) diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 699282b1e..c03aed521 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -51,49 +51,61 @@ ament_target_dependencies(${CORE_LIB_NAME} vortex_utils ) -# Alias so that in-tree consumers (landmark_egomotion) can resolve eskf::eskf add_library(${PROJECT_NAME}::${CORE_LIB_NAME} ALIAS ${CORE_LIB_NAME}) -set(COMPONENT_LIB_NAME "${PROJECT_NAME}_component") - -add_library(${COMPONENT_LIB_NAME} SHARED - src/ros/eskf_ros.cpp -) - -ament_target_dependencies(${COMPONENT_LIB_NAME} - rclcpp - rclcpp_components - Eigen3 - geometry_msgs - nav_msgs - tf2 - tf2_ros - vortex_msgs - vortex_utils - vortex_utils_ros - spdlog - fmt -) - -target_link_libraries(${COMPONENT_LIB_NAME} ${PROJECT_NAME}) - -find_package(landmark_egomotion REQUIRED) -target_link_libraries(${COMPONENT_LIB_NAME} landmark_egomotion::landmark_egomotion_lib) - -rclcpp_components_register_node( - ${COMPONENT_LIB_NAME} - PLUGIN "ESKFNode" - EXECUTABLE ${PROJECT_NAME}_node -) +option(BOOTSTRAP_CORE_ONLY "Build only the core ESKF library, without the ROS component" OFF) + +if(NOT BOOTSTRAP_CORE_ONLY) + set(COMPONENT_LIB_NAME "${PROJECT_NAME}_component") + + add_library(${COMPONENT_LIB_NAME} SHARED + src/ros/eskf_ros.cpp + ) + + ament_target_dependencies(${COMPONENT_LIB_NAME} + rclcpp + rclcpp_components + Eigen3 + geometry_msgs + nav_msgs + tf2 + tf2_ros + vortex_msgs + vortex_utils + vortex_utils_ros + spdlog + fmt + ) + + target_link_libraries(${COMPONENT_LIB_NAME} ${PROJECT_NAME}) + + find_package(landmark_egomotion REQUIRED) + target_link_libraries(${COMPONENT_LIB_NAME} landmark_egomotion::landmark_egomotion_lib) + + rclcpp_components_register_node( + ${COMPONENT_LIB_NAME} + PLUGIN "ESKFNode" + EXECUTABLE ${PROJECT_NAME}_node + ) +endif() ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) -install(TARGETS ${CORE_LIB_NAME} ${COMPONENT_LIB_NAME} - EXPORT export_${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) +if(NOT BOOTSTRAP_CORE_ONLY) + install(TARGETS ${CORE_LIB_NAME} ${COMPONENT_LIB_NAME} + EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + ) +else() + install(TARGETS ${CORE_LIB_NAME} + EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + ) +endif() install( DIRECTORY include/ diff --git a/tests/setup.sh b/tests/setup.sh index e06da4560..aef7f3fab 100644 --- a/tests/setup.sh +++ b/tests/setup.sh @@ -26,8 +26,20 @@ build_ros_workspace() { log_info "Sourcing workspace..." . install/setup.bash + log_info "Bootstrapping eskf core library..." + colcon build --packages-select eskf --cmake-args -DBOOTSTRAP_CORE_ONLY=ON + + log_info "Sourcing workspace..." + . install/setup.bash + + log_info "Building landmark_egomotion..." + colcon build --packages-select landmark_egomotion + + log_info "Sourcing workspace..." + . install/setup.bash + log_info "Building remaining ROS 2 packages..." - colcon build --packages-ignore stonefish_ros2 vortex_utils + colcon build --packages-ignore stonefish_ros2 vortex_utils --cmake-args -DBOOTSTRAP_CORE_ONLY=OFF log_info "ROS 2 workspace build complete." } From 84b77097535a4d644fc1ae7a024ab32105b2f859 Mon Sep 17 00:00:00 2001 From: AntTra Date: Mon, 2 Mar 2026 19:09:58 +0100 Subject: [PATCH 100/109] modified tests/setup.sh --- tests/setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/setup.sh b/tests/setup.sh index aef7f3fab..13bf690f5 100644 --- a/tests/setup.sh +++ b/tests/setup.sh @@ -27,7 +27,7 @@ build_ros_workspace() { . install/setup.bash log_info "Bootstrapping eskf core library..." - colcon build --packages-select eskf --cmake-args -DBOOTSTRAP_CORE_ONLY=ON + colcon build --packages-up-to eskf --cmake-args -DBOOTSTRAP_CORE_ONLY=ON log_info "Sourcing workspace..." . install/setup.bash From 91ec1749dbdb2793d172e81a179f817d3e4ba01b Mon Sep 17 00:00:00 2001 From: AntTra Date: Mon, 2 Mar 2026 20:13:20 +0100 Subject: [PATCH 101/109] fix: update landmark message to new vortex_msgs structure --- navigation/eskf/src/ros/eskf_ros.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 9f3f666a0..757f0ac03 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -236,18 +236,19 @@ void ESKFNode::landmark_callback( std::vector markers; for (const auto& lm : msg->landmarks) { - if (lm.type == vortex_msgs::msg::Landmark::ARUCO_MARKER) { + if (lm.type.value == vortex_msgs::msg::LandmarkType::ARUCO_MARKER) { markers.push_back(&lm); } } if (markers.empty()) return; - auto it = std::min_element( - markers.begin(), markers.end(), - [](const auto* a, const auto* b) { return a->subtype < b->subtype; }); + auto it = std::min_element(markers.begin(), markers.end(), + [](const auto* a, const auto* b) { + return a->subtype.value < b->subtype.value; + }); const auto* chosen = *it; - uint16_t chosen_id = chosen->subtype; + uint16_t chosen_id = chosen->subtype.value; spdlog::debug("Received {} markers, chosen id: {}", markers.size(), chosen_id); From 6af0de2144afc04d56b3b040009c0fa776af5aa2 Mon Sep 17 00:00:00 2001 From: AntTra Date: Tue, 17 Mar 2026 12:44:07 +0100 Subject: [PATCH 102/109] consistent gain in vel. ]\marker selection based on closest marker instead of lowest ID --- .github/workflows/ros-node-tests.yml | 7 +------ navigation/eskf/src/ros/eskf_ros.cpp | 16 ++++++++++++---- .../src/lib/landmark_egomotion.cpp | 5 ++--- 3 files changed, 15 insertions(+), 13 deletions(-) diff --git a/.github/workflows/ros-node-tests.yml b/.github/workflows/ros-node-tests.yml index 79535d8d5..ca4519f09 100644 --- a/.github/workflows/ros-node-tests.yml +++ b/.github/workflows/ros-node-tests.yml @@ -9,12 +9,7 @@ on: schedule: - cron: '0 1 * * *' # Runs daily at 01:00 UTC jobs: - call_reusable_workflow: - strategy: - matrix: - test_script: - - "tests/ros_node_tests/dp_node_test.sh" - - "tests/ros_node_tests/eskf_node_test.sh" + ros-node-test: uses: vortexntnu/vortex-ci/.github/workflows/reusable-ros2-simulator-test.yml@main with: vcs_repos_file: "tests/dependencies.repos" diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 4b233bac8..1a2384ee9 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -219,10 +219,18 @@ void ESKFNode::landmark_callback( if (markers.empty()) return; - auto it = std::min_element(markers.begin(), markers.end(), - [](const auto* a, const auto* b) { - return a->subtype.value < b->subtype.value; - }); + auto it = std::min_element( + markers.begin(), markers.end(), [](const auto* a, const auto* b) { + const double da = Eigen::Vector3d(a->pose.pose.position.x, + a->pose.pose.position.y, + a->pose.pose.position.z) + .norm(); + const double db = Eigen::Vector3d(b->pose.pose.position.x, + b->pose.pose.position.y, + b->pose.pose.position.z) + .norm(); + return da < db; + }); const auto* chosen = *it; uint16_t chosen_id = chosen->subtype.value; spdlog::debug("Received {} markers, chosen id: {}", markers.size(), diff --git a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp index 1bedf9714..534f16527 100644 --- a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp +++ b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp @@ -166,10 +166,9 @@ void LandmarkESKF::landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, current_error_state_.set_from_vector(K * y); - Eigen::Matrix K_full = P * H.transpose() * S.inverse(); - Eigen::Matrix15d I_KH = Eigen::Matrix15d::Identity() - K_full * H; + Eigen::Matrix15d I_KH = Eigen::Matrix15d::Identity() - K * H; current_error_state_.covariance = - I_KH * P * I_KH.transpose() + K_full * Rv * K_full.transpose(); + I_KH * P * I_KH.transpose() + K * Rv * K.transpose(); injection_and_reset(); } From fe8c8e20da1b8f02592e4d52cb9f64b4f7a03372 Mon Sep 17 00:00:00 2001 From: AntTra Date: Wed, 18 Mar 2026 14:29:22 +0100 Subject: [PATCH 103/109] removed dead landmark yaml, removed vel_alpha, added VO reject and anchor reset warnings, refactor --- navigation/eskf/config/eskf_params.yaml | 3 +-- navigation/eskf/include/eskf/ros/eskf_ros.hpp | 1 + navigation/eskf/src/ros/eskf_ros.cpp | 14 +++++++--- navigation/landmark_egomotion/CMakeLists.txt | 4 --- .../config/landmark_egomotion_params.yaml | 27 ------------------- .../lib/landmark_egomotion.hpp | 4 +-- .../lib/landmark_typedefs.hpp | 3 +-- .../src/lib/landmark_egomotion.cpp | 25 +++++++++-------- 8 files changed, 28 insertions(+), 53 deletions(-) delete mode 100644 navigation/landmark_egomotion/config/landmark_egomotion_params.yaml diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 9805bb026..86c39663b 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -17,12 +17,11 @@ pos_floor: 0.05 att_floor: 0.02 vel_floor: 0.2 - vel_alpha: 0.5 dt_min: 0.02 dt_max: 15.0 # Sliding-window smoother - use_sw: false + use_sw: true window_size: 20 max_age: 15.0 huber_deg: 20.0 diff --git a/navigation/eskf/include/eskf/ros/eskf_ros.hpp b/navigation/eskf/include/eskf/ros/eskf_ros.hpp index 25c4f1b38..314d5c004 100644 --- a/navigation/eskf/include/eskf/ros/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/ros/eskf_ros.hpp @@ -75,6 +75,7 @@ class ESKFNode : public rclcpp::Node { std::string vo_cam_frame_; bool have_last_marker_{false}; uint16_t last_marker_id_{0}; + int vo_rejects_limit_{0}; #endif // Subscribers and Publishers diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 1a2384ee9..9b7e57e44 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -159,7 +159,6 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { this->declare_parameter("vo.pos_floor"); this->declare_parameter("vo.att_floor"); this->declare_parameter("vo.vel_floor"); - this->declare_parameter("vo.vel_alpha"); this->declare_parameter("vo.dt_min"); this->declare_parameter("vo.dt_max"); this->declare_parameter("vo.use_sw"); @@ -181,7 +180,6 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { vo_cfg.pos_floor = this->get_parameter("vo.pos_floor").as_double(); vo_cfg.att_floor = this->get_parameter("vo.att_floor").as_double(); vo_cfg.vel_floor = this->get_parameter("vo.vel_floor").as_double(); - vo_cfg.vel_alpha = this->get_parameter("vo.vel_alpha").as_double(); vo_cfg.dt_min = this->get_parameter("vo.dt_min").as_double(); vo_cfg.dt_max = this->get_parameter("vo.dt_max").as_double(); vo_cfg.use_sw = this->get_parameter("vo.use_sw").as_bool(); @@ -194,6 +192,7 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { landmark_eskf_->set_nis_gating_enabled( !this->get_parameter("vo.disable_gating").as_bool()); landmark_eskf_->set_vo_config(vo_cfg); + vo_rejects_limit_ = vo_cfg.rejects_limit; std::string landmarks_topic = this->get_parameter("vo.landmarks_topic").as_string(); @@ -274,11 +273,20 @@ void ESKFNode::landmark_callback( LandmarkMeasurement meas; meas.pos = t_base; meas.quat = q_base; - meas.stamp_ = rclcpp::Time(msg->header.stamp).seconds(); + meas.stamp = rclcpp::Time(msg->header.stamp).seconds(); meas.R = Eigen::Map>( chosen->pose.covariance.data()); + const int rejects_before = landmark_eskf_->get_consecutive_rejects(); landmark_eskf_->landmark_update(meas); + const int rejects_after = landmark_eskf_->get_consecutive_rejects(); + + if (rejects_before >= vo_rejects_limit_ && rejects_after == 0) { + spdlog::warn("VO anchor reset after {} consecutive rejects", + rejects_before); + } else if (rejects_after > 0) { + spdlog::warn("VO gating: {} consecutive reject(s)", rejects_after); + } } #endif // HAVE_LANDMARK_EGOMOTION diff --git a/navigation/landmark_egomotion/CMakeLists.txt b/navigation/landmark_egomotion/CMakeLists.txt index 6e969eade..184dad303 100644 --- a/navigation/landmark_egomotion/CMakeLists.txt +++ b/navigation/landmark_egomotion/CMakeLists.txt @@ -53,9 +53,5 @@ install( DESTINATION include ) -install(DIRECTORY - config - DESTINATION share/${PROJECT_NAME}/ -) ament_package() diff --git a/navigation/landmark_egomotion/config/landmark_egomotion_params.yaml b/navigation/landmark_egomotion/config/landmark_egomotion_params.yaml deleted file mode 100644 index d9ab67933..000000000 --- a/navigation/landmark_egomotion/config/landmark_egomotion_params.yaml +++ /dev/null @@ -1,27 +0,0 @@ -eskf_node: - ros__parameters: - vo: - landmarks_topic: /aruco_detector/landmarks - - base_frame: base_link - camera_frame: Orca/camera_front - - nis_gate_pose: 16.812 - nis_gate_velocity: 11.345 - disable_gating: true - dropout_timeout: 10.0 - rejects_limit: 5 - - pos_floor: 0.05 - att_floor: 0.02 - vel_floor: 0.2 - vel_alpha: 0.5 - dt_min: 0.02 - dt_max: 15.0 - - # Sliding-window smoother - use_sw: true - window_size: 20 - max_age: 15.0 - huber_deg: 20.0 - gate_deg: 60.0 diff --git a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp index 90bd924e5..8c868c6dc 100644 --- a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp +++ b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_egomotion.hpp @@ -10,7 +10,7 @@ class LandmarkESKF : public ESKF { explicit LandmarkESKF(const EskfParams& params); ~LandmarkESKF() override = default; - void landmark_update(const LandmarkMeasurement& Landmark_meas); + void landmark_update(const LandmarkMeasurement& landmark_meas); void set_vo_config(const VoConfig& cfg); void set_vo_enabled(bool enabled); void set_nis_gating_enabled(bool enabled); @@ -50,7 +50,7 @@ class LandmarkESKF : public ESKF { bool sw_estimate(Eigen::Vector3d& p_out, Eigen::Quaterniond& q_out); bool use_vo_; - bool disable_gating_; + bool gating_enabled_; VoConfig vo_cfg_; diff --git a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp index e723888ff..ff30450e6 100644 --- a/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp +++ b/navigation/landmark_egomotion/include/landmark_egomotion/lib/landmark_typedefs.hpp @@ -8,7 +8,7 @@ struct LandmarkMeasurement { Eigen::Vector3d pos; Eigen::Quaterniond quat; Eigen::Matrix R; - double stamp_ = 0.0; + double stamp = 0.0; }; struct VoConfig { @@ -18,7 +18,6 @@ struct VoConfig { double pos_floor; double att_floor; double vel_floor; - double vel_alpha; double dt_min; double dt_max; double sw_max_age; diff --git a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp index 534f16527..260892264 100644 --- a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp +++ b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp @@ -4,7 +4,7 @@ LandmarkESKF::LandmarkESKF(const EskfParams& params) : ESKF(params) { use_vo_ = false; - disable_gating_ = false; + gating_enabled_ = true; consecutive_rejects_ = 0; have_anchor_ = false; @@ -102,7 +102,7 @@ bool LandmarkESKF::sw_estimate(Eigen::Vector3d& p_out, q_out = sw_buf_.back().quat; p_out = Eigen::Vector3d::Zero(); - double gate = vo_cfg_.sw_gate_deg * M_PI / 180.0; + const double gate = vo_cfg_.sw_gate_deg * M_PI / 180.0; const double huber = vo_cfg_.sw_huber_deg * M_PI / 180.0; for (int iter = 0; iter < 5; ++iter) { @@ -156,13 +156,12 @@ void LandmarkESKF::landmark_vel_update_(const Eigen::Vector3d& v_meas_nav, const Eigen::Matrix3d S = H * P * H.transpose() + Rv; const double nis = compute_nis(y, S); - const double gate = disable_gating_ ? 1e9 : vo_cfg_.nis_gate_vel; + const double gate = !gating_enabled_ ? 1e9 : vo_cfg_.nis_gate_vel; if (nis > gate) { return; } Eigen::Matrix K = P * H.transpose() * S.inverse(); - K *= vo_cfg_.vel_alpha; current_error_state_.set_from_vector(K * y); @@ -179,7 +178,7 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { } if (last_stamp_ > 0.0) { - const double gap = landmark_meas.stamp_ - last_stamp_; + const double gap = landmark_meas.stamp - last_stamp_; if (gap > vo_cfg_.dropout_timeout) { have_anchor_ = false; have_prev_ = false; @@ -187,7 +186,7 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { sw_buf_.clear(); } } - last_stamp_ = landmark_meas.stamp_; + last_stamp_ = landmark_meas.stamp; const bool need_reset = (consecutive_rejects_ >= vo_cfg_.rejects_limit); @@ -208,8 +207,8 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { Eigen::Quaterniond q_nav = (q_nav_vo_ * landmark_meas.quat).normalized(); if (vo_cfg_.use_sw) { - sw_add(landmark_meas.stamp_, p_nav, q_nav); - sw_prune(landmark_meas.stamp_); + sw_add(landmark_meas.stamp, p_nav, q_nav); + sw_prune(landmark_meas.stamp); Eigen::Vector3d p_smooth; Eigen::Quaterniond q_smooth; @@ -220,7 +219,7 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { } if (have_prev_) { - const double dt = landmark_meas.stamp_ - prev_stamp_; + const double dt = landmark_meas.stamp - prev_stamp_; if (dt > vo_cfg_.dt_min && dt < vo_cfg_.dt_max) { const Eigen::Vector3d v_meas_nav = (p_nav - prev_p_nav_) / dt; @@ -235,7 +234,7 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { landmark_vel_update_(v_meas_nav, Rv); } } - prev_stamp_ = landmark_meas.stamp_; + prev_stamp_ = landmark_meas.stamp; prev_p_nav_ = p_nav; have_prev_ = true; @@ -266,9 +265,9 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { // Innovation covariance and NIS const Eigen::Matrix15d P = current_error_state_.covariance; const Eigen::Matrix S = H * P * H.transpose() + R; - const double nis = compute_nis(Eigen::VectorXd(y), Eigen::MatrixXd(S)); + const double nis = compute_nis(y, S); - const double gate = disable_gating_ ? 1e9 : vo_cfg_.nis_gate_pose; + const double gate = !gating_enabled_ ? 1e9 : vo_cfg_.nis_gate_pose; if (nis > gate) { consecutive_rejects_++; @@ -292,7 +291,7 @@ void LandmarkESKF::set_vo_enabled(bool enabled) { } void LandmarkESKF::set_nis_gating_enabled(bool enabled) { - disable_gating_ = !enabled; + gating_enabled_ = enabled; } void LandmarkESKF::handle_marker_switch(const Eigen::Vector3d& p_base, From aba7a854df7d074dceee46946f8792c1fba1337f Mon Sep 17 00:00:00 2001 From: Anttra Date: Thu, 19 Mar 2026 14:55:34 +0100 Subject: [PATCH 104/109] changing params use based on latest changes in simulation and auv_setup --- navigation/eskf/config/eskf_params.yaml | 6 +++--- navigation/eskf/src/ros/eskf_ros.cpp | 7 ++++--- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index 86c39663b..cb297f52f 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -3,10 +3,10 @@ ros__parameters: use_landmark_egomotion: true vo: - landmarks_topic: aruco_detector/landmarks + landmarks_topic: /aruco_detector/landmarks - base_frame: base_link - camera_frame: Orca/camera_front + base_frame: orca/base_link + camera_frame: orca/front_camera_optical nis_gate_pose: 16.812 nis_gate_velocity: 11.345 diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 9b7e57e44..87a4c3d21 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -132,9 +132,10 @@ void ESKFNode::set_parameters() { EskfParams eskf_params{.Q = Q, .P = P}; eskf_ = std::make_unique(eskf_params); - + spdlog::info("Landmark egomotion enabled?"); #ifdef HAVE_LANDMARK_EGOMOTION - this->declare_parameter("use_landmark_egomotion", false); + spdlog::info("Landmark egomotion enabled"); + this->declare_parameter("use_landmark_egomotion"); if (this->get_parameter("use_landmark_egomotion").as_bool()) { setup_vo(eskf_params); } @@ -150,7 +151,7 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { this->declare_parameter("vo.landmarks_topic"); this->declare_parameter("vo.base_frame"); this->declare_parameter("vo.camera_frame"); - this->declare_parameter("vo.disable_gating", false); + this->declare_parameter("vo.disable_gating"); this->declare_parameter("vo.nis_gate_pose"); this->declare_parameter("vo.nis_gate_velocity"); From dc82fb7b552682f5eca30fd7b7d2acc5f5962a5e Mon Sep 17 00:00:00 2001 From: AntTra Date: Mon, 23 Mar 2026 19:37:27 +0100 Subject: [PATCH 105/109] merged landmark egomotion into eskf package. LandmarkESKF now inherits from ESKF directly. Fixed quaternion error to use right perturbation --- navigation/eskf/CMakeLists.txt | 20 +++--- navigation/eskf/include/eskf/ros/eskf_ros.hpp | 4 -- navigation/eskf/src/ros/eskf_ros.cpp | 7 +- navigation/landmark_egomotion/CMakeLists.txt | 57 ---------------- navigation/landmark_egomotion/package.xml | 18 ----- .../src/lib/landmark_egomotion.cpp | 68 +++++++++---------- 6 files changed, 47 insertions(+), 127 deletions(-) delete mode 100644 navigation/landmark_egomotion/CMakeLists.txt delete mode 100644 navigation/landmark_egomotion/package.xml diff --git a/navigation/eskf/CMakeLists.txt b/navigation/eskf/CMakeLists.txt index 9e5e25e64..cde391fd9 100644 --- a/navigation/eskf/CMakeLists.txt +++ b/navigation/eskf/CMakeLists.txt @@ -56,8 +56,15 @@ add_library(${PROJECT_NAME}::${CORE_LIB_NAME} ALIAS ${CORE_LIB_NAME}) set(COMPONENT_LIB_NAME "${PROJECT_NAME}_component") +set(LANDMARK_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../landmark_egomotion") + add_library(${COMPONENT_LIB_NAME} SHARED src/ros/eskf_ros.cpp + ${LANDMARK_DIR}/src/lib/landmark_egomotion.cpp +) + +target_include_directories(${COMPONENT_LIB_NAME} PRIVATE + ${LANDMARK_DIR}/include ) ament_target_dependencies(${COMPONENT_LIB_NAME} @@ -78,14 +85,6 @@ ament_target_dependencies(${COMPONENT_LIB_NAME} target_link_libraries(${COMPONENT_LIB_NAME} ${PROJECT_NAME}) -find_package(landmark_egomotion QUIET) -if(landmark_egomotion_FOUND) - target_compile_definitions(${COMPONENT_LIB_NAME} PRIVATE HAVE_LANDMARK_EGOMOTION=1) - target_link_libraries(${COMPONENT_LIB_NAME} landmark_egomotion::landmark_egomotion_lib) -else() - message(STATUS "landmark_egomotion not found — building eskf without landmark egomotion support") -endif() - rclcpp_components_register_node( ${COMPONENT_LIB_NAME} PLUGIN "ESKFNode" @@ -106,6 +105,11 @@ install( DESTINATION include ) +install( + DIRECTORY ${LANDMARK_DIR}/include/ + DESTINATION include +) + install(DIRECTORY launch config diff --git a/navigation/eskf/include/eskf/ros/eskf_ros.hpp b/navigation/eskf/include/eskf/ros/eskf_ros.hpp index 314d5c004..3fade0a7e 100644 --- a/navigation/eskf/include/eskf/ros/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/ros/eskf_ros.hpp @@ -24,11 +24,9 @@ #include "eskf/lib/typedefs.hpp" #include "spdlog/spdlog.h" -#ifdef HAVE_LANDMARK_EGOMOTION #include #include "landmark_egomotion/lib/landmark_egomotion.hpp" #include "landmark_egomotion/lib/landmark_typedefs.hpp" -#endif class ESKFNode : public rclcpp::Node { public: @@ -60,7 +58,6 @@ class ESKFNode : public rclcpp::Node { // @brief broadcast the State as a TF void publish_tf(const StateQuat& nom_state); -#ifdef HAVE_LANDMARK_EGOMOTION void setup_vo(const EskfParams& eskf_params); void landmark_callback( @@ -76,7 +73,6 @@ class ESKFNode : public rclcpp::Node { bool have_last_marker_{false}; uint16_t last_marker_id_{0}; int vo_rejects_limit_{0}; -#endif // Subscribers and Publishers diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 87a4c3d21..411ed046e 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -132,17 +132,13 @@ void ESKFNode::set_parameters() { EskfParams eskf_params{.Q = Q, .P = P}; eskf_ = std::make_unique(eskf_params); - spdlog::info("Landmark egomotion enabled?"); -#ifdef HAVE_LANDMARK_EGOMOTION - spdlog::info("Landmark egomotion enabled"); + this->declare_parameter("use_landmark_egomotion"); if (this->get_parameter("use_landmark_egomotion").as_bool()) { setup_vo(eskf_params); } -#endif } -#ifdef HAVE_LANDMARK_EGOMOTION void ESKFNode::setup_vo(const EskfParams& eskf_params) { auto landmark_eskf = std::make_unique(eskf_params); landmark_eskf_ = landmark_eskf.get(); @@ -289,7 +285,6 @@ void ESKFNode::landmark_callback( spdlog::warn("VO gating: {} consecutive reject(s)", rejects_after); } } -#endif // HAVE_LANDMARK_EGOMOTION void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { rclcpp::Time current_time = msg->header.stamp; diff --git a/navigation/landmark_egomotion/CMakeLists.txt b/navigation/landmark_egomotion/CMakeLists.txt deleted file mode 100644 index 184dad303..000000000 --- a/navigation/landmark_egomotion/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(landmark_egomotion) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 20) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(eskf REQUIRED) -find_package(Eigen3 REQUIRED) - -if(NOT DEFINED EIGEN3_INCLUDE_DIR) - set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS}) -endif() - -include_directories(${EIGEN3_INCLUDE_DIR}) - -set(LIB_NAME "${PROJECT_NAME}_lib") - -add_library(${LIB_NAME} SHARED - src/lib/landmark_egomotion.cpp -) - -target_include_directories(${LIB_NAME} PUBLIC - $ - $ -) - -target_link_libraries(${LIB_NAME} PUBLIC - eskf::eskf -) - -ament_target_dependencies(${LIB_NAME} PUBLIC - Eigen3 -) - -ament_export_targets(export_${LIB_NAME}) -ament_export_include_directories(include) - -install(TARGETS ${LIB_NAME} - EXPORT export_${LIB_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -install( - DIRECTORY include/ - DESTINATION include -) - - -ament_package() diff --git a/navigation/landmark_egomotion/package.xml b/navigation/landmark_egomotion/package.xml deleted file mode 100644 index 10539a71a..000000000 --- a/navigation/landmark_egomotion/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - landmark_egomotion - 1.0.0 - Landmark anchor for egomotion measurement in ESKF - anttra - MIT - - ament_cmake - - eskf - eigen - - - ament_cmake - - diff --git a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp index 260892264..9c57f53dd 100644 --- a/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp +++ b/navigation/landmark_egomotion/src/lib/landmark_egomotion.cpp @@ -22,7 +22,7 @@ LandmarkESKF::LandmarkESKF(const EskfParams& params) : ESKF(params) { Eigen::Vector3d LandmarkESKF::compute_quaternion_error( const Eigen::Quaterniond& q_meas, const Eigen::Quaterniond& q_est) { - Eigen::Quaterniond q_err = (q_meas * q_est.inverse()).normalized(); + Eigen::Quaterniond q_err = (q_est.inverse() * q_meas).normalized(); if (q_err.w() < 0.0) { q_err.coeffs() = -q_err.coeffs(); @@ -202,10 +202,42 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { return; } - // Transform VO measurement to navigation frame + // Transform raw VO measurement to navigation frame Eigen::Vector3d p_nav = p_nav_vo_ + q_nav_vo_ * landmark_meas.pos; Eigen::Quaterniond q_nav = (q_nav_vo_ * landmark_meas.quat).normalized(); + // Measurement Jacobian + Eigen::Matrix H = Eigen::Matrix::Zero(); + H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); + H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); + + // Measurement noise with floors applied + Eigen::Matrix R = landmark_meas.R; + const double p_floor_sq = vo_cfg_.pos_floor * vo_cfg_.pos_floor; + const double a_floor_sq = vo_cfg_.att_floor * vo_cfg_.att_floor; + for (int i = 0; i < 3; ++i) { + R(i, i) = std::max(R(i, i), p_floor_sq); + } + for (int i = 3; i < 6; ++i) { + R(i, i) = std::max(R(i, i), a_floor_sq); + } + + // Gate on raw measurement + const Eigen::Matrix15d P = current_error_state_.covariance; + const Eigen::Matrix S = H * P * H.transpose() + R; + + Eigen::Matrix y_raw; + y_raw.head<3>() = p_nav - current_nom_state_.pos; + y_raw.segment<3>(3) = + compute_quaternion_error(q_nav, current_nom_state_.quat); + + const double gate = !gating_enabled_ ? 1e9 : vo_cfg_.nis_gate_pose; + if (compute_nis(y_raw, S) > gate) { + consecutive_rejects_++; + return; + } + + // Measurement passed gating if (vo_cfg_.use_sw) { sw_add(landmark_meas.stamp, p_nav, q_nav); sw_prune(landmark_meas.stamp); @@ -239,41 +271,9 @@ void LandmarkESKF::landmark_update(const LandmarkMeasurement& landmark_meas) { have_prev_ = true; Eigen::Matrix y; - - // Position innovation y.head<3>() = p_nav - current_nom_state_.pos; y.segment<3>(3) = compute_quaternion_error(q_nav, current_nom_state_.quat); - // Measurement Jacobian - Eigen::Matrix H = Eigen::Matrix::Zero(); - H.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); - H.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); - - // Measurement noise floors - Eigen::Matrix R = landmark_meas.R; - - const double p_floor_sq = vo_cfg_.pos_floor * vo_cfg_.pos_floor; - const double a_floor_sq = vo_cfg_.att_floor * vo_cfg_.att_floor; - - for (int i = 0; i < 3; ++i) { - R(i, i) = std::max(R(i, i), p_floor_sq); - } - for (int i = 3; i < 6; ++i) { - R(i, i) = std::max(R(i, i), a_floor_sq); - } - - // Innovation covariance and NIS - const Eigen::Matrix15d P = current_error_state_.covariance; - const Eigen::Matrix S = H * P * H.transpose() + R; - const double nis = compute_nis(y, S); - - const double gate = !gating_enabled_ ? 1e9 : vo_cfg_.nis_gate_pose; - - if (nis > gate) { - consecutive_rejects_++; - return; - } - Eigen::Matrix K = P * H.transpose() * S.inverse(); current_error_state_.set_from_vector(K * y); From 5ffae627c12e42a44a3171e707ade3ebf260985c Mon Sep 17 00:00:00 2001 From: Anttra Date: Sun, 29 Mar 2026 19:53:39 +0200 Subject: [PATCH 106/109] removed redundant eskf rebuild in setup.sh --- tests/setup.sh | 6 ------ 1 file changed, 6 deletions(-) diff --git a/tests/setup.sh b/tests/setup.sh index 99cd4e64c..3cfd55bc9 100644 --- a/tests/setup.sh +++ b/tests/setup.sh @@ -34,12 +34,6 @@ build_ros_workspace() { log_info "Building remaining ROS 2 packages..." colcon build --packages-ignore stonefish_ros2 vortex_utils - log_info "Sourcing workspace..." - . install/setup.bash - - log_info "Rebuilding eskf with landmark_egomotion support..." - colcon build --packages-select eskf - log_info "ROS 2 workspace build complete." } From 6ac90dd37ba4b7657c8c9c1e071347aa2ace7e8c Mon Sep 17 00:00:00 2001 From: CurryMonsters Date: Thu, 2 Apr 2026 21:15:13 +0200 Subject: [PATCH 107/109] fixed worldned, added logs for polling, added extra guard that helps state machine, in polling. updated compute target --- auv_setup/auv_setup/launch_arg_common.py | 2 +- .../config/landmark_server_config.yaml | 3 +- .../landmark_server/landmark_server_ros.hpp | 2 -- .../src/landmark_server_convergence.cpp | 29 +++++-------------- .../src/landmark_server_ros.cpp | 19 +++++++----- 5 files changed, 22 insertions(+), 33 deletions(-) diff --git a/auv_setup/auv_setup/launch_arg_common.py b/auv_setup/auv_setup/launch_arg_common.py index 3a758cc1c..f51f32211 100644 --- a/auv_setup/auv_setup/launch_arg_common.py +++ b/auv_setup/auv_setup/launch_arg_common.py @@ -2,7 +2,7 @@ from launch.substitutions import LaunchConfiguration -def declare_drone_and_namespace_args(default_drone="nautilus"): +def declare_drone_and_namespace_args(default_drone="orca"): return [ DeclareLaunchArgument( "drone", diff --git a/mission/landmark_server/config/landmark_server_config.yaml b/mission/landmark_server/config/landmark_server_config.yaml index 9128974cd..09f4d414b 100644 --- a/mission/landmark_server/config/landmark_server_config.yaml +++ b/mission/landmark_server/config/landmark_server_config.yaml @@ -1,8 +1,7 @@ /**: ros__parameters: - target_frame: "odom" + target_frame: "orca/odom" timer_rate_ms: 200 - enu_ned_rotation: true track_config: default: diff --git a/mission/landmark_server/include/landmark_server/landmark_server_ros.hpp b/mission/landmark_server/include/landmark_server/landmark_server_ros.hpp index c714a5327..13ac5733a 100644 --- a/mission/landmark_server/include/landmark_server/landmark_server_ros.hpp +++ b/mission/landmark_server/include/landmark_server/landmark_server_ros.hpp @@ -170,8 +170,6 @@ class LandmarkServerNode : public rclcpp::Node { std::shared_ptr tf2_buffer_; std::shared_ptr tf2_listener_; - bool enu_ned_rotation_{false}; - std::shared_ptr active_landmark_polling_goal_; std::shared_ptr active_landmark_convergence_goal_; diff --git a/mission/landmark_server/src/landmark_server_convergence.cpp b/mission/landmark_server/src/landmark_server_convergence.cpp index f26492fa5..329850269 100644 --- a/mission/landmark_server/src/landmark_server_convergence.cpp +++ b/mission/landmark_server/src/landmark_server_convergence.cpp @@ -1,6 +1,7 @@ #include #include #include +#include #include #include #include "landmark_server/landmark_server_ros.hpp" @@ -464,27 +465,13 @@ geometry_msgs::msg::Pose LandmarkServerNode::compute_target_pose( const vortex::filtering::Track& track, const geometry_msgs::msg::Pose& convergence_offset) { const auto landmark_pose = track.to_pose(); - - const Eigen::Vector3d p_landmark = landmark_pose.pos_vector(); - const Eigen::Quaterniond q_landmark = - landmark_pose.ori_quaternion().normalized(); - - const Eigen::Vector3d p_offset(convergence_offset.position.x, - convergence_offset.position.y, - convergence_offset.position.z); - - const Eigen::Quaterniond q_offset = - Eigen::Quaterniond( - convergence_offset.orientation.w, convergence_offset.orientation.x, - convergence_offset.orientation.y, convergence_offset.orientation.z) - .normalized(); - - const Eigen::Vector3d p_target = p_landmark + p_offset; - - const Eigen::Quaterniond q_target = (q_landmark * q_offset).normalized(); - - return vortex::utils::ros_conversions::eigen_to_pose_msg(p_target, - q_target); + const auto base = vortex::utils::types::Pose::from_eigen( + landmark_pose.pos_vector(), landmark_pose.ori_quaternion()); + const auto offset = + vortex::utils::ros_conversions::ros_pose_to_pose(convergence_offset); + const auto target = + vortex::utils::waypoints::apply_pose_offset(base, offset); + return vortex::utils::ros_conversions::to_pose_msg(target); } } // namespace vortex::mission diff --git a/mission/landmark_server/src/landmark_server_ros.cpp b/mission/landmark_server/src/landmark_server_ros.cpp index 345c61f6a..9c42152ae 100644 --- a/mission/landmark_server/src/landmark_server_ros.cpp +++ b/mission/landmark_server/src/landmark_server_ros.cpp @@ -65,7 +65,6 @@ void LandmarkServerNode::create_reference_publisher() { void LandmarkServerNode::create_pose_subscription() { std::string landmark_topic = this->declare_parameter("topics.landmarks"); - enu_ned_rotation_ = this->declare_parameter("enu_ned_rotation"); target_frame_ = this->declare_parameter("target_frame"); auto qos_sensor_profile = vortex::utils::qos_profiles::sensor_data_profile(1); @@ -98,12 +97,6 @@ void LandmarkServerNode::create_pose_subscription() { } auto new_measurements = ros_msg_to_landmarks(pose_tf); - if (enu_ned_rotation_) { - std::ranges::for_each(new_measurements, [](auto& m) { - m.pose.set_ori(vortex::utils::math::enu_ned_rotation( - m.pose.ori_quaternion())); - }); - } { std::lock_guard lock(measurements_mtx_); measurements_ = std::move(new_measurements); @@ -273,6 +266,15 @@ void LandmarkServerNode::timer_callback() { convergence_update(); + if (active_landmark_polling_goal_ && + active_landmark_polling_goal_->is_canceling()) { + auto result = + std::make_shared(); + active_landmark_polling_goal_->canceled(result); + active_landmark_polling_goal_ = nullptr; + return; + } + if (active_landmark_polling_goal_ && active_landmark_polling_goal_->is_active()) { const auto goal = active_landmark_polling_goal_->get_goal(); @@ -294,6 +296,9 @@ void LandmarkServerNode::timer_callback() { if (!found) { return; } + spdlog::info( + "LandmarkPolling: found landmark(s) for type={}, subtype={}", type, + subtype); vortex_msgs::msg::LandmarkArray landmarks = tracks_to_landmark_msgs(type, subtype); auto polling_result = From 0c24b41f948a3dc81fd0f81a72cf292cac559b2a Mon Sep 17 00:00:00 2001 From: CurryMonsters Date: Thu, 2 Apr 2026 21:17:41 +0200 Subject: [PATCH 108/109] changed back from orca to nauti --- auv_setup/auv_setup/launch_arg_common.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/auv_setup/auv_setup/launch_arg_common.py b/auv_setup/auv_setup/launch_arg_common.py index f51f32211..3a758cc1c 100644 --- a/auv_setup/auv_setup/launch_arg_common.py +++ b/auv_setup/auv_setup/launch_arg_common.py @@ -2,7 +2,7 @@ from launch.substitutions import LaunchConfiguration -def declare_drone_and_namespace_args(default_drone="orca"): +def declare_drone_and_namespace_args(default_drone="nautilus"): return [ DeclareLaunchArgument( "drone", From bbb983cd48b6a02ccb45a7ab564168c6af9d4a62 Mon Sep 17 00:00:00 2001 From: AntTra Date: Sat, 4 Apr 2026 12:45:37 +0200 Subject: [PATCH 109/109] merged from main and dev/eskf_fuse_depth --- navigation/eskf/config/eskf_params.yaml | 52 +- .../eskf/config/eskf_params_real_world.yaml | 26 + navigation/eskf/include/eskf/eskf.hpp | 110 ---- navigation/eskf/include/eskf/eskf.tpp | 29 -- navigation/eskf/include/eskf/eskf_ros.hpp | 145 ------ navigation/eskf/include/eskf/lib/eskf.hpp | 7 +- navigation/eskf/include/eskf/lib/typedefs.hpp | 11 + navigation/eskf/include/eskf/ros/eskf_ros.hpp | 73 ++- navigation/eskf/include/eskf/typedefs.hpp | 138 ----- navigation/eskf/src/eskf.cpp | 221 -------- navigation/eskf/src/eskf_ros.cpp | 482 ------------------ navigation/eskf/src/lib/eskf.cpp | 47 +- navigation/eskf/src/ros/eskf_ros.cpp | 479 ++++++++++------- 13 files changed, 467 insertions(+), 1353 deletions(-) delete mode 100644 navigation/eskf/include/eskf/eskf.hpp delete mode 100644 navigation/eskf/include/eskf/eskf.tpp delete mode 100644 navigation/eskf/include/eskf/eskf_ros.hpp delete mode 100644 navigation/eskf/include/eskf/typedefs.hpp delete mode 100644 navigation/eskf/src/eskf.cpp delete mode 100644 navigation/eskf/src/eskf_ros.cpp diff --git a/navigation/eskf/config/eskf_params.yaml b/navigation/eskf/config/eskf_params.yaml index c6459a3be..fda0e3214 100644 --- a/navigation/eskf/config/eskf_params.yaml +++ b/navigation/eskf/config/eskf_params.yaml @@ -1,32 +1,6 @@ /**: eskf_node: ros__parameters: - use_landmark_egomotion: true - vo: - landmarks_topic: /aruco_detector/landmarks - - base_frame: orca/base_link - camera_frame: orca/front_camera_optical - - nis_gate_pose: 16.812 - nis_gate_velocity: 11.345 - disable_gating: true - dropout_timeout: 10.0 - rejects_limit: 5 - - pos_floor: 0.05 - att_floor: 0.02 - vel_floor: 0.2 - dt_min: 0.02 - dt_max: 15.0 - - # Sliding-window smoother - use_sw: true - window_size: 20 - max_age: 15.0 - huber_deg: 20.0 - gate_deg: 60.0 - dvl_topic: /dvl/sim odom_topic: odom_ESKF diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001] @@ -58,3 +32,29 @@ atmospheric_pressure: 101000.0 # [Pa] water_density: 1026.0 # [kg/m3] gravity: 9.82841 + + use_landmark_egomotion: true + vo: + landmarks_topic: /aruco_detector/landmarks + + base_frame: orca/base_link + camera_frame: orca/front_camera_optical + + nis_gate_pose: 16.812 + nis_gate_velocity: 11.345 + disable_gating: true + dropout_timeout: 10.0 + rejects_limit: 5 + + pos_floor: 0.05 + att_floor: 0.02 + vel_floor: 0.2 + dt_min: 0.02 + dt_max: 15.0 + + # Sliding-window smoother + use_sw: true + window_size: 20 + max_age: 15.0 + huber_deg: 20.0 + gate_deg: 60.0 diff --git a/navigation/eskf/config/eskf_params_real_world.yaml b/navigation/eskf/config/eskf_params_real_world.yaml index 0f82da7d7..688c2b287 100644 --- a/navigation/eskf/config/eskf_params_real_world.yaml +++ b/navigation/eskf/config/eskf_params_real_world.yaml @@ -31,6 +31,32 @@ water_density: 1026.0 # [kg/m3] gravity: 9.82841 + use_landmark_egomotion: true + vo: + landmarks_topic: /aruco_detector/landmarks + + base_frame: nautilus/base_link + camera_frame: "/cam/camera_info" + + nis_gate_pose: 16.812 + nis_gate_velocity: 11.345 + disable_gating: true + dropout_timeout: 10.0 + rejects_limit: 5 + + pos_floor: 0.1 + att_floor: 0.05 + vel_floor: 0.4 + dt_min: 0.02 + dt_max: 15.0 + + # Sliding-window smoother + use_sw: true + window_size: 20 + max_age: 15.0 + huber_deg: 20.0 + gate_deg: 60.0 + # USED SENSORS # IMU: Kongsberg mini MRU # DVL & Depth: Nucleus 1000 diff --git a/navigation/eskf/include/eskf/eskf.hpp b/navigation/eskf/include/eskf/eskf.hpp deleted file mode 100644 index 96d354bdc..000000000 --- a/navigation/eskf/include/eskf/eskf.hpp +++ /dev/null @@ -1,110 +0,0 @@ -#ifndef ESKF__ESKF_HPP_ -#define ESKF__ESKF_HPP_ - -#include -#include -#include "eskf/typedefs.hpp" -#include "typedefs.hpp" - -class ESKF { - public: - explicit ESKF(const EskfParams& params); - - // @brief Update the nominal state and error state - // @param imu_meas: IMU measurement - // @param dt: Time step - void imu_update(const ImuMeasurement& imu_meas, const double dt); - - // @brief Update the nominal state and error state - // @param dvl_meas: DVL measurement - void dvl_update(const SensorDVL& dvl_meas); - - void depth_update(const SensorDepth& depth_meas); - - inline StateQuat get_nominal_state() const { return current_nom_state_; } - - inline StateEuler get_error_state() const { return current_error_state_; } - - inline double get_nis() const { return nis_; } - - inline Eigen::Vector3d get_gravity() const { return g_; } - - private: - // @brief Predict the nominal state - // @param imu_meas: IMU measurement - // @param dt: Time step - // @return Predicted nominal state - void nominal_state_discrete(const ImuMeasurement& imu_meas, - const double dt); - - // @brief Predict the error state - // @param imu_meas: IMU measurement - // @param dt: Time step - // @return Predicted error state - void error_state_prediction(const ImuMeasurement& imu_meas, - const double dt); - - // @brief Calculate the NIS - // @param innovation: Innovation vector - // @param S: Innovation covariance matrix - void NIS(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); - - // @brief Update the error state using a generic sensor measurement model - // @tparam SensorT Type of the sensor model (must satisfy - // SensorModelConcept) - // @param meas Sensor measurement instance - template - void measurement_update(const SensorT& meas); - - // @brief Inject the error state into the nominal state and reset the error - void injection_and_reset(); - - // @brief Van Loan discretization - // @param A_c: Continuous state transition matrix - // @param G_c: Continuous input matrix - // @return Discrete state transition matrix and discrete input matrix - std::pair van_loan_discretization( - const Eigen::Matrix15d& A_c, - const Eigen::Matrix15x12d& G_c, - const double dt); - - // Process noise covariance matrix - Eigen::Matrix12d Q_{}; - - // Normalized Innovation Squared - double nis_{}; - - // Member variable for the current error state - StateEuler current_error_state_{}; - - // Member variable for the current nominal state - StateQuat current_nom_state_{}; - - // gravity - Eigen::Vector3d g_{0.0, 0.0, -9.82841}; - - // accelometer noise parameters - float accm_std_{0.0}; - float accm_bias_std_{0.0}; - float accm_bias_p_{1e-16}; - - // gyroscope noise parameters - float gyro_std_{0.0}; - float gyro_bias_std_{0.0}; - float gyro_bias_p_{1e-16}; -}; - -// Measurement in world frame --> h(x) -Eigen::Vector3d calculate_h(const StateQuat& current_nom_state_); - -// Jacobian of h(x) with respect to the error state --> H -Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_); - -// Jacobian of h(x) with respect to the nominal state --> Hx -Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_); - -double compute_nis(const Eigen::VectorXd& innovation, const Eigen::MatrixXd& S); - -#include "eskf.tpp" // including template implementation - -#endif // ESKF__ESKF_HPP_ diff --git a/navigation/eskf/include/eskf/eskf.tpp b/navigation/eskf/include/eskf/eskf.tpp deleted file mode 100644 index 6189a609a..000000000 --- a/navigation/eskf/include/eskf/eskf.tpp +++ /dev/null @@ -1,29 +0,0 @@ - - -template -void ESKF::measurement_update(const SensorT& meas) { - Eigen::VectorXd innovation = meas.innovation(current_nom_state_); - Eigen::MatrixXd H = meas.jacobian(current_nom_state_); - Eigen::MatrixXd R = meas.noise_covariance(); - - Eigen::MatrixXd P = current_error_state_.covariance; - - Eigen::MatrixXd S = H * P * H.transpose() + R; - - Eigen::MatrixXd PHt = P * H.transpose(); - - // More stable and faster than P * H.transpose() * S.inverse() - Eigen::MatrixXd K = S.ldlt().solve(PHt.transpose()).transpose(); - -#ifndef NDEBUG - nis_ = compute_nis(innovation, S); -#endif - - current_error_state_.set_from_vector(K * innovation); - - Eigen::MatrixXd I_KH = - Eigen::MatrixXd::Identity(P.rows(), P.cols()) - K * H; - current_error_state_.covariance = - I_KH * P * I_KH.transpose() + - K * R * K.transpose(); // Used joseph form for more stable calculations -} diff --git a/navigation/eskf/include/eskf/eskf_ros.hpp b/navigation/eskf/include/eskf/eskf_ros.hpp deleted file mode 100644 index 03d4c7266..000000000 --- a/navigation/eskf/include/eskf/eskf_ros.hpp +++ /dev/null @@ -1,145 +0,0 @@ -#ifndef ESKF__ESKF_ROS_HPP_ -#define ESKF__ESKF_ROS_HPP_ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "eskf/eskf.hpp" -#include "eskf/typedefs.hpp" -#include "spdlog/spdlog.h" - -class ESKFNode : public rclcpp::Node { - public: - explicit ESKFNode( - const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); - - private: - // @brief Callback function for the imu topic - // @param msg: Imu message containing the imu data - void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg); - - // @brief Callback function for the dvl topic - // @param msg: TwistWithCovarianceStamped message containing the dvl data - void dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); - - void depth_callback(const sensor_msgs::msg::FluidPressure::SharedPtr msg); - - // @brief Publish the odometry message - void publish_odom(); - - // @brief Set the subscriber and publisher for the node - void set_subscribers_and_publisher(); - - // @brief Set the parameters for the eskf - void set_parameters(); - - // @brief lookup transforms - void lookup_static_transforms(); - - // @brief Create subs/pubs and start the publish timer. Called once - // transforms are available (or immediately if use_tf_transforms_ is false). - void complete_initialization(); - - // @brief broadcast the State as a TF - void publish_tf(const StateQuat& nom_state, - const rclcpp::Time& current_time); - - // Subscribers and Publishers - - rclcpp::Subscription::SharedPtr imu_sub_; - - rclcpp::Subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; - - rclcpp::Subscription::SharedPtr depth_sub_; - - rclcpp::Publisher::SharedPtr odom_pub_; - - rclcpp::Publisher::SharedPtr - pose_pub_; - - rclcpp::Publisher::SharedPtr - twist_pub_; - - rclcpp::Publisher::SharedPtr nis_dvl_pub_; - - rclcpp::Publisher::SharedPtr nis_depth_pub_; - - rclcpp::Publisher::SharedPtr - accel_bias_pub_; - - rclcpp::Publisher::SharedPtr - gyro_bias_pub_; - - // Member variable for the ESKF instance - - std::chrono::milliseconds time_step_{1}; - - rclcpp::TimerBase::SharedPtr odom_pub_timer_; - - std::unique_ptr eskf_; - - bool first_imu_msg_received_ = false; - - Eigen::Matrix3d R_imu_eskf_{}; - Eigen::Vector3d T_imu_eskf_{}; - - Eigen::Matrix3d R_dvl_eskf_{}; - Eigen::Vector3d T_dvl_eskf_{}; - - Eigen::Vector3d T_depth_eskf_{}; - - rclcpp::Time last_imu_time_{}; - - // Latest gyro measurement (used for publishing odom output of eskf) - Eigen::Vector3d latest_gyro_measurement_{}; - - // TF2 Handling - std::shared_ptr tf_buffer_; - std::shared_ptr tf_listener_; - std::unique_ptr tf_broadcaster_; - rclcpp::TimerBase::SharedPtr tf_timer_; - - std::string frame(const std::string& name) const { - return frame_prefix_.empty() ? name : frame_prefix_ + "/" + name; - } - - // Flags and Storage - std::string frame_prefix_{""}; - bool use_tf_transforms_ = false; - bool tf_sensors_loaded_ = false; - bool publish_tf_{false}; - bool publish_pose_{false}; - bool publish_twist_{false}; - bool publish_biases_{false}; - bool add_gravity_to_imu_{false}; - - // hold the transfer from Sensor -> Base Link - Eigen::Isometry3d Tf_base_imu_ = Eigen::Isometry3d::Identity(); - Eigen::Isometry3d Tf_base_dvl_ = Eigen::Isometry3d::Identity(); - Eigen::Isometry3d Tf_base_depth_ = Eigen::Isometry3d::Identity(); - - // gravity, water density and atmospheric pressure parameters - double gravity; - double water_density; - double atmospheric_pressure; -}; - -#endif // ESKF__ESKF_ROS_HPP_ diff --git a/navigation/eskf/include/eskf/lib/eskf.hpp b/navigation/eskf/include/eskf/lib/eskf.hpp index f2ff4745b..91c644fdd 100644 --- a/navigation/eskf/include/eskf/lib/eskf.hpp +++ b/navigation/eskf/include/eskf/lib/eskf.hpp @@ -3,6 +3,7 @@ #include #include +#include "eskf/lib/typedefs.hpp" #include "typedefs.hpp" class ESKF { @@ -19,12 +20,16 @@ class ESKF { // @param dvl_meas: DVL measurement void dvl_update(const SensorDVL& dvl_meas); + void depth_update(const SensorDepth& depth_meas); + inline StateQuat get_nominal_state() const { return current_nom_state_; } inline StateEuler get_error_state() const { return current_error_state_; } inline double get_nis() const { return nis_; } + inline Eigen::Vector3d get_gravity() const { return g_; } + protected: // @brief Inject the error state into the nominal state and reset the error void injection_and_reset(); @@ -100,7 +105,7 @@ Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_); // Jacobian of h(x) with respect to the nominal state --> Hx Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_); -double compute_nis(const Eigen::Vector3d& innovation, const Eigen::Matrix3d& S); +double compute_nis(const Eigen::VectorXd& innovation, const Eigen::MatrixXd& S); #include "eskf.tpp" // including template implementation diff --git a/navigation/eskf/include/eskf/lib/typedefs.hpp b/navigation/eskf/include/eskf/lib/typedefs.hpp index 5f113274d..47947b865 100644 --- a/navigation/eskf/include/eskf/lib/typedefs.hpp +++ b/navigation/eskf/include/eskf/lib/typedefs.hpp @@ -98,6 +98,9 @@ struct StateEuler { struct EskfParams { Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); Eigen::Matrix15d P = Eigen::Matrix15d::Zero(); + Eigen::Vector3d g_{0.0, 0.0, -9.81}; + Eigen::Vector3d initial_gyro_bias = Eigen::Vector3d::Zero(); + Eigen::Vector3d initial_accel_bias = Eigen::Vector3d::Zero(); }; struct ImuMeasurement { Eigen::Vector3d accel = Eigen::Vector3d::Zero(); @@ -124,4 +127,12 @@ struct SensorDVL { Eigen::MatrixXd noise_covariance() const; }; +struct SensorDepth { + double measurement; + double measurement_noise; + Eigen::VectorXd innovation(const StateQuat& state) const; + Eigen::MatrixXd jacobian(const StateQuat& state) const; + Eigen::MatrixXd noise_covariance() const; +}; + #endif // ESKF__LIB__TYPEDEFS_HPP_ diff --git a/navigation/eskf/include/eskf/ros/eskf_ros.hpp b/navigation/eskf/include/eskf/ros/eskf_ros.hpp index 3fade0a7e..3f1da2aad 100644 --- a/navigation/eskf/include/eskf/ros/eskf_ros.hpp +++ b/navigation/eskf/include/eskf/ros/eskf_ros.hpp @@ -10,9 +10,11 @@ #include #include #include +#include #include #include #include +#include #include #include #include @@ -43,6 +45,8 @@ class ESKFNode : public rclcpp::Node { void dvl_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + void depth_callback(const sensor_msgs::msg::FluidPressure::SharedPtr msg); + // @brief Publish the odometry message void publish_odom(); @@ -53,26 +57,22 @@ class ESKFNode : public rclcpp::Node { void set_parameters(); // @brief lookup transforms - void initialize_static_transforms(); + void lookup_static_transforms(); - // @brief broadcast the State as a TF - void publish_tf(const StateQuat& nom_state); + // @brief Create subs/pubs and start the publish timer. Called once + // transforms are available (or immediately if use_tf_transforms_ is false). + void complete_initialization(); + // @brief Set up visual odometry/landmark egomotion void setup_vo(const EskfParams& eskf_params); + // @brief Callback function for the landmark topic void landmark_callback( const vortex_msgs::msg::LandmarkArray::SharedPtr msg); - LandmarkESKF* landmark_eskf_{nullptr}; - - rclcpp::Subscription::SharedPtr - landmark_sub_; - - std::string vo_base_frame_; - std::string vo_cam_frame_; - bool have_last_marker_{false}; - uint16_t last_marker_id_{0}; - int vo_rejects_limit_{0}; + // @brief broadcast the State as a TF + void publish_tf(const StateQuat& nom_state, + const rclcpp::Time& current_time); // Subscribers and Publishers @@ -81,18 +81,46 @@ class ESKFNode : public rclcpp::Node { rclcpp::Subscription< geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr dvl_sub_; + rclcpp::Subscription::SharedPtr depth_sub_; + rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Publisher::SharedPtr nis_pub_; + rclcpp::Publisher::SharedPtr + pose_pub_; + + rclcpp::Publisher::SharedPtr + twist_pub_; + + rclcpp::Publisher::SharedPtr nis_dvl_pub_; + + rclcpp::Publisher::SharedPtr nis_depth_pub_; + + rclcpp::Publisher::SharedPtr + accel_bias_pub_; + + rclcpp::Publisher::SharedPtr + gyro_bias_pub_; // Member variable for the ESKF instance - std::chrono::milliseconds time_step; + std::chrono::milliseconds time_step_{1}; rclcpp::TimerBase::SharedPtr odom_pub_timer_; std::unique_ptr eskf_; + // Non-owning pointer to LandmarkESKF + LandmarkESKF* landmark_eskf_{nullptr}; + + rclcpp::Subscription::SharedPtr + landmark_sub_; + + std::string vo_base_frame_{}; + std::string vo_cam_frame_{}; + int vo_rejects_limit_{0}; + uint16_t last_marker_id_{0}; + bool have_last_marker_{false}; + bool first_imu_msg_received_ = false; Eigen::Matrix3d R_imu_eskf_{}; @@ -114,14 +142,29 @@ class ESKFNode : public rclcpp::Node { std::unique_ptr tf_broadcaster_; rclcpp::TimerBase::SharedPtr tf_timer_; + std::string frame(const std::string& name) const { + return frame_prefix_.empty() ? name : frame_prefix_ + "/" + name; + } + // Flags and Storage + std::string frame_prefix_{""}; bool use_tf_transforms_ = false; bool tf_sensors_loaded_ = false; + bool publish_tf_{false}; + bool publish_pose_{false}; + bool publish_twist_{false}; + bool publish_biases_{false}; + bool add_gravity_to_imu_{false}; // hold the transfer from Sensor -> Base Link Eigen::Isometry3d Tf_base_imu_ = Eigen::Isometry3d::Identity(); Eigen::Isometry3d Tf_base_dvl_ = Eigen::Isometry3d::Identity(); Eigen::Isometry3d Tf_base_depth_ = Eigen::Isometry3d::Identity(); + + // gravity, water density and atmospheric pressure parameters + double gravity; + double water_density; + double atmospheric_pressure; }; #endif // ESKF__ROS__ESKF_ROS_HPP_ diff --git a/navigation/eskf/include/eskf/typedefs.hpp b/navigation/eskf/include/eskf/typedefs.hpp deleted file mode 100644 index ee04e8911..000000000 --- a/navigation/eskf/include/eskf/typedefs.hpp +++ /dev/null @@ -1,138 +0,0 @@ -/** - * @file typedefs.hpp - * @brief Contains the typedef and structs for the eskf. - */ -#ifndef ESKF__TYPEDEFS_HPP_ -#define ESKF__TYPEDEFS_HPP_ - -#include -#include -#include -#include - -namespace Eigen { -typedef Eigen::Matrix Vector19d; -typedef Eigen::Matrix Vector18d; -typedef Eigen::Matrix Matrix18d; -typedef Eigen::Matrix Matrix19d; -typedef Eigen::Matrix Matrix18x12d; -typedef Eigen::Matrix Matrix4x3d; -typedef Eigen::Matrix Matrix3x19d; -typedef Eigen::Matrix Matrix3x18d; -typedef Eigen::Matrix Matrix12d; -typedef Eigen::Matrix Matrix18d; -typedef Eigen::Matrix Matrix3x1d; -typedef Eigen::Matrix Matrix19x18d; -typedef Eigen::Matrix Matrix18x3d; -typedef Eigen::Matrix Matrix36d; -typedef Eigen::Matrix Matrix6d; -typedef Eigen::Matrix Matrix9d; -typedef Eigen::Matrix Matrix15d; -typedef Eigen::Matrix Vector12d; -typedef Eigen::Matrix Vector15d; -typedef Eigen::Matrix Vector16d; -typedef Eigen::Matrix Matrix15x12d; -typedef Eigen::Matrix Matrix16x15d; -typedef Eigen::Matrix Matrix3x15d; -typedef Eigen::Matrix Matrix3x16d; -typedef Eigen::Matrix Matrix30d; -} // namespace Eigen - -template -Eigen::Matrix createDiagonalMatrix( - const std::vector& diag) { - return Eigen::Map>(diag.data()) - .asDiagonal(); -} -struct StateQuat { - Eigen::Vector3d pos = Eigen::Vector3d::Zero(); - Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Quaterniond quat = Eigen::Quaterniond::Identity(); - Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - - StateQuat() = default; - - Eigen::Vector16d as_vector() const { - Eigen::Vector16d vec{}; - vec << pos, vel, quat.w(), quat.x(), quat.y(), quat.z(), gyro_bias, - accel_bias; - return vec; - } - - StateQuat operator-(const StateQuat& other) const { - StateQuat diff{}; - diff.pos = pos - other.pos; - diff.vel = vel - other.vel; - diff.quat = quat * other.quat.inverse(); - diff.gyro_bias = gyro_bias - other.gyro_bias; - diff.accel_bias = accel_bias - other.accel_bias; - return diff; - } -}; - -struct StateEuler { - Eigen::Vector3d pos = Eigen::Vector3d::Zero(); - Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Vector3d euler = Eigen::Vector3d::Zero(); - Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero(); - - Eigen::Matrix15d covariance = Eigen::Matrix15d::Zero(); - - Eigen::Vector15d as_vector() const { - Eigen::Vector15d vec{}; - vec << pos, vel, euler, gyro_bias, accel_bias; - return vec; - } - - void set_from_vector(const Eigen::Vector15d& vec) { - pos = vec.block<3, 1>(0, 0); - vel = vec.block<3, 1>(3, 0); - euler = vec.block<3, 1>(6, 0); - gyro_bias = vec.block<3, 1>(9, 0); - accel_bias = vec.block<3, 1>(12, 0); - } -}; - -struct EskfParams { - Eigen::Matrix12d Q = Eigen::Matrix12d::Zero(); - Eigen::Matrix15d P = Eigen::Matrix15d::Zero(); - Eigen::Vector3d g_{0.0, 0.0, -9.81}; - Eigen::Vector3d initial_gyro_bias = Eigen::Vector3d::Zero(); - Eigen::Vector3d initial_accel_bias = Eigen::Vector3d::Zero(); -}; -struct ImuMeasurement { - Eigen::Vector3d accel = Eigen::Vector3d::Zero(); - Eigen::Vector3d gyro = Eigen::Vector3d::Zero(); -}; - -struct DvlMeasurement { - Eigen::Vector3d vel = Eigen::Vector3d::Zero(); - Eigen::Matrix3d cov = Eigen::Matrix3d::Zero(); -}; - -template -concept SensorModelConcept = requires(const T& meas, const StateQuat& state) { - { meas.innovation(state) } -> std::convertible_to; - { meas.jacobian(state) } -> std::convertible_to; - { meas.noise_covariance() } -> std::convertible_to; -}; // NOLINT(readability/braces) - -struct SensorDVL { - Eigen::Vector3d measurement; - Eigen::Matrix3d measurement_noise; - Eigen::VectorXd innovation(const StateQuat& state) const; - Eigen::MatrixXd jacobian(const StateQuat& state) const; - Eigen::MatrixXd noise_covariance() const; -}; - -struct SensorDepth { - double measurement; - double measurement_noise; - Eigen::VectorXd innovation(const StateQuat& state) const; - Eigen::MatrixXd jacobian(const StateQuat& state) const; - Eigen::MatrixXd noise_covariance() const; -}; - -#endif // ESKF__TYPEDEFS_HPP_ diff --git a/navigation/eskf/src/eskf.cpp b/navigation/eskf/src/eskf.cpp deleted file mode 100644 index 3db940929..000000000 --- a/navigation/eskf/src/eskf.cpp +++ /dev/null @@ -1,221 +0,0 @@ -#include "eskf/eskf.hpp" -#include -#include -#include -#include -#include "eskf/typedefs.hpp" - -double compute_nis(const Eigen::VectorXd& innovation, - const Eigen::MatrixXd& S) { - Eigen::MatrixXd S_inv = S.inverse(); - return (innovation.transpose() * S_inv * innovation)(0); -} - -ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { - // Initialize Covariance - current_error_state_.covariance = params.P; - - g_ = params.g_; - - // Initialize Nominal Quaternion to Identity - current_nom_state_.quat = Eigen::Quaterniond::Identity(); - // Initialize nominal bias values - current_nom_state_.gyro_bias = params.initial_gyro_bias; - current_nom_state_.accel_bias = params.initial_accel_bias; -} - -std::pair ESKF::van_loan_discretization( - const Eigen::Matrix15d& A_c, - const Eigen::Matrix15x12d& G_c, - const double dt) { - Eigen::Matrix15d GQG_T = G_c * Q_ * G_c.transpose(); - Eigen::Matrix30d vanLoanMat = Eigen::Matrix30d::Zero(); - - vanLoanMat.topLeftCorner<15, 15>() = -A_c; - vanLoanMat.topRightCorner<15, 15>() = GQG_T; - vanLoanMat.bottomRightCorner<15, 15>() = A_c.transpose(); - - Eigen::Matrix30d vanLoanExp = (vanLoanMat * dt).exp(); - - Eigen::Matrix15d V1 = vanLoanExp.bottomRightCorner<15, 15>().transpose(); - Eigen::Matrix15d V2 = vanLoanExp.topRightCorner<15, 15>(); - - Eigen::Matrix15d A_d = V1; - Eigen::Matrix15d GQG_d = A_d * V2; - - return {A_d, GQG_d}; -} - -Eigen::Matrix3x16d calculate_hx(const StateQuat& current_nom_state_) { - Eigen::Matrix3x16d Hx = Eigen::Matrix3x16d::Zero(); - - Eigen::Quaterniond q = current_nom_state_.quat.normalized(); - Eigen::Matrix3d R_bn = q.toRotationMatrix(); - - Eigen::Vector3d v_n = current_nom_state_.vel; - - // Correct derivative w.r.t velocity (nominal state: v_n) - Hx.block<3, 3>(0, 3) = R_bn.transpose(); - - // Derivative w.r.t quaternion (nominal state: q) - // Compute partial derivative w.r.t quaternion directly: - double qw = q.w(); - Eigen::Vector3d q_vec(q.x(), q.y(), q.z()); - Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity(); - - Eigen::Matrix dhdq; - dhdq.col(0) = 2 * (qw * v_n + q_vec.cross(v_n)); - dhdq.block<3, 3>(0, 1) = - 2 * (q_vec.dot(v_n) * I3 + q_vec * v_n.transpose() - - v_n * q_vec.transpose() - - qw * vortex::utils::math::get_skew_symmetric_matrix(v_n)); - - // Assign quaternion derivative (3x4 block at columns 6:9) - Hx.block<3, 4>(0, 6) = dhdq; - - return Hx; -} - -Eigen::Matrix3x15d calculate_h_jacobian(const StateQuat& current_nom_state_) { - Eigen::Matrix16x15d x_delta = Eigen::Matrix16x15d::Zero(); - x_delta.block<6, 6>(0, 0) = Eigen::Matrix6d::Identity(); - x_delta.block<4, 3>(6, 6) = - vortex::utils::math::get_transformation_matrix_attitude_quat( - current_nom_state_.quat); - x_delta.block<6, 6>(10, 9) = Eigen::Matrix6d::Identity(); - - Eigen::Matrix3x15d H = calculate_hx(current_nom_state_) * x_delta; - return H; -} - -Eigen::Vector3d calculate_h(const StateQuat& current_nom_state_) { - Eigen::Vector3d h; - Eigen::Matrix3d R_bn = - current_nom_state_.quat.normalized().toRotationMatrix().transpose(); - - h = R_bn * current_nom_state_.vel; - return h; -} - -void ESKF::nominal_state_discrete(const ImuMeasurement& imu_meas, - const double dt) { - Eigen::Vector3d acc = - current_nom_state_.quat.normalized().toRotationMatrix() * - (imu_meas.accel - current_nom_state_.accel_bias) + - this->g_; - Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias) * dt; - - current_nom_state_.pos = current_nom_state_.pos + - current_nom_state_.vel * dt + 0.5 * dt * dt * acc; - current_nom_state_.vel = current_nom_state_.vel + dt * acc; - - current_nom_state_.quat = - (current_nom_state_.quat * - vortex::utils::math::eigen_vector3d_to_quaternion(gyro)); - current_nom_state_.quat.normalize(); - - current_nom_state_.accel_bias = - current_nom_state_.accel_bias * std::exp(accm_bias_p_ * dt); - current_nom_state_.gyro_bias = - current_nom_state_.gyro_bias * std::exp(gyro_bias_p_ * dt); -} - -void ESKF::error_state_prediction(const ImuMeasurement& imu_meas, - const double dt) { - Eigen::Matrix3d R = current_nom_state_.quat.normalized().toRotationMatrix(); - Eigen::Vector3d acc = (imu_meas.accel - current_nom_state_.accel_bias); - Eigen::Vector3d gyro = (imu_meas.gyro - current_nom_state_.gyro_bias); - - Eigen::Matrix15d A_c = Eigen::Matrix15d::Zero(); - A_c.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); - A_c.block<3, 3>(3, 6) = - -R * vortex::utils::math::get_skew_symmetric_matrix(acc); - A_c.block<3, 3>(6, 6) = - -vortex::utils::math::get_skew_symmetric_matrix(gyro); - A_c.block<3, 3>(3, 9) = -R; - A_c.block<3, 3>(9, 9) = -Eigen::Matrix3d::Identity(); - A_c.block<3, 3>(12, 12) = -Eigen::Matrix3d::Identity(); - A_c.block<3, 3>(6, 12) = -Eigen::Matrix3d::Identity(); - - Eigen::Matrix15x12d G_c = Eigen::Matrix15x12d::Zero(); - G_c.block<3, 3>(3, 0) = -R; - G_c.block<3, 3>(6, 3) = -Eigen::Matrix3d::Identity(); - G_c.block<3, 3>(9, 6) = Eigen::Matrix3d::Identity(); - G_c.block<3, 3>(12, 9) = Eigen::Matrix3d::Identity(); - - Eigen::Matrix15d A_d, GQG_d; - std::tie(A_d, GQG_d) = van_loan_discretization(A_c, G_c, dt); - - StateEuler next_error_state; - current_error_state_.covariance = - A_d * current_error_state_.covariance * A_d.transpose() + GQG_d; -} - -void ESKF::injection_and_reset() { - // injection - current_nom_state_.pos = current_nom_state_.pos + current_error_state_.pos; - current_nom_state_.vel = current_nom_state_.vel + current_error_state_.vel; - current_nom_state_.quat = current_nom_state_.quat * - vortex::utils::math::eigen_vector3d_to_quaternion( - current_error_state_.euler); - current_nom_state_.quat.normalize(); - current_nom_state_.gyro_bias = - current_nom_state_.gyro_bias + current_error_state_.gyro_bias; - current_nom_state_.accel_bias = - current_nom_state_.accel_bias + current_error_state_.accel_bias; - - // reset - current_error_state_.set_from_vector(Eigen::Vector15d::Zero()); -} - -void ESKF::imu_update(const ImuMeasurement& imu_meas, const double dt) { - nominal_state_discrete(imu_meas, dt); - error_state_prediction(imu_meas, dt); -} - -void ESKF::dvl_update(const SensorDVL& dvl_meas) { - measurement_update(dvl_meas); - injection_and_reset(); -} - -void ESKF::depth_update(const SensorDepth& depth_meas) { - measurement_update(depth_meas); - injection_and_reset(); -} - -// DVL sensor model implementations - -Eigen::VectorXd SensorDVL::innovation(const StateQuat& state) const { - Eigen::Vector3d innovation = this->measurement - calculate_h(state); - return innovation; -} - -Eigen::MatrixXd SensorDVL::jacobian(const StateQuat& state) const { - Eigen::Matrix3x15d H = calculate_h_jacobian(state); - return H; -} - -Eigen::MatrixXd SensorDVL::noise_covariance() const { - return this->measurement_noise; -} - -// Depth sensor model implementations - -Eigen::VectorXd SensorDepth::innovation(const StateQuat& state) const { - double predicted_depth = state.pos[2]; - Eigen::VectorXd innovation(1); - innovation(0) = this->measurement - predicted_depth; - return innovation; -} - -Eigen::MatrixXd SensorDepth::jacobian(const StateQuat& /*state*/) const { - Eigen::MatrixXd H = Eigen::MatrixXd::Zero(1, 15); - H(0, 2) = 1.0; - return H; -} - -Eigen::MatrixXd SensorDepth::noise_covariance() const { - Eigen::MatrixXd R(1, 1); - R(0, 0) = this->measurement_noise; - return R; -} diff --git a/navigation/eskf/src/eskf_ros.cpp b/navigation/eskf/src/eskf_ros.cpp deleted file mode 100644 index ed70aee78..000000000 --- a/navigation/eskf/src/eskf_ros.cpp +++ /dev/null @@ -1,482 +0,0 @@ -#include "eskf/eskf_ros.hpp" -#include -#include -#include -#include "eskf/typedefs.hpp" - -auto start_message{R"( - ________ ______ ___ ____ ________ - |_ __ |.' ____ \ |_ ||_ _| |_ __ | - | |_ \_|| (___ \_| | |_/ / | |_ \_| - | _| _ _.____`. | __'. | _| - _| |__/ || \____) | _| | \ \_ _| |_ - |________| \______.'|____||____||_____| -)"}; - -ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) - : Node("eskf_node", options) { - use_tf_transforms_ = this->declare_parameter("use_tf_transforms"); - tf_sensors_loaded_ = !use_tf_transforms_; - - frame_prefix_ = this->declare_parameter("frame_prefix", ""); - if (!frame_prefix_.empty() && frame_prefix_.back() == '/') { - frame_prefix_.pop_back(); - } - spdlog::info("frame_prefix set to '{}'", frame_prefix_); - - publish_tf_ = this->declare_parameter("publish_tf"); - if (publish_tf_) { - tf_broadcaster_ = - std::make_unique(*this); - } - - publish_pose_ = this->declare_parameter("publish_pose"); - publish_twist_ = this->declare_parameter("publish_twist"); - - publish_biases_ = this->declare_parameter("publish_biases"); - - // Declare these here so they appear in `ros2 param list` from startup, - // even though they are read in complete_initialization(). - this->declare_parameter("publish_rate_ms"); - this->declare_parameter("topics.imu"); - this->declare_parameter("topics.dvl_twist"); - this->declare_parameter("topics.pressure_sensor"); - this->declare_parameter("topics.odom"); - this->declare_parameter("topics.pose"); - this->declare_parameter("topics.twist"); - - if (use_tf_transforms_) { - tf_buffer_ = std::make_shared(this->get_clock()); - tf_listener_ = - std::make_shared(*tf_buffer_); - tf_timer_ = this->create_wall_timer( - std::chrono::milliseconds(500), - std::bind(&ESKFNode::lookup_static_transforms, this)); - } else { - spdlog::info( - "Using parameter-based sensor transforms. TF lookup disabled."); - complete_initialization(); - } -} - -void ESKFNode::set_subscribers_and_publisher() { - auto qos_sensor_data = vortex::utils::qos_profiles::sensor_data_profile(1); - - std::string imu_topic = this->get_parameter("topics.imu").as_string(); - imu_sub_ = this->create_subscription( - imu_topic, qos_sensor_data, - std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); - - std::string dvl_topic = this->get_parameter("topics.dvl_twist").as_string(); - dvl_sub_ = this->create_subscription< - geometry_msgs::msg::TwistWithCovarianceStamped>( - dvl_topic, qos_sensor_data, - std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); - - std::string pressure_topic = - this->get_parameter("topics.pressure_sensor").as_string(); - depth_sub_ = this->create_subscription( - pressure_topic, qos_sensor_data, - std::bind(&ESKFNode::depth_callback, this, std::placeholders::_1)); - - std::string odom_topic = this->get_parameter("topics.odom").as_string(); - odom_pub_ = this->create_publisher( - odom_topic, qos_sensor_data); - - if (publish_pose_) { - std::string pose_topic = this->get_parameter("topics.pose").as_string(); - pose_pub_ = this->create_publisher< - geometry_msgs::msg::PoseWithCovarianceStamped>(pose_topic, - qos_sensor_data); - } - - if (publish_twist_) { - std::string twist_topic = - this->get_parameter("topics.twist").as_string(); - twist_pub_ = this->create_publisher< - geometry_msgs::msg::TwistWithCovarianceStamped>(twist_topic, - qos_sensor_data); - } - - if (publish_biases_) { - accel_bias_pub_ = - this->create_publisher( - "eskf/accel_bias", qos_sensor_data); - gyro_bias_pub_ = - this->create_publisher( - "eskf/gyro_bias", qos_sensor_data); - } - -#ifndef NDEBUG - nis_dvl_pub_ = create_publisher( - "eskf/nis_dvl", vortex::utils::qos_profiles::reliable_profile()); - nis_depth_pub_ = create_publisher( - "eskf/nis_depth", vortex::utils::qos_profiles::reliable_profile()); -#endif -} - -void ESKFNode::set_parameters() { - if (!use_tf_transforms_) { - std::vector R_imu_correction = - this->declare_parameter>( - "transform.imu_frame_r"); - R_imu_eskf_ = Eigen::Map>( - R_imu_correction.data()); - - std::vector T_imu_correction = - this->declare_parameter>( - "transform.imu_frame_t"); - T_imu_eskf_ = Eigen::Map(T_imu_correction.data()); - - std::vector R_dvl_correction = - this->declare_parameter>( - "transform.dvl_frame_r"); - R_dvl_eskf_ = Eigen::Map>( - R_dvl_correction.data()); - - std::vector T_dvl_correction = - this->declare_parameter>( - "transform.dvl_frame_t"); - T_dvl_eskf_ = Eigen::Map(T_dvl_correction.data()); - - std::vector T_depth_correction = - this->declare_parameter>( - "transform.depth_frame_t"); - T_depth_eskf_ = Eigen::Map(T_depth_correction.data()); - } - - std::vector diag_Q_std; - this->declare_parameter>("diag_Q_std"); - - diag_Q_std = this->get_parameter("diag_Q_std").as_double_array(); - - if (diag_Q_std.size() != 12) { - throw std::runtime_error("diag_Q_std must have length 12"); - } - - Eigen::Matrix12d Q = Eigen::Map(diag_Q_std.data()) - .array() - .square() - .matrix() - .asDiagonal(); - - std::vector diag_p_init = - this->declare_parameter>("diag_p_init"); - if (diag_p_init.size() != 15) { - throw std::runtime_error("diag_p_init must have length 15"); - } - Eigen::Matrix15d P = createDiagonalMatrix<15>(diag_p_init); - - Eigen::Vector3d g_vec(0.0, 0.0, this->gravity); - - std::vector initial_gyro_bias = - this->declare_parameter>( - "initial_gyro_bias", std::vector{0.0, 0.0, 0.0}); - spdlog::info("initial_gyro_bias: [{}, {}, {}]", initial_gyro_bias[0], - initial_gyro_bias[1], initial_gyro_bias[2]); - if (initial_gyro_bias.size() != 3) { - throw std::runtime_error("initial_gyro_bias must have length 3"); - } - - std::vector initial_accel_bias = - this->declare_parameter>( - "initial_accel_bias", std::vector{0.0, 0.0, 0.0}); - spdlog::info("initial_accel_bias: [{}, {}, {}]", initial_accel_bias[0], - initial_accel_bias[1], initial_accel_bias[2]); - if (initial_accel_bias.size() != 3) { - throw std::runtime_error("initial_accel_bias must have length 3"); - } - - EskfParams eskf_params{ - .Q = Q, - .P = P, - .g_ = g_vec, - .initial_gyro_bias = - Eigen::Map(initial_gyro_bias.data()), - .initial_accel_bias = - Eigen::Map(initial_accel_bias.data())}; - - eskf_ = std::make_unique(eskf_params); - - add_gravity_to_imu_ = this->declare_parameter("add_gravity_to_imu"); - spdlog::info("add_gravity_to_imu: {}", add_gravity_to_imu_); -} - -void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { - rclcpp::Time current_time = msg->header.stamp; - - if (!first_imu_msg_received_) { - last_imu_time_ = current_time; - first_imu_msg_received_ = true; - return; - } - - double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; - last_imu_time_ = current_time; - - ImuMeasurement imu_measurement{}; - - Eigen::Vector3d raw_accel(msg->linear_acceleration.x, - msg->linear_acceleration.y, - msg->linear_acceleration.z); - - Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, - msg->angular_velocity.z); - - Eigen::Vector3d accel_aligned = R_imu_eskf_ * raw_accel; - - // currently the gyro and the accelorometer are rotated differently in sim. - // should be changed with the actual drone params. - // Eigen::Vector3d gyro_aligned = R_imu_eskf_ * raw_gyro; - Eigen::Vector3d gyro_aligned = raw_gyro; - imu_measurement.gyro = gyro_aligned; - - // lever arm correction for accelerometer - StateQuat nom_state = eskf_->get_nominal_state(); - Eigen::Vector3d omega = gyro_aligned - nom_state.gyro_bias; - - // a_corrected = a_meas - omega x (omega x T) - Eigen::Vector3d centripetal_accel = omega.cross(omega.cross(T_imu_eskf_)); - accel_aligned -= centripetal_accel; - - if (add_gravity_to_imu_) { - Eigen::Matrix3d R = nom_state.quat.normalized().toRotationMatrix(); - accel_aligned -= R.transpose() * eskf_->get_gravity(); - } - - imu_measurement.accel = accel_aligned; - - // save latest gyro readings (used for DVL correction and odom output) - latest_gyro_measurement_ = imu_measurement.gyro; - - eskf_->imu_update(imu_measurement, dt); -} - -void ESKFNode::dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - SensorDVL dvl_sensor; - - dvl_sensor.measurement << msg->twist.twist.linear.x, - msg->twist.twist.linear.y, msg->twist.twist.linear.z; - - dvl_sensor.measurement_noise << msg->twist.covariance[0], - msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], - msg->twist.covariance[8], msg->twist.covariance[12], - msg->twist.covariance[13], msg->twist.covariance[14]; - - // Apply the rotation and translation corrections to the DVL measurement - StateQuat nom_state = eskf_->get_nominal_state(); - // get the angular velocity - Eigen::Vector3d omega_corrected = - latest_gyro_measurement_ - nom_state.gyro_bias; - // correct rotation and translation: v_base = v_sensor - omega x T - dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement - - omega_corrected.cross(T_dvl_eskf_); - dvl_sensor.measurement_noise = - R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); - - eskf_->dvl_update(dvl_sensor); - -#ifndef NDEBUG - // Publish NIS in Debug mode - std_msgs::msg::Float64 nis_msg; - nis_msg.data = eskf_->get_nis(); - nis_dvl_pub_->publish(nis_msg); -#endif -} - -void ESKFNode::depth_callback( - const sensor_msgs::msg::FluidPressure::SharedPtr msg) { - SensorDepth depth_sensor; - // the simulation is a gauge sensor so we don't subtract atmospheric - // pressure. - depth_sensor.measurement = - -msg->fluid_pressure / (this->water_density * this->gravity); - depth_sensor.measurement_noise = msg->variance; - - // spdlog::info("depth meas is: {}",depth_sensor.measurement); - eskf_->depth_update(depth_sensor); - -#ifndef NDEBUG - // Publish NIS in Debug mode - std_msgs::msg::Float64 nis_msg; - nis_msg.data = eskf_->get_nis(); - nis_depth_pub_->publish(nis_msg); -#endif -} - -void ESKFNode::publish_odom() { - nav_msgs::msg::Odometry odom_msg; - StateQuat nom_state = eskf_->get_nominal_state(); - StateEuler error_state_ = eskf_->get_error_state(); - - odom_msg.pose.pose.position.x = nom_state.pos.x(); - odom_msg.pose.pose.position.y = nom_state.pos.y(); - odom_msg.pose.pose.position.z = nom_state.pos.z(); - - odom_msg.pose.pose.orientation.w = nom_state.quat.w(); - odom_msg.pose.pose.orientation.x = nom_state.quat.x(); - odom_msg.pose.pose.orientation.y = nom_state.quat.y(); - odom_msg.pose.pose.orientation.z = nom_state.quat.z(); - - // publishing the velocity in the body frame - Eigen::Matrix3d R_body_to_world = nom_state.quat.toRotationMatrix(); - - Eigen::Vector3d v_body = R_body_to_world.transpose() * nom_state.vel; - - odom_msg.twist.twist.linear.x = v_body.x(); - odom_msg.twist.twist.linear.y = v_body.y(); - odom_msg.twist.twist.linear.z = v_body.z(); - - // Add bias values to the angular velocity field of twist - Eigen::Vector3d body_angular_vel = - latest_gyro_measurement_ - nom_state.gyro_bias; - odom_msg.twist.twist.angular.x = body_angular_vel.x(); - odom_msg.twist.twist.angular.y = body_angular_vel.y(); - odom_msg.twist.twist.angular.z = body_angular_vel.z(); - - // If you also want to include gyro bias, you could add it to the covariance - // matrix or publish a separate topic for biases - rclcpp::Time current_time = this->now(); - odom_msg.header.stamp = current_time; - odom_msg.header.frame_id = frame("odom"); - - // Some cross terms of the covariance are ignored, and the acc/gyro biases - // cov are not published. Pos and orientation cov needs to be mapped from - // 6*6 matrix to an array (states 0-2) - - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - odom_msg.pose.covariance[i * 6 + j] = error_state_.covariance(i, j); - } - } - - // Orientation covariance (states 6–8) - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - odom_msg.pose.covariance[(i + 3) * 6 + (j + 3)] = - error_state_.covariance(i + 6, j + 6); - } - } - - // Linear velocity covariance - for (int i = 0; i < 3; ++i) { - for (int j = 0; j < 3; ++j) { - odom_msg.twist.covariance[i * 6 + j] = - error_state_.covariance(i + 3, j + 3); - } - } - odom_pub_->publish(odom_msg); - - if (publish_pose_) { - geometry_msgs::msg::PoseWithCovarianceStamped pose_msg; - pose_msg.header = odom_msg.header; - pose_msg.pose = odom_msg.pose; - pose_pub_->publish(pose_msg); - } - - if (publish_twist_) { - geometry_msgs::msg::TwistWithCovarianceStamped twist_msg; - twist_msg.header = odom_msg.header; - twist_msg.twist = odom_msg.twist; - twist_pub_->publish(twist_msg); - } - - if (publish_tf_) { - publish_tf(nom_state, current_time); - } - - if (publish_biases_) { - geometry_msgs::msg::Vector3Stamped accel_bias_msg; - accel_bias_msg.header.stamp = current_time; - accel_bias_msg.header.frame_id = - frame("base_link"); // Biases are in the body frame - - accel_bias_msg.vector.x = nom_state.accel_bias.x(); - accel_bias_msg.vector.y = nom_state.accel_bias.y(); - accel_bias_msg.vector.z = nom_state.accel_bias.z(); - - accel_bias_pub_->publish(accel_bias_msg); - - geometry_msgs::msg::Vector3Stamped gyro_bias_msg; - gyro_bias_msg.header = accel_bias_msg.header; - - gyro_bias_msg.vector.x = nom_state.gyro_bias.x(); - gyro_bias_msg.vector.y = nom_state.gyro_bias.y(); - gyro_bias_msg.vector.z = nom_state.gyro_bias.z(); - - gyro_bias_pub_->publish(gyro_bias_msg); - } -} - -void ESKFNode::lookup_static_transforms() { - try { - Tf_base_imu_ = tf2::transformToEigen(tf_buffer_->lookupTransform( - frame("base_link"), frame("imu_link"), tf2::TimePointZero)); - R_imu_eskf_ = Tf_base_imu_.rotation(); - T_imu_eskf_ = Tf_base_imu_.translation(); - - Tf_base_dvl_ = tf2::transformToEigen(tf_buffer_->lookupTransform( - frame("base_link"), frame("dvl_link"), tf2::TimePointZero)); - R_dvl_eskf_ = Tf_base_dvl_.rotation(); - T_dvl_eskf_ = Tf_base_dvl_.translation(); - - Tf_base_depth_ = tf2::transformToEigen(tf_buffer_->lookupTransform( - frame("base_link"), frame("pressure_sensor_link"), - tf2::TimePointZero)); - T_depth_eskf_ = Tf_base_depth_.translation(); - - tf_sensors_loaded_ = true; - tf_timer_->cancel(); - spdlog::info("All static transforms loaded successfully."); - complete_initialization(); - } catch (const tf2::TransformException& ex) { - spdlog::warn("TF Lookup failed (will retry): {}", ex.what()); - } -} - -void ESKFNode::complete_initialization() { - set_subscribers_and_publisher(); - // gravity, water density and atmospheric pressure. - this->gravity = -this->declare_parameter("gravity", 9.81); - this->water_density = - this->declare_parameter("water_density", 1000.0); - this->atmospheric_pressure = - this->declare_parameter("atmospheric_pressure", 100000.0); - set_parameters(); - - time_step_ = std::chrono::milliseconds( - this->get_parameter("publish_rate_ms").as_int()); - odom_pub_timer_ = this->create_wall_timer( - time_step_, std::bind(&ESKFNode::publish_odom, this)); - - spdlog::info(start_message); - -#ifndef NDEBUG - spdlog::info( - "______________________Debug mode is enabled______________________"); -#endif -} - -void ESKFNode::publish_tf(const StateQuat& nom_state, - const rclcpp::Time& time) { - geometry_msgs::msg::TransformStamped tf_msg; - - tf_msg.header.stamp = time; - tf_msg.header.frame_id = frame("odom"); - tf_msg.child_frame_id = frame("base_link"); - - tf_msg.transform.translation.x = nom_state.pos.x(); - tf_msg.transform.translation.y = nom_state.pos.y(); - tf_msg.transform.translation.z = nom_state.pos.z(); - - tf_msg.transform.rotation.w = nom_state.quat.w(); - tf_msg.transform.rotation.x = nom_state.quat.x(); - tf_msg.transform.rotation.y = nom_state.quat.y(); - tf_msg.transform.rotation.z = nom_state.quat.z(); - - tf_broadcaster_->sendTransform(tf_msg); -} - -RCLCPP_COMPONENTS_REGISTER_NODE(ESKFNode) diff --git a/navigation/eskf/src/lib/eskf.cpp b/navigation/eskf/src/lib/eskf.cpp index e3aad7869..68cf83b1a 100644 --- a/navigation/eskf/src/lib/eskf.cpp +++ b/navigation/eskf/src/lib/eskf.cpp @@ -5,24 +5,23 @@ #include #include "eskf/lib/typedefs.hpp" -double compute_nis(const Eigen::Vector3d& innovation, - const Eigen::Matrix3d& S) { - Eigen::Matrix3d S_inv = S.inverse(); - return innovation.transpose() * S_inv * innovation; +double compute_nis(const Eigen::VectorXd& innovation, + const Eigen::MatrixXd& S) { + Eigen::MatrixXd S_inv = S.inverse(); + return (innovation.transpose() * S_inv * innovation)(0); } ESKF::ESKF(const EskfParams& params) : Q_(params.Q) { // Initialize Covariance current_error_state_.covariance = params.P; - // Initialize Nominal Quaternion to Identity - // current_nom_state_.quat = Eigen::Quaterniond::Identity(); + g_ = params.g_; - // Initialize Quaternion: -90 degrees Yaw because of initial - // drone_orientation - Eigen::AngleAxisd init_rotation(-M_PI / 2.0, Eigen::Vector3d::UnitZ()); - current_nom_state_.quat = Eigen::Quaterniond(init_rotation); - current_nom_state_.quat.normalize(); + // Initialize Nominal Quaternion to Identity + current_nom_state_.quat = Eigen::Quaterniond::Identity(); + // Initialize nominal bias values + current_nom_state_.gyro_bias = params.initial_gyro_bias; + current_nom_state_.accel_bias = params.initial_accel_bias; } std::pair ESKF::van_loan_discretization( @@ -179,6 +178,11 @@ void ESKF::dvl_update(const SensorDVL& dvl_meas) { injection_and_reset(); } +void ESKF::depth_update(const SensorDepth& depth_meas) { + measurement_update(depth_meas); + injection_and_reset(); +} + // DVL sensor model implementations Eigen::VectorXd SensorDVL::innovation(const StateQuat& state) const { @@ -194,3 +198,24 @@ Eigen::MatrixXd SensorDVL::jacobian(const StateQuat& state) const { Eigen::MatrixXd SensorDVL::noise_covariance() const { return this->measurement_noise; } + +// Depth sensor model implementations + +Eigen::VectorXd SensorDepth::innovation(const StateQuat& state) const { + double predicted_depth = state.pos[2]; + Eigen::VectorXd innovation(1); + innovation(0) = this->measurement - predicted_depth; + return innovation; +} + +Eigen::MatrixXd SensorDepth::jacobian(const StateQuat& /*state*/) const { + Eigen::MatrixXd H = Eigen::MatrixXd::Zero(1, 15); + H(0, 2) = 1.0; + return H; +} + +Eigen::MatrixXd SensorDepth::noise_covariance() const { + Eigen::MatrixXd R(1, 1); + R(0, 0) = this->measurement_noise; + return R; +} diff --git a/navigation/eskf/src/ros/eskf_ros.cpp b/navigation/eskf/src/ros/eskf_ros.cpp index 411ed046e..8f57d7fe6 100644 --- a/navigation/eskf/src/ros/eskf_ros.cpp +++ b/navigation/eskf/src/ros/eskf_ros.cpp @@ -15,97 +15,135 @@ auto start_message{R"( ESKFNode::ESKFNode(const rclcpp::NodeOptions& options) : Node("eskf_node", options) { - time_step = std::chrono::milliseconds(1); - odom_pub_timer_ = this->create_wall_timer( - time_step, std::bind(&ESKFNode::publish_odom, this)); - - set_subscribers_and_publisher(); + use_tf_transforms_ = this->declare_parameter("use_tf_transforms"); + tf_sensors_loaded_ = !use_tf_transforms_; - set_parameters(); + frame_prefix_ = this->declare_parameter("frame_prefix", ""); + if (!frame_prefix_.empty() && frame_prefix_.back() == '/') { + frame_prefix_.pop_back(); + } + spdlog::info("frame_prefix set to '{}'", frame_prefix_); - // Initialize TF Buffer & Listener - tf_buffer_ = std::make_shared(this->get_clock()); - tf_listener_ = std::make_shared(*tf_buffer_); + publish_tf_ = this->declare_parameter("publish_tf"); + if (publish_tf_) { + tf_broadcaster_ = + std::make_unique(*this); + } - // Initialize Broadcaster (for odom -> base_link) - tf_broadcaster_ = std::make_unique(*this); + publish_pose_ = this->declare_parameter("publish_pose"); + publish_twist_ = this->declare_parameter("publish_twist"); - // flag to determine whether to use TF-based transforms or parameter-based - // transforms - this->declare_parameter("use_tf_transforms", true); - use_tf_transforms_ = this->get_parameter("use_tf_transforms").as_bool(); + publish_biases_ = this->declare_parameter("publish_biases"); - // if we have parameters, we skip the TF lookup - tf_sensors_loaded_ = !use_tf_transforms_; + // Declare these here so they appear in `ros2 param list` from startup, + // even though they are read in complete_initialization(). + this->declare_parameter("publish_rate_ms"); + this->declare_parameter("topics.imu"); + this->declare_parameter("topics.dvl_twist"); + this->declare_parameter("topics.pressure_sensor"); + this->declare_parameter("topics.odom"); + this->declare_parameter("topics.pose"); + this->declare_parameter("topics.twist"); if (use_tf_transforms_) { - // Check for static transforms every 0.5 seconds + tf_buffer_ = std::make_shared(this->get_clock()); + tf_listener_ = + std::make_shared(*tf_buffer_); tf_timer_ = this->create_wall_timer( std::chrono::milliseconds(500), - std::bind(&ESKFNode::initialize_static_transforms, this)); + std::bind(&ESKFNode::lookup_static_transforms, this)); } else { spdlog::info( "Using parameter-based sensor transforms. TF lookup disabled."); + complete_initialization(); } - - spdlog::info(start_message); - -#ifndef NDEBUG - spdlog::info( - "______________________Debug mode is enabled______________________"); -#endif } void ESKFNode::set_subscribers_and_publisher() { auto qos_sensor_data = vortex::utils::qos_profiles::sensor_data_profile(1); - this->declare_parameter("topics.imu"); std::string imu_topic = this->get_parameter("topics.imu").as_string(); imu_sub_ = this->create_subscription( imu_topic, qos_sensor_data, std::bind(&ESKFNode::imu_callback, this, std::placeholders::_1)); - this->declare_parameter("topics.dvl_twist"); std::string dvl_topic = this->get_parameter("topics.dvl_twist").as_string(); dvl_sub_ = this->create_subscription< geometry_msgs::msg::TwistWithCovarianceStamped>( dvl_topic, qos_sensor_data, std::bind(&ESKFNode::dvl_callback, this, std::placeholders::_1)); - this->declare_parameter("topics.odom"); + std::string pressure_topic = + this->get_parameter("topics.pressure_sensor").as_string(); + depth_sub_ = this->create_subscription( + pressure_topic, qos_sensor_data, + std::bind(&ESKFNode::depth_callback, this, std::placeholders::_1)); + std::string odom_topic = this->get_parameter("topics.odom").as_string(); odom_pub_ = this->create_publisher( odom_topic, qos_sensor_data); + if (publish_pose_) { + std::string pose_topic = this->get_parameter("topics.pose").as_string(); + pose_pub_ = this->create_publisher< + geometry_msgs::msg::PoseWithCovarianceStamped>(pose_topic, + qos_sensor_data); + } + + if (publish_twist_) { + std::string twist_topic = + this->get_parameter("topics.twist").as_string(); + twist_pub_ = this->create_publisher< + geometry_msgs::msg::TwistWithCovarianceStamped>(twist_topic, + qos_sensor_data); + } + + if (publish_biases_) { + accel_bias_pub_ = + this->create_publisher( + "eskf/accel_bias", qos_sensor_data); + gyro_bias_pub_ = + this->create_publisher( + "eskf/gyro_bias", qos_sensor_data); + } + #ifndef NDEBUG - nis_pub_ = create_publisher( - "eskf/nis", vortex::utils::qos_profiles::reliable_profile()); + nis_dvl_pub_ = create_publisher( + "eskf/nis_dvl", vortex::utils::qos_profiles::reliable_profile()); + nis_depth_pub_ = create_publisher( + "eskf/nis_depth", vortex::utils::qos_profiles::reliable_profile()); #endif } void ESKFNode::set_parameters() { - // Load sensor frame Rotation correction parameters - std::vector R_imu_correction; - this->declare_parameter>("imu_frame_r"); - R_imu_correction = get_parameter("imu_frame_r").as_double_array(); - R_imu_eskf_ = Eigen::Map>( - R_imu_correction.data()); - - std::vector R_dvl_correction; - this->declare_parameter>("dvl_frame_r"); - R_dvl_correction = get_parameter("dvl_frame_r").as_double_array(); - R_dvl_eskf_ = Eigen::Map>( - R_dvl_correction.data()); - - std::vector T_dvl_correction; - this->declare_parameter>("dvl_frame_t"); - T_dvl_correction = get_parameter("dvl_frame_t").as_double_array(); - T_dvl_eskf_ = Eigen::Map(T_dvl_correction.data()); - - std::vector T_depth_correction; - this->declare_parameter>("depth_frame_t"); - T_depth_correction = get_parameter("depth_frame_t").as_double_array(); - T_depth_eskf_ = Eigen::Map(T_depth_correction.data()); + if (!use_tf_transforms_) { + std::vector R_imu_correction = + this->declare_parameter>( + "transform.imu_frame_r"); + R_imu_eskf_ = Eigen::Map>( + R_imu_correction.data()); + + std::vector T_imu_correction = + this->declare_parameter>( + "transform.imu_frame_t"); + T_imu_eskf_ = Eigen::Map(T_imu_correction.data()); + + std::vector R_dvl_correction = + this->declare_parameter>( + "transform.dvl_frame_r"); + R_dvl_eskf_ = Eigen::Map>( + R_dvl_correction.data()); + + std::vector T_dvl_correction = + this->declare_parameter>( + "transform.dvl_frame_t"); + T_dvl_eskf_ = Eigen::Map(T_dvl_correction.data()); + + std::vector T_depth_correction = + this->declare_parameter>( + "transform.depth_frame_t"); + T_depth_eskf_ = Eigen::Map(T_depth_correction.data()); + } std::vector diag_Q_std; this->declare_parameter>("diag_Q_std"); @@ -129,10 +167,40 @@ void ESKFNode::set_parameters() { } Eigen::Matrix15d P = createDiagonalMatrix<15>(diag_p_init); - EskfParams eskf_params{.Q = Q, .P = P}; + Eigen::Vector3d g_vec(0.0, 0.0, this->gravity); + + std::vector initial_gyro_bias = + this->declare_parameter>( + "initial_gyro_bias", std::vector{0.0, 0.0, 0.0}); + spdlog::info("initial_gyro_bias: [{}, {}, {}]", initial_gyro_bias[0], + initial_gyro_bias[1], initial_gyro_bias[2]); + if (initial_gyro_bias.size() != 3) { + throw std::runtime_error("initial_gyro_bias must have length 3"); + } + + std::vector initial_accel_bias = + this->declare_parameter>( + "initial_accel_bias", std::vector{0.0, 0.0, 0.0}); + spdlog::info("initial_accel_bias: [{}, {}, {}]", initial_accel_bias[0], + initial_accel_bias[1], initial_accel_bias[2]); + if (initial_accel_bias.size() != 3) { + throw std::runtime_error("initial_accel_bias must have length 3"); + } + + EskfParams eskf_params{ + .Q = Q, + .P = P, + .g_ = g_vec, + .initial_gyro_bias = + Eigen::Map(initial_gyro_bias.data()), + .initial_accel_bias = + Eigen::Map(initial_accel_bias.data())}; eskf_ = std::make_unique(eskf_params); + add_gravity_to_imu_ = this->declare_parameter("add_gravity_to_imu"); + spdlog::info("add_gravity_to_imu: {}", add_gravity_to_imu_); + this->declare_parameter("use_landmark_egomotion"); if (this->get_parameter("use_landmark_egomotion").as_bool()) { setup_vo(eskf_params); @@ -201,6 +269,110 @@ void ESKFNode::setup_vo(const EskfParams& eskf_params) { vo_base_frame_); } +void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { + rclcpp::Time current_time = msg->header.stamp; + + if (!first_imu_msg_received_) { + last_imu_time_ = current_time; + first_imu_msg_received_ = true; + return; + } + + double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; + last_imu_time_ = current_time; + + ImuMeasurement imu_measurement{}; + + Eigen::Vector3d raw_accel(msg->linear_acceleration.x, + msg->linear_acceleration.y, + msg->linear_acceleration.z); + + Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, + msg->angular_velocity.z); + + Eigen::Vector3d accel_aligned = R_imu_eskf_ * raw_accel; + + // currently the gyro and the accelorometer are rotated differently in sim. + // should be changed with the actual drone params. + // Eigen::Vector3d gyro_aligned = R_imu_eskf_ * raw_gyro; + Eigen::Vector3d gyro_aligned = raw_gyro; + imu_measurement.gyro = gyro_aligned; + + // lever arm correction for accelerometer + StateQuat nom_state = eskf_->get_nominal_state(); + Eigen::Vector3d omega = gyro_aligned - nom_state.gyro_bias; + + // a_corrected = a_meas - omega x (omega x T) + Eigen::Vector3d centripetal_accel = omega.cross(omega.cross(T_imu_eskf_)); + accel_aligned -= centripetal_accel; + + if (add_gravity_to_imu_) { + Eigen::Matrix3d R = nom_state.quat.normalized().toRotationMatrix(); + accel_aligned -= R.transpose() * eskf_->get_gravity(); + } + + imu_measurement.accel = accel_aligned; + + // save latest gyro readings (used for DVL correction and odom output) + latest_gyro_measurement_ = imu_measurement.gyro; + + eskf_->imu_update(imu_measurement, dt); +} + +void ESKFNode::dvl_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { + SensorDVL dvl_sensor; + + dvl_sensor.measurement << msg->twist.twist.linear.x, + msg->twist.twist.linear.y, msg->twist.twist.linear.z; + + dvl_sensor.measurement_noise << msg->twist.covariance[0], + msg->twist.covariance[1], msg->twist.covariance[2], + msg->twist.covariance[6], msg->twist.covariance[7], + msg->twist.covariance[8], msg->twist.covariance[12], + msg->twist.covariance[13], msg->twist.covariance[14]; + + // Apply the rotation and translation corrections to the DVL measurement + StateQuat nom_state = eskf_->get_nominal_state(); + // get the angular velocity + Eigen::Vector3d omega_corrected = + latest_gyro_measurement_ - nom_state.gyro_bias; + // correct rotation and translation: v_base = v_sensor - omega x T + dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement - + omega_corrected.cross(T_dvl_eskf_); + dvl_sensor.measurement_noise = + R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); + + eskf_->dvl_update(dvl_sensor); + +#ifndef NDEBUG + // Publish NIS in Debug mode + std_msgs::msg::Float64 nis_msg; + nis_msg.data = eskf_->get_nis(); + nis_dvl_pub_->publish(nis_msg); +#endif +} + +void ESKFNode::depth_callback( + const sensor_msgs::msg::FluidPressure::SharedPtr msg) { + SensorDepth depth_sensor; + // the simulation is a gauge sensor so we don't subtract atmospheric + // pressure. + depth_sensor.measurement = + -msg->fluid_pressure / (this->water_density * this->gravity); + depth_sensor.measurement_noise = msg->variance; + + // spdlog::info("depth meas is: {}",depth_sensor.measurement); + eskf_->depth_update(depth_sensor); + +#ifndef NDEBUG + // Publish NIS in Debug mode + std_msgs::msg::Float64 nis_msg; + nis_msg.data = eskf_->get_nis(); + nis_depth_pub_->publish(nis_msg); +#endif +} + void ESKFNode::landmark_callback( const vortex_msgs::msg::LandmarkArray::SharedPtr msg) { if (!msg || msg->landmarks.empty()) @@ -286,83 +458,6 @@ void ESKFNode::landmark_callback( } } -void ESKFNode::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { - rclcpp::Time current_time = msg->header.stamp; - - if (!first_imu_msg_received_) { - last_imu_time_ = current_time; - first_imu_msg_received_ = true; - return; - } - - double dt = (current_time - last_imu_time_).nanoseconds() * 1e-9; - last_imu_time_ = current_time; - - ImuMeasurement imu_measurement{}; - - Eigen::Vector3d raw_accel(msg->linear_acceleration.x, - msg->linear_acceleration.y, - msg->linear_acceleration.z); - - Eigen::Vector3d raw_gyro(msg->angular_velocity.x, msg->angular_velocity.y, - msg->angular_velocity.z); - - Eigen::Vector3d accel_aligned = R_imu_eskf_ * raw_accel; - - // currently the gyro and the accelorometer are rotated differently in sim. - // should be changed with the actual drone params. - // Eigen::Vector3d gyro_aligned = R_imu_eskf_ * raw_gyro; - Eigen::Vector3d gyro_aligned = raw_gyro; - imu_measurement.gyro = gyro_aligned; - - // lever arm correction for accelerometer - StateQuat nom_state = eskf_->get_nominal_state(); - Eigen::Vector3d omega = gyro_aligned - nom_state.gyro_bias; - - // a_corrected = a_meas - omega x (omega x T) - Eigen::Vector3d centripetal_accel = omega.cross(omega.cross(T_imu_eskf_)); - imu_measurement.accel = accel_aligned - centripetal_accel; - - // save latest gyro readings (used for DVL correction and odom output) - latest_gyro_measurement_ = imu_measurement.gyro; - - eskf_->imu_update(imu_measurement, dt); -} - -void ESKFNode::dvl_callback( - const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) { - SensorDVL dvl_sensor; - - dvl_sensor.measurement << msg->twist.twist.linear.x, - msg->twist.twist.linear.y, msg->twist.twist.linear.z; - - dvl_sensor.measurement_noise << msg->twist.covariance[0], - msg->twist.covariance[1], msg->twist.covariance[2], - msg->twist.covariance[6], msg->twist.covariance[7], - msg->twist.covariance[8], msg->twist.covariance[12], - msg->twist.covariance[13], msg->twist.covariance[14]; - - // Apply the rotation and translation corrections to the DVL measurement - StateQuat nom_state = eskf_->get_nominal_state(); - // get the angular velocity - Eigen::Vector3d omega_corrected = - latest_gyro_measurement_ - nom_state.gyro_bias; - // correct rotation and translation: v_base = v_sensor - omega x T - dvl_sensor.measurement = R_dvl_eskf_ * dvl_sensor.measurement - - omega_corrected.cross(T_dvl_eskf_); - dvl_sensor.measurement_noise = - R_dvl_eskf_ * dvl_sensor.measurement_noise * R_dvl_eskf_.transpose(); - - eskf_->dvl_update(dvl_sensor); - -#ifndef NDEBUG - // Publish NIS in Debug mode - std_msgs::msg::Float64 nis_msg; - nis_msg.data = eskf_->get_nis(); - nis_pub_->publish(nis_msg); -#endif -} - void ESKFNode::publish_odom() { nav_msgs::msg::Odometry odom_msg; StateQuat nom_state = eskf_->get_nominal_state(); @@ -395,9 +490,9 @@ void ESKFNode::publish_odom() { // If you also want to include gyro bias, you could add it to the covariance // matrix or publish a separate topic for biases - - odom_msg.header.stamp = this->now(); - odom_msg.header.frame_id = "odom"; + rclcpp::Time current_time = this->now(); + odom_msg.header.stamp = current_time; + odom_msg.header.frame_id = frame("odom"); // Some cross terms of the covariance are ignored, and the acc/gyro biases // cov are not published. Pos and orientation cov needs to be mapped from @@ -426,69 +521,103 @@ void ESKFNode::publish_odom() { } odom_pub_->publish(odom_msg); - publish_tf(nom_state); -} + if (publish_pose_) { + geometry_msgs::msg::PoseWithCovarianceStamped pose_msg; + pose_msg.header = odom_msg.header; + pose_msg.pose = odom_msg.pose; + pose_pub_->publish(pose_msg); + } -void ESKFNode::initialize_static_transforms() { - // if already loaded, no need to lookup again. - if (tf_sensors_loaded_) { - tf_timer_->cancel(); - return; + if (publish_twist_) { + geometry_msgs::msg::TwistWithCovarianceStamped twist_msg; + twist_msg.header = odom_msg.header; + twist_msg.twist = odom_msg.twist; + twist_pub_->publish(twist_msg); } - try { - // Lookup IMU -> Base Link - geometry_msgs::msg::TransformStamped tf_imu = - tf_buffer_->lookupTransform("base_link", "imu_frame", - tf2::TimePointZero); + if (publish_tf_) { + publish_tf(nom_state, current_time); + } - Tf_base_imu_ = tf2::transformToEigen(tf_imu); + if (publish_biases_) { + geometry_msgs::msg::Vector3Stamped accel_bias_msg; + accel_bias_msg.header.stamp = current_time; + accel_bias_msg.header.frame_id = + frame("base_link"); // Biases are in the body frame - // Overwrite the parameter-based matrix - R_imu_eskf_ = Tf_base_imu_.rotation(); - spdlog::info("TF: Loaded base_link <- imu_frame transform"); + accel_bias_msg.vector.x = nom_state.accel_bias.x(); + accel_bias_msg.vector.y = nom_state.accel_bias.y(); + accel_bias_msg.vector.z = nom_state.accel_bias.z(); - // Lookup DVL -> Base Link - geometry_msgs::msg::TransformStamped tf_dvl = - tf_buffer_->lookupTransform("base_link", "dvl_frame", - tf2::TimePointZero); + accel_bias_pub_->publish(accel_bias_msg); - Tf_base_dvl_ = tf2::transformToEigen(tf_dvl); + geometry_msgs::msg::Vector3Stamped gyro_bias_msg; + gyro_bias_msg.header = accel_bias_msg.header; - // Overwrite the parameter-based matrix - R_dvl_eskf_ = Tf_base_dvl_.rotation(); - spdlog::info("TF: Loaded base_link <- dvl_frame transform"); + gyro_bias_msg.vector.x = nom_state.gyro_bias.x(); + gyro_bias_msg.vector.y = nom_state.gyro_bias.y(); + gyro_bias_msg.vector.z = nom_state.gyro_bias.z(); + + gyro_bias_pub_->publish(gyro_bias_msg); + } +} - // Lookup Depth sensor -> Base Link - geometry_msgs::msg::TransformStamped tf_depth = - tf_buffer_->lookupTransform("base_link", "depth_sensor_frame", - tf2::TimePointZero); +void ESKFNode::lookup_static_transforms() { + try { + Tf_base_imu_ = tf2::transformToEigen(tf_buffer_->lookupTransform( + frame("base_link"), frame("imu_link"), tf2::TimePointZero)); + R_imu_eskf_ = Tf_base_imu_.rotation(); + T_imu_eskf_ = Tf_base_imu_.translation(); - Tf_base_depth_ = tf2::transformToEigen(tf_depth); + Tf_base_dvl_ = tf2::transformToEigen(tf_buffer_->lookupTransform( + frame("base_link"), frame("dvl_link"), tf2::TimePointZero)); + R_dvl_eskf_ = Tf_base_dvl_.rotation(); + T_dvl_eskf_ = Tf_base_dvl_.translation(); - // Overwrite the parameter-based matrix + Tf_base_depth_ = tf2::transformToEigen(tf_buffer_->lookupTransform( + frame("base_link"), frame("pressure_sensor_link"), + tf2::TimePointZero)); T_depth_eskf_ = Tf_base_depth_.translation(); - spdlog::info("TF: Loaded base_link <- depth_sensor_frame transform"); - // If we reach this point, all transforms were loaded successfully tf_sensors_loaded_ = true; - - spdlog::info("All static transforms loaded successfully."); - - // Turn off the timer so this function never runs again tf_timer_->cancel(); + spdlog::info("All static transforms loaded successfully."); + complete_initialization(); } catch (const tf2::TransformException& ex) { - // It is common to fail on startup before static_publisher is ready spdlog::warn("TF Lookup failed (will retry): {}", ex.what()); } } -void ESKFNode::publish_tf(const StateQuat& nom_state) { +void ESKFNode::complete_initialization() { + set_subscribers_and_publisher(); + // gravity, water density and atmospheric pressure. + this->gravity = -this->declare_parameter("gravity", 9.81); + this->water_density = + this->declare_parameter("water_density", 1000.0); + this->atmospheric_pressure = + this->declare_parameter("atmospheric_pressure", 100000.0); + set_parameters(); + + time_step_ = std::chrono::milliseconds( + this->get_parameter("publish_rate_ms").as_int()); + odom_pub_timer_ = this->create_wall_timer( + time_step_, std::bind(&ESKFNode::publish_odom, this)); + + spdlog::info(start_message); + +#ifndef NDEBUG + spdlog::info( + "______________________Debug mode is enabled______________________"); +#endif +} + +void ESKFNode::publish_tf(const StateQuat& nom_state, + const rclcpp::Time& time) { geometry_msgs::msg::TransformStamped tf_msg; - tf_msg.header.stamp = this->now(); - tf_msg.header.frame_id = "odom"; - tf_msg.child_frame_id = "base_link"; + tf_msg.header.stamp = time; + tf_msg.header.frame_id = frame("odom"); + tf_msg.child_frame_id = frame("base_link"); tf_msg.transform.translation.x = nom_state.pos.x(); tf_msg.transform.translation.y = nom_state.pos.y();